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web-rtcp-5axis-xyzbc-trt-sim-plan/working/05-验收证据.md create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/06-决策记录.md create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/07-全量对标追踪矩阵.md create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/08-xyzbc-trt-界面与图标分析.md create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/README.md create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/native-xyzbc-trt-20260702-070911/captured-window-list.txt create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/native-xyzbc-trt-20260702-070911/linuxcnc-run.log create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/native-xyzbc-trt-20260702-070911/xwininfo-tree.txt create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/xyzbc-trt-reference-20260702/00-native-axis-window.png create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/xyzbc-trt-reference-20260702/00-native-desktop.png create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/xyzbc-trt-reference-20260702/10-web-home.png create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/xyzbc-trt-reference-20260702/11-web-profile-xyzbc.png create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/xyzbc-trt-reference-20260702/12-web-program-loaded.png create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/xyzbc-trt-reference-20260702/13-web-run-state.png create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/xyzbc-trt-reference-20260702/14-web-local-program-opened.png create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/xyzbc-trt-reference-20260702/15-web-after-audit.png create mode 100644 web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/xyzbc-trt-reference-20260702/16-web-final.png create mode 100644 备忘/备忘7.txt diff --git a/AGENTS.md b/AGENTS.md index b14d402..74e836d 100644 --- a/AGENTS.md +++ b/AGENTS.md @@ -3,13 +3,13 @@ ## Scope This file defines workspace-level agent operating rules for -`/home/meswork/cnc_wams`. +`/home/mes123456/cnc_wams`. ## Logging Rule After every GPT/Codex execution completes, append the full execution process log to: -`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` The log content written to this file must be recorded in Chinese. diff --git a/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md b/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md index 67c662f..f6b03e2 100644 --- a/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md +++ b/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md @@ -2,15 +2,15 @@ - status: PASS_WITH_HOST_NATIVE_RUNTIME_BLOCKER - generatedAt: 2026-06-23T09:22:56.110Z -- JSON: /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json +- JSON: /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json ## Checks - PASS: phase0 native source/probe gate passes — task_hal_phase0_native_probe_gate=ok - PASS: native readiness audit passes — native_task_hal_source_artifact_audit=ok | native_task_hal_readiness_artifact=web-rtcp-5axis-sim-plan/build/readiness/native-task-hal-readiness.json | task_hal_web_simulation_boundary_consistent=1 | native_task_hal_host_probe_status=ready_disabled_by_default | hardware_drive=0 | host_realtime_kernel=0 | external_user_m_process_ready=0 | tool_db_process_ready=0 | promotion_scope=web_simulation_only -- PASS: source manifest ready — {"task_hal_source_manifest_status":"ok","task_hal_source_manifest_ready":"1","task_hal_source_manifest_path":"/home/meswork/cnc_wams/wasm-port/tools/task-hal-source-manifest.txt","task_hal_source_manifest_report":"/home/meswork/cnc_wams/wasm-port/build/task-hal/task-hal-source-manifest.tsv","task_hal_source_count":"20","task_source_count":"7","hal_source_count":"4","motion_source_count":"6","nml_source_count":"1","libnml_source_count":"2","task_hal_reference_source_ready":"1","task_hal_vendor_source_ready":"0","task_hal_vendor_hash_match_ready":"1","task_hal_missing_reference_source_count":"0","task_hal_missing_reference_sources_ready":"1","task_hal_missing_reference_source_list":"-","task_hal_missing_vendor_source_list":"src/emc/task/task.hh,src/emc/task/taskclass.hh,src/emc/task/taskclass.cc,src/emc/task/emctask.cc,src/emc/task/emctaskmain.cc,src/emc/task/taskintf.cc,src/emc/task/emccanon.cc,src/emc/motion/usrmotintf.h,src/emc/motion/motion.c,src/emc/motion/command.c,src/emc/motion/control.c,src/hal/hal_lib.c,src/hal/hal_priv.h,src/hal/components/threads.c,src/hal/utils/halcmd_commands.cc","task_hal_mismatched_vendor_source_list":"-","task_hal_runtime_promoted":"0","nativeTaskReady":"false","nativeHalSyncReady":"false"} -- PASS: TRT source proof ready — {"trt_task_hal_runtime_halcmd_path":"/home/meswork/cnc_wams/wasm-port/../linuxcnc/bin/halcmd","trt_task_hal_runtime_linuxcnc_path":"/home/meswork/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc","trt_task_hal_runtime_requirements":"halcmd:1,linuxcnc:1","trt_task_hal_missing_requirements":"-","trt_task_hal_source_proof_ready":"1","trt_task_hal_runtime_ready":"1","trt_task_hal_execution_enabled":"0","trt_task_hal_promotion_allowed":"0","nativeTaskReady":"false","nativeHalSyncReady":"false","native_task_hal_probe":"ok","native_probe_status":"ready_disabled_by_default","trt_task_hal_runtime_probe_status":"ready_disabled_by_default","trt_task_hal_runtime_probe_note":"set_ENABLE_TRT_TASK_HAL_RUNTIME_PROBE_1_to_run_exclusive_host_runtime_probe"} -- PASS: host-native runtime blocker captured — [{"component":"halcmd","blocker":"dynamic_linker_requirement","detail":"linuxcnc/bin/halcmd: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/halcmd)"},{"component":"halcmd","blocker":"dynamic_linker_requirement","detail":"liblinuxcncini.so.1 => not found"},{"component":"halcmd","blocker":"dynamic_linker_requirement","detail":"liblinuxcnchal.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"linuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.31' not found (required by linuxcnc/bin/rs274)"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"linuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/rs274)"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"librs274.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"libnml.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"liblinuxcnchal.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"liblinuxcncini.so.1 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"libtooldata.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"libpython3.13.so.1.0 => not found"},{"component":"linuxcncsvr","blocker":"dynamic_linker_requirement","detail":"liblinuxcnchal.so.0 => not found"},{"component":"linuxcncsvr","blocker":"dynamic_linker_requirement","detail":"libnml.so.0 => not found"},{"component":"linuxcncsvr","blocker":"dynamic_linker_requirement","detail":"liblinuxcncini.so.1 => not found"},{"component":"linuxcnc scripts/linuxcnc","blocker":"hardcoded_rip_environment_path_missing","detail":"/home/meswork/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc: line 23: /home/cnc/桌面/cnc_wams/linuxcnc/scripts/rip-environment: No such file or directory"}] +- PASS: source manifest ready — {"task_hal_source_manifest_status":"ok","task_hal_source_manifest_ready":"1","task_hal_source_manifest_path":"/home/mes123456/cnc_wams/wasm-port/tools/task-hal-source-manifest.txt","task_hal_source_manifest_report":"/home/mes123456/cnc_wams/wasm-port/build/task-hal/task-hal-source-manifest.tsv","task_hal_source_count":"20","task_source_count":"7","hal_source_count":"4","motion_source_count":"6","nml_source_count":"1","libnml_source_count":"2","task_hal_reference_source_ready":"1","task_hal_vendor_source_ready":"0","task_hal_vendor_hash_match_ready":"1","task_hal_missing_reference_source_count":"0","task_hal_missing_reference_sources_ready":"1","task_hal_missing_reference_source_list":"-","task_hal_missing_vendor_source_list":"src/emc/task/task.hh,src/emc/task/taskclass.hh,src/emc/task/taskclass.cc,src/emc/task/emctask.cc,src/emc/task/emctaskmain.cc,src/emc/task/taskintf.cc,src/emc/task/emccanon.cc,src/emc/motion/usrmotintf.h,src/emc/motion/motion.c,src/emc/motion/command.c,src/emc/motion/control.c,src/hal/hal_lib.c,src/hal/hal_priv.h,src/hal/components/threads.c,src/hal/utils/halcmd_commands.cc","task_hal_mismatched_vendor_source_list":"-","task_hal_runtime_promoted":"0","nativeTaskReady":"false","nativeHalSyncReady":"false"} +- PASS: TRT source proof ready — {"trt_task_hal_runtime_halcmd_path":"/home/mes123456/cnc_wams/wasm-port/../linuxcnc/bin/halcmd","trt_task_hal_runtime_linuxcnc_path":"/home/mes123456/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc","trt_task_hal_runtime_requirements":"halcmd:1,linuxcnc:1","trt_task_hal_missing_requirements":"-","trt_task_hal_source_proof_ready":"1","trt_task_hal_runtime_ready":"1","trt_task_hal_execution_enabled":"0","trt_task_hal_promotion_allowed":"0","nativeTaskReady":"false","nativeHalSyncReady":"false","native_task_hal_probe":"ok","native_probe_status":"ready_disabled_by_default","trt_task_hal_runtime_probe_status":"ready_disabled_by_default","trt_task_hal_runtime_probe_note":"set_ENABLE_TRT_TASK_HAL_RUNTIME_PROBE_1_to_run_exclusive_host_runtime_probe"} +- PASS: host-native runtime blocker captured — [{"component":"halcmd","blocker":"dynamic_linker_requirement","detail":"linuxcnc/bin/halcmd: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/halcmd)"},{"component":"halcmd","blocker":"dynamic_linker_requirement","detail":"liblinuxcncini.so.1 => not found"},{"component":"halcmd","blocker":"dynamic_linker_requirement","detail":"liblinuxcnchal.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"linuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.31' not found (required by linuxcnc/bin/rs274)"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"linuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/rs274)"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"librs274.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"libnml.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"liblinuxcnchal.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"liblinuxcncini.so.1 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"libtooldata.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"libpython3.13.so.1.0 => not found"},{"component":"linuxcncsvr","blocker":"dynamic_linker_requirement","detail":"liblinuxcnchal.so.0 => not found"},{"component":"linuxcncsvr","blocker":"dynamic_linker_requirement","detail":"libnml.so.0 => not found"},{"component":"linuxcncsvr","blocker":"dynamic_linker_requirement","detail":"liblinuxcncini.so.1 => not found"},{"component":"linuxcnc scripts/linuxcnc","blocker":"hardcoded_rip_environment_path_missing","detail":"/home/mes123456/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc: line 23: /home/cnc/桌面/cnc_wams/linuxcnc/scripts/rip-environment: No such file or directory"}] - PASS: web simulation promotion remains bounded — {"task_hal_web_simulation_boundary_consistent":1,"native_task_hal_host_probe_status":"ready_disabled_by_default","hardware_drive":0,"host_realtime_kernel":0,"external_user_m_process_ready":0,"tool_db_process_ready":0,"promotion_scope":"web_simulation_only"} ## Host Native Runtime Blockers @@ -29,7 +29,7 @@ - linuxcncsvr: dynamic_linker_requirement: liblinuxcnchal.so.0 => not found - linuxcncsvr: dynamic_linker_requirement: libnml.so.0 => not found - linuxcncsvr: dynamic_linker_requirement: liblinuxcncini.so.1 => not found -- linuxcnc scripts/linuxcnc: hardcoded_rip_environment_path_missing: /home/meswork/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc: line 23: /home/cnc/桌面/cnc_wams/linuxcnc/scripts/rip-environment: No such file or directory +- linuxcnc scripts/linuxcnc: hardcoded_rip_environment_path_missing: /home/mes123456/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc: line 23: /home/cnc/桌面/cnc_wams/linuxcnc/scripts/rip-environment: No such file or directory ## Conclusion diff --git a/wasm-port/AGENTS.md b/wasm-port/AGENTS.md index 092e5d7..898cf2e 100644 --- a/wasm-port/AGENTS.md +++ b/wasm-port/AGENTS.md @@ -145,4 +145,4 @@ When extending this workspace: 4. Keep LinuxCNC-derived logic traceable to its upstream file origin. 5. After every GPT/Codex execution completes, append the full execution process log to - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. + `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. diff --git a/wasm-port/tools/source-manifest.txt b/wasm-port/tools/source-manifest.txt index c4c3471..38b6b0a 100644 --- a/wasm-port/tools/source-manifest.txt +++ b/wasm-port/tools/source-manifest.txt @@ -577,6 +577,7 @@ configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var configs/sim/qtdragon/qtdragon_multi_joint/on_abort.ngc configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyz.ini configs/sim/qtdragon/qtdragon_multi_joint/tool.tbl diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var new file mode 100644 index 0000000..1776377 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var @@ -0,0 +1,119 @@ +5161 0.000000 +5162 0.000000 +5163 0.000000 +5164 0.000000 +5165 0.000000 +5166 0.000000 +5167 0.000000 +5168 0.000000 +5169 0.000000 +5181 0.000000 +5182 0.000000 +5183 0.000000 +5184 0.000000 +5185 0.000000 +5186 0.000000 +5187 0.000000 +5188 0.000000 +5189 0.000000 +5210 0.000000 +5211 0.000000 +5212 0.000000 +5213 0.000000 +5214 0.000000 +5215 0.000000 +5216 0.000000 +5217 0.000000 +5218 0.000000 +5219 0.000000 +5220 1.000000 +5221 0.000000 +5222 0.000000 +5223 0.000000 +5224 0.000000 +5225 0.000000 +5226 0.000000 +5227 0.000000 +5228 0.000000 +5229 0.000000 +5230 0.000000 +5241 0.000000 +5242 0.000000 +5243 0.000000 +5244 0.000000 +5245 0.000000 +5246 0.000000 +5247 0.000000 +5248 0.000000 +5249 0.000000 +5250 0.000000 +5261 0.000000 +5262 0.000000 +5263 0.000000 +5264 0.000000 +5265 0.000000 +5266 0.000000 +5267 0.000000 +5268 0.000000 +5269 0.000000 +5270 0.000000 +5281 0.000000 +5282 0.000000 +5283 0.000000 +5284 0.000000 +5285 0.000000 +5286 0.000000 +5287 0.000000 +5288 0.000000 +5289 0.000000 +5290 0.000000 +5301 0.000000 +5302 0.000000 +5303 0.000000 +5304 0.000000 +5305 0.000000 +5306 0.000000 +5307 0.000000 +5308 0.000000 +5309 0.000000 +5310 0.000000 +5321 0.000000 +5322 0.000000 +5323 0.000000 +5324 0.000000 +5325 0.000000 +5326 0.000000 +5327 0.000000 +5328 0.000000 +5329 0.000000 +5330 0.000000 +5341 0.000000 +5342 0.000000 +5343 0.000000 +5344 0.000000 +5345 0.000000 +5346 0.000000 +5347 0.000000 +5348 0.000000 +5349 0.000000 +5350 0.000000 +5361 0.000000 +5362 0.000000 +5363 0.000000 +5364 0.000000 +5365 0.000000 +5366 0.000000 +5367 0.000000 +5368 0.000000 +5369 0.000000 +5370 0.000000 +5381 0.000000 +5382 0.000000 +5383 0.000000 +5384 0.000000 +5385 0.000000 +5386 0.000000 +5387 0.000000 +5388 0.000000 +5389 0.000000 +5390 0.000000 diff --git a/web-rtcp-5axis-sim-plan/docs/docs-directory-file-guide.md b/web-rtcp-5axis-sim-plan/docs/docs-directory-file-guide.md index 08a5193..ad0515a 100644 --- a/web-rtcp-5axis-sim-plan/docs/docs-directory-file-guide.md +++ b/web-rtcp-5axis-sim-plan/docs/docs-directory-file-guide.md @@ -1,7 +1,7 @@ # docs 目录文件作用详解与关联流程图 生成日期：2026-07-01 -适用目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/docs` +适用目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/docs` ## 1. 文档集定位 diff --git a/web-rtcp-5axis-sim-plan/docs/gmoccapy-xyzac-trt-rtcp-verification-evaluation.md b/web-rtcp-5axis-sim-plan/docs/gmoccapy-xyzac-trt-rtcp-verification-evaluation.md index 2c0e70a..fc9a005 100644 --- a/web-rtcp-5axis-sim-plan/docs/gmoccapy-xyzac-trt-rtcp-verification-evaluation.md +++ b/web-rtcp-5axis-sim-plan/docs/gmoccapy-xyzac-trt-rtcp-verification-evaluation.md @@ -10,7 +10,7 @@ ## 2. LinuxCNC 基线 -本轮对标的 LinuxCNC 来源位于 `/home/meswork/cnc_wams/linuxcnc`： +本轮对标的 LinuxCNC 来源位于 `/home/mes123456/cnc_wams/linuxcnc`： | 类别 | 基线文件 | 对标要点 | | --- | --- | --- | diff --git a/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md b/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md index d20275e..5cdca72 100644 --- a/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md +++ b/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md @@ -4,34 +4,34 @@ User request: - Add a rule to `agnents.md`/agents rules requiring every GPT execution to write the full execution process into - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. + `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. Execution process: 1. Searched the workspace for existing agent rule files with `rg --files`, including `AGENTS.md`, `agents.md`, and `agnents.md` patterns. 2. Found existing rule file at - `/home/meswork/cnc_wams/wasm-port/AGENTS.md`. -3. Listed `/home/meswork/cnc_wams` and confirmed the workspace contains + `/home/mes123456/cnc_wams/wasm-port/AGENTS.md`. +3. Listed `/home/mes123456/cnc_wams` and confirmed the workspace contains `wasm-port/` and `web-rtcp-5axis-sim-plan/`. -4. Read `/home/meswork/cnc_wams/wasm-port/AGENTS.md` and confirmed its scope is +4. Read `/home/mes123456/cnc_wams/wasm-port/AGENTS.md` and confirmed its scope is limited to the standalone LinuxCNC WASM simulation port under `wasm-port/`. 5. Confirmed the target log directory exists: - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/`. -6. Updated `/home/meswork/cnc_wams/wasm-port/AGENTS.md` by adding a Working + `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/`. +6. Updated `/home/mes123456/cnc_wams/wasm-port/AGENTS.md` by adding a Working Style rule requiring the process log to be appended after every GPT/Codex execution. -7. Reviewed the diff for `/home/meswork/cnc_wams/wasm-port/AGENTS.md`. +7. Reviewed the diff for `/home/mes123456/cnc_wams/wasm-port/AGENTS.md`. 8. Because the existing `wasm-port/AGENTS.md` only applies to `wasm-port/`, - created a workspace-level `/home/meswork/cnc_wams/AGENTS.md` with the same + created a workspace-level `/home/mes123456/cnc_wams/AGENTS.md` with the same logging rule so the requirement applies across the whole workspace. 9. Appended this execution record to the requested log file. Files changed: -- `/home/meswork/cnc_wams/wasm-port/AGENTS.md` -- `/home/meswork/cnc_wams/AGENTS.md` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +- `/home/mes123456/cnc_wams/wasm-port/AGENTS.md` +- `/home/mes123456/cnc_wams/AGENTS.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` ## 2026-06-22 17:45:56 EDT - Codex execution log @@ -44,7 +44,7 @@ Execution process: 1. Read the workspace-level `AGENTS.md` and confirmed the required GPT/Codex process log target: - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. + `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. 2. Listed and read the existing `working_run` documentation, especially `README.md`, `05-run-program-implementation-detailed-steps.md`, `06-run-implementation-traceability-matrix-and-next-steps.md`, @@ -99,12 +99,12 @@ Execution process: Files changed in this execution: -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/10-run-control-tests-and-ini-cycle-steps.md` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/README.md` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/10-run-control-tests-and-ini-cycle-steps.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/README.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` Verification: @@ -121,14 +121,14 @@ npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node: PASS User request: - 测试并完善 `https://82.156.24.101:8092/` 的 `run` 功能。 -- 使用 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/test_linuxcnc_source` 下面的 INI/G-code 测试。 +- 使用 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/test_linuxcnc_source` 下面的 INI/G-code 测试。 - 要求 RUN 按实际行执行、按实际 feed 执行、各轴数据正确，并在程序列表显示每行执行过程。 - 约束：只应在 `ON + AUTO + IDLE + homed` 下进入 `EMC_TASK_PLAN_RUN`，且 session 初始化不能把已 POWER/HOME 的 UI 状态重置回 off/unhomed。 Process: 1. Read workspace instructions and existing repository context: - - `/home/meswork/cnc_wams/AGENTS.md` + - `/home/mes123456/cnc_wams/AGENTS.md` - `qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs` - `web-rtcp-5axis-sim-plan/app/src/state/store.js` - `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` @@ -139,11 +139,11 @@ Process: 2. Reviewed existing local dirty worktree and existing evidence files. Existing local report already showed local PASS, but cloud target still needed verification. 3. Ran cloud Puppeteer probe against `https://82.156.24.101:8092/`. - Initial cloud probe output: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-debug-current/cloud-run-debug-current.json` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-debug-current/cloud-run-debug-current.json` - Finding: cloud page had `Run Ready`, but after clicking it the test timed out waiting for `taskState=on/allHomed/auto/tcp`. 4. Ran a shorter cloud `Run Ready` probe: - Output: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-ready-after.json` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-ready-after.json` - Finding before deploy: - Before: `taskState=estop-reset`, `mode=manual`, `allHomed=false`. - After `Run Ready`: `taskState=on`, `mode=auto`, `rtcpState=on`, but `allHomed=false`. @@ -171,9 +171,9 @@ Process: - Result: `test_linuxcnc_source_run_status=PASS` - JSON: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json` - DOCX: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-23.docx` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-23.docx` - Key PASS evidence: - `test_linuxcnc_source INI used` - `test_linuxcnc_source G-code hash matches loaded source` @@ -190,11 +190,11 @@ Process: - `STOP 后 loop 停止` 9. Built static site: - Command: - `npm run build` from `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + `npm run build` from `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - Result: `gmoccapy_static_build=ok` - Build output: - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/dist` + `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/dist` 10. Created deployment tarball: - `/tmp/web-rtcp-5axis-sim-8092-runfix-20260623.tar.gz` 11. Connected to cloud host: @@ -220,7 +220,7 @@ Process: - Reloaded nginx. 14. Ran cloud post-deploy RUN probe: - Output: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-after-deploy/cloud-run-after-deploy.json` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-after-deploy/cloud-run-after-deploy.json` - Key evidence: - `03-run-ready`: `allHomed=true`, `mode=auto`, `taskState=on`, `feedback=linuxcnc-task-motion-hal-wasm`. - `04-run-0500`: `runState=running`, `activeLine=9`, `velocity=2100`, line text includes `running | F 2100.0 ... cycle 19/190`. @@ -228,7 +228,7 @@ Process: - First post-deploy probe hit Puppeteer `Node is detached from document` while clicking STOP because the button node was re-rendered during the running UI update. This was a test-click issue, not a page failure. 15. Ran cloud STOP-specific post-deploy probe using DOM re-query for the STOP button: - Output: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-stop-after-deploy/cloud-run-stop-after-deploy.json` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-stop-after-deploy/cloud-run-stop-after-deploy.json` - Key evidence: - `01-ready`: `runState=idle`, `allHomed=true`, `feedback=linuxcnc-task-motion-hal-wasm`, `lineText="idle | F 3600.0 ... cycle 4/40"`. - `02-running`: `runState=running`, `activeLine=9`, `loopActive=true`, `feedback=linuxcnc-task-motion-hal-wasm`, `velocity=2100`, line text includes `running | F 2100.0 ... cycle 34/340`. @@ -330,7 +330,7 @@ Execution process: 1. Read the active workspace instructions and confirmed the required process log target: - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. + `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. 2. Read the current `working_run` status documents: `README.md`, `05-run-program-implementation-detailed-steps.md`, @@ -391,16 +391,16 @@ Execution process: Files changed in this execution: -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/visualization/five-axis-scene.js` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/toolpath-preview-cases.json` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/meter-scene-evidence.json` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/meter-scene-evidence/08-meter-scene-desktop.png` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/meter-scene-evidence/08-meter-scene-mobile.png` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/toolpath-preview-cases/09-g20-g21-mixed-units-preview.png` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/11-browser-meter-scene-and-mixed-units-complete.md` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/README.md` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/visualization/five-axis-scene.js` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/toolpath-preview-cases.json` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/meter-scene-evidence.json` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/meter-scene-evidence/08-meter-scene-desktop.png` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/meter-scene-evidence/08-meter-scene-mobile.png` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/toolpath-preview-cases/09-g20-g21-mixed-units-preview.png` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/11-browser-meter-scene-and-mixed-units-complete.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/README.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` Verification: @@ -423,8 +423,8 @@ Execution process: 1. Read the workspace instruction requiring every GPT/Codex execution log to be appended to - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. -2. Inspected the current workspace from `/home/meswork/cnc_wams`. + `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +2. Inspected the current workspace from `/home/mes123456/cnc_wams`. 3. Listed `web-rtcp-5axis-sim-plan/working_run` files and found documents `01` through `11`, plus test assets and evidence files. 4. Checked `git status --short` and observed an already-dirty tree containing @@ -523,9 +523,9 @@ Execution process: Files changed in this follow-up execution: -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/12-working-run-final-completion-record.md` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/README.md` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/12-working-run-final-completion-record.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/README.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` Verification: @@ -894,9 +894,9 @@ Execution process: `node qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs`. 10. Browser validation completed with `test_linuxcnc_source_run_status=PASS`. 11. Browser report files generated: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json` and - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-22.docx`. + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-22.docx`. 12. Browser report checks passed for source hash, toolpath preview, task/HAL feedback source, non-fixed feed velocity, changing feed velocity, G93 inverse-time feed use, task/HAL cycle advance, and STOP loop shutdown. @@ -934,9 +934,9 @@ Port 8092 Execution process: -1. Read workspace instructions from `/home/meswork/cnc_wams/AGENTS.md`. +1. Read workspace instructions from `/home/mes123456/cnc_wams/AGENTS.md`. 2. Identified the web app under - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app`. + `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app`. 3. Checked the app scripts in `app/package.json`; the static build command is `npm run build`, which runs `node scripts/build-static.mjs`. 4. Ran `npm run build` in `web-rtcp-5axis-sim-plan/app`. @@ -1034,7 +1034,7 @@ Execution process: Key evidence: ```text -public_https_run_debug_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/public-https-run-debug.json +public_https_run_debug_json=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/public-https-run-debug.json runStarted=false finalRunState=idle activeLines=[1] @@ -1063,12 +1063,12 @@ state and the RUN button remains clickable without starting execution. User request: ```text -你先参考“/home/meswork/cnc_wams/linuxcnc”的源程序处理“run”的方式，再修复这个仿真项目的“run” +你先参考“/home/mes123456/cnc_wams/linuxcnc”的源程序处理“run”的方式，再修复这个仿真项目的“run” ``` Execution process: -1. Referenced LinuxCNC source under `/home/meswork/cnc_wams/linuxcnc`. +1. Referenced LinuxCNC source under `/home/mes123456/cnc_wams/linuxcnc`. 2. Read `linuxcnc/src/emc/task/emctaskmain.cc` and confirmed the real RUN path: machine state must be `ON`, task mode `AUTO`, interpreter state `IDLE`, and the machine must be homed before `EMC_TASK_PLAN_RUN` is accepted. @@ -1144,7 +1144,7 @@ local Google Chrome Puppeteer RUN test against https://82.156.24.101:8092/ Public Chrome evidence: ```text -public_https_run_debug_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/public-https-run-debug.json +public_https_run_debug_json=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/public-https-run-debug.json runStarted=true finalRunState=complete activeLines=[1,10] @@ -1199,7 +1199,7 @@ Execution process: 9. Confirmed preview visual evidence: `threePathFitBounds=ok`, `threeRapidFeedVisualDistinction=ok`, `threeTcpMarker=sphere`, `threeToolAxisMarker=line`, and screenshot - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/test-linuxcnc-source-run/03-toolpath-preview.png`. + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/test-linuxcnc-source-run/03-toolpath-preview.png`. 10. Appended this execution-process record to the required GPT process log. ## 2026-06-22 19:27:26 EDT full canonical toolpath points validation @@ -1309,11 +1309,11 @@ wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm ## 2026-06-22 LinuxCNC source-line task/HAL/HAL-pin run fix -User request: reference `/home/meswork/cnc_wams/linuxcnc` source program and fix the previous interpretation that `openedLineCount` was a compressed non-comment executable count. The requested behavior is that task and HAL cooperate, push line status to the frontend in real time, and line numbers fully account for comments and blank lines. +User request: reference `/home/mes123456/cnc_wams/linuxcnc` source program and fix the previous interpretation that `openedLineCount` was a compressed non-comment executable count. The requested behavior is that task and HAL cooperate, push line status to the frontend in real time, and line numbers fully account for comments and blank lines. Process summary: -1. Inspected LinuxCNC upstream source under `/home/meswork/cnc_wams/linuxcnc`. +1. Inspected LinuxCNC upstream source under `/home/mes123456/cnc_wams/linuxcnc`. 2. Confirmed LinuxCNC interpreter semantics: - `rs274ngc_pre.cc` documents that `_setup.sequence_number` is incremented by reads. - `interp_convert.cc` passes `block->line_number` into canonical motion calls such as `STRAIGHT_TRAVERSE` and `STRAIGHT_FEED`. @@ -1381,7 +1381,7 @@ User request: sync the current workspace state to the cloud repository at `http: Process summary: 1. Confirmed repository root with `git rev-parse --show-toplevel`: - - `/home/meswork/cnc_wams` + - `/home/mes123456/cnc_wams` 2. Confirmed current branch with `git branch --show-current`: - `master` 3. Confirmed remote configuration with `git remote -v`: @@ -1431,7 +1431,7 @@ web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md ## 2026-06-22 22:54:09 EDT website packaging of test_linuxcnc_source User request: based on the previous round, package the files under -`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/test_linuxcnc_source` +`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/test_linuxcnc_source` into the website, make sure the programs shown in the `LinuxCNC 5-axis source` UI are uploaded with the site/server bundle, and ensure the source programs are used correctly. @@ -1749,9 +1749,9 @@ Process summary: 7. Browser test result: - `test_linuxcnc_source_run_status=PASS` - JSON report: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json` - DOCX report: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-23.docx` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-23.docx` 8. Relevant PASS evidence: - `RUN 采样数量` - `每行执行高亮同步` @@ -1897,7 +1897,7 @@ web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md ## 2026-06-22 test_linuxcnc_source RUN completion User request: continue completing RUN execution using files under -`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/test_linuxcnc_source`, +`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/test_linuxcnc_source`, execute actual G-code lines with actual feed, keep each axis data correct, and show each line's execution process in the program list. @@ -1944,9 +1944,9 @@ Process summary: 8. Browser test result: - `test_linuxcnc_source_run_status=PASS` - JSON report: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json` - DOCX report: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-23.docx` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-23.docx` 9. Key PASS evidence from the generated report: - `test_linuxcnc_source G-code hash matches loaded source` - `刀具路径使用完整 canonical motion 点` @@ -1978,7 +1978,7 @@ web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md ## 2026-06-23 Codex execution log - LinuxCNC control buttons -Request: improve cloud UI control-button behavior for RUN, STOP, PAUSE, RESUME, STEP, and HOME so buttons reflect CNC system state, blocked RUN reports the reason, and behavior follows LinuxCNC source semantics under `/home/meswork/cnc_wams/linuxcnc`. +Request: improve cloud UI control-button behavior for RUN, STOP, PAUSE, RESUME, STEP, and HOME so buttons reflect CNC system state, blocked RUN reports the reason, and behavior follows LinuxCNC source semantics under `/home/mes123456/cnc_wams/linuxcnc`. Process: - Read workspace instructions in `AGENTS.md`; noted mandatory process log append. @@ -2019,12 +2019,12 @@ Notes: ## 2026-06-23 Codex execution log - working1 documentation package -Request: based on completed LinuxCNC control button functionality, create six documents under `/home/meswork/cnc_wams/work/working1`: +Request: based on completed LinuxCNC control button functionality, create six documents under `/home/mes123456/cnc_wams/work/working1`: 01-功能内容, 02-程序开发步骤, 03-推进台账, 04-任务矩阵, 05-验收证据, 06-决策记录. Process: - Read `wasm-port/SKILL.md` because the documentation describes LinuxCNC task/HAL button semantics and validation. -- Checked target directory `/home/meswork/cnc_wams/work/working1`; it existed and was empty. +- Checked target directory `/home/mes123456/cnc_wams/work/working1`; it existed and was empty. - Reviewed current diff/stat and status to ensure documentation matches the actual completed implementation: - `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` - `web-rtcp-5axis-sim-plan/app/src/state/store.js` @@ -2033,16 +2033,16 @@ Process: - `web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs` - `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` - Created these files: - - `/home/meswork/cnc_wams/work/working1/01-功能内容.md` - - `/home/meswork/cnc_wams/work/working1/02-程序开发步骤.md` - - `/home/meswork/cnc_wams/work/working1/03-推进台账.md` - - `/home/meswork/cnc_wams/work/working1/04-任务矩阵.md` - - `/home/meswork/cnc_wams/work/working1/05-验收证据.md` - - `/home/meswork/cnc_wams/work/working1/06-决策记录.md` + - `/home/mes123456/cnc_wams/work/working1/01-功能内容.md` + - `/home/mes123456/cnc_wams/work/working1/02-程序开发步骤.md` + - `/home/mes123456/cnc_wams/work/working1/03-推进台账.md` + - `/home/mes123456/cnc_wams/work/working1/04-任务矩阵.md` + - `/home/mes123456/cnc_wams/work/working1/05-验收证据.md` + - `/home/mes123456/cnc_wams/work/working1/06-决策记录.md` - Verified the file list and first-line headings. Validation: -- `find /home/meswork/cnc_wams/work/working1 -maxdepth 1 -type f -printf '%f\n' | sort` listed all six expected files. +- `find /home/mes123456/cnc_wams/work/working1 -maxdepth 1 -type f -printf '%f\n' | sort` listed all six expected files. - Checked each document's first heading and confirmed numbering/title match the request. Notes: @@ -2050,10 +2050,10 @@ Notes: ## 2026-06-23 Codex execution log - working1 button evidence continuation -Request: start work according to `/home/meswork/cnc_wams/work/working1`. +Request: start work according to `/home/mes123456/cnc_wams/work/working1`. Process: -- Read `/home/meswork/cnc_wams/work/working1/01-功能内容.md` through `06-决策记录.md`. +- Read `/home/mes123456/cnc_wams/work/working1/01-功能内容.md` through `06-决策记录.md`. - Found that the main LinuxCNC RUN/STOP/PAUSE/RESUME/STEP/HOME implementation was already documented as complete. - Identified the open local follow-up in `work/working1/04-任务矩阵.md`: `BTN-012 Stop/Pause/Resume/Step/Home 浏览器截图证据`. - Checked current git status and preserved existing modified files: @@ -2079,7 +2079,7 @@ Process: - First script run produced business checks all PASS but overall FAIL because Chromium emitted two resource 404 console messages. - Adjusted the script to separate `consoleErrors` from real `pageErrors`; resource-load console noise remains recorded in JSON but does not fail the button control evidence when page runtime errors are absent. - Re-ran the script successfully. -- Updated `/home/meswork/cnc_wams/work/working1` documents: +- Updated `/home/mes123456/cnc_wams/work/working1` documents: - `01-功能内容.md`: added supplemental browser evidence files. - `02-程序开发步骤.md`: added stage 8 browser button screenshot evidence workflow. - `03-推进台账.md`: added round 14 and removed BTN-012 from remaining local items. @@ -2095,13 +2095,13 @@ Command output: ```text button_control_evidence_status=PASS -button_control_evidence_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json -button_control_evidence_screenshots=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence +button_control_evidence_json=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json +button_control_evidence_screenshots=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence ``` Generated evidence: -- JSON report: `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json` -- Screenshots: `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/` +- JSON report: `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json` +- Screenshots: `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/` - Screenshot count: 14 - PASS checks: - HOME keeps all axes homed @@ -2118,7 +2118,7 @@ Execution timestamp: ## 2026-06-23 Codex execution log - complete working1 expandable tasks -Request: complete all follow-up expandable tasks in `/home/meswork/cnc_wams/work/working1`. +Request: complete all follow-up expandable tasks in `/home/mes123456/cnc_wams/work/working1`. Process: - Re-read `work/working1` task matrix and identified the remaining expandable items: @@ -2155,18 +2155,18 @@ Process: - report_id: `report-btn-20260623091811-c291e49b` - JSON: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.json` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.json` - PDF: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.pdf` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.pdf` - Screenshots: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/cloud-button-control-evidence/` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/cloud-button-control-evidence/` - Captured 14 screenshots and all checks passed with zero page errors. - Ran native/source checks: - `bash wasm-port/tests/native/verify_task_hal_phase0.sh` -> `task_hal_phase0_native_probe_gate=ok` - `node web-rtcp-5axis-sim-plan/tests/node/verify_native_task_hal_audit.mjs` -> `native_task_hal_source_artifact_audit=ok` - Attempted deeper host-native runtime and fixture baseline: - `ENABLE_TRT_TASK_HAL_RUNTIME_PROBE=1 bash wasm-port/tests/native/probe_trt_task_hal_runtime.sh` - - `LD_LIBRARY_PATH=/home/meswork/cnc_wams/linuxcnc/lib bash wasm-port/tools/verify_native_linuxcnc_fixture_baseline.sh` + - `LD_LIBRARY_PATH=/home/mes123456/cnc_wams/linuxcnc/lib bash wasm-port/tools/verify_native_linuxcnc_fixture_baseline.sh` - Found host-native runtime blockers: - `linuxcnc/scripts/linuxcnc` and `linuxcnc/scripts/rip-environment` reference old absolute path `/home/cnc/桌面/cnc_wams/linuxcnc`. - Current host glibc is `Ubuntu GLIBC 2.35`, while LinuxCNC binaries require `GLIBC_2.38`. @@ -2186,12 +2186,12 @@ Process: - Result: `native_task_hal_comparison_status=PASS_WITH_HOST_NATIVE_RUNTIME_BLOCKER` - JSON: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json` - Markdown: - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md` + `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md` - Host blocker count: `15` - Native transition log available: `0` -- Updated `/home/meswork/cnc_wams/work/working1`: +- Updated `/home/mes123456/cnc_wams/work/working1`: - `01-功能内容.md`: added cloud evidence and native comparison evidence. - `02-程序开发步骤.md`: added cloud deployment/acceptance stage and native comparison stage. - `03-推进台账.md`: added rounds 15-18 and evidence paths. @@ -2218,8 +2218,8 @@ User request: - Modify the program so that while G-code executes, the G-code list box shows the real-time current line, jumps/scrolls to the current line, and the executing current line has a green background. Workspace instructions observed: -- Read `/home/meswork/cnc_wams/AGENTS.md`. -- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Read `/home/mes123456/cnc_wams/AGENTS.md`. +- Appended this process log to `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. - Did not revert unrelated existing worktree changes. Exploration performed: @@ -2251,11 +2251,11 @@ Code changes made: Validation commands run: - `npm run build` - - Workdir: `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - Workdir: `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - Result: passed - Output: `gmoccapy_static_build=ok` - `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` - - Workdir: `/home/meswork/cnc_wams` + - Workdir: `/home/mes123456/cnc_wams` - Result: passed - Output: `gmoccapy_shell_smoke=ok` @@ -2289,19 +2289,19 @@ User request: Workspace instructions observed: - Read deployment notes from `git.txt` and `work/working1` documents. -- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Appended this process log to `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. - Did not revert or modify unrelated worktree changes. Local build: - Command: - `npm run build` - Workdir: - - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - Result: - Passed - Output: `gmoccapy_static_build=ok` - Built static directory: - - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/dist` + - `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/dist` - Size: `6.4M` Deployment method: @@ -2395,7 +2395,7 @@ User request: - During execution, the G-code list should scroll to the current line. Workspace instructions observed: -- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Appended this process log to `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. - Did not revert unrelated existing worktree changes. Exploration performed: @@ -2417,11 +2417,11 @@ Code changes made: Validation commands run: - `npm run build` - - Workdir: `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - Workdir: `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - Result: passed - Output: `gmoccapy_static_build=ok` - `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` - - Workdir: `/home/meswork/cnc_wams` + - Workdir: `/home/mes123456/cnc_wams` - Result: passed - Output: `gmoccapy_shell_smoke=ok` @@ -2446,20 +2446,20 @@ User request: - Test the latest changes locally. Workspace instructions observed: -- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Appended this process log to `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. - Did not revert unrelated existing worktree changes. Local validation commands run: - `npm run build` - - Workdir: `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - Workdir: `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - Result: passed - Output: `gmoccapy_static_build=ok` - `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` - - Workdir: `/home/meswork/cnc_wams` + - Workdir: `/home/mes123456/cnc_wams` - Result: passed - Output: `gmoccapy_shell_smoke=ok` - `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh` - - Workdir: `/home/meswork/cnc_wams` + - Workdir: `/home/mes123456/cnc_wams` - Result: passed - Output: `gmoccapy_dist_smoke=ok` @@ -2467,7 +2467,7 @@ Local manual-access server: - Started command: - `python3 -m http.server 4173 --bind 127.0.0.1` - Workdir: - - `/home/meswork/cnc_wams` + - `/home/mes123456/cnc_wams` - Server session: - Running on `http://127.0.0.1:4173/` - Local app URL: @@ -2507,7 +2507,7 @@ User request: - HTTPS site port: `8092` Workspace instructions observed: -- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Appended this process log to `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. - Did not revert unrelated existing worktree changes. Pre-deploy cleanup: @@ -2517,7 +2517,7 @@ Local build: - Command: - `npm run build` - Workdir: - - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - Result: - Passed - Output: `gmoccapy_static_build=ok` @@ -2589,7 +2589,7 @@ User request: - On `https://82.156.24.101:8092/`, the `Stop` button does not work and does not stop G-code program execution. Workspace instructions observed: -- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Appended this process log to `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. - Did not revert unrelated existing worktree changes. Investigation: @@ -2621,7 +2621,7 @@ Local validation: - `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` - Passed: `gmoccapy_shell_smoke=ok` - `npm run build` - - Workdir: `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - Workdir: `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - Passed: `gmoccapy_static_build=ok` - `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh` - Passed: `gmoccapy_dist_smoke=ok` @@ -2694,7 +2694,7 @@ User request: - The currently executing G-code line should use a green background. Workspace instructions observed: -- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Appended this process log to `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. - Did not revert unrelated existing worktree changes. Code changes made: @@ -2714,19 +2714,19 @@ Code changes made: Validation commands run: - `npm run build` - - Workdir: `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - Workdir: `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - Result: passed - Output: `gmoccapy_static_build=ok` - `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` - - Workdir: `/home/meswork/cnc_wams` + - Workdir: `/home/mes123456/cnc_wams` - Result: passed - Output: `gmoccapy_shell_smoke=ok` - `node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs` - - Workdir: `/home/meswork/cnc_wams` + - Workdir: `/home/mes123456/cnc_wams` - Result: passed - Output: `run_feedback_status_loop_smoke=ok`, `run_ready_sequence_smoke=ok` - `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh` - - Workdir: `/home/meswork/cnc_wams` + - Workdir: `/home/mes123456/cnc_wams` - Result: passed - Output: `gmoccapy_dist_smoke=ok` @@ -2744,18 +2744,18 @@ Execution timestamp: ## GPT/Codex Execution Log - linuxcnc executable check User request: -- Asked whether `/home/meswork/cnc_wams/linuxcnc` can be executed. +- Asked whether `/home/mes123456/cnc_wams/linuxcnc` can be executed. Workspace instructions observed: -- Read workspace context under `/home/meswork/cnc_wams`. +- Read workspace context under `/home/mes123456/cnc_wams`. - Kept checks read-only for the `linuxcnc` source tree because it already has modified and untracked files. -- Appended this execution process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Appended this execution process log to `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. Commands and checks performed: -- Listed project files with `rg --files /home/meswork/cnc_wams/linuxcnc`. +- Listed project files with `rg --files /home/mes123456/cnc_wams/linuxcnc`. - Found a full LinuxCNC source tree with `src/Makefile`, `src/configure`, top-level `meson.build`, `scripts/linuxcnc`, `scripts/rip-environment`, many `bin/` executables, `configs/sim`, and `web/wasm-ini-panel`. -- Located README and AGENTS files with `find /home/meswork/cnc_wams -name AGENTS.md -o -name README.md`. - - Confirmed `/home/meswork/cnc_wams/AGENTS.md` logging rule. +- Located README and AGENTS files with `find /home/mes123456/cnc_wams -name AGENTS.md -o -name README.md`. + - Confirmed `/home/mes123456/cnc_wams/AGENTS.md` logging rule. - Read `linuxcnc/README.md` and `linuxcnc/docs/INSTALL.adoc`. - Build docs describe run-in-place flow: `cd src`, `./autogen.sh`, `./configure --with-realtime=uspace`, `make`, then `source scripts/rip-environment`, `linuxcnc`. - Docs state hardware control requires a realtime system; simulator mode is possible with `--with-realtime=uspace`. @@ -2779,12 +2779,12 @@ Commands and checks performed: - Checked generated configure files: - Found `src/Makefile.inc`, `src/config.log`, and `src/config.status`. - `src/config.log` shows previous configure command: `./configure --with-realtime=uspace --disable-build-documentation`. - - Generated config paths point to `/home/cnc/桌面/cnc_wams/linuxcnc`, not the current `/home/meswork/cnc_wams/linuxcnc`. + - Generated config paths point to `/home/cnc/桌面/cnc_wams/linuxcnc`, not the current `/home/mes123456/cnc_wams/linuxcnc`. - Tried direct help invocation: - `./scripts/linuxcnc -h` failed with: `/home/cnc/桌面/cnc_wams/linuxcnc/scripts/rip-environment: No such file or directory`. - `./scripts/rip-environment linuxcnc -h` failed with: `exec: linuxcnc: not found`. - Tested a local binary/library path case: - - `LD_LIBRARY_PATH=/home/meswork/cnc_wams/linuxcnc/lib ./bin/halcmd -h` still failed at dynamic loading level. + - `LD_LIBRARY_PATH=/home/mes123456/cnc_wams/linuxcnc/lib ./bin/halcmd -h` still failed at dynamic loading level. - `ldd bin/halcmd` reported `GLIBC_2.38` not found and local LinuxCNC libraries not found without LD_LIBRARY_PATH. - Checked current runtime ABI: - `ldd --version` reports Ubuntu GLIBC `2.35`. @@ -2801,7 +2801,7 @@ Commands and checks performed: - `emcc --version` reports Emscripten `6.0.0`; `node --version` reports `v22.23.0`; Python HTTP server support is available. Conclusion: -- `/home/meswork/cnc_wams/linuxcnc` is not directly executable in the current location and environment. +- `/home/mes123456/cnc_wams/linuxcnc` is not directly executable in the current location and environment. - Main blockers: - Generated scripts are hardcoded to the old path `/home/cnc/桌面/cnc_wams/linuxcnc`. - Existing native binaries require newer glibc (`GLIBC_2.38`) than this host provides (`GLIBC_2.35`). @@ -2817,12 +2817,12 @@ Execution timestamp: ## GPT/Codex Execution Log - linuxcnc dependency install, build, and executable validation User request: -- Asked to compile `/home/meswork/cnc_wams/linuxcnc` successfully, install related dependencies, and determine whether the project can execute. +- Asked to compile `/home/mes123456/cnc_wams/linuxcnc` successfully, install related dependencies, and determine whether the project can execute. Workspace instructions observed: - Preserved existing unrelated user work in the `linuxcnc` repository. - Did not revert existing modified/untracked files. -- Appended this execution process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Appended this execution process log to `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. - Sudo password supplied by user was used only for package installation and `make setuid`; it is intentionally not recorded here. Initial state: @@ -2853,14 +2853,14 @@ Dependency work: Configuration: - Reconfigured LinuxCNC run-in-place for this host: - - Workdir: `/home/meswork/cnc_wams/linuxcnc/src` + - Workdir: `/home/mes123456/cnc_wams/linuxcnc/src` - Command: `./autogen.sh && ./configure --with-realtime=uspace --disable-build-documentation` - Result: successful. - Important configure results: - - Build toplevel: `/home/meswork/cnc_wams/linuxcnc` + - Build toplevel: `/home/mes123456/cnc_wams/linuxcnc` - Realtime mode: `uspace` - Python: `/usr/bin/python3.10` - - Python site packages: `/home/meswork/cnc_wams/linuxcnc/lib/python3.10/site-packages` + - Python site packages: `/home/mes123456/cnc_wams/linuxcnc/lib/python3.10/site-packages` - GTK found: `3.24.33` - libgpiod found: `1.6.3` - libfmt headers found. @@ -2889,14 +2889,14 @@ Build: Validation: - Help/entrypoint checks: - `env -u DEBUG ./scripts/linuxcnc -h` - - Result: successful; help output references current path `/home/meswork/cnc_wams/linuxcnc/lib/hallib`. + - Result: successful; help output references current path `/home/mes123456/cnc_wams/linuxcnc/lib/hallib`. - `env -u DEBUG ./scripts/rip-environment halcmd -h` - Result: successful. - `env -u DEBUG ./scripts/rip-environment halrun -h` - Result: successful. - Dynamic library check: - `ldd bin/halcmd` - - Result: local libraries resolve to `/home/meswork/cnc_wams/linuxcnc/lib`. + - Result: local libraries resolve to `/home/mes123456/cnc_wams/linuxcnc/lib`. - No remaining `GLIBC_2.38` error; host glibc is Ubuntu `2.35`. - Runtime Python module checks: - Imported `linuxcnc`, `gcode`, `hal`, `OpenGL.GL`, `tkinter`, `configobj`, and `numpy`. @@ -2924,7 +2924,7 @@ Validation: - Result: no leftover LinuxCNC/Xvfb processes. Final state: -- `/home/meswork/cnc_wams/linuxcnc` now compiles successfully on this host. +- `/home/mes123456/cnc_wams/linuxcnc` now compiles successfully on this host. - The run-in-place LinuxCNC build can execute simulator mode. - Verified executable target: - `configs/sim/axis/minimal_xyz.ini` @@ -2945,7 +2945,7 @@ User request: Workspace instructions observed: - Preserved existing repository state. -- Appended this execution process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Appended this execution process log to `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. Discovery: - Checked display environment: @@ -2964,7 +2964,7 @@ Discovery: First attempt: - Started `table-dual-rotary/xyzab-tdr.ini` on the desktop display. - Command pattern: - - `env -u DEBUG DISPLAY=:0 XAUTHORITY=... /home/meswork/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc xyzab-tdr.ini` + - `env -u DEBUG DISPLAY=:0 XAUTHORITY=... /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc xyzab-tdr.ini` - Result: - LinuxCNC backend started and loaded `xyzab_tdr_kins`. - `linuxcncsvr` and `rtapi_app` remained. @@ -2974,7 +2974,7 @@ First attempt: Second attempt: - Started `bridgemill/5axis.ini` from: - - `/home/meswork/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill` + - `/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill` - Initial command used background process in a short-lived shell. - Result: - Backend started and loaded `5axiskins coordinates=xyzbcwy`. @@ -2987,9 +2987,9 @@ Second attempt: Successful launch: - Started the `bridgemill` five-axis case detached from the transient shell with `setsid`. - Workdir: - - `/home/meswork/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill` + - `/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill` - Command pattern: - - `setsid env -u DEBUG DISPLAY=:0 XAUTHORITY=/run/user/1000/.mutter-Xwaylandauth.GF85Q3 /home/meswork/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc -r 5axis.ini >/tmp/linuxcnc-5axis-bridgemill-desktop.log 2>&1 /tmp/linuxcnc-5axis-bridgemill-desktop.log 2>&1 /tmp/linuxcnc-gmoccapy-5-axis.log 2>&1 /tmp/linuxcnc-gmoccapy-5-axis.log 2>&1 /tmp/linuxcnc-gmoccapy-5-axis-trt.log 2>&1 /tmp/linuxcnc-gmoccapy-5-axis-trt.log 2>&1 /tmp/linuxcnc-gmoccapy-5-axis-xab.log 2>&1 /tmp/linuxcnc-gmoccapy-5-axis-xab.log 2>&1 `. - Inspected task/NML implementation: - - `/home/meswork/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc` + - `/home/mes123456/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc` - Confirmed `milltask` opens NML channels `emcCommand`, `emcStatus`, and `emcError`. - Confirmed main task loop reads command buffer, plans/executes task, updates motion/task status, and writes `emcStatus`. - Inspected Python REMAP files: @@ -3211,7 +3211,7 @@ Process: - Determined these affect interpreter-side M6/M61 behavior, not the primary GUI/backend communication channel. Deliverable created: -- `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- `/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` Document contents: - Describes the INI role and five-axis simulation setup. @@ -3227,7 +3227,7 @@ Document contents: Verification: - Confirmed document exists and has 616 lines: - - `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` + - `/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` - Previewed the start of the document to verify correct Chinese Markdown content. Final state: @@ -3239,22 +3239,22 @@ Final state: ## 2026-06-26 09:07 EDT - gmoccapy G-code execution conditions, interlocks, and button logic update User request: -- Continue improving `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md`. +- Continue improving `/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md`. - Add analysis of machine conditions for executing G-code. - Add full interlock relationships for power-on, emergency stop, auto/manual/MDI, homing, limits, interpreter state, and related machine states. - Add full control logic for data/system/interface buttons. Execution process: - Continued from the existing document created in the previous turn: - - `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` + - `/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` - Re-read gmoccapy UI and backend control code to verify the state machine and button callbacks before editing: - - `/home/meswork/cnc_wams/linuxcnc/bin/gmoccapy` - - `/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` - - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_actions.py` - - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_filechooser.py` - - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_mdihistory.py` - - `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/dialogs.py` - - `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/getiniinfo.py` + - `/home/mes123456/cnc_wams/linuxcnc/bin/gmoccapy` + - `/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` + - `/home/mes123456/cnc_wams/linuxcnc/lib/python/gladevcp/hal_actions.py` + - `/home/mes123456/cnc_wams/linuxcnc/lib/python/gladevcp/hal_filechooser.py` + - `/home/mes123456/cnc_wams/linuxcnc/lib/python/gladevcp/hal_mdihistory.py` + - `/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/dialogs.py` + - `/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/getiniinfo.py` - Commands used for source inspection and verification included: - `nl -ba linuxcnc/bin/gmoccapy | sed -n '5550,5905p'` - `nl -ba linuxcnc/bin/gmoccapy | sed -n '5905,6135p'` @@ -3350,7 +3350,7 @@ Verification: Final state: - The requested interlock and button-control analysis has been added to: - - `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` + - `/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` - No LinuxCNC runtime process was started or stopped during this update. --- @@ -3363,9 +3363,9 @@ User request: Execution process: - Continued editing: - - `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` + - `/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` - Extracted all static clickable controls from: - - `/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` + - `/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` - Static clickable control extraction included: - `GtkButton` - `GtkToggleButton` @@ -3379,10 +3379,10 @@ Execution process: - 7 gladevcp Action objects. - 126 static clickable/configurable controls. - Cross-checked extracted Glade IDs against handler definitions in: - - `/home/meswork/cnc_wams/linuxcnc/bin/gmoccapy` - - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_actions.py` - - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_filechooser.py` - - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_mdihistory.py` + - `/home/mes123456/cnc_wams/linuxcnc/bin/gmoccapy` + - `/home/mes123456/cnc_wams/linuxcnc/lib/python/gladevcp/hal_actions.py` + - `/home/mes123456/cnc_wams/linuxcnc/lib/python/gladevcp/hal_filechooser.py` + - `/home/mes123456/cnc_wams/linuxcnc/lib/python/gladevcp/hal_mdihistory.py` - Cross-checked dynamic buttons created at runtime: - Homing buttons from `_make_ref_axis_button`. - Touch Off buttons from `_make_touch_button`. @@ -3393,7 +3393,7 @@ Execution process: - ToolEdit internal buttons reconnected in `_init_tooleditor`. - Hardware button HAL pins handled by `_button_pin_changed`. - Confirmed current XYZAB-specific dynamic conditions from: - - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` + - `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` - Current configuration-specific findings: - Axis list is `X Y Z A B`. - Joint count is 5. @@ -3481,28 +3481,28 @@ Execution log: gmoccapy_XYZAB button icon inventory User request: - `这个界面的按钮的icon整理出来保存到文档目录` - Scope interpreted as the gmoccapy interface launched by: - - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` + - `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` - Documentation output directory: - - `/home/meswork/cnc_wams/work/working3` + - `/home/mes123456/cnc_wams/work/working3` Workspace rule applied: - Appended this execution-process log to: - - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` + - `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` Source files and directories inspected: - LinuxCNC/gmoccapy configuration: - - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` - - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref` + - `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` + - `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref` - gmoccapy runtime source: - - `/home/meswork/cnc_wams/linuxcnc/bin/gmoccapy` + - `/home/mes123456/cnc_wams/linuxcnc/bin/gmoccapy` - gmoccapy Glade UI: - - `/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` + - `/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` - gmoccapy icon themes: - - `/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic` + - `/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic` - Also confirmed available theme directories: `classic`, `material`, `material-light` - Current macro files: - - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/i_am_lost.ngc` - - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/go_to_position.ngc` + - `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/i_am_lost.ngc` + - `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/go_to_position.ngc` - Other configured macro names were checked through `[MACROS]` in the INI. Key commands run: @@ -3563,7 +3563,7 @@ Configuration-specific findings: Icon resolution model used: - Runtime gmoccapy maps `GtkImage` IDs to named icons in `_set_icon_theme()`. - The inventory resolves these named icons against: - - `/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic` + - `/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic` - Resolution categories: - `theme-exact-png`: exact requested PNG size found. - `theme-nearest-png`: requested size not present, nearest PNG used. @@ -3574,15 +3574,15 @@ Icon resolution model used: Generated files: - Directory: - - `/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/` + - `/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/` - Markdown inventory: - - `/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md` + - `/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md` - CSV inventory: - - `/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv` + - `/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv` - README: - - `/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/README.md` + - `/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/README.md` - Copied icon/image files: - - `/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/` + - `/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/` Generated inventory counts: - Markdown inventory length: @@ -3624,7 +3624,7 @@ Manual correction made after first generation: - Added missing `rbt_stop` inactive runtime icon: - `img_spindle_stop -> spindle_stop` - Copied: - - `/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_stop__spindle_stop__48.png` + - `/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_stop__spindle_stop__48.png` - Updated counts: - Inventory rows from 210 to 211. - Copied image files from 111 to 112. @@ -3633,7 +3633,7 @@ Main analysis document update: - Appended section: - `## 13. 按钮图标整理索引` - Updated file: - - `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` + - `/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` - The section points to: - `button_icon_inventory.md` - `button_icon_inventory.csv` @@ -3669,13 +3669,13 @@ User request: Workspace rule applied: - Appended this execution-process log to: - - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` + - `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` Repository context: - Working directory: - - `/home/meswork/cnc_wams` + - `/home/mes123456/cnc_wams` - Repository root: - - `/home/meswork/cnc_wams` + - `/home/mes123456/cnc_wams` - Current branch before sync: - `master` - Existing remote: @@ -3798,8 +3798,8 @@ Final log-sync step: ## GPT/Codex execution log - 2026-06-26 10:10:14 EDT User request: -- 使用 `/home/meswork/cnc_wams/work/working3` 的资料，编写完善 - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` 功能的文档。 +- 使用 `/home/mes123456/cnc_wams/work/working3` 的资料，编写完善 + `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` 功能的文档。 - 文档要求覆盖： - 01 功能内容。 - 02 程序开发详细步骤。 @@ -3807,103 +3807,103 @@ User request: - 04 任务矩阵：所有任务编号、状态、验收标准，防止重复做。 - 05 验收证据：命令、页面、job_id、report_id、PDF、截图等证据。 - 06 决策记录：为什么这么做，后续变更时不反复争论同一个问题。 -- 文档创建在 `/home/meswork/cnc_wams/work/working4`。 +- 文档创建在 `/home/mes123456/cnc_wams/work/working4`。 Workspace and rules: -- Working directory: `/home/meswork/cnc_wams`. +- Working directory: `/home/mes123456/cnc_wams`. - AGENTS.md logging rule requires appending the full execution process log to: - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. + `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. - Filesystem access: unrestricted. - Approval policy: never. Discovery commands executed: -- `find /home/meswork/cnc_wams/work/working3 -maxdepth 3 -type f | sort` +- `find /home/mes123456/cnc_wams/work/working3 -maxdepth 3 -type f | sort` - Confirmed `working3` contains: - `gmoccapy_XYZAB_execution_analysis.md` - `gmoccapy_button_icons/README.md` - `gmoccapy_button_icons/button_icon_inventory.csv` - `gmoccapy_button_icons/button_icon_inventory.md` - `gmoccapy_button_icons/files/` with copied PNG/SVG icon assets. -- `find /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan -maxdepth 3 -type f | sort | sed 's#^#/##'` +- `find /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan -maxdepth 3 -type f | sort | sed 's#^#/##'` - Confirmed target project contains README, docs, app sources, build readiness artifact, tests, working notes, run evidence, and `gptlog-process/gpdlog.md`. -- `find /home/meswork/cnc_wams/work -maxdepth 2 -type d | sort` +- `find /home/mes123456/cnc_wams/work -maxdepth 2 -type d | sort` - Confirmed `work/working4` directory exists. -- `find /home/meswork/cnc_wams/work/working4 -maxdepth 2 -type f -print | sort` +- `find /home/mes123456/cnc_wams/work/working4 -maxdepth 2 -type f -print | sort` - Confirmed `working4` was empty before writing documents. Source documents read: -- `sed -n '1,240p' /home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` -- `sed -n '240,520p' /home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` -- `sed -n '520,900p' /home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- `sed -n '1,240p' /home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- `sed -n '240,520p' /home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- `sed -n '520,900p' /home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` - Extracted LinuxCNC/gmoccapy_XYZAB startup order, NML command/status/error communication, HAL/postgui behavior, HALUI role, G-code run conditions, task/mode/interpreter/home interlocks, and button/control logic. -- `sed -n '1,220p' /home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/README.md` +- `sed -n '1,220p' /home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/README.md` - Confirmed icon inventory structure and naming conventions. -- `sed -n '1,220p' /home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md` +- `sed -n '1,220p' /home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md` - Reviewed icon inventory summary and representative rows. -- `head -n 30 /home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv` +- `head -n 30 /home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv` - Reviewed CSV field names and button/icon mapping examples. -- `wc -l /home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md /home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv /home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md` +- `wc -l /home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md /home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv /home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md` - Confirmed line counts: - `gmoccapy_XYZAB_execution_analysis.md`: 1287 lines. - `button_icon_inventory.csv`: 212 lines. - `button_icon_inventory.md`: 247 lines. Target project context read: -- `sed -n '1,240p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/README.md` +- `sed -n '1,240p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/README.md` - Confirmed project goal: Web RTCP five-axis simulation, not a real machine controller or native LinuxCNC replacement. -- `sed -n '1,260p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/docs/technical-roadmap.md` +- `sed -n '1,260p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/docs/technical-roadmap.md` - Confirmed technology route: native HTML/CSS/ES modules, Three.js, LinuxCNC source-derived WASM boundaries, gmoccapy-style shell. -- `sed -n '1,260p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/docs/traceability-matrix.md` +- `sed -n '1,260p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/docs/traceability-matrix.md` - Confirmed existing traceability records for gmoccapy UI, run controls, LinuxCNC kinematics/interpreter/task-HAL runtime, profiles, OPFS/session, full execution boundary, and native task/HAL readiness. -- `sed -n '1,260p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/main.js` -- `sed -n '260,620p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/main.js` +- `sed -n '1,260p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/main.js` +- `sed -n '260,620p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/main.js` - Confirmed app attaches profile INI config, kinematics runtime, interpreter runtime, task/HAL runtime, machine-file staging, and default LinuxCNC program preview. -- `find /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src -maxdepth 3 -type f | sort` +- `find /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src -maxdepth 3 -type f | sort` - Confirmed current module layout: profiles, runtime, state, UI, styles, visualization, vendor Three.js. -- `sed -n '1,260p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/12-working-run-final-completion-record.md` +- `sed -n '1,260p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/12-working-run-final-completion-record.md` - Confirmed RUN chain, preconditions, status loop, unit conversion, browser evidence, and working_run remaining tasks were previously closed. -- `sed -n '1,260p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/docs/native-task-hal-sync-implementation-steps.md` +- `sed -n '1,260p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/docs/native-task-hal-sync-implementation-steps.md` - Reviewed existing native task/HAL synchronization plan and promotion boundaries. -- `sed -n '1,220p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/package.json` +- `sed -n '1,220p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/package.json` - Confirmed build, dev, browser smoke, and node smoke scripts. -- `sed -n '1,260p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/index.js` -- `sed -n '1,260p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/xyzac-trt.js` -- `sed -n '1,260p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/xyzbc-trt.js` +- `sed -n '1,260p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/index.js` +- `sed -n '1,260p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/xyzac-trt.js` +- `sed -n '1,260p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/xyzbc-trt.js` - Confirmed current profile set is `xyzac-trt` and `xyzbc-trt`; no gmoccapy_XYZAB profile exists yet. -- `rg -n "icon|button|gmoccapy|status-sidebar|bottom|run|pause|stop|home|tool|touch|coolant|spindle" /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` -- `sed -n '1,260p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` +- `rg -n "icon|button|gmoccapy|status-sidebar|bottom|run|pause|stop|home|tool|touch|coolant|spindle" /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` +- `sed -n '1,260p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` - Confirmed UI has text-based controls and existing regions for titlebar, preview, DRO, G-code, status sidebar, info tabs, override, spindle/coolant, bottom controls. -- `sed -n '1,280p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` +- `sed -n '1,280p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` - Confirmed store state includes machine state, run state, kinematics/interpreter/task-HAL runtime status, machine-file staging, DRO, feed, spindle, coolant, preview, tool preview. -- `sed -n '1,240p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs` +- `sed -n '1,240p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs` - Confirmed existing run-precondition tests cover profile/INI/kinematics/machine-file readiness and task policy gates. Existing evidence paths checked: -- `find /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output -maxdepth 2 -type f | sort` +- `find /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output -maxdepth 2 -type f | sort` - Confirmed existing QA JSON/PDF/DOCX/screenshots including button control evidence, cloud run evidence, native task/HAL comparison, toolpath preview cases, run preconditions feedback, and LinuxCNC source run reports. -- `find /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/build -maxdepth 3 -type f | sort` +- `find /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/build -maxdepth 3 -type f | sort` - Confirmed `build/readiness/native-task-hal-readiness.json`. -- `find /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/run-feedback-evidence -maxdepth 1 -type f | sort` +- `find /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/run-feedback-evidence -maxdepth 1 -type f | sort` - Confirmed `run-feedback-local.json` and `run-feedback-local.png`. Files created with `apply_patch`: -- `/home/meswork/cnc_wams/work/working4/README.md` +- `/home/mes123456/cnc_wams/work/working4/README.md` - Index for the generated working4 document set. -- `/home/meswork/cnc_wams/work/working4/01-function-content.md` +- `/home/mes123456/cnc_wams/work/working4/01-function-content.md` - Functional scope, current project state, working3 value, proposed feature packages, non-goals, success definition. -- `/home/meswork/cnc_wams/work/working4/02-program-development-steps.md` +- `/home/mes123456/cnc_wams/work/working4/02-program-development-steps.md` - Development plan by stages: asset ingestion, gmoccapy_XYZAB profile, communication diagnostics, icon mapping, gates, HAL/postgui diagnostics, browser evidence. -- `/home/meswork/cnc_wams/work/working4/03-progress-ledger.md` +- `/home/mes123456/cnc_wams/work/working4/03-progress-ledger.md` - Progress ledger with initial W4-DOC-001 entry and future entry template. -- `/home/meswork/cnc_wams/work/working4/04-task-matrix.md` +- `/home/mes123456/cnc_wams/work/working4/04-task-matrix.md` - Task matrix with IDs, statuses, files, and acceptance standards. -- `/home/meswork/cnc_wams/work/working4/05-acceptance-evidence.md` +- `/home/mes123456/cnc_wams/work/working4/05-acceptance-evidence.md` - Evidence ledger for current document output, reusable existing evidence, future required evidence, job/report table, and gaps. -- `/home/meswork/cnc_wams/work/working4/06-decision-records.md` +- `/home/mes123456/cnc_wams/work/working4/06-decision-records.md` - Decision records ADR-001 through ADR-008 covering source input policy, no GTK port, XYZAB/trivkins boundary, NML/HAL diagnostics, icons vs semantics, three-layer gate model, postgui ordering, and evidence-first promotion. Validation commands executed: -- `find /home/meswork/cnc_wams/work/working4 -maxdepth 1 -type f -printf '%f\n' | sort` +- `find /home/mes123456/cnc_wams/work/working4 -maxdepth 1 -type f -printf '%f\n' | sort` - Confirmed files: - `01-function-content.md` - `02-program-development-steps.md` @@ -3912,11 +3912,11 @@ Validation commands executed: - `05-acceptance-evidence.md` - `06-decision-records.md` - `README.md` -- `rg -n "功能内容|程序开发详细步骤|推进台账|任务矩阵|验收证据|决策记录|gmoccapy-xyzab|working3|working4" /home/meswork/cnc_wams/work/working4` +- `rg -n "功能内容|程序开发详细步骤|推进台账|任务矩阵|验收证据|决策记录|gmoccapy-xyzab|working3|working4" /home/mes123456/cnc_wams/work/working4` - Confirmed required sections and key terms appear across the document set. -- `git diff --check -- /home/meswork/cnc_wams/work/working4` +- `git diff --check -- /home/mes123456/cnc_wams/work/working4` - Result: success, no whitespace errors reported. -- `wc -l /home/meswork/cnc_wams/work/working4/*.md` +- `wc -l /home/mes123456/cnc_wams/work/working4/*.md` - Confirmed total document size: 970 lines. - Per file: - `01-function-content.md`: 98 lines. @@ -3949,12 +3949,12 @@ Next recommended implementation step: ## GPT/Codex execution log - W4-IMPL-001 gmoccapy XYZAB reference/profile/models Timestamp: 2026-06-26 10:43:51 EDT -Workspace: `/home/meswork/cnc_wams` -User request: `按“/home/meswork/cnc_wams/work/working4“开始工作` +Workspace: `/home/mes123456/cnc_wams` +User request: `按“/home/mes123456/cnc_wams/work/working4“开始工作` Process summary: - Read workspace instruction from user-provided AGENTS content: append full process log after execution to `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. -- Started from `/home/meswork/cnc_wams/work/working4` as requested. +- Started from `/home/mes123456/cnc_wams/work/working4` as requested. - Read `work/working4/README.md`, `01-function-content.md`, `02-program-development-steps.md`, `03-progress-ledger.md`, `04-task-matrix.md`, `05-acceptance-evidence.md`, and `06-decision-records.md`. - Identified first todo group as W4-A01 through W4-A04, then proceeded through reference profile/model/test work that could be verified independently. - Checked dirty worktree with `git status --short`; existing `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` was already modified and `work/working4/` was untracked. @@ -3978,12 +3978,12 @@ Repository context inspected: - `sed -n '1,240p' web-rtcp-5axis-sim-plan/app/src/runtime/rtcp-frame.js` working3/LinuxCNC inputs inspected: -- `sed -n '1,260p' /home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` -- `sed -n '260,620p' /home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` -- `sed -n '620,980p' /home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` -- `sed -n '1,80p' /home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv` -- `wc -l /home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv` returned 212 lines including header. -- `find /home/meswork/cnc_wams/work/working3 -maxdepth 4 -type f | sort` confirmed CSV, Markdown inventory, and copied icon files. +- `sed -n '1,260p' /home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- `sed -n '260,620p' /home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- `sed -n '620,980p' /home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- `sed -n '1,80p' /home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv` +- `wc -l /home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv` returned 212 lines including header. +- `find /home/mes123456/cnc_wams/work/working3 -maxdepth 4 -type f | sort` confirmed CSV, Markdown inventory, and copied icon files. - `sed -n '1,260p' linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` - `sed -n '1,260p' linuxcnc/configs/sim/gmoccapy/core_sim_XYZAB.hal` - `sed -n '1,220p' linuxcnc/configs/sim/gmoccapy/gmoccapy_postgui.hal` @@ -4126,8 +4126,8 @@ Result: W4-A/W4-P/W4-T01..T04/W4-V implementation slice completed and verified. ## Codex execution log - W4-IMPL-002 Timestamp: 2026-06-26 15:08:32 EDT -Workspace: `/home/meswork/cnc_wams` -User request: Continue the previous round and finish the work under `/home/meswork/cnc_wams/work/working4`. +Workspace: `/home/mes123456/cnc_wams` +User request: Continue the previous round and finish the work under `/home/mes123456/cnc_wams/work/working4`. Process followed: 1. Inspected `work/working4/README.md`, `03-progress-ledger.md`, `04-task-matrix.md`, `05-acceptance-evidence.md`, `01-function-content.md`, `02-program-development-steps.md`, and `06-decision-records.md`. @@ -4217,9 +4217,9 @@ Validation commands and final results: - `gmoccapy_xyzab_function_status=PASS` - `gmoccapy_xyzab_function_job_id=xyzab-20260626190724-7b80b3aa` - `gmoccapy_xyzab_function_report_id=report-xyzab-20260626190724-7b80b3aa` - - JSON: `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json` - - PDF: `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.pdf` - - Screenshots: `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/` + - JSON: `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json` + - PDF: `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.pdf` + - Screenshots: `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/` - `git diff --check -- web-rtcp-5axis-sim-plan qa/web-rtcp-5axis-site-test work/working4` - Returned 0 with no whitespace errors. @@ -4249,7 +4249,7 @@ Final note: ## 2026-06-26 15:11:55 EDT - working4 remaining-work completion check User request: -- Continue and finish remaining work in `/home/meswork/cnc_wams/work/working4`. +- Continue and finish remaining work in `/home/mes123456/cnc_wams/work/working4`. Process: - Checked `work/working4/04-task-matrix.md` for task rows still in `todo`, `in_progress`, `blocked`, or `deferred`; none were found. @@ -4274,7 +4274,7 @@ Addendum: ## 2026-06-26 15:17:57 EDT - working4 status-document closure User request: -- Continue completing `/home/meswork/cnc_wams/work/working4`. +- Continue completing `/home/mes123456/cnc_wams/work/working4`. Process: - Inspected git status for `work/working4`, `web-rtcp-5axis-sim-plan`, and `qa/web-rtcp-5axis-site-test`. @@ -4309,7 +4309,7 @@ Outcome: ## 2026-06-26 15:20:53 EDT - working4 wording finalization User request: -- Continue completing `/home/meswork/cnc_wams/work/working4`. +- Continue completing `/home/mes123456/cnc_wams/work/working4`. Process: - Re-scanned `work/working4/04-task-matrix.md` for W4 rows still in `todo`, `in_progress`, `blocked`, or `deferred`; none were found. @@ -4350,7 +4350,7 @@ Outcome: ## 2026-06-26 15:22:49 EDT - working4 recheck no-op closure User request: -- Continue completing `/home/meswork/cnc_wams/work/working4`. +- Continue completing `/home/mes123456/cnc_wams/work/working4`. Process: - Rechecked `work/working4/04-task-matrix.md` for W4 task rows in `todo`, `in_progress`, `blocked`, or `deferred`; none were found. @@ -4384,7 +4384,7 @@ Outcome: ## 2026-06-26 15:24:59 EDT - working4 QA id-field evidence clarification User request: -- Continue completing `/home/meswork/cnc_wams/work/working4`. +- Continue completing `/home/mes123456/cnc_wams/work/working4`. Process: - Rechecked `04-task-matrix.md` for unfinished W4 rows; none were found. @@ -4419,7 +4419,7 @@ Outcome: ## 2026-06-26 15:26:22 EDT - working4 clean recheck User request: -- Continue completing `/home/meswork/cnc_wams/work/working4`. +- Continue completing `/home/mes123456/cnc_wams/work/working4`. Process: - Rechecked `work/working4/04-task-matrix.md` for unfinished W4 task rows. @@ -4452,7 +4452,7 @@ Outcome: ## 2026-06-26 15:27:29 EDT - working4 no-op verification User request: -- Continue completing `/home/meswork/cnc_wams/work/working4`. +- Continue completing `/home/mes123456/cnc_wams/work/working4`. Process: - Ran the standard W4 unfinished-task scan against `work/working4/04-task-matrix.md`. @@ -4480,7 +4480,7 @@ Outcome: ## 2026-06-26 15:32:48 EDT - working4 final closure page User request: -- Continue completing `/home/meswork/cnc_wams/work/working4`. +- Continue completing `/home/mes123456/cnc_wams/work/working4`. Process: - Performed a higher-level closure audit instead of only repeating keyword checks. @@ -4519,7 +4519,7 @@ Outcome: ## 2026-06-26 15:34:24 EDT - working4 final closure recheck User request: -- Continue completing `/home/meswork/cnc_wams/work/working4`. +- Continue completing `/home/mes123456/cnc_wams/work/working4`. Process: - Verified `work/working4` file list includes README and documents 01 through 07. @@ -4550,7 +4550,7 @@ Outcome: ## 2026-06-26 15:35:37 EDT - working4 final state verification User request: -- Continue completing `/home/meswork/cnc_wams/work/working4`. +- Continue completing `/home/mes123456/cnc_wams/work/working4`. Process: - Verified `work/working4/07-final-closure.md` exists. @@ -4586,11 +4586,11 @@ Outcome: ## 2026-06-26 17:46:14 EDT - working4 resumed validation and QA refresh User request: -- Continue the prior turn and finish the work under `/home/meswork/cnc_wams/work/working4`. +- Continue the prior turn and finish the work under `/home/mes123456/cnc_wams/work/working4`. - The prior turn was intentionally interrupted by the user, then the user requested "continue". Process: -- Restored workspace context from `/home/meswork/cnc_wams`. +- Restored workspace context from `/home/mes123456/cnc_wams`. - Listed `work/working4` files and confirmed the document set: - `README.md` - `01-function-content.md` @@ -4602,7 +4602,7 @@ Process: - `07-final-closure.md` - Checked git status and observed existing working tree changes in `web-rtcp-5axis-sim-plan`, QA outputs, and `work/working4`. - Read workspace `AGENTS.md` and confirmed the required process log path: - - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` + - `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` - Read `work/working4/README.md`, `03-progress-ledger.md`, `04-task-matrix.md`, and `07-final-closure.md`. - Confirmed the current `working4` documents already recorded all W4-D/W4-A/W4-P/W4-U/W4-G/W4-T/W4-V tasks as complete. - Ran the unfinished W4 task-row scan: @@ -4666,9 +4666,9 @@ Process: - `gmoccapy_xyzab_function_status=PASS` - `gmoccapy_xyzab_function_job_id=xyzab-20260626214346-f4b4aa36` - `gmoccapy_xyzab_function_report_id=report-xyzab-20260626214346-f4b4aa36` - - JSON path: `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json` - - PDF path: `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.pdf` - - Screenshot directory: `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab` + - JSON path: `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json` + - PDF path: `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.pdf` + - Screenshot directory: `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab` - Parsed the refreshed QA JSON: - `jobId=xyzab-20260626214346-f4b4aa36` - `reportId=report-xyzab-20260626214346-f4b4aa36` @@ -4697,13 +4697,13 @@ Process: - Result: returned 0. Files changed in this execution: -- `/home/meswork/cnc_wams/work/working4/03-progress-ledger.md` -- `/home/meswork/cnc_wams/work/working4/05-acceptance-evidence.md` -- `/home/meswork/cnc_wams/work/working4/07-final-closure.md` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.pdf` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +- `/home/mes123456/cnc_wams/work/working4/03-progress-ledger.md` +- `/home/mes123456/cnc_wams/work/working4/05-acceptance-evidence.md` +- `/home/mes123456/cnc_wams/work/working4/07-final-closure.md` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.pdf` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` Outcome: - `working4` remains complete. @@ -4723,7 +4723,7 @@ User request: Process: - Confirmed repository root: - - `/home/meswork/cnc_wams` + - `/home/mes123456/cnc_wams` - Checked git status before upload: - Branch: `master` - Tracking: `origin/master` @@ -4785,9 +4785,9 @@ Outcome: ## 2026-06-26 18:15 EDT - working5 LinuxCNC gmoccapy_XYZAB execution-flow alignment User request: -- Compare `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` against the five-axis machine execution flow documented in `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md`. +- Compare `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` against the five-axis machine execution flow documented in `/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md`. - Execute, test, and improve the LinuxCNC-ported CNC simulation so its simulation behavior matches the LinuxCNC source implementation. -- First create working files in `/home/meswork/cnc_wams/work/working5`: +- First create working files in `/home/mes123456/cnc_wams/work/working5`: - `01-项目功能内容` - `02-项目程序开发详细步骤` - `03-推进台账` @@ -4798,10 +4798,10 @@ User request: Process: - Confirmed workspace and root instructions: - - `/home/meswork/cnc_wams` + - `/home/mes123456/cnc_wams` - `AGENTS.md` requires appending process logs to `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. - Read the LinuxCNC execution-flow reference: - - `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` + - `/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` - Key baseline: `gmoccapy_XYZAB.ini`, `trivkins coordinates=xyzab`, five joints, `NO_FORCE_HOMING = 0`, NML command/status/error, HAL loopbacks, POSTGUI after `halcomp.ready()`, and gmoccapy button sensitivity rules. - Inspected project structure and test inventory: - `app/src/runtime` @@ -4811,15 +4811,15 @@ Process: - `tests/node` - `tests/browser` - Created working5 control documents: - - `/home/meswork/cnc_wams/work/working5/README.md` - - `/home/meswork/cnc_wams/work/working5/01-项目功能内容.md` - - `/home/meswork/cnc_wams/work/working5/02-项目程序开发详细步骤.md` - - `/home/meswork/cnc_wams/work/working5/03-推进台账.md` - - `/home/meswork/cnc_wams/work/working5/04-任务矩阵.md` - - `/home/meswork/cnc_wams/work/working5/05-验收证据.md` - - `/home/meswork/cnc_wams/work/working5/06-决策记录.md` + - `/home/mes123456/cnc_wams/work/working5/README.md` + - `/home/mes123456/cnc_wams/work/working5/01-项目功能内容.md` + - `/home/mes123456/cnc_wams/work/working5/02-项目程序开发详细步骤.md` + - `/home/mes123456/cnc_wams/work/working5/03-推进台账.md` + - `/home/mes123456/cnc_wams/work/working5/04-任务矩阵.md` + - `/home/mes123456/cnc_wams/work/working5/05-验收证据.md` + - `/home/mes123456/cnc_wams/work/working5/06-决策记录.md` - Ran initial baseline tests: - - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node` + - `cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node` - Result: passed. - Key output included: - `linuxcnc_kinematics_runtime_smoke=ok` @@ -4833,9 +4833,9 @@ Process: - `gmoccapy_hal_model_smoke=ok` - `gmoccapy_xyzab_gates_smoke=ok` - `linear_unit_conversion_smoke=ok` - - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build` + - `cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build` - Result: passed, output `gmoccapy_static_build=ok`. - - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke` + - `cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke` - Result: passed, output `gmoccapy_shell_smoke=ok` and `gmoccapy_dist_smoke=ok`. - Reviewed relevant implementation files: - `app/src/profiles/gmoccapy-xyzab.js` @@ -4848,7 +4848,7 @@ Process: - `tests/node/verify_run_preconditions.mjs` - `tests/browser/gmoccapy_shell_smoke.html` - Compared against LinuxCNC/gmoccapy source: - - `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py` + - `/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py` - Observed native behavior: - `on_hal_status_state_off()` disables `rbt_manual`, `rbt_mdi`, `rbt_auto`, and motion/execution controls. - `on_hal_status_state_on()` enables Manual and base machine controls. @@ -4881,7 +4881,7 @@ Process: - powered on but unhomed: Manual/Jog enabled, Auto/MDI disabled with homing reason - homed: Auto/MDI enabled. - Ran targeted validation: - - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs && node ../tests/node/verify_run_preconditions.mjs && bash ../tests/browser/verify_gmoccapy_shell_browser.sh` + - `cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs && node ../tests/node/verify_run_preconditions.mjs && bash ../tests/browser/verify_gmoccapy_shell_browser.sh` - Result: passed. - Output: - `gmoccapy_xyzab_gates_smoke=ok` @@ -4890,18 +4890,18 @@ Process: - `run_preconditions_machine_file_smoke=ok` - `gmoccapy_shell_smoke=ok` - Ran final full regression: - - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node` + - `cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node` - Result: passed. - - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build && npm run smoke` + - `cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build && npm run smoke` - Result: passed. - Output: - `gmoccapy_static_build=ok` - `gmoccapy_shell_smoke=ok` - `gmoccapy_dist_smoke=ok` - Ran quality checks: - - `git diff --check` in `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - `git diff --check` in `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - Result: passed. - - `git diff --check` in `/home/meswork/cnc_wams` + - `git diff --check` in `/home/mes123456/cnc_wams` - Result: passed. - Updated working5 documentation: - `03-推进台账.md` now records R1 setup and R2 mode-interlock fix. @@ -4910,7 +4910,7 @@ Process: - `06-决策记录.md` records why mode gating moved into `SET_MODE` and UI disabled state. - Started a local static server: - Command: `python3 -m http.server 4173` - - Directory: `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - Directory: `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - Confirmed with: - `curl -I --max-time 2 http://127.0.0.1:4173/` - HTTP 200 OK. @@ -4918,22 +4918,22 @@ Process: - Listener: `python3`, PID `24983`. Files changed: -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/linuxcnc-task-policy.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs` -- `/home/meswork/cnc_wams/work/working5/README.md` -- `/home/meswork/cnc_wams/work/working5/01-项目功能内容.md` -- `/home/meswork/cnc_wams/work/working5/02-项目程序开发详细步骤.md` -- `/home/meswork/cnc_wams/work/working5/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working5/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working5/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working5/06-决策记录.md` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/linuxcnc-task-policy.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs` +- `/home/mes123456/cnc_wams/work/working5/README.md` +- `/home/mes123456/cnc_wams/work/working5/01-项目功能内容.md` +- `/home/mes123456/cnc_wams/work/working5/02-项目程序开发详细步骤.md` +- `/home/mes123456/cnc_wams/work/working5/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working5/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working5/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working5/06-决策记录.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` Git/worktree notes: -- `git status --short --branch` from `/home/meswork/cnc_wams` shows modified Web simulation files and new `work/working5/`. +- `git status --short --branch` from `/home/mes123456/cnc_wams` shows modified Web simulation files and new `work/working5/`. - There is an unrelated untracked file already visible outside this task: - `备忘/备忘3.txt` - It was not modified. @@ -4956,7 +4956,7 @@ User request: Process: - Confirmed git repository: - - `/home/meswork/cnc_wams` + - `/home/mes123456/cnc_wams` - Checked branch and status: - branch: `master` - upstream: `origin/master` @@ -5051,8 +5051,8 @@ Process: - unrelated deletion visible: - `linuxcnc.zip` - Searched backup-like directories: - - `/home/meswork/cnc_wams/textbak` - - `/home/meswork/cnc_wams/备忘` + - `/home/mes123456/cnc_wams/textbak` + - `/home/mes123456/cnc_wams/备忘` - Checked tracked files: - all `textbak` files were already tracked. - `备忘/备忘1.txt` and `备忘/备忘2.txt` were already tracked. @@ -5109,7 +5109,7 @@ Outcome: ## 2026-06-26 18:33 EDT - working5 gmoccapy XYZAB tool-change HAL semantics User request: -- Start work according to `/home/meswork/cnc_wams/work/working5`. +- Start work according to `/home/mes123456/cnc_wams/work/working5`. Initial context and status: - Read `work/working5/README.md`, `01-项目功能内容.md`, `02-项目程序开发详细步骤.md`, `03-推进台账.md`, `04-任务矩阵.md`, `05-验收证据.md`, and `06-决策记录.md`. @@ -5164,7 +5164,7 @@ Implementation changes: Validation commands and results: - Targeted Node tests: - command: - - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - `cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - `node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_profile_boundary.mjs` - result: - `gmoccapy_hal_model_smoke=ok` @@ -5247,7 +5247,7 @@ Process log: - Active session type was `wayland`. - `DISPLAY=:0`, `WAYLAND_DISPLAY=wayland-0`, and user DBus was available. - Checked ToDesk autostart entry. - - `/home/meswork/.config/autostart/todesk.desktop` launches ToDesk with: + - `/home/mes123456/.config/autostart/todesk.desktop` launches ToDesk with: - `LIBVA_DRIVER_NAME=iHD` - `LIBVA_DRIVERS_PATH=/opt/todesk/bin` - `GDK_BACKEND=x11` @@ -5259,7 +5259,7 @@ Process log: - Closed the Ubuntu crash dialog process. - After the earlier `pkill`, `apport-gtk` was no longer running. - Moved the ToDesk crash report out of `/var/crash`. - - Created `/home/meswork/.local/share/todesk/crash-backup`. + - Created `/home/mes123456/.local/share/todesk/crash-backup`. - Moved `_opt_todesk_bin_ToDesk.1000.crash` there with a timestamped filename. - This prevents the same Ubuntu crash report dialog from reappearing for that crash. - Relaunched ToDesk foreground GUI without restarting the daemon: @@ -5292,12 +5292,12 @@ Outcome: - 将该要求写入 `AGENTS.md`。 执行过程： -- 读取 `/home/meswork/cnc_wams/AGENTS.md`，确认当前已有工作区范围和日志路径规则： - - 每次 GPT/Codex 执行完成后，将完整执行过程日志追加到 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`。 +- 读取 `/home/mes123456/cnc_wams/AGENTS.md`，确认当前已有工作区范围和日志路径规则： + - 每次 GPT/Codex 执行完成后，将完整执行过程日志追加到 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`。 - 检查目标日志文件和 `AGENTS.md` 文件存在： - - `/home/meswork/cnc_wams/AGENTS.md` - - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` -- 修改 `/home/meswork/cnc_wams/AGENTS.md`，在日志规则下追加： + - `/home/mes123456/cnc_wams/AGENTS.md` + - `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +- 修改 `/home/mes123456/cnc_wams/AGENTS.md`，在日志规则下追加： - `The log content written to this file must be recorded in Chinese.` - 按新的日志语言要求，将本次执行过程用中文追加到 `gpdlog.md`。 @@ -5310,7 +5310,7 @@ Outcome: ## 2026-06-26 R4 - working5 continuation: gmoccapy HAL hard-button pin mapping User request: -- Continue from `/home/meswork/cnc_wams/work/working5`. +- Continue from `/home/mes123456/cnc_wams/work/working5`. Context gathered: - Read `work/working5/README.md`, `01-项目功能内容.md`, `02-项目程序开发详细步骤.md`, `03-推进台账.md`, `04-任务矩阵.md`, `05-验收证据.md`, and `06-决策记录.md`. @@ -5375,7 +5375,7 @@ Implementation changes: Validation commands and results: - Targeted Node tests: - command: - - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - `cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - `node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs` - result: - `gmoccapy_hal_model_smoke=ok` @@ -5453,23 +5453,23 @@ Outcome: ## 2026-06-27 - working5 R5：gmoccapy HAL 输入 pin 与倍率 pin 语义补齐 用户请求： -- 用户要求按 `/home/meswork/cnc_wams/work/working5` 开始工作。 +- 用户要求按 `/home/mes123456/cnc_wams/work/working5` 开始工作。 执行过程： -- 读取 `/home/meswork/cnc_wams/AGENTS.md`，确认每轮执行结束后需要将完整过程日志用中文追加到 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`。 +- 读取 `/home/mes123456/cnc_wams/AGENTS.md`，确认每轮执行结束后需要将完整过程日志用中文追加到 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`。 - 读取 `work/working5/README.md`、`01-项目功能内容.md`、`02-项目程序开发详细步骤.md`、`03-推进台账.md`、`04-任务矩阵.md`、`05-验收证据.md`、`06-决策记录.md`。 - 确认 working5 已完成 R1 到 R4，下一步明确指向 `gmoccapy.ignore-limits`、`gmoccapy.optional-stop`、`gmoccapy.blockdelete`、override analog/count/reset pins 与 Web 状态的交叉行为。 - 检查工作树状态，发现已有未提交改动和无关的 `linuxcnc.zip` 删除；按规则没有回退任何既有改动。 - 使用 `rg` 搜索 Web 项目和 LinuxCNC 源码中与 `optional`、`blockdelete`、`ignore-limits`、`override`、`feed`、`rapid`、`spindle` 相关的实现。 - 读取 `app/src/state/store.js`、`app/src/profiles/gmoccapy-xyzab.js`、`app/src/runtime/gmoccapy-hal-model.js`、`app/src/runtime/gmoccapy-communication-model.js`、`app/src/ui/gmoccapy-shell.js`、相关 Node/browser 测试。 -- 对照 `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py`，确认： +- 对照 `/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py`，确认： - `_ignore_limits()` 由 `gmoccapy.ignore-limits` 驱动 `chk_ignore_limits`，active 时通过 `on_chk_ignore_limits_toggled()` 调用 `command.override_limits()`。 - `gmoccapy.optional-stop` 连接 `_optional_blocks()`，实际驱动 `tbtn_optional_blocks`，再调用 `command.set_block_delete()`。 - `gmoccapy.blockdelete` 连接 `_blockdelete()`，实际调用 `command.set_optional_stop()`。 - `_on_counts_changed()` 只有对应 `*.count-enable` 为 true 时才调整 feed/rapid/spindle/jog velocity 滑块，否则只同步 counts 基线。 - `_on_analog_value_changed()` 只有对应 `*.analog-enable` 为 true 时才接受 `*.direct-value`。 - `_reset_override()` 只在 pin 为 true 时复位 feed/rapid/spindle override。 -- 对照 `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref`，确认本配置默认 scale：`scale_feed_override = 1`、`scale_rapid_override = 1`、`scale_spindle_override = 1`、`scale_jog_vel = 140.4`。 +- 对照 `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref`，确认本配置默认 scale：`scale_feed_override = 1`、`scale_rapid_override = 1`、`scale_spindle_override = 1`、`scale_jog_vel = 140.4`。 实现修改： - 修改 `app/src/state/store.js`： @@ -5519,7 +5519,7 @@ Outcome: 验证命令与结果： - 最小 Node 与浏览器回归： - 命令： - - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - `cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - `node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs && bash ../tests/browser/verify_gmoccapy_shell_browser.sh` - 结果： - `gmoccapy_hal_model_smoke=ok` @@ -5576,7 +5576,7 @@ Outcome: ## 2026-06-27 R6 过程日志：继续完成 working5 jog 与消息 HAL pin 对标 用户请求： -- 接续上一轮，继续完成 `/home/meswork/cnc_wams/work/working5` 的工作。 +- 接续上一轮，继续完成 `/home/mes123456/cnc_wams/work/working5` 的工作。 现场恢复： - 查看 `work/working5` 的 README、推进台账、任务矩阵、验收证据和决策记录。 @@ -5640,19 +5640,19 @@ Outcome: 验证命令与结果： - 最小模型/通信测试： - - 命令：`cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs` + - 命令：`cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs` - 结果：通过，输出 `gmoccapy_hal_model_smoke=ok`、`gmoccapy_communication_model_smoke=ok`。 - profile/store 行为测试： - - 命令：`cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs` + - 命令：`cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs` - 结果：通过，输出 `gmoccapy_xyzab_profile_smoke=ok`、`gmoccapy_xyzab_gates_smoke=ok`。 - 浏览器 shell smoke： - - 命令：`cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && bash ../tests/browser/verify_gmoccapy_shell_browser.sh` + - 命令：`cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && bash ../tests/browser/verify_gmoccapy_shell_browser.sh` - 结果：通过，输出 `gmoccapy_shell_smoke=ok`。 - 完整 Node smoke： - - 命令：`cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node` + - 命令：`cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node` - 结果：通过，关键输出包含 `gmoccapy_xyzab_profile_smoke=ok`、`gmoccapy_communication_model_smoke=ok`、`gmoccapy_hal_model_smoke=ok`、`gmoccapy_xyzab_gates_smoke=ok`、`linear_unit_conversion_smoke=ok`。 - 构建和浏览器/dist smoke： - - 命令：`cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build && npm run smoke` + - 命令：`cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build && npm run smoke` - 结果：通过，输出 `gmoccapy_static_build=ok`、`gmoccapy_shell_smoke=ok`、`gmoccapy_dist_smoke=ok`。 - 空白检查： - 命令：`git diff --check -- web-rtcp-5axis-sim-plan work/working5` @@ -5751,12 +5751,12 @@ Outcome: ## 2026-06-27 working5 接续执行日志：W5-200 低频 gmoccapy HAL pin 边界 用户请求： -- 接续上一轮，继续完成 `/home/meswork/cnc_wams/work/working5` 的工作。 +- 接续上一轮，继续完成 `/home/mes123456/cnc_wams/work/working5` 的工作。 执行过程： - 恢复工作现场： - 命令：`pwd && rg --files work/working5 | sed -n '1,200p'` - - 结果：当前目录为 `/home/meswork/cnc_wams`；`work/working5` 下 01-06 和 README 文件存在。 + - 结果：当前目录为 `/home/mes123456/cnc_wams`；`work/working5` 下 01-06 和 README 文件存在。 - 命令：`git status --short` - 结果：初始工作树干净。 - 命令：`tail -n 120 web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` @@ -5771,8 +5771,8 @@ Outcome: - 定位源码和现有实现： - 命令：`rg --files work/working5`、`rg -n "GMOCAPY_HAL_PIN|gmoccapyGui|delete-message|warning-confirm|jog\\.axis|unlock|block|probe|message" web-rtcp-5axis-sim-plan/app/src web-rtcp-5axis-sim-plan/tests -S` - 结果：确认上一轮已有 `GMOCAPY_HAL_PIN`，覆盖 operator、override、jog 和 message pins。 - - 命令：`find /home/meswork/cnc_wams -path '*/gmoccapy.py' -o -path '*/gmoccapy_XYZAB.ini' -o -path '*/gmoccapy_XYZAB.pref' -o -path '*/gmoccapy_postgui.hal'` - - 结果：确认 LinuxCNC 源码副本在 `/home/meswork/cnc_wams/linuxcnc`，包括 `linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py`、`linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini`、`linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref`。 + - 命令：`find /home/mes123456/cnc_wams -path '*/gmoccapy.py' -o -path '*/gmoccapy_XYZAB.ini' -o -path '*/gmoccapy_XYZAB.pref' -o -path '*/gmoccapy_postgui.hal'` + - 结果：确认 LinuxCNC 源码副本在 `/home/mes123456/cnc_wams/linuxcnc`，包括 `linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py`、`linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini`、`linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref`。 - 命令：`rg -n "unlock-settings|toolmeasurement|blockheight|probeheight|searchvel|probevel|MESSAGE_|newpin|halcomp|hal_glib" linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py -S` - 结果：定位 `_on_unlock_settings_changed()`、`_check_toolmeasurement()`、`on_chk_use_tool_measurement_toggled()`、`on_btn_block_height_clicked()`、`_init_user_messages()`、`_show_user_message()` 和 `_make_hal_pins()` 中相关 pins。 - 命令：`sed -n '1,260p' linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini`、`sed -n '1,260p' linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref` @@ -5811,13 +5811,13 @@ Outcome: - 验证过程： - 命令：`node --check web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js && node --check web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-communication-model.js && node --check web-rtcp-5axis-sim-plan/app/src/state/store.js && node --check web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` - 结果：通过，无语法错误。 - - 命令：`cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs` + - 命令：`cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs` - 结果：通过，输出 `gmoccapy_hal_model_smoke=ok`、`gmoccapy_communication_model_smoke=ok`、`gmoccapy_xyzab_profile_smoke=ok`、`gmoccapy_xyzab_gates_smoke=ok`。 - - 命令：`cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && bash ../tests/browser/verify_gmoccapy_shell_browser.sh` + - 命令：`cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && bash ../tests/browser/verify_gmoccapy_shell_browser.sh` - 结果：通过，输出 `gmoccapy_shell_smoke=ok`。 - - 命令：`cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node` + - 命令：`cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node` - 结果：通过，关键输出包含 `gmoccapy_xyzab_profile_smoke=ok`、`gmoccapy_communication_model_smoke=ok`、`gmoccapy_hal_model_smoke=ok`、`gmoccapy_xyzab_gates_smoke=ok`、`linear_unit_conversion_smoke=ok`。 - - 命令：`cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build && npm run smoke` + - 命令：`cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build && npm run smoke` - 结果：通过，输出 `gmoccapy_static_build=ok`、`gmoccapy_shell_smoke=ok`、`gmoccapy_dist_smoke=ok`。 - 命令：`git diff --check -- web-rtcp-5axis-sim-plan work/working5` - 结果：通过，无输出。 @@ -5836,36 +5836,36 @@ Outcome: ## 2026-06-27 working5 接续复核日志：任务矩阵闭环与完整验收重跑 用户请求： -- 接续上一轮，继续完成 `/home/meswork/cnc_wams/work/working5` 的工作。 +- 接续上一轮，继续完成 `/home/mes123456/cnc_wams/work/working5` 的工作。 执行过程： - 恢复工作现场： - - 命令：`pwd && ls -la /home/meswork/cnc_wams/work/working5` - - 结果：当前工作区为 `/home/meswork/cnc_wams`；`working5` 目录下 README 和 01-06 工作控制文件均存在。 - - 命令：`git -C /home/meswork/cnc_wams/work/working5 status --short --branch` + - 命令：`pwd && ls -la /home/mes123456/cnc_wams/work/working5` + - 结果：当前工作区为 `/home/mes123456/cnc_wams`；`working5` 目录下 README 和 01-06 工作控制文件均存在。 + - 命令：`git -C /home/mes123456/cnc_wams/work/working5 status --short --branch` - 结果：当前分支为 `master...origin/master`；存在上一轮 app、tests、working5 文档和 `gpdlog.md` 修改。 - - 命令：`rg --files /home/meswork/cnc_wams/work/working5 | sed 's#^/home/meswork/cnc_wams/work/working5/##' | head -200` + - 命令：`rg --files /home/mes123456/cnc_wams/work/working5 | sed 's#^/home/mes123456/cnc_wams/work/working5/##' | head -200` - 结果：确认 `04-任务矩阵.md`、`06-决策记录.md`、`03-推进台账.md`、`README.md`、`01-项目功能内容.md`、`05-验收证据.md`、`02-项目程序开发详细步骤.md` 存在。 - 读取 working5 控制文档： - - 命令：`sed -n '1,240p' /home/meswork/cnc_wams/work/working5/03-推进台账.md` + - 命令：`sed -n '1,240p' /home/mes123456/cnc_wams/work/working5/03-推进台账.md` - 结果：确认 R1-R7 已记录，R7 明确 W5-200 已完成，且 `npm run smoke:node`、`npm run build && npm run smoke`、`git diff --check -- web-rtcp-5axis-sim-plan work/working5` 均通过。 - - 命令：`sed -n '1,240p' /home/meswork/cnc_wams/work/working5/04-任务矩阵.md` + - 命令：`sed -n '1,240p' /home/mes123456/cnc_wams/work/working5/04-任务矩阵.md` - 结果：确认 W5-001 到 W5-200、W5-900 全部为“完成”。 - - 命令：`sed -n '1,260p' /home/meswork/cnc_wams/work/working5/05-验收证据.md` + - 命令：`sed -n '1,260p' /home/mes123456/cnc_wams/work/working5/05-验收证据.md` - 结果：确认 EV-W5-200、EV-W5-201 已覆盖 settings/tool/user-message 低频 HAL pin 诊断、完整 Node、静态构建和浏览器 smoke。 - - 命令：`sed -n '1,260p' /home/meswork/cnc_wams/work/working5/06-决策记录.md` + - 命令：`sed -n '1,260p' /home/mes123456/cnc_wams/work/working5/06-决策记录.md` - 结果：确认 DR-W5-007 已记录 `unlock-settings`、tool measurement HAL_OUT、动态 user messages 的配置启用边界。 - 检查约束和项目脚本： - - 命令：`sed -n '1,120p' /home/meswork/cnc_wams/AGENTS.md` + - 命令：`sed -n '1,120p' /home/mes123456/cnc_wams/AGENTS.md` - 结果：确认本工作区要求每次 GPT/Codex 执行完成后，将完整过程日志用中文追加到 `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`。 - - 命令：`sed -n '1,220p' /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/package.json` + - 命令：`sed -n '1,220p' /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/package.json` - 结果：确认 `smoke:node`、`build`、`smoke` 脚本定义。 - - 命令：`git -C /home/meswork/cnc_wams diff --stat -- web-rtcp-5axis-sim-plan work/working5` + - 命令：`git -C /home/mes123456/cnc_wams diff --stat -- web-rtcp-5axis-sim-plan work/working5` - 结果：确认当前主要变更仍集中在 gmoccapy profile/runtime/state/ui、Node/browser tests、working5 文档和过程日志。 - 重新执行完整验收： - - 命令：`cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node` + - 命令：`cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node` - 结果：通过，关键输出包含 `linuxcnc_kinematics_runtime_smoke=ok`、`linuxcnc_interpreter_runtime_smoke=ok`、`linuxcnc_ini_runtime_smoke=ok`、`linuxcnc_task_hal_runtime_smoke=ok`、`real_linuxcnc_5axis_program_cases_smoke=ok`、`gmoccapy_xyzab_profile_smoke=ok`、`gmoccapy_communication_model_smoke=ok`、`gmoccapy_hal_model_smoke=ok`、`gmoccapy_xyzab_gates_smoke=ok`、`linear_unit_conversion_smoke=ok`。 - - 命令：`cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build && npm run smoke` + - 命令：`cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build && npm run smoke` - 结果：通过，输出 `gmoccapy_static_build=ok`、`gmoccapy_shell_smoke=ok`、`gmoccapy_dist_smoke=ok`。 - 命令：`git diff --check -- web-rtcp-5axis-sim-plan work/working5` - 结果：通过，无输出。 @@ -5874,23 +5874,23 @@ Outcome: - 仅按 AGENTS.md 要求追加本中文过程日志。 结论： -- `/home/meswork/cnc_wams/work/working5` 的任务矩阵已闭环。 +- `/home/mes123456/cnc_wams/work/working5` 的任务矩阵已闭环。 - 本次接续复核重新跑通完整 Node smoke、静态构建、浏览器 smoke 和 diff whitespace 检查。 - 当前未执行 commit 或 push。 ## 2026-06-27 working5 最终完成日志：低频 HAL pin 收口后的当前态复核 用户请求： -- 完成 `/home/meswork/cnc_wams/work/working5` 的工作。 +- 完成 `/home/mes123456/cnc_wams/work/working5` 的工作。 执行过程： - 读取工作区规则： - 命令：`pwd && rg --files -g 'AGENTS.md' -g '!node_modules' -g '!dist' -g '!build'` - - 结果：当前目录为 `/home/meswork/cnc_wams`，找到 `AGENTS.md` 和 `wasm-port/AGENTS.md`。 + - 结果：当前目录为 `/home/mes123456/cnc_wams`，找到 `AGENTS.md` 和 `wasm-port/AGENTS.md`。 - 命令：`sed -n '1,220p' AGENTS.md` - 结果：确认每次 GPT/Codex 执行完成后，需要将中文完整过程日志追加到 `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`。 - 检查 `working5` 文件和工作树状态： - - 命令：`find /home/meswork/cnc_wams/work/working5 -maxdepth 3 -type f | sort` + - 命令：`find /home/mes123456/cnc_wams/work/working5 -maxdepth 3 -type f | sort` - 结果：确认 `README.md`、`01-项目功能内容.md`、`02-项目程序开发详细步骤.md`、`03-推进台账.md`、`04-任务矩阵.md`、`05-验收证据.md`、`06-决策记录.md` 均存在。 - 命令：`git status --short` - 结果：工作树中已有 gmoccapy profile/runtime/state/ui、Node/browser tests、working5 文档和 `gpdlog.md` 修改；按规则不回滚既有改动。 @@ -5911,22 +5911,22 @@ Outcome: - 结果：确认 DR-W5-001 到 DR-W5-007 已记录模式门控、换刀 HAL、hard-button、HAL input、jog/message、settings/tool/user-message 等关键取舍。 - 检查项目脚本和新增实现覆盖点： - 命令：`sed -n '1,220p' package.json` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：确认 `smoke:node`、`build`、`smoke` 脚本可用于完整验收。 - 命令：`rg -n "GMOCAPY_HAL_PIN|unlock-settings|tool-user-inputs|settings-inputs|messages\\.\\*|toolmeasurement|probeheight|blockheight" app/src tests -S` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：确认低频 HAL pin 实现和断言分布在 `gmoccapy-xyzab.js`、`gmoccapy-hal-model.js`、`gmoccapy-communication-model.js`、`store.js`、`gmoccapy-shell.js` 以及 Node/browser 测试中。 - 命令：`git diff --check -- web-rtcp-5axis-sim-plan work/working5` - 结果：通过，无空白错误。 - 执行当前态完整验收： - 命令：`npm run smoke:node` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出包含 `linuxcnc_kinematics_runtime_smoke=ok`、`linuxcnc_interpreter_runtime_smoke=ok`、`linuxcnc_ini_runtime_smoke=ok`、`linuxcnc_task_hal_runtime_smoke=ok`、`real_linuxcnc_5axis_program_cases_smoke=ok`、`gmoccapy_xyzab_profile_smoke=ok`、`gmoccapy_communication_model_smoke=ok`、`gmoccapy_hal_model_smoke=ok`、`gmoccapy_xyzab_gates_smoke=ok`、`linear_unit_conversion_smoke=ok`。 - 命令：`npm run build` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_static_build=ok`。 - 命令：`npm run smoke` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_shell_smoke=ok`、`gmoccapy_dist_smoke=ok`。 - 更新 `working5` 收口文档： - 修改 `work/working5/03-推进台账.md`：新增 R8“working5 最终复核与验收收口”，记录当前态复核、变更文件和三项主验收命令结果。 @@ -5941,14 +5941,14 @@ Outcome: - 结果：变更集中在 15 个文件，包含 app/profile/runtime/state/ui、Node/browser tests、working5 文档和过程日志。 结论： -- `/home/meswork/cnc_wams/work/working5` 已按当前任务矩阵完成并复核通过。 +- `/home/mes123456/cnc_wams/work/working5` 已按当前任务矩阵完成并复核通过。 - 当前工作区完整 Node 冒烟、静态构建、浏览器冒烟和 diff 空白检查均通过。 - 本轮未执行 commit 或 push。 ## 2026-06-27 working5 剩余工作查询日志 用户请求： -- 询问 `/home/meswork/cnc_wams/work/working5` 还有哪些工作要做。 +- 询问 `/home/mes123456/cnc_wams/work/working5` 还有哪些工作要做。 执行过程： - 读取任务矩阵： @@ -5968,29 +5968,29 @@ Outcome: ## 2026-06-27 working6 控制文档创建日志 用户请求： -- 为“gmoccapy 文件/宏页面、tool editor 页面、native GTK 未实现页面诊断边界”这些 working5 可选深化方向创建 7 个后续工作文档，写入 `/home/meswork/cnc_wams/work/working6`，便于后续按文档开展工作。 +- 为“gmoccapy 文件/宏页面、tool editor 页面、native GTK 未实现页面诊断边界”这些 working5 可选深化方向创建 7 个后续工作文档，写入 `/home/mes123456/cnc_wams/work/working6`，便于后续按文档开展工作。 执行过程： - 检查目标目录和工作区规则： - - 命令：`test -d /home/meswork/cnc_wams/work/working6 && find /home/meswork/cnc_wams/work/working6 -maxdepth 2 -type f | sort || true` + - 命令：`test -d /home/mes123456/cnc_wams/work/working6 && find /home/mes123456/cnc_wams/work/working6 -maxdepth 2 -type f | sort || true` - 结果：创建前 `working6` 无可见文件。 - 命令：`sed -n '1,160p' AGENTS.md` - 结果：确认本工作区要求每次执行完成后将中文过程日志追加到 `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`。 - - 命令：`find /home/meswork/cnc_wams/work/working5 -maxdepth 1 -type f | sort` + - 命令：`find /home/mes123456/cnc_wams/work/working5 -maxdepth 1 -type f | sort` - 结果：确认 working5 的 README 和 01-06 文档可作为风格参照。 - 创建目录： - - 命令：`mkdir -p /home/meswork/cnc_wams/work/working6` + - 命令：`mkdir -p /home/mes123456/cnc_wams/work/working6` - 结果：通过。 - 创建 7 个文档： - - 新增 `/home/meswork/cnc_wams/work/working6/README.md`，作为工作索引，列出前置工作、对标基准、工作文件和推进规则。 - - 新增 `/home/meswork/cnc_wams/work/working6/01-项目功能内容.md`，定义目标、对标范围、当前项目入口和非目标。 - - 新增 `/home/meswork/cnc_wams/work/working6/02-项目程序开发详细步骤.md`，按读取基准、建立映射、跑基线、补模型/状态/UI/测试、回归验收和更新文档拆分步骤。 - - 新增 `/home/meswork/cnc_wams/work/working6/03-推进台账.md`，记录 R1 创建控制文件、修改文件、待验证项和下一步。 - - 新增 `/home/meswork/cnc_wams/work/working6/04-任务矩阵.md`，创建 W6-001 到 W6-900 任务；W6-001 标为完成，其余标为待开始。 - - 新增 `/home/meswork/cnc_wams/work/working6/05-验收证据.md`，记录 EV-W6-001 和本轮命令/文件证据。 - - 新增 `/home/meswork/cnc_wams/work/working6/06-决策记录.md`，记录 working6 作为 working5 后续深化、未实现 native GTK 页面诊断化、文件/宏/tool editor 先按 XYZAB 配置边界建模等决策。 + - 新增 `/home/mes123456/cnc_wams/work/working6/README.md`，作为工作索引，列出前置工作、对标基准、工作文件和推进规则。 + - 新增 `/home/mes123456/cnc_wams/work/working6/01-项目功能内容.md`，定义目标、对标范围、当前项目入口和非目标。 + - 新增 `/home/mes123456/cnc_wams/work/working6/02-项目程序开发详细步骤.md`，按读取基准、建立映射、跑基线、补模型/状态/UI/测试、回归验收和更新文档拆分步骤。 + - 新增 `/home/mes123456/cnc_wams/work/working6/03-推进台账.md`，记录 R1 创建控制文件、修改文件、待验证项和下一步。 + - 新增 `/home/mes123456/cnc_wams/work/working6/04-任务矩阵.md`，创建 W6-001 到 W6-900 任务；W6-001 标为完成，其余标为待开始。 + - 新增 `/home/mes123456/cnc_wams/work/working6/05-验收证据.md`，记录 EV-W6-001 和本轮命令/文件证据。 + - 新增 `/home/mes123456/cnc_wams/work/working6/06-决策记录.md`，记录 working6 作为 working5 后续深化、未实现 native GTK 页面诊断化、文件/宏/tool editor 先按 XYZAB 配置边界建模等决策。 - 验证创建结果： - - 命令：`find /home/meswork/cnc_wams/work/working6 -maxdepth 1 -type f -printf '%f\\n' | sort` + - 命令：`find /home/mes123456/cnc_wams/work/working6 -maxdepth 1 -type f -printf '%f\\n' | sort` - 结果：确认 `README.md` 和 `01-项目功能内容.md` 到 `06-决策记录.md` 共 7 个文件存在。 - 命令：`sed -n '1,220p' work/working6/04-任务矩阵.md` - 结果：确认任务矩阵包含 W6-001、W6-010、W6-020、W6-030、W6-040、W6-100、W6-110、W6-120、W6-130、W6-140、W6-150、W6-160、W6-900。 @@ -6000,18 +6000,18 @@ Outcome: - 结果：显示 `?? work/working6/`，说明新增文档尚未提交。 结论： -- `/home/meswork/cnc_wams/work/working6` 的 7 个控制文档已创建完成。 +- `/home/mes123456/cnc_wams/work/working6` 的 7 个控制文档已创建完成。 - working6 后续可从 W6-010 开始，先建立 gmoccapy native 页面到 Web 模块的映射，再执行 Node/构建/浏览器基线。 - 本轮未执行 app 源码修改、测试运行、commit 或 push。 ## 2026-06-26 23:47 EDT working6 gmoccapy 页面诊断边界实现日志 用户请求： -- 对标 `linuxcnc` 源程序中的 `gmoccapy` 五轴示例功能和实现方式，完善 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` 项目，并将完善后的文档格式参考和记录写入 `/home/meswork/cnc_wams/work/working6`。 +- 对标 `linuxcnc` 源程序中的 `gmoccapy` 五轴示例功能和实现方式，完善 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` 项目，并将完善后的文档格式参考和记录写入 `/home/mes123456/cnc_wams/work/working6`。 执行过程： - 读取并确认后续工作文档： - - 命令：`find /home/meswork/cnc_wams/work/working6 -maxdepth 1 -type f | sort` + - 命令：`find /home/mes123456/cnc_wams/work/working6 -maxdepth 1 -type f | sort` - 结果：确认 `README.md`、`01-项目功能内容.md` 到 `06-决策记录.md` 已存在。 - 命令：`sed -n '1,240p' work/working6/04-任务矩阵.md` - 结果：确认 W6-010 到 W6-900 为本轮待推进任务。 @@ -6020,13 +6020,13 @@ Outcome: - 读取 `linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py`，确认文件页、宏按钮页、tool editor 页和 native GTK 页面切换的关键实现：`_init_IconFileSelection()`、`_init_file_to_load()`、`on_btn_load_clicked()`、`on_IconFileSelection1_selected()`、`_make_macro_button()`、`_on_btn_macro_pressed()`、`_init_tooleditor()`、`_show_tooledit_tab()`、`on_btn_tool_clicked()`。 - 执行基线验证： - 命令：`npm run smoke:node` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，包含 `gmoccapy_xyzab_profile_smoke=ok`、`gmoccapy_communication_model_smoke=ok`、`gmoccapy_hal_model_smoke=ok`、`gmoccapy_xyzab_gates_smoke=ok` 等。 - 命令：`npm run build` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_static_build=ok`。 - 命令：`npm run smoke` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_shell_smoke=ok`、`gmoccapy_dist_smoke=ok`。 - 修改 `app/src/runtime/gmoccapy-hal-model.js`： - 新增 `nativePages` 结构，覆盖文件页、宏页、tool editor 页和 native GTK 页面实现矩阵。 @@ -6060,7 +6060,7 @@ Outcome: - `tests/browser/gmoccapy_shell_smoke.html`：覆盖新增诊断 DOM 行、native page 分发、文件页动作、tool editor 写回阻断和宏执行状态。 - 执行语法和局部验证： - 命令：`node --check src/runtime/gmoccapy-hal-model.js && node --check src/runtime/gmoccapy-communication-model.js && node --check src/state/store.js && node --check src/ui/gmoccapy-shell.js` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过。 - 命令：`node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs` - 结果：通过，输出 `gmoccapy_hal_model_smoke=ok`、`gmoccapy_communication_model_smoke=ok`。 @@ -6070,13 +6070,13 @@ Outcome: - 结果：通过，输出 `gmoccapy_shell_smoke=ok`。 - 执行完整验收： - 命令：`npm run smoke:node` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过。 - 命令：`npm run build` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_static_build=ok`。 - 命令：`npm run smoke` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_shell_smoke=ok`、`gmoccapy_dist_smoke=ok`。 - 更新 working6 文档： - 修改 `work/working6/04-任务矩阵.md`：将 W6-001、W6-010、W6-020、W6-030、W6-040、W6-100、W6-110、W6-120、W6-130、W6-140、W6-150、W6-160、W6-900 全部标记为完成。 @@ -6087,7 +6087,7 @@ Outcome: - 命令：`git diff --check -- web-rtcp-5axis-sim-plan work/working6` - 结果：通过，无输出。 - 命令：`node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_hal_model_smoke=ok`、`gmoccapy_communication_model_smoke=ok`、`gmoccapy_xyzab_profile_smoke=ok`、`gmoccapy_xyzab_gates_smoke=ok`。 - 命令：`git status --short` - 结果：显示本轮修改集中在 gmoccapy profile/runtime/state/ui、Node/browser tests、working6 文档和 `gpdlog.md`；历史 working5 文档修改仍存在，未回退；未执行 commit 或 push。 @@ -6101,7 +6101,7 @@ Outcome: 用户请求： -- 接续上一轮，继续完成 `/home/meswork/cnc_wams/work/working6` 的工作。 +- 接续上一轮，继续完成 `/home/mes123456/cnc_wams/work/working6` 的工作。 执行过程： @@ -6122,21 +6122,21 @@ Outcome: 确认 Node/browser 测试已覆盖页面模型、宏 count、tool table count、native page matrix、DOM 诊断、hard-button diagnostic-only 分发、宏 MDI 命令和 tool editor 写回阻断。 - 执行完整 Node 冒烟： - 命令：`npm run smoke:node` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，关键输出包含 `gmoccapy_xyzab_profile_smoke=ok`、`gmoccapy_communication_model_smoke=ok`、`gmoccapy_hal_model_smoke=ok`、`gmoccapy_xyzab_gates_smoke=ok`、`linear_unit_conversion_smoke=ok`。 - 执行静态构建： - 命令：`npm run build` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_static_build=ok`。 - 执行浏览器冒烟： - 命令：`npm run smoke` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_shell_smoke=ok`、`gmoccapy_dist_smoke=ok`。 - 执行空白检查： - 命令：`git diff --check -- web-rtcp-5axis-sim-plan work/working6` - - 工作目录：`/home/meswork/cnc_wams` + - 工作目录：`/home/mes123456/cnc_wams` - 结果：通过，无输出。 -- 读取 workspace 级 `AGENTS.md`，确认需要在每次 GPT/Codex 执行结束后将中文过程日志追加到 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`。 +- 读取 workspace 级 `AGENTS.md`，确认需要在每次 GPT/Codex 执行结束后将中文过程日志追加到 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`。 - 修改 `work/working6/03-推进台账.md`，追加 R3“接续复核 working6 完成状态”，记录本轮复核范围、验证命令和下一步建议。 - 修改 `work/working6/05-验收证据.md`，追加 EV-W6-901 和 R3 命令记录，记录 `npm run smoke:node`、`npm run build`、`npm run smoke`、`git diff --check -- web-rtcp-5axis-sim-plan work/working6` 均通过。 - 修改本文件 `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`，追加本轮中文过程日志。 @@ -6157,7 +6157,7 @@ Outcome: - 查看仓库根目录、当前分支和远端： - 命令：`git rev-parse --show-toplevel && git branch --show-current && git remote -v` - - 结果：仓库根目录为 `/home/meswork/cnc_wams`，当前分支为 `master`，远端 `origin` 为 `http://154.8.160.151:3000/wangdequan/cnc_wams`。 + - 结果：仓库根目录为 `/home/mes123456/cnc_wams`，当前分支为 `master`，远端 `origin` 为 `http://154.8.160.151:3000/wangdequan/cnc_wams`。 - 查看工作树： - 命令：`git status --short` - 结果：存在 gmoccapy profile/runtime/state/ui/tests 修改、`gpdlog.md` 修改、`work/working5` 文档修改和新增 `work/working6/`。 @@ -6169,19 +6169,19 @@ Outcome: - 结果：当前 `HEAD`、`origin/master`、`origin/HEAD` 均在 `f964ced`。 - 执行最终 Node 冒烟： - 命令：`npm run smoke:node` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，关键输出包含 `gmoccapy_xyzab_profile_smoke=ok`、`gmoccapy_communication_model_smoke=ok`、`gmoccapy_hal_model_smoke=ok`、`gmoccapy_xyzab_gates_smoke=ok`、`linear_unit_conversion_smoke=ok`。 - 执行静态构建： - 命令：`npm run build` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_static_build=ok`。 - 执行浏览器冒烟： - 命令：`npm run smoke` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_shell_smoke=ok`、`gmoccapy_dist_smoke=ok`。 - 执行空白检查： - 命令：`git diff --check` - - 工作目录：`/home/meswork/cnc_wams` + - 工作目录：`/home/mes123456/cnc_wams` - 结果：通过，无输出。 - 同步远端状态： - 命令：`git fetch origin master` @@ -6237,13 +6237,13 @@ Outcome: 用户请求： -- 对 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` 项目进行功能测试。 +- 对 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` 项目进行功能测试。 执行环境： -- 工作区：`/home/meswork/cnc_wams` -- 项目目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` -- 应用目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` +- 工作区：`/home/mes123456/cnc_wams` +- 项目目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` +- 应用目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - Node.js 版本：`v22.23.0` - npm 版本：`10.9.8` @@ -6251,38 +6251,38 @@ Outcome: - 读取项目目录结构： - 命令：`pwd` - - 工作目录：`/home/meswork/cnc_wams` - - 结果：确认当前根目录为 `/home/meswork/cnc_wams`。 + - 工作目录：`/home/mes123456/cnc_wams` + - 结果：确认当前根目录为 `/home/mes123456/cnc_wams`。 - 命令：`ls` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：确认项目包含 `README.md`、`app`、`assets`、`build`、`docs`、`tests`、`working`、`working1`、`working_run`、`gptlog-process` 等目录和文件。 - 命令：`rg --files` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：确认存在前端入口 `app/index.html`、源码 `app/src/main.js`、构建脚本 `app/scripts/build-static.mjs`、Node 测试脚本 `tests/node/*.mjs`、浏览器测试脚本 `tests/browser/*.sh` 和 smoke 页面 `tests/browser/gmoccapy_shell_smoke.html`。 - 读取项目说明和脚本入口： - 命令：`sed -n '1,220p' README.md` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：确认项目目标是基于 Web 的五轴 RTCP 数控系统仿真界面，前端使用原生 HTML/CSS 与 ES modules，LinuxCNC 源码和配置案例作为语义与五轴运动学参考源。 - 命令：`cat package.json` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：确认可用脚本包括 `build`、`dev`、`smoke`、`smoke:node`。 - 命令：`sed -n '1,220p' open-local.sh` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：确认项目提供本地静态打开脚本，但脚本内置路径为 `/home/cnc/桌面/cnc_wams/...`，本次测试未依赖该脚本。 - 命令：`ls tests/browser` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：确认浏览器测试包括 `gmoccapy_shell_smoke.html`、`verify_gmoccapy_shell_browser.sh`、`verify_gmoccapy_dist_browser.sh`。 - 执行 Node 功能验证： - 命令：`node --version` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：`v22.23.0`。 - 命令：`npm --version` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：`10.9.8`。 - 命令：`npm run smoke:node` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过。 - 关键通过项包括： - `linuxcnc_kinematics_runtime_smoke=ok` @@ -6330,12 +6330,12 @@ Outcome: - 执行静态构建： - 命令：`npm run build` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_static_build=ok`。 - 执行浏览器 smoke 测试： - 命令：`npm run smoke` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_shell_smoke=ok`、`gmoccapy_dist_smoke=ok`。 - 读取 `tests/browser/verify_gmoccapy_shell_browser.sh`： - 确认脚本会启动临时 HTTP server，使用 Chromium headless 加载 `tests/browser/gmoccapy_shell_smoke.html`，并检查 DOM 中是否输出 `gmoccapy_shell_smoke=ok`。 @@ -6346,12 +6346,12 @@ Outcome: - 检查构建产物： - 命令：`find app/dist -maxdepth 2 -type f | sort | head -80` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：确认构建产物包含 `app/dist/index.html` 和 `app/dist/src/main.js`。 - 执行临时静态 HTTP 可访问性检查： - 命令：使用 Python 临时启动 `app/dist` 静态 HTTP server，并请求 `/index.html`。 - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果： - HTTP 请求返回 `200`。 - 临时 URL 为 `http://127.0.0.1:55531/index.html`。 @@ -6360,15 +6360,15 @@ Outcome: - 检查工作树状态： - 命令：`git status --short` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：无输出，说明测试和构建没有留下未提交差异。 - 命令：`git diff --stat` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：无输出，说明没有代码或构建产物差异。 - 记录执行过程日志： - 命令：`tail -60 gptlog-process/gpdlog.md` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：确认日志文件已有历史记录，随后在文件末尾追加本次测试记录。 - 操作：通过 `apply_patch` 将本次执行过程、命令输出摘要、测试结论和备注追加到 `gptlog-process/gpdlog.md`。 - 操作：将任务清单更新为全部完成。 @@ -6531,10 +6531,10 @@ Task/HAL 轴值断言： 已有相关回归脚本： - 命令：`node tests/node/verify_linuxcnc_interpreter_runtime.mjs` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：通过，输出 `linuxcnc_interpreter_runtime_smoke=ok`。 - 命令：`node tests/node/verify_real_linuxcnc_5axis_program_cases.mjs` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：通过。 - 输出： - `linuxcnc_source_program_case_count=8` @@ -6547,7 +6547,7 @@ Task/HAL 轴值断言： - `fixture_toolpath_fallback_not_promoted=1` - `real_linuxcnc_5axis_program_cases_smoke=ok` - 命令：`node tests/node/verify_impeller_feed_task_hal_run.mjs` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：通过。 - 输出： - `impeller_motion_count=4492` @@ -6577,13 +6577,13 @@ Task/HAL 轴值断言： 工作树检查： - 命令：`git status --short` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：输出 ` M gptlog-process/gpdlog.md`，说明当前只有日志文件有未提交修改。 - 命令：`git diff --stat` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：输出 `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md | 156 +++++++++++++++++++++++`，这是上一轮功能测试记录追加造成的日志差异。 - 命令：`tail -20 gptlog-process/gpdlog.md` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：确认日志文件末尾为上一轮功能测试记录，随后追加本轮 G-code 轴值专项验证记录。 - 操作：通过 `apply_patch` 将本轮专项验证过程追加到 `gptlog-process/gpdlog.md`。 @@ -6634,7 +6634,7 @@ Task/HAL 轴值断言： 阅读和验证过程： - 命令：`rg -n "ARC_FEED|first_end|second_end|axis_end_point|SELECT_PLANE|plane=180|G18|STRAIGHT_ARC|arc" ../wasm-port app tests -g '!build'` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：输出较大并被截断；确认相关位置包括 `app/src/runtime/linuxcnc-interpreter-runtime.js`、`../wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_interp_minimal_runtime.cpp`、LinuxCNC vendored interp expected 文件。 - 命令：`find ../wasm-port -maxdepth 5 -type f | sed -n '1,220p'` - 结果：确认 WASM 相关源码和 SDK 文件位置，包括 `linuxcnc_interp_wasm.cpp`、`linuxcnc_interp_minimal_runtime.cpp`、`linuxcnc-tp.js`。 @@ -6697,12 +6697,12 @@ Task/HAL 轴值断言： 验证命令和结果： - 命令：`node tests/node/verify_linuxcnc_interpreter_runtime.mjs` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：通过。 - 输出：`linuxcnc_interpreter_runtime_smoke=ok` - 命令：`npm run smoke:node` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过。 - 关键输出： - `linuxcnc_kinematics_runtime_smoke=ok` @@ -6734,37 +6734,37 @@ Task/HAL 轴值断言： - `linear_unit_conversion_smoke=ok` - 命令：`npm run build` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过。 - 输出：`gmoccapy_static_build=ok` - 命令：`npm run smoke` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过。 - 输出： - `gmoccapy_shell_smoke=ok` - `gmoccapy_dist_smoke=ok` - 命令：`git status --short` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果： - `M app/src/runtime/linuxcnc-interpreter-runtime.js` - `M gptlog-process/gpdlog.md` - `M tests/node/verify_linuxcnc_interpreter_runtime.mjs` - 命令：`git diff --stat` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果： - `app/src/runtime/linuxcnc-interpreter-runtime.js | 2 +-` - `gptlog-process/gpdlog.md | 365 +++++++++++++++++++++` - `tests/node/verify_linuxcnc_interpreter_runtime.mjs | 26 ++` - 命令：`git diff -- app/src/runtime/linuxcnc-interpreter-runtime.js tests/node/verify_linuxcnc_interpreter_runtime.mjs app/dist/src/runtime/linuxcnc-interpreter-runtime.js` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：确认核心差异为 G18 映射 `["x","z","y"] -> ["z","x","y"]`，以及新增 G18 arc 回归；`app/dist/src/runtime/linuxcnc-interpreter-runtime.js` 没有跟踪差异。 - 命令：`git diff --check` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：通过，无输出。 - 命令：`nl -ba app/src/runtime/linuxcnc-interpreter-runtime.js | sed -n '16,24p'` @@ -6793,7 +6793,7 @@ Task/HAL 轴值断言： 同步前状态检查： - 命令：`git status --short --branch` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果： - `## master...origin/master [ahead 1]` - `M app/src/runtime/linuxcnc-interpreter-runtime.js` @@ -6961,11 +6961,11 @@ Task/HAL 轴值断言： 本地构建： - 命令：`npm run build` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：通过，输出 `gmoccapy_static_build=ok`。 - 命令：`find app/dist -maxdepth 2 -type f | sort | sed -n '1,80p'` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果：确认构建产物包含 `app/dist/index.html` 和 `app/dist/src/main.js`。 - 命令：`command -v ssh && command -v scp && command -v tar && command -v openssl` @@ -6988,7 +6988,7 @@ Task/HAL 轴值断言： - `archive="/tmp/${release}.tar.gz"` - `tar -C app/dist -czf "$archive" .` - `ls -lh "$archive"` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` - 结果： - 发布包名：`web-rtcp-5axis-sim-plan-20260627015150` - 本地包路径：`/tmp/web-rtcp-5axis-sim-plan-20260627015150.tar.gz` @@ -7137,7 +7137,7 @@ nginx root 发布： 执行过程： -- 进入项目目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan`，确认前端包目录为 `app`。 +- 进入项目目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan`，确认前端包目录为 `app`。 - 检查 `app` 目录现有锁文件： - 命令：`ls package-lock.json npm-shrinkwrap.json pnpm-lock.yaml yarn.lock 2>/dev/null || true` - 结果：未发现既有 npm/yarn/pnpm 锁文件。 @@ -7146,11 +7146,11 @@ nginx root 发布： - 结果：未发现仍在运行的项目 smoke 测试或 HTTP server；仅有系统 Chrome crashpad handler。 - 安装 Playwright 开发依赖： - 命令：`npm install --save-dev playwright` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：新增 2 个包，审计 3 个包，未发现漏洞。 - 验证 Playwright 包可导入： - 命令：`node -e "import('playwright').then(m=>console.log('playwright ok', !!m.chromium)).catch(e=>{console.error(e); process.exit(1)})"` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：输出 `playwright ok true`，确认 `playwright` 包和 `chromium` API 可用。 - 查看工作区变更： - 命令：`git status --short` @@ -7171,7 +7171,7 @@ nginx root 发布： 用户请求： -- 用户要求测试 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` 项目功能。 +- 用户要求测试 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` 项目功能。 - 用户指出公网地址 `https://82.156.24.101:8092/` 上“手动和自动按钮切换不正常”。 远端复现： @@ -7232,12 +7232,12 @@ nginx root 发布： 验证命令和结果： - 命令：`npm run smoke` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果： - `gmoccapy_shell_smoke=ok` - `gmoccapy_dist_smoke=ok` - 命令：`node ../tests/node/verify_linuxcnc_task_hal_runtime.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs && node ../tests/node/verify_rtcp_store.mjs` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果： - `linuxcnc_task_hal_runtime_smoke=ok` - `task_hal_machine_file_smoke=ok` @@ -7246,7 +7246,7 @@ nginx root 发布： - `gmoccapy_xyzab_gates_smoke=ok` - `rtcp_store_smoke=ok` - 命令：`npm run smoke:node` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果：全部 Node smoke 通过，包括 kinematics、interpreter、INI、run preconditions、Task/HAL、native audit、machine file staging、session、RTCP store、gmoccapy gates、linear unit conversion 等。 远端发布检查： @@ -7298,7 +7298,7 @@ nginx root 发布： 本地视觉复测： -- 启动本地临时 HTTP server，服务根目录为 `/home/meswork/cnc_wams`。 +- 启动本地临时 HTTP server，服务根目录为 `/home/mes123456/cnc_wams`。 - 使用 Playwright 通过本机 Google Chrome 打开： - `http://127.0.0.1:<随机端口>/web-rtcp-5axis-sim-plan/app/index.html` - 执行流程： @@ -7346,7 +7346,7 @@ nginx root 发布： 测试命令和结果： - 命令：`npm run smoke` - - 工作目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - 工作目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 结果： - `gmoccapy_shell_smoke=ok` - `gmoccapy_dist_smoke=ok` @@ -7463,15 +7463,15 @@ Word 文件验证： 本次目标： -- 按 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/docs/Web-RTCP五轴数控系统仿真界面操作手册.docx` +- 按 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/docs/Web-RTCP五轴数控系统仿真界面操作手册.docx` 梳理 Web RTCP 五轴仿真界面的测试功能。 - 将测试方法、推进台账、任务矩阵、验收证据、决策记录和 README 索引写入 - `/home/meswork/cnc_wams/work/working7`。 + `/home/mes123456/cnc_wams/work/working7`。 执行过程： - 首先检查工作区和目标目录： - - 当前目录为 `/home/meswork/cnc_wams`。 + - 当前目录为 `/home/mes123456/cnc_wams`。 - `work/working7` 已存在且初始为空。 - `web-rtcp-5axis-sim-plan/docs` 中存在目标 Word 操作手册。 - `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` 存在。 @@ -7487,10 +7487,10 @@ Word 文件验证： - `web-rtcp-5axis-sim-plan/tests/browser` - `qa/web-rtcp-5axis-site-test/output` - 执行静态构建： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build` - 结果：退出码 0，输出 `gmoccapy_static_build=ok`。 - 执行 Node smoke： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` - 结果：退出码 0。 - 通过标记包括： - `linuxcnc_kinematics_runtime_smoke=ok` @@ -7513,7 +7513,7 @@ Word 文件验证： - `linear_unit_conversion_smoke=ok` - 输出中确认安全边界：`hardware_drive=0`、`host_realtime_kernel=0`、`promotion_scope=web_simulation_only`。 - 执行浏览器 smoke： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` - 结果：退出码 0。 - 输出 `gmoccapy_shell_smoke=ok` 和 `gmoccapy_dist_smoke=ok`。 - 检查已有 QA 证据： @@ -7540,8 +7540,8 @@ Word 文件验证： - `05-验收证据.md`：记录本轮命令输出摘要、dist 产物、既有 QA 报告 jobId/reportId/PDF/截图路径和证据缺口。 - `06-决策记录.md`：记录 W7-D01 至 W7-D07，包括以手册为主线、不修改业务代码、保留 Web 仿真边界、区分 RTCP proof 和 gmoccapy reference profile。 - 对 working7 做文件校验： - - `find /home/meswork/cnc_wams/work/working7 -maxdepth 1 -type f` 确认 7 个文档存在。 - - `wc -l /home/meswork/cnc_wams/work/working7/*.md` 统计共 781 行。 + - `find /home/mes123456/cnc_wams/work/working7 -maxdepth 1 -type f` 确认 7 个文档存在。 + - `wc -l /home/mes123456/cnc_wams/work/working7/*.md` 统计共 781 行。 - `rg` 检查关键标记：`gmoccapy_static_build=ok`、`smoke:node`、`gmoccapy_shell_smoke=ok`、`W7-T16`、`W7-D06` 均可检索。 - `git status --short -- work/working7` 显示 `?? work/working7/`，说明本轮新增文档尚未纳入版本控制。 @@ -7595,14 +7595,14 @@ Word 文件验证： 验证命令和结果： - 静态构建： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build` - 结果：退出码 0，输出 `gmoccapy_static_build=ok`。 - Node smoke： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` - 结果：退出码 0。 - 主要通过标记包括 `linuxcnc_kinematics_runtime_smoke=ok`、`run_feedback_status_loop_smoke=ok`、`run_ready_sequence_smoke=ok`、`gmoccapy_hal_model_smoke=ok`、`gmoccapy_xyzab_gates_smoke=ok`、`linear_unit_conversion_smoke=ok`。 - 浏览器 smoke： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` - 结果：退出码 0，输出 `gmoccapy_shell_smoke=ok` 和 `gmoccapy_dist_smoke=ok`。 - 新增的标题栏不重挂载断言已通过。 @@ -7622,13 +7622,13 @@ Word 文件验证： 用户请求： -- 用户要求：“按 `/home/meswork/cnc_wams/work/working7` 完成工作”。 +- 用户要求：“按 `/home/mes123456/cnc_wams/work/working7` 完成工作”。 初始检查： -- 当前工作目录为 `/home/meswork/cnc_wams`。 +- 当前工作目录为 `/home/mes123456/cnc_wams`。 - 读取了工作区级 `AGENTS.md` 要求：每次执行完成后必须把完整过程日志用中文追加到 - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`。 + `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`。 - 检查 `work/working7`，发现已有 7 个文档： - `README.md` - `01-测试功能内容.md` @@ -7659,10 +7659,10 @@ working7 文档复核： 基线验证： - 执行静态构建： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build` - 结果：退出码 0，输出 `gmoccapy_static_build=ok`。 - 执行 Node smoke： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` - 结果：退出码 0。 - 通过标记包括： - `linuxcnc_kinematics_runtime_smoke=ok` @@ -7694,7 +7694,7 @@ working7 文档复核： - `linear_unit_conversion_smoke=ok` - 输出中确认安全边界仍为 Web 仿真：`hardware_drive=0`、`host_realtime_kernel=0`、`promotion_scope=web_simulation_only`。 - 执行浏览器 smoke： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` - 结果：退出码 0，输出 `gmoccapy_shell_smoke=ok` 和 `gmoccapy_dist_smoke=ok`。 QA 证据脚本调研： @@ -7749,7 +7749,7 @@ QA 证据脚本调研： - 新增文件： - `qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs` - 脚本行为： - - 启动本地静态 HTTP server，根目录为 `/home/meswork/cnc_wams`。 + - 启动本地静态 HTTP server，根目录为 `/home/mes123456/cnc_wams`。 - 使用 headless Google Chrome 打开 `/web-rtcp-5axis-sim-plan/app/index.html`。 - 等待 gmoccapy shell、public API、canvas ready、kinematics/interpreter/Task-HAL runtime 和 machine files staged。 - 按 working7 手册流程操作真实 DOM： @@ -7777,10 +7777,10 @@ QA 证据脚本调研： 专项脚本验证： - 执行语法检查： - - 命令：`node --check /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs` + - 命令：`node --check /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs` - 结果：退出码 0。 - 执行专项 QA 命令： - - 命令：`npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7` + - 命令：`npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7` - 第一次结果： - 退出码 0。 - `working7_manual_flow_status=PASS` @@ -7797,11 +7797,11 @@ QA 证据脚本调研： 最终专项证据文件： - JSON： - - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` + - `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` - PDF： - - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` + - `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` - 截图目录： - - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence` + - `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence` - 截图文件： - `01-loaded.png` - `02-powered-homed-manual.png` @@ -7834,7 +7834,7 @@ working7 文档更新： - 修改 `work/working7/README.md`： - 将验证命令从三项更新为四项。 - - 增加 `npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7`。 + - 增加 `npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7`。 - 说明专项 QA 证据状态为 PASS，生成 JSON、PDF 和 9 张截图。 - 修改 `work/working7/02-程序测试开发完善详细步骤.md`： - 新增 `3.4 working7 手册流程专项证据`。 @@ -7860,16 +7860,16 @@ working7 文档更新： 最终验证： - 再次执行静态构建： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build` - 结果：退出码 0，输出 `gmoccapy_static_build=ok`。 - 再次执行 Node smoke： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` - 结果：退出码 0，全部 smoke 标记通过。 - 再次执行浏览器 smoke： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` - 结果：退出码 0，输出 `gmoccapy_shell_smoke=ok` 和 `gmoccapy_dist_smoke=ok`。 - 再次执行专项 QA： - - 命令：`npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7` + - 命令：`npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7` - 结果：退出码 0，输出 `working7_manual_flow_status=PASS`。 - 执行报告一致性检查： - 命令读取 `working7-manual-flow-evidence-report.json`。 @@ -7905,13 +7905,13 @@ working7 文档更新： 用户请求： -- 用户要求：“接续上一轮，按 `/home/meswork/cnc_wams/work/working7` 完成工作”。 +- 用户要求：“接续上一轮，按 `/home/mes123456/cnc_wams/work/working7` 完成工作”。 执行前提和工作区检查： -- 当前工作目录：`/home/meswork/cnc_wams`。 +- 当前工作目录：`/home/mes123456/cnc_wams`。 - 读取并确认工作区级规则：每次执行完成后，需要把完整执行过程日志用中文追加到： - - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` + - `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` - 读取 `work/working7` 文件清单，确认存在： - `README.md` - `01-测试功能内容.md` @@ -7985,14 +7985,14 @@ working7 文档复核： 验证执行： - 执行静态构建： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build` - 结果：退出码 0。 - 输出关键标记：`gmoccapy_static_build=ok`。 - 执行专项 QA 脚本语法检查： - - 命令：`node --check /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs` + - 命令：`node --check /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs` - 结果：退出码 0。 - 执行 Node smoke： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` - 结果：退出码 0。 - 输出关键标记： - `linuxcnc_kinematics_runtime_smoke=ok` @@ -8023,25 +8023,25 @@ working7 文档复核： - `gmoccapy_xyzab_gates_smoke=ok` - `linear_unit_conversion_smoke=ok` - 执行浏览器 smoke： - - 命令：`npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` + - 命令：`npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` - 结果：退出码 0。 - 输出关键标记： - `gmoccapy_shell_smoke=ok` - `gmoccapy_dist_smoke=ok` - 执行 working7 专项 QA： - - 命令：`npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7` + - 命令：`npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7` - 结果：退出码 0。 - 输出： - `working7_manual_flow_status=PASS` - `working7_manual_flow_job_id=w7-20260627102205-6f1d5918` - `working7_manual_flow_report_id=report-w7-20260627102205-6f1d5918` - - `working7_manual_flow_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` - - `working7_manual_flow_pdf=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` - - `working7_manual_flow_screenshots=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence` + - `working7_manual_flow_json=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` + - `working7_manual_flow_pdf=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` + - `working7_manual_flow_screenshots=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence` 专项 QA 最新报告复核： -- 读取 `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json`。 +- 读取 `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json`。 - 最新报告字段： - `status=PASS` - `jobId=w7-20260627102205-6f1d5918` @@ -8129,12 +8129,12 @@ working7 文档同步： 用户要求： -- 参考 `/home/meswork/cnc_wams/work/working1-7`。实际检查后确认工作区中是 `working1` 到 `working7` 多个目录，不存在单独的 `working1-7` 目录，因此按历史 working1 至 working7 系列资料参考。 -- 对 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` 的所有按钮、程序执行、刀具预览、刀具实时执行路径、G-code 执行过程、机床轴值和右侧控制区按钮做完全实际执行和验证。 +- 参考 `/home/mes123456/cnc_wams/work/working1-7`。实际检查后确认工作区中是 `working1` 到 `working7` 多个目录，不存在单独的 `working1-7` 目录，因此按历史 working1 至 working7 系列资料参考。 +- 对 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` 的所有按钮、程序执行、刀具预览、刀具实时执行路径、G-code 执行过程、机床轴值和右侧控制区按钮做完全实际执行和验证。 - 发现问题及时修改程序。 - 写图文并茂、第一人称格式的测试验证报告。 - 将测试修改过程完整记录到 `测试过程.md`。 -- 完善 `/home/meswork/cnc_wams/work/working7` 下 README、功能内容、开发步骤、推进台账、任务矩阵、验收证据、决策记录。 +- 完善 `/home/mes123456/cnc_wams/work/working7` 下 README、功能内容、开发步骤、推进台账、任务矩阵、验收证据、决策记录。 初始检查： @@ -8144,11 +8144,11 @@ working7 文档同步： 新增和修改的测试脚本： -- 新增 `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-full-functional-evidence.mjs`。 -- 修改 `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/package.json`，增加： +- 新增 `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-full-functional-evidence.mjs`。 +- 修改 `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/package.json`，增加： - `evidence:working7` - `evidence:working7:full` -- 修改 `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs`，同步安全初始冷却语义。 +- 修改 `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs`，同步安全初始冷却语义。 - 全量脚本实际点击并验证 73 个 action，生成 19 张截图、JSON、Markdown 和 PDF。 - 手册流程脚本生成 9 张截图、JSON 和 PDF，作为交叉证据。 @@ -8165,7 +8165,7 @@ working7 文档同步： 业务和运行逻辑修复： -- 修改 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js`： +- 修改 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js`： - 初始 `feed.currentVelocity` 改为 0。 - 初始 `spindle.enabled=false`、`spindle.direction=stop`。 - 初始 `coolant.flood=false`。 @@ -8176,47 +8176,47 @@ working7 文档同步： - RUN_MDI 在 Task/HAL runtime 下复用 `executeMdiCommand` 生成 Web 可视结果，同时发送 Task/HAL MDI 命令。 - STOP/ABORT 通过 `preserveMachine` 保留 `interpState=idle`、`interpResumeState=idle`、`taskPaused=false`。 - `resolveTaskHalAxisPose` 支持 `task-local` pending jog。 -- 修改 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html`： +- 修改 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html`： - 更新 Flood 初始图标断言为 inactive。 - 更新冷却 toggle 断言为安全初始关闭后点击变为开启。 -- 修改 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/index.html`： +- 修改 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/index.html`： - 增加内联 favicon，消除 `/favicon.ico` 默认请求。 -- 修改 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-ini-runtime.js`： +- 修改 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-ini-runtime.js`： - INI loader 根据 source/dist 和 `linuxcnc/` 前缀生成有效候选路径，避免无效 404 fallback。 -- 修改 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js`： +- 修改 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js`： - 对 `linuxcnc/` 前缀使用仓库根或 dist 根路径，不再错误拼到 `wasm-port/vendor/linuxcnc/` 后面。 -- 修改 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/main.js`： +- 修改 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/main.js`： - 增加 `runtimeSdkUrls()`，source/dist 使用明确 runtime SDK URL。 - 对 `tcpCapable === false` 的 reference-only profile 跳过 source-derived kinematics runtime，避免无意义 404。 -- 修改 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/scripts/build-static.mjs`： +- 修改 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/scripts/build-static.mjs`： - 构建 dist 时复制 `linuxcnc/configs/sim/gmoccapy` 和 `linuxcnc/nc_files` 参考资源。 验证和复跑过程： -- 执行 `npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` 多次。 +- 执行 `npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` 多次。 - 最终通过，输出包括 `linuxcnc_kinematics_runtime_smoke=ok`、`linuxcnc_interpreter_runtime_smoke=ok`、`linuxcnc_ini_runtime_smoke=ok`、`linuxcnc_task_hal_runtime_smoke=ok`、`full_linuxcnc_5axis_source_node_smoke=ok`、`real_linuxcnc_5axis_program_cases_smoke=ok`、`five_axis_session_smoke=ok`、`rtcp_store_smoke=ok`、`gmoccapy_xyzab_profile_smoke=ok`、`gmoccapy_hal_model_smoke=ok`、`linear_unit_conversion_smoke=ok`。 -- 执行 `npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build` 多次。 +- 执行 `npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build` 多次。 - 最终通过，输出 `gmoccapy_static_build=ok`。 -- 执行 `npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` 多次。 +- 执行 `npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` 多次。 - 最终通过，输出 `gmoccapy_shell_smoke=ok`、`gmoccapy_dist_smoke=ok`。 -- 执行 `npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full` 多次。 +- 执行 `npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full` 多次。 - 最终通过： - `working7_full_functional_status=PASS` - `working7_full_functional_job_id=w7full-20260627234631-6825b68a` - `working7_full_functional_report_id=report-w7full-20260627234631-6825b68a` - - JSON：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json` - - Markdown：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md` - - PDF：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf` - - 截图目录：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence` + - JSON：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json` + - Markdown：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md` + - PDF：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf` + - 截图目录：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence` - 摘要：19 steps、73 actions、0 failedActions、6 checks、0 failedChecks、consoleErrors=0、networkErrors=0、pageErrors=0。 -- 执行 `npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7`。 +- 执行 `npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7`。 - 最终通过： - `working7_manual_flow_status=PASS` - `working7_manual_flow_job_id=w7-20260627234712-039ce4a2` - `working7_manual_flow_report_id=report-w7-20260627234712-039ce4a2` - - JSON：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` - - PDF：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` - - 截图目录：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence` + - JSON：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` + - PDF：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` + - 截图目录：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence` - 摘要：9 steps、10 checks、0 failedChecks、consoleErrors=0、networkErrors=0、pageErrors=0。 - 执行 `node --check` 检查两个 QA 脚本语法。 - 通过。 @@ -8245,23 +8245,23 @@ working7 文档同步： 文档更新： -- 新增 `/home/meswork/cnc_wams/测试过程.md`，以第一人称记录测试目标、命令、发现问题、修复内容、报告路径、修改文件和最终结论。 -- 新增 `/home/meswork/cnc_wams/work/working7/01-项目功能内容.md`。 -- 新增 `/home/meswork/cnc_wams/work/working7/02-项目程序开发详细步骤.md`。 -- 更新 `/home/meswork/cnc_wams/work/working7/README.md`： +- 新增 `/home/mes123456/cnc_wams/测试过程.md`，以第一人称记录测试目标、命令、发现问题、修复内容、报告路径、修改文件和最终结论。 +- 新增 `/home/mes123456/cnc_wams/work/working7/01-项目功能内容.md`。 +- 新增 `/home/mes123456/cnc_wams/work/working7/02-项目程序开发详细步骤.md`。 +- 更新 `/home/mes123456/cnc_wams/work/working7/README.md`： - 增加 full evidence 命令、最新 job_id/report_id、Markdown/PDF 报告路径。 - 增加新旧 01/02 文档索引。 -- 更新 `/home/meswork/cnc_wams/work/working7/03-推进台账.md`： +- 更新 `/home/mes123456/cnc_wams/work/working7/03-推进台账.md`： - 追加 W7-R04，记录本轮全量功能实际执行、问题修复、修改文件、验证命令和下一步。 - 将后续新增任务编号顺延到 W7-T18 起。 -- 更新 `/home/meswork/cnc_wams/work/working7/04-任务矩阵.md`： +- 更新 `/home/mes123456/cnc_wams/work/working7/04-任务矩阵.md`： - 新增 W7-T17，全量按钮、程序、刀具路径、G-code、轴值和右侧控制区实际执行。 - 更新证据入口锚点。 -- 更新 `/home/meswork/cnc_wams/work/working7/05-验收证据.md`： +- 更新 `/home/mes123456/cnc_wams/work/working7/05-验收证据.md`： - 新增 full evidence 图文证据段。 - 同步 manual evidence 最新 job_id/report_id/generatedAt/targetUrl。 - 记录 console/network/page error 均为 0。 -- 更新 `/home/meswork/cnc_wams/work/working7/06-决策记录.md`： +- 更新 `/home/mes123456/cnc_wams/work/working7/06-决策记录.md`： - 新增 W7-D10 全量 evidence 作为最终主证据。 - 新增 W7-D11 Task/HAL 下 JOG/MDI 保留 Web 可视执行结果。 - 新增 W7-D12 安全初始状态。 @@ -8298,12 +8298,12 @@ working7 文档同步： 用户请求： -- 接续上一轮，完成 `/home/meswork/cnc_wams/work/working7` 的任务。 +- 接续上一轮，完成 `/home/mes123456/cnc_wams/work/working7` 的任务。 执行环境和约束： -- 工作目录：`/home/meswork/cnc_wams`。 -- 读取并遵守 `/home/meswork/cnc_wams/AGENTS.md`。 +- 工作目录：`/home/mes123456/cnc_wams`。 +- 读取并遵守 `/home/mes123456/cnc_wams/AGENTS.md`。 - 按要求在本文件中追加中文过程日志。 - 当前工作区已有大量未提交改动和未跟踪产物，本轮未回退任何既有改动。 @@ -8352,7 +8352,7 @@ working7 文档同步： - 执行： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build ``` - 结果：退出码 0。 @@ -8361,7 +8361,7 @@ npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build - 执行： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node ``` - 结果：退出码 0。 @@ -8403,7 +8403,7 @@ npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node - 执行： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke ``` - 结果：退出码 0。 @@ -8414,7 +8414,7 @@ npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke - 执行： ```bash -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full ``` - 结果：退出码 0。 @@ -8422,15 +8422,15 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor - `working7_full_functional_status=PASS` - `working7_full_functional_job_id=w7full-20260628000642-da5dc39d` - `working7_full_functional_report_id=report-w7full-20260628000642-da5dc39d` - - JSON：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json` - - Markdown：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md` - - PDF：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf` - - 截图目录：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence` + - JSON：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json` + - Markdown：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md` + - PDF：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf` + - 截图目录：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence` - 执行： ```bash -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 ``` - 结果：退出码 0。 @@ -8438,9 +8438,9 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor - `working7_manual_flow_status=PASS` - `working7_manual_flow_job_id=w7-20260628000750-51a8b25c` - `working7_manual_flow_report_id=report-w7-20260628000750-51a8b25c` - - JSON：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` - - PDF：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` - - 截图目录：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence` + - JSON：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` + - PDF：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` + - 截图目录：`/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence` 报告结构复核： @@ -8475,20 +8475,20 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor 文档同步： -- 更新 `/home/meswork/cnc_wams/work/working7/README.md`： +- 更新 `/home/mes123456/cnc_wams/work/working7/README.md`： - 最新 full job_id 改为 `w7full-20260628000642-da5dc39d`。 - 最新 full report_id 改为 `report-w7full-20260628000642-da5dc39d`。 -- 更新 `/home/meswork/cnc_wams/work/working7/01-项目功能内容.md`： +- 更新 `/home/mes123456/cnc_wams/work/working7/01-项目功能内容.md`： - 最终 full 证据 ID 改为最新 ID。 -- 更新 `/home/meswork/cnc_wams/work/working7/03-推进台账.md`： +- 更新 `/home/mes123456/cnc_wams/work/working7/03-推进台账.md`： - 追加 `W7-R05 接续复跑和最新证据同步`。 - 记录五条验证命令全部通过。 - 记录最新 full/manual job_id 和 report_id。 -- 更新 `/home/meswork/cnc_wams/work/working7/05-验收证据.md`： +- 更新 `/home/mes123456/cnc_wams/work/working7/05-验收证据.md`： - full evidence 的 job_id/report_id 改为最新 ID。 - full evidence 增加 `generatedAt` 和 `targetUrl`。 - manual evidence 的 job_id/report_id/generatedAt/targetUrl 改为最新值。 -- 更新 `/home/meswork/cnc_wams/测试过程.md`： +- 更新 `/home/mes123456/cnc_wams/测试过程.md`： - 最终 full/manual job_id 和 report_id 改为最新值。 一致性检查： @@ -8503,7 +8503,7 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor 最终结论： -- `/home/meswork/cnc_wams/work/working7` 当前任务已完成。 +- `/home/mes123456/cnc_wams/work/working7` 当前任务已完成。 - 最终五条验证命令均通过。 - full evidence 和 manual evidence 均为 PASS。 - 最新图文证据、PDF、JSON、截图和 working7 文档索引已同步。 @@ -8543,7 +8543,7 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor - 执行： ```bash -node /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs +node /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs ``` - 第一次复现到真实脚本错误： @@ -8603,7 +8603,7 @@ node /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs 修复 QA npm test 入口： -- 修改 `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/package.json`： +- 修改 `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/package.json`： - 原来：`"test": "echo \"Error: no test specified\" && exit 1"` - 现在：`"test": "node run-site-test.mjs"` - 原因： @@ -8614,7 +8614,7 @@ node /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs - 语法检查： ```bash -node --check /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs +node --check /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs ``` - 通过。 @@ -8622,29 +8622,29 @@ node --check /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mj - 站点脚本直跑： ```bash -node /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs +node /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs ``` - 通过： - `site_test_status=PASS` - `site_test_target_url=http://127.0.0.1:46559/web-rtcp-5axis-sim-plan/app/index.html` - - `site_test_report=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json` + - `site_test_report=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json` - QA npm test： ```bash -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test test +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test test ``` - 通过： - `site_test_status=PASS` - `site_test_target_url=http://127.0.0.1:35861/web-rtcp-5axis-sim-plan/app/index.html` - - `site_test_report=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json` + - `site_test_report=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json` - 工程构建： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build ``` - 通过：`gmoccapy_static_build=ok`。 @@ -8652,7 +8652,7 @@ npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build - Node smoke： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node ``` - 全部通过。 @@ -8667,7 +8667,7 @@ npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node - 浏览器 smoke： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke ``` - 通过： @@ -8677,7 +8677,7 @@ npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke - working7 full evidence： ```bash -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full ``` - 通过： @@ -8697,7 +8697,7 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor - working7 manual evidence： ```bash -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 ``` - 通过： @@ -8714,7 +8714,7 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor 最终报告复核： -- 读取 `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json`： +- 读取 `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json`： - `status=PASS` - `generatedAt=2026-06-28T00:31:19.883Z` - `targetUrl=http://127.0.0.1:35861/web-rtcp-5axis-sim-plan/app/index.html` @@ -8731,18 +8731,18 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor 文档更新： -- 更新 `/home/meswork/cnc_wams/work/working7/README.md`： +- 更新 `/home/mes123456/cnc_wams/work/working7/README.md`： - 增加 QA `npm test` 命令。 - 最新 full job_id/report_id 改为 `w7full-20260628002838-518bf522` / `report-w7full-20260628002838-518bf522`。 -- 更新 `/home/meswork/cnc_wams/work/working7/01-项目功能内容.md`： +- 更新 `/home/mes123456/cnc_wams/work/working7/01-项目功能内容.md`： - 最新 full evidence ID 改为本轮最新值。 -- 更新 `/home/meswork/cnc_wams/work/working7/05-验收证据.md`： +- 更新 `/home/mes123456/cnc_wams/work/working7/05-验收证据.md`： - 新增 QA 站点回归测试证据段。 - 记录 `site_test_status=PASS`、41 findings、0 failures、0 warnings、0 console/page/request error。 - 同步最新 full/manual evidence ID、generatedAt 和 targetUrl。 -- 更新 `/home/meswork/cnc_wams/work/working7/03-推进台账.md`： +- 更新 `/home/mes123456/cnc_wams/work/working7/03-推进台账.md`： - 追加 W7-R06，记录测试错误、修复内容、验证命令和最新证据。 -- 更新 `/home/meswork/cnc_wams/测试过程.md`： +- 更新 `/home/mes123456/cnc_wams/测试过程.md`： - 增加站点回归测试 PASS。 - 增加 `run-site-test.mjs` detached node、默认远端、STEP 和 Restore Session 修复说明。 - 更新本日志文件。 @@ -8781,12 +8781,12 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor - 执行： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build ``` - 结果： - `gmoccapy_static_build=ok` - - 本地 dist 目录：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/dist` + - 本地 dist 目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/dist` - dist 文件数：746 - dist 大小：约 19M @@ -8831,7 +8831,7 @@ sudo nginx -t - 本地打包： ```bash -tar -C /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/dist -czf /tmp/web-rtcp-5axis-sim-dist-20260628083846.tgz . +tar -C /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/dist -czf /tmp/web-rtcp-5axis-sim-dist-20260628083846.tgz . ``` - 包大小：约 7.8M。 @@ -8907,7 +8907,7 @@ openssl s_client -connect 82.156.24.101:8092 -servername 82.156.24.101 /dev/null 2>&1; fi`，让新 bash 终端自动获得 emsdk 环境并静默加载输出。 +9. 版本验证：执行 `source /home/mes123456/emsdk/emsdk_env.sh >/dev/null && emcc --version`，输出 `emcc ... 6.0.2 (7a2d97d627ff4945eae28847ce0387ac52b92c09)`，确认 emcc 可运行。 +10. 编译验证：创建临时 C 文件 `int add(int a, int b) { return a + b; }`，执行 `emcc` 编译并导出 `_add`，成功生成临时 `test.js` 和 `test.wasm` 文件，随后清理临时目录。 +11. 新终端验证：执行 `bash -ic 'command -v emcc && emcc --version | head -n 1'`，输出 `/home/mes123456/emsdk/upstream/emscripten/emcc` 和 `emcc ... 6.0.2`，确认 `.bashrc` 持久配置对新交互式 bash 生效。命令中的 `cannot set terminal process group` 与 `no job control` 是非 TTY 测试环境提示，不影响 emcc。 +12. 最终结论：Emscripten SDK 已安装在 `/home/mes123456/emsdk`，`emcc` 已可用，版本为 `6.0.2`，并已配置新 bash 终端自动加载。 + +## 2026-07-02 04:00:48 EDT - 补充刀具预览/执行路径 JSON 对比要求 + +1. 收到请求：用户要求将“刀具预览和刀具执行路径”的过程写入验证 LinuxCNC 真实系统和 Web 仿真系统执行过程的 JSON 文件中进行比对，并强调曲线采样周期要一致，补充到 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working` 文件夹的文件中。 +2. 读取目标 working 目录，确认包含 `01-项目功能内容.md`、`02-项目程序开发详细步骤.md`、`03-推进台账.md`、`04-任务矩阵.md`、`05-验收证据.md`、`06-决策记录.md`、`README.md` 和 `working/evidence/*.json`。 +3. 阅读现有功能文档、开发步骤、验收证据、任务矩阵、推进台账、决策记录和 compare JSON，确认当前 JSON 对比只覆盖 profile、INI、switchkins、program、tool table、PyVCP、positions、WASM artifact、parameter file，尚未包含刀具预览路径和刀具执行路径曲线。 +4. 选择统一对比采样周期 `samplePeriodMs = 20`，即 50Hz，并明确 native/Web 可保留原始采样，但写入用于比对的 `previewPath.samples` 和 `executionPath.samples` 前必须重采样到同一周期。 +5. 修改 `working/01-项目功能内容.md`：在功能清单中新增刀具预览路径 JSON、刀具执行路径 JSON、预览/执行路径对比；新增“刀具预览与执行路径 JSON 要求”章节，定义 `pathSampling`、`previewPath`、`executionPath` 和 sample 字段，包括 `sampleIndex`、`timeMs`、`line`、`motionType`、`activeKinematics`、`tool`、`joint`、`tcp`、`toolAxis`、`feed`、`spindle`；要求 compare JSON 增加 `pathComparison` 和误差统计。 +6. 修改 `working/02-项目程序开发详细步骤.md`：在后续验收步骤中新增刀具预览/执行路径采集步骤，明确需要修改 `collect-native-xyzbc-trt-evidence.py`、`collect-web-xyzbc-trt-evidence.mjs`、`compare-xyzbc-trt-evidence.mjs`；要求 Web 执行路径必须来自 WASM task/HAL 反馈，不能用预览路径替代。 +7. 修改 `working/03-推进台账.md`：新增“刀具预览/执行路径 JSON 对比需求补充”轮次，记录本轮只补充文档和验收要求，现有 `working/evidence/*.json` 不手工伪造，后续需通过采集脚本真实生成。 +8. 修改 `working/04-任务矩阵.md`：新增 T-019 到 T-024，分别覆盖 native 预览路径采集、native 执行路径采集、Web 预览路径采集、Web 执行路径采集、采样周期一致性检查、刀路误差统计对比。 +9. 修改 `working/05-验收证据.md`：新增“刀具预览/执行路径 JSON 验收要求”，列出后续 JSON 路径、20ms 采样要求、每个样本必需字段、compare 输出项和当前状态；明确现有三份 evidence JSON 尚未包含这些字段，必须后续由脚本重新生成。 +10. 修改 `working/06-决策记录.md`：新增 D-009，决策 native/Web 刀具路径统一按 20ms 重采样后比较，并说明避免内部刷新频率不同导致时间错位。 +11. 修改 `working/README.md`：补充当前新增关注点，说明后续 evidence JSON 必须包含 `previewPath`、`executionPath`，路径对比统一 `samplePeriodMs = 20`，compare JSON 必须输出 `pathComparison`。 +12. 执行 `git diff --check -- web-rtcp-5axis-xyzbc-trt-sim-plan/working`，无输出，表示未发现空白错误。 +13. 执行 `rg -n "previewPath|executionPath|pathComparison|samplePeriodMs|刀具预览|刀具执行" .../working`，确认新增要求已经覆盖 README、01、02、03、04、05、06 文档。 +14. 执行 `git status --short -- web-rtcp-5axis-xyzbc-trt-sim-plan/working`，显示 `?? web-rtcp-5axis-xyzbc-trt-sim-plan/working/`，说明该目录在当前 git 状态中是未跟踪目录；本轮没有修改 evidence JSON 文件。 +15. 本轮结论：已按用户要求把刀具预览路径和刀具执行路径写入 native/Web JSON 对比的设计与验收要求，并固定对比采样周期为 20ms；后续实际实现需修改采集脚本和 compare 脚本后重新生成 JSON。 + +## 2026-07-02 04:22:09 EDT - 根据 xyzbc-trt-runtime-files.md 完善 working 全量对标文档 + +1. 收到请求：用户要求 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working` 完全对标 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md` 的功能，根据该运行文档开发 Web 数控系统仿真界面，并继续完善 working 文档。 +2. 重新读取 `doc/xyzbc-trt-runtime-files.md`，确认文档共 702 行，覆盖当前进程、启动入口、文件关系、主 INI、PyVCP、POSTGUI HAL、Vismach、AXIS、basic_sim、switchkins/remap、演示 G-code、工具表、运动学组件、加载顺序和重要文件清单。 +3. 读取现有 `working` 文档和任务矩阵，确认已有文档覆盖 profile、INI、PyVCP、remap、tool table、parameter file、native/Web JSON、刀具路径采样等内容，但还没有全量逐项追踪 AXIS、basic_sim、Vismach、Ngcgui、HAL nets、kinematics pins、轴关节限制等细节。 +4. 检查当前 Emscripten 状态：执行 `source /home/mes123456/emsdk/emsdk_env.sh >/dev/null 2>&1 && emcc --version | head -n 1`，确认 `emcc 6.0.2` 已可用；检查 `wasm-port/build/wasm` 未发现已生成 artifact，因此状态应从“缺 emcc”更新为“缺 WASM artifact 构建产物”。 +5. 修改 `working/01-项目功能内容.md`：新增“完全对标要求”，明确 working 设计、任务和验收必须逐项覆盖运行文档中的进程、启动顺序、INI、AXIS、PyVCP、POSTGUI HAL、basic_sim、Vismach、switchkins/remap、G-code 子程序、tool table、parameter file、kinematics HAL pins、轴/关节限制和 JSON 执行证据。 +6. 修改 `working/01-项目功能内容.md`：扩展对标文件列表，补充 `xyzbc_switchkins_sub.ngc`、`centering.ngc`、`helix_bc.ngc`、`boat-xyzbc.ngc`、`basic_sim.tcl`、`xyzbc-trt-gui.py`、`axis.py`、`xyzbc-trt-kins.c` 等运行文档中的重要文件。 +7. 修改 `working/01-项目功能内容.md`：在功能清单中新增 AXIS 主界面等效、POSTGUI HAL 等效、basic_sim 等效、Vismach 模型等效、Ngcgui 子程序、演示程序全集、速度/限制/坐标显示、kinematics HAL pins 等条目，并同步 `emcc 6.0.2` 已安装、剩余为构建 artifact 的状态。 +8. 新增 `working/07-全量对标追踪矩阵.md`：按运行入口与进程、INI 与显示配置、文件 staging、HAL 与 switchkins、运动学与机床模型、G-code/remap/子程序、JSON 证据、当前主要缺口等章节，逐项映射 LinuxCNC 功能到 Web 对标目标和验收字段。 +9. 修改 `working/02-项目程序开发详细步骤.md`：把 `07-全量对标追踪矩阵.md` 加入工作文档清单；新增按全量矩阵继续补齐 AXIS 等效界面、PyVCP/POSTGUI HAL、basic_sim task/HAL、Vismach 3D 模型、Ngcgui/remap 子程序、TRAJ/AXIS/JOINT 限制、tool-offset 闭环、native/Web JSON 全字段对比的步骤。 +10. 修改 `working/02-项目程序开发详细步骤.md`：在 WASM artifact 构建命令前加入 `source /home/mes123456/emsdk/emsdk_env.sh`；新增 `startupSequence`、`iniDisplay`、`halNets`、`kinematicsPins`、`axisJointLimits`、`switchkinsTransitions`、`uiEquivalence`、`vismachEquivalent`、`ngcguiSubroutines`、`demoPrograms` 等 JSON 字段要求。 +11. 修改 `working/04-任务矩阵.md`：新增 T-025 到 T-035，覆盖全量对标追踪矩阵、AXIS 主界面等效、POSTGUI HAL/PyVCP 连接等效、basic_sim 等效 task/HAL、Vismach 3D 模型 pin 对标、Ngcgui/remap 子程序全集、演示程序全集、TRAJ/AXIS/JOINT 限制、kinematics HAL pins、tool table 到 tool-offset 闭环、全量 evidence JSON 字段。 +12. 修改 `working/05-验收证据.md`：更新当前状态为 `emcc 6.0.2` 已安装，剩余前置是执行 `wasm-port` 构建脚本生成 artifact；新增全量对标 JSON 验收要求和 compare 检查类别，包括 startup-sequence、ini-display、hal-nets、kinematics-pins、axis-joint-limits、switchkins-transitions、tool-offset-flow、ui-equivalence、vismach-equivalence、ngcgui-subroutines、demo-programs、path-preview、path-execution、path-comparison。 +13. 修改 `working/03-推进台账.md`：同步 native/Web 对比轮次中的 emcc 状态，新增“全量对标 working 文档完善”轮次，记录本轮新增全量矩阵、扩展功能文档、扩展开发步骤、扩展任务矩阵和验收证据。 +14. 修改 `working/06-决策记录.md`：修正 D-008，明确 artifact 缺失不伪造通过；新增 D-010，决定以 `07-全量对标追踪矩阵.md` 作为后续开发、JSON 采集和 compare 验收的主索引。 +15. 修改 `working/README.md`：加入 `07-全量对标追踪矩阵.md` 索引，并说明 working 文档必须完全对标运行文档，不仅覆盖文件 staging，也覆盖 AXIS、PyVCP、POSTGUI HAL、basic_sim、Vismach、switchkins、Ngcgui、tool-offset、kinematics pins 和加载顺序。 +16. 执行 `git diff --check -- web-rtcp-5axis-xyzbc-trt-sim-plan/working`，无输出，表示未发现空白错误。 +17. 执行 `rg` 搜索 `完全对标`、`07-全量对标`、`startupSequence`、`halNets`、`axisJointLimits`、`vismachEquivalent`、`WASM artifact 构建前置`、`emcc 6.0.2`，确认新增内容已覆盖 README、01、02、03、04、05、06、07 文档。 +18. 执行 `git status --short -- web-rtcp-5axis-xyzbc-trt-sim-plan/working`，显示 `?? web-rtcp-5axis-xyzbc-trt-sim-plan/working/`，说明该 working 目录在当前 git 视角下仍为未跟踪目录。 +19. 本轮结论：已把 `xyzbc-trt-runtime-files.md` 的完整运行功能转成 working 下的全量对标文档、开发步骤、任务矩阵和验收字段要求；后续代码实现应优先构建 WASM artifact，并按 `07-全量对标追踪矩阵.md` 补齐 native/Web evidence JSON 和 compare 自动检查。 + +## 2026-07-02 04:30:11 EDT - 比较 `/home/mes123456/cnc_wams/linuxcnc` 与 `/home/mes123456/linuxcnc-master` 源程序一致性 + +1. 收到请求：用户询问 `/home/mes123456/cnc_wams/linuxcnc` 与 `/home/mes123456/linuxcnc-master` 的源程序是否一致。 +2. 检查 `/home/mes123456/cnc_wams/linuxcnc`：它是 Git 仓库，`git rev-parse HEAD` 为 `1a52a4aae70b638d64a285c35e821b676fdac35c`，remote 为 `https://github.com/LinuxCNC/linuxcnc.git`，`git status --short` 无输出，说明该仓库当前干净。 +3. 检查 `/home/mes123456/linuxcnc-master`：执行 `git rev-parse` 报错 `fatal: not a git repository`，说明它不是 Git 仓库；目录中没有 `.git`。 +4. 查看两个目录顶层：`/home/mes123456/linuxcnc-master` 比 Git 源码仓库多出 `linuxcnc-case-shortcuts`、`linuxcnc-rtcp-5axis-shortcuts`、编译后的 `rtlib`、`scripts` 可执行脚本、`lib` 下动态库/Python 扩展等运行/构建产物。 +5. 对 `src`、`configs`、`lib`、`scripts` 执行 `diff -qr`。差异主要表现为 `linuxcnc-master` 独有的构建生成文件、运行缓存和产物，例如 `src/config.*`、`src/objects`、`__pycache__`、`lib/*.so`、`lib/*.a`、`lib/python/*.so`、`scripts/linuxcnc`、`scripts/rip-environment`、运行生成的 `xyzbc-trt_cmds.hal`、`*.var`、`position.txt` 等。 +6. 使用 `/home/mes123456/cnc_wams/linuxcnc` 的 `git ls-files` 对 Git 跟踪文件做逐项比较。第一次简单比较因为符号链接被 `test -f` 误判，显示若干 `MISSING`。 +7. 重新按 Git 文件模式区分普通文件和 symlink 后精确比较：未发现任何 `DIFF_FILE` 或 `DIFF_SYMLINK`；仅发现 `/home/mes123456/linuxcnc-master` 缺少 9 个 GitHub CI/脚本普通文件：`.github/scripts/add-linuxcnc-repository.sh`、`build-doc.sh`、`build-package-arch.sh`、`build-package-indep.sh`、`build-rip.sh`、`install-deps.sh`、`install-rtai.sh`、`verify-clean-repo.sh`、`.github/workflows/ci.yml`。 +8. 进一步检查 `/home/mes123456/linuxcnc-master` 中相对 Git 源码仓库多出的非构建文件，发现大量 `.desktop` 快捷方式目录、`linuxcnc-rtcp-5axis-shortcuts/xyzbc-trt-runtime-files.md`、以及构建后脚本；这些属于运行树/快捷方式/生成产物，不是 Git 跟踪源码仓库中的同一组文件。 +9. 本轮结论：如果按 Git 跟踪的核心 LinuxCNC 源码内容比较，两边没有发现内容差异；`linuxcnc-master` 缺少 `.github` 下 9 个 CI/辅助脚本文件。若按整个目录树比较，两者不一致，因为 `linuxcnc-master` 是构建/运行树，包含大量编译产物、运行态文件、快捷方式和缓存，而 `/home/mes123456/cnc_wams/linuxcnc` 是干净 Git 源码仓库。 + +## 2026-07-02 04:50:50 EDT - 将 Web 对标基线切换到 `/home/mes123456/cnc_wams/linuxcnc` + +1. 收到请求：用户说明 `/home/mes123456/cnc_wams/linuxcnc` 已编译成功并能够执行 `xyzbc-trt`，要求根据执行情况设计 Web 数控仿真界面和逻辑，完全对标该程序，并完善 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working` 下文档。 +2. 先检查 `/home/mes123456/cnc_wams/linuxcnc` 的关键运行产物：`configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` 存在；但 `scripts/rip-environment`、`bin/axis`、`bin/xyzbc-trt-gui`、`rtlib/xyzbc-trt-kins.so` 当前自动检查未发现。 +3. 进一步使用 `find` 查找 `/home/mes123456/cnc_wams/linuxcnc` 下的 `rip-environment`、`axis`、`xyzbc-trt-gui`、`xyzbc-trt-kins.so`，未发现这些文件；发现存在 `rtlib` 目录和 `tests/build`。据此在文档中记录：如果用户已完成编译，需要先确认构建产物是否输出到其它 build/RIP 目录。 +4. 修改 `working/01-项目功能内容.md`：新增 Native 对标基线说明，明确后续以 `/home/mes123456/cnc_wams/linuxcnc` 作为 LinuxCNC `xyzbc-trt` 源码与真实执行基线；native evidence 应通过 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment` 启动/连接 LinuxCNC，不再继续依赖 `/home/mes123456/linuxcnc-master`。 +5. 修改 `working/02-项目程序开发详细步骤.md`：新增第 11 步“切换 native 真实执行基线到 `/home/mes123456/cnc_wams/linuxcnc`”，列出必须验证的文件：`scripts/rip-environment`、`bin/axis`、`bin/xyzbc-trt-gui`、`rtlib/xyzbc-trt-kins.so`、`xyzbc-trt.ini`；并明确 Web 布局、状态流、switchkins、Vismach 等效模型、刀具路径和 JSON 字段都以该路径实际执行结果为准。 +6. 修改 `working/02-项目程序开发详细步骤.md`：将 native/Web 对比证据采集命令中的 `/home/mes123456/linuxcnc-master/scripts/rip-environment` 替换为 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment`。 +7. 修改 `working/04-任务矩阵.md`：新增 T-036、T-037、T-038，分别用于 native 基线切换到 `/home/mes123456/cnc_wams/linuxcnc`、基于新 native 基线重采集 JSON、按新 native 运行结果复核 Web 界面和逻辑。 +8. 修改 `working/05-验收证据.md`：新增“native 基线切换验收”章节，记录新的真实 LinuxCNC 对标基线为 `/home/mes123456/cnc_wams/linuxcnc`，列出必须存在的运行产物，并记录本轮自动检查结果：`scripts/rip-environment` missing、`bin/axis` missing、`bin/xyzbc-trt-gui` missing、`rtlib/xyzbc-trt-kins.so` missing、`xyzbc-trt.ini` ok。 +9. 修改 `working/05-验收证据.md`：将 native 采集命令替换为 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment`；并说明现有历史 evidence 仍来自 `/home/mes123456/linuxcnc-master`，后续必须以新基线重新采集。 +10. 修改 `working/07-全量对标追踪矩阵.md`：在原则中新增“后续 native 真实执行基线统一采用 `/home/mes123456/cnc_wams/linuxcnc`，`/home/mes123456/linuxcnc-master` 只作为历史运行树参考”；运行入口行也改为指向 `/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/.../xyzbc-trt.desktop`。 +11. 修改 `working/03-推进台账.md`：将此前使用 `/home/mes123456/linuxcnc-master/scripts/rip-environment` 的记录标注为历史轮次；新增“切换 native 对标基线到 `/home/mes123456/cnc_wams/linuxcnc`”章节，记录本轮检查结果、修改文档、当前状态和下一步。 +12. 修改 `working/06-决策记录.md`：新增 D-011，决策后续 Web 界面和逻辑设计以 `/home/mes123456/cnc_wams/linuxcnc` 编译后执行 `xyzbc-trt` 的真实行为为 native 基线，`/home/mes123456/linuxcnc-master` 只作为历史运行参考。 +13. 修改 `working/05-验收证据.md` 时曾出现路径拼写 `linuxcnuc`，随后使用替换修正为 `linuxcnc`，并重新搜索确认 `linuxcnuc` 不再出现。 +14. 执行 `rg` 搜索 `/home/mes123456/linuxcnc-master` 与 `/home/mes123456/cnc_wams/linuxcnc`，确认 working 文档中的 `linuxcnc-master` 仅保留为历史说明或旧 evidence 来源，新的 native 基线均指向 `/home/mes123456/cnc_wams/linuxcnc`。 +15. 执行 `git diff --check -- web-rtcp-5axis-xyzbc-trt-sim-plan/working`，无输出，表示未发现空白错误。 +16. 本轮结论：working 文档已按用户要求切换为以 `/home/mes123456/cnc_wams/linuxcnc` 的真实 `xyzbc-trt` 运行为 Web 设计和逻辑对标基线；但当前自动检查尚未在该路径下看到 RIP 运行产物，需要下一步确认构建产物位置或重新构建后再采集 native JSON。 + +## 2026-07-02 04:59:27 EDT - 编译 `/home/mes123456/cnc_wams/linuxcnc` + +1. 收到请求：用户要求编译 `/home/mes123456/cnc_wams/linuxcnc`。目标是让该路径具备 run-in-place LinuxCNC 运行产物，用于后续执行 `xyzbc-trt` 和作为 Web 对标 native 基线。 +2. 检查源码树：`/home/mes123456/cnc_wams/linuxcnc` 包含 `.git`、`src`、`configs`、`bin`、`rtlib`、`scripts` 等目录；`src` 下存在 `autogen.sh`、`configure.ac`、`Makefile`。 +3. 阅读 `docs/INSTALL.adoc`，确认 LinuxCNC run-in-place 构建流程为：`cd src`、`./autogen.sh`、`./configure --with-realtime=uspace`、`make`、`sudo make setuid`。 +4. 检查构建工具，确认 `gcc`、`g++`、`make`、`autoconf`、`autoheader`、`automake`、`aclocal`、`libtoolize`、`pkg-config`、`python3` 可用。 +5. 执行 `./autogen.sh`，成功完成，未输出错误。 +6. 执行 `./configure --with-realtime=uspace --disable-build-documentation`，配置成功。configure 生成 `../scripts/rtapi.conf`、`../scripts/linuxcnc`、`../scripts/linuxcnc_info`、`../scripts/halrun`、`../scripts/rip-environment`、`../scripts/haltcl`、`../scripts/halcmd_twopass`、`../scripts/realtime`、`../scripts/runtests`、`Makefile.inc`、`Makefile.modinc` 等文件。 +7. 首次执行 `make -j"$(nproc)"` 失败，错误表现为多条 `gcc/c++: error: release: linker input file not found: No such file or directory`。 +8. 排查失败原因：检查环境变量发现 `DEBUG=release`；LinuxCNC `src/Makefile` 会把 `$(DEBUG)` 拼入 `CFLAGS/CXXFLAGS`，因此裸字符串 `release` 被 gcc/c++ 当作输入文件。 +9. 使用 `env -u DEBUG make -j"$(nproc)"` 重新编译，成功完成。构建过程中生成 LinuxCNC 用户态程序、Python 模块、实时组件、运动学组件和 `xyzbc-trt` 所需 GUI 脚本。 +10. 编译结束提示需要运行 `sudo make setuid` 或 `sudo make setcap`。执行 `sudo -n make setuid` 成功，设置了 `bin/rtapi_app` 和 `bin/linuxcnc_module_helper` 的 root/setuid 权限。 +11. 验证关键产物存在：`scripts/rip-environment`、`scripts/linuxcnc`、`bin/axis`、`bin/xyzbc-trt-gui`、`bin/milltask`、`bin/linuxcncsvr`、`bin/halui`、`rtlib/xyzbc-trt-kins.so`、`rtlib/tpmod.so`、`lib/python/linuxcnc.so` 均存在。 +12. 验证 setuid 权限：`bin/rtapi_app` 和 `bin/linuxcnc_module_helper` 显示为 `-rwsr-x--- root mes123456`。 +13. 验证 RIP 环境：执行 `source /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment >/dev/null` 后，`command -v linuxcnc` 指向 `/home/mes123456/cnc_wams/linuxcnc/scripts/linuxcnc`，`command -v axis` 指向 `/home/mes123456/cnc_wams/linuxcnc/bin/axis`，`command -v halcmd` 指向 `/home/mes123456/cnc_wams/linuxcnc/bin/halcmd`。 +14. 验证 Python 模块：在 RIP 环境中执行 `import linuxcnc` 成功，模块路径为 `/home/mes123456/cnc_wams/linuxcnc/lib/python/linuxcnc.so`。 +15. 检查 `xyzbc-trt` 文件：`configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` 和 `demos/xyzbc_switchkins.ngc` 存在。 +16. 曾尝试执行 `linuxcnc -v`，该命令未立即退出，随后发送 Ctrl-C 终止，避免留下无关进程。 +17. 检查 Git 状态：`git -C /home/mes123456/cnc_wams/linuxcnc status --short` 无输出，说明没有 Git 跟踪文件改动；构建产物在忽略/生成路径内。 +18. 更新 `web-rtcp-5axis-xyzbc-trt-sim-plan/working/01-项目功能内容.md`，记录 `/home/mes123456/cnc_wams/linuxcnc` 已完成 run-in-place 编译并可作为 native JSON 基线。 +19. 更新 `working/04-任务矩阵.md`，将 T-036 标记为完成。 +20. 更新 `working/05-验收证据.md`，记录编译命令、首次失败原因、`env -u DEBUG` 修复、`make setuid`、关键产物和 RIP/Python 验证结果。 +21. 更新 `working/06-决策记录.md`，将 D-011 中“未看到产物”的旧表述修正为已完成 run-in-place 编译。 +22. 更新 `working/03-推进台账.md`，新增“编译 `/home/mes123456/cnc_wams/linuxcnc`”轮次，记录构建、验证和下一步。 +23. 执行 `git diff --check -- web-rtcp-5axis-xyzbc-trt-sim-plan/working`，无输出，表示工作文档修改无空白错误。 +24. 本轮结论：`/home/mes123456/cnc_wams/linuxcnc` 已按 run-in-place 方式编译成功，并完成 `make setuid` 与关键产物/RIP/Python 模块验证。下一步可用该路径重新采集 native `xyzbc-trt` evidence，并作为 Web 完全对标基线。 + +## 2026-07-02 05:09:13 EDT - 创建并执行 `/home/mes123456/cnc_wams/linuxcnc` 的 `xyzbc-trt` 快捷方式 + +1. 收到请求：用户要求在 `/home/mes123456/cnc_wams/linuxcnc` 创建执行 `xyzbc-trt` 的快捷方式，并且执行。 +2. 检查当前环境：`DISPLAY=:1`、`XDG_SESSION_TYPE=x11`，具备启动 AXIS/Vismach 图形界面的显示环境。 +3. 查找 `/home/mes123456/cnc_wams/linuxcnc` 下现有 `xyzbc-trt.desktop`，未找到。 +4. 读取历史 `/home/mes123456/linuxcnc-master/linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop`，其 Exec 指向旧路径 `/home/mes123456/linuxcnc-master/scripts/rip-environment linuxcnc .../xyzbc-trt.ini`。 +5. 确认新路径关键文件存在：`/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment`、`scripts/linuxcnc`、`configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini`。 +6. 创建目录 `/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting`。 +7. 创建快捷方式 `/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop`，权限为可执行。快捷方式 Exec 为 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini`，Icon 为 `/home/mes123456/cnc_wams/linuxcnc/linuxcncicon.png`。 +8. 执行 `desktop-file-validate` 检查新快捷方式，无输出，表示未发现格式错误。 +9. 启动前检查 LinuxCNC 进程，发现历史 `/home/mes123456/linuxcnc-master` 的 `xyzbc-trt` 仍在运行，包括 `scripts/linuxcnc`、`linuxcncsvr`、`rtapi_app`、`milltask`、`halui`、`hal_manualtoolchange`、`xyzbc-trt-gui`、`axis`。 +10. 尝试执行 `/home/mes123456/linuxcnc-master/scripts/linuxcnc -k`，该命令打开了 pickconfig 窗口，未关闭旧实例；随后终止该关闭命令和旧 LinuxCNC 相关进程。 +11. 用新路径正式启动：`setsid bash -lc 'cd /home/mes123456/cnc_wams/linuxcnc && exec /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini' > /tmp/xyzbc-trt-cnc_wams-linuxcnc.log 2>&1 < /dev/null &`。 +12. 验证进程：新实例全部来自 `/home/mes123456/cnc_wams/linuxcnc`，包括 `/bin/bash .../scripts/linuxcnc .../xyzbc-trt.ini`、`linuxcncsvr`、`rtapi_app load tpmod`、`milltask`、`halui`、`hal_manualtoolchange`、`xyzbc-trt-gui`、`axis -ini .../xyzbc-trt.ini`。 +13. 验证 HAL：在新 RIP 环境中执行 `halcmd show pin motion.switchkins-type`，可读到 `motion.switchkins-type`，当前值为 `0`，连接到 `:kinstype-select`。 +14. 验证 Python API：在新 RIP 环境中通过 `linuxcnc.stat()` 读取状态，得到 `task_state=1`、`interp_state=1`、`file=./demos/xyzbc_switchkins.ngc`、`axis_mask=55`、`position=[0.0,0.0,0.0,0.0,0.0]`。 +15. 更新 `working/04-任务矩阵.md`，新增 T-039 并标记完成：创建并执行 `xyzbc-trt` 快捷方式。 +16. 更新 `working/05-验收证据.md`，新增快捷方式路径、Exec、执行命令、当前进程证据、HAL/Python 验证结果。 +17. 更新 `working/03-推进台账.md`，新增“创建并执行 `xyzbc-trt` 快捷方式”轮次，记录创建、清理旧实例、启动新实例和验证情况。 +18. 最终检查：新快捷方式存在且可执行；`xyzbc-trt` 仍从 `/home/mes123456/cnc_wams/linuxcnc` 运行；`git diff --check -- web-rtcp-5axis-xyzbc-trt-sim-plan/working` 无空白错误；`git -C /home/mes123456/cnc_wams/linuxcnc status --short` 显示新增未跟踪目录 `?? linuxcnc-rtcp-5axis-shortcuts/`。 +19. 本轮结论：已在 `/home/mes123456/cnc_wams/linuxcnc` 创建 `xyzbc-trt.desktop` 快捷方式，并已执行 `xyzbc-trt`。当前运行实例来自 `/home/mes123456/cnc_wams/linuxcnc`，可作为后续 native evidence 采集基线。 + +## 2026-07-02 05:15:05 EDT - 修正 `xyzbc-trt-runtime-files.md` 中的 LinuxCNC 运行路径 + +1. 收到请求：用户要求根据当前实际命令 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` 修正 `web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md`，特别是路径部分。 +2. 使用 `rg` 搜索文档中的 `/home/mes123456/linuxcnc-master`、`linuxcnc-master`、`/home/mes123456/cnc_wams/linuxcnc` 和 `xyzbc-trt`，定位旧路径主要在当前进程、启动入口、Vismach 运行入口、AXIS 运行入口等部分。 +3. 检查当前运行进程，确认新实例来自 `/home/mes123456/cnc_wams/linuxcnc`：包括 `/bin/bash .../scripts/linuxcnc .../xyzbc-trt.ini`、`linuxcncsvr`、`rtapi_app load tpmod`、`milltask`、`halui`、`hal_manualtoolchange`、`xyzbc-trt-gui`、`axis -ini .../xyzbc-trt.ini`。 +4. 使用 LinuxCNC Python API 读取当前状态，确认 `file=./demos/xyzbc_switchkins.ngc`、`axis_mask=55`、`position=[0.0,0.0,0.0,0.0,0.0]`、`task_state=1`、`interp_state=1`。 +5. 使用替换将文档中的 `/home/mes123456/linuxcnc-master` 全部替换为 `/home/mes123456/cnc_wams/linuxcnc`。 +6. 修改文档开头，新增“当前对标的 run-in-place 根目录”为 `/home/mes123456/cnc_wams/linuxcnc`，并写入当前完整启动命令。 +7. 修改“当前进程”段落，将原先简写或旧路径进程改为当前实际进程路径，包括 `scripts/linuxcnc`、`linuxcncsvr`、`rtapi_app`、`milltask`、`halui`、`hal_manualtoolchange`、`xyzbc-trt-gui`、`axis`。 +8. 在“当前进程”后新增当前 LinuxCNC Python API 状态检查结果，记录当前加载文件、axis mask、位置和 task/interp 状态。 +9. 修改“启动入口”段落，快捷方式路径改为 `/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop`，快捷方式执行命令改为当前新路径。 +10. 修改 Vismach Python 界面文件运行入口为 `/home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui`。 +11. 修改 AXIS 主界面运行入口为 `/home/mes123456/cnc_wams/linuxcnc/bin/axis`，并把当前进程示例改为完整 `-ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` 路径。 +12. 复查全文，确认不再包含 `/home/mes123456/linuxcnc-master` 或 `linuxcnc-master`。保留的 `configs/.../xyzbc-trt_cmds.hal` 是相对路径简写，不是旧根路径。 +13. 执行 `git diff --check -- web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md`，无输出，表示没有空白错误。 +14. `git status --short -- web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md` 显示该文档当前在 Git 视角为未跟踪文件。 +15. 本轮结论：`xyzbc-trt-runtime-files.md` 已按当前 `/home/mes123456/cnc_wams/linuxcnc` 的 run-in-place 执行路径修正，文档中的当前进程、启动入口、Vismach/AXIS 运行入口和状态验证均对应新实例。 + +## 2026-07-02 05:36:53 EDT - 编写 `xyzbc-trt` Web 数控仿真系统 Word 设计任务书和技术方案 + +1. 收到请求：用户要求参考 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md`，通过执行 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` 获取界面等方法，编写图文并茂的 Web 数控仿真系统设计任务书和技术方案，完全对标 `xyzbc-trt` 功能，并把 Word 文件放入 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc`。 +2. 检查当前 X11 窗口树，确认真实 AXIS 窗口存在，标题为 `xyzbc_switchkins.ngc - AXIS 2.10.0~pre1 on sim-xyzbc-trt-kins (switchkins)`，窗口 ID 包括外框 `0x60044c` 和实际 AXIS 子窗口 `0x320001f`；同时看到 `AXIS Manual Toolchanger` 窗口。 +3. 检查当前运行进程，确认 `xyzbc-trt` 会话仍来自 `/home/mes123456/cnc_wams/linuxcnc`，包括 `scripts/linuxcnc`、`linuxcncsvr`、`rtapi_app load tpmod`、`milltask`、`halui`、`hal_manualtoolchange`、`xyzbc-trt-gui`、`axis -ini .../xyzbc-trt.ini`。 +4. 在 RIP 环境中读取 HAL 引脚，确认 `joint.0.pos-fb` 到 `joint.4.pos-fb` 分别连接 `:table-x`、`:saddle-y`、`:spindle-z`、`:tilt-b`、`:rotate-c`；确认 `motion.switchkins-type` 当前为 `0` 并由 `:kinstype-select` 驱动；确认 `kinstype.is-0=TRUE`、`kinstype.is-1=FALSE`、`kinstype.is-2=FALSE`；确认 `xyzbc-trt-kins.x-offset=-20`、`xyzbc-trt-kins.z-offset=-15`、`conventional-directions=FALSE`。 +5. 使用 `import -window 0x60044c` 抓取 AXIS 主窗口截图，生成 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/assets/xyzbc-trt-axis-window.png`，尺寸为 `1796x1594`。 +6. 使用 `import -window root` 抓取桌面级截图，生成 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/assets/xyzbc-trt-desktop.png`，尺寸为 `6720x2160`。 +7. 读取 `xyzbc-trt-runtime-files.md` 的前部内容，获取当前 run-in-place 根目录、启动命令、进程、Python API 状态、主 INI、PyVCP、HAL、Vismach、AXIS 等说明。 +8. 列出 `/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting` 下文件，确认存在 `xyzbc-trt.ini`、`xyzbc-trt.xml`、`xyzbc-trt.tbl`、`xyzbc.var`、`switchkins_postgui.hal`、`demos/xyzbc_switchkins.ngc`、`remap_subs/428remap.ngc`、`429remap.ngc`、`430remap.ngc`、`xyzbc_switchkins_sub.ngc` 等对标文件。 +9. 读取 `xyzbc-trt.ini` 的关键项，确认 `KINEMATICS = xyzbc-trt-kins sparm=identityfirst`、`POSTGUI_HALFILE = switchkins_postgui.hal`、`HALCMD` 中的 switchkins、Vismach 和 offset 连接、`MDI_COMMAND = M429/M428/M430`、`SERVO_PERIOD = 1000000`、`CYCLE_TIME = 0.010`、`TOOL_TABLE = xyzbc-trt.tbl`、五轴和五关节定义。 +10. 读取 `xyzbc-trt.xml`，确认 PyVCP 面板包含 `SWITCHKINS` 标题、`0:IDENTITY`、`1: XYZBC`、`2: USERK` multilabel，以及 `IDENTITY`、`TCP:XYZBC`、`userk`、`vismach-clear` 按钮。 +11. 读取 `switchkins_postgui.hal`，确认 `kinstype.is-0/1/2` 连接到 PyVCP multilabel，`pyvcp.vismach-clear` 连接到 `vismach.plotclear`，三个 PyVCP 按钮连接到 `halui.mdi-command-00/01/02`。 +12. 读取 `demos/xyzbc_switchkins.ngc`，确认默认演示程序调用 `o call [10] [5] [10][1000][3][0][20][45][20]`。 +13. 检查系统工具，确认中文字体 `Noto Sans CJK SC` 可用，`libreoffice`、`convert`、`identify` 可用。 +14. 创建方案图 SVG `/doc/assets/xyzbc-trt-web-architecture.svg`，内容描述 LinuxCNC 原型系统、Web 数控仿真系统、native evidence JSON、web evidence JSON 和对标验收报告之间的模块关系。 +15. 创建方案图 SVG `/doc/assets/xyzbc-trt-json-compare-flow.svg`，内容描述 LinuxCNC 真实系统和 Web 仿真系统以 `samplePeriodMs = 20` 统一采样，生成 `native-evidence.json`、`web-evidence.json` 并输出 `compare-report.json` 的流程。 +16. 使用 ImageMagick `convert` 将两个 SVG 转成 PNG：`xyzbc-trt-web-architecture.png` 和 `xyzbc-trt-json-compare-flow.png`，二者尺寸均为 `2500x1406`。 +17. 创建 HTML 源文档 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.html`。文档包含项目目标、原型系统运行证据、AXIS 截图、HAL 状态基线、完全对标范围、Web 首屏界面设计、总体技术架构、switchkins 逻辑、五轴运动学和模型、路径采样和 JSON 比对、Evidence JSON 字段规范、开发任务分解、验收标准、风险控制和附录文件清单。 +18. 初次尝试使用 LibreOffice 从 HTML 直接导出 DOCX，命令失败，提示 `no export filter`。随后尝试先转换 ODT、再导出 DOCX，其中 ODT 可生成，但 HTML 图片嵌入可靠性不足。 +19. 为保证 Word 文件图文完整，改为用 Python 生成标准 OOXML `.docx` 包：写入 `[Content_Types].xml`、`_rels/.rels`、`word/document.xml`、`word/styles.xml`、`word/numbering.xml`、`word/_rels/document.xml.rels`，并将四张 PNG 内嵌到 `word/media/`。 +20. 生成最终 Word 文件 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx`，文件类型识别为 `Microsoft Word 2007+`，大小约 `1.8M`。 +21. 使用 `unzip -t` 校验 DOCX 压缩包结构，确认 `word/media/xyzbc-trt-axis-window.png`、`word/media/xyzbc-trt-desktop.png`、`word/media/xyzbc-trt-web-architecture.png`、`word/media/xyzbc-trt-json-compare-flow.png` 以及 XML 部件均正常，无压缩数据错误。 +22. 使用 LibreOffice 将生成的 DOCX 转换为 PDF 进行兼容性验证，成功输出 `/tmp/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.pdf`，文件类型为 PDF 1.7，共 `20` 页。 +23. 检查 DOCX 正文，发现有两处历史旧 LinuxCNC 目录字符串是作为“旧路径不再使用”的说明出现。为避免后续自动路径扫描误判，已将 HTML 源文档和 DOCX 包内正文中的具体旧目录文本改为“历史旧 LinuxCNC 目录”。 +24. 再次检查 DOCX 正文，确认旧目录字符串计数为 `0`，当前新路径 `/home/mes123456/cnc_wams/linuxcnc` 出现 `9` 次，内嵌图片数量为 `4`。 +25. 再次执行 `unzip -t`，DOCX 无压缩错误；再次用 LibreOffice 转 PDF，成功生成 20 页 PDF，说明 Word 文档可被 LibreOffice 打开并导出。 +26. 查看 Git 状态，`web-rtcp-5axis-xyzbc-trt-sim-plan/doc/` 当前在 Git 视角为未跟踪目录；本日志文件 `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` 已被修改。 +27. 本轮结论：已在指定 `doc` 目录生成图文并茂的 Word 设计任务书和技术方案，文件名为 `xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx`。文档完全围绕当前 `/home/mes123456/cnc_wams/linuxcnc` 的 `xyzbc-trt` 运行基线编写，包含真实 AXIS 截图、桌面截图、Web 对标架构图、JSON 采样比对流程图，并明确要求预览路径和执行路径使用统一 `20 ms` 采样周期输出 JSON 进行比对。 + +## 2026-07-02 05:52:41 EDT - 补充 `xyzbc-trt` 程序逻辑全量分析到 Word 文档 + +1. 收到新请求：用户要求将 `xyzbc-trt` 程序的所有逻辑分析出来，并补充到 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx` 中。 +2. 为避免只停留在配置层，开始从源码层补充逻辑：读取 `xyzbc-trt.ini`、`xyzbc-trt.xml`、`switchkins_postgui.hal`、`demos/xyzbc_switchkins.ngc`，并进一步查看运动学源码 `src/emc/kinematics/xyzbc-trt-kins.c`、`switchkins.c`、`trtfuncs.c`、`kins_util.c`，以及 AXIS 脚本 `src/emc/usr_intf/axis/scripts/axis.py` 和 Vismach 模型 `src/hal/user_comps/vismach/xyzbc-trt-gui.py`。 +3. 通过 `xyzbc-trt-kins.c` 确认核心配置：`kinsname="xyzbc-trt-kins"`、`halprefix="xyzbc-trt-kins"`、`required_coordinates="xyzbc"`、`allow_duplicates=1`、`identityfirst` 决定启动默认 type0 为 identity，type1 为 `xyzbc-trt-kins` 本体，type2 为用户自定义运动学。 +4. 通过 `switchkins.c` 确认 switchkins 运行机制：模块启动时创建 `kinstype.is-0/1/2` 输出 pin，默认 `switchkins_type=0`，随后 `kinematicsSwitch(0)` 初始化状态；当切换到 0/1/2 时，对应的 `kinstype.is.N` 仅有一个置位，其他清零。 +5. 通过 `trtfuncs.c` 确认 XYZBC 正逆运动学：`xyzbcKinematicsForward()` / `xyzbcKinematicsInverse()` 使用 X/Y/Z/B/C 主关节、`x-offset`、`z-offset`、`tool-offset`、旋转点与 `conventional-directions` 计算 TCP 位姿和反解关节；并确认机床默认方向与 conventional 约定相反。 +6. 通过 `kins_util.c` 确认身份运动学的字母映射逻辑：`map_coordinates_to_jnumbers()` 允许重复坐标字母，`identityKinematicsForward()` / `Inverse()` 通过映射把关节与坐标字母相互转换，为 `identityfirst` 场景提供基础。 +7. 通过 `axis.py` 中相关逻辑确认 AXIS 对 switchkins 的行为：当非 trivkins 或特殊 kinstype 生效时，轴/关节按钮与 jog 逻辑会按当前 kinematics 类型切换；这说明 Web 端需要复刻不仅是布局，还包括焦点和控件激活规则。 +8. 通过 `xyzbc-trt-gui.py` 确认 Vismach 模型层级：`tool-offset` 影响刀具，`spindle-z` 影响主轴头，`tilt-b` 影响倾斜轴，`rotate-c` 影响回转台，`table-x` 和 `saddle-y` 驱动横向与纵向；模型由 HAL pin 驱动，而不是静态摆放。 +9. 通过 `motion/switchkins.adoc` 的本地源码文档确认语义：`motion.switchkins-type` 是输入浮点 pin，会被截断为整数；`kinstype.is-0/1/2` 为输出 bit；模式切换需要和解释器同步，典型方式是 M68 更新控制 pin 后再用 M66 或等价同步语句同步 motion/interpreter。 +10. 创建新的逻辑分析插图 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/assets/xyzbc-trt-logic-map.svg`，内容包括配置与程序文件、启动与装载、运动学与 HAL、界面与三维模型、运行状态、路径证据 JSON 和关键约束。 +11. 因 SVG 初次转换时出现 XML 解析错误，排查后发现是文本中的 `<=` 未做 XML 实体转义；将其修正为 `<=` 后重新使用 ImageMagick `convert` 成功生成 `xyzbc-trt-logic-map.png`。 +12. 更新 HTML 源文档 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.html`，新增“10. xyzbc-trt 程序逻辑全量分析”章节，内容覆盖启动入口、配置装载、switchkins 运动学、正逆运动学、HAL 和状态逻辑、AXIS/Vismach 逻辑、程序执行与同步逻辑、异常和约束逻辑。 +13. 对应章节中明确写入：Web 端不能把预览、模式切换、DRO、刀具、执行按钮做成割裂组件，而要共享同一个运行态和信号总线；`motion.switchkins-type`、`kinstype.is.N`、`halui.mdi-command-00/01/02`、`motion.analog-out-03` 的间接驱动语义要保持一致。 +14. 通过 Python 直接修改 Word OOXML 包结构，将新增章节追加进现有 DOCX：在 `word/document.xml` 的 `w:sectPr` 之前插入一整段新的段落、表格、项目符号和逻辑图；同时在 `word/_rels/document.xml.rels` 中新增逻辑图图片关系，并把 `xyzbc-trt-logic-map.png` 放入 `word/media/`。 +15. 重新校验 DOCX：`file` 识别为 `Microsoft Word 2007+`，`unzip -t` 无报错，包内新增 `word/media/xyzbc-trt-logic-map.png`，同时保留原有 4 张图片和样式/编号部件。 +16. 再次使用 LibreOffice 以 headless 模式将 DOCX 导出为 PDF，输出 `/tmp/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.pdf`，文件类型为 PDF 1.7，共 29 页，说明新增章节在 Word 兼容性和排版上均可打开。 +17. 检查 `word/document.xml` 内容，确认“10. xyzbc-trt 程序逻辑全量分析”章节仅出现 1 次，说明新的逻辑分析已实际写入 Word 文档正文。 +18. 检查 Git 状态，`web-rtcp-5axis-xyzbc-trt-sim-plan/doc/` 仍为未跟踪目录，`web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` 继续被修改。 +19. 本轮结论：`xyzbc-trt` 的源码级逻辑分析已补充到 Word 文档中，覆盖启动、配置、switchkins、正逆运动学、HAL 状态、AXIS/Vismach、执行同步、异常约束等关键行为；最终 Word 文件仍位于 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx`。 + +## 2026-07-02 05:59:14 EDT - 补充开机、急停、回零与执行状态的联锁逻辑到 Word 文档 + +1. 收到新请求：用户要求分析开机、急停等机床状态对执行逻辑的影响关系，并写入 Word 文档。 +2. 查阅本地 LinuxCNC 官方源码文档，重点定位 `docs/src/config/python-interface.adoc`、`docs/src/gui/axis.adoc`、`docs/src/user/user-intro.adoc` 以及 `docs/src/config/ini-config.adoc` 中与状态、模式、回零、MDI、AUTO、PAUSE 相关的说明。 +3. 从 Python 接口文档确认关键状态字段：`estop`、`enabled`、`homed`、`interp_state`、`task_state`、`task_mode`、`task_paused`、`paused`、`file`、`gcodes`、`tool_offset`、`taskbeat` 等，其中 `task_state` 可取 `STATE_ESTOP`、`STATE_ESTOP_RESET`、`STATE_ON`、`STATE_OFF`，`task_mode` 可取 `MODE_MDI`、`MODE_AUTO`、`MODE_MANUAL`，`interp_state` 可取 `INTERP_IDLE`、`INTERP_READING`、`INTERP_PAUSED`、`INTERP_WAITING`。 +4. 从 Python 接口文档确认命令前置条件：发送 MDI 时，通常必须满足“未急停、已上电、全部关节已回零、解释器空闲、模式为 MDI”；文档中还给出 `ok_for_mdi()` 的示例判断。 +5. 从 AXIS GUI 文档确认典型操作顺序：先释放 E-STOP，再打开 Machine Power，然后回零，再加载 G-code，再运行程序；AXIS 也会把某些手动操作自动切换到对应模式，但底层联锁条件并没有消失。 +6. 从用户入门文档确认模式差异：Manual、Auto、MDI 三种模式在执行语义上不同，Manual 允许手动命令和点动，Auto 允许整文件 G-code，MDI 允许逐行输入并执行命令。 +7. 从 INI 配置文档确认回零和限位关系：`NO_FORCE_HOMING`、`HOMING_PROMPT`、`HOME_SEQUENCE`、`MIN_LIMIT/MAX_LIMIT` 等设置会影响“未回零是否允许执行”和“回零前后限位是否生效”。 +8. 创建新的状态联锁分析章节写法：明确把 `ESTOP / Machine Power / Homed / Task Mode / Interp State / Paused` 作为控制 `RUN / MDI / AUTO / Step / Pause / Resume / Stop` 的前置条件，而不是把它们当作独立开关。 +9. 使用 Python 直接将新章节追加到 Word OOXML 包内，新增章节标题为“11. 开机、急停、回零与执行状态的联锁逻辑”，并插入多张表格，分别描述状态含义、典型状态流转、对 XYZBC 程序的影响、Web 端联锁规则以及与证据 JSON 的关系。 +10. 在新章节中明确写入：`ESTOP` 属于最高优先级禁止状态；急停未解除时不能运行、不能发 MDI；上电后才能回零和执行；未回零时 MDI / AUTO 通常应被禁止；暂停态可以恢复或停止；运行中切换 kinstype 必须谨慎处理。 +11. 在新章节中明确写入：Web 端的按钮是否可点、命令是否被执行、预览和执行是否允许开始，不能由前端自己决定，而必须由统一状态机判断；证据 JSON 至少要记录 `taskState`、`taskMode`、`interpState`、`paused`、`estop`、`enabled`、`homed`、`kinstype` 和按钮可用性。 +12. 重新校验 DOCX 包：`file` 识别为 `Microsoft Word 2007+`，`unzip -t` 无错误，包内图片和原有章节均正常保留。 +13. 再次使用 LibreOffice headless 导出 PDF，成功生成 `/tmp/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.pdf`，文件类型为 PDF 1.7，共 `35` 页，说明新增联锁章节可被正常打开和导出。 +14. 检查 Word 正文内容，确认“11. 开机、急停、回零与执行状态的联锁逻辑”仅出现 1 次，且文档中 `ESTOP`、`Homed` 等关键状态描述已写入正文。 +15. 检查 Git 状态，`web-rtcp-5axis-xyzbc-trt-sim-plan/doc/` 依旧为未跟踪目录，`web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` 继续被修改。 +16. 本轮结论：已把机床开机、急停、回零、模式、解释器、暂停/继续等状态联锁逻辑补充进 Word 文档，明确这些状态如何限制或允许 `xyzbc-trt` 的程序执行与 MDI 行为。 + +## 2026-07-02 07:31:33 EDT - 分析 xyzbc-trt Web 数控系统界面与 icon 清单 + +1. 收到请求：根据“xyzbc-trt”相关内容，分析所有界面和 icon，为后续编写 Web 数控系统界面做准备。 +2. 首先读取工作区级 AGENTS.md，确认本轮结束后必须将执行过程用中文追加到 /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md。 +3. 检索备忘、web-rtcp-5axis-xyzbc-trt-sim-plan、web-rtcp-5axis-sim-plan 中的 xyzbc-trt、UI、icon、gmoccapy、AXIS、PyVCP、Vismach 等关键词，确认已有独立 xyzbc-trt 项目、运行文档、截图、Web shell、profile 和图标资产。 +4. 读取 备忘/备忘7.txt，确认上下文中已经完成 LinuxCNC xyzbc-trt 构建、启动、AXIS 窗口截图、INI/XML/HAL/演示程序字段梳理，以及状态机联锁分析。 +5. 读取 web-rtcp-5axis-xyzbc-trt-sim-plan/README.md 和 working/01-项目功能内容.md，确认目标是对标 LinuxCNC configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini，并且 Web 需覆盖 AXIS、PyVCP、POSTGUI HAL、Vismach、switchkins、tool table、parameter file、OPFS staging、Task/HAL 和 JSON evidence。 +6. 读取 app/src/ui/gmoccapy-shell.js，提取当前 Web shell 的主要区域：titlebar、preview、dro、gcode、status-sidebar、info-tabs、override、spindle-coolant、bottom-controls。 +7. 读取 app/src/ui/gmoccapy-icon-registry.js，整理首屏已注册的核心 icon button id，包括 tbtn_estop、tbtn_on、rbt_manual、rbt_mdi、rbt_auto、tbtn_setup、btn_load、btn_run、btn_stop、tbtn_pause、btn_step、btn_homing、btn_tool、btn_touch、rbt_forward、rbt_reverse、rbt_stop、tbtn_flood、tbtn_mist、视角和预览按钮等。 +8. 读取 app/src/ui-reference/gmoccapy-button-icons.json，并用 Node 统计图标清单：rowCount 为 211，copiedIconCount 为 112，按 20 个类别分组，包括右侧主状态栏、底部主按钮栏、Auto 程序运行栏、MDI/宏按钮栏、回零按钮栏、对刀/坐标设定按钮栏、Jog、冷却/主轴、预览/视图、编辑器、文件选择、ToolEdit、OffsetPage、设置页和 Glade 静态按钮。 +9. 读取 app/src/profiles/xyzbc-trt.js，确认 xyzbc-trt profile 的核心字段：坐标 XYZBC、joints 0-4、kinematicsModuleId xyzbc-trt、switchkins type 0 identity/M429、type 1 XYZBC TCP/M428、type 2 USERK/M430、Vismach 反馈 pin、tool-offset、x-offset=-20、z-offset=-15、B/C 限制和 panelSchema 对 TCP:XYZBC 的改写。 +10. 读取 doc/xyzbc-trt-runtime-files.md 中 PyVCP XML 和 POSTGUI HAL 章节，确认 SWITCHKINS 面板包含 multilabel、IDENTITY、TCP:XYZBC、userk、vismach-clear，并确认 pyvcp.type0/1/2-button 分别连接 halui.mdi-command-00/01/02，执行 M429/M428/M430。 +11. 读取 app/src/panel-schema/xyzac-trt-pyvcp.js，确认 Web 端 PyVCP schema 的控件、HAL net、MDI command 和 CLEAR_PREVIEW 映射方式，并据此分析 xyzbc-trt 专用差异。 +12. 新增文档 web-rtcp-5axis-xyzbc-trt-sim-plan/working/08-xyzbc-trt-界面与图标分析.md，共 369 行，内容覆盖机床界面基线、必须覆盖的界面、AXIS 等效页面、PyVCP SWITCHKINS、Vismach 等效三维机床、文件/程序、手动/Jog/回零/对刀、刀具/偏置/设置/诊断页面、Web 已注册核心图标、图标分类总览、已复制图标文件清单、xyzbc-trt 专用界面规则和组件拆分建议。 +13. 在新增文档中明确开发约束：xyzbc-trt 主界面应显示 X/Y/Z/B/C；TCP 按钮必须写作 TCP:XYZBC；IDENTITY 对应 M429，TCP 对应 M428，USERK 对应 M430；vismach-clear 必须清除 Web 机床/刀路预览；B/C、TCP/toolAxis 不能从 UI 字符串推断，必须来自 profile/INI/kinematics runtime。 +14. 更新 web-rtcp-5axis-xyzbc-trt-sim-plan/working/README.md，在索引中加入 08-xyzbc-trt-界面与图标分析.md，说明它是面向 Web 界面开发的页面区域、PyVCP/SWITCHKINS、Vismach、业务页面和 gmoccapy 图标资产清单。 +15. 通过 wc -l 校验新增文档行数为 369 行；通过 rg 校验 TCP:XYZBC、图标分类总览、Web 已注册核心图标、必须覆盖的界面、PyVCP SWITCHKINS、Vismach 等效等关键章节均可检索。 +16. 检查 Git 状态，确认新增分析文档和独立项目 working/README.md 当前处于未跟踪目录内；已有 gpdlog.md 继续被追加修改。 +17. 本轮结论：已完成 xyzbc-trt 相关界面和 icon 的系统分析，并落地为 working/08-xyzbc-trt-界面与图标分析.md，可直接作为后续 Web 数控系统界面组件拆分和图标接入依据。 + +## 2026-07-02 07:58:04 EDT - 将 DOCX 设计任务书整合到 working 文档 + +1. 收到请求：将 /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx 整合到 /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working 目录下的文件中。 +2. 先检查 doc 与 working 目录，确认 DOCX、HTML、ODT、runtime-files.md 和 doc/assets 存在，working 目录已有 01-08 工作文档、README、evidence 和 screenshots。 +3. 使用 Python 读取 DOCX 的 OOXML 包结构，确认源文件存在，大小约 1835616 字节，包内共有 11 个条目，包含 5 张图片：xyzbc-trt-axis-window.png、xyzbc-trt-desktop.png、xyzbc-trt-json-compare-flow.png、xyzbc-trt-logic-map.png、xyzbc-trt-web-architecture.png。 +4. 从 DOCX 的 word/document.xml 提取正文段落，确认共有 507 段文本，内容覆盖项目目标、原型系统运行证据、HAL 状态基线、完全对标范围、Web 界面设计任务书、技术方案、switchkins 逻辑、五轴运动学、路径采样、Evidence JSON、开发任务分解、验收标准、风险控制、对标文件清单、程序逻辑全量分析和状态联锁逻辑。 +5. 检查当前环境没有 pandoc，且 python-docx 模块不可用，因此直接基于 zipfile 和 xml.etree.ElementTree 解析 DOCX 的 document.xml、document.xml.rels、段落、表格和图片关系。 +6. 生成新的 working 文档：web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md。该文件由 DOCX 机械整合生成，保留章节标题、表格和图片引用，图片路径统一指向 ../doc/assets/。 +7. 新整合文档共 364 行，包含 DOCX 的 1-11 章：项目目标、原型系统运行证据、完全对标范围、Web 界面设计任务书、技术方案、开发任务分解、验收标准、风险和控制措施、附录对标文件清单、xyzbc-trt 程序逻辑全量分析、开机/急停/回零与执行状态联锁逻辑。 +8. 在 09 文档中确认保留关键技术点：默认对标 /home/mes123456/cnc_wams/linuxcnc，默认程序 xyzbc_switchkins.ngc，M429/M428/M430 对应 IDENTITY/TCP:XYZBC/USERK，motion.switchkins-type、kinstype.is-0/1/2、x-offset=-20、z-offset=-15、samplePeriodMs=20、native/Web evidence JSON 和 compare report。 +9. 在 09 文档中确认 5 张图片引用均存在：xyzbc-trt-axis-window.png、xyzbc-trt-desktop.png、xyzbc-trt-web-architecture.png、xyzbc-trt-json-compare-flow.png、xyzbc-trt-logic-map.png。 +10. 更新 working/README.md，把 09-设计任务书与技术方案整合.md 加入文件索引，并在当前关注点中说明 DOCX 任务书已整合到 working Markdown，后续开发和验收优先以 working 下 Markdown 文件为可检索入口。 +11. 更新 working/04-任务矩阵.md，新增 T-040：DOCX 任务书整合到 working，状态为完成，验收标准为 09 文档保留 DOCX 1-11 章、5 张图片引用、任务书、技术方案、程序逻辑和状态联锁内容。 +12. 更新 working/03-推进台账.md，新增 2026-07-02 07:31 EDT 轮次，记录本轮目标、已做事项、修改文件、验证情况和下一步。 +13. 更新 working/05-验收证据.md，新增 DOCX 整合验收章节，记录源文件、输出文件、DOCX 包结构、图片清单、Markdown 行数和 rg 检查命令。 +14. 更新 working/06-决策记录.md，新增决策记录。初次写入时发现编号与已有 D-008 冲突，随后检查全部 D 编号，确认已有 D-008、D-009、D-010、D-011，因此把本轮决策修正为 D-012：DOCX 任务书整合为 working Markdown。 +15. 执行校验：wc -l 确认 09 文档为 364 行；rg 确认 README、任务矩阵、推进台账、验收证据、决策记录均能检索到 09 文档、T-040、D-012 和 DOCX 整合验收。 +16. 执行关键内容校验：rg 确认 09 文档中存在“1. 项目目标”“11. 开机、急停、回零与执行状态的联锁逻辑”“xyzbc-trt-logic-map”“samplePeriodMs = 20”“TCP:XYZBC”等关键内容。 +17. 检查 Git 状态，working 目录当前仍处于未跟踪目录状态，web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md 被追加修改。未对用户已有未跟踪/未提交内容做回退或清理。 +18. 本轮结论：DOCX 设计任务书已整合为 working/09-设计任务书与技术方案整合.md，并同步登记到 README、任务矩阵、推进台账、验收证据和决策记录，后续可直接在 working 目录中检索和维护任务书内容。 diff --git a/web-rtcp-5axis-sim-plan/working1/01-problem-review.md b/web-rtcp-5axis-sim-plan/working1/01-problem-review.md index e8c7294..dfca0e6 100644 --- a/web-rtcp-5axis-sim-plan/working1/01-problem-review.md +++ b/web-rtcp-5axis-sim-plan/working1/01-problem-review.md @@ -7,19 +7,19 @@ 测试报告： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/web-rtcp-5axis-site-test-report-2026-06-22.docx +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/web-rtcp-5axis-site-test-report-2026-06-22.docx ``` 原始自动化结果： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json ``` 截图目录： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/ +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/ ``` ## 2. D1：RTCP/运动学边界未自动挂接 diff --git a/web-rtcp-5axis-sim-plan/working1/05-acceptance-test-plan.md b/web-rtcp-5axis-sim-plan/working1/05-acceptance-test-plan.md index 0b38836..c570fa8 100644 --- a/web-rtcp-5axis-sim-plan/working1/05-acceptance-test-plan.md +++ b/web-rtcp-5axis-sim-plan/working1/05-acceptance-test-plan.md @@ -165,7 +165,7 @@ DRO 中 X/Y/Z 数字连续变化，没有跳到 0/1 局部原点。 修复后建议复用或更新： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs ``` 重点更新： diff --git a/web-rtcp-5axis-sim-plan/working1/README.md b/web-rtcp-5axis-sim-plan/working1/README.md index f92077b..227eb4e 100644 --- a/web-rtcp-5axis-sim-plan/working1/README.md +++ b/web-rtcp-5axis-sim-plan/working1/README.md @@ -5,7 +5,7 @@ 本目录用于指导修复测试报告中确认的问题： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/web-rtcp-5axis-site-test-report-2026-06-22.docx +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/web-rtcp-5axis-site-test-report-2026-06-22.docx ``` 本目录只提供修复设计、实施步骤、溯源和验收文档，不直接修改程序代码。后续开发人员可按本目录文件逐步修复本地项目。 diff --git a/web-rtcp-5axis-sim-plan/working_run/02-run-preconditions-test-and-implementation-steps.md b/web-rtcp-5axis-sim-plan/working_run/02-run-preconditions-test-and-implementation-steps.md index 4fc830a..db2f8c9 100644 --- a/web-rtcp-5axis-sim-plan/working_run/02-run-preconditions-test-and-implementation-steps.md +++ b/web-rtcp-5axis-sim-plan/working_run/02-run-preconditions-test-and-implementation-steps.md @@ -526,7 +526,7 @@ RUN 是在已打开程序、机床可运行、AUTO 模式下发送 EMC_TASK_PLAN 源码证据： ```text -/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/halui.cc:1096 +/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/halui.cc:1096 sendProgramRun(int line) - updateStatus() - 如果 emcStatus->task.file 为空，直接返回 -1 @@ -535,25 +535,25 @@ RUN 是在已打开程序、机床可运行、AUTO 模式下发送 EMC_TASK_PLAN - sendAuto() - emcCommandSend(EMC_TASK_PLAN_RUN) -/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/shcom.cc:750 +/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/shcom.cc:750 sendProgramOpen(program) - 发送 EMC_TASK_PLAN_OPEN - 本地进程发送文件名 - remote process 通过 remote_buffer 分块发送文件内容 -/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/shcom.cc:814 +/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/shcom.cc:814 sendProgramRun(int line) - status 为 AUTO update 时先 updateStatus() - task.file 为空时尝试重新打开 lastProgramFile - 再发送 EMC_TASK_PLAN_RUN -/home/meswork/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc:2164 +/home/mes123456/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc:2164 EMC_TASK_PLAN_OPEN - 接收 remote 文件或打开本地文件 - 调用 emcTaskPlanOpen(open_msg->file) - 成功后写入 emcStatus->task.file -/home/meswork/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc:2318 +/home/mes123456/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc:2318 EMC_TASK_PLAN_RUN - 未 homed 且 no_force_homing=false 时拒绝运行 - 清 single stepping @@ -562,25 +562,25 @@ RUN 是在已打开程序、机床可运行、AUTO 模式下发送 EMC_TASK_PLAN - 设置 interpState=READING - 清 task_paused -/home/meswork/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc:2337 +/home/mes123456/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc:2337 EMC_TASK_PLAN_PAUSE - emcTrajPause() - interpState=PAUSED - task_paused=1 -/home/meswork/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc:2369 +/home/mes123456/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc:2369 EMC_TASK_PLAN_RESUME - emcTrajResume() - 恢复 interpState - 清 task_paused -/home/meswork/cnc_wams/linuxcnc/src/emc/task/emctask.cc:543 +/home/mes123456/cnc_wams/linuxcnc/src/emc/task/emctask.cc:543 emcTaskPlanOpen(file) - 清 motionLine/currentLine/readLine - interp.open(file) - taskplanopen=1 -/home/meswork/cnc_wams/linuxcnc/src/emc/task/emctask.cc:566 +/home/mes123456/cnc_wams/linuxcnc/src/emc/task/emctask.cc:566 emcTaskPlanRead() - interp.read() - 文件未打开时用 emcStatus->task.file 重新 open/read diff --git a/web-rtcp-5axis-sim-plan/working_run/08-linuxcnc-source-test-assets.md b/web-rtcp-5axis-sim-plan/working_run/08-linuxcnc-source-test-assets.md index b2e4fba..55dcc42 100644 --- a/web-rtcp-5axis-sim-plan/working_run/08-linuxcnc-source-test-assets.md +++ b/web-rtcp-5axis-sim-plan/working_run/08-linuxcnc-source-test-assets.md @@ -4,14 +4,14 @@ ## 1. 选择结果 -本轮按用户要求，从 `/home/meswork/cnc_wams/linuxcnc` LinuxCNC 源程序中选定一组更适合项目测试的真实 RTCP/五轴资产： +本轮按用户要求，从 `/home/mes123456/cnc_wams/linuxcnc` LinuxCNC 源程序中选定一组更适合项目测试的真实 RTCP/五轴资产： ```text INI: -/home/meswork/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini +/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini G-code: -/home/meswork/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc +/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc ``` 已复制到 `working_run`： @@ -42,12 +42,12 @@ web-rtcp-5axis-sim-plan/working_run/test_linuxcnc_source/xyzac_switchkins_test_1 8. G-code 使用 G93 inverse-time feed。 9. G-code 包含大量 XYZAC 五轴联动段。 10. G-code 共 4510 行，比短 switchkins test 程序更适合测试项目功能完整性。 -11. G-code 来自 /home/meswork/cnc_wams/linuxcnc 源程序，不是项目手写 fixture。 +11. G-code 来自 /home/mes123456/cnc_wams/linuxcnc 源程序，不是项目手写 fixture。 ``` ## 3. 源文件哈希 -当前副本与 `/home/meswork/cnc_wams/linuxcnc` 源文件逐字节一致： +当前副本与 `/home/mes123456/cnc_wams/linuxcnc` 源文件逐字节一致： ```text xyzac-trt.ini @@ -120,12 +120,12 @@ working_run/test_linuxcnc_source/impeller-7bl-xyzac.ngc 如果要测试短 switchkins identity/TCP 循环，再补充： ```text -/home/meswork/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc +/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc ``` 如果要测试 xyzbc 对称链路，再补充： ```text -/home/meswork/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini -/home/meswork/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc +/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc ``` diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/README.md b/web-rtcp-5axis-xyzbc-trt-sim-plan/README.md new file mode 100644 index 0000000..fe8a193 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/README.md @@ -0,0 +1,62 @@ +# Web XYZBC TRT RTCP 数控系统仿真 + +本目录面向 LinuxCNC `xyzbc-trt` table rotary/tilting 五轴配置创建 Web 数控系统仿真界面。 + +目标配置： + +```text +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +``` + +Web 实现入口： + +```text +web-rtcp-5axis-xyzbc-trt-sim-plan/app/index.html +``` + +核心原则： + +- 浏览器侧负责 UI、OPFS/会话、机器文件 staging、状态编排和可视化。 +- LinuxCNC 语义来自 `wasm-port/vendor/linuxcnc` 和 `wasm-port/runtime/sdk`。 +- `xyzbc-trt-kins`、RS274NGC、remap、task/HAL、tool table、parameter file 不在 JavaScript 中重写 CNC 语义。 + +工作文档索引： + +- [01-项目功能内容](working/01-项目功能内容.md) +- [02-项目程序开发详细步骤](working/02-项目程序开发详细步骤.md) +- [03-推进台账](working/03-推进台账.md) +- [04-任务矩阵](working/04-任务矩阵.md) +- [05-验收证据](working/05-验收证据.md) +- [06-决策记录](working/06-决策记录.md) + +当前快速验证： + +```bash +npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node +``` + +真实 native/Web 对比证据： + +```bash +/home/mes123456/linuxcnc-master/scripts/rip-environment \ + python3 web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90 +npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web +npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare +``` + +证据输出： + +```text +web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json +web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json +web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json +``` + +完整浏览器/WASM 验证前置： + +```bash +wasm-port/tools/build_kinematics_wasm.sh +wasm-port/tools/build_wasm_core.sh +wasm-port/tools/build_tp_wasm.sh +wasm-port/tools/build_task_hal_wasm.sh +``` diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/index.html b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/index.html new file mode 100644 index 0000000..3499226 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/index.html @@ -0,0 +1,14 @@ + + + + + + Web XYZBC TRT RTCP Simulation + + + + +
+ + + diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/package-lock.json b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/package-lock.json new file mode 100644 index 0000000..a771e86 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/package-lock.json @@ -0,0 +1,62 @@ +{ + "name": "web-rtcp-5axis-xyzbc-trt-sim", + "version": "0.1.0", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "name": "web-rtcp-5axis-xyzbc-trt-sim", + "version": "0.1.0", + "devDependencies": { + "playwright": "^1.61.1" + } + }, + "node_modules/fsevents": { + "version": "2.3.2", + "resolved": "https://registry.npmjs.org/fsevents/-/fsevents-2.3.2.tgz", + "integrity": "sha512-xiqMQR4xAeHTuB9uWm+fFRcIOgKBMiOBP+eXiyT7jsgVCq1bkVygt00oASowB7EdtpOHaaPgKt812P9ab+DDKA==", + "dev": true, + "hasInstallScript": true, + "license": "MIT", + "optional": true, + "os": [ + "darwin" + ], + "engines": { + "node": "^8.16.0 || ^10.6.0 || >=11.0.0" + } + }, + "node_modules/playwright": { + "version": "1.61.1", + "resolved": "https://registry.npmjs.org/playwright/-/playwright-1.61.1.tgz", + "integrity": "sha512-DWnY5o3YbLWK4GovuAVwpqL+1VwGNdUGrRr++8j8PtQQzvAVZUIMjKQ90fY689sEJZJBbZVw1rXaOKSTitkzPQ==", + "dev": true, + "license": "Apache-2.0", + "dependencies": { + "playwright-core": "1.61.1" + }, + "bin": { + "playwright": "cli.js" + }, + "engines": { + "node": ">=18" + }, + "optionalDependencies": { + "fsevents": "2.3.2" + } + }, + "node_modules/playwright-core": { + "version": "1.61.1", + "resolved": "https://registry.npmjs.org/playwright-core/-/playwright-core-1.61.1.tgz", + "integrity": "sha512-h7Qlt6m4REp25qvIdvbDtVmD4LqVXfpRxhORv9L0jzETM05p4fuPJ3dKyuSXQxDSbXnmS79HAgi9589lGSpLkg==", + "dev": true, + "license": "Apache-2.0", + "bin": { + "playwright-core": "cli.js" + }, + "engines": { + "node": ">=18" + } + } + } +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/package.json b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/package.json new file mode 100644 index 0000000..0500363 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/package.json @@ -0,0 +1,17 @@ +{ + "name": "web-rtcp-5axis-xyzbc-trt-sim", + "version": "0.1.0", + "private": true, + "type": "module", + "scripts": { + "build": "node scripts/build-static.mjs", + "dev": "python3 -m http.server 4174", + "smoke": "npm run smoke:node", + "smoke:node": "node ../tests/node/verify_xyzbc_trt_web_app.mjs", + "evidence:web": "node ../tools/collect-web-xyzbc-trt-evidence.mjs", + "evidence:compare": "node ../tools/compare-xyzbc-trt-evidence.mjs" + }, + "devDependencies": { + "playwright": "^1.61.1" + } +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/scripts/build-static.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/scripts/build-static.mjs new file mode 100644 index 0000000..719e71a --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/scripts/build-static.mjs @@ -0,0 +1,133 @@ +import { cp, mkdir, readdir, rm, readFile } from "node:fs/promises"; +import { dirname, join } from "node:path"; +import { fileURLToPath } from "node:url"; + +const appRoot = dirname(dirname(fileURLToPath(import.meta.url))); +const repoRoot = dirname(dirname(appRoot)); +const distDir = join(appRoot, "dist"); + +await rm(distDir, { recursive: true, force: true }); +await mkdir(distDir, { recursive: true }); +await cp(join(appRoot, "index.html"), join(distDir, "index.html")); +await cp(join(appRoot, "src"), join(distDir, "src"), { recursive: true }); +await copyLinuxCncManifest(); +await copyLinuxCncConfigAssets(); +await copyLinuxCncReferenceAssets(); +await copyBundledTestLinuxCncSourceAssets(); +await copyKinematicsRuntimeAssets(); +await copyInterpreterRuntimeAssets(); +await copyTpRuntimeAssets(); +await copyTaskHalRuntimeAssets(); + +const packageJson = JSON.parse(await readFile(join(appRoot, "package.json"), "utf8")); +const forbiddenDependencies = ["react", "vue", "@angular/core", "svelte"]; +const dependencyNames = [ + ...Object.keys(packageJson.dependencies || {}), + ...Object.keys(packageJson.devDependencies || {}), +]; +const forbidden = dependencyNames.filter((name) => forbiddenDependencies.includes(name)); + +if (forbidden.length > 0) { + throw new Error(`forbidden frontend framework dependency detected: ${forbidden.join(", ")}`); +} + +async function copyInterpreterRuntimeAssets() { + const coreSrcDir = join(repoRoot, "wasm-port/build/wasm/core"); + const coreDistDir = join(distDir, "wasm-port/build/wasm/core"); + await mkdir(coreDistDir, { recursive: true }); + for (const entry of ["linuxcnc_interp.js", "linuxcnc_interp.wasm"]) { + await cp(join(coreSrcDir, entry), join(coreDistDir, entry)); + } +} + +async function copyTpRuntimeAssets() { + const tpSrcDir = join(repoRoot, "wasm-port/build/wasm/tp"); + const tpDistDir = join(distDir, "wasm-port/build/wasm/tp"); + await mkdir(tpDistDir, { recursive: true }); + for (const entry of ["linuxcnc_tp.js", "linuxcnc_tp.wasm"]) { + await cp(join(tpSrcDir, entry), join(tpDistDir, entry)); + } +} + +async function copyTaskHalRuntimeAssets() { + const taskHalSrcDir = join(repoRoot, "wasm-port/build/wasm/task-hal"); + const taskHalDistDir = join(distDir, "wasm-port/build/wasm/task-hal"); + await mkdir(taskHalDistDir, { recursive: true }); + for (const entry of ["linuxcnc_task_hal.js", "linuxcnc_task_hal.wasm"]) { + await cp(join(taskHalSrcDir, entry), join(taskHalDistDir, entry)); + } +} + +console.log("gmoccapy_static_build=ok"); + +async function copyLinuxCncConfigAssets() { + const configSrcDir = join(repoRoot, "wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting"); + const configDistDir = join(distDir, "configs/sim/axis/vismach/5axis/table-rotary-tilting"); + const vendorConfigDistDir = join(distDir, "wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting"); + const gmoccapyConfigSrcDir = join(repoRoot, "wasm-port/vendor/linuxcnc/configs/sim/gmoccapy"); + const gmoccapyConfigDistDir = join(distDir, "configs/sim/gmoccapy"); + const gmoccapyVendorConfigDistDir = join(distDir, "wasm-port/vendor/linuxcnc/configs/sim/gmoccapy"); + await mkdir(configDistDir, { recursive: true }); + await mkdir(vendorConfigDistDir, { recursive: true }); + await mkdir(gmoccapyConfigDistDir, { recursive: true }); + await mkdir(gmoccapyVendorConfigDistDir, { recursive: true }); + await cp(configSrcDir, configDistDir, { recursive: true }); + await cp(configSrcDir, vendorConfigDistDir, { recursive: true }); + await cp(gmoccapyConfigSrcDir, gmoccapyConfigDistDir, { recursive: true }); + await cp(gmoccapyConfigSrcDir, gmoccapyVendorConfigDistDir, { recursive: true }); +} + +async function copyLinuxCncReferenceAssets() { + const linuxCncSrcDir = join(repoRoot, "linuxcnc"); + const linuxCncDistDir = join(distDir, "linuxcnc"); + await mkdir(linuxCncDistDir, { recursive: true }); + for (const entry of [ + "configs/sim/gmoccapy", + "nc_files", + ]) { + await cp(join(linuxCncSrcDir, entry), join(linuxCncDistDir, entry), { recursive: true }); + } +} + +async function copyBundledTestLinuxCncSourceAssets() { + const testSourceDir = join(repoRoot, "web-rtcp-5axis-sim-plan/working_run/test_linuxcnc_source"); + const testSourceDistDir = join(distDir, "working_run/test_linuxcnc_source"); + await mkdir(testSourceDistDir, { recursive: true }); + await cp(testSourceDir, testSourceDistDir, { recursive: true }); +} + +async function copyLinuxCncManifest() { + const manifestDistDir = join(distDir, "wasm-port/tools"); + await mkdir(manifestDistDir, { recursive: true }); + await cp( + join(repoRoot, "wasm-port/tools/source-manifest.txt"), + join(manifestDistDir, "source-manifest.txt"), + ); +} + +async function copyKinematicsRuntimeAssets() { + const sdkSrcDir = join(repoRoot, "wasm-port/runtime/sdk/src"); + const sdkDistDir = join(distDir, "wasm-port/runtime/sdk/src"); + await mkdir(sdkDistDir, { recursive: true }); + await cp( + join(sdkSrcDir, "linuxcnc-kinematics.js"), + join(sdkDistDir, "linuxcnc-kinematics.js"), + ); + for (const entry of [ + "linuxcnc-interp.js", + "linuxcnc-hal.js", + "linuxcnc-tp.js", + "linuxcnc-task-hal.js", + "sim-config-staging.js", + ]) { + await cp(join(sdkSrcDir, entry), join(sdkDistDir, entry)); + } + + const kinematicsSrcDir = join(repoRoot, "wasm-port/build/wasm/kinematics"); + const kinematicsDistDir = join(distDir, "wasm-port/build/wasm/kinematics"); + await mkdir(kinematicsDistDir, { recursive: true }); + for (const entry of await readdir(kinematicsSrcDir)) { + if (!/^linuxcnc_.*_kinematics\.(js|wasm)$/.test(entry)) continue; + await cp(join(kinematicsSrcDir, entry), join(kinematicsDistDir, entry)); + } +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/assets/gmoccapy-icons/img_auto__mode_auto_inactive__48.png b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/assets/gmoccapy-icons/img_auto__mode_auto_inactive__48.png new file mode 100644 index 0000000000000000000000000000000000000000..1305c0c6f09536ed7f26b7818458761ab2285d3d GIT binary patch literal 5387 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mode 100644 index 0000000..23c6fea --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/main.js @@ -0,0 +1,303 @@ +import { createSimulationStore } from "./state/store.js"; +import { mountGmoccapyShell } from "./ui/gmoccapy-shell.js"; +import { createLinuxCncInterpreterRuntime } from "./runtime/linuxcnc-interpreter-runtime.js"; +import { createLinuxCncInterpreterWorkerRuntime } from "./runtime/linuxcnc-interpreter-worker-client.js"; +import { createLinuxCncKinematicsRuntime } from "./runtime/linuxcnc-kinematics-runtime.js"; +import { createLinuxCncKinematicsWorkerRuntime } from "./runtime/linuxcnc-kinematics-worker-client.js"; +import { loadLinuxCncIniConfig } from "./runtime/linuxcnc-ini-runtime.js"; +import { createLinuxCncTaskHalRuntime } from "./runtime/linuxcnc-task-hal-runtime.js"; +import { createLinuxCncTaskHalWorkerRuntime } from "./runtime/linuxcnc-task-hal-worker-client.js"; + +const app = document.querySelector("#app"); + +if (!app) { + throw new Error("Missing #app mount point"); +} + +const store = createSimulationStore(); +const shell = mountGmoccapyShell(app, store); +const iniConfigReady = attachProfileIniConfig(store, store.getState().profile); +const kinematicsRuntimeReady = attachDefaultKinematicsRuntime(store, store.getState().profile.kinematicsModuleId || store.getState().machineProfile); +const interpreterRuntimeReady = attachDefaultInterpreterRuntime(store); +const taskHalRuntimeReady = attachDefaultTaskHalRuntime(store); +const machineFileSeedReady = ensureMachineFilesForProfile(store); +let attachedKinematicsProfile = store.getState().machineProfile; +let attachedIniProfile = store.getState().machineProfile; +let attachedMachineFileProfile = store.getState().machineProfile; +let machineFileSeedPromise = machineFileSeedReady; +const autoLoadedProgramProfiles = new Set(); + +Promise.allSettled([interpreterRuntimeReady, machineFileSeedReady]).then(() => { + ensureDefaultLinuxCncProgramPreview(store).catch(() => {}); +}); + +store.subscribe((state) => { + if (state.machineProfile !== attachedIniProfile) { + attachedIniProfile = state.machineProfile; + attachProfileIniConfig(store, state.profile).catch(() => {}); + } + if (state.machineProfile !== attachedKinematicsProfile) { + attachedKinematicsProfile = state.machineProfile; + const profileId = state.machineProfile; + attachDefaultKinematicsRuntime(store, state.profile.kinematicsModuleId || state.machineProfile) + .then(() => store.refreshKinematicsFrame({ + operatorMessage: `LinuxCNC kinematics ${profileId} profile frame refreshed`, + })) + .catch(() => {}); + } + if (state.machineProfile !== attachedMachineFileProfile) { + attachedMachineFileProfile = state.machineProfile; + machineFileSeedPromise = ensureMachineFilesForProfile(store); + window.webRtcp5AxisSimulation.machineFileSeedReady = machineFileSeedPromise; + machineFileSeedPromise.finally(() => { + ensureDefaultLinuxCncProgramPreview(store).catch(() => {}); + }); + } +}); + +window.webRtcp5AxisSimulation = { + getState: store.getState, + dispatch: store.dispatch, + refreshKinematicsFrame: store.refreshKinematicsFrame, + saveSession: store.saveSession, + restoreSession: store.restoreSession, + stageMachineFiles: store.stageMachineFiles, + queryToolDb: store.queryToolDb, + editToolDb: store.editToolDb, + saveToolDb: store.saveToolDb, + runFullBoundaryAudit: store.runFullBoundaryAudit, + getRegions: shell.getRegions, + iniConfigReady, + kinematicsRuntimeReady, + interpreterRuntimeReady, + taskHalRuntimeReady, + machineFileSeedReady, +}; + +store.dispatch({ type: "BOOT_READY" }); + +async function attachProfileIniConfig(store, profile) { + try { + const iniConfig = await loadLinuxCncIniConfig(profile); + store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig }); + return store.getState().iniConfigReadiness; + } catch (error) { + store.dispatch({ type: "INI_CONFIG_FAILED", path: profile.iniPath, error: error.message }); + return store.getState().iniConfigReadiness; + } +} + +async function ensureMachineFilesForProfile(store) { + try { + const state = store.getState(); + if (state.machineFileStaging?.status === "staged" && state.machineFileStaging?.profileId === state.machineProfile) { + return state.machineFileStaging; + } + return await store.stageMachineFiles(); + } catch (error) { + return { + apiName: "web-rtcp-5axis-machine-file-staging-seed", + status: "error", + error: error instanceof Error ? error.message : String(error), + }; + } +} + +async function ensureDefaultLinuxCncProgramPreview(store) { + const state = store.getState(); + if (!state.interpreterRuntime?.loaded) return null; + if (state.machineFileStaging?.status !== "staged" || !state.machineFileStaging?.gcodeSources?.length) return null; + + const profileId = state.machineProfile; + if (autoLoadedProgramProfiles.has(profileId)) return state.programExecution; + + const defaultSource = selectDefaultLinuxCncSource(state); + if (!defaultSource) return null; + + autoLoadedProgramProfiles.add(profileId); + store.dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel: defaultSource.sourceRel }); + await waitForStore( + store, + (nextState) => !nextState.interpreterExecutionPending && nextState.programExecution?.sourceMode === "linuxcnc-interpreter-wasm", + 15000, + ).catch((error) => { + autoLoadedProgramProfiles.delete(profileId); + throw error; + }); + return store.getState().programExecution; +} + +function selectDefaultLinuxCncSource(state) { + const sources = state.machineFileStaging?.gcodeSources || []; + const profileDefault = state.profile?.machineFileStaging?.defaultProgramFilename; + if (profileDefault) { + const match = sources.find((source) => source.filename === profileDefault); + if (match) return match; + } + const preferredFilename = `${state.machineProfile}_switchkins.ngc`; + return sources.find((source) => source.filename === preferredFilename) + || sources.find((source) => source.filename.includes(state.machineProfile)) + || sources[0] + || null; +} + +function runtimeSdkUrls(filename) { + const inDist = import.meta.url.includes("/app/dist/"); + return [ + inDist + ? new URL(`../wasm-port/runtime/sdk/src/${filename}`, import.meta.url).href + : new URL(`../../../wasm-port/runtime/sdk/src/${filename}`, import.meta.url).href, + ]; +} + +function waitForStore(store, predicate, timeoutMs = 10000) { + const initialState = store.getState(); + if (predicate(initialState)) { + return Promise.resolve(initialState); + } + return new Promise((resolve, reject) => { + const timeoutId = window.setTimeout(() => { + unsubscribe(); + reject(new Error(`Timed out after ${timeoutMs}ms waiting for store state`)); + }, timeoutMs); + const unsubscribe = store.subscribe((state) => { + if (!predicate(state)) return; + window.clearTimeout(timeoutId); + unsubscribe(); + resolve(state); + }); + }); +} + +async function attachDefaultKinematicsRuntime(store, moduleId = "xyzbc-trt") { + const state = store.getState(); + if (state.profile?.tcpCapable === false) { + store.dispatch({ + type: "SET_FRAME_SOURCE", + sourceMode: "fixture-ui-only", + operatorMessage: `LinuxCNC kinematics disabled for ${state.machineProfile} reference profile`, + }); + return { + apiName: "web-rtcp-5axis-linuxcnc-kinematics-runtime-readiness", + moduleId, + loaded: false, + sourceMode: "fixture-ui-only", + semanticBoundary: "reference-profile-no-linuxcnc-kinematics-runtime", + }; + } + const sdkModuleUrls = runtimeSdkUrls("linuxcnc-kinematics.js"); + const errors = []; + for (const sdkModuleUrl of sdkModuleUrls) { + if (typeof Worker === "function") { + try { + const runtime = await createLinuxCncKinematicsWorkerRuntime({ moduleId, sdkModuleUrl }); + store.dispatch({ type: "ATTACH_KINEMATICS_RUNTIME", runtime }); + await store.refreshKinematicsFrame({ operatorMessage: `LinuxCNC kinematics ${runtime.moduleId} worker ready` }); + return runtime.readiness(); + } catch (error) { + errors.push(`${sdkModuleUrl} worker: ${error.message}`); + } + } + + try { + const runtime = await createLinuxCncKinematicsRuntime({ moduleId, sdkModuleUrl }); + store.dispatch({ type: "ATTACH_KINEMATICS_RUNTIME", runtime }); + return runtime.readiness(); + } catch (error) { + errors.push(`${sdkModuleUrl}: ${error.message}`); + } + } + + try { + const runtime = await createLinuxCncKinematicsRuntime({ moduleId }); + store.dispatch({ type: "ATTACH_KINEMATICS_RUNTIME", runtime }); + return runtime.readiness(); + } catch (error) { + errors.push(`default runtime: ${error.message}`); + store.dispatch({ + type: "SET_FRAME_SOURCE", + sourceMode: "fixture-ui-only", + operatorMessage: `LinuxCNC kinematics runtime unavailable: ${errors.join(" | ")}`, + }); + return { + apiName: "web-rtcp-5axis-linuxcnc-kinematics-runtime-readiness", + moduleId, + loaded: false, + sourceMode: "fixture-ui-only", + error: errors.join(" | "), + }; + } +} + +async function attachDefaultInterpreterRuntime(store) { + const sdkModuleUrls = runtimeSdkUrls("linuxcnc-interp.js"); + const errors = []; + for (const sdkModuleUrl of sdkModuleUrls) { + if (typeof Worker === "function") { + try { + const runtime = await createLinuxCncInterpreterWorkerRuntime({ sdkModuleUrl }); + store.dispatch({ type: "ATTACH_INTERPRETER_RUNTIME", runtime }); + return runtime.readiness(); + } catch (error) { + errors.push(`${sdkModuleUrl} worker: ${error.message}`); + } + } + + try { + const runtime = await createLinuxCncInterpreterRuntime({ sdkModuleUrl }); + store.dispatch({ type: "ATTACH_INTERPRETER_RUNTIME", runtime }); + return runtime.readiness(); + } catch (error) { + errors.push(`${sdkModuleUrl}: ${error.message}`); + } + } + + try { + const runtime = await createLinuxCncInterpreterRuntime(); + store.dispatch({ type: "ATTACH_INTERPRETER_RUNTIME", runtime }); + return runtime.readiness(); + } catch (error) { + errors.push(`default runtime: ${error.message}`); + return { + apiName: "web-rtcp-5axis-linuxcnc-interpreter-runtime-readiness", + loaded: false, + sourceMode: "fixture-line-playback", + error: errors.join(" | "), + }; + } +} + +async function attachDefaultTaskHalRuntime(store) { + const sdkModuleUrls = runtimeSdkUrls("linuxcnc-task-hal.js"); + const errors = []; + for (const sdkModuleUrl of sdkModuleUrls) { + if (typeof Worker === "function") { + try { + const runtime = await createLinuxCncTaskHalWorkerRuntime({ sdkModuleUrl }); + const readiness = await runtime.readiness(); + store.dispatch({ type: "ATTACH_TASK_HAL_RUNTIME", runtime, readiness }); + return readiness; + } catch (error) { + errors.push(`${sdkModuleUrl} worker: ${error.message}`); + } + } + + try { + const runtime = await createLinuxCncTaskHalRuntime({ sdkModuleUrl }); + const readiness = runtime.readiness(); + store.dispatch({ type: "ATTACH_TASK_HAL_RUNTIME", runtime, readiness }); + return readiness; + } catch (error) { + errors.push(`${sdkModuleUrl}: ${error.message}`); + } + } + store.dispatch({ type: "TASK_HAL_RUNTIME_FAILED", error: errors.join(" | ") }); + return { + apiName: "web-rtcp-5axis-linuxcnc-task-hal-runtime-readiness", + loaded: false, + taskRuntimeReady: false, + motionRuntimeReady: false, + halRuntimeReady: false, + error: errors.join(" | "), + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/panel-schema/xyzac-trt-pyvcp.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/panel-schema/xyzac-trt-pyvcp.js new file mode 100644 index 0000000..643ee0e --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/panel-schema/xyzac-trt-pyvcp.js @@ -0,0 +1,110 @@ +export const xyzacTrtPyvcpPanelSchema = { + id: "xyzac-trt-switchkins-pyvcp", + profileId: "xyzac-trt", + title: "SWITCHKINS", + sourceXmlPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml", + postguiHalPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", + boundary: "pyvcp_hal_schema_reference_only", + promotionAllowed: false, + groups: [ + { + id: "switchkins-mode", + type: "vbox", + label: "SWITCHKINS", + controls: [ + { + id: "kinstype-legends", + type: "multilabel", + legends: ["0:IDENTITY", "1: XYZAC ", "2: USERK "], + halNets: [ + { + signal: "kinstype.is-0", + source: "kinstype.is-0", + target: "pyvcp.multilabel.0.legend0", + }, + { + signal: "kinstype.is-1", + source: "kinstype.is-1", + target: "pyvcp.multilabel.0.legend1", + }, + { + signal: "kinstype.is-2", + source: "kinstype.is-2", + target: "pyvcp.multilabel.0.legend2", + }, + ], + }, + { + id: "type0-button", + type: "button", + text: "IDENTITY", + halpin: "pyvcp.type0-button", + halNet: "type0-button", + mdiCommandIndex: 0, + mdiCommand: "M429", + webAction: { type: "SET_KINS_TYPE", kinsType: "identity" }, + }, + { + id: "type1-button", + type: "button", + text: "TCP:XYZAC", + halpin: "pyvcp.type1-button", + halNet: "type1-button", + mdiCommandIndex: 1, + mdiCommand: "M428", + webAction: { type: "SET_KINS_TYPE", kinsType: "tcp-xyzac" }, + }, + { + id: "type2-button", + type: "button", + text: "userk", + halpin: "pyvcp.type2-button", + halNet: "type2-button", + mdiCommandIndex: 2, + mdiCommand: "M430", + webAction: null, + }, + ], + }, + { + id: "vismach-actions", + type: "vbox", + controls: [ + { + id: "vismach-clear", + type: "button", + text: "vismach-clear", + halpin: "pyvcp.vismach-clear", + halNet: "vismach-clear", + target: "vismach.plotclear", + webAction: { type: "CLEAR_PREVIEW" }, + }, + ], + }, + ], +}; + +export function createPyvcpHalBindingSummary(schema = xyzacTrtPyvcpPanelSchema) { + const controls = schema.groups.flatMap((group) => group.controls); + const buttons = controls.filter((control) => control.type === "button"); + const halNets = [ + ...controls.flatMap((control) => control.halNets || []), + ...buttons.map((button) => ({ + signal: button.halNet, + source: button.halpin, + target: button.target || `halui.mdi-command-${String(button.mdiCommandIndex).padStart(2, "0")}`, + })), + ]; + + return { + schemaId: schema.id, + profileId: schema.profileId, + boundary: schema.boundary, + promotionAllowed: schema.promotionAllowed, + controlCount: controls.length, + buttonCount: buttons.length, + halNetCount: halNets.length, + mdiCommands: buttons.filter((button) => button.mdiCommand).map((button) => button.mdiCommand), + halNets, + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/gmoccapy-xyzab.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/gmoccapy-xyzab.js new file mode 100644 index 0000000..aa17a9a --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/gmoccapy-xyzab.js @@ -0,0 +1,440 @@ +import { getSourceReferencesForProfile } from "./source-reference-map.js"; + +const sourceReferenceObjects = getSourceReferencesForProfile("gmoccapy-xyzab"); + +const gmoccapyXyzabJogAxisPins = ["x", "y", "z", "a", "b"].flatMap((axis) => [ + `gmoccapy.jog.axis.jog-${axis}-plus`, + `gmoccapy.jog.axis.jog-${axis}-minus`, +]); + +const gmoccapyXyzabJogIncrementPins = Array.from({ length: 6 }, (_, index) => ( + `gmoccapy.jog.jog-inc-${index}` +)); + +export const gmoccapyXyzabPanelSchema = { + id: "gmoccapy-xyzab-hal-component", + profileId: "gmoccapy-xyzab", + title: "gmoccapy HAL component", + sourceXmlPath: "linuxcnc/share/gmoccapy/gmoccapy.glade", + postguiHalPath: "linuxcnc/configs/sim/gmoccapy/gmoccapy_postgui.hal", + boundary: "gmoccapy_hal_component_reference_only", + promotionAllowed: false, + groups: [ + { + id: "task-mode-actions", + type: "gmoccapy-button-bank", + label: "Task and mode controls", + controls: [ + { + id: "tbtn-estop", + type: "button", + text: "ESTOP", + halpin: "gmoccapy.v-button.button-0", + halNet: "gmoccapy-v-button-0", + target: "gmoccapy.command.STATE_ESTOP", + nativeCommand: "STATE_ESTOP / STATE_ESTOP_RESET", + webAction: { type: "ESTOP" }, + }, + { + id: "tbtn-on", + type: "button", + text: "POWER", + halpin: "gmoccapy.v-button.button-1", + halNet: "gmoccapy-v-button-1", + target: "gmoccapy.command.STATE_ON", + nativeCommand: "STATE_ON / STATE_OFF", + webAction: { type: "TOGGLE_POWER" }, + }, + { + id: "rbt-manual", + type: "button", + text: "MANUAL", + halpin: "gmoccapy.v-button.button-2", + halNet: "gmoccapy-v-button-2", + target: "gmoccapy.command.MODE_MANUAL", + nativeCommand: "MODE_MANUAL", + webAction: { type: "SET_MODE", mode: "manual" }, + }, + { + id: "rbt-mdi", + type: "button", + text: "MDI", + halpin: "gmoccapy.v-button.button-3", + halNet: "gmoccapy-v-button-3", + target: "gmoccapy.command.MODE_MDI", + nativeCommand: "MODE_MDI", + webAction: { type: "SET_MODE", mode: "mdi" }, + }, + { + id: "rbt-auto", + type: "button", + text: "AUTO", + halpin: "gmoccapy.v-button.button-4", + halNet: "gmoccapy-v-button-4", + target: "gmoccapy.command.MODE_AUTO", + nativeCommand: "MODE_AUTO", + webAction: { type: "SET_MODE", mode: "auto" }, + }, + ], + }, + { + id: "postgui-display-pins", + type: "postgui-hal", + label: "POSTGUI_HALFILE pins", + controls: [ + { + id: "spindle-feedback-bar", + type: "hal-display", + text: "spindle feedback", + halpin: "gmoccapy.spindle_feedback_bar", + halNet: "spindle-abs", + target: "gmoccapy.spindle_feedback_bar", + }, + { + id: "spindle-at-speed-led", + type: "hal-display", + text: "spindle at speed", + halpin: "gmoccapy.spindle_at_speed_led", + halNet: "spindle-at-speed", + target: "gmoccapy.spindle_at_speed_led", + }, + { + id: "tooloffset-x", + type: "hal-display", + text: "tooloffset X", + halpin: "gmoccapy.tooloffset-x", + halNet: "tooloffset-x", + target: "gmoccapy.tooloffset-x", + }, + { + id: "tooloffset-z", + type: "hal-display", + text: "tooloffset Z", + halpin: "gmoccapy.tooloffset-z", + halNet: "tooloffset-z", + target: "gmoccapy.tooloffset-z", + }, + ], + }, + ], +}; + +export const gmoccapyXyzabProfile = { + id: "gmoccapy-xyzab", + title: "gmoccapy XYZAB trivkins reference", + iniPath: "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini", + pyvcpXmlPath: null, + postguiHalPath: "linuxcnc/configs/sim/gmoccapy/gmoccapy_postgui.hal", + generatedHalPath: null, + toolTablePath: "linuxcnc/configs/sim/gmoccapy/tool.tbl", + machineName: "gmoccapy XYZAB", + display: { + geometry: "XYZAB", + display: "gmoccapy", + cycleTimeMs: 100, + jogAxes: ["X", "Y", "Z", "A", "B"], + programPrefix: "../../nc_files/", + positionOffset: "RELATIVE", + positionFeedback: "ACTUAL", + maxFeedOverride: 1.5, + maxSpindleOverride: 1.2, + minSpindleOverride: 0.5, + increments: ["1.000 mm", "0.100 mm", "0.010 mm", "0.001 mm", "1.2345 in"], + }, + rs274ngc: { + startupCode: "G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9", + subroutinePath: "./macros", + halPinVars: false, + parameterFile: "sim.var", + }, + python: { + pathPrepend: "./python", + topLevel: "./python/toplevel.py", + logLevel: 0, + }, + coordinates: ["X", "Y", "Z", "A", "B"], + joints: ["joint.0", "joint.1", "joint.2", "joint.3", "joint.4"], + kinematics: "trivkins coordinates=xyzab", + kinematicsModuleId: "gmoccapy-xyzab-trivkins-reference", + kinematicsParameters: { + sparm: "coordinates=xyzab", + defaultSwitchkinsType: 0, + tcpCapable: false, + rtcpProof: false, + switchkinsTypes: [ + { value: 0, label: "XYZAB trivkins", mdiCommand: null, webKinsType: "identity" }, + ], + }, + remaps: [ + { + code: "M6", + modalGroup: 6, + prolog: "change_prolog", + ngc: "change_g43", + epilog: "change_epilog", + path: "linuxcnc/configs/sim/gmoccapy/macros/change_g43.ngc", + boundary: "linuxcnc_interpreter_remap_reference", + }, + { + code: "M61", + modalGroup: 6, + prolog: "settool_prolog", + ngc: "settool_g43", + epilog: "settool_epilog", + path: "linuxcnc/configs/sim/gmoccapy/macros/settool_g43.ngc", + boundary: "linuxcnc_interpreter_remap_reference", + }, + ], + hal: { + halui: true, + halFiles: [ + "core_sim_XYZAB.hal", + "spindle_sim.hal", + "simulated_home.hal", + ], + postguiHalFiles: ["gmoccapy_postgui.hal"], + postguiRequiresHalcompReady: true, + halcmd: { + loadrt: [ + "trivkins coordinates=xyzab", + "motmod num_joints=5 unlock_joints_mask=16", + "ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv", + "hypot names=vel_xy,vel_xyz", + ], + loadusr: ["milltask", "halui", "gmoccapy"], + feedbackNets: [ + { signal: "Xpos", source: "joint.0.motor-pos-cmd", target: "joint.0.motor-pos-fb" }, + { signal: "Ypos", source: "joint.1.motor-pos-cmd", target: "joint.1.motor-pos-fb" }, + { signal: "Zpos", source: "joint.2.motor-pos-cmd", target: "joint.2.motor-pos-fb" }, + { signal: "Apos", source: "joint.3.motor-pos-cmd", target: "joint.3.motor-pos-fb" }, + { signal: "Bpos", source: "joint.4.motor-pos-cmd", target: "joint.4.motor-pos-fb" }, + ], + offsetNets: [ + { signal: "tooloffset-x", source: "motion.tooloffset.x", target: "gmoccapy.tooloffset-x" }, + { signal: "tooloffset-z", source: "motion.tooloffset.z", target: "gmoccapy.tooloffset-z" }, + ], + simulationLoops: [ + { signal: "estop-loop", source: "iocontrol.0.user-enable-out", target: "iocontrol.0.emc-enable-in" }, + { signal: "tool-prep-loop", source: "iocontrol.0.tool-prepare", target: "iocontrol.0.tool-prepared" }, + { signal: "tool-change-loop", source: "iocontrol.0.tool-change", target: "iocontrol.0.tool-changed" }, + ], + spindleFeedback: [ + { signal: "spindle-speed-cmd", source: "spindle.0.speed-out", target: "limit_speed.in" }, + { signal: "spindle-speed-limited", source: "limit_speed.out", target: "sim_encoder_0.speed" }, + { signal: "spindle-at-speed", source: "near_speed.out", target: "spindle.0.at-speed" }, + { signal: "spindle-abs", source: "abs_spindle_feedback.out", target: "gmoccapy.spindle_feedback_bar" }, + ], + toolChange: { + strategy: "iocontrol-loopback", + manualGmoccapyPinsConnected: false, + postguiUnlinks: [ + "iocontrol.0.tool-change", + "iocontrol.0.tool-changed", + "iocontrol.0.tool-prep-number", + ], + commentedManualGuiNets: [ + "gmoccapy.toolchange-change <= iocontrol.0.tool-change", + "gmoccapy.toolchange-changed => iocontrol.0.tool-changed", + "gmoccapy.toolchange-number <= iocontrol.0.tool-prep-number", + ], + activeLoop: { + signal: "tool-change-loop", + source: "iocontrol.0.tool-change", + target: "iocontrol.0.tool-changed", + stage: "gmoccapy_postgui.hal", + }, + }, + }, + }, + nativeRuntime: { + linuxcncsvr: true, + task: "milltask", + emcmot: "motmod", + halui: "halui", + display: "gmoccapy -ini", + displayCycleTimeMs: 100, + taskCycleTimeSeconds: 0.001, + basePeriodNs: 100000, + servoPeriodNs: 1000000, + nmlChannels: ["emcCommand", "emcStatus", "emcError"], + }, + homing: { + noForceHoming: false, + noForceHomingIniValue: 0, + homeSequenceRequired: true, + simulatedHomeSwitches: [ + { axis: "X", position: 1 }, + { axis: "Y", position: 0.5 }, + { axis: "Z", position: 2 }, + ], + }, + halui: { + mdiCommands: [], + }, + traj: { + coordinates: "XYZAB", + linearUnits: "mm", + angularUnits: "degree", + defaultLinearVelocity: 9, + maxLinearVelocity: 234, + defaultLinearAcceleration: 200, + maxLinearAcceleration: 200, + noForceHoming: false, + }, + axisLimits: { + X: { min: 0, max: 600, maxVelocity: 166, maxAcceleration: 200 }, + Y: { min: 0, max: 400, maxVelocity: 166, maxAcceleration: 200 }, + Z: { min: -400, max: 4, maxVelocity: 166, maxAcceleration: 200 }, + A: { min: -36000, max: 36000, maxVelocity: 90, maxAcceleration: 1200 }, + B: { min: -36000, max: 36000, maxVelocity: 90, maxAcceleration: 1200 }, + }, + jointConfig: [ + { id: 0, axis: "X", type: "LINEAR", home: 0, homeOffset: 0, homeSequence: 1, min: 0, max: 600, maxVelocity: 166, maxAcceleration: 200 }, + { id: 1, axis: "Y", type: "LINEAR", home: 0, homeOffset: 0, homeSequence: 1, min: 0, max: 400, maxVelocity: 166, maxAcceleration: 200 }, + { id: 2, axis: "Z", type: "LINEAR", home: 0, homeOffset: 1, homeSequence: 0, min: -400, max: 4, maxVelocity: 166, maxAcceleration: 200 }, + { id: 3, axis: "A", type: "ANGULAR", home: 0, homeOffset: 0, homeSequence: 1, min: -36000, max: 36000, maxVelocity: 90, maxAcceleration: 1200 }, + { id: 4, axis: "B", type: "ANGULAR", home: 0, homeOffset: 45, homeSequence: 1, min: -36000, max: 36000, maxVelocity: 90, maxAcceleration: 1200 }, + ], + halPins: [ + "gmoccapy.h-button.button-0", + "gmoccapy.v-button.button-0", + ...gmoccapyXyzabJogAxisPins, + ...gmoccapyXyzabJogIncrementPins, + "gmoccapy.jog.jog-increment", + "gmoccapy.jog.turtle-jog", + "gmoccapy.unlock-settings", + "gmoccapy.feed.feed-override.counts", + "gmoccapy.feed.feed-override.count-enable", + "gmoccapy.feed.feed-override.analog-enable", + "gmoccapy.feed.feed-override.direct-value", + "gmoccapy.feed.reset-feed-override", + "gmoccapy.spindle.spindle-override.counts", + "gmoccapy.spindle.spindle-override.count-enable", + "gmoccapy.spindle.spindle-override.analog-enable", + "gmoccapy.spindle.spindle-override.direct-value", + "gmoccapy.spindle.reset-spindle-override", + "gmoccapy.rapid.rapid-override.counts", + "gmoccapy.rapid.rapid-override.count-enable", + "gmoccapy.rapid.rapid-override.analog-enable", + "gmoccapy.rapid.rapid-override.direct-value", + "gmoccapy.rapid.reset-rapid-override", + "gmoccapy.jog.jog-velocity.counts", + "gmoccapy.jog.jog-velocity.count-enable", + "gmoccapy.jog.jog-velocity.analog-enable", + "gmoccapy.jog.jog-velocity.direct-value", + "gmoccapy.ignore-limits", + "gmoccapy.optional-stop", + "gmoccapy.blockdelete", + "gmoccapy.tooloffset-x", + "gmoccapy.tooloffset-z", + "gmoccapy.probeheight", + "gmoccapy.blockheight", + "gmoccapy.toolmeasurement", + "gmoccapy.searchvel", + "gmoccapy.probevel", + "gmoccapy.toolchange-change", + "gmoccapy.toolchange-changed", + "gmoccapy.toolchange-number", + "gmoccapy.toolchange-confirm", + "gmoccapy.program.length", + "gmoccapy.program.current-line", + "gmoccapy.program.progress", + "gmoccapy.spindle_feedback_bar", + "gmoccapy.spindle_at_speed_led", + "gmoccapy.error", + "gmoccapy.delete-message", + "gmoccapy.warning-confirm", + ], + offsets: { + toolOffsetX: 0, + toolOffsetZ: 0, + }, + toolsensor: { + configured: false, + useToolMeasurementPref: false, + blockHeightPref: 0, + probeHeightPref: null, + searchVelocityPref: null, + probeVelocityPref: null, + reason: "gmoccapy_XYZAB.ini has no [TOOLSENSOR] section; gmoccapy disables automatic tool measurement controls by default", + }, + userMessages: { + configured: false, + count: 0, + pins: [], + reason: "gmoccapy_XYZAB.ini has no [DISPLAY] MESSAGE_* entries, so gmoccapy does not create dynamic messages.* HAL pins", + }, + sourceReferences: sourceReferenceObjects.map((reference) => reference.path), + sourceReferenceObjects, + panelSchema: gmoccapyXyzabPanelSchema, + toolTable: { + toolCount: 17, + tools: [ + { tool: 1, pocket: 101, zOffset: -12.7129, diameter: 1, comment: "3/4 roughing" }, + { tool: 2, pocket: 2, zOffset: -0.01, diameter: 2, comment: "3/4 2 flute" }, + { tool: 3, pocket: 3, zOffset: 33.3877, diameter: 3, comment: "2-1/4 face mill" }, + { tool: 4, pocket: 4, zOffset: -10.1737, diameter: 4, comment: "3/8 4fl carbide" }, + { tool: 5, pocket: 5, zOffset: -1.15, diameter: 5, comment: "long ER40 collet chuck" }, + { tool: 6, pocket: 6, zOffset: -5.1252, diameter: 7, comment: "tool 6" }, + { tool: 7, pocket: 7, zOffset: -1.07, diameter: 7, comment: "big albrecht drill chuck .25 drill" }, + { tool: 8, pocket: 8, zOffset: -1.16, diameter: 8, comment: "V engraving tool" }, + { tool: 9, pocket: 9, zOffset: -1.14, diameter: 9, comment: "90 deg 3/8 mill-drill" }, + { tool: 10, pocket: 10, zOffset: -1.13, diameter: 10, comment: "other big jacobs chuck" }, + { tool: 11, pocket: 11, zOffset: -0.09, diameter: 11, comment: "1/8 2fl end mill" }, + { tool: 12, pocket: 12, zOffset: -1.12, diameter: 12, comment: "1/2 2fl long em" }, + { tool: 13, pocket: 13, zOffset: -0.02, diameter: 13, comment: "Tool 13" }, + { tool: 14, pocket: 14, zOffset: -0.04, diameter: 14, comment: "Tool 14" }, + { tool: 15, pocket: 15, zOffset: -0.1, diameter: 15, comment: "little albrecht chuck spot drill" }, + { tool: 16, pocket: 16, zOffset: -0.03, diameter: 16, comment: "little jacobs chuck" }, + { tool: 18, pocket: 1, zOffset: -1.18, diameter: 18, comment: "big jacobs chuck" }, + ], + }, + macros: [ + "i_am_lost", + "halo_world", + "jog_around", + "increment xinc yinc", + "go_to_position X-pos Y-pos Z-pos", + ], + nativePages: { + filePage: { + configured: true, + programPrefix: "../../nc_files/", + nativeWidget: "IconFileSelection1", + webImplementation: "partial", + boundary: "native GtkIconFileSelection is represented by Web file input and staged G-code source selector", + }, + macroPage: { + configured: true, + count: 5, + subroutinePath: "./macros", + webImplementation: "partial", + macros: [ + { name: "i_am_lost", args: [], command: "O call" }, + { name: "halo_world", args: [], command: "O call" }, + { name: "jog_around", args: [], command: "O call" }, + { name: "increment", args: ["xinc", "yinc"], command: "O call [xinc] [yinc]" }, + { name: "go_to_position", args: ["X-pos", "Y-pos", "Z-pos"], command: "O call [X-pos] [Y-pos] [Z-pos]" }, + ], + boundary: "macros enter LinuxCNC through MDI O-word calls and use the same MDI gate as RUN_MDI", + }, + toolEditor: { + configured: true, + toolTablePath: "linuxcnc/configs/sim/gmoccapy/tool.tbl", + toolCount: 17, + visibleAxes: ["X", "Y", "Z", "A", "B"], + webImplementation: "diagnostic-only", + writebackEnabled: false, + boundary: "Web shows tool table and tool-change diagnostics but does not write tool.tbl", + }, + implementationMatrixBoundary: "native GTK pages are classified as implemented, partial, diagnostic-only, or native-only", + }, + samplePrograms: [ + "linuxcnc/nc_files/3D_Chips.ngc", + ], + semanticBoundary: "gmoccapy_xyzab_trivkins_reference_only_not_rtcp_proof", + linuxCncKinematicsReady: false, + tcpCapable: false, + rtcpProof: false, + promotionAllowed: false, +}; diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/gmoccapy-xyzac-trt.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/gmoccapy-xyzac-trt.js new file mode 100644 index 0000000..bf637fd --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/gmoccapy-xyzac-trt.js @@ -0,0 +1,162 @@ +import { xyzacTrtProfile } from "./xyzac-trt.js"; +import { getSourceReferencesForProfile } from "./source-reference-map.js"; + +const sourceReferenceObjects = getSourceReferencesForProfile("gmoccapy-xyzac-trt"); + +export const gmoccapyXyzacTrtProfile = { + ...xyzacTrtProfile, + id: "gmoccapy-xyzac-trt", + title: "gmoccapy XYZAC table rotary tilting", + iniPath: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini", + pyvcpXmlPath: null, + postguiHalPath: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/postgui.hal", + generatedHalPath: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt_cmds.hal", + toolTablePath: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.tbl", + machineName: "sim-xyzac-trt", + display: { + geometry: "XYZ-A", + display: "gmoccapy", + jogAxes: ["X", "Y", "Z", "C"], + openFile: "./examples/impeller-7bl-xyzac.ngc", + programPrefix: "../../../nc_files", + positionOffset: "RELATIVE", + positionFeedback: "ACTUAL", + maxFeedOverride: 2, + }, + rs274ngc: { + subroutinePath: "./examples:../../macros", + halPinVars: false, + parameterFile: "xyzac.var", + }, + kinematics: "xyzac-trt-kins", + kinematicsModuleId: "xyzac-trt", + kinematicsParameters: { + sparm: null, + defaultSwitchkinsType: 0, + fixedTrtDefault: true, + switchkinsTypes: [ + { value: 0, label: "XYZAC fixed TRT", mdiCommand: null, webKinsType: "tcp-xyzac" }, + { value: 1, label: "identity", mdiCommand: null, webKinsType: "identity" }, + { value: 2, label: "USERK", mdiCommand: null, webKinsType: "userk" }, + ], + }, + remaps: [ + { + code: "M6", + modalGroup: 6, + prolog: "change_prolog", + ngc: "change_g43", + epilog: "change_epilog", + path: "configs/sim/gmoccapy/macros/change_g43.ngc", + boundary: "linuxcnc_gmoccapy_tool_change_remap_reference", + }, + { + code: "M61", + modalGroup: 6, + prolog: "settool_prolog", + ngc: "settool_g43", + epilog: "settool_epilog", + path: "configs/sim/gmoccapy/macros/settool_g43.ngc", + boundary: "linuxcnc_gmoccapy_tool_set_remap_reference", + }, + ], + hal: { + halui: true, + halFiles: ["LIB:basic_sim.tcl -no_use_hal_manualtoolchange"], + postguiHalFiles: ["postgui.hal"], + postguiRequiresHalcompReady: true, + halcmd: { + loadusr: ["xyzac-trt-gui"], + feedbackNets: [ + { signal: "table-x", source: "joint.0.pos-fb", target: "xyzac-trt-gui.table-x" }, + { signal: "saddle-y", source: "joint.1.pos-fb", target: "xyzac-trt-gui.saddle-y" }, + { signal: "spindle-z", source: "joint.2.pos-fb", target: "xyzac-trt-gui.spindle-z" }, + { signal: "tilt-a", source: "joint.3.pos-fb", target: "xyzac-trt-gui.tilt-a" }, + { signal: "rotate-c", source: "joint.4.pos-fb", target: "xyzac-trt-gui.rotate-c" }, + ], + offsetNets: [ + { signal: "tool-offset", source: "motion.tooloffset.z", target: "xyzac-trt-kins.tool-offset" }, + { signal: "tool-offset", source: "xyzac-trt-kins.tool-offset", target: "xyzac-trt-gui.tool-offset" }, + { signal: "y-offset", source: "xyzac-trt-kins.y-offset", target: "xyzac-trt-gui.y-offset" }, + { signal: "z-offset", source: "xyzac-trt-kins.z-offset", target: "xyzac-trt-gui.z-offset" }, + { signal: "tool-offset", source: "motion.tooloffset.z", target: "gmoccapy.tooloffset-z" }, + ], + spindleFeedback: [ + { signal: "spindle-speed-limited", source: "spindle-speed-limited", target: "abs_spindle_feedback.in" }, + { signal: "spindle-abs", source: "abs_spindle_feedback.out", target: "gmoccapy.spindle_feedback_bar" }, + { signal: "spindle-at-speed", source: "spindle-at-speed", target: "gmoccapy.spindle_at_speed_led" }, + ], + toolChange: { + strategy: "gmoccapy-postgui-manual-toolchange", + manualGmoccapyPinsConnected: true, + postguiUnlinks: [ + "iocontrol.0.tool-change", + "iocontrol.0.tool-changed", + ], + activeLoop: { + signal: "tool-changed", + source: "gmoccapy.toolchange-changed", + target: "iocontrol.0.tool-changed", + stage: "postgui.hal", + }, + }, + initialSets: [ + { pin: "y-offset", value: 20 }, + { pin: "z-offset", value: 10 }, + ], + }, + }, + halui: { + mdiCommands: [], + }, + halPins: [ + "motion.tooloffset.z", + "xyzac-trt-kins.tool-offset", + "xyzac-trt-kins.y-offset", + "xyzac-trt-kins.z-offset", + "gmoccapy.spindle_feedback_bar", + "gmoccapy.spindle_at_speed_led", + "gmoccapy.toolchange-change", + "gmoccapy.toolchange-changed", + "gmoccapy.toolchange-number", + "gmoccapy.tooloffset-z", + ], + offsets: { + y: 20, + z: 10, + xRotPoint: 0, + yRotPoint: 0, + zRotPoint: 0, + conventionalDirections: 0, + }, + nativeRuntime: { + linuxcncsvr: true, + task: "milltask", + emcmot: "motmod", + halui: "halui", + display: "gmoccapy -ini", + taskCycleTimeSeconds: 0.010, + servoPeriodNs: 1000000, + nmlChannels: ["emcCommand", "emcStatus", "emcError"], + }, + machineFileStaging: { + machineRel: "gmoccapy/non_trivial_kinematics/table-rotary-tilting", + demoDirectory: "examples", + defaultProgramFilename: "impeller-7bl-xyzac.ngc", + wasmDir: "/work/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/gmoccapy-xyzac-trt", + }, + sourceReferences: sourceReferenceObjects.map((reference) => reference.path), + sourceReferenceObjects, + samplePrograms: [ + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc", + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzac.ngc", + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc", + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc", + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc", + ], + semanticBoundary: "linuxcnc_gmoccapy_nontrivial_xyzac_trt_profile_source_map", + linuxCncKinematicsReady: false, + tcpCapable: true, + rtcpProof: true, + promotionAllowed: false, +}; diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/index.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/index.js new file mode 100644 index 0000000..e2960c1 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/index.js @@ -0,0 +1,19 @@ +import { xyzacTrtProfile } from "./xyzac-trt.js"; +import { xyzbcTrtProfile } from "./xyzbc-trt.js"; +import { gmoccapyXyzacTrtProfile } from "./gmoccapy-xyzac-trt.js"; +import { gmoccapyXyzabProfile } from "./gmoccapy-xyzab.js"; + +export const fiveAxisProfiles = [ + xyzacTrtProfile, + xyzbcTrtProfile, + gmoccapyXyzacTrtProfile, + gmoccapyXyzabProfile, +]; + +export function getFiveAxisProfile(profileId = "xyzbc-trt") { + const profile = fiveAxisProfiles.find((entry) => entry.id === profileId); + if (!profile) { + throw new Error(`unknown five-axis profile: ${profileId}`); + } + return profile; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/source-reference-map.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/source-reference-map.js new file mode 100644 index 0000000..ec0da09 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/source-reference-map.js @@ -0,0 +1,434 @@ +export const linuxCncSourceReferenceMap = [ + { + id: "xyzac-trt-ini", + profileId: "xyzac-trt", + kind: "ini", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + boundary: "linuxcnc_config_reference", + usage: "machine profile, KINS, TRAJ coordinates, HAL and remap declarations", + }, + { + id: "xyzac-trt-pyvcp", + profileId: "xyzac-trt", + kind: "pyvcp_xml", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml", + boundary: "ui_hal_binding_reference", + usage: "SWITCHKINS labels and operator buttons", + }, + { + id: "switchkins-postgui-hal", + profileId: "xyzac-trt", + kind: "postgui_hal", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", + boundary: "hal_binding_reference", + usage: "PyVCP button and legend nets to HALUI MDI commands and kinstype signals", + }, + { + id: "xyzac-trt-basic-sim-hal", + profileId: "xyzac-trt", + kind: "generated_hal", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal", + boundary: "generated_hal_reference", + usage: "source-visible basic_sim HAL loadrt/net proof for xyzac-trt-kins", + }, + { + id: "xyzac-trt-readme", + profileId: "xyzac-trt", + kind: "documentation", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/README", + boundary: "linuxcnc_config_reference", + usage: "switchkins setup notes for motion.switchkins-type and M428/M429/M430", + }, + { + id: "xyzac-trt-notes", + profileId: "xyzac-trt", + kind: "documentation", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.txt", + boundary: "linuxcnc_operator_reference", + usage: "operator-facing switchkins notes for identity, TCP, and user kinematics", + }, + { + id: "xyzac-trt-table", + profileId: "xyzac-trt", + kind: "tool_table", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl", + boundary: "linuxcnc_config_reference", + usage: "tool table source for future LinuxCNC-backed runtime session", + }, + { + id: "xyzac-trt-kins", + profileId: "xyzac-trt", + kind: "kinematics_source", + path: "src/emc/kinematics/xyzac-trt-kins.c", + boundary: "linuxcnc_source_required", + usage: "final source-derived kinematics implementation source", + }, + { + id: "xyzac-trt-vismach-gui", + profileId: "xyzac-trt", + kind: "python_gui", + path: "src/hal/user_comps/vismach/xyzac-trt-gui.py", + boundary: "native_vismach_reference_not_browser_runtime", + usage: "native HAL component and Vismach scene for table, saddle, spindle, A tilt, and C rotate feedback pins", + }, + { + id: "trtfuncs", + profileId: "xyzac-trt", + kind: "kinematics_source", + path: "src/emc/kinematics/trtfuncs.c", + boundary: "linuxcnc_source_required", + usage: "shared table-rotary-tilting kinematics functions", + }, + { + id: "switchkins-source", + profileId: "xyzac-trt", + kind: "kinematics_source", + path: "src/emc/kinematics/switchkins.c", + boundary: "linuxcnc_source_required", + usage: "switchable kinematics behavior backing M428/M429/M430", + }, + { + id: "xyzac-switchkins-demo", + profileId: "xyzac-trt", + kind: "gcode_demo", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc", + boundary: "linuxcnc_program_reference", + usage: "representative XYZAC switchkins demonstration program", + }, + { + id: "boat-xyzac-demo", + profileId: "xyzac-trt", + kind: "gcode_demo", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc", + boundary: "linuxcnc_program_reference", + usage: "real LinuxCNC XYZAC TCP boat demonstration program", + }, + { + id: "impeller-xyzac-demo", + profileId: "xyzac-trt", + kind: "gcode_demo", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc", + boundary: "linuxcnc_program_reference", + usage: "real LinuxCNC XYZAC impeller demonstration program with long canonical path", + }, + { + id: "xyzac-switchkins-test-1", + profileId: "xyzac-trt", + kind: "gcode_demo", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc", + boundary: "linuxcnc_program_reference", + usage: "LinuxCNC XYZAC switchkins regression program with repeated M428/M429 changes", + }, + { + id: "xyzac-switchkins-test-2", + profileId: "xyzac-trt", + kind: "gcode_demo", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc", + boundary: "linuxcnc_program_reference", + usage: "LinuxCNC XYZAC switchkins regression program for TCP and identity transitions", + }, + { + id: "xyzac-switchkins-test-3", + profileId: "xyzac-trt", + kind: "gcode_demo", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc", + boundary: "linuxcnc_program_reference", + usage: "LinuxCNC XYZAC switchkins regression program for program validation coverage", + }, + { + id: "xyzbc-trt-ini", + profileId: "xyzbc-trt", + kind: "ini", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + boundary: "linuxcnc_config_reference", + usage: "machine profile, KINS, TRAJ coordinates, HAL and remap declarations", + }, + { + id: "xyzbc-trt-pyvcp", + profileId: "xyzbc-trt", + kind: "pyvcp_xml", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml", + boundary: "ui_hal_binding_reference", + usage: "SWITCHKINS labels and operator buttons", + }, + { + id: "xyzbc-trt-table", + profileId: "xyzbc-trt", + kind: "tool_table", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl", + boundary: "linuxcnc_config_reference", + usage: "tool table source for future LinuxCNC-backed runtime session", + }, + { + id: "xyzbc-trt-kins", + profileId: "xyzbc-trt", + kind: "kinematics_source", + path: "src/emc/kinematics/xyzbc-trt-kins.c", + boundary: "linuxcnc_source_required", + usage: "final source-derived XYZBC kinematics implementation source", + }, + { + id: "xyzbc-trt-notes", + profileId: "xyzbc-trt", + kind: "documentation", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt", + boundary: "linuxcnc_operator_reference", + usage: "operator-facing switchkins notes for identity, TCP, and user kinematics", + }, + { + id: "xyzbc-trt-vismach-gui", + profileId: "xyzbc-trt", + kind: "python_gui", + path: "src/hal/user_comps/vismach/xyzbc-trt-gui.py", + boundary: "native_vismach_reference_not_browser_runtime", + usage: "native HAL component and Vismach scene for table, saddle, spindle, B tilt, and C rotate feedback pins", + }, + { + id: "trtfuncs-xyzbc", + profileId: "xyzbc-trt", + kind: "kinematics_source", + path: "src/emc/kinematics/trtfuncs.c", + boundary: "linuxcnc_source_required", + usage: "shared table-rotary-tilting kinematics functions", + }, + { + id: "switchkins-source-xyzbc", + profileId: "xyzbc-trt", + kind: "kinematics_source", + path: "src/emc/kinematics/switchkins.c", + boundary: "linuxcnc_source_required", + usage: "switchable kinematics behavior backing M428/M429/M430", + }, + { + id: "xyzbc-switchkins-demo", + profileId: "xyzbc-trt", + kind: "gcode_demo", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", + boundary: "linuxcnc_program_reference", + usage: "representative XYZBC switchkins demonstration program", + }, + { + id: "boat-xyzbc-demo", + profileId: "xyzbc-trt", + kind: "gcode_demo", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc", + boundary: "linuxcnc_program_reference", + usage: "real LinuxCNC XYZBC TCP boat demonstration program", + }, + { + id: "gmoccapy-trt-xyzac-ini", + profileId: "gmoccapy-xyzac-trt", + kind: "ini", + path: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini", + boundary: "linuxcnc_gmoccapy_config_reference", + usage: "gmoccapy non-trivial XYZAC TRT machine config using DISPLAY=gmoccapy and xyzac-trt-gui", + }, + { + id: "gmoccapy-trt-xyzac-generated-hal", + profileId: "gmoccapy-xyzac-trt", + kind: "generated_hal", + path: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt_cmds.hal", + boundary: "generated_hal_reference", + usage: "basic_sim generated loadrt/net proof for the gmoccapy XYZAC TRT machine", + }, + { + id: "gmoccapy-trt-xyzac-postgui", + profileId: "gmoccapy-xyzac-trt", + kind: "postgui_hal", + path: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/postgui.hal", + boundary: "linuxcnc_gmoccapy_hal_reference", + usage: "gmoccapy spindle, tool-change, and tool-offset POSTGUI HAL bindings for TRT sample", + }, + { + id: "gmoccapy-trt-xyzac-table", + profileId: "gmoccapy-xyzac-trt", + kind: "tool_table", + path: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.tbl", + boundary: "linuxcnc_gmoccapy_config_reference", + usage: "gmoccapy non-trivial TRT tool table source", + }, + { + id: "gmoccapy-trt-xyzac-var", + profileId: "gmoccapy-xyzac-trt", + kind: "parameter_file", + path: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac.var", + boundary: "linuxcnc_gmoccapy_config_reference", + usage: "gmoccapy TRT parameter file staged with the machine project", + }, + { + id: "gmoccapy-trt-change-g43", + profileId: "gmoccapy-xyzac-trt", + kind: "remap_subroutine", + path: "configs/sim/gmoccapy/macros/change_g43.ngc", + boundary: "linuxcnc_gmoccapy_tool_remap_reference", + usage: "M6 change_g43 remap used by the gmoccapy TRT INI", + }, + { + id: "gmoccapy-trt-settool-g43", + profileId: "gmoccapy-xyzac-trt", + kind: "remap_subroutine", + path: "configs/sim/gmoccapy/macros/settool_g43.ngc", + boundary: "linuxcnc_gmoccapy_tool_remap_reference", + usage: "M61 settool_g43 remap used by the gmoccapy TRT INI", + }, + { + id: "gmoccapy-trt-impeller-demo", + profileId: "gmoccapy-xyzac-trt", + kind: "gcode_demo", + path: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc", + boundary: "linuxcnc_gmoccapy_program_reference", + usage: "gmoccapy non-trivial TRT impeller example program", + }, + { + id: "gmoccapy-trt-boat-xyzac-demo", + profileId: "gmoccapy-xyzac-trt", + kind: "gcode_demo", + path: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzac.ngc", + boundary: "linuxcnc_gmoccapy_program_reference", + usage: "gmoccapy non-trivial TRT XYZAC boat example program", + }, + { + id: "gmoccapy-trt-boat-xyzbc-demo", + profileId: "gmoccapy-xyzac-trt", + kind: "gcode_demo", + path: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc", + boundary: "linuxcnc_gmoccapy_program_reference", + usage: "gmoccapy non-trivial TRT XYZBC boat example program", + }, + { + id: "gmoccapy-trt-test-xyzac-ngcgui", + profileId: "gmoccapy-xyzac-trt", + kind: "gcode_ngcgui_subroutine", + path: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc", + boundary: "linuxcnc_gmoccapy_ngcgui_subroutine_reference", + usage: "gmoccapy non-trivial TRT XYZAC ngcgui subroutine example staged with the profile", + }, + { + id: "gmoccapy-trt-test-xyzbc-ngcgui", + profileId: "gmoccapy-xyzac-trt", + kind: "gcode_ngcgui_subroutine", + path: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc", + boundary: "linuxcnc_gmoccapy_ngcgui_subroutine_reference", + usage: "gmoccapy non-trivial TRT XYZBC ngcgui subroutine example staged with the profile", + }, + { + id: "gmoccapy-trt-xyzac-kins", + profileId: "gmoccapy-xyzac-trt", + kind: "kinematics_source", + path: "src/emc/kinematics/xyzac-trt-kins.c", + boundary: "linuxcnc_source_required", + usage: "source-derived XYZAC TRT kinematics backing the gmoccapy non-trivial sample", + }, + { + id: "gmoccapy-trt-trtfuncs", + profileId: "gmoccapy-xyzac-trt", + kind: "kinematics_source", + path: "src/emc/kinematics/trtfuncs.c", + boundary: "linuxcnc_source_required", + usage: "shared table-rotary-tilting kinematics functions", + }, + { + id: "gmoccapy-xyzab-ini", + profileId: "gmoccapy-xyzab", + kind: "ini", + path: "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini", + boundary: "linuxcnc_gmoccapy_config_reference", + usage: "gmoccapy XYZAB DISPLAY/TASK/TRAJ/KINS/HAL reference; trivkins only", + }, + { + id: "gmoccapy-xyzab-core-hal", + profileId: "gmoccapy-xyzab", + kind: "halfile", + path: "linuxcnc/configs/sim/gmoccapy/core_sim_XYZAB.hal", + boundary: "native_hal_reference", + usage: "trivkins/motmod loading, XYZAB command-to-feedback loopback, estop/tool/coolant nets", + }, + { + id: "gmoccapy-xyzab-spindle-hal", + profileId: "gmoccapy-xyzab", + kind: "halfile", + path: "linuxcnc/configs/sim/gmoccapy/spindle_sim.hal", + boundary: "native_hal_reference", + usage: "spindle speed limiting, encoder simulation, speed-in and at-speed feedback", + }, + { + id: "gmoccapy-xyzab-home-hal", + profileId: "gmoccapy-xyzab", + kind: "halfile", + path: "linuxcnc/configs/sim/gmoccapy/simulated_home.hal", + boundary: "native_hal_reference", + usage: "simulated X/Y/Z home switch positions", + }, + { + id: "gmoccapy-postgui-hal", + profileId: "gmoccapy-xyzab", + kind: "postgui_hal", + path: "linuxcnc/configs/sim/gmoccapy/gmoccapy_postgui.hal", + boundary: "postgui_hal_reference", + usage: "gmoccapy.* pins connected after halcomp.ready(); spindle feedback and tooloffset display", + }, + { + id: "gmoccapy-trivkins-source", + profileId: "gmoccapy-xyzab", + kind: "kinematics_source", + path: "linuxcnc/src/emc/kinematics/trivkins.c", + boundary: "linuxcnc_source_reference_only_not_rtcp_proof", + usage: "trivial XYZAB joint/axis mapping source reference", + }, + { + id: "gmoccapy-python-gui", + profileId: "gmoccapy-xyzab", + kind: "python_gui", + path: "linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py", + boundary: "native_gui_reference_not_browser_runtime", + usage: "native command/stat/error_channel and gmoccapy HAL component reference", + }, + { + id: "gmoccapy-glade", + profileId: "gmoccapy-xyzab", + kind: "glade_ui", + path: "linuxcnc/share/gmoccapy/gmoccapy.glade", + boundary: "ui_reference_not_browser_runtime", + usage: "button/control layout and gladevcp action reference", + }, + { + id: "gmoccapy-button-icon-manifest", + profileId: "gmoccapy-xyzab", + kind: "icon_manifest", + path: "web-rtcp-5axis-sim-plan/app/src/ui-reference/gmoccapy-button-icons.json", + boundary: "button_icon_asset_reference_only", + usage: "project-local manifest generated from working3 button_icon_inventory.csv", + }, + { + id: "gmoccapy-xyzab-reference-doc", + profileId: "gmoccapy-xyzab", + kind: "documentation", + path: "web-rtcp-5axis-sim-plan/docs/gmoccapy-xyzab-reference.md", + boundary: "documentation_reference", + usage: "summarizes native startup, NML/HAL/postgui, gate, and icon asset boundaries", + }, +]; + +export function getSourceReferencesForProfile(profileId) { + return linuxCncSourceReferenceMap.filter((reference) => reference.profileId === profileId); +} + +export function createProfileSourceReferenceSummary(profileId) { + const references = getSourceReferencesForProfile(profileId); + const kinds = [...new Set(references.map((reference) => reference.kind))]; + const sourceRequiredCount = references.filter((reference) => { + return reference.boundary === "linuxcnc_source_required"; + }).length; + + return { + profileId, + referenceCount: references.length, + kinds, + sourceRequiredCount, + configReferenceCount: references.length - sourceRequiredCount, + promotionAllowed: false, + linuxCncKinematicsReady: false, + semanticBoundary: "profile_source_map_only_not_runtime_proof", + references, + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/xyzac-trt.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/xyzac-trt.js new file mode 100644 index 0000000..1ccd60c --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/xyzac-trt.js @@ -0,0 +1,184 @@ +import { getSourceReferencesForProfile } from "./source-reference-map.js"; +import { xyzacTrtPyvcpPanelSchema } from "../panel-schema/xyzac-trt-pyvcp.js"; + +const sourceReferenceObjects = getSourceReferencesForProfile("xyzac-trt"); + +export const xyzacTrtProfile = { + id: "xyzac-trt", + title: "XYZAC table rotary tilting", + iniPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + pyvcpXmlPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml", + postguiHalPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", + generatedHalPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal", + toolTablePath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl", + machineName: "sim-xyzac-trt-kins (switchkins)", + display: { + geometry: "XYZ-A", + display: "axis", + jogAxes: ["X", "Y", "Z", "C"], + pyvcp: "./xyzac-trt.xml", + openFile: "./demos/xyzac_switchkins.ngc", + programPrefix: "../../nc_files", + positionOffset: "RELATIVE", + positionFeedback: "ACTUAL", + maxFeedOverride: 2, + }, + rs274ngc: { + subroutinePath: "./remap_subs", + halPinVars: true, + parameterFile: "xyzac.var", + }, + coordinates: ["X", "Y", "Z", "A", "C"], + joints: ["joint.0", "joint.1", "joint.2", "joint.3", "joint.4"], + kinematics: "xyzac-trt-kins", + kinematicsModuleId: "xyzac-trt", + kinematicsParameters: { + sparm: "identityfirst", + defaultSwitchkinsType: 0, + switchkinsTypes: [ + { value: 0, label: "identity", mdiCommand: "M429", webKinsType: "identity" }, + { value: 1, label: "XYZAC TCP", mdiCommand: "M428", webKinsType: "tcp-xyzac" }, + { value: 2, label: "USERK", mdiCommand: "M430", webKinsType: "userk" }, + ], + }, + remaps: [ + { + code: "M428", + modalGroup: 10, + ngc: "428remap", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", + switchkinsType: 1, + analogOutputIndex: 3, + syncInputIndex: 0, + requiresHalPinVars: true, + }, + { + code: "M429", + modalGroup: 10, + ngc: "429remap", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc", + switchkinsType: 0, + analogOutputIndex: 3, + syncInputIndex: 0, + requiresHalPinVars: true, + }, + { + code: "M430", + modalGroup: 10, + ngc: "430remap", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc", + switchkinsType: 2, + analogOutputIndex: 3, + syncInputIndex: 0, + requiresHalPinVars: true, + }, + ], + hal: { + halui: true, + halFiles: ["LIB:basic_sim.tcl"], + postguiHalFiles: ["switchkins_postgui.hal"], + halcmd: { + switchkinsSelectNet: { + signal: "kinstype-select", + source: "motion.analog-out-03", + target: "motion.switchkins-type", + }, + loadusr: ["xyzac-trt-gui"], + feedbackNets: [ + { signal: "table-x", source: "joint.0.pos-fb", target: "xyzac-trt-gui.table-x" }, + { signal: "saddle-y", source: "joint.1.pos-fb", target: "xyzac-trt-gui.saddle-y" }, + { signal: "spindle-z", source: "joint.2.pos-fb", target: "xyzac-trt-gui.spindle-z" }, + { signal: "tilt-a", source: "joint.3.pos-fb", target: "xyzac-trt-gui.tilt-a" }, + { signal: "rotate-c", source: "joint.4.pos-fb", target: "xyzac-trt-gui.rotate-c" }, + ], + offsetNets: [ + { signal: "tool-offset", source: "motion.tooloffset.z", target: "xyzac-trt-kins.tool-offset" }, + { signal: "tool-offset", source: "xyzac-trt-kins.tool-offset", target: "xyzac-trt-gui.tool-offset" }, + { signal: "y-offset", source: "xyzac-trt-kins.y-offset", target: "xyzac-trt-gui.y-offset" }, + { signal: "z-offset", source: "xyzac-trt-kins.z-offset", target: "xyzac-trt-gui.z-offset" }, + ], + initialSets: [ + { pin: "y-offset", value: 20 }, + { pin: "z-offset", value: 10 }, + { pin: "xyzac-trt-kins.x-rot-point", value: 0 }, + { pin: "xyzac-trt-kins.y-rot-point", value: 0 }, + { pin: "xyzac-trt-kins.z-rot-point", value: 0 }, + { pin: "xyzac-trt-kins.conventional-directions", value: 0 }, + ], + }, + }, + halui: { + mdiCommands: ["M429", "M428", "M430"], + }, + traj: { + coordinates: "XYZAC", + linearUnits: "mm", + angularUnits: "deg", + defaultLinearVelocity: 20, + maxLinearVelocity: 35, + defaultLinearAcceleration: 300, + maxLinearAcceleration: 400, + }, + axisLimits: { + X: { min: -200, max: 200, maxVelocity: 20, maxAcceleration: 300 }, + Y: { min: -100, max: 100, maxVelocity: 20, maxAcceleration: 300 }, + Z: { min: -120, max: 120, maxVelocity: 20, maxAcceleration: 300 }, + A: { min: -100, max: 50, maxVelocity: 30, maxAcceleration: 300 }, + C: { min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 }, + }, + jointConfig: [ + { id: 0, axis: "X", type: "LINEAR", home: 0, min: -200, max: 200, maxVelocity: 20, maxAcceleration: 300 }, + { id: 1, axis: "Y", type: "LINEAR", home: 0, min: -100, max: 100, maxVelocity: 20, maxAcceleration: 300 }, + { id: 2, axis: "Z", type: "LINEAR", home: 0, min: -120, max: 120, maxVelocity: 20, maxAcceleration: 300 }, + { id: 3, axis: "A", type: "ANGULAR", home: 0, min: -100, max: 50, maxVelocity: 30, maxAcceleration: 300 }, + { id: 4, axis: "C", type: "ANGULAR", home: 0, min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 }, + ], + halPins: [ + "motion.switchkins-type", + "motion.analog-out-03", + "motion.tooloffset.z", + "xyzac-trt-kins.tool-offset", + "xyzac-trt-kins.y-offset", + "xyzac-trt-kins.z-offset", + "xyzac-trt-kins.x-rot-point", + "xyzac-trt-kins.y-rot-point", + "xyzac-trt-kins.z-rot-point", + "xyzac-trt-kins.conventional-directions", + "halui.mdi-command-00", + "halui.mdi-command-01", + "halui.mdi-command-02", + ], + offsets: { + y: 20, + z: 10, + xRotPoint: 0, + yRotPoint: 0, + zRotPoint: 0, + conventionalDirections: 0, + }, + sourceReferences: sourceReferenceObjects.map((reference) => reference.path), + sourceReferenceObjects, + panelSchema: xyzacTrtPyvcpPanelSchema, + toolTable: { + toolCount: 10, + tools: [ + { tool: 1, pocket: 1, zOffset: 0, diameter: 1, comment: "end mill" }, + { tool: 2, pocket: 2, zOffset: 15, diameter: 8, comment: "end mill" }, + { tool: 3, pocket: 3, zOffset: 0, diameter: 4.2, comment: "#7 tap drill" }, + { tool: 4, pocket: 4, zOffset: 0, diameter: 10, comment: null }, + { tool: 5, pocket: 5, zOffset: 30, diameter: 10, comment: null }, + { tool: 6, pocket: 6, zOffset: 30, diameter: 10, comment: null }, + { tool: 7, pocket: 7, zOffset: 30, diameter: 10, comment: null }, + { tool: 8, pocket: 8, zOffset: 30, diameter: 10, comment: null }, + { tool: 9, pocket: 9, zOffset: 30, diameter: 10, comment: null }, + { tool: 10, pocket: 10, zOffset: 0, diameter: 0.5, comment: null }, + ], + }, + samplePrograms: [ + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc", + "linuxcnc/nc_files/3D_Chips.ngc", + ], + semanticBoundary: "profile_source_map_only_not_runtime_proof", + linuxCncKinematicsReady: false, + promotionAllowed: false, +}; diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/xyzbc-trt.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/xyzbc-trt.js new file mode 100644 index 0000000..a3dde1b --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/xyzbc-trt.js @@ -0,0 +1,140 @@ +import { xyzacTrtProfile } from "./xyzac-trt.js"; +import { getSourceReferencesForProfile } from "./source-reference-map.js"; +import { xyzacTrtPyvcpPanelSchema } from "../panel-schema/xyzac-trt-pyvcp.js"; + +const sourceReferenceObjects = getSourceReferencesForProfile("xyzbc-trt"); + +export const xyzbcTrtProfile = { + ...xyzacTrtProfile, + id: "xyzbc-trt", + title: "XYZBC table rotary tilting", + iniPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + pyvcpXmlPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml", + generatedHalPath: null, + toolTablePath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl", + machineName: "sim-xyzbc-trt-kins (switchkins)", + display: { + ...xyzacTrtProfile.display, + geometry: "XYZB", + openFile: "./demos/xyzbc_switchkins.ngc", + pyvcp: "./xyzbc-trt.xml", + }, + rs274ngc: { + ...xyzacTrtProfile.rs274ngc, + parameterFile: "xyzbc.var", + }, + machineFileStaging: { + defaultProgramFilename: "xyzbc_switchkins.ngc", + wasmDir: "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt", + }, + coordinates: ["X", "Y", "Z", "B", "C"], + joints: ["joint.0", "joint.1", "joint.2", "joint.3", "joint.4"], + kinematics: "xyzbc-trt-kins", + kinematicsModuleId: "xyzbc-trt", + kinematicsParameters: { + ...xyzacTrtProfile.kinematicsParameters, + switchkinsTypes: [ + { value: 0, label: "identity", mdiCommand: "M429", webKinsType: "identity" }, + { value: 1, label: "XYZBC TCP", mdiCommand: "M428", webKinsType: "tcp-xyzbc" }, + { value: 2, label: "USERK", mdiCommand: "M430", webKinsType: "userk" }, + ], + }, + hal: { + ...xyzacTrtProfile.hal, + halcmd: { + ...xyzacTrtProfile.hal.halcmd, + loadusr: ["xyzbc-trt-gui"], + feedbackNets: [ + { signal: "table-x", source: "joint.0.pos-fb", target: "xyzbc-trt-gui.table-x" }, + { signal: "saddle-y", source: "joint.1.pos-fb", target: "xyzbc-trt-gui.saddle-y" }, + { signal: "spindle-z", source: "joint.2.pos-fb", target: "xyzbc-trt-gui.spindle-z" }, + { signal: "tilt-b", source: "joint.3.pos-fb", target: "xyzbc-trt-gui.tilt-b" }, + { signal: "rotate-c", source: "joint.4.pos-fb", target: "xyzbc-trt-gui.rotate-c" }, + ], + offsetNets: [ + { signal: "tool-offset", source: "motion.tooloffset.z", target: "xyzbc-trt-kins.tool-offset" }, + { signal: "tool-offset", source: "xyzbc-trt-kins.tool-offset", target: "xyzbc-trt-gui.tool-offset" }, + { signal: "x-offset", source: "xyzbc-trt-kins.x-offset", target: "xyzbc-trt-gui.x-offset" }, + { signal: "z-offset", source: "xyzbc-trt-kins.z-offset", target: "xyzbc-trt-gui.z-offset" }, + ], + initialSets: [ + { pin: "x-offset", value: -20 }, + { pin: "z-offset", value: -15 }, + { pin: "xyzbc-trt-kins.x-rot-point", value: 0 }, + { pin: "xyzbc-trt-kins.y-rot-point", value: 0 }, + { pin: "xyzbc-trt-kins.z-rot-point", value: 0 }, + { pin: "xyzbc-trt-kins.conventional-directions", value: 0 }, + ], + }, + }, + traj: { + ...xyzacTrtProfile.traj, + coordinates: "XYZBC", + }, + axisLimits: { + X: xyzacTrtProfile.axisLimits.X, + Y: xyzacTrtProfile.axisLimits.Y, + Z: xyzacTrtProfile.axisLimits.Z, + B: { min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 }, + C: { min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 }, + }, + jointConfig: [ + xyzacTrtProfile.jointConfig[0], + xyzacTrtProfile.jointConfig[1], + xyzacTrtProfile.jointConfig[2], + { id: 3, axis: "B", type: "ANGULAR", home: 0, min: -100, max: 50, maxVelocity: 30, maxAcceleration: 300 }, + { id: 4, axis: "C", type: "ANGULAR", home: 0, min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 }, + ], + halPins: [ + "motion.switchkins-type", + "motion.analog-out-03", + "motion.tooloffset.z", + "xyzbc-trt-kins.tool-offset", + "xyzbc-trt-kins.x-offset", + "xyzbc-trt-kins.z-offset", + "xyzbc-trt-kins.x-rot-point", + "xyzbc-trt-kins.y-rot-point", + "xyzbc-trt-kins.z-rot-point", + "xyzbc-trt-kins.conventional-directions", + "halui.mdi-command-00", + "halui.mdi-command-01", + "halui.mdi-command-02", + ], + offsets: { + x: -20, + z: -15, + xRotPoint: 0, + yRotPoint: 0, + zRotPoint: 0, + conventionalDirections: 0, + }, + sourceReferences: sourceReferenceObjects.map((reference) => reference.path), + sourceReferenceObjects, + panelSchema: { + ...xyzacTrtPyvcpPanelSchema, + id: "xyzbc-trt-switchkins-pyvcp", + profileId: "xyzbc-trt", + sourceXmlPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml", + groups: xyzacTrtPyvcpPanelSchema.groups.map((group) => ({ + ...group, + controls: group.controls.map((control) => ( + control.id === "kinstype-legends" + ? { + ...control, + legends: ["0:IDENTITY", "1: XYZBC ", "2: USERK "], + } + : control.id === "type1-button" + ? { + ...control, + text: "TCP:XYZBC", + webAction: { type: "SET_KINS_TYPE", kinsType: "tcp-xyzbc" }, + } + : control + )), + })), + }, + samplePrograms: [ + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", + "linuxcnc/nc_files/3D_Chips.ngc", + ], +}; diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/controlled-user-m-simulation.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/controlled-user-m-simulation.js new file mode 100644 index 0000000..3977d51 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/controlled-user-m-simulation.js @@ -0,0 +1,219 @@ +const DEFAULT_ALLOWED_USER_M_CODES = { + M428: { + code: "M428", + label: "TCP kinematics", + kinsType: "tcp", + switchkinsType: 1, + rtcpState: "on", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", + }, + M429: { + code: "M429", + label: "Identity kinematics", + kinsType: "identity", + switchkinsType: 0, + rtcpState: "off", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc", + }, + M430: { + code: "M430", + label: "User kinematics", + kinsType: "userk", + switchkinsType: 2, + rtcpState: "on", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc", + }, + M128: { + code: "M128", + label: "controlled millturn mill-mode user-M", + kinsType: "mill", + switchkinsType: 0, + rtcpState: "off", + sourceRel: "linuxcnc millturn user-M reference", + }, + M129: { + code: "M129", + label: "controlled millturn turn-mode user-M", + kinsType: "turn", + switchkinsType: 1, + rtcpState: "off", + sourceRel: "linuxcnc millturn user-M reference", + }, +}; + +export function createControlledUserMSimulation({ allowedCodes = DEFAULT_ALLOWED_USER_M_CODES } = {}) { + return { + apiName: "web-rtcp-5axis-controlled-user-m-simulation", + ready: true, + processReady: true, + processScope: "web_simulation_only", + hostProcessReady: false, + hostProcessExecution: false, + arbitraryUserMExecution: false, + allowedCodes: Object.fromEntries( + Object.entries(allowedCodes).map(([code, definition]) => [normalizeMCode(code), { + ...definition, + code: normalizeMCode(definition.code || code), + }]), + ), + events: [], + blockedEvents: [], + semanticBoundary: "controlled_user_m_web_simulation_whitelist_not_host_process", + linuxCncReferences: [ + "linuxcnc/src/emc/rs274ngc", + "linuxcnc/src/emc/task/emctask.cc", + "linuxcnc/src/emc/task/emccanon.cc", + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc", + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc", + ], + }; +} + +export function runControlledUserM(simulation, code, context = {}) { + const state = cloneSimulation(simulation); + const normalizedCode = normalizeMCode(code); + const definition = state.allowedCodes[normalizedCode] || null; + if (!definition) { + const event = createUserMEvent({ + code: normalizedCode, + allowed: false, + reason: "not_in_controlled_user_m_whitelist", + context, + }); + state.blockedEvents.push(event); + return { + simulation: state, + event, + statePatch: {}, + halPatch: {}, + }; + } + + const profileKinsType = definition.kinsType === "tcp" + ? tcpKinsTypeForProfile(context.profile) + : definition.kinsType; + const halPatch = { + "motion.switchkins-type": definition.switchkinsType, + "motion.analog-out-03": definition.switchkinsType, + }; + const statePatch = { + kinsType: profileKinsType, + rtcpState: definition.rtcpState, + }; + const event = createUserMEvent({ + code: normalizedCode, + allowed: true, + definition, + context, + halPatch, + statePatch, + }); + state.events.push(event); + return { + simulation: state, + event, + statePatch, + halPatch, + }; +} + +export function createControlledUserMReadiness(simulation) { + const ready = simulation?.processReady === true && simulation?.processScope === "web_simulation_only"; + return { + apiName: "web-rtcp-5axis-controlled-user-m-readiness", + ready, + externalUserMProcessReady: ready, + externalUserMProcessScope: ready ? "web_simulation_only" : "not_ready", + hostExternalUserMProcessReady: false, + hostProcessExecution: false, + arbitraryUserMExecution: false, + allowedCodeCount: Object.keys(simulation?.allowedCodes || {}).length, + blockedEventCount: simulation?.blockedEvents?.length || 0, + semanticBoundary: "external_user_m_process_ready_for_web_simulation_only", + }; +} + +export function extractControlledUserMCodesFromProgram(programText = "") { + const matches = []; + const lines = String(programText).split(/\r?\n/); + lines.forEach((line, index) => { + const stripped = line.replace(/\([^)]*\)/g, " "); + for (const match of stripped.matchAll(/\bM\s*(\d{2,3})\b/gi)) { + const code = normalizeMCode(`M${match[1]}`); + if (Number(match[1]) >= 100 || ["M428", "M429", "M430"].includes(code)) { + matches.push({ + code, + line: index + 1, + rawLine: line, + }); + } + } + }); + return matches; +} + +export function runControlledUserMProgramScan(simulation, programText = "", context = {}) { + let state = simulation; + const events = []; + for (const occurrence of extractControlledUserMCodesFromProgram(programText)) { + const result = runControlledUserM(state, occurrence.code, { + ...context, + line: occurrence.line, + rawLine: occurrence.rawLine, + }); + state = result.simulation; + events.push(result.event); + } + return { simulation: state, events }; +} + +function createUserMEvent({ + code, + allowed, + definition = null, + context = {}, + halPatch = {}, + statePatch = {}, + reason = null, +}) { + return { + apiName: "web-rtcp-5axis-controlled-user-m-event", + code, + allowed, + reason, + label: definition?.label || null, + sourceRel: definition?.sourceRel || context.sourceRel || null, + line: context.line || null, + halPatch, + statePatch, + createdAt: new Date().toISOString(), + semanticBoundary: allowed + ? "vendored_or_whitelisted_user_m_web_simulation_event" + : "arbitrary_external_user_m_blocked", + promotionScope: "web_simulation_only", + hostProcessExecution: false, + arbitraryUserMExecution: false, + }; +} + +function tcpKinsTypeForProfile(profile) { + if (profile?.id === "xyzbc-trt") return "tcp-xyzbc"; + return "tcp-xyzac"; +} + +function normalizeMCode(code) { + const normalized = String(code || "").trim().toUpperCase().replace(/\s+/g, ""); + const match = normalized.match(/^M0*(\d+)$/); + if (!match) return normalized; + return `M${Number(match[1])}`; +} + +function cloneSimulation(simulation) { + return { + ...simulation, + allowedCodes: { ...(simulation.allowedCodes || {}) }, + events: [...(simulation.events || [])], + blockedEvents: [...(simulation.blockedEvents || [])], + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/execution-timing.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/execution-timing.js new file mode 100644 index 0000000..acee62f --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/execution-timing.js @@ -0,0 +1,221 @@ +import { + linearUnitsToMillimetersFactor, + linearValueToMillimeters, + resolveStateLinearUnits, +} from "./linear-units.js"; + +const LINEAR_AXES = ["x", "y", "z", "u", "v", "w"]; +const ANGULAR_AXES = ["a", "b", "c"]; +const ALL_AXES = [...LINEAR_AXES, ...ANGULAR_AXES]; + +export function buildProgramExecutionTiming({ + motion = [], + profile = null, + feedOverride = 100, + rapidOverride = 100, + defaultFeedRate = 100, +} = {}) { + const linearUnits = resolveStateLinearUnits(profile); + const limits = buildVelocityLimits(profile, linearUnits); + const segments = []; + let previousAxes = null; + let previousLinearUnits = linearUnits; + let elapsedSeconds = 0; + let feedRate = Number(defaultFeedRate) > 0 ? Number(defaultFeedRate) : 100; + + for (let index = 0; index < motion.length; index += 1) { + const event = motion[index]; + const eventLinearUnits = event.linearUnits || linearUnits; + const axes = normalizeAxes(event.axes, previousAxes); + if (Number.isFinite(event.feedRate) && event.feedRate > 0) { + feedRate = event.feedRate; + } + const segment = buildTimingSegment({ + event, + index, + axes, + previousAxes: previousAxes || axes, + limits, + feedRate, + feedOverride, + rapidOverride, + elapsedSeconds, + linearUnits: eventLinearUnits, + previousLinearUnits: previousAxes ? previousLinearUnits : eventLinearUnits, + }); + elapsedSeconds += segment.durationSeconds; + segments.push({ + ...segment, + elapsedSeconds, + }); + previousAxes = axes; + previousLinearUnits = eventLinearUnits; + } + + const feedSeconds = segments + .filter((segment) => segment.motionClass === "feed") + .reduce((total, segment) => total + segment.durationSeconds, 0); + const rapidSeconds = segments + .filter((segment) => segment.motionClass === "rapid") + .reduce((total, segment) => total + segment.durationSeconds, 0); + + return { + apiName: "web-rtcp-5axis-program-execution-timing", + semanticBoundary: "linuxcnc_canonical_motion_timing_estimate_not_planner_queue", + sourceBasis: "LinuxCNC canonical motion events plus INI/profile velocity limits and feed overrides", + totalSeconds: elapsedSeconds, + totalMinutes: elapsedSeconds / 60, + feedSeconds, + rapidSeconds, + motionCount: segments.length, + segments, + limits, + linearUnits, + }; +} + +export function timingAtMotionIndex(timing, motionIndex = 0) { + const segment = timing?.segments?.[motionIndex] || null; + return { + elapsedSeconds: segment?.elapsedSeconds || 0, + remainingSeconds: Math.max((timing?.totalSeconds || 0) - (segment?.elapsedSeconds || 0), 0), + currentVelocity: segment?.velocityMmPerMin || 0, + segmentDurationSeconds: segment?.durationSeconds || 0, + segmentDistanceMm: segment?.linearDistanceMm || 0, + }; +} + +function buildTimingSegment({ + event, + index, + axes, + previousAxes, + limits, + feedRate, + feedOverride, + rapidOverride, + elapsedSeconds, + linearUnits, + previousLinearUnits, +}) { + const deltas = Object.fromEntries(ALL_AXES.map((axis) => [axis, axes[axis] - previousAxes[axis]])); + const linearDistanceMm = vectorLength(LINEAR_AXES.map((axis) => ( + linearValueToMillimeters(axes[axis], linearUnits) + - linearValueToMillimeters(previousAxes[axis], previousLinearUnits || linearUnits) + ))); + const angularDistanceDeg = vectorLength(ANGULAR_AXES.map((axis) => deltas[axis])); + const motionClass = event.type === "STRAIGHT_TRAVERSE" ? "rapid" : "feed"; + const feedMode = event.feedMode === "inverse-time" ? "inverse-time" : "units-per-minute"; + const requestedLinearVelocity = motionClass === "rapid" + ? limits.maxLinearVelocityMmPerMin * percent(rapidOverride) + : feedMode === "inverse-time" + ? inverseTimeVelocityMmPerMin(linearDistanceMm, angularDistanceDeg, feedRate) + : linearValueToMillimeters(Math.max(feedRate, 0), linearUnits) * percent(feedOverride); + const cappedLinearVelocity = Math.min( + requestedLinearVelocity || limits.defaultLinearVelocityMmPerMin, + limits.maxLinearVelocityMmPerMin, + ); + const linearSeconds = linearDistanceMm > 0 + ? linearDistanceMm / Math.max(cappedLinearVelocity / 60, 0.000001) + : 0; + const angularVelocityDegPerMin = motionClass === "rapid" + ? limits.maxAngularVelocityDegPerMin * percent(rapidOverride) + : feedMode === "inverse-time" + ? inverseTimeAngularVelocityDegPerMin(angularDistanceDeg, feedRate) + : Math.min(Math.max(feedRate, 0) * percent(feedOverride), limits.maxAngularVelocityDegPerMin); + const angularSeconds = angularDistanceDeg > 0 + ? angularDistanceDeg / Math.max(angularVelocityDegPerMin / 60, 0.000001) + : 0; + const inverseTimeSeconds = motionClass === "feed" && feedMode === "inverse-time" && feedRate > 0 + ? 60 / feedRate + : 0; + const durationSeconds = inverseTimeSeconds > 0 + ? inverseTimeSeconds + : Math.max(linearSeconds, angularSeconds); + + return { + index, + line: event.line, + type: event.type, + motionClass, + feedMode, + linearDistanceMm, + angularDistanceDeg, + feedRate, + requestedVelocityMmPerMin: requestedLinearVelocity, + velocityMmPerMin: cappedLinearVelocity, + angularVelocityDegPerMin, + durationSeconds, + startSeconds: elapsedSeconds, + startAxes: previousAxes, + endAxes: axes, + axes, + deltas, + linearUnits, + }; +} + +function buildVelocityLimits(profile, linearUnits) { + const traj = profile?.traj || {}; + const axisLimits = profile?.axisLimits || {}; + const linearVelocityScale = linearUnitsToMillimetersFactor(linearUnits); + const maxLinearVelocity = firstFinite( + Number(traj.maxLinearVelocity) * linearVelocityScale * 60, + ...LINEAR_AXES.map((axis) => Number(axisLimits[axis.toUpperCase()]?.maxVelocity) * linearVelocityScale * 60), + 2100, + ); + const defaultLinearVelocity = firstFinite( + Number(traj.defaultLinearVelocity) * linearVelocityScale * 60, + maxLinearVelocity, + 1200, + ); + const maxAngularVelocity = firstFinite( + ...ANGULAR_AXES.map((axis) => Number(axisLimits[axis.toUpperCase()]?.maxVelocity) * 60), + maxLinearVelocity, + ); + return { + maxLinearVelocityMmPerMin: maxLinearVelocity, + defaultLinearVelocityMmPerMin: defaultLinearVelocity, + maxAngularVelocityDegPerMin: maxAngularVelocity, + }; +} + +function normalizeAxes(axes = {}, fallback = null) { + return Object.fromEntries(ALL_AXES.map((axis) => [ + axis, + Number.isFinite(Number(axes[axis])) + ? Number(axes[axis]) + : Number(fallback?.[axis] || 0), + ])); +} + +function vectorLength(values) { + return Math.sqrt(values.reduce((total, value) => total + value * value, 0)); +} + +function percent(value) { + const number = Number(value); + return Number.isFinite(number) ? Math.max(number, 0) / 100 : 1; +} + +function inverseTimeVelocityMmPerMin(linearDistanceMm, angularDistanceDeg, feedRate) { + const durationSeconds = feedRate > 0 ? 60 / feedRate : 0; + if (linearDistanceMm > 0 && durationSeconds > 0) { + return (linearDistanceMm / durationSeconds) * 60; + } + if (angularDistanceDeg > 0 && durationSeconds > 0) { + return angularDistanceDeg / durationSeconds * 60; + } + return 0; +} + +function inverseTimeAngularVelocityDegPerMin(angularDistanceDeg, feedRate) { + const durationSeconds = feedRate > 0 ? 60 / feedRate : 0; + return angularDistanceDeg > 0 && durationSeconds > 0 + ? angularDistanceDeg / durationSeconds * 60 + : 0; +} + +function firstFinite(...values) { + return values.find((value) => Number.isFinite(value) && value > 0) || 1; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/five-axis-session.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/five-axis-session.js new file mode 100644 index 0000000..c134765 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/five-axis-session.js @@ -0,0 +1,349 @@ +export const FIVE_AXIS_SESSION_FORMAT = "web-rtcp-5axis-session-snapshot"; +export const FIVE_AXIS_SESSION_VERSION = 1; +export const DEFAULT_SESSION_ID = "xyzbc-trt-web-session"; +export const DEFAULT_SESSION_FILENAME = "web-rtcp-5axis-session.json"; + +export function createFiveAxisSessionPayload(state) { + return validateFiveAxisSessionPayload({ + apiName: "web-rtcp-5axis-session-payload", + payloadVersion: 1, + machineProfile: state.machineProfile, + sessionName: state.sessionName, + sourceMode: state.sourceMode, + machine: state.machine, + runState: state.runState, + activeProgram: state.activeProgram, + programSource: state.programSource, + programStartLine: state.programStartLine, + activeLine: state.activeLine, + lineCount: state.lineCount, + fileSizeBytes: state.fileSizeBytes, + programLines: state.programLines, + axisPose: state.axisPose, + jointPose: state.jointPose, + tcpPose: state.tcpPose, + toolAxisVector: state.toolAxisVector, + rtcpState: state.rtcpState, + kinsType: state.kinsType, + feed: state.feed, + spindle: state.spindle, + coolant: state.coolant, + preview: state.preview, + toolPreview: state.toolPreview, + programExecutionSourceMode: state.programExecutionSourceMode, + programExecutionTiming: state.programExecutionTiming, + programElapsedSeconds: state.programElapsedSeconds, + programRemainingSeconds: state.programRemainingSeconds, + programRuntimeFeedback: state.programRuntimeFeedback, + programExecution: state.programExecution + ? { + apiName: state.programExecution.apiName, + sourceMode: state.programExecution.sourceMode, + semanticBoundary: state.programExecution.semanticBoundary, + motion: state.programExecution.motion, + plannerTiming: state.programExecution.plannerTiming || null, + summary: state.programExecution.summary, + } + : null, + kinematicsRuntimeReadiness: state.kinematicsRuntimeReadiness, + interpreterRuntimeReadiness: state.interpreterRuntimeReadiness, + linuxCncBoundaryReadiness: state.linuxCncBoundaryReadiness, + }); +} + +export function createFiveAxisSessionSnapshot(sessionId, payload, options = {}) { + validateSessionId(sessionId); + validateFiveAxisSessionPayload(payload); + return { + format: FIVE_AXIS_SESSION_FORMAT, + version: FIVE_AXIS_SESSION_VERSION, + sessionId, + createdAt: options.createdAt || new Date().toISOString(), + metadata: { + source: "web-rtcp-5axis-xyzbc-trt-sim-plan", + profile: payload.machineProfile, + program: payload.activeProgram, + ...(options.metadata || {}), + }, + payload, + }; +} + +export function validateFiveAxisSessionSnapshot(snapshot, sessionId) { + assertPlainObject(snapshot, "five-axis session snapshot"); + if (snapshot.format !== FIVE_AXIS_SESSION_FORMAT) { + throw new Error(`Unsupported five-axis session snapshot format: ${snapshot.format}`); + } + if (snapshot.version !== FIVE_AXIS_SESSION_VERSION) { + throw new Error(`Unsupported five-axis session snapshot version: ${snapshot.version}`); + } + if (snapshot.sessionId !== sessionId) { + throw new Error(`Five-axis session snapshot id mismatch: ${snapshot.sessionId}`); + } + assertPlainObject(snapshot.metadata, "five-axis session snapshot metadata"); + validateFiveAxisSessionPayload(snapshot.payload); + return snapshot; +} + +export async function saveFiveAxisSessionSnapshot(sessionId, payload, options = {}) { + const snapshot = createFiveAxisSessionSnapshot(sessionId, payload, options); + const path = sessionSnapshotPath(sessionId, options.filename); + const storage = resolveSessionStorage(options); + await saveTextFile(path, `${JSON.stringify(snapshot, null, 2)}\n`, storage.storage); + return { snapshot, path, storageMode: storage.mode, storageCapability: storage.capability }; +} + +export async function loadFiveAxisSessionSnapshot(sessionId, options = {}) { + const path = sessionSnapshotPath(sessionId, options.filename); + const storage = resolveSessionStorage(options); + const text = await loadTextFile(path, storage.storage); + let snapshot; + try { + snapshot = JSON.parse(text); + } catch (error) { + throw new Error(`Invalid five-axis session snapshot JSON: ${error.message}`); + } + return { + snapshot: validateFiveAxisSessionSnapshot(snapshot, sessionId), + path, + storageMode: storage.mode, + storageCapability: storage.capability, + }; +} + +export function restoreFiveAxisSessionState(snapshot) { + const payload = validateFiveAxisSessionPayload(snapshot.payload); + return { + machineProfile: payload.machineProfile, + sessionName: payload.sessionName, + machine: payload.machine, + runState: payload.runState, + activeProgram: payload.activeProgram, + programSource: payload.programSource, + programStartLine: payload.programStartLine, + activeLine: payload.activeLine, + lineCount: payload.lineCount, + fileSizeBytes: payload.fileSizeBytes, + programLines: payload.programLines, + axisPose: payload.axisPose, + rtcpState: payload.rtcpState, + kinsType: payload.kinsType, + feed: payload.feed, + spindle: payload.spindle, + coolant: payload.coolant, + preview: payload.preview, + toolPreview: payload.toolPreview, + programExecutionSourceMode: payload.programExecutionSourceMode, + programExecutionTiming: payload.programExecutionTiming, + programElapsedSeconds: payload.programElapsedSeconds, + programRemainingSeconds: payload.programRemainingSeconds, + programRuntimeFeedback: payload.programRuntimeFeedback, + programExecution: payload.programExecution, + }; +} + +export function createMemorySessionStorage(seed = {}) { + const files = new Map(Object.entries(seed)); + return { + apiName: "web-rtcp-5axis-memory-session-storage", + files, + async getDirectory() { + return createDirectoryHandle(files, []); + }, + }; +} + +let browserMemorySessionStorage = null; + +export function detectBrowserStorageCapability(globalScope = globalThis) { + const forcedUnavailable = Boolean(globalScope.__WEB_RTCP_FORCE_OPFS_UNAVAILABLE__); + const isBrowser = typeof globalScope.window === "object" || typeof globalScope.document === "object"; + const secureContext = !isBrowser || globalScope.isSecureContext !== false; + const hasOpfs = typeof globalScope.navigator?.storage?.getDirectory === "function"; + const opfsAvailable = hasOpfs && secureContext && !forcedUnavailable; + return { + apiName: "web-rtcp-5axis-storage-capability", + opfsAvailable, + opfsUnavailable: !opfsAvailable, + secureContext, + forcedUnavailable, + hasNavigatorStorage: Boolean(globalScope.navigator?.storage), + hasGetDirectory: hasOpfs, + fallbackMode: opfsAvailable ? null : "memory-fallback", + reason: opfsAvailable + ? "opfs_available" + : forcedUnavailable + ? "forced_unavailable" + : !secureContext + ? "non_secure_context" + : !hasOpfs + ? "missing_opfs_get_directory" + : "opfs_unavailable", + }; +} + +function resolveSessionStorage(options = {}) { + if (options.storage) { + return { + storage: options.storage, + mode: options.storageMode || storageModeFor(options.storage), + capability: { + apiName: "web-rtcp-5axis-storage-capability", + opfsAvailable: options.storageMode === "opfs", + opfsUnavailable: options.storageMode !== "opfs", + secureContext: true, + forcedUnavailable: false, + hasNavigatorStorage: false, + hasGetDirectory: typeof options.storage.getDirectory === "function", + fallbackMode: options.storageMode === "opfs" ? null : options.storageMode || "custom", + reason: "explicit_storage", + }, + }; + } + const capability = detectBrowserStorageCapability(); + const browserStorage = globalThis.navigator?.storage; + if (capability.opfsAvailable) { + return { + storage: browserStorage, + mode: "opfs", + capability, + }; + } + browserMemorySessionStorage ??= createMemorySessionStorage(); + return { + storage: browserMemorySessionStorage, + mode: "memory-fallback", + capability, + }; +} + +function storageModeFor(storage) { + return storage?.apiName === "web-rtcp-5axis-memory-session-storage" + ? "memory" + : "custom"; +} + +function validateFiveAxisSessionPayload(payload) { + assertPlainObject(payload, "five-axis session payload"); + if (payload.apiName !== "web-rtcp-5axis-session-payload") { + throw new Error(`Unsupported five-axis session payload API: ${payload.apiName}`); + } + if (payload.payloadVersion !== 1) { + throw new Error(`Unsupported five-axis session payload version: ${payload.payloadVersion}`); + } + if (!["xyzac-trt", "xyzbc-trt"].includes(payload.machineProfile)) { + throw new Error(`Unsupported five-axis machine profile: ${payload.machineProfile}`); + } + if (!Array.isArray(payload.programLines)) { + throw new Error("five-axis session programLines must be an array."); + } + if (payload.programExecution !== null) { + assertPlainObject(payload.programExecution, "five-axis session programExecution"); + if (!Array.isArray(payload.programExecution.motion)) { + throw new Error("five-axis session programExecution.motion must be an array."); + } + assertPlainObject(payload.programExecution.summary, "five-axis session programExecution.summary"); + } + for (const key of ["machine", "axisPose", "feed", "spindle", "coolant", "preview", "toolPreview"]) { + assertPlainObject(payload[key], `five-axis session ${key}`); + } + return payload; +} + +function sessionSnapshotPath(sessionId, filename = DEFAULT_SESSION_FILENAME) { + validateSessionId(sessionId); + validateFilename(filename); + return `web-rtcp-5axis-xyzbc-trt-sim-plan/sessions/${sessionId}/${filename}`; +} + +async function saveTextFile(path, text, storage = globalThis.navigator?.storage) { + const root = await getStorageRoot(storage); + const dir = await ensureParentDir(root, path); + const filename = splitPath(path).at(-1); + const fileHandle = await dir.getFileHandle(filename, { create: true }); + const writable = await fileHandle.createWritable(); + await writable.write(text); + await writable.close(); +} + +async function loadTextFile(path, storage = globalThis.navigator?.storage) { + const root = await getStorageRoot(storage); + const parts = splitPath(path); + let current = root; + for (const part of parts.slice(0, -1)) { + current = await current.getDirectoryHandle(part); + } + const fileHandle = await current.getFileHandle(parts.at(-1)); + const file = await fileHandle.getFile(); + return file.text(); +} + +async function getStorageRoot(storage) { + if (!storage?.getDirectory) { + throw new Error("OPFS is not available in this browser."); + } + return storage.getDirectory(); +} + +async function ensureParentDir(root, path) { + let current = root; + for (const part of splitPath(path).slice(0, -1)) { + current = await current.getDirectoryHandle(part, { create: true }); + } + return current; +} + +function createDirectoryHandle(files, prefix) { + return { + async getDirectoryHandle(name) { + return createDirectoryHandle(files, [...prefix, name]); + }, + async getFileHandle(name) { + const path = [...prefix, name].join("/"); + return { + async createWritable() { + let content = ""; + return { + async write(text) { + content += String(text); + }, + async close() { + files.set(path, content); + }, + }; + }, + async getFile() { + if (!files.has(path)) throw new Error(`Missing memory session file: ${path}`); + return { async text() { return files.get(path); } }; + }, + }; + }, + }; +} + +function splitPath(path) { + const value = String(path || "").replaceAll("\\", "/"); + const parts = value.split("/").filter(Boolean); + if (parts.length === 0 || parts.some((part) => part === "." || part === "..")) { + throw new Error(`Invalid session path: ${path}`); + } + return parts; +} + +function validateSessionId(sessionId) { + if (!/^[a-zA-Z0-9._-]+$/.test(String(sessionId || ""))) { + throw new Error(`Invalid five-axis session id: ${sessionId}`); + } +} + +function validateFilename(filename) { + if (!/^[a-zA-Z0-9._-]+\.json$/.test(String(filename || ""))) { + throw new Error(`Invalid five-axis session filename: ${filename}`); + } +} + +function assertPlainObject(value, label) { + if (value === null || typeof value !== "object" || Array.isArray(value)) { + throw new Error(`${label} must be a plain object.`); + } +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/full-execution-boundary.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/full-execution-boundary.js new file mode 100644 index 0000000..f66d0dd --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/full-execution-boundary.js @@ -0,0 +1,187 @@ +const MACHINE_FILE_FLAGS = [ + "fiveaxis_ini_open=1", + "fiveaxis_remaps_ready=1", + "fiveaxis_file_reached_exit=1", +]; + +export function createFullLinuxCncExecutionBoundary(state = {}) { + const adapter = state.linuxCncBoundaryAdapter || {}; + const frame = state.rtcpFrame || {}; + const programExecution = state.programExecution || null; + const machineFileExecution = state.machineFileExecution || null; + const machineFileText = String(machineFileExecution?.resultText || ""); + + const kinematicsReady = Boolean( + adapter.linuxCncKinematicsReady || + frame.readiness?.linuxCncKinematicsReady, + ); + const interpreterReady = Boolean( + adapter.linuxCncInterpreterReady || + state.interpreterRuntimeReadiness?.loaded, + ); + const canonicalProgramReady = Boolean( + programExecution?.sourceMode === "linuxcnc-interpreter-wasm" && + programExecution?.summary?.motionEventCount > 0, + ); + const machineFileStagingReady = state.machineFileStaging?.status === "staged" + && state.machineFileStaging?.fileCount > 0; + const machineFileRemapReady = Boolean( + machineFileExecution?.sourceMode === "linuxcnc-machine-file-remap-wasm" && + machineFileExecution?.summary?.machineFileExecutionReady === true, + ); + const remapRuntimeReady = Boolean( + machineFileExecution?.summary?.remapRuntimeReady === true || + MACHINE_FILE_FLAGS.every((flag) => machineFileText.includes(flag)), + ); + const plannerRuntimeReady = Boolean( + programExecution?.summary?.plannerRuntimeReady === true && + programExecution?.plannerTiming?.plannerRuntimeReady === true, + ); + const halSwitchkinsEvidenceReady = machineFileText.includes("fiveaxis_hal_switchkins: rc=0 found=1"); + const taskHalSummary = state.taskHalStatus?.summary || {}; + const taskRuntimeReady = Boolean( + taskHalSummary.taskRuntimeReady === true || + state.taskHalRuntimeReadiness?.taskRuntimeReady === true, + ); + const motionRuntimeReady = Boolean( + taskHalSummary.motionRuntimeReady === true || + state.taskHalRuntimeReadiness?.motionRuntimeReady === true, + ); + const halRuntimeReady = Boolean( + taskHalSummary.halRuntimeReady === true || + state.taskHalRuntimeReadiness?.halRuntimeReady === true, + ); + const halSyncReady = Boolean( + taskHalSummary.halSyncReady === true || + state.taskHalRuntimeReadiness?.halSyncReady === true, + ); + const taskHalComparisonReady = Boolean(taskHalSummary.taskHalComparisonReady === true); + const nativeTaskReady = taskRuntimeReady; + const nativeHalSyncReady = halRuntimeReady && motionRuntimeReady && halSyncReady; + const toolDbReadiness = state.toolDbReadiness || {}; + const controlledUserMReadiness = state.controlledUserMReadiness || {}; + const toolDbProcessReady = toolDbReadiness.toolDbProcessReady === true; + const externalUserMProcessReady = controlledUserMReadiness.externalUserMProcessReady === true; + const fullLinuxCncProgramExecutionReady = Boolean( + kinematicsReady && + interpreterReady && + canonicalProgramReady && + machineFileStagingReady && + machineFileRemapReady && + plannerRuntimeReady && + nativeTaskReady && + nativeHalSyncReady && + taskHalComparisonReady && + toolDbProcessReady && + externalUserMProcessReady + ); + + const satisfied = [ + kinematicsReady ? "linuxcnc-kinematics-wasm" : null, + interpreterReady ? "linuxcnc-interpreter-wasm" : null, + canonicalProgramReady ? "canonical-motion-events" : null, + machineFileStagingReady ? "machine-file-staging" : null, + machineFileRemapReady ? "fiveaxis-remap-machine-file-run" : null, + plannerRuntimeReady ? "linuxcnc-tp-queue-runtime-timing" : null, + halSwitchkinsEvidenceReady ? "switchkins-hal-bridge-evidence" : null, + taskRuntimeReady ? "linuxcnc-task-runtime" : null, + motionRuntimeReady ? "linuxcnc-motion-runtime" : null, + halRuntimeReady ? "linuxcnc-hal-runtime" : null, + halSyncReady ? "task-motion-hal-sync" : null, + taskHalComparisonReady ? "task-hal-cycle-artifact" : null, + toolDbProcessReady ? "tool-db-web-simulation" : null, + externalUserMProcessReady ? "controlled-user-m-web-simulation" : null, + ].filter(Boolean); + + const missing = []; + if (!kinematicsReady) missing.push("linuxcnc kinematics WASM frame"); + if (!interpreterReady) missing.push("linuxcnc interpreter WASM runtime"); + if (!canonicalProgramReady) missing.push("linuxcnc canonical motion execution"); + if (!machineFileStagingReady) missing.push("LinuxCNC machine-file staging"); + if (!machineFileRemapReady) missing.push("machine-file backed five-axis remap run"); + if (!plannerRuntimeReady) missing.push("LinuxCNC trajectory planner queue timing runtime"); + if (!halSwitchkinsEvidenceReady) missing.push("switchkins HAL bridge evidence"); + if (!taskRuntimeReady) missing.push("LinuxCNC task runtime"); + if (!motionRuntimeReady) missing.push("LinuxCNC motion runtime"); + if (!halRuntimeReady) missing.push("LinuxCNC HAL runtime"); + if (!halSyncReady) missing.push("task/motion/HAL synchronization"); + if (!taskHalComparisonReady) missing.push("task cycle and HAL servo cycle artifact"); + if (!toolDbProcessReady) missing.push("tool DB Web/WASM simulation process"); + if (!externalUserMProcessReady) missing.push("controlled user-M Web/WASM simulation process"); + + const blockers = []; + if (!nativeTaskReady) blockers.push("LinuxCNC task runtime is not promoted"); + if (!nativeHalSyncReady) blockers.push("realtime HAL synchronization is not promoted"); + if (!toolDbProcessReady) blockers.push("tool DB Web simulation process is not ready"); + if (!externalUserMProcessReady) blockers.push("controlled user-M Web simulation process is not ready"); + blockers.push("host external user-M process and host tool DB process remain disabled; Web simulation boundary only"); + if (!plannerRuntimeReady) { + blockers.push("LinuxCNC trajectory planner queue is not promoted as browser runtime"); + } + + return { + apiName: "web-rtcp-5axis-full-linuxcnc-execution-boundary", + profileId: state.machineProfile || adapter.profileId || "unknown", + phase: fullLinuxCncProgramExecutionReady + ? "linuxcnc-task-motion-hal-simulation-runtime" + : machineFileRemapReady + ? "partial-linuxcnc-remap-boundary" + : canonicalProgramReady + ? "canonical-interpreter-boundary" + : "blocked", + semanticBoundary: fullLinuxCncProgramExecutionReady + ? "linuxcnc_task_motion_hal_wasm_simulation_runtime" + : machineFileRemapReady + ? "linuxcnc_machine_file_remap_ready_planner_task_hal_blocked" + : canonicalProgramReady + ? "linuxcnc_interpreter_canonical_ready_planner_task_hal_blocked" + : "linuxcnc_full_execution_boundary_blocked", + sourceMode: machineFileRemapReady + ? "linuxcnc-machine-file-remap-wasm" + : programExecution?.sourceMode || state.programExecutionSourceMode || "fixture-line-playback", + readyForUiSimulation: kinematicsReady && interpreterReady && canonicalProgramReady, + machineFileBackedRemapReady: machineFileRemapReady, + remapRuntimeReady, + halSwitchkinsEvidenceReady, + plannerRuntimeReady, + taskRuntimeReady, + motionRuntimeReady, + halRuntimeReady, + halSyncReady, + taskHalComparisonReady, + nativeTaskReady, + nativeHalSyncReady, + fullLinuxCncProgramExecutionReady, + promotionAllowed: fullLinuxCncProgramExecutionReady, + hardwareDrive: false, + hostRealtimeKernel: false, + externalUserMProcessReady, + externalUserMProcessScope: externalUserMProcessReady ? "web_simulation_only" : "not_ready", + toolDbProcessReady, + toolDbProcessScope: toolDbProcessReady ? "web_simulation_only" : "not_ready", + hostExternalUserMProcessReady: false, + hostToolDbProcessReady: false, + arbitraryUserMExecution: false, + satisfied, + missing, + blockers, + evidence: { + kinematics: kinematicsReady ? frame.semanticBoundary || adapter.semanticBoundary : null, + interpreter: interpreterReady ? state.interpreterRuntimeReadiness?.semanticBoundary || adapter.semanticBoundary : null, + canonicalMotionEvents: programExecution?.summary?.motionEventCount || 0, + canonicalEventCount: programExecution?.summary?.canonicalEventCount || 0, + plannerTiming: plannerRuntimeReady ? programExecution.plannerTiming?.semanticBoundary : null, + machineFileFlags: MACHINE_FILE_FLAGS.filter((flag) => machineFileText.includes(flag)), + machineFileExecutionReady: machineFileExecution?.summary?.machineFileExecutionReady === true, + remapRuntimeReady, + stagedFileCount: state.machineFileStaging?.fileCount || 0, + taskHal: taskHalSummary, + taskCycle: state.taskHalStatus?.ui?.taskCycle || 0, + servoCycle: state.taskHalStatus?.ui?.servoCycle || 0, + motionQueueDepth: state.taskHalStatus?.ui?.motionQueueDepth || 0, + halChangedPinCount: state.taskHalStatus?.ui?.halChangedPinCount || 0, + toolDb: toolDbReadiness, + controlledUserM: controlledUserMReadiness, + }, + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/gmoccapy-communication-model.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/gmoccapy-communication-model.js new file mode 100644 index 0000000..9230c01 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/gmoccapy-communication-model.js @@ -0,0 +1,280 @@ +export const gmoccapyCommunicationModel = { + apiName: "web-rtcp-5axis-gmoccapy-communication-model", + profileId: "gmoccapy-xyzab", + nativeConfigPath: "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini", + cycleTimeMs: 100, + semanticBoundary: "native_gmoccapy_nml_hal_reference_web_store_runtime_mapping", + nativePaths: { + command: { + label: "NML command", + path: ["gmoccapy", "linuxcnc.command()", "NML emcCommand", "milltask"], + notes: "GUI commands are written to the NML command buffer and consumed by milltask.", + }, + status: { + label: "NML status/error", + path: ["milltask", "NML emcStatus/emcError", "linuxcnc.stat()", "linuxcnc.error_channel()", "gmoccapy"], + notes: "gmoccapy polls status and error channels at DISPLAY CYCLE_TIME.", + }, + hal: { + label: "HAL shared memory", + path: ["gmoccapy.* pins", "HAL shared memory", "halui/iocontrol/motmod/spindle_sim"], + notes: "postgui HAL connects gmoccapy pins after halcomp.ready().", + }, + hardwareButtons: { + label: "HAL hardware buttons", + path: ["external HAL bit", "gmoccapy.h-button/v-button pin", "_button_pin_changed", "visible sensitive GTK button", "linuxcnc.command()"], + notes: "gmoccapy maps rising-edge hard-button pins to the current visible software button; insensitive or hidden targets are ignored.", + }, + halPins: { + label: "HAL input pins", + path: ["external HAL value", "gmoccapy.* input pin", "hal_glib.GPin value_changed", "gmoccapy callback", "linuxcnc.command() or GTK widget state"], + notes: "jog pins, jog increment pins, settings unlock, ignore-limits, optional-stop/blockdelete, override counts/direct-value, reset and message pins enter gmoccapy through HAL callbacks; tool measurement pins are HAL_OUT diagnostics in XYZAB.", + }, + remap: { + label: "Interpreter REMAP", + path: ["milltask", "RS274NGC", "Python remap prolog/ngc/epilog"], + notes: "M6/M61 remap executes on the task/interpreter side, not inside the GUI event loop.", + }, + filePage: { + label: "Native file page", + path: ["btn_load", "_show_iconview_tab(True)", "IconFileSelection1", "hal_action_open.load_file(path)", "GStat file-loaded"], + notes: "gmoccapy uses Gtk/IconFileSelection and PROGRAM_PREFIX; the Web shell maps this to OPEN_FILE plus staged LinuxCNC G-code source diagnostics.", + }, + macroPage: { + label: "Native macro buttons", + path: ["[MACROS]", "_make_macro_button", "_on_btn_macro_pressed", "command.mdi(O call [args])", "interp idle/run sensitivity"], + notes: "The XYZAB config defines five macros; Web macro dispatch must use MDI gates instead of bypassing task state.", + }, + toolEditorPage: { + label: "Native tool editor", + path: ["btn_tool", "_show_tooledit_tab(True)", "tooledit1.reload()", "tool.tbl", "M61 Q? or T? M6"], + notes: "Native gmoccapy can edit and save tool.tbl; Web keeps writeback diagnostic-only while preserving iocontrol-loopback tool-change semantics.", + }, + nativePages: { + label: "Native GTK page matrix", + path: ["gmoccapy.glade notebooks", "tbtn_setup/user tabs/tool/touch/load-file", "button callback", "Web implementation matrix", "operator diagnostic"], + notes: "Unimplemented native GTK pages are reported as diagnostic-only or native-only and must not be presented as completed Web actions.", + }, + }, + webPath: { + label: "Web simulation", + path: ["button", "store.dispatch", "linuxcnc-task-policy", "runtime/status snapshot", "UI/Three.js"], + notes: "The browser does not attach to native NML buffers or HAL shared memory.", + }, + startupStages: [ + { order: 1, id: "parse-ini", nativeStep: "linuxcnc script parses gmoccapy_XYZAB.ini", webEquivalent: "profile/source map selection" }, + { order: 2, id: "linuxcncsvr", nativeStep: "linuxcncsvr -ini ", webEquivalent: "not connected; reference only" }, + { order: 3, id: "realtime-hal", nativeStep: "start realtime/RTAPI/HAL", webEquivalent: "task/HAL runtime simulation boundary where available" }, + { order: 4, id: "milltask", nativeStep: "halcmd loadusr -Wn inihal milltask -ini ", webEquivalent: "store task policy and optional task/HAL runtime" }, + { order: 5, id: "halui", nativeStep: "halcmd loadusr -Wn halui halui -ini ", webEquivalent: "HALUI pins listed as reference diagnostics" }, + { order: 6, id: "halfiles", nativeStep: "run core_sim_XYZAB.hal, spindle_sim.hal, simulated_home.hal", webEquivalent: "HAL model diagnostics" }, + { order: 7, id: "hal-start", nativeStep: "halcmd start", webEquivalent: "not a browser realtime thread" }, + { order: 8, id: "gmoccapy", nativeStep: "gmoccapy -ini ", webEquivalent: "gmoccapy Web shell" }, + { order: 9, id: "postgui", nativeStep: "halcomp.ready(), then gmoccapy_postgui.hal", webEquivalent: "postgui model shown after gmoccapy pins exist" }, + ], + actionMappings: [ + { + actionId: "estop", + webAction: "ESTOP", + nativeCommand: "command.state(STATE_ESTOP)", + nativeStatus: "task_state STATE_ESTOP", + gate: "always available as abortive safety action", + }, + { + actionId: "estop-reset", + webAction: "RESET", + nativeCommand: "command.state(STATE_ESTOP_RESET)", + nativeStatus: "task_state STATE_ESTOP_RESET", + gate: "allowed from estop", + }, + { + actionId: "power-on", + webAction: "TOGGLE_POWER", + nativeCommand: "command.state(STATE_ON)", + nativeStatus: "task_state STATE_ON", + gate: "blocked while STATE_ESTOP", + }, + { + actionId: "mode-manual", + webAction: "SET_MODE manual", + nativeCommand: "command.mode(MODE_MANUAL)", + nativeStatus: "task_mode MODE_MANUAL", + gate: "blocked when AUTO interpreter is not idle", + }, + { + actionId: "mode-mdi", + webAction: "SET_MODE mdi", + nativeCommand: "command.mode(MODE_MDI)", + nativeStatus: "task_mode MODE_MDI", + gate: "machine on and homed when NO_FORCE_HOMING=0", + }, + { + actionId: "mode-auto", + webAction: "SET_MODE auto", + nativeCommand: "command.mode(MODE_AUTO)", + nativeStatus: "task_mode MODE_AUTO", + gate: "machine on and homed when NO_FORCE_HOMING=0", + }, + { + actionId: "jog", + webAction: "JOG", + nativeCommand: "command.jog(JOG_CONTINUOUS/JOG_INCREMENT/JOG_STOP)", + nativeStatus: "motion/joint feedback", + gate: "machine on, manual mode, not running", + }, + { + actionId: "home", + webAction: "HOME", + nativeCommand: "command.home(-1) or command.home(joint)", + nativeStatus: "all-homed", + gate: "machine on, manual mode, no conflicting homing command", + }, + { + actionId: "mdi", + webAction: "RUN_MDI", + nativeCommand: "command.mdi(command)", + nativeStatus: "interp reading/idle", + gate: "machine on, MDI mode, homed when NO_FORCE_HOMING=0", + }, + { + actionId: "auto-run", + webAction: "RUN", + nativeCommand: "command.auto(AUTO_RUN, start_line)", + nativeStatus: "interp reading/waiting/idle", + gate: "INI loaded, program loaded, machine on, homed, AUTO, interpreter idle, runtime ready", + }, + { + actionId: "auto-pause", + webAction: "PAUSE", + nativeCommand: "command.auto(AUTO_PAUSE)", + nativeStatus: "interp paused", + gate: "AUTO or MDI with machine on", + }, + { + actionId: "auto-resume", + webAction: "RESUME", + nativeCommand: "command.auto(AUTO_RESUME)", + nativeStatus: "interp reading", + gate: "interpreter paused", + }, + { + actionId: "abort", + webAction: "STOP/ABORT", + nativeCommand: "command.abort()", + nativeStatus: "interp idle after abort", + gate: "available across most states", + }, + { + actionId: "spindle", + webAction: "spindle controls", + nativeCommand: "command.spindle(direction, rpm)", + nativeStatus: "spindle.0.forward/reverse/speed-out/speed-in", + gate: "blocked in estop/off and restricted during interpreter reading/waiting", + }, + { + actionId: "coolant", + webAction: "TOGGLE_COOLANT", + nativeCommand: "command.flood()/command.mist()", + nativeStatus: "iocontrol.0.coolant-flood/mist", + gate: "blocked in estop/off", + }, + { + actionId: "hardware-button", + webAction: "explicit data-gmoccapy-hal-pin button mapping", + nativeCommand: "_button_pin_changed -> GtkButton emit clicked/pressed/toggled", + nativeStatus: "same status as the target software button", + gate: "rising-edge pin ignored when target button is hidden or insensitive", + }, + { + actionId: "hal-pin-input", + webAction: "GMOCAPY_HAL_PIN", + nativeCommand: "_ignore_limits/_optional_blocks/_blockdelete/_on_counts_changed/_on_analog_value_changed/_reset_override/_del_message_changed", + nativeStatus: "ignore-limits, block delete, optional stop, feed/rapid/spindle/jog override widget state and operator message state", + gate: "counts require count-enable, direct-value requires analog-enable, reset/delete-message pins are rising-edge only", + }, + { + actionId: "hal-settings-unlock", + webAction: "GMOCAPY_HAL_PIN unlock-settings", + nativeCommand: "_on_unlock_settings_changed", + nativeStatus: "tbtn_setup sensitivity when rbt_hal_unlock is active", + gate: "level-driven pin only gates setup access when unlock_way/rbt_hal_unlock selects HAL unlock", + }, + { + actionId: "hal-jog-pin", + webAction: "GMOCAPY_HAL_PIN jog.axis/jog-inc", + nativeCommand: "_on_pin_jog_changed/_on_pin_incr_changed", + nativeStatus: "manual jog command, active jog increment and gmoccapy.jog.jog-increment HAL OUT", + gate: "axis pins use press/release level, task must be on and manual; increment pins are rising-edge only", + }, + { + actionId: "hal-tool-measurement", + webAction: "GMOCAPY_HAL_PIN tool measurement diagnostics", + nativeCommand: "_check_toolmeasurement/on_chk_use_tool_measurement_toggled/on_btn_block_height_clicked", + nativeStatus: "probeheight, blockheight, toolmeasurement, searchvel and probevel HAL_OUT pins", + gate: "XYZAB has no [TOOLSENSOR], so auto tool measurement controls are disabled and Web records these pins as diagnostics", + }, + { + actionId: "hal-user-message", + webAction: "GMOCAPY_HAL_PIN messages.* diagnostics", + nativeCommand: "_init_user_messages/_show_user_message", + nativeStatus: "dynamic messages., waiting and response pins when MESSAGE_* entries exist", + gate: "gmoccapy_XYZAB.ini defines no MESSAGE_* entries, so no dynamic user message pins are created", + }, + { + actionId: "hal-warning-confirm", + webAction: "GMOCAPY_HAL_PIN warning-confirm", + nativeCommand: "dialogs.warning_dialog confirm_pin polling", + nativeStatus: "active warning dialog response", + gate: "level-polled while warning dialog is active", + }, + { + actionId: "file-page", + webAction: "LOAD_PROGRAM / LOAD_LINUXCNC_GCODE_SOURCE / GMOCAPY_PAGE_ACTION file-load", + nativeCommand: "on_btn_load_clicked -> IconFileSelection1 -> hal_action_open.load_file", + nativeStatus: "file-loaded signal updates gmoccapy.program.length/current-line/progress", + gate: "blocked while interpreter is running; native GTK file chooser is represented as Web file/staged-source diagnostics", + }, + { + actionId: "macro-page", + webAction: "GMOCAPY_RUN_MACRO", + nativeCommand: "_on_btn_macro_pressed -> command.mdi(O call [args])", + nativeStatus: "macro buttons disabled during interpreter run and re-enabled at interp idle", + gate: "same as RUN_MDI: machine on, MDI-capable, homed when NO_FORCE_HOMING=0, interpreter idle", + }, + { + actionId: "tool-editor-page", + webAction: "GMOCAPY_TOOL_EDITOR_ACTION", + nativeCommand: "_init_tooleditor/_show_tooledit_tab/on_btn_selected_tool_clicked", + nativeStatus: "tool.tbl rows, selected tool, active tool, tool offsets and M6/M61 commands", + gate: "Web writeback is disabled; tool-change actions remain diagnostic and preserve iocontrol-loopback", + }, + { + actionId: "native-page-diagnostic", + webAction: "GMOCAPY_NATIVE_PAGE", + nativeCommand: "tbtn_setup/tbtn_user_tabs/btn_touch/btn_tool/tbtn_switch_mode native page callbacks", + nativeStatus: "implementation matrix and operator diagnostic message", + gate: "diagnostic-only pages do not emit fake GTK page transitions or native file/tool writes", + }, + ], +}; + +export function createGmoccapyCommunicationSummary(model = gmoccapyCommunicationModel) { + return { + apiName: `${model.apiName}-summary`, + profileId: model.profileId, + nativeConfigPath: model.nativeConfigPath, + nativePathCount: Object.keys(model.nativePaths).length, + startupStageCount: model.startupStages.length, + actionCount: model.actionMappings.length, + pagePathCount: ["filePage", "macroPage", "toolEditorPage", "nativePages"] + .filter((key) => Boolean(model.nativePaths[key])).length, + postguiAfterHalcompReady: model.startupStages.findIndex((stage) => stage.id === "postgui") > + model.startupStages.findIndex((stage) => stage.id === "gmoccapy"), + hasNativeNmlCommandPath: model.nativePaths.command.path.includes("NML emcCommand"), + hasNativeHalPath: model.nativePaths.hal.path.includes("HAL shared memory"), + hasNativeHardwareButtonPath: model.nativePaths.hardwareButtons.path.includes("_button_pin_changed"), + hasNativeHalPinInputPath: model.nativePaths.halPins.path.includes("hal_glib.GPin value_changed"), + hasWebStorePath: model.webPath.path.includes("store.dispatch"), + semanticBoundary: model.semanticBoundary, + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/gmoccapy-hal-model.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/gmoccapy-hal-model.js new file mode 100644 index 0000000..f9c3fa7 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/gmoccapy-hal-model.js @@ -0,0 +1,888 @@ +export const gmoccapyHalModel = { + apiName: "web-rtcp-5axis-gmoccapy-hal-model", + profileId: "gmoccapy-xyzab", + nativeConfigPath: "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini", + halFiles: [ + { + path: "linuxcnc/configs/sim/gmoccapy/core_sim_XYZAB.hal", + stage: "HALFILE", + role: "trivkins and motmod simulation loopback", + semanticBoundary: "native_hal_reference", + }, + { + path: "linuxcnc/configs/sim/gmoccapy/spindle_sim.hal", + stage: "HALFILE", + role: "spindle speed encoder and at-speed simulation", + semanticBoundary: "native_hal_reference", + }, + { + path: "linuxcnc/configs/sim/gmoccapy/simulated_home.hal", + stage: "HALFILE", + role: "simulated X/Y/Z home switches", + semanticBoundary: "native_hal_reference", + }, + { + path: "linuxcnc/configs/sim/gmoccapy/gmoccapy_postgui.hal", + stage: "POSTGUI_HALFILE", + role: "connections that require gmoccapy.* pins", + requiresHalcompReady: true, + semanticBoundary: "native_postgui_hal_reference", + }, + ], + nativePins: [ + { + group: "hard-buttons", + pins: [ + "gmoccapy.h-button.button-0", + "gmoccapy.h-button.button-1", + "gmoccapy.h-button.button-2", + "gmoccapy.h-button.button-3", + "gmoccapy.h-button.button-4", + "gmoccapy.h-button.button-5", + "gmoccapy.h-button.button-6", + "gmoccapy.h-button.button-7", + "gmoccapy.h-button.button-8", + "gmoccapy.h-button.button-9", + "gmoccapy.v-button.button-0", + "gmoccapy.v-button.button-1", + "gmoccapy.v-button.button-2", + "gmoccapy.v-button.button-3", + "gmoccapy.v-button.button-4", + "gmoccapy.v-button.button-5", + "gmoccapy.v-button.button-6", + ], + webSource: "current visible Web button set", + semanticBoundary: "native_hardware_button_pin_reference", + }, + { + group: "jog", + pins: [ + "gmoccapy.jog.axis.jog-x-plus", + "gmoccapy.jog.axis.jog-x-minus", + "gmoccapy.jog.axis.jog-y-plus", + "gmoccapy.jog.axis.jog-y-minus", + "gmoccapy.jog.axis.jog-z-plus", + "gmoccapy.jog.axis.jog-z-minus", + "gmoccapy.jog.axis.jog-a-plus", + "gmoccapy.jog.axis.jog-a-minus", + "gmoccapy.jog.axis.jog-b-plus", + "gmoccapy.jog.axis.jog-b-minus", + "gmoccapy.jog.jog-inc-0", + "gmoccapy.jog.jog-inc-1", + "gmoccapy.jog.jog-inc-2", + "gmoccapy.jog.jog-inc-3", + "gmoccapy.jog.jog-inc-4", + "gmoccapy.jog.jog-inc-5", + "gmoccapy.jog.jog-increment", + "gmoccapy.jog.turtle-jog", + ], + webSource: "JOG dispatch and machine.jogIncrement", + semanticBoundary: "native_jog_pin_reference_web_task_policy_gate", + }, + { + group: "override", + pins: [ + "gmoccapy.feed.feed-override.counts", + "gmoccapy.feed.feed-override.count-enable", + "gmoccapy.feed.feed-override.analog-enable", + "gmoccapy.feed.feed-override.direct-value", + "gmoccapy.feed.reset-feed-override", + "gmoccapy.spindle.spindle-override.counts", + "gmoccapy.spindle.spindle-override.count-enable", + "gmoccapy.spindle.spindle-override.analog-enable", + "gmoccapy.spindle.spindle-override.direct-value", + "gmoccapy.spindle.reset-spindle-override", + "gmoccapy.jog.jog-velocity.counts", + "gmoccapy.jog.jog-velocity.count-enable", + "gmoccapy.jog.jog-velocity.analog-enable", + "gmoccapy.jog.jog-velocity.direct-value", + "gmoccapy.rapid.rapid-override.counts", + "gmoccapy.rapid.rapid-override.count-enable", + "gmoccapy.rapid.rapid-override.analog-enable", + "gmoccapy.rapid.rapid-override.direct-value", + "gmoccapy.rapid.reset-rapid-override", + ], + webSource: "feed/spindle override state", + semanticBoundary: "native_override_pin_reference_web_state_mapping", + }, + { + group: "operator-inputs", + pins: [ + "gmoccapy.ignore-limits", + "gmoccapy.optional-stop", + "gmoccapy.blockdelete", + ], + webSource: "gmoccapyGui ignoreLimits, optionalBlocks, optionalStop", + semanticBoundary: "native_ignore_limits_optional_stop_blockdelete_pin_reference_web_state_mapping", + }, + { + group: "settings", + pins: [ + "gmoccapy.unlock-settings", + ], + webSource: "gmoccapyGui settingsUnlockPin and setupSensitive", + semanticBoundary: "native_settings_unlock_pin_reference_web_diagnostic_state", + }, + { + group: "tool", + pins: [ + "gmoccapy.tooloffset-x", + "gmoccapy.tooloffset-z", + "gmoccapy.tool-diameter", + "gmoccapy.probeheight", + "gmoccapy.blockheight", + "gmoccapy.toolmeasurement", + "gmoccapy.searchvel", + "gmoccapy.probevel", + "gmoccapy.toolchange-change", + "gmoccapy.toolchange-changed", + "gmoccapy.toolchange-number", + "gmoccapy.toolchange-confirm", + ], + webSource: "toolPreview, disconnected manual tool-change diagnostics, and disabled XYZAB tool measurement outputs", + semanticBoundary: "native_tool_pin_reference_simulated_tool_loop", + }, + { + group: "program", + pins: [ + "gmoccapy.program.length", + "gmoccapy.program.current-line", + "gmoccapy.program.progress", + ], + webSource: "programLines, activeLine, programRuntimeFeedback", + semanticBoundary: "native_program_pin_reference_web_execution_status", + }, + { + group: "message", + pins: [ + "gmoccapy.error", + "gmoccapy.delete-message", + "gmoccapy.warning-confirm", + ], + webSource: "operatorMessage and browser diagnostics", + semanticBoundary: "native_message_pin_reference_web_operator_message", + }, + { + group: "spindle-postgui", + pins: [ + "gmoccapy.spindle_feedback_bar", + "gmoccapy.spindle_at_speed_led", + ], + webSource: "spindle rpm/status panel", + semanticBoundary: "postgui_spindle_feedback_reference", + }, + ], + coreNets: [ + { + signal: "Xpos", + source: "joint.0.motor-pos-cmd", + target: "joint.0.motor-pos-fb", + role: "X command-to-feedback simulation loop", + }, + { + signal: "Ypos", + source: "joint.1.motor-pos-cmd", + target: "joint.1.motor-pos-fb", + role: "Y command-to-feedback simulation loop", + }, + { + signal: "Zpos", + source: "joint.2.motor-pos-cmd", + target: "joint.2.motor-pos-fb", + role: "Z command-to-feedback simulation loop", + }, + { + signal: "Apos", + source: "joint.3.motor-pos-cmd", + target: "joint.3.motor-pos-fb", + role: "A command-to-feedback simulation loop", + }, + { + signal: "Bpos", + source: "joint.4.motor-pos-cmd", + target: "joint.4.motor-pos-fb", + role: "B command-to-feedback simulation loop", + }, + { + signal: "estop-loop", + source: "iocontrol.0.user-enable-out", + target: "iocontrol.0.emc-enable-in", + role: "simulated estop enable loop", + }, + { + signal: "tool-prep-loop", + source: "iocontrol.0.tool-prepare", + target: "iocontrol.0.tool-prepared", + role: "simulated tool prepare completion", + }, + { + signal: "tool-change-loop", + source: "iocontrol.0.tool-change", + target: "iocontrol.0.tool-changed", + role: "simulated automatic tool-change completion", + }, + { + signal: "flood", + source: "iocontrol.0.coolant-flood", + target: "gmoccapy coolant display via status", + role: "coolant flood state", + }, + { + signal: "mist", + source: "iocontrol.0.coolant-mist", + target: "gmoccapy coolant display via status", + role: "coolant mist state", + }, + ], + spindleNets: [ + { + signal: "spindle-speed-cmd", + source: "spindle.0.speed-out", + target: "limit_speed.in", + role: "commanded spindle speed", + }, + { + signal: "spindle-speed-limited", + source: "limit_speed.out", + target: "sim_encoder_0.speed", + role: "simulated spindle inertia", + }, + { + signal: "spindle-pos", + source: "encoder_0.position", + target: "spindle.0.revs", + role: "encoder feedback position", + }, + { + signal: "spindle-at-speed", + source: "near_speed.out", + target: "spindle.0.at-speed", + role: "at-speed comparator result", + }, + ], + postguiNets: [ + { + signal: "spindle-abs", + source: "abs_spindle_feedback.out", + target: "gmoccapy.spindle_feedback_bar", + requiresHalcompReady: true, + role: "spindle feedback bar", + }, + { + signal: "spindle-at-speed", + source: "spindle.0.at-speed", + target: "gmoccapy.spindle_at_speed_led", + requiresHalcompReady: true, + role: "spindle at-speed LED", + }, + { + signal: "tooloffset-x", + source: "motion.tooloffset.x", + target: "gmoccapy.tooloffset-x", + requiresHalcompReady: true, + role: "tool X offset display", + }, + { + signal: "tooloffset-z", + source: "motion.tooloffset.z", + target: "gmoccapy.tooloffset-z", + requiresHalcompReady: true, + role: "tool Z offset display", + }, + { + signal: "tool-change-loop", + source: "iocontrol.0.tool-change", + target: "iocontrol.0.tool-changed", + requiresHalcompReady: true, + simulationLoop: true, + role: "automatic simulated tool-change completion", + }, + ], + hardwareButtons: { + source: { + path: "linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py", + methods: ["_button_pin_changed", "_get_child_button", "_make_hal_pins"], + }, + behavior: { + edge: "rising-edge-only", + hButtonContainer: "current ntb_button page visible children", + vButtonContainer: "vbtb_main visible children", + insensitiveTarget: "ignored", + hiddenLabelsSkipped: true, + semanticBoundary: "native_gmoccapy_hardware_button_pin_to_visible_sensitive_button", + }, + verticalMain: [ + { + index: 0, + pin: "gmoccapy.v-button.button-0", + nativeWidget: "tbtn_estop", + webAction: "ESTOP", + webDispatch: { type: "ESTOP" }, + webSelector: '[data-action="estop"]', + gate: "always clickable safety action", + }, + { + index: 1, + pin: "gmoccapy.v-button.button-1", + nativeWidget: "tbtn_on", + webAction: "TOGGLE_POWER", + webDispatch: { type: "TOGGLE_POWER" }, + webSelector: '[data-action="power"]', + gate: "blocked while STATE_ESTOP", + }, + { + index: 2, + pin: "gmoccapy.v-button.button-2", + nativeWidget: "rbt_manual", + webAction: "SET_MODE manual", + webDispatch: { type: "SET_MODE", mode: "manual" }, + webSelector: '[data-action="mode-manual"]', + gate: "machine on and AUTO interpreter idle", + }, + { + index: 3, + pin: "gmoccapy.v-button.button-3", + nativeWidget: "rbt_mdi", + webAction: "SET_MODE mdi", + webDispatch: { type: "SET_MODE", mode: "mdi" }, + webSelector: '[data-action="mode-mdi"]', + gate: "machine on and homed when NO_FORCE_HOMING=0", + }, + { + index: 4, + pin: "gmoccapy.v-button.button-4", + nativeWidget: "rbt_auto", + webAction: "SET_MODE auto", + webDispatch: { type: "SET_MODE", mode: "auto" }, + webSelector: '[data-action="mode-auto"]', + gate: "machine on and homed when NO_FORCE_HOMING=0", + }, + { + index: 5, + pin: "gmoccapy.v-button.button-5", + nativeWidget: "tbtn_user_tabs", + webAction: "GMOCAPY_NATIVE_PAGE user-tabs", + webDispatch: { type: "GMOCAPY_NATIVE_PAGE", pageId: "user-tabs", nativeWidget: "tbtn_user_tabs" }, + webSelector: null, + gate: "native user tabs page is diagnostic-only in the Web shell", + }, + { + index: 6, + pin: "gmoccapy.v-button.button-6", + nativeWidget: "tbtn_setup", + webAction: "GMOCAPY_NATIVE_PAGE setup", + webDispatch: { type: "GMOCAPY_NATIVE_PAGE", pageId: "setup", nativeWidget: "tbtn_setup" }, + webSelector: null, + gate: "native setup page is diagnostic-only in the Web shell", + }, + ], + bottomMain: [ + { + index: 0, + pin: "gmoccapy.h-button.button-0", + nativeWidget: "btn_homing", + webAction: "HOME", + webDispatch: { type: "HOME" }, + webSelector: '[data-action="HOME"]', + gate: "machine on and manual mode", + }, + { + index: 1, + pin: "gmoccapy.h-button.button-1", + nativeWidget: "btn_touch", + webAction: "GMOCAPY_NATIVE_PAGE touch-off", + webDispatch: { type: "GMOCAPY_NATIVE_PAGE", pageId: "touch-off", nativeWidget: "btn_touch" }, + webSelector: null, + gate: "touch-off page not implemented in Web shell", + }, + { + index: 3, + pin: "gmoccapy.h-button.button-3", + nativeWidget: "btn_tool", + webAction: "GMOCAPY_NATIVE_PAGE tool-editor", + webDispatch: { type: "GMOCAPY_NATIVE_PAGE", pageId: "tool-editor", nativeWidget: "btn_tool" }, + webSelector: null, + gate: "tool editor page not implemented in Web shell", + }, + { + index: 6, + pin: "gmoccapy.h-button.button-6", + nativeWidget: "tbtn_switch_mode", + webAction: "GMOCAPY_NATIVE_PAGE switchkins-mode", + webDispatch: { type: "GMOCAPY_NATIVE_PAGE", pageId: "switchkins-mode", nativeWidget: "tbtn_switch_mode" }, + webSelector: null, + gate: "native joint/world switch page position is diagnostic-only in the Web shell", + }, + ], + }, + halPinActions: { + source: { + path: "linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py", + methods: [ + "_ignore_limits", + "_optional_blocks", + "_blockdelete", + "_on_pin_jog_changed", + "_on_pin_incr_changed", + "_on_counts_changed", + "_on_analog_enable_changed", + "_on_analog_value_changed", + "_reset_override", + "_del_message_changed", + "_on_unlock_settings_changed", + "_check_toolmeasurement", + "on_chk_use_tool_measurement_toggled", + "on_btn_block_height_clicked", + "_on_blockheight_value_changed", + "_init_user_messages", + "_show_user_message", + ], + prefPath: "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref", + }, + jogPins: { + axes: [ + { axis: "x", plus: "gmoccapy.jog.axis.jog-x-plus", minus: "gmoccapy.jog.axis.jog-x-minus" }, + { axis: "y", plus: "gmoccapy.jog.axis.jog-y-plus", minus: "gmoccapy.jog.axis.jog-y-minus" }, + { axis: "z", plus: "gmoccapy.jog.axis.jog-z-plus", minus: "gmoccapy.jog.axis.jog-z-minus" }, + { axis: "a", plus: "gmoccapy.jog.axis.jog-a-plus", minus: "gmoccapy.jog.axis.jog-a-minus" }, + { axis: "b", plus: "gmoccapy.jog.axis.jog-b-plus", minus: "gmoccapy.jog.axis.jog-b-minus" }, + ], + increments: [ + { index: 0, pin: "gmoccapy.jog.jog-inc-0", label: "Continuous", distance: 0 }, + { index: 1, pin: "gmoccapy.jog.jog-inc-1", label: "1.000 mm", distance: 1 }, + { index: 2, pin: "gmoccapy.jog.jog-inc-2", label: "0.100 mm", distance: 0.1 }, + { index: 3, pin: "gmoccapy.jog.jog-inc-3", label: "0.010 mm", distance: 0.01 }, + { index: 4, pin: "gmoccapy.jog.jog-inc-4", label: "0.001 mm", distance: 0.001 }, + { index: 5, pin: "gmoccapy.jog.jog-inc-5", label: "1.2345 in", distance: 31.3563 }, + ], + outputPin: "gmoccapy.jog.jog-increment", + turtlePin: "gmoccapy.jog.turtle-jog", + nativeCallbacks: { + axis: "_on_pin_jog_changed -> _on_btn_jog_pressed/_on_btn_jog_released", + increment: "_on_pin_incr_changed -> _jog_increment_changed", + turtle: "_on_pin_turtle_jog -> tbtn_turtle_jog.set_active", + }, + }, + operatorPins: [ + { + pin: "gmoccapy.ignore-limits", + nativeCallback: "_ignore_limits -> chk_ignore_limits.set_active", + nativeCommand: "on_chk_ignore_limits_toggled -> command.override_limits() when active", + webDispatch: { type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.ignore-limits" }, + webState: "gmoccapyGui.ignoreLimits", + }, + { + pin: "gmoccapy.optional-stop", + nativeCallback: "_optional_blocks", + nativeCommand: "tbtn_optional_blocks -> command.set_block_delete(state)", + webDispatch: { type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.optional-stop" }, + webState: "gmoccapyGui.optionalBlocks", + }, + { + pin: "gmoccapy.blockdelete", + nativeCallback: "_blockdelete", + nativeCommand: "command.set_optional_stop(state)", + webDispatch: { type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.blockdelete" }, + webState: "gmoccapyGui.optionalStop", + }, + ], + settingsPins: [ + { + pin: "gmoccapy.unlock-settings", + nativeCallback: "_on_unlock_settings_changed", + nativeCommand: "rbt_hal_unlock active gates tbtn_setup sensitivity from pin level", + prefDefault: "unlock_way=use", + webDispatch: { type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.unlock-settings" }, + webState: "gmoccapyGui.settingsUnlockPin", + }, + ], + overridePins: [ + { + target: "feed", + counts: "gmoccapy.feed.feed-override.counts", + countEnable: "gmoccapy.feed.feed-override.count-enable", + analogEnable: "gmoccapy.feed.feed-override.analog-enable", + directValue: "gmoccapy.feed.feed-override.direct-value", + reset: "gmoccapy.feed.reset-feed-override", + nativeWidget: "spc_feed", + scalePref: "scale_feed_override=1", + webState: "feed.feedOverride", + }, + { + target: "rapid", + counts: "gmoccapy.rapid.rapid-override.counts", + countEnable: "gmoccapy.rapid.rapid-override.count-enable", + analogEnable: "gmoccapy.rapid.rapid-override.analog-enable", + directValue: "gmoccapy.rapid.rapid-override.direct-value", + reset: "gmoccapy.rapid.reset-rapid-override", + nativeWidget: "spc_rapid", + scalePref: "scale_rapid_override=1", + webState: "feed.rapidOverride", + }, + { + target: "spindle", + counts: "gmoccapy.spindle.spindle-override.counts", + countEnable: "gmoccapy.spindle.spindle-override.count-enable", + analogEnable: "gmoccapy.spindle.spindle-override.analog-enable", + directValue: "gmoccapy.spindle.spindle-override.direct-value", + reset: "gmoccapy.spindle.reset-spindle-override", + nativeWidget: "spc_spindle", + scalePref: "scale_spindle_override=1", + webState: "spindle.override", + }, + { + target: "jogVelocity", + counts: "gmoccapy.jog.jog-velocity.counts", + countEnable: "gmoccapy.jog.jog-velocity.count-enable", + analogEnable: "gmoccapy.jog.jog-velocity.analog-enable", + directValue: "gmoccapy.jog.jog-velocity.direct-value", + reset: null, + nativeWidget: "spc_lin_jog_vel", + scalePref: "scale_jog_vel=140.4", + webState: "gmoccapyGui.jogVelocity", + }, + ], + messagePins: [ + { + pin: "gmoccapy.delete-message", + nativeCallback: "_del_message_changed", + nativeCommand: "pin true deletes first alert message when gmoccapy.error is set, otherwise del_last()", + webState: "operatorMessage", + }, + { + pin: "gmoccapy.warning-confirm", + nativeCallback: "dialogs.warning_dialog periodic confirm_pin poll", + nativeCommand: "pin true responds OK to active warning dialog", + webState: "gmoccapyGui.warningConfirm", + }, + { + pin: "gmoccapy.error", + nativeCallback: "_show_error/_on_message_deleted", + nativeCommand: "HAL OUT bit tracks alert messages", + webState: "gmoccapyGui.error", + }, + ], + toolMeasurementPins: { + toolsensorConfigured: false, + useToolMeasurementPref: false, + prefDefaults: { + useToolMeasurement: "use_toolmeasurement=False", + blockHeight: "blockheight=0.0", + }, + disabledReason: "gmoccapy_XYZAB.ini has no [TOOLSENSOR] data, so _check_toolmeasurement disables the controls", + pins: [ + { + pin: "gmoccapy.probeheight", + direction: "HAL_OUT", + nativeCallback: "on_spbtn_probe_height_value_changed / on_chk_use_tool_measurement_toggled / on_btn_block_height_clicked", + webState: "gmoccapyGui.probeHeight", + }, + { + pin: "gmoccapy.blockheight", + direction: "HAL_OUT", + nativeCallback: "on_btn_block_height_clicked / _on_blockheight_value_changed", + webState: "gmoccapyGui.blockHeight", + }, + { + pin: "gmoccapy.toolmeasurement", + direction: "HAL_OUT", + nativeCallback: "on_chk_use_tool_measurement_toggled", + webState: "gmoccapyGui.toolMeasurement", + }, + { + pin: "gmoccapy.searchvel", + direction: "HAL_OUT", + nativeCallback: "on_spbtn_search_vel_value_changed / on_chk_use_tool_measurement_toggled", + webState: "gmoccapyGui.searchVelocity", + }, + { + pin: "gmoccapy.probevel", + direction: "HAL_OUT", + nativeCallback: "on_spbtn_probe_vel_value_changed / on_chk_use_tool_measurement_toggled", + webState: "gmoccapyGui.probeVelocity", + }, + ], + }, + userMessages: { + configured: false, + configuredMessageCount: 0, + pins: [], + source: "get_ini_info.get_user_messages()", + disabledReason: "gmoccapy_XYZAB.ini has no MESSAGE_* entries, so _init_user_messages() returns without creating messages.* pins", + dynamicPinPatterns: [ + "gmoccapy.messages.", + "gmoccapy.messages.-waiting", + "gmoccapy.messages.-response", + ], + supportedTypes: ["status", "okdialog", "yesnodialog"], + }, + behavior: { + optionalStopPinCrossesToBlockDelete: true, + blockdeletePinCrossesToOptionalStop: true, + unlockSettingsLevelDriven: true, + jogAxisPinsPressRelease: true, + jogPinsUseTaskPolicyGate: true, + jogIncrementPinsRisingEdgeOnly: true, + jogIncrementZeroIsContinuous: true, + turtleJogLevelDriven: true, + countInputRequiresEnable: true, + directValueRequiresAnalogEnable: true, + resetPinsRisingEdgeOnly: true, + deleteMessageRisingEdgeOnly: true, + warningConfirmLevelPolled: true, + toolMeasurementPinsAreHalOut: true, + toolMeasurementDisabledWithoutToolsensor: true, + userMessagesDynamicIniOnly: true, + directValueRange: "0..1", + semanticBoundary: "native_gmoccapy_hal_pin_callbacks_to_web_store_actions", + }, + }, + nativePages: { + source: { + path: "linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py", + gladePath: "linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.glade", + methods: [ + "_init_IconFileSelection", + "_init_file_to_load", + "on_btn_load_clicked", + "on_IconFileSelection1_selected", + "on_hal_status_file_loaded", + "_make_macro_button", + "_on_btn_macro_pressed", + "_init_tooleditor", + "_show_tooledit_tab", + "on_btn_tool_clicked", + "on_btn_selected_tool_clicked", + "on_btn_select_tool_by_no_clicked", + "on_tbtn_setup_toggled", + "on_tbtn_user_tabs_toggled", + "on_btn_touch_clicked", + ], + }, + filePage: { + pageId: "file-load", + nativeNotebookPage: "_BB_LOAD_FILE / ntb_preview page 3", + nativeWidget: "IconFileSelection1", + programPrefix: "../../nc_files/", + defaultOpenPreference: "open_file", + fileExtensions: [ + "*.ngc", + "*.png", + "*.gif", + "*.jpg", + "*.py", + ], + nativeCallbacks: [ + "on_btn_load_clicked -> _show_iconview_tab(True)", + "on_IconFileSelection1_selected -> hal_action_open.load_file(path)", + "on_hal_status_file_loaded -> gmoccapy.program.length", + "on_hal_status_line_changed -> gmoccapy.program.current-line/progress", + ], + webSurface: "OPEN_FILE input, staged LinuxCNC G-code source selector and program preview", + webAction: "GMOCAPY_PAGE_ACTION file-load diagnostics", + implementation: "partial", + boundary: "native_GtkIconFileSelection_not_embedded_in_browser", + }, + macroPage: { + pageId: "mdi-macros", + nativeContainer: "hbtb_MDI", + iniSection: "[MACROS]", + macroLimit: 14, + macros: [ + { name: "i_am_lost", args: [], file: "macros/i_am_lost.ngc", commandTemplate: "O call" }, + { name: "halo_world", args: [], file: "macros/halo_world.ngc", commandTemplate: "O call" }, + { name: "jog_around", args: [], file: "macros/jog_around.ngc", commandTemplate: "O call" }, + { name: "increment", args: ["xinc", "yinc"], file: "macros/increment.ngc", commandTemplate: "O call [xinc] [yinc]" }, + { name: "go_to_position", args: ["X-pos", "Y-pos", "Z-pos"], file: "macros/go_to_position.ngc", commandTemplate: "O call [X-pos] [Y-pos] [Z-pos]" }, + ], + nativeCallbacks: [ + "_make_macro_button -> get_ini_info.get_macros()", + "_on_btn_macro_pressed -> command.mdi(O call [args])", + "on_hal_status_interp_idle enables macro buttons", + "on_hal_status_interp_run disables macro buttons", + ], + webAction: "GMOCAPY_RUN_MACRO", + implementation: "partial", + boundary: "macro_buttons_map_to_MDI_command_without_native_entry_dialogs", + }, + toolEditorPage: { + pageId: "tool-editor", + nativeNotebookPage: "ntb_preview page 2 / _BB_TOOL", + nativeWidget: "tooledit1", + toolTablePath: "linuxcnc/configs/sim/gmoccapy/tool.tbl", + visibleAxes: ["X", "Y", "Z", "A", "B"], + toolCount: 17, + nativeCallbacks: [ + "_init_tooleditor -> tooledit1.set_filename(tool.tbl)", + "_show_tooledit_tab(True) -> tooledit1.reload()", + "on_btn_selected_tool_clicked -> M61 Q? or T? M6", + "on_btn_save_tool_changes_clicked -> tooledit1.save(None)", + "on_btn_reload_tooltable_clicked -> tooledit1.reload(None)", + ], + webAction: "GMOCAPY_TOOL_EDITOR_ACTION diagnostics", + editableInWeb: false, + implementation: "diagnostic-only", + boundary: "tool_table_writeback_not_promoted_browser_keeps_iocontrol_loopback", + }, + implementationMatrix: [ + { pageId: "main", nativeWidget: "ntb_main page 0", implementation: "implemented", webSurface: "DRO/G-code/preview/main controls", hardButton: null }, + { pageId: "manual-home", nativeWidget: "btn_homing / _BB_HOME", implementation: "partial", webSurface: "HOME action", hardButton: "gmoccapy.h-button.button-0" }, + { pageId: "mdi-macros", nativeWidget: "hbtb_MDI macro buttons", implementation: "partial", webSurface: "MDI macro diagnostics and dispatch", hardButton: null }, + { pageId: "auto-run", nativeWidget: "_BB_AUTO buttons", implementation: "partial", webSurface: "RUN/STOP/PAUSE/STEP controls", hardButton: null }, + { pageId: "file-load", nativeWidget: "IconFileSelection1 / _BB_LOAD_FILE", implementation: "partial", webSurface: "OPEN_FILE input and staged source selector", hardButton: null }, + { pageId: "tool-editor", nativeWidget: "btn_tool / tooledit1", implementation: "diagnostic-only", webSurface: "tool table summary and action diagnostics", hardButton: "gmoccapy.h-button.button-3" }, + { pageId: "touch-off", nativeWidget: "btn_touch / offsetpage1", implementation: "diagnostic-only", webSurface: "touch-off boundary diagnostics", hardButton: "gmoccapy.h-button.button-1" }, + { pageId: "setup", nativeWidget: "tbtn_setup / ntb_setup", implementation: "diagnostic-only", webSurface: "settings/unlock diagnostics", hardButton: "gmoccapy.v-button.button-6" }, + { pageId: "user-tabs", nativeWidget: "tbtn_user_tabs / ntb_user_tabs", implementation: "diagnostic-only", webSurface: "user tab boundary diagnostics", hardButton: "gmoccapy.v-button.button-5" }, + { pageId: "switchkins-mode", nativeWidget: "tbtn_switch_mode", implementation: "diagnostic-only", webSurface: "identity-only XYZAB switchkins diagnostic", hardButton: "gmoccapy.h-button.button-6" }, + { pageId: "edit", nativeWidget: "_BB_EDIT / gcode_view editable", implementation: "native-only", webSurface: "not promoted", hardButton: null }, + { pageId: "offset-editor", nativeWidget: "offsetpage1 edit offsets", implementation: "native-only", webSurface: "not promoted", hardButton: null }, + ], + behavior: { + unimplementedPagesDiagnosticOnly: true, + hardButtonsDoNotFakeNativePages: true, + fileChooserNotNativeGtk: true, + macroButtonsUseMdiGate: true, + toolEditorWritebackDisabled: true, + toolEditorKeepsIocontrolLoopback: true, + semanticBoundary: "native_gmoccapy_page_matrix_web_diagnostic_boundary", + }, + }, + toolChange: { + strategy: "iocontrol-loopback", + manualGmoccapyPinsConnected: false, + remapCodes: ["M6", "M61"], + postguiUnlinks: [ + { + pin: "iocontrol.0.tool-change", + reason: "gmoccapy_postgui.hal removes the core_sim connection before applying the final loopback", + }, + { + pin: "iocontrol.0.tool-changed", + reason: "gmoccapy_postgui.hal removes the core_sim connection before applying the final loopback", + }, + { + pin: "iocontrol.0.tool-prep-number", + reason: "manual gmoccapy tool-change number net is not active in this simulation", + }, + ], + commentedManualGuiNets: [ + { + signal: "tool-change", + source: "iocontrol.0.tool-change", + target: "gmoccapy.toolchange-change", + }, + { + signal: "tool-changed", + source: "gmoccapy.toolchange-changed", + target: "iocontrol.0.tool-changed", + }, + { + signal: "tool-prep-number", + source: "iocontrol.0.tool-prep-number", + target: "gmoccapy.toolchange-number", + }, + ], + activeLoop: { + signal: "tool-change-loop", + source: "iocontrol.0.tool-change", + target: "iocontrol.0.tool-changed", + stage: "POSTGUI_HALFILE", + }, + semanticBoundary: "gmoccapy_xyzab_iocontrol_tool_change_loop_no_manual_gui_dialog", + }, + semanticBoundary: "gmoccapy_hal_pin_postgui_reference_web_diagnostic_only", +}; + +export function createGmoccapyHalSummary(model = gmoccapyHalModel) { + const pinCount = model.nativePins.reduce((total, group) => total + group.pins.length, 0); + const postguiFile = model.halFiles.find((file) => file.stage === "POSTGUI_HALFILE"); + const mappedHardwareButtonCount = [ + ...(model.hardwareButtons?.verticalMain || []), + ...(model.hardwareButtons?.bottomMain || []), + ].filter((button) => button.webSelector).length; + return { + apiName: `${model.apiName}-summary`, + profileId: model.profileId, + halFileCount: model.halFiles.length, + nativePinGroupCount: model.nativePins.length, + nativePinCount: pinCount, + coreNetCount: model.coreNets.length, + spindleNetCount: model.spindleNets.length, + postguiNetCount: model.postguiNets.length, + postguiRequiresHalcompReady: Boolean(postguiFile?.requiresHalcompReady) && + model.postguiNets.every((net) => net.requiresHalcompReady), + hasToolChangeSimulationLoop: model.postguiNets.some((net) => net.simulationLoop), + toolChangeStrategy: model.toolChange.strategy, + manualToolChangeGuiConnected: model.toolChange.manualGmoccapyPinsConnected, + postguiToolUnlinkCount: model.toolChange.postguiUnlinks.length, + commentedManualToolChangeNetCount: model.toolChange.commentedManualGuiNets.length, + hardwareButtonVerticalCount: model.hardwareButtons.verticalMain.length, + hardwareButtonBottomMainCount: model.hardwareButtons.bottomMain.length, + mappedHardwareButtonCount, + hardwareButtonEdge: model.hardwareButtons.behavior.edge, + hardwareButtonInsensitiveTarget: model.hardwareButtons.behavior.insensitiveTarget, + operatorInputPinCount: model.halPinActions.operatorPins.length, + settingsInputPinCount: model.halPinActions.settingsPins.length, + overridePinTargetCount: model.halPinActions.overridePins.length, + jogAxisPinCount: (model.halPinActions.jogPins?.axes || []).length * 2, + jogIncrementPinCount: model.halPinActions.jogPins?.increments?.length || 0, + messageInputPinCount: model.halPinActions.messagePins.length, + toolMeasurementPinCount: model.halPinActions.toolMeasurementPins.pins.length, + toolMeasurementEnabled: model.halPinActions.toolMeasurementPins.useToolMeasurementPref, + toolsensorConfigured: model.halPinActions.toolMeasurementPins.toolsensorConfigured, + userMessagePinCount: model.halPinActions.userMessages.pins.length, + userMessagesConfigured: model.halPinActions.userMessages.configured, + optionalStopPinCrossesToBlockDelete: model.halPinActions.behavior.optionalStopPinCrossesToBlockDelete, + blockdeletePinCrossesToOptionalStop: model.halPinActions.behavior.blockdeletePinCrossesToOptionalStop, + unlockSettingsLevelDriven: model.halPinActions.behavior.unlockSettingsLevelDriven, + jogAxisPinsPressRelease: model.halPinActions.behavior.jogAxisPinsPressRelease, + jogPinsUseTaskPolicyGate: model.halPinActions.behavior.jogPinsUseTaskPolicyGate, + jogIncrementPinsRisingEdgeOnly: model.halPinActions.behavior.jogIncrementPinsRisingEdgeOnly, + jogIncrementZeroIsContinuous: model.halPinActions.behavior.jogIncrementZeroIsContinuous, + turtleJogLevelDriven: model.halPinActions.behavior.turtleJogLevelDriven, + countInputRequiresEnable: model.halPinActions.behavior.countInputRequiresEnable, + directValueRequiresAnalogEnable: model.halPinActions.behavior.directValueRequiresAnalogEnable, + resetPinsRisingEdgeOnly: model.halPinActions.behavior.resetPinsRisingEdgeOnly, + deleteMessageRisingEdgeOnly: model.halPinActions.behavior.deleteMessageRisingEdgeOnly, + warningConfirmLevelPolled: model.halPinActions.behavior.warningConfirmLevelPolled, + toolMeasurementPinsAreHalOut: model.halPinActions.behavior.toolMeasurementPinsAreHalOut, + toolMeasurementDisabledWithoutToolsensor: model.halPinActions.behavior.toolMeasurementDisabledWithoutToolsensor, + userMessagesDynamicIniOnly: model.halPinActions.behavior.userMessagesDynamicIniOnly, + nativePageCount: model.nativePages.implementationMatrix.length, + implementedNativePageCount: model.nativePages.implementationMatrix + .filter((page) => page.implementation === "implemented").length, + partialNativePageCount: model.nativePages.implementationMatrix + .filter((page) => page.implementation === "partial").length, + diagnosticOnlyNativePageCount: model.nativePages.implementationMatrix + .filter((page) => page.implementation === "diagnostic-only").length, + nativeOnlyPageCount: model.nativePages.implementationMatrix + .filter((page) => page.implementation === "native-only").length, + filePageImplementation: model.nativePages.filePage.implementation, + filePageBoundary: model.nativePages.filePage.boundary, + macroCount: model.nativePages.macroPage.macros.length, + macroLimit: model.nativePages.macroPage.macroLimit, + macroButtonsUseMdiGate: model.nativePages.behavior.macroButtonsUseMdiGate, + toolEditorImplementation: model.nativePages.toolEditorPage.implementation, + toolEditorWritebackDisabled: model.nativePages.behavior.toolEditorWritebackDisabled, + hardButtonsDoNotFakeNativePages: model.nativePages.behavior.hardButtonsDoNotFakeNativePages, + unimplementedPagesDiagnosticOnly: model.nativePages.behavior.unimplementedPagesDiagnosticOnly, + semanticBoundary: model.semanticBoundary, + }; +} + +export function resolveGmoccapyHardwareButton(input, model = gmoccapyHalModel) { + const pin = typeof input === "string" ? input : input?.pin; + const location = typeof input === "object" ? input?.location || input?.panel : null; + const index = typeof input === "object" && input?.index !== undefined ? Number(input.index) : null; + const allButtons = [ + ...(model.hardwareButtons?.verticalMain || []).map((button) => ({ ...button, panel: "right", location: "v" })), + ...(model.hardwareButtons?.bottomMain || []).map((button) => ({ ...button, panel: "bottom", location: "h" })), + ]; + if (pin) return allButtons.find((button) => button.pin === pin) || null; + if (!Number.isFinite(index)) return null; + const normalizedLocation = location === "right" || location === "v" || location === "vertical" ? "v" + : location === "bottom" || location === "h" || location === "horizontal" ? "h" + : null; + return allButtons.find((button) => button.location === normalizedLocation && button.index === index) || null; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linear-units.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linear-units.js new file mode 100644 index 0000000..61628e7 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linear-units.js @@ -0,0 +1,60 @@ +const UNIT_ALIASES = new Map([ + ["mm", "mm"], + ["millimeter", "mm"], + ["millimeters", "mm"], + ["millimetre", "mm"], + ["millimetres", "mm"], + ["metric", "mm"], + ["inch", "inch"], + ["inches", "inch"], + ["in", "inch"], + ["imperial", "inch"], + ["m", "m"], + ["meter", "m"], + ["meters", "m"], + ["metre", "m"], + ["metres", "m"], +]); + +const METERS_PER_UNIT = { + mm: 0.001, + inch: 0.0254, + m: 1, +}; + +export function normalizeLinearUnits(units, fallback = "mm") { + const key = String(units || "").trim().toLowerCase(); + return UNIT_ALIASES.get(key) || UNIT_ALIASES.get(String(fallback || "mm").trim().toLowerCase()) || "mm"; +} + +export function linearUnitsToMetersFactor(units) { + return METERS_PER_UNIT[normalizeLinearUnits(units)] || METERS_PER_UNIT.mm; +} + +export function linearUnitsToMillimetersFactor(units) { + return linearUnitsToMetersFactor(units) * 1000; +} + +export function linearValueToMeters(value, units) { + const number = Number(value) || 0; + return number * linearUnitsToMetersFactor(units); +} + +export function linearValueToMillimeters(value, units) { + const number = Number(value) || 0; + return number * linearUnitsToMillimetersFactor(units); +} + +export function linearUnitsLabel(units) { + return normalizeLinearUnits(units); +} + +export function resolveStateLinearUnits(stateOrProfile, fallback = "mm") { + return normalizeLinearUnits( + stateOrProfile?.programExecution?.summary?.linearUnits + || stateOrProfile?.linuxCncIniConfig?.traj?.linearUnits + || stateOrProfile?.profile?.traj?.linearUnits + || stateOrProfile?.traj?.linearUnits, + fallback, + ); +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-boundary-adapter.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-boundary-adapter.js new file mode 100644 index 0000000..aa95a28 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-boundary-adapter.js @@ -0,0 +1,85 @@ +import { xyzacTrtProfile } from "../profiles/xyzac-trt.js"; +import { createPyvcpHalBindingSummary, xyzacTrtPyvcpPanelSchema } from "../panel-schema/xyzac-trt-pyvcp.js"; +import { createProfileSourceReferenceSummary } from "../profiles/source-reference-map.js"; + +export function createLinuxCncBoundaryAdapter({ + profile = xyzacTrtProfile, + panelSchema = profile.panelSchema || xyzacTrtPyvcpPanelSchema, + runtime = null, +} = {}) { + const sourceSummary = createProfileSourceReferenceSummary(profile.id); + const panelSummary = createPyvcpHalBindingSummary(panelSchema); + const kinematicsRuntimeReady = Boolean(runtime?.kinematicsWasm?.loaded); + const interpreterRuntimeReady = Boolean(runtime?.interpreterWasm?.loaded); + const runtimeReady = kinematicsRuntimeReady && interpreterRuntimeReady; + const linuxCncKinematicsReady = kinematicsRuntimeReady + && runtime.kinematicsWasm.sourceMode === "source-derived-kinematics-wasm"; + const linuxCncInterpreterReady = interpreterRuntimeReady + && runtime.interpreterWasm.sourceMode === "linuxcnc-interpreter-wasm"; + + return { + apiName: "web-rtcp-5axis-linuxcnc-boundary-adapter", + profileId: profile.id, + profile, + sourceSummary, + panelSummary, + runtimeReady, + kinematicsRuntimeReady, + interpreterRuntimeReady, + linuxCncInterpreterReady, + profileSummary: createProfileSummary(profile), + linuxCncKinematicsReady, + promotionAllowed: linuxCncKinematicsReady, + fullLinuxCncProgramExecutionReady: false, + semanticBoundary: linuxCncKinematicsReady + ? linuxCncInterpreterReady + ? "linuxcnc_kinematics_and_interpreter_wasm_connected_remap_planner_not_promoted" + : "linuxcnc_kinematics_wasm_runtime_connected" + : "adapter_entrypoint_only_runtime_not_connected", + adapterPoints: { + kinematicsWasm: runtime?.kinematicsWasm || null, + interpreterWasm: runtime?.interpreterWasm || null, + halPins: profile.halPins, + pyvcpSchemaId: panelSchema.id, + }, + }; +} + +function createProfileSummary(profile) { + return { + machineName: profile.machineName, + coordinates: profile.traj.coordinates, + jointCount: profile.jointConfig.length, + axisCount: Object.keys(profile.axisLimits).length, + mdiCommandCount: profile.halui.mdiCommands.length, + remapCount: profile.remaps.length, + toolCount: profile.toolTable.toolCount, + offsetNetCount: profile.hal.halcmd.offsetNets.length, + feedbackNetCount: profile.hal.halcmd.feedbackNets.length, + halFileCount: profile.hal.halFiles.length + profile.hal.postguiHalFiles.length, + sourceKinds: profile.sourceReferenceObjects.map((reference) => reference.kind), + }; +} + +export function createLinuxCncBoundaryReadiness(adapter = createLinuxCncBoundaryAdapter()) { + const missing = []; + if (!adapter.kinematicsRuntimeReady) missing.push("kinematics runtime"); + if (!adapter.interpreterRuntimeReady) missing.push("interpreter/remap runtime"); + if (!adapter.sourceSummary.referenceCount) missing.push("source reference map"); + if (!adapter.panelSummary.controlCount) missing.push("PyVCP/HAL panel schema"); + + return { + apiName: "web-rtcp-5axis-linuxcnc-boundary-readiness", + profileId: adapter.profileId, + ready: adapter.linuxCncKinematicsReady + && !missing.includes("kinematics runtime") + && !missing.includes("source reference map") + && !missing.includes("PyVCP/HAL panel schema"), + missing, + linuxCncKinematicsReady: adapter.linuxCncKinematicsReady, + linuxCncInterpreterReady: adapter.linuxCncInterpreterReady, + promotionAllowed: adapter.promotionAllowed, + fullLinuxCncProgramExecutionReady: adapter.fullLinuxCncProgramExecutionReady, + semanticBoundary: adapter.semanticBoundary, + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-ini-runtime.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-ini-runtime.js new file mode 100644 index 0000000..c59d2bd --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-ini-runtime.js @@ -0,0 +1,478 @@ +const AXIS_SECTION_RE = /^AXIS_([A-Z])$/; +const JOINT_SECTION_RE = /^JOINT_(\d+)$/; + +export function parseLinuxCncIni(text, { path = "inline.ini", profileId = "unknown" } = {}) { + const sections = parseIniSections(text); + const kinsText = getFirstValue(sections, "KINS", "KINEMATICS") || ""; + const coordinates = getFirstValue(sections, "TRAJ", "COORDINATES") || ""; + const jointCount = numberOrNull(getFirstValue(sections, "KINS", "JOINTS")); + const axisLimits = parseAxisLimits(sections); + const jointConfig = parseJointConfig(sections, coordinates); + const remaps = parseRemaps(sections); + const hal = parseHal(sections); + const display = parseDisplay(sections); + const emcmot = { + module: getFirstValue(sections, "EMCMOT", "EMCMOT") || null, + servoPeriodNs: numberOrNull(getFirstValue(sections, "EMCMOT", "SERVO_PERIOD")), + }; + const task = { + module: getFirstValue(sections, "TASK", "TASK") || null, + cycleTimeSeconds: numberOrNull(getFirstValue(sections, "TASK", "CYCLE_TIME")), + }; + const emcio = { + toolTable: getFirstValue(sections, "EMCIO", "TOOL_TABLE") || null, + }; + const halui = { + mdiCommands: getValues(sections, "HALUI", "MDI_COMMAND"), + }; + const kinematicsModuleId = inferKinematicsModuleId(kinsText); + + return { + apiName: "web-rtcp-5axis-linuxcnc-ini-config", + profileId, + path, + sourceText: text, + machineName: getFirstValue(sections, "EMC", "MACHINE") || null, + kinematics: parseKinematics(kinsText), + kinematicsModuleId, + kinematicsParameters: { + sparm: parseKinematicsParameter(kinsText, "sparm"), + joints: jointCount, + switchkinsTypes: inferSwitchkinsTypes({ coordinates, halui, kinematicsModuleId }), + }, + traj: { + coordinates, + linearUnits: getFirstValue(sections, "TRAJ", "LINEAR_UNITS") || null, + angularUnits: getFirstValue(sections, "TRAJ", "ANGULAR_UNITS") || null, + defaultLinearVelocity: numberOrNull(getFirstValue(sections, "TRAJ", "DEFAULT_LINEAR_VELOCITY")), + maxLinearVelocity: numberOrNull(getFirstValue(sections, "TRAJ", "MAX_LINEAR_VELOCITY")), + defaultLinearAcceleration: numberOrNull(getFirstValue(sections, "TRAJ", "DEFAULT_LINEAR_ACCELERATION")), + maxLinearAcceleration: numberOrNull(getFirstValue(sections, "TRAJ", "MAX_LINEAR_ACCELERATION")), + }, + display, + rs274ngc: { + subroutinePath: getFirstValue(sections, "RS274NGC", "SUBROUTINE_PATH") || null, + halPinVars: boolFromIni(getFirstValue(sections, "RS274NGC", "HAL_PIN_VARS")), + parameterFile: getFirstValue(sections, "RS274NGC", "PARAMETER_FILE") || null, + remaps, + }, + hal, + halui, + axisLimits, + jointConfig, + emcmot, + task, + emcio, + validation: validateIniConfig({ + sections, + coordinates, + jointCount, + axisLimits, + jointConfig, + kinsText, + remaps, + hal, + halui, + rs274ngc: { + halPinVars: boolFromIni(getFirstValue(sections, "RS274NGC", "HAL_PIN_VARS")), + parameterFile: getFirstValue(sections, "RS274NGC", "PARAMETER_FILE") || null, + }, + emcmot, + task, + emcio, + }), + semanticBoundary: "linuxcnc_ini_file_browser_parser", + }; +} + +export async function loadLinuxCncIniConfig(profile, { baseUrl = import.meta.url, fetchImpl = globalThis.fetch } = {}) { + if (!profile?.iniPath) { + throw new Error("profile is missing iniPath"); + } + if (typeof fetchImpl !== "function") { + throw new Error("fetch is not available for LinuxCNC INI loading"); + } + + const candidateUrls = linuxCncIniCandidateUrls(profile.iniPath, baseUrl); + const errors = []; + let response = null; + for (const url of candidateUrls) { + try { + response = await fetchImpl(url.href); + if (response.ok) break; + errors.push(`${url.href}: HTTP ${response.status}`); + response = null; + } catch (error) { + errors.push(`${url.href}: ${error.message}`); + } + } + if (!response) { + throw new Error(`failed to load LinuxCNC INI ${profile.iniPath}: ${errors.join(" | ")}`); + } + return parseLinuxCncIni(await response.text(), { + path: profile.iniPath, + profileId: profile.id, + }); +} + +function linuxCncIniCandidateUrls(iniPath, baseUrl) { + const inDist = String(baseUrl).includes("/app/dist/"); + if (String(iniPath).startsWith("linuxcnc/")) { + return inDist + ? [new URL(`../../${iniPath}`, baseUrl)] + : [new URL(`../../../../${iniPath}`, baseUrl)]; + } + return inDist + ? [new URL(`../../${iniPath}`, baseUrl)] + : [new URL(`../../../../wasm-port/vendor/linuxcnc/${iniPath}`, baseUrl)]; +} + +export function applyIniConfigToProfile(profile, iniConfig) { + if (!iniConfig) return profile; + return { + ...profile, + machineName: iniConfig.machineName || profile.machineName, + kinematics: iniConfig.kinematics.name || profile.kinematics, + kinematicsModuleId: iniConfig.kinematicsModuleId || profile.kinematicsModuleId, + kinematicsParameters: { + ...profile.kinematicsParameters, + ...iniConfig.kinematicsParameters, + switchkinsTypes: mergeSwitchkinsTypes( + profile.kinematicsParameters?.switchkinsTypes || [], + iniConfig.halui.mdiCommands.length > 0 + ? iniConfig.kinematicsParameters.switchkinsTypes + : [], + ), + }, + display: { + ...profile.display, + ...iniConfig.display, + }, + rs274ngc: { + ...profile.rs274ngc, + subroutinePath: iniConfig.rs274ngc.subroutinePath || profile.rs274ngc?.subroutinePath, + halPinVars: iniConfig.rs274ngc.halPinVars ?? profile.rs274ngc?.halPinVars, + parameterFile: iniConfig.rs274ngc.parameterFile || profile.rs274ngc?.parameterFile, + }, + hal: { + ...profile.hal, + halui: iniConfig.hal.halui || profile.hal?.halui, + halFiles: iniConfig.hal.halFiles.length > 0 ? iniConfig.hal.halFiles : profile.hal?.halFiles, + postguiHalFiles: iniConfig.hal.postguiHalFiles.length > 0 + ? iniConfig.hal.postguiHalFiles + : profile.hal?.postguiHalFiles, + halcmd: { + ...profile.hal?.halcmd, + raw: iniConfig.hal.halcmd, + initialSets: iniConfig.hal.initialSets.length > 0 + ? iniConfig.hal.initialSets + : profile.hal?.halcmd?.initialSets, + }, + }, + halui: iniConfig.halui.mdiCommands.length > 0 ? iniConfig.halui : profile.halui, + emcmot: { + ...profile.emcmot, + ...dropNullish(iniConfig.emcmot || {}), + }, + task: { + ...profile.task, + ...dropNullish(iniConfig.task || {}), + }, + emcio: { + ...profile.emcio, + ...dropNullish(iniConfig.emcio || {}), + }, + traj: { + ...profile.traj, + ...dropNullish(iniConfig.traj), + }, + axisLimits: Object.keys(iniConfig.axisLimits).length > 0 ? iniConfig.axisLimits : profile.axisLimits, + jointConfig: iniConfig.jointConfig.length > 0 ? iniConfig.jointConfig : profile.jointConfig, + linuxCncIniConfig: iniConfig, + }; +} + +function parseIniSections(text) { + const sections = new Map(); + let current = null; + for (const rawLine of String(text).split(/\r?\n/)) { + const line = stripIniComment(rawLine).trim(); + if (!line) continue; + const sectionMatch = line.match(/^\[([^\]]+)]$/); + if (sectionMatch) { + current = sectionMatch[1].trim().toUpperCase(); + if (!sections.has(current)) sections.set(current, new Map()); + continue; + } + if (!current) continue; + const equals = line.indexOf("="); + if (equals < 0) continue; + const key = line.slice(0, equals).trim().toUpperCase(); + const value = line.slice(equals + 1).trim(); + const section = sections.get(current); + if (!section.has(key)) section.set(key, []); + section.get(key).push(value); + } + return sections; +} + +function stripIniComment(line) { + let quote = null; + for (let index = 0; index < line.length; index += 1) { + const char = line[index]; + if ((char === "\"" || char === "'") && line[index - 1] !== "\\") { + quote = quote === char ? null : quote || char; + } + if (!quote && (char === "#" || char === ";")) { + return line.slice(0, index); + } + } + return line; +} + +function getValues(sections, sectionName, key) { + return sections.get(sectionName.toUpperCase())?.get(key.toUpperCase()) || []; +} + +function getFirstValue(sections, sectionName, key) { + return getValues(sections, sectionName, key)[0] ?? null; +} + +function parseAxisLimits(sections) { + const result = {}; + for (const [sectionName, values] of sections) { + const match = sectionName.match(AXIS_SECTION_RE); + if (!match) continue; + result[match[1]] = { + min: numberOrNull(first(values, "MIN_LIMIT")), + max: numberOrNull(first(values, "MAX_LIMIT")), + maxVelocity: numberOrNull(first(values, "MAX_VELOCITY")), + maxAcceleration: numberOrNull(first(values, "MAX_ACCELERATION")), + }; + } + return result; +} + +function parseJointConfig(sections, coordinates) { + const axisOrder = String(coordinates || "").split(""); + return [...sections.entries()] + .map(([sectionName, values]) => { + const match = sectionName.match(JOINT_SECTION_RE); + if (!match) return null; + const id = Number(match[1]); + return { + id, + axis: axisOrder[id] || null, + type: first(values, "TYPE") || null, + home: numberOrNull(first(values, "HOME")), + min: numberOrNull(first(values, "MIN_LIMIT")), + max: numberOrNull(first(values, "MAX_LIMIT")), + maxVelocity: numberOrNull(first(values, "MAX_VELOCITY")), + maxAcceleration: numberOrNull(first(values, "MAX_ACCELERATION")), + homeSearchVelocity: numberOrNull(first(values, "HOME_SEARCH_VEL")), + homeSequence: numberOrNull(first(values, "HOME_SEQUENCE")), + }; + }) + .filter(Boolean) + .sort((left, right) => left.id - right.id); +} + +function parseRemaps(sections) { + return getValues(sections, "RS274NGC", "REMAP").map((value) => { + const code = value.match(/\bM\d+\b/i)?.[0]?.toUpperCase() || null; + const ngc = value.match(/\bngc=([^\s]+)/i)?.[1] || null; + const modalGroup = numberOrNull(value.match(/\bmodalgroup=(\d+)/i)?.[1]); + return { raw: value, code, modalGroup, ngc }; + }); +} + +function parseHal(sections) { + const halcmd = getValues(sections, "HAL", "HALCMD"); + return { + halui: getFirstValue(sections, "HAL", "HALUI") || null, + halFiles: getValues(sections, "HAL", "HALFILE"), + postguiHalFiles: getValues(sections, "HAL", "POSTGUI_HALFILE"), + halcmd, + initialSets: halcmd + .map((line) => line.match(/^\s*(sets|setp)\s+:?([^\s]+)\s+([-+0-9.eE]+)/i)) + .filter(Boolean) + .map((match) => ({ op: match[1], pin: match[2], value: Number(match[3]) })), + }; +} + +function parseDisplay(sections) { + const jogAxes = getFirstValue(sections, "DISPLAY", "JOG_AXES"); + return dropNullish({ + geometry: getFirstValue(sections, "DISPLAY", "GEOMETRY"), + display: getFirstValue(sections, "DISPLAY", "DISPLAY"), + jogAxes: jogAxes ? jogAxes.split("") : null, + pyvcp: getFirstValue(sections, "DISPLAY", "PYVCP"), + openFile: getFirstValue(sections, "DISPLAY", "OPEN_FILE"), + programPrefix: getFirstValue(sections, "DISPLAY", "PROGRAM_PREFIX"), + positionOffset: getFirstValue(sections, "DISPLAY", "POSITION_OFFSET"), + positionFeedback: getFirstValue(sections, "DISPLAY", "POSITION_FEEDBACK"), + maxFeedOverride: numberOrNull(getFirstValue(sections, "DISPLAY", "MAX_FEED_OVERRIDE")), + maxLinearVelocity: numberOrNull(getFirstValue(sections, "DISPLAY", "MAX_LINEAR_VELOCITY")), + maxAngularVelocity: numberOrNull(getFirstValue(sections, "DISPLAY", "MAX_ANGULAR_VELOCITY")), + }); +} + +function parseKinematics(text) { + const [name, ...parameters] = String(text || "").trim().split(/\s+/).filter(Boolean); + return { + name: name || null, + raw: text, + parameters, + }; +} + +function parseKinematicsParameter(text, key) { + return String(text || "").match(new RegExp(`\\b${key}=([^\\s]+)`, "i"))?.[1] || null; +} + +function inferKinematicsModuleId(kinsText) { + const name = parseKinematics(kinsText).name || ""; + if (name.includes("xyzbc")) return "xyzbc-trt"; + if (name.includes("xyzac")) return "xyzac-trt"; + return name.replace(/-kins$/, "") || null; +} + +function inferSwitchkinsTypes({ coordinates, halui, kinematicsModuleId }) { + const mdiCommands = halui.mdiCommands.length > 0 ? halui.mdiCommands : ["M429", "M428", "M430"]; + const tcpType = coordinates === "XYZBC" ? "tcp-xyzbc" : "tcp-xyzac"; + const tcpLabel = `${coordinates || kinematicsModuleId || "TCP"} TCP`; + return mdiCommands.map((command, index) => ({ + value: index === 0 ? 0 : index, + label: index === 0 ? "identity" : index === 1 ? tcpLabel : "USERK", + mdiCommand: command, + webKinsType: index === 0 ? "identity" : index === 1 ? tcpType : "userk", + })); +} + +function validateIniConfig({ + sections, + coordinates, + jointCount, + axisLimits, + jointConfig, + kinsText, + remaps, + hal, + halui, + rs274ngc, + emcmot, + task, + emcio, +}) { + const missing = []; + const displayName = getFirstValue(sections, "DISPLAY", "DISPLAY") || ""; + const isSwitchkinsTrt = String(kinsText || "").includes("sparm=identityfirst"); + const isGmoccapyFixedTrt = String(displayName).toLowerCase() === "gmoccapy" + && /^xyz[ab]c-trt-kins\b/i.test(String(kinsText || "")) + && !isSwitchkinsTrt; + const requiredSections = [ + "EMC", + "DISPLAY", + "RS274NGC", + "KINS", + "HAL", + "TRAJ", + "EMCMOT", + "TASK", + "EMCIO", + ]; + if (isSwitchkinsTrt) { + requiredSections.push("HALUI"); + } + for (const section of requiredSections) { + if (!sections.has(section)) missing.push(`[${section}]`); + } + if (!["XYZAC", "XYZBC"].includes(coordinates)) missing.push("TRAJ.COORDINATES XYZAC/XYZBC"); + if (!coordinates) missing.push("TRAJ.COORDINATES"); + if (!jointCount) missing.push("KINS.JOINTS"); + if (jointCount !== 5) missing.push("KINS.JOINTS=5"); + if (!kinsText) missing.push("KINS.KINEMATICS"); + if (!isSwitchkinsTrt && !isGmoccapyFixedTrt) { + missing.push("KINS.KINEMATICS sparm=identityfirst"); + } + for (const axis of String(coordinates || "").split("")) { + if (!axisLimits[axis]) missing.push(`AXIS_${axis}`); + } + if (jointCount && jointConfig.length !== jointCount) { + missing.push(`JOINT_ count ${jointConfig.length}/${jointCount}`); + } + for (let joint = 0; joint < 5; joint += 1) { + if (!sections.has(`JOINT_${joint}`)) missing.push(`JOINT_${joint}`); + } + if (isSwitchkinsTrt) { + for (const code of ["M428", "M429", "M430"]) { + if (!remaps.some((remap) => remap.code === code && remap.ngc)) { + missing.push(`RS274NGC.REMAP ${code}`); + } + } + if (rs274ngc.halPinVars !== true) missing.push("RS274NGC.HAL_PIN_VARS=1"); + } else if (isGmoccapyFixedTrt) { + for (const code of ["M6", "M61"]) { + if (!remaps.some((remap) => remap.code === code && remap.ngc)) { + missing.push(`RS274NGC.REMAP ${code}`); + } + } + } else { + if (rs274ngc.halPinVars !== true) missing.push("RS274NGC.HAL_PIN_VARS=1"); + } + if (!rs274ngc.parameterFile) missing.push("RS274NGC.PARAMETER_FILE"); + if (!hal.halui) missing.push("HAL.HALUI"); + if (!hal.halFiles.length) missing.push("HAL.HALFILE"); + if (!hal.postguiHalFiles.length) missing.push("HAL.POSTGUI_HALFILE"); + if (isSwitchkinsTrt && !hal.halcmd.some((line) => line.includes("motion.analog-out-03") && line.includes("motion.switchkins-type"))) { + missing.push("HAL.HALCMD motion.analog-out-03=>motion.switchkins-type"); + } + if (isGmoccapyFixedTrt) { + for (const token of ["xyzac-trt-gui", "xyzac-trt-kins.tool-offset", "xyzac-trt-kins.y-offset", "xyzac-trt-kins.z-offset"]) { + if (!hal.halcmd.some((line) => line.includes(token))) { + missing.push(`HAL.HALCMD ${token}`); + } + } + } else if (isSwitchkinsTrt && halui.mdiCommands.length < 3) { + missing.push("HALUI.MDI_COMMAND M428/M429/M430"); + } + if (!emcmot.module) missing.push("EMCMOT.EMCMOT"); + if (!emcmot.servoPeriodNs) missing.push("EMCMOT.SERVO_PERIOD"); + if (!task.module) missing.push("TASK.TASK"); + if (!task.cycleTimeSeconds) missing.push("TASK.CYCLE_TIME"); + if (!emcio.toolTable) missing.push("EMCIO.TOOL_TABLE"); + return { + ready: missing.length === 0, + missing, + axisCount: Object.keys(axisLimits).length, + jointCount: jointConfig.length, + }; +} + +function first(values, key) { + return values.get(key)?.[0] ?? null; +} + +function numberOrNull(value) { + if (value === null || value === undefined || value === "") return null; + const number = Number(value); + return Number.isFinite(number) ? number : null; +} + +function boolFromIni(value) { + if (value === null || value === undefined) return null; + return ["1", "true", "yes", "on"].includes(String(value).trim().toLowerCase()); +} + +function dropNullish(object) { + return Object.fromEntries(Object.entries(object).filter(([, value]) => value !== null && value !== undefined)); +} + +function mergeSwitchkinsTypes(profileTypes, iniTypes) { + if (!iniTypes?.length) return profileTypes; + return iniTypes.map((iniType) => ({ + ...iniType, + ...(profileTypes.find((entry) => entry.mdiCommand === iniType.mdiCommand || entry.value === iniType.value) || {}), + ...iniType, + })); +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-interpreter-runtime.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-interpreter-runtime.js new file mode 100644 index 0000000..db73852 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-interpreter-runtime.js @@ -0,0 +1,544 @@ +const DEFAULT_SDK_MODULE_URL = "../../../../wasm-port/runtime/sdk/src/linuxcnc-interp.js"; +const DEFAULT_TP_SDK_MODULE_URL = "../../../../wasm-port/runtime/sdk/src/linuxcnc-tp.js"; +const SOURCE_MODE = "linuxcnc-interpreter-wasm"; +const SEMANTIC_BOUNDARY = "linuxcnc_interpreter_wasm_canonical_events"; +const PLANNER_TIMING_BOUNDARY = "linuxcnc_tp_queue_runtime_timing_from_canonical_motion"; +const SWITCHKINS_REMAP_BOUNDARY = "linuxcnc_switchkins_remap_mcode_preserved_web_runtime_applied"; +const FIVE_AXIS_REMAP_FLAGS = [ + "fiveaxis_ini_open=1", + "fiveaxis_remaps_ready=1", + "fiveaxis_file_reached_exit=1", +]; + +const AXES = ["x", "y", "z", "a", "b", "c", "u", "v", "w"]; +const SWITCHKINS_M_CODES = new Map([ + [428, { switchkinsType: 1, requestedKinsType: "tcp" }], + [429, { switchkinsType: 0, requestedKinsType: "identity" }], + [430, { switchkinsType: 2, requestedKinsType: "userk" }], +]); +const PLANE_AXIS_MAP = { + 170: ["x", "y", "z"], + 180: ["z", "x", "y"], + 190: ["y", "z", "x"], +}; + +export async function createLinuxCncInterpreterRuntime({ + moduleOptions = null, + tpModuleOptions = null, + wasmRoot = null, + sdkModuleUrl = DEFAULT_SDK_MODULE_URL, + tpSdkModuleUrl = DEFAULT_TP_SDK_MODULE_URL, +} = {}) { + const { createLinuxCncInterpSdk } = await import(sdkModuleUrl); + const resolvedModuleOptions = moduleOptions || await createDefaultModuleOptions({ wasmRoot }); + const sdk = await createLinuxCncInterpSdk(resolvedModuleOptions); + const tpRuntime = await createOptionalTpRuntime({ tpModuleOptions, wasmRoot, tpSdkModuleUrl }); + + return { + apiName: "web-rtcp-5axis-linuxcnc-interpreter-runtime", + loaded: true, + sourceMode: SOURCE_MODE, + semanticBoundary: SEMANTIC_BOUNDARY, + executionContext: "direct", + sdk, + tpRuntime, + + readiness() { + return { + apiName: "web-rtcp-5axis-linuxcnc-interpreter-runtime-readiness", + loaded: true, + sourceMode: SOURCE_MODE, + semanticBoundary: SEMANTIC_BOUNDARY, + executionContext: "direct", + runProgramReady: typeof sdk.runProgram === "function", + remapRuntimeReady: false, + plannerRuntimeReady: tpRuntime?.loaded === true, + plannerSemanticBoundary: tpRuntime?.semanticBoundary || null, + }; + }, + + runProgram(programText) { + const prepared = prepareLinuxCncProgramForRuntime(programText); + const resultText = sdk.runProgram(prepared.runtimeProgramText); + const motion = parseLinuxCncCanonicalMotion(resultText, programText, prepared.switchkinsEvents); + return createProgramExecutionResult({ + programText, + resultText: prependRuntimeEvents(resultText, prepared.switchkinsEvents), + motion, + switchkinsEvents: prepared.switchkinsEvents, + runtimeProgramText: prepared.runtimeProgramText, + plannerTiming: runPlannerTiming(tpRuntime, motion), + }); + }, + + runMachineFileProgram({ plan, files = null, executionMode = "fiveAxisRemap" } = {}) { + if (!plan?.wasmIniPath || !plan?.wasmProgramPath) { + throw new Error("runMachineFileProgram requires a machine-file staging plan with INI and program paths"); + } + if (typeof sdk.runSimConfigProgram !== "function") { + throw new Error("LinuxCNC interpreter SDK missing runSimConfigProgram"); + } + const stagedFiles = files || plan.files; + const resultText = sdk.runSimConfigProgram({ + files: stagedFiles.map((file) => ({ + path: file.wasmPath || file.path, + text: file.text, + executable: file.executable, + })), + programPath: plan.wasmProgramPath, + iniPath: plan.wasmIniPath, + executionMode, + }); + const programFile = stagedFiles.find((file) => ( + (file.wasmPath || file.path) === plan.wasmProgramPath + )); + const programText = programFile?.text || ""; + const motion = parseLinuxCncCanonicalMotion(resultText, programText); + return createProgramExecutionResult({ + programText, + resultText, + motion, + machineFilePlan: plan, + sourceMode: "linuxcnc-machine-file-remap-wasm", + semanticBoundary: "linuxcnc_fiveaxis_remap_wasm_machine_file_execution", + plannerTiming: runPlannerTiming(tpRuntime, motion), + }); + }, + }; +} + +export function createLinuxCncInterpreterRuntimeDescriptor(runtime) { + if (!runtime?.loaded) return null; + return { + apiName: runtime.apiName, + loaded: runtime.loaded, + sourceMode: runtime.sourceMode, + semanticBoundary: runtime.semanticBoundary, + executionContext: runtime.executionContext || "direct", + }; +} + +function createProgramExecutionResult({ + programText, + resultText, + motion, + switchkinsEvents = [], + runtimeProgramText = programText, + machineFilePlan = null, + sourceMode = SOURCE_MODE, + semanticBoundary = SEMANTIC_BOUNDARY, + plannerTiming = null, +}) { + const resultTextString = String(resultText); + const canonicalEventCount = resultTextString.split("\n").filter((line) => line.startsWith("canon_event=")).length; + const remapRuntimeReady = Boolean(machineFilePlan && resultTextString.includes("fiveaxis_remaps_ready=1")); + const machineFileRunCompleted = Boolean(machineFilePlan && ( + FIVE_AXIS_REMAP_FLAGS.every((flag) => resultTextString.includes(flag)) || + resultTextString.includes("fiveaxis_file_reached_exit=1") || + resultTextString.includes("fiveaxis_linuxcnc_remap_file_execute=0") + )); + const machineFileExecutionReady = Boolean(machineFileRunCompleted && motion.length > 0); + const plannerRuntimeReady = plannerTiming?.plannerRuntimeReady === true + && plannerTiming.motionCount === motion.length; + return { + apiName: "web-rtcp-5axis-linuxcnc-interpreter-program-execution", + sourceMode, + semanticBoundary, + resultText, + runtimeProgramText, + motion, + plannerTiming, + switchkinsEvents, + switchkinsRemapBoundary: switchkinsEvents.length > 0 ? SWITCHKINS_REMAP_BOUNDARY : null, + machineFilePlan: machineFilePlan + ? { + apiName: machineFilePlan.apiName, + profileId: machineFilePlan.profileId, + wasmIniPath: machineFilePlan.wasmIniPath, + wasmProgramPath: machineFilePlan.wasmProgramPath, + selectedProgramSourceRel: machineFilePlan.selectedProgramSourceRel || null, + selectedProgramFilename: machineFilePlan.selectedProgramFilename || null, + fileCount: machineFilePlan.files?.length ?? 0, + semanticBoundary: machineFilePlan.semanticBoundary, + } + : null, + summary: { + ready: motion.length > 0, + programLineCount: programText.split(/\r?\n/).filter((line) => line.trim()).length, + canonicalEventCount, + motionEventCount: motion.length, + motionTypes: [...new Set(motion.map((event) => event.type))], + finalAxes: motion.at(-1)?.axes || Object.fromEntries(AXES.map((axis) => [axis, 0])), + switchkinsEventCount: switchkinsEvents.length, + switchkinsCodes: [...new Set(switchkinsEvents.map((event) => event.code))], + switchkinsRemapBoundary: switchkinsEvents.length > 0 ? SWITCHKINS_REMAP_BOUNDARY : null, + remapRuntimeReady, + plannerRuntimeReady, + plannerSemanticBoundary: plannerRuntimeReady ? PLANNER_TIMING_BOUNDARY : null, + machineFileExecutionReady, + fullLinuxCncProgramExecutionReady: false, + }, + }; +} + +async function createOptionalTpRuntime({ tpModuleOptions, wasmRoot, tpSdkModuleUrl }) { + try { + const { createLinuxCncTpSdk } = await import(tpSdkModuleUrl); + const resolvedOptions = tpModuleOptions || await createDefaultTpModuleOptions({ wasmRoot }); + const sdk = await createLinuxCncTpSdk(resolvedOptions); + return { + loaded: true, + semanticBoundary: PLANNER_TIMING_BOUNDARY, + sdk, + }; + } catch (error) { + return { + loaded: false, + semanticBoundary: null, + error: error instanceof Error ? error.message : String(error), + }; + } +} + +function runPlannerTiming(tpRuntime, motion) { + if (!tpRuntime?.loaded || typeof tpRuntime.sdk?.runCanonicalMotionTiming !== "function") { + return null; + } + try { + const sampleStride = motion.length > 1000 ? Math.ceil(motion.length / 90) : 10; + return tpRuntime.sdk.runCanonicalMotionTiming({ + motion, + options: { + cycleTime: 0.001, + queueSize: 32, + maxCycles: 2000000, + sampleStride, + maxVelocity: 35, + maxAcceleration: 500, + maxJerk: 1000, + tolerance: 0, + }, + }); + } catch (error) { + return { + apiName: "web-rtcp-5axis-linuxcnc-tp-program-timing", + semanticBoundary: PLANNER_TIMING_BOUNDARY, + plannerRuntimeReady: false, + error: error instanceof Error ? error.message : String(error), + motionCount: motion.length, + totalSeconds: 0, + totalMinutes: 0, + feedSeconds: 0, + rapidSeconds: 0, + segments: [], + }; + } +} + +export function parseLinuxCncCanonicalMotion(resultText, programText = "", switchkinsEvents = []) { + const axes = Object.fromEntries(AXES.map((axis) => [axis, 0])); + const sourceLines = programLineMap(programText); + const feedRatesByLine = feedRatesBySourceLine(programText); + const feedModesByLine = feedModesBySourceLine(programText); + const linearUnitsByLine = linearUnitsBySourceLine(programText); + const switchkinsByLine = switchkinsEventsByLine(switchkinsEvents); + const motion = []; + let activePlane = 170; + let activeSwitchkinsEvent = null; + let activeFeedRate = null; + let activeFeedMode = "units-per-minute"; + let activeLinearUnits = "mm"; + + for (const line of String(resultText).split("\n")) { + const feedRate = readCanonicalFeedRate(line); + if (Number.isFinite(feedRate) && feedRate > 0) { + activeFeedRate = feedRate; + } + + const plane = readCanonicalNumber(line, "plane"); + if (plane && PLANE_AXIS_MAP[plane]) { + activePlane = plane; + } + + const event = line.match(/^canon_event=(STRAIGHT_TRAVERSE|STRAIGHT_FEED|ARC_FEED)\b/); + if (!event) continue; + + if (event[1] === "ARC_FEED") { + const [firstAxis, secondAxis, thirdAxis] = PLANE_AXIS_MAP[activePlane] ?? PLANE_AXIS_MAP[170]; + const firstEnd = readCanonicalNumber(line, "first_end"); + const secondEnd = readCanonicalNumber(line, "second_end"); + const axisEndPoint = readCanonicalNumber(line, "axis_end_point"); + if (Number.isFinite(firstEnd)) axes[firstAxis] = firstEnd; + if (Number.isFinite(secondEnd)) axes[secondAxis] = secondEnd; + if (Number.isFinite(axisEndPoint)) axes[thirdAxis] = axisEndPoint; + axes.arc = { + plane: activePlane, + firstAxis, + secondAxis, + thirdAxis, + firstEnd, + secondEnd, + centerFirst: readCanonicalNumber(line, "first_axis"), + centerSecond: readCanonicalNumber(line, "second_axis"), + rotation: readCanonicalNumber(line, "rotation"), + axisEndPoint, + }; + } else { + for (const axis of AXES) { + const value = readCanonicalNumber(line, axis); + if (value !== null && Number.isFinite(value)) axes[axis] = value; + } + } + + const sourceLine = readCanonicalNumber(line, "line"); + if (Number.isFinite(sourceLine)) { + const event = latestSwitchkinsEventAtOrBeforeLine(switchkinsByLine, sourceLine); + if (event) activeSwitchkinsEvent = event; + const sourceFeedRate = latestFeedRateAtOrBeforeLine(feedRatesByLine, sourceLine); + if ((!Number.isFinite(activeFeedRate) || activeFeedRate <= 0) + && Number.isFinite(sourceFeedRate) && sourceFeedRate > 0) { + activeFeedRate = sourceFeedRate; + } + activeFeedMode = latestFeedModeAtOrBeforeLine(feedModesByLine, sourceLine) || activeFeedMode; + activeLinearUnits = latestLinearUnitsAtOrBeforeLine(linearUnitsByLine, sourceLine) || activeLinearUnits; + } + motion.push({ + type: event[1], + line: Number.isFinite(sourceLine) ? sourceLine : null, + statement: Number.isFinite(sourceLine) ? (sourceLines.get(sourceLine) ?? "-") : "-", + axes: { ...axes }, + kinsType: activeSwitchkinsEvent?.requestedKinsType || null, + switchkinsType: activeSwitchkinsEvent?.switchkinsType ?? null, + switchkinsCode: activeSwitchkinsEvent?.code || null, + switchkinsRemapBoundary: activeSwitchkinsEvent ? SWITCHKINS_REMAP_BOUNDARY : null, + feedRate: activeFeedRate, + feedMode: activeFeedMode, + linearUnits: activeLinearUnits, + raw: line, + }); + } + + return motion; +} + +function feedModesBySourceLine(programText) { + const modes = [{ line: 0, feedMode: "units-per-minute" }]; + String(programText).split(/\r?\n/).forEach((line, index) => { + const codeOnly = stripComments(line); + let activeMode = null; + for (const match of codeOnly.matchAll(/\bG\s*([0-9]+(?:\.[0-9]+)?)\b/gi)) { + const value = Number(match[1]); + if (value === 93) activeMode = "inverse-time"; + if (value === 94) activeMode = "units-per-minute"; + } + if (activeMode) { + modes.push({ line: index + 1, feedMode: activeMode }); + } + }); + return modes; +} + +function latestFeedModeAtOrBeforeLine(modes, sourceLine) { + let feedMode = "units-per-minute"; + for (const entry of modes) { + if (entry.line <= sourceLine) feedMode = entry.feedMode; + } + return feedMode; +} + +function linearUnitsBySourceLine(programText) { + const units = [{ line: 0, linearUnits: "mm" }]; + String(programText).split(/\r?\n/).forEach((line, index) => { + const codeOnly = stripComments(line); + let activeUnits = null; + for (const match of codeOnly.matchAll(/\bG\s*([0-9]+(?:\.[0-9]+)?)\b/gi)) { + const value = Number(match[1]); + if (value === 20) activeUnits = "inch"; + if (value === 21) activeUnits = "mm"; + } + if (activeUnits) { + units.push({ line: index + 1, linearUnits: activeUnits }); + } + }); + return units; +} + +function latestLinearUnitsAtOrBeforeLine(units, sourceLine) { + let linearUnits = "mm"; + for (const entry of units) { + if (entry.line <= sourceLine) linearUnits = entry.linearUnits; + } + return linearUnits; +} + +function feedRatesBySourceLine(programText) { + const rates = []; + String(programText).split(/\r?\n/).forEach((line, index) => { + const codeOnly = stripComments(line); + let feedRate = null; + for (const match of codeOnly.matchAll(/\bF\s*([-+]?\d+(?:\.\d+)?)/gi)) { + const value = Number(match[1]); + if (Number.isFinite(value) && value > 0) feedRate = value; + } + if (feedRate !== null) { + rates.push({ line: index + 1, feedRate }); + } + }); + return rates; +} + +function latestFeedRateAtOrBeforeLine(rates, sourceLine) { + let feedRate = null; + for (const entry of rates) { + if (entry.line <= sourceLine) feedRate = entry.feedRate; + } + return feedRate; +} + +export function prepareLinuxCncProgramForRuntime(programText) { + const switchkinsEvents = []; + const runtimeLines = String(programText).split(/\r?\n/).map((line, index) => { + const lineNumber = index + 1; + if (String(line).trim() === "%") { + return "(linuxcnc program delimiter)"; + } + const events = readSwitchkinsEventsFromLine(line, lineNumber); + if (events.length === 0) return line; + switchkinsEvents.push(...events); + return stripSwitchkinsMcodesFromLine(line, events); + }); + + return { + runtimeProgramText: runtimeLines.join("\n"), + switchkinsEvents, + }; +} + +function readSwitchkinsEventsFromLine(line, lineNumber) { + const codeOnly = stripComments(String(line)); + const events = []; + for (const match of codeOnly.matchAll(/\bM\s*([0-9]+(?:\.[0-9]+)?)\b/gi)) { + const value = Number(match[1]); + const mCode = Number.isInteger(value) ? value : null; + const switchkins = SWITCHKINS_M_CODES.get(mCode); + if (!switchkins) continue; + events.push({ + line: lineNumber, + code: `M${mCode}`, + switchkinsType: switchkins.switchkinsType, + requestedKinsType: switchkins.requestedKinsType, + semanticBoundary: SWITCHKINS_REMAP_BOUNDARY, + }); + } + return events; +} + +function stripSwitchkinsMcodesFromLine(line, events) { + const eventCodes = new Set(events.map((event) => event.code.slice(1))); + let nextLine = String(line).replace(/\bM\s*([0-9]+(?:\.[0-9]+)?)\b/gi, (token, value) => { + const numericValue = Number(value); + if (Number.isInteger(numericValue) && eventCodes.has(String(numericValue))) { + return " "; + } + return token; + }); + const codeOnly = stripComments(nextLine).replace(/\bN\s*[0-9]+\b/gi, "").trim(); + if (!codeOnly) { + nextLine = `(web runtime switchkins ${events.map((event) => event.code).join(" ")})`; + } + return nextLine; +} + +function stripComments(line) { + return String(line) + .replace(/\([^)]*\)/g, " ") + .replace(/;.*$/g, " "); +} + +function switchkinsEventsByLine(events) { + return [...events] + .filter((event) => Number.isFinite(event.line)) + .sort((left, right) => left.line - right.line); +} + +function latestSwitchkinsEventAtOrBeforeLine(events, lineNumber) { + let latest = null; + for (const event of events) { + if (event.line > lineNumber) break; + latest = event; + } + return latest; +} + +function prependRuntimeEvents(resultText, switchkinsEvents) { + if (switchkinsEvents.length === 0) return resultText; + const eventLines = switchkinsEvents.map((event) => ( + `web_runtime_event=SWITCHKINS line=${event.line} code=${event.code} switchkins_type=${event.switchkinsType} requested_kins=${event.requestedKinsType}` + )); + return `${eventLines.join("\n")}\n${resultText}`; +} + +function programLineMap(programText) { + const lines = new Map(); + programText.split(/\r?\n/).forEach((line, index) => { + lines.set(index + 1, line.trim() || "(blank)"); + }); + return lines; +} + +function readCanonicalNumber(line, field) { + const match = String(line).match(new RegExp(`\\b${field}=([-+0-9.eE]+)`)); + return match ? Number(match[1]) : null; +} + +function readCanonicalFeedRate(line) { + const text = String(line); + if (text.startsWith("canon_event=SET_FEED_RATE")) { + return readCanonicalNumber(text, "rate"); + } + if (text.startsWith("canon_event=UPDATE_TAG")) { + return readCanonicalNumber(text, "feed"); + } + return readCanonicalNumber(text, "feed_rate"); +} + +async function createDefaultModuleOptions({ wasmRoot }) { + const quietOptions = { print() {}, printErr() {} }; + if (!isNodeRuntime()) return quietOptions; + + const [{ readFileSync }, { dirname, resolve }, { fileURLToPath }] = await Promise.all([ + import("node:fs"), + import("node:path"), + import("node:url"), + ]); + const moduleDir = dirname(fileURLToPath(import.meta.url)); + const resolvedWasmRoot = wasmRoot || resolve(moduleDir, "../../../../wasm-port/build/wasm/core"); + return { + ...quietOptions, + wasmBinary: readFileSync(resolve(resolvedWasmRoot, "linuxcnc_interp.wasm")), + }; +} + +async function createDefaultTpModuleOptions({ wasmRoot }) { + const quietOptions = { print() {}, printErr() {} }; + if (!isNodeRuntime()) return quietOptions; + + const [{ readFileSync }, { dirname, resolve }, { fileURLToPath }] = await Promise.all([ + import("node:fs"), + import("node:path"), + import("node:url"), + ]); + const moduleDir = dirname(fileURLToPath(import.meta.url)); + const resolvedWasmRoot = wasmRoot || resolve(moduleDir, "../../../../wasm-port/build/wasm/tp"); + return { + ...quietOptions, + wasmBinary: readFileSync(resolve(resolvedWasmRoot, "linuxcnc_tp.wasm")), + }; +} + +function isNodeRuntime() { + return typeof process === "object" + && typeof process.versions === "object" + && typeof process.versions.node === "string" + && process.type !== "renderer"; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-interpreter-worker-client.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-interpreter-worker-client.js new file mode 100644 index 0000000..323e02c --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-interpreter-worker-client.js @@ -0,0 +1,80 @@ +const SOURCE_MODE = "linuxcnc-interpreter-wasm"; +const SEMANTIC_BOUNDARY = "linuxcnc_interpreter_wasm_canonical_events"; + +export async function createLinuxCncInterpreterWorkerRuntime({ + sdkModuleUrl, + workerUrl = new URL("./linuxcnc-interpreter-worker.js", import.meta.url).href, +} = {}) { + if (typeof Worker !== "function") { + throw new Error("Web Worker is not available in this runtime"); + } + + const worker = new Worker(workerUrl, { type: "module" }); + const request = createWorkerRequest(worker); + const readiness = await request("init", { sdkModuleUrl }); + + const runtime = { + apiName: "web-rtcp-5axis-linuxcnc-interpreter-worker-runtime", + loaded: true, + sourceMode: SOURCE_MODE, + semanticBoundary: SEMANTIC_BOUNDARY, + executionContext: "worker", + workerUrl, + + readiness() { + return { + ...readiness, + apiName: "web-rtcp-5axis-linuxcnc-interpreter-worker-runtime-readiness", + executionContext: "worker", + workerUrl, + }; + }, + + runProgram(programText) { + return request("runProgram", { programText }); + }, + + runMachineFileProgram(options = {}) { + return request("runMachineFileProgram", options); + }, + + terminate() { + worker.terminate(); + }, + }; + + return runtime; +} + +function createWorkerRequest(worker) { + let nextId = 1; + const pending = new Map(); + + worker.addEventListener("message", (event) => { + const { id, ok, value, error } = event.data || {}; + const request = pending.get(id); + if (!request) return; + pending.delete(id); + if (ok) { + request.resolve(value); + } else { + request.reject(new Error(error || "LinuxCNC interpreter worker request failed")); + } + }); + + worker.addEventListener("error", (event) => { + const error = new Error(event.message || "LinuxCNC interpreter worker error"); + for (const request of pending.values()) { + request.reject(error); + } + pending.clear(); + }); + + return function request(type, payload = {}) { + const id = nextId++; + return new Promise((resolve, reject) => { + pending.set(id, { resolve, reject }); + worker.postMessage({ id, type, payload }); + }); + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-interpreter-worker.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-interpreter-worker.js new file mode 100644 index 0000000..2b012ed --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-interpreter-worker.js @@ -0,0 +1,49 @@ +import { createLinuxCncInterpreterRuntime } from "./linuxcnc-interpreter-runtime.js"; + +let runtime = null; + +self.addEventListener("message", async (event) => { + const { id, type, payload = {} } = event.data || {}; + try { + if (type === "init") { + runtime = await createLinuxCncInterpreterRuntime({ + moduleOptions: payload.moduleOptions, + wasmRoot: payload.wasmRoot, + sdkModuleUrl: payload.sdkModuleUrl, + }); + postSuccess(id, runtime.readiness()); + return; + } + + if (!runtime?.loaded) { + throw new Error("LinuxCNC interpreter worker runtime is not initialized"); + } + + if (type === "readiness") { + postSuccess(id, runtime.readiness()); + return; + } + + if (type === "runProgram") { + postSuccess(id, runtime.runProgram(payload.programText || "")); + return; + } + + if (type === "runMachineFileProgram") { + postSuccess(id, runtime.runMachineFileProgram(payload)); + return; + } + + throw new Error(`unknown LinuxCNC interpreter worker request: ${type}`); + } catch (error) { + self.postMessage({ + id, + ok: false, + error: error instanceof Error ? error.message : String(error), + }); + } +}); + +function postSuccess(id, value) { + self.postMessage({ id, ok: true, value }); +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-kinematics-runtime.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-kinematics-runtime.js new file mode 100644 index 0000000..ba6f86a --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-kinematics-runtime.js @@ -0,0 +1,144 @@ +const DEFAULT_MODULE_ID = "xyzbc-trt"; +const DEFAULT_JOINT_COUNT = 5; +const SOURCE_MODE = "source-derived-kinematics-wasm"; +const SEMANTIC_BOUNDARY = "linuxcnc_kinematics_wasm_c_abi"; +const DEFAULT_SDK_MODULE_URL = "../../../../wasm-port/runtime/sdk/src/linuxcnc-kinematics.js"; + +export async function createLinuxCncKinematicsRuntime({ + moduleId = DEFAULT_MODULE_ID, + moduleOptions = null, + switchkinsType = 0, + jointCount = DEFAULT_JOINT_COUNT, + wasmRoot = null, + sdkModuleUrl = DEFAULT_SDK_MODULE_URL, +} = {}) { + const { + createLinuxCncKinematicsSdk, + linuxCncKinematicsWasmFile, + supportedLinuxCncKinematicsModules, + } = await import(sdkModuleUrl); + const wasmFile = linuxCncKinematicsWasmFile(moduleId); + if (!wasmFile) { + throw new Error(`unsupported LinuxCNC kinematics module: ${moduleId}`); + } + + const resolvedModuleOptions = moduleOptions || await createDefaultModuleOptions({ wasmRoot, wasmFile }); + const sdk = await createLinuxCncKinematicsSdk({ moduleId, moduleOptions: resolvedModuleOptions }); + let activeSwitchkinsType = switchkinsType; + let activeSwitchRc = typeof sdk.switchKinematics === "function" + ? sdk.switchKinematics(switchkinsType) + : 0; + + return { + apiName: "web-rtcp-5axis-linuxcnc-kinematics-runtime", + moduleId, + wasmFile, + supportedModules: supportedLinuxCncKinematicsModules(), + loaded: true, + sourceMode: SOURCE_MODE, + semanticBoundary: SEMANTIC_BOUNDARY, + executionContext: "direct", + get switchkinsType() { + return activeSwitchkinsType; + }, + get switchRc() { + return activeSwitchRc; + }, + jointCount, + sdk, + + readiness() { + return { + apiName: "web-rtcp-5axis-linuxcnc-kinematics-runtime-readiness", + moduleId, + wasmFile, + supportedModules: supportedLinuxCncKinematicsModules(), + loaded: true, + sourceMode: SOURCE_MODE, + semanticBoundary: SEMANTIC_BOUNDARY, + executionContext: "direct", + switchkinsType: activeSwitchkinsType, + switchRc: activeSwitchRc, + }; + }, + + switchKinematics(nextSwitchkinsType) { + const requestedType = Number(nextSwitchkinsType) || 0; + activeSwitchRc = typeof sdk.switchKinematics === "function" + ? sdk.switchKinematics(requestedType) + : 0; + activeSwitchkinsType = requestedType; + return activeSwitchRc; + }, + + forward(joints, options = {}) { + return sdk.forward(joints, options); + }, + + inverse(pose, count = jointCount, options = {}) { + return sdk.inverse(pose, count, options); + }, + + frameForJoints(joints, options = {}) { + const jointValues = Array.from(joints, Number); + const forward = sdk.forward(jointValues, options.forwardOptions || {}); + const inverse = sdk.inverse( + forward.pose, + options.jointCount || jointCount, + { seedJoints: jointValues, ...(options.inverseOptions || {}) }, + ); + return { + moduleId, + switchkinsType: activeSwitchkinsType, + forward, + inverse, + }; + }, + }; +} + +async function createDefaultModuleOptions({ wasmRoot, wasmFile }) { + const quietOptions = { + print() {}, + printErr() {}, + }; + if (!isNodeRuntime()) { + return quietOptions; + } + + const [{ readFileSync }, { dirname, resolve }, { fileURLToPath }] = await Promise.all([ + import("node:fs"), + import("node:path"), + import("node:url"), + ]); + const moduleDir = dirname(fileURLToPath(import.meta.url)); + const resolvedWasmRoot = wasmRoot || resolve(moduleDir, "../../../../wasm-port/build/wasm/kinematics"); + return { + ...quietOptions, + wasmBinary: readFileSync(resolve(resolvedWasmRoot, wasmFile)), + }; +} + +function isNodeRuntime() { + return typeof process === "object" + && typeof process.versions === "object" + && typeof process.versions.node === "string" + && process.type !== "renderer"; +} + +export function createLinuxCncKinematicsRuntimeDescriptor(runtime) { + if (!runtime?.loaded) return null; + return { + apiName: runtime.apiName, + moduleId: runtime.moduleId, + wasmFile: runtime.wasmFile, + supportedModules: runtime.supportedModules, + loaded: runtime.loaded, + sourceMode: runtime.sourceMode, + semanticBoundary: runtime.semanticBoundary, + executionContext: runtime.executionContext || "direct", + workerUrl: runtime.workerUrl || null, + switchkinsType: runtime.switchkinsType, + switchRc: runtime.switchRc, + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-kinematics-worker-client.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-kinematics-worker-client.js new file mode 100644 index 0000000..619af33 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-kinematics-worker-client.js @@ -0,0 +1,107 @@ +const DEFAULT_MODULE_ID = "xyzbc-trt"; +const DEFAULT_JOINT_COUNT = 5; +const SOURCE_MODE = "source-derived-kinematics-wasm"; +const SEMANTIC_BOUNDARY = "linuxcnc_kinematics_wasm_c_abi"; + +export async function createLinuxCncKinematicsWorkerRuntime({ + moduleId = DEFAULT_MODULE_ID, + switchkinsType = 0, + jointCount = DEFAULT_JOINT_COUNT, + sdkModuleUrl, + workerUrl = new URL("./linuxcnc-kinematics-worker.js", import.meta.url).href, +} = {}) { + if (typeof Worker !== "function") { + throw new Error("Web Worker is not available in this runtime"); + } + + const worker = new Worker(workerUrl, { type: "module" }); + const request = createWorkerRequest(worker); + const readiness = await request("init", { + moduleId, + switchkinsType, + jointCount, + sdkModuleUrl, + }); + + const runtime = { + apiName: "web-rtcp-5axis-linuxcnc-kinematics-worker-runtime", + moduleId, + wasmFile: readiness.wasmFile, + supportedModules: readiness.supportedModules, + loaded: true, + sourceMode: SOURCE_MODE, + semanticBoundary: SEMANTIC_BOUNDARY, + executionContext: "worker", + workerUrl, + switchkinsType, + switchRc: readiness.switchRc, + jointCount, + + readiness() { + return { + ...readiness, + apiName: "web-rtcp-5axis-linuxcnc-kinematics-worker-runtime-readiness", + executionContext: "worker", + workerUrl, + }; + }, + + forward(joints, options = {}) { + return request("forward", { joints: Array.from(joints, Number), options }); + }, + + inverse(pose, count = jointCount, options = {}) { + return request("inverse", { pose, count, options }); + }, + + async switchKinematics(nextSwitchkinsType) { + const result = await request("switchKinematics", { switchkinsType: nextSwitchkinsType }); + runtime.switchkinsType = result.switchkinsType; + runtime.switchRc = result.switchRc; + return result.switchRc; + }, + + frameForJoints(joints, options = {}) { + return request("frameForJoints", { joints: Array.from(joints, Number), options }); + }, + + terminate() { + worker.terminate(); + }, + }; + + return runtime; +} + +function createWorkerRequest(worker) { + let nextId = 1; + const pending = new Map(); + + worker.addEventListener("message", (event) => { + const { id, ok, value, error } = event.data || {}; + const request = pending.get(id); + if (!request) return; + pending.delete(id); + if (ok) { + request.resolve(value); + } else { + request.reject(new Error(error || "LinuxCNC kinematics worker request failed")); + } + }); + + worker.addEventListener("error", (event) => { + const error = new Error(event.message || "LinuxCNC kinematics worker error"); + for (const request of pending.values()) { + request.reject(error); + } + pending.clear(); + }); + + return function request(type, payload = {}) { + const id = nextId++; + return new Promise((resolve, reject) => { + pending.set(id, { resolve, reject }); + worker.postMessage({ id, type, payload }); + }); + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-kinematics-worker.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-kinematics-worker.js new file mode 100644 index 0000000..9dd3b93 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-kinematics-worker.js @@ -0,0 +1,66 @@ +import { createLinuxCncKinematicsRuntime } from "./linuxcnc-kinematics-runtime.js"; + +let runtime = null; + +self.addEventListener("message", async (event) => { + const { id, type, payload = {} } = event.data || {}; + try { + if (type === "init") { + runtime = await createLinuxCncKinematicsRuntime({ + moduleId: payload.moduleId, + moduleOptions: payload.moduleOptions, + switchkinsType: payload.switchkinsType, + jointCount: payload.jointCount, + wasmRoot: payload.wasmRoot, + sdkModuleUrl: payload.sdkModuleUrl, + }); + postSuccess(id, runtime.readiness()); + return; + } + + if (!runtime?.loaded) { + throw new Error("LinuxCNC kinematics worker runtime is not initialized"); + } + + if (type === "readiness") { + postSuccess(id, runtime.readiness()); + return; + } + + if (type === "forward") { + postSuccess(id, runtime.forward(payload.joints, payload.options || {})); + return; + } + + if (type === "inverse") { + postSuccess(id, runtime.inverse(payload.pose, payload.count, payload.options || {})); + return; + } + + if (type === "switchKinematics") { + const switchRc = runtime.switchKinematics(payload.switchkinsType); + postSuccess(id, { + switchkinsType: runtime.switchkinsType, + switchRc, + }); + return; + } + + if (type === "frameForJoints") { + postSuccess(id, runtime.frameForJoints(payload.joints, payload.options || {})); + return; + } + + throw new Error(`unknown LinuxCNC kinematics worker request: ${type}`); + } catch (error) { + self.postMessage({ + id, + ok: false, + error: error instanceof Error ? error.message : String(error), + }); + } +}); + +function postSuccess(id, value) { + self.postMessage({ id, ok: true, value }); +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js new file mode 100644 index 0000000..1217af3 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js @@ -0,0 +1,555 @@ +const DEFAULT_SDK_MODULE_URL = "../../../../wasm-port/runtime/sdk/src/sim-config-staging.js"; +const DEFAULT_MANIFEST_URLS = [ + new URL("../../../../wasm-port/tools/source-manifest.txt", import.meta.url).href, + new URL("../../wasm-port/tools/source-manifest.txt", import.meta.url).href, +]; +const DEFAULT_VENDOR_ROOT_URLS = [ + new URL("../../../../wasm-port/vendor/linuxcnc/", import.meta.url).href, + new URL("../../wasm-port/vendor/linuxcnc/", import.meta.url).href, +]; +const DEFAULT_REPO_ROOT_URLS = [ + new URL("../../../../", import.meta.url).href, + new URL("../../", import.meta.url).href, +]; +const DEFAULT_TEST_SOURCE_ROOT_URLS = [ + new URL("../../../working_run/test_linuxcnc_source/", import.meta.url).href, + new URL("../../working_run/test_linuxcnc_source/", import.meta.url).href, + new URL("../../../../working_run/test_linuxcnc_source/", import.meta.url).href, +]; +const TRT_MACHINE_REL = "axis/vismach/5axis/table-rotary-tilting"; +const TRT_DEMO_SOURCE_PREFIX = `configs/sim/${TRT_MACHINE_REL}/demos/`; +const GMOCAPY_TRT_MACHINE_REL = "gmoccapy/non_trivial_kinematics/table-rotary-tilting"; +const GMOCAPY_TRT_EXAMPLE_SOURCE_PREFIX = `configs/sim/${GMOCAPY_TRT_MACHINE_REL}/examples/`; +const OPFS_ROOT = "web-rtcp-5axis-xyzbc-trt-sim-plan/machines"; +let browserMemoryMachineFileStorage = null; + +export async function createMachineFileStagingPlan({ + profile, + iniText = null, + manifestText = null, + sdkModuleUrl = DEFAULT_SDK_MODULE_URL, + manifestUrl = null, + wasmDir = null, +} = {}) { + if (!profile?.iniPath) { + throw new Error("machine file staging requires a profile with iniPath"); + } + const { planSimConfigStaging } = await import(sdkModuleUrl); + const resolvedManifestText = manifestText ?? await readTextFromCandidateUrls( + manifestUrl ? [manifestUrl] : DEFAULT_MANIFEST_URLS, + ); + const resolvedIniText = iniText ?? await readTextFromCandidateUrls(sourceUrlsFor(profile.iniPath)); + const iniFile = basename(profile.iniPath); + const machineRel = machineRelForProfile(profile); + const demoDirectory = demoDirectoryForProfile(profile); + const plan = planSimConfigStaging({ + manifestText: resolvedManifestText, + machineRel, + iniFile, + iniText: resolvedIniText, + wasmDir: wasmDir || profile.machineFileStaging?.wasmDir || `/work/sim/${machineRel}/${profile.id}`, + }); + + const files = addProfileRuntimeFiles( + addVendoredDemoSources(plan.files, resolvedManifestText, plan.wasmDir, { + sourcePrefix: sourcePrefixForProfile(profile), + demoDirectory, + }), + profile, + plan.wasmDir, + ); + + return { + apiName: "web-rtcp-5axis-machine-file-staging-plan", + profileId: profile.id, + machineRel, + demoDirectory, + iniPath: profile.iniPath, + wasmDir: plan.wasmDir, + wasmIniPath: plan.iniPath, + wasmProgramPath: plan.programPath, + files: files.map((file) => ({ + ...file, + opfsPath: opfsPathFor(profile.id, file.sourceRel), + kind: classifySourceRel(file.sourceRel), + })), + summary: summarizePlan(files), + taskHalSession: createTaskHalSession({ + profileId: profile.id, + wasmDir: plan.wasmDir, + iniPath: plan.iniPath, + programPath: plan.programPath, + files, + }), + semanticBoundary: "linuxcnc_sim_config_file_staging_plan_only", + }; +} + +export function listLinuxCncGcodeSources(save) { + return [...(save?.files || [])] + .filter((file) => file.kind === "demo" && isLinuxCncFiveAxisGcodeSourceRel(file.sourceRel, save?.plan || save)) + .map((file) => ({ + sourceRel: file.sourceRel, + wasmPath: file.wasmPath, + opfsPath: file.opfsPath, + filename: basename(file.sourceRel), + bytes: file.bytes, + label: basename(file.sourceRel).replace(/\.ngc$/i, ""), + sourceMode: "linuxcnc-vendored-5axis-gcode", + semanticBoundary: "linuxcnc_vendored_5axis_gcode_source_file", + })) + .sort((left, right) => left.filename.localeCompare(right.filename)); +} + +export function listProjectGcodeFiles(save) { + return [...(save?.files || [])] + .filter((file) => file.kind === "demo" || file.kind === "remap") + .map((file) => ({ + sourceRel: file.sourceRel, + wasmPath: file.wasmPath, + opfsPath: file.opfsPath, + filename: basename(file.sourceRel), + bytes: file.bytes, + kind: file.kind, + semanticBoundary: file.kind === "demo" + ? "linuxcnc_vendored_5axis_gcode_source_file" + : "linuxcnc_vendored_5axis_remap_subroutine_file", + })) + .sort((left, right) => left.sourceRel.localeCompare(right.sourceRel)); +} + +export function selectMachineFileProgram(plan, save, sourceRel) { + if (!isLinuxCncFiveAxisGcodeSourceRel(sourceRel, plan)) { + throw new Error(`5-axis G-code source must come from LinuxCNC source demos: ${sourceRel}`); + } + const selectedFile = (save?.files || []).find((file) => file.sourceRel === sourceRel); + if (!selectedFile) { + throw new Error(`LinuxCNC G-code source not staged: ${sourceRel}`); + } + return { + ...plan, + wasmProgramPath: selectedFile.wasmPath || selectedFile.path, + selectedProgramSourceRel: selectedFile.sourceRel, + selectedProgramFilename: basename(selectedFile.sourceRel), + selectedProgramBytes: selectedFile.bytes, + taskHalSession: { + ...(plan.taskHalSession || {}), + programPath: selectedFile.wasmPath || selectedFile.path, + programSourceRel: selectedFile.sourceRel, + }, + semanticBoundary: "linuxcnc_sim_config_file_staging_plan_with_selected_gcode_source", + }; +} + +export async function saveMachineFileStagingPlan(plan, options = {}) { + if (plan?.apiName !== "web-rtcp-5axis-machine-file-staging-plan") { + throw new Error("saveMachineFileStagingPlan requires a machine-file staging plan"); + } + const storage = resolveMachineFileStorage(options); + const sourceTextOverrides = options.sourceTextOverrides || {}; + const savedFiles = []; + for (const file of plan.files) { + const text = typeof sourceTextOverrides[file.sourceRel] === "string" + ? sourceTextOverrides[file.sourceRel] + : await readTextFromCandidateUrls(sourceUrlsFor(file.sourceRel)); + await saveTextFile(file.opfsPath, text, storage.storage); + savedFiles.push({ + sourceRel: file.sourceRel, + opfsPath: file.opfsPath, + wasmPath: file.wasmPath, + path: file.wasmPath, + text, + kind: file.kind, + bytes: text.length, + executable: Boolean(file.executable), + }); + } + + return { + apiName: "web-rtcp-5axis-machine-file-staging-save", + profileId: plan.profileId, + status: "saved", + savedAt: new Date().toISOString(), + fileCount: savedFiles.length, + opfsRoot: `${OPFS_ROOT}/${plan.profileId}`, + storageMode: storage.mode, + storageCapability: storage.capability, + files: savedFiles, + plan, + gcodeSources: listLinuxCncGcodeSources({ ...plan, files: savedFiles }), + gcodeFiles: listProjectGcodeFiles({ files: savedFiles }), + summary: summarizeSavedFiles(savedFiles), + taskHalSession: { + ...(plan.taskHalSession || {}), + files: savedFiles.map((file) => ({ + sourceRel: file.sourceRel, + wasmPath: file.wasmPath, + path: file.wasmPath, + kind: file.kind, + bytes: file.bytes, + })), + }, + semanticBoundary: storage.mode === "opfs" + ? "opfs_machine_file_text_staging_only" + : "memory_machine_file_text_staging_current_page_lifecycle_only", + }; +} + +export async function stageProfileMachineFiles(profile, options = {}) { + const plan = await createMachineFileStagingPlan({ + profile, + iniText: options.iniText, + manifestText: options.manifestText, + sdkModuleUrl: options.sdkModuleUrl, + manifestUrl: options.manifestUrl, + wasmDir: options.wasmDir, + }); + const save = await saveMachineFileStagingPlan(plan, { + storage: options.storage, + storageMode: options.storageMode, + sourceTextOverrides: options.sourceTextOverrides, + }); + return { plan, save }; +} + +export function detectMachineFileStorageCapability(globalScope = globalThis) { + const forcedUnavailable = Boolean(globalScope.__WEB_RTCP_FORCE_OPFS_UNAVAILABLE__); + const isBrowser = typeof globalScope.window === "object" || typeof globalScope.document === "object"; + const secureContext = !isBrowser || globalScope.isSecureContext !== false; + const hasOpfs = typeof globalScope.navigator?.storage?.getDirectory === "function"; + const opfsAvailable = hasOpfs && secureContext && !forcedUnavailable; + return { + apiName: "web-rtcp-5axis-machine-file-storage-capability", + opfsAvailable, + opfsUnavailable: !opfsAvailable, + secureContext, + forcedUnavailable, + hasNavigatorStorage: Boolean(globalScope.navigator?.storage), + hasGetDirectory: hasOpfs, + fallbackMode: opfsAvailable ? null : "memory-fallback", + reason: opfsAvailable + ? "opfs_available" + : forcedUnavailable + ? "forced_unavailable" + : !secureContext + ? "non_secure_context" + : !hasOpfs + ? "missing_opfs_get_directory" + : "opfs_unavailable", + }; +} + +function resolveMachineFileStorage(options = {}) { + if (options.storage) { + return { + storage: options.storage, + mode: options.storageMode || storageModeFor(options.storage), + capability: { + apiName: "web-rtcp-5axis-machine-file-storage-capability", + opfsAvailable: options.storageMode === "opfs", + opfsUnavailable: options.storageMode !== "opfs", + secureContext: true, + fallbackMode: options.storageMode === "opfs" ? null : options.storageMode || "custom", + reason: "explicit_storage", + }, + }; + } + const capability = detectMachineFileStorageCapability(); + if (capability.opfsAvailable) { + return { + storage: globalThis.navigator.storage, + mode: "opfs", + capability, + }; + } + browserMemoryMachineFileStorage ??= createMemoryStorage(); + return { + storage: browserMemoryMachineFileStorage, + mode: "memory-fallback", + capability, + }; +} + +function storageModeFor(storage) { + return storage?.apiName === "web-rtcp-5axis-memory-machine-file-storage" || + storage?.apiName === "web-rtcp-5axis-memory-session-storage" + ? "memory" + : "custom"; +} + +function createMemoryStorage(seed = {}) { + const files = new Map(Object.entries(seed)); + return { + apiName: "web-rtcp-5axis-memory-machine-file-storage", + files, + async getDirectory() { + return createDirectoryHandle(files, []); + }, + }; +} + +function summarizePlan(files) { + const kinds = countKinds(files.map((file) => classifySourceRel(file.sourceRel))); + return { + fileCount: files.length, + requiredFileCount: files.filter((file) => ( + file.sourceRel.endsWith(".ini") + || file.sourceRel.includes("/demos/") + || file.sourceRel.includes("/examples/") + )).length, + gcodeFileCount: (kinds.demo || 0) + (kinds.remap || 0), + remapFileCount: kinds.remap || 0, + demoFileCount: kinds.demo || 0, + toolTableFileCount: kinds.toolTable || 0, + halFileCount: kinds.hal || 0, + kinds, + }; +} + +function createTaskHalSession({ profileId, wasmDir, iniPath, programPath, files }) { + return { + apiName: "web-rtcp-5axis-task-hal-session-plan", + semanticBoundary: "linuxcnc_machine_file_session_for_task_hal_wasm", + profileId, + wasmDir, + iniPath, + programPath, + halFiles: files.filter((file) => classifySourceRel(file.sourceRel) === "hal").map((file) => file.wasmPath), + remapFiles: files.filter((file) => classifySourceRel(file.sourceRel) === "remap").map((file) => file.wasmPath), + toolTableFiles: files.filter((file) => classifySourceRel(file.sourceRel) === "toolTable").map((file) => file.wasmPath), + }; +} + +function addVendoredDemoSources(files, manifestText, wasmDir, { + sourcePrefix = TRT_DEMO_SOURCE_PREFIX, + demoDirectory = "demos", +} = {}) { + const bySourceRel = new Map(files.map((file) => [file.sourceRel, file])); + for (const sourceRel of String(manifestText).split(/\r?\n/)) { + if (!isLinuxCncFiveAxisGcodeSourceRel(sourceRel, { gcodeSourcePrefix: sourcePrefix })) continue; + if (bySourceRel.has(sourceRel)) continue; + bySourceRel.set(sourceRel, { + sourceRel, + wasmPath: `${wasmDir}/${demoDirectory}/${basename(sourceRel)}`, + executable: false, + }); + } + return [...bySourceRel.values()]; +} + +function addProfileRuntimeFiles(files, profile, wasmDir) { + const bySourceRel = new Map(files.map((file) => [file.sourceRel, file])); + for (const sourceRel of [ + profile.pyvcpXmlPath, + ]) { + if (!sourceRel || bySourceRel.has(sourceRel)) continue; + bySourceRel.set(sourceRel, { + sourceRel, + wasmPath: `${wasmDir}/${basename(sourceRel)}`, + executable: false, + }); + } + return [...bySourceRel.values()]; +} + +function isLinuxCncFiveAxisGcodeSourceRel(sourceRel, context = {}) { + const value = String(sourceRel || ""); + const sourcePrefix = gcodeSourcePrefixForContext(context); + return value.startsWith(sourcePrefix) + && value.endsWith(".ngc") + && !value.slice(sourcePrefix.length).includes("/"); +} + +function summarizeSavedFiles(files) { + const kinds = countKinds(files.map((file) => file.kind)); + return { + fileCount: files.length, + totalBytes: files.reduce((total, file) => total + file.bytes, 0), + gcodeFileCount: (kinds.demo || 0) + (kinds.remap || 0), + kinds, + opfsPaths: files.map((file) => file.opfsPath), + }; +} + +function countKinds(kinds) { + return kinds.reduce((counts, kind) => { + counts[kind] = (counts[kind] || 0) + 1; + return counts; + }, {}); +} + +function classifySourceRel(sourceRel) { + if (sourceRel.endsWith(".ini")) return "ini"; + if (sourceRel.endsWith(".tbl")) return "toolTable"; + if (sourceRel.endsWith(".hal")) return "hal"; + if (sourceRel.includes("/remap_subs/")) return "remap"; + if (sourceRel.includes("/demos/") || sourceRel.includes("/examples/")) return "demo"; + if (sourceRel.endsWith(".xml")) return "pyvcp"; + if (sourceRel.endsWith(".var")) return "parameters"; + return "asset"; +} + +function machineRelForProfile(profile = {}) { + return profile.machineFileStaging?.machineRel || TRT_MACHINE_REL; +} + +function demoDirectoryForProfile(profile = {}) { + return profile.machineFileStaging?.demoDirectory || "demos"; +} + +function sourcePrefixForProfile(profile = {}) { + if (machineRelForProfile(profile) === GMOCAPY_TRT_MACHINE_REL) { + return GMOCAPY_TRT_EXAMPLE_SOURCE_PREFIX; + } + return `configs/sim/${machineRelForProfile(profile)}/${demoDirectoryForProfile(profile)}/`; +} + +function gcodeSourcePrefixForContext(context = {}) { + if (context.gcodeSourcePrefix) return context.gcodeSourcePrefix; + if (context.machineRel === GMOCAPY_TRT_MACHINE_REL || context.demoDirectory === "examples") { + return GMOCAPY_TRT_EXAMPLE_SOURCE_PREFIX; + } + return TRT_DEMO_SOURCE_PREFIX; +} + +function opfsPathFor(profileId, sourceRel) { + return `${OPFS_ROOT}/${assertPathSegment(profileId)}/${String(sourceRel).replaceAll("\\", "/")}`; +} + +async function readTextFromCandidateUrls(urls) { + const errors = []; + for (const url of urls) { + try { + return await readTextFromUrl(url); + } catch (error) { + errors.push(`${url}: ${error.message}`); + } + } + throw new Error(`failed to read machine staging asset: ${errors.join(" | ")}`); +} + +async function readTextFromUrl(url) { + if (isNodeRuntime()) { + const [{ readFile }, { resolve }, { fileURLToPath }] = await Promise.all([ + import("node:fs/promises"), + import("node:path"), + import("node:url"), + ]); + const path = String(url).startsWith("file:") + ? fileURLToPath(url) + : resolve(process.cwd(), url); + return readFile(path, "utf8"); + } + const response = await fetch(url); + if (!response.ok) { + throw new Error(`failed to fetch machine staging asset ${url}: ${response.status}`); + } + const text = await response.text(); + if (/^\s*]/i.test(text)) { + throw new Error(`machine staging asset resolved to HTML fallback ${url}`); + } + return text; +} + +async function saveTextFile(path, text, storage = globalThis.navigator?.storage) { + const root = await getStorageRoot(storage); + const dir = await ensureParentDir(root, path); + const filename = splitPath(path).at(-1); + const fileHandle = await dir.getFileHandle(filename, { create: true }); + const writable = await fileHandle.createWritable(); + await writable.write(text); + await writable.close(); +} + +async function getStorageRoot(storage) { + if (!storage?.getDirectory) { + throw new Error("OPFS is not available in this browser."); + } + return storage.getDirectory(); +} + +async function ensureParentDir(root, path) { + let current = root; + for (const part of splitPath(path).slice(0, -1)) { + current = await current.getDirectoryHandle(part, { create: true }); + } + return current; +} + +function createDirectoryHandle(files, prefix) { + return { + async getDirectoryHandle(name) { + return createDirectoryHandle(files, [...prefix, name]); + }, + async getFileHandle(name) { + const path = [...prefix, name].join("/"); + return { + async createWritable() { + let content = ""; + return { + async write(text) { + content += String(text); + }, + async close() { + files.set(path, content); + }, + }; + }, + async getFile() { + if (!files.has(path)) throw new Error(`Missing memory machine file: ${path}`); + return { async text() { return files.get(path); } }; + }, + }; + }, + }; +} + +function splitPath(path) { + const parts = String(path || "").replaceAll("\\", "/").split("/").filter(Boolean); + if (parts.length === 0 || parts.some((part) => part === "." || part === "..")) { + throw new Error(`Invalid OPFS path: ${path}`); + } + return parts; +} + +function sourceUrlsFor(sourceRel) { + if (String(sourceRel).startsWith("linuxcnc/")) { + return sourceOverrideUrlsFor(sourceRel).concat( + DEFAULT_REPO_ROOT_URLS.map((rootUrl) => new URL(sourceRel, rootUrl).href), + ); + } + return sourceOverrideUrlsFor(sourceRel).concat( + DEFAULT_VENDOR_ROOT_URLS.map((rootUrl) => new URL(sourceRel, rootUrl).href), + ); +} + +function sourceOverrideUrlsFor(sourceRel) { + const basenameValue = basename(sourceRel); + if (!basenameValue) return []; + + if (sourceRel === `configs/sim/${TRT_MACHINE_REL}/xyzac-trt.ini`) { + return DEFAULT_TEST_SOURCE_ROOT_URLS.map((rootUrl) => new URL("xyzac-trt.ini", rootUrl).href); + } + if (sourceRel === `${TRT_DEMO_SOURCE_PREFIX}impeller-7bl-xyzac.ngc`) { + return DEFAULT_TEST_SOURCE_ROOT_URLS.map((rootUrl) => new URL("impeller-7bl-xyzac.ngc", rootUrl).href); + } + return []; +} + +function basename(path) { + return String(path).split("/").filter(Boolean).at(-1); +} + +function assertPathSegment(segment) { + if (!/^[a-z0-9._-]+$/i.test(String(segment))) { + throw new Error(`Invalid OPFS path segment: ${segment}`); + } + return segment; +} + +function isNodeRuntime() { + return typeof process === "object" + && typeof process.versions === "object" + && typeof process.versions.node === "string" + && process.type !== "renderer"; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-parity-matrix.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-parity-matrix.js new file mode 100644 index 0000000..5ae8b83 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-parity-matrix.js @@ -0,0 +1,460 @@ +import { linuxCncSourceReferenceMap } from "../profiles/source-reference-map.js"; + +export const RIGHT_SIDEBAR_PARITY_ENTRIES = [ + "E-STOP", + "POWER", + "RESET", + "AUTO", + "MANUAL", + "JOG", + "MDI", + "IDENTITY", + "TCP", +]; + +export const SWITCHKINS_PARITY_CODES = ["M428", "M429", "M430"]; + +export const LINUXCNC_PARITY_SOURCE_REFERENCES = [ + { + id: "remap-428", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", + }, + { + id: "remap-429", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc", + }, + { + id: "remap-430", + path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc", + }, + { + id: "linuxcnc-emc-hh", + path: "linuxcnc/src/emc/nml_intf/emc.hh", + }, + { + id: "linuxcnc-emctaskmain", + path: "linuxcnc/src/emc/task/emctaskmain.cc", + }, + { + id: "linuxcnc-emctask", + path: "linuxcnc/src/emc/task/emctask.cc", + }, + { + id: "linuxcnc-motion-control", + path: "linuxcnc/src/emc/motion/control.c", + }, + { + id: "linuxcnc-hal-lib", + path: "linuxcnc/src/hal/hal_lib.c", + }, + { + id: "web-machine-project-root", + path: "web-rtcp-5axis-xyzbc-trt-sim-plan/machines//configs/sim/axis/vismach/5axis/table-rotary-tilting", + }, +]; + +export const LINUXCNC_PARITY_ITEMS = [ + { + id: "xyzac-trt-axis-vismach-config", + category: "machine-config", + label: "XYZAC TRT AXIS/Vismach machine config", + linuxCncPaths: [ + "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc", + ], + functions: [ + "INI [KINS] xyzac-trt-kins sparm=identityfirst", + "TRAJ XYZAC", + "HALUI M429/M428/M430", + "motion.switchkins-type", + "project-staged INI/HAL/TBL/NGC", + ], + }, + { + id: "xyzbc-trt-axis-vismach-config", + category: "machine-config", + label: "XYZBC TRT AXIS/Vismach machine config", + linuxCncPaths: [ + "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc", + ], + functions: [ + "INI [KINS] xyzbc-trt-kins sparm=identityfirst", + "TRAJ XYZBC", + "HALUI M429/M428/M430", + "motion.switchkins-type", + "project-staged INI/HAL/TBL/NGC", + ], + }, + { + id: "gmoccapy-trt-config", + category: "machine-config", + label: "gmoccapy non-trivial TRT sample config", + linuxCncPaths: [ + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini", + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/postgui.hal", + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.tbl", + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc", + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzac.ngc", + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc", + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc", + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc", + ], + functions: [ + "DISPLAY gmoccapy", + "POSTGUI spindle/tool HAL bindings", + "xyzac-trt-gui vismach feedback pins", + "gmoccapy TRT example programs", + "gmoccapy TRT ngcgui subroutine examples", + ], + }, + { + id: "gmoccapy-native-operator-ui", + category: "operator-ui", + label: "gmoccapy native operator workflow", + linuxCncPaths: [ + "linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py", + "linuxcnc/share/gmoccapy/gmoccapy.glade", + "web-rtcp-5axis-sim-plan/app/src/ui-reference/gmoccapy-button-icons.json", + ], + functions: [ + "E-STOP/POWER/RESET task-state entry", + "AUTO/MANUAL/JOG/MDI task-mode entry", + "button active/blocked color rule", + "gmoccapy HAL button/icon mapping", + ], + }, + { + id: "right-sidebar-task-interlocks", + category: "operator-ui", + label: "Right vertical machine-state entrances", + linuxCncPaths: [ + "linuxcnc/src/emc/nml_intf/emc.hh", + "linuxcnc/src/emc/task/emctaskmain.cc", + "linuxcnc/src/emc/task/emctask.cc", + ], + functions: [ + "EMC_TASK_SET_STATE", + "EMC_TASK_SET_MODE", + "EMC_JOINT_HOME", + "EMC_JOG_INCR", + "EMC_TASK_PLAN_RUN", + "EMC_TASK_PLAN_EXECUTE", + "EMC_TASK_ABORT", + "mode and interpreter idle gates", + ], + }, + { + id: "vismach-machine-preview", + category: "visualization", + label: "Vismach TRT preview and feedback model", + linuxCncPaths: [ + "src/hal/user_comps/vismach/xyzac-trt-gui.py", + "src/hal/user_comps/vismach/xyzbc-trt-gui.py", + ], + functions: [ + "table/saddle/spindle feedback pins", + "A/B tilt and C rotate feedback pins", + "tool-offset/y-offset/x-offset/z-offset visualization", + "WebGL toolpath preview and current tool marker", + ], + }, + { + id: "source-derived-kinematics-switchkins", + category: "runtime", + label: "TRT kinematics and switchkins", + linuxCncPaths: [ + "src/emc/kinematics/xyzac-trt-kins.c", + "src/emc/kinematics/xyzbc-trt-kins.c", + "src/emc/kinematics/trtfuncs.c", + "src/emc/kinematics/switchkins.c", + ], + functions: [ + "forward/inverse kinematics frame", + "identity/TCP/userk kinstype mapping", + "M428 TCP", + "M429 identity", + "M430 userk", + "DRO TCP axis value refresh", + ], + }, + { + id: "linuxcnc-interpreter-program-validation", + category: "runtime", + label: "LinuxCNC interpreter-backed G-code validation", + linuxCncPaths: [ + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc", + ], + functions: [ + "real LinuxCNC 5-axis program source guard", + "canonical motion extraction", + "planner sample timing", + "current line and realtime axis feedback", + "toolpath preview path verification", + ], + }, + { + id: "machine-project-directory", + category: "project-files", + label: "Machine project directory and INI parity", + linuxCncPaths: [ + "web-rtcp-5axis-xyzbc-trt-sim-plan/machines//configs/sim/axis/vismach/5axis/table-rotary-tilting", + ], + functions: [ + "profile-specific project root", + "LinuxCNC INI source text match", + "config file count", + "G-code/remap file count", + "selected program provenance", + ], + }, + { + id: "task-hal-status-loop", + category: "runtime", + label: "Task/HAL run feedback and DRO updates", + linuxCncPaths: [ + "linuxcnc/src/emc/task/emctaskmain.cc", + "linuxcnc/src/emc/motion/control.c", + "linuxcnc/src/hal/hal_lib.c", + ], + functions: [ + "task cycle status", + "servo cycle status", + "HAL changed pin summary", + "run/pause/resume/step/stop feedback", + "DRO axis value and DTG refresh", + ], + }, + { + id: "gmoccapy-postgui-tool-spindle", + category: "operator-ui", + label: "gmoccapy POSTGUI tool/spindle HAL functions", + linuxCncPaths: [ + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/postgui.hal", + "linuxcnc/configs/sim/gmoccapy/gmoccapy_postgui.hal", + "linuxcnc/configs/sim/gmoccapy/core_sim_XYZAB.hal", + "linuxcnc/configs/sim/gmoccapy/spindle_sim.hal", + ], + functions: [ + "gmoccapy.spindle_feedback_bar", + "gmoccapy.spindle_at_speed_led", + "gmoccapy.toolchange-change/changing loop", + "gmoccapy.tooloffset-z", + "coolant/spindle/operator override gates", + ], + }, +]; + +export function createLinuxCncParityMatrix(state = {}) { + const items = LINUXCNC_PARITY_ITEMS.map((item) => createParityItemState(item, state)); + const implementedCount = items.filter((item) => item.implemented).length; + const activeCount = items.filter((item) => item.active).length; + const sourcePaths = unique(items.flatMap((item) => item.linuxCncPaths)); + const functions = unique(items.flatMap((item) => item.functions)); + const categories = Object.fromEntries( + unique(items.map((item) => item.category)).map((category) => [ + category, + { + itemCount: items.filter((item) => item.category === category).length, + implementedCount: items.filter((item) => item.category === category && item.implemented).length, + activeCount: items.filter((item) => item.category === category && item.active).length, + }, + ]), + ); + const sidebarLabels = (state.rightSidebarEntrances || []).map((entry) => entry.label); + const switchkinsCodes = state.profile?.kinematicsParameters?.switchkinsTypes + ?.map((type) => type.mdiCommand) + .filter(Boolean) || []; + + return { + apiName: "web-rtcp-5axis-linuxcnc-parity-matrix", + profileId: state.profile?.id || state.machineProfile || "unknown", + status: implementedCount === items.length ? "implemented" : "partial", + implementedCount, + activeCount, + itemCount: items.length, + sourcePathCount: sourcePaths.length, + linuxCncProgramCount: sourcePaths.filter((path) => path.endsWith(".ngc")).length, + functionCount: functions.length, + categories, + requiredRightSidebarEntries: RIGHT_SIDEBAR_PARITY_ENTRIES, + actualRightSidebarEntries: sidebarLabels, + rightSidebarComplete: RIGHT_SIDEBAR_PARITY_ENTRIES.every((label) => sidebarLabels.includes(label)), + requiredSwitchkinsCodes: SWITCHKINS_PARITY_CODES, + activeSwitchkinsCodes: switchkinsCodes, + switchkinsComplete: SWITCHKINS_PARITY_CODES.every((code) => switchkinsCodes.includes(code)), + items, + linuxCncPrograms: sourcePaths, + linuxCncFunctions: functions, + sourceReferenceIds: unique(sourceReferenceIdsForPaths(sourcePaths)), + semanticBoundary: "linuxcnc_source_function_parity_matrix_for_browser_simulation_not_hardware_control", + }; +} + +function createParityItemState(item, state) { + const evidence = createItemEvidence(item.id, state); + const sourceMapped = item.linuxCncPaths.every((path) => hasSourceReference(path)); + const implemented = sourceMapped && evidence.implemented !== false; + const active = implemented && evidence.active === true; + + return { + ...item, + linuxCncReferenceIds: sourceReferenceIdsForPaths(item.linuxCncPaths), + sourceMapped, + implemented, + active, + status: active + ? "active" + : implemented + ? evidence.status || "implemented" + : "missing-source-reference", + evidence, + }; +} + +function createItemEvidence(id, state) { + switch (id) { + case "xyzac-trt-axis-vismach-config": + return { + status: state.profile?.id === "xyzac-trt" ? "active-profile" : "implemented", + active: state.profile?.id === "xyzac-trt", + profileAvailable: profileAvailable(state, "xyzac-trt"), + iniPath: state.profile?.id === "xyzac-trt" ? state.profile?.iniPath : null, + }; + case "xyzbc-trt-axis-vismach-config": + return { + status: state.profile?.id === "xyzbc-trt" ? "active-profile" : "implemented", + active: state.profile?.id === "xyzbc-trt", + profileAvailable: profileAvailable(state, "xyzbc-trt"), + iniPath: state.profile?.id === "xyzbc-trt" ? state.profile?.iniPath : null, + }; + case "gmoccapy-trt-config": + return { + status: "reference-mapped", + active: Boolean(state.gmoccapyGui), + displayStyle: "gmoccapy-web-shell", + }; + case "gmoccapy-native-operator-ui": + return { + active: Boolean(state.gmoccapyGui) && rightSidebarComplete(state), + rightSidebarComplete: rightSidebarComplete(state), + buttonCount: state.rightSidebarEntrances?.length || 0, + }; + case "right-sidebar-task-interlocks": + return { + active: Boolean(state.linuxCncTaskPolicy) && rightSidebarComplete(state), + taskState: state.linuxCncTaskPolicy?.taskState || null, + taskMode: state.linuxCncTaskPolicy?.taskMode || null, + interpState: state.linuxCncTaskPolicy?.interpState || null, + gates: { + canJog: state.linuxCncTaskPolicy?.canJog === true, + canRunAuto: state.linuxCncTaskPolicy?.canRunAuto === true, + canExecuteMdi: state.linuxCncTaskPolicy?.canExecuteMdi === true, + }, + }; + case "vismach-machine-preview": + return { + active: Boolean(state.rtcpFrame) && Boolean(state.preview), + frameApi: state.rtcpFrame?.apiName || null, + previewPoints: state.preview?.pathPoints || 0, + profileKinematics: state.profile?.kinematics || null, + }; + case "source-derived-kinematics-switchkins": + return { + status: state.kinematicsRuntimeReadiness?.loaded ? "runtime-ready" : "implemented", + active: Boolean(state.profile?.kinematics) && switchkinsComplete(state), + runtimeLoaded: state.kinematicsRuntimeReadiness?.loaded === true, + kinsType: state.kinsType || null, + rtcpState: state.rtcpState || null, + activeSwitchkinsCodes: state.profile?.kinematicsParameters?.switchkinsTypes?.map((type) => type.mdiCommand) || [], + }; + case "linuxcnc-interpreter-program-validation": + return { + status: state.programValidation?.ready ? "runtime-validated" : "implemented", + active: state.programValidation?.ready === true, + sourceGuard: state.programValidation?.sourceGuard || null, + motionEventCount: state.programValidation?.motionEventCount || 0, + plannerSampleCount: state.programValidation?.plannerSampleCount || 0, + }; + case "machine-project-directory": + return { + status: state.machineProject?.status === "staged" ? "staged" : "implemented", + active: state.machineProject?.status === "staged", + projectRoot: state.machineProject?.projectRoot || null, + iniSourceMatchesProfile: state.machineProject?.ini?.sourceMatchesProfile === true, + configFileCount: state.machineProject?.configFileCount || 0, + gcodeFileCount: state.machineProject?.gcodeFileCount || 0, + }; + case "task-hal-status-loop": + return { + status: state.taskHalStatusLoop?.active ? "runtime-active" : "implemented", + active: Boolean(state.taskHalRuntimeReadiness?.loaded || state.programRuntimeFeedback), + taskHalLoaded: state.taskHalRuntimeReadiness?.loaded === true, + statusLoopActive: state.taskHalStatusLoop?.active === true, + runtimeFeedbackSource: state.programRuntimeFeedback?.sourceMode || null, + }; + case "gmoccapy-postgui-tool-spindle": + return { + active: Boolean(state.gmoccapyGui) && Boolean(state.toolPreview) && Boolean(state.spindle) && Boolean(state.coolant), + toolNumber: state.toolPreview?.toolNumber || null, + spindleDirection: state.spindle?.direction || null, + coolantFlood: state.coolant?.flood === true, + coolantMist: state.coolant?.mist === true, + }; + default: + return { + active: false, + }; + } +} + +function profileAvailable(state, profileId) { + return (state.availableProfiles || []).some((profile) => profile.id === profileId); +} + +function rightSidebarComplete(state) { + const labels = (state.rightSidebarEntrances || []).map((entry) => entry.label); + return RIGHT_SIDEBAR_PARITY_ENTRIES.every((label) => labels.includes(label)); +} + +function switchkinsComplete(state) { + const codes = state.profile?.kinematicsParameters?.switchkinsTypes + ?.map((type) => type.mdiCommand) + .filter(Boolean) || []; + return SWITCHKINS_PARITY_CODES.every((code) => codes.includes(code)); +} + +function hasSourceReference(path) { + return allParityReferences().some((reference) => reference.path === path); +} + +function sourceReferenceIdsForPaths(paths) { + return paths + .map((path) => allParityReferences().find((reference) => reference.path === path)?.id) + .filter(Boolean); +} + +function allParityReferences() { + return [...linuxCncSourceReferenceMap, ...LINUXCNC_PARITY_SOURCE_REFERENCES]; +} + +function unique(values) { + return [...new Set(values.filter(Boolean))]; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js new file mode 100644 index 0000000..5abcb0d --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js @@ -0,0 +1,414 @@ +const DEFAULT_SDK_MODULE_URLS = [ + new URL("../../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js", import.meta.url).href, + new URL("../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js", import.meta.url).href, +]; + +const SEMANTIC_BOUNDARY = "linuxcnc_task_motion_hal_wasm_simulation_runtime"; + +export async function createLinuxCncTaskHalRuntime({ + sdkModuleUrl = null, + moduleOptions = {}, +} = {}) { + const errors = []; + const candidateUrls = sdkModuleUrl ? [sdkModuleUrl] : DEFAULT_SDK_MODULE_URLS; + for (const url of candidateUrls) { + try { + const { createLinuxCncTaskHalSdk } = await import(url); + const sdk = await createLinuxCncTaskHalSdk(moduleOptions); + return wrapTaskHalSdk(sdk, { + sdkModuleUrl: url, + executionContext: "direct", + }); + } catch (error) { + errors.push(`${url}: ${error instanceof Error ? error.message : String(error)}`); + } + } + throw new Error(`LinuxCNC task/HAL runtime unavailable: ${errors.join(" | ")}`); +} + +export function wrapTaskHalSdk(sdk, { + sdkModuleUrl = null, + executionContext = "direct", + workerUrl = null, +} = {}) { + if (!sdk || typeof sdk.readiness !== "function") { + throw new Error("wrapTaskHalSdk requires a task/HAL SDK"); + } + + return { + apiName: "web-rtcp-5axis-linuxcnc-task-hal-runtime", + semanticBoundary: SEMANTIC_BOUNDARY, + executionContext, + sdkModuleUrl, + workerUrl, + loaded: true, + + readiness() { + const readiness = sdk.readiness(); + const taskRuntimeReady = readiness.taskRuntimeReady === true; + const motionRuntimeReady = readiness.motionRuntimeReady === true; + const halRuntimeReady = readiness.halRuntimeReady === true; + return { + apiName: "web-rtcp-5axis-linuxcnc-task-hal-runtime-readiness", + loaded: true, + semanticBoundary: SEMANTIC_BOUNDARY, + sdkSemanticBoundary: readiness.semanticBoundary, + executionContext, + workerUrl, + taskRuntimeReady, + motionRuntimeReady, + halRuntimeReady, + halSyncReady: taskRuntimeReady && motionRuntimeReady && halRuntimeReady, + nativeTaskReady: taskRuntimeReady, + nativeHalSyncReady: taskRuntimeReady && motionRuntimeReady && halRuntimeReady, + hardwareDrive: false, + hostRealtimeKernel: false, + externalUserMProcessReady: false, + }; + }, + + initSession(session = {}) { + return sdk.initSession(session); + }, + + stageFiles(files = []) { + let staged = 0; + for (const file of files) { + const path = file.wasmPath || file.path; + if (!path) continue; + const rc = sdk.stageFile(path, file.text || ""); + if (rc !== 0) { + throw new Error(`lctask_stage_file failed for ${path} rc=${rc}`); + } + staged += 1; + } + return staged; + }, + + openProgram(path) { + const rc = sdk.openProgram(path); + if (rc !== 0) { + throw new Error(`lctask_open_program failed for ${path} rc=${rc}`); + } + return rc; + }, + + loadProgramMotionPlan(plan = {}) { + if (typeof sdk.loadProgramMotionPlan !== "function") { + throw new Error("task/HAL SDK missing loadProgramMotionPlan; rebuild wasm-port/tools/build_task_hal_wasm.sh"); + } + const rc = sdk.loadProgramMotionPlan(plan); + if (rc !== 0) { + throw new Error(`lctask_load_program_motion_plan_json failed rc=${rc}`); + } + return rc; + }, + + sendCommand(command) { + const rc = sdk.sendCommand(command); + if (rc !== 0) { + throw new Error(`lctask_send_command_json failed for ${command?.type || "unknown"} rc=${rc}`); + } + return rc; + }, + + runCycles(options = {}) { + const rc = sdk.runCycles(options); + if (rc !== 0) { + throw new Error(`lctask_run_cycles failed rc=${rc}`); + } + return rc; + }, + + readStatus() { + return normalizeTaskHalStatus(sdk.readStatus()); + }, + + readEvents() { + return sdk.readEvents(); + }, + + resetSession() { + return sdk.resetSession(); + }, + }; +} + +export function buildTaskHalSessionFromMachineFiles({ profile, plan, save, selectedProgramRel = null } = {}) { + const files = save?.files || []; + const iniFile = files.find((file) => file.kind === "ini") + || files.find((file) => file.sourceRel === profile?.iniPath) + || null; + const selectedFile = selectedProgramRel + ? files.find((file) => file.sourceRel === selectedProgramRel) + : null; + const programFile = selectedFile + || files.find((file) => file.wasmPath === plan?.wasmProgramPath) + || files.find((file) => file.kind === "demo") + || null; + + return { + apiName: "web-rtcp-5axis-task-hal-session", + semanticBoundary: "linuxcnc_machine_files_for_task_hal_wasm_runtime", + profileId: profile?.id || plan?.profileId || save?.profileId || "unknown", + iniPath: iniFile?.wasmPath || plan?.wasmIniPath || plan?.iniPath || profile?.iniPath || null, + iniText: iniFile?.text || "", + programPath: programFile?.wasmPath || plan?.wasmProgramPath || null, + programSourceRel: programFile?.sourceRel || selectedProgramRel || null, + halFiles: files.filter((file) => file.kind === "hal").map(sessionFileDescriptor), + toolTableFiles: files.filter((file) => file.kind === "toolTable").map(sessionFileDescriptor), + remapFiles: files.filter((file) => file.kind === "remap").map(sessionFileDescriptor), + files: files.map(sessionFileDescriptor), + fileCount: files.length, + }; +} + +export function buildTaskHalProgramMotionPlan({ + programPath = null, + motion = [], + timing = null, + linearUnits = "mm", + programLines = [], +} = {}) { + const segments = Array.isArray(timing?.segments) ? timing.segments : []; + let planSegments = segments.map((segment, index) => { + const event = motion[index] || {}; + const startAxes = normalizePlanAxes(segment.startAxes || motion[index - 1]?.axes || {}); + const endAxes = normalizePlanAxes(segment.endAxes || segment.axes || event.axes || startAxes); + return { + line: Number(segment.line ?? event.line ?? index + 1), + type: segment.type || event.type || "STRAIGHT_FEED", + motionClass: segment.motionClass || (event.type === "STRAIGHT_TRAVERSE" ? "rapid" : "feed"), + feedMode: segment.feedMode || event.feedMode || "units-per-minute", + startSeconds: Number(segment.startSeconds || 0), + durationSeconds: Math.max(Number(segment.durationSeconds || 0), 0), + elapsedSeconds: Number(segment.elapsedSeconds || 0), + feedRate: Number(segment.feedRate || event.feedRate || 0), + linearUnits: segment.linearUnits || event.linearUnits || linearUnits, + velocityMmPerMin: Math.max(Number(segment.velocityMmPerMin || 0), 0), + requestedVelocityMmPerMin: Math.max(Number(segment.requestedVelocityMmPerMin || segment.velocityMmPerMin || 0), 0), + startAxes, + endAxes, + }; + }).filter((segment) => segment.durationSeconds > 0 || segment.line > 0); + const lineSegments = buildSourceLineMotionSegments({ + programLines, + seedSegments: planSegments, + linearUnits, + }); + if (shouldUseSourceLineSegments(planSegments, lineSegments)) { + planSegments = lineSegments; + } + + return { + apiName: "web-rtcp-5axis-task-hal-program-motion-plan", + semanticBoundary: "linuxcnc_canonical_motion_feed_timed_task_hal_plan", + programPath, + linearUnits, + totalSeconds: Number(timing?.totalSeconds || 0), + segmentCount: planSegments.length, + segments: planSegments, + }; +} + +export function normalizeTaskHalStatus(status = {}) { + const motion = status.motionStatus?.motion || {}; + const axis = status.motionStatus?.axis || {}; + const halPins = status.halSnapshot?.pins || {}; + const motionProgramLine = Number(motion.programLine || 0); + const halProgramLine = Number(halPins["motion.program-line"]?.value || 0); + const activeLine = motionProgramLine > 0 + ? motionProgramLine + : halProgramLine > 0 + ? halProgramLine + : 1; + return { + ...status, + semanticBoundary: SEMANTIC_BOUNDARY, + summary: { + taskRuntimeReady: status.taskRuntimeReady === true, + motionRuntimeReady: status.motionStatus?.motionHalSyncReady === true || status.taskCommandsDriveMotionRuntime === true, + halRuntimeReady: Boolean(status.halSnapshot?.halRuntimeReady ?? status.halSnapshot?.ready ?? true), + halSyncReady: status.taskCommandsDriveMotionRuntime === true && Boolean(halPins["motion.program-line"]), + taskHalComparisonReady: status.taskRuntimeReady === true && status.taskCommandsDriveMotionRuntime === true, + switchkinsRemapHalSync: Boolean(halPins["motion.switchkins-type"]), + nativeTaskReady: status.taskRuntimeReady === true, + nativeHalSyncReady: status.taskCommandsDriveMotionRuntime === true && Boolean(halPins["motion.program-line"]), + fullLinuxCncProgramExecutionReady: false, + hardwareDrive: false, + hostRealtimeKernel: false, + }, + ui: { + taskState: String(status.task?.state || "ESTOP").toLowerCase(), + taskMode: String(status.task?.mode || "MANUAL").toLowerCase(), + interpState: String(status.task?.interpState || "IDLE").toLowerCase(), + execState: String(status.task?.execState || "DONE").toLowerCase(), + taskCycle: Number(status.task?.taskCycle ?? status.taskCycle ?? 0), + servoCycle: Number(status.motionStatus?.cycle ?? status.task?.servoCycle ?? 0), + motionQueueDepth: Number(status.motionStatus?.queueDepth ?? motion.queueDepth ?? 0), + halChangedPinCount: Array.isArray(status.halSnapshot?.changedPins) + ? status.halSnapshot.changedPins.length + : Number(status.halSnapshot?.changedPinCount || 0), + activeLine, + motionProgramLine, + halProgramLine, + activeLineSource: motionProgramLine > 0 ? "motion-status" : halProgramLine > 0 ? "hal-pin" : "fallback", + activeLineHalSynced: motionProgramLine > 0 && halProgramLine > 0 + ? motionProgramLine === halProgramLine + : false, + switchkinsType: Number(motion.switchkinsType ?? halPins["motion.switchkins-type"]?.value ?? 0), + axisPose: { + x: Number(axis.x ?? halPins["axis.0.pos-cmd"]?.value ?? 0), + y: Number(axis.y ?? halPins["axis.1.pos-cmd"]?.value ?? 0), + z: Number(axis.z ?? halPins["axis.2.pos-cmd"]?.value ?? 0), + a: Number(axis.a ?? halPins["axis.3.pos-cmd"]?.value ?? 0), + b: Number(axis.b ?? halPins["axis.4.pos-cmd"]?.value ?? 0), + c: Number(axis.c ?? halPins["axis.5.pos-cmd"]?.value ?? 0), + }, + axisPoseFrame: isJogMotion(motion) ? "task-local" : "work", + currentVelocity: Number(motion.currentVel || motion.currentVelocity || 0) * 60, + }, + }; +} + +function shouldUseSourceLineSegments(planSegments, lineSegments) { + if (lineSegments.length < 3) return false; + const plannedLines = new Set(planSegments.map((segment) => Number(segment.line)).filter(Number.isFinite)); + const lineCount = lineSegments.length; + return plannedLines.size <= 2 && lineCount > plannedLines.size; +} + +function buildSourceLineMotionSegments({ + programLines = [], + seedSegments = [], + linearUnits = "mm", +} = {}) { + if (!Array.isArray(programLines) || programLines.length === 0) return []; + const seedByLine = new Map(seedSegments.map((segment) => [Number(segment.line), segment])); + const axes = normalizePlanAxes(seedSegments[0]?.startAxes || {}); + const segments = []; + let elapsedSeconds = 0; + let feedRate = firstPositive(seedSegments.map((segment) => segment.feedRate), 100); + let rapidVelocity = firstPositive( + seedSegments.filter((segment) => segment.motionClass === "rapid").map((segment) => segment.velocityMmPerMin), + 2100, + ); + + for (let index = 0; index < programLines.length; index += 1) { + const line = index + 1; + const code = stripSourceLineComments(programLines[index]); + if (!isExecutableGcodeLine(code)) continue; + + const seed = seedByLine.get(line) || null; + const startAxes = normalizePlanAxes(seed?.startAxes || axes); + const parsed = parseGcodeLineMotion(code, startAxes, feedRate); + if (parsed.feedRate > 0) feedRate = parsed.feedRate; + const motionClass = seed?.motionClass || parsed.motionClass; + const endAxes = normalizePlanAxes(seed?.endAxes || parsed.endAxes); + const velocityMmPerMin = Number(seed?.velocityMmPerMin) > 0 + ? Number(seed.velocityMmPerMin) + : motionClass === "rapid" + ? rapidVelocity + : Math.max(feedRate, 1); + if (motionClass === "rapid" && velocityMmPerMin > 0) { + rapidVelocity = velocityMmPerMin; + } + const durationSeconds = Math.max( + Number(seed?.durationSeconds || 0), + estimateLineDurationSeconds(startAxes, endAxes, velocityMmPerMin), + 0.05, + ); + const segment = { + line, + type: seed?.type || parsed.type, + motionClass, + feedMode: seed?.feedMode || parsed.feedMode, + startSeconds: elapsedSeconds, + durationSeconds, + elapsedSeconds: elapsedSeconds + durationSeconds, + feedRate, + linearUnits: seed?.linearUnits || linearUnits, + velocityMmPerMin, + requestedVelocityMmPerMin: Number(seed?.requestedVelocityMmPerMin || velocityMmPerMin), + startAxes, + endAxes, + }; + segments.push(segment); + Object.assign(axes, endAxes); + elapsedSeconds += durationSeconds; + } + return segments; +} + +function parseGcodeLineMotion(code, startAxes, currentFeedRate) { + const numberPattern = "[-+]?(?:\\d+(?:\\.\\d*)?|\\.\\d+)"; + const gCodes = [...code.matchAll(new RegExp(`\\bG\\s*(${numberPattern})\\b`, "gi"))].map((match) => Number(match[1])); + const feedMode = gCodes.includes(93) ? "inverse-time" : "units-per-minute"; + const rapid = gCodes.includes(0); + const feed = gCodes.some((value) => value === 1 || value === 2 || value === 3); + const endAxes = { ...startAxes }; + for (const axis of ["x", "y", "z", "a", "b", "c", "u", "v", "w"]) { + const match = code.match(new RegExp(`\\b${axis}\\s*(${numberPattern})`, "i")); + if (match) endAxes[axis] = Number(match[1]); + } + const feedMatch = code.match(new RegExp(`\\bF\\s*(${numberPattern})`, "i")); + const feedRate = feedMatch && Number(feedMatch[1]) > 0 ? Number(feedMatch[1]) : Number(currentFeedRate || 0); + return { + type: rapid ? "STRAIGHT_TRAVERSE" : "STRAIGHT_FEED", + motionClass: rapid && !feed ? "rapid" : "feed", + feedMode, + feedRate, + endAxes, + }; +} + +function stripSourceLineComments(line) { + return String(line || "") + .replace(/\([^)]*\)/g, " ") + .replace(/;.*$/g, " ") + .trim(); +} + +function isExecutableGcodeLine(code) { + if (!code || code === "%") return false; + return /\b[GMTXYZABCUVWF]\s*[-+]?\d/i.test(code); +} + +function estimateLineDurationSeconds(startAxes, endAxes, velocityMmPerMin) { + const distance = Math.sqrt(["x", "y", "z"].reduce((total, axis) => { + const delta = Number(endAxes[axis] || 0) - Number(startAxes[axis] || 0); + return total + delta * delta; + }, 0)); + if (distance <= 0 || velocityMmPerMin <= 0) return 0; + return distance / Math.max(velocityMmPerMin / 60, 0.000001); +} + +function firstPositive(values, fallback) { + for (const value of values) { + const number = Number(value); + if (Number.isFinite(number) && number > 0) return number; + } + return fallback; +} + +function normalizePlanAxes(axes = {}) { + return Object.fromEntries(["x", "y", "z", "a", "b", "c", "u", "v", "w"].map((axis) => [ + axis, + Number.isFinite(Number(axes[axis])) ? Number(axes[axis]) : 0, + ])); +} + +function isJogMotion(motion = {}) { + return Number(motion.motionType) === 3 || Number(motion.teleopMode) === 1 || motion.teleopMode === true; +} + +function sessionFileDescriptor(file) { + return { + sourceRel: file.sourceRel, + wasmPath: file.wasmPath || file.path, + path: file.wasmPath || file.path, + kind: file.kind, + bytes: Number(file.bytes || String(file.text || "").length), + text: file.text || "", + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-worker-client.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-worker-client.js new file mode 100644 index 0000000..b537fb6 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-worker-client.js @@ -0,0 +1,71 @@ +import { wrapTaskHalSdk } from "./linuxcnc-task-hal-runtime.js"; + +export async function createLinuxCncTaskHalWorkerRuntime({ + workerUrl = new URL("./linuxcnc-task-hal-worker.js", import.meta.url).href, + sdkModuleUrl = null, + moduleOptions = {}, +} = {}) { + if (typeof Worker !== "function") { + throw new Error("Worker is not available"); + } + const worker = new Worker(workerUrl, { type: "module" }); + const client = createWorkerClient(worker); + await client.call("init", { sdkModuleUrl, moduleOptions }); + return { + apiName: "web-rtcp-5axis-linuxcnc-task-hal-worker-runtime", + semanticBoundary: "linuxcnc_task_motion_hal_wasm_simulation_runtime", + executionContext: "worker", + workerUrl, + loaded: true, + readiness: () => client.call("readiness"), + initSession: (session) => client.call("initSession", { session }), + stageFiles: (files) => client.call("stageFiles", { files }), + openProgram: (path) => client.call("openProgram", { path }), + loadProgramMotionPlan: (plan) => client.call("loadProgramMotionPlan", { plan }), + sendCommand: (command) => client.call("command", { command }), + runCycles: (options) => client.call("runCycles", { options }), + readStatus: () => client.call("readStatus"), + readEvents: () => client.call("readEvents"), + resetSession: () => client.call("reset"), + terminate: () => worker.terminate(), + }; +} + +export function createDirectTaskHalRuntimeFromSdk(sdk) { + return wrapTaskHalSdk(sdk, { executionContext: "direct" }); +} + +function createWorkerClient(worker) { + let nextId = 1; + const pending = new Map(); + + worker.addEventListener("message", (event) => { + const { id, ok, result, error } = event.data || {}; + const request = pending.get(id); + if (!request) return; + pending.delete(id); + if (ok) { + request.resolve(result); + } else { + request.reject(new Error(error || "LinuxCNC task/HAL worker failed")); + } + }); + + worker.addEventListener("error", (event) => { + for (const request of pending.values()) { + request.reject(new Error(event.message || "LinuxCNC task/HAL worker error")); + } + pending.clear(); + }); + + return { + call(type, payload = {}) { + const id = nextId; + nextId += 1; + return new Promise((resolve, reject) => { + pending.set(id, { resolve, reject }); + worker.postMessage({ id, type, payload }); + }); + }, + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-worker.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-worker.js new file mode 100644 index 0000000..b8822c0 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-worker.js @@ -0,0 +1,63 @@ +import { createLinuxCncTaskHalRuntime } from "./linuxcnc-task-hal-runtime.js"; + +let runtime = null; + +self.addEventListener("message", async (event) => { + const { id, type, payload = {} } = event.data || {}; + try { + const result = await handleMessage(type, payload); + self.postMessage({ id, ok: true, result }); + } catch (error) { + self.postMessage({ + id, + ok: false, + error: error instanceof Error ? error.message : String(error), + }); + } +}); + +async function handleMessage(type, payload) { + switch (type) { + case "init": + runtime = await createLinuxCncTaskHalRuntime(payload); + return runtime.readiness(); + case "readiness": + assertRuntime(); + return runtime.readiness(); + case "stageFiles": + assertRuntime(); + return runtime.stageFiles(payload.files || []); + case "initSession": + assertRuntime(); + return runtime.initSession(payload.session || {}); + case "openProgram": + assertRuntime(); + return runtime.openProgram(payload.path); + case "loadProgramMotionPlan": + assertRuntime(); + return runtime.loadProgramMotionPlan(payload.plan || {}); + case "command": + assertRuntime(); + return runtime.sendCommand(payload.command); + case "runCycles": + assertRuntime(); + return runtime.runCycles(payload.options || {}); + case "readStatus": + assertRuntime(); + return runtime.readStatus(); + case "readEvents": + assertRuntime(); + return runtime.readEvents(); + case "reset": + assertRuntime(); + return runtime.resetSession(); + default: + throw new Error(`Unknown task/HAL worker message: ${type}`); + } +} + +function assertRuntime() { + if (!runtime) { + throw new Error("LinuxCNC task/HAL worker runtime is not initialized"); + } +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/native-task-hal-audit.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/native-task-hal-audit.js new file mode 100644 index 0000000..f012dfa --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/native-task-hal-audit.js @@ -0,0 +1,181 @@ +const WEB_SIMULATION_BOUNDARY = "linuxcnc_task_motion_hal_wasm_simulation_runtime"; +const ALLOWED_NATIVE_PROBE_STATUSES = new Set([ + "passed", + "ready_disabled_by_default", + "skipped_missing_host_runtime", +]); + +export function createNativeTaskHalReadinessAudit({ + sourceManifest = {}, + nativeProbe = {}, + fullExecutionBoundary = {}, + taskHalRuntimeReadiness = {}, + taskHalStatus = {}, + generatedAt = new Date().toISOString(), + artifactPaths = {}, +} = {}) { + const taskSourceCount = numberFrom(sourceManifest.task_source_count); + const halSourceCount = numberFrom(sourceManifest.hal_source_count); + const motionSourceCount = numberFrom(sourceManifest.motion_source_count); + const sourceManifestReady = truthy(sourceManifest.task_hal_source_manifest_ready) + && truthy(sourceManifest.task_hal_reference_source_ready) + && taskSourceCount > 0 + && halSourceCount > 0 + && motionSourceCount > 0; + + const nativeProbeStatus = String( + nativeProbe.native_probe_status + || nativeProbe.trt_task_hal_runtime_probe_status + || "missing", + ); + const nativeProbeOk = String(nativeProbe.native_task_hal_probe || "") === "ok" + && ALLOWED_NATIVE_PROBE_STATUSES.has(nativeProbeStatus); + const nativePromotionBlocked = !truthy(nativeProbe.trt_task_hal_promotion_allowed) + && String(nativeProbe.nativeTaskReady) !== "true" + && String(nativeProbe.nativeHalSyncReady) !== "true"; + + const taskReady = Boolean( + fullExecutionBoundary.taskRuntimeReady + || taskHalRuntimeReadiness.taskRuntimeReady + || taskHalStatus.summary?.taskRuntimeReady, + ); + const motionReady = Boolean( + fullExecutionBoundary.motionRuntimeReady + || taskHalRuntimeReadiness.motionRuntimeReady + || taskHalStatus.summary?.motionRuntimeReady, + ); + const halReady = Boolean( + fullExecutionBoundary.halRuntimeReady + || taskHalRuntimeReadiness.halRuntimeReady + || taskHalStatus.summary?.halRuntimeReady, + ); + const halSyncReady = Boolean( + fullExecutionBoundary.halSyncReady + || taskHalRuntimeReadiness.halSyncReady + || taskHalStatus.summary?.halSyncReady, + ); + + const fullBoundarySimulationReady = Boolean( + fullExecutionBoundary.semanticBoundary === WEB_SIMULATION_BOUNDARY + && fullExecutionBoundary.fullLinuxCncProgramExecutionReady === true + && fullExecutionBoundary.promotionAllowed === true, + ); + const hardwareBlocked = fullExecutionBoundary.hardwareDrive === false + && fullExecutionBoundary.hostRealtimeKernel === false + && fullExecutionBoundary.hostExternalUserMProcessReady === false + && fullExecutionBoundary.hostToolDbProcessReady === false + && fullExecutionBoundary.arbitraryUserMExecution === false; + const toolUserWebSimulationReady = fullExecutionBoundary.externalUserMProcessReady === true + && fullExecutionBoundary.externalUserMProcessScope === "web_simulation_only" + && fullExecutionBoundary.toolDbProcessReady === true + && fullExecutionBoundary.toolDbProcessScope === "web_simulation_only"; + const webSimulationConsistent = sourceManifestReady + && nativeProbeOk + && nativePromotionBlocked + && taskReady + && motionReady + && halReady + && halSyncReady + && fullBoundarySimulationReady + && toolUserWebSimulationReady + && hardwareBlocked; + + return { + apiName: "web-rtcp-5axis-native-task-hal-readiness-audit", + batch: "M18-native-task-hal-source-and-artifact-audit", + generatedAt, + status: webSimulationConsistent ? "ok" : "blocked", + semanticBoundary: WEB_SIMULATION_BOUNDARY, + promotionScope: "web_simulation_only", + taskHalWebSimulationBoundaryConsistent: webSimulationConsistent, + webSimulation: { + promoted: fullBoundarySimulationReady, + taskRuntimeReady: taskReady, + motionRuntimeReady: motionReady, + halRuntimeReady: halReady, + nativeTaskReady: fullExecutionBoundary.nativeTaskReady === true, + nativeHalSyncReady: fullExecutionBoundary.nativeHalSyncReady === true, + fullLinuxCncProgramExecutionReady: + fullExecutionBoundary.fullLinuxCncProgramExecutionReady === true, + promotionAllowed: fullExecutionBoundary.promotionAllowed === true, + }, + nativeHostAndHardware: { + nativeProbe: nativeProbeOk ? "ok" : "blocked", + nativeProbeStatus, + nativePromotionAllowed: truthy(nativeProbe.trt_task_hal_promotion_allowed), + hardwareDrive: false, + hostRealtimeKernel: false, + externalUserMProcessReady: false, + toolDbProcessReady: false, + hostExternalUserMProcessReady: false, + hostToolDbProcessReady: false, + arbitraryUserMExecution: false, + }, + toolUserWebSimulation: { + externalUserMProcessReady: fullExecutionBoundary.externalUserMProcessReady === true, + externalUserMProcessScope: fullExecutionBoundary.externalUserMProcessScope || "not_ready", + toolDbProcessReady: fullExecutionBoundary.toolDbProcessReady === true, + toolDbProcessScope: fullExecutionBoundary.toolDbProcessScope || "not_ready", + ready: toolUserWebSimulationReady, + }, + sourceManifest: { + ready: sourceManifestReady, + taskSourceCount, + halSourceCount, + motionSourceCount, + nmlSourceCount: numberFrom(sourceManifest.nml_source_count), + libnmlSourceCount: numberFrom(sourceManifest.libnml_source_count), + referenceSourceReady: truthy(sourceManifest.task_hal_reference_source_ready), + vendorSourceReady: truthy(sourceManifest.task_hal_vendor_source_ready), + vendorHashMatchReady: truthy(sourceManifest.task_hal_vendor_hash_match_ready), + }, + gates: { + task_hal_web_simulation_boundary_consistent: webSimulationConsistent ? 1 : 0, + native_task_hal_host_probe_status: nativeProbeStatus, + hardware_drive: 0, + host_realtime_kernel: 0, + external_user_m_process_ready: toolUserWebSimulationReady ? 1 : 0, + tool_db_process_ready: toolUserWebSimulationReady ? 1 : 0, + host_external_user_m_process_ready: 0, + host_tool_db_process_ready: 0, + promotion_scope: "web_simulation_only", + }, + artifacts: artifactPaths, + blockers: webSimulationConsistent ? [] : buildBlockers({ + sourceManifestReady, + nativeProbeOk, + nativePromotionBlocked, + taskReady, + motionReady, + halReady, + halSyncReady, + fullBoundarySimulationReady, + toolUserWebSimulationReady, + hardwareBlocked, + }), + }; +} + +function buildBlockers(checks) { + const blockers = []; + if (!checks.sourceManifestReady) blockers.push("task/HAL source manifest proof is incomplete"); + if (!checks.nativeProbeOk) blockers.push("native host probe did not produce an accepted default status"); + if (!checks.nativePromotionBlocked) blockers.push("native probe unexpectedly allowed promotion"); + if (!checks.taskReady) blockers.push("task runtime is not ready in the Web simulation boundary"); + if (!checks.motionReady) blockers.push("motion runtime is not ready in the Web simulation boundary"); + if (!checks.halReady) blockers.push("HAL runtime is not ready in the Web simulation boundary"); + if (!checks.halSyncReady) blockers.push("task/motion/HAL sync is not ready in the Web simulation boundary"); + if (!checks.fullBoundarySimulationReady) blockers.push("full execution boundary is not promoted for Web simulation"); + if (!checks.toolUserWebSimulationReady) blockers.push("tool DB or controlled user-M Web simulation is not ready"); + if (!checks.hardwareBlocked) blockers.push("hardware/native process blocked fields are not explicitly false"); + return blockers; +} + +function truthy(value) { + return value === true || value === 1 || value === "1" || value === "true"; +} + +function numberFrom(value) { + const numeric = Number(value); + return Number.isFinite(numeric) ? numeric : 0; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/rtcp-frame.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/rtcp-frame.js new file mode 100644 index 0000000..d3fc7f6 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/rtcp-frame.js @@ -0,0 +1,214 @@ +import { xyzacTrtProfile } from "../profiles/xyzac-trt.js"; + +const DEG_TO_RAD = Math.PI / 180; + +export function buildRtcpFrame({ + axisPose, + activeLine, + kinsType = "identity", + rtcpEnabled = false, + sourceMode = "fixture-ui-only", + profile = xyzacTrtProfile, + linuxCncKinematicsResult = null, +}) { + if (linuxCncKinematicsResult) { + return buildLinuxCncKinematicsFrame({ + axisPose, + activeLine, + kinsType, + rtcpEnabled, + sourceMode, + profile, + linuxCncKinematicsResult, + }); + } + + const pose = normalizeAxisPose(axisPose); + const toolLength = 84.019; + const toolAxisVector = computeToolAxisVector(pose, profile); + const compensation = rtcpEnabled + ? { + x: -toolAxisVector.x * toolLength, + y: -toolAxisVector.y * toolLength, + z: -toolAxisVector.z * toolLength, + } + : { x: 0, y: 0, z: 0 }; + const tcpPose = { + x: pose.x + compensation.x, + y: pose.y + compensation.y, + z: pose.z + compensation.z, + a: pose.a, + b: pose.b, + c: pose.c, + }; + + return { + apiName: "web-rtcp-5axis-motion-frame", + profileId: profile.id, + sourceMode, + semanticBoundary: + sourceMode === "fixture-ui-only" + ? "fixture_frame_ui_plumbing_not_linuxcnc_kinematics_proof" + : "linuxcnc_or_source_derived_runtime_required", + activeLine, + kinsType, + rtcpEnabled, + rtcpState: rtcpEnabled ? "on" : "off", + axisPose: pose, + jointPose: buildJointPose(pose, profile), + tcpPose, + toolAxisVector, + compensation, + toolLength, + readiness: { + frameReady: true, + uiReady: true, + profileReady: true, + linuxCncKinematicsReady: false, + promotionAllowed: false, + }, + }; +} + +function buildLinuxCncKinematicsFrame({ + axisPose, + activeLine, + kinsType, + rtcpEnabled, + profile, + linuxCncKinematicsResult, +}) { + const forward = linuxCncKinematicsResult.forward || {}; + const inverse = linuxCncKinematicsResult.inverse || {}; + const wasmPose = normalizeLinuxCncPose(forward.pose); + const pose = normalizeAxisPose({ + ...axisPose, + ...wasmPose, + }); + const jointValues = Array.isArray(inverse.joints) ? inverse.joints : []; + const toolAxisVector = computeToolAxisVector(pose, profile); + + return { + apiName: "web-rtcp-5axis-motion-frame", + profileId: profile.id, + sourceMode: "source-derived-kinematics-wasm", + semanticBoundary: "linuxcnc_kinematics_wasm_c_abi", + activeLine, + kinsType, + rtcpEnabled, + rtcpState: rtcpEnabled ? "on" : "off", + axisPose: pose, + jointPose: buildJointPoseFromLinuxCncJoints(jointValues, pose, profile), + tcpPose: { + x: pose.x, + y: pose.y, + z: pose.z, + a: pose.a, + b: pose.b, + c: pose.c, + }, + toolAxisVector, + compensation: { x: 0, y: 0, z: 0 }, + toolLength: 84.019, + kinematicsModuleId: linuxCncKinematicsResult.moduleId, + kinematicsSwitchkinsType: linuxCncKinematicsResult.switchkinsType, + kinematicsForwardRc: forward.rc, + kinematicsInverseRc: inverse.rc, + kinematicsFlags: { + fflags: forward.fflags, + iflags: forward.iflags, + inverseFflags: inverse.fflags, + inverseIflags: inverse.iflags, + }, + readiness: { + frameReady: true, + uiReady: true, + profileReady: true, + linuxCncKinematicsReady: forward.rc === 0 && inverse.rc === 0, + promotionAllowed: forward.rc === 0 && inverse.rc === 0, + fullLinuxCncProgramExecutionReady: false, + }, + }; +} + +function normalizeAxisPose(axisPose) { + return { + x: Number(axisPose?.x ?? 0), + y: Number(axisPose?.y ?? 0), + z: Number(axisPose?.z ?? 0), + a: Number(axisPose?.a ?? 0), + b: Number(axisPose?.b ?? 0), + c: Number(axisPose?.c ?? 0), + }; +} + +function buildJointPose(pose, profile = xyzacTrtProfile) { + return axesForProfile(profile).map((axis, joint) => ({ + joint, + axis, + value: pose[axis.toLowerCase()] ?? 0, + })); +} + +function buildJointPoseFromLinuxCncJoints(joints, fallbackPose, profile = xyzacTrtProfile) { + const axes = axesForProfile(profile); + const fallbackValues = axes.map((axis) => fallbackPose[axis.toLowerCase()] ?? 0); + return axes.map((axis, joint) => ({ + joint, + axis, + value: Number(joints[joint] ?? fallbackValues[joint] ?? 0), + })); +} + +function axesForProfile(profile = xyzacTrtProfile) { + const coordinates = profile?.coordinates?.length + ? profile.coordinates + : String(profile?.traj?.coordinates || "XYZAC").split(""); + return coordinates.map((axis) => String(axis).toUpperCase()).filter(Boolean); +} + +function normalizeLinuxCncPose(pose = {}) { + return { + x: Number(pose.x ?? pose.tran?.x ?? 0), + y: Number(pose.y ?? pose.tran?.y ?? 0), + z: Number(pose.z ?? pose.tran?.z ?? 0), + a: Number(pose.a ?? 0), + b: Number(pose.b ?? 0), + c: Number(pose.c ?? 0), + }; +} + +function computeToolAxisVector(pose, profile = xyzacTrtProfile) { + const coordinates = profile?.traj?.coordinates || "XYZAC"; + const tiltDegrees = coordinates.includes("B") ? pose.b : pose.a; + const cDegrees = pose.c; + const tilt = tiltDegrees * DEG_TO_RAD; + const c = cDegrees * DEG_TO_RAD; + const sinTilt = Math.sin(tilt); + const cosTilt = Math.cos(tilt); + const sinC = Math.sin(c); + const cosC = Math.cos(c); + + if (coordinates.includes("B")) { + return normalizeVector({ + x: sinTilt * cosC, + y: sinTilt * sinC, + z: cosTilt, + }); + } + + return normalizeVector({ + x: sinTilt * sinC, + y: -sinTilt * cosC, + z: cosTilt, + }); +} + +function normalizeVector(vector) { + const length = Math.hypot(vector.x, vector.y, vector.z) || 1; + return { + x: vector.x / length, + y: vector.y / length, + z: vector.z / length, + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/tool-db-simulation.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/tool-db-simulation.js new file mode 100644 index 0000000..496ddea --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/tool-db-simulation.js @@ -0,0 +1,997 @@ +const TOOL_WORD_PATTERN = /([A-Z])\s*([-+]?(?:\d+(?:\.\d*)?|\.\d+))/gi; +const TOOL_DB_STORAGE_ROOT = "web-rtcp-5axis-xyzbc-trt-sim-plan/tool-db"; +const TOOL_OFFSET_AXES = ["x", "y", "z", "a", "b", "c", "u", "v", "w"]; +const TOOL_PARAMETER_KEYS = { + toolNumber: 5400, + x: 5401, + y: 5402, + z: 5403, + a: 5404, + b: 5405, + c: 5406, + u: 5407, + v: 5408, + w: 5409, + diameter: 5410, + frontAngle: 5411, + backAngle: 5412, + orientation: 5413, +}; + +let browserMemoryToolDbStorage = null; + +export function parseLinuxCncToolTable(text = "", options = {}) { + const randomToolChanger = Boolean(options.randomToolChanger); + const pockets = [createEmptyToolEntry({ idx: 0, pocket: 0, toolNumber: 0 })]; + const diagnostics = []; + const lines = String(text).split(/\r?\n/); + let nonRandomIdx = 1; + + lines.forEach((rawLine, index) => { + const lineNumber = index + 1; + const [bodyPart, ...commentParts] = rawLine.split(";"); + const body = bodyPart.trim(); + const comment = commentParts.join(";").trim(); + if (!body) return; + + const words = {}; + for (const match of body.matchAll(TOOL_WORD_PATTERN)) { + words[match[1].toUpperCase()] = Number(match[2]); + } + if (!Number.isFinite(words.T)) { + diagnostics.push({ + line: lineNumber, + severity: "warning", + message: "tool table row missing T word", + rawLine, + }); + return; + } + if (!Number.isFinite(words.P)) { + diagnostics.push({ + line: lineNumber, + severity: "warning", + message: "tool table row missing P word", + rawLine, + }); + } + + const realPocket = Number.isFinite(words.P) ? words.P : words.T; + const idx = randomToolChanger ? realPocket : nonRandomIdx; + if (!randomToolChanger) nonRandomIdx += 1; + const entry = normalizeToolEntry({ + idx, + line: lineNumber, + rawLine, + comment, + toolNumber: words.T, + pocket: realPocket, + diameter: Number.isFinite(words.D) ? words.D : 0, + orientation: Number.isFinite(words.Q) ? words.Q : 0, + frontAngle: Number.isFinite(words.I) ? words.I : 0, + backAngle: Number.isFinite(words.J) ? words.J : 0, + offset: offsetFromWords(words), + }); + if (pockets[idx]?.toolNumber > 0) { + diagnostics.push({ + line: lineNumber, + severity: "warning", + message: `multiple tools assigned to internal pocket/index ${idx}`, + rawLine, + }); + } + pockets[idx] = entry; + }); + + const entries = compactToolEntries(pockets); + return { + apiName: "web-rtcp-5axis-tool-table", + sourceRel: options.sourceRel || null, + path: options.path || null, + randomToolChanger, + entries, + pockets: normalizePockets(pockets), + toolCount: entries.length, + diagnostics, + rawText: String(text), + semanticBoundary: "linuxcnc_tool_table_text_parsed_for_web_simulation", + linuxCncReferences: [ + "linuxcnc/src/emc/tooldata/tooldata_common.cc:70", + "linuxcnc/src/emc/tooldata/tooldata_common.cc:365", + "linuxcnc/src/emc/nml_intf/emctool.h:29", + ], + }; +} + +export function serializeLinuxCncToolTable(toolTable) { + const table = normalizeToolTable(toolTable); + const startIdx = table.randomToolChanger ? 0 : 1; + const lines = []; + for (let idx = startIdx; idx < table.pockets.length; idx += 1) { + const entry = table.pockets[idx]; + if (!entry || entry.toolNumber < 0) continue; + lines.push(formatLinuxCncToolLine(entry, table.randomToolChanger)); + } + return `${lines.join("\n")}${lines.length ? "\n" : ""}`; +} + +export function createToolDbSimulation({ toolTable = null, profile = null, storageMode = null } = {}) { + const normalizedTable = normalizeToolTable(toolTable?.apiName === "web-rtcp-5axis-tool-table" + ? toolTable + : parseLinuxCncToolTable("", { sourceRel: profile?.toolTablePath || null })); + const spindleEntry = normalizedTable.pockets[0] || createEmptyToolEntry({ idx: 0, pocket: 0, toolNumber: 0 }); + return { + apiName: "web-rtcp-5axis-tool-db-simulation", + ready: true, + processReady: true, + processScope: "web_simulation_only", + hostProcessReady: false, + hostProcessExecution: false, + dbProgramReady: false, + storageMode: storageMode || null, + storageCapability: null, + profileId: profile?.id || null, + toolTablePath: normalizedTable.sourceRel || profile?.toolTablePath || null, + randomToolChanger: normalizedTable.randomToolChanger, + toolTable: normalizedTable, + toolInSpindle: spindleEntry.toolNumber > 0 ? spindleEntry.toolNumber : 0, + toolFromPocket: spindleEntry.toolNumber > 0 ? spindleEntry.pocket : 0, + pocketPrepped: -1, + preparedTool: null, + preparedPocket: null, + preparedIndex: null, + currentPocket: spindleEntry.toolNumber > 0 ? spindleEntry.idx : 0, + activeToolOffset: null, + toolTableCurrent: cloneToolEntry(spindleEntry), + iocontrol: createInitialIoControlPins(spindleEntry), + emcioStatus: createInitialEmcioStatus(spindleEntry), + interpreterParameters: createToolParameters(null), + events: [], + lastSavedText: null, + lastSavedPath: null, + semanticBoundary: "linuxcnc_tool_db_web_simulation_not_native_db_program", + linuxCncReferences: [ + "linuxcnc/src/emc/task/taskclass.cc:281", + "linuxcnc/src/emc/task/taskclass.cc:425", + "linuxcnc/src/emc/task/taskclass.cc:482", + "linuxcnc/src/emc/task/taskclass.cc:614", + "linuxcnc/src/emc/rs274ngc/interp_convert.cc:6236", + "linuxcnc/src/emc/task/emccanon.cc:3075", + ], + }; +} + +export function listToolEntries(toolDb) { + return compactToolEntries(normalizeToolTable(toolDb?.toolTable).pockets).map(cloneToolEntry); +} + +export function queryToolEntry(toolDb, selector = {}) { + const table = normalizeToolTable(toolDb?.toolTable); + const entry = resolveToolEntry(table, selector); + return entry ? cloneToolEntry(entry) : null; +} + +export function prepareTool(toolDb, toolNumber, options = {}) { + let state = cloneToolDb(toolDb); + const idx = findToolIndexForTool(state.toolTable, toolNumber, state.randomToolChanger); + const entry = idx >= 0 ? state.toolTable.pockets[idx] : null; + + state.preparedTool = Number(toolNumber); + state.preparedIndex = idx >= 0 ? idx : null; + state.preparedPocket = entry?.pocket ?? null; + if (idx === -1) { + state.preparedTool = null; + state.pocketPrepped = -1; + state.iocontrol.toolPrepIndex = -1; + state.iocontrol.toolPrepNumber = 0; + state.iocontrol.toolPrepPocket = 0; + state.iocontrol.toolPrepare = false; + state.iocontrol.toolPrepared = false; + state.emcioStatus.status = "ERROR"; + state.events.push(createToolDbEvent("T", { + toolNumber: Number(toolNumber), + idx, + pocket: null, + found: false, + error: "tool_number_not_found", + linuxCncReference: "linuxcnc/src/emc/task/taskclass.cc:425", + })); + return state; + } else { + state.iocontrol.toolPrepIndex = idx; + if (state.randomToolChanger || idx !== 0) { + state.iocontrol.toolPrepNumber = entry?.toolNumber ?? 0; + state.iocontrol.toolPrepPocket = entry?.pocket ?? 0; + } else { + state.iocontrol.toolPrepNumber = 0; + state.iocontrol.toolPrepPocket = 0; + } + } + state.iocontrol.toolPrepare = true; + state.iocontrol.toolPrepared = options.toolPrepared ?? true; + state.emcioStatus.status = "EXEC"; + state.events.push(createToolDbEvent("T", { + toolNumber: Number(toolNumber), + idx, + pocket: entry?.pocket ?? null, + found: Boolean(entry), + linuxCncReference: "linuxcnc/src/emc/task/taskclass.cc:425", + })); + if (options.autoReadToolInputs !== false) { + state = readToolInputs(state); + } + return state; +} + +export function loadPreparedTool(toolDb, options = {}) { + let state = cloneToolDb(toolDb); + if (state.pocketPrepped === -1 && state.iocontrol.toolPrepare && state.iocontrol.toolPrepared) { + state = readToolInputs(state); + } + + const idx = state.pocketPrepped; + const entry = idx >= 0 ? state.toolTable.pockets[idx] : null; + if (state.randomToolChanger && idx === 0) { + state.events.push(createToolDbEvent("M6", { + idx, + noOp: true, + reason: "random_toolchanger_spindle_pocket", + })); + return state; + } + if (!state.randomToolChanger && idx > 0 && state.toolInSpindle === entry?.toolNumber) { + state.events.push(createToolDbEvent("M6", { + idx, + toolNumber: state.toolInSpindle, + noOp: true, + reason: "tool_already_in_spindle", + })); + return state; + } + if (idx !== -1) { + state.iocontrol.toolChange = true; + state.iocontrol.toolChanged = options.toolChanged ?? true; + state.emcioStatus.status = "EXEC"; + } + state.events.push(createToolDbEvent("M6", { + idx, + toolNumber: entry?.toolNumber ?? 0, + pocket: entry?.pocket ?? 0, + found: Boolean(entry), + linuxCncReference: "linuxcnc/src/emc/task/taskclass.cc:482", + })); + if (options.autoReadToolInputs !== false) { + state = readToolInputs(state); + } + return state; +} + +export function readToolInputs(toolDb) { + let state = cloneToolDb(toolDb); + if (state.iocontrol.toolPrepare && state.iocontrol.toolPrepared) { + state.pocketPrepped = state.iocontrol.toolPrepIndex; + state.emcioStatus.tool.pocketPrepped = state.pocketPrepped; + state.iocontrol.toolPrepare = false; + state.emcioStatus.status = "DONE"; + state.events.push(createToolDbEvent("READ_TOOL_INPUTS_PREPARED", { + pocketPrepped: state.pocketPrepped, + linuxCncReference: "linuxcnc/src/emc/task/taskclass.cc:616", + })); + } + + if (state.iocontrol.toolChange && state.iocontrol.toolChanged) { + const idx = state.pocketPrepped; + let loaded = createEmptyToolEntry({ idx: 0, pocket: 0, toolNumber: 0 }); + if (!state.randomToolChanger && idx === 0) { + state.toolTable.pockets[0] = loaded; + } else { + const entry = state.toolTable.pockets[idx] || createEmptyToolEntry({ idx, pocket: 0, toolNumber: 0 }); + loaded = cloneToolEntry({ + ...entry, + idx: 0, + }); + if (state.randomToolChanger) { + loaded.pocket = 0; + const previousSpindle = state.toolTable.pockets[0] || createEmptyToolEntry({ idx: 0, pocket: 0, toolNumber: 0 }); + state.toolTable.pockets[idx] = normalizeToolEntry({ + ...previousSpindle, + idx, + pocket: entry.pocket, + }); + } + state.toolTable.pockets[0] = loaded; + } + state.toolTable = refreshToolTable(state.toolTable); + state.toolInSpindle = loaded.toolNumber > 0 ? loaded.toolNumber : 0; + state.toolFromPocket = state.toolInSpindle > 0 ? loaded.pocket : 0; + state.currentPocket = state.toolInSpindle > 0 ? idx : 0; + state.toolTableCurrent = cloneToolEntry(loaded); + state.iocontrol.toolNumber = state.toolInSpindle; + state.iocontrol.toolFromPocket = state.toolFromPocket; + state.emcioStatus.tool.toolInSpindle = state.toolInSpindle; + state.emcioStatus.tool.toolFromPocket = state.toolFromPocket; + state.emcioStatus.tool.pocketPrepped = -1; + state.pocketPrepped = -1; + state.preparedTool = null; + state.preparedPocket = null; + state.preparedIndex = null; + state.iocontrol.toolPrepNumber = 0; + state.iocontrol.toolPrepPocket = 0; + state.iocontrol.toolPrepIndex = 0; + state.iocontrol.toolChange = false; + state.emcioStatus.status = "DONE"; + state.events.push(createToolDbEvent("READ_TOOL_INPUTS_CHANGED", { + toolNumber: state.toolInSpindle, + toolFromPocket: state.toolFromPocket, + currentPocket: state.currentPocket, + linuxCncReference: "linuxcnc/src/emc/task/taskclass.cc:623", + })); + } + return state; +} + +export function applyToolLengthOffset(toolDb, toolNumber = null) { + const state = cloneToolDb(toolDb); + const table = normalizeToolTable(state.toolTable); + const idx = Number.isFinite(Number(toolNumber)) + ? findToolIndexForTool(table, Number(toolNumber), state.randomToolChanger) + : 0; + const entry = idx >= 0 ? table.pockets[idx] : null; + state.activeToolOffset = entry + ? createActiveToolOffset(entry, idx) + : null; + state.interpreterParameters = createToolParameters(state.activeToolOffset); + state.events.push(createToolDbEvent("G43", { + idx, + toolNumber: toolNumber ?? state.toolInSpindle, + activeToolOffset: state.activeToolOffset, + found: Boolean(entry), + linuxCncReference: "linuxcnc/src/emc/rs274ngc/interp_convert.cc:6236", + })); + return state; +} + +export function setToolNumber(toolDb, toolNumber) { + let state = cloneToolDb(toolDb); + if (!state.randomToolChanger && Number(toolNumber) === 0) { + const unloaded = createEmptyToolEntry({ idx: 0, pocket: 0, toolNumber: 0 }); + state.toolTable.pockets[0] = unloaded; + state.toolTable = refreshToolTable(state.toolTable); + state.toolInSpindle = 0; + state.toolFromPocket = 0; + state.currentPocket = 0; + state.toolTableCurrent = cloneToolEntry(unloaded); + state.iocontrol.toolNumber = 0; + state.iocontrol.toolFromPocket = 0; + state.emcioStatus.tool.toolInSpindle = 0; + state.emcioStatus.tool.toolFromPocket = 0; + state.events.push(createToolDbEvent("M61", { + toolNumber: 0, + idx: 0, + pocket: 0, + found: true, + linuxCncReference: "linuxcnc/src/emc/task/taskclass.cc:572", + })); + return state; + } + const idx = findToolIndexForTool(state.toolTable, toolNumber, state.randomToolChanger); + const entry = idx >= 0 ? state.toolTable.pockets[idx] : null; + if (!entry) { + state.events.push(createToolDbEvent("M61", { + toolNumber: Number(toolNumber), + idx, + found: false, + })); + return state; + } + state.toolTable.pockets[0] = cloneToolEntry({ ...entry, idx: 0 }); + state.toolTable = refreshToolTable(state.toolTable); + state.toolInSpindle = entry.toolNumber; + state.toolFromPocket = entry.toolNumber > 0 ? entry.pocket : 0; + state.currentPocket = idx; + state.toolTableCurrent = cloneToolEntry(state.toolTable.pockets[0]); + state.iocontrol.toolNumber = state.toolInSpindle; + state.iocontrol.toolFromPocket = state.toolFromPocket; + state.emcioStatus.tool.toolInSpindle = state.toolInSpindle; + state.emcioStatus.tool.toolFromPocket = state.toolFromPocket; + state.events.push(createToolDbEvent("M61", { + toolNumber: state.toolInSpindle, + idx, + pocket: state.toolFromPocket, + found: true, + linuxCncReference: "linuxcnc/src/emc/task/taskclass.cc:572", + })); + return state; +} + +export function editToolEntry(toolDb, patch = {}) { + const state = cloneToolDb(toolDb); + const selector = { + idx: patch.idx, + toolNumber: patch.toolNumber ?? patch.toolno, + pocket: patch.pocket ?? patch.pocketno, + }; + const current = resolveToolEntry(state.toolTable, selector); + const idx = Number.isFinite(Number(patch.idx)) + ? Number(patch.idx) + : current?.idx ?? nextAvailableToolIndex(state.toolTable); + const nextEntry = normalizeToolEntry({ + ...(current || createEmptyToolEntry({ idx, pocket: patch.pocket ?? idx, toolNumber: patch.toolNumber ?? idx })), + ...patch, + idx, + toolNumber: patch.toolNumber ?? patch.toolno ?? current?.toolNumber ?? idx, + pocket: patch.pocket ?? patch.pocketno ?? current?.pocket ?? idx, + diameter: patch.diameter ?? current?.diameter ?? 0, + frontAngle: patch.frontAngle ?? patch.frontangle ?? current?.frontAngle ?? 0, + backAngle: patch.backAngle ?? patch.backangle ?? current?.backAngle ?? 0, + orientation: patch.orientation ?? current?.orientation ?? 0, + offset: { + ...(current?.offset || createZeroOffset()), + ...(patch.offset || {}), + ...(Number.isFinite(Number(patch.length)) ? { z: Number(patch.length) } : {}), + ...(Number.isFinite(Number(patch.toolLength)) ? { z: Number(patch.toolLength) } : {}), + ...(Number.isFinite(Number(patch.zOffset)) ? { z: Number(patch.zOffset) } : {}), + }, + }); + state.toolTable.pockets[idx] = nextEntry; + if (state.currentPocket === idx || state.toolInSpindle === nextEntry.toolNumber) { + state.toolTable.pockets[0] = cloneToolEntry({ ...nextEntry, idx: 0 }); + state.toolTableCurrent = cloneToolEntry(state.toolTable.pockets[0]); + state.toolInSpindle = nextEntry.toolNumber; + state.toolFromPocket = nextEntry.pocket; + state.iocontrol.toolNumber = state.toolInSpindle; + state.iocontrol.toolFromPocket = state.toolFromPocket; + state.emcioStatus.tool.toolInSpindle = state.toolInSpindle; + state.emcioStatus.tool.toolFromPocket = state.toolFromPocket; + } + if (state.activeToolOffset?.idx === idx || state.activeToolOffset?.toolNumber === nextEntry.toolNumber) { + state.activeToolOffset = createActiveToolOffset(nextEntry, idx); + state.interpreterParameters = createToolParameters(state.activeToolOffset); + } + state.toolTable = refreshToolTable(state.toolTable); + state.events.push(createToolDbEvent("EDIT_TOOL", { + idx, + toolNumber: nextEntry.toolNumber, + pocket: nextEntry.pocket, + linuxCncReference: "linuxcnc/src/emc/task/taskclass.cc:527", + })); + return state; +} + +export async function saveToolDbSimulation(toolDb, options = {}) { + const state = cloneToolDb(toolDb); + const text = serializeLinuxCncToolTable(state.toolTable); + const path = options.path || toolDbStoragePath(state); + const storageInfo = resolveToolDbStorage(options); + await saveTextFile(path, text, storageInfo.storage); + state.lastSavedText = text; + state.lastSavedPath = path; + state.storageMode = options.storageMode || storageInfo.mode; + state.storageCapability = storageInfo.capability; + state.events.push(createToolDbEvent("SAVE_TOOL_TABLE", { + path, + bytes: text.length, + storageMode: state.storageMode, + linuxCncReference: "linuxcnc/src/emc/tooldata/tooldata_common.cc:383", + })); + return { + toolDb: state, + path, + text, + storageMode: state.storageMode, + storageCapability: storageInfo.capability, + semanticBoundary: "tool_table_saved_in_web_storage_boundary", + }; +} + +export function applyToolCommandSequence(toolDb, commands = []) { + return commands.reduce((state, command) => { + const code = String(command.code || command).toUpperCase(); + if (code === "T") return prepareTool(state, command.toolNumber); + if (code === "M6") return loadPreparedTool(state); + if (code === "G43") return applyToolLengthOffset(state, command.toolNumber ?? command.h ?? null); + if (code === "M61") return setToolNumber(state, command.toolNumber ?? command.q); + throw new Error(`unsupported tool DB simulation command: ${code}`); + }, toolDb); +} + +export function extractToolCommandSequenceFromProgram(programText = "") { + const commands = []; + const lines = String(programText).split(/\r?\n/); + lines.forEach((rawLine, index) => { + const line = rawLine + .replace(/\([^)]*\)/g, " ") + .split(";")[0]; + const words = [...line.matchAll(/([GMTQH])\s*([-+]?(?:\d+(?:\.\d*)?|\.\d+))/gi)] + .map((match) => ({ + letter: match[1].toUpperCase(), + value: Number(match[2]), + index: match.index ?? 0, + })) + .filter((word) => Number.isFinite(word.value)); + if (!words.length) return; + + const hWord = words.find((word) => word.letter === "H"); + const qWord = words.find((word) => word.letter === "Q"); + for (const word of words) { + if (word.letter === "T") { + commands.push(createProgramToolCommand("T", index + 1, rawLine, { + toolNumber: word.value, + })); + } else if (word.letter === "M" && word.value === 6) { + commands.push(createProgramToolCommand("M6", index + 1, rawLine)); + } else if (word.letter === "M" && word.value === 61 && Number.isFinite(qWord?.value)) { + commands.push(createProgramToolCommand("M61", index + 1, rawLine, { + q: qWord?.value, + toolNumber: qWord?.value, + })); + } else if (word.letter === "G" && word.value === 43) { + commands.push(createProgramToolCommand("G43", index + 1, rawLine, { + h: hWord?.value, + toolNumber: hWord?.value, + })); + } + } + }); + return commands; +} + +export function createToolDbReadiness(toolDb) { + const ready = toolDb?.processReady === true && toolDb?.processScope === "web_simulation_only"; + return { + apiName: "web-rtcp-5axis-tool-db-readiness", + ready, + toolDbProcessReady: ready, + toolDbProcessScope: ready ? "web_simulation_only" : "not_ready", + hostToolDbProcessReady: false, + hostProcessExecution: false, + dbProgramReady: false, + toolCount: toolDb?.toolTable?.toolCount || 0, + toolTablePath: toolDb?.toolTablePath || null, + storageMode: toolDb?.storageMode || null, + semanticBoundary: "tool_db_process_ready_for_web_simulation_only", + }; +} + +export function detectToolDbStorageCapability(globalScope = globalThis) { + const forcedUnavailable = Boolean(globalScope.__WEB_RTCP_FORCE_OPFS_UNAVAILABLE__); + const isBrowser = typeof globalScope.window === "object" || typeof globalScope.document === "object"; + const secureContext = !isBrowser || globalScope.isSecureContext !== false; + const hasOpfs = typeof globalScope.navigator?.storage?.getDirectory === "function"; + const opfsAvailable = hasOpfs && secureContext && !forcedUnavailable; + return { + apiName: "web-rtcp-5axis-tool-db-storage-capability", + opfsAvailable, + opfsUnavailable: !opfsAvailable, + secureContext, + forcedUnavailable, + hasNavigatorStorage: Boolean(globalScope.navigator?.storage), + hasGetDirectory: hasOpfs, + fallbackMode: opfsAvailable ? null : "memory-fallback", + reason: opfsAvailable + ? "opfs_available" + : forcedUnavailable + ? "forced_unavailable" + : !secureContext + ? "non_secure_context" + : !hasOpfs + ? "missing_opfs_get_directory" + : "opfs_unavailable", + }; +} + +export function createMemoryToolDbStorage(seed = {}) { + const files = new Map(Object.entries(seed)); + return { + apiName: "web-rtcp-5axis-memory-tool-db-storage", + files, + async getDirectory() { + return createDirectoryHandle(files, []); + }, + }; +} + +function createProgramToolCommand(code, line, rawLine, fields = {}) { + return { + code, + line, + rawLine, + ...fields, + semanticBoundary: "linuxcnc_tool_command_scanned_for_web_simulation", + }; +} + +function normalizeToolTable(toolTable = {}) { + const randomToolChanger = Boolean(toolTable.randomToolChanger); + const rawPockets = Array.isArray(toolTable.pockets) + ? toolTable.pockets + : pocketsFromEntries(toolTable.entries || [], randomToolChanger); + const pockets = normalizePockets(rawPockets); + const entries = compactToolEntries(pockets); + return { + apiName: "web-rtcp-5axis-tool-table", + sourceRel: toolTable.sourceRel || null, + path: toolTable.path || null, + randomToolChanger, + entries, + pockets, + toolCount: entries.length, + diagnostics: [...(toolTable.diagnostics || [])], + rawText: typeof toolTable.rawText === "string" ? toolTable.rawText : "", + semanticBoundary: toolTable.semanticBoundary || "linuxcnc_tool_table_text_parsed_for_web_simulation", + linuxCncReferences: toolTable.linuxCncReferences || [], + }; +} + +function refreshToolTable(toolTable) { + const table = normalizeToolTable(toolTable); + return { + ...table, + rawText: serializeLinuxCncToolTable(table), + }; +} + +function pocketsFromEntries(entries = [], randomToolChanger = false) { + const pockets = [createEmptyToolEntry({ idx: 0, pocket: 0, toolNumber: 0 })]; + let nextIdx = 1; + for (const entry of entries) { + const idx = Number.isFinite(Number(entry.idx)) + ? Number(entry.idx) + : randomToolChanger + ? Number(entry.pocket ?? entry.pocketno ?? entry.P ?? nextIdx) + : nextIdx; + pockets[idx] = normalizeToolEntry({ ...entry, idx }); + if (!randomToolChanger && idx >= nextIdx) nextIdx = idx + 1; + } + return pockets; +} + +function normalizePockets(rawPockets = []) { + const pockets = [...rawPockets]; + pockets[0] = normalizeToolEntry(pockets[0] || createEmptyToolEntry({ idx: 0, pocket: 0, toolNumber: 0 })); + for (let idx = 1; idx < pockets.length; idx += 1) { + if (pockets[idx]) pockets[idx] = normalizeToolEntry({ ...pockets[idx], idx }); + } + return pockets; +} + +function compactToolEntries(pockets = []) { + return pockets + .slice(1) + .filter((entry) => entry && entry.toolNumber >= 0) + .map(cloneToolEntry) + .sort((left, right) => left.idx - right.idx); +} + +function normalizeToolEntry(entry = {}) { + const toolNumber = Number(entry.toolNumber ?? entry.toolno ?? entry.T ?? 0); + const idx = Number(entry.idx ?? entry.index ?? entry.P ?? entry.pocket ?? 0); + return { + idx, + line: entry.line || null, + rawLine: entry.rawLine || null, + comment: entry.comment || "", + toolNumber, + toolno: toolNumber, + pocket: Number(entry.pocket ?? entry.pocketno ?? entry.P ?? idx), + pocketno: Number(entry.pocket ?? entry.pocketno ?? entry.P ?? idx), + diameter: Number(entry.diameter ?? entry.D ?? 0), + orientation: Number(entry.orientation ?? entry.Q ?? 0), + frontAngle: Number(entry.frontAngle ?? entry.frontangle ?? entry.I ?? 0), + backAngle: Number(entry.backAngle ?? entry.backangle ?? entry.J ?? 0), + offset: { + x: Number(entry.offset?.x ?? entry.x ?? entry.X ?? 0), + y: Number(entry.offset?.y ?? entry.y ?? entry.Y ?? 0), + z: Number(entry.offset?.z ?? entry.z ?? entry.Z ?? entry.length ?? entry.toolLength ?? 0), + a: Number(entry.offset?.a ?? entry.a ?? entry.A ?? 0), + b: Number(entry.offset?.b ?? entry.b ?? entry.B ?? 0), + c: Number(entry.offset?.c ?? entry.c ?? entry.C ?? 0), + u: Number(entry.offset?.u ?? entry.u ?? entry.U ?? 0), + v: Number(entry.offset?.v ?? entry.v ?? entry.V ?? 0), + w: Number(entry.offset?.w ?? entry.w ?? entry.W ?? 0), + }, + }; +} + +function createEmptyToolEntry({ idx = 0, pocket = -1, toolNumber = -1 } = {}) { + return normalizeToolEntry({ + idx, + pocket, + toolNumber, + diameter: 0, + frontAngle: 0, + backAngle: 0, + orientation: 0, + offset: createZeroOffset(), + }); +} + +function cloneToolEntry(entry) { + const normalized = normalizeToolEntry(entry); + return { + ...normalized, + offset: { ...normalized.offset }, + }; +} + +function createZeroOffset() { + return { + x: 0, + y: 0, + z: 0, + a: 0, + b: 0, + c: 0, + u: 0, + v: 0, + w: 0, + }; +} + +function offsetFromWords(words) { + return Object.fromEntries(TOOL_OFFSET_AXES.map((axis) => { + const letter = axis.toUpperCase(); + return [axis, Number.isFinite(words[letter]) ? words[letter] : 0]; + })); +} + +function resolveToolEntry(toolTable, selector = {}) { + const table = normalizeToolTable(toolTable); + if (Number.isFinite(Number(selector.idx))) { + return table.pockets[Number(selector.idx)] || null; + } + if (Number.isFinite(Number(selector.toolNumber ?? selector.toolno))) { + const idx = findToolIndexForTool(table, Number(selector.toolNumber ?? selector.toolno), table.randomToolChanger); + return idx >= 0 ? table.pockets[idx] : null; + } + if (Number.isFinite(Number(selector.pocket ?? selector.pocketno))) { + const pocket = Number(selector.pocket ?? selector.pocketno); + return table.pockets.find((entry, idx) => idx > 0 && entry?.pocket === pocket) || + table.pockets.find((entry) => entry?.pocket === pocket) || + null; + } + return null; +} + +function findToolIndexForTool(toolTable, toolNumber, randomToolChanger = false) { + const number = Number(toolNumber); + if (!randomToolChanger && number === 0) return 0; + const table = normalizeToolTable(toolTable); + const nonSpindleIndex = table.pockets.findIndex((entry, idx) => idx > 0 && entry?.toolNumber === number); + if (nonSpindleIndex >= 0) return nonSpindleIndex; + const index = table.pockets.findIndex((entry) => entry?.toolNumber === number); + return index >= 0 ? index : -1; +} + +function nextAvailableToolIndex(toolTable) { + const table = normalizeToolTable(toolTable); + for (let idx = 1; idx < table.pockets.length; idx += 1) { + if (!table.pockets[idx] || table.pockets[idx].toolNumber < 0) return idx; + } + return Math.max(table.pockets.length, 1); +} + +function createInitialIoControlPins(spindleEntry = null) { + const loaded = spindleEntry?.toolNumber > 0 ? spindleEntry : null; + return { + toolPrepare: false, + toolPrepared: false, + toolPrepNumber: 0, + toolPrepPocket: 0, + toolPrepIndex: 0, + toolChange: false, + toolChanged: false, + toolNumber: loaded?.toolNumber || 0, + toolFromPocket: loaded?.pocket || 0, + }; +} + +function createInitialEmcioStatus(spindleEntry = null) { + const loaded = spindleEntry?.toolNumber > 0 ? spindleEntry : null; + return { + status: "DONE", + tool: { + toolInSpindle: loaded?.toolNumber || 0, + toolFromPocket: loaded?.pocket || 0, + pocketPrepped: -1, + }, + }; +} + +function cloneToolDb(toolDb) { + const toolTable = normalizeToolTable(toolDb?.toolTable); + const spindleEntry = toolTable.pockets[0] || createEmptyToolEntry({ idx: 0, pocket: 0, toolNumber: 0 }); + return { + ...toolDb, + randomToolChanger: Boolean(toolDb?.randomToolChanger ?? toolTable.randomToolChanger), + toolTable, + toolTableCurrent: toolDb?.toolTableCurrent + ? cloneToolEntry(toolDb.toolTableCurrent) + : cloneToolEntry(spindleEntry), + iocontrol: { ...createInitialIoControlPins(spindleEntry), ...(toolDb?.iocontrol || {}) }, + emcioStatus: { + ...createInitialEmcioStatus(spindleEntry), + ...(toolDb?.emcioStatus || {}), + tool: { + ...createInitialEmcioStatus(spindleEntry).tool, + ...(toolDb?.emcioStatus?.tool || {}), + }, + }, + activeToolOffset: toolDb?.activeToolOffset + ? { + ...toolDb.activeToolOffset, + offset: { ...toolDb.activeToolOffset.offset }, + } + : null, + interpreterParameters: { ...(toolDb?.interpreterParameters || createToolParameters(null)) }, + events: [...(toolDb?.events || [])], + }; +} + +function createActiveToolOffset(entry, idx) { + return { + idx, + toolNumber: entry.toolNumber, + pocket: entry.pocket, + offset: { ...entry.offset }, + diameter: entry.diameter, + frontAngle: entry.frontAngle, + backAngle: entry.backAngle, + orientation: entry.orientation, + }; +} + +function createToolParameters(activeOffset) { + const parameters = { + [TOOL_PARAMETER_KEYS.toolNumber]: activeOffset?.toolNumber || 0, + }; + for (const axis of TOOL_OFFSET_AXES) { + parameters[TOOL_PARAMETER_KEYS[axis]] = activeOffset?.offset?.[axis] || 0; + } + parameters[TOOL_PARAMETER_KEYS.diameter] = activeOffset?.diameter || 0; + parameters[TOOL_PARAMETER_KEYS.frontAngle] = activeOffset?.frontAngle || 0; + parameters[TOOL_PARAMETER_KEYS.backAngle] = activeOffset?.backAngle || 0; + parameters[TOOL_PARAMETER_KEYS.orientation] = activeOffset?.orientation || 0; + return parameters; +} + +function createToolDbEvent(code, payload = {}) { + return { + apiName: "web-rtcp-5axis-tool-db-event", + code, + payload, + createdAt: new Date().toISOString(), + semanticBoundary: "linuxcnc_tool_task_semantics_mirrored_for_web_simulation", + promotionScope: "web_simulation_only", + hostProcessExecution: false, + }; +} + +function formatLinuxCncToolLine(entry, randomToolChanger) { + const normalized = normalizeToolEntry(entry); + const pocketWord = randomToolChanger ? normalized.idx : normalized.pocket; + const words = [ + `T${String(formatInteger(normalized.toolNumber)).padEnd(3, " ")}`, + `P${String(formatInteger(pocketWord)).padEnd(3, " ")}`, + ]; + if (normalized.diameter !== 0) words.push(`D${formatLinuxCncFloat(normalized.diameter)}`); + for (const axis of TOOL_OFFSET_AXES) { + const value = normalized.offset[axis]; + if (value !== 0) words.push(`${axis.toUpperCase()}${formatLinuxCncFloat(value)}`); + } + if (normalized.frontAngle !== 0) words.push(`I${formatLinuxCncFloat(normalized.frontAngle)}`); + if (normalized.backAngle !== 0) words.push(`J${formatLinuxCncFloat(normalized.backAngle)}`); + if (normalized.orientation !== 0) words.push(`Q${formatInteger(normalized.orientation)}`); + return `${words.join(" ")}${normalized.comment ? ` ;${normalized.comment}` : ""}`; +} + +function formatInteger(value) { + const number = Number(value); + if (!Number.isFinite(number)) return 0; + return Math.trunc(number); +} + +function formatLinuxCncFloat(value) { + const number = Number(value); + if (!Number.isFinite(number)) return "+0.000000"; + return `${number >= 0 ? "+" : ""}${number.toFixed(6)}`; +} + +function toolDbStoragePath(toolDb) { + const profileId = toolDb.profileId || "unknown-profile"; + const filename = basename(toolDb.toolTablePath || "tool.tbl"); + return `${TOOL_DB_STORAGE_ROOT}/${profileId}/${filename}`; +} + +function basename(path = "") { + return String(path).split("/").filter(Boolean).pop() || ""; +} + +function resolveToolDbStorage(options = {}) { + if (options.storage) { + return { + storage: options.storage, + mode: options.storageMode || storageModeFor(options.storage), + capability: { + apiName: "web-rtcp-5axis-tool-db-storage-capability", + opfsAvailable: options.storageMode === "opfs", + opfsUnavailable: options.storageMode !== "opfs", + fallbackMode: options.storageMode === "opfs" ? null : options.storageMode || "custom", + reason: "explicit_storage", + }, + }; + } + const capability = detectToolDbStorageCapability(); + if (capability.opfsAvailable) { + return { + storage: globalThis.navigator.storage, + mode: "opfs", + capability, + }; + } + browserMemoryToolDbStorage ??= createMemoryToolDbStorage(); + return { + storage: browserMemoryToolDbStorage, + mode: "memory-fallback", + capability, + }; +} + +function storageModeFor(storage) { + return storage?.apiName === "web-rtcp-5axis-memory-tool-db-storage" || + storage?.apiName === "web-rtcp-5axis-memory-session-storage" + ? "memory" + : "custom"; +} + +async function saveTextFile(path, text, storage) { + const root = await storage.getDirectory(); + const parts = path.split("/").filter(Boolean); + let directory = root; + for (const part of parts.slice(0, -1)) { + directory = await directory.getDirectoryHandle(part, { create: true }); + } + const handle = await directory.getFileHandle(parts[parts.length - 1], { create: true }); + const writable = await handle.createWritable(); + await writable.write(text); + await writable.close(); +} + +function createDirectoryHandle(files, prefix) { + return { + async getDirectoryHandle(name, options = {}) { + const nextPrefix = [...prefix, name]; + if (!options.create) { + const hasChild = [...files.keys()].some((path) => path.startsWith(`${nextPrefix.join("/")}/`)); + if (!hasChild) throw new Error(`directory not found: ${nextPrefix.join("/")}`); + } + return createDirectoryHandle(files, nextPrefix); + }, + async getFileHandle(name, options = {}) { + const path = [...prefix, name].join("/"); + if (!options.create && !files.has(path)) { + throw new Error(`file not found: ${path}`); + } + return { + async createWritable() { + let buffer = ""; + return { + async write(chunk) { + buffer += String(chunk); + }, + async close() { + files.set(path, buffer); + }, + }; + }, + async getFile() { + return { + async text() { + return files.get(path) || ""; + }, + }; + }, + }; + }, + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/linuxcnc-task-policy.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/linuxcnc-task-policy.js new file mode 100644 index 0000000..3f1011a --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/linuxcnc-task-policy.js @@ -0,0 +1,244 @@ +export const LINUXCNC_TASK_POLICY = { + apiName: "web-rtcp-5axis-linuxcnc-task-policy", + sourceMode: "linuxcnc-task-source-referenced-policy", + semanticBoundary: "linuxcnc_task_state_mode_command_gate", + sourceReferences: [ + { + path: "linuxcnc/src/emc/nml_intf/emc.hh", + symbols: ["EMC_TASK_MODE", "EMC_TASK_STATE", "EMC_TASK_INTERP"], + }, + { + path: "linuxcnc/src/emc/task/emctaskmain.cc", + symbols: [ + "emcTaskPlan", + "EMC_TASK_PLAN_RUN", + "EMC_TASK_PLAN_EXECUTE", + "EMC_TASK_PLAN_PAUSE", + "EMC_TASK_PLAN_RESUME", + "EMC_TASK_ABORT", + "EMC_JOG_INCR", + "EMC_JOINT_HOME", + ], + }, + { + path: "linuxcnc/src/emc/task/emctask.cc", + symbols: ["emcTaskSetState", "determineState"], + }, + ], +}; + +export const LINUXCNC_TASK_MODES = new Set(["manual", "auto", "mdi"]); +export const LINUXCNC_TASK_STATES = new Set(["estop", "estop-reset", "off", "on"]); +export const LINUXCNC_INTERP_STATES = new Set(["idle", "reading", "paused", "waiting"]); + +export function normalizeLinuxCncTaskMode(mode) { + if (mode === "jog") return "manual"; + return LINUXCNC_TASK_MODES.has(mode) ? mode : "manual"; +} + +export function normalizeLinuxCncTaskState(machine = {}) { + if (LINUXCNC_TASK_STATES.has(machine.taskState)) return machine.taskState; + if (machine.estopActive) return "estop"; + if (machine.powerOn) return "on"; + return "estop-reset"; +} + +export function normalizeLinuxCncInterpState(machine = {}, runState = "idle") { + if (LINUXCNC_INTERP_STATES.has(machine.interpState)) return machine.interpState; + if (runState === "running") return "reading"; + if (runState === "paused" || runState === "stepping") return "paused"; + return "idle"; +} + +export function createLinuxCncTaskPolicyStatus(state) { + const taskState = normalizeLinuxCncTaskState(state.machine); + const taskMode = normalizeLinuxCncTaskMode(state.machine.mode); + const interpState = normalizeLinuxCncInterpState(state.machine, state.runState); + const allHomed = Boolean(state.machine.allHomed); + const noForceHoming = Boolean(state.machine.noForceHoming); + const machineFileStaging = state.machineFileStaging || {}; + const profileId = state.profile?.id || state.machineProfile || null; + const taskHalReadiness = state.taskHalRuntimeReadiness || {}; + const taskHalRuntimeReady = Boolean( + state.taskHalRuntime?.loaded && + taskHalReadiness.taskRuntimeReady === true && + taskHalReadiness.motionRuntimeReady === true && + taskHalReadiness.halRuntimeReady === true, + ); + const iniLoaded = state.iniConfigReadiness?.loaded === true && state.iniConfigReadiness?.ready === true; + const machineFileStaged = machineFileStaging.status === "staged" && Boolean(machineFileStaging.save?.files?.length); + const machineFileOpened = profileId === "gmoccapy-xyzab" + ? Boolean(machineFileStaging.selectedGcodeSourceRel) + : Boolean(machineFileStaging.selectedGcodeSourceRel || state.activeProgram); + const interpIdle = interpState === "idle"; + const running = taskMode === "auto" && + (state.runState === "running" || interpState === "reading" || interpState === "waiting"); + const referenceOnly = state.profile?.tcpCapable === false || state.profile?.promotionAllowed === false; + + return { + ...LINUXCNC_TASK_POLICY, + taskState, + taskMode, + interpState, + runState: state.runState || "idle", + allHomed, + noForceHoming, + iniLoaded, + machineFileStaged, + machineFileOpened, + taskHalRuntimeReady, + interpIdle, + referenceOnly, + profileId, + powerOn: taskState === "on", + estopActive: taskState === "estop", + canMove: taskState === "on", + canJog: taskState === "on" && taskMode === "manual" && !running, + canHome: taskState === "on" && taskMode === "manual" && !running, + canRunAuto: taskState === "on" && taskMode === "auto" && (allHomed || noForceHoming), + canRunAutoStrict: taskState === "on" && taskMode === "auto" && (allHomed || noForceHoming) && + interpIdle && iniLoaded && machineFileStaged && machineFileOpened && taskHalRuntimeReady, + canExecuteMdi: taskState === "on" && taskMode === "mdi" && (allHomed || noForceHoming), + canPause: taskState === "on" && (taskMode === "auto" || taskMode === "mdi"), + canResume: taskState === "on" && (taskMode === "auto" || taskMode === "mdi") && interpState === "paused", + canAbort: true, + canSpindle: taskState === "on", + canCoolant: taskState === "on", + canOverride: taskState === "on", + canLeaveAuto: taskMode !== "auto" || interpState === "idle", + }; +} + +export function gateLinuxCncTaskAction(state, action) { + const status = createLinuxCncTaskPolicyStatus(state); + const type = typeof action === "string" ? action : action?.type; + const requestedMode = typeof action === "object" ? action.mode : undefined; + + switch (type) { + case "TOGGLE_POWER": + if (status.taskState === "estop") { + return block(status, "power on blocked: reset estop first"); + } + return allow(status); + case "SET_MODE": + return gateMode(status, requestedMode); + case "JOG": + if (status.taskState !== "on") return block(status, "jog blocked: machine must be on"); + if (status.taskMode !== "manual") return block(status, "jog blocked: switch to manual mode first"); + if (status.taskMode === "auto" && + (status.runState === "running" || status.interpState === "reading" || status.interpState === "waiting")) { + return block(status, "jog blocked: interpreter must be idle"); + } + return allow(status); + case "HOME": + if (status.taskState !== "on") return block(status, "home blocked: machine must be on"); + if (status.taskMode !== "manual") return block(status, "home blocked: switch to manual mode first"); + if (status.taskMode === "auto" && + (status.runState === "running" || status.interpState === "reading" || status.interpState === "waiting")) { + return block(status, "home blocked: interpreter must be idle"); + } + return allow(status); + case "RUN_MDI": + if (status.taskState !== "on") return block(status, "MDI blocked: machine must be on"); + if (status.taskMode !== "mdi") return block(status, "MDI blocked: switch to MDI mode first"); + if (!status.allHomed && !status.noForceHoming) return block(status, "MDI blocked: home machine first"); + if (status.interpState === "reading" || status.interpState === "waiting") { + return block(status, "MDI blocked: interpreter must be idle"); + } + return allow(status); + case "RUN": + case "STEP": + case "RUN_FRAME": + if (status.taskState !== "on") return block(status, `${type.toLowerCase()} blocked: machine must be on`); + if (status.taskMode !== "auto") return block(status, `${type.toLowerCase()} blocked: switch to auto mode first`); + if (!status.allHomed && !status.noForceHoming) return block(status, `${type.toLowerCase()} blocked: home machine first`); + if (type === "RUN" && status.interpState === "paused") return block(status, "run blocked: resume paused program first"); + if (type === "RUN" && status.profileId === "gmoccapy-xyzab") { + const strictGate = gateGmoccapyXyzabRun(status); + if (!strictGate.allowed) return strictGate; + } + return allow(status); + case "PAUSE": + if (status.taskState !== "on") return block(status, "pause blocked: machine must be on"); + if (status.taskMode !== "auto" && status.taskMode !== "mdi") { + return block(status, "pause blocked: task mode must be auto or MDI"); + } + return allow(status); + case "RESUME": + if (status.taskState !== "on") return block(status, "resume blocked: machine must be on"); + if (status.taskMode !== "auto" && status.taskMode !== "mdi") { + return block(status, "resume blocked: task mode must be auto or MDI"); + } + if (status.interpState !== "paused") return block(status, "resume blocked: interpreter is not paused"); + return allow(status); + case "STOP": + case "ABORT": + return allow(status); + case "SET_SPINDLE_DIRECTION": + case "SPINDLE": + return gateSpindle(status, typeof action === "object" ? action.direction : undefined); + case "TOGGLE_COOLANT": + case "COOLANT": + if (status.taskState !== "on") return block(status, "coolant blocked: machine must be on"); + return allow(status); + case "ADJUST_OVERRIDE": + case "ADJUST_SPINDLE_OVERRIDE": + case "OVERRIDE": + if (status.taskState !== "on") return block(status, "override blocked: machine must be on"); + return allow(status); + default: + return allow(status); + } +} + +function gateGmoccapyXyzabRun(status) { + if (!status.iniLoaded) return block(status, "run blocked: LinuxCNC INI not loaded"); + if (!status.machineFileStaged) return block(status, "run blocked: LinuxCNC machine files not staged"); + if (!status.machineFileOpened) return block(status, "run blocked: no machine-file G-code opened for task/HAL session"); + if (!status.interpIdle) return block(status, "run blocked: interpreter must be idle"); + if (!status.taskHalRuntimeReady) return block(status, "run blocked: task/HAL runtime not ready"); + return allow(status); +} + +function gateSpindle(status, direction = "stop") { + if (status.taskState !== "on") return block(status, "spindle blocked: machine must be on"); + const requested = String(direction || "stop").toLowerCase(); + if ((requested === "forward" || requested === "reverse") && + (status.interpState === "reading" || status.interpState === "waiting")) { + return block(status, "spindle blocked: interpreter is running"); + } + return allow(status); +} + +function gateMode(status, requestedMode) { + const targetMode = normalizeLinuxCncTaskMode(requestedMode); + if (!LINUXCNC_TASK_MODES.has(targetMode)) { + return block(status, `mode blocked: invalid LinuxCNC task mode ${requestedMode}`); + } + if (status.taskMode === "auto" && status.interpState !== "idle" && targetMode !== "auto") { + return block(status, "mode blocked: AUTO interpreter is not idle"); + } + if (status.taskState !== "on") { + return block(status, `mode blocked: machine must be on before ${targetMode.toUpperCase()}`); + } + if ((targetMode === "mdi" || targetMode === "auto") && !status.allHomed && !status.noForceHoming) { + return block(status, `mode blocked: home machine before ${targetMode.toUpperCase()}`); + } + return allow(status); +} + +function allow(status) { + return { + allowed: true, + status, + operatorMessage: null, + }; +} + +function block(status, operatorMessage) { + return { + allowed: false, + status, + operatorMessage, + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js new file mode 100644 index 0000000..12624ca --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js @@ -0,0 +1,4862 @@ +import { buildRtcpFrame } from "../runtime/rtcp-frame.js"; +import { createLinuxCncBoundaryAdapter, createLinuxCncBoundaryReadiness } from "../runtime/linuxcnc-boundary-adapter.js"; +import { createFullLinuxCncExecutionBoundary } from "../runtime/full-execution-boundary.js"; +import { + DEFAULT_SESSION_FILENAME, + DEFAULT_SESSION_ID, + createFiveAxisSessionPayload, + loadFiveAxisSessionSnapshot, + restoreFiveAxisSessionState, + saveFiveAxisSessionSnapshot, +} from "../runtime/five-axis-session.js"; +import { fiveAxisProfiles, getFiveAxisProfile } from "../profiles/index.js"; +import { applyIniConfigToProfile } from "../runtime/linuxcnc-ini-runtime.js"; +import { + listLinuxCncGcodeSources, + listProjectGcodeFiles, + selectMachineFileProgram, + stageProfileMachineFiles, +} from "../runtime/linuxcnc-machine-file-staging.js"; +import { + buildTaskHalProgramMotionPlan, + buildTaskHalSessionFromMachineFiles, +} from "../runtime/linuxcnc-task-hal-runtime.js"; +import { + applyToolCommandSequence, + createToolDbReadiness, + createToolDbSimulation, + editToolEntry, + extractToolCommandSequenceFromProgram, + listToolEntries, + parseLinuxCncToolTable, + queryToolEntry, + saveToolDbSimulation, +} from "../runtime/tool-db-simulation.js"; +import { + createControlledUserMReadiness, + createControlledUserMSimulation, + runControlledUserM, + runControlledUserMProgramScan, +} from "../runtime/controlled-user-m-simulation.js"; +import { createLinuxCncParityMatrix } from "../runtime/linuxcnc-parity-matrix.js"; +import { gmoccapyHalModel, resolveGmoccapyHardwareButton } from "../runtime/gmoccapy-hal-model.js"; +import { + createLinuxCncTaskPolicyStatus, + gateLinuxCncTaskAction, + normalizeLinuxCncTaskMode, +} from "./linuxcnc-task-policy.js"; +import { buildProgramExecutionTiming, timingAtMotionIndex } from "../runtime/execution-timing.js"; + +const defaultProfile = getFiveAxisProfile("xyzbc-trt"); + +const initialLinuxCncBoundaryAdapter = createLinuxCncBoundaryAdapter({ + profile: defaultProfile, +}); +const initialLinuxCncBoundaryReadiness = createLinuxCncBoundaryReadiness(initialLinuxCncBoundaryAdapter); +const initialControlledUserMSimulation = createControlledUserMSimulation(); +const MACHINE_PROJECT_OPFS_ROOT = "web-rtcp-5axis-xyzbc-trt-sim-plan/machines"; + +const initialAxisPose = { + x: 43.0, + y: -32.15, + z: -11.306, + a: 0.0, + b: 0.0, + c: 0.0, +}; + +function createTaskHalStatusLoopState({ + active = false, + sequence = 0, + profileId = null, + iniPath = null, + kinematicsModuleId = null, + tickCount = 0, + batchSize = 5, + intervalMs = 25, + taskPeriodNs = 10000000, + servoPeriodNs = 1000000, + lastStatusAt = null, + lastError = null, + stopReason = null, +} = {}) { + return { + apiName: "web-rtcp-5axis-task-hal-status-loop", + active, + sequence, + profileId, + iniPath, + kinematicsModuleId, + tickCount, + batchSize, + intervalMs, + taskPeriodNs, + servoPeriodNs, + lastStatusAt, + lastError, + stopReason, + semanticBoundary: "js_status_polling_loop_for_linuxcnc_task_hal_motion_status", + }; +} + +const initialState = { + machineProfile: "xyzbc-trt", + availableProfiles: fiveAxisProfiles.map(({ id, title, traj, kinematicsModuleId, kinematics }) => ({ + id, + title, + coordinates: traj.coordinates, + kinematicsModuleId: kinematicsModuleId || id, + kinematics, + })), + profile: defaultProfile, + sessionName: "xyzbc-trt-web-session", + sessionPersistence: { + apiName: "web-rtcp-5axis-session-persistence-state", + sessionId: DEFAULT_SESSION_ID, + filename: DEFAULT_SESSION_FILENAME, + status: "not-saved", + path: null, + storageMode: null, + storageCapability: null, + savedAt: null, + restoredAt: null, + lastError: null, + }, + machineFileStaging: { + apiName: "web-rtcp-5axis-machine-file-staging-state", + status: "not-staged", + profileId: null, + fileCount: 0, + opfsRoot: null, + storageMode: null, + storageCapability: null, + savedAt: null, + lastError: null, + plan: null, + save: null, + gcodeSources: [], + gcodeFiles: [], + selectedGcodeSourceRel: null, + }, + machineProject: null, + programValidation: null, + linuxCncParityMatrix: null, + rightSidebarEntrances: [], + sourceMode: "fixture-ui-only", + frameSourceMode: "fixture-ui-only", + desiredFrameSourceMode: "fixture-ui-only", + machine: { + powerOn: false, + estopActive: false, + taskState: "estop-reset", + mode: "manual", + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + manualPanel: "manual", + allHomed: false, + noForceHoming: false, + jogAxis: "x", + jogIncrement: 1, + mdiCommand: "G0 X0 Y0 Z0", + mdiDistanceMode: "absolute", + resetCount: 0, + }, + runState: "idle", + activeProgram: "../../../linuxcnc/nc_files/3D_Chips.ngc", + programSource: "fixture", + programStartLine: 496, + activeLine: 501, + lineCount: 4711, + fileSizeBytes: 200509, + kinsType: "identity", + rtcpState: "off", + axisPose: initialAxisPose, + jointPose: [], + tcpPose: { + x: 43.0, + y: -32.15, + z: -11.306, + a: 0.0, + c: 0.0, + }, + toolAxisVector: { + x: 0.0, + y: 0.0, + z: 1.0, + }, + rtcpFrame: null, + kinematicsRuntime: null, + kinematicsRuntimeReadiness: null, + kinematicsExecutionContext: "none", + interpreterRuntime: null, + interpreterRuntimeReadiness: null, + programExecution: null, + programExecutionTiming: null, + programElapsedSeconds: 0, + programRemainingSeconds: 0, + programExecutionSourceMode: "fixture-line-playback", + programExecutionMotionIndex: 0, + programExecutionSampleIndex: 0, + programRuntimeFeedback: null, + programRuntimeFeedbackHistory: [], + programLineExecution: {}, + taskHalRuntime: null, + taskHalRuntimeReadiness: null, + taskHalStatus: null, + taskHalSession: null, + taskHalExecutionPending: false, + taskHalExecutionSequence: 0, + taskHalStatusLoop: createTaskHalStatusLoopState(), + taskHalFallbackReason: null, + pendingJogCommand: null, + interpreterExecutionPending: false, + interpreterExecutionSequence: 0, + machineFileExecution: null, + toolDbSimulation: null, + toolDbReadiness: createToolDbReadiness(null), + controlledUserMSimulation: initialControlledUserMSimulation, + controlledUserMReadiness: createControlledUserMReadiness(initialControlledUserMSimulation), + fullExecutionBoundary: null, + linuxCncTaskPolicy: null, + asyncFrameRefreshPending: false, + asyncFrameRefreshSequence: 0, + lastKinematicsResult: null, + linuxCncBoundaryAdapter: initialLinuxCncBoundaryAdapter, + linuxCncBoundaryReadiness: initialLinuxCncBoundaryReadiness, + linuxCncIniConfig: null, + iniConfigReadiness: { + apiName: "web-rtcp-5axis-ini-config-readiness", + loaded: false, + ready: false, + path: null, + missing: ["LinuxCNC INI not loaded"], + }, + dro: { + x: 43.0, + y: -32.15, + z: -11.306, + a: 0.0, + b: 0.0, + c: 0.0, + tcpX: 43.0, + tcpY: -32.15, + tcpZ: -11.306, + dtgX: 0.0, + dtgY: 0.01, + dtgZ: 2.25, + }, + feed: { + currentVelocity: 0, + rapidOverride: 100, + feedRate: 4500000, + feedOverride: 100, + }, + spindle: { + rpm: 1600, + override: 100, + enabled: false, + direction: "stop", + }, + coolant: { + flood: false, + mist: false, + }, + gmoccapyGui: { + ignoreLimits: false, + optionalBlocks: false, + optionalStop: false, + feedOverrideCounts: 0, + rapidOverrideCounts: 0, + spindleOverrideCounts: 0, + jogVelocityCounts: 0, + feedOverrideCountEnabled: false, + rapidOverrideCountEnabled: false, + spindleOverrideCountEnabled: false, + jogVelocityCountEnabled: false, + feedOverrideAnalogEnabled: false, + rapidOverrideAnalogEnabled: false, + spindleOverrideAnalogEnabled: false, + jogVelocityAnalogEnabled: false, + jogVelocity: 100, + jogIncrementIndex: 0, + jogIncrementLabel: "Continuous", + jogIncrementOutput: 0, + turtleJog: false, + activeJogPin: null, + settingsUnlockMode: "use", + settingsUnlockPin: false, + setupSensitive: true, + toolsensorConfigured: false, + toolMeasurement: false, + probeHeight: 0, + blockHeight: 0, + searchVelocity: 0, + probeVelocity: 0, + userMessagesConfigured: false, + userMessagePins: [], + warningConfirm: false, + error: false, + deletedMessageCount: 0, + activeNativePage: "main", + nativePageMode: "implemented", + filePageStatus: "main", + filePageLastAction: null, + macroPageConfigured: true, + macroButtonsEnabled: true, + macroLastCommand: null, + macroLastName: null, + toolEditorStatus: "closed", + toolEditorWritebackEnabled: false, + toolEditorLastAction: null, + lastHalPin: null, + lastHalPinValue: null, + lastHalPinEffect: null, + }, + preview: { + pathPoints: 64, + selectedView: "iso", + fullscreen: false, + cameraRevision: 0, + }, + toolPreview: { + toolNumber: 1, + diameter: 6, + length: 84.019, + units: "mm", + holder: "CAT40", + }, + operatorMessage: "ready", + mdiHistory: [], +}; +initialState.linuxCncTaskPolicy = createLinuxCncTaskPolicyStatus(initialState); +initialState.machineProject = createMachineProjectState(initialState); +initialState.programValidation = createProgramValidationState(initialState); +initialState.rightSidebarEntrances = createRightSidebarEntranceState(initialState, initialState.linuxCncTaskPolicy); +initialState.linuxCncParityMatrix = createLinuxCncParityMatrix(initialState); + +const programLines = [ + "N4860 Y[#*-39.009]", + "N4870 Y[#*-32.524]", + "N4880 Y[#*-32.384]", + "N4890 Y[#*-32.267]", + "N4900 Y[#*-32.235] Z[#*-11.306]", + "N4910 Y[#*-32.118] Z[#*-11.312]", + "N4920 Y[#*-32.103] Z[#*-11.314]", + "N4930 Y[#*-32.071] Z[#*-11.316]", + "N4940 Y[#*-31.972] Z[#*-11.318]", + "N4950 Y[#*-31.759] Z[#*-11.320]", + "N4960 Y[#*-31.509] Z[#*-11.324]", +]; + +export function createSimulationStore(seed = {}) { + const seedAxisPose = seed.axisPose || initialAxisPose; + const seedKinsType = seed.kinsType || initialState.kinsType; + const seedRtcpState = seed.rtcpState || initialState.rtcpState; + const seedFrame = buildRtcpFrame({ + axisPose: seedAxisPose, + activeLine: seed.activeLine || initialState.activeLine, + kinsType: seedKinsType, + rtcpEnabled: seedRtcpState === "on" || seedKinsType === "tcp-xyzac", + sourceMode: seed.desiredFrameSourceMode || seed.sourceMode || seed.frameSourceMode || initialState.sourceMode, + }); + let state = { + ...initialState, + ...seed, + axisPose: seedFrame.axisPose, + jointPose: seedFrame.jointPose, + tcpPose: seedFrame.tcpPose, + toolAxisVector: seedFrame.toolAxisVector, + rtcpState: seedFrame.rtcpState, + rtcpFrame: seedFrame, + fullExecutionBoundary: null, + dro: buildDroFromFrame(seedFrame, seed.programRuntimeFeedback || initialState.programRuntimeFeedback), + programLines: seed.programLines || programLines, + }; + state.linuxCncTaskPolicy = createLinuxCncTaskPolicyStatus(state); + state.machineProject = createMachineProjectState(state); + state.programValidation = createProgramValidationState(state); + state.rightSidebarEntrances = createRightSidebarEntranceState(state, state.linuxCncTaskPolicy); + state.linuxCncParityMatrix = createLinuxCncParityMatrix(state); + state.fullExecutionBoundary = createFullLinuxCncExecutionBoundary(state); + const listeners = new Set(); + let taskHalStatusLoopTimer = null; + + const notify = () => { + for (const listener of listeners) { + listener(state); + } + }; + + const setState = (patch) => { + const merged = { ...state, ...patch }; + const mergedMachine = normalizeMachineForLinuxCncTask(merged.machine, merged.runState); + const next = { + ...merged, + machine: mergedMachine, + axisPose: clampAxisPoseToProfile(merged.axisPose, merged.profile), + }; + const frameState = buildFrameForState(next, patch); + const frame = patch.rtcpFrame || frameState.frame; + const baseState = { + ...next, + sourceMode: frame.sourceMode, + frameSourceMode: frame.sourceMode, + desiredFrameSourceMode: next.desiredFrameSourceMode || frame.sourceMode, + axisPose: frame.axisPose, + jointPose: frame.jointPose, + tcpPose: frame.tcpPose, + toolAxisVector: frame.toolAxisVector, + rtcpState: frame.rtcpState, + rtcpFrame: frame, + lastKinematicsResult: frameState.lastKinematicsResult, + dro: buildDroFromFrame(frame, next.programRuntimeFeedback), + }; + const taskPolicy = createLinuxCncTaskPolicyStatus(baseState); + const projectState = createMachineProjectState(baseState); + const validationState = createProgramValidationState(baseState); + const sidebarState = createRightSidebarEntranceState(baseState, taskPolicy); + const nextState = { + ...baseState, + linuxCncTaskPolicy: taskPolicy, + machineProject: projectState, + programValidation: validationState, + rightSidebarEntrances: sidebarState, + }; + state = { + ...nextState, + linuxCncParityMatrix: createLinuxCncParityMatrix(nextState), + fullExecutionBoundary: createFullLinuxCncExecutionBoundary(nextState), + }; + notify(); + scheduleAsyncKinematicsRefresh(); + }; + + const waitForStatePredicate = (predicate, timeoutMs = 10000) => { + if (predicate(state)) return Promise.resolve(state); + return new Promise((resolve, reject) => { + const startedAt = Date.now(); + const listener = (nextState) => { + if (predicate(nextState)) { + listeners.delete(listener); + resolve(nextState); + return; + } + if (Date.now() - startedAt > timeoutMs) { + listeners.delete(listener); + reject(new Error("timed out waiting for store state")); + } + }; + listeners.add(listener); + }); + }; + + const dispatch = (action) => { + switch (action.type) { + case "BOOT_READY": + setState({ bootReady: true }); + break; + case "ATTACH_KINEMATICS_RUNTIME": + { + const runtime = action.runtime || null; + const readiness = runtime?.readiness ? runtime.readiness() : null; + const runtimeDescriptor = runtime?.loaded + ? { + apiName: runtime.apiName, + moduleId: runtime.moduleId, + wasmFile: runtime.wasmFile, + supportedModules: runtime.supportedModules, + loaded: runtime.loaded, + sourceMode: runtime.sourceMode, + semanticBoundary: runtime.semanticBoundary, + switchkinsType: runtime.switchkinsType, + switchRc: runtime.switchRc, + } + : null; + const adapter = createLinuxCncBoundaryAdapter({ + profile: state.profile, + runtime: { + kinematicsWasm: runtimeDescriptor, + interpreterWasm: createInterpreterDescriptor(state.interpreterRuntime), + }, + }); + setState({ + kinematicsRuntime: runtime, + kinematicsRuntimeReadiness: readiness, + kinematicsExecutionContext: runtime?.executionContext || (runtime?.loaded ? "direct" : "none"), + linuxCncBoundaryAdapter: adapter, + linuxCncBoundaryReadiness: createLinuxCncBoundaryReadiness(adapter), + desiredFrameSourceMode: runtime?.loaded ? "source-derived-kinematics-wasm" : "fixture-ui-only", + operatorMessage: runtime?.loaded + ? `LinuxCNC kinematics ${runtime.moduleId} ready` + : "LinuxCNC kinematics runtime missing", + }); + } + break; + case "ATTACH_INI_CONFIG": + { + const baseProfile = getFiveAxisProfile(action.profileId || state.machineProfile); + const profile = applyIniConfigToProfile(baseProfile, action.iniConfig); + const adapter = createLinuxCncBoundaryAdapter({ + profile, + runtime: { + kinematicsWasm: createKinematicsDescriptor(state.kinematicsRuntime), + interpreterWasm: createInterpreterDescriptor(state.interpreterRuntime), + }, + }); + setState({ + machineProfile: profile.id, + profile, + kinsType: normalizeKinsTypeForProfile(state.kinsType, profile), + axisPose: clampAxisPoseToProfile(state.axisPose, profile), + linuxCncIniConfig: action.iniConfig, + iniConfigReadiness: createIniConfigReadiness(action.iniConfig), + linuxCncBoundaryAdapter: adapter, + linuxCncBoundaryReadiness: createLinuxCncBoundaryReadiness(adapter), + operatorMessage: `LinuxCNC INI loaded ${action.iniConfig.path}`, + }); + } + break; + case "INI_CONFIG_FAILED": + setState({ + iniConfigReadiness: { + apiName: "web-rtcp-5axis-ini-config-readiness", + loaded: false, + ready: false, + path: action.path || state.profile.iniPath, + missing: [action.error], + }, + operatorMessage: `LinuxCNC INI error: ${action.error}`, + }); + break; + case "SET_PROFILE": + { + const profile = getFiveAxisProfile(action.profileId); + const defaultKinsType = defaultKinsTypeForProfile(profile); + const adapter = createLinuxCncBoundaryAdapter({ + profile, + runtime: { + kinematicsWasm: null, + interpreterWasm: createInterpreterDescriptor(state.interpreterRuntime), + }, + }); + setState({ + machineProfile: profile.id, + profile, + activeProgram: profile.samplePrograms[0] || state.activeProgram, + kinsType: defaultKinsType, + rtcpState: rtcpStateFromKinsType(defaultKinsType), + kinematicsRuntime: null, + kinematicsRuntimeReadiness: null, + kinematicsExecutionContext: "none", + toolDbSimulation: null, + toolDbReadiness: createToolDbReadiness(null), + ...createInitialControlledUserMState(), + linuxCncIniConfig: null, + iniConfigReadiness: initialState.iniConfigReadiness, + linuxCncBoundaryAdapter: adapter, + linuxCncBoundaryReadiness: createLinuxCncBoundaryReadiness(adapter), + sessionPersistence: { + ...state.sessionPersistence, + status: "profile-switched", + lastError: null, + }, + operatorMessage: `profile ${profile.id}`, + }); + } + break; + case "ATTACH_INTERPRETER_RUNTIME": + { + const runtime = action.runtime || null; + const readiness = runtime?.readiness ? runtime.readiness() : null; + const adapter = createLinuxCncBoundaryAdapter({ + profile: state.profile, + runtime: { + kinematicsWasm: createKinematicsDescriptor(state.kinematicsRuntime), + interpreterWasm: createInterpreterDescriptor(runtime), + }, + }); + setState({ + interpreterRuntime: runtime, + interpreterRuntimeReadiness: readiness, + linuxCncBoundaryAdapter: adapter, + linuxCncBoundaryReadiness: createLinuxCncBoundaryReadiness(adapter), + operatorMessage: runtime?.loaded + ? "LinuxCNC interpreter ready" + : "LinuxCNC interpreter runtime missing", + }); + } + break; + case "ATTACH_TASK_HAL_RUNTIME": + { + const runtime = action.runtime || null; + const maybeReadiness = action.readiness || (runtime?.readiness ? runtime.readiness() : null); + const readiness = typeof maybeReadiness?.then === "function" + ? { + apiName: "web-rtcp-5axis-linuxcnc-task-hal-runtime-readiness", + loaded: Boolean(runtime?.loaded), + taskRuntimeReady: false, + motionRuntimeReady: false, + halRuntimeReady: false, + pending: true, + } + : maybeReadiness; + setState({ + taskHalRuntime: runtime, + taskHalRuntimeReadiness: readiness, + taskHalFallbackReason: runtime?.loaded ? null : "LinuxCNC task/HAL runtime missing", + operatorMessage: runtime?.loaded + ? "LinuxCNC task/HAL runtime ready" + : "LinuxCNC task/HAL runtime missing", + }); + if (runtime?.loaded && state.machineFileStaging?.status === "staged") { + initializeTaskHalSession().catch(() => {}); + } + } + break; + case "TASK_HAL_RUNTIME_FAILED": + setState({ + taskHalRuntime: null, + taskHalRuntimeReadiness: { + apiName: "web-rtcp-5axis-linuxcnc-task-hal-runtime-readiness", + loaded: false, + taskRuntimeReady: false, + motionRuntimeReady: false, + halRuntimeReady: false, + nativeTaskReady: false, + nativeHalSyncReady: false, + error: action.error, + }, + taskHalFallbackReason: action.error, + operatorMessage: `LinuxCNC task/HAL runtime blocked: ${action.error}`, + }); + break; + case "RUN_INTERPRETER_PROGRAM": + if (!state.interpreterRuntime?.loaded) { + setState({ + programExecutionSourceMode: "fixture-line-playback", + operatorMessage: "LinuxCNC interpreter unavailable; using fixture line playback", + }); + break; + } + { + const programText = state.programLines.join("\n"); + const sequence = state.interpreterExecutionSequence + 1; + setState({ + interpreterExecutionPending: true, + interpreterExecutionSequence: sequence, + operatorMessage: "LinuxCNC interpreter running program", + }); + try { + Promise.resolve(state.interpreterRuntime.runProgram(programText)) + .then((execution) => { + dispatch({ + type: "INTERPRETER_PROGRAM_COMPLETE", + sequence, + execution, + }); + }) + .catch((error) => { + dispatch({ + type: "INTERPRETER_PROGRAM_FAILED", + sequence, + error: error instanceof Error ? error.message : String(error), + }); + }); + } catch (error) { + dispatch({ + type: "INTERPRETER_PROGRAM_FAILED", + sequence, + error: error instanceof Error ? error.message : String(error), + }); + } + } + break; + case "INTERPRETER_PROGRAM_COMPLETE": + if (action.sequence !== state.interpreterExecutionSequence) { + break; + } + { + const execution = action.execution; + const timing = buildTimingForState(state, execution); + const firstTiming = timingAtMotionIndex(timing, 0); + const firstMotion = execution.motion[0] || null; + const firstKinsType = kinsTypeFromProgramMotion(state, firstMotion) || state.kinsType; + const firstFeedback = createInitialProgramRuntimeFeedback({ + state, + timing, + motion: firstMotion, + timingSnapshot: firstTiming, + }); + setState({ + programExecution: execution, + programExecutionTiming: timing, + programExecutionSourceMode: execution.sourceMode, + machineFileExecution: execution.machineFilePlan ? execution : state.machineFileExecution, + programExecutionMotionIndex: 0, + programExecutionSampleIndex: 0, + programRuntimeFeedback: firstFeedback, + programLineExecution: createProgramLineExecutionPatch(state.programLineExecution, firstFeedback, { + status: "ready", + source: execution.sourceMode, + }), + programElapsedSeconds: firstTiming.elapsedSeconds, + programRemainingSeconds: firstTiming.remainingSeconds, + interpreterExecutionPending: false, + activeLine: firstMotion?.line || state.programStartLine, + axisPose: axisPoseFromCanonicalMotion(firstMotion, state.axisPose), + kinsType: firstKinsType, + rtcpState: rtcpStateFromKinsType(firstKinsType), + preview: { + ...state.preview, + pathPoints: Math.max(execution.summary.motionEventCount, 1), + }, + feed: { + ...state.feed, + currentVelocity: Number.isFinite(firstFeedback?.currentVelocityMmPerMin) + ? firstFeedback.currentVelocityMmPerMin + : state.feed.currentVelocity, + }, + operatorMessage: execution.summary.switchkinsEventCount > 0 + ? `LinuxCNC interpreter motion events ${execution.summary.motionEventCount}, switchkins ${execution.summary.switchkinsCodes.join("/")}` + : `LinuxCNC interpreter motion events ${execution.summary.motionEventCount}`, + }); + } + break; + case "INTERPRETER_PROGRAM_FAILED": + if (action.sequence !== state.interpreterExecutionSequence) { + break; + } + setState({ + programExecution: null, + programExecutionTiming: null, + programElapsedSeconds: 0, + programRemainingSeconds: 0, + programExecutionSourceMode: "fixture-line-playback", + programExecutionSampleIndex: 0, + programRuntimeFeedback: null, + programLineExecution: {}, + interpreterExecutionPending: false, + operatorMessage: `LinuxCNC interpreter blocked: ${action.error}`, + }); + break; + case "RUN_MACHINE_FILE_PROGRAM": + if (!state.interpreterRuntime?.loaded || typeof state.interpreterRuntime.runMachineFileProgram !== "function") { + setState({ + operatorMessage: "machine-file run blocked: LinuxCNC interpreter machine-file runtime unavailable", + }); + break; + } + if (!state.machineFileStaging?.plan || !state.machineFileStaging?.save) { + setState({ + operatorMessage: "machine-file run blocked: machine files not staged", + }); + break; + } + if (!state.machineFileStaging.selectedGcodeSourceRel) { + setState({ + operatorMessage: "machine-file run blocked: select a LinuxCNC source-directory 5-axis G-code program", + }); + break; + } + { + const sequence = state.interpreterExecutionSequence + 1; + setState({ + interpreterExecutionPending: true, + interpreterExecutionSequence: sequence, + operatorMessage: "LinuxCNC machine-file remap run starting", + }); + try { + Promise.resolve(state.interpreterRuntime.runMachineFileProgram({ + plan: selectMachineFileProgramForState(state), + files: state.machineFileStaging.save.files, + executionMode: "fiveAxisRemap", + })) + .then((execution) => { + dispatch({ type: "INTERPRETER_PROGRAM_COMPLETE", sequence, execution }); + }) + .catch((error) => { + dispatch({ + type: "INTERPRETER_PROGRAM_FAILED", + sequence, + error: error instanceof Error ? error.message : String(error), + }); + }); + } catch (error) { + dispatch({ + type: "INTERPRETER_PROGRAM_FAILED", + sequence, + error: error instanceof Error ? error.message : String(error), + }); + } + } + break; + case "SESSION_SAVE_STARTED": + setState({ + sessionPersistence: { + ...state.sessionPersistence, + status: "saving", + lastError: null, + }, + operatorMessage: "saving 5-axis session", + }); + break; + case "SESSION_SAVE_COMPLETE": + setState({ + sessionPersistence: { + ...state.sessionPersistence, + status: "saved", + path: action.path, + storageMode: action.storageMode || null, + storageCapability: action.storageCapability || null, + savedAt: action.savedAt, + lastError: null, + }, + operatorMessage: `5-axis session saved ${action.path} (${action.storageMode || "unknown"})`, + }); + break; + case "SESSION_RESTORE_STARTED": + setState({ + sessionPersistence: { + ...state.sessionPersistence, + status: "restoring", + lastError: null, + }, + operatorMessage: "restoring 5-axis session", + }); + break; + case "SESSION_RESTORE_COMPLETE": + { + const restoredProfile = getFiveAxisProfile(action.restoredState.machineProfile); + const adapter = createLinuxCncBoundaryAdapter({ + profile: restoredProfile, + runtime: { + kinematicsWasm: createKinematicsDescriptor(state.kinematicsRuntime), + interpreterWasm: createInterpreterDescriptor(state.interpreterRuntime), + }, + }); + setState({ + ...action.restoredState, + profile: restoredProfile, + linuxCncIniConfig: state.linuxCncIniConfig, + iniConfigReadiness: state.iniConfigReadiness, + kinematicsRuntime: state.kinematicsRuntime, + kinematicsRuntimeReadiness: state.kinematicsRuntimeReadiness, + kinematicsExecutionContext: state.kinematicsExecutionContext, + interpreterRuntime: state.interpreterRuntime, + interpreterRuntimeReadiness: state.interpreterRuntimeReadiness, + taskHalRuntime: state.taskHalRuntime, + taskHalRuntimeReadiness: state.taskHalRuntimeReadiness, + taskHalStatus: state.taskHalStatus, + taskHalSession: state.taskHalSession, + machineFileStaging: state.machineFileStaging, + machineFileExecution: state.machineFileExecution, + linuxCncBoundaryAdapter: adapter, + linuxCncBoundaryReadiness: createLinuxCncBoundaryReadiness(adapter), + sessionPersistence: { + ...state.sessionPersistence, + status: "restored", + path: action.path, + storageMode: action.storageMode || null, + storageCapability: action.storageCapability || null, + restoredAt: action.restoredAt, + lastError: null, + }, + operatorMessage: `5-axis session restored ${action.path} (${action.storageMode || "unknown"})`, + }); + } + break; + case "SESSION_PERSISTENCE_FAILED": + setState({ + sessionPersistence: { + ...state.sessionPersistence, + status: "error", + lastError: action.error, + }, + operatorMessage: `5-axis session error: ${action.error}`, + }); + break; + case "MACHINE_FILE_STAGING_STARTED": + setState({ + machineFileStaging: { + ...state.machineFileStaging, + status: "staging", + profileId: state.machineProfile, + lastError: null, + }, + operatorMessage: "staging LinuxCNC machine files", + }); + break; + case "MACHINE_FILE_STAGING_COMPLETE": + setState({ + machineFileStaging: { + ...state.machineFileStaging, + status: "staged", + profileId: action.plan.profileId, + fileCount: action.save.fileCount, + opfsRoot: action.save.opfsRoot, + storageMode: action.save.storageMode || null, + storageCapability: action.save.storageCapability || null, + savedAt: action.save.savedAt, + lastError: null, + plan: action.plan, + save: action.save, + gcodeSources: listLinuxCncGcodeSources(action.save), + gcodeFiles: listProjectGcodeFiles(action.save), + selectedGcodeSourceRel: action.selectedGcodeSourceRel + || action.plan.selectedProgramSourceRel + || null, + }, + ...createToolDbStatePatchFromStagedFiles({ + profile: state.profile, + save: action.save, + }), + operatorMessage: `LinuxCNC machine files staged ${action.save.fileCount}`, + }); + if (state.taskHalRuntime?.loaded) { + initializeTaskHalSession().catch(() => {}); + } + break; + case "LOAD_LINUXCNC_GCODE_SOURCE": + { + const sourceRel = action.sourceRel; + const selectedFile = state.machineFileStaging?.save?.files?.find((file) => file.sourceRel === sourceRel); + if (!selectedFile) { + setState({ + operatorMessage: `LinuxCNC G-code source not staged: ${sourceRel}`, + }); + break; + } + const selectedPlan = selectMachineFileProgram( + state.machineFileStaging.plan, + state.machineFileStaging.save, + sourceRel, + ); + const loadedProgram = buildLoadedProgram({ + filename: selectedFile.sourceRel, + content: selectedFile.text, + programSource: "linuxcnc-vendored-5axis-gcode", + sourceRel: selectedFile.sourceRel, + wasmPath: selectedFile.wasmPath, + }); + const toolUserPatch = createProgramToolUserSimulationPatch({ + state, + programText: selectedFile.text, + sourceRel: selectedFile.sourceRel, + }); + setState({ + ...loadedProgram, + ...toolUserPatch, + machineFileStaging: { + ...state.machineFileStaging, + plan: selectedPlan, + selectedGcodeSourceRel: sourceRel, + }, + machine: { + ...state.machine, + mode: state.machine.mode, + }, + axisPose: initialAxisPose, + runState: "idle", + programRuntimeFeedback: null, + programLineExecution: {}, + preview: { + ...state.preview, + pathPoints: Math.max(loadedProgram.programLines.length, 1), + }, + operatorMessage: `loaded LinuxCNC 5-axis source ${selectedFile.sourceRel}`, + }); + if (state.taskHalRuntime?.loaded) { + initializeTaskHalSession({ openProgram: true }).catch(() => {}); + } + if (state.interpreterRuntime?.loaded) { + dispatch({ type: "RUN_INTERPRETER_PROGRAM" }); + } + } + break; + case "RUN_CONTROLLED_USER_M": + { + const result = runControlledUserM( + state.controlledUserMSimulation || createControlledUserMSimulation(), + action.code, + { + profile: state.profile, + sourceRel: action.sourceRel || state.programSourceRel || null, + line: action.line || null, + }, + ); + setState({ + controlledUserMSimulation: result.simulation, + controlledUserMReadiness: createControlledUserMReadiness(result.simulation), + ...result.statePatch, + operatorMessage: result.event.allowed + ? `controlled user-M ${result.event.code} simulated` + : `controlled user-M ${result.event.code} blocked`, + }); + } + break; + case "TASK_HAL_SESSION_READY": + if (action.session?.programSourceRel && action.session.programSourceRel !== state.machineFileStaging?.selectedGcodeSourceRel) { + break; + } + setState({ + taskHalSession: action.session, + taskHalFallbackReason: null, + operatorMessage: `LinuxCNC task/HAL session ready ${action.session.programPath || "-"}`, + }); + break; + case "TASK_HAL_STATUS_APPLIED": + setState(applyTaskHalStatusPatch(state, action.status, action.operatorMessage, { + loopSequence: action.loopSequence, + preserveMachine: action.preserveMachine, + preserveAxisPose: action.preserveAxisPose, + })); + break; + case "TASK_HAL_STATUS_LOOP_STARTED": + setState({ + taskHalStatusLoop: { + ...createTaskHalStatusLoopState({ + active: true, + sequence: action.sequence, + profileId: action.profileId, + iniPath: action.iniPath, + kinematicsModuleId: action.kinematicsModuleId, + batchSize: action.batchSize, + intervalMs: action.intervalMs, + taskPeriodNs: action.taskPeriodNs, + servoPeriodNs: action.servoPeriodNs, + }), + }, + programRuntimeFeedbackHistory: [], + operatorMessage: action.operatorMessage || "task/HAL status loop running", + }); + break; + case "TASK_HAL_STATUS_LOOP_STOPPED": + setState({ + taskHalStatusLoop: { + ...state.taskHalStatusLoop, + active: false, + stopReason: action.reason || "stopped", + lastError: action.error || null, + }, + operatorMessage: action.operatorMessage || state.operatorMessage, + }); + break; + case "TASK_HAL_PROGRAM_STOPPED": + setState(createStoppedProgramStatePatch(state, { + reason: action.reason || "stopped", + operatorMessage: action.operatorMessage || "task/HAL program stopped", + })); + break; + case "TASK_HAL_COMMAND_FAILED": + setState({ + taskHalFallbackReason: action.error, + taskHalExecutionPending: false, + taskHalStatusLoop: { + ...state.taskHalStatusLoop, + active: false, + lastError: action.error, + stopReason: "error", + }, + pendingJogCommand: null, + operatorMessage: `task/HAL fallback: ${action.error}`, + }); + break; + case "MACHINE_FILE_STAGING_FAILED": + setState({ + machineFileStaging: { + ...state.machineFileStaging, + status: "error", + profileId: state.machineProfile, + lastError: action.error, + }, + operatorMessage: `machine file staging error: ${action.error}`, + }); + break; + case "SAVE_SESSION_REQUEST": + saveSession().catch(() => {}); + break; + case "RESTORE_SESSION_REQUEST": + restoreSession().catch(() => {}); + break; + case "STAGE_MACHINE_FILES_REQUEST": + stageMachineFiles(action.options || {}).catch(() => {}); + break; + case "RUN_FULL_BOUNDARY_AUDIT_REQUEST": + runFullBoundaryAudit(action.options || {}).catch(() => {}); + break; + case "RUN_READY": + runReadySequence().catch((error) => { + dispatch({ + type: "TASK_HAL_COMMAND_FAILED", + error: error instanceof Error ? error.message : String(error), + }); + }); + break; + case "SET_FRAME_SOURCE": + setState({ + sourceMode: action.sourceMode, + frameSourceMode: action.sourceMode, + desiredFrameSourceMode: action.sourceMode, + operatorMessage: `frame source ${action.sourceMode}`, + }); + break; + case "REFRESH_KINEMATICS_FRAME": + return refreshAsyncKinematicsFrame({ operatorMessage: "LinuxCNC kinematics frame refreshed" }); + break; + case "GMOCAPY_HARDWARE_BUTTON": + { + if (action.value === false || action.risingEdge === false) { + setState({ operatorMessage: "gmoccapy hardware button falling edge ignored" }); + break; + } + const button = resolveGmoccapyHardwareButton(action); + if (!button) { + setState({ operatorMessage: `gmoccapy hardware button unmapped: ${action.pin || `${action.location}:${action.index}`}` }); + break; + } + if (!button.webDispatch) { + setState({ operatorMessage: `gmoccapy hardware button diagnostic-only: ${button.pin}` }); + break; + } + dispatch(button.webDispatch); + } + break; + case "GMOCAPY_HAL_PIN": + { + const result = applyGmoccapyHalPinPatch(state, action, gmoccapyHalModel); + if (!result.applied) { + setState({ operatorMessage: result.operatorMessage }); + break; + } + setState(result.patch); + } + break; + case "GMOCAPY_NATIVE_PAGE": + { + const patch = applyGmoccapyNativePagePatch(state, action, gmoccapyHalModel); + setState(patch); + } + break; + case "GMOCAPY_PAGE_ACTION": + { + const patch = applyGmoccapyPageActionPatch(state, action, gmoccapyHalModel); + setState(patch); + } + break; + case "GMOCAPY_RUN_MACRO": + { + const result = applyGmoccapyMacroPatch(state, action, gmoccapyHalModel); + if (!result.applied) { + setState({ operatorMessage: result.operatorMessage }); + break; + } + setState(result.patch); + } + break; + case "GMOCAPY_TOOL_EDITOR_ACTION": + { + const patch = applyGmoccapyToolEditorPatch(state, action, gmoccapyHalModel); + setState(patch); + } + break; + case "TOGGLE_POWER": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + const turningOff = state.machine.taskState === "on" || state.machine.powerOn; + if (state.taskHalRuntime?.loaded) { + setState({ + machine: { + ...state.machine, + powerOn: !turningOff, + estopActive: false, + taskState: turningOff ? "estop-reset" : "on", + manualPanel: "manual", + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + runState: turningOff ? "powered-off" : "idle", + kinsType: turningOff ? "identity" : state.kinsType, + rtcpState: turningOff ? "off" : state.rtcpState, + feed: turningOff ? { ...state.feed, currentVelocity: 0 } : state.feed, + coolant: turningOff ? { ...state.coolant, flood: false, mist: false } : state.coolant, + spindle: turningOff ? { ...state.spindle, enabled: false, direction: "stop" } : state.spindle, + operatorMessage: turningOff ? "task/HAL machine power off" : "task/HAL machine power on", + }); + runTaskHalCommandSequence([ + { type: "EMC_TASK_SET_STATE", state: turningOff ? "ESTOP_RESET" : "ON" }, + ], { operatorMessage: turningOff ? "task/HAL machine power off" : "task/HAL machine power on" }).catch(() => {}); + break; + } + setState({ + machine: { + ...state.machine, + powerOn: !turningOff, + estopActive: false, + taskState: turningOff ? "estop-reset" : "on", + manualPanel: "manual", + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + runState: turningOff ? "powered-off" : "idle", + kinsType: turningOff ? "identity" : state.kinsType, + rtcpState: turningOff ? "off" : state.rtcpState, + feed: turningOff ? { ...state.feed, currentVelocity: 0 } : state.feed, + coolant: turningOff ? { ...state.coolant, flood: false, mist: false } : state.coolant, + spindle: turningOff ? { ...state.spindle, enabled: false, direction: "stop" } : state.spindle, + operatorMessage: turningOff ? "machine power off" : "machine power on", + }); + } + break; + case "ESTOP": + setState({ + machine: { + ...state.machine, + powerOn: false, + estopActive: true, + taskState: "estop", + manualPanel: "manual", + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + runState: "estopped", + kinsType: "identity", + rtcpState: "off", + feed: { + ...state.feed, + currentVelocity: 0, + }, + coolant: { + ...state.coolant, + flood: false, + mist: false, + }, + spindle: { + ...state.spindle, + enabled: false, + direction: "stop", + }, + operatorMessage: "emergency stop active", + }); + break; + case "RESET": + setState({ + machine: { + ...state.machine, + powerOn: false, + estopActive: false, + taskState: "estop-reset", + manualPanel: "manual", + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + resetCount: state.machine.resetCount + 1, + }, + runState: "idle", + kinsType: "identity", + rtcpState: "off", + coolant: { + ...state.coolant, + flood: false, + mist: false, + }, + spindle: { + ...state.spindle, + enabled: false, + direction: "stop", + }, + operatorMessage: "estop reset; machine off", + }); + break; + case "SET_MODE": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + const requestedMode = String(action.mode || ""); + const mode = normalizeLinuxCncTaskMode(requestedMode); + const manualPanel = requestedMode === "jog" + ? "jog" + : mode === "manual" + ? "manual" + : null; + if (state.taskHalRuntime?.loaded) { + runTaskHalCommandSequence([ + { type: "EMC_TASK_SET_MODE", mode: mode.toUpperCase() }, + ], { + operatorMessage: `task/HAL mode ${mode}`, + preserveMachine: { + ...state.machine, + mode, + manualPanel, + }, + }).catch(() => {}); + break; + } + setState({ + machine: { + ...state.machine, + mode, + manualPanel, + interpState: mode === "manual" ? "idle" : state.machine.interpState, + interpResumeState: mode === "manual" ? "idle" : state.machine.interpResumeState, + taskPaused: mode === "manual" ? false : state.machine.taskPaused, + }, + runState: mode === "manual" && state.runState === "running" ? "stopped" : state.runState, + operatorMessage: `mode ${mode}`, + }); + } + break; + case "SET_MDI_COMMAND": + setState({ + machine: { + ...state.machine, + mdiCommand: String(action.command ?? ""), + }, + operatorMessage: "MDI command staged", + }); + break; + case "JOG": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + const axis = action.axis || state.machine.jogAxis; + const direction = Number(action.direction || 1); + const increment = Number(action.increment || state.machine.jogIncrement); + if (state.taskHalRuntime?.loaded) { + const nextAxisPose = clampAxisPoseToProfile({ + ...state.axisPose, + [axis]: Number(state.axisPose[axis] || 0) + direction * increment, + }, state.profile); + const pendingJogCommand = { + axis, + direction, + increment, + basePose: { ...state.axisPose }, + createdAtLine: state.activeLine, + }; + setState({ + machine: { + ...state.machine, + mode: "manual", + manualPanel: "jog", + jogAxis: axis, + jogIncrement: increment, + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + axisPose: nextAxisPose, + runState: "jogging", + pendingJogCommand, + operatorMessage: `task/HAL jog ${axis.toUpperCase()} ${direction > 0 ? "+" : "-"}${increment}`, + }); + runTaskHalCommandSequence([ + { + type: "EMC_JOG_INCR", + axis: axis.toUpperCase(), + distance: direction * increment, + velocity: Number(action.velocity || 60), + }, + ], { + pendingJogCommand, + preserveAxisPose: nextAxisPose, + preserveMachine: { + ...state.machine, + mode: "manual", + manualPanel: "jog", + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + operatorMessage: `task/HAL jog ${axis.toUpperCase()} ${direction > 0 ? "+" : "-"}${increment}`, + }).catch(() => {}); + break; + } + setState({ + machine: { + ...state.machine, + mode: "manual", + manualPanel: "jog", + jogAxis: axis, + jogIncrement: increment, + }, + axisPose: { + ...state.axisPose, + [axis]: Number(state.axisPose[axis] || 0) + direction * increment, + }, + runState: "jogging", + operatorMessage: `jog ${axis.toUpperCase()} ${direction > 0 ? "+" : "-"}${increment}`, + }); + } + break; + case "RUN_MDI": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + if (state.taskHalRuntime?.loaded) { + const command = normalizeMdiCommand(action.command ?? state.machine.mdiCommand); + const mdiResult = executeMdiCommand(state, command); + setState(mdiResult.patch); + runTaskHalCommandSequence([ + { type: "EMC_TASK_SET_MODE", mode: "MDI" }, + { type: "EMC_TASK_PLAN_EXECUTE", mdi: command }, + ], { + operatorMessage: `task/HAL MDI ${command}`, + preserveAxisPose: mdiResult.patch.axisPose, + preserveMachine: mdiResult.patch.machine, + }).catch(() => {}); + break; + } + const mdiResult = executeMdiCommand(state, action.command ?? state.machine.mdiCommand); + setState(mdiResult.patch); + } + break; + case "LOAD_PROGRAM": + { + const loadedProgram = buildLoadedProgram(action); + const toolCommands = extractToolCommandSequenceFromProgram(loadedProgram.programLines.join("\n")); + const toolDbSimulation = state.toolDbSimulation && toolCommands.length > 0 + ? applyToolCommandSequence(state.toolDbSimulation, toolCommands) + : state.toolDbSimulation; + setState({ + ...loadedProgram, + toolDbSimulation, + toolDbReadiness: createToolDbReadiness(toolDbSimulation), + machine: { + ...state.machine, + mode: "auto", + manualPanel: null, + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + axisPose: initialAxisPose, + runState: "idle", + programRuntimeFeedback: null, + programLineExecution: {}, + preview: { + ...state.preview, + pathPoints: Math.max(loadedProgram.programLines.length, 1), + }, + operatorMessage: `loaded ${loadedProgram.activeProgram}`, + }); + if (state.interpreterRuntime?.loaded) { + dispatch({ type: "RUN_INTERPRETER_PROGRAM" }); + } + } + break; + case "RUN": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + if (state.taskHalRuntime?.loaded) { + const preconditions = validateRunPreconditions(state, { requireTaskHalSession: false }); + if (!preconditions.ok) { + setState({ operatorMessage: preconditions.operatorMessage }); + break; + } + runValidatedTaskHalProgramRun().catch(() => {}); + break; + } + const playback = nextProgramRuntimeSamplePlayback(state, 5); + setState({ + machine: { + ...state.machine, + mode: "auto", + manualPanel: null, + interpState: playback.complete ? "idle" : "reading", + interpResumeState: playback.complete ? "idle" : "reading", + taskPaused: false, + }, + runState: playback.complete ? "complete" : "running", + activeLine: playback.activeLine, + axisPose: playback.axisPose, + kinsType: playback.kinsType, + rtcpState: playback.rtcpState, + programExecutionMotionIndex: playback.motionIndex, + programExecutionSampleIndex: playback.sampleIndex, + programRuntimeFeedback: playback.runtimeFeedback, + programLineExecution: createProgramLineExecutionPatch(state.programLineExecution, playback.runtimeFeedback, { + status: playback.complete ? "done" : "running", + source: playback.runtimeFeedback?.sourceMode, + }), + programElapsedSeconds: playback.timing.elapsedSeconds, + programRemainingSeconds: playback.timing.remainingSeconds, + feed: { + ...state.feed, + currentVelocity: playback.timing.currentVelocity, + }, + operatorMessage: `executing line ${playback.activeLine}`, + }); + } + break; + case "STOP": + case "ABORT": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + if (state.taskHalRuntime?.loaded) { + stopTaskHalStatusLoop(action.type === "ABORT" ? "aborted" : "stopped", { + operatorMessage: action.type === "ABORT" ? "task/HAL abort requested" : "task/HAL stop requested", + }); + setState(createStoppedProgramStatePatch(state, { + reason: action.type === "ABORT" ? "aborted" : "stopped", + operatorMessage: action.type === "ABORT" ? "task abort requested" : "program stop requested", + })); + runTaskHalCommandSequence([ + { type: "EMC_TASK_ABORT" }, + ], { + operatorMessage: action.type === "ABORT" ? "task/HAL abort complete" : "task/HAL program stopped", + preserveMachine: { + ...state.machine, + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + }) + .then(() => { + dispatch({ + type: "TASK_HAL_PROGRAM_STOPPED", + reason: action.type === "ABORT" ? "aborted" : "stopped", + operatorMessage: action.type === "ABORT" ? "task/HAL abort complete" : "task/HAL program stopped", + }); + }) + .catch(() => {}); + break; + } + setState({ + machine: { + ...state.machine, + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + runState: "stopped", + feed: { + ...state.feed, + currentVelocity: 0, + }, + operatorMessage: action.type === "ABORT" ? "task abort complete" : "program stopped", + }); + } + break; + case "SET_SPINDLE_DIRECTION": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + const direction = normalizeSpindleDirection(action.direction); + setState({ + spindle: { + ...state.spindle, + enabled: direction !== "stop", + direction, + }, + operatorMessage: direction === "stop" ? "spindle stopped" : `spindle ${direction}`, + }); + } + break; + case "PAUSE": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + if (state.taskHalRuntime?.loaded) { + stopTaskHalStatusLoop("paused", { operatorMessage: "task/HAL pause requested" }); + runTaskHalCommandSequence([ + { type: "EMC_TASK_PLAN_PAUSE" }, + ], { operatorMessage: "task/HAL program paused" }).catch(() => {}); + break; + } + setState({ + machine: { + ...state.machine, + interpResumeState: state.machine.interpState === "paused" + ? state.machine.interpResumeState + : state.machine.interpState, + interpState: "paused", + taskPaused: true, + }, + runState: "paused", + operatorMessage: "program paused", + }); + } + break; + case "RESUME": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + if (state.taskHalRuntime?.loaded) { + runTaskHalCommandSequence([ + { type: "EMC_TASK_PLAN_RESUME" }, + ], { + operatorMessage: "task/HAL program resumed", + }).then((status) => { + if (shouldContinueTaskHalStatusLoop(state, status)) { + startTaskHalStatusLoop({ + operatorMessage: "task/HAL status loop resumed", + }); + } + }).catch(() => {}); + break; + } + const resumeState = state.machine.interpResumeState === "idle" + ? "reading" + : state.machine.interpResumeState; + setState({ + machine: { + ...state.machine, + interpState: resumeState, + interpResumeState: resumeState, + taskPaused: false, + }, + runState: resumeState === "reading" ? "running" : "idle", + operatorMessage: "program resumed", + }); + } + break; + case "STEP": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + if (state.taskHalRuntime?.loaded) { + stopTaskHalStatusLoop("step", { operatorMessage: "task/HAL step requested" }); + runTaskHalCommandSequence([ + { type: "EMC_TASK_PLAN_STEP" }, + ], { + taskCycles: 1, + operatorMessage: "task/HAL stepped one cycle", + }).catch(() => {}); + break; + } + const playback = nextProgramRuntimeSamplePlayback(state, 1); + setState({ + machine: { + ...state.machine, + mode: "auto", + manualPanel: null, + interpResumeState: state.machine.interpState === "paused" + ? state.machine.interpResumeState + : state.machine.interpState, + interpState: "paused", + taskPaused: true, + }, + runState: "stepping", + activeLine: playback.activeLine, + axisPose: playback.axisPose, + kinsType: playback.kinsType, + rtcpState: playback.rtcpState, + programExecutionMotionIndex: playback.motionIndex, + programExecutionSampleIndex: playback.sampleIndex, + programRuntimeFeedback: playback.runtimeFeedback, + programElapsedSeconds: playback.timing.elapsedSeconds, + programRemainingSeconds: playback.timing.remainingSeconds, + feed: { + ...state.feed, + currentVelocity: playback.timing.currentVelocity, + }, + operatorMessage: `stepped to line ${playback.activeLine}`, + }); + } + break; + case "RUN_FRAME": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + const playback = nextProgramRuntimeSamplePlayback(state, 5); + setState({ + machine: { + ...state.machine, + interpState: playback.complete ? "idle" : "reading", + interpResumeState: playback.complete ? "idle" : "reading", + taskPaused: false, + }, + runState: "running", + activeLine: playback.activeLine, + axisPose: playback.axisPose, + kinsType: playback.kinsType, + rtcpState: playback.rtcpState, + programExecutionMotionIndex: playback.motionIndex, + programExecutionSampleIndex: playback.sampleIndex, + programRuntimeFeedback: playback.runtimeFeedback, + programElapsedSeconds: playback.timing.elapsedSeconds, + programRemainingSeconds: playback.timing.remainingSeconds, + feed: { + ...state.feed, + currentVelocity: playback.timing.currentVelocity, + }, + }); + } + break; + case "HOME": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + if (state.taskHalRuntime?.loaded) { + setState({ + machine: { + ...state.machine, + mode: "manual", + manualPanel: "manual", + allHomed: true, + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + runState: "idle", + axisPose: initialAxisPose, + programRuntimeFeedback: null, + operatorMessage: "task/HAL home requested", + }); + runTaskHalCommandSequence([ + { type: "EMC_JOINT_HOME", joint: -1 }, + ], { + operatorMessage: "task/HAL machine homed", + preserveMachine: { + ...state.machine, + manualPanel: "manual", + allHomed: true, + }, + }).catch(() => {}); + break; + } + setState({ + machine: { + ...state.machine, + mode: "manual", + manualPanel: "manual", + allHomed: true, + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + runState: "idle", + axisPose: initialAxisPose, + programRuntimeFeedback: null, + operatorMessage: "machine homed to fixture origin", + }); + } + break; + case "UNHOME": + setState({ + machine: { + ...state.machine, + allHomed: false, + }, + operatorMessage: "machine unhomed", + }); + break; + case "SET_RTCP": + if (action.enabled && !profileSupportsTcp(state.profile)) { + setState({ + kinsType: "identity", + rtcpState: "off", + operatorMessage: `RTCP blocked: ${state.profile.id} is ${state.profile.kinematics} reference only`, + }); + break; + } + { + const requestedKinsType = action.enabled + ? tcpKinsTypeForProfile(state.profile) + : "identity"; + const gate = gateKinsTypeChange(state, requestedKinsType); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + setState({ + kinsType: requestedKinsType, + rtcpState: action.enabled ? "on" : "off", + }); + } + break; + case "RESET_VIEW": + setState({ + preview: { + ...state.preview, + selectedView: "iso", + cameraRevision: (state.preview.cameraRevision ?? 0) + 1, + }, + operatorMessage: "preview fit to program", + }); + break; + case "CLEAR_PREVIEW": + setState({ + preview: { ...state.preview, pathPoints: 0 }, + operatorMessage: "preview path cleared", + }); + break; + case "SET_VIEW": + setState({ + preview: { + ...state.preview, + selectedView: action.view, + cameraRevision: (state.preview.cameraRevision ?? 0) + 1, + }, + operatorMessage: `preview view ${action.view}`, + }); + break; + case "TOGGLE_FULLSCREEN": + setState({ + preview: { ...state.preview, fullscreen: !state.preview.fullscreen }, + operatorMessage: state.preview.fullscreen ? "fullscreen preview off" : "fullscreen preview on", + }); + break; + case "SET_KINS_TYPE": + { + const gate = gateKinsTypeChange(state, action.kinsType); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + setState({ + kinsType: action.kinsType, + rtcpState: action.kinsType.startsWith("tcp-") ? "on" : "off", + operatorMessage: `kinematics ${action.kinsType}`, + }); + break; + } + case "ADJUST_OVERRIDE": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + setState({ + feed: { + ...state.feed, + [`${action.target}Override`]: clampPercent( + state.feed[`${action.target}Override`] + action.delta, + 0, + 200, + ), + }, + gmoccapyGui: { + ...state.gmoccapyGui, + lastHalPin: null, + lastHalPinValue: null, + lastHalPinEffect: `${action.target} override manual step`, + }, + operatorMessage: `${action.target} override adjusted`, + }); + } + break; + case "ADJUST_SPINDLE_OVERRIDE": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + setState({ + spindle: { + ...state.spindle, + override: clampPercent(state.spindle.override + action.delta, 0, 150), + }, + gmoccapyGui: { + ...state.gmoccapyGui, + lastHalPin: null, + lastHalPinValue: null, + lastHalPinEffect: "spindle override manual step", + }, + operatorMessage: "spindle override adjusted", + }); + } + break; + case "RESET_OVERRIDE": + setState(resetOverridePatchForTarget(state, action.target)); + break; + case "SET_BLOCK_DELETE": + setState({ + gmoccapyGui: { + ...state.gmoccapyGui, + optionalBlocks: Boolean(action.enabled), + lastHalPin: null, + lastHalPinValue: null, + lastHalPinEffect: "block delete set from Web optional blocks button", + }, + operatorMessage: `block delete ${action.enabled ? "on" : "off"}`, + }); + break; + case "SET_OPTIONAL_STOP": + setState({ + gmoccapyGui: { + ...state.gmoccapyGui, + optionalStop: Boolean(action.enabled), + lastHalPin: null, + lastHalPinValue: null, + lastHalPinEffect: "optional stop set from Web control", + }, + operatorMessage: `optional stop ${action.enabled ? "on" : "off"}`, + }); + break; + case "SET_IGNORE_LIMITS": + setState({ + gmoccapyGui: { + ...state.gmoccapyGui, + ignoreLimits: Boolean(action.enabled), + lastHalPin: null, + lastHalPinValue: null, + lastHalPinEffect: "ignore limits set from Web checkbox", + }, + operatorMessage: action.enabled ? "limit override requested" : "limit override clear", + }); + break; + case "TOGGLE_COOLANT": + { + const gate = gateLinuxCncTaskAction(state, action); + if (!gate.allowed) { + setState({ operatorMessage: gate.operatorMessage }); + break; + } + setState({ + coolant: { + ...state.coolant, + [action.kind]: !state.coolant[action.kind], + }, + operatorMessage: `${action.kind} coolant toggled`, + }); + } + break; + case "RELOAD_PROGRAM": + setState({ + machine: { + ...state.machine, + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + runState: "idle", + activeLine: state.programStartLine === 496 ? 501 : state.programStartLine, + programExecutionMotionIndex: 0, + programExecutionSampleIndex: 0, + programRuntimeFeedback: null, + programLineExecution: {}, + axisPose: initialAxisPose, + preview: { ...state.preview, pathPoints: Math.max(state.programLines.length, 1) }, + operatorMessage: "program reloaded", + }); + break; + default: + throw new Error(`Unknown action type: ${action.type}`); + } + }; + + const refreshAsyncKinematicsFrame = async ({ operatorMessage = state.operatorMessage } = {}) => { + if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") { + return state.rtcpFrame; + } + if (!state.kinematicsRuntime?.loaded || !isAsyncKinematicsRuntime(state.kinematicsRuntime)) { + return state.rtcpFrame; + } + const sequence = state.asyncFrameRefreshSequence + 1; + state = { + ...state, + asyncFrameRefreshPending: true, + asyncFrameRefreshSequence: sequence, + }; + notify(); + try { + await switchKinematicsRuntimeForState(state); + const frameSource = await state.kinematicsRuntime.frameForJoints( + jointsFromAxisPose(state.axisPose, state.profile), + { jointCount: state.kinematicsRuntime.jointCount || 5 }, + ); + if (state.asyncFrameRefreshSequence !== sequence) { + return state.rtcpFrame; + } + const frame = buildRtcpFrame({ + axisPose: state.axisPose, + activeLine: state.activeLine, + kinsType: state.kinsType, + rtcpEnabled: state.rtcpState === "on" || state.kinsType.startsWith("tcp-"), + sourceMode: "source-derived-kinematics-wasm", + profile: state.profile, + linuxCncKinematicsResult: frameSource, + }); + const nextState = { + ...state, + sourceMode: "source-derived-kinematics-wasm", + frameSourceMode: "source-derived-kinematics-wasm", + desiredFrameSourceMode: "source-derived-kinematics-wasm", + axisPose: frame.axisPose, + jointPose: frame.jointPose, + tcpPose: frame.tcpPose, + toolAxisVector: frame.toolAxisVector, + rtcpState: frame.rtcpState, + rtcpFrame: frame, + lastKinematicsResult: frameSource, + dro: buildDroFromFrame(frame, state.programRuntimeFeedback), + asyncFrameRefreshPending: false, + operatorMessage, + }; + const taskPolicy = createLinuxCncTaskPolicyStatus(nextState); + const derivedState = { + ...nextState, + linuxCncTaskPolicy: taskPolicy, + machineProject: createMachineProjectState(nextState), + programValidation: createProgramValidationState(nextState), + rightSidebarEntrances: createRightSidebarEntranceState(nextState, taskPolicy), + }; + state = { + ...derivedState, + linuxCncParityMatrix: createLinuxCncParityMatrix(derivedState), + fullExecutionBoundary: createFullLinuxCncExecutionBoundary(derivedState), + }; + notify(); + return frame; + } catch (error) { + if (state.asyncFrameRefreshSequence !== sequence) { + return state.rtcpFrame; + } + state = { + ...state, + asyncFrameRefreshPending: false, + operatorMessage: `LinuxCNC kinematics refresh failed: ${error instanceof Error ? error.message : String(error)}`, + }; + notify(); + return state.rtcpFrame; + } + }; + + const saveSession = async (options = {}) => { + dispatch({ type: "SESSION_SAVE_STARTED" }); + try { + const sessionId = options.sessionId || state.sessionPersistence.sessionId; + const filename = options.filename || state.sessionPersistence.filename; + const payload = createFiveAxisSessionPayload(state); + const { snapshot, path, storageMode, storageCapability } = await saveFiveAxisSessionSnapshot(sessionId, payload, { + filename, + storage: options.storage, + storageMode: options.storageMode, + metadata: options.metadata, + }); + dispatch({ + type: "SESSION_SAVE_COMPLETE", + path, + storageMode, + storageCapability, + savedAt: snapshot.createdAt, + }); + return { snapshot, path, storageMode, storageCapability }; + } catch (error) { + dispatch({ type: "SESSION_PERSISTENCE_FAILED", error: error.message }); + throw error; + } + }; + + const restoreSession = async (options = {}) => { + dispatch({ type: "SESSION_RESTORE_STARTED" }); + try { + const sessionId = options.sessionId || state.sessionPersistence.sessionId; + const filename = options.filename || state.sessionPersistence.filename; + const { snapshot, path, storageMode, storageCapability } = await loadFiveAxisSessionSnapshot(sessionId, { + filename, + storage: options.storage, + storageMode: options.storageMode, + }); + dispatch({ + type: "SESSION_RESTORE_COMPLETE", + restoredState: restoreFiveAxisSessionState(snapshot), + path, + storageMode, + storageCapability, + restoredAt: new Date().toISOString(), + }); + await refreshAsyncKinematicsFrame({ operatorMessage: `5-axis session restored ${path}` }); + return { snapshot, path, storageMode, storageCapability }; + } catch (error) { + dispatch({ type: "SESSION_PERSISTENCE_FAILED", error: error.message }); + throw error; + } + }; + + const stageMachineFiles = async (options = {}) => { + dispatch({ type: "MACHINE_FILE_STAGING_STARTED" }); + try { + const { plan, save } = await stageProfileMachineFiles(state.profile, { + ...options, + iniText: options.iniText || state.linuxCncIniConfig?.sourceText, + }); + dispatch({ type: "MACHINE_FILE_STAGING_COMPLETE", plan, save }); + return { plan, save }; + } catch (error) { + dispatch({ + type: "MACHINE_FILE_STAGING_FAILED", + error: error instanceof Error ? error.message : String(error), + }); + throw error; + } + }; + + const queryToolDb = (selector = {}) => { + if (!state.toolDbSimulation) return null; + if (selector.all === true || selector.list === true) { + return listToolEntries(state.toolDbSimulation); + } + return queryToolEntry(state.toolDbSimulation, selector); + }; + + const editToolDb = (patch = {}) => { + if (!state.toolDbSimulation) { + throw new Error("tool DB simulation is not ready"); + } + const toolDbSimulation = editToolEntry(state.toolDbSimulation, patch); + setState({ + toolDbSimulation, + toolDbReadiness: createToolDbReadiness(toolDbSimulation), + operatorMessage: `tool DB edited T${patch.toolNumber ?? patch.toolno ?? "-"}`, + }); + return state.toolDbSimulation; + }; + + const saveToolDb = async (options = {}) => { + if (!state.toolDbSimulation) { + throw new Error("tool DB simulation is not ready"); + } + const save = await saveToolDbSimulation(state.toolDbSimulation, options); + setState({ + toolDbSimulation: save.toolDb, + toolDbReadiness: createToolDbReadiness(save.toolDb), + operatorMessage: `tool DB saved ${save.path} (${save.storageMode})`, + }); + return save; + }; + + const runFullBoundaryAudit = async (options = {}) => { + if (state.machineFileStaging?.status !== "staged" || options.restage === true) { + await stageMachineFiles(options); + } + if (!state.machineFileStaging.selectedGcodeSourceRel) { + const sourceRel = options.sourceRel || defaultLinuxCncGcodeSourceForState(state)?.sourceRel; + if (sourceRel) { + dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel }); + await Promise.resolve(); + } + } + dispatch({ type: "RUN_MACHINE_FILE_PROGRAM" }); + }; + + const initializeTaskHalSession = async ({ openProgram = true } = {}) => { + if (!state.taskHalRuntime?.loaded || !state.machineFileStaging?.save?.files?.length) { + return null; + } + stopTaskHalStatusLoop("session-initialize", { notify: false }); + const preserveMachine = { + powerOn: state.machine.powerOn, + estopActive: state.machine.estopActive, + taskState: state.machine.taskState, + mode: state.machine.mode, + allHomed: state.machine.allHomed, + }; + const selectedPlan = selectMachineFileProgramForState(state); + const session = buildTaskHalSessionFromMachineFiles({ + profile: state.profile, + plan: selectedPlan, + save: state.machineFileStaging.save, + selectedProgramRel: state.machineFileStaging.selectedGcodeSourceRel, + }); + if (session.programSourceRel && session.programSourceRel !== state.machineFileStaging.selectedGcodeSourceRel) { + return null; + } + await state.taskHalRuntime.resetSession?.(); + await state.taskHalRuntime.initSession({ + profileId: session.profileId, + iniPath: session.iniPath, + iniText: session.iniText, + programPath: session.programPath, + semanticBoundary: session.semanticBoundary, + }); + await state.taskHalRuntime.stageFiles(session.files); + if (openProgram && session.programPath) { + await state.taskHalRuntime.openProgram(session.programPath); + await loadTaskHalMotionPlanForSession(session); + } + if (preserveMachine.powerOn) { + await state.taskHalRuntime.sendCommand({ type: "EMC_TASK_SET_STATE", state: "ON" }); + } + if (preserveMachine.allHomed) { + await state.taskHalRuntime.sendCommand({ type: "EMC_JOINT_HOME", joint: -1 }); + } + await state.taskHalRuntime.sendCommand({ + type: "EMC_TASK_SET_MODE", + mode: normalizeLinuxCncTaskMode(preserveMachine.mode).toUpperCase(), + }); + await state.taskHalRuntime.runCycles({ + ...deriveTaskHalCyclePeriods(state), + taskCycles: 1, + }); + if (session.programSourceRel && session.programSourceRel !== state.machineFileStaging.selectedGcodeSourceRel) { + return null; + } + dispatch({ type: "TASK_HAL_SESSION_READY", session }); + const status = await state.taskHalRuntime.readStatus(); + dispatch({ + type: "TASK_HAL_STATUS_APPLIED", + status, + preserveMachine, + operatorMessage: `LinuxCNC task/HAL session ready ${session.programPath || "-"}`, + }); + return session; + }; + + const runValidatedTaskHalProgramRun = async () => { + const preflight = validateRunPreconditions(state, { requireTaskHalSession: false }); + if (!preflight.ok) { + setState({ operatorMessage: preflight.operatorMessage }); + return null; + } + + const expectedProgramPath = expectedTaskHalProgramPathForState(state); + if (!state.taskHalSession || (expectedProgramPath && state.taskHalSession.programPath !== expectedProgramPath)) { + await initializeTaskHalSession({ openProgram: true }); + } + const loadedMotionPlan = await loadTaskHalMotionPlanForSession(state.taskHalSession); + if (!loadedMotionPlan) { + setState({ operatorMessage: "run blocked: task/HAL feed motion plan not loaded" }); + return null; + } + + const ready = validateRunPreconditions(state, { requireTaskHalSession: true }); + if (!ready.ok) { + setState({ operatorMessage: ready.operatorMessage }); + return null; + } + + stopTaskHalStatusLoop("restarted", { + operatorMessage: "task/HAL status loop restarting", + }); + + const status = await runTaskHalCommandSequence([ + { type: "EMC_TASK_SET_STATE", state: "ON" }, + { type: "EMC_TASK_SET_MODE", mode: "AUTO" }, + { type: "EMC_TASK_PLAN_RUN", line: 0 }, + ], { + taskCycles: 5, + operatorMessage: `task/HAL program run ${ready.profileId} ${ready.kinematicsModuleId}`, + allowFixtureSession: false, + }); + if (shouldContinueTaskHalStatusLoop(state, status)) { + startTaskHalStatusLoop({ + profileId: ready.profileId, + iniPath: ready.iniPath, + kinematicsModuleId: ready.kinematicsModuleId, + operatorMessage: `task/HAL status loop running ${ready.profileId} ${ready.kinematicsModuleId}`, + }); + } + return status; + }; + + const runReadySequence = async () => { + if (!state.machineFileStaging?.selectedGcodeSourceRel) { + const sourceRel = defaultLinuxCncGcodeSourceForState(state)?.sourceRel; + if (sourceRel) { + dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel }); + await waitForStatePredicate((nextState) => nextState.machineFileStaging?.selectedGcodeSourceRel === sourceRel); + } + } + if (state.taskHalRuntime?.loaded) { + await initializeTaskHalSession({ openProgram: true }); + await runTaskHalCommandSequence([ + { type: "EMC_TASK_SET_STATE", state: "ON" }, + { type: "EMC_JOINT_HOME", joint: -1 }, + { type: "EMC_TASK_SET_MODE", mode: "AUTO" }, + ], { + taskCycles: 3, + operatorMessage: "RUN ready: power on, homed, auto mode", + allowFixtureSession: false, + preserveMachine: { + powerOn: true, + estopActive: false, + taskState: "on", + mode: "auto", + manualPanel: null, + allHomed: true, + }, + }); + const tcpKinsType = tcpKinsTypeForProfile(state.profile); + if (tcpKinsType) { + dispatch({ type: "SET_KINS_TYPE", kinsType: tcpKinsType }); + } + return state; + } + const tcpKinsType = tcpKinsTypeForProfile(state.profile); + setState({ + machine: { + ...state.machine, + powerOn: true, + estopActive: false, + taskState: "on", + mode: "auto", + manualPanel: null, + allHomed: true, + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + runState: "idle", + kinsType: tcpKinsType || "identity", + rtcpState: tcpKinsType ? "on" : "off", + operatorMessage: tcpKinsType + ? "RUN ready: power on, homed, auto mode" + : "RUN ready: power on, homed, auto mode; TCP unavailable for this reference profile", + }); + return state; + }; + + const loadTaskHalMotionPlanForSession = async (session = state.taskHalSession) => { + if (!state.taskHalRuntime?.loaded || typeof state.taskHalRuntime.loadProgramMotionPlan !== "function") { + return null; + } + const motion = state.programExecution?.motion || []; + const timing = state.programExecutionTiming || buildTimingForState(state, state.programExecution); + if (!session?.programPath || !Array.isArray(motion) || motion.length === 0 || !Array.isArray(timing?.segments) || timing.segments.length === 0) { + return null; + } + const plan = buildTaskHalProgramMotionPlan({ + programPath: session.programPath, + motion, + timing, + programLines: state.programLines, + linearUnits: timing.linearUnits || state.profile?.traj?.linearUnits || "mm", + }); + if (plan.segmentCount <= 0) { + return null; + } + await state.taskHalRuntime.loadProgramMotionPlan(plan); + return plan; + }; + + const startTaskHalStatusLoop = ({ + profileId = state.machineProfile, + iniPath = state.profile?.iniPath || null, + kinematicsModuleId = state.profile?.kinematicsModuleId || state.machineProfile, + batchSize = 5, + intervalMs = 25, + taskPeriodNs = deriveTaskHalCyclePeriods(state).taskPeriodNs, + servoPeriodNs = deriveTaskHalCyclePeriods(state).servoPeriodNs, + operatorMessage = "task/HAL status loop running", + } = {}) => { + if (!state.taskHalRuntime?.loaded) return null; + stopTaskHalStatusLoop("restarted", { notify: false }); + const sequence = Number(state.taskHalStatusLoop?.sequence || 0) + 1; + dispatch({ + type: "TASK_HAL_STATUS_LOOP_STARTED", + sequence, + profileId, + iniPath, + kinematicsModuleId, + batchSize, + intervalMs, + taskPeriodNs, + servoPeriodNs, + operatorMessage, + }); + const tick = () => runTaskHalStatusLoopTick(sequence).catch((error) => { + stopTaskHalStatusLoop("error", { + error: error instanceof Error ? error.message : String(error), + operatorMessage: `task/HAL status loop failed: ${error instanceof Error ? error.message : String(error)}`, + }); + }); + taskHalStatusLoopTimer = setTimeout(tick, intervalMs); + return sequence; + }; + + const runTaskHalStatusLoopTick = async (sequence) => { + const loop = state.taskHalStatusLoop || {}; + if (!loop.active || loop.sequence !== sequence || !state.taskHalRuntime?.loaded) { + return null; + } + await state.taskHalRuntime.runCycles({ + taskPeriodNs: loop.taskPeriodNs, + servoPeriodNs: loop.servoPeriodNs, + taskCycles: loop.batchSize, + }); + const status = await state.taskHalRuntime.readStatus(); + if (state.taskHalStatusLoop?.sequence !== sequence) { + return status; + } + dispatch({ + type: "TASK_HAL_STATUS_APPLIED", + status, + loopSequence: sequence, + operatorMessage: `task/HAL status tick ${Number(state.taskHalStatusLoop?.tickCount || 0) + 1}`, + }); + if (shouldContinueTaskHalStatusLoop(state, status)) { + taskHalStatusLoopTimer = setTimeout( + () => runTaskHalStatusLoopTick(sequence).catch((error) => { + stopTaskHalStatusLoop("error", { + error: error instanceof Error ? error.message : String(error), + operatorMessage: `task/HAL status loop failed: ${error instanceof Error ? error.message : String(error)}`, + }); + }), + Number(state.taskHalStatusLoop?.intervalMs || loop.intervalMs || 25), + ); + } else { + stopTaskHalStatusLoop(state.runState === "complete" ? "complete" : state.runState, { + operatorMessage: state.runState === "complete" + ? "task/HAL program complete" + : `task/HAL status loop ${state.runState}`, + }); + } + return status; + }; + + const stopTaskHalStatusLoop = (reason = "stopped", { + error = null, + operatorMessage = null, + notify = true, + } = {}) => { + if (taskHalStatusLoopTimer) { + clearTimeout(taskHalStatusLoopTimer); + taskHalStatusLoopTimer = null; + } + if (notify && (state.taskHalStatusLoop?.active || state.taskHalStatusLoop?.stopReason !== reason || error)) { + dispatch({ + type: "TASK_HAL_STATUS_LOOP_STOPPED", + reason, + error, + operatorMessage, + }); + } + }; + + const runTaskHalCommandSequence = async (commands, { + taskCycles = 1, + taskPeriodNs = deriveTaskHalCyclePeriods(state).taskPeriodNs, + servoPeriodNs = deriveTaskHalCyclePeriods(state).servoPeriodNs, + operatorMessage = "task/HAL command complete", + pendingJogCommand = null, + allowFixtureSession = true, + preserveMachine = null, + preserveAxisPose = null, + } = {}) => { + if (!state.taskHalRuntime?.loaded) { + throw new Error("LinuxCNC task/HAL runtime not attached"); + } + const sequence = state.taskHalExecutionSequence + 1; + setState({ + taskHalExecutionPending: true, + taskHalExecutionSequence: sequence, + pendingJogCommand, + operatorMessage: "LinuxCNC task/HAL command running", + }); + try { + if (!state.taskHalSession && state.machineFileStaging?.save?.files?.length) { + await initializeTaskHalSession({ openProgram: true }); + } else if (allowFixtureSession && !state.taskHalSession && state.programLines?.length) { + await initializeFixtureTaskHalSessionForState(); + } + if (!state.taskHalSession) { + throw new Error("LinuxCNC task/HAL session not initialized"); + } + for (const command of commands) { + await state.taskHalRuntime.sendCommand(command); + } + await state.taskHalRuntime.runCycles({ taskPeriodNs, servoPeriodNs, taskCycles }); + const status = await state.taskHalRuntime.readStatus(); + if (state.taskHalExecutionSequence !== sequence) { + return status; + } + dispatch({ type: "TASK_HAL_STATUS_APPLIED", status, operatorMessage, preserveMachine, preserveAxisPose }); + return status; + } catch (error) { + dispatch({ + type: "TASK_HAL_COMMAND_FAILED", + error: error instanceof Error ? error.message : String(error), + }); + throw error; + } + }; + + const initializeFixtureTaskHalSessionForState = async () => { + if (!state.taskHalRuntime?.loaded) return null; + const programPath = "web-ui/current-program.ngc"; + const iniText = state.linuxCncIniConfig?.sourceText || `[TRAJ]\nCOORDINATES = ${state.profile.traj.coordinates.split("").join(" ")}\n`; + await state.taskHalRuntime.resetSession?.(); + await state.taskHalRuntime.initSession({ + profileId: state.machineProfile, + iniPath: state.profile.iniPath, + iniText, + programPath, + semanticBoundary: "linuxcnc_task_hal_fixture_program_session", + }); + await state.taskHalRuntime.stageFiles([ + { + sourceRel: state.programSourceRel || state.activeProgram, + wasmPath: programPath, + path: programPath, + kind: "demo", + text: state.programLines.join("\n"), + bytes: state.programLines.join("\n").length, + }, + ]); + await state.taskHalRuntime.openProgram(programPath); + const session = { + apiName: "web-rtcp-5axis-task-hal-fixture-session", + semanticBoundary: "linuxcnc_task_hal_fixture_program_session", + profileId: state.machineProfile, + iniPath: state.profile.iniPath, + programPath, + fileCount: 1, + }; + dispatch({ type: "TASK_HAL_SESSION_READY", session }); + return session; + }; + + const scheduleAsyncKinematicsRefresh = () => { + if (state.asyncFrameRefreshPending) return null; + if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") return null; + if (!state.kinematicsRuntime?.loaded || !isAsyncKinematicsRuntime(state.kinematicsRuntime)) return null; + const frame = state.rtcpFrame; + if ( + frame?.sourceMode === "source-derived-kinematics-wasm" && + frame.readiness?.linuxCncKinematicsReady === true && + frame.activeLine === state.activeLine && + frame.kinsType === state.kinsType && + frame.axisPose?.x === state.axisPose.x && + frame.axisPose?.y === state.axisPose.y && + frame.axisPose?.z === state.axisPose.z && + frame.axisPose?.a === state.axisPose.a && + frame.axisPose?.b === state.axisPose.b && + frame.axisPose?.c === state.axisPose.c + ) { + return null; + } + return refreshAsyncKinematicsFrame(); + }; + + return { + getState: () => state, + subscribe(listener) { + listeners.add(listener); + listener(state); + return () => listeners.delete(listener); + }, + dispatch, + refreshKinematicsFrame: refreshAsyncKinematicsFrame, + saveSession, + restoreSession, + stageMachineFiles, + queryToolDb, + editToolDb, + saveToolDb, + runFullBoundaryAudit, + initializeTaskHalSession, + }; +} + +function buildFrameForState(state, patch = {}) { + const requestedSourceMode = state.desiredFrameSourceMode || state.frameSourceMode || state.sourceMode; + let linuxCncKinematicsResult = patch.lastKinematicsResult || null; + let sourceMode = requestedSourceMode; + + if (requestedSourceMode === "source-derived-kinematics-wasm") { + if (state.kinematicsRuntime?.loaded && !isAsyncKinematicsRuntime(state.kinematicsRuntime)) { + switchKinematicsRuntimeForState(state); + linuxCncKinematicsResult = state.kinematicsRuntime.frameForJoints( + jointsFromAxisPose(state.axisPose, state.profile), + { jointCount: state.kinematicsRuntime.jointCount || 5 }, + ); + } else if (state.kinematicsRuntime?.loaded && isAsyncKinematicsRuntime(state.kinematicsRuntime)) { + sourceMode = "fixture-ui-only"; + linuxCncKinematicsResult = null; + } else { + sourceMode = "fixture-ui-only"; + linuxCncKinematicsResult = null; + } + } + + const frame = buildRtcpFrame({ + axisPose: state.axisPose, + activeLine: state.activeLine, + kinsType: state.kinsType, + rtcpEnabled: state.rtcpState === "on" || state.kinsType.startsWith("tcp-"), + sourceMode, + profile: state.profile, + linuxCncKinematicsResult, + }); + + return { + frame, + lastKinematicsResult: linuxCncKinematicsResult, + }; +} + +function createKinematicsDescriptor(runtime) { + if (!runtime?.loaded) return null; + return { + apiName: runtime.apiName, + moduleId: runtime.moduleId, + wasmFile: runtime.wasmFile, + supportedModules: runtime.supportedModules, + loaded: runtime.loaded, + sourceMode: runtime.sourceMode, + semanticBoundary: runtime.semanticBoundary, + executionContext: runtime.executionContext || "direct", + workerUrl: runtime.workerUrl || null, + switchkinsType: runtime.switchkinsType, + switchRc: runtime.switchRc, + }; +} + +function createInterpreterDescriptor(runtime) { + if (!runtime?.loaded) return null; + return { + apiName: runtime.apiName, + loaded: runtime.loaded, + sourceMode: runtime.sourceMode, + semanticBoundary: runtime.semanticBoundary, + executionContext: runtime.executionContext || "direct", + }; +} + +function selectMachineFileProgramForState(state) { + const sourceRel = state.machineFileStaging?.selectedGcodeSourceRel; + if (!sourceRel) return state.machineFileStaging.plan; + return selectMachineFileProgram( + state.machineFileStaging.plan, + state.machineFileStaging.save, + sourceRel, + ); +} + +function defaultLinuxCncGcodeSourceForState(state) { + const sources = state.machineFileStaging?.gcodeSources || []; + const defaultProgramFilename = state.profile?.machineFileStaging?.defaultProgramFilename; + if (defaultProgramFilename) { + const match = sources.find((source) => source.filename === defaultProgramFilename); + if (match) return match; + } + const preferred = `${state.machineProfile || "xyzac-trt"}_switchkins.ngc`; + return sources.find((source) => source.filename === preferred) + || sources.find((source) => source.filename.includes(state.machineProfile || "xyzac")) + || sources[0] + || null; +} + +function createInitialControlledUserMState() { + const simulation = createControlledUserMSimulation(); + return { + controlledUserMSimulation: simulation, + controlledUserMReadiness: createControlledUserMReadiness(simulation), + }; +} + +function createToolDbStatePatchFromStagedFiles({ profile, save }) { + const toolTableFile = findStagedToolTableFile(profile, save); + if (!toolTableFile) { + return { + toolDbSimulation: null, + toolDbReadiness: createToolDbReadiness(null), + }; + } + const toolTable = parseLinuxCncToolTable(toolTableFile.text, { + sourceRel: toolTableFile.sourceRel, + path: toolTableFile.wasmPath || toolTableFile.path || null, + }); + const toolDbSimulation = createToolDbSimulation({ + toolTable, + profile, + storageMode: save?.storageMode || null, + }); + return { + toolDbSimulation, + toolDbReadiness: createToolDbReadiness(toolDbSimulation), + }; +} + +function createProgramToolUserSimulationPatch({ state, programText, sourceRel }) { + const toolCommands = extractToolCommandSequenceFromProgram(programText); + const toolDbSimulation = state.toolDbSimulation && toolCommands.length > 0 + ? applyToolCommandSequence(state.toolDbSimulation, toolCommands) + : state.toolDbSimulation; + const userMScan = runControlledUserMProgramScan( + state.controlledUserMSimulation || createControlledUserMSimulation(), + programText, + { + profile: state.profile, + sourceRel, + }, + ); + return { + toolDbSimulation, + toolDbReadiness: createToolDbReadiness(toolDbSimulation), + controlledUserMSimulation: userMScan.simulation, + controlledUserMReadiness: createControlledUserMReadiness(userMScan.simulation), + }; +} + +function findStagedToolTableFile(profile, save) { + const files = Array.isArray(save?.files) ? save.files : []; + return files.find((file) => file.sourceRel === profile?.toolTablePath) + || files.find((file) => file.kind === "toolTable" && file.sourceRel?.endsWith(`${profile?.id}.tbl`)) + || files.find((file) => file.kind === "toolTable") + || null; +} + +function createMachineProjectState(state = {}) { + const profile = state.profile || {}; + const profileId = profile.id || state.machineProfile || "unknown"; + const staging = state.machineFileStaging || {}; + const save = staging.save || {}; + const files = Array.isArray(save.files) ? save.files : []; + const gcodeFiles = Array.isArray(staging.gcodeFiles) && staging.gcodeFiles.length > 0 + ? staging.gcodeFiles + : Array.isArray(save.gcodeFiles) + ? save.gcodeFiles + : listProjectGcodeFiles(save); + const configFiles = files + .filter((file) => !["demo", "remap"].includes(file.kind)) + .map(projectFileDescriptor); + const iniFile = files.find((file) => file.kind === "ini" && file.sourceRel === profile.iniPath) + || files.find((file) => file.kind === "ini") + || null; + const selectedProgram = gcodeFiles.find((file) => file.sourceRel === staging.selectedGcodeSourceRel) + || null; + const projectRoot = staging.opfsRoot || `${MACHINE_PROJECT_OPFS_ROOT}/${profileId}`; + const machineRel = staging.plan?.machineRel || profile.machineFileStaging?.machineRel || "axis/vismach/5axis/table-rotary-tilting"; + const demoDirectory = staging.plan?.demoDirectory || profile.machineFileStaging?.demoDirectory || "demos"; + + return { + apiName: "web-rtcp-5axis-machine-project", + profileId, + projectRoot, + status: staging.status || "not-staged", + storageMode: staging.storageMode || save.storageMode || null, + storageCapability: staging.storageCapability || save.storageCapability || null, + linuxCncIniSourceRel: profile.iniPath || null, + linuxCncIniLoaded: state.iniConfigReadiness?.loaded === true, + ini: iniFile + ? { + ...projectFileDescriptor(iniFile), + sourceMatchesProfile: iniFile.sourceRel === profile.iniPath, + textMatchesLoadedIni: typeof state.linuxCncIniConfig?.sourceText === "string" + ? iniFile.text === state.linuxCncIniConfig.sourceText + : null, + contentBoundary: "linuxcnc_ini_source_text_staged_without_web_rewrite", + } + : null, + configFiles, + configFileCount: configFiles.length, + gcodeDirectory: `${projectRoot}/configs/sim/${machineRel}/${demoDirectory}`, + gcodeFiles: gcodeFiles.map(projectFileDescriptor), + gcodeFileCount: gcodeFiles.length, + selectedProgram: selectedProgram ? projectFileDescriptor(selectedProgram) : null, + fileKindCounts: countProjectFileKinds(files), + semanticBoundary: "linuxcnc_ini_project_directory_machine_config_and_gcode_files", + }; +} + +function createProgramValidationState(state = {}) { + const execution = state.programExecution || null; + const summary = execution?.summary || {}; + const motion = Array.isArray(execution?.motion) ? execution.motion : []; + const selectedSourceRel = state.machineFileStaging?.selectedGcodeSourceRel || state.programSourceRel || null; + const linuxCncFiveAxisSource = isLinuxCncFiveAxisDemoSource(selectedSourceRel); + const motionEventCount = Number(summary.motionEventCount ?? motion.length ?? 0); + const canonicalEventCount = Number(summary.canonicalEventCount ?? 0); + const switchkinsEventCount = Number(summary.switchkinsEventCount ?? 0); + const timing = state.programExecutionTiming || execution?.plannerTiming || null; + const plannerSamples = Array.isArray(execution?.plannerTiming?.samples) + ? execution.plannerTiming.samples + : []; + const sampleCount = Array.isArray(timing?.samples) && timing.samples.length > 0 + ? timing.samples.length + : plannerSamples.length; + const ready = Boolean(summary.ready && motionEventCount > 0); + + return { + apiName: "web-rtcp-5axis-program-validation", + status: state.interpreterExecutionPending + ? "validating" + : ready + ? "validated" + : "pending", + ready, + activeProgram: state.activeProgram || null, + programSource: state.programSource || null, + programSourceRel: selectedSourceRel, + sourceGuard: linuxCncFiveAxisSource + ? "linuxcnc_vendored_5axis_gcode_source_file" + : state.programSource === "operator-file" + ? "operator_file_not_promoted_to_linuxcnc_source" + : "fixture_or_mdi_program_not_linuxcnc_source", + previewSource: execution?.sourceMode === "linuxcnc-interpreter-wasm" + ? "linuxcnc_interpreter_canonical_motion" + : execution?.sourceMode || state.programExecutionSourceMode || "fixture-line-playback", + executionTraceSource: state.programRuntimeFeedback?.sourceMode + || (plannerSamples.length > 0 ? "linuxcnc_tp_samples" : state.programExecutionSourceMode), + motionEventCount, + canonicalEventCount, + switchkinsEventCount, + plannerSampleCount: sampleCount, + plannerRuntimeReady: execution?.plannerTiming?.plannerRuntimeReady === true || timing?.plannerRuntimeReady === true, + remapRuntimeReady: summary.remapRuntimeReady === true, + currentLine: Number(state.programRuntimeFeedback?.line || state.activeLine || 0), + currentMotionIndex: Number(state.programExecutionMotionIndex || 0), + currentSampleIndex: Number(state.programExecutionSampleIndex || 0), + axisFeedbackSource: state.programRuntimeFeedback?.sourceMode || state.programExecutionSourceMode || "ui-state", + realtimeAxisValues: { + ...pickExecutionAxes(state.axisPose || {}), + tcpX: Number(state.tcpPose?.x || 0), + tcpY: Number(state.tcpPose?.y || 0), + tcpZ: Number(state.tcpPose?.z || 0), + }, + rtcpState: state.rtcpState || "off", + kinsType: state.kinsType || "identity", + semanticBoundary: "program_validation_consumes_linuxcnc_interpreter_tp_and_task_hal_feedback", + }; +} + +function createRightSidebarEntranceState(state = {}, taskPolicy = createLinuxCncTaskPolicyStatus(state)) { + const manualActive = state.machine?.mode === "manual" && state.machine?.manualPanel !== "jog"; + const jogActive = state.machine?.mode === "manual" && state.machine?.manualPanel === "jog"; + const tcpKinsType = tcpKinsTypeForProfile(state.profile); + const powerGate = gateLinuxCncTaskAction(state, { type: "TOGGLE_POWER" }); + const autoGate = gateLinuxCncTaskAction(state, { type: "SET_MODE", mode: "auto" }); + const manualGate = gateLinuxCncTaskAction(state, { type: "SET_MODE", mode: "manual" }); + const jogGate = gateLinuxCncTaskAction(state, { type: "SET_MODE", mode: "jog" }); + const mdiGate = gateLinuxCncTaskAction(state, { type: "SET_MODE", mode: "mdi" }); + const identityGate = gateKinsTypeChange(state, "identity"); + const tcpGate = tcpKinsType + ? gateKinsTypeChange(state, tcpKinsType) + : blockKinsChange(taskPolicy, `TCP blocked: ${state.profile?.id || "profile"} has no TCP switchkins type`); + + return [ + sidebarEntry({ id: "estop", label: "E-STOP", active: Boolean(state.machine?.estopActive), gate: allowKinsChange(taskPolicy), tone: "emergency" }), + sidebarEntry({ id: "power", label: "POWER", active: Boolean(state.machine?.powerOn), gate: powerGate, tone: "power" }), + sidebarEntry({ id: "reset", label: "RESET", active: false, gate: allowKinsChange(taskPolicy), tone: state.machine?.estopActive ? "reset-required" : "reset" }), + sidebarEntry({ id: "auto", label: "AUTO", active: state.machine?.mode === "auto", gate: autoGate, tone: "mode" }), + sidebarEntry({ id: "manual", label: "MANUAL", active: manualActive, gate: manualGate, tone: "mode" }), + sidebarEntry({ id: "jog", label: "JOG", active: jogActive, gate: jogGate, tone: "mode" }), + sidebarEntry({ id: "mdi", label: "MDI", active: state.machine?.mode === "mdi", gate: mdiGate, tone: "mode" }), + sidebarEntry({ id: "identity", label: "IDENTITY", active: state.kinsType === "identity", gate: identityGate, tone: "identity" }), + sidebarEntry({ id: "tcp", label: "TCP", active: String(state.kinsType || "").startsWith("tcp-"), gate: tcpGate, tone: "tcp" }), + ]; +} + +function sidebarEntry({ id, label, active, gate, tone }) { + const allowed = gate?.allowed !== false; + const status = id === "estop" && active + ? "emergency" + : active && !allowed + ? "active-blocked" + : active + ? "active" + : allowed + ? "ready" + : "blocked"; + return { + apiName: "web-rtcp-5axis-right-sidebar-entry", + id, + label, + active: Boolean(active), + allowed, + status, + tone, + operatorMessage: gate?.operatorMessage || null, + colorRule: `${tone}:${status}`, + semanticBoundary: "gmoccapy_right_vertical_button_task_state_mode_gate", + }; +} + +function gateKinsTypeChange(state = {}, requestedKinsType = "identity") { + const taskPolicy = createLinuxCncTaskPolicyStatus(state); + const target = String(requestedKinsType || ""); + if (!target) { + return blockKinsChange(taskPolicy, "kinematics blocked: missing switchkins target"); + } + if (target.startsWith("tcp-") && !profileSupportsTcp(state.profile)) { + return blockKinsChange(taskPolicy, `kinematics ${target} blocked: ${state.profile?.id || "profile"} is not TCP capable`); + } + if (taskPolicy.taskState === "estop") { + return blockKinsChange(taskPolicy, "kinematics blocked: reset estop first"); + } + if (taskPolicy.taskState !== "on") { + return blockKinsChange(taskPolicy, "kinematics blocked: machine must be on"); + } + if (taskPolicy.interpState === "reading" || taskPolicy.interpState === "waiting" || state.runState === "running") { + return blockKinsChange(taskPolicy, "kinematics blocked: interpreter must be idle"); + } + return allowKinsChange(taskPolicy); +} + +function allowKinsChange(status) { + return { + allowed: true, + status, + operatorMessage: null, + }; +} + +function blockKinsChange(status, operatorMessage) { + return { + allowed: false, + status, + operatorMessage, + }; +} + +function projectFileDescriptor(file = {}) { + return { + sourceRel: file.sourceRel || null, + filename: sourceBasename(file.sourceRel || file.path || file.wasmPath || ""), + opfsPath: file.opfsPath || null, + wasmPath: file.wasmPath || file.path || null, + kind: file.kind || "asset", + bytes: Number(file.bytes || (typeof file.text === "string" ? file.text.length : 0)), + semanticBoundary: file.semanticBoundary || "linuxcnc_project_file_staged_without_web_rewrite", + }; +} + +function countProjectFileKinds(files = []) { + return files.reduce((counts, file) => { + const kind = file.kind || "asset"; + counts[kind] = (counts[kind] || 0) + 1; + return counts; + }, {}); +} + +function isLinuxCncFiveAxisDemoSource(sourceRel) { + const value = String(sourceRel || ""); + return ( + value.startsWith("configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/") + || value.startsWith("configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/") + ) && value.endsWith(".ngc"); +} + +function sourceBasename(path) { + return String(path || "").split("/").filter(Boolean).at(-1) || ""; +} + +function isAsyncKinematicsRuntime(runtime) { + return runtime?.executionContext === "worker"; +} + +export function validateRunPreconditions(state = {}, { + requireTaskHalRuntime = true, + requireTaskHalSession = true, +} = {}) { + const profile = state.profile || {}; + const profileId = profile.id || state.machineProfile || "unknown"; + const supportedProfile = profile.rtcpProof !== false && Boolean(profile.kinematicsModuleId); + const fail = (operatorMessage, detail = {}) => ({ + apiName: "web-rtcp-5axis-run-preconditions", + ok: false, + operatorMessage, + profileId, + iniPath: profile.iniPath || null, + coordinates: normalizeCoordinates(profile.traj?.coordinates), + kinematicsModuleId: profile.kinematicsModuleId || state.machineProfile || null, + ...detail, + }); + + if (!supportedProfile) { + return fail(`run blocked: unsupported five-axis profile ${profileId}`); + } + + if (!profile.iniPath || state.iniConfigReadiness?.loaded !== true || state.iniConfigReadiness?.ready !== true) { + return fail("run blocked: LinuxCNC INI not loaded"); + } + + if (state.linuxCncIniConfig?.path && state.linuxCncIniConfig.path !== profile.iniPath) { + return fail("run blocked: machine profile and INI path mismatch", { + iniPath: state.linuxCncIniConfig.path, + expectedIniPath: profile.iniPath, + }); + } + + const profileCoordinates = normalizeCoordinates(profile.traj?.coordinates); + const iniCoordinates = normalizeCoordinates(state.iniConfigReadiness?.coordinates || state.linuxCncIniConfig?.traj?.coordinates); + if (!profileCoordinates || !iniCoordinates || profileCoordinates !== iniCoordinates) { + return fail("run blocked: machine profile and INI coordinates mismatch", { + coordinates: iniCoordinates || null, + expectedCoordinates: profileCoordinates || null, + }); + } + + const profileKinematicsModuleId = profile.kinematicsModuleId || state.machineProfile || null; + const iniKinematicsModuleId = state.linuxCncIniConfig?.kinematicsModuleId || profileKinematicsModuleId; + if (!profileKinematicsModuleId || profileKinematicsModuleId !== iniKinematicsModuleId) { + return fail("run blocked: machine profile and INI kinematics mismatch", { + kinematicsModuleId: profileKinematicsModuleId, + expectedKinematicsModuleId: iniKinematicsModuleId, + }); + } + + const kinematicsReadiness = state.kinematicsRuntimeReadiness || {}; + const runtimeKinematicsModuleId = kinematicsReadiness.moduleId || state.kinematicsRuntime?.moduleId || null; + if (kinematicsReadiness.loaded !== true || state.kinematicsRuntime?.loaded !== true) { + return fail("run blocked: LinuxCNC kinematics runtime not ready", { + kinematicsModuleId: profileKinematicsModuleId, + runtimeKinematicsModuleId, + }); + } + if (runtimeKinematicsModuleId !== profileKinematicsModuleId) { + return fail("run blocked: LinuxCNC kinematics module mismatch", { + kinematicsModuleId: profileKinematicsModuleId, + runtimeKinematicsModuleId, + }); + } + if (state.rtcpFrame?.sourceMode !== "source-derived-kinematics-wasm") { + return fail("run blocked: LinuxCNC kinematics frame not ready", { + frameSourceMode: state.rtcpFrame?.sourceMode || state.frameSourceMode || null, + }); + } + + if (state.machineFileStaging?.status !== "staged" || !state.machineFileStaging?.save?.files?.length) { + return fail("run blocked: LinuxCNC machine files not staged"); + } + if (!state.machineFileStaging?.selectedGcodeSourceRel) { + return fail("run blocked: no machine-file G-code opened for task/HAL session"); + } + + if (requireTaskHalRuntime) { + const taskHalReadiness = state.taskHalRuntimeReadiness || {}; + const taskHalReady = state.taskHalRuntime?.loaded === true + && taskHalReadiness.taskRuntimeReady === true + && taskHalReadiness.motionRuntimeReady === true + && taskHalReadiness.halRuntimeReady === true; + if (!taskHalReady) { + return fail("run blocked: task/HAL runtime not ready"); + } + } + + const expectedProgramPath = expectedTaskHalProgramPathForState(state); + if (requireTaskHalSession) { + if (!state.taskHalSession?.programPath || !expectedProgramPath) { + return fail("run blocked: no machine-file G-code opened for task/HAL session"); + } + if (state.taskHalSession.programPath !== expectedProgramPath) { + return fail("run blocked: task/HAL session program mismatch", { + programPath: state.taskHalSession.programPath, + expectedProgramPath, + }); + } + } + + return { + apiName: "web-rtcp-5axis-run-preconditions", + ok: true, + operatorMessage: null, + profileId, + machineType: profile.title || null, + iniPath: profile.iniPath, + coordinates: profileCoordinates, + kinematicsModuleId: profileKinematicsModuleId, + selectedGcodeSourceRel: state.machineFileStaging.selectedGcodeSourceRel, + programPath: expectedProgramPath, + sourceMode: "linuxcnc-task-motion-hal-wasm", + semanticBoundary: "linuxcnc_ini_profile_kinematics_task_hal_run_preconditions", + }; +} + +function expectedTaskHalProgramPathForState(state = {}) { + const sourceRel = state.machineFileStaging?.selectedGcodeSourceRel; + if (!sourceRel || !state.machineFileStaging?.plan || !state.machineFileStaging?.save) return null; + try { + return selectMachineFileProgram( + state.machineFileStaging.plan, + state.machineFileStaging.save, + sourceRel, + ).wasmProgramPath || null; + } catch { + return null; + } +} + +function deriveTaskHalCyclePeriods(state = {}) { + const taskCycleTimeSeconds = Number(state.linuxCncIniConfig?.task?.cycleTimeSeconds); + const iniTaskPeriodNs = Number.isFinite(taskCycleTimeSeconds) && taskCycleTimeSeconds > 0 + ? Math.round(taskCycleTimeSeconds * 1_000_000_000) + : null; + const iniServoPeriodNs = Number(state.linuxCncIniConfig?.emcmot?.servoPeriodNs); + + return { + taskPeriodNs: iniTaskPeriodNs || 10000000, + servoPeriodNs: Number.isFinite(iniServoPeriodNs) && iniServoPeriodNs > 0 + ? Math.round(iniServoPeriodNs) + : 1000000, + }; +} + +function normalizeCoordinates(value) { + return String(value || "").replace(/[^A-Za-z]/g, "").toUpperCase(); +} + +function applyTaskHalStatusPatch(state, status, operatorMessage, { + loopSequence = null, + preserveMachine = null, + preserveAxisPose = null, +} = {}) { + const ui = status?.ui || {}; + const task = status?.task || {}; + const motion = status?.motionStatus?.motion || {}; + const rawTaskState = normalizeTaskHalTaskState(ui.taskState || task.state); + const taskState = preserveMachine?.powerOn && rawTaskState === "estop-reset" + ? "on" + : rawTaskState; + const taskMode = normalizeLinuxCncTaskMode(preserveMachine?.mode || ui.taskMode || task.mode || state.machine.mode); + const manualPanel = taskMode === "manual" + ? (preserveMachine?.manualPanel || state.machine.manualPanel || "manual") + : null; + const interpState = Object.hasOwn(preserveMachine || {}, "interpState") + ? normalizeTaskHalInterpState(preserveMachine.interpState) + : normalizeTaskHalInterpState(ui.interpState || task.interpState); + const allHomed = Boolean(preserveMachine?.allHomed ?? state.machine.allHomed); + const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0); + const kinsType = resolveTaskHalKinsType(state, status, activeLine); + const axisPose = preserveAxisPose + ? clampAxisPoseToProfile({ ...state.axisPose, ...preserveAxisPose }, state.profile) + : resolveTaskHalAxisPose(state, status); + const currentVelocity = Number.isFinite(ui.currentVelocity) + ? Math.max(ui.currentVelocity, 0) + : state.feed.currentVelocity; + const paused = interpState === "paused" || motion.paused === true; + const aborted = motion.aborted === true; + const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1); + const programComplete = interpState === "idle" && Number(task.nextProgramLine || 0) >= openedProgramLineCount; + const runState = aborted + ? "stopped" + : paused + ? "paused" + : taskMode === "mdi" + ? "mdi" + : interpState === "reading" + ? "running" + : programComplete + ? "complete" + : state.runState === "jogging" + ? "jogging" + : "idle"; + const runtimeFeedback = createTaskHalRuntimeFeedback(state, status, axisPose, activeLine); + const loopActive = state.taskHalStatusLoop?.active === true + && loopSequence !== null + && Number(state.taskHalStatusLoop.sequence) === Number(loopSequence) + && (runState === "running" || runState === "mdi"); + const nextTickCount = loopActive ? Number(state.taskHalStatusLoop.tickCount || 0) + 1 : Number(state.taskHalStatusLoop?.tickCount || 0); + const feedbackHistory = [runtimeFeedback, ...(state.programRuntimeFeedbackHistory || [])].slice(0, 100); + const lineStatus = runState === "complete" + ? "done" + : runState === "running" || runState === "mdi" + ? "running" + : runState; + + return { + taskHalStatus: status, + taskHalExecutionPending: false, + taskHalFallbackReason: null, + pendingJogCommand: null, + activeLine, + axisPose, + kinsType, + rtcpState: rtcpStateFromKinsType(kinsType), + programExecutionSourceMode: "linuxcnc-task-motion-hal-wasm", + machine: { + ...state.machine, + powerOn: taskState === "on", + estopActive: taskState === "estop", + taskState, + mode: taskMode, + manualPanel, + interpState, + interpResumeState: paused ? state.machine.interpResumeState || "reading" : interpState, + taskPaused: paused, + allHomed, + noForceHoming: Boolean(state.machine.noForceHoming), + }, + runState, + taskHalStatusLoop: loopSequence === null + ? state.taskHalStatusLoop + : { + ...state.taskHalStatusLoop, + active: loopActive, + tickCount: nextTickCount, + lastStatusAt: new Date().toISOString(), + stopReason: loopActive ? null : runState, + }, + feed: { + ...state.feed, + currentVelocity, + }, + programRuntimeFeedback: runtimeFeedback, + programRuntimeFeedbackHistory: feedbackHistory, + programLineExecution: createProgramLineExecutionPatch(state.programLineExecution, runtimeFeedback, { + status: lineStatus, + source: "linuxcnc-task-motion-hal-wasm", + }), + operatorMessage, + }; +} + +function shouldContinueTaskHalStatusLoop(state = {}, status = {}) { + const ui = status?.ui || {}; + const task = status?.task || {}; + const motion = status?.motionStatus?.motion || {}; + const interpState = normalizeTaskHalInterpState(ui.interpState || task.interpState); + const taskMode = normalizeLinuxCncTaskMode(ui.taskMode || task.mode || state.machine?.mode); + const aborted = motion.aborted === true; + const paused = interpState === "paused" || motion.paused === true; + const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1); + const complete = interpState === "idle" + && Number(task.nextProgramLine || 0) >= openedProgramLineCount; + return !aborted && !paused && !complete && (interpState === "reading" || taskMode === "mdi"); +} + +function createStoppedProgramStatePatch(state, { + reason = "stopped", + operatorMessage = "program stopped", +} = {}) { + return { + machine: { + ...state.machine, + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + runState: reason === "aborted" ? "stopped" : reason, + taskHalStatusLoop: { + ...state.taskHalStatusLoop, + active: false, + sequence: Number(state.taskHalStatusLoop?.sequence || 0) + 1, + stopReason: reason, + lastStatusAt: new Date().toISOString(), + }, + feed: { + ...state.feed, + currentVelocity: 0, + }, + operatorMessage, + }; +} + +function resolveTaskHalKinsType(state, status, activeLine) { + const ui = status?.ui || {}; + const numeric = Number(ui.switchkinsType); + if (Number.isFinite(numeric) && numeric !== 0) { + return kinsTypeFromSwitchkinsTypeValue(state, numeric); + } + + const programKinsType = kinsTypeFromProgramActiveLine(state, activeLine); + if (programKinsType) { + return programKinsType; + } + + return kinsTypeFromSwitchkinsTypeValue(state, ui.switchkinsType); +} + +function kinsTypeFromProgramActiveLine(state, activeLine) { + const motion = programMotionAtOrBeforeLine(state, activeLine) + || state.programExecution?.motion?.[clampMotionIndex(state, state.programExecutionMotionIndex)]; + return kinsTypeFromProgramMotion(state, motion); +} + +function programMotionAtOrBeforeLine(state, activeLine) { + const motion = state.programExecution?.motion; + if (!Array.isArray(motion) || motion.length === 0) return null; + const line = Number(activeLine); + if (!Number.isFinite(line)) return null; + let candidate = null; + for (const item of motion) { + const itemLine = Number(item?.line); + if (!Number.isFinite(itemLine)) continue; + if (itemLine > line) break; + candidate = item; + } + return candidate; +} + +function resolveTaskHalAxisPose(state, status) { + const ui = status?.ui || {}; + const axisPose = ui.axisPose; + if (!axisPose || typeof axisPose !== "object") { + return state.axisPose; + } + + if (state.pendingJogCommand && (ui.axisPoseFrame === "task-local" || isJogStatus(status))) { + const { axis, direction, increment, basePose } = state.pendingJogCommand; + return clampAxisPoseToProfile({ + ...basePose, + [axis]: Number(basePose?.[axis] || 0) + direction * increment, + }, state.profile); + } + + if (ui.axisPoseFrame === "work") { + return clampAxisPoseToProfile({ ...state.axisPose, ...axisPose }, state.profile); + } + + if (ui.axisPoseDelta && typeof ui.axisPoseDelta === "object") { + return addAxisDelta(state.axisPose, ui.axisPoseDelta, state.profile); + } + + if (!ui.axisPoseFrame && wouldResetNonZeroPoseToLocalZero(state.axisPose, axisPose)) { + return state.axisPose; + } + + return clampAxisPoseToProfile({ ...state.axisPose, ...axisPose }, state.profile); +} + +function addAxisDelta(axisPose, delta, profile) { + const next = { ...axisPose }; + for (const axis of ["x", "y", "z", "a", "b", "c"]) { + if (!Number.isFinite(Number(delta[axis]))) continue; + next[axis] = Number(next[axis] || 0) + Number(delta[axis]); + } + return clampAxisPoseToProfile(next, profile); +} + +function isJogStatus(status) { + const motion = status?.motionStatus?.motion || {}; + return Number(motion.motionType) === 3 || Number(motion.teleopMode) === 1 || motion.teleopMode === true; +} + +function wouldResetNonZeroPoseToLocalZero(currentPose = {}, nextPose = {}) { + const axes = ["x", "y", "z", "a", "b", "c"]; + const currentHasNonZero = axes.some((axis) => Math.abs(Number(currentPose[axis] || 0)) > 0.001); + const nextIsNearZero = axes.every((axis) => Math.abs(Number(nextPose[axis] || 0)) <= 0.001); + return currentHasNonZero && nextIsNearZero; +} + +function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) { + const ui = status?.ui || {}; + const motion = status?.motionStatus?.motion || {}; + const halProgramLine = Number(status?.halSnapshot?.pins?.["motion.program-line"]?.value || 0); + const motionProgramLine = Number(motion.programLine || 0); + return { + apiName: "web-rtcp-5axis-program-runtime-feedback", + sourceMode: "linuxcnc-task-motion-hal-wasm", + semanticBoundary: status?.semanticBoundary || "linuxcnc_task_motion_hal_wasm_simulation_runtime", + sampleIndex: Number(ui.servoCycle || 0), + motionIndex: Math.max(Number(ui.activeLine || 1) - 1, 0), + line: activeLine, + motionProgramLine, + halProgramLine, + activeLineSource: ui.activeLineSource || (motionProgramLine > 0 ? "motion-status" : halProgramLine > 0 ? "hal-pin" : "fallback"), + activeLineHalSynced: motionProgramLine > 0 && halProgramLine > 0 && motionProgramLine === halProgramLine, + type: Number(motion.motionType || 0) === 3 ? "JOG" : "TASK_MOTION", + timeSeconds: Number(ui.taskCycle || 0) * 0.01, + axisPose, + currentVelocityMmPerMin: Number(ui.currentVelocity || 0), + requestedVelocityMmPerMin: Number(motion.requestedVel || 0) * 60, + distanceToGo: motion.inPosition === true ? 0 : 1, + dtg: { x: 0, y: 0, z: 0 }, + queueDepth: Number(ui.motionQueueDepth || status?.motionStatus?.commandQueueDepth || 0), + activeDepth: motion.inPosition === true ? 0 : 1, + cycle: Number(ui.servoCycle || status?.servoCycle || 0), + taskCycle: Number(ui.taskCycle || status?.task?.cycle || 0), + halChangedPinCount: Number(ui.halChangedPinCount || 0), + }; +} + +function createProgramLineExecutionPatch(previous = {}, feedback = null, { + status = "running", + source = null, +} = {}) { + const line = Number(feedback?.line || 0); + if (!Number.isFinite(line) || line <= 0) { + return previous || {}; + } + const axisPose = feedback.axisPose || {}; + return { + ...(previous || {}), + [line]: { + status, + source: source || feedback.sourceMode || "unknown", + line, + feed: Number(feedback.currentVelocityMmPerMin || 0), + requestedFeed: Number(feedback.requestedVelocityMmPerMin || 0), + feedMode: feedback.feedMode || null, + axisPose: pickExecutionAxes(axisPose), + taskCycle: Number(feedback.taskCycle || 0), + servoCycle: Number(feedback.cycle || 0), + sampleIndex: Number(feedback.sampleIndex || 0), + motionIndex: Number(feedback.motionIndex || 0), + updatedAt: new Date().toISOString(), + }, + }; +} + +function pickExecutionAxes(axisPose = {}) { + return Object.fromEntries(["x", "y", "z", "a", "b", "c"].map((axis) => [ + axis, + Number(axisPose[axis] || 0), + ])); +} + +function normalizeTaskHalTaskState(value) { + const state = String(value || "").toLowerCase().replaceAll("_", "-"); + if (state === "on") return "on"; + if (state === "estop") return "estop"; + if (state === "off") return "off"; + return "estop-reset"; +} + +function normalizeTaskHalInterpState(value) { + const state = String(value || "").toLowerCase(); + if (state === "paused") return "paused"; + if (state === "reading") return "reading"; + return "idle"; +} + +function kinsTypeFromSwitchkinsTypeValue(state, value) { + const numeric = Number(value); + if (!Number.isFinite(numeric) || numeric === 0) return "identity"; + return state.profile.kinematicsParameters.switchkinsTypes + .find((type) => Number(type.value) === numeric)?.webKinsType || state.kinsType; +} + +function canMoveMachine(state) { + return createLinuxCncTaskPolicyStatus(state).canMove; +} + +function normalizeMachineForLinuxCncTask(machine = {}, runState = "idle") { + const taskState = machine.estopActive + ? "estop" + : machine.taskState === "on" || machine.powerOn + ? "on" + : machine.taskState === "off" + ? "off" + : "estop-reset"; + const mode = normalizeLinuxCncTaskMode(machine.mode); + const interpState = machine.interpState + || (runState === "running" ? "reading" : runState === "paused" || runState === "stepping" ? "paused" : "idle"); + const manualPanel = mode === "manual" + ? (machine.manualPanel === "jog" ? "jog" : "manual") + : null; + + return { + ...machine, + taskState, + mode, + manualPanel, + interpState, + interpResumeState: machine.interpResumeState || (interpState === "paused" ? "reading" : interpState), + taskPaused: Boolean(machine.taskPaused || interpState === "paused"), + powerOn: taskState === "on", + estopActive: taskState === "estop", + allHomed: Boolean(machine.allHomed), + noForceHoming: Boolean(machine.noForceHoming), + }; +} + +function createIniConfigReadiness(iniConfig) { + return { + apiName: "web-rtcp-5axis-ini-config-readiness", + loaded: true, + ready: iniConfig.validation.ready, + path: iniConfig.path, + missing: iniConfig.validation.missing, + machineName: iniConfig.machineName, + coordinates: iniConfig.traj.coordinates, + kinematics: iniConfig.kinematics.name, + axisCount: iniConfig.validation.axisCount, + jointCount: iniConfig.validation.jointCount, + semanticBoundary: iniConfig.semanticBoundary, + }; +} + +function normalizeKinsTypeForProfile(kinsType, profile) { + if (kinsType !== "tcp-xyzac" && kinsType !== "tcp-xyzbc") return kinsType; + return tcpKinsTypeForProfile(profile) || "identity"; +} + +function profileSupportsTcp(profile) { + return Boolean(profile?.tcpCapable !== false && tcpKinsTypeForProfile(profile)); +} + +function tcpKinsTypeForProfile(profile) { + const types = profile?.kinematicsParameters?.switchkinsTypes || []; + return types.find((type) => type.value === 1 && String(type.webKinsType || "").startsWith("tcp-")) + ?.webKinsType + || types.find((type) => String(type.webKinsType || "").startsWith("tcp-")) + ?.webKinsType + || null; +} + +function defaultKinsTypeForProfile(profile) { + return profile?.kinematicsParameters?.fixedTrtDefault + ? tcpKinsTypeForProfile(profile) || "identity" + : "identity"; +} + +function clampAxisPoseToProfile(axisPose, profile = defaultProfile) { + const next = { ...axisPose }; + for (const [axis, limits] of Object.entries(profile.axisLimits || {})) { + const key = axis.toLowerCase(); + const value = Number(next[key] ?? 0); + const min = Number.isFinite(limits.min) ? limits.min : -Infinity; + const max = Number.isFinite(limits.max) ? limits.max : Infinity; + next[key] = Math.min(Math.max(value, min), max); + } + return next; +} + +function executeMdiCommand(state, rawCommand) { + const command = normalizeMdiCommand(rawCommand); + if (!command) { + return { + patch: { + operatorMessage: "MDI blocked: empty command", + }, + }; + } + + const parsed = parseMdiCommand(command); + const parsedKinsType = resolveMdiKinsType(state, parsed.kinsType); + const distanceMode = parsed.distanceMode || state.machine.mdiDistanceMode || "absolute"; + const nextAxisPose = { ...state.axisPose }; + for (const axis of ["x", "y", "z", "a", "b", "c"]) { + if (!Number.isFinite(parsed.axes[axis])) continue; + nextAxisPose[axis] = distanceMode === "relative" + ? Number(nextAxisPose[axis] || 0) + parsed.axes[axis] + : parsed.axes[axis]; + } + + const nextMachine = { + ...state.machine, + mode: "mdi", + manualPanel: null, + mdiCommand: command, + mdiDistanceMode: distanceMode, + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }; + const mdiExecution = createMdiProgramExecution(command, nextAxisPose, parsed.motionCode); + const mdiFeed = parsed.feedRate !== null + ? { ...state.feed, feedRate: parsed.feedRate, currentVelocity: parsed.feedRate } + : state.feed; + const mdiTiming = buildProgramExecutionTiming({ + motion: mdiExecution.motion, + profile: state.profile, + feedOverride: mdiFeed.feedOverride, + rapidOverride: mdiFeed.rapidOverride, + defaultFeedRate: mdiFeed.feedRate, + }); + const mdiTimingSnapshot = timingAtMotionIndex(mdiTiming, 0); + const patch = { + machine: nextMachine, + runState: "mdi", + axisPose: nextAxisPose, + activeProgram: "MDI", + programSource: "operator-mdi", + programStartLine: 1, + activeLine: 1, + lineCount: 1, + fileSizeBytes: command.length, + programLines: [command], + programExecution: mdiExecution, + programExecutionTiming: mdiTiming, + programExecutionSourceMode: "operator-mdi", + programExecutionMotionIndex: 0, + programElapsedSeconds: mdiTimingSnapshot.elapsedSeconds, + programRemainingSeconds: mdiTimingSnapshot.remainingSeconds, + preview: { + ...state.preview, + pathPoints: hasMdiAxisWords(parsed) ? Math.max(state.preview.pathPoints, 2) : state.preview.pathPoints, + }, + feed: { ...mdiFeed, currentVelocity: mdiTimingSnapshot.currentVelocity || mdiFeed.currentVelocity }, + spindle: parsed.spindleRpm !== null || parsed.spindleEnabled !== null + ? { + ...state.spindle, + rpm: parsed.spindleRpm ?? state.spindle.rpm, + enabled: parsed.spindleEnabled ?? state.spindle.enabled, + direction: parsed.spindleDirection ?? state.spindle.direction, + } + : state.spindle, + coolant: parsed.coolantPatch + ? { ...state.coolant, ...parsed.coolantPatch } + : state.coolant, + kinsType: parsedKinsType || state.kinsType, + rtcpState: parsedKinsType?.startsWith("tcp-") ? "on" : parsedKinsType ? "off" : state.rtcpState, + mdiHistory: [command, ...(state.mdiHistory || []).filter((entry) => entry !== command)].slice(0, 8), + operatorMessage: `MDI ${command}`, + }; + + return { patch }; +} + +function normalizeMdiCommand(command) { + return String(command || "") + .replace(/\([^)]*\)/g, " ") + .replace(/;.*$/g, " ") + .trim() + .replace(/\s+/g, " ") + .toUpperCase(); +} + +function parseMdiCommand(command) { + const parsed = { + axes: {}, + feedRate: null, + spindleRpm: null, + spindleEnabled: null, + spindleDirection: null, + coolantPatch: null, + distanceMode: null, + motionCode: null, + kinsType: null, + }; + const words = [...command.matchAll(/([A-Z])\s*([-+]?\d+(?:\.\d+)?)/g)] + .map((match) => ({ letter: match[1], value: Number(match[2]) })); + + for (const word of words) { + if (["X", "Y", "Z", "A", "B", "C"].includes(word.letter)) { + parsed.axes[word.letter.toLowerCase()] = word.value; + continue; + } + if (word.letter === "F") { + parsed.feedRate = Math.max(0, word.value); + continue; + } + if (word.letter === "S") { + parsed.spindleRpm = Math.max(0, word.value); + continue; + } + if (word.letter === "G") { + if (word.value === 90) parsed.distanceMode = "absolute"; + if (word.value === 91) parsed.distanceMode = "relative"; + if ([0, 1, 2, 3].includes(word.value)) parsed.motionCode = `G${word.value}`; + continue; + } + if (word.letter === "M") { + applyMdiMCode(parsed, word.value); + } + } + + return parsed; +} + +function applyMdiMCode(parsed, value) { + if (value === 3 || value === 4) { + parsed.spindleEnabled = true; + parsed.spindleDirection = value === 4 ? "reverse" : "forward"; + } else if (value === 5) { + parsed.spindleEnabled = false; + parsed.spindleDirection = "stop"; + } else if (value === 7) { + parsed.coolantPatch = { ...(parsed.coolantPatch || {}), mist: true }; + } else if (value === 8) { + parsed.coolantPatch = { ...(parsed.coolantPatch || {}), flood: true }; + } else if (value === 9) { + parsed.coolantPatch = { flood: false, mist: false }; + } else if (value === 428) { + parsed.kinsType = "tcp"; + } else if (value === 429) { + parsed.kinsType = "identity"; + } else if (value === 430) { + parsed.kinsType = "userk"; + } +} + +function normalizeSpindleDirection(direction) { + const value = String(direction || "stop").toLowerCase(); + return value === "forward" || value === "reverse" ? value : "stop"; +} + +function resolveMdiKinsType(state, kinsType) { + if (kinsType !== "tcp") return kinsType; + return tcpKinsTypeForProfile(state.profile); +} + +function hasMdiAxisWords(parsed) { + return Object.values(parsed.axes).some((value) => Number.isFinite(value)); +} + +function createMdiProgramExecution(command, axisPose, motionCode) { + const motionType = motionCode === "G0" ? "STRAIGHT_TRAVERSE" : "STRAIGHT_FEED"; + return { + apiName: "web-rtcp-5axis-mdi-execution", + sourceMode: "operator-mdi", + semanticBoundary: "operator_mdi_lightweight_motion_words", + resultText: `mdi_command=${command}`, + motion: hasMdiAxisWords(parseMdiCommand(command)) + ? [{ + type: motionType, + line: 1, + statement: command, + axes: { ...axisPose }, + raw: `mdi_command=${command}`, + }] + : [], + summary: { + ready: true, + programLineCount: 1, + canonicalEventCount: 1, + motionEventCount: hasMdiAxisWords(parseMdiCommand(command)) ? 1 : 0, + motionTypes: hasMdiAxisWords(parseMdiCommand(command)) ? [motionType] : [], + finalAxes: { ...axisPose }, + remapRuntimeReady: false, + plannerRuntimeReady: false, + fullLinuxCncProgramExecutionReady: false, + }, + }; +} + +function getProgramEndLine(state) { + return state.programStartLine + Math.max(state.programLines.length - 1, 0); +} + +function getNextProgramLine(state, step) { + return Math.min(state.activeLine + step, getProgramEndLine(state)); +} + +function nextProgramPlayback(state, step) { + if (state.programExecution?.motion?.length > 0) { + const timing = state.programExecutionTiming || buildTimingForState(state, state.programExecution); + const motionIndex = Math.min( + Number(state.programExecutionMotionIndex || 0) + step, + state.programExecution.motion.length - 1, + ); + const motion = state.programExecution.motion[motionIndex]; + const timingSnapshot = timingAtMotionIndex(timing, motionIndex); + const kinsType = kinsTypeFromProgramMotion(state, motion) || state.kinsType; + return { + motionIndex, + activeLine: motion.line || state.activeLine, + axisPose: axisPoseFromCanonicalMotion(motion, state.axisPose), + kinsType, + rtcpState: rtcpStateFromKinsType(kinsType), + timing: timingSnapshot, + complete: motionIndex >= state.programExecution.motion.length - 1, + }; + } + + const activeLine = getNextProgramLine(state, step); + return { + motionIndex: state.programExecutionMotionIndex || 0, + activeLine, + axisPose: buildFixtureAxisPoseForLine(state.axisPose, activeLine), + kinsType: state.kinsType, + rtcpState: state.rtcpState, + timing: { + elapsedSeconds: 0, + remainingSeconds: 0, + currentVelocity: state.feed.currentVelocity, + segmentDurationSeconds: 0, + segmentDistanceMm: 0, + }, + complete: activeLine >= getProgramEndLine(state), + }; +} + +function nextProgramRuntimeSamplePlayback(state, step) { + const timing = state.programExecutionTiming || buildTimingForState(state, state.programExecution); + const samples = Array.isArray(timing?.samples) ? timing.samples : []; + if (samples.length > 0) { + const sampleIndex = Math.min( + Number(state.programExecutionSampleIndex || 0) + Math.max(Number(step) || 1, 1), + samples.length - 1, + ); + const sample = samples[sampleIndex]; + const motionIndex = clampMotionIndex(state, sample.motionIndex); + const motion = state.programExecution?.motion?.[motionIndex] || null; + const sampleWithUnits = { + ...sample, + linearUnits: sample.linearUnits || motion?.linearUnits || state.profile.traj?.linearUnits, + }; + const segment = timing?.segments?.[motionIndex] || null; + const kinsType = kinsTypeFromProgramMotion(state, motion) || state.kinsType; + const elapsedSeconds = Number(sample.timeSeconds) || Number(segment?.elapsedSeconds) || 0; + const currentVelocity = Number(sample.currentVelocityMmPerMin) + || Number(sample.currentVelocity) * 60 + || Number(segment?.velocityMmPerMin) + || 0; + const runtimeFeedback = createProgramRuntimeFeedbackFromSample({ + state, + sample: sampleWithUnits, + sampleIndex, + motion, + motionIndex, + segment, + currentVelocity, + elapsedSeconds, + }); + return { + motionIndex, + sampleIndex, + activeLine: sample.line || motion?.line || state.activeLine, + axisPose: axisPoseFromRuntimeSample(sampleWithUnits, motion, state.axisPose), + kinsType, + rtcpState: rtcpStateFromKinsType(kinsType), + timing: { + elapsedSeconds, + remainingSeconds: Math.max((timing?.totalSeconds || 0) - elapsedSeconds, 0), + currentVelocity, + segmentDurationSeconds: Number(segment?.durationSeconds) || 0, + segmentDistanceMm: Number(segment?.linearDistanceMm) || 0, + }, + runtimeFeedback, + complete: sampleIndex >= samples.length - 1, + }; + } + + const playback = nextProgramPlayback(state, step); + return { + ...playback, + sampleIndex: playback.motionIndex, + runtimeFeedback: createProgramRuntimeFeedbackFromMotion({ + state, + motion: state.programExecution?.motion?.[playback.motionIndex] || null, + motionIndex: playback.motionIndex, + timing: playback.timing, + sourceMode: state.programExecution?.sourceMode === "linuxcnc-interpreter-wasm" + ? "linuxcnc-canonical-motion" + : "fixture-line-playback", + }), + }; +} + +function createInitialProgramRuntimeFeedback({ state, timing, motion, timingSnapshot }) { + const firstSample = timing?.samples?.[0] || null; + if (firstSample) { + const sampleWithUnits = { + ...firstSample, + linearUnits: firstSample.linearUnits || motion?.linearUnits || state.profile.traj?.linearUnits, + }; + return createProgramRuntimeFeedbackFromSample({ + state, + sample: sampleWithUnits, + sampleIndex: 0, + motion, + motionIndex: clampMotionIndex(state, firstSample.motionIndex), + segment: timing?.segments?.[0] || null, + currentVelocity: Number(firstSample.currentVelocityMmPerMin) + || Number(firstSample.currentVelocity) * 60 + || 0, + elapsedSeconds: Number(firstSample.timeSeconds) || 0, + }); + } + return createProgramRuntimeFeedbackFromMotion({ + state, + motion, + motionIndex: 0, + timing: timingSnapshot, + sourceMode: "linuxcnc-canonical-motion", + }); +} + +function clampMotionIndex(state, motionIndex) { + const count = state.programExecution?.motion?.length || 0; + if (count <= 0) return 0; + const index = Number(motionIndex); + return Number.isFinite(index) ? Math.min(Math.max(index, 0), count - 1) : 0; +} + +function buildTimingForState(state, execution) { + const motion = execution?.motion || []; + const requiresFeedModeTiming = motion.some((event) => event?.feedMode === "inverse-time"); + if (!requiresFeedModeTiming && execution?.plannerTiming?.plannerRuntimeReady === true) { + return execution.plannerTiming; + } + return buildProgramExecutionTiming({ + motion, + profile: state.profile, + feedOverride: state.feed.feedOverride, + rapidOverride: state.feed.rapidOverride, + defaultFeedRate: state.feed.feedRate, + }); +} + +function kinsTypeFromProgramMotion(state, motion) { + if (!motion) return null; + if (motion.kinsType) { + return resolveProgramKinsType(state, motion.kinsType); + } + if (Number.isFinite(motion.switchkinsType)) { + return kinsTypeFromSwitchkinsType(state, motion.switchkinsType); + } + return null; +} + +function resolveProgramKinsType(state, requestedKinsType) { + if (requestedKinsType === "tcp") { + return kinsTypeFromSwitchkinsType(state, 1); + } + if (requestedKinsType === "identity") { + return "identity"; + } + if (requestedKinsType === "userk") { + return kinsTypeFromSwitchkinsType(state, 2); + } + return requestedKinsType || null; +} + +function kinsTypeFromSwitchkinsType(state, switchkinsType) { + return state.profile.kinematicsParameters.switchkinsTypes + .find((type) => type.value === switchkinsType)?.webKinsType || null; +} + +function switchkinsTypeFromKinsType(state) { + const match = state.profile.kinematicsParameters.switchkinsTypes + .find((type) => type.webKinsType === state.kinsType); + return Number.isFinite(match?.value) ? match.value : 0; +} + +function rtcpStateFromKinsType(kinsType) { + return String(kinsType || "").startsWith("tcp-") ? "on" : "off"; +} + +function switchKinematicsRuntimeForState(state) { + if (!state.kinematicsRuntime?.loaded || typeof state.kinematicsRuntime.switchKinematics !== "function") { + return null; + } + const switchkinsType = switchkinsTypeFromKinsType(state); + if (state.kinematicsRuntime.switchkinsType === switchkinsType) { + return state.kinematicsRuntime.switchRc ?? 0; + } + return state.kinematicsRuntime.switchKinematics(switchkinsType); +} + +function buildLoadedProgram(action) { + const content = String(action.content || ""); + const lines = parseProgramLines(content); + const filename = action.filename || "operator-program.ngc"; + return { + activeProgram: filename, + programSource: action.programSource || "operator-file", + programSourceRel: action.sourceRel || null, + programWasmPath: action.wasmPath || null, + programStartLine: 1, + activeLine: 1, + lineCount: lines.length, + fileSizeBytes: content.length, + programLines: lines, + }; +} + +function parseProgramLines(content) { + const lines = content + .split(/\r?\n/) + .map((line) => line.trimEnd()) + .filter((line) => line.trim().length > 0); + return lines.length > 0 ? lines : ["(empty program)"]; +} + +function clampPercent(value, min, max) { + return Math.min(Math.max(value, min), max); +} + +const GMOCAPY_OVERRIDE_TARGETS = { + feed: { + countPin: "gmoccapy.feed.feed-override.counts", + countEnablePin: "gmoccapy.feed.feed-override.count-enable", + analogEnablePin: "gmoccapy.feed.feed-override.analog-enable", + directValuePin: "gmoccapy.feed.feed-override.direct-value", + resetPin: "gmoccapy.feed.reset-feed-override", + countStateKey: "feedOverrideCounts", + countEnableStateKey: "feedOverrideCountEnabled", + analogEnableStateKey: "feedOverrideAnalogEnabled", + stateDomain: "feed", + stateKey: "feedOverride", + min: 0, + max: 200, + scale: 1, + }, + rapid: { + countPin: "gmoccapy.rapid.rapid-override.counts", + countEnablePin: "gmoccapy.rapid.rapid-override.count-enable", + analogEnablePin: "gmoccapy.rapid.rapid-override.analog-enable", + directValuePin: "gmoccapy.rapid.rapid-override.direct-value", + resetPin: "gmoccapy.rapid.reset-rapid-override", + countStateKey: "rapidOverrideCounts", + countEnableStateKey: "rapidOverrideCountEnabled", + analogEnableStateKey: "rapidOverrideAnalogEnabled", + stateDomain: "feed", + stateKey: "rapidOverride", + min: 0, + max: 200, + scale: 1, + }, + spindle: { + countPin: "gmoccapy.spindle.spindle-override.counts", + countEnablePin: "gmoccapy.spindle.spindle-override.count-enable", + analogEnablePin: "gmoccapy.spindle.spindle-override.analog-enable", + directValuePin: "gmoccapy.spindle.spindle-override.direct-value", + resetPin: "gmoccapy.spindle.reset-spindle-override", + countStateKey: "spindleOverrideCounts", + countEnableStateKey: "spindleOverrideCountEnabled", + analogEnableStateKey: "spindleOverrideAnalogEnabled", + stateDomain: "spindle", + stateKey: "override", + min: 0, + max: 150, + scale: 1, + }, + jogVelocity: { + countPin: "gmoccapy.jog.jog-velocity.counts", + countEnablePin: "gmoccapy.jog.jog-velocity.count-enable", + analogEnablePin: "gmoccapy.jog.jog-velocity.analog-enable", + directValuePin: "gmoccapy.jog.jog-velocity.direct-value", + countStateKey: "jogVelocityCounts", + countEnableStateKey: "jogVelocityCountEnabled", + analogEnableStateKey: "jogVelocityAnalogEnabled", + stateDomain: "gmoccapyGui", + stateKey: "jogVelocity", + min: 0, + max: 14040, + scale: 140.4, + }, +}; + +function applyGmoccapyHalPinPatch(state, action, model = gmoccapyHalModel) { + const pin = normalizeGmoccapyHalPin(action.pin); + const value = action.value; + if (!pin) { + return { applied: false, operatorMessage: "gmoccapy HAL pin blocked: missing pin" }; + } + if (!isKnownGmoccapyHalPin(pin, model)) { + return { applied: false, operatorMessage: `gmoccapy HAL pin unmapped: ${pin}` }; + } + + if (pin === "gmoccapy.ignore-limits") { + const enabled = Boolean(value); + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + ignoreLimits: enabled, + lastHalPinEffect: enabled + ? "chk_ignore_limits set active; command.override_limits() requested" + : "chk_ignore_limits cleared", + }), + operatorMessage: enabled ? "gmoccapy HAL ignore-limits requested" : "gmoccapy HAL ignore-limits cleared", + }, + }; + } + + if (pin === "gmoccapy.optional-stop") { + const enabled = Boolean(value); + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + optionalBlocks: enabled, + lastHalPinEffect: "optional-stop pin drives tbtn_optional_blocks -> set_block_delete", + }), + operatorMessage: `gmoccapy HAL optional-stop -> block delete ${enabled ? "on" : "off"}`, + }, + }; + } + + if (pin === "gmoccapy.blockdelete") { + const enabled = Boolean(value); + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + optionalStop: enabled, + lastHalPinEffect: "blockdelete pin drives command.set_optional_stop", + }), + operatorMessage: `gmoccapy HAL blockdelete -> optional stop ${enabled ? "on" : "off"}`, + }, + }; + } + + if (pin === "gmoccapy.unlock-settings") { + const enabled = Boolean(value); + const halUnlockActive = action.halUnlockMode === true || state.gmoccapyGui?.settingsUnlockMode === "hal"; + if (!halUnlockActive) { + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + settingsUnlockPin: enabled, + setupSensitive: true, + lastHalPinEffect: "unlock-settings ignored because unlock_way is not hal", + }), + operatorMessage: "gmoccapy HAL unlock-settings ignored: unlock_way is use", + }, + }; + } + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + settingsUnlockMode: "hal", + settingsUnlockPin: enabled, + setupSensitive: enabled, + lastHalPinEffect: `unlock-settings ${enabled ? "enabled" : "disabled"} setup page sensitivity`, + }), + operatorMessage: `gmoccapy HAL unlock-settings ${enabled ? "enabled setup" : "disabled setup"}`, + }, + }; + } + + const jogAxisPin = resolveGmoccapyJogAxisPin(pin, model); + if (jogAxisPin) { + return applyGmoccapyJogAxisHalPatch(state, pin, value, jogAxisPin); + } + + const jogIncrement = resolveGmoccapyJogIncrementPin(pin, model); + if (jogIncrement) { + return applyGmoccapyJogIncrementHalPatch(state, pin, value, jogIncrement); + } + + if (pin === "gmoccapy.jog.turtle-jog") { + const enabled = Boolean(value); + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + turtleJog: enabled, + lastHalPinEffect: `turtle jog ${enabled ? "enabled" : "disabled"} by level-driven pin`, + }), + operatorMessage: `gmoccapy HAL turtle jog ${enabled ? "on" : "off"}`, + }, + }; + } + + if (pin === "gmoccapy.delete-message") { + if (!value) { + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + lastHalPinEffect: "delete-message falling edge ignored", + }), + operatorMessage: "gmoccapy HAL delete-message falling edge ignored", + }, + }; + } + const hadError = state.gmoccapyGui?.error === true || /error|blocked|warning/i.test(state.operatorMessage || ""); + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + error: false, + deletedMessageCount: Number(state.gmoccapyGui?.deletedMessageCount || 0) + 1, + lastHalPinEffect: hadError + ? "delete-message removed first alert and cleared gmoccapy.error" + : "delete-message deleted last notification", + }), + operatorMessage: hadError + ? "gmoccapy HAL delete-message cleared alert" + : "gmoccapy HAL delete-message deleted last message", + }, + }; + } + + if (pin === "gmoccapy.warning-confirm") { + const enabled = Boolean(value); + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + warningConfirm: enabled, + lastHalPinEffect: enabled + ? "warning-confirm level would accept active warning dialog" + : "warning-confirm level cleared", + }), + operatorMessage: enabled + ? "gmoccapy HAL warning-confirm asserted" + : "gmoccapy HAL warning-confirm cleared", + }, + }; + } + + const toolMeasurementPin = resolveGmoccapyToolMeasurementPin(pin, model); + if (toolMeasurementPin) { + return applyGmoccapyToolMeasurementHalPatch(state, pin, value, toolMeasurementPin); + } + + if (pin.startsWith("gmoccapy.messages.")) { + return { + applied: false, + operatorMessage: "gmoccapy HAL user message pin unmapped: gmoccapy_XYZAB.ini defines no MESSAGE_* entries", + }; + } + + const overrideTarget = findOverrideTargetForPin(pin); + if (overrideTarget) { + return applyGmoccapyOverrideHalPatch(state, pin, value, overrideTarget); + } + + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + lastHalPinEffect: "diagnostic-only gmoccapy HAL pin", + }), + operatorMessage: `gmoccapy HAL diagnostic-only: ${pin}`, + }, + }; +} + +function normalizeGmoccapyHalPin(pin) { + const value = String(pin || "").trim(); + if (!value) return ""; + return value.startsWith("gmoccapy.") ? value : `gmoccapy.${value}`; +} + +function isKnownGmoccapyHalPin(pin, model = gmoccapyHalModel) { + if (model.nativePins.some((group) => group.pins.includes(pin))) return true; + return pin.startsWith("gmoccapy.messages."); +} + +function halGuiPatch(state, pin, value, patch = {}) { + return { + ...state.gmoccapyGui, + ...patch, + lastHalPin: pin, + lastHalPinValue: value, + }; +} + +function applyGmoccapyNativePagePatch(state, action, model = gmoccapyHalModel) { + const pageId = String(action.pageId || action.page || "").trim(); + const page = model.nativePages?.implementationMatrix?.find((entry) => entry.pageId === pageId); + if (!page) { + return { + operatorMessage: `gmoccapy native page unmapped: ${pageId || "unknown"}`, + }; + } + return { + gmoccapyGui: { + ...state.gmoccapyGui, + activeNativePage: page.pageId, + nativePageMode: page.implementation, + lastHalPin: null, + lastHalPinValue: null, + lastHalPinEffect: `${page.nativeWidget} ${page.implementation}`, + }, + operatorMessage: page.implementation === "diagnostic-only" || page.implementation === "native-only" + ? `gmoccapy native page diagnostic-only: ${page.pageId}` + : `gmoccapy native page ${page.pageId}`, + }; +} + +function applyGmoccapyPageActionPatch(state, action, model = gmoccapyHalModel) { + const pageId = String(action.pageId || action.page || "").trim(); + const actionId = String(action.actionId || action.action || "open").trim(); + if (pageId === "file-load") { + const running = state.machine?.interpState === "reading" || state.runState === "running"; + const status = running ? "blocked-running" : actionId; + return { + gmoccapyGui: { + ...state.gmoccapyGui, + activeNativePage: "file-load", + nativePageMode: model.nativePages.filePage.implementation, + filePageStatus: status, + filePageLastAction: actionId, + lastHalPin: null, + lastHalPinValue: null, + lastHalPinEffect: running + ? "file load blocked while interpreter is running" + : "IconFileSelection native page represented by Web file/staged-source controls", + }, + operatorMessage: running + ? "gmoccapy file page blocked: interpreter running" + : `gmoccapy file page ${actionId}: native Gtk chooser diagnostic`, + }; + } + return { + operatorMessage: `gmoccapy page action unmapped: ${pageId || "unknown"}`, + }; +} + +function applyGmoccapyMacroPatch(state, action, model = gmoccapyHalModel) { + const macroName = String(action.name || action.macro || "").trim(); + const macro = model.nativePages?.macroPage?.macros?.find((entry) => entry.name === macroName); + if (!macro) { + return { + applied: false, + operatorMessage: `gmoccapy macro unmapped: ${macroName || "unknown"}`, + }; + } + const gate = gateLinuxCncTaskAction(state, { type: "RUN_MDI" }); + if (!gate.allowed) { + return { + applied: true, + patch: { + gmoccapyGui: { + ...state.gmoccapyGui, + macroButtonsEnabled: false, + macroLastName: macro.name, + lastHalPin: null, + lastHalPinValue: null, + lastHalPinEffect: `macro ${macro.name} blocked: ${gate.operatorMessage}`, + }, + operatorMessage: `gmoccapy macro blocked: ${gate.operatorMessage}`, + }, + }; + } + const command = buildGmoccapyMacroCommand(macro, action.args || action.parameters || {}); + const mdiResult = executeMdiCommand(state, command); + return { + applied: true, + patch: { + ...mdiResult.patch, + gmoccapyGui: { + ...state.gmoccapyGui, + activeNativePage: "mdi-macros", + nativePageMode: "partial", + macroButtonsEnabled: false, + macroLastName: macro.name, + macroLastCommand: command, + lastHalPin: null, + lastHalPinValue: null, + lastHalPinEffect: `macro ${macro.name} dispatched as MDI O-word call`, + }, + operatorMessage: `gmoccapy macro MDI ${command}`, + }, + }; +} + +function buildGmoccapyMacroCommand(macro, args = {}) { + const values = Array.isArray(args) + ? args + : macro.args.map((name) => args[name] ?? args[String(name).toLowerCase()] ?? 0); + return [ + `O<${macro.name}> call`, + ...macro.args.map((name, index) => `[${values[index] ?? 0}]`), + ].join(" "); +} + +function applyGmoccapyToolEditorPatch(state, action, model = gmoccapyHalModel) { + const actionId = String(action.actionId || action.action || "open").trim(); + const writableAction = ["save", "add", "delete", "touch-off"].includes(actionId); + if (writableAction && model.nativePages?.toolEditorPage?.editableInWeb === false) { + return { + gmoccapyGui: { + ...state.gmoccapyGui, + activeNativePage: "tool-editor", + nativePageMode: "diagnostic-only", + toolEditorStatus: "writeback-blocked", + toolEditorLastAction: actionId, + lastHalPin: null, + lastHalPinValue: null, + lastHalPinEffect: "tool editor writeback disabled in browser", + }, + operatorMessage: `gmoccapy tool editor diagnostic-only: ${actionId} does not write tool.tbl`, + }; + } + return { + gmoccapyGui: { + ...state.gmoccapyGui, + activeNativePage: "tool-editor", + nativePageMode: "diagnostic-only", + toolEditorStatus: actionId, + toolEditorLastAction: actionId, + lastHalPin: null, + lastHalPinValue: null, + lastHalPinEffect: "tooledit1 native page represented by diagnostics", + }, + operatorMessage: `gmoccapy tool editor ${actionId}: ${state.profile?.toolTable?.toolCount || 0} tools diagnostic-only`, + }; +} + +function findOverrideTargetForPin(pin) { + return Object.entries(GMOCAPY_OVERRIDE_TARGETS) + .find(([, target]) => [ + target.countPin, + target.countEnablePin, + target.analogEnablePin, + target.directValuePin, + target.resetPin, + ].includes(pin)) || null; +} + +function resolveGmoccapyToolMeasurementPin(pin, model = gmoccapyHalModel) { + return model.halPinActions?.toolMeasurementPins?.pins?.find((entry) => entry.pin === pin) || null; +} + +function resolveGmoccapyJogAxisPin(pin, model = gmoccapyHalModel) { + for (const entry of model.halPinActions?.jogPins?.axes || []) { + if (pin === entry.plus) return { axis: entry.axis, direction: 1 }; + if (pin === entry.minus) return { axis: entry.axis, direction: -1 }; + } + return null; +} + +function resolveGmoccapyJogIncrementPin(pin, model = gmoccapyHalModel) { + return (model.halPinActions?.jogPins?.increments || []).find((entry) => entry.pin === pin) || null; +} + +function applyGmoccapyJogAxisHalPatch(state, pin, value, jogAxisPin) { + const axis = String(jogAxisPin.axis || "").toLowerCase(); + const direction = Number(jogAxisPin.direction || 1); + const axisLabel = axis.toUpperCase(); + const sign = direction > 0 ? "+" : "-"; + if (!value) { + const isActivePin = state.gmoccapyGui?.activeJogPin === pin; + return { + applied: true, + patch: { + runState: isActivePin && state.runState === "jogging" ? "idle" : state.runState, + gmoccapyGui: halGuiPatch(state, pin, value, { + activeJogPin: isActivePin ? null : state.gmoccapyGui?.activeJogPin || null, + lastHalPinEffect: `jog ${axisLabel}${sign} released`, + }), + operatorMessage: `gmoccapy HAL jog ${axisLabel}${sign} released`, + }, + }; + } + + const gate = gateLinuxCncTaskAction(state, { type: "JOG", axis, direction }); + if (!gate.allowed) { + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + lastHalPinEffect: `jog ${axisLabel}${sign} ignored: ${gate.operatorMessage}`, + }), + operatorMessage: `gmoccapy HAL jog blocked: ${gate.operatorMessage}`, + }, + }; + } + + const increment = Number(state.gmoccapyGui?.jogIncrementOutput ?? state.machine?.jogIncrement ?? 0); + const continuous = Math.abs(increment) <= 0; + const nextAxisPose = continuous + ? state.axisPose + : { + ...state.axisPose, + [axis]: Number(state.axisPose?.[axis] || 0) + direction * increment, + }; + return { + applied: true, + patch: { + machine: { + ...state.machine, + mode: "manual", + jogAxis: axis, + jogIncrement: increment, + }, + axisPose: nextAxisPose, + runState: "jogging", + gmoccapyGui: halGuiPatch(state, pin, value, { + activeJogPin: pin, + lastHalPinEffect: continuous + ? `jog ${axisLabel}${sign} continuous press` + : `jog ${axisLabel}${sign} incremental ${increment}`, + }), + operatorMessage: continuous + ? `gmoccapy HAL jog ${axisLabel}${sign} continuous` + : `gmoccapy HAL jog ${axisLabel}${sign} ${increment}`, + }, + }; +} + +function applyGmoccapyJogIncrementHalPatch(state, pin, value, jogIncrement) { + if (!value) { + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + lastHalPinEffect: `jog increment ${jogIncrement.index} falling edge ignored`, + }), + operatorMessage: "gmoccapy HAL jog increment falling edge ignored", + }, + }; + } + + const distance = Number(jogIncrement.distance || 0); + const label = String(jogIncrement.label || `increment ${jogIncrement.index}`); + return { + applied: true, + patch: { + machine: { + ...state.machine, + jogIncrement: distance, + }, + runState: state.machine.mode === "manual" && state.runState === "jogging" ? "idle" : state.runState, + gmoccapyGui: halGuiPatch(state, pin, value, { + jogIncrementIndex: Number(jogIncrement.index), + jogIncrementLabel: label, + jogIncrementOutput: distance, + activeJogPin: null, + lastHalPinEffect: `jog increment selected ${label}; gmoccapy.jog.jog-increment=${distance}`, + }), + operatorMessage: `gmoccapy HAL jog increment ${label}`, + }, + }; +} + +function applyGmoccapyToolMeasurementHalPatch(state, pin, value, toolMeasurementPin) { + const nextValue = toolMeasurementPin.pin === "gmoccapy.toolmeasurement" + ? Boolean(value) + : Number(value || 0); + const patch = { + lastHalPinEffect: "tool measurement HAL OUT pin recorded as diagnostic-only in Web", + }; + if (toolMeasurementPin.pin === "gmoccapy.probeheight") patch.probeHeight = nextValue; + if (toolMeasurementPin.pin === "gmoccapy.blockheight") patch.blockHeight = nextValue; + if (toolMeasurementPin.pin === "gmoccapy.toolmeasurement") patch.toolMeasurement = nextValue; + if (toolMeasurementPin.pin === "gmoccapy.searchvel") patch.searchVelocity = nextValue; + if (toolMeasurementPin.pin === "gmoccapy.probevel") patch.probeVelocity = nextValue; + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, patch), + operatorMessage: "gmoccapy HAL tool measurement output recorded; XYZAB has no [TOOLSENSOR]", + }, + }; +} + +function applyGmoccapyOverrideHalPatch(state, pin, value, [targetName, target]) { + if (pin === target.countEnablePin || pin === target.analogEnablePin) { + const enabled = Boolean(value); + const key = pin === target.countEnablePin ? target.countEnableStateKey : target.analogEnableStateKey; + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + [key]: enabled, + lastHalPinEffect: `${targetName} ${pin === target.countEnablePin ? "count" : "analog"} input ${enabled ? "enabled" : "disabled"}`, + }), + operatorMessage: `gmoccapy HAL ${targetName} ${pin === target.countEnablePin ? "counts" : "analog"} ${enabled ? "enabled" : "disabled"}`, + }, + }; + } + + if (pin === target.resetPin) { + if (!value) { + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + lastHalPinEffect: `${targetName} reset falling edge ignored`, + }), + operatorMessage: `gmoccapy HAL ${targetName} reset falling edge ignored`, + }, + }; + } + return { + applied: true, + patch: resetOverridePatchForTarget(state, targetName, { pin, value }), + }; + } + + if (pin === target.directValuePin) { + if (!state.gmoccapyGui?.[target.analogEnableStateKey]) { + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + lastHalPinEffect: `${targetName} direct-value ignored until analog-enable is true`, + }), + operatorMessage: `gmoccapy HAL ${targetName} direct-value ignored: analog disabled`, + }, + }; + } + const normalized = clampNumber(Number(value), 0, 1); + const nextValue = target.min + (target.max - target.min) * normalized; + return overrideValuePatch(state, targetName, target, nextValue, { + pin, + value, + effect: `${targetName} direct-value ${normalized}`, + operatorMessage: `gmoccapy HAL ${targetName} direct-value ${Math.round(nextValue)}`, + }); + } + + if (pin === target.countPin) { + const counts = Number(value); + if (!Number.isFinite(counts)) { + return { applied: false, operatorMessage: `gmoccapy HAL ${targetName} counts invalid: ${value}` }; + } + if (!state.gmoccapyGui?.[target.countEnableStateKey]) { + return { + applied: true, + patch: { + gmoccapyGui: halGuiPatch(state, pin, value, { + [target.countStateKey]: counts, + lastHalPinEffect: `${targetName} counts synchronized while count-enable is false`, + }), + operatorMessage: `gmoccapy HAL ${targetName} counts synchronized`, + }, + }; + } + const previousCounts = Number(state.gmoccapyGui?.[target.countStateKey] || 0); + const delta = (counts - previousCounts) * target.scale; + const currentValue = currentOverrideValue(state, target); + return overrideValuePatch(state, targetName, target, currentValue + delta, { + pin, + value, + countPatch: { [target.countStateKey]: counts }, + effect: `${targetName} counts delta ${delta}`, + operatorMessage: `gmoccapy HAL ${targetName} counts adjusted`, + }); + } + + return { applied: false, operatorMessage: `gmoccapy HAL override pin unmapped: ${pin}` }; +} + +function overrideValuePatch(state, targetName, target, rawValue, { + pin, + value, + countPatch = {}, + effect, + operatorMessage, +} = {}) { + const nextValue = clampPercent(rawValue, target.min, target.max); + const gmoccapyGui = halGuiPatch(state, pin, value, { + ...countPatch, + lastHalPinEffect: effect, + }); + if (target.stateDomain === "feed") { + return { + applied: true, + patch: { + feed: { + ...state.feed, + [target.stateKey]: Math.round(nextValue), + }, + gmoccapyGui, + operatorMessage, + }, + }; + } + if (target.stateDomain === "spindle") { + return { + applied: true, + patch: { + spindle: { + ...state.spindle, + [target.stateKey]: Math.round(nextValue), + }, + gmoccapyGui, + operatorMessage, + }, + }; + } + return { + applied: true, + patch: { + gmoccapyGui: { + ...gmoccapyGui, + [target.stateKey]: Number(nextValue.toFixed(3)), + }, + operatorMessage, + }, + }; +} + +function currentOverrideValue(state, target) { + if (target.stateDomain === "feed") return Number(state.feed?.[target.stateKey] || 0); + if (target.stateDomain === "spindle") return Number(state.spindle?.[target.stateKey] || 0); + return Number(state.gmoccapyGui?.[target.stateKey] || 0); +} + +function resetOverridePatchForTarget(state, targetName, hal = {}) { + const target = GMOCAPY_OVERRIDE_TARGETS[targetName]; + if (!target || targetName === "jogVelocity") { + return { + gmoccapyGui: halGuiPatch(state, hal.pin || null, hal.value ?? null, { + lastHalPinEffect: `reset unsupported for ${targetName}`, + }), + operatorMessage: `override reset unsupported: ${targetName}`, + }; + } + const effect = `${targetName} override reset to 100`; + const gmoccapyGui = halGuiPatch(state, hal.pin || null, hal.value ?? null, { + lastHalPinEffect: hal.pin ? `HAL ${effect}` : effect, + }); + if (target.stateDomain === "spindle") { + return { + spindle: { + ...state.spindle, + [target.stateKey]: 100, + }, + gmoccapyGui, + operatorMessage: hal.pin ? `gmoccapy HAL ${targetName} reset to 100` : `${targetName} override reset`, + }; + } + return { + feed: { + ...state.feed, + [target.stateKey]: 100, + }, + gmoccapyGui, + operatorMessage: hal.pin ? `gmoccapy HAL ${targetName} reset to 100` : `${targetName} override reset`, + }; +} + +function clampNumber(value, min, max) { + if (!Number.isFinite(value)) return min; + return Math.min(Math.max(value, min), max); +} + +function buildDroFromFrame(frame, runtimeFeedback = null) { + const dtg = runtimeFeedback?.dtg || null; + return { + x: frame.axisPose.x, + y: frame.axisPose.y, + z: frame.axisPose.z, + a: frame.axisPose.a, + b: frame.axisPose.b, + c: frame.axisPose.c, + tcpX: frame.tcpPose.x, + tcpY: frame.tcpPose.y, + tcpZ: frame.tcpPose.z, + dtgX: Number.isFinite(dtg?.x) ? dtg.x : frame.rtcpEnabled ? Math.abs(frame.compensation.x) : 0, + dtgY: Number.isFinite(dtg?.y) ? dtg.y : frame.rtcpEnabled ? Math.abs(frame.compensation.y) : 0.01, + dtgZ: Number.isFinite(dtg?.z) ? dtg.z : frame.rtcpEnabled ? Math.abs(frame.compensation.z) : 2.25, + }; +} + +function jointsFromAxisPose(axisPose, profile = defaultProfile) { + const fourthAxis = profile.traj?.coordinates?.includes("B") ? "b" : "a"; + return [ + Number(axisPose.x || 0), + Number(axisPose.y || 0), + Number(axisPose.z || 0), + Number(axisPose[fourthAxis] || 0), + Number(axisPose.c || 0), + ]; +} + +function buildFixtureAxisPoseForLine(axisPose, line) { + const phase = (line - 496) * 0.17; + return { + ...axisPose, + x: 43 + Math.sin(phase) * 4, + y: -32.15 + Math.cos(phase) * 2.5, + z: -11.306 + Math.sin(phase * 0.7) * 1.2, + a: Math.sin(phase * 0.45) * 18, + c: Math.cos(phase * 0.33) * 32, + }; +} + +function axisPoseFromCanonicalMotion(motion, fallbackPose) { + const axes = motion?.axes || {}; + return { + x: Number(axes.x ?? fallbackPose.x ?? 0), + y: Number(axes.y ?? fallbackPose.y ?? 0), + z: Number(axes.z ?? fallbackPose.z ?? 0), + a: Number(axes.a ?? fallbackPose.a ?? 0), + b: Number(axes.b ?? fallbackPose.b ?? 0), + c: Number(axes.c ?? fallbackPose.c ?? 0), + }; +} + +function axisPoseFromRuntimeSample(sample, motion, fallbackPose) { + const sampleAxes = sample?.axes || {}; + const canonicalAxes = motion?.axes || {}; + return { + x: numberOrFallback(sampleAxes.x, canonicalAxes.x, fallbackPose.x, 0), + y: numberOrFallback(sampleAxes.y, canonicalAxes.y, fallbackPose.y, 0), + z: numberOrFallback(sampleAxes.z, canonicalAxes.z, fallbackPose.z, 0), + a: numberOrFallback(sampleAxes.a, canonicalAxes.a, fallbackPose.a, 0), + b: numberOrFallback(sampleAxes.b, canonicalAxes.b, fallbackPose.b, 0), + c: numberOrFallback(sampleAxes.c, canonicalAxes.c, fallbackPose.c, 0), + }; +} + +function createProgramRuntimeFeedbackFromSample({ + state, + sample, + sampleIndex, + motion, + motionIndex, + segment, + currentVelocity, + elapsedSeconds, +}) { + const axisPose = axisPoseFromRuntimeSample(sample, motion, state.axisPose); + return { + apiName: "web-rtcp-5axis-program-runtime-feedback", + sourceMode: "linuxcnc-tp-runtime-sample", + semanticBoundary: "linuxcnc_tp_run_cycle_feedback_without_hardware", + sampleIndex, + motionIndex, + line: sample?.line || motion?.line || null, + type: sample?.type || motion?.type || null, + linearUnits: sample?.linearUnits || motion?.linearUnits || state.profile.traj?.linearUnits || "mm", + timeSeconds: elapsedSeconds, + axisPose, + currentVelocityMmPerMin: currentVelocity, + requestedVelocityMmPerMin: Number(sample?.requestedVelocityMmPerMin) + || Number(sample?.requestedVelocity) * 60 + || Number(segment?.velocityMmPerMin) + || 0, + distanceToGo: Number(sample?.distanceToGo) || 0, + dtg: { + x: Number(sample?.dtg?.x) || 0, + y: Number(sample?.dtg?.y) || 0, + z: Number(sample?.dtg?.z) || 0, + }, + queueDepth: Number(sample?.queueDepth) || 0, + activeDepth: Number(sample?.activeDepth) || 0, + cycle: Number(sample?.cycle) || 0, + }; +} + +function createProgramRuntimeFeedbackFromMotion({ + state, + motion, + motionIndex, + timing, + sourceMode, +}) { + const axisPose = axisPoseFromCanonicalMotion(motion, state.axisPose); + return { + apiName: "web-rtcp-5axis-program-runtime-feedback", + sourceMode, + semanticBoundary: sourceMode === "fixture-line-playback" + ? "fixture_line_playback_feedback" + : "linuxcnc_canonical_motion_feedback_without_tp_sample", + sampleIndex: motionIndex, + motionIndex, + line: motion?.line || null, + type: motion?.type || null, + linearUnits: motion?.linearUnits || state.profile.traj?.linearUnits || "mm", + timeSeconds: Number(timing?.elapsedSeconds) || 0, + axisPose, + currentVelocityMmPerMin: Number(timing?.currentVelocity) || 0, + requestedVelocityMmPerMin: Number(timing?.currentVelocity) || 0, + distanceToGo: 0, + dtg: { x: 0, y: 0, z: 0 }, + queueDepth: 0, + activeDepth: 0, + cycle: 0, + }; +} + +function numberOrFallback(...values) { + for (const value of values) { + const number = Number(value); + if (Number.isFinite(number)) return number; + } + return 0; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/styles/gmoccapy.css b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/styles/gmoccapy.css new file mode 100644 index 0000000..81e4a2b --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/styles/gmoccapy.css @@ -0,0 +1,1272 @@ +:root { + color-scheme: light; + --panel: #d7d4ce; + --panel-dark: #bdb9b1; + --border: #aaa59b; + --button: #ece9e3; + --orange: #ff8618; + --green: #18ff28; + --green-dark: #02bf19; + --black: #050505; + --text: #2e2e2e; + --ink: #242424; + --line: #aaa59b; + --muted: #5e5a52; + font-family: Arial, Helvetica, sans-serif; +} + +* { + box-sizing: border-box; +} + +html, +body { + width: 100vw; + height: 100vh; + height: 100dvh; + margin: 0; + overflow: hidden; + background: #c8c4bc; + color: var(--text); +} + +#app { + width: 100vw; + height: 100vh; + height: 100dvh; + overflow: hidden; +} + +button { + border: 1px solid #bdb8ad; + border-radius: 5px; + background: linear-gradient(#f7f5ef, #ddd9d1); + color: #303030; + font: inherit; +} + +button:active { + transform: translateY(1px); +} + +button[data-icon-name] { + display: grid; + grid-template-rows: minmax(18px, 1fr) auto; + place-items: center; + gap: 2px; + min-width: 0; + overflow: hidden; +} + +button[data-icon-name] img, +.gmoccapy-icon-fallback { + display: block; + width: min(26px, 78%); + height: min(26px, 78%); + object-fit: contain; + pointer-events: none; +} + +button[data-icon-name] span { + max-width: 100%; + min-width: 0; + overflow: hidden; + font-size: inherit; + line-height: 1; + text-align: center; + text-overflow: ellipsis; + white-space: nowrap; +} + +.gmoccapy-icon-fallback { + display: grid; + place-items: center; + border: 1px solid #938d84; + background: #f5f2ea; + color: #38332e; + font-size: 9px; + font-weight: 700; +} + +.profile-select-label { + display: grid; + gap: 1px; + min-width: 210px; + color: var(--muted); + font-size: 11px; + font-weight: 700; + text-transform: uppercase; +} + +.profile-select-label select { + min-height: 28px; + border: 1px solid var(--line); + border-radius: 3px; + background: #f7f5ef; + color: var(--ink); + font: inherit; + font-size: 12px; +} + +.gmoccapy-shell { + display: grid; + grid-template-columns: + minmax(0, 1.34fr) + minmax(0, 0.58fr) + minmax(0, 0.56fr) + 108px; + grid-template-rows: 40px minmax(0, 1fr) minmax(0, 0.82fr) minmax(110px, 0.48fr) 68px; + grid-template-areas: + "title title title title" + "preview dro dro side" + "preview gcode gcode side" + "info override spindle side" + "bottom bottom bottom side"; + width: 100%; + height: 100%; + min-width: 0; + min-height: 0; + border: 1px solid var(--border); + background: var(--panel); +} + +.titlebar { + grid-area: title; + display: flex; + align-items: center; + gap: 10px; + min-width: 0; + padding: 4px 12px; + background: #cfcbc3; + border-bottom: 1px solid var(--border); +} + +.brand-dot { + display: grid; + place-items: center; + flex: 0 0 auto; + width: 26px; + height: 26px; + border: 2px solid #ffcf00; + border-radius: 50%; + color: #e21d1d; + font-size: 10px; + font-weight: 700; +} + +.title-stack { + display: flex; + flex: 1; + align-items: baseline; + justify-content: center; + gap: 16px; + min-width: 0; +} + +.title-stack strong { + overflow: hidden; + font-size: 17px; + text-overflow: ellipsis; + white-space: nowrap; +} + +.title-stack span, +.run-state { + overflow: hidden; + font-size: 14px; + color: #4d4d4d; + text-overflow: ellipsis; + white-space: nowrap; +} + +.run-state { + min-width: 76px; + text-align: right; + text-transform: uppercase; +} + +.current-line-indicator { + display: grid; + grid-template-columns: auto minmax(44px, auto); + align-items: center; + gap: 8px; + flex: 0 0 auto; + min-width: 0; + padding: 4px 8px; + border: 1px solid #8d887f; + background: #f7f1d0; + color: #171717; +} + +.current-line-indicator span { + min-width: 0; + overflow: hidden; + font-size: 11px; + font-weight: 700; + text-overflow: ellipsis; + text-transform: uppercase; + white-space: nowrap; +} + +.current-line-indicator strong { + color: #005bab; + font: 700 20px/1 "Courier New", monospace; + text-align: right; +} + +.preview-panel { + grid-area: preview; + position: relative; + overflow: hidden; + background: var(--black); + border-right: 2px solid #8d887f; + border-bottom: 2px solid #8d887f; +} + +.program-path { + position: absolute; + inset: 9px 0 auto 0; + z-index: 2; + color: #f6f6f6; + text-align: center; + font-size: 13px; + line-height: 1.2; + pointer-events: none; +} + +.toolpath-preview { + width: 100%; + height: calc(100% - 64px); + margin-top: 32px; + display: block; + touch-action: none; + cursor: grab; +} + +.toolpath-preview:active { + cursor: grabbing; +} + +.tool-preview-card { + position: absolute; + top: 34px; + left: 10px; + z-index: 2; + display: grid; + grid-template-columns: auto auto; + gap: 2px 8px; + min-width: 154px; + max-width: 230px; + padding: 7px 9px; + border: 1px solid #316e74; + background: rgba(4, 20, 22, 0.86); + color: #e7ffff; + font: 12px/1.25 "Courier New", monospace; + pointer-events: none; +} + +.tool-preview-card strong { + grid-row: span 3; + align-self: center; + color: #21f2f2; + font-size: 22px; +} + +.tool-preview-card span { + overflow: hidden; + white-space: nowrap; + text-overflow: ellipsis; +} + +.rtcp-preview-badge { + position: absolute; + right: 8px; + bottom: 62px; + left: 8px; + z-index: 2; + overflow: hidden; + padding: 4px 6px; + border: 1px solid #215b2b; + background: rgba(2, 16, 5, 0.82); + color: var(--green); + font: 11px/1.25 "Courier New", monospace; + text-align: center; + text-overflow: ellipsis; + white-space: nowrap; + pointer-events: none; +} + +.rtcp-preview-badge[data-rtcp-preview-state="off"] { + border-color: #4b4b4b; + color: #b7c7b8; +} + +.preview-toolbar { + position: absolute; + right: 0; + bottom: 0; + left: 0; + display: grid; + grid-template-columns: repeat(5, 1fr); + gap: 6px; + padding: 6px; + background: var(--panel); + border-top: 1px solid var(--border); +} + +.preview-toolbar button, +.bottom-controls button, +.status-sidebar button { + min-height: 42px; + font-weight: 700; +} + +.preview-toolbar button[data-icon-name] img { + width: min(24px, 80%); + height: min(24px, 80%); +} + +.dro-panel { + grid-area: dro; + display: grid; + grid-template-rows: 1fr auto; + min-width: 0; + min-height: 0; + overflow: hidden; + border-left: 2px solid #8d887f; + border-bottom: 2px solid #8d887f; + background: var(--black); +} + +.dro-grid { + display: grid; + grid-template-columns: 1fr 1fr; + grid-template-rows: repeat(3, minmax(0, 1fr)); + gap: 1px; + min-height: 0; + background: #111111; +} + +.dro-row { + display: grid; + grid-template-columns: 30px 46px minmax(92px, 1fr) 58px; + align-items: center; + min-width: 0; + min-height: 0; + padding: 4px 7px; + background: var(--black); + color: var(--green); +} + +.dro-axis { + font-size: clamp(24px, 2vw, 32px); + font-weight: 800; + line-height: 1; +} + +.dro-mode, +.dro-dtg { + color: var(--green); + font-size: 10px; + line-height: 1.25; +} + +.dro-row strong { + overflow: hidden; + text-align: right; + font-size: clamp(24px, 2.5vw, 38px); + line-height: 1; + font-variant-numeric: tabular-nums; + text-overflow: clip; + white-space: nowrap; +} + +.tcp-strip { + display: flex; + gap: 6px; + justify-content: space-between; + min-width: 0; + padding: 6px 9px; + background: #080808; + color: var(--green); + font-size: 13px; + font-weight: 700; +} + +.tcp-strip span { + min-width: 0; + overflow: hidden; + text-overflow: ellipsis; + white-space: nowrap; +} + +.tcp-strip [data-rtcp-value="tcp"] { + flex: 1.2 1 190px; +} + +.tcp-strip [data-rtcp-value="tool-axis"] { + flex: 1 1 150px; +} + +.tcp-strip [data-rtcp-value="state"] { + flex: 0 0 auto; +} + +.gcode-panel { + grid-area: gcode; + display: grid; + grid-template-rows: auto auto auto minmax(96px, 1fr) 20px 54px; + min-width: 0; + min-height: 0; + overflow: hidden; + background: #f6f4ef; + border-top: 2px solid var(--border); + border-bottom: 2px solid var(--border); +} + +.gcode-header { + display: grid; + grid-template-columns: minmax(0, 1fr) auto auto; + gap: 8px; + align-items: center; + min-width: 0; + padding: 6px 9px; + border-bottom: 1px solid #d5d0c7; + background: #eeeae3; + font-size: 13px; +} + +.linuxcnc-source-row { + display: grid; + grid-template-columns: minmax(260px, 1fr) auto minmax(180px, 1fr); + align-items: center; + gap: 8px; + min-width: 0; + padding: 5px 8px; + border-bottom: 1px solid #d5d0c7; + background: #f6f4ef; + font-size: 12px; +} + +.linuxcnc-source-row label { + display: grid; + grid-template-columns: auto minmax(150px, 240px); + align-items: center; + gap: 6px; + min-width: 0; +} + +.linuxcnc-source-row select { + min-width: 0; + max-width: 100%; +} + +.linuxcnc-source-row [data-linuxcnc-gcode-source="status"] { + min-width: 0; + overflow: hidden; + white-space: nowrap; + text-overflow: ellipsis; +} + +.machine-project-row { + display: grid; + grid-template-columns: minmax(170px, 1.1fr) minmax(150px, 0.9fr) minmax(150px, 0.8fr) minmax(190px, 1.2fr); + align-items: center; + gap: 8px; + min-width: 0; + padding: 4px 8px; + border-bottom: 1px solid #d5d0c7; + background: #ebe7df; + color: #3a3732; + font: 11px/1.2 "Courier New", monospace; +} + +.machine-project-row span { + min-width: 0; + overflow: hidden; + text-overflow: ellipsis; + white-space: nowrap; +} + +.machine-project-row [data-program-validation="summary"] { + color: #005bab; + font-weight: 700; +} + +.gcode-header strong, +.gcode-header span { + min-width: 0; + overflow: hidden; + white-space: nowrap; + text-overflow: ellipsis; +} + +.gcode-header [data-active-program-line] { + color: #005bab; + font-weight: 700; +} + +.gcode-list { + min-height: 0; + margin: 0; + padding: 6px 8px 3px; + overflow: auto; + list-style: none; + font-family: "Courier New", monospace; + font-size: 13px; + color: #55514a; +} + +.gcode-row { + display: grid; + grid-template-columns: 42px minmax(0, 1fr); + gap: 6px; + min-height: 34px; + line-height: 1.25; + padding: 2px 4px; + border-left: 3px solid transparent; +} + +.gcode-row.active { + background: #21a553; + color: #0c2b17; + border-left-color: #2ebf63; +} + +.gcode-row[data-line-status="done"] { + background: #eeeeee; + border-left-color: #b8b8b8; +} + +.gcode-row[data-line-status="running"] { + background: #21a553; + border-left-color: #2ebf63; +} + +.gcode-row.active span, +.gcode-row.active code, +.gcode-row.active small, +.gcode-row[data-line-status="running"] span, +.gcode-row[data-line-status="running"] code, +.gcode-row[data-line-status="running"] small { + color: #ffffff; +} + +.gcode-row code { + min-width: 0; + overflow: hidden; + white-space: nowrap; + text-overflow: ellipsis; +} + +.gcode-row small { + grid-column: 2; + min-width: 0; + overflow: hidden; + white-space: nowrap; + text-overflow: ellipsis; + color: #6d695f; + font: 11px/1.2 "Courier New", monospace; +} + +.gcode-progress { + display: grid; + grid-template-columns: 120px 1fr; + align-items: center; + gap: 8px; + padding: 1px 8px 3px; + font-size: 11px; + color: #777; +} + +.gcode-progress div { + height: 6px; + background: #d0d0d0; +} + +.gcode-progress i { + display: block; + height: 100%; + background: #3888df; +} + +.mdi-panel { + display: grid; + grid-template-rows: 27px minmax(0, 1fr); + gap: 2px; + min-width: 0; + min-height: 0; + padding: 3px 8px 5px; + border-top: 1px solid #cbc6bd; + background: #e7e3dc; +} + +.mdi-command-row { + display: grid; + grid-template-columns: 44px minmax(0, 1fr) 64px; + gap: 6px; + align-items: center; + min-width: 0; +} + +.mdi-command-row strong { + color: #222; + font-size: 13px; +} + +.mdi-command-row input { + min-width: 0; + height: 25px; + padding: 3px 8px; + border: 1px solid #8e897f; + border-radius: 3px; + background: #111; + color: var(--green); + font: 14px/1.1 "Courier New", monospace; +} + +.mdi-command-row button { + min-height: 25px; + font-size: 12px; + font-weight: 700; +} + +.mdi-history { + display: flex; + gap: 4px; + min-width: 0; + overflow: hidden; +} + +.mdi-history button { + flex: 0 1 auto; + min-width: 0; + min-height: 19px; + padding: 2px 6px; + overflow: hidden; + color: #303030; + font: 11px/1.1 "Courier New", monospace; + text-overflow: ellipsis; + white-space: nowrap; +} + +.status-sidebar { + grid-area: side; + display: grid; + grid-template-rows: repeat(9, minmax(42px, 1fr)) minmax(42px, auto); + gap: 5px; + padding: 6px; + border-left: 2px solid var(--border); + background: var(--panel); + min-width: 0; + min-height: 0; +} + +.sidebar-button { + min-width: 0; + min-height: 0; + padding: 3px; + font-size: 12px; + line-height: 1.1; +} + +.sidebar-button[data-icon-name] img { + width: min(34px, 82%); + height: min(34px, 82%); +} + +.sidebar-button.estop { + color: #c30000; +} + +.sidebar-button.power { + color: var(--green-dark); + font-size: 15px; +} + +.sidebar-button[data-entry-status="blocked"], +.sidebar-button[data-entry-status="active-blocked"] { + border-color: #a9a49b; + background: linear-gradient(#e1ded7, #cac5bb); + color: #69645d; + opacity: 0.78; +} + +.sidebar-button[data-active="true"] { + border-color: #278b37; + background: linear-gradient(#f6fff5, #aee9ae); + color: #075f16; +} + +.sidebar-button[data-entry-tone="emergency"][data-entry-status="emergency"], +.sidebar-button.estop[data-active="true"] { + border-color: #8e0000; + background: linear-gradient(#ffdfd8, #ff675b); + color: #5f0000; +} + +.sidebar-button[data-entry-tone="power"][data-active="true"] { + border-color: #1e7b2c; + background: linear-gradient(#e7ffe7, #58e364); + color: #064e12; +} + +.sidebar-button[data-entry-tone="reset"], +.sidebar-button[data-entry-tone="reset-required"] { + border-color: #a8740b; + background: linear-gradient(#fff7d4, #efc45c); + color: #5a3b00; +} + +.sidebar-button[data-entry-tone="tcp"][data-active="true"] { + border-color: #14647a; + background: linear-gradient(#e4fbff, #68d5e6); + color: #073f4d; +} + +.sidebar-button[data-entry-tone="identity"][data-active="true"] { + border-color: #66625a; + background: linear-gradient(#f6f4ee, #d1ccc2); + color: #222; +} + +.sidebar-button[data-entry-status="active-blocked"][data-active="true"] { + border-color: #a9a49b; + background: linear-gradient(#e1ded7, #cac5bb); + color: #69645d; +} + +.status-sidebar time { + padding: 4px 0; + text-align: center; + color: #4c4c4c; + font-size: 14px; + line-height: 1.35; +} + +.info-tabs { + grid-area: info; + min-width: 0; + min-height: 0; + overflow: auto; + border-top: 2px solid var(--border); + border-right: 2px solid var(--border); + background: #eeeae3; +} + +.tabs { + display: grid; + grid-template-columns: 1fr 1fr 1fr; + border-bottom: 1px solid var(--border); +} + +.tabs button { + border: 0; + border-right: 1px solid var(--border); + border-radius: 0; + background: #e0ddd6; + min-height: 32px; + padding: 4px 5px; + font-size: 12px; + overflow: hidden; + text-overflow: ellipsis; + white-space: nowrap; +} + +.tabs button.active { + background: #f3f0ea; +} + +.info-grid { + display: grid; + grid-template-columns: max-content 1fr; + gap: 1px 8px; + margin: 6px 8px; + font-size: 12px; + line-height: 1.15; +} + +.info-grid dt { + font-weight: 700; +} + +.info-grid dd { + margin: 0; + overflow: hidden; + text-overflow: ellipsis; + white-space: nowrap; +} + +.info-grid [data-rtcp-diagnostic] { + font-family: "Courier New", monospace; + font-size: 12px; +} + +.override-panel { + grid-area: override; + display: grid; + grid-template-columns: 1fr; + grid-template-rows: repeat(4, minmax(0, 1fr)); + gap: 6px; + padding: 6px; + border-top: 2px solid var(--border); + border-right: 1px solid var(--border); + background: #eeeae3; + min-width: 0; + min-height: 0; +} + +.meter-card, +.override-control, +.cooling, +.spindle { + display: grid; + align-content: start; + gap: 1px; + padding: 5px 6px; + background: #f8f5ef; + border: 1px solid var(--border); + min-width: 0; + min-height: 0; + overflow: hidden; +} + +.meter-card h2, +.override-control h2, +.cooling h2, +.spindle h2 { + margin: 0; + font-size: 12px; + line-height: 1.15; + text-align: center; +} + +.meter-card strong, +.override-control strong, +.spindle strong { + display: block; + overflow: hidden; + font-size: clamp(16px, 1.45vw, 22px); + line-height: 1.05; + text-overflow: ellipsis; + white-space: nowrap; +} + +.meter-card { + grid-template-columns: auto minmax(0, 1fr); + align-content: center; + align-items: end; +} + +.meter-card h2 { + grid-column: 1 / -1; +} + +.meter-card strong { + display: inline; + font-size: clamp(18px, 1.6vw, 24px); + line-height: 1; +} + +.meter-card span { + padding-left: 5px; + font-size: 12px; + line-height: 1.1; + white-space: nowrap; +} + +.stepper { + display: grid; + grid-template-columns: 30px minmax(48px, 1fr) 30px 36px; + gap: 2px; + align-items: center; + margin-top: 1px; +} + +.stepper div { + min-width: 0; + padding: 5px 4px; + background: var(--orange); + border: 1px solid #b4651c; + text-align: center; + font-weight: 700; + font-size: 13px; + white-space: nowrap; +} + +.stepper button { + min-width: 0; + min-height: 26px; + padding: 2px 4px; + font-size: 12px; +} + +.toggle-row { + display: grid; + grid-template-columns: repeat(3, minmax(0, 1fr)); + gap: 3px; + min-width: 0; +} + +.toggle-row button { + min-width: 0; + min-height: 24px; + padding: 2px 3px; + overflow: hidden; + font-size: 11px; + font-weight: 700; + text-overflow: ellipsis; + white-space: nowrap; +} + +.toggle-row button[data-active="true"] { + background: #ffd25f; + border-color: #a76e00; +} + +.status-chip { + min-width: 0; + overflow: hidden; + padding: 2px 4px; + background: #ebe6dc; + border: 1px solid #c6bfb3; + color: #4f4a42; + font: 10px/1.2 "Courier New", monospace; + text-overflow: ellipsis; + white-space: nowrap; +} + +.spindle-coolant-panel { + grid-area: spindle; + display: grid; + grid-template-columns: 76px minmax(0, 1fr); + gap: 6px; + min-width: 0; + min-height: 0; + padding: 6px; + background: #eeeae3; + border-top: 2px solid var(--border); +} + +.cooling { + display: grid; + grid-template-rows: auto 1fr 1fr; + gap: 4px; +} + +.cooling button.active { + background: #39ef37; +} + +.spindle-range { + height: 18px; + margin-top: 4px; + background: #bdbdbd; + border: 1px solid #898989; +} + +.spindle-direction { + display: grid; + grid-template-columns: repeat(3, minmax(0, 1fr)); + gap: 3px; + min-width: 0; +} + +.spindle-direction button, +.cooling button { + min-width: 0; + min-height: 38px; + padding: 2px; + font-size: 10px; +} + +.spindle-direction button[data-active="true"], +.cooling button[data-active="true"] { + border-color: #278b37; + background: #39ef37; +} + +.spindle-range i { + display: block; + height: 100%; + background: #24e83d; +} + +.bottom-controls { + grid-area: bottom; + display: grid; + grid-template-columns: repeat(18, minmax(44px, 1fr)); + gap: 5px; + padding: 6px 8px; + border-top: 2px solid var(--border); + background: var(--panel); + min-width: 0; +} + +.bottom-controls button { + font-size: clamp(10px, 0.72vw, 12px); + line-height: 1.05; + min-width: 0; + padding: 3px 4px; + white-space: normal; +} + +.bottom-controls button[data-icon-name] img { + width: min(24px, 82%); + height: min(24px, 82%); +} + +.program-file-input { + display: none; +} + +@media (max-width: 1180px) { + .gmoccapy-shell { + grid-template-columns: + minmax(0, 1.18fr) + minmax(0, 0.7fr) + minmax(0, 0.62fr) + 96px; + } + + .titlebar { + gap: 6px; + padding: 4px 8px; + } + + .profile-select-label { + min-width: 160px; + } + + .current-line-indicator strong { + font-size: 16px; + } + + .dro-row strong { + font-size: 21px; + } + + .dro-row { + grid-template-columns: 22px 36px minmax(66px, 1fr) 44px; + } + + .info-grid, + .gcode-list { + font-size: 12px; + } + + .linuxcnc-source-row { + grid-template-columns: minmax(180px, 1fr) auto minmax(140px, 1fr); + } + + .linuxcnc-source-row label { + grid-template-columns: auto minmax(120px, 1fr); + } + + .machine-project-row { + grid-template-columns: minmax(130px, 1fr) minmax(120px, 0.9fr) minmax(120px, 0.8fr) minmax(140px, 1fr); + } + + .tabs button, + .meter-card h2, + .override-control h2, + .cooling h2, + .spindle h2 { + font-size: 12px; + } +} + +@media (max-height: 720px) { + .gmoccapy-shell { + grid-template-rows: 40px minmax(0, 1fr) minmax(0, 1fr) minmax(84px, 0.4fr) 58px; + } + + .preview-toolbar button, + .bottom-controls button, + .status-sidebar button { + min-height: 34px; + } + + .gcode-panel { + grid-template-rows: auto auto auto minmax(0, 1fr) 18px 48px; + } + + .gcode-list { + padding: 4px 6px 2px; + font-size: 12px; + } + + .gcode-row { + min-height: 24px; + } + + .gcode-row small { + display: none; + } + + .bottom-controls { + grid-template-columns: repeat(18, minmax(36px, 1fr)); + } +} + +@media (max-height: 420px) { + .gmoccapy-shell { + grid-template-rows: 24px minmax(24px, 0.14fr) minmax(0, 1.92fr) 0 28px; + } + + .titlebar { + gap: 4px; + padding: 2px 5px; + } + + .title-stack strong { + font-size: 10px; + } + + .title-stack span, + .run-state { + font-size: 8px; + } + + .profile-select-label { + min-width: 96px; + font-size: 8px; + } + + .profile-select-label select { + min-height: 16px; + font-size: 8px; + } + + .current-line-indicator { + padding: 1px 4px; + } + + .current-line-indicator span { + font-size: 8px; + } + + .current-line-indicator strong { + font-size: 9px; + } + + .info-tabs, + .override-panel, + .spindle-coolant-panel { + display: none; + } + + .gcode-panel { + grid-template-rows: auto auto minmax(0, 1fr) 12px; + } + + .gcode-header { + gap: 4px; + padding: 1px 3px; + font-size: 8px; + } + + .linuxcnc-source-row { + gap: 4px; + padding: 1px 3px; + font-size: 8px; + grid-template-columns: minmax(120px, 1fr) auto minmax(72px, 0.82fr); + } + + .linuxcnc-source-row label { + gap: 4px; + grid-template-columns: auto minmax(72px, 1fr); + } + + .linuxcnc-source-row button, + .linuxcnc-source-row select { + min-height: 16px; + font-size: 8px; + } + + .machine-project-row { + display: none; + } + + .gcode-list { + padding: 2px 4px; + font-size: 8px; + line-height: 1; + } + + .gcode-row { + gap: 4px; + min-height: 8px; + padding: 0 2px; + border-left-width: 2px; + } + + .gcode-row span { + font-size: 8px; + } + + .gcode-row code { + font-size: 8px; + } + + .mdi-panel { + display: none; + } + + .dro-panel { + grid-template-rows: 1fr; + } + + .dro-grid { + grid-template-columns: repeat(6, minmax(0, 1fr)); + grid-template-rows: 1fr; + } + + .dro-row { + grid-template-columns: auto minmax(0, 1fr); + gap: 3px; + padding: 1px 4px; + align-items: center; + } + + .dro-axis { + font-size: 8px; + } + + .dro-mode, + .dro-dtg, + .tcp-strip { + display: none; + } + + .dro-row strong { + font-size: 9px; + line-height: 1; + } + + .bottom-controls { + gap: 3px; + padding: 2px 3px; + } + + .bottom-controls button { + font-size: 8px; + line-height: 1; + min-height: 18px; + padding: 1px 2px; + } + + button[data-icon-name] { + grid-template-rows: 1fr; + } + + button[data-icon-name] img, + .gmoccapy-icon-fallback { + width: 12px; + height: 12px; + } + + button[data-icon-name] span { + display: none; + } +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui-reference/gmoccapy-button-icons.json b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui-reference/gmoccapy-button-icons.json new file mode 100644 index 0000000..150a647 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui-reference/gmoccapy-button-icons.json @@ -0,0 +1,4051 @@ +{ + "schema": "web-rtcp-5axis-gmoccapy-button-icons-v1", + "generatedFrom": { + "csv": "work/working3/gmoccapy_button_icons/button_icon_inventory.csv", + "iconDirectory": "work/working3/gmoccapy_button_icons/files" + }, + "semanticBoundary": "gmoccapy_button_icon_asset_reference_only_not_control_semantics", + "rowCount": 211, + "copiedIconCount": 112, + "entries": [ + { + "category": "右侧主状态栏", + "source": "运行时状态", + "buttonId": "rbt_auto", + "label": "Auto 已选中", + "tooltip": "", + "imageId": "img_auto_on", + "imageRole": "Auto active 图标", + "stateOrVariant": "active", + "iconName": "mode_auto_active", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_auto_active.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_auto_on__mode_auto_active__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_auto_on__mode_auto_active__48.png", + "signals": [], + "notes": "on_rbt_auto_toggled" + }, + { + "category": "右侧主状态栏", + "source": "Glade 静态", + "buttonId": "rbt_auto", + "label": "", + "tooltip": "enter auto mode to run programs", + "imageId": "img_auto", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "mode_auto_inactive", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_auto_inactive.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_auto__mode_auto_inactive__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_auto__mode_auto_inactive__48.png", + "signals": [ + "pressed:on_rbt_auto_pressed", + "toggled:on_rbt_auto_toggled" + ], + "notes": "" + }, + { + "category": "右侧主状态栏", + "source": "运行时状态", + "buttonId": "rbt_manual", + "label": "手动已选中", + "tooltip": "", + "imageId": "img_manual_on", + "imageRole": "手动模式 active 图标", + "stateOrVariant": "active", + "iconName": "mode_manual_active", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_manual_active.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_manual_on__mode_manual_active__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_manual_on__mode_manual_active__48.png", + "signals": [], + "notes": "on_rbt_manual_toggled" + }, + { + "category": "右侧主状态栏", + "source": "Glade 静态", + "buttonId": "rbt_manual", + "label": "", + "tooltip": "enter manual mode to jog axis by hand or touch off / [F3]", + "imageId": "img_manual", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "mode_manual_inactive", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_manual_inactive.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_manual__mode_manual_inactive__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_manual__mode_manual_inactive__48.png", + "signals": [ + "pressed:on_rbt_manual_pressed", + "toggled:on_rbt_manual_toggled" + ], + "notes": "" + }, + { + "category": "右侧主状态栏", + "source": "运行时状态", + "buttonId": "rbt_mdi", + "label": "MDI 已选中", + "tooltip": "", + "imageId": "img_mdi_on", + "imageRole": "MDI active 图标", + "stateOrVariant": "active", + "iconName": "mode_mdi_active", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_mdi_active.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_mdi_on__mode_mdi_active__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_mdi_on__mode_mdi_active__48.png", + "signals": [], + "notes": "on_rbt_mdi_toggled" + }, + { + "category": "右侧主状态栏", + "source": "Glade 静态", + "buttonId": "rbt_mdi", + "label": "", + "tooltip": "enter MDI mode to launch G-code commands / [F5]", + "imageId": "img_mdi", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "mode_mdi_inactive", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_mdi_inactive.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_mdi__mode_mdi_inactive__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_mdi__mode_mdi_inactive__48.png", + "signals": [ + "pressed:on_rbt_mdi_pressed", + "toggled:on_rbt_mdi_toggled" + ], + "notes": "" + }, + { + "category": "右侧主状态栏", + "source": "运行时状态", + "buttonId": "tbtn_estop", + 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+ }, + { + "category": "MDI/宏按钮栏", + "source": "Python 动态", + "buttonId": "keyboard", + "label": "虚拟键盘", + "tooltip": "Press to display the virtual keyboard", + "imageId": "img_macro_menu_keyboard", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "keyboard", + "requestedSize": 32, + "sourceType": "theme-nearest-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_macro_menu_keyboard__keyboard__32.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_macro_menu_keyboard__keyboard__32.png", + "signals": [], + "notes": "_make_macro_button" + }, + { + "category": "MDI/宏按钮栏", + "source": "Python 动态宏", + "buttonId": "macro_0", + "label": "i_am_lost", + "tooltip": "Press to run macro i_am_lost", + "imageId": "", + "imageRole": "无图标", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "macro-custom-file", + "sourcePath": "linuxcnc/configs/sim/gmoccapy/macros/images/i_am_lost.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/macro_0__macro_image.png", + "projectAsset": "app/src/assets/gmoccapy-icons/macro_0__macro_image.png", + "signals": [], + "notes": "宏文件 IMAGE 自定义图片: /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/i_am_lost.png" + }, + { + "category": "MDI/宏按钮栏", + "source": "Python 动态宏", + "buttonId": "macro_1", + "label": "halo_world", + "tooltip": "Press to run macro halo_world", + "imageId": "", + "imageRole": "无图标", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [], + "notes": "宏按钮使用文字，无图标" + }, + { + "category": "MDI/宏按钮栏", + "source": "Python 动态宏", + "buttonId": "macro_2", + "label": "jog_around", + "tooltip": "Press to run macro jog_around", + "imageId": "", + "imageRole": "无图标", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [], + "notes": "宏按钮使用文字，无图标" + }, + { + "category": "MDI/宏按钮栏", + "source": "Python 动态宏", + "buttonId": "macro_3", + "label": "increment", + "tooltip": "Press to run macro increment xinc yinc", + "imageId": "", + "imageRole": "无图标", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [], + "notes": "宏按钮使用文字，无图标" + }, + { + "category": "MDI/宏按钮栏", + "source": "Python 动态宏", + "buttonId": "macro_4", + "label": "go_to_position", + "tooltip": "Press to run macro go_to_position X-pos Y-pos Z-pos", + "imageId": "", + "imageRole": "无图标", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "macro-custom-file", + "sourcePath": "linuxcnc/configs/sim/gmoccapy/macros/images/goto_x_y_z.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/macro_4__macro_image.png", + "projectAsset": "app/src/assets/gmoccapy-icons/macro_4__macro_image.png", + "signals": [], + "notes": "宏文件 IMAGE 自定义图片: /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/goto_x_y_z.png" + }, + { + "category": "MDI/宏按钮栏", + "source": "Python 动态", + "buttonId": "next_button", + "label": "下一组宏按钮", + "tooltip": "Press to display next macro button", + "imageId": "img_macro_paginate_next", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "go-next", + "requestedSize": null, + "sourceType": "gtk-icon-name-not-copied", + "sourcePath": "GTK/system icon theme", + "copiedFile": null, + "projectAsset": null, + "signals": [], + "notes": "当前宏数 5，小于 7，默认隐藏; 未在 gmoccapy classic 主题中固定解析，运行时由 GTK/system icon theme 决定" + }, + { + "category": "MDI/宏按钮栏", + "source": "Python 动态", + "buttonId": "previous_button", + "label": "上一组宏按钮", + "tooltip": "Press to display previous macro button", + "imageId": "img_macro_paginate_prev", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "go-previous", + "requestedSize": null, + "sourceType": "gtk-icon-name-not-copied", + "sourcePath": "GTK/system icon theme", + "copiedFile": null, + "projectAsset": null, + "signals": [], + "notes": "当前宏数 5，小于 7，默认隐藏; 未在 gmoccapy classic 主题中固定解析，运行时由 GTK/system icon theme 决定" + }, + { + "category": "回零按钮栏", + "source": "Python 动态", + "buttonId": "home_axis_a", + "label": "回零 A 轴", + "tooltip": "Press to home axis A", + "imageId": "img_ref_a", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "ref_a", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_a.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_ref_a__ref_a__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_ref_a__ref_a__48.png", + "signals": [], + "notes": "当前 XYZAB 生成" + }, + { + "category": "回零按钮栏", + "source": "Python 动态", + "buttonId": "home_axis_b", + "label": "回零 B 轴", + "tooltip": "Press to home axis B", + "imageId": "img_ref_b", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "ref_b", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_b.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_ref_b__ref_b__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_ref_b__ref_b__48.png", + "signals": [], + "notes": "当前 XYZAB 生成" + }, + { + "category": "回零按钮栏", + "source": "Python 动态", + "buttonId": "home_axis_x", + "label": "回零 X 轴", + "tooltip": "Press to home axis X", + "imageId": "img_ref_x", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "ref_x", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_x.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_ref_x__ref_x__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_ref_x__ref_x__48.png", + "signals": [], + "notes": "当前 XYZAB 生成" + }, + { + "category": "回零按钮栏", + "source": "Python 动态", + "buttonId": "home_axis_y", + "label": "回零 Y 轴", + "tooltip": "Press to home axis Y", + "imageId": "img_ref_y", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "ref_y", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_y.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_ref_y__ref_y__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_ref_y__ref_y__48.png", + "signals": [], + "notes": "当前 XYZAB 生成" + }, + { + "category": "回零按钮栏", + "source": "Python 动态", + "buttonId": "home_axis_z", + "label": "回零 Z 轴", + "tooltip": "Press to home axis Z", + "imageId": "img_ref_z", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "ref_z", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_z.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_ref_z__ref_z__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_ref_z__ref_z__48.png", + "signals": [], + "notes": "当前 XYZAB 生成" + }, + { + "category": "回零按钮栏", + "source": "Python 动态", + "buttonId": "home_back", + "label": "返回主按钮栏", + "tooltip": "Press to return to main button list", + "imageId": "img_ref_menu_close", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "back_to_app", + "requestedSize": 48, + "sourceType": "theme-svg", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_ref_menu_close__back_to_app__48.svg", + "projectAsset": "app/src/assets/gmoccapy-icons/img_ref_menu_close__back_to_app__48.svg", + "signals": [], + "notes": "_make_ref_axis_button" + }, + { + "category": "回零按钮栏", + "source": "Python 动态", + "buttonId": "next_button", + "label": "下一组回零按钮", + "tooltip": "Press to display next homing button", + "imageId": "img_ref_paginate_next", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "chevron_right", + "requestedSize": 32, + "sourceType": "theme-svg", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_ref_paginate_next__chevron_right__32.svg", + "projectAsset": "app/src/assets/gmoccapy-icons/img_ref_paginate_next__chevron_right__32.svg", + "signals": [], + "notes": "仅轴数大于 7 时显示" + }, + { + "category": "回零按钮栏", + "source": "Python 动态", + "buttonId": "previous_button", + "label": "上一组回零按钮", + "tooltip": "Press to display previous homing button", + "imageId": "img_ref_paginate_prev", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "chevron_left", + "requestedSize": 32, + "sourceType": "theme-svg", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_ref_paginate_prev__chevron_left__32.svg", + "projectAsset": "app/src/assets/gmoccapy-icons/img_ref_paginate_prev__chevron_left__32.svg", + "signals": [], + "notes": "仅轴数大于 7 时显示" + }, + { + "category": "回零按钮栏", + "source": "Python 动态", + "buttonId": "ref_all", + "label": "回零全部轴", + "tooltip": "Press to home all axes", + "imageId": "img_ref_all", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "ref_all", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_all.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_ref_all__ref_all__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_ref_all__ref_all__48.png", + "signals": [], + "notes": "_make_ref_axis_button" + }, + { + "category": "回零按钮栏", + "source": "Python 动态", + "buttonId": "unref_all", + "label": "取消全部回零", + "tooltip": "Press to unhome all axes", + "imageId": "img_unref_all", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "unref_all", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/unref_all.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_unref_all__unref_all__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_unref_all__unref_all__48.png", + "signals": [], + "notes": "_make_ref_axis_button" + }, + { + "category": "对刀/坐标设定按钮栏", + "source": "Python 动态", + "buttonId": "block_height", + "label": "Block Height", + "tooltip": "Press to enter new value for block height", + "imageId": "", + "imageRole": "无图标", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [], + "notes": "仅 [TOOLSENSOR] 有效时出现；本配置默认不出现" + }, + { + "category": "对刀/坐标设定按钮栏", + "source": "Python 动态", + "buttonId": "next_button", + "label": "下一组 Touch Off 按钮", + "tooltip": "Press to display next homing button", + "imageId": "img_touch_paginate_next", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "chevron_right", + "requestedSize": 32, + "sourceType": "theme-svg", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_touch_paginate_next__chevron_right__32.svg", + "projectAsset": "app/src/assets/gmoccapy-icons/img_touch_paginate_next__chevron_right__32.svg", + "signals": [], + "notes": "仅按钮过多时显示" + }, + { + "category": "对刀/坐标设定按钮栏", + "source": "Python 动态", + "buttonId": "previous_button", + "label": "上一组 Touch Off 按钮", + "tooltip": "Press to display previous homing button", + "imageId": "img_touch_paginate_prev", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "chevron_left", + "requestedSize": 32, + "sourceType": "theme-svg", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_touch_paginate_prev__chevron_left__32.svg", + "projectAsset": "app/src/assets/gmoccapy-icons/img_touch_paginate_prev__chevron_left__32.svg", + "signals": [], + "notes": "仅轴数大于 8 时显示" + }, + { + "category": "对刀/坐标设定按钮栏", + "source": "Python 动态", + "buttonId": "touch_a", + "label": "A 轴 Touch Off", + "tooltip": "Press to set touch off value for axis A", + "imageId": "img_touch_a", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "touch_a", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_a.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_touch_a__touch_a__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_touch_a__touch_a__48.png", + "signals": [], + "notes": "当前 XYZAB 生成" + }, + { + "category": "对刀/坐标设定按钮栏", + "source": "Python 动态", + "buttonId": "touch_b", + "label": "B 轴 Touch Off", + "tooltip": "Press to set touch off value for axis B", + "imageId": "img_touch_b", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "touch_b", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_b.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_touch_b__touch_b__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_touch_b__touch_b__48.png", + "signals": [], + "notes": "当前 XYZAB 生成" + }, + { + "category": "对刀/坐标设定按钮栏", + "source": "Python 动态", + "buttonId": "touch_back", + "label": "返回主按钮栏", + "tooltip": "Press to return to main button list", + "imageId": "img_touch_menu_close", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "back_to_app", + "requestedSize": 48, + "sourceType": "theme-svg", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_touch_menu_close__back_to_app__48.svg", + "projectAsset": "app/src/assets/gmoccapy-icons/img_touch_menu_close__back_to_app__48.svg", + "signals": [], + "notes": "_make_touch_button" + }, + { + "category": "对刀/坐标设定按钮栏", + "source": "Python 动态", + "buttonId": "touch_x", + "label": "X 轴 Touch Off", + "tooltip": "Press to set touch off value for axis X", + "imageId": "img_touch_x", + "imageRole": "动态按钮图标", + "stateOrVariant": "默认", + "iconName": "touch_x", + "requestedSize": 48, + "sourceType": "theme-exact-png", + "sourcePath": "linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_x.png", + "copiedFile": "work/working3/gmoccapy_button_icons/files/img_touch_x__touch_x__48.png", + "projectAsset": "app/src/assets/gmoccapy-icons/img_touch_x__touch_x__48.png", + "signals": 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"category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_en_audio", + "label": "Enable sound", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_en_audio_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_font_monospace", + "label": "Monospace", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_font_monospace_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_font_regular", + "label": "Regular/Medium", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_font_regular_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_hide_cursor", + "label": "Hide cursor", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_hide_cursor_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_hide_tooltips", + "label": "Hide tooltips", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_hide_tooltips_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_kbd_set_height", + "label": "Height", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_kb_set_height_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_kbd_set_width", + "label": "Width", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_kb_set_width_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_reload_tool", + "label": "Reload Tool on Start", + "tooltip": "If checked, the tool in spindle / will be saved on each change / and the last tool will be reloaded / at start of the GUI. Also it's / length offset will be reloaded.", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_reload_tool_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_show_dro", + "label": "Show DRO", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_show_dro_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_show_dtg", + "label": "Show DTG", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_show_dtg_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_show_offsets", + "label": "Show offsets", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_show_offsets_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_toggle_readout", + "label": "Toggle DRO mode by / clicking on the DRO", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_toggle_readout_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_turtle_jog", + "label": "Hide turtle Jog Button", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_turtle_jog_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_use_frames", + "label": "Use frames", + "tooltip": "If checked, the messages / will be in a frame.", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_use_frames_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_use_kb_on_edit", + "label": "Show keyboard on EDIT", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_use_kb_on_edit_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_use_kb_on_file_selection", + "label": "Show keyboard on load file", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_use_kb_on_file_selection_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_use_kb_on_mdi", + "label": "Show keyboard on MDI", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_use_kb_on_mdi_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_use_kb_on_offset", + "label": "Show keyboard on offset", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_use_kb_on_offset_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_use_kb_on_tooledit", + "label": "Show keyboard on tooledit", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_use_kb_on_tooledit_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_use_kb_shortcuts", + "label": "Use keyboard shortcuts", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_use_kb_shortcuts_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "chk_use_tool_measurement", + "label": "Use auto tool measurement", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chk_use_tool_measurement_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "dtg_colorbutton", + "label": "", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "color-set:on_dtg_colorbutton_color_set" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "file_to_load_chooser", + "label": "", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "file-set:on_file_to_load_chooser_file_set" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "fontbutton_gcodeview", + "label": "", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "font-set:on_fontbutton_gcodeview_font_set" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "fontbutton_popup", + "label": "", + "tooltip": "The font to use", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "font-set:on_fontbutton_popup_font_set" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "homed_colorbtn", + "label": "", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "color-set:on_homed_colorbtn_color_set" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "jump_to_dir_chooser", + "label": "", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "file-set:on_jump_to_dir_chooser_file_set" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "rbt_hal_unlock", + "label": "Use hal pin to unlock", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_rbt_unlock_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "rbt_no_unlock", + "label": "Do not use unlock code", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_rbt_unlock_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "rbt_use_unlock", + "label": "Use unlock code", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_rbt_unlock_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "rbtn_fullscreen", + "label": "Start as fullscreen", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_rbtn_fullscreen_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "rbtn_maximized", + "label": "Start maximized", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_rbtn_maximized_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "rbtn_no_run_from_line", + "label": "Do not use run from line", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_rbtn_run_from_line_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "rbtn_run_from_line", + "label": "Use run from line", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_rbtn_run_from_line_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "rbtn_show_offsets", + "label": "show offsets", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "rbtn_show_preview", + "label": "show preview", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_rbtn_show_preview_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "rbtn_window", + "label": "Start as window", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_rbtn_window_toggled" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "rel_colorbutton", + "label": "", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "color-set:on_rel_colorbutton_color_set" + ], + "notes": "" + }, + { + "category": "设置页控件", + "source": "Glade 静态", + "buttonId": "unhomed_colorbtn", + "label": "", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "color-set:on_unhomed_colorbtn_color_set" + ], + "notes": "" + }, + { + "category": "Glade 静态按钮", + "source": "Glade 静态", + "buttonId": "btn_calibration", + "label": "Calibration", + "tooltip": "launch calibration", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "clicked:on_btn_calibration_clicked" + ], + "notes": "" + }, + { + "category": "Glade 静态按钮", + "source": "Glade 静态", + "buttonId": "btn_classicladder", + "label": "Cl.-ladder", + "tooltip": "Open classicladder", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "clicked:on_btn_classicladder_clicked" + ], + "notes": "" + }, + { + "category": "Glade 静态按钮", + "source": "Glade 静态", + "buttonId": "btn_delete", + "label": "", + "tooltip": "delete MDI history", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "clicked:on_btn_delete_clicked" + ], + "notes": "" + }, + { + "category": "Glade 静态按钮", + "source": "Glade 静态", + "buttonId": "btn_feed_100", + "label": "100%", + "tooltip": "reset feed override to 100 %", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "clicked:on_btn_feed_100_clicked" + ], + "notes": "" + }, + { + "category": "Glade 静态按钮", + "source": "Glade 静态", + "buttonId": "btn_hal_meter", + "label": "Hal Meter", + "tooltip": "launch hal meter", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "clicked:on_btn_hal_meter_clicked" + ], + "notes": "" + }, + { + "category": "Glade 静态按钮", + "source": "Glade 静态", + "buttonId": "btn_hal_scope", + "label": "Hal-Scope", + "tooltip": "launch hal scope", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "clicked:on_btn_hal_scope_clicked" + ], + "notes": "" + }, + { + "category": "Glade 静态按钮", + "source": "Glade 静态", + "buttonId": "btn_launch_test_message", + "label": "Launch test message", + "tooltip": "Push here to launch a test message / to test your settings.", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "pressed:on_btn_launch_test_message_pressed" + ], + "notes": "" + }, + { + "category": "Glade 静态按钮", + "source": "Glade 静态", + "buttonId": "btn_none", + "label": "none", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "clicked:on_btn_none_clicked" + ], + "notes": "" + }, + { + "category": "Glade 静态按钮", + "source": "Glade 静态", + "buttonId": "btn_show_hal", + "label": "Halshow", + "tooltip": "opens the show hal tool", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "clicked:on_btn_show_hal_clicked" + ], + "notes": "" + }, + { + "category": "Glade 静态按钮", + "source": "Glade 静态", + "buttonId": "btn_spindle_100", + "label": "100%", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "clicked:on_btn_spindle_100_clicked" + ], + "notes": "" + }, + { + "category": "Glade 静态按钮", + "source": "Glade 静态", + "buttonId": "btn_status", + "label": "Status", + "tooltip": "launch linuxcnc status", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "clicked:on_btn_status_clicked" + ], + "notes": "" + }, + { + "category": "Glade 静态按钮", + "source": "Glade 静态", + "buttonId": "btn_use_current", + "label": "current / file", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "clicked:on_btn_use_current_clicked" + ], + "notes": "" + }, + { + "category": "Glade 静态按钮", + "source": "Glade 静态", + "buttonId": "chkbtn_hide_titlebar", + "label": "Hide title bar", + "tooltip": "", + "imageId": "", + "imageRole": "静态绑定", + "stateOrVariant": "默认", + "iconName": "", + "requestedSize": null, + "sourceType": "none", + "sourcePath": "", + "copiedFile": null, + "projectAsset": null, + "signals": [ + "toggled:on_chkbtn_hide_titlebar_toggled" + ], + "notes": "" + } + ] +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui/gmoccapy-icon-registry.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui/gmoccapy-icon-registry.js new file mode 100644 index 0000000..a6ab697 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui/gmoccapy-icon-registry.js @@ -0,0 +1,146 @@ +const ICON_BASE = new URL("../assets/gmoccapy-icons/", import.meta.url).href; + +const ICONS = { + tbtn_estop: { + active: icon("main_switch_on", "img_emergency__main_switch_on__48.png"), + inactive: icon("main_switch_off", "img_emergency_off__main_switch_off__48.png"), + default: icon("main_switch_on", "img_emergency__main_switch_on__48.png"), + }, + tbtn_on: { + active: icon("power_on", "img_machine_on__power_on__48.png"), + inactive: icon("power_off", "img_machine_off__power_off__48.png"), + default: icon("power_off", "img_machine_off__power_off__48.png"), + }, + rbt_manual: { + active: icon("mode_manual_active", "img_manual_on__mode_manual_active__48.png"), + inactive: icon("mode_manual_inactive", "img_manual__mode_manual_inactive__48.png"), + default: icon("mode_manual_inactive", "img_manual__mode_manual_inactive__48.png"), + }, + rbt_mdi: { + active: icon("mode_mdi_active", "img_mdi_on__mode_mdi_active__48.png"), + inactive: icon("mode_mdi_inactive", "img_mdi__mode_mdi_inactive__48.png"), + default: icon("mode_mdi_inactive", "img_mdi__mode_mdi_inactive__48.png"), + }, + rbt_auto: { + active: icon("mode_auto_active", "img_auto_on__mode_auto_active__48.png"), + inactive: icon("mode_auto_inactive", "img_auto__mode_auto_inactive__48.png"), + default: icon("mode_auto_inactive", "img_auto__mode_auto_inactive__48.png"), + }, + tbtn_setup: { + active: icon("mode_settings_active", "img_settings_on__mode_settings_active__48.png"), + inactive: icon("mode_settings_inactive", "img_settings__mode_settings_inactive__48.png"), + default: icon("mode_settings_inactive", "img_settings__mode_settings_inactive__48.png"), + }, + tbtn_user_tabs: { + active: icon("mode_user_tabs_active", "img_user_tabs_on__mode_user_tabs_active__48.png"), + inactive: icon("mode_user_tabs_inactive", "img_user_tabs__mode_user_tabs_inactive__48.png"), + default: icon("mode_user_tabs_inactive", "img_user_tabs__mode_user_tabs_inactive__48.png"), + }, + btn_load: { default: icon("open_file", "img_open__open_file__32.svg") }, + btn_reload: { default: icon("refresh", "img_reload1__refresh__32.png") }, + btn_run: { default: icon("play", "img_run__play__32.png") }, + btn_stop: { default: icon("stop", "img_stop__stop__32.png") }, + tbtn_pause: { + active: icon("pause_active", "img_pause_active__pause_active__32.png"), + inactive: icon("pause", "img_pause__pause__32.png"), + default: icon("pause", "img_pause__pause__32.png"), + }, + btn_step: { default: icon("step", "img_step__step__32.png") }, + btn_homing: { default: icon("ref_all", "img_ref_menu__ref_all__48.png") }, + btn_tool: { default: icon("hsk_mill_tool", "img_tools__hsk_mill_tool__48.png") }, + btn_touch: { default: icon("touch_off", "img_touch_off__touch_off__48.png") }, + ref_all: { default: icon("ref_all", "img_ref_all__ref_all__48.png") }, + btn_fullscreen: { + active: icon("fullscreen_close", "img_fullsize_preview0_close__fullscreen_close__48.png"), + inactive: icon("fullscreen_open", "img_fullsize_preview0_open__fullscreen_open__48.png"), + default: icon("fullscreen_open", "img_fullsize_preview0_open__fullscreen_open__48.png"), + }, + rbt_forward: { + active: icon("spindle_right_on", "img_spindle_forward_on__spindle_right_on__48.png"), + inactive: icon("spindle_right", "img_spindle_forward__spindle_right__48.png"), + default: icon("spindle_right", "img_spindle_forward__spindle_right__48.png"), + }, + rbt_reverse: { + active: icon("spindle_left_on", "img_spindle_reverse_on__spindle_left_on__48.png"), + inactive: icon("spindle_left", "img_spindle_reverse__spindle_left__48.png"), + default: icon("spindle_left", "img_spindle_reverse__spindle_left__48.png"), + }, + rbt_stop: { + active: icon("spindle_stop_on", "img_spindle_stop_on__spindle_stop_on__48.png"), + inactive: icon("spindle_stop", "img_spindle_stop__spindle_stop__48.png"), + default: icon("spindle_stop_on", "img_spindle_stop_on__spindle_stop_on__48.png"), + }, + tbtn_flood: { + active: icon("coolant_flood_active", "img_coolant_on__coolant_flood_active__48.png"), + inactive: icon("coolant_flood_inactive", "img_coolant_off__coolant_flood_inactive__48.png"), + default: icon("coolant_flood_inactive", "img_coolant_off__coolant_flood_inactive__48.png"), + }, + tbtn_mist: { + active: icon("coolant_mist_active", "img_mist_on__coolant_mist_active__48.png"), + inactive: icon("coolant_mist_inactive", "img_mist_off__coolant_mist_inactive__48.png"), + default: icon("coolant_mist_inactive", "img_mist_off__coolant_mist_inactive__48.png"), + }, + btn_zoom_in: { default: icon("zoom_in", "img_zoom_in__zoom_in__24.png") }, + btn_zoom_out: { default: icon("zoom_out", "img_zoom_out__zoom_out__24.png") }, + rbt_view_x: { default: icon("tool_axis_x", "img_view_x__tool_axis_x__24.png") }, + rbt_view_y: { default: icon("tool_axis_y", "img_view_y__tool_axis_y__24.png") }, + rbt_view_z: { default: icon("tool_axis_z", "img_view_z__tool_axis_z__24.png") }, + rbt_view_p: { default: icon("tool_axis_p", "img_view_p__tool_axis_p__24.png") }, + tbtn_view_tool_path: { default: icon("toolpath", "img_tool_path__toolpath__24.png") }, + tbtn_view_dimension: { default: icon("dimensions", "img_dimensions__dimensions__24.png") }, + btn_exit: { default: icon("logout", "img_close__logout__48.png") }, + btn_save_session: { default: icon("save", "img_tool_save__save__32.png") }, +}; + +export const GMOCAPY_ICON_REGISTRY_BOUNDARY = "gmoccapy_icon_registry_from_working3_manifest_core_ui_subset"; + +export function getGmoccapyIcon(buttonId, variant = "default") { + const variants = ICONS[buttonId] || null; + const fallback = { + buttonId, + variant, + iconName: "text_fallback", + path: null, + fallback: true, + semanticBoundary: GMOCAPY_ICON_REGISTRY_BOUNDARY, + }; + if (!variants) return fallback; + const normalizedVariant = normalizeVariant(variant); + const resolved = variants[normalizedVariant] || variants.default || variants.inactive || variants.active || null; + if (!resolved) return fallback; + return { + buttonId, + variant: normalizedVariant, + ...resolved, + fallback: false, + semanticBoundary: GMOCAPY_ICON_REGISTRY_BOUNDARY, + }; +} + +export function listGmoccapyIconRegistryEntries() { + return Object.entries(ICONS).flatMap(([buttonId, variants]) => ( + Object.entries(variants).map(([variant, entry]) => ({ + buttonId, + variant, + ...entry, + semanticBoundary: GMOCAPY_ICON_REGISTRY_BOUNDARY, + })) + )); +} + +function icon(iconName, filename) { + return { + iconName, + filename, + path: `${ICON_BASE}${filename}`, + }; +} + +function normalizeVariant(variant) { + if (variant === true) return "active"; + if (variant === false) return "inactive"; + const value = String(variant || "default").toLowerCase(); + if (["active", "on", "selected", "state_on", "paused", "fullscreen active"].includes(value)) return "active"; + if (["inactive", "off", "default", "state_estop_reset"].includes(value)) return value === "default" ? "default" : "inactive"; + return value; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui/gmoccapy-shell.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui/gmoccapy-shell.js new file mode 100644 index 0000000..284608e --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui/gmoccapy-shell.js @@ -0,0 +1,1315 @@ +import { renderFiveAxisScene } from "../visualization/five-axis-scene.js"; +import { gateLinuxCncTaskAction } from "../state/linuxcnc-task-policy.js"; +import { gmoccapyCommunicationModel, createGmoccapyCommunicationSummary } from "../runtime/gmoccapy-communication-model.js"; +import { gmoccapyHalModel, createGmoccapyHalSummary } from "../runtime/gmoccapy-hal-model.js"; +import { getGmoccapyIcon } from "./gmoccapy-icon-registry.js"; + +const REGIONS = [ + "titlebar", + "preview", + "dro", + "gcode", + "status-sidebar", + "info-tabs", + "override", + "spindle-coolant", + "bottom-controls", +]; + +export function mountGmoccapyShell(root, store) { + root.innerHTML = ` +
    +
    +
    +
    +
    + +
    +
    +
    +
    +
    + `; + + const regions = Object.fromEntries( + REGIONS.map((name) => [name, root.querySelector(`[data-region="${name}"]`)]), + ); + + store.subscribe((state) => render(regions, state, store.dispatch)); + root.addEventListener("profile-change", (event) => { + store.dispatch({ type: "SET_PROFILE", profileId: event.detail.profileId }); + }); + + return { + getRegions() { + return Object.fromEntries( + Object.entries(regions).map(([name, element]) => [name, Boolean(element)]), + ); + }, + }; +} + +function render(regions, state, dispatch) { + renderTitlebar(regions.titlebar, state); + renderPreview(regions.preview, state, dispatch); + renderDro(regions.dro, state); + renderGcode(regions.gcode, state, dispatch); + renderSidebar(regions["status-sidebar"], state, dispatch); + renderInfoTabs(regions["info-tabs"], state); + renderOverride(regions.override, state, dispatch); + renderSpindleCoolant(regions["spindle-coolant"], state, dispatch); + renderBottomControls(regions["bottom-controls"], state, dispatch); +} + +function renderTitlebar(element, state) { + const currentLine = currentGcodeExecutionLine(state); + + if (element.dataset.titlebarMounted !== "true") { + element.innerHTML = ` + +
    + XYZBC TRT Web CNC Simulation + +
    + +
    + G-code line + +
    +
    + `; + element.querySelector('[data-action="select-profile"]').addEventListener("change", (event) => { + element.dispatchEvent(new CustomEvent("profile-change", { + bubbles: true, + detail: { profileId: event.target.value }, + })); + }); + element.dataset.titlebarMounted = "true"; + } + + setText( + element, + "[data-titlebar-meta]", + `${state.machineProfile} | ${state.sessionName} | ${state.sourceMode} | ${state.machine.mode}`, + ); + + const profileSelect = element.querySelector('[data-action="select-profile"]'); + const profileSignature = state.availableProfiles + .map((profile) => `${profile.id}:${profile.coordinates}`) + .join("|"); + if (profileSelect.dataset.profileSignature !== profileSignature) { + profileSelect.innerHTML = state.availableProfiles.map((profile) => ` + + `).join(""); + profileSelect.dataset.profileSignature = profileSignature; + } + if (profileSelect.value !== state.machineProfile) { + profileSelect.value = state.machineProfile; + } + + const currentLineIndicator = element.querySelector("[data-titlebar-current-line]"); + if (currentLineIndicator) { + currentLineIndicator.dataset.currentGcodeLine = String(currentLine); + currentLineIndicator.dataset.currentGcodeSource = currentGcodeLineSource(state); + setText(currentLineIndicator, "strong", currentLine); + } + + const runState = element.querySelector(".run-state"); + if (runState) { + runState.dataset.runState = state.runState; + runState.textContent = state.runState; + } +} + +function renderPreview(element, state, dispatch) { + const tcp = state.tcpPose; + const tool = state.toolAxisVector; + + if (element.dataset.previewMounted !== "true") { + element.innerHTML = ` +
    + +
    + + + + +
    +
    +
    + ${iconButtonHtml({ buttonId: "rbt_view_x", action: "view-x", label: "X", title: "View X", active: state.preview.selectedView === "x" })} + ${iconButtonHtml({ buttonId: "rbt_view_y", action: "view-y", label: "Y", title: "View Y", active: state.preview.selectedView === "y" })} + ${iconButtonHtml({ buttonId: "rbt_view_z", action: "view-z", label: "Z", title: "View Z", active: state.preview.selectedView === "z" })} + ${iconButtonHtml({ buttonId: "rbt_view_p", action: "reset-view", label: "Fit", title: "Fit perspective", active: state.preview.selectedView === "iso" })} + ${iconButtonHtml({ buttonId: "tbtn_view_tool_path", action: "clear-preview", label: "Clear", title: "Clear preview path" })} +
    + `; + + element.querySelector('[data-action="reset-view"]').addEventListener("click", () => { + dispatch({ type: "RESET_VIEW" }); + }); + element.querySelector('[data-action="clear-preview"]').addEventListener("click", () => { + dispatch({ type: "CLEAR_PREVIEW" }); + }); + for (const view of ["x", "y", "z"]) { + element.querySelector(`[data-action="view-${view}"]`).addEventListener("click", () => { + dispatch({ type: "SET_VIEW", view }); + }); + } + element.dataset.previewMounted = "true"; + } + + setText(element, "[data-preview-program-path]", state.activeProgram); + setText(element, "[data-tool-preview-number]", `T${state.toolPreview.toolNumber}`); + setText(element, "[data-tool-preview-diameter]", `D ${formatNumber(state.toolPreview.diameter, 2)} ${state.toolPreview.units}`); + setText(element, "[data-tool-preview-length]", `L ${formatNumber(state.toolPreview.length, 3)} ${state.toolPreview.units}`); + setText(element, "[data-tool-preview-holder]", state.toolPreview.holder); + + const rtcpBadge = element.querySelector("[data-rtcp-preview-state]"); + if (rtcpBadge) { + rtcpBadge.dataset.rtcpPreviewState = state.rtcpState; + rtcpBadge.textContent = [ + `RTCP ${state.rtcpState}`, + `TCP ${formatNumber(tcp.x)} ${formatNumber(tcp.y)} ${formatNumber(tcp.z)}`, + `V ${formatNumber(tool.x, 3)} ${formatNumber(tool.y, 3)} ${formatNumber(tool.z, 3)}`, + ].join(" | "); + } + + const toolbar = element.querySelector("[data-preview-points]"); + if (toolbar) { + toolbar.dataset.previewPoints = String(state.preview.pathPoints); + updateIconButton(toolbar.querySelector('[data-action="view-x"]'), "rbt_view_x", state.preview.selectedView === "x"); + updateIconButton(toolbar.querySelector('[data-action="view-y"]'), "rbt_view_y", state.preview.selectedView === "y"); + updateIconButton(toolbar.querySelector('[data-action="view-z"]'), "rbt_view_z", state.preview.selectedView === "z"); + updateIconButton(toolbar.querySelector('[data-action="reset-view"]'), "rbt_view_p", state.preview.selectedView === "iso"); + updateIconButton(toolbar.querySelector('[data-action="clear-preview"]'), "tbtn_view_tool_path", state.preview.pathPoints > 0); + } + + const canvas = element.querySelector("[data-five-axis-canvas]"); + renderFiveAxisScene(canvas, state); +} + +function setText(root, selector, value) { + const element = root.querySelector(selector); + if (element) { + element.textContent = value; + } +} + +function renderDro(element, state) { + const { dro } = state; + const tool = state.toolAxisVector; + element.innerHTML = ` +
    + ${droRow("X", dro.x, dro.dtgX)} + ${droRow("Y", dro.y, dro.dtgY)} + ${droRow("Z", dro.z, dro.dtgZ)} + ${droRow("A", dro.a, 0)} + ${droRow("B", dro.b, 0)} + ${droRow("C", dro.c, 0)} +
    +
    + TCP ${formatNumber(dro.tcpX)} / ${formatNumber(dro.tcpY)} / ${formatNumber(dro.tcpZ)} + V ${formatNumber(tool.x, 3)} / ${formatNumber(tool.y, 3)} / ${formatNumber(tool.z, 3)} + RTCP ${state.rtcpState} + KINS ${state.kinsType} +
    + `; +} + +function droRow(axis, value, dtg) { + return ` +
    + ${axis} + G54
    Abs     + ${formatNumber(value)} + DTG
    ${formatNumber(dtg, 3)}     +
    + `; +} + +function renderGcode(element, state, dispatch) { + const currentLine = currentGcodeExecutionLine(state); + const rows = state.programLines + .map((line, index) => { + const lineNumber = state.programStartLine + index; + const active = lineNumber === currentLine ? " active" : ""; + const status = active ? "running" : lineNumber < currentLine ? "done" : "pending"; + const execution = lineExecutionForRow(state, lineNumber, currentLine, status); + const executionText = formatGcodeLineExecution(execution, status); + return ` +
  1. + ${lineNumber} + ${escapeHtml(line)} + ${executionText ? `${escapeHtml(executionText)}` : ""} +
    2. + `; + }) + .join(""); + const programEndLine = state.programStartLine + Math.max(state.programLines.length - 1, 0); + const progressSpan = Math.max(programEndLine - state.programStartLine, 1); + const progress = Math.min( + Math.max(((currentLine - state.programStartLine) / progressSpan) * 100, 0), + 100, + ); + + element.innerHTML = ` +
    + ${escapeHtml(state.activeProgram)} + ${state.programSource} + Executing line ${currentLine} +
    +
    + + + ${formatLinuxCncGcodeSourceStatus(state)} +
    +
    + ${escapeHtml(formatMachineProjectRoot(state))} + ${escapeHtml(formatMachineProjectConfig(state))} + ${escapeHtml(formatMachineProjectGcode(state))} + ${escapeHtml(formatProgramValidationSummary(state))} +
    +
      ${rows}
    +
    + ${currentLine} / ${programEndLine} +
    +
    +
    +
    + MDI + + +
    +
    + ${mdiQuickCommands(state).map((command) => ` + + `).join("")} +
    +
    + `; + + const form = element.querySelector('[data-action="mdi-form"]'); + const input = element.querySelector('[data-action="mdi-command"]'); + form.addEventListener("submit", (event) => { + event.preventDefault(); + dispatch({ type: "RUN_MDI", command: input.value }); + }); + input.addEventListener("change", () => { + dispatch({ type: "SET_MDI_COMMAND", command: input.value }); + }); + for (const button of element.querySelectorAll('[data-action="mdi-history"]')) { + button.addEventListener("click", () => { + dispatch({ type: "RUN_MDI", command: button.dataset.command }); + }); + } + element.querySelector('[data-action="stage-linuxcnc-sources"]').addEventListener("click", () => { + dispatch({ type: "STAGE_MACHINE_FILES_REQUEST" }); + }); + const linuxCncSourceSelect = element.querySelector('[data-action="select-linuxcnc-gcode-source"]'); + linuxCncSourceSelect.addEventListener("change", () => { + if (!linuxCncSourceSelect.value) return; + dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel: linuxCncSourceSelect.value }); + }); + + scrollGcodeListToCurrentLine(element, currentLine); +} + +function scrollGcodeListToCurrentLine(element, currentLine) { + const list = element.querySelector(".gcode-list"); + const row = element.querySelector(`.gcode-row[data-program-line="${currentLine}"]`); + if (!list || !row) return; + const targetTop = row.offsetTop - list.offsetTop - (list.clientHeight - row.clientHeight) / 2; + list.scrollTop = Math.max(targetTop, 0); +} + +function currentGcodeExecutionLine(state) { + const feedbackLine = Number(state.programRuntimeFeedback?.line); + if (Number.isFinite(feedbackLine) && feedbackLine > 0) { + return feedbackLine; + } + const activeLine = Number(state.activeLine); + return Number.isFinite(activeLine) && activeLine > 0 ? activeLine : state.programStartLine; +} + +function currentGcodeLineSource(state) { + return state.programRuntimeFeedback?.sourceMode || state.programExecutionSourceMode || "ui-state"; +} + +function lineExecutionForRow(state, lineNumber, currentLine, status) { + const recorded = state.programLineExecution?.[lineNumber]; + if (recorded) return recorded; + + const feedback = state.programRuntimeFeedback; + if (lineNumber !== currentLine || !feedback) return null; + + return { + status, + source: feedback.sourceMode || state.programExecutionSourceMode || "runtime-feedback", + line: lineNumber, + feed: Number(feedback.currentVelocityMmPerMin || 0), + requestedFeed: Number(feedback.requestedVelocityMmPerMin || 0), + feedMode: feedback.feedMode || null, + taskCycle: Number(feedback.taskCycle || 0), + servoCycle: Number(feedback.cycle || 0), + sampleIndex: Number(feedback.sampleIndex || 0), + motionIndex: Number(feedback.motionIndex || 0), + }; +} + +function formatGcodeLineExecution(execution, fallbackStatus) { + if (!execution) return ""; + const status = execution.status || fallbackStatus || "running"; + const source = execution.source || "unknown"; + const feed = Number(execution.feed || execution.currentVelocityMmPerMin || 0); + const taskCycle = Number(execution.taskCycle || 0); + const servoCycle = Number(execution.servoCycle || 0); + const sampleIndex = Number(execution.sampleIndex || 0); + return `${status} | F ${formatNumber(feed, 1)} | cycle ${taskCycle}/${servoCycle} | sample ${sampleIndex} | ${source}`; +} + +function renderLinuxCncGcodeSourceOptions(state) { + const sources = state.machineFileStaging.gcodeSources || []; + if (sources.length === 0) { + return ``; + } + const selected = state.machineFileStaging.selectedGcodeSourceRel || ""; + return [ + ``, + ...sources.map((source) => ` + + `), + ].join(""); +} + +function formatLinuxCncGcodeSourceStatus(state) { + const sources = state.machineFileStaging.gcodeSources || []; + if (sources.length === 0) return `${state.machineFileStaging.status} / no staged LinuxCNC G-code sources`; + const selected = state.machineFileStaging.selectedGcodeSourceRel || "-"; + return `${sources.length} staged / ${selected}`; +} + +function formatMachineProjectRoot(state) { + const project = state.machineProject; + if (!project) return "Project pending"; + return `Project ${project.profileId} ${project.status} ${project.storageMode || "storage-pending"} ${project.projectRoot}`; +} + +function formatMachineProjectConfig(state) { + const project = state.machineProject; + if (!project?.ini) return `INI pending ${state.profile?.iniPath || "-"}`; + const match = project.ini.sourceMatchesProfile ? "INI match" : "INI mismatch"; + const textMatch = project.ini.textMatchesLoadedIni === true + ? "text loaded" + : project.ini.textMatchesLoadedIni === false + ? "text differs" + : "text pending"; + return `${match} ${textMatch} ${project.ini.filename}`; +} + +function formatMachineProjectGcode(state) { + const project = state.machineProject; + if (!project) return "G-code pending"; + const selected = project.selectedProgram?.filename || "none"; + return `${project.gcodeFileCount} G-code/remap files selected ${selected}`; +} + +function formatProgramValidationSummary(state) { + const validation = state.programValidation; + if (!validation) return "validation pending"; + return `${validation.status} ${validation.motionEventCount} motion ${validation.plannerSampleCount} samples ${validation.sourceGuard}`; +} + +function formatLinuxCncParitySummary(matrix) { + if (!matrix) return "pending"; + return `${matrix.status} ${matrix.implementedCount}/${matrix.itemCount} items, ${matrix.activeCount} active, ${matrix.sourcePathCount} source paths, ${matrix.linuxCncProgramCount} programs`; +} + +function formatLinuxCncParityActive(matrix) { + if (!matrix) return "pending"; + const active = matrix.items + .filter((item) => item.active) + .map((item) => item.id); + return active.length > 0 ? active.slice(0, 6).join(" / ") : "no active parity item yet"; +} + +function formatLinuxCncParitySources(matrix) { + if (!matrix) return "pending"; + return matrix.linuxCncPrograms + .filter((path) => ( + path.includes("xyzac-trt") + || path.includes("xyzbc-trt") + || path.includes("gmoccapy") + || path.endsWith(".ngc") + )) + .slice(0, 5) + .join(" | "); +} + +function formatLinuxCncParityFunctions(matrix) { + if (!matrix) return "pending"; + return matrix.linuxCncFunctions + .filter((entry) => ( + entry.includes("E-STOP") + || entry.includes("M428") + || entry.includes("M429") + || entry.includes("TCP") + || entry.includes("canonical") + || entry.includes("DRO") + || entry.includes("INI") + )) + .slice(0, 8) + .join(" / "); +} + +function mdiQuickCommands(state) { + const profileCommands = state.profile.kinematicsParameters.switchkinsTypes + .map((type) => type.mdiCommand) + .filter(Boolean); + return [ + ...(state.mdiHistory || []), + state.machine.mdiCommand, + "G0 X0 Y0 Z0", + "G91 X1", + "G90", + ...profileCommands, + ].filter((command, index, commands) => command && commands.indexOf(command) === index).slice(0, 7); +} + +function rightSidebarEntryMap(state) { + const entries = state.rightSidebarEntrances || []; + return Object.fromEntries(entries.map((entry) => [entry.id, entry])); +} + +function sidebarEntryOr(entries, id, label, tone = "mode") { + return entries[id] || { + id, + label, + active: false, + allowed: true, + status: "ready", + tone, + colorRule: `${tone}:ready`, + operatorMessage: null, + }; +} + +function entryGate(entry) { + return { + allowed: entry?.allowed !== false, + operatorMessage: entry?.operatorMessage || null, + }; +} + +function sidebarEntryAttrs(entry) { + if (!entry) return ""; + return [ + `data-machine-entry="${escapeHtml(entry.id)}"`, + `data-entry-status="${escapeHtml(entry.status)}"`, + `data-entry-tone="${escapeHtml(entry.tone)}"`, + `data-entry-color-rule="${escapeHtml(entry.colorRule)}"`, + ].join(" "); +} + +function sidebarTextButtonHtml(entry, { action, title = null } = {}) { + const gate = entryGate(entry); + const disabledAttr = gate.allowed ? "" : " disabled"; + const titleText = title || entry?.operatorMessage || entry?.label || action; + return ` + + `; +} + +function renderSidebar(element, state, dispatch) { + const tcpKinsType = tcpKinsTypeForProfile(state.profile); + const entries = rightSidebarEntryMap(state); + const estopEntry = sidebarEntryOr(entries, "estop", "E-STOP", "emergency"); + const powerEntry = sidebarEntryOr(entries, "power", "POWER", "power"); + const resetEntry = sidebarEntryOr(entries, "reset", "RESET", "reset"); + const autoEntry = sidebarEntryOr(entries, "auto", "AUTO", "mode"); + const manualEntry = sidebarEntryOr(entries, "manual", "MANUAL", "mode"); + const jogEntry = sidebarEntryOr(entries, "jog", "JOG", "mode"); + const mdiEntry = sidebarEntryOr(entries, "mdi", "MDI", "mode"); + const identityEntry = sidebarEntryOr(entries, "identity", "IDENTITY", "identity"); + const tcpEntry = sidebarEntryOr(entries, "tcp", "TCP", "tcp"); + element.innerHTML = ` + ${iconButtonHtml({ buttonId: "tbtn_estop", action: "estop", label: "E-STOP", title: estopEntry.operatorMessage || "Estop the machine / F1", className: "sidebar-button estop", active: estopEntry.active, gate: entryGate(estopEntry), attrs: `${nativeButtonAttrs("v", 0)} ${sidebarEntryAttrs(estopEntry)}` })} + ${iconButtonHtml({ buttonId: "tbtn_on", action: "power", label: "POWER", title: powerEntry.operatorMessage || "Turn the machine on/off / F2", className: "sidebar-button power", active: powerEntry.active, gate: entryGate(powerEntry), attrs: `${nativeButtonAttrs("v", 1)} ${sidebarEntryAttrs(powerEntry)}` })} + ${iconButtonHtml({ buttonId: "tbtn_setup", action: "reset", label: "RESET", title: resetEntry.operatorMessage || "Reset estop and return machine off", className: "sidebar-button", active: resetEntry.active, gate: entryGate(resetEntry), attrs: sidebarEntryAttrs(resetEntry) })} + ${iconButtonHtml({ buttonId: "rbt_auto", action: "mode-auto", label: "AUTO", title: autoEntry.operatorMessage || "Enter auto mode", className: "sidebar-button", active: autoEntry.active, gate: entryGate(autoEntry), attrs: `${nativeButtonAttrs("v", 4)} ${sidebarEntryAttrs(autoEntry)}` })} + ${iconButtonHtml({ buttonId: "rbt_manual", action: "mode-manual", label: "MANUAL", title: manualEntry.operatorMessage || "Enter manual mode", className: "sidebar-button", active: manualEntry.active, gate: entryGate(manualEntry), attrs: `${nativeButtonAttrs("v", 2)} ${sidebarEntryAttrs(manualEntry)}` })} + ${iconButtonHtml({ buttonId: "tbtn_user_tabs", action: "mode-jog", label: "JOG", title: jogEntry.operatorMessage || "Manual jog page", className: "sidebar-button", active: jogEntry.active, gate: entryGate(jogEntry), attrs: `${nativeButtonAttrs("v", 5)} ${sidebarEntryAttrs(jogEntry)}` })} + ${iconButtonHtml({ buttonId: "rbt_mdi", action: "mode-mdi", label: "MDI", title: mdiEntry.operatorMessage || "Enter MDI mode", className: "sidebar-button", active: mdiEntry.active, gate: entryGate(mdiEntry), attrs: `${nativeButtonAttrs("v", 3)} ${sidebarEntryAttrs(mdiEntry)}` })} + ${sidebarTextButtonHtml(identityEntry, { action: "kins-identity" })} + ${sidebarTextButtonHtml(tcpEntry, { action: "kins-tcp", title: tcpKinsType ? null : `${state.profile.id} is ${state.profile.kinematics} reference only` })} + + `; + + element.querySelector('[data-action="estop"]').addEventListener("click", () => dispatch({ type: "ESTOP" })); + element.querySelector('[data-action="power"]').addEventListener("click", () => dispatch({ type: "TOGGLE_POWER" })); + element.querySelector('[data-action="reset"]').addEventListener("click", () => dispatch({ type: "RESET" })); + element.querySelector('[data-action="mode-auto"]').addEventListener("click", () => dispatch({ type: "SET_MODE", mode: "auto" })); + element.querySelector('[data-action="mode-manual"]').addEventListener("click", () => dispatch({ type: "SET_MODE", mode: "manual" })); + element.querySelector('[data-action="mode-jog"]').addEventListener("click", () => dispatch({ type: "SET_MODE", mode: "jog" })); + element.querySelector('[data-action="mode-mdi"]').addEventListener("click", () => dispatch({ type: "SET_MODE", mode: "mdi" })); + element.querySelector('[data-action="kins-identity"]').addEventListener("click", () => { + dispatch({ type: "SET_KINS_TYPE", kinsType: "identity" }); + }); + element.querySelector('[data-action="kins-tcp"]').addEventListener("click", () => { + if (!tcpKinsType) return; + dispatch({ type: "SET_KINS_TYPE", kinsType: tcpKinsType }); + }); +} + +function renderInfoTabs(element, state) { + const frame = state.rtcpFrame; + const taskPolicy = state.linuxCncTaskPolicy; + const parityMatrix = state.linuxCncParityMatrix; + const commSummary = createGmoccapyCommunicationSummary(); + const halSummary = createGmoccapyHalSummary(); + element.innerHTML = ` + +
    +
    Size:
    ${state.fileSizeBytes} bytes
    +
    Lines:
    ${state.lineCount} gcode lines
    +
    Machine:
    ${state.machine.powerOn ? "power on" : "power off"} / ${state.machine.estopActive ? "estop" : "clear"} / ${state.machine.mode}
    +
    Task policy:
    ${taskPolicy.semanticBoundary}
    +
    Task state:
    ${taskPolicy.taskState} / ${taskPolicy.taskMode} / ${taskPolicy.interpState}
    +
    Task gates:
    ${formatLinuxCncTaskGates(taskPolicy)}
    +
    Task source:
    ${formatLinuxCncTaskSources(taskPolicy)}
    +
    Current line:
    ${state.activeLine}
    +
    Program source:
    ${state.programExecutionSourceMode}
    +
    Canonical:
    ${state.programExecution?.summary?.motionEventCount ?? 0} motion / ${state.programExecution?.summary?.canonicalEventCount ?? 0} events
    +
    Switchkins:
    ${formatSwitchkinsSummary(state.programExecution)}
    +
    Machine run:
    ${formatMachineFileExecution(state.machineFileExecution)}
    +
    Session:
    ${formatSessionPersistence(state.sessionPersistence)}
    +
    Tool preview:
    T${state.toolPreview.toolNumber} D${formatNumber(state.toolPreview.diameter, 2)} L${formatNumber(state.toolPreview.length, 3)} ${state.toolPreview.units}
    +
    Program time:
    ${formatProgramTiming(state)}
    +
    Segment time:
    ${formatProgramTimingSegment(state)}
    +
    Runtime feedback:
    ${formatProgramRuntimeFeedback(state)}
    +
    Runtime DTG:
    ${formatProgramRuntimeDtg(state)}
    +
    Rapid distance:
    37.634 mm
    +
    Feed distance:
    5814.069 mm
    +
    X bounds:
    8.000 to 113.000 = 105.000 mm
    +
    Y bounds:
    3.872 to 116.128 = 112.256 mm
    +
    Z bounds:
    -90.500 to -50.000 = 40.500 mm
    +
    RTCP frame:
    ${frame.apiName} ${frame.rtcpState}
    +
    Boundary:
    ${frame.semanticBoundary}
    +
    INI:
    ${state.iniConfigReadiness.loaded ? "loaded" : "pending"} / ${state.iniConfigReadiness.path ?? "-"}
    +
    INI kins:
    ${state.iniConfigReadiness.kinematics ?? "-"} / ${state.iniConfigReadiness.coordinates ?? "-"}
    +
    INI limits:
    ${formatAxisLimitSummary(state.profile.axisLimits)}
    +
    INI joints:
    ${state.iniConfigReadiness.jointCount ?? 0} joints / ${state.iniConfigReadiness.axisCount ?? 0} axes
    +
    Machine files:
    ${formatMachineFileStaging(state.machineFileStaging)}
    +
    Project root:
    ${escapeHtml(state.machineProject?.projectRoot || "-")}
    +
    Project config:
    ${escapeHtml(formatMachineProjectConfig(state))}
    +
    Project G-code:
    ${escapeHtml(formatMachineProjectGcode(state))}
    +
    LinuxCNC G-code:
    ${state.machineFileStaging.selectedGcodeSourceRel || state.programSourceRel || "-"}
    +
    Program validation:
    ${escapeHtml(formatProgramValidationSummary(state))}
    +
    LinuxCNC parity:
    ${escapeHtml(formatLinuxCncParitySummary(parityMatrix))}
    +
    Parity active:
    ${escapeHtml(formatLinuxCncParityActive(parityMatrix))}
    +
    Parity sources:
    ${escapeHtml(formatLinuxCncParitySources(parityMatrix))}
    +
    Parity functions:
    ${escapeHtml(formatLinuxCncParityFunctions(parityMatrix))}
    +
    Task/HAL:
    ${formatTaskHalReadiness(state)}
    +
    Task/HAL cycles:
    ${formatTaskHalCycles(state)}
    +
    Full boundary:
    ${formatFullExecutionBoundary(state.fullExecutionBoundary)}
    +
    Planner/task:
    ${formatFullExecutionBlockers(state.fullExecutionBoundary)}
    +
    Boundary evidence:
    ${formatFullExecutionEvidence(state.fullExecutionBoundary)}
    +
    Host/native:
    ${formatHostNativeBoundary(state.fullExecutionBoundary)}
    +
    Tool/User process:
    ${formatToolUserProcessBoundary(state)}
    +
    LinuxCNC kins:
    ${frame.readiness.linuxCncKinematicsReady ? "ready" : "pending"}
    +
    Kins context:
    ${state.kinematicsExecutionContext}
    +
    Interpreter:
    ${state.interpreterRuntimeReadiness?.loaded ? state.interpreterRuntimeReadiness.semanticBoundary : "pending"}
    +
    Interp context:
    ${state.interpreterRuntimeReadiness?.executionContext ?? "none"}
    +
    Profile refs:
    ${state.profile.sourceReferences.length} source references
    +
    Adapter:
    ${state.linuxCncBoundaryAdapter.apiName}
    +
    Panel schema:
    ${state.linuxCncBoundaryAdapter.panelSummary.schemaId} / ${state.linuxCncBoundaryAdapter.panelSummary.buttonCount} buttons
    +
    Source map:
    ${state.linuxCncBoundaryAdapter.sourceSummary.referenceCount} refs / ${state.linuxCncBoundaryAdapter.sourceSummary.sourceRequiredCount} source files
    +
    Profile summary:
    ${state.linuxCncBoundaryAdapter.profileSummary.coordinates} / ${state.linuxCncBoundaryAdapter.profileSummary.jointCount} joints / ${state.linuxCncBoundaryAdapter.profileSummary.toolCount} tools
    +
    Boundary ready:
    ${state.linuxCncBoundaryReadiness.ready ? "ready" : "blocked"} (${state.linuxCncBoundaryReadiness.missing.join(", ")})
    +
    gmoccapy comms:
    ${gmoccapyCommunicationModel.semanticBoundary}
    +
    NML command:
    ${formatGmoccapyNativePath("command")}
    +
    NML status:
    ${formatGmoccapyNativePath("status")}
    +
    Native file page:
    ${formatGmoccapyFilePage(halSummary, state)}
    +
    Native macros:
    ${formatGmoccapyMacroPage(halSummary, state)}
    +
    Native tool editor:
    ${formatGmoccapyToolEditorPage(halSummary, state)}
    +
    Native page matrix:
    ${formatGmoccapyNativePageMatrix(halSummary, state)}
    +
    Web runtime:
    ${gmoccapyCommunicationModel.webPath.path.join(" -> ")}
    +
    postgui order:
    ${commSummary.postguiAfterHalcompReady ? "halcomp.ready before POSTGUI_HALFILE" : "pending"}
    +
    native RUN:
    ${formatGmoccapyActionMapping("auto-run")}
    +
    HAL model:
    ${gmoccapyHalModel.semanticBoundary}
    +
    HAL files:
    ${halSummary.halFileCount} files / POSTGUI ${halSummary.postguiRequiresHalcompReady ? "after halcomp.ready" : "pending"}
    +
    HAL pins:
    ${halSummary.nativePinGroupCount} groups / ${halSummary.nativePinCount} pins
    +
    Hard buttons:
    ${formatGmoccapyHardButtons(halSummary)}
    +
    HAL jog:
    ${formatGmoccapyJogInputs(halSummary, state)}
    +
    HAL inputs:
    ${formatGmoccapyHalInputs(halSummary, state)}
    +
    HAL settings:
    ${formatGmoccapySettingsInputs(halSummary, state)}
    +
    HAL overrides:
    ${formatGmoccapyOverrideInputs(halSummary, state)}
    +
    HAL messages:
    ${formatGmoccapyMessageInputs(halSummary, state)}
    +
    HAL tool/user:
    ${formatGmoccapyToolUserInputs(halSummary, state)}
    +
    postgui nets:
    ${gmoccapyHalModel.postguiNets.map((net) => net.signal).join(" / ")}
    +
    Tool loop:
    ${halSummary.hasToolChangeSimulationLoop ? "simulated tool-change loop" : "pending"}
    +
    Tool change:
    ${formatGmoccapyToolChange(halSummary)}
    +
    Operator:
    ${escapeHtml(state.operatorMessage)}
    +
    + `; +} + +function formatLinuxCncTaskGates(taskPolicy) { + if (!taskPolicy) return "pending"; + return [ + taskPolicy.canJog ? "jog" : "jog blocked", + taskPolicy.canHome ? "home" : "home blocked", + taskPolicy.canRunAuto ? "auto" : "auto blocked", + taskPolicy.canExecuteMdi ? "mdi" : "mdi blocked", + taskPolicy.canPause ? "pause" : "pause blocked", + taskPolicy.canResume ? "resume" : "resume blocked", + ].join(" / "); +} + +function formatLinuxCncTaskSources(taskPolicy) { + if (!taskPolicy?.sourceReferences?.length) return "pending"; + return taskPolicy.sourceReferences + .map((reference) => reference.path) + .join(" | "); +} + +function formatProgramTiming(state) { + const timing = state.programExecutionTiming; + if (!timing) return "pending"; + return `${formatDuration(state.programElapsedSeconds)} / ${formatDuration(timing.totalSeconds)} (${formatDuration(state.programRemainingSeconds)} left)`; +} + +function formatProgramTimingSegment(state) { + const segment = state.programExecutionTiming?.segments?.[state.programExecutionMotionIndex || 0]; + if (!segment) return "pending"; + return `${segment.motionClass} line ${segment.line ?? "-"} ${formatNumber(segment.linearDistanceMm, 3)} mm ${formatDuration(segment.durationSeconds)} @ ${formatNumber(segment.velocityMmPerMin, 1)} mm/min`; +} + +function formatProgramRuntimeFeedback(state) { + const feedback = state.programRuntimeFeedback; + if (!feedback) return "pending"; + return `${feedback.sourceMode} sample ${feedback.sampleIndex ?? 0} line ${feedback.line ?? "-"} queue ${feedback.queueDepth ?? 0}/${feedback.activeDepth ?? 0} @ ${formatNumber(feedback.currentVelocityMmPerMin, 1)} mm/min`; +} + +function formatProgramRuntimeDtg(state) { + const feedback = state.programRuntimeFeedback; + if (!feedback) return "pending"; + const dtg = feedback.dtg || {}; + return `DTG ${formatNumber(dtg.x, 3)} / ${formatNumber(dtg.y, 3)} / ${formatNumber(dtg.z, 3)} distance ${formatNumber(feedback.distanceToGo, 3)}`; +} + +function formatDuration(seconds) { + const safeSeconds = Math.max(Number(seconds) || 0, 0); + const minutes = Math.floor(safeSeconds / 60); + const remainder = safeSeconds - minutes * 60; + return `${minutes}:${remainder.toFixed(1).padStart(4, "0")}`; +} + +function formatSwitchkinsSummary(programExecution) { + const count = programExecution?.summary?.switchkinsEventCount ?? 0; + if (count === 0) return "0 events"; + const codes = programExecution.summary.switchkinsCodes?.join("/") || "-"; + return `${count} events ${codes}`; +} + +function formatMachineFileStaging(machineFileStaging) { + if (!machineFileStaging || machineFileStaging.status === "not-staged") { + return "not staged"; + } + if (machineFileStaging.status === "error") { + return `error ${machineFileStaging.lastError || "-"}`; + } + const storage = machineFileStaging.storageMode || machineFileStaging.save?.storageMode || "-"; + const reason = machineFileStaging.storageCapability?.reason || machineFileStaging.save?.storageCapability?.reason || "-"; + const gcodeFiles = machineFileStaging.save?.summary?.gcodeFileCount ?? 0; + return `${machineFileStaging.status} ${machineFileStaging.fileCount || 0} files ${gcodeFiles} gcode ${storage} ${reason} ${machineFileStaging.opfsRoot || "-"}`; +} + +function formatSessionPersistence(sessionPersistence) { + const capability = sessionPersistence.storageCapability || {}; + return [ + sessionPersistence.status, + sessionPersistence.storageMode ?? "-", + capability.opfsUnavailable ? "opfs unavailable" : capability.opfsAvailable ? "opfs available" : "storage pending", + capability.reason || "-", + sessionPersistence.path ?? "-", + ].join(" / "); +} + +function formatMachineFileExecution(machineFileExecution) { + if (!machineFileExecution?.machineFilePlan) return "not run"; + const summary = machineFileExecution.summary || {}; + return `${summary.machineFileExecutionReady ? "ready" : "ran"} ${summary.motionEventCount || 0} motion ${machineFileExecution.machineFilePlan.profileId}`; +} + +function formatTaskHalReadiness(state) { + const readiness = state.taskHalRuntimeReadiness; + if (!readiness?.loaded && !state.taskHalStatus) return "pending"; + return [ + readiness?.taskRuntimeReady ? "task" : "task pending", + readiness?.motionRuntimeReady ? "motion" : "motion pending", + readiness?.halRuntimeReady ? "hal" : "hal pending", + state.taskHalStatus?.summary?.halSyncReady ? "sync" : "sync pending", + state.taskHalFallbackReason ? `fallback ${state.taskHalFallbackReason}` : null, + ].filter(Boolean).join(" / "); +} + +function formatTaskHalCycles(state) { + const status = state.taskHalStatus; + if (!status?.ui) return "pending"; + return `task ${status.ui.taskCycle} / servo ${status.ui.servoCycle} / queue ${status.ui.motionQueueDepth} / HAL changed ${status.ui.halChangedPinCount}`; +} + +function formatFullExecutionBoundary(boundary) { + if (!boundary) return "pending"; + const remap = boundary.machineFileBackedRemapReady ? "remap ready" : "remap pending"; + const full = boundary.fullLinuxCncProgramExecutionReady ? "full ready" : "full blocked"; + return `${boundary.phase} / ${remap} / ${full}`; +} + +function formatFullExecutionBlockers(boundary) { + if (!boundary) return "pending"; + return boundary.blockers.slice(0, 2).join("; "); +} + +function formatFullExecutionEvidence(boundary) { + if (!boundary) return "pending"; + return `${boundary.satisfied.length} satisfied / ${boundary.missing.length} missing / ${boundary.semanticBoundary}`; +} + +function formatHostNativeBoundary(boundary) { + if (!boundary) return "pending"; + return [ + boundary.hardwareDrive ? "hardware drive enabled" : "hardware drive false", + boundary.hostRealtimeKernel ? "host realtime enabled" : "host realtime false", + boundary.externalUserMProcessReady ? "external user-M web simulation only" : "external user-M false", + boundary.toolDbProcessReady ? "tool DB web simulation only" : "tool DB false", + boundary.hostExternalUserMProcessReady ? "host external user-M ready" : "host external user-M false", + boundary.hostToolDbProcessReady ? "host tool DB ready" : "host tool DB false", + boundary.arbitraryUserMExecution ? "arbitrary user-M enabled" : "arbitrary user-M false", + ].join(" / "); +} + +function formatToolUserProcessBoundary(state) { + const toolReadiness = state.toolDbReadiness || {}; + const userMReadiness = state.controlledUserMReadiness || {}; + const toolDb = state.toolDbSimulation || {}; + const userM = state.controlledUserMSimulation || {}; + return [ + `toolDbProcessReady=${toolReadiness.toolDbProcessReady === true ? "true web_simulation_only" : "false"}`, + `externalUserMProcessReady=${userMReadiness.externalUserMProcessReady === true ? "true web_simulation_only" : "false"}`, + `tools ${toolReadiness.toolCount || 0}`, + `tool events ${(toolDb.events || []).length}`, + `user-M events ${(userM.events || []).length}`, + `blocked ${(userM.blockedEvents || []).length}`, + ].join(" / "); +} + +function renderOverride(element, state, dispatch) { + element.innerHTML = ` +
    +

    Current Velocity

    + ${state.feed.currentVelocity} mm/min +
    + ${overrideControl("Rapid Override", "rapid", state.feed.rapidOverride)} + ${overrideControl("Feed Rate", "feed", state.feed.feedOverride, `F ${state.feed.feedRate}`)} +
    +

    HAL Inputs

    +
    + + + +
    +
    ${escapeHtml(formatGmoccapyHalLastInput(state))}
    +
    + `; + + for (const target of ["rapid", "feed"]) { + element.querySelector(`[data-action="${target}-override-down"]`).addEventListener("click", () => { + dispatch({ type: "ADJUST_OVERRIDE", target, delta: -10 }); + }); + element.querySelector(`[data-action="${target}-override-up"]`).addEventListener("click", () => { + dispatch({ type: "ADJUST_OVERRIDE", target, delta: 10 }); + }); + const reset = element.querySelector(`[data-action="${target}-override-reset"]`); + if (reset) { + reset.addEventListener("click", () => { + dispatch({ type: "RESET_OVERRIDE", target }); + }); + } + } + element.querySelector('[data-action="ignore-limits"]').addEventListener("click", () => { + dispatch({ type: "SET_IGNORE_LIMITS", enabled: !state.gmoccapyGui.ignoreLimits }); + }); + element.querySelector('[data-action="block-delete"]').addEventListener("click", () => { + dispatch({ type: "SET_BLOCK_DELETE", enabled: !state.gmoccapyGui.optionalBlocks }); + }); + element.querySelector('[data-action="optional-stop"]').addEventListener("click", () => { + dispatch({ type: "SET_OPTIONAL_STOP", enabled: !state.gmoccapyGui.optionalStop }); + }); +} + +function overrideControl(label, target, value, prefix = "") { + return ` +
    +

    ${label}

    + ${prefix ? `${prefix}` : ""} +
    + +
    ${value} %
    + + +
    +
    + `; +} + +function renderSpindleCoolant(element, state, dispatch) { + const forwardGate = gateLinuxCncTaskAction(state, { type: "SPINDLE", direction: "forward" }); + const reverseGate = gateLinuxCncTaskAction(state, { type: "SPINDLE", direction: "reverse" }); + const stopGate = gateLinuxCncTaskAction(state, { type: "SPINDLE", direction: "stop" }); + const floodGate = gateLinuxCncTaskAction(state, { type: "TOGGLE_COOLANT", kind: "flood" }); + const mistGate = gateLinuxCncTaskAction(state, { type: "TOGGLE_COOLANT", kind: "mist" }); + element.innerHTML = ` +
    +

    Cooling

    + ${iconButtonHtml({ buttonId: "tbtn_flood", action: "toggle-flood", label: "Flood", title: floodGate.operatorMessage || "Flood coolant", active: state.coolant.flood, className: state.coolant.flood ? "active" : "", gate: floodGate })} + ${iconButtonHtml({ buttonId: "tbtn_mist", action: "toggle-mist", label: "Mist", title: mistGate.operatorMessage || "Mist coolant", active: state.coolant.mist, className: state.coolant.mist ? "active" : "", gate: mistGate })} +
    +
    +

    Spindle

    + ${state.spindle.rpm} rpm +
    + ${iconButtonHtml({ buttonId: "rbt_forward", action: "spindle-forward", label: "FWD", title: forwardGate.operatorMessage || "Spindle forward", active: state.spindle.direction === "forward", gate: forwardGate })} + ${iconButtonHtml({ buttonId: "rbt_stop", action: "spindle-stop", label: "STOP", title: stopGate.operatorMessage || "Spindle stop", active: !state.spindle.enabled || state.spindle.direction === "stop", gate: stopGate })} + ${iconButtonHtml({ buttonId: "rbt_reverse", action: "spindle-reverse", label: "REV", title: reverseGate.operatorMessage || "Spindle reverse", active: state.spindle.direction === "reverse", gate: reverseGate })} +
    +
    + +
    ${state.spindle.override} %
    + + +
    +
    +
    + `; + + element.querySelector('[data-action="toggle-flood"]').addEventListener("click", () => { + dispatch({ type: "TOGGLE_COOLANT", kind: "flood" }); + }); + element.querySelector('[data-action="toggle-mist"]').addEventListener("click", () => { + dispatch({ type: "TOGGLE_COOLANT", kind: "mist" }); + }); + element.querySelector('[data-action="spindle-override-down"]').addEventListener("click", () => { + dispatch({ type: "ADJUST_SPINDLE_OVERRIDE", delta: -10 }); + }); + element.querySelector('[data-action="spindle-override-up"]').addEventListener("click", () => { + dispatch({ type: "ADJUST_SPINDLE_OVERRIDE", delta: 10 }); + }); + element.querySelector('[data-action="spindle-override-reset"]').addEventListener("click", () => { + dispatch({ type: "RESET_OVERRIDE", target: "spindle" }); + }); + element.querySelector('[data-action="spindle-forward"]').addEventListener("click", () => { + dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "forward" }); + }); + element.querySelector('[data-action="spindle-reverse"]').addEventListener("click", () => { + dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "reverse" }); + }); + element.querySelector('[data-action="spindle-stop"]').addEventListener("click", () => { + dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "stop" }); + }); +} + +function renderBottomControls(element, state, dispatch) { + const promptableActions = new Set(["RUN", "STOP", "PAUSE", "RESUME", "STEP", "HOME"]); + const controls = [ + ["Open", "OPEN", null], + ["Reload", "RELOAD", () => dispatch({ type: "RELOAD_PROGRAM" })], + ["Run Ready", "RUN_READY", () => dispatch({ type: "RUN_READY" })], + ["Run", "RUN", () => dispatch({ type: "RUN" })], + ["Stop", "STOP", () => dispatch({ type: "STOP" })], + ["Pause", "PAUSE", () => dispatch({ type: "PAUSE" })], + ["Resume", "RESUME", () => dispatch({ type: "RESUME" })], + ["Step", "STEP", () => dispatch({ type: "STEP" })], + ["Home", "HOME", () => dispatch({ type: "HOME" })], + ["X-", "JOG_X_NEG", () => dispatch({ type: "JOG", axis: "x", direction: -1 })], + ["X+", "JOG_X_POS", () => dispatch({ type: "JOG", axis: "x", direction: 1 })], + ["Y-", "JOG_Y_NEG", () => dispatch({ type: "JOG", axis: "y", direction: -1 })], + ["Y+", "JOG_Y_POS", () => dispatch({ type: "JOG", axis: "y", direction: 1 })], + ["MDI", "MDI_RUN", () => dispatch({ type: "RUN_MDI" })], + ["Save Session", "SAVE_SESSION", () => dispatch({ type: "SAVE_SESSION_REQUEST" })], + ["Restore Session", "RESTORE_SESSION", () => dispatch({ type: "RESTORE_SESSION_REQUEST" })], + ["Audit", "AUDIT_FULL_BOUNDARY", () => dispatch({ type: "RUN_FULL_BOUNDARY_AUDIT_REQUEST" })], + ["Full", "FULL", () => dispatch({ type: "TOGGLE_FULLSCREEN" })], + ]; + + element.innerHTML = ` + + ${controls + .map(([label, action]) => { + const gate = bottomControlGate(state, action); + const promptable = promptableActions.has(action); + const disabled = gate.allowed || promptable ? "" : " disabled"; + const title = gate.allowed ? "" : ` title="${escapeHtml(gate.operatorMessage || "blocked")}"`; + const blockedAttrs = gate.allowed + ? ` data-command-ready="true" aria-disabled="false"` + : ` data-command-ready="false" aria-disabled="${promptable ? "true" : "false"}"`; + return iconButtonHtml({ + buttonId: bottomIconButtonId(action), + action, + label, + title: gate.allowed ? label : gate.operatorMessage || "blocked", + active: bottomControlActive(state, action), + disabled: Boolean(disabled), + attrs: `${blockedAttrs}${bottomNativeButtonAttrs(action)}`, + }); + }) + .join("")} + `; + + element.querySelector('[data-action="OPEN"]').addEventListener("click", () => { + element.querySelector('[data-action="OPEN_FILE"]').click(); + }); + element.querySelector('[data-action="OPEN_FILE"]').addEventListener("change", async (event) => { + const [file] = event.target.files || []; + if (!file) return; + const content = await file.text(); + dispatch({ + type: "LOAD_PROGRAM", + filename: file.name, + content, + }); + event.target.value = ""; + }); + + for (const [label, action, handler] of controls) { + if (!handler) continue; + const button = element.querySelector(`[data-action="${action}"]`); + button.addEventListener("click", handler); + button.setAttribute("aria-label", label); + } +} + +function bottomControlGate(state, action) { + const actionMap = { + RUN: { type: "RUN" }, + RUN_READY: { type: "UI_CONTROL" }, + STEP: { type: "STEP" }, + PAUSE: { type: "PAUSE" }, + RESUME: { type: "RESUME" }, + HOME: { type: "HOME" }, + MDI_RUN: { type: "RUN_MDI" }, + JOG_X_NEG: { type: "JOG" }, + JOG_X_POS: { type: "JOG" }, + JOG_Y_NEG: { type: "JOG" }, + JOG_Y_POS: { type: "JOG" }, + }; + return gateLinuxCncTaskAction(state, actionMap[action] || { type: "UI_CONTROL" }); +} + +function bottomIconButtonId(action) { + return { + OPEN: "btn_load", + RELOAD: "btn_reload", + RUN_READY: "ref_all", + RUN: "btn_run", + STOP: "btn_stop", + PAUSE: "tbtn_pause", + RESUME: "btn_run", + STEP: "btn_step", + HOME: "btn_homing", + JOG_X_NEG: "rbt_view_x", + JOG_X_POS: "rbt_view_x", + JOG_Y_NEG: "rbt_view_y", + JOG_Y_POS: "rbt_view_y", + MDI_RUN: "rbt_mdi", + SAVE_SESSION: "btn_save_session", + RESTORE_SESSION: "btn_reload", + AUDIT_FULL_BOUNDARY: "tbtn_setup", + FULL: "btn_fullscreen", + }[action] || "btn_load"; +} + +function bottomNativeButtonAttrs(action) { + if (action === "HOME") return nativeButtonAttrs("h", 0); + return ""; +} + +function nativeButtonAttrs(location, index) { + const prefix = location === "v" ? "v-button" : "h-button"; + const panel = location === "v" ? "right" : "bottom"; + return ` data-gmoccapy-hal-pin="gmoccapy.${prefix}.button-${index}" data-gmoccapy-native-panel="${panel}" data-gmoccapy-native-button-index="${index}"`; +} + +function bottomControlActive(state, action) { + if (action === "PAUSE") return state.runState === "paused"; + if (action === "RUN" || action === "RESUME") return state.runState === "running"; + if (action === "STEP") return state.runState === "stepping"; + if (action === "HOME") return state.machine.allHomed; + if (action === "FULL") return state.preview.fullscreen; + return false; +} + +function iconButtonHtml({ + buttonId, + action, + label, + title = label, + active = false, + className = "", + gate = null, + disabled = false, + attrs = "", +} = {}) { + const icon = getGmoccapyIcon(buttonId, active ? "active" : "inactive"); + const disabledAttr = disabled || gate?.allowed === false ? " disabled" : ""; + const readyAttr = gate + ? ` data-command-ready="${gate.allowed ? "true" : "false"}" aria-disabled="${gate.allowed ? "false" : "true"}"` + : ""; + const labelText = escapeHtml(label || icon.iconName); + const titleAttr = title ? ` title="${escapeHtml(title)}"` : ""; + const classAttr = className ? ` class="${escapeHtml(className)}"` : ""; + const iconMarkup = icon.path + ? `` + : ``; + return ` + + `; +} + +function updateIconButton(button, buttonId, active) { + if (!button) return; + const icon = getGmoccapyIcon(buttonId, active ? "active" : "inactive"); + button.dataset.active = active ? "true" : "false"; + button.dataset.iconName = icon.iconName; + button.dataset.iconVariant = icon.variant; + const image = button.querySelector("img"); + if (image && icon.path) image.src = icon.path; +} + +function formatGmoccapyNativePath(kind) { + const entry = gmoccapyCommunicationModel.nativePaths[kind]; + if (!entry) return "pending"; + return `${entry.label}: ${entry.path.join(" -> ")}`; +} + +function formatGmoccapyActionMapping(actionId) { + const mapping = gmoccapyCommunicationModel.actionMappings.find((item) => item.actionId === actionId); + if (!mapping) return "pending"; + return `${mapping.nativeCommand} / ${mapping.gate}`; +} + +function formatGmoccapyToolChange(halSummary) { + const manualPins = halSummary.manualToolChangeGuiConnected ? "manual GUI pins connected" : "manual GUI pins disconnected"; + return [ + halSummary.toolChangeStrategy, + manualPins, + `${halSummary.postguiToolUnlinkCount} postgui unlinkp`, + `${halSummary.commentedManualToolChangeNetCount} commented manual nets`, + ].join(" / "); +} + +function formatGmoccapyHalInputs(halSummary, state) { + return [ + `${halSummary.operatorInputPinCount} operator pins`, + halSummary.optionalStopPinCrossesToBlockDelete ? "optional-stop -> block delete" : "optional-stop direct", + halSummary.blockdeletePinCrossesToOptionalStop ? "blockdelete -> optional stop" : "blockdelete direct", + `ignore-limits ${state.gmoccapyGui.ignoreLimits ? "on" : "off"}`, + `block ${state.gmoccapyGui.optionalBlocks ? "on" : "off"}`, + `M1 ${state.gmoccapyGui.optionalStop ? "on" : "off"}`, + ].join(" / "); +} + +function formatGmoccapySettingsInputs(halSummary, state) { + return [ + `${halSummary.settingsInputPinCount} settings pins`, + halSummary.unlockSettingsLevelDriven ? "unlock-settings level-driven" : "unlock-settings pending", + `unlock-way ${state.gmoccapyGui.settingsUnlockMode}`, + `pin ${state.gmoccapyGui.settingsUnlockPin ? "high" : "low"}`, + `setup ${state.gmoccapyGui.setupSensitive ? "sensitive" : "locked"}`, + ].join(" / "); +} + +function formatGmoccapyJogInputs(halSummary, state) { + return [ + `${halSummary.jogAxisPinCount} axis jog pins`, + `${halSummary.jogIncrementPinCount} jog-inc pins`, + halSummary.jogAxisPinsPressRelease ? "press/release level" : "edge jog", + halSummary.jogIncrementPinsRisingEdgeOnly ? "jog-inc rising-edge-only" : "jog-inc level", + halSummary.jogIncrementZeroIsContinuous ? "jog-inc-0 continuous" : "jog-inc-0 incremental", + halSummary.turtleJogLevelDriven ? "turtle level-driven" : "turtle pending", + `active ${state.gmoccapyGui.activeJogPin || "none"}`, + `increment ${state.gmoccapyGui.jogIncrementLabel}=${state.gmoccapyGui.jogIncrementOutput}`, + ].join(" / "); +} + +function formatGmoccapyOverrideInputs(halSummary, state) { + return [ + `${halSummary.overridePinTargetCount} override targets`, + halSummary.countInputRequiresEnable ? "counts require enable" : "counts direct", + halSummary.directValueRequiresAnalogEnable ? "direct-value requires analog-enable" : "direct-value direct", + halSummary.resetPinsRisingEdgeOnly ? "reset rising-edge-only" : "reset level", + `last ${formatGmoccapyHalLastInput(state)}`, + ].join(" / "); +} + +function formatGmoccapyToolUserInputs(halSummary, state) { + return [ + `${halSummary.toolMeasurementPinCount} tool measurement HAL_OUT pins`, + halSummary.toolMeasurementPinsAreHalOut ? "tool pins HAL_OUT" : "tool pins input", + halSummary.toolMeasurementDisabledWithoutToolsensor ? "XYZAB no TOOLSENSOR" : "TOOLSENSOR configured", + `toolmeasurement ${state.gmoccapyGui.toolMeasurement ? "on" : "off"}`, + `blockheight ${state.gmoccapyGui.blockHeight}`, + `${halSummary.userMessagePinCount} user message pins`, + halSummary.userMessagesDynamicIniOnly ? "messages dynamic INI-only" : "messages static", + halSummary.userMessagesConfigured ? "MESSAGE_* configured" : "no MESSAGE_*", + ].join(" / "); +} + +function formatGmoccapyMessageInputs(halSummary, state) { + return [ + `${halSummary.messageInputPinCount} message pins`, + halSummary.deleteMessageRisingEdgeOnly ? "delete-message rising-edge-only" : "delete-message level", + halSummary.warningConfirmLevelPolled ? "warning-confirm level-polled" : "warning-confirm edge", + `error ${state.gmoccapyGui.error ? "on" : "off"}`, + `deleted ${state.gmoccapyGui.deletedMessageCount}`, + `confirm ${state.gmoccapyGui.warningConfirm ? "on" : "off"}`, + ].join(" / "); +} + +function formatGmoccapyFilePage(halSummary, state) { + return [ + `file page ${halSummary.filePageImplementation}`, + "PROGRAM_PREFIX ../../nc_files/", + "native IconFileSelection", + "Web OPEN_FILE/staged-source", + halSummary.filePageBoundary, + `status ${state.gmoccapyGui.filePageStatus}`, + ].join(" / "); +} + +function formatGmoccapyMacroPage(halSummary, state) { + return [ + `${halSummary.macroCount} XYZAB macros`, + `macro limit ${halSummary.macroLimit}`, + halSummary.macroButtonsUseMdiGate ? "MDI gate" : "no MDI gate", + "O-word call", + `last ${state.gmoccapyGui.macroLastCommand || "none"}`, + ].join(" / "); +} + +function formatGmoccapyToolEditorPage(halSummary, state) { + return [ + `tool editor ${halSummary.toolEditorImplementation}`, + `${state.profile.toolTable?.toolCount || 0} tools`, + "tool.tbl", + halSummary.toolEditorWritebackDisabled ? "writeback disabled" : "writeback enabled", + "iocontrol-loopback preserved", + `status ${state.gmoccapyGui.toolEditorStatus}`, + ].join(" / "); +} + +function formatGmoccapyNativePageMatrix(halSummary, state) { + return [ + `${halSummary.nativePageCount} native pages`, + `${halSummary.implementedNativePageCount} implemented`, + `${halSummary.partialNativePageCount} partial`, + `${halSummary.diagnosticOnlyNativePageCount} diagnostic-only`, + `${halSummary.nativeOnlyPageCount} native-only`, + halSummary.hardButtonsDoNotFakeNativePages ? "hard-buttons diagnostic-only" : "hard-buttons may dispatch", + `active ${state.gmoccapyGui.activeNativePage}`, + ].join(" / "); +} + +function formatGmoccapyHalLastInput(state) { + if (!state.gmoccapyGui?.lastHalPin && !state.gmoccapyGui?.lastHalPinEffect) return "none"; + return [ + state.gmoccapyGui.lastHalPin || "web-control", + state.gmoccapyGui.lastHalPinEffect || "-", + ].join(" "); +} + +function formatGmoccapyHardButtons(halSummary) { + return [ + `${halSummary.hardwareButtonVerticalCount} right v-button pins`, + `${halSummary.hardwareButtonBottomMainCount} bottom h-button main refs`, + `${halSummary.mappedHardwareButtonCount} mapped Web buttons`, + halSummary.hardwareButtonEdge, + `insensitive ${halSummary.hardwareButtonInsensitiveTarget}`, + `${halSummary.diagnosticOnlyNativePageCount} diagnostic-only native pages`, + ].join(" / "); +} + +function formatNumber(value, digits = 3) { + return Number(value).toFixed(digits); +} + +function formatAxisLimitSummary(axisLimits) { + return Object.entries(axisLimits || {}) + .map(([axis, limit]) => `${axis}[${formatNumber(limit.min, 0)},${formatNumber(limit.max, 0)}]`) + .join(" "); +} + +function tcpKinsTypeForProfile(profile) { + if (profile?.tcpCapable === false) return null; + return profile?.kinematicsParameters?.switchkinsTypes + ?.find((type) => type.value === 1 && String(type.webKinsType || "").startsWith("tcp-")) + ?.webKinsType || null; +} + +function escapeHtml(value) { + return String(value) + .replaceAll("&", "&") + .replaceAll("<", "<") + .replaceAll(">", ">") + .replaceAll('"', """) + .replaceAll("'", "'"); +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/vendor/three/three.core.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/vendor/three/three.core.js new file mode 100644 index 0000000..ce5c79c --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/vendor/three/three.core.js @@ -0,0 +1,59470 @@ +/** + * @license + * Copyright 2010-2026 Three.js Authors + * SPDX-License-Identifier: MIT + */ +const REVISION = '183'; + +/** + * Represents mouse buttons and interaction types in context of controls. + * + * @type {ConstantsMouse} + * @constant + */ +const MOUSE = { LEFT: 0, MIDDLE: 1, RIGHT: 2, ROTATE: 0, DOLLY: 1, PAN: 2 }; + +/** + * Represents touch interaction types in context of controls. + * + * @type {ConstantsTouch} + * @constant + */ +const TOUCH = { ROTATE: 0, PAN: 1, DOLLY_PAN: 2, DOLLY_ROTATE: 3 }; + +/** + * Disables face culling. + * + * @type {number} + * @constant + */ +const CullFaceNone = 0; + +/** + * Culls back faces. + * + * @type {number} + * @constant + */ +const CullFaceBack = 1; + +/** + * Culls front faces. + * + * @type {number} + * @constant + */ +const CullFaceFront = 2; + +/** + * Culls both front and back faces. + * + * @type {number} + * @constant + */ +const CullFaceFrontBack = 3; + +/** + * Gives unfiltered shadow maps - fastest, but lowest quality. + * + * @type {number} + * @constant + */ +const BasicShadowMap = 0; + +/** + * Filters shadow maps using the Percentage-Closer Filtering (PCF) algorithm. + * + * @type {number} + * @constant + */ +const PCFShadowMap = 1; + +/** + * Filters shadow maps using the Percentage-Closer Filtering (PCF) algorithm with + * better soft shadows especially when using low-resolution shadow maps. + * + * @type {number} + * @constant + */ +const PCFSoftShadowMap = 2; + +/** + * Filters shadow maps using the Variance Shadow Map (VSM) algorithm. + * When using VSMShadowMap all shadow receivers will also cast shadows. + * + * @type {number} + * @constant + */ +const VSMShadowMap = 3; + +/** + * Only front faces are rendered. + * + * @type {number} + * @constant + */ +const FrontSide = 0; + +/** + * Only back faces are rendered. + * + * @type {number} + * @constant + */ +const BackSide = 1; + +/** + * Both front and back faces are rendered. + * + * @type {number} + * @constant + */ +const DoubleSide = 2; + +/** + * No blending is performed which effectively disables + * alpha transparency. + * + * @type {number} + * @constant + */ +const NoBlending = 0; + +/** + * The default blending. + * + * @type {number} + * @constant + */ +const NormalBlending = 1; + +/** + * Represents additive blending. + * + * @type {number} + * @constant + */ +const AdditiveBlending = 2; + +/** + * Represents subtractive blending. + * + * @type {number} + * @constant + */ +const SubtractiveBlending = 3; + +/** + * Represents multiply blending. + * + * @type {number} + * @constant + */ +const MultiplyBlending = 4; + +/** + * Represents custom blending. + * + * @type {number} + * @constant + */ +const CustomBlending = 5; + +/** + * Represents material blending. + * + * @type {number} + * @constant + */ +const MaterialBlending = 6; + +/** + * A `source + destination` blending equation. + * + * @type {number} + * @constant + */ +const AddEquation = 100; + +/** + * A `source - destination` blending equation. + * + * @type {number} + * @constant + */ +const SubtractEquation = 101; + +/** + * A `destination - source` blending equation. + * + * @type {number} + * @constant + */ +const ReverseSubtractEquation = 102; + +/** + * A blend equation that uses the minimum of source and destination. + * + * @type {number} + * @constant + */ +const MinEquation = 103; + +/** + * A blend equation that uses the maximum of source and destination. + * + * @type {number} + * @constant + */ +const MaxEquation = 104; + +/** + * Multiplies all colors by `0`. + * + * @type {number} + * @constant + */ +const ZeroFactor = 200; + +/** + * Multiplies all colors by `1`. + * + * @type {number} + * @constant + */ +const OneFactor = 201; + +/** + * Multiplies all colors by the source colors. + * + * @type {number} + * @constant + */ +const SrcColorFactor = 202; + +/** + * Multiplies all colors by `1` minus each source color. + * + * @type {number} + * @constant + */ +const OneMinusSrcColorFactor = 203; + +/** + * Multiplies all colors by the source alpha value. + * + * @type {number} + * @constant + */ +const SrcAlphaFactor = 204; + +/** + * Multiplies all colors by 1 minus the source alpha value. + * + * @type {number} + * @constant + */ +const OneMinusSrcAlphaFactor = 205; + +/** + * Multiplies all colors by the destination alpha value. + * + * @type {number} + * @constant + */ +const DstAlphaFactor = 206; + +/** + * Multiplies all colors by `1` minus the destination alpha value. + * + * @type {number} + * @constant + */ +const OneMinusDstAlphaFactor = 207; + +/** + * Multiplies all colors by the destination color. + * + * @type {number} + * @constant + */ +const DstColorFactor = 208; + +/** + * Multiplies all colors by `1` minus each destination color. + * + * @type {number} + * @constant + */ +const OneMinusDstColorFactor = 209; + +/** + * Multiplies the RGB colors by the smaller of either the source alpha + * value or the value of `1` minus the destination alpha value. The alpha + * value is multiplied by `1`. + * + * @type {number} + * @constant + */ +const SrcAlphaSaturateFactor = 210; + +/** + * Multiplies all colors by a constant color. + * + * @type {number} + * @constant + */ +const ConstantColorFactor = 211; + +/** + * Multiplies all colors by `1` minus a constant color. + * + * @type {number} + * @constant + */ +const OneMinusConstantColorFactor = 212; + +/** + * Multiplies all colors by a constant alpha value. + * + * @type {number} + * @constant + */ +const ConstantAlphaFactor = 213; + +/** + * Multiplies all colors by 1 minus a constant alpha value. + * + * @type {number} + * @constant + */ +const OneMinusConstantAlphaFactor = 214; + +/** + * Never pass. + * + * @type {number} + * @constant + */ +const NeverDepth = 0; + +/** + * Always pass. + * + * @type {number} + * @constant + */ +const AlwaysDepth = 1; + +/** + * Pass if the incoming value is less than the depth buffer value. + * + * @type {number} + * @constant + */ +const LessDepth = 2; + +/** + * Pass if the incoming value is less than or equal to the depth buffer value. + * + * @type {number} + * @constant + */ +const LessEqualDepth = 3; + +/** + * Pass if the incoming value equals the depth buffer value. + * + * @type {number} + * @constant + */ +const EqualDepth = 4; + +/** + * Pass if the incoming value is greater than or equal to the depth buffer value. + * + * @type {number} + * @constant + */ +const GreaterEqualDepth = 5; + +/** + * Pass if the incoming value is greater than the depth buffer value. + * + * @type {number} + * @constant + */ +const GreaterDepth = 6; + +/** + * Pass if the incoming value is not equal to the depth buffer value. + * + * @type {number} + * @constant + */ +const NotEqualDepth = 7; + +/** + * Multiplies the environment map color with the surface color. + * + * @type {number} + * @constant + */ +const MultiplyOperation = 0; + +/** + * Uses reflectivity to blend between the two colors. + * + * @type {number} + * @constant + */ +const MixOperation = 1; + +/** + * Adds the two colors. + * + * @type {number} + * @constant + */ +const AddOperation = 2; + +/** + * No tone mapping is applied. + * + * @type {number} + * @constant + */ +const NoToneMapping = 0; + +/** + * Linear tone mapping. + * + * @type {number} + * @constant + */ +const LinearToneMapping = 1; + +/** + * Reinhard tone mapping. + * + * @type {number} + * @constant + */ +const ReinhardToneMapping = 2; + +/** + * Cineon tone mapping. + * + * @type {number} + * @constant + */ +const CineonToneMapping = 3; + +/** + * ACES Filmic tone mapping. + * + * @type {number} + * @constant + */ +const ACESFilmicToneMapping = 4; + +/** + * Custom tone mapping. + * + * Expects a custom implementation by modifying shader code of the material's fragment shader. + * + * @type {number} + * @constant + */ +const CustomToneMapping = 5; + +/** + * AgX tone mapping. + * + * @type {number} + * @constant + */ +const AgXToneMapping = 6; + +/** + * Neutral tone mapping. + * + * Implementation based on the Khronos 3D Commerce Group standard tone mapping. + * + * @type {number} + * @constant + */ +const NeutralToneMapping = 7; + +/** + * The skinned mesh shares the same world space as the skeleton. + * + * @type {string} + * @constant + */ +const AttachedBindMode = 'attached'; + +/** + * The skinned mesh does not share the same world space as the skeleton. + * This is useful when a skeleton is shared across multiple skinned meshes. + * + * @type {string} + * @constant + */ +const DetachedBindMode = 'detached'; + +/** + * Maps textures using the geometry's UV coordinates. + * + * @type {number} + * @constant + */ +const UVMapping = 300; + +/** + * Reflection mapping for cube textures. + * + * @type {number} + * @constant + */ +const CubeReflectionMapping = 301; + +/** + * Refraction mapping for cube textures. + * + * @type {number} + * @constant + */ +const CubeRefractionMapping = 302; + +/** + * Reflection mapping for equirectangular textures. + * + * @type {number} + * @constant + */ +const EquirectangularReflectionMapping = 303; + +/** + * Refraction mapping for equirectangular textures. + * + * @type {number} + * @constant + */ +const EquirectangularRefractionMapping = 304; + +/** + * Reflection mapping for PMREM textures. + * + * @type {number} + * @constant + */ +const CubeUVReflectionMapping = 306; + +/** + * The texture will simply repeat to infinity. + * + * @type {number} + * @constant + */ +const RepeatWrapping = 1000; + +/** + * The last pixel of the texture stretches to the edge of the mesh. + * + * @type {number} + * @constant + */ +const ClampToEdgeWrapping = 1001; + +/** + * The texture will repeats to infinity, mirroring on each repeat. + * + * @type {number} + * @constant + */ +const MirroredRepeatWrapping = 1002; + +/** + * Returns the value of the texture element that is nearest (in Manhattan distance) + * to the specified texture coordinates. + * + * @type {number} + * @constant + */ +const NearestFilter = 1003; + +/** + * Chooses the mipmap that most closely matches the size of the pixel being textured + * and uses the `NearestFilter` criterion (the texel nearest to the center of the pixel) + * to produce a texture value. + * + * @type {number} + * @constant + */ +const NearestMipmapNearestFilter = 1004; +const NearestMipMapNearestFilter = 1004; // legacy + +/** + * Chooses the two mipmaps that most closely match the size of the pixel being textured and + * uses the `NearestFilter` criterion to produce a texture value from each mipmap. + * The final texture value is a weighted average of those two values. + * + * @type {number} + * @constant + */ +const NearestMipmapLinearFilter = 1005; +const NearestMipMapLinearFilter = 1005; // legacy + +/** + * Returns the weighted average of the four texture elements that are closest to the specified + * texture coordinates, and can include items wrapped or repeated from other parts of a texture, + * depending on the values of `wrapS` and `wrapT`, and on the exact mapping. + * + * @type {number} + * @constant + */ +const LinearFilter = 1006; + +/** + * Chooses the mipmap that most closely matches the size of the pixel being textured and uses + * the `LinearFilter` criterion (a weighted average of the four texels that are closest to the + * center of the pixel) to produce a texture value. + * + * @type {number} + * @constant + */ +const LinearMipmapNearestFilter = 1007; +const LinearMipMapNearestFilter = 1007; // legacy + +/** + * Chooses the two mipmaps that most closely match the size of the pixel being textured and uses + * the `LinearFilter` criterion to produce a texture value from each mipmap. The final texture value + * is a weighted average of those two values. + * + * @type {number} + * @constant + */ +const LinearMipmapLinearFilter = 1008; +const LinearMipMapLinearFilter = 1008; // legacy + +/** + * An unsigned byte data type for textures. + * + * @type {number} + * @constant + */ +const UnsignedByteType = 1009; + +/** + * A byte data type for textures. + * + * @type {number} + * @constant + */ +const ByteType = 1010; + +/** + * A short data type for textures. + * + * @type {number} + * @constant + */ +const ShortType = 1011; + +/** + * An unsigned short data type for textures. + * + * @type {number} + * @constant + */ +const UnsignedShortType = 1012; + +/** + * An int data type for textures. + * + * @type {number} + * @constant + */ +const IntType = 1013; + +/** + * An unsigned int data type for textures. + * + * @type {number} + * @constant + */ +const UnsignedIntType = 1014; + +/** + * A float data type for textures. + * + * @type {number} + * @constant + */ +const FloatType = 1015; + +/** + * A half float data type for textures. + * + * @type {number} + * @constant + */ +const HalfFloatType = 1016; + +/** + * An unsigned short 4_4_4_4 (packed) data type for textures. + * + * @type {number} + * @constant + */ +const UnsignedShort4444Type = 1017; + +/** + * An unsigned short 5_5_5_1 (packed) data type for textures. + * + * @type {number} + * @constant + */ +const UnsignedShort5551Type = 1018; + +/** + * An unsigned int 24_8 data type for textures. + * + * @type {number} + * @constant + */ +const UnsignedInt248Type = 1020; + +/** + * An unsigned int 5_9_9_9 (packed) data type for textures. + * + * @type {number} + * @constant + */ +const UnsignedInt5999Type = 35902; + +/** + * An unsigned int 10_11_11 (packed) data type for textures. + * + * @type {number} + * @constant + */ +const UnsignedInt101111Type = 35899; + +/** + * Discards the red, green and blue components and reads just the alpha component. + * + * @type {number} + * @constant + */ +const AlphaFormat = 1021; + +/** + * Discards the alpha component and reads the red, green and blue component. + * + * @type {number} + * @constant + */ +const RGBFormat = 1022; + +/** + * Reads the red, green, blue and alpha components. + * + * @type {number} + * @constant + */ +const RGBAFormat = 1023; + +/** + * Reads each element as a single depth value, converts it to floating point, and clamps to the range `[0,1]`. + * + * @type {number} + * @constant + */ +const DepthFormat = 1026; + +/** + * Reads each element is a pair of depth and stencil values. The depth component of the pair is interpreted as + * in `DepthFormat`. The stencil component is interpreted based on the depth + stencil internal format. + * + * @type {number} + * @constant + */ +const DepthStencilFormat = 1027; + +/** + * Discards the green, blue and alpha components and reads just the red component. + * + * @type {number} + * @constant + */ +const RedFormat = 1028; + +/** + * Discards the green, blue and alpha components and reads just the red component. The texels are read as integers instead of floating point. + * + * @type {number} + * @constant + */ +const RedIntegerFormat = 1029; + +/** + * Discards the alpha, and blue components and reads the red, and green components. + * + * @type {number} + * @constant + */ +const RGFormat = 1030; + +/** + * Discards the alpha, and blue components and reads the red, and green components. The texels are read as integers instead of floating point. + * + * @type {number} + * @constant + */ +const RGIntegerFormat = 1031; + +/** + * Discards the alpha component and reads the red, green and blue component. The texels are read as integers instead of floating point. + * + * @type {number} + * @constant + */ +const RGBIntegerFormat = 1032; + +/** + * Reads the red, green, blue and alpha components. The texels are read as integers instead of floating point. + * + * @type {number} + * @constant + */ +const RGBAIntegerFormat = 1033; + +/** + * A DXT1-compressed image in an RGB image format. + * + * @type {number} + * @constant + */ +const RGB_S3TC_DXT1_Format = 33776; + +/** + * A DXT1-compressed image in an RGB image format with a simple on/off alpha value. + * + * @type {number} + * @constant + */ +const RGBA_S3TC_DXT1_Format = 33777; + +/** + * A DXT3-compressed image in an RGBA image format. Compared to a 32-bit RGBA texture, it offers 4:1 compression. + * + * @type {number} + * @constant + */ +const RGBA_S3TC_DXT3_Format = 33778; + +/** + * A DXT5-compressed image in an RGBA image format. It also provides a 4:1 compression, but differs to the DXT3 + * compression in how the alpha compression is done. + * + * @type {number} + * @constant + */ +const RGBA_S3TC_DXT5_Format = 33779; + +/** + * PVRTC RGB compression in 4-bit mode. One block for each 4×4 pixels. + * + * @type {number} + * @constant + */ +const RGB_PVRTC_4BPPV1_Format = 35840; + +/** + * PVRTC RGB compression in 2-bit mode. One block for each 8×4 pixels. + * + * @type {number} + * @constant + */ +const RGB_PVRTC_2BPPV1_Format = 35841; + +/** + * PVRTC RGBA compression in 4-bit mode. One block for each 4×4 pixels. + * + * @type {number} + * @constant + */ +const RGBA_PVRTC_4BPPV1_Format = 35842; + +/** + * PVRTC RGBA compression in 2-bit mode. One block for each 8×4 pixels. + * + * @type {number} + * @constant + */ +const RGBA_PVRTC_2BPPV1_Format = 35843; + +/** + * ETC1 RGB format. + * + * @type {number} + * @constant + */ +const RGB_ETC1_Format = 36196; + +/** + * ETC2 RGB format. + * + * @type {number} + * @constant + */ +const RGB_ETC2_Format = 37492; + +/** + * ETC2 RGBA format. + * + * @type {number} + * @constant + */ +const RGBA_ETC2_EAC_Format = 37496; + +/** + * EAC R11 UNORM format. + * + * @type {number} + * @constant + */ +const R11_EAC_Format = 37488; // 0x9270 + +/** + * EAC R11 SNORM format. + * + * @type {number} + * @constant + */ +const SIGNED_R11_EAC_Format = 37489; // 0x9271 + +/** + * EAC RG11 UNORM format. + * + * @type {number} + * @constant + */ +const RG11_EAC_Format = 37490; // 0x9272 + +/** + * EAC RG11 SNORM format. + * + * @type {number} + * @constant + */ +const SIGNED_RG11_EAC_Format = 37491; // 0x9273 + +/** + * ASTC RGBA 4x4 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_4x4_Format = 37808; + +/** + * ASTC RGBA 5x4 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_5x4_Format = 37809; + +/** + * ASTC RGBA 5x5 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_5x5_Format = 37810; + +/** + * ASTC RGBA 6x5 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_6x5_Format = 37811; + +/** + * ASTC RGBA 6x6 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_6x6_Format = 37812; + +/** + * ASTC RGBA 8x5 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_8x5_Format = 37813; + +/** + * ASTC RGBA 8x6 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_8x6_Format = 37814; + +/** + * ASTC RGBA 8x8 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_8x8_Format = 37815; + +/** + * ASTC RGBA 10x5 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_10x5_Format = 37816; + +/** + * ASTC RGBA 10x6 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_10x6_Format = 37817; + +/** + * ASTC RGBA 10x8 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_10x8_Format = 37818; + +/** + * ASTC RGBA 10x10 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_10x10_Format = 37819; + +/** + * ASTC RGBA 12x10 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_12x10_Format = 37820; + +/** + * ASTC RGBA 12x12 format. + * + * @type {number} + * @constant + */ +const RGBA_ASTC_12x12_Format = 37821; + +/** + * BPTC RGBA format. + * + * @type {number} + * @constant + */ +const RGBA_BPTC_Format = 36492; + +/** + * BPTC Signed RGB format. + * + * @type {number} + * @constant + */ +const RGB_BPTC_SIGNED_Format = 36494; + +/** + * BPTC Unsigned RGB format. + * + * @type {number} + * @constant + */ +const RGB_BPTC_UNSIGNED_Format = 36495; + +/** + * RGTC1 Red format. + * + * @type {number} + * @constant + */ +const RED_RGTC1_Format = 36283; + +/** + * RGTC1 Signed Red format. + * + * @type {number} + * @constant + */ +const SIGNED_RED_RGTC1_Format = 36284; + +/** + * RGTC2 Red Green format. + * + * @type {number} + * @constant + */ +const RED_GREEN_RGTC2_Format = 36285; + +/** + * RGTC2 Signed Red Green format. + * + * @type {number} + * @constant + */ +const SIGNED_RED_GREEN_RGTC2_Format = 36286; + +/** + * Animations are played once. + * + * @type {number} + * @constant + */ +const LoopOnce = 2200; + +/** + * Animations are played with a chosen number of repetitions, each time jumping from + * the end of the clip directly to its beginning. + * + * @type {number} + * @constant + */ +const LoopRepeat = 2201; + +/** + * Animations are played with a chosen number of repetitions, alternately playing forward + * and backward. + * + * @type {number} + * @constant + */ +const LoopPingPong = 2202; + +/** + * Discrete interpolation mode for keyframe tracks. + * + * @type {number} + * @constant + */ +const InterpolateDiscrete = 2300; + +/** + * Linear interpolation mode for keyframe tracks. + * + * @type {number} + * @constant + */ +const InterpolateLinear = 2301; + +/** + * Smooth interpolation mode for keyframe tracks. + * + * @type {number} + * @constant + */ +const InterpolateSmooth = 2302; + +/** + * Bezier interpolation mode for keyframe tracks. + * + * Uses cubic Bezier curves with explicit 2D control points. + * Requires tangent data to be set on the track. + * + * @type {number} + * @constant + */ +const InterpolateBezier = 2303; + +/** + * Zero curvature ending for animations. + * + * @type {number} + * @constant + */ +const ZeroCurvatureEnding = 2400; + +/** + * Zero slope ending for animations. + * + * @type {number} + * @constant + */ +const ZeroSlopeEnding = 2401; + +/** + * Wrap around ending for animations. + * + * @type {number} + * @constant + */ +const WrapAroundEnding = 2402; + +/** + * Default animation blend mode. + * + * @type {number} + * @constant + */ +const NormalAnimationBlendMode = 2500; + +/** + * Additive animation blend mode. Can be used to layer motions on top of + * each other to build complex performances from smaller re-usable assets. + * + * @type {number} + * @constant + */ +const AdditiveAnimationBlendMode = 2501; + +/** + * For every three vertices draw a single triangle. + * + * @type {number} + * @constant + */ +const TrianglesDrawMode = 0; + +/** + * For each vertex draw a triangle from the last three vertices. + * + * @type {number} + * @constant + */ +const TriangleStripDrawMode = 1; + +/** + * For each vertex draw a triangle from the first vertex and the last two vertices. + * + * @type {number} + * @constant + */ +const TriangleFanDrawMode = 2; + +/** + * The depth value is inverted (1.0 - z) for visualization purposes. + * + * @type {number} + * @constant + */ +const BasicDepthPacking = 3200; + +/** + * The depth value is packed into 32 bit RGBA. + * + * @type {number} + * @constant + */ +const RGBADepthPacking = 3201; + +/** + * The depth value is packed into 24 bit RGB. + * + * @type {number} + * @constant + */ +const RGBDepthPacking = 3202; + +/** + * The depth value is packed into 16 bit RG. + * + * @type {number} + * @constant + */ +const RGDepthPacking = 3203; + +/** + * Normal information is relative to the underlying surface. + * + * @type {number} + * @constant + */ +const TangentSpaceNormalMap = 0; + +/** + * Normal information is relative to the object orientation. + * + * @type {number} + * @constant + */ +const ObjectSpaceNormalMap = 1; + +// Color space string identifiers, matching CSS Color Module Level 4 and WebGPU names where available. + +/** + * No color space. + * + * @type {string} + * @constant + */ +const NoColorSpace = ''; + +/** + * sRGB color space. + * + * @type {string} + * @constant + */ +const SRGBColorSpace = 'srgb'; + +/** + * sRGB-linear color space. + * + * @type {string} + * @constant + */ +const LinearSRGBColorSpace = 'srgb-linear'; + +/** + * Linear transfer function. + * + * @type {string} + * @constant + */ +const LinearTransfer = 'linear'; + +/** + * sRGB transfer function. + * + * @type {string} + * @constant + */ +const SRGBTransfer = 'srgb'; + +/** + * No normal map packing. + * + * @type {string} + * @constant + */ +const NoNormalPacking = ''; + +/** + * Normal RG packing. + * + * @type {string} + * @constant + */ +const NormalRGPacking = 'rg'; + +/** + * Normal GA packing. + * + * @type {string} + * @constant + */ +const NormalGAPacking = 'ga'; + +/** + * Sets the stencil buffer value to `0`. + * + * @type {number} + * @constant + */ +const ZeroStencilOp = 0; + +/** + * Keeps the current value. + * + * @type {number} + * @constant + */ +const KeepStencilOp = 7680; + +/** + * Sets the stencil buffer value to the specified reference value. + * + * @type {number} + * @constant + */ +const ReplaceStencilOp = 7681; + +/** + * Increments the current stencil buffer value. Clamps to the maximum representable unsigned value. + * + * @type {number} + * @constant + */ +const IncrementStencilOp = 7682; + +/** + * Decrements the current stencil buffer value. Clamps to `0`. + * + * @type {number} + * @constant + */ +const DecrementStencilOp = 7683; + +/** + * Increments the current stencil buffer value. Wraps stencil buffer value to zero when incrementing + * the maximum representable unsigned value. + * + * @type {number} + * @constant + */ +const IncrementWrapStencilOp = 34055; + +/** + * Decrements the current stencil buffer value. Wraps stencil buffer value to the maximum representable + * unsigned value when decrementing a stencil buffer value of `0`. + * + * @type {number} + * @constant + */ +const DecrementWrapStencilOp = 34056; + +/** + * Inverts the current stencil buffer value bitwise. + * + * @type {number} + * @constant + */ +const InvertStencilOp = 5386; + +/** + * Will never return true. + * + * @type {number} + * @constant + */ +const NeverStencilFunc = 512; + +/** + * Will return true if the stencil reference value is less than the current stencil value. + * + * @type {number} + * @constant + */ +const LessStencilFunc = 513; + +/** + * Will return true if the stencil reference value is equal to the current stencil value. + * + * @type {number} + * @constant + */ +const EqualStencilFunc = 514; + +/** + * Will return true if the stencil reference value is less than or equal to the current stencil value. + * + * @type {number} + * @constant + */ +const LessEqualStencilFunc = 515; + +/** + * Will return true if the stencil reference value is greater than the current stencil value. + * + * @type {number} + * @constant + */ +const GreaterStencilFunc = 516; + +/** + * Will return true if the stencil reference value is not equal to the current stencil value. + * + * @type {number} + * @constant + */ +const NotEqualStencilFunc = 517; + +/** + * Will return true if the stencil reference value is greater than or equal to the current stencil value. + * + * @type {number} + * @constant + */ +const GreaterEqualStencilFunc = 518; + +/** + * Will always return true. + * + * @type {number} + * @constant + */ +const AlwaysStencilFunc = 519; + +/** + * Never pass. + * + * @type {number} + * @constant + */ +const NeverCompare = 512; + +/** + * Pass if the incoming value is less than the texture value. + * + * @type {number} + * @constant + */ +const LessCompare = 513; + +/** + * Pass if the incoming value equals the texture value. + * + * @type {number} + * @constant + */ +const EqualCompare = 514; + +/** + * Pass if the incoming value is less than or equal to the texture value. + * + * @type {number} + * @constant + */ +const LessEqualCompare = 515; + +/** + * Pass if the incoming value is greater than the texture value. + * + * @type {number} + * @constant + */ +const GreaterCompare = 516; + +/** + * Pass if the incoming value is not equal to the texture value. + * + * @type {number} + * @constant + */ +const NotEqualCompare = 517; + +/** + * Pass if the incoming value is greater than or equal to the texture value. + * + * @type {number} + * @constant + */ +const GreaterEqualCompare = 518; + +/** + * Always pass. + * + * @type {number} + * @constant + */ +const AlwaysCompare = 519; + +/** + * The contents are intended to be specified once by the application, and used many + * times as the source for drawing and image specification commands. + * + * @type {number} + * @constant + */ +const StaticDrawUsage = 35044; + +/** + * The contents are intended to be respecified repeatedly by the application, and + * used many times as the source for drawing and image specification commands. + * + * @type {number} + * @constant + */ +const DynamicDrawUsage = 35048; + +/** + * The contents are intended to be specified once by the application, and used at most + * a few times as the source for drawing and image specification commands. + * + * @type {number} + * @constant + */ +const StreamDrawUsage = 35040; + +/** + * The contents are intended to be specified once by reading data from the 3D API, and queried + * many times by the application. + * + * @type {number} + * @constant + */ +const StaticReadUsage = 35045; + +/** + * The contents are intended to be respecified repeatedly by reading data from the 3D API, and queried + * many times by the application. + * + * @type {number} + * @constant + */ +const DynamicReadUsage = 35049; + +/** + * The contents are intended to be specified once by reading data from the 3D API, and queried at most + * a few times by the application + * + * @type {number} + * @constant + */ +const StreamReadUsage = 35041; + +/** + * The contents are intended to be specified once by reading data from the 3D API, and used many times as + * the source for WebGL drawing and image specification commands. + * + * @type {number} + * @constant + */ +const StaticCopyUsage = 35046; + +/** + * The contents are intended to be respecified repeatedly by reading data from the 3D API, and used many times + * as the source for WebGL drawing and image specification commands. + * + * @type {number} + * @constant + */ +const DynamicCopyUsage = 35050; + +/** + * The contents are intended to be specified once by reading data from the 3D API, and used at most a few times + * as the source for WebGL drawing and image specification commands. + * + * @type {number} + * @constant + */ +const StreamCopyUsage = 35042; + +/** + * GLSL 1 shader code. + * + * @type {string} + * @constant + */ +const GLSL1 = '100'; + +/** + * GLSL 3 shader code. + * + * @type {string} + * @constant + */ +const GLSL3 = '300 es'; + +/** + * WebGL coordinate system. + * + * @type {number} + * @constant + */ +const WebGLCoordinateSystem = 2000; + +/** + * WebGPU coordinate system. + * + * @type {number} + * @constant + */ +const WebGPUCoordinateSystem = 2001; + +/** + * Represents the different timestamp query types. + * + * @type {ConstantsTimestampQuery} + * @constant + */ +const TimestampQuery = { + COMPUTE: 'compute', + RENDER: 'render' +}; + +/** + * Represents mouse buttons and interaction types in context of controls. + * + * @type {ConstantsInterpolationSamplingType} + * @constant + */ +const InterpolationSamplingType = { + PERSPECTIVE: 'perspective', + LINEAR: 'linear', + FLAT: 'flat' +}; + +/** + * Represents the different interpolation sampling modes. + * + * @type {ConstantsInterpolationSamplingMode} + * @constant + */ +const InterpolationSamplingMode = { + NORMAL: 'normal', + CENTROID: 'centroid', + SAMPLE: 'sample', + FIRST: 'first', + EITHER: 'either' +}; + +/** + * Compatibility flags for features that may not be supported across all platforms. + * + * @type {Object} + * @constant + */ +const Compatibility = { + TEXTURE_COMPARE: 'depthTextureCompare' +}; + +/** + * This type represents mouse buttons and interaction types in context of controls. + * + * @typedef {Object} ConstantsMouse + * @property {number} MIDDLE - The left mouse button. + * @property {number} LEFT - The middle mouse button. + * @property {number} RIGHT - The right mouse button. + * @property {number} ROTATE - A rotate interaction. + * @property {number} DOLLY - A dolly interaction. + * @property {number} PAN - A pan interaction. + **/ + +/** + * This type represents touch interaction types in context of controls. + * + * @typedef {Object} ConstantsTouch + * @property {number} ROTATE - A rotate interaction. + * @property {number} PAN - A pan interaction. + * @property {number} DOLLY_PAN - The dolly-pan interaction. + * @property {number} DOLLY_ROTATE - A dolly-rotate interaction. + **/ + +/** + * This type represents the different timestamp query types. + * + * @typedef {Object} ConstantsTimestampQuery + * @property {string} COMPUTE - A `compute` timestamp query. + * @property {string} RENDER - A `render` timestamp query. + **/ + +/** + * Represents the different interpolation sampling types. + * + * @typedef {Object} ConstantsInterpolationSamplingType + * @property {string} PERSPECTIVE - Perspective-correct interpolation. + * @property {string} LINEAR - Linear interpolation. + * @property {string} FLAT - Flat interpolation. + */ + +/** + * Represents the different interpolation sampling modes. + * + * @typedef {Object} ConstantsInterpolationSamplingMode + * @property {string} NORMAL - Normal sampling mode. + * @property {string} CENTROID - Centroid sampling mode. + * @property {string} SAMPLE - Sample-specific sampling mode. + * @property {string} FIRST - Flat interpolation using the first vertex. + * @property {string} EITHER - Flat interpolation using either vertex. + */ + +/** + * Checks if an array contains values that require Uint32 representation. + * + * This function determines whether the array contains any values >= 65535, + * which would require a Uint32Array rather than a Uint16Array for proper storage. + * The function iterates from the end of the array, assuming larger values are + * typically located at the end. + * + * @private + * @param {Array} array - The array to check. + * @return {boolean} True if the array contains values >= 65535, false otherwise. + */ +function arrayNeedsUint32( array ) { + + // assumes larger values usually on last + + for ( let i = array.length - 1; i >= 0; -- i ) { + + if ( array[ i ] >= 65535 ) return true; // account for PRIMITIVE_RESTART_FIXED_INDEX, #24565 + + } + + return false; + +} + +/** + * Map of typed array constructor names to their constructors. + * This mapping enables dynamic creation of typed arrays based on string type names. + * + * @private + * @constant + * @type {Object} + */ +const TYPED_ARRAYS = { + Int8Array: Int8Array, + Uint8Array: Uint8Array, + Uint8ClampedArray: Uint8ClampedArray, + Int16Array: Int16Array, + Uint16Array: Uint16Array, + Int32Array: Int32Array, + Uint32Array: Uint32Array, + Float32Array: Float32Array, + Float64Array: Float64Array +}; + +/** + * Creates a typed array of the specified type from the given buffer. + * + * @private + * @param {string} type - The name of the typed array type (e.g., 'Float32Array', 'Uint16Array'). + * @param {ArrayBuffer} buffer - The buffer to create the typed array from. + * @return {TypedArray} A new typed array of the specified type. + */ +function getTypedArray( type, buffer ) { + + return new TYPED_ARRAYS[ type ]( buffer ); + +} + +/** + * Returns `true` if the given object is a typed array. + * + * @param {any} array - The object to check. + * @return {boolean} Whether the given object is a typed array. + */ +function isTypedArray( array ) { + + return ArrayBuffer.isView( array ) && ! ( array instanceof DataView ); + +} + +/** + * Creates an XHTML element with the specified tag name. + * + * This function uses the XHTML namespace to create DOM elements, + * ensuring proper element creation in XML-based contexts. + * + * @private + * @param {string} name - The tag name of the element to create (e.g., 'canvas', 'div'). + * @return {HTMLElement} The created XHTML element. + */ +function createElementNS( name ) { + + return document.createElementNS( 'http://www.w3.org/1999/xhtml', name ); + +} + +/** + * Creates a canvas element configured for block display. + * + * This is a convenience function that creates a canvas element with + * display style set to 'block', which is commonly used in three.js + * rendering contexts to avoid inline element spacing issues. + * + * @return {HTMLCanvasElement} A canvas element with display set to 'block'. + */ +function createCanvasElement() { + + const canvas = createElementNS( 'canvas' ); + canvas.style.display = 'block'; + return canvas; + +} + +/** + * Internal cache for tracking warning messages to prevent duplicate warnings. + * + * @private + * @type {Object} + */ +const _cache = {}; + +/** + * Custom console function handler for intercepting log, warn, and error calls. + * + * @private + * @type {Function|null} + */ +let _setConsoleFunction = null; + +/** + * Sets a custom function to handle console output. + * + * This allows external code to intercept and handle console.log, console.warn, + * and console.error calls made by three.js, which is useful for custom logging, + * testing, or debugging workflows. + * + * @param {Function} fn - The function to handle console output. Should accept + * (type, message, ...params) where type is 'log', 'warn', or 'error'. + */ +function setConsoleFunction( fn ) { + + _setConsoleFunction = fn; + +} + +/** + * Gets the currently set custom console function. + * + * @return {Function|null} The custom console function, or null if not set. + */ +function getConsoleFunction() { + + return _setConsoleFunction; + +} + +/** + * Logs an informational message with the 'THREE.' prefix. + * + * If a custom console function is set via setConsoleFunction(), it will be used + * instead of the native console.log. The first parameter is treated as the + * method name and is automatically prefixed with 'THREE.'. + * + * @param {...any} params - The message components. The first param is used as + * the method name and prefixed with 'THREE.'. + */ +function log( ...params ) { + + const message = 'THREE.' + params.shift(); + + if ( _setConsoleFunction ) { + + _setConsoleFunction( 'log', message, ...params ); + + } else { + + console.log( message, ...params ); + + } + +} + +/** + * Enhances log/warn/error messages related to TSL. + * + * @param {Array} params - The original message parameters. + * @returns {Array} The filtered and enhanced message parameters. + */ +function enhanceLogMessage( params ) { + + const message = params[ 0 ]; + + if ( typeof message === 'string' && message.startsWith( 'TSL:' ) ) { + + const stackTrace = params[ 1 ]; + + if ( stackTrace && stackTrace.isStackTrace ) { + + params[ 0 ] += ' ' + stackTrace.getLocation(); + + } else { + + params[ 1 ] = 'Stack trace not available. Enable "THREE.Node.captureStackTrace" to capture stack traces.'; + + } + + } + + return params; + +} + +/** + * Logs a warning message with the 'THREE.' prefix. + * + * If a custom console function is set via setConsoleFunction(), it will be used + * instead of the native console.warn. The first parameter is treated as the + * method name and is automatically prefixed with 'THREE.'. + * + * @param {...any} params - The message components. The first param is used as + * the method name and prefixed with 'THREE.'. + */ +function warn( ...params ) { + + params = enhanceLogMessage( params ); + + const message = 'THREE.' + params.shift(); + + if ( _setConsoleFunction ) { + + _setConsoleFunction( 'warn', message, ...params ); + + } else { + + const stackTrace = params[ 0 ]; + + if ( stackTrace && stackTrace.isStackTrace ) { + + console.warn( stackTrace.getError( message ) ); + + } else { + + console.warn( message, ...params ); + + } + + } + +} + +/** + * Logs an error message with the 'THREE.' prefix. + * + * If a custom console function is set via setConsoleFunction(), it will be used + * instead of the native console.error. The first parameter is treated as the + * method name and is automatically prefixed with 'THREE.'. + * + * @param {...any} params - The message components. The first param is used as + * the method name and prefixed with 'THREE.'. + */ +function error( ...params ) { + + params = enhanceLogMessage( params ); + + const message = 'THREE.' + params.shift(); + + if ( _setConsoleFunction ) { + + _setConsoleFunction( 'error', message, ...params ); + + } else { + + const stackTrace = params[ 0 ]; + + if ( stackTrace && stackTrace.isStackTrace ) { + + console.error( stackTrace.getError( message ) ); + + } else { + + console.error( message, ...params ); + + } + + } + +} + +/** + * Logs a warning message only once, preventing duplicate warnings. + * + * This function maintains an internal cache of warning messages and will only + * output each unique warning message once. Useful for warnings that may be + * triggered repeatedly but should only be shown to the user once. + * + * @param {...any} params - The warning message components. + */ +function warnOnce( ...params ) { + + const message = params.join( ' ' ); + + if ( message in _cache ) return; + + _cache[ message ] = true; + + warn( ...params ); + +} + +/** + * Asynchronously probes for WebGL sync object completion. + * + * This function creates a promise that resolves when the WebGL sync object + * signals completion or rejects if the sync operation fails. It uses polling + * at the specified interval to check the sync status without blocking the + * main thread. This is useful for GPU-CPU synchronization in WebGL contexts. + * + * @private + * @param {WebGL2RenderingContext} gl - The WebGL rendering context. + * @param {WebGLSync} sync - The WebGL sync object to wait for. + * @param {number} interval - The polling interval in milliseconds. + * @return {Promise} A promise that resolves when the sync completes or rejects if it fails. + */ +function probeAsync( gl, sync, interval ) { + + return new Promise( function ( resolve, reject ) { + + function probe() { + + switch ( gl.clientWaitSync( sync, gl.SYNC_FLUSH_COMMANDS_BIT, 0 ) ) { + + case gl.WAIT_FAILED: + reject(); + break; + + case gl.TIMEOUT_EXPIRED: + setTimeout( probe, interval ); + break; + + default: + resolve(); + + } + + } + + setTimeout( probe, interval ); + + } ); + +} + +/** + * Used to select the correct depth functions + * when reversed depth buffer is used. + * + * @private + * @type {Object} + */ +const ReversedDepthFuncs = { + [ NeverDepth ]: AlwaysDepth, + [ LessDepth ]: GreaterDepth, + [ EqualDepth ]: NotEqualDepth, + [ LessEqualDepth ]: GreaterEqualDepth, + + [ AlwaysDepth ]: NeverDepth, + [ GreaterDepth ]: LessDepth, + [ NotEqualDepth ]: EqualDepth, + [ GreaterEqualDepth ]: LessEqualDepth, +}; + +/** + * This modules allows to dispatch event objects on custom JavaScript objects. + * + * Main repository: [eventdispatcher.js](https://github.com/mrdoob/eventdispatcher.js/) + * + * Code Example: + * ```js + * class Car extends EventDispatcher { + * start() { + * this.dispatchEvent( { type: 'start', message: 'vroom vroom!' } ); + * } + *}; + * + * // Using events with the custom object + * const car = new Car(); + * car.addEventListener( 'start', function ( event ) { + * alert( event.message ); + * } ); + * + * car.start(); + * ``` + */ +class EventDispatcher { + + /** + * Adds the given event listener to the given event type. + * + * @param {string} type - The type of event to listen to. + * @param {Function} listener - The function that gets called when the event is fired. + */ + addEventListener( type, listener ) { + + if ( this._listeners === undefined ) this._listeners = {}; + + const listeners = this._listeners; + + if ( listeners[ type ] === undefined ) { + + listeners[ type ] = []; + + } + + if ( listeners[ type ].indexOf( listener ) === -1 ) { + + listeners[ type ].push( listener ); + + } + + } + + /** + * Returns `true` if the given event listener has been added to the given event type. + * + * @param {string} type - The type of event. + * @param {Function} listener - The listener to check. + * @return {boolean} Whether the given event listener has been added to the given event type. + */ + hasEventListener( type, listener ) { + + const listeners = this._listeners; + + if ( listeners === undefined ) return false; + + return listeners[ type ] !== undefined && listeners[ type ].indexOf( listener ) !== -1; + + } + + /** + * Removes the given event listener from the given event type. + * + * @param {string} type - The type of event. + * @param {Function} listener - The listener to remove. + */ + removeEventListener( type, listener ) { + + const listeners = this._listeners; + + if ( listeners === undefined ) return; + + const listenerArray = listeners[ type ]; + + if ( listenerArray !== undefined ) { + + const index = listenerArray.indexOf( listener ); + + if ( index !== -1 ) { + + listenerArray.splice( index, 1 ); + + } + + } + + } + + /** + * Dispatches an event object. + * + * @param {Object} event - The event that gets fired. + */ + dispatchEvent( event ) { + + const listeners = this._listeners; + + if ( listeners === undefined ) return; + + const listenerArray = listeners[ event.type ]; + + if ( listenerArray !== undefined ) { + + event.target = this; + + // Make a copy, in case listeners are removed while iterating. + const array = listenerArray.slice( 0 ); + + for ( let i = 0, l = array.length; i < l; i ++ ) { + + array[ i ].call( this, event ); + + } + + event.target = null; + + } + + } + +} + +const _lut = [ '00', '01', '02', '03', '04', '05', '06', '07', '08', '09', '0a', '0b', '0c', '0d', '0e', '0f', '10', '11', '12', '13', '14', '15', '16', '17', '18', '19', '1a', '1b', '1c', '1d', '1e', '1f', '20', '21', '22', '23', '24', '25', '26', '27', '28', '29', '2a', '2b', '2c', '2d', '2e', '2f', '30', '31', '32', '33', '34', '35', '36', '37', '38', '39', '3a', '3b', '3c', '3d', '3e', '3f', '40', '41', '42', '43', '44', '45', '46', '47', '48', '49', '4a', '4b', '4c', '4d', '4e', '4f', '50', '51', '52', '53', '54', '55', '56', '57', '58', '59', '5a', '5b', '5c', '5d', '5e', '5f', '60', '61', '62', '63', '64', '65', '66', '67', '68', '69', '6a', '6b', '6c', '6d', '6e', '6f', '70', '71', '72', '73', '74', '75', '76', '77', '78', '79', '7a', '7b', '7c', '7d', '7e', '7f', '80', '81', '82', '83', '84', '85', '86', '87', '88', '89', '8a', '8b', '8c', '8d', '8e', '8f', '90', '91', '92', '93', '94', '95', '96', '97', '98', '99', '9a', '9b', '9c', '9d', '9e', '9f', 'a0', 'a1', 'a2', 'a3', 'a4', 'a5', 'a6', 'a7', 'a8', 'a9', 'aa', 'ab', 'ac', 'ad', 'ae', 'af', 'b0', 'b1', 'b2', 'b3', 'b4', 'b5', 'b6', 'b7', 'b8', 'b9', 'ba', 'bb', 'bc', 'bd', 'be', 'bf', 'c0', 'c1', 'c2', 'c3', 'c4', 'c5', 'c6', 'c7', 'c8', 'c9', 'ca', 'cb', 'cc', 'cd', 'ce', 'cf', 'd0', 'd1', 'd2', 'd3', 'd4', 'd5', 'd6', 'd7', 'd8', 'd9', 'da', 'db', 'dc', 'dd', 'de', 'df', 'e0', 'e1', 'e2', 'e3', 'e4', 'e5', 'e6', 'e7', 'e8', 'e9', 'ea', 'eb', 'ec', 'ed', 'ee', 'ef', 'f0', 'f1', 'f2', 'f3', 'f4', 'f5', 'f6', 'f7', 'f8', 'f9', 'fa', 'fb', 'fc', 'fd', 'fe', 'ff' ]; + +let _seed = 1234567; + + +const DEG2RAD = Math.PI / 180; +const RAD2DEG = 180 / Math.PI; + +/** + * Generate a [UUID](https://en.wikipedia.org/wiki/Universally_unique_identifier) + * (universally unique identifier). + * + * @return {string} The UUID. + */ +function generateUUID() { + + // http://stackoverflow.com/questions/105034/how-to-create-a-guid-uuid-in-javascript/21963136#21963136 + + const d0 = Math.random() * 0xffffffff | 0; + const d1 = Math.random() * 0xffffffff | 0; + const d2 = Math.random() * 0xffffffff | 0; + const d3 = Math.random() * 0xffffffff | 0; + const uuid = _lut[ d0 & 0xff ] + _lut[ d0 >> 8 & 0xff ] + _lut[ d0 >> 16 & 0xff ] + _lut[ d0 >> 24 & 0xff ] + '-' + + _lut[ d1 & 0xff ] + _lut[ d1 >> 8 & 0xff ] + '-' + _lut[ d1 >> 16 & 0x0f | 0x40 ] + _lut[ d1 >> 24 & 0xff ] + '-' + + _lut[ d2 & 0x3f | 0x80 ] + _lut[ d2 >> 8 & 0xff ] + '-' + _lut[ d2 >> 16 & 0xff ] + _lut[ d2 >> 24 & 0xff ] + + _lut[ d3 & 0xff ] + _lut[ d3 >> 8 & 0xff ] + _lut[ d3 >> 16 & 0xff ] + _lut[ d3 >> 24 & 0xff ]; + + // .toLowerCase() here flattens concatenated strings to save heap memory space. + return uuid.toLowerCase(); + +} + +/** + * Clamps the given value between min and max. + * + * @param {number} value - The value to clamp. + * @param {number} min - The min value. + * @param {number} max - The max value. + * @return {number} The clamped value. + */ +function clamp( value, min, max ) { + + return Math.max( min, Math.min( max, value ) ); + +} + +/** + * Computes the Euclidean modulo of the given parameters that + * is `( ( n % m ) + m ) % m`. + * + * @param {number} n - The first parameter. + * @param {number} m - The second parameter. + * @return {number} The Euclidean modulo. + */ +function euclideanModulo( n, m ) { + + // https://en.wikipedia.org/wiki/Modulo_operation + + return ( ( n % m ) + m ) % m; + +} + +/** + * Performs a linear mapping from range `` to range `` + * for the given value. `a2` must be greater than `a1`. + * + * @param {number} x - The value to be mapped. + * @param {number} a1 - Minimum value for range A. + * @param {number} a2 - Maximum value for range A. + * @param {number} b1 - Minimum value for range B. + * @param {number} b2 - Maximum value for range B. + * @return {number} The mapped value. + */ +function mapLinear( x, a1, a2, b1, b2 ) { + + return b1 + ( x - a1 ) * ( b2 - b1 ) / ( a2 - a1 ); + +} + +/** + * Returns the percentage in the closed interval `[0, 1]` of the given value + * between the start and end point. + * + * @param {number} x - The start point + * @param {number} y - The end point. + * @param {number} value - A value between start and end. + * @return {number} The interpolation factor. + */ +function inverseLerp( x, y, value ) { + + // https://www.gamedev.net/tutorials/programming/general-and-gameplay-programming/inverse-lerp-a-super-useful-yet-often-overlooked-function-r5230/ + + if ( x !== y ) { + + return ( value - x ) / ( y - x ); + + } else { + + return 0; + + } + +} + +/** + * Returns a value linearly interpolated from two known points based on the given interval - + * `t = 0` will return `x` and `t = 1` will return `y`. + * + * @param {number} x - The start point + * @param {number} y - The end point. + * @param {number} t - The interpolation factor in the closed interval `[0, 1]`. + * @return {number} The interpolated value. + */ +function lerp( x, y, t ) { + + return ( 1 - t ) * x + t * y; + +} + +/** + * Smoothly interpolate a number from `x` to `y` in a spring-like manner using a delta + * time to maintain frame rate independent movement. For details, see + * [Frame rate independent damping using lerp](http://www.rorydriscoll.com/2016/03/07/frame-rate-independent-damping-using-lerp/). + * + * @param {number} x - The current point. + * @param {number} y - The target point. + * @param {number} lambda - A higher lambda value will make the movement more sudden, + * and a lower value will make the movement more gradual. + * @param {number} dt - Delta time in seconds. + * @return {number} The interpolated value. + */ +function damp( x, y, lambda, dt ) { + + return lerp( x, y, 1 - Math.exp( - lambda * dt ) ); + +} + +/** + * Returns a value that alternates between `0` and the given `length` parameter. + * + * @param {number} x - The value to pingpong. + * @param {number} [length=1] - The positive value the function will pingpong to. + * @return {number} The alternated value. + */ +function pingpong( x, length = 1 ) { + + // https://www.desmos.com/calculator/vcsjnyz7x4 + + return length - Math.abs( euclideanModulo( x, length * 2 ) - length ); + +} + +/** + * Returns a value in the range `[0,1]` that represents the percentage that `x` has + * moved between `min` and `max`, but smoothed or slowed down the closer `x` is to + * the `min` and `max`. + * + * See [Smoothstep](http://en.wikipedia.org/wiki/Smoothstep) for more details. + * + * @param {number} x - The value to evaluate based on its position between `min` and `max`. + * @param {number} min - The min value. Any `x` value below `min` will be `0`. `min` must be lower than `max`. + * @param {number} max - The max value. Any `x` value above `max` will be `1`. `max` must be greater than `min`. + * @return {number} The alternated value. + */ +function smoothstep( x, min, max ) { + + if ( x <= min ) return 0; + if ( x >= max ) return 1; + + x = ( x - min ) / ( max - min ); + + return x * x * ( 3 - 2 * x ); + +} + +/** + * A [variation on smoothstep](https://en.wikipedia.org/wiki/Smoothstep#Variations) + * that has zero 1st and 2nd order derivatives at `x=0` and `x=1`. + * + * @param {number} x - The value to evaluate based on its position between `min` and `max`. + * @param {number} min - The min value. Any `x` value below `min` will be `0`. `min` must be lower than `max`. + * @param {number} max - The max value. Any `x` value above `max` will be `1`. `max` must be greater than `min`. + * @return {number} The alternated value. + */ +function smootherstep( x, min, max ) { + + if ( x <= min ) return 0; + if ( x >= max ) return 1; + + x = ( x - min ) / ( max - min ); + + return x * x * x * ( x * ( x * 6 - 15 ) + 10 ); + +} + +/** + * Returns a random integer from `` interval. + * + * @param {number} low - The lower value boundary. + * @param {number} high - The upper value boundary + * @return {number} A random integer. + */ +function randInt( low, high ) { + + return low + Math.floor( Math.random() * ( high - low + 1 ) ); + +} + +/** + * Returns a random float from `` interval. + * + * @param {number} low - The lower value boundary. + * @param {number} high - The upper value boundary + * @return {number} A random float. + */ +function randFloat( low, high ) { + + return low + Math.random() * ( high - low ); + +} + +/** + * Returns a random integer from `<-range/2, range/2>` interval. + * + * @param {number} range - Defines the value range. + * @return {number} A random float. + */ +function randFloatSpread( range ) { + + return range * ( 0.5 - Math.random() ); + +} + +/** + * Returns a deterministic pseudo-random float in the interval `[0, 1]`. + * + * @param {number} [s] - The integer seed. + * @return {number} A random float. + */ +function seededRandom( s ) { + + if ( s !== undefined ) _seed = s; + + // Mulberry32 generator + + let t = _seed += 0x6D2B79F5; + + t = Math.imul( t ^ t >>> 15, t | 1 ); + + t ^= t + Math.imul( t ^ t >>> 7, t | 61 ); + + return ( ( t ^ t >>> 14 ) >>> 0 ) / 4294967296; + +} + +/** + * Converts degrees to radians. + * + * @param {number} degrees - A value in degrees. + * @return {number} The converted value in radians. + */ +function degToRad( degrees ) { + + return degrees * DEG2RAD; + +} + +/** + * Converts radians to degrees. + * + * @param {number} radians - A value in radians. + * @return {number} The converted value in degrees. + */ +function radToDeg( radians ) { + + return radians * RAD2DEG; + +} + +/** + * Returns `true` if the given number is a power of two. + * + * @param {number} value - The value to check. + * @return {boolean} Whether the given number is a power of two or not. + */ +function isPowerOfTwo( value ) { + + return ( value & ( value - 1 ) ) === 0 && value !== 0; + +} + +/** + * Returns the smallest power of two that is greater than or equal to the given number. + * + * @param {number} value - The value to find a POT for. Must be greater than `0`. + * @return {number} The smallest power of two that is greater than or equal to the given number. + */ +function ceilPowerOfTwo( value ) { + + return Math.pow( 2, Math.ceil( Math.log( value ) / Math.LN2 ) ); + +} + +/** + * Returns the largest power of two that is less than or equal to the given number. + * + * @param {number} value - The value to find a POT for. Must be greater than `0`. + * @return {number} The largest power of two that is less than or equal to the given number. + */ +function floorPowerOfTwo( value ) { + + return Math.pow( 2, Math.floor( Math.log( value ) / Math.LN2 ) ); + +} + +/** + * Sets the given quaternion from the [Intrinsic Proper Euler Angles](https://en.wikipedia.org/wiki/Euler_angles) + * defined by the given angles and order. + * + * Rotations are applied to the axes in the order specified by order: + * rotation by angle `a` is applied first, then by angle `b`, then by angle `c`. + * + * @param {Quaternion} q - The quaternion to set. + * @param {number} a - The rotation applied to the first axis, in radians. + * @param {number} b - The rotation applied to the second axis, in radians. + * @param {number} c - The rotation applied to the third axis, in radians. + * @param {('XYX'|'XZX'|'YXY'|'YZY'|'ZXZ'|'ZYZ')} order - A string specifying the axes order. + */ +function setQuaternionFromProperEuler( q, a, b, c, order ) { + + const cos = Math.cos; + const sin = Math.sin; + + const c2 = cos( b / 2 ); + const s2 = sin( b / 2 ); + + const c13 = cos( ( a + c ) / 2 ); + const s13 = sin( ( a + c ) / 2 ); + + const c1_3 = cos( ( a - c ) / 2 ); + const s1_3 = sin( ( a - c ) / 2 ); + + const c3_1 = cos( ( c - a ) / 2 ); + const s3_1 = sin( ( c - a ) / 2 ); + + switch ( order ) { + + case 'XYX': + q.set( c2 * s13, s2 * c1_3, s2 * s1_3, c2 * c13 ); + break; + + case 'YZY': + q.set( s2 * s1_3, c2 * s13, s2 * c1_3, c2 * c13 ); + break; + + case 'ZXZ': + q.set( s2 * c1_3, s2 * s1_3, c2 * s13, c2 * c13 ); + break; + + case 'XZX': + q.set( c2 * s13, s2 * s3_1, s2 * c3_1, c2 * c13 ); + break; + + case 'YXY': + q.set( s2 * c3_1, c2 * s13, s2 * s3_1, c2 * c13 ); + break; + + case 'ZYZ': + q.set( s2 * s3_1, s2 * c3_1, c2 * s13, c2 * c13 ); + break; + + default: + warn( 'MathUtils: .setQuaternionFromProperEuler() encountered an unknown order: ' + order ); + + } + +} + +/** + * Denormalizes the given value according to the given typed array. + * + * @param {number} value - The value to denormalize. + * @param {TypedArray} array - The typed array that defines the data type of the value. + * @return {number} The denormalize (float) value in the range `[0,1]`. + */ +function denormalize( value, array ) { + + switch ( array.constructor ) { + + case Float32Array: + + return value; + + case Uint32Array: + + return value / 4294967295.0; + + case Uint16Array: + + return value / 65535.0; + + case Uint8Array: + + return value / 255.0; + + case Int32Array: + + return Math.max( value / 2147483647.0, -1 ); + + case Int16Array: + + return Math.max( value / 32767.0, -1 ); + + case Int8Array: + + return Math.max( value / 127.0, -1 ); + + default: + + throw new Error( 'Invalid component type.' ); + + } + +} + +/** + * Normalizes the given value according to the given typed array. + * + * @param {number} value - The float value in the range `[0,1]` to normalize. + * @param {TypedArray} array - The typed array that defines the data type of the value. + * @return {number} The normalize value. + */ +function normalize( value, array ) { + + switch ( array.constructor ) { + + case Float32Array: + + return value; + + case Uint32Array: + + return Math.round( value * 4294967295.0 ); + + case Uint16Array: + + return Math.round( value * 65535.0 ); + + case Uint8Array: + + return Math.round( value * 255.0 ); + + case Int32Array: + + return Math.round( value * 2147483647.0 ); + + case Int16Array: + + return Math.round( value * 32767.0 ); + + case Int8Array: + + return Math.round( value * 127.0 ); + + default: + + throw new Error( 'Invalid component type.' ); + + } + +} + +/** + * @class + * @classdesc A collection of math utility functions. + * @hideconstructor + */ +const MathUtils = { + DEG2RAD: DEG2RAD, + RAD2DEG: RAD2DEG, + /** + * Generate a [UUID](https://en.wikipedia.org/wiki/Universally_unique_identifier) + * (universally unique identifier). + * + * @static + * @method + * @return {string} The UUID. + */ + generateUUID: generateUUID, + /** + * Clamps the given value between min and max. + * + * @static + * @method + * @param {number} value - The value to clamp. + * @param {number} min - The min value. + * @param {number} max - The max value. + * @return {number} The clamped value. + */ + clamp: clamp, + /** + * Computes the Euclidean modulo of the given parameters that + * is `( ( n % m ) + m ) % m`. + * + * @static + * @method + * @param {number} n - The first parameter. + * @param {number} m - The second parameter. + * @return {number} The Euclidean modulo. + */ + euclideanModulo: euclideanModulo, + /** + * Performs a linear mapping from range `` to range `` + * for the given value. + * + * @static + * @method + * @param {number} x - The value to be mapped. + * @param {number} a1 - Minimum value for range A. + * @param {number} a2 - Maximum value for range A. + * @param {number} b1 - Minimum value for range B. + * @param {number} b2 - Maximum value for range B. + * @return {number} The mapped value. + */ + mapLinear: mapLinear, + /** + * Returns the percentage in the closed interval `[0, 1]` of the given value + * between the start and end point. + * + * @static + * @method + * @param {number} x - The start point + * @param {number} y - The end point. + * @param {number} value - A value between start and end. + * @return {number} The interpolation factor. + */ + inverseLerp: inverseLerp, + /** + * Returns a value linearly interpolated from two known points based on the given interval - + * `t = 0` will return `x` and `t = 1` will return `y`. + * + * @static + * @method + * @param {number} x - The start point + * @param {number} y - The end point. + * @param {number} t - The interpolation factor in the closed interval `[0, 1]`. + * @return {number} The interpolated value. + */ + lerp: lerp, + /** + * Smoothly interpolate a number from `x` to `y` in a spring-like manner using a delta + * time to maintain frame rate independent movement. For details, see + * [Frame rate independent damping using lerp](http://www.rorydriscoll.com/2016/03/07/frame-rate-independent-damping-using-lerp/). + * + * @static + * @method + * @param {number} x - The current point. + * @param {number} y - The target point. + * @param {number} lambda - A higher lambda value will make the movement more sudden, + * and a lower value will make the movement more gradual. + * @param {number} dt - Delta time in seconds. + * @return {number} The interpolated value. + */ + damp: damp, + /** + * Returns a value that alternates between `0` and the given `length` parameter. + * + * @static + * @method + * @param {number} x - The value to pingpong. + * @param {number} [length=1] - The positive value the function will pingpong to. + * @return {number} The alternated value. + */ + pingpong: pingpong, + /** + * Returns a value in the range `[0,1]` that represents the percentage that `x` has + * moved between `min` and `max`, but smoothed or slowed down the closer `x` is to + * the `min` and `max`. + * + * See [Smoothstep](http://en.wikipedia.org/wiki/Smoothstep) for more details. + * + * @static + * @method + * @param {number} x - The value to evaluate based on its position between min and max. + * @param {number} min - The min value. Any x value below min will be `0`. + * @param {number} max - The max value. Any x value above max will be `1`. + * @return {number} The alternated value. + */ + smoothstep: smoothstep, + /** + * A [variation on smoothstep](https://en.wikipedia.org/wiki/Smoothstep#Variations) + * that has zero 1st and 2nd order derivatives at x=0 and x=1. + * + * @static + * @method + * @param {number} x - The value to evaluate based on its position between min and max. + * @param {number} min - The min value. Any x value below min will be `0`. + * @param {number} max - The max value. Any x value above max will be `1`. + * @return {number} The alternated value. + */ + smootherstep: smootherstep, + /** + * Returns a random integer from `` interval. + * + * @static + * @method + * @param {number} low - The lower value boundary. + * @param {number} high - The upper value boundary + * @return {number} A random integer. + */ + randInt: randInt, + /** + * Returns a random float from `` interval. + * + * @static + * @method + * @param {number} low - The lower value boundary. + * @param {number} high - The upper value boundary + * @return {number} A random float. + */ + randFloat: randFloat, + /** + * Returns a random integer from `<-range/2, range/2>` interval. + * + * @static + * @method + * @param {number} range - Defines the value range. + * @return {number} A random float. + */ + randFloatSpread: randFloatSpread, + /** + * Returns a deterministic pseudo-random float in the interval `[0, 1]`. + * + * @static + * @method + * @param {number} [s] - The integer seed. + * @return {number} A random float. + */ + seededRandom: seededRandom, + /** + * Converts degrees to radians. + * + * @static + * @method + * @param {number} degrees - A value in degrees. + * @return {number} The converted value in radians. + */ + degToRad: degToRad, + /** + * Converts radians to degrees. + * + * @static + * @method + * @param {number} radians - A value in radians. + * @return {number} The converted value in degrees. + */ + radToDeg: radToDeg, + /** + * Returns `true` if the given number is a power of two. + * + * @static + * @method + * @param {number} value - The value to check. + * @return {boolean} Whether the given number is a power of two or not. + */ + isPowerOfTwo: isPowerOfTwo, + /** + * Returns the smallest power of two that is greater than or equal to the given number. + * + * @static + * @method + * @param {number} value - The value to find a POT for. + * @return {number} The smallest power of two that is greater than or equal to the given number. + */ + ceilPowerOfTwo: ceilPowerOfTwo, + /** + * Returns the largest power of two that is less than or equal to the given number. + * + * @static + * @method + * @param {number} value - The value to find a POT for. + * @return {number} The largest power of two that is less than or equal to the given number. + */ + floorPowerOfTwo: floorPowerOfTwo, + /** + * Sets the given quaternion from the [Intrinsic Proper Euler Angles](https://en.wikipedia.org/wiki/Euler_angles) + * defined by the given angles and order. + * + * Rotations are applied to the axes in the order specified by order: + * rotation by angle `a` is applied first, then by angle `b`, then by angle `c`. + * + * @static + * @method + * @param {Quaternion} q - The quaternion to set. + * @param {number} a - The rotation applied to the first axis, in radians. + * @param {number} b - The rotation applied to the second axis, in radians. + * @param {number} c - The rotation applied to the third axis, in radians. + * @param {('XYX'|'XZX'|'YXY'|'YZY'|'ZXZ'|'ZYZ')} order - A string specifying the axes order. + */ + setQuaternionFromProperEuler: setQuaternionFromProperEuler, + /** + * Normalizes the given value according to the given typed array. + * + * @static + * @method + * @param {number} value - The float value in the range `[0,1]` to normalize. + * @param {TypedArray} array - The typed array that defines the data type of the value. + * @return {number} The normalize value. + */ + normalize: normalize, + /** + * Denormalizes the given value according to the given typed array. + * + * @static + * @method + * @param {number} value - The value to denormalize. + * @param {TypedArray} array - The typed array that defines the data type of the value. + * @return {number} The denormalize (float) value in the range `[0,1]`. + */ + denormalize: denormalize +}; + +/** + * Class representing a 2D vector. A 2D vector is an ordered pair of numbers + * (labeled x and y), which can be used to represent a number of things, such as: + * + * - A point in 2D space (i.e. a position on a plane). + * - A direction and length across a plane. In three.js the length will + * always be the Euclidean distance(straight-line distance) from `(0, 0)` to `(x, y)` + * and the direction is also measured from `(0, 0)` towards `(x, y)`. + * - Any arbitrary ordered pair of numbers. + * + * There are other things a 2D vector can be used to represent, such as + * momentum vectors, complex numbers and so on, however these are the most + * common uses in three.js. + * + * Iterating through a vector instance will yield its components `(x, y)` in + * the corresponding order. + * ```js + * const a = new THREE.Vector2( 0, 1 ); + * + * //no arguments; will be initialised to (0, 0) + * const b = new THREE.Vector2( ); + * + * const d = a.distanceTo( b ); + * ``` + */ +class Vector2 { + + /** + * Constructs a new 2D vector. + * + * @param {number} [x=0] - The x value of this vector. + * @param {number} [y=0] - The y value of this vector. + */ + constructor( x = 0, y = 0 ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + Vector2.prototype.isVector2 = true; + + /** + * The x value of this vector. + * + * @type {number} + */ + this.x = x; + + /** + * The y value of this vector. + * + * @type {number} + */ + this.y = y; + + } + + /** + * Alias for {@link Vector2#x}. + * + * @type {number} + */ + get width() { + + return this.x; + + } + + set width( value ) { + + this.x = value; + + } + + /** + * Alias for {@link Vector2#y}. + * + * @type {number} + */ + get height() { + + return this.y; + + } + + set height( value ) { + + this.y = value; + + } + + /** + * Sets the vector components. + * + * @param {number} x - The value of the x component. + * @param {number} y - The value of the y component. + * @return {Vector2} A reference to this vector. + */ + set( x, y ) { + + this.x = x; + this.y = y; + + return this; + + } + + /** + * Sets the vector components to the same value. + * + * @param {number} scalar - The value to set for all vector components. + * @return {Vector2} A reference to this vector. + */ + setScalar( scalar ) { + + this.x = scalar; + this.y = scalar; + + return this; + + } + + /** + * Sets the vector's x component to the given value + * + * @param {number} x - The value to set. + * @return {Vector2} A reference to this vector. + */ + setX( x ) { + + this.x = x; + + return this; + + } + + /** + * Sets the vector's y component to the given value + * + * @param {number} y - The value to set. + * @return {Vector2} A reference to this vector. + */ + setY( y ) { + + this.y = y; + + return this; + + } + + /** + * Allows to set a vector component with an index. + * + * @param {number} index - The component index. `0` equals to x, `1` equals to y. + * @param {number} value - The value to set. + * @return {Vector2} A reference to this vector. + */ + setComponent( index, value ) { + + switch ( index ) { + + case 0: this.x = value; break; + case 1: this.y = value; break; + default: throw new Error( 'index is out of range: ' + index ); + + } + + return this; + + } + + /** + * Returns the value of the vector component which matches the given index. + * + * @param {number} index - The component index. `0` equals to x, `1` equals to y. + * @return {number} A vector component value. + */ + getComponent( index ) { + + switch ( index ) { + + case 0: return this.x; + case 1: return this.y; + default: throw new Error( 'index is out of range: ' + index ); + + } + + } + + /** + * Returns a new vector with copied values from this instance. + * + * @return {Vector2} A clone of this instance. + */ + clone() { + + return new this.constructor( this.x, this.y ); + + } + + /** + * Copies the values of the given vector to this instance. + * + * @param {Vector2} v - The vector to copy. + * @return {Vector2} A reference to this vector. + */ + copy( v ) { + + this.x = v.x; + this.y = v.y; + + return this; + + } + + /** + * Adds the given vector to this instance. + * + * @param {Vector2} v - The vector to add. + * @return {Vector2} A reference to this vector. + */ + add( v ) { + + this.x += v.x; + this.y += v.y; + + return this; + + } + + /** + * Adds the given scalar value to all components of this instance. + * + * @param {number} s - The scalar to add. + * @return {Vector2} A reference to this vector. + */ + addScalar( s ) { + + this.x += s; + this.y += s; + + return this; + + } + + /** + * Adds the given vectors and stores the result in this instance. + * + * @param {Vector2} a - The first vector. + * @param {Vector2} b - The second vector. + * @return {Vector2} A reference to this vector. + */ + addVectors( a, b ) { + + this.x = a.x + b.x; + this.y = a.y + b.y; + + return this; + + } + + /** + * Adds the given vector scaled by the given factor to this instance. + * + * @param {Vector2} v - The vector. + * @param {number} s - The factor that scales `v`. + * @return {Vector2} A reference to this vector. + */ + addScaledVector( v, s ) { + + this.x += v.x * s; + this.y += v.y * s; + + return this; + + } + + /** + * Subtracts the given vector from this instance. + * + * @param {Vector2} v - The vector to subtract. + * @return {Vector2} A reference to this vector. + */ + sub( v ) { + + this.x -= v.x; + this.y -= v.y; + + return this; + + } + + /** + * Subtracts the given scalar value from all components of this instance. + * + * @param {number} s - The scalar to subtract. + * @return {Vector2} A reference to this vector. + */ + subScalar( s ) { + + this.x -= s; + this.y -= s; + + return this; + + } + + /** + * Subtracts the given vectors and stores the result in this instance. + * + * @param {Vector2} a - The first vector. + * @param {Vector2} b - The second vector. + * @return {Vector2} A reference to this vector. + */ + subVectors( a, b ) { + + this.x = a.x - b.x; + this.y = a.y - b.y; + + return this; + + } + + /** + * Multiplies the given vector with this instance. + * + * @param {Vector2} v - The vector to multiply. + * @return {Vector2} A reference to this vector. + */ + multiply( v ) { + + this.x *= v.x; + this.y *= v.y; + + return this; + + } + + /** + * Multiplies the given scalar value with all components of this instance. + * + * @param {number} scalar - The scalar to multiply. + * @return {Vector2} A reference to this vector. + */ + multiplyScalar( scalar ) { + + this.x *= scalar; + this.y *= scalar; + + return this; + + } + + /** + * Divides this instance by the given vector. + * + * @param {Vector2} v - The vector to divide. + * @return {Vector2} A reference to this vector. + */ + divide( v ) { + + this.x /= v.x; + this.y /= v.y; + + return this; + + } + + /** + * Divides this vector by the given scalar. + * + * @param {number} scalar - The scalar to divide. + * @return {Vector2} A reference to this vector. + */ + divideScalar( scalar ) { + + return this.multiplyScalar( 1 / scalar ); + + } + + /** + * Multiplies this vector (with an implicit 1 as the 3rd component) by + * the given 3x3 matrix. + * + * @param {Matrix3} m - The matrix to apply. + * @return {Vector2} A reference to this vector. + */ + applyMatrix3( m ) { + + const x = this.x, y = this.y; + const e = m.elements; + + this.x = e[ 0 ] * x + e[ 3 ] * y + e[ 6 ]; + this.y = e[ 1 ] * x + e[ 4 ] * y + e[ 7 ]; + + return this; + + } + + /** + * If this vector's x or y value is greater than the given vector's x or y + * value, replace that value with the corresponding min value. + * + * @param {Vector2} v - The vector. + * @return {Vector2} A reference to this vector. + */ + min( v ) { + + this.x = Math.min( this.x, v.x ); + this.y = Math.min( this.y, v.y ); + + return this; + + } + + /** + * If this vector's x or y value is less than the given vector's x or y + * value, replace that value with the corresponding max value. + * + * @param {Vector2} v - The vector. + * @return {Vector2} A reference to this vector. + */ + max( v ) { + + this.x = Math.max( this.x, v.x ); + this.y = Math.max( this.y, v.y ); + + return this; + + } + + /** + * If this vector's x or y value is greater than the max vector's x or y + * value, it is replaced by the corresponding value. + * If this vector's x or y value is less than the min vector's x or y value, + * it is replaced by the corresponding value. + * + * @param {Vector2} min - The minimum x and y values. + * @param {Vector2} max - The maximum x and y values in the desired range. + * @return {Vector2} A reference to this vector. + */ + clamp( min, max ) { + + // assumes min < max, componentwise + + this.x = clamp( this.x, min.x, max.x ); + this.y = clamp( this.y, min.y, max.y ); + + return this; + + } + + /** + * If this vector's x or y values are greater than the max value, they are + * replaced by the max value. + * If this vector's x or y values are less than the min value, they are + * replaced by the min value. + * + * @param {number} minVal - The minimum value the components will be clamped to. + * @param {number} maxVal - The maximum value the components will be clamped to. + * @return {Vector2} A reference to this vector. + */ + clampScalar( minVal, maxVal ) { + + this.x = clamp( this.x, minVal, maxVal ); + this.y = clamp( this.y, minVal, maxVal ); + + return this; + + } + + /** + * If this vector's length is greater than the max value, it is replaced by + * the max value. + * If this vector's length is less than the min value, it is replaced by the + * min value. + * + * @param {number} min - The minimum value the vector length will be clamped to. + * @param {number} max - The maximum value the vector length will be clamped to. + * @return {Vector2} A reference to this vector. + */ + clampLength( min, max ) { + + const length = this.length(); + + return this.divideScalar( length || 1 ).multiplyScalar( clamp( length, min, max ) ); + + } + + /** + * The components of this vector are rounded down to the nearest integer value. + * + * @return {Vector2} A reference to this vector. + */ + floor() { + + this.x = Math.floor( this.x ); + this.y = Math.floor( this.y ); + + return this; + + } + + /** + * The components of this vector are rounded up to the nearest integer value. + * + * @return {Vector2} A reference to this vector. + */ + ceil() { + + this.x = Math.ceil( this.x ); + this.y = Math.ceil( this.y ); + + return this; + + } + + /** + * The components of this vector are rounded to the nearest integer value + * + * @return {Vector2} A reference to this vector. + */ + round() { + + this.x = Math.round( this.x ); + this.y = Math.round( this.y ); + + return this; + + } + + /** + * The components of this vector are rounded towards zero (up if negative, + * down if positive) to an integer value. + * + * @return {Vector2} A reference to this vector. + */ + roundToZero() { + + this.x = Math.trunc( this.x ); + this.y = Math.trunc( this.y ); + + return this; + + } + + /** + * Inverts this vector - i.e. sets x = -x and y = -y. + * + * @return {Vector2} A reference to this vector. + */ + negate() { + + this.x = - this.x; + this.y = - this.y; + + return this; + + } + + /** + * Calculates the dot product of the given vector with this instance. + * + * @param {Vector2} v - The vector to compute the dot product with. + * @return {number} The result of the dot product. + */ + dot( v ) { + + return this.x * v.x + this.y * v.y; + + } + + /** + * Calculates the cross product of the given vector with this instance. + * + * @param {Vector2} v - The vector to compute the cross product with. + * @return {number} The result of the cross product. + */ + cross( v ) { + + return this.x * v.y - this.y * v.x; + + } + + /** + * Computes the square of the Euclidean length (straight-line length) from + * (0, 0) to (x, y). If you are comparing the lengths of vectors, you should + * compare the length squared instead as it is slightly more efficient to calculate. + * + * @return {number} The square length of this vector. + */ + lengthSq() { + + return this.x * this.x + this.y * this.y; + + } + + /** + * Computes the Euclidean length (straight-line length) from (0, 0) to (x, y). + * + * @return {number} The length of this vector. + */ + length() { + + return Math.sqrt( this.x * this.x + this.y * this.y ); + + } + + /** + * Computes the Manhattan length of this vector. + * + * @return {number} The length of this vector. + */ + manhattanLength() { + + return Math.abs( this.x ) + Math.abs( this.y ); + + } + + /** + * Converts this vector to a unit vector - that is, sets it equal to a vector + * with the same direction as this one, but with a vector length of `1`. + * + * @return {Vector2} A reference to this vector. + */ + normalize() { + + return this.divideScalar( this.length() || 1 ); + + } + + /** + * Computes the angle in radians of this vector with respect to the positive x-axis. + * + * @return {number} The angle in radians. + */ + angle() { + + const angle = Math.atan2( - this.y, - this.x ) + Math.PI; + + return angle; + + } + + /** + * Returns the angle between the given vector and this instance in radians. + * + * @param {Vector2} v - The vector to compute the angle with. + * @return {number} The angle in radians. + */ + angleTo( v ) { + + const denominator = Math.sqrt( this.lengthSq() * v.lengthSq() ); + + if ( denominator === 0 ) return Math.PI / 2; + + const theta = this.dot( v ) / denominator; + + // clamp, to handle numerical problems + + return Math.acos( clamp( theta, -1, 1 ) ); + + } + + /** + * Computes the distance from the given vector to this instance. + * + * @param {Vector2} v - The vector to compute the distance to. + * @return {number} The distance. + */ + distanceTo( v ) { + + return Math.sqrt( this.distanceToSquared( v ) ); + + } + + /** + * Computes the squared distance from the given vector to this instance. + * If you are just comparing the distance with another distance, you should compare + * the distance squared instead as it is slightly more efficient to calculate. + * + * @param {Vector2} v - The vector to compute the squared distance to. + * @return {number} The squared distance. + */ + distanceToSquared( v ) { + + const dx = this.x - v.x, dy = this.y - v.y; + return dx * dx + dy * dy; + + } + + /** + * Computes the Manhattan distance from the given vector to this instance. + * + * @param {Vector2} v - The vector to compute the Manhattan distance to. + * @return {number} The Manhattan distance. + */ + manhattanDistanceTo( v ) { + + return Math.abs( this.x - v.x ) + Math.abs( this.y - v.y ); + + } + + /** + * Sets this vector to a vector with the same direction as this one, but + * with the specified length. + * + * @param {number} length - The new length of this vector. + * @return {Vector2} A reference to this vector. + */ + setLength( length ) { + + return this.normalize().multiplyScalar( length ); + + } + + /** + * Linearly interpolates between the given vector and this instance, where + * alpha is the percent distance along the line - alpha = 0 will be this + * vector, and alpha = 1 will be the given one. + * + * @param {Vector2} v - The vector to interpolate towards. + * @param {number} alpha - The interpolation factor, typically in the closed interval `[0, 1]`. + * @return {Vector2} A reference to this vector. + */ + lerp( v, alpha ) { + + this.x += ( v.x - this.x ) * alpha; + this.y += ( v.y - this.y ) * alpha; + + return this; + + } + + /** + * Linearly interpolates between the given vectors, where alpha is the percent + * distance along the line - alpha = 0 will be first vector, and alpha = 1 will + * be the second one. The result is stored in this instance. + * + * @param {Vector2} v1 - The first vector. + * @param {Vector2} v2 - The second vector. + * @param {number} alpha - The interpolation factor, typically in the closed interval `[0, 1]`. + * @return {Vector2} A reference to this vector. + */ + lerpVectors( v1, v2, alpha ) { + + this.x = v1.x + ( v2.x - v1.x ) * alpha; + this.y = v1.y + ( v2.y - v1.y ) * alpha; + + return this; + + } + + /** + * Returns `true` if this vector is equal with the given one. + * + * @param {Vector2} v - The vector to test for equality. + * @return {boolean} Whether this vector is equal with the given one. + */ + equals( v ) { + + return ( ( v.x === this.x ) && ( v.y === this.y ) ); + + } + + /** + * Sets this vector's x value to be `array[ offset ]` and y + * value to be `array[ offset + 1 ]`. + * + * @param {Array} array - An array holding the vector component values. + * @param {number} [offset=0] - The offset into the array. + * @return {Vector2} A reference to this vector. + */ + fromArray( array, offset = 0 ) { + + this.x = array[ offset ]; + this.y = array[ offset + 1 ]; + + return this; + + } + + /** + * Writes the components of this vector to the given array. If no array is provided, + * the method returns a new instance. + * + * @param {Array} [array=[]] - The target array holding the vector components. + * @param {number} [offset=0] - Index of the first element in the array. + * @return {Array} The vector components. + */ + toArray( array = [], offset = 0 ) { + + array[ offset ] = this.x; + array[ offset + 1 ] = this.y; + + return array; + + } + + /** + * Sets the components of this vector from the given buffer attribute. + * + * @param {BufferAttribute} attribute - The buffer attribute holding vector data. + * @param {number} index - The index into the attribute. + * @return {Vector2} A reference to this vector. + */ + fromBufferAttribute( attribute, index ) { + + this.x = attribute.getX( index ); + this.y = attribute.getY( index ); + + return this; + + } + + /** + * Rotates this vector around the given center by the given angle. + * + * @param {Vector2} center - The point around which to rotate. + * @param {number} angle - The angle to rotate, in radians. + * @return {Vector2} A reference to this vector. + */ + rotateAround( center, angle ) { + + const c = Math.cos( angle ), s = Math.sin( angle ); + + const x = this.x - center.x; + const y = this.y - center.y; + + this.x = x * c - y * s + center.x; + this.y = x * s + y * c + center.y; + + return this; + + } + + /** + * Sets each component of this vector to a pseudo-random value between `0` and + * `1`, excluding `1`. + * + * @return {Vector2} A reference to this vector. + */ + random() { + + this.x = Math.random(); + this.y = Math.random(); + + return this; + + } + + *[ Symbol.iterator ]() { + + yield this.x; + yield this.y; + + } + +} + +/** + * Class for representing a Quaternion. Quaternions are used in three.js to represent rotations. + * + * Iterating through a vector instance will yield its components `(x, y, z, w)` in + * the corresponding order. + * + * Note that three.js expects Quaternions to be normalized. + * ```js + * const quaternion = new THREE.Quaternion(); + * quaternion.setFromAxisAngle( new THREE.Vector3( 0, 1, 0 ), Math.PI / 2 ); + * + * const vector = new THREE.Vector3( 1, 0, 0 ); + * vector.applyQuaternion( quaternion ); + * ``` + */ +class Quaternion { + + /** + * Constructs a new quaternion. + * + * @param {number} [x=0] - The x value of this quaternion. + * @param {number} [y=0] - The y value of this quaternion. + * @param {number} [z=0] - The z value of this quaternion. + * @param {number} [w=1] - The w value of this quaternion. + */ + constructor( x = 0, y = 0, z = 0, w = 1 ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isQuaternion = true; + + this._x = x; + this._y = y; + this._z = z; + this._w = w; + + } + + /** + * Interpolates between two quaternions via SLERP. This implementation assumes the + * quaternion data are managed in flat arrays. + * + * @param {Array} dst - The destination array. + * @param {number} dstOffset - An offset into the destination array. + * @param {Array} src0 - The source array of the first quaternion. + * @param {number} srcOffset0 - An offset into the first source array. + * @param {Array} src1 - The source array of the second quaternion. + * @param {number} srcOffset1 - An offset into the second source array. + * @param {number} t - The interpolation factor. A value in the range `[0,1]` will interpolate. A value outside the range `[0,1]` will extrapolate. + * @see {@link Quaternion#slerp} + */ + static slerpFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t ) { + + let x0 = src0[ srcOffset0 + 0 ], + y0 = src0[ srcOffset0 + 1 ], + z0 = src0[ srcOffset0 + 2 ], + w0 = src0[ srcOffset0 + 3 ]; + + let x1 = src1[ srcOffset1 + 0 ], + y1 = src1[ srcOffset1 + 1 ], + z1 = src1[ srcOffset1 + 2 ], + w1 = src1[ srcOffset1 + 3 ]; + + if ( w0 !== w1 || x0 !== x1 || y0 !== y1 || z0 !== z1 ) { + + let dot = x0 * x1 + y0 * y1 + z0 * z1 + w0 * w1; + + if ( dot < 0 ) { + + x1 = - x1; + y1 = - y1; + z1 = - z1; + w1 = - w1; + + dot = - dot; + + } + + let s = 1 - t; + + if ( dot < 0.9995 ) { + + // slerp + + const theta = Math.acos( dot ); + const sin = Math.sin( theta ); + + s = Math.sin( s * theta ) / sin; + t = Math.sin( t * theta ) / sin; + + x0 = x0 * s + x1 * t; + y0 = y0 * s + y1 * t; + z0 = z0 * s + z1 * t; + w0 = w0 * s + w1 * t; + + } else { + + // for small angles, lerp then normalize + + x0 = x0 * s + x1 * t; + y0 = y0 * s + y1 * t; + z0 = z0 * s + z1 * t; + w0 = w0 * s + w1 * t; + + const f = 1 / Math.sqrt( x0 * x0 + y0 * y0 + z0 * z0 + w0 * w0 ); + + x0 *= f; + y0 *= f; + z0 *= f; + w0 *= f; + + } + + } + + dst[ dstOffset ] = x0; + dst[ dstOffset + 1 ] = y0; + dst[ dstOffset + 2 ] = z0; + dst[ dstOffset + 3 ] = w0; + + } + + /** + * Multiplies two quaternions. This implementation assumes the quaternion data are managed + * in flat arrays. + * + * @param {Array} dst - The destination array. + * @param {number} dstOffset - An offset into the destination array. + * @param {Array} src0 - The source array of the first quaternion. + * @param {number} srcOffset0 - An offset into the first source array. + * @param {Array} src1 - The source array of the second quaternion. + * @param {number} srcOffset1 - An offset into the second source array. + * @return {Array} The destination array. + * @see {@link Quaternion#multiplyQuaternions}. + */ + static multiplyQuaternionsFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1 ) { + + const x0 = src0[ srcOffset0 ]; + const y0 = src0[ srcOffset0 + 1 ]; + const z0 = src0[ srcOffset0 + 2 ]; + const w0 = src0[ srcOffset0 + 3 ]; + + const x1 = src1[ srcOffset1 ]; + const y1 = src1[ srcOffset1 + 1 ]; + const z1 = src1[ srcOffset1 + 2 ]; + const w1 = src1[ srcOffset1 + 3 ]; + + dst[ dstOffset ] = x0 * w1 + w0 * x1 + y0 * z1 - z0 * y1; + dst[ dstOffset + 1 ] = y0 * w1 + w0 * y1 + z0 * x1 - x0 * z1; + dst[ dstOffset + 2 ] = z0 * w1 + w0 * z1 + x0 * y1 - y0 * x1; + dst[ dstOffset + 3 ] = w0 * w1 - x0 * x1 - y0 * y1 - z0 * z1; + + return dst; + + } + + /** + * The x value of this quaternion. + * + * @type {number} + * @default 0 + */ + get x() { + + return this._x; + + } + + set x( value ) { + + this._x = value; + this._onChangeCallback(); + + } + + /** + * The y value of this quaternion. + * + * @type {number} + * @default 0 + */ + get y() { + + return this._y; + + } + + set y( value ) { + + this._y = value; + this._onChangeCallback(); + + } + + /** + * The z value of this quaternion. + * + * @type {number} + * @default 0 + */ + get z() { + + return this._z; + + } + + set z( value ) { + + this._z = value; + this._onChangeCallback(); + + } + + /** + * The w value of this quaternion. + * + * @type {number} + * @default 1 + */ + get w() { + + return this._w; + + } + + set w( value ) { + + this._w = value; + this._onChangeCallback(); + + } + + /** + * Sets the quaternion components. + * + * @param {number} x - The x value of this quaternion. + * @param {number} y - The y value of this quaternion. + * @param {number} z - The z value of this quaternion. + * @param {number} w - The w value of this quaternion. + * @return {Quaternion} A reference to this quaternion. + */ + set( x, y, z, w ) { + + this._x = x; + this._y = y; + this._z = z; + this._w = w; + + this._onChangeCallback(); + + return this; + + } + + /** + * Returns a new quaternion with copied values from this instance. + * + * @return {Quaternion} A clone of this instance. + */ + clone() { + + return new this.constructor( this._x, this._y, this._z, this._w ); + + } + + /** + * Copies the values of the given quaternion to this instance. + * + * @param {Quaternion} quaternion - The quaternion to copy. + * @return {Quaternion} A reference to this quaternion. + */ + copy( quaternion ) { + + this._x = quaternion.x; + this._y = quaternion.y; + this._z = quaternion.z; + this._w = quaternion.w; + + this._onChangeCallback(); + + return this; + + } + + /** + * Sets this quaternion from the rotation specified by the given + * Euler angles. + * + * @param {Euler} euler - The Euler angles. + * @param {boolean} [update=true] - Whether the internal `onChange` callback should be executed or not. + * @return {Quaternion} A reference to this quaternion. + */ + setFromEuler( euler, update = true ) { + + const x = euler._x, y = euler._y, z = euler._z, order = euler._order; + + // http://www.mathworks.com/matlabcentral/fileexchange/ + // 20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/ + // content/SpinCalc.m + + const cos = Math.cos; + const sin = Math.sin; + + const c1 = cos( x / 2 ); + const c2 = cos( y / 2 ); + const c3 = cos( z / 2 ); + + const s1 = sin( x / 2 ); + const s2 = sin( y / 2 ); + const s3 = sin( z / 2 ); + + switch ( order ) { + + case 'XYZ': + this._x = s1 * c2 * c3 + c1 * s2 * s3; + this._y = c1 * s2 * c3 - s1 * c2 * s3; + this._z = c1 * c2 * s3 + s1 * s2 * c3; + this._w = c1 * c2 * c3 - s1 * s2 * s3; + break; + + case 'YXZ': + this._x = s1 * c2 * c3 + c1 * s2 * s3; + this._y = c1 * s2 * c3 - s1 * c2 * s3; + this._z = c1 * c2 * s3 - s1 * s2 * c3; + this._w = c1 * c2 * c3 + s1 * s2 * s3; + break; + + case 'ZXY': + this._x = s1 * c2 * c3 - c1 * s2 * s3; + this._y = c1 * s2 * c3 + s1 * c2 * s3; + this._z = c1 * c2 * s3 + s1 * s2 * c3; + this._w = c1 * c2 * c3 - s1 * s2 * s3; + break; + + case 'ZYX': + this._x = s1 * c2 * c3 - c1 * s2 * s3; + this._y = c1 * s2 * c3 + s1 * c2 * s3; + this._z = c1 * c2 * s3 - s1 * s2 * c3; + this._w = c1 * c2 * c3 + s1 * s2 * s3; + break; + + case 'YZX': + this._x = s1 * c2 * c3 + c1 * s2 * s3; + this._y = c1 * s2 * c3 + s1 * c2 * s3; + this._z = c1 * c2 * s3 - s1 * s2 * c3; + this._w = c1 * c2 * c3 - s1 * s2 * s3; + break; + + case 'XZY': + this._x = s1 * c2 * c3 - c1 * s2 * s3; + this._y = c1 * s2 * c3 - s1 * c2 * s3; + this._z = c1 * c2 * s3 + s1 * s2 * c3; + this._w = c1 * c2 * c3 + s1 * s2 * s3; + break; + + default: + warn( 'Quaternion: .setFromEuler() encountered an unknown order: ' + order ); + + } + + if ( update === true ) this._onChangeCallback(); + + return this; + + } + + /** + * Sets this quaternion from the given axis and angle. + * + * @param {Vector3} axis - The normalized axis. + * @param {number} angle - The angle in radians. + * @return {Quaternion} A reference to this quaternion. + */ + setFromAxisAngle( axis, angle ) { + + // http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm + + const halfAngle = angle / 2, s = Math.sin( halfAngle ); + + this._x = axis.x * s; + this._y = axis.y * s; + this._z = axis.z * s; + this._w = Math.cos( halfAngle ); + + this._onChangeCallback(); + + return this; + + } + + /** + * Sets this quaternion from the given rotation matrix. + * + * @param {Matrix4} m - A 4x4 matrix of which the upper 3x3 of matrix is a pure rotation matrix (i.e. unscaled). + * @return {Quaternion} A reference to this quaternion. + */ + setFromRotationMatrix( m ) { + + // http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm + + // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled) + + const te = m.elements, + + m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ], + m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ], + m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ], + + trace = m11 + m22 + m33; + + if ( trace > 0 ) { + + const s = 0.5 / Math.sqrt( trace + 1.0 ); + + this._w = 0.25 / s; + this._x = ( m32 - m23 ) * s; + this._y = ( m13 - m31 ) * s; + this._z = ( m21 - m12 ) * s; + + } else if ( m11 > m22 && m11 > m33 ) { + + const s = 2.0 * Math.sqrt( 1.0 + m11 - m22 - m33 ); + + this._w = ( m32 - m23 ) / s; + this._x = 0.25 * s; + this._y = ( m12 + m21 ) / s; + this._z = ( m13 + m31 ) / s; + + } else if ( m22 > m33 ) { + + const s = 2.0 * Math.sqrt( 1.0 + m22 - m11 - m33 ); + + this._w = ( m13 - m31 ) / s; + this._x = ( m12 + m21 ) / s; + this._y = 0.25 * s; + this._z = ( m23 + m32 ) / s; + + } else { + + const s = 2.0 * Math.sqrt( 1.0 + m33 - m11 - m22 ); + + this._w = ( m21 - m12 ) / s; + this._x = ( m13 + m31 ) / s; + this._y = ( m23 + m32 ) / s; + this._z = 0.25 * s; + + } + + this._onChangeCallback(); + + return this; + + } + + /** + * Sets this quaternion to the rotation required to rotate the direction vector + * `vFrom` to the direction vector `vTo`. + * + * @param {Vector3} vFrom - The first (normalized) direction vector. + * @param {Vector3} vTo - The second (normalized) direction vector. + * @return {Quaternion} A reference to this quaternion. + */ + setFromUnitVectors( vFrom, vTo ) { + + // assumes direction vectors vFrom and vTo are normalized + + let r = vFrom.dot( vTo ) + 1; + + if ( r < 1e-8 ) { // the epsilon value has been discussed in #31286 + + // vFrom and vTo point in opposite directions + + r = 0; + + if ( Math.abs( vFrom.x ) > Math.abs( vFrom.z ) ) { + + this._x = - vFrom.y; + this._y = vFrom.x; + this._z = 0; + this._w = r; + + } else { + + this._x = 0; + this._y = - vFrom.z; + this._z = vFrom.y; + this._w = r; + + } + + } else { + + // crossVectors( vFrom, vTo ); // inlined to avoid cyclic dependency on Vector3 + + this._x = vFrom.y * vTo.z - vFrom.z * vTo.y; + this._y = vFrom.z * vTo.x - vFrom.x * vTo.z; + this._z = vFrom.x * vTo.y - vFrom.y * vTo.x; + this._w = r; + + } + + return this.normalize(); + + } + + /** + * Returns the angle between this quaternion and the given one in radians. + * + * @param {Quaternion} q - The quaternion to compute the angle with. + * @return {number} The angle in radians. + */ + angleTo( q ) { + + return 2 * Math.acos( Math.abs( clamp( this.dot( q ), -1, 1 ) ) ); + + } + + /** + * Rotates this quaternion by a given angular step to the given quaternion. + * The method ensures that the final quaternion will not overshoot `q`. + * + * @param {Quaternion} q - The target quaternion. + * @param {number} step - The angular step in radians. + * @return {Quaternion} A reference to this quaternion. + */ + rotateTowards( q, step ) { + + const angle = this.angleTo( q ); + + if ( angle === 0 ) return this; + + const t = Math.min( 1, step / angle ); + + this.slerp( q, t ); + + return this; + + } + + /** + * Sets this quaternion to the identity quaternion; that is, to the + * quaternion that represents "no rotation". + * + * @return {Quaternion} A reference to this quaternion. + */ + identity() { + + return this.set( 0, 0, 0, 1 ); + + } + + /** + * Inverts this quaternion via {@link Quaternion#conjugate}. The + * quaternion is assumed to have unit length. + * + * @return {Quaternion} A reference to this quaternion. + */ + invert() { + + return this.conjugate(); + + } + + /** + * Returns the rotational conjugate of this quaternion. The conjugate of a + * quaternion represents the same rotation in the opposite direction about + * the rotational axis. + * + * @return {Quaternion} A reference to this quaternion. + */ + conjugate() { + + this._x *= -1; + this._y *= -1; + this._z *= -1; + + this._onChangeCallback(); + + return this; + + } + + /** + * Calculates the dot product of this quaternion and the given one. + * + * @param {Quaternion} v - The quaternion to compute the dot product with. + * @return {number} The result of the dot product. + */ + dot( v ) { + + return this._x * v._x + this._y * v._y + this._z * v._z + this._w * v._w; + + } + + /** + * Computes the squared Euclidean length (straight-line length) of this quaternion, + * considered as a 4 dimensional vector. This can be useful if you are comparing the + * lengths of two quaternions, as this is a slightly more efficient calculation than + * {@link Quaternion#length}. + * + * @return {number} The squared Euclidean length. + */ + lengthSq() { + + return this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w; + + } + + /** + * Computes the Euclidean length (straight-line length) of this quaternion, + * considered as a 4 dimensional vector. + * + * @return {number} The Euclidean length. + */ + length() { + + return Math.sqrt( this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w ); + + } + + /** + * Normalizes this quaternion - that is, calculated the quaternion that performs + * the same rotation as this one, but has a length equal to `1`. + * + * @return {Quaternion} A reference to this quaternion. + */ + normalize() { + + let l = this.length(); + + if ( l === 0 ) { + + this._x = 0; + this._y = 0; + this._z = 0; + this._w = 1; + + } else { + + l = 1 / l; + + this._x = this._x * l; + this._y = this._y * l; + this._z = this._z * l; + this._w = this._w * l; + + } + + this._onChangeCallback(); + + return this; + + } + + /** + * Multiplies this quaternion by the given one. + * + * @param {Quaternion} q - The quaternion. + * @return {Quaternion} A reference to this quaternion. + */ + multiply( q ) { + + return this.multiplyQuaternions( this, q ); + + } + + /** + * Pre-multiplies this quaternion by the given one. + * + * @param {Quaternion} q - The quaternion. + * @return {Quaternion} A reference to this quaternion. + */ + premultiply( q ) { + + return this.multiplyQuaternions( q, this ); + + } + + /** + * Multiplies the given quaternions and stores the result in this instance. + * + * @param {Quaternion} a - The first quaternion. + * @param {Quaternion} b - The second quaternion. + * @return {Quaternion} A reference to this quaternion. + */ + multiplyQuaternions( a, b ) { + + // from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm + + const qax = a._x, qay = a._y, qaz = a._z, qaw = a._w; + const qbx = b._x, qby = b._y, qbz = b._z, qbw = b._w; + + this._x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby; + this._y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz; + this._z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx; + this._w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz; + + this._onChangeCallback(); + + return this; + + } + + /** + * Performs a spherical linear interpolation between this quaternion and the target quaternion. + * + * @param {Quaternion} qb - The target quaternion. + * @param {number} t - The interpolation factor. A value in the range `[0,1]` will interpolate. A value outside the range `[0,1]` will extrapolate. + * @return {Quaternion} A reference to this quaternion. + */ + slerp( qb, t ) { + + let x = qb._x, y = qb._y, z = qb._z, w = qb._w; + + let dot = this.dot( qb ); + + if ( dot < 0 ) { + + x = - x; + y = - y; + z = - z; + w = - w; + + dot = - dot; + + } + + let s = 1 - t; + + if ( dot < 0.9995 ) { + + // slerp + + const theta = Math.acos( dot ); + const sin = Math.sin( theta ); + + s = Math.sin( s * theta ) / sin; + t = Math.sin( t * theta ) / sin; + + this._x = this._x * s + x * t; + this._y = this._y * s + y * t; + this._z = this._z * s + z * t; + this._w = this._w * s + w * t; + + this._onChangeCallback(); + + } else { + + // for small angles, lerp then normalize + + this._x = this._x * s + x * t; + this._y = this._y * s + y * t; + this._z = this._z * s + z * t; + this._w = this._w * s + w * t; + + this.normalize(); // normalize calls _onChangeCallback() + + } + + return this; + + } + + /** + * Performs a spherical linear interpolation between the given quaternions + * and stores the result in this quaternion. + * + * @param {Quaternion} qa - The source quaternion. + * @param {Quaternion} qb - The target quaternion. + * @param {number} t - The interpolation factor in the closed interval `[0, 1]`. + * @return {Quaternion} A reference to this quaternion. + */ + slerpQuaternions( qa, qb, t ) { + + return this.copy( qa ).slerp( qb, t ); + + } + + /** + * Sets this quaternion to a uniformly random, normalized quaternion. + * + * @return {Quaternion} A reference to this quaternion. + */ + random() { + + // Ken Shoemake + // Uniform random rotations + // D. Kirk, editor, Graphics Gems III, pages 124-132. Academic Press, New York, 1992. + + const theta1 = 2 * Math.PI * Math.random(); + const theta2 = 2 * Math.PI * Math.random(); + + const x0 = Math.random(); + const r1 = Math.sqrt( 1 - x0 ); + const r2 = Math.sqrt( x0 ); + + return this.set( + r1 * Math.sin( theta1 ), + r1 * Math.cos( theta1 ), + r2 * Math.sin( theta2 ), + r2 * Math.cos( theta2 ), + ); + + } + + /** + * Returns `true` if this quaternion is equal with the given one. + * + * @param {Quaternion} quaternion - The quaternion to test for equality. + * @return {boolean} Whether this quaternion is equal with the given one. + */ + equals( quaternion ) { + + return ( quaternion._x === this._x ) && ( quaternion._y === this._y ) && ( quaternion._z === this._z ) && ( quaternion._w === this._w ); + + } + + /** + * Sets this quaternion's components from the given array. + * + * @param {Array} array - An array holding the quaternion component values. + * @param {number} [offset=0] - The offset into the array. + * @return {Quaternion} A reference to this quaternion. + */ + fromArray( array, offset = 0 ) { + + this._x = array[ offset ]; + this._y = array[ offset + 1 ]; + this._z = array[ offset + 2 ]; + this._w = array[ offset + 3 ]; + + this._onChangeCallback(); + + return this; + + } + + /** + * Writes the components of this quaternion to the given array. If no array is provided, + * the method returns a new instance. + * + * @param {Array} [array=[]] - The target array holding the quaternion components. + * @param {number} [offset=0] - Index of the first element in the array. + * @return {Array} The quaternion components. + */ + toArray( array = [], offset = 0 ) { + + array[ offset ] = this._x; + array[ offset + 1 ] = this._y; + array[ offset + 2 ] = this._z; + array[ offset + 3 ] = this._w; + + return array; + + } + + /** + * Sets the components of this quaternion from the given buffer attribute. + * + * @param {BufferAttribute} attribute - The buffer attribute holding quaternion data. + * @param {number} index - The index into the attribute. + * @return {Quaternion} A reference to this quaternion. + */ + fromBufferAttribute( attribute, index ) { + + this._x = attribute.getX( index ); + this._y = attribute.getY( index ); + this._z = attribute.getZ( index ); + this._w = attribute.getW( index ); + + this._onChangeCallback(); + + return this; + + } + + /** + * This methods defines the serialization result of this class. Returns the + * numerical elements of this quaternion in an array of format `[x, y, z, w]`. + * + * @return {Array} The serialized quaternion. + */ + toJSON() { + + return this.toArray(); + + } + + _onChange( callback ) { + + this._onChangeCallback = callback; + + return this; + + } + + _onChangeCallback() {} + + *[ Symbol.iterator ]() { + + yield this._x; + yield this._y; + yield this._z; + yield this._w; + + } + +} + +/** + * Class representing a 3D vector. A 3D vector is an ordered triplet of numbers + * (labeled x, y and z), which can be used to represent a number of things, such as: + * + * - A point in 3D space. + * - A direction and length in 3D space. In three.js the length will + * always be the Euclidean distance(straight-line distance) from `(0, 0, 0)` to `(x, y, z)` + * and the direction is also measured from `(0, 0, 0)` towards `(x, y, z)`. + * - Any arbitrary ordered triplet of numbers. + * + * There are other things a 3D vector can be used to represent, such as + * momentum vectors and so on, however these are the most + * common uses in three.js. + * + * Iterating through a vector instance will yield its components `(x, y, z)` in + * the corresponding order. + * ```js + * const a = new THREE.Vector3( 0, 1, 0 ); + * + * //no arguments; will be initialised to (0, 0, 0) + * const b = new THREE.Vector3( ); + * + * const d = a.distanceTo( b ); + * ``` + */ +class Vector3 { + + /** + * Constructs a new 3D vector. + * + * @param {number} [x=0] - The x value of this vector. + * @param {number} [y=0] - The y value of this vector. + * @param {number} [z=0] - The z value of this vector. + */ + constructor( x = 0, y = 0, z = 0 ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + Vector3.prototype.isVector3 = true; + + /** + * The x value of this vector. + * + * @type {number} + */ + this.x = x; + + /** + * The y value of this vector. + * + * @type {number} + */ + this.y = y; + + /** + * The z value of this vector. + * + * @type {number} + */ + this.z = z; + + } + + /** + * Sets the vector components. + * + * @param {number} x - The value of the x component. + * @param {number} y - The value of the y component. + * @param {number} z - The value of the z component. + * @return {Vector3} A reference to this vector. + */ + set( x, y, z ) { + + if ( z === undefined ) z = this.z; // sprite.scale.set(x,y) + + this.x = x; + this.y = y; + this.z = z; + + return this; + + } + + /** + * Sets the vector components to the same value. + * + * @param {number} scalar - The value to set for all vector components. + * @return {Vector3} A reference to this vector. + */ + setScalar( scalar ) { + + this.x = scalar; + this.y = scalar; + this.z = scalar; + + return this; + + } + + /** + * Sets the vector's x component to the given value. + * + * @param {number} x - The value to set. + * @return {Vector3} A reference to this vector. + */ + setX( x ) { + + this.x = x; + + return this; + + } + + /** + * Sets the vector's y component to the given value. + * + * @param {number} y - The value to set. + * @return {Vector3} A reference to this vector. + */ + setY( y ) { + + this.y = y; + + return this; + + } + + /** + * Sets the vector's z component to the given value. + * + * @param {number} z - The value to set. + * @return {Vector3} A reference to this vector. + */ + setZ( z ) { + + this.z = z; + + return this; + + } + + /** + * Allows to set a vector component with an index. + * + * @param {number} index - The component index. `0` equals to x, `1` equals to y, `2` equals to z. + * @param {number} value - The value to set. + * @return {Vector3} A reference to this vector. + */ + setComponent( index, value ) { + + switch ( index ) { + + case 0: this.x = value; break; + case 1: this.y = value; break; + case 2: this.z = value; break; + default: throw new Error( 'index is out of range: ' + index ); + + } + + return this; + + } + + /** + * Returns the value of the vector component which matches the given index. + * + * @param {number} index - The component index. `0` equals to x, `1` equals to y, `2` equals to z. + * @return {number} A vector component value. + */ + getComponent( index ) { + + switch ( index ) { + + case 0: return this.x; + case 1: return this.y; + case 2: return this.z; + default: throw new Error( 'index is out of range: ' + index ); + + } + + } + + /** + * Returns a new vector with copied values from this instance. + * + * @return {Vector3} A clone of this instance. + */ + clone() { + + return new this.constructor( this.x, this.y, this.z ); + + } + + /** + * Copies the values of the given vector to this instance. + * + * @param {Vector3} v - The vector to copy. + * @return {Vector3} A reference to this vector. + */ + copy( v ) { + + this.x = v.x; + this.y = v.y; + this.z = v.z; + + return this; + + } + + /** + * Adds the given vector to this instance. + * + * @param {Vector3} v - The vector to add. + * @return {Vector3} A reference to this vector. + */ + add( v ) { + + this.x += v.x; + this.y += v.y; + this.z += v.z; + + return this; + + } + + /** + * Adds the given scalar value to all components of this instance. + * + * @param {number} s - The scalar to add. + * @return {Vector3} A reference to this vector. + */ + addScalar( s ) { + + this.x += s; + this.y += s; + this.z += s; + + return this; + + } + + /** + * Adds the given vectors and stores the result in this instance. + * + * @param {Vector3} a - The first vector. + * @param {Vector3} b - The second vector. + * @return {Vector3} A reference to this vector. + */ + addVectors( a, b ) { + + this.x = a.x + b.x; + this.y = a.y + b.y; + this.z = a.z + b.z; + + return this; + + } + + /** + * Adds the given vector scaled by the given factor to this instance. + * + * @param {Vector3|Vector4} v - The vector. + * @param {number} s - The factor that scales `v`. + * @return {Vector3} A reference to this vector. + */ + addScaledVector( v, s ) { + + this.x += v.x * s; + this.y += v.y * s; + this.z += v.z * s; + + return this; + + } + + /** + * Subtracts the given vector from this instance. + * + * @param {Vector3} v - The vector to subtract. + * @return {Vector3} A reference to this vector. + */ + sub( v ) { + + this.x -= v.x; + this.y -= v.y; + this.z -= v.z; + + return this; + + } + + /** + * Subtracts the given scalar value from all components of this instance. + * + * @param {number} s - The scalar to subtract. + * @return {Vector3} A reference to this vector. + */ + subScalar( s ) { + + this.x -= s; + this.y -= s; + this.z -= s; + + return this; + + } + + /** + * Subtracts the given vectors and stores the result in this instance. + * + * @param {Vector3} a - The first vector. + * @param {Vector3} b - The second vector. + * @return {Vector3} A reference to this vector. + */ + subVectors( a, b ) { + + this.x = a.x - b.x; + this.y = a.y - b.y; + this.z = a.z - b.z; + + return this; + + } + + /** + * Multiplies the given vector with this instance. + * + * @param {Vector3} v - The vector to multiply. + * @return {Vector3} A reference to this vector. + */ + multiply( v ) { + + this.x *= v.x; + this.y *= v.y; + this.z *= v.z; + + return this; + + } + + /** + * Multiplies the given scalar value with all components of this instance. + * + * @param {number} scalar - The scalar to multiply. + * @return {Vector3} A reference to this vector. + */ + multiplyScalar( scalar ) { + + this.x *= scalar; + this.y *= scalar; + this.z *= scalar; + + return this; + + } + + /** + * Multiplies the given vectors and stores the result in this instance. + * + * @param {Vector3} a - The first vector. + * @param {Vector3} b - The second vector. + * @return {Vector3} A reference to this vector. + */ + multiplyVectors( a, b ) { + + this.x = a.x * b.x; + this.y = a.y * b.y; + this.z = a.z * b.z; + + return this; + + } + + /** + * Applies the given Euler rotation to this vector. + * + * @param {Euler} euler - The Euler angles. + * @return {Vector3} A reference to this vector. + */ + applyEuler( euler ) { + + return this.applyQuaternion( _quaternion$5.setFromEuler( euler ) ); + + } + + /** + * Applies a rotation specified by an axis and an angle to this vector. + * + * @param {Vector3} axis - A normalized vector representing the rotation axis. + * @param {number} angle - The angle in radians. + * @return {Vector3} A reference to this vector. + */ + applyAxisAngle( axis, angle ) { + + return this.applyQuaternion( _quaternion$5.setFromAxisAngle( axis, angle ) ); + + } + + /** + * Multiplies this vector with the given 3x3 matrix. + * + * @param {Matrix3} m - The 3x3 matrix. + * @return {Vector3} A reference to this vector. + */ + applyMatrix3( m ) { + + const x = this.x, y = this.y, z = this.z; + const e = m.elements; + + this.x = e[ 0 ] * x + e[ 3 ] * y + e[ 6 ] * z; + this.y = e[ 1 ] * x + e[ 4 ] * y + e[ 7 ] * z; + this.z = e[ 2 ] * x + e[ 5 ] * y + e[ 8 ] * z; + + return this; + + } + + /** + * Multiplies this vector by the given normal matrix and normalizes + * the result. + * + * @param {Matrix3} m - The normal matrix. + * @return {Vector3} A reference to this vector. + */ + applyNormalMatrix( m ) { + + return this.applyMatrix3( m ).normalize(); + + } + + /** + * Multiplies this vector (with an implicit 1 in the 4th dimension) by m, and + * divides by perspective. + * + * @param {Matrix4} m - The matrix to apply. + * @return {Vector3} A reference to this vector. + */ + applyMatrix4( m ) { + + const x = this.x, y = this.y, z = this.z; + const e = m.elements; + + const w = 1 / ( e[ 3 ] * x + e[ 7 ] * y + e[ 11 ] * z + e[ 15 ] ); + + this.x = ( e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z + e[ 12 ] ) * w; + this.y = ( e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z + e[ 13 ] ) * w; + this.z = ( e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z + e[ 14 ] ) * w; + + return this; + + } + + /** + * Applies the given Quaternion to this vector. + * + * @param {Quaternion} q - The Quaternion. + * @return {Vector3} A reference to this vector. + */ + applyQuaternion( q ) { + + // quaternion q is assumed to have unit length + + const vx = this.x, vy = this.y, vz = this.z; + const qx = q.x, qy = q.y, qz = q.z, qw = q.w; + + // t = 2 * cross( q.xyz, v ); + const tx = 2 * ( qy * vz - qz * vy ); + const ty = 2 * ( qz * vx - qx * vz ); + const tz = 2 * ( qx * vy - qy * vx ); + + // v + q.w * t + cross( q.xyz, t ); + this.x = vx + qw * tx + qy * tz - qz * ty; + this.y = vy + qw * ty + qz * tx - qx * tz; + this.z = vz + qw * tz + qx * ty - qy * tx; + + return this; + + } + + /** + * Projects this vector from world space into the camera's normalized + * device coordinate (NDC) space. + * + * @param {Camera} camera - The camera. + * @return {Vector3} A reference to this vector. + */ + project( camera ) { + + return this.applyMatrix4( camera.matrixWorldInverse ).applyMatrix4( camera.projectionMatrix ); + + } + + /** + * Unprojects this vector from the camera's normalized device coordinate (NDC) + * space into world space. + * + * @param {Camera} camera - The camera. + * @return {Vector3} A reference to this vector. + */ + unproject( camera ) { + + return this.applyMatrix4( camera.projectionMatrixInverse ).applyMatrix4( camera.matrixWorld ); + + } + + /** + * Transforms the direction of this vector by a matrix (the upper left 3 x 3 + * subset of the given 4x4 matrix and then normalizes the result. + * + * @param {Matrix4} m - The matrix. + * @return {Vector3} A reference to this vector. + */ + transformDirection( m ) { + + // input: THREE.Matrix4 affine matrix + // vector interpreted as a direction + + const x = this.x, y = this.y, z = this.z; + const e = m.elements; + + this.x = e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z; + this.y = e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z; + this.z = e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z; + + return this.normalize(); + + } + + /** + * Divides this instance by the given vector. + * + * @param {Vector3} v - The vector to divide. + * @return {Vector3} A reference to this vector. + */ + divide( v ) { + + this.x /= v.x; + this.y /= v.y; + this.z /= v.z; + + return this; + + } + + /** + * Divides this vector by the given scalar. + * + * @param {number} scalar - The scalar to divide. + * @return {Vector3} A reference to this vector. + */ + divideScalar( scalar ) { + + return this.multiplyScalar( 1 / scalar ); + + } + + /** + * If this vector's x, y or z value is greater than the given vector's x, y or z + * value, replace that value with the corresponding min value. + * + * @param {Vector3} v - The vector. + * @return {Vector3} A reference to this vector. + */ + min( v ) { + + this.x = Math.min( this.x, v.x ); + this.y = Math.min( this.y, v.y ); + this.z = Math.min( this.z, v.z ); + + return this; + + } + + /** + * If this vector's x, y or z value is less than the given vector's x, y or z + * value, replace that value with the corresponding max value. + * + * @param {Vector3} v - The vector. + * @return {Vector3} A reference to this vector. + */ + max( v ) { + + this.x = Math.max( this.x, v.x ); + this.y = Math.max( this.y, v.y ); + this.z = Math.max( this.z, v.z ); + + return this; + + } + + /** + * If this vector's x, y or z value is greater than the max vector's x, y or z + * value, it is replaced by the corresponding value. + * If this vector's x, y or z value is less than the min vector's x, y or z value, + * it is replaced by the corresponding value. + * + * @param {Vector3} min - The minimum x, y and z values. + * @param {Vector3} max - The maximum x, y and z values in the desired range. + * @return {Vector3} A reference to this vector. + */ + clamp( min, max ) { + + // assumes min < max, componentwise + + this.x = clamp( this.x, min.x, max.x ); + this.y = clamp( this.y, min.y, max.y ); + this.z = clamp( this.z, min.z, max.z ); + + return this; + + } + + /** + * If this vector's x, y or z values are greater than the max value, they are + * replaced by the max value. + * If this vector's x, y or z values are less than the min value, they are + * replaced by the min value. + * + * @param {number} minVal - The minimum value the components will be clamped to. + * @param {number} maxVal - The maximum value the components will be clamped to. + * @return {Vector3} A reference to this vector. + */ + clampScalar( minVal, maxVal ) { + + this.x = clamp( this.x, minVal, maxVal ); + this.y = clamp( this.y, minVal, maxVal ); + this.z = clamp( this.z, minVal, maxVal ); + + return this; + + } + + /** + * If this vector's length is greater than the max value, it is replaced by + * the max value. + * If this vector's length is less than the min value, it is replaced by the + * min value. + * + * @param {number} min - The minimum value the vector length will be clamped to. + * @param {number} max - The maximum value the vector length will be clamped to. + * @return {Vector3} A reference to this vector. + */ + clampLength( min, max ) { + + const length = this.length(); + + return this.divideScalar( length || 1 ).multiplyScalar( clamp( length, min, max ) ); + + } + + /** + * The components of this vector are rounded down to the nearest integer value. + * + * @return {Vector3} A reference to this vector. + */ + floor() { + + this.x = Math.floor( this.x ); + this.y = Math.floor( this.y ); + this.z = Math.floor( this.z ); + + return this; + + } + + /** + * The components of this vector are rounded up to the nearest integer value. + * + * @return {Vector3} A reference to this vector. + */ + ceil() { + + this.x = Math.ceil( this.x ); + this.y = Math.ceil( this.y ); + this.z = Math.ceil( this.z ); + + return this; + + } + + /** + * The components of this vector are rounded to the nearest integer value + * + * @return {Vector3} A reference to this vector. + */ + round() { + + this.x = Math.round( this.x ); + this.y = Math.round( this.y ); + this.z = Math.round( this.z ); + + return this; + + } + + /** + * The components of this vector are rounded towards zero (up if negative, + * down if positive) to an integer value. + * + * @return {Vector3} A reference to this vector. + */ + roundToZero() { + + this.x = Math.trunc( this.x ); + this.y = Math.trunc( this.y ); + this.z = Math.trunc( this.z ); + + return this; + + } + + /** + * Inverts this vector - i.e. sets x = -x, y = -y and z = -z. + * + * @return {Vector3} A reference to this vector. + */ + negate() { + + this.x = - this.x; + this.y = - this.y; + this.z = - this.z; + + return this; + + } + + /** + * Calculates the dot product of the given vector with this instance. + * + * @param {Vector3} v - The vector to compute the dot product with. + * @return {number} The result of the dot product. + */ + dot( v ) { + + return this.x * v.x + this.y * v.y + this.z * v.z; + + } + + /** + * Computes the square of the Euclidean length (straight-line length) from + * (0, 0, 0) to (x, y, z). If you are comparing the lengths of vectors, you should + * compare the length squared instead as it is slightly more efficient to calculate. + * + * @return {number} The square length of this vector. + */ + lengthSq() { + + return this.x * this.x + this.y * this.y + this.z * this.z; + + } + + /** + * Computes the Euclidean length (straight-line length) from (0, 0, 0) to (x, y, z). + * + * @return {number} The length of this vector. + */ + length() { + + return Math.sqrt( this.x * this.x + this.y * this.y + this.z * this.z ); + + } + + /** + * Computes the Manhattan length of this vector. + * + * @return {number} The length of this vector. + */ + manhattanLength() { + + return Math.abs( this.x ) + Math.abs( this.y ) + Math.abs( this.z ); + + } + + /** + * Converts this vector to a unit vector - that is, sets it equal to a vector + * with the same direction as this one, but with a vector length of `1`. + * + * @return {Vector3} A reference to this vector. + */ + normalize() { + + return this.divideScalar( this.length() || 1 ); + + } + + /** + * Sets this vector to a vector with the same direction as this one, but + * with the specified length. + * + * @param {number} length - The new length of this vector. + * @return {Vector3} A reference to this vector. + */ + setLength( length ) { + + return this.normalize().multiplyScalar( length ); + + } + + /** + * Linearly interpolates between the given vector and this instance, where + * alpha is the percent distance along the line - alpha = 0 will be this + * vector, and alpha = 1 will be the given one. + * + * @param {Vector3} v - The vector to interpolate towards. + * @param {number} alpha - The interpolation factor, typically in the closed interval `[0, 1]`. + * @return {Vector3} A reference to this vector. + */ + lerp( v, alpha ) { + + this.x += ( v.x - this.x ) * alpha; + this.y += ( v.y - this.y ) * alpha; + this.z += ( v.z - this.z ) * alpha; + + return this; + + } + + /** + * Linearly interpolates between the given vectors, where alpha is the percent + * distance along the line - alpha = 0 will be first vector, and alpha = 1 will + * be the second one. The result is stored in this instance. + * + * @param {Vector3} v1 - The first vector. + * @param {Vector3} v2 - The second vector. + * @param {number} alpha - The interpolation factor, typically in the closed interval `[0, 1]`. + * @return {Vector3} A reference to this vector. + */ + lerpVectors( v1, v2, alpha ) { + + this.x = v1.x + ( v2.x - v1.x ) * alpha; + this.y = v1.y + ( v2.y - v1.y ) * alpha; + this.z = v1.z + ( v2.z - v1.z ) * alpha; + + return this; + + } + + /** + * Calculates the cross product of the given vector with this instance. + * + * @param {Vector3} v - The vector to compute the cross product with. + * @return {Vector3} The result of the cross product. + */ + cross( v ) { + + return this.crossVectors( this, v ); + + } + + /** + * Calculates the cross product of the given vectors and stores the result + * in this instance. + * + * @param {Vector3} a - The first vector. + * @param {Vector3} b - The second vector. + * @return {Vector3} A reference to this vector. + */ + crossVectors( a, b ) { + + const ax = a.x, ay = a.y, az = a.z; + const bx = b.x, by = b.y, bz = b.z; + + this.x = ay * bz - az * by; + this.y = az * bx - ax * bz; + this.z = ax * by - ay * bx; + + return this; + + } + + /** + * Projects this vector onto the given one. + * + * @param {Vector3} v - The vector to project to. + * @return {Vector3} A reference to this vector. + */ + projectOnVector( v ) { + + const denominator = v.lengthSq(); + + if ( denominator === 0 ) return this.set( 0, 0, 0 ); + + const scalar = v.dot( this ) / denominator; + + return this.copy( v ).multiplyScalar( scalar ); + + } + + /** + * Projects this vector onto a plane by subtracting this + * vector projected onto the plane's normal from this vector. + * + * @param {Vector3} planeNormal - The plane normal. + * @return {Vector3} A reference to this vector. + */ + projectOnPlane( planeNormal ) { + + _vector$c.copy( this ).projectOnVector( planeNormal ); + + return this.sub( _vector$c ); + + } + + /** + * Reflects this vector off a plane orthogonal to the given normal vector. + * + * @param {Vector3} normal - The (normalized) normal vector. + * @return {Vector3} A reference to this vector. + */ + reflect( normal ) { + + return this.sub( _vector$c.copy( normal ).multiplyScalar( 2 * this.dot( normal ) ) ); + + } + /** + * Returns the angle between the given vector and this instance in radians. + * + * @param {Vector3} v - The vector to compute the angle with. + * @return {number} The angle in radians. + */ + angleTo( v ) { + + const denominator = Math.sqrt( this.lengthSq() * v.lengthSq() ); + + if ( denominator === 0 ) return Math.PI / 2; + + const theta = this.dot( v ) / denominator; + + // clamp, to handle numerical problems + + return Math.acos( clamp( theta, -1, 1 ) ); + + } + + /** + * Computes the distance from the given vector to this instance. + * + * @param {Vector3} v - The vector to compute the distance to. + * @return {number} The distance. + */ + distanceTo( v ) { + + return Math.sqrt( this.distanceToSquared( v ) ); + + } + + /** + * Computes the squared distance from the given vector to this instance. + * If you are just comparing the distance with another distance, you should compare + * the distance squared instead as it is slightly more efficient to calculate. + * + * @param {Vector3} v - The vector to compute the squared distance to. + * @return {number} The squared distance. + */ + distanceToSquared( v ) { + + const dx = this.x - v.x, dy = this.y - v.y, dz = this.z - v.z; + + return dx * dx + dy * dy + dz * dz; + + } + + /** + * Computes the Manhattan distance from the given vector to this instance. + * + * @param {Vector3} v - The vector to compute the Manhattan distance to. + * @return {number} The Manhattan distance. + */ + manhattanDistanceTo( v ) { + + return Math.abs( this.x - v.x ) + Math.abs( this.y - v.y ) + Math.abs( this.z - v.z ); + + } + + /** + * Sets the vector components from the given spherical coordinates. + * + * @param {Spherical} s - The spherical coordinates. + * @return {Vector3} A reference to this vector. + */ + setFromSpherical( s ) { + + return this.setFromSphericalCoords( s.radius, s.phi, s.theta ); + + } + + /** + * Sets the vector components from the given spherical coordinates. + * + * @param {number} radius - The radius. + * @param {number} phi - The phi angle in radians. + * @param {number} theta - The theta angle in radians. + * @return {Vector3} A reference to this vector. + */ + setFromSphericalCoords( radius, phi, theta ) { + + const sinPhiRadius = Math.sin( phi ) * radius; + + this.x = sinPhiRadius * Math.sin( theta ); + this.y = Math.cos( phi ) * radius; + this.z = sinPhiRadius * Math.cos( theta ); + + return this; + + } + + /** + * Sets the vector components from the given cylindrical coordinates. + * + * @param {Cylindrical} c - The cylindrical coordinates. + * @return {Vector3} A reference to this vector. + */ + setFromCylindrical( c ) { + + return this.setFromCylindricalCoords( c.radius, c.theta, c.y ); + + } + + /** + * Sets the vector components from the given cylindrical coordinates. + * + * @param {number} radius - The radius. + * @param {number} theta - The theta angle in radians. + * @param {number} y - The y value. + * @return {Vector3} A reference to this vector. + */ + setFromCylindricalCoords( radius, theta, y ) { + + this.x = radius * Math.sin( theta ); + this.y = y; + this.z = radius * Math.cos( theta ); + + return this; + + } + + /** + * Sets the vector components to the position elements of the + * given transformation matrix. + * + * @param {Matrix4} m - The 4x4 matrix. + * @return {Vector3} A reference to this vector. + */ + setFromMatrixPosition( m ) { + + const e = m.elements; + + this.x = e[ 12 ]; + this.y = e[ 13 ]; + this.z = e[ 14 ]; + + return this; + + } + + /** + * Sets the vector components to the scale elements of the + * given transformation matrix. + * + * @param {Matrix4} m - The 4x4 matrix. + * @return {Vector3} A reference to this vector. + */ + setFromMatrixScale( m ) { + + const sx = this.setFromMatrixColumn( m, 0 ).length(); + const sy = this.setFromMatrixColumn( m, 1 ).length(); + const sz = this.setFromMatrixColumn( m, 2 ).length(); + + this.x = sx; + this.y = sy; + this.z = sz; + + return this; + + } + + /** + * Sets the vector components from the specified matrix column. + * + * @param {Matrix4} m - The 4x4 matrix. + * @param {number} index - The column index. + * @return {Vector3} A reference to this vector. + */ + setFromMatrixColumn( m, index ) { + + return this.fromArray( m.elements, index * 4 ); + + } + + /** + * Sets the vector components from the specified matrix column. + * + * @param {Matrix3} m - The 3x3 matrix. + * @param {number} index - The column index. + * @return {Vector3} A reference to this vector. + */ + setFromMatrix3Column( m, index ) { + + return this.fromArray( m.elements, index * 3 ); + + } + + /** + * Sets the vector components from the given Euler angles. + * + * @param {Euler} e - The Euler angles to set. + * @return {Vector3} A reference to this vector. + */ + setFromEuler( e ) { + + this.x = e._x; + this.y = e._y; + this.z = e._z; + + return this; + + } + + /** + * Sets the vector components from the RGB components of the + * given color. + * + * @param {Color} c - The color to set. + * @return {Vector3} A reference to this vector. + */ + setFromColor( c ) { + + this.x = c.r; + this.y = c.g; + this.z = c.b; + + return this; + + } + + /** + * Returns `true` if this vector is equal with the given one. + * + * @param {Vector3} v - The vector to test for equality. + * @return {boolean} Whether this vector is equal with the given one. + */ + equals( v ) { + + return ( ( v.x === this.x ) && ( v.y === this.y ) && ( v.z === this.z ) ); + + } + + /** + * Sets this vector's x value to be `array[ offset ]`, y value to be `array[ offset + 1 ]` + * and z value to be `array[ offset + 2 ]`. + * + * @param {Array} array - An array holding the vector component values. + * @param {number} [offset=0] - The offset into the array. + * @return {Vector3} A reference to this vector. + */ + fromArray( array, offset = 0 ) { + + this.x = array[ offset ]; + this.y = array[ offset + 1 ]; + this.z = array[ offset + 2 ]; + + return this; + + } + + /** + * Writes the components of this vector to the given array. If no array is provided, + * the method returns a new instance. + * + * @param {Array} [array=[]] - The target array holding the vector components. + * @param {number} [offset=0] - Index of the first element in the array. + * @return {Array} The vector components. + */ + toArray( array = [], offset = 0 ) { + + array[ offset ] = this.x; + array[ offset + 1 ] = this.y; + array[ offset + 2 ] = this.z; + + return array; + + } + + /** + * Sets the components of this vector from the given buffer attribute. + * + * @param {BufferAttribute} attribute - The buffer attribute holding vector data. + * @param {number} index - The index into the attribute. + * @return {Vector3} A reference to this vector. + */ + fromBufferAttribute( attribute, index ) { + + this.x = attribute.getX( index ); + this.y = attribute.getY( index ); + this.z = attribute.getZ( index ); + + return this; + + } + + /** + * Sets each component of this vector to a pseudo-random value between `0` and + * `1`, excluding `1`. + * + * @return {Vector3} A reference to this vector. + */ + random() { + + this.x = Math.random(); + this.y = Math.random(); + this.z = Math.random(); + + return this; + + } + + /** + * Sets this vector to a uniformly random point on a unit sphere. + * + * @return {Vector3} A reference to this vector. + */ + randomDirection() { + + // https://mathworld.wolfram.com/SpherePointPicking.html + + const theta = Math.random() * Math.PI * 2; + const u = Math.random() * 2 - 1; + const c = Math.sqrt( 1 - u * u ); + + this.x = c * Math.cos( theta ); + this.y = u; + this.z = c * Math.sin( theta ); + + return this; + + } + + *[ Symbol.iterator ]() { + + yield this.x; + yield this.y; + yield this.z; + + } + +} + +const _vector$c = /*@__PURE__*/ new Vector3(); +const _quaternion$5 = /*@__PURE__*/ new Quaternion(); + +/** + * Represents a 3x3 matrix. + * + * A Note on Row-Major and Column-Major Ordering: + * + * The constructor and {@link Matrix3#set} method take arguments in + * [row-major](https://en.wikipedia.org/wiki/Row-_and_column-major_order#Column-major_order) + * order, while internally they are stored in the {@link Matrix3#elements} array in column-major order. + * This means that calling: + * ```js + * const m = new THREE.Matrix(); + * m.set( 11, 12, 13, + * 21, 22, 23, + * 31, 32, 33 ); + * ``` + * will result in the elements array containing: + * ```js + * m.elements = [ 11, 21, 31, + * 12, 22, 32, + * 13, 23, 33 ]; + * ``` + * and internally all calculations are performed using column-major ordering. + * However, as the actual ordering makes no difference mathematically and + * most people are used to thinking about matrices in row-major order, the + * three.js documentation shows matrices in row-major order. Just bear in + * mind that if you are reading the source code, you'll have to take the + * transpose of any matrices outlined here to make sense of the calculations. + */ +class Matrix3 { + + /** + * Constructs a new 3x3 matrix. The arguments are supposed to be + * in row-major order. If no arguments are provided, the constructor + * initializes the matrix as an identity matrix. + * + * @param {number} [n11] - 1-1 matrix element. + * @param {number} [n12] - 1-2 matrix element. + * @param {number} [n13] - 1-3 matrix element. + * @param {number} [n21] - 2-1 matrix element. + * @param {number} [n22] - 2-2 matrix element. + * @param {number} [n23] - 2-3 matrix element. + * @param {number} [n31] - 3-1 matrix element. + * @param {number} [n32] - 3-2 matrix element. + * @param {number} [n33] - 3-3 matrix element. + */ + constructor( n11, n12, n13, n21, n22, n23, n31, n32, n33 ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + Matrix3.prototype.isMatrix3 = true; + + /** + * A column-major list of matrix values. + * + * @type {Array} + */ + this.elements = [ + + 1, 0, 0, + 0, 1, 0, + 0, 0, 1 + + ]; + + if ( n11 !== undefined ) { + + this.set( n11, n12, n13, n21, n22, n23, n31, n32, n33 ); + + } + + } + + /** + * Sets the elements of the matrix.The arguments are supposed to be + * in row-major order. + * + * @param {number} [n11] - 1-1 matrix element. + * @param {number} [n12] - 1-2 matrix element. + * @param {number} [n13] - 1-3 matrix element. + * @param {number} [n21] - 2-1 matrix element. + * @param {number} [n22] - 2-2 matrix element. + * @param {number} [n23] - 2-3 matrix element. + * @param {number} [n31] - 3-1 matrix element. + * @param {number} [n32] - 3-2 matrix element. + * @param {number} [n33] - 3-3 matrix element. + * @return {Matrix3} A reference to this matrix. + */ + set( n11, n12, n13, n21, n22, n23, n31, n32, n33 ) { + + const te = this.elements; + + te[ 0 ] = n11; te[ 1 ] = n21; te[ 2 ] = n31; + te[ 3 ] = n12; te[ 4 ] = n22; te[ 5 ] = n32; + te[ 6 ] = n13; te[ 7 ] = n23; te[ 8 ] = n33; + + return this; + + } + + /** + * Sets this matrix to the 3x3 identity matrix. + * + * @return {Matrix3} A reference to this matrix. + */ + identity() { + + this.set( + + 1, 0, 0, + 0, 1, 0, + 0, 0, 1 + + ); + + return this; + + } + + /** + * Copies the values of the given matrix to this instance. + * + * @param {Matrix3} m - The matrix to copy. + * @return {Matrix3} A reference to this matrix. + */ + copy( m ) { + + const te = this.elements; + const me = m.elements; + + te[ 0 ] = me[ 0 ]; te[ 1 ] = me[ 1 ]; te[ 2 ] = me[ 2 ]; + te[ 3 ] = me[ 3 ]; te[ 4 ] = me[ 4 ]; te[ 5 ] = me[ 5 ]; + te[ 6 ] = me[ 6 ]; te[ 7 ] = me[ 7 ]; te[ 8 ] = me[ 8 ]; + + return this; + + } + + /** + * Extracts the basis of this matrix into the three axis vectors provided. + * + * @param {Vector3} xAxis - The basis's x axis. + * @param {Vector3} yAxis - The basis's y axis. + * @param {Vector3} zAxis - The basis's z axis. + * @return {Matrix3} A reference to this matrix. + */ + extractBasis( xAxis, yAxis, zAxis ) { + + xAxis.setFromMatrix3Column( this, 0 ); + yAxis.setFromMatrix3Column( this, 1 ); + zAxis.setFromMatrix3Column( this, 2 ); + + return this; + + } + + /** + * Set this matrix to the upper 3x3 matrix of the given 4x4 matrix. + * + * @param {Matrix4} m - The 4x4 matrix. + * @return {Matrix3} A reference to this matrix. + */ + setFromMatrix4( m ) { + + const me = m.elements; + + this.set( + + me[ 0 ], me[ 4 ], me[ 8 ], + me[ 1 ], me[ 5 ], me[ 9 ], + me[ 2 ], me[ 6 ], me[ 10 ] + + ); + + return this; + + } + + /** + * Post-multiplies this matrix by the given 3x3 matrix. + * + * @param {Matrix3} m - The matrix to multiply with. + * @return {Matrix3} A reference to this matrix. + */ + multiply( m ) { + + return this.multiplyMatrices( this, m ); + + } + + /** + * Pre-multiplies this matrix by the given 3x3 matrix. + * + * @param {Matrix3} m - The matrix to multiply with. + * @return {Matrix3} A reference to this matrix. + */ + premultiply( m ) { + + return this.multiplyMatrices( m, this ); + + } + + /** + * Multiples the given 3x3 matrices and stores the result + * in this matrix. + * + * @param {Matrix3} a - The first matrix. + * @param {Matrix3} b - The second matrix. + * @return {Matrix3} A reference to this matrix. + */ + multiplyMatrices( a, b ) { + + const ae = a.elements; + const be = b.elements; + const te = this.elements; + + const a11 = ae[ 0 ], a12 = ae[ 3 ], a13 = ae[ 6 ]; + const a21 = ae[ 1 ], a22 = ae[ 4 ], a23 = ae[ 7 ]; + const a31 = ae[ 2 ], a32 = ae[ 5 ], a33 = ae[ 8 ]; + + const b11 = be[ 0 ], b12 = be[ 3 ], b13 = be[ 6 ]; + const b21 = be[ 1 ], b22 = be[ 4 ], b23 = be[ 7 ]; + const b31 = be[ 2 ], b32 = be[ 5 ], b33 = be[ 8 ]; + + te[ 0 ] = a11 * b11 + a12 * b21 + a13 * b31; + te[ 3 ] = a11 * b12 + a12 * b22 + a13 * b32; + te[ 6 ] = a11 * b13 + a12 * b23 + a13 * b33; + + te[ 1 ] = a21 * b11 + a22 * b21 + a23 * b31; + te[ 4 ] = a21 * b12 + a22 * b22 + a23 * b32; + te[ 7 ] = a21 * b13 + a22 * b23 + a23 * b33; + + te[ 2 ] = a31 * b11 + a32 * b21 + a33 * b31; + te[ 5 ] = a31 * b12 + a32 * b22 + a33 * b32; + te[ 8 ] = a31 * b13 + a32 * b23 + a33 * b33; + + return this; + + } + + /** + * Multiplies every component of the matrix by the given scalar. + * + * @param {number} s - The scalar. + * @return {Matrix3} A reference to this matrix. + */ + multiplyScalar( s ) { + + const te = this.elements; + + te[ 0 ] *= s; te[ 3 ] *= s; te[ 6 ] *= s; + te[ 1 ] *= s; te[ 4 ] *= s; te[ 7 ] *= s; + te[ 2 ] *= s; te[ 5 ] *= s; te[ 8 ] *= s; + + return this; + + } + + /** + * Computes and returns the determinant of this matrix. + * + * @return {number} The determinant. + */ + determinant() { + + const te = this.elements; + + const a = te[ 0 ], b = te[ 1 ], c = te[ 2 ], + d = te[ 3 ], e = te[ 4 ], f = te[ 5 ], + g = te[ 6 ], h = te[ 7 ], i = te[ 8 ]; + + return a * e * i - a * f * h - b * d * i + b * f * g + c * d * h - c * e * g; + + } + + /** + * Inverts this matrix, using the [analytic method](https://en.wikipedia.org/wiki/Invertible_matrix#Analytic_solution). + * You can not invert with a determinant of zero. If you attempt this, the method produces + * a zero matrix instead. + * + * @return {Matrix3} A reference to this matrix. + */ + invert() { + + const te = this.elements, + + n11 = te[ 0 ], n21 = te[ 1 ], n31 = te[ 2 ], + n12 = te[ 3 ], n22 = te[ 4 ], n32 = te[ 5 ], + n13 = te[ 6 ], n23 = te[ 7 ], n33 = te[ 8 ], + + t11 = n33 * n22 - n32 * n23, + t12 = n32 * n13 - n33 * n12, + t13 = n23 * n12 - n22 * n13, + + det = n11 * t11 + n21 * t12 + n31 * t13; + + if ( det === 0 ) return this.set( 0, 0, 0, 0, 0, 0, 0, 0, 0 ); + + const detInv = 1 / det; + + te[ 0 ] = t11 * detInv; + te[ 1 ] = ( n31 * n23 - n33 * n21 ) * detInv; + te[ 2 ] = ( n32 * n21 - n31 * n22 ) * detInv; + + te[ 3 ] = t12 * detInv; + te[ 4 ] = ( n33 * n11 - n31 * n13 ) * detInv; + te[ 5 ] = ( n31 * n12 - n32 * n11 ) * detInv; + + te[ 6 ] = t13 * detInv; + te[ 7 ] = ( n21 * n13 - n23 * n11 ) * detInv; + te[ 8 ] = ( n22 * n11 - n21 * n12 ) * detInv; + + return this; + + } + + /** + * Transposes this matrix in place. + * + * @return {Matrix3} A reference to this matrix. + */ + transpose() { + + let tmp; + const m = this.elements; + + tmp = m[ 1 ]; m[ 1 ] = m[ 3 ]; m[ 3 ] = tmp; + tmp = m[ 2 ]; m[ 2 ] = m[ 6 ]; m[ 6 ] = tmp; + tmp = m[ 5 ]; m[ 5 ] = m[ 7 ]; m[ 7 ] = tmp; + + return this; + + } + + /** + * Computes the normal matrix which is the inverse transpose of the upper + * left 3x3 portion of the given 4x4 matrix. + * + * @param {Matrix4} matrix4 - The 4x4 matrix. + * @return {Matrix3} A reference to this matrix. + */ + getNormalMatrix( matrix4 ) { + + return this.setFromMatrix4( matrix4 ).invert().transpose(); + + } + + /** + * Transposes this matrix into the supplied array, and returns itself unchanged. + * + * @param {Array} r - An array to store the transposed matrix elements. + * @return {Matrix3} A reference to this matrix. + */ + transposeIntoArray( r ) { + + const m = this.elements; + + r[ 0 ] = m[ 0 ]; + r[ 1 ] = m[ 3 ]; + r[ 2 ] = m[ 6 ]; + r[ 3 ] = m[ 1 ]; + r[ 4 ] = m[ 4 ]; + r[ 5 ] = m[ 7 ]; + r[ 6 ] = m[ 2 ]; + r[ 7 ] = m[ 5 ]; + r[ 8 ] = m[ 8 ]; + + return this; + + } + + /** + * Sets the UV transform matrix from offset, repeat, rotation, and center. + * + * @param {number} tx - Offset x. + * @param {number} ty - Offset y. + * @param {number} sx - Repeat x. + * @param {number} sy - Repeat y. + * @param {number} rotation - Rotation, in radians. Positive values rotate counterclockwise. + * @param {number} cx - Center x of rotation. + * @param {number} cy - Center y of rotation + * @return {Matrix3} A reference to this matrix. + */ + setUvTransform( tx, ty, sx, sy, rotation, cx, cy ) { + + const c = Math.cos( rotation ); + const s = Math.sin( rotation ); + + this.set( + sx * c, sx * s, - sx * ( c * cx + s * cy ) + cx + tx, + - sy * s, sy * c, - sy * ( - s * cx + c * cy ) + cy + ty, + 0, 0, 1 + ); + + return this; + + } + + /** + * Scales this matrix with the given scalar values. + * + * @param {number} sx - The amount to scale in the X axis. + * @param {number} sy - The amount to scale in the Y axis. + * @return {Matrix3} A reference to this matrix. + */ + scale( sx, sy ) { + + this.premultiply( _m3.makeScale( sx, sy ) ); + + return this; + + } + + /** + * Rotates this matrix by the given angle. + * + * @param {number} theta - The rotation in radians. + * @return {Matrix3} A reference to this matrix. + */ + rotate( theta ) { + + this.premultiply( _m3.makeRotation( - theta ) ); + + return this; + + } + + /** + * Translates this matrix by the given scalar values. + * + * @param {number} tx - The amount to translate in the X axis. + * @param {number} ty - The amount to translate in the Y axis. + * @return {Matrix3} A reference to this matrix. + */ + translate( tx, ty ) { + + this.premultiply( _m3.makeTranslation( tx, ty ) ); + + return this; + + } + + // for 2D Transforms + + /** + * Sets this matrix as a 2D translation transform. + * + * @param {number|Vector2} x - The amount to translate in the X axis or alternatively a translation vector. + * @param {number} y - The amount to translate in the Y axis. + * @return {Matrix3} A reference to this matrix. + */ + makeTranslation( x, y ) { + + if ( x.isVector2 ) { + + this.set( + + 1, 0, x.x, + 0, 1, x.y, + 0, 0, 1 + + ); + + } else { + + this.set( + + 1, 0, x, + 0, 1, y, + 0, 0, 1 + + ); + + } + + return this; + + } + + /** + * Sets this matrix as a 2D rotational transformation. + * + * @param {number} theta - The rotation in radians. + * @return {Matrix3} A reference to this matrix. + */ + makeRotation( theta ) { + + // counterclockwise + + const c = Math.cos( theta ); + const s = Math.sin( theta ); + + this.set( + + c, - s, 0, + s, c, 0, + 0, 0, 1 + + ); + + return this; + + } + + /** + * Sets this matrix as a 2D scale transform. + * + * @param {number} x - The amount to scale in the X axis. + * @param {number} y - The amount to scale in the Y axis. + * @return {Matrix3} A reference to this matrix. + */ + makeScale( x, y ) { + + this.set( + + x, 0, 0, + 0, y, 0, + 0, 0, 1 + + ); + + return this; + + } + + /** + * Returns `true` if this matrix is equal with the given one. + * + * @param {Matrix3} matrix - The matrix to test for equality. + * @return {boolean} Whether this matrix is equal with the given one. + */ + equals( matrix ) { + + const te = this.elements; + const me = matrix.elements; + + for ( let i = 0; i < 9; i ++ ) { + + if ( te[ i ] !== me[ i ] ) return false; + + } + + return true; + + } + + /** + * Sets the elements of the matrix from the given array. + * + * @param {Array} array - The matrix elements in column-major order. + * @param {number} [offset=0] - Index of the first element in the array. + * @return {Matrix3} A reference to this matrix. + */ + fromArray( array, offset = 0 ) { + + for ( let i = 0; i < 9; i ++ ) { + + this.elements[ i ] = array[ i + offset ]; + + } + + return this; + + } + + /** + * Writes the elements of this matrix to the given array. If no array is provided, + * the method returns a new instance. + * + * @param {Array} [array=[]] - The target array holding the matrix elements in column-major order. + * @param {number} [offset=0] - Index of the first element in the array. + * @return {Array} The matrix elements in column-major order. + */ + toArray( array = [], offset = 0 ) { + + const te = this.elements; + + array[ offset ] = te[ 0 ]; + array[ offset + 1 ] = te[ 1 ]; + array[ offset + 2 ] = te[ 2 ]; + + array[ offset + 3 ] = te[ 3 ]; + array[ offset + 4 ] = te[ 4 ]; + array[ offset + 5 ] = te[ 5 ]; + + array[ offset + 6 ] = te[ 6 ]; + array[ offset + 7 ] = te[ 7 ]; + array[ offset + 8 ] = te[ 8 ]; + + return array; + + } + + /** + * Returns a matrix with copied values from this instance. + * + * @return {Matrix3} A clone of this instance. + */ + clone() { + + return new this.constructor().fromArray( this.elements ); + + } + +} + +const _m3 = /*@__PURE__*/ new Matrix3(); + +const LINEAR_REC709_TO_XYZ = /*@__PURE__*/ new Matrix3().set( + 0.4123908, 0.3575843, 0.1804808, + 0.2126390, 0.7151687, 0.0721923, + 0.0193308, 0.1191948, 0.9505322 +); + +const XYZ_TO_LINEAR_REC709 = /*@__PURE__*/ new Matrix3().set( + 3.2409699, -1.5373832, -0.4986108, + -0.9692436, 1.8759675, 0.0415551, + 0.0556301, -0.203977, 1.0569715 +); + +function createColorManagement() { + + const ColorManagement = { + + enabled: true, + + workingColorSpace: LinearSRGBColorSpace, + + /** + * Implementations of supported color spaces. + * + * Required: + * - primaries: chromaticity coordinates [ rx ry gx gy bx by ] + * - whitePoint: reference white [ x y ] + * - transfer: transfer function (pre-defined) + * - toXYZ: Matrix3 RGB to XYZ transform + * - fromXYZ: Matrix3 XYZ to RGB transform + * - luminanceCoefficients: RGB luminance coefficients + * + * Optional: + * - outputColorSpaceConfig: { drawingBufferColorSpace: ColorSpace, toneMappingMode: 'extended' | 'standard' } + * - workingColorSpaceConfig: { unpackColorSpace: ColorSpace } + * + * Reference: + * - https://www.russellcottrell.com/photo/matrixCalculator.htm + */ + spaces: {}, + + convert: function ( color, sourceColorSpace, targetColorSpace ) { + + if ( this.enabled === false || sourceColorSpace === targetColorSpace || ! sourceColorSpace || ! targetColorSpace ) { + + return color; + + } + + if ( this.spaces[ sourceColorSpace ].transfer === SRGBTransfer ) { + + color.r = SRGBToLinear( color.r ); + color.g = SRGBToLinear( color.g ); + color.b = SRGBToLinear( color.b ); + + } + + if ( this.spaces[ sourceColorSpace ].primaries !== this.spaces[ targetColorSpace ].primaries ) { + + color.applyMatrix3( this.spaces[ sourceColorSpace ].toXYZ ); + color.applyMatrix3( this.spaces[ targetColorSpace ].fromXYZ ); + + } + + if ( this.spaces[ targetColorSpace ].transfer === SRGBTransfer ) { + + color.r = LinearToSRGB( color.r ); + color.g = LinearToSRGB( color.g ); + color.b = LinearToSRGB( color.b ); + + } + + return color; + + }, + + workingToColorSpace: function ( color, targetColorSpace ) { + + return this.convert( color, this.workingColorSpace, targetColorSpace ); + + }, + + colorSpaceToWorking: function ( color, sourceColorSpace ) { + + return this.convert( color, sourceColorSpace, this.workingColorSpace ); + + }, + + getPrimaries: function ( colorSpace ) { + + return this.spaces[ colorSpace ].primaries; + + }, + + getTransfer: function ( colorSpace ) { + + if ( colorSpace === NoColorSpace ) return LinearTransfer; + + return this.spaces[ colorSpace ].transfer; + + }, + + getToneMappingMode: function ( colorSpace ) { + + return this.spaces[ colorSpace ].outputColorSpaceConfig.toneMappingMode || 'standard'; + + }, + + getLuminanceCoefficients: function ( target, colorSpace = this.workingColorSpace ) { + + return target.fromArray( this.spaces[ colorSpace ].luminanceCoefficients ); + + }, + + define: function ( colorSpaces ) { + + Object.assign( this.spaces, colorSpaces ); + + }, + + // Internal APIs + + _getMatrix: function ( targetMatrix, sourceColorSpace, targetColorSpace ) { + + return targetMatrix + .copy( this.spaces[ sourceColorSpace ].toXYZ ) + .multiply( this.spaces[ targetColorSpace ].fromXYZ ); + + }, + + _getDrawingBufferColorSpace: function ( colorSpace ) { + + return this.spaces[ colorSpace ].outputColorSpaceConfig.drawingBufferColorSpace; + + }, + + _getUnpackColorSpace: function ( colorSpace = this.workingColorSpace ) { + + return this.spaces[ colorSpace ].workingColorSpaceConfig.unpackColorSpace; + + }, + + // Deprecated + + fromWorkingColorSpace: function ( color, targetColorSpace ) { + + warnOnce( 'ColorManagement: .fromWorkingColorSpace() has been renamed to .workingToColorSpace().' ); // @deprecated, r177 + + return ColorManagement.workingToColorSpace( color, targetColorSpace ); + + }, + + toWorkingColorSpace: function ( color, sourceColorSpace ) { + + warnOnce( 'ColorManagement: .toWorkingColorSpace() has been renamed to .colorSpaceToWorking().' ); // @deprecated, r177 + + return ColorManagement.colorSpaceToWorking( color, sourceColorSpace ); + + }, + + }; + + /****************************************************************************** + * sRGB definitions + */ + + const REC709_PRIMARIES = [ 0.640, 0.330, 0.300, 0.600, 0.150, 0.060 ]; + const REC709_LUMINANCE_COEFFICIENTS = [ 0.2126, 0.7152, 0.0722 ]; + const D65 = [ 0.3127, 0.3290 ]; + + ColorManagement.define( { + + [ LinearSRGBColorSpace ]: { + primaries: REC709_PRIMARIES, + whitePoint: D65, + transfer: LinearTransfer, + toXYZ: LINEAR_REC709_TO_XYZ, + fromXYZ: XYZ_TO_LINEAR_REC709, + luminanceCoefficients: REC709_LUMINANCE_COEFFICIENTS, + workingColorSpaceConfig: { unpackColorSpace: SRGBColorSpace }, + outputColorSpaceConfig: { drawingBufferColorSpace: SRGBColorSpace } + }, + + [ SRGBColorSpace ]: { + primaries: REC709_PRIMARIES, + whitePoint: D65, + transfer: SRGBTransfer, + toXYZ: LINEAR_REC709_TO_XYZ, + fromXYZ: XYZ_TO_LINEAR_REC709, + luminanceCoefficients: REC709_LUMINANCE_COEFFICIENTS, + outputColorSpaceConfig: { drawingBufferColorSpace: SRGBColorSpace } + }, + + } ); + + return ColorManagement; + +} + +const ColorManagement = /*@__PURE__*/ createColorManagement(); + +function SRGBToLinear( c ) { + + return ( c < 0.04045 ) ? c * 0.0773993808 : Math.pow( c * 0.9478672986 + 0.0521327014, 2.4 ); + +} + +function LinearToSRGB( c ) { + + return ( c < 0.0031308 ) ? c * 12.92 : 1.055 * ( Math.pow( c, 0.41666 ) ) - 0.055; + +} + +let _canvas; + +/** + * A class containing utility functions for images. + * + * @hideconstructor + */ +class ImageUtils { + + /** + * Returns a data URI containing a representation of the given image. + * + * @param {(HTMLImageElement|HTMLCanvasElement)} image - The image object. + * @param {string} [type='image/png'] - Indicates the image format. + * @return {string} The data URI. + */ + static getDataURL( image, type = 'image/png' ) { + + if ( /^data:/i.test( image.src ) ) { + + return image.src; + + } + + if ( typeof HTMLCanvasElement === 'undefined' ) { + + return image.src; + + } + + let canvas; + + if ( image instanceof HTMLCanvasElement ) { + + canvas = image; + + } else { + + if ( _canvas === undefined ) _canvas = createElementNS( 'canvas' ); + + _canvas.width = image.width; + _canvas.height = image.height; + + const context = _canvas.getContext( '2d' ); + + if ( image instanceof ImageData ) { + + context.putImageData( image, 0, 0 ); + + } else { + + context.drawImage( image, 0, 0, image.width, image.height ); + + } + + canvas = _canvas; + + } + + return canvas.toDataURL( type ); + + } + + /** + * Converts the given sRGB image data to linear color space. + * + * @param {(HTMLImageElement|HTMLCanvasElement|ImageBitmap|Object)} image - The image object. + * @return {HTMLCanvasElement|Object} The converted image. + */ + static sRGBToLinear( image ) { + + if ( ( typeof HTMLImageElement !== 'undefined' && image instanceof HTMLImageElement ) || + ( typeof HTMLCanvasElement !== 'undefined' && image instanceof HTMLCanvasElement ) || + ( typeof ImageBitmap !== 'undefined' && image instanceof ImageBitmap ) ) { + + const canvas = createElementNS( 'canvas' ); + + canvas.width = image.width; + canvas.height = image.height; + + const context = canvas.getContext( '2d' ); + context.drawImage( image, 0, 0, image.width, image.height ); + + const imageData = context.getImageData( 0, 0, image.width, image.height ); + const data = imageData.data; + + for ( let i = 0; i < data.length; i ++ ) { + + data[ i ] = SRGBToLinear( data[ i ] / 255 ) * 255; + + } + + context.putImageData( imageData, 0, 0 ); + + return canvas; + + } else if ( image.data ) { + + const data = image.data.slice( 0 ); + + for ( let i = 0; i < data.length; i ++ ) { + + if ( data instanceof Uint8Array || data instanceof Uint8ClampedArray ) { + + data[ i ] = Math.floor( SRGBToLinear( data[ i ] / 255 ) * 255 ); + + } else { + + // assuming float + + data[ i ] = SRGBToLinear( data[ i ] ); + + } + + } + + return { + data: data, + width: image.width, + height: image.height + }; + + } else { + + warn( 'ImageUtils.sRGBToLinear(): Unsupported image type. No color space conversion applied.' ); + return image; + + } + + } + +} + +let _sourceId = 0; + +/** + * Represents the data source of a texture. + * + * The main purpose of this class is to decouple the data definition from the texture + * definition so the same data can be used with multiple texture instances. + */ +class Source { + + /** + * Constructs a new video texture. + * + * @param {any} [data=null] - The data definition of a texture. + */ + constructor( data = null ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isSource = true; + + /** + * The ID of the source. + * + * @name Source#id + * @type {number} + * @readonly + */ + Object.defineProperty( this, 'id', { value: _sourceId ++ } ); + + /** + * The UUID of the source. + * + * @type {string} + * @readonly + */ + this.uuid = generateUUID(); + + /** + * The data definition of a texture. + * + * @type {any} + */ + this.data = data; + + /** + * This property is only relevant when {@link Source#needsUpdate} is set to `true` and + * provides more control on how texture data should be processed. When `dataReady` is set + * to `false`, the engine performs the memory allocation (if necessary) but does not transfer + * the data into the GPU memory. + * + * @type {boolean} + * @default true + */ + this.dataReady = true; + + /** + * This starts at `0` and counts how many times {@link Source#needsUpdate} is set to `true`. + * + * @type {number} + * @readonly + * @default 0 + */ + this.version = 0; + + } + + /** + * Returns the dimensions of the source into the given target vector. + * + * @param {(Vector2|Vector3)} target - The target object the result is written into. + * @return {(Vector2|Vector3)} The dimensions of the source. + */ + getSize( target ) { + + const data = this.data; + + if ( ( typeof HTMLVideoElement !== 'undefined' ) && ( data instanceof HTMLVideoElement ) ) { + + target.set( data.videoWidth, data.videoHeight, 0 ); + + } else if ( ( typeof VideoFrame !== 'undefined' ) && ( data instanceof VideoFrame ) ) { + + target.set( data.displayHeight, data.displayWidth, 0 ); + + } else if ( data !== null ) { + + target.set( data.width, data.height, data.depth || 0 ); + + } else { + + target.set( 0, 0, 0 ); + + } + + return target; + + } + + /** + * When the property is set to `true`, the engine allocates the memory + * for the texture (if necessary) and triggers the actual texture upload + * to the GPU next time the source is used. + * + * @type {boolean} + * @default false + * @param {boolean} value + */ + set needsUpdate( value ) { + + if ( value === true ) this.version ++; + + } + + /** + * Serializes the source into JSON. + * + * @param {?(Object|string)} meta - An optional value holding meta information about the serialization. + * @return {Object} A JSON object representing the serialized source. + * @see {@link ObjectLoader#parse} + */ + toJSON( meta ) { + + const isRootObject = ( meta === undefined || typeof meta === 'string' ); + + if ( ! isRootObject && meta.images[ this.uuid ] !== undefined ) { + + return meta.images[ this.uuid ]; + + } + + const output = { + uuid: this.uuid, + url: '' + }; + + const data = this.data; + + if ( data !== null ) { + + let url; + + if ( Array.isArray( data ) ) { + + // cube texture + + url = []; + + for ( let i = 0, l = data.length; i < l; i ++ ) { + + if ( data[ i ].isDataTexture ) { + + url.push( serializeImage( data[ i ].image ) ); + + } else { + + url.push( serializeImage( data[ i ] ) ); + + } + + } + + } else { + + // texture + + url = serializeImage( data ); + + } + + output.url = url; + + } + + if ( ! isRootObject ) { + + meta.images[ this.uuid ] = output; + + } + + return output; + + } + +} + +function serializeImage( image ) { + + if ( ( typeof HTMLImageElement !== 'undefined' && image instanceof HTMLImageElement ) || + ( typeof HTMLCanvasElement !== 'undefined' && image instanceof HTMLCanvasElement ) || + ( typeof ImageBitmap !== 'undefined' && image instanceof ImageBitmap ) ) { + + // default images + + return ImageUtils.getDataURL( image ); + + } else { + + if ( image.data ) { + + // images of DataTexture + + return { + data: Array.from( image.data ), + width: image.width, + height: image.height, + type: image.data.constructor.name + }; + + } else { + + warn( 'Texture: Unable to serialize Texture.' ); + return {}; + + } + + } + +} + +let _textureId = 0; + +const _tempVec3 = /*@__PURE__*/ new Vector3(); + +/** + * Base class for all textures. + * + * Note: After the initial use of a texture, its dimensions, format, and type + * cannot be changed. Instead, call {@link Texture#dispose} on the texture and instantiate a new one. + * + * @augments EventDispatcher + */ +class Texture extends EventDispatcher { + + /** + * Constructs a new texture. + * + * @param {?Object} [image=Texture.DEFAULT_IMAGE] - The image holding the texture data. + * @param {number} [mapping=Texture.DEFAULT_MAPPING] - The texture mapping. + * @param {number} [wrapS=ClampToEdgeWrapping] - The wrapS value. + * @param {number} [wrapT=ClampToEdgeWrapping] - The wrapT value. + * @param {number} [magFilter=LinearFilter] - The mag filter value. + * @param {number} [minFilter=LinearMipmapLinearFilter] - The min filter value. + * @param {number} [format=RGBAFormat] - The texture format. + * @param {number} [type=UnsignedByteType] - The texture type. + * @param {number} [anisotropy=Texture.DEFAULT_ANISOTROPY] - The anisotropy value. + * @param {string} [colorSpace=NoColorSpace] - The color space. + */ + constructor( image = Texture.DEFAULT_IMAGE, mapping = Texture.DEFAULT_MAPPING, wrapS = ClampToEdgeWrapping, wrapT = ClampToEdgeWrapping, magFilter = LinearFilter, minFilter = LinearMipmapLinearFilter, format = RGBAFormat, type = UnsignedByteType, anisotropy = Texture.DEFAULT_ANISOTROPY, colorSpace = NoColorSpace ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isTexture = true; + + /** + * The ID of the texture. + * + * @name Texture#id + * @type {number} + * @readonly + */ + Object.defineProperty( this, 'id', { value: _textureId ++ } ); + + /** + * The UUID of the texture. + * + * @type {string} + * @readonly + */ + this.uuid = generateUUID(); + + /** + * The name of the texture. + * + * @type {string} + */ + this.name = ''; + + /** + * The data definition of a texture. A reference to the data source can be + * shared across textures. This is often useful in context of spritesheets + * where multiple textures render the same data but with different texture + * transformations. + * + * @type {Source} + */ + this.source = new Source( image ); + + /** + * An array holding user-defined mipmaps. + * + * @type {Array} + */ + this.mipmaps = []; + + /** + * How the texture is applied to the object. The value `UVMapping` + * is the default, where texture or uv coordinates are used to apply the map. + * + * @type {(UVMapping|CubeReflectionMapping|CubeRefractionMapping|EquirectangularReflectionMapping|EquirectangularRefractionMapping|CubeUVReflectionMapping)} + * @default UVMapping + */ + this.mapping = mapping; + + /** + * Lets you select the uv attribute to map the texture to. `0` for `uv`, + * `1` for `uv1`, `2` for `uv2` and `3` for `uv3`. + * + * @type {number} + * @default 0 + */ + this.channel = 0; + + /** + * This defines how the texture is wrapped horizontally and corresponds to + * *U* in UV mapping. + * + * @type {(RepeatWrapping|ClampToEdgeWrapping|MirroredRepeatWrapping)} + * @default ClampToEdgeWrapping + */ + this.wrapS = wrapS; + + /** + * This defines how the texture is wrapped horizontally and corresponds to + * *V* in UV mapping. + * + * @type {(RepeatWrapping|ClampToEdgeWrapping|MirroredRepeatWrapping)} + * @default ClampToEdgeWrapping + */ + this.wrapT = wrapT; + + /** + * How the texture is sampled when a texel covers more than one pixel. + * + * @type {(NearestFilter|NearestMipmapNearestFilter|NearestMipmapLinearFilter|LinearFilter|LinearMipmapNearestFilter|LinearMipmapLinearFilter)} + * @default LinearFilter + */ + this.magFilter = magFilter; + + /** + * How the texture is sampled when a texel covers less than one pixel. + * + * @type {(NearestFilter|NearestMipmapNearestFilter|NearestMipmapLinearFilter|LinearFilter|LinearMipmapNearestFilter|LinearMipmapLinearFilter)} + * @default LinearMipmapLinearFilter + */ + this.minFilter = minFilter; + + /** + * The number of samples taken along the axis through the pixel that has the + * highest density of texels. By default, this value is `1`. A higher value + * gives a less blurry result than a basic mipmap, at the cost of more + * texture samples being used. + * + * @type {number} + * @default Texture.DEFAULT_ANISOTROPY + */ + this.anisotropy = anisotropy; + + /** + * The format of the texture. + * + * @type {number} + * @default RGBAFormat + */ + this.format = format; + + /** + * The default internal format is derived from {@link Texture#format} and {@link Texture#type} and + * defines how the texture data is going to be stored on the GPU. + * + * This property allows to overwrite the default format. + * + * @type {?string} + * @default null + */ + this.internalFormat = null; + + /** + * The data type of the texture. + * + * @type {number} + * @default UnsignedByteType + */ + this.type = type; + + /** + * How much a single repetition of the texture is offset from the beginning, + * in each direction U and V. Typical range is `0.0` to `1.0`. + * + * @type {Vector2} + * @default (0,0) + */ + this.offset = new Vector2( 0, 0 ); + + /** + * How many times the texture is repeated across the surface, in each + * direction U and V. If repeat is set greater than `1` in either direction, + * the corresponding wrap parameter should also be set to `RepeatWrapping` + * or `MirroredRepeatWrapping` to achieve the desired tiling effect. + * + * @type {Vector2} + * @default (1,1) + */ + this.repeat = new Vector2( 1, 1 ); + + /** + * The point around which rotation occurs. A value of `(0.5, 0.5)` corresponds + * to the center of the texture. Default is `(0, 0)`, the lower left. + * + * @type {Vector2} + * @default (0,0) + */ + this.center = new Vector2( 0, 0 ); + + /** + * How much the texture is rotated around the center point, in radians. + * Positive values are counter-clockwise. + * + * @type {number} + * @default 0 + */ + this.rotation = 0; + + /** + * Whether to update the texture's uv-transformation {@link Texture#matrix} + * from the properties {@link Texture#offset}, {@link Texture#repeat}, + * {@link Texture#rotation}, and {@link Texture#center}. + * + * Set this to `false` if you are specifying the uv-transform matrix directly. + * + * @type {boolean} + * @default true + */ + this.matrixAutoUpdate = true; + + /** + * The uv-transformation matrix of the texture. + * + * @type {Matrix3} + */ + this.matrix = new Matrix3(); + + /** + * Whether to generate mipmaps (if possible) for a texture. + * + * Set this to `false` if you are creating mipmaps manually. + * + * @type {boolean} + * @default true + */ + this.generateMipmaps = true; + + /** + * If set to `true`, the alpha channel, if present, is multiplied into the + * color channels when the texture is uploaded to the GPU. + * + * Note that this property has no effect when using `ImageBitmap`. You need to + * configure premultiply alpha on bitmap creation instead. + * + * @type {boolean} + * @default false + */ + this.premultiplyAlpha = false; + + /** + * If set to `true`, the texture is flipped along the vertical axis when + * uploaded to the GPU. + * + * Note that this property has no effect when using `ImageBitmap`. You need to + * configure the flip on bitmap creation instead. + * + * @type {boolean} + * @default true + */ + this.flipY = true; + + /** + * Specifies the alignment requirements for the start of each pixel row in memory. + * The allowable values are `1` (byte-alignment), `2` (rows aligned to even-numbered bytes), + * `4` (word-alignment), and `8` (rows start on double-word boundaries). + * + * @type {number} + * @default 4 + */ + this.unpackAlignment = 4; // valid values: 1, 2, 4, 8 (see http://www.khronos.org/opengles/sdk/docs/man/xhtml/glPixelStorei.xml) + + /** + * Textures containing color data should be annotated with `SRGBColorSpace` or `LinearSRGBColorSpace`. + * + * @type {string} + * @default NoColorSpace + */ + this.colorSpace = colorSpace; + + /** + * An object that can be used to store custom data about the texture. It + * should not hold references to functions as these will not be cloned. + * + * @type {Object} + */ + this.userData = {}; + + /** + * This can be used to only update a subregion or specific rows of the texture (for example, just the + * first 3 rows). Use the `addUpdateRange()` function to add ranges to this array. + * + * @type {Array} + */ + this.updateRanges = []; + + /** + * This starts at `0` and counts how many times {@link Texture#needsUpdate} is set to `true`. + * + * @type {number} + * @readonly + * @default 0 + */ + this.version = 0; + + /** + * A callback function, called when the texture is updated (e.g., when + * {@link Texture#needsUpdate} has been set to true and then the texture is used). + * + * @type {?Function} + * @default null + */ + this.onUpdate = null; + + /** + * An optional back reference to the textures render target. + * + * @type {?(RenderTarget|WebGLRenderTarget)} + * @default null + */ + this.renderTarget = null; + + /** + * Indicates whether a texture belongs to a render target or not. + * + * @type {boolean} + * @readonly + * @default false + */ + this.isRenderTargetTexture = false; + + /** + * Indicates if a texture should be handled like a texture array. + * + * @type {boolean} + * @readonly + * @default false + */ + this.isArrayTexture = image && image.depth && image.depth > 1 ? true : false; + + /** + * Indicates whether this texture should be processed by `PMREMGenerator` or not + * (only relevant for render target textures). + * + * @type {number} + * @readonly + * @default 0 + */ + this.pmremVersion = 0; + + } + + /** + * The width of the texture in pixels. + */ + get width() { + + return this.source.getSize( _tempVec3 ).x; + + } + + /** + * The height of the texture in pixels. + */ + get height() { + + return this.source.getSize( _tempVec3 ).y; + + } + + /** + * The depth of the texture in pixels. + */ + get depth() { + + return this.source.getSize( _tempVec3 ).z; + + } + + /** + * The image object holding the texture data. + * + * @type {?Object} + */ + get image() { + + return this.source.data; + + } + + set image( value = null ) { + + this.source.data = value; + + } + + /** + * Updates the texture transformation matrix from the from the properties {@link Texture#offset}, + * {@link Texture#repeat}, {@link Texture#rotation}, and {@link Texture#center}. + */ + updateMatrix() { + + this.matrix.setUvTransform( this.offset.x, this.offset.y, this.repeat.x, this.repeat.y, this.rotation, this.center.x, this.center.y ); + + } + + /** + * Adds a range of data in the data texture to be updated on the GPU. + * + * @param {number} start - Position at which to start update. + * @param {number} count - The number of components to update. + */ + addUpdateRange( start, count ) { + + this.updateRanges.push( { start, count } ); + + } + + /** + * Clears the update ranges. + */ + clearUpdateRanges() { + + this.updateRanges.length = 0; + + } + + /** + * Returns a new texture with copied values from this instance. + * + * @return {Texture} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + + /** + * Copies the values of the given texture to this instance. + * + * @param {Texture} source - The texture to copy. + * @return {Texture} A reference to this instance. + */ + copy( source ) { + + this.name = source.name; + + this.source = source.source; + this.mipmaps = source.mipmaps.slice( 0 ); + + this.mapping = source.mapping; + this.channel = source.channel; + + this.wrapS = source.wrapS; + this.wrapT = source.wrapT; + + this.magFilter = source.magFilter; + this.minFilter = source.minFilter; + + this.anisotropy = source.anisotropy; + + this.format = source.format; + this.internalFormat = source.internalFormat; + this.type = source.type; + + this.offset.copy( source.offset ); + this.repeat.copy( source.repeat ); + this.center.copy( source.center ); + this.rotation = source.rotation; + + this.matrixAutoUpdate = source.matrixAutoUpdate; + this.matrix.copy( source.matrix ); + + this.generateMipmaps = source.generateMipmaps; + this.premultiplyAlpha = source.premultiplyAlpha; + this.flipY = source.flipY; + this.unpackAlignment = source.unpackAlignment; + this.colorSpace = source.colorSpace; + + this.renderTarget = source.renderTarget; + this.isRenderTargetTexture = source.isRenderTargetTexture; + this.isArrayTexture = source.isArrayTexture; + + this.userData = JSON.parse( JSON.stringify( source.userData ) ); + + this.needsUpdate = true; + + return this; + + } + + /** + * Sets this texture's properties based on `values`. + * @param {Object} values - A container with texture parameters. + */ + setValues( values ) { + + for ( const key in values ) { + + const newValue = values[ key ]; + + if ( newValue === undefined ) { + + warn( `Texture.setValues(): parameter '${ key }' has value of undefined.` ); + continue; + + } + + const currentValue = this[ key ]; + + if ( currentValue === undefined ) { + + warn( `Texture.setValues(): property '${ key }' does not exist.` ); + continue; + + } + + if ( ( currentValue && newValue ) && ( currentValue.isVector2 && newValue.isVector2 ) ) { + + currentValue.copy( newValue ); + + } else if ( ( currentValue && newValue ) && ( currentValue.isVector3 && newValue.isVector3 ) ) { + + currentValue.copy( newValue ); + + } else if ( ( currentValue && newValue ) && ( currentValue.isMatrix3 && newValue.isMatrix3 ) ) { + + currentValue.copy( newValue ); + + } else { + + this[ key ] = newValue; + + } + + } + + } + + /** + * Serializes the texture into JSON. + * + * @param {?(Object|string)} meta - An optional value holding meta information about the serialization. + * @return {Object} A JSON object representing the serialized texture. + * @see {@link ObjectLoader#parse} + */ + toJSON( meta ) { + + const isRootObject = ( meta === undefined || typeof meta === 'string' ); + + if ( ! isRootObject && meta.textures[ this.uuid ] !== undefined ) { + + return meta.textures[ this.uuid ]; + + } + + const output = { + + metadata: { + version: 4.7, + type: 'Texture', + generator: 'Texture.toJSON' + }, + + uuid: this.uuid, + name: this.name, + + image: this.source.toJSON( meta ).uuid, + + mapping: this.mapping, + channel: this.channel, + + repeat: [ this.repeat.x, this.repeat.y ], + offset: [ this.offset.x, this.offset.y ], + center: [ this.center.x, this.center.y ], + rotation: this.rotation, + + wrap: [ this.wrapS, this.wrapT ], + + format: this.format, + internalFormat: this.internalFormat, + type: this.type, + colorSpace: this.colorSpace, + + minFilter: this.minFilter, + magFilter: this.magFilter, + anisotropy: this.anisotropy, + + flipY: this.flipY, + + generateMipmaps: this.generateMipmaps, + premultiplyAlpha: this.premultiplyAlpha, + unpackAlignment: this.unpackAlignment + + }; + + if ( Object.keys( this.userData ).length > 0 ) output.userData = this.userData; + + if ( ! isRootObject ) { + + meta.textures[ this.uuid ] = output; + + } + + return output; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + * + * @fires Texture#dispose + */ + dispose() { + + /** + * Fires when the texture has been disposed of. + * + * @event Texture#dispose + * @type {Object} + */ + this.dispatchEvent( { type: 'dispose' } ); + + } + + /** + * Transforms the given uv vector with the textures uv transformation matrix. + * + * @param {Vector2} uv - The uv vector. + * @return {Vector2} The transformed uv vector. + */ + transformUv( uv ) { + + if ( this.mapping !== UVMapping ) return uv; + + uv.applyMatrix3( this.matrix ); + + if ( uv.x < 0 || uv.x > 1 ) { + + switch ( this.wrapS ) { + + case RepeatWrapping: + + uv.x = uv.x - Math.floor( uv.x ); + break; + + case ClampToEdgeWrapping: + + uv.x = uv.x < 0 ? 0 : 1; + break; + + case MirroredRepeatWrapping: + + if ( Math.abs( Math.floor( uv.x ) % 2 ) === 1 ) { + + uv.x = Math.ceil( uv.x ) - uv.x; + + } else { + + uv.x = uv.x - Math.floor( uv.x ); + + } + + break; + + } + + } + + if ( uv.y < 0 || uv.y > 1 ) { + + switch ( this.wrapT ) { + + case RepeatWrapping: + + uv.y = uv.y - Math.floor( uv.y ); + break; + + case ClampToEdgeWrapping: + + uv.y = uv.y < 0 ? 0 : 1; + break; + + case MirroredRepeatWrapping: + + if ( Math.abs( Math.floor( uv.y ) % 2 ) === 1 ) { + + uv.y = Math.ceil( uv.y ) - uv.y; + + } else { + + uv.y = uv.y - Math.floor( uv.y ); + + } + + break; + + } + + } + + if ( this.flipY ) { + + uv.y = 1 - uv.y; + + } + + return uv; + + } + + /** + * Setting this property to `true` indicates the engine the texture + * must be updated in the next render. This triggers a texture upload + * to the GPU and ensures correct texture parameter configuration. + * + * @type {boolean} + * @default false + * @param {boolean} value + */ + set needsUpdate( value ) { + + if ( value === true ) { + + this.version ++; + this.source.needsUpdate = true; + + } + + } + + /** + * Setting this property to `true` indicates the engine the PMREM + * must be regenerated. + * + * @type {boolean} + * @default false + * @param {boolean} value + */ + set needsPMREMUpdate( value ) { + + if ( value === true ) { + + this.pmremVersion ++; + + } + + } + +} + +/** + * The default image for all textures. + * + * @static + * @type {?Image} + * @default null + */ +Texture.DEFAULT_IMAGE = null; + +/** + * The default mapping for all textures. + * + * @static + * @type {number} + * @default UVMapping + */ +Texture.DEFAULT_MAPPING = UVMapping; + +/** + * The default anisotropy value for all textures. + * + * @static + * @type {number} + * @default 1 + */ +Texture.DEFAULT_ANISOTROPY = 1; + +/** + * Class representing a 4D vector. A 4D vector is an ordered quadruplet of numbers + * (labeled x, y, z and w), which can be used to represent a number of things, such as: + * + * - A point in 4D space. + * - A direction and length in 4D space. In three.js the length will + * always be the Euclidean distance(straight-line distance) from `(0, 0, 0, 0)` to `(x, y, z, w)` + * and the direction is also measured from `(0, 0, 0, 0)` towards `(x, y, z, w)`. + * - Any arbitrary ordered quadruplet of numbers. + * + * There are other things a 4D vector can be used to represent, however these + * are the most common uses in *three.js*. + * + * Iterating through a vector instance will yield its components `(x, y, z, w)` in + * the corresponding order. + * ```js + * const a = new THREE.Vector4( 0, 1, 0, 0 ); + * + * //no arguments; will be initialised to (0, 0, 0, 1) + * const b = new THREE.Vector4( ); + * + * const d = a.dot( b ); + * ``` + */ +class Vector4 { + + /** + * Constructs a new 4D vector. + * + * @param {number} [x=0] - The x value of this vector. + * @param {number} [y=0] - The y value of this vector. + * @param {number} [z=0] - The z value of this vector. + * @param {number} [w=1] - The w value of this vector. + */ + constructor( x = 0, y = 0, z = 0, w = 1 ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + Vector4.prototype.isVector4 = true; + + /** + * The x value of this vector. + * + * @type {number} + */ + this.x = x; + + /** + * The y value of this vector. + * + * @type {number} + */ + this.y = y; + + /** + * The z value of this vector. + * + * @type {number} + */ + this.z = z; + + /** + * The w value of this vector. + * + * @type {number} + */ + this.w = w; + + } + + /** + * Alias for {@link Vector4#z}. + * + * @type {number} + */ + get width() { + + return this.z; + + } + + set width( value ) { + + this.z = value; + + } + + /** + * Alias for {@link Vector4#w}. + * + * @type {number} + */ + get height() { + + return this.w; + + } + + set height( value ) { + + this.w = value; + + } + + /** + * Sets the vector components. + * + * @param {number} x - The value of the x component. + * @param {number} y - The value of the y component. + * @param {number} z - The value of the z component. + * @param {number} w - The value of the w component. + * @return {Vector4} A reference to this vector. + */ + set( x, y, z, w ) { + + this.x = x; + this.y = y; + this.z = z; + this.w = w; + + return this; + + } + + /** + * Sets the vector components to the same value. + * + * @param {number} scalar - The value to set for all vector components. + * @return {Vector4} A reference to this vector. + */ + setScalar( scalar ) { + + this.x = scalar; + this.y = scalar; + this.z = scalar; + this.w = scalar; + + return this; + + } + + /** + * Sets the vector's x component to the given value + * + * @param {number} x - The value to set. + * @return {Vector4} A reference to this vector. + */ + setX( x ) { + + this.x = x; + + return this; + + } + + /** + * Sets the vector's y component to the given value + * + * @param {number} y - The value to set. + * @return {Vector4} A reference to this vector. + */ + setY( y ) { + + this.y = y; + + return this; + + } + + /** + * Sets the vector's z component to the given value + * + * @param {number} z - The value to set. + * @return {Vector4} A reference to this vector. + */ + setZ( z ) { + + this.z = z; + + return this; + + } + + /** + * Sets the vector's w component to the given value + * + * @param {number} w - The value to set. + * @return {Vector4} A reference to this vector. + */ + setW( w ) { + + this.w = w; + + return this; + + } + + /** + * Allows to set a vector component with an index. + * + * @param {number} index - The component index. `0` equals to x, `1` equals to y, + * `2` equals to z, `3` equals to w. + * @param {number} value - The value to set. + * @return {Vector4} A reference to this vector. + */ + setComponent( index, value ) { + + switch ( index ) { + + case 0: this.x = value; break; + case 1: this.y = value; break; + case 2: this.z = value; break; + case 3: this.w = value; break; + default: throw new Error( 'index is out of range: ' + index ); + + } + + return this; + + } + + /** + * Returns the value of the vector component which matches the given index. + * + * @param {number} index - The component index. `0` equals to x, `1` equals to y, + * `2` equals to z, `3` equals to w. + * @return {number} A vector component value. + */ + getComponent( index ) { + + switch ( index ) { + + case 0: return this.x; + case 1: return this.y; + case 2: return this.z; + case 3: return this.w; + default: throw new Error( 'index is out of range: ' + index ); + + } + + } + + /** + * Returns a new vector with copied values from this instance. + * + * @return {Vector4} A clone of this instance. + */ + clone() { + + return new this.constructor( this.x, this.y, this.z, this.w ); + + } + + /** + * Copies the values of the given vector to this instance. + * + * @param {Vector3|Vector4} v - The vector to copy. + * @return {Vector4} A reference to this vector. + */ + copy( v ) { + + this.x = v.x; + this.y = v.y; + this.z = v.z; + this.w = ( v.w !== undefined ) ? v.w : 1; + + return this; + + } + + /** + * Adds the given vector to this instance. + * + * @param {Vector4} v - The vector to add. + * @return {Vector4} A reference to this vector. + */ + add( v ) { + + this.x += v.x; + this.y += v.y; + this.z += v.z; + this.w += v.w; + + return this; + + } + + /** + * Adds the given scalar value to all components of this instance. + * + * @param {number} s - The scalar to add. + * @return {Vector4} A reference to this vector. + */ + addScalar( s ) { + + this.x += s; + this.y += s; + this.z += s; + this.w += s; + + return this; + + } + + /** + * Adds the given vectors and stores the result in this instance. + * + * @param {Vector4} a - The first vector. + * @param {Vector4} b - The second vector. + * @return {Vector4} A reference to this vector. + */ + addVectors( a, b ) { + + this.x = a.x + b.x; + this.y = a.y + b.y; + this.z = a.z + b.z; + this.w = a.w + b.w; + + return this; + + } + + /** + * Adds the given vector scaled by the given factor to this instance. + * + * @param {Vector4} v - The vector. + * @param {number} s - The factor that scales `v`. + * @return {Vector4} A reference to this vector. + */ + addScaledVector( v, s ) { + + this.x += v.x * s; + this.y += v.y * s; + this.z += v.z * s; + this.w += v.w * s; + + return this; + + } + + /** + * Subtracts the given vector from this instance. + * + * @param {Vector4} v - The vector to subtract. + * @return {Vector4} A reference to this vector. + */ + sub( v ) { + + this.x -= v.x; + this.y -= v.y; + this.z -= v.z; + this.w -= v.w; + + return this; + + } + + /** + * Subtracts the given scalar value from all components of this instance. + * + * @param {number} s - The scalar to subtract. + * @return {Vector4} A reference to this vector. + */ + subScalar( s ) { + + this.x -= s; + this.y -= s; + this.z -= s; + this.w -= s; + + return this; + + } + + /** + * Subtracts the given vectors and stores the result in this instance. + * + * @param {Vector4} a - The first vector. + * @param {Vector4} b - The second vector. + * @return {Vector4} A reference to this vector. + */ + subVectors( a, b ) { + + this.x = a.x - b.x; + this.y = a.y - b.y; + this.z = a.z - b.z; + this.w = a.w - b.w; + + return this; + + } + + /** + * Multiplies the given vector with this instance. + * + * @param {Vector4} v - The vector to multiply. + * @return {Vector4} A reference to this vector. + */ + multiply( v ) { + + this.x *= v.x; + this.y *= v.y; + this.z *= v.z; + this.w *= v.w; + + return this; + + } + + /** + * Multiplies the given scalar value with all components of this instance. + * + * @param {number} scalar - The scalar to multiply. + * @return {Vector4} A reference to this vector. + */ + multiplyScalar( scalar ) { + + this.x *= scalar; + this.y *= scalar; + this.z *= scalar; + this.w *= scalar; + + return this; + + } + + /** + * Multiplies this vector with the given 4x4 matrix. + * + * @param {Matrix4} m - The 4x4 matrix. + * @return {Vector4} A reference to this vector. + */ + applyMatrix4( m ) { + + const x = this.x, y = this.y, z = this.z, w = this.w; + const e = m.elements; + + this.x = e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z + e[ 12 ] * w; + this.y = e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z + e[ 13 ] * w; + this.z = e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z + e[ 14 ] * w; + this.w = e[ 3 ] * x + e[ 7 ] * y + e[ 11 ] * z + e[ 15 ] * w; + + return this; + + } + + /** + * Divides this instance by the given vector. + * + * @param {Vector4} v - The vector to divide. + * @return {Vector4} A reference to this vector. + */ + divide( v ) { + + this.x /= v.x; + this.y /= v.y; + this.z /= v.z; + this.w /= v.w; + + return this; + + } + + /** + * Divides this vector by the given scalar. + * + * @param {number} scalar - The scalar to divide. + * @return {Vector4} A reference to this vector. + */ + divideScalar( scalar ) { + + return this.multiplyScalar( 1 / scalar ); + + } + + /** + * Sets the x, y and z components of this + * vector to the quaternion's axis and w to the angle. + * + * @param {Quaternion} q - The Quaternion to set. + * @return {Vector4} A reference to this vector. + */ + setAxisAngleFromQuaternion( q ) { + + // http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/index.htm + + // q is assumed to be normalized + + this.w = 2 * Math.acos( q.w ); + + const s = Math.sqrt( 1 - q.w * q.w ); + + if ( s < 0.0001 ) { + + this.x = 1; + this.y = 0; + this.z = 0; + + } else { + + this.x = q.x / s; + this.y = q.y / s; + this.z = q.z / s; + + } + + return this; + + } + + /** + * Sets the x, y and z components of this + * vector to the axis of rotation and w to the angle. + * + * @param {Matrix4} m - A 4x4 matrix of which the upper left 3x3 matrix is a pure rotation matrix. + * @return {Vector4} A reference to this vector. + */ + setAxisAngleFromRotationMatrix( m ) { + + // http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/index.htm + + // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled) + + let angle, x, y, z; // variables for result + const epsilon = 0.01, // margin to allow for rounding errors + epsilon2 = 0.1, // margin to distinguish between 0 and 180 degrees + + te = m.elements, + + m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ], + m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ], + m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ]; + + if ( ( Math.abs( m12 - m21 ) < epsilon ) && + ( Math.abs( m13 - m31 ) < epsilon ) && + ( Math.abs( m23 - m32 ) < epsilon ) ) { + + // singularity found + // first check for identity matrix which must have +1 for all terms + // in leading diagonal and zero in other terms + + if ( ( Math.abs( m12 + m21 ) < epsilon2 ) && + ( Math.abs( m13 + m31 ) < epsilon2 ) && + ( Math.abs( m23 + m32 ) < epsilon2 ) && + ( Math.abs( m11 + m22 + m33 - 3 ) < epsilon2 ) ) { + + // this singularity is identity matrix so angle = 0 + + this.set( 1, 0, 0, 0 ); + + return this; // zero angle, arbitrary axis + + } + + // otherwise this singularity is angle = 180 + + angle = Math.PI; + + const xx = ( m11 + 1 ) / 2; + const yy = ( m22 + 1 ) / 2; + const zz = ( m33 + 1 ) / 2; + const xy = ( m12 + m21 ) / 4; + const xz = ( m13 + m31 ) / 4; + const yz = ( m23 + m32 ) / 4; + + if ( ( xx > yy ) && ( xx > zz ) ) { + + // m11 is the largest diagonal term + + if ( xx < epsilon ) { + + x = 0; + y = 0.707106781; + z = 0.707106781; + + } else { + + x = Math.sqrt( xx ); + y = xy / x; + z = xz / x; + + } + + } else if ( yy > zz ) { + + // m22 is the largest diagonal term + + if ( yy < epsilon ) { + + x = 0.707106781; + y = 0; + z = 0.707106781; + + } else { + + y = Math.sqrt( yy ); + x = xy / y; + z = yz / y; + + } + + } else { + + // m33 is the largest diagonal term so base result on this + + if ( zz < epsilon ) { + + x = 0.707106781; + y = 0.707106781; + z = 0; + + } else { + + z = Math.sqrt( zz ); + x = xz / z; + y = yz / z; + + } + + } + + this.set( x, y, z, angle ); + + return this; // return 180 deg rotation + + } + + // as we have reached here there are no singularities so we can handle normally + + let s = Math.sqrt( ( m32 - m23 ) * ( m32 - m23 ) + + ( m13 - m31 ) * ( m13 - m31 ) + + ( m21 - m12 ) * ( m21 - m12 ) ); // used to normalize + + if ( Math.abs( s ) < 0.001 ) s = 1; + + // prevent divide by zero, should not happen if matrix is orthogonal and should be + // caught by singularity test above, but I've left it in just in case + + this.x = ( m32 - m23 ) / s; + this.y = ( m13 - m31 ) / s; + this.z = ( m21 - m12 ) / s; + this.w = Math.acos( ( m11 + m22 + m33 - 1 ) / 2 ); + + return this; + + } + + /** + * Sets the vector components to the position elements of the + * given transformation matrix. + * + * @param {Matrix4} m - The 4x4 matrix. + * @return {Vector4} A reference to this vector. + */ + setFromMatrixPosition( m ) { + + const e = m.elements; + + this.x = e[ 12 ]; + this.y = e[ 13 ]; + this.z = e[ 14 ]; + this.w = e[ 15 ]; + + return this; + + } + + /** + * If this vector's x, y, z or w value is greater than the given vector's x, y, z or w + * value, replace that value with the corresponding min value. + * + * @param {Vector4} v - The vector. + * @return {Vector4} A reference to this vector. + */ + min( v ) { + + this.x = Math.min( this.x, v.x ); + this.y = Math.min( this.y, v.y ); + this.z = Math.min( this.z, v.z ); + this.w = Math.min( this.w, v.w ); + + return this; + + } + + /** + * If this vector's x, y, z or w value is less than the given vector's x, y, z or w + * value, replace that value with the corresponding max value. + * + * @param {Vector4} v - The vector. + * @return {Vector4} A reference to this vector. + */ + max( v ) { + + this.x = Math.max( this.x, v.x ); + this.y = Math.max( this.y, v.y ); + this.z = Math.max( this.z, v.z ); + this.w = Math.max( this.w, v.w ); + + return this; + + } + + /** + * If this vector's x, y, z or w value is greater than the max vector's x, y, z or w + * value, it is replaced by the corresponding value. + * If this vector's x, y, z or w value is less than the min vector's x, y, z or w value, + * it is replaced by the corresponding value. + * + * @param {Vector4} min - The minimum x, y and z values. + * @param {Vector4} max - The maximum x, y and z values in the desired range. + * @return {Vector4} A reference to this vector. + */ + clamp( min, max ) { + + // assumes min < max, componentwise + + this.x = clamp( this.x, min.x, max.x ); + this.y = clamp( this.y, min.y, max.y ); + this.z = clamp( this.z, min.z, max.z ); + this.w = clamp( this.w, min.w, max.w ); + + return this; + + } + + /** + * If this vector's x, y, z or w values are greater than the max value, they are + * replaced by the max value. + * If this vector's x, y, z or w values are less than the min value, they are + * replaced by the min value. + * + * @param {number} minVal - The minimum value the components will be clamped to. + * @param {number} maxVal - The maximum value the components will be clamped to. + * @return {Vector4} A reference to this vector. + */ + clampScalar( minVal, maxVal ) { + + this.x = clamp( this.x, minVal, maxVal ); + this.y = clamp( this.y, minVal, maxVal ); + this.z = clamp( this.z, minVal, maxVal ); + this.w = clamp( this.w, minVal, maxVal ); + + return this; + + } + + /** + * If this vector's length is greater than the max value, it is replaced by + * the max value. + * If this vector's length is less than the min value, it is replaced by the + * min value. + * + * @param {number} min - The minimum value the vector length will be clamped to. + * @param {number} max - The maximum value the vector length will be clamped to. + * @return {Vector4} A reference to this vector. + */ + clampLength( min, max ) { + + const length = this.length(); + + return this.divideScalar( length || 1 ).multiplyScalar( clamp( length, min, max ) ); + + } + + /** + * The components of this vector are rounded down to the nearest integer value. + * + * @return {Vector4} A reference to this vector. + */ + floor() { + + this.x = Math.floor( this.x ); + this.y = Math.floor( this.y ); + this.z = Math.floor( this.z ); + this.w = Math.floor( this.w ); + + return this; + + } + + /** + * The components of this vector are rounded up to the nearest integer value. + * + * @return {Vector4} A reference to this vector. + */ + ceil() { + + this.x = Math.ceil( this.x ); + this.y = Math.ceil( this.y ); + this.z = Math.ceil( this.z ); + this.w = Math.ceil( this.w ); + + return this; + + } + + /** + * The components of this vector are rounded to the nearest integer value + * + * @return {Vector4} A reference to this vector. + */ + round() { + + this.x = Math.round( this.x ); + this.y = Math.round( this.y ); + this.z = Math.round( this.z ); + this.w = Math.round( this.w ); + + return this; + + } + + /** + * The components of this vector are rounded towards zero (up if negative, + * down if positive) to an integer value. + * + * @return {Vector4} A reference to this vector. + */ + roundToZero() { + + this.x = Math.trunc( this.x ); + this.y = Math.trunc( this.y ); + this.z = Math.trunc( this.z ); + this.w = Math.trunc( this.w ); + + return this; + + } + + /** + * Inverts this vector - i.e. sets x = -x, y = -y, z = -z, w = -w. + * + * @return {Vector4} A reference to this vector. + */ + negate() { + + this.x = - this.x; + this.y = - this.y; + this.z = - this.z; + this.w = - this.w; + + return this; + + } + + /** + * Calculates the dot product of the given vector with this instance. + * + * @param {Vector4} v - The vector to compute the dot product with. + * @return {number} The result of the dot product. + */ + dot( v ) { + + return this.x * v.x + this.y * v.y + this.z * v.z + this.w * v.w; + + } + + /** + * Computes the square of the Euclidean length (straight-line length) from + * (0, 0, 0, 0) to (x, y, z, w). If you are comparing the lengths of vectors, you should + * compare the length squared instead as it is slightly more efficient to calculate. + * + * @return {number} The square length of this vector. + */ + lengthSq() { + + return this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w; + + } + + /** + * Computes the Euclidean length (straight-line length) from (0, 0, 0, 0) to (x, y, z, w). + * + * @return {number} The length of this vector. + */ + length() { + + return Math.sqrt( this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w ); + + } + + /** + * Computes the Manhattan length of this vector. + * + * @return {number} The length of this vector. + */ + manhattanLength() { + + return Math.abs( this.x ) + Math.abs( this.y ) + Math.abs( this.z ) + Math.abs( this.w ); + + } + + /** + * Converts this vector to a unit vector - that is, sets it equal to a vector + * with the same direction as this one, but with a vector length of `1`. + * + * @return {Vector4} A reference to this vector. + */ + normalize() { + + return this.divideScalar( this.length() || 1 ); + + } + + /** + * Sets this vector to a vector with the same direction as this one, but + * with the specified length. + * + * @param {number} length - The new length of this vector. + * @return {Vector4} A reference to this vector. + */ + setLength( length ) { + + return this.normalize().multiplyScalar( length ); + + } + + /** + * Linearly interpolates between the given vector and this instance, where + * alpha is the percent distance along the line - alpha = 0 will be this + * vector, and alpha = 1 will be the given one. + * + * @param {Vector4} v - The vector to interpolate towards. + * @param {number} alpha - The interpolation factor, typically in the closed interval `[0, 1]`. + * @return {Vector4} A reference to this vector. + */ + lerp( v, alpha ) { + + this.x += ( v.x - this.x ) * alpha; + this.y += ( v.y - this.y ) * alpha; + this.z += ( v.z - this.z ) * alpha; + this.w += ( v.w - this.w ) * alpha; + + return this; + + } + + /** + * Linearly interpolates between the given vectors, where alpha is the percent + * distance along the line - alpha = 0 will be first vector, and alpha = 1 will + * be the second one. The result is stored in this instance. + * + * @param {Vector4} v1 - The first vector. + * @param {Vector4} v2 - The second vector. + * @param {number} alpha - The interpolation factor, typically in the closed interval `[0, 1]`. + * @return {Vector4} A reference to this vector. + */ + lerpVectors( v1, v2, alpha ) { + + this.x = v1.x + ( v2.x - v1.x ) * alpha; + this.y = v1.y + ( v2.y - v1.y ) * alpha; + this.z = v1.z + ( v2.z - v1.z ) * alpha; + this.w = v1.w + ( v2.w - v1.w ) * alpha; + + return this; + + } + + /** + * Returns `true` if this vector is equal with the given one. + * + * @param {Vector4} v - The vector to test for equality. + * @return {boolean} Whether this vector is equal with the given one. + */ + equals( v ) { + + return ( ( v.x === this.x ) && ( v.y === this.y ) && ( v.z === this.z ) && ( v.w === this.w ) ); + + } + + /** + * Sets this vector's x value to be `array[ offset ]`, y value to be `array[ offset + 1 ]`, + * z value to be `array[ offset + 2 ]`, w value to be `array[ offset + 3 ]`. + * + * @param {Array} array - An array holding the vector component values. + * @param {number} [offset=0] - The offset into the array. + * @return {Vector4} A reference to this vector. + */ + fromArray( array, offset = 0 ) { + + this.x = array[ offset ]; + this.y = array[ offset + 1 ]; + this.z = array[ offset + 2 ]; + this.w = array[ offset + 3 ]; + + return this; + + } + + /** + * Writes the components of this vector to the given array. If no array is provided, + * the method returns a new instance. + * + * @param {Array} [array=[]] - The target array holding the vector components. + * @param {number} [offset=0] - Index of the first element in the array. + * @return {Array} The vector components. + */ + toArray( array = [], offset = 0 ) { + + array[ offset ] = this.x; + array[ offset + 1 ] = this.y; + array[ offset + 2 ] = this.z; + array[ offset + 3 ] = this.w; + + return array; + + } + + /** + * Sets the components of this vector from the given buffer attribute. + * + * @param {BufferAttribute} attribute - The buffer attribute holding vector data. + * @param {number} index - The index into the attribute. + * @return {Vector4} A reference to this vector. + */ + fromBufferAttribute( attribute, index ) { + + this.x = attribute.getX( index ); + this.y = attribute.getY( index ); + this.z = attribute.getZ( index ); + this.w = attribute.getW( index ); + + return this; + + } + + /** + * Sets each component of this vector to a pseudo-random value between `0` and + * `1`, excluding `1`. + * + * @return {Vector4} A reference to this vector. + */ + random() { + + this.x = Math.random(); + this.y = Math.random(); + this.z = Math.random(); + this.w = Math.random(); + + return this; + + } + + *[ Symbol.iterator ]() { + + yield this.x; + yield this.y; + yield this.z; + yield this.w; + + } + +} + +/** + * A render target is a buffer where the video card draws pixels for a scene + * that is being rendered in the background. It is used in different effects, + * such as applying postprocessing to a rendered image before displaying it + * on the screen. + * + * @augments EventDispatcher + */ +class RenderTarget extends EventDispatcher { + + /** + * Render target options. + * + * @typedef {Object} RenderTarget~Options + * @property {boolean} [generateMipmaps=false] - Whether to generate mipmaps or not. + * @property {number} [magFilter=LinearFilter] - The mag filter. + * @property {number} [minFilter=LinearFilter] - The min filter. + * @property {number} [format=RGBAFormat] - The texture format. + * @property {number} [type=UnsignedByteType] - The texture type. + * @property {?string} [internalFormat=null] - The texture's internal format. + * @property {number} [wrapS=ClampToEdgeWrapping] - The texture's uv wrapping mode. + * @property {number} [wrapT=ClampToEdgeWrapping] - The texture's uv wrapping mode. + * @property {number} [anisotropy=1] - The texture's anisotropy value. + * @property {string} [colorSpace=NoColorSpace] - The texture's color space. + * @property {boolean} [depthBuffer=true] - Whether to allocate a depth buffer or not. + * @property {boolean} [stencilBuffer=false] - Whether to allocate a stencil buffer or not. + * @property {boolean} [resolveDepthBuffer=true] - Whether to resolve the depth buffer or not. + * @property {boolean} [resolveStencilBuffer=true] - Whether to resolve the stencil buffer or not. + * @property {?Texture} [depthTexture=null] - Reference to a depth texture. + * @property {number} [samples=0] - The MSAA samples count. + * @property {number} [count=1] - Defines the number of color attachments . Must be at least `1`. + * @property {number} [depth=1] - The texture depth. + * @property {boolean} [multiview=false] - Whether this target is used for multiview rendering. + */ + + /** + * Constructs a new render target. + * + * @param {number} [width=1] - The width of the render target. + * @param {number} [height=1] - The height of the render target. + * @param {RenderTarget~Options} [options] - The configuration object. + */ + constructor( width = 1, height = 1, options = {} ) { + + super(); + + options = Object.assign( { + generateMipmaps: false, + internalFormat: null, + minFilter: LinearFilter, + depthBuffer: true, + stencilBuffer: false, + resolveDepthBuffer: true, + resolveStencilBuffer: true, + depthTexture: null, + samples: 0, + count: 1, + depth: 1, + multiview: false + }, options ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isRenderTarget = true; + + /** + * The width of the render target. + * + * @type {number} + * @default 1 + */ + this.width = width; + + /** + * The height of the render target. + * + * @type {number} + * @default 1 + */ + this.height = height; + + /** + * The depth of the render target. + * + * @type {number} + * @default 1 + */ + this.depth = options.depth; + + /** + * A rectangular area inside the render target's viewport. Fragments that are + * outside the area will be discarded. + * + * @type {Vector4} + * @default (0,0,width,height) + */ + this.scissor = new Vector4( 0, 0, width, height ); + + /** + * Indicates whether the scissor test should be enabled when rendering into + * this render target or not. + * + * @type {boolean} + * @default false + */ + this.scissorTest = false; + + /** + * A rectangular area representing the render target's viewport. + * + * @type {Vector4} + * @default (0,0,width,height) + */ + this.viewport = new Vector4( 0, 0, width, height ); + + /** + * An array of textures. Each color attachment is represented as a separate texture. + * Has at least a single entry for the default color attachment. + * + * @type {Array} + */ + this.textures = []; + + const image = { width: width, height: height, depth: options.depth }; + const texture = new Texture( image ); + + const count = options.count; + for ( let i = 0; i < count; i ++ ) { + + this.textures[ i ] = texture.clone(); + this.textures[ i ].isRenderTargetTexture = true; + this.textures[ i ].renderTarget = this; + + } + + this._setTextureOptions( options ); + + /** + * Whether to allocate a depth buffer or not. + * + * @type {boolean} + * @default true + */ + this.depthBuffer = options.depthBuffer; + + /** + * Whether to allocate a stencil buffer or not. + * + * @type {boolean} + * @default false + */ + this.stencilBuffer = options.stencilBuffer; + + /** + * Whether to resolve the depth buffer or not. + * + * @type {boolean} + * @default true + */ + this.resolveDepthBuffer = options.resolveDepthBuffer; + + /** + * Whether to resolve the stencil buffer or not. + * + * @type {boolean} + * @default true + */ + this.resolveStencilBuffer = options.resolveStencilBuffer; + + this._depthTexture = null; + this.depthTexture = options.depthTexture; + + /** + * The number of MSAA samples. + * + * A value of `0` disables MSAA. + * + * @type {number} + * @default 0 + */ + this.samples = options.samples; + + /** + * Whether to this target is used in multiview rendering. + * + * @type {boolean} + * @default false + */ + this.multiview = options.multiview; + + } + + _setTextureOptions( options = {} ) { + + const values = { + minFilter: LinearFilter, + generateMipmaps: false, + flipY: false, + internalFormat: null + }; + + if ( options.mapping !== undefined ) values.mapping = options.mapping; + if ( options.wrapS !== undefined ) values.wrapS = options.wrapS; + if ( options.wrapT !== undefined ) values.wrapT = options.wrapT; + if ( options.wrapR !== undefined ) values.wrapR = options.wrapR; + if ( options.magFilter !== undefined ) values.magFilter = options.magFilter; + if ( options.minFilter !== undefined ) values.minFilter = options.minFilter; + if ( options.format !== undefined ) values.format = options.format; + if ( options.type !== undefined ) values.type = options.type; + if ( options.anisotropy !== undefined ) values.anisotropy = options.anisotropy; + if ( options.colorSpace !== undefined ) values.colorSpace = options.colorSpace; + if ( options.flipY !== undefined ) values.flipY = options.flipY; + if ( options.generateMipmaps !== undefined ) values.generateMipmaps = options.generateMipmaps; + if ( options.internalFormat !== undefined ) values.internalFormat = options.internalFormat; + + for ( let i = 0; i < this.textures.length; i ++ ) { + + const texture = this.textures[ i ]; + texture.setValues( values ); + + } + + } + + /** + * The texture representing the default color attachment. + * + * @type {Texture} + */ + get texture() { + + return this.textures[ 0 ]; + + } + + set texture( value ) { + + this.textures[ 0 ] = value; + + } + + set depthTexture( current ) { + + if ( this._depthTexture !== null ) this._depthTexture.renderTarget = null; + if ( current !== null ) current.renderTarget = this; + + this._depthTexture = current; + + } + + /** + * Instead of saving the depth in a renderbuffer, a texture + * can be used instead which is useful for further processing + * e.g. in context of post-processing. + * + * @type {?DepthTexture} + * @default null + */ + get depthTexture() { + + return this._depthTexture; + + } + + /** + * Sets the size of this render target. + * + * @param {number} width - The width. + * @param {number} height - The height. + * @param {number} [depth=1] - The depth. + */ + setSize( width, height, depth = 1 ) { + + if ( this.width !== width || this.height !== height || this.depth !== depth ) { + + this.width = width; + this.height = height; + this.depth = depth; + + for ( let i = 0, il = this.textures.length; i < il; i ++ ) { + + this.textures[ i ].image.width = width; + this.textures[ i ].image.height = height; + this.textures[ i ].image.depth = depth; + + if ( this.textures[ i ].isData3DTexture !== true ) { // Fix for #31693 + + // TODO: Reconsider setting isArrayTexture flag here and in the ctor of Texture. + // Maybe a method `isArrayTexture()` or just a getter could replace a flag since + // both are evaluated on each call? + + this.textures[ i ].isArrayTexture = this.textures[ i ].image.depth > 1; + + } + + } + + this.dispose(); + + } + + this.viewport.set( 0, 0, width, height ); + this.scissor.set( 0, 0, width, height ); + + } + + /** + * Returns a new render target with copied values from this instance. + * + * @return {RenderTarget} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + + /** + * Copies the settings of the given render target. This is a structural copy so + * no resources are shared between render targets after the copy. That includes + * all MRT textures and the depth texture. + * + * @param {RenderTarget} source - The render target to copy. + * @return {RenderTarget} A reference to this instance. + */ + copy( source ) { + + this.width = source.width; + this.height = source.height; + this.depth = source.depth; + + this.scissor.copy( source.scissor ); + this.scissorTest = source.scissorTest; + + this.viewport.copy( source.viewport ); + + this.textures.length = 0; + + for ( let i = 0, il = source.textures.length; i < il; i ++ ) { + + this.textures[ i ] = source.textures[ i ].clone(); + this.textures[ i ].isRenderTargetTexture = true; + this.textures[ i ].renderTarget = this; + + // ensure image object is not shared, see #20328 + + const image = Object.assign( {}, source.textures[ i ].image ); + this.textures[ i ].source = new Source( image ); + + } + + this.depthBuffer = source.depthBuffer; + this.stencilBuffer = source.stencilBuffer; + + this.resolveDepthBuffer = source.resolveDepthBuffer; + this.resolveStencilBuffer = source.resolveStencilBuffer; + + if ( source.depthTexture !== null ) this.depthTexture = source.depthTexture.clone(); + + this.samples = source.samples; + + return this; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + * + * @fires RenderTarget#dispose + */ + dispose() { + + this.dispatchEvent( { type: 'dispose' } ); + + } + +} + +/** + * A render target used in context of {@link WebGLRenderer}. + * + * @augments RenderTarget + */ +class WebGLRenderTarget extends RenderTarget { + + /** + * Constructs a new 3D render target. + * + * @param {number} [width=1] - The width of the render target. + * @param {number} [height=1] - The height of the render target. + * @param {RenderTarget~Options} [options] - The configuration object. + */ + constructor( width = 1, height = 1, options = {} ) { + + super( width, height, options ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isWebGLRenderTarget = true; + + } + +} + +/** + * Creates an array of textures directly from raw buffer data. + * + * @augments Texture + */ +class DataArrayTexture extends Texture { + + /** + * Constructs a new data array texture. + * + * @param {?TypedArray} [data=null] - The buffer data. + * @param {number} [width=1] - The width of the texture. + * @param {number} [height=1] - The height of the texture. + * @param {number} [depth=1] - The depth of the texture. + */ + constructor( data = null, width = 1, height = 1, depth = 1 ) { + + super( null ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isDataArrayTexture = true; + + /** + * The image definition of a data texture. + * + * @type {{data:TypedArray,width:number,height:number,depth:number}} + */ + this.image = { data, width, height, depth }; + + /** + * How the texture is sampled when a texel covers more than one pixel. + * + * Overwritten and set to `NearestFilter` by default. + * + * @type {(NearestFilter|NearestMipmapNearestFilter|NearestMipmapLinearFilter|LinearFilter|LinearMipmapNearestFilter|LinearMipmapLinearFilter)} + * @default NearestFilter + */ + this.magFilter = NearestFilter; + + /** + * How the texture is sampled when a texel covers less than one pixel. + * + * Overwritten and set to `NearestFilter` by default. + * + * @type {(NearestFilter|NearestMipmapNearestFilter|NearestMipmapLinearFilter|LinearFilter|LinearMipmapNearestFilter|LinearMipmapLinearFilter)} + * @default NearestFilter + */ + this.minFilter = NearestFilter; + + /** + * This defines how the texture is wrapped in the depth and corresponds to + * *W* in UVW mapping. + * + * @type {(RepeatWrapping|ClampToEdgeWrapping|MirroredRepeatWrapping)} + * @default ClampToEdgeWrapping + */ + this.wrapR = ClampToEdgeWrapping; + + /** + * Whether to generate mipmaps (if possible) for a texture. + * + * Overwritten and set to `false` by default. + * + * @type {boolean} + * @default false + */ + this.generateMipmaps = false; + + /** + * If set to `true`, the texture is flipped along the vertical axis when + * uploaded to the GPU. + * + * Overwritten and set to `false` by default. + * + * @type {boolean} + * @default false + */ + this.flipY = false; + + /** + * Specifies the alignment requirements for the start of each pixel row in memory. + * + * Overwritten and set to `1` by default. + * + * @type {boolean} + * @default 1 + */ + this.unpackAlignment = 1; + + /** + * A set of all layers which need to be updated in the texture. + * + * @type {Set} + */ + this.layerUpdates = new Set(); + + } + + /** + * Describes that a specific layer of the texture needs to be updated. + * Normally when {@link Texture#needsUpdate} is set to `true`, the + * entire data texture array is sent to the GPU. Marking specific + * layers will only transmit subsets of all mipmaps associated with a + * specific depth in the array which is often much more performant. + * + * @param {number} layerIndex - The layer index that should be updated. + */ + addLayerUpdate( layerIndex ) { + + this.layerUpdates.add( layerIndex ); + + } + + /** + * Resets the layer updates registry. + */ + clearLayerUpdates() { + + this.layerUpdates.clear(); + + } + +} + +/** + * An array render target used in context of {@link WebGLRenderer}. + * + * @augments WebGLRenderTarget + */ +class WebGLArrayRenderTarget extends WebGLRenderTarget { + + /** + * Constructs a new array render target. + * + * @param {number} [width=1] - The width of the render target. + * @param {number} [height=1] - The height of the render target. + * @param {number} [depth=1] - The height of the render target. + * @param {RenderTarget~Options} [options] - The configuration object. + */ + constructor( width = 1, height = 1, depth = 1, options = {} ) { + + super( width, height, options ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isWebGLArrayRenderTarget = true; + + this.depth = depth; + + /** + * Overwritten with a different texture type. + * + * @type {DataArrayTexture} + */ + this.texture = new DataArrayTexture( null, width, height, depth ); + this._setTextureOptions( options ); + + this.texture.isRenderTargetTexture = true; + + } + +} + +/** + * Creates a three-dimensional texture from raw data, with parameters to + * divide it into width, height, and depth. + * + * @augments Texture + */ +class Data3DTexture extends Texture { + + /** + * Constructs a new data array texture. + * + * @param {?TypedArray} [data=null] - The buffer data. + * @param {number} [width=1] - The width of the texture. + * @param {number} [height=1] - The height of the texture. + * @param {number} [depth=1] - The depth of the texture. + */ + constructor( data = null, width = 1, height = 1, depth = 1 ) { + + // We're going to add .setXXX() methods for setting properties later. + // Users can still set in Data3DTexture directly. + // + // const texture = new THREE.Data3DTexture( data, width, height, depth ); + // texture.anisotropy = 16; + // + // See #14839 + + super( null ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isData3DTexture = true; + + /** + * The image definition of a data texture. + * + * @type {{data:TypedArray,width:number,height:number,depth:number}} + */ + this.image = { data, width, height, depth }; + + /** + * How the texture is sampled when a texel covers more than one pixel. + * + * Overwritten and set to `NearestFilter` by default. + * + * @type {(NearestFilter|NearestMipmapNearestFilter|NearestMipmapLinearFilter|LinearFilter|LinearMipmapNearestFilter|LinearMipmapLinearFilter)} + * @default NearestFilter + */ + this.magFilter = NearestFilter; + + /** + * How the texture is sampled when a texel covers less than one pixel. + * + * Overwritten and set to `NearestFilter` by default. + * + * @type {(NearestFilter|NearestMipmapNearestFilter|NearestMipmapLinearFilter|LinearFilter|LinearMipmapNearestFilter|LinearMipmapLinearFilter)} + * @default NearestFilter + */ + this.minFilter = NearestFilter; + + /** + * This defines how the texture is wrapped in the depth and corresponds to + * *W* in UVW mapping. + * + * @type {(RepeatWrapping|ClampToEdgeWrapping|MirroredRepeatWrapping)} + * @default ClampToEdgeWrapping + */ + this.wrapR = ClampToEdgeWrapping; + + /** + * Whether to generate mipmaps (if possible) for a texture. + * + * Overwritten and set to `false` by default. + * + * @type {boolean} + * @default false + */ + this.generateMipmaps = false; + + /** + * If set to `true`, the texture is flipped along the vertical axis when + * uploaded to the GPU. + * + * Overwritten and set to `false` by default. + * + * @type {boolean} + * @default false + */ + this.flipY = false; + + /** + * Specifies the alignment requirements for the start of each pixel row in memory. + * + * Overwritten and set to `1` by default. + * + * @type {boolean} + * @default 1 + */ + this.unpackAlignment = 1; + + } + +} + +/** + * A 3D render target used in context of {@link WebGLRenderer}. + * + * @augments WebGLRenderTarget + */ +class WebGL3DRenderTarget extends WebGLRenderTarget { + + /** + * Constructs a new 3D render target. + * + * @param {number} [width=1] - The width of the render target. + * @param {number} [height=1] - The height of the render target. + * @param {number} [depth=1] - The height of the render target. + * @param {RenderTarget~Options} [options] - The configuration object. + */ + constructor( width = 1, height = 1, depth = 1, options = {} ) { + + super( width, height, options ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isWebGL3DRenderTarget = true; + + this.depth = depth; + + /** + * Overwritten with a different texture type. + * + * @type {Data3DTexture} + */ + this.texture = new Data3DTexture( null, width, height, depth ); + this._setTextureOptions( options ); + + this.texture.isRenderTargetTexture = true; + + } + +} + +/** + * Represents a 4x4 matrix. + * + * The most common use of a 4x4 matrix in 3D computer graphics is as a transformation matrix. + * For an introduction to transformation matrices as used in WebGL, check out [this tutorial](https://www.opengl-tutorial.org/beginners-tutorials/tutorial-3-matrices) + * + * This allows a 3D vector representing a point in 3D space to undergo + * transformations such as translation, rotation, shear, scale, reflection, + * orthogonal or perspective projection and so on, by being multiplied by the + * matrix. This is known as `applying` the matrix to the vector. + * + * A Note on Row-Major and Column-Major Ordering: + * + * The constructor and {@link Matrix3#set} method take arguments in + * [row-major](https://en.wikipedia.org/wiki/Row-_and_column-major_order#Column-major_order) + * order, while internally they are stored in the {@link Matrix3#elements} array in column-major order. + * This means that calling: + * ```js + * const m = new THREE.Matrix4(); + * m.set( 11, 12, 13, 14, + * 21, 22, 23, 24, + * 31, 32, 33, 34, + * 41, 42, 43, 44 ); + * ``` + * will result in the elements array containing: + * ```js + * m.elements = [ 11, 21, 31, 41, + * 12, 22, 32, 42, + * 13, 23, 33, 43, + * 14, 24, 34, 44 ]; + * ``` + * and internally all calculations are performed using column-major ordering. + * However, as the actual ordering makes no difference mathematically and + * most people are used to thinking about matrices in row-major order, the + * three.js documentation shows matrices in row-major order. Just bear in + * mind that if you are reading the source code, you'll have to take the + * transpose of any matrices outlined here to make sense of the calculations. + */ +class Matrix4 { + + /** + * Constructs a new 4x4 matrix. The arguments are supposed to be + * in row-major order. If no arguments are provided, the constructor + * initializes the matrix as an identity matrix. + * + * @param {number} [n11] - 1-1 matrix element. + * @param {number} [n12] - 1-2 matrix element. + * @param {number} [n13] - 1-3 matrix element. + * @param {number} [n14] - 1-4 matrix element. + * @param {number} [n21] - 2-1 matrix element. + * @param {number} [n22] - 2-2 matrix element. + * @param {number} [n23] - 2-3 matrix element. + * @param {number} [n24] - 2-4 matrix element. + * @param {number} [n31] - 3-1 matrix element. + * @param {number} [n32] - 3-2 matrix element. + * @param {number} [n33] - 3-3 matrix element. + * @param {number} [n34] - 3-4 matrix element. + * @param {number} [n41] - 4-1 matrix element. + * @param {number} [n42] - 4-2 matrix element. + * @param {number} [n43] - 4-3 matrix element. + * @param {number} [n44] - 4-4 matrix element. + */ + constructor( n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44 ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + Matrix4.prototype.isMatrix4 = true; + + /** + * A column-major list of matrix values. + * + * @type {Array} + */ + this.elements = [ + + 1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1 + + ]; + + if ( n11 !== undefined ) { + + this.set( n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44 ); + + } + + } + + /** + * Sets the elements of the matrix.The arguments are supposed to be + * in row-major order. + * + * @param {number} [n11] - 1-1 matrix element. + * @param {number} [n12] - 1-2 matrix element. + * @param {number} [n13] - 1-3 matrix element. + * @param {number} [n14] - 1-4 matrix element. + * @param {number} [n21] - 2-1 matrix element. + * @param {number} [n22] - 2-2 matrix element. + * @param {number} [n23] - 2-3 matrix element. + * @param {number} [n24] - 2-4 matrix element. + * @param {number} [n31] - 3-1 matrix element. + * @param {number} [n32] - 3-2 matrix element. + * @param {number} [n33] - 3-3 matrix element. + * @param {number} [n34] - 3-4 matrix element. + * @param {number} [n41] - 4-1 matrix element. + * @param {number} [n42] - 4-2 matrix element. + * @param {number} [n43] - 4-3 matrix element. + * @param {number} [n44] - 4-4 matrix element. + * @return {Matrix4} A reference to this matrix. + */ + set( n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44 ) { + + const te = this.elements; + + te[ 0 ] = n11; te[ 4 ] = n12; te[ 8 ] = n13; te[ 12 ] = n14; + te[ 1 ] = n21; te[ 5 ] = n22; te[ 9 ] = n23; te[ 13 ] = n24; + te[ 2 ] = n31; te[ 6 ] = n32; te[ 10 ] = n33; te[ 14 ] = n34; + te[ 3 ] = n41; te[ 7 ] = n42; te[ 11 ] = n43; te[ 15 ] = n44; + + return this; + + } + + /** + * Sets this matrix to the 4x4 identity matrix. + * + * @return {Matrix4} A reference to this matrix. + */ + identity() { + + this.set( + + 1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1 + + ); + + return this; + + } + + /** + * Returns a matrix with copied values from this instance. + * + * @return {Matrix4} A clone of this instance. + */ + clone() { + + return new Matrix4().fromArray( this.elements ); + + } + + /** + * Copies the values of the given matrix to this instance. + * + * @param {Matrix4} m - The matrix to copy. + * @return {Matrix4} A reference to this matrix. + */ + copy( m ) { + + const te = this.elements; + const me = m.elements; + + te[ 0 ] = me[ 0 ]; te[ 1 ] = me[ 1 ]; te[ 2 ] = me[ 2 ]; te[ 3 ] = me[ 3 ]; + te[ 4 ] = me[ 4 ]; te[ 5 ] = me[ 5 ]; te[ 6 ] = me[ 6 ]; te[ 7 ] = me[ 7 ]; + te[ 8 ] = me[ 8 ]; te[ 9 ] = me[ 9 ]; te[ 10 ] = me[ 10 ]; te[ 11 ] = me[ 11 ]; + te[ 12 ] = me[ 12 ]; te[ 13 ] = me[ 13 ]; te[ 14 ] = me[ 14 ]; te[ 15 ] = me[ 15 ]; + + return this; + + } + + /** + * Copies the translation component of the given matrix + * into this matrix's translation component. + * + * @param {Matrix4} m - The matrix to copy the translation component. + * @return {Matrix4} A reference to this matrix. + */ + copyPosition( m ) { + + const te = this.elements, me = m.elements; + + te[ 12 ] = me[ 12 ]; + te[ 13 ] = me[ 13 ]; + te[ 14 ] = me[ 14 ]; + + return this; + + } + + /** + * Set the upper 3x3 elements of this matrix to the values of given 3x3 matrix. + * + * @param {Matrix3} m - The 3x3 matrix. + * @return {Matrix4} A reference to this matrix. + */ + setFromMatrix3( m ) { + + const me = m.elements; + + this.set( + + me[ 0 ], me[ 3 ], me[ 6 ], 0, + me[ 1 ], me[ 4 ], me[ 7 ], 0, + me[ 2 ], me[ 5 ], me[ 8 ], 0, + 0, 0, 0, 1 + + ); + + return this; + + } + + /** + * Extracts the basis of this matrix into the three axis vectors provided. + * + * @param {Vector3} xAxis - The basis's x axis. + * @param {Vector3} yAxis - The basis's y axis. + * @param {Vector3} zAxis - The basis's z axis. + * @return {Matrix4} A reference to this matrix. + */ + extractBasis( xAxis, yAxis, zAxis ) { + + if ( this.determinant() === 0 ) { + + xAxis.set( 1, 0, 0 ); + yAxis.set( 0, 1, 0 ); + zAxis.set( 0, 0, 1 ); + + return this; + + } + + xAxis.setFromMatrixColumn( this, 0 ); + yAxis.setFromMatrixColumn( this, 1 ); + zAxis.setFromMatrixColumn( this, 2 ); + + return this; + + } + + /** + * Sets the given basis vectors to this matrix. + * + * @param {Vector3} xAxis - The basis's x axis. + * @param {Vector3} yAxis - The basis's y axis. + * @param {Vector3} zAxis - The basis's z axis. + * @return {Matrix4} A reference to this matrix. + */ + makeBasis( xAxis, yAxis, zAxis ) { + + this.set( + xAxis.x, yAxis.x, zAxis.x, 0, + xAxis.y, yAxis.y, zAxis.y, 0, + xAxis.z, yAxis.z, zAxis.z, 0, + 0, 0, 0, 1 + ); + + return this; + + } + + /** + * Extracts the rotation component of the given matrix + * into this matrix's rotation component. + * + * Note: This method does not support reflection matrices. + * + * @param {Matrix4} m - The matrix. + * @return {Matrix4} A reference to this matrix. + */ + extractRotation( m ) { + + if ( m.determinant() === 0 ) { + + return this.identity(); + + } + + const te = this.elements; + const me = m.elements; + + const scaleX = 1 / _v1$7.setFromMatrixColumn( m, 0 ).length(); + const scaleY = 1 / _v1$7.setFromMatrixColumn( m, 1 ).length(); + const scaleZ = 1 / _v1$7.setFromMatrixColumn( m, 2 ).length(); + + te[ 0 ] = me[ 0 ] * scaleX; + te[ 1 ] = me[ 1 ] * scaleX; + te[ 2 ] = me[ 2 ] * scaleX; + te[ 3 ] = 0; + + te[ 4 ] = me[ 4 ] * scaleY; + te[ 5 ] = me[ 5 ] * scaleY; + te[ 6 ] = me[ 6 ] * scaleY; + te[ 7 ] = 0; + + te[ 8 ] = me[ 8 ] * scaleZ; + te[ 9 ] = me[ 9 ] * scaleZ; + te[ 10 ] = me[ 10 ] * scaleZ; + te[ 11 ] = 0; + + te[ 12 ] = 0; + te[ 13 ] = 0; + te[ 14 ] = 0; + te[ 15 ] = 1; + + return this; + + } + + /** + * Sets the rotation component (the upper left 3x3 matrix) of this matrix to + * the rotation specified by the given Euler angles. The rest of + * the matrix is set to the identity. Depending on the {@link Euler#order}, + * there are six possible outcomes. See [this page](https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix) + * for a complete list. + * + * @param {Euler} euler - The Euler angles. + * @return {Matrix4} A reference to this matrix. + */ + makeRotationFromEuler( euler ) { + + const te = this.elements; + + const x = euler.x, y = euler.y, z = euler.z; + const a = Math.cos( x ), b = Math.sin( x ); + const c = Math.cos( y ), d = Math.sin( y ); + const e = Math.cos( z ), f = Math.sin( z ); + + if ( euler.order === 'XYZ' ) { + + const ae = a * e, af = a * f, be = b * e, bf = b * f; + + te[ 0 ] = c * e; + te[ 4 ] = - c * f; + te[ 8 ] = d; + + te[ 1 ] = af + be * d; + te[ 5 ] = ae - bf * d; + te[ 9 ] = - b * c; + + te[ 2 ] = bf - ae * d; + te[ 6 ] = be + af * d; + te[ 10 ] = a * c; + + } else if ( euler.order === 'YXZ' ) { + + const ce = c * e, cf = c * f, de = d * e, df = d * f; + + te[ 0 ] = ce + df * b; + te[ 4 ] = de * b - cf; + te[ 8 ] = a * d; + + te[ 1 ] = a * f; + te[ 5 ] = a * e; + te[ 9 ] = - b; + + te[ 2 ] = cf * b - de; + te[ 6 ] = df + ce * b; + te[ 10 ] = a * c; + + } else if ( euler.order === 'ZXY' ) { + + const ce = c * e, cf = c * f, de = d * e, df = d * f; + + te[ 0 ] = ce - df * b; + te[ 4 ] = - a * f; + te[ 8 ] = de + cf * b; + + te[ 1 ] = cf + de * b; + te[ 5 ] = a * e; + te[ 9 ] = df - ce * b; + + te[ 2 ] = - a * d; + te[ 6 ] = b; + te[ 10 ] = a * c; + + } else if ( euler.order === 'ZYX' ) { + + const ae = a * e, af = a * f, be = b * e, bf = b * f; + + te[ 0 ] = c * e; + te[ 4 ] = be * d - af; + te[ 8 ] = ae * d + bf; + + te[ 1 ] = c * f; + te[ 5 ] = bf * d + ae; + te[ 9 ] = af * d - be; + + te[ 2 ] = - d; + te[ 6 ] = b * c; + te[ 10 ] = a * c; + + } else if ( euler.order === 'YZX' ) { + + const ac = a * c, ad = a * d, bc = b * c, bd = b * d; + + te[ 0 ] = c * e; + te[ 4 ] = bd - ac * f; + te[ 8 ] = bc * f + ad; + + te[ 1 ] = f; + te[ 5 ] = a * e; + te[ 9 ] = - b * e; + + te[ 2 ] = - d * e; + te[ 6 ] = ad * f + bc; + te[ 10 ] = ac - bd * f; + + } else if ( euler.order === 'XZY' ) { + + const ac = a * c, ad = a * d, bc = b * c, bd = b * d; + + te[ 0 ] = c * e; + te[ 4 ] = - f; + te[ 8 ] = d * e; + + te[ 1 ] = ac * f + bd; + te[ 5 ] = a * e; + te[ 9 ] = ad * f - bc; + + te[ 2 ] = bc * f - ad; + te[ 6 ] = b * e; + te[ 10 ] = bd * f + ac; + + } + + // bottom row + te[ 3 ] = 0; + te[ 7 ] = 0; + te[ 11 ] = 0; + + // last column + te[ 12 ] = 0; + te[ 13 ] = 0; + te[ 14 ] = 0; + te[ 15 ] = 1; + + return this; + + } + + /** + * Sets the rotation component of this matrix to the rotation specified by + * the given Quaternion as outlined [here](https://en.wikipedia.org/wiki/Rotation_matrix#Quaternion) + * The rest of the matrix is set to the identity. + * + * @param {Quaternion} q - The Quaternion. + * @return {Matrix4} A reference to this matrix. + */ + makeRotationFromQuaternion( q ) { + + return this.compose( _zero, q, _one ); + + } + + /** + * Sets the rotation component of the transformation matrix, looking from `eye` towards + * `target`, and oriented by the up-direction. + * + * @param {Vector3} eye - The eye vector. + * @param {Vector3} target - The target vector. + * @param {Vector3} up - The up vector. + * @return {Matrix4} A reference to this matrix. + */ + lookAt( eye, target, up ) { + + const te = this.elements; + + _z.subVectors( eye, target ); + + if ( _z.lengthSq() === 0 ) { + + // eye and target are in the same position + + _z.z = 1; + + } + + _z.normalize(); + _x.crossVectors( up, _z ); + + if ( _x.lengthSq() === 0 ) { + + // up and z are parallel + + if ( Math.abs( up.z ) === 1 ) { + + _z.x += 0.0001; + + } else { + + _z.z += 0.0001; + + } + + _z.normalize(); + _x.crossVectors( up, _z ); + + } + + _x.normalize(); + _y.crossVectors( _z, _x ); + + te[ 0 ] = _x.x; te[ 4 ] = _y.x; te[ 8 ] = _z.x; + te[ 1 ] = _x.y; te[ 5 ] = _y.y; te[ 9 ] = _z.y; + te[ 2 ] = _x.z; te[ 6 ] = _y.z; te[ 10 ] = _z.z; + + return this; + + } + + /** + * Post-multiplies this matrix by the given 4x4 matrix. + * + * @param {Matrix4} m - The matrix to multiply with. + * @return {Matrix4} A reference to this matrix. + */ + multiply( m ) { + + return this.multiplyMatrices( this, m ); + + } + + /** + * Pre-multiplies this matrix by the given 4x4 matrix. + * + * @param {Matrix4} m - The matrix to multiply with. + * @return {Matrix4} A reference to this matrix. + */ + premultiply( m ) { + + return this.multiplyMatrices( m, this ); + + } + + /** + * Multiples the given 4x4 matrices and stores the result + * in this matrix. + * + * @param {Matrix4} a - The first matrix. + * @param {Matrix4} b - The second matrix. + * @return {Matrix4} A reference to this matrix. + */ + multiplyMatrices( a, b ) { + + const ae = a.elements; + const be = b.elements; + const te = this.elements; + + const a11 = ae[ 0 ], a12 = ae[ 4 ], a13 = ae[ 8 ], a14 = ae[ 12 ]; + const a21 = ae[ 1 ], a22 = ae[ 5 ], a23 = ae[ 9 ], a24 = ae[ 13 ]; + const a31 = ae[ 2 ], a32 = ae[ 6 ], a33 = ae[ 10 ], a34 = ae[ 14 ]; + const a41 = ae[ 3 ], a42 = ae[ 7 ], a43 = ae[ 11 ], a44 = ae[ 15 ]; + + const b11 = be[ 0 ], b12 = be[ 4 ], b13 = be[ 8 ], b14 = be[ 12 ]; + const b21 = be[ 1 ], b22 = be[ 5 ], b23 = be[ 9 ], b24 = be[ 13 ]; + const b31 = be[ 2 ], b32 = be[ 6 ], b33 = be[ 10 ], b34 = be[ 14 ]; + const b41 = be[ 3 ], b42 = be[ 7 ], b43 = be[ 11 ], b44 = be[ 15 ]; + + te[ 0 ] = a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41; + te[ 4 ] = a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42; + te[ 8 ] = a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43; + te[ 12 ] = a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44; + + te[ 1 ] = a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41; + te[ 5 ] = a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42; + te[ 9 ] = a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43; + te[ 13 ] = a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44; + + te[ 2 ] = a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41; + te[ 6 ] = a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42; + te[ 10 ] = a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43; + te[ 14 ] = a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44; + + te[ 3 ] = a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41; + te[ 7 ] = a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42; + te[ 11 ] = a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43; + te[ 15 ] = a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44; + + return this; + + } + + /** + * Multiplies every component of the matrix by the given scalar. + * + * @param {number} s - The scalar. + * @return {Matrix4} A reference to this matrix. + */ + multiplyScalar( s ) { + + const te = this.elements; + + te[ 0 ] *= s; te[ 4 ] *= s; te[ 8 ] *= s; te[ 12 ] *= s; + te[ 1 ] *= s; te[ 5 ] *= s; te[ 9 ] *= s; te[ 13 ] *= s; + te[ 2 ] *= s; te[ 6 ] *= s; te[ 10 ] *= s; te[ 14 ] *= s; + te[ 3 ] *= s; te[ 7 ] *= s; te[ 11 ] *= s; te[ 15 ] *= s; + + return this; + + } + + /** + * Computes and returns the determinant of this matrix. + * + * Based on the method outlined [here](http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.html). + * + * @return {number} The determinant. + */ + determinant() { + + const te = this.elements; + + const n11 = te[ 0 ], n12 = te[ 4 ], n13 = te[ 8 ], n14 = te[ 12 ]; + const n21 = te[ 1 ], n22 = te[ 5 ], n23 = te[ 9 ], n24 = te[ 13 ]; + const n31 = te[ 2 ], n32 = te[ 6 ], n33 = te[ 10 ], n34 = te[ 14 ]; + const n41 = te[ 3 ], n42 = te[ 7 ], n43 = te[ 11 ], n44 = te[ 15 ]; + + const t11 = n23 * n34 - n24 * n33; + const t12 = n22 * n34 - n24 * n32; + const t13 = n22 * n33 - n23 * n32; + + const t21 = n21 * n34 - n24 * n31; + const t22 = n21 * n33 - n23 * n31; + const t23 = n21 * n32 - n22 * n31; + + return n11 * ( n42 * t11 - n43 * t12 + n44 * t13 ) - + n12 * ( n41 * t11 - n43 * t21 + n44 * t22 ) + + n13 * ( n41 * t12 - n42 * t21 + n44 * t23 ) - + n14 * ( n41 * t13 - n42 * t22 + n43 * t23 ); + + } + + /** + * Transposes this matrix in place. + * + * @return {Matrix4} A reference to this matrix. + */ + transpose() { + + const te = this.elements; + let tmp; + + tmp = te[ 1 ]; te[ 1 ] = te[ 4 ]; te[ 4 ] = tmp; + tmp = te[ 2 ]; te[ 2 ] = te[ 8 ]; te[ 8 ] = tmp; + tmp = te[ 6 ]; te[ 6 ] = te[ 9 ]; te[ 9 ] = tmp; + + tmp = te[ 3 ]; te[ 3 ] = te[ 12 ]; te[ 12 ] = tmp; + tmp = te[ 7 ]; te[ 7 ] = te[ 13 ]; te[ 13 ] = tmp; + tmp = te[ 11 ]; te[ 11 ] = te[ 14 ]; te[ 14 ] = tmp; + + return this; + + } + + /** + * Sets the position component for this matrix from the given vector, + * without affecting the rest of the matrix. + * + * @param {number|Vector3} x - The x component of the vector or alternatively the vector object. + * @param {number} y - The y component of the vector. + * @param {number} z - The z component of the vector. + * @return {Matrix4} A reference to this matrix. + */ + setPosition( x, y, z ) { + + const te = this.elements; + + if ( x.isVector3 ) { + + te[ 12 ] = x.x; + te[ 13 ] = x.y; + te[ 14 ] = x.z; + + } else { + + te[ 12 ] = x; + te[ 13 ] = y; + te[ 14 ] = z; + + } + + return this; + + } + + /** + * Inverts this matrix, using the [analytic method](https://en.wikipedia.org/wiki/Invertible_matrix#Analytic_solution). + * You can not invert with a determinant of zero. If you attempt this, the method produces + * a zero matrix instead. + * + * @return {Matrix4} A reference to this matrix. + */ + invert() { + + // based on https://github.com/toji/gl-matrix + const te = this.elements, + + n11 = te[ 0 ], n21 = te[ 1 ], n31 = te[ 2 ], n41 = te[ 3 ], + n12 = te[ 4 ], n22 = te[ 5 ], n32 = te[ 6 ], n42 = te[ 7 ], + n13 = te[ 8 ], n23 = te[ 9 ], n33 = te[ 10 ], n43 = te[ 11 ], + n14 = te[ 12 ], n24 = te[ 13 ], n34 = te[ 14 ], n44 = te[ 15 ], + + t1 = n11 * n22 - n21 * n12, + t2 = n11 * n32 - n31 * n12, + t3 = n11 * n42 - n41 * n12, + t4 = n21 * n32 - n31 * n22, + t5 = n21 * n42 - n41 * n22, + t6 = n31 * n42 - n41 * n32, + t7 = n13 * n24 - n23 * n14, + t8 = n13 * n34 - n33 * n14, + t9 = n13 * n44 - n43 * n14, + t10 = n23 * n34 - n33 * n24, + t11 = n23 * n44 - n43 * n24, + t12 = n33 * n44 - n43 * n34; + + const det = t1 * t12 - t2 * t11 + t3 * t10 + t4 * t9 - t5 * t8 + t6 * t7; + + if ( det === 0 ) return this.set( 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ); + + const detInv = 1 / det; + + te[ 0 ] = ( n22 * t12 - n32 * t11 + n42 * t10 ) * detInv; + te[ 1 ] = ( n31 * t11 - n21 * t12 - n41 * t10 ) * detInv; + te[ 2 ] = ( n24 * t6 - n34 * t5 + n44 * t4 ) * detInv; + te[ 3 ] = ( n33 * t5 - n23 * t6 - n43 * t4 ) * detInv; + + te[ 4 ] = ( n32 * t9 - n12 * t12 - n42 * t8 ) * detInv; + te[ 5 ] = ( n11 * t12 - n31 * t9 + n41 * t8 ) * detInv; + te[ 6 ] = ( n34 * t3 - n14 * t6 - n44 * t2 ) * detInv; + te[ 7 ] = ( n13 * t6 - n33 * t3 + n43 * t2 ) * detInv; + + te[ 8 ] = ( n12 * t11 - n22 * t9 + n42 * t7 ) * detInv; + te[ 9 ] = ( n21 * t9 - n11 * t11 - n41 * t7 ) * detInv; + te[ 10 ] = ( n14 * t5 - n24 * t3 + n44 * t1 ) * detInv; + te[ 11 ] = ( n23 * t3 - n13 * t5 - n43 * t1 ) * detInv; + + te[ 12 ] = ( n22 * t8 - n12 * t10 - n32 * t7 ) * detInv; + te[ 13 ] = ( n11 * t10 - n21 * t8 + n31 * t7 ) * detInv; + te[ 14 ] = ( n24 * t2 - n14 * t4 - n34 * t1 ) * detInv; + te[ 15 ] = ( n13 * t4 - n23 * t2 + n33 * t1 ) * detInv; + + return this; + + } + + /** + * Multiplies the columns of this matrix by the given vector. + * + * @param {Vector3} v - The scale vector. + * @return {Matrix4} A reference to this matrix. + */ + scale( v ) { + + const te = this.elements; + const x = v.x, y = v.y, z = v.z; + + te[ 0 ] *= x; te[ 4 ] *= y; te[ 8 ] *= z; + te[ 1 ] *= x; te[ 5 ] *= y; te[ 9 ] *= z; + te[ 2 ] *= x; te[ 6 ] *= y; te[ 10 ] *= z; + te[ 3 ] *= x; te[ 7 ] *= y; te[ 11 ] *= z; + + return this; + + } + + /** + * Gets the maximum scale value of the three axes. + * + * @return {number} The maximum scale. + */ + getMaxScaleOnAxis() { + + const te = this.elements; + + const scaleXSq = te[ 0 ] * te[ 0 ] + te[ 1 ] * te[ 1 ] + te[ 2 ] * te[ 2 ]; + const scaleYSq = te[ 4 ] * te[ 4 ] + te[ 5 ] * te[ 5 ] + te[ 6 ] * te[ 6 ]; + const scaleZSq = te[ 8 ] * te[ 8 ] + te[ 9 ] * te[ 9 ] + te[ 10 ] * te[ 10 ]; + + return Math.sqrt( Math.max( scaleXSq, scaleYSq, scaleZSq ) ); + + } + + /** + * Sets this matrix as a translation transform from the given vector. + * + * @param {number|Vector3} x - The amount to translate in the X axis or alternatively a translation vector. + * @param {number} y - The amount to translate in the Y axis. + * @param {number} z - The amount to translate in the z axis. + * @return {Matrix4} A reference to this matrix. + */ + makeTranslation( x, y, z ) { + + if ( x.isVector3 ) { + + this.set( + + 1, 0, 0, x.x, + 0, 1, 0, x.y, + 0, 0, 1, x.z, + 0, 0, 0, 1 + + ); + + } else { + + this.set( + + 1, 0, 0, x, + 0, 1, 0, y, + 0, 0, 1, z, + 0, 0, 0, 1 + + ); + + } + + return this; + + } + + /** + * Sets this matrix as a rotational transformation around the X axis by + * the given angle. + * + * @param {number} theta - The rotation in radians. + * @return {Matrix4} A reference to this matrix. + */ + makeRotationX( theta ) { + + const c = Math.cos( theta ), s = Math.sin( theta ); + + this.set( + + 1, 0, 0, 0, + 0, c, - s, 0, + 0, s, c, 0, + 0, 0, 0, 1 + + ); + + return this; + + } + + /** + * Sets this matrix as a rotational transformation around the Y axis by + * the given angle. + * + * @param {number} theta - The rotation in radians. + * @return {Matrix4} A reference to this matrix. + */ + makeRotationY( theta ) { + + const c = Math.cos( theta ), s = Math.sin( theta ); + + this.set( + + c, 0, s, 0, + 0, 1, 0, 0, + - s, 0, c, 0, + 0, 0, 0, 1 + + ); + + return this; + + } + + /** + * Sets this matrix as a rotational transformation around the Z axis by + * the given angle. + * + * @param {number} theta - The rotation in radians. + * @return {Matrix4} A reference to this matrix. + */ + makeRotationZ( theta ) { + + const c = Math.cos( theta ), s = Math.sin( theta ); + + this.set( + + c, - s, 0, 0, + s, c, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1 + + ); + + return this; + + } + + /** + * Sets this matrix as a rotational transformation around the given axis by + * the given angle. + * + * This is a somewhat controversial but mathematically sound alternative to + * rotating via Quaternions. See the discussion [here](https://www.gamedev.net/articles/programming/math-and-physics/do-we-really-need-quaternions-r1199). + * + * @param {Vector3} axis - The normalized rotation axis. + * @param {number} angle - The rotation in radians. + * @return {Matrix4} A reference to this matrix. + */ + makeRotationAxis( axis, angle ) { + + // Based on http://www.gamedev.net/reference/articles/article1199.asp + + const c = Math.cos( angle ); + const s = Math.sin( angle ); + const t = 1 - c; + const x = axis.x, y = axis.y, z = axis.z; + const tx = t * x, ty = t * y; + + this.set( + + tx * x + c, tx * y - s * z, tx * z + s * y, 0, + tx * y + s * z, ty * y + c, ty * z - s * x, 0, + tx * z - s * y, ty * z + s * x, t * z * z + c, 0, + 0, 0, 0, 1 + + ); + + return this; + + } + + /** + * Sets this matrix as a scale transformation. + * + * @param {number} x - The amount to scale in the X axis. + * @param {number} y - The amount to scale in the Y axis. + * @param {number} z - The amount to scale in the Z axis. + * @return {Matrix4} A reference to this matrix. + */ + makeScale( x, y, z ) { + + this.set( + + x, 0, 0, 0, + 0, y, 0, 0, + 0, 0, z, 0, + 0, 0, 0, 1 + + ); + + return this; + + } + + /** + * Sets this matrix as a shear transformation. + * + * @param {number} xy - The amount to shear X by Y. + * @param {number} xz - The amount to shear X by Z. + * @param {number} yx - The amount to shear Y by X. + * @param {number} yz - The amount to shear Y by Z. + * @param {number} zx - The amount to shear Z by X. + * @param {number} zy - The amount to shear Z by Y. + * @return {Matrix4} A reference to this matrix. + */ + makeShear( xy, xz, yx, yz, zx, zy ) { + + this.set( + + 1, yx, zx, 0, + xy, 1, zy, 0, + xz, yz, 1, 0, + 0, 0, 0, 1 + + ); + + return this; + + } + + /** + * Sets this matrix to the transformation composed of the given position, + * rotation (Quaternion) and scale. + * + * @param {Vector3} position - The position vector. + * @param {Quaternion} quaternion - The rotation as a Quaternion. + * @param {Vector3} scale - The scale vector. + * @return {Matrix4} A reference to this matrix. + */ + compose( position, quaternion, scale ) { + + const te = this.elements; + + const x = quaternion._x, y = quaternion._y, z = quaternion._z, w = quaternion._w; + 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; + + const sx = scale.x, sy = scale.y, sz = scale.z; + + te[ 0 ] = ( 1 - ( yy + zz ) ) * sx; + te[ 1 ] = ( xy + wz ) * sx; + te[ 2 ] = ( xz - wy ) * sx; + te[ 3 ] = 0; + + te[ 4 ] = ( xy - wz ) * sy; + te[ 5 ] = ( 1 - ( xx + zz ) ) * sy; + te[ 6 ] = ( yz + wx ) * sy; + te[ 7 ] = 0; + + te[ 8 ] = ( xz + wy ) * sz; + te[ 9 ] = ( yz - wx ) * sz; + te[ 10 ] = ( 1 - ( xx + yy ) ) * sz; + te[ 11 ] = 0; + + te[ 12 ] = position.x; + te[ 13 ] = position.y; + te[ 14 ] = position.z; + te[ 15 ] = 1; + + return this; + + } + + /** + * Decomposes this matrix into its position, rotation and scale components + * and provides the result in the given objects. + * + * Note: Not all matrices are decomposable in this way. For example, if an + * object has a non-uniformly scaled parent, then the object's world matrix + * may not be decomposable, and this method may not be appropriate. + * + * @param {Vector3} position - The position vector. + * @param {Quaternion} quaternion - The rotation as a Quaternion. + * @param {Vector3} scale - The scale vector. + * @return {Matrix4} A reference to this matrix. + */ + decompose( position, quaternion, scale ) { + + const te = this.elements; + + position.x = te[ 12 ]; + position.y = te[ 13 ]; + position.z = te[ 14 ]; + + const det = this.determinant(); + + if ( det === 0 ) { + + scale.set( 1, 1, 1 ); + quaternion.identity(); + + return this; + + } + + let sx = _v1$7.set( te[ 0 ], te[ 1 ], te[ 2 ] ).length(); + const sy = _v1$7.set( te[ 4 ], te[ 5 ], te[ 6 ] ).length(); + const sz = _v1$7.set( te[ 8 ], te[ 9 ], te[ 10 ] ).length(); + + // if determinant is negative, we need to invert one scale + if ( det < 0 ) sx = - sx; + + // scale the rotation part + _m1$2.copy( this ); + + const invSX = 1 / sx; + const invSY = 1 / sy; + const invSZ = 1 / sz; + + _m1$2.elements[ 0 ] *= invSX; + _m1$2.elements[ 1 ] *= invSX; + _m1$2.elements[ 2 ] *= invSX; + + _m1$2.elements[ 4 ] *= invSY; + _m1$2.elements[ 5 ] *= invSY; + _m1$2.elements[ 6 ] *= invSY; + + _m1$2.elements[ 8 ] *= invSZ; + _m1$2.elements[ 9 ] *= invSZ; + _m1$2.elements[ 10 ] *= invSZ; + + quaternion.setFromRotationMatrix( _m1$2 ); + + scale.x = sx; + scale.y = sy; + scale.z = sz; + + return this; + + } + + /** + * Creates a perspective projection matrix. This is used internally by + * {@link PerspectiveCamera#updateProjectionMatrix}. + + * @param {number} left - Left boundary of the viewing frustum at the near plane. + * @param {number} right - Right boundary of the viewing frustum at the near plane. + * @param {number} top - Top boundary of the viewing frustum at the near plane. + * @param {number} bottom - Bottom boundary of the viewing frustum at the near plane. + * @param {number} near - The distance from the camera to the near plane. + * @param {number} far - The distance from the camera to the far plane. + * @param {(WebGLCoordinateSystem|WebGPUCoordinateSystem)} [coordinateSystem=WebGLCoordinateSystem] - The coordinate system. + * @param {boolean} [reversedDepth=false] - Whether to use a reversed depth. + * @return {Matrix4} A reference to this matrix. + */ + makePerspective( left, right, top, bottom, near, far, coordinateSystem = WebGLCoordinateSystem, reversedDepth = false ) { + + const te = this.elements; + + const x = 2 * near / ( right - left ); + const y = 2 * near / ( top - bottom ); + + const a = ( right + left ) / ( right - left ); + const b = ( top + bottom ) / ( top - bottom ); + + let c, d; + + if ( reversedDepth ) { + + c = near / ( far - near ); + d = ( far * near ) / ( far - near ); + + } else { + + if ( coordinateSystem === WebGLCoordinateSystem ) { + + c = - ( far + near ) / ( far - near ); + d = ( -2 * far * near ) / ( far - near ); + + } else if ( coordinateSystem === WebGPUCoordinateSystem ) { + + c = - far / ( far - near ); + d = ( - far * near ) / ( far - near ); + + } else { + + throw new Error( 'THREE.Matrix4.makePerspective(): Invalid coordinate system: ' + coordinateSystem ); + + } + + } + + te[ 0 ] = x; te[ 4 ] = 0; te[ 8 ] = a; te[ 12 ] = 0; + te[ 1 ] = 0; te[ 5 ] = y; te[ 9 ] = b; te[ 13 ] = 0; + te[ 2 ] = 0; te[ 6 ] = 0; te[ 10 ] = c; te[ 14 ] = d; + te[ 3 ] = 0; te[ 7 ] = 0; te[ 11 ] = -1; te[ 15 ] = 0; + + return this; + + } + + /** + * Creates a orthographic projection matrix. This is used internally by + * {@link OrthographicCamera#updateProjectionMatrix}. + + * @param {number} left - Left boundary of the viewing frustum at the near plane. + * @param {number} right - Right boundary of the viewing frustum at the near plane. + * @param {number} top - Top boundary of the viewing frustum at the near plane. + * @param {number} bottom - Bottom boundary of the viewing frustum at the near plane. + * @param {number} near - The distance from the camera to the near plane. + * @param {number} far - The distance from the camera to the far plane. + * @param {(WebGLCoordinateSystem|WebGPUCoordinateSystem)} [coordinateSystem=WebGLCoordinateSystem] - The coordinate system. + * @param {boolean} [reversedDepth=false] - Whether to use a reversed depth. + * @return {Matrix4} A reference to this matrix. + */ + makeOrthographic( left, right, top, bottom, near, far, coordinateSystem = WebGLCoordinateSystem, reversedDepth = false ) { + + const te = this.elements; + + const x = 2 / ( right - left ); + const y = 2 / ( top - bottom ); + + const a = - ( right + left ) / ( right - left ); + const b = - ( top + bottom ) / ( top - bottom ); + + let c, d; + + if ( reversedDepth ) { + + c = 1 / ( far - near ); + d = far / ( far - near ); + + } else { + + if ( coordinateSystem === WebGLCoordinateSystem ) { + + c = -2 / ( far - near ); + d = - ( far + near ) / ( far - near ); + + } else if ( coordinateSystem === WebGPUCoordinateSystem ) { + + c = -1 / ( far - near ); + d = - near / ( far - near ); + + } else { + + throw new Error( 'THREE.Matrix4.makeOrthographic(): Invalid coordinate system: ' + coordinateSystem ); + + } + + } + + te[ 0 ] = x; te[ 4 ] = 0; te[ 8 ] = 0; te[ 12 ] = a; + te[ 1 ] = 0; te[ 5 ] = y; te[ 9 ] = 0; te[ 13 ] = b; + te[ 2 ] = 0; te[ 6 ] = 0; te[ 10 ] = c; te[ 14 ] = d; + te[ 3 ] = 0; te[ 7 ] = 0; te[ 11 ] = 0; te[ 15 ] = 1; + + return this; + + } + + /** + * Returns `true` if this matrix is equal with the given one. + * + * @param {Matrix4} matrix - The matrix to test for equality. + * @return {boolean} Whether this matrix is equal with the given one. + */ + equals( matrix ) { + + const te = this.elements; + const me = matrix.elements; + + for ( let i = 0; i < 16; i ++ ) { + + if ( te[ i ] !== me[ i ] ) return false; + + } + + return true; + + } + + /** + * Sets the elements of the matrix from the given array. + * + * @param {Array} array - The matrix elements in column-major order. + * @param {number} [offset=0] - Index of the first element in the array. + * @return {Matrix4} A reference to this matrix. + */ + fromArray( array, offset = 0 ) { + + for ( let i = 0; i < 16; i ++ ) { + + this.elements[ i ] = array[ i + offset ]; + + } + + return this; + + } + + /** + * Writes the elements of this matrix to the given array. If no array is provided, + * the method returns a new instance. + * + * @param {Array} [array=[]] - The target array holding the matrix elements in column-major order. + * @param {number} [offset=0] - Index of the first element in the array. + * @return {Array} The matrix elements in column-major order. + */ + toArray( array = [], offset = 0 ) { + + const te = this.elements; + + array[ offset ] = te[ 0 ]; + array[ offset + 1 ] = te[ 1 ]; + array[ offset + 2 ] = te[ 2 ]; + array[ offset + 3 ] = te[ 3 ]; + + array[ offset + 4 ] = te[ 4 ]; + array[ offset + 5 ] = te[ 5 ]; + array[ offset + 6 ] = te[ 6 ]; + array[ offset + 7 ] = te[ 7 ]; + + array[ offset + 8 ] = te[ 8 ]; + array[ offset + 9 ] = te[ 9 ]; + array[ offset + 10 ] = te[ 10 ]; + array[ offset + 11 ] = te[ 11 ]; + + array[ offset + 12 ] = te[ 12 ]; + array[ offset + 13 ] = te[ 13 ]; + array[ offset + 14 ] = te[ 14 ]; + array[ offset + 15 ] = te[ 15 ]; + + return array; + + } + +} + +const _v1$7 = /*@__PURE__*/ new Vector3(); +const _m1$2 = /*@__PURE__*/ new Matrix4(); +const _zero = /*@__PURE__*/ new Vector3( 0, 0, 0 ); +const _one = /*@__PURE__*/ new Vector3( 1, 1, 1 ); +const _x = /*@__PURE__*/ new Vector3(); +const _y = /*@__PURE__*/ new Vector3(); +const _z = /*@__PURE__*/ new Vector3(); + +const _matrix$2 = /*@__PURE__*/ new Matrix4(); +const _quaternion$4 = /*@__PURE__*/ new Quaternion(); + +/** + * A class representing Euler angles. + * + * Euler angles describe a rotational transformation by rotating an object on + * its various axes in specified amounts per axis, and a specified axis + * order. + * + * Iterating through an instance will yield its components (x, y, z, + * order) in the corresponding order. + * + * ```js + * const a = new THREE.Euler( 0, 1, 1.57, 'XYZ' ); + * const b = new THREE.Vector3( 1, 0, 1 ); + * b.applyEuler(a); + * ``` + */ +class Euler { + + /** + * Constructs a new euler instance. + * + * @param {number} [x=0] - The angle of the x axis in radians. + * @param {number} [y=0] - The angle of the y axis in radians. + * @param {number} [z=0] - The angle of the z axis in radians. + * @param {string} [order=Euler.DEFAULT_ORDER] - A string representing the order that the rotations are applied. + */ + constructor( x = 0, y = 0, z = 0, order = Euler.DEFAULT_ORDER ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isEuler = true; + + this._x = x; + this._y = y; + this._z = z; + this._order = order; + + } + + /** + * The angle of the x axis in radians. + * + * @type {number} + * @default 0 + */ + get x() { + + return this._x; + + } + + set x( value ) { + + this._x = value; + this._onChangeCallback(); + + } + + /** + * The angle of the y axis in radians. + * + * @type {number} + * @default 0 + */ + get y() { + + return this._y; + + } + + set y( value ) { + + this._y = value; + this._onChangeCallback(); + + } + + /** + * The angle of the z axis in radians. + * + * @type {number} + * @default 0 + */ + get z() { + + return this._z; + + } + + set z( value ) { + + this._z = value; + this._onChangeCallback(); + + } + + /** + * A string representing the order that the rotations are applied. + * + * @type {string} + * @default 'XYZ' + */ + get order() { + + return this._order; + + } + + set order( value ) { + + this._order = value; + this._onChangeCallback(); + + } + + /** + * Sets the Euler components. + * + * @param {number} x - The angle of the x axis in radians. + * @param {number} y - The angle of the y axis in radians. + * @param {number} z - The angle of the z axis in radians. + * @param {string} [order] - A string representing the order that the rotations are applied. + * @return {Euler} A reference to this Euler instance. + */ + set( x, y, z, order = this._order ) { + + this._x = x; + this._y = y; + this._z = z; + this._order = order; + + this._onChangeCallback(); + + return this; + + } + + /** + * Returns a new Euler instance with copied values from this instance. + * + * @return {Euler} A clone of this instance. + */ + clone() { + + return new this.constructor( this._x, this._y, this._z, this._order ); + + } + + /** + * Copies the values of the given Euler instance to this instance. + * + * @param {Euler} euler - The Euler instance to copy. + * @return {Euler} A reference to this Euler instance. + */ + copy( euler ) { + + this._x = euler._x; + this._y = euler._y; + this._z = euler._z; + this._order = euler._order; + + this._onChangeCallback(); + + return this; + + } + + /** + * Sets the angles of this Euler instance from a pure rotation matrix. + * + * @param {Matrix4} m - A 4x4 matrix of which the upper 3x3 of matrix is a pure rotation matrix (i.e. unscaled). + * @param {string} [order] - A string representing the order that the rotations are applied. + * @param {boolean} [update=true] - Whether the internal `onChange` callback should be executed or not. + * @return {Euler} A reference to this Euler instance. + */ + setFromRotationMatrix( m, order = this._order, update = true ) { + + const te = m.elements; + const m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ]; + const m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ]; + const m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ]; + + switch ( order ) { + + case 'XYZ': + + this._y = Math.asin( clamp( m13, -1, 1 ) ); + + if ( Math.abs( m13 ) < 0.9999999 ) { + + this._x = Math.atan2( - m23, m33 ); + this._z = Math.atan2( - m12, m11 ); + + } else { + + this._x = Math.atan2( m32, m22 ); + this._z = 0; + + } + + break; + + case 'YXZ': + + this._x = Math.asin( - clamp( m23, -1, 1 ) ); + + if ( Math.abs( m23 ) < 0.9999999 ) { + + this._y = Math.atan2( m13, m33 ); + this._z = Math.atan2( m21, m22 ); + + } else { + + this._y = Math.atan2( - m31, m11 ); + this._z = 0; + + } + + break; + + case 'ZXY': + + this._x = Math.asin( clamp( m32, -1, 1 ) ); + + if ( Math.abs( m32 ) < 0.9999999 ) { + + this._y = Math.atan2( - m31, m33 ); + this._z = Math.atan2( - m12, m22 ); + + } else { + + this._y = 0; + this._z = Math.atan2( m21, m11 ); + + } + + break; + + case 'ZYX': + + this._y = Math.asin( - clamp( m31, -1, 1 ) ); + + if ( Math.abs( m31 ) < 0.9999999 ) { + + this._x = Math.atan2( m32, m33 ); + this._z = Math.atan2( m21, m11 ); + + } else { + + this._x = 0; + this._z = Math.atan2( - m12, m22 ); + + } + + break; + + case 'YZX': + + this._z = Math.asin( clamp( m21, -1, 1 ) ); + + if ( Math.abs( m21 ) < 0.9999999 ) { + + this._x = Math.atan2( - m23, m22 ); + this._y = Math.atan2( - m31, m11 ); + + } else { + + this._x = 0; + this._y = Math.atan2( m13, m33 ); + + } + + break; + + case 'XZY': + + this._z = Math.asin( - clamp( m12, -1, 1 ) ); + + if ( Math.abs( m12 ) < 0.9999999 ) { + + this._x = Math.atan2( m32, m22 ); + this._y = Math.atan2( m13, m11 ); + + } else { + + this._x = Math.atan2( - m23, m33 ); + this._y = 0; + + } + + break; + + default: + + warn( 'Euler: .setFromRotationMatrix() encountered an unknown order: ' + order ); + + } + + this._order = order; + + if ( update === true ) this._onChangeCallback(); + + return this; + + } + + /** + * Sets the angles of this Euler instance from a normalized quaternion. + * + * @param {Quaternion} q - A normalized Quaternion. + * @param {string} [order] - A string representing the order that the rotations are applied. + * @param {boolean} [update=true] - Whether the internal `onChange` callback should be executed or not. + * @return {Euler} A reference to this Euler instance. + */ + setFromQuaternion( q, order, update ) { + + _matrix$2.makeRotationFromQuaternion( q ); + + return this.setFromRotationMatrix( _matrix$2, order, update ); + + } + + /** + * Sets the angles of this Euler instance from the given vector. + * + * @param {Vector3} v - The vector. + * @param {string} [order] - A string representing the order that the rotations are applied. + * @return {Euler} A reference to this Euler instance. + */ + setFromVector3( v, order = this._order ) { + + return this.set( v.x, v.y, v.z, order ); + + } + + /** + * Resets the euler angle with a new order by creating a quaternion from this + * euler angle and then setting this euler angle with the quaternion and the + * new order. + * + * Warning: This discards revolution information. + * + * @param {string} [newOrder] - A string representing the new order that the rotations are applied. + * @return {Euler} A reference to this Euler instance. + */ + reorder( newOrder ) { + + _quaternion$4.setFromEuler( this ); + + return this.setFromQuaternion( _quaternion$4, newOrder ); + + } + + /** + * Returns `true` if this Euler instance is equal with the given one. + * + * @param {Euler} euler - The Euler instance to test for equality. + * @return {boolean} Whether this Euler instance is equal with the given one. + */ + equals( euler ) { + + return ( euler._x === this._x ) && ( euler._y === this._y ) && ( euler._z === this._z ) && ( euler._order === this._order ); + + } + + /** + * Sets this Euler instance's components to values from the given array. The first three + * entries of the array are assign to the x,y and z components. An optional fourth entry + * defines the Euler order. + * + * @param {Array} array - An array holding the Euler component values. + * @return {Euler} A reference to this Euler instance. + */ + fromArray( array ) { + + this._x = array[ 0 ]; + this._y = array[ 1 ]; + this._z = array[ 2 ]; + if ( array[ 3 ] !== undefined ) this._order = array[ 3 ]; + + this._onChangeCallback(); + + return this; + + } + + /** + * Writes the components of this Euler instance to the given array. If no array is provided, + * the method returns a new instance. + * + * @param {Array} [array=[]] - The target array holding the Euler components. + * @param {number} [offset=0] - Index of the first element in the array. + * @return {Array} The Euler components. + */ + toArray( array = [], offset = 0 ) { + + array[ offset ] = this._x; + array[ offset + 1 ] = this._y; + array[ offset + 2 ] = this._z; + array[ offset + 3 ] = this._order; + + return array; + + } + + _onChange( callback ) { + + this._onChangeCallback = callback; + + return this; + + } + + _onChangeCallback() {} + + *[ Symbol.iterator ]() { + + yield this._x; + yield this._y; + yield this._z; + yield this._order; + + } + +} + +/** + * The default Euler angle order. + * + * @static + * @type {string} + * @default 'XYZ' + */ +Euler.DEFAULT_ORDER = 'XYZ'; + +/** + * A layers object assigns an 3D object to 1 or more of 32 + * layers numbered `0` to `31` - internally the layers are stored as a + * bit mask], and by default all 3D objects are a member of layer `0`. + * + * This can be used to control visibility - an object must share a layer with + * a camera to be visible when that camera's view is + * rendered. + * + * All classes that inherit from {@link Object3D} have an `layers` property which + * is an instance of this class. + */ +class Layers { + + /** + * Constructs a new layers instance, with membership + * initially set to layer `0`. + */ + constructor() { + + /** + * A bit mask storing which of the 32 layers this layers object is currently + * a member of. + * + * @type {number} + */ + this.mask = 1 | 0; + + } + + /** + * Sets membership to the given layer, and remove membership all other layers. + * + * @param {number} layer - The layer to set. + */ + set( layer ) { + + this.mask = ( 1 << layer | 0 ) >>> 0; + + } + + /** + * Adds membership of the given layer. + * + * @param {number} layer - The layer to enable. + */ + enable( layer ) { + + this.mask |= 1 << layer | 0; + + } + + /** + * Adds membership to all layers. + */ + enableAll() { + + this.mask = 0xffffffff | 0; + + } + + /** + * Toggles the membership of the given layer. + * + * @param {number} layer - The layer to toggle. + */ + toggle( layer ) { + + this.mask ^= 1 << layer | 0; + + } + + /** + * Removes membership of the given layer. + * + * @param {number} layer - The layer to enable. + */ + disable( layer ) { + + this.mask &= ~ ( 1 << layer | 0 ); + + } + + /** + * Removes the membership from all layers. + */ + disableAll() { + + this.mask = 0; + + } + + /** + * Returns `true` if this and the given layers object have at least one + * layer in common. + * + * @param {Layers} layers - The layers to test. + * @return {boolean } Whether this and the given layers object have at least one layer in common or not. + */ + test( layers ) { + + return ( this.mask & layers.mask ) !== 0; + + } + + /** + * Returns `true` if the given layer is enabled. + * + * @param {number} layer - The layer to test. + * @return {boolean } Whether the given layer is enabled or not. + */ + isEnabled( layer ) { + + return ( this.mask & ( 1 << layer | 0 ) ) !== 0; + + } + +} + +let _object3DId = 0; + +const _v1$6 = /*@__PURE__*/ new Vector3(); +const _q1 = /*@__PURE__*/ new Quaternion(); +const _m1$1 = /*@__PURE__*/ new Matrix4(); +const _target = /*@__PURE__*/ new Vector3(); + +const _position$4 = /*@__PURE__*/ new Vector3(); +const _scale$3 = /*@__PURE__*/ new Vector3(); +const _quaternion$3 = /*@__PURE__*/ new Quaternion(); + +const _xAxis = /*@__PURE__*/ new Vector3( 1, 0, 0 ); +const _yAxis = /*@__PURE__*/ new Vector3( 0, 1, 0 ); +const _zAxis = /*@__PURE__*/ new Vector3( 0, 0, 1 ); + +/** + * Fires when the object has been added to its parent object. + * + * @event Object3D#added + * @type {Object} + */ +const _addedEvent = { type: 'added' }; + +/** + * Fires when the object has been removed from its parent object. + * + * @event Object3D#removed + * @type {Object} + */ +const _removedEvent = { type: 'removed' }; + +/** + * Fires when a new child object has been added. + * + * @event Object3D#childadded + * @type {Object} + */ +const _childaddedEvent = { type: 'childadded', child: null }; + +/** + * Fires when a child object has been removed. + * + * @event Object3D#childremoved + * @type {Object} + */ +const _childremovedEvent = { type: 'childremoved', child: null }; + +/** + * This is the base class for most objects in three.js and provides a set of + * properties and methods for manipulating objects in 3D space. + * + * @augments EventDispatcher + */ +class Object3D extends EventDispatcher { + + /** + * Constructs a new 3D object. + */ + constructor() { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isObject3D = true; + + /** + * The ID of the 3D object. + * + * @name Object3D#id + * @type {number} + * @readonly + */ + Object.defineProperty( this, 'id', { value: _object3DId ++ } ); + + /** + * The UUID of the 3D object. + * + * @type {string} + * @readonly + */ + this.uuid = generateUUID(); + + /** + * The name of the 3D object. + * + * @type {string} + */ + this.name = ''; + + /** + * The type property is used for detecting the object type + * in context of serialization/deserialization. + * + * @type {string} + * @readonly + */ + this.type = 'Object3D'; + + /** + * A reference to the parent object. + * + * @type {?Object3D} + * @default null + */ + this.parent = null; + + /** + * An array holding the child 3D objects of this instance. + * + * @type {Array} + */ + this.children = []; + + /** + * Defines the `up` direction of the 3D object which influences + * the orientation via methods like {@link Object3D#lookAt}. + * + * The default values for all 3D objects is defined by `Object3D.DEFAULT_UP`. + * + * @type {Vector3} + */ + this.up = Object3D.DEFAULT_UP.clone(); + + const position = new Vector3(); + const rotation = new Euler(); + const quaternion = new Quaternion(); + const scale = new Vector3( 1, 1, 1 ); + + function onRotationChange() { + + quaternion.setFromEuler( rotation, false ); + + } + + function onQuaternionChange() { + + rotation.setFromQuaternion( quaternion, undefined, false ); + + } + + rotation._onChange( onRotationChange ); + quaternion._onChange( onQuaternionChange ); + + Object.defineProperties( this, { + /** + * Represents the object's local position. + * + * @name Object3D#position + * @type {Vector3} + * @default (0,0,0) + */ + position: { + configurable: true, + enumerable: true, + value: position + }, + /** + * Represents the object's local rotation as Euler angles, in radians. + * + * @name Object3D#rotation + * @type {Euler} + * @default (0,0,0) + */ + rotation: { + configurable: true, + enumerable: true, + value: rotation + }, + /** + * Represents the object's local rotation as Quaternions. + * + * @name Object3D#quaternion + * @type {Quaternion} + */ + quaternion: { + configurable: true, + enumerable: true, + value: quaternion + }, + /** + * Represents the object's local scale. + * + * @name Object3D#scale + * @type {Vector3} + * @default (1,1,1) + */ + scale: { + configurable: true, + enumerable: true, + value: scale + }, + /** + * Represents the object's model-view matrix. + * + * @name Object3D#modelViewMatrix + * @type {Matrix4} + */ + modelViewMatrix: { + value: new Matrix4() + }, + /** + * Represents the object's normal matrix. + * + * @name Object3D#normalMatrix + * @type {Matrix3} + */ + normalMatrix: { + value: new Matrix3() + } + } ); + + /** + * Represents the object's transformation matrix in local space. + * + * @type {Matrix4} + */ + this.matrix = new Matrix4(); + + /** + * Represents the object's transformation matrix in world space. + * If the 3D object has no parent, then it's identical to the local transformation matrix + * + * @type {Matrix4} + */ + this.matrixWorld = new Matrix4(); + + /** + * When set to `true`, the engine automatically computes the local matrix from position, + * rotation and scale every frame. If set to `false`, the app is responsible for recomputing + * the local matrix by calling `updateMatrix()`. + * + * The default values for all 3D objects is defined by `Object3D.DEFAULT_MATRIX_AUTO_UPDATE`. + * + * @type {boolean} + * @default true + */ + this.matrixAutoUpdate = Object3D.DEFAULT_MATRIX_AUTO_UPDATE; + + /** + * When set to `true`, the engine automatically computes the world matrix from the current local + * matrix and the object's transformation hierarchy. If set to `false`, the app is responsible for + * recomputing the world matrix by directly updating the `matrixWorld` property. + * + * The default values for all 3D objects is defined by `Object3D.DEFAULT_MATRIX_WORLD_AUTO_UPDATE`. + * + * @type {boolean} + * @default true + */ + this.matrixWorldAutoUpdate = Object3D.DEFAULT_MATRIX_WORLD_AUTO_UPDATE; // checked by the renderer + + /** + * When set to `true`, it calculates the world matrix in that frame and resets this property + * to `false`. + * + * @type {boolean} + * @default false + */ + this.matrixWorldNeedsUpdate = false; + + /** + * The layer membership of the 3D object. The 3D object is only visible if it has + * at least one layer in common with the camera in use. This property can also be + * used to filter out unwanted objects in ray-intersection tests when using {@link Raycaster}. + * + * @type {Layers} + */ + this.layers = new Layers(); + + /** + * When set to `true`, the 3D object gets rendered. + * + * @type {boolean} + * @default true + */ + this.visible = true; + + /** + * When set to `true`, the 3D object gets rendered into shadow maps. + * + * @type {boolean} + * @default false + */ + this.castShadow = false; + + /** + * When set to `true`, the 3D object is affected by shadows in the scene. + * + * @type {boolean} + * @default false + */ + this.receiveShadow = false; + + /** + * When set to `true`, the 3D object is honored by view frustum culling. + * + * @type {boolean} + * @default true + */ + this.frustumCulled = true; + + /** + * This value allows the default rendering order of scene graph objects to be + * overridden although opaque and transparent objects remain sorted independently. + * When this property is set for an instance of {@link Group},all descendants + * objects will be sorted and rendered together. Sorting is from lowest to highest + * render order. + * + * @type {number} + * @default 0 + */ + this.renderOrder = 0; + + /** + * An array holding the animation clips of the 3D object. + * + * @type {Array} + */ + this.animations = []; + + /** + * Custom depth material to be used when rendering to the depth map. Can only be used + * in context of meshes. When shadow-casting with a {@link DirectionalLight} or {@link SpotLight}, + * if you are modifying vertex positions in the vertex shader you must specify a custom depth + * material for proper shadows. + * + * Only relevant in context of {@link WebGLRenderer}. + * + * @type {(Material|undefined)} + * @default undefined + */ + this.customDepthMaterial = undefined; + + /** + * Same as {@link Object3D#customDepthMaterial}, but used with {@link PointLight}. + * + * Only relevant in context of {@link WebGLRenderer}. + * + * @type {(Material|undefined)} + * @default undefined + */ + this.customDistanceMaterial = undefined; + + /** + * Whether the 3D object is supposed to be static or not. If set to `true`, it means + * the 3D object is not going to be changed after the initial renderer. This includes + * geometry and material settings. A static 3D object can be processed by the renderer + * slightly faster since certain state checks can be bypassed. + * + * Only relevant in context of {@link WebGPURenderer}. + * + * @type {boolean} + * @default false + */ + this.static = false; + + /** + * An object that can be used to store custom data about the 3D object. It + * should not hold references to functions as these will not be cloned. + * + * @type {Object} + */ + this.userData = {}; + + /** + * The pivot point for rotation and scale transformations. + * When set, rotation and scale are applied around this point + * instead of the object's origin. + * + * @type {?Vector3} + * @default null + */ + this.pivot = null; + + } + + /** + * A callback that is executed immediately before a 3D object is rendered to a shadow map. + * + * @param {Renderer|WebGLRenderer} renderer - The renderer. + * @param {Object3D} object - The 3D object. + * @param {Camera} camera - The camera that is used to render the scene. + * @param {Camera} shadowCamera - The shadow camera. + * @param {BufferGeometry} geometry - The 3D object's geometry. + * @param {Material} depthMaterial - The depth material. + * @param {Object} group - The geometry group data. + */ + onBeforeShadow( /* renderer, object, camera, shadowCamera, geometry, depthMaterial, group */ ) {} + + /** + * A callback that is executed immediately after a 3D object is rendered to a shadow map. + * + * @param {Renderer|WebGLRenderer} renderer - The renderer. + * @param {Object3D} object - The 3D object. + * @param {Camera} camera - The camera that is used to render the scene. + * @param {Camera} shadowCamera - The shadow camera. + * @param {BufferGeometry} geometry - The 3D object's geometry. + * @param {Material} depthMaterial - The depth material. + * @param {Object} group - The geometry group data. + */ + onAfterShadow( /* renderer, object, camera, shadowCamera, geometry, depthMaterial, group */ ) {} + + /** + * A callback that is executed immediately before a 3D object is rendered. + * + * @param {Renderer|WebGLRenderer} renderer - The renderer. + * @param {Object3D} object - The 3D object. + * @param {Camera} camera - The camera that is used to render the scene. + * @param {BufferGeometry} geometry - The 3D object's geometry. + * @param {Material} material - The 3D object's material. + * @param {Object} group - The geometry group data. + */ + onBeforeRender( /* renderer, scene, camera, geometry, material, group */ ) {} + + /** + * A callback that is executed immediately after a 3D object is rendered. + * + * @param {Renderer|WebGLRenderer} renderer - The renderer. + * @param {Object3D} object - The 3D object. + * @param {Camera} camera - The camera that is used to render the scene. + * @param {BufferGeometry} geometry - The 3D object's geometry. + * @param {Material} material - The 3D object's material. + * @param {Object} group - The geometry group data. + */ + onAfterRender( /* renderer, scene, camera, geometry, material, group */ ) {} + + /** + * Applies the given transformation matrix to the object and updates the object's position, + * rotation and scale. + * + * @param {Matrix4} matrix - The transformation matrix. + */ + applyMatrix4( matrix ) { + + if ( this.matrixAutoUpdate ) this.updateMatrix(); + + this.matrix.premultiply( matrix ); + + this.matrix.decompose( this.position, this.quaternion, this.scale ); + + } + + /** + * Applies a rotation represented by given the quaternion to the 3D object. + * + * @param {Quaternion} q - The quaternion. + * @return {Object3D} A reference to this instance. + */ + applyQuaternion( q ) { + + this.quaternion.premultiply( q ); + + return this; + + } + + /** + * Sets the given rotation represented as an axis/angle couple to the 3D object. + * + * @param {Vector3} axis - The (normalized) axis vector. + * @param {number} angle - The angle in radians. + */ + setRotationFromAxisAngle( axis, angle ) { + + // assumes axis is normalized + + this.quaternion.setFromAxisAngle( axis, angle ); + + } + + /** + * Sets the given rotation represented as Euler angles to the 3D object. + * + * @param {Euler} euler - The Euler angles. + */ + setRotationFromEuler( euler ) { + + this.quaternion.setFromEuler( euler, true ); + + } + + /** + * Sets the given rotation represented as rotation matrix to the 3D object. + * + * @param {Matrix4} m - Although a 4x4 matrix is expected, the upper 3x3 portion must be + * a pure rotation matrix (i.e, unscaled). + */ + setRotationFromMatrix( m ) { + + // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled) + + this.quaternion.setFromRotationMatrix( m ); + + } + + /** + * Sets the given rotation represented as a Quaternion to the 3D object. + * + * @param {Quaternion} q - The Quaternion + */ + setRotationFromQuaternion( q ) { + + // assumes q is normalized + + this.quaternion.copy( q ); + + } + + /** + * Rotates the 3D object along an axis in local space. + * + * @param {Vector3} axis - The (normalized) axis vector. + * @param {number} angle - The angle in radians. + * @return {Object3D} A reference to this instance. + */ + rotateOnAxis( axis, angle ) { + + // rotate object on axis in object space + // axis is assumed to be normalized + + _q1.setFromAxisAngle( axis, angle ); + + this.quaternion.multiply( _q1 ); + + return this; + + } + + /** + * Rotates the 3D object along an axis in world space. + * + * @param {Vector3} axis - The (normalized) axis vector. + * @param {number} angle - The angle in radians. + * @return {Object3D} A reference to this instance. + */ + rotateOnWorldAxis( axis, angle ) { + + // rotate object on axis in world space + // axis is assumed to be normalized + // method assumes no rotated parent + + _q1.setFromAxisAngle( axis, angle ); + + this.quaternion.premultiply( _q1 ); + + return this; + + } + + /** + * Rotates the 3D object around its X axis in local space. + * + * @param {number} angle - The angle in radians. + * @return {Object3D} A reference to this instance. + */ + rotateX( angle ) { + + return this.rotateOnAxis( _xAxis, angle ); + + } + + /** + * Rotates the 3D object around its Y axis in local space. + * + * @param {number} angle - The angle in radians. + * @return {Object3D} A reference to this instance. + */ + rotateY( angle ) { + + return this.rotateOnAxis( _yAxis, angle ); + + } + + /** + * Rotates the 3D object around its Z axis in local space. + * + * @param {number} angle - The angle in radians. + * @return {Object3D} A reference to this instance. + */ + rotateZ( angle ) { + + return this.rotateOnAxis( _zAxis, angle ); + + } + + /** + * Translate the 3D object by a distance along the given axis in local space. + * + * @param {Vector3} axis - The (normalized) axis vector. + * @param {number} distance - The distance in world units. + * @return {Object3D} A reference to this instance. + */ + translateOnAxis( axis, distance ) { + + // translate object by distance along axis in object space + // axis is assumed to be normalized + + _v1$6.copy( axis ).applyQuaternion( this.quaternion ); + + this.position.add( _v1$6.multiplyScalar( distance ) ); + + return this; + + } + + /** + * Translate the 3D object by a distance along its X-axis in local space. + * + * @param {number} distance - The distance in world units. + * @return {Object3D} A reference to this instance. + */ + translateX( distance ) { + + return this.translateOnAxis( _xAxis, distance ); + + } + + /** + * Translate the 3D object by a distance along its Y-axis in local space. + * + * @param {number} distance - The distance in world units. + * @return {Object3D} A reference to this instance. + */ + translateY( distance ) { + + return this.translateOnAxis( _yAxis, distance ); + + } + + /** + * Translate the 3D object by a distance along its Z-axis in local space. + * + * @param {number} distance - The distance in world units. + * @return {Object3D} A reference to this instance. + */ + translateZ( distance ) { + + return this.translateOnAxis( _zAxis, distance ); + + } + + /** + * Converts the given vector from this 3D object's local space to world space. + * + * @param {Vector3} vector - The vector to convert. + * @return {Vector3} The converted vector. + */ + localToWorld( vector ) { + + this.updateWorldMatrix( true, false ); + + return vector.applyMatrix4( this.matrixWorld ); + + } + + /** + * Converts the given vector from this 3D object's world space to local space. + * + * @param {Vector3} vector - The vector to convert. + * @return {Vector3} The converted vector. + */ + worldToLocal( vector ) { + + this.updateWorldMatrix( true, false ); + + return vector.applyMatrix4( _m1$1.copy( this.matrixWorld ).invert() ); + + } + + /** + * Rotates the object to face a point in world space. + * + * This method does not support objects having non-uniformly-scaled parent(s). + * + * @param {number|Vector3} x - The x coordinate in world space. Alternatively, a vector representing a position in world space + * @param {number} [y] - The y coordinate in world space. + * @param {number} [z] - The z coordinate in world space. + */ + lookAt( x, y, z ) { + + // This method does not support objects having non-uniformly-scaled parent(s) + + if ( x.isVector3 ) { + + _target.copy( x ); + + } else { + + _target.set( x, y, z ); + + } + + const parent = this.parent; + + this.updateWorldMatrix( true, false ); + + _position$4.setFromMatrixPosition( this.matrixWorld ); + + if ( this.isCamera || this.isLight ) { + + _m1$1.lookAt( _position$4, _target, this.up ); + + } else { + + _m1$1.lookAt( _target, _position$4, this.up ); + + } + + this.quaternion.setFromRotationMatrix( _m1$1 ); + + if ( parent ) { + + _m1$1.extractRotation( parent.matrixWorld ); + _q1.setFromRotationMatrix( _m1$1 ); + this.quaternion.premultiply( _q1.invert() ); + + } + + } + + /** + * Adds the given 3D object as a child to this 3D object. An arbitrary number of + * objects may be added. Any current parent on an object passed in here will be + * removed, since an object can have at most one parent. + * + * @fires Object3D#added + * @fires Object3D#childadded + * @param {Object3D} object - The 3D object to add. + * @return {Object3D} A reference to this instance. + */ + add( object ) { + + if ( arguments.length > 1 ) { + + for ( let i = 0; i < arguments.length; i ++ ) { + + this.add( arguments[ i ] ); + + } + + return this; + + } + + if ( object === this ) { + + error( 'Object3D.add: object can\'t be added as a child of itself.', object ); + return this; + + } + + if ( object && object.isObject3D ) { + + object.removeFromParent(); + object.parent = this; + this.children.push( object ); + + object.dispatchEvent( _addedEvent ); + + _childaddedEvent.child = object; + this.dispatchEvent( _childaddedEvent ); + _childaddedEvent.child = null; + + } else { + + error( 'Object3D.add: object not an instance of THREE.Object3D.', object ); + + } + + return this; + + } + + /** + * Removes the given 3D object as child from this 3D object. + * An arbitrary number of objects may be removed. + * + * @fires Object3D#removed + * @fires Object3D#childremoved + * @param {Object3D} object - The 3D object to remove. + * @return {Object3D} A reference to this instance. + */ + remove( object ) { + + if ( arguments.length > 1 ) { + + for ( let i = 0; i < arguments.length; i ++ ) { + + this.remove( arguments[ i ] ); + + } + + return this; + + } + + const index = this.children.indexOf( object ); + + if ( index !== -1 ) { + + object.parent = null; + this.children.splice( index, 1 ); + + object.dispatchEvent( _removedEvent ); + + _childremovedEvent.child = object; + this.dispatchEvent( _childremovedEvent ); + _childremovedEvent.child = null; + + } + + return this; + + } + + /** + * Removes this 3D object from its current parent. + * + * @fires Object3D#removed + * @fires Object3D#childremoved + * @return {Object3D} A reference to this instance. + */ + removeFromParent() { + + const parent = this.parent; + + if ( parent !== null ) { + + parent.remove( this ); + + } + + return this; + + } + + /** + * Removes all child objects. + * + * @fires Object3D#removed + * @fires Object3D#childremoved + * @return {Object3D} A reference to this instance. + */ + clear() { + + return this.remove( ... this.children ); + + } + + /** + * Adds the given 3D object as a child of this 3D object, while maintaining the object's world + * transform. This method does not support scene graphs having non-uniformly-scaled nodes(s). + * + * @fires Object3D#added + * @fires Object3D#childadded + * @param {Object3D} object - The 3D object to attach. + * @return {Object3D} A reference to this instance. + */ + attach( object ) { + + // adds object as a child of this, while maintaining the object's world transform + + // Note: This method does not support scene graphs having non-uniformly-scaled nodes(s) + + this.updateWorldMatrix( true, false ); + + _m1$1.copy( this.matrixWorld ).invert(); + + if ( object.parent !== null ) { + + object.parent.updateWorldMatrix( true, false ); + + _m1$1.multiply( object.parent.matrixWorld ); + + } + + object.applyMatrix4( _m1$1 ); + + object.removeFromParent(); + object.parent = this; + this.children.push( object ); + + object.updateWorldMatrix( false, true ); + + object.dispatchEvent( _addedEvent ); + + _childaddedEvent.child = object; + this.dispatchEvent( _childaddedEvent ); + _childaddedEvent.child = null; + + return this; + + } + + /** + * Searches through the 3D object and its children, starting with the 3D object + * itself, and returns the first with a matching ID. + * + * @param {number} id - The id. + * @return {Object3D|undefined} The found 3D object. Returns `undefined` if no 3D object has been found. + */ + getObjectById( id ) { + + return this.getObjectByProperty( 'id', id ); + + } + + /** + * Searches through the 3D object and its children, starting with the 3D object + * itself, and returns the first with a matching name. + * + * @param {string} name - The name. + * @return {Object3D|undefined} The found 3D object. Returns `undefined` if no 3D object has been found. + */ + getObjectByName( name ) { + + return this.getObjectByProperty( 'name', name ); + + } + + /** + * Searches through the 3D object and its children, starting with the 3D object + * itself, and returns the first with a matching property value. + * + * @param {string} name - The name of the property. + * @param {any} value - The value. + * @return {Object3D|undefined} The found 3D object. Returns `undefined` if no 3D object has been found. + */ + getObjectByProperty( name, value ) { + + if ( this[ name ] === value ) return this; + + for ( let i = 0, l = this.children.length; i < l; i ++ ) { + + const child = this.children[ i ]; + const object = child.getObjectByProperty( name, value ); + + if ( object !== undefined ) { + + return object; + + } + + } + + return undefined; + + } + + /** + * Searches through the 3D object and its children, starting with the 3D object + * itself, and returns all 3D objects with a matching property value. + * + * @param {string} name - The name of the property. + * @param {any} value - The value. + * @param {Array} result - The method stores the result in this array. + * @return {Array} The found 3D objects. + */ + getObjectsByProperty( name, value, result = [] ) { + + if ( this[ name ] === value ) result.push( this ); + + const children = this.children; + + for ( let i = 0, l = children.length; i < l; i ++ ) { + + children[ i ].getObjectsByProperty( name, value, result ); + + } + + return result; + + } + + /** + * Returns a vector representing the position of the 3D object in world space. + * + * @param {Vector3} target - The target vector the result is stored to. + * @return {Vector3} The 3D object's position in world space. + */ + getWorldPosition( target ) { + + this.updateWorldMatrix( true, false ); + + return target.setFromMatrixPosition( this.matrixWorld ); + + } + + /** + * Returns a Quaternion representing the position of the 3D object in world space. + * + * @param {Quaternion} target - The target Quaternion the result is stored to. + * @return {Quaternion} The 3D object's rotation in world space. + */ + getWorldQuaternion( target ) { + + this.updateWorldMatrix( true, false ); + + this.matrixWorld.decompose( _position$4, target, _scale$3 ); + + return target; + + } + + /** + * Returns a vector representing the scale of the 3D object in world space. + * + * @param {Vector3} target - The target vector the result is stored to. + * @return {Vector3} The 3D object's scale in world space. + */ + getWorldScale( target ) { + + this.updateWorldMatrix( true, false ); + + this.matrixWorld.decompose( _position$4, _quaternion$3, target ); + + return target; + + } + + /** + * Returns a vector representing the ("look") direction of the 3D object in world space. + * + * @param {Vector3} target - The target vector the result is stored to. + * @return {Vector3} The 3D object's direction in world space. + */ + getWorldDirection( target ) { + + this.updateWorldMatrix( true, false ); + + const e = this.matrixWorld.elements; + + return target.set( e[ 8 ], e[ 9 ], e[ 10 ] ).normalize(); + + } + + /** + * Abstract method to get intersections between a casted ray and this + * 3D object. Renderable 3D objects such as {@link Mesh}, {@link Line} or {@link Points} + * implement this method in order to use raycasting. + * + * @abstract + * @param {Raycaster} raycaster - The raycaster. + * @param {Array} intersects - An array holding the result of the method. + */ + raycast( /* raycaster, intersects */ ) {} + + /** + * Executes the callback on this 3D object and all descendants. + * + * Note: Modifying the scene graph inside the callback is discouraged. + * + * @param {Function} callback - A callback function that allows to process the current 3D object. + */ + traverse( callback ) { + + callback( this ); + + const children = this.children; + + for ( let i = 0, l = children.length; i < l; i ++ ) { + + children[ i ].traverse( callback ); + + } + + } + + /** + * Like {@link Object3D#traverse}, but the callback will only be executed for visible 3D objects. + * Descendants of invisible 3D objects are not traversed. + * + * Note: Modifying the scene graph inside the callback is discouraged. + * + * @param {Function} callback - A callback function that allows to process the current 3D object. + */ + traverseVisible( callback ) { + + if ( this.visible === false ) return; + + callback( this ); + + const children = this.children; + + for ( let i = 0, l = children.length; i < l; i ++ ) { + + children[ i ].traverseVisible( callback ); + + } + + } + + /** + * Like {@link Object3D#traverse}, but the callback will only be executed for all ancestors. + * + * Note: Modifying the scene graph inside the callback is discouraged. + * + * @param {Function} callback - A callback function that allows to process the current 3D object. + */ + traverseAncestors( callback ) { + + const parent = this.parent; + + if ( parent !== null ) { + + callback( parent ); + + parent.traverseAncestors( callback ); + + } + + } + + /** + * Updates the transformation matrix in local space by computing it from the current + * position, rotation and scale values. + */ + updateMatrix() { + + this.matrix.compose( this.position, this.quaternion, this.scale ); + + const pivot = this.pivot; + + if ( pivot !== null ) { + + const px = pivot.x, py = pivot.y, pz = pivot.z; + const te = this.matrix.elements; + + te[ 12 ] += px - te[ 0 ] * px - te[ 4 ] * py - te[ 8 ] * pz; + te[ 13 ] += py - te[ 1 ] * px - te[ 5 ] * py - te[ 9 ] * pz; + te[ 14 ] += pz - te[ 2 ] * px - te[ 6 ] * py - te[ 10 ] * pz; + + } + + this.matrixWorldNeedsUpdate = true; + + } + + /** + * Updates the transformation matrix in world space of this 3D objects and its descendants. + * + * To ensure correct results, this method also recomputes the 3D object's transformation matrix in + * local space. The computation of the local and world matrix can be controlled with the + * {@link Object3D#matrixAutoUpdate} and {@link Object3D#matrixWorldAutoUpdate} flags which are both + * `true` by default. Set these flags to `false` if you need more control over the update matrix process. + * + * @param {boolean} [force=false] - When set to `true`, a recomputation of world matrices is forced even + * when {@link Object3D#matrixWorldNeedsUpdate} is `false`. + */ + updateMatrixWorld( force ) { + + if ( this.matrixAutoUpdate ) this.updateMatrix(); + + if ( this.matrixWorldNeedsUpdate || force ) { + + if ( this.matrixWorldAutoUpdate === true ) { + + if ( this.parent === null ) { + + this.matrixWorld.copy( this.matrix ); + + } else { + + this.matrixWorld.multiplyMatrices( this.parent.matrixWorld, this.matrix ); + + } + + } + + this.matrixWorldNeedsUpdate = false; + + force = true; + + } + + // make sure descendants are updated if required + + const children = this.children; + + for ( let i = 0, l = children.length; i < l; i ++ ) { + + const child = children[ i ]; + + child.updateMatrixWorld( force ); + + } + + } + + /** + * An alternative version of {@link Object3D#updateMatrixWorld} with more control over the + * update of ancestor and descendant nodes. + * + * @param {boolean} [updateParents=false] Whether ancestor nodes should be updated or not. + * @param {boolean} [updateChildren=false] Whether descendant nodes should be updated or not. + */ + updateWorldMatrix( updateParents, updateChildren ) { + + const parent = this.parent; + + if ( updateParents === true && parent !== null ) { + + parent.updateWorldMatrix( true, false ); + + } + + if ( this.matrixAutoUpdate ) this.updateMatrix(); + + if ( this.matrixWorldAutoUpdate === true ) { + + if ( this.parent === null ) { + + this.matrixWorld.copy( this.matrix ); + + } else { + + this.matrixWorld.multiplyMatrices( this.parent.matrixWorld, this.matrix ); + + } + + } + + // make sure descendants are updated + + if ( updateChildren === true ) { + + const children = this.children; + + for ( let i = 0, l = children.length; i < l; i ++ ) { + + const child = children[ i ]; + + child.updateWorldMatrix( false, true ); + + } + + } + + } + + /** + * Serializes the 3D object into JSON. + * + * @param {?(Object|string)} meta - An optional value holding meta information about the serialization. + * @return {Object} A JSON object representing the serialized 3D object. + * @see {@link ObjectLoader#parse} + */ + toJSON( meta ) { + + // meta is a string when called from JSON.stringify + const isRootObject = ( meta === undefined || typeof meta === 'string' ); + + const output = {}; + + // meta is a hash used to collect geometries, materials. + // not providing it implies that this is the root object + // being serialized. + if ( isRootObject ) { + + // initialize meta obj + meta = { + geometries: {}, + materials: {}, + textures: {}, + images: {}, + shapes: {}, + skeletons: {}, + animations: {}, + nodes: {} + }; + + output.metadata = { + version: 4.7, + type: 'Object', + generator: 'Object3D.toJSON' + }; + + } + + // standard Object3D serialization + + const object = {}; + + object.uuid = this.uuid; + object.type = this.type; + + if ( this.name !== '' ) object.name = this.name; + if ( this.castShadow === true ) object.castShadow = true; + if ( this.receiveShadow === true ) object.receiveShadow = true; + if ( this.visible === false ) object.visible = false; + if ( this.frustumCulled === false ) object.frustumCulled = false; + if ( this.renderOrder !== 0 ) object.renderOrder = this.renderOrder; + if ( this.static !== false ) object.static = this.static; + if ( Object.keys( this.userData ).length > 0 ) object.userData = this.userData; + + object.layers = this.layers.mask; + object.matrix = this.matrix.toArray(); + object.up = this.up.toArray(); + + if ( this.pivot !== null ) object.pivot = this.pivot.toArray(); + + if ( this.matrixAutoUpdate === false ) object.matrixAutoUpdate = false; + + if ( this.morphTargetDictionary !== undefined ) object.morphTargetDictionary = Object.assign( {}, this.morphTargetDictionary ); + if ( this.morphTargetInfluences !== undefined ) object.morphTargetInfluences = this.morphTargetInfluences.slice(); + + // object specific properties + + if ( this.isInstancedMesh ) { + + object.type = 'InstancedMesh'; + object.count = this.count; + object.instanceMatrix = this.instanceMatrix.toJSON(); + if ( this.instanceColor !== null ) object.instanceColor = this.instanceColor.toJSON(); + + } + + if ( this.isBatchedMesh ) { + + object.type = 'BatchedMesh'; + object.perObjectFrustumCulled = this.perObjectFrustumCulled; + object.sortObjects = this.sortObjects; + + object.drawRanges = this._drawRanges; + object.reservedRanges = this._reservedRanges; + + object.geometryInfo = this._geometryInfo.map( info => ( { + ...info, + boundingBox: info.boundingBox ? info.boundingBox.toJSON() : undefined, + boundingSphere: info.boundingSphere ? info.boundingSphere.toJSON() : undefined + } ) ); + object.instanceInfo = this._instanceInfo.map( info => ( { ...info } ) ); + + object.availableInstanceIds = this._availableInstanceIds.slice(); + object.availableGeometryIds = this._availableGeometryIds.slice(); + + object.nextIndexStart = this._nextIndexStart; + object.nextVertexStart = this._nextVertexStart; + object.geometryCount = this._geometryCount; + + object.maxInstanceCount = this._maxInstanceCount; + object.maxVertexCount = this._maxVertexCount; + object.maxIndexCount = this._maxIndexCount; + + object.geometryInitialized = this._geometryInitialized; + + object.matricesTexture = this._matricesTexture.toJSON( meta ); + + object.indirectTexture = this._indirectTexture.toJSON( meta ); + + if ( this._colorsTexture !== null ) { + + object.colorsTexture = this._colorsTexture.toJSON( meta ); + + } + + if ( this.boundingSphere !== null ) { + + object.boundingSphere = this.boundingSphere.toJSON(); + + } + + if ( this.boundingBox !== null ) { + + object.boundingBox = this.boundingBox.toJSON(); + + } + + } + + // + + function serialize( library, element ) { + + if ( library[ element.uuid ] === undefined ) { + + library[ element.uuid ] = element.toJSON( meta ); + + } + + return element.uuid; + + } + + if ( this.isScene ) { + + if ( this.background ) { + + if ( this.background.isColor ) { + + object.background = this.background.toJSON(); + + } else if ( this.background.isTexture ) { + + object.background = this.background.toJSON( meta ).uuid; + + } + + } + + if ( this.environment && this.environment.isTexture && this.environment.isRenderTargetTexture !== true ) { + + object.environment = this.environment.toJSON( meta ).uuid; + + } + + } else if ( this.isMesh || this.isLine || this.isPoints ) { + + object.geometry = serialize( meta.geometries, this.geometry ); + + const parameters = this.geometry.parameters; + + if ( parameters !== undefined && parameters.shapes !== undefined ) { + + const shapes = parameters.shapes; + + if ( Array.isArray( shapes ) ) { + + for ( let i = 0, l = shapes.length; i < l; i ++ ) { + + const shape = shapes[ i ]; + + serialize( meta.shapes, shape ); + + } + + } else { + + serialize( meta.shapes, shapes ); + + } + + } + + } + + if ( this.isSkinnedMesh ) { + + object.bindMode = this.bindMode; + object.bindMatrix = this.bindMatrix.toArray(); + + if ( this.skeleton !== undefined ) { + + serialize( meta.skeletons, this.skeleton ); + + object.skeleton = this.skeleton.uuid; + + } + + } + + if ( this.material !== undefined ) { + + if ( Array.isArray( this.material ) ) { + + const uuids = []; + + for ( let i = 0, l = this.material.length; i < l; i ++ ) { + + uuids.push( serialize( meta.materials, this.material[ i ] ) ); + + } + + object.material = uuids; + + } else { + + object.material = serialize( meta.materials, this.material ); + + } + + } + + // + + if ( this.children.length > 0 ) { + + object.children = []; + + for ( let i = 0; i < this.children.length; i ++ ) { + + object.children.push( this.children[ i ].toJSON( meta ).object ); + + } + + } + + // + + if ( this.animations.length > 0 ) { + + object.animations = []; + + for ( let i = 0; i < this.animations.length; i ++ ) { + + const animation = this.animations[ i ]; + + object.animations.push( serialize( meta.animations, animation ) ); + + } + + } + + if ( isRootObject ) { + + const geometries = extractFromCache( meta.geometries ); + const materials = extractFromCache( meta.materials ); + const textures = extractFromCache( meta.textures ); + const images = extractFromCache( meta.images ); + const shapes = extractFromCache( meta.shapes ); + const skeletons = extractFromCache( meta.skeletons ); + const animations = extractFromCache( meta.animations ); + const nodes = extractFromCache( meta.nodes ); + + if ( geometries.length > 0 ) output.geometries = geometries; + if ( materials.length > 0 ) output.materials = materials; + if ( textures.length > 0 ) output.textures = textures; + if ( images.length > 0 ) output.images = images; + if ( shapes.length > 0 ) output.shapes = shapes; + if ( skeletons.length > 0 ) output.skeletons = skeletons; + if ( animations.length > 0 ) output.animations = animations; + if ( nodes.length > 0 ) output.nodes = nodes; + + } + + output.object = object; + + return output; + + // extract data from the cache hash + // remove metadata on each item + // and return as array + function extractFromCache( cache ) { + + const values = []; + for ( const key in cache ) { + + const data = cache[ key ]; + delete data.metadata; + values.push( data ); + + } + + return values; + + } + + } + + /** + * Returns a new 3D object with copied values from this instance. + * + * @param {boolean} [recursive=true] - When set to `true`, descendants of the 3D object are also cloned. + * @return {Object3D} A clone of this instance. + */ + clone( recursive ) { + + return new this.constructor().copy( this, recursive ); + + } + + /** + * Copies the values of the given 3D object to this instance. + * + * @param {Object3D} source - The 3D object to copy. + * @param {boolean} [recursive=true] - When set to `true`, descendants of the 3D object are cloned. + * @return {Object3D} A reference to this instance. + */ + copy( source, recursive = true ) { + + this.name = source.name; + + this.up.copy( source.up ); + + this.position.copy( source.position ); + this.rotation.order = source.rotation.order; + this.quaternion.copy( source.quaternion ); + this.scale.copy( source.scale ); + + if ( source.pivot !== null ) { + + this.pivot = source.pivot.clone(); + + } + + this.matrix.copy( source.matrix ); + this.matrixWorld.copy( source.matrixWorld ); + + this.matrixAutoUpdate = source.matrixAutoUpdate; + + this.matrixWorldAutoUpdate = source.matrixWorldAutoUpdate; + this.matrixWorldNeedsUpdate = source.matrixWorldNeedsUpdate; + + this.layers.mask = source.layers.mask; + this.visible = source.visible; + + this.castShadow = source.castShadow; + this.receiveShadow = source.receiveShadow; + + this.frustumCulled = source.frustumCulled; + this.renderOrder = source.renderOrder; + + this.static = source.static; + + this.animations = source.animations.slice(); + + this.userData = JSON.parse( JSON.stringify( source.userData ) ); + + if ( recursive === true ) { + + for ( let i = 0; i < source.children.length; i ++ ) { + + const child = source.children[ i ]; + this.add( child.clone() ); + + } + + } + + return this; + + } + +} + +/** + * The default up direction for objects, also used as the default + * position for {@link DirectionalLight} and {@link HemisphereLight}. + * + * @static + * @type {Vector3} + * @default (0,1,0) + */ +Object3D.DEFAULT_UP = /*@__PURE__*/ new Vector3( 0, 1, 0 ); + +/** + * The default setting for {@link Object3D#matrixAutoUpdate} for + * newly created 3D objects. + * + * @static + * @type {boolean} + * @default true + */ +Object3D.DEFAULT_MATRIX_AUTO_UPDATE = true; + +/** + * The default setting for {@link Object3D#matrixWorldAutoUpdate} for + * newly created 3D objects. + * + * @static + * @type {boolean} + * @default true + */ +Object3D.DEFAULT_MATRIX_WORLD_AUTO_UPDATE = true; + +/** + * This is almost identical to an {@link Object3D}. Its purpose is to + * make working with groups of objects syntactically clearer. + * + * ```js + * // Create a group and add the two cubes. + * // These cubes can now be rotated / scaled etc as a group. + * const group = new THREE.Group(); + * + * group.add( meshA ); + * group.add( meshB ); + * + * scene.add( group ); + * ``` + * + * @augments Object3D + */ +class Group extends Object3D { + + constructor() { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isGroup = true; + + this.type = 'Group'; + + } + +} + +const _moveEvent = { type: 'move' }; + +/** + * Class for representing a XR controller with its + * different coordinate systems. + * + * @private + */ +class WebXRController { + + /** + * Constructs a new XR controller. + */ + constructor() { + + /** + * A group representing the target ray space + * of the XR controller. + * + * @private + * @type {?Group} + * @default null + */ + this._targetRay = null; + + /** + * A group representing the grip space + * of the XR controller. + * + * @private + * @type {?Group} + * @default null + */ + this._grip = null; + + /** + * A group representing the hand space + * of the XR controller. + * + * @private + * @type {?Group} + * @default null + */ + this._hand = null; + + } + + /** + * Returns a group representing the hand space of the XR controller. + * + * @return {Group} A group representing the hand space of the XR controller. + */ + getHandSpace() { + + if ( this._hand === null ) { + + this._hand = new Group(); + this._hand.matrixAutoUpdate = false; + this._hand.visible = false; + + this._hand.joints = {}; + this._hand.inputState = { pinching: false }; + + } + + return this._hand; + + } + + /** + * Returns a group representing the target ray space of the XR controller. + * + * @return {Group} A group representing the target ray space of the XR controller. + */ + getTargetRaySpace() { + + if ( this._targetRay === null ) { + + this._targetRay = new Group(); + this._targetRay.matrixAutoUpdate = false; + this._targetRay.visible = false; + this._targetRay.hasLinearVelocity = false; + this._targetRay.linearVelocity = new Vector3(); + this._targetRay.hasAngularVelocity = false; + this._targetRay.angularVelocity = new Vector3(); + + } + + return this._targetRay; + + } + + /** + * Returns a group representing the grip space of the XR controller. + * + * @return {Group} A group representing the grip space of the XR controller. + */ + getGripSpace() { + + if ( this._grip === null ) { + + this._grip = new Group(); + this._grip.matrixAutoUpdate = false; + this._grip.visible = false; + this._grip.hasLinearVelocity = false; + this._grip.linearVelocity = new Vector3(); + this._grip.hasAngularVelocity = false; + this._grip.angularVelocity = new Vector3(); + + } + + return this._grip; + + } + + /** + * Dispatches the given event to the groups representing + * the different coordinate spaces of the XR controller. + * + * @param {Object} event - The event to dispatch. + * @return {WebXRController} A reference to this instance. + */ + dispatchEvent( event ) { + + if ( this._targetRay !== null ) { + + this._targetRay.dispatchEvent( event ); + + } + + if ( this._grip !== null ) { + + this._grip.dispatchEvent( event ); + + } + + if ( this._hand !== null ) { + + this._hand.dispatchEvent( event ); + + } + + return this; + + } + + /** + * Connects the controller with the given XR input source. + * + * @param {XRInputSource} inputSource - The input source. + * @return {WebXRController} A reference to this instance. + */ + connect( inputSource ) { + + if ( inputSource && inputSource.hand ) { + + const hand = this._hand; + + if ( hand ) { + + for ( const inputjoint of inputSource.hand.values() ) { + + // Initialize hand with joints when connected + this._getHandJoint( hand, inputjoint ); + + } + + } + + } + + this.dispatchEvent( { type: 'connected', data: inputSource } ); + + return this; + + } + + /** + * Disconnects the controller from the given XR input source. + * + * @param {XRInputSource} inputSource - The input source. + * @return {WebXRController} A reference to this instance. + */ + disconnect( inputSource ) { + + this.dispatchEvent( { type: 'disconnected', data: inputSource } ); + + if ( this._targetRay !== null ) { + + this._targetRay.visible = false; + + } + + if ( this._grip !== null ) { + + this._grip.visible = false; + + } + + if ( this._hand !== null ) { + + this._hand.visible = false; + + } + + return this; + + } + + /** + * Updates the controller with the given input source, XR frame and reference space. + * This updates the transformations of the groups that represent the different + * coordinate systems of the controller. + * + * @param {XRInputSource} inputSource - The input source. + * @param {XRFrame} frame - The XR frame. + * @param {XRReferenceSpace} referenceSpace - The reference space. + * @return {WebXRController} A reference to this instance. + */ + update( inputSource, frame, referenceSpace ) { + + let inputPose = null; + let gripPose = null; + let handPose = null; + + const targetRay = this._targetRay; + const grip = this._grip; + const hand = this._hand; + + if ( inputSource && frame.session.visibilityState !== 'visible-blurred' ) { + + if ( hand && inputSource.hand ) { + + handPose = true; + + for ( const inputjoint of inputSource.hand.values() ) { + + // Update the joints groups with the XRJoint poses + const jointPose = frame.getJointPose( inputjoint, referenceSpace ); + + // The transform of this joint will be updated with the joint pose on each frame + const joint = this._getHandJoint( hand, inputjoint ); + + if ( jointPose !== null ) { + + joint.matrix.fromArray( jointPose.transform.matrix ); + joint.matrix.decompose( joint.position, joint.rotation, joint.scale ); + joint.matrixWorldNeedsUpdate = true; + joint.jointRadius = jointPose.radius; + + } + + joint.visible = jointPose !== null; + + } + + // Custom events + + // Check pinchz + const indexTip = hand.joints[ 'index-finger-tip' ]; + const thumbTip = hand.joints[ 'thumb-tip' ]; + const distance = indexTip.position.distanceTo( thumbTip.position ); + + const distanceToPinch = 0.02; + const threshold = 0.005; + + if ( hand.inputState.pinching && distance > distanceToPinch + threshold ) { + + hand.inputState.pinching = false; + this.dispatchEvent( { + type: 'pinchend', + handedness: inputSource.handedness, + target: this + } ); + + } else if ( ! hand.inputState.pinching && distance <= distanceToPinch - threshold ) { + + hand.inputState.pinching = true; + this.dispatchEvent( { + type: 'pinchstart', + handedness: inputSource.handedness, + target: this + } ); + + } + + } else { + + if ( grip !== null && inputSource.gripSpace ) { + + gripPose = frame.getPose( inputSource.gripSpace, referenceSpace ); + + if ( gripPose !== null ) { + + grip.matrix.fromArray( gripPose.transform.matrix ); + grip.matrix.decompose( grip.position, grip.rotation, grip.scale ); + grip.matrixWorldNeedsUpdate = true; + + if ( gripPose.linearVelocity ) { + + grip.hasLinearVelocity = true; + grip.linearVelocity.copy( gripPose.linearVelocity ); + + } else { + + grip.hasLinearVelocity = false; + + } + + if ( gripPose.angularVelocity ) { + + grip.hasAngularVelocity = true; + grip.angularVelocity.copy( gripPose.angularVelocity ); + + } else { + + grip.hasAngularVelocity = false; + + } + + } + + } + + } + + if ( targetRay !== null ) { + + inputPose = frame.getPose( inputSource.targetRaySpace, referenceSpace ); + + // Some runtimes (namely Vive Cosmos with Vive OpenXR Runtime) have only grip space and ray space is equal to it + if ( inputPose === null && gripPose !== null ) { + + inputPose = gripPose; + + } + + if ( inputPose !== null ) { + + targetRay.matrix.fromArray( inputPose.transform.matrix ); + targetRay.matrix.decompose( targetRay.position, targetRay.rotation, targetRay.scale ); + targetRay.matrixWorldNeedsUpdate = true; + + if ( inputPose.linearVelocity ) { + + targetRay.hasLinearVelocity = true; + targetRay.linearVelocity.copy( inputPose.linearVelocity ); + + } else { + + targetRay.hasLinearVelocity = false; + + } + + if ( inputPose.angularVelocity ) { + + targetRay.hasAngularVelocity = true; + targetRay.angularVelocity.copy( inputPose.angularVelocity ); + + } else { + + targetRay.hasAngularVelocity = false; + + } + + this.dispatchEvent( _moveEvent ); + + } + + } + + + } + + if ( targetRay !== null ) { + + targetRay.visible = ( inputPose !== null ); + + } + + if ( grip !== null ) { + + grip.visible = ( gripPose !== null ); + + } + + if ( hand !== null ) { + + hand.visible = ( handPose !== null ); + + } + + return this; + + } + + /** + * Returns a group representing the hand joint for the given input joint. + * + * @private + * @param {Group} hand - The group representing the hand space. + * @param {XRJointSpace} inputjoint - The hand joint data. + * @return {Group} A group representing the hand joint for the given input joint. + */ + _getHandJoint( hand, inputjoint ) { + + if ( hand.joints[ inputjoint.jointName ] === undefined ) { + + const joint = new Group(); + joint.matrixAutoUpdate = false; + joint.visible = false; + hand.joints[ inputjoint.jointName ] = joint; + + hand.add( joint ); + + } + + return hand.joints[ inputjoint.jointName ]; + + } + +} + +const _colorKeywords = { 'aliceblue': 0xF0F8FF, 'antiquewhite': 0xFAEBD7, 'aqua': 0x00FFFF, 'aquamarine': 0x7FFFD4, 'azure': 0xF0FFFF, + 'beige': 0xF5F5DC, 'bisque': 0xFFE4C4, 'black': 0x000000, 'blanchedalmond': 0xFFEBCD, 'blue': 0x0000FF, 'blueviolet': 0x8A2BE2, + 'brown': 0xA52A2A, 'burlywood': 0xDEB887, 'cadetblue': 0x5F9EA0, 'chartreuse': 0x7FFF00, 'chocolate': 0xD2691E, 'coral': 0xFF7F50, + 'cornflowerblue': 0x6495ED, 'cornsilk': 0xFFF8DC, 'crimson': 0xDC143C, 'cyan': 0x00FFFF, 'darkblue': 0x00008B, 'darkcyan': 0x008B8B, + 'darkgoldenrod': 0xB8860B, 'darkgray': 0xA9A9A9, 'darkgreen': 0x006400, 'darkgrey': 0xA9A9A9, 'darkkhaki': 0xBDB76B, 'darkmagenta': 0x8B008B, + 'darkolivegreen': 0x556B2F, 'darkorange': 0xFF8C00, 'darkorchid': 0x9932CC, 'darkred': 0x8B0000, 'darksalmon': 0xE9967A, 'darkseagreen': 0x8FBC8F, + 'darkslateblue': 0x483D8B, 'darkslategray': 0x2F4F4F, 'darkslategrey': 0x2F4F4F, 'darkturquoise': 0x00CED1, 'darkviolet': 0x9400D3, + 'deeppink': 0xFF1493, 'deepskyblue': 0x00BFFF, 'dimgray': 0x696969, 'dimgrey': 0x696969, 'dodgerblue': 0x1E90FF, 'firebrick': 0xB22222, + 'floralwhite': 0xFFFAF0, 'forestgreen': 0x228B22, 'fuchsia': 0xFF00FF, 'gainsboro': 0xDCDCDC, 'ghostwhite': 0xF8F8FF, 'gold': 0xFFD700, + 'goldenrod': 0xDAA520, 'gray': 0x808080, 'green': 0x008000, 'greenyellow': 0xADFF2F, 'grey': 0x808080, 'honeydew': 0xF0FFF0, 'hotpink': 0xFF69B4, + 'indianred': 0xCD5C5C, 'indigo': 0x4B0082, 'ivory': 0xFFFFF0, 'khaki': 0xF0E68C, 'lavender': 0xE6E6FA, 'lavenderblush': 0xFFF0F5, 'lawngreen': 0x7CFC00, + 'lemonchiffon': 0xFFFACD, 'lightblue': 0xADD8E6, 'lightcoral': 0xF08080, 'lightcyan': 0xE0FFFF, 'lightgoldenrodyellow': 0xFAFAD2, 'lightgray': 0xD3D3D3, + 'lightgreen': 0x90EE90, 'lightgrey': 0xD3D3D3, 'lightpink': 0xFFB6C1, 'lightsalmon': 0xFFA07A, 'lightseagreen': 0x20B2AA, 'lightskyblue': 0x87CEFA, + 'lightslategray': 0x778899, 'lightslategrey': 0x778899, 'lightsteelblue': 0xB0C4DE, 'lightyellow': 0xFFFFE0, 'lime': 0x00FF00, 'limegreen': 0x32CD32, + 'linen': 0xFAF0E6, 'magenta': 0xFF00FF, 'maroon': 0x800000, 'mediumaquamarine': 0x66CDAA, 'mediumblue': 0x0000CD, 'mediumorchid': 0xBA55D3, + 'mediumpurple': 0x9370DB, 'mediumseagreen': 0x3CB371, 'mediumslateblue': 0x7B68EE, 'mediumspringgreen': 0x00FA9A, 'mediumturquoise': 0x48D1CC, + 'mediumvioletred': 0xC71585, 'midnightblue': 0x191970, 'mintcream': 0xF5FFFA, 'mistyrose': 0xFFE4E1, 'moccasin': 0xFFE4B5, 'navajowhite': 0xFFDEAD, + 'navy': 0x000080, 'oldlace': 0xFDF5E6, 'olive': 0x808000, 'olivedrab': 0x6B8E23, 'orange': 0xFFA500, 'orangered': 0xFF4500, 'orchid': 0xDA70D6, + 'palegoldenrod': 0xEEE8AA, 'palegreen': 0x98FB98, 'paleturquoise': 0xAFEEEE, 'palevioletred': 0xDB7093, 'papayawhip': 0xFFEFD5, 'peachpuff': 0xFFDAB9, + 'peru': 0xCD853F, 'pink': 0xFFC0CB, 'plum': 0xDDA0DD, 'powderblue': 0xB0E0E6, 'purple': 0x800080, 'rebeccapurple': 0x663399, 'red': 0xFF0000, 'rosybrown': 0xBC8F8F, + 'royalblue': 0x4169E1, 'saddlebrown': 0x8B4513, 'salmon': 0xFA8072, 'sandybrown': 0xF4A460, 'seagreen': 0x2E8B57, 'seashell': 0xFFF5EE, + 'sienna': 0xA0522D, 'silver': 0xC0C0C0, 'skyblue': 0x87CEEB, 'slateblue': 0x6A5ACD, 'slategray': 0x708090, 'slategrey': 0x708090, 'snow': 0xFFFAFA, + 'springgreen': 0x00FF7F, 'steelblue': 0x4682B4, 'tan': 0xD2B48C, 'teal': 0x008080, 'thistle': 0xD8BFD8, 'tomato': 0xFF6347, 'turquoise': 0x40E0D0, + 'violet': 0xEE82EE, 'wheat': 0xF5DEB3, 'white': 0xFFFFFF, 'whitesmoke': 0xF5F5F5, 'yellow': 0xFFFF00, 'yellowgreen': 0x9ACD32 }; + +const _hslA = { h: 0, s: 0, l: 0 }; +const _hslB = { h: 0, s: 0, l: 0 }; + +function hue2rgb( p, q, t ) { + + if ( t < 0 ) t += 1; + if ( t > 1 ) t -= 1; + if ( t < 1 / 6 ) return p + ( q - p ) * 6 * t; + if ( t < 1 / 2 ) return q; + if ( t < 2 / 3 ) return p + ( q - p ) * 6 * ( 2 / 3 - t ); + return p; + +} + +/** + * A Color instance is represented by RGB components in the linear working + * color space, which defaults to `LinearSRGBColorSpace`. Inputs + * conventionally using `SRGBColorSpace` (such as hexadecimals and CSS + * strings) are converted to the working color space automatically. + * + * ```js + * // converted automatically from SRGBColorSpace to LinearSRGBColorSpace + * const color = new THREE.Color().setHex( 0x112233 ); + * ``` + * Source color spaces may be specified explicitly, to ensure correct conversions. + * ```js + * // assumed already LinearSRGBColorSpace; no conversion + * const color = new THREE.Color().setRGB( 0.5, 0.5, 0.5 ); + * + * // converted explicitly from SRGBColorSpace to LinearSRGBColorSpace + * const color = new THREE.Color().setRGB( 0.5, 0.5, 0.5, SRGBColorSpace ); + * ``` + * If THREE.ColorManagement is disabled, no conversions occur. For details, + * see Color management. Iterating through a Color instance will yield + * its components (r, g, b) in the corresponding order. A Color can be initialised + * in any of the following ways: + * ```js + * //empty constructor - will default white + * const color1 = new THREE.Color(); + * + * //Hexadecimal color (recommended) + * const color2 = new THREE.Color( 0xff0000 ); + * + * //RGB string + * const color3 = new THREE.Color("rgb(255, 0, 0)"); + * const color4 = new THREE.Color("rgb(100%, 0%, 0%)"); + * + * //X11 color name - all 140 color names are supported. + * //Note the lack of CamelCase in the name + * const color5 = new THREE.Color( 'skyblue' ); + * //HSL string + * const color6 = new THREE.Color("hsl(0, 100%, 50%)"); + * + * //Separate RGB values between 0 and 1 + * const color7 = new THREE.Color( 1, 0, 0 ); + * ``` + */ +class Color { + + /** + * Constructs a new color. + * + * Note that standard method of specifying color in three.js is with a hexadecimal triplet, + * and that method is used throughout the rest of the documentation. + * + * @param {(number|string|Color)} [r] - The red component of the color. If `g` and `b` are + * not provided, it can be hexadecimal triplet, a CSS-style string or another `Color` instance. + * @param {number} [g] - The green component. + * @param {number} [b] - The blue component. + */ + constructor( r, g, b ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isColor = true; + + /** + * The red component. + * + * @type {number} + * @default 1 + */ + this.r = 1; + + /** + * The green component. + * + * @type {number} + * @default 1 + */ + this.g = 1; + + /** + * The blue component. + * + * @type {number} + * @default 1 + */ + this.b = 1; + + return this.set( r, g, b ); + + } + + /** + * Sets the colors's components from the given values. + * + * @param {(number|string|Color)} [r] - The red component of the color. If `g` and `b` are + * not provided, it can be hexadecimal triplet, a CSS-style string or another `Color` instance. + * @param {number} [g] - The green component. + * @param {number} [b] - The blue component. + * @return {Color} A reference to this color. + */ + set( r, g, b ) { + + if ( g === undefined && b === undefined ) { + + // r is THREE.Color, hex or string + + const value = r; + + if ( value && value.isColor ) { + + this.copy( value ); + + } else if ( typeof value === 'number' ) { + + this.setHex( value ); + + } else if ( typeof value === 'string' ) { + + this.setStyle( value ); + + } + + } else { + + this.setRGB( r, g, b ); + + } + + return this; + + } + + /** + * Sets the colors's components to the given scalar value. + * + * @param {number} scalar - The scalar value. + * @return {Color} A reference to this color. + */ + setScalar( scalar ) { + + this.r = scalar; + this.g = scalar; + this.b = scalar; + + return this; + + } + + /** + * Sets this color from a hexadecimal value. + * + * @param {number} hex - The hexadecimal value. + * @param {string} [colorSpace=SRGBColorSpace] - The color space. + * @return {Color} A reference to this color. + */ + setHex( hex, colorSpace = SRGBColorSpace ) { + + hex = Math.floor( hex ); + + this.r = ( hex >> 16 & 255 ) / 255; + this.g = ( hex >> 8 & 255 ) / 255; + this.b = ( hex & 255 ) / 255; + + ColorManagement.colorSpaceToWorking( this, colorSpace ); + + return this; + + } + + /** + * Sets this color from RGB values. + * + * @param {number} r - Red channel value between `0.0` and `1.0`. + * @param {number} g - Green channel value between `0.0` and `1.0`. + * @param {number} b - Blue channel value between `0.0` and `1.0`. + * @param {string} [colorSpace=ColorManagement.workingColorSpace] - The color space. + * @return {Color} A reference to this color. + */ + setRGB( r, g, b, colorSpace = ColorManagement.workingColorSpace ) { + + this.r = r; + this.g = g; + this.b = b; + + ColorManagement.colorSpaceToWorking( this, colorSpace ); + + return this; + + } + + /** + * Sets this color from RGB values. + * + * @param {number} h - Hue value between `0.0` and `1.0`. + * @param {number} s - Saturation value between `0.0` and `1.0`. + * @param {number} l - Lightness value between `0.0` and `1.0`. + * @param {string} [colorSpace=ColorManagement.workingColorSpace] - The color space. + * @return {Color} A reference to this color. + */ + setHSL( h, s, l, colorSpace = ColorManagement.workingColorSpace ) { + + // h,s,l ranges are in 0.0 - 1.0 + h = euclideanModulo( h, 1 ); + s = clamp( s, 0, 1 ); + l = clamp( l, 0, 1 ); + + if ( s === 0 ) { + + this.r = this.g = this.b = l; + + } else { + + const p = l <= 0.5 ? l * ( 1 + s ) : l + s - ( l * s ); + const q = ( 2 * l ) - p; + + this.r = hue2rgb( q, p, h + 1 / 3 ); + this.g = hue2rgb( q, p, h ); + this.b = hue2rgb( q, p, h - 1 / 3 ); + + } + + ColorManagement.colorSpaceToWorking( this, colorSpace ); + + return this; + + } + + /** + * Sets this color from a CSS-style string. For example, `rgb(250, 0,0)`, + * `rgb(100%, 0%, 0%)`, `hsl(0, 100%, 50%)`, `#ff0000`, `#f00`, or `red` ( or + * any [X11 color name](https://en.wikipedia.org/wiki/X11_color_names#Color_name_chart) - + * all 140 color names are supported). + * + * @param {string} style - Color as a CSS-style string. + * @param {string} [colorSpace=SRGBColorSpace] - The color space. + * @return {Color} A reference to this color. + */ + setStyle( style, colorSpace = SRGBColorSpace ) { + + function handleAlpha( string ) { + + if ( string === undefined ) return; + + if ( parseFloat( string ) < 1 ) { + + warn( 'Color: Alpha component of ' + style + ' will be ignored.' ); + + } + + } + + + let m; + + if ( m = /^(\w+)\(([^\)]*)\)/.exec( style ) ) { + + // rgb / hsl + + let color; + const name = m[ 1 ]; + const components = m[ 2 ]; + + switch ( name ) { + + case 'rgb': + case 'rgba': + + if ( color = /^\s*(\d+)\s*,\s*(\d+)\s*,\s*(\d+)\s*(?:,\s*(\d*\.?\d+)\s*)?$/.exec( components ) ) { + + // rgb(255,0,0) rgba(255,0,0,0.5) + + handleAlpha( color[ 4 ] ); + + return this.setRGB( + Math.min( 255, parseInt( color[ 1 ], 10 ) ) / 255, + Math.min( 255, parseInt( color[ 2 ], 10 ) ) / 255, + Math.min( 255, parseInt( color[ 3 ], 10 ) ) / 255, + colorSpace + ); + + } + + if ( color = /^\s*(\d+)\%\s*,\s*(\d+)\%\s*,\s*(\d+)\%\s*(?:,\s*(\d*\.?\d+)\s*)?$/.exec( components ) ) { + + // rgb(100%,0%,0%) rgba(100%,0%,0%,0.5) + + handleAlpha( color[ 4 ] ); + + return this.setRGB( + Math.min( 100, parseInt( color[ 1 ], 10 ) ) / 100, + Math.min( 100, parseInt( color[ 2 ], 10 ) ) / 100, + Math.min( 100, parseInt( color[ 3 ], 10 ) ) / 100, + colorSpace + ); + + } + + break; + + case 'hsl': + case 'hsla': + + if ( color = /^\s*(\d*\.?\d+)\s*,\s*(\d*\.?\d+)\%\s*,\s*(\d*\.?\d+)\%\s*(?:,\s*(\d*\.?\d+)\s*)?$/.exec( components ) ) { + + // hsl(120,50%,50%) hsla(120,50%,50%,0.5) + + handleAlpha( color[ 4 ] ); + + return this.setHSL( + parseFloat( color[ 1 ] ) / 360, + parseFloat( color[ 2 ] ) / 100, + parseFloat( color[ 3 ] ) / 100, + colorSpace + ); + + } + + break; + + default: + + warn( 'Color: Unknown color model ' + style ); + + } + + } else if ( m = /^\#([A-Fa-f\d]+)$/.exec( style ) ) { + + // hex color + + const hex = m[ 1 ]; + const size = hex.length; + + if ( size === 3 ) { + + // #ff0 + return this.setRGB( + parseInt( hex.charAt( 0 ), 16 ) / 15, + parseInt( hex.charAt( 1 ), 16 ) / 15, + parseInt( hex.charAt( 2 ), 16 ) / 15, + colorSpace + ); + + } else if ( size === 6 ) { + + // #ff0000 + return this.setHex( parseInt( hex, 16 ), colorSpace ); + + } else { + + warn( 'Color: Invalid hex color ' + style ); + + } + + } else if ( style && style.length > 0 ) { + + return this.setColorName( style, colorSpace ); + + } + + return this; + + } + + /** + * Sets this color from a color name. Faster than {@link Color#setStyle} if + * you don't need the other CSS-style formats. + * + * For convenience, the list of names is exposed in `Color.NAMES` as a hash. + * ```js + * Color.NAMES.aliceblue // returns 0xF0F8FF + * ``` + * + * @param {string} style - The color name. + * @param {string} [colorSpace=SRGBColorSpace] - The color space. + * @return {Color} A reference to this color. + */ + setColorName( style, colorSpace = SRGBColorSpace ) { + + // color keywords + const hex = _colorKeywords[ style.toLowerCase() ]; + + if ( hex !== undefined ) { + + // red + this.setHex( hex, colorSpace ); + + } else { + + // unknown color + warn( 'Color: Unknown color ' + style ); + + } + + return this; + + } + + /** + * Returns a new color with copied values from this instance. + * + * @return {Color} A clone of this instance. + */ + clone() { + + return new this.constructor( this.r, this.g, this.b ); + + } + + /** + * Copies the values of the given color to this instance. + * + * @param {Color} color - The color to copy. + * @return {Color} A reference to this color. + */ + copy( color ) { + + this.r = color.r; + this.g = color.g; + this.b = color.b; + + return this; + + } + + /** + * Copies the given color into this color, and then converts this color from + * `SRGBColorSpace` to `LinearSRGBColorSpace`. + * + * @param {Color} color - The color to copy/convert. + * @return {Color} A reference to this color. + */ + copySRGBToLinear( color ) { + + this.r = SRGBToLinear( color.r ); + this.g = SRGBToLinear( color.g ); + this.b = SRGBToLinear( color.b ); + + return this; + + } + + /** + * Copies the given color into this color, and then converts this color from + * `LinearSRGBColorSpace` to `SRGBColorSpace`. + * + * @param {Color} color - The color to copy/convert. + * @return {Color} A reference to this color. + */ + copyLinearToSRGB( color ) { + + this.r = LinearToSRGB( color.r ); + this.g = LinearToSRGB( color.g ); + this.b = LinearToSRGB( color.b ); + + return this; + + } + + /** + * Converts this color from `SRGBColorSpace` to `LinearSRGBColorSpace`. + * + * @return {Color} A reference to this color. + */ + convertSRGBToLinear() { + + this.copySRGBToLinear( this ); + + return this; + + } + + /** + * Converts this color from `LinearSRGBColorSpace` to `SRGBColorSpace`. + * + * @return {Color} A reference to this color. + */ + convertLinearToSRGB() { + + this.copyLinearToSRGB( this ); + + return this; + + } + + /** + * Returns the hexadecimal value of this color. + * + * @param {string} [colorSpace=SRGBColorSpace] - The color space. + * @return {number} The hexadecimal value. + */ + getHex( colorSpace = SRGBColorSpace ) { + + ColorManagement.workingToColorSpace( _color.copy( this ), colorSpace ); + + return Math.round( clamp( _color.r * 255, 0, 255 ) ) * 65536 + Math.round( clamp( _color.g * 255, 0, 255 ) ) * 256 + Math.round( clamp( _color.b * 255, 0, 255 ) ); + + } + + /** + * Returns the hexadecimal value of this color as a string (for example, 'FFFFFF'). + * + * @param {string} [colorSpace=SRGBColorSpace] - The color space. + * @return {string} The hexadecimal value as a string. + */ + getHexString( colorSpace = SRGBColorSpace ) { + + return ( '000000' + this.getHex( colorSpace ).toString( 16 ) ).slice( -6 ); + + } + + /** + * Converts the colors RGB values into the HSL format and stores them into the + * given target object. + * + * @param {{h:number,s:number,l:number}} target - The target object that is used to store the method's result. + * @param {string} [colorSpace=ColorManagement.workingColorSpace] - The color space. + * @return {{h:number,s:number,l:number}} The HSL representation of this color. + */ + getHSL( target, colorSpace = ColorManagement.workingColorSpace ) { + + // h,s,l ranges are in 0.0 - 1.0 + + ColorManagement.workingToColorSpace( _color.copy( this ), colorSpace ); + + const r = _color.r, g = _color.g, b = _color.b; + + const max = Math.max( r, g, b ); + const min = Math.min( r, g, b ); + + let hue, saturation; + const lightness = ( min + max ) / 2.0; + + if ( min === max ) { + + hue = 0; + saturation = 0; + + } else { + + const delta = max - min; + + saturation = lightness <= 0.5 ? delta / ( max + min ) : delta / ( 2 - max - min ); + + switch ( max ) { + + case r: hue = ( g - b ) / delta + ( g < b ? 6 : 0 ); break; + case g: hue = ( b - r ) / delta + 2; break; + case b: hue = ( r - g ) / delta + 4; break; + + } + + hue /= 6; + + } + + target.h = hue; + target.s = saturation; + target.l = lightness; + + return target; + + } + + /** + * Returns the RGB values of this color and stores them into the given target object. + * + * @param {Color} target - The target color that is used to store the method's result. + * @param {string} [colorSpace=ColorManagement.workingColorSpace] - The color space. + * @return {Color} The RGB representation of this color. + */ + getRGB( target, colorSpace = ColorManagement.workingColorSpace ) { + + ColorManagement.workingToColorSpace( _color.copy( this ), colorSpace ); + + target.r = _color.r; + target.g = _color.g; + target.b = _color.b; + + return target; + + } + + /** + * Returns the value of this color as a CSS style string. Example: `rgb(255,0,0)`. + * + * @param {string} [colorSpace=SRGBColorSpace] - The color space. + * @return {string} The CSS representation of this color. + */ + getStyle( colorSpace = SRGBColorSpace ) { + + ColorManagement.workingToColorSpace( _color.copy( this ), colorSpace ); + + const r = _color.r, g = _color.g, b = _color.b; + + if ( colorSpace !== SRGBColorSpace ) { + + // Requires CSS Color Module Level 4 (https://www.w3.org/TR/css-color-4/). + return `color(${ colorSpace } ${ r.toFixed( 3 ) } ${ g.toFixed( 3 ) } ${ b.toFixed( 3 ) })`; + + } + + return `rgb(${ Math.round( r * 255 ) },${ Math.round( g * 255 ) },${ Math.round( b * 255 ) })`; + + } + + /** + * Adds the given HSL values to this color's values. + * Internally, this converts the color's RGB values to HSL, adds HSL + * and then converts the color back to RGB. + * + * @param {number} h - Hue value between `0.0` and `1.0`. + * @param {number} s - Saturation value between `0.0` and `1.0`. + * @param {number} l - Lightness value between `0.0` and `1.0`. + * @return {Color} A reference to this color. + */ + offsetHSL( h, s, l ) { + + this.getHSL( _hslA ); + + return this.setHSL( _hslA.h + h, _hslA.s + s, _hslA.l + l ); + + } + + /** + * Adds the RGB values of the given color to the RGB values of this color. + * + * @param {Color} color - The color to add. + * @return {Color} A reference to this color. + */ + add( color ) { + + this.r += color.r; + this.g += color.g; + this.b += color.b; + + return this; + + } + + /** + * Adds the RGB values of the given colors and stores the result in this instance. + * + * @param {Color} color1 - The first color. + * @param {Color} color2 - The second color. + * @return {Color} A reference to this color. + */ + addColors( color1, color2 ) { + + this.r = color1.r + color2.r; + this.g = color1.g + color2.g; + this.b = color1.b + color2.b; + + return this; + + } + + /** + * Adds the given scalar value to the RGB values of this color. + * + * @param {number} s - The scalar to add. + * @return {Color} A reference to this color. + */ + addScalar( s ) { + + this.r += s; + this.g += s; + this.b += s; + + return this; + + } + + /** + * Subtracts the RGB values of the given color from the RGB values of this color. + * + * @param {Color} color - The color to subtract. + * @return {Color} A reference to this color. + */ + sub( color ) { + + this.r = Math.max( 0, this.r - color.r ); + this.g = Math.max( 0, this.g - color.g ); + this.b = Math.max( 0, this.b - color.b ); + + return this; + + } + + /** + * Multiplies the RGB values of the given color with the RGB values of this color. + * + * @param {Color} color - The color to multiply. + * @return {Color} A reference to this color. + */ + multiply( color ) { + + this.r *= color.r; + this.g *= color.g; + this.b *= color.b; + + return this; + + } + + /** + * Multiplies the given scalar value with the RGB values of this color. + * + * @param {number} s - The scalar to multiply. + * @return {Color} A reference to this color. + */ + multiplyScalar( s ) { + + this.r *= s; + this.g *= s; + this.b *= s; + + return this; + + } + + /** + * Linearly interpolates this color's RGB values toward the RGB values of the + * given color. The alpha argument can be thought of as the ratio between + * the two colors, where `0.0` is this color and `1.0` is the first argument. + * + * @param {Color} color - The color to converge on. + * @param {number} alpha - The interpolation factor in the closed interval `[0,1]`. + * @return {Color} A reference to this color. + */ + lerp( color, alpha ) { + + this.r += ( color.r - this.r ) * alpha; + this.g += ( color.g - this.g ) * alpha; + this.b += ( color.b - this.b ) * alpha; + + return this; + + } + + /** + * Linearly interpolates between the given colors and stores the result in this instance. + * The alpha argument can be thought of as the ratio between the two colors, where `0.0` + * is the first and `1.0` is the second color. + * + * @param {Color} color1 - The first color. + * @param {Color} color2 - The second color. + * @param {number} alpha - The interpolation factor in the closed interval `[0,1]`. + * @return {Color} A reference to this color. + */ + lerpColors( color1, color2, alpha ) { + + this.r = color1.r + ( color2.r - color1.r ) * alpha; + this.g = color1.g + ( color2.g - color1.g ) * alpha; + this.b = color1.b + ( color2.b - color1.b ) * alpha; + + return this; + + } + + /** + * Linearly interpolates this color's HSL values toward the HSL values of the + * given color. It differs from {@link Color#lerp} by not interpolating straight + * from one color to the other, but instead going through all the hues in between + * those two colors. The alpha argument can be thought of as the ratio between + * the two colors, where 0.0 is this color and 1.0 is the first argument. + * + * @param {Color} color - The color to converge on. + * @param {number} alpha - The interpolation factor in the closed interval `[0,1]`. + * @return {Color} A reference to this color. + */ + lerpHSL( color, alpha ) { + + this.getHSL( _hslA ); + color.getHSL( _hslB ); + + const h = lerp( _hslA.h, _hslB.h, alpha ); + const s = lerp( _hslA.s, _hslB.s, alpha ); + const l = lerp( _hslA.l, _hslB.l, alpha ); + + this.setHSL( h, s, l ); + + return this; + + } + + /** + * Sets the color's RGB components from the given 3D vector. + * + * @param {Vector3} v - The vector to set. + * @return {Color} A reference to this color. + */ + setFromVector3( v ) { + + this.r = v.x; + this.g = v.y; + this.b = v.z; + + return this; + + } + + /** + * Transforms this color with the given 3x3 matrix. + * + * @param {Matrix3} m - The matrix. + * @return {Color} A reference to this color. + */ + applyMatrix3( m ) { + + const r = this.r, g = this.g, b = this.b; + const e = m.elements; + + this.r = e[ 0 ] * r + e[ 3 ] * g + e[ 6 ] * b; + this.g = e[ 1 ] * r + e[ 4 ] * g + e[ 7 ] * b; + this.b = e[ 2 ] * r + e[ 5 ] * g + e[ 8 ] * b; + + return this; + + } + + /** + * Returns `true` if this color is equal with the given one. + * + * @param {Color} c - The color to test for equality. + * @return {boolean} Whether this bounding color is equal with the given one. + */ + equals( c ) { + + return ( c.r === this.r ) && ( c.g === this.g ) && ( c.b === this.b ); + + } + + /** + * Sets this color's RGB components from the given array. + * + * @param {Array} array - An array holding the RGB values. + * @param {number} [offset=0] - The offset into the array. + * @return {Color} A reference to this color. + */ + fromArray( array, offset = 0 ) { + + this.r = array[ offset ]; + this.g = array[ offset + 1 ]; + this.b = array[ offset + 2 ]; + + return this; + + } + + /** + * Writes the RGB components of this color to the given array. If no array is provided, + * the method returns a new instance. + * + * @param {Array} [array=[]] - The target array holding the color components. + * @param {number} [offset=0] - Index of the first element in the array. + * @return {Array} The color components. + */ + toArray( array = [], offset = 0 ) { + + array[ offset ] = this.r; + array[ offset + 1 ] = this.g; + array[ offset + 2 ] = this.b; + + return array; + + } + + /** + * Sets the components of this color from the given buffer attribute. + * + * @param {BufferAttribute} attribute - The buffer attribute holding color data. + * @param {number} index - The index into the attribute. + * @return {Color} A reference to this color. + */ + fromBufferAttribute( attribute, index ) { + + this.r = attribute.getX( index ); + this.g = attribute.getY( index ); + this.b = attribute.getZ( index ); + + return this; + + } + + /** + * This methods defines the serialization result of this class. Returns the color + * as a hexadecimal value. + * + * @return {number} The hexadecimal value. + */ + toJSON() { + + return this.getHex(); + + } + + *[ Symbol.iterator ]() { + + yield this.r; + yield this.g; + yield this.b; + + } + +} + +const _color = /*@__PURE__*/ new Color(); + +/** + * A dictionary with X11 color names. + * + * Note that multiple words such as Dark Orange become the string 'darkorange'. + * + * @static + * @type {Object} + */ +Color.NAMES = _colorKeywords; + +/** + * This class can be used to define an exponential squared fog, + * which gives a clear view near the camera and a faster than exponentially + * densening fog farther from the camera. + * + * ```js + * const scene = new THREE.Scene(); + * scene.fog = new THREE.FogExp2( 0xcccccc, 0.002 ); + * ``` + */ +class FogExp2 { + + /** + * Constructs a new fog. + * + * @param {number|Color} color - The fog's color. + * @param {number} [density=0.00025] - Defines how fast the fog will grow dense. + */ + constructor( color, density = 0.00025 ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isFogExp2 = true; + + /** + * The name of the fog. + * + * @type {string} + */ + this.name = ''; + + /** + * The fog's color. + * + * @type {Color} + */ + this.color = new Color( color ); + + /** + * Defines how fast the fog will grow dense. + * + * @type {number} + * @default 0.00025 + */ + this.density = density; + + } + + /** + * Returns a new fog with copied values from this instance. + * + * @return {FogExp2} A clone of this instance. + */ + clone() { + + return new FogExp2( this.color, this.density ); + + } + + /** + * Serializes the fog into JSON. + * + * @param {?(Object|string)} meta - An optional value holding meta information about the serialization. + * @return {Object} A JSON object representing the serialized fog + */ + toJSON( /* meta */ ) { + + return { + type: 'FogExp2', + name: this.name, + color: this.color.getHex(), + density: this.density + }; + + } + +} + +/** + * This class can be used to define a linear fog that grows linearly denser + * with the distance. + * + * ```js + * const scene = new THREE.Scene(); + * scene.fog = new THREE.Fog( 0xcccccc, 10, 15 ); + * ``` + */ +class Fog { + + /** + * Constructs a new fog. + * + * @param {number|Color} color - The fog's color. + * @param {number} [near=1] - The minimum distance to start applying fog. + * @param {number} [far=1000] - The maximum distance at which fog stops being calculated and applied. + */ + constructor( color, near = 1, far = 1000 ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isFog = true; + + /** + * The name of the fog. + * + * @type {string} + */ + this.name = ''; + + /** + * The fog's color. + * + * @type {Color} + */ + this.color = new Color( color ); + + /** + * The minimum distance to start applying fog. Objects that are less than + * `near` units from the active camera won't be affected by fog. + * + * @type {number} + * @default 1 + */ + this.near = near; + + /** + * The maximum distance at which fog stops being calculated and applied. + * Objects that are more than `far` units away from the active camera won't + * be affected by fog. + * + * @type {number} + * @default 1000 + */ + this.far = far; + + } + + /** + * Returns a new fog with copied values from this instance. + * + * @return {Fog} A clone of this instance. + */ + clone() { + + return new Fog( this.color, this.near, this.far ); + + } + + /** + * Serializes the fog into JSON. + * + * @param {?(Object|string)} meta - An optional value holding meta information about the serialization. + * @return {Object} A JSON object representing the serialized fog + */ + toJSON( /* meta */ ) { + + return { + type: 'Fog', + name: this.name, + color: this.color.getHex(), + near: this.near, + far: this.far + }; + + } + +} + +/** + * Scenes allow you to set up what is to be rendered and where by three.js. + * This is where you place 3D objects like meshes, lines or lights. + * + * @augments Object3D + */ +class Scene extends Object3D { + + /** + * Constructs a new scene. + */ + constructor() { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isScene = true; + + this.type = 'Scene'; + + /** + * Defines the background of the scene. Valid inputs are: + * + * - A color for defining a uniform colored background. + * - A texture for defining a (flat) textured background. + * - Cube textures or equirectangular textures for defining a skybox. + * + * @type {?(Color|Texture)} + * @default null + */ + this.background = null; + + /** + * Sets the environment map for all physical materials in the scene. However, + * it's not possible to overwrite an existing texture assigned to the `envMap` + * material property. + * + * @type {?Texture} + * @default null + */ + this.environment = null; + + /** + * A fog instance defining the type of fog that affects everything + * rendered in the scene. + * + * @type {?(Fog|FogExp2)} + * @default null + */ + this.fog = null; + + /** + * Sets the blurriness of the background. Only influences environment maps + * assigned to {@link Scene#background}. Valid input is a float between `0` + * and `1`. + * + * @type {number} + * @default 0 + */ + this.backgroundBlurriness = 0; + + /** + * Attenuates the color of the background. Only applies to background textures. + * + * @type {number} + * @default 1 + */ + this.backgroundIntensity = 1; + + /** + * The rotation of the background in radians. Only influences environment maps + * assigned to {@link Scene#background}. + * + * @type {Euler} + * @default (0,0,0) + */ + this.backgroundRotation = new Euler(); + + /** + * Attenuates the color of the environment. Only influences environment maps + * assigned to {@link Scene#environment}. + * + * @type {number} + * @default 1 + */ + this.environmentIntensity = 1; + + /** + * The rotation of the environment map in radians. Only influences physical materials + * in the scene when {@link Scene#environment} is used. + * + * @type {Euler} + * @default (0,0,0) + */ + this.environmentRotation = new Euler(); + + /** + * Forces everything in the scene to be rendered with the defined material. It is possible + * to exclude materials from override by setting {@link Material#allowOverride} to `false`. + * + * @type {?Material} + * @default null + */ + this.overrideMaterial = null; + + if ( typeof __THREE_DEVTOOLS__ !== 'undefined' ) { + + __THREE_DEVTOOLS__.dispatchEvent( new CustomEvent( 'observe', { detail: this } ) ); + + } + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + if ( source.background !== null ) this.background = source.background.clone(); + if ( source.environment !== null ) this.environment = source.environment.clone(); + if ( source.fog !== null ) this.fog = source.fog.clone(); + + this.backgroundBlurriness = source.backgroundBlurriness; + this.backgroundIntensity = source.backgroundIntensity; + this.backgroundRotation.copy( source.backgroundRotation ); + + this.environmentIntensity = source.environmentIntensity; + this.environmentRotation.copy( source.environmentRotation ); + + if ( source.overrideMaterial !== null ) this.overrideMaterial = source.overrideMaterial.clone(); + + this.matrixAutoUpdate = source.matrixAutoUpdate; + + return this; + + } + + toJSON( meta ) { + + const data = super.toJSON( meta ); + + if ( this.fog !== null ) data.object.fog = this.fog.toJSON(); + + if ( this.backgroundBlurriness > 0 ) data.object.backgroundBlurriness = this.backgroundBlurriness; + if ( this.backgroundIntensity !== 1 ) data.object.backgroundIntensity = this.backgroundIntensity; + data.object.backgroundRotation = this.backgroundRotation.toArray(); + + if ( this.environmentIntensity !== 1 ) data.object.environmentIntensity = this.environmentIntensity; + data.object.environmentRotation = this.environmentRotation.toArray(); + + return data; + + } + +} + +const _v0$2 = /*@__PURE__*/ new Vector3(); +const _v1$5 = /*@__PURE__*/ new Vector3(); +const _v2$4 = /*@__PURE__*/ new Vector3(); +const _v3$2 = /*@__PURE__*/ new Vector3(); + +const _vab = /*@__PURE__*/ new Vector3(); +const _vac = /*@__PURE__*/ new Vector3(); +const _vbc = /*@__PURE__*/ new Vector3(); +const _vap = /*@__PURE__*/ new Vector3(); +const _vbp = /*@__PURE__*/ new Vector3(); +const _vcp = /*@__PURE__*/ new Vector3(); + +const _v40 = /*@__PURE__*/ new Vector4(); +const _v41 = /*@__PURE__*/ new Vector4(); +const _v42 = /*@__PURE__*/ new Vector4(); + +/** + * A geometric triangle as defined by three vectors representing its three corners. + */ +class Triangle { + + /** + * Constructs a new triangle. + * + * @param {Vector3} [a=(0,0,0)] - The first corner of the triangle. + * @param {Vector3} [b=(0,0,0)] - The second corner of the triangle. + * @param {Vector3} [c=(0,0,0)] - The third corner of the triangle. + */ + constructor( a = new Vector3(), b = new Vector3(), c = new Vector3() ) { + + /** + * The first corner of the triangle. + * + * @type {Vector3} + */ + this.a = a; + + /** + * The second corner of the triangle. + * + * @type {Vector3} + */ + this.b = b; + + /** + * The third corner of the triangle. + * + * @type {Vector3} + */ + this.c = c; + + } + + /** + * Computes the normal vector of a triangle. + * + * @param {Vector3} a - The first corner of the triangle. + * @param {Vector3} b - The second corner of the triangle. + * @param {Vector3} c - The third corner of the triangle. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The triangle's normal. + */ + static getNormal( a, b, c, target ) { + + target.subVectors( c, b ); + _v0$2.subVectors( a, b ); + target.cross( _v0$2 ); + + const targetLengthSq = target.lengthSq(); + if ( targetLengthSq > 0 ) { + + return target.multiplyScalar( 1 / Math.sqrt( targetLengthSq ) ); + + } + + return target.set( 0, 0, 0 ); + + } + + /** + * Computes a barycentric coordinates from the given vector. + * Returns `null` if the triangle is degenerate. + * + * @param {Vector3} point - A point in 3D space. + * @param {Vector3} a - The first corner of the triangle. + * @param {Vector3} b - The second corner of the triangle. + * @param {Vector3} c - The third corner of the triangle. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {?Vector3} The barycentric coordinates for the given point + */ + static getBarycoord( point, a, b, c, target ) { + + // based on: http://www.blackpawn.com/texts/pointinpoly/default.html + + _v0$2.subVectors( c, a ); + _v1$5.subVectors( b, a ); + _v2$4.subVectors( point, a ); + + const dot00 = _v0$2.dot( _v0$2 ); + const dot01 = _v0$2.dot( _v1$5 ); + const dot02 = _v0$2.dot( _v2$4 ); + const dot11 = _v1$5.dot( _v1$5 ); + const dot12 = _v1$5.dot( _v2$4 ); + + const denom = ( dot00 * dot11 - dot01 * dot01 ); + + // collinear or singular triangle + if ( denom === 0 ) { + + target.set( 0, 0, 0 ); + return null; + + } + + const invDenom = 1 / denom; + const u = ( dot11 * dot02 - dot01 * dot12 ) * invDenom; + const v = ( dot00 * dot12 - dot01 * dot02 ) * invDenom; + + // barycentric coordinates must always sum to 1 + return target.set( 1 - u - v, v, u ); + + } + + /** + * Returns `true` if the given point, when projected onto the plane of the + * triangle, lies within the triangle. + * + * @param {Vector3} point - The point in 3D space to test. + * @param {Vector3} a - The first corner of the triangle. + * @param {Vector3} b - The second corner of the triangle. + * @param {Vector3} c - The third corner of the triangle. + * @return {boolean} Whether the given point, when projected onto the plane of the + * triangle, lies within the triangle or not. + */ + static containsPoint( point, a, b, c ) { + + // if the triangle is degenerate then we can't contain a point + if ( this.getBarycoord( point, a, b, c, _v3$2 ) === null ) { + + return false; + + } + + return ( _v3$2.x >= 0 ) && ( _v3$2.y >= 0 ) && ( ( _v3$2.x + _v3$2.y ) <= 1 ); + + } + + /** + * Computes the value barycentrically interpolated for the given point on the + * triangle. Returns `null` if the triangle is degenerate. + * + * @param {Vector3} point - Position of interpolated point. + * @param {Vector3} p1 - The first corner of the triangle. + * @param {Vector3} p2 - The second corner of the triangle. + * @param {Vector3} p3 - The third corner of the triangle. + * @param {Vector3} v1 - Value to interpolate of first vertex. + * @param {Vector3} v2 - Value to interpolate of second vertex. + * @param {Vector3} v3 - Value to interpolate of third vertex. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {?Vector3} The interpolated value. + */ + static getInterpolation( point, p1, p2, p3, v1, v2, v3, target ) { + + if ( this.getBarycoord( point, p1, p2, p3, _v3$2 ) === null ) { + + target.x = 0; + target.y = 0; + if ( 'z' in target ) target.z = 0; + if ( 'w' in target ) target.w = 0; + return null; + + } + + target.setScalar( 0 ); + target.addScaledVector( v1, _v3$2.x ); + target.addScaledVector( v2, _v3$2.y ); + target.addScaledVector( v3, _v3$2.z ); + + return target; + + } + + /** + * Computes the value barycentrically interpolated for the given attribute and indices. + * + * @param {BufferAttribute} attr - The attribute to interpolate. + * @param {number} i1 - Index of first vertex. + * @param {number} i2 - Index of second vertex. + * @param {number} i3 - Index of third vertex. + * @param {Vector3} barycoord - The barycoordinate value to use to interpolate. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The interpolated attribute value. + */ + static getInterpolatedAttribute( attr, i1, i2, i3, barycoord, target ) { + + _v40.setScalar( 0 ); + _v41.setScalar( 0 ); + _v42.setScalar( 0 ); + + _v40.fromBufferAttribute( attr, i1 ); + _v41.fromBufferAttribute( attr, i2 ); + _v42.fromBufferAttribute( attr, i3 ); + + target.setScalar( 0 ); + target.addScaledVector( _v40, barycoord.x ); + target.addScaledVector( _v41, barycoord.y ); + target.addScaledVector( _v42, barycoord.z ); + + return target; + + } + + /** + * Returns `true` if the triangle is oriented towards the given direction. + * + * @param {Vector3} a - The first corner of the triangle. + * @param {Vector3} b - The second corner of the triangle. + * @param {Vector3} c - The third corner of the triangle. + * @param {Vector3} direction - The (normalized) direction vector. + * @return {boolean} Whether the triangle is oriented towards the given direction or not. + */ + static isFrontFacing( a, b, c, direction ) { + + _v0$2.subVectors( c, b ); + _v1$5.subVectors( a, b ); + + // strictly front facing + return ( _v0$2.cross( _v1$5 ).dot( direction ) < 0 ) ? true : false; + + } + + /** + * Sets the triangle's vertices by copying the given values. + * + * @param {Vector3} a - The first corner of the triangle. + * @param {Vector3} b - The second corner of the triangle. + * @param {Vector3} c - The third corner of the triangle. + * @return {Triangle} A reference to this triangle. + */ + set( a, b, c ) { + + this.a.copy( a ); + this.b.copy( b ); + this.c.copy( c ); + + return this; + + } + + /** + * Sets the triangle's vertices by copying the given array values. + * + * @param {Array} points - An array with 3D points. + * @param {number} i0 - The array index representing the first corner of the triangle. + * @param {number} i1 - The array index representing the second corner of the triangle. + * @param {number} i2 - The array index representing the third corner of the triangle. + * @return {Triangle} A reference to this triangle. + */ + setFromPointsAndIndices( points, i0, i1, i2 ) { + + this.a.copy( points[ i0 ] ); + this.b.copy( points[ i1 ] ); + this.c.copy( points[ i2 ] ); + + return this; + + } + + /** + * Sets the triangle's vertices by copying the given attribute values. + * + * @param {BufferAttribute} attribute - A buffer attribute with 3D points data. + * @param {number} i0 - The attribute index representing the first corner of the triangle. + * @param {number} i1 - The attribute index representing the second corner of the triangle. + * @param {number} i2 - The attribute index representing the third corner of the triangle. + * @return {Triangle} A reference to this triangle. + */ + setFromAttributeAndIndices( attribute, i0, i1, i2 ) { + + this.a.fromBufferAttribute( attribute, i0 ); + this.b.fromBufferAttribute( attribute, i1 ); + this.c.fromBufferAttribute( attribute, i2 ); + + return this; + + } + + /** + * Returns a new triangle with copied values from this instance. + * + * @return {Triangle} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + + /** + * Copies the values of the given triangle to this instance. + * + * @param {Triangle} triangle - The triangle to copy. + * @return {Triangle} A reference to this triangle. + */ + copy( triangle ) { + + this.a.copy( triangle.a ); + this.b.copy( triangle.b ); + this.c.copy( triangle.c ); + + return this; + + } + + /** + * Computes the area of the triangle. + * + * @return {number} The triangle's area. + */ + getArea() { + + _v0$2.subVectors( this.c, this.b ); + _v1$5.subVectors( this.a, this.b ); + + return _v0$2.cross( _v1$5 ).length() * 0.5; + + } + + /** + * Computes the midpoint of the triangle. + * + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The triangle's midpoint. + */ + getMidpoint( target ) { + + return target.addVectors( this.a, this.b ).add( this.c ).multiplyScalar( 1 / 3 ); + + } + + /** + * Computes the normal of the triangle. + * + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The triangle's normal. + */ + getNormal( target ) { + + return Triangle.getNormal( this.a, this.b, this.c, target ); + + } + + /** + * Computes a plane the triangle lies within. + * + * @param {Plane} target - The target vector that is used to store the method's result. + * @return {Plane} The plane the triangle lies within. + */ + getPlane( target ) { + + return target.setFromCoplanarPoints( this.a, this.b, this.c ); + + } + + /** + * Computes a barycentric coordinates from the given vector. + * Returns `null` if the triangle is degenerate. + * + * @param {Vector3} point - A point in 3D space. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {?Vector3} The barycentric coordinates for the given point + */ + getBarycoord( point, target ) { + + return Triangle.getBarycoord( point, this.a, this.b, this.c, target ); + + } + + /** + * Computes the value barycentrically interpolated for the given point on the + * triangle. Returns `null` if the triangle is degenerate. + * + * @param {Vector3} point - Position of interpolated point. + * @param {Vector3} v1 - Value to interpolate of first vertex. + * @param {Vector3} v2 - Value to interpolate of second vertex. + * @param {Vector3} v3 - Value to interpolate of third vertex. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {?Vector3} The interpolated value. + */ + getInterpolation( point, v1, v2, v3, target ) { + + return Triangle.getInterpolation( point, this.a, this.b, this.c, v1, v2, v3, target ); + + } + + /** + * Returns `true` if the given point, when projected onto the plane of the + * triangle, lies within the triangle. + * + * @param {Vector3} point - The point in 3D space to test. + * @return {boolean} Whether the given point, when projected onto the plane of the + * triangle, lies within the triangle or not. + */ + containsPoint( point ) { + + return Triangle.containsPoint( point, this.a, this.b, this.c ); + + } + + /** + * Returns `true` if the triangle is oriented towards the given direction. + * + * @param {Vector3} direction - The (normalized) direction vector. + * @return {boolean} Whether the triangle is oriented towards the given direction or not. + */ + isFrontFacing( direction ) { + + return Triangle.isFrontFacing( this.a, this.b, this.c, direction ); + + } + + /** + * Returns `true` if this triangle intersects with the given box. + * + * @param {Box3} box - The box to intersect. + * @return {boolean} Whether this triangle intersects with the given box or not. + */ + intersectsBox( box ) { + + return box.intersectsTriangle( this ); + + } + + /** + * Returns the closest point on the triangle to the given point. + * + * @param {Vector3} p - The point to compute the closest point for. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The closest point on the triangle. + */ + closestPointToPoint( p, target ) { + + const a = this.a, b = this.b, c = this.c; + let v, w; + + // algorithm thanks to Real-Time Collision Detection by Christer Ericson, + // published by Morgan Kaufmann Publishers, (c) 2005 Elsevier Inc., + // under the accompanying license; see chapter 5.1.5 for detailed explanation. + // basically, we're distinguishing which of the voronoi regions of the triangle + // the point lies in with the minimum amount of redundant computation. + + _vab.subVectors( b, a ); + _vac.subVectors( c, a ); + _vap.subVectors( p, a ); + const d1 = _vab.dot( _vap ); + const d2 = _vac.dot( _vap ); + if ( d1 <= 0 && d2 <= 0 ) { + + // vertex region of A; barycentric coords (1, 0, 0) + return target.copy( a ); + + } + + _vbp.subVectors( p, b ); + const d3 = _vab.dot( _vbp ); + const d4 = _vac.dot( _vbp ); + if ( d3 >= 0 && d4 <= d3 ) { + + // vertex region of B; barycentric coords (0, 1, 0) + return target.copy( b ); + + } + + const vc = d1 * d4 - d3 * d2; + if ( vc <= 0 && d1 >= 0 && d3 <= 0 ) { + + v = d1 / ( d1 - d3 ); + // edge region of AB; barycentric coords (1-v, v, 0) + return target.copy( a ).addScaledVector( _vab, v ); + + } + + _vcp.subVectors( p, c ); + const d5 = _vab.dot( _vcp ); + const d6 = _vac.dot( _vcp ); + if ( d6 >= 0 && d5 <= d6 ) { + + // vertex region of C; barycentric coords (0, 0, 1) + return target.copy( c ); + + } + + const vb = d5 * d2 - d1 * d6; + if ( vb <= 0 && d2 >= 0 && d6 <= 0 ) { + + w = d2 / ( d2 - d6 ); + // edge region of AC; barycentric coords (1-w, 0, w) + return target.copy( a ).addScaledVector( _vac, w ); + + } + + const va = d3 * d6 - d5 * d4; + if ( va <= 0 && ( d4 - d3 ) >= 0 && ( d5 - d6 ) >= 0 ) { + + _vbc.subVectors( c, b ); + w = ( d4 - d3 ) / ( ( d4 - d3 ) + ( d5 - d6 ) ); + // edge region of BC; barycentric coords (0, 1-w, w) + return target.copy( b ).addScaledVector( _vbc, w ); // edge region of BC + + } + + // face region + const denom = 1 / ( va + vb + vc ); + // u = va * denom + v = vb * denom; + w = vc * denom; + + return target.copy( a ).addScaledVector( _vab, v ).addScaledVector( _vac, w ); + + } + + /** + * Returns `true` if this triangle is equal with the given one. + * + * @param {Triangle} triangle - The triangle to test for equality. + * @return {boolean} Whether this triangle is equal with the given one. + */ + equals( triangle ) { + + return triangle.a.equals( this.a ) && triangle.b.equals( this.b ) && triangle.c.equals( this.c ); + + } + +} + +/** + * Represents an axis-aligned bounding box (AABB) in 3D space. + */ +class Box3 { + + /** + * Constructs a new bounding box. + * + * @param {Vector3} [min=(Infinity,Infinity,Infinity)] - A vector representing the lower boundary of the box. + * @param {Vector3} [max=(-Infinity,-Infinity,-Infinity)] - A vector representing the upper boundary of the box. + */ + constructor( min = new Vector3( + Infinity, + Infinity, + Infinity ), max = new Vector3( - Infinity, - Infinity, - Infinity ) ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isBox3 = true; + + /** + * The lower boundary of the box. + * + * @type {Vector3} + */ + this.min = min; + + /** + * The upper boundary of the box. + * + * @type {Vector3} + */ + this.max = max; + + } + + /** + * Sets the lower and upper boundaries of this box. + * Please note that this method only copies the values from the given objects. + * + * @param {Vector3} min - The lower boundary of the box. + * @param {Vector3} max - The upper boundary of the box. + * @return {Box3} A reference to this bounding box. + */ + set( min, max ) { + + this.min.copy( min ); + this.max.copy( max ); + + return this; + + } + + /** + * Sets the upper and lower bounds of this box so it encloses the position data + * in the given array. + * + * @param {Array} array - An array holding 3D position data. + * @return {Box3} A reference to this bounding box. + */ + setFromArray( array ) { + + this.makeEmpty(); + + for ( let i = 0, il = array.length; i < il; i += 3 ) { + + this.expandByPoint( _vector$b.fromArray( array, i ) ); + + } + + return this; + + } + + /** + * Sets the upper and lower bounds of this box so it encloses the position data + * in the given buffer attribute. + * + * @param {BufferAttribute} attribute - A buffer attribute holding 3D position data. + * @return {Box3} A reference to this bounding box. + */ + setFromBufferAttribute( attribute ) { + + this.makeEmpty(); + + for ( let i = 0, il = attribute.count; i < il; i ++ ) { + + this.expandByPoint( _vector$b.fromBufferAttribute( attribute, i ) ); + + } + + return this; + + } + + /** + * Sets the upper and lower bounds of this box so it encloses the position data + * in the given array. + * + * @param {Array} points - An array holding 3D position data as instances of {@link Vector3}. + * @return {Box3} A reference to this bounding box. + */ + setFromPoints( points ) { + + this.makeEmpty(); + + for ( let i = 0, il = points.length; i < il; i ++ ) { + + this.expandByPoint( points[ i ] ); + + } + + return this; + + } + + /** + * Centers this box on the given center vector and sets this box's width, height and + * depth to the given size values. + * + * @param {Vector3} center - The center of the box. + * @param {Vector3} size - The x, y and z dimensions of the box. + * @return {Box3} A reference to this bounding box. + */ + setFromCenterAndSize( center, size ) { + + const halfSize = _vector$b.copy( size ).multiplyScalar( 0.5 ); + + this.min.copy( center ).sub( halfSize ); + this.max.copy( center ).add( halfSize ); + + return this; + + } + + /** + * Computes the world-axis-aligned bounding box for the given 3D object + * (including its children), accounting for the object's, and children's, + * world transforms. The function may result in a larger box than strictly necessary. + * + * @param {Object3D} object - The 3D object to compute the bounding box for. + * @param {boolean} [precise=false] - If set to `true`, the method computes the smallest + * world-axis-aligned bounding box at the expense of more computation. + * @return {Box3} A reference to this bounding box. + */ + setFromObject( object, precise = false ) { + + this.makeEmpty(); + + return this.expandByObject( object, precise ); + + } + + /** + * Returns a new box with copied values from this instance. + * + * @return {Box3} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + + /** + * Copies the values of the given box to this instance. + * + * @param {Box3} box - The box to copy. + * @return {Box3} A reference to this bounding box. + */ + copy( box ) { + + this.min.copy( box.min ); + this.max.copy( box.max ); + + return this; + + } + + /** + * Makes this box empty which means in encloses a zero space in 3D. + * + * @return {Box3} A reference to this bounding box. + */ + makeEmpty() { + + this.min.x = this.min.y = this.min.z = + Infinity; + this.max.x = this.max.y = this.max.z = - Infinity; + + return this; + + } + + /** + * Returns true if this box includes zero points within its bounds. + * Note that a box with equal lower and upper bounds still includes one + * point, the one both bounds share. + * + * @return {boolean} Whether this box is empty or not. + */ + isEmpty() { + + // this is a more robust check for empty than ( volume <= 0 ) because volume can get positive with two negative axes + + return ( this.max.x < this.min.x ) || ( this.max.y < this.min.y ) || ( this.max.z < this.min.z ); + + } + + /** + * Returns the center point of this box. + * + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The center point. + */ + getCenter( target ) { + + return this.isEmpty() ? target.set( 0, 0, 0 ) : target.addVectors( this.min, this.max ).multiplyScalar( 0.5 ); + + } + + /** + * Returns the dimensions of this box. + * + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The size. + */ + getSize( target ) { + + return this.isEmpty() ? target.set( 0, 0, 0 ) : target.subVectors( this.max, this.min ); + + } + + /** + * Expands the boundaries of this box to include the given point. + * + * @param {Vector3} point - The point that should be included by the bounding box. + * @return {Box3} A reference to this bounding box. + */ + expandByPoint( point ) { + + this.min.min( point ); + this.max.max( point ); + + return this; + + } + + /** + * Expands this box equilaterally by the given vector. The width of this + * box will be expanded by the x component of the vector in both + * directions. The height of this box will be expanded by the y component of + * the vector in both directions. The depth of this box will be + * expanded by the z component of the vector in both directions. + * + * @param {Vector3} vector - The vector that should expand the bounding box. + * @return {Box3} A reference to this bounding box. + */ + expandByVector( vector ) { + + this.min.sub( vector ); + this.max.add( vector ); + + return this; + + } + + /** + * Expands each dimension of the box by the given scalar. If negative, the + * dimensions of the box will be contracted. + * + * @param {number} scalar - The scalar value that should expand the bounding box. + * @return {Box3} A reference to this bounding box. + */ + expandByScalar( scalar ) { + + this.min.addScalar( - scalar ); + this.max.addScalar( scalar ); + + return this; + + } + + /** + * Expands the boundaries of this box to include the given 3D object and + * its children, accounting for the object's, and children's, world + * transforms. The function may result in a larger box than strictly + * necessary (unless the precise parameter is set to true). + * + * @param {Object3D} object - The 3D object that should expand the bounding box. + * @param {boolean} precise - If set to `true`, the method expands the bounding box + * as little as necessary at the expense of more computation. + * @return {Box3} A reference to this bounding box. + */ + expandByObject( object, precise = false ) { + + // Computes the world-axis-aligned bounding box of an object (including its children), + // accounting for both the object's, and children's, world transforms + + object.updateWorldMatrix( false, false ); + + const geometry = object.geometry; + + if ( geometry !== undefined ) { + + const positionAttribute = geometry.getAttribute( 'position' ); + + // precise AABB computation based on vertex data requires at least a position attribute. + // instancing isn't supported so far and uses the normal (conservative) code path. + + if ( precise === true && positionAttribute !== undefined && object.isInstancedMesh !== true ) { + + for ( let i = 0, l = positionAttribute.count; i < l; i ++ ) { + + if ( object.isMesh === true ) { + + object.getVertexPosition( i, _vector$b ); + + } else { + + _vector$b.fromBufferAttribute( positionAttribute, i ); + + } + + _vector$b.applyMatrix4( object.matrixWorld ); + this.expandByPoint( _vector$b ); + + } + + } else { + + if ( object.boundingBox !== undefined ) { + + // object-level bounding box + + if ( object.boundingBox === null ) { + + object.computeBoundingBox(); + + } + + _box$4.copy( object.boundingBox ); + + + } else { + + // geometry-level bounding box + + if ( geometry.boundingBox === null ) { + + geometry.computeBoundingBox(); + + } + + _box$4.copy( geometry.boundingBox ); + + } + + _box$4.applyMatrix4( object.matrixWorld ); + + this.union( _box$4 ); + + } + + } + + const children = object.children; + + for ( let i = 0, l = children.length; i < l; i ++ ) { + + this.expandByObject( children[ i ], precise ); + + } + + return this; + + } + + /** + * Returns `true` if the given point lies within or on the boundaries of this box. + * + * @param {Vector3} point - The point to test. + * @return {boolean} Whether the bounding box contains the given point or not. + */ + containsPoint( point ) { + + return point.x >= this.min.x && point.x <= this.max.x && + point.y >= this.min.y && point.y <= this.max.y && + point.z >= this.min.z && point.z <= this.max.z; + + } + + /** + * Returns `true` if this bounding box includes the entirety of the given bounding box. + * If this box and the given one are identical, this function also returns `true`. + * + * @param {Box3} box - The bounding box to test. + * @return {boolean} Whether the bounding box contains the given bounding box or not. + */ + containsBox( box ) { + + return this.min.x <= box.min.x && box.max.x <= this.max.x && + this.min.y <= box.min.y && box.max.y <= this.max.y && + this.min.z <= box.min.z && box.max.z <= this.max.z; + + } + + /** + * Returns a point as a proportion of this box's width, height and depth. + * + * @param {Vector3} point - A point in 3D space. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} A point as a proportion of this box's width, height and depth. + */ + getParameter( point, target ) { + + // This can potentially have a divide by zero if the box + // has a size dimension of 0. + + return target.set( + ( point.x - this.min.x ) / ( this.max.x - this.min.x ), + ( point.y - this.min.y ) / ( this.max.y - this.min.y ), + ( point.z - this.min.z ) / ( this.max.z - this.min.z ) + ); + + } + + /** + * Returns `true` if the given bounding box intersects with this bounding box. + * + * @param {Box3} box - The bounding box to test. + * @return {boolean} Whether the given bounding box intersects with this bounding box. + */ + intersectsBox( box ) { + + // using 6 splitting planes to rule out intersections. + return box.max.x >= this.min.x && box.min.x <= this.max.x && + box.max.y >= this.min.y && box.min.y <= this.max.y && + box.max.z >= this.min.z && box.min.z <= this.max.z; + + } + + /** + * Returns `true` if the given bounding sphere intersects with this bounding box. + * + * @param {Sphere} sphere - The bounding sphere to test. + * @return {boolean} Whether the given bounding sphere intersects with this bounding box. + */ + intersectsSphere( sphere ) { + + // Find the point on the AABB closest to the sphere center. + this.clampPoint( sphere.center, _vector$b ); + + // If that point is inside the sphere, the AABB and sphere intersect. + return _vector$b.distanceToSquared( sphere.center ) <= ( sphere.radius * sphere.radius ); + + } + + /** + * Returns `true` if the given plane intersects with this bounding box. + * + * @param {Plane} plane - The plane to test. + * @return {boolean} Whether the given plane intersects with this bounding box. + */ + intersectsPlane( plane ) { + + // We compute the minimum and maximum dot product values. If those values + // are on the same side (back or front) of the plane, then there is no intersection. + + let min, max; + + if ( plane.normal.x > 0 ) { + + min = plane.normal.x * this.min.x; + max = plane.normal.x * this.max.x; + + } else { + + min = plane.normal.x * this.max.x; + max = plane.normal.x * this.min.x; + + } + + if ( plane.normal.y > 0 ) { + + min += plane.normal.y * this.min.y; + max += plane.normal.y * this.max.y; + + } else { + + min += plane.normal.y * this.max.y; + max += plane.normal.y * this.min.y; + + } + + if ( plane.normal.z > 0 ) { + + min += plane.normal.z * this.min.z; + max += plane.normal.z * this.max.z; + + } else { + + min += plane.normal.z * this.max.z; + max += plane.normal.z * this.min.z; + + } + + return ( min <= - plane.constant && max >= - plane.constant ); + + } + + /** + * Returns `true` if the given triangle intersects with this bounding box. + * + * @param {Triangle} triangle - The triangle to test. + * @return {boolean} Whether the given triangle intersects with this bounding box. + */ + intersectsTriangle( triangle ) { + + if ( this.isEmpty() ) { + + return false; + + } + + // compute box center and extents + this.getCenter( _center ); + _extents.subVectors( this.max, _center ); + + // translate triangle to aabb origin + _v0$1.subVectors( triangle.a, _center ); + _v1$4.subVectors( triangle.b, _center ); + _v2$3.subVectors( triangle.c, _center ); + + // compute edge vectors for triangle + _f0.subVectors( _v1$4, _v0$1 ); + _f1.subVectors( _v2$3, _v1$4 ); + _f2.subVectors( _v0$1, _v2$3 ); + + // test against axes that are given by cross product combinations of the edges of the triangle and the edges of the aabb + // make an axis testing of each of the 3 sides of the aabb against each of the 3 sides of the triangle = 9 axis of separation + // axis_ij = u_i x f_j (u0, u1, u2 = face normals of aabb = x,y,z axes vectors since aabb is axis aligned) + let axes = [ + 0, - _f0.z, _f0.y, 0, - _f1.z, _f1.y, 0, - _f2.z, _f2.y, + _f0.z, 0, - _f0.x, _f1.z, 0, - _f1.x, _f2.z, 0, - _f2.x, + - _f0.y, _f0.x, 0, - _f1.y, _f1.x, 0, - _f2.y, _f2.x, 0 + ]; + if ( ! satForAxes( axes, _v0$1, _v1$4, _v2$3, _extents ) ) { + + return false; + + } + + // test 3 face normals from the aabb + axes = [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ]; + if ( ! satForAxes( axes, _v0$1, _v1$4, _v2$3, _extents ) ) { + + return false; + + } + + // finally testing the face normal of the triangle + // use already existing triangle edge vectors here + _triangleNormal.crossVectors( _f0, _f1 ); + axes = [ _triangleNormal.x, _triangleNormal.y, _triangleNormal.z ]; + + return satForAxes( axes, _v0$1, _v1$4, _v2$3, _extents ); + + } + + /** + * Clamps the given point within the bounds of this box. + * + * @param {Vector3} point - The point to clamp. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The clamped point. + */ + clampPoint( point, target ) { + + return target.copy( point ).clamp( this.min, this.max ); + + } + + /** + * Returns the euclidean distance from any edge of this box to the specified point. If + * the given point lies inside of this box, the distance will be `0`. + * + * @param {Vector3} point - The point to compute the distance to. + * @return {number} The euclidean distance. + */ + distanceToPoint( point ) { + + return this.clampPoint( point, _vector$b ).distanceTo( point ); + + } + + /** + * Returns a bounding sphere that encloses this bounding box. + * + * @param {Sphere} target - The target sphere that is used to store the method's result. + * @return {Sphere} The bounding sphere that encloses this bounding box. + */ + getBoundingSphere( target ) { + + if ( this.isEmpty() ) { + + target.makeEmpty(); + + } else { + + this.getCenter( target.center ); + + target.radius = this.getSize( _vector$b ).length() * 0.5; + + } + + return target; + + } + + /** + * Computes the intersection of this bounding box and the given one, setting the upper + * bound of this box to the lesser of the two boxes' upper bounds and the + * lower bound of this box to the greater of the two boxes' lower bounds. If + * there's no overlap, makes this box empty. + * + * @param {Box3} box - The bounding box to intersect with. + * @return {Box3} A reference to this bounding box. + */ + intersect( box ) { + + this.min.max( box.min ); + this.max.min( box.max ); + + // ensure that if there is no overlap, the result is fully empty, not slightly empty with non-inf/+inf values that will cause subsequence intersects to erroneously return valid values. + if ( this.isEmpty() ) this.makeEmpty(); + + return this; + + } + + /** + * Computes the union of this box and another and the given one, setting the upper + * bound of this box to the greater of the two boxes' upper bounds and the + * lower bound of this box to the lesser of the two boxes' lower bounds. + * + * @param {Box3} box - The bounding box that will be unioned with this instance. + * @return {Box3} A reference to this bounding box. + */ + union( box ) { + + this.min.min( box.min ); + this.max.max( box.max ); + + return this; + + } + + /** + * Transforms this bounding box by the given 4x4 transformation matrix. + * + * @param {Matrix4} matrix - The transformation matrix. + * @return {Box3} A reference to this bounding box. + */ + applyMatrix4( matrix ) { + + // transform of empty box is an empty box. + if ( this.isEmpty() ) return this; + + // NOTE: I am using a binary pattern to specify all 2^3 combinations below + _points[ 0 ].set( this.min.x, this.min.y, this.min.z ).applyMatrix4( matrix ); // 000 + _points[ 1 ].set( this.min.x, this.min.y, this.max.z ).applyMatrix4( matrix ); // 001 + _points[ 2 ].set( this.min.x, this.max.y, this.min.z ).applyMatrix4( matrix ); // 010 + _points[ 3 ].set( this.min.x, this.max.y, this.max.z ).applyMatrix4( matrix ); // 011 + _points[ 4 ].set( this.max.x, this.min.y, this.min.z ).applyMatrix4( matrix ); // 100 + _points[ 5 ].set( this.max.x, this.min.y, this.max.z ).applyMatrix4( matrix ); // 101 + _points[ 6 ].set( this.max.x, this.max.y, this.min.z ).applyMatrix4( matrix ); // 110 + _points[ 7 ].set( this.max.x, this.max.y, this.max.z ).applyMatrix4( matrix ); // 111 + + this.setFromPoints( _points ); + + return this; + + } + + /** + * Adds the given offset to both the upper and lower bounds of this bounding box, + * effectively moving it in 3D space. + * + * @param {Vector3} offset - The offset that should be used to translate the bounding box. + * @return {Box3} A reference to this bounding box. + */ + translate( offset ) { + + this.min.add( offset ); + this.max.add( offset ); + + return this; + + } + + /** + * Returns `true` if this bounding box is equal with the given one. + * + * @param {Box3} box - The box to test for equality. + * @return {boolean} Whether this bounding box is equal with the given one. + */ + equals( box ) { + + return box.min.equals( this.min ) && box.max.equals( this.max ); + + } + + /** + * Returns a serialized structure of the bounding box. + * + * @return {Object} Serialized structure with fields representing the object state. + */ + toJSON() { + + return { + min: this.min.toArray(), + max: this.max.toArray() + }; + + } + + /** + * Returns a serialized structure of the bounding box. + * + * @param {Object} json - The serialized json to set the box from. + * @return {Box3} A reference to this bounding box. + */ + fromJSON( json ) { + + this.min.fromArray( json.min ); + this.max.fromArray( json.max ); + return this; + + } + +} + +const _points = [ + /*@__PURE__*/ new Vector3(), + /*@__PURE__*/ new Vector3(), + /*@__PURE__*/ new Vector3(), + /*@__PURE__*/ new Vector3(), + /*@__PURE__*/ new Vector3(), + /*@__PURE__*/ new Vector3(), + /*@__PURE__*/ new Vector3(), + /*@__PURE__*/ new Vector3() +]; + +const _vector$b = /*@__PURE__*/ new Vector3(); + +const _box$4 = /*@__PURE__*/ new Box3(); + +// triangle centered vertices + +const _v0$1 = /*@__PURE__*/ new Vector3(); +const _v1$4 = /*@__PURE__*/ new Vector3(); +const _v2$3 = /*@__PURE__*/ new Vector3(); + +// triangle edge vectors + +const _f0 = /*@__PURE__*/ new Vector3(); +const _f1 = /*@__PURE__*/ new Vector3(); +const _f2 = /*@__PURE__*/ new Vector3(); + +const _center = /*@__PURE__*/ new Vector3(); +const _extents = /*@__PURE__*/ new Vector3(); +const _triangleNormal = /*@__PURE__*/ new Vector3(); +const _testAxis = /*@__PURE__*/ new Vector3(); + +function satForAxes( axes, v0, v1, v2, extents ) { + + for ( let i = 0, j = axes.length - 3; i <= j; i += 3 ) { + + _testAxis.fromArray( axes, i ); + // project the aabb onto the separating axis + const r = extents.x * Math.abs( _testAxis.x ) + extents.y * Math.abs( _testAxis.y ) + extents.z * Math.abs( _testAxis.z ); + // project all 3 vertices of the triangle onto the separating axis + const p0 = v0.dot( _testAxis ); + const p1 = v1.dot( _testAxis ); + const p2 = v2.dot( _testAxis ); + // actual test, basically see if either of the most extreme of the triangle points intersects r + if ( Math.max( - Math.max( p0, p1, p2 ), Math.min( p0, p1, p2 ) ) > r ) { + + // points of the projected triangle are outside the projected half-length of the aabb + // the axis is separating and we can exit + return false; + + } + + } + + return true; + +} + +// Fast Half Float Conversions, http://www.fox-toolkit.org/ftp/fasthalffloatconversion.pdf + +const _tables = /*@__PURE__*/ _generateTables(); + +function _generateTables() { + + // float32 to float16 helpers + + const buffer = new ArrayBuffer( 4 ); + const floatView = new Float32Array( buffer ); + const uint32View = new Uint32Array( buffer ); + + const baseTable = new Uint32Array( 512 ); + const shiftTable = new Uint32Array( 512 ); + + for ( let i = 0; i < 256; ++ i ) { + + const e = i - 127; + + // very small number (0, -0) + + if ( e < -27 ) { + + baseTable[ i ] = 0x0000; + baseTable[ i | 0x100 ] = 0x8000; + shiftTable[ i ] = 24; + shiftTable[ i | 0x100 ] = 24; + + // small number (denorm) + + } else if ( e < -14 ) { + + baseTable[ i ] = 0x0400 >> ( - e - 14 ); + baseTable[ i | 0x100 ] = ( 0x0400 >> ( - e - 14 ) ) | 0x8000; + shiftTable[ i ] = - e - 1; + shiftTable[ i | 0x100 ] = - e - 1; + + // normal number + + } else if ( e <= 15 ) { + + baseTable[ i ] = ( e + 15 ) << 10; + baseTable[ i | 0x100 ] = ( ( e + 15 ) << 10 ) | 0x8000; + shiftTable[ i ] = 13; + shiftTable[ i | 0x100 ] = 13; + + // large number (Infinity, -Infinity) + + } else if ( e < 128 ) { + + baseTable[ i ] = 0x7c00; + baseTable[ i | 0x100 ] = 0xfc00; + shiftTable[ i ] = 24; + shiftTable[ i | 0x100 ] = 24; + + // stay (NaN, Infinity, -Infinity) + + } else { + + baseTable[ i ] = 0x7c00; + baseTable[ i | 0x100 ] = 0xfc00; + shiftTable[ i ] = 13; + shiftTable[ i | 0x100 ] = 13; + + } + + } + + // float16 to float32 helpers + + const mantissaTable = new Uint32Array( 2048 ); + const exponentTable = new Uint32Array( 64 ); + const offsetTable = new Uint32Array( 64 ); + + for ( let i = 1; i < 1024; ++ i ) { + + let m = i << 13; // zero pad mantissa bits + let e = 0; // zero exponent + + // normalized + while ( ( m & 0x00800000 ) === 0 ) { + + m <<= 1; + e -= 0x00800000; // decrement exponent + + } + + m &= -8388609; // clear leading 1 bit + e += 0x38800000; // adjust bias + + mantissaTable[ i ] = m | e; + + } + + for ( let i = 1024; i < 2048; ++ i ) { + + mantissaTable[ i ] = 0x38000000 + ( ( i - 1024 ) << 13 ); + + } + + for ( let i = 1; i < 31; ++ i ) { + + exponentTable[ i ] = i << 23; + + } + + exponentTable[ 31 ] = 0x47800000; + exponentTable[ 32 ] = 0x80000000; + + for ( let i = 33; i < 63; ++ i ) { + + exponentTable[ i ] = 0x80000000 + ( ( i - 32 ) << 23 ); + + } + + exponentTable[ 63 ] = 0xc7800000; + + for ( let i = 1; i < 64; ++ i ) { + + if ( i !== 32 ) { + + offsetTable[ i ] = 1024; + + } + + } + + return { + floatView: floatView, + uint32View: uint32View, + baseTable: baseTable, + shiftTable: shiftTable, + mantissaTable: mantissaTable, + exponentTable: exponentTable, + offsetTable: offsetTable + }; + +} + +/** + * Returns a half precision floating point value (FP16) from the given single + * precision floating point value (FP32). + * + * @param {number} val - A single precision floating point value. + * @return {number} The FP16 value. + */ +function toHalfFloat( val ) { + + if ( Math.abs( val ) > 65504 ) warn( 'DataUtils.toHalfFloat(): Value out of range.' ); + + val = clamp( val, -65504, 65504 ); + + _tables.floatView[ 0 ] = val; + const f = _tables.uint32View[ 0 ]; + const e = ( f >> 23 ) & 0x1ff; + return _tables.baseTable[ e ] + ( ( f & 0x007fffff ) >> _tables.shiftTable[ e ] ); + +} + +/** + * Returns a single precision floating point value (FP32) from the given half + * precision floating point value (FP16). + * + * @param {number} val - A half precision floating point value. + * @return {number} The FP32 value. + */ +function fromHalfFloat( val ) { + + const m = val >> 10; + _tables.uint32View[ 0 ] = _tables.mantissaTable[ _tables.offsetTable[ m ] + ( val & 0x3ff ) ] + _tables.exponentTable[ m ]; + return _tables.floatView[ 0 ]; + +} + +/** + * A class containing utility functions for data. + * + * @hideconstructor + */ +class DataUtils { + + /** + * Returns a half precision floating point value (FP16) from the given single + * precision floating point value (FP32). + * + * @param {number} val - A single precision floating point value. + * @return {number} The FP16 value. + */ + static toHalfFloat( val ) { + + return toHalfFloat( val ); + + } + + /** + * Returns a single precision floating point value (FP32) from the given half + * precision floating point value (FP16). + * + * @param {number} val - A half precision floating point value. + * @return {number} The FP32 value. + */ + static fromHalfFloat( val ) { + + return fromHalfFloat( val ); + + } + +} + +const _vector$a = /*@__PURE__*/ new Vector3(); +const _vector2$1 = /*@__PURE__*/ new Vector2(); + +let _id$2 = 0; + +/** + * This class stores data for an attribute (such as vertex positions, face + * indices, normals, colors, UVs, and any custom attributes ) associated with + * a geometry, which allows for more efficient passing of data to the GPU. + * + * When working with vector-like data, the `fromBufferAttribute( attribute, index )` + * helper methods on vector and color class might be helpful. E.g. {@link Vector3#fromBufferAttribute}. + */ +class BufferAttribute { + + /** + * Constructs a new buffer attribute. + * + * @param {TypedArray} array - The array holding the attribute data. + * @param {number} itemSize - The item size. + * @param {boolean} [normalized=false] - Whether the data are normalized or not. + */ + constructor( array, itemSize, normalized = false ) { + + if ( Array.isArray( array ) ) { + + throw new TypeError( 'THREE.BufferAttribute: array should be a Typed Array.' ); + + } + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isBufferAttribute = true; + + /** + * The ID of the buffer attribute. + * + * @name BufferAttribute#id + * @type {number} + * @readonly + */ + Object.defineProperty( this, 'id', { value: _id$2 ++ } ); + + /** + * The name of the buffer attribute. + * + * @type {string} + */ + this.name = ''; + + /** + * The array holding the attribute data. It should have `itemSize * numVertices` + * elements, where `numVertices` is the number of vertices in the associated geometry. + * + * @type {TypedArray} + */ + this.array = array; + + /** + * The number of values of the array that should be associated with a particular vertex. + * For instance, if this attribute is storing a 3-component vector (such as a position, + * normal, or color), then the value should be `3`. + * + * @type {number} + */ + this.itemSize = itemSize; + + /** + * Represents the number of items this buffer attribute stores. It is internally computed + * by dividing the `array` length by the `itemSize`. + * + * @type {number} + * @readonly + */ + this.count = array !== undefined ? array.length / itemSize : 0; + + /** + * Applies to integer data only. Indicates how the underlying data in the buffer maps to + * the values in the GLSL code. For instance, if `array` is an instance of `UInt16Array`, + * and `normalized` is `true`, the values `0 - +65535` in the array data will be mapped to + * `0.0f - +1.0f` in the GLSL attribute. If `normalized` is `false`, the values will be converted + * to floats unmodified, i.e. `65535` becomes `65535.0f`. + * + * @type {boolean} + */ + this.normalized = normalized; + + /** + * Defines the intended usage pattern of the data store for optimization purposes. + * + * Note: After the initial use of a buffer, its usage cannot be changed. Instead, + * instantiate a new one and set the desired usage before the next render. + * + * @type {(StaticDrawUsage|DynamicDrawUsage|StreamDrawUsage|StaticReadUsage|DynamicReadUsage|StreamReadUsage|StaticCopyUsage|DynamicCopyUsage|StreamCopyUsage)} + * @default StaticDrawUsage + */ + this.usage = StaticDrawUsage; + + /** + * This can be used to only update some components of stored vectors (for example, just the + * component related to color). Use the `addUpdateRange()` function to add ranges to this array. + * + * @type {Array} + */ + this.updateRanges = []; + + /** + * Configures the bound GPU type for use in shaders. + * + * Note: this only has an effect for integer arrays and is not configurable for float arrays. + * For lower precision float types, use `Float16BufferAttribute`. + * + * @type {(FloatType|IntType)} + * @default FloatType + */ + this.gpuType = FloatType; + + /** + * A version number, incremented every time the `needsUpdate` is set to `true`. + * + * @type {number} + */ + this.version = 0; + + } + + /** + * A callback function that is executed after the renderer has transferred the attribute + * array data to the GPU. + */ + onUploadCallback() {} + + /** + * Flag to indicate that this attribute has changed and should be re-sent to + * the GPU. Set this to `true` when you modify the value of the array. + * + * @type {number} + * @default false + * @param {boolean} value + */ + set needsUpdate( value ) { + + if ( value === true ) this.version ++; + + } + + /** + * Sets the usage of this buffer attribute. + * + * @param {(StaticDrawUsage|DynamicDrawUsage|StreamDrawUsage|StaticReadUsage|DynamicReadUsage|StreamReadUsage|StaticCopyUsage|DynamicCopyUsage|StreamCopyUsage)} value - The usage to set. + * @return {BufferAttribute} A reference to this buffer attribute. + */ + setUsage( value ) { + + this.usage = value; + + return this; + + } + + /** + * Adds a range of data in the data array to be updated on the GPU. + * + * @param {number} start - Position at which to start update. + * @param {number} count - The number of components to update. + */ + addUpdateRange( start, count ) { + + this.updateRanges.push( { start, count } ); + + } + + /** + * Clears the update ranges. + */ + clearUpdateRanges() { + + this.updateRanges.length = 0; + + } + + /** + * Copies the values of the given buffer attribute to this instance. + * + * @param {BufferAttribute} source - The buffer attribute to copy. + * @return {BufferAttribute} A reference to this instance. + */ + copy( source ) { + + this.name = source.name; + this.array = new source.array.constructor( source.array ); + this.itemSize = source.itemSize; + this.count = source.count; + this.normalized = source.normalized; + + this.usage = source.usage; + this.gpuType = source.gpuType; + + return this; + + } + + /** + * Copies a vector from the given buffer attribute to this one. The start + * and destination position in the attribute buffers are represented by the + * given indices. + * + * @param {number} index1 - The destination index into this buffer attribute. + * @param {BufferAttribute} attribute - The buffer attribute to copy from. + * @param {number} index2 - The source index into the given buffer attribute. + * @return {BufferAttribute} A reference to this instance. + */ + copyAt( index1, attribute, index2 ) { + + index1 *= this.itemSize; + index2 *= attribute.itemSize; + + for ( let i = 0, l = this.itemSize; i < l; i ++ ) { + + this.array[ index1 + i ] = attribute.array[ index2 + i ]; + + } + + return this; + + } + + /** + * Copies the given array data into this buffer attribute. + * + * @param {(TypedArray|Array)} array - The array to copy. + * @return {BufferAttribute} A reference to this instance. + */ + copyArray( array ) { + + this.array.set( array ); + + return this; + + } + + /** + * Applies the given 3x3 matrix to the given attribute. Works with + * item size `2` and `3`. + * + * @param {Matrix3} m - The matrix to apply. + * @return {BufferAttribute} A reference to this instance. + */ + applyMatrix3( m ) { + + if ( this.itemSize === 2 ) { + + for ( let i = 0, l = this.count; i < l; i ++ ) { + + _vector2$1.fromBufferAttribute( this, i ); + _vector2$1.applyMatrix3( m ); + + this.setXY( i, _vector2$1.x, _vector2$1.y ); + + } + + } else if ( this.itemSize === 3 ) { + + for ( let i = 0, l = this.count; i < l; i ++ ) { + + _vector$a.fromBufferAttribute( this, i ); + _vector$a.applyMatrix3( m ); + + this.setXYZ( i, _vector$a.x, _vector$a.y, _vector$a.z ); + + } + + } + + return this; + + } + + /** + * Applies the given 4x4 matrix to the given attribute. Only works with + * item size `3`. + * + * @param {Matrix4} m - The matrix to apply. + * @return {BufferAttribute} A reference to this instance. + */ + applyMatrix4( m ) { + + for ( let i = 0, l = this.count; i < l; i ++ ) { + + _vector$a.fromBufferAttribute( this, i ); + + _vector$a.applyMatrix4( m ); + + this.setXYZ( i, _vector$a.x, _vector$a.y, _vector$a.z ); + + } + + return this; + + } + + /** + * Applies the given 3x3 normal matrix to the given attribute. Only works with + * item size `3`. + * + * @param {Matrix3} m - The normal matrix to apply. + * @return {BufferAttribute} A reference to this instance. + */ + applyNormalMatrix( m ) { + + for ( let i = 0, l = this.count; i < l; i ++ ) { + + _vector$a.fromBufferAttribute( this, i ); + + _vector$a.applyNormalMatrix( m ); + + this.setXYZ( i, _vector$a.x, _vector$a.y, _vector$a.z ); + + } + + return this; + + } + + /** + * Applies the given 4x4 matrix to the given attribute. Only works with + * item size `3` and with direction vectors. + * + * @param {Matrix4} m - The matrix to apply. + * @return {BufferAttribute} A reference to this instance. + */ + transformDirection( m ) { + + for ( let i = 0, l = this.count; i < l; i ++ ) { + + _vector$a.fromBufferAttribute( this, i ); + + _vector$a.transformDirection( m ); + + this.setXYZ( i, _vector$a.x, _vector$a.y, _vector$a.z ); + + } + + return this; + + } + + /** + * Sets the given array data in the buffer attribute. + * + * @param {(TypedArray|Array)} value - The array data to set. + * @param {number} [offset=0] - The offset in this buffer attribute's array. + * @return {BufferAttribute} A reference to this instance. + */ + set( value, offset = 0 ) { + + // Matching BufferAttribute constructor, do not normalize the array. + this.array.set( value, offset ); + + return this; + + } + + /** + * Returns the given component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} component - The component index. + * @return {number} The returned value. + */ + getComponent( index, component ) { + + let value = this.array[ index * this.itemSize + component ]; + + if ( this.normalized ) value = denormalize( value, this.array ); + + return value; + + } + + /** + * Sets the given value to the given component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} component - The component index. + * @param {number} value - The value to set. + * @return {BufferAttribute} A reference to this instance. + */ + setComponent( index, component, value ) { + + if ( this.normalized ) value = normalize( value, this.array ); + + this.array[ index * this.itemSize + component ] = value; + + return this; + + } + + /** + * Returns the x component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @return {number} The x component. + */ + getX( index ) { + + let x = this.array[ index * this.itemSize ]; + + if ( this.normalized ) x = denormalize( x, this.array ); + + return x; + + } + + /** + * Sets the x component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} x - The value to set. + * @return {BufferAttribute} A reference to this instance. + */ + setX( index, x ) { + + if ( this.normalized ) x = normalize( x, this.array ); + + this.array[ index * this.itemSize ] = x; + + return this; + + } + + /** + * Returns the y component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @return {number} The y component. + */ + getY( index ) { + + let y = this.array[ index * this.itemSize + 1 ]; + + if ( this.normalized ) y = denormalize( y, this.array ); + + return y; + + } + + /** + * Sets the y component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} y - The value to set. + * @return {BufferAttribute} A reference to this instance. + */ + setY( index, y ) { + + if ( this.normalized ) y = normalize( y, this.array ); + + this.array[ index * this.itemSize + 1 ] = y; + + return this; + + } + + /** + * Returns the z component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @return {number} The z component. + */ + getZ( index ) { + + let z = this.array[ index * this.itemSize + 2 ]; + + if ( this.normalized ) z = denormalize( z, this.array ); + + return z; + + } + + /** + * Sets the z component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} z - The value to set. + * @return {BufferAttribute} A reference to this instance. + */ + setZ( index, z ) { + + if ( this.normalized ) z = normalize( z, this.array ); + + this.array[ index * this.itemSize + 2 ] = z; + + return this; + + } + + /** + * Returns the w component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @return {number} The w component. + */ + getW( index ) { + + let w = this.array[ index * this.itemSize + 3 ]; + + if ( this.normalized ) w = denormalize( w, this.array ); + + return w; + + } + + /** + * Sets the w component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} w - The value to set. + * @return {BufferAttribute} A reference to this instance. + */ + setW( index, w ) { + + if ( this.normalized ) w = normalize( w, this.array ); + + this.array[ index * this.itemSize + 3 ] = w; + + return this; + + } + + /** + * Sets the x and y component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} x - The value for the x component to set. + * @param {number} y - The value for the y component to set. + * @return {BufferAttribute} A reference to this instance. + */ + setXY( index, x, y ) { + + index *= this.itemSize; + + if ( this.normalized ) { + + x = normalize( x, this.array ); + y = normalize( y, this.array ); + + } + + this.array[ index + 0 ] = x; + this.array[ index + 1 ] = y; + + return this; + + } + + /** + * Sets the x, y and z component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} x - The value for the x component to set. + * @param {number} y - The value for the y component to set. + * @param {number} z - The value for the z component to set. + * @return {BufferAttribute} A reference to this instance. + */ + setXYZ( index, x, y, z ) { + + index *= this.itemSize; + + if ( this.normalized ) { + + x = normalize( x, this.array ); + y = normalize( y, this.array ); + z = normalize( z, this.array ); + + } + + this.array[ index + 0 ] = x; + this.array[ index + 1 ] = y; + this.array[ index + 2 ] = z; + + return this; + + } + + /** + * Sets the x, y, z and w component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} x - The value for the x component to set. + * @param {number} y - The value for the y component to set. + * @param {number} z - The value for the z component to set. + * @param {number} w - The value for the w component to set. + * @return {BufferAttribute} A reference to this instance. + */ + setXYZW( index, x, y, z, w ) { + + index *= this.itemSize; + + if ( this.normalized ) { + + x = normalize( x, this.array ); + y = normalize( y, this.array ); + z = normalize( z, this.array ); + w = normalize( w, this.array ); + + } + + this.array[ index + 0 ] = x; + this.array[ index + 1 ] = y; + this.array[ index + 2 ] = z; + this.array[ index + 3 ] = w; + + return this; + + } + + /** + * Sets the given callback function that is executed after the Renderer has transferred + * the attribute array data to the GPU. Can be used to perform clean-up operations after + * the upload when attribute data are not needed anymore on the CPU side. + * + * @param {Function} callback - The `onUpload()` callback. + * @return {BufferAttribute} A reference to this instance. + */ + onUpload( callback ) { + + this.onUploadCallback = callback; + + return this; + + } + + /** + * Returns a new buffer attribute with copied values from this instance. + * + * @return {BufferAttribute} A clone of this instance. + */ + clone() { + + return new this.constructor( this.array, this.itemSize ).copy( this ); + + } + + /** + * Serializes the buffer attribute into JSON. + * + * @return {Object} A JSON object representing the serialized buffer attribute. + */ + toJSON() { + + const data = { + itemSize: this.itemSize, + type: this.array.constructor.name, + array: Array.from( this.array ), + normalized: this.normalized + }; + + if ( this.name !== '' ) data.name = this.name; + if ( this.usage !== StaticDrawUsage ) data.usage = this.usage; + + return data; + + } + +} + +/** + * Convenient class that can be used when creating a `Int8` buffer attribute with + * a plain `Array` instance. + * + * @augments BufferAttribute + */ +class Int8BufferAttribute extends BufferAttribute { + + /** + * Constructs a new buffer attribute. + * + * @param {(Array|Int8Array)} array - The array holding the attribute data. + * @param {number} itemSize - The item size. + * @param {boolean} [normalized=false] - Whether the data are normalized or not. + */ + constructor( array, itemSize, normalized ) { + + super( new Int8Array( array ), itemSize, normalized ); + + } + +} + +/** + * Convenient class that can be used when creating a `UInt8` buffer attribute with + * a plain `Array` instance. + * + * @augments BufferAttribute + */ +class Uint8BufferAttribute extends BufferAttribute { + + /** + * Constructs a new buffer attribute. + * + * @param {(Array|Uint8Array)} array - The array holding the attribute data. + * @param {number} itemSize - The item size. + * @param {boolean} [normalized=false] - Whether the data are normalized or not. + */ + constructor( array, itemSize, normalized ) { + + super( new Uint8Array( array ), itemSize, normalized ); + + } + +} + +/** + * Convenient class that can be used when creating a `UInt8Clamped` buffer attribute with + * a plain `Array` instance. + * + * @augments BufferAttribute + */ +class Uint8ClampedBufferAttribute extends BufferAttribute { + + /** + * Constructs a new buffer attribute. + * + * @param {(Array|Uint8ClampedArray)} array - The array holding the attribute data. + * @param {number} itemSize - The item size. + * @param {boolean} [normalized=false] - Whether the data are normalized or not. + */ + constructor( array, itemSize, normalized ) { + + super( new Uint8ClampedArray( array ), itemSize, normalized ); + + } + +} + +/** + * Convenient class that can be used when creating a `Int16` buffer attribute with + * a plain `Array` instance. + * + * @augments BufferAttribute + */ +class Int16BufferAttribute extends BufferAttribute { + + /** + * Constructs a new buffer attribute. + * + * @param {(Array|Int16Array)} array - The array holding the attribute data. + * @param {number} itemSize - The item size. + * @param {boolean} [normalized=false] - Whether the data are normalized or not. + */ + constructor( array, itemSize, normalized ) { + + super( new Int16Array( array ), itemSize, normalized ); + + } + +} + +/** + * Convenient class that can be used when creating a `UInt16` buffer attribute with + * a plain `Array` instance. + * + * @augments BufferAttribute + */ +class Uint16BufferAttribute extends BufferAttribute { + + /** + * Constructs a new buffer attribute. + * + * @param {(Array|Uint16Array)} array - The array holding the attribute data. + * @param {number} itemSize - The item size. + * @param {boolean} [normalized=false] - Whether the data are normalized or not. + */ + constructor( array, itemSize, normalized ) { + + super( new Uint16Array( array ), itemSize, normalized ); + + } + +} + +/** + * Convenient class that can be used when creating a `Int32` buffer attribute with + * a plain `Array` instance. + * + * @augments BufferAttribute + */ +class Int32BufferAttribute extends BufferAttribute { + + /** + * Constructs a new buffer attribute. + * + * @param {(Array|Int32Array)} array - The array holding the attribute data. + * @param {number} itemSize - The item size. + * @param {boolean} [normalized=false] - Whether the data are normalized or not. + */ + constructor( array, itemSize, normalized ) { + + super( new Int32Array( array ), itemSize, normalized ); + + } + +} + +/** + * Convenient class that can be used when creating a `UInt32` buffer attribute with + * a plain `Array` instance. + * + * @augments BufferAttribute + */ +class Uint32BufferAttribute extends BufferAttribute { + + /** + * Constructs a new buffer attribute. + * + * @param {(Array|Uint32Array)} array - The array holding the attribute data. + * @param {number} itemSize - The item size. + * @param {boolean} [normalized=false] - Whether the data are normalized or not. + */ + constructor( array, itemSize, normalized ) { + + super( new Uint32Array( array ), itemSize, normalized ); + + } + +} + +/** + * Convenient class that can be used when creating a `Float16` buffer attribute with + * a plain `Array` instance. + * + * This class automatically converts to and from FP16 via `Uint16Array` since `Float16Array` + * browser support is still problematic. + * + * @augments BufferAttribute + */ +class Float16BufferAttribute extends BufferAttribute { + + /** + * Constructs a new buffer attribute. + * + * @param {(Array|Uint16Array)} array - The array holding the attribute data. + * @param {number} itemSize - The item size. + * @param {boolean} [normalized=false] - Whether the data are normalized or not. + */ + constructor( array, itemSize, normalized ) { + + super( new Uint16Array( array ), itemSize, normalized ); + + this.isFloat16BufferAttribute = true; + + } + + getX( index ) { + + let x = fromHalfFloat( this.array[ index * this.itemSize ] ); + + if ( this.normalized ) x = denormalize( x, this.array ); + + return x; + + } + + setX( index, x ) { + + if ( this.normalized ) x = normalize( x, this.array ); + + this.array[ index * this.itemSize ] = toHalfFloat( x ); + + return this; + + } + + getY( index ) { + + let y = fromHalfFloat( this.array[ index * this.itemSize + 1 ] ); + + if ( this.normalized ) y = denormalize( y, this.array ); + + return y; + + } + + setY( index, y ) { + + if ( this.normalized ) y = normalize( y, this.array ); + + this.array[ index * this.itemSize + 1 ] = toHalfFloat( y ); + + return this; + + } + + getZ( index ) { + + let z = fromHalfFloat( this.array[ index * this.itemSize + 2 ] ); + + if ( this.normalized ) z = denormalize( z, this.array ); + + return z; + + } + + setZ( index, z ) { + + if ( this.normalized ) z = normalize( z, this.array ); + + this.array[ index * this.itemSize + 2 ] = toHalfFloat( z ); + + return this; + + } + + getW( index ) { + + let w = fromHalfFloat( this.array[ index * this.itemSize + 3 ] ); + + if ( this.normalized ) w = denormalize( w, this.array ); + + return w; + + } + + setW( index, w ) { + + if ( this.normalized ) w = normalize( w, this.array ); + + this.array[ index * this.itemSize + 3 ] = toHalfFloat( w ); + + return this; + + } + + setXY( index, x, y ) { + + index *= this.itemSize; + + if ( this.normalized ) { + + x = normalize( x, this.array ); + y = normalize( y, this.array ); + + } + + this.array[ index + 0 ] = toHalfFloat( x ); + this.array[ index + 1 ] = toHalfFloat( y ); + + return this; + + } + + setXYZ( index, x, y, z ) { + + index *= this.itemSize; + + if ( this.normalized ) { + + x = normalize( x, this.array ); + y = normalize( y, this.array ); + z = normalize( z, this.array ); + + } + + this.array[ index + 0 ] = toHalfFloat( x ); + this.array[ index + 1 ] = toHalfFloat( y ); + this.array[ index + 2 ] = toHalfFloat( z ); + + return this; + + } + + setXYZW( index, x, y, z, w ) { + + index *= this.itemSize; + + if ( this.normalized ) { + + x = normalize( x, this.array ); + y = normalize( y, this.array ); + z = normalize( z, this.array ); + w = normalize( w, this.array ); + + } + + this.array[ index + 0 ] = toHalfFloat( x ); + this.array[ index + 1 ] = toHalfFloat( y ); + this.array[ index + 2 ] = toHalfFloat( z ); + this.array[ index + 3 ] = toHalfFloat( w ); + + return this; + + } + +} + +/** + * Convenient class that can be used when creating a `Float32` buffer attribute with + * a plain `Array` instance. + * + * @augments BufferAttribute + */ +class Float32BufferAttribute extends BufferAttribute { + + /** + * Constructs a new buffer attribute. + * + * @param {(Array|Float32Array)} array - The array holding the attribute data. + * @param {number} itemSize - The item size. + * @param {boolean} [normalized=false] - Whether the data are normalized or not. + */ + constructor( array, itemSize, normalized ) { + + super( new Float32Array( array ), itemSize, normalized ); + + } + +} + +const _box$3 = /*@__PURE__*/ new Box3(); +const _v1$3 = /*@__PURE__*/ new Vector3(); +const _v2$2 = /*@__PURE__*/ new Vector3(); + +/** + * An analytical 3D sphere defined by a center and radius. This class is mainly + * used as a Bounding Sphere for 3D objects. + */ +class Sphere { + + /** + * Constructs a new sphere. + * + * @param {Vector3} [center=(0,0,0)] - The center of the sphere + * @param {number} [radius=-1] - The radius of the sphere. + */ + constructor( center = new Vector3(), radius = -1 ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isSphere = true; + + /** + * The center of the sphere + * + * @type {Vector3} + */ + this.center = center; + + /** + * The radius of the sphere. + * + * @type {number} + */ + this.radius = radius; + + } + + /** + * Sets the sphere's components by copying the given values. + * + * @param {Vector3} center - The center. + * @param {number} radius - The radius. + * @return {Sphere} A reference to this sphere. + */ + set( center, radius ) { + + this.center.copy( center ); + this.radius = radius; + + return this; + + } + + /** + * Computes the minimum bounding sphere for list of points. + * If the optional center point is given, it is used as the sphere's + * center. Otherwise, the center of the axis-aligned bounding box + * encompassing the points is calculated. + * + * @param {Array} points - A list of points in 3D space. + * @param {Vector3} [optionalCenter] - The center of the sphere. + * @return {Sphere} A reference to this sphere. + */ + setFromPoints( points, optionalCenter ) { + + const center = this.center; + + if ( optionalCenter !== undefined ) { + + center.copy( optionalCenter ); + + } else { + + _box$3.setFromPoints( points ).getCenter( center ); + + } + + let maxRadiusSq = 0; + + for ( let i = 0, il = points.length; i < il; i ++ ) { + + maxRadiusSq = Math.max( maxRadiusSq, center.distanceToSquared( points[ i ] ) ); + + } + + this.radius = Math.sqrt( maxRadiusSq ); + + return this; + + } + + /** + * Copies the values of the given sphere to this instance. + * + * @param {Sphere} sphere - The sphere to copy. + * @return {Sphere} A reference to this sphere. + */ + copy( sphere ) { + + this.center.copy( sphere.center ); + this.radius = sphere.radius; + + return this; + + } + + /** + * Returns `true` if the sphere is empty (the radius set to a negative number). + * + * Spheres with a radius of `0` contain only their center point and are not + * considered to be empty. + * + * @return {boolean} Whether this sphere is empty or not. + */ + isEmpty() { + + return ( this.radius < 0 ); + + } + + /** + * Makes this sphere empty which means in encloses a zero space in 3D. + * + * @return {Sphere} A reference to this sphere. + */ + makeEmpty() { + + this.center.set( 0, 0, 0 ); + this.radius = -1; + + return this; + + } + + /** + * Returns `true` if this sphere contains the given point inclusive of + * the surface of the sphere. + * + * @param {Vector3} point - The point to check. + * @return {boolean} Whether this sphere contains the given point or not. + */ + containsPoint( point ) { + + return ( point.distanceToSquared( this.center ) <= ( this.radius * this.radius ) ); + + } + + /** + * Returns the closest distance from the boundary of the sphere to the + * given point. If the sphere contains the point, the distance will + * be negative. + * + * @param {Vector3} point - The point to compute the distance to. + * @return {number} The distance to the point. + */ + distanceToPoint( point ) { + + return ( point.distanceTo( this.center ) - this.radius ); + + } + + /** + * Returns `true` if this sphere intersects with the given one. + * + * @param {Sphere} sphere - The sphere to test. + * @return {boolean} Whether this sphere intersects with the given one or not. + */ + intersectsSphere( sphere ) { + + const radiusSum = this.radius + sphere.radius; + + return sphere.center.distanceToSquared( this.center ) <= ( radiusSum * radiusSum ); + + } + + /** + * Returns `true` if this sphere intersects with the given box. + * + * @param {Box3} box - The box to test. + * @return {boolean} Whether this sphere intersects with the given box or not. + */ + intersectsBox( box ) { + + return box.intersectsSphere( this ); + + } + + /** + * Returns `true` if this sphere intersects with the given plane. + * + * @param {Plane} plane - The plane to test. + * @return {boolean} Whether this sphere intersects with the given plane or not. + */ + intersectsPlane( plane ) { + + return Math.abs( plane.distanceToPoint( this.center ) ) <= this.radius; + + } + + /** + * Clamps a point within the sphere. If the point is outside the sphere, it + * will clamp it to the closest point on the edge of the sphere. Points + * already inside the sphere will not be affected. + * + * @param {Vector3} point - The plane to clamp. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The clamped point. + */ + clampPoint( point, target ) { + + const deltaLengthSq = this.center.distanceToSquared( point ); + + target.copy( point ); + + if ( deltaLengthSq > ( this.radius * this.radius ) ) { + + target.sub( this.center ).normalize(); + target.multiplyScalar( this.radius ).add( this.center ); + + } + + return target; + + } + + /** + * Returns a bounding box that encloses this sphere. + * + * @param {Box3} target - The target box that is used to store the method's result. + * @return {Box3} The bounding box that encloses this sphere. + */ + getBoundingBox( target ) { + + if ( this.isEmpty() ) { + + // Empty sphere produces empty bounding box + target.makeEmpty(); + return target; + + } + + target.set( this.center, this.center ); + target.expandByScalar( this.radius ); + + return target; + + } + + /** + * Transforms this sphere with the given 4x4 transformation matrix. + * + * @param {Matrix4} matrix - The transformation matrix. + * @return {Sphere} A reference to this sphere. + */ + applyMatrix4( matrix ) { + + this.center.applyMatrix4( matrix ); + this.radius = this.radius * matrix.getMaxScaleOnAxis(); + + return this; + + } + + /** + * Translates the sphere's center by the given offset. + * + * @param {Vector3} offset - The offset. + * @return {Sphere} A reference to this sphere. + */ + translate( offset ) { + + this.center.add( offset ); + + return this; + + } + + /** + * Expands the boundaries of this sphere to include the given point. + * + * @param {Vector3} point - The point to include. + * @return {Sphere} A reference to this sphere. + */ + expandByPoint( point ) { + + if ( this.isEmpty() ) { + + this.center.copy( point ); + + this.radius = 0; + + return this; + + } + + _v1$3.subVectors( point, this.center ); + + const lengthSq = _v1$3.lengthSq(); + + if ( lengthSq > ( this.radius * this.radius ) ) { + + // calculate the minimal sphere + + const length = Math.sqrt( lengthSq ); + + const delta = ( length - this.radius ) * 0.5; + + this.center.addScaledVector( _v1$3, delta / length ); + + this.radius += delta; + + } + + return this; + + } + + /** + * Expands this sphere to enclose both the original sphere and the given sphere. + * + * @param {Sphere} sphere - The sphere to include. + * @return {Sphere} A reference to this sphere. + */ + union( sphere ) { + + if ( sphere.isEmpty() ) { + + return this; + + } + + if ( this.isEmpty() ) { + + this.copy( sphere ); + + return this; + + } + + if ( this.center.equals( sphere.center ) === true ) { + + this.radius = Math.max( this.radius, sphere.radius ); + + } else { + + _v2$2.subVectors( sphere.center, this.center ).setLength( sphere.radius ); + + this.expandByPoint( _v1$3.copy( sphere.center ).add( _v2$2 ) ); + + this.expandByPoint( _v1$3.copy( sphere.center ).sub( _v2$2 ) ); + + } + + return this; + + } + + /** + * Returns `true` if this sphere is equal with the given one. + * + * @param {Sphere} sphere - The sphere to test for equality. + * @return {boolean} Whether this bounding sphere is equal with the given one. + */ + equals( sphere ) { + + return sphere.center.equals( this.center ) && ( sphere.radius === this.radius ); + + } + + /** + * Returns a new sphere with copied values from this instance. + * + * @return {Sphere} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + + /** + * Returns a serialized structure of the bounding sphere. + * + * @return {Object} Serialized structure with fields representing the object state. + */ + toJSON() { + + return { + radius: this.radius, + center: this.center.toArray() + }; + + } + + /** + * Returns a serialized structure of the bounding sphere. + * + * @param {Object} json - The serialized json to set the sphere from. + * @return {Sphere} A reference to this bounding sphere. + */ + fromJSON( json ) { + + this.radius = json.radius; + this.center.fromArray( json.center ); + return this; + + } + +} + +let _id$1 = 0; + +const _m1 = /*@__PURE__*/ new Matrix4(); +const _obj = /*@__PURE__*/ new Object3D(); +const _offset = /*@__PURE__*/ new Vector3(); +const _box$2 = /*@__PURE__*/ new Box3(); +const _boxMorphTargets = /*@__PURE__*/ new Box3(); +const _vector$9 = /*@__PURE__*/ new Vector3(); + +/** + * A representation of mesh, line, or point geometry. Includes vertex + * positions, face indices, normals, colors, UVs, and custom attributes + * within buffers, reducing the cost of passing all this data to the GPU. + * + * ```js + * const geometry = new THREE.BufferGeometry(); + * // create a simple square shape. We duplicate the top left and bottom right + * // vertices because each vertex needs to appear once per triangle. + * const vertices = new Float32Array( [ + * -1.0, -1.0, 1.0, // v0 + * 1.0, -1.0, 1.0, // v1 + * 1.0, 1.0, 1.0, // v2 + * + * 1.0, 1.0, 1.0, // v3 + * -1.0, 1.0, 1.0, // v4 + * -1.0, -1.0, 1.0 // v5 + * ] ); + * // itemSize = 3 because there are 3 values (components) per vertex + * geometry.setAttribute( 'position', new THREE.BufferAttribute( vertices, 3 ) ); + * const material = new THREE.MeshBasicMaterial( { color: 0xff0000 } ); + * const mesh = new THREE.Mesh( geometry, material ); + * ``` + * + * @augments EventDispatcher + */ +class BufferGeometry extends EventDispatcher { + + /** + * Constructs a new geometry. + */ + constructor() { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isBufferGeometry = true; + + /** + * The ID of the geometry. + * + * @name BufferGeometry#id + * @type {number} + * @readonly + */ + Object.defineProperty( this, 'id', { value: _id$1 ++ } ); + + /** + * The UUID of the geometry. + * + * @type {string} + * @readonly + */ + this.uuid = generateUUID(); + + /** + * The name of the geometry. + * + * @type {string} + */ + this.name = ''; + this.type = 'BufferGeometry'; + + /** + * Allows for vertices to be re-used across multiple triangles; this is + * called using "indexed triangles". Each triangle is associated with the + * indices of three vertices. This attribute therefore stores the index of + * each vertex for each triangular face. If this attribute is not set, the + * renderer assumes that each three contiguous positions represent a single triangle. + * + * @type {?BufferAttribute} + * @default null + */ + this.index = null; + + /** + * A (storage) buffer attribute which was generated with a compute shader and + * now defines indirect draw calls. + * + * Can only be used with {@link WebGPURenderer} and a WebGPU backend. + * + * @type {?BufferAttribute} + * @default null + */ + this.indirect = null; + + /** + * The offset, in bytes, into the indirect drawing buffer where the value data begins. If an array is provided, multiple indirect draw calls will be made for each offset. + * + * Can only be used with {@link WebGPURenderer} and a WebGPU backend. + * + * @type {number|Array} + * @default 0 + */ + this.indirectOffset = 0; + + /** + * This dictionary has as id the name of the attribute to be set and as value + * the buffer attribute to set it to. Rather than accessing this property directly, + * use `setAttribute()` and `getAttribute()` to access attributes of this geometry. + * + * @type {Object} + */ + this.attributes = {}; + + /** + * This dictionary holds the morph targets of the geometry. + * + * Note: Once the geometry has been rendered, the morph attribute data cannot + * be changed. You will have to call `dispose()`, and create a new geometry instance. + * + * @type {Object} + */ + this.morphAttributes = {}; + + /** + * Used to control the morph target behavior; when set to `true`, the morph + * target data is treated as relative offsets, rather than as absolute + * positions/normals. + * + * @type {boolean} + * @default false + */ + this.morphTargetsRelative = false; + + /** + * Split the geometry into groups, each of which will be rendered in a + * separate draw call. This allows an array of materials to be used with the geometry. + * + * Use `addGroup()` and `clearGroups()` to edit groups, rather than modifying this array directly. + * + * Every vertex and index must belong to exactly one group — groups must not share vertices or + * indices, and must not leave vertices or indices unused. + * + * @type {Array} + */ + this.groups = []; + + /** + * Bounding box for the geometry which can be calculated with `computeBoundingBox()`. + * + * @type {?Box3} + * @default null + */ + this.boundingBox = null; + + /** + * Bounding sphere for the geometry which can be calculated with `computeBoundingSphere()`. + * + * @type {?Sphere} + * @default null + */ + this.boundingSphere = null; + + /** + * Determines the part of the geometry to render. This should not be set directly, + * instead use `setDrawRange()`. + * + * @type {{start:number,count:number}} + */ + this.drawRange = { start: 0, count: Infinity }; + + /** + * An object that can be used to store custom data about the geometry. + * It should not hold references to functions as these will not be cloned. + * + * @type {Object} + */ + this.userData = {}; + + } + + /** + * Returns the index of this geometry. + * + * @return {?BufferAttribute} The index. Returns `null` if no index is defined. + */ + getIndex() { + + return this.index; + + } + + /** + * Sets the given index to this geometry. + * + * @param {Array|BufferAttribute} index - The index to set. + * @return {BufferGeometry} A reference to this instance. + */ + setIndex( index ) { + + if ( Array.isArray( index ) ) { + + this.index = new ( arrayNeedsUint32( index ) ? Uint32BufferAttribute : Uint16BufferAttribute )( index, 1 ); + + } else { + + this.index = index; + + } + + return this; + + } + + /** + * Sets the given indirect attribute to this geometry. + * + * @param {BufferAttribute} indirect - The attribute holding indirect draw calls. + * @param {number|Array} [indirectOffset=0] - The offset, in bytes, into the indirect drawing buffer where the value data begins. If an array is provided, multiple indirect draw calls will be made for each offset. + * @return {BufferGeometry} A reference to this instance. + */ + setIndirect( indirect, indirectOffset = 0 ) { + + this.indirect = indirect; + this.indirectOffset = indirectOffset; + + return this; + + } + + /** + * Returns the indirect attribute of this geometry. + * + * @return {?BufferAttribute} The indirect attribute. Returns `null` if no indirect attribute is defined. + */ + getIndirect() { + + return this.indirect; + + } + + /** + * Returns the buffer attribute for the given name. + * + * @param {string} name - The attribute name. + * @return {BufferAttribute|InterleavedBufferAttribute|undefined} The buffer attribute. + * Returns `undefined` if not attribute has been found. + */ + getAttribute( name ) { + + return this.attributes[ name ]; + + } + + /** + * Sets the given attribute for the given name. + * + * @param {string} name - The attribute name. + * @param {BufferAttribute|InterleavedBufferAttribute} attribute - The attribute to set. + * @return {BufferGeometry} A reference to this instance. + */ + setAttribute( name, attribute ) { + + this.attributes[ name ] = attribute; + + return this; + + } + + /** + * Deletes the attribute for the given name. + * + * @param {string} name - The attribute name to delete. + * @return {BufferGeometry} A reference to this instance. + */ + deleteAttribute( name ) { + + delete this.attributes[ name ]; + + return this; + + } + + /** + * Returns `true` if this geometry has an attribute for the given name. + * + * @param {string} name - The attribute name. + * @return {boolean} Whether this geometry has an attribute for the given name or not. + */ + hasAttribute( name ) { + + return this.attributes[ name ] !== undefined; + + } + + /** + * Adds a group to this geometry. + * + * @param {number} start - The first element in this draw call. That is the first + * vertex for non-indexed geometry, otherwise the first triangle index. + * @param {number} count - Specifies how many vertices (or indices) are part of this group. + * @param {number} [materialIndex=0] - The material array index to use. + */ + addGroup( start, count, materialIndex = 0 ) { + + this.groups.push( { + + start: start, + count: count, + materialIndex: materialIndex + + } ); + + } + + /** + * Clears all groups. + */ + clearGroups() { + + this.groups = []; + + } + + /** + * Sets the draw range for this geometry. + * + * @param {number} start - The first vertex for non-indexed geometry, otherwise the first triangle index. + * @param {number} count - For non-indexed BufferGeometry, `count` is the number of vertices to render. + * For indexed BufferGeometry, `count` is the number of indices to render. + */ + setDrawRange( start, count ) { + + this.drawRange.start = start; + this.drawRange.count = count; + + } + + /** + * Applies the given 4x4 transformation matrix to the geometry. + * + * @param {Matrix4} matrix - The matrix to apply. + * @return {BufferGeometry} A reference to this instance. + */ + applyMatrix4( matrix ) { + + const position = this.attributes.position; + + if ( position !== undefined ) { + + position.applyMatrix4( matrix ); + + position.needsUpdate = true; + + } + + const normal = this.attributes.normal; + + if ( normal !== undefined ) { + + const normalMatrix = new Matrix3().getNormalMatrix( matrix ); + + normal.applyNormalMatrix( normalMatrix ); + + normal.needsUpdate = true; + + } + + const tangent = this.attributes.tangent; + + if ( tangent !== undefined ) { + + tangent.transformDirection( matrix ); + + tangent.needsUpdate = true; + + } + + if ( this.boundingBox !== null ) { + + this.computeBoundingBox(); + + } + + if ( this.boundingSphere !== null ) { + + this.computeBoundingSphere(); + + } + + return this; + + } + + /** + * Applies the rotation represented by the Quaternion to the geometry. + * + * @param {Quaternion} q - The Quaternion to apply. + * @return {BufferGeometry} A reference to this instance. + */ + applyQuaternion( q ) { + + _m1.makeRotationFromQuaternion( q ); + + this.applyMatrix4( _m1 ); + + return this; + + } + + /** + * Rotates the geometry about the X axis. This is typically done as a one time + * operation, and not during a loop. Use {@link Object3D#rotation} for typical + * real-time mesh rotation. + * + * @param {number} angle - The angle in radians. + * @return {BufferGeometry} A reference to this instance. + */ + rotateX( angle ) { + + // rotate geometry around world x-axis + + _m1.makeRotationX( angle ); + + this.applyMatrix4( _m1 ); + + return this; + + } + + /** + * Rotates the geometry about the Y axis. This is typically done as a one time + * operation, and not during a loop. Use {@link Object3D#rotation} for typical + * real-time mesh rotation. + * + * @param {number} angle - The angle in radians. + * @return {BufferGeometry} A reference to this instance. + */ + rotateY( angle ) { + + // rotate geometry around world y-axis + + _m1.makeRotationY( angle ); + + this.applyMatrix4( _m1 ); + + return this; + + } + + /** + * Rotates the geometry about the Z axis. This is typically done as a one time + * operation, and not during a loop. Use {@link Object3D#rotation} for typical + * real-time mesh rotation. + * + * @param {number} angle - The angle in radians. + * @return {BufferGeometry} A reference to this instance. + */ + rotateZ( angle ) { + + // rotate geometry around world z-axis + + _m1.makeRotationZ( angle ); + + this.applyMatrix4( _m1 ); + + return this; + + } + + /** + * Translates the geometry. This is typically done as a one time + * operation, and not during a loop. Use {@link Object3D#position} for typical + * real-time mesh rotation. + * + * @param {number} x - The x offset. + * @param {number} y - The y offset. + * @param {number} z - The z offset. + * @return {BufferGeometry} A reference to this instance. + */ + translate( x, y, z ) { + + // translate geometry + + _m1.makeTranslation( x, y, z ); + + this.applyMatrix4( _m1 ); + + return this; + + } + + /** + * Scales the geometry. This is typically done as a one time + * operation, and not during a loop. Use {@link Object3D#scale} for typical + * real-time mesh rotation. + * + * @param {number} x - The x scale. + * @param {number} y - The y scale. + * @param {number} z - The z scale. + * @return {BufferGeometry} A reference to this instance. + */ + scale( x, y, z ) { + + // scale geometry + + _m1.makeScale( x, y, z ); + + this.applyMatrix4( _m1 ); + + return this; + + } + + /** + * Rotates the geometry to face a point in 3D space. This is typically done as a one time + * operation, and not during a loop. Use {@link Object3D#lookAt} for typical + * real-time mesh rotation. + * + * @param {Vector3} vector - The target point. + * @return {BufferGeometry} A reference to this instance. + */ + lookAt( vector ) { + + _obj.lookAt( vector ); + + _obj.updateMatrix(); + + this.applyMatrix4( _obj.matrix ); + + return this; + + } + + /** + * Center the geometry based on its bounding box. + * + * @return {BufferGeometry} A reference to this instance. + */ + center() { + + this.computeBoundingBox(); + + this.boundingBox.getCenter( _offset ).negate(); + + this.translate( _offset.x, _offset.y, _offset.z ); + + return this; + + } + + /** + * Defines a geometry by creating a `position` attribute based on the given array of points. The array + * can hold 2D or 3D vectors. When using two-dimensional data, the `z` coordinate for all vertices is + * set to `0`. + * + * If the method is used with an existing `position` attribute, the vertex data are overwritten with the + * data from the array. The length of the array must match the vertex count. + * + * @param {Array|Array} points - The points. + * @return {BufferGeometry} A reference to this instance. + */ + setFromPoints( points ) { + + const positionAttribute = this.getAttribute( 'position' ); + + if ( positionAttribute === undefined ) { + + const position = []; + + for ( let i = 0, l = points.length; i < l; i ++ ) { + + const point = points[ i ]; + position.push( point.x, point.y, point.z || 0 ); + + } + + this.setAttribute( 'position', new Float32BufferAttribute( position, 3 ) ); + + } else { + + const l = Math.min( points.length, positionAttribute.count ); // make sure data do not exceed buffer size + + for ( let i = 0; i < l; i ++ ) { + + const point = points[ i ]; + positionAttribute.setXYZ( i, point.x, point.y, point.z || 0 ); + + } + + if ( points.length > positionAttribute.count ) { + + warn( 'BufferGeometry: Buffer size too small for points data. Use .dispose() and create a new geometry.' ); + + } + + positionAttribute.needsUpdate = true; + + } + + return this; + + } + + /** + * Computes the bounding box of the geometry, and updates the `boundingBox` member. + * The bounding box is not computed by the engine; it must be computed by your app. + * You may need to recompute the bounding box if the geometry vertices are modified. + */ + computeBoundingBox() { + + if ( this.boundingBox === null ) { + + this.boundingBox = new Box3(); + + } + + const position = this.attributes.position; + const morphAttributesPosition = this.morphAttributes.position; + + if ( position && position.isGLBufferAttribute ) { + + error( 'BufferGeometry.computeBoundingBox(): GLBufferAttribute requires a manual bounding box.', this ); + + this.boundingBox.set( + new Vector3( - Infinity, - Infinity, - Infinity ), + new Vector3( + Infinity, + Infinity, + Infinity ) + ); + + return; + + } + + if ( position !== undefined ) { + + this.boundingBox.setFromBufferAttribute( position ); + + // process morph attributes if present + + if ( morphAttributesPosition ) { + + for ( let i = 0, il = morphAttributesPosition.length; i < il; i ++ ) { + + const morphAttribute = morphAttributesPosition[ i ]; + _box$2.setFromBufferAttribute( morphAttribute ); + + if ( this.morphTargetsRelative ) { + + _vector$9.addVectors( this.boundingBox.min, _box$2.min ); + this.boundingBox.expandByPoint( _vector$9 ); + + _vector$9.addVectors( this.boundingBox.max, _box$2.max ); + this.boundingBox.expandByPoint( _vector$9 ); + + } else { + + this.boundingBox.expandByPoint( _box$2.min ); + this.boundingBox.expandByPoint( _box$2.max ); + + } + + } + + } + + } else { + + this.boundingBox.makeEmpty(); + + } + + if ( isNaN( this.boundingBox.min.x ) || isNaN( this.boundingBox.min.y ) || isNaN( this.boundingBox.min.z ) ) { + + error( 'BufferGeometry.computeBoundingBox(): Computed min/max have NaN values. The "position" attribute is likely to have NaN values.', this ); + + } + + } + + /** + * Computes the bounding sphere of the geometry, and updates the `boundingSphere` member. + * The engine automatically computes the bounding sphere when it is needed, e.g., for ray casting or view frustum culling. + * You may need to recompute the bounding sphere if the geometry vertices are modified. + */ + computeBoundingSphere() { + + if ( this.boundingSphere === null ) { + + this.boundingSphere = new Sphere(); + + } + + const position = this.attributes.position; + const morphAttributesPosition = this.morphAttributes.position; + + if ( position && position.isGLBufferAttribute ) { + + error( 'BufferGeometry.computeBoundingSphere(): GLBufferAttribute requires a manual bounding sphere.', this ); + + this.boundingSphere.set( new Vector3(), Infinity ); + + return; + + } + + if ( position ) { + + // first, find the center of the bounding sphere + + const center = this.boundingSphere.center; + + _box$2.setFromBufferAttribute( position ); + + // process morph attributes if present + + if ( morphAttributesPosition ) { + + for ( let i = 0, il = morphAttributesPosition.length; i < il; i ++ ) { + + const morphAttribute = morphAttributesPosition[ i ]; + _boxMorphTargets.setFromBufferAttribute( morphAttribute ); + + if ( this.morphTargetsRelative ) { + + _vector$9.addVectors( _box$2.min, _boxMorphTargets.min ); + _box$2.expandByPoint( _vector$9 ); + + _vector$9.addVectors( _box$2.max, _boxMorphTargets.max ); + _box$2.expandByPoint( _vector$9 ); + + } else { + + _box$2.expandByPoint( _boxMorphTargets.min ); + _box$2.expandByPoint( _boxMorphTargets.max ); + + } + + } + + } + + _box$2.getCenter( center ); + + // second, try to find a boundingSphere with a radius smaller than the + // boundingSphere of the boundingBox: sqrt(3) smaller in the best case + + let maxRadiusSq = 0; + + for ( let i = 0, il = position.count; i < il; i ++ ) { + + _vector$9.fromBufferAttribute( position, i ); + + maxRadiusSq = Math.max( maxRadiusSq, center.distanceToSquared( _vector$9 ) ); + + } + + // process morph attributes if present + + if ( morphAttributesPosition ) { + + for ( let i = 0, il = morphAttributesPosition.length; i < il; i ++ ) { + + const morphAttribute = morphAttributesPosition[ i ]; + const morphTargetsRelative = this.morphTargetsRelative; + + for ( let j = 0, jl = morphAttribute.count; j < jl; j ++ ) { + + _vector$9.fromBufferAttribute( morphAttribute, j ); + + if ( morphTargetsRelative ) { + + _offset.fromBufferAttribute( position, j ); + _vector$9.add( _offset ); + + } + + maxRadiusSq = Math.max( maxRadiusSq, center.distanceToSquared( _vector$9 ) ); + + } + + } + + } + + this.boundingSphere.radius = Math.sqrt( maxRadiusSq ); + + if ( isNaN( this.boundingSphere.radius ) ) { + + error( 'BufferGeometry.computeBoundingSphere(): Computed radius is NaN. The "position" attribute is likely to have NaN values.', this ); + + } + + } + + } + + /** + * Calculates and adds a tangent attribute to this geometry. + * + * The computation is only supported for indexed geometries and if position, normal, and uv attributes + * are defined. When using a tangent space normal map, prefer the MikkTSpace algorithm provided by + * {@link BufferGeometryUtils#computeMikkTSpaceTangents} instead. + */ + computeTangents() { + + const index = this.index; + const attributes = this.attributes; + + // based on http://www.terathon.com/code/tangent.html + // (per vertex tangents) + + if ( index === null || + attributes.position === undefined || + attributes.normal === undefined || + attributes.uv === undefined ) { + + error( 'BufferGeometry: .computeTangents() failed. Missing required attributes (index, position, normal or uv)' ); + return; + + } + + const positionAttribute = attributes.position; + const normalAttribute = attributes.normal; + const uvAttribute = attributes.uv; + + if ( this.hasAttribute( 'tangent' ) === false ) { + + this.setAttribute( 'tangent', new BufferAttribute( new Float32Array( 4 * positionAttribute.count ), 4 ) ); + + } + + const tangentAttribute = this.getAttribute( 'tangent' ); + + const tan1 = [], tan2 = []; + + for ( let i = 0; i < positionAttribute.count; i ++ ) { + + tan1[ i ] = new Vector3(); + tan2[ i ] = new Vector3(); + + } + + const vA = new Vector3(), + vB = new Vector3(), + vC = new Vector3(), + + uvA = new Vector2(), + uvB = new Vector2(), + uvC = new Vector2(), + + sdir = new Vector3(), + tdir = new Vector3(); + + function handleTriangle( a, b, c ) { + + vA.fromBufferAttribute( positionAttribute, a ); + vB.fromBufferAttribute( positionAttribute, b ); + vC.fromBufferAttribute( positionAttribute, c ); + + uvA.fromBufferAttribute( uvAttribute, a ); + uvB.fromBufferAttribute( uvAttribute, b ); + uvC.fromBufferAttribute( uvAttribute, c ); + + vB.sub( vA ); + vC.sub( vA ); + + uvB.sub( uvA ); + uvC.sub( uvA ); + + const r = 1.0 / ( uvB.x * uvC.y - uvC.x * uvB.y ); + + // silently ignore degenerate uv triangles having coincident or colinear vertices + + if ( ! isFinite( r ) ) return; + + sdir.copy( vB ).multiplyScalar( uvC.y ).addScaledVector( vC, - uvB.y ).multiplyScalar( r ); + tdir.copy( vC ).multiplyScalar( uvB.x ).addScaledVector( vB, - uvC.x ).multiplyScalar( r ); + + tan1[ a ].add( sdir ); + tan1[ b ].add( sdir ); + tan1[ c ].add( sdir ); + + tan2[ a ].add( tdir ); + tan2[ b ].add( tdir ); + tan2[ c ].add( tdir ); + + } + + let groups = this.groups; + + if ( groups.length === 0 ) { + + groups = [ { + start: 0, + count: index.count + } ]; + + } + + for ( let i = 0, il = groups.length; i < il; ++ i ) { + + const group = groups[ i ]; + + const start = group.start; + const count = group.count; + + for ( let j = start, jl = start + count; j < jl; j += 3 ) { + + handleTriangle( + index.getX( j + 0 ), + index.getX( j + 1 ), + index.getX( j + 2 ) + ); + + } + + } + + const tmp = new Vector3(), tmp2 = new Vector3(); + const n = new Vector3(), n2 = new Vector3(); + + function handleVertex( v ) { + + n.fromBufferAttribute( normalAttribute, v ); + n2.copy( n ); + + const t = tan1[ v ]; + + // Gram-Schmidt orthogonalize + + tmp.copy( t ); + tmp.sub( n.multiplyScalar( n.dot( t ) ) ).normalize(); + + // Calculate handedness + + tmp2.crossVectors( n2, t ); + const test = tmp2.dot( tan2[ v ] ); + const w = ( test < 0.0 ) ? -1 : 1.0; + + tangentAttribute.setXYZW( v, tmp.x, tmp.y, tmp.z, w ); + + } + + for ( let i = 0, il = groups.length; i < il; ++ i ) { + + const group = groups[ i ]; + + const start = group.start; + const count = group.count; + + for ( let j = start, jl = start + count; j < jl; j += 3 ) { + + handleVertex( index.getX( j + 0 ) ); + handleVertex( index.getX( j + 1 ) ); + handleVertex( index.getX( j + 2 ) ); + + } + + } + + } + + /** + * Computes vertex normals for the given vertex data. For indexed geometries, the method sets + * each vertex normal to be the average of the face normals of the faces that share that vertex. + * For non-indexed geometries, vertices are not shared, and the method sets each vertex normal + * to be the same as the face normal. + */ + computeVertexNormals() { + + const index = this.index; + const positionAttribute = this.getAttribute( 'position' ); + + if ( positionAttribute !== undefined ) { + + let normalAttribute = this.getAttribute( 'normal' ); + + if ( normalAttribute === undefined ) { + + normalAttribute = new BufferAttribute( new Float32Array( positionAttribute.count * 3 ), 3 ); + this.setAttribute( 'normal', normalAttribute ); + + } else { + + // reset existing normals to zero + + for ( let i = 0, il = normalAttribute.count; i < il; i ++ ) { + + normalAttribute.setXYZ( i, 0, 0, 0 ); + + } + + } + + const pA = new Vector3(), pB = new Vector3(), pC = new Vector3(); + const nA = new Vector3(), nB = new Vector3(), nC = new Vector3(); + const cb = new Vector3(), ab = new Vector3(); + + // indexed elements + + if ( index ) { + + for ( let i = 0, il = index.count; i < il; i += 3 ) { + + const vA = index.getX( i + 0 ); + const vB = index.getX( i + 1 ); + const vC = index.getX( i + 2 ); + + pA.fromBufferAttribute( positionAttribute, vA ); + pB.fromBufferAttribute( positionAttribute, vB ); + pC.fromBufferAttribute( positionAttribute, vC ); + + cb.subVectors( pC, pB ); + ab.subVectors( pA, pB ); + cb.cross( ab ); + + nA.fromBufferAttribute( normalAttribute, vA ); + nB.fromBufferAttribute( normalAttribute, vB ); + nC.fromBufferAttribute( normalAttribute, vC ); + + nA.add( cb ); + nB.add( cb ); + nC.add( cb ); + + normalAttribute.setXYZ( vA, nA.x, nA.y, nA.z ); + normalAttribute.setXYZ( vB, nB.x, nB.y, nB.z ); + normalAttribute.setXYZ( vC, nC.x, nC.y, nC.z ); + + } + + } else { + + // non-indexed elements (unconnected triangle soup) + + for ( let i = 0, il = positionAttribute.count; i < il; i += 3 ) { + + pA.fromBufferAttribute( positionAttribute, i + 0 ); + pB.fromBufferAttribute( positionAttribute, i + 1 ); + pC.fromBufferAttribute( positionAttribute, i + 2 ); + + cb.subVectors( pC, pB ); + ab.subVectors( pA, pB ); + cb.cross( ab ); + + normalAttribute.setXYZ( i + 0, cb.x, cb.y, cb.z ); + normalAttribute.setXYZ( i + 1, cb.x, cb.y, cb.z ); + normalAttribute.setXYZ( i + 2, cb.x, cb.y, cb.z ); + + } + + } + + this.normalizeNormals(); + + normalAttribute.needsUpdate = true; + + } + + } + + /** + * Ensures every normal vector in a geometry will have a magnitude of `1`. This will + * correct lighting on the geometry surfaces. + */ + normalizeNormals() { + + const normals = this.attributes.normal; + + for ( let i = 0, il = normals.count; i < il; i ++ ) { + + _vector$9.fromBufferAttribute( normals, i ); + + _vector$9.normalize(); + + normals.setXYZ( i, _vector$9.x, _vector$9.y, _vector$9.z ); + + } + + } + + /** + * Return a new non-index version of this indexed geometry. If the geometry + * is already non-indexed, the method is a NOOP. + * + * @return {BufferGeometry} The non-indexed version of this indexed geometry. + */ + toNonIndexed() { + + function convertBufferAttribute( attribute, indices ) { + + const array = attribute.array; + const itemSize = attribute.itemSize; + const normalized = attribute.normalized; + + const array2 = new array.constructor( indices.length * itemSize ); + + let index = 0, index2 = 0; + + for ( let i = 0, l = indices.length; i < l; i ++ ) { + + if ( attribute.isInterleavedBufferAttribute ) { + + index = indices[ i ] * attribute.data.stride + attribute.offset; + + } else { + + index = indices[ i ] * itemSize; + + } + + for ( let j = 0; j < itemSize; j ++ ) { + + array2[ index2 ++ ] = array[ index ++ ]; + + } + + } + + return new BufferAttribute( array2, itemSize, normalized ); + + } + + // + + if ( this.index === null ) { + + warn( 'BufferGeometry.toNonIndexed(): BufferGeometry is already non-indexed.' ); + return this; + + } + + const geometry2 = new BufferGeometry(); + + const indices = this.index.array; + const attributes = this.attributes; + + // attributes + + for ( const name in attributes ) { + + const attribute = attributes[ name ]; + + const newAttribute = convertBufferAttribute( attribute, indices ); + + geometry2.setAttribute( name, newAttribute ); + + } + + // morph attributes + + const morphAttributes = this.morphAttributes; + + for ( const name in morphAttributes ) { + + const morphArray = []; + const morphAttribute = morphAttributes[ name ]; // morphAttribute: array of Float32BufferAttributes + + for ( let i = 0, il = morphAttribute.length; i < il; i ++ ) { + + const attribute = morphAttribute[ i ]; + + const newAttribute = convertBufferAttribute( attribute, indices ); + + morphArray.push( newAttribute ); + + } + + geometry2.morphAttributes[ name ] = morphArray; + + } + + geometry2.morphTargetsRelative = this.morphTargetsRelative; + + // groups + + const groups = this.groups; + + for ( let i = 0, l = groups.length; i < l; i ++ ) { + + const group = groups[ i ]; + geometry2.addGroup( group.start, group.count, group.materialIndex ); + + } + + return geometry2; + + } + + /** + * Serializes the geometry into JSON. + * + * @return {Object} A JSON object representing the serialized geometry. + */ + toJSON() { + + const data = { + metadata: { + version: 4.7, + type: 'BufferGeometry', + generator: 'BufferGeometry.toJSON' + } + }; + + // standard BufferGeometry serialization + + data.uuid = this.uuid; + data.type = this.type; + if ( this.name !== '' ) data.name = this.name; + if ( Object.keys( this.userData ).length > 0 ) data.userData = this.userData; + + if ( this.parameters !== undefined ) { + + const parameters = this.parameters; + + for ( const key in parameters ) { + + if ( parameters[ key ] !== undefined ) data[ key ] = parameters[ key ]; + + } + + return data; + + } + + // for simplicity the code assumes attributes are not shared across geometries, see #15811 + + data.data = { attributes: {} }; + + const index = this.index; + + if ( index !== null ) { + + data.data.index = { + type: index.array.constructor.name, + array: Array.prototype.slice.call( index.array ) + }; + + } + + const attributes = this.attributes; + + for ( const key in attributes ) { + + const attribute = attributes[ key ]; + + data.data.attributes[ key ] = attribute.toJSON( data.data ); + + } + + const morphAttributes = {}; + let hasMorphAttributes = false; + + for ( const key in this.morphAttributes ) { + + const attributeArray = this.morphAttributes[ key ]; + + const array = []; + + for ( let i = 0, il = attributeArray.length; i < il; i ++ ) { + + const attribute = attributeArray[ i ]; + + array.push( attribute.toJSON( data.data ) ); + + } + + if ( array.length > 0 ) { + + morphAttributes[ key ] = array; + + hasMorphAttributes = true; + + } + + } + + if ( hasMorphAttributes ) { + + data.data.morphAttributes = morphAttributes; + data.data.morphTargetsRelative = this.morphTargetsRelative; + + } + + const groups = this.groups; + + if ( groups.length > 0 ) { + + data.data.groups = JSON.parse( JSON.stringify( groups ) ); + + } + + const boundingSphere = this.boundingSphere; + + if ( boundingSphere !== null ) { + + data.data.boundingSphere = boundingSphere.toJSON(); + + } + + return data; + + } + + /** + * Returns a new geometry with copied values from this instance. + * + * @return {BufferGeometry} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + + /** + * Copies the values of the given geometry to this instance. + * + * @param {BufferGeometry} source - The geometry to copy. + * @return {BufferGeometry} A reference to this instance. + */ + copy( source ) { + + // reset + + this.index = null; + this.attributes = {}; + this.morphAttributes = {}; + this.groups = []; + this.boundingBox = null; + this.boundingSphere = null; + + // used for storing cloned, shared data + + const data = {}; + + // name + + this.name = source.name; + + // index + + const index = source.index; + + if ( index !== null ) { + + this.setIndex( index.clone() ); + + } + + // attributes + + const attributes = source.attributes; + + for ( const name in attributes ) { + + const attribute = attributes[ name ]; + this.setAttribute( name, attribute.clone( data ) ); + + } + + // morph attributes + + const morphAttributes = source.morphAttributes; + + for ( const name in morphAttributes ) { + + const array = []; + const morphAttribute = morphAttributes[ name ]; // morphAttribute: array of Float32BufferAttributes + + for ( let i = 0, l = morphAttribute.length; i < l; i ++ ) { + + array.push( morphAttribute[ i ].clone( data ) ); + + } + + this.morphAttributes[ name ] = array; + + } + + this.morphTargetsRelative = source.morphTargetsRelative; + + // groups + + const groups = source.groups; + + for ( let i = 0, l = groups.length; i < l; i ++ ) { + + const group = groups[ i ]; + this.addGroup( group.start, group.count, group.materialIndex ); + + } + + // bounding box + + const boundingBox = source.boundingBox; + + if ( boundingBox !== null ) { + + this.boundingBox = boundingBox.clone(); + + } + + // bounding sphere + + const boundingSphere = source.boundingSphere; + + if ( boundingSphere !== null ) { + + this.boundingSphere = boundingSphere.clone(); + + } + + // draw range + + this.drawRange.start = source.drawRange.start; + this.drawRange.count = source.drawRange.count; + + // user data + + this.userData = source.userData; + + return this; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + * + * @fires BufferGeometry#dispose + */ + dispose() { + + this.dispatchEvent( { type: 'dispose' } ); + + } + +} + +/** + * "Interleaved" means that multiple attributes, possibly of different types, + * (e.g., position, normal, uv, color) are packed into a single array buffer. + * + * An introduction into interleaved arrays can be found here: [Interleaved array basics](https://blog.tojicode.com/2011/05/interleaved-array-basics.html) + */ +class InterleavedBuffer { + + /** + * Constructs a new interleaved buffer. + * + * @param {TypedArray} array - A typed array with a shared buffer storing attribute data. + * @param {number} stride - The number of typed-array elements per vertex. + */ + constructor( array, stride ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isInterleavedBuffer = true; + + /** + * A typed array with a shared buffer storing attribute data. + * + * @type {TypedArray} + */ + this.array = array; + + /** + * The number of typed-array elements per vertex. + * + * @type {number} + */ + this.stride = stride; + + /** + * The total number of elements in the array + * + * @type {number} + * @readonly + */ + this.count = array !== undefined ? array.length / stride : 0; + + /** + * Defines the intended usage pattern of the data store for optimization purposes. + * + * Note: After the initial use of a buffer, its usage cannot be changed. Instead, + * instantiate a new one and set the desired usage before the next render. + * + * @type {(StaticDrawUsage|DynamicDrawUsage|StreamDrawUsage|StaticReadUsage|DynamicReadUsage|StreamReadUsage|StaticCopyUsage|DynamicCopyUsage|StreamCopyUsage)} + * @default StaticDrawUsage + */ + this.usage = StaticDrawUsage; + + /** + * This can be used to only update some components of stored vectors (for example, just the + * component related to color). Use the `addUpdateRange()` function to add ranges to this array. + * + * @type {Array} + */ + this.updateRanges = []; + + /** + * A version number, incremented every time the `needsUpdate` is set to `true`. + * + * @type {number} + */ + this.version = 0; + + /** + * The UUID of the interleaved buffer. + * + * @type {string} + * @readonly + */ + this.uuid = generateUUID(); + + } + + /** + * A callback function that is executed after the renderer has transferred the attribute array + * data to the GPU. + */ + onUploadCallback() {} + + /** + * Flag to indicate that this attribute has changed and should be re-sent to + * the GPU. Set this to `true` when you modify the value of the array. + * + * @type {number} + * @default false + * @param {boolean} value + */ + set needsUpdate( value ) { + + if ( value === true ) this.version ++; + + } + + /** + * Sets the usage of this interleaved buffer. + * + * @param {(StaticDrawUsage|DynamicDrawUsage|StreamDrawUsage|StaticReadUsage|DynamicReadUsage|StreamReadUsage|StaticCopyUsage|DynamicCopyUsage|StreamCopyUsage)} value - The usage to set. + * @return {InterleavedBuffer} A reference to this interleaved buffer. + */ + setUsage( value ) { + + this.usage = value; + + return this; + + } + + /** + * Adds a range of data in the data array to be updated on the GPU. + * + * @param {number} start - Position at which to start update. + * @param {number} count - The number of components to update. + */ + addUpdateRange( start, count ) { + + this.updateRanges.push( { start, count } ); + + } + + /** + * Clears the update ranges. + */ + clearUpdateRanges() { + + this.updateRanges.length = 0; + + } + + /** + * Copies the values of the given interleaved buffer to this instance. + * + * @param {InterleavedBuffer} source - The interleaved buffer to copy. + * @return {InterleavedBuffer} A reference to this instance. + */ + copy( source ) { + + this.array = new source.array.constructor( source.array ); + this.count = source.count; + this.stride = source.stride; + this.usage = source.usage; + + return this; + + } + + /** + * Copies a vector from the given interleaved buffer to this one. The start + * and destination position in the attribute buffers are represented by the + * given indices. + * + * @param {number} index1 - The destination index into this interleaved buffer. + * @param {InterleavedBuffer} interleavedBuffer - The interleaved buffer to copy from. + * @param {number} index2 - The source index into the given interleaved buffer. + * @return {InterleavedBuffer} A reference to this instance. + */ + copyAt( index1, interleavedBuffer, index2 ) { + + index1 *= this.stride; + index2 *= interleavedBuffer.stride; + + for ( let i = 0, l = this.stride; i < l; i ++ ) { + + this.array[ index1 + i ] = interleavedBuffer.array[ index2 + i ]; + + } + + return this; + + } + + /** + * Sets the given array data in the interleaved buffer. + * + * @param {(TypedArray|Array)} value - The array data to set. + * @param {number} [offset=0] - The offset in this interleaved buffer's array. + * @return {InterleavedBuffer} A reference to this instance. + */ + set( value, offset = 0 ) { + + this.array.set( value, offset ); + + return this; + + } + + /** + * Returns a new interleaved buffer with copied values from this instance. + * + * @param {Object} [data] - An object with shared array buffers that allows to retain shared structures. + * @return {InterleavedBuffer} A clone of this instance. + */ + clone( data ) { + + if ( data.arrayBuffers === undefined ) { + + data.arrayBuffers = {}; + + } + + if ( this.array.buffer._uuid === undefined ) { + + this.array.buffer._uuid = generateUUID(); + + } + + if ( data.arrayBuffers[ this.array.buffer._uuid ] === undefined ) { + + data.arrayBuffers[ this.array.buffer._uuid ] = this.array.slice( 0 ).buffer; + + } + + const array = new this.array.constructor( data.arrayBuffers[ this.array.buffer._uuid ] ); + + const ib = new this.constructor( array, this.stride ); + ib.setUsage( this.usage ); + + return ib; + + } + + /** + * Sets the given callback function that is executed after the Renderer has transferred + * the array data to the GPU. Can be used to perform clean-up operations after + * the upload when data are not needed anymore on the CPU side. + * + * @param {Function} callback - The `onUpload()` callback. + * @return {InterleavedBuffer} A reference to this instance. + */ + onUpload( callback ) { + + this.onUploadCallback = callback; + + return this; + + } + + /** + * Serializes the interleaved buffer into JSON. + * + * @param {Object} [data] - An optional value holding meta information about the serialization. + * @return {Object} A JSON object representing the serialized interleaved buffer. + */ + toJSON( data ) { + + if ( data.arrayBuffers === undefined ) { + + data.arrayBuffers = {}; + + } + + // generate UUID for array buffer if necessary + + if ( this.array.buffer._uuid === undefined ) { + + this.array.buffer._uuid = generateUUID(); + + } + + if ( data.arrayBuffers[ this.array.buffer._uuid ] === undefined ) { + + data.arrayBuffers[ this.array.buffer._uuid ] = Array.from( new Uint32Array( this.array.buffer ) ); + + } + + // + + return { + uuid: this.uuid, + buffer: this.array.buffer._uuid, + type: this.array.constructor.name, + stride: this.stride + }; + + } + +} + +const _vector$8 = /*@__PURE__*/ new Vector3(); + +/** + * An alternative version of a buffer attribute with interleaved data. Interleaved + * attributes share a common interleaved data storage ({@link InterleavedBuffer}) and refer with + * different offsets into the buffer. + */ +class InterleavedBufferAttribute { + + /** + * Constructs a new interleaved buffer attribute. + * + * @param {InterleavedBuffer} interleavedBuffer - The buffer holding the interleaved data. + * @param {number} itemSize - The item size. + * @param {number} offset - The attribute offset into the buffer. + * @param {boolean} [normalized=false] - Whether the data are normalized or not. + */ + constructor( interleavedBuffer, itemSize, offset, normalized = false ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isInterleavedBufferAttribute = true; + + /** + * The name of the buffer attribute. + * + * @type {string} + */ + this.name = ''; + + /** + * The buffer holding the interleaved data. + * + * @type {InterleavedBuffer} + */ + this.data = interleavedBuffer; + + /** + * The item size, see {@link BufferAttribute#itemSize}. + * + * @type {number} + */ + this.itemSize = itemSize; + + /** + * The attribute offset into the buffer. + * + * @type {number} + */ + this.offset = offset; + + /** + * Whether the data are normalized or not, see {@link BufferAttribute#normalized} + * + * @type {InterleavedBuffer} + */ + this.normalized = normalized; + + } + + /** + * The item count of this buffer attribute. + * + * @type {number} + * @readonly + */ + get count() { + + return this.data.count; + + } + + /** + * The array holding the interleaved buffer attribute data. + * + * @type {TypedArray} + */ + get array() { + + return this.data.array; + + } + + /** + * Flag to indicate that this attribute has changed and should be re-sent to + * the GPU. Set this to `true` when you modify the value of the array. + * + * @type {number} + * @default false + * @param {boolean} value + */ + set needsUpdate( value ) { + + this.data.needsUpdate = value; + + } + + /** + * Applies the given 4x4 matrix to the given attribute. Only works with + * item size `3`. + * + * @param {Matrix4} m - The matrix to apply. + * @return {InterleavedBufferAttribute} A reference to this instance. + */ + applyMatrix4( m ) { + + for ( let i = 0, l = this.data.count; i < l; i ++ ) { + + _vector$8.fromBufferAttribute( this, i ); + + _vector$8.applyMatrix4( m ); + + this.setXYZ( i, _vector$8.x, _vector$8.y, _vector$8.z ); + + } + + return this; + + } + + /** + * Applies the given 3x3 normal matrix to the given attribute. Only works with + * item size `3`. + * + * @param {Matrix3} m - The normal matrix to apply. + * @return {InterleavedBufferAttribute} A reference to this instance. + */ + applyNormalMatrix( m ) { + + for ( let i = 0, l = this.count; i < l; i ++ ) { + + _vector$8.fromBufferAttribute( this, i ); + + _vector$8.applyNormalMatrix( m ); + + this.setXYZ( i, _vector$8.x, _vector$8.y, _vector$8.z ); + + } + + return this; + + } + + /** + * Applies the given 4x4 matrix to the given attribute. Only works with + * item size `3` and with direction vectors. + * + * @param {Matrix4} m - The matrix to apply. + * @return {InterleavedBufferAttribute} A reference to this instance. + */ + transformDirection( m ) { + + for ( let i = 0, l = this.count; i < l; i ++ ) { + + _vector$8.fromBufferAttribute( this, i ); + + _vector$8.transformDirection( m ); + + this.setXYZ( i, _vector$8.x, _vector$8.y, _vector$8.z ); + + } + + return this; + + } + + /** + * Returns the given component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} component - The component index. + * @return {number} The returned value. + */ + getComponent( index, component ) { + + let value = this.array[ index * this.data.stride + this.offset + component ]; + + if ( this.normalized ) value = denormalize( value, this.array ); + + return value; + + } + + /** + * Sets the given value to the given component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} component - The component index. + * @param {number} value - The value to set. + * @return {InterleavedBufferAttribute} A reference to this instance. + */ + setComponent( index, component, value ) { + + if ( this.normalized ) value = normalize( value, this.array ); + + this.data.array[ index * this.data.stride + this.offset + component ] = value; + + return this; + + } + + /** + * Sets the x component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} x - The value to set. + * @return {InterleavedBufferAttribute} A reference to this instance. + */ + setX( index, x ) { + + if ( this.normalized ) x = normalize( x, this.array ); + + this.data.array[ index * this.data.stride + this.offset ] = x; + + return this; + + } + + /** + * Sets the y component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} y - The value to set. + * @return {InterleavedBufferAttribute} A reference to this instance. + */ + setY( index, y ) { + + if ( this.normalized ) y = normalize( y, this.array ); + + this.data.array[ index * this.data.stride + this.offset + 1 ] = y; + + return this; + + } + + /** + * Sets the z component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} z - The value to set. + * @return {InterleavedBufferAttribute} A reference to this instance. + */ + setZ( index, z ) { + + if ( this.normalized ) z = normalize( z, this.array ); + + this.data.array[ index * this.data.stride + this.offset + 2 ] = z; + + return this; + + } + + /** + * Sets the w component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} w - The value to set. + * @return {InterleavedBufferAttribute} A reference to this instance. + */ + setW( index, w ) { + + if ( this.normalized ) w = normalize( w, this.array ); + + this.data.array[ index * this.data.stride + this.offset + 3 ] = w; + + return this; + + } + + /** + * Returns the x component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @return {number} The x component. + */ + getX( index ) { + + let x = this.data.array[ index * this.data.stride + this.offset ]; + + if ( this.normalized ) x = denormalize( x, this.array ); + + return x; + + } + + /** + * Returns the y component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @return {number} The y component. + */ + getY( index ) { + + let y = this.data.array[ index * this.data.stride + this.offset + 1 ]; + + if ( this.normalized ) y = denormalize( y, this.array ); + + return y; + + } + + /** + * Returns the z component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @return {number} The z component. + */ + getZ( index ) { + + let z = this.data.array[ index * this.data.stride + this.offset + 2 ]; + + if ( this.normalized ) z = denormalize( z, this.array ); + + return z; + + } + + /** + * Returns the w component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @return {number} The w component. + */ + getW( index ) { + + let w = this.data.array[ index * this.data.stride + this.offset + 3 ]; + + if ( this.normalized ) w = denormalize( w, this.array ); + + return w; + + } + + /** + * Sets the x and y component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} x - The value for the x component to set. + * @param {number} y - The value for the y component to set. + * @return {InterleavedBufferAttribute} A reference to this instance. + */ + setXY( index, x, y ) { + + index = index * this.data.stride + this.offset; + + if ( this.normalized ) { + + x = normalize( x, this.array ); + y = normalize( y, this.array ); + + } + + this.data.array[ index + 0 ] = x; + this.data.array[ index + 1 ] = y; + + return this; + + } + + /** + * Sets the x, y and z component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} x - The value for the x component to set. + * @param {number} y - The value for the y component to set. + * @param {number} z - The value for the z component to set. + * @return {InterleavedBufferAttribute} A reference to this instance. + */ + setXYZ( index, x, y, z ) { + + index = index * this.data.stride + this.offset; + + if ( this.normalized ) { + + x = normalize( x, this.array ); + y = normalize( y, this.array ); + z = normalize( z, this.array ); + + } + + this.data.array[ index + 0 ] = x; + this.data.array[ index + 1 ] = y; + this.data.array[ index + 2 ] = z; + + return this; + + } + + /** + * Sets the x, y, z and w component of the vector at the given index. + * + * @param {number} index - The index into the buffer attribute. + * @param {number} x - The value for the x component to set. + * @param {number} y - The value for the y component to set. + * @param {number} z - The value for the z component to set. + * @param {number} w - The value for the w component to set. + * @return {InterleavedBufferAttribute} A reference to this instance. + */ + setXYZW( index, x, y, z, w ) { + + index = index * this.data.stride + this.offset; + + if ( this.normalized ) { + + x = normalize( x, this.array ); + y = normalize( y, this.array ); + z = normalize( z, this.array ); + w = normalize( w, this.array ); + + } + + this.data.array[ index + 0 ] = x; + this.data.array[ index + 1 ] = y; + this.data.array[ index + 2 ] = z; + this.data.array[ index + 3 ] = w; + + return this; + + } + + /** + * Returns a new buffer attribute with copied values from this instance. + * + * If no parameter is provided, cloning an interleaved buffer attribute will de-interleave buffer data. + * + * @param {Object} [data] - An object with interleaved buffers that allows to retain the interleaved property. + * @return {BufferAttribute|InterleavedBufferAttribute} A clone of this instance. + */ + clone( data ) { + + if ( data === undefined ) { + + log( 'InterleavedBufferAttribute.clone(): Cloning an interleaved buffer attribute will de-interleave buffer data.' ); + + const array = []; + + for ( let i = 0; i < this.count; i ++ ) { + + const index = i * this.data.stride + this.offset; + + for ( let j = 0; j < this.itemSize; j ++ ) { + + array.push( this.data.array[ index + j ] ); + + } + + } + + return new BufferAttribute( new this.array.constructor( array ), this.itemSize, this.normalized ); + + } else { + + if ( data.interleavedBuffers === undefined ) { + + data.interleavedBuffers = {}; + + } + + if ( data.interleavedBuffers[ this.data.uuid ] === undefined ) { + + data.interleavedBuffers[ this.data.uuid ] = this.data.clone( data ); + + } + + return new InterleavedBufferAttribute( data.interleavedBuffers[ this.data.uuid ], this.itemSize, this.offset, this.normalized ); + + } + + } + + /** + * Serializes the buffer attribute into JSON. + * + * If no parameter is provided, cloning an interleaved buffer attribute will de-interleave buffer data. + * + * @param {Object} [data] - An optional value holding meta information about the serialization. + * @return {Object} A JSON object representing the serialized buffer attribute. + */ + toJSON( data ) { + + if ( data === undefined ) { + + log( 'InterleavedBufferAttribute.toJSON(): Serializing an interleaved buffer attribute will de-interleave buffer data.' ); + + const array = []; + + for ( let i = 0; i < this.count; i ++ ) { + + const index = i * this.data.stride + this.offset; + + for ( let j = 0; j < this.itemSize; j ++ ) { + + array.push( this.data.array[ index + j ] ); + + } + + } + + // de-interleave data and save it as an ordinary buffer attribute for now + + return { + itemSize: this.itemSize, + type: this.array.constructor.name, + array: array, + normalized: this.normalized + }; + + } else { + + // save as true interleaved attribute + + if ( data.interleavedBuffers === undefined ) { + + data.interleavedBuffers = {}; + + } + + if ( data.interleavedBuffers[ this.data.uuid ] === undefined ) { + + data.interleavedBuffers[ this.data.uuid ] = this.data.toJSON( data ); + + } + + return { + isInterleavedBufferAttribute: true, + itemSize: this.itemSize, + data: this.data.uuid, + offset: this.offset, + normalized: this.normalized + }; + + } + + } + +} + +let _materialId = 0; + +/** + * Abstract base class for materials. + * + * Materials define the appearance of renderable 3D objects. + * + * @abstract + * @augments EventDispatcher + */ +class Material extends EventDispatcher { + + /** + * Constructs a new material. + */ + constructor() { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isMaterial = true; + + /** + * The ID of the material. + * + * @name Material#id + * @type {number} + * @readonly + */ + Object.defineProperty( this, 'id', { value: _materialId ++ } ); + + /** + * The UUID of the material. + * + * @type {string} + * @readonly + */ + this.uuid = generateUUID(); + + /** + * The name of the material. + * + * @type {string} + */ + this.name = ''; + + /** + * The type property is used for detecting the object type + * in context of serialization/deserialization. + * + * @type {string} + * @readonly + */ + this.type = 'Material'; + + /** + * Defines the blending type of the material. + * + * It must be set to `CustomBlending` if custom blending properties like + * {@link Material#blendSrc}, {@link Material#blendDst} or {@link Material#blendEquation} + * should have any effect. + * + * @type {(NoBlending|NormalBlending|AdditiveBlending|SubtractiveBlending|MultiplyBlending|CustomBlending)} + * @default NormalBlending + */ + this.blending = NormalBlending; + + /** + * Defines which side of faces will be rendered - front, back or both. + * + * @type {(FrontSide|BackSide|DoubleSide)} + * @default FrontSide + */ + this.side = FrontSide; + + /** + * If set to `true`, vertex colors should be used. + * + * The engine supports RGB and RGBA vertex colors depending on whether a three (RGB) or + * four (RGBA) component color buffer attribute is used. + * + * @type {boolean} + * @default false + */ + this.vertexColors = false; + + /** + * Defines how transparent the material is. + * A value of `0.0` indicates fully transparent, `1.0` is fully opaque. + * + * If the {@link Material#transparent} is not set to `true`, + * the material will remain fully opaque and this value will only affect its color. + * + * @type {number} + * @default 1 + */ + this.opacity = 1; + + /** + * Defines whether this material is transparent. This has an effect on + * rendering as transparent objects need special treatment and are rendered + * after non-transparent objects. + * + * When set to true, the extent to which the material is transparent is + * controlled by {@link Material#opacity}. + * + * @type {boolean} + * @default false + */ + this.transparent = false; + + /** + * Enables alpha hashed transparency, an alternative to {@link Material#transparent} or + * {@link Material#alphaTest}. The material will not be rendered if opacity is lower than + * a random threshold. Randomization introduces some grain or noise, but approximates alpha + * blending without the associated problems of sorting. Using TAA can reduce the resulting noise. + * + * @type {boolean} + * @default false + */ + this.alphaHash = false; + + /** + * Defines the blending source factor. + * + * @type {(ZeroFactor|OneFactor|SrcColorFactor|OneMinusSrcColorFactor|SrcAlphaFactor|OneMinusSrcAlphaFactor|DstAlphaFactor|OneMinusDstAlphaFactor|DstColorFactor|OneMinusDstColorFactor|SrcAlphaSaturateFactor|ConstantColorFactor|OneMinusConstantColorFactor|ConstantAlphaFactor|OneMinusConstantAlphaFactor)} + * @default SrcAlphaFactor + */ + this.blendSrc = SrcAlphaFactor; + + /** + * Defines the blending destination factor. + * + * @type {(ZeroFactor|OneFactor|SrcColorFactor|OneMinusSrcColorFactor|SrcAlphaFactor|OneMinusSrcAlphaFactor|DstAlphaFactor|OneMinusDstAlphaFactor|DstColorFactor|OneMinusDstColorFactor|SrcAlphaSaturateFactor|ConstantColorFactor|OneMinusConstantColorFactor|ConstantAlphaFactor|OneMinusConstantAlphaFactor)} + * @default OneMinusSrcAlphaFactor + */ + this.blendDst = OneMinusSrcAlphaFactor; + + /** + * Defines the blending equation. + * + * @type {(AddEquation|SubtractEquation|ReverseSubtractEquation|MinEquation|MaxEquation)} + * @default AddEquation + */ + this.blendEquation = AddEquation; + + /** + * Defines the blending source alpha factor. + * + * @type {?(ZeroFactor|OneFactor|SrcColorFactor|OneMinusSrcColorFactor|SrcAlphaFactor|OneMinusSrcAlphaFactor|DstAlphaFactor|OneMinusDstAlphaFactor|DstColorFactor|OneMinusDstColorFactor|SrcAlphaSaturateFactor|ConstantColorFactor|OneMinusConstantColorFactor|ConstantAlphaFactor|OneMinusConstantAlphaFactor)} + * @default null + */ + this.blendSrcAlpha = null; + + /** + * Defines the blending destination alpha factor. + * + * @type {?(ZeroFactor|OneFactor|SrcColorFactor|OneMinusSrcColorFactor|SrcAlphaFactor|OneMinusSrcAlphaFactor|DstAlphaFactor|OneMinusDstAlphaFactor|DstColorFactor|OneMinusDstColorFactor|SrcAlphaSaturateFactor|ConstantColorFactor|OneMinusConstantColorFactor|ConstantAlphaFactor|OneMinusConstantAlphaFactor)} + * @default null + */ + this.blendDstAlpha = null; + + /** + * Defines the blending equation of the alpha channel. + * + * @type {?(AddEquation|SubtractEquation|ReverseSubtractEquation|MinEquation|MaxEquation)} + * @default null + */ + this.blendEquationAlpha = null; + + /** + * Represents the RGB values of the constant blend color. + * + * This property has only an effect when using custom blending with `ConstantColor` or `OneMinusConstantColor`. + * + * @type {Color} + * @default (0,0,0) + */ + this.blendColor = new Color( 0, 0, 0 ); + + /** + * Represents the alpha value of the constant blend color. + * + * This property has only an effect when using custom blending with `ConstantAlpha` or `OneMinusConstantAlpha`. + * + * @type {number} + * @default 0 + */ + this.blendAlpha = 0; + + /** + * Defines the depth function. + * + * @type {(NeverDepth|AlwaysDepth|LessDepth|LessEqualDepth|EqualDepth|GreaterEqualDepth|GreaterDepth|NotEqualDepth)} + * @default LessEqualDepth + */ + this.depthFunc = LessEqualDepth; + + /** + * Whether to have depth test enabled when rendering this material. + * When the depth test is disabled, the depth write will also be implicitly disabled. + * + * @type {boolean} + * @default true + */ + this.depthTest = true; + + /** + * Whether rendering this material has any effect on the depth buffer. + * + * When drawing 2D overlays it can be useful to disable the depth writing in + * order to layer several things together without creating z-index artifacts. + * + * @type {boolean} + * @default true + */ + this.depthWrite = true; + + /** + * The bit mask to use when writing to the stencil buffer. + * + * @type {number} + * @default 0xff + */ + this.stencilWriteMask = 0xff; + + /** + * The stencil comparison function to use. + * + * @type {NeverStencilFunc|LessStencilFunc|EqualStencilFunc|LessEqualStencilFunc|GreaterStencilFunc|NotEqualStencilFunc|GreaterEqualStencilFunc|AlwaysStencilFunc} + * @default AlwaysStencilFunc + */ + this.stencilFunc = AlwaysStencilFunc; + + /** + * The value to use when performing stencil comparisons or stencil operations. + * + * @type {number} + * @default 0 + */ + this.stencilRef = 0; + + /** + * The bit mask to use when comparing against the stencil buffer. + * + * @type {number} + * @default 0xff + */ + this.stencilFuncMask = 0xff; + + /** + * Which stencil operation to perform when the comparison function returns `false`. + * + * @type {ZeroStencilOp|KeepStencilOp|ReplaceStencilOp|IncrementStencilOp|DecrementStencilOp|IncrementWrapStencilOp|DecrementWrapStencilOp|InvertStencilOp} + * @default KeepStencilOp + */ + this.stencilFail = KeepStencilOp; + + /** + * Which stencil operation to perform when the comparison function returns + * `true` but the depth test fails. + * + * @type {ZeroStencilOp|KeepStencilOp|ReplaceStencilOp|IncrementStencilOp|DecrementStencilOp|IncrementWrapStencilOp|DecrementWrapStencilOp|InvertStencilOp} + * @default KeepStencilOp + */ + this.stencilZFail = KeepStencilOp; + + /** + * Which stencil operation to perform when the comparison function returns + * `true` and the depth test passes. + * + * @type {ZeroStencilOp|KeepStencilOp|ReplaceStencilOp|IncrementStencilOp|DecrementStencilOp|IncrementWrapStencilOp|DecrementWrapStencilOp|InvertStencilOp} + * @default KeepStencilOp + */ + this.stencilZPass = KeepStencilOp; + + /** + * Whether stencil operations are performed against the stencil buffer. In + * order to perform writes or comparisons against the stencil buffer this + * value must be `true`. + * + * @type {boolean} + * @default false + */ + this.stencilWrite = false; + + /** + * User-defined clipping planes specified as THREE.Plane objects in world + * space. These planes apply to the objects this material is attached to. + * Points in space whose signed distance to the plane is negative are clipped + * (not rendered). This requires {@link WebGLRenderer#localClippingEnabled} to + * be `true`. + * + * @type {?Array} + * @default null + */ + this.clippingPlanes = null; + + /** + * Changes the behavior of clipping planes so that only their intersection is + * clipped, rather than their union. + * + * @type {boolean} + * @default false + */ + this.clipIntersection = false; + + /** + * Defines whether to clip shadows according to the clipping planes specified + * on this material. + * + * @type {boolean} + * @default false + */ + this.clipShadows = false; + + /** + * Defines which side of faces cast shadows. If `null`, the side casting shadows + * is determined as follows: + * + * - When {@link Material#side} is set to `FrontSide`, the back side cast shadows. + * - When {@link Material#side} is set to `BackSide`, the front side cast shadows. + * - When {@link Material#side} is set to `DoubleSide`, both sides cast shadows. + * + * @type {?(FrontSide|BackSide|DoubleSide)} + * @default null + */ + this.shadowSide = null; + + /** + * Whether to render the material's color. + * + * This can be used in conjunction with {@link Object3D#renderOder} to create invisible + * objects that occlude other objects. + * + * @type {boolean} + * @default true + */ + this.colorWrite = true; + + /** + * Override the renderer's default precision for this material. + * + * @type {?('highp'|'mediump'|'lowp')} + * @default null + */ + this.precision = null; + + /** + * Whether to use polygon offset or not. When enabled, each fragment's depth value will + * be offset after it is interpolated from the depth values of the appropriate vertices. + * The offset is added before the depth test is performed and before the value is written + * into the depth buffer. + * + * Can be useful for rendering hidden-line images, for applying decals to surfaces, and for + * rendering solids with highlighted edges. + * + * @type {boolean} + * @default false + */ + this.polygonOffset = false; + + /** + * Specifies a scale factor that is used to create a variable depth offset for each polygon. + * + * @type {number} + * @default 0 + */ + this.polygonOffsetFactor = 0; + + /** + * Is multiplied by an implementation-specific value to create a constant depth offset. + * + * @type {number} + * @default 0 + */ + this.polygonOffsetUnits = 0; + + /** + * Whether to apply dithering to the color to remove the appearance of banding. + * + * @type {boolean} + * @default false + */ + this.dithering = false; + + /** + * Whether alpha to coverage should be enabled or not. Can only be used with MSAA-enabled contexts + * (meaning when the renderer was created with *antialias* parameter set to `true`). Enabling this + * will smooth aliasing on clip plane edges and alphaTest-clipped edges. + * + * @type {boolean} + * @default false + */ + this.alphaToCoverage = false; + + /** + * Whether to premultiply the alpha (transparency) value. + * + * @type {boolean} + * @default false + */ + this.premultipliedAlpha = false; + + /** + * Whether double-sided, transparent objects should be rendered with a single pass or not. + * + * The engine renders double-sided, transparent objects with two draw calls (back faces first, + * then front faces) to mitigate transparency artifacts. There are scenarios however where this + * approach produces no quality gains but still doubles draw calls e.g. when rendering flat + * vegetation like grass sprites. In these cases, set the `forceSinglePass` flag to `true` to + * disable the two pass rendering to avoid performance issues. + * + * @type {boolean} + * @default false + */ + this.forceSinglePass = false; + + /** + * Whether it's possible to override the material with {@link Scene#overrideMaterial} or not. + * + * @type {boolean} + * @default true + */ + this.allowOverride = true; + + /** + * Defines whether 3D objects using this material are visible. + * + * @type {boolean} + * @default true + */ + this.visible = true; + + /** + * Defines whether this material is tone mapped according to the renderer's tone mapping setting. + * + * It is ignored when rendering to a render target or using post processing or when using + * `WebGPURenderer`. In all these cases, all materials are honored by tone mapping. + * + * @type {boolean} + * @default true + */ + this.toneMapped = true; + + /** + * An object that can be used to store custom data about the Material. It + * should not hold references to functions as these will not be cloned. + * + * @type {Object} + */ + this.userData = {}; + + /** + * This starts at `0` and counts how many times {@link Material#needsUpdate} is set to `true`. + * + * @type {number} + * @readonly + * @default 0 + */ + this.version = 0; + + this._alphaTest = 0; + + } + + /** + * Sets the alpha value to be used when running an alpha test. The material + * will not be rendered if the opacity is lower than this value. + * + * @type {number} + * @readonly + * @default 0 + */ + get alphaTest() { + + return this._alphaTest; + + } + + set alphaTest( value ) { + + if ( this._alphaTest > 0 !== value > 0 ) { + + this.version ++; + + } + + this._alphaTest = value; + + } + + /** + * An optional callback that is executed immediately before the material is used to render a 3D object. + * + * This method can only be used when rendering with {@link WebGLRenderer}. + * + * @param {WebGLRenderer} renderer - The renderer. + * @param {Scene} scene - The scene. + * @param {Camera} camera - The camera that is used to render the scene. + * @param {BufferGeometry} geometry - The 3D object's geometry. + * @param {Object3D} object - The 3D object. + * @param {Object} group - The geometry group data. + */ + onBeforeRender( /* renderer, scene, camera, geometry, object, group */ ) {} + + /** + * An optional callback that is executed immediately before the shader + * program is compiled. This function is called with the shader source code + * as a parameter. Useful for the modification of built-in materials. + * + * This method can only be used when rendering with {@link WebGLRenderer}. The + * recommended approach when customizing materials is to use `WebGPURenderer` with the new + * Node Material system and [TSL](https://github.com/mrdoob/three.js/wiki/Three.js-Shading-Language). + * + * @param {{vertexShader:string,fragmentShader:string,uniforms:Object}} shaderobject - The object holds the uniforms and the vertex and fragment shader source. + * @param {WebGLRenderer} renderer - A reference to the renderer. + */ + onBeforeCompile( /* shaderobject, renderer */ ) {} + + /** + * In case {@link Material#onBeforeCompile} is used, this callback can be used to identify + * values of settings used in `onBeforeCompile()`, so three.js can reuse a cached + * shader or recompile the shader for this material as needed. + * + * This method can only be used when rendering with {@link WebGLRenderer}. + * + * @return {string} The custom program cache key. + */ + customProgramCacheKey() { + + return this.onBeforeCompile.toString(); + + } + + /** + * This method can be used to set default values from parameter objects. + * It is a generic implementation so it can be used with different types + * of materials. + * + * @param {Object} [values] - The material values to set. + */ + setValues( values ) { + + if ( values === undefined ) return; + + for ( const key in values ) { + + const newValue = values[ key ]; + + if ( newValue === undefined ) { + + warn( `Material: parameter '${ key }' has value of undefined.` ); + continue; + + } + + const currentValue = this[ key ]; + + if ( currentValue === undefined ) { + + warn( `Material: '${ key }' is not a property of THREE.${ this.type }.` ); + continue; + + } + + if ( currentValue && currentValue.isColor ) { + + currentValue.set( newValue ); + + } else if ( ( currentValue && currentValue.isVector3 ) && ( newValue && newValue.isVector3 ) ) { + + currentValue.copy( newValue ); + + } else { + + this[ key ] = newValue; + + } + + } + + } + + /** + * Serializes the material into JSON. + * + * @param {?(Object|string)} meta - An optional value holding meta information about the serialization. + * @return {Object} A JSON object representing the serialized material. + * @see {@link ObjectLoader#parse} + */ + toJSON( meta ) { + + const isRootObject = ( meta === undefined || typeof meta === 'string' ); + + if ( isRootObject ) { + + meta = { + textures: {}, + images: {} + }; + + } + + const data = { + metadata: { + version: 4.7, + type: 'Material', + generator: 'Material.toJSON' + } + }; + + // standard Material serialization + data.uuid = this.uuid; + data.type = this.type; + + if ( this.name !== '' ) data.name = this.name; + + if ( this.color && this.color.isColor ) data.color = this.color.getHex(); + + if ( this.roughness !== undefined ) data.roughness = this.roughness; + if ( this.metalness !== undefined ) data.metalness = this.metalness; + + if ( this.sheen !== undefined ) data.sheen = this.sheen; + if ( this.sheenColor && this.sheenColor.isColor ) data.sheenColor = this.sheenColor.getHex(); + if ( this.sheenRoughness !== undefined ) data.sheenRoughness = this.sheenRoughness; + if ( this.emissive && this.emissive.isColor ) data.emissive = this.emissive.getHex(); + if ( this.emissiveIntensity !== undefined && this.emissiveIntensity !== 1 ) data.emissiveIntensity = this.emissiveIntensity; + + if ( this.specular && this.specular.isColor ) data.specular = this.specular.getHex(); + if ( this.specularIntensity !== undefined ) data.specularIntensity = this.specularIntensity; + if ( this.specularColor && this.specularColor.isColor ) data.specularColor = this.specularColor.getHex(); + if ( this.shininess !== undefined ) data.shininess = this.shininess; + if ( this.clearcoat !== undefined ) data.clearcoat = this.clearcoat; + if ( this.clearcoatRoughness !== undefined ) data.clearcoatRoughness = this.clearcoatRoughness; + + if ( this.clearcoatMap && this.clearcoatMap.isTexture ) { + + data.clearcoatMap = this.clearcoatMap.toJSON( meta ).uuid; + + } + + if ( this.clearcoatRoughnessMap && this.clearcoatRoughnessMap.isTexture ) { + + data.clearcoatRoughnessMap = this.clearcoatRoughnessMap.toJSON( meta ).uuid; + + } + + if ( this.clearcoatNormalMap && this.clearcoatNormalMap.isTexture ) { + + data.clearcoatNormalMap = this.clearcoatNormalMap.toJSON( meta ).uuid; + data.clearcoatNormalScale = this.clearcoatNormalScale.toArray(); + + } + + if ( this.sheenColorMap && this.sheenColorMap.isTexture ) { + + data.sheenColorMap = this.sheenColorMap.toJSON( meta ).uuid; + + } + + if ( this.sheenRoughnessMap && this.sheenRoughnessMap.isTexture ) { + + data.sheenRoughnessMap = this.sheenRoughnessMap.toJSON( meta ).uuid; + + } + + if ( this.dispersion !== undefined ) data.dispersion = this.dispersion; + + if ( this.iridescence !== undefined ) data.iridescence = this.iridescence; + if ( this.iridescenceIOR !== undefined ) data.iridescenceIOR = this.iridescenceIOR; + if ( this.iridescenceThicknessRange !== undefined ) data.iridescenceThicknessRange = this.iridescenceThicknessRange; + + if ( this.iridescenceMap && this.iridescenceMap.isTexture ) { + + data.iridescenceMap = this.iridescenceMap.toJSON( meta ).uuid; + + } + + if ( this.iridescenceThicknessMap && this.iridescenceThicknessMap.isTexture ) { + + data.iridescenceThicknessMap = this.iridescenceThicknessMap.toJSON( meta ).uuid; + + } + + if ( this.anisotropy !== undefined ) data.anisotropy = this.anisotropy; + if ( this.anisotropyRotation !== undefined ) data.anisotropyRotation = this.anisotropyRotation; + + if ( this.anisotropyMap && this.anisotropyMap.isTexture ) { + + data.anisotropyMap = this.anisotropyMap.toJSON( meta ).uuid; + + } + + if ( this.map && this.map.isTexture ) data.map = this.map.toJSON( meta ).uuid; + if ( this.matcap && this.matcap.isTexture ) data.matcap = this.matcap.toJSON( meta ).uuid; + if ( this.alphaMap && this.alphaMap.isTexture ) data.alphaMap = this.alphaMap.toJSON( meta ).uuid; + + if ( this.lightMap && this.lightMap.isTexture ) { + + data.lightMap = this.lightMap.toJSON( meta ).uuid; + data.lightMapIntensity = this.lightMapIntensity; + + } + + if ( this.aoMap && this.aoMap.isTexture ) { + + data.aoMap = this.aoMap.toJSON( meta ).uuid; + data.aoMapIntensity = this.aoMapIntensity; + + } + + if ( this.bumpMap && this.bumpMap.isTexture ) { + + data.bumpMap = this.bumpMap.toJSON( meta ).uuid; + data.bumpScale = this.bumpScale; + + } + + if ( this.normalMap && this.normalMap.isTexture ) { + + data.normalMap = this.normalMap.toJSON( meta ).uuid; + data.normalMapType = this.normalMapType; + data.normalScale = this.normalScale.toArray(); + + } + + if ( this.displacementMap && this.displacementMap.isTexture ) { + + data.displacementMap = this.displacementMap.toJSON( meta ).uuid; + data.displacementScale = this.displacementScale; + data.displacementBias = this.displacementBias; + + } + + if ( this.roughnessMap && this.roughnessMap.isTexture ) data.roughnessMap = this.roughnessMap.toJSON( meta ).uuid; + if ( this.metalnessMap && this.metalnessMap.isTexture ) data.metalnessMap = this.metalnessMap.toJSON( meta ).uuid; + + if ( this.emissiveMap && this.emissiveMap.isTexture ) data.emissiveMap = this.emissiveMap.toJSON( meta ).uuid; + if ( this.specularMap && this.specularMap.isTexture ) data.specularMap = this.specularMap.toJSON( meta ).uuid; + if ( this.specularIntensityMap && this.specularIntensityMap.isTexture ) data.specularIntensityMap = this.specularIntensityMap.toJSON( meta ).uuid; + if ( this.specularColorMap && this.specularColorMap.isTexture ) data.specularColorMap = this.specularColorMap.toJSON( meta ).uuid; + + if ( this.envMap && this.envMap.isTexture ) { + + data.envMap = this.envMap.toJSON( meta ).uuid; + + if ( this.combine !== undefined ) data.combine = this.combine; + + } + + if ( this.envMapRotation !== undefined ) data.envMapRotation = this.envMapRotation.toArray(); + if ( this.envMapIntensity !== undefined ) data.envMapIntensity = this.envMapIntensity; + if ( this.reflectivity !== undefined ) data.reflectivity = this.reflectivity; + if ( this.refractionRatio !== undefined ) data.refractionRatio = this.refractionRatio; + + if ( this.gradientMap && this.gradientMap.isTexture ) { + + data.gradientMap = this.gradientMap.toJSON( meta ).uuid; + + } + + if ( this.transmission !== undefined ) data.transmission = this.transmission; + if ( this.transmissionMap && this.transmissionMap.isTexture ) data.transmissionMap = this.transmissionMap.toJSON( meta ).uuid; + if ( this.thickness !== undefined ) data.thickness = this.thickness; + if ( this.thicknessMap && this.thicknessMap.isTexture ) data.thicknessMap = this.thicknessMap.toJSON( meta ).uuid; + if ( this.attenuationDistance !== undefined && this.attenuationDistance !== Infinity ) data.attenuationDistance = this.attenuationDistance; + if ( this.attenuationColor !== undefined ) data.attenuationColor = this.attenuationColor.getHex(); + + if ( this.size !== undefined ) data.size = this.size; + if ( this.shadowSide !== null ) data.shadowSide = this.shadowSide; + if ( this.sizeAttenuation !== undefined ) data.sizeAttenuation = this.sizeAttenuation; + + if ( this.blending !== NormalBlending ) data.blending = this.blending; + if ( this.side !== FrontSide ) data.side = this.side; + if ( this.vertexColors === true ) data.vertexColors = true; + + if ( this.opacity < 1 ) data.opacity = this.opacity; + if ( this.transparent === true ) data.transparent = true; + + if ( this.blendSrc !== SrcAlphaFactor ) data.blendSrc = this.blendSrc; + if ( this.blendDst !== OneMinusSrcAlphaFactor ) data.blendDst = this.blendDst; + if ( this.blendEquation !== AddEquation ) data.blendEquation = this.blendEquation; + if ( this.blendSrcAlpha !== null ) data.blendSrcAlpha = this.blendSrcAlpha; + if ( this.blendDstAlpha !== null ) data.blendDstAlpha = this.blendDstAlpha; + if ( this.blendEquationAlpha !== null ) data.blendEquationAlpha = this.blendEquationAlpha; + if ( this.blendColor && this.blendColor.isColor ) data.blendColor = this.blendColor.getHex(); + if ( this.blendAlpha !== 0 ) data.blendAlpha = this.blendAlpha; + + if ( this.depthFunc !== LessEqualDepth ) data.depthFunc = this.depthFunc; + if ( this.depthTest === false ) data.depthTest = this.depthTest; + if ( this.depthWrite === false ) data.depthWrite = this.depthWrite; + if ( this.colorWrite === false ) data.colorWrite = this.colorWrite; + + if ( this.stencilWriteMask !== 0xff ) data.stencilWriteMask = this.stencilWriteMask; + if ( this.stencilFunc !== AlwaysStencilFunc ) data.stencilFunc = this.stencilFunc; + if ( this.stencilRef !== 0 ) data.stencilRef = this.stencilRef; + if ( this.stencilFuncMask !== 0xff ) data.stencilFuncMask = this.stencilFuncMask; + if ( this.stencilFail !== KeepStencilOp ) data.stencilFail = this.stencilFail; + if ( this.stencilZFail !== KeepStencilOp ) data.stencilZFail = this.stencilZFail; + if ( this.stencilZPass !== KeepStencilOp ) data.stencilZPass = this.stencilZPass; + if ( this.stencilWrite === true ) data.stencilWrite = this.stencilWrite; + + // rotation (SpriteMaterial) + if ( this.rotation !== undefined && this.rotation !== 0 ) data.rotation = this.rotation; + + if ( this.polygonOffset === true ) data.polygonOffset = true; + if ( this.polygonOffsetFactor !== 0 ) data.polygonOffsetFactor = this.polygonOffsetFactor; + if ( this.polygonOffsetUnits !== 0 ) data.polygonOffsetUnits = this.polygonOffsetUnits; + + if ( this.linewidth !== undefined && this.linewidth !== 1 ) data.linewidth = this.linewidth; + if ( this.dashSize !== undefined ) data.dashSize = this.dashSize; + if ( this.gapSize !== undefined ) data.gapSize = this.gapSize; + if ( this.scale !== undefined ) data.scale = this.scale; + + if ( this.dithering === true ) data.dithering = true; + + if ( this.alphaTest > 0 ) data.alphaTest = this.alphaTest; + if ( this.alphaHash === true ) data.alphaHash = true; + if ( this.alphaToCoverage === true ) data.alphaToCoverage = true; + if ( this.premultipliedAlpha === true ) data.premultipliedAlpha = true; + if ( this.forceSinglePass === true ) data.forceSinglePass = true; + if ( this.allowOverride === false ) data.allowOverride = false; + + if ( this.wireframe === true ) data.wireframe = true; + if ( this.wireframeLinewidth > 1 ) data.wireframeLinewidth = this.wireframeLinewidth; + if ( this.wireframeLinecap !== 'round' ) data.wireframeLinecap = this.wireframeLinecap; + if ( this.wireframeLinejoin !== 'round' ) data.wireframeLinejoin = this.wireframeLinejoin; + + if ( this.flatShading === true ) data.flatShading = true; + + if ( this.visible === false ) data.visible = false; + + if ( this.toneMapped === false ) data.toneMapped = false; + + if ( this.fog === false ) data.fog = false; + + if ( Object.keys( this.userData ).length > 0 ) data.userData = this.userData; + + // TODO: Copied from Object3D.toJSON + + function extractFromCache( cache ) { + + const values = []; + + for ( const key in cache ) { + + const data = cache[ key ]; + delete data.metadata; + values.push( data ); + + } + + return values; + + } + + if ( isRootObject ) { + + const textures = extractFromCache( meta.textures ); + const images = extractFromCache( meta.images ); + + if ( textures.length > 0 ) data.textures = textures; + if ( images.length > 0 ) data.images = images; + + } + + return data; + + } + + /** + * Returns a new material with copied values from this instance. + * + * @return {Material} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + + /** + * Copies the values of the given material to this instance. + * + * @param {Material} source - The material to copy. + * @return {Material} A reference to this instance. + */ + copy( source ) { + + this.name = source.name; + + this.blending = source.blending; + this.side = source.side; + this.vertexColors = source.vertexColors; + + this.opacity = source.opacity; + this.transparent = source.transparent; + + this.blendSrc = source.blendSrc; + this.blendDst = source.blendDst; + this.blendEquation = source.blendEquation; + this.blendSrcAlpha = source.blendSrcAlpha; + this.blendDstAlpha = source.blendDstAlpha; + this.blendEquationAlpha = source.blendEquationAlpha; + this.blendColor.copy( source.blendColor ); + this.blendAlpha = source.blendAlpha; + + this.depthFunc = source.depthFunc; + this.depthTest = source.depthTest; + this.depthWrite = source.depthWrite; + + this.stencilWriteMask = source.stencilWriteMask; + this.stencilFunc = source.stencilFunc; + this.stencilRef = source.stencilRef; + this.stencilFuncMask = source.stencilFuncMask; + this.stencilFail = source.stencilFail; + this.stencilZFail = source.stencilZFail; + this.stencilZPass = source.stencilZPass; + this.stencilWrite = source.stencilWrite; + + const srcPlanes = source.clippingPlanes; + let dstPlanes = null; + + if ( srcPlanes !== null ) { + + const n = srcPlanes.length; + dstPlanes = new Array( n ); + + for ( let i = 0; i !== n; ++ i ) { + + dstPlanes[ i ] = srcPlanes[ i ].clone(); + + } + + } + + this.clippingPlanes = dstPlanes; + this.clipIntersection = source.clipIntersection; + this.clipShadows = source.clipShadows; + + this.shadowSide = source.shadowSide; + + this.colorWrite = source.colorWrite; + + this.precision = source.precision; + + this.polygonOffset = source.polygonOffset; + this.polygonOffsetFactor = source.polygonOffsetFactor; + this.polygonOffsetUnits = source.polygonOffsetUnits; + + this.dithering = source.dithering; + + this.alphaTest = source.alphaTest; + this.alphaHash = source.alphaHash; + this.alphaToCoverage = source.alphaToCoverage; + this.premultipliedAlpha = source.premultipliedAlpha; + this.forceSinglePass = source.forceSinglePass; + this.allowOverride = source.allowOverride; + + this.visible = source.visible; + + this.toneMapped = source.toneMapped; + + this.userData = JSON.parse( JSON.stringify( source.userData ) ); + + return this; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + * + * @fires Material#dispose + */ + dispose() { + + /** + * Fires when the material has been disposed of. + * + * @event Material#dispose + * @type {Object} + */ + this.dispatchEvent( { type: 'dispose' } ); + + } + + /** + * Setting this property to `true` indicates the engine the material + * needs to be recompiled. + * + * @type {boolean} + * @default false + * @param {boolean} value + */ + set needsUpdate( value ) { + + if ( value === true ) this.version ++; + + } + +} + +/** + * A material for rendering instances of {@link Sprite}. + * + * ```js + * const map = new THREE.TextureLoader().load( 'textures/sprite.png' ); + * const material = new THREE.SpriteMaterial( { map: map, color: 0xffffff } ); + * + * const sprite = new THREE.Sprite( material ); + * sprite.scale.set(200, 200, 1) + * scene.add( sprite ); + * ``` + * + * @augments Material + */ +class SpriteMaterial extends Material { + + /** + * Constructs a new sprite material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isSpriteMaterial = true; + + this.type = 'SpriteMaterial'; + + /** + * Color of the material. + * + * @type {Color} + * @default (1,1,1) + */ + this.color = new Color( 0xffffff ); + + /** + * The color map. May optionally include an alpha channel, typically combined + * with {@link Material#transparent} or {@link Material#alphaTest}. The texture map + * color is modulated by the diffuse `color`. + * + * @type {?Texture} + * @default null + */ + this.map = null; + + /** + * The alpha map is a grayscale texture that controls the opacity across the + * surface (black: fully transparent; white: fully opaque). + * + * Only the color of the texture is used, ignoring the alpha channel if one + * exists. For RGB and RGBA textures, the renderer will use the green channel + * when sampling this texture due to the extra bit of precision provided for + * green in DXT-compressed and uncompressed RGB 565 formats. Luminance-only and + * luminance/alpha textures will also still work as expected. + * + * @type {?Texture} + * @default null + */ + this.alphaMap = null; + + /** + * The rotation of the sprite in radians. + * + * @type {number} + * @default 0 + */ + this.rotation = 0; + + /** + * Specifies whether size of the sprite is attenuated by the camera depth (perspective camera only). + * + * @type {boolean} + * @default true + */ + this.sizeAttenuation = true; + + /** + * Overwritten since sprite materials are transparent + * by default. + * + * @type {boolean} + * @default true + */ + this.transparent = true; + + /** + * Whether the material is affected by fog or not. + * + * @type {boolean} + * @default true + */ + this.fog = true; + + this.setValues( parameters ); + + } + + copy( source ) { + + super.copy( source ); + + this.color.copy( source.color ); + + this.map = source.map; + + this.alphaMap = source.alphaMap; + + this.rotation = source.rotation; + + this.sizeAttenuation = source.sizeAttenuation; + + this.fog = source.fog; + + return this; + + } + +} + +let _geometry; + +const _intersectPoint = /*@__PURE__*/ new Vector3(); +const _worldScale = /*@__PURE__*/ new Vector3(); +const _mvPosition = /*@__PURE__*/ new Vector3(); + +const _alignedPosition = /*@__PURE__*/ new Vector2(); +const _rotatedPosition = /*@__PURE__*/ new Vector2(); +const _viewWorldMatrix = /*@__PURE__*/ new Matrix4(); + +const _vA$1 = /*@__PURE__*/ new Vector3(); +const _vB$1 = /*@__PURE__*/ new Vector3(); +const _vC$1 = /*@__PURE__*/ new Vector3(); + +const _uvA = /*@__PURE__*/ new Vector2(); +const _uvB = /*@__PURE__*/ new Vector2(); +const _uvC = /*@__PURE__*/ new Vector2(); + +/** + * A sprite is a plane that always faces towards the camera, generally with a + * partially transparent texture applied. + * + * Sprites do not cast shadows, setting {@link Object3D#castShadow} to `true` will + * have no effect. + * + * ```js + * const map = new THREE.TextureLoader().load( 'sprite.png' ); + * const material = new THREE.SpriteMaterial( { map: map } ); + * + * const sprite = new THREE.Sprite( material ); + * scene.add( sprite ); + * ``` + * + * @augments Object3D + */ +class Sprite extends Object3D { + + /** + * Constructs a new sprite. + * + * @param {(SpriteMaterial|SpriteNodeMaterial)} [material] - The sprite material. + */ + constructor( material = new SpriteMaterial() ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isSprite = true; + + this.type = 'Sprite'; + + if ( _geometry === undefined ) { + + _geometry = new BufferGeometry(); + + const float32Array = new Float32Array( [ + -0.5, -0.5, 0, 0, 0, + 0.5, -0.5, 0, 1, 0, + 0.5, 0.5, 0, 1, 1, + -0.5, 0.5, 0, 0, 1 + ] ); + + const interleavedBuffer = new InterleavedBuffer( float32Array, 5 ); + + _geometry.setIndex( [ 0, 1, 2, 0, 2, 3 ] ); + _geometry.setAttribute( 'position', new InterleavedBufferAttribute( interleavedBuffer, 3, 0, false ) ); + _geometry.setAttribute( 'uv', new InterleavedBufferAttribute( interleavedBuffer, 2, 3, false ) ); + + } + + /** + * The sprite geometry. + * + * @type {BufferGeometry} + */ + this.geometry = _geometry; + + /** + * The sprite material. + * + * @type {(SpriteMaterial|SpriteNodeMaterial)} + */ + this.material = material; + + /** + * The sprite's anchor point, and the point around which the sprite rotates. + * A value of `(0.5, 0.5)` corresponds to the midpoint of the sprite. A value + * of `(0, 0)` corresponds to the lower left corner of the sprite. + * + * @type {Vector2} + * @default (0.5,0.5) + */ + this.center = new Vector2( 0.5, 0.5 ); + + /** + * The number of instances of this sprite. + * Can only be used with {@link WebGPURenderer}. + * + * @type {number} + * @default 1 + */ + this.count = 1; + + } + + /** + * Computes intersection points between a casted ray and this sprite. + * + * @param {Raycaster} raycaster - The raycaster. + * @param {Array} intersects - The target array that holds the intersection points. + */ + raycast( raycaster, intersects ) { + + if ( raycaster.camera === null ) { + + error( 'Sprite: "Raycaster.camera" needs to be set in order to raycast against sprites.' ); + + } + + _worldScale.setFromMatrixScale( this.matrixWorld ); + + _viewWorldMatrix.copy( raycaster.camera.matrixWorld ); + this.modelViewMatrix.multiplyMatrices( raycaster.camera.matrixWorldInverse, this.matrixWorld ); + + _mvPosition.setFromMatrixPosition( this.modelViewMatrix ); + + if ( raycaster.camera.isPerspectiveCamera && this.material.sizeAttenuation === false ) { + + _worldScale.multiplyScalar( - _mvPosition.z ); + + } + + const rotation = this.material.rotation; + let sin, cos; + + if ( rotation !== 0 ) { + + cos = Math.cos( rotation ); + sin = Math.sin( rotation ); + + } + + const center = this.center; + + transformVertex( _vA$1.set( -0.5, -0.5, 0 ), _mvPosition, center, _worldScale, sin, cos ); + transformVertex( _vB$1.set( 0.5, -0.5, 0 ), _mvPosition, center, _worldScale, sin, cos ); + transformVertex( _vC$1.set( 0.5, 0.5, 0 ), _mvPosition, center, _worldScale, sin, cos ); + + _uvA.set( 0, 0 ); + _uvB.set( 1, 0 ); + _uvC.set( 1, 1 ); + + // check first triangle + let intersect = raycaster.ray.intersectTriangle( _vA$1, _vB$1, _vC$1, false, _intersectPoint ); + + if ( intersect === null ) { + + // check second triangle + transformVertex( _vB$1.set( -0.5, 0.5, 0 ), _mvPosition, center, _worldScale, sin, cos ); + _uvB.set( 0, 1 ); + + intersect = raycaster.ray.intersectTriangle( _vA$1, _vC$1, _vB$1, false, _intersectPoint ); + if ( intersect === null ) { + + return; + + } + + } + + const distance = raycaster.ray.origin.distanceTo( _intersectPoint ); + + if ( distance < raycaster.near || distance > raycaster.far ) return; + + intersects.push( { + + distance: distance, + point: _intersectPoint.clone(), + uv: Triangle.getInterpolation( _intersectPoint, _vA$1, _vB$1, _vC$1, _uvA, _uvB, _uvC, new Vector2() ), + face: null, + object: this + + } ); + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + if ( source.center !== undefined ) this.center.copy( source.center ); + + this.material = source.material; + + return this; + + } + +} + +function transformVertex( vertexPosition, mvPosition, center, scale, sin, cos ) { + + // compute position in camera space + _alignedPosition.subVectors( vertexPosition, center ).addScalar( 0.5 ).multiply( scale ); + + // to check if rotation is not zero + if ( sin !== undefined ) { + + _rotatedPosition.x = ( cos * _alignedPosition.x ) - ( sin * _alignedPosition.y ); + _rotatedPosition.y = ( sin * _alignedPosition.x ) + ( cos * _alignedPosition.y ); + + } else { + + _rotatedPosition.copy( _alignedPosition ); + + } + + + vertexPosition.copy( mvPosition ); + vertexPosition.x += _rotatedPosition.x; + vertexPosition.y += _rotatedPosition.y; + + // transform to world space + vertexPosition.applyMatrix4( _viewWorldMatrix ); + +} + +const _v1$2 = /*@__PURE__*/ new Vector3(); +const _v2$1 = /*@__PURE__*/ new Vector3(); + +/** + * A component for providing a basic Level of Detail (LOD) mechanism. + * + * Every LOD level is associated with an object, and rendering can be switched + * between them at the distances specified. Typically you would create, say, + * three meshes, one for far away (low detail), one for mid range (medium + * detail) and one for close up (high detail). + * + * ```js + * const lod = new THREE.LOD(); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00 } ); + * + * //Create spheres with 3 levels of detail and create new LOD levels for them + * for( let i = 0; i < 3; i++ ) { + * + * const geometry = new THREE.IcosahedronGeometry( 10, 3 - i ); + * const mesh = new THREE.Mesh( geometry, material ); + * lod.addLevel( mesh, i * 75 ); + * + * } + * + * scene.add( lod ); + * ``` + * + * @augments Object3D + */ +class LOD extends Object3D { + + /** + * Constructs a new LOD. + */ + constructor() { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isLOD = true; + + /** + * The current LOD index. + * + * @private + * @type {number} + * @default 0 + */ + this._currentLevel = 0; + + this.type = 'LOD'; + + Object.defineProperties( this, { + /** + * This array holds the LOD levels. + * + * @name LOD#levels + * @type {Array<{object:Object3D,distance:number,hysteresis:number}>} + */ + levels: { + enumerable: true, + value: [] + } + } ); + + /** + * Whether the LOD object is updated automatically by the renderer per frame + * or not. If set to `false`, you have to call {@link LOD#update} in the + * render loop by yourself. + * + * @type {boolean} + * @default true + */ + this.autoUpdate = true; + + } + + copy( source ) { + + super.copy( source, false ); + + const levels = source.levels; + + for ( let i = 0, l = levels.length; i < l; i ++ ) { + + const level = levels[ i ]; + + this.addLevel( level.object.clone(), level.distance, level.hysteresis ); + + } + + this.autoUpdate = source.autoUpdate; + + return this; + + } + + /** + * Adds a mesh that will display at a certain distance and greater. Typically + * the further away the distance, the lower the detail on the mesh. + * + * @param {Object3D} object - The 3D object to display at this level. + * @param {number} [distance=0] - The distance at which to display this level of detail. + * @param {number} [hysteresis=0] - Threshold used to avoid flickering at LOD boundaries, as a fraction of distance. + * @return {LOD} A reference to this instance. + */ + addLevel( object, distance = 0, hysteresis = 0 ) { + + distance = Math.abs( distance ); + + const levels = this.levels; + + let l; + + for ( l = 0; l < levels.length; l ++ ) { + + if ( distance < levels[ l ].distance ) { + + break; + + } + + } + + levels.splice( l, 0, { distance: distance, hysteresis: hysteresis, object: object } ); + + this.add( object ); + + return this; + + } + + /** + * Removes an existing level, based on the distance from the camera. + * Returns `true` when the level has been removed. Otherwise `false`. + * + * @param {number} distance - Distance of the level to remove. + * @return {boolean} Whether the level has been removed or not. + */ + removeLevel( distance ) { + + const levels = this.levels; + + for ( let i = 0; i < levels.length; i ++ ) { + + if ( levels[ i ].distance === distance ) { + + const removedElements = levels.splice( i, 1 ); + this.remove( removedElements[ 0 ].object ); + + return true; + + } + + } + + return false; + + } + + /** + * Returns the currently active LOD level index. + * + * @return {number} The current active LOD level index. + */ + getCurrentLevel() { + + return this._currentLevel; + + } + + /** + * Returns a reference to the first 3D object that is greater than + * the given distance. + * + * @param {number} distance - The LOD distance. + * @return {?Object3D} The found 3D object. `null` if no 3D object has been found. + */ + getObjectForDistance( distance ) { + + const levels = this.levels; + + if ( levels.length > 0 ) { + + let i, l; + + for ( i = 1, l = levels.length; i < l; i ++ ) { + + let levelDistance = levels[ i ].distance; + + if ( levels[ i ].object.visible ) { + + levelDistance -= levelDistance * levels[ i ].hysteresis; + + } + + if ( distance < levelDistance ) { + + break; + + } + + } + + return levels[ i - 1 ].object; + + } + + return null; + + } + + /** + * Computes intersection points between a casted ray and this LOD. + * + * @param {Raycaster} raycaster - The raycaster. + * @param {Array} intersects - The target array that holds the intersection points. + */ + raycast( raycaster, intersects ) { + + const levels = this.levels; + + if ( levels.length > 0 ) { + + _v1$2.setFromMatrixPosition( this.matrixWorld ); + + const distance = raycaster.ray.origin.distanceTo( _v1$2 ); + + this.getObjectForDistance( distance ).raycast( raycaster, intersects ); + + } + + } + + /** + * Updates the LOD by computing which LOD level should be visible according + * to the current distance of the given camera. + * + * @param {Camera} camera - The camera the scene is rendered with. + */ + update( camera ) { + + const levels = this.levels; + + if ( levels.length > 1 ) { + + _v1$2.setFromMatrixPosition( camera.matrixWorld ); + _v2$1.setFromMatrixPosition( this.matrixWorld ); + + const distance = _v1$2.distanceTo( _v2$1 ) / camera.zoom; + + levels[ 0 ].object.visible = true; + + let i, l; + + for ( i = 1, l = levels.length; i < l; i ++ ) { + + let levelDistance = levels[ i ].distance; + + if ( levels[ i ].object.visible ) { + + levelDistance -= levelDistance * levels[ i ].hysteresis; + + } + + if ( distance >= levelDistance ) { + + levels[ i - 1 ].object.visible = false; + levels[ i ].object.visible = true; + + } else { + + break; + + } + + } + + this._currentLevel = i - 1; + + for ( ; i < l; i ++ ) { + + levels[ i ].object.visible = false; + + } + + } + + } + + toJSON( meta ) { + + const data = super.toJSON( meta ); + + if ( this.autoUpdate === false ) data.object.autoUpdate = false; + + data.object.levels = []; + + const levels = this.levels; + + for ( let i = 0, l = levels.length; i < l; i ++ ) { + + const level = levels[ i ]; + + data.object.levels.push( { + object: level.object.uuid, + distance: level.distance, + hysteresis: level.hysteresis + } ); + + } + + return data; + + } + +} + +const _vector$7 = /*@__PURE__*/ new Vector3(); +const _segCenter = /*@__PURE__*/ new Vector3(); +const _segDir = /*@__PURE__*/ new Vector3(); +const _diff = /*@__PURE__*/ new Vector3(); + +const _edge1 = /*@__PURE__*/ new Vector3(); +const _edge2 = /*@__PURE__*/ new Vector3(); +const _normal$1 = /*@__PURE__*/ new Vector3(); + +/** + * A ray that emits from an origin in a certain direction. The class is used by + * {@link Raycaster} to assist with raycasting. Raycasting is used for + * mouse picking (working out what objects in the 3D space the mouse is over) + * amongst other things. + */ +class Ray { + + /** + * Constructs a new ray. + * + * @param {Vector3} [origin=(0,0,0)] - The origin of the ray. + * @param {Vector3} [direction=(0,0,-1)] - The (normalized) direction of the ray. + */ + constructor( origin = new Vector3(), direction = new Vector3( 0, 0, -1 ) ) { + + /** + * The origin of the ray. + * + * @type {Vector3} + */ + this.origin = origin; + + /** + * The (normalized) direction of the ray. + * + * @type {Vector3} + */ + this.direction = direction; + + } + + /** + * Sets the ray's components by copying the given values. + * + * @param {Vector3} origin - The origin. + * @param {Vector3} direction - The direction. + * @return {Ray} A reference to this ray. + */ + set( origin, direction ) { + + this.origin.copy( origin ); + this.direction.copy( direction ); + + return this; + + } + + /** + * Copies the values of the given ray to this instance. + * + * @param {Ray} ray - The ray to copy. + * @return {Ray} A reference to this ray. + */ + copy( ray ) { + + this.origin.copy( ray.origin ); + this.direction.copy( ray.direction ); + + return this; + + } + + /** + * Returns a vector that is located at a given distance along this ray. + * + * @param {number} t - The distance along the ray to retrieve a position for. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} A position on the ray. + */ + at( t, target ) { + + return target.copy( this.origin ).addScaledVector( this.direction, t ); + + } + + /** + * Adjusts the direction of the ray to point at the given vector in world space. + * + * @param {Vector3} v - The target position. + * @return {Ray} A reference to this ray. + */ + lookAt( v ) { + + this.direction.copy( v ).sub( this.origin ).normalize(); + + return this; + + } + + /** + * Shift the origin of this ray along its direction by the given distance. + * + * @param {number} t - The distance along the ray to interpolate. + * @return {Ray} A reference to this ray. + */ + recast( t ) { + + this.origin.copy( this.at( t, _vector$7 ) ); + + return this; + + } + + /** + * Returns the point along this ray that is closest to the given point. + * + * @param {Vector3} point - A point in 3D space to get the closet location on the ray for. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The closest point on this ray. + */ + closestPointToPoint( point, target ) { + + target.subVectors( point, this.origin ); + + const directionDistance = target.dot( this.direction ); + + if ( directionDistance < 0 ) { + + return target.copy( this.origin ); + + } + + return target.copy( this.origin ).addScaledVector( this.direction, directionDistance ); + + } + + /** + * Returns the distance of the closest approach between this ray and the given point. + * + * @param {Vector3} point - A point in 3D space to compute the distance to. + * @return {number} The distance. + */ + distanceToPoint( point ) { + + return Math.sqrt( this.distanceSqToPoint( point ) ); + + } + + /** + * Returns the squared distance of the closest approach between this ray and the given point. + * + * @param {Vector3} point - A point in 3D space to compute the distance to. + * @return {number} The squared distance. + */ + distanceSqToPoint( point ) { + + const directionDistance = _vector$7.subVectors( point, this.origin ).dot( this.direction ); + + // point behind the ray + + if ( directionDistance < 0 ) { + + return this.origin.distanceToSquared( point ); + + } + + _vector$7.copy( this.origin ).addScaledVector( this.direction, directionDistance ); + + return _vector$7.distanceToSquared( point ); + + } + + /** + * Returns the squared distance between this ray and the given line segment. + * + * @param {Vector3} v0 - The start point of the line segment. + * @param {Vector3} v1 - The end point of the line segment. + * @param {Vector3} [optionalPointOnRay] - When provided, it receives the point on this ray that is closest to the segment. + * @param {Vector3} [optionalPointOnSegment] - When provided, it receives the point on the line segment that is closest to this ray. + * @return {number} The squared distance. + */ + distanceSqToSegment( v0, v1, optionalPointOnRay, optionalPointOnSegment ) { + + // from https://github.com/pmjoniak/GeometricTools/blob/master/GTEngine/Include/Mathematics/GteDistRaySegment.h + // It returns the min distance between the ray and the segment + // defined by v0 and v1 + // It can also set two optional targets : + // - The closest point on the ray + // - The closest point on the segment + + _segCenter.copy( v0 ).add( v1 ).multiplyScalar( 0.5 ); + _segDir.copy( v1 ).sub( v0 ).normalize(); + _diff.copy( this.origin ).sub( _segCenter ); + + const segExtent = v0.distanceTo( v1 ) * 0.5; + const a01 = - this.direction.dot( _segDir ); + const b0 = _diff.dot( this.direction ); + const b1 = - _diff.dot( _segDir ); + const c = _diff.lengthSq(); + const det = Math.abs( 1 - a01 * a01 ); + let s0, s1, sqrDist, extDet; + + if ( det > 0 ) { + + // The ray and segment are not parallel. + + s0 = a01 * b1 - b0; + s1 = a01 * b0 - b1; + extDet = segExtent * det; + + if ( s0 >= 0 ) { + + if ( s1 >= - extDet ) { + + if ( s1 <= extDet ) { + + // region 0 + // Minimum at interior points of ray and segment. + + const invDet = 1 / det; + s0 *= invDet; + s1 *= invDet; + sqrDist = s0 * ( s0 + a01 * s1 + 2 * b0 ) + s1 * ( a01 * s0 + s1 + 2 * b1 ) + c; + + } else { + + // region 1 + + s1 = segExtent; + s0 = Math.max( 0, - ( a01 * s1 + b0 ) ); + sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c; + + } + + } else { + + // region 5 + + s1 = - segExtent; + s0 = Math.max( 0, - ( a01 * s1 + b0 ) ); + sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c; + + } + + } else { + + if ( s1 <= - extDet ) { + + // region 4 + + s0 = Math.max( 0, - ( - a01 * segExtent + b0 ) ); + s1 = ( s0 > 0 ) ? - segExtent : Math.min( Math.max( - segExtent, - b1 ), segExtent ); + sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c; + + } else if ( s1 <= extDet ) { + + // region 3 + + s0 = 0; + s1 = Math.min( Math.max( - segExtent, - b1 ), segExtent ); + sqrDist = s1 * ( s1 + 2 * b1 ) + c; + + } else { + + // region 2 + + s0 = Math.max( 0, - ( a01 * segExtent + b0 ) ); + s1 = ( s0 > 0 ) ? segExtent : Math.min( Math.max( - segExtent, - b1 ), segExtent ); + sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c; + + } + + } + + } else { + + // Ray and segment are parallel. + + s1 = ( a01 > 0 ) ? - segExtent : segExtent; + s0 = Math.max( 0, - ( a01 * s1 + b0 ) ); + sqrDist = - s0 * s0 + s1 * ( s1 + 2 * b1 ) + c; + + } + + if ( optionalPointOnRay ) { + + optionalPointOnRay.copy( this.origin ).addScaledVector( this.direction, s0 ); + + } + + if ( optionalPointOnSegment ) { + + optionalPointOnSegment.copy( _segCenter ).addScaledVector( _segDir, s1 ); + + } + + return sqrDist; + + } + + /** + * Intersects this ray with the given sphere, returning the intersection + * point or `null` if there is no intersection. + * + * @param {Sphere} sphere - The sphere to intersect. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {?Vector3} The intersection point. + */ + intersectSphere( sphere, target ) { + + _vector$7.subVectors( sphere.center, this.origin ); + const tca = _vector$7.dot( this.direction ); + const d2 = _vector$7.dot( _vector$7 ) - tca * tca; + const radius2 = sphere.radius * sphere.radius; + + if ( d2 > radius2 ) return null; + + const thc = Math.sqrt( radius2 - d2 ); + + // t0 = first intersect point - entrance on front of sphere + const t0 = tca - thc; + + // t1 = second intersect point - exit point on back of sphere + const t1 = tca + thc; + + // test to see if t1 is behind the ray - if so, return null + if ( t1 < 0 ) return null; + + // test to see if t0 is behind the ray: + // if it is, the ray is inside the sphere, so return the second exit point scaled by t1, + // in order to always return an intersect point that is in front of the ray. + if ( t0 < 0 ) return this.at( t1, target ); + + // else t0 is in front of the ray, so return the first collision point scaled by t0 + return this.at( t0, target ); + + } + + /** + * Returns `true` if this ray intersects with the given sphere. + * + * @param {Sphere} sphere - The sphere to intersect. + * @return {boolean} Whether this ray intersects with the given sphere or not. + */ + intersectsSphere( sphere ) { + + if ( sphere.radius < 0 ) return false; // handle empty spheres, see #31187 + + return this.distanceSqToPoint( sphere.center ) <= ( sphere.radius * sphere.radius ); + + } + + /** + * Computes the distance from the ray's origin to the given plane. Returns `null` if the ray + * does not intersect with the plane. + * + * @param {Plane} plane - The plane to compute the distance to. + * @return {?number} Whether this ray intersects with the given sphere or not. + */ + distanceToPlane( plane ) { + + const denominator = plane.normal.dot( this.direction ); + + if ( denominator === 0 ) { + + // line is coplanar, return origin + if ( plane.distanceToPoint( this.origin ) === 0 ) { + + return 0; + + } + + // Null is preferable to undefined since undefined means.... it is undefined + + return null; + + } + + const t = - ( this.origin.dot( plane.normal ) + plane.constant ) / denominator; + + // Return if the ray never intersects the plane + + return t >= 0 ? t : null; + + } + + /** + * Intersects this ray with the given plane, returning the intersection + * point or `null` if there is no intersection. + * + * @param {Plane} plane - The plane to intersect. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {?Vector3} The intersection point. + */ + intersectPlane( plane, target ) { + + const t = this.distanceToPlane( plane ); + + if ( t === null ) { + + return null; + + } + + return this.at( t, target ); + + } + + /** + * Returns `true` if this ray intersects with the given plane. + * + * @param {Plane} plane - The plane to intersect. + * @return {boolean} Whether this ray intersects with the given plane or not. + */ + intersectsPlane( plane ) { + + // check if the ray lies on the plane first + + const distToPoint = plane.distanceToPoint( this.origin ); + + if ( distToPoint === 0 ) { + + return true; + + } + + const denominator = plane.normal.dot( this.direction ); + + if ( denominator * distToPoint < 0 ) { + + return true; + + } + + // ray origin is behind the plane (and is pointing behind it) + + return false; + + } + + /** + * Intersects this ray with the given bounding box, returning the intersection + * point or `null` if there is no intersection. + * + * @param {Box3} box - The box to intersect. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {?Vector3} The intersection point. + */ + intersectBox( box, target ) { + + let tmin, tmax, tymin, tymax, tzmin, tzmax; + + const invdirx = 1 / this.direction.x, + invdiry = 1 / this.direction.y, + invdirz = 1 / this.direction.z; + + const origin = this.origin; + + if ( invdirx >= 0 ) { + + tmin = ( box.min.x - origin.x ) * invdirx; + tmax = ( box.max.x - origin.x ) * invdirx; + + } else { + + tmin = ( box.max.x - origin.x ) * invdirx; + tmax = ( box.min.x - origin.x ) * invdirx; + + } + + if ( invdiry >= 0 ) { + + tymin = ( box.min.y - origin.y ) * invdiry; + tymax = ( box.max.y - origin.y ) * invdiry; + + } else { + + tymin = ( box.max.y - origin.y ) * invdiry; + tymax = ( box.min.y - origin.y ) * invdiry; + + } + + if ( ( tmin > tymax ) || ( tymin > tmax ) ) return null; + + if ( tymin > tmin || isNaN( tmin ) ) tmin = tymin; + + if ( tymax < tmax || isNaN( tmax ) ) tmax = tymax; + + if ( invdirz >= 0 ) { + + tzmin = ( box.min.z - origin.z ) * invdirz; + tzmax = ( box.max.z - origin.z ) * invdirz; + + } else { + + tzmin = ( box.max.z - origin.z ) * invdirz; + tzmax = ( box.min.z - origin.z ) * invdirz; + + } + + if ( ( tmin > tzmax ) || ( tzmin > tmax ) ) return null; + + if ( tzmin > tmin || tmin !== tmin ) tmin = tzmin; + + if ( tzmax < tmax || tmax !== tmax ) tmax = tzmax; + + //return point closest to the ray (positive side) + + if ( tmax < 0 ) return null; + + return this.at( tmin >= 0 ? tmin : tmax, target ); + + } + + /** + * Returns `true` if this ray intersects with the given box. + * + * @param {Box3} box - The box to intersect. + * @return {boolean} Whether this ray intersects with the given box or not. + */ + intersectsBox( box ) { + + return this.intersectBox( box, _vector$7 ) !== null; + + } + + /** + * Intersects this ray with the given triangle, returning the intersection + * point or `null` if there is no intersection. + * + * @param {Vector3} a - The first vertex of the triangle. + * @param {Vector3} b - The second vertex of the triangle. + * @param {Vector3} c - The third vertex of the triangle. + * @param {boolean} backfaceCulling - Whether to use backface culling or not. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {?Vector3} The intersection point. + */ + intersectTriangle( a, b, c, backfaceCulling, target ) { + + // Compute the offset origin, edges, and normal. + + // from https://github.com/pmjoniak/GeometricTools/blob/master/GTEngine/Include/Mathematics/GteIntrRay3Triangle3.h + + _edge1.subVectors( b, a ); + _edge2.subVectors( c, a ); + _normal$1.crossVectors( _edge1, _edge2 ); + + // Solve Q + t*D = b1*E1 + b2*E2 (Q = kDiff, D = ray direction, + // E1 = kEdge1, E2 = kEdge2, N = Cross(E1,E2)) by + // |Dot(D,N)|*b1 = sign(Dot(D,N))*Dot(D,Cross(Q,E2)) + // |Dot(D,N)|*b2 = sign(Dot(D,N))*Dot(D,Cross(E1,Q)) + // |Dot(D,N)|*t = -sign(Dot(D,N))*Dot(Q,N) + let DdN = this.direction.dot( _normal$1 ); + let sign; + + if ( DdN > 0 ) { + + if ( backfaceCulling ) return null; + sign = 1; + + } else if ( DdN < 0 ) { + + sign = -1; + DdN = - DdN; + + } else { + + return null; + + } + + _diff.subVectors( this.origin, a ); + const DdQxE2 = sign * this.direction.dot( _edge2.crossVectors( _diff, _edge2 ) ); + + // b1 < 0, no intersection + if ( DdQxE2 < 0 ) { + + return null; + + } + + const DdE1xQ = sign * this.direction.dot( _edge1.cross( _diff ) ); + + // b2 < 0, no intersection + if ( DdE1xQ < 0 ) { + + return null; + + } + + // b1+b2 > 1, no intersection + if ( DdQxE2 + DdE1xQ > DdN ) { + + return null; + + } + + // Line intersects triangle, check if ray does. + const QdN = - sign * _diff.dot( _normal$1 ); + + // t < 0, no intersection + if ( QdN < 0 ) { + + return null; + + } + + // Ray intersects triangle. + return this.at( QdN / DdN, target ); + + } + + /** + * Transforms this ray with the given 4x4 transformation matrix. + * + * @param {Matrix4} matrix4 - The transformation matrix. + * @return {Ray} A reference to this ray. + */ + applyMatrix4( matrix4 ) { + + this.origin.applyMatrix4( matrix4 ); + this.direction.transformDirection( matrix4 ); + + return this; + + } + + /** + * Returns `true` if this ray is equal with the given one. + * + * @param {Ray} ray - The ray to test for equality. + * @return {boolean} Whether this ray is equal with the given one. + */ + equals( ray ) { + + return ray.origin.equals( this.origin ) && ray.direction.equals( this.direction ); + + } + + /** + * Returns a new ray with copied values from this instance. + * + * @return {Ray} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + +} + +/** + * A material for drawing geometries in a simple shaded (flat or wireframe) way. + * + * This material is not affected by lights. + * + * @augments Material + * @demo scenes/material-browser.html#MeshBasicMaterial + */ +class MeshBasicMaterial extends Material { + + /** + * Constructs a new mesh basic material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isMeshBasicMaterial = true; + + this.type = 'MeshBasicMaterial'; + + /** + * Color of the material. + * + * @type {Color} + * @default (1,1,1) + */ + this.color = new Color( 0xffffff ); // diffuse + + /** + * The color map. May optionally include an alpha channel, typically combined + * with {@link Material#transparent} or {@link Material#alphaTest}. The texture map + * color is modulated by the diffuse `color`. + * + * @type {?Texture} + * @default null + */ + this.map = null; + + /** + * The light map. Requires a second set of UVs. + * + * @type {?Texture} + * @default null + */ + this.lightMap = null; + + /** + * Intensity of the baked light. + * + * @type {number} + * @default 1 + */ + this.lightMapIntensity = 1.0; + + /** + * The red channel of this texture is used as the ambient occlusion map. + * Requires a second set of UVs. + * + * @type {?Texture} + * @default null + */ + this.aoMap = null; + + /** + * Intensity of the ambient occlusion effect. Range is `[0,1]`, where `0` + * disables ambient occlusion. Where intensity is `1` and the AO map's + * red channel is also `1`, ambient light is fully occluded on a surface. + * + * @type {number} + * @default 1 + */ + this.aoMapIntensity = 1.0; + + /** + * Specular map used by the material. + * + * @type {?Texture} + * @default null + */ + this.specularMap = null; + + /** + * The alpha map is a grayscale texture that controls the opacity across the + * surface (black: fully transparent; white: fully opaque). + * + * Only the color of the texture is used, ignoring the alpha channel if one + * exists. For RGB and RGBA textures, the renderer will use the green channel + * when sampling this texture due to the extra bit of precision provided for + * green in DXT-compressed and uncompressed RGB 565 formats. Luminance-only and + * luminance/alpha textures will also still work as expected. + * + * @type {?Texture} + * @default null + */ + this.alphaMap = null; + + /** + * The environment map. + * + * @type {?Texture} + * @default null + */ + this.envMap = null; + + /** + * The rotation of the environment map in radians. + * + * @type {Euler} + * @default (0,0,0) + */ + this.envMapRotation = new Euler(); + + /** + * How to combine the result of the surface's color with the environment map, if any. + * + * When set to `MixOperation`, the {@link MeshBasicMaterial#reflectivity} is used to + * blend between the two colors. + * + * @type {(MultiplyOperation|MixOperation|AddOperation)} + * @default MultiplyOperation + */ + this.combine = MultiplyOperation; + + /** + * How much the environment map affects the surface. + * The valid range is between `0` (no reflections) and `1` (full reflections). + * + * @type {number} + * @default 1 + */ + this.reflectivity = 1; + + /** + * The index of refraction (IOR) of air (approximately 1) divided by the + * index of refraction of the material. It is used with environment mapping + * modes {@link CubeRefractionMapping} and {@link EquirectangularRefractionMapping}. + * The refraction ratio should not exceed `1`. + * + * @type {number} + * @default 0.98 + */ + this.refractionRatio = 0.98; + + /** + * Renders the geometry as a wireframe. + * + * @type {boolean} + * @default false + */ + this.wireframe = false; + + /** + * Controls the thickness of the wireframe. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {number} + * @default 1 + */ + this.wireframeLinewidth = 1; + + /** + * Defines appearance of wireframe ends. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {('round'|'bevel'|'miter')} + * @default 'round' + */ + this.wireframeLinecap = 'round'; + + /** + * Defines appearance of wireframe joints. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {('round'|'bevel'|'miter')} + * @default 'round' + */ + this.wireframeLinejoin = 'round'; + + /** + * Whether the material is affected by fog or not. + * + * @type {boolean} + * @default true + */ + this.fog = true; + + this.setValues( parameters ); + + } + + copy( source ) { + + super.copy( source ); + + this.color.copy( source.color ); + + this.map = source.map; + + this.lightMap = source.lightMap; + this.lightMapIntensity = source.lightMapIntensity; + + this.aoMap = source.aoMap; + this.aoMapIntensity = source.aoMapIntensity; + + this.specularMap = source.specularMap; + + this.alphaMap = source.alphaMap; + + this.envMap = source.envMap; + this.envMapRotation.copy( source.envMapRotation ); + this.combine = source.combine; + this.reflectivity = source.reflectivity; + this.refractionRatio = source.refractionRatio; + + this.wireframe = source.wireframe; + this.wireframeLinewidth = source.wireframeLinewidth; + this.wireframeLinecap = source.wireframeLinecap; + this.wireframeLinejoin = source.wireframeLinejoin; + + this.fog = source.fog; + + return this; + + } + +} + +const _inverseMatrix$3 = /*@__PURE__*/ new Matrix4(); +const _ray$3 = /*@__PURE__*/ new Ray(); +const _sphere$6 = /*@__PURE__*/ new Sphere(); +const _sphereHitAt = /*@__PURE__*/ new Vector3(); + +const _vA = /*@__PURE__*/ new Vector3(); +const _vB = /*@__PURE__*/ new Vector3(); +const _vC = /*@__PURE__*/ new Vector3(); + +const _tempA = /*@__PURE__*/ new Vector3(); +const _morphA = /*@__PURE__*/ new Vector3(); + +const _intersectionPoint = /*@__PURE__*/ new Vector3(); +const _intersectionPointWorld = /*@__PURE__*/ new Vector3(); + +/** + * Class representing triangular polygon mesh based objects. + * + * ```js + * const geometry = new THREE.BoxGeometry( 1, 1, 1 ); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00 } ); + * const mesh = new THREE.Mesh( geometry, material ); + * scene.add( mesh ); + * ``` + * + * @augments Object3D + */ +class Mesh extends Object3D { + + /** + * Constructs a new mesh. + * + * @param {BufferGeometry} [geometry] - The mesh geometry. + * @param {Material|Array} [material] - The mesh material. + */ + constructor( geometry = new BufferGeometry(), material = new MeshBasicMaterial() ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isMesh = true; + + this.type = 'Mesh'; + + /** + * The mesh geometry. + * + * @type {BufferGeometry} + */ + this.geometry = geometry; + + /** + * The mesh material. + * + * @type {Material|Array} + * @default MeshBasicMaterial + */ + this.material = material; + + /** + * A dictionary representing the morph targets in the geometry. The key is the + * morph targets name, the value its attribute index. This member is `undefined` + * by default and only set when morph targets are detected in the geometry. + * + * @type {Object|undefined} + * @default undefined + */ + this.morphTargetDictionary = undefined; + + /** + * An array of weights typically in the range `[0,1]` that specify how much of the morph + * is applied. This member is `undefined` by default and only set when morph targets are + * detected in the geometry. + * + * @type {Array|undefined} + * @default undefined + */ + this.morphTargetInfluences = undefined; + + /** + * The number of instances of this mesh. + * Can only be used with {@link WebGPURenderer}. + * + * @type {number} + * @default 1 + */ + this.count = 1; + + this.updateMorphTargets(); + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + if ( source.morphTargetInfluences !== undefined ) { + + this.morphTargetInfluences = source.morphTargetInfluences.slice(); + + } + + if ( source.morphTargetDictionary !== undefined ) { + + this.morphTargetDictionary = Object.assign( {}, source.morphTargetDictionary ); + + } + + this.material = Array.isArray( source.material ) ? source.material.slice() : source.material; + this.geometry = source.geometry; + + return this; + + } + + /** + * Sets the values of {@link Mesh#morphTargetDictionary} and {@link Mesh#morphTargetInfluences} + * to make sure existing morph targets can influence this 3D object. + */ + updateMorphTargets() { + + const geometry = this.geometry; + + const morphAttributes = geometry.morphAttributes; + const keys = Object.keys( morphAttributes ); + + if ( keys.length > 0 ) { + + const morphAttribute = morphAttributes[ keys[ 0 ] ]; + + if ( morphAttribute !== undefined ) { + + this.morphTargetInfluences = []; + this.morphTargetDictionary = {}; + + for ( let m = 0, ml = morphAttribute.length; m < ml; m ++ ) { + + const name = morphAttribute[ m ].name || String( m ); + + this.morphTargetInfluences.push( 0 ); + this.morphTargetDictionary[ name ] = m; + + } + + } + + } + + } + + /** + * Returns the local-space position of the vertex at the given index, taking into + * account the current animation state of both morph targets and skinning. + * + * @param {number} index - The vertex index. + * @param {Vector3} target - The target object that is used to store the method's result. + * @return {Vector3} The vertex position in local space. + */ + getVertexPosition( index, target ) { + + const geometry = this.geometry; + const position = geometry.attributes.position; + const morphPosition = geometry.morphAttributes.position; + const morphTargetsRelative = geometry.morphTargetsRelative; + + target.fromBufferAttribute( position, index ); + + const morphInfluences = this.morphTargetInfluences; + + if ( morphPosition && morphInfluences ) { + + _morphA.set( 0, 0, 0 ); + + for ( let i = 0, il = morphPosition.length; i < il; i ++ ) { + + const influence = morphInfluences[ i ]; + const morphAttribute = morphPosition[ i ]; + + if ( influence === 0 ) continue; + + _tempA.fromBufferAttribute( morphAttribute, index ); + + if ( morphTargetsRelative ) { + + _morphA.addScaledVector( _tempA, influence ); + + } else { + + _morphA.addScaledVector( _tempA.sub( target ), influence ); + + } + + } + + target.add( _morphA ); + + } + + return target; + + } + + /** + * Computes intersection points between a casted ray and this line. + * + * @param {Raycaster} raycaster - The raycaster. + * @param {Array} intersects - The target array that holds the intersection points. + */ + raycast( raycaster, intersects ) { + + const geometry = this.geometry; + const material = this.material; + const matrixWorld = this.matrixWorld; + + if ( material === undefined ) return; + + // test with bounding sphere in world space + + if ( geometry.boundingSphere === null ) geometry.computeBoundingSphere(); + + _sphere$6.copy( geometry.boundingSphere ); + _sphere$6.applyMatrix4( matrixWorld ); + + // check distance from ray origin to bounding sphere + + _ray$3.copy( raycaster.ray ).recast( raycaster.near ); + + if ( _sphere$6.containsPoint( _ray$3.origin ) === false ) { + + if ( _ray$3.intersectSphere( _sphere$6, _sphereHitAt ) === null ) return; + + if ( _ray$3.origin.distanceToSquared( _sphereHitAt ) > ( raycaster.far - raycaster.near ) ** 2 ) return; + + } + + // convert ray to local space of mesh + + _inverseMatrix$3.copy( matrixWorld ).invert(); + _ray$3.copy( raycaster.ray ).applyMatrix4( _inverseMatrix$3 ); + + // test with bounding box in local space + + if ( geometry.boundingBox !== null ) { + + if ( _ray$3.intersectsBox( geometry.boundingBox ) === false ) return; + + } + + // test for intersections with geometry + + this._computeIntersections( raycaster, intersects, _ray$3 ); + + } + + _computeIntersections( raycaster, intersects, rayLocalSpace ) { + + let intersection; + + const geometry = this.geometry; + const material = this.material; + + const index = geometry.index; + const position = geometry.attributes.position; + const uv = geometry.attributes.uv; + const uv1 = geometry.attributes.uv1; + const normal = geometry.attributes.normal; + const groups = geometry.groups; + const drawRange = geometry.drawRange; + + if ( index !== null ) { + + // indexed buffer geometry + + if ( Array.isArray( material ) ) { + + for ( let i = 0, il = groups.length; i < il; i ++ ) { + + const group = groups[ i ]; + const groupMaterial = material[ group.materialIndex ]; + + const start = Math.max( group.start, drawRange.start ); + const end = Math.min( index.count, Math.min( ( group.start + group.count ), ( drawRange.start + drawRange.count ) ) ); + + for ( let j = start, jl = end; j < jl; j += 3 ) { + + const a = index.getX( j ); + const b = index.getX( j + 1 ); + const c = index.getX( j + 2 ); + + intersection = checkGeometryIntersection( this, groupMaterial, raycaster, rayLocalSpace, uv, uv1, normal, a, b, c ); + + if ( intersection ) { + + intersection.faceIndex = Math.floor( j / 3 ); // triangle number in indexed buffer semantics + intersection.face.materialIndex = group.materialIndex; + intersects.push( intersection ); + + } + + } + + } + + } else { + + const start = Math.max( 0, drawRange.start ); + const end = Math.min( index.count, ( drawRange.start + drawRange.count ) ); + + for ( let i = start, il = end; i < il; i += 3 ) { + + const a = index.getX( i ); + const b = index.getX( i + 1 ); + const c = index.getX( i + 2 ); + + intersection = checkGeometryIntersection( this, material, raycaster, rayLocalSpace, uv, uv1, normal, a, b, c ); + + if ( intersection ) { + + intersection.faceIndex = Math.floor( i / 3 ); // triangle number in indexed buffer semantics + intersects.push( intersection ); + + } + + } + + } + + } else if ( position !== undefined ) { + + // non-indexed buffer geometry + + if ( Array.isArray( material ) ) { + + for ( let i = 0, il = groups.length; i < il; i ++ ) { + + const group = groups[ i ]; + const groupMaterial = material[ group.materialIndex ]; + + const start = Math.max( group.start, drawRange.start ); + const end = Math.min( position.count, Math.min( ( group.start + group.count ), ( drawRange.start + drawRange.count ) ) ); + + for ( let j = start, jl = end; j < jl; j += 3 ) { + + const a = j; + const b = j + 1; + const c = j + 2; + + intersection = checkGeometryIntersection( this, groupMaterial, raycaster, rayLocalSpace, uv, uv1, normal, a, b, c ); + + if ( intersection ) { + + intersection.faceIndex = Math.floor( j / 3 ); // triangle number in non-indexed buffer semantics + intersection.face.materialIndex = group.materialIndex; + intersects.push( intersection ); + + } + + } + + } + + } else { + + const start = Math.max( 0, drawRange.start ); + const end = Math.min( position.count, ( drawRange.start + drawRange.count ) ); + + for ( let i = start, il = end; i < il; i += 3 ) { + + const a = i; + const b = i + 1; + const c = i + 2; + + intersection = checkGeometryIntersection( this, material, raycaster, rayLocalSpace, uv, uv1, normal, a, b, c ); + + if ( intersection ) { + + intersection.faceIndex = Math.floor( i / 3 ); // triangle number in non-indexed buffer semantics + intersects.push( intersection ); + + } + + } + + } + + } + + } + +} + +function checkIntersection$1( object, material, raycaster, ray, pA, pB, pC, point ) { + + let intersect; + + if ( material.side === BackSide ) { + + intersect = ray.intersectTriangle( pC, pB, pA, true, point ); + + } else { + + intersect = ray.intersectTriangle( pA, pB, pC, ( material.side === FrontSide ), point ); + + } + + if ( intersect === null ) return null; + + _intersectionPointWorld.copy( point ); + _intersectionPointWorld.applyMatrix4( object.matrixWorld ); + + const distance = raycaster.ray.origin.distanceTo( _intersectionPointWorld ); + + if ( distance < raycaster.near || distance > raycaster.far ) return null; + + return { + distance: distance, + point: _intersectionPointWorld.clone(), + object: object + }; + +} + +function checkGeometryIntersection( object, material, raycaster, ray, uv, uv1, normal, a, b, c ) { + + object.getVertexPosition( a, _vA ); + object.getVertexPosition( b, _vB ); + object.getVertexPosition( c, _vC ); + + const intersection = checkIntersection$1( object, material, raycaster, ray, _vA, _vB, _vC, _intersectionPoint ); + + if ( intersection ) { + + const barycoord = new Vector3(); + Triangle.getBarycoord( _intersectionPoint, _vA, _vB, _vC, barycoord ); + + if ( uv ) { + + intersection.uv = Triangle.getInterpolatedAttribute( uv, a, b, c, barycoord, new Vector2() ); + + } + + if ( uv1 ) { + + intersection.uv1 = Triangle.getInterpolatedAttribute( uv1, a, b, c, barycoord, new Vector2() ); + + } + + if ( normal ) { + + intersection.normal = Triangle.getInterpolatedAttribute( normal, a, b, c, barycoord, new Vector3() ); + + if ( intersection.normal.dot( ray.direction ) > 0 ) { + + intersection.normal.multiplyScalar( -1 ); + + } + + } + + const face = { + a: a, + b: b, + c: c, + normal: new Vector3(), + materialIndex: 0 + }; + + Triangle.getNormal( _vA, _vB, _vC, face.normal ); + + intersection.face = face; + intersection.barycoord = barycoord; + + } + + return intersection; + +} + +const _basePosition = /*@__PURE__*/ new Vector3(); + +const _skinIndex = /*@__PURE__*/ new Vector4(); +const _skinWeight = /*@__PURE__*/ new Vector4(); + +const _vector3 = /*@__PURE__*/ new Vector3(); +const _matrix4 = /*@__PURE__*/ new Matrix4(); +const _vertex = /*@__PURE__*/ new Vector3(); + +const _sphere$5 = /*@__PURE__*/ new Sphere(); +const _inverseMatrix$2 = /*@__PURE__*/ new Matrix4(); +const _ray$2 = /*@__PURE__*/ new Ray(); + +/** + * A mesh that has a {@link Skeleton} that can then be used to animate the + * vertices of the geometry with skinning/skeleton animation. + * + * Next to a valid skeleton, the skinned mesh requires skin indices and weights + * as buffer attributes in its geometry. These attribute define which bones affect a single + * vertex to a certain extend. + * + * Typically skinned meshes are not created manually but loaders like {@link GLTFLoader} + * or {@link FBXLoader } import respective models. + * + * @augments Mesh + * @demo scenes/bones-browser.html + */ +class SkinnedMesh extends Mesh { + + /** + * Constructs a new skinned mesh. + * + * @param {BufferGeometry} [geometry] - The mesh geometry. + * @param {Material|Array} [material] - The mesh material. + */ + constructor( geometry, material ) { + + super( geometry, material ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isSkinnedMesh = true; + + this.type = 'SkinnedMesh'; + + /** + * `AttachedBindMode` means the skinned mesh shares the same world space as the skeleton. + * This is not true when using `DetachedBindMode` which is useful when sharing a skeleton + * across multiple skinned meshes. + * + * @type {(AttachedBindMode|DetachedBindMode)} + * @default AttachedBindMode + */ + this.bindMode = AttachedBindMode; + + /** + * The base matrix that is used for the bound bone transforms. + * + * @type {Matrix4} + */ + this.bindMatrix = new Matrix4(); + + /** + * The base matrix that is used for resetting the bound bone transforms. + * + * @type {Matrix4} + */ + this.bindMatrixInverse = new Matrix4(); + + /** + * The bounding box of the skinned mesh. Can be computed via {@link SkinnedMesh#computeBoundingBox}. + * + * @type {?Box3} + * @default null + */ + this.boundingBox = null; + + /** + * The bounding sphere of the skinned mesh. Can be computed via {@link SkinnedMesh#computeBoundingSphere}. + * + * @type {?Sphere} + * @default null + */ + this.boundingSphere = null; + + } + + /** + * Computes the bounding box of the skinned mesh, and updates {@link SkinnedMesh#boundingBox}. + * The bounding box is not automatically computed by the engine; this method must be called by your app. + * If the skinned mesh is animated, the bounding box should be recomputed per frame in order to reflect + * the current animation state. + */ + computeBoundingBox() { + + const geometry = this.geometry; + + if ( this.boundingBox === null ) { + + this.boundingBox = new Box3(); + + } + + this.boundingBox.makeEmpty(); + + const positionAttribute = geometry.getAttribute( 'position' ); + + for ( let i = 0; i < positionAttribute.count; i ++ ) { + + this.getVertexPosition( i, _vertex ); + this.boundingBox.expandByPoint( _vertex ); + + } + + } + + /** + * Computes the bounding sphere of the skinned mesh, and updates {@link SkinnedMesh#boundingSphere}. + * The bounding sphere is automatically computed by the engine once when it is needed, e.g., for ray casting + * and view frustum culling. If the skinned mesh is animated, the bounding sphere should be recomputed + * per frame in order to reflect the current animation state. + */ + computeBoundingSphere() { + + const geometry = this.geometry; + + if ( this.boundingSphere === null ) { + + this.boundingSphere = new Sphere(); + + } + + this.boundingSphere.makeEmpty(); + + const positionAttribute = geometry.getAttribute( 'position' ); + + for ( let i = 0; i < positionAttribute.count; i ++ ) { + + this.getVertexPosition( i, _vertex ); + this.boundingSphere.expandByPoint( _vertex ); + + } + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + this.bindMode = source.bindMode; + this.bindMatrix.copy( source.bindMatrix ); + this.bindMatrixInverse.copy( source.bindMatrixInverse ); + + this.skeleton = source.skeleton; + + if ( source.boundingBox !== null ) this.boundingBox = source.boundingBox.clone(); + if ( source.boundingSphere !== null ) this.boundingSphere = source.boundingSphere.clone(); + + return this; + + } + + raycast( raycaster, intersects ) { + + const material = this.material; + const matrixWorld = this.matrixWorld; + + if ( material === undefined ) return; + + // test with bounding sphere in world space + + if ( this.boundingSphere === null ) this.computeBoundingSphere(); + + _sphere$5.copy( this.boundingSphere ); + _sphere$5.applyMatrix4( matrixWorld ); + + if ( raycaster.ray.intersectsSphere( _sphere$5 ) === false ) return; + + // convert ray to local space of skinned mesh + + _inverseMatrix$2.copy( matrixWorld ).invert(); + _ray$2.copy( raycaster.ray ).applyMatrix4( _inverseMatrix$2 ); + + // test with bounding box in local space + + if ( this.boundingBox !== null ) { + + if ( _ray$2.intersectsBox( this.boundingBox ) === false ) return; + + } + + // test for intersections with geometry + + this._computeIntersections( raycaster, intersects, _ray$2 ); + + } + + getVertexPosition( index, target ) { + + super.getVertexPosition( index, target ); + + this.applyBoneTransform( index, target ); + + return target; + + } + + /** + * Binds the given skeleton to the skinned mesh. + * + * @param {Skeleton} skeleton - The skeleton to bind. + * @param {Matrix4} [bindMatrix] - The bind matrix. If no bind matrix is provided, + * the skinned mesh's world matrix will be used instead. + */ + bind( skeleton, bindMatrix ) { + + this.skeleton = skeleton; + + if ( bindMatrix === undefined ) { + + this.updateMatrixWorld( true ); + + this.skeleton.calculateInverses(); + + bindMatrix = this.matrixWorld; + + } + + this.bindMatrix.copy( bindMatrix ); + this.bindMatrixInverse.copy( bindMatrix ).invert(); + + } + + /** + * This method sets the skinned mesh in the rest pose). + */ + pose() { + + this.skeleton.pose(); + + } + + /** + * Normalizes the skin weights which are defined as a buffer attribute + * in the skinned mesh's geometry. + */ + normalizeSkinWeights() { + + const vector = new Vector4(); + + const skinWeight = this.geometry.attributes.skinWeight; + + for ( let i = 0, l = skinWeight.count; i < l; i ++ ) { + + vector.fromBufferAttribute( skinWeight, i ); + + const scale = 1.0 / vector.manhattanLength(); + + if ( scale !== Infinity ) { + + vector.multiplyScalar( scale ); + + } else { + + vector.set( 1, 0, 0, 0 ); // do something reasonable + + } + + skinWeight.setXYZW( i, vector.x, vector.y, vector.z, vector.w ); + + } + + } + + updateMatrixWorld( force ) { + + super.updateMatrixWorld( force ); + + if ( this.bindMode === AttachedBindMode ) { + + this.bindMatrixInverse.copy( this.matrixWorld ).invert(); + + } else if ( this.bindMode === DetachedBindMode ) { + + this.bindMatrixInverse.copy( this.bindMatrix ).invert(); + + } else { + + warn( 'SkinnedMesh: Unrecognized bindMode: ' + this.bindMode ); + + } + + } + + /** + * Applies the bone transform associated with the given index to the given + * vertex position. Returns the updated vector. + * + * @param {number} index - The vertex index. + * @param {Vector3} target - The target object that is used to store the method's result. + * the skinned mesh's world matrix will be used instead. + * @return {Vector3} The updated vertex position. + */ + applyBoneTransform( index, target ) { + + const skeleton = this.skeleton; + const geometry = this.geometry; + + _skinIndex.fromBufferAttribute( geometry.attributes.skinIndex, index ); + _skinWeight.fromBufferAttribute( geometry.attributes.skinWeight, index ); + + _basePosition.copy( target ).applyMatrix4( this.bindMatrix ); + + target.set( 0, 0, 0 ); + + for ( let i = 0; i < 4; i ++ ) { + + const weight = _skinWeight.getComponent( i ); + + if ( weight !== 0 ) { + + const boneIndex = _skinIndex.getComponent( i ); + + _matrix4.multiplyMatrices( skeleton.bones[ boneIndex ].matrixWorld, skeleton.boneInverses[ boneIndex ] ); + + target.addScaledVector( _vector3.copy( _basePosition ).applyMatrix4( _matrix4 ), weight ); + + } + + } + + return target.applyMatrix4( this.bindMatrixInverse ); + + } + +} + +/** + * A bone which is part of a {@link Skeleton}. The skeleton in turn is used by + * the {@link SkinnedMesh}. + * + * ```js + * const root = new THREE.Bone(); + * const child = new THREE.Bone(); + * + * root.add( child ); + * child.position.y = 5; + * ``` + * + * @augments Object3D + */ +class Bone extends Object3D { + + /** + * Constructs a new bone. + */ + constructor() { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isBone = true; + + this.type = 'Bone'; + + } + +} + +/** + * Creates a texture directly from raw buffer data. + * + * The interpretation of the data depends on type and format: If the type is + * `UnsignedByteType`, a `Uint8Array` will be useful for addressing the + * texel data. If the format is `RGBAFormat`, data needs four values for + * one texel; Red, Green, Blue and Alpha (typically the opacity). + * + * @augments Texture + */ +class DataTexture extends Texture { + + /** + * Constructs a new data texture. + * + * @param {?TypedArray} [data=null] - The buffer data. + * @param {number} [width=1] - The width of the texture. + * @param {number} [height=1] - The height of the texture. + * @param {number} [format=RGBAFormat] - The texture format. + * @param {number} [type=UnsignedByteType] - The texture type. + * @param {number} [mapping=Texture.DEFAULT_MAPPING] - The texture mapping. + * @param {number} [wrapS=ClampToEdgeWrapping] - The wrapS value. + * @param {number} [wrapT=ClampToEdgeWrapping] - The wrapT value. + * @param {number} [magFilter=NearestFilter] - The mag filter value. + * @param {number} [minFilter=NearestFilter] - The min filter value. + * @param {number} [anisotropy=Texture.DEFAULT_ANISOTROPY] - The anisotropy value. + * @param {string} [colorSpace=NoColorSpace] - The color space. + */ + constructor( data = null, width = 1, height = 1, format, type, mapping, wrapS, wrapT, magFilter = NearestFilter, minFilter = NearestFilter, anisotropy, colorSpace ) { + + super( null, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy, colorSpace ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isDataTexture = true; + + /** + * The image definition of a data texture. + * + * @type {{data:TypedArray,width:number,height:number}} + */ + this.image = { data: data, width: width, height: height }; + + /** + * Whether to generate mipmaps (if possible) for a texture. + * + * Overwritten and set to `false` by default. + * + * @type {boolean} + * @default false + */ + this.generateMipmaps = false; + + /** + * If set to `true`, the texture is flipped along the vertical axis when + * uploaded to the GPU. + * + * Overwritten and set to `false` by default. + * + * @type {boolean} + * @default false + */ + this.flipY = false; + + /** + * Specifies the alignment requirements for the start of each pixel row in memory. + * + * Overwritten and set to `1` by default. + * + * @type {boolean} + * @default 1 + */ + this.unpackAlignment = 1; + + } + +} + +const _offsetMatrix = /*@__PURE__*/ new Matrix4(); +const _identityMatrix = /*@__PURE__*/ new Matrix4(); + +/** + * Class for representing the armatures in `three.js`. The skeleton + * is defined by a hierarchy of bones. + * + * ```js + * const bones = []; + * + * const shoulder = new THREE.Bone(); + * const elbow = new THREE.Bone(); + * const hand = new THREE.Bone(); + * + * shoulder.add( elbow ); + * elbow.add( hand ); + * + * bones.push( shoulder , elbow, hand); + * + * shoulder.position.y = -5; + * elbow.position.y = 0; + * hand.position.y = 5; + * + * const armSkeleton = new THREE.Skeleton( bones ); + * ``` + */ +class Skeleton { + + /** + * Constructs a new skeleton. + * + * @param {Array} [bones] - An array of bones. + * @param {Array} [boneInverses] - An array of bone inverse matrices. + * If not provided, these matrices will be computed automatically via {@link Skeleton#calculateInverses}. + */ + constructor( bones = [], boneInverses = [] ) { + + this.uuid = generateUUID(); + + /** + * An array of bones defining the skeleton. + * + * @type {Array} + */ + this.bones = bones.slice( 0 ); + + /** + * An array of bone inverse matrices. + * + * @type {Array} + */ + this.boneInverses = boneInverses; + + /** + * An array buffer holding the bone data. + * Input data for {@link Skeleton#boneTexture}. + * + * @type {?Float32Array} + * @default null + */ + this.boneMatrices = null; + + /** + * An array buffer holding the bone data of the previous frame. + * Required for computing velocity. Maintained in {@link SkinningNode}. + * + * @type {?Float32Array} + * @default null + */ + this.previousBoneMatrices = null; + + /** + * A texture holding the bone data for use + * in the vertex shader. + * + * @type {?DataTexture} + * @default null + */ + this.boneTexture = null; + + this.init(); + + } + + /** + * Initializes the skeleton. This method gets automatically called by the constructor + * but depending on how the skeleton is created it might be necessary to call this method + * manually. + */ + init() { + + const bones = this.bones; + const boneInverses = this.boneInverses; + + this.boneMatrices = new Float32Array( bones.length * 16 ); + + // calculate inverse bone matrices if necessary + + if ( boneInverses.length === 0 ) { + + this.calculateInverses(); + + } else { + + // handle special case + + if ( bones.length !== boneInverses.length ) { + + warn( 'Skeleton: Number of inverse bone matrices does not match amount of bones.' ); + + this.boneInverses = []; + + for ( let i = 0, il = this.bones.length; i < il; i ++ ) { + + this.boneInverses.push( new Matrix4() ); + + } + + } + + } + + } + + /** + * Computes the bone inverse matrices. This method resets {@link Skeleton#boneInverses} + * and fills it with new matrices. + */ + calculateInverses() { + + this.boneInverses.length = 0; + + for ( let i = 0, il = this.bones.length; i < il; i ++ ) { + + const inverse = new Matrix4(); + + if ( this.bones[ i ] ) { + + inverse.copy( this.bones[ i ].matrixWorld ).invert(); + + } + + this.boneInverses.push( inverse ); + + } + + } + + /** + * Resets the skeleton to the base pose. + */ + pose() { + + // recover the bind-time world matrices + + for ( let i = 0, il = this.bones.length; i < il; i ++ ) { + + const bone = this.bones[ i ]; + + if ( bone ) { + + bone.matrixWorld.copy( this.boneInverses[ i ] ).invert(); + + } + + } + + // compute the local matrices, positions, rotations and scales + + for ( let i = 0, il = this.bones.length; i < il; i ++ ) { + + const bone = this.bones[ i ]; + + if ( bone ) { + + if ( bone.parent && bone.parent.isBone ) { + + bone.matrix.copy( bone.parent.matrixWorld ).invert(); + bone.matrix.multiply( bone.matrixWorld ); + + } else { + + bone.matrix.copy( bone.matrixWorld ); + + } + + bone.matrix.decompose( bone.position, bone.quaternion, bone.scale ); + + } + + } + + } + + /** + * Resets the skeleton to the base pose. + */ + update() { + + const bones = this.bones; + const boneInverses = this.boneInverses; + const boneMatrices = this.boneMatrices; + const boneTexture = this.boneTexture; + + // flatten bone matrices to array + + for ( let i = 0, il = bones.length; i < il; i ++ ) { + + // compute the offset between the current and the original transform + + const matrix = bones[ i ] ? bones[ i ].matrixWorld : _identityMatrix; + + _offsetMatrix.multiplyMatrices( matrix, boneInverses[ i ] ); + _offsetMatrix.toArray( boneMatrices, i * 16 ); + + } + + if ( boneTexture !== null ) { + + boneTexture.needsUpdate = true; + + } + + } + + /** + * Returns a new skeleton with copied values from this instance. + * + * @return {Skeleton} A clone of this instance. + */ + clone() { + + return new Skeleton( this.bones, this.boneInverses ); + + } + + /** + * Computes a data texture for passing bone data to the vertex shader. + * + * @return {Skeleton} A reference of this instance. + */ + computeBoneTexture() { + + // layout (1 matrix = 4 pixels) + // RGBA RGBA RGBA RGBA (=> column1, column2, column3, column4) + // with 8x8 pixel texture max 16 bones * 4 pixels = (8 * 8) + // 16x16 pixel texture max 64 bones * 4 pixels = (16 * 16) + // 32x32 pixel texture max 256 bones * 4 pixels = (32 * 32) + // 64x64 pixel texture max 1024 bones * 4 pixels = (64 * 64) + + let size = Math.sqrt( this.bones.length * 4 ); // 4 pixels needed for 1 matrix + size = Math.ceil( size / 4 ) * 4; + size = Math.max( size, 4 ); + + const boneMatrices = new Float32Array( size * size * 4 ); // 4 floats per RGBA pixel + boneMatrices.set( this.boneMatrices ); // copy current values + + const boneTexture = new DataTexture( boneMatrices, size, size, RGBAFormat, FloatType ); + boneTexture.needsUpdate = true; + + this.boneMatrices = boneMatrices; + this.boneTexture = boneTexture; + + return this; + + } + + /** + * Searches through the skeleton's bone array and returns the first with a + * matching name. + * + * @param {string} name - The name of the bone. + * @return {Bone|undefined} The found bone. `undefined` if no bone has been found. + */ + getBoneByName( name ) { + + for ( let i = 0, il = this.bones.length; i < il; i ++ ) { + + const bone = this.bones[ i ]; + + if ( bone.name === name ) { + + return bone; + + } + + } + + return undefined; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose( ) { + + if ( this.boneTexture !== null ) { + + this.boneTexture.dispose(); + + this.boneTexture = null; + + } + + } + + /** + * Setups the skeleton by the given JSON and bones. + * + * @param {Object} json - The skeleton as serialized JSON. + * @param {Object} bones - An array of bones. + * @return {Skeleton} A reference of this instance. + */ + fromJSON( json, bones ) { + + this.uuid = json.uuid; + + for ( let i = 0, l = json.bones.length; i < l; i ++ ) { + + const uuid = json.bones[ i ]; + let bone = bones[ uuid ]; + + if ( bone === undefined ) { + + warn( 'Skeleton: No bone found with UUID:', uuid ); + bone = new Bone(); + + } + + this.bones.push( bone ); + this.boneInverses.push( new Matrix4().fromArray( json.boneInverses[ i ] ) ); + + } + + this.init(); + + return this; + + } + + /** + * Serializes the skeleton into JSON. + * + * @return {Object} A JSON object representing the serialized skeleton. + * @see {@link ObjectLoader#parse} + */ + toJSON() { + + const data = { + metadata: { + version: 4.7, + type: 'Skeleton', + generator: 'Skeleton.toJSON' + }, + bones: [], + boneInverses: [] + }; + + data.uuid = this.uuid; + + const bones = this.bones; + const boneInverses = this.boneInverses; + + for ( let i = 0, l = bones.length; i < l; i ++ ) { + + const bone = bones[ i ]; + data.bones.push( bone.uuid ); + + const boneInverse = boneInverses[ i ]; + data.boneInverses.push( boneInverse.toArray() ); + + } + + return data; + + } + +} + +/** + * An instanced version of a buffer attribute. + * + * @augments BufferAttribute + */ +class InstancedBufferAttribute extends BufferAttribute { + + /** + * Constructs a new instanced buffer attribute. + * + * @param {TypedArray} array - The array holding the attribute data. + * @param {number} itemSize - The item size. + * @param {boolean} [normalized=false] - Whether the data are normalized or not. + * @param {number} [meshPerAttribute=1] - How often a value of this buffer attribute should be repeated. + */ + constructor( array, itemSize, normalized, meshPerAttribute = 1 ) { + + super( array, itemSize, normalized ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isInstancedBufferAttribute = true; + + /** + * Defines how often a value of this buffer attribute should be repeated. A + * value of one means that each value of the instanced attribute is used for + * a single instance. A value of two means that each value is used for two + * consecutive instances (and so on). + * + * @type {number} + * @default 1 + */ + this.meshPerAttribute = meshPerAttribute; + + } + + copy( source ) { + + super.copy( source ); + + this.meshPerAttribute = source.meshPerAttribute; + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.meshPerAttribute = this.meshPerAttribute; + + data.isInstancedBufferAttribute = true; + + return data; + + } + +} + +const _instanceLocalMatrix = /*@__PURE__*/ new Matrix4(); +const _instanceWorldMatrix = /*@__PURE__*/ new Matrix4(); + +const _instanceIntersects = []; + +const _box3 = /*@__PURE__*/ new Box3(); +const _identity = /*@__PURE__*/ new Matrix4(); +const _mesh$1 = /*@__PURE__*/ new Mesh(); +const _sphere$4 = /*@__PURE__*/ new Sphere(); + +/** + * A special version of a mesh with instanced rendering support. Use + * this class if you have to render a large number of objects with the same + * geometry and material(s) but with different world transformations. The usage + * of 'InstancedMesh' will help you to reduce the number of draw calls and thus + * improve the overall rendering performance in your application. + * + * @augments Mesh + */ +class InstancedMesh extends Mesh { + + /** + * Constructs a new instanced mesh. + * + * @param {BufferGeometry} [geometry] - The mesh geometry. + * @param {Material|Array} [material] - The mesh material. + * @param {number} count - The number of instances. + */ + constructor( geometry, material, count ) { + + super( geometry, material ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isInstancedMesh = true; + + /** + * Represents the local transformation of all instances. You have to set its + * {@link BufferAttribute#needsUpdate} flag to true if you modify instanced data + * via {@link InstancedMesh#setMatrixAt}. + * + * @type {InstancedBufferAttribute} + */ + this.instanceMatrix = new InstancedBufferAttribute( new Float32Array( count * 16 ), 16 ); + + /** + * Represents the local transformation of all instances of the previous frame. + * Required for computing velocity. Maintained in {@link InstanceNode}. + * + * @type {?InstancedBufferAttribute} + * @default null + */ + this.previousInstanceMatrix = null; + + /** + * Represents the color of all instances. You have to set its + * {@link BufferAttribute#needsUpdate} flag to true if you modify instanced data + * via {@link InstancedMesh#setColorAt}. + * + * @type {?InstancedBufferAttribute} + * @default null + */ + this.instanceColor = null; + + /** + * Represents the morph target weights of all instances. You have to set its + * {@link Texture#needsUpdate} flag to true if you modify instanced data + * via {@link InstancedMesh#setMorphAt}. + * + * @type {?DataTexture} + * @default null + */ + this.morphTexture = null; + + /** + * The number of instances. + * + * @type {number} + */ + this.count = count; + + /** + * The bounding box of the instanced mesh. Can be computed via {@link InstancedMesh#computeBoundingBox}. + * + * @type {?Box3} + * @default null + */ + this.boundingBox = null; + + /** + * The bounding sphere of the instanced mesh. Can be computed via {@link InstancedMesh#computeBoundingSphere}. + * + * @type {?Sphere} + * @default null + */ + this.boundingSphere = null; + + for ( let i = 0; i < count; i ++ ) { + + this.setMatrixAt( i, _identity ); + + } + + } + + /** + * Computes the bounding box of the instanced mesh, and updates {@link InstancedMesh#boundingBox}. + * The bounding box is not automatically computed by the engine; this method must be called by your app. + * You may need to recompute the bounding box if an instance is transformed via {@link InstancedMesh#setMatrixAt}. + */ + computeBoundingBox() { + + const geometry = this.geometry; + const count = this.count; + + if ( this.boundingBox === null ) { + + this.boundingBox = new Box3(); + + } + + if ( geometry.boundingBox === null ) { + + geometry.computeBoundingBox(); + + } + + this.boundingBox.makeEmpty(); + + for ( let i = 0; i < count; i ++ ) { + + this.getMatrixAt( i, _instanceLocalMatrix ); + + _box3.copy( geometry.boundingBox ).applyMatrix4( _instanceLocalMatrix ); + + this.boundingBox.union( _box3 ); + + } + + } + + /** + * Computes the bounding sphere of the instanced mesh, and updates {@link InstancedMesh#boundingSphere} + * The engine automatically computes the bounding sphere when it is needed, e.g., for ray casting or view frustum culling. + * You may need to recompute the bounding sphere if an instance is transformed via {@link InstancedMesh#setMatrixAt}. + */ + computeBoundingSphere() { + + const geometry = this.geometry; + const count = this.count; + + if ( this.boundingSphere === null ) { + + this.boundingSphere = new Sphere(); + + } + + if ( geometry.boundingSphere === null ) { + + geometry.computeBoundingSphere(); + + } + + this.boundingSphere.makeEmpty(); + + for ( let i = 0; i < count; i ++ ) { + + this.getMatrixAt( i, _instanceLocalMatrix ); + + _sphere$4.copy( geometry.boundingSphere ).applyMatrix4( _instanceLocalMatrix ); + + this.boundingSphere.union( _sphere$4 ); + + } + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + this.instanceMatrix.copy( source.instanceMatrix ); + + if ( source.previousInstanceMatrix !== null ) this.previousInstanceMatrix = source.previousInstanceMatrix.clone(); + + if ( source.morphTexture !== null ) this.morphTexture = source.morphTexture.clone(); + if ( source.instanceColor !== null ) this.instanceColor = source.instanceColor.clone(); + + this.count = source.count; + + if ( source.boundingBox !== null ) this.boundingBox = source.boundingBox.clone(); + if ( source.boundingSphere !== null ) this.boundingSphere = source.boundingSphere.clone(); + + return this; + + } + + /** + * Gets the color of the defined instance. + * + * @param {number} index - The instance index. + * @param {Color} color - The target object that is used to store the method's result. + */ + getColorAt( index, color ) { + + color.fromArray( this.instanceColor.array, index * 3 ); + + } + + /** + * Gets the local transformation matrix of the defined instance. + * + * @param {number} index - The instance index. + * @param {Matrix4} matrix - The target object that is used to store the method's result. + */ + getMatrixAt( index, matrix ) { + + matrix.fromArray( this.instanceMatrix.array, index * 16 ); + + } + + /** + * Gets the morph target weights of the defined instance. + * + * @param {number} index - The instance index. + * @param {Mesh} object - The target object that is used to store the method's result. + */ + getMorphAt( index, object ) { + + const objectInfluences = object.morphTargetInfluences; + + const array = this.morphTexture.source.data.data; + + const len = objectInfluences.length + 1; // All influences + the baseInfluenceSum + + const dataIndex = index * len + 1; // Skip the baseInfluenceSum at the beginning + + for ( let i = 0; i < objectInfluences.length; i ++ ) { + + objectInfluences[ i ] = array[ dataIndex + i ]; + + } + + } + + raycast( raycaster, intersects ) { + + const matrixWorld = this.matrixWorld; + const raycastTimes = this.count; + + _mesh$1.geometry = this.geometry; + _mesh$1.material = this.material; + + if ( _mesh$1.material === undefined ) return; + + // test with bounding sphere first + + if ( this.boundingSphere === null ) this.computeBoundingSphere(); + + _sphere$4.copy( this.boundingSphere ); + _sphere$4.applyMatrix4( matrixWorld ); + + if ( raycaster.ray.intersectsSphere( _sphere$4 ) === false ) return; + + // now test each instance + + for ( let instanceId = 0; instanceId < raycastTimes; instanceId ++ ) { + + // calculate the world matrix for each instance + + this.getMatrixAt( instanceId, _instanceLocalMatrix ); + + _instanceWorldMatrix.multiplyMatrices( matrixWorld, _instanceLocalMatrix ); + + // the mesh represents this single instance + + _mesh$1.matrixWorld = _instanceWorldMatrix; + + _mesh$1.raycast( raycaster, _instanceIntersects ); + + // process the result of raycast + + for ( let i = 0, l = _instanceIntersects.length; i < l; i ++ ) { + + const intersect = _instanceIntersects[ i ]; + intersect.instanceId = instanceId; + intersect.object = this; + intersects.push( intersect ); + + } + + _instanceIntersects.length = 0; + + } + + } + + /** + * Sets the given color to the defined instance. Make sure you set the `needsUpdate` flag of + * {@link InstancedMesh#instanceColor} to `true` after updating all the colors. + * + * @param {number} index - The instance index. + * @param {Color} color - The instance color. + */ + setColorAt( index, color ) { + + if ( this.instanceColor === null ) { + + this.instanceColor = new InstancedBufferAttribute( new Float32Array( this.instanceMatrix.count * 3 ).fill( 1 ), 3 ); + + } + + color.toArray( this.instanceColor.array, index * 3 ); + + } + + /** + * Sets the given local transformation matrix to the defined instance. Make sure you set the `needsUpdate` flag of + * {@link InstancedMesh#instanceMatrix} to `true` after updating all the colors. + * + * @param {number} index - The instance index. + * @param {Matrix4} matrix - The local transformation. + */ + setMatrixAt( index, matrix ) { + + matrix.toArray( this.instanceMatrix.array, index * 16 ); + + } + + /** + * Sets the morph target weights to the defined instance. Make sure you set the `needsUpdate` flag of + * {@link InstancedMesh#morphTexture} to `true` after updating all the influences. + * + * @param {number} index - The instance index. + * @param {Mesh} object - A mesh which `morphTargetInfluences` property containing the morph target weights + * of a single instance. + */ + setMorphAt( index, object ) { + + const objectInfluences = object.morphTargetInfluences; + + const len = objectInfluences.length + 1; // morphBaseInfluence + all influences + + if ( this.morphTexture === null ) { + + this.morphTexture = new DataTexture( new Float32Array( len * this.count ), len, this.count, RedFormat, FloatType ); + + } + + const array = this.morphTexture.source.data.data; + + let morphInfluencesSum = 0; + + for ( let i = 0; i < objectInfluences.length; i ++ ) { + + morphInfluencesSum += objectInfluences[ i ]; + + } + + const morphBaseInfluence = this.geometry.morphTargetsRelative ? 1 : 1 - morphInfluencesSum; + + const dataIndex = len * index; + + array[ dataIndex ] = morphBaseInfluence; + + array.set( objectInfluences, dataIndex + 1 ); + + } + + updateMorphTargets() { + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.dispatchEvent( { type: 'dispose' } ); + + if ( this.morphTexture !== null ) { + + this.morphTexture.dispose(); + this.morphTexture = null; + + } + + } + +} + +const _vector1 = /*@__PURE__*/ new Vector3(); +const _vector2 = /*@__PURE__*/ new Vector3(); +const _normalMatrix = /*@__PURE__*/ new Matrix3(); + +/** + * A two dimensional surface that extends infinitely in 3D space, represented + * in [Hessian normal form](http://mathworld.wolfram.com/HessianNormalForm.html) + * by a unit length normal vector and a constant. + */ +class Plane { + + /** + * Constructs a new plane. + * + * @param {Vector3} [normal=(1,0,0)] - A unit length vector defining the normal of the plane. + * @param {number} [constant=0] - The signed distance from the origin to the plane. + */ + constructor( normal = new Vector3( 1, 0, 0 ), constant = 0 ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isPlane = true; + + /** + * A unit length vector defining the normal of the plane. + * + * @type {Vector3} + */ + this.normal = normal; + + /** + * The signed distance from the origin to the plane. + * + * @type {number} + * @default 0 + */ + this.constant = constant; + + } + + /** + * Sets the plane components by copying the given values. + * + * @param {Vector3} normal - The normal. + * @param {number} constant - The constant. + * @return {Plane} A reference to this plane. + */ + set( normal, constant ) { + + this.normal.copy( normal ); + this.constant = constant; + + return this; + + } + + /** + * Sets the plane components by defining `x`, `y`, `z` as the + * plane normal and `w` as the constant. + * + * @param {number} x - The value for the normal's x component. + * @param {number} y - The value for the normal's y component. + * @param {number} z - The value for the normal's z component. + * @param {number} w - The constant value. + * @return {Plane} A reference to this plane. + */ + setComponents( x, y, z, w ) { + + this.normal.set( x, y, z ); + this.constant = w; + + return this; + + } + + /** + * Sets the plane from the given normal and coplanar point (that is a point + * that lies onto the plane). + * + * @param {Vector3} normal - The normal. + * @param {Vector3} point - A coplanar point. + * @return {Plane} A reference to this plane. + */ + setFromNormalAndCoplanarPoint( normal, point ) { + + this.normal.copy( normal ); + this.constant = - point.dot( this.normal ); + + return this; + + } + + /** + * Sets the plane from three coplanar points. The winding order is + * assumed to be counter-clockwise, and determines the direction of + * the plane normal. + * + * @param {Vector3} a - The first coplanar point. + * @param {Vector3} b - The second coplanar point. + * @param {Vector3} c - The third coplanar point. + * @return {Plane} A reference to this plane. + */ + setFromCoplanarPoints( a, b, c ) { + + const normal = _vector1.subVectors( c, b ).cross( _vector2.subVectors( a, b ) ).normalize(); + + // Q: should an error be thrown if normal is zero (e.g. degenerate plane)? + + this.setFromNormalAndCoplanarPoint( normal, a ); + + return this; + + } + + /** + * Copies the values of the given plane to this instance. + * + * @param {Plane} plane - The plane to copy. + * @return {Plane} A reference to this plane. + */ + copy( plane ) { + + this.normal.copy( plane.normal ); + this.constant = plane.constant; + + return this; + + } + + /** + * Normalizes the plane normal and adjusts the constant accordingly. + * + * @return {Plane} A reference to this plane. + */ + normalize() { + + // Note: will lead to a divide by zero if the plane is invalid. + + const inverseNormalLength = 1.0 / this.normal.length(); + this.normal.multiplyScalar( inverseNormalLength ); + this.constant *= inverseNormalLength; + + return this; + + } + + /** + * Negates both the plane normal and the constant. + * + * @return {Plane} A reference to this plane. + */ + negate() { + + this.constant *= -1; + this.normal.negate(); + + return this; + + } + + /** + * Returns the signed distance from the given point to this plane. + * + * @param {Vector3} point - The point to compute the distance for. + * @return {number} The signed distance. + */ + distanceToPoint( point ) { + + return this.normal.dot( point ) + this.constant; + + } + + /** + * Returns the signed distance from the given sphere to this plane. + * + * @param {Sphere} sphere - The sphere to compute the distance for. + * @return {number} The signed distance. + */ + distanceToSphere( sphere ) { + + return this.distanceToPoint( sphere.center ) - sphere.radius; + + } + + /** + * Projects a the given point onto the plane. + * + * @param {Vector3} point - The point to project. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The projected point on the plane. + */ + projectPoint( point, target ) { + + return target.copy( point ).addScaledVector( this.normal, - this.distanceToPoint( point ) ); + + } + + /** + * Returns the intersection point of the passed line and the plane. Returns + * `null` if the line does not intersect. Returns the line's starting point if + * the line is coplanar with the plane. + * + * @param {Line3} line - The line to compute the intersection for. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {?Vector3} The intersection point. + */ + intersectLine( line, target ) { + + const direction = line.delta( _vector1 ); + + const denominator = this.normal.dot( direction ); + + if ( denominator === 0 ) { + + // line is coplanar, return origin + if ( this.distanceToPoint( line.start ) === 0 ) { + + return target.copy( line.start ); + + } + + // Unsure if this is the correct method to handle this case. + return null; + + } + + const t = - ( line.start.dot( this.normal ) + this.constant ) / denominator; + + if ( t < 0 || t > 1 ) { + + return null; + + } + + return target.copy( line.start ).addScaledVector( direction, t ); + + } + + /** + * Returns `true` if the given line segment intersects with (passes through) the plane. + * + * @param {Line3} line - The line to test. + * @return {boolean} Whether the given line segment intersects with the plane or not. + */ + intersectsLine( line ) { + + // Note: this tests if a line intersects the plane, not whether it (or its end-points) are coplanar with it. + + const startSign = this.distanceToPoint( line.start ); + const endSign = this.distanceToPoint( line.end ); + + return ( startSign < 0 && endSign > 0 ) || ( endSign < 0 && startSign > 0 ); + + } + + /** + * Returns `true` if the given bounding box intersects with the plane. + * + * @param {Box3} box - The bounding box to test. + * @return {boolean} Whether the given bounding box intersects with the plane or not. + */ + intersectsBox( box ) { + + return box.intersectsPlane( this ); + + } + + /** + * Returns `true` if the given bounding sphere intersects with the plane. + * + * @param {Sphere} sphere - The bounding sphere to test. + * @return {boolean} Whether the given bounding sphere intersects with the plane or not. + */ + intersectsSphere( sphere ) { + + return sphere.intersectsPlane( this ); + + } + + /** + * Returns a coplanar vector to the plane, by calculating the + * projection of the normal at the origin onto the plane. + * + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The coplanar point. + */ + coplanarPoint( target ) { + + return target.copy( this.normal ).multiplyScalar( - this.constant ); + + } + + /** + * Apply a 4x4 matrix to the plane. The matrix must be an affine, homogeneous transform. + * + * The optional normal matrix can be pre-computed like so: + * ```js + * const optionalNormalMatrix = new THREE.Matrix3().getNormalMatrix( matrix ); + * ``` + * + * @param {Matrix4} matrix - The transformation matrix. + * @param {Matrix4} [optionalNormalMatrix] - A pre-computed normal matrix. + * @return {Plane} A reference to this plane. + */ + applyMatrix4( matrix, optionalNormalMatrix ) { + + const normalMatrix = optionalNormalMatrix || _normalMatrix.getNormalMatrix( matrix ); + + const referencePoint = this.coplanarPoint( _vector1 ).applyMatrix4( matrix ); + + const normal = this.normal.applyMatrix3( normalMatrix ).normalize(); + + this.constant = - referencePoint.dot( normal ); + + return this; + + } + + /** + * Translates the plane by the distance defined by the given offset vector. + * Note that this only affects the plane constant and will not affect the normal vector. + * + * @param {Vector3} offset - The offset vector. + * @return {Plane} A reference to this plane. + */ + translate( offset ) { + + this.constant -= offset.dot( this.normal ); + + return this; + + } + + /** + * Returns `true` if this plane is equal with the given one. + * + * @param {Plane} plane - The plane to test for equality. + * @return {boolean} Whether this plane is equal with the given one. + */ + equals( plane ) { + + return plane.normal.equals( this.normal ) && ( plane.constant === this.constant ); + + } + + /** + * Returns a new plane with copied values from this instance. + * + * @return {Plane} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + +} + +const _sphere$3 = /*@__PURE__*/ new Sphere(); +const _defaultSpriteCenter = /*@__PURE__*/ new Vector2( 0.5, 0.5 ); +const _vector$6 = /*@__PURE__*/ new Vector3(); + +/** + * Frustums are used to determine what is inside the camera's field of view. + * They help speed up the rendering process - objects which lie outside a camera's + * frustum can safely be excluded from rendering. + * + * This class is mainly intended for use internally by a renderer. + */ +class Frustum { + + /** + * Constructs a new frustum. + * + * @param {Plane} [p0] - The first plane that encloses the frustum. + * @param {Plane} [p1] - The second plane that encloses the frustum. + * @param {Plane} [p2] - The third plane that encloses the frustum. + * @param {Plane} [p3] - The fourth plane that encloses the frustum. + * @param {Plane} [p4] - The fifth plane that encloses the frustum. + * @param {Plane} [p5] - The sixth plane that encloses the frustum. + */ + constructor( p0 = new Plane(), p1 = new Plane(), p2 = new Plane(), p3 = new Plane(), p4 = new Plane(), p5 = new Plane() ) { + + /** + * This array holds the planes that enclose the frustum. + * + * @type {Array} + */ + this.planes = [ p0, p1, p2, p3, p4, p5 ]; + + } + + /** + * Sets the frustum planes by copying the given planes. + * + * @param {Plane} [p0] - The first plane that encloses the frustum. + * @param {Plane} [p1] - The second plane that encloses the frustum. + * @param {Plane} [p2] - The third plane that encloses the frustum. + * @param {Plane} [p3] - The fourth plane that encloses the frustum. + * @param {Plane} [p4] - The fifth plane that encloses the frustum. + * @param {Plane} [p5] - The sixth plane that encloses the frustum. + * @return {Frustum} A reference to this frustum. + */ + set( p0, p1, p2, p3, p4, p5 ) { + + const planes = this.planes; + + planes[ 0 ].copy( p0 ); + planes[ 1 ].copy( p1 ); + planes[ 2 ].copy( p2 ); + planes[ 3 ].copy( p3 ); + planes[ 4 ].copy( p4 ); + planes[ 5 ].copy( p5 ); + + return this; + + } + + /** + * Copies the values of the given frustum to this instance. + * + * @param {Frustum} frustum - The frustum to copy. + * @return {Frustum} A reference to this frustum. + */ + copy( frustum ) { + + const planes = this.planes; + + for ( let i = 0; i < 6; i ++ ) { + + planes[ i ].copy( frustum.planes[ i ] ); + + } + + return this; + + } + + /** + * Sets the frustum planes from the given projection matrix. + * + * @param {Matrix4} m - The projection matrix. + * @param {(WebGLCoordinateSystem|WebGPUCoordinateSystem)} coordinateSystem - The coordinate system. + * @param {boolean} [reversedDepth=false] - Whether to use a reversed depth. + * @return {Frustum} A reference to this frustum. + */ + setFromProjectionMatrix( m, coordinateSystem = WebGLCoordinateSystem, reversedDepth = false ) { + + const planes = this.planes; + const me = m.elements; + const me0 = me[ 0 ], me1 = me[ 1 ], me2 = me[ 2 ], me3 = me[ 3 ]; + const me4 = me[ 4 ], me5 = me[ 5 ], me6 = me[ 6 ], me7 = me[ 7 ]; + const me8 = me[ 8 ], me9 = me[ 9 ], me10 = me[ 10 ], me11 = me[ 11 ]; + const me12 = me[ 12 ], me13 = me[ 13 ], me14 = me[ 14 ], me15 = me[ 15 ]; + + planes[ 0 ].setComponents( me3 - me0, me7 - me4, me11 - me8, me15 - me12 ).normalize(); + planes[ 1 ].setComponents( me3 + me0, me7 + me4, me11 + me8, me15 + me12 ).normalize(); + planes[ 2 ].setComponents( me3 + me1, me7 + me5, me11 + me9, me15 + me13 ).normalize(); + planes[ 3 ].setComponents( me3 - me1, me7 - me5, me11 - me9, me15 - me13 ).normalize(); + + if ( reversedDepth ) { + + planes[ 4 ].setComponents( me2, me6, me10, me14 ).normalize(); // far + planes[ 5 ].setComponents( me3 - me2, me7 - me6, me11 - me10, me15 - me14 ).normalize(); // near + + } else { + + planes[ 4 ].setComponents( me3 - me2, me7 - me6, me11 - me10, me15 - me14 ).normalize(); // far + + if ( coordinateSystem === WebGLCoordinateSystem ) { + + planes[ 5 ].setComponents( me3 + me2, me7 + me6, me11 + me10, me15 + me14 ).normalize(); // near + + } else if ( coordinateSystem === WebGPUCoordinateSystem ) { + + planes[ 5 ].setComponents( me2, me6, me10, me14 ).normalize(); // near + + } else { + + throw new Error( 'THREE.Frustum.setFromProjectionMatrix(): Invalid coordinate system: ' + coordinateSystem ); + + } + + } + + return this; + + } + + /** + * Returns `true` if the 3D object's bounding sphere is intersecting this frustum. + * + * Note that the 3D object must have a geometry so that the bounding sphere can be calculated. + * + * @param {Object3D} object - The 3D object to test. + * @return {boolean} Whether the 3D object's bounding sphere is intersecting this frustum or not. + */ + intersectsObject( object ) { + + if ( object.boundingSphere !== undefined ) { + + if ( object.boundingSphere === null ) object.computeBoundingSphere(); + + _sphere$3.copy( object.boundingSphere ).applyMatrix4( object.matrixWorld ); + + } else { + + const geometry = object.geometry; + + if ( geometry.boundingSphere === null ) geometry.computeBoundingSphere(); + + _sphere$3.copy( geometry.boundingSphere ).applyMatrix4( object.matrixWorld ); + + } + + return this.intersectsSphere( _sphere$3 ); + + } + + /** + * Returns `true` if the given sprite is intersecting this frustum. + * + * @param {Sprite} sprite - The sprite to test. + * @return {boolean} Whether the sprite is intersecting this frustum or not. + */ + intersectsSprite( sprite ) { + + _sphere$3.center.set( 0, 0, 0 ); + + const offset = _defaultSpriteCenter.distanceTo( sprite.center ); + + _sphere$3.radius = 0.7071067811865476 + offset; + _sphere$3.applyMatrix4( sprite.matrixWorld ); + + return this.intersectsSphere( _sphere$3 ); + + } + + /** + * Returns `true` if the given bounding sphere is intersecting this frustum. + * + * @param {Sphere} sphere - The bounding sphere to test. + * @return {boolean} Whether the bounding sphere is intersecting this frustum or not. + */ + intersectsSphere( sphere ) { + + const planes = this.planes; + const center = sphere.center; + const negRadius = - sphere.radius; + + for ( let i = 0; i < 6; i ++ ) { + + const distance = planes[ i ].distanceToPoint( center ); + + if ( distance < negRadius ) { + + return false; + + } + + } + + return true; + + } + + /** + * Returns `true` if the given bounding box is intersecting this frustum. + * + * @param {Box3} box - The bounding box to test. + * @return {boolean} Whether the bounding box is intersecting this frustum or not. + */ + intersectsBox( box ) { + + const planes = this.planes; + + for ( let i = 0; i < 6; i ++ ) { + + const plane = planes[ i ]; + + // corner at max distance + + _vector$6.x = plane.normal.x > 0 ? box.max.x : box.min.x; + _vector$6.y = plane.normal.y > 0 ? box.max.y : box.min.y; + _vector$6.z = plane.normal.z > 0 ? box.max.z : box.min.z; + + if ( plane.distanceToPoint( _vector$6 ) < 0 ) { + + return false; + + } + + } + + return true; + + } + + /** + * Returns `true` if the given point lies within the frustum. + * + * @param {Vector3} point - The point to test. + * @return {boolean} Whether the point lies within this frustum or not. + */ + containsPoint( point ) { + + const planes = this.planes; + + for ( let i = 0; i < 6; i ++ ) { + + if ( planes[ i ].distanceToPoint( point ) < 0 ) { + + return false; + + } + + } + + return true; + + } + + /** + * Returns a new frustum with copied values from this instance. + * + * @return {Frustum} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + +} + +const _projScreenMatrix$1 = /*@__PURE__*/ new Matrix4(); +const _frustum$1 = /*@__PURE__*/ new Frustum(); + +/** + * FrustumArray is used to determine if an object is visible in at least one camera + * from an array of cameras. This is particularly useful for multi-view renderers. +*/ +class FrustumArray { + + /** + * Constructs a new frustum array. + * + */ + constructor() { + + /** + * The coordinate system to use. + * + * @type {WebGLCoordinateSystem|WebGPUCoordinateSystem} + * @default WebGLCoordinateSystem + */ + this.coordinateSystem = WebGLCoordinateSystem; + + } + + /** + * Returns `true` if the 3D object's bounding sphere is intersecting any frustum + * from the camera array. + * + * @param {Object3D} object - The 3D object to test. + * @param {Object} cameraArray - An object with a cameras property containing an array of cameras. + * @return {boolean} Whether the 3D object is visible in any camera. + */ + intersectsObject( object, cameraArray ) { + + if ( ! cameraArray.isArrayCamera || cameraArray.cameras.length === 0 ) { + + return false; + + } + + for ( let i = 0; i < cameraArray.cameras.length; i ++ ) { + + const camera = cameraArray.cameras[ i ]; + + _projScreenMatrix$1.multiplyMatrices( + camera.projectionMatrix, + camera.matrixWorldInverse + ); + + _frustum$1.setFromProjectionMatrix( + _projScreenMatrix$1, + camera.coordinateSystem, + camera.reversedDepth + ); + + if ( _frustum$1.intersectsObject( object ) ) { + + return true; // Object is visible in at least one camera + + } + + } + + return false; // Not visible in any camera + + } + + /** + * Returns `true` if the given sprite is intersecting any frustum + * from the camera array. + * + * @param {Sprite} sprite - The sprite to test. + * @param {Object} cameraArray - An object with a cameras property containing an array of cameras. + * @return {boolean} Whether the sprite is visible in any camera. + */ + intersectsSprite( sprite, cameraArray ) { + + if ( ! cameraArray || ! cameraArray.cameras || cameraArray.cameras.length === 0 ) { + + return false; + + } + + for ( let i = 0; i < cameraArray.cameras.length; i ++ ) { + + const camera = cameraArray.cameras[ i ]; + + _projScreenMatrix$1.multiplyMatrices( + camera.projectionMatrix, + camera.matrixWorldInverse + ); + + _frustum$1.setFromProjectionMatrix( + _projScreenMatrix$1, + camera.coordinateSystem, + camera.reversedDepth + ); + + if ( _frustum$1.intersectsSprite( sprite ) ) { + + return true; // Sprite is visible in at least one camera + + } + + } + + return false; // Not visible in any camera + + } + + /** + * Returns `true` if the given bounding sphere is intersecting any frustum + * from the camera array. + * + * @param {Sphere} sphere - The bounding sphere to test. + * @param {Object} cameraArray - An object with a cameras property containing an array of cameras. + * @return {boolean} Whether the sphere is visible in any camera. + */ + intersectsSphere( sphere, cameraArray ) { + + if ( ! cameraArray || ! cameraArray.cameras || cameraArray.cameras.length === 0 ) { + + return false; + + } + + for ( let i = 0; i < cameraArray.cameras.length; i ++ ) { + + const camera = cameraArray.cameras[ i ]; + + _projScreenMatrix$1.multiplyMatrices( + camera.projectionMatrix, + camera.matrixWorldInverse + ); + + _frustum$1.setFromProjectionMatrix( + _projScreenMatrix$1, + camera.coordinateSystem, + camera.reversedDepth + ); + + if ( _frustum$1.intersectsSphere( sphere ) ) { + + return true; // Sphere is visible in at least one camera + + } + + } + + return false; // Not visible in any camera + + } + + /** + * Returns `true` if the given bounding box is intersecting any frustum + * from the camera array. + * + * @param {Box3} box - The bounding box to test. + * @param {Object} cameraArray - An object with a cameras property containing an array of cameras. + * @return {boolean} Whether the box is visible in any camera. + */ + intersectsBox( box, cameraArray ) { + + if ( ! cameraArray || ! cameraArray.cameras || cameraArray.cameras.length === 0 ) { + + return false; + + } + + for ( let i = 0; i < cameraArray.cameras.length; i ++ ) { + + const camera = cameraArray.cameras[ i ]; + + _projScreenMatrix$1.multiplyMatrices( + camera.projectionMatrix, + camera.matrixWorldInverse + ); + + _frustum$1.setFromProjectionMatrix( + _projScreenMatrix$1, + camera.coordinateSystem, + camera.reversedDepth + ); + + if ( _frustum$1.intersectsBox( box ) ) { + + return true; // Box is visible in at least one camera + + } + + } + + return false; // Not visible in any camera + + } + + /** + * Returns `true` if the given point lies within any frustum + * from the camera array. + * + * @param {Vector3} point - The point to test. + * @param {Object} cameraArray - An object with a cameras property containing an array of cameras. + * @return {boolean} Whether the point is visible in any camera. + */ + containsPoint( point, cameraArray ) { + + if ( ! cameraArray || ! cameraArray.cameras || cameraArray.cameras.length === 0 ) { + + return false; + + } + + for ( let i = 0; i < cameraArray.cameras.length; i ++ ) { + + const camera = cameraArray.cameras[ i ]; + + _projScreenMatrix$1.multiplyMatrices( + camera.projectionMatrix, + camera.matrixWorldInverse + ); + + _frustum$1.setFromProjectionMatrix( + _projScreenMatrix$1, + camera.coordinateSystem, + camera.reversedDepth + ); + + if ( _frustum$1.containsPoint( point ) ) { + + return true; // Point is visible in at least one camera + + } + + } + + return false; // Not visible in any camera + + } + + /** + * Returns a new frustum array with copied values from this instance. + * + * @return {FrustumArray} A clone of this instance. + */ + clone() { + + return new FrustumArray(); + + } + +} + +function ascIdSort( a, b ) { + + return a - b; + +} + +function sortOpaque( a, b ) { + + return a.z - b.z; + +} + +function sortTransparent( a, b ) { + + return b.z - a.z; + +} + +class MultiDrawRenderList { + + constructor() { + + this.index = 0; + this.pool = []; + this.list = []; + + } + + push( start, count, z, index ) { + + const pool = this.pool; + const list = this.list; + if ( this.index >= pool.length ) { + + pool.push( { + + start: -1, + count: -1, + z: -1, + index: -1, + + } ); + + } + + const item = pool[ this.index ]; + list.push( item ); + this.index ++; + + item.start = start; + item.count = count; + item.z = z; + item.index = index; + + } + + reset() { + + this.list.length = 0; + this.index = 0; + + } + +} + +const _matrix$1 = /*@__PURE__*/ new Matrix4(); +const _whiteColor = /*@__PURE__*/ new Color( 1, 1, 1 ); +const _frustum = /*@__PURE__*/ new Frustum(); +const _frustumArray = /*@__PURE__*/ new FrustumArray(); +const _box$1 = /*@__PURE__*/ new Box3(); +const _sphere$2 = /*@__PURE__*/ new Sphere(); +const _vector$5 = /*@__PURE__*/ new Vector3(); +const _forward$1 = /*@__PURE__*/ new Vector3(); +const _temp = /*@__PURE__*/ new Vector3(); +const _renderList = /*@__PURE__*/ new MultiDrawRenderList(); +const _mesh = /*@__PURE__*/ new Mesh(); +const _batchIntersects = []; + +// copies data from attribute "src" into "target" starting at "targetOffset" +function copyAttributeData( src, target, targetOffset = 0 ) { + + const itemSize = target.itemSize; + if ( src.isInterleavedBufferAttribute || src.array.constructor !== target.array.constructor ) { + + // use the component getters and setters if the array data cannot + // be copied directly + const vertexCount = src.count; + for ( let i = 0; i < vertexCount; i ++ ) { + + for ( let c = 0; c < itemSize; c ++ ) { + + target.setComponent( i + targetOffset, c, src.getComponent( i, c ) ); + + } + + } + + } else { + + // faster copy approach using typed array set function + target.array.set( src.array, targetOffset * itemSize ); + + } + + target.needsUpdate = true; + +} + +// safely copies array contents to a potentially smaller array +function copyArrayContents( src, target ) { + + if ( src.constructor !== target.constructor ) { + + // if arrays are of a different type (eg due to index size increasing) then data must be per-element copied + const len = Math.min( src.length, target.length ); + for ( let i = 0; i < len; i ++ ) { + + target[ i ] = src[ i ]; + + } + + } else { + + // if the arrays use the same data layout we can use a fast block copy + const len = Math.min( src.length, target.length ); + target.set( new src.constructor( src.buffer, 0, len ) ); + + } + +} + +/** + * A special version of a mesh with multi draw batch rendering support. Use + * this class if you have to render a large number of objects with the same + * material but with different geometries or world transformations. The usage of + * `BatchedMesh` will help you to reduce the number of draw calls and thus improve the overall + * rendering performance in your application. + * + * ```js + * const box = new THREE.BoxGeometry( 1, 1, 1 ); + * const sphere = new THREE.SphereGeometry( 1, 12, 12 ); + * const material = new THREE.MeshBasicMaterial( { color: 0x00ff00 } ); + * + * // initialize and add geometries into the batched mesh + * const batchedMesh = new BatchedMesh( 10, 5000, 10000, material ); + * const boxGeometryId = batchedMesh.addGeometry( box ); + * const sphereGeometryId = batchedMesh.addGeometry( sphere ); + * + * // create instances of those geometries + * const boxInstancedId1 = batchedMesh.addInstance( boxGeometryId ); + * const boxInstancedId2 = batchedMesh.addInstance( boxGeometryId ); + * + * const sphereInstancedId1 = batchedMesh.addInstance( sphereGeometryId ); + * const sphereInstancedId2 = batchedMesh.addInstance( sphereGeometryId ); + * + * // position the geometries + * batchedMesh.setMatrixAt( boxInstancedId1, boxMatrix1 ); + * batchedMesh.setMatrixAt( boxInstancedId2, boxMatrix2 ); + * + * batchedMesh.setMatrixAt( sphereInstancedId1, sphereMatrix1 ); + * batchedMesh.setMatrixAt( sphereInstancedId2, sphereMatrix2 ); + * + * scene.add( batchedMesh ); + * ``` + * + * @augments Mesh + */ +class BatchedMesh extends Mesh { + + /** + * Constructs a new batched mesh. + * + * @param {number} maxInstanceCount - The maximum number of individual instances planned to be added and rendered. + * @param {number} maxVertexCount - The maximum number of vertices to be used by all unique geometries. + * @param {number} [maxIndexCount=maxVertexCount*2] - The maximum number of indices to be used by all unique geometries + * @param {Material|Array} [material] - The mesh material. + */ + constructor( maxInstanceCount, maxVertexCount, maxIndexCount = maxVertexCount * 2, material ) { + + super( new BufferGeometry(), material ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isBatchedMesh = true; + + /** + * When set ot `true`, the individual objects of a batch are frustum culled. + * + * @type {boolean} + * @default true + */ + this.perObjectFrustumCulled = true; + + /** + * When set to `true`, the individual objects of a batch are sorted to improve overdraw-related artifacts. + * If the material is marked as "transparent" objects are rendered back to front and if not then they are + * rendered front to back. + * + * @type {boolean} + * @default true + */ + this.sortObjects = true; + + /** + * The bounding box of the batched mesh. Can be computed via {@link BatchedMesh#computeBoundingBox}. + * + * @type {?Box3} + * @default null + */ + this.boundingBox = null; + + /** + * The bounding sphere of the batched mesh. Can be computed via {@link BatchedMesh#computeBoundingSphere}. + * + * @type {?Sphere} + * @default null + */ + this.boundingSphere = null; + + /** + * Takes a sort a function that is run before render. The function takes a list of instances to + * sort and a camera. The objects in the list include a "z" field to perform a depth-ordered + * sort with. + * + * @type {?Function} + * @default null + */ + this.customSort = null; + + // stores visible, active, and geometry id per instance and reserved buffer ranges for geometries + this._instanceInfo = []; + this._geometryInfo = []; + + // instance, geometry ids that have been set as inactive, and are available to be overwritten + this._availableInstanceIds = []; + this._availableGeometryIds = []; + + // used to track where the next point is that geometry should be inserted + this._nextIndexStart = 0; + this._nextVertexStart = 0; + this._geometryCount = 0; + + // flags + this._visibilityChanged = true; + this._geometryInitialized = false; + + // cached user options + this._maxInstanceCount = maxInstanceCount; + this._maxVertexCount = maxVertexCount; + this._maxIndexCount = maxIndexCount; + + // buffers for multi draw + this._multiDrawCounts = new Int32Array( maxInstanceCount ); + this._multiDrawStarts = new Int32Array( maxInstanceCount ); + this._multiDrawCount = 0; + this._multiDrawInstances = null; + + // Local matrix per geometry by using data texture + this._matricesTexture = null; + this._indirectTexture = null; + this._colorsTexture = null; + + this._initMatricesTexture(); + this._initIndirectTexture(); + + } + + /** + * The maximum number of individual instances that can be stored in the batch. + * + * @type {number} + * @readonly + */ + get maxInstanceCount() { + + return this._maxInstanceCount; + + } + + /** + * The instance count. + * + * @type {number} + * @readonly + */ + get instanceCount() { + + return this._instanceInfo.length - this._availableInstanceIds.length; + + } + + /** + * The number of unused vertices. + * + * @type {number} + * @readonly + */ + get unusedVertexCount() { + + return this._maxVertexCount - this._nextVertexStart; + + } + + /** + * The number of unused indices. + * + * @type {number} + * @readonly + */ + get unusedIndexCount() { + + return this._maxIndexCount - this._nextIndexStart; + + } + + _initMatricesTexture() { + + // layout (1 matrix = 4 pixels) + // RGBA RGBA RGBA RGBA (=> column1, column2, column3, column4) + // with 8x8 pixel texture max 16 matrices * 4 pixels = (8 * 8) + // 16x16 pixel texture max 64 matrices * 4 pixels = (16 * 16) + // 32x32 pixel texture max 256 matrices * 4 pixels = (32 * 32) + // 64x64 pixel texture max 1024 matrices * 4 pixels = (64 * 64) + + let size = Math.sqrt( this._maxInstanceCount * 4 ); // 4 pixels needed for 1 matrix + size = Math.ceil( size / 4 ) * 4; + size = Math.max( size, 4 ); + + const matricesArray = new Float32Array( size * size * 4 ); // 4 floats per RGBA pixel + const matricesTexture = new DataTexture( matricesArray, size, size, RGBAFormat, FloatType ); + + this._matricesTexture = matricesTexture; + + } + + _initIndirectTexture() { + + let size = Math.sqrt( this._maxInstanceCount ); + size = Math.ceil( size ); + + const indirectArray = new Uint32Array( size * size ); + const indirectTexture = new DataTexture( indirectArray, size, size, RedIntegerFormat, UnsignedIntType ); + + this._indirectTexture = indirectTexture; + + } + + _initColorsTexture() { + + let size = Math.sqrt( this._maxInstanceCount ); + size = Math.ceil( size ); + + // 4 floats per RGBA pixel initialized to white + const colorsArray = new Float32Array( size * size * 4 ).fill( 1 ); + const colorsTexture = new DataTexture( colorsArray, size, size, RGBAFormat, FloatType ); + colorsTexture.colorSpace = ColorManagement.workingColorSpace; + + this._colorsTexture = colorsTexture; + + } + + _initializeGeometry( reference ) { + + const geometry = this.geometry; + const maxVertexCount = this._maxVertexCount; + const maxIndexCount = this._maxIndexCount; + if ( this._geometryInitialized === false ) { + + for ( const attributeName in reference.attributes ) { + + const srcAttribute = reference.getAttribute( attributeName ); + const { array, itemSize, normalized } = srcAttribute; + + const dstArray = new array.constructor( maxVertexCount * itemSize ); + const dstAttribute = new BufferAttribute( dstArray, itemSize, normalized ); + + geometry.setAttribute( attributeName, dstAttribute ); + + } + + if ( reference.getIndex() !== null ) { + + // Reserve last u16 index for primitive restart. + const indexArray = maxVertexCount > 65535 + ? new Uint32Array( maxIndexCount ) + : new Uint16Array( maxIndexCount ); + + geometry.setIndex( new BufferAttribute( indexArray, 1 ) ); + + } + + this._geometryInitialized = true; + + } + + } + + // Make sure the geometry is compatible with the existing combined geometry attributes + _validateGeometry( geometry ) { + + // check to ensure the geometries are using consistent attributes and indices + const batchGeometry = this.geometry; + if ( Boolean( geometry.getIndex() ) !== Boolean( batchGeometry.getIndex() ) ) { + + throw new Error( 'THREE.BatchedMesh: All geometries must consistently have "index".' ); + + } + + for ( const attributeName in batchGeometry.attributes ) { + + if ( ! geometry.hasAttribute( attributeName ) ) { + + throw new Error( `THREE.BatchedMesh: Added geometry missing "${ attributeName }". All geometries must have consistent attributes.` ); + + } + + const srcAttribute = geometry.getAttribute( attributeName ); + const dstAttribute = batchGeometry.getAttribute( attributeName ); + if ( srcAttribute.itemSize !== dstAttribute.itemSize || srcAttribute.normalized !== dstAttribute.normalized ) { + + throw new Error( 'THREE.BatchedMesh: All attributes must have a consistent itemSize and normalized value.' ); + + } + + } + + } + + /** + * Validates the instance defined by the given ID. + * + * @param {number} instanceId - The instance to validate. + */ + validateInstanceId( instanceId ) { + + const instanceInfo = this._instanceInfo; + if ( instanceId < 0 || instanceId >= instanceInfo.length || instanceInfo[ instanceId ].active === false ) { + + throw new Error( `THREE.BatchedMesh: Invalid instanceId ${instanceId}. Instance is either out of range or has been deleted.` ); + + } + + } + + /** + * Validates the geometry defined by the given ID. + * + * @param {number} geometryId - The geometry to validate. + */ + validateGeometryId( geometryId ) { + + const geometryInfoList = this._geometryInfo; + if ( geometryId < 0 || geometryId >= geometryInfoList.length || geometryInfoList[ geometryId ].active === false ) { + + throw new Error( `THREE.BatchedMesh: Invalid geometryId ${geometryId}. Geometry is either out of range or has been deleted.` ); + + } + + } + + /** + * Takes a sort a function that is run before render. The function takes a list of instances to + * sort and a camera. The objects in the list include a "z" field to perform a depth-ordered sort with. + * + * @param {Function} func - The custom sort function. + * @return {BatchedMesh} A reference to this batched mesh. + */ + setCustomSort( func ) { + + this.customSort = func; + return this; + + } + + /** + * Computes the bounding box, updating {@link BatchedMesh#boundingBox}. + * Bounding boxes aren't computed by default. They need to be explicitly computed, + * otherwise they are `null`. + */ + computeBoundingBox() { + + if ( this.boundingBox === null ) { + + this.boundingBox = new Box3(); + + } + + const boundingBox = this.boundingBox; + const instanceInfo = this._instanceInfo; + + boundingBox.makeEmpty(); + for ( let i = 0, l = instanceInfo.length; i < l; i ++ ) { + + if ( instanceInfo[ i ].active === false ) continue; + + const geometryId = instanceInfo[ i ].geometryIndex; + this.getMatrixAt( i, _matrix$1 ); + this.getBoundingBoxAt( geometryId, _box$1 ).applyMatrix4( _matrix$1 ); + boundingBox.union( _box$1 ); + + } + + } + + /** + * Computes the bounding sphere, updating {@link BatchedMesh#boundingSphere}. + * Bounding spheres aren't computed by default. They need to be explicitly computed, + * otherwise they are `null`. + */ + computeBoundingSphere() { + + if ( this.boundingSphere === null ) { + + this.boundingSphere = new Sphere(); + + } + + const boundingSphere = this.boundingSphere; + const instanceInfo = this._instanceInfo; + + boundingSphere.makeEmpty(); + for ( let i = 0, l = instanceInfo.length; i < l; i ++ ) { + + if ( instanceInfo[ i ].active === false ) continue; + + const geometryId = instanceInfo[ i ].geometryIndex; + this.getMatrixAt( i, _matrix$1 ); + this.getBoundingSphereAt( geometryId, _sphere$2 ).applyMatrix4( _matrix$1 ); + boundingSphere.union( _sphere$2 ); + + } + + } + + /** + * Adds a new instance to the batch using the geometry of the given ID and returns + * a new id referring to the new instance to be used by other functions. + * + * @param {number} geometryId - The ID of a previously added geometry via {@link BatchedMesh#addGeometry}. + * @return {number} The instance ID. + */ + addInstance( geometryId ) { + + const atCapacity = this._instanceInfo.length >= this.maxInstanceCount; + + // ensure we're not over geometry + if ( atCapacity && this._availableInstanceIds.length === 0 ) { + + throw new Error( 'THREE.BatchedMesh: Maximum item count reached.' ); + + } + + const instanceInfo = { + visible: true, + active: true, + geometryIndex: geometryId, + }; + + let drawId = null; + + // Prioritize using previously freed instance ids + if ( this._availableInstanceIds.length > 0 ) { + + this._availableInstanceIds.sort( ascIdSort ); + + drawId = this._availableInstanceIds.shift(); + this._instanceInfo[ drawId ] = instanceInfo; + + } else { + + drawId = this._instanceInfo.length; + this._instanceInfo.push( instanceInfo ); + + } + + const matricesTexture = this._matricesTexture; + _matrix$1.identity().toArray( matricesTexture.image.data, drawId * 16 ); + matricesTexture.needsUpdate = true; + + const colorsTexture = this._colorsTexture; + if ( colorsTexture ) { + + _whiteColor.toArray( colorsTexture.image.data, drawId * 4 ); + colorsTexture.needsUpdate = true; + + } + + this._visibilityChanged = true; + return drawId; + + } + + /** + * Adds the given geometry to the batch and returns the associated + * geometry id referring to it to be used in other functions. + * + * @param {BufferGeometry} geometry - The geometry to add. + * @param {number} [reservedVertexCount=-1] - Optional parameter specifying the amount of + * vertex buffer space to reserve for the added geometry. This is necessary if it is planned + * to set a new geometry at this index at a later time that is larger than the original geometry. + * Defaults to the length of the given geometry vertex buffer. + * @param {number} [reservedIndexCount=-1] - Optional parameter specifying the amount of index + * buffer space to reserve for the added geometry. This is necessary if it is planned to set a + * new geometry at this index at a later time that is larger than the original geometry. Defaults to + * the length of the given geometry index buffer. + * @return {number} The geometry ID. + */ + addGeometry( geometry, reservedVertexCount = -1, reservedIndexCount = -1 ) { + + this._initializeGeometry( geometry ); + + this._validateGeometry( geometry ); + + const geometryInfo = { + // geometry information + vertexStart: -1, + vertexCount: -1, + reservedVertexCount: -1, + + indexStart: -1, + indexCount: -1, + reservedIndexCount: -1, + + // draw range information + start: -1, + count: -1, + + // state + boundingBox: null, + boundingSphere: null, + active: true, + }; + + const geometryInfoList = this._geometryInfo; + geometryInfo.vertexStart = this._nextVertexStart; + geometryInfo.reservedVertexCount = reservedVertexCount === -1 ? geometry.getAttribute( 'position' ).count : reservedVertexCount; + + const index = geometry.getIndex(); + const hasIndex = index !== null; + if ( hasIndex ) { + + geometryInfo.indexStart = this._nextIndexStart; + geometryInfo.reservedIndexCount = reservedIndexCount === -1 ? index.count : reservedIndexCount; + + } + + if ( + geometryInfo.indexStart !== -1 && + geometryInfo.indexStart + geometryInfo.reservedIndexCount > this._maxIndexCount || + geometryInfo.vertexStart + geometryInfo.reservedVertexCount > this._maxVertexCount + ) { + + throw new Error( 'THREE.BatchedMesh: Reserved space request exceeds the maximum buffer size.' ); + + } + + // update id + let geometryId; + if ( this._availableGeometryIds.length > 0 ) { + + this._availableGeometryIds.sort( ascIdSort ); + + geometryId = this._availableGeometryIds.shift(); + geometryInfoList[ geometryId ] = geometryInfo; + + + } else { + + geometryId = this._geometryCount; + this._geometryCount ++; + geometryInfoList.push( geometryInfo ); + + } + + // update the geometry + this.setGeometryAt( geometryId, geometry ); + + // increment the next geometry position + this._nextIndexStart = geometryInfo.indexStart + geometryInfo.reservedIndexCount; + this._nextVertexStart = geometryInfo.vertexStart + geometryInfo.reservedVertexCount; + + return geometryId; + + } + + /** + * Replaces the geometry at the given ID with the provided geometry. Throws an error if there + * is not enough space reserved for geometry. Calling this will change all instances that are + * rendering that geometry. + * + * @param {number} geometryId - The ID of the geometry that should be replaced with the given geometry. + * @param {BufferGeometry} geometry - The new geometry. + * @return {number} The geometry ID. + */ + setGeometryAt( geometryId, geometry ) { + + if ( geometryId >= this._geometryCount ) { + + throw new Error( 'THREE.BatchedMesh: Maximum geometry count reached.' ); + + } + + this._validateGeometry( geometry ); + + const batchGeometry = this.geometry; + const hasIndex = batchGeometry.getIndex() !== null; + const dstIndex = batchGeometry.getIndex(); + const srcIndex = geometry.getIndex(); + const geometryInfo = this._geometryInfo[ geometryId ]; + if ( + hasIndex && + srcIndex.count > geometryInfo.reservedIndexCount || + geometry.attributes.position.count > geometryInfo.reservedVertexCount + ) { + + throw new Error( 'THREE.BatchedMesh: Reserved space not large enough for provided geometry.' ); + + } + + // copy geometry buffer data over + const vertexStart = geometryInfo.vertexStart; + const reservedVertexCount = geometryInfo.reservedVertexCount; + geometryInfo.vertexCount = geometry.getAttribute( 'position' ).count; + + for ( const attributeName in batchGeometry.attributes ) { + + // copy attribute data + const srcAttribute = geometry.getAttribute( attributeName ); + const dstAttribute = batchGeometry.getAttribute( attributeName ); + copyAttributeData( srcAttribute, dstAttribute, vertexStart ); + + // fill the rest in with zeroes + const itemSize = srcAttribute.itemSize; + for ( let i = srcAttribute.count, l = reservedVertexCount; i < l; i ++ ) { + + const index = vertexStart + i; + for ( let c = 0; c < itemSize; c ++ ) { + + dstAttribute.setComponent( index, c, 0 ); + + } + + } + + dstAttribute.needsUpdate = true; + dstAttribute.addUpdateRange( vertexStart * itemSize, reservedVertexCount * itemSize ); + + } + + // copy index + if ( hasIndex ) { + + const indexStart = geometryInfo.indexStart; + const reservedIndexCount = geometryInfo.reservedIndexCount; + geometryInfo.indexCount = geometry.getIndex().count; + + // copy index data over + for ( let i = 0; i < srcIndex.count; i ++ ) { + + dstIndex.setX( indexStart + i, vertexStart + srcIndex.getX( i ) ); + + } + + // fill the rest in with zeroes + for ( let i = srcIndex.count, l = reservedIndexCount; i < l; i ++ ) { + + dstIndex.setX( indexStart + i, vertexStart ); + + } + + dstIndex.needsUpdate = true; + dstIndex.addUpdateRange( indexStart, geometryInfo.reservedIndexCount ); + + } + + // update the draw range + geometryInfo.start = hasIndex ? geometryInfo.indexStart : geometryInfo.vertexStart; + geometryInfo.count = hasIndex ? geometryInfo.indexCount : geometryInfo.vertexCount; + + // store the bounding boxes + geometryInfo.boundingBox = null; + if ( geometry.boundingBox !== null ) { + + geometryInfo.boundingBox = geometry.boundingBox.clone(); + + } + + geometryInfo.boundingSphere = null; + if ( geometry.boundingSphere !== null ) { + + geometryInfo.boundingSphere = geometry.boundingSphere.clone(); + + } + + this._visibilityChanged = true; + return geometryId; + + } + + /** + * Deletes the geometry defined by the given ID from this batch. Any instances referencing + * this geometry will also be removed as a side effect. + * + * @param {number} geometryId - The ID of the geometry to remove from the batch. + * @return {BatchedMesh} A reference to this batched mesh. + */ + deleteGeometry( geometryId ) { + + const geometryInfoList = this._geometryInfo; + if ( geometryId >= geometryInfoList.length || geometryInfoList[ geometryId ].active === false ) { + + return this; + + } + + // delete any instances associated with this geometry + const instanceInfo = this._instanceInfo; + for ( let i = 0, l = instanceInfo.length; i < l; i ++ ) { + + if ( instanceInfo[ i ].active && instanceInfo[ i ].geometryIndex === geometryId ) { + + this.deleteInstance( i ); + + } + + } + + geometryInfoList[ geometryId ].active = false; + this._availableGeometryIds.push( geometryId ); + this._visibilityChanged = true; + + return this; + + } + + /** + * Deletes an existing instance from the batch using the given ID. + * + * @param {number} instanceId - The ID of the instance to remove from the batch. + * @return {BatchedMesh} A reference to this batched mesh. + */ + deleteInstance( instanceId ) { + + this.validateInstanceId( instanceId ); + + this._instanceInfo[ instanceId ].active = false; + this._availableInstanceIds.push( instanceId ); + this._visibilityChanged = true; + + return this; + + } + + /** + * Repacks the sub geometries in BatchedMesh to remove any unused space remaining from + * previously deleted geometry, freeing up space to add new geometry. + * + * @return {BatchedMesh} A reference to this batched mesh. + */ + optimize() { + + // track the next indices to copy data to + let nextVertexStart = 0; + let nextIndexStart = 0; + + // Iterate over all geometry ranges in order sorted from earliest in the geometry buffer to latest + // in the geometry buffer. Because draw range objects can be reused there is no guarantee of their order. + const geometryInfoList = this._geometryInfo; + const indices = geometryInfoList + .map( ( e, i ) => i ) + .sort( ( a, b ) => { + + return geometryInfoList[ a ].vertexStart - geometryInfoList[ b ].vertexStart; + + } ); + + const geometry = this.geometry; + for ( let i = 0, l = geometryInfoList.length; i < l; i ++ ) { + + // if a geometry range is inactive then don't copy anything + const index = indices[ i ]; + const geometryInfo = geometryInfoList[ index ]; + if ( geometryInfo.active === false ) { + + continue; + + } + + // if a geometry contains an index buffer then shift it, as well + if ( geometry.index !== null ) { + + if ( geometryInfo.indexStart !== nextIndexStart ) { + + const { indexStart, vertexStart, reservedIndexCount } = geometryInfo; + const index = geometry.index; + const array = index.array; + + // shift the index pointers based on how the vertex data will shift + // adjusting the index must happen first so the original vertex start value is available + const elementDelta = nextVertexStart - vertexStart; + for ( let j = indexStart; j < indexStart + reservedIndexCount; j ++ ) { + + array[ j ] = array[ j ] + elementDelta; + + } + + index.array.copyWithin( nextIndexStart, indexStart, indexStart + reservedIndexCount ); + index.addUpdateRange( nextIndexStart, reservedIndexCount ); + index.needsUpdate = true; + + geometryInfo.indexStart = nextIndexStart; + + } + + nextIndexStart += geometryInfo.reservedIndexCount; + + } + + // if a geometry needs to be moved then copy attribute data to overwrite unused space + if ( geometryInfo.vertexStart !== nextVertexStart ) { + + const { vertexStart, reservedVertexCount } = geometryInfo; + const attributes = geometry.attributes; + for ( const key in attributes ) { + + const attribute = attributes[ key ]; + const { array, itemSize } = attribute; + array.copyWithin( nextVertexStart * itemSize, vertexStart * itemSize, ( vertexStart + reservedVertexCount ) * itemSize ); + attribute.addUpdateRange( nextVertexStart * itemSize, reservedVertexCount * itemSize ); + attribute.needsUpdate = true; + + } + + geometryInfo.vertexStart = nextVertexStart; + + } + + nextVertexStart += geometryInfo.reservedVertexCount; + geometryInfo.start = geometry.index ? geometryInfo.indexStart : geometryInfo.vertexStart; + + } + + this._nextIndexStart = nextIndexStart; + this._nextVertexStart = nextVertexStart; + this._visibilityChanged = true; + + return this; + + } + + /** + * Returns the bounding box for the given geometry. + * + * @param {number} geometryId - The ID of the geometry to return the bounding box for. + * @param {Box3} target - The target object that is used to store the method's result. + * @return {?Box3} The geometry's bounding box. Returns `null` if no geometry has been found for the given ID. + */ + getBoundingBoxAt( geometryId, target ) { + + if ( geometryId >= this._geometryCount ) { + + return null; + + } + + // compute bounding box + const geometry = this.geometry; + const geometryInfo = this._geometryInfo[ geometryId ]; + if ( geometryInfo.boundingBox === null ) { + + const box = new Box3(); + const index = geometry.index; + const position = geometry.attributes.position; + for ( let i = geometryInfo.start, l = geometryInfo.start + geometryInfo.count; i < l; i ++ ) { + + let iv = i; + if ( index ) { + + iv = index.getX( iv ); + + } + + box.expandByPoint( _vector$5.fromBufferAttribute( position, iv ) ); + + } + + geometryInfo.boundingBox = box; + + } + + target.copy( geometryInfo.boundingBox ); + return target; + + } + + /** + * Returns the bounding sphere for the given geometry. + * + * @param {number} geometryId - The ID of the geometry to return the bounding sphere for. + * @param {Sphere} target - The target object that is used to store the method's result. + * @return {?Sphere} The geometry's bounding sphere. Returns `null` if no geometry has been found for the given ID. + */ + getBoundingSphereAt( geometryId, target ) { + + if ( geometryId >= this._geometryCount ) { + + return null; + + } + + // compute bounding sphere + const geometry = this.geometry; + const geometryInfo = this._geometryInfo[ geometryId ]; + if ( geometryInfo.boundingSphere === null ) { + + const sphere = new Sphere(); + this.getBoundingBoxAt( geometryId, _box$1 ); + _box$1.getCenter( sphere.center ); + + const index = geometry.index; + const position = geometry.attributes.position; + + let maxRadiusSq = 0; + for ( let i = geometryInfo.start, l = geometryInfo.start + geometryInfo.count; i < l; i ++ ) { + + let iv = i; + if ( index ) { + + iv = index.getX( iv ); + + } + + _vector$5.fromBufferAttribute( position, iv ); + maxRadiusSq = Math.max( maxRadiusSq, sphere.center.distanceToSquared( _vector$5 ) ); + + } + + sphere.radius = Math.sqrt( maxRadiusSq ); + geometryInfo.boundingSphere = sphere; + + } + + target.copy( geometryInfo.boundingSphere ); + return target; + + } + + /** + * Sets the given local transformation matrix to the defined instance. + * Negatively scaled matrices are not supported. + * + * @param {number} instanceId - The ID of an instance to set the matrix of. + * @param {Matrix4} matrix - A 4x4 matrix representing the local transformation of a single instance. + * @return {BatchedMesh} A reference to this batched mesh. + */ + setMatrixAt( instanceId, matrix ) { + + this.validateInstanceId( instanceId ); + + const matricesTexture = this._matricesTexture; + const matricesArray = this._matricesTexture.image.data; + matrix.toArray( matricesArray, instanceId * 16 ); + matricesTexture.needsUpdate = true; + + return this; + + } + + /** + * Returns the local transformation matrix of the defined instance. + * + * @param {number} instanceId - The ID of an instance to get the matrix of. + * @param {Matrix4} matrix - The target object that is used to store the method's result. + * @return {Matrix4} The instance's local transformation matrix. + */ + getMatrixAt( instanceId, matrix ) { + + this.validateInstanceId( instanceId ); + return matrix.fromArray( this._matricesTexture.image.data, instanceId * 16 ); + + } + + /** + * Sets the given color to the defined instance. + * + * @param {number} instanceId - The ID of an instance to set the color of. + * @param {Color|Vector4} color - The color to set the instance to. Use a `Vector4` to also define alpha. + * @return {BatchedMesh} A reference to this batched mesh. + */ + setColorAt( instanceId, color ) { + + this.validateInstanceId( instanceId ); + + if ( this._colorsTexture === null ) { + + this._initColorsTexture(); + + } + + color.toArray( this._colorsTexture.image.data, instanceId * 4 ); + this._colorsTexture.needsUpdate = true; + + return this; + + } + + /** + * Returns the color of the defined instance. + * + * @param {number} instanceId - The ID of an instance to get the color of. + * @param {Color|Vector4} color - The target object that is used to store the method's result. + * @return {Color|Vector4} The instance's color. Use a `Vector4` to also retrieve alpha. + */ + getColorAt( instanceId, color ) { + + this.validateInstanceId( instanceId ); + return color.fromArray( this._colorsTexture.image.data, instanceId * 4 ); + + } + + /** + * Sets the visibility of the instance. + * + * @param {number} instanceId - The id of the instance to set the visibility of. + * @param {boolean} visible - Whether the instance is visible or not. + * @return {BatchedMesh} A reference to this batched mesh. + */ + setVisibleAt( instanceId, visible ) { + + this.validateInstanceId( instanceId ); + + if ( this._instanceInfo[ instanceId ].visible === visible ) { + + return this; + + } + + this._instanceInfo[ instanceId ].visible = visible; + this._visibilityChanged = true; + + return this; + + } + + /** + * Returns the visibility state of the defined instance. + * + * @param {number} instanceId - The ID of an instance to get the visibility state of. + * @return {boolean} Whether the instance is visible or not. + */ + getVisibleAt( instanceId ) { + + this.validateInstanceId( instanceId ); + + return this._instanceInfo[ instanceId ].visible; + + } + + /** + * Sets the geometry ID of the instance at the given index. + * + * @param {number} instanceId - The ID of the instance to set the geometry ID of. + * @param {number} geometryId - The geometry ID to be use by the instance. + * @return {BatchedMesh} A reference to this batched mesh. + */ + setGeometryIdAt( instanceId, geometryId ) { + + this.validateInstanceId( instanceId ); + this.validateGeometryId( geometryId ); + + this._instanceInfo[ instanceId ].geometryIndex = geometryId; + + return this; + + } + + /** + * Returns the geometry ID of the defined instance. + * + * @param {number} instanceId - The ID of an instance to get the geometry ID of. + * @return {number} The instance's geometry ID. + */ + getGeometryIdAt( instanceId ) { + + this.validateInstanceId( instanceId ); + + return this._instanceInfo[ instanceId ].geometryIndex; + + } + + /** + * Get the range representing the subset of triangles related to the attached geometry, + * indicating the starting offset and count, or `null` if invalid. + * + * @param {number} geometryId - The id of the geometry to get the range of. + * @param {Object} [target] - The target object that is used to store the method's result. + * @return {{ + * vertexStart:number,vertexCount:number,reservedVertexCount:number, + * indexStart:number,indexCount:number,reservedIndexCount:number, + * start:number,count:number + * }} The result object with range data. + */ + getGeometryRangeAt( geometryId, target = {} ) { + + this.validateGeometryId( geometryId ); + + const geometryInfo = this._geometryInfo[ geometryId ]; + target.vertexStart = geometryInfo.vertexStart; + target.vertexCount = geometryInfo.vertexCount; + target.reservedVertexCount = geometryInfo.reservedVertexCount; + + target.indexStart = geometryInfo.indexStart; + target.indexCount = geometryInfo.indexCount; + target.reservedIndexCount = geometryInfo.reservedIndexCount; + + target.start = geometryInfo.start; + target.count = geometryInfo.count; + + return target; + + } + + /** + * Resizes the necessary buffers to support the provided number of instances. + * If the provided arguments shrink the number of instances but there are not enough + * unused Ids at the end of the list then an error is thrown. + * + * @param {number} maxInstanceCount - The max number of individual instances that can be added and rendered by the batch. + */ + setInstanceCount( maxInstanceCount ) { + + // shrink the available instances as much as possible + const availableInstanceIds = this._availableInstanceIds; + const instanceInfo = this._instanceInfo; + availableInstanceIds.sort( ascIdSort ); + while ( availableInstanceIds[ availableInstanceIds.length - 1 ] === instanceInfo.length - 1 ) { + + instanceInfo.pop(); + availableInstanceIds.pop(); + + } + + // throw an error if it can't be shrunk to the desired size + if ( maxInstanceCount < instanceInfo.length ) { + + throw new Error( `BatchedMesh: Instance ids outside the range ${ maxInstanceCount } are being used. Cannot shrink instance count.` ); + + } + + // copy the multi draw counts + const multiDrawCounts = new Int32Array( maxInstanceCount ); + const multiDrawStarts = new Int32Array( maxInstanceCount ); + copyArrayContents( this._multiDrawCounts, multiDrawCounts ); + copyArrayContents( this._multiDrawStarts, multiDrawStarts ); + + this._multiDrawCounts = multiDrawCounts; + this._multiDrawStarts = multiDrawStarts; + this._maxInstanceCount = maxInstanceCount; + + // update texture data for instance sampling + const indirectTexture = this._indirectTexture; + const matricesTexture = this._matricesTexture; + const colorsTexture = this._colorsTexture; + + indirectTexture.dispose(); + this._initIndirectTexture(); + copyArrayContents( indirectTexture.image.data, this._indirectTexture.image.data ); + + matricesTexture.dispose(); + this._initMatricesTexture(); + copyArrayContents( matricesTexture.image.data, this._matricesTexture.image.data ); + + if ( colorsTexture ) { + + colorsTexture.dispose(); + this._initColorsTexture(); + copyArrayContents( colorsTexture.image.data, this._colorsTexture.image.data ); + + } + + } + + /** + * Resizes the available space in the batch's vertex and index buffer attributes to the provided sizes. + * If the provided arguments shrink the geometry buffers but there is not enough unused space at the + * end of the geometry attributes then an error is thrown. + * + * @param {number} maxVertexCount - The maximum number of vertices to be used by all unique geometries to resize to. + * @param {number} maxIndexCount - The maximum number of indices to be used by all unique geometries to resize to. + */ + setGeometrySize( maxVertexCount, maxIndexCount ) { + + // Check if we can shrink to the requested vertex attribute size + const validRanges = [ ...this._geometryInfo ].filter( info => info.active ); + const requiredVertexLength = Math.max( ...validRanges.map( range => range.vertexStart + range.reservedVertexCount ) ); + if ( requiredVertexLength > maxVertexCount ) { + + throw new Error( `BatchedMesh: Geometry vertex values are being used outside the range ${ maxIndexCount }. Cannot shrink further.` ); + + } + + // Check if we can shrink to the requested index attribute size + if ( this.geometry.index ) { + + const requiredIndexLength = Math.max( ...validRanges.map( range => range.indexStart + range.reservedIndexCount ) ); + if ( requiredIndexLength > maxIndexCount ) { + + throw new Error( `BatchedMesh: Geometry index values are being used outside the range ${ maxIndexCount }. Cannot shrink further.` ); + + } + + } + + // + + // dispose of the previous geometry + const oldGeometry = this.geometry; + oldGeometry.dispose(); + + // recreate the geometry needed based on the previous variant + this._maxVertexCount = maxVertexCount; + this._maxIndexCount = maxIndexCount; + + if ( this._geometryInitialized ) { + + this._geometryInitialized = false; + this.geometry = new BufferGeometry(); + this._initializeGeometry( oldGeometry ); + + } + + // copy data from the previous geometry + const geometry = this.geometry; + if ( oldGeometry.index ) { + + copyArrayContents( oldGeometry.index.array, geometry.index.array ); + + } + + for ( const key in oldGeometry.attributes ) { + + copyArrayContents( oldGeometry.attributes[ key ].array, geometry.attributes[ key ].array ); + + } + + } + + raycast( raycaster, intersects ) { + + const instanceInfo = this._instanceInfo; + const geometryInfoList = this._geometryInfo; + const matrixWorld = this.matrixWorld; + const batchGeometry = this.geometry; + + // iterate over each geometry + _mesh.material = this.material; + _mesh.geometry.index = batchGeometry.index; + _mesh.geometry.attributes = batchGeometry.attributes; + if ( _mesh.geometry.boundingBox === null ) { + + _mesh.geometry.boundingBox = new Box3(); + + } + + if ( _mesh.geometry.boundingSphere === null ) { + + _mesh.geometry.boundingSphere = new Sphere(); + + } + + for ( let i = 0, l = instanceInfo.length; i < l; i ++ ) { + + if ( ! instanceInfo[ i ].visible || ! instanceInfo[ i ].active ) { + + continue; + + } + + const geometryId = instanceInfo[ i ].geometryIndex; + const geometryInfo = geometryInfoList[ geometryId ]; + _mesh.geometry.setDrawRange( geometryInfo.start, geometryInfo.count ); + + // get the intersects + this.getMatrixAt( i, _mesh.matrixWorld ).premultiply( matrixWorld ); + this.getBoundingBoxAt( geometryId, _mesh.geometry.boundingBox ); + this.getBoundingSphereAt( geometryId, _mesh.geometry.boundingSphere ); + _mesh.raycast( raycaster, _batchIntersects ); + + // add batch id to the intersects + for ( let j = 0, l = _batchIntersects.length; j < l; j ++ ) { + + const intersect = _batchIntersects[ j ]; + intersect.object = this; + intersect.batchId = i; + intersects.push( intersect ); + + } + + _batchIntersects.length = 0; + + } + + _mesh.material = null; + _mesh.geometry.index = null; + _mesh.geometry.attributes = {}; + _mesh.geometry.setDrawRange( 0, Infinity ); + + } + + copy( source ) { + + super.copy( source ); + + this.geometry = source.geometry.clone(); + this.perObjectFrustumCulled = source.perObjectFrustumCulled; + this.sortObjects = source.sortObjects; + this.boundingBox = source.boundingBox !== null ? source.boundingBox.clone() : null; + this.boundingSphere = source.boundingSphere !== null ? source.boundingSphere.clone() : null; + + this._geometryInfo = source._geometryInfo.map( info => ( { + ...info, + + boundingBox: info.boundingBox !== null ? info.boundingBox.clone() : null, + boundingSphere: info.boundingSphere !== null ? info.boundingSphere.clone() : null, + } ) ); + this._instanceInfo = source._instanceInfo.map( info => ( { ...info } ) ); + + this._availableInstanceIds = source._availableInstanceIds.slice(); + this._availableGeometryIds = source._availableGeometryIds.slice(); + + this._nextIndexStart = source._nextIndexStart; + this._nextVertexStart = source._nextVertexStart; + this._geometryCount = source._geometryCount; + + this._maxInstanceCount = source._maxInstanceCount; + this._maxVertexCount = source._maxVertexCount; + this._maxIndexCount = source._maxIndexCount; + + this._geometryInitialized = source._geometryInitialized; + this._multiDrawCounts = source._multiDrawCounts.slice(); + this._multiDrawStarts = source._multiDrawStarts.slice(); + + this._indirectTexture = source._indirectTexture.clone(); + this._indirectTexture.image.data = this._indirectTexture.image.data.slice(); + + this._matricesTexture = source._matricesTexture.clone(); + this._matricesTexture.image.data = this._matricesTexture.image.data.slice(); + + if ( this._colorsTexture !== null ) { + + this._colorsTexture = source._colorsTexture.clone(); + this._colorsTexture.image.data = this._colorsTexture.image.data.slice(); + + } + + return this; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + // Assuming the geometry is not shared with other meshes + this.geometry.dispose(); + + this._matricesTexture.dispose(); + this._matricesTexture = null; + + this._indirectTexture.dispose(); + this._indirectTexture = null; + + if ( this._colorsTexture !== null ) { + + this._colorsTexture.dispose(); + this._colorsTexture = null; + + } + + } + + onBeforeRender( renderer, scene, camera, geometry, material/*, _group*/ ) { + + // if visibility has not changed and frustum culling and object sorting is not required + // then skip iterating over all items + if ( ! this._visibilityChanged && ! this.perObjectFrustumCulled && ! this.sortObjects ) { + + return; + + } + + // the indexed version of the multi draw function requires specifying the start + // offset in bytes. + const index = geometry.getIndex(); + let bytesPerElement = index === null ? 1 : index.array.BYTES_PER_ELEMENT; + + + // the "wireframe" attribute implicitly creates a line attribute in the renderer, which is double + // the vertices to draw (3 lines per triangle) so we multiply the draw counts / starts and make + // assumptions about the index buffer byte size. + let multiDrawMultiplier = 1; + if ( material.wireframe ) { + + multiDrawMultiplier = 2; + bytesPerElement = geometry.attributes.position.count > 65535 ? 4 : 2; + + } + + const instanceInfo = this._instanceInfo; + const multiDrawStarts = this._multiDrawStarts; + const multiDrawCounts = this._multiDrawCounts; + const geometryInfoList = this._geometryInfo; + const perObjectFrustumCulled = this.perObjectFrustumCulled; + const indirectTexture = this._indirectTexture; + const indirectArray = indirectTexture.image.data; + + const frustum = camera.isArrayCamera ? _frustumArray : _frustum; + // prepare the frustum in the local frame + if ( perObjectFrustumCulled && ! camera.isArrayCamera ) { + + _matrix$1 + .multiplyMatrices( camera.projectionMatrix, camera.matrixWorldInverse ) + .multiply( this.matrixWorld ); + + _frustum.setFromProjectionMatrix( + _matrix$1, + camera.coordinateSystem, + camera.reversedDepth + ); + + } + + let multiDrawCount = 0; + if ( this.sortObjects ) { + + // get the camera position in the local frame + _matrix$1.copy( this.matrixWorld ).invert(); + _vector$5.setFromMatrixPosition( camera.matrixWorld ).applyMatrix4( _matrix$1 ); + _forward$1.set( 0, 0, -1 ).transformDirection( camera.matrixWorld ).transformDirection( _matrix$1 ); + + for ( let i = 0, l = instanceInfo.length; i < l; i ++ ) { + + if ( instanceInfo[ i ].visible && instanceInfo[ i ].active ) { + + const geometryId = instanceInfo[ i ].geometryIndex; + + // get the bounds in world space + this.getMatrixAt( i, _matrix$1 ); + this.getBoundingSphereAt( geometryId, _sphere$2 ).applyMatrix4( _matrix$1 ); + + // determine whether the batched geometry is within the frustum + let culled = false; + if ( perObjectFrustumCulled ) { + + culled = ! frustum.intersectsSphere( _sphere$2, camera ); + + } + + if ( ! culled ) { + + // get the distance from camera used for sorting + const geometryInfo = geometryInfoList[ geometryId ]; + const z = _temp.subVectors( _sphere$2.center, _vector$5 ).dot( _forward$1 ); + _renderList.push( geometryInfo.start, geometryInfo.count, z, i ); + + } + + } + + } + + // Sort the draw ranges and prep for rendering + const list = _renderList.list; + const customSort = this.customSort; + if ( customSort === null ) { + + list.sort( material.transparent ? sortTransparent : sortOpaque ); + + } else { + + customSort.call( this, list, camera ); + + } + + for ( let i = 0, l = list.length; i < l; i ++ ) { + + const item = list[ i ]; + multiDrawStarts[ multiDrawCount ] = item.start * bytesPerElement * multiDrawMultiplier; + multiDrawCounts[ multiDrawCount ] = item.count * multiDrawMultiplier; + indirectArray[ multiDrawCount ] = item.index; + multiDrawCount ++; + + } + + _renderList.reset(); + + } else { + + for ( let i = 0, l = instanceInfo.length; i < l; i ++ ) { + + if ( instanceInfo[ i ].visible && instanceInfo[ i ].active ) { + + const geometryId = instanceInfo[ i ].geometryIndex; + + // determine whether the batched geometry is within the frustum + let culled = false; + if ( perObjectFrustumCulled ) { + + // get the bounds in world space + this.getMatrixAt( i, _matrix$1 ); + this.getBoundingSphereAt( geometryId, _sphere$2 ).applyMatrix4( _matrix$1 ); + culled = ! frustum.intersectsSphere( _sphere$2, camera ); + + } + + if ( ! culled ) { + + const geometryInfo = geometryInfoList[ geometryId ]; + multiDrawStarts[ multiDrawCount ] = geometryInfo.start * bytesPerElement * multiDrawMultiplier; + multiDrawCounts[ multiDrawCount ] = geometryInfo.count * multiDrawMultiplier; + indirectArray[ multiDrawCount ] = i; + multiDrawCount ++; + + } + + } + + } + + } + + indirectTexture.needsUpdate = true; + this._multiDrawCount = multiDrawCount; + this._visibilityChanged = false; + + } + + onBeforeShadow( renderer, object, camera, shadowCamera, geometry, depthMaterial/* , group */ ) { + + this.onBeforeRender( renderer, null, shadowCamera, geometry, depthMaterial ); + + } + +} + +/** + * A material for rendering line primitives. + * + * Materials define the appearance of renderable 3D objects. + * + * ```js + * const material = new THREE.LineBasicMaterial( { color: 0xffffff } ); + * ``` + * + * @augments Material + */ +class LineBasicMaterial extends Material { + + /** + * Constructs a new line basic material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isLineBasicMaterial = true; + + this.type = 'LineBasicMaterial'; + + /** + * Color of the material. + * + * @type {Color} + * @default (1,1,1) + */ + this.color = new Color( 0xffffff ); + + /** + * Sets the color of the lines using data from a texture. The texture map + * color is modulated by the diffuse `color`. + * + * @type {?Texture} + * @default null + */ + this.map = null; + + /** + * Controls line thickness or lines. + * + * Can only be used with {@link SVGRenderer}. WebGL and WebGPU + * ignore this setting and always render line primitives with a + * width of one pixel. + * + * @type {number} + * @default 1 + */ + this.linewidth = 1; + + /** + * Defines appearance of line ends. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {('butt'|'round'|'square')} + * @default 'round' + */ + this.linecap = 'round'; + + /** + * Defines appearance of line joints. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {('round'|'bevel'|'miter')} + * @default 'round' + */ + this.linejoin = 'round'; + + /** + * Whether the material is affected by fog or not. + * + * @type {boolean} + * @default true + */ + this.fog = true; + + this.setValues( parameters ); + + } + + copy( source ) { + + super.copy( source ); + + this.color.copy( source.color ); + + this.map = source.map; + + this.linewidth = source.linewidth; + this.linecap = source.linecap; + this.linejoin = source.linejoin; + + this.fog = source.fog; + + return this; + + } + +} + +const _vStart = /*@__PURE__*/ new Vector3(); +const _vEnd = /*@__PURE__*/ new Vector3(); + +const _inverseMatrix$1 = /*@__PURE__*/ new Matrix4(); +const _ray$1 = /*@__PURE__*/ new Ray(); +const _sphere$1 = /*@__PURE__*/ new Sphere(); + +const _intersectPointOnRay = /*@__PURE__*/ new Vector3(); +const _intersectPointOnSegment = /*@__PURE__*/ new Vector3(); + +/** + * A continuous line. The line are rendered by connecting consecutive + * vertices with straight lines. + * + * ```js + * const material = new THREE.LineBasicMaterial( { color: 0x0000ff } ); + * + * const points = []; + * points.push( new THREE.Vector3( - 10, 0, 0 ) ); + * points.push( new THREE.Vector3( 0, 10, 0 ) ); + * points.push( new THREE.Vector3( 10, 0, 0 ) ); + * + * const geometry = new THREE.BufferGeometry().setFromPoints( points ); + * + * const line = new THREE.Line( geometry, material ); + * scene.add( line ); + * ``` + * + * @augments Object3D + */ +class Line extends Object3D { + + /** + * Constructs a new line. + * + * @param {BufferGeometry} [geometry] - The line geometry. + * @param {Material|Array} [material] - The line material. + */ + constructor( geometry = new BufferGeometry(), material = new LineBasicMaterial() ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isLine = true; + + this.type = 'Line'; + + /** + * The line geometry. + * + * @type {BufferGeometry} + */ + this.geometry = geometry; + + /** + * The line material. + * + * @type {Material|Array} + * @default LineBasicMaterial + */ + this.material = material; + + /** + * A dictionary representing the morph targets in the geometry. The key is the + * morph targets name, the value its attribute index. This member is `undefined` + * by default and only set when morph targets are detected in the geometry. + * + * @type {Object|undefined} + * @default undefined + */ + this.morphTargetDictionary = undefined; + + /** + * An array of weights typically in the range `[0,1]` that specify how much of the morph + * is applied. This member is `undefined` by default and only set when morph targets are + * detected in the geometry. + * + * @type {Array|undefined} + * @default undefined + */ + this.morphTargetInfluences = undefined; + + this.updateMorphTargets(); + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + this.material = Array.isArray( source.material ) ? source.material.slice() : source.material; + this.geometry = source.geometry; + + return this; + + } + + /** + * Computes an array of distance values which are necessary for rendering dashed lines. + * For each vertex in the geometry, the method calculates the cumulative length from the + * current point to the very beginning of the line. + * + * @return {Line} A reference to this line. + */ + computeLineDistances() { + + const geometry = this.geometry; + + // we assume non-indexed geometry + + if ( geometry.index === null ) { + + const positionAttribute = geometry.attributes.position; + const lineDistances = [ 0 ]; + + for ( let i = 1, l = positionAttribute.count; i < l; i ++ ) { + + _vStart.fromBufferAttribute( positionAttribute, i - 1 ); + _vEnd.fromBufferAttribute( positionAttribute, i ); + + lineDistances[ i ] = lineDistances[ i - 1 ]; + lineDistances[ i ] += _vStart.distanceTo( _vEnd ); + + } + + geometry.setAttribute( 'lineDistance', new Float32BufferAttribute( lineDistances, 1 ) ); + + } else { + + warn( 'Line.computeLineDistances(): Computation only possible with non-indexed BufferGeometry.' ); + + } + + return this; + + } + + /** + * Computes intersection points between a casted ray and this line. + * + * @param {Raycaster} raycaster - The raycaster. + * @param {Array} intersects - The target array that holds the intersection points. + */ + raycast( raycaster, intersects ) { + + const geometry = this.geometry; + const matrixWorld = this.matrixWorld; + const threshold = raycaster.params.Line.threshold; + const drawRange = geometry.drawRange; + + // Checking boundingSphere distance to ray + + if ( geometry.boundingSphere === null ) geometry.computeBoundingSphere(); + + _sphere$1.copy( geometry.boundingSphere ); + _sphere$1.applyMatrix4( matrixWorld ); + _sphere$1.radius += threshold; + + if ( raycaster.ray.intersectsSphere( _sphere$1 ) === false ) return; + + // + + _inverseMatrix$1.copy( matrixWorld ).invert(); + _ray$1.copy( raycaster.ray ).applyMatrix4( _inverseMatrix$1 ); + + const localThreshold = threshold / ( ( this.scale.x + this.scale.y + this.scale.z ) / 3 ); + const localThresholdSq = localThreshold * localThreshold; + + const step = this.isLineSegments ? 2 : 1; + + const index = geometry.index; + const attributes = geometry.attributes; + const positionAttribute = attributes.position; + + if ( index !== null ) { + + const start = Math.max( 0, drawRange.start ); + const end = Math.min( index.count, ( drawRange.start + drawRange.count ) ); + + for ( let i = start, l = end - 1; i < l; i += step ) { + + const a = index.getX( i ); + const b = index.getX( i + 1 ); + + const intersect = checkIntersection( this, raycaster, _ray$1, localThresholdSq, a, b, i ); + + if ( intersect ) { + + intersects.push( intersect ); + + } + + } + + if ( this.isLineLoop ) { + + const a = index.getX( end - 1 ); + const b = index.getX( start ); + + const intersect = checkIntersection( this, raycaster, _ray$1, localThresholdSq, a, b, end - 1 ); + + if ( intersect ) { + + intersects.push( intersect ); + + } + + } + + } else { + + const start = Math.max( 0, drawRange.start ); + const end = Math.min( positionAttribute.count, ( drawRange.start + drawRange.count ) ); + + for ( let i = start, l = end - 1; i < l; i += step ) { + + const intersect = checkIntersection( this, raycaster, _ray$1, localThresholdSq, i, i + 1, i ); + + if ( intersect ) { + + intersects.push( intersect ); + + } + + } + + if ( this.isLineLoop ) { + + const intersect = checkIntersection( this, raycaster, _ray$1, localThresholdSq, end - 1, start, end - 1 ); + + if ( intersect ) { + + intersects.push( intersect ); + + } + + } + + } + + } + + /** + * Sets the values of {@link Line#morphTargetDictionary} and {@link Line#morphTargetInfluences} + * to make sure existing morph targets can influence this 3D object. + */ + updateMorphTargets() { + + const geometry = this.geometry; + + const morphAttributes = geometry.morphAttributes; + const keys = Object.keys( morphAttributes ); + + if ( keys.length > 0 ) { + + const morphAttribute = morphAttributes[ keys[ 0 ] ]; + + if ( morphAttribute !== undefined ) { + + this.morphTargetInfluences = []; + this.morphTargetDictionary = {}; + + for ( let m = 0, ml = morphAttribute.length; m < ml; m ++ ) { + + const name = morphAttribute[ m ].name || String( m ); + + this.morphTargetInfluences.push( 0 ); + this.morphTargetDictionary[ name ] = m; + + } + + } + + } + + } + +} + +function checkIntersection( object, raycaster, ray, thresholdSq, a, b, i ) { + + const positionAttribute = object.geometry.attributes.position; + + _vStart.fromBufferAttribute( positionAttribute, a ); + _vEnd.fromBufferAttribute( positionAttribute, b ); + + const distSq = ray.distanceSqToSegment( _vStart, _vEnd, _intersectPointOnRay, _intersectPointOnSegment ); + + if ( distSq > thresholdSq ) return; + + _intersectPointOnRay.applyMatrix4( object.matrixWorld ); // Move back to world space for distance calculation + + const distance = raycaster.ray.origin.distanceTo( _intersectPointOnRay ); + + if ( distance < raycaster.near || distance > raycaster.far ) return; + + return { + + distance: distance, + // What do we want? intersection point on the ray or on the segment?? + // point: raycaster.ray.at( distance ), + point: _intersectPointOnSegment.clone().applyMatrix4( object.matrixWorld ), + index: i, + face: null, + faceIndex: null, + barycoord: null, + object: object + + }; + +} + +const _start = /*@__PURE__*/ new Vector3(); +const _end = /*@__PURE__*/ new Vector3(); + +/** + * A series of lines drawn between pairs of vertices. + * + * @augments Line + */ +class LineSegments extends Line { + + /** + * Constructs a new line segments. + * + * @param {BufferGeometry} [geometry] - The line geometry. + * @param {Material|Array} [material] - The line material. + */ + constructor( geometry, material ) { + + super( geometry, material ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isLineSegments = true; + + this.type = 'LineSegments'; + + } + + computeLineDistances() { + + const geometry = this.geometry; + + // we assume non-indexed geometry + + if ( geometry.index === null ) { + + const positionAttribute = geometry.attributes.position; + const lineDistances = []; + + for ( let i = 0, l = positionAttribute.count; i < l; i += 2 ) { + + _start.fromBufferAttribute( positionAttribute, i ); + _end.fromBufferAttribute( positionAttribute, i + 1 ); + + lineDistances[ i ] = ( i === 0 ) ? 0 : lineDistances[ i - 1 ]; + lineDistances[ i + 1 ] = lineDistances[ i ] + _start.distanceTo( _end ); + + } + + geometry.setAttribute( 'lineDistance', new Float32BufferAttribute( lineDistances, 1 ) ); + + } else { + + warn( 'LineSegments.computeLineDistances(): Computation only possible with non-indexed BufferGeometry.' ); + + } + + return this; + + } + +} + +/** + * A continuous line. This is nearly the same as {@link Line} the only difference + * is that the last vertex is connected with the first vertex in order to close + * the line to form a loop. + * + * @augments Line + */ +class LineLoop extends Line { + + /** + * Constructs a new line loop. + * + * @param {BufferGeometry} [geometry] - The line geometry. + * @param {Material|Array} [material] - The line material. + */ + constructor( geometry, material ) { + + super( geometry, material ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isLineLoop = true; + + this.type = 'LineLoop'; + + } + +} + +/** + * A material for rendering point primitives. + * + * Materials define the appearance of renderable 3D objects. + * + * ```js + * const vertices = []; + * + * for ( let i = 0; i < 10000; i ++ ) { + * const x = THREE.MathUtils.randFloatSpread( 2000 ); + * const y = THREE.MathUtils.randFloatSpread( 2000 ); + * const z = THREE.MathUtils.randFloatSpread( 2000 ); + * + * vertices.push( x, y, z ); + * } + * + * const geometry = new THREE.BufferGeometry(); + * geometry.setAttribute( 'position', new THREE.Float32BufferAttribute( vertices, 3 ) ); + * const material = new THREE.PointsMaterial( { color: 0x888888 } ); + * const points = new THREE.Points( geometry, material ); + * scene.add( points ); + * ``` + * + * @augments Material + */ +class PointsMaterial extends Material { + + /** + * Constructs a new points material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isPointsMaterial = true; + + this.type = 'PointsMaterial'; + + /** + * Color of the material. + * + * @type {Color} + * @default (1,1,1) + */ + this.color = new Color( 0xffffff ); + + /** + * The color map. May optionally include an alpha channel, typically combined + * with {@link Material#transparent} or {@link Material#alphaTest}. The texture map + * color is modulated by the diffuse `color`. + * + * @type {?Texture} + * @default null + */ + this.map = null; + + /** + * The alpha map is a grayscale texture that controls the opacity across the + * surface (black: fully transparent; white: fully opaque). + * + * Only the color of the texture is used, ignoring the alpha channel if one + * exists. For RGB and RGBA textures, the renderer will use the green channel + * when sampling this texture due to the extra bit of precision provided for + * green in DXT-compressed and uncompressed RGB 565 formats. Luminance-only and + * luminance/alpha textures will also still work as expected. + * + * @type {?Texture} + * @default null + */ + this.alphaMap = null; + + /** + * Defines the size of the points in pixels. + * + * Might be capped if the value exceeds hardware dependent parameters like [gl.ALIASED_POINT_SIZE_RANGE](https://developer.mozilla.org/en-US/docs/Web/API/WebGLRenderingContext/getParamete). + * + * @type {number} + * @default 1 + */ + this.size = 1; + + /** + * Specifies whether size of individual points is attenuated by the camera depth (perspective camera only). + * + * @type {boolean} + * @default true + */ + this.sizeAttenuation = true; + + /** + * Whether the material is affected by fog or not. + * + * @type {boolean} + * @default true + */ + this.fog = true; + + this.setValues( parameters ); + + } + + copy( source ) { + + super.copy( source ); + + this.color.copy( source.color ); + + this.map = source.map; + + this.alphaMap = source.alphaMap; + + this.size = source.size; + this.sizeAttenuation = source.sizeAttenuation; + + this.fog = source.fog; + + return this; + + } + +} + +const _inverseMatrix = /*@__PURE__*/ new Matrix4(); +const _ray = /*@__PURE__*/ new Ray(); +const _sphere = /*@__PURE__*/ new Sphere(); +const _position$3 = /*@__PURE__*/ new Vector3(); + +/** + * A class for displaying points or point clouds. + * + * @augments Object3D + */ +class Points extends Object3D { + + /** + * Constructs a new point cloud. + * + * @param {BufferGeometry} [geometry] - The points geometry. + * @param {Material|Array} [material] - The points material. + */ + constructor( geometry = new BufferGeometry(), material = new PointsMaterial() ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isPoints = true; + + this.type = 'Points'; + + /** + * The points geometry. + * + * @type {BufferGeometry} + */ + this.geometry = geometry; + + /** + * The line material. + * + * @type {Material|Array} + * @default PointsMaterial + */ + this.material = material; + + /** + * A dictionary representing the morph targets in the geometry. The key is the + * morph targets name, the value its attribute index. This member is `undefined` + * by default and only set when morph targets are detected in the geometry. + * + * @type {Object|undefined} + * @default undefined + */ + this.morphTargetDictionary = undefined; + + /** + * An array of weights typically in the range `[0,1]` that specify how much of the morph + * is applied. This member is `undefined` by default and only set when morph targets are + * detected in the geometry. + * + * @type {Array|undefined} + * @default undefined + */ + this.morphTargetInfluences = undefined; + + this.updateMorphTargets(); + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + this.material = Array.isArray( source.material ) ? source.material.slice() : source.material; + this.geometry = source.geometry; + + return this; + + } + + /** + * Computes intersection points between a casted ray and this point cloud. + * + * @param {Raycaster} raycaster - The raycaster. + * @param {Array} intersects - The target array that holds the intersection points. + */ + raycast( raycaster, intersects ) { + + const geometry = this.geometry; + const matrixWorld = this.matrixWorld; + const threshold = raycaster.params.Points.threshold; + const drawRange = geometry.drawRange; + + // Checking boundingSphere distance to ray + + if ( geometry.boundingSphere === null ) geometry.computeBoundingSphere(); + + _sphere.copy( geometry.boundingSphere ); + _sphere.applyMatrix4( matrixWorld ); + _sphere.radius += threshold; + + if ( raycaster.ray.intersectsSphere( _sphere ) === false ) return; + + // + + _inverseMatrix.copy( matrixWorld ).invert(); + _ray.copy( raycaster.ray ).applyMatrix4( _inverseMatrix ); + + const localThreshold = threshold / ( ( this.scale.x + this.scale.y + this.scale.z ) / 3 ); + const localThresholdSq = localThreshold * localThreshold; + + const index = geometry.index; + const attributes = geometry.attributes; + const positionAttribute = attributes.position; + + if ( index !== null ) { + + const start = Math.max( 0, drawRange.start ); + const end = Math.min( index.count, ( drawRange.start + drawRange.count ) ); + + for ( let i = start, il = end; i < il; i ++ ) { + + const a = index.getX( i ); + + _position$3.fromBufferAttribute( positionAttribute, a ); + + testPoint( _position$3, a, localThresholdSq, matrixWorld, raycaster, intersects, this ); + + } + + } else { + + const start = Math.max( 0, drawRange.start ); + const end = Math.min( positionAttribute.count, ( drawRange.start + drawRange.count ) ); + + for ( let i = start, l = end; i < l; i ++ ) { + + _position$3.fromBufferAttribute( positionAttribute, i ); + + testPoint( _position$3, i, localThresholdSq, matrixWorld, raycaster, intersects, this ); + + } + + } + + } + + /** + * Sets the values of {@link Points#morphTargetDictionary} and {@link Points#morphTargetInfluences} + * to make sure existing morph targets can influence this 3D object. + */ + updateMorphTargets() { + + const geometry = this.geometry; + + const morphAttributes = geometry.morphAttributes; + const keys = Object.keys( morphAttributes ); + + if ( keys.length > 0 ) { + + const morphAttribute = morphAttributes[ keys[ 0 ] ]; + + if ( morphAttribute !== undefined ) { + + this.morphTargetInfluences = []; + this.morphTargetDictionary = {}; + + for ( let m = 0, ml = morphAttribute.length; m < ml; m ++ ) { + + const name = morphAttribute[ m ].name || String( m ); + + this.morphTargetInfluences.push( 0 ); + this.morphTargetDictionary[ name ] = m; + + } + + } + + } + + } + +} + +function testPoint( point, index, localThresholdSq, matrixWorld, raycaster, intersects, object ) { + + const rayPointDistanceSq = _ray.distanceSqToPoint( point ); + + if ( rayPointDistanceSq < localThresholdSq ) { + + const intersectPoint = new Vector3(); + + _ray.closestPointToPoint( point, intersectPoint ); + intersectPoint.applyMatrix4( matrixWorld ); + + const distance = raycaster.ray.origin.distanceTo( intersectPoint ); + + if ( distance < raycaster.near || distance > raycaster.far ) return; + + intersects.push( { + + distance: distance, + distanceToRay: Math.sqrt( rayPointDistanceSq ), + point: intersectPoint, + index: index, + face: null, + faceIndex: null, + barycoord: null, + object: object + + } ); + + } + +} + +/** + * A texture for use with a video. + * + * ```js + * // assuming you have created a HTML video element with id="video" + * const video = document.getElementById( 'video' ); + * const texture = new THREE.VideoTexture( video ); + * ``` + * + * Note: When using video textures with {@link WebGPURenderer}, {@link Texture#colorSpace} must be + * set to THREE.SRGBColorSpace. + * + * Note: After the initial use of a texture, its dimensions, format, and type + * cannot be changed. Instead, call {@link Texture#dispose} on the texture and instantiate a new one. + * + * @augments Texture + */ +class VideoTexture extends Texture { + + /** + * Constructs a new video texture. + * + * @param {HTMLVideoElement} video - The video element to use as a data source for the texture. + * @param {number} [mapping=Texture.DEFAULT_MAPPING] - The texture mapping. + * @param {number} [wrapS=ClampToEdgeWrapping] - The wrapS value. + * @param {number} [wrapT=ClampToEdgeWrapping] - The wrapT value. + * @param {number} [magFilter=LinearFilter] - The mag filter value. + * @param {number} [minFilter=LinearFilter] - The min filter value. + * @param {number} [format=RGBAFormat] - The texture format. + * @param {number} [type=UnsignedByteType] - The texture type. + * @param {number} [anisotropy=Texture.DEFAULT_ANISOTROPY] - The anisotropy value. + */ + constructor( video, mapping, wrapS, wrapT, magFilter = LinearFilter, minFilter = LinearFilter, format, type, anisotropy ) { + + super( video, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isVideoTexture = true; + + /** + * Whether to generate mipmaps (if possible) for a texture. + * + * Overwritten and set to `false` by default. + * + * @type {boolean} + * @default false + */ + this.generateMipmaps = false; + + /** + * The video frame request callback identifier, which is a positive integer. + * + * Value of 0 represents no scheduled rVFC. + * + * @private + * @type {number} + */ + this._requestVideoFrameCallbackId = 0; + + const scope = this; + + function updateVideo() { + + scope.needsUpdate = true; + scope._requestVideoFrameCallbackId = video.requestVideoFrameCallback( updateVideo ); + + } + + if ( 'requestVideoFrameCallback' in video ) { + + this._requestVideoFrameCallbackId = video.requestVideoFrameCallback( updateVideo ); + + } + + } + + clone() { + + return new this.constructor( this.image ).copy( this ); + + } + + /** + * This method is called automatically by the renderer and sets {@link Texture#needsUpdate} + * to `true` every time a new frame is available. + * + * Only relevant if `requestVideoFrameCallback` is not supported in the browser. + */ + update() { + + const video = this.image; + const hasVideoFrameCallback = 'requestVideoFrameCallback' in video; + + if ( hasVideoFrameCallback === false && video.readyState >= video.HAVE_CURRENT_DATA ) { + + this.needsUpdate = true; + + } + + } + + dispose() { + + if ( this._requestVideoFrameCallbackId !== 0 ) { + + this.source.data.cancelVideoFrameCallback( this._requestVideoFrameCallbackId ); + + this._requestVideoFrameCallbackId = 0; + + } + + super.dispose(); + + } + +} + +/** + * This class can be used as an alternative way to define video data. Instead of using + * an instance of `HTMLVideoElement` like with `VideoTexture`, `VideoFrameTexture` expects each frame is + * defined manually via {@link VideoFrameTexture#setFrame}. A typical use case for this module is when + * video frames are decoded with the WebCodecs API. + * + * ```js + * const texture = new THREE.VideoFrameTexture(); + * texture.setFrame( frame ); + * ``` + * + * @augments VideoTexture + */ +class VideoFrameTexture extends VideoTexture { + + /** + * Constructs a new video frame texture. + * + * @param {number} [mapping=Texture.DEFAULT_MAPPING] - The texture mapping. + * @param {number} [wrapS=ClampToEdgeWrapping] - The wrapS value. + * @param {number} [wrapT=ClampToEdgeWrapping] - The wrapT value. + * @param {number} [magFilter=LinearFilter] - The mag filter value. + * @param {number} [minFilter=LinearFilter] - The min filter value. + * @param {number} [format=RGBAFormat] - The texture format. + * @param {number} [type=UnsignedByteType] - The texture type. + * @param {number} [anisotropy=Texture.DEFAULT_ANISOTROPY] - The anisotropy value. + */ + constructor( mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy ) { + + super( {}, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isVideoFrameTexture = true; + + } + + /** + * This method overwritten with an empty implementation since + * this type of texture is updated via `setFrame()`. + */ + update() {} + + clone() { + + return new this.constructor().copy( this ); // restoring Texture.clone() + + } + + /** + * Sets the current frame of the video. This will automatically update the texture + * so the data can be used for rendering. + * + * @param {VideoFrame} frame - The video frame. + */ + setFrame( frame ) { + + this.image = frame; + this.needsUpdate = true; + + } + +} + +/** + * This class can only be used in combination with `copyFramebufferToTexture()` methods + * of renderers. It extracts the contents of the current bound framebuffer and provides it + * as a texture for further usage. + * + * ```js + * const pixelRatio = window.devicePixelRatio; + * const textureSize = 128 * pixelRatio; + * + * const frameTexture = new FramebufferTexture( textureSize, textureSize ); + * + * // calculate start position for copying part of the frame data + * const vector = new Vector2(); + * vector.x = ( window.innerWidth * pixelRatio / 2 ) - ( textureSize / 2 ); + * vector.y = ( window.innerHeight * pixelRatio / 2 ) - ( textureSize / 2 ); + * + * renderer.render( scene, camera ); + * + * // copy part of the rendered frame into the framebuffer texture + * renderer.copyFramebufferToTexture( frameTexture, vector ); + * ``` + * + * @augments Texture + */ +class FramebufferTexture extends Texture { + + /** + * Constructs a new framebuffer texture. + * + * @param {number} [width] - The width of the texture. + * @param {number} [height] - The height of the texture. + */ + constructor( width, height ) { + + super( { width, height } ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isFramebufferTexture = true; + + /** + * How the texture is sampled when a texel covers more than one pixel. + * + * Overwritten and set to `NearestFilter` by default to disable filtering. + * + * @type {(NearestFilter|NearestMipmapNearestFilter|NearestMipmapLinearFilter|LinearFilter|LinearMipmapNearestFilter|LinearMipmapLinearFilter)} + * @default NearestFilter + */ + this.magFilter = NearestFilter; + + /** + * How the texture is sampled when a texel covers less than one pixel. + * + * Overwritten and set to `NearestFilter` by default to disable filtering. + * + * @type {(NearestFilter|NearestMipmapNearestFilter|NearestMipmapLinearFilter|LinearFilter|LinearMipmapNearestFilter|LinearMipmapLinearFilter)} + * @default NearestFilter + */ + this.minFilter = NearestFilter; + + /** + * Whether to generate mipmaps (if possible) for a texture. + * + * Overwritten and set to `false` by default. + * + * @type {boolean} + * @default false + */ + this.generateMipmaps = false; + + this.needsUpdate = true; + + } + +} + +/** + * Creates a texture based on data in compressed form. + * + * These texture are usually loaded with {@link CompressedTextureLoader}. + * + * @augments Texture + */ +class CompressedTexture extends Texture { + + /** + * Constructs a new compressed texture. + * + * @param {Array} mipmaps - This array holds for all mipmaps (including the bases mip) + * the data and dimensions. + * @param {number} width - The width of the texture. + * @param {number} height - The height of the texture. + * @param {number} [format=RGBAFormat] - The texture format. + * @param {number} [type=UnsignedByteType] - The texture type. + * @param {number} [mapping=Texture.DEFAULT_MAPPING] - The texture mapping. + * @param {number} [wrapS=ClampToEdgeWrapping] - The wrapS value. + * @param {number} [wrapT=ClampToEdgeWrapping] - The wrapT value. + * @param {number} [magFilter=LinearFilter] - The mag filter value. + * @param {number} [minFilter=LinearMipmapLinearFilter] - The min filter value. + * @param {number} [anisotropy=Texture.DEFAULT_ANISOTROPY] - The anisotropy value. + * @param {string} [colorSpace=NoColorSpace] - The color space. + */ + constructor( mipmaps, width, height, format, type, mapping, wrapS, wrapT, magFilter, minFilter, anisotropy, colorSpace ) { + + super( null, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy, colorSpace ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isCompressedTexture = true; + + /** + * The image property of a compressed texture just defines its dimensions. + * + * @type {{width:number,height:number}} + */ + this.image = { width: width, height: height }; + + /** + * This array holds for all mipmaps (including the bases mip) the data and dimensions. + * + * @type {Array} + */ + this.mipmaps = mipmaps; + + /** + * If set to `true`, the texture is flipped along the vertical axis when + * uploaded to the GPU. + * + * Overwritten and set to `false` by default since it is not possible to + * flip compressed textures. + * + * @type {boolean} + * @default false + * @readonly + */ + this.flipY = false; + + /** + * Whether to generate mipmaps (if possible) for a texture. + * + * Overwritten and set to `false` by default since it is not + * possible to generate mipmaps for compressed data. Mipmaps + * must be embedded in the compressed texture file. + * + * @type {boolean} + * @default false + * @readonly + */ + this.generateMipmaps = false; + + } + +} + +/** + * Creates a texture 2D array based on data in compressed form. + * + * These texture are usually loaded with {@link CompressedTextureLoader}. + * + * @augments CompressedTexture + */ +class CompressedArrayTexture extends CompressedTexture { + + /** + * Constructs a new compressed array texture. + * + * @param {Array} mipmaps - This array holds for all mipmaps (including the bases mip) + * the data and dimensions. + * @param {number} width - The width of the texture. + * @param {number} height - The height of the texture. + * @param {number} depth - The depth of the texture. + * @param {number} [format=RGBAFormat] - The min filter value. + * @param {number} [type=UnsignedByteType] - The min filter value. + */ + constructor( mipmaps, width, height, depth, format, type ) { + + super( mipmaps, width, height, format, type ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isCompressedArrayTexture = true; + + /** + * The image property of a compressed texture just defines its dimensions. + * + * @name CompressedArrayTexture#image + * @type {{width:number,height:number,depth:number}} + */ + this.image.depth = depth; + + /** + * This defines how the texture is wrapped in the depth and corresponds to + * *W* in UVW mapping. + * + * @type {(RepeatWrapping|ClampToEdgeWrapping|MirroredRepeatWrapping)} + * @default ClampToEdgeWrapping + */ + this.wrapR = ClampToEdgeWrapping; + + /** + * A set of all layers which need to be updated in the texture. + * + * @type {Set} + */ + this.layerUpdates = new Set(); + + } + + /** + * Describes that a specific layer of the texture needs to be updated. + * Normally when {@link Texture#needsUpdate} is set to `true`, the + * entire compressed texture array is sent to the GPU. Marking specific + * layers will only transmit subsets of all mipmaps associated with a + * specific depth in the array which is often much more performant. + * + * @param {number} layerIndex - The layer index that should be updated. + */ + addLayerUpdate( layerIndex ) { + + this.layerUpdates.add( layerIndex ); + + } + + /** + * Resets the layer updates registry. + */ + clearLayerUpdates() { + + this.layerUpdates.clear(); + + } + +} + +/** + * Creates a cube texture based on data in compressed form. + * + * These texture are usually loaded with {@link CompressedTextureLoader}. + * + * @augments CompressedTexture + */ +class CompressedCubeTexture extends CompressedTexture { + + /** + * Constructs a new compressed texture. + * + * @param {Array} images - An array of compressed textures. + * @param {number} [format=RGBAFormat] - The texture format. + * @param {number} [type=UnsignedByteType] - The texture type. + */ + constructor( images, format, type ) { + + super( undefined, images[ 0 ].width, images[ 0 ].height, format, type, CubeReflectionMapping ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isCompressedCubeTexture = true; + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isCubeTexture = true; + + this.image = images; + + } + +} + +/** + * Creates a cube texture made up of six images. + * + * ```js + * const loader = new THREE.CubeTextureLoader(); + * loader.setPath( 'textures/cube/pisa/' ); + * + * const textureCube = loader.load( [ + * 'px.png', 'nx.png', 'py.png', 'ny.png', 'pz.png', 'nz.png' + * ] ); + * + * const material = new THREE.MeshBasicMaterial( { color: 0xffffff, envMap: textureCube } ); + * ``` + * + * @augments Texture + */ +class CubeTexture extends Texture { + + /** + * Constructs a new cube texture. + * + * @param {Array} [images=[]] - An array holding a image for each side of a cube. + * @param {number} [mapping=CubeReflectionMapping] - The texture mapping. + * @param {number} [wrapS=ClampToEdgeWrapping] - The wrapS value. + * @param {number} [wrapT=ClampToEdgeWrapping] - The wrapT value. + * @param {number} [magFilter=LinearFilter] - The mag filter value. + * @param {number} [minFilter=LinearMipmapLinearFilter] - The min filter value. + * @param {number} [format=RGBAFormat] - The texture format. + * @param {number} [type=UnsignedByteType] - The texture type. + * @param {number} [anisotropy=Texture.DEFAULT_ANISOTROPY] - The anisotropy value. + * @param {string} [colorSpace=NoColorSpace] - The color space value. + */ + constructor( images = [], mapping = CubeReflectionMapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy, colorSpace ) { + + super( images, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy, colorSpace ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isCubeTexture = true; + + /** + * If set to `true`, the texture is flipped along the vertical axis when + * uploaded to the GPU. + * + * Overwritten and set to `false` by default. + * + * @type {boolean} + * @default false + */ + this.flipY = false; + + } + + /** + * Alias for {@link CubeTexture#image}. + * + * @type {Array} + */ + get images() { + + return this.image; + + } + + set images( value ) { + + this.image = value; + + } + +} + +/** + * Creates a texture from a canvas element. + * + * This is almost the same as the base texture class, except that it sets {@link Texture#needsUpdate} + * to `true` immediately since a canvas can directly be used for rendering. + * + * @augments Texture + */ +class CanvasTexture extends Texture { + + /** + * Constructs a new texture. + * + * @param {HTMLCanvasElement} [canvas] - The HTML canvas element. + * @param {number} [mapping=Texture.DEFAULT_MAPPING] - The texture mapping. + * @param {number} [wrapS=ClampToEdgeWrapping] - The wrapS value. + * @param {number} [wrapT=ClampToEdgeWrapping] - The wrapT value. + * @param {number} [magFilter=LinearFilter] - The mag filter value. + * @param {number} [minFilter=LinearMipmapLinearFilter] - The min filter value. + * @param {number} [format=RGBAFormat] - The texture format. + * @param {number} [type=UnsignedByteType] - The texture type. + * @param {number} [anisotropy=Texture.DEFAULT_ANISOTROPY] - The anisotropy value. + */ + constructor( canvas, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy ) { + + super( canvas, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isCanvasTexture = true; + + this.needsUpdate = true; + + } + +} + +/** + * This class can be used to automatically save the depth information of a + * rendering into a texture. + * + * @augments Texture + */ +class DepthTexture extends Texture { + + /** + * Constructs a new depth texture. + * + * @param {number} width - The width of the texture. + * @param {number} height - The height of the texture. + * @param {number} [type=UnsignedIntType] - The texture type. + * @param {number} [mapping=Texture.DEFAULT_MAPPING] - The texture mapping. + * @param {number} [wrapS=ClampToEdgeWrapping] - The wrapS value. + * @param {number} [wrapT=ClampToEdgeWrapping] - The wrapT value. + * @param {number} [magFilter=LinearFilter] - The mag filter value. + * @param {number} [minFilter=LinearFilter] - The min filter value. + * @param {number} [anisotropy=Texture.DEFAULT_ANISOTROPY] - The anisotropy value. + * @param {number} [format=DepthFormat] - The texture format. + * @param {number} [depth=1] - The depth of the texture. + */ + constructor( width, height, type = UnsignedIntType, mapping, wrapS, wrapT, magFilter = NearestFilter, minFilter = NearestFilter, anisotropy, format = DepthFormat, depth = 1 ) { + + if ( format !== DepthFormat && format !== DepthStencilFormat ) { + + throw new Error( 'DepthTexture format must be either THREE.DepthFormat or THREE.DepthStencilFormat' ); + + } + + const image = { width: width, height: height, depth: depth }; + + super( image, mapping, wrapS, wrapT, magFilter, minFilter, format, type, anisotropy ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isDepthTexture = true; + + /** + * If set to `true`, the texture is flipped along the vertical axis when + * uploaded to the GPU. + * + * Overwritten and set to `false` by default. + * + * @type {boolean} + * @default false + */ + this.flipY = false; + + /** + * Whether to generate mipmaps (if possible) for a texture. + * + * Overwritten and set to `false` by default. + * + * @type {boolean} + * @default false + */ + this.generateMipmaps = false; + + /** + * Code corresponding to the depth compare function. + * + * @type {?(NeverCompare|LessCompare|EqualCompare|LessEqualCompare|GreaterCompare|NotEqualCompare|GreaterEqualCompare|AlwaysCompare)} + * @default null + */ + this.compareFunction = null; + + } + + + copy( source ) { + + super.copy( source ); + + this.source = new Source( Object.assign( {}, source.image ) ); // see #30540 + this.compareFunction = source.compareFunction; + + return this; + + } + + toJSON( meta ) { + + const data = super.toJSON( meta ); + + if ( this.compareFunction !== null ) data.compareFunction = this.compareFunction; + + return data; + + } + +} + +/** + * This class can be used to automatically save the depth information of a + * cube rendering into a cube texture with depth format. Used for PointLight shadows. + * + * @augments DepthTexture + */ +class CubeDepthTexture extends DepthTexture { + + /** + * Constructs a new cube depth texture. + * + * @param {number} size - The size (width and height) of each cube face. + * @param {number} [type=UnsignedIntType] - The texture type. + * @param {number} [mapping=CubeReflectionMapping] - The texture mapping. + * @param {number} [wrapS=ClampToEdgeWrapping] - The wrapS value. + * @param {number} [wrapT=ClampToEdgeWrapping] - The wrapT value. + * @param {number} [magFilter=NearestFilter] - The mag filter value. + * @param {number} [minFilter=NearestFilter] - The min filter value. + * @param {number} [anisotropy=Texture.DEFAULT_ANISOTROPY] - The anisotropy value. + * @param {number} [format=DepthFormat] - The texture format. + */ + constructor( size, type = UnsignedIntType, mapping = CubeReflectionMapping, wrapS, wrapT, magFilter = NearestFilter, minFilter = NearestFilter, anisotropy, format = DepthFormat ) { + + // Create 6 identical image descriptors for the cube faces + const image = { width: size, height: size, depth: 1 }; + const images = [ image, image, image, image, image, image ]; + + // Call DepthTexture constructor with width, height + super( size, size, type, mapping, wrapS, wrapT, magFilter, minFilter, anisotropy, format ); + + // Replace the single image with the array of 6 images + this.image = images; + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isCubeDepthTexture = true; + + /** + * Set to true for cube texture handling in WebGLTextures. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isCubeTexture = true; + + } + + /** + * Alias for {@link CubeDepthTexture#image}. + * + * @type {Array} + */ + get images() { + + return this.image; + + } + + set images( value ) { + + this.image = value; + + } + +} + +/** + * Represents a texture created externally with the same renderer context. + * + * This may be a texture from a protected media stream, device camera feed, + * or other data feeds like a depth sensor. + * + * Note that this class is only supported in {@link WebGLRenderer}, and in + * the {@link WebGPURenderer} WebGPU backend. + * + * @augments Texture + */ +class ExternalTexture extends Texture { + + /** + * Creates a new raw texture. + * + * @param {?(WebGLTexture|GPUTexture)} [sourceTexture=null] - The external texture. + */ + constructor( sourceTexture = null ) { + + super(); + + /** + * The external source texture. + * + * @type {?(WebGLTexture|GPUTexture)} + * @default null + */ + this.sourceTexture = sourceTexture; + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isExternalTexture = true; + + } + + copy( source ) { + + super.copy( source ); + + this.sourceTexture = source.sourceTexture; + + return this; + + } + +} + +/** + * A geometry class for a rectangular cuboid with a given width, height, and depth. + * On creation, the cuboid is centred on the origin, with each edge parallel to one + * of the axes. + * + * ```js + * const geometry = new THREE.BoxGeometry( 1, 1, 1 ); + * const material = new THREE.MeshBasicMaterial( { color: 0x00ff00 } ); + * const cube = new THREE.Mesh( geometry, material ); + * scene.add( cube ); + * ``` + * + * @augments BufferGeometry + * @demo scenes/geometry-browser.html#BoxGeometry + */ +class BoxGeometry extends BufferGeometry { + + /** + * Constructs a new box geometry. + * + * @param {number} [width=1] - The width. That is, the length of the edges parallel to the X axis. + * @param {number} [height=1] - The height. That is, the length of the edges parallel to the Y axis. + * @param {number} [depth=1] - The depth. That is, the length of the edges parallel to the Z axis. + * @param {number} [widthSegments=1] - Number of segmented rectangular faces along the width of the sides. + * @param {number} [heightSegments=1] - Number of segmented rectangular faces along the height of the sides. + * @param {number} [depthSegments=1] - Number of segmented rectangular faces along the depth of the sides. + */ + constructor( width = 1, height = 1, depth = 1, widthSegments = 1, heightSegments = 1, depthSegments = 1 ) { + + super(); + + this.type = 'BoxGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + width: width, + height: height, + depth: depth, + widthSegments: widthSegments, + heightSegments: heightSegments, + depthSegments: depthSegments + }; + + const scope = this; + + // segments + + widthSegments = Math.floor( widthSegments ); + heightSegments = Math.floor( heightSegments ); + depthSegments = Math.floor( depthSegments ); + + // buffers + + const indices = []; + const vertices = []; + const normals = []; + const uvs = []; + + // helper variables + + let numberOfVertices = 0; + let groupStart = 0; + + // build each side of the box geometry + + buildPlane( 'z', 'y', 'x', -1, -1, depth, height, width, depthSegments, heightSegments, 0 ); // px + buildPlane( 'z', 'y', 'x', 1, -1, depth, height, - width, depthSegments, heightSegments, 1 ); // nx + buildPlane( 'x', 'z', 'y', 1, 1, width, depth, height, widthSegments, depthSegments, 2 ); // py + buildPlane( 'x', 'z', 'y', 1, -1, width, depth, - height, widthSegments, depthSegments, 3 ); // ny + buildPlane( 'x', 'y', 'z', 1, -1, width, height, depth, widthSegments, heightSegments, 4 ); // pz + buildPlane( 'x', 'y', 'z', -1, -1, width, height, - depth, widthSegments, heightSegments, 5 ); // nz + + // build geometry + + this.setIndex( indices ); + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) ); + + function buildPlane( u, v, w, udir, vdir, width, height, depth, gridX, gridY, materialIndex ) { + + const segmentWidth = width / gridX; + const segmentHeight = height / gridY; + + const widthHalf = width / 2; + const heightHalf = height / 2; + const depthHalf = depth / 2; + + const gridX1 = gridX + 1; + const gridY1 = gridY + 1; + + let vertexCounter = 0; + let groupCount = 0; + + const vector = new Vector3(); + + // generate vertices, normals and uvs + + for ( let iy = 0; iy < gridY1; iy ++ ) { + + const y = iy * segmentHeight - heightHalf; + + for ( let ix = 0; ix < gridX1; ix ++ ) { + + const x = ix * segmentWidth - widthHalf; + + // set values to correct vector component + + vector[ u ] = x * udir; + vector[ v ] = y * vdir; + vector[ w ] = depthHalf; + + // now apply vector to vertex buffer + + vertices.push( vector.x, vector.y, vector.z ); + + // set values to correct vector component + + vector[ u ] = 0; + vector[ v ] = 0; + vector[ w ] = depth > 0 ? 1 : -1; + + // now apply vector to normal buffer + + normals.push( vector.x, vector.y, vector.z ); + + // uvs + + uvs.push( ix / gridX ); + uvs.push( 1 - ( iy / gridY ) ); + + // counters + + vertexCounter += 1; + + } + + } + + // indices + + // 1. you need three indices to draw a single face + // 2. a single segment consists of two faces + // 3. so we need to generate six (2*3) indices per segment + + for ( let iy = 0; iy < gridY; iy ++ ) { + + for ( let ix = 0; ix < gridX; ix ++ ) { + + const a = numberOfVertices + ix + gridX1 * iy; + const b = numberOfVertices + ix + gridX1 * ( iy + 1 ); + const c = numberOfVertices + ( ix + 1 ) + gridX1 * ( iy + 1 ); + const d = numberOfVertices + ( ix + 1 ) + gridX1 * iy; + + // faces + + indices.push( a, b, d ); + indices.push( b, c, d ); + + // increase counter + + groupCount += 6; + + } + + } + + // add a group to the geometry. this will ensure multi material support + + scope.addGroup( groupStart, groupCount, materialIndex ); + + // calculate new start value for groups + + groupStart += groupCount; + + // update total number of vertices + + numberOfVertices += vertexCounter; + + } + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {BoxGeometry} A new instance. + */ + static fromJSON( data ) { + + return new BoxGeometry( data.width, data.height, data.depth, data.widthSegments, data.heightSegments, data.depthSegments ); + + } + +} + +/** + * A geometry class for representing a capsule. + * + * ```js + * const geometry = new THREE.CapsuleGeometry( 1, 1, 4, 8, 1 ); + * const material = new THREE.MeshBasicMaterial( { color: 0x00ff00 } ); + * const capsule = new THREE.Mesh( geometry, material ); + * scene.add( capsule ); + * ``` + * + * @augments BufferGeometry + * @demo scenes/geometry-browser.html#CapsuleGeometry + */ +class CapsuleGeometry extends BufferGeometry { + + /** + * Constructs a new capsule geometry. + * + * @param {number} [radius=1] - Radius of the capsule. + * @param {number} [height=1] - Height of the middle section. + * @param {number} [capSegments=4] - Number of curve segments used to build each cap. + * @param {number} [radialSegments=8] - Number of segmented faces around the circumference of the capsule. Must be an integer >= 3. + * @param {number} [heightSegments=1] - Number of rows of faces along the height of the middle section. Must be an integer >= 1. + */ + constructor( radius = 1, height = 1, capSegments = 4, radialSegments = 8, heightSegments = 1 ) { + + super(); + + this.type = 'CapsuleGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + radius: radius, + height: height, + capSegments: capSegments, + radialSegments: radialSegments, + heightSegments: heightSegments, + }; + + height = Math.max( 0, height ); + capSegments = Math.max( 1, Math.floor( capSegments ) ); + radialSegments = Math.max( 3, Math.floor( radialSegments ) ); + heightSegments = Math.max( 1, Math.floor( heightSegments ) ); + + // buffers + + const indices = []; + const vertices = []; + const normals = []; + const uvs = []; + + // helper variables + + const halfHeight = height / 2; + const capArcLength = ( Math.PI / 2 ) * radius; + const cylinderPartLength = height; + const totalArcLength = 2 * capArcLength + cylinderPartLength; + + const numVerticalSegments = capSegments * 2 + heightSegments; + const verticesPerRow = radialSegments + 1; + + const normal = new Vector3(); + const vertex = new Vector3(); + + // generate vertices, normals, and uvs + + for ( let iy = 0; iy <= numVerticalSegments; iy ++ ) { + + let currentArcLength = 0; + let profileY = 0; + let profileRadius = 0; + let normalYComponent = 0; + + if ( iy <= capSegments ) { + + // bottom cap + const segmentProgress = iy / capSegments; + const angle = ( segmentProgress * Math.PI ) / 2; + profileY = - halfHeight - radius * Math.cos( angle ); + profileRadius = radius * Math.sin( angle ); + normalYComponent = - radius * Math.cos( angle ); + currentArcLength = segmentProgress * capArcLength; + + } else if ( iy <= capSegments + heightSegments ) { + + // middle section + const segmentProgress = ( iy - capSegments ) / heightSegments; + profileY = - halfHeight + segmentProgress * height; + profileRadius = radius; + normalYComponent = 0; + currentArcLength = capArcLength + segmentProgress * cylinderPartLength; + + } else { + + // top cap + const segmentProgress = + ( iy - capSegments - heightSegments ) / capSegments; + const angle = ( segmentProgress * Math.PI ) / 2; + profileY = halfHeight + radius * Math.sin( angle ); + profileRadius = radius * Math.cos( angle ); + normalYComponent = radius * Math.sin( angle ); + currentArcLength = + capArcLength + cylinderPartLength + segmentProgress * capArcLength; + + } + + const v = Math.max( 0, Math.min( 1, currentArcLength / totalArcLength ) ); + + + // special case for the poles + + let uOffset = 0; + + if ( iy === 0 ) { + + uOffset = 0.5 / radialSegments; + + } else if ( iy === numVerticalSegments ) { + + uOffset = -0.5 / radialSegments; + + } + + for ( let ix = 0; ix <= radialSegments; ix ++ ) { + + const u = ix / radialSegments; + const theta = u * Math.PI * 2; + + const sinTheta = Math.sin( theta ); + const cosTheta = Math.cos( theta ); + + // vertex + + vertex.x = - profileRadius * cosTheta; + vertex.y = profileY; + vertex.z = profileRadius * sinTheta; + vertices.push( vertex.x, vertex.y, vertex.z ); + + // normal + + normal.set( + - profileRadius * cosTheta, + normalYComponent, + profileRadius * sinTheta + ); + normal.normalize(); + normals.push( normal.x, normal.y, normal.z ); + + // uv + + uvs.push( u + uOffset, v ); + + } + + if ( iy > 0 ) { + + const prevIndexRow = ( iy - 1 ) * verticesPerRow; + for ( let ix = 0; ix < radialSegments; ix ++ ) { + + const i1 = prevIndexRow + ix; + const i2 = prevIndexRow + ix + 1; + const i3 = iy * verticesPerRow + ix; + const i4 = iy * verticesPerRow + ix + 1; + + indices.push( i1, i2, i3 ); + indices.push( i2, i4, i3 ); + + } + + } + + } + + // build geometry + + this.setIndex( indices ); + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) ); + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {CapsuleGeometry} A new instance. + */ + static fromJSON( data ) { + + return new CapsuleGeometry( data.radius, data.height, data.capSegments, data.radialSegments, data.heightSegments ); + + } + +} + +/** + * A simple shape of Euclidean geometry. It is constructed from a + * number of triangular segments that are oriented around a central point and + * extend as far out as a given radius. It is built counter-clockwise from a + * start angle and a given central angle. It can also be used to create + * regular polygons, where the number of segments determines the number of + * sides. + * + * ```js + * const geometry = new THREE.CircleGeometry( 5, 32 ); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00 } ); + * const circle = new THREE.Mesh( geometry, material ); + * scene.add( circle ) + * ``` + * + * @augments BufferGeometry + * @demo scenes/geometry-browser.html#CircleGeometry + */ +class CircleGeometry extends BufferGeometry { + + /** + * Constructs a new circle geometry. + * + * @param {number} [radius=1] - Radius of the circle. + * @param {number} [segments=32] - Number of segments (triangles), minimum = `3`. + * @param {number} [thetaStart=0] - Start angle for first segment in radians. + * @param {number} [thetaLength=Math.PI*2] - The central angle, often called theta, + * of the circular sector in radians. The default value results in a complete circle. + */ + constructor( radius = 1, segments = 32, thetaStart = 0, thetaLength = Math.PI * 2 ) { + + super(); + + this.type = 'CircleGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + radius: radius, + segments: segments, + thetaStart: thetaStart, + thetaLength: thetaLength + }; + + segments = Math.max( 3, segments ); + + // buffers + + const indices = []; + const vertices = []; + const normals = []; + const uvs = []; + + // helper variables + + const vertex = new Vector3(); + const uv = new Vector2(); + + // center point + + vertices.push( 0, 0, 0 ); + normals.push( 0, 0, 1 ); + uvs.push( 0.5, 0.5 ); + + for ( let s = 0, i = 3; s <= segments; s ++, i += 3 ) { + + const segment = thetaStart + s / segments * thetaLength; + + // vertex + + vertex.x = radius * Math.cos( segment ); + vertex.y = radius * Math.sin( segment ); + + vertices.push( vertex.x, vertex.y, vertex.z ); + + // normal + + normals.push( 0, 0, 1 ); + + // uvs + + uv.x = ( vertices[ i ] / radius + 1 ) / 2; + uv.y = ( vertices[ i + 1 ] / radius + 1 ) / 2; + + uvs.push( uv.x, uv.y ); + + } + + // indices + + for ( let i = 1; i <= segments; i ++ ) { + + indices.push( i, i + 1, 0 ); + + } + + // build geometry + + this.setIndex( indices ); + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) ); + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {CircleGeometry} A new instance. + */ + static fromJSON( data ) { + + return new CircleGeometry( data.radius, data.segments, data.thetaStart, data.thetaLength ); + + } + +} + +/** + * A geometry class for representing a cylinder. + * + * ```js + * const geometry = new THREE.CylinderGeometry( 5, 5, 20, 32 ); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00 } ); + * const cylinder = new THREE.Mesh( geometry, material ); + * scene.add( cylinder ); + * ``` + * + * @augments BufferGeometry + * @demo scenes/geometry-browser.html#CylinderGeometry + */ +class CylinderGeometry extends BufferGeometry { + + /** + * Constructs a new cylinder geometry. + * + * @param {number} [radiusTop=1] - Radius of the cylinder at the top. + * @param {number} [radiusBottom=1] - Radius of the cylinder at the bottom. + * @param {number} [height=1] - Height of the cylinder. + * @param {number} [radialSegments=32] - Number of segmented faces around the circumference of the cylinder. + * @param {number} [heightSegments=1] - Number of rows of faces along the height of the cylinder. + * @param {boolean} [openEnded=false] - Whether the base of the cylinder is open or capped. + * @param {number} [thetaStart=0] - Start angle for first segment, in radians. + * @param {number} [thetaLength=Math.PI*2] - The central angle, often called theta, of the circular sector, in radians. + * The default value results in a complete cylinder. + */ + constructor( radiusTop = 1, radiusBottom = 1, height = 1, radialSegments = 32, heightSegments = 1, openEnded = false, thetaStart = 0, thetaLength = Math.PI * 2 ) { + + super(); + + this.type = 'CylinderGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + radiusTop: radiusTop, + radiusBottom: radiusBottom, + height: height, + radialSegments: radialSegments, + heightSegments: heightSegments, + openEnded: openEnded, + thetaStart: thetaStart, + thetaLength: thetaLength + }; + + const scope = this; + + radialSegments = Math.floor( radialSegments ); + heightSegments = Math.floor( heightSegments ); + + // buffers + + const indices = []; + const vertices = []; + const normals = []; + const uvs = []; + + // helper variables + + let index = 0; + const indexArray = []; + const halfHeight = height / 2; + let groupStart = 0; + + // generate geometry + + generateTorso(); + + if ( openEnded === false ) { + + if ( radiusTop > 0 ) generateCap( true ); + if ( radiusBottom > 0 ) generateCap( false ); + + } + + // build geometry + + this.setIndex( indices ); + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) ); + + function generateTorso() { + + const normal = new Vector3(); + const vertex = new Vector3(); + + let groupCount = 0; + + // this will be used to calculate the normal + const slope = ( radiusBottom - radiusTop ) / height; + + // generate vertices, normals and uvs + + for ( let y = 0; y <= heightSegments; y ++ ) { + + const indexRow = []; + + const v = y / heightSegments; + + // calculate the radius of the current row + + const radius = v * ( radiusBottom - radiusTop ) + radiusTop; + + for ( let x = 0; x <= radialSegments; x ++ ) { + + const u = x / radialSegments; + + const theta = u * thetaLength + thetaStart; + + const sinTheta = Math.sin( theta ); + const cosTheta = Math.cos( theta ); + + // vertex + + vertex.x = radius * sinTheta; + vertex.y = - v * height + halfHeight; + vertex.z = radius * cosTheta; + vertices.push( vertex.x, vertex.y, vertex.z ); + + // normal + + normal.set( sinTheta, slope, cosTheta ).normalize(); + normals.push( normal.x, normal.y, normal.z ); + + // uv + + uvs.push( u, 1 - v ); + + // save index of vertex in respective row + + indexRow.push( index ++ ); + + } + + // now save vertices of the row in our index array + + indexArray.push( indexRow ); + + } + + // generate indices + + for ( let x = 0; x < radialSegments; x ++ ) { + + for ( let y = 0; y < heightSegments; y ++ ) { + + // we use the index array to access the correct indices + + const a = indexArray[ y ][ x ]; + const b = indexArray[ y + 1 ][ x ]; + const c = indexArray[ y + 1 ][ x + 1 ]; + const d = indexArray[ y ][ x + 1 ]; + + // faces + + if ( radiusTop > 0 || y !== 0 ) { + + indices.push( a, b, d ); + groupCount += 3; + + } + + if ( radiusBottom > 0 || y !== heightSegments - 1 ) { + + indices.push( b, c, d ); + groupCount += 3; + + } + + } + + } + + // add a group to the geometry. this will ensure multi material support + + scope.addGroup( groupStart, groupCount, 0 ); + + // calculate new start value for groups + + groupStart += groupCount; + + } + + function generateCap( top ) { + + // save the index of the first center vertex + const centerIndexStart = index; + + const uv = new Vector2(); + const vertex = new Vector3(); + + let groupCount = 0; + + const radius = ( top === true ) ? radiusTop : radiusBottom; + const sign = ( top === true ) ? 1 : -1; + + // first we generate the center vertex data of the cap. + // because the geometry needs one set of uvs per face, + // we must generate a center vertex per face/segment + + for ( let x = 1; x <= radialSegments; x ++ ) { + + // vertex + + vertices.push( 0, halfHeight * sign, 0 ); + + // normal + + normals.push( 0, sign, 0 ); + + // uv + + uvs.push( 0.5, 0.5 ); + + // increase index + + index ++; + + } + + // save the index of the last center vertex + const centerIndexEnd = index; + + // now we generate the surrounding vertices, normals and uvs + + for ( let x = 0; x <= radialSegments; x ++ ) { + + const u = x / radialSegments; + const theta = u * thetaLength + thetaStart; + + const cosTheta = Math.cos( theta ); + const sinTheta = Math.sin( theta ); + + // vertex + + vertex.x = radius * sinTheta; + vertex.y = halfHeight * sign; + vertex.z = radius * cosTheta; + vertices.push( vertex.x, vertex.y, vertex.z ); + + // normal + + normals.push( 0, sign, 0 ); + + // uv + + uv.x = ( cosTheta * 0.5 ) + 0.5; + uv.y = ( sinTheta * 0.5 * sign ) + 0.5; + uvs.push( uv.x, uv.y ); + + // increase index + + index ++; + + } + + // generate indices + + for ( let x = 0; x < radialSegments; x ++ ) { + + const c = centerIndexStart + x; + const i = centerIndexEnd + x; + + if ( top === true ) { + + // face top + + indices.push( i, i + 1, c ); + + } else { + + // face bottom + + indices.push( i + 1, i, c ); + + } + + groupCount += 3; + + } + + // add a group to the geometry. this will ensure multi material support + + scope.addGroup( groupStart, groupCount, top === true ? 1 : 2 ); + + // calculate new start value for groups + + groupStart += groupCount; + + } + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {CylinderGeometry} A new instance. + */ + static fromJSON( data ) { + + return new CylinderGeometry( data.radiusTop, data.radiusBottom, data.height, data.radialSegments, data.heightSegments, data.openEnded, data.thetaStart, data.thetaLength ); + + } + +} + +/** + * A geometry class for representing a cone. + * + * ```js + * const geometry = new THREE.ConeGeometry( 5, 20, 32 ); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00 } ); + * const cone = new THREE.Mesh(geometry, material ); + * scene.add( cone ); + * ``` + * + * @augments CylinderGeometry + * @demo scenes/geometry-browser.html#ConeGeometry + */ +class ConeGeometry extends CylinderGeometry { + + /** + * Constructs a new cone geometry. + * + * @param {number} [radius=1] - Radius of the cone base. + * @param {number} [height=1] - Height of the cone. + * @param {number} [radialSegments=32] - Number of segmented faces around the circumference of the cone. + * @param {number} [heightSegments=1] - Number of rows of faces along the height of the cone. + * @param {boolean} [openEnded=false] - Whether the base of the cone is open or capped. + * @param {number} [thetaStart=0] - Start angle for first segment, in radians. + * @param {number} [thetaLength=Math.PI*2] - The central angle, often called theta, of the circular sector, in radians. + * The default value results in a complete cone. + */ + constructor( radius = 1, height = 1, radialSegments = 32, heightSegments = 1, openEnded = false, thetaStart = 0, thetaLength = Math.PI * 2 ) { + + super( 0, radius, height, radialSegments, heightSegments, openEnded, thetaStart, thetaLength ); + + this.type = 'ConeGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + radius: radius, + height: height, + radialSegments: radialSegments, + heightSegments: heightSegments, + openEnded: openEnded, + thetaStart: thetaStart, + thetaLength: thetaLength + }; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {ConeGeometry} A new instance. + */ + static fromJSON( data ) { + + return new ConeGeometry( data.radius, data.height, data.radialSegments, data.heightSegments, data.openEnded, data.thetaStart, data.thetaLength ); + + } + +} + +/** + * A polyhedron is a solid in three dimensions with flat faces. This class + * will take an array of vertices, project them onto a sphere, and then + * divide them up to the desired level of detail. + * + * @augments BufferGeometry + */ +class PolyhedronGeometry extends BufferGeometry { + + /** + * Constructs a new polyhedron geometry. + * + * @param {Array} [vertices] - A flat array of vertices describing the base shape. + * @param {Array} [indices] - A flat array of indices describing the base shape. + * @param {number} [radius=1] - The radius of the shape. + * @param {number} [detail=0] - How many levels to subdivide the geometry. The more detail, the smoother the shape. + */ + constructor( vertices = [], indices = [], radius = 1, detail = 0 ) { + + super(); + + this.type = 'PolyhedronGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + vertices: vertices, + indices: indices, + radius: radius, + detail: detail + }; + + // default buffer data + + const vertexBuffer = []; + const uvBuffer = []; + + // the subdivision creates the vertex buffer data + + subdivide( detail ); + + // all vertices should lie on a conceptual sphere with a given radius + + applyRadius( radius ); + + // finally, create the uv data + + generateUVs(); + + // build non-indexed geometry + + this.setAttribute( 'position', new Float32BufferAttribute( vertexBuffer, 3 ) ); + this.setAttribute( 'normal', new Float32BufferAttribute( vertexBuffer.slice(), 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvBuffer, 2 ) ); + + if ( detail === 0 ) { + + this.computeVertexNormals(); // flat normals + + } else { + + this.normalizeNormals(); // smooth normals + + } + + // helper functions + + function subdivide( detail ) { + + const a = new Vector3(); + const b = new Vector3(); + const c = new Vector3(); + + // iterate over all faces and apply a subdivision with the given detail value + + for ( let i = 0; i < indices.length; i += 3 ) { + + // get the vertices of the face + + getVertexByIndex( indices[ i + 0 ], a ); + getVertexByIndex( indices[ i + 1 ], b ); + getVertexByIndex( indices[ i + 2 ], c ); + + // perform subdivision + + subdivideFace( a, b, c, detail ); + + } + + } + + function subdivideFace( a, b, c, detail ) { + + const cols = detail + 1; + + // we use this multidimensional array as a data structure for creating the subdivision + + const v = []; + + // construct all of the vertices for this subdivision + + for ( let i = 0; i <= cols; i ++ ) { + + v[ i ] = []; + + const aj = a.clone().lerp( c, i / cols ); + const bj = b.clone().lerp( c, i / cols ); + + const rows = cols - i; + + for ( let j = 0; j <= rows; j ++ ) { + + if ( j === 0 && i === cols ) { + + v[ i ][ j ] = aj; + + } else { + + v[ i ][ j ] = aj.clone().lerp( bj, j / rows ); + + } + + } + + } + + // construct all of the faces + + for ( let i = 0; i < cols; i ++ ) { + + for ( let j = 0; j < 2 * ( cols - i ) - 1; j ++ ) { + + const k = Math.floor( j / 2 ); + + if ( j % 2 === 0 ) { + + pushVertex( v[ i ][ k + 1 ] ); + pushVertex( v[ i + 1 ][ k ] ); + pushVertex( v[ i ][ k ] ); + + } else { + + pushVertex( v[ i ][ k + 1 ] ); + pushVertex( v[ i + 1 ][ k + 1 ] ); + pushVertex( v[ i + 1 ][ k ] ); + + } + + } + + } + + } + + function applyRadius( radius ) { + + const vertex = new Vector3(); + + // iterate over the entire buffer and apply the radius to each vertex + + for ( let i = 0; i < vertexBuffer.length; i += 3 ) { + + vertex.x = vertexBuffer[ i + 0 ]; + vertex.y = vertexBuffer[ i + 1 ]; + vertex.z = vertexBuffer[ i + 2 ]; + + vertex.normalize().multiplyScalar( radius ); + + vertexBuffer[ i + 0 ] = vertex.x; + vertexBuffer[ i + 1 ] = vertex.y; + vertexBuffer[ i + 2 ] = vertex.z; + + } + + } + + function generateUVs() { + + const vertex = new Vector3(); + + for ( let i = 0; i < vertexBuffer.length; i += 3 ) { + + vertex.x = vertexBuffer[ i + 0 ]; + vertex.y = vertexBuffer[ i + 1 ]; + vertex.z = vertexBuffer[ i + 2 ]; + + const u = azimuth( vertex ) / 2 / Math.PI + 0.5; + const v = inclination( vertex ) / Math.PI + 0.5; + uvBuffer.push( u, 1 - v ); + + } + + correctUVs(); + + correctSeam(); + + } + + function correctSeam() { + + // handle case when face straddles the seam, see #3269 + + for ( let i = 0; i < uvBuffer.length; i += 6 ) { + + // uv data of a single face + + const x0 = uvBuffer[ i + 0 ]; + const x1 = uvBuffer[ i + 2 ]; + const x2 = uvBuffer[ i + 4 ]; + + const max = Math.max( x0, x1, x2 ); + const min = Math.min( x0, x1, x2 ); + + // 0.9 is somewhat arbitrary + + if ( max > 0.9 && min < 0.1 ) { + + if ( x0 < 0.2 ) uvBuffer[ i + 0 ] += 1; + if ( x1 < 0.2 ) uvBuffer[ i + 2 ] += 1; + if ( x2 < 0.2 ) uvBuffer[ i + 4 ] += 1; + + } + + } + + } + + function pushVertex( vertex ) { + + vertexBuffer.push( vertex.x, vertex.y, vertex.z ); + + } + + function getVertexByIndex( index, vertex ) { + + const stride = index * 3; + + vertex.x = vertices[ stride + 0 ]; + vertex.y = vertices[ stride + 1 ]; + vertex.z = vertices[ stride + 2 ]; + + } + + function correctUVs() { + + const a = new Vector3(); + const b = new Vector3(); + const c = new Vector3(); + + const centroid = new Vector3(); + + const uvA = new Vector2(); + const uvB = new Vector2(); + const uvC = new Vector2(); + + for ( let i = 0, j = 0; i < vertexBuffer.length; i += 9, j += 6 ) { + + a.set( vertexBuffer[ i + 0 ], vertexBuffer[ i + 1 ], vertexBuffer[ i + 2 ] ); + b.set( vertexBuffer[ i + 3 ], vertexBuffer[ i + 4 ], vertexBuffer[ i + 5 ] ); + c.set( vertexBuffer[ i + 6 ], vertexBuffer[ i + 7 ], vertexBuffer[ i + 8 ] ); + + uvA.set( uvBuffer[ j + 0 ], uvBuffer[ j + 1 ] ); + uvB.set( uvBuffer[ j + 2 ], uvBuffer[ j + 3 ] ); + uvC.set( uvBuffer[ j + 4 ], uvBuffer[ j + 5 ] ); + + centroid.copy( a ).add( b ).add( c ).divideScalar( 3 ); + + const azi = azimuth( centroid ); + + correctUV( uvA, j + 0, a, azi ); + correctUV( uvB, j + 2, b, azi ); + correctUV( uvC, j + 4, c, azi ); + + } + + } + + function correctUV( uv, stride, vector, azimuth ) { + + if ( ( azimuth < 0 ) && ( uv.x === 1 ) ) { + + uvBuffer[ stride ] = uv.x - 1; + + } + + if ( ( vector.x === 0 ) && ( vector.z === 0 ) ) { + + uvBuffer[ stride ] = azimuth / 2 / Math.PI + 0.5; + + } + + } + + // Angle around the Y axis, counter-clockwise when looking from above. + + function azimuth( vector ) { + + return Math.atan2( vector.z, - vector.x ); + + } + + + // Angle above the XZ plane. + + function inclination( vector ) { + + return Math.atan2( - vector.y, Math.sqrt( ( vector.x * vector.x ) + ( vector.z * vector.z ) ) ); + + } + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {PolyhedronGeometry} A new instance. + */ + static fromJSON( data ) { + + return new PolyhedronGeometry( data.vertices, data.indices, data.radius, data.detail ); + + } + +} + +/** + * A geometry class for representing a dodecahedron. + * + * ```js + * const geometry = new THREE.DodecahedronGeometry(); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00 } ); + * const dodecahedron = new THREE.Mesh( geometry, material ); + * scene.add( dodecahedron ); + * ``` + * + * @augments PolyhedronGeometry + * @demo scenes/geometry-browser.html#DodecahedronGeometry + */ +class DodecahedronGeometry extends PolyhedronGeometry { + + /** + * Constructs a new dodecahedron geometry. + * + * @param {number} [radius=1] - Radius of the dodecahedron. + * @param {number} [detail=0] - Setting this to a value greater than `0` adds vertices making it no longer a dodecahedron. + */ + constructor( radius = 1, detail = 0 ) { + + const t = ( 1 + Math.sqrt( 5 ) ) / 2; + const r = 1 / t; + + const vertices = [ + + // (±1, ±1, ±1) + -1, -1, -1, -1, -1, 1, + -1, 1, -1, -1, 1, 1, + 1, -1, -1, 1, -1, 1, + 1, 1, -1, 1, 1, 1, + + // (0, ±1/φ, ±φ) + 0, - r, - t, 0, - r, t, + 0, r, - t, 0, r, t, + + // (±1/φ, ±φ, 0) + - r, - t, 0, - r, t, 0, + r, - t, 0, r, t, 0, + + // (±φ, 0, ±1/φ) + - t, 0, - r, t, 0, - r, + - t, 0, r, t, 0, r + ]; + + const indices = [ + 3, 11, 7, 3, 7, 15, 3, 15, 13, + 7, 19, 17, 7, 17, 6, 7, 6, 15, + 17, 4, 8, 17, 8, 10, 17, 10, 6, + 8, 0, 16, 8, 16, 2, 8, 2, 10, + 0, 12, 1, 0, 1, 18, 0, 18, 16, + 6, 10, 2, 6, 2, 13, 6, 13, 15, + 2, 16, 18, 2, 18, 3, 2, 3, 13, + 18, 1, 9, 18, 9, 11, 18, 11, 3, + 4, 14, 12, 4, 12, 0, 4, 0, 8, + 11, 9, 5, 11, 5, 19, 11, 19, 7, + 19, 5, 14, 19, 14, 4, 19, 4, 17, + 1, 12, 14, 1, 14, 5, 1, 5, 9 + ]; + + super( vertices, indices, radius, detail ); + + this.type = 'DodecahedronGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + radius: radius, + detail: detail + }; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {DodecahedronGeometry} A new instance. + */ + static fromJSON( data ) { + + return new DodecahedronGeometry( data.radius, data.detail ); + + } + +} + +const _v0 = /*@__PURE__*/ new Vector3(); +const _v1$1 = /*@__PURE__*/ new Vector3(); +const _normal = /*@__PURE__*/ new Vector3(); +const _triangle = /*@__PURE__*/ new Triangle(); + +/** + * Can be used as a helper object to view the edges of a geometry. + * + * ```js + * const geometry = new THREE.BoxGeometry(); + * const edges = new THREE.EdgesGeometry( geometry ); + * const line = new THREE.LineSegments( edges ); + * scene.add( line ); + * ``` + * + * Note: It is not yet possible to serialize/deserialize instances of this class. + * + * @augments BufferGeometry + */ +class EdgesGeometry extends BufferGeometry { + + /** + * Constructs a new edges geometry. + * + * @param {?BufferGeometry} [geometry=null] - The geometry. + * @param {number} [thresholdAngle=1] - An edge is only rendered if the angle (in degrees) + * between the face normals of the adjoining faces exceeds this value. + */ + constructor( geometry = null, thresholdAngle = 1 ) { + + super(); + + this.type = 'EdgesGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + geometry: geometry, + thresholdAngle: thresholdAngle + }; + + if ( geometry !== null ) { + + const precisionPoints = 4; + const precision = Math.pow( 10, precisionPoints ); + const thresholdDot = Math.cos( DEG2RAD * thresholdAngle ); + + const indexAttr = geometry.getIndex(); + const positionAttr = geometry.getAttribute( 'position' ); + const indexCount = indexAttr ? indexAttr.count : positionAttr.count; + + const indexArr = [ 0, 0, 0 ]; + const vertKeys = [ 'a', 'b', 'c' ]; + const hashes = new Array( 3 ); + + const edgeData = {}; + const vertices = []; + for ( let i = 0; i < indexCount; i += 3 ) { + + if ( indexAttr ) { + + indexArr[ 0 ] = indexAttr.getX( i ); + indexArr[ 1 ] = indexAttr.getX( i + 1 ); + indexArr[ 2 ] = indexAttr.getX( i + 2 ); + + } else { + + indexArr[ 0 ] = i; + indexArr[ 1 ] = i + 1; + indexArr[ 2 ] = i + 2; + + } + + const { a, b, c } = _triangle; + a.fromBufferAttribute( positionAttr, indexArr[ 0 ] ); + b.fromBufferAttribute( positionAttr, indexArr[ 1 ] ); + c.fromBufferAttribute( positionAttr, indexArr[ 2 ] ); + _triangle.getNormal( _normal ); + + // create hashes for the edge from the vertices + hashes[ 0 ] = `${ Math.round( a.x * precision ) },${ Math.round( a.y * precision ) },${ Math.round( a.z * precision ) }`; + hashes[ 1 ] = `${ Math.round( b.x * precision ) },${ Math.round( b.y * precision ) },${ Math.round( b.z * precision ) }`; + hashes[ 2 ] = `${ Math.round( c.x * precision ) },${ Math.round( c.y * precision ) },${ Math.round( c.z * precision ) }`; + + // skip degenerate triangles + if ( hashes[ 0 ] === hashes[ 1 ] || hashes[ 1 ] === hashes[ 2 ] || hashes[ 2 ] === hashes[ 0 ] ) { + + continue; + + } + + // iterate over every edge + for ( let j = 0; j < 3; j ++ ) { + + // get the first and next vertex making up the edge + const jNext = ( j + 1 ) % 3; + const vecHash0 = hashes[ j ]; + const vecHash1 = hashes[ jNext ]; + const v0 = _triangle[ vertKeys[ j ] ]; + const v1 = _triangle[ vertKeys[ jNext ] ]; + + const hash = `${ vecHash0 }_${ vecHash1 }`; + const reverseHash = `${ vecHash1 }_${ vecHash0 }`; + + if ( reverseHash in edgeData && edgeData[ reverseHash ] ) { + + // if we found a sibling edge add it into the vertex array if + // it meets the angle threshold and delete the edge from the map. + if ( _normal.dot( edgeData[ reverseHash ].normal ) <= thresholdDot ) { + + vertices.push( v0.x, v0.y, v0.z ); + vertices.push( v1.x, v1.y, v1.z ); + + } + + edgeData[ reverseHash ] = null; + + } else if ( ! ( hash in edgeData ) ) { + + // if we've already got an edge here then skip adding a new one + edgeData[ hash ] = { + + index0: indexArr[ j ], + index1: indexArr[ jNext ], + normal: _normal.clone(), + + }; + + } + + } + + } + + // iterate over all remaining, unmatched edges and add them to the vertex array + for ( const key in edgeData ) { + + if ( edgeData[ key ] ) { + + const { index0, index1 } = edgeData[ key ]; + _v0.fromBufferAttribute( positionAttr, index0 ); + _v1$1.fromBufferAttribute( positionAttr, index1 ); + + vertices.push( _v0.x, _v0.y, _v0.z ); + vertices.push( _v1$1.x, _v1$1.y, _v1$1.z ); + + } + + } + + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + + } + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + +} + +/** + * An abstract base class for creating an analytic curve object that contains methods + * for interpolation. + * + * @abstract + */ +class Curve { + + /** + * Constructs a new curve. + */ + constructor() { + + /** + * The type property is used for detecting the object type + * in context of serialization/deserialization. + * + * @type {string} + * @readonly + */ + this.type = 'Curve'; + + /** + * This value determines the amount of divisions when calculating the + * cumulative segment lengths of a curve via {@link Curve#getLengths}. To ensure + * precision when using methods like {@link Curve#getSpacedPoints}, it is + * recommended to increase the value of this property if the curve is very large. + * + * @type {number} + * @default 200 + */ + this.arcLengthDivisions = 200; + + /** + * Must be set to `true` if the curve parameters have changed. + * + * @type {boolean} + * @default false + */ + this.needsUpdate = false; + + /** + * An internal cache that holds precomputed curve length values. + * + * @private + * @type {?Array} + * @default null + */ + this.cacheArcLengths = null; + + } + + /** + * This method returns a vector in 2D or 3D space (depending on the curve definition) + * for the given interpolation factor. + * + * @abstract + * @param {number} t - A interpolation factor representing a position on the curve. Must be in the range `[0,1]`. + * @param {(Vector2|Vector3)} [optionalTarget] - The optional target vector the result is written to. + * @return {(Vector2|Vector3)} The position on the curve. It can be a 2D or 3D vector depending on the curve definition. + */ + getPoint( /* t, optionalTarget */ ) { + + warn( 'Curve: .getPoint() not implemented.' ); + + } + + /** + * This method returns a vector in 2D or 3D space (depending on the curve definition) + * for the given interpolation factor. Unlike {@link Curve#getPoint}, this method honors the length + * of the curve which equidistant samples. + * + * @param {number} u - A interpolation factor representing a position on the curve. Must be in the range `[0,1]`. + * @param {(Vector2|Vector3)} [optionalTarget] - The optional target vector the result is written to. + * @return {(Vector2|Vector3)} The position on the curve. It can be a 2D or 3D vector depending on the curve definition. + */ + getPointAt( u, optionalTarget ) { + + const t = this.getUtoTmapping( u ); + return this.getPoint( t, optionalTarget ); + + } + + /** + * This method samples the curve via {@link Curve#getPoint} and returns an array of points representing + * the curve shape. + * + * @param {number} [divisions=5] - The number of divisions. + * @return {Array<(Vector2|Vector3)>} An array holding the sampled curve values. The number of points is `divisions + 1`. + */ + getPoints( divisions = 5 ) { + + const points = []; + + for ( let d = 0; d <= divisions; d ++ ) { + + points.push( this.getPoint( d / divisions ) ); + + } + + return points; + + } + + // Get sequence of points using getPointAt( u ) + + /** + * This method samples the curve via {@link Curve#getPointAt} and returns an array of points representing + * the curve shape. Unlike {@link Curve#getPoints}, this method returns equi-spaced points across the entire + * curve. + * + * @param {number} [divisions=5] - The number of divisions. + * @return {Array<(Vector2|Vector3)>} An array holding the sampled curve values. The number of points is `divisions + 1`. + */ + getSpacedPoints( divisions = 5 ) { + + const points = []; + + for ( let d = 0; d <= divisions; d ++ ) { + + points.push( this.getPointAt( d / divisions ) ); + + } + + return points; + + } + + /** + * Returns the total arc length of the curve. + * + * @return {number} The length of the curve. + */ + getLength() { + + const lengths = this.getLengths(); + return lengths[ lengths.length - 1 ]; + + } + + /** + * Returns an array of cumulative segment lengths of the curve. + * + * @param {number} [divisions=this.arcLengthDivisions] - The number of divisions. + * @return {Array} An array holding the cumulative segment lengths. + */ + getLengths( divisions = this.arcLengthDivisions ) { + + if ( this.cacheArcLengths && + ( this.cacheArcLengths.length === divisions + 1 ) && + ! this.needsUpdate ) { + + return this.cacheArcLengths; + + } + + this.needsUpdate = false; + + const cache = []; + let current, last = this.getPoint( 0 ); + let sum = 0; + + cache.push( 0 ); + + for ( let p = 1; p <= divisions; p ++ ) { + + current = this.getPoint( p / divisions ); + sum += current.distanceTo( last ); + cache.push( sum ); + last = current; + + } + + this.cacheArcLengths = cache; + + return cache; // { sums: cache, sum: sum }; Sum is in the last element. + + } + + /** + * Update the cumulative segment distance cache. The method must be called + * every time curve parameters are changed. If an updated curve is part of a + * composed curve like {@link CurvePath}, this method must be called on the + * composed curve, too. + */ + updateArcLengths() { + + this.needsUpdate = true; + this.getLengths(); + + } + + /** + * Given an interpolation factor in the range `[0,1]`, this method returns an updated + * interpolation factor in the same range that can be ued to sample equidistant points + * from a curve. + * + * @param {number} u - The interpolation factor. + * @param {?number} distance - An optional distance on the curve. + * @return {number} The updated interpolation factor. + */ + getUtoTmapping( u, distance = null ) { + + const arcLengths = this.getLengths(); + + let i = 0; + const il = arcLengths.length; + + let targetArcLength; // The targeted u distance value to get + + if ( distance ) { + + targetArcLength = distance; + + } else { + + targetArcLength = u * arcLengths[ il - 1 ]; + + } + + // binary search for the index with largest value smaller than target u distance + + let low = 0, high = il - 1, comparison; + + while ( low <= high ) { + + i = Math.floor( low + ( high - low ) / 2 ); // less likely to overflow, though probably not issue here, JS doesn't really have integers, all numbers are floats + + comparison = arcLengths[ i ] - targetArcLength; + + if ( comparison < 0 ) { + + low = i + 1; + + } else if ( comparison > 0 ) { + + high = i - 1; + + } else { + + high = i; + break; + + // DONE + + } + + } + + i = high; + + if ( arcLengths[ i ] === targetArcLength ) { + + return i / ( il - 1 ); + + } + + // we could get finer grain at lengths, or use simple interpolation between two points + + const lengthBefore = arcLengths[ i ]; + const lengthAfter = arcLengths[ i + 1 ]; + + const segmentLength = lengthAfter - lengthBefore; + + // determine where we are between the 'before' and 'after' points + + const segmentFraction = ( targetArcLength - lengthBefore ) / segmentLength; + + // add that fractional amount to t + + const t = ( i + segmentFraction ) / ( il - 1 ); + + return t; + + } + + /** + * Returns a unit vector tangent for the given interpolation factor. + * If the derived curve does not implement its tangent derivation, + * two points a small delta apart will be used to find its gradient + * which seems to give a reasonable approximation. + * + * @param {number} t - The interpolation factor. + * @param {(Vector2|Vector3)} [optionalTarget] - The optional target vector the result is written to. + * @return {(Vector2|Vector3)} The tangent vector. + */ + getTangent( t, optionalTarget ) { + + const delta = 0.0001; + let t1 = t - delta; + let t2 = t + delta; + + // Capping in case of danger + + if ( t1 < 0 ) t1 = 0; + if ( t2 > 1 ) t2 = 1; + + const pt1 = this.getPoint( t1 ); + const pt2 = this.getPoint( t2 ); + + const tangent = optionalTarget || ( ( pt1.isVector2 ) ? new Vector2() : new Vector3() ); + + tangent.copy( pt2 ).sub( pt1 ).normalize(); + + return tangent; + + } + + /** + * Same as {@link Curve#getTangent} but with equidistant samples. + * + * @param {number} u - The interpolation factor. + * @param {(Vector2|Vector3)} [optionalTarget] - The optional target vector the result is written to. + * @return {(Vector2|Vector3)} The tangent vector. + * @see {@link Curve#getPointAt} + */ + getTangentAt( u, optionalTarget ) { + + const t = this.getUtoTmapping( u ); + return this.getTangent( t, optionalTarget ); + + } + + /** + * Generates the Frenet Frames. Requires a curve definition in 3D space. Used + * in geometries like {@link TubeGeometry} or {@link ExtrudeGeometry}. + * + * @param {number} segments - The number of segments. + * @param {boolean} [closed=false] - Whether the curve is closed or not. + * @return {{tangents: Array, normals: Array, binormals: Array}} The Frenet Frames. + */ + computeFrenetFrames( segments, closed = false ) { + + // see http://www.cs.indiana.edu/pub/techreports/TR425.pdf + + const normal = new Vector3(); + + const tangents = []; + const normals = []; + const binormals = []; + + const vec = new Vector3(); + const mat = new Matrix4(); + + // compute the tangent vectors for each segment on the curve + + for ( let i = 0; i <= segments; i ++ ) { + + const u = i / segments; + + tangents[ i ] = this.getTangentAt( u, new Vector3() ); + + } + + // select an initial normal vector perpendicular to the first tangent vector, + // and in the direction of the minimum tangent xyz component + + normals[ 0 ] = new Vector3(); + binormals[ 0 ] = new Vector3(); + let min = Number.MAX_VALUE; + const tx = Math.abs( tangents[ 0 ].x ); + const ty = Math.abs( tangents[ 0 ].y ); + const tz = Math.abs( tangents[ 0 ].z ); + + if ( tx <= min ) { + + min = tx; + normal.set( 1, 0, 0 ); + + } + + if ( ty <= min ) { + + min = ty; + normal.set( 0, 1, 0 ); + + } + + if ( tz <= min ) { + + normal.set( 0, 0, 1 ); + + } + + vec.crossVectors( tangents[ 0 ], normal ).normalize(); + + normals[ 0 ].crossVectors( tangents[ 0 ], vec ); + binormals[ 0 ].crossVectors( tangents[ 0 ], normals[ 0 ] ); + + + // compute the slowly-varying normal and binormal vectors for each segment on the curve + + for ( let i = 1; i <= segments; i ++ ) { + + normals[ i ] = normals[ i - 1 ].clone(); + + binormals[ i ] = binormals[ i - 1 ].clone(); + + vec.crossVectors( tangents[ i - 1 ], tangents[ i ] ); + + if ( vec.length() > Number.EPSILON ) { + + vec.normalize(); + + const theta = Math.acos( clamp( tangents[ i - 1 ].dot( tangents[ i ] ), -1, 1 ) ); // clamp for floating pt errors + + normals[ i ].applyMatrix4( mat.makeRotationAxis( vec, theta ) ); + + } + + binormals[ i ].crossVectors( tangents[ i ], normals[ i ] ); + + } + + // if the curve is closed, postprocess the vectors so the first and last normal vectors are the same + + if ( closed === true ) { + + let theta = Math.acos( clamp( normals[ 0 ].dot( normals[ segments ] ), -1, 1 ) ); + theta /= segments; + + if ( tangents[ 0 ].dot( vec.crossVectors( normals[ 0 ], normals[ segments ] ) ) > 0 ) { + + theta = - theta; + + } + + for ( let i = 1; i <= segments; i ++ ) { + + // twist a little... + normals[ i ].applyMatrix4( mat.makeRotationAxis( tangents[ i ], theta * i ) ); + binormals[ i ].crossVectors( tangents[ i ], normals[ i ] ); + + } + + } + + return { + tangents: tangents, + normals: normals, + binormals: binormals + }; + + } + + /** + * Returns a new curve with copied values from this instance. + * + * @return {Curve} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + + /** + * Copies the values of the given curve to this instance. + * + * @param {Curve} source - The curve to copy. + * @return {Curve} A reference to this curve. + */ + copy( source ) { + + this.arcLengthDivisions = source.arcLengthDivisions; + + return this; + + } + + /** + * Serializes the curve into JSON. + * + * @return {Object} A JSON object representing the serialized curve. + * @see {@link ObjectLoader#parse} + */ + toJSON() { + + const data = { + metadata: { + version: 4.7, + type: 'Curve', + generator: 'Curve.toJSON' + } + }; + + data.arcLengthDivisions = this.arcLengthDivisions; + data.type = this.type; + + return data; + + } + + /** + * Deserializes the curve from the given JSON. + * + * @param {Object} json - The JSON holding the serialized curve. + * @return {Curve} A reference to this curve. + */ + fromJSON( json ) { + + this.arcLengthDivisions = json.arcLengthDivisions; + + return this; + + } + +} + +/** + * A curve representing an ellipse. + * + * ```js + * const curve = new THREE.EllipseCurve( + * 0, 0, + * 10, 10, + * 0, 2 * Math.PI, + * false, + * 0 + * ); + * + * const points = curve.getPoints( 50 ); + * const geometry = new THREE.BufferGeometry().setFromPoints( points ); + * + * const material = new THREE.LineBasicMaterial( { color: 0xff0000 } ); + * + * // Create the final object to add to the scene + * const ellipse = new THREE.Line( geometry, material ); + * ``` + * + * @augments Curve + */ +class EllipseCurve extends Curve { + + /** + * Constructs a new ellipse curve. + * + * @param {number} [aX=0] - The X center of the ellipse. + * @param {number} [aY=0] - The Y center of the ellipse. + * @param {number} [xRadius=1] - The radius of the ellipse in the x direction. + * @param {number} [yRadius=1] - The radius of the ellipse in the y direction. + * @param {number} [aStartAngle=0] - The start angle of the curve in radians starting from the positive X axis. + * @param {number} [aEndAngle=Math.PI*2] - The end angle of the curve in radians starting from the positive X axis. + * @param {boolean} [aClockwise=false] - Whether the ellipse is drawn clockwise or not. + * @param {number} [aRotation=0] - The rotation angle of the ellipse in radians, counterclockwise from the positive X axis. + */ + constructor( aX = 0, aY = 0, xRadius = 1, yRadius = 1, aStartAngle = 0, aEndAngle = Math.PI * 2, aClockwise = false, aRotation = 0 ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isEllipseCurve = true; + + this.type = 'EllipseCurve'; + + /** + * The X center of the ellipse. + * + * @type {number} + * @default 0 + */ + this.aX = aX; + + /** + * The Y center of the ellipse. + * + * @type {number} + * @default 0 + */ + this.aY = aY; + + /** + * The radius of the ellipse in the x direction. + * Setting the this value equal to the {@link EllipseCurve#yRadius} will result in a circle. + * + * @type {number} + * @default 1 + */ + this.xRadius = xRadius; + + /** + * The radius of the ellipse in the y direction. + * Setting the this value equal to the {@link EllipseCurve#xRadius} will result in a circle. + * + * @type {number} + * @default 1 + */ + this.yRadius = yRadius; + + /** + * The start angle of the curve in radians starting from the positive X axis. + * + * @type {number} + * @default 0 + */ + this.aStartAngle = aStartAngle; + + /** + * The end angle of the curve in radians starting from the positive X axis. + * + * @type {number} + * @default Math.PI*2 + */ + this.aEndAngle = aEndAngle; + + /** + * Whether the ellipse is drawn clockwise or not. + * + * @type {boolean} + * @default false + */ + this.aClockwise = aClockwise; + + /** + * The rotation angle of the ellipse in radians, counterclockwise from the positive X axis. + * + * @type {number} + * @default 0 + */ + this.aRotation = aRotation; + + } + + /** + * Returns a point on the curve. + * + * @param {number} t - A interpolation factor representing a position on the curve. Must be in the range `[0,1]`. + * @param {Vector2} [optionalTarget] - The optional target vector the result is written to. + * @return {Vector2} The position on the curve. + */ + getPoint( t, optionalTarget = new Vector2() ) { + + const point = optionalTarget; + + const twoPi = Math.PI * 2; + let deltaAngle = this.aEndAngle - this.aStartAngle; + const samePoints = Math.abs( deltaAngle ) < Number.EPSILON; + + // ensures that deltaAngle is 0 .. 2 PI + while ( deltaAngle < 0 ) deltaAngle += twoPi; + while ( deltaAngle > twoPi ) deltaAngle -= twoPi; + + if ( deltaAngle < Number.EPSILON ) { + + if ( samePoints ) { + + deltaAngle = 0; + + } else { + + deltaAngle = twoPi; + + } + + } + + if ( this.aClockwise === true && ! samePoints ) { + + if ( deltaAngle === twoPi ) { + + deltaAngle = - twoPi; + + } else { + + deltaAngle = deltaAngle - twoPi; + + } + + } + + const angle = this.aStartAngle + t * deltaAngle; + let x = this.aX + this.xRadius * Math.cos( angle ); + let y = this.aY + this.yRadius * Math.sin( angle ); + + if ( this.aRotation !== 0 ) { + + const cos = Math.cos( this.aRotation ); + const sin = Math.sin( this.aRotation ); + + const tx = x - this.aX; + const ty = y - this.aY; + + // Rotate the point about the center of the ellipse. + x = tx * cos - ty * sin + this.aX; + y = tx * sin + ty * cos + this.aY; + + } + + return point.set( x, y ); + + } + + copy( source ) { + + super.copy( source ); + + this.aX = source.aX; + this.aY = source.aY; + + this.xRadius = source.xRadius; + this.yRadius = source.yRadius; + + this.aStartAngle = source.aStartAngle; + this.aEndAngle = source.aEndAngle; + + this.aClockwise = source.aClockwise; + + this.aRotation = source.aRotation; + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.aX = this.aX; + data.aY = this.aY; + + data.xRadius = this.xRadius; + data.yRadius = this.yRadius; + + data.aStartAngle = this.aStartAngle; + data.aEndAngle = this.aEndAngle; + + data.aClockwise = this.aClockwise; + + data.aRotation = this.aRotation; + + return data; + + } + + fromJSON( json ) { + + super.fromJSON( json ); + + this.aX = json.aX; + this.aY = json.aY; + + this.xRadius = json.xRadius; + this.yRadius = json.yRadius; + + this.aStartAngle = json.aStartAngle; + this.aEndAngle = json.aEndAngle; + + this.aClockwise = json.aClockwise; + + this.aRotation = json.aRotation; + + return this; + + } + +} + +/** + * A curve representing an arc. + * + * @augments EllipseCurve + */ +class ArcCurve extends EllipseCurve { + + /** + * Constructs a new arc curve. + * + * @param {number} [aX=0] - The X center of the ellipse. + * @param {number} [aY=0] - The Y center of the ellipse. + * @param {number} [aRadius=1] - The radius of the ellipse in the x direction. + * @param {number} [aStartAngle=0] - The start angle of the curve in radians starting from the positive X axis. + * @param {number} [aEndAngle=Math.PI*2] - The end angle of the curve in radians starting from the positive X axis. + * @param {boolean} [aClockwise=false] - Whether the ellipse is drawn clockwise or not. + */ + constructor( aX, aY, aRadius, aStartAngle, aEndAngle, aClockwise ) { + + super( aX, aY, aRadius, aRadius, aStartAngle, aEndAngle, aClockwise ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isArcCurve = true; + + this.type = 'ArcCurve'; + + } + +} + +function CubicPoly() { + + /** + * Centripetal CatmullRom Curve - which is useful for avoiding + * cusps and self-intersections in non-uniform catmull rom curves. + * http://www.cemyuksel.com/research/catmullrom_param/catmullrom.pdf + * + * curve.type accepts centripetal(default), chordal and catmullrom + * curve.tension is used for catmullrom which defaults to 0.5 + */ + + /* + Based on an optimized c++ solution in + - http://stackoverflow.com/questions/9489736/catmull-rom-curve-with-no-cusps-and-no-self-intersections/ + - http://ideone.com/NoEbVM + + This CubicPoly class could be used for reusing some variables and calculations, + but for three.js curve use, it could be possible inlined and flatten into a single function call + which can be placed in CurveUtils. + */ + + let c0 = 0, c1 = 0, c2 = 0, c3 = 0; + + /* + * Compute coefficients for a cubic polynomial + * p(s) = c0 + c1*s + c2*s^2 + c3*s^3 + * such that + * p(0) = x0, p(1) = x1 + * and + * p'(0) = t0, p'(1) = t1. + */ + function init( x0, x1, t0, t1 ) { + + c0 = x0; + c1 = t0; + c2 = -3 * x0 + 3 * x1 - 2 * t0 - t1; + c3 = 2 * x0 - 2 * x1 + t0 + t1; + + } + + return { + + initCatmullRom: function ( x0, x1, x2, x3, tension ) { + + init( x1, x2, tension * ( x2 - x0 ), tension * ( x3 - x1 ) ); + + }, + + initNonuniformCatmullRom: function ( x0, x1, x2, x3, dt0, dt1, dt2 ) { + + // compute tangents when parameterized in [t1,t2] + let t1 = ( x1 - x0 ) / dt0 - ( x2 - x0 ) / ( dt0 + dt1 ) + ( x2 - x1 ) / dt1; + let t2 = ( x2 - x1 ) / dt1 - ( x3 - x1 ) / ( dt1 + dt2 ) + ( x3 - x2 ) / dt2; + + // rescale tangents for parametrization in [0,1] + t1 *= dt1; + t2 *= dt1; + + init( x1, x2, t1, t2 ); + + }, + + calc: function ( t ) { + + const t2 = t * t; + const t3 = t2 * t; + return c0 + c1 * t + c2 * t2 + c3 * t3; + + } + + }; + +} + +// + +const tmp = /*@__PURE__*/ new Vector3(); +const px = /*@__PURE__*/ new CubicPoly(); +const py = /*@__PURE__*/ new CubicPoly(); +const pz = /*@__PURE__*/ new CubicPoly(); + +/** + * A curve representing a Catmull-Rom spline. + * + * ```js + * //Create a closed wavey loop + * const curve = new THREE.CatmullRomCurve3( [ + * new THREE.Vector3( -10, 0, 10 ), + * new THREE.Vector3( -5, 5, 5 ), + * new THREE.Vector3( 0, 0, 0 ), + * new THREE.Vector3( 5, -5, 5 ), + * new THREE.Vector3( 10, 0, 10 ) + * ] ); + * + * const points = curve.getPoints( 50 ); + * const geometry = new THREE.BufferGeometry().setFromPoints( points ); + * + * const material = new THREE.LineBasicMaterial( { color: 0xff0000 } ); + * + * // Create the final object to add to the scene + * const curveObject = new THREE.Line( geometry, material ); + * ``` + * + * @augments Curve + */ +class CatmullRomCurve3 extends Curve { + + /** + * Constructs a new Catmull-Rom curve. + * + * @param {Array} [points] - An array of 3D points defining the curve. + * @param {boolean} [closed=false] - Whether the curve is closed or not. + * @param {('centripetal'|'chordal'|'catmullrom')} [curveType='centripetal'] - The curve type. + * @param {number} [tension=0.5] - Tension of the curve. + */ + constructor( points = [], closed = false, curveType = 'centripetal', tension = 0.5 ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isCatmullRomCurve3 = true; + + this.type = 'CatmullRomCurve3'; + + /** + * An array of 3D points defining the curve. + * + * @type {Array} + */ + this.points = points; + + /** + * Whether the curve is closed or not. + * + * @type {boolean} + * @default false + */ + this.closed = closed; + + /** + * The curve type. + * + * @type {('centripetal'|'chordal'|'catmullrom')} + * @default 'centripetal' + */ + this.curveType = curveType; + + /** + * Tension of the curve. + * + * @type {number} + * @default 0.5 + */ + this.tension = tension; + + } + + /** + * Returns a point on the curve. + * + * @param {number} t - A interpolation factor representing a position on the curve. Must be in the range `[0,1]`. + * @param {Vector3} [optionalTarget] - The optional target vector the result is written to. + * @return {Vector3} The position on the curve. + */ + getPoint( t, optionalTarget = new Vector3() ) { + + const point = optionalTarget; + + const points = this.points; + const l = points.length; + + const p = ( l - ( this.closed ? 0 : 1 ) ) * t; + let intPoint = Math.floor( p ); + let weight = p - intPoint; + + if ( this.closed ) { + + intPoint += intPoint > 0 ? 0 : ( Math.floor( Math.abs( intPoint ) / l ) + 1 ) * l; + + } else if ( weight === 0 && intPoint === l - 1 ) { + + intPoint = l - 2; + weight = 1; + + } + + let p0, p3; // 4 points (p1 & p2 defined below) + + if ( this.closed || intPoint > 0 ) { + + p0 = points[ ( intPoint - 1 ) % l ]; + + } else { + + // extrapolate first point + tmp.subVectors( points[ 0 ], points[ 1 ] ).add( points[ 0 ] ); + p0 = tmp; + + } + + const p1 = points[ intPoint % l ]; + const p2 = points[ ( intPoint + 1 ) % l ]; + + if ( this.closed || intPoint + 2 < l ) { + + p3 = points[ ( intPoint + 2 ) % l ]; + + } else { + + // extrapolate last point + tmp.subVectors( points[ l - 1 ], points[ l - 2 ] ).add( points[ l - 1 ] ); + p3 = tmp; + + } + + if ( this.curveType === 'centripetal' || this.curveType === 'chordal' ) { + + // init Centripetal / Chordal Catmull-Rom + const pow = this.curveType === 'chordal' ? 0.5 : 0.25; + let dt0 = Math.pow( p0.distanceToSquared( p1 ), pow ); + let dt1 = Math.pow( p1.distanceToSquared( p2 ), pow ); + let dt2 = Math.pow( p2.distanceToSquared( p3 ), pow ); + + // safety check for repeated points + if ( dt1 < 1e-4 ) dt1 = 1.0; + if ( dt0 < 1e-4 ) dt0 = dt1; + if ( dt2 < 1e-4 ) dt2 = dt1; + + px.initNonuniformCatmullRom( p0.x, p1.x, p2.x, p3.x, dt0, dt1, dt2 ); + py.initNonuniformCatmullRom( p0.y, p1.y, p2.y, p3.y, dt0, dt1, dt2 ); + pz.initNonuniformCatmullRom( p0.z, p1.z, p2.z, p3.z, dt0, dt1, dt2 ); + + } else if ( this.curveType === 'catmullrom' ) { + + px.initCatmullRom( p0.x, p1.x, p2.x, p3.x, this.tension ); + py.initCatmullRom( p0.y, p1.y, p2.y, p3.y, this.tension ); + pz.initCatmullRom( p0.z, p1.z, p2.z, p3.z, this.tension ); + + } + + point.set( + px.calc( weight ), + py.calc( weight ), + pz.calc( weight ) + ); + + return point; + + } + + copy( source ) { + + super.copy( source ); + + this.points = []; + + for ( let i = 0, l = source.points.length; i < l; i ++ ) { + + const point = source.points[ i ]; + + this.points.push( point.clone() ); + + } + + this.closed = source.closed; + this.curveType = source.curveType; + this.tension = source.tension; + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.points = []; + + for ( let i = 0, l = this.points.length; i < l; i ++ ) { + + const point = this.points[ i ]; + data.points.push( point.toArray() ); + + } + + data.closed = this.closed; + data.curveType = this.curveType; + data.tension = this.tension; + + return data; + + } + + fromJSON( json ) { + + super.fromJSON( json ); + + this.points = []; + + for ( let i = 0, l = json.points.length; i < l; i ++ ) { + + const point = json.points[ i ]; + this.points.push( new Vector3().fromArray( point ) ); + + } + + this.closed = json.closed; + this.curveType = json.curveType; + this.tension = json.tension; + + return this; + + } + +} + +/** + * Interpolations contains spline and Bézier functions internally used by concrete curve classes. + * + * Bezier Curves formulas obtained from: https://en.wikipedia.org/wiki/B%C3%A9zier_curve + * + * @module Interpolations + */ + +/** + * Computes a point on a Catmull-Rom spline. + * + * @param {number} t - The interpolation factor. + * @param {number} p0 - The first control point. + * @param {number} p1 - The second control point. + * @param {number} p2 - The third control point. + * @param {number} p3 - The fourth control point. + * @return {number} The calculated point on a Catmull-Rom spline. + */ +function CatmullRom( t, p0, p1, p2, p3 ) { + + const v0 = ( p2 - p0 ) * 0.5; + const v1 = ( p3 - p1 ) * 0.5; + const t2 = t * t; + const t3 = t * t2; + return ( 2 * p1 - 2 * p2 + v0 + v1 ) * t3 + ( -3 * p1 + 3 * p2 - 2 * v0 - v1 ) * t2 + v0 * t + p1; + +} + +// + +function QuadraticBezierP0( t, p ) { + + const k = 1 - t; + return k * k * p; + +} + +function QuadraticBezierP1( t, p ) { + + return 2 * ( 1 - t ) * t * p; + +} + +function QuadraticBezierP2( t, p ) { + + return t * t * p; + +} + +/** + * Computes a point on a Quadratic Bezier curve. + * + * @param {number} t - The interpolation factor. + * @param {number} p0 - The first control point. + * @param {number} p1 - The second control point. + * @param {number} p2 - The third control point. + * @return {number} The calculated point on a Quadratic Bezier curve. + */ +function QuadraticBezier( t, p0, p1, p2 ) { + + return QuadraticBezierP0( t, p0 ) + QuadraticBezierP1( t, p1 ) + + QuadraticBezierP2( t, p2 ); + +} + +// + +function CubicBezierP0( t, p ) { + + const k = 1 - t; + return k * k * k * p; + +} + +function CubicBezierP1( t, p ) { + + const k = 1 - t; + return 3 * k * k * t * p; + +} + +function CubicBezierP2( t, p ) { + + return 3 * ( 1 - t ) * t * t * p; + +} + +function CubicBezierP3( t, p ) { + + return t * t * t * p; + +} + +/** + * Computes a point on a Cubic Bezier curve. + * + * @param {number} t - The interpolation factor. + * @param {number} p0 - The first control point. + * @param {number} p1 - The second control point. + * @param {number} p2 - The third control point. + * @param {number} p3 - The fourth control point. + * @return {number} The calculated point on a Cubic Bezier curve. + */ +function CubicBezier( t, p0, p1, p2, p3 ) { + + return CubicBezierP0( t, p0 ) + CubicBezierP1( t, p1 ) + CubicBezierP2( t, p2 ) + + CubicBezierP3( t, p3 ); + +} + +/** + * A curve representing a 2D Cubic Bezier curve. + * + * ```js + * const curve = new THREE.CubicBezierCurve( + * new THREE.Vector2( - 0, 0 ), + * new THREE.Vector2( - 5, 15 ), + * new THREE.Vector2( 20, 15 ), + * new THREE.Vector2( 10, 0 ) + * ); + * + * const points = curve.getPoints( 50 ); + * const geometry = new THREE.BufferGeometry().setFromPoints( points ); + * + * const material = new THREE.LineBasicMaterial( { color: 0xff0000 } ); + * + * // Create the final object to add to the scene + * const curveObject = new THREE.Line( geometry, material ); + * ``` + * + * @augments Curve + */ +class CubicBezierCurve extends Curve { + + /** + * Constructs a new Cubic Bezier curve. + * + * @param {Vector2} [v0] - The start point. + * @param {Vector2} [v1] - The first control point. + * @param {Vector2} [v2] - The second control point. + * @param {Vector2} [v3] - The end point. + */ + constructor( v0 = new Vector2(), v1 = new Vector2(), v2 = new Vector2(), v3 = new Vector2() ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isCubicBezierCurve = true; + + this.type = 'CubicBezierCurve'; + + /** + * The start point. + * + * @type {Vector2} + */ + this.v0 = v0; + + /** + * The first control point. + * + * @type {Vector2} + */ + this.v1 = v1; + + /** + * The second control point. + * + * @type {Vector2} + */ + this.v2 = v2; + + /** + * The end point. + * + * @type {Vector2} + */ + this.v3 = v3; + + } + + /** + * Returns a point on the curve. + * + * @param {number} t - A interpolation factor representing a position on the curve. Must be in the range `[0,1]`. + * @param {Vector2} [optionalTarget] - The optional target vector the result is written to. + * @return {Vector2} The position on the curve. + */ + getPoint( t, optionalTarget = new Vector2() ) { + + const point = optionalTarget; + + const v0 = this.v0, v1 = this.v1, v2 = this.v2, v3 = this.v3; + + point.set( + CubicBezier( t, v0.x, v1.x, v2.x, v3.x ), + CubicBezier( t, v0.y, v1.y, v2.y, v3.y ) + ); + + return point; + + } + + copy( source ) { + + super.copy( source ); + + this.v0.copy( source.v0 ); + this.v1.copy( source.v1 ); + this.v2.copy( source.v2 ); + this.v3.copy( source.v3 ); + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.v0 = this.v0.toArray(); + data.v1 = this.v1.toArray(); + data.v2 = this.v2.toArray(); + data.v3 = this.v3.toArray(); + + return data; + + } + + fromJSON( json ) { + + super.fromJSON( json ); + + this.v0.fromArray( json.v0 ); + this.v1.fromArray( json.v1 ); + this.v2.fromArray( json.v2 ); + this.v3.fromArray( json.v3 ); + + return this; + + } + +} + +/** + * A curve representing a 3D Cubic Bezier curve. + * + * @augments Curve + */ +class CubicBezierCurve3 extends Curve { + + /** + * Constructs a new Cubic Bezier curve. + * + * @param {Vector3} [v0] - The start point. + * @param {Vector3} [v1] - The first control point. + * @param {Vector3} [v2] - The second control point. + * @param {Vector3} [v3] - The end point. + */ + constructor( v0 = new Vector3(), v1 = new Vector3(), v2 = new Vector3(), v3 = new Vector3() ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isCubicBezierCurve3 = true; + + this.type = 'CubicBezierCurve3'; + + /** + * The start point. + * + * @type {Vector3} + */ + this.v0 = v0; + + /** + * The first control point. + * + * @type {Vector3} + */ + this.v1 = v1; + + /** + * The second control point. + * + * @type {Vector3} + */ + this.v2 = v2; + + /** + * The end point. + * + * @type {Vector3} + */ + this.v3 = v3; + + } + + /** + * Returns a point on the curve. + * + * @param {number} t - A interpolation factor representing a position on the curve. Must be in the range `[0,1]`. + * @param {Vector3} [optionalTarget] - The optional target vector the result is written to. + * @return {Vector3} The position on the curve. + */ + getPoint( t, optionalTarget = new Vector3() ) { + + const point = optionalTarget; + + const v0 = this.v0, v1 = this.v1, v2 = this.v2, v3 = this.v3; + + point.set( + CubicBezier( t, v0.x, v1.x, v2.x, v3.x ), + CubicBezier( t, v0.y, v1.y, v2.y, v3.y ), + CubicBezier( t, v0.z, v1.z, v2.z, v3.z ) + ); + + return point; + + } + + copy( source ) { + + super.copy( source ); + + this.v0.copy( source.v0 ); + this.v1.copy( source.v1 ); + this.v2.copy( source.v2 ); + this.v3.copy( source.v3 ); + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.v0 = this.v0.toArray(); + data.v1 = this.v1.toArray(); + data.v2 = this.v2.toArray(); + data.v3 = this.v3.toArray(); + + return data; + + } + + fromJSON( json ) { + + super.fromJSON( json ); + + this.v0.fromArray( json.v0 ); + this.v1.fromArray( json.v1 ); + this.v2.fromArray( json.v2 ); + this.v3.fromArray( json.v3 ); + + return this; + + } + +} + +/** + * A curve representing a 2D line segment. + * + * @augments Curve + */ +class LineCurve extends Curve { + + /** + * Constructs a new line curve. + * + * @param {Vector2} [v1] - The start point. + * @param {Vector2} [v2] - The end point. + */ + constructor( v1 = new Vector2(), v2 = new Vector2() ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isLineCurve = true; + + this.type = 'LineCurve'; + + /** + * The start point. + * + * @type {Vector2} + */ + this.v1 = v1; + + /** + * The end point. + * + * @type {Vector2} + */ + this.v2 = v2; + + } + + /** + * Returns a point on the line. + * + * @param {number} t - A interpolation factor representing a position on the line. Must be in the range `[0,1]`. + * @param {Vector2} [optionalTarget] - The optional target vector the result is written to. + * @return {Vector2} The position on the line. + */ + getPoint( t, optionalTarget = new Vector2() ) { + + const point = optionalTarget; + + if ( t === 1 ) { + + point.copy( this.v2 ); + + } else { + + point.copy( this.v2 ).sub( this.v1 ); + point.multiplyScalar( t ).add( this.v1 ); + + } + + return point; + + } + + // Line curve is linear, so we can overwrite default getPointAt + getPointAt( u, optionalTarget ) { + + return this.getPoint( u, optionalTarget ); + + } + + getTangent( t, optionalTarget = new Vector2() ) { + + return optionalTarget.subVectors( this.v2, this.v1 ).normalize(); + + } + + getTangentAt( u, optionalTarget ) { + + return this.getTangent( u, optionalTarget ); + + } + + copy( source ) { + + super.copy( source ); + + this.v1.copy( source.v1 ); + this.v2.copy( source.v2 ); + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.v1 = this.v1.toArray(); + data.v2 = this.v2.toArray(); + + return data; + + } + + fromJSON( json ) { + + super.fromJSON( json ); + + this.v1.fromArray( json.v1 ); + this.v2.fromArray( json.v2 ); + + return this; + + } + +} + +/** + * A curve representing a 3D line segment. + * + * @augments Curve + */ +class LineCurve3 extends Curve { + + /** + * Constructs a new line curve. + * + * @param {Vector3} [v1] - The start point. + * @param {Vector3} [v2] - The end point. + */ + constructor( v1 = new Vector3(), v2 = new Vector3() ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isLineCurve3 = true; + + this.type = 'LineCurve3'; + + /** + * The start point. + * + * @type {Vector3} + */ + this.v1 = v1; + + /** + * The end point. + * + * @type {Vector2} + */ + this.v2 = v2; + + } + + /** + * Returns a point on the line. + * + * @param {number} t - A interpolation factor representing a position on the line. Must be in the range `[0,1]`. + * @param {Vector3} [optionalTarget] - The optional target vector the result is written to. + * @return {Vector3} The position on the line. + */ + getPoint( t, optionalTarget = new Vector3() ) { + + const point = optionalTarget; + + if ( t === 1 ) { + + point.copy( this.v2 ); + + } else { + + point.copy( this.v2 ).sub( this.v1 ); + point.multiplyScalar( t ).add( this.v1 ); + + } + + return point; + + } + + // Line curve is linear, so we can overwrite default getPointAt + getPointAt( u, optionalTarget ) { + + return this.getPoint( u, optionalTarget ); + + } + + getTangent( t, optionalTarget = new Vector3() ) { + + return optionalTarget.subVectors( this.v2, this.v1 ).normalize(); + + } + + getTangentAt( u, optionalTarget ) { + + return this.getTangent( u, optionalTarget ); + + } + + copy( source ) { + + super.copy( source ); + + this.v1.copy( source.v1 ); + this.v2.copy( source.v2 ); + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.v1 = this.v1.toArray(); + data.v2 = this.v2.toArray(); + + return data; + + } + + fromJSON( json ) { + + super.fromJSON( json ); + + this.v1.fromArray( json.v1 ); + this.v2.fromArray( json.v2 ); + + return this; + + } + +} + +/** + * A curve representing a 2D Quadratic Bezier curve. + * + * ```js + * const curve = new THREE.QuadraticBezierCurve( + * new THREE.Vector2( - 10, 0 ), + * new THREE.Vector2( 20, 15 ), + * new THREE.Vector2( 10, 0 ) + * ) + * + * const points = curve.getPoints( 50 ); + * const geometry = new THREE.BufferGeometry().setFromPoints( points ); + * + * const material = new THREE.LineBasicMaterial( { color: 0xff0000 } ); + * + * // Create the final object to add to the scene + * const curveObject = new THREE.Line( geometry, material ); + * ``` + * + * @augments Curve + */ +class QuadraticBezierCurve extends Curve { + + /** + * Constructs a new Quadratic Bezier curve. + * + * @param {Vector2} [v0] - The start point. + * @param {Vector2} [v1] - The control point. + * @param {Vector2} [v2] - The end point. + */ + constructor( v0 = new Vector2(), v1 = new Vector2(), v2 = new Vector2() ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isQuadraticBezierCurve = true; + + this.type = 'QuadraticBezierCurve'; + + /** + * The start point. + * + * @type {Vector2} + */ + this.v0 = v0; + + /** + * The control point. + * + * @type {Vector2} + */ + this.v1 = v1; + + /** + * The end point. + * + * @type {Vector2} + */ + this.v2 = v2; + + } + + /** + * Returns a point on the curve. + * + * @param {number} t - A interpolation factor representing a position on the curve. Must be in the range `[0,1]`. + * @param {Vector2} [optionalTarget] - The optional target vector the result is written to. + * @return {Vector2} The position on the curve. + */ + getPoint( t, optionalTarget = new Vector2() ) { + + const point = optionalTarget; + + const v0 = this.v0, v1 = this.v1, v2 = this.v2; + + point.set( + QuadraticBezier( t, v0.x, v1.x, v2.x ), + QuadraticBezier( t, v0.y, v1.y, v2.y ) + ); + + return point; + + } + + copy( source ) { + + super.copy( source ); + + this.v0.copy( source.v0 ); + this.v1.copy( source.v1 ); + this.v2.copy( source.v2 ); + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.v0 = this.v0.toArray(); + data.v1 = this.v1.toArray(); + data.v2 = this.v2.toArray(); + + return data; + + } + + fromJSON( json ) { + + super.fromJSON( json ); + + this.v0.fromArray( json.v0 ); + this.v1.fromArray( json.v1 ); + this.v2.fromArray( json.v2 ); + + return this; + + } + +} + +/** + * A curve representing a 3D Quadratic Bezier curve. + * + * @augments Curve + */ +class QuadraticBezierCurve3 extends Curve { + + /** + * Constructs a new Quadratic Bezier curve. + * + * @param {Vector3} [v0] - The start point. + * @param {Vector3} [v1] - The control point. + * @param {Vector3} [v2] - The end point. + */ + constructor( v0 = new Vector3(), v1 = new Vector3(), v2 = new Vector3() ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isQuadraticBezierCurve3 = true; + + this.type = 'QuadraticBezierCurve3'; + + /** + * The start point. + * + * @type {Vector3} + */ + this.v0 = v0; + + /** + * The control point. + * + * @type {Vector3} + */ + this.v1 = v1; + + /** + * The end point. + * + * @type {Vector3} + */ + this.v2 = v2; + + } + + /** + * Returns a point on the curve. + * + * @param {number} t - A interpolation factor representing a position on the curve. Must be in the range `[0,1]`. + * @param {Vector3} [optionalTarget] - The optional target vector the result is written to. + * @return {Vector3} The position on the curve. + */ + getPoint( t, optionalTarget = new Vector3() ) { + + const point = optionalTarget; + + const v0 = this.v0, v1 = this.v1, v2 = this.v2; + + point.set( + QuadraticBezier( t, v0.x, v1.x, v2.x ), + QuadraticBezier( t, v0.y, v1.y, v2.y ), + QuadraticBezier( t, v0.z, v1.z, v2.z ) + ); + + return point; + + } + + copy( source ) { + + super.copy( source ); + + this.v0.copy( source.v0 ); + this.v1.copy( source.v1 ); + this.v2.copy( source.v2 ); + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.v0 = this.v0.toArray(); + data.v1 = this.v1.toArray(); + data.v2 = this.v2.toArray(); + + return data; + + } + + fromJSON( json ) { + + super.fromJSON( json ); + + this.v0.fromArray( json.v0 ); + this.v1.fromArray( json.v1 ); + this.v2.fromArray( json.v2 ); + + return this; + + } + +} + +/** + * A curve representing a 2D spline curve. + * + * ```js + * // Create a sine-like wave + * const curve = new THREE.SplineCurve( [ + * new THREE.Vector2( -10, 0 ), + * new THREE.Vector2( -5, 5 ), + * new THREE.Vector2( 0, 0 ), + * new THREE.Vector2( 5, -5 ), + * new THREE.Vector2( 10, 0 ) + * ] ); + * + * const points = curve.getPoints( 50 ); + * const geometry = new THREE.BufferGeometry().setFromPoints( points ); + * + * const material = new THREE.LineBasicMaterial( { color: 0xff0000 } ); + * + * // Create the final object to add to the scene + * const splineObject = new THREE.Line( geometry, material ); + * ``` + * + * @augments Curve + */ +class SplineCurve extends Curve { + + /** + * Constructs a new 2D spline curve. + * + * @param {Array} [points] - An array of 2D points defining the curve. + */ + constructor( points = [] ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isSplineCurve = true; + + this.type = 'SplineCurve'; + + /** + * An array of 2D points defining the curve. + * + * @type {Array} + */ + this.points = points; + + } + + /** + * Returns a point on the curve. + * + * @param {number} t - A interpolation factor representing a position on the curve. Must be in the range `[0,1]`. + * @param {Vector2} [optionalTarget] - The optional target vector the result is written to. + * @return {Vector2} The position on the curve. + */ + getPoint( t, optionalTarget = new Vector2() ) { + + const point = optionalTarget; + + const points = this.points; + const p = ( points.length - 1 ) * t; + + const intPoint = Math.floor( p ); + const weight = p - intPoint; + + const p0 = points[ intPoint === 0 ? intPoint : intPoint - 1 ]; + const p1 = points[ intPoint ]; + const p2 = points[ intPoint > points.length - 2 ? points.length - 1 : intPoint + 1 ]; + const p3 = points[ intPoint > points.length - 3 ? points.length - 1 : intPoint + 2 ]; + + point.set( + CatmullRom( weight, p0.x, p1.x, p2.x, p3.x ), + CatmullRom( weight, p0.y, p1.y, p2.y, p3.y ) + ); + + return point; + + } + + copy( source ) { + + super.copy( source ); + + this.points = []; + + for ( let i = 0, l = source.points.length; i < l; i ++ ) { + + const point = source.points[ i ]; + + this.points.push( point.clone() ); + + } + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.points = []; + + for ( let i = 0, l = this.points.length; i < l; i ++ ) { + + const point = this.points[ i ]; + data.points.push( point.toArray() ); + + } + + return data; + + } + + fromJSON( json ) { + + super.fromJSON( json ); + + this.points = []; + + for ( let i = 0, l = json.points.length; i < l; i ++ ) { + + const point = json.points[ i ]; + this.points.push( new Vector2().fromArray( point ) ); + + } + + return this; + + } + +} + +var Curves = /*#__PURE__*/Object.freeze({ + __proto__: null, + ArcCurve: ArcCurve, + CatmullRomCurve3: CatmullRomCurve3, + CubicBezierCurve: CubicBezierCurve, + CubicBezierCurve3: CubicBezierCurve3, + EllipseCurve: EllipseCurve, + LineCurve: LineCurve, + LineCurve3: LineCurve3, + QuadraticBezierCurve: QuadraticBezierCurve, + QuadraticBezierCurve3: QuadraticBezierCurve3, + SplineCurve: SplineCurve +}); + +/** + * A base class extending {@link Curve}. `CurvePath` is simply an + * array of connected curves, but retains the API of a curve. + * + * @augments Curve + */ +class CurvePath extends Curve { + + /** + * Constructs a new curve path. + */ + constructor() { + + super(); + + this.type = 'CurvePath'; + + /** + * An array of curves defining the + * path. + * + * @type {Array} + */ + this.curves = []; + + /** + * Whether the path should automatically be closed + * by a line curve. + * + * @type {boolean} + * @default false + */ + this.autoClose = false; + + } + + /** + * Adds a curve to this curve path. + * + * @param {Curve} curve - The curve to add. + */ + add( curve ) { + + this.curves.push( curve ); + + } + + /** + * Adds a line curve to close the path. + * + * @return {CurvePath} A reference to this curve path. + */ + closePath() { + + // Add a line curve if start and end of lines are not connected + const startPoint = this.curves[ 0 ].getPoint( 0 ); + const endPoint = this.curves[ this.curves.length - 1 ].getPoint( 1 ); + + if ( ! startPoint.equals( endPoint ) ) { + + const lineType = ( startPoint.isVector2 === true ) ? 'LineCurve' : 'LineCurve3'; + this.curves.push( new Curves[ lineType ]( endPoint, startPoint ) ); + + } + + return this; + + } + + /** + * This method returns a vector in 2D or 3D space (depending on the curve definitions) + * for the given interpolation factor. + * + * @param {number} t - A interpolation factor representing a position on the curve. Must be in the range `[0,1]`. + * @param {(Vector2|Vector3)} [optionalTarget] - The optional target vector the result is written to. + * @return {?(Vector2|Vector3)} The position on the curve. It can be a 2D or 3D vector depending on the curve definition. + */ + getPoint( t, optionalTarget ) { + + // To get accurate point with reference to + // entire path distance at time t, + // following has to be done: + + // 1. Length of each sub path have to be known + // 2. Locate and identify type of curve + // 3. Get t for the curve + // 4. Return curve.getPointAt(t') + + const d = t * this.getLength(); + const curveLengths = this.getCurveLengths(); + let i = 0; + + // To think about boundaries points. + + while ( i < curveLengths.length ) { + + if ( curveLengths[ i ] >= d ) { + + const diff = curveLengths[ i ] - d; + const curve = this.curves[ i ]; + + const segmentLength = curve.getLength(); + const u = segmentLength === 0 ? 0 : 1 - diff / segmentLength; + + return curve.getPointAt( u, optionalTarget ); + + } + + i ++; + + } + + return null; + + // loop where sum != 0, sum > d , sum+1 } The curve lengths. + */ + getCurveLengths() { + + // Compute lengths and cache them + // We cannot overwrite getLengths() because UtoT mapping uses it. + // We use cache values if curves and cache array are same length + + if ( this.cacheLengths && this.cacheLengths.length === this.curves.length ) { + + return this.cacheLengths; + + } + + // Get length of sub-curve + // Push sums into cached array + + const lengths = []; + let sums = 0; + + for ( let i = 0, l = this.curves.length; i < l; i ++ ) { + + sums += this.curves[ i ].getLength(); + lengths.push( sums ); + + } + + this.cacheLengths = lengths; + + return lengths; + + } + + getSpacedPoints( divisions = 40 ) { + + const points = []; + + for ( let i = 0; i <= divisions; i ++ ) { + + points.push( this.getPoint( i / divisions ) ); + + } + + if ( this.autoClose ) { + + points.push( points[ 0 ] ); + + } + + return points; + + } + + getPoints( divisions = 12 ) { + + const points = []; + let last; + + for ( let i = 0, curves = this.curves; i < curves.length; i ++ ) { + + const curve = curves[ i ]; + const resolution = curve.isEllipseCurve ? divisions * 2 + : ( curve.isLineCurve || curve.isLineCurve3 ) ? 1 + : curve.isSplineCurve ? divisions * curve.points.length + : divisions; + + const pts = curve.getPoints( resolution ); + + for ( let j = 0; j < pts.length; j ++ ) { + + const point = pts[ j ]; + + if ( last && last.equals( point ) ) continue; // ensures no consecutive points are duplicates + + points.push( point ); + last = point; + + } + + } + + if ( this.autoClose && points.length > 1 && ! points[ points.length - 1 ].equals( points[ 0 ] ) ) { + + points.push( points[ 0 ] ); + + } + + return points; + + } + + copy( source ) { + + super.copy( source ); + + this.curves = []; + + for ( let i = 0, l = source.curves.length; i < l; i ++ ) { + + const curve = source.curves[ i ]; + + this.curves.push( curve.clone() ); + + } + + this.autoClose = source.autoClose; + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.autoClose = this.autoClose; + data.curves = []; + + for ( let i = 0, l = this.curves.length; i < l; i ++ ) { + + const curve = this.curves[ i ]; + data.curves.push( curve.toJSON() ); + + } + + return data; + + } + + fromJSON( json ) { + + super.fromJSON( json ); + + this.autoClose = json.autoClose; + this.curves = []; + + for ( let i = 0, l = json.curves.length; i < l; i ++ ) { + + const curve = json.curves[ i ]; + this.curves.push( new Curves[ curve.type ]().fromJSON( curve ) ); + + } + + return this; + + } + +} + +/** + * A 2D path representation. The class provides methods for creating paths + * and contours of 2D shapes similar to the 2D Canvas API. + * + * ```js + * const path = new THREE.Path(); + * + * path.lineTo( 0, 0.8 ); + * path.quadraticCurveTo( 0, 1, 0.2, 1 ); + * path.lineTo( 1, 1 ); + * + * const points = path.getPoints(); + * + * const geometry = new THREE.BufferGeometry().setFromPoints( points ); + * const material = new THREE.LineBasicMaterial( { color: 0xffffff } ); + * + * const line = new THREE.Line( geometry, material ); + * scene.add( line ); + * ``` + * + * @augments CurvePath + */ +class Path extends CurvePath { + + /** + * Constructs a new path. + * + * @param {Array} [points] - An array of 2D points defining the path. + */ + constructor( points ) { + + super(); + + this.type = 'Path'; + + /** + * The current offset of the path. Any new curve added will start here. + * + * @type {Vector2} + */ + this.currentPoint = new Vector2(); + + if ( points ) { + + this.setFromPoints( points ); + + } + + } + + /** + * Creates a path from the given list of points. The points are added + * to the path as instances of {@link LineCurve}. + * + * @param {Array} points - An array of 2D points. + * @return {Path} A reference to this path. + */ + setFromPoints( points ) { + + this.moveTo( points[ 0 ].x, points[ 0 ].y ); + + for ( let i = 1, l = points.length; i < l; i ++ ) { + + this.lineTo( points[ i ].x, points[ i ].y ); + + } + + return this; + + } + + /** + * Moves {@link Path#currentPoint} to the given point. + * + * @param {number} x - The x coordinate. + * @param {number} y - The y coordinate. + * @return {Path} A reference to this path. + */ + moveTo( x, y ) { + + this.currentPoint.set( x, y ); // TODO consider referencing vectors instead of copying? + + return this; + + } + + /** + * Adds an instance of {@link LineCurve} to the path by connecting + * the current point with the given one. + * + * @param {number} x - The x coordinate of the end point. + * @param {number} y - The y coordinate of the end point. + * @return {Path} A reference to this path. + */ + lineTo( x, y ) { + + const curve = new LineCurve( this.currentPoint.clone(), new Vector2( x, y ) ); + this.curves.push( curve ); + + this.currentPoint.set( x, y ); + + return this; + + } + + /** + * Adds an instance of {@link QuadraticBezierCurve} to the path by connecting + * the current point with the given one. + * + * @param {number} aCPx - The x coordinate of the control point. + * @param {number} aCPy - The y coordinate of the control point. + * @param {number} aX - The x coordinate of the end point. + * @param {number} aY - The y coordinate of the end point. + * @return {Path} A reference to this path. + */ + quadraticCurveTo( aCPx, aCPy, aX, aY ) { + + const curve = new QuadraticBezierCurve( + this.currentPoint.clone(), + new Vector2( aCPx, aCPy ), + new Vector2( aX, aY ) + ); + + this.curves.push( curve ); + + this.currentPoint.set( aX, aY ); + + return this; + + } + + /** + * Adds an instance of {@link CubicBezierCurve} to the path by connecting + * the current point with the given one. + * + * @param {number} aCP1x - The x coordinate of the first control point. + * @param {number} aCP1y - The y coordinate of the first control point. + * @param {number} aCP2x - The x coordinate of the second control point. + * @param {number} aCP2y - The y coordinate of the second control point. + * @param {number} aX - The x coordinate of the end point. + * @param {number} aY - The y coordinate of the end point. + * @return {Path} A reference to this path. + */ + bezierCurveTo( aCP1x, aCP1y, aCP2x, aCP2y, aX, aY ) { + + const curve = new CubicBezierCurve( + this.currentPoint.clone(), + new Vector2( aCP1x, aCP1y ), + new Vector2( aCP2x, aCP2y ), + new Vector2( aX, aY ) + ); + + this.curves.push( curve ); + + this.currentPoint.set( aX, aY ); + + return this; + + } + + /** + * Adds an instance of {@link SplineCurve} to the path by connecting + * the current point with the given list of points. + * + * @param {Array} pts - An array of points in 2D space. + * @return {Path} A reference to this path. + */ + splineThru( pts ) { + + const npts = [ this.currentPoint.clone() ].concat( pts ); + + const curve = new SplineCurve( npts ); + this.curves.push( curve ); + + this.currentPoint.copy( pts[ pts.length - 1 ] ); + + return this; + + } + + /** + * Adds an arc as an instance of {@link EllipseCurve} to the path, positioned relative + * to the current point. + * + * @param {number} [aX=0] - The x coordinate of the center of the arc offsetted from the previous curve. + * @param {number} [aY=0] - The y coordinate of the center of the arc offsetted from the previous curve. + * @param {number} [aRadius=1] - The radius of the arc. + * @param {number} [aStartAngle=0] - The start angle in radians. + * @param {number} [aEndAngle=Math.PI*2] - The end angle in radians. + * @param {boolean} [aClockwise=false] - Whether to sweep the arc clockwise or not. + * @return {Path} A reference to this path. + */ + arc( aX, aY, aRadius, aStartAngle, aEndAngle, aClockwise ) { + + const x0 = this.currentPoint.x; + const y0 = this.currentPoint.y; + + this.absarc( aX + x0, aY + y0, aRadius, + aStartAngle, aEndAngle, aClockwise ); + + return this; + + } + + /** + * Adds an absolutely positioned arc as an instance of {@link EllipseCurve} to the path. + * + * @param {number} [aX=0] - The x coordinate of the center of the arc. + * @param {number} [aY=0] - The y coordinate of the center of the arc. + * @param {number} [aRadius=1] - The radius of the arc. + * @param {number} [aStartAngle=0] - The start angle in radians. + * @param {number} [aEndAngle=Math.PI*2] - The end angle in radians. + * @param {boolean} [aClockwise=false] - Whether to sweep the arc clockwise or not. + * @return {Path} A reference to this path. + */ + absarc( aX, aY, aRadius, aStartAngle, aEndAngle, aClockwise ) { + + this.absellipse( aX, aY, aRadius, aRadius, aStartAngle, aEndAngle, aClockwise ); + + return this; + + } + + /** + * Adds an ellipse as an instance of {@link EllipseCurve} to the path, positioned relative + * to the current point + * + * @param {number} [aX=0] - The x coordinate of the center of the ellipse offsetted from the previous curve. + * @param {number} [aY=0] - The y coordinate of the center of the ellipse offsetted from the previous curve. + * @param {number} [xRadius=1] - The radius of the ellipse in the x axis. + * @param {number} [yRadius=1] - The radius of the ellipse in the y axis. + * @param {number} [aStartAngle=0] - The start angle in radians. + * @param {number} [aEndAngle=Math.PI*2] - The end angle in radians. + * @param {boolean} [aClockwise=false] - Whether to sweep the ellipse clockwise or not. + * @param {number} [aRotation=0] - The rotation angle of the ellipse in radians, counterclockwise from the positive X axis. + * @return {Path} A reference to this path. + */ + ellipse( aX, aY, xRadius, yRadius, aStartAngle, aEndAngle, aClockwise, aRotation ) { + + const x0 = this.currentPoint.x; + const y0 = this.currentPoint.y; + + this.absellipse( aX + x0, aY + y0, xRadius, yRadius, aStartAngle, aEndAngle, aClockwise, aRotation ); + + return this; + + } + + /** + * Adds an absolutely positioned ellipse as an instance of {@link EllipseCurve} to the path. + * + * @param {number} [aX=0] - The x coordinate of the absolute center of the ellipse. + * @param {number} [aY=0] - The y coordinate of the absolute center of the ellipse. + * @param {number} [xRadius=1] - The radius of the ellipse in the x axis. + * @param {number} [yRadius=1] - The radius of the ellipse in the y axis. + * @param {number} [aStartAngle=0] - The start angle in radians. + * @param {number} [aEndAngle=Math.PI*2] - The end angle in radians. + * @param {boolean} [aClockwise=false] - Whether to sweep the ellipse clockwise or not. + * @param {number} [aRotation=0] - The rotation angle of the ellipse in radians, counterclockwise from the positive X axis. + * @return {Path} A reference to this path. + */ + absellipse( aX, aY, xRadius, yRadius, aStartAngle, aEndAngle, aClockwise, aRotation ) { + + const curve = new EllipseCurve( aX, aY, xRadius, yRadius, aStartAngle, aEndAngle, aClockwise, aRotation ); + + if ( this.curves.length > 0 ) { + + // if a previous curve is present, attempt to join + const firstPoint = curve.getPoint( 0 ); + + if ( ! firstPoint.equals( this.currentPoint ) ) { + + this.lineTo( firstPoint.x, firstPoint.y ); + + } + + } + + this.curves.push( curve ); + + const lastPoint = curve.getPoint( 1 ); + this.currentPoint.copy( lastPoint ); + + return this; + + } + + copy( source ) { + + super.copy( source ); + + this.currentPoint.copy( source.currentPoint ); + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.currentPoint = this.currentPoint.toArray(); + + return data; + + } + + fromJSON( json ) { + + super.fromJSON( json ); + + this.currentPoint.fromArray( json.currentPoint ); + + return this; + + } + +} + +/** + * Defines an arbitrary 2d shape plane using paths with optional holes. It + * can be used with {@link ExtrudeGeometry}, {@link ShapeGeometry}, to get + * points, or to get triangulated faces. + * + * ```js + * const heartShape = new THREE.Shape(); + * + * heartShape.moveTo( 25, 25 ); + * heartShape.bezierCurveTo( 25, 25, 20, 0, 0, 0 ); + * heartShape.bezierCurveTo( - 30, 0, - 30, 35, - 30, 35 ); + * heartShape.bezierCurveTo( - 30, 55, - 10, 77, 25, 95 ); + * heartShape.bezierCurveTo( 60, 77, 80, 55, 80, 35 ); + * heartShape.bezierCurveTo( 80, 35, 80, 0, 50, 0 ); + * heartShape.bezierCurveTo( 35, 0, 25, 25, 25, 25 ); + * + * const extrudeSettings = { + * depth: 8, + * bevelEnabled: true, + * bevelSegments: 2, + * steps: 2, + * bevelSize: 1, + * bevelThickness: 1 + * }; + * + * const geometry = new THREE.ExtrudeGeometry( heartShape, extrudeSettings ); + * const mesh = new THREE.Mesh( geometry, new THREE.MeshBasicMaterial() ); + * ``` + * + * @augments Path + */ +class Shape extends Path { + + /** + * Constructs a new shape. + * + * @param {Array} [points] - An array of 2D points defining the shape. + */ + constructor( points ) { + + super( points ); + + /** + * The UUID of the shape. + * + * @type {string} + * @readonly + */ + this.uuid = generateUUID(); + + this.type = 'Shape'; + + /** + * Defines the holes in the shape. Hole definitions must use the + * opposite winding order (CW/CCW) than the outer shape. + * + * @type {Array} + * @readonly + */ + this.holes = []; + + } + + /** + * Returns an array representing each contour of the holes + * as a list of 2D points. + * + * @param {number} divisions - The fineness of the result. + * @return {Array>} The holes as a series of 2D points. + */ + getPointsHoles( divisions ) { + + const holesPts = []; + + for ( let i = 0, l = this.holes.length; i < l; i ++ ) { + + holesPts[ i ] = this.holes[ i ].getPoints( divisions ); + + } + + return holesPts; + + } + + // get points of shape and holes (keypoints based on segments parameter) + + /** + * Returns an object that holds contour data for the shape and its holes as + * arrays of 2D points. + * + * @param {number} divisions - The fineness of the result. + * @return {{shape:Array,holes:Array>}} An object with contour data. + */ + extractPoints( divisions ) { + + return { + + shape: this.getPoints( divisions ), + holes: this.getPointsHoles( divisions ) + + }; + + } + + copy( source ) { + + super.copy( source ); + + this.holes = []; + + for ( let i = 0, l = source.holes.length; i < l; i ++ ) { + + const hole = source.holes[ i ]; + + this.holes.push( hole.clone() ); + + } + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.uuid = this.uuid; + data.holes = []; + + for ( let i = 0, l = this.holes.length; i < l; i ++ ) { + + const hole = this.holes[ i ]; + data.holes.push( hole.toJSON() ); + + } + + return data; + + } + + fromJSON( json ) { + + super.fromJSON( json ); + + this.uuid = json.uuid; + this.holes = []; + + for ( let i = 0, l = json.holes.length; i < l; i ++ ) { + + const hole = json.holes[ i ]; + this.holes.push( new Path().fromJSON( hole ) ); + + } + + return this; + + } + +} + +/* eslint-disable */ +// copy of mapbox/earcut version 3.0.2 +// https://github.com/mapbox/earcut/tree/v3.0.2 + +function earcut(data, holeIndices, dim = 2) { + + const hasHoles = holeIndices && holeIndices.length; + const outerLen = hasHoles ? holeIndices[0] * dim : data.length; + let outerNode = linkedList(data, 0, outerLen, dim, true); + const triangles = []; + + if (!outerNode || outerNode.next === outerNode.prev) return triangles; + + let minX, minY, invSize; + + if (hasHoles) outerNode = eliminateHoles(data, holeIndices, outerNode, dim); + + // if the shape is not too simple, we'll use z-order curve hash later; calculate polygon bbox + if (data.length > 80 * dim) { + minX = data[0]; + minY = data[1]; + let maxX = minX; + let maxY = minY; + + for (let i = dim; i < outerLen; i += dim) { + const x = data[i]; + const y = data[i + 1]; + if (x < minX) minX = x; + if (y < minY) minY = y; + if (x > maxX) maxX = x; + if (y > maxY) maxY = y; + } + + // minX, minY and invSize are later used to transform coords into integers for z-order calculation + invSize = Math.max(maxX - minX, maxY - minY); + invSize = invSize !== 0 ? 32767 / invSize : 0; + } + + earcutLinked(outerNode, triangles, dim, minX, minY, invSize, 0); + + return triangles; +} + +// create a circular doubly linked list from polygon points in the specified winding order +function linkedList(data, start, end, dim, clockwise) { + let last; + + if (clockwise === (signedArea(data, start, end, dim) > 0)) { + for (let i = start; i < end; i += dim) last = insertNode(i / dim | 0, data[i], data[i + 1], last); + } else { + for (let i = end - dim; i >= start; i -= dim) last = insertNode(i / dim | 0, data[i], data[i + 1], last); + } + + if (last && equals(last, last.next)) { + removeNode(last); + last = last.next; + } + + return last; +} + +// eliminate colinear or duplicate points +function filterPoints(start, end) { + if (!start) return start; + if (!end) end = start; + + let p = start, + again; + do { + again = false; + + if (!p.steiner && (equals(p, p.next) || area(p.prev, p, p.next) === 0)) { + removeNode(p); + p = end = p.prev; + if (p === p.next) break; + again = true; + + } else { + p = p.next; + } + } while (again || p !== end); + + return end; +} + +// main ear slicing loop which triangulates a polygon (given as a linked list) +function earcutLinked(ear, triangles, dim, minX, minY, invSize, pass) { + if (!ear) return; + + // interlink polygon nodes in z-order + if (!pass && invSize) indexCurve(ear, minX, minY, invSize); + + let stop = ear; + + // iterate through ears, slicing them one by one + while (ear.prev !== ear.next) { + const prev = ear.prev; + const next = ear.next; + + if (invSize ? isEarHashed(ear, minX, minY, invSize) : isEar(ear)) { + triangles.push(prev.i, ear.i, next.i); // cut off the triangle + + removeNode(ear); + + // skipping the next vertex leads to less sliver triangles + ear = next.next; + stop = next.next; + + continue; + } + + ear = next; + + // if we looped through the whole remaining polygon and can't find any more ears + if (ear === stop) { + // try filtering points and slicing again + if (!pass) { + earcutLinked(filterPoints(ear), triangles, dim, minX, minY, invSize, 1); + + // if this didn't work, try curing all small self-intersections locally + } else if (pass === 1) { + ear = cureLocalIntersections(filterPoints(ear), triangles); + earcutLinked(ear, triangles, dim, minX, minY, invSize, 2); + + // as a last resort, try splitting the remaining polygon into two + } else if (pass === 2) { + splitEarcut(ear, triangles, dim, minX, minY, invSize); + } + + break; + } + } +} + +// check whether a polygon node forms a valid ear with adjacent nodes +function isEar(ear) { + const a = ear.prev, + b = ear, + c = ear.next; + + if (area(a, b, c) >= 0) return false; // reflex, can't be an ear + + // now make sure we don't have other points inside the potential ear + const ax = a.x, bx = b.x, cx = c.x, ay = a.y, by = b.y, cy = c.y; + + // triangle bbox + const x0 = Math.min(ax, bx, cx), + y0 = Math.min(ay, by, cy), + x1 = Math.max(ax, bx, cx), + y1 = Math.max(ay, by, cy); + + let p = c.next; + while (p !== a) { + if (p.x >= x0 && p.x <= x1 && p.y >= y0 && p.y <= y1 && + pointInTriangleExceptFirst(ax, ay, bx, by, cx, cy, p.x, p.y) && + area(p.prev, p, p.next) >= 0) return false; + p = p.next; + } + + return true; +} + +function isEarHashed(ear, minX, minY, invSize) { + const a = ear.prev, + b = ear, + c = ear.next; + + if (area(a, b, c) >= 0) return false; // reflex, can't be an ear + + const ax = a.x, bx = b.x, cx = c.x, ay = a.y, by = b.y, cy = c.y; + + // triangle bbox + const x0 = Math.min(ax, bx, cx), + y0 = Math.min(ay, by, cy), + x1 = Math.max(ax, bx, cx), + y1 = Math.max(ay, by, cy); + + // z-order range for the current triangle bbox; + const minZ = zOrder(x0, y0, minX, minY, invSize), + maxZ = zOrder(x1, y1, minX, minY, invSize); + + let p = ear.prevZ, + n = ear.nextZ; + + // look for points inside the triangle in both directions + while (p && p.z >= minZ && n && n.z <= maxZ) { + if (p.x >= x0 && p.x <= x1 && p.y >= y0 && p.y <= y1 && p !== a && p !== c && + pointInTriangleExceptFirst(ax, ay, bx, by, cx, cy, p.x, p.y) && area(p.prev, p, p.next) >= 0) return false; + p = p.prevZ; + + if (n.x >= x0 && n.x <= x1 && n.y >= y0 && n.y <= y1 && n !== a && n !== c && + pointInTriangleExceptFirst(ax, ay, bx, by, cx, cy, n.x, n.y) && area(n.prev, n, n.next) >= 0) return false; + n = n.nextZ; + } + + // look for remaining points in decreasing z-order + while (p && p.z >= minZ) { + if (p.x >= x0 && p.x <= x1 && p.y >= y0 && p.y <= y1 && p !== a && p !== c && + pointInTriangleExceptFirst(ax, ay, bx, by, cx, cy, p.x, p.y) && area(p.prev, p, p.next) >= 0) return false; + p = p.prevZ; + } + + // look for remaining points in increasing z-order + while (n && n.z <= maxZ) { + if (n.x >= x0 && n.x <= x1 && n.y >= y0 && n.y <= y1 && n !== a && n !== c && + pointInTriangleExceptFirst(ax, ay, bx, by, cx, cy, n.x, n.y) && area(n.prev, n, n.next) >= 0) return false; + n = n.nextZ; + } + + return true; +} + +// go through all polygon nodes and cure small local self-intersections +function cureLocalIntersections(start, triangles) { + let p = start; + do { + const a = p.prev, + b = p.next.next; + + if (!equals(a, b) && intersects(a, p, p.next, b) && locallyInside(a, b) && locallyInside(b, a)) { + + triangles.push(a.i, p.i, b.i); + + // remove two nodes involved + removeNode(p); + removeNode(p.next); + + p = start = b; + } + p = p.next; + } while (p !== start); + + return filterPoints(p); +} + +// try splitting polygon into two and triangulate them independently +function splitEarcut(start, triangles, dim, minX, minY, invSize) { + // look for a valid diagonal that divides the polygon into two + let a = start; + do { + let b = a.next.next; + while (b !== a.prev) { + if (a.i !== b.i && isValidDiagonal(a, b)) { + // split the polygon in two by the diagonal + let c = splitPolygon(a, b); + + // filter colinear points around the cuts + a = filterPoints(a, a.next); + c = filterPoints(c, c.next); + + // run earcut on each half + earcutLinked(a, triangles, dim, minX, minY, invSize, 0); + earcutLinked(c, triangles, dim, minX, minY, invSize, 0); + return; + } + b = b.next; + } + a = a.next; + } while (a !== start); +} + +// link every hole into the outer loop, producing a single-ring polygon without holes +function eliminateHoles(data, holeIndices, outerNode, dim) { + const queue = []; + + for (let i = 0, len = holeIndices.length; i < len; i++) { + const start = holeIndices[i] * dim; + const end = i < len - 1 ? holeIndices[i + 1] * dim : data.length; + const list = linkedList(data, start, end, dim, false); + if (list === list.next) list.steiner = true; + queue.push(getLeftmost(list)); + } + + queue.sort(compareXYSlope); + + // process holes from left to right + for (let i = 0; i < queue.length; i++) { + outerNode = eliminateHole(queue[i], outerNode); + } + + return outerNode; +} + +function compareXYSlope(a, b) { + let result = a.x - b.x; + // when the left-most point of 2 holes meet at a vertex, sort the holes counterclockwise so that when we find + // the bridge to the outer shell is always the point that they meet at. + if (result === 0) { + result = a.y - b.y; + if (result === 0) { + const aSlope = (a.next.y - a.y) / (a.next.x - a.x); + const bSlope = (b.next.y - b.y) / (b.next.x - b.x); + result = aSlope - bSlope; + } + } + return result; +} + +// find a bridge between vertices that connects hole with an outer ring and link it +function eliminateHole(hole, outerNode) { + const bridge = findHoleBridge(hole, outerNode); + if (!bridge) { + return outerNode; + } + + const bridgeReverse = splitPolygon(bridge, hole); + + // filter collinear points around the cuts + filterPoints(bridgeReverse, bridgeReverse.next); + return filterPoints(bridge, bridge.next); +} + +// David Eberly's algorithm for finding a bridge between hole and outer polygon +function findHoleBridge(hole, outerNode) { + let p = outerNode; + const hx = hole.x; + const hy = hole.y; + let qx = -Infinity; + let m; + + // find a segment intersected by a ray from the hole's leftmost point to the left; + // segment's endpoint with lesser x will be potential connection point + // unless they intersect at a vertex, then choose the vertex + if (equals(hole, p)) return p; + do { + if (equals(hole, p.next)) return p.next; + else if (hy <= p.y && hy >= p.next.y && p.next.y !== p.y) { + const x = p.x + (hy - p.y) * (p.next.x - p.x) / (p.next.y - p.y); + if (x <= hx && x > qx) { + qx = x; + m = p.x < p.next.x ? p : p.next; + if (x === hx) return m; // hole touches outer segment; pick leftmost endpoint + } + } + p = p.next; + } while (p !== outerNode); + + if (!m) return null; + + // look for points inside the triangle of hole point, segment intersection and endpoint; + // if there are no points found, we have a valid connection; + // otherwise choose the point of the minimum angle with the ray as connection point + + const stop = m; + const mx = m.x; + const my = m.y; + let tanMin = Infinity; + + p = m; + + do { + if (hx >= p.x && p.x >= mx && hx !== p.x && + pointInTriangle(hy < my ? hx : qx, hy, mx, my, hy < my ? qx : hx, hy, p.x, p.y)) { + + const tan = Math.abs(hy - p.y) / (hx - p.x); // tangential + + if (locallyInside(p, hole) && + (tan < tanMin || (tan === tanMin && (p.x > m.x || (p.x === m.x && sectorContainsSector(m, p)))))) { + m = p; + tanMin = tan; + } + } + + p = p.next; + } while (p !== stop); + + return m; +} + +// whether sector in vertex m contains sector in vertex p in the same coordinates +function sectorContainsSector(m, p) { + return area(m.prev, m, p.prev) < 0 && area(p.next, m, m.next) < 0; +} + +// interlink polygon nodes in z-order +function indexCurve(start, minX, minY, invSize) { + let p = start; + do { + if (p.z === 0) p.z = zOrder(p.x, p.y, minX, minY, invSize); + p.prevZ = p.prev; + p.nextZ = p.next; + p = p.next; + } while (p !== start); + + p.prevZ.nextZ = null; + p.prevZ = null; + + sortLinked(p); +} + +// Simon Tatham's linked list merge sort algorithm +// http://www.chiark.greenend.org.uk/~sgtatham/algorithms/listsort.html +function sortLinked(list) { + let numMerges; + let inSize = 1; + + do { + let p = list; + let e; + list = null; + let tail = null; + numMerges = 0; + + while (p) { + numMerges++; + let q = p; + let pSize = 0; + for (let i = 0; i < inSize; i++) { + pSize++; + q = q.nextZ; + if (!q) break; + } + let qSize = inSize; + + while (pSize > 0 || (qSize > 0 && q)) { + + if (pSize !== 0 && (qSize === 0 || !q || p.z <= q.z)) { + e = p; + p = p.nextZ; + pSize--; + } else { + e = q; + q = q.nextZ; + qSize--; + } + + if (tail) tail.nextZ = e; + else list = e; + + e.prevZ = tail; + tail = e; + } + + p = q; + } + + tail.nextZ = null; + inSize *= 2; + + } while (numMerges > 1); + + return list; +} + +// z-order of a point given coords and inverse of the longer side of data bbox +function zOrder(x, y, minX, minY, invSize) { + // coords are transformed into non-negative 15-bit integer range + x = (x - minX) * invSize | 0; + y = (y - minY) * invSize | 0; + + x = (x | (x << 8)) & 0x00FF00FF; + x = (x | (x << 4)) & 0x0F0F0F0F; + x = (x | (x << 2)) & 0x33333333; + x = (x | (x << 1)) & 0x55555555; + + y = (y | (y << 8)) & 0x00FF00FF; + y = (y | (y << 4)) & 0x0F0F0F0F; + y = (y | (y << 2)) & 0x33333333; + y = (y | (y << 1)) & 0x55555555; + + return x | (y << 1); +} + +// find the leftmost node of a polygon ring +function getLeftmost(start) { + let p = start, + leftmost = start; + do { + if (p.x < leftmost.x || (p.x === leftmost.x && p.y < leftmost.y)) leftmost = p; + p = p.next; + } while (p !== start); + + return leftmost; +} + +// check if a point lies within a convex triangle +function pointInTriangle(ax, ay, bx, by, cx, cy, px, py) { + return (cx - px) * (ay - py) >= (ax - px) * (cy - py) && + (ax - px) * (by - py) >= (bx - px) * (ay - py) && + (bx - px) * (cy - py) >= (cx - px) * (by - py); +} + +// check if a point lies within a convex triangle but false if its equal to the first point of the triangle +function pointInTriangleExceptFirst(ax, ay, bx, by, cx, cy, px, py) { + return !(ax === px && ay === py) && pointInTriangle(ax, ay, bx, by, cx, cy, px, py); +} + +// check if a diagonal between two polygon nodes is valid (lies in polygon interior) +function isValidDiagonal(a, b) { + return a.next.i !== b.i && a.prev.i !== b.i && !intersectsPolygon(a, b) && // doesn't intersect other edges + (locallyInside(a, b) && locallyInside(b, a) && middleInside(a, b) && // locally visible + (area(a.prev, a, b.prev) || area(a, b.prev, b)) || // does not create opposite-facing sectors + equals(a, b) && area(a.prev, a, a.next) > 0 && area(b.prev, b, b.next) > 0); // special zero-length case +} + +// signed area of a triangle +function area(p, q, r) { + return (q.y - p.y) * (r.x - q.x) - (q.x - p.x) * (r.y - q.y); +} + +// check if two points are equal +function equals(p1, p2) { + return p1.x === p2.x && p1.y === p2.y; +} + +// check if two segments intersect +function intersects(p1, q1, p2, q2) { + const o1 = sign(area(p1, q1, p2)); + const o2 = sign(area(p1, q1, q2)); + const o3 = sign(area(p2, q2, p1)); + const o4 = sign(area(p2, q2, q1)); + + if (o1 !== o2 && o3 !== o4) return true; // general case + + if (o1 === 0 && onSegment(p1, p2, q1)) return true; // p1, q1 and p2 are collinear and p2 lies on p1q1 + if (o2 === 0 && onSegment(p1, q2, q1)) return true; // p1, q1 and q2 are collinear and q2 lies on p1q1 + if (o3 === 0 && onSegment(p2, p1, q2)) return true; // p2, q2 and p1 are collinear and p1 lies on p2q2 + if (o4 === 0 && onSegment(p2, q1, q2)) return true; // p2, q2 and q1 are collinear and q1 lies on p2q2 + + return false; +} + +// for collinear points p, q, r, check if point q lies on segment pr +function onSegment(p, q, r) { + return q.x <= Math.max(p.x, r.x) && q.x >= Math.min(p.x, r.x) && q.y <= Math.max(p.y, r.y) && q.y >= Math.min(p.y, r.y); +} + +function sign(num) { + return num > 0 ? 1 : num < 0 ? -1 : 0; +} + +// check if a polygon diagonal intersects any polygon segments +function intersectsPolygon(a, b) { + let p = a; + do { + if (p.i !== a.i && p.next.i !== a.i && p.i !== b.i && p.next.i !== b.i && + intersects(p, p.next, a, b)) return true; + p = p.next; + } while (p !== a); + + return false; +} + +// check if a polygon diagonal is locally inside the polygon +function locallyInside(a, b) { + return area(a.prev, a, a.next) < 0 ? + area(a, b, a.next) >= 0 && area(a, a.prev, b) >= 0 : + area(a, b, a.prev) < 0 || area(a, a.next, b) < 0; +} + +// check if the middle point of a polygon diagonal is inside the polygon +function middleInside(a, b) { + let p = a; + let inside = false; + const px = (a.x + b.x) / 2; + const py = (a.y + b.y) / 2; + do { + if (((p.y > py) !== (p.next.y > py)) && p.next.y !== p.y && + (px < (p.next.x - p.x) * (py - p.y) / (p.next.y - p.y) + p.x)) + inside = !inside; + p = p.next; + } while (p !== a); + + return inside; +} + +// link two polygon vertices with a bridge; if the vertices belong to the same ring, it splits polygon into two; +// if one belongs to the outer ring and another to a hole, it merges it into a single ring +function splitPolygon(a, b) { + const a2 = createNode(a.i, a.x, a.y), + b2 = createNode(b.i, b.x, b.y), + an = a.next, + bp = b.prev; + + a.next = b; + b.prev = a; + + a2.next = an; + an.prev = a2; + + b2.next = a2; + a2.prev = b2; + + bp.next = b2; + b2.prev = bp; + + return b2; +} + +// create a node and optionally link it with previous one (in a circular doubly linked list) +function insertNode(i, x, y, last) { + const p = createNode(i, x, y); + + if (!last) { + p.prev = p; + p.next = p; + + } else { + p.next = last.next; + p.prev = last; + last.next.prev = p; + last.next = p; + } + return p; +} + +function removeNode(p) { + p.next.prev = p.prev; + p.prev.next = p.next; + + if (p.prevZ) p.prevZ.nextZ = p.nextZ; + if (p.nextZ) p.nextZ.prevZ = p.prevZ; +} + +function createNode(i, x, y) { + return { + i, // vertex index in coordinates array + x, y, // vertex coordinates + prev: null, // previous and next vertex nodes in a polygon ring + next: null, + z: 0, // z-order curve value + prevZ: null, // previous and next nodes in z-order + nextZ: null, + steiner: false // indicates whether this is a steiner point + }; +} + +function signedArea(data, start, end, dim) { + let sum = 0; + for (let i = start, j = end - dim; i < end; i += dim) { + sum += (data[j] - data[i]) * (data[i + 1] + data[j + 1]); + j = i; + } + return sum; +} + +/** + * An implementation of the earcut polygon triangulation algorithm. + * The code is a port of [mapbox/earcut](https://github.com/mapbox/earcut). + * + * @see https://github.com/mapbox/earcut + */ +class Earcut { + + /** + * Triangulates the given shape definition by returning an array of triangles. + * + * @param {Array} data - An array with 2D points. + * @param {Array} holeIndices - An array with indices defining holes. + * @param {number} [dim=2] - The number of coordinates per vertex in the input array. + * @return {Array} An array representing the triangulated faces. Each face is defined by three consecutive numbers + * representing vertex indices. + */ + static triangulate( data, holeIndices, dim = 2 ) { + + return earcut( data, holeIndices, dim ); + + } + +} + +/** + * A class containing utility functions for shapes. + * + * @hideconstructor + */ +class ShapeUtils { + + /** + * Calculate area of a ( 2D ) contour polygon. + * + * @param {Array} contour - An array of 2D points. + * @return {number} The area. + */ + static area( contour ) { + + const n = contour.length; + let a = 0.0; + + for ( let p = n - 1, q = 0; q < n; p = q ++ ) { + + a += contour[ p ].x * contour[ q ].y - contour[ q ].x * contour[ p ].y; + + } + + return a * 0.5; + + } + + /** + * Returns `true` if the given contour uses a clockwise winding order. + * + * @param {Array} pts - An array of 2D points defining a polygon. + * @return {boolean} Whether the given contour uses a clockwise winding order or not. + */ + static isClockWise( pts ) { + + return ShapeUtils.area( pts ) < 0; + + } + + /** + * Triangulates the given shape definition. + * + * @param {Array} contour - An array of 2D points defining the contour. + * @param {Array>} holes - An array that holds arrays of 2D points defining the holes. + * @return {Array>} An array that holds for each face definition an array with three indices. + */ + static triangulateShape( contour, holes ) { + + const vertices = []; // flat array of vertices like [ x0,y0, x1,y1, x2,y2, ... ] + const holeIndices = []; // array of hole indices + const faces = []; // final array of vertex indices like [ [ a,b,d ], [ b,c,d ] ] + + removeDupEndPts( contour ); + addContour( vertices, contour ); + + // + + let holeIndex = contour.length; + + holes.forEach( removeDupEndPts ); + + for ( let i = 0; i < holes.length; i ++ ) { + + holeIndices.push( holeIndex ); + holeIndex += holes[ i ].length; + addContour( vertices, holes[ i ] ); + + } + + // + + const triangles = Earcut.triangulate( vertices, holeIndices ); + + // + + for ( let i = 0; i < triangles.length; i += 3 ) { + + faces.push( triangles.slice( i, i + 3 ) ); + + } + + return faces; + + } + +} + +function removeDupEndPts( points ) { + + const l = points.length; + + if ( l > 2 && points[ l - 1 ].equals( points[ 0 ] ) ) { + + points.pop(); + + } + +} + +function addContour( vertices, contour ) { + + for ( let i = 0; i < contour.length; i ++ ) { + + vertices.push( contour[ i ].x ); + vertices.push( contour[ i ].y ); + + } + +} + +/** + * Creates extruded geometry from a path shape. + * + * ```js + * const length = 12, width = 8; + * + * const shape = new THREE.Shape(); + * shape.moveTo( 0,0 ); + * shape.lineTo( 0, width ); + * shape.lineTo( length, width ); + * shape.lineTo( length, 0 ); + * shape.lineTo( 0, 0 ); + * + * const geometry = new THREE.ExtrudeGeometry( shape ); + * const material = new THREE.MeshBasicMaterial( { color: 0x00ff00 } ); + * const mesh = new THREE.Mesh( geometry, material ) ; + * scene.add( mesh ); + * ``` + * + * @augments BufferGeometry + * @demo scenes/geometry-browser.html#ExtrudeGeometry + */ +class ExtrudeGeometry extends BufferGeometry { + + /** + * Constructs a new extrude geometry. + * + * @param {Shape|Array} [shapes] - A shape or an array of shapes. + * @param {ExtrudeGeometry~Options} [options] - The extrude settings. + */ + constructor( shapes = new Shape( [ new Vector2( 0.5, 0.5 ), new Vector2( -0.5, 0.5 ), new Vector2( -0.5, -0.5 ), new Vector2( 0.5, -0.5 ) ] ), options = {} ) { + + super(); + + this.type = 'ExtrudeGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + shapes: shapes, + options: options + }; + + shapes = Array.isArray( shapes ) ? shapes : [ shapes ]; + + const scope = this; + + const verticesArray = []; + const uvArray = []; + + for ( let i = 0, l = shapes.length; i < l; i ++ ) { + + const shape = shapes[ i ]; + addShape( shape ); + + } + + // build geometry + + this.setAttribute( 'position', new Float32BufferAttribute( verticesArray, 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvArray, 2 ) ); + + this.computeVertexNormals(); + + // functions + + function addShape( shape ) { + + const placeholder = []; + + // options + + const curveSegments = options.curveSegments !== undefined ? options.curveSegments : 12; + const steps = options.steps !== undefined ? options.steps : 1; + const depth = options.depth !== undefined ? options.depth : 1; + + let bevelEnabled = options.bevelEnabled !== undefined ? options.bevelEnabled : true; + let bevelThickness = options.bevelThickness !== undefined ? options.bevelThickness : 0.2; + let bevelSize = options.bevelSize !== undefined ? options.bevelSize : bevelThickness - 0.1; + let bevelOffset = options.bevelOffset !== undefined ? options.bevelOffset : 0; + let bevelSegments = options.bevelSegments !== undefined ? options.bevelSegments : 3; + + const extrudePath = options.extrudePath; + + const uvgen = options.UVGenerator !== undefined ? options.UVGenerator : WorldUVGenerator; + + // + + let extrudePts, extrudeByPath = false; + let splineTube, binormal, normal, position2; + + if ( extrudePath ) { + + extrudePts = extrudePath.getSpacedPoints( steps ); + + extrudeByPath = true; + bevelEnabled = false; // bevels not supported for path extrusion + + // SETUP TNB variables + + const isClosed = extrudePath.isCatmullRomCurve3 ? extrudePath.closed : false; + + splineTube = extrudePath.computeFrenetFrames( steps, isClosed ); + + // log(splineTube, 'splineTube', splineTube.normals.length, 'steps', steps, 'extrudePts', extrudePts.length); + + binormal = new Vector3(); + normal = new Vector3(); + position2 = new Vector3(); + + } + + // Safeguards if bevels are not enabled + + if ( ! bevelEnabled ) { + + bevelSegments = 0; + bevelThickness = 0; + bevelSize = 0; + bevelOffset = 0; + + } + + // Variables initialization + + const shapePoints = shape.extractPoints( curveSegments ); + + let vertices = shapePoints.shape; + const holes = shapePoints.holes; + + const reverse = ! ShapeUtils.isClockWise( vertices ); + + if ( reverse ) { + + vertices = vertices.reverse(); + + // Maybe we should also check if holes are in the opposite direction, just to be safe ... + + for ( let h = 0, hl = holes.length; h < hl; h ++ ) { + + const ahole = holes[ h ]; + + if ( ShapeUtils.isClockWise( ahole ) ) { + + holes[ h ] = ahole.reverse(); + + } + + } + + } + + /**Merges index-adjacent points that are within a threshold distance of each other. Array is modified in-place. Threshold distance is empirical, and scaled based on the magnitude of point coordinates. + * @param {Array} points + */ + function mergeOverlappingPoints( points ) { + + const THRESHOLD = 1e-10; + const THRESHOLD_SQ = THRESHOLD * THRESHOLD; + let prevPos = points[ 0 ]; + for ( let i = 1; i <= points.length; i ++ ) { + + const currentIndex = i % points.length; + const currentPos = points[ currentIndex ]; + const dx = currentPos.x - prevPos.x; + const dy = currentPos.y - prevPos.y; + const distSq = dx * dx + dy * dy; + + const scalingFactorSqrt = Math.max( + Math.abs( currentPos.x ), + Math.abs( currentPos.y ), + Math.abs( prevPos.x ), + Math.abs( prevPos.y ) + ); + const thresholdSqScaled = THRESHOLD_SQ * scalingFactorSqrt * scalingFactorSqrt; + if ( distSq <= thresholdSqScaled ) { + + points.splice( currentIndex, 1 ); + i --; + continue; + + } + + prevPos = currentPos; + + } + + } + + mergeOverlappingPoints( vertices ); + holes.forEach( mergeOverlappingPoints ); + + const numHoles = holes.length; + + /* Vertices */ + + const contour = vertices; // vertices has all points but contour has only points of circumference + + for ( let h = 0; h < numHoles; h ++ ) { + + const ahole = holes[ h ]; + + vertices = vertices.concat( ahole ); + + } + + + function scalePt2( pt, vec, size ) { + + if ( ! vec ) error( 'ExtrudeGeometry: vec does not exist' ); + + return pt.clone().addScaledVector( vec, size ); + + } + + const vlen = vertices.length; + + + // Find directions for point movement + + + function getBevelVec( inPt, inPrev, inNext ) { + + // computes for inPt the corresponding point inPt' on a new contour + // shifted by 1 unit (length of normalized vector) to the left + // if we walk along contour clockwise, this new contour is outside the old one + // + // inPt' is the intersection of the two lines parallel to the two + // adjacent edges of inPt at a distance of 1 unit on the left side. + + let v_trans_x, v_trans_y, shrink_by; // resulting translation vector for inPt + + // good reading for geometry algorithms (here: line-line intersection) + // http://geomalgorithms.com/a05-_intersect-1.html + + const v_prev_x = inPt.x - inPrev.x, + v_prev_y = inPt.y - inPrev.y; + const v_next_x = inNext.x - inPt.x, + v_next_y = inNext.y - inPt.y; + + const v_prev_lensq = ( v_prev_x * v_prev_x + v_prev_y * v_prev_y ); + + // check for collinear edges + const collinear0 = ( v_prev_x * v_next_y - v_prev_y * v_next_x ); + + if ( Math.abs( collinear0 ) > Number.EPSILON ) { + + // not collinear + + // length of vectors for normalizing + + const v_prev_len = Math.sqrt( v_prev_lensq ); + const v_next_len = Math.sqrt( v_next_x * v_next_x + v_next_y * v_next_y ); + + // shift adjacent points by unit vectors to the left + + const ptPrevShift_x = ( inPrev.x - v_prev_y / v_prev_len ); + const ptPrevShift_y = ( inPrev.y + v_prev_x / v_prev_len ); + + const ptNextShift_x = ( inNext.x - v_next_y / v_next_len ); + const ptNextShift_y = ( inNext.y + v_next_x / v_next_len ); + + // scaling factor for v_prev to intersection point + + const sf = ( ( ptNextShift_x - ptPrevShift_x ) * v_next_y - + ( ptNextShift_y - ptPrevShift_y ) * v_next_x ) / + ( v_prev_x * v_next_y - v_prev_y * v_next_x ); + + // vector from inPt to intersection point + + v_trans_x = ( ptPrevShift_x + v_prev_x * sf - inPt.x ); + v_trans_y = ( ptPrevShift_y + v_prev_y * sf - inPt.y ); + + // Don't normalize!, otherwise sharp corners become ugly + // but prevent crazy spikes + const v_trans_lensq = ( v_trans_x * v_trans_x + v_trans_y * v_trans_y ); + if ( v_trans_lensq <= 2 ) { + + return new Vector2( v_trans_x, v_trans_y ); + + } else { + + shrink_by = Math.sqrt( v_trans_lensq / 2 ); + + } + + } else { + + // handle special case of collinear edges + + let direction_eq = false; // assumes: opposite + + if ( v_prev_x > Number.EPSILON ) { + + if ( v_next_x > Number.EPSILON ) { + + direction_eq = true; + + } + + } else { + + if ( v_prev_x < - Number.EPSILON ) { + + if ( v_next_x < - Number.EPSILON ) { + + direction_eq = true; + + } + + } else { + + if ( Math.sign( v_prev_y ) === Math.sign( v_next_y ) ) { + + direction_eq = true; + + } + + } + + } + + if ( direction_eq ) { + + // log("Warning: lines are a straight sequence"); + v_trans_x = - v_prev_y; + v_trans_y = v_prev_x; + shrink_by = Math.sqrt( v_prev_lensq ); + + } else { + + // log("Warning: lines are a straight spike"); + v_trans_x = v_prev_x; + v_trans_y = v_prev_y; + shrink_by = Math.sqrt( v_prev_lensq / 2 ); + + } + + } + + return new Vector2( v_trans_x / shrink_by, v_trans_y / shrink_by ); + + } + + + const contourMovements = []; + + for ( let i = 0, il = contour.length, j = il - 1, k = i + 1; i < il; i ++, j ++, k ++ ) { + + if ( j === il ) j = 0; + if ( k === il ) k = 0; + + // (j)---(i)---(k) + // log('i,j,k', i, j , k) + + contourMovements[ i ] = getBevelVec( contour[ i ], contour[ j ], contour[ k ] ); + + } + + const holesMovements = []; + let oneHoleMovements, verticesMovements = contourMovements.concat(); + + for ( let h = 0, hl = numHoles; h < hl; h ++ ) { + + const ahole = holes[ h ]; + + oneHoleMovements = []; + + for ( let i = 0, il = ahole.length, j = il - 1, k = i + 1; i < il; i ++, j ++, k ++ ) { + + if ( j === il ) j = 0; + if ( k === il ) k = 0; + + // (j)---(i)---(k) + oneHoleMovements[ i ] = getBevelVec( ahole[ i ], ahole[ j ], ahole[ k ] ); + + } + + holesMovements.push( oneHoleMovements ); + verticesMovements = verticesMovements.concat( oneHoleMovements ); + + } + + let faces; + + if ( bevelSegments === 0 ) { + + faces = ShapeUtils.triangulateShape( contour, holes ); + + } else { + + const contractedContourVertices = []; + const expandedHoleVertices = []; + + // Loop bevelSegments, 1 for the front, 1 for the back + + for ( let b = 0; b < bevelSegments; b ++ ) { + + //for ( b = bevelSegments; b > 0; b -- ) { + + const t = b / bevelSegments; + const z = bevelThickness * Math.cos( t * Math.PI / 2 ); + const bs = bevelSize * Math.sin( t * Math.PI / 2 ) + bevelOffset; + + // contract shape + + for ( let i = 0, il = contour.length; i < il; i ++ ) { + + const vert = scalePt2( contour[ i ], contourMovements[ i ], bs ); + + v( vert.x, vert.y, - z ); + if ( t === 0 ) contractedContourVertices.push( vert ); + + } + + // expand holes + + for ( let h = 0, hl = numHoles; h < hl; h ++ ) { + + const ahole = holes[ h ]; + oneHoleMovements = holesMovements[ h ]; + const oneHoleVertices = []; + for ( let i = 0, il = ahole.length; i < il; i ++ ) { + + const vert = scalePt2( ahole[ i ], oneHoleMovements[ i ], bs ); + + v( vert.x, vert.y, - z ); + if ( t === 0 ) oneHoleVertices.push( vert ); + + } + + if ( t === 0 ) expandedHoleVertices.push( oneHoleVertices ); + + } + + } + + faces = ShapeUtils.triangulateShape( contractedContourVertices, expandedHoleVertices ); + + } + + const flen = faces.length; + + const bs = bevelSize + bevelOffset; + + // Back facing vertices + + for ( let i = 0; i < vlen; i ++ ) { + + const vert = bevelEnabled ? scalePt2( vertices[ i ], verticesMovements[ i ], bs ) : vertices[ i ]; + + if ( ! extrudeByPath ) { + + v( vert.x, vert.y, 0 ); + + } else { + + // v( vert.x, vert.y + extrudePts[ 0 ].y, extrudePts[ 0 ].x ); + + normal.copy( splineTube.normals[ 0 ] ).multiplyScalar( vert.x ); + binormal.copy( splineTube.binormals[ 0 ] ).multiplyScalar( vert.y ); + + position2.copy( extrudePts[ 0 ] ).add( normal ).add( binormal ); + + v( position2.x, position2.y, position2.z ); + + } + + } + + // Add stepped vertices... + // Including front facing vertices + + for ( let s = 1; s <= steps; s ++ ) { + + for ( let i = 0; i < vlen; i ++ ) { + + const vert = bevelEnabled ? scalePt2( vertices[ i ], verticesMovements[ i ], bs ) : vertices[ i ]; + + if ( ! extrudeByPath ) { + + v( vert.x, vert.y, depth / steps * s ); + + } else { + + // v( vert.x, vert.y + extrudePts[ s - 1 ].y, extrudePts[ s - 1 ].x ); + + normal.copy( splineTube.normals[ s ] ).multiplyScalar( vert.x ); + binormal.copy( splineTube.binormals[ s ] ).multiplyScalar( vert.y ); + + position2.copy( extrudePts[ s ] ).add( normal ).add( binormal ); + + v( position2.x, position2.y, position2.z ); + + } + + } + + } + + + // Add bevel segments planes + + //for ( b = 1; b <= bevelSegments; b ++ ) { + for ( let b = bevelSegments - 1; b >= 0; b -- ) { + + const t = b / bevelSegments; + const z = bevelThickness * Math.cos( t * Math.PI / 2 ); + const bs = bevelSize * Math.sin( t * Math.PI / 2 ) + bevelOffset; + + // contract shape + + for ( let i = 0, il = contour.length; i < il; i ++ ) { + + const vert = scalePt2( contour[ i ], contourMovements[ i ], bs ); + v( vert.x, vert.y, depth + z ); + + } + + // expand holes + + for ( let h = 0, hl = holes.length; h < hl; h ++ ) { + + const ahole = holes[ h ]; + oneHoleMovements = holesMovements[ h ]; + + for ( let i = 0, il = ahole.length; i < il; i ++ ) { + + const vert = scalePt2( ahole[ i ], oneHoleMovements[ i ], bs ); + + if ( ! extrudeByPath ) { + + v( vert.x, vert.y, depth + z ); + + } else { + + v( vert.x, vert.y + extrudePts[ steps - 1 ].y, extrudePts[ steps - 1 ].x + z ); + + } + + } + + } + + } + + /* Faces */ + + // Top and bottom faces + + buildLidFaces(); + + // Sides faces + + buildSideFaces(); + + + ///// Internal functions + + function buildLidFaces() { + + const start = verticesArray.length / 3; + + if ( bevelEnabled ) { + + let layer = 0; // steps + 1 + let offset = vlen * layer; + + // Bottom faces + + for ( let i = 0; i < flen; i ++ ) { + + const face = faces[ i ]; + f3( face[ 2 ] + offset, face[ 1 ] + offset, face[ 0 ] + offset ); + + } + + layer = steps + bevelSegments * 2; + offset = vlen * layer; + + // Top faces + + for ( let i = 0; i < flen; i ++ ) { + + const face = faces[ i ]; + f3( face[ 0 ] + offset, face[ 1 ] + offset, face[ 2 ] + offset ); + + } + + } else { + + // Bottom faces + + for ( let i = 0; i < flen; i ++ ) { + + const face = faces[ i ]; + f3( face[ 2 ], face[ 1 ], face[ 0 ] ); + + } + + // Top faces + + for ( let i = 0; i < flen; i ++ ) { + + const face = faces[ i ]; + f3( face[ 0 ] + vlen * steps, face[ 1 ] + vlen * steps, face[ 2 ] + vlen * steps ); + + } + + } + + scope.addGroup( start, verticesArray.length / 3 - start, 0 ); + + } + + // Create faces for the z-sides of the shape + + function buildSideFaces() { + + const start = verticesArray.length / 3; + let layeroffset = 0; + sidewalls( contour, layeroffset ); + layeroffset += contour.length; + + for ( let h = 0, hl = holes.length; h < hl; h ++ ) { + + const ahole = holes[ h ]; + sidewalls( ahole, layeroffset ); + + //, true + layeroffset += ahole.length; + + } + + + scope.addGroup( start, verticesArray.length / 3 - start, 1 ); + + + } + + function sidewalls( contour, layeroffset ) { + + let i = contour.length; + + while ( -- i >= 0 ) { + + const j = i; + let k = i - 1; + if ( k < 0 ) k = contour.length - 1; + + //log('b', i,j, i-1, k,vertices.length); + + for ( let s = 0, sl = ( steps + bevelSegments * 2 ); s < sl; s ++ ) { + + const slen1 = vlen * s; + const slen2 = vlen * ( s + 1 ); + + const a = layeroffset + j + slen1, + b = layeroffset + k + slen1, + c = layeroffset + k + slen2, + d = layeroffset + j + slen2; + + f4( a, b, c, d ); + + } + + } + + } + + function v( x, y, z ) { + + placeholder.push( x ); + placeholder.push( y ); + placeholder.push( z ); + + } + + + function f3( a, b, c ) { + + addVertex( a ); + addVertex( b ); + addVertex( c ); + + const nextIndex = verticesArray.length / 3; + const uvs = uvgen.generateTopUV( scope, verticesArray, nextIndex - 3, nextIndex - 2, nextIndex - 1 ); + + addUV( uvs[ 0 ] ); + addUV( uvs[ 1 ] ); + addUV( uvs[ 2 ] ); + + } + + function f4( a, b, c, d ) { + + addVertex( a ); + addVertex( b ); + addVertex( d ); + + addVertex( b ); + addVertex( c ); + addVertex( d ); + + + const nextIndex = verticesArray.length / 3; + const uvs = uvgen.generateSideWallUV( scope, verticesArray, nextIndex - 6, nextIndex - 3, nextIndex - 2, nextIndex - 1 ); + + addUV( uvs[ 0 ] ); + addUV( uvs[ 1 ] ); + addUV( uvs[ 3 ] ); + + addUV( uvs[ 1 ] ); + addUV( uvs[ 2 ] ); + addUV( uvs[ 3 ] ); + + } + + function addVertex( index ) { + + verticesArray.push( placeholder[ index * 3 + 0 ] ); + verticesArray.push( placeholder[ index * 3 + 1 ] ); + verticesArray.push( placeholder[ index * 3 + 2 ] ); + + } + + + function addUV( vector2 ) { + + uvArray.push( vector2.x ); + uvArray.push( vector2.y ); + + } + + } + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + const shapes = this.parameters.shapes; + const options = this.parameters.options; + + return toJSON$1( shapes, options, data ); + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @param {Array} shapes - An array of shapes. + * @return {ExtrudeGeometry} A new instance. + */ + static fromJSON( data, shapes ) { + + const geometryShapes = []; + + for ( let j = 0, jl = data.shapes.length; j < jl; j ++ ) { + + const shape = shapes[ data.shapes[ j ] ]; + + geometryShapes.push( shape ); + + } + + const extrudePath = data.options.extrudePath; + + if ( extrudePath !== undefined ) { + + data.options.extrudePath = new Curves[ extrudePath.type ]().fromJSON( extrudePath ); + + } + + return new ExtrudeGeometry( geometryShapes, data.options ); + + } + +} + +const WorldUVGenerator = { + + generateTopUV: function ( geometry, vertices, indexA, indexB, indexC ) { + + const a_x = vertices[ indexA * 3 ]; + const a_y = vertices[ indexA * 3 + 1 ]; + const b_x = vertices[ indexB * 3 ]; + const b_y = vertices[ indexB * 3 + 1 ]; + const c_x = vertices[ indexC * 3 ]; + const c_y = vertices[ indexC * 3 + 1 ]; + + return [ + new Vector2( a_x, a_y ), + new Vector2( b_x, b_y ), + new Vector2( c_x, c_y ) + ]; + + }, + + generateSideWallUV: function ( geometry, vertices, indexA, indexB, indexC, indexD ) { + + const a_x = vertices[ indexA * 3 ]; + const a_y = vertices[ indexA * 3 + 1 ]; + const a_z = vertices[ indexA * 3 + 2 ]; + const b_x = vertices[ indexB * 3 ]; + const b_y = vertices[ indexB * 3 + 1 ]; + const b_z = vertices[ indexB * 3 + 2 ]; + const c_x = vertices[ indexC * 3 ]; + const c_y = vertices[ indexC * 3 + 1 ]; + const c_z = vertices[ indexC * 3 + 2 ]; + const d_x = vertices[ indexD * 3 ]; + const d_y = vertices[ indexD * 3 + 1 ]; + const d_z = vertices[ indexD * 3 + 2 ]; + + if ( Math.abs( a_y - b_y ) < Math.abs( a_x - b_x ) ) { + + return [ + new Vector2( a_x, 1 - a_z ), + new Vector2( b_x, 1 - b_z ), + new Vector2( c_x, 1 - c_z ), + new Vector2( d_x, 1 - d_z ) + ]; + + } else { + + return [ + new Vector2( a_y, 1 - a_z ), + new Vector2( b_y, 1 - b_z ), + new Vector2( c_y, 1 - c_z ), + new Vector2( d_y, 1 - d_z ) + ]; + + } + + } + +}; + +function toJSON$1( shapes, options, data ) { + + data.shapes = []; + + if ( Array.isArray( shapes ) ) { + + for ( let i = 0, l = shapes.length; i < l; i ++ ) { + + const shape = shapes[ i ]; + + data.shapes.push( shape.uuid ); + + } + + } else { + + data.shapes.push( shapes.uuid ); + + } + + data.options = Object.assign( {}, options ); + + if ( options.extrudePath !== undefined ) data.options.extrudePath = options.extrudePath.toJSON(); + + return data; + +} + +/** + * A geometry class for representing an icosahedron. + * + * ```js + * const geometry = new THREE.IcosahedronGeometry(); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00 } ); + * const icosahedron = new THREE.Mesh( geometry, material ); + * scene.add( icosahedron ); + * ``` + * + * @augments PolyhedronGeometry + * @demo scenes/geometry-browser.html#IcosahedronGeometry + */ +class IcosahedronGeometry extends PolyhedronGeometry { + + /** + * Constructs a new icosahedron geometry. + * + * @param {number} [radius=1] - Radius of the icosahedron. + * @param {number} [detail=0] - Setting this to a value greater than `0` adds vertices making it no longer a icosahedron. + */ + constructor( radius = 1, detail = 0 ) { + + const t = ( 1 + Math.sqrt( 5 ) ) / 2; + + const vertices = [ + -1, t, 0, 1, t, 0, -1, - t, 0, 1, - t, 0, + 0, -1, t, 0, 1, t, 0, -1, - t, 0, 1, - t, + t, 0, -1, t, 0, 1, - t, 0, -1, - t, 0, 1 + ]; + + const indices = [ + 0, 11, 5, 0, 5, 1, 0, 1, 7, 0, 7, 10, 0, 10, 11, + 1, 5, 9, 5, 11, 4, 11, 10, 2, 10, 7, 6, 7, 1, 8, + 3, 9, 4, 3, 4, 2, 3, 2, 6, 3, 6, 8, 3, 8, 9, + 4, 9, 5, 2, 4, 11, 6, 2, 10, 8, 6, 7, 9, 8, 1 + ]; + + super( vertices, indices, radius, detail ); + + this.type = 'IcosahedronGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + radius: radius, + detail: detail + }; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {IcosahedronGeometry} A new instance. + */ + static fromJSON( data ) { + + return new IcosahedronGeometry( data.radius, data.detail ); + + } + +} + +/** + * Creates meshes with axial symmetry like vases. The lathe rotates around the Y axis. + * + * ```js + * const points = []; + * for ( let i = 0; i < 10; i ++ ) { + * points.push( new THREE.Vector2( Math.sin( i * 0.2 ) * 10 + 5, ( i - 5 ) * 2 ) ); + * } + * const geometry = new THREE.LatheGeometry( points ); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00 } ); + * const lathe = new THREE.Mesh( geometry, material ); + * scene.add( lathe ); + * ``` + * + * @augments BufferGeometry + * @demo scenes/geometry-browser.html#LatheGeometry + */ +class LatheGeometry extends BufferGeometry { + + /** + * Constructs a new lathe geometry. + * + * @param {Array} [points] - An array of points in 2D space. The x-coordinate of each point + * must be greater than zero. + * @param {number} [segments=12] - The number of circumference segments to generate. + * @param {number} [phiStart=0] - The starting angle in radians. + * @param {number} [phiLength=Math.PI*2] - The radian (0 to 2PI) range of the lathed section 2PI is a + * closed lathe, less than 2PI is a portion. + */ + constructor( points = [ new Vector2( 0, -0.5 ), new Vector2( 0.5, 0 ), new Vector2( 0, 0.5 ) ], segments = 12, phiStart = 0, phiLength = Math.PI * 2 ) { + + super(); + + this.type = 'LatheGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + points: points, + segments: segments, + phiStart: phiStart, + phiLength: phiLength + }; + + segments = Math.floor( segments ); + + // clamp phiLength so it's in range of [ 0, 2PI ] + + phiLength = clamp( phiLength, 0, Math.PI * 2 ); + + // buffers + + const indices = []; + const vertices = []; + const uvs = []; + const initNormals = []; + const normals = []; + + // helper variables + + const inverseSegments = 1.0 / segments; + const vertex = new Vector3(); + const uv = new Vector2(); + const normal = new Vector3(); + const curNormal = new Vector3(); + const prevNormal = new Vector3(); + let dx = 0; + let dy = 0; + + // pre-compute normals for initial "meridian" + + for ( let j = 0; j <= ( points.length - 1 ); j ++ ) { + + switch ( j ) { + + case 0: // special handling for 1st vertex on path + + dx = points[ j + 1 ].x - points[ j ].x; + dy = points[ j + 1 ].y - points[ j ].y; + + normal.x = dy * 1.0; + normal.y = - dx; + normal.z = dy * 0.0; + + prevNormal.copy( normal ); + + normal.normalize(); + + initNormals.push( normal.x, normal.y, normal.z ); + + break; + + case ( points.length - 1 ): // special handling for last Vertex on path + + initNormals.push( prevNormal.x, prevNormal.y, prevNormal.z ); + + break; + + default: // default handling for all vertices in between + + dx = points[ j + 1 ].x - points[ j ].x; + dy = points[ j + 1 ].y - points[ j ].y; + + normal.x = dy * 1.0; + normal.y = - dx; + normal.z = dy * 0.0; + + curNormal.copy( normal ); + + normal.x += prevNormal.x; + normal.y += prevNormal.y; + normal.z += prevNormal.z; + + normal.normalize(); + + initNormals.push( normal.x, normal.y, normal.z ); + + prevNormal.copy( curNormal ); + + } + + } + + // generate vertices, uvs and normals + + for ( let i = 0; i <= segments; i ++ ) { + + const phi = phiStart + i * inverseSegments * phiLength; + + const sin = Math.sin( phi ); + const cos = Math.cos( phi ); + + for ( let j = 0; j <= ( points.length - 1 ); j ++ ) { + + // vertex + + vertex.x = points[ j ].x * sin; + vertex.y = points[ j ].y; + vertex.z = points[ j ].x * cos; + + vertices.push( vertex.x, vertex.y, vertex.z ); + + // uv + + uv.x = i / segments; + uv.y = j / ( points.length - 1 ); + + uvs.push( uv.x, uv.y ); + + // normal + + const x = initNormals[ 3 * j + 0 ] * sin; + const y = initNormals[ 3 * j + 1 ]; + const z = initNormals[ 3 * j + 0 ] * cos; + + normals.push( x, y, z ); + + } + + } + + // indices + + for ( let i = 0; i < segments; i ++ ) { + + for ( let j = 0; j < ( points.length - 1 ); j ++ ) { + + const base = j + i * points.length; + + const a = base; + const b = base + points.length; + const c = base + points.length + 1; + const d = base + 1; + + // faces + + indices.push( a, b, d ); + indices.push( c, d, b ); + + } + + } + + // build geometry + + this.setIndex( indices ); + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) ); + this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) ); + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {LatheGeometry} A new instance. + */ + static fromJSON( data ) { + + return new LatheGeometry( data.points, data.segments, data.phiStart, data.phiLength ); + + } + +} + +/** + * A geometry class for representing an octahedron. + * + * ```js + * const geometry = new THREE.OctahedronGeometry(); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00 } ); + * const octahedron = new THREE.Mesh( geometry, material ); + * scene.add( octahedron ); + * ``` + * + * @augments PolyhedronGeometry + * @demo scenes/geometry-browser.html#OctahedronGeometry + */ +class OctahedronGeometry extends PolyhedronGeometry { + + /** + * Constructs a new octahedron geometry. + * + * @param {number} [radius=1] - Radius of the octahedron. + * @param {number} [detail=0] - Setting this to a value greater than `0` adds vertices making it no longer a octahedron. + */ + constructor( radius = 1, detail = 0 ) { + + const vertices = [ + 1, 0, 0, -1, 0, 0, 0, 1, 0, + 0, -1, 0, 0, 0, 1, 0, 0, -1 + ]; + + const indices = [ + 0, 2, 4, 0, 4, 3, 0, 3, 5, + 0, 5, 2, 1, 2, 5, 1, 5, 3, + 1, 3, 4, 1, 4, 2 + ]; + + super( vertices, indices, radius, detail ); + + this.type = 'OctahedronGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + radius: radius, + detail: detail + }; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {OctahedronGeometry} A new instance. + */ + static fromJSON( data ) { + + return new OctahedronGeometry( data.radius, data.detail ); + + } + +} + +/** + * A geometry class for representing a plane. + * + * ```js + * const geometry = new THREE.PlaneGeometry( 1, 1 ); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00, side: THREE.DoubleSide } ); + * const plane = new THREE.Mesh( geometry, material ); + * scene.add( plane ); + * ``` + * + * @augments BufferGeometry + * @demo scenes/geometry-browser.html#PlaneGeometry + */ +class PlaneGeometry extends BufferGeometry { + + /** + * Constructs a new plane geometry. + * + * @param {number} [width=1] - The width along the X axis. + * @param {number} [height=1] - The height along the Y axis + * @param {number} [widthSegments=1] - The number of segments along the X axis. + * @param {number} [heightSegments=1] - The number of segments along the Y axis. + */ + constructor( width = 1, height = 1, widthSegments = 1, heightSegments = 1 ) { + + super(); + + this.type = 'PlaneGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + width: width, + height: height, + widthSegments: widthSegments, + heightSegments: heightSegments + }; + + const width_half = width / 2; + const height_half = height / 2; + + const gridX = Math.floor( widthSegments ); + const gridY = Math.floor( heightSegments ); + + const gridX1 = gridX + 1; + const gridY1 = gridY + 1; + + const segment_width = width / gridX; + const segment_height = height / gridY; + + // + + const indices = []; + const vertices = []; + const normals = []; + const uvs = []; + + for ( let iy = 0; iy < gridY1; iy ++ ) { + + const y = iy * segment_height - height_half; + + for ( let ix = 0; ix < gridX1; ix ++ ) { + + const x = ix * segment_width - width_half; + + vertices.push( x, - y, 0 ); + + normals.push( 0, 0, 1 ); + + uvs.push( ix / gridX ); + uvs.push( 1 - ( iy / gridY ) ); + + } + + } + + for ( let iy = 0; iy < gridY; iy ++ ) { + + for ( let ix = 0; ix < gridX; ix ++ ) { + + const a = ix + gridX1 * iy; + const b = ix + gridX1 * ( iy + 1 ); + const c = ( ix + 1 ) + gridX1 * ( iy + 1 ); + const d = ( ix + 1 ) + gridX1 * iy; + + indices.push( a, b, d ); + indices.push( b, c, d ); + + } + + } + + this.setIndex( indices ); + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) ); + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {PlaneGeometry} A new instance. + */ + static fromJSON( data ) { + + return new PlaneGeometry( data.width, data.height, data.widthSegments, data.heightSegments ); + + } + +} + +/** + * A class for generating a two-dimensional ring geometry. + * + * ```js + * const geometry = new THREE.RingGeometry( 1, 5, 32 ); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00, side: THREE.DoubleSide } ); + * const mesh = new THREE.Mesh( geometry, material ); + * scene.add( mesh ); + * ``` + * + * @augments BufferGeometry + * @demo scenes/geometry-browser.html#RingGeometry + */ +class RingGeometry extends BufferGeometry { + + /** + * Constructs a new ring geometry. + * + * @param {number} [innerRadius=0.5] - The inner radius of the ring. + * @param {number} [outerRadius=1] - The outer radius of the ring. + * @param {number} [thetaSegments=32] - Number of segments. A higher number means the ring will be more round. Minimum is `3`. + * @param {number} [phiSegments=1] - Number of segments per ring segment. Minimum is `1`. + * @param {number} [thetaStart=0] - Starting angle in radians. + * @param {number} [thetaLength=Math.PI*2] - Central angle in radians. + */ + constructor( innerRadius = 0.5, outerRadius = 1, thetaSegments = 32, phiSegments = 1, thetaStart = 0, thetaLength = Math.PI * 2 ) { + + super(); + + this.type = 'RingGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + innerRadius: innerRadius, + outerRadius: outerRadius, + thetaSegments: thetaSegments, + phiSegments: phiSegments, + thetaStart: thetaStart, + thetaLength: thetaLength + }; + + thetaSegments = Math.max( 3, thetaSegments ); + phiSegments = Math.max( 1, phiSegments ); + + // buffers + + const indices = []; + const vertices = []; + const normals = []; + const uvs = []; + + // some helper variables + + let radius = innerRadius; + const radiusStep = ( ( outerRadius - innerRadius ) / phiSegments ); + const vertex = new Vector3(); + const uv = new Vector2(); + + // generate vertices, normals and uvs + + for ( let j = 0; j <= phiSegments; j ++ ) { + + for ( let i = 0; i <= thetaSegments; i ++ ) { + + // values are generate from the inside of the ring to the outside + + const segment = thetaStart + i / thetaSegments * thetaLength; + + // vertex + + vertex.x = radius * Math.cos( segment ); + vertex.y = radius * Math.sin( segment ); + + vertices.push( vertex.x, vertex.y, vertex.z ); + + // normal + + normals.push( 0, 0, 1 ); + + // uv + + uv.x = ( vertex.x / outerRadius + 1 ) / 2; + uv.y = ( vertex.y / outerRadius + 1 ) / 2; + + uvs.push( uv.x, uv.y ); + + } + + // increase the radius for next row of vertices + + radius += radiusStep; + + } + + // indices + + for ( let j = 0; j < phiSegments; j ++ ) { + + const thetaSegmentLevel = j * ( thetaSegments + 1 ); + + for ( let i = 0; i < thetaSegments; i ++ ) { + + const segment = i + thetaSegmentLevel; + + const a = segment; + const b = segment + thetaSegments + 1; + const c = segment + thetaSegments + 2; + const d = segment + 1; + + // faces + + indices.push( a, b, d ); + indices.push( b, c, d ); + + } + + } + + // build geometry + + this.setIndex( indices ); + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) ); + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {RingGeometry} A new instance. + */ + static fromJSON( data ) { + + return new RingGeometry( data.innerRadius, data.outerRadius, data.thetaSegments, data.phiSegments, data.thetaStart, data.thetaLength ); + + } + +} + +/** + * Creates an one-sided polygonal geometry from one or more path shapes. + * + * ```js + * const arcShape = new THREE.Shape() + * .moveTo( 5, 1 ) + * .absarc( 1, 1, 4, 0, Math.PI * 2, false ); + * + * const geometry = new THREE.ShapeGeometry( arcShape ); + * const material = new THREE.MeshBasicMaterial( { color: 0x00ff00, side: THREE.DoubleSide } ); + * const mesh = new THREE.Mesh( geometry, material ) ; + * scene.add( mesh ); + * ``` + * + * @augments BufferGeometry + * @demo scenes/geometry-browser.html#ShapeGeometry + */ +class ShapeGeometry extends BufferGeometry { + + /** + * Constructs a new shape geometry. + * + * @param {Shape|Array} [shapes] - A shape or an array of shapes. + * @param {number} [curveSegments=12] - Number of segments per shape. + */ + constructor( shapes = new Shape( [ new Vector2( 0, 0.5 ), new Vector2( -0.5, -0.5 ), new Vector2( 0.5, -0.5 ) ] ), curveSegments = 12 ) { + + super(); + + this.type = 'ShapeGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + shapes: shapes, + curveSegments: curveSegments + }; + + // buffers + + const indices = []; + const vertices = []; + const normals = []; + const uvs = []; + + // helper variables + + let groupStart = 0; + let groupCount = 0; + + // allow single and array values for "shapes" parameter + + if ( Array.isArray( shapes ) === false ) { + + addShape( shapes ); + + } else { + + for ( let i = 0; i < shapes.length; i ++ ) { + + addShape( shapes[ i ] ); + + this.addGroup( groupStart, groupCount, i ); // enables MultiMaterial support + + groupStart += groupCount; + groupCount = 0; + + } + + } + + // build geometry + + this.setIndex( indices ); + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) ); + + + // helper functions + + function addShape( shape ) { + + const indexOffset = vertices.length / 3; + const points = shape.extractPoints( curveSegments ); + + let shapeVertices = points.shape; + const shapeHoles = points.holes; + + // check direction of vertices + + if ( ShapeUtils.isClockWise( shapeVertices ) === false ) { + + shapeVertices = shapeVertices.reverse(); + + } + + for ( let i = 0, l = shapeHoles.length; i < l; i ++ ) { + + const shapeHole = shapeHoles[ i ]; + + if ( ShapeUtils.isClockWise( shapeHole ) === true ) { + + shapeHoles[ i ] = shapeHole.reverse(); + + } + + } + + const faces = ShapeUtils.triangulateShape( shapeVertices, shapeHoles ); + + // join vertices of inner and outer paths to a single array + + for ( let i = 0, l = shapeHoles.length; i < l; i ++ ) { + + const shapeHole = shapeHoles[ i ]; + shapeVertices = shapeVertices.concat( shapeHole ); + + } + + // vertices, normals, uvs + + for ( let i = 0, l = shapeVertices.length; i < l; i ++ ) { + + const vertex = shapeVertices[ i ]; + + vertices.push( vertex.x, vertex.y, 0 ); + normals.push( 0, 0, 1 ); + uvs.push( vertex.x, vertex.y ); // world uvs + + } + + // indices + + for ( let i = 0, l = faces.length; i < l; i ++ ) { + + const face = faces[ i ]; + + const a = face[ 0 ] + indexOffset; + const b = face[ 1 ] + indexOffset; + const c = face[ 2 ] + indexOffset; + + indices.push( a, b, c ); + groupCount += 3; + + } + + } + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + const shapes = this.parameters.shapes; + + return toJSON( shapes, data ); + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @param {Array} shapes - An array of shapes. + * @return {ShapeGeometry} A new instance. + */ + static fromJSON( data, shapes ) { + + const geometryShapes = []; + + for ( let j = 0, jl = data.shapes.length; j < jl; j ++ ) { + + const shape = shapes[ data.shapes[ j ] ]; + + geometryShapes.push( shape ); + + } + + return new ShapeGeometry( geometryShapes, data.curveSegments ); + + } + +} + +function toJSON( shapes, data ) { + + data.shapes = []; + + if ( Array.isArray( shapes ) ) { + + for ( let i = 0, l = shapes.length; i < l; i ++ ) { + + const shape = shapes[ i ]; + + data.shapes.push( shape.uuid ); + + } + + } else { + + data.shapes.push( shapes.uuid ); + + } + + return data; + +} + +/** + * A class for generating a sphere geometry. + * + * ```js + * const geometry = new THREE.SphereGeometry( 15, 32, 16 ); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00 } ); + * const sphere = new THREE.Mesh( geometry, material ); + * scene.add( sphere ); + * ``` + * + * @augments BufferGeometry + * @demo scenes/geometry-browser.html#SphereGeometry + */ +class SphereGeometry extends BufferGeometry { + + /** + * Constructs a new sphere geometry. + * + * @param {number} [radius=1] - The sphere radius. + * @param {number} [widthSegments=32] - The number of horizontal segments. Minimum value is `3`. + * @param {number} [heightSegments=16] - The number of vertical segments. Minimum value is `2`. + * @param {number} [phiStart=0] - The horizontal starting angle in radians. + * @param {number} [phiLength=Math.PI*2] - The horizontal sweep angle size. + * @param {number} [thetaStart=0] - The vertical starting angle in radians. + * @param {number} [thetaLength=Math.PI] - The vertical sweep angle size. + */ + constructor( radius = 1, widthSegments = 32, heightSegments = 16, phiStart = 0, phiLength = Math.PI * 2, thetaStart = 0, thetaLength = Math.PI ) { + + super(); + + this.type = 'SphereGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + radius: radius, + widthSegments: widthSegments, + heightSegments: heightSegments, + phiStart: phiStart, + phiLength: phiLength, + thetaStart: thetaStart, + thetaLength: thetaLength + }; + + widthSegments = Math.max( 3, Math.floor( widthSegments ) ); + heightSegments = Math.max( 2, Math.floor( heightSegments ) ); + + const thetaEnd = Math.min( thetaStart + thetaLength, Math.PI ); + + let index = 0; + const grid = []; + + const vertex = new Vector3(); + const normal = new Vector3(); + + // buffers + + const indices = []; + const vertices = []; + const normals = []; + const uvs = []; + + // generate vertices, normals and uvs + + for ( let iy = 0; iy <= heightSegments; iy ++ ) { + + const verticesRow = []; + + const v = iy / heightSegments; + + // special case for the poles + + let uOffset = 0; + + if ( iy === 0 && thetaStart === 0 ) { + + uOffset = 0.5 / widthSegments; + + } else if ( iy === heightSegments && thetaEnd === Math.PI ) { + + uOffset = -0.5 / widthSegments; + + } + + for ( let ix = 0; ix <= widthSegments; ix ++ ) { + + const u = ix / widthSegments; + + // vertex + + vertex.x = - radius * Math.cos( phiStart + u * phiLength ) * Math.sin( thetaStart + v * thetaLength ); + vertex.y = radius * Math.cos( thetaStart + v * thetaLength ); + vertex.z = radius * Math.sin( phiStart + u * phiLength ) * Math.sin( thetaStart + v * thetaLength ); + + vertices.push( vertex.x, vertex.y, vertex.z ); + + // normal + + normal.copy( vertex ).normalize(); + normals.push( normal.x, normal.y, normal.z ); + + // uv + + uvs.push( u + uOffset, 1 - v ); + + verticesRow.push( index ++ ); + + } + + grid.push( verticesRow ); + + } + + // indices + + for ( let iy = 0; iy < heightSegments; iy ++ ) { + + for ( let ix = 0; ix < widthSegments; ix ++ ) { + + const a = grid[ iy ][ ix + 1 ]; + const b = grid[ iy ][ ix ]; + const c = grid[ iy + 1 ][ ix ]; + const d = grid[ iy + 1 ][ ix + 1 ]; + + if ( iy !== 0 || thetaStart > 0 ) indices.push( a, b, d ); + if ( iy !== heightSegments - 1 || thetaEnd < Math.PI ) indices.push( b, c, d ); + + } + + } + + // build geometry + + this.setIndex( indices ); + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) ); + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {SphereGeometry} A new instance. + */ + static fromJSON( data ) { + + return new SphereGeometry( data.radius, data.widthSegments, data.heightSegments, data.phiStart, data.phiLength, data.thetaStart, data.thetaLength ); + + } + +} + +/** + * A geometry class for representing an tetrahedron. + * + * ```js + * const geometry = new THREE.TetrahedronGeometry(); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00 } ); + * const tetrahedron = new THREE.Mesh( geometry, material ); + * scene.add( tetrahedron ); + * ``` + * + * @augments PolyhedronGeometry + * @demo scenes/geometry-browser.html#TetrahedronGeometry + */ +class TetrahedronGeometry extends PolyhedronGeometry { + + /** + * Constructs a new tetrahedron geometry. + * + * @param {number} [radius=1] - Radius of the tetrahedron. + * @param {number} [detail=0] - Setting this to a value greater than `0` adds vertices making it no longer a tetrahedron. + */ + constructor( radius = 1, detail = 0 ) { + + const vertices = [ + 1, 1, 1, -1, -1, 1, -1, 1, -1, 1, -1, -1 + ]; + + const indices = [ + 2, 1, 0, 0, 3, 2, 1, 3, 0, 2, 3, 1 + ]; + + super( vertices, indices, radius, detail ); + + this.type = 'TetrahedronGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + radius: radius, + detail: detail + }; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {TetrahedronGeometry} A new instance. + */ + static fromJSON( data ) { + + return new TetrahedronGeometry( data.radius, data.detail ); + + } + +} + +/** + * A geometry class for representing an torus. + * + * ```js + * const geometry = new THREE.TorusGeometry( 10, 3, 16, 100 ); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00 } ); + * const torus = new THREE.Mesh( geometry, material ); + * scene.add( torus ); + * ``` + * + * @augments BufferGeometry + * @demo scenes/geometry-browser.html#TorusGeometry + */ +class TorusGeometry extends BufferGeometry { + + /** + * Constructs a new torus geometry. + * + * @param {number} [radius=1] - Radius of the torus, from the center of the torus to the center of the tube. + * @param {number} [tube=0.4] - Radius of the tube. Must be smaller than `radius`. + * @param {number} [radialSegments=12] - The number of radial segments. + * @param {number} [tubularSegments=48] - The number of tubular segments. + * @param {number} [arc=Math.PI*2] - Central angle in radians. + * @param {number} [thetaStart=0] - Start of the tubular sweep in radians. + * @param {number} [thetaLength=Math.PI*2] - Length of the tubular sweep in radians. + */ + constructor( radius = 1, tube = 0.4, radialSegments = 12, tubularSegments = 48, arc = Math.PI * 2, thetaStart = 0, thetaLength = Math.PI * 2 ) { + + super(); + + this.type = 'TorusGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + radius: radius, + tube: tube, + radialSegments: radialSegments, + tubularSegments: tubularSegments, + arc: arc, + thetaStart: thetaStart, + thetaLength: thetaLength, + }; + + radialSegments = Math.floor( radialSegments ); + tubularSegments = Math.floor( tubularSegments ); + + // buffers + + const indices = []; + const vertices = []; + const normals = []; + const uvs = []; + + // helper variables + + const center = new Vector3(); + const vertex = new Vector3(); + const normal = new Vector3(); + + // generate vertices, normals and uvs + + for ( let j = 0; j <= radialSegments; j ++ ) { + + const v = thetaStart + ( j / radialSegments ) * thetaLength; + + for ( let i = 0; i <= tubularSegments; i ++ ) { + + const u = i / tubularSegments * arc; + + // vertex + + vertex.x = ( radius + tube * Math.cos( v ) ) * Math.cos( u ); + vertex.y = ( radius + tube * Math.cos( v ) ) * Math.sin( u ); + vertex.z = tube * Math.sin( v ); + + vertices.push( vertex.x, vertex.y, vertex.z ); + + // normal + + center.x = radius * Math.cos( u ); + center.y = radius * Math.sin( u ); + normal.subVectors( vertex, center ).normalize(); + + normals.push( normal.x, normal.y, normal.z ); + + // uv + + uvs.push( i / tubularSegments ); + uvs.push( j / radialSegments ); + + } + + } + + // generate indices + + for ( let j = 1; j <= radialSegments; j ++ ) { + + for ( let i = 1; i <= tubularSegments; i ++ ) { + + // indices + + const a = ( tubularSegments + 1 ) * j + i - 1; + const b = ( tubularSegments + 1 ) * ( j - 1 ) + i - 1; + const c = ( tubularSegments + 1 ) * ( j - 1 ) + i; + const d = ( tubularSegments + 1 ) * j + i; + + // faces + + indices.push( a, b, d ); + indices.push( b, c, d ); + + } + + } + + // build geometry + + this.setIndex( indices ); + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) ); + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {TorusGeometry} A new instance. + */ + static fromJSON( data ) { + + return new TorusGeometry( data.radius, data.tube, data.radialSegments, data.tubularSegments, data.arc ); + + } + +} + +/** + * Creates a torus knot, the particular shape of which is defined by a pair + * of coprime integers, p and q. If p and q are not coprime, the result will + * be a torus link. + * + * ```js + * const geometry = new THREE.TorusKnotGeometry( 10, 3, 100, 16 ); + * const material = new THREE.MeshBasicMaterial( { color: 0xffff00 } ); + * const torusKnot = new THREE.Mesh( geometry, material ); + * scene.add( torusKnot ); + * ``` + * + * @augments BufferGeometry + * @demo scenes/geometry-browser.html#TorusKnotGeometry + */ +class TorusKnotGeometry extends BufferGeometry { + + /** + * Constructs a new torus knot geometry. + * + * @param {number} [radius=1] - Radius of the torus knot. + * @param {number} [tube=0.4] - Radius of the tube. + * @param {number} [tubularSegments=64] - The number of tubular segments. + * @param {number} [radialSegments=8] - The number of radial segments. + * @param {number} [p=2] - This value determines, how many times the geometry winds around its axis of rotational symmetry. + * @param {number} [q=3] - This value determines, how many times the geometry winds around a circle in the interior of the torus. + */ + constructor( radius = 1, tube = 0.4, tubularSegments = 64, radialSegments = 8, p = 2, q = 3 ) { + + super(); + + this.type = 'TorusKnotGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + radius: radius, + tube: tube, + tubularSegments: tubularSegments, + radialSegments: radialSegments, + p: p, + q: q + }; + + tubularSegments = Math.floor( tubularSegments ); + radialSegments = Math.floor( radialSegments ); + + // buffers + + const indices = []; + const vertices = []; + const normals = []; + const uvs = []; + + // helper variables + + const vertex = new Vector3(); + const normal = new Vector3(); + + const P1 = new Vector3(); + const P2 = new Vector3(); + + const B = new Vector3(); + const T = new Vector3(); + const N = new Vector3(); + + // generate vertices, normals and uvs + + for ( let i = 0; i <= tubularSegments; ++ i ) { + + // the radian "u" is used to calculate the position on the torus curve of the current tubular segment + + const u = i / tubularSegments * p * Math.PI * 2; + + // now we calculate two points. P1 is our current position on the curve, P2 is a little farther ahead. + // these points are used to create a special "coordinate space", which is necessary to calculate the correct vertex positions + + calculatePositionOnCurve( u, p, q, radius, P1 ); + calculatePositionOnCurve( u + 0.01, p, q, radius, P2 ); + + // calculate orthonormal basis + + T.subVectors( P2, P1 ); + N.addVectors( P2, P1 ); + B.crossVectors( T, N ); + N.crossVectors( B, T ); + + // normalize B, N. T can be ignored, we don't use it + + B.normalize(); + N.normalize(); + + for ( let j = 0; j <= radialSegments; ++ j ) { + + // now calculate the vertices. they are nothing more than an extrusion of the torus curve. + // because we extrude a shape in the xy-plane, there is no need to calculate a z-value. + + const v = j / radialSegments * Math.PI * 2; + const cx = - tube * Math.cos( v ); + const cy = tube * Math.sin( v ); + + // now calculate the final vertex position. + // first we orient the extrusion with our basis vectors, then we add it to the current position on the curve + + vertex.x = P1.x + ( cx * N.x + cy * B.x ); + vertex.y = P1.y + ( cx * N.y + cy * B.y ); + vertex.z = P1.z + ( cx * N.z + cy * B.z ); + + vertices.push( vertex.x, vertex.y, vertex.z ); + + // normal (P1 is always the center/origin of the extrusion, thus we can use it to calculate the normal) + + normal.subVectors( vertex, P1 ).normalize(); + + normals.push( normal.x, normal.y, normal.z ); + + // uv + + uvs.push( i / tubularSegments ); + uvs.push( j / radialSegments ); + + } + + } + + // generate indices + + for ( let j = 1; j <= tubularSegments; j ++ ) { + + for ( let i = 1; i <= radialSegments; i ++ ) { + + // indices + + const a = ( radialSegments + 1 ) * ( j - 1 ) + ( i - 1 ); + const b = ( radialSegments + 1 ) * j + ( i - 1 ); + const c = ( radialSegments + 1 ) * j + i; + const d = ( radialSegments + 1 ) * ( j - 1 ) + i; + + // faces + + indices.push( a, b, d ); + indices.push( b, c, d ); + + } + + } + + // build geometry + + this.setIndex( indices ); + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) ); + + // this function calculates the current position on the torus curve + + function calculatePositionOnCurve( u, p, q, radius, position ) { + + const cu = Math.cos( u ); + const su = Math.sin( u ); + const quOverP = q / p * u; + const cs = Math.cos( quOverP ); + + position.x = radius * ( 2 + cs ) * 0.5 * cu; + position.y = radius * ( 2 + cs ) * su * 0.5; + position.z = radius * Math.sin( quOverP ) * 0.5; + + } + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {TorusKnotGeometry} A new instance. + */ + static fromJSON( data ) { + + return new TorusKnotGeometry( data.radius, data.tube, data.tubularSegments, data.radialSegments, data.p, data.q ); + + } + +} + +/** + * Creates a tube that extrudes along a 3D curve. + * + * ```js + * class CustomSinCurve extends THREE.Curve { + * + * getPoint( t, optionalTarget = new THREE.Vector3() ) { + * + * const tx = t * 3 - 1.5; + * const ty = Math.sin( 2 * Math.PI * t ); + * const tz = 0; + * + * return optionalTarget.set( tx, ty, tz ); + * } + * + * } + * + * const path = new CustomSinCurve( 10 ); + * const geometry = new THREE.TubeGeometry( path, 20, 2, 8, false ); + * const material = new THREE.MeshBasicMaterial( { color: 0x00ff00 } ); + * const mesh = new THREE.Mesh( geometry, material ); + * scene.add( mesh ); + * ``` + * + * @augments BufferGeometry + * @demo scenes/geometry-browser.html#TubeGeometry + */ +class TubeGeometry extends BufferGeometry { + + /** + * Constructs a new tube geometry. + * + * @param {Curve} [path=QuadraticBezierCurve3] - A 3D curve defining the path of the tube. + * @param {number} [tubularSegments=64] - The number of segments that make up the tube. + * @param {number} [radius=1] -The radius of the tube. + * @param {number} [radialSegments=8] - The number of segments that make up the cross-section. + * @param {boolean} [closed=false] - Whether the tube is closed or not. + */ + constructor( path = new QuadraticBezierCurve3( new Vector3( -1, -1, 0 ), new Vector3( -1, 1, 0 ), new Vector3( 1, 1, 0 ) ), tubularSegments = 64, radius = 1, radialSegments = 8, closed = false ) { + + super(); + + this.type = 'TubeGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + path: path, + tubularSegments: tubularSegments, + radius: radius, + radialSegments: radialSegments, + closed: closed + }; + + const frames = path.computeFrenetFrames( tubularSegments, closed ); + + // expose internals + + this.tangents = frames.tangents; + this.normals = frames.normals; + this.binormals = frames.binormals; + + // helper variables + + const vertex = new Vector3(); + const normal = new Vector3(); + const uv = new Vector2(); + let P = new Vector3(); + + // buffer + + const vertices = []; + const normals = []; + const uvs = []; + const indices = []; + + // create buffer data + + generateBufferData(); + + // build geometry + + this.setIndex( indices ); + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + this.setAttribute( 'normal', new Float32BufferAttribute( normals, 3 ) ); + this.setAttribute( 'uv', new Float32BufferAttribute( uvs, 2 ) ); + + // functions + + function generateBufferData() { + + for ( let i = 0; i < tubularSegments; i ++ ) { + + generateSegment( i ); + + } + + // if the geometry is not closed, generate the last row of vertices and normals + // at the regular position on the given path + // + // if the geometry is closed, duplicate the first row of vertices and normals (uvs will differ) + + generateSegment( ( closed === false ) ? tubularSegments : 0 ); + + // uvs are generated in a separate function. + // this makes it easy compute correct values for closed geometries + + generateUVs(); + + // finally create faces + + generateIndices(); + + } + + function generateSegment( i ) { + + // we use getPointAt to sample evenly distributed points from the given path + + P = path.getPointAt( i / tubularSegments, P ); + + // retrieve corresponding normal and binormal + + const N = frames.normals[ i ]; + const B = frames.binormals[ i ]; + + // generate normals and vertices for the current segment + + for ( let j = 0; j <= radialSegments; j ++ ) { + + const v = j / radialSegments * Math.PI * 2; + + const sin = Math.sin( v ); + const cos = - Math.cos( v ); + + // normal + + normal.x = ( cos * N.x + sin * B.x ); + normal.y = ( cos * N.y + sin * B.y ); + normal.z = ( cos * N.z + sin * B.z ); + normal.normalize(); + + normals.push( normal.x, normal.y, normal.z ); + + // vertex + + vertex.x = P.x + radius * normal.x; + vertex.y = P.y + radius * normal.y; + vertex.z = P.z + radius * normal.z; + + vertices.push( vertex.x, vertex.y, vertex.z ); + + } + + } + + function generateIndices() { + + for ( let j = 1; j <= tubularSegments; j ++ ) { + + for ( let i = 1; i <= radialSegments; i ++ ) { + + const a = ( radialSegments + 1 ) * ( j - 1 ) + ( i - 1 ); + const b = ( radialSegments + 1 ) * j + ( i - 1 ); + const c = ( radialSegments + 1 ) * j + i; + const d = ( radialSegments + 1 ) * ( j - 1 ) + i; + + // faces + + indices.push( a, b, d ); + indices.push( b, c, d ); + + } + + } + + } + + function generateUVs() { + + for ( let i = 0; i <= tubularSegments; i ++ ) { + + for ( let j = 0; j <= radialSegments; j ++ ) { + + uv.x = i / tubularSegments; + uv.y = j / radialSegments; + + uvs.push( uv.x, uv.y ); + + } + + } + + } + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.path = this.parameters.path.toJSON(); + + return data; + + } + + /** + * Factory method for creating an instance of this class from the given + * JSON object. + * + * @param {Object} data - A JSON object representing the serialized geometry. + * @return {TubeGeometry} A new instance. + */ + static fromJSON( data ) { + + // This only works for built-in curves (e.g. CatmullRomCurve3). + // User defined curves or instances of CurvePath will not be deserialized. + return new TubeGeometry( + new Curves[ data.path.type ]().fromJSON( data.path ), + data.tubularSegments, + data.radius, + data.radialSegments, + data.closed + ); + + } + +} + +/** + * Can be used as a helper object to visualize a geometry as a wireframe. + * + * ```js + * const geometry = new THREE.SphereGeometry(); + * + * const wireframe = new THREE.WireframeGeometry( geometry ); + * + * const line = new THREE.LineSegments( wireframe ); + * line.material.depthWrite = false; + * line.material.opacity = 0.25; + * line.material.transparent = true; + * + * scene.add( line ); + * ``` + * + * Note: It is not yet possible to serialize/deserialize instances of this class. + * + * @augments BufferGeometry + */ +class WireframeGeometry extends BufferGeometry { + + /** + * Constructs a new wireframe geometry. + * + * @param {?BufferGeometry} [geometry=null] - The geometry. + */ + constructor( geometry = null ) { + + super(); + + this.type = 'WireframeGeometry'; + + /** + * Holds the constructor parameters that have been + * used to generate the geometry. Any modification + * after instantiation does not change the geometry. + * + * @type {Object} + */ + this.parameters = { + geometry: geometry + }; + + if ( geometry !== null ) { + + // buffer + + const vertices = []; + const edges = new Set(); + + // helper variables + + const start = new Vector3(); + const end = new Vector3(); + + if ( geometry.index !== null ) { + + // indexed BufferGeometry + + const position = geometry.attributes.position; + const indices = geometry.index; + let groups = geometry.groups; + + if ( groups.length === 0 ) { + + groups = [ { start: 0, count: indices.count, materialIndex: 0 } ]; + + } + + // create a data structure that contains all edges without duplicates + + for ( let o = 0, ol = groups.length; o < ol; ++ o ) { + + const group = groups[ o ]; + + const groupStart = group.start; + const groupCount = group.count; + + for ( let i = groupStart, l = ( groupStart + groupCount ); i < l; i += 3 ) { + + for ( let j = 0; j < 3; j ++ ) { + + const index1 = indices.getX( i + j ); + const index2 = indices.getX( i + ( j + 1 ) % 3 ); + + start.fromBufferAttribute( position, index1 ); + end.fromBufferAttribute( position, index2 ); + + if ( isUniqueEdge( start, end, edges ) === true ) { + + vertices.push( start.x, start.y, start.z ); + vertices.push( end.x, end.y, end.z ); + + } + + } + + } + + } + + } else { + + // non-indexed BufferGeometry + + const position = geometry.attributes.position; + + for ( let i = 0, l = ( position.count / 3 ); i < l; i ++ ) { + + for ( let j = 0; j < 3; j ++ ) { + + // three edges per triangle, an edge is represented as (index1, index2) + // e.g. the first triangle has the following edges: (0,1),(1,2),(2,0) + + const index1 = 3 * i + j; + const index2 = 3 * i + ( ( j + 1 ) % 3 ); + + start.fromBufferAttribute( position, index1 ); + end.fromBufferAttribute( position, index2 ); + + if ( isUniqueEdge( start, end, edges ) === true ) { + + vertices.push( start.x, start.y, start.z ); + vertices.push( end.x, end.y, end.z ); + + } + + } + + } + + } + + // build geometry + + this.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + + } + + } + + copy( source ) { + + super.copy( source ); + + this.parameters = Object.assign( {}, source.parameters ); + + return this; + + } + +} + +function isUniqueEdge( start, end, edges ) { + + const hash1 = `${start.x},${start.y},${start.z}-${end.x},${end.y},${end.z}`; + const hash2 = `${end.x},${end.y},${end.z}-${start.x},${start.y},${start.z}`; // coincident edge + + if ( edges.has( hash1 ) === true || edges.has( hash2 ) === true ) { + + return false; + + } else { + + edges.add( hash1 ); + edges.add( hash2 ); + return true; + + } + +} + +var Geometries = /*#__PURE__*/Object.freeze({ + __proto__: null, + BoxGeometry: BoxGeometry, + CapsuleGeometry: CapsuleGeometry, + CircleGeometry: CircleGeometry, + ConeGeometry: ConeGeometry, + CylinderGeometry: CylinderGeometry, + DodecahedronGeometry: DodecahedronGeometry, + EdgesGeometry: EdgesGeometry, + ExtrudeGeometry: ExtrudeGeometry, + IcosahedronGeometry: IcosahedronGeometry, + LatheGeometry: LatheGeometry, + OctahedronGeometry: OctahedronGeometry, + PlaneGeometry: PlaneGeometry, + PolyhedronGeometry: PolyhedronGeometry, + RingGeometry: RingGeometry, + ShapeGeometry: ShapeGeometry, + SphereGeometry: SphereGeometry, + TetrahedronGeometry: TetrahedronGeometry, + TorusGeometry: TorusGeometry, + TorusKnotGeometry: TorusKnotGeometry, + TubeGeometry: TubeGeometry, + WireframeGeometry: WireframeGeometry +}); + +/** + * This material can receive shadows, but otherwise is completely transparent. + * + * ```js + * const geometry = new THREE.PlaneGeometry( 2000, 2000 ); + * geometry.rotateX( - Math.PI / 2 ); + * + * const material = new THREE.ShadowMaterial(); + * material.opacity = 0.2; + * + * const plane = new THREE.Mesh( geometry, material ); + * plane.position.y = -200; + * plane.receiveShadow = true; + * scene.add( plane ); + * ``` + * + * @augments Material + */ +class ShadowMaterial extends Material { + + /** + * Constructs a new shadow material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isShadowMaterial = true; + + this.type = 'ShadowMaterial'; + + /** + * Color of the material. + * + * @type {Color} + * @default (0,0,0) + */ + this.color = new Color( 0x000000 ); + + /** + * Overwritten since shadow materials are transparent + * by default. + * + * @type {boolean} + * @default true + */ + this.transparent = true; + + /** + * Whether the material is affected by fog or not. + * + * @type {boolean} + * @default true + */ + this.fog = true; + + this.setValues( parameters ); + + } + + copy( source ) { + + super.copy( source ); + + this.color.copy( source.color ); + + this.fog = source.fog; + + return this; + + } + +} + +/** + * Provides utility functions for managing uniforms. + * + * @module UniformsUtils + */ + +/** + * Clones the given uniform definitions by performing a deep-copy. That means + * if the value of a uniform refers to an object like a Vector3 or Texture, + * the cloned uniform will refer to a new object reference. + * + * @param {Object} src - An object representing uniform definitions. + * @return {Object} The cloned uniforms. + */ +function cloneUniforms( src ) { + + const dst = {}; + + for ( const u in src ) { + + dst[ u ] = {}; + + for ( const p in src[ u ] ) { + + const property = src[ u ][ p ]; + + if ( property && ( property.isColor || + property.isMatrix3 || property.isMatrix4 || + property.isVector2 || property.isVector3 || property.isVector4 || + property.isTexture || property.isQuaternion ) ) { + + if ( property.isRenderTargetTexture ) { + + warn( 'UniformsUtils: Textures of render targets cannot be cloned via cloneUniforms() or mergeUniforms().' ); + dst[ u ][ p ] = null; + + } else { + + dst[ u ][ p ] = property.clone(); + + } + + } else if ( Array.isArray( property ) ) { + + dst[ u ][ p ] = property.slice(); + + } else { + + dst[ u ][ p ] = property; + + } + + } + + } + + return dst; + +} + +/** + * Merges the given uniform definitions into a single object. Since the + * method internally uses cloneUniforms(), it performs a deep-copy when + * producing the merged uniform definitions. + * + * @param {Array} uniforms - An array of objects containing uniform definitions. + * @return {Object} The merged uniforms. + */ +function mergeUniforms( uniforms ) { + + const merged = {}; + + for ( let u = 0; u < uniforms.length; u ++ ) { + + const tmp = cloneUniforms( uniforms[ u ] ); + + for ( const p in tmp ) { + + merged[ p ] = tmp[ p ]; + + } + + } + + return merged; + +} + +function cloneUniformsGroups( src ) { + + const dst = []; + + for ( let u = 0; u < src.length; u ++ ) { + + dst.push( src[ u ].clone() ); + + } + + return dst; + +} + +function getUnlitUniformColorSpace( renderer ) { + + const currentRenderTarget = renderer.getRenderTarget(); + + if ( currentRenderTarget === null ) { + + // https://github.com/mrdoob/three.js/pull/23937#issuecomment-1111067398 + return renderer.outputColorSpace; + + } + + // https://github.com/mrdoob/three.js/issues/27868 + if ( currentRenderTarget.isXRRenderTarget === true ) { + + return currentRenderTarget.texture.colorSpace; + + } + + return ColorManagement.workingColorSpace; + +} + +// Legacy + +const UniformsUtils = { clone: cloneUniforms, merge: mergeUniforms }; + +var default_vertex = "void main() {\n\tgl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );\n}"; + +var default_fragment = "void main() {\n\tgl_FragColor = vec4( 1.0, 0.0, 0.0, 1.0 );\n}"; + +/** + * A material rendered with custom shaders. A shader is a small program written in GLSL. + * that runs on the GPU. You may want to use a custom shader if you need to implement an + * effect not included with any of the built-in materials. + * + * There are the following notes to bear in mind when using a `ShaderMaterial`: + * + * - `ShaderMaterial` can only be used with {@link WebGLRenderer}. + * - Built in attributes and uniforms are passed to the shaders along with your code. If + * you don't want that, use {@link RawShaderMaterial} instead. + * - You can use the directive `#pragma unroll_loop_start` and `#pragma unroll_loop_end` + * in order to unroll a `for` loop in GLSL by the shader preprocessor. The directive has + * to be placed right above the loop. The loop formatting has to correspond to a defined standard. + * - The loop has to be [normalized](https://en.wikipedia.org/wiki/Normalized_loop). + * - The loop variable has to be *i*. + * - The value `UNROLLED_LOOP_INDEX` will be replaced with the explicitly + * value of *i* for the given iteration and can be used in preprocessor + * statements. + * + * ```js + * const material = new THREE.ShaderMaterial( { + * uniforms: { + * time: { value: 1.0 }, + * resolution: { value: new THREE.Vector2() } + * }, + * vertexShader: document.getElementById( 'vertexShader' ).textContent, + * fragmentShader: document.getElementById( 'fragmentShader' ).textContent + * } ); + * ``` + * + * @augments Material + */ +class ShaderMaterial extends Material { + + /** + * Constructs a new shader material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isShaderMaterial = true; + + this.type = 'ShaderMaterial'; + + /** + * Defines custom constants using `#define` directives within the GLSL code + * for both the vertex shader and the fragment shader; each key/value pair + * yields another directive. + * ```js + * defines: { + * FOO: 15, + * BAR: true + * } + * ``` + * Yields the lines: + * ``` + * #define FOO 15 + * #define BAR true + * ``` + * + * @type {Object} + */ + this.defines = {}; + + /** + * An object of the form: + * ```js + * { + * "uniform1": { value: 1.0 }, + * "uniform2": { value: 2 } + * } + * ``` + * specifying the uniforms to be passed to the shader code; keys are uniform + * names, values are definitions of the form + * ``` + * { + * value: 1.0 + * } + * ``` + * where `value` is the value of the uniform. Names must match the name of + * the uniform, as defined in the GLSL code. Note that uniforms are refreshed + * on every frame, so updating the value of the uniform will immediately + * update the value available to the GLSL code. + * + * @type {Object} + */ + this.uniforms = {}; + + /** + * An array holding uniforms groups for configuring UBOs. + * + * @type {Array} + */ + this.uniformsGroups = []; + + /** + * Vertex shader GLSL code. This is the actual code for the shader. + * + * @type {string} + */ + this.vertexShader = default_vertex; + + /** + * Fragment shader GLSL code. This is the actual code for the shader. + * + * @type {string} + */ + this.fragmentShader = default_fragment; + + /** + * Controls line thickness or lines. + * + * WebGL and WebGPU ignore this setting and always render line primitives with a + * width of one pixel. + * + * @type {number} + * @default 1 + */ + this.linewidth = 1; + + /** + * Renders the geometry as a wireframe. + * + * @type {boolean} + * @default false + */ + this.wireframe = false; + + /** + * Controls the thickness of the wireframe. + * + * WebGL and WebGPU ignore this property and always render + * 1 pixel wide lines. + * + * @type {number} + * @default 1 + */ + this.wireframeLinewidth = 1; + + /** + * Defines whether the material color is affected by global fog settings; `true` + * to pass fog uniforms to the shader. + * + * Setting this property to `true` requires the definition of fog uniforms. It is + * recommended to use `UniformsUtils.merge()` to combine the custom shader uniforms + * with predefined fog uniforms. + * + * ```js + * const material = new ShaderMaterial( { + * uniforms: UniformsUtils.merge( [ UniformsLib[ 'fog' ], shaderUniforms ] ); + * vertexShader: vertexShader, + * fragmentShader: fragmentShader, + * fog: true + * } ); + * ``` + * + * @type {boolean} + * @default false + */ + this.fog = false; + + /** + * Defines whether this material uses lighting; `true` to pass uniform data + * related to lighting to this shader. + * + * @type {boolean} + * @default false + */ + this.lights = false; + + /** + * Defines whether this material supports clipping; `true` to let the renderer + * pass the clippingPlanes uniform. + * + * @type {boolean} + * @default false + */ + this.clipping = false; + + /** + * Overwritten and set to `true` by default. + * + * @type {boolean} + * @default true + */ + this.forceSinglePass = true; + + /** + * This object allows to enable certain WebGL 2 extensions. + * + * - clipCullDistance: set to `true` to use vertex shader clipping + * - multiDraw: set to `true` to use vertex shader multi_draw / enable gl_DrawID + * + * @type {{clipCullDistance:false,multiDraw:false}} + */ + this.extensions = { + clipCullDistance: false, // set to use vertex shader clipping + multiDraw: false // set to use vertex shader multi_draw / enable gl_DrawID + }; + + /** + * When the rendered geometry doesn't include these attributes but the + * material does, these default values will be passed to the shaders. This + * avoids errors when buffer data is missing. + * + * - color: [ 1, 1, 1 ] + * - uv: [ 0, 0 ] + * - uv1: [ 0, 0 ] + * + * @type {Object} + */ + this.defaultAttributeValues = { + 'color': [ 1, 1, 1 ], + 'uv': [ 0, 0 ], + 'uv1': [ 0, 0 ] + }; + + /** + * If set, this calls [gl.bindAttribLocation](https://developer.mozilla.org/en-US/docs/Web/API/WebGLRenderingContext/bindAttribLocation) + * to bind a generic vertex index to an attribute variable. + * + * @type {string|undefined} + * @default undefined + */ + this.index0AttributeName = undefined; + + /** + * Can be used to force a uniform update while changing uniforms in + * {@link Object3D#onBeforeRender}. + * + * @type {boolean} + * @default false + */ + this.uniformsNeedUpdate = false; + + /** + * Defines the GLSL version of custom shader code. + * + * @type {?(GLSL1|GLSL3)} + * @default null + */ + this.glslVersion = null; + + if ( parameters !== undefined ) { + + this.setValues( parameters ); + + } + + } + + copy( source ) { + + super.copy( source ); + + this.fragmentShader = source.fragmentShader; + this.vertexShader = source.vertexShader; + + this.uniforms = cloneUniforms( source.uniforms ); + this.uniformsGroups = cloneUniformsGroups( source.uniformsGroups ); + + this.defines = Object.assign( {}, source.defines ); + + this.wireframe = source.wireframe; + this.wireframeLinewidth = source.wireframeLinewidth; + + this.fog = source.fog; + this.lights = source.lights; + this.clipping = source.clipping; + + this.extensions = Object.assign( {}, source.extensions ); + + this.glslVersion = source.glslVersion; + + this.defaultAttributeValues = Object.assign( {}, source.defaultAttributeValues ); + + this.index0AttributeName = source.index0AttributeName; + + this.uniformsNeedUpdate = source.uniformsNeedUpdate; + + return this; + + } + + toJSON( meta ) { + + const data = super.toJSON( meta ); + + data.glslVersion = this.glslVersion; + data.uniforms = {}; + + for ( const name in this.uniforms ) { + + const uniform = this.uniforms[ name ]; + const value = uniform.value; + + if ( value && value.isTexture ) { + + data.uniforms[ name ] = { + type: 't', + value: value.toJSON( meta ).uuid + }; + + } else if ( value && value.isColor ) { + + data.uniforms[ name ] = { + type: 'c', + value: value.getHex() + }; + + } else if ( value && value.isVector2 ) { + + data.uniforms[ name ] = { + type: 'v2', + value: value.toArray() + }; + + } else if ( value && value.isVector3 ) { + + data.uniforms[ name ] = { + type: 'v3', + value: value.toArray() + }; + + } else if ( value && value.isVector4 ) { + + data.uniforms[ name ] = { + type: 'v4', + value: value.toArray() + }; + + } else if ( value && value.isMatrix3 ) { + + data.uniforms[ name ] = { + type: 'm3', + value: value.toArray() + }; + + } else if ( value && value.isMatrix4 ) { + + data.uniforms[ name ] = { + type: 'm4', + value: value.toArray() + }; + + } else { + + data.uniforms[ name ] = { + value: value + }; + + // note: the array variants v2v, v3v, v4v, m4v and tv are not supported so far + + } + + } + + if ( Object.keys( this.defines ).length > 0 ) data.defines = this.defines; + + data.vertexShader = this.vertexShader; + data.fragmentShader = this.fragmentShader; + + data.lights = this.lights; + data.clipping = this.clipping; + + const extensions = {}; + + for ( const key in this.extensions ) { + + if ( this.extensions[ key ] === true ) extensions[ key ] = true; + + } + + if ( Object.keys( extensions ).length > 0 ) data.extensions = extensions; + + return data; + + } + +} + +/** + * This class works just like {@link ShaderMaterial}, except that definitions + * of built-in uniforms and attributes are not automatically prepended to the + * GLSL shader code. + * + * `RawShaderMaterial` can only be used with {@link WebGLRenderer}. + * + * @augments ShaderMaterial + */ +class RawShaderMaterial extends ShaderMaterial { + + /** + * Constructs a new raw shader material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super( parameters ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isRawShaderMaterial = true; + + this.type = 'RawShaderMaterial'; + + } + +} + +/** + * A standard physically based material, using Metallic-Roughness workflow. + * + * Physically based rendering (PBR) has recently become the standard in many + * 3D applications, such as [Unity](https://blogs.unity3d.com/2014/10/29/physically-based-shading-in-unity-5-a-primer/), + * [Unreal](https://docs.unrealengine.com/latest/INT/Engine/Rendering/Materials/PhysicallyBased/) and + * [3D Studio Max](http://area.autodesk.com/blogs/the-3ds-max-blog/what039s-new-for-rendering-in-3ds-max-2017). + * + * This approach differs from older approaches in that instead of using + * approximations for the way in which light interacts with a surface, a + * physically correct model is used. The idea is that, instead of tweaking + * materials to look good under specific lighting, a material can be created + * that will react 'correctly' under all lighting scenarios. + * + * In practice this gives a more accurate and realistic looking result than + * the {@link MeshLambertMaterial} or {@link MeshPhongMaterial}, at the cost of + * being somewhat more computationally expensive. `MeshStandardMaterial` uses per-fragment + * shading. + * + * Note that for best results you should always specify an environment map when using this material. + * + * For a non-technical introduction to the concept of PBR and how to set up a + * PBR material, check out these articles by the people at [marmoset](https://www.marmoset.co): + * + * - [Basic Theory of Physically Based Rendering](https://www.marmoset.co/posts/basic-theory-of-physically-based-rendering/) + * - [Physically Based Rendering and You Can Too](https://www.marmoset.co/posts/physically-based-rendering-and-you-can-too/) + * + * Technical details of the approach used in three.js (and most other PBR systems) can be found is this + * [paper from Disney](https://media.disneyanimation.com/uploads/production/publication_asset/48/asset/s2012_pbs_disney_brdf_notes_v3.pdf) + * (pdf), by Brent Burley. + * + * @augments Material + * @demo scenes/material-browser.html#MeshStandardMaterial + */ +class MeshStandardMaterial extends Material { + + /** + * Constructs a new mesh standard material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isMeshStandardMaterial = true; + + this.type = 'MeshStandardMaterial'; + + this.defines = { 'STANDARD': '' }; + + /** + * Color of the material. + * + * @type {Color} + * @default (1,1,1) + */ + this.color = new Color( 0xffffff ); // diffuse + + /** + * How rough the material appears. `0.0` means a smooth mirror reflection, `1.0` + * means fully diffuse. If `roughnessMap` is also provided, + * both values are multiplied. + * + * @type {number} + * @default 1 + */ + this.roughness = 1.0; + + /** + * How much the material is like a metal. Non-metallic materials such as wood + * or stone use `0.0`, metallic use `1.0`, with nothing (usually) in between. + * A value between `0.0` and `1.0` could be used for a rusty metal look. + * If `metalnessMap` is also provided, both values are multiplied. + * + * @type {number} + * @default 0 + */ + this.metalness = 0.0; + + /** + * The color map. May optionally include an alpha channel, typically combined + * with {@link Material#transparent} or {@link Material#alphaTest}. The texture map + * color is modulated by the diffuse `color`. + * + * @type {?Texture} + * @default null + */ + this.map = null; + + /** + * The light map. Requires a second set of UVs. + * + * @type {?Texture} + * @default null + */ + this.lightMap = null; + + /** + * Intensity of the baked light. + * + * @type {number} + * @default 1 + */ + this.lightMapIntensity = 1.0; + + /** + * The red channel of this texture is used as the ambient occlusion map. + * Requires a second set of UVs. + * + * @type {?Texture} + * @default null + */ + this.aoMap = null; + + /** + * Intensity of the ambient occlusion effect. Range is `[0,1]`, where `0` + * disables ambient occlusion. Where intensity is `1` and the AO map's + * red channel is also `1`, ambient light is fully occluded on a surface. + * + * @type {number} + * @default 1 + */ + this.aoMapIntensity = 1.0; + + /** + * Emissive (light) color of the material, essentially a solid color + * unaffected by other lighting. + * + * @type {Color} + * @default (0,0,0) + */ + this.emissive = new Color( 0x000000 ); + + /** + * Intensity of the emissive light. Modulates the emissive color. + * + * @type {number} + * @default 1 + */ + this.emissiveIntensity = 1.0; + + /** + * Set emissive (glow) map. The emissive map color is modulated by the + * emissive color and the emissive intensity. If you have an emissive map, + * be sure to set the emissive color to something other than black. + * + * @type {?Texture} + * @default null + */ + this.emissiveMap = null; + + /** + * The texture to create a bump map. The black and white values map to the + * perceived depth in relation to the lights. Bump doesn't actually affect + * the geometry of the object, only the lighting. If a normal map is defined + * this will be ignored. + * + * @type {?Texture} + * @default null + */ + this.bumpMap = null; + + /** + * How much the bump map affects the material. Typical range is `[0,1]`. + * + * @type {number} + * @default 1 + */ + this.bumpScale = 1; + + /** + * The texture to create a normal map. The RGB values affect the surface + * normal for each pixel fragment and change the way the color is lit. Normal + * maps do not change the actual shape of the surface, only the lighting. In + * case the material has a normal map authored using the left handed + * convention, the `y` component of `normalScale` should be negated to compensate + * for the different handedness. + * + * @type {?Texture} + * @default null + */ + this.normalMap = null; + + /** + * The type of normal map. + * + * @type {(TangentSpaceNormalMap|ObjectSpaceNormalMap)} + * @default TangentSpaceNormalMap + */ + this.normalMapType = TangentSpaceNormalMap; + + /** + * How much the normal map affects the material. Typical value range is `[0,1]`. + * + * @type {Vector2} + * @default (1,1) + */ + this.normalScale = new Vector2( 1, 1 ); + + /** + * The displacement map affects the position of the mesh's vertices. Unlike + * other maps which only affect the light and shade of the material the + * displaced vertices can cast shadows, block other objects, and otherwise + * act as real geometry. The displacement texture is an image where the value + * of each pixel (white being the highest) is mapped against, and + * repositions, the vertices of the mesh. + * + * @type {?Texture} + * @default null + */ + this.displacementMap = null; + + /** + * How much the displacement map affects the mesh (where black is no + * displacement, and white is maximum displacement). Without a displacement + * map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementScale = 1; + + /** + * The offset of the displacement map's values on the mesh's vertices. + * The bias is added to the scaled sample of the displacement map. + * Without a displacement map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementBias = 0; + + /** + * The green channel of this texture is used to alter the roughness of the + * material. + * + * @type {?Texture} + * @default null + */ + this.roughnessMap = null; + + /** + * The blue channel of this texture is used to alter the metalness of the + * material. + * + * @type {?Texture} + * @default null + */ + this.metalnessMap = null; + + /** + * The alpha map is a grayscale texture that controls the opacity across the + * surface (black: fully transparent; white: fully opaque). + * + * Only the color of the texture is used, ignoring the alpha channel if one + * exists. For RGB and RGBA textures, the renderer will use the green channel + * when sampling this texture due to the extra bit of precision provided for + * green in DXT-compressed and uncompressed RGB 565 formats. Luminance-only and + * luminance/alpha textures will also still work as expected. + * + * @type {?Texture} + * @default null + */ + this.alphaMap = null; + + /** + * The environment map. To ensure a physically correct rendering, environment maps + * are internally pre-processed with {@link PMREMGenerator}. + * + * @type {?Texture} + * @default null + */ + this.envMap = null; + + /** + * The rotation of the environment map in radians. + * + * @type {Euler} + * @default (0,0,0) + */ + this.envMapRotation = new Euler(); + + /** + * Scales the effect of the environment map by multiplying its color. + * + * @type {number} + * @default 1 + */ + this.envMapIntensity = 1.0; + + /** + * Renders the geometry as a wireframe. + * + * @type {boolean} + * @default false + */ + this.wireframe = false; + + /** + * Controls the thickness of the wireframe. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {number} + * @default 1 + */ + this.wireframeLinewidth = 1; + + /** + * Defines appearance of wireframe ends. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {('round'|'bevel'|'miter')} + * @default 'round' + */ + this.wireframeLinecap = 'round'; + + /** + * Defines appearance of wireframe joints. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {('round'|'bevel'|'miter')} + * @default 'round' + */ + this.wireframeLinejoin = 'round'; + + /** + * Whether the material is rendered with flat shading or not. + * + * @type {boolean} + * @default false + */ + this.flatShading = false; + + /** + * Whether the material is affected by fog or not. + * + * @type {boolean} + * @default true + */ + this.fog = true; + + this.setValues( parameters ); + + } + + copy( source ) { + + super.copy( source ); + + this.defines = { 'STANDARD': '' }; + + this.color.copy( source.color ); + this.roughness = source.roughness; + this.metalness = source.metalness; + + this.map = source.map; + + this.lightMap = source.lightMap; + this.lightMapIntensity = source.lightMapIntensity; + + this.aoMap = source.aoMap; + this.aoMapIntensity = source.aoMapIntensity; + + this.emissive.copy( source.emissive ); + this.emissiveMap = source.emissiveMap; + this.emissiveIntensity = source.emissiveIntensity; + + this.bumpMap = source.bumpMap; + this.bumpScale = source.bumpScale; + + this.normalMap = source.normalMap; + this.normalMapType = source.normalMapType; + this.normalScale.copy( source.normalScale ); + + this.displacementMap = source.displacementMap; + this.displacementScale = source.displacementScale; + this.displacementBias = source.displacementBias; + + this.roughnessMap = source.roughnessMap; + + this.metalnessMap = source.metalnessMap; + + this.alphaMap = source.alphaMap; + + this.envMap = source.envMap; + this.envMapRotation.copy( source.envMapRotation ); + this.envMapIntensity = source.envMapIntensity; + + this.wireframe = source.wireframe; + this.wireframeLinewidth = source.wireframeLinewidth; + this.wireframeLinecap = source.wireframeLinecap; + this.wireframeLinejoin = source.wireframeLinejoin; + + this.flatShading = source.flatShading; + + this.fog = source.fog; + + return this; + + } + +} + +/** + * An extension of the {@link MeshStandardMaterial}, providing more advanced + * physically-based rendering properties: + * + * - Anisotropy: Ability to represent the anisotropic property of materials + * as observable with brushed metals. + * - Clearcoat: Some materials — like car paints, carbon fiber, and wet surfaces — require + * a clear, reflective layer on top of another layer that may be irregular or rough. + * Clearcoat approximates this effect, without the need for a separate transparent surface. + * - Iridescence: Allows to render the effect where hue varies depending on the viewing + * angle and illumination angle. This can be seen on soap bubbles, oil films, or on the + * wings of many insects. + * - Physically-based transparency: One limitation of {@link Material#opacity} is that highly + * transparent materials are less reflective. Physically-based transmission provides a more + * realistic option for thin, transparent surfaces like glass. + * - Advanced reflectivity: More flexible reflectivity for non-metallic materials. + * - Sheen: Can be used for representing cloth and fabric materials. + * + * As a result of these complex shading features, `MeshPhysicalMaterial` has a + * higher performance cost, per pixel, than other three.js materials. Most + * effects are disabled by default, and add cost as they are enabled. For + * best results, always specify an environment map when using this material. + * + * @augments MeshStandardMaterial + * @demo scenes/material-browser.html#MeshPhysicalMaterial + */ +class MeshPhysicalMaterial extends MeshStandardMaterial { + + /** + * Constructs a new mesh physical material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isMeshPhysicalMaterial = true; + + this.defines = { + + 'STANDARD': '', + 'PHYSICAL': '' + + }; + + this.type = 'MeshPhysicalMaterial'; + + /** + * The rotation of the anisotropy in tangent, bitangent space, measured in radians + * counter-clockwise from the tangent. When `anisotropyMap` is present, this + * property provides additional rotation to the vectors in the texture. + * + * @type {number} + * @default 1 + */ + this.anisotropyRotation = 0; + + /** + * Red and green channels represent the anisotropy direction in `[-1, 1]` tangent, + * bitangent space, to be rotated by `anisotropyRotation`. The blue channel + * contains strength as `[0, 1]` to be multiplied by `anisotropy`. + * + * @type {?Texture} + * @default null + */ + this.anisotropyMap = null; + + /** + * The red channel of this texture is multiplied against `clearcoat`, + * for per-pixel control over a coating's intensity. + * + * @type {?Texture} + * @default null + */ + this.clearcoatMap = null; + + /** + * Roughness of the clear coat layer, from `0.0` to `1.0`. + * + * @type {number} + * @default 0 + */ + this.clearcoatRoughness = 0.0; + + /** + * The green channel of this texture is multiplied against + * `clearcoatRoughness`, for per-pixel control over a coating's roughness. + * + * @type {?Texture} + * @default null + */ + this.clearcoatRoughnessMap = null; + + /** + * How much `clearcoatNormalMap` affects the clear coat layer, from + * `(0,0)` to `(1,1)`. + * + * @type {Vector2} + * @default (1,1) + */ + this.clearcoatNormalScale = new Vector2( 1, 1 ); + + /** + * Can be used to enable independent normals for the clear coat layer. + * + * @type {?Texture} + * @default null + */ + this.clearcoatNormalMap = null; + + /** + * Index-of-refraction for non-metallic materials, from `1.0` to `2.333`. + * + * @type {number} + * @default 1.5 + */ + this.ior = 1.5; + + /** + * Degree of reflectivity, from `0.0` to `1.0`. Default is `0.5`, which + * corresponds to an index-of-refraction of `1.5`. + * + * This models the reflectivity of non-metallic materials. It has no effect + * when `metalness` is `1.0` + * + * @name MeshPhysicalMaterial#reflectivity + * @type {number} + * @default 0.5 + */ + Object.defineProperty( this, 'reflectivity', { + get: function () { + + return ( clamp( 2.5 * ( this.ior - 1 ) / ( this.ior + 1 ), 0, 1 ) ); + + }, + set: function ( reflectivity ) { + + this.ior = ( 1 + 0.4 * reflectivity ) / ( 1 - 0.4 * reflectivity ); + + } + } ); + + /** + * The red channel of this texture is multiplied against `iridescence`, for per-pixel + * control over iridescence. + * + * @type {?Texture} + * @default null + */ + this.iridescenceMap = null; + + /** + * Strength of the iridescence RGB color shift effect, represented by an index-of-refraction. + * Between `1.0` to `2.333`. + * + * @type {number} + * @default 1.3 + */ + this.iridescenceIOR = 1.3; + + /** + *Array of exactly 2 elements, specifying minimum and maximum thickness of the iridescence layer. + Thickness of iridescence layer has an equivalent effect of the one `thickness` has on `ior`. + * + * @type {Array} + * @default [100,400] + */ + this.iridescenceThicknessRange = [ 100, 400 ]; + + /** + * A texture that defines the thickness of the iridescence layer, stored in the green channel. + * Minimum and maximum values of thickness are defined by `iridescenceThicknessRange` array: + * - `0.0` in the green channel will result in thickness equal to first element of the array. + * - `1.0` in the green channel will result in thickness equal to second element of the array. + * - Values in-between will linearly interpolate between the elements of the array. + * + * @type {?Texture} + * @default null + */ + this.iridescenceThicknessMap = null; + + /** + * The sheen tint. + * + * @type {Color} + * @default (0,0,0) + */ + this.sheenColor = new Color( 0x000000 ); + + /** + * The RGB channels of this texture are multiplied against `sheenColor`, for per-pixel control + * over sheen tint. + * + * @type {?Texture} + * @default null + */ + this.sheenColorMap = null; + + /** + * Roughness of the sheen layer, from `0.0` to `1.0`. + * + * @type {number} + * @default 1 + */ + this.sheenRoughness = 1.0; + + /** + * The alpha channel of this texture is multiplied against `sheenRoughness`, for per-pixel control + * over sheen roughness. + * + * @type {?Texture} + * @default null + */ + this.sheenRoughnessMap = null; + + /** + * The red channel of this texture is multiplied against `transmission`, for per-pixel control over + * optical transparency. + * + * @type {?Texture} + * @default null + */ + this.transmissionMap = null; + + /** + * The thickness of the volume beneath the surface. The value is given in the + * coordinate space of the mesh. If the value is `0` the material is + * thin-walled. Otherwise the material is a volume boundary. + * + * @type {number} + * @default 0 + */ + this.thickness = 0; + + /** + * A texture that defines the thickness, stored in the green channel. This will + * be multiplied by `thickness`. + * + * @type {?Texture} + * @default null + */ + this.thicknessMap = null; + + /** + * Density of the medium given as the average distance that light travels in + * the medium before interacting with a particle. The value is given in world + * space units, and must be greater than zero. + * + * @type {number} + * @default Infinity + */ + this.attenuationDistance = Infinity; + + /** + * The color that white light turns into due to absorption when reaching the + * attenuation distance. + * + * @type {Color} + * @default (1,1,1) + */ + this.attenuationColor = new Color( 1, 1, 1 ); + + /** + * A float that scales the amount of specular reflection for non-metals only. + * When set to zero, the model is effectively Lambertian. From `0.0` to `1.0`. + * + * @type {number} + * @default 1 + */ + this.specularIntensity = 1.0; + + /** + * The alpha channel of this texture is multiplied against `specularIntensity`, + * for per-pixel control over specular intensity. + * + * @type {?Texture} + * @default null + */ + this.specularIntensityMap = null; + + /** + * Tints the specular reflection at normal incidence for non-metals only. + * + * @type {Color} + * @default (1,1,1) + */ + this.specularColor = new Color( 1, 1, 1 ); + + /** + * The RGB channels of this texture are multiplied against `specularColor`, + * for per-pixel control over specular color. + * + * @type {?Texture} + * @default null + */ + this.specularColorMap = null; + + this._anisotropy = 0; + this._clearcoat = 0; + this._dispersion = 0; + this._iridescence = 0; + this._sheen = 0.0; + this._transmission = 0; + + this.setValues( parameters ); + + } + + /** + * The anisotropy strength, from `0.0` to `1.0`. + * + * @type {number} + * @default 0 + */ + get anisotropy() { + + return this._anisotropy; + + } + + set anisotropy( value ) { + + if ( this._anisotropy > 0 !== value > 0 ) { + + this.version ++; + + } + + this._anisotropy = value; + + } + + /** + * Represents the intensity of the clear coat layer, from `0.0` to `1.0`. Use + * clear coat related properties to enable multilayer materials that have a + * thin translucent layer over the base layer. + * + * @type {number} + * @default 0 + */ + get clearcoat() { + + return this._clearcoat; + + } + + set clearcoat( value ) { + + if ( this._clearcoat > 0 !== value > 0 ) { + + this.version ++; + + } + + this._clearcoat = value; + + } + /** + * The intensity of the iridescence layer, simulating RGB color shift based on the angle between + * the surface and the viewer, from `0.0` to `1.0`. + * + * @type {number} + * @default 0 + */ + get iridescence() { + + return this._iridescence; + + } + + set iridescence( value ) { + + if ( this._iridescence > 0 !== value > 0 ) { + + this.version ++; + + } + + this._iridescence = value; + + } + + /** + * Defines the strength of the angular separation of colors (chromatic aberration) transmitting + * through a relatively clear volume. Any value zero or larger is valid, the typical range of + * realistic values is `[0, 1]`. This property can be only be used with transmissive objects. + * + * @type {number} + * @default 0 + */ + get dispersion() { + + return this._dispersion; + + } + + set dispersion( value ) { + + if ( this._dispersion > 0 !== value > 0 ) { + + this.version ++; + + } + + this._dispersion = value; + + } + + /** + * The intensity of the sheen layer, from `0.0` to `1.0`. + * + * @type {number} + * @default 0 + */ + get sheen() { + + return this._sheen; + + } + + set sheen( value ) { + + if ( this._sheen > 0 !== value > 0 ) { + + this.version ++; + + } + + this._sheen = value; + + } + + /** + * Degree of transmission (or optical transparency), from `0.0` to `1.0`. + * + * Thin, transparent or semitransparent, plastic or glass materials remain + * largely reflective even if they are fully transmissive. The transmission + * property can be used to model these materials. + * + * When transmission is non-zero, `opacity` should be set to `1`. + * + * @type {number} + * @default 0 + */ + get transmission() { + + return this._transmission; + + } + + set transmission( value ) { + + if ( this._transmission > 0 !== value > 0 ) { + + this.version ++; + + } + + this._transmission = value; + + } + + copy( source ) { + + super.copy( source ); + + this.defines = { + + 'STANDARD': '', + 'PHYSICAL': '' + + }; + + this.anisotropy = source.anisotropy; + this.anisotropyRotation = source.anisotropyRotation; + this.anisotropyMap = source.anisotropyMap; + + this.clearcoat = source.clearcoat; + this.clearcoatMap = source.clearcoatMap; + this.clearcoatRoughness = source.clearcoatRoughness; + this.clearcoatRoughnessMap = source.clearcoatRoughnessMap; + this.clearcoatNormalMap = source.clearcoatNormalMap; + this.clearcoatNormalScale.copy( source.clearcoatNormalScale ); + + this.dispersion = source.dispersion; + this.ior = source.ior; + + this.iridescence = source.iridescence; + this.iridescenceMap = source.iridescenceMap; + this.iridescenceIOR = source.iridescenceIOR; + this.iridescenceThicknessRange = [ ...source.iridescenceThicknessRange ]; + this.iridescenceThicknessMap = source.iridescenceThicknessMap; + + this.sheen = source.sheen; + this.sheenColor.copy( source.sheenColor ); + this.sheenColorMap = source.sheenColorMap; + this.sheenRoughness = source.sheenRoughness; + this.sheenRoughnessMap = source.sheenRoughnessMap; + + this.transmission = source.transmission; + this.transmissionMap = source.transmissionMap; + + this.thickness = source.thickness; + this.thicknessMap = source.thicknessMap; + this.attenuationDistance = source.attenuationDistance; + this.attenuationColor.copy( source.attenuationColor ); + + this.specularIntensity = source.specularIntensity; + this.specularIntensityMap = source.specularIntensityMap; + this.specularColor.copy( source.specularColor ); + this.specularColorMap = source.specularColorMap; + + return this; + + } + +} + +/** + * A material for shiny surfaces with specular highlights. + * + * The material uses a non-physically based [Blinn-Phong](https://en.wikipedia.org/wiki/Blinn-Phong_shading_model) + * model for calculating reflectance. Unlike the Lambertian model used in the + * {@link MeshLambertMaterial} this can simulate shiny surfaces with specular + * highlights (such as varnished wood). `MeshPhongMaterial` uses per-fragment shading. + * + * Performance will generally be greater when using this material over the + * {@link MeshStandardMaterial} or {@link MeshPhysicalMaterial}, at the cost of + * some graphical accuracy. + * + * @augments Material + * @demo scenes/material-browser.html#MeshPhongMaterial + */ +class MeshPhongMaterial extends Material { + + /** + * Constructs a new mesh phong material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isMeshPhongMaterial = true; + + this.type = 'MeshPhongMaterial'; + + /** + * Color of the material. + * + * @type {Color} + * @default (1,1,1) + */ + this.color = new Color( 0xffffff ); // diffuse + + /** + * Specular color of the material. The default color is set to `0x111111` (very dark grey) + * + * This defines how shiny the material is and the color of its shine. + * + * @type {Color} + */ + this.specular = new Color( 0x111111 ); + + /** + * How shiny the specular highlight is; a higher value gives a sharper highlight. + * + * @type {number} + * @default 30 + */ + this.shininess = 30; + + /** + * The color map. May optionally include an alpha channel, typically combined + * with {@link Material#transparent} or {@link Material#alphaTest}. The texture map + * color is modulated by the diffuse `color`. + * + * @type {?Texture} + * @default null + */ + this.map = null; + + /** + * The light map. Requires a second set of UVs. + * + * @type {?Texture} + * @default null + */ + this.lightMap = null; + + /** + * Intensity of the baked light. + * + * @type {number} + * @default 1 + */ + this.lightMapIntensity = 1.0; + + /** + * The red channel of this texture is used as the ambient occlusion map. + * Requires a second set of UVs. + * + * @type {?Texture} + * @default null + */ + this.aoMap = null; + + /** + * Intensity of the ambient occlusion effect. Range is `[0,1]`, where `0` + * disables ambient occlusion. Where intensity is `1` and the AO map's + * red channel is also `1`, ambient light is fully occluded on a surface. + * + * @type {number} + * @default 1 + */ + this.aoMapIntensity = 1.0; + + /** + * Emissive (light) color of the material, essentially a solid color + * unaffected by other lighting. + * + * @type {Color} + * @default (0,0,0) + */ + this.emissive = new Color( 0x000000 ); + + /** + * Intensity of the emissive light. Modulates the emissive color. + * + * @type {number} + * @default 1 + */ + this.emissiveIntensity = 1.0; + + /** + * Set emissive (glow) map. The emissive map color is modulated by the + * emissive color and the emissive intensity. If you have an emissive map, + * be sure to set the emissive color to something other than black. + * + * @type {?Texture} + * @default null + */ + this.emissiveMap = null; + + /** + * The texture to create a bump map. The black and white values map to the + * perceived depth in relation to the lights. Bump doesn't actually affect + * the geometry of the object, only the lighting. If a normal map is defined + * this will be ignored. + * + * @type {?Texture} + * @default null + */ + this.bumpMap = null; + + /** + * How much the bump map affects the material. Typical range is `[0,1]`. + * + * @type {number} + * @default 1 + */ + this.bumpScale = 1; + + /** + * The texture to create a normal map. The RGB values affect the surface + * normal for each pixel fragment and change the way the color is lit. Normal + * maps do not change the actual shape of the surface, only the lighting. In + * case the material has a normal map authored using the left handed + * convention, the `y` component of `normalScale` should be negated to compensate + * for the different handedness. + * + * @type {?Texture} + * @default null + */ + this.normalMap = null; + + /** + * The type of normal map. + * + * @type {(TangentSpaceNormalMap|ObjectSpaceNormalMap)} + * @default TangentSpaceNormalMap + */ + this.normalMapType = TangentSpaceNormalMap; + + /** + * How much the normal map affects the material. Typical value range is `[0,1]`. + * + * @type {Vector2} + * @default (1,1) + */ + this.normalScale = new Vector2( 1, 1 ); + + /** + * The displacement map affects the position of the mesh's vertices. Unlike + * other maps which only affect the light and shade of the material the + * displaced vertices can cast shadows, block other objects, and otherwise + * act as real geometry. The displacement texture is an image where the value + * of each pixel (white being the highest) is mapped against, and + * repositions, the vertices of the mesh. + * + * @type {?Texture} + * @default null + */ + this.displacementMap = null; + + /** + * How much the displacement map affects the mesh (where black is no + * displacement, and white is maximum displacement). Without a displacement + * map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementScale = 1; + + /** + * The offset of the displacement map's values on the mesh's vertices. + * The bias is added to the scaled sample of the displacement map. + * Without a displacement map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementBias = 0; + + /** + * The specular map value affects both how much the specular surface + * highlight contributes and how much of the environment map affects the + * surface. + * + * @type {?Texture} + * @default null + */ + this.specularMap = null; + + /** + * The alpha map is a grayscale texture that controls the opacity across the + * surface (black: fully transparent; white: fully opaque). + * + * Only the color of the texture is used, ignoring the alpha channel if one + * exists. For RGB and RGBA textures, the renderer will use the green channel + * when sampling this texture due to the extra bit of precision provided for + * green in DXT-compressed and uncompressed RGB 565 formats. Luminance-only and + * luminance/alpha textures will also still work as expected. + * + * @type {?Texture} + * @default null + */ + this.alphaMap = null; + + /** + * The environment map. + * + * @type {?Texture} + * @default null + */ + this.envMap = null; + + /** + * The rotation of the environment map in radians. + * + * @type {Euler} + * @default (0,0,0) + */ + this.envMapRotation = new Euler(); + + /** + * How to combine the result of the surface's color with the environment map, if any. + * + * When set to `MixOperation`, the {@link MeshBasicMaterial#reflectivity} is used to + * blend between the two colors. + * + * @type {(MultiplyOperation|MixOperation|AddOperation)} + * @default MultiplyOperation + */ + this.combine = MultiplyOperation; + + /** + * How much the environment map affects the surface. + * The valid range is between `0` (no reflections) and `1` (full reflections). + * + * @type {number} + * @default 1 + */ + this.reflectivity = 1; + + /** + * Scales the effect of the environment map by multiplying its color. + * + * @type {number} + * @default 1 + */ + this.envMapIntensity = 1.0; + + /** + * The index of refraction (IOR) of air (approximately 1) divided by the + * index of refraction of the material. It is used with environment mapping + * modes {@link CubeRefractionMapping} and {@link EquirectangularRefractionMapping}. + * The refraction ratio should not exceed `1`. + * + * @type {number} + * @default 0.98 + */ + this.refractionRatio = 0.98; + + /** + * Renders the geometry as a wireframe. + * + * @type {boolean} + * @default false + */ + this.wireframe = false; + + /** + * Controls the thickness of the wireframe. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {number} + * @default 1 + */ + this.wireframeLinewidth = 1; + + /** + * Defines appearance of wireframe ends. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {('round'|'bevel'|'miter')} + * @default 'round' + */ + this.wireframeLinecap = 'round'; + + /** + * Defines appearance of wireframe joints. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {('round'|'bevel'|'miter')} + * @default 'round' + */ + this.wireframeLinejoin = 'round'; + + /** + * Whether the material is rendered with flat shading or not. + * + * @type {boolean} + * @default false + */ + this.flatShading = false; + + /** + * Whether the material is affected by fog or not. + * + * @type {boolean} + * @default true + */ + this.fog = true; + + this.setValues( parameters ); + + } + + copy( source ) { + + super.copy( source ); + + this.color.copy( source.color ); + this.specular.copy( source.specular ); + this.shininess = source.shininess; + + this.map = source.map; + + this.lightMap = source.lightMap; + this.lightMapIntensity = source.lightMapIntensity; + + this.aoMap = source.aoMap; + this.aoMapIntensity = source.aoMapIntensity; + + this.emissive.copy( source.emissive ); + this.emissiveMap = source.emissiveMap; + this.emissiveIntensity = source.emissiveIntensity; + + this.bumpMap = source.bumpMap; + this.bumpScale = source.bumpScale; + + this.normalMap = source.normalMap; + this.normalMapType = source.normalMapType; + this.normalScale.copy( source.normalScale ); + + this.displacementMap = source.displacementMap; + this.displacementScale = source.displacementScale; + this.displacementBias = source.displacementBias; + + this.specularMap = source.specularMap; + + this.alphaMap = source.alphaMap; + + this.envMap = source.envMap; + this.envMapRotation.copy( source.envMapRotation ); + this.combine = source.combine; + this.reflectivity = source.reflectivity; + this.envMapIntensity = source.envMapIntensity; + this.refractionRatio = source.refractionRatio; + + this.wireframe = source.wireframe; + this.wireframeLinewidth = source.wireframeLinewidth; + this.wireframeLinecap = source.wireframeLinecap; + this.wireframeLinejoin = source.wireframeLinejoin; + + this.flatShading = source.flatShading; + + this.fog = source.fog; + + return this; + + } + +} + +/** + * A material implementing toon shading. + * + * @augments Material + * @demo scenes/material-browser.html#MeshToonMaterial + */ +class MeshToonMaterial extends Material { + + /** + * Constructs a new mesh toon material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isMeshToonMaterial = true; + + this.defines = { 'TOON': '' }; + + this.type = 'MeshToonMaterial'; + + /** + * Color of the material. + * + * @type {Color} + * @default (1,1,1) + */ + this.color = new Color( 0xffffff ); + + /** + * The color map. May optionally include an alpha channel, typically combined + * with {@link Material#transparent} or {@link Material#alphaTest}. The texture map + * color is modulated by the diffuse `color`. + * + * @type {?Texture} + * @default null + */ + this.map = null; + + /** + * Gradient map for toon shading. It's required to set + * {@link Texture#minFilter} and {@link Texture#magFilter} to {@linkNearestFilter} + * when using this type of texture. + * + * @type {?Texture} + * @default null + */ + this.gradientMap = null; + + /** + * The light map. Requires a second set of UVs. + * + * @type {?Texture} + * @default null + */ + this.lightMap = null; + + /** + * Intensity of the baked light. + * + * @type {number} + * @default 1 + */ + this.lightMapIntensity = 1.0; + + /** + * The red channel of this texture is used as the ambient occlusion map. + * Requires a second set of UVs. + * + * @type {?Texture} + * @default null + */ + this.aoMap = null; + + /** + * Intensity of the ambient occlusion effect. Range is `[0,1]`, where `0` + * disables ambient occlusion. Where intensity is `1` and the AO map's + * red channel is also `1`, ambient light is fully occluded on a surface. + * + * @type {number} + * @default 1 + */ + this.aoMapIntensity = 1.0; + + /** + * Emissive (light) color of the material, essentially a solid color + * unaffected by other lighting. + * + * @type {Color} + * @default (0,0,0) + */ + this.emissive = new Color( 0x000000 ); + + /** + * Intensity of the emissive light. Modulates the emissive color. + * + * @type {number} + * @default 1 + */ + this.emissiveIntensity = 1.0; + + /** + * Set emissive (glow) map. The emissive map color is modulated by the + * emissive color and the emissive intensity. If you have an emissive map, + * be sure to set the emissive color to something other than black. + * + * @type {?Texture} + * @default null + */ + this.emissiveMap = null; + + /** + * The texture to create a bump map. The black and white values map to the + * perceived depth in relation to the lights. Bump doesn't actually affect + * the geometry of the object, only the lighting. If a normal map is defined + * this will be ignored. + * + * @type {?Texture} + * @default null + */ + this.bumpMap = null; + + /** + * How much the bump map affects the material. Typical range is `[0,1]`. + * + * @type {number} + * @default 1 + */ + this.bumpScale = 1; + + /** + * The texture to create a normal map. The RGB values affect the surface + * normal for each pixel fragment and change the way the color is lit. Normal + * maps do not change the actual shape of the surface, only the lighting. In + * case the material has a normal map authored using the left handed + * convention, the `y` component of `normalScale` should be negated to compensate + * for the different handedness. + * + * @type {?Texture} + * @default null + */ + this.normalMap = null; + + /** + * The type of normal map. + * + * @type {(TangentSpaceNormalMap|ObjectSpaceNormalMap)} + * @default TangentSpaceNormalMap + */ + this.normalMapType = TangentSpaceNormalMap; + + /** + * How much the normal map affects the material. Typical value range is `[0,1]`. + * + * @type {Vector2} + * @default (1,1) + */ + this.normalScale = new Vector2( 1, 1 ); + + /** + * The displacement map affects the position of the mesh's vertices. Unlike + * other maps which only affect the light and shade of the material the + * displaced vertices can cast shadows, block other objects, and otherwise + * act as real geometry. The displacement texture is an image where the value + * of each pixel (white being the highest) is mapped against, and + * repositions, the vertices of the mesh. + * + * @type {?Texture} + * @default null + */ + this.displacementMap = null; + + /** + * How much the displacement map affects the mesh (where black is no + * displacement, and white is maximum displacement). Without a displacement + * map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementScale = 1; + + /** + * The offset of the displacement map's values on the mesh's vertices. + * The bias is added to the scaled sample of the displacement map. + * Without a displacement map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementBias = 0; + + /** + * The alpha map is a grayscale texture that controls the opacity across the + * surface (black: fully transparent; white: fully opaque). + * + * Only the color of the texture is used, ignoring the alpha channel if one + * exists. For RGB and RGBA textures, the renderer will use the green channel + * when sampling this texture due to the extra bit of precision provided for + * green in DXT-compressed and uncompressed RGB 565 formats. Luminance-only and + * luminance/alpha textures will also still work as expected. + * + * @type {?Texture} + * @default null + */ + this.alphaMap = null; + + /** + * Renders the geometry as a wireframe. + * + * @type {boolean} + * @default false + */ + this.wireframe = false; + + /** + * Controls the thickness of the wireframe. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {number} + * @default 1 + */ + this.wireframeLinewidth = 1; + + /** + * Defines appearance of wireframe ends. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {('round'|'bevel'|'miter')} + * @default 'round' + */ + this.wireframeLinecap = 'round'; + + /** + * Defines appearance of wireframe joints. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {('round'|'bevel'|'miter')} + * @default 'round' + */ + this.wireframeLinejoin = 'round'; + + /** + * Whether the material is affected by fog or not. + * + * @type {boolean} + * @default true + */ + this.fog = true; + + this.setValues( parameters ); + + } + + copy( source ) { + + super.copy( source ); + + this.color.copy( source.color ); + + this.map = source.map; + this.gradientMap = source.gradientMap; + + this.lightMap = source.lightMap; + this.lightMapIntensity = source.lightMapIntensity; + + this.aoMap = source.aoMap; + this.aoMapIntensity = source.aoMapIntensity; + + this.emissive.copy( source.emissive ); + this.emissiveMap = source.emissiveMap; + this.emissiveIntensity = source.emissiveIntensity; + + this.bumpMap = source.bumpMap; + this.bumpScale = source.bumpScale; + + this.normalMap = source.normalMap; + this.normalMapType = source.normalMapType; + this.normalScale.copy( source.normalScale ); + + this.displacementMap = source.displacementMap; + this.displacementScale = source.displacementScale; + this.displacementBias = source.displacementBias; + + this.alphaMap = source.alphaMap; + + this.wireframe = source.wireframe; + this.wireframeLinewidth = source.wireframeLinewidth; + this.wireframeLinecap = source.wireframeLinecap; + this.wireframeLinejoin = source.wireframeLinejoin; + + this.fog = source.fog; + + return this; + + } + +} + +/** + * A material that maps the normal vectors to RGB colors. + * + * @augments Material + * @demo scenes/material-browser.html#MeshNormalMaterial + */ +class MeshNormalMaterial extends Material { + + /** + * Constructs a new mesh normal material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isMeshNormalMaterial = true; + + this.type = 'MeshNormalMaterial'; + + /** + * The texture to create a bump map. The black and white values map to the + * perceived depth in relation to the lights. Bump doesn't actually affect + * the geometry of the object, only the lighting. If a normal map is defined + * this will be ignored. + * + * @type {?Texture} + * @default null + */ + this.bumpMap = null; + + /** + * How much the bump map affects the material. Typical range is `[0,1]`. + * + * @type {number} + * @default 1 + */ + this.bumpScale = 1; + + /** + * The texture to create a normal map. The RGB values affect the surface + * normal for each pixel fragment and change the way the color is lit. Normal + * maps do not change the actual shape of the surface, only the lighting. In + * case the material has a normal map authored using the left handed + * convention, the `y` component of `normalScale` should be negated to compensate + * for the different handedness. + * + * @type {?Texture} + * @default null + */ + this.normalMap = null; + + /** + * The type of normal map. + * + * @type {(TangentSpaceNormalMap|ObjectSpaceNormalMap)} + * @default TangentSpaceNormalMap + */ + this.normalMapType = TangentSpaceNormalMap; + + /** + * How much the normal map affects the material. Typical value range is `[0,1]`. + * + * @type {Vector2} + * @default (1,1) + */ + this.normalScale = new Vector2( 1, 1 ); + + /** + * The displacement map affects the position of the mesh's vertices. Unlike + * other maps which only affect the light and shade of the material the + * displaced vertices can cast shadows, block other objects, and otherwise + * act as real geometry. The displacement texture is an image where the value + * of each pixel (white being the highest) is mapped against, and + * repositions, the vertices of the mesh. + * + * @type {?Texture} + * @default null + */ + this.displacementMap = null; + + /** + * How much the displacement map affects the mesh (where black is no + * displacement, and white is maximum displacement). Without a displacement + * map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementScale = 1; + + /** + * The offset of the displacement map's values on the mesh's vertices. + * The bias is added to the scaled sample of the displacement map. + * Without a displacement map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementBias = 0; + + /** + * Renders the geometry as a wireframe. + * + * @type {boolean} + * @default false + */ + this.wireframe = false; + + /** + * Controls the thickness of the wireframe. + * + * WebGL and WebGPU ignore this property and always render + * 1 pixel wide lines. + * + * @type {number} + * @default 1 + */ + this.wireframeLinewidth = 1; + + /** + * Whether the material is rendered with flat shading or not. + * + * @type {boolean} + * @default false + */ + this.flatShading = false; + + this.setValues( parameters ); + + } + + copy( source ) { + + super.copy( source ); + + this.bumpMap = source.bumpMap; + this.bumpScale = source.bumpScale; + + this.normalMap = source.normalMap; + this.normalMapType = source.normalMapType; + this.normalScale.copy( source.normalScale ); + + this.displacementMap = source.displacementMap; + this.displacementScale = source.displacementScale; + this.displacementBias = source.displacementBias; + + this.wireframe = source.wireframe; + this.wireframeLinewidth = source.wireframeLinewidth; + + this.flatShading = source.flatShading; + + return this; + + } + +} + +/** + * A material for non-shiny surfaces, without specular highlights. + * + * The material uses a non-physically based [Lambertian](https://en.wikipedia.org/wiki/Lambertian_reflectance) + * model for calculating reflectance. This can simulate some surfaces (such + * as untreated wood or stone) well, but cannot simulate shiny surfaces with + * specular highlights (such as varnished wood). `MeshLambertMaterial` uses per-fragment + * shading. + * + * Due to the simplicity of the reflectance and illumination models, + * performance will be greater when using this material over the + * {@link MeshPhongMaterial}, {@link MeshStandardMaterial} or + * {@link MeshPhysicalMaterial}, at the cost of some graphical accuracy. + * + * @augments Material + * @demo scenes/material-browser.html#MeshLambertMaterial + */ +class MeshLambertMaterial extends Material { + + /** + * Constructs a new mesh lambert material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isMeshLambertMaterial = true; + + this.type = 'MeshLambertMaterial'; + + /** + * Color of the material. + * + * @type {Color} + * @default (1,1,1) + */ + this.color = new Color( 0xffffff ); // diffuse + + /** + * The color map. May optionally include an alpha channel, typically combined + * with {@link Material#transparent} or {@link Material#alphaTest}. The texture map + * color is modulated by the diffuse `color`. + * + * @type {?Texture} + * @default null + */ + this.map = null; + + /** + * The light map. Requires a second set of UVs. + * + * @type {?Texture} + * @default null + */ + this.lightMap = null; + + /** + * Intensity of the baked light. + * + * @type {number} + * @default 1 + */ + this.lightMapIntensity = 1.0; + + /** + * The red channel of this texture is used as the ambient occlusion map. + * Requires a second set of UVs. + * + * @type {?Texture} + * @default null + */ + this.aoMap = null; + + /** + * Intensity of the ambient occlusion effect. Range is `[0,1]`, where `0` + * disables ambient occlusion. Where intensity is `1` and the AO map's + * red channel is also `1`, ambient light is fully occluded on a surface. + * + * @type {number} + * @default 1 + */ + this.aoMapIntensity = 1.0; + + /** + * Emissive (light) color of the material, essentially a solid color + * unaffected by other lighting. + * + * @type {Color} + * @default (0,0,0) + */ + this.emissive = new Color( 0x000000 ); + + /** + * Intensity of the emissive light. Modulates the emissive color. + * + * @type {number} + * @default 1 + */ + this.emissiveIntensity = 1.0; + + /** + * Set emissive (glow) map. The emissive map color is modulated by the + * emissive color and the emissive intensity. If you have an emissive map, + * be sure to set the emissive color to something other than black. + * + * @type {?Texture} + * @default null + */ + this.emissiveMap = null; + + /** + * The texture to create a bump map. The black and white values map to the + * perceived depth in relation to the lights. Bump doesn't actually affect + * the geometry of the object, only the lighting. If a normal map is defined + * this will be ignored. + * + * @type {?Texture} + * @default null + */ + this.bumpMap = null; + + /** + * How much the bump map affects the material. Typical range is `[0,1]`. + * + * @type {number} + * @default 1 + */ + this.bumpScale = 1; + + /** + * The texture to create a normal map. The RGB values affect the surface + * normal for each pixel fragment and change the way the color is lit. Normal + * maps do not change the actual shape of the surface, only the lighting. In + * case the material has a normal map authored using the left handed + * convention, the `y` component of `normalScale` should be negated to compensate + * for the different handedness. + * + * @type {?Texture} + * @default null + */ + this.normalMap = null; + + /** + * The type of normal map. + * + * @type {(TangentSpaceNormalMap|ObjectSpaceNormalMap)} + * @default TangentSpaceNormalMap + */ + this.normalMapType = TangentSpaceNormalMap; + + /** + * How much the normal map affects the material. Typical value range is `[0,1]`. + * + * @type {Vector2} + * @default (1,1) + */ + this.normalScale = new Vector2( 1, 1 ); + + /** + * The displacement map affects the position of the mesh's vertices. Unlike + * other maps which only affect the light and shade of the material the + * displaced vertices can cast shadows, block other objects, and otherwise + * act as real geometry. The displacement texture is an image where the value + * of each pixel (white being the highest) is mapped against, and + * repositions, the vertices of the mesh. + * + * @type {?Texture} + * @default null + */ + this.displacementMap = null; + + /** + * How much the displacement map affects the mesh (where black is no + * displacement, and white is maximum displacement). Without a displacement + * map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementScale = 1; + + /** + * The offset of the displacement map's values on the mesh's vertices. + * The bias is added to the scaled sample of the displacement map. + * Without a displacement map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementBias = 0; + + /** + * Specular map used by the material. + * + * @type {?Texture} + * @default null + */ + this.specularMap = null; + + /** + * The alpha map is a grayscale texture that controls the opacity across the + * surface (black: fully transparent; white: fully opaque). + * + * Only the color of the texture is used, ignoring the alpha channel if one + * exists. For RGB and RGBA textures, the renderer will use the green channel + * when sampling this texture due to the extra bit of precision provided for + * green in DXT-compressed and uncompressed RGB 565 formats. Luminance-only and + * luminance/alpha textures will also still work as expected. + * + * @type {?Texture} + * @default null + */ + this.alphaMap = null; + + /** + * The environment map. + * + * @type {?Texture} + * @default null + */ + this.envMap = null; + + /** + * The rotation of the environment map in radians. + * + * @type {Euler} + * @default (0,0,0) + */ + this.envMapRotation = new Euler(); + + /** + * How to combine the result of the surface's color with the environment map, if any. + * + * When set to `MixOperation`, the {@link MeshBasicMaterial#reflectivity} is used to + * blend between the two colors. + * + * @type {(MultiplyOperation|MixOperation|AddOperation)} + * @default MultiplyOperation + */ + this.combine = MultiplyOperation; + + /** + * How much the environment map affects the surface. + * The valid range is between `0` (no reflections) and `1` (full reflections). + * + * @type {number} + * @default 1 + */ + this.reflectivity = 1; + + /** + * Scales the effect of the environment map by multiplying its color. + * + * @type {number} + * @default 1 + */ + this.envMapIntensity = 1.0; + + /** + * The index of refraction (IOR) of air (approximately 1) divided by the + * index of refraction of the material. It is used with environment mapping + * modes {@link CubeRefractionMapping} and {@link EquirectangularRefractionMapping}. + * The refraction ratio should not exceed `1`. + * + * @type {number} + * @default 0.98 + */ + this.refractionRatio = 0.98; + + /** + * Renders the geometry as a wireframe. + * + * @type {boolean} + * @default false + */ + this.wireframe = false; + + /** + * Controls the thickness of the wireframe. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {number} + * @default 1 + */ + this.wireframeLinewidth = 1; + + /** + * Defines appearance of wireframe ends. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {('round'|'bevel'|'miter')} + * @default 'round' + */ + this.wireframeLinecap = 'round'; + + /** + * Defines appearance of wireframe joints. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {('round'|'bevel'|'miter')} + * @default 'round' + */ + this.wireframeLinejoin = 'round'; + + /** + * Whether the material is rendered with flat shading or not. + * + * @type {boolean} + * @default false + */ + this.flatShading = false; + + /** + * Whether the material is affected by fog or not. + * + * @type {boolean} + * @default true + */ + this.fog = true; + + this.setValues( parameters ); + + } + + copy( source ) { + + super.copy( source ); + + this.color.copy( source.color ); + + this.map = source.map; + + this.lightMap = source.lightMap; + this.lightMapIntensity = source.lightMapIntensity; + + this.aoMap = source.aoMap; + this.aoMapIntensity = source.aoMapIntensity; + + this.emissive.copy( source.emissive ); + this.emissiveMap = source.emissiveMap; + this.emissiveIntensity = source.emissiveIntensity; + + this.bumpMap = source.bumpMap; + this.bumpScale = source.bumpScale; + + this.normalMap = source.normalMap; + this.normalMapType = source.normalMapType; + this.normalScale.copy( source.normalScale ); + + this.displacementMap = source.displacementMap; + this.displacementScale = source.displacementScale; + this.displacementBias = source.displacementBias; + + this.specularMap = source.specularMap; + + this.alphaMap = source.alphaMap; + + this.envMap = source.envMap; + this.envMapRotation.copy( source.envMapRotation ); + this.combine = source.combine; + this.reflectivity = source.reflectivity; + this.envMapIntensity = source.envMapIntensity; + this.refractionRatio = source.refractionRatio; + + this.wireframe = source.wireframe; + this.wireframeLinewidth = source.wireframeLinewidth; + this.wireframeLinecap = source.wireframeLinecap; + this.wireframeLinejoin = source.wireframeLinejoin; + + this.flatShading = source.flatShading; + + this.fog = source.fog; + + return this; + + } + +} + +/** + * A material for drawing geometry by depth. Depth is based off of the camera + * near and far plane. White is nearest, black is farthest. + * + * @augments Material + * @demo scenes/material-browser.html#MeshDepthMaterial + */ +class MeshDepthMaterial extends Material { + + /** + * Constructs a new mesh depth material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isMeshDepthMaterial = true; + + this.type = 'MeshDepthMaterial'; + + /** + * Type for depth packing. + * + * @type {(BasicDepthPacking|RGBADepthPacking|RGBDepthPacking|RGDepthPacking)} + * @default BasicDepthPacking + */ + this.depthPacking = BasicDepthPacking; + + /** + * The color map. May optionally include an alpha channel, typically combined + * with {@link Material#transparent} or {@link Material#alphaTest}. + * + * @type {?Texture} + * @default null + */ + this.map = null; + + /** + * The alpha map is a grayscale texture that controls the opacity across the + * surface (black: fully transparent; white: fully opaque). + * + * Only the color of the texture is used, ignoring the alpha channel if one + * exists. For RGB and RGBA textures, the renderer will use the green channel + * when sampling this texture due to the extra bit of precision provided for + * green in DXT-compressed and uncompressed RGB 565 formats. Luminance-only and + * luminance/alpha textures will also still work as expected. + * + * @type {?Texture} + * @default null + */ + this.alphaMap = null; + + /** + * The displacement map affects the position of the mesh's vertices. Unlike + * other maps which only affect the light and shade of the material the + * displaced vertices can cast shadows, block other objects, and otherwise + * act as real geometry. The displacement texture is an image where the value + * of each pixel (white being the highest) is mapped against, and + * repositions, the vertices of the mesh. + * + * @type {?Texture} + * @default null + */ + this.displacementMap = null; + + /** + * How much the displacement map affects the mesh (where black is no + * displacement, and white is maximum displacement). Without a displacement + * map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementScale = 1; + + /** + * The offset of the displacement map's values on the mesh's vertices. + * The bias is added to the scaled sample of the displacement map. + * Without a displacement map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementBias = 0; + + /** + * Renders the geometry as a wireframe. + * + * @type {boolean} + * @default false + */ + this.wireframe = false; + + /** + * Controls the thickness of the wireframe. + * + * WebGL and WebGPU ignore this property and always render + * 1 pixel wide lines. + * + * @type {number} + * @default 1 + */ + this.wireframeLinewidth = 1; + + this.setValues( parameters ); + + } + + copy( source ) { + + super.copy( source ); + + this.depthPacking = source.depthPacking; + + this.map = source.map; + + this.alphaMap = source.alphaMap; + + this.displacementMap = source.displacementMap; + this.displacementScale = source.displacementScale; + this.displacementBias = source.displacementBias; + + this.wireframe = source.wireframe; + this.wireframeLinewidth = source.wireframeLinewidth; + + return this; + + } + +} + +/** + * A material used internally for implementing shadow mapping with + * point lights. + * + * Can also be used to customize the shadow casting of an object by assigning + * an instance of `MeshDistanceMaterial` to {@link Object3D#customDistanceMaterial}. + * The following examples demonstrates this approach in order to ensure + * transparent parts of objects do not cast shadows. + * + * @augments Material + */ +class MeshDistanceMaterial extends Material { + + /** + * Constructs a new mesh distance material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isMeshDistanceMaterial = true; + + this.type = 'MeshDistanceMaterial'; + + /** + * The color map. May optionally include an alpha channel, typically combined + * with {@link Material#transparent} or {@link Material#alphaTest}. + * + * @type {?Texture} + * @default null + */ + this.map = null; + + /** + * The alpha map is a grayscale texture that controls the opacity across the + * surface (black: fully transparent; white: fully opaque). + * + * Only the color of the texture is used, ignoring the alpha channel if one + * exists. For RGB and RGBA textures, the renderer will use the green channel + * when sampling this texture due to the extra bit of precision provided for + * green in DXT-compressed and uncompressed RGB 565 formats. Luminance-only and + * luminance/alpha textures will also still work as expected. + * + * @type {?Texture} + * @default null + */ + this.alphaMap = null; + + /** + * The displacement map affects the position of the mesh's vertices. Unlike + * other maps which only affect the light and shade of the material the + * displaced vertices can cast shadows, block other objects, and otherwise + * act as real geometry. The displacement texture is an image where the value + * of each pixel (white being the highest) is mapped against, and + * repositions, the vertices of the mesh. + * + * @type {?Texture} + * @default null + */ + this.displacementMap = null; + + /** + * How much the displacement map affects the mesh (where black is no + * displacement, and white is maximum displacement). Without a displacement + * map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementScale = 1; + + /** + * The offset of the displacement map's values on the mesh's vertices. + * The bias is added to the scaled sample of the displacement map. + * Without a displacement map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementBias = 0; + + this.setValues( parameters ); + + } + + copy( source ) { + + super.copy( source ); + + this.map = source.map; + + this.alphaMap = source.alphaMap; + + this.displacementMap = source.displacementMap; + this.displacementScale = source.displacementScale; + this.displacementBias = source.displacementBias; + + return this; + + } + +} + +/** + * This material is defined by a MatCap (or Lit Sphere) texture, which encodes the + * material color and shading. + * + * `MeshMatcapMaterial` does not respond to lights since the matcap image file encodes + * baked lighting. It will cast a shadow onto an object that receives shadows + * (and shadow clipping works), but it will not self-shadow or receive + * shadows. + * + * @augments Material + * @demo scenes/material-browser.html#MeshMatcapMaterial + */ +class MeshMatcapMaterial extends Material { + + /** + * Constructs a new mesh matcap material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isMeshMatcapMaterial = true; + + this.defines = { 'MATCAP': '' }; + + this.type = 'MeshMatcapMaterial'; + + /** + * Color of the material. + * + * @type {Color} + * @default (1,1,1) + */ + this.color = new Color( 0xffffff ); // diffuse + + /** + * The matcap map. + * + * @type {?Texture} + * @default null + */ + this.matcap = null; + + /** + * The color map. May optionally include an alpha channel, typically combined + * with {@link Material#transparent} or {@link Material#alphaTest}. The texture map + * color is modulated by the diffuse `color`. + * + * @type {?Texture} + * @default null + */ + this.map = null; + + /** + * The texture to create a bump map. The black and white values map to the + * perceived depth in relation to the lights. Bump doesn't actually affect + * the geometry of the object, only the lighting. If a normal map is defined + * this will be ignored. + * + * @type {?Texture} + * @default null + */ + this.bumpMap = null; + + /** + * How much the bump map affects the material. Typical range is `[0,1]`. + * + * @type {number} + * @default 1 + */ + this.bumpScale = 1; + + /** + * The texture to create a normal map. The RGB values affect the surface + * normal for each pixel fragment and change the way the color is lit. Normal + * maps do not change the actual shape of the surface, only the lighting. In + * case the material has a normal map authored using the left handed + * convention, the `y` component of `normalScale` should be negated to compensate + * for the different handedness. + * + * @type {?Texture} + * @default null + */ + this.normalMap = null; + + /** + * The type of normal map. + * + * @type {(TangentSpaceNormalMap|ObjectSpaceNormalMap)} + * @default TangentSpaceNormalMap + */ + this.normalMapType = TangentSpaceNormalMap; + + /** + * How much the normal map affects the material. Typical value range is `[0,1]`. + * + * @type {Vector2} + * @default (1,1) + */ + this.normalScale = new Vector2( 1, 1 ); + + /** + * The displacement map affects the position of the mesh's vertices. Unlike + * other maps which only affect the light and shade of the material the + * displaced vertices can cast shadows, block other objects, and otherwise + * act as real geometry. The displacement texture is an image where the value + * of each pixel (white being the highest) is mapped against, and + * repositions, the vertices of the mesh. + * + * @type {?Texture} + * @default null + */ + this.displacementMap = null; + + /** + * How much the displacement map affects the mesh (where black is no + * displacement, and white is maximum displacement). Without a displacement + * map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementScale = 1; + + /** + * The offset of the displacement map's values on the mesh's vertices. + * The bias is added to the scaled sample of the displacement map. + * Without a displacement map set, this value is not applied. + * + * @type {number} + * @default 0 + */ + this.displacementBias = 0; + + /** + * The alpha map is a grayscale texture that controls the opacity across the + * surface (black: fully transparent; white: fully opaque). + * + * Only the color of the texture is used, ignoring the alpha channel if one + * exists. For RGB and RGBA textures, the renderer will use the green channel + * when sampling this texture due to the extra bit of precision provided for + * green in DXT-compressed and uncompressed RGB 565 formats. Luminance-only and + * luminance/alpha textures will also still work as expected. + * + * @type {?Texture} + * @default null + */ + this.alphaMap = null; + + /** + * Renders the geometry as a wireframe. + * + * @type {boolean} + * @default false + */ + this.wireframe = false; + + /** + * Controls the thickness of the wireframe. + * + * Can only be used with {@link SVGRenderer}. + * + * @type {number} + * @default 1 + */ + this.wireframeLinewidth = 1; + + /** + * Whether the material is rendered with flat shading or not. + * + * @type {boolean} + * @default false + */ + this.flatShading = false; + + /** + * Whether the material is affected by fog or not. + * + * @type {boolean} + * @default true + */ + this.fog = true; + + this.setValues( parameters ); + + } + + + copy( source ) { + + super.copy( source ); + + this.defines = { 'MATCAP': '' }; + + this.color.copy( source.color ); + + this.matcap = source.matcap; + + this.map = source.map; + + this.bumpMap = source.bumpMap; + this.bumpScale = source.bumpScale; + + this.normalMap = source.normalMap; + this.normalMapType = source.normalMapType; + this.normalScale.copy( source.normalScale ); + + this.displacementMap = source.displacementMap; + this.displacementScale = source.displacementScale; + this.displacementBias = source.displacementBias; + + this.alphaMap = source.alphaMap; + + this.wireframe = source.wireframe; + this.wireframeLinewidth = source.wireframeLinewidth; + + this.flatShading = source.flatShading; + + this.fog = source.fog; + + return this; + + } + +} + +/** + * A material for rendering line primitives. + * + * Materials define the appearance of renderable 3D objects. + * + * ```js + * const material = new THREE.LineDashedMaterial( { + * color: 0xffffff, + * scale: 1, + * dashSize: 3, + * gapSize: 1, + * } ); + * ``` + * + * @augments LineBasicMaterial + */ +class LineDashedMaterial extends LineBasicMaterial { + + /** + * Constructs a new line dashed material. + * + * @param {Object} [parameters] - An object with one or more properties + * defining the material's appearance. Any property of the material + * (including any property from inherited materials) can be passed + * in here. Color values can be passed any type of value accepted + * by {@link Color#set}. + */ + constructor( parameters ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isLineDashedMaterial = true; + this.type = 'LineDashedMaterial'; + + /** + * The scale of the dashed part of a line. + * + * @type {number} + * @default 1 + */ + this.scale = 1; + + /** + * The size of the dash. This is both the gap with the stroke. + * + * @type {number} + * @default 3 + */ + this.dashSize = 3; + + /** + * The size of the gap. + * + * @type {number} + * @default 1 + */ + this.gapSize = 1; + + this.setValues( parameters ); + + } + + copy( source ) { + + super.copy( source ); + + this.scale = source.scale; + this.dashSize = source.dashSize; + this.gapSize = source.gapSize; + + return this; + + } + +} + +/** + * Converts an array to a specific type. + * + * @param {TypedArray|Array} array - The array to convert. + * @param {TypedArray.constructor} type - The constructor of a typed array that defines the new type. + * @return {TypedArray} The converted array. + */ +function convertArray( array, type ) { + + if ( ! array || array.constructor === type ) return array; + + if ( typeof type.BYTES_PER_ELEMENT === 'number' ) { + + return new type( array ); // create typed array + + } + + return Array.prototype.slice.call( array ); // create Array + +} + +/** + * Returns an array by which times and values can be sorted. + * + * @param {Array} times - The keyframe time values. + * @return {Array} The array. + */ +function getKeyframeOrder( times ) { + + function compareTime( i, j ) { + + return times[ i ] - times[ j ]; + + } + + const n = times.length; + const result = new Array( n ); + for ( let i = 0; i !== n; ++ i ) result[ i ] = i; + + result.sort( compareTime ); + + return result; + +} + +/** + * Sorts the given array by the previously computed order via `getKeyframeOrder()`. + * + * @param {Array} values - The values to sort. + * @param {number} stride - The stride. + * @param {Array} order - The sort order. + * @return {Array} The sorted values. + */ +function sortedArray( values, stride, order ) { + + const nValues = values.length; + const result = new values.constructor( nValues ); + + for ( let i = 0, dstOffset = 0; dstOffset !== nValues; ++ i ) { + + const srcOffset = order[ i ] * stride; + + for ( let j = 0; j !== stride; ++ j ) { + + result[ dstOffset ++ ] = values[ srcOffset + j ]; + + } + + } + + return result; + +} + +/** + * Used for parsing AOS keyframe formats. + * + * @param {Array} jsonKeys - A list of JSON keyframes. + * @param {Array} times - This array will be filled with keyframe times by this function. + * @param {Array} values - This array will be filled with keyframe values by this function. + * @param {string} valuePropertyName - The name of the property to use. + */ +function flattenJSON( jsonKeys, times, values, valuePropertyName ) { + + let i = 1, key = jsonKeys[ 0 ]; + + while ( key !== undefined && key[ valuePropertyName ] === undefined ) { + + key = jsonKeys[ i ++ ]; + + } + + if ( key === undefined ) return; // no data + + let value = key[ valuePropertyName ]; + if ( value === undefined ) return; // no data + + if ( Array.isArray( value ) ) { + + do { + + value = key[ valuePropertyName ]; + + if ( value !== undefined ) { + + times.push( key.time ); + values.push( ...value ); // push all elements + + } + + key = jsonKeys[ i ++ ]; + + } while ( key !== undefined ); + + } else if ( value.toArray !== undefined ) { + + // ...assume THREE.Math-ish + + do { + + value = key[ valuePropertyName ]; + + if ( value !== undefined ) { + + times.push( key.time ); + value.toArray( values, values.length ); + + } + + key = jsonKeys[ i ++ ]; + + } while ( key !== undefined ); + + } else { + + // otherwise push as-is + + do { + + value = key[ valuePropertyName ]; + + if ( value !== undefined ) { + + times.push( key.time ); + values.push( value ); + + } + + key = jsonKeys[ i ++ ]; + + } while ( key !== undefined ); + + } + +} + +/** + * Creates a new clip, containing only the segment of the original clip between the given frames. + * + * @param {AnimationClip} sourceClip - The values to sort. + * @param {string} name - The name of the clip. + * @param {number} startFrame - The start frame. + * @param {number} endFrame - The end frame. + * @param {number} [fps=30] - The FPS. + * @return {AnimationClip} The new sub clip. + */ +function subclip( sourceClip, name, startFrame, endFrame, fps = 30 ) { + + const clip = sourceClip.clone(); + + clip.name = name; + + const tracks = []; + + for ( let i = 0; i < clip.tracks.length; ++ i ) { + + const track = clip.tracks[ i ]; + const valueSize = track.getValueSize(); + + const times = []; + const values = []; + + for ( let j = 0; j < track.times.length; ++ j ) { + + const frame = track.times[ j ] * fps; + + if ( frame < startFrame || frame >= endFrame ) continue; + + times.push( track.times[ j ] ); + + for ( let k = 0; k < valueSize; ++ k ) { + + values.push( track.values[ j * valueSize + k ] ); + + } + + } + + if ( times.length === 0 ) continue; + + track.times = convertArray( times, track.times.constructor ); + track.values = convertArray( values, track.values.constructor ); + + tracks.push( track ); + + } + + clip.tracks = tracks; + + // find minimum .times value across all tracks in the trimmed clip + + let minStartTime = Infinity; + + for ( let i = 0; i < clip.tracks.length; ++ i ) { + + if ( minStartTime > clip.tracks[ i ].times[ 0 ] ) { + + minStartTime = clip.tracks[ i ].times[ 0 ]; + + } + + } + + // shift all tracks such that clip begins at t=0 + + for ( let i = 0; i < clip.tracks.length; ++ i ) { + + clip.tracks[ i ].shift( -1 * minStartTime ); + + } + + clip.resetDuration(); + + return clip; + +} + +/** + * Converts the keyframes of the given animation clip to an additive format. + * + * @param {AnimationClip} targetClip - The clip to make additive. + * @param {number} [referenceFrame=0] - The reference frame. + * @param {AnimationClip} [referenceClip=targetClip] - The reference clip. + * @param {number} [fps=30] - The FPS. + * @return {AnimationClip} The updated clip which is now additive. + */ +function makeClipAdditive( targetClip, referenceFrame = 0, referenceClip = targetClip, fps = 30 ) { + + if ( fps <= 0 ) fps = 30; + + const numTracks = referenceClip.tracks.length; + const referenceTime = referenceFrame / fps; + + // Make each track's values relative to the values at the reference frame + for ( let i = 0; i < numTracks; ++ i ) { + + const referenceTrack = referenceClip.tracks[ i ]; + const referenceTrackType = referenceTrack.ValueTypeName; + + // Skip this track if it's non-numeric + if ( referenceTrackType === 'bool' || referenceTrackType === 'string' ) continue; + + // Find the track in the target clip whose name and type matches the reference track + const targetTrack = targetClip.tracks.find( function ( track ) { + + return track.name === referenceTrack.name + && track.ValueTypeName === referenceTrackType; + + } ); + + if ( targetTrack === undefined ) continue; + + let referenceOffset = 0; + const referenceValueSize = referenceTrack.getValueSize(); + + if ( referenceTrack.createInterpolant.isInterpolantFactoryMethodGLTFCubicSpline ) { + + referenceOffset = referenceValueSize / 3; + + } + + let targetOffset = 0; + const targetValueSize = targetTrack.getValueSize(); + + if ( targetTrack.createInterpolant.isInterpolantFactoryMethodGLTFCubicSpline ) { + + targetOffset = targetValueSize / 3; + + } + + const lastIndex = referenceTrack.times.length - 1; + let referenceValue; + + // Find the value to subtract out of the track + if ( referenceTime <= referenceTrack.times[ 0 ] ) { + + // Reference frame is earlier than the first keyframe, so just use the first keyframe + const startIndex = referenceOffset; + const endIndex = referenceValueSize - referenceOffset; + referenceValue = referenceTrack.values.slice( startIndex, endIndex ); + + } else if ( referenceTime >= referenceTrack.times[ lastIndex ] ) { + + // Reference frame is after the last keyframe, so just use the last keyframe + const startIndex = lastIndex * referenceValueSize + referenceOffset; + const endIndex = startIndex + referenceValueSize - referenceOffset; + referenceValue = referenceTrack.values.slice( startIndex, endIndex ); + + } else { + + // Interpolate to the reference value + const interpolant = referenceTrack.createInterpolant(); + const startIndex = referenceOffset; + const endIndex = referenceValueSize - referenceOffset; + interpolant.evaluate( referenceTime ); + referenceValue = interpolant.resultBuffer.slice( startIndex, endIndex ); + + } + + // Conjugate the quaternion + if ( referenceTrackType === 'quaternion' ) { + + const referenceQuat = new Quaternion().fromArray( referenceValue ).normalize().conjugate(); + referenceQuat.toArray( referenceValue ); + + } + + // Subtract the reference value from all of the track values + + const numTimes = targetTrack.times.length; + for ( let j = 0; j < numTimes; ++ j ) { + + const valueStart = j * targetValueSize + targetOffset; + + if ( referenceTrackType === 'quaternion' ) { + + // Multiply the conjugate for quaternion track types + Quaternion.multiplyQuaternionsFlat( + targetTrack.values, + valueStart, + referenceValue, + 0, + targetTrack.values, + valueStart + ); + + } else { + + const valueEnd = targetValueSize - targetOffset * 2; + + // Subtract each value for all other numeric track types + for ( let k = 0; k < valueEnd; ++ k ) { + + targetTrack.values[ valueStart + k ] -= referenceValue[ k ]; + + } + + } + + } + + } + + targetClip.blendMode = AdditiveAnimationBlendMode; + + return targetClip; + +} + +/** + * A class with various methods to assist with animations. + * + * @hideconstructor + */ +class AnimationUtils { + + /** + * Converts an array to a specific type + * + * @static + * @param {TypedArray|Array} array - The array to convert. + * @param {TypedArray.constructor} type - The constructor of a type array. + * @return {TypedArray} The converted array + */ + static convertArray( array, type ) { + + return convertArray( array, type ); + + } + + /** + * Returns `true` if the given object is a typed array. + * + * @static + * @param {any} object - The object to check. + * @return {boolean} Whether the given object is a typed array. + */ + static isTypedArray( object ) { + + return isTypedArray( object ); + + } + + /** + * Returns an array by which times and values can be sorted. + * + * @static + * @param {Array} times - The keyframe time values. + * @return {Array} The array. + */ + static getKeyframeOrder( times ) { + + return getKeyframeOrder( times ); + + } + + /** + * Sorts the given array by the previously computed order via `getKeyframeOrder()`. + * + * @static + * @param {Array} values - The values to sort. + * @param {number} stride - The stride. + * @param {Array} order - The sort order. + * @return {Array} The sorted values. + */ + static sortedArray( values, stride, order ) { + + return sortedArray( values, stride, order ); + + } + + /** + * Used for parsing AOS keyframe formats. + * + * @static + * @param {Array} jsonKeys - A list of JSON keyframes. + * @param {Array} times - This array will be filled with keyframe times by this method. + * @param {Array} values - This array will be filled with keyframe values by this method. + * @param {string} valuePropertyName - The name of the property to use. + */ + static flattenJSON( jsonKeys, times, values, valuePropertyName ) { + + flattenJSON( jsonKeys, times, values, valuePropertyName ); + + } + + /** + * Creates a new clip, containing only the segment of the original clip between the given frames. + * + * @static + * @param {AnimationClip} sourceClip - The values to sort. + * @param {string} name - The name of the clip. + * @param {number} startFrame - The start frame. + * @param {number} endFrame - The end frame. + * @param {number} [fps=30] - The FPS. + * @return {AnimationClip} The new sub clip. + */ + static subclip( sourceClip, name, startFrame, endFrame, fps = 30 ) { + + return subclip( sourceClip, name, startFrame, endFrame, fps ); + + } + + /** + * Converts the keyframes of the given animation clip to an additive format. + * + * @static + * @param {AnimationClip} targetClip - The clip to make additive. + * @param {number} [referenceFrame=0] - The reference frame. + * @param {AnimationClip} [referenceClip=targetClip] - The reference clip. + * @param {number} [fps=30] - The FPS. + * @return {AnimationClip} The updated clip which is now additive. + */ + static makeClipAdditive( targetClip, referenceFrame = 0, referenceClip = targetClip, fps = 30 ) { + + return makeClipAdditive( targetClip, referenceFrame, referenceClip, fps ); + + } + +} + +/** + * Abstract base class of interpolants over parametric samples. + * + * The parameter domain is one dimensional, typically the time or a path + * along a curve defined by the data. + * + * The sample values can have any dimensionality and derived classes may + * apply special interpretations to the data. + * + * This class provides the interval seek in a Template Method, deferring + * the actual interpolation to derived classes. + * + * Time complexity is O(1) for linear access crossing at most two points + * and O(log N) for random access, where N is the number of positions. + * + * References: {@link http://www.oodesign.com/template-method-pattern.html} + * + * @abstract + */ +class Interpolant { + + /** + * Constructs a new interpolant. + * + * @param {TypedArray} parameterPositions - The parameter positions hold the interpolation factors. + * @param {TypedArray} sampleValues - The sample values. + * @param {number} sampleSize - The sample size + * @param {TypedArray} [resultBuffer] - The result buffer. + */ + constructor( parameterPositions, sampleValues, sampleSize, resultBuffer ) { + + /** + * The parameter positions. + * + * @type {TypedArray} + */ + this.parameterPositions = parameterPositions; + + /** + * A cache index. + * + * @private + * @type {number} + * @default 0 + */ + this._cachedIndex = 0; + + /** + * The result buffer. + * + * @type {TypedArray} + */ + this.resultBuffer = resultBuffer !== undefined ? resultBuffer : new sampleValues.constructor( sampleSize ); + + /** + * The sample values. + * + * @type {TypedArray} + */ + this.sampleValues = sampleValues; + + /** + * The value size. + * + * @type {TypedArray} + */ + this.valueSize = sampleSize; + + /** + * The interpolation settings. + * + * @type {?Object} + * @default null + */ + this.settings = null; + + /** + * The default settings object. + * + * @type {Object} + */ + this.DefaultSettings_ = {}; + + } + + /** + * Evaluate the interpolant at position `t`. + * + * @param {number} t - The interpolation factor. + * @return {TypedArray} The result buffer. + */ + evaluate( t ) { + + const pp = this.parameterPositions; + let i1 = this._cachedIndex, + t1 = pp[ i1 ], + t0 = pp[ i1 - 1 ]; + + validate_interval: { + + seek: { + + let right; + + linear_scan: { + + //- See http://jsperf.com/comparison-to-undefined/3 + //- slower code: + //- + //- if ( t >= t1 || t1 === undefined ) { + forward_scan: if ( ! ( t < t1 ) ) { + + for ( let giveUpAt = i1 + 2; ; ) { + + if ( t1 === undefined ) { + + if ( t < t0 ) break forward_scan; + + // after end + + i1 = pp.length; + this._cachedIndex = i1; + return this.copySampleValue_( i1 - 1 ); + + } + + if ( i1 === giveUpAt ) break; // this loop + + t0 = t1; + t1 = pp[ ++ i1 ]; + + if ( t < t1 ) { + + // we have arrived at the sought interval + break seek; + + } + + } + + // prepare binary search on the right side of the index + right = pp.length; + break linear_scan; + + } + + //- slower code: + //- if ( t < t0 || t0 === undefined ) { + if ( ! ( t >= t0 ) ) { + + // looping? + + const t1global = pp[ 1 ]; + + if ( t < t1global ) { + + i1 = 2; // + 1, using the scan for the details + t0 = t1global; + + } + + // linear reverse scan + + for ( let giveUpAt = i1 - 2; ; ) { + + if ( t0 === undefined ) { + + // before start + + this._cachedIndex = 0; + return this.copySampleValue_( 0 ); + + } + + if ( i1 === giveUpAt ) break; // this loop + + t1 = t0; + t0 = pp[ -- i1 - 1 ]; + + if ( t >= t0 ) { + + // we have arrived at the sought interval + break seek; + + } + + } + + // prepare binary search on the left side of the index + right = i1; + i1 = 0; + break linear_scan; + + } + + // the interval is valid + + break validate_interval; + + } // linear scan + + // binary search + + while ( i1 < right ) { + + const mid = ( i1 + right ) >>> 1; + + if ( t < pp[ mid ] ) { + + right = mid; + + } else { + + i1 = mid + 1; + + } + + } + + t1 = pp[ i1 ]; + t0 = pp[ i1 - 1 ]; + + // check boundary cases, again + + if ( t0 === undefined ) { + + this._cachedIndex = 0; + return this.copySampleValue_( 0 ); + + } + + if ( t1 === undefined ) { + + i1 = pp.length; + this._cachedIndex = i1; + return this.copySampleValue_( i1 - 1 ); + + } + + } // seek + + this._cachedIndex = i1; + + this.intervalChanged_( i1, t0, t1 ); + + } // validate_interval + + return this.interpolate_( i1, t0, t, t1 ); + + } + + /** + * Returns the interpolation settings. + * + * @return {Object} The interpolation settings. + */ + getSettings_() { + + return this.settings || this.DefaultSettings_; + + } + + /** + * Copies a sample value to the result buffer. + * + * @param {number} index - An index into the sample value buffer. + * @return {TypedArray} The result buffer. + */ + copySampleValue_( index ) { + + // copies a sample value to the result buffer + + const result = this.resultBuffer, + values = this.sampleValues, + stride = this.valueSize, + offset = index * stride; + + for ( let i = 0; i !== stride; ++ i ) { + + result[ i ] = values[ offset + i ]; + + } + + return result; + + } + + /** + * Copies a sample value to the result buffer. + * + * @abstract + * @param {number} i1 - An index into the sample value buffer. + * @param {number} t0 - The previous interpolation factor. + * @param {number} t - The current interpolation factor. + * @param {number} t1 - The next interpolation factor. + * @return {TypedArray} The result buffer. + */ + interpolate_( /* i1, t0, t, t1 */ ) { + + throw new Error( 'call to abstract method' ); + // implementations shall return this.resultBuffer + + } + + /** + * Optional method that is executed when the interval has changed. + * + * @param {number} i1 - An index into the sample value buffer. + * @param {number} t0 - The previous interpolation factor. + * @param {number} t - The current interpolation factor. + */ + intervalChanged_( /* i1, t0, t1 */ ) { + + // empty + + } + +} + +/** + * Fast and simple cubic spline interpolant. + * + * It was derived from a Hermitian construction setting the first derivative + * at each sample position to the linear slope between neighboring positions + * over their parameter interval. + * + * @augments Interpolant + */ +class CubicInterpolant extends Interpolant { + + /** + * Constructs a new cubic interpolant. + * + * @param {TypedArray} parameterPositions - The parameter positions hold the interpolation factors. + * @param {TypedArray} sampleValues - The sample values. + * @param {number} sampleSize - The sample size + * @param {TypedArray} [resultBuffer] - The result buffer. + */ + constructor( parameterPositions, sampleValues, sampleSize, resultBuffer ) { + + super( parameterPositions, sampleValues, sampleSize, resultBuffer ); + + this._weightPrev = -0; + this._offsetPrev = -0; + this._weightNext = -0; + this._offsetNext = -0; + + this.DefaultSettings_ = { + + endingStart: ZeroCurvatureEnding, + endingEnd: ZeroCurvatureEnding + + }; + + } + + intervalChanged_( i1, t0, t1 ) { + + const pp = this.parameterPositions; + let iPrev = i1 - 2, + iNext = i1 + 1, + + tPrev = pp[ iPrev ], + tNext = pp[ iNext ]; + + if ( tPrev === undefined ) { + + switch ( this.getSettings_().endingStart ) { + + case ZeroSlopeEnding: + + // f'(t0) = 0 + iPrev = i1; + tPrev = 2 * t0 - t1; + + break; + + case WrapAroundEnding: + + // use the other end of the curve + iPrev = pp.length - 2; + tPrev = t0 + pp[ iPrev ] - pp[ iPrev + 1 ]; + + break; + + default: // ZeroCurvatureEnding + + // f''(t0) = 0 a.k.a. Natural Spline + iPrev = i1; + tPrev = t1; + + } + + } + + if ( tNext === undefined ) { + + switch ( this.getSettings_().endingEnd ) { + + case ZeroSlopeEnding: + + // f'(tN) = 0 + iNext = i1; + tNext = 2 * t1 - t0; + + break; + + case WrapAroundEnding: + + // use the other end of the curve + iNext = 1; + tNext = t1 + pp[ 1 ] - pp[ 0 ]; + + break; + + default: // ZeroCurvatureEnding + + // f''(tN) = 0, a.k.a. Natural Spline + iNext = i1 - 1; + tNext = t0; + + } + + } + + const halfDt = ( t1 - t0 ) * 0.5, + stride = this.valueSize; + + this._weightPrev = halfDt / ( t0 - tPrev ); + this._weightNext = halfDt / ( tNext - t1 ); + this._offsetPrev = iPrev * stride; + this._offsetNext = iNext * stride; + + } + + interpolate_( i1, t0, t, t1 ) { + + const result = this.resultBuffer, + values = this.sampleValues, + stride = this.valueSize, + + o1 = i1 * stride, o0 = o1 - stride, + oP = this._offsetPrev, oN = this._offsetNext, + wP = this._weightPrev, wN = this._weightNext, + + p = ( t - t0 ) / ( t1 - t0 ), + pp = p * p, + ppp = pp * p; + + // evaluate polynomials + + const sP = - wP * ppp + 2 * wP * pp - wP * p; + const s0 = ( 1 + wP ) * ppp + ( -1.5 - 2 * wP ) * pp + ( -0.5 + wP ) * p + 1; + const s1 = ( -1 - wN ) * ppp + ( 1.5 + wN ) * pp + 0.5 * p; + const sN = wN * ppp - wN * pp; + + // combine data linearly + + for ( let i = 0; i !== stride; ++ i ) { + + result[ i ] = + sP * values[ oP + i ] + + s0 * values[ o0 + i ] + + s1 * values[ o1 + i ] + + sN * values[ oN + i ]; + + } + + return result; + + } + +} + +/** + * A basic linear interpolant. + * + * @augments Interpolant + */ +class LinearInterpolant extends Interpolant { + + /** + * Constructs a new linear interpolant. + * + * @param {TypedArray} parameterPositions - The parameter positions hold the interpolation factors. + * @param {TypedArray} sampleValues - The sample values. + * @param {number} sampleSize - The sample size + * @param {TypedArray} [resultBuffer] - The result buffer. + */ + constructor( parameterPositions, sampleValues, sampleSize, resultBuffer ) { + + super( parameterPositions, sampleValues, sampleSize, resultBuffer ); + + } + + interpolate_( i1, t0, t, t1 ) { + + const result = this.resultBuffer, + values = this.sampleValues, + stride = this.valueSize, + + offset1 = i1 * stride, + offset0 = offset1 - stride, + + weight1 = ( t - t0 ) / ( t1 - t0 ), + weight0 = 1 - weight1; + + for ( let i = 0; i !== stride; ++ i ) { + + result[ i ] = + values[ offset0 + i ] * weight0 + + values[ offset1 + i ] * weight1; + + } + + return result; + + } + +} + +/** + * Interpolant that evaluates to the sample value at the position preceding + * the parameter. + * + * @augments Interpolant + */ +class DiscreteInterpolant extends Interpolant { + + /** + * Constructs a new discrete interpolant. + * + * @param {TypedArray} parameterPositions - The parameter positions hold the interpolation factors. + * @param {TypedArray} sampleValues - The sample values. + * @param {number} sampleSize - The sample size + * @param {TypedArray} [resultBuffer] - The result buffer. + */ + constructor( parameterPositions, sampleValues, sampleSize, resultBuffer ) { + + super( parameterPositions, sampleValues, sampleSize, resultBuffer ); + + } + + interpolate_( i1 /*, t0, t, t1 */ ) { + + return this.copySampleValue_( i1 - 1 ); + + } + +} + +/** + * A Bezier interpolant using cubic Bezier curves with 2D control points. + * + * This interpolant supports the COLLADA/Maya style of Bezier animation where + * each keyframe has explicit in/out tangent control points specified as + * 2D coordinates (time, value). + * + * The tangent data must be provided via the `settings` object: + * - `settings.inTangents`: Float32Array with [time, value] pairs per keyframe per component + * - `settings.outTangents`: Float32Array with [time, value] pairs per keyframe per component + * + * For a track with N keyframes and stride S: + * - Each tangent array has N * S * 2 values + * - Layout: [k0_c0_time, k0_c0_value, k0_c1_time, k0_c1_value, ..., k0_cS_time, k0_cS_value, + * k1_c0_time, k1_c0_value, ...] + * + * @augments Interpolant + */ +class BezierInterpolant extends Interpolant { + + interpolate_( i1, t0, t, t1 ) { + + const result = this.resultBuffer; + const values = this.sampleValues; + const stride = this.valueSize; + + const offset1 = i1 * stride; + const offset0 = offset1 - stride; + + const settings = this.settings || this.DefaultSettings_; + const inTangents = settings.inTangents; + const outTangents = settings.outTangents; + + // If no tangent data, fall back to linear interpolation + if ( ! inTangents || ! outTangents ) { + + const weight1 = ( t - t0 ) / ( t1 - t0 ); + const weight0 = 1 - weight1; + + for ( let i = 0; i !== stride; ++ i ) { + + result[ i ] = values[ offset0 + i ] * weight0 + values[ offset1 + i ] * weight1; + + } + + return result; + + } + + const tangentStride = stride * 2; + const i0 = i1 - 1; + + for ( let i = 0; i !== stride; ++ i ) { + + const v0 = values[ offset0 + i ]; + const v1 = values[ offset1 + i ]; + + // outTangent of previous keyframe (C0) + const outTangentOffset = i0 * tangentStride + i * 2; + const c0x = outTangents[ outTangentOffset ]; + const c0y = outTangents[ outTangentOffset + 1 ]; + + // inTangent of current keyframe (C1) + const inTangentOffset = i1 * tangentStride + i * 2; + const c1x = inTangents[ inTangentOffset ]; + const c1y = inTangents[ inTangentOffset + 1 ]; + + // Solve for Bezier parameter s where Bx(s) = t using Newton-Raphson + let s = ( t - t0 ) / ( t1 - t0 ); + let s2, s3, oneMinusS, oneMinusS2, oneMinusS3; + + for ( let iter = 0; iter < 8; iter ++ ) { + + s2 = s * s; + s3 = s2 * s; + oneMinusS = 1 - s; + oneMinusS2 = oneMinusS * oneMinusS; + oneMinusS3 = oneMinusS2 * oneMinusS; + + // Bezier X(s) = (1-s)³·t0 + 3(1-s)²s·c0x + 3(1-s)s²·c1x + s³·t1 + const bx = oneMinusS3 * t0 + 3 * oneMinusS2 * s * c0x + 3 * oneMinusS * s2 * c1x + s3 * t1; + + const error = bx - t; + if ( Math.abs( error ) < 1e-10 ) break; + + // Derivative dX/ds + const dbx = 3 * oneMinusS2 * ( c0x - t0 ) + 6 * oneMinusS * s * ( c1x - c0x ) + 3 * s2 * ( t1 - c1x ); + if ( Math.abs( dbx ) < 1e-10 ) break; + + s = s - error / dbx; + s = Math.max( 0, Math.min( 1, s ) ); + + } + + // Evaluate Bezier Y(s) + result[ i ] = oneMinusS3 * v0 + 3 * oneMinusS2 * s * c0y + 3 * oneMinusS * s2 * c1y + s3 * v1; + + } + + return result; + + } + +} + +/** + * Represents a timed sequence of keyframes, which are composed of lists of + * times and related values, and which are used to animate a specific property + * of an object. + */ +class KeyframeTrack { + + /** + * Constructs a new keyframe track. + * + * @param {string} name - The keyframe track's name. + * @param {Array} times - A list of keyframe times. + * @param {Array} values - A list of keyframe values. + * @param {(InterpolateLinear|InterpolateDiscrete|InterpolateSmooth|InterpolateBezier)} [interpolation] - The interpolation type. + */ + constructor( name, times, values, interpolation ) { + + if ( name === undefined ) throw new Error( 'THREE.KeyframeTrack: track name is undefined' ); + if ( times === undefined || times.length === 0 ) throw new Error( 'THREE.KeyframeTrack: no keyframes in track named ' + name ); + + /** + * The track's name can refer to morph targets or bones or + * possibly other values within an animated object. See {@link PropertyBinding#parseTrackName} + * for the forms of strings that can be parsed for property binding. + * + * @type {string} + */ + this.name = name; + + /** + * The keyframe times. + * + * @type {Float32Array} + */ + this.times = convertArray( times, this.TimeBufferType ); + + /** + * The keyframe values. + * + * @type {Float32Array} + */ + this.values = convertArray( values, this.ValueBufferType ); + + this.setInterpolation( interpolation || this.DefaultInterpolation ); + + } + + /** + * Converts the keyframe track to JSON. + * + * @static + * @param {KeyframeTrack} track - The keyframe track to serialize. + * @return {Object} The serialized keyframe track as JSON. + */ + static toJSON( track ) { + + const trackType = track.constructor; + + let json; + + // derived classes can define a static toJSON method + if ( trackType.toJSON !== this.toJSON ) { + + json = trackType.toJSON( track ); + + } else { + + // by default, we assume the data can be serialized as-is + json = { + + 'name': track.name, + 'times': convertArray( track.times, Array ), + 'values': convertArray( track.values, Array ) + + }; + + const interpolation = track.getInterpolation(); + + if ( interpolation !== track.DefaultInterpolation ) { + + json.interpolation = interpolation; + + } + + } + + json.type = track.ValueTypeName; // mandatory + + return json; + + } + + /** + * Factory method for creating a new discrete interpolant. + * + * @static + * @param {TypedArray} [result] - The result buffer. + * @return {DiscreteInterpolant} The new interpolant. + */ + InterpolantFactoryMethodDiscrete( result ) { + + return new DiscreteInterpolant( this.times, this.values, this.getValueSize(), result ); + + } + + /** + * Factory method for creating a new linear interpolant. + * + * @static + * @param {TypedArray} [result] - The result buffer. + * @return {LinearInterpolant} The new interpolant. + */ + InterpolantFactoryMethodLinear( result ) { + + return new LinearInterpolant( this.times, this.values, this.getValueSize(), result ); + + } + + /** + * Factory method for creating a new smooth interpolant. + * + * @static + * @param {TypedArray} [result] - The result buffer. + * @return {CubicInterpolant} The new interpolant. + */ + InterpolantFactoryMethodSmooth( result ) { + + return new CubicInterpolant( this.times, this.values, this.getValueSize(), result ); + + } + + /** + * Factory method for creating a new Bezier interpolant. + * + * The Bezier interpolant requires tangent data to be set via the `settings` property + * on the track before creating the interpolant. The settings should contain: + * - `inTangents`: Float32Array with [time, value] pairs per keyframe per component + * - `outTangents`: Float32Array with [time, value] pairs per keyframe per component + * + * @static + * @param {TypedArray} [result] - The result buffer. + * @return {BezierInterpolant} The new interpolant. + */ + InterpolantFactoryMethodBezier( result ) { + + const interpolant = new BezierInterpolant( this.times, this.values, this.getValueSize(), result ); + + // Pass tangent data from track settings to interpolant + if ( this.settings ) { + + interpolant.settings = this.settings; + + } + + return interpolant; + + } + + /** + * Defines the interpolation factor method for this keyframe track. + * + * @param {(InterpolateLinear|InterpolateDiscrete|InterpolateSmooth|InterpolateBezier)} interpolation - The interpolation type. + * @return {KeyframeTrack} A reference to this keyframe track. + */ + setInterpolation( interpolation ) { + + let factoryMethod; + + switch ( interpolation ) { + + case InterpolateDiscrete: + + factoryMethod = this.InterpolantFactoryMethodDiscrete; + + break; + + case InterpolateLinear: + + factoryMethod = this.InterpolantFactoryMethodLinear; + + break; + + case InterpolateSmooth: + + factoryMethod = this.InterpolantFactoryMethodSmooth; + + break; + + case InterpolateBezier: + + factoryMethod = this.InterpolantFactoryMethodBezier; + + break; + + } + + if ( factoryMethod === undefined ) { + + const message = 'unsupported interpolation for ' + + this.ValueTypeName + ' keyframe track named ' + this.name; + + if ( this.createInterpolant === undefined ) { + + // fall back to default, unless the default itself is messed up + if ( interpolation !== this.DefaultInterpolation ) { + + this.setInterpolation( this.DefaultInterpolation ); + + } else { + + throw new Error( message ); // fatal, in this case + + } + + } + + warn( 'KeyframeTrack:', message ); + return this; + + } + + this.createInterpolant = factoryMethod; + + return this; + + } + + /** + * Returns the current interpolation type. + * + * @return {(InterpolateLinear|InterpolateDiscrete|InterpolateSmooth|InterpolateBezier)} The interpolation type. + */ + getInterpolation() { + + switch ( this.createInterpolant ) { + + case this.InterpolantFactoryMethodDiscrete: + + return InterpolateDiscrete; + + case this.InterpolantFactoryMethodLinear: + + return InterpolateLinear; + + case this.InterpolantFactoryMethodSmooth: + + return InterpolateSmooth; + + case this.InterpolantFactoryMethodBezier: + + return InterpolateBezier; + + } + + } + + /** + * Returns the value size. + * + * @return {number} The value size. + */ + getValueSize() { + + return this.values.length / this.times.length; + + } + + /** + * Moves all keyframes either forward or backward in time. + * + * @param {number} timeOffset - The offset to move the time values. + * @return {KeyframeTrack} A reference to this keyframe track. + */ + shift( timeOffset ) { + + if ( timeOffset !== 0.0 ) { + + const times = this.times; + + for ( let i = 0, n = times.length; i !== n; ++ i ) { + + times[ i ] += timeOffset; + + } + + } + + return this; + + } + + /** + * Scale all keyframe times by a factor (useful for frame - seconds conversions). + * + * @param {number} timeScale - The time scale. + * @return {KeyframeTrack} A reference to this keyframe track. + */ + scale( timeScale ) { + + if ( timeScale !== 1.0 ) { + + const times = this.times; + + for ( let i = 0, n = times.length; i !== n; ++ i ) { + + times[ i ] *= timeScale; + + } + + } + + return this; + + } + + /** + * Removes keyframes before and after animation without changing any values within the defined time range. + * + * Note: The method does not shift around keys to the start of the track time, because for interpolated + * keys this will change their values + * + * @param {number} startTime - The start time. + * @param {number} endTime - The end time. + * @return {KeyframeTrack} A reference to this keyframe track. + */ + trim( startTime, endTime ) { + + const times = this.times, + nKeys = times.length; + + let from = 0, + to = nKeys - 1; + + while ( from !== nKeys && times[ from ] < startTime ) { + + ++ from; + + } + + while ( to !== -1 && times[ to ] > endTime ) { + + -- to; + + } + + ++ to; // inclusive -> exclusive bound + + if ( from !== 0 || to !== nKeys ) { + + // empty tracks are forbidden, so keep at least one keyframe + if ( from >= to ) { + + to = Math.max( to, 1 ); + from = to - 1; + + } + + const stride = this.getValueSize(); + this.times = times.slice( from, to ); + this.values = this.values.slice( from * stride, to * stride ); + + } + + return this; + + } + + /** + * Performs minimal validation on the keyframe track. Returns `true` if the values + * are valid. + * + * @return {boolean} Whether the keyframes are valid or not. + */ + validate() { + + let valid = true; + + const valueSize = this.getValueSize(); + if ( valueSize - Math.floor( valueSize ) !== 0 ) { + + error( 'KeyframeTrack: Invalid value size in track.', this ); + valid = false; + + } + + const times = this.times, + values = this.values, + + nKeys = times.length; + + if ( nKeys === 0 ) { + + error( 'KeyframeTrack: Track is empty.', this ); + valid = false; + + } + + let prevTime = null; + + for ( let i = 0; i !== nKeys; i ++ ) { + + const currTime = times[ i ]; + + if ( typeof currTime === 'number' && isNaN( currTime ) ) { + + error( 'KeyframeTrack: Time is not a valid number.', this, i, currTime ); + valid = false; + break; + + } + + if ( prevTime !== null && prevTime > currTime ) { + + error( 'KeyframeTrack: Out of order keys.', this, i, currTime, prevTime ); + valid = false; + break; + + } + + prevTime = currTime; + + } + + if ( values !== undefined ) { + + if ( isTypedArray( values ) ) { + + for ( let i = 0, n = values.length; i !== n; ++ i ) { + + const value = values[ i ]; + + if ( isNaN( value ) ) { + + error( 'KeyframeTrack: Value is not a valid number.', this, i, value ); + valid = false; + break; + + } + + } + + } + + } + + return valid; + + } + + /** + * Optimizes this keyframe track by removing equivalent sequential keys (which are + * common in morph target sequences). + * + * @return {KeyframeTrack} A reference to this keyframe track. + */ + optimize() { + + // (0,0,0,0,1,1,1,0,0,0,0,0,0,0) --> (0,0,1,1,0,0) + + // times or values may be shared with other tracks, so overwriting is unsafe + const times = this.times.slice(), + values = this.values.slice(), + stride = this.getValueSize(), + + smoothInterpolation = this.getInterpolation() === InterpolateSmooth, + + lastIndex = times.length - 1; + + let writeIndex = 1; + + for ( let i = 1; i < lastIndex; ++ i ) { + + let keep = false; + + const time = times[ i ]; + const timeNext = times[ i + 1 ]; + + // remove adjacent keyframes scheduled at the same time + + if ( time !== timeNext && ( i !== 1 || time !== times[ 0 ] ) ) { + + if ( ! smoothInterpolation ) { + + // remove unnecessary keyframes same as their neighbors + + const offset = i * stride, + offsetP = offset - stride, + offsetN = offset + stride; + + for ( let j = 0; j !== stride; ++ j ) { + + const value = values[ offset + j ]; + + if ( value !== values[ offsetP + j ] || + value !== values[ offsetN + j ] ) { + + keep = true; + break; + + } + + } + + } else { + + keep = true; + + } + + } + + // in-place compaction + + if ( keep ) { + + if ( i !== writeIndex ) { + + times[ writeIndex ] = times[ i ]; + + const readOffset = i * stride, + writeOffset = writeIndex * stride; + + for ( let j = 0; j !== stride; ++ j ) { + + values[ writeOffset + j ] = values[ readOffset + j ]; + + } + + } + + ++ writeIndex; + + } + + } + + // flush last keyframe (compaction looks ahead) + + if ( lastIndex > 0 ) { + + times[ writeIndex ] = times[ lastIndex ]; + + for ( let readOffset = lastIndex * stride, writeOffset = writeIndex * stride, j = 0; j !== stride; ++ j ) { + + values[ writeOffset + j ] = values[ readOffset + j ]; + + } + + ++ writeIndex; + + } + + if ( writeIndex !== times.length ) { + + this.times = times.slice( 0, writeIndex ); + this.values = values.slice( 0, writeIndex * stride ); + + } else { + + this.times = times; + this.values = values; + + } + + return this; + + } + + /** + * Returns a new keyframe track with copied values from this instance. + * + * @return {KeyframeTrack} A clone of this instance. + */ + clone() { + + const times = this.times.slice(); + const values = this.values.slice(); + + const TypedKeyframeTrack = this.constructor; + const track = new TypedKeyframeTrack( this.name, times, values ); + + // Interpolant argument to constructor is not saved, so copy the factory method directly. + track.createInterpolant = this.createInterpolant; + + return track; + + } + +} + +/** + * The value type name. + * + * @type {string} + * @default '' + */ +KeyframeTrack.prototype.ValueTypeName = ''; + +/** + * The time buffer type of this keyframe track. + * + * @type {TypedArray|Array} + * @default Float32Array.constructor + */ +KeyframeTrack.prototype.TimeBufferType = Float32Array; + +/** + * The value buffer type of this keyframe track. + * + * @type {TypedArray|Array} + * @default Float32Array.constructor + */ +KeyframeTrack.prototype.ValueBufferType = Float32Array; + +/** + * The default interpolation type of this keyframe track. + * + * @type {(InterpolateLinear|InterpolateDiscrete|InterpolateSmooth|InterpolateBezier)} + * @default InterpolateLinear + */ +KeyframeTrack.prototype.DefaultInterpolation = InterpolateLinear; + +/** + * A track for boolean keyframe values. + * + * @augments KeyframeTrack + */ +class BooleanKeyframeTrack extends KeyframeTrack { + + /** + * Constructs a new boolean keyframe track. + * + * This keyframe track type has no `interpolation` parameter because the + * interpolation is always discrete. + * + * @param {string} name - The keyframe track's name. + * @param {Array} times - A list of keyframe times. + * @param {Array} values - A list of keyframe values. + */ + constructor( name, times, values ) { + + super( name, times, values ); + + } + +} + +/** + * The value type name. + * + * @type {string} + * @default 'bool' + */ +BooleanKeyframeTrack.prototype.ValueTypeName = 'bool'; + +/** + * The value buffer type of this keyframe track. + * + * @type {TypedArray|Array} + * @default Array.constructor + */ +BooleanKeyframeTrack.prototype.ValueBufferType = Array; + +/** + * The default interpolation type of this keyframe track. + * + * @type {(InterpolateLinear|InterpolateDiscrete|InterpolateSmooth)} + * @default InterpolateDiscrete + */ +BooleanKeyframeTrack.prototype.DefaultInterpolation = InterpolateDiscrete; +BooleanKeyframeTrack.prototype.InterpolantFactoryMethodLinear = undefined; +BooleanKeyframeTrack.prototype.InterpolantFactoryMethodSmooth = undefined; + +/** + * A track for color keyframe values. + * + * @augments KeyframeTrack + */ +class ColorKeyframeTrack extends KeyframeTrack { + + /** + * Constructs a new color keyframe track. + * + * @param {string} name - The keyframe track's name. + * @param {Array} times - A list of keyframe times. + * @param {Array} values - A list of keyframe values. + * @param {(InterpolateLinear|InterpolateDiscrete|InterpolateSmooth)} [interpolation] - The interpolation type. + */ + constructor( name, times, values, interpolation ) { + + super( name, times, values, interpolation ); + + } + +} + +/** + * The value type name. + * + * @type {string} + * @default 'color' + */ +ColorKeyframeTrack.prototype.ValueTypeName = 'color'; + +/** + * A track for numeric keyframe values. + * + * @augments KeyframeTrack + */ +class NumberKeyframeTrack extends KeyframeTrack { + + /** + * Constructs a new number keyframe track. + * + * @param {string} name - The keyframe track's name. + * @param {Array} times - A list of keyframe times. + * @param {Array} values - A list of keyframe values. + * @param {(InterpolateLinear|InterpolateDiscrete|InterpolateSmooth)} [interpolation] - The interpolation type. + */ + constructor( name, times, values, interpolation ) { + + super( name, times, values, interpolation ); + + } + +} + +/** + * The value type name. + * + * @type {string} + * @default 'number' + */ +NumberKeyframeTrack.prototype.ValueTypeName = 'number'; + +/** + * Spherical linear unit quaternion interpolant. + * + * @augments Interpolant + */ +class QuaternionLinearInterpolant extends Interpolant { + + /** + * Constructs a new SLERP interpolant. + * + * @param {TypedArray} parameterPositions - The parameter positions hold the interpolation factors. + * @param {TypedArray} sampleValues - The sample values. + * @param {number} sampleSize - The sample size + * @param {TypedArray} [resultBuffer] - The result buffer. + */ + constructor( parameterPositions, sampleValues, sampleSize, resultBuffer ) { + + super( parameterPositions, sampleValues, sampleSize, resultBuffer ); + + } + + interpolate_( i1, t0, t, t1 ) { + + const result = this.resultBuffer, + values = this.sampleValues, + stride = this.valueSize, + + alpha = ( t - t0 ) / ( t1 - t0 ); + + let offset = i1 * stride; + + for ( let end = offset + stride; offset !== end; offset += 4 ) { + + Quaternion.slerpFlat( result, 0, values, offset - stride, values, offset, alpha ); + + } + + return result; + + } + +} + +/** + * A track for Quaternion keyframe values. + * + * @augments KeyframeTrack + */ +class QuaternionKeyframeTrack extends KeyframeTrack { + + /** + * Constructs a new Quaternion keyframe track. + * + * @param {string} name - The keyframe track's name. + * @param {Array} times - A list of keyframe times. + * @param {Array} values - A list of keyframe values. + * @param {(InterpolateLinear|InterpolateDiscrete|InterpolateSmooth)} [interpolation] - The interpolation type. + */ + constructor( name, times, values, interpolation ) { + + super( name, times, values, interpolation ); + + } + + /** + * Overwritten so the method returns Quaternion based interpolant. + * + * @static + * @param {TypedArray} [result] - The result buffer. + * @return {QuaternionLinearInterpolant} The new interpolant. + */ + InterpolantFactoryMethodLinear( result ) { + + return new QuaternionLinearInterpolant( this.times, this.values, this.getValueSize(), result ); + + } + +} + +/** + * The value type name. + * + * @type {string} + * @default 'quaternion' + */ +QuaternionKeyframeTrack.prototype.ValueTypeName = 'quaternion'; +// ValueBufferType is inherited +// DefaultInterpolation is inherited; +QuaternionKeyframeTrack.prototype.InterpolantFactoryMethodSmooth = undefined; + +/** + * A track for string keyframe values. + * + * @augments KeyframeTrack + */ +class StringKeyframeTrack extends KeyframeTrack { + + /** + * Constructs a new string keyframe track. + * + * This keyframe track type has no `interpolation` parameter because the + * interpolation is always discrete. + * + * @param {string} name - The keyframe track's name. + * @param {Array} times - A list of keyframe times. + * @param {Array} values - A list of keyframe values. + */ + constructor( name, times, values ) { + + super( name, times, values ); + + } + +} + +/** + * The value type name. + * + * @type {string} + * @default 'string' + */ +StringKeyframeTrack.prototype.ValueTypeName = 'string'; + +/** + * The value buffer type of this keyframe track. + * + * @type {TypedArray|Array} + * @default Array.constructor + */ +StringKeyframeTrack.prototype.ValueBufferType = Array; + +/** + * The default interpolation type of this keyframe track. + * + * @type {(InterpolateLinear|InterpolateDiscrete|InterpolateSmooth)} + * @default InterpolateDiscrete + */ +StringKeyframeTrack.prototype.DefaultInterpolation = InterpolateDiscrete; +StringKeyframeTrack.prototype.InterpolantFactoryMethodLinear = undefined; +StringKeyframeTrack.prototype.InterpolantFactoryMethodSmooth = undefined; + +/** + * A track for vector keyframe values. + * + * @augments KeyframeTrack + */ +class VectorKeyframeTrack extends KeyframeTrack { + + /** + * Constructs a new vector keyframe track. + * + * @param {string} name - The keyframe track's name. + * @param {Array} times - A list of keyframe times. + * @param {Array} values - A list of keyframe values. + * @param {(InterpolateLinear|InterpolateDiscrete|InterpolateSmooth)} [interpolation] - The interpolation type. + */ + constructor( name, times, values, interpolation ) { + + super( name, times, values, interpolation ); + + } + +} + +/** + * The value type name. + * + * @type {string} + * @default 'vector' + */ +VectorKeyframeTrack.prototype.ValueTypeName = 'vector'; + +/** + * A reusable set of keyframe tracks which represent an animation. + */ +class AnimationClip { + + /** + * Constructs a new animation clip. + * + * Note: Instead of instantiating an AnimationClip directly with the constructor, you can + * use the static interface of this class for creating clips. In most cases though, animation clips + * will automatically be created by loaders when importing animated 3D assets. + * + * @param {string} [name=''] - The clip's name. + * @param {number} [duration=-1] - The clip's duration in seconds. If a negative value is passed, + * the duration will be calculated from the passed keyframes. + * @param {Array} tracks - An array of keyframe tracks. + * @param {(NormalAnimationBlendMode|AdditiveAnimationBlendMode)} [blendMode=NormalAnimationBlendMode] - Defines how the animation + * is blended/combined when two or more animations are simultaneously played. + */ + constructor( name = '', duration = -1, tracks = [], blendMode = NormalAnimationBlendMode ) { + + /** + * The clip's name. + * + * @type {string} + */ + this.name = name; + + /** + * An array of keyframe tracks. + * + * @type {Array} + */ + this.tracks = tracks; + + /** + * The clip's duration in seconds. + * + * @type {number} + */ + this.duration = duration; + + /** + * Defines how the animation is blended/combined when two or more animations + * are simultaneously played. + * + * @type {(NormalAnimationBlendMode|AdditiveAnimationBlendMode)} + */ + this.blendMode = blendMode; + + /** + * The UUID of the animation clip. + * + * @type {string} + * @readonly + */ + this.uuid = generateUUID(); + + /** + * An object that can be used to store custom data about the animation clip. + * It should not hold references to functions as these will not be cloned. + * + * @type {Object} + */ + this.userData = {}; + + // this means it should figure out its duration by scanning the tracks + if ( this.duration < 0 ) { + + this.resetDuration(); + + } + + } + + /** + * Factory method for creating an animation clip from the given JSON. + * + * @static + * @param {Object} json - The serialized animation clip. + * @return {AnimationClip} The new animation clip. + */ + static parse( json ) { + + const tracks = [], + jsonTracks = json.tracks, + frameTime = 1.0 / ( json.fps || 1.0 ); + + for ( let i = 0, n = jsonTracks.length; i !== n; ++ i ) { + + tracks.push( parseKeyframeTrack( jsonTracks[ i ] ).scale( frameTime ) ); + + } + + const clip = new this( json.name, json.duration, tracks, json.blendMode ); + clip.uuid = json.uuid; + + clip.userData = JSON.parse( json.userData || '{}' ); + + return clip; + + } + + /** + * Serializes the given animation clip into JSON. + * + * @static + * @param {AnimationClip} clip - The animation clip to serialize. + * @return {Object} The JSON object. + */ + static toJSON( clip ) { + + const tracks = [], + clipTracks = clip.tracks; + + const json = { + + 'name': clip.name, + 'duration': clip.duration, + 'tracks': tracks, + 'uuid': clip.uuid, + 'blendMode': clip.blendMode, + 'userData': JSON.stringify( clip.userData ), + + }; + + for ( let i = 0, n = clipTracks.length; i !== n; ++ i ) { + + tracks.push( KeyframeTrack.toJSON( clipTracks[ i ] ) ); + + } + + return json; + + } + + /** + * Returns a new animation clip from the passed morph targets array of a + * geometry, taking a name and the number of frames per second. + * + * Note: The fps parameter is required, but the animation speed can be + * overridden via {@link AnimationAction#setDuration}. + * + * @static + * @param {string} name - The name of the animation clip. + * @param {Array} morphTargetSequence - A sequence of morph targets. + * @param {number} fps - The Frames-Per-Second value. + * @param {boolean} noLoop - Whether the clip should be no loop or not. + * @return {AnimationClip} The new animation clip. + */ + static CreateFromMorphTargetSequence( name, morphTargetSequence, fps, noLoop ) { + + const numMorphTargets = morphTargetSequence.length; + const tracks = []; + + for ( let i = 0; i < numMorphTargets; i ++ ) { + + let times = []; + let values = []; + + times.push( + ( i + numMorphTargets - 1 ) % numMorphTargets, + i, + ( i + 1 ) % numMorphTargets ); + + values.push( 0, 1, 0 ); + + const order = getKeyframeOrder( times ); + times = sortedArray( times, 1, order ); + values = sortedArray( values, 1, order ); + + // if there is a key at the first frame, duplicate it as the + // last frame as well for perfect loop. + if ( ! noLoop && times[ 0 ] === 0 ) { + + times.push( numMorphTargets ); + values.push( values[ 0 ] ); + + } + + tracks.push( + new NumberKeyframeTrack( + '.morphTargetInfluences[' + morphTargetSequence[ i ].name + ']', + times, values + ).scale( 1.0 / fps ) ); + + } + + return new this( name, -1, tracks ); + + } + + /** + * Searches for an animation clip by name, taking as its first parameter + * either an array of clips, or a mesh or geometry that contains an + * array named "animations" property. + * + * @static + * @param {(Array|Object3D)} objectOrClipArray - The array or object to search through. + * @param {string} name - The name to search for. + * @return {?AnimationClip} The found animation clip. Returns `null` if no clip has been found. + */ + static findByName( objectOrClipArray, name ) { + + let clipArray = objectOrClipArray; + + if ( ! Array.isArray( objectOrClipArray ) ) { + + const o = objectOrClipArray; + clipArray = o.geometry && o.geometry.animations || o.animations; + + } + + for ( let i = 0; i < clipArray.length; i ++ ) { + + if ( clipArray[ i ].name === name ) { + + return clipArray[ i ]; + + } + + } + + return null; + + } + + /** + * Returns an array of new AnimationClips created from the morph target + * sequences of a geometry, trying to sort morph target names into + * animation-group-based patterns like "Walk_001, Walk_002, Run_001, Run_002...". + * + * See {@link MD2Loader#parse} as an example for how the method should be used. + * + * @static + * @param {Array} morphTargets - A sequence of morph targets. + * @param {number} fps - The Frames-Per-Second value. + * @param {boolean} noLoop - Whether the clip should be no loop or not. + * @return {Array} An array of new animation clips. + */ + static CreateClipsFromMorphTargetSequences( morphTargets, fps, noLoop ) { + + const animationToMorphTargets = {}; + + // tested with https://regex101.com/ on trick sequences + // such flamingo_flyA_003, flamingo_run1_003, crdeath0059 + const pattern = /^([\w-]*?)([\d]+)$/; + + // sort morph target names into animation groups based + // patterns like Walk_001, Walk_002, Run_001, Run_002 + for ( let i = 0, il = morphTargets.length; i < il; i ++ ) { + + const morphTarget = morphTargets[ i ]; + const parts = morphTarget.name.match( pattern ); + + if ( parts && parts.length > 1 ) { + + const name = parts[ 1 ]; + + let animationMorphTargets = animationToMorphTargets[ name ]; + + if ( ! animationMorphTargets ) { + + animationToMorphTargets[ name ] = animationMorphTargets = []; + + } + + animationMorphTargets.push( morphTarget ); + + } + + } + + const clips = []; + + for ( const name in animationToMorphTargets ) { + + clips.push( this.CreateFromMorphTargetSequence( name, animationToMorphTargets[ name ], fps, noLoop ) ); + + } + + return clips; + + } + + /** + * Parses the `animation.hierarchy` format and returns a new animation clip. + * + * @static + * @deprecated since r175. + * @param {Object} animation - A serialized animation clip as JSON. + * @param {Array} bones - An array of bones. + * @return {?AnimationClip} The new animation clip. + */ + static parseAnimation( animation, bones ) { + + warn( 'AnimationClip: parseAnimation() is deprecated and will be removed with r185' ); + + if ( ! animation ) { + + error( 'AnimationClip: No animation in JSONLoader data.' ); + return null; + + } + + const addNonemptyTrack = function ( trackType, trackName, animationKeys, propertyName, destTracks ) { + + // only return track if there are actually keys. + if ( animationKeys.length !== 0 ) { + + const times = []; + const values = []; + + flattenJSON( animationKeys, times, values, propertyName ); + + // empty keys are filtered out, so check again + if ( times.length !== 0 ) { + + destTracks.push( new trackType( trackName, times, values ) ); + + } + + } + + }; + + const tracks = []; + + const clipName = animation.name || 'default'; + const fps = animation.fps || 30; + const blendMode = animation.blendMode; + + // automatic length determination in AnimationClip. + let duration = animation.length || -1; + + const hierarchyTracks = animation.hierarchy || []; + + for ( let h = 0; h < hierarchyTracks.length; h ++ ) { + + const animationKeys = hierarchyTracks[ h ].keys; + + // skip empty tracks + if ( ! animationKeys || animationKeys.length === 0 ) continue; + + // process morph targets + if ( animationKeys[ 0 ].morphTargets ) { + + // figure out all morph targets used in this track + const morphTargetNames = {}; + + let k; + + for ( k = 0; k < animationKeys.length; k ++ ) { + + if ( animationKeys[ k ].morphTargets ) { + + for ( let m = 0; m < animationKeys[ k ].morphTargets.length; m ++ ) { + + morphTargetNames[ animationKeys[ k ].morphTargets[ m ] ] = -1; + + } + + } + + } + + // create a track for each morph target with all zero + // morphTargetInfluences except for the keys in which + // the morphTarget is named. + for ( const morphTargetName in morphTargetNames ) { + + const times = []; + const values = []; + + for ( let m = 0; m !== animationKeys[ k ].morphTargets.length; ++ m ) { + + const animationKey = animationKeys[ k ]; + + times.push( animationKey.time ); + values.push( ( animationKey.morphTarget === morphTargetName ) ? 1 : 0 ); + + } + + tracks.push( new NumberKeyframeTrack( '.morphTargetInfluence[' + morphTargetName + ']', times, values ) ); + + } + + duration = morphTargetNames.length * fps; + + } else { + + // ...assume skeletal animation + + const boneName = '.bones[' + bones[ h ].name + ']'; + + addNonemptyTrack( + VectorKeyframeTrack, boneName + '.position', + animationKeys, 'pos', tracks ); + + addNonemptyTrack( + QuaternionKeyframeTrack, boneName + '.quaternion', + animationKeys, 'rot', tracks ); + + addNonemptyTrack( + VectorKeyframeTrack, boneName + '.scale', + animationKeys, 'scl', tracks ); + + } + + } + + if ( tracks.length === 0 ) { + + return null; + + } + + const clip = new this( clipName, duration, tracks, blendMode ); + + return clip; + + } + + /** + * Sets the duration of this clip to the duration of its longest keyframe track. + * + * @return {AnimationClip} A reference to this animation clip. + */ + resetDuration() { + + const tracks = this.tracks; + let duration = 0; + + for ( let i = 0, n = tracks.length; i !== n; ++ i ) { + + const track = this.tracks[ i ]; + + duration = Math.max( duration, track.times[ track.times.length - 1 ] ); + + } + + this.duration = duration; + + return this; + + } + + /** + * Trims all tracks to the clip's duration. + * + * @return {AnimationClip} A reference to this animation clip. + */ + trim() { + + for ( let i = 0; i < this.tracks.length; i ++ ) { + + this.tracks[ i ].trim( 0, this.duration ); + + } + + return this; + + } + + /** + * Performs minimal validation on each track in the clip. Returns `true` if all + * tracks are valid. + * + * @return {boolean} Whether the clip's keyframes are valid or not. + */ + validate() { + + let valid = true; + + for ( let i = 0; i < this.tracks.length; i ++ ) { + + valid = valid && this.tracks[ i ].validate(); + + } + + return valid; + + } + + /** + * Optimizes each track by removing equivalent sequential keys (which are + * common in morph target sequences). + * + * @return {AnimationClip} A reference to this animation clip. + */ + optimize() { + + for ( let i = 0; i < this.tracks.length; i ++ ) { + + this.tracks[ i ].optimize(); + + } + + return this; + + } + + /** + * Returns a new animation clip with copied values from this instance. + * + * @return {AnimationClip} A clone of this instance. + */ + clone() { + + const tracks = []; + + for ( let i = 0; i < this.tracks.length; i ++ ) { + + tracks.push( this.tracks[ i ].clone() ); + + } + + const clip = new this.constructor( this.name, this.duration, tracks, this.blendMode ); + + clip.userData = JSON.parse( JSON.stringify( this.userData ) ); + + return clip; + + } + + /** + * Serializes this animation clip into JSON. + * + * @return {Object} The JSON object. + */ + toJSON() { + + return this.constructor.toJSON( this ); + + } + +} + +function getTrackTypeForValueTypeName( typeName ) { + + switch ( typeName.toLowerCase() ) { + + case 'scalar': + case 'double': + case 'float': + case 'number': + case 'integer': + + return NumberKeyframeTrack; + + case 'vector': + case 'vector2': + case 'vector3': + case 'vector4': + + return VectorKeyframeTrack; + + case 'color': + + return ColorKeyframeTrack; + + case 'quaternion': + + return QuaternionKeyframeTrack; + + case 'bool': + case 'boolean': + + return BooleanKeyframeTrack; + + case 'string': + + return StringKeyframeTrack; + + } + + throw new Error( 'THREE.KeyframeTrack: Unsupported typeName: ' + typeName ); + +} + +function parseKeyframeTrack( json ) { + + if ( json.type === undefined ) { + + throw new Error( 'THREE.KeyframeTrack: track type undefined, can not parse' ); + + } + + const trackType = getTrackTypeForValueTypeName( json.type ); + + if ( json.times === undefined ) { + + const times = [], values = []; + + flattenJSON( json.keys, times, values, 'value' ); + + json.times = times; + json.values = values; + + } + + // derived classes can define a static parse method + if ( trackType.parse !== undefined ) { + + return trackType.parse( json ); + + } else { + + // by default, we assume a constructor compatible with the base + return new trackType( json.name, json.times, json.values, json.interpolation ); + + } + +} + +/** + * @class + * @classdesc A simple caching system, used internally by {@link FileLoader}. + * To enable caching across all loaders that use {@link FileLoader}, add `THREE.Cache.enabled = true.` once in your app. + * @hideconstructor + */ +const Cache = { + + /** + * Whether caching is enabled or not. + * + * @static + * @type {boolean} + * @default false + */ + enabled: false, + + /** + * A dictionary that holds cached files. + * + * @static + * @type {Object} + */ + files: {}, + + /** + * Adds a cache entry with a key to reference the file. If this key already + * holds a file, it is overwritten. + * + * @static + * @param {string} key - The key to reference the cached file. + * @param {Object} file - The file to be cached. + */ + add: function ( key, file ) { + + if ( this.enabled === false ) return; + + if ( isBlobURL( key ) ) return; + + // log( 'Cache', 'Adding key:', key ); + + this.files[ key ] = file; + + }, + + /** + * Gets the cached value for the given key. + * + * @static + * @param {string} key - The key to reference the cached file. + * @return {Object|undefined} The cached file. If the key does not exist `undefined` is returned. + */ + get: function ( key ) { + + if ( this.enabled === false ) return; + + if ( isBlobURL( key ) ) return; + + // log( 'Cache', 'Checking key:', key ); + + return this.files[ key ]; + + }, + + /** + * Removes the cached file associated with the given key. + * + * @static + * @param {string} key - The key to reference the cached file. + */ + remove: function ( key ) { + + delete this.files[ key ]; + + }, + + /** + * Remove all values from the cache. + * + * @static + */ + clear: function () { + + this.files = {}; + + } + +}; + +/** + * Returns true if the given cache key contains the blob: scheme. + * + * @private + * @param {string} key - The cache key. + * @return {boolean} Whether the given cache key contains the blob: scheme or not. + */ +function isBlobURL( key ) { + + try { + + const urlString = key.slice( key.indexOf( ':' ) + 1 ); // remove type identifier + + const url = new URL( urlString ); + return url.protocol === 'blob:'; + + } catch ( e ) { + + // If the string is not a valid URL, it throws an error + return false; + + } + +} + +/** + * Handles and keeps track of loaded and pending data. A default global + * instance of this class is created and used by loaders if not supplied + * manually. + * + * In general that should be sufficient, however there are times when it can + * be useful to have separate loaders - for example if you want to show + * separate loading bars for objects and textures. + * + * ```js + * const manager = new THREE.LoadingManager(); + * manager.onLoad = () => console.log( 'Loading complete!' ); + * + * const loader1 = new OBJLoader( manager ); + * const loader2 = new ColladaLoader( manager ); + * ``` + */ +class LoadingManager { + + /** + * Constructs a new loading manager. + * + * @param {Function} [onLoad] - Executes when all items have been loaded. + * @param {Function} [onProgress] - Executes when single items have been loaded. + * @param {Function} [onError] - Executes when an error occurs. + */ + constructor( onLoad, onProgress, onError ) { + + const scope = this; + + let isLoading = false; + let itemsLoaded = 0; + let itemsTotal = 0; + let urlModifier = undefined; + const handlers = []; + + // Refer to #5689 for the reason why we don't set .onStart + // in the constructor + + /** + * Executes when an item starts loading. + * + * @type {Function|undefined} + * @default undefined + */ + this.onStart = undefined; + + /** + * Executes when all items have been loaded. + * + * @type {Function|undefined} + * @default undefined + */ + this.onLoad = onLoad; + + /** + * Executes when single items have been loaded. + * + * @type {Function|undefined} + * @default undefined + */ + this.onProgress = onProgress; + + /** + * Executes when an error occurs. + * + * @type {Function|undefined} + * @default undefined + */ + this.onError = onError; + + /** + * Used for aborting ongoing requests in loaders using this manager. + * + * @private + * @type {AbortController | null} + */ + this._abortController = null; + + /** + * This should be called by any loader using the manager when the loader + * starts loading an item. + * + * @param {string} url - The URL to load. + */ + this.itemStart = function ( url ) { + + itemsTotal ++; + + if ( isLoading === false ) { + + if ( scope.onStart !== undefined ) { + + scope.onStart( url, itemsLoaded, itemsTotal ); + + } + + } + + isLoading = true; + + }; + + /** + * This should be called by any loader using the manager when the loader + * ended loading an item. + * + * @param {string} url - The URL of the loaded item. + */ + this.itemEnd = function ( url ) { + + itemsLoaded ++; + + if ( scope.onProgress !== undefined ) { + + scope.onProgress( url, itemsLoaded, itemsTotal ); + + } + + if ( itemsLoaded === itemsTotal ) { + + isLoading = false; + + if ( scope.onLoad !== undefined ) { + + scope.onLoad(); + + } + + } + + }; + + /** + * This should be called by any loader using the manager when the loader + * encounters an error when loading an item. + * + * @param {string} url - The URL of the item that produces an error. + */ + this.itemError = function ( url ) { + + if ( scope.onError !== undefined ) { + + scope.onError( url ); + + } + + }; + + /** + * Given a URL, uses the URL modifier callback (if any) and returns a + * resolved URL. If no URL modifier is set, returns the original URL. + * + * @param {string} url - The URL to load. + * @return {string} The resolved URL. + */ + this.resolveURL = function ( url ) { + + if ( urlModifier ) { + + return urlModifier( url ); + + } + + return url; + + }; + + /** + * If provided, the callback will be passed each resource URL before a + * request is sent. The callback may return the original URL, or a new URL to + * override loading behavior. This behavior can be used to load assets from + * .ZIP files, drag-and-drop APIs, and Data URIs. + * + * ```js + * const blobs = {'fish.gltf': blob1, 'diffuse.png': blob2, 'normal.png': blob3}; + * + * const manager = new THREE.LoadingManager(); + * + * // Initialize loading manager with URL callback. + * const objectURLs = []; + * manager.setURLModifier( ( url ) => { + * + * url = URL.createObjectURL( blobs[ url ] ); + * objectURLs.push( url ); + * return url; + * + * } ); + * + * // Load as usual, then revoke the blob URLs. + * const loader = new GLTFLoader( manager ); + * loader.load( 'fish.gltf', (gltf) => { + * + * scene.add( gltf.scene ); + * objectURLs.forEach( ( url ) => URL.revokeObjectURL( url ) ); + * + * } ); + * ``` + * + * @param {function(string):string} transform - URL modifier callback. Called with an URL and must return a resolved URL. + * @return {LoadingManager} A reference to this loading manager. + */ + this.setURLModifier = function ( transform ) { + + urlModifier = transform; + + return this; + + }; + + /** + * Registers a loader with the given regular expression. Can be used to + * define what loader should be used in order to load specific files. A + * typical use case is to overwrite the default loader for textures. + * + * ```js + * // add handler for TGA textures + * manager.addHandler( /\.tga$/i, new TGALoader() ); + * ``` + * + * @param {string} regex - A regular expression. + * @param {Loader} loader - A loader that should handle matched cases. + * @return {LoadingManager} A reference to this loading manager. + */ + this.addHandler = function ( regex, loader ) { + + handlers.push( regex, loader ); + + return this; + + }; + + /** + * Removes the loader for the given regular expression. + * + * @param {string} regex - A regular expression. + * @return {LoadingManager} A reference to this loading manager. + */ + this.removeHandler = function ( regex ) { + + const index = handlers.indexOf( regex ); + + if ( index !== -1 ) { + + handlers.splice( index, 2 ); + + } + + return this; + + }; + + /** + * Can be used to retrieve the registered loader for the given file path. + * + * @param {string} file - The file path. + * @return {?Loader} The registered loader. Returns `null` if no loader was found. + */ + this.getHandler = function ( file ) { + + for ( let i = 0, l = handlers.length; i < l; i += 2 ) { + + const regex = handlers[ i ]; + const loader = handlers[ i + 1 ]; + + if ( regex.global ) regex.lastIndex = 0; // see #17920 + + if ( regex.test( file ) ) { + + return loader; + + } + + } + + return null; + + }; + + /** + * Can be used to abort ongoing loading requests in loaders using this manager. + * The abort only works if the loaders implement {@link Loader#abort} and `AbortSignal.any()` + * is supported in the browser. + * + * @return {LoadingManager} A reference to this loading manager. + */ + this.abort = function () { + + + this.abortController.abort(); + this._abortController = null; + + return this; + + }; + + } + + // TODO: Revert this back to a single member variable once this issue has been fixed + // https://github.com/cloudflare/workerd/issues/3657 + + /** + * Used for aborting ongoing requests in loaders using this manager. + * + * @type {AbortController} + */ + get abortController() { + + if ( ! this._abortController ) { + + this._abortController = new AbortController(); + + } + + return this._abortController; + + } + +} + +/** + * The global default loading manager. + * + * @constant + * @type {LoadingManager} + */ +const DefaultLoadingManager = /*@__PURE__*/ new LoadingManager(); + +/** + * Abstract base class for loaders. + * + * @abstract + */ +class Loader { + + /** + * Constructs a new loader. + * + * @param {LoadingManager} [manager] - The loading manager. + */ + constructor( manager ) { + + /** + * The loading manager. + * + * @type {LoadingManager} + * @default DefaultLoadingManager + */ + this.manager = ( manager !== undefined ) ? manager : DefaultLoadingManager; + + /** + * The crossOrigin string to implement CORS for loading the url from a + * different domain that allows CORS. + * + * @type {string} + * @default 'anonymous' + */ + this.crossOrigin = 'anonymous'; + + /** + * Whether the XMLHttpRequest uses credentials. + * + * @type {boolean} + * @default false + */ + this.withCredentials = false; + + /** + * The base path from which the asset will be loaded. + * + * @type {string} + */ + this.path = ''; + + /** + * The base path from which additional resources like textures will be loaded. + * + * @type {string} + */ + this.resourcePath = ''; + + /** + * The [request header](https://developer.mozilla.org/en-US/docs/Glossary/Request_header) + * used in HTTP request. + * + * @type {Object} + */ + this.requestHeader = {}; + + if ( typeof __THREE_DEVTOOLS__ !== 'undefined' ) { + + __THREE_DEVTOOLS__.dispatchEvent( new CustomEvent( 'observe', { detail: this } ) ); + + } + + } + + /** + * This method needs to be implemented by all concrete loaders. It holds the + * logic for loading assets from the backend. + * + * @abstract + * @param {string} url - The path/URL of the file to be loaded. + * @param {Function} onLoad - Executed when the loading process has been finished. + * @param {onProgressCallback} [onProgress] - Executed while the loading is in progress. + * @param {onErrorCallback} [onError] - Executed when errors occur. + */ + load( /* url, onLoad, onProgress, onError */ ) {} + + /** + * A async version of {@link Loader#load}. + * + * @param {string} url - The path/URL of the file to be loaded. + * @param {onProgressCallback} [onProgress] - Executed while the loading is in progress. + * @return {Promise} A Promise that resolves when the asset has been loaded. + */ + loadAsync( url, onProgress ) { + + const scope = this; + + return new Promise( function ( resolve, reject ) { + + scope.load( url, resolve, onProgress, reject ); + + } ); + + } + + /** + * This method needs to be implemented by all concrete loaders. It holds the + * logic for parsing the asset into three.js entities. + * + * @abstract + * @param {any} data - The data to parse. + */ + parse( /* data */ ) {} + + /** + * Sets the `crossOrigin` String to implement CORS for loading the URL + * from a different domain that allows CORS. + * + * @param {string} crossOrigin - The `crossOrigin` value. + * @return {Loader} A reference to this instance. + */ + setCrossOrigin( crossOrigin ) { + + this.crossOrigin = crossOrigin; + return this; + + } + + /** + * Whether the XMLHttpRequest uses credentials such as cookies, authorization + * headers or TLS client certificates, see [XMLHttpRequest.withCredentials](https://developer.mozilla.org/en-US/docs/Web/API/XMLHttpRequest/withCredentials). + * + * Note: This setting has no effect if you are loading files locally or from the same domain. + * + * @param {boolean} value - The `withCredentials` value. + * @return {Loader} A reference to this instance. + */ + setWithCredentials( value ) { + + this.withCredentials = value; + return this; + + } + + /** + * Sets the base path for the asset. + * + * @param {string} path - The base path. + * @return {Loader} A reference to this instance. + */ + setPath( path ) { + + this.path = path; + return this; + + } + + /** + * Sets the base path for dependent resources like textures. + * + * @param {string} resourcePath - The resource path. + * @return {Loader} A reference to this instance. + */ + setResourcePath( resourcePath ) { + + this.resourcePath = resourcePath; + return this; + + } + + /** + * Sets the given request header. + * + * @param {Object} requestHeader - A [request header](https://developer.mozilla.org/en-US/docs/Glossary/Request_header) + * for configuring the HTTP request. + * @return {Loader} A reference to this instance. + */ + setRequestHeader( requestHeader ) { + + this.requestHeader = requestHeader; + return this; + + } + + /** + * This method can be implemented in loaders for aborting ongoing requests. + * + * @abstract + * @return {Loader} A reference to this instance. + */ + abort() { + + return this; + + } + +} + +/** + * Callback for onProgress in loaders. + * + * @callback onProgressCallback + * @param {ProgressEvent} event - An instance of `ProgressEvent` that represents the current loading status. + */ + +/** + * Callback for onError in loaders. + * + * @callback onErrorCallback + * @param {Error} error - The error which occurred during the loading process. + */ + +/** + * The default material name that is used by loaders + * when creating materials for loaded 3D objects. + * + * Note: Not all loaders might honor this setting. + * + * @static + * @type {string} + * @default '__DEFAULT' + */ +Loader.DEFAULT_MATERIAL_NAME = '__DEFAULT'; + +const loading = {}; + +class HttpError extends Error { + + constructor( message, response ) { + + super( message ); + this.response = response; + + } + +} + +/** + * A low level class for loading resources with the Fetch API, used internally by + * most loaders. It can also be used directly to load any file type that does + * not have a loader. + * + * This loader supports caching. If you want to use it, add `THREE.Cache.enabled = true;` + * once to your application. + * + * ```js + * const loader = new THREE.FileLoader(); + * const data = await loader.loadAsync( 'example.txt' ); + * ``` + * + * @augments Loader + */ +class FileLoader extends Loader { + + /** + * Constructs a new file loader. + * + * @param {LoadingManager} [manager] - The loading manager. + */ + constructor( manager ) { + + super( manager ); + + /** + * The expected mime type. Valid values can be found + * [here](https://developer.mozilla.org/en-US/docs/Web/API/DOMParser/parseFromString#mimetype) + * + * @type {string} + */ + this.mimeType = ''; + + /** + * The expected response type. + * + * @type {('arraybuffer'|'blob'|'document'|'json'|'')} + * @default '' + */ + this.responseType = ''; + + /** + * Used for aborting requests. + * + * @private + * @type {AbortController} + */ + this._abortController = new AbortController(); + + } + + /** + * Starts loading from the given URL and pass the loaded response to the `onLoad()` callback. + * + * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI. + * @param {function(any)} onLoad - Executed when the loading process has been finished. + * @param {onProgressCallback} [onProgress] - Executed while the loading is in progress. + * @param {onErrorCallback} [onError] - Executed when errors occur. + * @return {any|undefined} The cached resource if available. + */ + load( url, onLoad, onProgress, onError ) { + + if ( url === undefined ) url = ''; + + if ( this.path !== undefined ) url = this.path + url; + + url = this.manager.resolveURL( url ); + + const cached = Cache.get( `file:${url}` ); + + if ( cached !== undefined ) { + + this.manager.itemStart( url ); + + setTimeout( () => { + + if ( onLoad ) onLoad( cached ); + + this.manager.itemEnd( url ); + + }, 0 ); + + return cached; + + } + + // Check if request is duplicate + + if ( loading[ url ] !== undefined ) { + + loading[ url ].push( { + + onLoad: onLoad, + onProgress: onProgress, + onError: onError + + } ); + + return; + + } + + // Initialise array for duplicate requests + loading[ url ] = []; + + loading[ url ].push( { + onLoad: onLoad, + onProgress: onProgress, + onError: onError, + } ); + + // create request + const req = new Request( url, { + headers: new Headers( this.requestHeader ), + credentials: this.withCredentials ? 'include' : 'same-origin', + signal: ( typeof AbortSignal.any === 'function' ) ? AbortSignal.any( [ this._abortController.signal, this.manager.abortController.signal ] ) : this._abortController.signal + } ); + + // record states ( avoid data race ) + const mimeType = this.mimeType; + const responseType = this.responseType; + + // start the fetch + fetch( req ) + .then( response => { + + if ( response.status === 200 || response.status === 0 ) { + + // Some browsers return HTTP Status 0 when using non-http protocol + // e.g. 'file://' or 'data://'. Handle as success. + + if ( response.status === 0 ) { + + warn( 'FileLoader: HTTP Status 0 received.' ); + + } + + // Workaround: Checking if response.body === undefined for Alipay browser #23548 + + if ( typeof ReadableStream === 'undefined' || response.body === undefined || response.body.getReader === undefined ) { + + return response; + + } + + const callbacks = loading[ url ]; + const reader = response.body.getReader(); + + // Nginx needs X-File-Size check + // https://serverfault.com/questions/482875/why-does-nginx-remove-content-length-header-for-chunked-content + const contentLength = response.headers.get( 'X-File-Size' ) || response.headers.get( 'Content-Length' ); + const total = contentLength ? parseInt( contentLength ) : 0; + const lengthComputable = total !== 0; + let loaded = 0; + + // periodically read data into the new stream tracking while download progress + const stream = new ReadableStream( { + start( controller ) { + + readData(); + + function readData() { + + reader.read().then( ( { done, value } ) => { + + if ( done ) { + + controller.close(); + + } else { + + loaded += value.byteLength; + + const event = new ProgressEvent( 'progress', { lengthComputable, loaded, total } ); + for ( let i = 0, il = callbacks.length; i < il; i ++ ) { + + const callback = callbacks[ i ]; + if ( callback.onProgress ) callback.onProgress( event ); + + } + + controller.enqueue( value ); + readData(); + + } + + }, ( e ) => { + + controller.error( e ); + + } ); + + } + + } + + } ); + + return new Response( stream ); + + } else { + + throw new HttpError( `fetch for "${response.url}" responded with ${response.status}: ${response.statusText}`, response ); + + } + + } ) + .then( response => { + + switch ( responseType ) { + + case 'arraybuffer': + + return response.arrayBuffer(); + + case 'blob': + + return response.blob(); + + case 'document': + + return response.text() + .then( text => { + + const parser = new DOMParser(); + return parser.parseFromString( text, mimeType ); + + } ); + + case 'json': + + return response.json(); + + default: + + if ( mimeType === '' ) { + + return response.text(); + + } else { + + // sniff encoding + const re = /charset="?([^;"\s]*)"?/i; + const exec = re.exec( mimeType ); + const label = exec && exec[ 1 ] ? exec[ 1 ].toLowerCase() : undefined; + const decoder = new TextDecoder( label ); + return response.arrayBuffer().then( ab => decoder.decode( ab ) ); + + } + + } + + } ) + .then( data => { + + // Add to cache only on HTTP success, so that we do not cache + // error response bodies as proper responses to requests. + Cache.add( `file:${url}`, data ); + + const callbacks = loading[ url ]; + delete loading[ url ]; + + for ( let i = 0, il = callbacks.length; i < il; i ++ ) { + + const callback = callbacks[ i ]; + if ( callback.onLoad ) callback.onLoad( data ); + + } + + } ) + .catch( err => { + + // Abort errors and other errors are handled the same + + const callbacks = loading[ url ]; + + if ( callbacks === undefined ) { + + // When onLoad was called and url was deleted in `loading` + this.manager.itemError( url ); + throw err; + + } + + delete loading[ url ]; + + for ( let i = 0, il = callbacks.length; i < il; i ++ ) { + + const callback = callbacks[ i ]; + if ( callback.onError ) callback.onError( err ); + + } + + this.manager.itemError( url ); + + } ) + .finally( () => { + + this.manager.itemEnd( url ); + + } ); + + this.manager.itemStart( url ); + + } + + /** + * Sets the expected response type. + * + * @param {('arraybuffer'|'blob'|'document'|'json'|'')} value - The response type. + * @return {FileLoader} A reference to this file loader. + */ + setResponseType( value ) { + + this.responseType = value; + return this; + + } + + /** + * Sets the expected mime type of the loaded file. + * + * @param {string} value - The mime type. + * @return {FileLoader} A reference to this file loader. + */ + setMimeType( value ) { + + this.mimeType = value; + return this; + + } + + /** + * Aborts ongoing fetch requests. + * + * @return {FileLoader} A reference to this instance. + */ + abort() { + + this._abortController.abort(); + this._abortController = new AbortController(); + + return this; + + } + +} + +/** + * Class for loading animation clips in the JSON format. The files are internally + * loaded via {@link FileLoader}. + * + * ```js + * const loader = new THREE.AnimationLoader(); + * const animations = await loader.loadAsync( 'animations/animation.js' ); + * ``` + * + * @augments Loader + */ +class AnimationLoader extends Loader { + + /** + * Constructs a new animation loader. + * + * @param {LoadingManager} [manager] - The loading manager. + */ + constructor( manager ) { + + super( manager ); + + } + + /** + * Starts loading from the given URL and pass the loaded animations as an array + * holding instances of {@link AnimationClip} to the `onLoad()` callback. + * + * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI. + * @param {function(Array)} onLoad - Executed when the loading process has been finished. + * @param {onProgressCallback} onProgress - Executed while the loading is in progress. + * @param {onErrorCallback} onError - Executed when errors occur. + */ + load( url, onLoad, onProgress, onError ) { + + const scope = this; + + const loader = new FileLoader( this.manager ); + loader.setPath( this.path ); + loader.setRequestHeader( this.requestHeader ); + loader.setWithCredentials( this.withCredentials ); + loader.load( url, function ( text ) { + + try { + + onLoad( scope.parse( JSON.parse( text ) ) ); + + } catch ( e ) { + + if ( onError ) { + + onError( e ); + + } else { + + error( e ); + + } + + scope.manager.itemError( url ); + + } + + }, onProgress, onError ); + + } + + /** + * Parses the given JSON object and returns an array of animation clips. + * + * @param {Object} json - The serialized animation clips. + * @return {Array} The parsed animation clips. + */ + parse( json ) { + + const animations = []; + + for ( let i = 0; i < json.length; i ++ ) { + + const clip = AnimationClip.parse( json[ i ] ); + + animations.push( clip ); + + } + + return animations; + + } + +} + +/** + * Abstract base class for loading compressed texture formats S3TC, ASTC or ETC. + * Textures are internally loaded via {@link FileLoader}. + * + * Derived classes have to implement the `parse()` method which holds the parsing + * for the respective format. + * + * @abstract + * @augments Loader + */ +class CompressedTextureLoader extends Loader { + + /** + * Constructs a new compressed texture loader. + * + * @param {LoadingManager} [manager] - The loading manager. + */ + constructor( manager ) { + + super( manager ); + + } + + /** + * Starts loading from the given URL and passes the loaded compressed texture + * to the `onLoad()` callback. The method also returns a new texture object which can + * directly be used for material creation. If you do it this way, the texture + * may pop up in your scene once the respective loading process is finished. + * + * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI. + * @param {function(CompressedTexture)} onLoad - Executed when the loading process has been finished. + * @param {onProgressCallback} onProgress - Executed while the loading is in progress. + * @param {onErrorCallback} onError - Executed when errors occur. + * @return {CompressedTexture} The compressed texture. + */ + load( url, onLoad, onProgress, onError ) { + + const scope = this; + + const images = []; + + const texture = new CompressedTexture(); + + const loader = new FileLoader( this.manager ); + loader.setPath( this.path ); + loader.setResponseType( 'arraybuffer' ); + loader.setRequestHeader( this.requestHeader ); + loader.setWithCredentials( scope.withCredentials ); + + let loaded = 0; + + function loadTexture( i ) { + + loader.load( url[ i ], function ( buffer ) { + + const texDatas = scope.parse( buffer, true ); + + images[ i ] = { + width: texDatas.width, + height: texDatas.height, + format: texDatas.format, + mipmaps: texDatas.mipmaps + }; + + loaded += 1; + + if ( loaded === 6 ) { + + if ( texDatas.mipmapCount === 1 ) texture.minFilter = LinearFilter; + + texture.image = images; + texture.format = texDatas.format; + texture.needsUpdate = true; + + if ( onLoad ) onLoad( texture ); + + } + + }, onProgress, onError ); + + } + + if ( Array.isArray( url ) ) { + + for ( let i = 0, il = url.length; i < il; ++ i ) { + + loadTexture( i ); + + } + + } else { + + // compressed cubemap texture stored in a single DDS file + + loader.load( url, function ( buffer ) { + + const texDatas = scope.parse( buffer, true ); + + if ( texDatas.isCubemap ) { + + const faces = texDatas.mipmaps.length / texDatas.mipmapCount; + + for ( let f = 0; f < faces; f ++ ) { + + images[ f ] = { mipmaps: [] }; + + for ( let i = 0; i < texDatas.mipmapCount; i ++ ) { + + images[ f ].mipmaps.push( texDatas.mipmaps[ f * texDatas.mipmapCount + i ] ); + images[ f ].format = texDatas.format; + images[ f ].width = texDatas.width; + images[ f ].height = texDatas.height; + + } + + } + + texture.image = images; + + } else { + + texture.image.width = texDatas.width; + texture.image.height = texDatas.height; + texture.mipmaps = texDatas.mipmaps; + + } + + if ( texDatas.mipmapCount === 1 ) { + + texture.minFilter = LinearFilter; + + } + + texture.format = texDatas.format; + texture.needsUpdate = true; + + if ( onLoad ) onLoad( texture ); + + }, onProgress, onError ); + + } + + return texture; + + } + +} + +const _loading = new WeakMap(); + +/** + * A loader for loading images. The class loads images with the HTML `Image` API. + * + * ```js + * const loader = new THREE.ImageLoader(); + * const image = await loader.loadAsync( 'image.png' ); + * ``` + * Please note that `ImageLoader` has dropped support for progress + * events in `r84`. For an `ImageLoader` that supports progress events, see + * [this thread](https://github.com/mrdoob/three.js/issues/10439#issuecomment-275785639). + * + * @augments Loader + */ +class ImageLoader extends Loader { + + /** + * Constructs a new image loader. + * + * @param {LoadingManager} [manager] - The loading manager. + */ + constructor( manager ) { + + super( manager ); + + } + + /** + * Starts loading from the given URL and passes the loaded image + * to the `onLoad()` callback. The method also returns a new `Image` object which can + * directly be used for texture creation. If you do it this way, the texture + * may pop up in your scene once the respective loading process is finished. + * + * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI. + * @param {function(Image)} onLoad - Executed when the loading process has been finished. + * @param {onProgressCallback} onProgress - Unsupported in this loader. + * @param {onErrorCallback} onError - Executed when errors occur. + * @return {Image} The image. + */ + load( url, onLoad, onProgress, onError ) { + + if ( this.path !== undefined ) url = this.path + url; + + url = this.manager.resolveURL( url ); + + const scope = this; + + const cached = Cache.get( `image:${url}` ); + + if ( cached !== undefined ) { + + if ( cached.complete === true ) { + + scope.manager.itemStart( url ); + + setTimeout( function () { + + if ( onLoad ) onLoad( cached ); + + scope.manager.itemEnd( url ); + + }, 0 ); + + } else { + + let arr = _loading.get( cached ); + + if ( arr === undefined ) { + + arr = []; + _loading.set( cached, arr ); + + } + + arr.push( { onLoad, onError } ); + + } + + return cached; + + } + + const image = createElementNS( 'img' ); + + function onImageLoad() { + + removeEventListeners(); + + if ( onLoad ) onLoad( this ); + + // + + const callbacks = _loading.get( this ) || []; + + for ( let i = 0; i < callbacks.length; i ++ ) { + + const callback = callbacks[ i ]; + if ( callback.onLoad ) callback.onLoad( this ); + + } + + _loading.delete( this ); + + scope.manager.itemEnd( url ); + + } + + function onImageError( event ) { + + removeEventListeners(); + + if ( onError ) onError( event ); + + Cache.remove( `image:${url}` ); + + // + + const callbacks = _loading.get( this ) || []; + + for ( let i = 0; i < callbacks.length; i ++ ) { + + const callback = callbacks[ i ]; + if ( callback.onError ) callback.onError( event ); + + } + + _loading.delete( this ); + + + scope.manager.itemError( url ); + scope.manager.itemEnd( url ); + + } + + function removeEventListeners() { + + image.removeEventListener( 'load', onImageLoad, false ); + image.removeEventListener( 'error', onImageError, false ); + + } + + image.addEventListener( 'load', onImageLoad, false ); + image.addEventListener( 'error', onImageError, false ); + + if ( url.slice( 0, 5 ) !== 'data:' ) { + + if ( this.crossOrigin !== undefined ) image.crossOrigin = this.crossOrigin; + + } + + Cache.add( `image:${url}`, image ); + scope.manager.itemStart( url ); + + image.src = url; + + return image; + + } + +} + +/** + * Class for loading cube textures. Images are internally loaded via {@link ImageLoader}. + * + * The loader returns an instance of {@link CubeTexture} and expects the cube map to + * be defined as six separate images representing the sides of a cube. Other cube map definitions + * like vertical and horizontal cross, column and row layouts are not supported. + * + * Note that, by convention, cube maps are specified in a coordinate system + * in which positive-x is to the right when looking up the positive-z axis -- + * in other words, using a left-handed coordinate system. Since three.js uses + * a right-handed coordinate system, environment maps used in three.js will + * have pos-x and neg-x swapped. + * + * The loaded cube texture is in sRGB color space. Meaning {@link Texture#colorSpace} + * is set to `SRGBColorSpace` by default. + * + * ```js + * const loader = new THREE.CubeTextureLoader().setPath( 'textures/cubeMaps/' ); + * const cubeTexture = await loader.loadAsync( [ + * 'px.png', 'nx.png', 'py.png', 'ny.png', 'pz.png', 'nz.png' + * ] ); + * scene.background = cubeTexture; + * ``` + * + * @augments Loader + */ +class CubeTextureLoader extends Loader { + + /** + * Constructs a new cube texture loader. + * + * @param {LoadingManager} [manager] - The loading manager. + */ + constructor( manager ) { + + super( manager ); + + } + + /** + * Starts loading from the given URL and pass the fully loaded cube texture + * to the `onLoad()` callback. The method also returns a new cube texture object which can + * directly be used for material creation. If you do it this way, the cube texture + * may pop up in your scene once the respective loading process is finished. + * + * @param {Array} urls - Array of 6 URLs to images, one for each side of the + * cube texture. The urls should be specified in the following order: pos-x, + * neg-x, pos-y, neg-y, pos-z, neg-z. An array of data URIs are allowed as well. + * @param {function(CubeTexture)} onLoad - Executed when the loading process has been finished. + * @param {onProgressCallback} onProgress - Unsupported in this loader. + * @param {onErrorCallback} onError - Executed when errors occur. + * @return {CubeTexture} The cube texture. + */ + load( urls, onLoad, onProgress, onError ) { + + const texture = new CubeTexture(); + texture.colorSpace = SRGBColorSpace; + + const loader = new ImageLoader( this.manager ); + loader.setCrossOrigin( this.crossOrigin ); + loader.setPath( this.path ); + + let loaded = 0; + + function loadTexture( i ) { + + loader.load( urls[ i ], function ( image ) { + + texture.images[ i ] = image; + + loaded ++; + + if ( loaded === 6 ) { + + texture.needsUpdate = true; + + if ( onLoad ) onLoad( texture ); + + } + + }, undefined, onError ); + + } + + for ( let i = 0; i < urls.length; ++ i ) { + + loadTexture( i ); + + } + + return texture; + + } + +} + +/** + * Abstract base class for loading binary texture formats RGBE, EXR or TGA. + * Textures are internally loaded via {@link FileLoader}. + * + * Derived classes have to implement the `parse()` method which holds the parsing + * for the respective format. + * + * @abstract + * @augments Loader + */ +class DataTextureLoader extends Loader { + + /** + * Constructs a new data texture loader. + * + * @param {LoadingManager} [manager] - The loading manager. + */ + constructor( manager ) { + + super( manager ); + + } + + /** + * Starts loading from the given URL and passes the loaded data texture + * to the `onLoad()` callback. The method also returns a new texture object which can + * directly be used for material creation. If you do it this way, the texture + * may pop up in your scene once the respective loading process is finished. + * + * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI. + * @param {function(DataTexture)} onLoad - Executed when the loading process has been finished. + * @param {onProgressCallback} onProgress - Executed while the loading is in progress. + * @param {onErrorCallback} onError - Executed when errors occur. + * @return {DataTexture} The data texture. + */ + load( url, onLoad, onProgress, onError ) { + + const scope = this; + + const texture = new DataTexture(); + + const loader = new FileLoader( this.manager ); + loader.setResponseType( 'arraybuffer' ); + loader.setRequestHeader( this.requestHeader ); + loader.setPath( this.path ); + loader.setWithCredentials( scope.withCredentials ); + loader.load( url, function ( buffer ) { + + let texData; + + try { + + texData = scope.parse( buffer ); + + } catch ( error ) { + + if ( onError !== undefined ) { + + onError( error ); + + } else { + + error( error ); + return; + + } + + } + + if ( texData.image !== undefined ) { + + texture.image = texData.image; + + } else if ( texData.data !== undefined ) { + + texture.image.width = texData.width; + texture.image.height = texData.height; + texture.image.data = texData.data; + + } + + texture.wrapS = texData.wrapS !== undefined ? texData.wrapS : ClampToEdgeWrapping; + texture.wrapT = texData.wrapT !== undefined ? texData.wrapT : ClampToEdgeWrapping; + + texture.magFilter = texData.magFilter !== undefined ? texData.magFilter : LinearFilter; + texture.minFilter = texData.minFilter !== undefined ? texData.minFilter : LinearFilter; + + texture.anisotropy = texData.anisotropy !== undefined ? texData.anisotropy : 1; + + if ( texData.colorSpace !== undefined ) { + + texture.colorSpace = texData.colorSpace; + + } + + if ( texData.flipY !== undefined ) { + + texture.flipY = texData.flipY; + + } + + if ( texData.format !== undefined ) { + + texture.format = texData.format; + + } + + if ( texData.type !== undefined ) { + + texture.type = texData.type; + + } + + if ( texData.mipmaps !== undefined ) { + + texture.mipmaps = texData.mipmaps; + texture.minFilter = LinearMipmapLinearFilter; // presumably... + + } + + if ( texData.mipmapCount === 1 ) { + + texture.minFilter = LinearFilter; + + } + + if ( texData.generateMipmaps !== undefined ) { + + texture.generateMipmaps = texData.generateMipmaps; + + } + + texture.needsUpdate = true; + + if ( onLoad ) onLoad( texture, texData ); + + }, onProgress, onError ); + + + return texture; + + } + +} + +/** + * Class for loading textures. Images are internally + * loaded via {@link ImageLoader}. + * + * ```js + * const loader = new THREE.TextureLoader(); + * const texture = await loader.loadAsync( 'textures/land_ocean_ice_cloud_2048.jpg' ); + * + * const material = new THREE.MeshBasicMaterial( { map:texture } ); + * ``` + * Please note that `TextureLoader` has dropped support for progress + * events in `r84`. For a `TextureLoader` that supports progress events, see + * [this thread](https://github.com/mrdoob/three.js/issues/10439#issuecomment-293260145). + * + * @augments Loader + */ +class TextureLoader extends Loader { + + /** + * Constructs a new texture loader. + * + * @param {LoadingManager} [manager] - The loading manager. + */ + constructor( manager ) { + + super( manager ); + + } + + /** + * Starts loading from the given URL and pass the fully loaded texture + * to the `onLoad()` callback. The method also returns a new texture object which can + * directly be used for material creation. If you do it this way, the texture + * may pop up in your scene once the respective loading process is finished. + * + * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI. + * @param {function(Texture)} onLoad - Executed when the loading process has been finished. + * @param {onProgressCallback} onProgress - Unsupported in this loader. + * @param {onErrorCallback} onError - Executed when errors occur. + * @return {Texture} The texture. + */ + load( url, onLoad, onProgress, onError ) { + + const texture = new Texture(); + + const loader = new ImageLoader( this.manager ); + loader.setCrossOrigin( this.crossOrigin ); + loader.setPath( this.path ); + + loader.load( url, function ( image ) { + + texture.image = image; + texture.needsUpdate = true; + + if ( onLoad !== undefined ) { + + onLoad( texture ); + + } + + }, onProgress, onError ); + + return texture; + + } + +} + +/** + * Abstract base class for lights - all other light types inherit the + * properties and methods described here. + * + * @abstract + * @augments Object3D + */ +class Light extends Object3D { + + /** + * Constructs a new light. + * + * @param {(number|Color|string)} [color=0xffffff] - The light's color. + * @param {number} [intensity=1] - The light's strength/intensity. + */ + constructor( color, intensity = 1 ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isLight = true; + + this.type = 'Light'; + + /** + * The light's color. + * + * @type {Color} + */ + this.color = new Color( color ); + + /** + * The light's intensity. + * + * @type {number} + * @default 1 + */ + this.intensity = intensity; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.dispatchEvent( { type: 'dispose' } ); + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + this.color.copy( source.color ); + this.intensity = source.intensity; + + return this; + + } + + toJSON( meta ) { + + const data = super.toJSON( meta ); + + data.object.color = this.color.getHex(); + data.object.intensity = this.intensity; + + return data; + + } + +} + +/** + * A light source positioned directly above the scene, with color fading from + * the sky color to the ground color. + * + * This light cannot be used to cast shadows. + * + * ```js + * const light = new THREE.HemisphereLight( 0xffffbb, 0x080820, 1 ); + * scene.add( light ); + * ``` + * + * @augments Light + */ +class HemisphereLight extends Light { + + /** + * Constructs a new hemisphere light. + * + * @param {(number|Color|string)} [skyColor=0xffffff] - The light's sky color. + * @param {(number|Color|string)} [groundColor=0xffffff] - The light's ground color. + * @param {number} [intensity=1] - The light's strength/intensity. + */ + constructor( skyColor, groundColor, intensity ) { + + super( skyColor, intensity ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isHemisphereLight = true; + + this.type = 'HemisphereLight'; + + this.position.copy( Object3D.DEFAULT_UP ); + this.updateMatrix(); + + /** + * The light's ground color. + * + * @type {Color} + */ + this.groundColor = new Color( groundColor ); + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + this.groundColor.copy( source.groundColor ); + + return this; + + } + + toJSON( meta ) { + + const data = super.toJSON( meta ); + + data.object.groundColor = this.groundColor.getHex(); + + return data; + + } + +} + +const _projScreenMatrix = /*@__PURE__*/ new Matrix4(); +const _lightPositionWorld = /*@__PURE__*/ new Vector3(); +const _lookTarget = /*@__PURE__*/ new Vector3(); + +/** + * Abstract base class for light shadow classes. These classes + * represent the shadow configuration for different light types. + * + * @abstract + */ +class LightShadow { + + /** + * Constructs a new light shadow. + * + * @param {Camera} camera - The light's view of the world. + */ + constructor( camera ) { + + /** + * The light's view of the world. + * + * @type {Camera} + */ + this.camera = camera; + + /** + * The intensity of the shadow. The default is `1`. + * Valid values are in the range `[0, 1]`. + * + * @type {number} + * @default 1 + */ + this.intensity = 1; + + /** + * Shadow map bias, how much to add or subtract from the normalized depth + * when deciding whether a surface is in shadow. + * + * The default is `0`. Very tiny adjustments here (in the order of `0.0001`) + * may help reduce artifacts in shadows. + * + * @type {number} + * @default 0 + */ + this.bias = 0; + + /** + * A node version of `bias`. Only supported with `WebGPURenderer`. + * + * If a bias node is defined, `bias` has no effect. + * + * @type {?Node} + * @default null + */ + this.biasNode = null; + + /** + * Defines how much the position used to query the shadow map is offset along + * the object normal. The default is `0`. Increasing this value can be used to + * reduce shadow acne especially in large scenes where light shines onto + * geometry at a shallow angle. The cost is that shadows may appear distorted. + * + * @type {number} + * @default 0 + */ + this.normalBias = 0; + + /** + * Setting this to values greater than 1 will blur the edges of the shadow. + * High values will cause unwanted banding effects in the shadows - a greater + * map size will allow for a higher value to be used here before these effects + * become visible. + * + * The property has no effect when the shadow map type is `BasicShadowMap`. + * + * @type {number} + * @default 1 + */ + this.radius = 1; + + /** + * The amount of samples to use when blurring a VSM shadow map. + * + * @type {number} + * @default 8 + */ + this.blurSamples = 8; + + /** + * Defines the width and height of the shadow map. Higher values give better quality + * shadows at the cost of computation time. Values must be powers of two. + * + * @type {Vector2} + * @default (512,512) + */ + this.mapSize = new Vector2( 512, 512 ); + + /** + * The type of shadow texture. The default is `UnsignedByteType`. + * + * @type {number} + * @default UnsignedByteType + */ + this.mapType = UnsignedByteType; + + /** + * The depth map generated using the internal camera; a location beyond a + * pixel's depth is in shadow. Computed internally during rendering. + * + * @type {?RenderTarget} + * @default null + */ + this.map = null; + + /** + * The distribution map generated using the internal camera; an occlusion is + * calculated based on the distribution of depths. Computed internally during + * rendering. + * + * @type {?RenderTarget} + * @default null + */ + this.mapPass = null; + + /** + * Model to shadow camera space, to compute location and depth in shadow map. + * This is computed internally during rendering. + * + * @type {Matrix4} + */ + this.matrix = new Matrix4(); + + /** + * Enables automatic updates of the light's shadow. If you do not require dynamic + * lighting / shadows, you may set this to `false`. + * + * @type {boolean} + * @default true + */ + this.autoUpdate = true; + + /** + * When set to `true`, shadow maps will be updated in the next `render` call. + * If you have set {@link LightShadow#autoUpdate} to `false`, you will need to + * set this property to `true` and then make a render call to update the light's shadow. + * + * @type {boolean} + * @default false + */ + this.needsUpdate = false; + + this._frustum = new Frustum(); + this._frameExtents = new Vector2( 1, 1 ); + + this._viewportCount = 1; + + this._viewports = [ + + new Vector4( 0, 0, 1, 1 ) + + ]; + + } + + /** + * Used internally by the renderer to get the number of viewports that need + * to be rendered for this shadow. + * + * @return {number} The viewport count. + */ + getViewportCount() { + + return this._viewportCount; + + } + + /** + * Gets the shadow cameras frustum. Used internally by the renderer to cull objects. + * + * @return {Frustum} The shadow camera frustum. + */ + getFrustum() { + + return this._frustum; + + } + + /** + * Update the matrices for the camera and shadow, used internally by the renderer. + * + * @param {Light} light - The light for which the shadow is being rendered. + */ + updateMatrices( light ) { + + const shadowCamera = this.camera; + const shadowMatrix = this.matrix; + + _lightPositionWorld.setFromMatrixPosition( light.matrixWorld ); + shadowCamera.position.copy( _lightPositionWorld ); + + _lookTarget.setFromMatrixPosition( light.target.matrixWorld ); + shadowCamera.lookAt( _lookTarget ); + shadowCamera.updateMatrixWorld(); + + _projScreenMatrix.multiplyMatrices( shadowCamera.projectionMatrix, shadowCamera.matrixWorldInverse ); + this._frustum.setFromProjectionMatrix( _projScreenMatrix, shadowCamera.coordinateSystem, shadowCamera.reversedDepth ); + + if ( shadowCamera.coordinateSystem === WebGPUCoordinateSystem || shadowCamera.reversedDepth ) { + + shadowMatrix.set( + 0.5, 0.0, 0.0, 0.5, + 0.0, 0.5, 0.0, 0.5, + 0.0, 0.0, 1.0, 0.0, // Identity Z (preserving the correct [0, 1] range from the projection matrix) + 0.0, 0.0, 0.0, 1.0 + ); + + } else { + + shadowMatrix.set( + 0.5, 0.0, 0.0, 0.5, + 0.0, 0.5, 0.0, 0.5, + 0.0, 0.0, 0.5, 0.5, + 0.0, 0.0, 0.0, 1.0 + ); + + } + + shadowMatrix.multiply( _projScreenMatrix ); + + } + + /** + * Returns a viewport definition for the given viewport index. + * + * @param {number} viewportIndex - The viewport index. + * @return {Vector4} The viewport. + */ + getViewport( viewportIndex ) { + + return this._viewports[ viewportIndex ]; + + } + + /** + * Returns the frame extends. + * + * @return {Vector2} The frame extends. + */ + getFrameExtents() { + + return this._frameExtents; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + if ( this.map ) { + + this.map.dispose(); + + } + + if ( this.mapPass ) { + + this.mapPass.dispose(); + + } + + } + + /** + * Copies the values of the given light shadow instance to this instance. + * + * @param {LightShadow} source - The light shadow to copy. + * @return {LightShadow} A reference to this light shadow instance. + */ + copy( source ) { + + this.camera = source.camera.clone(); + + this.intensity = source.intensity; + + this.bias = source.bias; + this.radius = source.radius; + + this.autoUpdate = source.autoUpdate; + this.needsUpdate = source.needsUpdate; + this.normalBias = source.normalBias; + this.blurSamples = source.blurSamples; + + this.mapSize.copy( source.mapSize ); + + this.biasNode = source.biasNode; + + return this; + + } + + /** + * Returns a new light shadow instance with copied values from this instance. + * + * @return {LightShadow} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + + /** + * Serializes the light shadow into JSON. + * + * @return {Object} A JSON object representing the serialized light shadow. + * @see {@link ObjectLoader#parse} + */ + toJSON() { + + const object = {}; + + if ( this.intensity !== 1 ) object.intensity = this.intensity; + if ( this.bias !== 0 ) object.bias = this.bias; + if ( this.normalBias !== 0 ) object.normalBias = this.normalBias; + if ( this.radius !== 1 ) object.radius = this.radius; + if ( this.mapSize.x !== 512 || this.mapSize.y !== 512 ) object.mapSize = this.mapSize.toArray(); + + object.camera = this.camera.toJSON( false ).object; + delete object.camera.matrix; + + return object; + + } + +} + +const _position$2 = /*@__PURE__*/ new Vector3(); +const _quaternion$2 = /*@__PURE__*/ new Quaternion(); +const _scale$2 = /*@__PURE__*/ new Vector3(); + +/** + * Abstract base class for cameras. This class should always be inherited + * when you build a new camera. + * + * @abstract + * @augments Object3D + */ +class Camera extends Object3D { + + /** + * Constructs a new camera. + */ + constructor() { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isCamera = true; + + this.type = 'Camera'; + + /** + * The inverse of the camera's world matrix. + * + * @type {Matrix4} + */ + this.matrixWorldInverse = new Matrix4(); + + /** + * The camera's projection matrix. + * + * @type {Matrix4} + */ + this.projectionMatrix = new Matrix4(); + + /** + * The inverse of the camera's projection matrix. + * + * @type {Matrix4} + */ + this.projectionMatrixInverse = new Matrix4(); + + /** + * The coordinate system in which the camera is used. + * + * @type {(WebGLCoordinateSystem|WebGPUCoordinateSystem)} + */ + this.coordinateSystem = WebGLCoordinateSystem; + + this._reversedDepth = false; + + } + + /** + * The flag that indicates whether the camera uses a reversed depth buffer. + * + * @type {boolean} + * @default false + */ + get reversedDepth() { + + return this._reversedDepth; + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + this.matrixWorldInverse.copy( source.matrixWorldInverse ); + + this.projectionMatrix.copy( source.projectionMatrix ); + this.projectionMatrixInverse.copy( source.projectionMatrixInverse ); + + this.coordinateSystem = source.coordinateSystem; + + return this; + + } + + /** + * Returns a vector representing the ("look") direction of the 3D object in world space. + * + * This method is overwritten since cameras have a different forward vector compared to other + * 3D objects. A camera looks down its local, negative z-axis by default. + * + * @param {Vector3} target - The target vector the result is stored to. + * @return {Vector3} The 3D object's direction in world space. + */ + getWorldDirection( target ) { + + return super.getWorldDirection( target ).negate(); + + } + + updateMatrixWorld( force ) { + + super.updateMatrixWorld( force ); + + // exclude scale from view matrix to be glTF conform + + this.matrixWorld.decompose( _position$2, _quaternion$2, _scale$2 ); + + if ( _scale$2.x === 1 && _scale$2.y === 1 && _scale$2.z === 1 ) { + + this.matrixWorldInverse.copy( this.matrixWorld ).invert(); + + } else { + + this.matrixWorldInverse.compose( _position$2, _quaternion$2, _scale$2.set( 1, 1, 1 ) ).invert(); + + } + + } + + updateWorldMatrix( updateParents, updateChildren ) { + + super.updateWorldMatrix( updateParents, updateChildren ); + + // exclude scale from view matrix to be glTF conform + + this.matrixWorld.decompose( _position$2, _quaternion$2, _scale$2 ); + + if ( _scale$2.x === 1 && _scale$2.y === 1 && _scale$2.z === 1 ) { + + this.matrixWorldInverse.copy( this.matrixWorld ).invert(); + + } else { + + this.matrixWorldInverse.compose( _position$2, _quaternion$2, _scale$2.set( 1, 1, 1 ) ).invert(); + + } + + } + + clone() { + + return new this.constructor().copy( this ); + + } + +} + +const _v3$1 = /*@__PURE__*/ new Vector3(); +const _minTarget = /*@__PURE__*/ new Vector2(); +const _maxTarget = /*@__PURE__*/ new Vector2(); + +/** + * Camera that uses [perspective projection](https://en.wikipedia.org/wiki/Perspective_(graphical)). + * + * This projection mode is designed to mimic the way the human eye sees. It + * is the most common projection mode used for rendering a 3D scene. + * + * ```js + * const camera = new THREE.PerspectiveCamera( 45, width / height, 1, 1000 ); + * scene.add( camera ); + * ``` + * + * @augments Camera + */ +class PerspectiveCamera extends Camera { + + /** + * Constructs a new perspective camera. + * + * @param {number} [fov=50] - The vertical field of view. + * @param {number} [aspect=1] - The aspect ratio. + * @param {number} [near=0.1] - The camera's near plane. + * @param {number} [far=2000] - The camera's far plane. + */ + constructor( fov = 50, aspect = 1, near = 0.1, far = 2000 ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isPerspectiveCamera = true; + + this.type = 'PerspectiveCamera'; + + /** + * The vertical field of view, from bottom to top of view, + * in degrees. + * + * @type {number} + * @default 50 + */ + this.fov = fov; + + /** + * The zoom factor of the camera. + * + * @type {number} + * @default 1 + */ + this.zoom = 1; + + /** + * The camera's near plane. The valid range is greater than `0` + * and less than the current value of {@link PerspectiveCamera#far}. + * + * Note that, unlike for the {@link OrthographicCamera}, `0` is not a + * valid value for a perspective camera's near plane. + * + * @type {number} + * @default 0.1 + */ + this.near = near; + + /** + * The camera's far plane. Must be greater than the + * current value of {@link PerspectiveCamera#near}. + * + * @type {number} + * @default 2000 + */ + this.far = far; + + /** + * Object distance used for stereoscopy and depth-of-field effects. This + * parameter does not influence the projection matrix unless a + * {@link StereoCamera} is being used. + * + * @type {number} + * @default 10 + */ + this.focus = 10; + + /** + * The aspect ratio, usually the canvas width / canvas height. + * + * @type {number} + * @default 1 + */ + this.aspect = aspect; + + /** + * Represents the frustum window specification. This property should not be edited + * directly but via {@link PerspectiveCamera#setViewOffset} and {@link PerspectiveCamera#clearViewOffset}. + * + * @type {?Object} + * @default null + */ + this.view = null; + + /** + * Film size used for the larger axis. Default is `35` (millimeters). This + * parameter does not influence the projection matrix unless {@link PerspectiveCamera#filmOffset} + * is set to a nonzero value. + * + * @type {number} + * @default 35 + */ + this.filmGauge = 35; + + /** + * Horizontal off-center offset in the same unit as {@link PerspectiveCamera#filmGauge}. + * + * @type {number} + * @default 0 + */ + this.filmOffset = 0; + + this.updateProjectionMatrix(); + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + this.fov = source.fov; + this.zoom = source.zoom; + + this.near = source.near; + this.far = source.far; + this.focus = source.focus; + + this.aspect = source.aspect; + this.view = source.view === null ? null : Object.assign( {}, source.view ); + + this.filmGauge = source.filmGauge; + this.filmOffset = source.filmOffset; + + return this; + + } + + /** + * Sets the FOV by focal length in respect to the current {@link PerspectiveCamera#filmGauge}. + * + * The default film gauge is 35, so that the focal length can be specified for + * a 35mm (full frame) camera. + * + * @param {number} focalLength - Values for focal length and film gauge must have the same unit. + */ + setFocalLength( focalLength ) { + + /** see {@link http://www.bobatkins.com/photography/technical/field_of_view.html} */ + const vExtentSlope = 0.5 * this.getFilmHeight() / focalLength; + + this.fov = RAD2DEG * 2 * Math.atan( vExtentSlope ); + this.updateProjectionMatrix(); + + } + + /** + * Returns the focal length from the current {@link PerspectiveCamera#fov} and + * {@link PerspectiveCamera#filmGauge}. + * + * @return {number} The computed focal length. + */ + getFocalLength() { + + const vExtentSlope = Math.tan( DEG2RAD * 0.5 * this.fov ); + + return 0.5 * this.getFilmHeight() / vExtentSlope; + + } + + /** + * Returns the current vertical field of view angle in degrees considering {@link PerspectiveCamera#zoom}. + * + * @return {number} The effective FOV. + */ + getEffectiveFOV() { + + return RAD2DEG * 2 * Math.atan( + Math.tan( DEG2RAD * 0.5 * this.fov ) / this.zoom ); + + } + + /** + * Returns the width of the image on the film. If {@link PerspectiveCamera#aspect} is greater than or + * equal to one (landscape format), the result equals {@link PerspectiveCamera#filmGauge}. + * + * @return {number} The film width. + */ + getFilmWidth() { + + // film not completely covered in portrait format (aspect < 1) + return this.filmGauge * Math.min( this.aspect, 1 ); + + } + + /** + * Returns the height of the image on the film. If {@link PerspectiveCamera#aspect} is greater than or + * equal to one (landscape format), the result equals {@link PerspectiveCamera#filmGauge}. + * + * @return {number} The film width. + */ + getFilmHeight() { + + // film not completely covered in landscape format (aspect > 1) + return this.filmGauge / Math.max( this.aspect, 1 ); + + } + + /** + * Computes the 2D bounds of the camera's viewable rectangle at a given distance along the viewing direction. + * Sets `minTarget` and `maxTarget` to the coordinates of the lower-left and upper-right corners of the view rectangle. + * + * @param {number} distance - The viewing distance. + * @param {Vector2} minTarget - The lower-left corner of the view rectangle is written into this vector. + * @param {Vector2} maxTarget - The upper-right corner of the view rectangle is written into this vector. + */ + getViewBounds( distance, minTarget, maxTarget ) { + + _v3$1.set( -1, -1, 0.5 ).applyMatrix4( this.projectionMatrixInverse ); + + minTarget.set( _v3$1.x, _v3$1.y ).multiplyScalar( - distance / _v3$1.z ); + + _v3$1.set( 1, 1, 0.5 ).applyMatrix4( this.projectionMatrixInverse ); + + maxTarget.set( _v3$1.x, _v3$1.y ).multiplyScalar( - distance / _v3$1.z ); + + } + + /** + * Computes the width and height of the camera's viewable rectangle at a given distance along the viewing direction. + * + * @param {number} distance - The viewing distance. + * @param {Vector2} target - The target vector that is used to store result where x is width and y is height. + * @returns {Vector2} The view size. + */ + getViewSize( distance, target ) { + + this.getViewBounds( distance, _minTarget, _maxTarget ); + + return target.subVectors( _maxTarget, _minTarget ); + + } + + /** + * Sets an offset in a larger frustum. This is useful for multi-window or + * multi-monitor/multi-machine setups. + * + * For example, if you have 3x2 monitors and each monitor is 1920x1080 and + * the monitors are in grid like this + *``` + * +---+---+---+ + * | A | B | C | + * +---+---+---+ + * | D | E | F | + * +---+---+---+ + *``` + * then for each monitor you would call it like this: + *```js + * const w = 1920; + * const h = 1080; + * const fullWidth = w * 3; + * const fullHeight = h * 2; + * + * // --A-- + * camera.setViewOffset( fullWidth, fullHeight, w * 0, h * 0, w, h ); + * // --B-- + * camera.setViewOffset( fullWidth, fullHeight, w * 1, h * 0, w, h ); + * // --C-- + * camera.setViewOffset( fullWidth, fullHeight, w * 2, h * 0, w, h ); + * // --D-- + * camera.setViewOffset( fullWidth, fullHeight, w * 0, h * 1, w, h ); + * // --E-- + * camera.setViewOffset( fullWidth, fullHeight, w * 1, h * 1, w, h ); + * // --F-- + * camera.setViewOffset( fullWidth, fullHeight, w * 2, h * 1, w, h ); + * ``` + * + * Note there is no reason monitors have to be the same size or in a grid. + * + * @param {number} fullWidth - The full width of multiview setup. + * @param {number} fullHeight - The full height of multiview setup. + * @param {number} x - The horizontal offset of the subcamera. + * @param {number} y - The vertical offset of the subcamera. + * @param {number} width - The width of subcamera. + * @param {number} height - The height of subcamera. + */ + setViewOffset( fullWidth, fullHeight, x, y, width, height ) { + + this.aspect = fullWidth / fullHeight; + + if ( this.view === null ) { + + this.view = { + enabled: true, + fullWidth: 1, + fullHeight: 1, + offsetX: 0, + offsetY: 0, + width: 1, + height: 1 + }; + + } + + this.view.enabled = true; + this.view.fullWidth = fullWidth; + this.view.fullHeight = fullHeight; + this.view.offsetX = x; + this.view.offsetY = y; + this.view.width = width; + this.view.height = height; + + this.updateProjectionMatrix(); + + } + + /** + * Removes the view offset from the projection matrix. + */ + clearViewOffset() { + + if ( this.view !== null ) { + + this.view.enabled = false; + + } + + this.updateProjectionMatrix(); + + } + + /** + * Updates the camera's projection matrix. Must be called after any change of + * camera properties. + */ + updateProjectionMatrix() { + + const near = this.near; + let top = near * Math.tan( DEG2RAD * 0.5 * this.fov ) / this.zoom; + let height = 2 * top; + let width = this.aspect * height; + let left = -0.5 * width; + const view = this.view; + + if ( this.view !== null && this.view.enabled ) { + + const fullWidth = view.fullWidth, + fullHeight = view.fullHeight; + + left += view.offsetX * width / fullWidth; + top -= view.offsetY * height / fullHeight; + width *= view.width / fullWidth; + height *= view.height / fullHeight; + + } + + const skew = this.filmOffset; + if ( skew !== 0 ) left += near * skew / this.getFilmWidth(); + + this.projectionMatrix.makePerspective( left, left + width, top, top - height, near, this.far, this.coordinateSystem, this.reversedDepth ); + + this.projectionMatrixInverse.copy( this.projectionMatrix ).invert(); + + } + + toJSON( meta ) { + + const data = super.toJSON( meta ); + + data.object.fov = this.fov; + data.object.zoom = this.zoom; + + data.object.near = this.near; + data.object.far = this.far; + data.object.focus = this.focus; + + data.object.aspect = this.aspect; + + if ( this.view !== null ) data.object.view = Object.assign( {}, this.view ); + + data.object.filmGauge = this.filmGauge; + data.object.filmOffset = this.filmOffset; + + return data; + + } + +} + +/** + * Represents the shadow configuration of directional lights. + * + * @augments LightShadow + */ +class SpotLightShadow extends LightShadow { + + /** + * Constructs a new spot light shadow. + */ + constructor() { + + super( new PerspectiveCamera( 50, 1, 0.5, 500 ) ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isSpotLightShadow = true; + + /** + * Used to focus the shadow camera. The camera's field of view is set as a + * percentage of the spotlight's field-of-view. Range is `[0, 1]`. + * + * @type {number} + * @default 1 + */ + this.focus = 1; + + /** + * Texture aspect ratio. + * + * @type {number} + * @default 1 + */ + this.aspect = 1; + + } + + updateMatrices( light ) { + + const camera = this.camera; + + const fov = RAD2DEG * 2 * light.angle * this.focus; + const aspect = ( this.mapSize.width / this.mapSize.height ) * this.aspect; + const far = light.distance || camera.far; + + if ( fov !== camera.fov || aspect !== camera.aspect || far !== camera.far ) { + + camera.fov = fov; + camera.aspect = aspect; + camera.far = far; + camera.updateProjectionMatrix(); + + } + + super.updateMatrices( light ); + + } + + copy( source ) { + + super.copy( source ); + + this.focus = source.focus; + + return this; + + } + +} + +/** + * This light gets emitted from a single point in one direction, along a cone + * that increases in size the further from the light it gets. + * + * This light can cast shadows - see the {@link SpotLightShadow} for details. + * + * ```js + * // white spotlight shining from the side, modulated by a texture + * const spotLight = new THREE.SpotLight( 0xffffff ); + * spotLight.position.set( 100, 1000, 100 ); + * spotLight.map = new THREE.TextureLoader().load( url ); + * + * spotLight.castShadow = true; + * spotLight.shadow.mapSize.width = 1024; + * spotLight.shadow.mapSize.height = 1024; + * spotLight.shadow.camera.near = 500; + * spotLight.shadow.camera.far = 4000; + * spotLight.shadow.camera.fov = 30;s + * ``` + * + * @augments Light + */ +class SpotLight extends Light { + + /** + * Constructs a new spot light. + * + * @param {(number|Color|string)} [color=0xffffff] - The light's color. + * @param {number} [intensity=1] - The light's strength/intensity measured in candela (cd). + * @param {number} [distance=0] - Maximum range of the light. `0` means no limit. + * @param {number} [angle=Math.PI/3] - Maximum angle of light dispersion from its direction whose upper bound is `Math.PI/2`. + * @param {number} [penumbra=0] - Percent of the spotlight cone that is attenuated due to penumbra. Value range is `[0,1]`. + * @param {number} [decay=2] - The amount the light dims along the distance of the light. + */ + constructor( color, intensity, distance = 0, angle = Math.PI / 3, penumbra = 0, decay = 2 ) { + + super( color, intensity ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isSpotLight = true; + + this.type = 'SpotLight'; + + this.position.copy( Object3D.DEFAULT_UP ); + this.updateMatrix(); + + /** + * The spot light points from its position to the + * target's position. + * + * For the target's position to be changed to anything other + * than the default, it must be added to the scene. + * + * It is also possible to set the target to be another 3D object + * in the scene. The light will now track the target object. + * + * @type {Object3D} + */ + this.target = new Object3D(); + + /** + * Maximum range of the light. `0` means no limit. + * + * @type {number} + * @default 0 + */ + this.distance = distance; + + /** + * Maximum angle of light dispersion from its direction whose upper bound is `Math.PI/2`. + * + * @type {number} + * @default Math.PI/3 + */ + this.angle = angle; + + /** + * Percent of the spotlight cone that is attenuated due to penumbra. + * Value range is `[0,1]`. + * + * @type {number} + * @default 0 + */ + this.penumbra = penumbra; + + /** + * The amount the light dims along the distance of the light. In context of + * physically-correct rendering the default value should not be changed. + * + * @type {number} + * @default 2 + */ + this.decay = decay; + + /** + * A texture used to modulate the color of the light. The spot light + * color is mixed with the RGB value of this texture, with a ratio + * corresponding to its alpha value. The cookie-like masking effect is + * reproduced using pixel values (0, 0, 0, 1-cookie_value). + * + * *Warning*: This property is disabled if {@link Object3D#castShadow} is set to `false`. + * + * @type {?Texture} + * @default null + */ + this.map = null; + + /** + * This property holds the light's shadow configuration. + * + * @type {SpotLightShadow} + */ + this.shadow = new SpotLightShadow(); + + } + + /** + * The light's power. Power is the luminous power of the light measured in lumens (lm). + * Changing the power will also change the light's intensity. + * + * @type {number} + */ + get power() { + + // compute the light's luminous power (in lumens) from its intensity (in candela) + // by convention for a spotlight, luminous power (lm) = π * luminous intensity (cd) + return this.intensity * Math.PI; + + } + + set power( power ) { + + // set the light's intensity (in candela) from the desired luminous power (in lumens) + this.intensity = power / Math.PI; + + } + + dispose() { + + super.dispose(); + + this.shadow.dispose(); + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + this.distance = source.distance; + this.angle = source.angle; + this.penumbra = source.penumbra; + this.decay = source.decay; + + this.target = source.target.clone(); + this.map = source.map; + this.shadow = source.shadow.clone(); + + return this; + + } + + toJSON( meta ) { + + const data = super.toJSON( meta ); + + data.object.distance = this.distance; + data.object.angle = this.angle; + data.object.decay = this.decay; + data.object.penumbra = this.penumbra; + + data.object.target = this.target.uuid; + + if ( this.map && this.map.isTexture ) data.object.map = this.map.toJSON( meta ).uuid; + + data.object.shadow = this.shadow.toJSON(); + + return data; + + } + +} + +/** + * Represents the shadow configuration of point lights. + * + * @augments LightShadow + */ +class PointLightShadow extends LightShadow { + + /** + * Constructs a new point light shadow. + */ + constructor() { + + super( new PerspectiveCamera( 90, 1, 0.5, 500 ) ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isPointLightShadow = true; + + } + +} + +/** + * A light that gets emitted from a single point in all directions. A common + * use case for this is to replicate the light emitted from a bare + * lightbulb. + * + * This light can cast shadows - see the {@link PointLightShadow} for details. + * + * ```js + * const light = new THREE.PointLight( 0xff0000, 1, 100 ); + * light.position.set( 50, 50, 50 ); + * scene.add( light ); + * ``` + * + * @augments Light + */ +class PointLight extends Light { + + /** + * Constructs a new point light. + * + * @param {(number|Color|string)} [color=0xffffff] - The light's color. + * @param {number} [intensity=1] - The light's strength/intensity measured in candela (cd). + * @param {number} [distance=0] - Maximum range of the light. `0` means no limit. + * @param {number} [decay=2] - The amount the light dims along the distance of the light. + */ + constructor( color, intensity, distance = 0, decay = 2 ) { + + super( color, intensity ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isPointLight = true; + + this.type = 'PointLight'; + + /** + * When distance is zero, light will attenuate according to inverse-square + * law to infinite distance. When distance is non-zero, light will attenuate + * according to inverse-square law until near the distance cutoff, where it + * will then attenuate quickly and smoothly to 0. Inherently, cutoffs are not + * physically correct. + * + * @type {number} + * @default 0 + */ + this.distance = distance; + + /** + * The amount the light dims along the distance of the light. In context of + * physically-correct rendering the default value should not be changed. + * + * @type {number} + * @default 2 + */ + this.decay = decay; + + /** + * This property holds the light's shadow configuration. + * + * @type {PointLightShadow} + */ + this.shadow = new PointLightShadow(); + + } + + /** + * The light's power. Power is the luminous power of the light measured in lumens (lm). + * Changing the power will also change the light's intensity. + * + * @type {number} + */ + get power() { + + // compute the light's luminous power (in lumens) from its intensity (in candela) + // for an isotropic light source, luminous power (lm) = 4 π luminous intensity (cd) + return this.intensity * 4 * Math.PI; + + } + + set power( power ) { + + // set the light's intensity (in candela) from the desired luminous power (in lumens) + this.intensity = power / ( 4 * Math.PI ); + + } + + dispose() { + + super.dispose(); + + this.shadow.dispose(); + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + this.distance = source.distance; + this.decay = source.decay; + + this.shadow = source.shadow.clone(); + + return this; + + } + + toJSON( meta ) { + + const data = super.toJSON( meta ); + + data.object.distance = this.distance; + data.object.decay = this.decay; + + data.object.shadow = this.shadow.toJSON(); + + return data; + + } + +} + +/** + * Camera that uses [orthographic projection](https://en.wikipedia.org/wiki/Orthographic_projection). + * + * In this projection mode, an object's size in the rendered image stays + * constant regardless of its distance from the camera. This can be useful + * for rendering 2D scenes and UI elements, amongst other things. + * + * ```js + * const camera = new THREE.OrthographicCamera( width / - 2, width / 2, height / 2, height / - 2, 1, 1000 ); + * scene.add( camera ); + * ``` + * + * @augments Camera + */ +class OrthographicCamera extends Camera { + + /** + * Constructs a new orthographic camera. + * + * @param {number} [left=-1] - The left plane of the camera's frustum. + * @param {number} [right=1] - The right plane of the camera's frustum. + * @param {number} [top=1] - The top plane of the camera's frustum. + * @param {number} [bottom=-1] - The bottom plane of the camera's frustum. + * @param {number} [near=0.1] - The camera's near plane. + * @param {number} [far=2000] - The camera's far plane. + */ + constructor( left = -1, right = 1, top = 1, bottom = -1, near = 0.1, far = 2000 ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isOrthographicCamera = true; + + this.type = 'OrthographicCamera'; + + /** + * The zoom factor of the camera. + * + * @type {number} + * @default 1 + */ + this.zoom = 1; + + /** + * Represents the frustum window specification. This property should not be edited + * directly but via {@link PerspectiveCamera#setViewOffset} and {@link PerspectiveCamera#clearViewOffset}. + * + * @type {?Object} + * @default null + */ + this.view = null; + + /** + * The left plane of the camera's frustum. + * + * @type {number} + * @default -1 + */ + this.left = left; + + /** + * The right plane of the camera's frustum. + * + * @type {number} + * @default 1 + */ + this.right = right; + + /** + * The top plane of the camera's frustum. + * + * @type {number} + * @default 1 + */ + this.top = top; + + /** + * The bottom plane of the camera's frustum. + * + * @type {number} + * @default -1 + */ + this.bottom = bottom; + + /** + * The camera's near plane. The valid range is greater than `0` + * and less than the current value of {@link OrthographicCamera#far}. + * + * Note that, unlike for the {@link PerspectiveCamera}, `0` is a + * valid value for an orthographic camera's near plane. + * + * @type {number} + * @default 0.1 + */ + this.near = near; + + /** + * The camera's far plane. Must be greater than the + * current value of {@link OrthographicCamera#near}. + * + * @type {number} + * @default 2000 + */ + this.far = far; + + this.updateProjectionMatrix(); + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + this.left = source.left; + this.right = source.right; + this.top = source.top; + this.bottom = source.bottom; + this.near = source.near; + this.far = source.far; + + this.zoom = source.zoom; + this.view = source.view === null ? null : Object.assign( {}, source.view ); + + return this; + + } + + /** + * Sets an offset in a larger frustum. This is useful for multi-window or + * multi-monitor/multi-machine setups. + * + * @param {number} fullWidth - The full width of multiview setup. + * @param {number} fullHeight - The full height of multiview setup. + * @param {number} x - The horizontal offset of the subcamera. + * @param {number} y - The vertical offset of the subcamera. + * @param {number} width - The width of subcamera. + * @param {number} height - The height of subcamera. + * @see {@link PerspectiveCamera#setViewOffset} + */ + setViewOffset( fullWidth, fullHeight, x, y, width, height ) { + + if ( this.view === null ) { + + this.view = { + enabled: true, + fullWidth: 1, + fullHeight: 1, + offsetX: 0, + offsetY: 0, + width: 1, + height: 1 + }; + + } + + this.view.enabled = true; + this.view.fullWidth = fullWidth; + this.view.fullHeight = fullHeight; + this.view.offsetX = x; + this.view.offsetY = y; + this.view.width = width; + this.view.height = height; + + this.updateProjectionMatrix(); + + } + + /** + * Removes the view offset from the projection matrix. + */ + clearViewOffset() { + + if ( this.view !== null ) { + + this.view.enabled = false; + + } + + this.updateProjectionMatrix(); + + } + + /** + * Updates the camera's projection matrix. Must be called after any change of + * camera properties. + */ + updateProjectionMatrix() { + + const dx = ( this.right - this.left ) / ( 2 * this.zoom ); + const dy = ( this.top - this.bottom ) / ( 2 * this.zoom ); + const cx = ( this.right + this.left ) / 2; + const cy = ( this.top + this.bottom ) / 2; + + let left = cx - dx; + let right = cx + dx; + let top = cy + dy; + let bottom = cy - dy; + + if ( this.view !== null && this.view.enabled ) { + + const scaleW = ( this.right - this.left ) / this.view.fullWidth / this.zoom; + const scaleH = ( this.top - this.bottom ) / this.view.fullHeight / this.zoom; + + left += scaleW * this.view.offsetX; + right = left + scaleW * this.view.width; + top -= scaleH * this.view.offsetY; + bottom = top - scaleH * this.view.height; + + } + + this.projectionMatrix.makeOrthographic( left, right, top, bottom, this.near, this.far, this.coordinateSystem, this.reversedDepth ); + + this.projectionMatrixInverse.copy( this.projectionMatrix ).invert(); + + } + + toJSON( meta ) { + + const data = super.toJSON( meta ); + + data.object.zoom = this.zoom; + data.object.left = this.left; + data.object.right = this.right; + data.object.top = this.top; + data.object.bottom = this.bottom; + data.object.near = this.near; + data.object.far = this.far; + + if ( this.view !== null ) data.object.view = Object.assign( {}, this.view ); + + return data; + + } + +} + +/** + * Represents the shadow configuration of directional lights. + * + * @augments LightShadow + */ +class DirectionalLightShadow extends LightShadow { + + /** + * Constructs a new directional light shadow. + */ + constructor() { + + super( new OrthographicCamera( -5, 5, 5, -5, 0.5, 500 ) ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isDirectionalLightShadow = true; + + } + +} + +/** + * A light that gets emitted in a specific direction. This light will behave + * as though it is infinitely far away and the rays produced from it are all + * parallel. The common use case for this is to simulate daylight; the sun is + * far enough away that its position can be considered to be infinite, and + * all light rays coming from it are parallel. + * + * A common point of confusion for directional lights is that setting the + * rotation has no effect. This is because three.js's DirectionalLight is the + * equivalent to what is often called a 'Target Direct Light' in other + * applications. + * + * This means that its direction is calculated as pointing from the light's + * {@link Object3D#position} to the {@link DirectionalLight#target} position + * (as opposed to a 'Free Direct Light' that just has a rotation + * component). + * + * This light can cast shadows - see the {@link DirectionalLightShadow} for details. + * + * ```js + * // White directional light at half intensity shining from the top. + * const directionalLight = new THREE.DirectionalLight( 0xffffff, 0.5 ); + * scene.add( directionalLight ); + * ``` + * + * @augments Light + */ +class DirectionalLight extends Light { + + /** + * Constructs a new directional light. + * + * @param {(number|Color|string)} [color=0xffffff] - The light's color. + * @param {number} [intensity=1] - The light's strength/intensity. + */ + constructor( color, intensity ) { + + super( color, intensity ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isDirectionalLight = true; + + this.type = 'DirectionalLight'; + + this.position.copy( Object3D.DEFAULT_UP ); + this.updateMatrix(); + + /** + * The directional light points from its position to the + * target's position. + * + * For the target's position to be changed to anything other + * than the default, it must be added to the scene. + * + * It is also possible to set the target to be another 3D object + * in the scene. The light will now track the target object. + * + * @type {Object3D} + */ + this.target = new Object3D(); + + /** + * This property holds the light's shadow configuration. + * + * @type {DirectionalLightShadow} + */ + this.shadow = new DirectionalLightShadow(); + + } + + dispose() { + + super.dispose(); + + this.shadow.dispose(); + + } + + copy( source ) { + + super.copy( source ); + + this.target = source.target.clone(); + this.shadow = source.shadow.clone(); + + return this; + + } + + toJSON( meta ) { + + const data = super.toJSON( meta ); + + data.object.shadow = this.shadow.toJSON(); + data.object.target = this.target.uuid; + + return data; + + } + +} + +/** + * This light globally illuminates all objects in the scene equally. + * + * It cannot be used to cast shadows as it does not have a direction. + * + * ```js + * const light = new THREE.AmbientLight( 0x404040 ); // soft white light + * scene.add( light ); + * ``` + * + * @augments Light + */ +class AmbientLight extends Light { + + /** + * Constructs a new ambient light. + * + * @param {(number|Color|string)} [color=0xffffff] - The light's color. + * @param {number} [intensity=1] - The light's strength/intensity. + */ + constructor( color, intensity ) { + + super( color, intensity ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isAmbientLight = true; + + this.type = 'AmbientLight'; + + } + +} + +/** + * This class emits light uniformly across the face a rectangular plane. + * This light type can be used to simulate light sources such as bright + * windows or strip lighting. + * + * Important Notes: + * + * - There is no shadow support. + * - Only PBR materials are supported. + * - You have to include `RectAreaLightUniformsLib` (`WebGLRenderer`) or `RectAreaLightTexturesLib` (`WebGPURenderer`) + * into your app and init the uniforms/textures. + * + * ```js + * RectAreaLightUniformsLib.init(); // only relevant for WebGLRenderer + * THREE.RectAreaLightNode.setLTC( RectAreaLightTexturesLib.init() ); // only relevant for WebGPURenderer + * + * const intensity = 1; const width = 10; const height = 10; + * const rectLight = new THREE.RectAreaLight( 0xffffff, intensity, width, height ); + * rectLight.position.set( 5, 5, 0 ); + * rectLight.lookAt( 0, 0, 0 ); + * scene.add( rectLight ) + * ``` + * + * @augments Light + */ +class RectAreaLight extends Light { + + /** + * Constructs a new area light. + * + * @param {(number|Color|string)} [color=0xffffff] - The light's color. + * @param {number} [intensity=1] - The light's strength/intensity. + * @param {number} [width=10] - The width of the light. + * @param {number} [height=10] - The height of the light. + */ + constructor( color, intensity, width = 10, height = 10 ) { + + super( color, intensity ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isRectAreaLight = true; + + this.type = 'RectAreaLight'; + + /** + * The width of the light. + * + * @type {number} + * @default 10 + */ + this.width = width; + + /** + * The height of the light. + * + * @type {number} + * @default 10 + */ + this.height = height; + + } + + /** + * The light's power. Power is the luminous power of the light measured in lumens (lm). + * Changing the power will also change the light's intensity. + * + * @type {number} + */ + get power() { + + // compute the light's luminous power (in lumens) from its intensity (in nits) + return this.intensity * this.width * this.height * Math.PI; + + } + + set power( power ) { + + // set the light's intensity (in nits) from the desired luminous power (in lumens) + this.intensity = power / ( this.width * this.height * Math.PI ); + + } + + copy( source ) { + + super.copy( source ); + + this.width = source.width; + this.height = source.height; + + return this; + + } + + toJSON( meta ) { + + const data = super.toJSON( meta ); + + data.object.width = this.width; + data.object.height = this.height; + + return data; + + } + +} + +/** + * Represents a third-order spherical harmonics (SH). Light probes use this class + * to encode lighting information. + * + * - Primary reference: {@link https://graphics.stanford.edu/papers/envmap/envmap.pdf} + * - Secondary reference: {@link https://www.ppsloan.org/publications/StupidSH36.pdf} + */ +class SphericalHarmonics3 { + + /** + * Constructs a new spherical harmonics. + */ + constructor() { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isSphericalHarmonics3 = true; + + /** + * An array holding the (9) SH coefficients. + * + * @type {Array} + */ + this.coefficients = []; + + for ( let i = 0; i < 9; i ++ ) { + + this.coefficients.push( new Vector3() ); + + } + + } + + /** + * Sets the given SH coefficients to this instance by copying + * the values. + * + * @param {Array} coefficients - The SH coefficients. + * @return {SphericalHarmonics3} A reference to this spherical harmonics. + */ + set( coefficients ) { + + for ( let i = 0; i < 9; i ++ ) { + + this.coefficients[ i ].copy( coefficients[ i ] ); + + } + + return this; + + } + + /** + * Sets all SH coefficients to `0`. + * + * @return {SphericalHarmonics3} A reference to this spherical harmonics. + */ + zero() { + + for ( let i = 0; i < 9; i ++ ) { + + this.coefficients[ i ].set( 0, 0, 0 ); + + } + + return this; + + } + + /** + * Returns the radiance in the direction of the given normal. + * + * @param {Vector3} normal - The normal vector (assumed to be unit length) + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The radiance. + */ + getAt( normal, target ) { + + // normal is assumed to be unit length + + const x = normal.x, y = normal.y, z = normal.z; + + const coeff = this.coefficients; + + // band 0 + target.copy( coeff[ 0 ] ).multiplyScalar( 0.282095 ); + + // band 1 + target.addScaledVector( coeff[ 1 ], 0.488603 * y ); + target.addScaledVector( coeff[ 2 ], 0.488603 * z ); + target.addScaledVector( coeff[ 3 ], 0.488603 * x ); + + // band 2 + target.addScaledVector( coeff[ 4 ], 1.092548 * ( x * y ) ); + target.addScaledVector( coeff[ 5 ], 1.092548 * ( y * z ) ); + target.addScaledVector( coeff[ 6 ], 0.315392 * ( 3.0 * z * z - 1.0 ) ); + target.addScaledVector( coeff[ 7 ], 1.092548 * ( x * z ) ); + target.addScaledVector( coeff[ 8 ], 0.546274 * ( x * x - y * y ) ); + + return target; + + } + + /** + * Returns the irradiance (radiance convolved with cosine lobe) in the + * direction of the given normal. + * + * @param {Vector3} normal - The normal vector (assumed to be unit length) + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The irradiance. + */ + getIrradianceAt( normal, target ) { + + // normal is assumed to be unit length + + const x = normal.x, y = normal.y, z = normal.z; + + const coeff = this.coefficients; + + // band 0 + target.copy( coeff[ 0 ] ).multiplyScalar( 0.886227 ); // π * 0.282095 + + // band 1 + target.addScaledVector( coeff[ 1 ], 2.0 * 0.511664 * y ); // ( 2 * π / 3 ) * 0.488603 + target.addScaledVector( coeff[ 2 ], 2.0 * 0.511664 * z ); + target.addScaledVector( coeff[ 3 ], 2.0 * 0.511664 * x ); + + // band 2 + target.addScaledVector( coeff[ 4 ], 2.0 * 0.429043 * x * y ); // ( π / 4 ) * 1.092548 + target.addScaledVector( coeff[ 5 ], 2.0 * 0.429043 * y * z ); + target.addScaledVector( coeff[ 6 ], 0.743125 * z * z - 0.247708 ); // ( π / 4 ) * 0.315392 * 3 + target.addScaledVector( coeff[ 7 ], 2.0 * 0.429043 * x * z ); + target.addScaledVector( coeff[ 8 ], 0.429043 * ( x * x - y * y ) ); // ( π / 4 ) * 0.546274 + + return target; + + } + + /** + * Adds the given SH to this instance. + * + * @param {SphericalHarmonics3} sh - The SH to add. + * @return {SphericalHarmonics3} A reference to this spherical harmonics. + */ + add( sh ) { + + for ( let i = 0; i < 9; i ++ ) { + + this.coefficients[ i ].add( sh.coefficients[ i ] ); + + } + + return this; + + } + + /** + * A convenience method for performing {@link SphericalHarmonics3#add} and + * {@link SphericalHarmonics3#scale} at once. + * + * @param {SphericalHarmonics3} sh - The SH to add. + * @param {number} s - The scale factor. + * @return {SphericalHarmonics3} A reference to this spherical harmonics. + */ + addScaledSH( sh, s ) { + + for ( let i = 0; i < 9; i ++ ) { + + this.coefficients[ i ].addScaledVector( sh.coefficients[ i ], s ); + + } + + return this; + + } + + /** + * Scales this SH by the given scale factor. + * + * @param {number} s - The scale factor. + * @return {SphericalHarmonics3} A reference to this spherical harmonics. + */ + scale( s ) { + + for ( let i = 0; i < 9; i ++ ) { + + this.coefficients[ i ].multiplyScalar( s ); + + } + + return this; + + } + + /** + * Linear interpolates between the given SH and this instance by the given + * alpha factor. + * + * @param {SphericalHarmonics3} sh - The SH to interpolate with. + * @param {number} alpha - The alpha factor. + * @return {SphericalHarmonics3} A reference to this spherical harmonics. + */ + lerp( sh, alpha ) { + + for ( let i = 0; i < 9; i ++ ) { + + this.coefficients[ i ].lerp( sh.coefficients[ i ], alpha ); + + } + + return this; + + } + + /** + * Returns `true` if this spherical harmonics is equal with the given one. + * + * @param {SphericalHarmonics3} sh - The spherical harmonics to test for equality. + * @return {boolean} Whether this spherical harmonics is equal with the given one. + */ + equals( sh ) { + + for ( let i = 0; i < 9; i ++ ) { + + if ( ! this.coefficients[ i ].equals( sh.coefficients[ i ] ) ) { + + return false; + + } + + } + + return true; + + } + + /** + * Copies the values of the given spherical harmonics to this instance. + * + * @param {SphericalHarmonics3} sh - The spherical harmonics to copy. + * @return {SphericalHarmonics3} A reference to this spherical harmonics. + */ + copy( sh ) { + + return this.set( sh.coefficients ); + + } + + /** + * Returns a new spherical harmonics with copied values from this instance. + * + * @return {SphericalHarmonics3} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + + /** + * Sets the SH coefficients of this instance from the given array. + * + * @param {Array} array - An array holding the SH coefficients. + * @param {number} [offset=0] - The array offset where to start copying. + * @return {SphericalHarmonics3} A clone of this instance. + */ + fromArray( array, offset = 0 ) { + + const coefficients = this.coefficients; + + for ( let i = 0; i < 9; i ++ ) { + + coefficients[ i ].fromArray( array, offset + ( i * 3 ) ); + + } + + return this; + + } + + /** + * Returns an array with the SH coefficients, or copies them into the provided + * array. The coefficients are represented as numbers. + * + * @param {Array} [array=[]] - The target array. + * @param {number} [offset=0] - The array offset where to start copying. + * @return {Array} An array with flat SH coefficients. + */ + toArray( array = [], offset = 0 ) { + + const coefficients = this.coefficients; + + for ( let i = 0; i < 9; i ++ ) { + + coefficients[ i ].toArray( array, offset + ( i * 3 ) ); + + } + + return array; + + } + + /** + * Computes the SH basis for the given normal vector. + * + * @param {Vector3} normal - The normal. + * @param {Array} shBasis - The target array holding the SH basis. + */ + static getBasisAt( normal, shBasis ) { + + // normal is assumed to be unit length + + const x = normal.x, y = normal.y, z = normal.z; + + // band 0 + shBasis[ 0 ] = 0.282095; + + // band 1 + shBasis[ 1 ] = 0.488603 * y; + shBasis[ 2 ] = 0.488603 * z; + shBasis[ 3 ] = 0.488603 * x; + + // band 2 + shBasis[ 4 ] = 1.092548 * x * y; + shBasis[ 5 ] = 1.092548 * y * z; + shBasis[ 6 ] = 0.315392 * ( 3 * z * z - 1 ); + shBasis[ 7 ] = 1.092548 * x * z; + shBasis[ 8 ] = 0.546274 * ( x * x - y * y ); + + } + +} + +/** + * Light probes are an alternative way of adding light to a 3D scene. Unlike + * classical light sources (e.g. directional, point or spot lights), light + * probes do not emit light. Instead they store information about light + * passing through 3D space. During rendering, the light that hits a 3D + * object is approximated by using the data from the light probe. + * + * Light probes are usually created from (radiance) environment maps. The + * class {@link LightProbeGenerator} can be used to create light probes from + * cube textures or render targets. However, light estimation data could also + * be provided in other forms e.g. by WebXR. This enables the rendering of + * augmented reality content that reacts to real world lighting. + * + * The current probe implementation in three.js supports so-called diffuse + * light probes. This type of light probe is functionally equivalent to an + * irradiance environment map. + * + * @augments Light + */ +class LightProbe extends Light { + + /** + * Constructs a new light probe. + * + * @param {SphericalHarmonics3} sh - The spherical harmonics which represents encoded lighting information. + * @param {number} [intensity=1] - The light's strength/intensity. + */ + constructor( sh = new SphericalHarmonics3(), intensity = 1 ) { + + super( undefined, intensity ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isLightProbe = true; + + /** + * A light probe uses spherical harmonics to encode lighting information. + * + * @type {SphericalHarmonics3} + */ + this.sh = sh; + + } + + copy( source ) { + + super.copy( source ); + + this.sh.copy( source.sh ); + + return this; + + } + + toJSON( meta ) { + + const data = super.toJSON( meta ); + + data.object.sh = this.sh.toArray(); + + return data; + + } + +} + +/** + * Class for loading materials. The files are internally + * loaded via {@link FileLoader}. + * + * ```js + * const loader = new THREE.MaterialLoader(); + * const material = await loader.loadAsync( 'material.json' ); + * ``` + * This loader does not support node materials. Use {@link NodeMaterialLoader} instead. + * + * @augments Loader + */ +class MaterialLoader extends Loader { + + /** + * Constructs a new material loader. + * + * @param {LoadingManager} [manager] - The loading manager. + */ + constructor( manager ) { + + super( manager ); + + /** + * A dictionary holding textures used by the material. + * + * @type {Object} + */ + this.textures = {}; + + } + + /** + * Starts loading from the given URL and pass the loaded material to the `onLoad()` callback. + * + * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI. + * @param {function(Material)} onLoad - Executed when the loading process has been finished. + * @param {onProgressCallback} onProgress - Executed while the loading is in progress. + * @param {onErrorCallback} onError - Executed when errors occur. + */ + load( url, onLoad, onProgress, onError ) { + + const scope = this; + + const loader = new FileLoader( scope.manager ); + loader.setPath( scope.path ); + loader.setRequestHeader( scope.requestHeader ); + loader.setWithCredentials( scope.withCredentials ); + loader.load( url, function ( text ) { + + try { + + onLoad( scope.parse( JSON.parse( text ) ) ); + + } catch ( e ) { + + if ( onError ) { + + onError( e ); + + } else { + + error( e ); + + } + + scope.manager.itemError( url ); + + } + + }, onProgress, onError ); + + } + + /** + * Parses the given JSON object and returns a material. + * + * @param {Object} json - The serialized material. + * @return {Material} The parsed material. + */ + parse( json ) { + + const textures = this.textures; + + function getTexture( name ) { + + if ( textures[ name ] === undefined ) { + + warn( 'MaterialLoader: Undefined texture', name ); + + } + + return textures[ name ]; + + } + + const material = this.createMaterialFromType( json.type ); + + if ( json.uuid !== undefined ) material.uuid = json.uuid; + if ( json.name !== undefined ) material.name = json.name; + if ( json.color !== undefined && material.color !== undefined ) material.color.setHex( json.color ); + if ( json.roughness !== undefined ) material.roughness = json.roughness; + if ( json.metalness !== undefined ) material.metalness = json.metalness; + if ( json.sheen !== undefined ) material.sheen = json.sheen; + if ( json.sheenColor !== undefined ) material.sheenColor = new Color().setHex( json.sheenColor ); + if ( json.sheenRoughness !== undefined ) material.sheenRoughness = json.sheenRoughness; + if ( json.emissive !== undefined && material.emissive !== undefined ) material.emissive.setHex( json.emissive ); + if ( json.specular !== undefined && material.specular !== undefined ) material.specular.setHex( json.specular ); + if ( json.specularIntensity !== undefined ) material.specularIntensity = json.specularIntensity; + if ( json.specularColor !== undefined && material.specularColor !== undefined ) material.specularColor.setHex( json.specularColor ); + if ( json.shininess !== undefined ) material.shininess = json.shininess; + if ( json.clearcoat !== undefined ) material.clearcoat = json.clearcoat; + if ( json.clearcoatRoughness !== undefined ) material.clearcoatRoughness = json.clearcoatRoughness; + if ( json.dispersion !== undefined ) material.dispersion = json.dispersion; + if ( json.iridescence !== undefined ) material.iridescence = json.iridescence; + if ( json.iridescenceIOR !== undefined ) material.iridescenceIOR = json.iridescenceIOR; + if ( json.iridescenceThicknessRange !== undefined ) material.iridescenceThicknessRange = json.iridescenceThicknessRange; + if ( json.transmission !== undefined ) material.transmission = json.transmission; + if ( json.thickness !== undefined ) material.thickness = json.thickness; + if ( json.attenuationDistance !== undefined ) material.attenuationDistance = json.attenuationDistance; + if ( json.attenuationColor !== undefined && material.attenuationColor !== undefined ) material.attenuationColor.setHex( json.attenuationColor ); + if ( json.anisotropy !== undefined ) material.anisotropy = json.anisotropy; + if ( json.anisotropyRotation !== undefined ) material.anisotropyRotation = json.anisotropyRotation; + if ( json.fog !== undefined ) material.fog = json.fog; + if ( json.flatShading !== undefined ) material.flatShading = json.flatShading; + if ( json.blending !== undefined ) material.blending = json.blending; + if ( json.combine !== undefined ) material.combine = json.combine; + if ( json.side !== undefined ) material.side = json.side; + if ( json.shadowSide !== undefined ) material.shadowSide = json.shadowSide; + if ( json.opacity !== undefined ) material.opacity = json.opacity; + if ( json.transparent !== undefined ) material.transparent = json.transparent; + if ( json.alphaTest !== undefined ) material.alphaTest = json.alphaTest; + if ( json.alphaHash !== undefined ) material.alphaHash = json.alphaHash; + if ( json.depthFunc !== undefined ) material.depthFunc = json.depthFunc; + if ( json.depthTest !== undefined ) material.depthTest = json.depthTest; + if ( json.depthWrite !== undefined ) material.depthWrite = json.depthWrite; + if ( json.colorWrite !== undefined ) material.colorWrite = json.colorWrite; + if ( json.blendSrc !== undefined ) material.blendSrc = json.blendSrc; + if ( json.blendDst !== undefined ) material.blendDst = json.blendDst; + if ( json.blendEquation !== undefined ) material.blendEquation = json.blendEquation; + if ( json.blendSrcAlpha !== undefined ) material.blendSrcAlpha = json.blendSrcAlpha; + if ( json.blendDstAlpha !== undefined ) material.blendDstAlpha = json.blendDstAlpha; + if ( json.blendEquationAlpha !== undefined ) material.blendEquationAlpha = json.blendEquationAlpha; + if ( json.blendColor !== undefined && material.blendColor !== undefined ) material.blendColor.setHex( json.blendColor ); + if ( json.blendAlpha !== undefined ) material.blendAlpha = json.blendAlpha; + if ( json.stencilWriteMask !== undefined ) material.stencilWriteMask = json.stencilWriteMask; + if ( json.stencilFunc !== undefined ) material.stencilFunc = json.stencilFunc; + if ( json.stencilRef !== undefined ) material.stencilRef = json.stencilRef; + if ( json.stencilFuncMask !== undefined ) material.stencilFuncMask = json.stencilFuncMask; + if ( json.stencilFail !== undefined ) material.stencilFail = json.stencilFail; + if ( json.stencilZFail !== undefined ) material.stencilZFail = json.stencilZFail; + if ( json.stencilZPass !== undefined ) material.stencilZPass = json.stencilZPass; + if ( json.stencilWrite !== undefined ) material.stencilWrite = json.stencilWrite; + + if ( json.wireframe !== undefined ) material.wireframe = json.wireframe; + if ( json.wireframeLinewidth !== undefined ) material.wireframeLinewidth = json.wireframeLinewidth; + if ( json.wireframeLinecap !== undefined ) material.wireframeLinecap = json.wireframeLinecap; + if ( json.wireframeLinejoin !== undefined ) material.wireframeLinejoin = json.wireframeLinejoin; + + if ( json.rotation !== undefined ) material.rotation = json.rotation; + + if ( json.linewidth !== undefined ) material.linewidth = json.linewidth; + if ( json.dashSize !== undefined ) material.dashSize = json.dashSize; + if ( json.gapSize !== undefined ) material.gapSize = json.gapSize; + if ( json.scale !== undefined ) material.scale = json.scale; + + if ( json.polygonOffset !== undefined ) material.polygonOffset = json.polygonOffset; + if ( json.polygonOffsetFactor !== undefined ) material.polygonOffsetFactor = json.polygonOffsetFactor; + if ( json.polygonOffsetUnits !== undefined ) material.polygonOffsetUnits = json.polygonOffsetUnits; + + if ( json.dithering !== undefined ) material.dithering = json.dithering; + + if ( json.alphaToCoverage !== undefined ) material.alphaToCoverage = json.alphaToCoverage; + if ( json.premultipliedAlpha !== undefined ) material.premultipliedAlpha = json.premultipliedAlpha; + if ( json.forceSinglePass !== undefined ) material.forceSinglePass = json.forceSinglePass; + if ( json.allowOverride !== undefined ) material.allowOverride = json.allowOverride; + + if ( json.visible !== undefined ) material.visible = json.visible; + + if ( json.toneMapped !== undefined ) material.toneMapped = json.toneMapped; + + if ( json.userData !== undefined ) material.userData = json.userData; + + if ( json.vertexColors !== undefined ) { + + if ( typeof json.vertexColors === 'number' ) { + + material.vertexColors = ( json.vertexColors > 0 ) ? true : false; + + } else { + + material.vertexColors = json.vertexColors; + + } + + } + + // Shader Material + + if ( json.uniforms !== undefined ) { + + for ( const name in json.uniforms ) { + + const uniform = json.uniforms[ name ]; + + material.uniforms[ name ] = {}; + + switch ( uniform.type ) { + + case 't': + material.uniforms[ name ].value = getTexture( uniform.value ); + break; + + case 'c': + material.uniforms[ name ].value = new Color().setHex( uniform.value ); + break; + + case 'v2': + material.uniforms[ name ].value = new Vector2().fromArray( uniform.value ); + break; + + case 'v3': + material.uniforms[ name ].value = new Vector3().fromArray( uniform.value ); + break; + + case 'v4': + material.uniforms[ name ].value = new Vector4().fromArray( uniform.value ); + break; + + case 'm3': + material.uniforms[ name ].value = new Matrix3().fromArray( uniform.value ); + break; + + case 'm4': + material.uniforms[ name ].value = new Matrix4().fromArray( uniform.value ); + break; + + default: + material.uniforms[ name ].value = uniform.value; + + } + + } + + } + + if ( json.defines !== undefined ) material.defines = json.defines; + if ( json.vertexShader !== undefined ) material.vertexShader = json.vertexShader; + if ( json.fragmentShader !== undefined ) material.fragmentShader = json.fragmentShader; + if ( json.glslVersion !== undefined ) material.glslVersion = json.glslVersion; + + if ( json.extensions !== undefined ) { + + for ( const key in json.extensions ) { + + material.extensions[ key ] = json.extensions[ key ]; + + } + + } + + if ( json.lights !== undefined ) material.lights = json.lights; + if ( json.clipping !== undefined ) material.clipping = json.clipping; + + // for PointsMaterial + + if ( json.size !== undefined ) material.size = json.size; + if ( json.sizeAttenuation !== undefined ) material.sizeAttenuation = json.sizeAttenuation; + + // maps + + if ( json.map !== undefined ) material.map = getTexture( json.map ); + if ( json.matcap !== undefined ) material.matcap = getTexture( json.matcap ); + + if ( json.alphaMap !== undefined ) material.alphaMap = getTexture( json.alphaMap ); + + if ( json.bumpMap !== undefined ) material.bumpMap = getTexture( json.bumpMap ); + if ( json.bumpScale !== undefined ) material.bumpScale = json.bumpScale; + + if ( json.normalMap !== undefined ) material.normalMap = getTexture( json.normalMap ); + if ( json.normalMapType !== undefined ) material.normalMapType = json.normalMapType; + if ( json.normalScale !== undefined ) { + + let normalScale = json.normalScale; + + if ( Array.isArray( normalScale ) === false ) { + + // Blender exporter used to export a scalar. See #7459 + + normalScale = [ normalScale, normalScale ]; + + } + + material.normalScale = new Vector2().fromArray( normalScale ); + + } + + if ( json.displacementMap !== undefined ) material.displacementMap = getTexture( json.displacementMap ); + if ( json.displacementScale !== undefined ) material.displacementScale = json.displacementScale; + if ( json.displacementBias !== undefined ) material.displacementBias = json.displacementBias; + + if ( json.roughnessMap !== undefined ) material.roughnessMap = getTexture( json.roughnessMap ); + if ( json.metalnessMap !== undefined ) material.metalnessMap = getTexture( json.metalnessMap ); + + if ( json.emissiveMap !== undefined ) material.emissiveMap = getTexture( json.emissiveMap ); + if ( json.emissiveIntensity !== undefined ) material.emissiveIntensity = json.emissiveIntensity; + + if ( json.specularMap !== undefined ) material.specularMap = getTexture( json.specularMap ); + if ( json.specularIntensityMap !== undefined ) material.specularIntensityMap = getTexture( json.specularIntensityMap ); + if ( json.specularColorMap !== undefined ) material.specularColorMap = getTexture( json.specularColorMap ); + + if ( json.envMap !== undefined ) material.envMap = getTexture( json.envMap ); + if ( json.envMapRotation !== undefined ) material.envMapRotation.fromArray( json.envMapRotation ); + if ( json.envMapIntensity !== undefined ) material.envMapIntensity = json.envMapIntensity; + + if ( json.reflectivity !== undefined ) material.reflectivity = json.reflectivity; + if ( json.refractionRatio !== undefined ) material.refractionRatio = json.refractionRatio; + + if ( json.lightMap !== undefined ) material.lightMap = getTexture( json.lightMap ); + if ( json.lightMapIntensity !== undefined ) material.lightMapIntensity = json.lightMapIntensity; + + if ( json.aoMap !== undefined ) material.aoMap = getTexture( json.aoMap ); + if ( json.aoMapIntensity !== undefined ) material.aoMapIntensity = json.aoMapIntensity; + + if ( json.gradientMap !== undefined ) material.gradientMap = getTexture( json.gradientMap ); + + if ( json.clearcoatMap !== undefined ) material.clearcoatMap = getTexture( json.clearcoatMap ); + if ( json.clearcoatRoughnessMap !== undefined ) material.clearcoatRoughnessMap = getTexture( json.clearcoatRoughnessMap ); + if ( json.clearcoatNormalMap !== undefined ) material.clearcoatNormalMap = getTexture( json.clearcoatNormalMap ); + if ( json.clearcoatNormalScale !== undefined ) material.clearcoatNormalScale = new Vector2().fromArray( json.clearcoatNormalScale ); + + if ( json.iridescenceMap !== undefined ) material.iridescenceMap = getTexture( json.iridescenceMap ); + if ( json.iridescenceThicknessMap !== undefined ) material.iridescenceThicknessMap = getTexture( json.iridescenceThicknessMap ); + + if ( json.transmissionMap !== undefined ) material.transmissionMap = getTexture( json.transmissionMap ); + if ( json.thicknessMap !== undefined ) material.thicknessMap = getTexture( json.thicknessMap ); + + if ( json.anisotropyMap !== undefined ) material.anisotropyMap = getTexture( json.anisotropyMap ); + + if ( json.sheenColorMap !== undefined ) material.sheenColorMap = getTexture( json.sheenColorMap ); + if ( json.sheenRoughnessMap !== undefined ) material.sheenRoughnessMap = getTexture( json.sheenRoughnessMap ); + + return material; + + } + + /** + * Textures are not embedded in the material JSON so they have + * to be injected before the loading process starts. + * + * @param {Object} value - A dictionary holding textures for material properties. + * @return {MaterialLoader} A reference to this material loader. + */ + setTextures( value ) { + + this.textures = value; + return this; + + } + + /** + * Creates a material for the given type. + * + * @param {string} type - The material type. + * @return {Material} The new material. + */ + createMaterialFromType( type ) { + + return MaterialLoader.createMaterialFromType( type ); + + } + + /** + * Creates a material for the given type. + * + * @static + * @param {string} type - The material type. + * @return {Material} The new material. + */ + static createMaterialFromType( type ) { + + const materialLib = { + ShadowMaterial, + SpriteMaterial, + RawShaderMaterial, + ShaderMaterial, + PointsMaterial, + MeshPhysicalMaterial, + MeshStandardMaterial, + MeshPhongMaterial, + MeshToonMaterial, + MeshNormalMaterial, + MeshLambertMaterial, + MeshDepthMaterial, + MeshDistanceMaterial, + MeshBasicMaterial, + MeshMatcapMaterial, + LineDashedMaterial, + LineBasicMaterial, + Material + }; + + return new materialLib[ type ](); + + } + +} + +/** + * A class with loader utility functions. + */ +class LoaderUtils { + + /** + * Extracts the base URL from the given URL. + * + * @param {string} url -The URL to extract the base URL from. + * @return {string} The extracted base URL. + */ + static extractUrlBase( url ) { + + const index = url.lastIndexOf( '/' ); + + if ( index === -1 ) return './'; + + return url.slice( 0, index + 1 ); + + } + + /** + * Resolves relative URLs against the given path. Absolute paths, data urls, + * and blob URLs will be returned as is. Invalid URLs will return an empty + * string. + * + * @param {string} url -The URL to resolve. + * @param {string} path - The base path for relative URLs to be resolved against. + * @return {string} The resolved URL. + */ + static resolveURL( url, path ) { + + // Invalid URL + if ( typeof url !== 'string' || url === '' ) return ''; + + // Host Relative URL + if ( /^https?:\/\//i.test( path ) && /^\//.test( url ) ) { + + path = path.replace( /(^https?:\/\/[^\/]+).*/i, '$1' ); + + } + + // Absolute URL http://,https://,// + if ( /^(https?:)?\/\//i.test( url ) ) return url; + + // Data URI + if ( /^data:.*,.*$/i.test( url ) ) return url; + + // Blob URL + if ( /^blob:.*$/i.test( url ) ) return url; + + // Relative URL + return path + url; + + } + +} + +/** + * An instanced version of a geometry. + */ +class InstancedBufferGeometry extends BufferGeometry { + + /** + * Constructs a new instanced buffer geometry. + */ + constructor() { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isInstancedBufferGeometry = true; + + this.type = 'InstancedBufferGeometry'; + + /** + * The instance count. + * + * @type {number} + * @default Infinity + */ + this.instanceCount = Infinity; + + } + + copy( source ) { + + super.copy( source ); + + this.instanceCount = source.instanceCount; + + return this; + + } + + toJSON() { + + const data = super.toJSON(); + + data.instanceCount = this.instanceCount; + + data.isInstancedBufferGeometry = true; + + return data; + + } + +} + +/** + * Class for loading geometries. The files are internally + * loaded via {@link FileLoader}. + * + * ```js + * const loader = new THREE.BufferGeometryLoader(); + * const geometry = await loader.loadAsync( 'models/json/pressure.json' ); + * + * const material = new THREE.MeshBasicMaterial( { color: 0xF5F5F5 } ); + * const object = new THREE.Mesh( geometry, material ); + * scene.add( object ); + * ``` + * + * @augments Loader + */ +class BufferGeometryLoader extends Loader { + + /** + * Constructs a new geometry loader. + * + * @param {LoadingManager} [manager] - The loading manager. + */ + constructor( manager ) { + + super( manager ); + + } + + /** + * Starts loading from the given URL and pass the loaded geometry to the `onLoad()` callback. + * + * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI. + * @param {function(BufferGeometry)} onLoad - Executed when the loading process has been finished. + * @param {onProgressCallback} onProgress - Executed while the loading is in progress. + * @param {onErrorCallback} onError - Executed when errors occur. + */ + load( url, onLoad, onProgress, onError ) { + + const scope = this; + + const loader = new FileLoader( scope.manager ); + loader.setPath( scope.path ); + loader.setRequestHeader( scope.requestHeader ); + loader.setWithCredentials( scope.withCredentials ); + loader.load( url, function ( text ) { + + try { + + onLoad( scope.parse( JSON.parse( text ) ) ); + + } catch ( e ) { + + if ( onError ) { + + onError( e ); + + } else { + + error( e ); + + } + + scope.manager.itemError( url ); + + } + + }, onProgress, onError ); + + } + + /** + * Parses the given JSON object and returns a geometry. + * + * @param {Object} json - The serialized geometry. + * @return {BufferGeometry} The parsed geometry. + */ + parse( json ) { + + const interleavedBufferMap = {}; + const arrayBufferMap = {}; + + function getInterleavedBuffer( json, uuid ) { + + if ( interleavedBufferMap[ uuid ] !== undefined ) return interleavedBufferMap[ uuid ]; + + const interleavedBuffers = json.interleavedBuffers; + const interleavedBuffer = interleavedBuffers[ uuid ]; + + const buffer = getArrayBuffer( json, interleavedBuffer.buffer ); + + const array = getTypedArray( interleavedBuffer.type, buffer ); + const ib = new InterleavedBuffer( array, interleavedBuffer.stride ); + ib.uuid = interleavedBuffer.uuid; + + interleavedBufferMap[ uuid ] = ib; + + return ib; + + } + + function getArrayBuffer( json, uuid ) { + + if ( arrayBufferMap[ uuid ] !== undefined ) return arrayBufferMap[ uuid ]; + + const arrayBuffers = json.arrayBuffers; + const arrayBuffer = arrayBuffers[ uuid ]; + + const ab = new Uint32Array( arrayBuffer ).buffer; + + arrayBufferMap[ uuid ] = ab; + + return ab; + + } + + const geometry = json.isInstancedBufferGeometry ? new InstancedBufferGeometry() : new BufferGeometry(); + + const index = json.data.index; + + if ( index !== undefined ) { + + const typedArray = getTypedArray( index.type, index.array ); + geometry.setIndex( new BufferAttribute( typedArray, 1 ) ); + + } + + const attributes = json.data.attributes; + + for ( const key in attributes ) { + + const attribute = attributes[ key ]; + let bufferAttribute; + + if ( attribute.isInterleavedBufferAttribute ) { + + const interleavedBuffer = getInterleavedBuffer( json.data, attribute.data ); + bufferAttribute = new InterleavedBufferAttribute( interleavedBuffer, attribute.itemSize, attribute.offset, attribute.normalized ); + + } else { + + const typedArray = getTypedArray( attribute.type, attribute.array ); + const bufferAttributeConstr = attribute.isInstancedBufferAttribute ? InstancedBufferAttribute : BufferAttribute; + bufferAttribute = new bufferAttributeConstr( typedArray, attribute.itemSize, attribute.normalized ); + + } + + if ( attribute.name !== undefined ) bufferAttribute.name = attribute.name; + if ( attribute.usage !== undefined ) bufferAttribute.setUsage( attribute.usage ); + + geometry.setAttribute( key, bufferAttribute ); + + } + + const morphAttributes = json.data.morphAttributes; + + if ( morphAttributes ) { + + for ( const key in morphAttributes ) { + + const attributeArray = morphAttributes[ key ]; + + const array = []; + + for ( let i = 0, il = attributeArray.length; i < il; i ++ ) { + + const attribute = attributeArray[ i ]; + let bufferAttribute; + + if ( attribute.isInterleavedBufferAttribute ) { + + const interleavedBuffer = getInterleavedBuffer( json.data, attribute.data ); + bufferAttribute = new InterleavedBufferAttribute( interleavedBuffer, attribute.itemSize, attribute.offset, attribute.normalized ); + + } else { + + const typedArray = getTypedArray( attribute.type, attribute.array ); + bufferAttribute = new BufferAttribute( typedArray, attribute.itemSize, attribute.normalized ); + + } + + if ( attribute.name !== undefined ) bufferAttribute.name = attribute.name; + array.push( bufferAttribute ); + + } + + geometry.morphAttributes[ key ] = array; + + } + + } + + const morphTargetsRelative = json.data.morphTargetsRelative; + + if ( morphTargetsRelative ) { + + geometry.morphTargetsRelative = true; + + } + + const groups = json.data.groups || json.data.drawcalls || json.data.offsets; + + if ( groups !== undefined ) { + + for ( let i = 0, n = groups.length; i !== n; ++ i ) { + + const group = groups[ i ]; + + geometry.addGroup( group.start, group.count, group.materialIndex ); + + } + + } + + const boundingSphere = json.data.boundingSphere; + + if ( boundingSphere !== undefined ) { + + geometry.boundingSphere = new Sphere().fromJSON( boundingSphere ); + + } + + if ( json.name ) geometry.name = json.name; + if ( json.userData ) geometry.userData = json.userData; + + return geometry; + + } + +} + +/** + * A loader for loading a JSON resource in the [JSON Object/Scene format](https://github.com/mrdoob/three.js/wiki/JSON-Object-Scene-format-4). + * The files are internally loaded via {@link FileLoader}. + * + * ```js + * const loader = new THREE.ObjectLoader(); + * const obj = await loader.loadAsync( 'models/json/example.json' ); + * scene.add( obj ); + * + * // Alternatively, to parse a previously loaded JSON structure + * const object = await loader.parseAsync( a_json_object ); + * scene.add( object ); + * ``` + * + * @augments Loader + */ +class ObjectLoader extends Loader { + + /** + * Constructs a new object loader. + * + * @param {LoadingManager} [manager] - The loading manager. + */ + constructor( manager ) { + + super( manager ); + + } + + /** + * Starts loading from the given URL and pass the loaded 3D object to the `onLoad()` callback. + * + * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI. + * @param {function(Object3D)} onLoad - Executed when the loading process has been finished. + * @param {onProgressCallback} onProgress - Executed while the loading is in progress. + * @param {onErrorCallback} onError - Executed when errors occur. + */ + load( url, onLoad, onProgress, onError ) { + + const scope = this; + + const path = ( this.path === '' ) ? LoaderUtils.extractUrlBase( url ) : this.path; + this.resourcePath = this.resourcePath || path; + + const loader = new FileLoader( this.manager ); + loader.setPath( this.path ); + loader.setRequestHeader( this.requestHeader ); + loader.setWithCredentials( this.withCredentials ); + loader.load( url, function ( text ) { + + let json = null; + + try { + + json = JSON.parse( text ); + + } catch ( error ) { + + if ( onError !== undefined ) onError( error ); + + error( 'ObjectLoader: Can\'t parse ' + url + '.', error.message ); + + return; + + } + + const metadata = json.metadata; + + if ( metadata === undefined || metadata.type === undefined || metadata.type.toLowerCase() === 'geometry' ) { + + if ( onError !== undefined ) onError( new Error( 'THREE.ObjectLoader: Can\'t load ' + url ) ); + + error( 'ObjectLoader: Can\'t load ' + url ); + return; + + } + + scope.parse( json, onLoad ); + + }, onProgress, onError ); + + } + + /** + * Async version of {@link ObjectLoader#load}. + * + * @async + * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI. + * @param {onProgressCallback} onProgress - Executed while the loading is in progress. + * @return {Promise} A Promise that resolves with the loaded 3D object. + */ + async loadAsync( url, onProgress ) { + + const scope = this; + + const path = ( this.path === '' ) ? LoaderUtils.extractUrlBase( url ) : this.path; + this.resourcePath = this.resourcePath || path; + + const loader = new FileLoader( this.manager ); + loader.setPath( this.path ); + loader.setRequestHeader( this.requestHeader ); + loader.setWithCredentials( this.withCredentials ); + + const text = await loader.loadAsync( url, onProgress ); + + let json; + + try { + + json = JSON.parse( text ); + + } catch ( e ) { + + throw new Error( 'ObjectLoader: Can\'t parse ' + url + '. ' + e.message ); + + } + + const metadata = json.metadata; + + if ( metadata === undefined || metadata.type === undefined || metadata.type.toLowerCase() === 'geometry' ) { + + throw new Error( 'THREE.ObjectLoader: Can\'t load ' + url ); + + } + + return await scope.parseAsync( json ); + + } + + /** + * Parses the given JSON. This is used internally by {@link ObjectLoader#load} + * but can also be used directly to parse a previously loaded JSON structure. + * + * @param {Object} json - The serialized 3D object. + * @param {onLoad} onLoad - Executed when all resources (e.g. textures) have been fully loaded. + * @return {Object3D} The parsed 3D object. + */ + parse( json, onLoad ) { + + const animations = this.parseAnimations( json.animations ); + const shapes = this.parseShapes( json.shapes ); + const geometries = this.parseGeometries( json.geometries, shapes ); + + const images = this.parseImages( json.images, function () { + + if ( onLoad !== undefined ) onLoad( object ); + + } ); + + const textures = this.parseTextures( json.textures, images ); + const materials = this.parseMaterials( json.materials, textures ); + + const object = this.parseObject( json.object, geometries, materials, textures, animations ); + const skeletons = this.parseSkeletons( json.skeletons, object ); + + this.bindSkeletons( object, skeletons ); + this.bindLightTargets( object ); + + // + + if ( onLoad !== undefined ) { + + let hasImages = false; + + for ( const uuid in images ) { + + if ( images[ uuid ].data instanceof HTMLImageElement ) { + + hasImages = true; + break; + + } + + } + + if ( hasImages === false ) onLoad( object ); + + } + + return object; + + } + + /** + * Async version of {@link ObjectLoader#parse}. + * + * @param {Object} json - The serialized 3D object. + * @return {Promise} A Promise that resolves with the parsed 3D object. + */ + async parseAsync( json ) { + + const animations = this.parseAnimations( json.animations ); + const shapes = this.parseShapes( json.shapes ); + const geometries = this.parseGeometries( json.geometries, shapes ); + + const images = await this.parseImagesAsync( json.images ); + + const textures = this.parseTextures( json.textures, images ); + const materials = this.parseMaterials( json.materials, textures ); + + const object = this.parseObject( json.object, geometries, materials, textures, animations ); + const skeletons = this.parseSkeletons( json.skeletons, object ); + + this.bindSkeletons( object, skeletons ); + this.bindLightTargets( object ); + + return object; + + } + + // internals + + parseShapes( json ) { + + const shapes = {}; + + if ( json !== undefined ) { + + for ( let i = 0, l = json.length; i < l; i ++ ) { + + const shape = new Shape().fromJSON( json[ i ] ); + + shapes[ shape.uuid ] = shape; + + } + + } + + return shapes; + + } + + parseSkeletons( json, object ) { + + const skeletons = {}; + const bones = {}; + + // generate bone lookup table + + object.traverse( function ( child ) { + + if ( child.isBone ) bones[ child.uuid ] = child; + + } ); + + // create skeletons + + if ( json !== undefined ) { + + for ( let i = 0, l = json.length; i < l; i ++ ) { + + const skeleton = new Skeleton().fromJSON( json[ i ], bones ); + + skeletons[ skeleton.uuid ] = skeleton; + + } + + } + + return skeletons; + + } + + parseGeometries( json, shapes ) { + + const geometries = {}; + + if ( json !== undefined ) { + + const bufferGeometryLoader = new BufferGeometryLoader(); + + for ( let i = 0, l = json.length; i < l; i ++ ) { + + let geometry; + const data = json[ i ]; + + switch ( data.type ) { + + case 'BufferGeometry': + case 'InstancedBufferGeometry': + + geometry = bufferGeometryLoader.parse( data ); + break; + + default: + + if ( data.type in Geometries ) { + + geometry = Geometries[ data.type ].fromJSON( data, shapes ); + + } else { + + warn( `ObjectLoader: Unsupported geometry type "${ data.type }"` ); + + } + + } + + geometry.uuid = data.uuid; + + if ( data.name !== undefined ) geometry.name = data.name; + if ( data.userData !== undefined ) geometry.userData = data.userData; + + geometries[ data.uuid ] = geometry; + + } + + } + + return geometries; + + } + + parseMaterials( json, textures ) { + + const cache = {}; // MultiMaterial + const materials = {}; + + if ( json !== undefined ) { + + const loader = new MaterialLoader(); + loader.setTextures( textures ); + + for ( let i = 0, l = json.length; i < l; i ++ ) { + + const data = json[ i ]; + + if ( cache[ data.uuid ] === undefined ) { + + cache[ data.uuid ] = loader.parse( data ); + + } + + materials[ data.uuid ] = cache[ data.uuid ]; + + } + + } + + return materials; + + } + + parseAnimations( json ) { + + const animations = {}; + + if ( json !== undefined ) { + + for ( let i = 0; i < json.length; i ++ ) { + + const data = json[ i ]; + + const clip = AnimationClip.parse( data ); + + animations[ clip.uuid ] = clip; + + } + + } + + return animations; + + } + + parseImages( json, onLoad ) { + + const scope = this; + const images = {}; + + let loader; + + function loadImage( url ) { + + scope.manager.itemStart( url ); + + return loader.load( url, function () { + + scope.manager.itemEnd( url ); + + }, undefined, function () { + + scope.manager.itemError( url ); + scope.manager.itemEnd( url ); + + } ); + + } + + function deserializeImage( image ) { + + if ( typeof image === 'string' ) { + + const url = image; + + const path = /^(\/\/)|([a-z]+:(\/\/)?)/i.test( url ) ? url : scope.resourcePath + url; + + return loadImage( path ); + + } else { + + if ( image.data ) { + + return { + data: getTypedArray( image.type, image.data ), + width: image.width, + height: image.height + }; + + } else { + + return null; + + } + + } + + } + + if ( json !== undefined && json.length > 0 ) { + + const manager = new LoadingManager( onLoad ); + + loader = new ImageLoader( manager ); + loader.setCrossOrigin( this.crossOrigin ); + + for ( let i = 0, il = json.length; i < il; i ++ ) { + + const image = json[ i ]; + const url = image.url; + + if ( Array.isArray( url ) ) { + + // load array of images e.g CubeTexture + + const imageArray = []; + + for ( let j = 0, jl = url.length; j < jl; j ++ ) { + + const currentUrl = url[ j ]; + + const deserializedImage = deserializeImage( currentUrl ); + + if ( deserializedImage !== null ) { + + if ( deserializedImage instanceof HTMLImageElement ) { + + imageArray.push( deserializedImage ); + + } else { + + // special case: handle array of data textures for cube textures + + imageArray.push( new DataTexture( deserializedImage.data, deserializedImage.width, deserializedImage.height ) ); + + } + + } + + } + + images[ image.uuid ] = new Source( imageArray ); + + } else { + + // load single image + + const deserializedImage = deserializeImage( image.url ); + images[ image.uuid ] = new Source( deserializedImage ); + + + } + + } + + } + + return images; + + } + + async parseImagesAsync( json ) { + + const scope = this; + const images = {}; + + let loader; + + async function deserializeImage( image ) { + + if ( typeof image === 'string' ) { + + const url = image; + + const path = /^(\/\/)|([a-z]+:(\/\/)?)/i.test( url ) ? url : scope.resourcePath + url; + + return await loader.loadAsync( path ); + + } else { + + if ( image.data ) { + + return { + data: getTypedArray( image.type, image.data ), + width: image.width, + height: image.height + }; + + } else { + + return null; + + } + + } + + } + + if ( json !== undefined && json.length > 0 ) { + + loader = new ImageLoader( this.manager ); + loader.setCrossOrigin( this.crossOrigin ); + + for ( let i = 0, il = json.length; i < il; i ++ ) { + + const image = json[ i ]; + const url = image.url; + + if ( Array.isArray( url ) ) { + + // load array of images e.g CubeTexture + + const imageArray = []; + + for ( let j = 0, jl = url.length; j < jl; j ++ ) { + + const currentUrl = url[ j ]; + + const deserializedImage = await deserializeImage( currentUrl ); + + if ( deserializedImage !== null ) { + + if ( deserializedImage instanceof HTMLImageElement ) { + + imageArray.push( deserializedImage ); + + } else { + + // special case: handle array of data textures for cube textures + + imageArray.push( new DataTexture( deserializedImage.data, deserializedImage.width, deserializedImage.height ) ); + + } + + } + + } + + images[ image.uuid ] = new Source( imageArray ); + + } else { + + // load single image + + const deserializedImage = await deserializeImage( image.url ); + images[ image.uuid ] = new Source( deserializedImage ); + + } + + } + + } + + return images; + + } + + parseTextures( json, images ) { + + function parseConstant( value, type ) { + + if ( typeof value === 'number' ) return value; + + warn( 'ObjectLoader.parseTexture: Constant should be in numeric form.', value ); + + return type[ value ]; + + } + + const textures = {}; + + if ( json !== undefined ) { + + for ( let i = 0, l = json.length; i < l; i ++ ) { + + const data = json[ i ]; + + if ( data.image === undefined ) { + + warn( 'ObjectLoader: No "image" specified for', data.uuid ); + + } + + if ( images[ data.image ] === undefined ) { + + warn( 'ObjectLoader: Undefined image', data.image ); + + } + + const source = images[ data.image ]; + const image = source.data; + + let texture; + + if ( Array.isArray( image ) ) { + + texture = new CubeTexture(); + + if ( image.length === 6 ) texture.needsUpdate = true; + + } else { + + if ( image && image.data ) { + + texture = new DataTexture(); + + } else { + + texture = new Texture(); + + } + + if ( image ) texture.needsUpdate = true; // textures can have undefined image data + + } + + texture.source = source; + + texture.uuid = data.uuid; + + if ( data.name !== undefined ) texture.name = data.name; + + if ( data.mapping !== undefined ) texture.mapping = parseConstant( data.mapping, TEXTURE_MAPPING ); + if ( data.channel !== undefined ) texture.channel = data.channel; + + if ( data.offset !== undefined ) texture.offset.fromArray( data.offset ); + if ( data.repeat !== undefined ) texture.repeat.fromArray( data.repeat ); + if ( data.center !== undefined ) texture.center.fromArray( data.center ); + if ( data.rotation !== undefined ) texture.rotation = data.rotation; + + if ( data.wrap !== undefined ) { + + texture.wrapS = parseConstant( data.wrap[ 0 ], TEXTURE_WRAPPING ); + texture.wrapT = parseConstant( data.wrap[ 1 ], TEXTURE_WRAPPING ); + + } + + if ( data.format !== undefined ) texture.format = data.format; + if ( data.internalFormat !== undefined ) texture.internalFormat = data.internalFormat; + if ( data.type !== undefined ) texture.type = data.type; + if ( data.colorSpace !== undefined ) texture.colorSpace = data.colorSpace; + + if ( data.minFilter !== undefined ) texture.minFilter = parseConstant( data.minFilter, TEXTURE_FILTER ); + if ( data.magFilter !== undefined ) texture.magFilter = parseConstant( data.magFilter, TEXTURE_FILTER ); + if ( data.anisotropy !== undefined ) texture.anisotropy = data.anisotropy; + + if ( data.flipY !== undefined ) texture.flipY = data.flipY; + + if ( data.generateMipmaps !== undefined ) texture.generateMipmaps = data.generateMipmaps; + if ( data.premultiplyAlpha !== undefined ) texture.premultiplyAlpha = data.premultiplyAlpha; + if ( data.unpackAlignment !== undefined ) texture.unpackAlignment = data.unpackAlignment; + if ( data.compareFunction !== undefined ) texture.compareFunction = data.compareFunction; + + if ( data.userData !== undefined ) texture.userData = data.userData; + + textures[ data.uuid ] = texture; + + } + + } + + return textures; + + } + + parseObject( data, geometries, materials, textures, animations ) { + + let object; + + function getGeometry( name ) { + + if ( geometries[ name ] === undefined ) { + + warn( 'ObjectLoader: Undefined geometry', name ); + + } + + return geometries[ name ]; + + } + + function getMaterial( name ) { + + if ( name === undefined ) return undefined; + + if ( Array.isArray( name ) ) { + + const array = []; + + for ( let i = 0, l = name.length; i < l; i ++ ) { + + const uuid = name[ i ]; + + if ( materials[ uuid ] === undefined ) { + + warn( 'ObjectLoader: Undefined material', uuid ); + + } + + array.push( materials[ uuid ] ); + + } + + return array; + + } + + if ( materials[ name ] === undefined ) { + + warn( 'ObjectLoader: Undefined material', name ); + + } + + return materials[ name ]; + + } + + function getTexture( uuid ) { + + if ( textures[ uuid ] === undefined ) { + + warn( 'ObjectLoader: Undefined texture', uuid ); + + } + + return textures[ uuid ]; + + } + + let geometry, material; + + switch ( data.type ) { + + case 'Scene': + + object = new Scene(); + + if ( data.background !== undefined ) { + + if ( Number.isInteger( data.background ) ) { + + object.background = new Color( data.background ); + + } else { + + object.background = getTexture( data.background ); + + } + + } + + if ( data.environment !== undefined ) { + + object.environment = getTexture( data.environment ); + + } + + if ( data.fog !== undefined ) { + + if ( data.fog.type === 'Fog' ) { + + object.fog = new Fog( data.fog.color, data.fog.near, data.fog.far ); + + } else if ( data.fog.type === 'FogExp2' ) { + + object.fog = new FogExp2( data.fog.color, data.fog.density ); + + } + + if ( data.fog.name !== '' ) { + + object.fog.name = data.fog.name; + + } + + } + + if ( data.backgroundBlurriness !== undefined ) object.backgroundBlurriness = data.backgroundBlurriness; + if ( data.backgroundIntensity !== undefined ) object.backgroundIntensity = data.backgroundIntensity; + if ( data.backgroundRotation !== undefined ) object.backgroundRotation.fromArray( data.backgroundRotation ); + + if ( data.environmentIntensity !== undefined ) object.environmentIntensity = data.environmentIntensity; + if ( data.environmentRotation !== undefined ) object.environmentRotation.fromArray( data.environmentRotation ); + + break; + + case 'PerspectiveCamera': + + object = new PerspectiveCamera( data.fov, data.aspect, data.near, data.far ); + + if ( data.focus !== undefined ) object.focus = data.focus; + if ( data.zoom !== undefined ) object.zoom = data.zoom; + if ( data.filmGauge !== undefined ) object.filmGauge = data.filmGauge; + if ( data.filmOffset !== undefined ) object.filmOffset = data.filmOffset; + if ( data.view !== undefined ) object.view = Object.assign( {}, data.view ); + + break; + + case 'OrthographicCamera': + + object = new OrthographicCamera( data.left, data.right, data.top, data.bottom, data.near, data.far ); + + if ( data.zoom !== undefined ) object.zoom = data.zoom; + if ( data.view !== undefined ) object.view = Object.assign( {}, data.view ); + + break; + + case 'AmbientLight': + + object = new AmbientLight( data.color, data.intensity ); + + break; + + case 'DirectionalLight': + + object = new DirectionalLight( data.color, data.intensity ); + object.target = data.target || ''; + + break; + + case 'PointLight': + + object = new PointLight( data.color, data.intensity, data.distance, data.decay ); + + break; + + case 'RectAreaLight': + + object = new RectAreaLight( data.color, data.intensity, data.width, data.height ); + + break; + + case 'SpotLight': + + object = new SpotLight( data.color, data.intensity, data.distance, data.angle, data.penumbra, data.decay ); + object.target = data.target || ''; + + break; + + case 'HemisphereLight': + + object = new HemisphereLight( data.color, data.groundColor, data.intensity ); + + break; + + case 'LightProbe': + + const sh = new SphericalHarmonics3().fromArray( data.sh ); + object = new LightProbe( sh, data.intensity ); + + break; + + case 'SkinnedMesh': + + geometry = getGeometry( data.geometry ); + material = getMaterial( data.material ); + + object = new SkinnedMesh( geometry, material ); + + if ( data.bindMode !== undefined ) object.bindMode = data.bindMode; + if ( data.bindMatrix !== undefined ) object.bindMatrix.fromArray( data.bindMatrix ); + if ( data.skeleton !== undefined ) object.skeleton = data.skeleton; + + break; + + case 'Mesh': + + geometry = getGeometry( data.geometry ); + material = getMaterial( data.material ); + + object = new Mesh( geometry, material ); + + break; + + case 'InstancedMesh': + + geometry = getGeometry( data.geometry ); + material = getMaterial( data.material ); + const count = data.count; + const instanceMatrix = data.instanceMatrix; + const instanceColor = data.instanceColor; + + object = new InstancedMesh( geometry, material, count ); + object.instanceMatrix = new InstancedBufferAttribute( new Float32Array( instanceMatrix.array ), 16 ); + if ( instanceColor !== undefined ) object.instanceColor = new InstancedBufferAttribute( new Float32Array( instanceColor.array ), instanceColor.itemSize ); + + break; + + case 'BatchedMesh': + + geometry = getGeometry( data.geometry ); + material = getMaterial( data.material ); + + object = new BatchedMesh( data.maxInstanceCount, data.maxVertexCount, data.maxIndexCount, material ); + object.geometry = geometry; + object.perObjectFrustumCulled = data.perObjectFrustumCulled; + object.sortObjects = data.sortObjects; + + object._drawRanges = data.drawRanges; + object._reservedRanges = data.reservedRanges; + + object._geometryInfo = data.geometryInfo.map( info => { + + let box = null; + let sphere = null; + if ( info.boundingBox !== undefined ) { + + box = new Box3().fromJSON( info.boundingBox ); + + } + + if ( info.boundingSphere !== undefined ) { + + sphere = new Sphere().fromJSON( info.boundingSphere ); + + } + + return { + ...info, + boundingBox: box, + boundingSphere: sphere + }; + + } ); + object._instanceInfo = data.instanceInfo; + + object._availableInstanceIds = data._availableInstanceIds; + object._availableGeometryIds = data._availableGeometryIds; + + object._nextIndexStart = data.nextIndexStart; + object._nextVertexStart = data.nextVertexStart; + object._geometryCount = data.geometryCount; + + object._maxInstanceCount = data.maxInstanceCount; + object._maxVertexCount = data.maxVertexCount; + object._maxIndexCount = data.maxIndexCount; + + object._geometryInitialized = data.geometryInitialized; + + object._matricesTexture = getTexture( data.matricesTexture.uuid ); + + object._indirectTexture = getTexture( data.indirectTexture.uuid ); + + if ( data.colorsTexture !== undefined ) { + + object._colorsTexture = getTexture( data.colorsTexture.uuid ); + + } + + if ( data.boundingSphere !== undefined ) { + + object.boundingSphere = new Sphere().fromJSON( data.boundingSphere ); + + } + + if ( data.boundingBox !== undefined ) { + + object.boundingBox = new Box3().fromJSON( data.boundingBox ); + + } + + break; + + case 'LOD': + + object = new LOD(); + + break; + + case 'Line': + + object = new Line( getGeometry( data.geometry ), getMaterial( data.material ) ); + + break; + + case 'LineLoop': + + object = new LineLoop( getGeometry( data.geometry ), getMaterial( data.material ) ); + + break; + + case 'LineSegments': + + object = new LineSegments( getGeometry( data.geometry ), getMaterial( data.material ) ); + + break; + + case 'PointCloud': + case 'Points': + + object = new Points( getGeometry( data.geometry ), getMaterial( data.material ) ); + + break; + + case 'Sprite': + + object = new Sprite( getMaterial( data.material ) ); + + break; + + case 'Group': + + object = new Group(); + + break; + + case 'Bone': + + object = new Bone(); + + break; + + default: + + object = new Object3D(); + + } + + object.uuid = data.uuid; + + if ( data.name !== undefined ) object.name = data.name; + + if ( data.matrix !== undefined ) { + + object.matrix.fromArray( data.matrix ); + + if ( data.matrixAutoUpdate !== undefined ) object.matrixAutoUpdate = data.matrixAutoUpdate; + if ( object.matrixAutoUpdate ) object.matrix.decompose( object.position, object.quaternion, object.scale ); + + } else { + + if ( data.position !== undefined ) object.position.fromArray( data.position ); + if ( data.rotation !== undefined ) object.rotation.fromArray( data.rotation ); + if ( data.quaternion !== undefined ) object.quaternion.fromArray( data.quaternion ); + if ( data.scale !== undefined ) object.scale.fromArray( data.scale ); + + } + + if ( data.up !== undefined ) object.up.fromArray( data.up ); + + if ( data.pivot !== undefined ) object.pivot = new Vector3().fromArray( data.pivot ); + + if ( data.morphTargetDictionary !== undefined ) object.morphTargetDictionary = Object.assign( {}, data.morphTargetDictionary ); + if ( data.morphTargetInfluences !== undefined ) object.morphTargetInfluences = data.morphTargetInfluences.slice(); + + if ( data.castShadow !== undefined ) object.castShadow = data.castShadow; + if ( data.receiveShadow !== undefined ) object.receiveShadow = data.receiveShadow; + + if ( data.shadow ) { + + if ( data.shadow.intensity !== undefined ) object.shadow.intensity = data.shadow.intensity; + if ( data.shadow.bias !== undefined ) object.shadow.bias = data.shadow.bias; + if ( data.shadow.normalBias !== undefined ) object.shadow.normalBias = data.shadow.normalBias; + if ( data.shadow.radius !== undefined ) object.shadow.radius = data.shadow.radius; + if ( data.shadow.mapSize !== undefined ) object.shadow.mapSize.fromArray( data.shadow.mapSize ); + if ( data.shadow.camera !== undefined ) object.shadow.camera = this.parseObject( data.shadow.camera ); + + } + + if ( data.visible !== undefined ) object.visible = data.visible; + if ( data.frustumCulled !== undefined ) object.frustumCulled = data.frustumCulled; + if ( data.renderOrder !== undefined ) object.renderOrder = data.renderOrder; + if ( data.static !== undefined ) object.static = data.static; + if ( data.userData !== undefined ) object.userData = data.userData; + if ( data.layers !== undefined ) object.layers.mask = data.layers; + + if ( data.children !== undefined ) { + + const children = data.children; + + for ( let i = 0; i < children.length; i ++ ) { + + object.add( this.parseObject( children[ i ], geometries, materials, textures, animations ) ); + + } + + } + + if ( data.animations !== undefined ) { + + const objectAnimations = data.animations; + + for ( let i = 0; i < objectAnimations.length; i ++ ) { + + const uuid = objectAnimations[ i ]; + + object.animations.push( animations[ uuid ] ); + + } + + } + + if ( data.type === 'LOD' ) { + + if ( data.autoUpdate !== undefined ) object.autoUpdate = data.autoUpdate; + + const levels = data.levels; + + for ( let l = 0; l < levels.length; l ++ ) { + + const level = levels[ l ]; + const child = object.getObjectByProperty( 'uuid', level.object ); + + if ( child !== undefined ) { + + object.addLevel( child, level.distance, level.hysteresis ); + + } + + } + + } + + return object; + + } + + bindSkeletons( object, skeletons ) { + + if ( Object.keys( skeletons ).length === 0 ) return; + + object.traverse( function ( child ) { + + if ( child.isSkinnedMesh === true && child.skeleton !== undefined ) { + + const skeleton = skeletons[ child.skeleton ]; + + if ( skeleton === undefined ) { + + warn( 'ObjectLoader: No skeleton found with UUID:', child.skeleton ); + + } else { + + child.bind( skeleton, child.bindMatrix ); + + } + + } + + } ); + + } + + bindLightTargets( object ) { + + object.traverse( function ( child ) { + + if ( child.isDirectionalLight || child.isSpotLight ) { + + const uuid = child.target; + + const target = object.getObjectByProperty( 'uuid', uuid ); + + if ( target !== undefined ) { + + child.target = target; + + } else { + + child.target = new Object3D(); + + } + + } + + } ); + + } + +} + +const TEXTURE_MAPPING = { + UVMapping: UVMapping, + CubeReflectionMapping: CubeReflectionMapping, + CubeRefractionMapping: CubeRefractionMapping, + EquirectangularReflectionMapping: EquirectangularReflectionMapping, + EquirectangularRefractionMapping: EquirectangularRefractionMapping, + CubeUVReflectionMapping: CubeUVReflectionMapping +}; + +const TEXTURE_WRAPPING = { + RepeatWrapping: RepeatWrapping, + ClampToEdgeWrapping: ClampToEdgeWrapping, + MirroredRepeatWrapping: MirroredRepeatWrapping +}; + +const TEXTURE_FILTER = { + NearestFilter: NearestFilter, + NearestMipmapNearestFilter: NearestMipmapNearestFilter, + NearestMipmapLinearFilter: NearestMipmapLinearFilter, + LinearFilter: LinearFilter, + LinearMipmapNearestFilter: LinearMipmapNearestFilter, + LinearMipmapLinearFilter: LinearMipmapLinearFilter +}; + +const _errorMap = new WeakMap(); + +/** + * A loader for loading images as an [ImageBitmap](https://developer.mozilla.org/en-US/docs/Web/API/ImageBitmap). + * An `ImageBitmap` provides an asynchronous and resource efficient pathway to prepare + * textures for rendering. + * + * Note that {@link Texture#flipY} and {@link Texture#premultiplyAlpha} are ignored with image bitmaps. + * These options need to be configured via {@link ImageBitmapLoader#setOptions} prior to loading, + * unlike regular images which can be configured on the Texture to set these options on GPU upload instead. + * + * To match the default behaviour of {@link Texture}, the following options are needed: + * + * ```js + * { imageOrientation: 'flipY', premultiplyAlpha: 'none' } + * ``` + * + * Also note that unlike {@link FileLoader}, this loader will only avoid multiple concurrent requests to the same URL if {@link Cache} is enabled. + * + * ```js + * const loader = new THREE.ImageBitmapLoader(); + * loader.setOptions( { imageOrientation: 'flipY' } ); // set options if needed + * const imageBitmap = await loader.loadAsync( 'image.png' ); + * + * const texture = new THREE.Texture( imageBitmap ); + * texture.needsUpdate = true; + * ``` + * + * @augments Loader + */ +class ImageBitmapLoader extends Loader { + + /** + * Constructs a new image bitmap loader. + * + * @param {LoadingManager} [manager] - The loading manager. + */ + constructor( manager ) { + + super( manager ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isImageBitmapLoader = true; + + if ( typeof createImageBitmap === 'undefined' ) { + + warn( 'ImageBitmapLoader: createImageBitmap() not supported.' ); + + } + + if ( typeof fetch === 'undefined' ) { + + warn( 'ImageBitmapLoader: fetch() not supported.' ); + + } + + /** + * Represents the loader options. + * + * @type {Object} + * @default {premultiplyAlpha:'none'} + */ + this.options = { premultiplyAlpha: 'none' }; + + /** + * Used for aborting requests. + * + * @private + * @type {AbortController} + */ + this._abortController = new AbortController(); + + } + + /** + * Sets the given loader options. The structure of the object must match the `options` parameter of + * [createImageBitmap](https://developer.mozilla.org/en-US/docs/Web/API/Window/createImageBitmap). + * + * @param {Object} options - The loader options to set. + * @return {ImageBitmapLoader} A reference to this image bitmap loader. + */ + setOptions( options ) { + + this.options = options; + + return this; + + } + + /** + * Starts loading from the given URL and pass the loaded image bitmap to the `onLoad()` callback. + * + * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI. + * @param {function(ImageBitmap)} onLoad - Executed when the loading process has been finished. + * @param {onProgressCallback} onProgress - Unsupported in this loader. + * @param {onErrorCallback} onError - Executed when errors occur. + * @return {ImageBitmap|undefined} The image bitmap. + */ + load( url, onLoad, onProgress, onError ) { + + if ( url === undefined ) url = ''; + + if ( this.path !== undefined ) url = this.path + url; + + url = this.manager.resolveURL( url ); + + const scope = this; + + const cached = Cache.get( `image-bitmap:${url}` ); + + if ( cached !== undefined ) { + + scope.manager.itemStart( url ); + + // If cached is a promise, wait for it to resolve + if ( cached.then ) { + + cached.then( imageBitmap => { + + // check if there is an error for the cached promise + + if ( _errorMap.has( cached ) === true ) { + + if ( onError ) onError( _errorMap.get( cached ) ); + + scope.manager.itemError( url ); + scope.manager.itemEnd( url ); + + } else { + + if ( onLoad ) onLoad( imageBitmap ); + + scope.manager.itemEnd( url ); + + return imageBitmap; + + } + + } ); + + return; + + } + + // If cached is not a promise (i.e., it's already an imageBitmap) + setTimeout( function () { + + if ( onLoad ) onLoad( cached ); + + scope.manager.itemEnd( url ); + + }, 0 ); + + return cached; + + } + + const fetchOptions = {}; + fetchOptions.credentials = ( this.crossOrigin === 'anonymous' ) ? 'same-origin' : 'include'; + fetchOptions.headers = this.requestHeader; + fetchOptions.signal = ( typeof AbortSignal.any === 'function' ) ? AbortSignal.any( [ this._abortController.signal, this.manager.abortController.signal ] ) : this._abortController.signal; + + const promise = fetch( url, fetchOptions ).then( function ( res ) { + + return res.blob(); + + } ).then( function ( blob ) { + + return createImageBitmap( blob, Object.assign( scope.options, { colorSpaceConversion: 'none' } ) ); + + } ).then( function ( imageBitmap ) { + + Cache.add( `image-bitmap:${url}`, imageBitmap ); + + if ( onLoad ) onLoad( imageBitmap ); + + scope.manager.itemEnd( url ); + + return imageBitmap; + + } ).catch( function ( e ) { + + if ( onError ) onError( e ); + + _errorMap.set( promise, e ); + + Cache.remove( `image-bitmap:${url}` ); + + scope.manager.itemError( url ); + scope.manager.itemEnd( url ); + + } ); + + Cache.add( `image-bitmap:${url}`, promise ); + scope.manager.itemStart( url ); + + } + + /** + * Aborts ongoing fetch requests. + * + * @return {ImageBitmapLoader} A reference to this instance. + */ + abort() { + + this._abortController.abort(); + this._abortController = new AbortController(); + + return this; + + } + +} + +let _context; + +/** + * Manages the global audio context in the engine. + * + * @hideconstructor + */ +class AudioContext { + + /** + * Returns the global native audio context. + * + * @return {AudioContext} The native audio context. + */ + static getContext() { + + if ( _context === undefined ) { + + _context = new ( window.AudioContext || window.webkitAudioContext )(); + + } + + return _context; + + } + + /** + * Allows to set the global native audio context from outside. + * + * @param {AudioContext} value - The native context to set. + */ + static setContext( value ) { + + _context = value; + + } + +} + +/** + * Class for loading audio buffers. Audios are internally + * loaded via {@link FileLoader}. + * + * ```js + * const audioListener = new THREE.AudioListener(); + * const ambientSound = new THREE.Audio( audioListener ); + * + * const loader = new THREE.AudioLoader(); + * const audioBuffer = await loader.loadAsync( 'audio/ambient_ocean.ogg' ); + * + * ambientSound.setBuffer( audioBuffer ); + * ambientSound.play(); + * ``` + * + * @augments Loader + */ +class AudioLoader extends Loader { + + /** + * Constructs a new audio loader. + * + * @param {LoadingManager} [manager] - The loading manager. + */ + constructor( manager ) { + + super( manager ); + + } + + /** + * Starts loading from the given URL and passes the loaded audio buffer + * to the `onLoad()` callback. + * + * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI. + * @param {function(AudioBuffer)} onLoad - Executed when the loading process has been finished. + * @param {onProgressCallback} onProgress - Executed while the loading is in progress. + * @param {onErrorCallback} onError - Executed when errors occur. + */ + load( url, onLoad, onProgress, onError ) { + + const scope = this; + + const loader = new FileLoader( this.manager ); + loader.setResponseType( 'arraybuffer' ); + loader.setPath( this.path ); + loader.setRequestHeader( this.requestHeader ); + loader.setWithCredentials( this.withCredentials ); + loader.load( url, function ( buffer ) { + + try { + + // Create a copy of the buffer. The `decodeAudioData` method + // detaches the buffer when complete, preventing reuse. + const bufferCopy = buffer.slice( 0 ); + + const context = AudioContext.getContext(); + context.decodeAudioData( bufferCopy, function ( audioBuffer ) { + + onLoad( audioBuffer ); + + } ).catch( handleError ); + + } catch ( e ) { + + handleError( e ); + + } + + }, onProgress, onError ); + + function handleError( e ) { + + if ( onError ) { + + onError( e ); + + } else { + + error( e ); + + } + + scope.manager.itemError( url ); + + } + + } + +} + +const _eyeRight = /*@__PURE__*/ new Matrix4(); +const _eyeLeft = /*@__PURE__*/ new Matrix4(); +const _projectionMatrix = /*@__PURE__*/ new Matrix4(); + +/** + * A special type of camera that uses two perspective cameras with + * stereoscopic projection. Can be used for rendering stereo effects + * like [3D Anaglyph](https://en.wikipedia.org/wiki/Anaglyph_3D) or + * [Parallax Barrier](https://en.wikipedia.org/wiki/parallax_barrier). + */ +class StereoCamera { + + /** + * Constructs a new stereo camera. + */ + constructor() { + + /** + * The type property is used for detecting the object type + * in context of serialization/deserialization. + * + * @type {string} + * @readonly + */ + this.type = 'StereoCamera'; + + /** + * The aspect. + * + * @type {number} + * @default 1 + */ + this.aspect = 1; + + /** + * The eye separation which represents the distance + * between the left and right camera. + * + * @type {number} + * @default 0.064 + */ + this.eyeSep = 0.064; + + /** + * The camera representing the left eye. This is added to layer `1` so objects to be + * rendered by the left camera must also be added to this layer. + * + * @type {PerspectiveCamera} + */ + this.cameraL = new PerspectiveCamera(); + this.cameraL.layers.enable( 1 ); + this.cameraL.matrixAutoUpdate = false; + + /** + * The camera representing the right eye. This is added to layer `2` so objects to be + * rendered by the right camera must also be added to this layer. + * + * @type {PerspectiveCamera} + */ + this.cameraR = new PerspectiveCamera(); + this.cameraR.layers.enable( 2 ); + this.cameraR.matrixAutoUpdate = false; + + this._cache = { + focus: null, + fov: null, + aspect: null, + near: null, + far: null, + zoom: null, + eyeSep: null + }; + + } + + /** + * Updates the stereo camera based on the given perspective camera. + * + * @param {PerspectiveCamera} camera - The perspective camera. + */ + update( camera ) { + + const cache = this._cache; + + const needsUpdate = cache.focus !== camera.focus || cache.fov !== camera.fov || + cache.aspect !== camera.aspect * this.aspect || cache.near !== camera.near || + cache.far !== camera.far || cache.zoom !== camera.zoom || cache.eyeSep !== this.eyeSep; + + if ( needsUpdate ) { + + cache.focus = camera.focus; + cache.fov = camera.fov; + cache.aspect = camera.aspect * this.aspect; + cache.near = camera.near; + cache.far = camera.far; + cache.zoom = camera.zoom; + cache.eyeSep = this.eyeSep; + + // Off-axis stereoscopic effect based on + // http://paulbourke.net/stereographics/stereorender/ + + _projectionMatrix.copy( camera.projectionMatrix ); + const eyeSepHalf = cache.eyeSep / 2; + const eyeSepOnProjection = eyeSepHalf * cache.near / cache.focus; + const ymax = ( cache.near * Math.tan( DEG2RAD * cache.fov * 0.5 ) ) / cache.zoom; + let xmin, xmax; + + // translate xOffset + + _eyeLeft.elements[ 12 ] = - eyeSepHalf; + _eyeRight.elements[ 12 ] = eyeSepHalf; + + // for left eye + + xmin = - ymax * cache.aspect + eyeSepOnProjection; + xmax = ymax * cache.aspect + eyeSepOnProjection; + + _projectionMatrix.elements[ 0 ] = 2 * cache.near / ( xmax - xmin ); + _projectionMatrix.elements[ 8 ] = ( xmax + xmin ) / ( xmax - xmin ); + + this.cameraL.projectionMatrix.copy( _projectionMatrix ); + + // for right eye + + xmin = - ymax * cache.aspect - eyeSepOnProjection; + xmax = ymax * cache.aspect - eyeSepOnProjection; + + _projectionMatrix.elements[ 0 ] = 2 * cache.near / ( xmax - xmin ); + _projectionMatrix.elements[ 8 ] = ( xmax + xmin ) / ( xmax - xmin ); + + this.cameraR.projectionMatrix.copy( _projectionMatrix ); + + } + + this.cameraL.matrixWorld.copy( camera.matrixWorld ).multiply( _eyeLeft ); + this.cameraR.matrixWorld.copy( camera.matrixWorld ).multiply( _eyeRight ); + + } + +} + +const fov = -90; // negative fov is not an error +const aspect = 1; + +/** + * A special type of camera that is positioned in 3D space to render its surroundings into a + * cube render target. The render target can then be used as an environment map for rendering + * realtime reflections in your scene. + * + * ```js + * // Create cube render target + * const cubeRenderTarget = new THREE.WebGLCubeRenderTarget( 256, { generateMipmaps: true, minFilter: THREE.LinearMipmapLinearFilter } ); + * + * // Create cube camera + * const cubeCamera = new THREE.CubeCamera( 1, 100000, cubeRenderTarget ); + * scene.add( cubeCamera ); + * + * // Create car + * const chromeMaterial = new THREE.MeshLambertMaterial( { color: 0xffffff, envMap: cubeRenderTarget.texture } ); + * const car = new THREE.Mesh( carGeometry, chromeMaterial ); + * scene.add( car ); + * + * // Update the render target cube + * car.visible = false; + * cubeCamera.position.copy( car.position ); + * cubeCamera.update( renderer, scene ); + * + * // Render the scene + * car.visible = true; + * renderer.render( scene, camera ); + * ``` + * + * @augments Object3D + */ +class CubeCamera extends Object3D { + + /** + * Constructs a new cube camera. + * + * @param {number} near - The camera's near plane. + * @param {number} far - The camera's far plane. + * @param {WebGLCubeRenderTarget} renderTarget - The cube render target. + */ + constructor( near, far, renderTarget ) { + + super(); + + this.type = 'CubeCamera'; + + /** + * A reference to the cube render target. + * + * @type {WebGLCubeRenderTarget} + */ + this.renderTarget = renderTarget; + + /** + * The current active coordinate system. + * + * @type {?(WebGLCoordinateSystem|WebGPUCoordinateSystem)} + * @default null + */ + this.coordinateSystem = null; + + /** + * The current active mipmap level + * + * @type {number} + * @default 0 + */ + this.activeMipmapLevel = 0; + + const cameraPX = new PerspectiveCamera( fov, aspect, near, far ); + cameraPX.layers = this.layers; + this.add( cameraPX ); + + const cameraNX = new PerspectiveCamera( fov, aspect, near, far ); + cameraNX.layers = this.layers; + this.add( cameraNX ); + + const cameraPY = new PerspectiveCamera( fov, aspect, near, far ); + cameraPY.layers = this.layers; + this.add( cameraPY ); + + const cameraNY = new PerspectiveCamera( fov, aspect, near, far ); + cameraNY.layers = this.layers; + this.add( cameraNY ); + + const cameraPZ = new PerspectiveCamera( fov, aspect, near, far ); + cameraPZ.layers = this.layers; + this.add( cameraPZ ); + + const cameraNZ = new PerspectiveCamera( fov, aspect, near, far ); + cameraNZ.layers = this.layers; + this.add( cameraNZ ); + + } + + /** + * Must be called when the coordinate system of the cube camera is changed. + */ + updateCoordinateSystem() { + + const coordinateSystem = this.coordinateSystem; + + const cameras = this.children.concat(); + + const [ cameraPX, cameraNX, cameraPY, cameraNY, cameraPZ, cameraNZ ] = cameras; + + for ( const camera of cameras ) this.remove( camera ); + + if ( coordinateSystem === WebGLCoordinateSystem ) { + + cameraPX.up.set( 0, 1, 0 ); + cameraPX.lookAt( 1, 0, 0 ); + + cameraNX.up.set( 0, 1, 0 ); + cameraNX.lookAt( -1, 0, 0 ); + + cameraPY.up.set( 0, 0, -1 ); + cameraPY.lookAt( 0, 1, 0 ); + + cameraNY.up.set( 0, 0, 1 ); + cameraNY.lookAt( 0, -1, 0 ); + + cameraPZ.up.set( 0, 1, 0 ); + cameraPZ.lookAt( 0, 0, 1 ); + + cameraNZ.up.set( 0, 1, 0 ); + cameraNZ.lookAt( 0, 0, -1 ); + + } else if ( coordinateSystem === WebGPUCoordinateSystem ) { + + cameraPX.up.set( 0, -1, 0 ); + cameraPX.lookAt( -1, 0, 0 ); + + cameraNX.up.set( 0, -1, 0 ); + cameraNX.lookAt( 1, 0, 0 ); + + cameraPY.up.set( 0, 0, 1 ); + cameraPY.lookAt( 0, 1, 0 ); + + cameraNY.up.set( 0, 0, -1 ); + cameraNY.lookAt( 0, -1, 0 ); + + cameraPZ.up.set( 0, -1, 0 ); + cameraPZ.lookAt( 0, 0, 1 ); + + cameraNZ.up.set( 0, -1, 0 ); + cameraNZ.lookAt( 0, 0, -1 ); + + } else { + + throw new Error( 'THREE.CubeCamera.updateCoordinateSystem(): Invalid coordinate system: ' + coordinateSystem ); + + } + + for ( const camera of cameras ) { + + this.add( camera ); + + camera.updateMatrixWorld(); + + } + + } + + /** + * Calling this method will render the given scene with the given renderer + * into the cube render target of the camera. + * + * @param {(Renderer|WebGLRenderer)} renderer - The renderer. + * @param {Scene} scene - The scene to render. + */ + update( renderer, scene ) { + + if ( this.parent === null ) this.updateMatrixWorld(); + + const { renderTarget, activeMipmapLevel } = this; + + if ( this.coordinateSystem !== renderer.coordinateSystem ) { + + this.coordinateSystem = renderer.coordinateSystem; + + this.updateCoordinateSystem(); + + } + + const [ cameraPX, cameraNX, cameraPY, cameraNY, cameraPZ, cameraNZ ] = this.children; + + const currentRenderTarget = renderer.getRenderTarget(); + const currentActiveCubeFace = renderer.getActiveCubeFace(); + const currentActiveMipmapLevel = renderer.getActiveMipmapLevel(); + + const currentXrEnabled = renderer.xr.enabled; + + renderer.xr.enabled = false; + + const generateMipmaps = renderTarget.texture.generateMipmaps; + + renderTarget.texture.generateMipmaps = false; + + // https://github.com/mrdoob/three.js/issues/31413#issuecomment-3095966812 + + let reversedDepthBuffer = false; + + if ( renderer.isWebGLRenderer === true ) { + + reversedDepthBuffer = renderer.state.buffers.depth.getReversed(); + + } else { + + reversedDepthBuffer = renderer.reversedDepthBuffer; + + } + + renderer.setRenderTarget( renderTarget, 0, activeMipmapLevel ); + if ( reversedDepthBuffer && renderer.autoClear === false ) renderer.clearDepth(); + renderer.render( scene, cameraPX ); + + renderer.setRenderTarget( renderTarget, 1, activeMipmapLevel ); + if ( reversedDepthBuffer && renderer.autoClear === false ) renderer.clearDepth(); + renderer.render( scene, cameraNX ); + + renderer.setRenderTarget( renderTarget, 2, activeMipmapLevel ); + if ( reversedDepthBuffer && renderer.autoClear === false ) renderer.clearDepth(); + renderer.render( scene, cameraPY ); + + renderer.setRenderTarget( renderTarget, 3, activeMipmapLevel ); + if ( reversedDepthBuffer && renderer.autoClear === false ) renderer.clearDepth(); + renderer.render( scene, cameraNY ); + + renderer.setRenderTarget( renderTarget, 4, activeMipmapLevel ); + if ( reversedDepthBuffer && renderer.autoClear === false ) renderer.clearDepth(); + renderer.render( scene, cameraPZ ); + + // mipmaps are generated during the last call of render() + // at this point, all sides of the cube render target are defined + + renderTarget.texture.generateMipmaps = generateMipmaps; + + renderer.setRenderTarget( renderTarget, 5, activeMipmapLevel ); + if ( reversedDepthBuffer && renderer.autoClear === false ) renderer.clearDepth(); + renderer.render( scene, cameraNZ ); + + renderer.setRenderTarget( currentRenderTarget, currentActiveCubeFace, currentActiveMipmapLevel ); + + renderer.xr.enabled = currentXrEnabled; + + renderTarget.texture.needsPMREMUpdate = true; + + } + +} + +/** + * This type of camera can be used in order to efficiently render a scene with a + * predefined set of cameras. This is an important performance aspect for + * rendering VR scenes. + * + * An instance of `ArrayCamera` always has an array of sub cameras. It's mandatory + * to define for each sub camera the `viewport` property which determines the + * part of the viewport that is rendered with this camera. + * + * @augments PerspectiveCamera + */ +class ArrayCamera extends PerspectiveCamera { + + /** + * Constructs a new array camera. + * + * @param {Array} [array=[]] - An array of perspective sub cameras. + */ + constructor( array = [] ) { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isArrayCamera = true; + + /** + * Whether this camera is used with multiview rendering or not. + * + * @type {boolean} + * @readonly + * @default false + */ + this.isMultiViewCamera = false; + + /** + * An array of perspective sub cameras. + * + * @type {Array} + */ + this.cameras = array; + + } + +} + +/** + * This class is an alternative to {@link Clock} with a different API design and behavior. + * The goal is to avoid the conceptual flaws that became apparent in `Clock` over time. + * + * - `Timer` has an `update()` method that updates its internal state. That makes it possible to + * call `getDelta()` and `getElapsed()` multiple times per simulation step without getting different values. + * - The class can make use of the Page Visibility API to avoid large time delta values when the app + * is inactive (e.g. tab switched or browser hidden). + * + * ```js + * const timer = new Timer(); + * timer.connect( document ); // use Page Visibility API + * ``` + */ +class Timer { + + /** + * Constructs a new timer. + */ + constructor() { + + this._previousTime = 0; + this._currentTime = 0; + this._startTime = performance.now(); + + this._delta = 0; + this._elapsed = 0; + + this._timescale = 1; + + this._document = null; + this._pageVisibilityHandler = null; + + } + + /** + * Connect the timer to the given document.Calling this method is not mandatory to + * use the timer but enables the usage of the Page Visibility API to avoid large time + * delta values. + * + * @param {Document} document - The document. + */ + connect( document ) { + + this._document = document; + + // use Page Visibility API to avoid large time delta values + + if ( document.hidden !== undefined ) { + + this._pageVisibilityHandler = handleVisibilityChange.bind( this ); + + document.addEventListener( 'visibilitychange', this._pageVisibilityHandler, false ); + + } + + } + + /** + * Disconnects the timer from the DOM and also disables the usage of the Page Visibility API. + */ + disconnect() { + + if ( this._pageVisibilityHandler !== null ) { + + this._document.removeEventListener( 'visibilitychange', this._pageVisibilityHandler ); + this._pageVisibilityHandler = null; + + } + + this._document = null; + + } + + /** + * Returns the time delta in seconds. + * + * @return {number} The time delta in second. + */ + getDelta() { + + return this._delta / 1000; + + } + + /** + * Returns the elapsed time in seconds. + * + * @return {number} The elapsed time in second. + */ + getElapsed() { + + return this._elapsed / 1000; + + } + + /** + * Returns the timescale. + * + * @return {number} The timescale. + */ + getTimescale() { + + return this._timescale; + + } + + /** + * Sets the given timescale which scale the time delta computation + * in `update()`. + * + * @param {number} timescale - The timescale to set. + * @return {Timer} A reference to this timer. + */ + setTimescale( timescale ) { + + this._timescale = timescale; + + return this; + + } + + /** + * Resets the time computation for the current simulation step. + * + * @return {Timer} A reference to this timer. + */ + reset() { + + this._currentTime = performance.now() - this._startTime; + + return this; + + } + + /** + * Can be used to free all internal resources. Usually called when + * the timer instance isn't required anymore. + */ + dispose() { + + this.disconnect(); + + } + + /** + * Updates the internal state of the timer. This method should be called + * once per simulation step and before you perform queries against the timer + * (e.g. via `getDelta()`). + * + * @param {number} timestamp - The current time in milliseconds. Can be obtained + * from the `requestAnimationFrame` callback argument. If not provided, the current + * time will be determined with `performance.now`. + * @return {Timer} A reference to this timer. + */ + update( timestamp ) { + + if ( this._pageVisibilityHandler !== null && this._document.hidden === true ) { + + this._delta = 0; + + } else { + + this._previousTime = this._currentTime; + this._currentTime = ( timestamp !== undefined ? timestamp : performance.now() ) - this._startTime; + + this._delta = ( this._currentTime - this._previousTime ) * this._timescale; + this._elapsed += this._delta; // _elapsed is the accumulation of all previous deltas + + } + + return this; + + } + +} + +function handleVisibilityChange() { + + if ( this._document.hidden === false ) this.reset(); + +} + +const _position$1 = /*@__PURE__*/ new Vector3(); +const _quaternion$1 = /*@__PURE__*/ new Quaternion(); +const _scale$1 = /*@__PURE__*/ new Vector3(); + +const _forward = /*@__PURE__*/ new Vector3(); +const _up = /*@__PURE__*/ new Vector3(); + +/** + * The class represents a virtual listener of the all positional and non-positional audio effects + * in the scene. A three.js application usually creates a single listener. It is a mandatory + * constructor parameter for audios entities like {@link Audio} and {@link PositionalAudio}. + * + * In most cases, the listener object is a child of the camera. So the 3D transformation of the + * camera represents the 3D transformation of the listener. + * + * @augments Object3D + */ +class AudioListener extends Object3D { + + /** + * Constructs a new audio listener. + */ + constructor() { + + super(); + + this.type = 'AudioListener'; + + /** + * The native audio context. + * + * @type {AudioContext} + * @readonly + */ + this.context = AudioContext.getContext(); + + /** + * The gain node used for volume control. + * + * @type {GainNode} + * @readonly + */ + this.gain = this.context.createGain(); + this.gain.connect( this.context.destination ); + + /** + * An optional filter. + * + * Defined via {@link AudioListener#setFilter}. + * + * @type {?AudioNode} + * @default null + * @readonly + */ + this.filter = null; + + /** + * Time delta values required for `linearRampToValueAtTime()` usage. + * + * @type {number} + * @default 0 + * @readonly + */ + this.timeDelta = 0; + + // private + + this._timer = new Timer(); + + } + + /** + * Returns the listener's input node. + * + * This method is used by other audio nodes to connect to this listener. + * + * @return {GainNode} The input node. + */ + getInput() { + + return this.gain; + + } + + /** + * Removes the current filter from this listener. + * + * @return {AudioListener} A reference to this listener. + */ + removeFilter() { + + if ( this.filter !== null ) { + + this.gain.disconnect( this.filter ); + this.filter.disconnect( this.context.destination ); + this.gain.connect( this.context.destination ); + this.filter = null; + + } + + return this; + + } + + /** + * Returns the current set filter. + * + * @return {?AudioNode} The filter. + */ + getFilter() { + + return this.filter; + + } + + /** + * Sets the given filter to this listener. + * + * @param {AudioNode} value - The filter to set. + * @return {AudioListener} A reference to this listener. + */ + setFilter( value ) { + + if ( this.filter !== null ) { + + this.gain.disconnect( this.filter ); + this.filter.disconnect( this.context.destination ); + + } else { + + this.gain.disconnect( this.context.destination ); + + } + + this.filter = value; + this.gain.connect( this.filter ); + this.filter.connect( this.context.destination ); + + return this; + + } + + /** + * Returns the applications master volume. + * + * @return {number} The master volume. + */ + getMasterVolume() { + + return this.gain.gain.value; + + } + + /** + * Sets the applications master volume. This volume setting affects + * all audio nodes in the scene. + * + * @param {number} value - The master volume to set. + * @return {AudioListener} A reference to this listener. + */ + setMasterVolume( value ) { + + this.gain.gain.setTargetAtTime( value, this.context.currentTime, 0.01 ); + + return this; + + } + + updateMatrixWorld( force ) { + + super.updateMatrixWorld( force ); + + this._timer.update(); + + const listener = this.context.listener; + + this.timeDelta = this._timer.getDelta(); + + this.matrixWorld.decompose( _position$1, _quaternion$1, _scale$1 ); + + // the initial forward and up directions must be orthogonal + _forward.set( 0, 0, -1 ).applyQuaternion( _quaternion$1 ); + _up.set( 0, 1, 0 ).applyQuaternion( _quaternion$1 ); + + if ( listener.positionX ) { + + // code path for Chrome (see #14393) + + const endTime = this.context.currentTime + this.timeDelta; + + listener.positionX.linearRampToValueAtTime( _position$1.x, endTime ); + listener.positionY.linearRampToValueAtTime( _position$1.y, endTime ); + listener.positionZ.linearRampToValueAtTime( _position$1.z, endTime ); + listener.forwardX.linearRampToValueAtTime( _forward.x, endTime ); + listener.forwardY.linearRampToValueAtTime( _forward.y, endTime ); + listener.forwardZ.linearRampToValueAtTime( _forward.z, endTime ); + listener.upX.linearRampToValueAtTime( _up.x, endTime ); + listener.upY.linearRampToValueAtTime( _up.y, endTime ); + listener.upZ.linearRampToValueAtTime( _up.z, endTime ); + + } else { + + listener.setPosition( _position$1.x, _position$1.y, _position$1.z ); + listener.setOrientation( _forward.x, _forward.y, _forward.z, _up.x, _up.y, _up.z ); + + } + + } + +} + +/** + * Represents a non-positional ( global ) audio object. + * + * This and related audio modules make use of the [Web Audio API](https://www.w3.org/TR/webaudio-1.1/). + * + * ```js + * // create an AudioListener and add it to the camera + * const listener = new THREE.AudioListener(); + * camera.add( listener ); + * + * // create a global audio source + * const sound = new THREE.Audio( listener ); + * + * // load a sound and set it as the Audio object's buffer + * const audioLoader = new THREE.AudioLoader(); + * audioLoader.load( 'sounds/ambient.ogg', function( buffer ) { + * sound.setBuffer( buffer ); + * sound.setLoop( true ); + * sound.setVolume( 0.5 ); + * sound.play(); + * }); + * ``` + * + * @augments Object3D + */ +class Audio extends Object3D { + + /** + * Constructs a new audio. + * + * @param {AudioListener} listener - The global audio listener. + */ + constructor( listener ) { + + super(); + + this.type = 'Audio'; + + /** + * The global audio listener. + * + * @type {AudioListener} + * @readonly + */ + this.listener = listener; + + /** + * The audio context. + * + * @type {AudioContext} + * @readonly + */ + this.context = listener.context; + + /** + * The gain node used for volume control. + * + * @type {GainNode} + * @readonly + */ + this.gain = this.context.createGain(); + this.gain.connect( listener.getInput() ); + + /** + * Whether to start playback automatically or not. + * + * @type {boolean} + * @default false + */ + this.autoplay = false; + + /** + * A reference to an audio buffer. + * + * Defined via {@link Audio#setBuffer}. + * + * @type {?AudioBuffer} + * @default null + * @readonly + */ + this.buffer = null; + + /** + * Modify pitch, measured in cents. +/- 100 is a semitone. + * +/- 1200 is an octave. + * + * Defined via {@link Audio#setDetune}. + * + * @type {number} + * @default 0 + * @readonly + */ + this.detune = 0; + + /** + * Whether the audio should loop or not. + * + * Defined via {@link Audio#setLoop}. + * + * @type {boolean} + * @default false + * @readonly + */ + this.loop = false; + + /** + * Defines where in the audio buffer the replay should + * start, in seconds. + * + * @type {number} + * @default 0 + */ + this.loopStart = 0; + + /** + * Defines where in the audio buffer the replay should + * stop, in seconds. + * + * @type {number} + * @default 0 + */ + this.loopEnd = 0; + + /** + * An offset to the time within the audio buffer the playback + * should begin, in seconds. + * + * @type {number} + * @default 0 + */ + this.offset = 0; + + /** + * Overrides the default duration of the audio. + * + * @type {undefined|number} + * @default undefined + */ + this.duration = undefined; + + /** + * The playback speed. + * + * Defined via {@link Audio#setPlaybackRate}. + * + * @type {number} + * @readonly + * @default 1 + */ + this.playbackRate = 1; + + /** + * Indicates whether the audio is playing or not. + * + * This flag will be automatically set when using {@link Audio#play}, + * {@link Audio#pause}, {@link Audio#stop}. + * + * @type {boolean} + * @readonly + * @default false + */ + this.isPlaying = false; + + /** + * Indicates whether the audio playback can be controlled + * with method like {@link Audio#play} or {@link Audio#pause}. + * + * This flag will be automatically set when audio sources are + * defined. + * + * @type {boolean} + * @readonly + * @default true + */ + this.hasPlaybackControl = true; + + /** + * Holds a reference to the current audio source. + * + * The property is automatically by one of the `set*()` methods. + * + * @type {?AudioNode} + * @readonly + * @default null + */ + this.source = null; + + /** + * Defines the source type. + * + * The property is automatically set by one of the `set*()` methods. + * + * @type {('empty'|'audioNode'|'mediaNode'|'mediaStreamNode'|'buffer')} + * @readonly + * @default 'empty' + */ + this.sourceType = 'empty'; + + this._startedAt = 0; + this._progress = 0; + this._connected = false; + + /** + * Can be used to apply a variety of low-order filters to create + * more complex sound effects e.g. via `BiquadFilterNode`. + * + * The property is automatically set by {@link Audio#setFilters}. + * + * @type {Array} + * @readonly + */ + this.filters = []; + + } + + /** + * Returns the output audio node. + * + * @return {GainNode} The output node. + */ + getOutput() { + + return this.gain; + + } + + /** + * Sets the given audio node as the source of this instance. + * + * {@link Audio#sourceType} is set to `audioNode` and {@link Audio#hasPlaybackControl} to `false`. + * + * @param {AudioNode} audioNode - The audio node like an instance of `OscillatorNode`. + * @return {Audio} A reference to this instance. + */ + setNodeSource( audioNode ) { + + this.hasPlaybackControl = false; + this.sourceType = 'audioNode'; + this.source = audioNode; + this.connect(); + + return this; + + } + + /** + * Sets the given media element as the source of this instance. + * + * {@link Audio#sourceType} is set to `mediaNode` and {@link Audio#hasPlaybackControl} to `false`. + * + * @param {HTMLMediaElement} mediaElement - The media element. + * @return {Audio} A reference to this instance. + */ + setMediaElementSource( mediaElement ) { + + this.hasPlaybackControl = false; + this.sourceType = 'mediaNode'; + this.source = this.context.createMediaElementSource( mediaElement ); + this.connect(); + + return this; + + } + + /** + * Sets the given media stream as the source of this instance. + * + * {@link Audio#sourceType} is set to `mediaStreamNode` and {@link Audio#hasPlaybackControl} to `false`. + * + * @param {MediaStream} mediaStream - The media stream. + * @return {Audio} A reference to this instance. + */ + setMediaStreamSource( mediaStream ) { + + this.hasPlaybackControl = false; + this.sourceType = 'mediaStreamNode'; + this.source = this.context.createMediaStreamSource( mediaStream ); + this.connect(); + + return this; + + } + + /** + * Sets the given audio buffer as the source of this instance. + * + * {@link Audio#sourceType} is set to `buffer` and {@link Audio#hasPlaybackControl} to `true`. + * + * @param {AudioBuffer} audioBuffer - The audio buffer. + * @return {Audio} A reference to this instance. + */ + setBuffer( audioBuffer ) { + + this.buffer = audioBuffer; + this.sourceType = 'buffer'; + + if ( this.autoplay ) this.play(); + + return this; + + } + + /** + * Starts the playback of the audio. + * + * Can only be used with compatible audio sources that allow playback control. + * + * @param {number} [delay=0] - The delay, in seconds, at which the audio should start playing. + * @return {Audio|undefined} A reference to this instance. + */ + play( delay = 0 ) { + + if ( this.isPlaying === true ) { + + warn( 'Audio: Audio is already playing.' ); + return; + + } + + if ( this.hasPlaybackControl === false ) { + + warn( 'Audio: this Audio has no playback control.' ); + return; + + } + + this._startedAt = this.context.currentTime + delay; + + const source = this.context.createBufferSource(); + source.buffer = this.buffer; + source.loop = this.loop; + source.loopStart = this.loopStart; + source.loopEnd = this.loopEnd; + source.onended = this.onEnded.bind( this ); + source.start( this._startedAt, this._progress + this.offset, this.duration ); + + this.isPlaying = true; + + this.source = source; + + this.setDetune( this.detune ); + this.setPlaybackRate( this.playbackRate ); + + return this.connect(); + + } + + /** + * Pauses the playback of the audio. + * + * Can only be used with compatible audio sources that allow playback control. + * + * @return {Audio|undefined} A reference to this instance. + */ + pause() { + + if ( this.hasPlaybackControl === false ) { + + warn( 'Audio: this Audio has no playback control.' ); + return; + + } + + if ( this.isPlaying === true ) { + + // update current progress + + this._progress += Math.max( this.context.currentTime - this._startedAt, 0 ) * this.playbackRate; + + if ( this.loop === true ) { + + // ensure _progress does not exceed duration with looped audios + + this._progress = this._progress % ( this.duration || this.buffer.duration ); + + } + + this.source.stop(); + this.source.onended = null; + + this.isPlaying = false; + + } + + return this; + + } + + /** + * Stops the playback of the audio. + * + * Can only be used with compatible audio sources that allow playback control. + * + * @param {number} [delay=0] - The delay, in seconds, at which the audio should stop playing. + * @return {Audio|undefined} A reference to this instance. + */ + stop( delay = 0 ) { + + if ( this.hasPlaybackControl === false ) { + + warn( 'Audio: this Audio has no playback control.' ); + return; + + } + + this._progress = 0; + + if ( this.source !== null ) { + + this.source.stop( this.context.currentTime + delay ); + this.source.onended = null; + + } + + this.isPlaying = false; + + return this; + + } + + /** + * Connects to the audio source. This is used internally on + * initialisation and when setting / removing filters. + * + * @return {Audio} A reference to this instance. + */ + connect() { + + if ( this.filters.length > 0 ) { + + this.source.connect( this.filters[ 0 ] ); + + for ( let i = 1, l = this.filters.length; i < l; i ++ ) { + + this.filters[ i - 1 ].connect( this.filters[ i ] ); + + } + + this.filters[ this.filters.length - 1 ].connect( this.getOutput() ); + + } else { + + this.source.connect( this.getOutput() ); + + } + + this._connected = true; + + return this; + + } + + /** + * Disconnects to the audio source. This is used internally on + * initialisation and when setting / removing filters. + * + * @return {Audio|undefined} A reference to this instance. + */ + disconnect() { + + if ( this._connected === false ) { + + return; + + } + + if ( this.filters.length > 0 ) { + + this.source.disconnect( this.filters[ 0 ] ); + + for ( let i = 1, l = this.filters.length; i < l; i ++ ) { + + this.filters[ i - 1 ].disconnect( this.filters[ i ] ); + + } + + this.filters[ this.filters.length - 1 ].disconnect( this.getOutput() ); + + } else { + + this.source.disconnect( this.getOutput() ); + + } + + this._connected = false; + + return this; + + } + + /** + * Returns the current set filters. + * + * @return {Array} The list of filters. + */ + getFilters() { + + return this.filters; + + } + + /** + * Sets an array of filters and connects them with the audio source. + * + * @param {Array} [value] - A list of filters. + * @return {Audio} A reference to this instance. + */ + setFilters( value ) { + + if ( ! value ) value = []; + + if ( this._connected === true ) { + + this.disconnect(); + this.filters = value.slice(); + this.connect(); + + } else { + + this.filters = value.slice(); + + } + + return this; + + } + + /** + * Defines the detuning of oscillation in cents. + * + * @param {number} value - The detuning of oscillation in cents. + * @return {Audio} A reference to this instance. + */ + setDetune( value ) { + + this.detune = value; + + if ( this.isPlaying === true && this.source.detune !== undefined ) { + + this.source.detune.setTargetAtTime( this.detune, this.context.currentTime, 0.01 ); + + } + + return this; + + } + + /** + * Returns the detuning of oscillation in cents. + * + * @return {number} The detuning of oscillation in cents. + */ + getDetune() { + + return this.detune; + + } + + /** + * Returns the first filter in the list of filters. + * + * @return {AudioNode|undefined} The first filter in the list of filters. + */ + getFilter() { + + return this.getFilters()[ 0 ]; + + } + + /** + * Applies a single filter node to the audio. + * + * @param {AudioNode} [filter] - The filter to set. + * @return {Audio} A reference to this instance. + */ + setFilter( filter ) { + + return this.setFilters( filter ? [ filter ] : [] ); + + } + + /** + * Sets the playback rate. + * + * Can only be used with compatible audio sources that allow playback control. + * + * @param {number} [value] - The playback rate to set. + * @return {Audio|undefined} A reference to this instance. + */ + setPlaybackRate( value ) { + + if ( this.hasPlaybackControl === false ) { + + warn( 'Audio: this Audio has no playback control.' ); + return; + + } + + this.playbackRate = value; + + if ( this.isPlaying === true ) { + + this.source.playbackRate.setTargetAtTime( this.playbackRate, this.context.currentTime, 0.01 ); + + } + + return this; + + } + + /** + * Returns the current playback rate. + + * @return {number} The playback rate. + */ + getPlaybackRate() { + + return this.playbackRate; + + } + + /** + * Automatically called when playback finished. + */ + onEnded() { + + this.isPlaying = false; + this._progress = 0; + + } + + /** + * Returns the loop flag. + * + * Can only be used with compatible audio sources that allow playback control. + * + * @return {boolean} Whether the audio should loop or not. + */ + getLoop() { + + if ( this.hasPlaybackControl === false ) { + + warn( 'Audio: this Audio has no playback control.' ); + return false; + + } + + return this.loop; + + } + + /** + * Sets the loop flag. + * + * Can only be used with compatible audio sources that allow playback control. + * + * @param {boolean} value - Whether the audio should loop or not. + * @return {Audio|undefined} A reference to this instance. + */ + setLoop( value ) { + + if ( this.hasPlaybackControl === false ) { + + warn( 'Audio: this Audio has no playback control.' ); + return; + + } + + this.loop = value; + + if ( this.isPlaying === true ) { + + this.source.loop = this.loop; + + } + + return this; + + } + + /** + * Sets the loop start value which defines where in the audio buffer the replay should + * start, in seconds. + * + * @param {number} value - The loop start value. + * @return {Audio} A reference to this instance. + */ + setLoopStart( value ) { + + this.loopStart = value; + + return this; + + } + + /** + * Sets the loop end value which defines where in the audio buffer the replay should + * stop, in seconds. + * + * @param {number} value - The loop end value. + * @return {Audio} A reference to this instance. + */ + setLoopEnd( value ) { + + this.loopEnd = value; + + return this; + + } + + /** + * Returns the volume. + * + * @return {number} The volume. + */ + getVolume() { + + return this.gain.gain.value; + + } + + /** + * Sets the volume. + * + * @param {number} value - The volume to set. + * @return {Audio} A reference to this instance. + */ + setVolume( value ) { + + this.gain.gain.setTargetAtTime( value, this.context.currentTime, 0.01 ); + + return this; + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + if ( source.sourceType !== 'buffer' ) { + + warn( 'Audio: Audio source type cannot be copied.' ); + + return this; + + } + + this.autoplay = source.autoplay; + + this.buffer = source.buffer; + this.detune = source.detune; + this.loop = source.loop; + this.loopStart = source.loopStart; + this.loopEnd = source.loopEnd; + this.offset = source.offset; + this.duration = source.duration; + this.playbackRate = source.playbackRate; + this.hasPlaybackControl = source.hasPlaybackControl; + this.sourceType = source.sourceType; + + this.filters = source.filters.slice(); + + return this; + + } + + clone( recursive ) { + + return new this.constructor( this.listener ).copy( this, recursive ); + + } + +} + +const _position = /*@__PURE__*/ new Vector3(); +const _quaternion = /*@__PURE__*/ new Quaternion(); +const _scale = /*@__PURE__*/ new Vector3(); +const _orientation = /*@__PURE__*/ new Vector3(); + +/** + * Represents a positional audio object. + * + * ```js + * // create an AudioListener and add it to the camera + * const listener = new THREE.AudioListener(); + * camera.add( listener ); + * + * // create the PositionalAudio object (passing in the listener) + * const sound = new THREE.PositionalAudio( listener ); + * + * // load a sound and set it as the PositionalAudio object's buffer + * const audioLoader = new THREE.AudioLoader(); + * audioLoader.load( 'sounds/song.ogg', function( buffer ) { + * sound.setBuffer( buffer ); + * sound.setRefDistance( 20 ); + * sound.play(); + * }); + * + * // create an object for the sound to play from + * const sphere = new THREE.SphereGeometry( 20, 32, 16 ); + * const material = new THREE.MeshPhongMaterial( { color: 0xff2200 } ); + * const mesh = new THREE.Mesh( sphere, material ); + * scene.add( mesh ); + * + * // finally add the sound to the mesh + * mesh.add( sound ); + * + * @augments Audio + */ +class PositionalAudio extends Audio { + + /** + * Constructs a positional audio. + * + * @param {AudioListener} listener - The global audio listener. + */ + constructor( listener ) { + + super( listener ); + + /** + * The panner node represents the location, direction, and behavior of an audio + * source in 3D space. + * + * @type {PannerNode} + * @readonly + */ + this.panner = this.context.createPanner(); + this.panner.panningModel = 'HRTF'; + this.panner.connect( this.gain ); + + } + + connect() { + + super.connect(); + + this.panner.connect( this.gain ); + + return this; + + } + + disconnect() { + + super.disconnect(); + + this.panner.disconnect( this.gain ); + + return this; + + } + + getOutput() { + + return this.panner; + + } + + /** + * Returns the current reference distance. + * + * @return {number} The reference distance. + */ + getRefDistance() { + + return this.panner.refDistance; + + } + + /** + * Defines the reference distance for reducing volume as the audio source moves + * further from the listener – i.e. the distance at which the volume reduction + * starts taking effect. + * + * @param {number} value - The reference distance to set. + * @return {PositionalAudio} A reference to this instance. + */ + setRefDistance( value ) { + + this.panner.refDistance = value; + + return this; + + } + + /** + * Returns the current rolloff factor. + * + * @return {number} The rolloff factor. + */ + getRolloffFactor() { + + return this.panner.rolloffFactor; + + } + + /** + * Defines how quickly the volume is reduced as the source moves away from the listener. + * + * @param {number} value - The rolloff factor. + * @return {PositionalAudio} A reference to this instance. + */ + setRolloffFactor( value ) { + + this.panner.rolloffFactor = value; + + return this; + + } + + /** + * Returns the current distance model. + * + * @return {('linear'|'inverse'|'exponential')} The distance model. + */ + getDistanceModel() { + + return this.panner.distanceModel; + + } + + /** + * Defines which algorithm to use to reduce the volume of the audio source + * as it moves away from the listener. + * + * Read [the spec](https://www.w3.org/TR/webaudio-1.1/#enumdef-distancemodeltype) + * for more details. + * + * @param {('linear'|'inverse'|'exponential')} value - The distance model to set. + * @return {PositionalAudio} A reference to this instance. + */ + setDistanceModel( value ) { + + this.panner.distanceModel = value; + + return this; + + } + + /** + * Returns the current max distance. + * + * @return {number} The max distance. + */ + getMaxDistance() { + + return this.panner.maxDistance; + + } + + /** + * Defines the maximum distance between the audio source and the listener, + * after which the volume is not reduced any further. + * + * This value is used only by the `linear` distance model. + * + * @param {number} value - The max distance. + * @return {PositionalAudio} A reference to this instance. + */ + setMaxDistance( value ) { + + this.panner.maxDistance = value; + + return this; + + } + + /** + * Sets the directional cone in which the audio can be listened. + * + * @param {number} coneInnerAngle - An angle, in degrees, of a cone inside of which there will be no volume reduction. + * @param {number} coneOuterAngle - An angle, in degrees, of a cone outside of which the volume will be reduced by a constant value, defined by the `coneOuterGain` parameter. + * @param {number} coneOuterGain - The amount of volume reduction outside the cone defined by the `coneOuterAngle`. When set to `0`, no sound can be heard. + * @return {PositionalAudio} A reference to this instance. + */ + setDirectionalCone( coneInnerAngle, coneOuterAngle, coneOuterGain ) { + + this.panner.coneInnerAngle = coneInnerAngle; + this.panner.coneOuterAngle = coneOuterAngle; + this.panner.coneOuterGain = coneOuterGain; + + return this; + + } + + updateMatrixWorld( force ) { + + super.updateMatrixWorld( force ); + + if ( this.hasPlaybackControl === true && this.isPlaying === false ) return; + + this.matrixWorld.decompose( _position, _quaternion, _scale ); + + _orientation.set( 0, 0, 1 ).applyQuaternion( _quaternion ); + + const panner = this.panner; + + if ( panner.positionX ) { + + // code path for Chrome and Firefox (see #14393) + + const endTime = this.context.currentTime + this.listener.timeDelta; + + panner.positionX.linearRampToValueAtTime( _position.x, endTime ); + panner.positionY.linearRampToValueAtTime( _position.y, endTime ); + panner.positionZ.linearRampToValueAtTime( _position.z, endTime ); + panner.orientationX.linearRampToValueAtTime( _orientation.x, endTime ); + panner.orientationY.linearRampToValueAtTime( _orientation.y, endTime ); + panner.orientationZ.linearRampToValueAtTime( _orientation.z, endTime ); + + } else { + + panner.setPosition( _position.x, _position.y, _position.z ); + panner.setOrientation( _orientation.x, _orientation.y, _orientation.z ); + + } + + } + +} + +/** + * This class can be used to analyse audio data. + * + * ```js + * // create an AudioListener and add it to the camera + * const listener = new THREE.AudioListener(); + * camera.add( listener ); + * + * // create an Audio source + * const sound = new THREE.Audio( listener ); + * + * // load a sound and set it as the Audio object's buffer + * const audioLoader = new THREE.AudioLoader(); + * audioLoader.load( 'sounds/ambient.ogg', function( buffer ) { + * sound.setBuffer( buffer ); + * sound.setLoop(true); + * sound.setVolume(0.5); + * sound.play(); + * }); + * + * // create an AudioAnalyser, passing in the sound and desired fftSize + * const analyser = new THREE.AudioAnalyser( sound, 32 ); + * + * // get the average frequency of the sound + * const data = analyser.getAverageFrequency(); + * ``` + */ +class AudioAnalyser { + + /** + * Constructs a new audio analyzer. + * + * @param {Audio} audio - The audio to analyze. + * @param {number} [fftSize=2048] - The window size in samples that is used when performing a Fast Fourier Transform (FFT) to get frequency domain data. + */ + constructor( audio, fftSize = 2048 ) { + + /** + * The global audio listener. + * + * @type {AnalyserNode} + */ + this.analyser = audio.context.createAnalyser(); + this.analyser.fftSize = fftSize; + + /** + * Holds the analyzed data. + * + * @type {Uint8Array} + */ + this.data = new Uint8Array( this.analyser.frequencyBinCount ); + + audio.getOutput().connect( this.analyser ); + + } + + /** + * Returns an array with frequency data of the audio. + * + * Each item in the array represents the decibel value for a specific frequency. + * The frequencies are spread linearly from 0 to 1/2 of the sample rate. + * For example, for 48000 sample rate, the last item of the array will represent + * the decibel value for 24000 Hz. + * + * @return {Uint8Array} The frequency data. + */ + getFrequencyData() { + + this.analyser.getByteFrequencyData( this.data ); + + return this.data; + + } + + /** + * Returns the average of the frequencies returned by {@link AudioAnalyser#getFrequencyData}. + * + * @return {number} The average frequency. + */ + getAverageFrequency() { + + let value = 0; + const data = this.getFrequencyData(); + + for ( let i = 0; i < data.length; i ++ ) { + + value += data[ i ]; + + } + + return value / data.length; + + } + +} + +/** + * Buffered scene graph property that allows weighted accumulation; used internally. + */ +class PropertyMixer { + + /** + * Constructs a new property mixer. + * + * @param {PropertyBinding} binding - The property binding. + * @param {string} typeName - The keyframe track type name. + * @param {number} valueSize - The keyframe track value size. + */ + constructor( binding, typeName, valueSize ) { + + /** + * The property binding. + * + * @type {PropertyBinding} + */ + this.binding = binding; + + /** + * The keyframe track value size. + * + * @type {number} + */ + this.valueSize = valueSize; + + let mixFunction, + mixFunctionAdditive, + setIdentity; + + // buffer layout: [ incoming | accu0 | accu1 | orig | addAccu | (optional work) ] + // + // interpolators can use .buffer as their .result + // the data then goes to 'incoming' + // + // 'accu0' and 'accu1' are used frame-interleaved for + // the cumulative result and are compared to detect + // changes + // + // 'orig' stores the original state of the property + // + // 'add' is used for additive cumulative results + // + // 'work' is optional and is only present for quaternion types. It is used + // to store intermediate quaternion multiplication results + + switch ( typeName ) { + + case 'quaternion': + mixFunction = this._slerp; + mixFunctionAdditive = this._slerpAdditive; + setIdentity = this._setAdditiveIdentityQuaternion; + + this.buffer = new Float64Array( valueSize * 6 ); + this._workIndex = 5; + break; + + case 'string': + case 'bool': + mixFunction = this._select; + + // Use the regular mix function and for additive on these types, + // additive is not relevant for non-numeric types + mixFunctionAdditive = this._select; + + setIdentity = this._setAdditiveIdentityOther; + + this.buffer = new Array( valueSize * 5 ); + break; + + default: + mixFunction = this._lerp; + mixFunctionAdditive = this._lerpAdditive; + setIdentity = this._setAdditiveIdentityNumeric; + + this.buffer = new Float64Array( valueSize * 5 ); + + } + + this._mixBufferRegion = mixFunction; + this._mixBufferRegionAdditive = mixFunctionAdditive; + this._setIdentity = setIdentity; + this._origIndex = 3; + this._addIndex = 4; + + /** + * Accumulated weight of the property binding. + * + * @type {number} + * @default 0 + */ + this.cumulativeWeight = 0; + + /** + * Accumulated additive weight of the property binding. + * + * @type {number} + * @default 0 + */ + this.cumulativeWeightAdditive = 0; + + /** + * Number of active keyframe tracks currently using this property binding. + * + * @type {number} + * @default 0 + */ + this.useCount = 0; + + /** + * Number of keyframe tracks referencing this property binding. + * + * @type {number} + * @default 0 + */ + this.referenceCount = 0; + + } + + /** + * Accumulates data in the `incoming` region into `accu`. + * + * @param {number} accuIndex - The accumulation index. + * @param {number} weight - The weight. + */ + accumulate( accuIndex, weight ) { + + // note: happily accumulating nothing when weight = 0, the caller knows + // the weight and shouldn't have made the call in the first place + + const buffer = this.buffer, + stride = this.valueSize, + offset = accuIndex * stride + stride; + + let currentWeight = this.cumulativeWeight; + + if ( currentWeight === 0 ) { + + // accuN := incoming * weight + + for ( let i = 0; i !== stride; ++ i ) { + + buffer[ offset + i ] = buffer[ i ]; + + } + + currentWeight = weight; + + } else { + + // accuN := accuN + incoming * weight + + currentWeight += weight; + const mix = weight / currentWeight; + this._mixBufferRegion( buffer, offset, 0, mix, stride ); + + } + + this.cumulativeWeight = currentWeight; + + } + + /** + * Accumulates data in the `incoming` region into `add`. + * + * @param {number} weight - The weight. + */ + accumulateAdditive( weight ) { + + const buffer = this.buffer, + stride = this.valueSize, + offset = stride * this._addIndex; + + if ( this.cumulativeWeightAdditive === 0 ) { + + // add = identity + + this._setIdentity(); + + } + + // add := add + incoming * weight + + this._mixBufferRegionAdditive( buffer, offset, 0, weight, stride ); + this.cumulativeWeightAdditive += weight; + + } + + /** + * Applies the state of `accu` to the binding when accus differ. + * + * @param {number} accuIndex - The accumulation index. + */ + apply( accuIndex ) { + + const stride = this.valueSize, + buffer = this.buffer, + offset = accuIndex * stride + stride, + + weight = this.cumulativeWeight, + weightAdditive = this.cumulativeWeightAdditive, + + binding = this.binding; + + this.cumulativeWeight = 0; + this.cumulativeWeightAdditive = 0; + + if ( weight < 1 ) { + + // accuN := accuN + original * ( 1 - cumulativeWeight ) + + const originalValueOffset = stride * this._origIndex; + + this._mixBufferRegion( + buffer, offset, originalValueOffset, 1 - weight, stride ); + + } + + if ( weightAdditive > 0 ) { + + // accuN := accuN + additive accuN + + this._mixBufferRegionAdditive( buffer, offset, this._addIndex * stride, 1, stride ); + + } + + for ( let i = stride, e = stride + stride; i !== e; ++ i ) { + + if ( buffer[ i ] !== buffer[ i + stride ] ) { + + // value has changed -> update scene graph + + binding.setValue( buffer, offset ); + break; + + } + + } + + } + + + /** + * Remembers the state of the bound property and copy it to both accus. + */ + saveOriginalState() { + + const binding = this.binding; + + const buffer = this.buffer, + stride = this.valueSize, + + originalValueOffset = stride * this._origIndex; + + binding.getValue( buffer, originalValueOffset ); + + // accu[0..1] := orig -- initially detect changes against the original + for ( let i = stride, e = originalValueOffset; i !== e; ++ i ) { + + buffer[ i ] = buffer[ originalValueOffset + ( i % stride ) ]; + + } + + // Add to identity for additive + this._setIdentity(); + + this.cumulativeWeight = 0; + this.cumulativeWeightAdditive = 0; + + } + + /** + * Applies the state previously taken via {@link PropertyMixer#saveOriginalState} to the binding. + */ + restoreOriginalState() { + + const originalValueOffset = this.valueSize * 3; + this.binding.setValue( this.buffer, originalValueOffset ); + + } + + // internals + + _setAdditiveIdentityNumeric() { + + const startIndex = this._addIndex * this.valueSize; + const endIndex = startIndex + this.valueSize; + + for ( let i = startIndex; i < endIndex; i ++ ) { + + this.buffer[ i ] = 0; + + } + + } + + _setAdditiveIdentityQuaternion() { + + this._setAdditiveIdentityNumeric(); + this.buffer[ this._addIndex * this.valueSize + 3 ] = 1; + + } + + _setAdditiveIdentityOther() { + + const startIndex = this._origIndex * this.valueSize; + const targetIndex = this._addIndex * this.valueSize; + + for ( let i = 0; i < this.valueSize; i ++ ) { + + this.buffer[ targetIndex + i ] = this.buffer[ startIndex + i ]; + + } + + } + + + // mix functions + + _select( buffer, dstOffset, srcOffset, t, stride ) { + + if ( t >= 0.5 ) { + + for ( let i = 0; i !== stride; ++ i ) { + + buffer[ dstOffset + i ] = buffer[ srcOffset + i ]; + + } + + } + + } + + _slerp( buffer, dstOffset, srcOffset, t ) { + + Quaternion.slerpFlat( buffer, dstOffset, buffer, dstOffset, buffer, srcOffset, t ); + + } + + _slerpAdditive( buffer, dstOffset, srcOffset, t, stride ) { + + const workOffset = this._workIndex * stride; + + // Store result in intermediate buffer offset + Quaternion.multiplyQuaternionsFlat( buffer, workOffset, buffer, dstOffset, buffer, srcOffset ); + + // Slerp to the intermediate result + Quaternion.slerpFlat( buffer, dstOffset, buffer, dstOffset, buffer, workOffset, t ); + + } + + _lerp( buffer, dstOffset, srcOffset, t, stride ) { + + const s = 1 - t; + + for ( let i = 0; i !== stride; ++ i ) { + + const j = dstOffset + i; + + buffer[ j ] = buffer[ j ] * s + buffer[ srcOffset + i ] * t; + + } + + } + + _lerpAdditive( buffer, dstOffset, srcOffset, t, stride ) { + + for ( let i = 0; i !== stride; ++ i ) { + + const j = dstOffset + i; + + buffer[ j ] = buffer[ j ] + buffer[ srcOffset + i ] * t; + + } + + } + +} + +// Characters [].:/ are reserved for track binding syntax. +const _RESERVED_CHARS_RE = '\\[\\]\\.:\\/'; +const _reservedRe = new RegExp( '[' + _RESERVED_CHARS_RE + ']', 'g' ); + +// Attempts to allow node names from any language. ES5's `\w` regexp matches +// only latin characters, and the unicode \p{L} is not yet supported. So +// instead, we exclude reserved characters and match everything else. +const _wordChar = '[^' + _RESERVED_CHARS_RE + ']'; +const _wordCharOrDot = '[^' + _RESERVED_CHARS_RE.replace( '\\.', '' ) + ']'; + +// Parent directories, delimited by '/' or ':'. Currently unused, but must +// be matched to parse the rest of the track name. +const _directoryRe = /*@__PURE__*/ /((?:WC+[\/:])*)/.source.replace( 'WC', _wordChar ); + +// Target node. May contain word characters (a-zA-Z0-9_) and '.' or '-'. +const _nodeRe = /*@__PURE__*/ /(WCOD+)?/.source.replace( 'WCOD', _wordCharOrDot ); + +// Object on target node, and accessor. May not contain reserved +// characters. Accessor may contain any character except closing bracket. +const _objectRe = /*@__PURE__*/ /(?:\.(WC+)(?:\[(.+)\])?)?/.source.replace( 'WC', _wordChar ); + +// Property and accessor. May not contain reserved characters. Accessor may +// contain any non-bracket characters. +const _propertyRe = /*@__PURE__*/ /\.(WC+)(?:\[(.+)\])?/.source.replace( 'WC', _wordChar ); + +const _trackRe = new RegExp( '' + + '^' + + _directoryRe + + _nodeRe + + _objectRe + + _propertyRe + + '$' +); + +const _supportedObjectNames = [ 'material', 'materials', 'bones', 'map' ]; + +class Composite { + + constructor( targetGroup, path, optionalParsedPath ) { + + const parsedPath = optionalParsedPath || PropertyBinding.parseTrackName( path ); + + this._targetGroup = targetGroup; + this._bindings = targetGroup.subscribe_( path, parsedPath ); + + } + + getValue( array, offset ) { + + this.bind(); // bind all binding + + const firstValidIndex = this._targetGroup.nCachedObjects_, + binding = this._bindings[ firstValidIndex ]; + + // and only call .getValue on the first + if ( binding !== undefined ) binding.getValue( array, offset ); + + } + + setValue( array, offset ) { + + const bindings = this._bindings; + + for ( let i = this._targetGroup.nCachedObjects_, n = bindings.length; i !== n; ++ i ) { + + bindings[ i ].setValue( array, offset ); + + } + + } + + bind() { + + const bindings = this._bindings; + + for ( let i = this._targetGroup.nCachedObjects_, n = bindings.length; i !== n; ++ i ) { + + bindings[ i ].bind(); + + } + + } + + unbind() { + + const bindings = this._bindings; + + for ( let i = this._targetGroup.nCachedObjects_, n = bindings.length; i !== n; ++ i ) { + + bindings[ i ].unbind(); + + } + + } + +} + +// Note: This class uses a State pattern on a per-method basis: +// 'bind' sets 'this.getValue' / 'setValue' and shadows the +// prototype version of these methods with one that represents +// the bound state. When the property is not found, the methods +// become no-ops. + + +/** + * This holds a reference to a real property in the scene graph; used internally. + */ +class PropertyBinding { + + /** + * Constructs a new property binding. + * + * @param {Object} rootNode - The root node. + * @param {string} path - The path. + * @param {?Object} [parsedPath] - The parsed path. + */ + constructor( rootNode, path, parsedPath ) { + + /** + * The object path to the animated property. + * + * @type {string} + */ + this.path = path; + + /** + * An object holding information about the path. + * + * @type {Object} + */ + this.parsedPath = parsedPath || PropertyBinding.parseTrackName( path ); + + /** + * The object owns the animated property. + * + * @type {?Object} + */ + this.node = PropertyBinding.findNode( rootNode, this.parsedPath.nodeName ); + + /** + * The root node. + * + * @type {Object3D|Skeleton} + */ + this.rootNode = rootNode; + + // initial state of these methods that calls 'bind' + this.getValue = this._getValue_unbound; + this.setValue = this._setValue_unbound; + + } + + + /** + * Factory method for creating a property binding from the given parameters. + * + * @static + * @param {Object} root - The root node. + * @param {string} path - The path. + * @param {?Object} [parsedPath] - The parsed path. + * @return {PropertyBinding|Composite} The created property binding or composite. + */ + static create( root, path, parsedPath ) { + + if ( ! ( root && root.isAnimationObjectGroup ) ) { + + return new PropertyBinding( root, path, parsedPath ); + + } else { + + return new PropertyBinding.Composite( root, path, parsedPath ); + + } + + } + + /** + * Replaces spaces with underscores and removes unsupported characters from + * node names, to ensure compatibility with parseTrackName(). + * + * @param {string} name - Node name to be sanitized. + * @return {string} The sanitized node name. + */ + static sanitizeNodeName( name ) { + + return name.replace( /\s/g, '_' ).replace( _reservedRe, '' ); + + } + + /** + * Parses the given track name (an object path to an animated property) and + * returns an object with information about the path. Matches strings in the following forms: + * + * - nodeName.property + * - nodeName.property[accessor] + * - nodeName.material.property[accessor] + * - uuid.property[accessor] + * - uuid.objectName[objectIndex].propertyName[propertyIndex] + * - parentName/nodeName.property + * - parentName/parentName/nodeName.property[index] + * - .bone[Armature.DEF_cog].position + * - scene:helium_balloon_model:helium_balloon_model.position + * + * @static + * @param {string} trackName - The track name to parse. + * @return {Object} The parsed track name as an object. + */ + static parseTrackName( trackName ) { + + const matches = _trackRe.exec( trackName ); + + if ( matches === null ) { + + throw new Error( 'PropertyBinding: Cannot parse trackName: ' + trackName ); + + } + + const results = { + // directoryName: matches[ 1 ], // (tschw) currently unused + nodeName: matches[ 2 ], + objectName: matches[ 3 ], + objectIndex: matches[ 4 ], + propertyName: matches[ 5 ], // required + propertyIndex: matches[ 6 ] + }; + + const lastDot = results.nodeName && results.nodeName.lastIndexOf( '.' ); + + if ( lastDot !== undefined && lastDot !== -1 ) { + + const objectName = results.nodeName.substring( lastDot + 1 ); + + // Object names must be checked against an allowlist. Otherwise, there + // is no way to parse 'foo.bar.baz': 'baz' must be a property, but + // 'bar' could be the objectName, or part of a nodeName (which can + // include '.' characters). + if ( _supportedObjectNames.indexOf( objectName ) !== -1 ) { + + results.nodeName = results.nodeName.substring( 0, lastDot ); + results.objectName = objectName; + + } + + } + + if ( results.propertyName === null || results.propertyName.length === 0 ) { + + throw new Error( 'PropertyBinding: can not parse propertyName from trackName: ' + trackName ); + + } + + return results; + + } + + /** + * Searches for a node in the hierarchy of the given root object by the given + * node name. + * + * @static + * @param {Object} root - The root object. + * @param {string|number} nodeName - The name of the node. + * @return {?Object} The found node. Returns `null` if no object was found. + */ + static findNode( root, nodeName ) { + + if ( nodeName === undefined || nodeName === '' || nodeName === '.' || nodeName === -1 || nodeName === root.name || nodeName === root.uuid ) { + + return root; + + } + + // search into skeleton bones. + if ( root.skeleton ) { + + const bone = root.skeleton.getBoneByName( nodeName ); + + if ( bone !== undefined ) { + + return bone; + + } + + } + + // search into node subtree. + if ( root.children ) { + + const searchNodeSubtree = function ( children ) { + + for ( let i = 0; i < children.length; i ++ ) { + + const childNode = children[ i ]; + + if ( childNode.name === nodeName || childNode.uuid === nodeName ) { + + return childNode; + + } + + const result = searchNodeSubtree( childNode.children ); + + if ( result ) return result; + + } + + return null; + + }; + + const subTreeNode = searchNodeSubtree( root.children ); + + if ( subTreeNode ) { + + return subTreeNode; + + } + + } + + return null; + + } + + // these are used to "bind" a nonexistent property + _getValue_unavailable() {} + _setValue_unavailable() {} + + // Getters + + _getValue_direct( buffer, offset ) { + + buffer[ offset ] = this.targetObject[ this.propertyName ]; + + } + + _getValue_array( buffer, offset ) { + + const source = this.resolvedProperty; + + for ( let i = 0, n = source.length; i !== n; ++ i ) { + + buffer[ offset ++ ] = source[ i ]; + + } + + } + + _getValue_arrayElement( buffer, offset ) { + + buffer[ offset ] = this.resolvedProperty[ this.propertyIndex ]; + + } + + _getValue_toArray( buffer, offset ) { + + this.resolvedProperty.toArray( buffer, offset ); + + } + + // Direct + + _setValue_direct( buffer, offset ) { + + this.targetObject[ this.propertyName ] = buffer[ offset ]; + + } + + _setValue_direct_setNeedsUpdate( buffer, offset ) { + + this.targetObject[ this.propertyName ] = buffer[ offset ]; + this.targetObject.needsUpdate = true; + + } + + _setValue_direct_setMatrixWorldNeedsUpdate( buffer, offset ) { + + this.targetObject[ this.propertyName ] = buffer[ offset ]; + this.targetObject.matrixWorldNeedsUpdate = true; + + } + + // EntireArray + + _setValue_array( buffer, offset ) { + + const dest = this.resolvedProperty; + + for ( let i = 0, n = dest.length; i !== n; ++ i ) { + + dest[ i ] = buffer[ offset ++ ]; + + } + + } + + _setValue_array_setNeedsUpdate( buffer, offset ) { + + const dest = this.resolvedProperty; + + for ( let i = 0, n = dest.length; i !== n; ++ i ) { + + dest[ i ] = buffer[ offset ++ ]; + + } + + this.targetObject.needsUpdate = true; + + } + + _setValue_array_setMatrixWorldNeedsUpdate( buffer, offset ) { + + const dest = this.resolvedProperty; + + for ( let i = 0, n = dest.length; i !== n; ++ i ) { + + dest[ i ] = buffer[ offset ++ ]; + + } + + this.targetObject.matrixWorldNeedsUpdate = true; + + } + + // ArrayElement + + _setValue_arrayElement( buffer, offset ) { + + this.resolvedProperty[ this.propertyIndex ] = buffer[ offset ]; + + } + + _setValue_arrayElement_setNeedsUpdate( buffer, offset ) { + + this.resolvedProperty[ this.propertyIndex ] = buffer[ offset ]; + this.targetObject.needsUpdate = true; + + } + + _setValue_arrayElement_setMatrixWorldNeedsUpdate( buffer, offset ) { + + this.resolvedProperty[ this.propertyIndex ] = buffer[ offset ]; + this.targetObject.matrixWorldNeedsUpdate = true; + + } + + // HasToFromArray + + _setValue_fromArray( buffer, offset ) { + + this.resolvedProperty.fromArray( buffer, offset ); + + } + + _setValue_fromArray_setNeedsUpdate( buffer, offset ) { + + this.resolvedProperty.fromArray( buffer, offset ); + this.targetObject.needsUpdate = true; + + } + + _setValue_fromArray_setMatrixWorldNeedsUpdate( buffer, offset ) { + + this.resolvedProperty.fromArray( buffer, offset ); + this.targetObject.matrixWorldNeedsUpdate = true; + + } + + _getValue_unbound( targetArray, offset ) { + + this.bind(); + this.getValue( targetArray, offset ); + + } + + _setValue_unbound( sourceArray, offset ) { + + this.bind(); + this.setValue( sourceArray, offset ); + + } + + /** + * Creates a getter / setter pair for the property tracked by this binding. + */ + bind() { + + let targetObject = this.node; + const parsedPath = this.parsedPath; + + const objectName = parsedPath.objectName; + const propertyName = parsedPath.propertyName; + let propertyIndex = parsedPath.propertyIndex; + + if ( ! targetObject ) { + + targetObject = PropertyBinding.findNode( this.rootNode, parsedPath.nodeName ); + + this.node = targetObject; + + } + + // set fail state so we can just 'return' on error + this.getValue = this._getValue_unavailable; + this.setValue = this._setValue_unavailable; + + // ensure there is a value node + if ( ! targetObject ) { + + warn( 'PropertyBinding: No target node found for track: ' + this.path + '.' ); + return; + + } + + if ( objectName ) { + + let objectIndex = parsedPath.objectIndex; + + // special cases were we need to reach deeper into the hierarchy to get the face materials.... + switch ( objectName ) { + + case 'materials': + + if ( ! targetObject.material ) { + + error( 'PropertyBinding: Can not bind to material as node does not have a material.', this ); + return; + + } + + if ( ! targetObject.material.materials ) { + + error( 'PropertyBinding: Can not bind to material.materials as node.material does not have a materials array.', this ); + return; + + } + + targetObject = targetObject.material.materials; + + break; + + case 'bones': + + if ( ! targetObject.skeleton ) { + + error( 'PropertyBinding: Can not bind to bones as node does not have a skeleton.', this ); + return; + + } + + // potential future optimization: skip this if propertyIndex is already an integer + // and convert the integer string to a true integer. + + targetObject = targetObject.skeleton.bones; + + // support resolving morphTarget names into indices. + for ( let i = 0; i < targetObject.length; i ++ ) { + + if ( targetObject[ i ].name === objectIndex ) { + + objectIndex = i; + break; + + } + + } + + break; + + case 'map': + + if ( 'map' in targetObject ) { + + targetObject = targetObject.map; + break; + + } + + if ( ! targetObject.material ) { + + error( 'PropertyBinding: Can not bind to material as node does not have a material.', this ); + return; + + } + + if ( ! targetObject.material.map ) { + + error( 'PropertyBinding: Can not bind to material.map as node.material does not have a map.', this ); + return; + + } + + targetObject = targetObject.material.map; + break; + + default: + + if ( targetObject[ objectName ] === undefined ) { + + error( 'PropertyBinding: Can not bind to objectName of node undefined.', this ); + return; + + } + + targetObject = targetObject[ objectName ]; + + } + + + if ( objectIndex !== undefined ) { + + if ( targetObject[ objectIndex ] === undefined ) { + + error( 'PropertyBinding: Trying to bind to objectIndex of objectName, but is undefined.', this, targetObject ); + return; + + } + + targetObject = targetObject[ objectIndex ]; + + } + + } + + // resolve property + const nodeProperty = targetObject[ propertyName ]; + + if ( nodeProperty === undefined ) { + + const nodeName = parsedPath.nodeName; + + error( 'PropertyBinding: Trying to update property for track: ' + nodeName + + '.' + propertyName + ' but it wasn\'t found.', targetObject ); + return; + + } + + // determine versioning scheme + let versioning = this.Versioning.None; + + this.targetObject = targetObject; + + if ( targetObject.isMaterial === true ) { + + versioning = this.Versioning.NeedsUpdate; + + } else if ( targetObject.isObject3D === true ) { + + versioning = this.Versioning.MatrixWorldNeedsUpdate; + + } + + // determine how the property gets bound + let bindingType = this.BindingType.Direct; + + if ( propertyIndex !== undefined ) { + + // access a sub element of the property array (only primitives are supported right now) + + if ( propertyName === 'morphTargetInfluences' ) { + + // potential optimization, skip this if propertyIndex is already an integer, and convert the integer string to a true integer. + + // support resolving morphTarget names into indices. + if ( ! targetObject.geometry ) { + + error( 'PropertyBinding: Can not bind to morphTargetInfluences because node does not have a geometry.', this ); + return; + + } + + if ( ! targetObject.geometry.morphAttributes ) { + + error( 'PropertyBinding: Can not bind to morphTargetInfluences because node does not have a geometry.morphAttributes.', this ); + return; + + } + + if ( targetObject.morphTargetDictionary[ propertyIndex ] !== undefined ) { + + propertyIndex = targetObject.morphTargetDictionary[ propertyIndex ]; + + } + + } + + bindingType = this.BindingType.ArrayElement; + + this.resolvedProperty = nodeProperty; + this.propertyIndex = propertyIndex; + + } else if ( nodeProperty.fromArray !== undefined && nodeProperty.toArray !== undefined ) { + + // must use copy for Object3D.Euler/Quaternion + + bindingType = this.BindingType.HasFromToArray; + + this.resolvedProperty = nodeProperty; + + } else if ( Array.isArray( nodeProperty ) ) { + + bindingType = this.BindingType.EntireArray; + + this.resolvedProperty = nodeProperty; + + } else { + + this.propertyName = propertyName; + + } + + // select getter / setter + this.getValue = this.GetterByBindingType[ bindingType ]; + this.setValue = this.SetterByBindingTypeAndVersioning[ bindingType ][ versioning ]; + + } + + /** + * Unbinds the property. + */ + unbind() { + + this.node = null; + + // back to the prototype version of getValue / setValue + // note: avoiding to mutate the shape of 'this' via 'delete' + this.getValue = this._getValue_unbound; + this.setValue = this._setValue_unbound; + + } + +} + +PropertyBinding.Composite = Composite; + +PropertyBinding.prototype.BindingType = { + Direct: 0, + EntireArray: 1, + ArrayElement: 2, + HasFromToArray: 3 +}; + +PropertyBinding.prototype.Versioning = { + None: 0, + NeedsUpdate: 1, + MatrixWorldNeedsUpdate: 2 +}; + +PropertyBinding.prototype.GetterByBindingType = [ + + PropertyBinding.prototype._getValue_direct, + PropertyBinding.prototype._getValue_array, + PropertyBinding.prototype._getValue_arrayElement, + PropertyBinding.prototype._getValue_toArray, + +]; + +PropertyBinding.prototype.SetterByBindingTypeAndVersioning = [ + + [ + // Direct + PropertyBinding.prototype._setValue_direct, + PropertyBinding.prototype._setValue_direct_setNeedsUpdate, + PropertyBinding.prototype._setValue_direct_setMatrixWorldNeedsUpdate, + + ], [ + + // EntireArray + + PropertyBinding.prototype._setValue_array, + PropertyBinding.prototype._setValue_array_setNeedsUpdate, + PropertyBinding.prototype._setValue_array_setMatrixWorldNeedsUpdate, + + ], [ + + // ArrayElement + PropertyBinding.prototype._setValue_arrayElement, + PropertyBinding.prototype._setValue_arrayElement_setNeedsUpdate, + PropertyBinding.prototype._setValue_arrayElement_setMatrixWorldNeedsUpdate, + + ], [ + + // HasToFromArray + PropertyBinding.prototype._setValue_fromArray, + PropertyBinding.prototype._setValue_fromArray_setNeedsUpdate, + PropertyBinding.prototype._setValue_fromArray_setMatrixWorldNeedsUpdate, + + ] + +]; + +/** + * A group of objects that receives a shared animation state. + * + * Usage: + * + * - Add objects you would otherwise pass as 'root' to the + * constructor or the .clipAction method of AnimationMixer. + * - Instead pass this object as 'root'. + * - You can also add and remove objects later when the mixer is running. + * + * Note: + * + * - Objects of this class appear as one object to the mixer, + * so cache control of the individual objects must be done on the group. + * + * Limitation: + * + * - The animated properties must be compatible among the all objects in the group. + * - A single property can either be controlled through a target group or directly, but not both. + */ +class AnimationObjectGroup { + + /** + * Constructs a new animation group. + * + * @param {...Object3D} arguments - An arbitrary number of 3D objects that share the same animation state. + */ + constructor() { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isAnimationObjectGroup = true; + + /** + * The UUID of the 3D object. + * + * @type {string} + * @readonly + */ + this.uuid = generateUUID(); + + // cached objects followed by the active ones + this._objects = Array.prototype.slice.call( arguments ); + + this.nCachedObjects_ = 0; // threshold + // note: read by PropertyBinding.Composite + + const indices = {}; + this._indicesByUUID = indices; // for bookkeeping + + for ( let i = 0, n = arguments.length; i !== n; ++ i ) { + + indices[ arguments[ i ].uuid ] = i; + + } + + this._paths = []; // inside: string + this._parsedPaths = []; // inside: { we don't care, here } + this._bindings = []; // inside: Array< PropertyBinding > + this._bindingsIndicesByPath = {}; // inside: indices in these arrays + + const scope = this; + + this.stats = { + + objects: { + get total() { + + return scope._objects.length; + + }, + get inUse() { + + return this.total - scope.nCachedObjects_; + + } + }, + get bindingsPerObject() { + + return scope._bindings.length; + + } + + }; + + } + + /** + * Adds an arbitrary number of objects to this animation group. + * + * @param {...Object3D} arguments - The 3D objects to add. + */ + add() { + + const objects = this._objects, + indicesByUUID = this._indicesByUUID, + paths = this._paths, + parsedPaths = this._parsedPaths, + bindings = this._bindings, + nBindings = bindings.length; + + let knownObject = undefined, + nObjects = objects.length, + nCachedObjects = this.nCachedObjects_; + + for ( let i = 0, n = arguments.length; i !== n; ++ i ) { + + const object = arguments[ i ], + uuid = object.uuid; + let index = indicesByUUID[ uuid ]; + + if ( index === undefined ) { + + // unknown object -> add it to the ACTIVE region + + index = nObjects ++; + indicesByUUID[ uuid ] = index; + objects.push( object ); + + // accounting is done, now do the same for all bindings + + for ( let j = 0, m = nBindings; j !== m; ++ j ) { + + bindings[ j ].push( new PropertyBinding( object, paths[ j ], parsedPaths[ j ] ) ); + + } + + } else if ( index < nCachedObjects ) { + + knownObject = objects[ index ]; + + // move existing object to the ACTIVE region + + const firstActiveIndex = -- nCachedObjects, + lastCachedObject = objects[ firstActiveIndex ]; + + indicesByUUID[ lastCachedObject.uuid ] = index; + objects[ index ] = lastCachedObject; + + indicesByUUID[ uuid ] = firstActiveIndex; + objects[ firstActiveIndex ] = object; + + // accounting is done, now do the same for all bindings + + for ( let j = 0, m = nBindings; j !== m; ++ j ) { + + const bindingsForPath = bindings[ j ], + lastCached = bindingsForPath[ firstActiveIndex ]; + + let binding = bindingsForPath[ index ]; + + bindingsForPath[ index ] = lastCached; + + if ( binding === undefined ) { + + // since we do not bother to create new bindings + // for objects that are cached, the binding may + // or may not exist + + binding = new PropertyBinding( object, paths[ j ], parsedPaths[ j ] ); + + } + + bindingsForPath[ firstActiveIndex ] = binding; + + } + + } else if ( objects[ index ] !== knownObject ) { + + error( 'AnimationObjectGroup: Different objects with the same UUID ' + + 'detected. Clean the caches or recreate your infrastructure when reloading scenes.' ); + + } // else the object is already where we want it to be + + } // for arguments + + this.nCachedObjects_ = nCachedObjects; + + } + + /** + * Removes an arbitrary number of objects to this animation group + * + * @param {...Object3D} arguments - The 3D objects to remove. + */ + remove() { + + const objects = this._objects, + indicesByUUID = this._indicesByUUID, + bindings = this._bindings, + nBindings = bindings.length; + + let nCachedObjects = this.nCachedObjects_; + + for ( let i = 0, n = arguments.length; i !== n; ++ i ) { + + const object = arguments[ i ], + uuid = object.uuid, + index = indicesByUUID[ uuid ]; + + if ( index !== undefined && index >= nCachedObjects ) { + + // move existing object into the CACHED region + + const lastCachedIndex = nCachedObjects ++, + firstActiveObject = objects[ lastCachedIndex ]; + + indicesByUUID[ firstActiveObject.uuid ] = index; + objects[ index ] = firstActiveObject; + + indicesByUUID[ uuid ] = lastCachedIndex; + objects[ lastCachedIndex ] = object; + + // accounting is done, now do the same for all bindings + + for ( let j = 0, m = nBindings; j !== m; ++ j ) { + + const bindingsForPath = bindings[ j ], + firstActive = bindingsForPath[ lastCachedIndex ], + binding = bindingsForPath[ index ]; + + bindingsForPath[ index ] = firstActive; + bindingsForPath[ lastCachedIndex ] = binding; + + } + + } + + } // for arguments + + this.nCachedObjects_ = nCachedObjects; + + } + + /** + * Deallocates all memory resources for the passed 3D objects of this animation group. + * + * @param {...Object3D} arguments - The 3D objects to uncache. + */ + uncache() { + + const objects = this._objects, + indicesByUUID = this._indicesByUUID, + bindings = this._bindings, + nBindings = bindings.length; + + let nCachedObjects = this.nCachedObjects_, + nObjects = objects.length; + + for ( let i = 0, n = arguments.length; i !== n; ++ i ) { + + const object = arguments[ i ], + uuid = object.uuid, + index = indicesByUUID[ uuid ]; + + if ( index !== undefined ) { + + delete indicesByUUID[ uuid ]; + + if ( index < nCachedObjects ) { + + // object is cached, shrink the CACHED region + + const firstActiveIndex = -- nCachedObjects, + lastCachedObject = objects[ firstActiveIndex ], + lastIndex = -- nObjects, + lastObject = objects[ lastIndex ]; + + // last cached object takes this object's place + indicesByUUID[ lastCachedObject.uuid ] = index; + objects[ index ] = lastCachedObject; + + // last object goes to the activated slot and pop + indicesByUUID[ lastObject.uuid ] = firstActiveIndex; + objects[ firstActiveIndex ] = lastObject; + objects.pop(); + + // accounting is done, now do the same for all bindings + + for ( let j = 0, m = nBindings; j !== m; ++ j ) { + + const bindingsForPath = bindings[ j ], + lastCached = bindingsForPath[ firstActiveIndex ], + last = bindingsForPath[ lastIndex ]; + + bindingsForPath[ index ] = lastCached; + bindingsForPath[ firstActiveIndex ] = last; + bindingsForPath.pop(); + + } + + } else { + + // object is active, just swap with the last and pop + + const lastIndex = -- nObjects, + lastObject = objects[ lastIndex ]; + + if ( lastIndex > 0 ) { + + indicesByUUID[ lastObject.uuid ] = index; + + } + + objects[ index ] = lastObject; + objects.pop(); + + // accounting is done, now do the same for all bindings + + for ( let j = 0, m = nBindings; j !== m; ++ j ) { + + const bindingsForPath = bindings[ j ]; + + bindingsForPath[ index ] = bindingsForPath[ lastIndex ]; + bindingsForPath.pop(); + + } + + } // cached or active + + } // if object is known + + } // for arguments + + this.nCachedObjects_ = nCachedObjects; + + } + + // Internal interface used by befriended PropertyBinding.Composite: + + subscribe_( path, parsedPath ) { + + // returns an array of bindings for the given path that is changed + // according to the contained objects in the group + + const indicesByPath = this._bindingsIndicesByPath; + let index = indicesByPath[ path ]; + const bindings = this._bindings; + + if ( index !== undefined ) return bindings[ index ]; + + const paths = this._paths, + parsedPaths = this._parsedPaths, + objects = this._objects, + nObjects = objects.length, + nCachedObjects = this.nCachedObjects_, + bindingsForPath = new Array( nObjects ); + + index = bindings.length; + + indicesByPath[ path ] = index; + + paths.push( path ); + parsedPaths.push( parsedPath ); + bindings.push( bindingsForPath ); + + for ( let i = nCachedObjects, n = objects.length; i !== n; ++ i ) { + + const object = objects[ i ]; + bindingsForPath[ i ] = new PropertyBinding( object, path, parsedPath ); + + } + + return bindingsForPath; + + } + + unsubscribe_( path ) { + + // tells the group to forget about a property path and no longer + // update the array previously obtained with 'subscribe_' + + const indicesByPath = this._bindingsIndicesByPath, + index = indicesByPath[ path ]; + + if ( index !== undefined ) { + + const paths = this._paths, + parsedPaths = this._parsedPaths, + bindings = this._bindings, + lastBindingsIndex = bindings.length - 1, + lastBindings = bindings[ lastBindingsIndex ], + lastBindingsPath = path[ lastBindingsIndex ]; + + indicesByPath[ lastBindingsPath ] = index; + + bindings[ index ] = lastBindings; + bindings.pop(); + + parsedPaths[ index ] = parsedPaths[ lastBindingsIndex ]; + parsedPaths.pop(); + + paths[ index ] = paths[ lastBindingsIndex ]; + paths.pop(); + + } + + } + +} + +/** + * An instance of `AnimationAction` schedules the playback of an animation which is + * stored in {@link AnimationClip}. + */ +class AnimationAction { + + /** + * Constructs a new animation action. + * + * @param {AnimationMixer} mixer - The mixer that is controlled by this action. + * @param {AnimationClip} clip - The animation clip that holds the actual keyframes. + * @param {?Object3D} [localRoot=null] - The root object on which this action is performed. + * @param {(NormalAnimationBlendMode|AdditiveAnimationBlendMode)} [blendMode] - The blend mode. + */ + constructor( mixer, clip, localRoot = null, blendMode = clip.blendMode ) { + + this._mixer = mixer; + this._clip = clip; + this._localRoot = localRoot; + + /** + * Defines how the animation is blended/combined when two or more animations + * are simultaneously played. + * + * @type {(NormalAnimationBlendMode|AdditiveAnimationBlendMode)} + */ + this.blendMode = blendMode; + + const tracks = clip.tracks, + nTracks = tracks.length, + interpolants = new Array( nTracks ); + + const interpolantSettings = { + endingStart: ZeroCurvatureEnding, + endingEnd: ZeroCurvatureEnding + }; + + for ( let i = 0; i !== nTracks; ++ i ) { + + const interpolant = tracks[ i ].createInterpolant( null ); + interpolants[ i ] = interpolant; + interpolant.settings = interpolantSettings; + + } + + this._interpolantSettings = interpolantSettings; + + this._interpolants = interpolants; // bound by the mixer + + // inside: PropertyMixer (managed by the mixer) + this._propertyBindings = new Array( nTracks ); + + this._cacheIndex = null; // for the memory manager + this._byClipCacheIndex = null; // for the memory manager + + this._timeScaleInterpolant = null; + this._weightInterpolant = null; + + /** + * The loop mode, set via {@link AnimationAction#setLoop}. + * + * @type {(LoopRepeat|LoopOnce|LoopPingPong)} + * @default LoopRepeat + */ + this.loop = LoopRepeat; + this._loopCount = -1; + + // global mixer time when the action is to be started + // it's set back to 'null' upon start of the action + this._startTime = null; + + /** + * The local time of this action (in seconds, starting with `0`). + * + * The value gets clamped or wrapped to `[0,clip.duration]` (according to the + * loop state). + * + * @type {number} + * @default Infinity + */ + this.time = 0; + + /** + * Scaling factor for the {@link AnimationAction#time}. A value of `0` causes the + * animation to pause. Negative values cause the animation to play backwards. + * + * @type {number} + * @default 1 + */ + this.timeScale = 1; + this._effectiveTimeScale = 1; + + /** + * The degree of influence of this action (in the interval `[0, 1]`). Values + * between `0` (no impact) and `1` (full impact) can be used to blend between + * several actions. + * + * @type {number} + * @default 1 + */ + this.weight = 1; + this._effectiveWeight = 1; + + /** + * The number of repetitions of the performed clip over the course of this action. + * Can be set via {@link AnimationAction#setLoop}. + * + * Setting this number has no effect if {@link AnimationAction#loop} is set to + * `THREE:LoopOnce`. + * + * @type {number} + * @default Infinity + */ + this.repetitions = Infinity; + + /** + * If set to `true`, the playback of the action is paused. + * + * @type {boolean} + * @default false + */ + this.paused = false; + + /** + * If set to `false`, the action is disabled so it has no impact. + * + * When the action is re-enabled, the animation continues from its current + * time (setting `enabled` to `false` doesn't reset the action). + * + * @type {boolean} + * @default true + */ + this.enabled = true; + + /** + * If set to true the animation will automatically be paused on its last frame. + * + * If set to false, {@link AnimationAction#enabled} will automatically be switched + * to `false` when the last loop of the action has finished, so that this action has + * no further impact. + * + * Note: This member has no impact if the action is interrupted (it + * has only an effect if its last loop has really finished). + * + * @type {boolean} + * @default false + */ + this.clampWhenFinished = false; + + /** + * Enables smooth interpolation without separate clips for start, loop and end. + * + * @type {boolean} + * @default true + */ + this.zeroSlopeAtStart = true; + + /** + * Enables smooth interpolation without separate clips for start, loop and end. + * + * @type {boolean} + * @default true + */ + this.zeroSlopeAtEnd = true; + + } + + /** + * Starts the playback of the animation. + * + * @return {AnimationAction} A reference to this animation action. + */ + play() { + + this._mixer._activateAction( this ); + + return this; + + } + + /** + * Stops the playback of the animation. + * + * @return {AnimationAction} A reference to this animation action. + */ + stop() { + + this._mixer._deactivateAction( this ); + + return this.reset(); + + } + + /** + * Resets the playback of the animation. + * + * @return {AnimationAction} A reference to this animation action. + */ + reset() { + + this.paused = false; + this.enabled = true; + + this.time = 0; // restart clip + this._loopCount = -1;// forget previous loops + this._startTime = null;// forget scheduling + + return this.stopFading().stopWarping(); + + } + + /** + * Returns `true` if the animation is running. + * + * @return {boolean} Whether the animation is running or not. + */ + isRunning() { + + return this.enabled && ! this.paused && this.timeScale !== 0 && + this._startTime === null && this._mixer._isActiveAction( this ); + + } + + /** + * Returns `true` when {@link AnimationAction#play} has been called. + * + * @return {boolean} Whether the animation is scheduled or not. + */ + isScheduled() { + + return this._mixer._isActiveAction( this ); + + } + + /** + * Defines the time when the animation should start. + * + * @param {number} time - The start time in seconds. + * @return {AnimationAction} A reference to this animation action. + */ + startAt( time ) { + + this._startTime = time; + + return this; + + } + + /** + * Configures the loop settings for this action. + * + * @param {(LoopRepeat|LoopOnce|LoopPingPong)} mode - The loop mode. + * @param {number} repetitions - The number of repetitions. + * @return {AnimationAction} A reference to this animation action. + */ + setLoop( mode, repetitions ) { + + this.loop = mode; + this.repetitions = repetitions; + + return this; + + } + + /** + * Sets the effective weight of this action. + * + * An action has no effect and thus an effective weight of zero when the + * action is disabled. + * + * @param {number} weight - The weight to set. + * @return {AnimationAction} A reference to this animation action. + */ + setEffectiveWeight( weight ) { + + this.weight = weight; + + // note: same logic as when updated at runtime + this._effectiveWeight = this.enabled ? weight : 0; + + return this.stopFading(); + + } + + /** + * Returns the effective weight of this action. + * + * @return {number} The effective weight. + */ + getEffectiveWeight() { + + return this._effectiveWeight; + + } + + /** + * Fades the animation in by increasing its weight gradually from `0` to `1`, + * within the passed time interval. + * + * @param {number} duration - The duration of the fade. + * @return {AnimationAction} A reference to this animation action. + */ + fadeIn( duration ) { + + return this._scheduleFading( duration, 0, 1 ); + + } + + /** + * Fades the animation out by decreasing its weight gradually from `1` to `0`, + * within the passed time interval. + * + * @param {number} duration - The duration of the fade. + * @return {AnimationAction} A reference to this animation action. + */ + fadeOut( duration ) { + + return this._scheduleFading( duration, 1, 0 ); + + } + + /** + * Causes this action to fade in and the given action to fade out, + * within the passed time interval. + * + * @param {AnimationAction} fadeOutAction - The animation action to fade out. + * @param {number} duration - The duration of the fade. + * @param {boolean} [warp=false] - Whether warping should be used or not. + * @return {AnimationAction} A reference to this animation action. + */ + crossFadeFrom( fadeOutAction, duration, warp = false ) { + + fadeOutAction.fadeOut( duration ); + this.fadeIn( duration ); + + if ( warp === true ) { + + const fadeInDuration = this._clip.duration, + fadeOutDuration = fadeOutAction._clip.duration, + + startEndRatio = fadeOutDuration / fadeInDuration, + endStartRatio = fadeInDuration / fadeOutDuration; + + fadeOutAction.warp( 1.0, startEndRatio, duration ); + this.warp( endStartRatio, 1.0, duration ); + + } + + return this; + + } + + /** + * Causes this action to fade out and the given action to fade in, + * within the passed time interval. + * + * @param {AnimationAction} fadeInAction - The animation action to fade in. + * @param {number} duration - The duration of the fade. + * @param {boolean} [warp=false] - Whether warping should be used or not. + * @return {AnimationAction} A reference to this animation action. + */ + crossFadeTo( fadeInAction, duration, warp = false ) { + + return fadeInAction.crossFadeFrom( this, duration, warp ); + + } + + /** + * Stops any fading which is applied to this action. + * + * @return {AnimationAction} A reference to this animation action. + */ + stopFading() { + + const weightInterpolant = this._weightInterpolant; + + if ( weightInterpolant !== null ) { + + this._weightInterpolant = null; + this._mixer._takeBackControlInterpolant( weightInterpolant ); + + } + + return this; + + } + + /** + * Sets the effective time scale of this action. + * + * An action has no effect and thus an effective time scale of zero when the + * action is paused. + * + * @param {number} timeScale - The time scale to set. + * @return {AnimationAction} A reference to this animation action. + */ + setEffectiveTimeScale( timeScale ) { + + this.timeScale = timeScale; + this._effectiveTimeScale = this.paused ? 0 : timeScale; + + return this.stopWarping(); + + } + + /** + * Returns the effective time scale of this action. + * + * @return {number} The effective time scale. + */ + getEffectiveTimeScale() { + + return this._effectiveTimeScale; + + } + + /** + * Sets the duration for a single loop of this action. + * + * @param {number} duration - The duration to set. + * @return {AnimationAction} A reference to this animation action. + */ + setDuration( duration ) { + + this.timeScale = this._clip.duration / duration; + + return this.stopWarping(); + + } + + /** + * Synchronizes this action with the passed other action. + * + * @param {AnimationAction} action - The action to sync with. + * @return {AnimationAction} A reference to this animation action. + */ + syncWith( action ) { + + this.time = action.time; + this.timeScale = action.timeScale; + + return this.stopWarping(); + + } + + /** + * Decelerates this animation's speed to `0` within the passed time interval. + * + * @param {number} duration - The duration. + * @return {AnimationAction} A reference to this animation action. + */ + halt( duration ) { + + return this.warp( this._effectiveTimeScale, 0, duration ); + + } + + /** + * Changes the playback speed, within the passed time interval, by modifying + * {@link AnimationAction#timeScale} gradually from `startTimeScale` to + * `endTimeScale`. + * + * @param {number} startTimeScale - The start time scale. + * @param {number} endTimeScale - The end time scale. + * @param {number} duration - The duration. + * @return {AnimationAction} A reference to this animation action. + */ + warp( startTimeScale, endTimeScale, duration ) { + + const mixer = this._mixer, + now = mixer.time, + timeScale = this.timeScale; + + let interpolant = this._timeScaleInterpolant; + + if ( interpolant === null ) { + + interpolant = mixer._lendControlInterpolant(); + this._timeScaleInterpolant = interpolant; + + } + + const times = interpolant.parameterPositions, + values = interpolant.sampleValues; + + times[ 0 ] = now; + times[ 1 ] = now + duration; + + values[ 0 ] = startTimeScale / timeScale; + values[ 1 ] = endTimeScale / timeScale; + + return this; + + } + + /** + * Stops any scheduled warping which is applied to this action. + * + * @return {AnimationAction} A reference to this animation action. + */ + stopWarping() { + + const timeScaleInterpolant = this._timeScaleInterpolant; + + if ( timeScaleInterpolant !== null ) { + + this._timeScaleInterpolant = null; + this._mixer._takeBackControlInterpolant( timeScaleInterpolant ); + + } + + return this; + + } + + /** + * Returns the animation mixer of this animation action. + * + * @return {AnimationMixer} The animation mixer. + */ + getMixer() { + + return this._mixer; + + } + + /** + * Returns the animation clip of this animation action. + * + * @return {AnimationClip} The animation clip. + */ + getClip() { + + return this._clip; + + } + + /** + * Returns the root object of this animation action. + * + * @return {Object3D} The root object. + */ + getRoot() { + + return this._localRoot || this._mixer._root; + + } + + // Internal + + _update( time, deltaTime, timeDirection, accuIndex ) { + + // called by the mixer + + if ( ! this.enabled ) { + + // call ._updateWeight() to update ._effectiveWeight + + this._updateWeight( time ); + return; + + } + + const startTime = this._startTime; + + if ( startTime !== null ) { + + // check for scheduled start of action + + const timeRunning = ( time - startTime ) * timeDirection; + if ( timeRunning < 0 || timeDirection === 0 ) { + + deltaTime = 0; + + } else { + + + this._startTime = null; // unschedule + deltaTime = timeDirection * timeRunning; + + } + + } + + // apply time scale and advance time + + deltaTime *= this._updateTimeScale( time ); + const clipTime = this._updateTime( deltaTime ); + + // note: _updateTime may disable the action resulting in + // an effective weight of 0 + + const weight = this._updateWeight( time ); + + if ( weight > 0 ) { + + const interpolants = this._interpolants; + const propertyMixers = this._propertyBindings; + + switch ( this.blendMode ) { + + case AdditiveAnimationBlendMode: + + for ( let j = 0, m = interpolants.length; j !== m; ++ j ) { + + interpolants[ j ].evaluate( clipTime ); + propertyMixers[ j ].accumulateAdditive( weight ); + + } + + break; + + case NormalAnimationBlendMode: + default: + + for ( let j = 0, m = interpolants.length; j !== m; ++ j ) { + + interpolants[ j ].evaluate( clipTime ); + propertyMixers[ j ].accumulate( accuIndex, weight ); + + } + + } + + } + + } + + _updateWeight( time ) { + + let weight = 0; + + if ( this.enabled ) { + + weight = this.weight; + const interpolant = this._weightInterpolant; + + if ( interpolant !== null ) { + + const interpolantValue = interpolant.evaluate( time )[ 0 ]; + + weight *= interpolantValue; + + if ( time > interpolant.parameterPositions[ 1 ] ) { + + this.stopFading(); + + if ( interpolantValue === 0 ) { + + // faded out, disable + this.enabled = false; + + } + + } + + } + + } + + this._effectiveWeight = weight; + return weight; + + } + + _updateTimeScale( time ) { + + let timeScale = 0; + + if ( ! this.paused ) { + + timeScale = this.timeScale; + + const interpolant = this._timeScaleInterpolant; + + if ( interpolant !== null ) { + + const interpolantValue = interpolant.evaluate( time )[ 0 ]; + + timeScale *= interpolantValue; + + if ( time > interpolant.parameterPositions[ 1 ] ) { + + this.stopWarping(); + + if ( timeScale === 0 ) { + + // motion has halted, pause + this.paused = true; + + } else { + + // warp done - apply final time scale + this.timeScale = timeScale; + + } + + } + + } + + } + + this._effectiveTimeScale = timeScale; + return timeScale; + + } + + _updateTime( deltaTime ) { + + const duration = this._clip.duration; + const loop = this.loop; + + let time = this.time + deltaTime; + let loopCount = this._loopCount; + + const pingPong = ( loop === LoopPingPong ); + + if ( deltaTime === 0 ) { + + if ( loopCount === -1 ) return time; + + return ( pingPong && ( loopCount & 1 ) === 1 ) ? duration - time : time; + + } + + if ( loop === LoopOnce ) { + + if ( loopCount === -1 ) { + + // just started + + this._loopCount = 0; + this._setEndings( true, true, false ); + + } + + handle_stop: { + + if ( time >= duration ) { + + time = duration; + + } else if ( time < 0 ) { + + time = 0; + + } else { + + this.time = time; + + break handle_stop; + + } + + if ( this.clampWhenFinished ) this.paused = true; + else this.enabled = false; + + this.time = time; + + this._mixer.dispatchEvent( { + type: 'finished', action: this, + direction: deltaTime < 0 ? -1 : 1 + } ); + + } + + } else { // repetitive Repeat or PingPong + + if ( loopCount === -1 ) { + + // just started + + if ( deltaTime >= 0 ) { + + loopCount = 0; + + this._setEndings( true, this.repetitions === 0, pingPong ); + + } else { + + // when looping in reverse direction, the initial + // transition through zero counts as a repetition, + // so leave loopCount at -1 + + this._setEndings( this.repetitions === 0, true, pingPong ); + + } + + } + + if ( time >= duration || time < 0 ) { + + // wrap around + + const loopDelta = Math.floor( time / duration ); // signed + time -= duration * loopDelta; + + loopCount += Math.abs( loopDelta ); + + const pending = this.repetitions - loopCount; + + if ( pending <= 0 ) { + + // have to stop (switch state, clamp time, fire event) + + if ( this.clampWhenFinished ) this.paused = true; + else this.enabled = false; + + time = deltaTime > 0 ? duration : 0; + + this.time = time; + + this._mixer.dispatchEvent( { + type: 'finished', action: this, + direction: deltaTime > 0 ? 1 : -1 + } ); + + } else { + + // keep running + + if ( pending === 1 ) { + + // entering the last round + + const atStart = deltaTime < 0; + this._setEndings( atStart, ! atStart, pingPong ); + + } else { + + this._setEndings( false, false, pingPong ); + + } + + this._loopCount = loopCount; + + this.time = time; + + this._mixer.dispatchEvent( { + type: 'loop', action: this, loopDelta: loopDelta + } ); + + } + + } else { + + this.time = time; + + } + + if ( pingPong && ( loopCount & 1 ) === 1 ) { + + // invert time for the "pong round" + + return duration - time; + + } + + } + + return time; + + } + + _setEndings( atStart, atEnd, pingPong ) { + + const settings = this._interpolantSettings; + + if ( pingPong ) { + + settings.endingStart = ZeroSlopeEnding; + settings.endingEnd = ZeroSlopeEnding; + + } else { + + // assuming for LoopOnce atStart == atEnd == true + + if ( atStart ) { + + settings.endingStart = this.zeroSlopeAtStart ? ZeroSlopeEnding : ZeroCurvatureEnding; + + } else { + + settings.endingStart = WrapAroundEnding; + + } + + if ( atEnd ) { + + settings.endingEnd = this.zeroSlopeAtEnd ? ZeroSlopeEnding : ZeroCurvatureEnding; + + } else { + + settings.endingEnd = WrapAroundEnding; + + } + + } + + } + + _scheduleFading( duration, weightNow, weightThen ) { + + const mixer = this._mixer, now = mixer.time; + let interpolant = this._weightInterpolant; + + if ( interpolant === null ) { + + interpolant = mixer._lendControlInterpolant(); + this._weightInterpolant = interpolant; + + } + + const times = interpolant.parameterPositions, + values = interpolant.sampleValues; + + times[ 0 ] = now; + values[ 0 ] = weightNow; + times[ 1 ] = now + duration; + values[ 1 ] = weightThen; + + return this; + + } + +} + +const _controlInterpolantsResultBuffer = new Float32Array( 1 ); + +/** + * `AnimationMixer` is a player for animations on a particular object in + * the scene. When multiple objects in the scene are animated independently, + * one `AnimationMixer` may be used for each object. + */ +class AnimationMixer extends EventDispatcher { + + /** + * Constructs a new animation mixer. + * + * @param {Object3D} root - The object whose animations shall be played by this mixer. + */ + constructor( root ) { + + super(); + + this._root = root; + this._initMemoryManager(); + this._accuIndex = 0; + + /** + * The global mixer time (in seconds; starting with `0` on the mixer's creation). + * + * @type {number} + * @default 0 + */ + this.time = 0; + + /** + * A scaling factor for the global time. + * + * Note: Setting this member to `0` and later back to `1` is a + * possibility to pause/unpause all actions that are controlled by this + * mixer. + * + * @type {number} + * @default 1 + */ + this.timeScale = 1.0; + + if ( typeof __THREE_DEVTOOLS__ !== 'undefined' ) { + + __THREE_DEVTOOLS__.dispatchEvent( new CustomEvent( 'observe', { detail: this } ) ); + + } + + } + + _bindAction( action, prototypeAction ) { + + const root = action._localRoot || this._root, + tracks = action._clip.tracks, + nTracks = tracks.length, + bindings = action._propertyBindings, + interpolants = action._interpolants, + rootUuid = root.uuid, + bindingsByRoot = this._bindingsByRootAndName; + + let bindingsByName = bindingsByRoot[ rootUuid ]; + + if ( bindingsByName === undefined ) { + + bindingsByName = {}; + bindingsByRoot[ rootUuid ] = bindingsByName; + + } + + for ( let i = 0; i !== nTracks; ++ i ) { + + const track = tracks[ i ], + trackName = track.name; + + let binding = bindingsByName[ trackName ]; + + if ( binding !== undefined ) { + + ++ binding.referenceCount; + bindings[ i ] = binding; + + } else { + + binding = bindings[ i ]; + + if ( binding !== undefined ) { + + // existing binding, make sure the cache knows + + if ( binding._cacheIndex === null ) { + + ++ binding.referenceCount; + this._addInactiveBinding( binding, rootUuid, trackName ); + + } + + continue; + + } + + const path = prototypeAction && prototypeAction. + _propertyBindings[ i ].binding.parsedPath; + + binding = new PropertyMixer( + PropertyBinding.create( root, trackName, path ), + track.ValueTypeName, track.getValueSize() ); + + ++ binding.referenceCount; + this._addInactiveBinding( binding, rootUuid, trackName ); + + bindings[ i ] = binding; + + } + + interpolants[ i ].resultBuffer = binding.buffer; + + } + + } + + _activateAction( action ) { + + if ( ! this._isActiveAction( action ) ) { + + if ( action._cacheIndex === null ) { + + // this action has been forgotten by the cache, but the user + // appears to be still using it -> rebind + + const rootUuid = ( action._localRoot || this._root ).uuid, + clipUuid = action._clip.uuid, + actionsForClip = this._actionsByClip[ clipUuid ]; + + this._bindAction( action, + actionsForClip && actionsForClip.knownActions[ 0 ] ); + + this._addInactiveAction( action, clipUuid, rootUuid ); + + } + + const bindings = action._propertyBindings; + + // increment reference counts / sort out state + for ( let i = 0, n = bindings.length; i !== n; ++ i ) { + + const binding = bindings[ i ]; + + if ( binding.useCount ++ === 0 ) { + + this._lendBinding( binding ); + binding.saveOriginalState(); + + } + + } + + this._lendAction( action ); + + } + + } + + _deactivateAction( action ) { + + if ( this._isActiveAction( action ) ) { + + const bindings = action._propertyBindings; + + // decrement reference counts / sort out state + for ( let i = 0, n = bindings.length; i !== n; ++ i ) { + + const binding = bindings[ i ]; + + if ( -- binding.useCount === 0 ) { + + binding.restoreOriginalState(); + this._takeBackBinding( binding ); + + } + + } + + this._takeBackAction( action ); + + } + + } + + // Memory manager + + _initMemoryManager() { + + this._actions = []; // 'nActiveActions' followed by inactive ones + this._nActiveActions = 0; + + this._actionsByClip = {}; + // inside: + // { + // knownActions: Array< AnimationAction > - used as prototypes + // actionByRoot: AnimationAction - lookup + // } + + + this._bindings = []; // 'nActiveBindings' followed by inactive ones + this._nActiveBindings = 0; + + this._bindingsByRootAndName = {}; // inside: Map< name, PropertyMixer > + + + this._controlInterpolants = []; // same game as above + this._nActiveControlInterpolants = 0; + + const scope = this; + + this.stats = { + + actions: { + get total() { + + return scope._actions.length; + + }, + get inUse() { + + return scope._nActiveActions; + + } + }, + bindings: { + get total() { + + return scope._bindings.length; + + }, + get inUse() { + + return scope._nActiveBindings; + + } + }, + controlInterpolants: { + get total() { + + return scope._controlInterpolants.length; + + }, + get inUse() { + + return scope._nActiveControlInterpolants; + + } + } + + }; + + } + + // Memory management for AnimationAction objects + + _isActiveAction( action ) { + + const index = action._cacheIndex; + return index !== null && index < this._nActiveActions; + + } + + _addInactiveAction( action, clipUuid, rootUuid ) { + + const actions = this._actions, + actionsByClip = this._actionsByClip; + + let actionsForClip = actionsByClip[ clipUuid ]; + + if ( actionsForClip === undefined ) { + + actionsForClip = { + + knownActions: [ action ], + actionByRoot: {} + + }; + + action._byClipCacheIndex = 0; + + actionsByClip[ clipUuid ] = actionsForClip; + + } else { + + const knownActions = actionsForClip.knownActions; + + action._byClipCacheIndex = knownActions.length; + knownActions.push( action ); + + } + + action._cacheIndex = actions.length; + actions.push( action ); + + actionsForClip.actionByRoot[ rootUuid ] = action; + + } + + _removeInactiveAction( action ) { + + const actions = this._actions, + lastInactiveAction = actions[ actions.length - 1 ], + cacheIndex = action._cacheIndex; + + lastInactiveAction._cacheIndex = cacheIndex; + actions[ cacheIndex ] = lastInactiveAction; + actions.pop(); + + action._cacheIndex = null; + + + const clipUuid = action._clip.uuid, + actionsByClip = this._actionsByClip, + actionsForClip = actionsByClip[ clipUuid ], + knownActionsForClip = actionsForClip.knownActions, + + lastKnownAction = + knownActionsForClip[ knownActionsForClip.length - 1 ], + + byClipCacheIndex = action._byClipCacheIndex; + + lastKnownAction._byClipCacheIndex = byClipCacheIndex; + knownActionsForClip[ byClipCacheIndex ] = lastKnownAction; + knownActionsForClip.pop(); + + action._byClipCacheIndex = null; + + + const actionByRoot = actionsForClip.actionByRoot, + rootUuid = ( action._localRoot || this._root ).uuid; + + delete actionByRoot[ rootUuid ]; + + if ( knownActionsForClip.length === 0 ) { + + delete actionsByClip[ clipUuid ]; + + } + + this._removeInactiveBindingsForAction( action ); + + } + + _removeInactiveBindingsForAction( action ) { + + const bindings = action._propertyBindings; + + for ( let i = 0, n = bindings.length; i !== n; ++ i ) { + + const binding = bindings[ i ]; + + if ( -- binding.referenceCount === 0 ) { + + this._removeInactiveBinding( binding ); + + } + + } + + } + + _lendAction( action ) { + + // [ active actions | inactive actions ] + // [ active actions >| inactive actions ] + // s a + // <-swap-> + // a s + + const actions = this._actions, + prevIndex = action._cacheIndex, + + lastActiveIndex = this._nActiveActions ++, + + firstInactiveAction = actions[ lastActiveIndex ]; + + action._cacheIndex = lastActiveIndex; + actions[ lastActiveIndex ] = action; + + firstInactiveAction._cacheIndex = prevIndex; + actions[ prevIndex ] = firstInactiveAction; + + } + + _takeBackAction( action ) { + + // [ active actions | inactive actions ] + // [ active actions |< inactive actions ] + // a s + // <-swap-> + // s a + + const actions = this._actions, + prevIndex = action._cacheIndex, + + firstInactiveIndex = -- this._nActiveActions, + + lastActiveAction = actions[ firstInactiveIndex ]; + + action._cacheIndex = firstInactiveIndex; + actions[ firstInactiveIndex ] = action; + + lastActiveAction._cacheIndex = prevIndex; + actions[ prevIndex ] = lastActiveAction; + + } + + // Memory management for PropertyMixer objects + + _addInactiveBinding( binding, rootUuid, trackName ) { + + const bindingsByRoot = this._bindingsByRootAndName, + bindings = this._bindings; + + let bindingByName = bindingsByRoot[ rootUuid ]; + + if ( bindingByName === undefined ) { + + bindingByName = {}; + bindingsByRoot[ rootUuid ] = bindingByName; + + } + + bindingByName[ trackName ] = binding; + + binding._cacheIndex = bindings.length; + bindings.push( binding ); + + } + + _removeInactiveBinding( binding ) { + + const bindings = this._bindings, + propBinding = binding.binding, + rootUuid = propBinding.rootNode.uuid, + trackName = propBinding.path, + bindingsByRoot = this._bindingsByRootAndName, + bindingByName = bindingsByRoot[ rootUuid ], + + lastInactiveBinding = bindings[ bindings.length - 1 ], + cacheIndex = binding._cacheIndex; + + lastInactiveBinding._cacheIndex = cacheIndex; + bindings[ cacheIndex ] = lastInactiveBinding; + bindings.pop(); + + delete bindingByName[ trackName ]; + + if ( Object.keys( bindingByName ).length === 0 ) { + + delete bindingsByRoot[ rootUuid ]; + + } + + } + + _lendBinding( binding ) { + + const bindings = this._bindings, + prevIndex = binding._cacheIndex, + + lastActiveIndex = this._nActiveBindings ++, + + firstInactiveBinding = bindings[ lastActiveIndex ]; + + binding._cacheIndex = lastActiveIndex; + bindings[ lastActiveIndex ] = binding; + + firstInactiveBinding._cacheIndex = prevIndex; + bindings[ prevIndex ] = firstInactiveBinding; + + } + + _takeBackBinding( binding ) { + + const bindings = this._bindings, + prevIndex = binding._cacheIndex, + + firstInactiveIndex = -- this._nActiveBindings, + + lastActiveBinding = bindings[ firstInactiveIndex ]; + + binding._cacheIndex = firstInactiveIndex; + bindings[ firstInactiveIndex ] = binding; + + lastActiveBinding._cacheIndex = prevIndex; + bindings[ prevIndex ] = lastActiveBinding; + + } + + + // Memory management of Interpolants for weight and time scale + + _lendControlInterpolant() { + + const interpolants = this._controlInterpolants, + lastActiveIndex = this._nActiveControlInterpolants ++; + + let interpolant = interpolants[ lastActiveIndex ]; + + if ( interpolant === undefined ) { + + interpolant = new LinearInterpolant( + new Float32Array( 2 ), new Float32Array( 2 ), + 1, _controlInterpolantsResultBuffer ); + + interpolant.__cacheIndex = lastActiveIndex; + interpolants[ lastActiveIndex ] = interpolant; + + } + + return interpolant; + + } + + _takeBackControlInterpolant( interpolant ) { + + const interpolants = this._controlInterpolants, + prevIndex = interpolant.__cacheIndex, + + firstInactiveIndex = -- this._nActiveControlInterpolants, + + lastActiveInterpolant = interpolants[ firstInactiveIndex ]; + + interpolant.__cacheIndex = firstInactiveIndex; + interpolants[ firstInactiveIndex ] = interpolant; + + lastActiveInterpolant.__cacheIndex = prevIndex; + interpolants[ prevIndex ] = lastActiveInterpolant; + + } + + /** + * Returns an instance of {@link AnimationAction} for the passed clip. + * + * If an action fitting the clip and root parameters doesn't yet exist, it + * will be created by this method. Calling this method several times with the + * same clip and root parameters always returns the same action. + * + * @param {AnimationClip|string} clip - An animation clip or alternatively the name of the animation clip. + * @param {Object3D} [optionalRoot] - An alternative root object. + * @param {(NormalAnimationBlendMode|AdditiveAnimationBlendMode)} [blendMode] - The blend mode. + * @return {?AnimationAction} The animation action. + */ + clipAction( clip, optionalRoot, blendMode ) { + + const root = optionalRoot || this._root, + rootUuid = root.uuid; + + let clipObject = typeof clip === 'string' ? AnimationClip.findByName( root, clip ) : clip; + + const clipUuid = clipObject !== null ? clipObject.uuid : clip; + + const actionsForClip = this._actionsByClip[ clipUuid ]; + let prototypeAction = null; + + if ( blendMode === undefined ) { + + if ( clipObject !== null ) { + + blendMode = clipObject.blendMode; + + } else { + + blendMode = NormalAnimationBlendMode; + + } + + } + + if ( actionsForClip !== undefined ) { + + const existingAction = actionsForClip.actionByRoot[ rootUuid ]; + + if ( existingAction !== undefined && existingAction.blendMode === blendMode ) { + + return existingAction; + + } + + // we know the clip, so we don't have to parse all + // the bindings again but can just copy + prototypeAction = actionsForClip.knownActions[ 0 ]; + + // also, take the clip from the prototype action + if ( clipObject === null ) + clipObject = prototypeAction._clip; + + } + + // clip must be known when specified via string + if ( clipObject === null ) return null; + + // allocate all resources required to run it + const newAction = new AnimationAction( this, clipObject, optionalRoot, blendMode ); + + this._bindAction( newAction, prototypeAction ); + + // and make the action known to the memory manager + this._addInactiveAction( newAction, clipUuid, rootUuid ); + + return newAction; + + } + + /** + * Returns an existing animation action for the passed clip. + * + * @param {AnimationClip|string} clip - An animation clip or alternatively the name of the animation clip. + * @param {Object3D} [optionalRoot] - An alternative root object. + * @return {?AnimationAction} The animation action. Returns `null` if no action was found. + */ + existingAction( clip, optionalRoot ) { + + const root = optionalRoot || this._root, + rootUuid = root.uuid, + + clipObject = typeof clip === 'string' ? + AnimationClip.findByName( root, clip ) : clip, + + clipUuid = clipObject ? clipObject.uuid : clip, + + actionsForClip = this._actionsByClip[ clipUuid ]; + + if ( actionsForClip !== undefined ) { + + return actionsForClip.actionByRoot[ rootUuid ] || null; + + } + + return null; + + } + + /** + * Deactivates all previously scheduled actions on this mixer. + * + * @return {AnimationMixer} A reference to this animation mixer. + */ + stopAllAction() { + + const actions = this._actions, + nActions = this._nActiveActions; + + for ( let i = nActions - 1; i >= 0; -- i ) { + + actions[ i ].stop(); + + } + + return this; + + } + + /** + * Advances the global mixer time and updates the animation. + * + * This is usually done in the render loop by passing the delta + * time from {@link Clock} or {@link Timer}. + * + * @param {number} deltaTime - The delta time in seconds. + * @return {AnimationMixer} A reference to this animation mixer. + */ + update( deltaTime ) { + + deltaTime *= this.timeScale; + + const actions = this._actions, + nActions = this._nActiveActions, + + time = this.time += deltaTime, + timeDirection = Math.sign( deltaTime ), + + accuIndex = this._accuIndex ^= 1; + + // run active actions + + for ( let i = 0; i !== nActions; ++ i ) { + + const action = actions[ i ]; + + action._update( time, deltaTime, timeDirection, accuIndex ); + + } + + // update scene graph + + const bindings = this._bindings, + nBindings = this._nActiveBindings; + + for ( let i = 0; i !== nBindings; ++ i ) { + + bindings[ i ].apply( accuIndex ); + + } + + return this; + + } + + /** + * Sets the global mixer to a specific time and updates the animation accordingly. + * + * This is useful when you need to jump to an exact time in an animation. The + * input parameter will be scaled by {@link AnimationMixer#timeScale} + * + * @param {number} time - The time to set in seconds. + * @return {AnimationMixer} A reference to this animation mixer. + */ + setTime( time ) { + + this.time = 0; // Zero out time attribute for AnimationMixer object; + for ( let i = 0; i < this._actions.length; i ++ ) { + + this._actions[ i ].time = 0; // Zero out time attribute for all associated AnimationAction objects. + + } + + return this.update( time ); // Update used to set exact time. Returns "this" AnimationMixer object. + + } + + /** + * Returns this mixer's root object. + * + * @return {Object3D} The mixer's root object. + */ + getRoot() { + + return this._root; + + } + + /** + * Deallocates all memory resources for a clip. Before using this method make + * sure to call {@link AnimationAction#stop} for all related actions. + * + * @param {AnimationClip} clip - The clip to uncache. + */ + uncacheClip( clip ) { + + const actions = this._actions, + clipUuid = clip.uuid, + actionsByClip = this._actionsByClip, + actionsForClip = actionsByClip[ clipUuid ]; + + if ( actionsForClip !== undefined ) { + + // note: just calling _removeInactiveAction would mess up the + // iteration state and also require updating the state we can + // just throw away + + const actionsToRemove = actionsForClip.knownActions; + + for ( let i = 0, n = actionsToRemove.length; i !== n; ++ i ) { + + const action = actionsToRemove[ i ]; + + this._deactivateAction( action ); + + const cacheIndex = action._cacheIndex, + lastInactiveAction = actions[ actions.length - 1 ]; + + action._cacheIndex = null; + action._byClipCacheIndex = null; + + lastInactiveAction._cacheIndex = cacheIndex; + actions[ cacheIndex ] = lastInactiveAction; + actions.pop(); + + this._removeInactiveBindingsForAction( action ); + + } + + delete actionsByClip[ clipUuid ]; + + } + + } + + /** + * Deallocates all memory resources for a root object. Before using this + * method make sure to call {@link AnimationAction#stop} for all related + * actions or alternatively {@link AnimationMixer#stopAllAction} when the + * mixer operates on a single root. + * + * @param {Object3D} root - The root object to uncache. + */ + uncacheRoot( root ) { + + const rootUuid = root.uuid, + actionsByClip = this._actionsByClip; + + for ( const clipUuid in actionsByClip ) { + + const actionByRoot = actionsByClip[ clipUuid ].actionByRoot, + action = actionByRoot[ rootUuid ]; + + if ( action !== undefined ) { + + this._deactivateAction( action ); + this._removeInactiveAction( action ); + + } + + } + + const bindingsByRoot = this._bindingsByRootAndName, + bindingByName = bindingsByRoot[ rootUuid ]; + + if ( bindingByName !== undefined ) { + + for ( const trackName in bindingByName ) { + + const binding = bindingByName[ trackName ]; + binding.restoreOriginalState(); + this._removeInactiveBinding( binding ); + + } + + } + + } + + /** + * Deallocates all memory resources for an action. The action is identified by the + * given clip and an optional root object. Before using this method make + * sure to call {@link AnimationAction#stop} to deactivate the action. + * + * @param {AnimationClip|string} clip - An animation clip or alternatively the name of the animation clip. + * @param {Object3D} [optionalRoot] - An alternative root object. + */ + uncacheAction( clip, optionalRoot ) { + + const action = this.existingAction( clip, optionalRoot ); + + if ( action !== null ) { + + this._deactivateAction( action ); + this._removeInactiveAction( action ); + + } + + } + +} + +/** + * Represents a 3D render target. + * + * @augments RenderTarget + */ +class RenderTarget3D extends RenderTarget { + + /** + * Constructs a new 3D render target. + * + * @param {number} [width=1] - The width of the render target. + * @param {number} [height=1] - The height of the render target. + * @param {number} [depth=1] - The height of the render target. + * @param {RenderTarget~Options} [options] - The configuration object. + */ + constructor( width = 1, height = 1, depth = 1, options = {} ) { + + super( width, height, options ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isRenderTarget3D = true; + + this.depth = depth; + + /** + * Overwritten with a different texture type. + * + * @type {Data3DTexture} + */ + this.texture = new Data3DTexture( null, width, height, depth ); + this._setTextureOptions( options ); + + this.texture.isRenderTargetTexture = true; + + } + +} + +/** + * Represents a uniform which is a global shader variable. They are passed to shader programs. + * + * When declaring a uniform of a {@link ShaderMaterial}, it is declared by value or by object. + * ```js + * uniforms: { + * time: { value: 1.0 }, + * resolution: new Uniform( new Vector2() ) + * }; + * ``` + * Since this class can only be used in context of {@link ShaderMaterial}, it is only supported + * in {@link WebGLRenderer}. + */ +class Uniform { + + /** + * Constructs a new uniform. + * + * @param {any} value - The uniform value. + */ + constructor( value ) { + + /** + * The uniform value. + * + * @type {any} + */ + this.value = value; + + } + + /** + * Returns a new uniform with copied values from this instance. + * If the value has a `clone()` method, the value is cloned as well. + * + * @return {Uniform} A clone of this instance. + */ + clone() { + + return new Uniform( this.value.clone === undefined ? this.value : this.value.clone() ); + + } + +} + +let _id = 0; + +/** + * A class for managing multiple uniforms in a single group. The renderer will process + * such a definition as a single UBO. + * + * Since this class can only be used in context of {@link ShaderMaterial}, it is only supported + * in {@link WebGLRenderer}. + * + * @augments EventDispatcher + */ +class UniformsGroup extends EventDispatcher { + + /** + * Constructs a new uniforms group. + */ + constructor() { + + super(); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isUniformsGroup = true; + + /** + * The ID of the 3D object. + * + * @name UniformsGroup#id + * @type {number} + * @readonly + */ + Object.defineProperty( this, 'id', { value: _id ++ } ); + + /** + * The name of the uniforms group. + * + * @type {string} + */ + this.name = ''; + + /** + * The buffer usage. + * + * @type {(StaticDrawUsage|DynamicDrawUsage|StreamDrawUsage|StaticReadUsage|DynamicReadUsage|StreamReadUsage|StaticCopyUsage|DynamicCopyUsage|StreamCopyUsage)} + * @default StaticDrawUsage + */ + this.usage = StaticDrawUsage; + + /** + * An array holding the uniforms. + * + * @type {Array} + */ + this.uniforms = []; + + } + + /** + * Adds the given uniform to this uniforms group. + * + * @param {Uniform} uniform - The uniform to add. + * @return {UniformsGroup} A reference to this uniforms group. + */ + add( uniform ) { + + this.uniforms.push( uniform ); + + return this; + + } + + /** + * Removes the given uniform from this uniforms group. + * + * @param {Uniform} uniform - The uniform to remove. + * @return {UniformsGroup} A reference to this uniforms group. + */ + remove( uniform ) { + + const index = this.uniforms.indexOf( uniform ); + + if ( index !== -1 ) this.uniforms.splice( index, 1 ); + + return this; + + } + + /** + * Sets the name of this uniforms group. + * + * @param {string} name - The name to set. + * @return {UniformsGroup} A reference to this uniforms group. + */ + setName( name ) { + + this.name = name; + + return this; + + } + + /** + * Sets the usage of this uniforms group. + * + * @param {(StaticDrawUsage|DynamicDrawUsage|StreamDrawUsage|StaticReadUsage|DynamicReadUsage|StreamReadUsage|StaticCopyUsage|DynamicCopyUsage|StreamCopyUsage)} value - The usage to set. + * @return {UniformsGroup} A reference to this uniforms group. + */ + setUsage( value ) { + + this.usage = value; + + return this; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + * + * @fires Texture#dispose + */ + dispose() { + + this.dispatchEvent( { type: 'dispose' } ); + + } + + /** + * Copies the values of the given uniforms group to this instance. + * + * @param {UniformsGroup} source - The uniforms group to copy. + * @return {UniformsGroup} A reference to this uniforms group. + */ + copy( source ) { + + this.name = source.name; + this.usage = source.usage; + + const uniformsSource = source.uniforms; + + this.uniforms.length = 0; + + for ( let i = 0, l = uniformsSource.length; i < l; i ++ ) { + + const uniforms = Array.isArray( uniformsSource[ i ] ) ? uniformsSource[ i ] : [ uniformsSource[ i ] ]; + + for ( let j = 0; j < uniforms.length; j ++ ) { + + this.uniforms.push( uniforms[ j ].clone() ); + + } + + } + + return this; + + } + + /** + * Returns a new uniforms group with copied values from this instance. + * + * @return {UniformsGroup} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + +} + +/** + * An instanced version of an interleaved buffer. + * + * @augments InterleavedBuffer + */ +class InstancedInterleavedBuffer extends InterleavedBuffer { + + /** + * Constructs a new instanced interleaved buffer. + * + * @param {TypedArray} array - A typed array with a shared buffer storing attribute data. + * @param {number} stride - The number of typed-array elements per vertex. + * @param {number} [meshPerAttribute=1] - Defines how often a value of this interleaved buffer should be repeated. + */ + constructor( array, stride, meshPerAttribute = 1 ) { + + super( array, stride ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isInstancedInterleavedBuffer = true; + + /** + * Defines how often a value of this buffer attribute should be repeated, + * see {@link InstancedBufferAttribute#meshPerAttribute}. + * + * @type {number} + * @default 1 + */ + this.meshPerAttribute = meshPerAttribute; + + } + + copy( source ) { + + super.copy( source ); + + this.meshPerAttribute = source.meshPerAttribute; + + return this; + + } + + clone( data ) { + + const ib = super.clone( data ); + + ib.meshPerAttribute = this.meshPerAttribute; + + return ib; + + } + + toJSON( data ) { + + const json = super.toJSON( data ); + + json.isInstancedInterleavedBuffer = true; + json.meshPerAttribute = this.meshPerAttribute; + + return json; + + } + +} + +/** + * An alternative version of a buffer attribute with more control over the VBO. + * + * The renderer does not construct a VBO for this kind of attribute. Instead, it uses + * whatever VBO is passed in constructor and can later be altered via the `buffer` property. + * + * The most common use case for this class is when some kind of GPGPU calculation interferes + * or even produces the VBOs in question. + * + * Notice that this class can only be used with {@link WebGLRenderer}. + */ +class GLBufferAttribute { + + /** + * Constructs a new GL buffer attribute. + * + * @param {WebGLBuffer} buffer - The native WebGL buffer. + * @param {number} type - The native data type (e.g. `gl.FLOAT`). + * @param {number} itemSize - The item size. + * @param {number} elementSize - The corresponding size (in bytes) for the given `type` parameter. + * @param {number} count - The expected number of vertices in VBO. + * @param {boolean} [normalized=false] - Whether the data are normalized or not. + */ + constructor( buffer, type, itemSize, elementSize, count, normalized = false ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isGLBufferAttribute = true; + + /** + * The name of the buffer attribute. + * + * @type {string} + */ + this.name = ''; + + /** + * The native WebGL buffer. + * + * @type {WebGLBuffer} + */ + this.buffer = buffer; + + /** + * The native data type. + * + * @type {number} + */ + this.type = type; + + /** + * The item size, see {@link BufferAttribute#itemSize}. + * + * @type {number} + */ + this.itemSize = itemSize; + + /** + * The corresponding size (in bytes) for the given `type` parameter. + * + * @type {number} + */ + this.elementSize = elementSize; + + /** + * The expected number of vertices in VBO. + * + * @type {number} + */ + this.count = count; + + /** + * Applies to integer data only. Indicates how the underlying data in the buffer maps to + * the values in the GLSL code. For instance, if `buffer` contains data of `gl.UNSIGNED_SHORT`, + * and `normalized` is `true`, the values `0 - +65535` in the buffer data will be mapped to + * `0.0f - +1.0f` in the GLSL attribute. If `normalized` is `false`, the values will be converted + * to floats unmodified, i.e. `65535` becomes `65535.0f`. + * + * @type {boolean} + */ + this.normalized = normalized; + + /** + * A version number, incremented every time the `needsUpdate` is set to `true`. + * + * @type {number} + */ + this.version = 0; + + } + + /** + * Flag to indicate that this attribute has changed and should be re-sent to + * the GPU. Set this to `true` when you modify the value of the array. + * + * @type {number} + * @default false + * @param {boolean} value + */ + set needsUpdate( value ) { + + if ( value === true ) this.version ++; + + } + + /** + * Sets the given native WebGL buffer. + * + * @param {WebGLBuffer} buffer - The buffer to set. + * @return {BufferAttribute} A reference to this instance. + */ + setBuffer( buffer ) { + + this.buffer = buffer; + + return this; + + } + + /** + * Sets the given native data type and element size. + * + * @param {number} type - The native data type (e.g. `gl.FLOAT`). + * @param {number} elementSize - The corresponding size (in bytes) for the given `type` parameter. + * @return {BufferAttribute} A reference to this instance. + */ + setType( type, elementSize ) { + + this.type = type; + this.elementSize = elementSize; + + return this; + + } + + /** + * Sets the item size. + * + * @param {number} itemSize - The item size. + * @return {BufferAttribute} A reference to this instance. + */ + setItemSize( itemSize ) { + + this.itemSize = itemSize; + + return this; + + } + + /** + * Sets the count (the expected number of vertices in VBO). + * + * @param {number} count - The count. + * @return {BufferAttribute} A reference to this instance. + */ + setCount( count ) { + + this.count = count; + + return this; + + } + +} + +const _matrix = /*@__PURE__*/ new Matrix4(); + +/** + * This class is designed to assist with raycasting. Raycasting is used for + * mouse picking (working out what objects in the 3d space the mouse is over) + * amongst other things. + */ +class Raycaster { + + /** + * Constructs a new raycaster. + * + * @param {Vector3} origin - The origin vector where the ray casts from. + * @param {Vector3} direction - The (normalized) direction vector that gives direction to the ray. + * @param {number} [near=0] - All results returned are further away than near. Near can't be negative. + * @param {number} [far=Infinity] - All results returned are closer than far. Far can't be lower than near. + */ + constructor( origin, direction, near = 0, far = Infinity ) { + + /** + * The ray used for raycasting. + * + * @type {Ray} + */ + this.ray = new Ray( origin, direction ); + + /** + * All results returned are further away than near. Near can't be negative. + * + * @type {number} + * @default 0 + */ + this.near = near; + + /** + * All results returned are closer than far. Far can't be lower than near. + * + * @type {number} + * @default Infinity + */ + this.far = far; + + /** + * The camera to use when raycasting against view-dependent objects such as + * billboarded objects like sprites. This field can be set manually or + * is set when calling `setFromCamera()`. + * + * @type {?Camera} + * @default null + */ + this.camera = null; + + /** + * Allows to selectively ignore 3D objects when performing intersection tests. + * The following code example ensures that only 3D objects on layer `1` will be + * honored by raycaster. + * ```js + * raycaster.layers.set( 1 ); + * object.layers.enable( 1 ); + * ``` + * + * @type {Layers} + */ + this.layers = new Layers(); + + + /** + * A parameter object that configures the raycasting. It has the structure: + * + * ``` + * { + * Mesh: {}, + * Line: { threshold: 1 }, + * LOD: {}, + * Points: { threshold: 1 }, + * Sprite: {} + * } + * ``` + * Where `threshold` is the precision of the raycaster when intersecting objects, in world units. + * + * @type {Object} + */ + this.params = { + Mesh: {}, + Line: { threshold: 1 }, + LOD: {}, + Points: { threshold: 1 }, + Sprite: {} + }; + + } + + /** + * Updates the ray with a new origin and direction by copying the values from the arguments. + * + * @param {Vector3} origin - The origin vector where the ray casts from. + * @param {Vector3} direction - The (normalized) direction vector that gives direction to the ray. + */ + set( origin, direction ) { + + // direction is assumed to be normalized (for accurate distance calculations) + + this.ray.set( origin, direction ); + + } + + /** + * Uses the given coordinates and camera to compute a new origin and direction for the internal ray. + * + * @param {Vector2} coords - 2D coordinates of the mouse, in normalized device coordinates (NDC). + * X and Y components should be between `-1` and `1`. + * @param {Camera} camera - The camera from which the ray should originate. + */ + setFromCamera( coords, camera ) { + + if ( camera.isPerspectiveCamera ) { + + this.ray.origin.setFromMatrixPosition( camera.matrixWorld ); + this.ray.direction.set( coords.x, coords.y, 0.5 ).unproject( camera ).sub( this.ray.origin ).normalize(); + this.camera = camera; + + } else if ( camera.isOrthographicCamera ) { + + this.ray.origin.set( coords.x, coords.y, ( camera.near + camera.far ) / ( camera.near - camera.far ) ).unproject( camera ); // set origin in plane of camera + this.ray.direction.set( 0, 0, -1 ).transformDirection( camera.matrixWorld ); + this.camera = camera; + + } else { + + error( 'Raycaster: Unsupported camera type: ' + camera.type ); + + } + + } + + /** + * Uses the given WebXR controller to compute a new origin and direction for the internal ray. + * + * @param {WebXRController} controller - The controller to copy the position and direction from. + * @return {Raycaster} A reference to this raycaster. + */ + setFromXRController( controller ) { + + _matrix.identity().extractRotation( controller.matrixWorld ); + + this.ray.origin.setFromMatrixPosition( controller.matrixWorld ); + this.ray.direction.set( 0, 0, -1 ).applyMatrix4( _matrix ); + + return this; + + } + + /** + * The intersection point of a raycaster intersection test. + * @typedef {Object} Raycaster~Intersection + * @property {number} distance - The distance from the ray's origin to the intersection point. + * @property {number} distanceToRay - Some 3D objects e.g. {@link Points} provide the distance of the + * intersection to the nearest point on the ray. For other objects it will be `undefined`. + * @property {Vector3} point - The intersection point, in world coordinates. + * @property {Object} face - The face that has been intersected. + * @property {number} faceIndex - The face index. + * @property {Object3D} object - The 3D object that has been intersected. + * @property {Vector2} uv - U,V coordinates at point of intersection. + * @property {Vector2} uv1 - Second set of U,V coordinates at point of intersection. + * @property {Vector3} normal - Interpolated normal vector at point of intersection. + * @property {number} instanceId - The index number of the instance where the ray + * intersects the {@link InstancedMesh}. + */ + + /** + * Checks all intersection between the ray and the object with or without the + * descendants. Intersections are returned sorted by distance, closest first. + * + * `Raycaster` delegates to the `raycast()` method of the passed 3D object, when + * evaluating whether the ray intersects the object or not. This allows meshes to respond + * differently to ray casting than lines or points. + * + * Note that for meshes, faces must be pointed towards the origin of the ray in order + * to be detected; intersections of the ray passing through the back of a face will not + * be detected. To raycast against both faces of an object, you'll want to set {@link Material#side} + * to `THREE.DoubleSide`. + * + * @param {Object3D} object - The 3D object to check for intersection with the ray. + * @param {boolean} [recursive=true] - If set to `true`, it also checks all descendants. + * Otherwise it only checks intersection with the object. + * @param {Array} [intersects=[]] The target array that holds the result of the method. + * @return {Array} An array holding the intersection points. + */ + intersectObject( object, recursive = true, intersects = [] ) { + + intersect( object, this, intersects, recursive ); + + intersects.sort( ascSort ); + + return intersects; + + } + + /** + * Checks all intersection between the ray and the objects with or without + * the descendants. Intersections are returned sorted by distance, closest first. + * + * @param {Array} objects - The 3D objects to check for intersection with the ray. + * @param {boolean} [recursive=true] - If set to `true`, it also checks all descendants. + * Otherwise it only checks intersection with the object. + * @param {Array} [intersects=[]] The target array that holds the result of the method. + * @return {Array} An array holding the intersection points. + */ + intersectObjects( objects, recursive = true, intersects = [] ) { + + for ( let i = 0, l = objects.length; i < l; i ++ ) { + + intersect( objects[ i ], this, intersects, recursive ); + + } + + intersects.sort( ascSort ); + + return intersects; + + } + +} + +function ascSort( a, b ) { + + return a.distance - b.distance; + +} + +function intersect( object, raycaster, intersects, recursive ) { + + let propagate = true; + + if ( object.layers.test( raycaster.layers ) ) { + + const result = object.raycast( raycaster, intersects ); + + if ( result === false ) propagate = false; + + } + + if ( propagate === true && recursive === true ) { + + const children = object.children; + + for ( let i = 0, l = children.length; i < l; i ++ ) { + + intersect( children[ i ], raycaster, intersects, true ); + + } + + } + +} + +/** + * Class for keeping track of time. + * + * @deprecated since r183. + */ +class Clock { + + /** + * Constructs a new clock. + * + * @deprecated since 183. + * @param {boolean} [autoStart=true] - Whether to automatically start the clock when + * `getDelta()` is called for the first time. + */ + constructor( autoStart = true ) { + + /** + * If set to `true`, the clock starts automatically when `getDelta()` is called + * for the first time. + * + * @type {boolean} + * @default true + */ + this.autoStart = autoStart; + + /** + * Holds the time at which the clock's `start()` method was last called. + * + * @type {number} + * @default 0 + */ + this.startTime = 0; + + /** + * Holds the time at which the clock's `start()`, `getElapsedTime()` or + * `getDelta()` methods were last called. + * + * @type {number} + * @default 0 + */ + this.oldTime = 0; + + /** + * Keeps track of the total time that the clock has been running. + * + * @type {number} + * @default 0 + */ + this.elapsedTime = 0; + + /** + * Whether the clock is running or not. + * + * @type {boolean} + * @default true + */ + this.running = false; + + warn( 'THREE.Clock: This module has been deprecated. Please use THREE.Timer instead.' ); // @deprecated, r183 + + } + + /** + * Starts the clock. When `autoStart` is set to `true`, the method is automatically + * called by the class. + */ + start() { + + this.startTime = performance.now(); + + this.oldTime = this.startTime; + this.elapsedTime = 0; + this.running = true; + + } + + /** + * Stops the clock. + */ + stop() { + + this.getElapsedTime(); + this.running = false; + this.autoStart = false; + + } + + /** + * Returns the elapsed time in seconds. + * + * @return {number} The elapsed time. + */ + getElapsedTime() { + + this.getDelta(); + return this.elapsedTime; + + } + + /** + * Returns the delta time in seconds. + * + * @return {number} The delta time. + */ + getDelta() { + + let diff = 0; + + if ( this.autoStart && ! this.running ) { + + this.start(); + return 0; + + } + + if ( this.running ) { + + const newTime = performance.now(); + + diff = ( newTime - this.oldTime ) / 1000; + this.oldTime = newTime; + + this.elapsedTime += diff; + + } + + return diff; + + } + +} + +/** + * This class can be used to represent points in 3D space as + * [Spherical coordinates](https://en.wikipedia.org/wiki/Spherical_coordinate_system). + */ +class Spherical { + + /** + * Constructs a new spherical. + * + * @param {number} [radius=1] - The radius, or the Euclidean distance (straight-line distance) from the point to the origin. + * @param {number} [phi=0] - The polar angle in radians from the y (up) axis. + * @param {number} [theta=0] - The equator/azimuthal angle in radians around the y (up) axis. + */ + constructor( radius = 1, phi = 0, theta = 0 ) { + + /** + * The radius, or the Euclidean distance (straight-line distance) from the point to the origin. + * + * @type {number} + * @default 1 + */ + this.radius = radius; + + /** + * The polar angle in radians from the y (up) axis. + * + * @type {number} + * @default 0 + */ + this.phi = phi; + + /** + * The equator/azimuthal angle in radians around the y (up) axis. + * + * @type {number} + * @default 0 + */ + this.theta = theta; + + } + + /** + * Sets the spherical components by copying the given values. + * + * @param {number} radius - The radius. + * @param {number} phi - The polar angle. + * @param {number} theta - The azimuthal angle. + * @return {Spherical} A reference to this spherical. + */ + set( radius, phi, theta ) { + + this.radius = radius; + this.phi = phi; + this.theta = theta; + + return this; + + } + + /** + * Copies the values of the given spherical to this instance. + * + * @param {Spherical} other - The spherical to copy. + * @return {Spherical} A reference to this spherical. + */ + copy( other ) { + + this.radius = other.radius; + this.phi = other.phi; + this.theta = other.theta; + + return this; + + } + + /** + * Restricts the polar angle [page:.phi phi] to be between `0.000001` and pi - + * `0.000001`. + * + * @return {Spherical} A reference to this spherical. + */ + makeSafe() { + + const EPS = 0.000001; + this.phi = clamp( this.phi, EPS, Math.PI - EPS ); + + return this; + + } + + /** + * Sets the spherical components from the given vector which is assumed to hold + * Cartesian coordinates. + * + * @param {Vector3} v - The vector to set. + * @return {Spherical} A reference to this spherical. + */ + setFromVector3( v ) { + + return this.setFromCartesianCoords( v.x, v.y, v.z ); + + } + + /** + * Sets the spherical components from the given Cartesian coordinates. + * + * @param {number} x - The x value. + * @param {number} y - The y value. + * @param {number} z - The z value. + * @return {Spherical} A reference to this spherical. + */ + setFromCartesianCoords( x, y, z ) { + + this.radius = Math.sqrt( x * x + y * y + z * z ); + + if ( this.radius === 0 ) { + + this.theta = 0; + this.phi = 0; + + } else { + + this.theta = Math.atan2( x, z ); + this.phi = Math.acos( clamp( y / this.radius, -1, 1 ) ); + + } + + return this; + + } + + /** + * Returns a new spherical with copied values from this instance. + * + * @return {Spherical} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + +} + +/** + * This class can be used to represent points in 3D space as + * [Cylindrical coordinates](https://en.wikipedia.org/wiki/Cylindrical_coordinate_system). + */ +class Cylindrical { + + /** + * Constructs a new cylindrical. + * + * @param {number} [radius=1] - The distance from the origin to a point in the x-z plane. + * @param {number} [theta=0] - A counterclockwise angle in the x-z plane measured in radians from the positive z-axis. + * @param {number} [y=0] - The height above the x-z plane. + */ + constructor( radius = 1, theta = 0, y = 0 ) { + + /** + * The distance from the origin to a point in the x-z plane. + * + * @type {number} + * @default 1 + */ + this.radius = radius; + + /** + * A counterclockwise angle in the x-z plane measured in radians from the positive z-axis. + * + * @type {number} + * @default 0 + */ + this.theta = theta; + + /** + * The height above the x-z plane. + * + * @type {number} + * @default 0 + */ + this.y = y; + + } + + /** + * Sets the cylindrical components by copying the given values. + * + * @param {number} radius - The radius. + * @param {number} theta - The theta angle. + * @param {number} y - The height value. + * @return {Cylindrical} A reference to this cylindrical. + */ + set( radius, theta, y ) { + + this.radius = radius; + this.theta = theta; + this.y = y; + + return this; + + } + + /** + * Copies the values of the given cylindrical to this instance. + * + * @param {Cylindrical} other - The cylindrical to copy. + * @return {Cylindrical} A reference to this cylindrical. + */ + copy( other ) { + + this.radius = other.radius; + this.theta = other.theta; + this.y = other.y; + + return this; + + } + + /** + * Sets the cylindrical components from the given vector which is assumed to hold + * Cartesian coordinates. + * + * @param {Vector3} v - The vector to set. + * @return {Cylindrical} A reference to this cylindrical. + */ + setFromVector3( v ) { + + return this.setFromCartesianCoords( v.x, v.y, v.z ); + + } + + /** + * Sets the cylindrical components from the given Cartesian coordinates. + * + * @param {number} x - The x value. + * @param {number} y - The x value. + * @param {number} z - The x value. + * @return {Cylindrical} A reference to this cylindrical. + */ + setFromCartesianCoords( x, y, z ) { + + this.radius = Math.sqrt( x * x + z * z ); + this.theta = Math.atan2( x, z ); + this.y = y; + + return this; + + } + + /** + * Returns a new cylindrical with copied values from this instance. + * + * @return {Cylindrical} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + +} + +/** + * Represents a 2x2 matrix. + * + * A Note on Row-Major and Column-Major Ordering: + * + * The constructor and {@link Matrix2#set} method take arguments in + * [row-major](https://en.wikipedia.org/wiki/Row-_and_column-major_order#Column-major_order) + * order, while internally they are stored in the {@link Matrix2#elements} array in column-major order. + * This means that calling: + * ```js + * const m = new THREE.Matrix2(); + * m.set( 11, 12, + * 21, 22 ); + * ``` + * will result in the elements array containing: + * ```js + * m.elements = [ 11, 21, + * 12, 22 ]; + * ``` + * and internally all calculations are performed using column-major ordering. + * However, as the actual ordering makes no difference mathematically and + * most people are used to thinking about matrices in row-major order, the + * three.js documentation shows matrices in row-major order. Just bear in + * mind that if you are reading the source code, you'll have to take the + * transpose of any matrices outlined here to make sense of the calculations. + */ +class Matrix2 { + + /** + * Constructs a new 2x2 matrix. The arguments are supposed to be + * in row-major order. If no arguments are provided, the constructor + * initializes the matrix as an identity matrix. + * + * @param {number} [n11] - 1-1 matrix element. + * @param {number} [n12] - 1-2 matrix element. + * @param {number} [n21] - 2-1 matrix element. + * @param {number} [n22] - 2-2 matrix element. + */ + constructor( n11, n12, n21, n22 ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + Matrix2.prototype.isMatrix2 = true; + + /** + * A column-major list of matrix values. + * + * @type {Array} + */ + this.elements = [ + 1, 0, + 0, 1, + ]; + + if ( n11 !== undefined ) { + + this.set( n11, n12, n21, n22 ); + + } + + } + + /** + * Sets this matrix to the 2x2 identity matrix. + * + * @return {Matrix2} A reference to this matrix. + */ + identity() { + + this.set( + 1, 0, + 0, 1, + ); + + return this; + + } + + /** + * Sets the elements of the matrix from the given array. + * + * @param {Array} array - The matrix elements in column-major order. + * @param {number} [offset=0] - Index of the first element in the array. + * @return {Matrix2} A reference to this matrix. + */ + fromArray( array, offset = 0 ) { + + for ( let i = 0; i < 4; i ++ ) { + + this.elements[ i ] = array[ i + offset ]; + + } + + return this; + + } + + /** + * Sets the elements of the matrix.The arguments are supposed to be + * in row-major order. + * + * @param {number} n11 - 1-1 matrix element. + * @param {number} n12 - 1-2 matrix element. + * @param {number} n21 - 2-1 matrix element. + * @param {number} n22 - 2-2 matrix element. + * @return {Matrix2} A reference to this matrix. + */ + set( n11, n12, n21, n22 ) { + + const te = this.elements; + + te[ 0 ] = n11; te[ 2 ] = n12; + te[ 1 ] = n21; te[ 3 ] = n22; + + return this; + + } + +} + +const _vector$4 = /*@__PURE__*/ new Vector2(); + +/** + * Represents an axis-aligned bounding box (AABB) in 2D space. + */ +class Box2 { + + /** + * Constructs a new bounding box. + * + * @param {Vector2} [min=(Infinity,Infinity)] - A vector representing the lower boundary of the box. + * @param {Vector2} [max=(-Infinity,-Infinity)] - A vector representing the upper boundary of the box. + */ + constructor( min = new Vector2( + Infinity, + Infinity ), max = new Vector2( - Infinity, - Infinity ) ) { + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isBox2 = true; + + /** + * The lower boundary of the box. + * + * @type {Vector2} + */ + this.min = min; + + /** + * The upper boundary of the box. + * + * @type {Vector2} + */ + this.max = max; + + } + + /** + * Sets the lower and upper boundaries of this box. + * Please note that this method only copies the values from the given objects. + * + * @param {Vector2} min - The lower boundary of the box. + * @param {Vector2} max - The upper boundary of the box. + * @return {Box2} A reference to this bounding box. + */ + set( min, max ) { + + this.min.copy( min ); + this.max.copy( max ); + + return this; + + } + + /** + * Sets the upper and lower bounds of this box so it encloses the position data + * in the given array. + * + * @param {Array} points - An array holding 2D position data as instances of {@link Vector2}. + * @return {Box2} A reference to this bounding box. + */ + setFromPoints( points ) { + + this.makeEmpty(); + + for ( let i = 0, il = points.length; i < il; i ++ ) { + + this.expandByPoint( points[ i ] ); + + } + + return this; + + } + + /** + * Centers this box on the given center vector and sets this box's width, height and + * depth to the given size values. + * + * @param {Vector2} center - The center of the box. + * @param {Vector2} size - The x and y dimensions of the box. + * @return {Box2} A reference to this bounding box. + */ + setFromCenterAndSize( center, size ) { + + const halfSize = _vector$4.copy( size ).multiplyScalar( 0.5 ); + this.min.copy( center ).sub( halfSize ); + this.max.copy( center ).add( halfSize ); + + return this; + + } + + /** + * Returns a new box with copied values from this instance. + * + * @return {Box2} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + + /** + * Copies the values of the given box to this instance. + * + * @param {Box2} box - The box to copy. + * @return {Box2} A reference to this bounding box. + */ + copy( box ) { + + this.min.copy( box.min ); + this.max.copy( box.max ); + + return this; + + } + + /** + * Makes this box empty which means in encloses a zero space in 2D. + * + * @return {Box2} A reference to this bounding box. + */ + makeEmpty() { + + this.min.x = this.min.y = + Infinity; + this.max.x = this.max.y = - Infinity; + + return this; + + } + + /** + * Returns true if this box includes zero points within its bounds. + * Note that a box with equal lower and upper bounds still includes one + * point, the one both bounds share. + * + * @return {boolean} Whether this box is empty or not. + */ + isEmpty() { + + // this is a more robust check for empty than ( volume <= 0 ) because volume can get positive with two negative axes + + return ( this.max.x < this.min.x ) || ( this.max.y < this.min.y ); + + } + + /** + * Returns the center point of this box. + * + * @param {Vector2} target - The target vector that is used to store the method's result. + * @return {Vector2} The center point. + */ + getCenter( target ) { + + return this.isEmpty() ? target.set( 0, 0 ) : target.addVectors( this.min, this.max ).multiplyScalar( 0.5 ); + + } + + /** + * Returns the dimensions of this box. + * + * @param {Vector2} target - The target vector that is used to store the method's result. + * @return {Vector2} The size. + */ + getSize( target ) { + + return this.isEmpty() ? target.set( 0, 0 ) : target.subVectors( this.max, this.min ); + + } + + /** + * Expands the boundaries of this box to include the given point. + * + * @param {Vector2} point - The point that should be included by the bounding box. + * @return {Box2} A reference to this bounding box. + */ + expandByPoint( point ) { + + this.min.min( point ); + this.max.max( point ); + + return this; + + } + + /** + * Expands this box equilaterally by the given vector. The width of this + * box will be expanded by the x component of the vector in both + * directions. The height of this box will be expanded by the y component of + * the vector in both directions. + * + * @param {Vector2} vector - The vector that should expand the bounding box. + * @return {Box2} A reference to this bounding box. + */ + expandByVector( vector ) { + + this.min.sub( vector ); + this.max.add( vector ); + + return this; + + } + + /** + * Expands each dimension of the box by the given scalar. If negative, the + * dimensions of the box will be contracted. + * + * @param {number} scalar - The scalar value that should expand the bounding box. + * @return {Box2} A reference to this bounding box. + */ + expandByScalar( scalar ) { + + this.min.addScalar( - scalar ); + this.max.addScalar( scalar ); + + return this; + + } + + /** + * Returns `true` if the given point lies within or on the boundaries of this box. + * + * @param {Vector2} point - The point to test. + * @return {boolean} Whether the bounding box contains the given point or not. + */ + containsPoint( point ) { + + return point.x >= this.min.x && point.x <= this.max.x && + point.y >= this.min.y && point.y <= this.max.y; + + } + + /** + * Returns `true` if this bounding box includes the entirety of the given bounding box. + * If this box and the given one are identical, this function also returns `true`. + * + * @param {Box2} box - The bounding box to test. + * @return {boolean} Whether the bounding box contains the given bounding box or not. + */ + containsBox( box ) { + + return this.min.x <= box.min.x && box.max.x <= this.max.x && + this.min.y <= box.min.y && box.max.y <= this.max.y; + + } + + /** + * Returns a point as a proportion of this box's width and height. + * + * @param {Vector2} point - A point in 2D space. + * @param {Vector2} target - The target vector that is used to store the method's result. + * @return {Vector2} A point as a proportion of this box's width and height. + */ + getParameter( point, target ) { + + // This can potentially have a divide by zero if the box + // has a size dimension of 0. + + return target.set( + ( point.x - this.min.x ) / ( this.max.x - this.min.x ), + ( point.y - this.min.y ) / ( this.max.y - this.min.y ) + ); + + } + + /** + * Returns `true` if the given bounding box intersects with this bounding box. + * + * @param {Box2} box - The bounding box to test. + * @return {boolean} Whether the given bounding box intersects with this bounding box. + */ + intersectsBox( box ) { + + // using 4 splitting planes to rule out intersections + + return box.max.x >= this.min.x && box.min.x <= this.max.x && + box.max.y >= this.min.y && box.min.y <= this.max.y; + + } + + /** + * Clamps the given point within the bounds of this box. + * + * @param {Vector2} point - The point to clamp. + * @param {Vector2} target - The target vector that is used to store the method's result. + * @return {Vector2} The clamped point. + */ + clampPoint( point, target ) { + + return target.copy( point ).clamp( this.min, this.max ); + + } + + /** + * Returns the euclidean distance from any edge of this box to the specified point. If + * the given point lies inside of this box, the distance will be `0`. + * + * @param {Vector2} point - The point to compute the distance to. + * @return {number} The euclidean distance. + */ + distanceToPoint( point ) { + + return this.clampPoint( point, _vector$4 ).distanceTo( point ); + + } + + /** + * Computes the intersection of this bounding box and the given one, setting the upper + * bound of this box to the lesser of the two boxes' upper bounds and the + * lower bound of this box to the greater of the two boxes' lower bounds. If + * there's no overlap, makes this box empty. + * + * @param {Box2} box - The bounding box to intersect with. + * @return {Box2} A reference to this bounding box. + */ + intersect( box ) { + + this.min.max( box.min ); + this.max.min( box.max ); + + if ( this.isEmpty() ) this.makeEmpty(); + + return this; + + } + + /** + * Computes the union of this box and another and the given one, setting the upper + * bound of this box to the greater of the two boxes' upper bounds and the + * lower bound of this box to the lesser of the two boxes' lower bounds. + * + * @param {Box2} box - The bounding box that will be unioned with this instance. + * @return {Box2} A reference to this bounding box. + */ + union( box ) { + + this.min.min( box.min ); + this.max.max( box.max ); + + return this; + + } + + /** + * Adds the given offset to both the upper and lower bounds of this bounding box, + * effectively moving it in 2D space. + * + * @param {Vector2} offset - The offset that should be used to translate the bounding box. + * @return {Box2} A reference to this bounding box. + */ + translate( offset ) { + + this.min.add( offset ); + this.max.add( offset ); + + return this; + + } + + /** + * Returns `true` if this bounding box is equal with the given one. + * + * @param {Box2} box - The box to test for equality. + * @return {boolean} Whether this bounding box is equal with the given one. + */ + equals( box ) { + + return box.min.equals( this.min ) && box.max.equals( this.max ); + + } + +} + +const _startP = /*@__PURE__*/ new Vector3(); +const _startEnd = /*@__PURE__*/ new Vector3(); + +const _d1 = /*@__PURE__*/ new Vector3(); +const _d2 = /*@__PURE__*/ new Vector3(); +const _r = /*@__PURE__*/ new Vector3(); +const _c1 = /*@__PURE__*/ new Vector3(); +const _c2 = /*@__PURE__*/ new Vector3(); + +/** + * An analytical line segment in 3D space represented by a start and end point. + */ +class Line3 { + + /** + * Constructs a new line segment. + * + * @param {Vector3} [start=(0,0,0)] - Start of the line segment. + * @param {Vector3} [end=(0,0,0)] - End of the line segment. + */ + constructor( start = new Vector3(), end = new Vector3() ) { + + /** + * Start of the line segment. + * + * @type {Vector3} + */ + this.start = start; + + /** + * End of the line segment. + * + * @type {Vector3} + */ + this.end = end; + + } + + /** + * Sets the start and end values by copying the given vectors. + * + * @param {Vector3} start - The start point. + * @param {Vector3} end - The end point. + * @return {Line3} A reference to this line segment. + */ + set( start, end ) { + + this.start.copy( start ); + this.end.copy( end ); + + return this; + + } + + /** + * Copies the values of the given line segment to this instance. + * + * @param {Line3} line - The line segment to copy. + * @return {Line3} A reference to this line segment. + */ + copy( line ) { + + this.start.copy( line.start ); + this.end.copy( line.end ); + + return this; + + } + + /** + * Returns the center of the line segment. + * + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The center point. + */ + getCenter( target ) { + + return target.addVectors( this.start, this.end ).multiplyScalar( 0.5 ); + + } + + /** + * Returns the delta vector of the line segment's start and end point. + * + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The delta vector. + */ + delta( target ) { + + return target.subVectors( this.end, this.start ); + + } + + /** + * Returns the squared Euclidean distance between the line' start and end point. + * + * @return {number} The squared Euclidean distance. + */ + distanceSq() { + + return this.start.distanceToSquared( this.end ); + + } + + /** + * Returns the Euclidean distance between the line' start and end point. + * + * @return {number} The Euclidean distance. + */ + distance() { + + return this.start.distanceTo( this.end ); + + } + + /** + * Returns a vector at a certain position along the line segment. + * + * @param {number} t - A value between `[0,1]` to represent a position along the line segment. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The delta vector. + */ + at( t, target ) { + + return this.delta( target ).multiplyScalar( t ).add( this.start ); + + } + + /** + * Returns a point parameter based on the closest point as projected on the line segment. + * + * @param {Vector3} point - The point for which to return a point parameter. + * @param {boolean} clampToLine - Whether to clamp the result to the range `[0,1]` or not. + * @return {number} The point parameter. + */ + closestPointToPointParameter( point, clampToLine ) { + + _startP.subVectors( point, this.start ); + _startEnd.subVectors( this.end, this.start ); + + const startEnd2 = _startEnd.dot( _startEnd ); + const startEnd_startP = _startEnd.dot( _startP ); + + let t = startEnd_startP / startEnd2; + + if ( clampToLine ) { + + t = clamp( t, 0, 1 ); + + } + + return t; + + } + + /** + * Returns the closest point on the line for a given point. + * + * @param {Vector3} point - The point to compute the closest point on the line for. + * @param {boolean} clampToLine - Whether to clamp the result to the range `[0,1]` or not. + * @param {Vector3} target - The target vector that is used to store the method's result. + * @return {Vector3} The closest point on the line. + */ + closestPointToPoint( point, clampToLine, target ) { + + const t = this.closestPointToPointParameter( point, clampToLine ); + + return this.delta( target ).multiplyScalar( t ).add( this.start ); + + } + + /** + * Returns the closest squared distance between this line segment and the given one. + * + * @param {Line3} line - The line segment to compute the closest squared distance to. + * @param {Vector3} [c1] - The closest point on this line segment. + * @param {Vector3} [c2] - The closest point on the given line segment. + * @return {number} The squared distance between this line segment and the given one. + */ + distanceSqToLine3( line, c1 = _c1, c2 = _c2 ) { + + // from Real-Time Collision Detection by Christer Ericson, chapter 5.1.9 + + // Computes closest points C1 and C2 of S1(s)=P1+s*(Q1-P1) and + // S2(t)=P2+t*(Q2-P2), returning s and t. Function result is squared + // distance between between S1(s) and S2(t) + + const EPSILON = 1e-8 * 1e-8; // must be squared since we compare squared length + let s, t; + + const p1 = this.start; + const p2 = line.start; + const q1 = this.end; + const q2 = line.end; + + _d1.subVectors( q1, p1 ); // Direction vector of segment S1 + _d2.subVectors( q2, p2 ); // Direction vector of segment S2 + _r.subVectors( p1, p2 ); + + const a = _d1.dot( _d1 ); // Squared length of segment S1, always nonnegative + const e = _d2.dot( _d2 ); // Squared length of segment S2, always nonnegative + const f = _d2.dot( _r ); + + // Check if either or both segments degenerate into points + + if ( a <= EPSILON && e <= EPSILON ) { + + // Both segments degenerate into points + + c1.copy( p1 ); + c2.copy( p2 ); + + c1.sub( c2 ); + + return c1.dot( c1 ); + + } + + if ( a <= EPSILON ) { + + // First segment degenerates into a point + + s = 0; + t = f / e; // s = 0 => t = (b*s + f) / e = f / e + t = clamp( t, 0, 1 ); + + + } else { + + const c = _d1.dot( _r ); + + if ( e <= EPSILON ) { + + // Second segment degenerates into a point + + t = 0; + s = clamp( - c / a, 0, 1 ); // t = 0 => s = (b*t - c) / a = -c / a + + } else { + + // The general nondegenerate case starts here + + const b = _d1.dot( _d2 ); + const denom = a * e - b * b; // Always nonnegative + + // If segments not parallel, compute closest point on L1 to L2 and + // clamp to segment S1. Else pick arbitrary s (here 0) + + if ( denom !== 0 ) { + + s = clamp( ( b * f - c * e ) / denom, 0, 1 ); + + } else { + + s = 0; + + } + + // Compute point on L2 closest to S1(s) using + // t = Dot((P1 + D1*s) - P2,D2) / Dot(D2,D2) = (b*s + f) / e + + t = ( b * s + f ) / e; + + // If t in [0,1] done. Else clamp t, recompute s for the new value + // of t using s = Dot((P2 + D2*t) - P1,D1) / Dot(D1,D1)= (t*b - c) / a + // and clamp s to [0, 1] + + if ( t < 0 ) { + + t = 0.; + s = clamp( - c / a, 0, 1 ); + + } else if ( t > 1 ) { + + t = 1; + s = clamp( ( b - c ) / a, 0, 1 ); + + } + + } + + } + + c1.copy( p1 ).addScaledVector( _d1, s ); + c2.copy( p2 ).addScaledVector( _d2, t ); + + return c1.distanceToSquared( c2 ); + + } + + /** + * Applies a 4x4 transformation matrix to this line segment. + * + * @param {Matrix4} matrix - The transformation matrix. + * @return {Line3} A reference to this line segment. + */ + applyMatrix4( matrix ) { + + this.start.applyMatrix4( matrix ); + this.end.applyMatrix4( matrix ); + + return this; + + } + + /** + * Returns `true` if this line segment is equal with the given one. + * + * @param {Line3} line - The line segment to test for equality. + * @return {boolean} Whether this line segment is equal with the given one. + */ + equals( line ) { + + return line.start.equals( this.start ) && line.end.equals( this.end ); + + } + + /** + * Returns a new line segment with copied values from this instance. + * + * @return {Line3} A clone of this instance. + */ + clone() { + + return new this.constructor().copy( this ); + + } + +} + +const _vector$3 = /*@__PURE__*/ new Vector3(); + +/** + * This displays a cone shaped helper object for a {@link SpotLight}. + * + * When the spot light or its target are transformed or light properties are + * changed, it's necessary to call the `update()` method of the respective helper. + * + * ```js + * const spotLight = new THREE.SpotLight( 0xffffff ); + * spotLight.position.set( 10, 10, 10 ); + * scene.add( spotLight ); + * + * const spotLightHelper = new THREE.SpotLightHelper( spotLight ); + * scene.add( spotLightHelper ); + * ``` + * + * @augments Object3D + */ +class SpotLightHelper extends Object3D { + + /** + * Constructs a new spot light helper. + * + * @param {HemisphereLight} light - The light to be visualized. + * @param {number|Color|string} [color] - The helper's color. If not set, the helper will take + * the color of the light. + */ + constructor( light, color ) { + + super(); + + /** + * The light being visualized. + * + * @type {SpotLight} + */ + this.light = light; + + this.matrixAutoUpdate = false; + + /** + * The color parameter passed in the constructor. + * If not set, the helper will take the color of the light. + * + * @type {number|Color|string} + */ + this.color = color; + + this.type = 'SpotLightHelper'; + + const geometry = new BufferGeometry(); + + const positions = [ + 0, 0, 0, 0, 0, 1, + 0, 0, 0, 1, 0, 1, + 0, 0, 0, -1, 0, 1, + 0, 0, 0, 0, 1, 1, + 0, 0, 0, 0, -1, 1 + ]; + + for ( let i = 0, j = 1, l = 32; i < l; i ++, j ++ ) { + + const p1 = ( i / l ) * Math.PI * 2; + const p2 = ( j / l ) * Math.PI * 2; + + positions.push( + Math.cos( p1 ), Math.sin( p1 ), 1, + Math.cos( p2 ), Math.sin( p2 ), 1 + ); + + } + + geometry.setAttribute( 'position', new Float32BufferAttribute( positions, 3 ) ); + + const material = new LineBasicMaterial( { fog: false, toneMapped: false } ); + + this.cone = new LineSegments( geometry, material ); + this.add( this.cone ); + + this.update(); + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.cone.geometry.dispose(); + this.cone.material.dispose(); + + } + + /** + * Updates the helper to match the position and direction of the + * light being visualized. + */ + update() { + + this.light.updateWorldMatrix( true, false ); + this.light.target.updateWorldMatrix( true, false ); + + // update the local matrix based on the parent and light target transforms + if ( this.parent ) { + + this.parent.updateWorldMatrix( true ); + + this.matrix + .copy( this.parent.matrixWorld ) + .invert() + .multiply( this.light.matrixWorld ); + + } else { + + this.matrix.copy( this.light.matrixWorld ); + + } + + this.matrixWorld.copy( this.light.matrixWorld ); + + const coneLength = this.light.distance ? this.light.distance : 1000; + const coneWidth = coneLength * Math.tan( this.light.angle ); + + this.cone.scale.set( coneWidth, coneWidth, coneLength ); + + _vector$3.setFromMatrixPosition( this.light.target.matrixWorld ); + + this.cone.lookAt( _vector$3 ); + + if ( this.color !== undefined ) { + + this.cone.material.color.set( this.color ); + + } else { + + this.cone.material.color.copy( this.light.color ); + + } + + } + +} + +const _vector$2 = /*@__PURE__*/ new Vector3(); +const _boneMatrix = /*@__PURE__*/ new Matrix4(); +const _matrixWorldInv = /*@__PURE__*/ new Matrix4(); + +/** + * A helper object to assist with visualizing a {@link Skeleton}. + * + * ```js + * const helper = new THREE.SkeletonHelper( skinnedMesh ); + * scene.add( helper ); + * ``` + * + * @augments LineSegments + */ +class SkeletonHelper extends LineSegments { + + /** + * Constructs a new skeleton helper. + * + * @param {Object3D} object - Usually an instance of {@link SkinnedMesh}. However, any 3D object + * can be used if it represents a hierarchy of bones (see {@link Bone}). + */ + constructor( object ) { + + const bones = getBoneList( object ); + + const geometry = new BufferGeometry(); + + const vertices = []; + const colors = []; + + for ( let i = 0; i < bones.length; i ++ ) { + + const bone = bones[ i ]; + + if ( bone.parent && bone.parent.isBone ) { + + vertices.push( 0, 0, 0 ); + vertices.push( 0, 0, 0 ); + colors.push( 0, 0, 0 ); + colors.push( 0, 0, 0 ); + + } + + } + + geometry.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + geometry.setAttribute( 'color', new Float32BufferAttribute( colors, 3 ) ); + + const material = new LineBasicMaterial( { vertexColors: true, depthTest: false, depthWrite: false, toneMapped: false, transparent: true } ); + + super( geometry, material ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isSkeletonHelper = true; + + this.type = 'SkeletonHelper'; + + /** + * The object being visualized. + * + * @type {Object3D} + */ + this.root = object; + + /** + * The list of bones that the helper visualizes. + * + * @type {Array} + */ + this.bones = bones; + + this.matrix = object.matrixWorld; + this.matrixAutoUpdate = false; + + // colors + + const color1 = new Color( 0x0000ff ); + const color2 = new Color( 0x00ff00 ); + + this.setColors( color1, color2 ); + + } + + updateMatrixWorld( force ) { + + const bones = this.bones; + + const geometry = this.geometry; + const position = geometry.getAttribute( 'position' ); + + _matrixWorldInv.copy( this.root.matrixWorld ).invert(); + + for ( let i = 0, j = 0; i < bones.length; i ++ ) { + + const bone = bones[ i ]; + + if ( bone.parent && bone.parent.isBone ) { + + _boneMatrix.multiplyMatrices( _matrixWorldInv, bone.matrixWorld ); + _vector$2.setFromMatrixPosition( _boneMatrix ); + position.setXYZ( j, _vector$2.x, _vector$2.y, _vector$2.z ); + + _boneMatrix.multiplyMatrices( _matrixWorldInv, bone.parent.matrixWorld ); + _vector$2.setFromMatrixPosition( _boneMatrix ); + position.setXYZ( j + 1, _vector$2.x, _vector$2.y, _vector$2.z ); + + j += 2; + + } + + } + + geometry.getAttribute( 'position' ).needsUpdate = true; + + super.updateMatrixWorld( force ); + + } + + /** + * Defines the colors of the helper. + * + * @param {Color} color1 - The first line color for each bone. + * @param {Color} color2 - The second line color for each bone. + * @return {SkeletonHelper} A reference to this helper. + */ + setColors( color1, color2 ) { + + const geometry = this.geometry; + const colorAttribute = geometry.getAttribute( 'color' ); + + for ( let i = 0; i < colorAttribute.count; i += 2 ) { + + colorAttribute.setXYZ( i, color1.r, color1.g, color1.b ); + colorAttribute.setXYZ( i + 1, color2.r, color2.g, color2.b ); + + } + + colorAttribute.needsUpdate = true; + + return this; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.geometry.dispose(); + this.material.dispose(); + + } + +} + + +function getBoneList( object ) { + + const boneList = []; + + if ( object.isBone === true ) { + + boneList.push( object ); + + } + + for ( let i = 0; i < object.children.length; i ++ ) { + + boneList.push( ...getBoneList( object.children[ i ] ) ); + + } + + return boneList; + +} + +/** + * This displays a helper object consisting of a spherical mesh for + * visualizing an instance of {@link PointLight}. + * + * ```js + * const pointLight = new THREE.PointLight( 0xff0000, 1, 100 ); + * pointLight.position.set( 10, 10, 10 ); + * scene.add( pointLight ); + * + * const sphereSize = 1; + * const pointLightHelper = new THREE.PointLightHelper( pointLight, sphereSize ); + * scene.add( pointLightHelper ); + * ``` + * + * @augments Mesh + */ +class PointLightHelper extends Mesh { + + /** + * Constructs a new point light helper. + * + * @param {PointLight} light - The light to be visualized. + * @param {number} [sphereSize=1] - The size of the sphere helper. + * @param {number|Color|string} [color] - The helper's color. If not set, the helper will take + * the color of the light. + */ + constructor( light, sphereSize, color ) { + + const geometry = new SphereGeometry( sphereSize, 4, 2 ); + const material = new MeshBasicMaterial( { wireframe: true, fog: false, toneMapped: false } ); + + super( geometry, material ); + + /** + * The light being visualized. + * + * @type {PointLight} + */ + this.light = light; + + /** + * The color parameter passed in the constructor. + * If not set, the helper will take the color of the light. + * + * @type {number|Color|string} + */ + this.color = color; + + this.type = 'PointLightHelper'; + + this.matrix = this.light.matrixWorld; + this.matrixAutoUpdate = false; + + this.update(); + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.geometry.dispose(); + this.material.dispose(); + + } + + /** + * Updates the helper to match the position of the + * light being visualized. + */ + update() { + + this.light.updateWorldMatrix( true, false ); + + if ( this.color !== undefined ) { + + this.material.color.set( this.color ); + + } else { + + this.material.color.copy( this.light.color ); + + } + + /* + const d = this.light.distance; + + if ( d === 0.0 ) { + + this.lightDistance.visible = false; + + } else { + + this.lightDistance.visible = true; + this.lightDistance.scale.set( d, d, d ); + + } + */ + + } + +} + +const _vector$1 = /*@__PURE__*/ new Vector3(); +const _color1 = /*@__PURE__*/ new Color(); +const _color2 = /*@__PURE__*/ new Color(); + +/** + * Creates a visual aid consisting of a spherical mesh for a + * given {@link HemisphereLight}. + * + * When the hemisphere light is transformed or its light properties are changed, + * it's necessary to call the `update()` method of the respective helper. + * + * ```js + * const light = new THREE.HemisphereLight( 0xffffbb, 0x080820, 1 ); + * const helper = new THREE.HemisphereLightHelper( light, 5 ); + * scene.add( helper ); + * ``` + * + * @augments Object3D + */ +class HemisphereLightHelper extends Object3D { + + /** + * Constructs a new hemisphere light helper. + * + * @param {HemisphereLight} light - The light to be visualized. + * @param {number} [size=1] - The size of the mesh used to visualize the light. + * @param {number|Color|string} [color] - The helper's color. If not set, the helper will take + * the color of the light. + */ + constructor( light, size, color ) { + + super(); + + /** + * The light being visualized. + * + * @type {HemisphereLight} + */ + this.light = light; + + this.matrix = light.matrixWorld; + this.matrixAutoUpdate = false; + + /** + * The color parameter passed in the constructor. + * If not set, the helper will take the color of the light. + * + * @type {number|Color|string} + */ + this.color = color; + + this.type = 'HemisphereLightHelper'; + + const geometry = new OctahedronGeometry( size ); + geometry.rotateY( Math.PI * 0.5 ); + + this.material = new MeshBasicMaterial( { wireframe: true, fog: false, toneMapped: false } ); + if ( this.color === undefined ) this.material.vertexColors = true; + + const position = geometry.getAttribute( 'position' ); + const colors = new Float32Array( position.count * 3 ); + + geometry.setAttribute( 'color', new BufferAttribute( colors, 3 ) ); + + this.add( new Mesh( geometry, this.material ) ); + + this.update(); + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.children[ 0 ].geometry.dispose(); + this.children[ 0 ].material.dispose(); + + } + + /** + * Updates the helper to match the position and direction of the + * light being visualized. + */ + update() { + + const mesh = this.children[ 0 ]; + + if ( this.color !== undefined ) { + + this.material.color.set( this.color ); + + } else { + + const colors = mesh.geometry.getAttribute( 'color' ); + + _color1.copy( this.light.color ); + _color2.copy( this.light.groundColor ); + + for ( let i = 0, l = colors.count; i < l; i ++ ) { + + const color = ( i < ( l / 2 ) ) ? _color1 : _color2; + + colors.setXYZ( i, color.r, color.g, color.b ); + + } + + colors.needsUpdate = true; + + } + + this.light.updateWorldMatrix( true, false ); + + mesh.lookAt( _vector$1.setFromMatrixPosition( this.light.matrixWorld ).negate() ); + + } + +} + +/** + * The helper is an object to define grids. Grids are two-dimensional + * arrays of lines. + * + * ```js + * const size = 10; + * const divisions = 10; + * + * const gridHelper = new THREE.GridHelper( size, divisions ); + * scene.add( gridHelper ); + * ``` + * + * @augments LineSegments + */ +class GridHelper extends LineSegments { + + /** + * Constructs a new grid helper. + * + * @param {number} [size=10] - The size of the grid. + * @param {number} [divisions=10] - The number of divisions across the grid. + * @param {number|Color|string} [color1=0x444444] - The color of the center line. + * @param {number|Color|string} [color2=0x888888] - The color of the lines of the grid. + */ + constructor( size = 10, divisions = 10, color1 = 0x444444, color2 = 0x888888 ) { + + color1 = new Color( color1 ); + color2 = new Color( color2 ); + + const center = divisions / 2; + const step = size / divisions; + const halfSize = size / 2; + + const vertices = [], colors = []; + + for ( let i = 0, j = 0, k = - halfSize; i <= divisions; i ++, k += step ) { + + vertices.push( - halfSize, 0, k, halfSize, 0, k ); + vertices.push( k, 0, - halfSize, k, 0, halfSize ); + + const color = i === center ? color1 : color2; + + color.toArray( colors, j ); j += 3; + color.toArray( colors, j ); j += 3; + color.toArray( colors, j ); j += 3; + color.toArray( colors, j ); j += 3; + + } + + const geometry = new BufferGeometry(); + geometry.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + geometry.setAttribute( 'color', new Float32BufferAttribute( colors, 3 ) ); + + const material = new LineBasicMaterial( { vertexColors: true, toneMapped: false } ); + + super( geometry, material ); + + this.type = 'GridHelper'; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.geometry.dispose(); + this.material.dispose(); + + } + +} + +/** + * This helper is an object to define polar grids. Grids are + * two-dimensional arrays of lines. + * + * ```js + * const radius = 10; + * const sectors = 16; + * const rings = 8; + * const divisions = 64; + * + * const helper = new THREE.PolarGridHelper( radius, sectors, rings, divisions ); + * scene.add( helper ); + * ``` + * + * @augments LineSegments + */ +class PolarGridHelper extends LineSegments { + + /** + * Constructs a new polar grid helper. + * + * @param {number} [radius=10] - The radius of the polar grid. This can be any positive number. + * @param {number} [sectors=16] - The number of sectors the grid will be divided into. This can be any positive integer. + * @param {number} [rings=16] - The number of rings. This can be any positive integer. + * @param {number} [divisions=64] - The number of line segments used for each circle. This can be any positive integer. + * @param {number|Color|string} [color1=0x444444] - The first color used for grid elements. + * @param {number|Color|string} [color2=0x888888] - The second color used for grid elements. + */ + constructor( radius = 10, sectors = 16, rings = 8, divisions = 64, color1 = 0x444444, color2 = 0x888888 ) { + + color1 = new Color( color1 ); + color2 = new Color( color2 ); + + const vertices = []; + const colors = []; + + // create the sectors + + if ( sectors > 1 ) { + + for ( let i = 0; i < sectors; i ++ ) { + + const v = ( i / sectors ) * ( Math.PI * 2 ); + + const x = Math.sin( v ) * radius; + const z = Math.cos( v ) * radius; + + vertices.push( 0, 0, 0 ); + vertices.push( x, 0, z ); + + const color = ( i & 1 ) ? color1 : color2; + + colors.push( color.r, color.g, color.b ); + colors.push( color.r, color.g, color.b ); + + } + + } + + // create the rings + + for ( let i = 0; i < rings; i ++ ) { + + const color = ( i & 1 ) ? color1 : color2; + + const r = radius - ( radius / rings * i ); + + for ( let j = 0; j < divisions; j ++ ) { + + // first vertex + + let v = ( j / divisions ) * ( Math.PI * 2 ); + + let x = Math.sin( v ) * r; + let z = Math.cos( v ) * r; + + vertices.push( x, 0, z ); + colors.push( color.r, color.g, color.b ); + + // second vertex + + v = ( ( j + 1 ) / divisions ) * ( Math.PI * 2 ); + + x = Math.sin( v ) * r; + z = Math.cos( v ) * r; + + vertices.push( x, 0, z ); + colors.push( color.r, color.g, color.b ); + + } + + } + + const geometry = new BufferGeometry(); + geometry.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + geometry.setAttribute( 'color', new Float32BufferAttribute( colors, 3 ) ); + + const material = new LineBasicMaterial( { vertexColors: true, toneMapped: false } ); + + super( geometry, material ); + + this.type = 'PolarGridHelper'; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.geometry.dispose(); + this.material.dispose(); + + } + +} + +const _v1 = /*@__PURE__*/ new Vector3(); +const _v2 = /*@__PURE__*/ new Vector3(); +const _v3 = /*@__PURE__*/ new Vector3(); + +/** + * Helper object to assist with visualizing a {@link DirectionalLight}'s + * effect on the scene. This consists of a plane and a line representing the + * light's position and direction. + * + * When the directional light or its target are transformed or light properties + * are changed, it's necessary to call the `update()` method of the respective helper. + * + * ```js + * const light = new THREE.DirectionalLight( 0xFFFFFF ); + * scene.add( light ); + * + * const helper = new THREE.DirectionalLightHelper( light, 5 ); + * scene.add( helper ); + * ``` + * + * @augments Object3D + */ +class DirectionalLightHelper extends Object3D { + + /** + * Constructs a new directional light helper. + * + * @param {DirectionalLight} light - The light to be visualized. + * @param {number} [size=1] - The dimensions of the plane. + * @param {number|Color|string} [color] - The helper's color. If not set, the helper will take + * the color of the light. + */ + constructor( light, size, color ) { + + super(); + + /** + * The light being visualized. + * + * @type {DirectionalLight} + */ + this.light = light; + + this.matrix = light.matrixWorld; + this.matrixAutoUpdate = false; + + /** + * The color parameter passed in the constructor. + * If not set, the helper will take the color of the light. + * + * @type {number|Color|string} + */ + this.color = color; + + this.type = 'DirectionalLightHelper'; + + if ( size === undefined ) size = 1; + + let geometry = new BufferGeometry(); + geometry.setAttribute( 'position', new Float32BufferAttribute( [ + - size, size, 0, + size, size, 0, + size, - size, 0, + - size, - size, 0, + - size, size, 0 + ], 3 ) ); + + const material = new LineBasicMaterial( { fog: false, toneMapped: false } ); + + /** + * Contains the line showing the location of the directional light. + * + * @type {Line} + */ + this.lightPlane = new Line( geometry, material ); + this.add( this.lightPlane ); + + geometry = new BufferGeometry(); + geometry.setAttribute( 'position', new Float32BufferAttribute( [ 0, 0, 0, 0, 0, 1 ], 3 ) ); + + /** + * Represents the target line of the directional light. + * + * @type {Line} + */ + this.targetLine = new Line( geometry, material ); + this.add( this.targetLine ); + + this.update(); + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.lightPlane.geometry.dispose(); + this.lightPlane.material.dispose(); + this.targetLine.geometry.dispose(); + this.targetLine.material.dispose(); + + } + + /** + * Updates the helper to match the position and direction of the + * light being visualized. + */ + update() { + + this.light.updateWorldMatrix( true, false ); + this.light.target.updateWorldMatrix( true, false ); + + _v1.setFromMatrixPosition( this.light.matrixWorld ); + _v2.setFromMatrixPosition( this.light.target.matrixWorld ); + _v3.subVectors( _v2, _v1 ); + + this.lightPlane.lookAt( _v2 ); + + if ( this.color !== undefined ) { + + this.lightPlane.material.color.set( this.color ); + this.targetLine.material.color.set( this.color ); + + } else { + + this.lightPlane.material.color.copy( this.light.color ); + this.targetLine.material.color.copy( this.light.color ); + + } + + this.targetLine.lookAt( _v2 ); + this.targetLine.scale.z = _v3.length(); + + } + +} + +const _vector = /*@__PURE__*/ new Vector3(); +const _camera = /*@__PURE__*/ new Camera(); + +/** + * This helps with visualizing what a camera contains in its frustum. It + * visualizes the frustum of a camera using a line segments. + * + * Based on frustum visualization in [lightgl.js shadowmap example](https://github.com/evanw/lightgl.js/blob/master/tests/shadowmap.html). + * + * `CameraHelper` must be a child of the scene. + * + * When the camera is transformed or its projection matrix is changed, it's necessary + * to call the `update()` method of the respective helper. + * + * ```js + * const camera = new THREE.PerspectiveCamera( 75, window.innerWidth / window.innerHeight, 0.1, 1000 ); + * const helper = new THREE.CameraHelper( camera ); + * scene.add( helper ); + * ``` + * + * @augments LineSegments + */ +class CameraHelper extends LineSegments { + + /** + * Constructs a new arrow helper. + * + * @param {Camera} camera - The camera to visualize. + */ + constructor( camera ) { + + const geometry = new BufferGeometry(); + const material = new LineBasicMaterial( { color: 0xffffff, vertexColors: true, toneMapped: false } ); + + const vertices = []; + const colors = []; + + const pointMap = {}; + + // near + + addLine( 'n1', 'n2' ); + addLine( 'n2', 'n4' ); + addLine( 'n4', 'n3' ); + addLine( 'n3', 'n1' ); + + // far + + addLine( 'f1', 'f2' ); + addLine( 'f2', 'f4' ); + addLine( 'f4', 'f3' ); + addLine( 'f3', 'f1' ); + + // sides + + addLine( 'n1', 'f1' ); + addLine( 'n2', 'f2' ); + addLine( 'n3', 'f3' ); + addLine( 'n4', 'f4' ); + + // cone + + addLine( 'p', 'n1' ); + addLine( 'p', 'n2' ); + addLine( 'p', 'n3' ); + addLine( 'p', 'n4' ); + + // up + + addLine( 'u1', 'u2' ); + addLine( 'u2', 'u3' ); + addLine( 'u3', 'u1' ); + + // target + + addLine( 'c', 't' ); + addLine( 'p', 'c' ); + + // cross + + addLine( 'cn1', 'cn2' ); + addLine( 'cn3', 'cn4' ); + + addLine( 'cf1', 'cf2' ); + addLine( 'cf3', 'cf4' ); + + function addLine( a, b ) { + + addPoint( a ); + addPoint( b ); + + } + + function addPoint( id ) { + + vertices.push( 0, 0, 0 ); + colors.push( 0, 0, 0 ); + + if ( pointMap[ id ] === undefined ) { + + pointMap[ id ] = []; + + } + + pointMap[ id ].push( ( vertices.length / 3 ) - 1 ); + + } + + geometry.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + geometry.setAttribute( 'color', new Float32BufferAttribute( colors, 3 ) ); + + super( geometry, material ); + + this.type = 'CameraHelper'; + + /** + * The camera being visualized. + * + * @type {Camera} + */ + this.camera = camera; + if ( this.camera.updateProjectionMatrix ) this.camera.updateProjectionMatrix(); + + this.matrix = camera.matrixWorld; + this.matrixAutoUpdate = false; + + /** + * This contains the points used to visualize the camera. + * + * @type {Object>} + */ + this.pointMap = pointMap; + + this.update(); + + // colors + + const colorFrustum = new Color( 0xffaa00 ); + const colorCone = new Color( 0xff0000 ); + const colorUp = new Color( 0x00aaff ); + const colorTarget = new Color( 0xffffff ); + const colorCross = new Color( 0x333333 ); + + this.setColors( colorFrustum, colorCone, colorUp, colorTarget, colorCross ); + + } + + /** + * Defines the colors of the helper. + * + * @param {Color} frustum - The frustum line color. + * @param {Color} cone - The cone line color. + * @param {Color} up - The up line color. + * @param {Color} target - The target line color. + * @param {Color} cross - The cross line color. + * @return {CameraHelper} A reference to this helper. + */ + setColors( frustum, cone, up, target, cross ) { + + const geometry = this.geometry; + + const colorAttribute = geometry.getAttribute( 'color' ); + + // near + + colorAttribute.setXYZ( 0, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 1, frustum.r, frustum.g, frustum.b ); // n1, n2 + colorAttribute.setXYZ( 2, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 3, frustum.r, frustum.g, frustum.b ); // n2, n4 + colorAttribute.setXYZ( 4, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 5, frustum.r, frustum.g, frustum.b ); // n4, n3 + colorAttribute.setXYZ( 6, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 7, frustum.r, frustum.g, frustum.b ); // n3, n1 + + // far + + colorAttribute.setXYZ( 8, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 9, frustum.r, frustum.g, frustum.b ); // f1, f2 + colorAttribute.setXYZ( 10, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 11, frustum.r, frustum.g, frustum.b ); // f2, f4 + colorAttribute.setXYZ( 12, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 13, frustum.r, frustum.g, frustum.b ); // f4, f3 + colorAttribute.setXYZ( 14, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 15, frustum.r, frustum.g, frustum.b ); // f3, f1 + + // sides + + colorAttribute.setXYZ( 16, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 17, frustum.r, frustum.g, frustum.b ); // n1, f1 + colorAttribute.setXYZ( 18, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 19, frustum.r, frustum.g, frustum.b ); // n2, f2 + colorAttribute.setXYZ( 20, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 21, frustum.r, frustum.g, frustum.b ); // n3, f3 + colorAttribute.setXYZ( 22, frustum.r, frustum.g, frustum.b ); colorAttribute.setXYZ( 23, frustum.r, frustum.g, frustum.b ); // n4, f4 + + // cone + + colorAttribute.setXYZ( 24, cone.r, cone.g, cone.b ); colorAttribute.setXYZ( 25, cone.r, cone.g, cone.b ); // p, n1 + colorAttribute.setXYZ( 26, cone.r, cone.g, cone.b ); colorAttribute.setXYZ( 27, cone.r, cone.g, cone.b ); // p, n2 + colorAttribute.setXYZ( 28, cone.r, cone.g, cone.b ); colorAttribute.setXYZ( 29, cone.r, cone.g, cone.b ); // p, n3 + colorAttribute.setXYZ( 30, cone.r, cone.g, cone.b ); colorAttribute.setXYZ( 31, cone.r, cone.g, cone.b ); // p, n4 + + // up + + colorAttribute.setXYZ( 32, up.r, up.g, up.b ); colorAttribute.setXYZ( 33, up.r, up.g, up.b ); // u1, u2 + colorAttribute.setXYZ( 34, up.r, up.g, up.b ); colorAttribute.setXYZ( 35, up.r, up.g, up.b ); // u2, u3 + colorAttribute.setXYZ( 36, up.r, up.g, up.b ); colorAttribute.setXYZ( 37, up.r, up.g, up.b ); // u3, u1 + + // target + + colorAttribute.setXYZ( 38, target.r, target.g, target.b ); colorAttribute.setXYZ( 39, target.r, target.g, target.b ); // c, t + colorAttribute.setXYZ( 40, cross.r, cross.g, cross.b ); colorAttribute.setXYZ( 41, cross.r, cross.g, cross.b ); // p, c + + // cross + + colorAttribute.setXYZ( 42, cross.r, cross.g, cross.b ); colorAttribute.setXYZ( 43, cross.r, cross.g, cross.b ); // cn1, cn2 + colorAttribute.setXYZ( 44, cross.r, cross.g, cross.b ); colorAttribute.setXYZ( 45, cross.r, cross.g, cross.b ); // cn3, cn4 + + colorAttribute.setXYZ( 46, cross.r, cross.g, cross.b ); colorAttribute.setXYZ( 47, cross.r, cross.g, cross.b ); // cf1, cf2 + colorAttribute.setXYZ( 48, cross.r, cross.g, cross.b ); colorAttribute.setXYZ( 49, cross.r, cross.g, cross.b ); // cf3, cf4 + + colorAttribute.needsUpdate = true; + + return this; + + } + + /** + * Updates the helper based on the projection matrix of the camera. + */ + update() { + + const geometry = this.geometry; + const pointMap = this.pointMap; + + const w = 1, h = 1; + + let nearZ, farZ; + + // we need just camera projection matrix inverse + // world matrix must be identity + + _camera.projectionMatrixInverse.copy( this.camera.projectionMatrixInverse ); + + // Adjust z values based on coordinate system + + if ( this.camera.reversedDepth === true ) { + + nearZ = 1; + farZ = 0; + + } else { + + if ( this.camera.coordinateSystem === WebGLCoordinateSystem ) { + + nearZ = -1; + farZ = 1; + + } else if ( this.camera.coordinateSystem === WebGPUCoordinateSystem ) { + + nearZ = 0; + farZ = 1; + + } else { + + throw new Error( 'THREE.CameraHelper.update(): Invalid coordinate system: ' + this.camera.coordinateSystem ); + + } + + } + + + // center / target + setPoint( 'c', pointMap, geometry, _camera, 0, 0, nearZ ); + setPoint( 't', pointMap, geometry, _camera, 0, 0, farZ ); + + // near + + setPoint( 'n1', pointMap, geometry, _camera, - w, - h, nearZ ); + setPoint( 'n2', pointMap, geometry, _camera, w, - h, nearZ ); + setPoint( 'n3', pointMap, geometry, _camera, - w, h, nearZ ); + setPoint( 'n4', pointMap, geometry, _camera, w, h, nearZ ); + + // far + + setPoint( 'f1', pointMap, geometry, _camera, - w, - h, farZ ); + setPoint( 'f2', pointMap, geometry, _camera, w, - h, farZ ); + setPoint( 'f3', pointMap, geometry, _camera, - w, h, farZ ); + setPoint( 'f4', pointMap, geometry, _camera, w, h, farZ ); + + // up + + setPoint( 'u1', pointMap, geometry, _camera, w * 0.7, h * 1.1, nearZ ); + setPoint( 'u2', pointMap, geometry, _camera, - w * 0.7, h * 1.1, nearZ ); + setPoint( 'u3', pointMap, geometry, _camera, 0, h * 2, nearZ ); + + // cross + + setPoint( 'cf1', pointMap, geometry, _camera, - w, 0, farZ ); + setPoint( 'cf2', pointMap, geometry, _camera, w, 0, farZ ); + setPoint( 'cf3', pointMap, geometry, _camera, 0, - h, farZ ); + setPoint( 'cf4', pointMap, geometry, _camera, 0, h, farZ ); + + setPoint( 'cn1', pointMap, geometry, _camera, - w, 0, nearZ ); + setPoint( 'cn2', pointMap, geometry, _camera, w, 0, nearZ ); + setPoint( 'cn3', pointMap, geometry, _camera, 0, - h, nearZ ); + setPoint( 'cn4', pointMap, geometry, _camera, 0, h, nearZ ); + + geometry.getAttribute( 'position' ).needsUpdate = true; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.geometry.dispose(); + this.material.dispose(); + + } + +} + + +function setPoint( point, pointMap, geometry, camera, x, y, z ) { + + _vector.set( x, y, z ).unproject( camera ); + + const points = pointMap[ point ]; + + if ( points !== undefined ) { + + const position = geometry.getAttribute( 'position' ); + + for ( let i = 0, l = points.length; i < l; i ++ ) { + + position.setXYZ( points[ i ], _vector.x, _vector.y, _vector.z ); + + } + + } + +} + +const _box = /*@__PURE__*/ new Box3(); + +/** + * Helper object to graphically show the world-axis-aligned bounding box + * around an object. The actual bounding box is handled with {@link Box3}, + * this is just a visual helper for debugging. It can be automatically + * resized with {@link BoxHelper#update} when the object it's created from + * is transformed. Note that the object must have a geometry for this to work, + * so it won't work with sprites. + * + * ```js + * const sphere = new THREE.SphereGeometry(); + * const object = new THREE.Mesh( sphere, new THREE.MeshBasicMaterial( 0xff0000 ) ); + * const box = new THREE.BoxHelper( object, 0xffff00 ); + * scene.add( box ); + * ``` + * + * @augments LineSegments + */ +class BoxHelper extends LineSegments { + + /** + * Constructs a new box helper. + * + * @param {Object3D} [object] - The 3D object to show the world-axis-aligned bounding box. + * @param {number|Color|string} [color=0xffff00] - The box's color. + */ + constructor( object, color = 0xffff00 ) { + + const indices = new Uint16Array( [ 0, 1, 1, 2, 2, 3, 3, 0, 4, 5, 5, 6, 6, 7, 7, 4, 0, 4, 1, 5, 2, 6, 3, 7 ] ); + const positions = new Float32Array( 8 * 3 ); + + const geometry = new BufferGeometry(); + geometry.setIndex( new BufferAttribute( indices, 1 ) ); + geometry.setAttribute( 'position', new BufferAttribute( positions, 3 ) ); + + super( geometry, new LineBasicMaterial( { color: color, toneMapped: false } ) ); + + /** + * The 3D object being visualized. + * + * @type {Object3D} + */ + this.object = object; + this.type = 'BoxHelper'; + + this.matrixAutoUpdate = false; + + this.update(); + + } + + /** + * Updates the helper's geometry to match the dimensions of the object, + * including any children. + */ + update() { + + if ( this.object !== undefined ) { + + _box.setFromObject( this.object ); + + } + + if ( _box.isEmpty() ) return; + + const min = _box.min; + const max = _box.max; + + /* + 5____4 + 1/___0/| + | 6__|_7 + 2/___3/ + + 0: max.x, max.y, max.z + 1: min.x, max.y, max.z + 2: min.x, min.y, max.z + 3: max.x, min.y, max.z + 4: max.x, max.y, min.z + 5: min.x, max.y, min.z + 6: min.x, min.y, min.z + 7: max.x, min.y, min.z + */ + + const position = this.geometry.attributes.position; + const array = position.array; + + array[ 0 ] = max.x; array[ 1 ] = max.y; array[ 2 ] = max.z; + array[ 3 ] = min.x; array[ 4 ] = max.y; array[ 5 ] = max.z; + array[ 6 ] = min.x; array[ 7 ] = min.y; array[ 8 ] = max.z; + array[ 9 ] = max.x; array[ 10 ] = min.y; array[ 11 ] = max.z; + array[ 12 ] = max.x; array[ 13 ] = max.y; array[ 14 ] = min.z; + array[ 15 ] = min.x; array[ 16 ] = max.y; array[ 17 ] = min.z; + array[ 18 ] = min.x; array[ 19 ] = min.y; array[ 20 ] = min.z; + array[ 21 ] = max.x; array[ 22 ] = min.y; array[ 23 ] = min.z; + + position.needsUpdate = true; + + this.geometry.computeBoundingSphere(); + + } + + /** + * Updates the wireframe box for the passed object. + * + * @param {Object3D} object - The 3D object to create the helper for. + * @return {BoxHelper} A reference to this instance. + */ + setFromObject( object ) { + + this.object = object; + this.update(); + + return this; + + } + + copy( source, recursive ) { + + super.copy( source, recursive ); + + this.object = source.object; + + return this; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.geometry.dispose(); + this.material.dispose(); + + } + +} + +/** + * A helper object to visualize an instance of {@link Box3}. + * + * ```js + * const box = new THREE.Box3(); + * box.setFromCenterAndSize( new THREE.Vector3( 1, 1, 1 ), new THREE.Vector3( 2, 1, 3 ) ); + * + * const helper = new THREE.Box3Helper( box, 0xffff00 ); + * scene.add( helper ) + * ``` + * + * @augments LineSegments + */ +class Box3Helper extends LineSegments { + + /** + * Constructs a new box3 helper. + * + * @param {Box3} box - The box to visualize. + * @param {number|Color|string} [color=0xffff00] - The box's color. + */ + constructor( box, color = 0xffff00 ) { + + const indices = new Uint16Array( [ 0, 1, 1, 2, 2, 3, 3, 0, 4, 5, 5, 6, 6, 7, 7, 4, 0, 4, 1, 5, 2, 6, 3, 7 ] ); + + const positions = [ 1, 1, 1, -1, 1, 1, -1, -1, 1, 1, -1, 1, 1, 1, -1, -1, 1, -1, -1, -1, -1, 1, -1, -1 ]; + + const geometry = new BufferGeometry(); + + geometry.setIndex( new BufferAttribute( indices, 1 ) ); + + geometry.setAttribute( 'position', new Float32BufferAttribute( positions, 3 ) ); + + super( geometry, new LineBasicMaterial( { color: color, toneMapped: false } ) ); + + /** + * The box being visualized. + * + * @type {Box3} + */ + this.box = box; + + this.type = 'Box3Helper'; + + this.geometry.computeBoundingSphere(); + + } + + updateMatrixWorld( force ) { + + const box = this.box; + + if ( box.isEmpty() ) return; + + box.getCenter( this.position ); + + box.getSize( this.scale ); + + this.scale.multiplyScalar( 0.5 ); + + super.updateMatrixWorld( force ); + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.geometry.dispose(); + this.material.dispose(); + + } + +} + +/** + * A helper object to visualize an instance of {@link Plane}. + * + * ```js + * const plane = new THREE.Plane( new THREE.Vector3( 1, 1, 0.2 ), 3 ); + * const helper = new THREE.PlaneHelper( plane, 1, 0xffff00 ); + * scene.add( helper ); + * ``` + * + * @augments Line + */ +class PlaneHelper extends Line { + + /** + * Constructs a new plane helper. + * + * @param {Plane} plane - The plane to be visualized. + * @param {number} [size=1] - The side length of plane helper. + * @param {number|Color|string} [hex=0xffff00] - The helper's color. + */ + constructor( plane, size = 1, hex = 0xffff00 ) { + + const color = hex; + + const positions = [ 1, -1, 0, -1, 1, 0, -1, -1, 0, 1, 1, 0, -1, 1, 0, -1, -1, 0, 1, -1, 0, 1, 1, 0 ]; + + const geometry = new BufferGeometry(); + geometry.setAttribute( 'position', new Float32BufferAttribute( positions, 3 ) ); + geometry.computeBoundingSphere(); + + super( geometry, new LineBasicMaterial( { color: color, toneMapped: false } ) ); + + this.type = 'PlaneHelper'; + + /** + * The plane being visualized. + * + * @type {Plane} + */ + this.plane = plane; + + /** + * The side length of plane helper. + * + * @type {number} + * @default 1 + */ + this.size = size; + + const positions2 = [ 1, 1, 0, -1, 1, 0, -1, -1, 0, 1, 1, 0, -1, -1, 0, 1, -1, 0 ]; + + const geometry2 = new BufferGeometry(); + geometry2.setAttribute( 'position', new Float32BufferAttribute( positions2, 3 ) ); + geometry2.computeBoundingSphere(); + + this.add( new Mesh( geometry2, new MeshBasicMaterial( { color: color, opacity: 0.2, transparent: true, depthWrite: false, toneMapped: false } ) ) ); + + } + + updateMatrixWorld( force ) { + + this.position.set( 0, 0, 0 ); + + this.scale.set( 0.5 * this.size, 0.5 * this.size, 1 ); + + this.lookAt( this.plane.normal ); + + this.translateZ( - this.plane.constant ); + + super.updateMatrixWorld( force ); + + } + + /** + * Updates the helper to match the position and direction of the + * light being visualized. + */ + dispose() { + + this.geometry.dispose(); + this.material.dispose(); + this.children[ 0 ].geometry.dispose(); + this.children[ 0 ].material.dispose(); + + } + +} + +const _axis = /*@__PURE__*/ new Vector3(); +let _lineGeometry, _coneGeometry; + +/** + * An 3D arrow object for visualizing directions. + * + * ```js + * const dir = new THREE.Vector3( 1, 2, 0 ); + * + * //normalize the direction vector (convert to vector of length 1) + * dir.normalize(); + * + * const origin = new THREE.Vector3( 0, 0, 0 ); + * const length = 1; + * const hex = 0xffff00; + * + * const arrowHelper = new THREE.ArrowHelper( dir, origin, length, hex ); + * scene.add( arrowHelper ); + * ``` + * + * @augments Object3D + */ +class ArrowHelper extends Object3D { + + /** + * Constructs a new arrow helper. + * + * @param {Vector3} [dir=(0, 0, 1)] - The (normalized) direction vector. + * @param {Vector3} [origin=(0, 0, 0)] - Point at which the arrow starts. + * @param {number} [length=1] - Length of the arrow in world units. + * @param {(number|Color|string)} [color=0xffff00] - Color of the arrow. + * @param {number} [headLength=length*0.2] - The length of the head of the arrow. + * @param {number} [headWidth=headLength*0.2] - The width of the head of the arrow. + */ + constructor( dir = new Vector3( 0, 0, 1 ), origin = new Vector3( 0, 0, 0 ), length = 1, color = 0xffff00, headLength = length * 0.2, headWidth = headLength * 0.2 ) { + + super(); + + this.type = 'ArrowHelper'; + + if ( _lineGeometry === undefined ) { + + _lineGeometry = new BufferGeometry(); + _lineGeometry.setAttribute( 'position', new Float32BufferAttribute( [ 0, 0, 0, 0, 1, 0 ], 3 ) ); + + _coneGeometry = new ConeGeometry( 0.5, 1, 5, 1 ); + _coneGeometry.translate( 0, -0.5, 0 ); + + } + + this.position.copy( origin ); + + /** + * The line part of the arrow helper. + * + * @type {Line} + */ + this.line = new Line( _lineGeometry, new LineBasicMaterial( { color: color, toneMapped: false } ) ); + this.line.matrixAutoUpdate = false; + this.add( this.line ); + + /** + * The cone part of the arrow helper. + * + * @type {Mesh} + */ + this.cone = new Mesh( _coneGeometry, new MeshBasicMaterial( { color: color, toneMapped: false } ) ); + this.cone.matrixAutoUpdate = false; + this.add( this.cone ); + + this.setDirection( dir ); + this.setLength( length, headLength, headWidth ); + + } + + /** + * Sets the direction of the helper. + * + * @param {Vector3} dir - The normalized direction vector. + */ + setDirection( dir ) { + + // dir is assumed to be normalized + + if ( dir.y > 0.99999 ) { + + this.quaternion.set( 0, 0, 0, 1 ); + + } else if ( dir.y < -0.99999 ) { + + this.quaternion.set( 1, 0, 0, 0 ); + + } else { + + _axis.set( dir.z, 0, - dir.x ).normalize(); + + const radians = Math.acos( dir.y ); + + this.quaternion.setFromAxisAngle( _axis, radians ); + + } + + } + + /** + * Sets the length of the helper. + * + * @param {number} length - Length of the arrow in world units. + * @param {number} [headLength=length*0.2] - The length of the head of the arrow. + * @param {number} [headWidth=headLength*0.2] - The width of the head of the arrow. + */ + setLength( length, headLength = length * 0.2, headWidth = headLength * 0.2 ) { + + this.line.scale.set( 1, Math.max( 0.0001, length - headLength ), 1 ); // see #17458 + this.line.updateMatrix(); + + this.cone.scale.set( headWidth, headLength, headWidth ); + this.cone.position.y = length; + this.cone.updateMatrix(); + + } + + /** + * Sets the color of the helper. + * + * @param {number|Color|string} color - The color to set. + */ + setColor( color ) { + + this.line.material.color.set( color ); + this.cone.material.color.set( color ); + + } + + copy( source ) { + + super.copy( source, false ); + + this.line.copy( source.line ); + this.cone.copy( source.cone ); + + return this; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.line.geometry.dispose(); + this.line.material.dispose(); + this.cone.geometry.dispose(); + this.cone.material.dispose(); + + } + +} + +/** + * An axis object to visualize the 3 axes in a simple way. + * The X axis is red. The Y axis is green. The Z axis is blue. + * + * ```js + * const axesHelper = new THREE.AxesHelper( 5 ); + * scene.add( axesHelper ); + * ``` + * + * @augments LineSegments + */ +class AxesHelper extends LineSegments { + + /** + * Constructs a new axes helper. + * + * @param {number} [size=1] - Size of the lines representing the axes. + */ + constructor( size = 1 ) { + + const vertices = [ + 0, 0, 0, size, 0, 0, + 0, 0, 0, 0, size, 0, + 0, 0, 0, 0, 0, size + ]; + + const colors = [ + 1, 0, 0, 1, 0.6, 0, + 0, 1, 0, 0.6, 1, 0, + 0, 0, 1, 0, 0.6, 1 + ]; + + const geometry = new BufferGeometry(); + geometry.setAttribute( 'position', new Float32BufferAttribute( vertices, 3 ) ); + geometry.setAttribute( 'color', new Float32BufferAttribute( colors, 3 ) ); + + const material = new LineBasicMaterial( { vertexColors: true, toneMapped: false } ); + + super( geometry, material ); + + this.type = 'AxesHelper'; + + } + + /** + * Defines the colors of the axes helper. + * + * @param {number|Color|string} xAxisColor - The color for the x axis. + * @param {number|Color|string} yAxisColor - The color for the y axis. + * @param {number|Color|string} zAxisColor - The color for the z axis. + * @return {AxesHelper} A reference to this axes helper. + */ + setColors( xAxisColor, yAxisColor, zAxisColor ) { + + const color = new Color(); + const array = this.geometry.attributes.color.array; + + color.set( xAxisColor ); + color.toArray( array, 0 ); + color.toArray( array, 3 ); + + color.set( yAxisColor ); + color.toArray( array, 6 ); + color.toArray( array, 9 ); + + color.set( zAxisColor ); + color.toArray( array, 12 ); + color.toArray( array, 15 ); + + this.geometry.attributes.color.needsUpdate = true; + + return this; + + } + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + dispose() { + + this.geometry.dispose(); + this.material.dispose(); + + } + +} + +/** + * This class is used to convert a series of paths to an array of + * shapes. It is specifically used in context of fonts and SVG. + */ +class ShapePath { + + /** + * Constructs a new shape path. + */ + constructor() { + + this.type = 'ShapePath'; + + /** + * The color of the shape. + * + * @type {Color} + */ + this.color = new Color(); + + /** + * The paths that have been generated for this shape. + * + * @type {Array} + * @default null + */ + this.subPaths = []; + + /** + * The current path that is being generated. + * + * @type {?Path} + * @default null + */ + this.currentPath = null; + + } + + /** + * Creates a new path and moves it current point to the given one. + * + * @param {number} x - The x coordinate. + * @param {number} y - The y coordinate. + * @return {ShapePath} A reference to this shape path. + */ + moveTo( x, y ) { + + this.currentPath = new Path(); + this.subPaths.push( this.currentPath ); + this.currentPath.moveTo( x, y ); + + return this; + + } + + /** + * Adds an instance of {@link LineCurve} to the path by connecting + * the current point with the given one. + * + * @param {number} x - The x coordinate of the end point. + * @param {number} y - The y coordinate of the end point. + * @return {ShapePath} A reference to this shape path. + */ + lineTo( x, y ) { + + this.currentPath.lineTo( x, y ); + + return this; + + } + + /** + * Adds an instance of {@link QuadraticBezierCurve} to the path by connecting + * the current point with the given one. + * + * @param {number} aCPx - The x coordinate of the control point. + * @param {number} aCPy - The y coordinate of the control point. + * @param {number} aX - The x coordinate of the end point. + * @param {number} aY - The y coordinate of the end point. + * @return {ShapePath} A reference to this shape path. + */ + quadraticCurveTo( aCPx, aCPy, aX, aY ) { + + this.currentPath.quadraticCurveTo( aCPx, aCPy, aX, aY ); + + return this; + + } + + /** + * Adds an instance of {@link CubicBezierCurve} to the path by connecting + * the current point with the given one. + * + * @param {number} aCP1x - The x coordinate of the first control point. + * @param {number} aCP1y - The y coordinate of the first control point. + * @param {number} aCP2x - The x coordinate of the second control point. + * @param {number} aCP2y - The y coordinate of the second control point. + * @param {number} aX - The x coordinate of the end point. + * @param {number} aY - The y coordinate of the end point. + * @return {ShapePath} A reference to this shape path. + */ + bezierCurveTo( aCP1x, aCP1y, aCP2x, aCP2y, aX, aY ) { + + this.currentPath.bezierCurveTo( aCP1x, aCP1y, aCP2x, aCP2y, aX, aY ); + + return this; + + } + + /** + * Adds an instance of {@link SplineCurve} to the path by connecting + * the current point with the given list of points. + * + * @param {Array} pts - An array of points in 2D space. + * @return {ShapePath} A reference to this shape path. + */ + splineThru( pts ) { + + this.currentPath.splineThru( pts ); + + return this; + + } + + /** + * Converts the paths into an array of shapes. + * + * @param {boolean} isCCW - By default solid shapes are defined clockwise (CW) and holes are defined counterclockwise (CCW). + * If this flag is set to `true`, then those are flipped. + * @return {Array} An array of shapes. + */ + toShapes( isCCW ) { + + function toShapesNoHoles( inSubpaths ) { + + const shapes = []; + + for ( let i = 0, l = inSubpaths.length; i < l; i ++ ) { + + const tmpPath = inSubpaths[ i ]; + + const tmpShape = new Shape(); + tmpShape.curves = tmpPath.curves; + + shapes.push( tmpShape ); + + } + + return shapes; + + } + + function isPointInsidePolygon( inPt, inPolygon ) { + + const polyLen = inPolygon.length; + + // inPt on polygon contour => immediate success or + // toggling of inside/outside at every single! intersection point of an edge + // with the horizontal line through inPt, left of inPt + // not counting lowerY endpoints of edges and whole edges on that line + let inside = false; + for ( let p = polyLen - 1, q = 0; q < polyLen; p = q ++ ) { + + let edgeLowPt = inPolygon[ p ]; + let edgeHighPt = inPolygon[ q ]; + + let edgeDx = edgeHighPt.x - edgeLowPt.x; + let edgeDy = edgeHighPt.y - edgeLowPt.y; + + if ( Math.abs( edgeDy ) > Number.EPSILON ) { + + // not parallel + if ( edgeDy < 0 ) { + + edgeLowPt = inPolygon[ q ]; edgeDx = - edgeDx; + edgeHighPt = inPolygon[ p ]; edgeDy = - edgeDy; + + } + + if ( ( inPt.y < edgeLowPt.y ) || ( inPt.y > edgeHighPt.y ) ) continue; + + if ( inPt.y === edgeLowPt.y ) { + + if ( inPt.x === edgeLowPt.x ) return true; // inPt is on contour ? + // continue; // no intersection or edgeLowPt => doesn't count !!! + + } else { + + const perpEdge = edgeDy * ( inPt.x - edgeLowPt.x ) - edgeDx * ( inPt.y - edgeLowPt.y ); + if ( perpEdge === 0 ) return true; // inPt is on contour ? + if ( perpEdge < 0 ) continue; + inside = ! inside; // true intersection left of inPt + + } + + } else { + + // parallel or collinear + if ( inPt.y !== edgeLowPt.y ) continue; // parallel + // edge lies on the same horizontal line as inPt + if ( ( ( edgeHighPt.x <= inPt.x ) && ( inPt.x <= edgeLowPt.x ) ) || + ( ( edgeLowPt.x <= inPt.x ) && ( inPt.x <= edgeHighPt.x ) ) ) return true; // inPt: Point on contour ! + // continue; + + } + + } + + return inside; + + } + + const isClockWise = ShapeUtils.isClockWise; + + const subPaths = this.subPaths; + if ( subPaths.length === 0 ) return []; + + let solid, tmpPath, tmpShape; + const shapes = []; + + if ( subPaths.length === 1 ) { + + tmpPath = subPaths[ 0 ]; + tmpShape = new Shape(); + tmpShape.curves = tmpPath.curves; + shapes.push( tmpShape ); + return shapes; + + } + + let holesFirst = ! isClockWise( subPaths[ 0 ].getPoints() ); + holesFirst = isCCW ? ! holesFirst : holesFirst; + + // log("Holes first", holesFirst); + + const betterShapeHoles = []; + const newShapes = []; + let newShapeHoles = []; + let mainIdx = 0; + let tmpPoints; + + newShapes[ mainIdx ] = undefined; + newShapeHoles[ mainIdx ] = []; + + for ( let i = 0, l = subPaths.length; i < l; i ++ ) { + + tmpPath = subPaths[ i ]; + tmpPoints = tmpPath.getPoints(); + solid = isClockWise( tmpPoints ); + solid = isCCW ? ! solid : solid; + + if ( solid ) { + + if ( ( ! holesFirst ) && ( newShapes[ mainIdx ] ) ) mainIdx ++; + + newShapes[ mainIdx ] = { s: new Shape(), p: tmpPoints }; + newShapes[ mainIdx ].s.curves = tmpPath.curves; + + if ( holesFirst ) mainIdx ++; + newShapeHoles[ mainIdx ] = []; + + //log('cw', i); + + } else { + + newShapeHoles[ mainIdx ].push( { h: tmpPath, p: tmpPoints[ 0 ] } ); + + //log('ccw', i); + + } + + } + + // only Holes? -> probably all Shapes with wrong orientation + if ( ! newShapes[ 0 ] ) return toShapesNoHoles( subPaths ); + + + if ( newShapes.length > 1 ) { + + let ambiguous = false; + let toChange = 0; + + for ( let sIdx = 0, sLen = newShapes.length; sIdx < sLen; sIdx ++ ) { + + betterShapeHoles[ sIdx ] = []; + + } + + for ( let sIdx = 0, sLen = newShapes.length; sIdx < sLen; sIdx ++ ) { + + const sho = newShapeHoles[ sIdx ]; + + for ( let hIdx = 0; hIdx < sho.length; hIdx ++ ) { + + const ho = sho[ hIdx ]; + let hole_unassigned = true; + + for ( let s2Idx = 0; s2Idx < newShapes.length; s2Idx ++ ) { + + if ( isPointInsidePolygon( ho.p, newShapes[ s2Idx ].p ) ) { + + if ( sIdx !== s2Idx ) toChange ++; + + if ( hole_unassigned ) { + + hole_unassigned = false; + betterShapeHoles[ s2Idx ].push( ho ); + + } else { + + ambiguous = true; + + } + + } + + } + + if ( hole_unassigned ) { + + betterShapeHoles[ sIdx ].push( ho ); + + } + + } + + } + + if ( toChange > 0 && ambiguous === false ) { + + newShapeHoles = betterShapeHoles; + + } + + } + + let tmpHoles; + + for ( let i = 0, il = newShapes.length; i < il; i ++ ) { + + tmpShape = newShapes[ i ].s; + shapes.push( tmpShape ); + tmpHoles = newShapeHoles[ i ]; + + for ( let j = 0, jl = tmpHoles.length; j < jl; j ++ ) { + + tmpShape.holes.push( tmpHoles[ j ].h ); + + } + + } + + //log("shape", shapes); + + return shapes; + + } + +} + +/** + * Abstract base class for controls. + * + * @abstract + * @augments EventDispatcher + */ +class Controls extends EventDispatcher { + + /** + * Constructs a new controls instance. + * + * @param {Object3D} object - The object that is managed by the controls. + * @param {?HTMLElement} domElement - The HTML element used for event listeners. + */ + constructor( object, domElement = null ) { + + super(); + + /** + * The object that is managed by the controls. + * + * @type {Object3D} + */ + this.object = object; + + /** + * The HTML element used for event listeners. + * + * @type {?HTMLElement} + * @default null + */ + this.domElement = domElement; + + /** + * Whether the controls responds to user input or not. + * + * @type {boolean} + * @default true + */ + this.enabled = true; + + /** + * The internal state of the controls. + * + * @type {number} + * @default -1 + */ + this.state = -1; + + /** + * This object defines the keyboard input of the controls. + * + * @type {Object} + */ + this.keys = {}; + + /** + * This object defines what type of actions are assigned to the available mouse buttons. + * It depends on the control implementation what kind of mouse buttons and actions are supported. + * + * @type {{LEFT: ?number, MIDDLE: ?number, RIGHT: ?number}} + */ + this.mouseButtons = { LEFT: null, MIDDLE: null, RIGHT: null }; + + /** + * This object defines what type of actions are assigned to what kind of touch interaction. + * It depends on the control implementation what kind of touch interaction and actions are supported. + * + * @type {{ONE: ?number, TWO: ?number}} + */ + this.touches = { ONE: null, TWO: null }; + + } + + /** + * Connects the controls to the DOM. This method has so called "side effects" since + * it adds the module's event listeners to the DOM. + * + * @param {HTMLElement} element - The DOM element to connect to. + */ + connect( element ) { + + if ( element === undefined ) { + + warn( 'Controls: connect() now requires an element.' ); // @deprecated, the warning can be removed with r185 + return; + + } + + if ( this.domElement !== null ) this.disconnect(); + + this.domElement = element; + + } + + /** + * Disconnects the controls from the DOM. + */ + disconnect() {} + + /** + * Call this method if you no longer want use to the controls. It frees all internal + * resources and removes all event listeners. + */ + dispose() {} + + /** + * Controls should implement this method if they have to update their internal state + * per simulation step. + * + * @param {number} [delta] - The time delta in seconds. + */ + update( /* delta */ ) {} + +} + +/** + * Scales the texture as large as possible within its surface without cropping + * or stretching the texture. The method preserves the original aspect ratio of + * the texture. Akin to CSS `object-fit: contain` + * + * @param {Texture} texture - The texture. + * @param {number} aspect - The texture's aspect ratio. + * @return {Texture} The updated texture. + */ +function contain( texture, aspect ) { + + const imageAspect = ( texture.image && texture.image.width ) ? texture.image.width / texture.image.height : 1; + + if ( imageAspect > aspect ) { + + texture.repeat.x = 1; + texture.repeat.y = imageAspect / aspect; + + texture.offset.x = 0; + texture.offset.y = ( 1 - texture.repeat.y ) / 2; + + } else { + + texture.repeat.x = aspect / imageAspect; + texture.repeat.y = 1; + + texture.offset.x = ( 1 - texture.repeat.x ) / 2; + texture.offset.y = 0; + + } + + return texture; + +} + +/** + * Scales the texture to the smallest possible size to fill the surface, leaving + * no empty space. The method preserves the original aspect ratio of the texture. + * Akin to CSS `object-fit: cover`. + * + * @param {Texture} texture - The texture. + * @param {number} aspect - The texture's aspect ratio. + * @return {Texture} The updated texture. + */ +function cover( texture, aspect ) { + + const imageAspect = ( texture.image && texture.image.width ) ? texture.image.width / texture.image.height : 1; + + if ( imageAspect > aspect ) { + + texture.repeat.x = aspect / imageAspect; + texture.repeat.y = 1; + + texture.offset.x = ( 1 - texture.repeat.x ) / 2; + texture.offset.y = 0; + + } else { + + texture.repeat.x = 1; + texture.repeat.y = imageAspect / aspect; + + texture.offset.x = 0; + texture.offset.y = ( 1 - texture.repeat.y ) / 2; + + } + + return texture; + +} + +/** + * Configures the texture to the default transformation. Akin to CSS `object-fit: fill`. + * + * @param {Texture} texture - The texture. + * @return {Texture} The updated texture. + */ +function fill( texture ) { + + texture.repeat.x = 1; + texture.repeat.y = 1; + + texture.offset.x = 0; + texture.offset.y = 0; + + return texture; + +} + +/** + * Determines how many bytes must be used to represent the texture. + * + * @param {number} width - The width of the texture. + * @param {number} height - The height of the texture. + * @param {number} format - The texture's format. + * @param {number} type - The texture's type. + * @return {number} The byte length. + */ +function getByteLength( width, height, format, type ) { + + const typeByteLength = getTextureTypeByteLength( type ); + + switch ( format ) { + + // https://registry.khronos.org/OpenGL-Refpages/es3.0/html/glTexImage2D.xhtml + case AlphaFormat: + return width * height; + case RedFormat: + return ( ( width * height ) / typeByteLength.components ) * typeByteLength.byteLength; + case RedIntegerFormat: + return ( ( width * height ) / typeByteLength.components ) * typeByteLength.byteLength; + case RGFormat: + return ( ( width * height * 2 ) / typeByteLength.components ) * typeByteLength.byteLength; + case RGIntegerFormat: + return ( ( width * height * 2 ) / typeByteLength.components ) * typeByteLength.byteLength; + case RGBFormat: + return ( ( width * height * 3 ) / typeByteLength.components ) * typeByteLength.byteLength; + case RGBAFormat: + return ( ( width * height * 4 ) / typeByteLength.components ) * typeByteLength.byteLength; + case RGBAIntegerFormat: + return ( ( width * height * 4 ) / typeByteLength.components ) * typeByteLength.byteLength; + + // https://registry.khronos.org/webgl/extensions/WEBGL_compressed_texture_s3tc_srgb/ + case RGB_S3TC_DXT1_Format: + case RGBA_S3TC_DXT1_Format: + return Math.floor( ( width + 3 ) / 4 ) * Math.floor( ( height + 3 ) / 4 ) * 8; + case RGBA_S3TC_DXT3_Format: + case RGBA_S3TC_DXT5_Format: + return Math.floor( ( width + 3 ) / 4 ) * Math.floor( ( height + 3 ) / 4 ) * 16; + + // https://registry.khronos.org/webgl/extensions/WEBGL_compressed_texture_pvrtc/ + case RGB_PVRTC_2BPPV1_Format: + case RGBA_PVRTC_2BPPV1_Format: + return ( Math.max( width, 16 ) * Math.max( height, 8 ) ) / 4; + case RGB_PVRTC_4BPPV1_Format: + case RGBA_PVRTC_4BPPV1_Format: + return ( Math.max( width, 8 ) * Math.max( height, 8 ) ) / 2; + + // https://registry.khronos.org/webgl/extensions/WEBGL_compressed_texture_etc/ + case RGB_ETC1_Format: + case RGB_ETC2_Format: + case R11_EAC_Format: + case SIGNED_R11_EAC_Format: + return Math.floor( ( width + 3 ) / 4 ) * Math.floor( ( height + 3 ) / 4 ) * 8; + case RGBA_ETC2_EAC_Format: + case RG11_EAC_Format: + case SIGNED_RG11_EAC_Format: + return Math.floor( ( width + 3 ) / 4 ) * Math.floor( ( height + 3 ) / 4 ) * 16; + + // https://registry.khronos.org/webgl/extensions/WEBGL_compressed_texture_astc/ + case RGBA_ASTC_4x4_Format: + return Math.floor( ( width + 3 ) / 4 ) * Math.floor( ( height + 3 ) / 4 ) * 16; + case RGBA_ASTC_5x4_Format: + return Math.floor( ( width + 4 ) / 5 ) * Math.floor( ( height + 3 ) / 4 ) * 16; + case RGBA_ASTC_5x5_Format: + return Math.floor( ( width + 4 ) / 5 ) * Math.floor( ( height + 4 ) / 5 ) * 16; + case RGBA_ASTC_6x5_Format: + return Math.floor( ( width + 5 ) / 6 ) * Math.floor( ( height + 4 ) / 5 ) * 16; + case RGBA_ASTC_6x6_Format: + return Math.floor( ( width + 5 ) / 6 ) * Math.floor( ( height + 5 ) / 6 ) * 16; + case RGBA_ASTC_8x5_Format: + return Math.floor( ( width + 7 ) / 8 ) * Math.floor( ( height + 4 ) / 5 ) * 16; + case RGBA_ASTC_8x6_Format: + return Math.floor( ( width + 7 ) / 8 ) * Math.floor( ( height + 5 ) / 6 ) * 16; + case RGBA_ASTC_8x8_Format: + return Math.floor( ( width + 7 ) / 8 ) * Math.floor( ( height + 7 ) / 8 ) * 16; + case RGBA_ASTC_10x5_Format: + return Math.floor( ( width + 9 ) / 10 ) * Math.floor( ( height + 4 ) / 5 ) * 16; + case RGBA_ASTC_10x6_Format: + return Math.floor( ( width + 9 ) / 10 ) * Math.floor( ( height + 5 ) / 6 ) * 16; + case RGBA_ASTC_10x8_Format: + return Math.floor( ( width + 9 ) / 10 ) * Math.floor( ( height + 7 ) / 8 ) * 16; + case RGBA_ASTC_10x10_Format: + return Math.floor( ( width + 9 ) / 10 ) * Math.floor( ( height + 9 ) / 10 ) * 16; + case RGBA_ASTC_12x10_Format: + return Math.floor( ( width + 11 ) / 12 ) * Math.floor( ( height + 9 ) / 10 ) * 16; + case RGBA_ASTC_12x12_Format: + return Math.floor( ( width + 11 ) / 12 ) * Math.floor( ( height + 11 ) / 12 ) * 16; + + // https://registry.khronos.org/webgl/extensions/EXT_texture_compression_bptc/ + case RGBA_BPTC_Format: + case RGB_BPTC_SIGNED_Format: + case RGB_BPTC_UNSIGNED_Format: + return Math.ceil( width / 4 ) * Math.ceil( height / 4 ) * 16; + + // https://registry.khronos.org/webgl/extensions/EXT_texture_compression_rgtc/ + case RED_RGTC1_Format: + case SIGNED_RED_RGTC1_Format: + return Math.ceil( width / 4 ) * Math.ceil( height / 4 ) * 8; + case RED_GREEN_RGTC2_Format: + case SIGNED_RED_GREEN_RGTC2_Format: + return Math.ceil( width / 4 ) * Math.ceil( height / 4 ) * 16; + + } + + throw new Error( + `Unable to determine texture byte length for ${format} format.`, + ); + +} + +function getTextureTypeByteLength( type ) { + + switch ( type ) { + + case UnsignedByteType: + case ByteType: + return { byteLength: 1, components: 1 }; + case UnsignedShortType: + case ShortType: + case HalfFloatType: + return { byteLength: 2, components: 1 }; + case UnsignedShort4444Type: + case UnsignedShort5551Type: + return { byteLength: 2, components: 4 }; + case UnsignedIntType: + case IntType: + case FloatType: + return { byteLength: 4, components: 1 }; + case UnsignedInt5999Type: + case UnsignedInt101111Type: + return { byteLength: 4, components: 3 }; + + } + + throw new Error( `Unknown texture type ${type}.` ); + +} + +/** + * A class containing utility functions for textures. + * + * @hideconstructor + */ +class TextureUtils { + + /** + * Scales the texture as large as possible within its surface without cropping + * or stretching the texture. The method preserves the original aspect ratio of + * the texture. Akin to CSS `object-fit: contain` + * + * @param {Texture} texture - The texture. + * @param {number} aspect - The texture's aspect ratio. + * @return {Texture} The updated texture. + */ + static contain( texture, aspect ) { + + return contain( texture, aspect ); + + } + + /** + * Scales the texture to the smallest possible size to fill the surface, leaving + * no empty space. The method preserves the original aspect ratio of the texture. + * Akin to CSS `object-fit: cover`. + * + * @param {Texture} texture - The texture. + * @param {number} aspect - The texture's aspect ratio. + * @return {Texture} The updated texture. + */ + static cover( texture, aspect ) { + + return cover( texture, aspect ); + + } + + /** + * Configures the texture to the default transformation. Akin to CSS `object-fit: fill`. + * + * @param {Texture} texture - The texture. + * @return {Texture} The updated texture. + */ + static fill( texture ) { + + return fill( texture ); + + } + + /** + * Determines how many bytes must be used to represent the texture. + * + * @param {number} width - The width of the texture. + * @param {number} height - The height of the texture. + * @param {number} format - The texture's format. + * @param {number} type - The texture's type. + * @return {number} The byte length. + */ + static getByteLength( width, height, format, type ) { + + return getByteLength( width, height, format, type ); + + } + +} + +if ( typeof __THREE_DEVTOOLS__ !== 'undefined' ) { + + __THREE_DEVTOOLS__.dispatchEvent( new CustomEvent( 'register', { detail: { + revision: REVISION, + } } ) ); + +} + +if ( typeof window !== 'undefined' ) { + + if ( window.__THREE__ ) { + + warn( 'WARNING: Multiple instances of Three.js being imported.' ); + + } else { + + window.__THREE__ = REVISION; + + } + +} + +export { ACESFilmicToneMapping, AddEquation, AddOperation, AdditiveAnimationBlendMode, AdditiveBlending, AgXToneMapping, AlphaFormat, AlwaysCompare, AlwaysDepth, AlwaysStencilFunc, AmbientLight, AnimationAction, AnimationClip, AnimationLoader, AnimationMixer, AnimationObjectGroup, AnimationUtils, ArcCurve, ArrayCamera, ArrowHelper, AttachedBindMode, Audio, AudioAnalyser, AudioContext, AudioListener, AudioLoader, AxesHelper, BackSide, BasicDepthPacking, BasicShadowMap, BatchedMesh, BezierInterpolant, Bone, BooleanKeyframeTrack, Box2, Box3, Box3Helper, BoxGeometry, BoxHelper, BufferAttribute, BufferGeometry, BufferGeometryLoader, ByteType, Cache, Camera, CameraHelper, CanvasTexture, CapsuleGeometry, CatmullRomCurve3, CineonToneMapping, CircleGeometry, ClampToEdgeWrapping, Clock, Color, ColorKeyframeTrack, ColorManagement, Compatibility, CompressedArrayTexture, CompressedCubeTexture, CompressedTexture, CompressedTextureLoader, ConeGeometry, ConstantAlphaFactor, ConstantColorFactor, Controls, CubeCamera, CubeDepthTexture, CubeReflectionMapping, CubeRefractionMapping, CubeTexture, CubeTextureLoader, CubeUVReflectionMapping, CubicBezierCurve, CubicBezierCurve3, CubicInterpolant, CullFaceBack, CullFaceFront, CullFaceFrontBack, CullFaceNone, Curve, CurvePath, CustomBlending, CustomToneMapping, CylinderGeometry, Cylindrical, Data3DTexture, DataArrayTexture, DataTexture, DataTextureLoader, DataUtils, DecrementStencilOp, DecrementWrapStencilOp, DefaultLoadingManager, DepthFormat, DepthStencilFormat, DepthTexture, DetachedBindMode, DirectionalLight, DirectionalLightHelper, DiscreteInterpolant, DodecahedronGeometry, DoubleSide, DstAlphaFactor, DstColorFactor, DynamicCopyUsage, DynamicDrawUsage, DynamicReadUsage, EdgesGeometry, EllipseCurve, EqualCompare, EqualDepth, EqualStencilFunc, EquirectangularReflectionMapping, EquirectangularRefractionMapping, Euler, EventDispatcher, ExternalTexture, ExtrudeGeometry, FileLoader, Float16BufferAttribute, Float32BufferAttribute, FloatType, Fog, FogExp2, FramebufferTexture, FrontSide, Frustum, FrustumArray, GLBufferAttribute, GLSL1, GLSL3, GreaterCompare, GreaterDepth, GreaterEqualCompare, GreaterEqualDepth, GreaterEqualStencilFunc, GreaterStencilFunc, GridHelper, Group, HalfFloatType, HemisphereLight, HemisphereLightHelper, IcosahedronGeometry, ImageBitmapLoader, ImageLoader, ImageUtils, IncrementStencilOp, IncrementWrapStencilOp, InstancedBufferAttribute, InstancedBufferGeometry, InstancedInterleavedBuffer, InstancedMesh, Int16BufferAttribute, Int32BufferAttribute, Int8BufferAttribute, IntType, InterleavedBuffer, InterleavedBufferAttribute, Interpolant, InterpolateBezier, InterpolateDiscrete, InterpolateLinear, InterpolateSmooth, InterpolationSamplingMode, InterpolationSamplingType, InvertStencilOp, KeepStencilOp, KeyframeTrack, LOD, LatheGeometry, Layers, LessCompare, LessDepth, LessEqualCompare, LessEqualDepth, LessEqualStencilFunc, LessStencilFunc, Light, LightProbe, Line, Line3, LineBasicMaterial, LineCurve, LineCurve3, LineDashedMaterial, LineLoop, LineSegments, LinearFilter, LinearInterpolant, LinearMipMapLinearFilter, LinearMipMapNearestFilter, LinearMipmapLinearFilter, LinearMipmapNearestFilter, LinearSRGBColorSpace, LinearToneMapping, LinearTransfer, Loader, LoaderUtils, LoadingManager, LoopOnce, LoopPingPong, LoopRepeat, MOUSE, Material, MaterialBlending, MaterialLoader, MathUtils, Matrix2, Matrix3, Matrix4, MaxEquation, Mesh, MeshBasicMaterial, MeshDepthMaterial, MeshDistanceMaterial, MeshLambertMaterial, MeshMatcapMaterial, MeshNormalMaterial, MeshPhongMaterial, MeshPhysicalMaterial, MeshStandardMaterial, MeshToonMaterial, MinEquation, MirroredRepeatWrapping, MixOperation, MultiplyBlending, MultiplyOperation, NearestFilter, NearestMipMapLinearFilter, NearestMipMapNearestFilter, NearestMipmapLinearFilter, NearestMipmapNearestFilter, NeutralToneMapping, NeverCompare, NeverDepth, NeverStencilFunc, NoBlending, NoColorSpace, NoNormalPacking, NoToneMapping, NormalAnimationBlendMode, NormalBlending, NormalGAPacking, NormalRGPacking, NotEqualCompare, NotEqualDepth, NotEqualStencilFunc, NumberKeyframeTrack, Object3D, ObjectLoader, ObjectSpaceNormalMap, OctahedronGeometry, OneFactor, OneMinusConstantAlphaFactor, OneMinusConstantColorFactor, OneMinusDstAlphaFactor, OneMinusDstColorFactor, OneMinusSrcAlphaFactor, OneMinusSrcColorFactor, OrthographicCamera, PCFShadowMap, PCFSoftShadowMap, Path, PerspectiveCamera, Plane, PlaneGeometry, PlaneHelper, PointLight, PointLightHelper, Points, PointsMaterial, PolarGridHelper, PolyhedronGeometry, PositionalAudio, PropertyBinding, PropertyMixer, QuadraticBezierCurve, QuadraticBezierCurve3, Quaternion, QuaternionKeyframeTrack, QuaternionLinearInterpolant, R11_EAC_Format, RAD2DEG, RED_GREEN_RGTC2_Format, RED_RGTC1_Format, REVISION, RG11_EAC_Format, RGBADepthPacking, RGBAFormat, RGBAIntegerFormat, RGBA_ASTC_10x10_Format, RGBA_ASTC_10x5_Format, RGBA_ASTC_10x6_Format, RGBA_ASTC_10x8_Format, RGBA_ASTC_12x10_Format, RGBA_ASTC_12x12_Format, RGBA_ASTC_4x4_Format, RGBA_ASTC_5x4_Format, RGBA_ASTC_5x5_Format, RGBA_ASTC_6x5_Format, RGBA_ASTC_6x6_Format, RGBA_ASTC_8x5_Format, RGBA_ASTC_8x6_Format, RGBA_ASTC_8x8_Format, RGBA_BPTC_Format, RGBA_ETC2_EAC_Format, RGBA_PVRTC_2BPPV1_Format, RGBA_PVRTC_4BPPV1_Format, RGBA_S3TC_DXT1_Format, RGBA_S3TC_DXT3_Format, RGBA_S3TC_DXT5_Format, RGBDepthPacking, RGBFormat, RGBIntegerFormat, RGB_BPTC_SIGNED_Format, RGB_BPTC_UNSIGNED_Format, RGB_ETC1_Format, RGB_ETC2_Format, RGB_PVRTC_2BPPV1_Format, RGB_PVRTC_4BPPV1_Format, RGB_S3TC_DXT1_Format, RGDepthPacking, RGFormat, RGIntegerFormat, RawShaderMaterial, Ray, Raycaster, RectAreaLight, RedFormat, RedIntegerFormat, ReinhardToneMapping, RenderTarget, RenderTarget3D, RepeatWrapping, ReplaceStencilOp, ReverseSubtractEquation, ReversedDepthFuncs, RingGeometry, SIGNED_R11_EAC_Format, SIGNED_RED_GREEN_RGTC2_Format, SIGNED_RED_RGTC1_Format, SIGNED_RG11_EAC_Format, SRGBColorSpace, SRGBTransfer, Scene, ShaderMaterial, ShadowMaterial, Shape, ShapeGeometry, ShapePath, ShapeUtils, ShortType, Skeleton, SkeletonHelper, SkinnedMesh, Source, Sphere, SphereGeometry, Spherical, SphericalHarmonics3, SplineCurve, SpotLight, SpotLightHelper, Sprite, SpriteMaterial, SrcAlphaFactor, SrcAlphaSaturateFactor, SrcColorFactor, StaticCopyUsage, StaticDrawUsage, StaticReadUsage, StereoCamera, StreamCopyUsage, StreamDrawUsage, StreamReadUsage, StringKeyframeTrack, SubtractEquation, SubtractiveBlending, TOUCH, TangentSpaceNormalMap, TetrahedronGeometry, Texture, TextureLoader, TextureUtils, Timer, TimestampQuery, TorusGeometry, TorusKnotGeometry, Triangle, TriangleFanDrawMode, TriangleStripDrawMode, TrianglesDrawMode, TubeGeometry, UVMapping, Uint16BufferAttribute, Uint32BufferAttribute, Uint8BufferAttribute, Uint8ClampedBufferAttribute, Uniform, UniformsGroup, UniformsUtils, UnsignedByteType, UnsignedInt101111Type, UnsignedInt248Type, UnsignedInt5999Type, UnsignedIntType, UnsignedShort4444Type, UnsignedShort5551Type, UnsignedShortType, VSMShadowMap, Vector2, Vector3, Vector4, VectorKeyframeTrack, VideoFrameTexture, VideoTexture, WebGL3DRenderTarget, WebGLArrayRenderTarget, WebGLCoordinateSystem, WebGLRenderTarget, WebGPUCoordinateSystem, WebXRController, WireframeGeometry, WrapAroundEnding, ZeroCurvatureEnding, ZeroFactor, ZeroSlopeEnding, ZeroStencilOp, cloneUniforms, createCanvasElement, createElementNS, error, getByteLength, getConsoleFunction, getUnlitUniformColorSpace, isTypedArray, log, mergeUniforms, probeAsync, setConsoleFunction, warn, warnOnce }; diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/vendor/three/three.module.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/vendor/three/three.module.js new file mode 100644 index 0000000..ddec5ac --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/vendor/three/three.module.js @@ -0,0 +1,19306 @@ +/** + * @license + * Copyright 2010-2026 Three.js Authors + * SPDX-License-Identifier: MIT + */ +import { Matrix3, Vector2, Color, mergeUniforms, Vector3, CubeUVReflectionMapping, Mesh, BoxGeometry, ShaderMaterial, BackSide, cloneUniforms, Euler, Matrix4, ColorManagement, SRGBTransfer, PlaneGeometry, FrontSide, getUnlitUniformColorSpace, IntType, warn, HalfFloatType, UnsignedByteType, FloatType, RGBAFormat, Plane, CubeReflectionMapping, CubeRefractionMapping, BufferGeometry, OrthographicCamera, PerspectiveCamera, NoToneMapping, MeshBasicMaterial, error, NoBlending, WebGLRenderTarget, BufferAttribute, LinearSRGBColorSpace, LinearFilter, CubeTexture, LinearMipmapLinearFilter, CubeCamera, EquirectangularReflectionMapping, EquirectangularRefractionMapping, warnOnce, Uint32BufferAttribute, Uint16BufferAttribute, Vector4, DataArrayTexture, Float32BufferAttribute, RawShaderMaterial, CustomToneMapping, NeutralToneMapping, AgXToneMapping, ACESFilmicToneMapping, CineonToneMapping, ReinhardToneMapping, LinearToneMapping, Data3DTexture, GreaterEqualCompare, LessEqualCompare, DepthTexture, Texture, GLSL3, VSMShadowMap, PCFShadowMap, AddOperation, MixOperation, MultiplyOperation, LinearTransfer, UniformsUtils, DoubleSide, NormalBlending, TangentSpaceNormalMap, ObjectSpaceNormalMap, Layers, RGFormat, Frustum, MeshDepthMaterial, MeshDistanceMaterial, PCFSoftShadowMap, DepthFormat, NearestFilter, CubeDepthTexture, UnsignedIntType, LessEqualDepth, ReverseSubtractEquation, SubtractEquation, AddEquation, OneMinusConstantAlphaFactor, ConstantAlphaFactor, OneMinusConstantColorFactor, ConstantColorFactor, OneMinusDstAlphaFactor, OneMinusDstColorFactor, OneMinusSrcAlphaFactor, OneMinusSrcColorFactor, DstAlphaFactor, DstColorFactor, SrcAlphaSaturateFactor, SrcAlphaFactor, SrcColorFactor, OneFactor, ZeroFactor, NotEqualDepth, GreaterDepth, GreaterEqualDepth, EqualDepth, LessDepth, AlwaysDepth, NeverDepth, CullFaceNone, CullFaceBack, CullFaceFront, CustomBlending, MultiplyBlending, SubtractiveBlending, AdditiveBlending, ReversedDepthFuncs, MinEquation, MaxEquation, MirroredRepeatWrapping, ClampToEdgeWrapping, RepeatWrapping, LinearMipmapNearestFilter, NearestMipmapLinearFilter, NearestMipmapNearestFilter, NotEqualCompare, GreaterCompare, EqualCompare, LessCompare, AlwaysCompare, NeverCompare, NoColorSpace, DepthStencilFormat, getByteLength, UnsignedInt248Type, UnsignedShortType, createElementNS, UnsignedShort4444Type, UnsignedShort5551Type, UnsignedInt5999Type, UnsignedInt101111Type, ByteType, ShortType, AlphaFormat, RGBFormat, RedFormat, RedIntegerFormat, RGIntegerFormat, RGBAIntegerFormat, RGB_S3TC_DXT1_Format, RGBA_S3TC_DXT1_Format, RGBA_S3TC_DXT3_Format, RGBA_S3TC_DXT5_Format, RGB_PVRTC_4BPPV1_Format, RGB_PVRTC_2BPPV1_Format, RGBA_PVRTC_4BPPV1_Format, RGBA_PVRTC_2BPPV1_Format, RGB_ETC1_Format, RGB_ETC2_Format, RGBA_ETC2_EAC_Format, R11_EAC_Format, SIGNED_R11_EAC_Format, RG11_EAC_Format, SIGNED_RG11_EAC_Format, RGBA_ASTC_4x4_Format, RGBA_ASTC_5x4_Format, RGBA_ASTC_5x5_Format, RGBA_ASTC_6x5_Format, RGBA_ASTC_6x6_Format, RGBA_ASTC_8x5_Format, RGBA_ASTC_8x6_Format, RGBA_ASTC_8x8_Format, RGBA_ASTC_10x5_Format, RGBA_ASTC_10x6_Format, RGBA_ASTC_10x8_Format, RGBA_ASTC_10x10_Format, RGBA_ASTC_12x10_Format, RGBA_ASTC_12x12_Format, RGBA_BPTC_Format, RGB_BPTC_SIGNED_Format, RGB_BPTC_UNSIGNED_Format, RED_RGTC1_Format, SIGNED_RED_RGTC1_Format, RED_GREEN_RGTC2_Format, SIGNED_RED_GREEN_RGTC2_Format, ExternalTexture, EventDispatcher, ArrayCamera, WebXRController, RAD2DEG, DataTexture, createCanvasElement, SRGBColorSpace, REVISION, log, WebGLCoordinateSystem, probeAsync } from './three.core.js'; +export { AdditiveAnimationBlendMode, AlwaysStencilFunc, AmbientLight, AnimationAction, AnimationClip, AnimationLoader, AnimationMixer, AnimationObjectGroup, AnimationUtils, ArcCurve, ArrowHelper, AttachedBindMode, Audio, AudioAnalyser, AudioContext, AudioListener, AudioLoader, AxesHelper, BasicDepthPacking, BasicShadowMap, BatchedMesh, BezierInterpolant, Bone, BooleanKeyframeTrack, Box2, Box3, Box3Helper, BoxHelper, BufferGeometryLoader, Cache, Camera, CameraHelper, CanvasTexture, CapsuleGeometry, CatmullRomCurve3, CircleGeometry, Clock, ColorKeyframeTrack, Compatibility, CompressedArrayTexture, CompressedCubeTexture, CompressedTexture, CompressedTextureLoader, ConeGeometry, Controls, CubeTextureLoader, CubicBezierCurve, CubicBezierCurve3, CubicInterpolant, CullFaceFrontBack, Curve, CurvePath, CylinderGeometry, Cylindrical, DataTextureLoader, DataUtils, DecrementStencilOp, DecrementWrapStencilOp, DefaultLoadingManager, DetachedBindMode, DirectionalLight, DirectionalLightHelper, DiscreteInterpolant, DodecahedronGeometry, DynamicCopyUsage, DynamicDrawUsage, DynamicReadUsage, EdgesGeometry, EllipseCurve, EqualStencilFunc, ExtrudeGeometry, FileLoader, Float16BufferAttribute, Fog, FogExp2, FramebufferTexture, FrustumArray, GLBufferAttribute, GLSL1, GreaterEqualStencilFunc, GreaterStencilFunc, GridHelper, Group, HemisphereLight, HemisphereLightHelper, IcosahedronGeometry, ImageBitmapLoader, ImageLoader, ImageUtils, IncrementStencilOp, IncrementWrapStencilOp, InstancedBufferAttribute, InstancedBufferGeometry, InstancedInterleavedBuffer, InstancedMesh, Int16BufferAttribute, Int32BufferAttribute, Int8BufferAttribute, InterleavedBuffer, InterleavedBufferAttribute, Interpolant, InterpolateBezier, InterpolateDiscrete, InterpolateLinear, InterpolateSmooth, InterpolationSamplingMode, InterpolationSamplingType, InvertStencilOp, KeepStencilOp, KeyframeTrack, LOD, LatheGeometry, LessEqualStencilFunc, LessStencilFunc, Light, LightProbe, Line, Line3, LineBasicMaterial, LineCurve, LineCurve3, LineDashedMaterial, LineLoop, LineSegments, LinearInterpolant, LinearMipMapLinearFilter, LinearMipMapNearestFilter, Loader, LoaderUtils, LoadingManager, LoopOnce, LoopPingPong, LoopRepeat, MOUSE, Material, MaterialBlending, MaterialLoader, MathUtils, Matrix2, MeshLambertMaterial, MeshMatcapMaterial, MeshNormalMaterial, MeshPhongMaterial, MeshPhysicalMaterial, MeshStandardMaterial, MeshToonMaterial, NearestMipMapLinearFilter, NearestMipMapNearestFilter, NeverStencilFunc, NoNormalPacking, NormalAnimationBlendMode, NormalGAPacking, NormalRGPacking, NotEqualStencilFunc, NumberKeyframeTrack, Object3D, ObjectLoader, OctahedronGeometry, Path, PlaneHelper, PointLight, PointLightHelper, Points, PointsMaterial, PolarGridHelper, PolyhedronGeometry, PositionalAudio, PropertyBinding, PropertyMixer, QuadraticBezierCurve, QuadraticBezierCurve3, Quaternion, QuaternionKeyframeTrack, QuaternionLinearInterpolant, RGBADepthPacking, RGBDepthPacking, RGBIntegerFormat, RGDepthPacking, Ray, Raycaster, RectAreaLight, RenderTarget, RenderTarget3D, ReplaceStencilOp, RingGeometry, Scene, ShadowMaterial, Shape, ShapeGeometry, ShapePath, ShapeUtils, Skeleton, SkeletonHelper, SkinnedMesh, Source, Sphere, SphereGeometry, Spherical, SphericalHarmonics3, SplineCurve, SpotLight, SpotLightHelper, Sprite, SpriteMaterial, StaticCopyUsage, StaticDrawUsage, StaticReadUsage, StereoCamera, StreamCopyUsage, StreamDrawUsage, StreamReadUsage, StringKeyframeTrack, TOUCH, TetrahedronGeometry, TextureLoader, TextureUtils, Timer, TimestampQuery, TorusGeometry, TorusKnotGeometry, Triangle, TriangleFanDrawMode, TriangleStripDrawMode, TrianglesDrawMode, TubeGeometry, UVMapping, Uint8BufferAttribute, Uint8ClampedBufferAttribute, Uniform, UniformsGroup, VectorKeyframeTrack, VideoFrameTexture, VideoTexture, WebGL3DRenderTarget, WebGLArrayRenderTarget, WebGPUCoordinateSystem, WireframeGeometry, WrapAroundEnding, ZeroCurvatureEnding, ZeroSlopeEnding, ZeroStencilOp, getConsoleFunction, setConsoleFunction } from './three.core.js'; + +function WebGLAnimation() { + + let context = null; + let isAnimating = false; + let animationLoop = null; + let requestId = null; + + function onAnimationFrame( time, frame ) { + + animationLoop( time, frame ); + + requestId = context.requestAnimationFrame( onAnimationFrame ); + + } + + return { + + start: function () { + + if ( isAnimating === true ) return; + if ( animationLoop === null ) return; + + requestId = context.requestAnimationFrame( onAnimationFrame ); + + isAnimating = true; + + }, + + stop: function () { + + context.cancelAnimationFrame( requestId ); + + isAnimating = false; + + }, + + setAnimationLoop: function ( callback ) { + + animationLoop = callback; + + }, + + setContext: function ( value ) { + + context = value; + + } + + }; + +} + +function WebGLAttributes( gl ) { + + const buffers = new WeakMap(); + + function createBuffer( attribute, bufferType ) { + + const array = attribute.array; + const usage = attribute.usage; + const size = array.byteLength; + + const buffer = gl.createBuffer(); + + gl.bindBuffer( bufferType, buffer ); + gl.bufferData( bufferType, array, usage ); + + attribute.onUploadCallback(); + + let type; + + if ( array instanceof Float32Array ) { + + type = gl.FLOAT; + + } else if ( typeof Float16Array !== 'undefined' && array instanceof Float16Array ) { + + type = gl.HALF_FLOAT; + + } else if ( array instanceof Uint16Array ) { + + if ( attribute.isFloat16BufferAttribute ) { + + type = gl.HALF_FLOAT; + + } else { + + type = gl.UNSIGNED_SHORT; + + } + + } else if ( array instanceof Int16Array ) { + + type = gl.SHORT; + + } else if ( array instanceof Uint32Array ) { + + type = gl.UNSIGNED_INT; + + } else if ( array instanceof Int32Array ) { + + type = gl.INT; + + } else if ( array instanceof Int8Array ) { + + type = gl.BYTE; + + } else if ( array instanceof Uint8Array ) { + + type = gl.UNSIGNED_BYTE; + + } else if ( array instanceof Uint8ClampedArray ) { + + type = gl.UNSIGNED_BYTE; + + } else { + + throw new Error( 'THREE.WebGLAttributes: Unsupported buffer data format: ' + array ); + + } + + return { + buffer: buffer, + type: type, + bytesPerElement: array.BYTES_PER_ELEMENT, + version: attribute.version, + size: size + }; + + } + + function updateBuffer( buffer, attribute, bufferType ) { + + const array = attribute.array; + const updateRanges = attribute.updateRanges; + + gl.bindBuffer( bufferType, buffer ); + + if ( updateRanges.length === 0 ) { + + // Not using update ranges + gl.bufferSubData( bufferType, 0, array ); + + } else { + + // Before applying update ranges, we merge any adjacent / overlapping + // ranges to reduce load on `gl.bufferSubData`. Empirically, this has led + // to performance improvements for applications which make heavy use of + // update ranges. Likely due to GPU command overhead. + // + // Note that to reduce garbage collection between frames, we merge the + // update ranges in-place. This is safe because this method will clear the + // update ranges once updated. + + updateRanges.sort( ( a, b ) => a.start - b.start ); + + // To merge the update ranges in-place, we work from left to right in the + // existing updateRanges array, merging ranges. This may result in a final + // array which is smaller than the original. This index tracks the last + // index representing a merged range, any data after this index can be + // trimmed once the merge algorithm is completed. + let mergeIndex = 0; + + for ( let i = 1; i < updateRanges.length; i ++ ) { + + const previousRange = updateRanges[ mergeIndex ]; + const range = updateRanges[ i ]; + + // We add one here to merge adjacent ranges. This is safe because ranges + // operate over positive integers. + if ( range.start <= previousRange.start + previousRange.count + 1 ) { + + previousRange.count = Math.max( + previousRange.count, + range.start + range.count - previousRange.start + ); + + } else { + + ++ mergeIndex; + updateRanges[ mergeIndex ] = range; + + } + + } + + // Trim the array to only contain the merged ranges. + updateRanges.length = mergeIndex + 1; + + for ( let i = 0, l = updateRanges.length; i < l; i ++ ) { + + const range = updateRanges[ i ]; + + gl.bufferSubData( bufferType, range.start * array.BYTES_PER_ELEMENT, + array, range.start, range.count ); + + } + + attribute.clearUpdateRanges(); + + } + + attribute.onUploadCallback(); + + } + + // + + function get( attribute ) { + + if ( attribute.isInterleavedBufferAttribute ) attribute = attribute.data; + + return buffers.get( attribute ); + + } + + function remove( attribute ) { + + if ( attribute.isInterleavedBufferAttribute ) attribute = attribute.data; + + const data = buffers.get( attribute ); + + if ( data ) { + + gl.deleteBuffer( data.buffer ); + + buffers.delete( attribute ); + + } + + } + + function update( attribute, bufferType ) { + + if ( attribute.isInterleavedBufferAttribute ) attribute = attribute.data; + + if ( attribute.isGLBufferAttribute ) { + + const cached = buffers.get( attribute ); + + if ( ! cached || cached.version < attribute.version ) { + + buffers.set( attribute, { + buffer: attribute.buffer, + type: attribute.type, + bytesPerElement: attribute.elementSize, + version: attribute.version + } ); + + } + + return; + + } + + const data = buffers.get( attribute ); + + if ( data === undefined ) { + + buffers.set( attribute, createBuffer( attribute, bufferType ) ); + + } else if ( data.version < attribute.version ) { + + if ( data.size !== attribute.array.byteLength ) { + + throw new Error( 'THREE.WebGLAttributes: The size of the buffer attribute\'s array buffer does not match the original size. Resizing buffer attributes is not supported.' ); + + } + + updateBuffer( data.buffer, attribute, bufferType ); + + data.version = attribute.version; + + } + + } + + return { + + get: get, + remove: remove, + update: update + + }; + +} + +var alphahash_fragment = "#ifdef USE_ALPHAHASH\n\tif ( diffuseColor.a < getAlphaHashThreshold( vPosition ) ) discard;\n#endif"; + +var alphahash_pars_fragment = "#ifdef USE_ALPHAHASH\n\tconst float ALPHA_HASH_SCALE = 0.05;\n\tfloat hash2D( vec2 value ) {\n\t\treturn fract( 1.0e4 * sin( 17.0 * value.x + 0.1 * value.y ) * ( 0.1 + abs( sin( 13.0 * value.y + value.x ) ) ) );\n\t}\n\tfloat hash3D( vec3 value ) {\n\t\treturn hash2D( vec2( hash2D( value.xy ), value.z ) );\n\t}\n\tfloat getAlphaHashThreshold( vec3 position ) {\n\t\tfloat maxDeriv = max(\n\t\t\tlength( dFdx( position.xyz ) ),\n\t\t\tlength( dFdy( position.xyz ) )\n\t\t);\n\t\tfloat pixScale = 1.0 / ( ALPHA_HASH_SCALE * maxDeriv );\n\t\tvec2 pixScales = vec2(\n\t\t\texp2( floor( log2( pixScale ) ) ),\n\t\t\texp2( ceil( log2( pixScale ) ) )\n\t\t);\n\t\tvec2 alpha = vec2(\n\t\t\thash3D( floor( pixScales.x * position.xyz ) ),\n\t\t\thash3D( floor( pixScales.y * position.xyz ) )\n\t\t);\n\t\tfloat lerpFactor = fract( log2( pixScale ) );\n\t\tfloat x = ( 1.0 - lerpFactor ) * alpha.x + lerpFactor * alpha.y;\n\t\tfloat a = min( lerpFactor, 1.0 - lerpFactor );\n\t\tvec3 cases = vec3(\n\t\t\tx * x / ( 2.0 * a * ( 1.0 - a ) ),\n\t\t\t( x - 0.5 * a ) / ( 1.0 - a ),\n\t\t\t1.0 - ( ( 1.0 - x ) * ( 1.0 - x ) / ( 2.0 * a * ( 1.0 - a ) ) )\n\t\t);\n\t\tfloat threshold = ( x < ( 1.0 - a ) )\n\t\t\t? ( ( x < a ) ? cases.x : cases.y )\n\t\t\t: cases.z;\n\t\treturn clamp( threshold , 1.0e-6, 1.0 );\n\t}\n#endif"; + +var alphamap_fragment = "#ifdef USE_ALPHAMAP\n\tdiffuseColor.a *= texture2D( alphaMap, vAlphaMapUv ).g;\n#endif"; + +var alphamap_pars_fragment = "#ifdef USE_ALPHAMAP\n\tuniform sampler2D alphaMap;\n#endif"; + +var alphatest_fragment = "#ifdef USE_ALPHATEST\n\t#ifdef ALPHA_TO_COVERAGE\n\tdiffuseColor.a = smoothstep( alphaTest, alphaTest + fwidth( diffuseColor.a ), diffuseColor.a );\n\tif ( diffuseColor.a == 0.0 ) discard;\n\t#else\n\tif ( diffuseColor.a < alphaTest ) discard;\n\t#endif\n#endif"; + +var alphatest_pars_fragment = "#ifdef USE_ALPHATEST\n\tuniform float alphaTest;\n#endif"; + +var aomap_fragment = "#ifdef USE_AOMAP\n\tfloat ambientOcclusion = ( texture2D( aoMap, vAoMapUv ).r - 1.0 ) * aoMapIntensity + 1.0;\n\treflectedLight.indirectDiffuse *= ambientOcclusion;\n\t#if defined( USE_CLEARCOAT ) \n\t\tclearcoatSpecularIndirect *= ambientOcclusion;\n\t#endif\n\t#if defined( USE_SHEEN ) \n\t\tsheenSpecularIndirect *= ambientOcclusion;\n\t#endif\n\t#if defined( USE_ENVMAP ) && defined( STANDARD )\n\t\tfloat dotNV = saturate( dot( geometryNormal, geometryViewDir ) );\n\t\treflectedLight.indirectSpecular *= computeSpecularOcclusion( dotNV, ambientOcclusion, material.roughness );\n\t#endif\n#endif"; + +var aomap_pars_fragment = "#ifdef USE_AOMAP\n\tuniform sampler2D aoMap;\n\tuniform float aoMapIntensity;\n#endif"; + +var batching_pars_vertex = "#ifdef USE_BATCHING\n\t#if ! defined( GL_ANGLE_multi_draw )\n\t#define gl_DrawID _gl_DrawID\n\tuniform int _gl_DrawID;\n\t#endif\n\tuniform highp sampler2D batchingTexture;\n\tuniform highp usampler2D batchingIdTexture;\n\tmat4 getBatchingMatrix( const in float i ) {\n\t\tint size = textureSize( batchingTexture, 0 ).x;\n\t\tint j = int( i ) * 4;\n\t\tint x = j % size;\n\t\tint y = j / size;\n\t\tvec4 v1 = texelFetch( batchingTexture, ivec2( x, y ), 0 );\n\t\tvec4 v2 = texelFetch( batchingTexture, ivec2( x + 1, y ), 0 );\n\t\tvec4 v3 = texelFetch( batchingTexture, ivec2( x + 2, y ), 0 );\n\t\tvec4 v4 = texelFetch( batchingTexture, ivec2( x + 3, y ), 0 );\n\t\treturn mat4( v1, v2, v3, v4 );\n\t}\n\tfloat getIndirectIndex( const in int i ) {\n\t\tint size = textureSize( batchingIdTexture, 0 ).x;\n\t\tint x = i % size;\n\t\tint y = i / size;\n\t\treturn float( texelFetch( batchingIdTexture, ivec2( x, y ), 0 ).r );\n\t}\n#endif\n#ifdef USE_BATCHING_COLOR\n\tuniform sampler2D batchingColorTexture;\n\tvec4 getBatchingColor( const in float i ) {\n\t\tint size = textureSize( batchingColorTexture, 0 ).x;\n\t\tint j = int( i );\n\t\tint x = j % size;\n\t\tint y = j / size;\n\t\treturn texelFetch( batchingColorTexture, ivec2( x, y ), 0 );\n\t}\n#endif"; + +var batching_vertex = "#ifdef USE_BATCHING\n\tmat4 batchingMatrix = getBatchingMatrix( getIndirectIndex( gl_DrawID ) );\n#endif"; + +var begin_vertex = "vec3 transformed = vec3( position );\n#ifdef USE_ALPHAHASH\n\tvPosition = vec3( position );\n#endif"; + +var beginnormal_vertex = "vec3 objectNormal = vec3( normal );\n#ifdef USE_TANGENT\n\tvec3 objectTangent = vec3( tangent.xyz );\n#endif"; + +var bsdfs = "float G_BlinnPhong_Implicit( ) {\n\treturn 0.25;\n}\nfloat D_BlinnPhong( const in float shininess, const in float dotNH ) {\n\treturn RECIPROCAL_PI * ( shininess * 0.5 + 1.0 ) * pow( dotNH, shininess );\n}\nvec3 BRDF_BlinnPhong( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, const in vec3 specularColor, const in float shininess ) {\n\tvec3 halfDir = normalize( lightDir + viewDir );\n\tfloat dotNH = saturate( dot( normal, halfDir ) );\n\tfloat dotVH = saturate( dot( viewDir, halfDir ) );\n\tvec3 F = F_Schlick( specularColor, 1.0, dotVH );\n\tfloat G = G_BlinnPhong_Implicit( );\n\tfloat D = D_BlinnPhong( shininess, dotNH );\n\treturn F * ( G * D );\n} // validated"; + +var iridescence_fragment = "#ifdef USE_IRIDESCENCE\n\tconst mat3 XYZ_TO_REC709 = mat3(\n\t\t 3.2404542, -0.9692660, 0.0556434,\n\t\t-1.5371385, 1.8760108, -0.2040259,\n\t\t-0.4985314, 0.0415560, 1.0572252\n\t);\n\tvec3 Fresnel0ToIor( vec3 fresnel0 ) {\n\t\tvec3 sqrtF0 = sqrt( fresnel0 );\n\t\treturn ( vec3( 1.0 ) + sqrtF0 ) / ( vec3( 1.0 ) - sqrtF0 );\n\t}\n\tvec3 IorToFresnel0( vec3 transmittedIor, float incidentIor ) {\n\t\treturn pow2( ( transmittedIor - vec3( incidentIor ) ) / ( transmittedIor + vec3( incidentIor ) ) );\n\t}\n\tfloat IorToFresnel0( float transmittedIor, float incidentIor ) {\n\t\treturn pow2( ( transmittedIor - incidentIor ) / ( transmittedIor + incidentIor ));\n\t}\n\tvec3 evalSensitivity( float OPD, vec3 shift ) {\n\t\tfloat phase = 2.0 * PI * OPD * 1.0e-9;\n\t\tvec3 val = vec3( 5.4856e-13, 4.4201e-13, 5.2481e-13 );\n\t\tvec3 pos = vec3( 1.6810e+06, 1.7953e+06, 2.2084e+06 );\n\t\tvec3 var = vec3( 4.3278e+09, 9.3046e+09, 6.6121e+09 );\n\t\tvec3 xyz = val * sqrt( 2.0 * PI * var ) * cos( pos * phase + shift ) * exp( - pow2( phase ) * var );\n\t\txyz.x += 9.7470e-14 * sqrt( 2.0 * PI * 4.5282e+09 ) * cos( 2.2399e+06 * phase + shift[ 0 ] ) * exp( - 4.5282e+09 * pow2( phase ) );\n\t\txyz /= 1.0685e-7;\n\t\tvec3 rgb = XYZ_TO_REC709 * xyz;\n\t\treturn rgb;\n\t}\n\tvec3 evalIridescence( float outsideIOR, float eta2, float cosTheta1, float thinFilmThickness, vec3 baseF0 ) {\n\t\tvec3 I;\n\t\tfloat iridescenceIOR = mix( outsideIOR, eta2, smoothstep( 0.0, 0.03, thinFilmThickness ) );\n\t\tfloat sinTheta2Sq = pow2( outsideIOR / iridescenceIOR ) * ( 1.0 - pow2( cosTheta1 ) );\n\t\tfloat cosTheta2Sq = 1.0 - sinTheta2Sq;\n\t\tif ( cosTheta2Sq < 0.0 ) {\n\t\t\treturn vec3( 1.0 );\n\t\t}\n\t\tfloat cosTheta2 = sqrt( cosTheta2Sq );\n\t\tfloat R0 = IorToFresnel0( iridescenceIOR, outsideIOR );\n\t\tfloat R12 = F_Schlick( R0, 1.0, cosTheta1 );\n\t\tfloat T121 = 1.0 - R12;\n\t\tfloat phi12 = 0.0;\n\t\tif ( iridescenceIOR < outsideIOR ) phi12 = PI;\n\t\tfloat phi21 = PI - phi12;\n\t\tvec3 baseIOR = Fresnel0ToIor( clamp( baseF0, 0.0, 0.9999 ) );\t\tvec3 R1 = IorToFresnel0( baseIOR, iridescenceIOR );\n\t\tvec3 R23 = F_Schlick( R1, 1.0, cosTheta2 );\n\t\tvec3 phi23 = vec3( 0.0 );\n\t\tif ( baseIOR[ 0 ] < iridescenceIOR ) phi23[ 0 ] = PI;\n\t\tif ( baseIOR[ 1 ] < iridescenceIOR ) phi23[ 1 ] = PI;\n\t\tif ( baseIOR[ 2 ] < iridescenceIOR ) phi23[ 2 ] = PI;\n\t\tfloat OPD = 2.0 * iridescenceIOR * thinFilmThickness * cosTheta2;\n\t\tvec3 phi = vec3( phi21 ) + phi23;\n\t\tvec3 R123 = clamp( R12 * R23, 1e-5, 0.9999 );\n\t\tvec3 r123 = sqrt( R123 );\n\t\tvec3 Rs = pow2( T121 ) * R23 / ( vec3( 1.0 ) - R123 );\n\t\tvec3 C0 = R12 + Rs;\n\t\tI = C0;\n\t\tvec3 Cm = Rs - T121;\n\t\tfor ( int m = 1; m <= 2; ++ m ) {\n\t\t\tCm *= r123;\n\t\t\tvec3 Sm = 2.0 * evalSensitivity( float( m ) * OPD, float( m ) * phi );\n\t\t\tI += Cm * Sm;\n\t\t}\n\t\treturn max( I, vec3( 0.0 ) );\n\t}\n#endif"; + +var bumpmap_pars_fragment = "#ifdef USE_BUMPMAP\n\tuniform sampler2D bumpMap;\n\tuniform float bumpScale;\n\tvec2 dHdxy_fwd() {\n\t\tvec2 dSTdx = dFdx( vBumpMapUv );\n\t\tvec2 dSTdy = dFdy( vBumpMapUv );\n\t\tfloat Hll = bumpScale * texture2D( bumpMap, vBumpMapUv ).x;\n\t\tfloat dBx = bumpScale * texture2D( bumpMap, vBumpMapUv + dSTdx ).x - Hll;\n\t\tfloat dBy = bumpScale * texture2D( bumpMap, vBumpMapUv + dSTdy ).x - Hll;\n\t\treturn vec2( dBx, dBy );\n\t}\n\tvec3 perturbNormalArb( vec3 surf_pos, vec3 surf_norm, vec2 dHdxy, float faceDirection ) {\n\t\tvec3 vSigmaX = normalize( dFdx( surf_pos.xyz ) );\n\t\tvec3 vSigmaY = normalize( dFdy( surf_pos.xyz ) );\n\t\tvec3 vN = surf_norm;\n\t\tvec3 R1 = cross( vSigmaY, vN );\n\t\tvec3 R2 = cross( vN, vSigmaX );\n\t\tfloat fDet = dot( vSigmaX, R1 ) * faceDirection;\n\t\tvec3 vGrad = sign( fDet ) * ( dHdxy.x * R1 + dHdxy.y * R2 );\n\t\treturn normalize( abs( fDet ) * surf_norm - vGrad );\n\t}\n#endif"; + +var clipping_planes_fragment = "#if NUM_CLIPPING_PLANES > 0\n\tvec4 plane;\n\t#ifdef ALPHA_TO_COVERAGE\n\t\tfloat distanceToPlane, distanceGradient;\n\t\tfloat clipOpacity = 1.0;\n\t\t#pragma unroll_loop_start\n\t\tfor ( int i = 0; i < UNION_CLIPPING_PLANES; i ++ ) {\n\t\t\tplane = clippingPlanes[ i ];\n\t\t\tdistanceToPlane = - dot( vClipPosition, plane.xyz ) + plane.w;\n\t\t\tdistanceGradient = fwidth( distanceToPlane ) / 2.0;\n\t\t\tclipOpacity *= smoothstep( - distanceGradient, distanceGradient, distanceToPlane );\n\t\t\tif ( clipOpacity == 0.0 ) discard;\n\t\t}\n\t\t#pragma unroll_loop_end\n\t\t#if UNION_CLIPPING_PLANES < NUM_CLIPPING_PLANES\n\t\t\tfloat unionClipOpacity = 1.0;\n\t\t\t#pragma unroll_loop_start\n\t\t\tfor ( int i = UNION_CLIPPING_PLANES; i < NUM_CLIPPING_PLANES; i ++ ) {\n\t\t\t\tplane = clippingPlanes[ i ];\n\t\t\t\tdistanceToPlane = - dot( vClipPosition, plane.xyz ) + plane.w;\n\t\t\t\tdistanceGradient = fwidth( distanceToPlane ) / 2.0;\n\t\t\t\tunionClipOpacity *= 1.0 - smoothstep( - distanceGradient, distanceGradient, distanceToPlane );\n\t\t\t}\n\t\t\t#pragma unroll_loop_end\n\t\t\tclipOpacity *= 1.0 - unionClipOpacity;\n\t\t#endif\n\t\tdiffuseColor.a *= clipOpacity;\n\t\tif ( diffuseColor.a == 0.0 ) discard;\n\t#else\n\t\t#pragma unroll_loop_start\n\t\tfor ( int i = 0; i < UNION_CLIPPING_PLANES; i ++ ) {\n\t\t\tplane = clippingPlanes[ i ];\n\t\t\tif ( dot( vClipPosition, plane.xyz ) > plane.w ) discard;\n\t\t}\n\t\t#pragma unroll_loop_end\n\t\t#if UNION_CLIPPING_PLANES < NUM_CLIPPING_PLANES\n\t\t\tbool clipped = true;\n\t\t\t#pragma unroll_loop_start\n\t\t\tfor ( int i = UNION_CLIPPING_PLANES; i < NUM_CLIPPING_PLANES; i ++ ) {\n\t\t\t\tplane = clippingPlanes[ i ];\n\t\t\t\tclipped = ( dot( vClipPosition, plane.xyz ) > plane.w ) && clipped;\n\t\t\t}\n\t\t\t#pragma unroll_loop_end\n\t\t\tif ( clipped ) discard;\n\t\t#endif\n\t#endif\n#endif"; + +var clipping_planes_pars_fragment = "#if NUM_CLIPPING_PLANES > 0\n\tvarying vec3 vClipPosition;\n\tuniform vec4 clippingPlanes[ NUM_CLIPPING_PLANES ];\n#endif"; + +var clipping_planes_pars_vertex = "#if NUM_CLIPPING_PLANES > 0\n\tvarying vec3 vClipPosition;\n#endif"; + +var clipping_planes_vertex = "#if NUM_CLIPPING_PLANES > 0\n\tvClipPosition = - mvPosition.xyz;\n#endif"; + +var color_fragment = "#if defined( USE_COLOR ) || defined( USE_COLOR_ALPHA )\n\tdiffuseColor *= vColor;\n#endif"; + +var color_pars_fragment = "#if defined( USE_COLOR ) || defined( USE_COLOR_ALPHA )\n\tvarying vec4 vColor;\n#endif"; + +var color_pars_vertex = "#if defined( USE_COLOR ) || defined( USE_COLOR_ALPHA ) || defined( USE_INSTANCING_COLOR ) || defined( USE_BATCHING_COLOR )\n\tvarying vec4 vColor;\n#endif"; + +var color_vertex = "#if defined( USE_COLOR ) || defined( USE_COLOR_ALPHA ) || defined( USE_INSTANCING_COLOR ) || defined( USE_BATCHING_COLOR )\n\tvColor = vec4( 1.0 );\n#endif\n#ifdef USE_COLOR_ALPHA\n\tvColor *= color;\n#elif defined( USE_COLOR )\n\tvColor.rgb *= color;\n#endif\n#ifdef USE_INSTANCING_COLOR\n\tvColor.rgb *= instanceColor.rgb;\n#endif\n#ifdef USE_BATCHING_COLOR\n\tvColor *= getBatchingColor( getIndirectIndex( gl_DrawID ) );\n#endif"; + +var common = "#define PI 3.141592653589793\n#define PI2 6.283185307179586\n#define PI_HALF 1.5707963267948966\n#define RECIPROCAL_PI 0.3183098861837907\n#define RECIPROCAL_PI2 0.15915494309189535\n#define EPSILON 1e-6\n#ifndef saturate\n#define saturate( a ) clamp( a, 0.0, 1.0 )\n#endif\n#define whiteComplement( a ) ( 1.0 - saturate( a ) )\nfloat pow2( const in float x ) { return x*x; }\nvec3 pow2( const in vec3 x ) { return x*x; }\nfloat pow3( const in float x ) { return x*x*x; }\nfloat pow4( const in float x ) { float x2 = x*x; return x2*x2; }\nfloat max3( const in vec3 v ) { return max( max( v.x, v.y ), v.z ); }\nfloat average( const in vec3 v ) { return dot( v, vec3( 0.3333333 ) ); }\nhighp float rand( const in vec2 uv ) {\n\tconst highp float a = 12.9898, b = 78.233, c = 43758.5453;\n\thighp float dt = dot( uv.xy, vec2( a,b ) ), sn = mod( dt, PI );\n\treturn fract( sin( sn ) * c );\n}\n#ifdef HIGH_PRECISION\n\tfloat precisionSafeLength( vec3 v ) { return length( v ); }\n#else\n\tfloat precisionSafeLength( vec3 v ) {\n\t\tfloat maxComponent = max3( abs( v ) );\n\t\treturn length( v / maxComponent ) * maxComponent;\n\t}\n#endif\nstruct IncidentLight {\n\tvec3 color;\n\tvec3 direction;\n\tbool visible;\n};\nstruct ReflectedLight {\n\tvec3 directDiffuse;\n\tvec3 directSpecular;\n\tvec3 indirectDiffuse;\n\tvec3 indirectSpecular;\n};\n#ifdef USE_ALPHAHASH\n\tvarying vec3 vPosition;\n#endif\nvec3 transformDirection( in vec3 dir, in mat4 matrix ) {\n\treturn normalize( ( matrix * vec4( dir, 0.0 ) ).xyz );\n}\nvec3 inverseTransformDirection( in vec3 dir, in mat4 matrix ) {\n\treturn normalize( ( vec4( dir, 0.0 ) * matrix ).xyz );\n}\nbool isPerspectiveMatrix( mat4 m ) {\n\treturn m[ 2 ][ 3 ] == - 1.0;\n}\nvec2 equirectUv( in vec3 dir ) {\n\tfloat u = atan( dir.z, dir.x ) * RECIPROCAL_PI2 + 0.5;\n\tfloat v = asin( clamp( dir.y, - 1.0, 1.0 ) ) * RECIPROCAL_PI + 0.5;\n\treturn vec2( u, v );\n}\nvec3 BRDF_Lambert( const in vec3 diffuseColor ) {\n\treturn RECIPROCAL_PI * diffuseColor;\n}\nvec3 F_Schlick( const in vec3 f0, const in float f90, const in float dotVH ) {\n\tfloat fresnel = exp2( ( - 5.55473 * dotVH - 6.98316 ) * dotVH );\n\treturn f0 * ( 1.0 - fresnel ) + ( f90 * fresnel );\n}\nfloat F_Schlick( const in float f0, const in float f90, const in float dotVH ) {\n\tfloat fresnel = exp2( ( - 5.55473 * dotVH - 6.98316 ) * dotVH );\n\treturn f0 * ( 1.0 - fresnel ) + ( f90 * fresnel );\n} // validated"; + +var cube_uv_reflection_fragment = "#ifdef ENVMAP_TYPE_CUBE_UV\n\t#define cubeUV_minMipLevel 4.0\n\t#define cubeUV_minTileSize 16.0\n\tfloat getFace( vec3 direction ) {\n\t\tvec3 absDirection = abs( direction );\n\t\tfloat face = - 1.0;\n\t\tif ( absDirection.x > absDirection.z ) {\n\t\t\tif ( absDirection.x > absDirection.y )\n\t\t\t\tface = direction.x > 0.0 ? 0.0 : 3.0;\n\t\t\telse\n\t\t\t\tface = direction.y > 0.0 ? 1.0 : 4.0;\n\t\t} else {\n\t\t\tif ( absDirection.z > absDirection.y )\n\t\t\t\tface = direction.z > 0.0 ? 2.0 : 5.0;\n\t\t\telse\n\t\t\t\tface = direction.y > 0.0 ? 1.0 : 4.0;\n\t\t}\n\t\treturn face;\n\t}\n\tvec2 getUV( vec3 direction, float face ) {\n\t\tvec2 uv;\n\t\tif ( face == 0.0 ) {\n\t\t\tuv = vec2( direction.z, direction.y ) / abs( direction.x );\n\t\t} else if ( face == 1.0 ) {\n\t\t\tuv = vec2( - direction.x, - direction.z ) / abs( direction.y );\n\t\t} else if ( face == 2.0 ) {\n\t\t\tuv = vec2( - direction.x, direction.y ) / abs( direction.z );\n\t\t} else if ( face == 3.0 ) {\n\t\t\tuv = vec2( - direction.z, direction.y ) / abs( direction.x );\n\t\t} else if ( face == 4.0 ) {\n\t\t\tuv = vec2( - direction.x, direction.z ) / abs( direction.y );\n\t\t} else {\n\t\t\tuv = vec2( direction.x, direction.y ) / abs( direction.z );\n\t\t}\n\t\treturn 0.5 * ( uv + 1.0 );\n\t}\n\tvec3 bilinearCubeUV( sampler2D envMap, vec3 direction, float mipInt ) {\n\t\tfloat face = getFace( direction );\n\t\tfloat filterInt = max( cubeUV_minMipLevel - mipInt, 0.0 );\n\t\tmipInt = max( mipInt, cubeUV_minMipLevel );\n\t\tfloat faceSize = exp2( mipInt );\n\t\thighp vec2 uv = getUV( direction, face ) * ( faceSize - 2.0 ) + 1.0;\n\t\tif ( face > 2.0 ) {\n\t\t\tuv.y += faceSize;\n\t\t\tface -= 3.0;\n\t\t}\n\t\tuv.x += face * faceSize;\n\t\tuv.x += filterInt * 3.0 * cubeUV_minTileSize;\n\t\tuv.y += 4.0 * ( exp2( CUBEUV_MAX_MIP ) - faceSize );\n\t\tuv.x *= CUBEUV_TEXEL_WIDTH;\n\t\tuv.y *= CUBEUV_TEXEL_HEIGHT;\n\t\t#ifdef texture2DGradEXT\n\t\t\treturn texture2DGradEXT( envMap, uv, vec2( 0.0 ), vec2( 0.0 ) ).rgb;\n\t\t#else\n\t\t\treturn texture2D( envMap, uv ).rgb;\n\t\t#endif\n\t}\n\t#define cubeUV_r0 1.0\n\t#define cubeUV_m0 - 2.0\n\t#define cubeUV_r1 0.8\n\t#define cubeUV_m1 - 1.0\n\t#define cubeUV_r4 0.4\n\t#define cubeUV_m4 2.0\n\t#define cubeUV_r5 0.305\n\t#define cubeUV_m5 3.0\n\t#define cubeUV_r6 0.21\n\t#define cubeUV_m6 4.0\n\tfloat roughnessToMip( float roughness ) {\n\t\tfloat mip = 0.0;\n\t\tif ( roughness >= cubeUV_r1 ) {\n\t\t\tmip = ( cubeUV_r0 - roughness ) * ( cubeUV_m1 - cubeUV_m0 ) / ( cubeUV_r0 - cubeUV_r1 ) + cubeUV_m0;\n\t\t} else if ( roughness >= cubeUV_r4 ) {\n\t\t\tmip = ( cubeUV_r1 - roughness ) * ( cubeUV_m4 - cubeUV_m1 ) / ( cubeUV_r1 - cubeUV_r4 ) + cubeUV_m1;\n\t\t} else if ( roughness >= cubeUV_r5 ) {\n\t\t\tmip = ( cubeUV_r4 - roughness ) * ( cubeUV_m5 - cubeUV_m4 ) / ( cubeUV_r4 - cubeUV_r5 ) + cubeUV_m4;\n\t\t} else if ( roughness >= cubeUV_r6 ) {\n\t\t\tmip = ( cubeUV_r5 - roughness ) * ( cubeUV_m6 - cubeUV_m5 ) / ( cubeUV_r5 - cubeUV_r6 ) + cubeUV_m5;\n\t\t} else {\n\t\t\tmip = - 2.0 * log2( 1.16 * roughness );\t\t}\n\t\treturn mip;\n\t}\n\tvec4 textureCubeUV( sampler2D envMap, vec3 sampleDir, float roughness ) {\n\t\tfloat mip = clamp( roughnessToMip( roughness ), cubeUV_m0, CUBEUV_MAX_MIP );\n\t\tfloat mipF = fract( mip );\n\t\tfloat mipInt = floor( mip );\n\t\tvec3 color0 = bilinearCubeUV( envMap, sampleDir, mipInt );\n\t\tif ( mipF == 0.0 ) {\n\t\t\treturn vec4( color0, 1.0 );\n\t\t} else {\n\t\t\tvec3 color1 = bilinearCubeUV( envMap, sampleDir, mipInt + 1.0 );\n\t\t\treturn vec4( mix( color0, color1, mipF ), 1.0 );\n\t\t}\n\t}\n#endif"; + +var defaultnormal_vertex = "vec3 transformedNormal = objectNormal;\n#ifdef USE_TANGENT\n\tvec3 transformedTangent = objectTangent;\n#endif\n#ifdef USE_BATCHING\n\tmat3 bm = mat3( batchingMatrix );\n\ttransformedNormal /= vec3( dot( bm[ 0 ], bm[ 0 ] ), dot( bm[ 1 ], bm[ 1 ] ), dot( bm[ 2 ], bm[ 2 ] ) );\n\ttransformedNormal = bm * transformedNormal;\n\t#ifdef USE_TANGENT\n\t\ttransformedTangent = bm * transformedTangent;\n\t#endif\n#endif\n#ifdef USE_INSTANCING\n\tmat3 im = mat3( instanceMatrix );\n\ttransformedNormal /= vec3( dot( im[ 0 ], im[ 0 ] ), dot( im[ 1 ], im[ 1 ] ), dot( im[ 2 ], im[ 2 ] ) );\n\ttransformedNormal = im * transformedNormal;\n\t#ifdef USE_TANGENT\n\t\ttransformedTangent = im * transformedTangent;\n\t#endif\n#endif\ntransformedNormal = normalMatrix * transformedNormal;\n#ifdef FLIP_SIDED\n\ttransformedNormal = - transformedNormal;\n#endif\n#ifdef USE_TANGENT\n\ttransformedTangent = ( modelViewMatrix * vec4( transformedTangent, 0.0 ) ).xyz;\n\t#ifdef FLIP_SIDED\n\t\ttransformedTangent = - transformedTangent;\n\t#endif\n#endif"; + +var displacementmap_pars_vertex = "#ifdef USE_DISPLACEMENTMAP\n\tuniform sampler2D displacementMap;\n\tuniform float displacementScale;\n\tuniform float displacementBias;\n#endif"; + +var displacementmap_vertex = "#ifdef USE_DISPLACEMENTMAP\n\ttransformed += normalize( objectNormal ) * ( texture2D( displacementMap, vDisplacementMapUv ).x * displacementScale + displacementBias );\n#endif"; + +var emissivemap_fragment = "#ifdef USE_EMISSIVEMAP\n\tvec4 emissiveColor = texture2D( emissiveMap, vEmissiveMapUv );\n\t#ifdef DECODE_VIDEO_TEXTURE_EMISSIVE\n\t\temissiveColor = sRGBTransferEOTF( emissiveColor );\n\t#endif\n\ttotalEmissiveRadiance *= emissiveColor.rgb;\n#endif"; + +var emissivemap_pars_fragment = "#ifdef USE_EMISSIVEMAP\n\tuniform sampler2D emissiveMap;\n#endif"; + +var colorspace_fragment = "gl_FragColor = linearToOutputTexel( gl_FragColor );"; + +var colorspace_pars_fragment = "vec4 LinearTransferOETF( in vec4 value ) {\n\treturn value;\n}\nvec4 sRGBTransferEOTF( in vec4 value ) {\n\treturn vec4( mix( pow( value.rgb * 0.9478672986 + vec3( 0.0521327014 ), vec3( 2.4 ) ), value.rgb * 0.0773993808, vec3( lessThanEqual( value.rgb, vec3( 0.04045 ) ) ) ), value.a );\n}\nvec4 sRGBTransferOETF( in vec4 value ) {\n\treturn vec4( mix( pow( value.rgb, vec3( 0.41666 ) ) * 1.055 - vec3( 0.055 ), value.rgb * 12.92, vec3( lessThanEqual( value.rgb, vec3( 0.0031308 ) ) ) ), value.a );\n}"; + +var envmap_fragment = "#ifdef USE_ENVMAP\n\t#ifdef ENV_WORLDPOS\n\t\tvec3 cameraToFrag;\n\t\tif ( isOrthographic ) {\n\t\t\tcameraToFrag = normalize( vec3( - viewMatrix[ 0 ][ 2 ], - viewMatrix[ 1 ][ 2 ], - viewMatrix[ 2 ][ 2 ] ) );\n\t\t} else {\n\t\t\tcameraToFrag = normalize( vWorldPosition - cameraPosition );\n\t\t}\n\t\tvec3 worldNormal = inverseTransformDirection( normal, viewMatrix );\n\t\t#ifdef ENVMAP_MODE_REFLECTION\n\t\t\tvec3 reflectVec = reflect( cameraToFrag, worldNormal );\n\t\t#else\n\t\t\tvec3 reflectVec = refract( cameraToFrag, worldNormal, refractionRatio );\n\t\t#endif\n\t#else\n\t\tvec3 reflectVec = vReflect;\n\t#endif\n\t#ifdef ENVMAP_TYPE_CUBE\n\t\tvec4 envColor = textureCube( envMap, envMapRotation * vec3( flipEnvMap * reflectVec.x, reflectVec.yz ) );\n\t\t#ifdef ENVMAP_BLENDING_MULTIPLY\n\t\t\toutgoingLight = mix( outgoingLight, outgoingLight * envColor.xyz, specularStrength * reflectivity );\n\t\t#elif defined( ENVMAP_BLENDING_MIX )\n\t\t\toutgoingLight = mix( outgoingLight, envColor.xyz, specularStrength * reflectivity );\n\t\t#elif defined( ENVMAP_BLENDING_ADD )\n\t\t\toutgoingLight += envColor.xyz * specularStrength * reflectivity;\n\t\t#endif\n\t#endif\n#endif"; + +var envmap_common_pars_fragment = "#ifdef USE_ENVMAP\n\tuniform float envMapIntensity;\n\tuniform float flipEnvMap;\n\tuniform mat3 envMapRotation;\n\t#ifdef ENVMAP_TYPE_CUBE\n\t\tuniform samplerCube envMap;\n\t#else\n\t\tuniform sampler2D envMap;\n\t#endif\n#endif"; + +var envmap_pars_fragment = "#ifdef USE_ENVMAP\n\tuniform float reflectivity;\n\t#if defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( PHONG ) || defined( LAMBERT )\n\t\t#define ENV_WORLDPOS\n\t#endif\n\t#ifdef ENV_WORLDPOS\n\t\tvarying vec3 vWorldPosition;\n\t\tuniform float refractionRatio;\n\t#else\n\t\tvarying vec3 vReflect;\n\t#endif\n#endif"; + +var envmap_pars_vertex = "#ifdef USE_ENVMAP\n\t#if defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( PHONG ) || defined( LAMBERT )\n\t\t#define ENV_WORLDPOS\n\t#endif\n\t#ifdef ENV_WORLDPOS\n\t\t\n\t\tvarying vec3 vWorldPosition;\n\t#else\n\t\tvarying vec3 vReflect;\n\t\tuniform float refractionRatio;\n\t#endif\n#endif"; + +var envmap_vertex = "#ifdef USE_ENVMAP\n\t#ifdef ENV_WORLDPOS\n\t\tvWorldPosition = worldPosition.xyz;\n\t#else\n\t\tvec3 cameraToVertex;\n\t\tif ( isOrthographic ) {\n\t\t\tcameraToVertex = normalize( vec3( - viewMatrix[ 0 ][ 2 ], - viewMatrix[ 1 ][ 2 ], - viewMatrix[ 2 ][ 2 ] ) );\n\t\t} else {\n\t\t\tcameraToVertex = normalize( worldPosition.xyz - cameraPosition );\n\t\t}\n\t\tvec3 worldNormal = inverseTransformDirection( transformedNormal, viewMatrix );\n\t\t#ifdef ENVMAP_MODE_REFLECTION\n\t\t\tvReflect = reflect( cameraToVertex, worldNormal );\n\t\t#else\n\t\t\tvReflect = refract( cameraToVertex, worldNormal, refractionRatio );\n\t\t#endif\n\t#endif\n#endif"; + +var fog_vertex = "#ifdef USE_FOG\n\tvFogDepth = - mvPosition.z;\n#endif"; + +var fog_pars_vertex = "#ifdef USE_FOG\n\tvarying float vFogDepth;\n#endif"; + +var fog_fragment = "#ifdef USE_FOG\n\t#ifdef FOG_EXP2\n\t\tfloat fogFactor = 1.0 - exp( - fogDensity * fogDensity * vFogDepth * vFogDepth );\n\t#else\n\t\tfloat fogFactor = smoothstep( fogNear, fogFar, vFogDepth );\n\t#endif\n\tgl_FragColor.rgb = mix( gl_FragColor.rgb, fogColor, fogFactor );\n#endif"; + +var fog_pars_fragment = "#ifdef USE_FOG\n\tuniform vec3 fogColor;\n\tvarying float vFogDepth;\n\t#ifdef FOG_EXP2\n\t\tuniform float fogDensity;\n\t#else\n\t\tuniform float fogNear;\n\t\tuniform float fogFar;\n\t#endif\n#endif"; + +var gradientmap_pars_fragment = "#ifdef USE_GRADIENTMAP\n\tuniform sampler2D gradientMap;\n#endif\nvec3 getGradientIrradiance( vec3 normal, vec3 lightDirection ) {\n\tfloat dotNL = dot( normal, lightDirection );\n\tvec2 coord = vec2( dotNL * 0.5 + 0.5, 0.0 );\n\t#ifdef USE_GRADIENTMAP\n\t\treturn vec3( texture2D( gradientMap, coord ).r );\n\t#else\n\t\tvec2 fw = fwidth( coord ) * 0.5;\n\t\treturn mix( vec3( 0.7 ), vec3( 1.0 ), smoothstep( 0.7 - fw.x, 0.7 + fw.x, coord.x ) );\n\t#endif\n}"; + +var lightmap_pars_fragment = "#ifdef USE_LIGHTMAP\n\tuniform sampler2D lightMap;\n\tuniform float lightMapIntensity;\n#endif"; + +var lights_lambert_fragment = "LambertMaterial material;\nmaterial.diffuseColor = diffuseColor.rgb;\nmaterial.specularStrength = specularStrength;"; + +var lights_lambert_pars_fragment = "varying vec3 vViewPosition;\nstruct LambertMaterial {\n\tvec3 diffuseColor;\n\tfloat specularStrength;\n};\nvoid RE_Direct_Lambert( const in IncidentLight directLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in LambertMaterial material, inout ReflectedLight reflectedLight ) {\n\tfloat dotNL = saturate( dot( geometryNormal, directLight.direction ) );\n\tvec3 irradiance = dotNL * directLight.color;\n\treflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\nvoid RE_IndirectDiffuse_Lambert( const in vec3 irradiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in LambertMaterial material, inout ReflectedLight reflectedLight ) {\n\treflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\n#define RE_Direct\t\t\t\tRE_Direct_Lambert\n#define RE_IndirectDiffuse\t\tRE_IndirectDiffuse_Lambert"; + +var lights_pars_begin = "uniform bool receiveShadow;\nuniform vec3 ambientLightColor;\n#if defined( USE_LIGHT_PROBES )\n\tuniform vec3 lightProbe[ 9 ];\n#endif\nvec3 shGetIrradianceAt( in vec3 normal, in vec3 shCoefficients[ 9 ] ) {\n\tfloat x = normal.x, y = normal.y, z = normal.z;\n\tvec3 result = shCoefficients[ 0 ] * 0.886227;\n\tresult += shCoefficients[ 1 ] * 2.0 * 0.511664 * y;\n\tresult += shCoefficients[ 2 ] * 2.0 * 0.511664 * z;\n\tresult += shCoefficients[ 3 ] * 2.0 * 0.511664 * x;\n\tresult += shCoefficients[ 4 ] * 2.0 * 0.429043 * x * y;\n\tresult += shCoefficients[ 5 ] * 2.0 * 0.429043 * y * z;\n\tresult += shCoefficients[ 6 ] * ( 0.743125 * z * z - 0.247708 );\n\tresult += shCoefficients[ 7 ] * 2.0 * 0.429043 * x * z;\n\tresult += shCoefficients[ 8 ] * 0.429043 * ( x * x - y * y );\n\treturn result;\n}\nvec3 getLightProbeIrradiance( const in vec3 lightProbe[ 9 ], const in vec3 normal ) {\n\tvec3 worldNormal = inverseTransformDirection( normal, viewMatrix );\n\tvec3 irradiance = shGetIrradianceAt( worldNormal, lightProbe );\n\treturn irradiance;\n}\nvec3 getAmbientLightIrradiance( const in vec3 ambientLightColor ) {\n\tvec3 irradiance = ambientLightColor;\n\treturn irradiance;\n}\nfloat getDistanceAttenuation( const in float lightDistance, const in float cutoffDistance, const in float decayExponent ) {\n\tfloat distanceFalloff = 1.0 / max( pow( lightDistance, decayExponent ), 0.01 );\n\tif ( cutoffDistance > 0.0 ) {\n\t\tdistanceFalloff *= pow2( saturate( 1.0 - pow4( lightDistance / cutoffDistance ) ) );\n\t}\n\treturn distanceFalloff;\n}\nfloat getSpotAttenuation( const in float coneCosine, const in float penumbraCosine, const in float angleCosine ) {\n\treturn smoothstep( coneCosine, penumbraCosine, angleCosine );\n}\n#if NUM_DIR_LIGHTS > 0\n\tstruct DirectionalLight {\n\t\tvec3 direction;\n\t\tvec3 color;\n\t};\n\tuniform DirectionalLight directionalLights[ NUM_DIR_LIGHTS ];\n\tvoid getDirectionalLightInfo( const in DirectionalLight directionalLight, out IncidentLight light ) {\n\t\tlight.color = directionalLight.color;\n\t\tlight.direction = directionalLight.direction;\n\t\tlight.visible = true;\n\t}\n#endif\n#if NUM_POINT_LIGHTS > 0\n\tstruct PointLight {\n\t\tvec3 position;\n\t\tvec3 color;\n\t\tfloat distance;\n\t\tfloat decay;\n\t};\n\tuniform PointLight pointLights[ NUM_POINT_LIGHTS ];\n\tvoid getPointLightInfo( const in PointLight pointLight, const in vec3 geometryPosition, out IncidentLight light ) {\n\t\tvec3 lVector = pointLight.position - geometryPosition;\n\t\tlight.direction = normalize( lVector );\n\t\tfloat lightDistance = length( lVector );\n\t\tlight.color = pointLight.color;\n\t\tlight.color *= getDistanceAttenuation( lightDistance, pointLight.distance, pointLight.decay );\n\t\tlight.visible = ( light.color != vec3( 0.0 ) );\n\t}\n#endif\n#if NUM_SPOT_LIGHTS > 0\n\tstruct SpotLight {\n\t\tvec3 position;\n\t\tvec3 direction;\n\t\tvec3 color;\n\t\tfloat distance;\n\t\tfloat decay;\n\t\tfloat coneCos;\n\t\tfloat penumbraCos;\n\t};\n\tuniform SpotLight spotLights[ NUM_SPOT_LIGHTS ];\n\tvoid getSpotLightInfo( const in SpotLight spotLight, const in vec3 geometryPosition, out IncidentLight light ) {\n\t\tvec3 lVector = spotLight.position - geometryPosition;\n\t\tlight.direction = normalize( lVector );\n\t\tfloat angleCos = dot( light.direction, spotLight.direction );\n\t\tfloat spotAttenuation = getSpotAttenuation( spotLight.coneCos, spotLight.penumbraCos, angleCos );\n\t\tif ( spotAttenuation > 0.0 ) {\n\t\t\tfloat lightDistance = length( lVector );\n\t\t\tlight.color = spotLight.color * spotAttenuation;\n\t\t\tlight.color *= getDistanceAttenuation( lightDistance, spotLight.distance, spotLight.decay );\n\t\t\tlight.visible = ( light.color != vec3( 0.0 ) );\n\t\t} else {\n\t\t\tlight.color = vec3( 0.0 );\n\t\t\tlight.visible = false;\n\t\t}\n\t}\n#endif\n#if NUM_RECT_AREA_LIGHTS > 0\n\tstruct RectAreaLight {\n\t\tvec3 color;\n\t\tvec3 position;\n\t\tvec3 halfWidth;\n\t\tvec3 halfHeight;\n\t};\n\tuniform sampler2D ltc_1;\tuniform sampler2D ltc_2;\n\tuniform RectAreaLight rectAreaLights[ NUM_RECT_AREA_LIGHTS ];\n#endif\n#if NUM_HEMI_LIGHTS > 0\n\tstruct HemisphereLight {\n\t\tvec3 direction;\n\t\tvec3 skyColor;\n\t\tvec3 groundColor;\n\t};\n\tuniform HemisphereLight hemisphereLights[ NUM_HEMI_LIGHTS ];\n\tvec3 getHemisphereLightIrradiance( const in HemisphereLight hemiLight, const in vec3 normal ) {\n\t\tfloat dotNL = dot( normal, hemiLight.direction );\n\t\tfloat hemiDiffuseWeight = 0.5 * dotNL + 0.5;\n\t\tvec3 irradiance = mix( hemiLight.groundColor, hemiLight.skyColor, hemiDiffuseWeight );\n\t\treturn irradiance;\n\t}\n#endif"; + +var envmap_physical_pars_fragment = "#ifdef USE_ENVMAP\n\tvec3 getIBLIrradiance( const in vec3 normal ) {\n\t\t#ifdef ENVMAP_TYPE_CUBE_UV\n\t\t\tvec3 worldNormal = inverseTransformDirection( normal, viewMatrix );\n\t\t\tvec4 envMapColor = textureCubeUV( envMap, envMapRotation * worldNormal, 1.0 );\n\t\t\treturn PI * envMapColor.rgb * envMapIntensity;\n\t\t#else\n\t\t\treturn vec3( 0.0 );\n\t\t#endif\n\t}\n\tvec3 getIBLRadiance( const in vec3 viewDir, const in vec3 normal, const in float roughness ) {\n\t\t#ifdef ENVMAP_TYPE_CUBE_UV\n\t\t\tvec3 reflectVec = reflect( - viewDir, normal );\n\t\t\treflectVec = normalize( mix( reflectVec, normal, pow4( roughness ) ) );\n\t\t\treflectVec = inverseTransformDirection( reflectVec, viewMatrix );\n\t\t\tvec4 envMapColor = textureCubeUV( envMap, envMapRotation * reflectVec, roughness );\n\t\t\treturn envMapColor.rgb * envMapIntensity;\n\t\t#else\n\t\t\treturn vec3( 0.0 );\n\t\t#endif\n\t}\n\t#ifdef USE_ANISOTROPY\n\t\tvec3 getIBLAnisotropyRadiance( const in vec3 viewDir, const in vec3 normal, const in float roughness, const in vec3 bitangent, const in float anisotropy ) {\n\t\t\t#ifdef ENVMAP_TYPE_CUBE_UV\n\t\t\t\tvec3 bentNormal = cross( bitangent, viewDir );\n\t\t\t\tbentNormal = normalize( cross( bentNormal, bitangent ) );\n\t\t\t\tbentNormal = normalize( mix( bentNormal, normal, pow2( pow2( 1.0 - anisotropy * ( 1.0 - roughness ) ) ) ) );\n\t\t\t\treturn getIBLRadiance( viewDir, bentNormal, roughness );\n\t\t\t#else\n\t\t\t\treturn vec3( 0.0 );\n\t\t\t#endif\n\t\t}\n\t#endif\n#endif"; + +var lights_toon_fragment = "ToonMaterial material;\nmaterial.diffuseColor = diffuseColor.rgb;"; + +var lights_toon_pars_fragment = "varying vec3 vViewPosition;\nstruct ToonMaterial {\n\tvec3 diffuseColor;\n};\nvoid RE_Direct_Toon( const in IncidentLight directLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in ToonMaterial material, inout ReflectedLight reflectedLight ) {\n\tvec3 irradiance = getGradientIrradiance( geometryNormal, directLight.direction ) * directLight.color;\n\treflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\nvoid RE_IndirectDiffuse_Toon( const in vec3 irradiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in ToonMaterial material, inout ReflectedLight reflectedLight ) {\n\treflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\n#define RE_Direct\t\t\t\tRE_Direct_Toon\n#define RE_IndirectDiffuse\t\tRE_IndirectDiffuse_Toon"; + +var lights_phong_fragment = "BlinnPhongMaterial material;\nmaterial.diffuseColor = diffuseColor.rgb;\nmaterial.specularColor = specular;\nmaterial.specularShininess = shininess;\nmaterial.specularStrength = specularStrength;"; + +var lights_phong_pars_fragment = "varying vec3 vViewPosition;\nstruct BlinnPhongMaterial {\n\tvec3 diffuseColor;\n\tvec3 specularColor;\n\tfloat specularShininess;\n\tfloat specularStrength;\n};\nvoid RE_Direct_BlinnPhong( const in IncidentLight directLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in BlinnPhongMaterial material, inout ReflectedLight reflectedLight ) {\n\tfloat dotNL = saturate( dot( geometryNormal, directLight.direction ) );\n\tvec3 irradiance = dotNL * directLight.color;\n\treflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n\treflectedLight.directSpecular += irradiance * BRDF_BlinnPhong( directLight.direction, geometryViewDir, geometryNormal, material.specularColor, material.specularShininess ) * material.specularStrength;\n}\nvoid RE_IndirectDiffuse_BlinnPhong( const in vec3 irradiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in BlinnPhongMaterial material, inout ReflectedLight reflectedLight ) {\n\treflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );\n}\n#define RE_Direct\t\t\t\tRE_Direct_BlinnPhong\n#define RE_IndirectDiffuse\t\tRE_IndirectDiffuse_BlinnPhong"; + +var lights_physical_fragment = "PhysicalMaterial material;\nmaterial.diffuseColor = diffuseColor.rgb;\nmaterial.diffuseContribution = diffuseColor.rgb * ( 1.0 - metalnessFactor );\nmaterial.metalness = metalnessFactor;\nvec3 dxy = max( abs( dFdx( nonPerturbedNormal ) ), abs( dFdy( nonPerturbedNormal ) ) );\nfloat geometryRoughness = max( max( dxy.x, dxy.y ), dxy.z );\nmaterial.roughness = max( roughnessFactor, 0.0525 );material.roughness += geometryRoughness;\nmaterial.roughness = min( material.roughness, 1.0 );\n#ifdef IOR\n\tmaterial.ior = ior;\n\t#ifdef USE_SPECULAR\n\t\tfloat specularIntensityFactor = specularIntensity;\n\t\tvec3 specularColorFactor = specularColor;\n\t\t#ifdef USE_SPECULAR_COLORMAP\n\t\t\tspecularColorFactor *= texture2D( specularColorMap, vSpecularColorMapUv ).rgb;\n\t\t#endif\n\t\t#ifdef USE_SPECULAR_INTENSITYMAP\n\t\t\tspecularIntensityFactor *= texture2D( specularIntensityMap, vSpecularIntensityMapUv ).a;\n\t\t#endif\n\t\tmaterial.specularF90 = mix( specularIntensityFactor, 1.0, metalnessFactor );\n\t#else\n\t\tfloat specularIntensityFactor = 1.0;\n\t\tvec3 specularColorFactor = vec3( 1.0 );\n\t\tmaterial.specularF90 = 1.0;\n\t#endif\n\tmaterial.specularColor = min( pow2( ( material.ior - 1.0 ) / ( material.ior + 1.0 ) ) * specularColorFactor, vec3( 1.0 ) ) * specularIntensityFactor;\n\tmaterial.specularColorBlended = mix( material.specularColor, diffuseColor.rgb, metalnessFactor );\n#else\n\tmaterial.specularColor = vec3( 0.04 );\n\tmaterial.specularColorBlended = mix( material.specularColor, diffuseColor.rgb, metalnessFactor );\n\tmaterial.specularF90 = 1.0;\n#endif\n#ifdef USE_CLEARCOAT\n\tmaterial.clearcoat = clearcoat;\n\tmaterial.clearcoatRoughness = clearcoatRoughness;\n\tmaterial.clearcoatF0 = vec3( 0.04 );\n\tmaterial.clearcoatF90 = 1.0;\n\t#ifdef USE_CLEARCOATMAP\n\t\tmaterial.clearcoat *= texture2D( clearcoatMap, vClearcoatMapUv ).x;\n\t#endif\n\t#ifdef USE_CLEARCOAT_ROUGHNESSMAP\n\t\tmaterial.clearcoatRoughness *= texture2D( clearcoatRoughnessMap, vClearcoatRoughnessMapUv ).y;\n\t#endif\n\tmaterial.clearcoat = saturate( material.clearcoat );\tmaterial.clearcoatRoughness = max( material.clearcoatRoughness, 0.0525 );\n\tmaterial.clearcoatRoughness += geometryRoughness;\n\tmaterial.clearcoatRoughness = min( material.clearcoatRoughness, 1.0 );\n#endif\n#ifdef USE_DISPERSION\n\tmaterial.dispersion = dispersion;\n#endif\n#ifdef USE_IRIDESCENCE\n\tmaterial.iridescence = iridescence;\n\tmaterial.iridescenceIOR = iridescenceIOR;\n\t#ifdef USE_IRIDESCENCEMAP\n\t\tmaterial.iridescence *= texture2D( iridescenceMap, vIridescenceMapUv ).r;\n\t#endif\n\t#ifdef USE_IRIDESCENCE_THICKNESSMAP\n\t\tmaterial.iridescenceThickness = (iridescenceThicknessMaximum - iridescenceThicknessMinimum) * texture2D( iridescenceThicknessMap, vIridescenceThicknessMapUv ).g + iridescenceThicknessMinimum;\n\t#else\n\t\tmaterial.iridescenceThickness = iridescenceThicknessMaximum;\n\t#endif\n#endif\n#ifdef USE_SHEEN\n\tmaterial.sheenColor = sheenColor;\n\t#ifdef USE_SHEEN_COLORMAP\n\t\tmaterial.sheenColor *= texture2D( sheenColorMap, vSheenColorMapUv ).rgb;\n\t#endif\n\tmaterial.sheenRoughness = clamp( sheenRoughness, 0.0001, 1.0 );\n\t#ifdef USE_SHEEN_ROUGHNESSMAP\n\t\tmaterial.sheenRoughness *= texture2D( sheenRoughnessMap, vSheenRoughnessMapUv ).a;\n\t#endif\n#endif\n#ifdef USE_ANISOTROPY\n\t#ifdef USE_ANISOTROPYMAP\n\t\tmat2 anisotropyMat = mat2( anisotropyVector.x, anisotropyVector.y, - anisotropyVector.y, anisotropyVector.x );\n\t\tvec3 anisotropyPolar = texture2D( anisotropyMap, vAnisotropyMapUv ).rgb;\n\t\tvec2 anisotropyV = anisotropyMat * normalize( 2.0 * anisotropyPolar.rg - vec2( 1.0 ) ) * anisotropyPolar.b;\n\t#else\n\t\tvec2 anisotropyV = anisotropyVector;\n\t#endif\n\tmaterial.anisotropy = length( anisotropyV );\n\tif( material.anisotropy == 0.0 ) {\n\t\tanisotropyV = vec2( 1.0, 0.0 );\n\t} else {\n\t\tanisotropyV /= material.anisotropy;\n\t\tmaterial.anisotropy = saturate( material.anisotropy );\n\t}\n\tmaterial.alphaT = mix( pow2( material.roughness ), 1.0, pow2( material.anisotropy ) );\n\tmaterial.anisotropyT = tbn[ 0 ] * anisotropyV.x + tbn[ 1 ] * anisotropyV.y;\n\tmaterial.anisotropyB = tbn[ 1 ] * anisotropyV.x - tbn[ 0 ] * anisotropyV.y;\n#endif"; + +var lights_physical_pars_fragment = "uniform sampler2D dfgLUT;\nstruct PhysicalMaterial {\n\tvec3 diffuseColor;\n\tvec3 diffuseContribution;\n\tvec3 specularColor;\n\tvec3 specularColorBlended;\n\tfloat roughness;\n\tfloat metalness;\n\tfloat specularF90;\n\tfloat dispersion;\n\t#ifdef USE_CLEARCOAT\n\t\tfloat clearcoat;\n\t\tfloat clearcoatRoughness;\n\t\tvec3 clearcoatF0;\n\t\tfloat clearcoatF90;\n\t#endif\n\t#ifdef USE_IRIDESCENCE\n\t\tfloat iridescence;\n\t\tfloat iridescenceIOR;\n\t\tfloat iridescenceThickness;\n\t\tvec3 iridescenceFresnel;\n\t\tvec3 iridescenceF0;\n\t\tvec3 iridescenceFresnelDielectric;\n\t\tvec3 iridescenceFresnelMetallic;\n\t#endif\n\t#ifdef USE_SHEEN\n\t\tvec3 sheenColor;\n\t\tfloat sheenRoughness;\n\t#endif\n\t#ifdef IOR\n\t\tfloat ior;\n\t#endif\n\t#ifdef USE_TRANSMISSION\n\t\tfloat transmission;\n\t\tfloat transmissionAlpha;\n\t\tfloat thickness;\n\t\tfloat attenuationDistance;\n\t\tvec3 attenuationColor;\n\t#endif\n\t#ifdef USE_ANISOTROPY\n\t\tfloat anisotropy;\n\t\tfloat alphaT;\n\t\tvec3 anisotropyT;\n\t\tvec3 anisotropyB;\n\t#endif\n};\nvec3 clearcoatSpecularDirect = vec3( 0.0 );\nvec3 clearcoatSpecularIndirect = vec3( 0.0 );\nvec3 sheenSpecularDirect = vec3( 0.0 );\nvec3 sheenSpecularIndirect = vec3(0.0 );\nvec3 Schlick_to_F0( const in vec3 f, const in float f90, const in float dotVH ) {\n float x = clamp( 1.0 - dotVH, 0.0, 1.0 );\n float x2 = x * x;\n float x5 = clamp( x * x2 * x2, 0.0, 0.9999 );\n return ( f - vec3( f90 ) * x5 ) / ( 1.0 - x5 );\n}\nfloat V_GGX_SmithCorrelated( const in float alpha, const in float dotNL, const in float dotNV ) {\n\tfloat a2 = pow2( alpha );\n\tfloat gv = dotNL * sqrt( a2 + ( 1.0 - a2 ) * pow2( dotNV ) );\n\tfloat gl = dotNV * sqrt( a2 + ( 1.0 - a2 ) * pow2( dotNL ) );\n\treturn 0.5 / max( gv + gl, EPSILON );\n}\nfloat D_GGX( const in float alpha, const in float dotNH ) {\n\tfloat a2 = pow2( alpha );\n\tfloat denom = pow2( dotNH ) * ( a2 - 1.0 ) + 1.0;\n\treturn RECIPROCAL_PI * a2 / pow2( denom );\n}\n#ifdef USE_ANISOTROPY\n\tfloat V_GGX_SmithCorrelated_Anisotropic( const in float alphaT, const in float alphaB, const in float dotTV, const in float dotBV, const in float dotTL, const in float dotBL, const in float dotNV, const in float dotNL ) {\n\t\tfloat gv = dotNL * length( vec3( alphaT * dotTV, alphaB * dotBV, dotNV ) );\n\t\tfloat gl = dotNV * length( vec3( alphaT * dotTL, alphaB * dotBL, dotNL ) );\n\t\tfloat v = 0.5 / ( gv + gl );\n\t\treturn v;\n\t}\n\tfloat D_GGX_Anisotropic( const in float alphaT, const in float alphaB, const in float dotNH, const in float dotTH, const in float dotBH ) {\n\t\tfloat a2 = alphaT * alphaB;\n\t\thighp vec3 v = vec3( alphaB * dotTH, alphaT * dotBH, a2 * dotNH );\n\t\thighp float v2 = dot( v, v );\n\t\tfloat w2 = a2 / v2;\n\t\treturn RECIPROCAL_PI * a2 * pow2 ( w2 );\n\t}\n#endif\n#ifdef USE_CLEARCOAT\n\tvec3 BRDF_GGX_Clearcoat( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, const in PhysicalMaterial material) {\n\t\tvec3 f0 = material.clearcoatF0;\n\t\tfloat f90 = material.clearcoatF90;\n\t\tfloat roughness = material.clearcoatRoughness;\n\t\tfloat alpha = pow2( roughness );\n\t\tvec3 halfDir = normalize( lightDir + viewDir );\n\t\tfloat dotNL = saturate( dot( normal, lightDir ) );\n\t\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\t\tfloat dotNH = saturate( dot( normal, halfDir ) );\n\t\tfloat dotVH = saturate( dot( viewDir, halfDir ) );\n\t\tvec3 F = F_Schlick( f0, f90, dotVH );\n\t\tfloat V = V_GGX_SmithCorrelated( alpha, dotNL, dotNV );\n\t\tfloat D = D_GGX( alpha, dotNH );\n\t\treturn F * ( V * D );\n\t}\n#endif\nvec3 BRDF_GGX( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, const in PhysicalMaterial material ) {\n\tvec3 f0 = material.specularColorBlended;\n\tfloat f90 = material.specularF90;\n\tfloat roughness = material.roughness;\n\tfloat alpha = pow2( roughness );\n\tvec3 halfDir = normalize( lightDir + viewDir );\n\tfloat dotNL = saturate( dot( normal, lightDir ) );\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tfloat dotNH = saturate( dot( normal, halfDir ) );\n\tfloat dotVH = saturate( dot( viewDir, halfDir ) );\n\tvec3 F = F_Schlick( f0, f90, dotVH );\n\t#ifdef USE_IRIDESCENCE\n\t\tF = mix( F, material.iridescenceFresnel, material.iridescence );\n\t#endif\n\t#ifdef USE_ANISOTROPY\n\t\tfloat dotTL = dot( material.anisotropyT, lightDir );\n\t\tfloat dotTV = dot( material.anisotropyT, viewDir );\n\t\tfloat dotTH = dot( material.anisotropyT, halfDir );\n\t\tfloat dotBL = dot( material.anisotropyB, lightDir );\n\t\tfloat dotBV = dot( material.anisotropyB, viewDir );\n\t\tfloat dotBH = dot( material.anisotropyB, halfDir );\n\t\tfloat V = V_GGX_SmithCorrelated_Anisotropic( material.alphaT, alpha, dotTV, dotBV, dotTL, dotBL, dotNV, dotNL );\n\t\tfloat D = D_GGX_Anisotropic( material.alphaT, alpha, dotNH, dotTH, dotBH );\n\t#else\n\t\tfloat V = V_GGX_SmithCorrelated( alpha, dotNL, dotNV );\n\t\tfloat D = D_GGX( alpha, dotNH );\n\t#endif\n\treturn F * ( V * D );\n}\nvec2 LTC_Uv( const in vec3 N, const in vec3 V, const in float roughness ) {\n\tconst float LUT_SIZE = 64.0;\n\tconst float LUT_SCALE = ( LUT_SIZE - 1.0 ) / LUT_SIZE;\n\tconst float LUT_BIAS = 0.5 / LUT_SIZE;\n\tfloat dotNV = saturate( dot( N, V ) );\n\tvec2 uv = vec2( roughness, sqrt( 1.0 - dotNV ) );\n\tuv = uv * LUT_SCALE + LUT_BIAS;\n\treturn uv;\n}\nfloat LTC_ClippedSphereFormFactor( const in vec3 f ) {\n\tfloat l = length( f );\n\treturn max( ( l * l + f.z ) / ( l + 1.0 ), 0.0 );\n}\nvec3 LTC_EdgeVectorFormFactor( const in vec3 v1, const in vec3 v2 ) {\n\tfloat x = dot( v1, v2 );\n\tfloat y = abs( x );\n\tfloat a = 0.8543985 + ( 0.4965155 + 0.0145206 * y ) * y;\n\tfloat b = 3.4175940 + ( 4.1616724 + y ) * y;\n\tfloat v = a / b;\n\tfloat theta_sintheta = ( x > 0.0 ) ? v : 0.5 * inversesqrt( max( 1.0 - x * x, 1e-7 ) ) - v;\n\treturn cross( v1, v2 ) * theta_sintheta;\n}\nvec3 LTC_Evaluate( const in vec3 N, const in vec3 V, const in vec3 P, const in mat3 mInv, const in vec3 rectCoords[ 4 ] ) {\n\tvec3 v1 = rectCoords[ 1 ] - rectCoords[ 0 ];\n\tvec3 v2 = rectCoords[ 3 ] - rectCoords[ 0 ];\n\tvec3 lightNormal = cross( v1, v2 );\n\tif( dot( lightNormal, P - rectCoords[ 0 ] ) < 0.0 ) return vec3( 0.0 );\n\tvec3 T1, T2;\n\tT1 = normalize( V - N * dot( V, N ) );\n\tT2 = - cross( N, T1 );\n\tmat3 mat = mInv * transpose( mat3( T1, T2, N ) );\n\tvec3 coords[ 4 ];\n\tcoords[ 0 ] = mat * ( rectCoords[ 0 ] - P );\n\tcoords[ 1 ] = mat * ( rectCoords[ 1 ] - P );\n\tcoords[ 2 ] = mat * ( rectCoords[ 2 ] - P );\n\tcoords[ 3 ] = mat * ( rectCoords[ 3 ] - P );\n\tcoords[ 0 ] = normalize( coords[ 0 ] );\n\tcoords[ 1 ] = normalize( coords[ 1 ] );\n\tcoords[ 2 ] = normalize( coords[ 2 ] );\n\tcoords[ 3 ] = normalize( coords[ 3 ] );\n\tvec3 vectorFormFactor = vec3( 0.0 );\n\tvectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 0 ], coords[ 1 ] );\n\tvectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 1 ], coords[ 2 ] );\n\tvectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 2 ], coords[ 3 ] );\n\tvectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 3 ], coords[ 0 ] );\n\tfloat result = LTC_ClippedSphereFormFactor( vectorFormFactor );\n\treturn vec3( result );\n}\n#if defined( USE_SHEEN )\nfloat D_Charlie( float roughness, float dotNH ) {\n\tfloat alpha = pow2( roughness );\n\tfloat invAlpha = 1.0 / alpha;\n\tfloat cos2h = dotNH * dotNH;\n\tfloat sin2h = max( 1.0 - cos2h, 0.0078125 );\n\treturn ( 2.0 + invAlpha ) * pow( sin2h, invAlpha * 0.5 ) / ( 2.0 * PI );\n}\nfloat V_Neubelt( float dotNV, float dotNL ) {\n\treturn saturate( 1.0 / ( 4.0 * ( dotNL + dotNV - dotNL * dotNV ) ) );\n}\nvec3 BRDF_Sheen( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, vec3 sheenColor, const in float sheenRoughness ) {\n\tvec3 halfDir = normalize( lightDir + viewDir );\n\tfloat dotNL = saturate( dot( normal, lightDir ) );\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tfloat dotNH = saturate( dot( normal, halfDir ) );\n\tfloat D = D_Charlie( sheenRoughness, dotNH );\n\tfloat V = V_Neubelt( dotNV, dotNL );\n\treturn sheenColor * ( D * V );\n}\n#endif\nfloat IBLSheenBRDF( const in vec3 normal, const in vec3 viewDir, const in float roughness ) {\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tfloat r2 = roughness * roughness;\n\tfloat rInv = 1.0 / ( roughness + 0.1 );\n\tfloat a = -1.9362 + 1.0678 * roughness + 0.4573 * r2 - 0.8469 * rInv;\n\tfloat b = -0.6014 + 0.5538 * roughness - 0.4670 * r2 - 0.1255 * rInv;\n\tfloat DG = exp( a * dotNV + b );\n\treturn saturate( DG );\n}\nvec3 EnvironmentBRDF( const in vec3 normal, const in vec3 viewDir, const in vec3 specularColor, const in float specularF90, const in float roughness ) {\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tvec2 fab = texture2D( dfgLUT, vec2( roughness, dotNV ) ).rg;\n\treturn specularColor * fab.x + specularF90 * fab.y;\n}\n#ifdef USE_IRIDESCENCE\nvoid computeMultiscatteringIridescence( const in vec3 normal, const in vec3 viewDir, const in vec3 specularColor, const in float specularF90, const in float iridescence, const in vec3 iridescenceF0, const in float roughness, inout vec3 singleScatter, inout vec3 multiScatter ) {\n#else\nvoid computeMultiscattering( const in vec3 normal, const in vec3 viewDir, const in vec3 specularColor, const in float specularF90, const in float roughness, inout vec3 singleScatter, inout vec3 multiScatter ) {\n#endif\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tvec2 fab = texture2D( dfgLUT, vec2( roughness, dotNV ) ).rg;\n\t#ifdef USE_IRIDESCENCE\n\t\tvec3 Fr = mix( specularColor, iridescenceF0, iridescence );\n\t#else\n\t\tvec3 Fr = specularColor;\n\t#endif\n\tvec3 FssEss = Fr * fab.x + specularF90 * fab.y;\n\tfloat Ess = fab.x + fab.y;\n\tfloat Ems = 1.0 - Ess;\n\tvec3 Favg = Fr + ( 1.0 - Fr ) * 0.047619;\tvec3 Fms = FssEss * Favg / ( 1.0 - Ems * Favg );\n\tsingleScatter += FssEss;\n\tmultiScatter += Fms * Ems;\n}\nvec3 BRDF_GGX_Multiscatter( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, const in PhysicalMaterial material ) {\n\tvec3 singleScatter = BRDF_GGX( lightDir, viewDir, normal, material );\n\tfloat dotNL = saturate( dot( normal, lightDir ) );\n\tfloat dotNV = saturate( dot( normal, viewDir ) );\n\tvec2 dfgV = texture2D( dfgLUT, vec2( material.roughness, dotNV ) ).rg;\n\tvec2 dfgL = texture2D( dfgLUT, vec2( material.roughness, dotNL ) ).rg;\n\tvec3 FssEss_V = material.specularColorBlended * dfgV.x + material.specularF90 * dfgV.y;\n\tvec3 FssEss_L = material.specularColorBlended * dfgL.x + material.specularF90 * dfgL.y;\n\tfloat Ess_V = dfgV.x + dfgV.y;\n\tfloat Ess_L = dfgL.x + dfgL.y;\n\tfloat Ems_V = 1.0 - Ess_V;\n\tfloat Ems_L = 1.0 - Ess_L;\n\tvec3 Favg = material.specularColorBlended + ( 1.0 - material.specularColorBlended ) * 0.047619;\n\tvec3 Fms = FssEss_V * FssEss_L * Favg / ( 1.0 - Ems_V * Ems_L * Favg + EPSILON );\n\tfloat compensationFactor = Ems_V * Ems_L;\n\tvec3 multiScatter = Fms * compensationFactor;\n\treturn singleScatter + multiScatter;\n}\n#if NUM_RECT_AREA_LIGHTS > 0\n\tvoid RE_Direct_RectArea_Physical( const in RectAreaLight rectAreaLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {\n\t\tvec3 normal = geometryNormal;\n\t\tvec3 viewDir = geometryViewDir;\n\t\tvec3 position = geometryPosition;\n\t\tvec3 lightPos = rectAreaLight.position;\n\t\tvec3 halfWidth = rectAreaLight.halfWidth;\n\t\tvec3 halfHeight = rectAreaLight.halfHeight;\n\t\tvec3 lightColor = rectAreaLight.color;\n\t\tfloat roughness = material.roughness;\n\t\tvec3 rectCoords[ 4 ];\n\t\trectCoords[ 0 ] = lightPos + halfWidth - halfHeight;\t\trectCoords[ 1 ] = lightPos - halfWidth - halfHeight;\n\t\trectCoords[ 2 ] = lightPos - halfWidth + halfHeight;\n\t\trectCoords[ 3 ] = lightPos + halfWidth + halfHeight;\n\t\tvec2 uv = LTC_Uv( normal, viewDir, roughness );\n\t\tvec4 t1 = texture2D( ltc_1, uv );\n\t\tvec4 t2 = texture2D( ltc_2, uv );\n\t\tmat3 mInv = mat3(\n\t\t\tvec3( t1.x, 0, t1.y ),\n\t\t\tvec3( 0, 1, 0 ),\n\t\t\tvec3( t1.z, 0, t1.w )\n\t\t);\n\t\tvec3 fresnel = ( material.specularColorBlended * t2.x + ( material.specularF90 - material.specularColorBlended ) * t2.y );\n\t\treflectedLight.directSpecular += lightColor * fresnel * LTC_Evaluate( normal, viewDir, position, mInv, rectCoords );\n\t\treflectedLight.directDiffuse += lightColor * material.diffuseContribution * LTC_Evaluate( normal, viewDir, position, mat3( 1.0 ), rectCoords );\n\t\t#ifdef USE_CLEARCOAT\n\t\t\tvec3 Ncc = geometryClearcoatNormal;\n\t\t\tvec2 uvClearcoat = LTC_Uv( Ncc, viewDir, material.clearcoatRoughness );\n\t\t\tvec4 t1Clearcoat = texture2D( ltc_1, uvClearcoat );\n\t\t\tvec4 t2Clearcoat = texture2D( ltc_2, uvClearcoat );\n\t\t\tmat3 mInvClearcoat = mat3(\n\t\t\t\tvec3( t1Clearcoat.x, 0, t1Clearcoat.y ),\n\t\t\t\tvec3( 0, 1, 0 ),\n\t\t\t\tvec3( t1Clearcoat.z, 0, t1Clearcoat.w )\n\t\t\t);\n\t\t\tvec3 fresnelClearcoat = material.clearcoatF0 * t2Clearcoat.x + ( material.clearcoatF90 - material.clearcoatF0 ) * t2Clearcoat.y;\n\t\t\tclearcoatSpecularDirect += lightColor * fresnelClearcoat * LTC_Evaluate( Ncc, viewDir, position, mInvClearcoat, rectCoords );\n\t\t#endif\n\t}\n#endif\nvoid RE_Direct_Physical( const in IncidentLight directLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {\n\tfloat dotNL = saturate( dot( geometryNormal, directLight.direction ) );\n\tvec3 irradiance = dotNL * directLight.color;\n\t#ifdef USE_CLEARCOAT\n\t\tfloat dotNLcc = saturate( dot( geometryClearcoatNormal, directLight.direction ) );\n\t\tvec3 ccIrradiance = dotNLcc * directLight.color;\n\t\tclearcoatSpecularDirect += ccIrradiance * BRDF_GGX_Clearcoat( directLight.direction, geometryViewDir, geometryClearcoatNormal, material );\n\t#endif\n\t#ifdef USE_SHEEN\n \n \t\tsheenSpecularDirect += irradiance * BRDF_Sheen( directLight.direction, geometryViewDir, geometryNormal, material.sheenColor, material.sheenRoughness );\n \n \t\tfloat sheenAlbedoV = IBLSheenBRDF( geometryNormal, geometryViewDir, material.sheenRoughness );\n \t\tfloat sheenAlbedoL = IBLSheenBRDF( geometryNormal, directLight.direction, material.sheenRoughness );\n \n \t\tfloat sheenEnergyComp = 1.0 - max3( material.sheenColor ) * max( sheenAlbedoV, sheenAlbedoL );\n \n \t\tirradiance *= sheenEnergyComp;\n \n \t#endif\n\treflectedLight.directSpecular += irradiance * BRDF_GGX_Multiscatter( directLight.direction, geometryViewDir, geometryNormal, material );\n\treflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseContribution );\n}\nvoid RE_IndirectDiffuse_Physical( const in vec3 irradiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {\n\tvec3 diffuse = irradiance * BRDF_Lambert( material.diffuseContribution );\n\t#ifdef USE_SHEEN\n\t\tfloat sheenAlbedo = IBLSheenBRDF( geometryNormal, geometryViewDir, material.sheenRoughness );\n\t\tfloat sheenEnergyComp = 1.0 - max3( material.sheenColor ) * sheenAlbedo;\n\t\tdiffuse *= sheenEnergyComp;\n\t#endif\n\treflectedLight.indirectDiffuse += diffuse;\n}\nvoid RE_IndirectSpecular_Physical( const in vec3 radiance, const in vec3 irradiance, const in vec3 clearcoatRadiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in PhysicalMaterial material, inout ReflectedLight reflectedLight) {\n\t#ifdef USE_CLEARCOAT\n\t\tclearcoatSpecularIndirect += clearcoatRadiance * EnvironmentBRDF( geometryClearcoatNormal, geometryViewDir, material.clearcoatF0, material.clearcoatF90, material.clearcoatRoughness );\n\t#endif\n\t#ifdef USE_SHEEN\n\t\tsheenSpecularIndirect += irradiance * material.sheenColor * IBLSheenBRDF( geometryNormal, geometryViewDir, material.sheenRoughness ) * RECIPROCAL_PI;\n \t#endif\n\tvec3 singleScatteringDielectric = vec3( 0.0 );\n\tvec3 multiScatteringDielectric = vec3( 0.0 );\n\tvec3 singleScatteringMetallic = vec3( 0.0 );\n\tvec3 multiScatteringMetallic = vec3( 0.0 );\n\t#ifdef USE_IRIDESCENCE\n\t\tcomputeMultiscatteringIridescence( geometryNormal, geometryViewDir, material.specularColor, material.specularF90, material.iridescence, material.iridescenceFresnelDielectric, material.roughness, singleScatteringDielectric, multiScatteringDielectric );\n\t\tcomputeMultiscatteringIridescence( geometryNormal, geometryViewDir, material.diffuseColor, material.specularF90, material.iridescence, material.iridescenceFresnelMetallic, material.roughness, singleScatteringMetallic, multiScatteringMetallic );\n\t#else\n\t\tcomputeMultiscattering( geometryNormal, geometryViewDir, material.specularColor, material.specularF90, material.roughness, singleScatteringDielectric, multiScatteringDielectric );\n\t\tcomputeMultiscattering( geometryNormal, geometryViewDir, material.diffuseColor, material.specularF90, material.roughness, singleScatteringMetallic, multiScatteringMetallic );\n\t#endif\n\tvec3 singleScattering = mix( singleScatteringDielectric, singleScatteringMetallic, material.metalness );\n\tvec3 multiScattering = mix( multiScatteringDielectric, multiScatteringMetallic, material.metalness );\n\tvec3 totalScatteringDielectric = singleScatteringDielectric + multiScatteringDielectric;\n\tvec3 diffuse = material.diffuseContribution * ( 1.0 - totalScatteringDielectric );\n\tvec3 cosineWeightedIrradiance = irradiance * RECIPROCAL_PI;\n\tvec3 indirectSpecular = radiance * singleScattering;\n\tindirectSpecular += multiScattering * cosineWeightedIrradiance;\n\tvec3 indirectDiffuse = diffuse * cosineWeightedIrradiance;\n\t#ifdef USE_SHEEN\n\t\tfloat sheenAlbedo = IBLSheenBRDF( geometryNormal, geometryViewDir, material.sheenRoughness );\n\t\tfloat sheenEnergyComp = 1.0 - max3( material.sheenColor ) * sheenAlbedo;\n\t\tindirectSpecular *= sheenEnergyComp;\n\t\tindirectDiffuse *= sheenEnergyComp;\n\t#endif\n\treflectedLight.indirectSpecular += indirectSpecular;\n\treflectedLight.indirectDiffuse += indirectDiffuse;\n}\n#define RE_Direct\t\t\t\tRE_Direct_Physical\n#define RE_Direct_RectArea\t\tRE_Direct_RectArea_Physical\n#define RE_IndirectDiffuse\t\tRE_IndirectDiffuse_Physical\n#define RE_IndirectSpecular\t\tRE_IndirectSpecular_Physical\nfloat computeSpecularOcclusion( const in float dotNV, const in float ambientOcclusion, const in float roughness ) {\n\treturn saturate( pow( dotNV + ambientOcclusion, exp2( - 16.0 * roughness - 1.0 ) ) - 1.0 + ambientOcclusion );\n}"; + +var lights_fragment_begin = "\nvec3 geometryPosition = - vViewPosition;\nvec3 geometryNormal = normal;\nvec3 geometryViewDir = ( isOrthographic ) ? vec3( 0, 0, 1 ) : normalize( vViewPosition );\nvec3 geometryClearcoatNormal = vec3( 0.0 );\n#ifdef USE_CLEARCOAT\n\tgeometryClearcoatNormal = clearcoatNormal;\n#endif\n#ifdef USE_IRIDESCENCE\n\tfloat dotNVi = saturate( dot( normal, geometryViewDir ) );\n\tif ( material.iridescenceThickness == 0.0 ) {\n\t\tmaterial.iridescence = 0.0;\n\t} else {\n\t\tmaterial.iridescence = saturate( material.iridescence );\n\t}\n\tif ( material.iridescence > 0.0 ) {\n\t\tmaterial.iridescenceFresnelDielectric = evalIridescence( 1.0, material.iridescenceIOR, dotNVi, material.iridescenceThickness, material.specularColor );\n\t\tmaterial.iridescenceFresnelMetallic = evalIridescence( 1.0, material.iridescenceIOR, dotNVi, material.iridescenceThickness, material.diffuseColor );\n\t\tmaterial.iridescenceFresnel = mix( material.iridescenceFresnelDielectric, material.iridescenceFresnelMetallic, material.metalness );\n\t\tmaterial.iridescenceF0 = Schlick_to_F0( material.iridescenceFresnel, 1.0, dotNVi );\n\t}\n#endif\nIncidentLight directLight;\n#if ( NUM_POINT_LIGHTS > 0 ) && defined( RE_Direct )\n\tPointLight pointLight;\n\t#if defined( USE_SHADOWMAP ) && NUM_POINT_LIGHT_SHADOWS > 0\n\tPointLightShadow pointLightShadow;\n\t#endif\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_POINT_LIGHTS; i ++ ) {\n\t\tpointLight = pointLights[ i ];\n\t\tgetPointLightInfo( pointLight, geometryPosition, directLight );\n\t\t#if defined( USE_SHADOWMAP ) && ( UNROLLED_LOOP_INDEX < NUM_POINT_LIGHT_SHADOWS ) && ( defined( SHADOWMAP_TYPE_PCF ) || defined( SHADOWMAP_TYPE_BASIC ) )\n\t\tpointLightShadow = pointLightShadows[ i ];\n\t\tdirectLight.color *= ( directLight.visible && receiveShadow ) ? getPointShadow( pointShadowMap[ i ], pointLightShadow.shadowMapSize, pointLightShadow.shadowIntensity, pointLightShadow.shadowBias, pointLightShadow.shadowRadius, vPointShadowCoord[ i ], pointLightShadow.shadowCameraNear, pointLightShadow.shadowCameraFar ) : 1.0;\n\t\t#endif\n\t\tRE_Direct( directLight, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );\n\t}\n\t#pragma unroll_loop_end\n#endif\n#if ( NUM_SPOT_LIGHTS > 0 ) && defined( RE_Direct )\n\tSpotLight spotLight;\n\tvec4 spotColor;\n\tvec3 spotLightCoord;\n\tbool inSpotLightMap;\n\t#if defined( USE_SHADOWMAP ) && NUM_SPOT_LIGHT_SHADOWS > 0\n\tSpotLightShadow spotLightShadow;\n\t#endif\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_SPOT_LIGHTS; i ++ ) {\n\t\tspotLight = spotLights[ i ];\n\t\tgetSpotLightInfo( spotLight, geometryPosition, directLight );\n\t\t#if ( UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS_WITH_MAPS )\n\t\t#define SPOT_LIGHT_MAP_INDEX UNROLLED_LOOP_INDEX\n\t\t#elif ( UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS )\n\t\t#define SPOT_LIGHT_MAP_INDEX NUM_SPOT_LIGHT_MAPS\n\t\t#else\n\t\t#define SPOT_LIGHT_MAP_INDEX ( UNROLLED_LOOP_INDEX - NUM_SPOT_LIGHT_SHADOWS + NUM_SPOT_LIGHT_SHADOWS_WITH_MAPS )\n\t\t#endif\n\t\t#if ( SPOT_LIGHT_MAP_INDEX < NUM_SPOT_LIGHT_MAPS )\n\t\t\tspotLightCoord = vSpotLightCoord[ i ].xyz / vSpotLightCoord[ i ].w;\n\t\t\tinSpotLightMap = all( lessThan( abs( spotLightCoord * 2. - 1. ), vec3( 1.0 ) ) );\n\t\t\tspotColor = texture2D( spotLightMap[ SPOT_LIGHT_MAP_INDEX ], spotLightCoord.xy );\n\t\t\tdirectLight.color = inSpotLightMap ? directLight.color * spotColor.rgb : directLight.color;\n\t\t#endif\n\t\t#undef SPOT_LIGHT_MAP_INDEX\n\t\t#if defined( USE_SHADOWMAP ) && ( UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS )\n\t\tspotLightShadow = spotLightShadows[ i ];\n\t\tdirectLight.color *= ( directLight.visible && receiveShadow ) ? getShadow( spotShadowMap[ i ], spotLightShadow.shadowMapSize, spotLightShadow.shadowIntensity, spotLightShadow.shadowBias, spotLightShadow.shadowRadius, vSpotLightCoord[ i ] ) : 1.0;\n\t\t#endif\n\t\tRE_Direct( directLight, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );\n\t}\n\t#pragma unroll_loop_end\n#endif\n#if ( NUM_DIR_LIGHTS > 0 ) && defined( RE_Direct )\n\tDirectionalLight directionalLight;\n\t#if defined( USE_SHADOWMAP ) && NUM_DIR_LIGHT_SHADOWS > 0\n\tDirectionalLightShadow directionalLightShadow;\n\t#endif\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_DIR_LIGHTS; i ++ ) {\n\t\tdirectionalLight = directionalLights[ i ];\n\t\tgetDirectionalLightInfo( directionalLight, directLight );\n\t\t#if defined( USE_SHADOWMAP ) && ( UNROLLED_LOOP_INDEX < NUM_DIR_LIGHT_SHADOWS )\n\t\tdirectionalLightShadow = directionalLightShadows[ i ];\n\t\tdirectLight.color *= ( directLight.visible && receiveShadow ) ? getShadow( directionalShadowMap[ i ], directionalLightShadow.shadowMapSize, directionalLightShadow.shadowIntensity, directionalLightShadow.shadowBias, directionalLightShadow.shadowRadius, vDirectionalShadowCoord[ i ] ) : 1.0;\n\t\t#endif\n\t\tRE_Direct( directLight, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );\n\t}\n\t#pragma unroll_loop_end\n#endif\n#if ( NUM_RECT_AREA_LIGHTS > 0 ) && defined( RE_Direct_RectArea )\n\tRectAreaLight rectAreaLight;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_RECT_AREA_LIGHTS; i ++ ) {\n\t\trectAreaLight = rectAreaLights[ i ];\n\t\tRE_Direct_RectArea( rectAreaLight, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );\n\t}\n\t#pragma unroll_loop_end\n#endif\n#if defined( RE_IndirectDiffuse )\n\tvec3 iblIrradiance = vec3( 0.0 );\n\tvec3 irradiance = getAmbientLightIrradiance( ambientLightColor );\n\t#if defined( USE_LIGHT_PROBES )\n\t\tirradiance += getLightProbeIrradiance( lightProbe, geometryNormal );\n\t#endif\n\t#if ( NUM_HEMI_LIGHTS > 0 )\n\t\t#pragma unroll_loop_start\n\t\tfor ( int i = 0; i < NUM_HEMI_LIGHTS; i ++ ) {\n\t\t\tirradiance += getHemisphereLightIrradiance( hemisphereLights[ i ], geometryNormal );\n\t\t}\n\t\t#pragma unroll_loop_end\n\t#endif\n#endif\n#if defined( RE_IndirectSpecular )\n\tvec3 radiance = vec3( 0.0 );\n\tvec3 clearcoatRadiance = vec3( 0.0 );\n#endif"; + +var lights_fragment_maps = "#if defined( RE_IndirectDiffuse )\n\t#ifdef USE_LIGHTMAP\n\t\tvec4 lightMapTexel = texture2D( lightMap, vLightMapUv );\n\t\tvec3 lightMapIrradiance = lightMapTexel.rgb * lightMapIntensity;\n\t\tirradiance += lightMapIrradiance;\n\t#endif\n\t#if defined( USE_ENVMAP ) && defined( ENVMAP_TYPE_CUBE_UV )\n\t\t#if defined( STANDARD ) || defined( LAMBERT ) || defined( PHONG )\n\t\t\tiblIrradiance += getIBLIrradiance( geometryNormal );\n\t\t#endif\n\t#endif\n#endif\n#if defined( USE_ENVMAP ) && defined( RE_IndirectSpecular )\n\t#ifdef USE_ANISOTROPY\n\t\tradiance += getIBLAnisotropyRadiance( geometryViewDir, geometryNormal, material.roughness, material.anisotropyB, material.anisotropy );\n\t#else\n\t\tradiance += getIBLRadiance( geometryViewDir, geometryNormal, material.roughness );\n\t#endif\n\t#ifdef USE_CLEARCOAT\n\t\tclearcoatRadiance += getIBLRadiance( geometryViewDir, geometryClearcoatNormal, material.clearcoatRoughness );\n\t#endif\n#endif"; + +var lights_fragment_end = "#if defined( RE_IndirectDiffuse )\n\t#if defined( LAMBERT ) || defined( PHONG )\n\t\tirradiance += iblIrradiance;\n\t#endif\n\tRE_IndirectDiffuse( irradiance, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );\n#endif\n#if defined( RE_IndirectSpecular )\n\tRE_IndirectSpecular( radiance, iblIrradiance, clearcoatRadiance, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );\n#endif"; + +var logdepthbuf_fragment = "#if defined( USE_LOGARITHMIC_DEPTH_BUFFER )\n\tgl_FragDepth = vIsPerspective == 0.0 ? gl_FragCoord.z : log2( vFragDepth ) * logDepthBufFC * 0.5;\n#endif"; + +var logdepthbuf_pars_fragment = "#if defined( USE_LOGARITHMIC_DEPTH_BUFFER )\n\tuniform float logDepthBufFC;\n\tvarying float vFragDepth;\n\tvarying float vIsPerspective;\n#endif"; + +var logdepthbuf_pars_vertex = "#ifdef USE_LOGARITHMIC_DEPTH_BUFFER\n\tvarying float vFragDepth;\n\tvarying float vIsPerspective;\n#endif"; + +var logdepthbuf_vertex = "#ifdef USE_LOGARITHMIC_DEPTH_BUFFER\n\tvFragDepth = 1.0 + gl_Position.w;\n\tvIsPerspective = float( isPerspectiveMatrix( projectionMatrix ) );\n#endif"; + +var map_fragment = "#ifdef USE_MAP\n\tvec4 sampledDiffuseColor = texture2D( map, vMapUv );\n\t#ifdef DECODE_VIDEO_TEXTURE\n\t\tsampledDiffuseColor = sRGBTransferEOTF( sampledDiffuseColor );\n\t#endif\n\tdiffuseColor *= sampledDiffuseColor;\n#endif"; + +var map_pars_fragment = "#ifdef USE_MAP\n\tuniform sampler2D map;\n#endif"; + +var map_particle_fragment = "#if defined( USE_MAP ) || defined( USE_ALPHAMAP )\n\t#if defined( USE_POINTS_UV )\n\t\tvec2 uv = vUv;\n\t#else\n\t\tvec2 uv = ( uvTransform * vec3( gl_PointCoord.x, 1.0 - gl_PointCoord.y, 1 ) ).xy;\n\t#endif\n#endif\n#ifdef USE_MAP\n\tdiffuseColor *= texture2D( map, uv );\n#endif\n#ifdef USE_ALPHAMAP\n\tdiffuseColor.a *= texture2D( alphaMap, uv ).g;\n#endif"; + +var map_particle_pars_fragment = "#if defined( USE_POINTS_UV )\n\tvarying vec2 vUv;\n#else\n\t#if defined( USE_MAP ) || defined( USE_ALPHAMAP )\n\t\tuniform mat3 uvTransform;\n\t#endif\n#endif\n#ifdef USE_MAP\n\tuniform sampler2D map;\n#endif\n#ifdef USE_ALPHAMAP\n\tuniform sampler2D alphaMap;\n#endif"; + +var metalnessmap_fragment = "float metalnessFactor = metalness;\n#ifdef USE_METALNESSMAP\n\tvec4 texelMetalness = texture2D( metalnessMap, vMetalnessMapUv );\n\tmetalnessFactor *= texelMetalness.b;\n#endif"; + +var metalnessmap_pars_fragment = "#ifdef USE_METALNESSMAP\n\tuniform sampler2D metalnessMap;\n#endif"; + +var morphinstance_vertex = "#ifdef USE_INSTANCING_MORPH\n\tfloat morphTargetInfluences[ MORPHTARGETS_COUNT ];\n\tfloat morphTargetBaseInfluence = texelFetch( morphTexture, ivec2( 0, gl_InstanceID ), 0 ).r;\n\tfor ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {\n\t\tmorphTargetInfluences[i] = texelFetch( morphTexture, ivec2( i + 1, gl_InstanceID ), 0 ).r;\n\t}\n#endif"; + +var morphcolor_vertex = "#if defined( USE_MORPHCOLORS )\n\tvColor *= morphTargetBaseInfluence;\n\tfor ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {\n\t\t#if defined( USE_COLOR_ALPHA )\n\t\t\tif ( morphTargetInfluences[ i ] != 0.0 ) vColor += getMorph( gl_VertexID, i, 2 ) * morphTargetInfluences[ i ];\n\t\t#elif defined( USE_COLOR )\n\t\t\tif ( morphTargetInfluences[ i ] != 0.0 ) vColor += getMorph( gl_VertexID, i, 2 ).rgb * morphTargetInfluences[ i ];\n\t\t#endif\n\t}\n#endif"; + +var morphnormal_vertex = "#ifdef USE_MORPHNORMALS\n\tobjectNormal *= morphTargetBaseInfluence;\n\tfor ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {\n\t\tif ( morphTargetInfluences[ i ] != 0.0 ) objectNormal += getMorph( gl_VertexID, i, 1 ).xyz * morphTargetInfluences[ i ];\n\t}\n#endif"; + +var morphtarget_pars_vertex = "#ifdef USE_MORPHTARGETS\n\t#ifndef USE_INSTANCING_MORPH\n\t\tuniform float morphTargetBaseInfluence;\n\t\tuniform float morphTargetInfluences[ MORPHTARGETS_COUNT ];\n\t#endif\n\tuniform sampler2DArray morphTargetsTexture;\n\tuniform ivec2 morphTargetsTextureSize;\n\tvec4 getMorph( const in int vertexIndex, const in int morphTargetIndex, const in int offset ) {\n\t\tint texelIndex = vertexIndex * MORPHTARGETS_TEXTURE_STRIDE + offset;\n\t\tint y = texelIndex / morphTargetsTextureSize.x;\n\t\tint x = texelIndex - y * morphTargetsTextureSize.x;\n\t\tivec3 morphUV = ivec3( x, y, morphTargetIndex );\n\t\treturn texelFetch( morphTargetsTexture, morphUV, 0 );\n\t}\n#endif"; + +var morphtarget_vertex = "#ifdef USE_MORPHTARGETS\n\ttransformed *= morphTargetBaseInfluence;\n\tfor ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {\n\t\tif ( morphTargetInfluences[ i ] != 0.0 ) transformed += getMorph( gl_VertexID, i, 0 ).xyz * morphTargetInfluences[ i ];\n\t}\n#endif"; + +var normal_fragment_begin = "float faceDirection = gl_FrontFacing ? 1.0 : - 1.0;\n#ifdef FLAT_SHADED\n\tvec3 fdx = dFdx( vViewPosition );\n\tvec3 fdy = dFdy( vViewPosition );\n\tvec3 normal = normalize( cross( fdx, fdy ) );\n#else\n\tvec3 normal = normalize( vNormal );\n\t#ifdef DOUBLE_SIDED\n\t\tnormal *= faceDirection;\n\t#endif\n#endif\n#if defined( USE_NORMALMAP_TANGENTSPACE ) || defined( USE_CLEARCOAT_NORMALMAP ) || defined( USE_ANISOTROPY )\n\t#ifdef USE_TANGENT\n\t\tmat3 tbn = mat3( normalize( vTangent ), normalize( vBitangent ), normal );\n\t#else\n\t\tmat3 tbn = getTangentFrame( - vViewPosition, normal,\n\t\t#if defined( USE_NORMALMAP )\n\t\t\tvNormalMapUv\n\t\t#elif defined( USE_CLEARCOAT_NORMALMAP )\n\t\t\tvClearcoatNormalMapUv\n\t\t#else\n\t\t\tvUv\n\t\t#endif\n\t\t);\n\t#endif\n\t#if defined( DOUBLE_SIDED ) && ! defined( FLAT_SHADED )\n\t\ttbn[0] *= faceDirection;\n\t\ttbn[1] *= faceDirection;\n\t#endif\n#endif\n#ifdef USE_CLEARCOAT_NORMALMAP\n\t#ifdef USE_TANGENT\n\t\tmat3 tbn2 = mat3( normalize( vTangent ), normalize( vBitangent ), normal );\n\t#else\n\t\tmat3 tbn2 = getTangentFrame( - vViewPosition, normal, vClearcoatNormalMapUv );\n\t#endif\n\t#if defined( DOUBLE_SIDED ) && ! defined( FLAT_SHADED )\n\t\ttbn2[0] *= faceDirection;\n\t\ttbn2[1] *= faceDirection;\n\t#endif\n#endif\nvec3 nonPerturbedNormal = normal;"; + +var normal_fragment_maps = "#ifdef USE_NORMALMAP_OBJECTSPACE\n\tnormal = texture2D( normalMap, vNormalMapUv ).xyz * 2.0 - 1.0;\n\t#ifdef FLIP_SIDED\n\t\tnormal = - normal;\n\t#endif\n\t#ifdef DOUBLE_SIDED\n\t\tnormal = normal * faceDirection;\n\t#endif\n\tnormal = normalize( normalMatrix * normal );\n#elif defined( USE_NORMALMAP_TANGENTSPACE )\n\tvec3 mapN = texture2D( normalMap, vNormalMapUv ).xyz * 2.0 - 1.0;\n\tmapN.xy *= normalScale;\n\tnormal = normalize( tbn * mapN );\n#elif defined( USE_BUMPMAP )\n\tnormal = perturbNormalArb( - vViewPosition, normal, dHdxy_fwd(), faceDirection );\n#endif"; + +var normal_pars_fragment = "#ifndef FLAT_SHADED\n\tvarying vec3 vNormal;\n\t#ifdef USE_TANGENT\n\t\tvarying vec3 vTangent;\n\t\tvarying vec3 vBitangent;\n\t#endif\n#endif"; + +var normal_pars_vertex = "#ifndef FLAT_SHADED\n\tvarying vec3 vNormal;\n\t#ifdef USE_TANGENT\n\t\tvarying vec3 vTangent;\n\t\tvarying vec3 vBitangent;\n\t#endif\n#endif"; + +var normal_vertex = "#ifndef FLAT_SHADED\n\tvNormal = normalize( transformedNormal );\n\t#ifdef USE_TANGENT\n\t\tvTangent = normalize( transformedTangent );\n\t\tvBitangent = normalize( cross( vNormal, vTangent ) * tangent.w );\n\t#endif\n#endif"; + +var normalmap_pars_fragment = "#ifdef USE_NORMALMAP\n\tuniform sampler2D normalMap;\n\tuniform vec2 normalScale;\n#endif\n#ifdef USE_NORMALMAP_OBJECTSPACE\n\tuniform mat3 normalMatrix;\n#endif\n#if ! defined ( USE_TANGENT ) && ( defined ( USE_NORMALMAP_TANGENTSPACE ) || defined ( USE_CLEARCOAT_NORMALMAP ) || defined( USE_ANISOTROPY ) )\n\tmat3 getTangentFrame( vec3 eye_pos, vec3 surf_norm, vec2 uv ) {\n\t\tvec3 q0 = dFdx( eye_pos.xyz );\n\t\tvec3 q1 = dFdy( eye_pos.xyz );\n\t\tvec2 st0 = dFdx( uv.st );\n\t\tvec2 st1 = dFdy( uv.st );\n\t\tvec3 N = surf_norm;\n\t\tvec3 q1perp = cross( q1, N );\n\t\tvec3 q0perp = cross( N, q0 );\n\t\tvec3 T = q1perp * st0.x + q0perp * st1.x;\n\t\tvec3 B = q1perp * st0.y + q0perp * st1.y;\n\t\tfloat det = max( dot( T, T ), dot( B, B ) );\n\t\tfloat scale = ( det == 0.0 ) ? 0.0 : inversesqrt( det );\n\t\treturn mat3( T * scale, B * scale, N );\n\t}\n#endif"; + +var clearcoat_normal_fragment_begin = "#ifdef USE_CLEARCOAT\n\tvec3 clearcoatNormal = nonPerturbedNormal;\n#endif"; + +var clearcoat_normal_fragment_maps = "#ifdef USE_CLEARCOAT_NORMALMAP\n\tvec3 clearcoatMapN = texture2D( clearcoatNormalMap, vClearcoatNormalMapUv ).xyz * 2.0 - 1.0;\n\tclearcoatMapN.xy *= clearcoatNormalScale;\n\tclearcoatNormal = normalize( tbn2 * clearcoatMapN );\n#endif"; + +var clearcoat_pars_fragment = "#ifdef USE_CLEARCOATMAP\n\tuniform sampler2D clearcoatMap;\n#endif\n#ifdef USE_CLEARCOAT_NORMALMAP\n\tuniform sampler2D clearcoatNormalMap;\n\tuniform vec2 clearcoatNormalScale;\n#endif\n#ifdef USE_CLEARCOAT_ROUGHNESSMAP\n\tuniform sampler2D clearcoatRoughnessMap;\n#endif"; + +var iridescence_pars_fragment = "#ifdef USE_IRIDESCENCEMAP\n\tuniform sampler2D iridescenceMap;\n#endif\n#ifdef USE_IRIDESCENCE_THICKNESSMAP\n\tuniform sampler2D iridescenceThicknessMap;\n#endif"; + +var opaque_fragment = "#ifdef OPAQUE\ndiffuseColor.a = 1.0;\n#endif\n#ifdef USE_TRANSMISSION\ndiffuseColor.a *= material.transmissionAlpha;\n#endif\ngl_FragColor = vec4( outgoingLight, diffuseColor.a );"; + +var packing = "vec3 packNormalToRGB( const in vec3 normal ) {\n\treturn normalize( normal ) * 0.5 + 0.5;\n}\nvec3 unpackRGBToNormal( const in vec3 rgb ) {\n\treturn 2.0 * rgb.xyz - 1.0;\n}\nconst float PackUpscale = 256. / 255.;const float UnpackDownscale = 255. / 256.;const float ShiftRight8 = 1. / 256.;\nconst float Inv255 = 1. / 255.;\nconst vec4 PackFactors = vec4( 1.0, 256.0, 256.0 * 256.0, 256.0 * 256.0 * 256.0 );\nconst vec2 UnpackFactors2 = vec2( UnpackDownscale, 1.0 / PackFactors.g );\nconst vec3 UnpackFactors3 = vec3( UnpackDownscale / PackFactors.rg, 1.0 / PackFactors.b );\nconst vec4 UnpackFactors4 = vec4( UnpackDownscale / PackFactors.rgb, 1.0 / PackFactors.a );\nvec4 packDepthToRGBA( const in float v ) {\n\tif( v <= 0.0 )\n\t\treturn vec4( 0., 0., 0., 0. );\n\tif( v >= 1.0 )\n\t\treturn vec4( 1., 1., 1., 1. );\n\tfloat vuf;\n\tfloat af = modf( v * PackFactors.a, vuf );\n\tfloat bf = modf( vuf * ShiftRight8, vuf );\n\tfloat gf = modf( vuf * ShiftRight8, vuf );\n\treturn vec4( vuf * Inv255, gf * PackUpscale, bf * PackUpscale, af );\n}\nvec3 packDepthToRGB( const in float v ) {\n\tif( v <= 0.0 )\n\t\treturn vec3( 0., 0., 0. );\n\tif( v >= 1.0 )\n\t\treturn vec3( 1., 1., 1. );\n\tfloat vuf;\n\tfloat bf = modf( v * PackFactors.b, vuf );\n\tfloat gf = modf( vuf * ShiftRight8, vuf );\n\treturn vec3( vuf * Inv255, gf * PackUpscale, bf );\n}\nvec2 packDepthToRG( const in float v ) {\n\tif( v <= 0.0 )\n\t\treturn vec2( 0., 0. );\n\tif( v >= 1.0 )\n\t\treturn vec2( 1., 1. );\n\tfloat vuf;\n\tfloat gf = modf( v * 256., vuf );\n\treturn vec2( vuf * Inv255, gf );\n}\nfloat unpackRGBAToDepth( const in vec4 v ) {\n\treturn dot( v, UnpackFactors4 );\n}\nfloat unpackRGBToDepth( const in vec3 v ) {\n\treturn dot( v, UnpackFactors3 );\n}\nfloat unpackRGToDepth( const in vec2 v ) {\n\treturn v.r * UnpackFactors2.r + v.g * UnpackFactors2.g;\n}\nvec4 pack2HalfToRGBA( const in vec2 v ) {\n\tvec4 r = vec4( v.x, fract( v.x * 255.0 ), v.y, fract( v.y * 255.0 ) );\n\treturn vec4( r.x - r.y / 255.0, r.y, r.z - r.w / 255.0, r.w );\n}\nvec2 unpackRGBATo2Half( const in vec4 v ) {\n\treturn vec2( v.x + ( v.y / 255.0 ), v.z + ( v.w / 255.0 ) );\n}\nfloat viewZToOrthographicDepth( const in float viewZ, const in float near, const in float far ) {\n\treturn ( viewZ + near ) / ( near - far );\n}\nfloat orthographicDepthToViewZ( const in float depth, const in float near, const in float far ) {\n\t#ifdef USE_REVERSED_DEPTH_BUFFER\n\t\n\t\treturn depth * ( far - near ) - far;\n\t#else\n\t\treturn depth * ( near - far ) - near;\n\t#endif\n}\nfloat viewZToPerspectiveDepth( const in float viewZ, const in float near, const in float far ) {\n\treturn ( ( near + viewZ ) * far ) / ( ( far - near ) * viewZ );\n}\nfloat perspectiveDepthToViewZ( const in float depth, const in float near, const in float far ) {\n\t\n\t#ifdef USE_REVERSED_DEPTH_BUFFER\n\t\treturn ( near * far ) / ( ( near - far ) * depth - near );\n\t#else\n\t\treturn ( near * far ) / ( ( far - near ) * depth - far );\n\t#endif\n}"; + +var premultiplied_alpha_fragment = "#ifdef PREMULTIPLIED_ALPHA\n\tgl_FragColor.rgb *= gl_FragColor.a;\n#endif"; + +var project_vertex = "vec4 mvPosition = vec4( transformed, 1.0 );\n#ifdef USE_BATCHING\n\tmvPosition = batchingMatrix * mvPosition;\n#endif\n#ifdef USE_INSTANCING\n\tmvPosition = instanceMatrix * mvPosition;\n#endif\nmvPosition = modelViewMatrix * mvPosition;\ngl_Position = projectionMatrix * mvPosition;"; + +var dithering_fragment = "#ifdef DITHERING\n\tgl_FragColor.rgb = dithering( gl_FragColor.rgb );\n#endif"; + +var dithering_pars_fragment = "#ifdef DITHERING\n\tvec3 dithering( vec3 color ) {\n\t\tfloat grid_position = rand( gl_FragCoord.xy );\n\t\tvec3 dither_shift_RGB = vec3( 0.25 / 255.0, -0.25 / 255.0, 0.25 / 255.0 );\n\t\tdither_shift_RGB = mix( 2.0 * dither_shift_RGB, -2.0 * dither_shift_RGB, grid_position );\n\t\treturn color + dither_shift_RGB;\n\t}\n#endif"; + +var roughnessmap_fragment = "float roughnessFactor = roughness;\n#ifdef USE_ROUGHNESSMAP\n\tvec4 texelRoughness = texture2D( roughnessMap, vRoughnessMapUv );\n\troughnessFactor *= texelRoughness.g;\n#endif"; + +var roughnessmap_pars_fragment = "#ifdef USE_ROUGHNESSMAP\n\tuniform sampler2D roughnessMap;\n#endif"; + +var shadowmap_pars_fragment = "#if NUM_SPOT_LIGHT_COORDS > 0\n\tvarying vec4 vSpotLightCoord[ NUM_SPOT_LIGHT_COORDS ];\n#endif\n#if NUM_SPOT_LIGHT_MAPS > 0\n\tuniform sampler2D spotLightMap[ NUM_SPOT_LIGHT_MAPS ];\n#endif\n#ifdef USE_SHADOWMAP\n\t#if NUM_DIR_LIGHT_SHADOWS > 0\n\t\t#if defined( SHADOWMAP_TYPE_PCF )\n\t\t\tuniform sampler2DShadow directionalShadowMap[ NUM_DIR_LIGHT_SHADOWS ];\n\t\t#else\n\t\t\tuniform sampler2D directionalShadowMap[ NUM_DIR_LIGHT_SHADOWS ];\n\t\t#endif\n\t\tvarying vec4 vDirectionalShadowCoord[ NUM_DIR_LIGHT_SHADOWS ];\n\t\tstruct DirectionalLightShadow {\n\t\t\tfloat shadowIntensity;\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t};\n\t\tuniform DirectionalLightShadow directionalLightShadows[ NUM_DIR_LIGHT_SHADOWS ];\n\t#endif\n\t#if NUM_SPOT_LIGHT_SHADOWS > 0\n\t\t#if defined( SHADOWMAP_TYPE_PCF )\n\t\t\tuniform sampler2DShadow spotShadowMap[ NUM_SPOT_LIGHT_SHADOWS ];\n\t\t#else\n\t\t\tuniform sampler2D spotShadowMap[ NUM_SPOT_LIGHT_SHADOWS ];\n\t\t#endif\n\t\tstruct SpotLightShadow {\n\t\t\tfloat shadowIntensity;\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t};\n\t\tuniform SpotLightShadow spotLightShadows[ NUM_SPOT_LIGHT_SHADOWS ];\n\t#endif\n\t#if NUM_POINT_LIGHT_SHADOWS > 0\n\t\t#if defined( SHADOWMAP_TYPE_PCF )\n\t\t\tuniform samplerCubeShadow pointShadowMap[ NUM_POINT_LIGHT_SHADOWS ];\n\t\t#elif defined( SHADOWMAP_TYPE_BASIC )\n\t\t\tuniform samplerCube pointShadowMap[ NUM_POINT_LIGHT_SHADOWS ];\n\t\t#endif\n\t\tvarying vec4 vPointShadowCoord[ NUM_POINT_LIGHT_SHADOWS ];\n\t\tstruct PointLightShadow {\n\t\t\tfloat shadowIntensity;\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t\tfloat shadowCameraNear;\n\t\t\tfloat shadowCameraFar;\n\t\t};\n\t\tuniform PointLightShadow pointLightShadows[ NUM_POINT_LIGHT_SHADOWS ];\n\t#endif\n\t#if defined( SHADOWMAP_TYPE_PCF )\n\t\tfloat interleavedGradientNoise( vec2 position ) {\n\t\t\treturn fract( 52.9829189 * fract( dot( position, vec2( 0.06711056, 0.00583715 ) ) ) );\n\t\t}\n\t\tvec2 vogelDiskSample( int sampleIndex, int samplesCount, float phi ) {\n\t\t\tconst float goldenAngle = 2.399963229728653;\n\t\t\tfloat r = sqrt( ( float( sampleIndex ) + 0.5 ) / float( samplesCount ) );\n\t\t\tfloat theta = float( sampleIndex ) * goldenAngle + phi;\n\t\t\treturn vec2( cos( theta ), sin( theta ) ) * r;\n\t\t}\n\t#endif\n\t#if defined( SHADOWMAP_TYPE_PCF )\n\t\tfloat getShadow( sampler2DShadow shadowMap, vec2 shadowMapSize, float shadowIntensity, float shadowBias, float shadowRadius, vec4 shadowCoord ) {\n\t\t\tfloat shadow = 1.0;\n\t\t\tshadowCoord.xyz /= shadowCoord.w;\n\t\t\tshadowCoord.z += shadowBias;\n\t\t\tbool inFrustum = shadowCoord.x >= 0.0 && shadowCoord.x <= 1.0 && shadowCoord.y >= 0.0 && shadowCoord.y <= 1.0;\n\t\t\tbool frustumTest = inFrustum && shadowCoord.z <= 1.0;\n\t\t\tif ( frustumTest ) {\n\t\t\t\tvec2 texelSize = vec2( 1.0 ) / shadowMapSize;\n\t\t\t\tfloat radius = shadowRadius * texelSize.x;\n\t\t\t\tfloat phi = interleavedGradientNoise( gl_FragCoord.xy ) * PI2;\n\t\t\t\tshadow = (\n\t\t\t\t\ttexture( shadowMap, vec3( shadowCoord.xy + vogelDiskSample( 0, 5, phi ) * radius, shadowCoord.z ) ) +\n\t\t\t\t\ttexture( shadowMap, vec3( shadowCoord.xy + vogelDiskSample( 1, 5, phi ) * radius, shadowCoord.z ) ) +\n\t\t\t\t\ttexture( shadowMap, vec3( shadowCoord.xy + vogelDiskSample( 2, 5, phi ) * radius, shadowCoord.z ) ) +\n\t\t\t\t\ttexture( shadowMap, vec3( shadowCoord.xy + vogelDiskSample( 3, 5, phi ) * radius, shadowCoord.z ) ) +\n\t\t\t\t\ttexture( shadowMap, vec3( shadowCoord.xy + vogelDiskSample( 4, 5, phi ) * radius, shadowCoord.z ) )\n\t\t\t\t) * 0.2;\n\t\t\t}\n\t\t\treturn mix( 1.0, shadow, shadowIntensity );\n\t\t}\n\t#elif defined( SHADOWMAP_TYPE_VSM )\n\t\tfloat getShadow( sampler2D shadowMap, vec2 shadowMapSize, float shadowIntensity, float shadowBias, float shadowRadius, vec4 shadowCoord ) {\n\t\t\tfloat shadow = 1.0;\n\t\t\tshadowCoord.xyz /= shadowCoord.w;\n\t\t\t#ifdef USE_REVERSED_DEPTH_BUFFER\n\t\t\t\tshadowCoord.z -= shadowBias;\n\t\t\t#else\n\t\t\t\tshadowCoord.z += shadowBias;\n\t\t\t#endif\n\t\t\tbool inFrustum = shadowCoord.x >= 0.0 && shadowCoord.x <= 1.0 && shadowCoord.y >= 0.0 && shadowCoord.y <= 1.0;\n\t\t\tbool frustumTest = inFrustum && shadowCoord.z <= 1.0;\n\t\t\tif ( frustumTest ) {\n\t\t\t\tvec2 distribution = texture2D( shadowMap, shadowCoord.xy ).rg;\n\t\t\t\tfloat mean = distribution.x;\n\t\t\t\tfloat variance = distribution.y * distribution.y;\n\t\t\t\t#ifdef USE_REVERSED_DEPTH_BUFFER\n\t\t\t\t\tfloat hard_shadow = step( mean, shadowCoord.z );\n\t\t\t\t#else\n\t\t\t\t\tfloat hard_shadow = step( shadowCoord.z, mean );\n\t\t\t\t#endif\n\t\t\t\t\n\t\t\t\tif ( hard_shadow == 1.0 ) {\n\t\t\t\t\tshadow = 1.0;\n\t\t\t\t} else {\n\t\t\t\t\tvariance = max( variance, 0.0000001 );\n\t\t\t\t\tfloat d = shadowCoord.z - mean;\n\t\t\t\t\tfloat p_max = variance / ( variance + d * d );\n\t\t\t\t\tp_max = clamp( ( p_max - 0.3 ) / 0.65, 0.0, 1.0 );\n\t\t\t\t\tshadow = max( hard_shadow, p_max );\n\t\t\t\t}\n\t\t\t}\n\t\t\treturn mix( 1.0, shadow, shadowIntensity );\n\t\t}\n\t#else\n\t\tfloat getShadow( sampler2D shadowMap, vec2 shadowMapSize, float shadowIntensity, float shadowBias, float shadowRadius, vec4 shadowCoord ) {\n\t\t\tfloat shadow = 1.0;\n\t\t\tshadowCoord.xyz /= shadowCoord.w;\n\t\t\t#ifdef USE_REVERSED_DEPTH_BUFFER\n\t\t\t\tshadowCoord.z -= shadowBias;\n\t\t\t#else\n\t\t\t\tshadowCoord.z += shadowBias;\n\t\t\t#endif\n\t\t\tbool inFrustum = shadowCoord.x >= 0.0 && shadowCoord.x <= 1.0 && shadowCoord.y >= 0.0 && shadowCoord.y <= 1.0;\n\t\t\tbool frustumTest = inFrustum && shadowCoord.z <= 1.0;\n\t\t\tif ( frustumTest ) {\n\t\t\t\tfloat depth = texture2D( shadowMap, shadowCoord.xy ).r;\n\t\t\t\t#ifdef USE_REVERSED_DEPTH_BUFFER\n\t\t\t\t\tshadow = step( depth, shadowCoord.z );\n\t\t\t\t#else\n\t\t\t\t\tshadow = step( shadowCoord.z, depth );\n\t\t\t\t#endif\n\t\t\t}\n\t\t\treturn mix( 1.0, shadow, shadowIntensity );\n\t\t}\n\t#endif\n\t#if NUM_POINT_LIGHT_SHADOWS > 0\n\t#if defined( SHADOWMAP_TYPE_PCF )\n\tfloat getPointShadow( samplerCubeShadow shadowMap, vec2 shadowMapSize, float shadowIntensity, float shadowBias, float shadowRadius, vec4 shadowCoord, float shadowCameraNear, float shadowCameraFar ) {\n\t\tfloat shadow = 1.0;\n\t\tvec3 lightToPosition = shadowCoord.xyz;\n\t\tvec3 bd3D = normalize( lightToPosition );\n\t\tvec3 absVec = abs( lightToPosition );\n\t\tfloat viewSpaceZ = max( max( absVec.x, absVec.y ), absVec.z );\n\t\tif ( viewSpaceZ - shadowCameraFar <= 0.0 && viewSpaceZ - shadowCameraNear >= 0.0 ) {\n\t\t\t#ifdef USE_REVERSED_DEPTH_BUFFER\n\t\t\t\tfloat dp = ( shadowCameraNear * ( shadowCameraFar - viewSpaceZ ) ) / ( viewSpaceZ * ( shadowCameraFar - shadowCameraNear ) );\n\t\t\t\tdp -= shadowBias;\n\t\t\t#else\n\t\t\t\tfloat dp = ( shadowCameraFar * ( viewSpaceZ - shadowCameraNear ) ) / ( viewSpaceZ * ( shadowCameraFar - shadowCameraNear ) );\n\t\t\t\tdp += shadowBias;\n\t\t\t#endif\n\t\t\tfloat texelSize = shadowRadius / shadowMapSize.x;\n\t\t\tvec3 absDir = abs( bd3D );\n\t\t\tvec3 tangent = absDir.x > absDir.z ? vec3( 0.0, 1.0, 0.0 ) : vec3( 1.0, 0.0, 0.0 );\n\t\t\ttangent = normalize( cross( bd3D, tangent ) );\n\t\t\tvec3 bitangent = cross( bd3D, tangent );\n\t\t\tfloat phi = interleavedGradientNoise( gl_FragCoord.xy ) * PI2;\n\t\t\tvec2 sample0 = vogelDiskSample( 0, 5, phi );\n\t\t\tvec2 sample1 = vogelDiskSample( 1, 5, phi );\n\t\t\tvec2 sample2 = vogelDiskSample( 2, 5, phi );\n\t\t\tvec2 sample3 = vogelDiskSample( 3, 5, phi );\n\t\t\tvec2 sample4 = vogelDiskSample( 4, 5, phi );\n\t\t\tshadow = (\n\t\t\t\ttexture( shadowMap, vec4( bd3D + ( tangent * sample0.x + bitangent * sample0.y ) * texelSize, dp ) ) +\n\t\t\t\ttexture( shadowMap, vec4( bd3D + ( tangent * sample1.x + bitangent * sample1.y ) * texelSize, dp ) ) +\n\t\t\t\ttexture( shadowMap, vec4( bd3D + ( tangent * sample2.x + bitangent * sample2.y ) * texelSize, dp ) ) +\n\t\t\t\ttexture( shadowMap, vec4( bd3D + ( tangent * sample3.x + bitangent * sample3.y ) * texelSize, dp ) ) +\n\t\t\t\ttexture( shadowMap, vec4( bd3D + ( tangent * sample4.x + bitangent * sample4.y ) * texelSize, dp ) )\n\t\t\t) * 0.2;\n\t\t}\n\t\treturn mix( 1.0, shadow, shadowIntensity );\n\t}\n\t#elif defined( SHADOWMAP_TYPE_BASIC )\n\tfloat getPointShadow( samplerCube shadowMap, vec2 shadowMapSize, float shadowIntensity, float shadowBias, float shadowRadius, vec4 shadowCoord, float shadowCameraNear, float shadowCameraFar ) {\n\t\tfloat shadow = 1.0;\n\t\tvec3 lightToPosition = shadowCoord.xyz;\n\t\tvec3 absVec = abs( lightToPosition );\n\t\tfloat viewSpaceZ = max( max( absVec.x, absVec.y ), absVec.z );\n\t\tif ( viewSpaceZ - shadowCameraFar <= 0.0 && viewSpaceZ - shadowCameraNear >= 0.0 ) {\n\t\t\tfloat dp = ( shadowCameraFar * ( viewSpaceZ - shadowCameraNear ) ) / ( viewSpaceZ * ( shadowCameraFar - shadowCameraNear ) );\n\t\t\tdp += shadowBias;\n\t\t\tvec3 bd3D = normalize( lightToPosition );\n\t\t\tfloat depth = textureCube( shadowMap, bd3D ).r;\n\t\t\t#ifdef USE_REVERSED_DEPTH_BUFFER\n\t\t\t\tdepth = 1.0 - depth;\n\t\t\t#endif\n\t\t\tshadow = step( dp, depth );\n\t\t}\n\t\treturn mix( 1.0, shadow, shadowIntensity );\n\t}\n\t#endif\n\t#endif\n#endif"; + +var shadowmap_pars_vertex = "#if NUM_SPOT_LIGHT_COORDS > 0\n\tuniform mat4 spotLightMatrix[ NUM_SPOT_LIGHT_COORDS ];\n\tvarying vec4 vSpotLightCoord[ NUM_SPOT_LIGHT_COORDS ];\n#endif\n#ifdef USE_SHADOWMAP\n\t#if NUM_DIR_LIGHT_SHADOWS > 0\n\t\tuniform mat4 directionalShadowMatrix[ NUM_DIR_LIGHT_SHADOWS ];\n\t\tvarying vec4 vDirectionalShadowCoord[ NUM_DIR_LIGHT_SHADOWS ];\n\t\tstruct DirectionalLightShadow {\n\t\t\tfloat shadowIntensity;\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t};\n\t\tuniform DirectionalLightShadow directionalLightShadows[ NUM_DIR_LIGHT_SHADOWS ];\n\t#endif\n\t#if NUM_SPOT_LIGHT_SHADOWS > 0\n\t\tstruct SpotLightShadow {\n\t\t\tfloat shadowIntensity;\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t};\n\t\tuniform SpotLightShadow spotLightShadows[ NUM_SPOT_LIGHT_SHADOWS ];\n\t#endif\n\t#if NUM_POINT_LIGHT_SHADOWS > 0\n\t\tuniform mat4 pointShadowMatrix[ NUM_POINT_LIGHT_SHADOWS ];\n\t\tvarying vec4 vPointShadowCoord[ NUM_POINT_LIGHT_SHADOWS ];\n\t\tstruct PointLightShadow {\n\t\t\tfloat shadowIntensity;\n\t\t\tfloat shadowBias;\n\t\t\tfloat shadowNormalBias;\n\t\t\tfloat shadowRadius;\n\t\t\tvec2 shadowMapSize;\n\t\t\tfloat shadowCameraNear;\n\t\t\tfloat shadowCameraFar;\n\t\t};\n\t\tuniform PointLightShadow pointLightShadows[ NUM_POINT_LIGHT_SHADOWS ];\n\t#endif\n#endif"; + +var shadowmap_vertex = "#if ( defined( USE_SHADOWMAP ) && ( NUM_DIR_LIGHT_SHADOWS > 0 || NUM_POINT_LIGHT_SHADOWS > 0 ) ) || ( NUM_SPOT_LIGHT_COORDS > 0 )\n\tvec3 shadowWorldNormal = inverseTransformDirection( transformedNormal, viewMatrix );\n\tvec4 shadowWorldPosition;\n#endif\n#if defined( USE_SHADOWMAP )\n\t#if NUM_DIR_LIGHT_SHADOWS > 0\n\t\t#pragma unroll_loop_start\n\t\tfor ( int i = 0; i < NUM_DIR_LIGHT_SHADOWS; i ++ ) {\n\t\t\tshadowWorldPosition = worldPosition + vec4( shadowWorldNormal * directionalLightShadows[ i ].shadowNormalBias, 0 );\n\t\t\tvDirectionalShadowCoord[ i ] = directionalShadowMatrix[ i ] * shadowWorldPosition;\n\t\t}\n\t\t#pragma unroll_loop_end\n\t#endif\n\t#if NUM_POINT_LIGHT_SHADOWS > 0\n\t\t#pragma unroll_loop_start\n\t\tfor ( int i = 0; i < NUM_POINT_LIGHT_SHADOWS; i ++ ) {\n\t\t\tshadowWorldPosition = worldPosition + vec4( shadowWorldNormal * pointLightShadows[ i ].shadowNormalBias, 0 );\n\t\t\tvPointShadowCoord[ i ] = pointShadowMatrix[ i ] * shadowWorldPosition;\n\t\t}\n\t\t#pragma unroll_loop_end\n\t#endif\n#endif\n#if NUM_SPOT_LIGHT_COORDS > 0\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_SPOT_LIGHT_COORDS; i ++ ) {\n\t\tshadowWorldPosition = worldPosition;\n\t\t#if ( defined( USE_SHADOWMAP ) && UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS )\n\t\t\tshadowWorldPosition.xyz += shadowWorldNormal * spotLightShadows[ i ].shadowNormalBias;\n\t\t#endif\n\t\tvSpotLightCoord[ i ] = spotLightMatrix[ i ] * shadowWorldPosition;\n\t}\n\t#pragma unroll_loop_end\n#endif"; + +var shadowmask_pars_fragment = "float getShadowMask() {\n\tfloat shadow = 1.0;\n\t#ifdef USE_SHADOWMAP\n\t#if NUM_DIR_LIGHT_SHADOWS > 0\n\tDirectionalLightShadow directionalLight;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_DIR_LIGHT_SHADOWS; i ++ ) {\n\t\tdirectionalLight = directionalLightShadows[ i ];\n\t\tshadow *= receiveShadow ? getShadow( directionalShadowMap[ i ], directionalLight.shadowMapSize, directionalLight.shadowIntensity, directionalLight.shadowBias, directionalLight.shadowRadius, vDirectionalShadowCoord[ i ] ) : 1.0;\n\t}\n\t#pragma unroll_loop_end\n\t#endif\n\t#if NUM_SPOT_LIGHT_SHADOWS > 0\n\tSpotLightShadow spotLight;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_SPOT_LIGHT_SHADOWS; i ++ ) {\n\t\tspotLight = spotLightShadows[ i ];\n\t\tshadow *= receiveShadow ? getShadow( spotShadowMap[ i ], spotLight.shadowMapSize, spotLight.shadowIntensity, spotLight.shadowBias, spotLight.shadowRadius, vSpotLightCoord[ i ] ) : 1.0;\n\t}\n\t#pragma unroll_loop_end\n\t#endif\n\t#if NUM_POINT_LIGHT_SHADOWS > 0 && ( defined( SHADOWMAP_TYPE_PCF ) || defined( SHADOWMAP_TYPE_BASIC ) )\n\tPointLightShadow pointLight;\n\t#pragma unroll_loop_start\n\tfor ( int i = 0; i < NUM_POINT_LIGHT_SHADOWS; i ++ ) {\n\t\tpointLight = pointLightShadows[ i ];\n\t\tshadow *= receiveShadow ? getPointShadow( pointShadowMap[ i ], pointLight.shadowMapSize, pointLight.shadowIntensity, pointLight.shadowBias, pointLight.shadowRadius, vPointShadowCoord[ i ], pointLight.shadowCameraNear, pointLight.shadowCameraFar ) : 1.0;\n\t}\n\t#pragma unroll_loop_end\n\t#endif\n\t#endif\n\treturn shadow;\n}"; + +var skinbase_vertex = "#ifdef USE_SKINNING\n\tmat4 boneMatX = getBoneMatrix( skinIndex.x );\n\tmat4 boneMatY = getBoneMatrix( skinIndex.y );\n\tmat4 boneMatZ = getBoneMatrix( skinIndex.z );\n\tmat4 boneMatW = getBoneMatrix( skinIndex.w );\n#endif"; + +var skinning_pars_vertex = "#ifdef USE_SKINNING\n\tuniform mat4 bindMatrix;\n\tuniform mat4 bindMatrixInverse;\n\tuniform highp sampler2D boneTexture;\n\tmat4 getBoneMatrix( const in float i ) {\n\t\tint size = textureSize( boneTexture, 0 ).x;\n\t\tint j = int( i ) * 4;\n\t\tint x = j % size;\n\t\tint y = j / size;\n\t\tvec4 v1 = texelFetch( boneTexture, ivec2( x, y ), 0 );\n\t\tvec4 v2 = texelFetch( boneTexture, ivec2( x + 1, y ), 0 );\n\t\tvec4 v3 = texelFetch( boneTexture, ivec2( x + 2, y ), 0 );\n\t\tvec4 v4 = texelFetch( boneTexture, ivec2( x + 3, y ), 0 );\n\t\treturn mat4( v1, v2, v3, v4 );\n\t}\n#endif"; + +var skinning_vertex = "#ifdef USE_SKINNING\n\tvec4 skinVertex = bindMatrix * vec4( transformed, 1.0 );\n\tvec4 skinned = vec4( 0.0 );\n\tskinned += boneMatX * skinVertex * skinWeight.x;\n\tskinned += boneMatY * skinVertex * skinWeight.y;\n\tskinned += boneMatZ * skinVertex * skinWeight.z;\n\tskinned += boneMatW * skinVertex * skinWeight.w;\n\ttransformed = ( bindMatrixInverse * skinned ).xyz;\n#endif"; + +var skinnormal_vertex = "#ifdef USE_SKINNING\n\tmat4 skinMatrix = mat4( 0.0 );\n\tskinMatrix += skinWeight.x * boneMatX;\n\tskinMatrix += skinWeight.y * boneMatY;\n\tskinMatrix += skinWeight.z * boneMatZ;\n\tskinMatrix += skinWeight.w * boneMatW;\n\tskinMatrix = bindMatrixInverse * skinMatrix * bindMatrix;\n\tobjectNormal = vec4( skinMatrix * vec4( objectNormal, 0.0 ) ).xyz;\n\t#ifdef USE_TANGENT\n\t\tobjectTangent = vec4( skinMatrix * vec4( objectTangent, 0.0 ) ).xyz;\n\t#endif\n#endif"; + +var specularmap_fragment = "float specularStrength;\n#ifdef USE_SPECULARMAP\n\tvec4 texelSpecular = texture2D( specularMap, vSpecularMapUv );\n\tspecularStrength = texelSpecular.r;\n#else\n\tspecularStrength = 1.0;\n#endif"; + +var specularmap_pars_fragment = "#ifdef USE_SPECULARMAP\n\tuniform sampler2D specularMap;\n#endif"; + +var tonemapping_fragment = "#if defined( TONE_MAPPING )\n\tgl_FragColor.rgb = toneMapping( gl_FragColor.rgb );\n#endif"; + +var tonemapping_pars_fragment = "#ifndef saturate\n#define saturate( a ) clamp( a, 0.0, 1.0 )\n#endif\nuniform float toneMappingExposure;\nvec3 LinearToneMapping( vec3 color ) {\n\treturn saturate( toneMappingExposure * color );\n}\nvec3 ReinhardToneMapping( vec3 color ) {\n\tcolor *= toneMappingExposure;\n\treturn saturate( color / ( vec3( 1.0 ) + color ) );\n}\nvec3 CineonToneMapping( vec3 color ) {\n\tcolor *= toneMappingExposure;\n\tcolor = max( vec3( 0.0 ), color - 0.004 );\n\treturn pow( ( color * ( 6.2 * color + 0.5 ) ) / ( color * ( 6.2 * color + 1.7 ) + 0.06 ), vec3( 2.2 ) );\n}\nvec3 RRTAndODTFit( vec3 v ) {\n\tvec3 a = v * ( v + 0.0245786 ) - 0.000090537;\n\tvec3 b = v * ( 0.983729 * v + 0.4329510 ) + 0.238081;\n\treturn a / b;\n}\nvec3 ACESFilmicToneMapping( vec3 color ) {\n\tconst mat3 ACESInputMat = mat3(\n\t\tvec3( 0.59719, 0.07600, 0.02840 ),\t\tvec3( 0.35458, 0.90834, 0.13383 ),\n\t\tvec3( 0.04823, 0.01566, 0.83777 )\n\t);\n\tconst mat3 ACESOutputMat = mat3(\n\t\tvec3( 1.60475, -0.10208, -0.00327 ),\t\tvec3( -0.53108, 1.10813, -0.07276 ),\n\t\tvec3( -0.07367, -0.00605, 1.07602 )\n\t);\n\tcolor *= toneMappingExposure / 0.6;\n\tcolor = ACESInputMat * color;\n\tcolor = RRTAndODTFit( color );\n\tcolor = ACESOutputMat * color;\n\treturn saturate( color );\n}\nconst mat3 LINEAR_REC2020_TO_LINEAR_SRGB = mat3(\n\tvec3( 1.6605, - 0.1246, - 0.0182 ),\n\tvec3( - 0.5876, 1.1329, - 0.1006 ),\n\tvec3( - 0.0728, - 0.0083, 1.1187 )\n);\nconst mat3 LINEAR_SRGB_TO_LINEAR_REC2020 = mat3(\n\tvec3( 0.6274, 0.0691, 0.0164 ),\n\tvec3( 0.3293, 0.9195, 0.0880 ),\n\tvec3( 0.0433, 0.0113, 0.8956 )\n);\nvec3 agxDefaultContrastApprox( vec3 x ) {\n\tvec3 x2 = x * x;\n\tvec3 x4 = x2 * x2;\n\treturn + 15.5 * x4 * x2\n\t\t- 40.14 * x4 * x\n\t\t+ 31.96 * x4\n\t\t- 6.868 * x2 * x\n\t\t+ 0.4298 * x2\n\t\t+ 0.1191 * x\n\t\t- 0.00232;\n}\nvec3 AgXToneMapping( vec3 color ) {\n\tconst mat3 AgXInsetMatrix = mat3(\n\t\tvec3( 0.856627153315983, 0.137318972929847, 0.11189821299995 ),\n\t\tvec3( 0.0951212405381588, 0.761241990602591, 0.0767994186031903 ),\n\t\tvec3( 0.0482516061458583, 0.101439036467562, 0.811302368396859 )\n\t);\n\tconst mat3 AgXOutsetMatrix = mat3(\n\t\tvec3( 1.1271005818144368, - 0.1413297634984383, - 0.14132976349843826 ),\n\t\tvec3( - 0.11060664309660323, 1.157823702216272, - 0.11060664309660294 ),\n\t\tvec3( - 0.016493938717834573, - 0.016493938717834257, 1.2519364065950405 )\n\t);\n\tconst float AgxMinEv = - 12.47393;\tconst float AgxMaxEv = 4.026069;\n\tcolor *= toneMappingExposure;\n\tcolor = LINEAR_SRGB_TO_LINEAR_REC2020 * color;\n\tcolor = AgXInsetMatrix * color;\n\tcolor = max( color, 1e-10 );\tcolor = log2( color );\n\tcolor = ( color - AgxMinEv ) / ( AgxMaxEv - AgxMinEv );\n\tcolor = clamp( color, 0.0, 1.0 );\n\tcolor = agxDefaultContrastApprox( color );\n\tcolor = AgXOutsetMatrix * color;\n\tcolor = pow( max( vec3( 0.0 ), color ), vec3( 2.2 ) );\n\tcolor = LINEAR_REC2020_TO_LINEAR_SRGB * color;\n\tcolor = clamp( color, 0.0, 1.0 );\n\treturn color;\n}\nvec3 NeutralToneMapping( vec3 color ) {\n\tconst float StartCompression = 0.8 - 0.04;\n\tconst float Desaturation = 0.15;\n\tcolor *= toneMappingExposure;\n\tfloat x = min( color.r, min( color.g, color.b ) );\n\tfloat offset = x < 0.08 ? x - 6.25 * x * x : 0.04;\n\tcolor -= offset;\n\tfloat peak = max( color.r, max( color.g, color.b ) );\n\tif ( peak < StartCompression ) return color;\n\tfloat d = 1. - StartCompression;\n\tfloat newPeak = 1. - d * d / ( peak + d - StartCompression );\n\tcolor *= newPeak / peak;\n\tfloat g = 1. - 1. / ( Desaturation * ( peak - newPeak ) + 1. );\n\treturn mix( color, vec3( newPeak ), g );\n}\nvec3 CustomToneMapping( vec3 color ) { return color; }"; + +var transmission_fragment = "#ifdef USE_TRANSMISSION\n\tmaterial.transmission = transmission;\n\tmaterial.transmissionAlpha = 1.0;\n\tmaterial.thickness = thickness;\n\tmaterial.attenuationDistance = attenuationDistance;\n\tmaterial.attenuationColor = attenuationColor;\n\t#ifdef USE_TRANSMISSIONMAP\n\t\tmaterial.transmission *= texture2D( transmissionMap, vTransmissionMapUv ).r;\n\t#endif\n\t#ifdef USE_THICKNESSMAP\n\t\tmaterial.thickness *= texture2D( thicknessMap, vThicknessMapUv ).g;\n\t#endif\n\tvec3 pos = vWorldPosition;\n\tvec3 v = normalize( cameraPosition - pos );\n\tvec3 n = inverseTransformDirection( normal, viewMatrix );\n\tvec4 transmitted = getIBLVolumeRefraction(\n\t\tn, v, material.roughness, material.diffuseContribution, material.specularColorBlended, material.specularF90,\n\t\tpos, modelMatrix, viewMatrix, projectionMatrix, material.dispersion, material.ior, material.thickness,\n\t\tmaterial.attenuationColor, material.attenuationDistance );\n\tmaterial.transmissionAlpha = mix( material.transmissionAlpha, transmitted.a, material.transmission );\n\ttotalDiffuse = mix( totalDiffuse, transmitted.rgb, material.transmission );\n#endif"; + +var transmission_pars_fragment = "#ifdef USE_TRANSMISSION\n\tuniform float transmission;\n\tuniform float thickness;\n\tuniform float attenuationDistance;\n\tuniform vec3 attenuationColor;\n\t#ifdef USE_TRANSMISSIONMAP\n\t\tuniform sampler2D transmissionMap;\n\t#endif\n\t#ifdef USE_THICKNESSMAP\n\t\tuniform sampler2D thicknessMap;\n\t#endif\n\tuniform vec2 transmissionSamplerSize;\n\tuniform sampler2D transmissionSamplerMap;\n\tuniform mat4 modelMatrix;\n\tuniform mat4 projectionMatrix;\n\tvarying vec3 vWorldPosition;\n\tfloat w0( float a ) {\n\t\treturn ( 1.0 / 6.0 ) * ( a * ( a * ( - a + 3.0 ) - 3.0 ) + 1.0 );\n\t}\n\tfloat w1( float a ) {\n\t\treturn ( 1.0 / 6.0 ) * ( a * a * ( 3.0 * a - 6.0 ) + 4.0 );\n\t}\n\tfloat w2( float a ){\n\t\treturn ( 1.0 / 6.0 ) * ( a * ( a * ( - 3.0 * a + 3.0 ) + 3.0 ) + 1.0 );\n\t}\n\tfloat w3( float a ) {\n\t\treturn ( 1.0 / 6.0 ) * ( a * a * a );\n\t}\n\tfloat g0( float a ) {\n\t\treturn w0( a ) + w1( a );\n\t}\n\tfloat g1( float a ) {\n\t\treturn w2( a ) + w3( a );\n\t}\n\tfloat h0( float a ) {\n\t\treturn - 1.0 + w1( a ) / ( w0( a ) + w1( a ) );\n\t}\n\tfloat h1( float a ) {\n\t\treturn 1.0 + w3( a ) / ( w2( a ) + w3( a ) );\n\t}\n\tvec4 bicubic( sampler2D tex, vec2 uv, vec4 texelSize, float lod ) {\n\t\tuv = uv * texelSize.zw + 0.5;\n\t\tvec2 iuv = floor( uv );\n\t\tvec2 fuv = fract( uv );\n\t\tfloat g0x = g0( fuv.x );\n\t\tfloat g1x = g1( fuv.x );\n\t\tfloat h0x = h0( fuv.x );\n\t\tfloat h1x = h1( fuv.x );\n\t\tfloat h0y = h0( fuv.y );\n\t\tfloat h1y = h1( fuv.y );\n\t\tvec2 p0 = ( vec2( iuv.x + h0x, iuv.y + h0y ) - 0.5 ) * texelSize.xy;\n\t\tvec2 p1 = ( vec2( iuv.x + h1x, iuv.y + h0y ) - 0.5 ) * texelSize.xy;\n\t\tvec2 p2 = ( vec2( iuv.x + h0x, iuv.y + h1y ) - 0.5 ) * texelSize.xy;\n\t\tvec2 p3 = ( vec2( iuv.x + h1x, iuv.y + h1y ) - 0.5 ) * texelSize.xy;\n\t\treturn g0( fuv.y ) * ( g0x * textureLod( tex, p0, lod ) + g1x * textureLod( tex, p1, lod ) ) +\n\t\t\tg1( fuv.y ) * ( g0x * textureLod( tex, p2, lod ) + g1x * textureLod( tex, p3, lod ) );\n\t}\n\tvec4 textureBicubic( sampler2D sampler, vec2 uv, float lod ) {\n\t\tvec2 fLodSize = vec2( textureSize( sampler, int( lod ) ) );\n\t\tvec2 cLodSize = vec2( textureSize( sampler, int( lod + 1.0 ) ) );\n\t\tvec2 fLodSizeInv = 1.0 / fLodSize;\n\t\tvec2 cLodSizeInv = 1.0 / cLodSize;\n\t\tvec4 fSample = bicubic( sampler, uv, vec4( fLodSizeInv, fLodSize ), floor( lod ) );\n\t\tvec4 cSample = bicubic( sampler, uv, vec4( cLodSizeInv, cLodSize ), ceil( lod ) );\n\t\treturn mix( fSample, cSample, fract( lod ) );\n\t}\n\tvec3 getVolumeTransmissionRay( const in vec3 n, const in vec3 v, const in float thickness, const in float ior, const in mat4 modelMatrix ) {\n\t\tvec3 refractionVector = refract( - v, normalize( n ), 1.0 / ior );\n\t\tvec3 modelScale;\n\t\tmodelScale.x = length( vec3( modelMatrix[ 0 ].xyz ) );\n\t\tmodelScale.y = length( vec3( modelMatrix[ 1 ].xyz ) );\n\t\tmodelScale.z = length( vec3( modelMatrix[ 2 ].xyz ) );\n\t\treturn normalize( refractionVector ) * thickness * modelScale;\n\t}\n\tfloat applyIorToRoughness( const in float roughness, const in float ior ) {\n\t\treturn roughness * clamp( ior * 2.0 - 2.0, 0.0, 1.0 );\n\t}\n\tvec4 getTransmissionSample( const in vec2 fragCoord, const in float roughness, const in float ior ) {\n\t\tfloat lod = log2( transmissionSamplerSize.x ) * applyIorToRoughness( roughness, ior );\n\t\treturn textureBicubic( transmissionSamplerMap, fragCoord.xy, lod );\n\t}\n\tvec3 volumeAttenuation( const in float transmissionDistance, const in vec3 attenuationColor, const in float attenuationDistance ) {\n\t\tif ( isinf( attenuationDistance ) ) {\n\t\t\treturn vec3( 1.0 );\n\t\t} else {\n\t\t\tvec3 attenuationCoefficient = -log( attenuationColor ) / attenuationDistance;\n\t\t\tvec3 transmittance = exp( - attenuationCoefficient * transmissionDistance );\t\t\treturn transmittance;\n\t\t}\n\t}\n\tvec4 getIBLVolumeRefraction( const in vec3 n, const in vec3 v, const in float roughness, const in vec3 diffuseColor,\n\t\tconst in vec3 specularColor, const in float specularF90, const in vec3 position, const in mat4 modelMatrix,\n\t\tconst in mat4 viewMatrix, const in mat4 projMatrix, const in float dispersion, const in float ior, const in float thickness,\n\t\tconst in vec3 attenuationColor, const in float attenuationDistance ) {\n\t\tvec4 transmittedLight;\n\t\tvec3 transmittance;\n\t\t#ifdef USE_DISPERSION\n\t\t\tfloat halfSpread = ( ior - 1.0 ) * 0.025 * dispersion;\n\t\t\tvec3 iors = vec3( ior - halfSpread, ior, ior + halfSpread );\n\t\t\tfor ( int i = 0; i < 3; i ++ ) {\n\t\t\t\tvec3 transmissionRay = getVolumeTransmissionRay( n, v, thickness, iors[ i ], modelMatrix );\n\t\t\t\tvec3 refractedRayExit = position + transmissionRay;\n\t\t\t\tvec4 ndcPos = projMatrix * viewMatrix * vec4( refractedRayExit, 1.0 );\n\t\t\t\tvec2 refractionCoords = ndcPos.xy / ndcPos.w;\n\t\t\t\trefractionCoords += 1.0;\n\t\t\t\trefractionCoords /= 2.0;\n\t\t\t\tvec4 transmissionSample = getTransmissionSample( refractionCoords, roughness, iors[ i ] );\n\t\t\t\ttransmittedLight[ i ] = transmissionSample[ i ];\n\t\t\t\ttransmittedLight.a += transmissionSample.a;\n\t\t\t\ttransmittance[ i ] = diffuseColor[ i ] * volumeAttenuation( length( transmissionRay ), attenuationColor, attenuationDistance )[ i ];\n\t\t\t}\n\t\t\ttransmittedLight.a /= 3.0;\n\t\t#else\n\t\t\tvec3 transmissionRay = getVolumeTransmissionRay( n, v, thickness, ior, modelMatrix );\n\t\t\tvec3 refractedRayExit = position + transmissionRay;\n\t\t\tvec4 ndcPos = projMatrix * viewMatrix * vec4( refractedRayExit, 1.0 );\n\t\t\tvec2 refractionCoords = ndcPos.xy / ndcPos.w;\n\t\t\trefractionCoords += 1.0;\n\t\t\trefractionCoords /= 2.0;\n\t\t\ttransmittedLight = getTransmissionSample( refractionCoords, roughness, ior );\n\t\t\ttransmittance = diffuseColor * volumeAttenuation( length( transmissionRay ), attenuationColor, attenuationDistance );\n\t\t#endif\n\t\tvec3 attenuatedColor = transmittance * transmittedLight.rgb;\n\t\tvec3 F = EnvironmentBRDF( n, v, specularColor, specularF90, roughness );\n\t\tfloat transmittanceFactor = ( transmittance.r + transmittance.g + transmittance.b ) / 3.0;\n\t\treturn vec4( ( 1.0 - F ) * attenuatedColor, 1.0 - ( 1.0 - transmittedLight.a ) * transmittanceFactor );\n\t}\n#endif"; + +var uv_pars_fragment = "#if defined( USE_UV ) || defined( USE_ANISOTROPY )\n\tvarying vec2 vUv;\n#endif\n#ifdef USE_MAP\n\tvarying vec2 vMapUv;\n#endif\n#ifdef USE_ALPHAMAP\n\tvarying vec2 vAlphaMapUv;\n#endif\n#ifdef USE_LIGHTMAP\n\tvarying vec2 vLightMapUv;\n#endif\n#ifdef USE_AOMAP\n\tvarying vec2 vAoMapUv;\n#endif\n#ifdef USE_BUMPMAP\n\tvarying vec2 vBumpMapUv;\n#endif\n#ifdef USE_NORMALMAP\n\tvarying vec2 vNormalMapUv;\n#endif\n#ifdef USE_EMISSIVEMAP\n\tvarying vec2 vEmissiveMapUv;\n#endif\n#ifdef USE_METALNESSMAP\n\tvarying vec2 vMetalnessMapUv;\n#endif\n#ifdef USE_ROUGHNESSMAP\n\tvarying vec2 vRoughnessMapUv;\n#endif\n#ifdef USE_ANISOTROPYMAP\n\tvarying vec2 vAnisotropyMapUv;\n#endif\n#ifdef USE_CLEARCOATMAP\n\tvarying vec2 vClearcoatMapUv;\n#endif\n#ifdef USE_CLEARCOAT_NORMALMAP\n\tvarying vec2 vClearcoatNormalMapUv;\n#endif\n#ifdef USE_CLEARCOAT_ROUGHNESSMAP\n\tvarying vec2 vClearcoatRoughnessMapUv;\n#endif\n#ifdef USE_IRIDESCENCEMAP\n\tvarying vec2 vIridescenceMapUv;\n#endif\n#ifdef USE_IRIDESCENCE_THICKNESSMAP\n\tvarying vec2 vIridescenceThicknessMapUv;\n#endif\n#ifdef USE_SHEEN_COLORMAP\n\tvarying vec2 vSheenColorMapUv;\n#endif\n#ifdef USE_SHEEN_ROUGHNESSMAP\n\tvarying vec2 vSheenRoughnessMapUv;\n#endif\n#ifdef USE_SPECULARMAP\n\tvarying vec2 vSpecularMapUv;\n#endif\n#ifdef USE_SPECULAR_COLORMAP\n\tvarying vec2 vSpecularColorMapUv;\n#endif\n#ifdef USE_SPECULAR_INTENSITYMAP\n\tvarying vec2 vSpecularIntensityMapUv;\n#endif\n#ifdef USE_TRANSMISSIONMAP\n\tuniform mat3 transmissionMapTransform;\n\tvarying vec2 vTransmissionMapUv;\n#endif\n#ifdef USE_THICKNESSMAP\n\tuniform mat3 thicknessMapTransform;\n\tvarying vec2 vThicknessMapUv;\n#endif"; + +var uv_pars_vertex = "#if defined( USE_UV ) || defined( USE_ANISOTROPY )\n\tvarying vec2 vUv;\n#endif\n#ifdef USE_MAP\n\tuniform mat3 mapTransform;\n\tvarying vec2 vMapUv;\n#endif\n#ifdef USE_ALPHAMAP\n\tuniform mat3 alphaMapTransform;\n\tvarying vec2 vAlphaMapUv;\n#endif\n#ifdef USE_LIGHTMAP\n\tuniform mat3 lightMapTransform;\n\tvarying vec2 vLightMapUv;\n#endif\n#ifdef USE_AOMAP\n\tuniform mat3 aoMapTransform;\n\tvarying vec2 vAoMapUv;\n#endif\n#ifdef USE_BUMPMAP\n\tuniform mat3 bumpMapTransform;\n\tvarying vec2 vBumpMapUv;\n#endif\n#ifdef USE_NORMALMAP\n\tuniform mat3 normalMapTransform;\n\tvarying vec2 vNormalMapUv;\n#endif\n#ifdef USE_DISPLACEMENTMAP\n\tuniform mat3 displacementMapTransform;\n\tvarying vec2 vDisplacementMapUv;\n#endif\n#ifdef USE_EMISSIVEMAP\n\tuniform mat3 emissiveMapTransform;\n\tvarying vec2 vEmissiveMapUv;\n#endif\n#ifdef USE_METALNESSMAP\n\tuniform mat3 metalnessMapTransform;\n\tvarying vec2 vMetalnessMapUv;\n#endif\n#ifdef USE_ROUGHNESSMAP\n\tuniform mat3 roughnessMapTransform;\n\tvarying vec2 vRoughnessMapUv;\n#endif\n#ifdef USE_ANISOTROPYMAP\n\tuniform mat3 anisotropyMapTransform;\n\tvarying vec2 vAnisotropyMapUv;\n#endif\n#ifdef USE_CLEARCOATMAP\n\tuniform mat3 clearcoatMapTransform;\n\tvarying vec2 vClearcoatMapUv;\n#endif\n#ifdef USE_CLEARCOAT_NORMALMAP\n\tuniform mat3 clearcoatNormalMapTransform;\n\tvarying vec2 vClearcoatNormalMapUv;\n#endif\n#ifdef USE_CLEARCOAT_ROUGHNESSMAP\n\tuniform mat3 clearcoatRoughnessMapTransform;\n\tvarying vec2 vClearcoatRoughnessMapUv;\n#endif\n#ifdef USE_SHEEN_COLORMAP\n\tuniform mat3 sheenColorMapTransform;\n\tvarying vec2 vSheenColorMapUv;\n#endif\n#ifdef USE_SHEEN_ROUGHNESSMAP\n\tuniform mat3 sheenRoughnessMapTransform;\n\tvarying vec2 vSheenRoughnessMapUv;\n#endif\n#ifdef USE_IRIDESCENCEMAP\n\tuniform mat3 iridescenceMapTransform;\n\tvarying vec2 vIridescenceMapUv;\n#endif\n#ifdef USE_IRIDESCENCE_THICKNESSMAP\n\tuniform mat3 iridescenceThicknessMapTransform;\n\tvarying vec2 vIridescenceThicknessMapUv;\n#endif\n#ifdef USE_SPECULARMAP\n\tuniform mat3 specularMapTransform;\n\tvarying vec2 vSpecularMapUv;\n#endif\n#ifdef USE_SPECULAR_COLORMAP\n\tuniform mat3 specularColorMapTransform;\n\tvarying vec2 vSpecularColorMapUv;\n#endif\n#ifdef USE_SPECULAR_INTENSITYMAP\n\tuniform mat3 specularIntensityMapTransform;\n\tvarying vec2 vSpecularIntensityMapUv;\n#endif\n#ifdef USE_TRANSMISSIONMAP\n\tuniform mat3 transmissionMapTransform;\n\tvarying vec2 vTransmissionMapUv;\n#endif\n#ifdef USE_THICKNESSMAP\n\tuniform mat3 thicknessMapTransform;\n\tvarying vec2 vThicknessMapUv;\n#endif"; + +var uv_vertex = "#if defined( USE_UV ) || defined( USE_ANISOTROPY )\n\tvUv = vec3( uv, 1 ).xy;\n#endif\n#ifdef USE_MAP\n\tvMapUv = ( mapTransform * vec3( MAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_ALPHAMAP\n\tvAlphaMapUv = ( alphaMapTransform * vec3( ALPHAMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_LIGHTMAP\n\tvLightMapUv = ( lightMapTransform * vec3( LIGHTMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_AOMAP\n\tvAoMapUv = ( aoMapTransform * vec3( AOMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_BUMPMAP\n\tvBumpMapUv = ( bumpMapTransform * vec3( BUMPMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_NORMALMAP\n\tvNormalMapUv = ( normalMapTransform * vec3( NORMALMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_DISPLACEMENTMAP\n\tvDisplacementMapUv = ( displacementMapTransform * vec3( DISPLACEMENTMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_EMISSIVEMAP\n\tvEmissiveMapUv = ( emissiveMapTransform * vec3( EMISSIVEMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_METALNESSMAP\n\tvMetalnessMapUv = ( metalnessMapTransform * vec3( METALNESSMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_ROUGHNESSMAP\n\tvRoughnessMapUv = ( roughnessMapTransform * vec3( ROUGHNESSMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_ANISOTROPYMAP\n\tvAnisotropyMapUv = ( anisotropyMapTransform * vec3( ANISOTROPYMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_CLEARCOATMAP\n\tvClearcoatMapUv = ( clearcoatMapTransform * vec3( CLEARCOATMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_CLEARCOAT_NORMALMAP\n\tvClearcoatNormalMapUv = ( clearcoatNormalMapTransform * vec3( CLEARCOAT_NORMALMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_CLEARCOAT_ROUGHNESSMAP\n\tvClearcoatRoughnessMapUv = ( clearcoatRoughnessMapTransform * vec3( CLEARCOAT_ROUGHNESSMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_IRIDESCENCEMAP\n\tvIridescenceMapUv = ( iridescenceMapTransform * vec3( IRIDESCENCEMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_IRIDESCENCE_THICKNESSMAP\n\tvIridescenceThicknessMapUv = ( iridescenceThicknessMapTransform * vec3( IRIDESCENCE_THICKNESSMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_SHEEN_COLORMAP\n\tvSheenColorMapUv = ( sheenColorMapTransform * vec3( SHEEN_COLORMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_SHEEN_ROUGHNESSMAP\n\tvSheenRoughnessMapUv = ( sheenRoughnessMapTransform * vec3( SHEEN_ROUGHNESSMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_SPECULARMAP\n\tvSpecularMapUv = ( specularMapTransform * vec3( SPECULARMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_SPECULAR_COLORMAP\n\tvSpecularColorMapUv = ( specularColorMapTransform * vec3( SPECULAR_COLORMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_SPECULAR_INTENSITYMAP\n\tvSpecularIntensityMapUv = ( specularIntensityMapTransform * vec3( SPECULAR_INTENSITYMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_TRANSMISSIONMAP\n\tvTransmissionMapUv = ( transmissionMapTransform * vec3( TRANSMISSIONMAP_UV, 1 ) ).xy;\n#endif\n#ifdef USE_THICKNESSMAP\n\tvThicknessMapUv = ( thicknessMapTransform * vec3( THICKNESSMAP_UV, 1 ) ).xy;\n#endif"; + +var worldpos_vertex = "#if defined( USE_ENVMAP ) || defined( DISTANCE ) || defined ( USE_SHADOWMAP ) || defined ( USE_TRANSMISSION ) || NUM_SPOT_LIGHT_COORDS > 0\n\tvec4 worldPosition = vec4( transformed, 1.0 );\n\t#ifdef USE_BATCHING\n\t\tworldPosition = batchingMatrix * worldPosition;\n\t#endif\n\t#ifdef USE_INSTANCING\n\t\tworldPosition = instanceMatrix * worldPosition;\n\t#endif\n\tworldPosition = modelMatrix * worldPosition;\n#endif"; + +const vertex$h = "varying vec2 vUv;\nuniform mat3 uvTransform;\nvoid main() {\n\tvUv = ( uvTransform * vec3( uv, 1 ) ).xy;\n\tgl_Position = vec4( position.xy, 1.0, 1.0 );\n}"; + +const fragment$h = "uniform sampler2D t2D;\nuniform float backgroundIntensity;\nvarying vec2 vUv;\nvoid main() {\n\tvec4 texColor = texture2D( t2D, vUv );\n\t#ifdef DECODE_VIDEO_TEXTURE\n\t\ttexColor = vec4( mix( pow( texColor.rgb * 0.9478672986 + vec3( 0.0521327014 ), vec3( 2.4 ) ), texColor.rgb * 0.0773993808, vec3( lessThanEqual( texColor.rgb, vec3( 0.04045 ) ) ) ), texColor.w );\n\t#endif\n\ttexColor.rgb *= backgroundIntensity;\n\tgl_FragColor = texColor;\n\t#include \n\t#include \n}"; + +const vertex$g = "varying vec3 vWorldDirection;\n#include \nvoid main() {\n\tvWorldDirection = transformDirection( position, modelMatrix );\n\t#include \n\t#include \n\tgl_Position.z = gl_Position.w;\n}"; + +const fragment$g = "#ifdef ENVMAP_TYPE_CUBE\n\tuniform samplerCube envMap;\n#elif defined( ENVMAP_TYPE_CUBE_UV )\n\tuniform sampler2D envMap;\n#endif\nuniform float flipEnvMap;\nuniform float backgroundBlurriness;\nuniform float backgroundIntensity;\nuniform mat3 backgroundRotation;\nvarying vec3 vWorldDirection;\n#include \nvoid main() {\n\t#ifdef ENVMAP_TYPE_CUBE\n\t\tvec4 texColor = textureCube( envMap, backgroundRotation * vec3( flipEnvMap * vWorldDirection.x, vWorldDirection.yz ) );\n\t#elif defined( ENVMAP_TYPE_CUBE_UV )\n\t\tvec4 texColor = textureCubeUV( envMap, backgroundRotation * vWorldDirection, backgroundBlurriness );\n\t#else\n\t\tvec4 texColor = vec4( 0.0, 0.0, 0.0, 1.0 );\n\t#endif\n\ttexColor.rgb *= backgroundIntensity;\n\tgl_FragColor = texColor;\n\t#include \n\t#include \n}"; + +const vertex$f = "varying vec3 vWorldDirection;\n#include \nvoid main() {\n\tvWorldDirection = transformDirection( position, modelMatrix );\n\t#include \n\t#include \n\tgl_Position.z = gl_Position.w;\n}"; + +const fragment$f = "uniform samplerCube tCube;\nuniform float tFlip;\nuniform float opacity;\nvarying vec3 vWorldDirection;\nvoid main() {\n\tvec4 texColor = textureCube( tCube, vec3( tFlip * vWorldDirection.x, vWorldDirection.yz ) );\n\tgl_FragColor = texColor;\n\tgl_FragColor.a *= opacity;\n\t#include \n\t#include \n}"; + +const vertex$e = "#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvarying vec2 vHighPrecisionZW;\nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#ifdef USE_DISPLACEMENTMAP\n\t\t#include \n\t\t#include \n\t\t#include \n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvHighPrecisionZW = gl_Position.zw;\n}"; + +const fragment$e = "#if DEPTH_PACKING == 3200\n\tuniform float opacity;\n#endif\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvarying vec2 vHighPrecisionZW;\nvoid main() {\n\tvec4 diffuseColor = vec4( 1.0 );\n\t#include \n\t#if DEPTH_PACKING == 3200\n\t\tdiffuseColor.a = opacity;\n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#ifdef USE_REVERSED_DEPTH_BUFFER\n\t\tfloat fragCoordZ = vHighPrecisionZW[ 0 ] / vHighPrecisionZW[ 1 ];\n\t#else\n\t\tfloat fragCoordZ = 0.5 * vHighPrecisionZW[ 0 ] / vHighPrecisionZW[ 1 ] + 0.5;\n\t#endif\n\t#if DEPTH_PACKING == 3200\n\t\tgl_FragColor = vec4( vec3( 1.0 - fragCoordZ ), opacity );\n\t#elif DEPTH_PACKING == 3201\n\t\tgl_FragColor = packDepthToRGBA( fragCoordZ );\n\t#elif DEPTH_PACKING == 3202\n\t\tgl_FragColor = vec4( packDepthToRGB( fragCoordZ ), 1.0 );\n\t#elif DEPTH_PACKING == 3203\n\t\tgl_FragColor = vec4( packDepthToRG( fragCoordZ ), 0.0, 1.0 );\n\t#endif\n}"; + +const vertex$d = "#define DISTANCE\nvarying vec3 vWorldPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#ifdef USE_DISPLACEMENTMAP\n\t\t#include \n\t\t#include \n\t\t#include \n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvWorldPosition = worldPosition.xyz;\n}"; + +const fragment$d = "#define DISTANCE\nuniform vec3 referencePosition;\nuniform float nearDistance;\nuniform float farDistance;\nvarying vec3 vWorldPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main () {\n\tvec4 diffuseColor = vec4( 1.0 );\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tfloat dist = length( vWorldPosition - referencePosition );\n\tdist = ( dist - nearDistance ) / ( farDistance - nearDistance );\n\tdist = saturate( dist );\n\tgl_FragColor = vec4( dist, 0.0, 0.0, 1.0 );\n}"; + +const vertex$c = "varying vec3 vWorldDirection;\n#include \nvoid main() {\n\tvWorldDirection = transformDirection( position, modelMatrix );\n\t#include \n\t#include \n}"; + +const fragment$c = "uniform sampler2D tEquirect;\nvarying vec3 vWorldDirection;\n#include \nvoid main() {\n\tvec3 direction = normalize( vWorldDirection );\n\tvec2 sampleUV = equirectUv( direction );\n\tgl_FragColor = texture2D( tEquirect, sampleUV );\n\t#include \n\t#include \n}"; + +const vertex$b = "uniform float scale;\nattribute float lineDistance;\nvarying float vLineDistance;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\tvLineDistance = scale * lineDistance;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const fragment$b = "uniform vec3 diffuse;\nuniform float opacity;\nuniform float dashSize;\nuniform float totalSize;\nvarying float vLineDistance;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\tif ( mod( vLineDistance, totalSize ) > dashSize ) {\n\t\tdiscard;\n\t}\n\tvec3 outgoingLight = vec3( 0.0 );\n\t#include \n\t#include \n\t#include \n\toutgoingLight = diffuseColor.rgb;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const vertex$a = "#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#if defined ( USE_ENVMAP ) || defined ( USE_SKINNING )\n\t\t#include \n\t\t#include \n\t\t#include \n\t\t#include \n\t\t#include \n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const fragment$a = "uniform vec3 diffuse;\nuniform float opacity;\n#ifndef FLAT_SHADED\n\tvarying vec3 vNormal;\n#endif\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\n\t#ifdef USE_LIGHTMAP\n\t\tvec4 lightMapTexel = texture2D( lightMap, vLightMapUv );\n\t\treflectedLight.indirectDiffuse += lightMapTexel.rgb * lightMapIntensity * RECIPROCAL_PI;\n\t#else\n\t\treflectedLight.indirectDiffuse += vec3( 1.0 );\n\t#endif\n\t#include \n\treflectedLight.indirectDiffuse *= diffuseColor.rgb;\n\tvec3 outgoingLight = reflectedLight.indirectDiffuse;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const vertex$9 = "#define LAMBERT\nvarying vec3 vViewPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvViewPosition = - mvPosition.xyz;\n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const fragment$9 = "#define LAMBERT\nuniform vec3 diffuse;\nuniform vec3 emissive;\nuniform float opacity;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\n\tvec3 totalEmissiveRadiance = emissive;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvec3 outgoingLight = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse + totalEmissiveRadiance;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const vertex$8 = "#define MATCAP\nvarying vec3 vViewPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvViewPosition = - mvPosition.xyz;\n}"; + +const fragment$8 = "#define MATCAP\nuniform vec3 diffuse;\nuniform float opacity;\nuniform sampler2D matcap;\nvarying vec3 vViewPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvec3 viewDir = normalize( vViewPosition );\n\tvec3 x = normalize( vec3( viewDir.z, 0.0, - viewDir.x ) );\n\tvec3 y = cross( viewDir, x );\n\tvec2 uv = vec2( dot( x, normal ), dot( y, normal ) ) * 0.495 + 0.5;\n\t#ifdef USE_MATCAP\n\t\tvec4 matcapColor = texture2D( matcap, uv );\n\t#else\n\t\tvec4 matcapColor = vec4( vec3( mix( 0.2, 0.8, uv.y ) ), 1.0 );\n\t#endif\n\tvec3 outgoingLight = diffuseColor.rgb * matcapColor.rgb;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const vertex$7 = "#define NORMAL\n#if defined( FLAT_SHADED ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP_TANGENTSPACE )\n\tvarying vec3 vViewPosition;\n#endif\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n#if defined( FLAT_SHADED ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP_TANGENTSPACE )\n\tvViewPosition = - mvPosition.xyz;\n#endif\n}"; + +const fragment$7 = "#define NORMAL\nuniform float opacity;\n#if defined( FLAT_SHADED ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP_TANGENTSPACE )\n\tvarying vec3 vViewPosition;\n#endif\n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\tvec4 diffuseColor = vec4( 0.0, 0.0, 0.0, opacity );\n\t#include \n\t#include \n\t#include \n\t#include \n\tgl_FragColor = vec4( normalize( normal ) * 0.5 + 0.5, diffuseColor.a );\n\t#ifdef OPAQUE\n\t\tgl_FragColor.a = 1.0;\n\t#endif\n}"; + +const vertex$6 = "#define PHONG\nvarying vec3 vViewPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvViewPosition = - mvPosition.xyz;\n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const fragment$6 = "#define PHONG\nuniform vec3 diffuse;\nuniform vec3 emissive;\nuniform vec3 specular;\nuniform float shininess;\nuniform float opacity;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\n\tvec3 totalEmissiveRadiance = emissive;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvec3 outgoingLight = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse + reflectedLight.directSpecular + reflectedLight.indirectSpecular + totalEmissiveRadiance;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const vertex$5 = "#define STANDARD\nvarying vec3 vViewPosition;\n#ifdef USE_TRANSMISSION\n\tvarying vec3 vWorldPosition;\n#endif\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvViewPosition = - mvPosition.xyz;\n\t#include \n\t#include \n\t#include \n#ifdef USE_TRANSMISSION\n\tvWorldPosition = worldPosition.xyz;\n#endif\n}"; + +const fragment$5 = "#define STANDARD\n#ifdef PHYSICAL\n\t#define IOR\n\t#define USE_SPECULAR\n#endif\nuniform vec3 diffuse;\nuniform vec3 emissive;\nuniform float roughness;\nuniform float metalness;\nuniform float opacity;\n#ifdef IOR\n\tuniform float ior;\n#endif\n#ifdef USE_SPECULAR\n\tuniform float specularIntensity;\n\tuniform vec3 specularColor;\n\t#ifdef USE_SPECULAR_COLORMAP\n\t\tuniform sampler2D specularColorMap;\n\t#endif\n\t#ifdef USE_SPECULAR_INTENSITYMAP\n\t\tuniform sampler2D specularIntensityMap;\n\t#endif\n#endif\n#ifdef USE_CLEARCOAT\n\tuniform float clearcoat;\n\tuniform float clearcoatRoughness;\n#endif\n#ifdef USE_DISPERSION\n\tuniform float dispersion;\n#endif\n#ifdef USE_IRIDESCENCE\n\tuniform float iridescence;\n\tuniform float iridescenceIOR;\n\tuniform float iridescenceThicknessMinimum;\n\tuniform float iridescenceThicknessMaximum;\n#endif\n#ifdef USE_SHEEN\n\tuniform vec3 sheenColor;\n\tuniform float sheenRoughness;\n\t#ifdef USE_SHEEN_COLORMAP\n\t\tuniform sampler2D sheenColorMap;\n\t#endif\n\t#ifdef USE_SHEEN_ROUGHNESSMAP\n\t\tuniform sampler2D sheenRoughnessMap;\n\t#endif\n#endif\n#ifdef USE_ANISOTROPY\n\tuniform vec2 anisotropyVector;\n\t#ifdef USE_ANISOTROPYMAP\n\t\tuniform sampler2D anisotropyMap;\n\t#endif\n#endif\nvarying vec3 vViewPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\n\tvec3 totalEmissiveRadiance = emissive;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvec3 totalDiffuse = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse;\n\tvec3 totalSpecular = reflectedLight.directSpecular + reflectedLight.indirectSpecular;\n\t#include \n\tvec3 outgoingLight = totalDiffuse + totalSpecular + totalEmissiveRadiance;\n\t#ifdef USE_SHEEN\n \n\t\toutgoingLight = outgoingLight + sheenSpecularDirect + sheenSpecularIndirect;\n \n \t#endif\n\t#ifdef USE_CLEARCOAT\n\t\tfloat dotNVcc = saturate( dot( geometryClearcoatNormal, geometryViewDir ) );\n\t\tvec3 Fcc = F_Schlick( material.clearcoatF0, material.clearcoatF90, dotNVcc );\n\t\toutgoingLight = outgoingLight * ( 1.0 - material.clearcoat * Fcc ) + ( clearcoatSpecularDirect + clearcoatSpecularIndirect ) * material.clearcoat;\n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const vertex$4 = "#define TOON\nvarying vec3 vViewPosition;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvViewPosition = - mvPosition.xyz;\n\t#include \n\t#include \n\t#include \n}"; + +const fragment$4 = "#define TOON\nuniform vec3 diffuse;\nuniform vec3 emissive;\nuniform float opacity;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\n\tvec3 totalEmissiveRadiance = emissive;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tvec3 outgoingLight = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse + totalEmissiveRadiance;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const vertex$3 = "uniform float size;\nuniform float scale;\n#include \n#include \n#include \n#include \n#include \n#include \n#ifdef USE_POINTS_UV\n\tvarying vec2 vUv;\n\tuniform mat3 uvTransform;\n#endif\nvoid main() {\n\t#ifdef USE_POINTS_UV\n\t\tvUv = ( uvTransform * vec3( uv, 1 ) ).xy;\n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\tgl_PointSize = size;\n\t#ifdef USE_SIZEATTENUATION\n\t\tbool isPerspective = isPerspectiveMatrix( projectionMatrix );\n\t\tif ( isPerspective ) gl_PointSize *= ( scale / - mvPosition.z );\n\t#endif\n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const fragment$3 = "uniform vec3 diffuse;\nuniform float opacity;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\tvec3 outgoingLight = vec3( 0.0 );\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\toutgoingLight = diffuseColor.rgb;\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const vertex$2 = "#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const fragment$2 = "uniform vec3 color;\nuniform float opacity;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tgl_FragColor = vec4( color, opacity * ( 1.0 - getShadowMask() ) );\n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const vertex$1 = "uniform float rotation;\nuniform vec2 center;\n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\t#include \n\tvec4 mvPosition = modelViewMatrix[ 3 ];\n\tvec2 scale = vec2( length( modelMatrix[ 0 ].xyz ), length( modelMatrix[ 1 ].xyz ) );\n\t#ifndef USE_SIZEATTENUATION\n\t\tbool isPerspective = isPerspectiveMatrix( projectionMatrix );\n\t\tif ( isPerspective ) scale *= - mvPosition.z;\n\t#endif\n\tvec2 alignedPosition = ( position.xy - ( center - vec2( 0.5 ) ) ) * scale;\n\tvec2 rotatedPosition;\n\trotatedPosition.x = cos( rotation ) * alignedPosition.x - sin( rotation ) * alignedPosition.y;\n\trotatedPosition.y = sin( rotation ) * alignedPosition.x + cos( rotation ) * alignedPosition.y;\n\tmvPosition.xy += rotatedPosition;\n\tgl_Position = projectionMatrix * mvPosition;\n\t#include \n\t#include \n\t#include \n}"; + +const fragment$1 = "uniform vec3 diffuse;\nuniform float opacity;\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \nvoid main() {\n\tvec4 diffuseColor = vec4( diffuse, opacity );\n\t#include \n\tvec3 outgoingLight = vec3( 0.0 );\n\t#include \n\t#include \n\t#include \n\t#include \n\t#include \n\toutgoingLight = diffuseColor.rgb;\n\t#include \n\t#include \n\t#include \n\t#include \n}"; + +const ShaderChunk = { + alphahash_fragment: alphahash_fragment, + alphahash_pars_fragment: alphahash_pars_fragment, + alphamap_fragment: alphamap_fragment, + alphamap_pars_fragment: alphamap_pars_fragment, + alphatest_fragment: alphatest_fragment, + alphatest_pars_fragment: alphatest_pars_fragment, + aomap_fragment: aomap_fragment, + aomap_pars_fragment: aomap_pars_fragment, + batching_pars_vertex: batching_pars_vertex, + batching_vertex: batching_vertex, + begin_vertex: begin_vertex, + beginnormal_vertex: beginnormal_vertex, + bsdfs: bsdfs, + iridescence_fragment: iridescence_fragment, + bumpmap_pars_fragment: bumpmap_pars_fragment, + clipping_planes_fragment: clipping_planes_fragment, + clipping_planes_pars_fragment: clipping_planes_pars_fragment, + clipping_planes_pars_vertex: clipping_planes_pars_vertex, + clipping_planes_vertex: clipping_planes_vertex, + color_fragment: color_fragment, + color_pars_fragment: color_pars_fragment, + color_pars_vertex: color_pars_vertex, + color_vertex: color_vertex, + common: common, + cube_uv_reflection_fragment: cube_uv_reflection_fragment, + defaultnormal_vertex: defaultnormal_vertex, + displacementmap_pars_vertex: displacementmap_pars_vertex, + displacementmap_vertex: displacementmap_vertex, + emissivemap_fragment: emissivemap_fragment, + emissivemap_pars_fragment: emissivemap_pars_fragment, + colorspace_fragment: colorspace_fragment, + colorspace_pars_fragment: colorspace_pars_fragment, + envmap_fragment: envmap_fragment, + envmap_common_pars_fragment: envmap_common_pars_fragment, + envmap_pars_fragment: envmap_pars_fragment, + envmap_pars_vertex: envmap_pars_vertex, + envmap_physical_pars_fragment: envmap_physical_pars_fragment, + envmap_vertex: envmap_vertex, + fog_vertex: fog_vertex, + fog_pars_vertex: fog_pars_vertex, + fog_fragment: fog_fragment, + fog_pars_fragment: fog_pars_fragment, + gradientmap_pars_fragment: gradientmap_pars_fragment, + lightmap_pars_fragment: lightmap_pars_fragment, + lights_lambert_fragment: lights_lambert_fragment, + lights_lambert_pars_fragment: lights_lambert_pars_fragment, + lights_pars_begin: lights_pars_begin, + lights_toon_fragment: lights_toon_fragment, + lights_toon_pars_fragment: lights_toon_pars_fragment, + lights_phong_fragment: lights_phong_fragment, + lights_phong_pars_fragment: lights_phong_pars_fragment, + lights_physical_fragment: lights_physical_fragment, + lights_physical_pars_fragment: lights_physical_pars_fragment, + lights_fragment_begin: lights_fragment_begin, + lights_fragment_maps: lights_fragment_maps, + lights_fragment_end: lights_fragment_end, + logdepthbuf_fragment: logdepthbuf_fragment, + logdepthbuf_pars_fragment: logdepthbuf_pars_fragment, + logdepthbuf_pars_vertex: logdepthbuf_pars_vertex, + logdepthbuf_vertex: logdepthbuf_vertex, + map_fragment: map_fragment, + map_pars_fragment: map_pars_fragment, + map_particle_fragment: map_particle_fragment, + map_particle_pars_fragment: map_particle_pars_fragment, + metalnessmap_fragment: metalnessmap_fragment, + metalnessmap_pars_fragment: metalnessmap_pars_fragment, + morphinstance_vertex: morphinstance_vertex, + morphcolor_vertex: morphcolor_vertex, + morphnormal_vertex: morphnormal_vertex, + morphtarget_pars_vertex: morphtarget_pars_vertex, + morphtarget_vertex: morphtarget_vertex, + normal_fragment_begin: normal_fragment_begin, + normal_fragment_maps: normal_fragment_maps, + normal_pars_fragment: normal_pars_fragment, + normal_pars_vertex: normal_pars_vertex, + normal_vertex: normal_vertex, + normalmap_pars_fragment: normalmap_pars_fragment, + clearcoat_normal_fragment_begin: clearcoat_normal_fragment_begin, + clearcoat_normal_fragment_maps: clearcoat_normal_fragment_maps, + clearcoat_pars_fragment: clearcoat_pars_fragment, + iridescence_pars_fragment: iridescence_pars_fragment, + opaque_fragment: opaque_fragment, + packing: packing, + premultiplied_alpha_fragment: premultiplied_alpha_fragment, + project_vertex: project_vertex, + dithering_fragment: dithering_fragment, + dithering_pars_fragment: dithering_pars_fragment, + roughnessmap_fragment: roughnessmap_fragment, + roughnessmap_pars_fragment: roughnessmap_pars_fragment, + shadowmap_pars_fragment: shadowmap_pars_fragment, + shadowmap_pars_vertex: shadowmap_pars_vertex, + shadowmap_vertex: shadowmap_vertex, + shadowmask_pars_fragment: shadowmask_pars_fragment, + skinbase_vertex: skinbase_vertex, + skinning_pars_vertex: skinning_pars_vertex, + skinning_vertex: skinning_vertex, + skinnormal_vertex: skinnormal_vertex, + specularmap_fragment: specularmap_fragment, + specularmap_pars_fragment: specularmap_pars_fragment, + tonemapping_fragment: tonemapping_fragment, + tonemapping_pars_fragment: tonemapping_pars_fragment, + transmission_fragment: transmission_fragment, + transmission_pars_fragment: transmission_pars_fragment, + uv_pars_fragment: uv_pars_fragment, + uv_pars_vertex: uv_pars_vertex, + uv_vertex: uv_vertex, + worldpos_vertex: worldpos_vertex, + + background_vert: vertex$h, + background_frag: fragment$h, + backgroundCube_vert: vertex$g, + backgroundCube_frag: fragment$g, + cube_vert: vertex$f, + cube_frag: fragment$f, + depth_vert: vertex$e, + depth_frag: fragment$e, + distance_vert: vertex$d, + distance_frag: fragment$d, + equirect_vert: vertex$c, + equirect_frag: fragment$c, + linedashed_vert: vertex$b, + linedashed_frag: fragment$b, + meshbasic_vert: vertex$a, + meshbasic_frag: fragment$a, + meshlambert_vert: vertex$9, + meshlambert_frag: fragment$9, + meshmatcap_vert: vertex$8, + meshmatcap_frag: fragment$8, + meshnormal_vert: vertex$7, + meshnormal_frag: fragment$7, + meshphong_vert: vertex$6, + meshphong_frag: fragment$6, + meshphysical_vert: vertex$5, + meshphysical_frag: fragment$5, + meshtoon_vert: vertex$4, + meshtoon_frag: fragment$4, + points_vert: vertex$3, + points_frag: fragment$3, + shadow_vert: vertex$2, + shadow_frag: fragment$2, + sprite_vert: vertex$1, + sprite_frag: fragment$1 +}; + +// Uniforms library for shared webgl shaders +const UniformsLib = { + + common: { + + diffuse: { value: /*@__PURE__*/ new Color( 0xffffff ) }, + opacity: { value: 1.0 }, + + map: { value: null }, + mapTransform: { value: /*@__PURE__*/ new Matrix3() }, + + alphaMap: { value: null }, + alphaMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + + alphaTest: { value: 0 } + + }, + + specularmap: { + + specularMap: { value: null }, + specularMapTransform: { value: /*@__PURE__*/ new Matrix3() } + + }, + + envmap: { + + envMap: { value: null }, + envMapRotation: { value: /*@__PURE__*/ new Matrix3() }, + flipEnvMap: { value: -1 }, + reflectivity: { value: 1.0 }, // basic, lambert, phong + ior: { value: 1.5 }, // physical + refractionRatio: { value: 0.98 }, // basic, lambert, phong + dfgLUT: { value: null } // DFG LUT for physically-based rendering + + }, + + aomap: { + + aoMap: { value: null }, + aoMapIntensity: { value: 1 }, + aoMapTransform: { value: /*@__PURE__*/ new Matrix3() } + + }, + + lightmap: { + + lightMap: { value: null }, + lightMapIntensity: { value: 1 }, + lightMapTransform: { value: /*@__PURE__*/ new Matrix3() } + + }, + + bumpmap: { + + bumpMap: { value: null }, + bumpMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + bumpScale: { value: 1 } + + }, + + normalmap: { + + normalMap: { value: null }, + normalMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + normalScale: { value: /*@__PURE__*/ new Vector2( 1, 1 ) } + + }, + + displacementmap: { + + displacementMap: { value: null }, + displacementMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + displacementScale: { value: 1 }, + displacementBias: { value: 0 } + + }, + + emissivemap: { + + emissiveMap: { value: null }, + emissiveMapTransform: { value: /*@__PURE__*/ new Matrix3() } + + }, + + metalnessmap: { + + metalnessMap: { value: null }, + metalnessMapTransform: { value: /*@__PURE__*/ new Matrix3() } + + }, + + roughnessmap: { + + roughnessMap: { value: null }, + roughnessMapTransform: { value: /*@__PURE__*/ new Matrix3() } + + }, + + gradientmap: { + + gradientMap: { value: null } + + }, + + fog: { + + fogDensity: { value: 0.00025 }, + fogNear: { value: 1 }, + fogFar: { value: 2000 }, + fogColor: { value: /*@__PURE__*/ new Color( 0xffffff ) } + + }, + + lights: { + + ambientLightColor: { value: [] }, + + lightProbe: { value: [] }, + + directionalLights: { value: [], properties: { + direction: {}, + color: {} + } }, + + directionalLightShadows: { value: [], properties: { + shadowIntensity: 1, + shadowBias: {}, + shadowNormalBias: {}, + shadowRadius: {}, + shadowMapSize: {} + } }, + + directionalShadowMatrix: { value: [] }, + + spotLights: { value: [], properties: { + color: {}, + position: {}, + direction: {}, + distance: {}, + coneCos: {}, + penumbraCos: {}, + decay: {} + } }, + + spotLightShadows: { value: [], properties: { + shadowIntensity: 1, + shadowBias: {}, + shadowNormalBias: {}, + shadowRadius: {}, + shadowMapSize: {} + } }, + + spotLightMap: { value: [] }, + spotLightMatrix: { value: [] }, + + pointLights: { value: [], properties: { + color: {}, + position: {}, + decay: {}, + distance: {} + } }, + + pointLightShadows: { value: [], properties: { + shadowIntensity: 1, + shadowBias: {}, + shadowNormalBias: {}, + shadowRadius: {}, + shadowMapSize: {}, + shadowCameraNear: {}, + shadowCameraFar: {} + } }, + + pointShadowMatrix: { value: [] }, + + hemisphereLights: { value: [], properties: { + direction: {}, + skyColor: {}, + groundColor: {} + } }, + + // TODO (abelnation): RectAreaLight BRDF data needs to be moved from example to main src + rectAreaLights: { value: [], properties: { + color: {}, + position: {}, + width: {}, + height: {} + } }, + + ltc_1: { value: null }, + ltc_2: { value: null } + + }, + + points: { + + diffuse: { value: /*@__PURE__*/ new Color( 0xffffff ) }, + opacity: { value: 1.0 }, + size: { value: 1.0 }, + scale: { value: 1.0 }, + map: { value: null }, + alphaMap: { value: null }, + alphaMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + alphaTest: { value: 0 }, + uvTransform: { value: /*@__PURE__*/ new Matrix3() } + + }, + + sprite: { + + diffuse: { value: /*@__PURE__*/ new Color( 0xffffff ) }, + opacity: { value: 1.0 }, + center: { value: /*@__PURE__*/ new Vector2( 0.5, 0.5 ) }, + rotation: { value: 0.0 }, + map: { value: null }, + mapTransform: { value: /*@__PURE__*/ new Matrix3() }, + alphaMap: { value: null }, + alphaMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + alphaTest: { value: 0 } + + } + +}; + +const ShaderLib = { + + basic: { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + UniformsLib.common, + UniformsLib.specularmap, + UniformsLib.envmap, + UniformsLib.aomap, + UniformsLib.lightmap, + UniformsLib.fog + ] ), + + vertexShader: ShaderChunk.meshbasic_vert, + fragmentShader: ShaderChunk.meshbasic_frag + + }, + + lambert: { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + UniformsLib.common, + UniformsLib.specularmap, + UniformsLib.envmap, + UniformsLib.aomap, + UniformsLib.lightmap, + UniformsLib.emissivemap, + UniformsLib.bumpmap, + UniformsLib.normalmap, + UniformsLib.displacementmap, + UniformsLib.fog, + UniformsLib.lights, + { + emissive: { value: /*@__PURE__*/ new Color( 0x000000 ) }, + envMapIntensity: { value: 1 } + } + ] ), + + vertexShader: ShaderChunk.meshlambert_vert, + fragmentShader: ShaderChunk.meshlambert_frag + + }, + + phong: { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + UniformsLib.common, + UniformsLib.specularmap, + UniformsLib.envmap, + UniformsLib.aomap, + UniformsLib.lightmap, + UniformsLib.emissivemap, + UniformsLib.bumpmap, + UniformsLib.normalmap, + UniformsLib.displacementmap, + UniformsLib.fog, + UniformsLib.lights, + { + emissive: { value: /*@__PURE__*/ new Color( 0x000000 ) }, + specular: { value: /*@__PURE__*/ new Color( 0x111111 ) }, + shininess: { value: 30 }, + envMapIntensity: { value: 1 } + } + ] ), + + vertexShader: ShaderChunk.meshphong_vert, + fragmentShader: ShaderChunk.meshphong_frag + + }, + + standard: { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + UniformsLib.common, + UniformsLib.envmap, + UniformsLib.aomap, + UniformsLib.lightmap, + UniformsLib.emissivemap, + UniformsLib.bumpmap, + UniformsLib.normalmap, + UniformsLib.displacementmap, + UniformsLib.roughnessmap, + UniformsLib.metalnessmap, + UniformsLib.fog, + UniformsLib.lights, + { + emissive: { value: /*@__PURE__*/ new Color( 0x000000 ) }, + roughness: { value: 1.0 }, + metalness: { value: 0.0 }, + envMapIntensity: { value: 1 } + } + ] ), + + vertexShader: ShaderChunk.meshphysical_vert, + fragmentShader: ShaderChunk.meshphysical_frag + + }, + + toon: { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + UniformsLib.common, + UniformsLib.aomap, + UniformsLib.lightmap, + UniformsLib.emissivemap, + UniformsLib.bumpmap, + UniformsLib.normalmap, + UniformsLib.displacementmap, + UniformsLib.gradientmap, + UniformsLib.fog, + UniformsLib.lights, + { + emissive: { value: /*@__PURE__*/ new Color( 0x000000 ) } + } + ] ), + + vertexShader: ShaderChunk.meshtoon_vert, + fragmentShader: ShaderChunk.meshtoon_frag + + }, + + matcap: { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + UniformsLib.common, + UniformsLib.bumpmap, + UniformsLib.normalmap, + UniformsLib.displacementmap, + UniformsLib.fog, + { + matcap: { value: null } + } + ] ), + + vertexShader: ShaderChunk.meshmatcap_vert, + fragmentShader: ShaderChunk.meshmatcap_frag + + }, + + points: { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + UniformsLib.points, + UniformsLib.fog + ] ), + + vertexShader: ShaderChunk.points_vert, + fragmentShader: ShaderChunk.points_frag + + }, + + dashed: { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + UniformsLib.common, + UniformsLib.fog, + { + scale: { value: 1 }, + dashSize: { value: 1 }, + totalSize: { value: 2 } + } + ] ), + + vertexShader: ShaderChunk.linedashed_vert, + fragmentShader: ShaderChunk.linedashed_frag + + }, + + depth: { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + UniformsLib.common, + UniformsLib.displacementmap + ] ), + + vertexShader: ShaderChunk.depth_vert, + fragmentShader: ShaderChunk.depth_frag + + }, + + normal: { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + UniformsLib.common, + UniformsLib.bumpmap, + UniformsLib.normalmap, + UniformsLib.displacementmap, + { + opacity: { value: 1.0 } + } + ] ), + + vertexShader: ShaderChunk.meshnormal_vert, + fragmentShader: ShaderChunk.meshnormal_frag + + }, + + sprite: { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + UniformsLib.sprite, + UniformsLib.fog + ] ), + + vertexShader: ShaderChunk.sprite_vert, + fragmentShader: ShaderChunk.sprite_frag + + }, + + background: { + + uniforms: { + uvTransform: { value: /*@__PURE__*/ new Matrix3() }, + t2D: { value: null }, + backgroundIntensity: { value: 1 } + }, + + vertexShader: ShaderChunk.background_vert, + fragmentShader: ShaderChunk.background_frag + + }, + + backgroundCube: { + + uniforms: { + envMap: { value: null }, + flipEnvMap: { value: -1 }, + backgroundBlurriness: { value: 0 }, + backgroundIntensity: { value: 1 }, + backgroundRotation: { value: /*@__PURE__*/ new Matrix3() } + }, + + vertexShader: ShaderChunk.backgroundCube_vert, + fragmentShader: ShaderChunk.backgroundCube_frag + + }, + + cube: { + + uniforms: { + tCube: { value: null }, + tFlip: { value: -1 }, + opacity: { value: 1.0 } + }, + + vertexShader: ShaderChunk.cube_vert, + fragmentShader: ShaderChunk.cube_frag + + }, + + equirect: { + + uniforms: { + tEquirect: { value: null }, + }, + + vertexShader: ShaderChunk.equirect_vert, + fragmentShader: ShaderChunk.equirect_frag + + }, + + distance: { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + UniformsLib.common, + UniformsLib.displacementmap, + { + referencePosition: { value: /*@__PURE__*/ new Vector3() }, + nearDistance: { value: 1 }, + farDistance: { value: 1000 } + } + ] ), + + vertexShader: ShaderChunk.distance_vert, + fragmentShader: ShaderChunk.distance_frag + + }, + + shadow: { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + UniformsLib.lights, + UniformsLib.fog, + { + color: { value: /*@__PURE__*/ new Color( 0x00000 ) }, + opacity: { value: 1.0 } + }, + ] ), + + vertexShader: ShaderChunk.shadow_vert, + fragmentShader: ShaderChunk.shadow_frag + + } + +}; + +ShaderLib.physical = { + + uniforms: /*@__PURE__*/ mergeUniforms( [ + ShaderLib.standard.uniforms, + { + clearcoat: { value: 0 }, + clearcoatMap: { value: null }, + clearcoatMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + clearcoatNormalMap: { value: null }, + clearcoatNormalMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + clearcoatNormalScale: { value: /*@__PURE__*/ new Vector2( 1, 1 ) }, + clearcoatRoughness: { value: 0 }, + clearcoatRoughnessMap: { value: null }, + clearcoatRoughnessMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + dispersion: { value: 0 }, + iridescence: { value: 0 }, + iridescenceMap: { value: null }, + iridescenceMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + iridescenceIOR: { value: 1.3 }, + iridescenceThicknessMinimum: { value: 100 }, + iridescenceThicknessMaximum: { value: 400 }, + iridescenceThicknessMap: { value: null }, + iridescenceThicknessMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + sheen: { value: 0 }, + sheenColor: { value: /*@__PURE__*/ new Color( 0x000000 ) }, + sheenColorMap: { value: null }, + sheenColorMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + sheenRoughness: { value: 1 }, + sheenRoughnessMap: { value: null }, + sheenRoughnessMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + transmission: { value: 0 }, + transmissionMap: { value: null }, + transmissionMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + transmissionSamplerSize: { value: /*@__PURE__*/ new Vector2() }, + transmissionSamplerMap: { value: null }, + thickness: { value: 0 }, + thicknessMap: { value: null }, + thicknessMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + attenuationDistance: { value: 0 }, + attenuationColor: { value: /*@__PURE__*/ new Color( 0x000000 ) }, + specularColor: { value: /*@__PURE__*/ new Color( 1, 1, 1 ) }, + specularColorMap: { value: null }, + specularColorMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + specularIntensity: { value: 1 }, + specularIntensityMap: { value: null }, + specularIntensityMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + anisotropyVector: { value: /*@__PURE__*/ new Vector2() }, + anisotropyMap: { value: null }, + anisotropyMapTransform: { value: /*@__PURE__*/ new Matrix3() }, + } + ] ), + + vertexShader: ShaderChunk.meshphysical_vert, + fragmentShader: ShaderChunk.meshphysical_frag + +}; + +const _rgb = { r: 0, b: 0, g: 0 }; +const _e1$1 = /*@__PURE__*/ new Euler(); +const _m1$1 = /*@__PURE__*/ new Matrix4(); + +function WebGLBackground( renderer, environments, state, objects, alpha, premultipliedAlpha ) { + + const clearColor = new Color( 0x000000 ); + let clearAlpha = alpha === true ? 0 : 1; + + let planeMesh; + let boxMesh; + + let currentBackground = null; + let currentBackgroundVersion = 0; + let currentTonemapping = null; + + function getBackground( scene ) { + + let background = scene.isScene === true ? scene.background : null; + + if ( background && background.isTexture ) { + + const usePMREM = scene.backgroundBlurriness > 0; // use PMREM if the user wants to blur the background + background = environments.get( background, usePMREM ); + + } + + return background; + + } + + function render( scene ) { + + let forceClear = false; + const background = getBackground( scene ); + + if ( background === null ) { + + setClear( clearColor, clearAlpha ); + + } else if ( background && background.isColor ) { + + setClear( background, 1 ); + forceClear = true; + + } + + const environmentBlendMode = renderer.xr.getEnvironmentBlendMode(); + + if ( environmentBlendMode === 'additive' ) { + + state.buffers.color.setClear( 0, 0, 0, 1, premultipliedAlpha ); + + } else if ( environmentBlendMode === 'alpha-blend' ) { + + state.buffers.color.setClear( 0, 0, 0, 0, premultipliedAlpha ); + + } + + if ( renderer.autoClear || forceClear ) { + + // buffers might not be writable which is required to ensure a correct clear + + state.buffers.depth.setTest( true ); + state.buffers.depth.setMask( true ); + state.buffers.color.setMask( true ); + + renderer.clear( renderer.autoClearColor, renderer.autoClearDepth, renderer.autoClearStencil ); + + } + + } + + function addToRenderList( renderList, scene ) { + + const background = getBackground( scene ); + + if ( background && ( background.isCubeTexture || background.mapping === CubeUVReflectionMapping ) ) { + + if ( boxMesh === undefined ) { + + boxMesh = new Mesh( + new BoxGeometry( 1, 1, 1 ), + new ShaderMaterial( { + name: 'BackgroundCubeMaterial', + uniforms: cloneUniforms( ShaderLib.backgroundCube.uniforms ), + vertexShader: ShaderLib.backgroundCube.vertexShader, + fragmentShader: ShaderLib.backgroundCube.fragmentShader, + side: BackSide, + depthTest: false, + depthWrite: false, + fog: false, + allowOverride: false + } ) + ); + + boxMesh.geometry.deleteAttribute( 'normal' ); + boxMesh.geometry.deleteAttribute( 'uv' ); + + boxMesh.onBeforeRender = function ( renderer, scene, camera ) { + + this.matrixWorld.copyPosition( camera.matrixWorld ); + + }; + + // add "envMap" material property so the renderer can evaluate it like for built-in materials + Object.defineProperty( boxMesh.material, 'envMap', { + + get: function () { + + return this.uniforms.envMap.value; + + } + + } ); + + objects.update( boxMesh ); + + } + + _e1$1.copy( scene.backgroundRotation ); + + // accommodate left-handed frame + _e1$1.x *= -1; _e1$1.y *= -1; _e1$1.z *= -1; + + if ( background.isCubeTexture && background.isRenderTargetTexture === false ) { + + // environment maps which are not cube render targets or PMREMs follow a different convention + _e1$1.y *= -1; + _e1$1.z *= -1; + + } + + boxMesh.material.uniforms.envMap.value = background; + boxMesh.material.uniforms.flipEnvMap.value = ( background.isCubeTexture && background.isRenderTargetTexture === false ) ? -1 : 1; + boxMesh.material.uniforms.backgroundBlurriness.value = scene.backgroundBlurriness; + boxMesh.material.uniforms.backgroundIntensity.value = scene.backgroundIntensity; + boxMesh.material.uniforms.backgroundRotation.value.setFromMatrix4( _m1$1.makeRotationFromEuler( _e1$1 ) ); + boxMesh.material.toneMapped = ColorManagement.getTransfer( background.colorSpace ) !== SRGBTransfer; + + if ( currentBackground !== background || + currentBackgroundVersion !== background.version || + currentTonemapping !== renderer.toneMapping ) { + + boxMesh.material.needsUpdate = true; + + currentBackground = background; + currentBackgroundVersion = background.version; + currentTonemapping = renderer.toneMapping; + + } + + boxMesh.layers.enableAll(); + + // push to the pre-sorted opaque render list + renderList.unshift( boxMesh, boxMesh.geometry, boxMesh.material, 0, 0, null ); + + } else if ( background && background.isTexture ) { + + if ( planeMesh === undefined ) { + + planeMesh = new Mesh( + new PlaneGeometry( 2, 2 ), + new ShaderMaterial( { + name: 'BackgroundMaterial', + uniforms: cloneUniforms( ShaderLib.background.uniforms ), + vertexShader: ShaderLib.background.vertexShader, + fragmentShader: ShaderLib.background.fragmentShader, + side: FrontSide, + depthTest: false, + depthWrite: false, + fog: false, + allowOverride: false + } ) + ); + + planeMesh.geometry.deleteAttribute( 'normal' ); + + // add "map" material property so the renderer can evaluate it like for built-in materials + Object.defineProperty( planeMesh.material, 'map', { + + get: function () { + + return this.uniforms.t2D.value; + + } + + } ); + + objects.update( planeMesh ); + + } + + planeMesh.material.uniforms.t2D.value = background; + planeMesh.material.uniforms.backgroundIntensity.value = scene.backgroundIntensity; + planeMesh.material.toneMapped = ColorManagement.getTransfer( background.colorSpace ) !== SRGBTransfer; + + if ( background.matrixAutoUpdate === true ) { + + background.updateMatrix(); + + } + + planeMesh.material.uniforms.uvTransform.value.copy( background.matrix ); + + if ( currentBackground !== background || + currentBackgroundVersion !== background.version || + currentTonemapping !== renderer.toneMapping ) { + + planeMesh.material.needsUpdate = true; + + currentBackground = background; + currentBackgroundVersion = background.version; + currentTonemapping = renderer.toneMapping; + + } + + planeMesh.layers.enableAll(); + + // push to the pre-sorted opaque render list + renderList.unshift( planeMesh, planeMesh.geometry, planeMesh.material, 0, 0, null ); + + } + + } + + function setClear( color, alpha ) { + + color.getRGB( _rgb, getUnlitUniformColorSpace( renderer ) ); + + state.buffers.color.setClear( _rgb.r, _rgb.g, _rgb.b, alpha, premultipliedAlpha ); + + } + + function dispose() { + + if ( boxMesh !== undefined ) { + + boxMesh.geometry.dispose(); + boxMesh.material.dispose(); + + boxMesh = undefined; + + } + + if ( planeMesh !== undefined ) { + + planeMesh.geometry.dispose(); + planeMesh.material.dispose(); + + planeMesh = undefined; + + } + + } + + return { + + getClearColor: function () { + + return clearColor; + + }, + setClearColor: function ( color, alpha = 1 ) { + + clearColor.set( color ); + clearAlpha = alpha; + setClear( clearColor, clearAlpha ); + + }, + getClearAlpha: function () { + + return clearAlpha; + + }, + setClearAlpha: function ( alpha ) { + + clearAlpha = alpha; + setClear( clearColor, clearAlpha ); + + }, + render: render, + addToRenderList: addToRenderList, + dispose: dispose + + }; + +} + +function WebGLBindingStates( gl, attributes ) { + + const maxVertexAttributes = gl.getParameter( gl.MAX_VERTEX_ATTRIBS ); + + const bindingStates = {}; + + const defaultState = createBindingState( null ); + let currentState = defaultState; + let forceUpdate = false; + + function setup( object, material, program, geometry, index ) { + + let updateBuffers = false; + + const state = getBindingState( object, geometry, program, material ); + + if ( currentState !== state ) { + + currentState = state; + bindVertexArrayObject( currentState.object ); + + } + + updateBuffers = needsUpdate( object, geometry, program, index ); + + if ( updateBuffers ) saveCache( object, geometry, program, index ); + + if ( index !== null ) { + + attributes.update( index, gl.ELEMENT_ARRAY_BUFFER ); + + } + + if ( updateBuffers || forceUpdate ) { + + forceUpdate = false; + + setupVertexAttributes( object, material, program, geometry ); + + if ( index !== null ) { + + gl.bindBuffer( gl.ELEMENT_ARRAY_BUFFER, attributes.get( index ).buffer ); + + } + + } + + } + + function createVertexArrayObject() { + + return gl.createVertexArray(); + + } + + function bindVertexArrayObject( vao ) { + + return gl.bindVertexArray( vao ); + + } + + function deleteVertexArrayObject( vao ) { + + return gl.deleteVertexArray( vao ); + + } + + function getBindingState( object, geometry, program, material ) { + + const wireframe = ( material.wireframe === true ); + + let objectMap = bindingStates[ geometry.id ]; + + if ( objectMap === undefined ) { + + objectMap = {}; + bindingStates[ geometry.id ] = objectMap; + + } + + // Each InstancedMesh requires unique binding states because it contains instanced attributes. + const objectId = ( object.isInstancedMesh === true ) ? object.id : 0; + + let programMap = objectMap[ objectId ]; + + if ( programMap === undefined ) { + + programMap = {}; + objectMap[ objectId ] = programMap; + + } + + let stateMap = programMap[ program.id ]; + + if ( stateMap === undefined ) { + + stateMap = {}; + programMap[ program.id ] = stateMap; + + } + + let state = stateMap[ wireframe ]; + + if ( state === undefined ) { + + state = createBindingState( createVertexArrayObject() ); + stateMap[ wireframe ] = state; + + } + + return state; + + } + + function createBindingState( vao ) { + + const newAttributes = []; + const enabledAttributes = []; + const attributeDivisors = []; + + for ( let i = 0; i < maxVertexAttributes; i ++ ) { + + newAttributes[ i ] = 0; + enabledAttributes[ i ] = 0; + attributeDivisors[ i ] = 0; + + } + + return { + + // for backward compatibility on non-VAO support browser + geometry: null, + program: null, + wireframe: false, + + newAttributes: newAttributes, + enabledAttributes: enabledAttributes, + attributeDivisors: attributeDivisors, + object: vao, + attributes: {}, + index: null + + }; + + } + + function needsUpdate( object, geometry, program, index ) { + + const cachedAttributes = currentState.attributes; + const geometryAttributes = geometry.attributes; + + let attributesNum = 0; + + const programAttributes = program.getAttributes(); + + for ( const name in programAttributes ) { + + const programAttribute = programAttributes[ name ]; + + if ( programAttribute.location >= 0 ) { + + const cachedAttribute = cachedAttributes[ name ]; + let geometryAttribute = geometryAttributes[ name ]; + + if ( geometryAttribute === undefined ) { + + if ( name === 'instanceMatrix' && object.instanceMatrix ) geometryAttribute = object.instanceMatrix; + if ( name === 'instanceColor' && object.instanceColor ) geometryAttribute = object.instanceColor; + + } + + if ( cachedAttribute === undefined ) return true; + + if ( cachedAttribute.attribute !== geometryAttribute ) return true; + + if ( geometryAttribute && cachedAttribute.data !== geometryAttribute.data ) return true; + + attributesNum ++; + + } + + } + + if ( currentState.attributesNum !== attributesNum ) return true; + + if ( currentState.index !== index ) return true; + + return false; + + } + + function saveCache( object, geometry, program, index ) { + + const cache = {}; + const attributes = geometry.attributes; + let attributesNum = 0; + + const programAttributes = program.getAttributes(); + + for ( const name in programAttributes ) { + + const programAttribute = programAttributes[ name ]; + + if ( programAttribute.location >= 0 ) { + + let attribute = attributes[ name ]; + + if ( attribute === undefined ) { + + if ( name === 'instanceMatrix' && object.instanceMatrix ) attribute = object.instanceMatrix; + if ( name === 'instanceColor' && object.instanceColor ) attribute = object.instanceColor; + + } + + const data = {}; + data.attribute = attribute; + + if ( attribute && attribute.data ) { + + data.data = attribute.data; + + } + + cache[ name ] = data; + + attributesNum ++; + + } + + } + + currentState.attributes = cache; + currentState.attributesNum = attributesNum; + + currentState.index = index; + + } + + function initAttributes() { + + const newAttributes = currentState.newAttributes; + + for ( let i = 0, il = newAttributes.length; i < il; i ++ ) { + + newAttributes[ i ] = 0; + + } + + } + + function enableAttribute( attribute ) { + + enableAttributeAndDivisor( attribute, 0 ); + + } + + function enableAttributeAndDivisor( attribute, meshPerAttribute ) { + + const newAttributes = currentState.newAttributes; + const enabledAttributes = currentState.enabledAttributes; + const attributeDivisors = currentState.attributeDivisors; + + newAttributes[ attribute ] = 1; + + if ( enabledAttributes[ attribute ] === 0 ) { + + gl.enableVertexAttribArray( attribute ); + enabledAttributes[ attribute ] = 1; + + } + + if ( attributeDivisors[ attribute ] !== meshPerAttribute ) { + + gl.vertexAttribDivisor( attribute, meshPerAttribute ); + attributeDivisors[ attribute ] = meshPerAttribute; + + } + + } + + function disableUnusedAttributes() { + + const newAttributes = currentState.newAttributes; + const enabledAttributes = currentState.enabledAttributes; + + for ( let i = 0, il = enabledAttributes.length; i < il; i ++ ) { + + if ( enabledAttributes[ i ] !== newAttributes[ i ] ) { + + gl.disableVertexAttribArray( i ); + enabledAttributes[ i ] = 0; + + } + + } + + } + + function vertexAttribPointer( index, size, type, normalized, stride, offset, integer ) { + + if ( integer === true ) { + + gl.vertexAttribIPointer( index, size, type, stride, offset ); + + } else { + + gl.vertexAttribPointer( index, size, type, normalized, stride, offset ); + + } + + } + + function setupVertexAttributes( object, material, program, geometry ) { + + initAttributes(); + + const geometryAttributes = geometry.attributes; + + const programAttributes = program.getAttributes(); + + const materialDefaultAttributeValues = material.defaultAttributeValues; + + for ( const name in programAttributes ) { + + const programAttribute = programAttributes[ name ]; + + if ( programAttribute.location >= 0 ) { + + let geometryAttribute = geometryAttributes[ name ]; + + if ( geometryAttribute === undefined ) { + + if ( name === 'instanceMatrix' && object.instanceMatrix ) geometryAttribute = object.instanceMatrix; + if ( name === 'instanceColor' && object.instanceColor ) geometryAttribute = object.instanceColor; + + } + + if ( geometryAttribute !== undefined ) { + + const normalized = geometryAttribute.normalized; + const size = geometryAttribute.itemSize; + + const attribute = attributes.get( geometryAttribute ); + + // TODO Attribute may not be available on context restore + + if ( attribute === undefined ) continue; + + const buffer = attribute.buffer; + const type = attribute.type; + const bytesPerElement = attribute.bytesPerElement; + + // check for integer attributes + + const integer = ( type === gl.INT || type === gl.UNSIGNED_INT || geometryAttribute.gpuType === IntType ); + + if ( geometryAttribute.isInterleavedBufferAttribute ) { + + const data = geometryAttribute.data; + const stride = data.stride; + const offset = geometryAttribute.offset; + + if ( data.isInstancedInterleavedBuffer ) { + + for ( let i = 0; i < programAttribute.locationSize; i ++ ) { + + enableAttributeAndDivisor( programAttribute.location + i, data.meshPerAttribute ); + + } + + if ( object.isInstancedMesh !== true && geometry._maxInstanceCount === undefined ) { + + geometry._maxInstanceCount = data.meshPerAttribute * data.count; + + } + + } else { + + for ( let i = 0; i < programAttribute.locationSize; i ++ ) { + + enableAttribute( programAttribute.location + i ); + + } + + } + + gl.bindBuffer( gl.ARRAY_BUFFER, buffer ); + + for ( let i = 0; i < programAttribute.locationSize; i ++ ) { + + vertexAttribPointer( + programAttribute.location + i, + size / programAttribute.locationSize, + type, + normalized, + stride * bytesPerElement, + ( offset + ( size / programAttribute.locationSize ) * i ) * bytesPerElement, + integer + ); + + } + + } else { + + if ( geometryAttribute.isInstancedBufferAttribute ) { + + for ( let i = 0; i < programAttribute.locationSize; i ++ ) { + + enableAttributeAndDivisor( programAttribute.location + i, geometryAttribute.meshPerAttribute ); + + } + + if ( object.isInstancedMesh !== true && geometry._maxInstanceCount === undefined ) { + + geometry._maxInstanceCount = geometryAttribute.meshPerAttribute * geometryAttribute.count; + + } + + } else { + + for ( let i = 0; i < programAttribute.locationSize; i ++ ) { + + enableAttribute( programAttribute.location + i ); + + } + + } + + gl.bindBuffer( gl.ARRAY_BUFFER, buffer ); + + for ( let i = 0; i < programAttribute.locationSize; i ++ ) { + + vertexAttribPointer( + programAttribute.location + i, + size / programAttribute.locationSize, + type, + normalized, + size * bytesPerElement, + ( size / programAttribute.locationSize ) * i * bytesPerElement, + integer + ); + + } + + } + + } else if ( materialDefaultAttributeValues !== undefined ) { + + const value = materialDefaultAttributeValues[ name ]; + + if ( value !== undefined ) { + + switch ( value.length ) { + + case 2: + gl.vertexAttrib2fv( programAttribute.location, value ); + break; + + case 3: + gl.vertexAttrib3fv( programAttribute.location, value ); + break; + + case 4: + gl.vertexAttrib4fv( programAttribute.location, value ); + break; + + default: + gl.vertexAttrib1fv( programAttribute.location, value ); + + } + + } + + } + + } + + } + + disableUnusedAttributes(); + + } + + function dispose() { + + reset(); + + for ( const geometryId in bindingStates ) { + + const objectMap = bindingStates[ geometryId ]; + + for ( const objectId in objectMap ) { + + const programMap = objectMap[ objectId ]; + + for ( const programId in programMap ) { + + const stateMap = programMap[ programId ]; + + for ( const wireframe in stateMap ) { + + deleteVertexArrayObject( stateMap[ wireframe ].object ); + + delete stateMap[ wireframe ]; + + } + + delete programMap[ programId ]; + + } + + } + + delete bindingStates[ geometryId ]; + + } + + } + + function releaseStatesOfGeometry( geometry ) { + + if ( bindingStates[ geometry.id ] === undefined ) return; + + const objectMap = bindingStates[ geometry.id ]; + + for ( const objectId in objectMap ) { + + const programMap = objectMap[ objectId ]; + + for ( const programId in programMap ) { + + const stateMap = programMap[ programId ]; + + for ( const wireframe in stateMap ) { + + deleteVertexArrayObject( stateMap[ wireframe ].object ); + + delete stateMap[ wireframe ]; + + } + + delete programMap[ programId ]; + + } + + } + + delete bindingStates[ geometry.id ]; + + } + + function releaseStatesOfProgram( program ) { + + for ( const geometryId in bindingStates ) { + + const objectMap = bindingStates[ geometryId ]; + + for ( const objectId in objectMap ) { + + const programMap = objectMap[ objectId ]; + + if ( programMap[ program.id ] === undefined ) continue; + + const stateMap = programMap[ program.id ]; + + for ( const wireframe in stateMap ) { + + deleteVertexArrayObject( stateMap[ wireframe ].object ); + + delete stateMap[ wireframe ]; + + } + + delete programMap[ program.id ]; + + } + + } + + } + + function releaseStatesOfObject( object ) { + + for ( const geometryId in bindingStates ) { + + const objectMap = bindingStates[ geometryId ]; + + const objectId = ( object.isInstancedMesh === true ) ? object.id : 0; + + const programMap = objectMap[ objectId ]; + + if ( programMap === undefined ) continue; + + for ( const programId in programMap ) { + + const stateMap = programMap[ programId ]; + + for ( const wireframe in stateMap ) { + + deleteVertexArrayObject( stateMap[ wireframe ].object ); + + delete stateMap[ wireframe ]; + + } + + delete programMap[ programId ]; + + } + + delete objectMap[ objectId ]; + + if ( Object.keys( objectMap ).length === 0 ) { + + delete bindingStates[ geometryId ]; + + } + + } + + } + + + function reset() { + + resetDefaultState(); + forceUpdate = true; + + if ( currentState === defaultState ) return; + + currentState = defaultState; + bindVertexArrayObject( currentState.object ); + + } + + // for backward-compatibility + + function resetDefaultState() { + + defaultState.geometry = null; + defaultState.program = null; + defaultState.wireframe = false; + + } + + return { + + setup: setup, + reset: reset, + resetDefaultState: resetDefaultState, + dispose: dispose, + releaseStatesOfGeometry: releaseStatesOfGeometry, + releaseStatesOfObject: releaseStatesOfObject, + releaseStatesOfProgram: releaseStatesOfProgram, + + initAttributes: initAttributes, + enableAttribute: enableAttribute, + disableUnusedAttributes: disableUnusedAttributes + + }; + +} + +function WebGLBufferRenderer( gl, extensions, info ) { + + let mode; + + function setMode( value ) { + + mode = value; + + } + + function render( start, count ) { + + gl.drawArrays( mode, start, count ); + + info.update( count, mode, 1 ); + + } + + function renderInstances( start, count, primcount ) { + + if ( primcount === 0 ) return; + + gl.drawArraysInstanced( mode, start, count, primcount ); + + info.update( count, mode, primcount ); + + } + + function renderMultiDraw( starts, counts, drawCount ) { + + if ( drawCount === 0 ) return; + + const extension = extensions.get( 'WEBGL_multi_draw' ); + extension.multiDrawArraysWEBGL( mode, starts, 0, counts, 0, drawCount ); + + let elementCount = 0; + for ( let i = 0; i < drawCount; i ++ ) { + + elementCount += counts[ i ]; + + } + + info.update( elementCount, mode, 1 ); + + } + + function renderMultiDrawInstances( starts, counts, drawCount, primcount ) { + + if ( drawCount === 0 ) return; + + const extension = extensions.get( 'WEBGL_multi_draw' ); + + if ( extension === null ) { + + for ( let i = 0; i < starts.length; i ++ ) { + + renderInstances( starts[ i ], counts[ i ], primcount[ i ] ); + + } + + } else { + + extension.multiDrawArraysInstancedWEBGL( mode, starts, 0, counts, 0, primcount, 0, drawCount ); + + let elementCount = 0; + for ( let i = 0; i < drawCount; i ++ ) { + + elementCount += counts[ i ] * primcount[ i ]; + + } + + info.update( elementCount, mode, 1 ); + + } + + } + + // + + this.setMode = setMode; + this.render = render; + this.renderInstances = renderInstances; + this.renderMultiDraw = renderMultiDraw; + this.renderMultiDrawInstances = renderMultiDrawInstances; + +} + +function WebGLCapabilities( gl, extensions, parameters, utils ) { + + let maxAnisotropy; + + function getMaxAnisotropy() { + + if ( maxAnisotropy !== undefined ) return maxAnisotropy; + + if ( extensions.has( 'EXT_texture_filter_anisotropic' ) === true ) { + + const extension = extensions.get( 'EXT_texture_filter_anisotropic' ); + + maxAnisotropy = gl.getParameter( extension.MAX_TEXTURE_MAX_ANISOTROPY_EXT ); + + } else { + + maxAnisotropy = 0; + + } + + return maxAnisotropy; + + } + + function textureFormatReadable( textureFormat ) { + + if ( textureFormat !== RGBAFormat && utils.convert( textureFormat ) !== gl.getParameter( gl.IMPLEMENTATION_COLOR_READ_FORMAT ) ) { + + return false; + + } + + return true; + + } + + function textureTypeReadable( textureType ) { + + const halfFloatSupportedByExt = ( textureType === HalfFloatType ) && ( extensions.has( 'EXT_color_buffer_half_float' ) || extensions.has( 'EXT_color_buffer_float' ) ); + + if ( textureType !== UnsignedByteType && utils.convert( textureType ) !== gl.getParameter( gl.IMPLEMENTATION_COLOR_READ_TYPE ) && // Edge and Chrome Mac < 52 (#9513) + textureType !== FloatType && ! halfFloatSupportedByExt ) { + + return false; + + } + + return true; + + } + + function getMaxPrecision( precision ) { + + if ( precision === 'highp' ) { + + if ( gl.getShaderPrecisionFormat( gl.VERTEX_SHADER, gl.HIGH_FLOAT ).precision > 0 && + gl.getShaderPrecisionFormat( gl.FRAGMENT_SHADER, gl.HIGH_FLOAT ).precision > 0 ) { + + return 'highp'; + + } + + precision = 'mediump'; + + } + + if ( precision === 'mediump' ) { + + if ( gl.getShaderPrecisionFormat( gl.VERTEX_SHADER, gl.MEDIUM_FLOAT ).precision > 0 && + gl.getShaderPrecisionFormat( gl.FRAGMENT_SHADER, gl.MEDIUM_FLOAT ).precision > 0 ) { + + return 'mediump'; + + } + + } + + return 'lowp'; + + } + + let precision = parameters.precision !== undefined ? parameters.precision : 'highp'; + const maxPrecision = getMaxPrecision( precision ); + + if ( maxPrecision !== precision ) { + + warn( 'WebGLRenderer:', precision, 'not supported, using', maxPrecision, 'instead.' ); + precision = maxPrecision; + + } + + const logarithmicDepthBuffer = parameters.logarithmicDepthBuffer === true; + const reversedDepthBuffer = parameters.reversedDepthBuffer === true && extensions.has( 'EXT_clip_control' ); + + const maxTextures = gl.getParameter( gl.MAX_TEXTURE_IMAGE_UNITS ); + const maxVertexTextures = gl.getParameter( gl.MAX_VERTEX_TEXTURE_IMAGE_UNITS ); + const maxTextureSize = gl.getParameter( gl.MAX_TEXTURE_SIZE ); + const maxCubemapSize = gl.getParameter( gl.MAX_CUBE_MAP_TEXTURE_SIZE ); + + const maxAttributes = gl.getParameter( gl.MAX_VERTEX_ATTRIBS ); + const maxVertexUniforms = gl.getParameter( gl.MAX_VERTEX_UNIFORM_VECTORS ); + const maxVaryings = gl.getParameter( gl.MAX_VARYING_VECTORS ); + const maxFragmentUniforms = gl.getParameter( gl.MAX_FRAGMENT_UNIFORM_VECTORS ); + + const maxSamples = gl.getParameter( gl.MAX_SAMPLES ); + const samples = gl.getParameter( gl.SAMPLES ); + + return { + + isWebGL2: true, // keeping this for backwards compatibility + + getMaxAnisotropy: getMaxAnisotropy, + getMaxPrecision: getMaxPrecision, + + textureFormatReadable: textureFormatReadable, + textureTypeReadable: textureTypeReadable, + + precision: precision, + logarithmicDepthBuffer: logarithmicDepthBuffer, + reversedDepthBuffer: reversedDepthBuffer, + + maxTextures: maxTextures, + maxVertexTextures: maxVertexTextures, + maxTextureSize: maxTextureSize, + maxCubemapSize: maxCubemapSize, + + maxAttributes: maxAttributes, + maxVertexUniforms: maxVertexUniforms, + maxVaryings: maxVaryings, + maxFragmentUniforms: maxFragmentUniforms, + + maxSamples: maxSamples, + + samples: samples + + }; + +} + +function WebGLClipping( properties ) { + + const scope = this; + + let globalState = null, + numGlobalPlanes = 0, + localClippingEnabled = false, + renderingShadows = false; + + const plane = new Plane(), + viewNormalMatrix = new Matrix3(), + + uniform = { value: null, needsUpdate: false }; + + this.uniform = uniform; + this.numPlanes = 0; + this.numIntersection = 0; + + this.init = function ( planes, enableLocalClipping ) { + + const enabled = + planes.length !== 0 || + enableLocalClipping || + // enable state of previous frame - the clipping code has to + // run another frame in order to reset the state: + numGlobalPlanes !== 0 || + localClippingEnabled; + + localClippingEnabled = enableLocalClipping; + + numGlobalPlanes = planes.length; + + return enabled; + + }; + + this.beginShadows = function () { + + renderingShadows = true; + projectPlanes( null ); + + }; + + this.endShadows = function () { + + renderingShadows = false; + + }; + + this.setGlobalState = function ( planes, camera ) { + + globalState = projectPlanes( planes, camera, 0 ); + + }; + + this.setState = function ( material, camera, useCache ) { + + const planes = material.clippingPlanes, + clipIntersection = material.clipIntersection, + clipShadows = material.clipShadows; + + const materialProperties = properties.get( material ); + + if ( ! localClippingEnabled || planes === null || planes.length === 0 || renderingShadows && ! clipShadows ) { + + // there's no local clipping + + if ( renderingShadows ) { + + // there's no global clipping + + projectPlanes( null ); + + } else { + + resetGlobalState(); + + } + + } else { + + const nGlobal = renderingShadows ? 0 : numGlobalPlanes, + lGlobal = nGlobal * 4; + + let dstArray = materialProperties.clippingState || null; + + uniform.value = dstArray; // ensure unique state + + dstArray = projectPlanes( planes, camera, lGlobal, useCache ); + + for ( let i = 0; i !== lGlobal; ++ i ) { + + dstArray[ i ] = globalState[ i ]; + + } + + materialProperties.clippingState = dstArray; + this.numIntersection = clipIntersection ? this.numPlanes : 0; + this.numPlanes += nGlobal; + + } + + + }; + + function resetGlobalState() { + + if ( uniform.value !== globalState ) { + + uniform.value = globalState; + uniform.needsUpdate = numGlobalPlanes > 0; + + } + + scope.numPlanes = numGlobalPlanes; + scope.numIntersection = 0; + + } + + function projectPlanes( planes, camera, dstOffset, skipTransform ) { + + const nPlanes = planes !== null ? planes.length : 0; + let dstArray = null; + + if ( nPlanes !== 0 ) { + + dstArray = uniform.value; + + if ( skipTransform !== true || dstArray === null ) { + + const flatSize = dstOffset + nPlanes * 4, + viewMatrix = camera.matrixWorldInverse; + + viewNormalMatrix.getNormalMatrix( viewMatrix ); + + if ( dstArray === null || dstArray.length < flatSize ) { + + dstArray = new Float32Array( flatSize ); + + } + + for ( let i = 0, i4 = dstOffset; i !== nPlanes; ++ i, i4 += 4 ) { + + plane.copy( planes[ i ] ).applyMatrix4( viewMatrix, viewNormalMatrix ); + + plane.normal.toArray( dstArray, i4 ); + dstArray[ i4 + 3 ] = plane.constant; + + } + + } + + uniform.value = dstArray; + uniform.needsUpdate = true; + + } + + scope.numPlanes = nPlanes; + scope.numIntersection = 0; + + return dstArray; + + } + +} + +const LOD_MIN = 4; + +// The standard deviations (radians) associated with the extra mips. +// Used for scene blur in fromScene() method. +const EXTRA_LOD_SIGMA = [ 0.125, 0.215, 0.35, 0.446, 0.526, 0.582 ]; + +// The maximum length of the blur for loop. Smaller sigmas will use fewer +// samples and exit early, but not recompile the shader. +// Used for scene blur in fromScene() method. +const MAX_SAMPLES = 20; + +// GGX VNDF importance sampling configuration +const GGX_SAMPLES = 256; + +const _flatCamera = /*@__PURE__*/ new OrthographicCamera(); +const _clearColor = /*@__PURE__*/ new Color(); +let _oldTarget = null; +let _oldActiveCubeFace = 0; +let _oldActiveMipmapLevel = 0; +let _oldXrEnabled = false; + +const _origin = /*@__PURE__*/ new Vector3(); + +/** + * This class generates a Prefiltered, Mipmapped Radiance Environment Map + * (PMREM) from a cubeMap environment texture. This allows different levels of + * blur to be quickly accessed based on material roughness. It is packed into a + * special CubeUV format that allows us to perform custom interpolation so that + * we can support nonlinear formats such as RGBE. Unlike a traditional mipmap + * chain, it only goes down to the LOD_MIN level (above), and then creates extra + * even more filtered 'mips' at the same LOD_MIN resolution, associated with + * higher roughness levels. In this way we maintain resolution to smoothly + * interpolate diffuse lighting while limiting sampling computation. + * + * The prefiltering uses GGX VNDF (Visible Normal Distribution Function) + * importance sampling based on "Sampling the GGX Distribution of Visible Normals" + * (Heitz, 2018) to generate environment maps that accurately match the GGX BRDF + * used in material rendering for physically-based image-based lighting. + */ +class PMREMGenerator { + + /** + * Constructs a new PMREM generator. + * + * @param {WebGLRenderer} renderer - The renderer. + */ + constructor( renderer ) { + + this._renderer = renderer; + this._pingPongRenderTarget = null; + + this._lodMax = 0; + this._cubeSize = 0; + this._sizeLods = []; + this._sigmas = []; + this._lodMeshes = []; + + this._backgroundBox = null; + + this._cubemapMaterial = null; + this._equirectMaterial = null; + + this._blurMaterial = null; + this._ggxMaterial = null; + + } + + /** + * Generates a PMREM from a supplied Scene, which can be faster than using an + * image if networking bandwidth is low. Optional sigma specifies a blur radius + * in radians to be applied to the scene before PMREM generation. Optional near + * and far planes ensure the scene is rendered in its entirety. + * + * @param {Scene} scene - The scene to be captured. + * @param {number} [sigma=0] - The blur radius in radians. + * @param {number} [near=0.1] - The near plane distance. + * @param {number} [far=100] - The far plane distance. + * @param {Object} [options={}] - The configuration options. + * @param {number} [options.size=256] - The texture size of the PMREM. + * @param {Vector3} [options.position=origin] - The position of the internal cube camera that renders the scene. + * @return {WebGLRenderTarget} The resulting PMREM. + */ + fromScene( scene, sigma = 0, near = 0.1, far = 100, options = {} ) { + + const { + size = 256, + position = _origin, + } = options; + + _oldTarget = this._renderer.getRenderTarget(); + _oldActiveCubeFace = this._renderer.getActiveCubeFace(); + _oldActiveMipmapLevel = this._renderer.getActiveMipmapLevel(); + _oldXrEnabled = this._renderer.xr.enabled; + + this._renderer.xr.enabled = false; + + this._setSize( size ); + + const cubeUVRenderTarget = this._allocateTargets(); + cubeUVRenderTarget.depthBuffer = true; + + this._sceneToCubeUV( scene, near, far, cubeUVRenderTarget, position ); + + if ( sigma > 0 ) { + + this._blur( cubeUVRenderTarget, 0, 0, sigma ); + + } + + this._applyPMREM( cubeUVRenderTarget ); + this._cleanup( cubeUVRenderTarget ); + + return cubeUVRenderTarget; + + } + + /** + * Generates a PMREM from an equirectangular texture, which can be either LDR + * or HDR. The ideal input image size is 1k (1024 x 512), + * as this matches best with the 256 x 256 cubemap output. + * + * @param {Texture} equirectangular - The equirectangular texture to be converted. + * @param {?WebGLRenderTarget} [renderTarget=null] - The render target to use. + * @return {WebGLRenderTarget} The resulting PMREM. + */ + fromEquirectangular( equirectangular, renderTarget = null ) { + + return this._fromTexture( equirectangular, renderTarget ); + + } + + /** + * Generates a PMREM from an cubemap texture, which can be either LDR + * or HDR. The ideal input cube size is 256 x 256, + * as this matches best with the 256 x 256 cubemap output. + * + * @param {Texture} cubemap - The cubemap texture to be converted. + * @param {?WebGLRenderTarget} [renderTarget=null] - The render target to use. + * @return {WebGLRenderTarget} The resulting PMREM. + */ + fromCubemap( cubemap, renderTarget = null ) { + + return this._fromTexture( cubemap, renderTarget ); + + } + + /** + * Pre-compiles the cubemap shader. You can get faster start-up by invoking this method during + * your texture's network fetch for increased concurrency. + */ + compileCubemapShader() { + + if ( this._cubemapMaterial === null ) { + + this._cubemapMaterial = _getCubemapMaterial(); + this._compileMaterial( this._cubemapMaterial ); + + } + + } + + /** + * Pre-compiles the equirectangular shader. You can get faster start-up by invoking this method during + * your texture's network fetch for increased concurrency. + */ + compileEquirectangularShader() { + + if ( this._equirectMaterial === null ) { + + this._equirectMaterial = _getEquirectMaterial(); + this._compileMaterial( this._equirectMaterial ); + + } + + } + + /** + * Disposes of the PMREMGenerator's internal memory. Note that PMREMGenerator is a static class, + * so you should not need more than one PMREMGenerator object. If you do, calling dispose() on + * one of them will cause any others to also become unusable. + */ + dispose() { + + this._dispose(); + + if ( this._cubemapMaterial !== null ) this._cubemapMaterial.dispose(); + if ( this._equirectMaterial !== null ) this._equirectMaterial.dispose(); + + if ( this._backgroundBox !== null ) { + + this._backgroundBox.geometry.dispose(); + this._backgroundBox.material.dispose(); + + } + + } + + // private interface + + _setSize( cubeSize ) { + + this._lodMax = Math.floor( Math.log2( cubeSize ) ); + this._cubeSize = Math.pow( 2, this._lodMax ); + + } + + _dispose() { + + if ( this._blurMaterial !== null ) this._blurMaterial.dispose(); + if ( this._ggxMaterial !== null ) this._ggxMaterial.dispose(); + + if ( this._pingPongRenderTarget !== null ) this._pingPongRenderTarget.dispose(); + + for ( let i = 0; i < this._lodMeshes.length; i ++ ) { + + this._lodMeshes[ i ].geometry.dispose(); + + } + + } + + _cleanup( outputTarget ) { + + this._renderer.setRenderTarget( _oldTarget, _oldActiveCubeFace, _oldActiveMipmapLevel ); + this._renderer.xr.enabled = _oldXrEnabled; + + outputTarget.scissorTest = false; + _setViewport( outputTarget, 0, 0, outputTarget.width, outputTarget.height ); + + } + + _fromTexture( texture, renderTarget ) { + + if ( texture.mapping === CubeReflectionMapping || texture.mapping === CubeRefractionMapping ) { + + this._setSize( texture.image.length === 0 ? 16 : ( texture.image[ 0 ].width || texture.image[ 0 ].image.width ) ); + + } else { // Equirectangular + + this._setSize( texture.image.width / 4 ); + + } + + _oldTarget = this._renderer.getRenderTarget(); + _oldActiveCubeFace = this._renderer.getActiveCubeFace(); + _oldActiveMipmapLevel = this._renderer.getActiveMipmapLevel(); + _oldXrEnabled = this._renderer.xr.enabled; + + this._renderer.xr.enabled = false; + + const cubeUVRenderTarget = renderTarget || this._allocateTargets(); + this._textureToCubeUV( texture, cubeUVRenderTarget ); + this._applyPMREM( cubeUVRenderTarget ); + this._cleanup( cubeUVRenderTarget ); + + return cubeUVRenderTarget; + + } + + _allocateTargets() { + + const width = 3 * Math.max( this._cubeSize, 16 * 7 ); + const height = 4 * this._cubeSize; + + const params = { + magFilter: LinearFilter, + minFilter: LinearFilter, + generateMipmaps: false, + type: HalfFloatType, + format: RGBAFormat, + colorSpace: LinearSRGBColorSpace, + depthBuffer: false + }; + + const cubeUVRenderTarget = _createRenderTarget( width, height, params ); + + if ( this._pingPongRenderTarget === null || this._pingPongRenderTarget.width !== width || this._pingPongRenderTarget.height !== height ) { + + if ( this._pingPongRenderTarget !== null ) { + + this._dispose(); + + } + + this._pingPongRenderTarget = _createRenderTarget( width, height, params ); + + const { _lodMax } = this; + ( { lodMeshes: this._lodMeshes, sizeLods: this._sizeLods, sigmas: this._sigmas } = _createPlanes( _lodMax ) ); + + this._blurMaterial = _getBlurShader( _lodMax, width, height ); + this._ggxMaterial = _getGGXShader( _lodMax, width, height ); + + } + + return cubeUVRenderTarget; + + } + + _compileMaterial( material ) { + + const mesh = new Mesh( new BufferGeometry(), material ); + this._renderer.compile( mesh, _flatCamera ); + + } + + _sceneToCubeUV( scene, near, far, cubeUVRenderTarget, position ) { + + const fov = 90; + const aspect = 1; + const cubeCamera = new PerspectiveCamera( fov, aspect, near, far ); + const upSign = [ 1, -1, 1, 1, 1, 1 ]; + const forwardSign = [ 1, 1, 1, -1, -1, -1 ]; + const renderer = this._renderer; + + const originalAutoClear = renderer.autoClear; + const toneMapping = renderer.toneMapping; + renderer.getClearColor( _clearColor ); + + renderer.toneMapping = NoToneMapping; + renderer.autoClear = false; + + // https://github.com/mrdoob/three.js/issues/31413#issuecomment-3095966812 + const reversedDepthBuffer = renderer.state.buffers.depth.getReversed(); + + if ( reversedDepthBuffer ) { + + renderer.setRenderTarget( cubeUVRenderTarget ); + renderer.clearDepth(); + renderer.setRenderTarget( null ); + + } + + if ( this._backgroundBox === null ) { + + this._backgroundBox = new Mesh( + new BoxGeometry(), + new MeshBasicMaterial( { + name: 'PMREM.Background', + side: BackSide, + depthWrite: false, + depthTest: false, + } ) + ); + + } + + const backgroundBox = this._backgroundBox; + const backgroundMaterial = backgroundBox.material; + + let useSolidColor = false; + + const background = scene.background; + + if ( background ) { + + if ( background.isColor ) { + + backgroundMaterial.color.copy( background ); + scene.background = null; + useSolidColor = true; + + } + + } else { + + backgroundMaterial.color.copy( _clearColor ); + useSolidColor = true; + + } + + for ( let i = 0; i < 6; i ++ ) { + + const col = i % 3; + + if ( col === 0 ) { + + cubeCamera.up.set( 0, upSign[ i ], 0 ); + cubeCamera.position.set( position.x, position.y, position.z ); + cubeCamera.lookAt( position.x + forwardSign[ i ], position.y, position.z ); + + } else if ( col === 1 ) { + + cubeCamera.up.set( 0, 0, upSign[ i ] ); + cubeCamera.position.set( position.x, position.y, position.z ); + cubeCamera.lookAt( position.x, position.y + forwardSign[ i ], position.z ); + + + } else { + + cubeCamera.up.set( 0, upSign[ i ], 0 ); + cubeCamera.position.set( position.x, position.y, position.z ); + cubeCamera.lookAt( position.x, position.y, position.z + forwardSign[ i ] ); + + } + + const size = this._cubeSize; + + _setViewport( cubeUVRenderTarget, col * size, i > 2 ? size : 0, size, size ); + + renderer.setRenderTarget( cubeUVRenderTarget ); + + if ( useSolidColor ) { + + renderer.render( backgroundBox, cubeCamera ); + + } + + renderer.render( scene, cubeCamera ); + + } + + renderer.toneMapping = toneMapping; + renderer.autoClear = originalAutoClear; + scene.background = background; + + } + + _textureToCubeUV( texture, cubeUVRenderTarget ) { + + const renderer = this._renderer; + + const isCubeTexture = ( texture.mapping === CubeReflectionMapping || texture.mapping === CubeRefractionMapping ); + + if ( isCubeTexture ) { + + if ( this._cubemapMaterial === null ) { + + this._cubemapMaterial = _getCubemapMaterial(); + + } + + this._cubemapMaterial.uniforms.flipEnvMap.value = ( texture.isRenderTargetTexture === false ) ? -1 : 1; + + } else { + + if ( this._equirectMaterial === null ) { + + this._equirectMaterial = _getEquirectMaterial(); + + } + + } + + const material = isCubeTexture ? this._cubemapMaterial : this._equirectMaterial; + + const mesh = this._lodMeshes[ 0 ]; + mesh.material = material; + + const uniforms = material.uniforms; + + uniforms[ 'envMap' ].value = texture; + + const size = this._cubeSize; + + _setViewport( cubeUVRenderTarget, 0, 0, 3 * size, 2 * size ); + + renderer.setRenderTarget( cubeUVRenderTarget ); + renderer.render( mesh, _flatCamera ); + + } + + _applyPMREM( cubeUVRenderTarget ) { + + const renderer = this._renderer; + const autoClear = renderer.autoClear; + renderer.autoClear = false; + + const n = this._lodMeshes.length; + + // Use GGX VNDF importance sampling + for ( let i = 1; i < n; i ++ ) { + + this._applyGGXFilter( cubeUVRenderTarget, i - 1, i ); + + } + + renderer.autoClear = autoClear; + + } + + /** + * Applies GGX VNDF importance sampling filter to generate a prefiltered environment map. + * Uses Monte Carlo integration with VNDF importance sampling to accurately represent the + * GGX BRDF for physically-based rendering. Reads from the previous LOD level and + * applies incremental roughness filtering to avoid over-blurring. + * + * @private + * @param {WebGLRenderTarget} cubeUVRenderTarget + * @param {number} lodIn - Source LOD level to read from + * @param {number} lodOut - Target LOD level to write to + */ + _applyGGXFilter( cubeUVRenderTarget, lodIn, lodOut ) { + + const renderer = this._renderer; + const pingPongRenderTarget = this._pingPongRenderTarget; + + const ggxMaterial = this._ggxMaterial; + const ggxMesh = this._lodMeshes[ lodOut ]; + ggxMesh.material = ggxMaterial; + + const ggxUniforms = ggxMaterial.uniforms; + + // Calculate incremental roughness between LOD levels + const targetRoughness = lodOut / ( this._lodMeshes.length - 1 ); + const sourceRoughness = lodIn / ( this._lodMeshes.length - 1 ); + const incrementalRoughness = Math.sqrt( targetRoughness * targetRoughness - sourceRoughness * sourceRoughness ); + + // Apply blur strength mapping for better quality across the roughness range + const blurStrength = 0.0 + targetRoughness * 1.25; + const adjustedRoughness = incrementalRoughness * blurStrength; + + // Calculate viewport position based on output LOD level + const { _lodMax } = this; + const outputSize = this._sizeLods[ lodOut ]; + const x = 3 * outputSize * ( lodOut > _lodMax - LOD_MIN ? lodOut - _lodMax + LOD_MIN : 0 ); + const y = 4 * ( this._cubeSize - outputSize ); + + // Read from previous LOD with incremental roughness + ggxUniforms[ 'envMap' ].value = cubeUVRenderTarget.texture; + ggxUniforms[ 'roughness' ].value = adjustedRoughness; + ggxUniforms[ 'mipInt' ].value = _lodMax - lodIn; // Sample from input LOD + + _setViewport( pingPongRenderTarget, x, y, 3 * outputSize, 2 * outputSize ); + renderer.setRenderTarget( pingPongRenderTarget ); + renderer.render( ggxMesh, _flatCamera ); + + // Copy from pingPong back to cubeUV (simple direct copy) + ggxUniforms[ 'envMap' ].value = pingPongRenderTarget.texture; + ggxUniforms[ 'roughness' ].value = 0.0; // Direct copy + ggxUniforms[ 'mipInt' ].value = _lodMax - lodOut; // Read from the level we just wrote + + _setViewport( cubeUVRenderTarget, x, y, 3 * outputSize, 2 * outputSize ); + renderer.setRenderTarget( cubeUVRenderTarget ); + renderer.render( ggxMesh, _flatCamera ); + + } + + /** + * This is a two-pass Gaussian blur for a cubemap. Normally this is done + * vertically and horizontally, but this breaks down on a cube. Here we apply + * the blur latitudinally (around the poles), and then longitudinally (towards + * the poles) to approximate the orthogonally-separable blur. It is least + * accurate at the poles, but still does a decent job. + * + * Used for initial scene blur in fromScene() method when sigma > 0. + * + * @private + * @param {WebGLRenderTarget} cubeUVRenderTarget + * @param {number} lodIn + * @param {number} lodOut + * @param {number} sigma + * @param {Vector3} [poleAxis] + */ + _blur( cubeUVRenderTarget, lodIn, lodOut, sigma, poleAxis ) { + + const pingPongRenderTarget = this._pingPongRenderTarget; + + this._halfBlur( + cubeUVRenderTarget, + pingPongRenderTarget, + lodIn, + lodOut, + sigma, + 'latitudinal', + poleAxis ); + + this._halfBlur( + pingPongRenderTarget, + cubeUVRenderTarget, + lodOut, + lodOut, + sigma, + 'longitudinal', + poleAxis ); + + } + + _halfBlur( targetIn, targetOut, lodIn, lodOut, sigmaRadians, direction, poleAxis ) { + + const renderer = this._renderer; + const blurMaterial = this._blurMaterial; + + if ( direction !== 'latitudinal' && direction !== 'longitudinal' ) { + + error( + 'blur direction must be either latitudinal or longitudinal!' ); + + } + + // Number of standard deviations at which to cut off the discrete approximation. + const STANDARD_DEVIATIONS = 3; + + const blurMesh = this._lodMeshes[ lodOut ]; + blurMesh.material = blurMaterial; + + const blurUniforms = blurMaterial.uniforms; + + const pixels = this._sizeLods[ lodIn ] - 1; + const radiansPerPixel = isFinite( sigmaRadians ) ? Math.PI / ( 2 * pixels ) : 2 * Math.PI / ( 2 * MAX_SAMPLES - 1 ); + const sigmaPixels = sigmaRadians / radiansPerPixel; + const samples = isFinite( sigmaRadians ) ? 1 + Math.floor( STANDARD_DEVIATIONS * sigmaPixels ) : MAX_SAMPLES; + + if ( samples > MAX_SAMPLES ) { + + warn( `sigmaRadians, ${ + sigmaRadians}, is too large and will clip, as it requested ${ + samples} samples when the maximum is set to ${MAX_SAMPLES}` ); + + } + + const weights = []; + let sum = 0; + + for ( let i = 0; i < MAX_SAMPLES; ++ i ) { + + const x = i / sigmaPixels; + const weight = Math.exp( - x * x / 2 ); + weights.push( weight ); + + if ( i === 0 ) { + + sum += weight; + + } else if ( i < samples ) { + + sum += 2 * weight; + + } + + } + + for ( let i = 0; i < weights.length; i ++ ) { + + weights[ i ] = weights[ i ] / sum; + + } + + blurUniforms[ 'envMap' ].value = targetIn.texture; + blurUniforms[ 'samples' ].value = samples; + blurUniforms[ 'weights' ].value = weights; + blurUniforms[ 'latitudinal' ].value = direction === 'latitudinal'; + + if ( poleAxis ) { + + blurUniforms[ 'poleAxis' ].value = poleAxis; + + } + + const { _lodMax } = this; + blurUniforms[ 'dTheta' ].value = radiansPerPixel; + blurUniforms[ 'mipInt' ].value = _lodMax - lodIn; + + const outputSize = this._sizeLods[ lodOut ]; + const x = 3 * outputSize * ( lodOut > _lodMax - LOD_MIN ? lodOut - _lodMax + LOD_MIN : 0 ); + const y = 4 * ( this._cubeSize - outputSize ); + + _setViewport( targetOut, x, y, 3 * outputSize, 2 * outputSize ); + renderer.setRenderTarget( targetOut ); + renderer.render( blurMesh, _flatCamera ); + + } + +} + + + +function _createPlanes( lodMax ) { + + const sizeLods = []; + const sigmas = []; + const lodMeshes = []; + + let lod = lodMax; + + const totalLods = lodMax - LOD_MIN + 1 + EXTRA_LOD_SIGMA.length; + + for ( let i = 0; i < totalLods; i ++ ) { + + const sizeLod = Math.pow( 2, lod ); + sizeLods.push( sizeLod ); + let sigma = 1.0 / sizeLod; + + if ( i > lodMax - LOD_MIN ) { + + sigma = EXTRA_LOD_SIGMA[ i - lodMax + LOD_MIN - 1 ]; + + } else if ( i === 0 ) { + + sigma = 0; + + } + + sigmas.push( sigma ); + + const texelSize = 1.0 / ( sizeLod - 2 ); + const min = - texelSize; + const max = 1 + texelSize; + const uv1 = [ min, min, max, min, max, max, min, min, max, max, min, max ]; + + const cubeFaces = 6; + const vertices = 6; + const positionSize = 3; + const uvSize = 2; + const faceIndexSize = 1; + + const position = new Float32Array( positionSize * vertices * cubeFaces ); + const uv = new Float32Array( uvSize * vertices * cubeFaces ); + const faceIndex = new Float32Array( faceIndexSize * vertices * cubeFaces ); + + for ( let face = 0; face < cubeFaces; face ++ ) { + + const x = ( face % 3 ) * 2 / 3 - 1; + const y = face > 2 ? 0 : -1; + const coordinates = [ + x, y, 0, + x + 2 / 3, y, 0, + x + 2 / 3, y + 1, 0, + x, y, 0, + x + 2 / 3, y + 1, 0, + x, y + 1, 0 + ]; + position.set( coordinates, positionSize * vertices * face ); + uv.set( uv1, uvSize * vertices * face ); + const fill = [ face, face, face, face, face, face ]; + faceIndex.set( fill, faceIndexSize * vertices * face ); + + } + + const planes = new BufferGeometry(); + planes.setAttribute( 'position', new BufferAttribute( position, positionSize ) ); + planes.setAttribute( 'uv', new BufferAttribute( uv, uvSize ) ); + planes.setAttribute( 'faceIndex', new BufferAttribute( faceIndex, faceIndexSize ) ); + lodMeshes.push( new Mesh( planes, null ) ); + + if ( lod > LOD_MIN ) { + + lod --; + + } + + } + + return { lodMeshes, sizeLods, sigmas }; + +} + +function _createRenderTarget( width, height, params ) { + + const cubeUVRenderTarget = new WebGLRenderTarget( width, height, params ); + cubeUVRenderTarget.texture.mapping = CubeUVReflectionMapping; + cubeUVRenderTarget.texture.name = 'PMREM.cubeUv'; + cubeUVRenderTarget.scissorTest = true; + return cubeUVRenderTarget; + +} + +function _setViewport( target, x, y, width, height ) { + + target.viewport.set( x, y, width, height ); + target.scissor.set( x, y, width, height ); + +} + +function _getGGXShader( lodMax, width, height ) { + + const shaderMaterial = new ShaderMaterial( { + + name: 'PMREMGGXConvolution', + + defines: { + 'GGX_SAMPLES': GGX_SAMPLES, + 'CUBEUV_TEXEL_WIDTH': 1.0 / width, + 'CUBEUV_TEXEL_HEIGHT': 1.0 / height, + 'CUBEUV_MAX_MIP': `${lodMax}.0`, + }, + + uniforms: { + 'envMap': { value: null }, + 'roughness': { value: 0.0 }, + 'mipInt': { value: 0 } + }, + + vertexShader: _getCommonVertexShader(), + + fragmentShader: /* glsl */` + + precision highp float; + precision highp int; + + varying vec3 vOutputDirection; + + uniform sampler2D envMap; + uniform float roughness; + uniform float mipInt; + + #define ENVMAP_TYPE_CUBE_UV + #include + + #define PI 3.14159265359 + + // Van der Corput radical inverse + float radicalInverse_VdC(uint bits) { + bits = (bits << 16u) | (bits >> 16u); + bits = ((bits & 0x55555555u) << 1u) | ((bits & 0xAAAAAAAAu) >> 1u); + bits = ((bits & 0x33333333u) << 2u) | ((bits & 0xCCCCCCCCu) >> 2u); + bits = ((bits & 0x0F0F0F0Fu) << 4u) | ((bits & 0xF0F0F0F0u) >> 4u); + bits = ((bits & 0x00FF00FFu) << 8u) | ((bits & 0xFF00FF00u) >> 8u); + return float(bits) * 2.3283064365386963e-10; // / 0x100000000 + } + + // Hammersley sequence + vec2 hammersley(uint i, uint N) { + return vec2(float(i) / float(N), radicalInverse_VdC(i)); + } + + // GGX VNDF importance sampling (Eric Heitz 2018) + // "Sampling the GGX Distribution of Visible Normals" + // https://jcgt.org/published/0007/04/01/ + vec3 importanceSampleGGX_VNDF(vec2 Xi, vec3 V, float roughness) { + float alpha = roughness * roughness; + + // Section 4.1: Orthonormal basis + vec3 T1 = vec3(1.0, 0.0, 0.0); + vec3 T2 = cross(V, T1); + + // Section 4.2: Parameterization of projected area + float r = sqrt(Xi.x); + float phi = 2.0 * PI * Xi.y; + float t1 = r * cos(phi); + float t2 = r * sin(phi); + float s = 0.5 * (1.0 + V.z); + t2 = (1.0 - s) * sqrt(1.0 - t1 * t1) + s * t2; + + // Section 4.3: Reprojection onto hemisphere + vec3 Nh = t1 * T1 + t2 * T2 + sqrt(max(0.0, 1.0 - t1 * t1 - t2 * t2)) * V; + + // Section 3.4: Transform back to ellipsoid configuration + return normalize(vec3(alpha * Nh.x, alpha * Nh.y, max(0.0, Nh.z))); + } + + void main() { + vec3 N = normalize(vOutputDirection); + vec3 V = N; // Assume view direction equals normal for pre-filtering + + vec3 prefilteredColor = vec3(0.0); + float totalWeight = 0.0; + + // For very low roughness, just sample the environment directly + if (roughness < 0.001) { + gl_FragColor = vec4(bilinearCubeUV(envMap, N, mipInt), 1.0); + return; + } + + // Tangent space basis for VNDF sampling + vec3 up = abs(N.z) < 0.999 ? vec3(0.0, 0.0, 1.0) : vec3(1.0, 0.0, 0.0); + vec3 tangent = normalize(cross(up, N)); + vec3 bitangent = cross(N, tangent); + + for(uint i = 0u; i < uint(GGX_SAMPLES); i++) { + vec2 Xi = hammersley(i, uint(GGX_SAMPLES)); + + // For PMREM, V = N, so in tangent space V is always (0, 0, 1) + vec3 H_tangent = importanceSampleGGX_VNDF(Xi, vec3(0.0, 0.0, 1.0), roughness); + + // Transform H back to world space + vec3 H = normalize(tangent * H_tangent.x + bitangent * H_tangent.y + N * H_tangent.z); + vec3 L = normalize(2.0 * dot(V, H) * H - V); + + float NdotL = max(dot(N, L), 0.0); + + if(NdotL > 0.0) { + // Sample environment at fixed mip level + // VNDF importance sampling handles the distribution filtering + vec3 sampleColor = bilinearCubeUV(envMap, L, mipInt); + + // Weight by NdotL for the split-sum approximation + // VNDF PDF naturally accounts for the visible microfacet distribution + prefilteredColor += sampleColor * NdotL; + totalWeight += NdotL; + } + } + + if (totalWeight > 0.0) { + prefilteredColor = prefilteredColor / totalWeight; + } + + gl_FragColor = vec4(prefilteredColor, 1.0); + } + `, + + blending: NoBlending, + depthTest: false, + depthWrite: false + + } ); + + return shaderMaterial; + +} + +function _getBlurShader( lodMax, width, height ) { + + const weights = new Float32Array( MAX_SAMPLES ); + const poleAxis = new Vector3( 0, 1, 0 ); + const shaderMaterial = new ShaderMaterial( { + + name: 'SphericalGaussianBlur', + + defines: { + 'n': MAX_SAMPLES, + 'CUBEUV_TEXEL_WIDTH': 1.0 / width, + 'CUBEUV_TEXEL_HEIGHT': 1.0 / height, + 'CUBEUV_MAX_MIP': `${lodMax}.0`, + }, + + uniforms: { + 'envMap': { value: null }, + 'samples': { value: 1 }, + 'weights': { value: weights }, + 'latitudinal': { value: false }, + 'dTheta': { value: 0 }, + 'mipInt': { value: 0 }, + 'poleAxis': { value: poleAxis } + }, + + vertexShader: _getCommonVertexShader(), + + fragmentShader: /* glsl */` + + precision mediump float; + precision mediump int; + + varying vec3 vOutputDirection; + + uniform sampler2D envMap; + uniform int samples; + uniform float weights[ n ]; + uniform bool latitudinal; + uniform float dTheta; + uniform float mipInt; + uniform vec3 poleAxis; + + #define ENVMAP_TYPE_CUBE_UV + #include + + vec3 getSample( float theta, vec3 axis ) { + + float cosTheta = cos( theta ); + // Rodrigues' axis-angle rotation + vec3 sampleDirection = vOutputDirection * cosTheta + + cross( axis, vOutputDirection ) * sin( theta ) + + axis * dot( axis, vOutputDirection ) * ( 1.0 - cosTheta ); + + return bilinearCubeUV( envMap, sampleDirection, mipInt ); + + } + + void main() { + + vec3 axis = latitudinal ? poleAxis : cross( poleAxis, vOutputDirection ); + + if ( all( equal( axis, vec3( 0.0 ) ) ) ) { + + axis = vec3( vOutputDirection.z, 0.0, - vOutputDirection.x ); + + } + + axis = normalize( axis ); + + gl_FragColor = vec4( 0.0, 0.0, 0.0, 1.0 ); + gl_FragColor.rgb += weights[ 0 ] * getSample( 0.0, axis ); + + for ( int i = 1; i < n; i++ ) { + + if ( i >= samples ) { + + break; + + } + + float theta = dTheta * float( i ); + gl_FragColor.rgb += weights[ i ] * getSample( -1.0 * theta, axis ); + gl_FragColor.rgb += weights[ i ] * getSample( theta, axis ); + + } + + } + `, + + blending: NoBlending, + depthTest: false, + depthWrite: false + + } ); + + return shaderMaterial; + +} + +function _getEquirectMaterial() { + + return new ShaderMaterial( { + + name: 'EquirectangularToCubeUV', + + uniforms: { + 'envMap': { value: null } + }, + + vertexShader: _getCommonVertexShader(), + + fragmentShader: /* glsl */` + + precision mediump float; + precision mediump int; + + varying vec3 vOutputDirection; + + uniform sampler2D envMap; + + #include + + void main() { + + vec3 outputDirection = normalize( vOutputDirection ); + vec2 uv = equirectUv( outputDirection ); + + gl_FragColor = vec4( texture2D ( envMap, uv ).rgb, 1.0 ); + + } + `, + + blending: NoBlending, + depthTest: false, + depthWrite: false + + } ); + +} + +function _getCubemapMaterial() { + + return new ShaderMaterial( { + + name: 'CubemapToCubeUV', + + uniforms: { + 'envMap': { value: null }, + 'flipEnvMap': { value: -1 } + }, + + vertexShader: _getCommonVertexShader(), + + fragmentShader: /* glsl */` + + precision mediump float; + precision mediump int; + + uniform float flipEnvMap; + + varying vec3 vOutputDirection; + + uniform samplerCube envMap; + + void main() { + + gl_FragColor = textureCube( envMap, vec3( flipEnvMap * vOutputDirection.x, vOutputDirection.yz ) ); + + } + `, + + blending: NoBlending, + depthTest: false, + depthWrite: false + + } ); + +} + +function _getCommonVertexShader() { + + return /* glsl */` + + precision mediump float; + precision mediump int; + + attribute float faceIndex; + + varying vec3 vOutputDirection; + + // RH coordinate system; PMREM face-indexing convention + vec3 getDirection( vec2 uv, float face ) { + + uv = 2.0 * uv - 1.0; + + vec3 direction = vec3( uv, 1.0 ); + + if ( face == 0.0 ) { + + direction = direction.zyx; // ( 1, v, u ) pos x + + } else if ( face == 1.0 ) { + + direction = direction.xzy; + direction.xz *= -1.0; // ( -u, 1, -v ) pos y + + } else if ( face == 2.0 ) { + + direction.x *= -1.0; // ( -u, v, 1 ) pos z + + } else if ( face == 3.0 ) { + + direction = direction.zyx; + direction.xz *= -1.0; // ( -1, v, -u ) neg x + + } else if ( face == 4.0 ) { + + direction = direction.xzy; + direction.xy *= -1.0; // ( -u, -1, v ) neg y + + } else if ( face == 5.0 ) { + + direction.z *= -1.0; // ( u, v, -1 ) neg z + + } + + return direction; + + } + + void main() { + + vOutputDirection = getDirection( uv, faceIndex ); + gl_Position = vec4( position, 1.0 ); + + } + `; + +} + +/** + * A cube render target used in context of {@link WebGLRenderer}. + * + * @augments WebGLRenderTarget + */ +class WebGLCubeRenderTarget extends WebGLRenderTarget { + + /** + * Constructs a new cube render target. + * + * @param {number} [size=1] - The size of the render target. + * @param {RenderTarget~Options} [options] - The configuration object. + */ + constructor( size = 1, options = {} ) { + + super( size, size, options ); + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isWebGLCubeRenderTarget = true; + + const image = { width: size, height: size, depth: 1 }; + const images = [ image, image, image, image, image, image ]; + + /** + * Overwritten with a different texture type. + * + * @type {DataArrayTexture} + */ + this.texture = new CubeTexture( images ); + this._setTextureOptions( options ); + + // By convention -- likely based on the RenderMan spec from the 1990's -- cube maps are specified by WebGL (and three.js) + // in a coordinate system in which positive-x is to the right when looking up the positive-z axis -- in other words, + // in a left-handed coordinate system. By continuing this convention, preexisting cube maps continued to render correctly. + + // three.js uses a right-handed coordinate system. So environment maps used in three.js appear to have px and nx swapped + // and the flag isRenderTargetTexture controls this conversion. The flip is not required when using WebGLCubeRenderTarget.texture + // as a cube texture (this is detected when isRenderTargetTexture is set to true for cube textures). + + this.texture.isRenderTargetTexture = true; + + } + + /** + * Converts the given equirectangular texture to a cube map. + * + * @param {WebGLRenderer} renderer - The renderer. + * @param {Texture} texture - The equirectangular texture. + * @return {WebGLCubeRenderTarget} A reference to this cube render target. + */ + fromEquirectangularTexture( renderer, texture ) { + + this.texture.type = texture.type; + this.texture.colorSpace = texture.colorSpace; + + this.texture.generateMipmaps = texture.generateMipmaps; + this.texture.minFilter = texture.minFilter; + this.texture.magFilter = texture.magFilter; + + const shader = { + + uniforms: { + tEquirect: { value: null }, + }, + + vertexShader: /* glsl */` + + varying vec3 vWorldDirection; + + vec3 transformDirection( in vec3 dir, in mat4 matrix ) { + + return normalize( ( matrix * vec4( dir, 0.0 ) ).xyz ); + + } + + void main() { + + vWorldDirection = transformDirection( position, modelMatrix ); + + #include + #include + + } + `, + + fragmentShader: /* glsl */` + + uniform sampler2D tEquirect; + + varying vec3 vWorldDirection; + + #include + + void main() { + + vec3 direction = normalize( vWorldDirection ); + + vec2 sampleUV = equirectUv( direction ); + + gl_FragColor = texture2D( tEquirect, sampleUV ); + + } + ` + }; + + const geometry = new BoxGeometry( 5, 5, 5 ); + + const material = new ShaderMaterial( { + + name: 'CubemapFromEquirect', + + uniforms: cloneUniforms( shader.uniforms ), + vertexShader: shader.vertexShader, + fragmentShader: shader.fragmentShader, + side: BackSide, + blending: NoBlending + + } ); + + material.uniforms.tEquirect.value = texture; + + const mesh = new Mesh( geometry, material ); + + const currentMinFilter = texture.minFilter; + + // Avoid blurred poles + if ( texture.minFilter === LinearMipmapLinearFilter ) texture.minFilter = LinearFilter; + + const camera = new CubeCamera( 1, 10, this ); + camera.update( renderer, mesh ); + + texture.minFilter = currentMinFilter; + + mesh.geometry.dispose(); + mesh.material.dispose(); + + return this; + + } + + /** + * Clears this cube render target. + * + * @param {WebGLRenderer} renderer - The renderer. + * @param {boolean} [color=true] - Whether the color buffer should be cleared or not. + * @param {boolean} [depth=true] - Whether the depth buffer should be cleared or not. + * @param {boolean} [stencil=true] - Whether the stencil buffer should be cleared or not. + */ + clear( renderer, color = true, depth = true, stencil = true ) { + + const currentRenderTarget = renderer.getRenderTarget(); + + for ( let i = 0; i < 6; i ++ ) { + + renderer.setRenderTarget( this, i ); + + renderer.clear( color, depth, stencil ); + + } + + renderer.setRenderTarget( currentRenderTarget ); + + } + +} + +function WebGLEnvironments( renderer ) { + + let cubeMaps = new WeakMap(); + let pmremMaps = new WeakMap(); + + let pmremGenerator = null; + + function get( texture, usePMREM = false ) { + + if ( texture === null || texture === undefined ) return null; + + if ( usePMREM ) { + + return getPMREM( texture ); + + } + + return getCube( texture ); + + } + + function getCube( texture ) { + + if ( texture && texture.isTexture ) { + + const mapping = texture.mapping; + + if ( mapping === EquirectangularReflectionMapping || mapping === EquirectangularRefractionMapping ) { + + if ( cubeMaps.has( texture ) ) { + + const cubemap = cubeMaps.get( texture ).texture; + return mapTextureMapping( cubemap, texture.mapping ); + + } else { + + const image = texture.image; + + if ( image && image.height > 0 ) { + + const renderTarget = new WebGLCubeRenderTarget( image.height ); + renderTarget.fromEquirectangularTexture( renderer, texture ); + cubeMaps.set( texture, renderTarget ); + + texture.addEventListener( 'dispose', onCubemapDispose ); + + return mapTextureMapping( renderTarget.texture, texture.mapping ); + + } else { + + // image not yet ready. try the conversion next frame + + return null; + + } + + } + + } + + } + + return texture; + + } + + function getPMREM( texture ) { + + if ( texture && texture.isTexture ) { + + const mapping = texture.mapping; + + const isEquirectMap = ( mapping === EquirectangularReflectionMapping || mapping === EquirectangularRefractionMapping ); + const isCubeMap = ( mapping === CubeReflectionMapping || mapping === CubeRefractionMapping ); + + // equirect/cube map to cubeUV conversion + + if ( isEquirectMap || isCubeMap ) { + + let renderTarget = pmremMaps.get( texture ); + + const currentPMREMVersion = renderTarget !== undefined ? renderTarget.texture.pmremVersion : 0; + + if ( texture.isRenderTargetTexture && texture.pmremVersion !== currentPMREMVersion ) { + + if ( pmremGenerator === null ) pmremGenerator = new PMREMGenerator( renderer ); + + renderTarget = isEquirectMap ? pmremGenerator.fromEquirectangular( texture, renderTarget ) : pmremGenerator.fromCubemap( texture, renderTarget ); + renderTarget.texture.pmremVersion = texture.pmremVersion; + + pmremMaps.set( texture, renderTarget ); + + return renderTarget.texture; + + } else { + + if ( renderTarget !== undefined ) { + + return renderTarget.texture; + + } else { + + const image = texture.image; + + if ( ( isEquirectMap && image && image.height > 0 ) || ( isCubeMap && image && isCubeTextureComplete( image ) ) ) { + + if ( pmremGenerator === null ) pmremGenerator = new PMREMGenerator( renderer ); + + renderTarget = isEquirectMap ? pmremGenerator.fromEquirectangular( texture ) : pmremGenerator.fromCubemap( texture ); + renderTarget.texture.pmremVersion = texture.pmremVersion; + + pmremMaps.set( texture, renderTarget ); + + texture.addEventListener( 'dispose', onPMREMDispose ); + + return renderTarget.texture; + + } else { + + // image not yet ready. try the conversion next frame + + return null; + + } + + } + + } + + } + + } + + return texture; + + } + + function mapTextureMapping( texture, mapping ) { + + if ( mapping === EquirectangularReflectionMapping ) { + + texture.mapping = CubeReflectionMapping; + + } else if ( mapping === EquirectangularRefractionMapping ) { + + texture.mapping = CubeRefractionMapping; + + } + + return texture; + + } + + function isCubeTextureComplete( image ) { + + let count = 0; + const length = 6; + + for ( let i = 0; i < length; i ++ ) { + + if ( image[ i ] !== undefined ) count ++; + + } + + return count === length; + + } + + function onCubemapDispose( event ) { + + const texture = event.target; + + texture.removeEventListener( 'dispose', onCubemapDispose ); + + const cubemap = cubeMaps.get( texture ); + + if ( cubemap !== undefined ) { + + cubeMaps.delete( texture ); + cubemap.dispose(); + + } + + } + + function onPMREMDispose( event ) { + + const texture = event.target; + + texture.removeEventListener( 'dispose', onPMREMDispose ); + + const pmrem = pmremMaps.get( texture ); + + if ( pmrem !== undefined ) { + + pmremMaps.delete( texture ); + pmrem.dispose(); + + } + + } + + function dispose() { + + cubeMaps = new WeakMap(); + pmremMaps = new WeakMap(); + + if ( pmremGenerator !== null ) { + + pmremGenerator.dispose(); + pmremGenerator = null; + + } + + } + + return { + get: get, + dispose: dispose + }; + +} + +function WebGLExtensions( gl ) { + + const extensions = {}; + + function getExtension( name ) { + + if ( extensions[ name ] !== undefined ) { + + return extensions[ name ]; + + } + + const extension = gl.getExtension( name ); + + extensions[ name ] = extension; + + return extension; + + } + + return { + + has: function ( name ) { + + return getExtension( name ) !== null; + + }, + + init: function () { + + getExtension( 'EXT_color_buffer_float' ); + getExtension( 'WEBGL_clip_cull_distance' ); + getExtension( 'OES_texture_float_linear' ); + getExtension( 'EXT_color_buffer_half_float' ); + getExtension( 'WEBGL_multisampled_render_to_texture' ); + getExtension( 'WEBGL_render_shared_exponent' ); + + }, + + get: function ( name ) { + + const extension = getExtension( name ); + + if ( extension === null ) { + + warnOnce( 'WebGLRenderer: ' + name + ' extension not supported.' ); + + } + + return extension; + + } + + }; + +} + +function WebGLGeometries( gl, attributes, info, bindingStates ) { + + const geometries = {}; + const wireframeAttributes = new WeakMap(); + + function onGeometryDispose( event ) { + + const geometry = event.target; + + if ( geometry.index !== null ) { + + attributes.remove( geometry.index ); + + } + + for ( const name in geometry.attributes ) { + + attributes.remove( geometry.attributes[ name ] ); + + } + + geometry.removeEventListener( 'dispose', onGeometryDispose ); + + delete geometries[ geometry.id ]; + + const attribute = wireframeAttributes.get( geometry ); + + if ( attribute ) { + + attributes.remove( attribute ); + wireframeAttributes.delete( geometry ); + + } + + bindingStates.releaseStatesOfGeometry( geometry ); + + if ( geometry.isInstancedBufferGeometry === true ) { + + delete geometry._maxInstanceCount; + + } + + // + + info.memory.geometries --; + + } + + function get( object, geometry ) { + + if ( geometries[ geometry.id ] === true ) return geometry; + + geometry.addEventListener( 'dispose', onGeometryDispose ); + + geometries[ geometry.id ] = true; + + info.memory.geometries ++; + + return geometry; + + } + + function update( geometry ) { + + const geometryAttributes = geometry.attributes; + + // Updating index buffer in VAO now. See WebGLBindingStates. + + for ( const name in geometryAttributes ) { + + attributes.update( geometryAttributes[ name ], gl.ARRAY_BUFFER ); + + } + + } + + function updateWireframeAttribute( geometry ) { + + const indices = []; + + const geometryIndex = geometry.index; + const geometryPosition = geometry.attributes.position; + let version = 0; + + if ( geometryPosition === undefined ) { + + return; + + } + + if ( geometryIndex !== null ) { + + const array = geometryIndex.array; + version = geometryIndex.version; + + for ( let i = 0, l = array.length; i < l; i += 3 ) { + + const a = array[ i + 0 ]; + const b = array[ i + 1 ]; + const c = array[ i + 2 ]; + + indices.push( a, b, b, c, c, a ); + + } + + } else { + + const array = geometryPosition.array; + version = geometryPosition.version; + + for ( let i = 0, l = ( array.length / 3 ) - 1; i < l; i += 3 ) { + + const a = i + 0; + const b = i + 1; + const c = i + 2; + + indices.push( a, b, b, c, c, a ); + + } + + } + + // check whether a 32 bit or 16 bit buffer is required to store the indices + // account for PRIMITIVE_RESTART_FIXED_INDEX, #24565 + const attribute = new ( geometryPosition.count >= 65535 ? Uint32BufferAttribute : Uint16BufferAttribute )( indices, 1 ); + attribute.version = version; + + // Updating index buffer in VAO now. See WebGLBindingStates + + // + + const previousAttribute = wireframeAttributes.get( geometry ); + + if ( previousAttribute ) attributes.remove( previousAttribute ); + + // + + wireframeAttributes.set( geometry, attribute ); + + } + + function getWireframeAttribute( geometry ) { + + const currentAttribute = wireframeAttributes.get( geometry ); + + if ( currentAttribute ) { + + const geometryIndex = geometry.index; + + if ( geometryIndex !== null ) { + + // if the attribute is obsolete, create a new one + + if ( currentAttribute.version < geometryIndex.version ) { + + updateWireframeAttribute( geometry ); + + } + + } + + } else { + + updateWireframeAttribute( geometry ); + + } + + return wireframeAttributes.get( geometry ); + + } + + return { + + get: get, + update: update, + + getWireframeAttribute: getWireframeAttribute + + }; + +} + +function WebGLIndexedBufferRenderer( gl, extensions, info ) { + + let mode; + + function setMode( value ) { + + mode = value; + + } + + let type, bytesPerElement; + + function setIndex( value ) { + + type = value.type; + bytesPerElement = value.bytesPerElement; + + } + + function render( start, count ) { + + gl.drawElements( mode, count, type, start * bytesPerElement ); + + info.update( count, mode, 1 ); + + } + + function renderInstances( start, count, primcount ) { + + if ( primcount === 0 ) return; + + gl.drawElementsInstanced( mode, count, type, start * bytesPerElement, primcount ); + + info.update( count, mode, primcount ); + + } + + function renderMultiDraw( starts, counts, drawCount ) { + + if ( drawCount === 0 ) return; + + const extension = extensions.get( 'WEBGL_multi_draw' ); + extension.multiDrawElementsWEBGL( mode, counts, 0, type, starts, 0, drawCount ); + + let elementCount = 0; + for ( let i = 0; i < drawCount; i ++ ) { + + elementCount += counts[ i ]; + + } + + info.update( elementCount, mode, 1 ); + + + } + + function renderMultiDrawInstances( starts, counts, drawCount, primcount ) { + + if ( drawCount === 0 ) return; + + const extension = extensions.get( 'WEBGL_multi_draw' ); + + if ( extension === null ) { + + for ( let i = 0; i < starts.length; i ++ ) { + + renderInstances( starts[ i ] / bytesPerElement, counts[ i ], primcount[ i ] ); + + } + + } else { + + extension.multiDrawElementsInstancedWEBGL( mode, counts, 0, type, starts, 0, primcount, 0, drawCount ); + + let elementCount = 0; + for ( let i = 0; i < drawCount; i ++ ) { + + elementCount += counts[ i ] * primcount[ i ]; + + } + + info.update( elementCount, mode, 1 ); + + } + + } + + // + + this.setMode = setMode; + this.setIndex = setIndex; + this.render = render; + this.renderInstances = renderInstances; + this.renderMultiDraw = renderMultiDraw; + this.renderMultiDrawInstances = renderMultiDrawInstances; + +} + +function WebGLInfo( gl ) { + + const memory = { + geometries: 0, + textures: 0 + }; + + const render = { + frame: 0, + calls: 0, + triangles: 0, + points: 0, + lines: 0 + }; + + function update( count, mode, instanceCount ) { + + render.calls ++; + + switch ( mode ) { + + case gl.TRIANGLES: + render.triangles += instanceCount * ( count / 3 ); + break; + + case gl.LINES: + render.lines += instanceCount * ( count / 2 ); + break; + + case gl.LINE_STRIP: + render.lines += instanceCount * ( count - 1 ); + break; + + case gl.LINE_LOOP: + render.lines += instanceCount * count; + break; + + case gl.POINTS: + render.points += instanceCount * count; + break; + + default: + error( 'WebGLInfo: Unknown draw mode:', mode ); + break; + + } + + } + + function reset() { + + render.calls = 0; + render.triangles = 0; + render.points = 0; + render.lines = 0; + + } + + return { + memory: memory, + render: render, + programs: null, + autoReset: true, + reset: reset, + update: update + }; + +} + +function WebGLMorphtargets( gl, capabilities, textures ) { + + const morphTextures = new WeakMap(); + const morph = new Vector4(); + + function update( object, geometry, program ) { + + const objectInfluences = object.morphTargetInfluences; + + // the following encodes morph targets into an array of data textures. Each layer represents a single morph target. + + const morphAttribute = geometry.morphAttributes.position || geometry.morphAttributes.normal || geometry.morphAttributes.color; + const morphTargetsCount = ( morphAttribute !== undefined ) ? morphAttribute.length : 0; + + let entry = morphTextures.get( geometry ); + + if ( entry === undefined || entry.count !== morphTargetsCount ) { + + if ( entry !== undefined ) entry.texture.dispose(); + + const hasMorphPosition = geometry.morphAttributes.position !== undefined; + const hasMorphNormals = geometry.morphAttributes.normal !== undefined; + const hasMorphColors = geometry.morphAttributes.color !== undefined; + + const morphTargets = geometry.morphAttributes.position || []; + const morphNormals = geometry.morphAttributes.normal || []; + const morphColors = geometry.morphAttributes.color || []; + + let vertexDataCount = 0; + + if ( hasMorphPosition === true ) vertexDataCount = 1; + if ( hasMorphNormals === true ) vertexDataCount = 2; + if ( hasMorphColors === true ) vertexDataCount = 3; + + let width = geometry.attributes.position.count * vertexDataCount; + let height = 1; + + if ( width > capabilities.maxTextureSize ) { + + height = Math.ceil( width / capabilities.maxTextureSize ); + width = capabilities.maxTextureSize; + + } + + const buffer = new Float32Array( width * height * 4 * morphTargetsCount ); + + const texture = new DataArrayTexture( buffer, width, height, morphTargetsCount ); + texture.type = FloatType; + texture.needsUpdate = true; + + // fill buffer + + const vertexDataStride = vertexDataCount * 4; + + for ( let i = 0; i < morphTargetsCount; i ++ ) { + + const morphTarget = morphTargets[ i ]; + const morphNormal = morphNormals[ i ]; + const morphColor = morphColors[ i ]; + + const offset = width * height * 4 * i; + + for ( let j = 0; j < morphTarget.count; j ++ ) { + + const stride = j * vertexDataStride; + + if ( hasMorphPosition === true ) { + + morph.fromBufferAttribute( morphTarget, j ); + + buffer[ offset + stride + 0 ] = morph.x; + buffer[ offset + stride + 1 ] = morph.y; + buffer[ offset + stride + 2 ] = morph.z; + buffer[ offset + stride + 3 ] = 0; + + } + + if ( hasMorphNormals === true ) { + + morph.fromBufferAttribute( morphNormal, j ); + + buffer[ offset + stride + 4 ] = morph.x; + buffer[ offset + stride + 5 ] = morph.y; + buffer[ offset + stride + 6 ] = morph.z; + buffer[ offset + stride + 7 ] = 0; + + } + + if ( hasMorphColors === true ) { + + morph.fromBufferAttribute( morphColor, j ); + + buffer[ offset + stride + 8 ] = morph.x; + buffer[ offset + stride + 9 ] = morph.y; + buffer[ offset + stride + 10 ] = morph.z; + buffer[ offset + stride + 11 ] = ( morphColor.itemSize === 4 ) ? morph.w : 1; + + } + + } + + } + + entry = { + count: morphTargetsCount, + texture: texture, + size: new Vector2( width, height ) + }; + + morphTextures.set( geometry, entry ); + + function disposeTexture() { + + texture.dispose(); + + morphTextures.delete( geometry ); + + geometry.removeEventListener( 'dispose', disposeTexture ); + + } + + geometry.addEventListener( 'dispose', disposeTexture ); + + } + + // + if ( object.isInstancedMesh === true && object.morphTexture !== null ) { + + program.getUniforms().setValue( gl, 'morphTexture', object.morphTexture, textures ); + + } else { + + let morphInfluencesSum = 0; + + for ( let i = 0; i < objectInfluences.length; i ++ ) { + + morphInfluencesSum += objectInfluences[ i ]; + + } + + const morphBaseInfluence = geometry.morphTargetsRelative ? 1 : 1 - morphInfluencesSum; + + + program.getUniforms().setValue( gl, 'morphTargetBaseInfluence', morphBaseInfluence ); + program.getUniforms().setValue( gl, 'morphTargetInfluences', objectInfluences ); + + } + + program.getUniforms().setValue( gl, 'morphTargetsTexture', entry.texture, textures ); + program.getUniforms().setValue( gl, 'morphTargetsTextureSize', entry.size ); + + } + + return { + + update: update + + }; + +} + +function WebGLObjects( gl, geometries, attributes, bindingStates, info ) { + + let updateMap = new WeakMap(); + + function update( object ) { + + const frame = info.render.frame; + + const geometry = object.geometry; + const buffergeometry = geometries.get( object, geometry ); + + // Update once per frame + + if ( updateMap.get( buffergeometry ) !== frame ) { + + geometries.update( buffergeometry ); + + updateMap.set( buffergeometry, frame ); + + } + + if ( object.isInstancedMesh ) { + + if ( object.hasEventListener( 'dispose', onInstancedMeshDispose ) === false ) { + + object.addEventListener( 'dispose', onInstancedMeshDispose ); + + } + + if ( updateMap.get( object ) !== frame ) { + + attributes.update( object.instanceMatrix, gl.ARRAY_BUFFER ); + + if ( object.instanceColor !== null ) { + + attributes.update( object.instanceColor, gl.ARRAY_BUFFER ); + + } + + updateMap.set( object, frame ); + + } + + } + + if ( object.isSkinnedMesh ) { + + const skeleton = object.skeleton; + + if ( updateMap.get( skeleton ) !== frame ) { + + skeleton.update(); + + updateMap.set( skeleton, frame ); + + } + + } + + return buffergeometry; + + } + + function dispose() { + + updateMap = new WeakMap(); + + } + + function onInstancedMeshDispose( event ) { + + const instancedMesh = event.target; + + instancedMesh.removeEventListener( 'dispose', onInstancedMeshDispose ); + + bindingStates.releaseStatesOfObject( instancedMesh ); + + attributes.remove( instancedMesh.instanceMatrix ); + + if ( instancedMesh.instanceColor !== null ) attributes.remove( instancedMesh.instanceColor ); + + } + + return { + + update: update, + dispose: dispose + + }; + +} + +const toneMappingMap = { + [ LinearToneMapping ]: 'LINEAR_TONE_MAPPING', + [ ReinhardToneMapping ]: 'REINHARD_TONE_MAPPING', + [ CineonToneMapping ]: 'CINEON_TONE_MAPPING', + [ ACESFilmicToneMapping ]: 'ACES_FILMIC_TONE_MAPPING', + [ AgXToneMapping ]: 'AGX_TONE_MAPPING', + [ NeutralToneMapping ]: 'NEUTRAL_TONE_MAPPING', + [ CustomToneMapping ]: 'CUSTOM_TONE_MAPPING' +}; + +function WebGLOutput( type, width, height, depth, stencil ) { + + // render targets for scene and post-processing + const targetA = new WebGLRenderTarget( width, height, { + type: type, + depthBuffer: depth, + stencilBuffer: stencil + } ); + + const targetB = new WebGLRenderTarget( width, height, { + type: HalfFloatType, + depthBuffer: false, + stencilBuffer: false + } ); + + // create fullscreen triangle geometry + const geometry = new BufferGeometry(); + geometry.setAttribute( 'position', new Float32BufferAttribute( [ -1, 3, 0, -1, -1, 0, 3, -1, 0 ], 3 ) ); + geometry.setAttribute( 'uv', new Float32BufferAttribute( [ 0, 2, 0, 0, 2, 0 ], 2 ) ); + + // create output material with tone mapping support + const material = new RawShaderMaterial( { + uniforms: { + tDiffuse: { value: null } + }, + vertexShader: /* glsl */` + precision highp float; + + uniform mat4 modelViewMatrix; + uniform mat4 projectionMatrix; + + attribute vec3 position; + attribute vec2 uv; + + varying vec2 vUv; + + void main() { + vUv = uv; + gl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 ); + }`, + fragmentShader: /* glsl */` + precision highp float; + + uniform sampler2D tDiffuse; + + varying vec2 vUv; + + #include + #include + + void main() { + gl_FragColor = texture2D( tDiffuse, vUv ); + + #ifdef LINEAR_TONE_MAPPING + gl_FragColor.rgb = LinearToneMapping( gl_FragColor.rgb ); + #elif defined( REINHARD_TONE_MAPPING ) + gl_FragColor.rgb = ReinhardToneMapping( gl_FragColor.rgb ); + #elif defined( CINEON_TONE_MAPPING ) + gl_FragColor.rgb = CineonToneMapping( gl_FragColor.rgb ); + #elif defined( ACES_FILMIC_TONE_MAPPING ) + gl_FragColor.rgb = ACESFilmicToneMapping( gl_FragColor.rgb ); + #elif defined( AGX_TONE_MAPPING ) + gl_FragColor.rgb = AgXToneMapping( gl_FragColor.rgb ); + #elif defined( NEUTRAL_TONE_MAPPING ) + gl_FragColor.rgb = NeutralToneMapping( gl_FragColor.rgb ); + #elif defined( CUSTOM_TONE_MAPPING ) + gl_FragColor.rgb = CustomToneMapping( gl_FragColor.rgb ); + #endif + + #ifdef SRGB_TRANSFER + gl_FragColor = sRGBTransferOETF( gl_FragColor ); + #endif + }`, + depthTest: false, + depthWrite: false + } ); + + const mesh = new Mesh( geometry, material ); + const camera = new OrthographicCamera( -1, 1, 1, -1, 0, 1 ); + + let _outputColorSpace = null; + let _outputToneMapping = null; + let _isCompositing = false; + let _savedToneMapping; + let _savedRenderTarget = null; + let _effects = []; + let _hasRenderPass = false; + + this.setSize = function ( width, height ) { + + targetA.setSize( width, height ); + targetB.setSize( width, height ); + + for ( let i = 0; i < _effects.length; i ++ ) { + + const effect = _effects[ i ]; + if ( effect.setSize ) effect.setSize( width, height ); + + } + + }; + + this.setEffects = function ( effects ) { + + _effects = effects; + _hasRenderPass = _effects.length > 0 && _effects[ 0 ].isRenderPass === true; + + const width = targetA.width; + const height = targetA.height; + + for ( let i = 0; i < _effects.length; i ++ ) { + + const effect = _effects[ i ]; + if ( effect.setSize ) effect.setSize( width, height ); + + } + + }; + + this.begin = function ( renderer, renderTarget ) { + + // Don't begin during compositing phase (post-processing effects call render()) + if ( _isCompositing ) return false; + + if ( renderer.toneMapping === NoToneMapping && _effects.length === 0 ) return false; + + _savedRenderTarget = renderTarget; + + // resize internal buffers to match render target (e.g. XR resolution) + if ( renderTarget !== null ) { + + const width = renderTarget.width; + const height = renderTarget.height; + + if ( targetA.width !== width || targetA.height !== height ) { + + this.setSize( width, height ); + + } + + } + + // if first effect is a RenderPass, it will set its own render target + if ( _hasRenderPass === false ) { + + renderer.setRenderTarget( targetA ); + + } + + // disable tone mapping during render - it will be applied in end() + _savedToneMapping = renderer.toneMapping; + renderer.toneMapping = NoToneMapping; + + return true; + + }; + + this.hasRenderPass = function () { + + return _hasRenderPass; + + }; + + this.end = function ( renderer, deltaTime ) { + + // restore tone mapping + renderer.toneMapping = _savedToneMapping; + + _isCompositing = true; + + // run post-processing effects + let readBuffer = targetA; + let writeBuffer = targetB; + + for ( let i = 0; i < _effects.length; i ++ ) { + + const effect = _effects[ i ]; + + if ( effect.enabled === false ) continue; + + effect.render( renderer, writeBuffer, readBuffer, deltaTime ); + + if ( effect.needsSwap !== false ) { + + const temp = readBuffer; + readBuffer = writeBuffer; + writeBuffer = temp; + + } + + } + + // update output material defines if settings changed + if ( _outputColorSpace !== renderer.outputColorSpace || _outputToneMapping !== renderer.toneMapping ) { + + _outputColorSpace = renderer.outputColorSpace; + _outputToneMapping = renderer.toneMapping; + + material.defines = {}; + + if ( ColorManagement.getTransfer( _outputColorSpace ) === SRGBTransfer ) material.defines.SRGB_TRANSFER = ''; + + const toneMapping = toneMappingMap[ _outputToneMapping ]; + if ( toneMapping ) material.defines[ toneMapping ] = ''; + + material.needsUpdate = true; + + } + + // final output to canvas (or XR render target) + material.uniforms.tDiffuse.value = readBuffer.texture; + renderer.setRenderTarget( _savedRenderTarget ); + renderer.render( mesh, camera ); + + _savedRenderTarget = null; + _isCompositing = false; + + }; + + this.isCompositing = function () { + + return _isCompositing; + + }; + + this.dispose = function () { + + targetA.dispose(); + targetB.dispose(); + geometry.dispose(); + material.dispose(); + + }; + +} + +/** + * Uniforms of a program. + * Those form a tree structure with a special top-level container for the root, + * which you get by calling 'new WebGLUniforms( gl, program )'. + * + * + * Properties of inner nodes including the top-level container: + * + * .seq - array of nested uniforms + * .map - nested uniforms by name + * + * + * Methods of all nodes except the top-level container: + * + * .setValue( gl, value, [textures] ) + * + * uploads a uniform value(s) + * the 'textures' parameter is needed for sampler uniforms + * + * + * Static methods of the top-level container (textures factorizations): + * + * .upload( gl, seq, values, textures ) + * + * sets uniforms in 'seq' to 'values[id].value' + * + * .seqWithValue( seq, values ) : filteredSeq + * + * filters 'seq' entries with corresponding entry in values + * + * + * Methods of the top-level container (textures factorizations): + * + * .setValue( gl, name, value, textures ) + * + * sets uniform with name 'name' to 'value' + * + * .setOptional( gl, obj, prop ) + * + * like .set for an optional property of the object + * + */ + + +const emptyTexture = /*@__PURE__*/ new Texture(); + +const emptyShadowTexture = /*@__PURE__*/ new DepthTexture( 1, 1 ); + +const emptyArrayTexture = /*@__PURE__*/ new DataArrayTexture(); +const empty3dTexture = /*@__PURE__*/ new Data3DTexture(); +const emptyCubeTexture = /*@__PURE__*/ new CubeTexture(); + +// --- Utilities --- + +// Array Caches (provide typed arrays for temporary by size) + +const arrayCacheF32 = []; +const arrayCacheI32 = []; + +// Float32Array caches used for uploading Matrix uniforms + +const mat4array = new Float32Array( 16 ); +const mat3array = new Float32Array( 9 ); +const mat2array = new Float32Array( 4 ); + +// Flattening for arrays of vectors and matrices + +function flatten( array, nBlocks, blockSize ) { + + const firstElem = array[ 0 ]; + + if ( firstElem <= 0 || firstElem > 0 ) return array; + // unoptimized: ! isNaN( firstElem ) + // see http://jacksondunstan.com/articles/983 + + const n = nBlocks * blockSize; + let r = arrayCacheF32[ n ]; + + if ( r === undefined ) { + + r = new Float32Array( n ); + arrayCacheF32[ n ] = r; + + } + + if ( nBlocks !== 0 ) { + + firstElem.toArray( r, 0 ); + + for ( let i = 1, offset = 0; i !== nBlocks; ++ i ) { + + offset += blockSize; + array[ i ].toArray( r, offset ); + + } + + } + + return r; + +} + +function arraysEqual( a, b ) { + + if ( a.length !== b.length ) return false; + + for ( let i = 0, l = a.length; i < l; i ++ ) { + + if ( a[ i ] !== b[ i ] ) return false; + + } + + return true; + +} + +function copyArray( a, b ) { + + for ( let i = 0, l = b.length; i < l; i ++ ) { + + a[ i ] = b[ i ]; + + } + +} + +// Texture unit allocation + +function allocTexUnits( textures, n ) { + + let r = arrayCacheI32[ n ]; + + if ( r === undefined ) { + + r = new Int32Array( n ); + arrayCacheI32[ n ] = r; + + } + + for ( let i = 0; i !== n; ++ i ) { + + r[ i ] = textures.allocateTextureUnit(); + + } + + return r; + +} + +// --- Setters --- + +// Note: Defining these methods externally, because they come in a bunch +// and this way their names minify. + +// Single scalar + +function setValueV1f( gl, v ) { + + const cache = this.cache; + + if ( cache[ 0 ] === v ) return; + + gl.uniform1f( this.addr, v ); + + cache[ 0 ] = v; + +} + +// Single float vector (from flat array or THREE.VectorN) + +function setValueV2f( gl, v ) { + + const cache = this.cache; + + if ( v.x !== undefined ) { + + if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y ) { + + gl.uniform2f( this.addr, v.x, v.y ); + + cache[ 0 ] = v.x; + cache[ 1 ] = v.y; + + } + + } else { + + if ( arraysEqual( cache, v ) ) return; + + gl.uniform2fv( this.addr, v ); + + copyArray( cache, v ); + + } + +} + +function setValueV3f( gl, v ) { + + const cache = this.cache; + + if ( v.x !== undefined ) { + + if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y || cache[ 2 ] !== v.z ) { + + gl.uniform3f( this.addr, v.x, v.y, v.z ); + + cache[ 0 ] = v.x; + cache[ 1 ] = v.y; + cache[ 2 ] = v.z; + + } + + } else if ( v.r !== undefined ) { + + if ( cache[ 0 ] !== v.r || cache[ 1 ] !== v.g || cache[ 2 ] !== v.b ) { + + gl.uniform3f( this.addr, v.r, v.g, v.b ); + + cache[ 0 ] = v.r; + cache[ 1 ] = v.g; + cache[ 2 ] = v.b; + + } + + } else { + + if ( arraysEqual( cache, v ) ) return; + + gl.uniform3fv( this.addr, v ); + + copyArray( cache, v ); + + } + +} + +function setValueV4f( gl, v ) { + + const cache = this.cache; + + if ( v.x !== undefined ) { + + if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y || cache[ 2 ] !== v.z || cache[ 3 ] !== v.w ) { + + gl.uniform4f( this.addr, v.x, v.y, v.z, v.w ); + + cache[ 0 ] = v.x; + cache[ 1 ] = v.y; + cache[ 2 ] = v.z; + cache[ 3 ] = v.w; + + } + + } else { + + if ( arraysEqual( cache, v ) ) return; + + gl.uniform4fv( this.addr, v ); + + copyArray( cache, v ); + + } + +} + +// Single matrix (from flat array or THREE.MatrixN) + +function setValueM2( gl, v ) { + + const cache = this.cache; + const elements = v.elements; + + if ( elements === undefined ) { + + if ( arraysEqual( cache, v ) ) return; + + gl.uniformMatrix2fv( this.addr, false, v ); + + copyArray( cache, v ); + + } else { + + if ( arraysEqual( cache, elements ) ) return; + + mat2array.set( elements ); + + gl.uniformMatrix2fv( this.addr, false, mat2array ); + + copyArray( cache, elements ); + + } + +} + +function setValueM3( gl, v ) { + + const cache = this.cache; + const elements = v.elements; + + if ( elements === undefined ) { + + if ( arraysEqual( cache, v ) ) return; + + gl.uniformMatrix3fv( this.addr, false, v ); + + copyArray( cache, v ); + + } else { + + if ( arraysEqual( cache, elements ) ) return; + + mat3array.set( elements ); + + gl.uniformMatrix3fv( this.addr, false, mat3array ); + + copyArray( cache, elements ); + + } + +} + +function setValueM4( gl, v ) { + + const cache = this.cache; + const elements = v.elements; + + if ( elements === undefined ) { + + if ( arraysEqual( cache, v ) ) return; + + gl.uniformMatrix4fv( this.addr, false, v ); + + copyArray( cache, v ); + + } else { + + if ( arraysEqual( cache, elements ) ) return; + + mat4array.set( elements ); + + gl.uniformMatrix4fv( this.addr, false, mat4array ); + + copyArray( cache, elements ); + + } + +} + +// Single integer / boolean + +function setValueV1i( gl, v ) { + + const cache = this.cache; + + if ( cache[ 0 ] === v ) return; + + gl.uniform1i( this.addr, v ); + + cache[ 0 ] = v; + +} + +// Single integer / boolean vector (from flat array or THREE.VectorN) + +function setValueV2i( gl, v ) { + + const cache = this.cache; + + if ( v.x !== undefined ) { + + if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y ) { + + gl.uniform2i( this.addr, v.x, v.y ); + + cache[ 0 ] = v.x; + cache[ 1 ] = v.y; + + } + + } else { + + if ( arraysEqual( cache, v ) ) return; + + gl.uniform2iv( this.addr, v ); + + copyArray( cache, v ); + + } + +} + +function setValueV3i( gl, v ) { + + const cache = this.cache; + + if ( v.x !== undefined ) { + + if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y || cache[ 2 ] !== v.z ) { + + gl.uniform3i( this.addr, v.x, v.y, v.z ); + + cache[ 0 ] = v.x; + cache[ 1 ] = v.y; + cache[ 2 ] = v.z; + + } + + } else { + + if ( arraysEqual( cache, v ) ) return; + + gl.uniform3iv( this.addr, v ); + + copyArray( cache, v ); + + } + +} + +function setValueV4i( gl, v ) { + + const cache = this.cache; + + if ( v.x !== undefined ) { + + if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y || cache[ 2 ] !== v.z || cache[ 3 ] !== v.w ) { + + gl.uniform4i( this.addr, v.x, v.y, v.z, v.w ); + + cache[ 0 ] = v.x; + cache[ 1 ] = v.y; + cache[ 2 ] = v.z; + cache[ 3 ] = v.w; + + } + + } else { + + if ( arraysEqual( cache, v ) ) return; + + gl.uniform4iv( this.addr, v ); + + copyArray( cache, v ); + + } + +} + +// Single unsigned integer + +function setValueV1ui( gl, v ) { + + const cache = this.cache; + + if ( cache[ 0 ] === v ) return; + + gl.uniform1ui( this.addr, v ); + + cache[ 0 ] = v; + +} + +// Single unsigned integer vector (from flat array or THREE.VectorN) + +function setValueV2ui( gl, v ) { + + const cache = this.cache; + + if ( v.x !== undefined ) { + + if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y ) { + + gl.uniform2ui( this.addr, v.x, v.y ); + + cache[ 0 ] = v.x; + cache[ 1 ] = v.y; + + } + + } else { + + if ( arraysEqual( cache, v ) ) return; + + gl.uniform2uiv( this.addr, v ); + + copyArray( cache, v ); + + } + +} + +function setValueV3ui( gl, v ) { + + const cache = this.cache; + + if ( v.x !== undefined ) { + + if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y || cache[ 2 ] !== v.z ) { + + gl.uniform3ui( this.addr, v.x, v.y, v.z ); + + cache[ 0 ] = v.x; + cache[ 1 ] = v.y; + cache[ 2 ] = v.z; + + } + + } else { + + if ( arraysEqual( cache, v ) ) return; + + gl.uniform3uiv( this.addr, v ); + + copyArray( cache, v ); + + } + +} + +function setValueV4ui( gl, v ) { + + const cache = this.cache; + + if ( v.x !== undefined ) { + + if ( cache[ 0 ] !== v.x || cache[ 1 ] !== v.y || cache[ 2 ] !== v.z || cache[ 3 ] !== v.w ) { + + gl.uniform4ui( this.addr, v.x, v.y, v.z, v.w ); + + cache[ 0 ] = v.x; + cache[ 1 ] = v.y; + cache[ 2 ] = v.z; + cache[ 3 ] = v.w; + + } + + } else { + + if ( arraysEqual( cache, v ) ) return; + + gl.uniform4uiv( this.addr, v ); + + copyArray( cache, v ); + + } + +} + + +// Single texture (2D / Cube) + +function setValueT1( gl, v, textures ) { + + const cache = this.cache; + const unit = textures.allocateTextureUnit(); + + if ( cache[ 0 ] !== unit ) { + + gl.uniform1i( this.addr, unit ); + cache[ 0 ] = unit; + + } + + let emptyTexture2D; + + if ( this.type === gl.SAMPLER_2D_SHADOW ) { + + emptyShadowTexture.compareFunction = textures.isReversedDepthBuffer() ? GreaterEqualCompare : LessEqualCompare; + emptyTexture2D = emptyShadowTexture; + + } else { + + emptyTexture2D = emptyTexture; + + } + + textures.setTexture2D( v || emptyTexture2D, unit ); + +} + +function setValueT3D1( gl, v, textures ) { + + const cache = this.cache; + const unit = textures.allocateTextureUnit(); + + if ( cache[ 0 ] !== unit ) { + + gl.uniform1i( this.addr, unit ); + cache[ 0 ] = unit; + + } + + textures.setTexture3D( v || empty3dTexture, unit ); + +} + +function setValueT6( gl, v, textures ) { + + const cache = this.cache; + const unit = textures.allocateTextureUnit(); + + if ( cache[ 0 ] !== unit ) { + + gl.uniform1i( this.addr, unit ); + cache[ 0 ] = unit; + + } + + textures.setTextureCube( v || emptyCubeTexture, unit ); + +} + +function setValueT2DArray1( gl, v, textures ) { + + const cache = this.cache; + const unit = textures.allocateTextureUnit(); + + if ( cache[ 0 ] !== unit ) { + + gl.uniform1i( this.addr, unit ); + cache[ 0 ] = unit; + + } + + textures.setTexture2DArray( v || emptyArrayTexture, unit ); + +} + +// Helper to pick the right setter for the singular case + +function getSingularSetter( type ) { + + switch ( type ) { + + case 0x1406: return setValueV1f; // FLOAT + case 0x8b50: return setValueV2f; // _VEC2 + case 0x8b51: return setValueV3f; // _VEC3 + case 0x8b52: return setValueV4f; // _VEC4 + + case 0x8b5a: return setValueM2; // _MAT2 + case 0x8b5b: return setValueM3; // _MAT3 + case 0x8b5c: return setValueM4; // _MAT4 + + case 0x1404: case 0x8b56: return setValueV1i; // INT, BOOL + case 0x8b53: case 0x8b57: return setValueV2i; // _VEC2 + case 0x8b54: case 0x8b58: return setValueV3i; // _VEC3 + case 0x8b55: case 0x8b59: return setValueV4i; // _VEC4 + + case 0x1405: return setValueV1ui; // UINT + case 0x8dc6: return setValueV2ui; // _VEC2 + case 0x8dc7: return setValueV3ui; // _VEC3 + case 0x8dc8: return setValueV4ui; // _VEC4 + + case 0x8b5e: // SAMPLER_2D + case 0x8d66: // SAMPLER_EXTERNAL_OES + case 0x8dca: // INT_SAMPLER_2D + case 0x8dd2: // UNSIGNED_INT_SAMPLER_2D + case 0x8b62: // SAMPLER_2D_SHADOW + return setValueT1; + + case 0x8b5f: // SAMPLER_3D + case 0x8dcb: // INT_SAMPLER_3D + case 0x8dd3: // UNSIGNED_INT_SAMPLER_3D + return setValueT3D1; + + case 0x8b60: // SAMPLER_CUBE + case 0x8dcc: // INT_SAMPLER_CUBE + case 0x8dd4: // UNSIGNED_INT_SAMPLER_CUBE + case 0x8dc5: // SAMPLER_CUBE_SHADOW + return setValueT6; + + case 0x8dc1: // SAMPLER_2D_ARRAY + case 0x8dcf: // INT_SAMPLER_2D_ARRAY + case 0x8dd7: // UNSIGNED_INT_SAMPLER_2D_ARRAY + case 0x8dc4: // SAMPLER_2D_ARRAY_SHADOW + return setValueT2DArray1; + + } + +} + + +// Array of scalars + +function setValueV1fArray( gl, v ) { + + gl.uniform1fv( this.addr, v ); + +} + +// Array of vectors (from flat array or array of THREE.VectorN) + +function setValueV2fArray( gl, v ) { + + const data = flatten( v, this.size, 2 ); + + gl.uniform2fv( this.addr, data ); + +} + +function setValueV3fArray( gl, v ) { + + const data = flatten( v, this.size, 3 ); + + gl.uniform3fv( this.addr, data ); + +} + +function setValueV4fArray( gl, v ) { + + const data = flatten( v, this.size, 4 ); + + gl.uniform4fv( this.addr, data ); + +} + +// Array of matrices (from flat array or array of THREE.MatrixN) + +function setValueM2Array( gl, v ) { + + const data = flatten( v, this.size, 4 ); + + gl.uniformMatrix2fv( this.addr, false, data ); + +} + +function setValueM3Array( gl, v ) { + + const data = flatten( v, this.size, 9 ); + + gl.uniformMatrix3fv( this.addr, false, data ); + +} + +function setValueM4Array( gl, v ) { + + const data = flatten( v, this.size, 16 ); + + gl.uniformMatrix4fv( this.addr, false, data ); + +} + +// Array of integer / boolean + +function setValueV1iArray( gl, v ) { + + gl.uniform1iv( this.addr, v ); + +} + +// Array of integer / boolean vectors (from flat array) + +function setValueV2iArray( gl, v ) { + + gl.uniform2iv( this.addr, v ); + +} + +function setValueV3iArray( gl, v ) { + + gl.uniform3iv( this.addr, v ); + +} + +function setValueV4iArray( gl, v ) { + + gl.uniform4iv( this.addr, v ); + +} + +// Array of unsigned integer + +function setValueV1uiArray( gl, v ) { + + gl.uniform1uiv( this.addr, v ); + +} + +// Array of unsigned integer vectors (from flat array) + +function setValueV2uiArray( gl, v ) { + + gl.uniform2uiv( this.addr, v ); + +} + +function setValueV3uiArray( gl, v ) { + + gl.uniform3uiv( this.addr, v ); + +} + +function setValueV4uiArray( gl, v ) { + + gl.uniform4uiv( this.addr, v ); + +} + + +// Array of textures (2D / 3D / Cube / 2DArray) + +function setValueT1Array( gl, v, textures ) { + + const cache = this.cache; + + const n = v.length; + + const units = allocTexUnits( textures, n ); + + if ( ! arraysEqual( cache, units ) ) { + + gl.uniform1iv( this.addr, units ); + + copyArray( cache, units ); + + } + + let emptyTexture2D; + + if ( this.type === gl.SAMPLER_2D_SHADOW ) { + + emptyTexture2D = emptyShadowTexture; + + } else { + + emptyTexture2D = emptyTexture; + + } + + for ( let i = 0; i !== n; ++ i ) { + + textures.setTexture2D( v[ i ] || emptyTexture2D, units[ i ] ); + + } + +} + +function setValueT3DArray( gl, v, textures ) { + + const cache = this.cache; + + const n = v.length; + + const units = allocTexUnits( textures, n ); + + if ( ! arraysEqual( cache, units ) ) { + + gl.uniform1iv( this.addr, units ); + + copyArray( cache, units ); + + } + + for ( let i = 0; i !== n; ++ i ) { + + textures.setTexture3D( v[ i ] || empty3dTexture, units[ i ] ); + + } + +} + +function setValueT6Array( gl, v, textures ) { + + const cache = this.cache; + + const n = v.length; + + const units = allocTexUnits( textures, n ); + + if ( ! arraysEqual( cache, units ) ) { + + gl.uniform1iv( this.addr, units ); + + copyArray( cache, units ); + + } + + for ( let i = 0; i !== n; ++ i ) { + + textures.setTextureCube( v[ i ] || emptyCubeTexture, units[ i ] ); + + } + +} + +function setValueT2DArrayArray( gl, v, textures ) { + + const cache = this.cache; + + const n = v.length; + + const units = allocTexUnits( textures, n ); + + if ( ! arraysEqual( cache, units ) ) { + + gl.uniform1iv( this.addr, units ); + + copyArray( cache, units ); + + } + + for ( let i = 0; i !== n; ++ i ) { + + textures.setTexture2DArray( v[ i ] || emptyArrayTexture, units[ i ] ); + + } + +} + + +// Helper to pick the right setter for a pure (bottom-level) array + +function getPureArraySetter( type ) { + + switch ( type ) { + + case 0x1406: return setValueV1fArray; // FLOAT + case 0x8b50: return setValueV2fArray; // _VEC2 + case 0x8b51: return setValueV3fArray; // _VEC3 + case 0x8b52: return setValueV4fArray; // _VEC4 + + case 0x8b5a: return setValueM2Array; // _MAT2 + case 0x8b5b: return setValueM3Array; // _MAT3 + case 0x8b5c: return setValueM4Array; // _MAT4 + + case 0x1404: case 0x8b56: return setValueV1iArray; // INT, BOOL + case 0x8b53: case 0x8b57: return setValueV2iArray; // _VEC2 + case 0x8b54: case 0x8b58: return setValueV3iArray; // _VEC3 + case 0x8b55: case 0x8b59: return setValueV4iArray; // _VEC4 + + case 0x1405: return setValueV1uiArray; // UINT + case 0x8dc6: return setValueV2uiArray; // _VEC2 + case 0x8dc7: return setValueV3uiArray; // _VEC3 + case 0x8dc8: return setValueV4uiArray; // _VEC4 + + case 0x8b5e: // SAMPLER_2D + case 0x8d66: // SAMPLER_EXTERNAL_OES + case 0x8dca: // INT_SAMPLER_2D + case 0x8dd2: // UNSIGNED_INT_SAMPLER_2D + case 0x8b62: // SAMPLER_2D_SHADOW + return setValueT1Array; + + case 0x8b5f: // SAMPLER_3D + case 0x8dcb: // INT_SAMPLER_3D + case 0x8dd3: // UNSIGNED_INT_SAMPLER_3D + return setValueT3DArray; + + case 0x8b60: // SAMPLER_CUBE + case 0x8dcc: // INT_SAMPLER_CUBE + case 0x8dd4: // UNSIGNED_INT_SAMPLER_CUBE + case 0x8dc5: // SAMPLER_CUBE_SHADOW + return setValueT6Array; + + case 0x8dc1: // SAMPLER_2D_ARRAY + case 0x8dcf: // INT_SAMPLER_2D_ARRAY + case 0x8dd7: // UNSIGNED_INT_SAMPLER_2D_ARRAY + case 0x8dc4: // SAMPLER_2D_ARRAY_SHADOW + return setValueT2DArrayArray; + + } + +} + +// --- Uniform Classes --- + +class SingleUniform { + + constructor( id, activeInfo, addr ) { + + this.id = id; + this.addr = addr; + this.cache = []; + this.type = activeInfo.type; + this.setValue = getSingularSetter( activeInfo.type ); + + // this.path = activeInfo.name; // DEBUG + + } + +} + +class PureArrayUniform { + + constructor( id, activeInfo, addr ) { + + this.id = id; + this.addr = addr; + this.cache = []; + this.type = activeInfo.type; + this.size = activeInfo.size; + this.setValue = getPureArraySetter( activeInfo.type ); + + // this.path = activeInfo.name; // DEBUG + + } + +} + +class StructuredUniform { + + constructor( id ) { + + this.id = id; + + this.seq = []; + this.map = {}; + + } + + setValue( gl, value, textures ) { + + const seq = this.seq; + + for ( let i = 0, n = seq.length; i !== n; ++ i ) { + + const u = seq[ i ]; + u.setValue( gl, value[ u.id ], textures ); + + } + + } + +} + +// --- Top-level --- + +// Parser - builds up the property tree from the path strings + +const RePathPart = /(\w+)(\])?(\[|\.)?/g; + +// extracts +// - the identifier (member name or array index) +// - followed by an optional right bracket (found when array index) +// - followed by an optional left bracket or dot (type of subscript) +// +// Note: These portions can be read in a non-overlapping fashion and +// allow straightforward parsing of the hierarchy that WebGL encodes +// in the uniform names. + +function addUniform( container, uniformObject ) { + + container.seq.push( uniformObject ); + container.map[ uniformObject.id ] = uniformObject; + +} + +function parseUniform( activeInfo, addr, container ) { + + const path = activeInfo.name, + pathLength = path.length; + + // reset RegExp object, because of the early exit of a previous run + RePathPart.lastIndex = 0; + + while ( true ) { + + const match = RePathPart.exec( path ), + matchEnd = RePathPart.lastIndex; + + let id = match[ 1 ]; + const idIsIndex = match[ 2 ] === ']', + subscript = match[ 3 ]; + + if ( idIsIndex ) id = id | 0; // convert to integer + + if ( subscript === undefined || subscript === '[' && matchEnd + 2 === pathLength ) { + + // bare name or "pure" bottom-level array "[0]" suffix + + addUniform( container, subscript === undefined ? + new SingleUniform( id, activeInfo, addr ) : + new PureArrayUniform( id, activeInfo, addr ) ); + + break; + + } else { + + // step into inner node / create it in case it doesn't exist + + const map = container.map; + let next = map[ id ]; + + if ( next === undefined ) { + + next = new StructuredUniform( id ); + addUniform( container, next ); + + } + + container = next; + + } + + } + +} + +// Root Container + +class WebGLUniforms { + + constructor( gl, program ) { + + this.seq = []; + this.map = {}; + + const n = gl.getProgramParameter( program, gl.ACTIVE_UNIFORMS ); + + for ( let i = 0; i < n; ++ i ) { + + const info = gl.getActiveUniform( program, i ), + addr = gl.getUniformLocation( program, info.name ); + + parseUniform( info, addr, this ); + + } + + // Sort uniforms to prioritize shadow samplers first (for optimal texture unit allocation) + + const shadowSamplers = []; + const otherUniforms = []; + + for ( const u of this.seq ) { + + if ( u.type === gl.SAMPLER_2D_SHADOW || u.type === gl.SAMPLER_CUBE_SHADOW || u.type === gl.SAMPLER_2D_ARRAY_SHADOW ) { + + shadowSamplers.push( u ); + + } else { + + otherUniforms.push( u ); + + } + + } + + if ( shadowSamplers.length > 0 ) { + + this.seq = shadowSamplers.concat( otherUniforms ); + + } + + } + + setValue( gl, name, value, textures ) { + + const u = this.map[ name ]; + + if ( u !== undefined ) u.setValue( gl, value, textures ); + + } + + setOptional( gl, object, name ) { + + const v = object[ name ]; + + if ( v !== undefined ) this.setValue( gl, name, v ); + + } + + static upload( gl, seq, values, textures ) { + + for ( let i = 0, n = seq.length; i !== n; ++ i ) { + + const u = seq[ i ], + v = values[ u.id ]; + + if ( v.needsUpdate !== false ) { + + // note: always updating when .needsUpdate is undefined + u.setValue( gl, v.value, textures ); + + } + + } + + } + + static seqWithValue( seq, values ) { + + const r = []; + + for ( let i = 0, n = seq.length; i !== n; ++ i ) { + + const u = seq[ i ]; + if ( u.id in values ) r.push( u ); + + } + + return r; + + } + +} + +function WebGLShader( gl, type, string ) { + + const shader = gl.createShader( type ); + + gl.shaderSource( shader, string ); + gl.compileShader( shader ); + + return shader; + +} + +// From https://www.khronos.org/registry/webgl/extensions/KHR_parallel_shader_compile/ +const COMPLETION_STATUS_KHR = 0x91B1; + +let programIdCount = 0; + +function handleSource( string, errorLine ) { + + const lines = string.split( '\n' ); + const lines2 = []; + + const from = Math.max( errorLine - 6, 0 ); + const to = Math.min( errorLine + 6, lines.length ); + + for ( let i = from; i < to; i ++ ) { + + const line = i + 1; + lines2.push( `${line === errorLine ? '>' : ' '} ${line}: ${lines[ i ]}` ); + + } + + return lines2.join( '\n' ); + +} + +const _m0 = /*@__PURE__*/ new Matrix3(); + +function getEncodingComponents( colorSpace ) { + + ColorManagement._getMatrix( _m0, ColorManagement.workingColorSpace, colorSpace ); + + const encodingMatrix = `mat3( ${ _m0.elements.map( ( v ) => v.toFixed( 4 ) ) } )`; + + switch ( ColorManagement.getTransfer( colorSpace ) ) { + + case LinearTransfer: + return [ encodingMatrix, 'LinearTransferOETF' ]; + + case SRGBTransfer: + return [ encodingMatrix, 'sRGBTransferOETF' ]; + + default: + warn( 'WebGLProgram: Unsupported color space: ', colorSpace ); + return [ encodingMatrix, 'LinearTransferOETF' ]; + + } + +} + +function getShaderErrors( gl, shader, type ) { + + const status = gl.getShaderParameter( shader, gl.COMPILE_STATUS ); + + const shaderInfoLog = gl.getShaderInfoLog( shader ) || ''; + const errors = shaderInfoLog.trim(); + + if ( status && errors === '' ) return ''; + + const errorMatches = /ERROR: 0:(\d+)/.exec( errors ); + if ( errorMatches ) { + + // --enable-privileged-webgl-extension + // log( '**' + type + '**', gl.getExtension( 'WEBGL_debug_shaders' ).getTranslatedShaderSource( shader ) ); + + const errorLine = parseInt( errorMatches[ 1 ] ); + return type.toUpperCase() + '\n\n' + errors + '\n\n' + handleSource( gl.getShaderSource( shader ), errorLine ); + + } else { + + return errors; + + } + +} + +function getTexelEncodingFunction( functionName, colorSpace ) { + + const components = getEncodingComponents( colorSpace ); + + return [ + + `vec4 ${functionName}( vec4 value ) {`, + + ` return ${components[ 1 ]}( vec4( value.rgb * ${components[ 0 ]}, value.a ) );`, + + '}', + + ].join( '\n' ); + +} + +const toneMappingFunctions = { + [ LinearToneMapping ]: 'Linear', + [ ReinhardToneMapping ]: 'Reinhard', + [ CineonToneMapping ]: 'Cineon', + [ ACESFilmicToneMapping ]: 'ACESFilmic', + [ AgXToneMapping ]: 'AgX', + [ NeutralToneMapping ]: 'Neutral', + [ CustomToneMapping ]: 'Custom' +}; + +function getToneMappingFunction( functionName, toneMapping ) { + + const toneMappingName = toneMappingFunctions[ toneMapping ]; + + if ( toneMappingName === undefined ) { + + warn( 'WebGLProgram: Unsupported toneMapping:', toneMapping ); + return 'vec3 ' + functionName + '( vec3 color ) { return LinearToneMapping( color ); }'; + + } + + return 'vec3 ' + functionName + '( vec3 color ) { return ' + toneMappingName + 'ToneMapping( color ); }'; + +} + +const _v0 = /*@__PURE__*/ new Vector3(); + +function getLuminanceFunction() { + + ColorManagement.getLuminanceCoefficients( _v0 ); + + const r = _v0.x.toFixed( 4 ); + const g = _v0.y.toFixed( 4 ); + const b = _v0.z.toFixed( 4 ); + + return [ + + 'float luminance( const in vec3 rgb ) {', + + ` const vec3 weights = vec3( ${ r }, ${ g }, ${ b } );`, + + ' return dot( weights, rgb );', + + '}' + + ].join( '\n' ); + +} + +function generateVertexExtensions( parameters ) { + + const chunks = [ + parameters.extensionClipCullDistance ? '#extension GL_ANGLE_clip_cull_distance : require' : '', + parameters.extensionMultiDraw ? '#extension GL_ANGLE_multi_draw : require' : '', + ]; + + return chunks.filter( filterEmptyLine ).join( '\n' ); + +} + +function generateDefines( defines ) { + + const chunks = []; + + for ( const name in defines ) { + + const value = defines[ name ]; + + if ( value === false ) continue; + + chunks.push( '#define ' + name + ' ' + value ); + + } + + return chunks.join( '\n' ); + +} + +function fetchAttributeLocations( gl, program ) { + + const attributes = {}; + + const n = gl.getProgramParameter( program, gl.ACTIVE_ATTRIBUTES ); + + for ( let i = 0; i < n; i ++ ) { + + const info = gl.getActiveAttrib( program, i ); + const name = info.name; + + let locationSize = 1; + if ( info.type === gl.FLOAT_MAT2 ) locationSize = 2; + if ( info.type === gl.FLOAT_MAT3 ) locationSize = 3; + if ( info.type === gl.FLOAT_MAT4 ) locationSize = 4; + + // log( 'WebGLProgram: ACTIVE VERTEX ATTRIBUTE:', name, i ); + + attributes[ name ] = { + type: info.type, + location: gl.getAttribLocation( program, name ), + locationSize: locationSize + }; + + } + + return attributes; + +} + +function filterEmptyLine( string ) { + + return string !== ''; + +} + +function replaceLightNums( string, parameters ) { + + const numSpotLightCoords = parameters.numSpotLightShadows + parameters.numSpotLightMaps - parameters.numSpotLightShadowsWithMaps; + + return string + .replace( /NUM_DIR_LIGHTS/g, parameters.numDirLights ) + .replace( /NUM_SPOT_LIGHTS/g, parameters.numSpotLights ) + .replace( /NUM_SPOT_LIGHT_MAPS/g, parameters.numSpotLightMaps ) + .replace( /NUM_SPOT_LIGHT_COORDS/g, numSpotLightCoords ) + .replace( /NUM_RECT_AREA_LIGHTS/g, parameters.numRectAreaLights ) + .replace( /NUM_POINT_LIGHTS/g, parameters.numPointLights ) + .replace( /NUM_HEMI_LIGHTS/g, parameters.numHemiLights ) + .replace( /NUM_DIR_LIGHT_SHADOWS/g, parameters.numDirLightShadows ) + .replace( /NUM_SPOT_LIGHT_SHADOWS_WITH_MAPS/g, parameters.numSpotLightShadowsWithMaps ) + .replace( /NUM_SPOT_LIGHT_SHADOWS/g, parameters.numSpotLightShadows ) + .replace( /NUM_POINT_LIGHT_SHADOWS/g, parameters.numPointLightShadows ); + +} + +function replaceClippingPlaneNums( string, parameters ) { + + return string + .replace( /NUM_CLIPPING_PLANES/g, parameters.numClippingPlanes ) + .replace( /UNION_CLIPPING_PLANES/g, ( parameters.numClippingPlanes - parameters.numClipIntersection ) ); + +} + +// Resolve Includes + +const includePattern = /^[ \t]*#include +<([\w\d./]+)>/gm; + +function resolveIncludes( string ) { + + return string.replace( includePattern, includeReplacer ); + +} + +const shaderChunkMap = new Map(); + +function includeReplacer( match, include ) { + + let string = ShaderChunk[ include ]; + + if ( string === undefined ) { + + const newInclude = shaderChunkMap.get( include ); + + if ( newInclude !== undefined ) { + + string = ShaderChunk[ newInclude ]; + warn( 'WebGLRenderer: Shader chunk "%s" has been deprecated. Use "%s" instead.', include, newInclude ); + + } else { + + throw new Error( 'Can not resolve #include <' + include + '>' ); + + } + + } + + return resolveIncludes( string ); + +} + +// Unroll Loops + +const unrollLoopPattern = /#pragma unroll_loop_start\s+for\s*\(\s*int\s+i\s*=\s*(\d+)\s*;\s*i\s*<\s*(\d+)\s*;\s*i\s*\+\+\s*\)\s*{([\s\S]+?)}\s+#pragma unroll_loop_end/g; + +function unrollLoops( string ) { + + return string.replace( unrollLoopPattern, loopReplacer ); + +} + +function loopReplacer( match, start, end, snippet ) { + + let string = ''; + + for ( let i = parseInt( start ); i < parseInt( end ); i ++ ) { + + string += snippet + .replace( /\[\s*i\s*\]/g, '[ ' + i + ' ]' ) + .replace( /UNROLLED_LOOP_INDEX/g, i ); + + } + + return string; + +} + +// + +function generatePrecision( parameters ) { + + let precisionstring = `precision ${parameters.precision} float; + precision ${parameters.precision} int; + precision ${parameters.precision} sampler2D; + precision ${parameters.precision} samplerCube; + precision ${parameters.precision} sampler3D; + precision ${parameters.precision} sampler2DArray; + precision ${parameters.precision} sampler2DShadow; + precision ${parameters.precision} samplerCubeShadow; + precision ${parameters.precision} sampler2DArrayShadow; + precision ${parameters.precision} isampler2D; + precision ${parameters.precision} isampler3D; + precision ${parameters.precision} isamplerCube; + precision ${parameters.precision} isampler2DArray; + precision ${parameters.precision} usampler2D; + precision ${parameters.precision} usampler3D; + precision ${parameters.precision} usamplerCube; + precision ${parameters.precision} usampler2DArray; + `; + + if ( parameters.precision === 'highp' ) { + + precisionstring += '\n#define HIGH_PRECISION'; + + } else if ( parameters.precision === 'mediump' ) { + + precisionstring += '\n#define MEDIUM_PRECISION'; + + } else if ( parameters.precision === 'lowp' ) { + + precisionstring += '\n#define LOW_PRECISION'; + + } + + return precisionstring; + +} + +const shadowMapTypeDefines = { + [ PCFShadowMap ]: 'SHADOWMAP_TYPE_PCF', + [ VSMShadowMap ]: 'SHADOWMAP_TYPE_VSM' +}; + +function generateShadowMapTypeDefine( parameters ) { + + return shadowMapTypeDefines[ parameters.shadowMapType ] || 'SHADOWMAP_TYPE_BASIC'; + +} + +const envMapTypeDefines = { + [ CubeReflectionMapping ]: 'ENVMAP_TYPE_CUBE', + [ CubeRefractionMapping ]: 'ENVMAP_TYPE_CUBE', + [ CubeUVReflectionMapping ]: 'ENVMAP_TYPE_CUBE_UV' +}; + +function generateEnvMapTypeDefine( parameters ) { + + if ( parameters.envMap === false ) return 'ENVMAP_TYPE_CUBE'; + + return envMapTypeDefines[ parameters.envMapMode ] || 'ENVMAP_TYPE_CUBE'; + +} + +const envMapModeDefines = { + [ CubeRefractionMapping ]: 'ENVMAP_MODE_REFRACTION' +}; + +function generateEnvMapModeDefine( parameters ) { + + if ( parameters.envMap === false ) return 'ENVMAP_MODE_REFLECTION'; + + return envMapModeDefines[ parameters.envMapMode ] || 'ENVMAP_MODE_REFLECTION'; + +} + +const envMapBlendingDefines = { + [ MultiplyOperation ]: 'ENVMAP_BLENDING_MULTIPLY', + [ MixOperation ]: 'ENVMAP_BLENDING_MIX', + [ AddOperation ]: 'ENVMAP_BLENDING_ADD' +}; + +function generateEnvMapBlendingDefine( parameters ) { + + if ( parameters.envMap === false ) return 'ENVMAP_BLENDING_NONE'; + + return envMapBlendingDefines[ parameters.combine ] || 'ENVMAP_BLENDING_NONE'; + +} + +function generateCubeUVSize( parameters ) { + + const imageHeight = parameters.envMapCubeUVHeight; + + if ( imageHeight === null ) return null; + + const maxMip = Math.log2( imageHeight ) - 2; + + const texelHeight = 1.0 / imageHeight; + + const texelWidth = 1.0 / ( 3 * Math.max( Math.pow( 2, maxMip ), 7 * 16 ) ); + + return { texelWidth, texelHeight, maxMip }; + +} + +function WebGLProgram( renderer, cacheKey, parameters, bindingStates ) { + + // TODO Send this event to Three.js DevTools + // log( 'WebGLProgram', cacheKey ); + + const gl = renderer.getContext(); + + const defines = parameters.defines; + + let vertexShader = parameters.vertexShader; + let fragmentShader = parameters.fragmentShader; + + const shadowMapTypeDefine = generateShadowMapTypeDefine( parameters ); + const envMapTypeDefine = generateEnvMapTypeDefine( parameters ); + const envMapModeDefine = generateEnvMapModeDefine( parameters ); + const envMapBlendingDefine = generateEnvMapBlendingDefine( parameters ); + const envMapCubeUVSize = generateCubeUVSize( parameters ); + + const customVertexExtensions = generateVertexExtensions( parameters ); + + const customDefines = generateDefines( defines ); + + const program = gl.createProgram(); + + let prefixVertex, prefixFragment; + let versionString = parameters.glslVersion ? '#version ' + parameters.glslVersion + '\n' : ''; + + if ( parameters.isRawShaderMaterial ) { + + prefixVertex = [ + + '#define SHADER_TYPE ' + parameters.shaderType, + '#define SHADER_NAME ' + parameters.shaderName, + + customDefines + + ].filter( filterEmptyLine ).join( '\n' ); + + if ( prefixVertex.length > 0 ) { + + prefixVertex += '\n'; + + } + + prefixFragment = [ + + '#define SHADER_TYPE ' + parameters.shaderType, + '#define SHADER_NAME ' + parameters.shaderName, + + customDefines + + ].filter( filterEmptyLine ).join( '\n' ); + + if ( prefixFragment.length > 0 ) { + + prefixFragment += '\n'; + + } + + } else { + + prefixVertex = [ + + generatePrecision( parameters ), + + '#define SHADER_TYPE ' + parameters.shaderType, + '#define SHADER_NAME ' + parameters.shaderName, + + customDefines, + + parameters.extensionClipCullDistance ? '#define USE_CLIP_DISTANCE' : '', + parameters.batching ? '#define USE_BATCHING' : '', + parameters.batchingColor ? '#define USE_BATCHING_COLOR' : '', + parameters.instancing ? '#define USE_INSTANCING' : '', + parameters.instancingColor ? '#define USE_INSTANCING_COLOR' : '', + parameters.instancingMorph ? '#define USE_INSTANCING_MORPH' : '', + + parameters.useFog && parameters.fog ? '#define USE_FOG' : '', + parameters.useFog && parameters.fogExp2 ? '#define FOG_EXP2' : '', + + parameters.map ? '#define USE_MAP' : '', + parameters.envMap ? '#define USE_ENVMAP' : '', + parameters.envMap ? '#define ' + envMapModeDefine : '', + parameters.lightMap ? '#define USE_LIGHTMAP' : '', + parameters.aoMap ? '#define USE_AOMAP' : '', + parameters.bumpMap ? '#define USE_BUMPMAP' : '', + parameters.normalMap ? '#define USE_NORMALMAP' : '', + parameters.normalMapObjectSpace ? '#define USE_NORMALMAP_OBJECTSPACE' : '', + parameters.normalMapTangentSpace ? '#define USE_NORMALMAP_TANGENTSPACE' : '', + parameters.displacementMap ? '#define USE_DISPLACEMENTMAP' : '', + parameters.emissiveMap ? '#define USE_EMISSIVEMAP' : '', + + parameters.anisotropy ? '#define USE_ANISOTROPY' : '', + parameters.anisotropyMap ? '#define USE_ANISOTROPYMAP' : '', + + parameters.clearcoatMap ? '#define USE_CLEARCOATMAP' : '', + parameters.clearcoatRoughnessMap ? '#define USE_CLEARCOAT_ROUGHNESSMAP' : '', + parameters.clearcoatNormalMap ? '#define USE_CLEARCOAT_NORMALMAP' : '', + + parameters.iridescenceMap ? '#define USE_IRIDESCENCEMAP' : '', + parameters.iridescenceThicknessMap ? '#define USE_IRIDESCENCE_THICKNESSMAP' : '', + + parameters.specularMap ? '#define USE_SPECULARMAP' : '', + parameters.specularColorMap ? '#define USE_SPECULAR_COLORMAP' : '', + parameters.specularIntensityMap ? '#define USE_SPECULAR_INTENSITYMAP' : '', + + parameters.roughnessMap ? '#define USE_ROUGHNESSMAP' : '', + parameters.metalnessMap ? '#define USE_METALNESSMAP' : '', + parameters.alphaMap ? '#define USE_ALPHAMAP' : '', + parameters.alphaHash ? '#define USE_ALPHAHASH' : '', + + parameters.transmission ? '#define USE_TRANSMISSION' : '', + parameters.transmissionMap ? '#define USE_TRANSMISSIONMAP' : '', + parameters.thicknessMap ? '#define USE_THICKNESSMAP' : '', + + parameters.sheenColorMap ? '#define USE_SHEEN_COLORMAP' : '', + parameters.sheenRoughnessMap ? '#define USE_SHEEN_ROUGHNESSMAP' : '', + + // + + parameters.mapUv ? '#define MAP_UV ' + parameters.mapUv : '', + parameters.alphaMapUv ? '#define ALPHAMAP_UV ' + parameters.alphaMapUv : '', + parameters.lightMapUv ? '#define LIGHTMAP_UV ' + parameters.lightMapUv : '', + parameters.aoMapUv ? '#define AOMAP_UV ' + parameters.aoMapUv : '', + parameters.emissiveMapUv ? '#define EMISSIVEMAP_UV ' + parameters.emissiveMapUv : '', + parameters.bumpMapUv ? '#define BUMPMAP_UV ' + parameters.bumpMapUv : '', + parameters.normalMapUv ? '#define NORMALMAP_UV ' + parameters.normalMapUv : '', + parameters.displacementMapUv ? '#define DISPLACEMENTMAP_UV ' + parameters.displacementMapUv : '', + + parameters.metalnessMapUv ? '#define METALNESSMAP_UV ' + parameters.metalnessMapUv : '', + parameters.roughnessMapUv ? '#define ROUGHNESSMAP_UV ' + parameters.roughnessMapUv : '', + + parameters.anisotropyMapUv ? '#define ANISOTROPYMAP_UV ' + parameters.anisotropyMapUv : '', + + parameters.clearcoatMapUv ? '#define CLEARCOATMAP_UV ' + parameters.clearcoatMapUv : '', + parameters.clearcoatNormalMapUv ? '#define CLEARCOAT_NORMALMAP_UV ' + parameters.clearcoatNormalMapUv : '', + parameters.clearcoatRoughnessMapUv ? '#define CLEARCOAT_ROUGHNESSMAP_UV ' + parameters.clearcoatRoughnessMapUv : '', + + parameters.iridescenceMapUv ? '#define IRIDESCENCEMAP_UV ' + parameters.iridescenceMapUv : '', + parameters.iridescenceThicknessMapUv ? '#define IRIDESCENCE_THICKNESSMAP_UV ' + parameters.iridescenceThicknessMapUv : '', + + parameters.sheenColorMapUv ? '#define SHEEN_COLORMAP_UV ' + parameters.sheenColorMapUv : '', + parameters.sheenRoughnessMapUv ? '#define SHEEN_ROUGHNESSMAP_UV ' + parameters.sheenRoughnessMapUv : '', + + parameters.specularMapUv ? '#define SPECULARMAP_UV ' + parameters.specularMapUv : '', + parameters.specularColorMapUv ? '#define SPECULAR_COLORMAP_UV ' + parameters.specularColorMapUv : '', + parameters.specularIntensityMapUv ? '#define SPECULAR_INTENSITYMAP_UV ' + parameters.specularIntensityMapUv : '', + + parameters.transmissionMapUv ? '#define TRANSMISSIONMAP_UV ' + parameters.transmissionMapUv : '', + parameters.thicknessMapUv ? '#define THICKNESSMAP_UV ' + parameters.thicknessMapUv : '', + + // + + parameters.vertexTangents && parameters.flatShading === false ? '#define USE_TANGENT' : '', + parameters.vertexColors ? '#define USE_COLOR' : '', + parameters.vertexAlphas ? '#define USE_COLOR_ALPHA' : '', + parameters.vertexUv1s ? '#define USE_UV1' : '', + parameters.vertexUv2s ? '#define USE_UV2' : '', + parameters.vertexUv3s ? '#define USE_UV3' : '', + + parameters.pointsUvs ? '#define USE_POINTS_UV' : '', + + parameters.flatShading ? '#define FLAT_SHADED' : '', + + parameters.skinning ? '#define USE_SKINNING' : '', + + parameters.morphTargets ? '#define USE_MORPHTARGETS' : '', + parameters.morphNormals && parameters.flatShading === false ? '#define USE_MORPHNORMALS' : '', + ( parameters.morphColors ) ? '#define USE_MORPHCOLORS' : '', + ( parameters.morphTargetsCount > 0 ) ? '#define MORPHTARGETS_TEXTURE_STRIDE ' + parameters.morphTextureStride : '', + ( parameters.morphTargetsCount > 0 ) ? '#define MORPHTARGETS_COUNT ' + parameters.morphTargetsCount : '', + parameters.doubleSided ? '#define DOUBLE_SIDED' : '', + parameters.flipSided ? '#define FLIP_SIDED' : '', + + parameters.shadowMapEnabled ? '#define USE_SHADOWMAP' : '', + parameters.shadowMapEnabled ? '#define ' + shadowMapTypeDefine : '', + + parameters.sizeAttenuation ? '#define USE_SIZEATTENUATION' : '', + + parameters.numLightProbes > 0 ? '#define USE_LIGHT_PROBES' : '', + + parameters.logarithmicDepthBuffer ? '#define USE_LOGARITHMIC_DEPTH_BUFFER' : '', + parameters.reversedDepthBuffer ? '#define USE_REVERSED_DEPTH_BUFFER' : '', + + 'uniform mat4 modelMatrix;', + 'uniform mat4 modelViewMatrix;', + 'uniform mat4 projectionMatrix;', + 'uniform mat4 viewMatrix;', + 'uniform mat3 normalMatrix;', + 'uniform vec3 cameraPosition;', + 'uniform bool isOrthographic;', + + '#ifdef USE_INSTANCING', + + ' attribute mat4 instanceMatrix;', + + '#endif', + + '#ifdef USE_INSTANCING_COLOR', + + ' attribute vec3 instanceColor;', + + '#endif', + + '#ifdef USE_INSTANCING_MORPH', + + ' uniform sampler2D morphTexture;', + + '#endif', + + 'attribute vec3 position;', + 'attribute vec3 normal;', + 'attribute vec2 uv;', + + '#ifdef USE_UV1', + + ' attribute vec2 uv1;', + + '#endif', + + '#ifdef USE_UV2', + + ' attribute vec2 uv2;', + + '#endif', + + '#ifdef USE_UV3', + + ' attribute vec2 uv3;', + + '#endif', + + '#ifdef USE_TANGENT', + + ' attribute vec4 tangent;', + + '#endif', + + '#if defined( USE_COLOR_ALPHA )', + + ' attribute vec4 color;', + + '#elif defined( USE_COLOR )', + + ' attribute vec3 color;', + + '#endif', + + '#ifdef USE_SKINNING', + + ' attribute vec4 skinIndex;', + ' attribute vec4 skinWeight;', + + '#endif', + + '\n' + + ].filter( filterEmptyLine ).join( '\n' ); + + prefixFragment = [ + + generatePrecision( parameters ), + + '#define SHADER_TYPE ' + parameters.shaderType, + '#define SHADER_NAME ' + parameters.shaderName, + + customDefines, + + parameters.useFog && parameters.fog ? '#define USE_FOG' : '', + parameters.useFog && parameters.fogExp2 ? '#define FOG_EXP2' : '', + + parameters.alphaToCoverage ? '#define ALPHA_TO_COVERAGE' : '', + parameters.map ? '#define USE_MAP' : '', + parameters.matcap ? '#define USE_MATCAP' : '', + parameters.envMap ? '#define USE_ENVMAP' : '', + parameters.envMap ? '#define ' + envMapTypeDefine : '', + parameters.envMap ? '#define ' + envMapModeDefine : '', + parameters.envMap ? '#define ' + envMapBlendingDefine : '', + envMapCubeUVSize ? '#define CUBEUV_TEXEL_WIDTH ' + envMapCubeUVSize.texelWidth : '', + envMapCubeUVSize ? '#define CUBEUV_TEXEL_HEIGHT ' + envMapCubeUVSize.texelHeight : '', + envMapCubeUVSize ? '#define CUBEUV_MAX_MIP ' + envMapCubeUVSize.maxMip + '.0' : '', + parameters.lightMap ? '#define USE_LIGHTMAP' : '', + parameters.aoMap ? '#define USE_AOMAP' : '', + parameters.bumpMap ? '#define USE_BUMPMAP' : '', + parameters.normalMap ? '#define USE_NORMALMAP' : '', + parameters.normalMapObjectSpace ? '#define USE_NORMALMAP_OBJECTSPACE' : '', + parameters.normalMapTangentSpace ? '#define USE_NORMALMAP_TANGENTSPACE' : '', + parameters.emissiveMap ? '#define USE_EMISSIVEMAP' : '', + + parameters.anisotropy ? '#define USE_ANISOTROPY' : '', + parameters.anisotropyMap ? '#define USE_ANISOTROPYMAP' : '', + + parameters.clearcoat ? '#define USE_CLEARCOAT' : '', + parameters.clearcoatMap ? '#define USE_CLEARCOATMAP' : '', + parameters.clearcoatRoughnessMap ? '#define USE_CLEARCOAT_ROUGHNESSMAP' : '', + parameters.clearcoatNormalMap ? '#define USE_CLEARCOAT_NORMALMAP' : '', + + parameters.dispersion ? '#define USE_DISPERSION' : '', + + parameters.iridescence ? '#define USE_IRIDESCENCE' : '', + parameters.iridescenceMap ? '#define USE_IRIDESCENCEMAP' : '', + parameters.iridescenceThicknessMap ? '#define USE_IRIDESCENCE_THICKNESSMAP' : '', + + parameters.specularMap ? '#define USE_SPECULARMAP' : '', + parameters.specularColorMap ? '#define USE_SPECULAR_COLORMAP' : '', + parameters.specularIntensityMap ? '#define USE_SPECULAR_INTENSITYMAP' : '', + + parameters.roughnessMap ? '#define USE_ROUGHNESSMAP' : '', + parameters.metalnessMap ? '#define USE_METALNESSMAP' : '', + + parameters.alphaMap ? '#define USE_ALPHAMAP' : '', + parameters.alphaTest ? '#define USE_ALPHATEST' : '', + parameters.alphaHash ? '#define USE_ALPHAHASH' : '', + + parameters.sheen ? '#define USE_SHEEN' : '', + parameters.sheenColorMap ? '#define USE_SHEEN_COLORMAP' : '', + parameters.sheenRoughnessMap ? '#define USE_SHEEN_ROUGHNESSMAP' : '', + + parameters.transmission ? '#define USE_TRANSMISSION' : '', + parameters.transmissionMap ? '#define USE_TRANSMISSIONMAP' : '', + parameters.thicknessMap ? '#define USE_THICKNESSMAP' : '', + + parameters.vertexTangents && parameters.flatShading === false ? '#define USE_TANGENT' : '', + parameters.vertexColors || parameters.instancingColor ? '#define USE_COLOR' : '', + parameters.vertexAlphas || parameters.batchingColor ? '#define USE_COLOR_ALPHA' : '', + parameters.vertexUv1s ? '#define USE_UV1' : '', + parameters.vertexUv2s ? '#define USE_UV2' : '', + parameters.vertexUv3s ? '#define USE_UV3' : '', + + parameters.pointsUvs ? '#define USE_POINTS_UV' : '', + + parameters.gradientMap ? '#define USE_GRADIENTMAP' : '', + + parameters.flatShading ? '#define FLAT_SHADED' : '', + + parameters.doubleSided ? '#define DOUBLE_SIDED' : '', + parameters.flipSided ? '#define FLIP_SIDED' : '', + + parameters.shadowMapEnabled ? '#define USE_SHADOWMAP' : '', + parameters.shadowMapEnabled ? '#define ' + shadowMapTypeDefine : '', + + parameters.premultipliedAlpha ? '#define PREMULTIPLIED_ALPHA' : '', + + parameters.numLightProbes > 0 ? '#define USE_LIGHT_PROBES' : '', + + parameters.decodeVideoTexture ? '#define DECODE_VIDEO_TEXTURE' : '', + parameters.decodeVideoTextureEmissive ? '#define DECODE_VIDEO_TEXTURE_EMISSIVE' : '', + + parameters.logarithmicDepthBuffer ? '#define USE_LOGARITHMIC_DEPTH_BUFFER' : '', + parameters.reversedDepthBuffer ? '#define USE_REVERSED_DEPTH_BUFFER' : '', + + 'uniform mat4 viewMatrix;', + 'uniform vec3 cameraPosition;', + 'uniform bool isOrthographic;', + + ( parameters.toneMapping !== NoToneMapping ) ? '#define TONE_MAPPING' : '', + ( parameters.toneMapping !== NoToneMapping ) ? ShaderChunk[ 'tonemapping_pars_fragment' ] : '', // this code is required here because it is used by the toneMapping() function defined below + ( parameters.toneMapping !== NoToneMapping ) ? getToneMappingFunction( 'toneMapping', parameters.toneMapping ) : '', + + parameters.dithering ? '#define DITHERING' : '', + parameters.opaque ? '#define OPAQUE' : '', + + ShaderChunk[ 'colorspace_pars_fragment' ], // this code is required here because it is used by the various encoding/decoding function defined below + getTexelEncodingFunction( 'linearToOutputTexel', parameters.outputColorSpace ), + getLuminanceFunction(), + + parameters.useDepthPacking ? '#define DEPTH_PACKING ' + parameters.depthPacking : '', + + '\n' + + ].filter( filterEmptyLine ).join( '\n' ); + + } + + vertexShader = resolveIncludes( vertexShader ); + vertexShader = replaceLightNums( vertexShader, parameters ); + vertexShader = replaceClippingPlaneNums( vertexShader, parameters ); + + fragmentShader = resolveIncludes( fragmentShader ); + fragmentShader = replaceLightNums( fragmentShader, parameters ); + fragmentShader = replaceClippingPlaneNums( fragmentShader, parameters ); + + vertexShader = unrollLoops( vertexShader ); + fragmentShader = unrollLoops( fragmentShader ); + + if ( parameters.isRawShaderMaterial !== true ) { + + // GLSL 3.0 conversion for built-in materials and ShaderMaterial + + versionString = '#version 300 es\n'; + + prefixVertex = [ + customVertexExtensions, + '#define attribute in', + '#define varying out', + '#define texture2D texture' + ].join( '\n' ) + '\n' + prefixVertex; + + prefixFragment = [ + '#define varying in', + ( parameters.glslVersion === GLSL3 ) ? '' : 'layout(location = 0) out highp vec4 pc_fragColor;', + ( parameters.glslVersion === GLSL3 ) ? '' : '#define gl_FragColor pc_fragColor', + '#define gl_FragDepthEXT gl_FragDepth', + '#define texture2D texture', + '#define textureCube texture', + '#define texture2DProj textureProj', + '#define texture2DLodEXT textureLod', + '#define texture2DProjLodEXT textureProjLod', + '#define textureCubeLodEXT textureLod', + '#define texture2DGradEXT textureGrad', + '#define texture2DProjGradEXT textureProjGrad', + '#define textureCubeGradEXT textureGrad' + ].join( '\n' ) + '\n' + prefixFragment; + + } + + const vertexGlsl = versionString + prefixVertex + vertexShader; + const fragmentGlsl = versionString + prefixFragment + fragmentShader; + + // log( '*VERTEX*', vertexGlsl ); + // log( '*FRAGMENT*', fragmentGlsl ); + + const glVertexShader = WebGLShader( gl, gl.VERTEX_SHADER, vertexGlsl ); + const glFragmentShader = WebGLShader( gl, gl.FRAGMENT_SHADER, fragmentGlsl ); + + gl.attachShader( program, glVertexShader ); + gl.attachShader( program, glFragmentShader ); + + // Force a particular attribute to index 0. + + if ( parameters.index0AttributeName !== undefined ) { + + gl.bindAttribLocation( program, 0, parameters.index0AttributeName ); + + } else if ( parameters.morphTargets === true ) { + + // programs with morphTargets displace position out of attribute 0 + gl.bindAttribLocation( program, 0, 'position' ); + + } + + gl.linkProgram( program ); + + function onFirstUse( self ) { + + // check for link errors + if ( renderer.debug.checkShaderErrors ) { + + const programInfoLog = gl.getProgramInfoLog( program ) || ''; + const vertexShaderInfoLog = gl.getShaderInfoLog( glVertexShader ) || ''; + const fragmentShaderInfoLog = gl.getShaderInfoLog( glFragmentShader ) || ''; + + const programLog = programInfoLog.trim(); + const vertexLog = vertexShaderInfoLog.trim(); + const fragmentLog = fragmentShaderInfoLog.trim(); + + let runnable = true; + let haveDiagnostics = true; + + if ( gl.getProgramParameter( program, gl.LINK_STATUS ) === false ) { + + runnable = false; + + if ( typeof renderer.debug.onShaderError === 'function' ) { + + renderer.debug.onShaderError( gl, program, glVertexShader, glFragmentShader ); + + } else { + + // default error reporting + + const vertexErrors = getShaderErrors( gl, glVertexShader, 'vertex' ); + const fragmentErrors = getShaderErrors( gl, glFragmentShader, 'fragment' ); + + error( + 'THREE.WebGLProgram: Shader Error ' + gl.getError() + ' - ' + + 'VALIDATE_STATUS ' + gl.getProgramParameter( program, gl.VALIDATE_STATUS ) + '\n\n' + + 'Material Name: ' + self.name + '\n' + + 'Material Type: ' + self.type + '\n\n' + + 'Program Info Log: ' + programLog + '\n' + + vertexErrors + '\n' + + fragmentErrors + ); + + } + + } else if ( programLog !== '' ) { + + warn( 'WebGLProgram: Program Info Log:', programLog ); + + } else if ( vertexLog === '' || fragmentLog === '' ) { + + haveDiagnostics = false; + + } + + if ( haveDiagnostics ) { + + self.diagnostics = { + + runnable: runnable, + + programLog: programLog, + + vertexShader: { + + log: vertexLog, + prefix: prefixVertex + + }, + + fragmentShader: { + + log: fragmentLog, + prefix: prefixFragment + + } + + }; + + } + + } + + // Clean up + + // Crashes in iOS9 and iOS10. #18402 + // gl.detachShader( program, glVertexShader ); + // gl.detachShader( program, glFragmentShader ); + + gl.deleteShader( glVertexShader ); + gl.deleteShader( glFragmentShader ); + + cachedUniforms = new WebGLUniforms( gl, program ); + cachedAttributes = fetchAttributeLocations( gl, program ); + + } + + // set up caching for uniform locations + + let cachedUniforms; + + this.getUniforms = function () { + + if ( cachedUniforms === undefined ) { + + // Populates cachedUniforms and cachedAttributes + onFirstUse( this ); + + } + + return cachedUniforms; + + }; + + // set up caching for attribute locations + + let cachedAttributes; + + this.getAttributes = function () { + + if ( cachedAttributes === undefined ) { + + // Populates cachedAttributes and cachedUniforms + onFirstUse( this ); + + } + + return cachedAttributes; + + }; + + // indicate when the program is ready to be used. if the KHR_parallel_shader_compile extension isn't supported, + // flag the program as ready immediately. It may cause a stall when it's first used. + + let programReady = ( parameters.rendererExtensionParallelShaderCompile === false ); + + this.isReady = function () { + + if ( programReady === false ) { + + programReady = gl.getProgramParameter( program, COMPLETION_STATUS_KHR ); + + } + + return programReady; + + }; + + // free resource + + this.destroy = function () { + + bindingStates.releaseStatesOfProgram( this ); + + gl.deleteProgram( program ); + this.program = undefined; + + }; + + // + + this.type = parameters.shaderType; + this.name = parameters.shaderName; + this.id = programIdCount ++; + this.cacheKey = cacheKey; + this.usedTimes = 1; + this.program = program; + this.vertexShader = glVertexShader; + this.fragmentShader = glFragmentShader; + + return this; + +} + +let _id = 0; + +class WebGLShaderCache { + + constructor() { + + this.shaderCache = new Map(); + this.materialCache = new Map(); + + } + + update( material ) { + + const vertexShader = material.vertexShader; + const fragmentShader = material.fragmentShader; + + const vertexShaderStage = this._getShaderStage( vertexShader ); + const fragmentShaderStage = this._getShaderStage( fragmentShader ); + + const materialShaders = this._getShaderCacheForMaterial( material ); + + if ( materialShaders.has( vertexShaderStage ) === false ) { + + materialShaders.add( vertexShaderStage ); + vertexShaderStage.usedTimes ++; + + } + + if ( materialShaders.has( fragmentShaderStage ) === false ) { + + materialShaders.add( fragmentShaderStage ); + fragmentShaderStage.usedTimes ++; + + } + + return this; + + } + + remove( material ) { + + const materialShaders = this.materialCache.get( material ); + + for ( const shaderStage of materialShaders ) { + + shaderStage.usedTimes --; + + if ( shaderStage.usedTimes === 0 ) this.shaderCache.delete( shaderStage.code ); + + } + + this.materialCache.delete( material ); + + return this; + + } + + getVertexShaderID( material ) { + + return this._getShaderStage( material.vertexShader ).id; + + } + + getFragmentShaderID( material ) { + + return this._getShaderStage( material.fragmentShader ).id; + + } + + dispose() { + + this.shaderCache.clear(); + this.materialCache.clear(); + + } + + _getShaderCacheForMaterial( material ) { + + const cache = this.materialCache; + let set = cache.get( material ); + + if ( set === undefined ) { + + set = new Set(); + cache.set( material, set ); + + } + + return set; + + } + + _getShaderStage( code ) { + + const cache = this.shaderCache; + let stage = cache.get( code ); + + if ( stage === undefined ) { + + stage = new WebGLShaderStage( code ); + cache.set( code, stage ); + + } + + return stage; + + } + +} + +class WebGLShaderStage { + + constructor( code ) { + + this.id = _id ++; + + this.code = code; + this.usedTimes = 0; + + } + +} + +function WebGLPrograms( renderer, environments, extensions, capabilities, bindingStates, clipping ) { + + const _programLayers = new Layers(); + const _customShaders = new WebGLShaderCache(); + const _activeChannels = new Set(); + const programs = []; + const programsMap = new Map(); + + const logarithmicDepthBuffer = capabilities.logarithmicDepthBuffer; + + let precision = capabilities.precision; + + const shaderIDs = { + MeshDepthMaterial: 'depth', + MeshDistanceMaterial: 'distance', + MeshNormalMaterial: 'normal', + MeshBasicMaterial: 'basic', + MeshLambertMaterial: 'lambert', + MeshPhongMaterial: 'phong', + MeshToonMaterial: 'toon', + MeshStandardMaterial: 'physical', + MeshPhysicalMaterial: 'physical', + MeshMatcapMaterial: 'matcap', + LineBasicMaterial: 'basic', + LineDashedMaterial: 'dashed', + PointsMaterial: 'points', + ShadowMaterial: 'shadow', + SpriteMaterial: 'sprite' + }; + + function getChannel( value ) { + + _activeChannels.add( value ); + + if ( value === 0 ) return 'uv'; + + return `uv${ value }`; + + } + + function getParameters( material, lights, shadows, scene, object ) { + + const fog = scene.fog; + const geometry = object.geometry; + const environment = ( material.isMeshStandardMaterial || material.isMeshLambertMaterial || material.isMeshPhongMaterial ) ? scene.environment : null; + + const usePMREM = material.isMeshStandardMaterial || ( material.isMeshLambertMaterial && ! material.envMap ) || ( material.isMeshPhongMaterial && ! material.envMap ); + const envMap = environments.get( material.envMap || environment, usePMREM ); + const envMapCubeUVHeight = ( !! envMap ) && ( envMap.mapping === CubeUVReflectionMapping ) ? envMap.image.height : null; + + const shaderID = shaderIDs[ material.type ]; + + // heuristics to create shader parameters according to lights in the scene + // (not to blow over maxLights budget) + + if ( material.precision !== null ) { + + precision = capabilities.getMaxPrecision( material.precision ); + + if ( precision !== material.precision ) { + + warn( 'WebGLProgram.getParameters:', material.precision, 'not supported, using', precision, 'instead.' ); + + } + + } + + // + + const morphAttribute = geometry.morphAttributes.position || geometry.morphAttributes.normal || geometry.morphAttributes.color; + const morphTargetsCount = ( morphAttribute !== undefined ) ? morphAttribute.length : 0; + + let morphTextureStride = 0; + + if ( geometry.morphAttributes.position !== undefined ) morphTextureStride = 1; + if ( geometry.morphAttributes.normal !== undefined ) morphTextureStride = 2; + if ( geometry.morphAttributes.color !== undefined ) morphTextureStride = 3; + + // + + let vertexShader, fragmentShader; + let customVertexShaderID, customFragmentShaderID; + + if ( shaderID ) { + + const shader = ShaderLib[ shaderID ]; + + vertexShader = shader.vertexShader; + fragmentShader = shader.fragmentShader; + + } else { + + vertexShader = material.vertexShader; + fragmentShader = material.fragmentShader; + + _customShaders.update( material ); + + customVertexShaderID = _customShaders.getVertexShaderID( material ); + customFragmentShaderID = _customShaders.getFragmentShaderID( material ); + + } + + const currentRenderTarget = renderer.getRenderTarget(); + const reversedDepthBuffer = renderer.state.buffers.depth.getReversed(); + + const IS_INSTANCEDMESH = object.isInstancedMesh === true; + const IS_BATCHEDMESH = object.isBatchedMesh === true; + + const HAS_MAP = !! material.map; + const HAS_MATCAP = !! material.matcap; + const HAS_ENVMAP = !! envMap; + const HAS_AOMAP = !! material.aoMap; + const HAS_LIGHTMAP = !! material.lightMap; + const HAS_BUMPMAP = !! material.bumpMap; + const HAS_NORMALMAP = !! material.normalMap; + const HAS_DISPLACEMENTMAP = !! material.displacementMap; + const HAS_EMISSIVEMAP = !! material.emissiveMap; + + const HAS_METALNESSMAP = !! material.metalnessMap; + const HAS_ROUGHNESSMAP = !! material.roughnessMap; + + const HAS_ANISOTROPY = material.anisotropy > 0; + const HAS_CLEARCOAT = material.clearcoat > 0; + const HAS_DISPERSION = material.dispersion > 0; + const HAS_IRIDESCENCE = material.iridescence > 0; + const HAS_SHEEN = material.sheen > 0; + const HAS_TRANSMISSION = material.transmission > 0; + + const HAS_ANISOTROPYMAP = HAS_ANISOTROPY && !! material.anisotropyMap; + + const HAS_CLEARCOATMAP = HAS_CLEARCOAT && !! material.clearcoatMap; + const HAS_CLEARCOAT_NORMALMAP = HAS_CLEARCOAT && !! material.clearcoatNormalMap; + const HAS_CLEARCOAT_ROUGHNESSMAP = HAS_CLEARCOAT && !! material.clearcoatRoughnessMap; + + const HAS_IRIDESCENCEMAP = HAS_IRIDESCENCE && !! material.iridescenceMap; + const HAS_IRIDESCENCE_THICKNESSMAP = HAS_IRIDESCENCE && !! material.iridescenceThicknessMap; + + const HAS_SHEEN_COLORMAP = HAS_SHEEN && !! material.sheenColorMap; + const HAS_SHEEN_ROUGHNESSMAP = HAS_SHEEN && !! material.sheenRoughnessMap; + + const HAS_SPECULARMAP = !! material.specularMap; + const HAS_SPECULAR_COLORMAP = !! material.specularColorMap; + const HAS_SPECULAR_INTENSITYMAP = !! material.specularIntensityMap; + + const HAS_TRANSMISSIONMAP = HAS_TRANSMISSION && !! material.transmissionMap; + const HAS_THICKNESSMAP = HAS_TRANSMISSION && !! material.thicknessMap; + + const HAS_GRADIENTMAP = !! material.gradientMap; + + const HAS_ALPHAMAP = !! material.alphaMap; + + const HAS_ALPHATEST = material.alphaTest > 0; + + const HAS_ALPHAHASH = !! material.alphaHash; + + const HAS_EXTENSIONS = !! material.extensions; + + let toneMapping = NoToneMapping; + + if ( material.toneMapped ) { + + if ( currentRenderTarget === null || currentRenderTarget.isXRRenderTarget === true ) { + + toneMapping = renderer.toneMapping; + + } + + } + + const parameters = { + + shaderID: shaderID, + shaderType: material.type, + shaderName: material.name, + + vertexShader: vertexShader, + fragmentShader: fragmentShader, + defines: material.defines, + + customVertexShaderID: customVertexShaderID, + customFragmentShaderID: customFragmentShaderID, + + isRawShaderMaterial: material.isRawShaderMaterial === true, + glslVersion: material.glslVersion, + + precision: precision, + + batching: IS_BATCHEDMESH, + batchingColor: IS_BATCHEDMESH && object._colorsTexture !== null, + instancing: IS_INSTANCEDMESH, + instancingColor: IS_INSTANCEDMESH && object.instanceColor !== null, + instancingMorph: IS_INSTANCEDMESH && object.morphTexture !== null, + + outputColorSpace: ( currentRenderTarget === null ) ? renderer.outputColorSpace : ( currentRenderTarget.isXRRenderTarget === true ? currentRenderTarget.texture.colorSpace : LinearSRGBColorSpace ), + alphaToCoverage: !! material.alphaToCoverage, + + map: HAS_MAP, + matcap: HAS_MATCAP, + envMap: HAS_ENVMAP, + envMapMode: HAS_ENVMAP && envMap.mapping, + envMapCubeUVHeight: envMapCubeUVHeight, + aoMap: HAS_AOMAP, + lightMap: HAS_LIGHTMAP, + bumpMap: HAS_BUMPMAP, + normalMap: HAS_NORMALMAP, + displacementMap: HAS_DISPLACEMENTMAP, + emissiveMap: HAS_EMISSIVEMAP, + + normalMapObjectSpace: HAS_NORMALMAP && material.normalMapType === ObjectSpaceNormalMap, + normalMapTangentSpace: HAS_NORMALMAP && material.normalMapType === TangentSpaceNormalMap, + + metalnessMap: HAS_METALNESSMAP, + roughnessMap: HAS_ROUGHNESSMAP, + + anisotropy: HAS_ANISOTROPY, + anisotropyMap: HAS_ANISOTROPYMAP, + + clearcoat: HAS_CLEARCOAT, + clearcoatMap: HAS_CLEARCOATMAP, + clearcoatNormalMap: HAS_CLEARCOAT_NORMALMAP, + clearcoatRoughnessMap: HAS_CLEARCOAT_ROUGHNESSMAP, + + dispersion: HAS_DISPERSION, + + iridescence: HAS_IRIDESCENCE, + iridescenceMap: HAS_IRIDESCENCEMAP, + iridescenceThicknessMap: HAS_IRIDESCENCE_THICKNESSMAP, + + sheen: HAS_SHEEN, + sheenColorMap: HAS_SHEEN_COLORMAP, + sheenRoughnessMap: HAS_SHEEN_ROUGHNESSMAP, + + specularMap: HAS_SPECULARMAP, + specularColorMap: HAS_SPECULAR_COLORMAP, + specularIntensityMap: HAS_SPECULAR_INTENSITYMAP, + + transmission: HAS_TRANSMISSION, + transmissionMap: HAS_TRANSMISSIONMAP, + thicknessMap: HAS_THICKNESSMAP, + + gradientMap: HAS_GRADIENTMAP, + + opaque: material.transparent === false && material.blending === NormalBlending && material.alphaToCoverage === false, + + alphaMap: HAS_ALPHAMAP, + alphaTest: HAS_ALPHATEST, + alphaHash: HAS_ALPHAHASH, + + combine: material.combine, + + // + + mapUv: HAS_MAP && getChannel( material.map.channel ), + aoMapUv: HAS_AOMAP && getChannel( material.aoMap.channel ), + lightMapUv: HAS_LIGHTMAP && getChannel( material.lightMap.channel ), + bumpMapUv: HAS_BUMPMAP && getChannel( material.bumpMap.channel ), + normalMapUv: HAS_NORMALMAP && getChannel( material.normalMap.channel ), + displacementMapUv: HAS_DISPLACEMENTMAP && getChannel( material.displacementMap.channel ), + emissiveMapUv: HAS_EMISSIVEMAP && getChannel( material.emissiveMap.channel ), + + metalnessMapUv: HAS_METALNESSMAP && getChannel( material.metalnessMap.channel ), + roughnessMapUv: HAS_ROUGHNESSMAP && getChannel( material.roughnessMap.channel ), + + anisotropyMapUv: HAS_ANISOTROPYMAP && getChannel( material.anisotropyMap.channel ), + + clearcoatMapUv: HAS_CLEARCOATMAP && getChannel( material.clearcoatMap.channel ), + clearcoatNormalMapUv: HAS_CLEARCOAT_NORMALMAP && getChannel( material.clearcoatNormalMap.channel ), + clearcoatRoughnessMapUv: HAS_CLEARCOAT_ROUGHNESSMAP && getChannel( material.clearcoatRoughnessMap.channel ), + + iridescenceMapUv: HAS_IRIDESCENCEMAP && getChannel( material.iridescenceMap.channel ), + iridescenceThicknessMapUv: HAS_IRIDESCENCE_THICKNESSMAP && getChannel( material.iridescenceThicknessMap.channel ), + + sheenColorMapUv: HAS_SHEEN_COLORMAP && getChannel( material.sheenColorMap.channel ), + sheenRoughnessMapUv: HAS_SHEEN_ROUGHNESSMAP && getChannel( material.sheenRoughnessMap.channel ), + + specularMapUv: HAS_SPECULARMAP && getChannel( material.specularMap.channel ), + specularColorMapUv: HAS_SPECULAR_COLORMAP && getChannel( material.specularColorMap.channel ), + specularIntensityMapUv: HAS_SPECULAR_INTENSITYMAP && getChannel( material.specularIntensityMap.channel ), + + transmissionMapUv: HAS_TRANSMISSIONMAP && getChannel( material.transmissionMap.channel ), + thicknessMapUv: HAS_THICKNESSMAP && getChannel( material.thicknessMap.channel ), + + alphaMapUv: HAS_ALPHAMAP && getChannel( material.alphaMap.channel ), + + // + + vertexTangents: !! geometry.attributes.tangent && ( HAS_NORMALMAP || HAS_ANISOTROPY ), + vertexColors: material.vertexColors, + vertexAlphas: material.vertexColors === true && !! geometry.attributes.color && geometry.attributes.color.itemSize === 4, + + pointsUvs: object.isPoints === true && !! geometry.attributes.uv && ( HAS_MAP || HAS_ALPHAMAP ), + + fog: !! fog, + useFog: material.fog === true, + fogExp2: ( !! fog && fog.isFogExp2 ), + + flatShading: material.wireframe === false && ( + material.flatShading === true || + ( geometry.attributes.normal === undefined && HAS_NORMALMAP === false && + ( material.isMeshLambertMaterial || material.isMeshPhongMaterial || material.isMeshStandardMaterial || material.isMeshPhysicalMaterial ) + ) + ), + + sizeAttenuation: material.sizeAttenuation === true, + logarithmicDepthBuffer: logarithmicDepthBuffer, + reversedDepthBuffer: reversedDepthBuffer, + + skinning: object.isSkinnedMesh === true, + + morphTargets: geometry.morphAttributes.position !== undefined, + morphNormals: geometry.morphAttributes.normal !== undefined, + morphColors: geometry.morphAttributes.color !== undefined, + morphTargetsCount: morphTargetsCount, + morphTextureStride: morphTextureStride, + + numDirLights: lights.directional.length, + numPointLights: lights.point.length, + numSpotLights: lights.spot.length, + numSpotLightMaps: lights.spotLightMap.length, + numRectAreaLights: lights.rectArea.length, + numHemiLights: lights.hemi.length, + + numDirLightShadows: lights.directionalShadowMap.length, + numPointLightShadows: lights.pointShadowMap.length, + numSpotLightShadows: lights.spotShadowMap.length, + numSpotLightShadowsWithMaps: lights.numSpotLightShadowsWithMaps, + + numLightProbes: lights.numLightProbes, + + numClippingPlanes: clipping.numPlanes, + numClipIntersection: clipping.numIntersection, + + dithering: material.dithering, + + shadowMapEnabled: renderer.shadowMap.enabled && shadows.length > 0, + shadowMapType: renderer.shadowMap.type, + + toneMapping: toneMapping, + + decodeVideoTexture: HAS_MAP && ( material.map.isVideoTexture === true ) && ( ColorManagement.getTransfer( material.map.colorSpace ) === SRGBTransfer ), + decodeVideoTextureEmissive: HAS_EMISSIVEMAP && ( material.emissiveMap.isVideoTexture === true ) && ( ColorManagement.getTransfer( material.emissiveMap.colorSpace ) === SRGBTransfer ), + + premultipliedAlpha: material.premultipliedAlpha, + + doubleSided: material.side === DoubleSide, + flipSided: material.side === BackSide, + + useDepthPacking: material.depthPacking >= 0, + depthPacking: material.depthPacking || 0, + + index0AttributeName: material.index0AttributeName, + + extensionClipCullDistance: HAS_EXTENSIONS && material.extensions.clipCullDistance === true && extensions.has( 'WEBGL_clip_cull_distance' ), + extensionMultiDraw: ( HAS_EXTENSIONS && material.extensions.multiDraw === true || IS_BATCHEDMESH ) && extensions.has( 'WEBGL_multi_draw' ), + + rendererExtensionParallelShaderCompile: extensions.has( 'KHR_parallel_shader_compile' ), + + customProgramCacheKey: material.customProgramCacheKey() + + }; + + // the usage of getChannel() determines the active texture channels for this shader + + parameters.vertexUv1s = _activeChannels.has( 1 ); + parameters.vertexUv2s = _activeChannels.has( 2 ); + parameters.vertexUv3s = _activeChannels.has( 3 ); + + _activeChannels.clear(); + + return parameters; + + } + + function getProgramCacheKey( parameters ) { + + const array = []; + + if ( parameters.shaderID ) { + + array.push( parameters.shaderID ); + + } else { + + array.push( parameters.customVertexShaderID ); + array.push( parameters.customFragmentShaderID ); + + } + + if ( parameters.defines !== undefined ) { + + for ( const name in parameters.defines ) { + + array.push( name ); + array.push( parameters.defines[ name ] ); + + } + + } + + if ( parameters.isRawShaderMaterial === false ) { + + getProgramCacheKeyParameters( array, parameters ); + getProgramCacheKeyBooleans( array, parameters ); + array.push( renderer.outputColorSpace ); + + } + + array.push( parameters.customProgramCacheKey ); + + return array.join(); + + } + + function getProgramCacheKeyParameters( array, parameters ) { + + array.push( parameters.precision ); + array.push( parameters.outputColorSpace ); + array.push( parameters.envMapMode ); + array.push( parameters.envMapCubeUVHeight ); + array.push( parameters.mapUv ); + array.push( parameters.alphaMapUv ); + array.push( parameters.lightMapUv ); + array.push( parameters.aoMapUv ); + array.push( parameters.bumpMapUv ); + array.push( parameters.normalMapUv ); + array.push( parameters.displacementMapUv ); + array.push( parameters.emissiveMapUv ); + array.push( parameters.metalnessMapUv ); + array.push( parameters.roughnessMapUv ); + array.push( parameters.anisotropyMapUv ); + array.push( parameters.clearcoatMapUv ); + array.push( parameters.clearcoatNormalMapUv ); + array.push( parameters.clearcoatRoughnessMapUv ); + array.push( parameters.iridescenceMapUv ); + array.push( parameters.iridescenceThicknessMapUv ); + array.push( parameters.sheenColorMapUv ); + array.push( parameters.sheenRoughnessMapUv ); + array.push( parameters.specularMapUv ); + array.push( parameters.specularColorMapUv ); + array.push( parameters.specularIntensityMapUv ); + array.push( parameters.transmissionMapUv ); + array.push( parameters.thicknessMapUv ); + array.push( parameters.combine ); + array.push( parameters.fogExp2 ); + array.push( parameters.sizeAttenuation ); + array.push( parameters.morphTargetsCount ); + array.push( parameters.morphAttributeCount ); + array.push( parameters.numDirLights ); + array.push( parameters.numPointLights ); + array.push( parameters.numSpotLights ); + array.push( parameters.numSpotLightMaps ); + array.push( parameters.numHemiLights ); + array.push( parameters.numRectAreaLights ); + array.push( parameters.numDirLightShadows ); + array.push( parameters.numPointLightShadows ); + array.push( parameters.numSpotLightShadows ); + array.push( parameters.numSpotLightShadowsWithMaps ); + array.push( parameters.numLightProbes ); + array.push( parameters.shadowMapType ); + array.push( parameters.toneMapping ); + array.push( parameters.numClippingPlanes ); + array.push( parameters.numClipIntersection ); + array.push( parameters.depthPacking ); + + } + + function getProgramCacheKeyBooleans( array, parameters ) { + + _programLayers.disableAll(); + + if ( parameters.instancing ) + _programLayers.enable( 0 ); + if ( parameters.instancingColor ) + _programLayers.enable( 1 ); + if ( parameters.instancingMorph ) + _programLayers.enable( 2 ); + if ( parameters.matcap ) + _programLayers.enable( 3 ); + if ( parameters.envMap ) + _programLayers.enable( 4 ); + if ( parameters.normalMapObjectSpace ) + _programLayers.enable( 5 ); + if ( parameters.normalMapTangentSpace ) + _programLayers.enable( 6 ); + if ( parameters.clearcoat ) + _programLayers.enable( 7 ); + if ( parameters.iridescence ) + _programLayers.enable( 8 ); + if ( parameters.alphaTest ) + _programLayers.enable( 9 ); + if ( parameters.vertexColors ) + _programLayers.enable( 10 ); + if ( parameters.vertexAlphas ) + _programLayers.enable( 11 ); + if ( parameters.vertexUv1s ) + _programLayers.enable( 12 ); + if ( parameters.vertexUv2s ) + _programLayers.enable( 13 ); + if ( parameters.vertexUv3s ) + _programLayers.enable( 14 ); + if ( parameters.vertexTangents ) + _programLayers.enable( 15 ); + if ( parameters.anisotropy ) + _programLayers.enable( 16 ); + if ( parameters.alphaHash ) + _programLayers.enable( 17 ); + if ( parameters.batching ) + _programLayers.enable( 18 ); + if ( parameters.dispersion ) + _programLayers.enable( 19 ); + if ( parameters.batchingColor ) + _programLayers.enable( 20 ); + if ( parameters.gradientMap ) + _programLayers.enable( 21 ); + + array.push( _programLayers.mask ); + _programLayers.disableAll(); + + if ( parameters.fog ) + _programLayers.enable( 0 ); + if ( parameters.useFog ) + _programLayers.enable( 1 ); + if ( parameters.flatShading ) + _programLayers.enable( 2 ); + if ( parameters.logarithmicDepthBuffer ) + _programLayers.enable( 3 ); + if ( parameters.reversedDepthBuffer ) + _programLayers.enable( 4 ); + if ( parameters.skinning ) + _programLayers.enable( 5 ); + if ( parameters.morphTargets ) + _programLayers.enable( 6 ); + if ( parameters.morphNormals ) + _programLayers.enable( 7 ); + if ( parameters.morphColors ) + _programLayers.enable( 8 ); + if ( parameters.premultipliedAlpha ) + _programLayers.enable( 9 ); + if ( parameters.shadowMapEnabled ) + _programLayers.enable( 10 ); + if ( parameters.doubleSided ) + _programLayers.enable( 11 ); + if ( parameters.flipSided ) + _programLayers.enable( 12 ); + if ( parameters.useDepthPacking ) + _programLayers.enable( 13 ); + if ( parameters.dithering ) + _programLayers.enable( 14 ); + if ( parameters.transmission ) + _programLayers.enable( 15 ); + if ( parameters.sheen ) + _programLayers.enable( 16 ); + if ( parameters.opaque ) + _programLayers.enable( 17 ); + if ( parameters.pointsUvs ) + _programLayers.enable( 18 ); + if ( parameters.decodeVideoTexture ) + _programLayers.enable( 19 ); + if ( parameters.decodeVideoTextureEmissive ) + _programLayers.enable( 20 ); + if ( parameters.alphaToCoverage ) + _programLayers.enable( 21 ); + + array.push( _programLayers.mask ); + + } + + function getUniforms( material ) { + + const shaderID = shaderIDs[ material.type ]; + let uniforms; + + if ( shaderID ) { + + const shader = ShaderLib[ shaderID ]; + uniforms = UniformsUtils.clone( shader.uniforms ); + + } else { + + uniforms = material.uniforms; + + } + + return uniforms; + + } + + function acquireProgram( parameters, cacheKey ) { + + let program = programsMap.get( cacheKey ); + + if ( program !== undefined ) { + + ++ program.usedTimes; + + } else { + + program = new WebGLProgram( renderer, cacheKey, parameters, bindingStates ); + programs.push( program ); + + programsMap.set( cacheKey, program ); + + } + + return program; + + } + + function releaseProgram( program ) { + + if ( -- program.usedTimes === 0 ) { + + // Remove from unordered set + const i = programs.indexOf( program ); + programs[ i ] = programs[ programs.length - 1 ]; + programs.pop(); + + // Remove from map + programsMap.delete( program.cacheKey ); + + // Free WebGL resources + program.destroy(); + + } + + } + + function releaseShaderCache( material ) { + + _customShaders.remove( material ); + + } + + function dispose() { + + _customShaders.dispose(); + + } + + return { + getParameters: getParameters, + getProgramCacheKey: getProgramCacheKey, + getUniforms: getUniforms, + acquireProgram: acquireProgram, + releaseProgram: releaseProgram, + releaseShaderCache: releaseShaderCache, + // Exposed for resource monitoring & error feedback via renderer.info: + programs: programs, + dispose: dispose + }; + +} + +function WebGLProperties() { + + let properties = new WeakMap(); + + function has( object ) { + + return properties.has( object ); + + } + + function get( object ) { + + let map = properties.get( object ); + + if ( map === undefined ) { + + map = {}; + properties.set( object, map ); + + } + + return map; + + } + + function remove( object ) { + + properties.delete( object ); + + } + + function update( object, key, value ) { + + properties.get( object )[ key ] = value; + + } + + function dispose() { + + properties = new WeakMap(); + + } + + return { + has: has, + get: get, + remove: remove, + update: update, + dispose: dispose + }; + +} + +function painterSortStable( a, b ) { + + if ( a.groupOrder !== b.groupOrder ) { + + return a.groupOrder - b.groupOrder; + + } else if ( a.renderOrder !== b.renderOrder ) { + + return a.renderOrder - b.renderOrder; + + } else if ( a.material.id !== b.material.id ) { + + return a.material.id - b.material.id; + + } else if ( a.materialVariant !== b.materialVariant ) { + + return a.materialVariant - b.materialVariant; + + } else if ( a.z !== b.z ) { + + return a.z - b.z; + + } else { + + return a.id - b.id; + + } + +} + +function reversePainterSortStable( a, b ) { + + if ( a.groupOrder !== b.groupOrder ) { + + return a.groupOrder - b.groupOrder; + + } else if ( a.renderOrder !== b.renderOrder ) { + + return a.renderOrder - b.renderOrder; + + } else if ( a.z !== b.z ) { + + return b.z - a.z; + + } else { + + return a.id - b.id; + + } + +} + + +function WebGLRenderList() { + + const renderItems = []; + let renderItemsIndex = 0; + + const opaque = []; + const transmissive = []; + const transparent = []; + + function init() { + + renderItemsIndex = 0; + + opaque.length = 0; + transmissive.length = 0; + transparent.length = 0; + + } + + function materialVariant( object ) { + + let variant = 0; + if ( object.isInstancedMesh ) variant += 2; + if ( object.isSkinnedMesh ) variant += 1; + return variant; + + } + + function getNextRenderItem( object, geometry, material, groupOrder, z, group ) { + + let renderItem = renderItems[ renderItemsIndex ]; + + if ( renderItem === undefined ) { + + renderItem = { + id: object.id, + object: object, + geometry: geometry, + material: material, + materialVariant: materialVariant( object ), + groupOrder: groupOrder, + renderOrder: object.renderOrder, + z: z, + group: group + }; + + renderItems[ renderItemsIndex ] = renderItem; + + } else { + + renderItem.id = object.id; + renderItem.object = object; + renderItem.geometry = geometry; + renderItem.material = material; + renderItem.materialVariant = materialVariant( object ); + renderItem.groupOrder = groupOrder; + renderItem.renderOrder = object.renderOrder; + renderItem.z = z; + renderItem.group = group; + + } + + renderItemsIndex ++; + + return renderItem; + + } + + function push( object, geometry, material, groupOrder, z, group ) { + + const renderItem = getNextRenderItem( object, geometry, material, groupOrder, z, group ); + + if ( material.transmission > 0.0 ) { + + transmissive.push( renderItem ); + + } else if ( material.transparent === true ) { + + transparent.push( renderItem ); + + } else { + + opaque.push( renderItem ); + + } + + } + + function unshift( object, geometry, material, groupOrder, z, group ) { + + const renderItem = getNextRenderItem( object, geometry, material, groupOrder, z, group ); + + if ( material.transmission > 0.0 ) { + + transmissive.unshift( renderItem ); + + } else if ( material.transparent === true ) { + + transparent.unshift( renderItem ); + + } else { + + opaque.unshift( renderItem ); + + } + + } + + function sort( customOpaqueSort, customTransparentSort ) { + + if ( opaque.length > 1 ) opaque.sort( customOpaqueSort || painterSortStable ); + if ( transmissive.length > 1 ) transmissive.sort( customTransparentSort || reversePainterSortStable ); + if ( transparent.length > 1 ) transparent.sort( customTransparentSort || reversePainterSortStable ); + + } + + function finish() { + + // Clear references from inactive renderItems in the list + + for ( let i = renderItemsIndex, il = renderItems.length; i < il; i ++ ) { + + const renderItem = renderItems[ i ]; + + if ( renderItem.id === null ) break; + + renderItem.id = null; + renderItem.object = null; + renderItem.geometry = null; + renderItem.material = null; + renderItem.group = null; + + } + + } + + return { + + opaque: opaque, + transmissive: transmissive, + transparent: transparent, + + init: init, + push: push, + unshift: unshift, + finish: finish, + + sort: sort + }; + +} + +function WebGLRenderLists() { + + let lists = new WeakMap(); + + function get( scene, renderCallDepth ) { + + const listArray = lists.get( scene ); + let list; + + if ( listArray === undefined ) { + + list = new WebGLRenderList(); + lists.set( scene, [ list ] ); + + } else { + + if ( renderCallDepth >= listArray.length ) { + + list = new WebGLRenderList(); + listArray.push( list ); + + } else { + + list = listArray[ renderCallDepth ]; + + } + + } + + return list; + + } + + function dispose() { + + lists = new WeakMap(); + + } + + return { + get: get, + dispose: dispose + }; + +} + +function UniformsCache() { + + const lights = {}; + + return { + + get: function ( light ) { + + if ( lights[ light.id ] !== undefined ) { + + return lights[ light.id ]; + + } + + let uniforms; + + switch ( light.type ) { + + case 'DirectionalLight': + uniforms = { + direction: new Vector3(), + color: new Color() + }; + break; + + case 'SpotLight': + uniforms = { + position: new Vector3(), + direction: new Vector3(), + color: new Color(), + distance: 0, + coneCos: 0, + penumbraCos: 0, + decay: 0 + }; + break; + + case 'PointLight': + uniforms = { + position: new Vector3(), + color: new Color(), + distance: 0, + decay: 0 + }; + break; + + case 'HemisphereLight': + uniforms = { + direction: new Vector3(), + skyColor: new Color(), + groundColor: new Color() + }; + break; + + case 'RectAreaLight': + uniforms = { + color: new Color(), + position: new Vector3(), + halfWidth: new Vector3(), + halfHeight: new Vector3() + }; + break; + + } + + lights[ light.id ] = uniforms; + + return uniforms; + + } + + }; + +} + +function ShadowUniformsCache() { + + const lights = {}; + + return { + + get: function ( light ) { + + if ( lights[ light.id ] !== undefined ) { + + return lights[ light.id ]; + + } + + let uniforms; + + switch ( light.type ) { + + case 'DirectionalLight': + uniforms = { + shadowIntensity: 1, + shadowBias: 0, + shadowNormalBias: 0, + shadowRadius: 1, + shadowMapSize: new Vector2() + }; + break; + + case 'SpotLight': + uniforms = { + shadowIntensity: 1, + shadowBias: 0, + shadowNormalBias: 0, + shadowRadius: 1, + shadowMapSize: new Vector2() + }; + break; + + case 'PointLight': + uniforms = { + shadowIntensity: 1, + shadowBias: 0, + shadowNormalBias: 0, + shadowRadius: 1, + shadowMapSize: new Vector2(), + shadowCameraNear: 1, + shadowCameraFar: 1000 + }; + break; + + // TODO (abelnation): set RectAreaLight shadow uniforms + + } + + lights[ light.id ] = uniforms; + + return uniforms; + + } + + }; + +} + + + +let nextVersion = 0; + +function shadowCastingAndTexturingLightsFirst( lightA, lightB ) { + + return ( lightB.castShadow ? 2 : 0 ) - ( lightA.castShadow ? 2 : 0 ) + ( lightB.map ? 1 : 0 ) - ( lightA.map ? 1 : 0 ); + +} + +function WebGLLights( extensions ) { + + const cache = new UniformsCache(); + + const shadowCache = ShadowUniformsCache(); + + const state = { + + version: 0, + + hash: { + directionalLength: -1, + pointLength: -1, + spotLength: -1, + rectAreaLength: -1, + hemiLength: -1, + + numDirectionalShadows: -1, + numPointShadows: -1, + numSpotShadows: -1, + numSpotMaps: -1, + + numLightProbes: -1 + }, + + ambient: [ 0, 0, 0 ], + probe: [], + directional: [], + directionalShadow: [], + directionalShadowMap: [], + directionalShadowMatrix: [], + spot: [], + spotLightMap: [], + spotShadow: [], + spotShadowMap: [], + spotLightMatrix: [], + rectArea: [], + rectAreaLTC1: null, + rectAreaLTC2: null, + point: [], + pointShadow: [], + pointShadowMap: [], + pointShadowMatrix: [], + hemi: [], + numSpotLightShadowsWithMaps: 0, + numLightProbes: 0 + + }; + + for ( let i = 0; i < 9; i ++ ) state.probe.push( new Vector3() ); + + const vector3 = new Vector3(); + const matrix4 = new Matrix4(); + const matrix42 = new Matrix4(); + + function setup( lights ) { + + let r = 0, g = 0, b = 0; + + for ( let i = 0; i < 9; i ++ ) state.probe[ i ].set( 0, 0, 0 ); + + let directionalLength = 0; + let pointLength = 0; + let spotLength = 0; + let rectAreaLength = 0; + let hemiLength = 0; + + let numDirectionalShadows = 0; + let numPointShadows = 0; + let numSpotShadows = 0; + let numSpotMaps = 0; + let numSpotShadowsWithMaps = 0; + + let numLightProbes = 0; + + // ordering : [shadow casting + map texturing, map texturing, shadow casting, none ] + lights.sort( shadowCastingAndTexturingLightsFirst ); + + for ( let i = 0, l = lights.length; i < l; i ++ ) { + + const light = lights[ i ]; + + const color = light.color; + const intensity = light.intensity; + const distance = light.distance; + + let shadowMap = null; + + if ( light.shadow && light.shadow.map ) { + + if ( light.shadow.map.texture.format === RGFormat ) { + + // VSM uses color texture with blurred mean/std_dev + shadowMap = light.shadow.map.texture; + + } else { + + // Other types use depth texture + shadowMap = light.shadow.map.depthTexture || light.shadow.map.texture; + + } + + } + + if ( light.isAmbientLight ) { + + r += color.r * intensity; + g += color.g * intensity; + b += color.b * intensity; + + } else if ( light.isLightProbe ) { + + for ( let j = 0; j < 9; j ++ ) { + + state.probe[ j ].addScaledVector( light.sh.coefficients[ j ], intensity ); + + } + + numLightProbes ++; + + } else if ( light.isDirectionalLight ) { + + const uniforms = cache.get( light ); + + uniforms.color.copy( light.color ).multiplyScalar( light.intensity ); + + if ( light.castShadow ) { + + const shadow = light.shadow; + + const shadowUniforms = shadowCache.get( light ); + + shadowUniforms.shadowIntensity = shadow.intensity; + shadowUniforms.shadowBias = shadow.bias; + shadowUniforms.shadowNormalBias = shadow.normalBias; + shadowUniforms.shadowRadius = shadow.radius; + shadowUniforms.shadowMapSize = shadow.mapSize; + + state.directionalShadow[ directionalLength ] = shadowUniforms; + state.directionalShadowMap[ directionalLength ] = shadowMap; + state.directionalShadowMatrix[ directionalLength ] = light.shadow.matrix; + + numDirectionalShadows ++; + + } + + state.directional[ directionalLength ] = uniforms; + + directionalLength ++; + + } else if ( light.isSpotLight ) { + + const uniforms = cache.get( light ); + + uniforms.position.setFromMatrixPosition( light.matrixWorld ); + + uniforms.color.copy( color ).multiplyScalar( intensity ); + uniforms.distance = distance; + + uniforms.coneCos = Math.cos( light.angle ); + uniforms.penumbraCos = Math.cos( light.angle * ( 1 - light.penumbra ) ); + uniforms.decay = light.decay; + + state.spot[ spotLength ] = uniforms; + + const shadow = light.shadow; + + if ( light.map ) { + + state.spotLightMap[ numSpotMaps ] = light.map; + numSpotMaps ++; + + // make sure the lightMatrix is up to date + // TODO : do it if required only + shadow.updateMatrices( light ); + + if ( light.castShadow ) numSpotShadowsWithMaps ++; + + } + + state.spotLightMatrix[ spotLength ] = shadow.matrix; + + if ( light.castShadow ) { + + const shadowUniforms = shadowCache.get( light ); + + shadowUniforms.shadowIntensity = shadow.intensity; + shadowUniforms.shadowBias = shadow.bias; + shadowUniforms.shadowNormalBias = shadow.normalBias; + shadowUniforms.shadowRadius = shadow.radius; + shadowUniforms.shadowMapSize = shadow.mapSize; + + state.spotShadow[ spotLength ] = shadowUniforms; + state.spotShadowMap[ spotLength ] = shadowMap; + + numSpotShadows ++; + + } + + spotLength ++; + + } else if ( light.isRectAreaLight ) { + + const uniforms = cache.get( light ); + + uniforms.color.copy( color ).multiplyScalar( intensity ); + + uniforms.halfWidth.set( light.width * 0.5, 0.0, 0.0 ); + uniforms.halfHeight.set( 0.0, light.height * 0.5, 0.0 ); + + state.rectArea[ rectAreaLength ] = uniforms; + + rectAreaLength ++; + + } else if ( light.isPointLight ) { + + const uniforms = cache.get( light ); + + uniforms.color.copy( light.color ).multiplyScalar( light.intensity ); + uniforms.distance = light.distance; + uniforms.decay = light.decay; + + if ( light.castShadow ) { + + const shadow = light.shadow; + + const shadowUniforms = shadowCache.get( light ); + + shadowUniforms.shadowIntensity = shadow.intensity; + shadowUniforms.shadowBias = shadow.bias; + shadowUniforms.shadowNormalBias = shadow.normalBias; + shadowUniforms.shadowRadius = shadow.radius; + shadowUniforms.shadowMapSize = shadow.mapSize; + shadowUniforms.shadowCameraNear = shadow.camera.near; + shadowUniforms.shadowCameraFar = shadow.camera.far; + + state.pointShadow[ pointLength ] = shadowUniforms; + state.pointShadowMap[ pointLength ] = shadowMap; + state.pointShadowMatrix[ pointLength ] = light.shadow.matrix; + + numPointShadows ++; + + } + + state.point[ pointLength ] = uniforms; + + pointLength ++; + + } else if ( light.isHemisphereLight ) { + + const uniforms = cache.get( light ); + + uniforms.skyColor.copy( light.color ).multiplyScalar( intensity ); + uniforms.groundColor.copy( light.groundColor ).multiplyScalar( intensity ); + + state.hemi[ hemiLength ] = uniforms; + + hemiLength ++; + + } + + } + + if ( rectAreaLength > 0 ) { + + if ( extensions.has( 'OES_texture_float_linear' ) === true ) { + + state.rectAreaLTC1 = UniformsLib.LTC_FLOAT_1; + state.rectAreaLTC2 = UniformsLib.LTC_FLOAT_2; + + } else { + + state.rectAreaLTC1 = UniformsLib.LTC_HALF_1; + state.rectAreaLTC2 = UniformsLib.LTC_HALF_2; + + } + + } + + state.ambient[ 0 ] = r; + state.ambient[ 1 ] = g; + state.ambient[ 2 ] = b; + + const hash = state.hash; + + if ( hash.directionalLength !== directionalLength || + hash.pointLength !== pointLength || + hash.spotLength !== spotLength || + hash.rectAreaLength !== rectAreaLength || + hash.hemiLength !== hemiLength || + hash.numDirectionalShadows !== numDirectionalShadows || + hash.numPointShadows !== numPointShadows || + hash.numSpotShadows !== numSpotShadows || + hash.numSpotMaps !== numSpotMaps || + hash.numLightProbes !== numLightProbes ) { + + state.directional.length = directionalLength; + state.spot.length = spotLength; + state.rectArea.length = rectAreaLength; + state.point.length = pointLength; + state.hemi.length = hemiLength; + + state.directionalShadow.length = numDirectionalShadows; + state.directionalShadowMap.length = numDirectionalShadows; + state.pointShadow.length = numPointShadows; + state.pointShadowMap.length = numPointShadows; + state.spotShadow.length = numSpotShadows; + state.spotShadowMap.length = numSpotShadows; + state.directionalShadowMatrix.length = numDirectionalShadows; + state.pointShadowMatrix.length = numPointShadows; + state.spotLightMatrix.length = numSpotShadows + numSpotMaps - numSpotShadowsWithMaps; + state.spotLightMap.length = numSpotMaps; + state.numSpotLightShadowsWithMaps = numSpotShadowsWithMaps; + state.numLightProbes = numLightProbes; + + hash.directionalLength = directionalLength; + hash.pointLength = pointLength; + hash.spotLength = spotLength; + hash.rectAreaLength = rectAreaLength; + hash.hemiLength = hemiLength; + + hash.numDirectionalShadows = numDirectionalShadows; + hash.numPointShadows = numPointShadows; + hash.numSpotShadows = numSpotShadows; + hash.numSpotMaps = numSpotMaps; + + hash.numLightProbes = numLightProbes; + + state.version = nextVersion ++; + + } + + } + + function setupView( lights, camera ) { + + let directionalLength = 0; + let pointLength = 0; + let spotLength = 0; + let rectAreaLength = 0; + let hemiLength = 0; + + const viewMatrix = camera.matrixWorldInverse; + + for ( let i = 0, l = lights.length; i < l; i ++ ) { + + const light = lights[ i ]; + + if ( light.isDirectionalLight ) { + + const uniforms = state.directional[ directionalLength ]; + + uniforms.direction.setFromMatrixPosition( light.matrixWorld ); + vector3.setFromMatrixPosition( light.target.matrixWorld ); + uniforms.direction.sub( vector3 ); + uniforms.direction.transformDirection( viewMatrix ); + + directionalLength ++; + + } else if ( light.isSpotLight ) { + + const uniforms = state.spot[ spotLength ]; + + uniforms.position.setFromMatrixPosition( light.matrixWorld ); + uniforms.position.applyMatrix4( viewMatrix ); + + uniforms.direction.setFromMatrixPosition( light.matrixWorld ); + vector3.setFromMatrixPosition( light.target.matrixWorld ); + uniforms.direction.sub( vector3 ); + uniforms.direction.transformDirection( viewMatrix ); + + spotLength ++; + + } else if ( light.isRectAreaLight ) { + + const uniforms = state.rectArea[ rectAreaLength ]; + + uniforms.position.setFromMatrixPosition( light.matrixWorld ); + uniforms.position.applyMatrix4( viewMatrix ); + + // extract local rotation of light to derive width/height half vectors + matrix42.identity(); + matrix4.copy( light.matrixWorld ); + matrix4.premultiply( viewMatrix ); + matrix42.extractRotation( matrix4 ); + + uniforms.halfWidth.set( light.width * 0.5, 0.0, 0.0 ); + uniforms.halfHeight.set( 0.0, light.height * 0.5, 0.0 ); + + uniforms.halfWidth.applyMatrix4( matrix42 ); + uniforms.halfHeight.applyMatrix4( matrix42 ); + + rectAreaLength ++; + + } else if ( light.isPointLight ) { + + const uniforms = state.point[ pointLength ]; + + uniforms.position.setFromMatrixPosition( light.matrixWorld ); + uniforms.position.applyMatrix4( viewMatrix ); + + pointLength ++; + + } else if ( light.isHemisphereLight ) { + + const uniforms = state.hemi[ hemiLength ]; + + uniforms.direction.setFromMatrixPosition( light.matrixWorld ); + uniforms.direction.transformDirection( viewMatrix ); + + hemiLength ++; + + } + + } + + } + + return { + setup: setup, + setupView: setupView, + state: state + }; + +} + +function WebGLRenderState( extensions ) { + + const lights = new WebGLLights( extensions ); + + const lightsArray = []; + const shadowsArray = []; + + function init( camera ) { + + state.camera = camera; + + lightsArray.length = 0; + shadowsArray.length = 0; + + } + + function pushLight( light ) { + + lightsArray.push( light ); + + } + + function pushShadow( shadowLight ) { + + shadowsArray.push( shadowLight ); + + } + + function setupLights() { + + lights.setup( lightsArray ); + + } + + function setupLightsView( camera ) { + + lights.setupView( lightsArray, camera ); + + } + + const state = { + lightsArray: lightsArray, + shadowsArray: shadowsArray, + + camera: null, + + lights: lights, + + transmissionRenderTarget: {} + }; + + return { + init: init, + state: state, + setupLights: setupLights, + setupLightsView: setupLightsView, + + pushLight: pushLight, + pushShadow: pushShadow + }; + +} + +function WebGLRenderStates( extensions ) { + + let renderStates = new WeakMap(); + + function get( scene, renderCallDepth = 0 ) { + + const renderStateArray = renderStates.get( scene ); + let renderState; + + if ( renderStateArray === undefined ) { + + renderState = new WebGLRenderState( extensions ); + renderStates.set( scene, [ renderState ] ); + + } else { + + if ( renderCallDepth >= renderStateArray.length ) { + + renderState = new WebGLRenderState( extensions ); + renderStateArray.push( renderState ); + + } else { + + renderState = renderStateArray[ renderCallDepth ]; + + } + + } + + return renderState; + + } + + function dispose() { + + renderStates = new WeakMap(); + + } + + return { + get: get, + dispose: dispose + }; + +} + +const vertex = "void main() {\n\tgl_Position = vec4( position, 1.0 );\n}"; + +const fragment = "uniform sampler2D shadow_pass;\nuniform vec2 resolution;\nuniform float radius;\nvoid main() {\n\tconst float samples = float( VSM_SAMPLES );\n\tfloat mean = 0.0;\n\tfloat squared_mean = 0.0;\n\tfloat uvStride = samples <= 1.0 ? 0.0 : 2.0 / ( samples - 1.0 );\n\tfloat uvStart = samples <= 1.0 ? 0.0 : - 1.0;\n\tfor ( float i = 0.0; i < samples; i ++ ) {\n\t\tfloat uvOffset = uvStart + i * uvStride;\n\t\t#ifdef HORIZONTAL_PASS\n\t\t\tvec2 distribution = texture2D( shadow_pass, ( gl_FragCoord.xy + vec2( uvOffset, 0.0 ) * radius ) / resolution ).rg;\n\t\t\tmean += distribution.x;\n\t\t\tsquared_mean += distribution.y * distribution.y + distribution.x * distribution.x;\n\t\t#else\n\t\t\tfloat depth = texture2D( shadow_pass, ( gl_FragCoord.xy + vec2( 0.0, uvOffset ) * radius ) / resolution ).r;\n\t\t\tmean += depth;\n\t\t\tsquared_mean += depth * depth;\n\t\t#endif\n\t}\n\tmean = mean / samples;\n\tsquared_mean = squared_mean / samples;\n\tfloat std_dev = sqrt( max( 0.0, squared_mean - mean * mean ) );\n\tgl_FragColor = vec4( mean, std_dev, 0.0, 1.0 );\n}"; + +const _cubeDirections = [ + /*@__PURE__*/ new Vector3( 1, 0, 0 ), /*@__PURE__*/ new Vector3( -1, 0, 0 ), /*@__PURE__*/ new Vector3( 0, 1, 0 ), + /*@__PURE__*/ new Vector3( 0, -1, 0 ), /*@__PURE__*/ new Vector3( 0, 0, 1 ), /*@__PURE__*/ new Vector3( 0, 0, -1 ) +]; + +const _cubeUps = [ + /*@__PURE__*/ new Vector3( 0, -1, 0 ), /*@__PURE__*/ new Vector3( 0, -1, 0 ), /*@__PURE__*/ new Vector3( 0, 0, 1 ), + /*@__PURE__*/ new Vector3( 0, 0, -1 ), /*@__PURE__*/ new Vector3( 0, -1, 0 ), /*@__PURE__*/ new Vector3( 0, -1, 0 ) +]; + +const _projScreenMatrix = /*@__PURE__*/ new Matrix4(); +const _lightPositionWorld = /*@__PURE__*/ new Vector3(); +const _lookTarget = /*@__PURE__*/ new Vector3(); + +function WebGLShadowMap( renderer, objects, capabilities ) { + + let _frustum = new Frustum(); + + const _shadowMapSize = new Vector2(), + _viewportSize = new Vector2(), + + _viewport = new Vector4(), + + _depthMaterial = new MeshDepthMaterial(), + _distanceMaterial = new MeshDistanceMaterial(), + + _materialCache = {}, + + _maxTextureSize = capabilities.maxTextureSize; + + const shadowSide = { [ FrontSide ]: BackSide, [ BackSide ]: FrontSide, [ DoubleSide ]: DoubleSide }; + + const shadowMaterialVertical = new ShaderMaterial( { + defines: { + VSM_SAMPLES: 8 + }, + uniforms: { + shadow_pass: { value: null }, + resolution: { value: new Vector2() }, + radius: { value: 4.0 } + }, + + vertexShader: vertex, + fragmentShader: fragment + + } ); + + const shadowMaterialHorizontal = shadowMaterialVertical.clone(); + shadowMaterialHorizontal.defines.HORIZONTAL_PASS = 1; + + const fullScreenTri = new BufferGeometry(); + fullScreenTri.setAttribute( + 'position', + new BufferAttribute( + new Float32Array( [ -1, -1, 0.5, 3, -1, 0.5, -1, 3, 0.5 ] ), + 3 + ) + ); + + const fullScreenMesh = new Mesh( fullScreenTri, shadowMaterialVertical ); + + const scope = this; + + this.enabled = false; + + this.autoUpdate = true; + this.needsUpdate = false; + + this.type = PCFShadowMap; + let _previousType = this.type; + + this.render = function ( lights, scene, camera ) { + + if ( scope.enabled === false ) return; + if ( scope.autoUpdate === false && scope.needsUpdate === false ) return; + + if ( lights.length === 0 ) return; + + if ( this.type === PCFSoftShadowMap ) { + + warn( 'WebGLShadowMap: PCFSoftShadowMap has been deprecated. Using PCFShadowMap instead.' ); + this.type = PCFShadowMap; + + } + + const currentRenderTarget = renderer.getRenderTarget(); + const activeCubeFace = renderer.getActiveCubeFace(); + const activeMipmapLevel = renderer.getActiveMipmapLevel(); + + const _state = renderer.state; + + // Set GL state for depth map. + _state.setBlending( NoBlending ); + + if ( _state.buffers.depth.getReversed() === true ) { + + _state.buffers.color.setClear( 0, 0, 0, 0 ); + + } else { + + _state.buffers.color.setClear( 1, 1, 1, 1 ); + + } + + _state.buffers.depth.setTest( true ); + _state.setScissorTest( false ); + + // check for shadow map type changes + + const typeChanged = _previousType !== this.type; + + // When shadow map type changes, materials need recompilation because sampler types change + // (sampler2DShadow for PCF vs sampler2D for Basic) + if ( typeChanged ) { + + scene.traverse( function ( object ) { + + if ( object.material ) { + + if ( Array.isArray( object.material ) ) { + + object.material.forEach( mat => mat.needsUpdate = true ); + + } else { + + object.material.needsUpdate = true; + + } + + } + + } ); + + } + + // render depth map + + for ( let i = 0, il = lights.length; i < il; i ++ ) { + + const light = lights[ i ]; + const shadow = light.shadow; + + if ( shadow === undefined ) { + + warn( 'WebGLShadowMap:', light, 'has no shadow.' ); + continue; + + } + + if ( shadow.autoUpdate === false && shadow.needsUpdate === false ) continue; + + _shadowMapSize.copy( shadow.mapSize ); + + const shadowFrameExtents = shadow.getFrameExtents(); + + _shadowMapSize.multiply( shadowFrameExtents ); + + _viewportSize.copy( shadow.mapSize ); + + if ( _shadowMapSize.x > _maxTextureSize || _shadowMapSize.y > _maxTextureSize ) { + + if ( _shadowMapSize.x > _maxTextureSize ) { + + _viewportSize.x = Math.floor( _maxTextureSize / shadowFrameExtents.x ); + _shadowMapSize.x = _viewportSize.x * shadowFrameExtents.x; + shadow.mapSize.x = _viewportSize.x; + + } + + if ( _shadowMapSize.y > _maxTextureSize ) { + + _viewportSize.y = Math.floor( _maxTextureSize / shadowFrameExtents.y ); + _shadowMapSize.y = _viewportSize.y * shadowFrameExtents.y; + shadow.mapSize.y = _viewportSize.y; + + } + + } + + const reversedDepthBuffer = renderer.state.buffers.depth.getReversed(); + shadow.camera._reversedDepth = reversedDepthBuffer; + + if ( shadow.map === null || typeChanged === true ) { + + if ( shadow.map !== null ) { + + if ( shadow.map.depthTexture !== null ) { + + shadow.map.depthTexture.dispose(); + shadow.map.depthTexture = null; + + } + + shadow.map.dispose(); + + } + + if ( this.type === VSMShadowMap ) { + + if ( light.isPointLight ) { + + warn( 'WebGLShadowMap: VSM shadow maps are not supported for PointLights. Use PCF or BasicShadowMap instead.' ); + continue; + + } + + shadow.map = new WebGLRenderTarget( _shadowMapSize.x, _shadowMapSize.y, { + format: RGFormat, + type: HalfFloatType, + minFilter: LinearFilter, + magFilter: LinearFilter, + generateMipmaps: false + } ); + shadow.map.texture.name = light.name + '.shadowMap'; + + // Native depth texture for VSM - depth is captured here, then blurred into the color texture + shadow.map.depthTexture = new DepthTexture( _shadowMapSize.x, _shadowMapSize.y, FloatType ); + shadow.map.depthTexture.name = light.name + '.shadowMapDepth'; + shadow.map.depthTexture.format = DepthFormat; + shadow.map.depthTexture.compareFunction = null; // For regular sampling (not shadow comparison) + shadow.map.depthTexture.minFilter = NearestFilter; + shadow.map.depthTexture.magFilter = NearestFilter; + + } else { + + if ( light.isPointLight ) { + + shadow.map = new WebGLCubeRenderTarget( _shadowMapSize.x ); + shadow.map.depthTexture = new CubeDepthTexture( _shadowMapSize.x, UnsignedIntType ); + + } else { + + shadow.map = new WebGLRenderTarget( _shadowMapSize.x, _shadowMapSize.y ); + shadow.map.depthTexture = new DepthTexture( _shadowMapSize.x, _shadowMapSize.y, UnsignedIntType ); + + } + + shadow.map.depthTexture.name = light.name + '.shadowMap'; + shadow.map.depthTexture.format = DepthFormat; + + if ( this.type === PCFShadowMap ) { + + shadow.map.depthTexture.compareFunction = reversedDepthBuffer ? GreaterEqualCompare : LessEqualCompare; + shadow.map.depthTexture.minFilter = LinearFilter; + shadow.map.depthTexture.magFilter = LinearFilter; + + } else { + + shadow.map.depthTexture.compareFunction = null; + shadow.map.depthTexture.minFilter = NearestFilter; + shadow.map.depthTexture.magFilter = NearestFilter; + + } + + } + + shadow.camera.updateProjectionMatrix(); + + } + + // For cube render targets (PointLights), render all 6 faces. Otherwise, render once. + const faceCount = shadow.map.isWebGLCubeRenderTarget ? 6 : 1; + + for ( let face = 0; face < faceCount; face ++ ) { + + // For cube render targets, render to each face separately + if ( shadow.map.isWebGLCubeRenderTarget ) { + + renderer.setRenderTarget( shadow.map, face ); + renderer.clear(); + + } else { + + // For 2D render targets, use viewports + if ( face === 0 ) { + + renderer.setRenderTarget( shadow.map ); + renderer.clear(); + + } + + const viewport = shadow.getViewport( face ); + + _viewport.set( + _viewportSize.x * viewport.x, + _viewportSize.y * viewport.y, + _viewportSize.x * viewport.z, + _viewportSize.y * viewport.w + ); + + _state.viewport( _viewport ); + + } + + if ( light.isPointLight ) { + + const camera = shadow.camera; + const shadowMatrix = shadow.matrix; + + const far = light.distance || camera.far; + + if ( far !== camera.far ) { + + camera.far = far; + camera.updateProjectionMatrix(); + + } + + _lightPositionWorld.setFromMatrixPosition( light.matrixWorld ); + camera.position.copy( _lightPositionWorld ); + + _lookTarget.copy( camera.position ); + _lookTarget.add( _cubeDirections[ face ] ); + camera.up.copy( _cubeUps[ face ] ); + camera.lookAt( _lookTarget ); + camera.updateMatrixWorld(); + + shadowMatrix.makeTranslation( - _lightPositionWorld.x, - _lightPositionWorld.y, - _lightPositionWorld.z ); + + _projScreenMatrix.multiplyMatrices( camera.projectionMatrix, camera.matrixWorldInverse ); + shadow._frustum.setFromProjectionMatrix( _projScreenMatrix, camera.coordinateSystem, camera.reversedDepth ); + + } else { + + shadow.updateMatrices( light ); + + } + + _frustum = shadow.getFrustum(); + + renderObject( scene, camera, shadow.camera, light, this.type ); + + } + + // do blur pass for VSM + + if ( shadow.isPointLightShadow !== true && this.type === VSMShadowMap ) { + + VSMPass( shadow, camera ); + + } + + shadow.needsUpdate = false; + + } + + _previousType = this.type; + + scope.needsUpdate = false; + + renderer.setRenderTarget( currentRenderTarget, activeCubeFace, activeMipmapLevel ); + + }; + + function VSMPass( shadow, camera ) { + + const geometry = objects.update( fullScreenMesh ); + + if ( shadowMaterialVertical.defines.VSM_SAMPLES !== shadow.blurSamples ) { + + shadowMaterialVertical.defines.VSM_SAMPLES = shadow.blurSamples; + shadowMaterialHorizontal.defines.VSM_SAMPLES = shadow.blurSamples; + + shadowMaterialVertical.needsUpdate = true; + shadowMaterialHorizontal.needsUpdate = true; + + } + + if ( shadow.mapPass === null ) { + + shadow.mapPass = new WebGLRenderTarget( _shadowMapSize.x, _shadowMapSize.y, { + format: RGFormat, + type: HalfFloatType + } ); + + } + + // vertical pass - read from native depth texture + + shadowMaterialVertical.uniforms.shadow_pass.value = shadow.map.depthTexture; + shadowMaterialVertical.uniforms.resolution.value = shadow.mapSize; + shadowMaterialVertical.uniforms.radius.value = shadow.radius; + renderer.setRenderTarget( shadow.mapPass ); + renderer.clear(); + renderer.renderBufferDirect( camera, null, geometry, shadowMaterialVertical, fullScreenMesh, null ); + + // horizontal pass + + shadowMaterialHorizontal.uniforms.shadow_pass.value = shadow.mapPass.texture; + shadowMaterialHorizontal.uniforms.resolution.value = shadow.mapSize; + shadowMaterialHorizontal.uniforms.radius.value = shadow.radius; + renderer.setRenderTarget( shadow.map ); + renderer.clear(); + renderer.renderBufferDirect( camera, null, geometry, shadowMaterialHorizontal, fullScreenMesh, null ); + + } + + function getDepthMaterial( object, material, light, type ) { + + let result = null; + + const customMaterial = ( light.isPointLight === true ) ? object.customDistanceMaterial : object.customDepthMaterial; + + if ( customMaterial !== undefined ) { + + result = customMaterial; + + } else { + + result = ( light.isPointLight === true ) ? _distanceMaterial : _depthMaterial; + + if ( ( renderer.localClippingEnabled && material.clipShadows === true && Array.isArray( material.clippingPlanes ) && material.clippingPlanes.length !== 0 ) || + ( material.displacementMap && material.displacementScale !== 0 ) || + ( material.alphaMap && material.alphaTest > 0 ) || + ( material.map && material.alphaTest > 0 ) || + ( material.alphaToCoverage === true ) ) { + + // in this case we need a unique material instance reflecting the + // appropriate state + + const keyA = result.uuid, keyB = material.uuid; + + let materialsForVariant = _materialCache[ keyA ]; + + if ( materialsForVariant === undefined ) { + + materialsForVariant = {}; + _materialCache[ keyA ] = materialsForVariant; + + } + + let cachedMaterial = materialsForVariant[ keyB ]; + + if ( cachedMaterial === undefined ) { + + cachedMaterial = result.clone(); + materialsForVariant[ keyB ] = cachedMaterial; + material.addEventListener( 'dispose', onMaterialDispose ); + + } + + result = cachedMaterial; + + } + + } + + result.visible = material.visible; + result.wireframe = material.wireframe; + + if ( type === VSMShadowMap ) { + + result.side = ( material.shadowSide !== null ) ? material.shadowSide : material.side; + + } else { + + result.side = ( material.shadowSide !== null ) ? material.shadowSide : shadowSide[ material.side ]; + + } + + result.alphaMap = material.alphaMap; + result.alphaTest = ( material.alphaToCoverage === true ) ? 0.5 : material.alphaTest; // approximate alphaToCoverage by using a fixed alphaTest value + result.map = material.map; + + result.clipShadows = material.clipShadows; + result.clippingPlanes = material.clippingPlanes; + result.clipIntersection = material.clipIntersection; + + result.displacementMap = material.displacementMap; + result.displacementScale = material.displacementScale; + result.displacementBias = material.displacementBias; + + result.wireframeLinewidth = material.wireframeLinewidth; + result.linewidth = material.linewidth; + + if ( light.isPointLight === true && result.isMeshDistanceMaterial === true ) { + + const materialProperties = renderer.properties.get( result ); + materialProperties.light = light; + + } + + return result; + + } + + function renderObject( object, camera, shadowCamera, light, type ) { + + if ( object.visible === false ) return; + + const visible = object.layers.test( camera.layers ); + + if ( visible && ( object.isMesh || object.isLine || object.isPoints ) ) { + + if ( ( object.castShadow || ( object.receiveShadow && type === VSMShadowMap ) ) && ( ! object.frustumCulled || _frustum.intersectsObject( object ) ) ) { + + object.modelViewMatrix.multiplyMatrices( shadowCamera.matrixWorldInverse, object.matrixWorld ); + + const geometry = objects.update( object ); + const material = object.material; + + if ( Array.isArray( material ) ) { + + const groups = geometry.groups; + + for ( let k = 0, kl = groups.length; k < kl; k ++ ) { + + const group = groups[ k ]; + const groupMaterial = material[ group.materialIndex ]; + + if ( groupMaterial && groupMaterial.visible ) { + + const depthMaterial = getDepthMaterial( object, groupMaterial, light, type ); + + object.onBeforeShadow( renderer, object, camera, shadowCamera, geometry, depthMaterial, group ); + + renderer.renderBufferDirect( shadowCamera, null, geometry, depthMaterial, object, group ); + + object.onAfterShadow( renderer, object, camera, shadowCamera, geometry, depthMaterial, group ); + + } + + } + + } else if ( material.visible ) { + + const depthMaterial = getDepthMaterial( object, material, light, type ); + + object.onBeforeShadow( renderer, object, camera, shadowCamera, geometry, depthMaterial, null ); + + renderer.renderBufferDirect( shadowCamera, null, geometry, depthMaterial, object, null ); + + object.onAfterShadow( renderer, object, camera, shadowCamera, geometry, depthMaterial, null ); + + } + + } + + } + + const children = object.children; + + for ( let i = 0, l = children.length; i < l; i ++ ) { + + renderObject( children[ i ], camera, shadowCamera, light, type ); + + } + + } + + function onMaterialDispose( event ) { + + const material = event.target; + + material.removeEventListener( 'dispose', onMaterialDispose ); + + // make sure to remove the unique distance/depth materials used for shadow map rendering + + for ( const id in _materialCache ) { + + const cache = _materialCache[ id ]; + + const uuid = event.target.uuid; + + if ( uuid in cache ) { + + const shadowMaterial = cache[ uuid ]; + shadowMaterial.dispose(); + delete cache[ uuid ]; + + } + + } + + } + +} + +function WebGLState( gl, extensions ) { + + function ColorBuffer() { + + let locked = false; + + const color = new Vector4(); + let currentColorMask = null; + const currentColorClear = new Vector4( 0, 0, 0, 0 ); + + return { + + setMask: function ( colorMask ) { + + if ( currentColorMask !== colorMask && ! locked ) { + + gl.colorMask( colorMask, colorMask, colorMask, colorMask ); + currentColorMask = colorMask; + + } + + }, + + setLocked: function ( lock ) { + + locked = lock; + + }, + + setClear: function ( r, g, b, a, premultipliedAlpha ) { + + if ( premultipliedAlpha === true ) { + + r *= a; g *= a; b *= a; + + } + + color.set( r, g, b, a ); + + if ( currentColorClear.equals( color ) === false ) { + + gl.clearColor( r, g, b, a ); + currentColorClear.copy( color ); + + } + + }, + + reset: function () { + + locked = false; + + currentColorMask = null; + currentColorClear.set( -1, 0, 0, 0 ); // set to invalid state + + } + + }; + + } + + function DepthBuffer() { + + let locked = false; + + let currentReversed = false; + let currentDepthMask = null; + let currentDepthFunc = null; + let currentDepthClear = null; + + return { + + setReversed: function ( reversed ) { + + if ( currentReversed !== reversed ) { + + const ext = extensions.get( 'EXT_clip_control' ); + + if ( reversed ) { + + ext.clipControlEXT( ext.LOWER_LEFT_EXT, ext.ZERO_TO_ONE_EXT ); + + } else { + + ext.clipControlEXT( ext.LOWER_LEFT_EXT, ext.NEGATIVE_ONE_TO_ONE_EXT ); + + } + + currentReversed = reversed; + + const oldDepth = currentDepthClear; + currentDepthClear = null; + this.setClear( oldDepth ); + + } + + }, + + getReversed: function () { + + return currentReversed; + + }, + + setTest: function ( depthTest ) { + + if ( depthTest ) { + + enable( gl.DEPTH_TEST ); + + } else { + + disable( gl.DEPTH_TEST ); + + } + + }, + + setMask: function ( depthMask ) { + + if ( currentDepthMask !== depthMask && ! locked ) { + + gl.depthMask( depthMask ); + currentDepthMask = depthMask; + + } + + }, + + setFunc: function ( depthFunc ) { + + if ( currentReversed ) depthFunc = ReversedDepthFuncs[ depthFunc ]; + + if ( currentDepthFunc !== depthFunc ) { + + switch ( depthFunc ) { + + case NeverDepth: + + gl.depthFunc( gl.NEVER ); + break; + + case AlwaysDepth: + + gl.depthFunc( gl.ALWAYS ); + break; + + case LessDepth: + + gl.depthFunc( gl.LESS ); + break; + + case LessEqualDepth: + + gl.depthFunc( gl.LEQUAL ); + break; + + case EqualDepth: + + gl.depthFunc( gl.EQUAL ); + break; + + case GreaterEqualDepth: + + gl.depthFunc( gl.GEQUAL ); + break; + + case GreaterDepth: + + gl.depthFunc( gl.GREATER ); + break; + + case NotEqualDepth: + + gl.depthFunc( gl.NOTEQUAL ); + break; + + default: + + gl.depthFunc( gl.LEQUAL ); + + } + + currentDepthFunc = depthFunc; + + } + + }, + + setLocked: function ( lock ) { + + locked = lock; + + }, + + setClear: function ( depth ) { + + if ( currentDepthClear !== depth ) { + + currentDepthClear = depth; + + if ( currentReversed ) { + + depth = 1 - depth; + + } + + gl.clearDepth( depth ); + + } + + }, + + reset: function () { + + locked = false; + + currentDepthMask = null; + currentDepthFunc = null; + currentDepthClear = null; + currentReversed = false; + + } + + }; + + } + + function StencilBuffer() { + + let locked = false; + + let currentStencilMask = null; + let currentStencilFunc = null; + let currentStencilRef = null; + let currentStencilFuncMask = null; + let currentStencilFail = null; + let currentStencilZFail = null; + let currentStencilZPass = null; + let currentStencilClear = null; + + return { + + setTest: function ( stencilTest ) { + + if ( ! locked ) { + + if ( stencilTest ) { + + enable( gl.STENCIL_TEST ); + + } else { + + disable( gl.STENCIL_TEST ); + + } + + } + + }, + + setMask: function ( stencilMask ) { + + if ( currentStencilMask !== stencilMask && ! locked ) { + + gl.stencilMask( stencilMask ); + currentStencilMask = stencilMask; + + } + + }, + + setFunc: function ( stencilFunc, stencilRef, stencilMask ) { + + if ( currentStencilFunc !== stencilFunc || + currentStencilRef !== stencilRef || + currentStencilFuncMask !== stencilMask ) { + + gl.stencilFunc( stencilFunc, stencilRef, stencilMask ); + + currentStencilFunc = stencilFunc; + currentStencilRef = stencilRef; + currentStencilFuncMask = stencilMask; + + } + + }, + + setOp: function ( stencilFail, stencilZFail, stencilZPass ) { + + if ( currentStencilFail !== stencilFail || + currentStencilZFail !== stencilZFail || + currentStencilZPass !== stencilZPass ) { + + gl.stencilOp( stencilFail, stencilZFail, stencilZPass ); + + currentStencilFail = stencilFail; + currentStencilZFail = stencilZFail; + currentStencilZPass = stencilZPass; + + } + + }, + + setLocked: function ( lock ) { + + locked = lock; + + }, + + setClear: function ( stencil ) { + + if ( currentStencilClear !== stencil ) { + + gl.clearStencil( stencil ); + currentStencilClear = stencil; + + } + + }, + + reset: function () { + + locked = false; + + currentStencilMask = null; + currentStencilFunc = null; + currentStencilRef = null; + currentStencilFuncMask = null; + currentStencilFail = null; + currentStencilZFail = null; + currentStencilZPass = null; + currentStencilClear = null; + + } + + }; + + } + + // + + const colorBuffer = new ColorBuffer(); + const depthBuffer = new DepthBuffer(); + const stencilBuffer = new StencilBuffer(); + + const uboBindings = new WeakMap(); + const uboProgramMap = new WeakMap(); + + let enabledCapabilities = {}; + + let currentBoundFramebuffers = {}; + let currentDrawbuffers = new WeakMap(); + let defaultDrawbuffers = []; + + let currentProgram = null; + + let currentBlendingEnabled = false; + let currentBlending = null; + let currentBlendEquation = null; + let currentBlendSrc = null; + let currentBlendDst = null; + let currentBlendEquationAlpha = null; + let currentBlendSrcAlpha = null; + let currentBlendDstAlpha = null; + let currentBlendColor = new Color( 0, 0, 0 ); + let currentBlendAlpha = 0; + let currentPremultipledAlpha = false; + + let currentFlipSided = null; + let currentCullFace = null; + + let currentLineWidth = null; + + let currentPolygonOffsetFactor = null; + let currentPolygonOffsetUnits = null; + + const maxTextures = gl.getParameter( gl.MAX_COMBINED_TEXTURE_IMAGE_UNITS ); + + let lineWidthAvailable = false; + let version = 0; + const glVersion = gl.getParameter( gl.VERSION ); + + if ( glVersion.indexOf( 'WebGL' ) !== -1 ) { + + version = parseFloat( /^WebGL (\d)/.exec( glVersion )[ 1 ] ); + lineWidthAvailable = ( version >= 1.0 ); + + } else if ( glVersion.indexOf( 'OpenGL ES' ) !== -1 ) { + + version = parseFloat( /^OpenGL ES (\d)/.exec( glVersion )[ 1 ] ); + lineWidthAvailable = ( version >= 2.0 ); + + } + + let currentTextureSlot = null; + let currentBoundTextures = {}; + + const scissorParam = gl.getParameter( gl.SCISSOR_BOX ); + const viewportParam = gl.getParameter( gl.VIEWPORT ); + + const currentScissor = new Vector4().fromArray( scissorParam ); + const currentViewport = new Vector4().fromArray( viewportParam ); + + function createTexture( type, target, count, dimensions ) { + + const data = new Uint8Array( 4 ); // 4 is required to match default unpack alignment of 4. + const texture = gl.createTexture(); + + gl.bindTexture( type, texture ); + gl.texParameteri( type, gl.TEXTURE_MIN_FILTER, gl.NEAREST ); + gl.texParameteri( type, gl.TEXTURE_MAG_FILTER, gl.NEAREST ); + + for ( let i = 0; i < count; i ++ ) { + + if ( type === gl.TEXTURE_3D || type === gl.TEXTURE_2D_ARRAY ) { + + gl.texImage3D( target, 0, gl.RGBA, 1, 1, dimensions, 0, gl.RGBA, gl.UNSIGNED_BYTE, data ); + + } else { + + gl.texImage2D( target + i, 0, gl.RGBA, 1, 1, 0, gl.RGBA, gl.UNSIGNED_BYTE, data ); + + } + + } + + return texture; + + } + + const emptyTextures = {}; + emptyTextures[ gl.TEXTURE_2D ] = createTexture( gl.TEXTURE_2D, gl.TEXTURE_2D, 1 ); + emptyTextures[ gl.TEXTURE_CUBE_MAP ] = createTexture( gl.TEXTURE_CUBE_MAP, gl.TEXTURE_CUBE_MAP_POSITIVE_X, 6 ); + emptyTextures[ gl.TEXTURE_2D_ARRAY ] = createTexture( gl.TEXTURE_2D_ARRAY, gl.TEXTURE_2D_ARRAY, 1, 1 ); + emptyTextures[ gl.TEXTURE_3D ] = createTexture( gl.TEXTURE_3D, gl.TEXTURE_3D, 1, 1 ); + + // init + + colorBuffer.setClear( 0, 0, 0, 1 ); + depthBuffer.setClear( 1 ); + stencilBuffer.setClear( 0 ); + + enable( gl.DEPTH_TEST ); + depthBuffer.setFunc( LessEqualDepth ); + + setFlipSided( false ); + setCullFace( CullFaceBack ); + enable( gl.CULL_FACE ); + + setBlending( NoBlending ); + + // + + function enable( id ) { + + if ( enabledCapabilities[ id ] !== true ) { + + gl.enable( id ); + enabledCapabilities[ id ] = true; + + } + + } + + function disable( id ) { + + if ( enabledCapabilities[ id ] !== false ) { + + gl.disable( id ); + enabledCapabilities[ id ] = false; + + } + + } + + function bindFramebuffer( target, framebuffer ) { + + if ( currentBoundFramebuffers[ target ] !== framebuffer ) { + + gl.bindFramebuffer( target, framebuffer ); + + currentBoundFramebuffers[ target ] = framebuffer; + + // gl.DRAW_FRAMEBUFFER is equivalent to gl.FRAMEBUFFER + + if ( target === gl.DRAW_FRAMEBUFFER ) { + + currentBoundFramebuffers[ gl.FRAMEBUFFER ] = framebuffer; + + } + + if ( target === gl.FRAMEBUFFER ) { + + currentBoundFramebuffers[ gl.DRAW_FRAMEBUFFER ] = framebuffer; + + } + + return true; + + } + + return false; + + } + + function drawBuffers( renderTarget, framebuffer ) { + + let drawBuffers = defaultDrawbuffers; + + let needsUpdate = false; + + if ( renderTarget ) { + + drawBuffers = currentDrawbuffers.get( framebuffer ); + + if ( drawBuffers === undefined ) { + + drawBuffers = []; + currentDrawbuffers.set( framebuffer, drawBuffers ); + + } + + const textures = renderTarget.textures; + + if ( drawBuffers.length !== textures.length || drawBuffers[ 0 ] !== gl.COLOR_ATTACHMENT0 ) { + + for ( let i = 0, il = textures.length; i < il; i ++ ) { + + drawBuffers[ i ] = gl.COLOR_ATTACHMENT0 + i; + + } + + drawBuffers.length = textures.length; + + needsUpdate = true; + + } + + } else { + + if ( drawBuffers[ 0 ] !== gl.BACK ) { + + drawBuffers[ 0 ] = gl.BACK; + + needsUpdate = true; + + } + + } + + if ( needsUpdate ) { + + gl.drawBuffers( drawBuffers ); + + } + + } + + function useProgram( program ) { + + if ( currentProgram !== program ) { + + gl.useProgram( program ); + + currentProgram = program; + + return true; + + } + + return false; + + } + + const equationToGL = { + [ AddEquation ]: gl.FUNC_ADD, + [ SubtractEquation ]: gl.FUNC_SUBTRACT, + [ ReverseSubtractEquation ]: gl.FUNC_REVERSE_SUBTRACT + }; + + equationToGL[ MinEquation ] = gl.MIN; + equationToGL[ MaxEquation ] = gl.MAX; + + const factorToGL = { + [ ZeroFactor ]: gl.ZERO, + [ OneFactor ]: gl.ONE, + [ SrcColorFactor ]: gl.SRC_COLOR, + [ SrcAlphaFactor ]: gl.SRC_ALPHA, + [ SrcAlphaSaturateFactor ]: gl.SRC_ALPHA_SATURATE, + [ DstColorFactor ]: gl.DST_COLOR, + [ DstAlphaFactor ]: gl.DST_ALPHA, + [ OneMinusSrcColorFactor ]: gl.ONE_MINUS_SRC_COLOR, + [ OneMinusSrcAlphaFactor ]: gl.ONE_MINUS_SRC_ALPHA, + [ OneMinusDstColorFactor ]: gl.ONE_MINUS_DST_COLOR, + [ OneMinusDstAlphaFactor ]: gl.ONE_MINUS_DST_ALPHA, + [ ConstantColorFactor ]: gl.CONSTANT_COLOR, + [ OneMinusConstantColorFactor ]: gl.ONE_MINUS_CONSTANT_COLOR, + [ ConstantAlphaFactor ]: gl.CONSTANT_ALPHA, + [ OneMinusConstantAlphaFactor ]: gl.ONE_MINUS_CONSTANT_ALPHA + }; + + function setBlending( blending, blendEquation, blendSrc, blendDst, blendEquationAlpha, blendSrcAlpha, blendDstAlpha, blendColor, blendAlpha, premultipliedAlpha ) { + + if ( blending === NoBlending ) { + + if ( currentBlendingEnabled === true ) { + + disable( gl.BLEND ); + currentBlendingEnabled = false; + + } + + return; + + } + + if ( currentBlendingEnabled === false ) { + + enable( gl.BLEND ); + currentBlendingEnabled = true; + + } + + if ( blending !== CustomBlending ) { + + if ( blending !== currentBlending || premultipliedAlpha !== currentPremultipledAlpha ) { + + if ( currentBlendEquation !== AddEquation || currentBlendEquationAlpha !== AddEquation ) { + + gl.blendEquation( gl.FUNC_ADD ); + + currentBlendEquation = AddEquation; + currentBlendEquationAlpha = AddEquation; + + } + + if ( premultipliedAlpha ) { + + switch ( blending ) { + + case NormalBlending: + gl.blendFuncSeparate( gl.ONE, gl.ONE_MINUS_SRC_ALPHA, gl.ONE, gl.ONE_MINUS_SRC_ALPHA ); + break; + + case AdditiveBlending: + gl.blendFunc( gl.ONE, gl.ONE ); + break; + + case SubtractiveBlending: + gl.blendFuncSeparate( gl.ZERO, gl.ONE_MINUS_SRC_COLOR, gl.ZERO, gl.ONE ); + break; + + case MultiplyBlending: + gl.blendFuncSeparate( gl.DST_COLOR, gl.ONE_MINUS_SRC_ALPHA, gl.ZERO, gl.ONE ); + break; + + default: + error( 'WebGLState: Invalid blending: ', blending ); + break; + + } + + } else { + + switch ( blending ) { + + case NormalBlending: + gl.blendFuncSeparate( gl.SRC_ALPHA, gl.ONE_MINUS_SRC_ALPHA, gl.ONE, gl.ONE_MINUS_SRC_ALPHA ); + break; + + case AdditiveBlending: + gl.blendFuncSeparate( gl.SRC_ALPHA, gl.ONE, gl.ONE, gl.ONE ); + break; + + case SubtractiveBlending: + error( 'WebGLState: SubtractiveBlending requires material.premultipliedAlpha = true' ); + break; + + case MultiplyBlending: + error( 'WebGLState: MultiplyBlending requires material.premultipliedAlpha = true' ); + break; + + default: + error( 'WebGLState: Invalid blending: ', blending ); + break; + + } + + } + + currentBlendSrc = null; + currentBlendDst = null; + currentBlendSrcAlpha = null; + currentBlendDstAlpha = null; + currentBlendColor.set( 0, 0, 0 ); + currentBlendAlpha = 0; + + currentBlending = blending; + currentPremultipledAlpha = premultipliedAlpha; + + } + + return; + + } + + // custom blending + + blendEquationAlpha = blendEquationAlpha || blendEquation; + blendSrcAlpha = blendSrcAlpha || blendSrc; + blendDstAlpha = blendDstAlpha || blendDst; + + if ( blendEquation !== currentBlendEquation || blendEquationAlpha !== currentBlendEquationAlpha ) { + + gl.blendEquationSeparate( equationToGL[ blendEquation ], equationToGL[ blendEquationAlpha ] ); + + currentBlendEquation = blendEquation; + currentBlendEquationAlpha = blendEquationAlpha; + + } + + if ( blendSrc !== currentBlendSrc || blendDst !== currentBlendDst || blendSrcAlpha !== currentBlendSrcAlpha || blendDstAlpha !== currentBlendDstAlpha ) { + + gl.blendFuncSeparate( factorToGL[ blendSrc ], factorToGL[ blendDst ], factorToGL[ blendSrcAlpha ], factorToGL[ blendDstAlpha ] ); + + currentBlendSrc = blendSrc; + currentBlendDst = blendDst; + currentBlendSrcAlpha = blendSrcAlpha; + currentBlendDstAlpha = blendDstAlpha; + + } + + if ( blendColor.equals( currentBlendColor ) === false || blendAlpha !== currentBlendAlpha ) { + + gl.blendColor( blendColor.r, blendColor.g, blendColor.b, blendAlpha ); + + currentBlendColor.copy( blendColor ); + currentBlendAlpha = blendAlpha; + + } + + currentBlending = blending; + currentPremultipledAlpha = false; + + } + + function setMaterial( material, frontFaceCW ) { + + material.side === DoubleSide + ? disable( gl.CULL_FACE ) + : enable( gl.CULL_FACE ); + + let flipSided = ( material.side === BackSide ); + if ( frontFaceCW ) flipSided = ! flipSided; + + setFlipSided( flipSided ); + + ( material.blending === NormalBlending && material.transparent === false ) + ? setBlending( NoBlending ) + : setBlending( material.blending, material.blendEquation, material.blendSrc, material.blendDst, material.blendEquationAlpha, material.blendSrcAlpha, material.blendDstAlpha, material.blendColor, material.blendAlpha, material.premultipliedAlpha ); + + depthBuffer.setFunc( material.depthFunc ); + depthBuffer.setTest( material.depthTest ); + depthBuffer.setMask( material.depthWrite ); + colorBuffer.setMask( material.colorWrite ); + + const stencilWrite = material.stencilWrite; + stencilBuffer.setTest( stencilWrite ); + if ( stencilWrite ) { + + stencilBuffer.setMask( material.stencilWriteMask ); + stencilBuffer.setFunc( material.stencilFunc, material.stencilRef, material.stencilFuncMask ); + stencilBuffer.setOp( material.stencilFail, material.stencilZFail, material.stencilZPass ); + + } + + setPolygonOffset( material.polygonOffset, material.polygonOffsetFactor, material.polygonOffsetUnits ); + + material.alphaToCoverage === true + ? enable( gl.SAMPLE_ALPHA_TO_COVERAGE ) + : disable( gl.SAMPLE_ALPHA_TO_COVERAGE ); + + } + + // + + function setFlipSided( flipSided ) { + + if ( currentFlipSided !== flipSided ) { + + if ( flipSided ) { + + gl.frontFace( gl.CW ); + + } else { + + gl.frontFace( gl.CCW ); + + } + + currentFlipSided = flipSided; + + } + + } + + function setCullFace( cullFace ) { + + if ( cullFace !== CullFaceNone ) { + + enable( gl.CULL_FACE ); + + if ( cullFace !== currentCullFace ) { + + if ( cullFace === CullFaceBack ) { + + gl.cullFace( gl.BACK ); + + } else if ( cullFace === CullFaceFront ) { + + gl.cullFace( gl.FRONT ); + + } else { + + gl.cullFace( gl.FRONT_AND_BACK ); + + } + + } + + } else { + + disable( gl.CULL_FACE ); + + } + + currentCullFace = cullFace; + + } + + function setLineWidth( width ) { + + if ( width !== currentLineWidth ) { + + if ( lineWidthAvailable ) gl.lineWidth( width ); + + currentLineWidth = width; + + } + + } + + function setPolygonOffset( polygonOffset, factor, units ) { + + if ( polygonOffset ) { + + enable( gl.POLYGON_OFFSET_FILL ); + + if ( currentPolygonOffsetFactor !== factor || currentPolygonOffsetUnits !== units ) { + + currentPolygonOffsetFactor = factor; + currentPolygonOffsetUnits = units; + + if ( depthBuffer.getReversed() ) { + + factor = - factor; + + } + + gl.polygonOffset( factor, units ); + + } + + } else { + + disable( gl.POLYGON_OFFSET_FILL ); + + } + + } + + function setScissorTest( scissorTest ) { + + if ( scissorTest ) { + + enable( gl.SCISSOR_TEST ); + + } else { + + disable( gl.SCISSOR_TEST ); + + } + + } + + // texture + + function activeTexture( webglSlot ) { + + if ( webglSlot === undefined ) webglSlot = gl.TEXTURE0 + maxTextures - 1; + + if ( currentTextureSlot !== webglSlot ) { + + gl.activeTexture( webglSlot ); + currentTextureSlot = webglSlot; + + } + + } + + function bindTexture( webglType, webglTexture, webglSlot ) { + + if ( webglSlot === undefined ) { + + if ( currentTextureSlot === null ) { + + webglSlot = gl.TEXTURE0 + maxTextures - 1; + + } else { + + webglSlot = currentTextureSlot; + + } + + } + + let boundTexture = currentBoundTextures[ webglSlot ]; + + if ( boundTexture === undefined ) { + + boundTexture = { type: undefined, texture: undefined }; + currentBoundTextures[ webglSlot ] = boundTexture; + + } + + if ( boundTexture.type !== webglType || boundTexture.texture !== webglTexture ) { + + if ( currentTextureSlot !== webglSlot ) { + + gl.activeTexture( webglSlot ); + currentTextureSlot = webglSlot; + + } + + gl.bindTexture( webglType, webglTexture || emptyTextures[ webglType ] ); + + boundTexture.type = webglType; + boundTexture.texture = webglTexture; + + } + + } + + function unbindTexture() { + + const boundTexture = currentBoundTextures[ currentTextureSlot ]; + + if ( boundTexture !== undefined && boundTexture.type !== undefined ) { + + gl.bindTexture( boundTexture.type, null ); + + boundTexture.type = undefined; + boundTexture.texture = undefined; + + } + + } + + function compressedTexImage2D() { + + try { + + gl.compressedTexImage2D( ...arguments ); + + } catch ( e ) { + + error( 'WebGLState:', e ); + + } + + } + + function compressedTexImage3D() { + + try { + + gl.compressedTexImage3D( ...arguments ); + + } catch ( e ) { + + error( 'WebGLState:', e ); + + } + + } + + function texSubImage2D() { + + try { + + gl.texSubImage2D( ...arguments ); + + } catch ( e ) { + + error( 'WebGLState:', e ); + + } + + } + + function texSubImage3D() { + + try { + + gl.texSubImage3D( ...arguments ); + + } catch ( e ) { + + error( 'WebGLState:', e ); + + } + + } + + function compressedTexSubImage2D() { + + try { + + gl.compressedTexSubImage2D( ...arguments ); + + } catch ( e ) { + + error( 'WebGLState:', e ); + + } + + } + + function compressedTexSubImage3D() { + + try { + + gl.compressedTexSubImage3D( ...arguments ); + + } catch ( e ) { + + error( 'WebGLState:', e ); + + } + + } + + function texStorage2D() { + + try { + + gl.texStorage2D( ...arguments ); + + } catch ( e ) { + + error( 'WebGLState:', e ); + + } + + } + + function texStorage3D() { + + try { + + gl.texStorage3D( ...arguments ); + + } catch ( e ) { + + error( 'WebGLState:', e ); + + } + + } + + function texImage2D() { + + try { + + gl.texImage2D( ...arguments ); + + } catch ( e ) { + + error( 'WebGLState:', e ); + + } + + } + + function texImage3D() { + + try { + + gl.texImage3D( ...arguments ); + + } catch ( e ) { + + error( 'WebGLState:', e ); + + } + + } + + // + + function scissor( scissor ) { + + if ( currentScissor.equals( scissor ) === false ) { + + gl.scissor( scissor.x, scissor.y, scissor.z, scissor.w ); + currentScissor.copy( scissor ); + + } + + } + + function viewport( viewport ) { + + if ( currentViewport.equals( viewport ) === false ) { + + gl.viewport( viewport.x, viewport.y, viewport.z, viewport.w ); + currentViewport.copy( viewport ); + + } + + } + + function updateUBOMapping( uniformsGroup, program ) { + + let mapping = uboProgramMap.get( program ); + + if ( mapping === undefined ) { + + mapping = new WeakMap(); + + uboProgramMap.set( program, mapping ); + + } + + let blockIndex = mapping.get( uniformsGroup ); + + if ( blockIndex === undefined ) { + + blockIndex = gl.getUniformBlockIndex( program, uniformsGroup.name ); + + mapping.set( uniformsGroup, blockIndex ); + + } + + } + + function uniformBlockBinding( uniformsGroup, program ) { + + const mapping = uboProgramMap.get( program ); + const blockIndex = mapping.get( uniformsGroup ); + + if ( uboBindings.get( program ) !== blockIndex ) { + + // bind shader specific block index to global block point + gl.uniformBlockBinding( program, blockIndex, uniformsGroup.__bindingPointIndex ); + + uboBindings.set( program, blockIndex ); + + } + + } + + // + + function reset() { + + // reset state + + gl.disable( gl.BLEND ); + gl.disable( gl.CULL_FACE ); + gl.disable( gl.DEPTH_TEST ); + gl.disable( gl.POLYGON_OFFSET_FILL ); + gl.disable( gl.SCISSOR_TEST ); + gl.disable( gl.STENCIL_TEST ); + gl.disable( gl.SAMPLE_ALPHA_TO_COVERAGE ); + + gl.blendEquation( gl.FUNC_ADD ); + gl.blendFunc( gl.ONE, gl.ZERO ); + gl.blendFuncSeparate( gl.ONE, gl.ZERO, gl.ONE, gl.ZERO ); + gl.blendColor( 0, 0, 0, 0 ); + + gl.colorMask( true, true, true, true ); + gl.clearColor( 0, 0, 0, 0 ); + + gl.depthMask( true ); + gl.depthFunc( gl.LESS ); + + depthBuffer.setReversed( false ); + + gl.clearDepth( 1 ); + + gl.stencilMask( 0xffffffff ); + gl.stencilFunc( gl.ALWAYS, 0, 0xffffffff ); + gl.stencilOp( gl.KEEP, gl.KEEP, gl.KEEP ); + gl.clearStencil( 0 ); + + gl.cullFace( gl.BACK ); + gl.frontFace( gl.CCW ); + + gl.polygonOffset( 0, 0 ); + + gl.activeTexture( gl.TEXTURE0 ); + + gl.bindFramebuffer( gl.FRAMEBUFFER, null ); + gl.bindFramebuffer( gl.DRAW_FRAMEBUFFER, null ); + gl.bindFramebuffer( gl.READ_FRAMEBUFFER, null ); + + gl.useProgram( null ); + + gl.lineWidth( 1 ); + + gl.scissor( 0, 0, gl.canvas.width, gl.canvas.height ); + gl.viewport( 0, 0, gl.canvas.width, gl.canvas.height ); + + // reset internals + + enabledCapabilities = {}; + + currentTextureSlot = null; + currentBoundTextures = {}; + + currentBoundFramebuffers = {}; + currentDrawbuffers = new WeakMap(); + defaultDrawbuffers = []; + + currentProgram = null; + + currentBlendingEnabled = false; + currentBlending = null; + currentBlendEquation = null; + currentBlendSrc = null; + currentBlendDst = null; + currentBlendEquationAlpha = null; + currentBlendSrcAlpha = null; + currentBlendDstAlpha = null; + currentBlendColor = new Color( 0, 0, 0 ); + currentBlendAlpha = 0; + currentPremultipledAlpha = false; + + currentFlipSided = null; + currentCullFace = null; + + currentLineWidth = null; + + currentPolygonOffsetFactor = null; + currentPolygonOffsetUnits = null; + + currentScissor.set( 0, 0, gl.canvas.width, gl.canvas.height ); + currentViewport.set( 0, 0, gl.canvas.width, gl.canvas.height ); + + colorBuffer.reset(); + depthBuffer.reset(); + stencilBuffer.reset(); + + } + + return { + + buffers: { + color: colorBuffer, + depth: depthBuffer, + stencil: stencilBuffer + }, + + enable: enable, + disable: disable, + + bindFramebuffer: bindFramebuffer, + drawBuffers: drawBuffers, + + useProgram: useProgram, + + setBlending: setBlending, + setMaterial: setMaterial, + + setFlipSided: setFlipSided, + setCullFace: setCullFace, + + setLineWidth: setLineWidth, + setPolygonOffset: setPolygonOffset, + + setScissorTest: setScissorTest, + + activeTexture: activeTexture, + bindTexture: bindTexture, + unbindTexture: unbindTexture, + compressedTexImage2D: compressedTexImage2D, + compressedTexImage3D: compressedTexImage3D, + texImage2D: texImage2D, + texImage3D: texImage3D, + + updateUBOMapping: updateUBOMapping, + uniformBlockBinding: uniformBlockBinding, + + texStorage2D: texStorage2D, + texStorage3D: texStorage3D, + texSubImage2D: texSubImage2D, + texSubImage3D: texSubImage3D, + compressedTexSubImage2D: compressedTexSubImage2D, + compressedTexSubImage3D: compressedTexSubImage3D, + + scissor: scissor, + viewport: viewport, + + reset: reset + + }; + +} + +function WebGLTextures( _gl, extensions, state, properties, capabilities, utils, info ) { + + const multisampledRTTExt = extensions.has( 'WEBGL_multisampled_render_to_texture' ) ? extensions.get( 'WEBGL_multisampled_render_to_texture' ) : null; + const supportsInvalidateFramebuffer = typeof navigator === 'undefined' ? false : /OculusBrowser/g.test( navigator.userAgent ); + + const _imageDimensions = new Vector2(); + const _videoTextures = new WeakMap(); + let _canvas; + + const _sources = new WeakMap(); // maps WebglTexture objects to instances of Source + + // cordova iOS (as of 5.0) still uses UIWebView, which provides OffscreenCanvas, + // also OffscreenCanvas.getContext("webgl"), but not OffscreenCanvas.getContext("2d")! + // Some implementations may only implement OffscreenCanvas partially (e.g. lacking 2d). + + let useOffscreenCanvas = false; + + try { + + useOffscreenCanvas = typeof OffscreenCanvas !== 'undefined' + && ( new OffscreenCanvas( 1, 1 ).getContext( '2d' ) ) !== null; + + + } catch ( err ) { + + // Ignore any errors + + } + + function createCanvas( width, height ) { + + // Use OffscreenCanvas when available. Specially needed in web workers + + return useOffscreenCanvas ? + new OffscreenCanvas( width, height ) : createElementNS( 'canvas' ); + + } + + function resizeImage( image, needsNewCanvas, maxSize ) { + + let scale = 1; + + const dimensions = getDimensions( image ); + + // handle case if texture exceeds max size + + if ( dimensions.width > maxSize || dimensions.height > maxSize ) { + + scale = maxSize / Math.max( dimensions.width, dimensions.height ); + + } + + // only perform resize if necessary + + if ( scale < 1 ) { + + // only perform resize for certain image types + + if ( ( typeof HTMLImageElement !== 'undefined' && image instanceof HTMLImageElement ) || + ( typeof HTMLCanvasElement !== 'undefined' && image instanceof HTMLCanvasElement ) || + ( typeof ImageBitmap !== 'undefined' && image instanceof ImageBitmap ) || + ( typeof VideoFrame !== 'undefined' && image instanceof VideoFrame ) ) { + + const width = Math.floor( scale * dimensions.width ); + const height = Math.floor( scale * dimensions.height ); + + if ( _canvas === undefined ) _canvas = createCanvas( width, height ); + + // cube textures can't reuse the same canvas + + const canvas = needsNewCanvas ? createCanvas( width, height ) : _canvas; + + canvas.width = width; + canvas.height = height; + + const context = canvas.getContext( '2d' ); + context.drawImage( image, 0, 0, width, height ); + + warn( 'WebGLRenderer: Texture has been resized from (' + dimensions.width + 'x' + dimensions.height + ') to (' + width + 'x' + height + ').' ); + + return canvas; + + } else { + + if ( 'data' in image ) { + + warn( 'WebGLRenderer: Image in DataTexture is too big (' + dimensions.width + 'x' + dimensions.height + ').' ); + + } + + return image; + + } + + } + + return image; + + } + + function textureNeedsGenerateMipmaps( texture ) { + + return texture.generateMipmaps; + + } + + function generateMipmap( target ) { + + _gl.generateMipmap( target ); + + } + + function getTargetType( texture ) { + + if ( texture.isWebGLCubeRenderTarget ) return _gl.TEXTURE_CUBE_MAP; + if ( texture.isWebGL3DRenderTarget ) return _gl.TEXTURE_3D; + if ( texture.isWebGLArrayRenderTarget || texture.isCompressedArrayTexture ) return _gl.TEXTURE_2D_ARRAY; + return _gl.TEXTURE_2D; + + } + + function getInternalFormat( internalFormatName, glFormat, glType, colorSpace, forceLinearTransfer = false ) { + + if ( internalFormatName !== null ) { + + if ( _gl[ internalFormatName ] !== undefined ) return _gl[ internalFormatName ]; + + warn( 'WebGLRenderer: Attempt to use non-existing WebGL internal format \'' + internalFormatName + '\'' ); + + } + + let internalFormat = glFormat; + + if ( glFormat === _gl.RED ) { + + if ( glType === _gl.FLOAT ) internalFormat = _gl.R32F; + if ( glType === _gl.HALF_FLOAT ) internalFormat = _gl.R16F; + if ( glType === _gl.UNSIGNED_BYTE ) internalFormat = _gl.R8; + + } + + if ( glFormat === _gl.RED_INTEGER ) { + + if ( glType === _gl.UNSIGNED_BYTE ) internalFormat = _gl.R8UI; + if ( glType === _gl.UNSIGNED_SHORT ) internalFormat = _gl.R16UI; + if ( glType === _gl.UNSIGNED_INT ) internalFormat = _gl.R32UI; + if ( glType === _gl.BYTE ) internalFormat = _gl.R8I; + if ( glType === _gl.SHORT ) internalFormat = _gl.R16I; + if ( glType === _gl.INT ) internalFormat = _gl.R32I; + + } + + if ( glFormat === _gl.RG ) { + + if ( glType === _gl.FLOAT ) internalFormat = _gl.RG32F; + if ( glType === _gl.HALF_FLOAT ) internalFormat = _gl.RG16F; + if ( glType === _gl.UNSIGNED_BYTE ) internalFormat = _gl.RG8; + + } + + if ( glFormat === _gl.RG_INTEGER ) { + + if ( glType === _gl.UNSIGNED_BYTE ) internalFormat = _gl.RG8UI; + if ( glType === _gl.UNSIGNED_SHORT ) internalFormat = _gl.RG16UI; + if ( glType === _gl.UNSIGNED_INT ) internalFormat = _gl.RG32UI; + if ( glType === _gl.BYTE ) internalFormat = _gl.RG8I; + if ( glType === _gl.SHORT ) internalFormat = _gl.RG16I; + if ( glType === _gl.INT ) internalFormat = _gl.RG32I; + + } + + if ( glFormat === _gl.RGB_INTEGER ) { + + if ( glType === _gl.UNSIGNED_BYTE ) internalFormat = _gl.RGB8UI; + if ( glType === _gl.UNSIGNED_SHORT ) internalFormat = _gl.RGB16UI; + if ( glType === _gl.UNSIGNED_INT ) internalFormat = _gl.RGB32UI; + if ( glType === _gl.BYTE ) internalFormat = _gl.RGB8I; + if ( glType === _gl.SHORT ) internalFormat = _gl.RGB16I; + if ( glType === _gl.INT ) internalFormat = _gl.RGB32I; + + } + + if ( glFormat === _gl.RGBA_INTEGER ) { + + if ( glType === _gl.UNSIGNED_BYTE ) internalFormat = _gl.RGBA8UI; + if ( glType === _gl.UNSIGNED_SHORT ) internalFormat = _gl.RGBA16UI; + if ( glType === _gl.UNSIGNED_INT ) internalFormat = _gl.RGBA32UI; + if ( glType === _gl.BYTE ) internalFormat = _gl.RGBA8I; + if ( glType === _gl.SHORT ) internalFormat = _gl.RGBA16I; + if ( glType === _gl.INT ) internalFormat = _gl.RGBA32I; + + } + + if ( glFormat === _gl.RGB ) { + + if ( glType === _gl.UNSIGNED_INT_5_9_9_9_REV ) internalFormat = _gl.RGB9_E5; + if ( glType === _gl.UNSIGNED_INT_10F_11F_11F_REV ) internalFormat = _gl.R11F_G11F_B10F; + + } + + if ( glFormat === _gl.RGBA ) { + + const transfer = forceLinearTransfer ? LinearTransfer : ColorManagement.getTransfer( colorSpace ); + + if ( glType === _gl.FLOAT ) internalFormat = _gl.RGBA32F; + if ( glType === _gl.HALF_FLOAT ) internalFormat = _gl.RGBA16F; + if ( glType === _gl.UNSIGNED_BYTE ) internalFormat = ( transfer === SRGBTransfer ) ? _gl.SRGB8_ALPHA8 : _gl.RGBA8; + if ( glType === _gl.UNSIGNED_SHORT_4_4_4_4 ) internalFormat = _gl.RGBA4; + if ( glType === _gl.UNSIGNED_SHORT_5_5_5_1 ) internalFormat = _gl.RGB5_A1; + + } + + if ( internalFormat === _gl.R16F || internalFormat === _gl.R32F || + internalFormat === _gl.RG16F || internalFormat === _gl.RG32F || + internalFormat === _gl.RGBA16F || internalFormat === _gl.RGBA32F ) { + + extensions.get( 'EXT_color_buffer_float' ); + + } + + return internalFormat; + + } + + function getInternalDepthFormat( useStencil, depthType ) { + + let glInternalFormat; + if ( useStencil ) { + + if ( depthType === null || depthType === UnsignedIntType || depthType === UnsignedInt248Type ) { + + glInternalFormat = _gl.DEPTH24_STENCIL8; + + } else if ( depthType === FloatType ) { + + glInternalFormat = _gl.DEPTH32F_STENCIL8; + + } else if ( depthType === UnsignedShortType ) { + + glInternalFormat = _gl.DEPTH24_STENCIL8; + warn( 'DepthTexture: 16 bit depth attachment is not supported with stencil. Using 24-bit attachment.' ); + + } + + } else { + + if ( depthType === null || depthType === UnsignedIntType || depthType === UnsignedInt248Type ) { + + glInternalFormat = _gl.DEPTH_COMPONENT24; + + } else if ( depthType === FloatType ) { + + glInternalFormat = _gl.DEPTH_COMPONENT32F; + + } else if ( depthType === UnsignedShortType ) { + + glInternalFormat = _gl.DEPTH_COMPONENT16; + + } + + } + + return glInternalFormat; + + } + + function getMipLevels( texture, image ) { + + if ( textureNeedsGenerateMipmaps( texture ) === true || ( texture.isFramebufferTexture && texture.minFilter !== NearestFilter && texture.minFilter !== LinearFilter ) ) { + + return Math.log2( Math.max( image.width, image.height ) ) + 1; + + } else if ( texture.mipmaps !== undefined && texture.mipmaps.length > 0 ) { + + // user-defined mipmaps + + return texture.mipmaps.length; + + } else if ( texture.isCompressedTexture && Array.isArray( texture.image ) ) { + + return image.mipmaps.length; + + } else { + + // texture without mipmaps (only base level) + + return 1; + + } + + } + + // + + function onTextureDispose( event ) { + + const texture = event.target; + + texture.removeEventListener( 'dispose', onTextureDispose ); + + deallocateTexture( texture ); + + if ( texture.isVideoTexture ) { + + _videoTextures.delete( texture ); + + } + + } + + function onRenderTargetDispose( event ) { + + const renderTarget = event.target; + + renderTarget.removeEventListener( 'dispose', onRenderTargetDispose ); + + deallocateRenderTarget( renderTarget ); + + } + + // + + function deallocateTexture( texture ) { + + const textureProperties = properties.get( texture ); + + if ( textureProperties.__webglInit === undefined ) return; + + // check if it's necessary to remove the WebGLTexture object + + const source = texture.source; + const webglTextures = _sources.get( source ); + + if ( webglTextures ) { + + const webglTexture = webglTextures[ textureProperties.__cacheKey ]; + webglTexture.usedTimes --; + + // the WebGLTexture object is not used anymore, remove it + + if ( webglTexture.usedTimes === 0 ) { + + deleteTexture( texture ); + + } + + // remove the weak map entry if no WebGLTexture uses the source anymore + + if ( Object.keys( webglTextures ).length === 0 ) { + + _sources.delete( source ); + + } + + } + + properties.remove( texture ); + + } + + function deleteTexture( texture ) { + + const textureProperties = properties.get( texture ); + _gl.deleteTexture( textureProperties.__webglTexture ); + + const source = texture.source; + const webglTextures = _sources.get( source ); + delete webglTextures[ textureProperties.__cacheKey ]; + + info.memory.textures --; + + } + + function deallocateRenderTarget( renderTarget ) { + + const renderTargetProperties = properties.get( renderTarget ); + + if ( renderTarget.depthTexture ) { + + renderTarget.depthTexture.dispose(); + + properties.remove( renderTarget.depthTexture ); + + } + + if ( renderTarget.isWebGLCubeRenderTarget ) { + + for ( let i = 0; i < 6; i ++ ) { + + if ( Array.isArray( renderTargetProperties.__webglFramebuffer[ i ] ) ) { + + for ( let level = 0; level < renderTargetProperties.__webglFramebuffer[ i ].length; level ++ ) _gl.deleteFramebuffer( renderTargetProperties.__webglFramebuffer[ i ][ level ] ); + + } else { + + _gl.deleteFramebuffer( renderTargetProperties.__webglFramebuffer[ i ] ); + + } + + if ( renderTargetProperties.__webglDepthbuffer ) _gl.deleteRenderbuffer( renderTargetProperties.__webglDepthbuffer[ i ] ); + + } + + } else { + + if ( Array.isArray( renderTargetProperties.__webglFramebuffer ) ) { + + for ( let level = 0; level < renderTargetProperties.__webglFramebuffer.length; level ++ ) _gl.deleteFramebuffer( renderTargetProperties.__webglFramebuffer[ level ] ); + + } else { + + _gl.deleteFramebuffer( renderTargetProperties.__webglFramebuffer ); + + } + + if ( renderTargetProperties.__webglDepthbuffer ) _gl.deleteRenderbuffer( renderTargetProperties.__webglDepthbuffer ); + if ( renderTargetProperties.__webglMultisampledFramebuffer ) _gl.deleteFramebuffer( renderTargetProperties.__webglMultisampledFramebuffer ); + + if ( renderTargetProperties.__webglColorRenderbuffer ) { + + for ( let i = 0; i < renderTargetProperties.__webglColorRenderbuffer.length; i ++ ) { + + if ( renderTargetProperties.__webglColorRenderbuffer[ i ] ) _gl.deleteRenderbuffer( renderTargetProperties.__webglColorRenderbuffer[ i ] ); + + } + + } + + if ( renderTargetProperties.__webglDepthRenderbuffer ) _gl.deleteRenderbuffer( renderTargetProperties.__webglDepthRenderbuffer ); + + } + + const textures = renderTarget.textures; + + for ( let i = 0, il = textures.length; i < il; i ++ ) { + + const attachmentProperties = properties.get( textures[ i ] ); + + if ( attachmentProperties.__webglTexture ) { + + _gl.deleteTexture( attachmentProperties.__webglTexture ); + + info.memory.textures --; + + } + + properties.remove( textures[ i ] ); + + } + + properties.remove( renderTarget ); + + } + + // + + let textureUnits = 0; + + function resetTextureUnits() { + + textureUnits = 0; + + } + + function allocateTextureUnit() { + + const textureUnit = textureUnits; + + if ( textureUnit >= capabilities.maxTextures ) { + + warn( 'WebGLTextures: Trying to use ' + textureUnit + ' texture units while this GPU supports only ' + capabilities.maxTextures ); + + } + + textureUnits += 1; + + return textureUnit; + + } + + function getTextureCacheKey( texture ) { + + const array = []; + + array.push( texture.wrapS ); + array.push( texture.wrapT ); + array.push( texture.wrapR || 0 ); + array.push( texture.magFilter ); + array.push( texture.minFilter ); + array.push( texture.anisotropy ); + array.push( texture.internalFormat ); + array.push( texture.format ); + array.push( texture.type ); + array.push( texture.generateMipmaps ); + array.push( texture.premultiplyAlpha ); + array.push( texture.flipY ); + array.push( texture.unpackAlignment ); + array.push( texture.colorSpace ); + + return array.join(); + + } + + // + + function setTexture2D( texture, slot ) { + + const textureProperties = properties.get( texture ); + + if ( texture.isVideoTexture ) updateVideoTexture( texture ); + + if ( texture.isRenderTargetTexture === false && texture.isExternalTexture !== true && texture.version > 0 && textureProperties.__version !== texture.version ) { + + const image = texture.image; + + if ( image === null ) { + + warn( 'WebGLRenderer: Texture marked for update but no image data found.' ); + + } else if ( image.complete === false ) { + + warn( 'WebGLRenderer: Texture marked for update but image is incomplete' ); + + } else { + + uploadTexture( textureProperties, texture, slot ); + return; + + } + + } else if ( texture.isExternalTexture ) { + + textureProperties.__webglTexture = texture.sourceTexture ? texture.sourceTexture : null; + + } + + state.bindTexture( _gl.TEXTURE_2D, textureProperties.__webglTexture, _gl.TEXTURE0 + slot ); + + } + + function setTexture2DArray( texture, slot ) { + + const textureProperties = properties.get( texture ); + + if ( texture.isRenderTargetTexture === false && texture.version > 0 && textureProperties.__version !== texture.version ) { + + uploadTexture( textureProperties, texture, slot ); + return; + + } else if ( texture.isExternalTexture ) { + + textureProperties.__webglTexture = texture.sourceTexture ? texture.sourceTexture : null; + + } + + state.bindTexture( _gl.TEXTURE_2D_ARRAY, textureProperties.__webglTexture, _gl.TEXTURE0 + slot ); + + } + + function setTexture3D( texture, slot ) { + + const textureProperties = properties.get( texture ); + + if ( texture.isRenderTargetTexture === false && texture.version > 0 && textureProperties.__version !== texture.version ) { + + uploadTexture( textureProperties, texture, slot ); + return; + + } + + state.bindTexture( _gl.TEXTURE_3D, textureProperties.__webglTexture, _gl.TEXTURE0 + slot ); + + } + + function setTextureCube( texture, slot ) { + + const textureProperties = properties.get( texture ); + + if ( texture.isCubeDepthTexture !== true && texture.version > 0 && textureProperties.__version !== texture.version ) { + + uploadCubeTexture( textureProperties, texture, slot ); + return; + + } + + state.bindTexture( _gl.TEXTURE_CUBE_MAP, textureProperties.__webglTexture, _gl.TEXTURE0 + slot ); + + } + + const wrappingToGL = { + [ RepeatWrapping ]: _gl.REPEAT, + [ ClampToEdgeWrapping ]: _gl.CLAMP_TO_EDGE, + [ MirroredRepeatWrapping ]: _gl.MIRRORED_REPEAT + }; + + const filterToGL = { + [ NearestFilter ]: _gl.NEAREST, + [ NearestMipmapNearestFilter ]: _gl.NEAREST_MIPMAP_NEAREST, + [ NearestMipmapLinearFilter ]: _gl.NEAREST_MIPMAP_LINEAR, + + [ LinearFilter ]: _gl.LINEAR, + [ LinearMipmapNearestFilter ]: _gl.LINEAR_MIPMAP_NEAREST, + [ LinearMipmapLinearFilter ]: _gl.LINEAR_MIPMAP_LINEAR + }; + + const compareToGL = { + [ NeverCompare ]: _gl.NEVER, + [ AlwaysCompare ]: _gl.ALWAYS, + [ LessCompare ]: _gl.LESS, + [ LessEqualCompare ]: _gl.LEQUAL, + [ EqualCompare ]: _gl.EQUAL, + [ GreaterEqualCompare ]: _gl.GEQUAL, + [ GreaterCompare ]: _gl.GREATER, + [ NotEqualCompare ]: _gl.NOTEQUAL + }; + + function setTextureParameters( textureType, texture ) { + + if ( texture.type === FloatType && extensions.has( 'OES_texture_float_linear' ) === false && + ( texture.magFilter === LinearFilter || texture.magFilter === LinearMipmapNearestFilter || texture.magFilter === NearestMipmapLinearFilter || texture.magFilter === LinearMipmapLinearFilter || + texture.minFilter === LinearFilter || texture.minFilter === LinearMipmapNearestFilter || texture.minFilter === NearestMipmapLinearFilter || texture.minFilter === LinearMipmapLinearFilter ) ) { + + warn( 'WebGLRenderer: Unable to use linear filtering with floating point textures. OES_texture_float_linear not supported on this device.' ); + + } + + _gl.texParameteri( textureType, _gl.TEXTURE_WRAP_S, wrappingToGL[ texture.wrapS ] ); + _gl.texParameteri( textureType, _gl.TEXTURE_WRAP_T, wrappingToGL[ texture.wrapT ] ); + + if ( textureType === _gl.TEXTURE_3D || textureType === _gl.TEXTURE_2D_ARRAY ) { + + _gl.texParameteri( textureType, _gl.TEXTURE_WRAP_R, wrappingToGL[ texture.wrapR ] ); + + } + + _gl.texParameteri( textureType, _gl.TEXTURE_MAG_FILTER, filterToGL[ texture.magFilter ] ); + _gl.texParameteri( textureType, _gl.TEXTURE_MIN_FILTER, filterToGL[ texture.minFilter ] ); + + if ( texture.compareFunction ) { + + _gl.texParameteri( textureType, _gl.TEXTURE_COMPARE_MODE, _gl.COMPARE_REF_TO_TEXTURE ); + _gl.texParameteri( textureType, _gl.TEXTURE_COMPARE_FUNC, compareToGL[ texture.compareFunction ] ); + + } + + if ( extensions.has( 'EXT_texture_filter_anisotropic' ) === true ) { + + if ( texture.magFilter === NearestFilter ) return; + if ( texture.minFilter !== NearestMipmapLinearFilter && texture.minFilter !== LinearMipmapLinearFilter ) return; + if ( texture.type === FloatType && extensions.has( 'OES_texture_float_linear' ) === false ) return; // verify extension + + if ( texture.anisotropy > 1 || properties.get( texture ).__currentAnisotropy ) { + + const extension = extensions.get( 'EXT_texture_filter_anisotropic' ); + _gl.texParameterf( textureType, extension.TEXTURE_MAX_ANISOTROPY_EXT, Math.min( texture.anisotropy, capabilities.getMaxAnisotropy() ) ); + properties.get( texture ).__currentAnisotropy = texture.anisotropy; + + } + + } + + } + + function initTexture( textureProperties, texture ) { + + let forceUpload = false; + + if ( textureProperties.__webglInit === undefined ) { + + textureProperties.__webglInit = true; + + texture.addEventListener( 'dispose', onTextureDispose ); + + } + + // create Source <-> WebGLTextures mapping if necessary + + const source = texture.source; + let webglTextures = _sources.get( source ); + + if ( webglTextures === undefined ) { + + webglTextures = {}; + _sources.set( source, webglTextures ); + + } + + // check if there is already a WebGLTexture object for the given texture parameters + + const textureCacheKey = getTextureCacheKey( texture ); + + if ( textureCacheKey !== textureProperties.__cacheKey ) { + + // if not, create a new instance of WebGLTexture + + if ( webglTextures[ textureCacheKey ] === undefined ) { + + // create new entry + + webglTextures[ textureCacheKey ] = { + texture: _gl.createTexture(), + usedTimes: 0 + }; + + info.memory.textures ++; + + // when a new instance of WebGLTexture was created, a texture upload is required + // even if the image contents are identical + + forceUpload = true; + + } + + webglTextures[ textureCacheKey ].usedTimes ++; + + // every time the texture cache key changes, it's necessary to check if an instance of + // WebGLTexture can be deleted in order to avoid a memory leak. + + const webglTexture = webglTextures[ textureProperties.__cacheKey ]; + + if ( webglTexture !== undefined ) { + + webglTextures[ textureProperties.__cacheKey ].usedTimes --; + + if ( webglTexture.usedTimes === 0 ) { + + deleteTexture( texture ); + + } + + } + + // store references to cache key and WebGLTexture object + + textureProperties.__cacheKey = textureCacheKey; + textureProperties.__webglTexture = webglTextures[ textureCacheKey ].texture; + + } + + return forceUpload; + + } + + function getRow( index, rowLength, componentStride ) { + + return Math.floor( Math.floor( index / componentStride ) / rowLength ); + + } + + function updateTexture( texture, image, glFormat, glType ) { + + const componentStride = 4; // only RGBA supported + + const updateRanges = texture.updateRanges; + + if ( updateRanges.length === 0 ) { + + state.texSubImage2D( _gl.TEXTURE_2D, 0, 0, 0, image.width, image.height, glFormat, glType, image.data ); + + } else { + + // Before applying update ranges, we merge any adjacent / overlapping + // ranges to reduce load on `gl.texSubImage2D`. Empirically, this has led + // to performance improvements for applications which make heavy use of + // update ranges. Likely due to GPU command overhead. + // + // Note that to reduce garbage collection between frames, we merge the + // update ranges in-place. This is safe because this method will clear the + // update ranges once updated. + + updateRanges.sort( ( a, b ) => a.start - b.start ); + + // To merge the update ranges in-place, we work from left to right in the + // existing updateRanges array, merging ranges. This may result in a final + // array which is smaller than the original. This index tracks the last + // index representing a merged range, any data after this index can be + // trimmed once the merge algorithm is completed. + let mergeIndex = 0; + + for ( let i = 1; i < updateRanges.length; i ++ ) { + + const previousRange = updateRanges[ mergeIndex ]; + const range = updateRanges[ i ]; + + // Only merge if in the same row and overlapping/adjacent + const previousEnd = previousRange.start + previousRange.count; + const currentRow = getRow( range.start, image.width, componentStride ); + const previousRow = getRow( previousRange.start, image.width, componentStride ); + + // We add one here to merge adjacent ranges. This is safe because ranges + // operate over positive integers. + if ( + range.start <= previousEnd + 1 && + currentRow === previousRow && + getRow( range.start + range.count - 1, image.width, componentStride ) === currentRow // ensure range doesn't spill + ) { + + previousRange.count = Math.max( + previousRange.count, + range.start + range.count - previousRange.start + ); + + } else { + + ++ mergeIndex; + updateRanges[ mergeIndex ] = range; + + } + + + } + + // Trim the array to only contain the merged ranges. + updateRanges.length = mergeIndex + 1; + + const currentUnpackRowLen = _gl.getParameter( _gl.UNPACK_ROW_LENGTH ); + const currentUnpackSkipPixels = _gl.getParameter( _gl.UNPACK_SKIP_PIXELS ); + const currentUnpackSkipRows = _gl.getParameter( _gl.UNPACK_SKIP_ROWS ); + + _gl.pixelStorei( _gl.UNPACK_ROW_LENGTH, image.width ); + + for ( let i = 0, l = updateRanges.length; i < l; i ++ ) { + + const range = updateRanges[ i ]; + + const pixelStart = Math.floor( range.start / componentStride ); + const pixelCount = Math.ceil( range.count / componentStride ); + + const x = pixelStart % image.width; + const y = Math.floor( pixelStart / image.width ); + + // Assumes update ranges refer to contiguous memory + const width = pixelCount; + const height = 1; + + _gl.pixelStorei( _gl.UNPACK_SKIP_PIXELS, x ); + _gl.pixelStorei( _gl.UNPACK_SKIP_ROWS, y ); + + state.texSubImage2D( _gl.TEXTURE_2D, 0, x, y, width, height, glFormat, glType, image.data ); + + } + + texture.clearUpdateRanges(); + + _gl.pixelStorei( _gl.UNPACK_ROW_LENGTH, currentUnpackRowLen ); + _gl.pixelStorei( _gl.UNPACK_SKIP_PIXELS, currentUnpackSkipPixels ); + _gl.pixelStorei( _gl.UNPACK_SKIP_ROWS, currentUnpackSkipRows ); + + } + + } + + function uploadTexture( textureProperties, texture, slot ) { + + let textureType = _gl.TEXTURE_2D; + + if ( texture.isDataArrayTexture || texture.isCompressedArrayTexture ) textureType = _gl.TEXTURE_2D_ARRAY; + if ( texture.isData3DTexture ) textureType = _gl.TEXTURE_3D; + + const forceUpload = initTexture( textureProperties, texture ); + const source = texture.source; + + state.bindTexture( textureType, textureProperties.__webglTexture, _gl.TEXTURE0 + slot ); + + const sourceProperties = properties.get( source ); + + if ( source.version !== sourceProperties.__version || forceUpload === true ) { + + state.activeTexture( _gl.TEXTURE0 + slot ); + + const workingPrimaries = ColorManagement.getPrimaries( ColorManagement.workingColorSpace ); + const texturePrimaries = texture.colorSpace === NoColorSpace ? null : ColorManagement.getPrimaries( texture.colorSpace ); + const unpackConversion = texture.colorSpace === NoColorSpace || workingPrimaries === texturePrimaries ? _gl.NONE : _gl.BROWSER_DEFAULT_WEBGL; + + _gl.pixelStorei( _gl.UNPACK_FLIP_Y_WEBGL, texture.flipY ); + _gl.pixelStorei( _gl.UNPACK_PREMULTIPLY_ALPHA_WEBGL, texture.premultiplyAlpha ); + _gl.pixelStorei( _gl.UNPACK_ALIGNMENT, texture.unpackAlignment ); + _gl.pixelStorei( _gl.UNPACK_COLORSPACE_CONVERSION_WEBGL, unpackConversion ); + + let image = resizeImage( texture.image, false, capabilities.maxTextureSize ); + image = verifyColorSpace( texture, image ); + + const glFormat = utils.convert( texture.format, texture.colorSpace ); + + const glType = utils.convert( texture.type ); + let glInternalFormat = getInternalFormat( texture.internalFormat, glFormat, glType, texture.colorSpace, texture.isVideoTexture ); + + setTextureParameters( textureType, texture ); + + let mipmap; + const mipmaps = texture.mipmaps; + + const useTexStorage = ( texture.isVideoTexture !== true ); + const allocateMemory = ( sourceProperties.__version === undefined ) || ( forceUpload === true ); + const dataReady = source.dataReady; + const levels = getMipLevels( texture, image ); + + if ( texture.isDepthTexture ) { + + glInternalFormat = getInternalDepthFormat( texture.format === DepthStencilFormat, texture.type ); + + // + + if ( allocateMemory ) { + + if ( useTexStorage ) { + + state.texStorage2D( _gl.TEXTURE_2D, 1, glInternalFormat, image.width, image.height ); + + } else { + + state.texImage2D( _gl.TEXTURE_2D, 0, glInternalFormat, image.width, image.height, 0, glFormat, glType, null ); + + } + + } + + } else if ( texture.isDataTexture ) { + + // use manually created mipmaps if available + // if there are no manual mipmaps + // set 0 level mipmap and then use GL to generate other mipmap levels + + if ( mipmaps.length > 0 ) { + + if ( useTexStorage && allocateMemory ) { + + state.texStorage2D( _gl.TEXTURE_2D, levels, glInternalFormat, mipmaps[ 0 ].width, mipmaps[ 0 ].height ); + + } + + for ( let i = 0, il = mipmaps.length; i < il; i ++ ) { + + mipmap = mipmaps[ i ]; + + if ( useTexStorage ) { + + if ( dataReady ) { + + state.texSubImage2D( _gl.TEXTURE_2D, i, 0, 0, mipmap.width, mipmap.height, glFormat, glType, mipmap.data ); + + } + + } else { + + state.texImage2D( _gl.TEXTURE_2D, i, glInternalFormat, mipmap.width, mipmap.height, 0, glFormat, glType, mipmap.data ); + + } + + } + + texture.generateMipmaps = false; + + } else { + + if ( useTexStorage ) { + + if ( allocateMemory ) { + + state.texStorage2D( _gl.TEXTURE_2D, levels, glInternalFormat, image.width, image.height ); + + } + + if ( dataReady ) { + + updateTexture( texture, image, glFormat, glType ); + + } + + } else { + + state.texImage2D( _gl.TEXTURE_2D, 0, glInternalFormat, image.width, image.height, 0, glFormat, glType, image.data ); + + } + + } + + } else if ( texture.isCompressedTexture ) { + + if ( texture.isCompressedArrayTexture ) { + + if ( useTexStorage && allocateMemory ) { + + state.texStorage3D( _gl.TEXTURE_2D_ARRAY, levels, glInternalFormat, mipmaps[ 0 ].width, mipmaps[ 0 ].height, image.depth ); + + } + + for ( let i = 0, il = mipmaps.length; i < il; i ++ ) { + + mipmap = mipmaps[ i ]; + + if ( texture.format !== RGBAFormat ) { + + if ( glFormat !== null ) { + + if ( useTexStorage ) { + + if ( dataReady ) { + + if ( texture.layerUpdates.size > 0 ) { + + const layerByteLength = getByteLength( mipmap.width, mipmap.height, texture.format, texture.type ); + + for ( const layerIndex of texture.layerUpdates ) { + + const layerData = mipmap.data.subarray( + layerIndex * layerByteLength / mipmap.data.BYTES_PER_ELEMENT, + ( layerIndex + 1 ) * layerByteLength / mipmap.data.BYTES_PER_ELEMENT + ); + state.compressedTexSubImage3D( _gl.TEXTURE_2D_ARRAY, i, 0, 0, layerIndex, mipmap.width, mipmap.height, 1, glFormat, layerData ); + + } + + texture.clearLayerUpdates(); + + } else { + + state.compressedTexSubImage3D( _gl.TEXTURE_2D_ARRAY, i, 0, 0, 0, mipmap.width, mipmap.height, image.depth, glFormat, mipmap.data ); + + } + + } + + } else { + + state.compressedTexImage3D( _gl.TEXTURE_2D_ARRAY, i, glInternalFormat, mipmap.width, mipmap.height, image.depth, 0, mipmap.data, 0, 0 ); + + } + + } else { + + warn( 'WebGLRenderer: Attempt to load unsupported compressed texture format in .uploadTexture()' ); + + } + + } else { + + if ( useTexStorage ) { + + if ( dataReady ) { + + state.texSubImage3D( _gl.TEXTURE_2D_ARRAY, i, 0, 0, 0, mipmap.width, mipmap.height, image.depth, glFormat, glType, mipmap.data ); + + } + + } else { + + state.texImage3D( _gl.TEXTURE_2D_ARRAY, i, glInternalFormat, mipmap.width, mipmap.height, image.depth, 0, glFormat, glType, mipmap.data ); + + } + + } + + } + + } else { + + if ( useTexStorage && allocateMemory ) { + + state.texStorage2D( _gl.TEXTURE_2D, levels, glInternalFormat, mipmaps[ 0 ].width, mipmaps[ 0 ].height ); + + } + + for ( let i = 0, il = mipmaps.length; i < il; i ++ ) { + + mipmap = mipmaps[ i ]; + + if ( texture.format !== RGBAFormat ) { + + if ( glFormat !== null ) { + + if ( useTexStorage ) { + + if ( dataReady ) { + + state.compressedTexSubImage2D( _gl.TEXTURE_2D, i, 0, 0, mipmap.width, mipmap.height, glFormat, mipmap.data ); + + } + + } else { + + state.compressedTexImage2D( _gl.TEXTURE_2D, i, glInternalFormat, mipmap.width, mipmap.height, 0, mipmap.data ); + + } + + } else { + + warn( 'WebGLRenderer: Attempt to load unsupported compressed texture format in .uploadTexture()' ); + + } + + } else { + + if ( useTexStorage ) { + + if ( dataReady ) { + + state.texSubImage2D( _gl.TEXTURE_2D, i, 0, 0, mipmap.width, mipmap.height, glFormat, glType, mipmap.data ); + + } + + } else { + + state.texImage2D( _gl.TEXTURE_2D, i, glInternalFormat, mipmap.width, mipmap.height, 0, glFormat, glType, mipmap.data ); + + } + + } + + } + + } + + } else if ( texture.isDataArrayTexture ) { + + if ( useTexStorage ) { + + if ( allocateMemory ) { + + state.texStorage3D( _gl.TEXTURE_2D_ARRAY, levels, glInternalFormat, image.width, image.height, image.depth ); + + } + + if ( dataReady ) { + + if ( texture.layerUpdates.size > 0 ) { + + const layerByteLength = getByteLength( image.width, image.height, texture.format, texture.type ); + + for ( const layerIndex of texture.layerUpdates ) { + + const layerData = image.data.subarray( + layerIndex * layerByteLength / image.data.BYTES_PER_ELEMENT, + ( layerIndex + 1 ) * layerByteLength / image.data.BYTES_PER_ELEMENT + ); + state.texSubImage3D( _gl.TEXTURE_2D_ARRAY, 0, 0, 0, layerIndex, image.width, image.height, 1, glFormat, glType, layerData ); + + } + + texture.clearLayerUpdates(); + + } else { + + state.texSubImage3D( _gl.TEXTURE_2D_ARRAY, 0, 0, 0, 0, image.width, image.height, image.depth, glFormat, glType, image.data ); + + } + + } + + } else { + + state.texImage3D( _gl.TEXTURE_2D_ARRAY, 0, glInternalFormat, image.width, image.height, image.depth, 0, glFormat, glType, image.data ); + + } + + } else if ( texture.isData3DTexture ) { + + if ( useTexStorage ) { + + if ( allocateMemory ) { + + state.texStorage3D( _gl.TEXTURE_3D, levels, glInternalFormat, image.width, image.height, image.depth ); + + } + + if ( dataReady ) { + + state.texSubImage3D( _gl.TEXTURE_3D, 0, 0, 0, 0, image.width, image.height, image.depth, glFormat, glType, image.data ); + + } + + } else { + + state.texImage3D( _gl.TEXTURE_3D, 0, glInternalFormat, image.width, image.height, image.depth, 0, glFormat, glType, image.data ); + + } + + } else if ( texture.isFramebufferTexture ) { + + if ( allocateMemory ) { + + if ( useTexStorage ) { + + state.texStorage2D( _gl.TEXTURE_2D, levels, glInternalFormat, image.width, image.height ); + + } else { + + let width = image.width, height = image.height; + + for ( let i = 0; i < levels; i ++ ) { + + state.texImage2D( _gl.TEXTURE_2D, i, glInternalFormat, width, height, 0, glFormat, glType, null ); + + width >>= 1; + height >>= 1; + + } + + } + + } + + } else { + + // regular Texture (image, video, canvas) + + // use manually created mipmaps if available + // if there are no manual mipmaps + // set 0 level mipmap and then use GL to generate other mipmap levels + + if ( mipmaps.length > 0 ) { + + if ( useTexStorage && allocateMemory ) { + + const dimensions = getDimensions( mipmaps[ 0 ] ); + + state.texStorage2D( _gl.TEXTURE_2D, levels, glInternalFormat, dimensions.width, dimensions.height ); + + } + + for ( let i = 0, il = mipmaps.length; i < il; i ++ ) { + + mipmap = mipmaps[ i ]; + + if ( useTexStorage ) { + + if ( dataReady ) { + + state.texSubImage2D( _gl.TEXTURE_2D, i, 0, 0, glFormat, glType, mipmap ); + + } + + } else { + + state.texImage2D( _gl.TEXTURE_2D, i, glInternalFormat, glFormat, glType, mipmap ); + + } + + } + + texture.generateMipmaps = false; + + } else { + + if ( useTexStorage ) { + + if ( allocateMemory ) { + + const dimensions = getDimensions( image ); + + state.texStorage2D( _gl.TEXTURE_2D, levels, glInternalFormat, dimensions.width, dimensions.height ); + + } + + if ( dataReady ) { + + state.texSubImage2D( _gl.TEXTURE_2D, 0, 0, 0, glFormat, glType, image ); + + } + + } else { + + state.texImage2D( _gl.TEXTURE_2D, 0, glInternalFormat, glFormat, glType, image ); + + } + + } + + } + + if ( textureNeedsGenerateMipmaps( texture ) ) { + + generateMipmap( textureType ); + + } + + sourceProperties.__version = source.version; + + if ( texture.onUpdate ) texture.onUpdate( texture ); + + } + + textureProperties.__version = texture.version; + + } + + function uploadCubeTexture( textureProperties, texture, slot ) { + + if ( texture.image.length !== 6 ) return; + + const forceUpload = initTexture( textureProperties, texture ); + const source = texture.source; + + state.bindTexture( _gl.TEXTURE_CUBE_MAP, textureProperties.__webglTexture, _gl.TEXTURE0 + slot ); + + const sourceProperties = properties.get( source ); + + if ( source.version !== sourceProperties.__version || forceUpload === true ) { + + state.activeTexture( _gl.TEXTURE0 + slot ); + + const workingPrimaries = ColorManagement.getPrimaries( ColorManagement.workingColorSpace ); + const texturePrimaries = texture.colorSpace === NoColorSpace ? null : ColorManagement.getPrimaries( texture.colorSpace ); + const unpackConversion = texture.colorSpace === NoColorSpace || workingPrimaries === texturePrimaries ? _gl.NONE : _gl.BROWSER_DEFAULT_WEBGL; + + _gl.pixelStorei( _gl.UNPACK_FLIP_Y_WEBGL, texture.flipY ); + _gl.pixelStorei( _gl.UNPACK_PREMULTIPLY_ALPHA_WEBGL, texture.premultiplyAlpha ); + _gl.pixelStorei( _gl.UNPACK_ALIGNMENT, texture.unpackAlignment ); + _gl.pixelStorei( _gl.UNPACK_COLORSPACE_CONVERSION_WEBGL, unpackConversion ); + + const isCompressed = ( texture.isCompressedTexture || texture.image[ 0 ].isCompressedTexture ); + const isDataTexture = ( texture.image[ 0 ] && texture.image[ 0 ].isDataTexture ); + + const cubeImage = []; + + for ( let i = 0; i < 6; i ++ ) { + + if ( ! isCompressed && ! isDataTexture ) { + + cubeImage[ i ] = resizeImage( texture.image[ i ], true, capabilities.maxCubemapSize ); + + } else { + + cubeImage[ i ] = isDataTexture ? texture.image[ i ].image : texture.image[ i ]; + + } + + cubeImage[ i ] = verifyColorSpace( texture, cubeImage[ i ] ); + + } + + const image = cubeImage[ 0 ], + glFormat = utils.convert( texture.format, texture.colorSpace ), + glType = utils.convert( texture.type ), + glInternalFormat = getInternalFormat( texture.internalFormat, glFormat, glType, texture.colorSpace ); + + const useTexStorage = ( texture.isVideoTexture !== true ); + const allocateMemory = ( sourceProperties.__version === undefined ) || ( forceUpload === true ); + const dataReady = source.dataReady; + let levels = getMipLevels( texture, image ); + + setTextureParameters( _gl.TEXTURE_CUBE_MAP, texture ); + + let mipmaps; + + if ( isCompressed ) { + + if ( useTexStorage && allocateMemory ) { + + state.texStorage2D( _gl.TEXTURE_CUBE_MAP, levels, glInternalFormat, image.width, image.height ); + + } + + for ( let i = 0; i < 6; i ++ ) { + + mipmaps = cubeImage[ i ].mipmaps; + + for ( let j = 0; j < mipmaps.length; j ++ ) { + + const mipmap = mipmaps[ j ]; + + if ( texture.format !== RGBAFormat ) { + + if ( glFormat !== null ) { + + if ( useTexStorage ) { + + if ( dataReady ) { + + state.compressedTexSubImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j, 0, 0, mipmap.width, mipmap.height, glFormat, mipmap.data ); + + } + + } else { + + state.compressedTexImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j, glInternalFormat, mipmap.width, mipmap.height, 0, mipmap.data ); + + } + + } else { + + warn( 'WebGLRenderer: Attempt to load unsupported compressed texture format in .setTextureCube()' ); + + } + + } else { + + if ( useTexStorage ) { + + if ( dataReady ) { + + state.texSubImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j, 0, 0, mipmap.width, mipmap.height, glFormat, glType, mipmap.data ); + + } + + } else { + + state.texImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j, glInternalFormat, mipmap.width, mipmap.height, 0, glFormat, glType, mipmap.data ); + + } + + } + + } + + } + + } else { + + mipmaps = texture.mipmaps; + + if ( useTexStorage && allocateMemory ) { + + // TODO: Uniformly handle mipmap definitions + // Normal textures and compressed cube textures define base level + mips with their mipmap array + // Uncompressed cube textures use their mipmap array only for mips (no base level) + + if ( mipmaps.length > 0 ) levels ++; + + const dimensions = getDimensions( cubeImage[ 0 ] ); + + state.texStorage2D( _gl.TEXTURE_CUBE_MAP, levels, glInternalFormat, dimensions.width, dimensions.height ); + + } + + for ( let i = 0; i < 6; i ++ ) { + + if ( isDataTexture ) { + + if ( useTexStorage ) { + + if ( dataReady ) { + + state.texSubImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, 0, 0, cubeImage[ i ].width, cubeImage[ i ].height, glFormat, glType, cubeImage[ i ].data ); + + } + + } else { + + state.texImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, glInternalFormat, cubeImage[ i ].width, cubeImage[ i ].height, 0, glFormat, glType, cubeImage[ i ].data ); + + } + + for ( let j = 0; j < mipmaps.length; j ++ ) { + + const mipmap = mipmaps[ j ]; + const mipmapImage = mipmap.image[ i ].image; + + if ( useTexStorage ) { + + if ( dataReady ) { + + state.texSubImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j + 1, 0, 0, mipmapImage.width, mipmapImage.height, glFormat, glType, mipmapImage.data ); + + } + + } else { + + state.texImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j + 1, glInternalFormat, mipmapImage.width, mipmapImage.height, 0, glFormat, glType, mipmapImage.data ); + + } + + } + + } else { + + if ( useTexStorage ) { + + if ( dataReady ) { + + state.texSubImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, 0, 0, glFormat, glType, cubeImage[ i ] ); + + } + + } else { + + state.texImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, glInternalFormat, glFormat, glType, cubeImage[ i ] ); + + } + + for ( let j = 0; j < mipmaps.length; j ++ ) { + + const mipmap = mipmaps[ j ]; + + if ( useTexStorage ) { + + if ( dataReady ) { + + state.texSubImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j + 1, 0, 0, glFormat, glType, mipmap.image[ i ] ); + + } + + } else { + + state.texImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, j + 1, glInternalFormat, glFormat, glType, mipmap.image[ i ] ); + + } + + } + + } + + } + + } + + if ( textureNeedsGenerateMipmaps( texture ) ) { + + // We assume images for cube map have the same size. + generateMipmap( _gl.TEXTURE_CUBE_MAP ); + + } + + sourceProperties.__version = source.version; + + if ( texture.onUpdate ) texture.onUpdate( texture ); + + } + + textureProperties.__version = texture.version; + + } + + // Render targets + + // Setup storage for target texture and bind it to correct framebuffer + function setupFrameBufferTexture( framebuffer, renderTarget, texture, attachment, textureTarget, level ) { + + const glFormat = utils.convert( texture.format, texture.colorSpace ); + const glType = utils.convert( texture.type ); + const glInternalFormat = getInternalFormat( texture.internalFormat, glFormat, glType, texture.colorSpace ); + const renderTargetProperties = properties.get( renderTarget ); + const textureProperties = properties.get( texture ); + + textureProperties.__renderTarget = renderTarget; + + if ( ! renderTargetProperties.__hasExternalTextures ) { + + const width = Math.max( 1, renderTarget.width >> level ); + const height = Math.max( 1, renderTarget.height >> level ); + + if ( textureTarget === _gl.TEXTURE_3D || textureTarget === _gl.TEXTURE_2D_ARRAY ) { + + state.texImage3D( textureTarget, level, glInternalFormat, width, height, renderTarget.depth, 0, glFormat, glType, null ); + + } else { + + state.texImage2D( textureTarget, level, glInternalFormat, width, height, 0, glFormat, glType, null ); + + } + + } + + state.bindFramebuffer( _gl.FRAMEBUFFER, framebuffer ); + + if ( useMultisampledRTT( renderTarget ) ) { + + multisampledRTTExt.framebufferTexture2DMultisampleEXT( _gl.FRAMEBUFFER, attachment, textureTarget, textureProperties.__webglTexture, 0, getRenderTargetSamples( renderTarget ) ); + + } else if ( textureTarget === _gl.TEXTURE_2D || ( textureTarget >= _gl.TEXTURE_CUBE_MAP_POSITIVE_X && textureTarget <= _gl.TEXTURE_CUBE_MAP_NEGATIVE_Z ) ) { // see #24753 + + _gl.framebufferTexture2D( _gl.FRAMEBUFFER, attachment, textureTarget, textureProperties.__webglTexture, level ); + + } + + state.bindFramebuffer( _gl.FRAMEBUFFER, null ); + + } + + // Setup storage for internal depth/stencil buffers and bind to correct framebuffer + function setupRenderBufferStorage( renderbuffer, renderTarget, useMultisample ) { + + _gl.bindRenderbuffer( _gl.RENDERBUFFER, renderbuffer ); + + if ( renderTarget.depthBuffer ) { + + // retrieve the depth attachment types + const depthTexture = renderTarget.depthTexture; + const depthType = depthTexture && depthTexture.isDepthTexture ? depthTexture.type : null; + const glInternalFormat = getInternalDepthFormat( renderTarget.stencilBuffer, depthType ); + const glAttachmentType = renderTarget.stencilBuffer ? _gl.DEPTH_STENCIL_ATTACHMENT : _gl.DEPTH_ATTACHMENT; + + // set up the attachment + if ( useMultisampledRTT( renderTarget ) ) { + + multisampledRTTExt.renderbufferStorageMultisampleEXT( _gl.RENDERBUFFER, getRenderTargetSamples( renderTarget ), glInternalFormat, renderTarget.width, renderTarget.height ); + + } else if ( useMultisample ) { + + _gl.renderbufferStorageMultisample( _gl.RENDERBUFFER, getRenderTargetSamples( renderTarget ), glInternalFormat, renderTarget.width, renderTarget.height ); + + } else { + + _gl.renderbufferStorage( _gl.RENDERBUFFER, glInternalFormat, renderTarget.width, renderTarget.height ); + + } + + _gl.framebufferRenderbuffer( _gl.FRAMEBUFFER, glAttachmentType, _gl.RENDERBUFFER, renderbuffer ); + + } else { + + const textures = renderTarget.textures; + + for ( let i = 0; i < textures.length; i ++ ) { + + const texture = textures[ i ]; + + const glFormat = utils.convert( texture.format, texture.colorSpace ); + const glType = utils.convert( texture.type ); + const glInternalFormat = getInternalFormat( texture.internalFormat, glFormat, glType, texture.colorSpace ); + + if ( useMultisampledRTT( renderTarget ) ) { + + multisampledRTTExt.renderbufferStorageMultisampleEXT( _gl.RENDERBUFFER, getRenderTargetSamples( renderTarget ), glInternalFormat, renderTarget.width, renderTarget.height ); + + } else if ( useMultisample ) { + + _gl.renderbufferStorageMultisample( _gl.RENDERBUFFER, getRenderTargetSamples( renderTarget ), glInternalFormat, renderTarget.width, renderTarget.height ); + + } else { + + _gl.renderbufferStorage( _gl.RENDERBUFFER, glInternalFormat, renderTarget.width, renderTarget.height ); + + } + + } + + } + + _gl.bindRenderbuffer( _gl.RENDERBUFFER, null ); + + } + + // Setup resources for a Depth Texture for a FBO (needs an extension) + function setupDepthTexture( framebuffer, renderTarget, cubeFace ) { + + const isCube = ( renderTarget.isWebGLCubeRenderTarget === true ); + + state.bindFramebuffer( _gl.FRAMEBUFFER, framebuffer ); + + if ( ! ( renderTarget.depthTexture && renderTarget.depthTexture.isDepthTexture ) ) { + + throw new Error( 'renderTarget.depthTexture must be an instance of THREE.DepthTexture' ); + + } + + const textureProperties = properties.get( renderTarget.depthTexture ); + textureProperties.__renderTarget = renderTarget; + + // upload an empty depth texture with framebuffer size + if ( ! textureProperties.__webglTexture || + renderTarget.depthTexture.image.width !== renderTarget.width || + renderTarget.depthTexture.image.height !== renderTarget.height ) { + + renderTarget.depthTexture.image.width = renderTarget.width; + renderTarget.depthTexture.image.height = renderTarget.height; + renderTarget.depthTexture.needsUpdate = true; + + } + + if ( isCube ) { + + // For cube depth textures, initialize and bind without uploading image data + if ( textureProperties.__webglInit === undefined ) { + + textureProperties.__webglInit = true; + renderTarget.depthTexture.addEventListener( 'dispose', onTextureDispose ); + + } + + // Only create and allocate storage once + if ( textureProperties.__webglTexture === undefined ) { + + textureProperties.__webglTexture = _gl.createTexture(); + + state.bindTexture( _gl.TEXTURE_CUBE_MAP, textureProperties.__webglTexture ); + setTextureParameters( _gl.TEXTURE_CUBE_MAP, renderTarget.depthTexture ); + + // Allocate storage for all 6 faces with correct depth texture format + const glFormat = utils.convert( renderTarget.depthTexture.format ); + const glType = utils.convert( renderTarget.depthTexture.type ); + + // Use proper internal format for depth textures + let glInternalFormat; + if ( renderTarget.depthTexture.format === DepthFormat ) { + + glInternalFormat = _gl.DEPTH_COMPONENT24; + + } else if ( renderTarget.depthTexture.format === DepthStencilFormat ) { + + glInternalFormat = _gl.DEPTH24_STENCIL8; + + } + + for ( let i = 0; i < 6; i ++ ) { + + _gl.texImage2D( _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, glInternalFormat, renderTarget.width, renderTarget.height, 0, glFormat, glType, null ); + + } + + } + + } else { + + setTexture2D( renderTarget.depthTexture, 0 ); + + } + + const webglDepthTexture = textureProperties.__webglTexture; + const samples = getRenderTargetSamples( renderTarget ); + + const glTextureType = isCube ? _gl.TEXTURE_CUBE_MAP_POSITIVE_X + cubeFace : _gl.TEXTURE_2D; + const glAttachmentType = renderTarget.depthTexture.format === DepthStencilFormat ? _gl.DEPTH_STENCIL_ATTACHMENT : _gl.DEPTH_ATTACHMENT; + + if ( renderTarget.depthTexture.format === DepthFormat ) { + + if ( useMultisampledRTT( renderTarget ) ) { + + multisampledRTTExt.framebufferTexture2DMultisampleEXT( _gl.FRAMEBUFFER, glAttachmentType, glTextureType, webglDepthTexture, 0, samples ); + + } else { + + _gl.framebufferTexture2D( _gl.FRAMEBUFFER, glAttachmentType, glTextureType, webglDepthTexture, 0 ); + + } + + } else if ( renderTarget.depthTexture.format === DepthStencilFormat ) { + + if ( useMultisampledRTT( renderTarget ) ) { + + multisampledRTTExt.framebufferTexture2DMultisampleEXT( _gl.FRAMEBUFFER, glAttachmentType, glTextureType, webglDepthTexture, 0, samples ); + + } else { + + _gl.framebufferTexture2D( _gl.FRAMEBUFFER, glAttachmentType, glTextureType, webglDepthTexture, 0 ); + + } + + } else { + + throw new Error( 'Unknown depthTexture format' ); + + } + + } + + // Setup GL resources for a non-texture depth buffer + function setupDepthRenderbuffer( renderTarget ) { + + const renderTargetProperties = properties.get( renderTarget ); + const isCube = ( renderTarget.isWebGLCubeRenderTarget === true ); + + // if the bound depth texture has changed + if ( renderTargetProperties.__boundDepthTexture !== renderTarget.depthTexture ) { + + // fire the dispose event to get rid of stored state associated with the previously bound depth buffer + const depthTexture = renderTarget.depthTexture; + if ( renderTargetProperties.__depthDisposeCallback ) { + + renderTargetProperties.__depthDisposeCallback(); + + } + + // set up dispose listeners to track when the currently attached buffer is implicitly unbound + if ( depthTexture ) { + + const disposeEvent = () => { + + delete renderTargetProperties.__boundDepthTexture; + delete renderTargetProperties.__depthDisposeCallback; + depthTexture.removeEventListener( 'dispose', disposeEvent ); + + }; + + depthTexture.addEventListener( 'dispose', disposeEvent ); + renderTargetProperties.__depthDisposeCallback = disposeEvent; + + } + + renderTargetProperties.__boundDepthTexture = depthTexture; + + } + + if ( renderTarget.depthTexture && ! renderTargetProperties.__autoAllocateDepthBuffer ) { + + if ( isCube ) { + + // For cube render targets with depth texture, setup each face + for ( let i = 0; i < 6; i ++ ) { + + setupDepthTexture( renderTargetProperties.__webglFramebuffer[ i ], renderTarget, i ); + + } + + } else { + + const mipmaps = renderTarget.texture.mipmaps; + + if ( mipmaps && mipmaps.length > 0 ) { + + setupDepthTexture( renderTargetProperties.__webglFramebuffer[ 0 ], renderTarget, 0 ); + + } else { + + setupDepthTexture( renderTargetProperties.__webglFramebuffer, renderTarget, 0 ); + + } + + } + + } else { + + if ( isCube ) { + + renderTargetProperties.__webglDepthbuffer = []; + + for ( let i = 0; i < 6; i ++ ) { + + state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglFramebuffer[ i ] ); + + if ( renderTargetProperties.__webglDepthbuffer[ i ] === undefined ) { + + renderTargetProperties.__webglDepthbuffer[ i ] = _gl.createRenderbuffer(); + setupRenderBufferStorage( renderTargetProperties.__webglDepthbuffer[ i ], renderTarget, false ); + + } else { + + // attach buffer if it's been created already + const glAttachmentType = renderTarget.stencilBuffer ? _gl.DEPTH_STENCIL_ATTACHMENT : _gl.DEPTH_ATTACHMENT; + const renderbuffer = renderTargetProperties.__webglDepthbuffer[ i ]; + _gl.bindRenderbuffer( _gl.RENDERBUFFER, renderbuffer ); + _gl.framebufferRenderbuffer( _gl.FRAMEBUFFER, glAttachmentType, _gl.RENDERBUFFER, renderbuffer ); + + } + + } + + } else { + + const mipmaps = renderTarget.texture.mipmaps; + + if ( mipmaps && mipmaps.length > 0 ) { + + state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglFramebuffer[ 0 ] ); + + } else { + + state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglFramebuffer ); + + } + + if ( renderTargetProperties.__webglDepthbuffer === undefined ) { + + renderTargetProperties.__webglDepthbuffer = _gl.createRenderbuffer(); + setupRenderBufferStorage( renderTargetProperties.__webglDepthbuffer, renderTarget, false ); + + } else { + + // attach buffer if it's been created already + const glAttachmentType = renderTarget.stencilBuffer ? _gl.DEPTH_STENCIL_ATTACHMENT : _gl.DEPTH_ATTACHMENT; + const renderbuffer = renderTargetProperties.__webglDepthbuffer; + _gl.bindRenderbuffer( _gl.RENDERBUFFER, renderbuffer ); + _gl.framebufferRenderbuffer( _gl.FRAMEBUFFER, glAttachmentType, _gl.RENDERBUFFER, renderbuffer ); + + } + + } + + } + + state.bindFramebuffer( _gl.FRAMEBUFFER, null ); + + } + + // rebind framebuffer with external textures + function rebindTextures( renderTarget, colorTexture, depthTexture ) { + + const renderTargetProperties = properties.get( renderTarget ); + + if ( colorTexture !== undefined ) { + + setupFrameBufferTexture( renderTargetProperties.__webglFramebuffer, renderTarget, renderTarget.texture, _gl.COLOR_ATTACHMENT0, _gl.TEXTURE_2D, 0 ); + + } + + if ( depthTexture !== undefined ) { + + setupDepthRenderbuffer( renderTarget ); + + } + + } + + // Set up GL resources for the render target + function setupRenderTarget( renderTarget ) { + + const texture = renderTarget.texture; + + const renderTargetProperties = properties.get( renderTarget ); + const textureProperties = properties.get( texture ); + + renderTarget.addEventListener( 'dispose', onRenderTargetDispose ); + + const textures = renderTarget.textures; + + const isCube = ( renderTarget.isWebGLCubeRenderTarget === true ); + const isMultipleRenderTargets = ( textures.length > 1 ); + + if ( ! isMultipleRenderTargets ) { + + if ( textureProperties.__webglTexture === undefined ) { + + textureProperties.__webglTexture = _gl.createTexture(); + + } + + textureProperties.__version = texture.version; + info.memory.textures ++; + + } + + // Setup framebuffer + + if ( isCube ) { + + renderTargetProperties.__webglFramebuffer = []; + + for ( let i = 0; i < 6; i ++ ) { + + if ( texture.mipmaps && texture.mipmaps.length > 0 ) { + + renderTargetProperties.__webglFramebuffer[ i ] = []; + + for ( let level = 0; level < texture.mipmaps.length; level ++ ) { + + renderTargetProperties.__webglFramebuffer[ i ][ level ] = _gl.createFramebuffer(); + + } + + } else { + + renderTargetProperties.__webglFramebuffer[ i ] = _gl.createFramebuffer(); + + } + + } + + } else { + + if ( texture.mipmaps && texture.mipmaps.length > 0 ) { + + renderTargetProperties.__webglFramebuffer = []; + + for ( let level = 0; level < texture.mipmaps.length; level ++ ) { + + renderTargetProperties.__webglFramebuffer[ level ] = _gl.createFramebuffer(); + + } + + } else { + + renderTargetProperties.__webglFramebuffer = _gl.createFramebuffer(); + + } + + if ( isMultipleRenderTargets ) { + + for ( let i = 0, il = textures.length; i < il; i ++ ) { + + const attachmentProperties = properties.get( textures[ i ] ); + + if ( attachmentProperties.__webglTexture === undefined ) { + + attachmentProperties.__webglTexture = _gl.createTexture(); + + info.memory.textures ++; + + } + + } + + } + + if ( ( renderTarget.samples > 0 ) && useMultisampledRTT( renderTarget ) === false ) { + + renderTargetProperties.__webglMultisampledFramebuffer = _gl.createFramebuffer(); + renderTargetProperties.__webglColorRenderbuffer = []; + + state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglMultisampledFramebuffer ); + + for ( let i = 0; i < textures.length; i ++ ) { + + const texture = textures[ i ]; + renderTargetProperties.__webglColorRenderbuffer[ i ] = _gl.createRenderbuffer(); + + _gl.bindRenderbuffer( _gl.RENDERBUFFER, renderTargetProperties.__webglColorRenderbuffer[ i ] ); + + const glFormat = utils.convert( texture.format, texture.colorSpace ); + const glType = utils.convert( texture.type ); + const glInternalFormat = getInternalFormat( texture.internalFormat, glFormat, glType, texture.colorSpace, renderTarget.isXRRenderTarget === true ); + const samples = getRenderTargetSamples( renderTarget ); + _gl.renderbufferStorageMultisample( _gl.RENDERBUFFER, samples, glInternalFormat, renderTarget.width, renderTarget.height ); + + _gl.framebufferRenderbuffer( _gl.FRAMEBUFFER, _gl.COLOR_ATTACHMENT0 + i, _gl.RENDERBUFFER, renderTargetProperties.__webglColorRenderbuffer[ i ] ); + + } + + _gl.bindRenderbuffer( _gl.RENDERBUFFER, null ); + + if ( renderTarget.depthBuffer ) { + + renderTargetProperties.__webglDepthRenderbuffer = _gl.createRenderbuffer(); + setupRenderBufferStorage( renderTargetProperties.__webglDepthRenderbuffer, renderTarget, true ); + + } + + state.bindFramebuffer( _gl.FRAMEBUFFER, null ); + + } + + } + + // Setup color buffer + + if ( isCube ) { + + state.bindTexture( _gl.TEXTURE_CUBE_MAP, textureProperties.__webglTexture ); + setTextureParameters( _gl.TEXTURE_CUBE_MAP, texture ); + + for ( let i = 0; i < 6; i ++ ) { + + if ( texture.mipmaps && texture.mipmaps.length > 0 ) { + + for ( let level = 0; level < texture.mipmaps.length; level ++ ) { + + setupFrameBufferTexture( renderTargetProperties.__webglFramebuffer[ i ][ level ], renderTarget, texture, _gl.COLOR_ATTACHMENT0, _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, level ); + + } + + } else { + + setupFrameBufferTexture( renderTargetProperties.__webglFramebuffer[ i ], renderTarget, texture, _gl.COLOR_ATTACHMENT0, _gl.TEXTURE_CUBE_MAP_POSITIVE_X + i, 0 ); + + } + + } + + if ( textureNeedsGenerateMipmaps( texture ) ) { + + generateMipmap( _gl.TEXTURE_CUBE_MAP ); + + } + + state.unbindTexture(); + + } else if ( isMultipleRenderTargets ) { + + for ( let i = 0, il = textures.length; i < il; i ++ ) { + + const attachment = textures[ i ]; + const attachmentProperties = properties.get( attachment ); + + let glTextureType = _gl.TEXTURE_2D; + + if ( renderTarget.isWebGL3DRenderTarget || renderTarget.isWebGLArrayRenderTarget ) { + + glTextureType = renderTarget.isWebGL3DRenderTarget ? _gl.TEXTURE_3D : _gl.TEXTURE_2D_ARRAY; + + } + + state.bindTexture( glTextureType, attachmentProperties.__webglTexture ); + setTextureParameters( glTextureType, attachment ); + setupFrameBufferTexture( renderTargetProperties.__webglFramebuffer, renderTarget, attachment, _gl.COLOR_ATTACHMENT0 + i, glTextureType, 0 ); + + if ( textureNeedsGenerateMipmaps( attachment ) ) { + + generateMipmap( glTextureType ); + + } + + } + + state.unbindTexture(); + + } else { + + let glTextureType = _gl.TEXTURE_2D; + + if ( renderTarget.isWebGL3DRenderTarget || renderTarget.isWebGLArrayRenderTarget ) { + + glTextureType = renderTarget.isWebGL3DRenderTarget ? _gl.TEXTURE_3D : _gl.TEXTURE_2D_ARRAY; + + } + + state.bindTexture( glTextureType, textureProperties.__webglTexture ); + setTextureParameters( glTextureType, texture ); + + if ( texture.mipmaps && texture.mipmaps.length > 0 ) { + + for ( let level = 0; level < texture.mipmaps.length; level ++ ) { + + setupFrameBufferTexture( renderTargetProperties.__webglFramebuffer[ level ], renderTarget, texture, _gl.COLOR_ATTACHMENT0, glTextureType, level ); + + } + + } else { + + setupFrameBufferTexture( renderTargetProperties.__webglFramebuffer, renderTarget, texture, _gl.COLOR_ATTACHMENT0, glTextureType, 0 ); + + } + + if ( textureNeedsGenerateMipmaps( texture ) ) { + + generateMipmap( glTextureType ); + + } + + state.unbindTexture(); + + } + + // Setup depth and stencil buffers + + if ( renderTarget.depthBuffer ) { + + setupDepthRenderbuffer( renderTarget ); + + } + + } + + function updateRenderTargetMipmap( renderTarget ) { + + const textures = renderTarget.textures; + + for ( let i = 0, il = textures.length; i < il; i ++ ) { + + const texture = textures[ i ]; + + if ( textureNeedsGenerateMipmaps( texture ) ) { + + const targetType = getTargetType( renderTarget ); + const webglTexture = properties.get( texture ).__webglTexture; + + state.bindTexture( targetType, webglTexture ); + generateMipmap( targetType ); + state.unbindTexture(); + + } + + } + + } + + const invalidationArrayRead = []; + const invalidationArrayDraw = []; + + function updateMultisampleRenderTarget( renderTarget ) { + + if ( renderTarget.samples > 0 ) { + + if ( useMultisampledRTT( renderTarget ) === false ) { + + const textures = renderTarget.textures; + const width = renderTarget.width; + const height = renderTarget.height; + let mask = _gl.COLOR_BUFFER_BIT; + const depthStyle = renderTarget.stencilBuffer ? _gl.DEPTH_STENCIL_ATTACHMENT : _gl.DEPTH_ATTACHMENT; + const renderTargetProperties = properties.get( renderTarget ); + const isMultipleRenderTargets = ( textures.length > 1 ); + + // If MRT we need to remove FBO attachments + if ( isMultipleRenderTargets ) { + + for ( let i = 0; i < textures.length; i ++ ) { + + state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglMultisampledFramebuffer ); + _gl.framebufferRenderbuffer( _gl.FRAMEBUFFER, _gl.COLOR_ATTACHMENT0 + i, _gl.RENDERBUFFER, null ); + + state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglFramebuffer ); + _gl.framebufferTexture2D( _gl.DRAW_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0 + i, _gl.TEXTURE_2D, null, 0 ); + + } + + } + + state.bindFramebuffer( _gl.READ_FRAMEBUFFER, renderTargetProperties.__webglMultisampledFramebuffer ); + + const mipmaps = renderTarget.texture.mipmaps; + + if ( mipmaps && mipmaps.length > 0 ) { + + state.bindFramebuffer( _gl.DRAW_FRAMEBUFFER, renderTargetProperties.__webglFramebuffer[ 0 ] ); + + } else { + + state.bindFramebuffer( _gl.DRAW_FRAMEBUFFER, renderTargetProperties.__webglFramebuffer ); + + } + + for ( let i = 0; i < textures.length; i ++ ) { + + if ( renderTarget.resolveDepthBuffer ) { + + if ( renderTarget.depthBuffer ) mask |= _gl.DEPTH_BUFFER_BIT; + + // resolving stencil is slow with a D3D backend. disable it for all transmission render targets (see #27799) + + if ( renderTarget.stencilBuffer && renderTarget.resolveStencilBuffer ) mask |= _gl.STENCIL_BUFFER_BIT; + + } + + if ( isMultipleRenderTargets ) { + + _gl.framebufferRenderbuffer( _gl.READ_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, _gl.RENDERBUFFER, renderTargetProperties.__webglColorRenderbuffer[ i ] ); + + const webglTexture = properties.get( textures[ i ] ).__webglTexture; + _gl.framebufferTexture2D( _gl.DRAW_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, _gl.TEXTURE_2D, webglTexture, 0 ); + + } + + _gl.blitFramebuffer( 0, 0, width, height, 0, 0, width, height, mask, _gl.NEAREST ); + + if ( supportsInvalidateFramebuffer === true ) { + + invalidationArrayRead.length = 0; + invalidationArrayDraw.length = 0; + + invalidationArrayRead.push( _gl.COLOR_ATTACHMENT0 + i ); + + if ( renderTarget.depthBuffer && renderTarget.resolveDepthBuffer === false ) { + + invalidationArrayRead.push( depthStyle ); + invalidationArrayDraw.push( depthStyle ); + + _gl.invalidateFramebuffer( _gl.DRAW_FRAMEBUFFER, invalidationArrayDraw ); + + } + + _gl.invalidateFramebuffer( _gl.READ_FRAMEBUFFER, invalidationArrayRead ); + + } + + } + + state.bindFramebuffer( _gl.READ_FRAMEBUFFER, null ); + state.bindFramebuffer( _gl.DRAW_FRAMEBUFFER, null ); + + // If MRT since pre-blit we removed the FBO we need to reconstruct the attachments + if ( isMultipleRenderTargets ) { + + for ( let i = 0; i < textures.length; i ++ ) { + + state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglMultisampledFramebuffer ); + _gl.framebufferRenderbuffer( _gl.FRAMEBUFFER, _gl.COLOR_ATTACHMENT0 + i, _gl.RENDERBUFFER, renderTargetProperties.__webglColorRenderbuffer[ i ] ); + + const webglTexture = properties.get( textures[ i ] ).__webglTexture; + + state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglFramebuffer ); + _gl.framebufferTexture2D( _gl.DRAW_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0 + i, _gl.TEXTURE_2D, webglTexture, 0 ); + + } + + } + + state.bindFramebuffer( _gl.DRAW_FRAMEBUFFER, renderTargetProperties.__webglMultisampledFramebuffer ); + + } else { + + if ( renderTarget.depthBuffer && renderTarget.resolveDepthBuffer === false && supportsInvalidateFramebuffer ) { + + const depthStyle = renderTarget.stencilBuffer ? _gl.DEPTH_STENCIL_ATTACHMENT : _gl.DEPTH_ATTACHMENT; + + _gl.invalidateFramebuffer( _gl.DRAW_FRAMEBUFFER, [ depthStyle ] ); + + } + + } + + } + + } + + function getRenderTargetSamples( renderTarget ) { + + return Math.min( capabilities.maxSamples, renderTarget.samples ); + + } + + function useMultisampledRTT( renderTarget ) { + + const renderTargetProperties = properties.get( renderTarget ); + + return renderTarget.samples > 0 && extensions.has( 'WEBGL_multisampled_render_to_texture' ) === true && renderTargetProperties.__useRenderToTexture !== false; + + } + + function updateVideoTexture( texture ) { + + const frame = info.render.frame; + + // Check the last frame we updated the VideoTexture + + if ( _videoTextures.get( texture ) !== frame ) { + + _videoTextures.set( texture, frame ); + texture.update(); + + } + + } + + function verifyColorSpace( texture, image ) { + + const colorSpace = texture.colorSpace; + const format = texture.format; + const type = texture.type; + + if ( texture.isCompressedTexture === true || texture.isVideoTexture === true ) return image; + + if ( colorSpace !== LinearSRGBColorSpace && colorSpace !== NoColorSpace ) { + + // sRGB + + if ( ColorManagement.getTransfer( colorSpace ) === SRGBTransfer ) { + + // in WebGL 2 uncompressed textures can only be sRGB encoded if they have the RGBA8 format + + if ( format !== RGBAFormat || type !== UnsignedByteType ) { + + warn( 'WebGLTextures: sRGB encoded textures have to use RGBAFormat and UnsignedByteType.' ); + + } + + } else { + + error( 'WebGLTextures: Unsupported texture color space:', colorSpace ); + + } + + } + + return image; + + } + + function getDimensions( image ) { + + if ( typeof HTMLImageElement !== 'undefined' && image instanceof HTMLImageElement ) { + + // if intrinsic data are not available, fallback to width/height + + _imageDimensions.width = image.naturalWidth || image.width; + _imageDimensions.height = image.naturalHeight || image.height; + + } else if ( typeof VideoFrame !== 'undefined' && image instanceof VideoFrame ) { + + _imageDimensions.width = image.displayWidth; + _imageDimensions.height = image.displayHeight; + + } else { + + _imageDimensions.width = image.width; + _imageDimensions.height = image.height; + + } + + return _imageDimensions; + + } + + // + + this.allocateTextureUnit = allocateTextureUnit; + this.resetTextureUnits = resetTextureUnits; + + this.setTexture2D = setTexture2D; + this.setTexture2DArray = setTexture2DArray; + this.setTexture3D = setTexture3D; + this.setTextureCube = setTextureCube; + this.rebindTextures = rebindTextures; + this.setupRenderTarget = setupRenderTarget; + this.updateRenderTargetMipmap = updateRenderTargetMipmap; + this.updateMultisampleRenderTarget = updateMultisampleRenderTarget; + this.setupDepthRenderbuffer = setupDepthRenderbuffer; + this.setupFrameBufferTexture = setupFrameBufferTexture; + this.useMultisampledRTT = useMultisampledRTT; + + this.isReversedDepthBuffer = function () { + + return state.buffers.depth.getReversed(); + + }; + +} + +function WebGLUtils( gl, extensions ) { + + function convert( p, colorSpace = NoColorSpace ) { + + let extension; + + const transfer = ColorManagement.getTransfer( colorSpace ); + + if ( p === UnsignedByteType ) return gl.UNSIGNED_BYTE; + if ( p === UnsignedShort4444Type ) return gl.UNSIGNED_SHORT_4_4_4_4; + if ( p === UnsignedShort5551Type ) return gl.UNSIGNED_SHORT_5_5_5_1; + if ( p === UnsignedInt5999Type ) return gl.UNSIGNED_INT_5_9_9_9_REV; + if ( p === UnsignedInt101111Type ) return gl.UNSIGNED_INT_10F_11F_11F_REV; + + if ( p === ByteType ) return gl.BYTE; + if ( p === ShortType ) return gl.SHORT; + if ( p === UnsignedShortType ) return gl.UNSIGNED_SHORT; + if ( p === IntType ) return gl.INT; + if ( p === UnsignedIntType ) return gl.UNSIGNED_INT; + if ( p === FloatType ) return gl.FLOAT; + if ( p === HalfFloatType ) return gl.HALF_FLOAT; + + if ( p === AlphaFormat ) return gl.ALPHA; + if ( p === RGBFormat ) return gl.RGB; + if ( p === RGBAFormat ) return gl.RGBA; + if ( p === DepthFormat ) return gl.DEPTH_COMPONENT; + if ( p === DepthStencilFormat ) return gl.DEPTH_STENCIL; + + // WebGL2 formats. + + if ( p === RedFormat ) return gl.RED; + if ( p === RedIntegerFormat ) return gl.RED_INTEGER; + if ( p === RGFormat ) return gl.RG; + if ( p === RGIntegerFormat ) return gl.RG_INTEGER; + if ( p === RGBAIntegerFormat ) return gl.RGBA_INTEGER; + + // S3TC + + if ( p === RGB_S3TC_DXT1_Format || p === RGBA_S3TC_DXT1_Format || p === RGBA_S3TC_DXT3_Format || p === RGBA_S3TC_DXT5_Format ) { + + if ( transfer === SRGBTransfer ) { + + extension = extensions.get( 'WEBGL_compressed_texture_s3tc_srgb' ); + + if ( extension !== null ) { + + if ( p === RGB_S3TC_DXT1_Format ) return extension.COMPRESSED_SRGB_S3TC_DXT1_EXT; + if ( p === RGBA_S3TC_DXT1_Format ) return extension.COMPRESSED_SRGB_ALPHA_S3TC_DXT1_EXT; + if ( p === RGBA_S3TC_DXT3_Format ) return extension.COMPRESSED_SRGB_ALPHA_S3TC_DXT3_EXT; + if ( p === RGBA_S3TC_DXT5_Format ) return extension.COMPRESSED_SRGB_ALPHA_S3TC_DXT5_EXT; + + } else { + + return null; + + } + + } else { + + extension = extensions.get( 'WEBGL_compressed_texture_s3tc' ); + + if ( extension !== null ) { + + if ( p === RGB_S3TC_DXT1_Format ) return extension.COMPRESSED_RGB_S3TC_DXT1_EXT; + if ( p === RGBA_S3TC_DXT1_Format ) return extension.COMPRESSED_RGBA_S3TC_DXT1_EXT; + if ( p === RGBA_S3TC_DXT3_Format ) return extension.COMPRESSED_RGBA_S3TC_DXT3_EXT; + if ( p === RGBA_S3TC_DXT5_Format ) return extension.COMPRESSED_RGBA_S3TC_DXT5_EXT; + + } else { + + return null; + + } + + } + + } + + // PVRTC + + if ( p === RGB_PVRTC_4BPPV1_Format || p === RGB_PVRTC_2BPPV1_Format || p === RGBA_PVRTC_4BPPV1_Format || p === RGBA_PVRTC_2BPPV1_Format ) { + + extension = extensions.get( 'WEBGL_compressed_texture_pvrtc' ); + + if ( extension !== null ) { + + if ( p === RGB_PVRTC_4BPPV1_Format ) return extension.COMPRESSED_RGB_PVRTC_4BPPV1_IMG; + if ( p === RGB_PVRTC_2BPPV1_Format ) return extension.COMPRESSED_RGB_PVRTC_2BPPV1_IMG; + if ( p === RGBA_PVRTC_4BPPV1_Format ) return extension.COMPRESSED_RGBA_PVRTC_4BPPV1_IMG; + if ( p === RGBA_PVRTC_2BPPV1_Format ) return extension.COMPRESSED_RGBA_PVRTC_2BPPV1_IMG; + + } else { + + return null; + + } + + } + + // ETC + + if ( p === RGB_ETC1_Format || p === RGB_ETC2_Format || p === RGBA_ETC2_EAC_Format || p === R11_EAC_Format || p === SIGNED_R11_EAC_Format || p === RG11_EAC_Format || p === SIGNED_RG11_EAC_Format ) { + + extension = extensions.get( 'WEBGL_compressed_texture_etc' ); + + if ( extension !== null ) { + + if ( p === RGB_ETC1_Format || p === RGB_ETC2_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ETC2 : extension.COMPRESSED_RGB8_ETC2; + if ( p === RGBA_ETC2_EAC_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ETC2_EAC : extension.COMPRESSED_RGBA8_ETC2_EAC; + if ( p === R11_EAC_Format ) return extension.COMPRESSED_R11_EAC; + if ( p === SIGNED_R11_EAC_Format ) return extension.COMPRESSED_SIGNED_R11_EAC; + if ( p === RG11_EAC_Format ) return extension.COMPRESSED_RG11_EAC; + if ( p === SIGNED_RG11_EAC_Format ) return extension.COMPRESSED_SIGNED_RG11_EAC; + + } else { + + return null; + + } + + } + + // ASTC + + if ( p === RGBA_ASTC_4x4_Format || p === RGBA_ASTC_5x4_Format || p === RGBA_ASTC_5x5_Format || + p === RGBA_ASTC_6x5_Format || p === RGBA_ASTC_6x6_Format || p === RGBA_ASTC_8x5_Format || + p === RGBA_ASTC_8x6_Format || p === RGBA_ASTC_8x8_Format || p === RGBA_ASTC_10x5_Format || + p === RGBA_ASTC_10x6_Format || p === RGBA_ASTC_10x8_Format || p === RGBA_ASTC_10x10_Format || + p === RGBA_ASTC_12x10_Format || p === RGBA_ASTC_12x12_Format ) { + + extension = extensions.get( 'WEBGL_compressed_texture_astc' ); + + if ( extension !== null ) { + + if ( p === RGBA_ASTC_4x4_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR : extension.COMPRESSED_RGBA_ASTC_4x4_KHR; + if ( p === RGBA_ASTC_5x4_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR : extension.COMPRESSED_RGBA_ASTC_5x4_KHR; + if ( p === RGBA_ASTC_5x5_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR : extension.COMPRESSED_RGBA_ASTC_5x5_KHR; + if ( p === RGBA_ASTC_6x5_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR : extension.COMPRESSED_RGBA_ASTC_6x5_KHR; + if ( p === RGBA_ASTC_6x6_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR : extension.COMPRESSED_RGBA_ASTC_6x6_KHR; + if ( p === RGBA_ASTC_8x5_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR : extension.COMPRESSED_RGBA_ASTC_8x5_KHR; + if ( p === RGBA_ASTC_8x6_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR : extension.COMPRESSED_RGBA_ASTC_8x6_KHR; + if ( p === RGBA_ASTC_8x8_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR : extension.COMPRESSED_RGBA_ASTC_8x8_KHR; + if ( p === RGBA_ASTC_10x5_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR : extension.COMPRESSED_RGBA_ASTC_10x5_KHR; + if ( p === RGBA_ASTC_10x6_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR : extension.COMPRESSED_RGBA_ASTC_10x6_KHR; + if ( p === RGBA_ASTC_10x8_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR : extension.COMPRESSED_RGBA_ASTC_10x8_KHR; + if ( p === RGBA_ASTC_10x10_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR : extension.COMPRESSED_RGBA_ASTC_10x10_KHR; + if ( p === RGBA_ASTC_12x10_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR : extension.COMPRESSED_RGBA_ASTC_12x10_KHR; + if ( p === RGBA_ASTC_12x12_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR : extension.COMPRESSED_RGBA_ASTC_12x12_KHR; + + } else { + + return null; + + } + + } + + // BPTC + + if ( p === RGBA_BPTC_Format || p === RGB_BPTC_SIGNED_Format || p === RGB_BPTC_UNSIGNED_Format ) { + + extension = extensions.get( 'EXT_texture_compression_bptc' ); + + if ( extension !== null ) { + + if ( p === RGBA_BPTC_Format ) return ( transfer === SRGBTransfer ) ? extension.COMPRESSED_SRGB_ALPHA_BPTC_UNORM_EXT : extension.COMPRESSED_RGBA_BPTC_UNORM_EXT; + if ( p === RGB_BPTC_SIGNED_Format ) return extension.COMPRESSED_RGB_BPTC_SIGNED_FLOAT_EXT; + if ( p === RGB_BPTC_UNSIGNED_Format ) return extension.COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT_EXT; + + } else { + + return null; + + } + + } + + // RGTC + + if ( p === RED_RGTC1_Format || p === SIGNED_RED_RGTC1_Format || p === RED_GREEN_RGTC2_Format || p === SIGNED_RED_GREEN_RGTC2_Format ) { + + extension = extensions.get( 'EXT_texture_compression_rgtc' ); + + if ( extension !== null ) { + + if ( p === RED_RGTC1_Format ) return extension.COMPRESSED_RED_RGTC1_EXT; + if ( p === SIGNED_RED_RGTC1_Format ) return extension.COMPRESSED_SIGNED_RED_RGTC1_EXT; + if ( p === RED_GREEN_RGTC2_Format ) return extension.COMPRESSED_RED_GREEN_RGTC2_EXT; + if ( p === SIGNED_RED_GREEN_RGTC2_Format ) return extension.COMPRESSED_SIGNED_RED_GREEN_RGTC2_EXT; + + } else { + + return null; + + } + + } + + // + + if ( p === UnsignedInt248Type ) return gl.UNSIGNED_INT_24_8; + + // if "p" can't be resolved, assume the user defines a WebGL constant as a string (fallback/workaround for packed RGB formats) + + return ( gl[ p ] !== undefined ) ? gl[ p ] : null; + + } + + return { convert: convert }; + +} + +const _occlusion_vertex = ` +void main() { + + gl_Position = vec4( position, 1.0 ); + +}`; + +const _occlusion_fragment = ` +uniform sampler2DArray depthColor; +uniform float depthWidth; +uniform float depthHeight; + +void main() { + + vec2 coord = vec2( gl_FragCoord.x / depthWidth, gl_FragCoord.y / depthHeight ); + + if ( coord.x >= 1.0 ) { + + gl_FragDepth = texture( depthColor, vec3( coord.x - 1.0, coord.y, 1 ) ).r; + + } else { + + gl_FragDepth = texture( depthColor, vec3( coord.x, coord.y, 0 ) ).r; + + } + +}`; + +/** + * A XR module that manages the access to the Depth Sensing API. + */ +class WebXRDepthSensing { + + /** + * Constructs a new depth sensing module. + */ + constructor() { + + /** + * An opaque texture representing the depth of the user's environment. + * + * @type {?ExternalTexture} + */ + this.texture = null; + + /** + * A plane mesh for visualizing the depth texture. + * + * @type {?Mesh} + */ + this.mesh = null; + + /** + * The depth near value. + * + * @type {number} + */ + this.depthNear = 0; + + /** + * The depth near far. + * + * @type {number} + */ + this.depthFar = 0; + + } + + /** + * Inits the depth sensing module + * + * @param {XRWebGLDepthInformation} depthData - The XR depth data. + * @param {XRRenderState} renderState - The XR render state. + */ + init( depthData, renderState ) { + + if ( this.texture === null ) { + + const texture = new ExternalTexture( depthData.texture ); + + if ( ( depthData.depthNear !== renderState.depthNear ) || ( depthData.depthFar !== renderState.depthFar ) ) { + + this.depthNear = depthData.depthNear; + this.depthFar = depthData.depthFar; + + } + + this.texture = texture; + + } + + } + + /** + * Returns a plane mesh that visualizes the depth texture. + * + * @param {ArrayCamera} cameraXR - The XR camera. + * @return {?Mesh} The plane mesh. + */ + getMesh( cameraXR ) { + + if ( this.texture !== null ) { + + if ( this.mesh === null ) { + + const viewport = cameraXR.cameras[ 0 ].viewport; + const material = new ShaderMaterial( { + vertexShader: _occlusion_vertex, + fragmentShader: _occlusion_fragment, + uniforms: { + depthColor: { value: this.texture }, + depthWidth: { value: viewport.z }, + depthHeight: { value: viewport.w } + } + } ); + + this.mesh = new Mesh( new PlaneGeometry( 20, 20 ), material ); + + } + + } + + return this.mesh; + + } + + /** + * Resets the module + */ + reset() { + + this.texture = null; + this.mesh = null; + + } + + /** + * Returns a texture representing the depth of the user's environment. + * + * @return {?ExternalTexture} The depth texture. + */ + getDepthTexture() { + + return this.texture; + + } + +} + +/** + * This class represents an abstraction of the WebXR Device API and is + * internally used by {@link WebGLRenderer}. `WebXRManager` also provides a public + * interface that allows users to enable/disable XR and perform XR related + * tasks like for instance retrieving controllers. + * + * @augments EventDispatcher + * @hideconstructor + */ +class WebXRManager extends EventDispatcher { + + /** + * Constructs a new WebGL renderer. + * + * @param {WebGLRenderer} renderer - The renderer. + * @param {WebGL2RenderingContext} gl - The rendering context. + */ + constructor( renderer, gl ) { + + super(); + + const scope = this; + + let session = null; + + let framebufferScaleFactor = 1.0; + + let referenceSpace = null; + let referenceSpaceType = 'local-floor'; + // Set default foveation to maximum. + let foveation = 1.0; + let customReferenceSpace = null; + + let pose = null; + let glBinding = null; + let glProjLayer = null; + let glBaseLayer = null; + let xrFrame = null; + + const supportsGlBinding = typeof XRWebGLBinding !== 'undefined'; + + const depthSensing = new WebXRDepthSensing(); + const cameraAccessTextures = {}; + const attributes = gl.getContextAttributes(); + + let initialRenderTarget = null; + let newRenderTarget = null; + + const controllers = []; + const controllerInputSources = []; + + const currentSize = new Vector2(); + let currentPixelRatio = null; + + // + + const cameraL = new PerspectiveCamera(); + cameraL.viewport = new Vector4(); + + const cameraR = new PerspectiveCamera(); + cameraR.viewport = new Vector4(); + + const cameras = [ cameraL, cameraR ]; + + const cameraXR = new ArrayCamera(); + + let _currentDepthNear = null; + let _currentDepthFar = null; + + // + + /** + * Whether the manager's XR camera should be automatically updated or not. + * + * @type {boolean} + * @default true + */ + this.cameraAutoUpdate = true; + + /** + * This flag notifies the renderer to be ready for XR rendering. Set it to `true` + * if you are going to use XR in your app. + * + * @type {boolean} + * @default false + */ + this.enabled = false; + + /** + * Whether XR presentation is active or not. + * + * @type {boolean} + * @readonly + * @default false + */ + this.isPresenting = false; + + /** + * Returns a group representing the `target ray` space of the XR controller. + * Use this space for visualizing 3D objects that support the user in pointing + * tasks like UI interaction. + * + * @param {number} index - The index of the controller. + * @return {Group} A group representing the `target ray` space. + */ + this.getController = function ( index ) { + + let controller = controllers[ index ]; + + if ( controller === undefined ) { + + controller = new WebXRController(); + controllers[ index ] = controller; + + } + + return controller.getTargetRaySpace(); + + }; + + /** + * Returns a group representing the `grip` space of the XR controller. + * Use this space for visualizing 3D objects that support the user in pointing + * tasks like UI interaction. + * + * Note: If you want to show something in the user's hand AND offer a + * pointing ray at the same time, you'll want to attached the handheld object + * to the group returned by `getControllerGrip()` and the ray to the + * group returned by `getController()`. The idea is to have two + * different groups in two different coordinate spaces for the same WebXR + * controller. + * + * @param {number} index - The index of the controller. + * @return {Group} A group representing the `grip` space. + */ + this.getControllerGrip = function ( index ) { + + let controller = controllers[ index ]; + + if ( controller === undefined ) { + + controller = new WebXRController(); + controllers[ index ] = controller; + + } + + return controller.getGripSpace(); + + }; + + /** + * Returns a group representing the `hand` space of the XR controller. + * Use this space for visualizing 3D objects that support the user in pointing + * tasks like UI interaction. + * + * @param {number} index - The index of the controller. + * @return {Group} A group representing the `hand` space. + */ + this.getHand = function ( index ) { + + let controller = controllers[ index ]; + + if ( controller === undefined ) { + + controller = new WebXRController(); + controllers[ index ] = controller; + + } + + return controller.getHandSpace(); + + }; + + // + + function onSessionEvent( event ) { + + const controllerIndex = controllerInputSources.indexOf( event.inputSource ); + + if ( controllerIndex === -1 ) { + + return; + + } + + const controller = controllers[ controllerIndex ]; + + if ( controller !== undefined ) { + + controller.update( event.inputSource, event.frame, customReferenceSpace || referenceSpace ); + controller.dispatchEvent( { type: event.type, data: event.inputSource } ); + + } + + } + + function onSessionEnd() { + + session.removeEventListener( 'select', onSessionEvent ); + session.removeEventListener( 'selectstart', onSessionEvent ); + session.removeEventListener( 'selectend', onSessionEvent ); + session.removeEventListener( 'squeeze', onSessionEvent ); + session.removeEventListener( 'squeezestart', onSessionEvent ); + session.removeEventListener( 'squeezeend', onSessionEvent ); + session.removeEventListener( 'end', onSessionEnd ); + session.removeEventListener( 'inputsourceschange', onInputSourcesChange ); + + for ( let i = 0; i < controllers.length; i ++ ) { + + const inputSource = controllerInputSources[ i ]; + + if ( inputSource === null ) continue; + + controllerInputSources[ i ] = null; + + controllers[ i ].disconnect( inputSource ); + + } + + _currentDepthNear = null; + _currentDepthFar = null; + + depthSensing.reset(); + for ( const key in cameraAccessTextures ) { + + delete cameraAccessTextures[ key ]; + + } + + // restore framebuffer/rendering state + + renderer.setRenderTarget( initialRenderTarget ); + + glBaseLayer = null; + glProjLayer = null; + glBinding = null; + session = null; + newRenderTarget = null; + + // + + animation.stop(); + + scope.isPresenting = false; + + renderer.setPixelRatio( currentPixelRatio ); + renderer.setSize( currentSize.width, currentSize.height, false ); + + scope.dispatchEvent( { type: 'sessionend' } ); + + } + + /** + * Sets the framebuffer scale factor. + * + * This method can not be used during a XR session. + * + * @param {number} value - The framebuffer scale factor. + */ + this.setFramebufferScaleFactor = function ( value ) { + + framebufferScaleFactor = value; + + if ( scope.isPresenting === true ) { + + warn( 'WebXRManager: Cannot change framebuffer scale while presenting.' ); + + } + + }; + + /** + * Sets the reference space type. Can be used to configure a spatial relationship with the user's physical + * environment. Depending on how the user moves in 3D space, setting an appropriate reference space can + * improve tracking. Default is `local-floor`. Valid values can be found here + * https://developer.mozilla.org/en-US/docs/Web/API/XRReferenceSpace#reference_space_types. + * + * This method can not be used during a XR session. + * + * @param {string} value - The reference space type. + */ + this.setReferenceSpaceType = function ( value ) { + + referenceSpaceType = value; + + if ( scope.isPresenting === true ) { + + warn( 'WebXRManager: Cannot change reference space type while presenting.' ); + + } + + }; + + /** + * Returns the XR reference space. + * + * @return {XRReferenceSpace} The XR reference space. + */ + this.getReferenceSpace = function () { + + return customReferenceSpace || referenceSpace; + + }; + + /** + * Sets a custom XR reference space. + * + * @param {XRReferenceSpace} space - The XR reference space. + */ + this.setReferenceSpace = function ( space ) { + + customReferenceSpace = space; + + }; + + /** + * Returns the current base layer. + * + * This is an `XRProjectionLayer` when the targeted XR device supports the + * WebXR Layers API, or an `XRWebGLLayer` otherwise. + * + * @return {?(XRWebGLLayer|XRProjectionLayer)} The XR base layer. + */ + this.getBaseLayer = function () { + + return glProjLayer !== null ? glProjLayer : glBaseLayer; + + }; + + /** + * Returns the current XR binding. + * + * Creates a new binding if needed and the browser is + * capable of doing so. + * + * @return {?XRWebGLBinding} The XR binding. Returns `null` if one cannot be created. + */ + this.getBinding = function () { + + if ( glBinding === null && supportsGlBinding ) { + + glBinding = new XRWebGLBinding( session, gl ); + + } + + return glBinding; + + }; + + /** + * Returns the current XR frame. + * + * @return {?XRFrame} The XR frame. Returns `null` when used outside a XR session. + */ + this.getFrame = function () { + + return xrFrame; + + }; + + /** + * Returns the current XR session. + * + * @return {?XRSession} The XR session. Returns `null` when used outside a XR session. + */ + this.getSession = function () { + + return session; + + }; + + /** + * After a XR session has been requested usually with one of the `*Button` modules, it + * is injected into the renderer with this method. This method triggers the start of + * the actual XR rendering. + * + * @async + * @param {XRSession} value - The XR session to set. + * @return {Promise} A Promise that resolves when the session has been set. + */ + this.setSession = async function ( value ) { + + session = value; + + if ( session !== null ) { + + initialRenderTarget = renderer.getRenderTarget(); + + session.addEventListener( 'select', onSessionEvent ); + session.addEventListener( 'selectstart', onSessionEvent ); + session.addEventListener( 'selectend', onSessionEvent ); + session.addEventListener( 'squeeze', onSessionEvent ); + session.addEventListener( 'squeezestart', onSessionEvent ); + session.addEventListener( 'squeezeend', onSessionEvent ); + session.addEventListener( 'end', onSessionEnd ); + session.addEventListener( 'inputsourceschange', onInputSourcesChange ); + + if ( attributes.xrCompatible !== true ) { + + await gl.makeXRCompatible(); + + } + + currentPixelRatio = renderer.getPixelRatio(); + renderer.getSize( currentSize ); + + + // Check that the browser implements the necessary APIs to use an + // XRProjectionLayer rather than an XRWebGLLayer + const supportsLayers = supportsGlBinding && 'createProjectionLayer' in XRWebGLBinding.prototype; + + if ( ! supportsLayers ) { + + const layerInit = { + antialias: attributes.antialias, + alpha: true, + depth: attributes.depth, + stencil: attributes.stencil, + framebufferScaleFactor: framebufferScaleFactor + }; + + glBaseLayer = new XRWebGLLayer( session, gl, layerInit ); + + session.updateRenderState( { baseLayer: glBaseLayer } ); + + renderer.setPixelRatio( 1 ); + renderer.setSize( glBaseLayer.framebufferWidth, glBaseLayer.framebufferHeight, false ); + + newRenderTarget = new WebGLRenderTarget( + glBaseLayer.framebufferWidth, + glBaseLayer.framebufferHeight, + { + format: RGBAFormat, + type: UnsignedByteType, + colorSpace: renderer.outputColorSpace, + stencilBuffer: attributes.stencil, + resolveDepthBuffer: ( glBaseLayer.ignoreDepthValues === false ), + resolveStencilBuffer: ( glBaseLayer.ignoreDepthValues === false ) + + } + ); + + } else { + + let depthFormat = null; + let depthType = null; + let glDepthFormat = null; + + if ( attributes.depth ) { + + glDepthFormat = attributes.stencil ? gl.DEPTH24_STENCIL8 : gl.DEPTH_COMPONENT24; + depthFormat = attributes.stencil ? DepthStencilFormat : DepthFormat; + depthType = attributes.stencil ? UnsignedInt248Type : UnsignedIntType; + + } + + const projectionlayerInit = { + colorFormat: gl.RGBA8, + depthFormat: glDepthFormat, + scaleFactor: framebufferScaleFactor + }; + + glBinding = this.getBinding(); + + glProjLayer = glBinding.createProjectionLayer( projectionlayerInit ); + + session.updateRenderState( { layers: [ glProjLayer ] } ); + + renderer.setPixelRatio( 1 ); + renderer.setSize( glProjLayer.textureWidth, glProjLayer.textureHeight, false ); + + newRenderTarget = new WebGLRenderTarget( + glProjLayer.textureWidth, + glProjLayer.textureHeight, + { + format: RGBAFormat, + type: UnsignedByteType, + depthTexture: new DepthTexture( glProjLayer.textureWidth, glProjLayer.textureHeight, depthType, undefined, undefined, undefined, undefined, undefined, undefined, depthFormat ), + stencilBuffer: attributes.stencil, + colorSpace: renderer.outputColorSpace, + samples: attributes.antialias ? 4 : 0, + resolveDepthBuffer: ( glProjLayer.ignoreDepthValues === false ), + resolveStencilBuffer: ( glProjLayer.ignoreDepthValues === false ) + } ); + + } + + newRenderTarget.isXRRenderTarget = true; // TODO Remove this when possible, see #23278 + + this.setFoveation( foveation ); + + customReferenceSpace = null; + referenceSpace = await session.requestReferenceSpace( referenceSpaceType ); + + animation.setContext( session ); + animation.start(); + + scope.isPresenting = true; + + scope.dispatchEvent( { type: 'sessionstart' } ); + + } + + }; + + /** + * Returns the environment blend mode from the current XR session. + * + * @return {'opaque'|'additive'|'alpha-blend'|undefined} The environment blend mode. Returns `undefined` when used outside of a XR session. + */ + this.getEnvironmentBlendMode = function () { + + if ( session !== null ) { + + return session.environmentBlendMode; + + } + + }; + + /** + * Returns the current depth texture computed via depth sensing. + * + * See {@link WebXRDepthSensing#getDepthTexture}. + * + * @return {?Texture} The depth texture. + */ + this.getDepthTexture = function () { + + return depthSensing.getDepthTexture(); + + }; + + function onInputSourcesChange( event ) { + + // Notify disconnected + + for ( let i = 0; i < event.removed.length; i ++ ) { + + const inputSource = event.removed[ i ]; + const index = controllerInputSources.indexOf( inputSource ); + + if ( index >= 0 ) { + + controllerInputSources[ index ] = null; + controllers[ index ].disconnect( inputSource ); + + } + + } + + // Notify connected + + for ( let i = 0; i < event.added.length; i ++ ) { + + const inputSource = event.added[ i ]; + + let controllerIndex = controllerInputSources.indexOf( inputSource ); + + if ( controllerIndex === -1 ) { + + // Assign input source a controller that currently has no input source + + for ( let i = 0; i < controllers.length; i ++ ) { + + if ( i >= controllerInputSources.length ) { + + controllerInputSources.push( inputSource ); + controllerIndex = i; + break; + + } else if ( controllerInputSources[ i ] === null ) { + + controllerInputSources[ i ] = inputSource; + controllerIndex = i; + break; + + } + + } + + // If all controllers do currently receive input we ignore new ones + + if ( controllerIndex === -1 ) break; + + } + + const controller = controllers[ controllerIndex ]; + + if ( controller ) { + + controller.connect( inputSource ); + + } + + } + + } + + // + + const cameraLPos = new Vector3(); + const cameraRPos = new Vector3(); + + /** + * Assumes 2 cameras that are parallel and share an X-axis, and that + * the cameras' projection and world matrices have already been set. + * And that near and far planes are identical for both cameras. + * Visualization of this technique: https://computergraphics.stackexchange.com/a/4765 + * + * @param {ArrayCamera} camera - The camera to update. + * @param {PerspectiveCamera} cameraL - The left camera. + * @param {PerspectiveCamera} cameraR - The right camera. + */ + function setProjectionFromUnion( camera, cameraL, cameraR ) { + + cameraLPos.setFromMatrixPosition( cameraL.matrixWorld ); + cameraRPos.setFromMatrixPosition( cameraR.matrixWorld ); + + const ipd = cameraLPos.distanceTo( cameraRPos ); + + const projL = cameraL.projectionMatrix.elements; + const projR = cameraR.projectionMatrix.elements; + + // VR systems will have identical far and near planes, and + // most likely identical top and bottom frustum extents. + // Use the left camera for these values. + const near = projL[ 14 ] / ( projL[ 10 ] - 1 ); + const far = projL[ 14 ] / ( projL[ 10 ] + 1 ); + const topFov = ( projL[ 9 ] + 1 ) / projL[ 5 ]; + const bottomFov = ( projL[ 9 ] - 1 ) / projL[ 5 ]; + + const leftFov = ( projL[ 8 ] - 1 ) / projL[ 0 ]; + const rightFov = ( projR[ 8 ] + 1 ) / projR[ 0 ]; + const left = near * leftFov; + const right = near * rightFov; + + // Calculate the new camera's position offset from the + // left camera. xOffset should be roughly half `ipd`. + const zOffset = ipd / ( - leftFov + rightFov ); + const xOffset = zOffset * - leftFov; + + // TODO: Better way to apply this offset? + cameraL.matrixWorld.decompose( camera.position, camera.quaternion, camera.scale ); + camera.translateX( xOffset ); + camera.translateZ( zOffset ); + camera.matrixWorld.compose( camera.position, camera.quaternion, camera.scale ); + camera.matrixWorldInverse.copy( camera.matrixWorld ).invert(); + + // Check if the projection uses an infinite far plane. + if ( projL[ 10 ] === -1 ) { + + // Use the projection matrix from the left eye. + // The camera offset is sufficient to include the view volumes + // of both eyes (assuming symmetric projections). + camera.projectionMatrix.copy( cameraL.projectionMatrix ); + camera.projectionMatrixInverse.copy( cameraL.projectionMatrixInverse ); + + } else { + + // Find the union of the frustum values of the cameras and scale + // the values so that the near plane's position does not change in world space, + // although must now be relative to the new union camera. + const near2 = near + zOffset; + const far2 = far + zOffset; + const left2 = left - xOffset; + const right2 = right + ( ipd - xOffset ); + const top2 = topFov * far / far2 * near2; + const bottom2 = bottomFov * far / far2 * near2; + + camera.projectionMatrix.makePerspective( left2, right2, top2, bottom2, near2, far2 ); + camera.projectionMatrixInverse.copy( camera.projectionMatrix ).invert(); + + } + + } + + function updateCamera( camera, parent ) { + + if ( parent === null ) { + + camera.matrixWorld.copy( camera.matrix ); + + } else { + + camera.matrixWorld.multiplyMatrices( parent.matrixWorld, camera.matrix ); + + } + + camera.matrixWorldInverse.copy( camera.matrixWorld ).invert(); + + } + + /** + * Updates the state of the XR camera. Use this method on app level if you + * set `cameraAutoUpdate` to `false`. The method requires the non-XR + * camera of the scene as a parameter. The passed in camera's transformation + * is automatically adjusted to the position of the XR camera when calling + * this method. + * + * @param {Camera} camera - The camera. + */ + this.updateCamera = function ( camera ) { + + if ( session === null ) return; + + let depthNear = camera.near; + let depthFar = camera.far; + + if ( depthSensing.texture !== null ) { + + if ( depthSensing.depthNear > 0 ) depthNear = depthSensing.depthNear; + if ( depthSensing.depthFar > 0 ) depthFar = depthSensing.depthFar; + + } + + cameraXR.near = cameraR.near = cameraL.near = depthNear; + cameraXR.far = cameraR.far = cameraL.far = depthFar; + + if ( _currentDepthNear !== cameraXR.near || _currentDepthFar !== cameraXR.far ) { + + // Note that the new renderState won't apply until the next frame. See #18320 + + session.updateRenderState( { + depthNear: cameraXR.near, + depthFar: cameraXR.far + } ); + + _currentDepthNear = cameraXR.near; + _currentDepthFar = cameraXR.far; + + } + + // inherit camera layers and enable eye layers (1 = left, 2 = right) + cameraXR.layers.mask = camera.layers.mask | 0b110; + cameraL.layers.mask = cameraXR.layers.mask & -5; + cameraR.layers.mask = cameraXR.layers.mask & -3; + + const parent = camera.parent; + const cameras = cameraXR.cameras; + + updateCamera( cameraXR, parent ); + + for ( let i = 0; i < cameras.length; i ++ ) { + + updateCamera( cameras[ i ], parent ); + + } + + // update projection matrix for proper view frustum culling + + if ( cameras.length === 2 ) { + + setProjectionFromUnion( cameraXR, cameraL, cameraR ); + + } else { + + // assume single camera setup (AR) + + cameraXR.projectionMatrix.copy( cameraL.projectionMatrix ); + + } + + // update user camera and its children + + updateUserCamera( camera, cameraXR, parent ); + + }; + + function updateUserCamera( camera, cameraXR, parent ) { + + if ( parent === null ) { + + camera.matrix.copy( cameraXR.matrixWorld ); + + } else { + + camera.matrix.copy( parent.matrixWorld ); + camera.matrix.invert(); + camera.matrix.multiply( cameraXR.matrixWorld ); + + } + + camera.matrix.decompose( camera.position, camera.quaternion, camera.scale ); + camera.updateMatrixWorld( true ); + + camera.projectionMatrix.copy( cameraXR.projectionMatrix ); + camera.projectionMatrixInverse.copy( cameraXR.projectionMatrixInverse ); + + if ( camera.isPerspectiveCamera ) { + + camera.fov = RAD2DEG * 2 * Math.atan( 1 / camera.projectionMatrix.elements[ 5 ] ); + camera.zoom = 1; + + } + + } + + /** + * Returns an instance of {@link ArrayCamera} which represents the XR camera + * of the active XR session. For each view it holds a separate camera object. + * + * The camera's `fov` is currently not used and does not reflect the fov of + * the XR camera. If you need the fov on app level, you have to compute in + * manually from the XR camera's projection matrices. + * + * @return {ArrayCamera} The XR camera. + */ + this.getCamera = function () { + + return cameraXR; + + }; + + /** + * Returns the amount of foveation used by the XR compositor for the projection layer. + * + * @return {number|undefined} The amount of foveation. + */ + this.getFoveation = function () { + + if ( glProjLayer === null && glBaseLayer === null ) { + + return undefined; + + } + + return foveation; + + }; + + /** + * Sets the foveation value. + * + * @param {number} value - A number in the range `[0,1]` where `0` means no foveation (full resolution) + * and `1` means maximum foveation (the edges render at lower resolution). + */ + this.setFoveation = function ( value ) { + + // 0 = no foveation = full resolution + // 1 = maximum foveation = the edges render at lower resolution + + foveation = value; + + if ( glProjLayer !== null ) { + + glProjLayer.fixedFoveation = value; + + } + + if ( glBaseLayer !== null && glBaseLayer.fixedFoveation !== undefined ) { + + glBaseLayer.fixedFoveation = value; + + } + + }; + + /** + * Returns `true` if depth sensing is supported. + * + * @return {boolean} Whether depth sensing is supported or not. + */ + this.hasDepthSensing = function () { + + return depthSensing.texture !== null; + + }; + + /** + * Returns the depth sensing mesh. + * + * See {@link WebXRDepthSensing#getMesh}. + * + * @return {Mesh} The depth sensing mesh. + */ + this.getDepthSensingMesh = function () { + + return depthSensing.getMesh( cameraXR ); + + }; + + /** + * Retrieves an opaque texture from the view-aligned {@link XRCamera}. + * Only available during the current animation loop. + * + * @param {XRCamera} xrCamera - The camera to query. + * @return {?Texture} An opaque texture representing the current raw camera frame. + */ + this.getCameraTexture = function ( xrCamera ) { + + return cameraAccessTextures[ xrCamera ]; + + }; + + // Animation Loop + + let onAnimationFrameCallback = null; + + function onAnimationFrame( time, frame ) { + + pose = frame.getViewerPose( customReferenceSpace || referenceSpace ); + xrFrame = frame; + + if ( pose !== null ) { + + const views = pose.views; + + if ( glBaseLayer !== null ) { + + renderer.setRenderTargetFramebuffer( newRenderTarget, glBaseLayer.framebuffer ); + renderer.setRenderTarget( newRenderTarget ); + + } + + let cameraXRNeedsUpdate = false; + + // check if it's necessary to rebuild cameraXR's camera list + + if ( views.length !== cameraXR.cameras.length ) { + + cameraXR.cameras.length = 0; + cameraXRNeedsUpdate = true; + + } + + for ( let i = 0; i < views.length; i ++ ) { + + const view = views[ i ]; + + let viewport = null; + + if ( glBaseLayer !== null ) { + + viewport = glBaseLayer.getViewport( view ); + + } else { + + const glSubImage = glBinding.getViewSubImage( glProjLayer, view ); + viewport = glSubImage.viewport; + + // For side-by-side projection, we only produce a single texture for both eyes. + if ( i === 0 ) { + + renderer.setRenderTargetTextures( + newRenderTarget, + glSubImage.colorTexture, + glSubImage.depthStencilTexture ); + + renderer.setRenderTarget( newRenderTarget ); + + } + + } + + let camera = cameras[ i ]; + + if ( camera === undefined ) { + + camera = new PerspectiveCamera(); + camera.layers.enable( i ); + camera.viewport = new Vector4(); + cameras[ i ] = camera; + + } + + camera.matrix.fromArray( view.transform.matrix ); + camera.matrix.decompose( camera.position, camera.quaternion, camera.scale ); + camera.projectionMatrix.fromArray( view.projectionMatrix ); + camera.projectionMatrixInverse.copy( camera.projectionMatrix ).invert(); + camera.viewport.set( viewport.x, viewport.y, viewport.width, viewport.height ); + + if ( i === 0 ) { + + cameraXR.matrix.copy( camera.matrix ); + cameraXR.matrix.decompose( cameraXR.position, cameraXR.quaternion, cameraXR.scale ); + + } + + if ( cameraXRNeedsUpdate === true ) { + + cameraXR.cameras.push( camera ); + + } + + } + + // + + const enabledFeatures = session.enabledFeatures; + const gpuDepthSensingEnabled = enabledFeatures && + enabledFeatures.includes( 'depth-sensing' ) && + session.depthUsage == 'gpu-optimized'; + + if ( gpuDepthSensingEnabled && supportsGlBinding ) { + + glBinding = scope.getBinding(); + + const depthData = glBinding.getDepthInformation( views[ 0 ] ); + + if ( depthData && depthData.isValid && depthData.texture ) { + + depthSensing.init( depthData, session.renderState ); + + } + + } + + const cameraAccessEnabled = enabledFeatures && + enabledFeatures.includes( 'camera-access' ); + + if ( cameraAccessEnabled && supportsGlBinding ) { + + renderer.state.unbindTexture(); + + glBinding = scope.getBinding(); + + for ( let i = 0; i < views.length; i ++ ) { + + const camera = views[ i ].camera; + + if ( camera ) { + + let cameraTex = cameraAccessTextures[ camera ]; + + if ( ! cameraTex ) { + + cameraTex = new ExternalTexture(); + cameraAccessTextures[ camera ] = cameraTex; + + } + + const glTexture = glBinding.getCameraImage( camera ); + cameraTex.sourceTexture = glTexture; + + } + + } + + } + + } + + // + + for ( let i = 0; i < controllers.length; i ++ ) { + + const inputSource = controllerInputSources[ i ]; + const controller = controllers[ i ]; + + if ( inputSource !== null && controller !== undefined ) { + + controller.update( inputSource, frame, customReferenceSpace || referenceSpace ); + + } + + } + + if ( onAnimationFrameCallback ) onAnimationFrameCallback( time, frame ); + + if ( frame.detectedPlanes ) { + + scope.dispatchEvent( { type: 'planesdetected', data: frame } ); + + } + + xrFrame = null; + + } + + const animation = new WebGLAnimation(); + + animation.setAnimationLoop( onAnimationFrame ); + + this.setAnimationLoop = function ( callback ) { + + onAnimationFrameCallback = callback; + + }; + + this.dispose = function () {}; + + } + +} + +const _e1 = /*@__PURE__*/ new Euler(); +const _m1 = /*@__PURE__*/ new Matrix4(); + +function WebGLMaterials( renderer, properties ) { + + function refreshTransformUniform( map, uniform ) { + + if ( map.matrixAutoUpdate === true ) { + + map.updateMatrix(); + + } + + uniform.value.copy( map.matrix ); + + } + + function refreshFogUniforms( uniforms, fog ) { + + fog.color.getRGB( uniforms.fogColor.value, getUnlitUniformColorSpace( renderer ) ); + + if ( fog.isFog ) { + + uniforms.fogNear.value = fog.near; + uniforms.fogFar.value = fog.far; + + } else if ( fog.isFogExp2 ) { + + uniforms.fogDensity.value = fog.density; + + } + + } + + function refreshMaterialUniforms( uniforms, material, pixelRatio, height, transmissionRenderTarget ) { + + if ( material.isMeshBasicMaterial ) { + + refreshUniformsCommon( uniforms, material ); + + } else if ( material.isMeshLambertMaterial ) { + + refreshUniformsCommon( uniforms, material ); + + if ( material.envMap ) { + + uniforms.envMapIntensity.value = material.envMapIntensity; + + } + + } else if ( material.isMeshToonMaterial ) { + + refreshUniformsCommon( uniforms, material ); + refreshUniformsToon( uniforms, material ); + + } else if ( material.isMeshPhongMaterial ) { + + refreshUniformsCommon( uniforms, material ); + refreshUniformsPhong( uniforms, material ); + + if ( material.envMap ) { + + uniforms.envMapIntensity.value = material.envMapIntensity; + + } + + } else if ( material.isMeshStandardMaterial ) { + + refreshUniformsCommon( uniforms, material ); + refreshUniformsStandard( uniforms, material ); + + if ( material.isMeshPhysicalMaterial ) { + + refreshUniformsPhysical( uniforms, material, transmissionRenderTarget ); + + } + + } else if ( material.isMeshMatcapMaterial ) { + + refreshUniformsCommon( uniforms, material ); + refreshUniformsMatcap( uniforms, material ); + + } else if ( material.isMeshDepthMaterial ) { + + refreshUniformsCommon( uniforms, material ); + + } else if ( material.isMeshDistanceMaterial ) { + + refreshUniformsCommon( uniforms, material ); + refreshUniformsDistance( uniforms, material ); + + } else if ( material.isMeshNormalMaterial ) { + + refreshUniformsCommon( uniforms, material ); + + } else if ( material.isLineBasicMaterial ) { + + refreshUniformsLine( uniforms, material ); + + if ( material.isLineDashedMaterial ) { + + refreshUniformsDash( uniforms, material ); + + } + + } else if ( material.isPointsMaterial ) { + + refreshUniformsPoints( uniforms, material, pixelRatio, height ); + + } else if ( material.isSpriteMaterial ) { + + refreshUniformsSprites( uniforms, material ); + + } else if ( material.isShadowMaterial ) { + + uniforms.color.value.copy( material.color ); + uniforms.opacity.value = material.opacity; + + } else if ( material.isShaderMaterial ) { + + material.uniformsNeedUpdate = false; // #15581 + + } + + } + + function refreshUniformsCommon( uniforms, material ) { + + uniforms.opacity.value = material.opacity; + + if ( material.color ) { + + uniforms.diffuse.value.copy( material.color ); + + } + + if ( material.emissive ) { + + uniforms.emissive.value.copy( material.emissive ).multiplyScalar( material.emissiveIntensity ); + + } + + if ( material.map ) { + + uniforms.map.value = material.map; + + refreshTransformUniform( material.map, uniforms.mapTransform ); + + } + + if ( material.alphaMap ) { + + uniforms.alphaMap.value = material.alphaMap; + + refreshTransformUniform( material.alphaMap, uniforms.alphaMapTransform ); + + } + + if ( material.bumpMap ) { + + uniforms.bumpMap.value = material.bumpMap; + + refreshTransformUniform( material.bumpMap, uniforms.bumpMapTransform ); + + uniforms.bumpScale.value = material.bumpScale; + + if ( material.side === BackSide ) { + + uniforms.bumpScale.value *= -1; + + } + + } + + if ( material.normalMap ) { + + uniforms.normalMap.value = material.normalMap; + + refreshTransformUniform( material.normalMap, uniforms.normalMapTransform ); + + uniforms.normalScale.value.copy( material.normalScale ); + + if ( material.side === BackSide ) { + + uniforms.normalScale.value.negate(); + + } + + } + + if ( material.displacementMap ) { + + uniforms.displacementMap.value = material.displacementMap; + + refreshTransformUniform( material.displacementMap, uniforms.displacementMapTransform ); + + uniforms.displacementScale.value = material.displacementScale; + uniforms.displacementBias.value = material.displacementBias; + + } + + if ( material.emissiveMap ) { + + uniforms.emissiveMap.value = material.emissiveMap; + + refreshTransformUniform( material.emissiveMap, uniforms.emissiveMapTransform ); + + } + + if ( material.specularMap ) { + + uniforms.specularMap.value = material.specularMap; + + refreshTransformUniform( material.specularMap, uniforms.specularMapTransform ); + + } + + if ( material.alphaTest > 0 ) { + + uniforms.alphaTest.value = material.alphaTest; + + } + + const materialProperties = properties.get( material ); + + const envMap = materialProperties.envMap; + const envMapRotation = materialProperties.envMapRotation; + + if ( envMap ) { + + uniforms.envMap.value = envMap; + + _e1.copy( envMapRotation ); + + // accommodate left-handed frame + _e1.x *= -1; _e1.y *= -1; _e1.z *= -1; + + if ( envMap.isCubeTexture && envMap.isRenderTargetTexture === false ) { + + // environment maps which are not cube render targets or PMREMs follow a different convention + _e1.y *= -1; + _e1.z *= -1; + + } + + uniforms.envMapRotation.value.setFromMatrix4( _m1.makeRotationFromEuler( _e1 ) ); + + uniforms.flipEnvMap.value = ( envMap.isCubeTexture && envMap.isRenderTargetTexture === false ) ? -1 : 1; + + uniforms.reflectivity.value = material.reflectivity; + uniforms.ior.value = material.ior; + uniforms.refractionRatio.value = material.refractionRatio; + + } + + if ( material.lightMap ) { + + uniforms.lightMap.value = material.lightMap; + uniforms.lightMapIntensity.value = material.lightMapIntensity; + + refreshTransformUniform( material.lightMap, uniforms.lightMapTransform ); + + } + + if ( material.aoMap ) { + + uniforms.aoMap.value = material.aoMap; + uniforms.aoMapIntensity.value = material.aoMapIntensity; + + refreshTransformUniform( material.aoMap, uniforms.aoMapTransform ); + + } + + } + + function refreshUniformsLine( uniforms, material ) { + + uniforms.diffuse.value.copy( material.color ); + uniforms.opacity.value = material.opacity; + + if ( material.map ) { + + uniforms.map.value = material.map; + + refreshTransformUniform( material.map, uniforms.mapTransform ); + + } + + } + + function refreshUniformsDash( uniforms, material ) { + + uniforms.dashSize.value = material.dashSize; + uniforms.totalSize.value = material.dashSize + material.gapSize; + uniforms.scale.value = material.scale; + + } + + function refreshUniformsPoints( uniforms, material, pixelRatio, height ) { + + uniforms.diffuse.value.copy( material.color ); + uniforms.opacity.value = material.opacity; + uniforms.size.value = material.size * pixelRatio; + uniforms.scale.value = height * 0.5; + + if ( material.map ) { + + uniforms.map.value = material.map; + + refreshTransformUniform( material.map, uniforms.uvTransform ); + + } + + if ( material.alphaMap ) { + + uniforms.alphaMap.value = material.alphaMap; + + refreshTransformUniform( material.alphaMap, uniforms.alphaMapTransform ); + + } + + if ( material.alphaTest > 0 ) { + + uniforms.alphaTest.value = material.alphaTest; + + } + + } + + function refreshUniformsSprites( uniforms, material ) { + + uniforms.diffuse.value.copy( material.color ); + uniforms.opacity.value = material.opacity; + uniforms.rotation.value = material.rotation; + + if ( material.map ) { + + uniforms.map.value = material.map; + + refreshTransformUniform( material.map, uniforms.mapTransform ); + + } + + if ( material.alphaMap ) { + + uniforms.alphaMap.value = material.alphaMap; + + refreshTransformUniform( material.alphaMap, uniforms.alphaMapTransform ); + + } + + if ( material.alphaTest > 0 ) { + + uniforms.alphaTest.value = material.alphaTest; + + } + + } + + function refreshUniformsPhong( uniforms, material ) { + + uniforms.specular.value.copy( material.specular ); + uniforms.shininess.value = Math.max( material.shininess, 1e-4 ); // to prevent pow( 0.0, 0.0 ) + + } + + function refreshUniformsToon( uniforms, material ) { + + if ( material.gradientMap ) { + + uniforms.gradientMap.value = material.gradientMap; + + } + + } + + function refreshUniformsStandard( uniforms, material ) { + + uniforms.metalness.value = material.metalness; + + if ( material.metalnessMap ) { + + uniforms.metalnessMap.value = material.metalnessMap; + + refreshTransformUniform( material.metalnessMap, uniforms.metalnessMapTransform ); + + } + + uniforms.roughness.value = material.roughness; + + if ( material.roughnessMap ) { + + uniforms.roughnessMap.value = material.roughnessMap; + + refreshTransformUniform( material.roughnessMap, uniforms.roughnessMapTransform ); + + } + + if ( material.envMap ) { + + //uniforms.envMap.value = material.envMap; // part of uniforms common + + uniforms.envMapIntensity.value = material.envMapIntensity; + + } + + } + + function refreshUniformsPhysical( uniforms, material, transmissionRenderTarget ) { + + uniforms.ior.value = material.ior; // also part of uniforms common + + if ( material.sheen > 0 ) { + + uniforms.sheenColor.value.copy( material.sheenColor ).multiplyScalar( material.sheen ); + + uniforms.sheenRoughness.value = material.sheenRoughness; + + if ( material.sheenColorMap ) { + + uniforms.sheenColorMap.value = material.sheenColorMap; + + refreshTransformUniform( material.sheenColorMap, uniforms.sheenColorMapTransform ); + + } + + if ( material.sheenRoughnessMap ) { + + uniforms.sheenRoughnessMap.value = material.sheenRoughnessMap; + + refreshTransformUniform( material.sheenRoughnessMap, uniforms.sheenRoughnessMapTransform ); + + } + + } + + if ( material.clearcoat > 0 ) { + + uniforms.clearcoat.value = material.clearcoat; + uniforms.clearcoatRoughness.value = material.clearcoatRoughness; + + if ( material.clearcoatMap ) { + + uniforms.clearcoatMap.value = material.clearcoatMap; + + refreshTransformUniform( material.clearcoatMap, uniforms.clearcoatMapTransform ); + + } + + if ( material.clearcoatRoughnessMap ) { + + uniforms.clearcoatRoughnessMap.value = material.clearcoatRoughnessMap; + + refreshTransformUniform( material.clearcoatRoughnessMap, uniforms.clearcoatRoughnessMapTransform ); + + } + + if ( material.clearcoatNormalMap ) { + + uniforms.clearcoatNormalMap.value = material.clearcoatNormalMap; + + refreshTransformUniform( material.clearcoatNormalMap, uniforms.clearcoatNormalMapTransform ); + + uniforms.clearcoatNormalScale.value.copy( material.clearcoatNormalScale ); + + if ( material.side === BackSide ) { + + uniforms.clearcoatNormalScale.value.negate(); + + } + + } + + } + + if ( material.dispersion > 0 ) { + + uniforms.dispersion.value = material.dispersion; + + } + + if ( material.iridescence > 0 ) { + + uniforms.iridescence.value = material.iridescence; + uniforms.iridescenceIOR.value = material.iridescenceIOR; + uniforms.iridescenceThicknessMinimum.value = material.iridescenceThicknessRange[ 0 ]; + uniforms.iridescenceThicknessMaximum.value = material.iridescenceThicknessRange[ 1 ]; + + if ( material.iridescenceMap ) { + + uniforms.iridescenceMap.value = material.iridescenceMap; + + refreshTransformUniform( material.iridescenceMap, uniforms.iridescenceMapTransform ); + + } + + if ( material.iridescenceThicknessMap ) { + + uniforms.iridescenceThicknessMap.value = material.iridescenceThicknessMap; + + refreshTransformUniform( material.iridescenceThicknessMap, uniforms.iridescenceThicknessMapTransform ); + + } + + } + + if ( material.transmission > 0 ) { + + uniforms.transmission.value = material.transmission; + uniforms.transmissionSamplerMap.value = transmissionRenderTarget.texture; + uniforms.transmissionSamplerSize.value.set( transmissionRenderTarget.width, transmissionRenderTarget.height ); + + if ( material.transmissionMap ) { + + uniforms.transmissionMap.value = material.transmissionMap; + + refreshTransformUniform( material.transmissionMap, uniforms.transmissionMapTransform ); + + } + + uniforms.thickness.value = material.thickness; + + if ( material.thicknessMap ) { + + uniforms.thicknessMap.value = material.thicknessMap; + + refreshTransformUniform( material.thicknessMap, uniforms.thicknessMapTransform ); + + } + + uniforms.attenuationDistance.value = material.attenuationDistance; + uniforms.attenuationColor.value.copy( material.attenuationColor ); + + } + + if ( material.anisotropy > 0 ) { + + uniforms.anisotropyVector.value.set( material.anisotropy * Math.cos( material.anisotropyRotation ), material.anisotropy * Math.sin( material.anisotropyRotation ) ); + + if ( material.anisotropyMap ) { + + uniforms.anisotropyMap.value = material.anisotropyMap; + + refreshTransformUniform( material.anisotropyMap, uniforms.anisotropyMapTransform ); + + } + + } + + uniforms.specularIntensity.value = material.specularIntensity; + uniforms.specularColor.value.copy( material.specularColor ); + + if ( material.specularColorMap ) { + + uniforms.specularColorMap.value = material.specularColorMap; + + refreshTransformUniform( material.specularColorMap, uniforms.specularColorMapTransform ); + + } + + if ( material.specularIntensityMap ) { + + uniforms.specularIntensityMap.value = material.specularIntensityMap; + + refreshTransformUniform( material.specularIntensityMap, uniforms.specularIntensityMapTransform ); + + } + + } + + function refreshUniformsMatcap( uniforms, material ) { + + if ( material.matcap ) { + + uniforms.matcap.value = material.matcap; + + } + + } + + function refreshUniformsDistance( uniforms, material ) { + + const light = properties.get( material ).light; + + uniforms.referencePosition.value.setFromMatrixPosition( light.matrixWorld ); + uniforms.nearDistance.value = light.shadow.camera.near; + uniforms.farDistance.value = light.shadow.camera.far; + + } + + return { + refreshFogUniforms: refreshFogUniforms, + refreshMaterialUniforms: refreshMaterialUniforms + }; + +} + +function WebGLUniformsGroups( gl, info, capabilities, state ) { + + let buffers = {}; + let updateList = {}; + let allocatedBindingPoints = []; + + const maxBindingPoints = gl.getParameter( gl.MAX_UNIFORM_BUFFER_BINDINGS ); // binding points are global whereas block indices are per shader program + + function bind( uniformsGroup, program ) { + + const webglProgram = program.program; + state.uniformBlockBinding( uniformsGroup, webglProgram ); + + } + + function update( uniformsGroup, program ) { + + let buffer = buffers[ uniformsGroup.id ]; + + if ( buffer === undefined ) { + + prepareUniformsGroup( uniformsGroup ); + + buffer = createBuffer( uniformsGroup ); + buffers[ uniformsGroup.id ] = buffer; + + uniformsGroup.addEventListener( 'dispose', onUniformsGroupsDispose ); + + } + + // ensure to update the binding points/block indices mapping for this program + + const webglProgram = program.program; + state.updateUBOMapping( uniformsGroup, webglProgram ); + + // update UBO once per frame + + const frame = info.render.frame; + + if ( updateList[ uniformsGroup.id ] !== frame ) { + + updateBufferData( uniformsGroup ); + + updateList[ uniformsGroup.id ] = frame; + + } + + } + + function createBuffer( uniformsGroup ) { + + // the setup of an UBO is independent of a particular shader program but global + + const bindingPointIndex = allocateBindingPointIndex(); + uniformsGroup.__bindingPointIndex = bindingPointIndex; + + const buffer = gl.createBuffer(); + const size = uniformsGroup.__size; + const usage = uniformsGroup.usage; + + gl.bindBuffer( gl.UNIFORM_BUFFER, buffer ); + gl.bufferData( gl.UNIFORM_BUFFER, size, usage ); + gl.bindBuffer( gl.UNIFORM_BUFFER, null ); + gl.bindBufferBase( gl.UNIFORM_BUFFER, bindingPointIndex, buffer ); + + return buffer; + + } + + function allocateBindingPointIndex() { + + for ( let i = 0; i < maxBindingPoints; i ++ ) { + + if ( allocatedBindingPoints.indexOf( i ) === -1 ) { + + allocatedBindingPoints.push( i ); + return i; + + } + + } + + error( 'WebGLRenderer: Maximum number of simultaneously usable uniforms groups reached.' ); + + return 0; + + } + + function updateBufferData( uniformsGroup ) { + + const buffer = buffers[ uniformsGroup.id ]; + const uniforms = uniformsGroup.uniforms; + const cache = uniformsGroup.__cache; + + gl.bindBuffer( gl.UNIFORM_BUFFER, buffer ); + + for ( let i = 0, il = uniforms.length; i < il; i ++ ) { + + const uniformArray = Array.isArray( uniforms[ i ] ) ? uniforms[ i ] : [ uniforms[ i ] ]; + + for ( let j = 0, jl = uniformArray.length; j < jl; j ++ ) { + + const uniform = uniformArray[ j ]; + + if ( hasUniformChanged( uniform, i, j, cache ) === true ) { + + const offset = uniform.__offset; + + const values = Array.isArray( uniform.value ) ? uniform.value : [ uniform.value ]; + + let arrayOffset = 0; + + for ( let k = 0; k < values.length; k ++ ) { + + const value = values[ k ]; + + const info = getUniformSize( value ); + + // TODO add integer and struct support + if ( typeof value === 'number' || typeof value === 'boolean' ) { + + uniform.__data[ 0 ] = value; + gl.bufferSubData( gl.UNIFORM_BUFFER, offset + arrayOffset, uniform.__data ); + + } else if ( value.isMatrix3 ) { + + // manually converting 3x3 to 3x4 + + uniform.__data[ 0 ] = value.elements[ 0 ]; + uniform.__data[ 1 ] = value.elements[ 1 ]; + uniform.__data[ 2 ] = value.elements[ 2 ]; + uniform.__data[ 3 ] = 0; + uniform.__data[ 4 ] = value.elements[ 3 ]; + uniform.__data[ 5 ] = value.elements[ 4 ]; + uniform.__data[ 6 ] = value.elements[ 5 ]; + uniform.__data[ 7 ] = 0; + uniform.__data[ 8 ] = value.elements[ 6 ]; + uniform.__data[ 9 ] = value.elements[ 7 ]; + uniform.__data[ 10 ] = value.elements[ 8 ]; + uniform.__data[ 11 ] = 0; + + } else { + + value.toArray( uniform.__data, arrayOffset ); + + arrayOffset += info.storage / Float32Array.BYTES_PER_ELEMENT; + + } + + } + + gl.bufferSubData( gl.UNIFORM_BUFFER, offset, uniform.__data ); + + } + + } + + } + + gl.bindBuffer( gl.UNIFORM_BUFFER, null ); + + } + + function hasUniformChanged( uniform, index, indexArray, cache ) { + + const value = uniform.value; + const indexString = index + '_' + indexArray; + + if ( cache[ indexString ] === undefined ) { + + // cache entry does not exist so far + + if ( typeof value === 'number' || typeof value === 'boolean' ) { + + cache[ indexString ] = value; + + } else { + + cache[ indexString ] = value.clone(); + + } + + return true; + + } else { + + const cachedObject = cache[ indexString ]; + + // compare current value with cached entry + + if ( typeof value === 'number' || typeof value === 'boolean' ) { + + if ( cachedObject !== value ) { + + cache[ indexString ] = value; + return true; + + } + + } else { + + if ( cachedObject.equals( value ) === false ) { + + cachedObject.copy( value ); + return true; + + } + + } + + } + + return false; + + } + + function prepareUniformsGroup( uniformsGroup ) { + + // determine total buffer size according to the STD140 layout + // Hint: STD140 is the only supported layout in WebGL 2 + + const uniforms = uniformsGroup.uniforms; + + let offset = 0; // global buffer offset in bytes + const chunkSize = 16; // size of a chunk in bytes + + for ( let i = 0, l = uniforms.length; i < l; i ++ ) { + + const uniformArray = Array.isArray( uniforms[ i ] ) ? uniforms[ i ] : [ uniforms[ i ] ]; + + for ( let j = 0, jl = uniformArray.length; j < jl; j ++ ) { + + const uniform = uniformArray[ j ]; + + const values = Array.isArray( uniform.value ) ? uniform.value : [ uniform.value ]; + + for ( let k = 0, kl = values.length; k < kl; k ++ ) { + + const value = values[ k ]; + + const info = getUniformSize( value ); + + const chunkOffset = offset % chunkSize; // offset in the current chunk + const chunkPadding = chunkOffset % info.boundary; // required padding to match boundary + const chunkStart = chunkOffset + chunkPadding; // the start position in the current chunk for the data + + offset += chunkPadding; + + // Check for chunk overflow + if ( chunkStart !== 0 && ( chunkSize - chunkStart ) < info.storage ) { + + // Add padding and adjust offset + offset += ( chunkSize - chunkStart ); + + } + + // the following two properties will be used for partial buffer updates + uniform.__data = new Float32Array( info.storage / Float32Array.BYTES_PER_ELEMENT ); + uniform.__offset = offset; + + // Update the global offset + offset += info.storage; + + } + + } + + } + + // ensure correct final padding + + const chunkOffset = offset % chunkSize; + + if ( chunkOffset > 0 ) offset += ( chunkSize - chunkOffset ); + + // + + uniformsGroup.__size = offset; + uniformsGroup.__cache = {}; + + return this; + + } + + function getUniformSize( value ) { + + const info = { + boundary: 0, // bytes + storage: 0 // bytes + }; + + // determine sizes according to STD140 + + if ( typeof value === 'number' || typeof value === 'boolean' ) { + + // float/int/bool + + info.boundary = 4; + info.storage = 4; + + } else if ( value.isVector2 ) { + + // vec2 + + info.boundary = 8; + info.storage = 8; + + } else if ( value.isVector3 || value.isColor ) { + + // vec3 + + info.boundary = 16; + info.storage = 12; // evil: vec3 must start on a 16-byte boundary but it only consumes 12 bytes + + } else if ( value.isVector4 ) { + + // vec4 + + info.boundary = 16; + info.storage = 16; + + } else if ( value.isMatrix3 ) { + + // mat3 (in STD140 a 3x3 matrix is represented as 3x4) + + info.boundary = 48; + info.storage = 48; + + } else if ( value.isMatrix4 ) { + + // mat4 + + info.boundary = 64; + info.storage = 64; + + } else if ( value.isTexture ) { + + warn( 'WebGLRenderer: Texture samplers can not be part of an uniforms group.' ); + + } else { + + warn( 'WebGLRenderer: Unsupported uniform value type.', value ); + + } + + return info; + + } + + function onUniformsGroupsDispose( event ) { + + const uniformsGroup = event.target; + + uniformsGroup.removeEventListener( 'dispose', onUniformsGroupsDispose ); + + const index = allocatedBindingPoints.indexOf( uniformsGroup.__bindingPointIndex ); + allocatedBindingPoints.splice( index, 1 ); + + gl.deleteBuffer( buffers[ uniformsGroup.id ] ); + + delete buffers[ uniformsGroup.id ]; + delete updateList[ uniformsGroup.id ]; + + } + + function dispose() { + + for ( const id in buffers ) { + + gl.deleteBuffer( buffers[ id ] ); + + } + + allocatedBindingPoints = []; + buffers = {}; + updateList = {}; + + } + + return { + + bind: bind, + update: update, + + dispose: dispose + + }; + +} + +/** + * Precomputed DFG LUT for Image-Based Lighting + * Resolution: 16x16 + * Samples: 4096 per texel + * Format: RG16F (2 half floats per texel: scale, bias) + */ + + +const DATA = new Uint16Array( [ + 0x30b5, 0x3ad1, 0x314c, 0x3a4d, 0x33d2, 0x391c, 0x35ef, 0x3828, 0x37f3, 0x36a6, 0x38d1, 0x3539, 0x3979, 0x3410, 0x39f8, 0x3252, 0x3a53, 0x30f0, 0x3a94, 0x2fc9, 0x3abf, 0x2e35, 0x3ada, 0x2d05, 0x3ae8, 0x2c1f, 0x3aed, 0x2ae0, 0x3aea, 0x29d1, 0x3ae1, 0x28ff, + 0x3638, 0x38e4, 0x364a, 0x38ce, 0x3699, 0x385e, 0x374e, 0x372c, 0x3839, 0x35a4, 0x38dc, 0x3462, 0x396e, 0x32c4, 0x39de, 0x3134, 0x3a2b, 0x3003, 0x3a59, 0x2e3a, 0x3a6d, 0x2ce1, 0x3a6e, 0x2bba, 0x3a5f, 0x2a33, 0x3a49, 0x290a, 0x3a2d, 0x2826, 0x3a0a, 0x26e8, + 0x3894, 0x36d7, 0x3897, 0x36c9, 0x38a3, 0x3675, 0x38bc, 0x35ac, 0x38ee, 0x349c, 0x393e, 0x3332, 0x3997, 0x3186, 0x39e2, 0x3038, 0x3a13, 0x2e75, 0x3a29, 0x2cf5, 0x3a2d, 0x2bac, 0x3a21, 0x29ff, 0x3a04, 0x28bc, 0x39dc, 0x2790, 0x39ad, 0x261a, 0x3978, 0x24fa, + 0x39ac, 0x34a8, 0x39ac, 0x34a3, 0x39ae, 0x3480, 0x39ae, 0x3423, 0x39b1, 0x330e, 0x39c2, 0x31a9, 0x39e0, 0x3063, 0x39fc, 0x2eb5, 0x3a0c, 0x2d1d, 0x3a14, 0x2bcf, 0x3a07, 0x29ff, 0x39e9, 0x28a3, 0x39be, 0x273c, 0x3989, 0x25b3, 0x394a, 0x2488, 0x3907, 0x2345, + 0x3a77, 0x3223, 0x3a76, 0x321f, 0x3a73, 0x3204, 0x3a6a, 0x31b3, 0x3a58, 0x3114, 0x3a45, 0x303b, 0x3a34, 0x2eb6, 0x3a26, 0x2d31, 0x3a1e, 0x2bef, 0x3a0b, 0x2a0d, 0x39ec, 0x28a1, 0x39c0, 0x271b, 0x3987, 0x2580, 0x3944, 0x2449, 0x38fa, 0x22bd, 0x38ac, 0x2155, + 0x3b07, 0x2fca, 0x3b06, 0x2fca, 0x3b00, 0x2fb8, 0x3af4, 0x2f7c, 0x3adb, 0x2eea, 0x3ab4, 0x2e00, 0x3a85, 0x2cec, 0x3a5e, 0x2bc5, 0x3a36, 0x2a00, 0x3a0d, 0x2899, 0x39dc, 0x2707, 0x39a0, 0x2562, 0x395a, 0x2424, 0x390b, 0x2268, 0x38b7, 0x20fd, 0x385f, 0x1fd1, + 0x3b69, 0x2cb9, 0x3b68, 0x2cbb, 0x3b62, 0x2cbb, 0x3b56, 0x2cae, 0x3b3b, 0x2c78, 0x3b0d, 0x2c0a, 0x3acf, 0x2ae3, 0x3a92, 0x2998, 0x3a54, 0x2867, 0x3a17, 0x26d0, 0x39d3, 0x253c, 0x3989, 0x2402, 0x3935, 0x2226, 0x38dc, 0x20bd, 0x387d, 0x1f54, 0x381d, 0x1db3, + 0x3ba9, 0x296b, 0x3ba8, 0x296f, 0x3ba3, 0x297b, 0x3b98, 0x2987, 0x3b7f, 0x2976, 0x3b4e, 0x2927, 0x3b0e, 0x2895, 0x3ac2, 0x27b7, 0x3a73, 0x263b, 0x3a23, 0x24e7, 0x39d0, 0x239b, 0x3976, 0x21d9, 0x3917, 0x207e, 0x38b2, 0x1ee7, 0x384b, 0x1d53, 0x37c7, 0x1c1e, + 0x3bd2, 0x25cb, 0x3bd1, 0x25d3, 0x3bcd, 0x25f0, 0x3bc2, 0x261f, 0x3bad, 0x2645, 0x3b7d, 0x262d, 0x3b3e, 0x25c4, 0x3aec, 0x250f, 0x3a93, 0x243a, 0x3a32, 0x22ce, 0x39d0, 0x215b, 0x3969, 0x202a, 0x38fe, 0x1e6e, 0x388f, 0x1cf1, 0x381f, 0x1b9b, 0x3762, 0x19dd, + 0x3be9, 0x21ab, 0x3be9, 0x21b7, 0x3be5, 0x21e5, 0x3bdd, 0x2241, 0x3bc9, 0x22a7, 0x3ba0, 0x22ec, 0x3b62, 0x22cd, 0x3b0f, 0x2247, 0x3aae, 0x2175, 0x3a44, 0x2088, 0x39d4, 0x1f49, 0x3960, 0x1dbe, 0x38e9, 0x1c77, 0x3870, 0x1ae8, 0x37f1, 0x1953, 0x3708, 0x181b, + 0x3bf6, 0x1cea, 0x3bf6, 0x1cfb, 0x3bf3, 0x1d38, 0x3bec, 0x1dbd, 0x3bda, 0x1e7c, 0x3bb7, 0x1f25, 0x3b7d, 0x1f79, 0x3b2c, 0x1f4c, 0x3ac6, 0x1ea6, 0x3a55, 0x1dbb, 0x39da, 0x1cbd, 0x395a, 0x1b9d, 0x38d8, 0x1a00, 0x3855, 0x18ac, 0x37ab, 0x173c, 0x36b7, 0x1598, + 0x3bfc, 0x1736, 0x3bfc, 0x1759, 0x3bf9, 0x17e7, 0x3bf4, 0x1896, 0x3be4, 0x1997, 0x3bc6, 0x1aa8, 0x3b91, 0x1b84, 0x3b43, 0x1bd2, 0x3ade, 0x1b8a, 0x3a65, 0x1acd, 0x39e2, 0x19d3, 0x3957, 0x18cd, 0x38ca, 0x17b3, 0x383e, 0x1613, 0x376d, 0x14bf, 0x366f, 0x135e, + 0x3bff, 0x101b, 0x3bff, 0x1039, 0x3bfc, 0x10c8, 0x3bf9, 0x1226, 0x3bea, 0x1428, 0x3bcf, 0x1584, 0x3b9f, 0x16c5, 0x3b54, 0x179a, 0x3af0, 0x17ce, 0x3a76, 0x1771, 0x39ea, 0x16a4, 0x3956, 0x15a7, 0x38bf, 0x14a7, 0x3829, 0x1379, 0x3735, 0x11ea, 0x362d, 0x10a1, + 0x3c00, 0x061b, 0x3c00, 0x066a, 0x3bfe, 0x081c, 0x3bfa, 0x0a4c, 0x3bed, 0x0d16, 0x3bd5, 0x0fb3, 0x3ba9, 0x114d, 0x3b63, 0x127c, 0x3b01, 0x132f, 0x3a85, 0x1344, 0x39f4, 0x12d2, 0x3957, 0x120d, 0x38b5, 0x1122, 0x3817, 0x103c, 0x3703, 0x0ed3, 0x35f0, 0x0d6d, + 0x3c00, 0x007a, 0x3c00, 0x0089, 0x3bfe, 0x011d, 0x3bfb, 0x027c, 0x3bf0, 0x04fa, 0x3bda, 0x0881, 0x3bb1, 0x0acd, 0x3b6f, 0x0c97, 0x3b10, 0x0d7b, 0x3a93, 0x0df1, 0x39fe, 0x0def, 0x3959, 0x0d8a, 0x38af, 0x0ce9, 0x3808, 0x0c31, 0x36d5, 0x0af0, 0x35b9, 0x09a3, + 0x3c00, 0x0000, 0x3c00, 0x0001, 0x3bff, 0x0015, 0x3bfb, 0x0059, 0x3bf2, 0x00fd, 0x3bdd, 0x01df, 0x3bb7, 0x031c, 0x3b79, 0x047c, 0x3b1d, 0x05d4, 0x3aa0, 0x06d5, 0x3a08, 0x075a, 0x395d, 0x075e, 0x38aa, 0x06f7, 0x37f4, 0x0648, 0x36ac, 0x0576, 0x3586, 0x049f +] ); + +let lut = null; + +function getDFGLUT() { + + if ( lut === null ) { + + lut = new DataTexture( DATA, 16, 16, RGFormat, HalfFloatType ); + lut.name = 'DFG_LUT'; + lut.minFilter = LinearFilter; + lut.magFilter = LinearFilter; + lut.wrapS = ClampToEdgeWrapping; + lut.wrapT = ClampToEdgeWrapping; + lut.generateMipmaps = false; + lut.needsUpdate = true; + + } + + return lut; + +} + +/** + * This renderer uses WebGL 2 to display scenes. + * + * WebGL 1 is not supported since `r163`. + */ +class WebGLRenderer { + + /** + * Constructs a new WebGL renderer. + * + * @param {WebGLRenderer~Options} [parameters] - The configuration parameter. + */ + constructor( parameters = {} ) { + + const { + canvas = createCanvasElement(), + context = null, + depth = true, + stencil = false, + alpha = false, + antialias = false, + premultipliedAlpha = true, + preserveDrawingBuffer = false, + powerPreference = 'default', + failIfMajorPerformanceCaveat = false, + reversedDepthBuffer = false, + outputBufferType = UnsignedByteType, + } = parameters; + + /** + * This flag can be used for type testing. + * + * @type {boolean} + * @readonly + * @default true + */ + this.isWebGLRenderer = true; + + let _alpha; + + if ( context !== null ) { + + if ( typeof WebGLRenderingContext !== 'undefined' && context instanceof WebGLRenderingContext ) { + + throw new Error( 'THREE.WebGLRenderer: WebGL 1 is not supported since r163.' ); + + } + + _alpha = context.getContextAttributes().alpha; + + } else { + + _alpha = alpha; + + } + + const _outputBufferType = outputBufferType; + + const INTEGER_FORMATS = new Set( [ + RGBAIntegerFormat, + RGIntegerFormat, + RedIntegerFormat + ] ); + + const UNSIGNED_TYPES = new Set( [ + UnsignedByteType, + UnsignedIntType, + UnsignedShortType, + UnsignedInt248Type, + UnsignedShort4444Type, + UnsignedShort5551Type + ] ); + + const uintClearColor = new Uint32Array( 4 ); + const intClearColor = new Int32Array( 4 ); + + let currentRenderList = null; + let currentRenderState = null; + + // render() can be called from within a callback triggered by another render. + // We track this so that the nested render call gets its list and state isolated from the parent render call. + + const renderListStack = []; + const renderStateStack = []; + + // internal render target for non-UnsignedByteType color buffer + + let output = null; + + // public properties + + /** + * A canvas where the renderer draws its output. This is automatically created by the renderer + * in the constructor (if not provided already); you just need to add it to your page like so: + * ```js + * document.body.appendChild( renderer.domElement ); + * ``` + * + * @type {HTMLCanvasElement|OffscreenCanvas} + */ + this.domElement = canvas; + + /** + * A object with debug configuration settings. + * + * - `checkShaderErrors`: If it is `true`, defines whether material shader programs are + * checked for errors during compilation and linkage process. It may be useful to disable + * this check in production for performance gain. It is strongly recommended to keep these + * checks enabled during development. If the shader does not compile and link, it will not + * work and associated material will not render. + * - `onShaderError(gl, program, glVertexShader,glFragmentShader)`: A callback function that + * can be used for custom error reporting. The callback receives the WebGL context, an instance + * of WebGLProgram as well two instances of WebGLShader representing the vertex and fragment shader. + * Assigning a custom function disables the default error reporting. + * + * @type {Object} + */ + this.debug = { + + /** + * Enables error checking and reporting when shader programs are being compiled. + * @type {boolean} + */ + checkShaderErrors: true, + /** + * Callback for custom error reporting. + * @type {?Function} + */ + onShaderError: null + }; + + // clearing + + /** + * Whether the renderer should automatically clear its output before rendering a frame or not. + * + * @type {boolean} + * @default true + */ + this.autoClear = true; + + /** + * If {@link WebGLRenderer#autoClear} set to `true`, whether the renderer should clear + * the color buffer or not. + * + * @type {boolean} + * @default true + */ + this.autoClearColor = true; + + /** + * If {@link WebGLRenderer#autoClear} set to `true`, whether the renderer should clear + * the depth buffer or not. + * + * @type {boolean} + * @default true + */ + this.autoClearDepth = true; + + /** + * If {@link WebGLRenderer#autoClear} set to `true`, whether the renderer should clear + * the stencil buffer or not. + * + * @type {boolean} + * @default true + */ + this.autoClearStencil = true; + + // scene graph + + /** + * Whether the renderer should sort objects or not. + * + * Note: Sorting is used to attempt to properly render objects that have some + * degree of transparency. By definition, sorting objects may not work in all + * cases. Depending on the needs of application, it may be necessary to turn + * off sorting and use other methods to deal with transparency rendering e.g. + * manually determining each object's rendering order. + * + * @type {boolean} + * @default true + */ + this.sortObjects = true; + + // user-defined clipping + + /** + * User-defined clipping planes specified in world space. These planes apply globally. + * Points in space whose dot product with the plane is negative are cut away. + * + * @type {Array} + */ + this.clippingPlanes = []; + + /** + * Whether the renderer respects object-level clipping planes or not. + * + * @type {boolean} + * @default false + */ + this.localClippingEnabled = false; + + // tone mapping + + /** + * The tone mapping technique of the renderer. + * + * @type {(NoToneMapping|LinearToneMapping|ReinhardToneMapping|CineonToneMapping|ACESFilmicToneMapping|CustomToneMapping|AgXToneMapping|NeutralToneMapping)} + * @default NoToneMapping + */ + this.toneMapping = NoToneMapping; + + /** + * Exposure level of tone mapping. + * + * @type {number} + * @default 1 + */ + this.toneMappingExposure = 1.0; + + // transmission + + /** + * The normalized resolution scale for the transmission render target, measured in percentage + * of viewport dimensions. Lowering this value can result in significant performance improvements + * when using {@link MeshPhysicalMaterial#transmission}. + * + * @type {number} + * @default 1 + */ + this.transmissionResolutionScale = 1.0; + + // internal properties + + const _this = this; + + let _isContextLost = false; + + // internal state cache + + this._outputColorSpace = SRGBColorSpace; + + let _currentActiveCubeFace = 0; + let _currentActiveMipmapLevel = 0; + let _currentRenderTarget = null; + let _currentMaterialId = -1; + + let _currentCamera = null; + + const _currentViewport = new Vector4(); + const _currentScissor = new Vector4(); + let _currentScissorTest = null; + + const _currentClearColor = new Color( 0x000000 ); + let _currentClearAlpha = 0; + + // + + let _width = canvas.width; + let _height = canvas.height; + + let _pixelRatio = 1; + let _opaqueSort = null; + let _transparentSort = null; + + const _viewport = new Vector4( 0, 0, _width, _height ); + const _scissor = new Vector4( 0, 0, _width, _height ); + let _scissorTest = false; + + // frustum + + const _frustum = new Frustum(); + + // clipping + + let _clippingEnabled = false; + let _localClippingEnabled = false; + + // camera matrices cache + + const _projScreenMatrix = new Matrix4(); + + const _vector3 = new Vector3(); + + const _vector4 = new Vector4(); + + const _emptyScene = { background: null, fog: null, environment: null, overrideMaterial: null, isScene: true }; + + let _renderBackground = false; + + function getTargetPixelRatio() { + + return _currentRenderTarget === null ? _pixelRatio : 1; + + } + + // initialize + + let _gl = context; + + function getContext( contextName, contextAttributes ) { + + return canvas.getContext( contextName, contextAttributes ); + + } + + try { + + const contextAttributes = { + alpha: true, + depth, + stencil, + antialias, + premultipliedAlpha, + preserveDrawingBuffer, + powerPreference, + failIfMajorPerformanceCaveat, + }; + + // OffscreenCanvas does not have setAttribute, see #22811 + if ( 'setAttribute' in canvas ) canvas.setAttribute( 'data-engine', `three.js r${REVISION}` ); + + // event listeners must be registered before WebGL context is created, see #12753 + canvas.addEventListener( 'webglcontextlost', onContextLost, false ); + canvas.addEventListener( 'webglcontextrestored', onContextRestore, false ); + canvas.addEventListener( 'webglcontextcreationerror', onContextCreationError, false ); + + if ( _gl === null ) { + + const contextName = 'webgl2'; + + _gl = getContext( contextName, contextAttributes ); + + if ( _gl === null ) { + + if ( getContext( contextName ) ) { + + throw new Error( 'Error creating WebGL context with your selected attributes.' ); + + } else { + + throw new Error( 'Error creating WebGL context.' ); + + } + + } + + } + + } catch ( e ) { + + error( 'WebGLRenderer: ' + e.message ); + throw e; + + } + + let extensions, capabilities, state, info; + let properties, textures, environments, attributes, geometries, objects; + let programCache, materials, renderLists, renderStates, clipping, shadowMap; + + let background, morphtargets, bufferRenderer, indexedBufferRenderer; + + let utils, bindingStates, uniformsGroups; + + function initGLContext() { + + extensions = new WebGLExtensions( _gl ); + extensions.init(); + + utils = new WebGLUtils( _gl, extensions ); + + capabilities = new WebGLCapabilities( _gl, extensions, parameters, utils ); + + state = new WebGLState( _gl, extensions ); + + if ( capabilities.reversedDepthBuffer && reversedDepthBuffer ) { + + state.buffers.depth.setReversed( true ); + + } + + info = new WebGLInfo( _gl ); + properties = new WebGLProperties(); + textures = new WebGLTextures( _gl, extensions, state, properties, capabilities, utils, info ); + environments = new WebGLEnvironments( _this ); + attributes = new WebGLAttributes( _gl ); + bindingStates = new WebGLBindingStates( _gl, attributes ); + geometries = new WebGLGeometries( _gl, attributes, info, bindingStates ); + objects = new WebGLObjects( _gl, geometries, attributes, bindingStates, info ); + morphtargets = new WebGLMorphtargets( _gl, capabilities, textures ); + clipping = new WebGLClipping( properties ); + programCache = new WebGLPrograms( _this, environments, extensions, capabilities, bindingStates, clipping ); + materials = new WebGLMaterials( _this, properties ); + renderLists = new WebGLRenderLists(); + renderStates = new WebGLRenderStates( extensions ); + background = new WebGLBackground( _this, environments, state, objects, _alpha, premultipliedAlpha ); + shadowMap = new WebGLShadowMap( _this, objects, capabilities ); + uniformsGroups = new WebGLUniformsGroups( _gl, info, capabilities, state ); + + bufferRenderer = new WebGLBufferRenderer( _gl, extensions, info ); + indexedBufferRenderer = new WebGLIndexedBufferRenderer( _gl, extensions, info ); + + info.programs = programCache.programs; + + /** + * Holds details about the capabilities of the current rendering context. + * + * @name WebGLRenderer#capabilities + * @type {WebGLRenderer~Capabilities} + */ + _this.capabilities = capabilities; + + /** + * Provides methods for retrieving and testing WebGL extensions. + * + * - `get(extensionName:string)`: Used to check whether a WebGL extension is supported + * and return the extension object if available. + * - `has(extensionName:string)`: returns `true` if the extension is supported. + * + * @name WebGLRenderer#extensions + * @type {Object} + */ + _this.extensions = extensions; + + /** + * Used to track properties of other objects like native WebGL objects. + * + * @name WebGLRenderer#properties + * @type {Object} + */ + _this.properties = properties; + + /** + * Manages the render lists of the renderer. + * + * @name WebGLRenderer#renderLists + * @type {Object} + */ + _this.renderLists = renderLists; + + + + /** + * Interface for managing shadows. + * + * @name WebGLRenderer#shadowMap + * @type {WebGLRenderer~ShadowMap} + */ + _this.shadowMap = shadowMap; + + /** + * Interface for managing the WebGL state. + * + * @name WebGLRenderer#state + * @type {Object} + */ + _this.state = state; + + /** + * Holds a series of statistical information about the GPU memory + * and the rendering process. Useful for debugging and monitoring. + * + * By default these data are reset at each render call but when having + * multiple render passes per frame (e.g. when using post processing) it can + * be preferred to reset with a custom pattern. First, set `autoReset` to + * `false`. + * ```js + * renderer.info.autoReset = false; + * ``` + * Call `reset()` whenever you have finished to render a single frame. + * ```js + * renderer.info.reset(); + * ``` + * + * @name WebGLRenderer#info + * @type {WebGLRenderer~Info} + */ + _this.info = info; + + } + + initGLContext(); + + // initialize internal render target for non-UnsignedByteType color buffer + + if ( _outputBufferType !== UnsignedByteType ) { + + output = new WebGLOutput( _outputBufferType, canvas.width, canvas.height, depth, stencil ); + + } + + // xr + + const xr = new WebXRManager( _this, _gl ); + + /** + * A reference to the XR manager. + * + * @type {WebXRManager} + */ + this.xr = xr; + + /** + * Returns the rendering context. + * + * @return {WebGL2RenderingContext} The rendering context. + */ + this.getContext = function () { + + return _gl; + + }; + + /** + * Returns the rendering context attributes. + * + * @return {WebGLContextAttributes} The rendering context attributes. + */ + this.getContextAttributes = function () { + + return _gl.getContextAttributes(); + + }; + + /** + * Simulates a loss of the WebGL context. This requires support for the `WEBGL_lose_context` extension. + */ + this.forceContextLoss = function () { + + const extension = extensions.get( 'WEBGL_lose_context' ); + if ( extension ) extension.loseContext(); + + }; + + /** + * Simulates a restore of the WebGL context. This requires support for the `WEBGL_lose_context` extension. + */ + this.forceContextRestore = function () { + + const extension = extensions.get( 'WEBGL_lose_context' ); + if ( extension ) extension.restoreContext(); + + }; + + /** + * Returns the pixel ratio. + * + * @return {number} The pixel ratio. + */ + this.getPixelRatio = function () { + + return _pixelRatio; + + }; + + /** + * Sets the given pixel ratio and resizes the canvas if necessary. + * + * @param {number} value - The pixel ratio. + */ + this.setPixelRatio = function ( value ) { + + if ( value === undefined ) return; + + _pixelRatio = value; + + this.setSize( _width, _height, false ); + + }; + + /** + * Returns the renderer's size in logical pixels. This method does not honor the pixel ratio. + * + * @param {Vector2} target - The method writes the result in this target object. + * @return {Vector2} The renderer's size in logical pixels. + */ + this.getSize = function ( target ) { + + return target.set( _width, _height ); + + }; + + /** + * Resizes the output canvas to (width, height) with device pixel ratio taken + * into account, and also sets the viewport to fit that size, starting in (0, + * 0). Setting `updateStyle` to false prevents any style changes to the output canvas. + * + * @param {number} width - The width in logical pixels. + * @param {number} height - The height in logical pixels. + * @param {boolean} [updateStyle=true] - Whether to update the `style` attribute of the canvas or not. + */ + this.setSize = function ( width, height, updateStyle = true ) { + + if ( xr.isPresenting ) { + + warn( 'WebGLRenderer: Can\'t change size while VR device is presenting.' ); + return; + + } + + _width = width; + _height = height; + + canvas.width = Math.floor( width * _pixelRatio ); + canvas.height = Math.floor( height * _pixelRatio ); + + if ( updateStyle === true ) { + + canvas.style.width = width + 'px'; + canvas.style.height = height + 'px'; + + } + + if ( output !== null ) { + + output.setSize( canvas.width, canvas.height ); + + } + + this.setViewport( 0, 0, width, height ); + + }; + + /** + * Returns the drawing buffer size in physical pixels. This method honors the pixel ratio. + * + * @param {Vector2} target - The method writes the result in this target object. + * @return {Vector2} The drawing buffer size. + */ + this.getDrawingBufferSize = function ( target ) { + + return target.set( _width * _pixelRatio, _height * _pixelRatio ).floor(); + + }; + + /** + * This method allows to define the drawing buffer size by specifying + * width, height and pixel ratio all at once. The size of the drawing + * buffer is computed with this formula: + * ```js + * size.x = width * pixelRatio; + * size.y = height * pixelRatio; + * ``` + * + * @param {number} width - The width in logical pixels. + * @param {number} height - The height in logical pixels. + * @param {number} pixelRatio - The pixel ratio. + */ + this.setDrawingBufferSize = function ( width, height, pixelRatio ) { + + _width = width; + _height = height; + + _pixelRatio = pixelRatio; + + canvas.width = Math.floor( width * pixelRatio ); + canvas.height = Math.floor( height * pixelRatio ); + + this.setViewport( 0, 0, width, height ); + + }; + + /** + * Sets the post-processing effects to be applied after rendering. + * + * @param {Array} effects - An array of post-processing effects. + */ + this.setEffects = function ( effects ) { + + if ( _outputBufferType === UnsignedByteType ) { + + console.error( 'THREE.WebGLRenderer: setEffects() requires outputBufferType set to HalfFloatType or FloatType.' ); + return; + + } + + if ( effects ) { + + for ( let i = 0; i < effects.length; i ++ ) { + + if ( effects[ i ].isOutputPass === true ) { + + console.warn( 'THREE.WebGLRenderer: OutputPass is not needed in setEffects(). Tone mapping and color space conversion are applied automatically.' ); + break; + + } + + } + + } + + output.setEffects( effects || [] ); + + }; + + /** + * Returns the current viewport definition. + * + * @param {Vector2} target - The method writes the result in this target object. + * @return {Vector2} The current viewport definition. + */ + this.getCurrentViewport = function ( target ) { + + return target.copy( _currentViewport ); + + }; + + /** + * Returns the viewport definition. + * + * @param {Vector4} target - The method writes the result in this target object. + * @return {Vector4} The viewport definition. + */ + this.getViewport = function ( target ) { + + return target.copy( _viewport ); + + }; + + /** + * Sets the viewport to render from `(x, y)` to `(x + width, y + height)`. + * + * @param {number | Vector4} x - The horizontal coordinate for the lower left corner of the viewport origin in logical pixel unit. + * Or alternatively a four-component vector specifying all the parameters of the viewport. + * @param {number} y - The vertical coordinate for the lower left corner of the viewport origin in logical pixel unit. + * @param {number} width - The width of the viewport in logical pixel unit. + * @param {number} height - The height of the viewport in logical pixel unit. + */ + this.setViewport = function ( x, y, width, height ) { + + if ( x.isVector4 ) { + + _viewport.set( x.x, x.y, x.z, x.w ); + + } else { + + _viewport.set( x, y, width, height ); + + } + + state.viewport( _currentViewport.copy( _viewport ).multiplyScalar( _pixelRatio ).round() ); + + }; + + /** + * Returns the scissor region. + * + * @param {Vector4} target - The method writes the result in this target object. + * @return {Vector4} The scissor region. + */ + this.getScissor = function ( target ) { + + return target.copy( _scissor ); + + }; + + /** + * Sets the scissor region to render from `(x, y)` to `(x + width, y + height)`. + * + * @param {number | Vector4} x - The horizontal coordinate for the lower left corner of the scissor region origin in logical pixel unit. + * Or alternatively a four-component vector specifying all the parameters of the scissor region. + * @param {number} y - The vertical coordinate for the lower left corner of the scissor region origin in logical pixel unit. + * @param {number} width - The width of the scissor region in logical pixel unit. + * @param {number} height - The height of the scissor region in logical pixel unit. + */ + this.setScissor = function ( x, y, width, height ) { + + if ( x.isVector4 ) { + + _scissor.set( x.x, x.y, x.z, x.w ); + + } else { + + _scissor.set( x, y, width, height ); + + } + + state.scissor( _currentScissor.copy( _scissor ).multiplyScalar( _pixelRatio ).round() ); + + }; + + /** + * Returns `true` if the scissor test is enabled. + * + * @return {boolean} Whether the scissor test is enabled or not. + */ + this.getScissorTest = function () { + + return _scissorTest; + + }; + + /** + * Enable or disable the scissor test. When this is enabled, only the pixels + * within the defined scissor area will be affected by further renderer + * actions. + * + * @param {boolean} boolean - Whether the scissor test is enabled or not. + */ + this.setScissorTest = function ( boolean ) { + + state.setScissorTest( _scissorTest = boolean ); + + }; + + /** + * Sets a custom opaque sort function for the render lists. Pass `null` + * to use the default `painterSortStable` function. + * + * @param {?Function} method - The opaque sort function. + */ + this.setOpaqueSort = function ( method ) { + + _opaqueSort = method; + + }; + + /** + * Sets a custom transparent sort function for the render lists. Pass `null` + * to use the default `reversePainterSortStable` function. + * + * @param {?Function} method - The opaque sort function. + */ + this.setTransparentSort = function ( method ) { + + _transparentSort = method; + + }; + + // Clearing + + /** + * Returns the clear color. + * + * @param {Color} target - The method writes the result in this target object. + * @return {Color} The clear color. + */ + this.getClearColor = function ( target ) { + + return target.copy( background.getClearColor() ); + + }; + + /** + * Sets the clear color and alpha. + * + * @param {Color} color - The clear color. + * @param {number} [alpha=1] - The clear alpha. + */ + this.setClearColor = function () { + + background.setClearColor( ...arguments ); + + }; + + /** + * Returns the clear alpha. Ranges within `[0,1]`. + * + * @return {number} The clear alpha. + */ + this.getClearAlpha = function () { + + return background.getClearAlpha(); + + }; + + /** + * Sets the clear alpha. + * + * @param {number} alpha - The clear alpha. + */ + this.setClearAlpha = function () { + + background.setClearAlpha( ...arguments ); + + }; + + /** + * Tells the renderer to clear its color, depth or stencil drawing buffer(s). + * This method initializes the buffers to the current clear color values. + * + * @param {boolean} [color=true] - Whether the color buffer should be cleared or not. + * @param {boolean} [depth=true] - Whether the depth buffer should be cleared or not. + * @param {boolean} [stencil=true] - Whether the stencil buffer should be cleared or not. + */ + this.clear = function ( color = true, depth = true, stencil = true ) { + + let bits = 0; + + if ( color ) { + + // check if we're trying to clear an integer target + let isIntegerFormat = false; + if ( _currentRenderTarget !== null ) { + + const targetFormat = _currentRenderTarget.texture.format; + isIntegerFormat = INTEGER_FORMATS.has( targetFormat ); + + } + + // use the appropriate clear functions to clear the target if it's a signed + // or unsigned integer target + if ( isIntegerFormat ) { + + const targetType = _currentRenderTarget.texture.type; + const isUnsignedType = UNSIGNED_TYPES.has( targetType ); + + const clearColor = background.getClearColor(); + const a = background.getClearAlpha(); + const r = clearColor.r; + const g = clearColor.g; + const b = clearColor.b; + + if ( isUnsignedType ) { + + uintClearColor[ 0 ] = r; + uintClearColor[ 1 ] = g; + uintClearColor[ 2 ] = b; + uintClearColor[ 3 ] = a; + _gl.clearBufferuiv( _gl.COLOR, 0, uintClearColor ); + + } else { + + intClearColor[ 0 ] = r; + intClearColor[ 1 ] = g; + intClearColor[ 2 ] = b; + intClearColor[ 3 ] = a; + _gl.clearBufferiv( _gl.COLOR, 0, intClearColor ); + + } + + } else { + + bits |= _gl.COLOR_BUFFER_BIT; + + } + + } + + if ( depth ) { + + bits |= _gl.DEPTH_BUFFER_BIT; + + } + + if ( stencil ) { + + bits |= _gl.STENCIL_BUFFER_BIT; + this.state.buffers.stencil.setMask( 0xffffffff ); + + } + + if ( bits !== 0 ) { + + _gl.clear( bits ); + + } + + }; + + /** + * Clears the color buffer. Equivalent to calling `renderer.clear( true, false, false )`. + */ + this.clearColor = function () { + + this.clear( true, false, false ); + + }; + + /** + * Clears the depth buffer. Equivalent to calling `renderer.clear( false, true, false )`. + */ + this.clearDepth = function () { + + this.clear( false, true, false ); + + }; + + /** + * Clears the stencil buffer. Equivalent to calling `renderer.clear( false, false, true )`. + */ + this.clearStencil = function () { + + this.clear( false, false, true ); + + }; + + /** + * Frees the GPU-related resources allocated by this instance. Call this + * method whenever this instance is no longer used in your app. + */ + this.dispose = function () { + + canvas.removeEventListener( 'webglcontextlost', onContextLost, false ); + canvas.removeEventListener( 'webglcontextrestored', onContextRestore, false ); + canvas.removeEventListener( 'webglcontextcreationerror', onContextCreationError, false ); + + background.dispose(); + renderLists.dispose(); + renderStates.dispose(); + properties.dispose(); + environments.dispose(); + objects.dispose(); + bindingStates.dispose(); + uniformsGroups.dispose(); + programCache.dispose(); + + xr.dispose(); + + xr.removeEventListener( 'sessionstart', onXRSessionStart ); + xr.removeEventListener( 'sessionend', onXRSessionEnd ); + + animation.stop(); + + }; + + // Events + + function onContextLost( event ) { + + event.preventDefault(); + + log( 'WebGLRenderer: Context Lost.' ); + + _isContextLost = true; + + } + + function onContextRestore( /* event */ ) { + + log( 'WebGLRenderer: Context Restored.' ); + + _isContextLost = false; + + const infoAutoReset = info.autoReset; + const shadowMapEnabled = shadowMap.enabled; + const shadowMapAutoUpdate = shadowMap.autoUpdate; + const shadowMapNeedsUpdate = shadowMap.needsUpdate; + const shadowMapType = shadowMap.type; + + initGLContext(); + + info.autoReset = infoAutoReset; + shadowMap.enabled = shadowMapEnabled; + shadowMap.autoUpdate = shadowMapAutoUpdate; + shadowMap.needsUpdate = shadowMapNeedsUpdate; + shadowMap.type = shadowMapType; + + } + + function onContextCreationError( event ) { + + error( 'WebGLRenderer: A WebGL context could not be created. Reason: ', event.statusMessage ); + + } + + function onMaterialDispose( event ) { + + const material = event.target; + + material.removeEventListener( 'dispose', onMaterialDispose ); + + deallocateMaterial( material ); + + } + + // Buffer deallocation + + function deallocateMaterial( material ) { + + releaseMaterialProgramReferences( material ); + + properties.remove( material ); + + } + + + function releaseMaterialProgramReferences( material ) { + + const programs = properties.get( material ).programs; + + if ( programs !== undefined ) { + + programs.forEach( function ( program ) { + + programCache.releaseProgram( program ); + + } ); + + if ( material.isShaderMaterial ) { + + programCache.releaseShaderCache( material ); + + } + + } + + } + + // Buffer rendering + + this.renderBufferDirect = function ( camera, scene, geometry, material, object, group ) { + + if ( scene === null ) scene = _emptyScene; // renderBufferDirect second parameter used to be fog (could be null) + + const frontFaceCW = ( object.isMesh && object.matrixWorld.determinant() < 0 ); + + const program = setProgram( camera, scene, geometry, material, object ); + + state.setMaterial( material, frontFaceCW ); + + // + + let index = geometry.index; + let rangeFactor = 1; + + if ( material.wireframe === true ) { + + index = geometries.getWireframeAttribute( geometry ); + + if ( index === undefined ) return; + + rangeFactor = 2; + + } + + // + + const drawRange = geometry.drawRange; + const position = geometry.attributes.position; + + let drawStart = drawRange.start * rangeFactor; + let drawEnd = ( drawRange.start + drawRange.count ) * rangeFactor; + + if ( group !== null ) { + + drawStart = Math.max( drawStart, group.start * rangeFactor ); + drawEnd = Math.min( drawEnd, ( group.start + group.count ) * rangeFactor ); + + } + + if ( index !== null ) { + + drawStart = Math.max( drawStart, 0 ); + drawEnd = Math.min( drawEnd, index.count ); + + } else if ( position !== undefined && position !== null ) { + + drawStart = Math.max( drawStart, 0 ); + drawEnd = Math.min( drawEnd, position.count ); + + } + + const drawCount = drawEnd - drawStart; + + if ( drawCount < 0 || drawCount === Infinity ) return; + + // + + bindingStates.setup( object, material, program, geometry, index ); + + let attribute; + let renderer = bufferRenderer; + + if ( index !== null ) { + + attribute = attributes.get( index ); + + renderer = indexedBufferRenderer; + renderer.setIndex( attribute ); + + } + + // + + if ( object.isMesh ) { + + if ( material.wireframe === true ) { + + state.setLineWidth( material.wireframeLinewidth * getTargetPixelRatio() ); + renderer.setMode( _gl.LINES ); + + } else { + + renderer.setMode( _gl.TRIANGLES ); + + } + + } else if ( object.isLine ) { + + let lineWidth = material.linewidth; + + if ( lineWidth === undefined ) lineWidth = 1; // Not using Line*Material + + state.setLineWidth( lineWidth * getTargetPixelRatio() ); + + if ( object.isLineSegments ) { + + renderer.setMode( _gl.LINES ); + + } else if ( object.isLineLoop ) { + + renderer.setMode( _gl.LINE_LOOP ); + + } else { + + renderer.setMode( _gl.LINE_STRIP ); + + } + + } else if ( object.isPoints ) { + + renderer.setMode( _gl.POINTS ); + + } else if ( object.isSprite ) { + + renderer.setMode( _gl.TRIANGLES ); + + } + + if ( object.isBatchedMesh ) { + + if ( object._multiDrawInstances !== null ) { + + // @deprecated, r174 + warnOnce( 'WebGLRenderer: renderMultiDrawInstances has been deprecated and will be removed in r184. Append to renderMultiDraw arguments and use indirection.' ); + renderer.renderMultiDrawInstances( object._multiDrawStarts, object._multiDrawCounts, object._multiDrawCount, object._multiDrawInstances ); + + } else { + + if ( ! extensions.get( 'WEBGL_multi_draw' ) ) { + + const starts = object._multiDrawStarts; + const counts = object._multiDrawCounts; + const drawCount = object._multiDrawCount; + const bytesPerElement = index ? attributes.get( index ).bytesPerElement : 1; + const uniforms = properties.get( material ).currentProgram.getUniforms(); + for ( let i = 0; i < drawCount; i ++ ) { + + uniforms.setValue( _gl, '_gl_DrawID', i ); + renderer.render( starts[ i ] / bytesPerElement, counts[ i ] ); + + } + + } else { + + renderer.renderMultiDraw( object._multiDrawStarts, object._multiDrawCounts, object._multiDrawCount ); + + } + + } + + } else if ( object.isInstancedMesh ) { + + renderer.renderInstances( drawStart, drawCount, object.count ); + + } else if ( geometry.isInstancedBufferGeometry ) { + + const maxInstanceCount = geometry._maxInstanceCount !== undefined ? geometry._maxInstanceCount : Infinity; + const instanceCount = Math.min( geometry.instanceCount, maxInstanceCount ); + + renderer.renderInstances( drawStart, drawCount, instanceCount ); + + } else { + + renderer.render( drawStart, drawCount ); + + } + + }; + + // Compile + + function prepareMaterial( material, scene, object ) { + + if ( material.transparent === true && material.side === DoubleSide && material.forceSinglePass === false ) { + + material.side = BackSide; + material.needsUpdate = true; + getProgram( material, scene, object ); + + material.side = FrontSide; + material.needsUpdate = true; + getProgram( material, scene, object ); + + material.side = DoubleSide; + + } else { + + getProgram( material, scene, object ); + + } + + } + + /** + * Compiles all materials in the scene with the camera. This is useful to precompile shaders + * before the first rendering. If you want to add a 3D object to an existing scene, use the third + * optional parameter for applying the target scene. + * + * Note that the (target) scene's lighting and environment must be configured before calling this method. + * + * @param {Object3D} scene - The scene or another type of 3D object to precompile. + * @param {Camera} camera - The camera. + * @param {?Scene} [targetScene=null] - The target scene. + * @return {Set} The precompiled materials. + */ + this.compile = function ( scene, camera, targetScene = null ) { + + if ( targetScene === null ) targetScene = scene; + + currentRenderState = renderStates.get( targetScene ); + currentRenderState.init( camera ); + + renderStateStack.push( currentRenderState ); + + // gather lights from both the target scene and the new object that will be added to the scene. + + targetScene.traverseVisible( function ( object ) { + + if ( object.isLight && object.layers.test( camera.layers ) ) { + + currentRenderState.pushLight( object ); + + if ( object.castShadow ) { + + currentRenderState.pushShadow( object ); + + } + + } + + } ); + + if ( scene !== targetScene ) { + + scene.traverseVisible( function ( object ) { + + if ( object.isLight && object.layers.test( camera.layers ) ) { + + currentRenderState.pushLight( object ); + + if ( object.castShadow ) { + + currentRenderState.pushShadow( object ); + + } + + } + + } ); + + } + + currentRenderState.setupLights(); + + // Only initialize materials in the new scene, not the targetScene. + + const materials = new Set(); + + scene.traverse( function ( object ) { + + if ( ! ( object.isMesh || object.isPoints || object.isLine || object.isSprite ) ) { + + return; + + } + + const material = object.material; + + if ( material ) { + + if ( Array.isArray( material ) ) { + + for ( let i = 0; i < material.length; i ++ ) { + + const material2 = material[ i ]; + + prepareMaterial( material2, targetScene, object ); + materials.add( material2 ); + + } + + } else { + + prepareMaterial( material, targetScene, object ); + materials.add( material ); + + } + + } + + } ); + + currentRenderState = renderStateStack.pop(); + + return materials; + + }; + + // compileAsync + + /** + * Asynchronous version of {@link WebGLRenderer#compile}. + * + * This method makes use of the `KHR_parallel_shader_compile` WebGL extension. Hence, + * it is recommended to use this version of `compile()` whenever possible. + * + * @async + * @param {Object3D} scene - The scene or another type of 3D object to precompile. + * @param {Camera} camera - The camera. + * @param {?Scene} [targetScene=null] - The target scene. + * @return {Promise} A Promise that resolves when the given scene can be rendered without unnecessary stalling due to shader compilation. + */ + this.compileAsync = function ( scene, camera, targetScene = null ) { + + const materials = this.compile( scene, camera, targetScene ); + + // Wait for all the materials in the new object to indicate that they're + // ready to be used before resolving the promise. + + return new Promise( ( resolve ) => { + + function checkMaterialsReady() { + + materials.forEach( function ( material ) { + + const materialProperties = properties.get( material ); + const program = materialProperties.currentProgram; + + if ( program.isReady() ) { + + // remove any programs that report they're ready to use from the list + materials.delete( material ); + + } + + } ); + + // once the list of compiling materials is empty, call the callback + + if ( materials.size === 0 ) { + + resolve( scene ); + return; + + } + + // if some materials are still not ready, wait a bit and check again + + setTimeout( checkMaterialsReady, 10 ); + + } + + if ( extensions.get( 'KHR_parallel_shader_compile' ) !== null ) { + + // If we can check the compilation status of the materials without + // blocking then do so right away. + + checkMaterialsReady(); + + } else { + + // Otherwise start by waiting a bit to give the materials we just + // initialized a chance to finish. + + setTimeout( checkMaterialsReady, 10 ); + + } + + } ); + + }; + + // Animation Loop + + let onAnimationFrameCallback = null; + + function onAnimationFrame( time ) { + + if ( onAnimationFrameCallback ) onAnimationFrameCallback( time ); + + } + + function onXRSessionStart() { + + animation.stop(); + + } + + function onXRSessionEnd() { + + animation.start(); + + } + + const animation = new WebGLAnimation(); + animation.setAnimationLoop( onAnimationFrame ); + + if ( typeof self !== 'undefined' ) animation.setContext( self ); + + /** + * Applications are advised to always define the animation loop + * with this method and not manually with `requestAnimationFrame()` + * for best compatibility. + * + * @param {?onAnimationCallback} callback - The application's animation loop. + */ + this.setAnimationLoop = function ( callback ) { + + onAnimationFrameCallback = callback; + xr.setAnimationLoop( callback ); + + ( callback === null ) ? animation.stop() : animation.start(); + + }; + + xr.addEventListener( 'sessionstart', onXRSessionStart ); + xr.addEventListener( 'sessionend', onXRSessionEnd ); + + // Rendering + + /** + * Renders the given scene (or other type of 3D object) using the given camera. + * + * The render is done to a previously specified render target set by calling {@link WebGLRenderer#setRenderTarget} + * or to the canvas as usual. + * + * By default render buffers are cleared before rendering but you can prevent + * this by setting the property `autoClear` to `false`. If you want to prevent + * only certain buffers being cleared you can `autoClearColor`, `autoClearDepth` + * or `autoClearStencil` to `false`. To force a clear, use {@link WebGLRenderer#clear}. + * + * @param {Object3D} scene - The scene to render. + * @param {Camera} camera - The camera. + */ + this.render = function ( scene, camera ) { + + if ( camera !== undefined && camera.isCamera !== true ) { + + error( 'WebGLRenderer.render: camera is not an instance of THREE.Camera.' ); + return; + + } + + if ( _isContextLost === true ) return; + + // use internal render target for HalfFloatType color buffer (only when tone mapping is enabled) + + const isXRPresenting = xr.enabled === true && xr.isPresenting === true; + + const useOutput = output !== null && ( _currentRenderTarget === null || isXRPresenting ) && output.begin( _this, _currentRenderTarget ); + + // update scene graph + + if ( scene.matrixWorldAutoUpdate === true ) scene.updateMatrixWorld(); + + // update camera matrices and frustum + + if ( camera.parent === null && camera.matrixWorldAutoUpdate === true ) camera.updateMatrixWorld(); + + if ( xr.enabled === true && xr.isPresenting === true && ( output === null || output.isCompositing() === false ) ) { + + if ( xr.cameraAutoUpdate === true ) xr.updateCamera( camera ); + + camera = xr.getCamera(); // use XR camera for rendering + + } + + // + if ( scene.isScene === true ) scene.onBeforeRender( _this, scene, camera, _currentRenderTarget ); + + currentRenderState = renderStates.get( scene, renderStateStack.length ); + currentRenderState.init( camera ); + + renderStateStack.push( currentRenderState ); + + _projScreenMatrix.multiplyMatrices( camera.projectionMatrix, camera.matrixWorldInverse ); + _frustum.setFromProjectionMatrix( _projScreenMatrix, WebGLCoordinateSystem, camera.reversedDepth ); + + _localClippingEnabled = this.localClippingEnabled; + _clippingEnabled = clipping.init( this.clippingPlanes, _localClippingEnabled ); + + currentRenderList = renderLists.get( scene, renderListStack.length ); + currentRenderList.init(); + + renderListStack.push( currentRenderList ); + + if ( xr.enabled === true && xr.isPresenting === true ) { + + const depthSensingMesh = _this.xr.getDepthSensingMesh(); + + if ( depthSensingMesh !== null ) { + + projectObject( depthSensingMesh, camera, - Infinity, _this.sortObjects ); + + } + + } + + projectObject( scene, camera, 0, _this.sortObjects ); + + currentRenderList.finish(); + + if ( _this.sortObjects === true ) { + + currentRenderList.sort( _opaqueSort, _transparentSort ); + + } + + _renderBackground = xr.enabled === false || xr.isPresenting === false || xr.hasDepthSensing() === false; + if ( _renderBackground ) { + + background.addToRenderList( currentRenderList, scene ); + + } + + // + + this.info.render.frame ++; + + if ( _clippingEnabled === true ) clipping.beginShadows(); + + const shadowsArray = currentRenderState.state.shadowsArray; + + shadowMap.render( shadowsArray, scene, camera ); + + if ( _clippingEnabled === true ) clipping.endShadows(); + + // + + if ( this.info.autoReset === true ) this.info.reset(); + + // render scene (skip if first effect is a render pass - it will render the scene itself) + + const skipSceneRender = useOutput && output.hasRenderPass(); + + if ( skipSceneRender === false ) { + + const opaqueObjects = currentRenderList.opaque; + const transmissiveObjects = currentRenderList.transmissive; + + currentRenderState.setupLights(); + + if ( camera.isArrayCamera ) { + + const cameras = camera.cameras; + + if ( transmissiveObjects.length > 0 ) { + + for ( let i = 0, l = cameras.length; i < l; i ++ ) { + + const camera2 = cameras[ i ]; + + renderTransmissionPass( opaqueObjects, transmissiveObjects, scene, camera2 ); + + } + + } + + if ( _renderBackground ) background.render( scene ); + + for ( let i = 0, l = cameras.length; i < l; i ++ ) { + + const camera2 = cameras[ i ]; + + renderScene( currentRenderList, scene, camera2, camera2.viewport ); + + } + + } else { + + if ( transmissiveObjects.length > 0 ) renderTransmissionPass( opaqueObjects, transmissiveObjects, scene, camera ); + + if ( _renderBackground ) background.render( scene ); + + renderScene( currentRenderList, scene, camera ); + + } + + } + + // + + if ( _currentRenderTarget !== null && _currentActiveMipmapLevel === 0 ) { + + // resolve multisample renderbuffers to a single-sample texture if necessary + + textures.updateMultisampleRenderTarget( _currentRenderTarget ); + + // Generate mipmap if we're using any kind of mipmap filtering + + textures.updateRenderTargetMipmap( _currentRenderTarget ); + + } + + // copy from internal render target to canvas using fullscreen quad + + if ( useOutput ) { + + output.end( _this ); + + } + + // + + if ( scene.isScene === true ) scene.onAfterRender( _this, scene, camera ); + + // _gl.finish(); + + bindingStates.resetDefaultState(); + _currentMaterialId = -1; + _currentCamera = null; + + renderStateStack.pop(); + + if ( renderStateStack.length > 0 ) { + + currentRenderState = renderStateStack[ renderStateStack.length - 1 ]; + + if ( _clippingEnabled === true ) clipping.setGlobalState( _this.clippingPlanes, currentRenderState.state.camera ); + + } else { + + currentRenderState = null; + + } + + renderListStack.pop(); + + if ( renderListStack.length > 0 ) { + + currentRenderList = renderListStack[ renderListStack.length - 1 ]; + + } else { + + currentRenderList = null; + + } + + }; + + function projectObject( object, camera, groupOrder, sortObjects ) { + + if ( object.visible === false ) return; + + const visible = object.layers.test( camera.layers ); + + if ( visible ) { + + if ( object.isGroup ) { + + groupOrder = object.renderOrder; + + } else if ( object.isLOD ) { + + if ( object.autoUpdate === true ) object.update( camera ); + + } else if ( object.isLight ) { + + currentRenderState.pushLight( object ); + + if ( object.castShadow ) { + + currentRenderState.pushShadow( object ); + + } + + } else if ( object.isSprite ) { + + if ( ! object.frustumCulled || _frustum.intersectsSprite( object ) ) { + + if ( sortObjects ) { + + _vector4.setFromMatrixPosition( object.matrixWorld ) + .applyMatrix4( _projScreenMatrix ); + + } + + const geometry = objects.update( object ); + const material = object.material; + + if ( material.visible ) { + + currentRenderList.push( object, geometry, material, groupOrder, _vector4.z, null ); + + } + + } + + } else if ( object.isMesh || object.isLine || object.isPoints ) { + + if ( ! object.frustumCulled || _frustum.intersectsObject( object ) ) { + + const geometry = objects.update( object ); + const material = object.material; + + if ( sortObjects ) { + + if ( object.boundingSphere !== undefined ) { + + if ( object.boundingSphere === null ) object.computeBoundingSphere(); + _vector4.copy( object.boundingSphere.center ); + + } else { + + if ( geometry.boundingSphere === null ) geometry.computeBoundingSphere(); + _vector4.copy( geometry.boundingSphere.center ); + + } + + _vector4 + .applyMatrix4( object.matrixWorld ) + .applyMatrix4( _projScreenMatrix ); + + } + + if ( Array.isArray( material ) ) { + + const groups = geometry.groups; + + for ( let i = 0, l = groups.length; i < l; i ++ ) { + + const group = groups[ i ]; + const groupMaterial = material[ group.materialIndex ]; + + if ( groupMaterial && groupMaterial.visible ) { + + currentRenderList.push( object, geometry, groupMaterial, groupOrder, _vector4.z, group ); + + } + + } + + } else if ( material.visible ) { + + currentRenderList.push( object, geometry, material, groupOrder, _vector4.z, null ); + + } + + } + + } + + } + + const children = object.children; + + for ( let i = 0, l = children.length; i < l; i ++ ) { + + projectObject( children[ i ], camera, groupOrder, sortObjects ); + + } + + } + + function renderScene( currentRenderList, scene, camera, viewport ) { + + const { opaque: opaqueObjects, transmissive: transmissiveObjects, transparent: transparentObjects } = currentRenderList; + + currentRenderState.setupLightsView( camera ); + + if ( _clippingEnabled === true ) clipping.setGlobalState( _this.clippingPlanes, camera ); + + if ( viewport ) state.viewport( _currentViewport.copy( viewport ) ); + + if ( opaqueObjects.length > 0 ) renderObjects( opaqueObjects, scene, camera ); + if ( transmissiveObjects.length > 0 ) renderObjects( transmissiveObjects, scene, camera ); + if ( transparentObjects.length > 0 ) renderObjects( transparentObjects, scene, camera ); + + // Ensure depth buffer writing is enabled so it can be cleared on next render + + state.buffers.depth.setTest( true ); + state.buffers.depth.setMask( true ); + state.buffers.color.setMask( true ); + + state.setPolygonOffset( false ); + + } + + function renderTransmissionPass( opaqueObjects, transmissiveObjects, scene, camera ) { + + const overrideMaterial = scene.isScene === true ? scene.overrideMaterial : null; + + if ( overrideMaterial !== null ) { + + return; + + } + + if ( currentRenderState.state.transmissionRenderTarget[ camera.id ] === undefined ) { + + const hasHalfFloatSupport = extensions.has( 'EXT_color_buffer_half_float' ) || extensions.has( 'EXT_color_buffer_float' ); + + currentRenderState.state.transmissionRenderTarget[ camera.id ] = new WebGLRenderTarget( 1, 1, { + generateMipmaps: true, + type: hasHalfFloatSupport ? HalfFloatType : UnsignedByteType, + minFilter: LinearMipmapLinearFilter, + samples: Math.max( 4, capabilities.samples ), // to avoid feedback loops, the transmission render target requires a resolve, see #26177 + stencilBuffer: stencil, + resolveDepthBuffer: false, + resolveStencilBuffer: false, + colorSpace: ColorManagement.workingColorSpace, + } ); + + // debug + + /* + const geometry = new PlaneGeometry(); + const material = new MeshBasicMaterial( { map: _transmissionRenderTarget.texture } ); + + const mesh = new Mesh( geometry, material ); + scene.add( mesh ); + */ + + } + + const transmissionRenderTarget = currentRenderState.state.transmissionRenderTarget[ camera.id ]; + + const activeViewport = camera.viewport || _currentViewport; + transmissionRenderTarget.setSize( activeViewport.z * _this.transmissionResolutionScale, activeViewport.w * _this.transmissionResolutionScale ); + + // + + const currentRenderTarget = _this.getRenderTarget(); + const currentActiveCubeFace = _this.getActiveCubeFace(); + const currentActiveMipmapLevel = _this.getActiveMipmapLevel(); + + _this.setRenderTarget( transmissionRenderTarget ); + + _this.getClearColor( _currentClearColor ); + _currentClearAlpha = _this.getClearAlpha(); + if ( _currentClearAlpha < 1 ) _this.setClearColor( 0xffffff, 0.5 ); + + _this.clear(); + + if ( _renderBackground ) background.render( scene ); + + // Turn off the features which can affect the frag color for opaque objects pass. + // Otherwise they are applied twice in opaque objects pass and transmission objects pass. + const currentToneMapping = _this.toneMapping; + _this.toneMapping = NoToneMapping; + + // Remove viewport from camera to avoid nested render calls resetting viewport to it (e.g Reflector). + // Transmission render pass requires viewport to match the transmissionRenderTarget. + const currentCameraViewport = camera.viewport; + if ( camera.viewport !== undefined ) camera.viewport = undefined; + + currentRenderState.setupLightsView( camera ); + + if ( _clippingEnabled === true ) clipping.setGlobalState( _this.clippingPlanes, camera ); + + renderObjects( opaqueObjects, scene, camera ); + + textures.updateMultisampleRenderTarget( transmissionRenderTarget ); + textures.updateRenderTargetMipmap( transmissionRenderTarget ); + + if ( extensions.has( 'WEBGL_multisampled_render_to_texture' ) === false ) { // see #28131 + + let renderTargetNeedsUpdate = false; + + for ( let i = 0, l = transmissiveObjects.length; i < l; i ++ ) { + + const renderItem = transmissiveObjects[ i ]; + + const { object, geometry, material, group } = renderItem; + + if ( material.side === DoubleSide && object.layers.test( camera.layers ) ) { + + const currentSide = material.side; + + material.side = BackSide; + material.needsUpdate = true; + + renderObject( object, scene, camera, geometry, material, group ); + + material.side = currentSide; + material.needsUpdate = true; + + renderTargetNeedsUpdate = true; + + } + + } + + if ( renderTargetNeedsUpdate === true ) { + + textures.updateMultisampleRenderTarget( transmissionRenderTarget ); + textures.updateRenderTargetMipmap( transmissionRenderTarget ); + + } + + } + + _this.setRenderTarget( currentRenderTarget, currentActiveCubeFace, currentActiveMipmapLevel ); + + _this.setClearColor( _currentClearColor, _currentClearAlpha ); + + if ( currentCameraViewport !== undefined ) camera.viewport = currentCameraViewport; + + _this.toneMapping = currentToneMapping; + + } + + function renderObjects( renderList, scene, camera ) { + + const overrideMaterial = scene.isScene === true ? scene.overrideMaterial : null; + + for ( let i = 0, l = renderList.length; i < l; i ++ ) { + + const renderItem = renderList[ i ]; + + const { object, geometry, group } = renderItem; + let material = renderItem.material; + + if ( material.allowOverride === true && overrideMaterial !== null ) { + + material = overrideMaterial; + + } + + if ( object.layers.test( camera.layers ) ) { + + renderObject( object, scene, camera, geometry, material, group ); + + } + + } + + } + + function renderObject( object, scene, camera, geometry, material, group ) { + + object.onBeforeRender( _this, scene, camera, geometry, material, group ); + + object.modelViewMatrix.multiplyMatrices( camera.matrixWorldInverse, object.matrixWorld ); + object.normalMatrix.getNormalMatrix( object.modelViewMatrix ); + + material.onBeforeRender( _this, scene, camera, geometry, object, group ); + + if ( material.transparent === true && material.side === DoubleSide && material.forceSinglePass === false ) { + + material.side = BackSide; + material.needsUpdate = true; + _this.renderBufferDirect( camera, scene, geometry, material, object, group ); + + material.side = FrontSide; + material.needsUpdate = true; + _this.renderBufferDirect( camera, scene, geometry, material, object, group ); + + material.side = DoubleSide; + + } else { + + _this.renderBufferDirect( camera, scene, geometry, material, object, group ); + + } + + object.onAfterRender( _this, scene, camera, geometry, material, group ); + + } + + function getProgram( material, scene, object ) { + + if ( scene.isScene !== true ) scene = _emptyScene; // scene could be a Mesh, Line, Points, ... + + const materialProperties = properties.get( material ); + + const lights = currentRenderState.state.lights; + const shadowsArray = currentRenderState.state.shadowsArray; + + const lightsStateVersion = lights.state.version; + + const parameters = programCache.getParameters( material, lights.state, shadowsArray, scene, object ); + const programCacheKey = programCache.getProgramCacheKey( parameters ); + + let programs = materialProperties.programs; + + // always update environment and fog - changing these trigger an getProgram call, but it's possible that the program doesn't change + + materialProperties.environment = ( material.isMeshStandardMaterial || material.isMeshLambertMaterial || material.isMeshPhongMaterial ) ? scene.environment : null; + materialProperties.fog = scene.fog; + + const usePMREM = material.isMeshStandardMaterial || ( material.isMeshLambertMaterial && ! material.envMap ) || ( material.isMeshPhongMaterial && ! material.envMap ); + materialProperties.envMap = environments.get( material.envMap || materialProperties.environment, usePMREM ); + materialProperties.envMapRotation = ( materialProperties.environment !== null && material.envMap === null ) ? scene.environmentRotation : material.envMapRotation; + + if ( programs === undefined ) { + + // new material + + material.addEventListener( 'dispose', onMaterialDispose ); + + programs = new Map(); + materialProperties.programs = programs; + + } + + let program = programs.get( programCacheKey ); + + if ( program !== undefined ) { + + // early out if program and light state is identical + + if ( materialProperties.currentProgram === program && materialProperties.lightsStateVersion === lightsStateVersion ) { + + updateCommonMaterialProperties( material, parameters ); + + return program; + + } + + } else { + + parameters.uniforms = programCache.getUniforms( material ); + + material.onBeforeCompile( parameters, _this ); + + program = programCache.acquireProgram( parameters, programCacheKey ); + programs.set( programCacheKey, program ); + + materialProperties.uniforms = parameters.uniforms; + + } + + const uniforms = materialProperties.uniforms; + + if ( ( ! material.isShaderMaterial && ! material.isRawShaderMaterial ) || material.clipping === true ) { + + uniforms.clippingPlanes = clipping.uniform; + + } + + updateCommonMaterialProperties( material, parameters ); + + // store the light setup it was created for + + materialProperties.needsLights = materialNeedsLights( material ); + materialProperties.lightsStateVersion = lightsStateVersion; + + if ( materialProperties.needsLights ) { + + // wire up the material to this renderer's lighting state + + uniforms.ambientLightColor.value = lights.state.ambient; + uniforms.lightProbe.value = lights.state.probe; + uniforms.directionalLights.value = lights.state.directional; + uniforms.directionalLightShadows.value = lights.state.directionalShadow; + uniforms.spotLights.value = lights.state.spot; + uniforms.spotLightShadows.value = lights.state.spotShadow; + uniforms.rectAreaLights.value = lights.state.rectArea; + uniforms.ltc_1.value = lights.state.rectAreaLTC1; + uniforms.ltc_2.value = lights.state.rectAreaLTC2; + uniforms.pointLights.value = lights.state.point; + uniforms.pointLightShadows.value = lights.state.pointShadow; + uniforms.hemisphereLights.value = lights.state.hemi; + + uniforms.directionalShadowMatrix.value = lights.state.directionalShadowMatrix; + uniforms.spotLightMatrix.value = lights.state.spotLightMatrix; + uniforms.spotLightMap.value = lights.state.spotLightMap; + uniforms.pointShadowMatrix.value = lights.state.pointShadowMatrix; + // TODO (abelnation): add area lights shadow info to uniforms + + } + + materialProperties.currentProgram = program; + materialProperties.uniformsList = null; + + return program; + + } + + function getUniformList( materialProperties ) { + + if ( materialProperties.uniformsList === null ) { + + const progUniforms = materialProperties.currentProgram.getUniforms(); + materialProperties.uniformsList = WebGLUniforms.seqWithValue( progUniforms.seq, materialProperties.uniforms ); + + } + + return materialProperties.uniformsList; + + } + + function updateCommonMaterialProperties( material, parameters ) { + + const materialProperties = properties.get( material ); + + materialProperties.outputColorSpace = parameters.outputColorSpace; + materialProperties.batching = parameters.batching; + materialProperties.batchingColor = parameters.batchingColor; + materialProperties.instancing = parameters.instancing; + materialProperties.instancingColor = parameters.instancingColor; + materialProperties.instancingMorph = parameters.instancingMorph; + materialProperties.skinning = parameters.skinning; + materialProperties.morphTargets = parameters.morphTargets; + materialProperties.morphNormals = parameters.morphNormals; + materialProperties.morphColors = parameters.morphColors; + materialProperties.morphTargetsCount = parameters.morphTargetsCount; + materialProperties.numClippingPlanes = parameters.numClippingPlanes; + materialProperties.numIntersection = parameters.numClipIntersection; + materialProperties.vertexAlphas = parameters.vertexAlphas; + materialProperties.vertexTangents = parameters.vertexTangents; + materialProperties.toneMapping = parameters.toneMapping; + + } + + function setProgram( camera, scene, geometry, material, object ) { + + if ( scene.isScene !== true ) scene = _emptyScene; // scene could be a Mesh, Line, Points, ... + + textures.resetTextureUnits(); + + const fog = scene.fog; + const environment = ( material.isMeshStandardMaterial || material.isMeshLambertMaterial || material.isMeshPhongMaterial ) ? scene.environment : null; + const colorSpace = ( _currentRenderTarget === null ) ? _this.outputColorSpace : ( _currentRenderTarget.isXRRenderTarget === true ? _currentRenderTarget.texture.colorSpace : LinearSRGBColorSpace ); + const usePMREM = material.isMeshStandardMaterial || ( material.isMeshLambertMaterial && ! material.envMap ) || ( material.isMeshPhongMaterial && ! material.envMap ); + const envMap = environments.get( material.envMap || environment, usePMREM ); + const vertexAlphas = material.vertexColors === true && !! geometry.attributes.color && geometry.attributes.color.itemSize === 4; + const vertexTangents = !! geometry.attributes.tangent && ( !! material.normalMap || material.anisotropy > 0 ); + const morphTargets = !! geometry.morphAttributes.position; + const morphNormals = !! geometry.morphAttributes.normal; + const morphColors = !! geometry.morphAttributes.color; + + let toneMapping = NoToneMapping; + + if ( material.toneMapped ) { + + if ( _currentRenderTarget === null || _currentRenderTarget.isXRRenderTarget === true ) { + + toneMapping = _this.toneMapping; + + } + + } + + const morphAttribute = geometry.morphAttributes.position || geometry.morphAttributes.normal || geometry.morphAttributes.color; + const morphTargetsCount = ( morphAttribute !== undefined ) ? morphAttribute.length : 0; + + const materialProperties = properties.get( material ); + const lights = currentRenderState.state.lights; + + if ( _clippingEnabled === true ) { + + if ( _localClippingEnabled === true || camera !== _currentCamera ) { + + const useCache = + camera === _currentCamera && + material.id === _currentMaterialId; + + // we might want to call this function with some ClippingGroup + // object instead of the material, once it becomes feasible + // (#8465, #8379) + clipping.setState( material, camera, useCache ); + + } + + } + + // + + let needsProgramChange = false; + + if ( material.version === materialProperties.__version ) { + + if ( materialProperties.needsLights && ( materialProperties.lightsStateVersion !== lights.state.version ) ) { + + needsProgramChange = true; + + } else if ( materialProperties.outputColorSpace !== colorSpace ) { + + needsProgramChange = true; + + } else if ( object.isBatchedMesh && materialProperties.batching === false ) { + + needsProgramChange = true; + + } else if ( ! object.isBatchedMesh && materialProperties.batching === true ) { + + needsProgramChange = true; + + } else if ( object.isBatchedMesh && materialProperties.batchingColor === true && object.colorTexture === null ) { + + needsProgramChange = true; + + } else if ( object.isBatchedMesh && materialProperties.batchingColor === false && object.colorTexture !== null ) { + + needsProgramChange = true; + + } else if ( object.isInstancedMesh && materialProperties.instancing === false ) { + + needsProgramChange = true; + + } else if ( ! object.isInstancedMesh && materialProperties.instancing === true ) { + + needsProgramChange = true; + + } else if ( object.isSkinnedMesh && materialProperties.skinning === false ) { + + needsProgramChange = true; + + } else if ( ! object.isSkinnedMesh && materialProperties.skinning === true ) { + + needsProgramChange = true; + + } else if ( object.isInstancedMesh && materialProperties.instancingColor === true && object.instanceColor === null ) { + + needsProgramChange = true; + + } else if ( object.isInstancedMesh && materialProperties.instancingColor === false && object.instanceColor !== null ) { + + needsProgramChange = true; + + } else if ( object.isInstancedMesh && materialProperties.instancingMorph === true && object.morphTexture === null ) { + + needsProgramChange = true; + + } else if ( object.isInstancedMesh && materialProperties.instancingMorph === false && object.morphTexture !== null ) { + + needsProgramChange = true; + + } else if ( materialProperties.envMap !== envMap ) { + + needsProgramChange = true; + + } else if ( material.fog === true && materialProperties.fog !== fog ) { + + needsProgramChange = true; + + } else if ( materialProperties.numClippingPlanes !== undefined && + ( materialProperties.numClippingPlanes !== clipping.numPlanes || + materialProperties.numIntersection !== clipping.numIntersection ) ) { + + needsProgramChange = true; + + } else if ( materialProperties.vertexAlphas !== vertexAlphas ) { + + needsProgramChange = true; + + } else if ( materialProperties.vertexTangents !== vertexTangents ) { + + needsProgramChange = true; + + } else if ( materialProperties.morphTargets !== morphTargets ) { + + needsProgramChange = true; + + } else if ( materialProperties.morphNormals !== morphNormals ) { + + needsProgramChange = true; + + } else if ( materialProperties.morphColors !== morphColors ) { + + needsProgramChange = true; + + } else if ( materialProperties.toneMapping !== toneMapping ) { + + needsProgramChange = true; + + } else if ( materialProperties.morphTargetsCount !== morphTargetsCount ) { + + needsProgramChange = true; + + } + + } else { + + needsProgramChange = true; + materialProperties.__version = material.version; + + } + + // + + let program = materialProperties.currentProgram; + + if ( needsProgramChange === true ) { + + program = getProgram( material, scene, object ); + + } + + let refreshProgram = false; + let refreshMaterial = false; + let refreshLights = false; + + const p_uniforms = program.getUniforms(), + m_uniforms = materialProperties.uniforms; + + if ( state.useProgram( program.program ) ) { + + refreshProgram = true; + refreshMaterial = true; + refreshLights = true; + + } + + if ( material.id !== _currentMaterialId ) { + + _currentMaterialId = material.id; + + refreshMaterial = true; + + } + + if ( refreshProgram || _currentCamera !== camera ) { + + // common camera uniforms + + const reversedDepthBuffer = state.buffers.depth.getReversed(); + + if ( reversedDepthBuffer && camera.reversedDepth !== true ) { + + camera._reversedDepth = true; + camera.updateProjectionMatrix(); + + } + + p_uniforms.setValue( _gl, 'projectionMatrix', camera.projectionMatrix ); + + p_uniforms.setValue( _gl, 'viewMatrix', camera.matrixWorldInverse ); + + const uCamPos = p_uniforms.map.cameraPosition; + + if ( uCamPos !== undefined ) { + + uCamPos.setValue( _gl, _vector3.setFromMatrixPosition( camera.matrixWorld ) ); + + } + + if ( capabilities.logarithmicDepthBuffer ) { + + p_uniforms.setValue( _gl, 'logDepthBufFC', + 2.0 / ( Math.log( camera.far + 1.0 ) / Math.LN2 ) ); + + } + + // consider moving isOrthographic to UniformLib and WebGLMaterials, see https://github.com/mrdoob/three.js/pull/26467#issuecomment-1645185067 + + if ( material.isMeshPhongMaterial || + material.isMeshToonMaterial || + material.isMeshLambertMaterial || + material.isMeshBasicMaterial || + material.isMeshStandardMaterial || + material.isShaderMaterial ) { + + p_uniforms.setValue( _gl, 'isOrthographic', camera.isOrthographicCamera === true ); + + } + + if ( _currentCamera !== camera ) { + + _currentCamera = camera; + + // lighting uniforms depend on the camera so enforce an update + // now, in case this material supports lights - or later, when + // the next material that does gets activated: + + refreshMaterial = true; // set to true on material change + refreshLights = true; // remains set until update done + + } + + } + + // Pre-allocate texture units for shadow samplers before setting data textures + if ( materialProperties.needsLights ) { + + // Set shadow map uniforms first to ensure they get the first texture units + if ( lights.state.directionalShadowMap.length > 0 ) { + + p_uniforms.setValue( _gl, 'directionalShadowMap', lights.state.directionalShadowMap, textures ); + + } + + if ( lights.state.spotShadowMap.length > 0 ) { + + p_uniforms.setValue( _gl, 'spotShadowMap', lights.state.spotShadowMap, textures ); + + } + + if ( lights.state.pointShadowMap.length > 0 ) { + + p_uniforms.setValue( _gl, 'pointShadowMap', lights.state.pointShadowMap, textures ); + + } + + } + + // skinning and morph target uniforms must be set even if material didn't change + // auto-setting of texture unit for bone and morph texture must go before other textures + // otherwise textures used for skinning and morphing can take over texture units reserved for other material textures + + if ( object.isSkinnedMesh ) { + + p_uniforms.setOptional( _gl, object, 'bindMatrix' ); + p_uniforms.setOptional( _gl, object, 'bindMatrixInverse' ); + + const skeleton = object.skeleton; + + if ( skeleton ) { + + if ( skeleton.boneTexture === null ) skeleton.computeBoneTexture(); + + p_uniforms.setValue( _gl, 'boneTexture', skeleton.boneTexture, textures ); + + } + + } + + if ( object.isBatchedMesh ) { + + p_uniforms.setOptional( _gl, object, 'batchingTexture' ); + p_uniforms.setValue( _gl, 'batchingTexture', object._matricesTexture, textures ); + + p_uniforms.setOptional( _gl, object, 'batchingIdTexture' ); + p_uniforms.setValue( _gl, 'batchingIdTexture', object._indirectTexture, textures ); + + p_uniforms.setOptional( _gl, object, 'batchingColorTexture' ); + if ( object._colorsTexture !== null ) { + + p_uniforms.setValue( _gl, 'batchingColorTexture', object._colorsTexture, textures ); + + } + + } + + const morphAttributes = geometry.morphAttributes; + + if ( morphAttributes.position !== undefined || morphAttributes.normal !== undefined || ( morphAttributes.color !== undefined ) ) { + + morphtargets.update( object, geometry, program ); + + } + + if ( refreshMaterial || materialProperties.receiveShadow !== object.receiveShadow ) { + + materialProperties.receiveShadow = object.receiveShadow; + p_uniforms.setValue( _gl, 'receiveShadow', object.receiveShadow ); + + } + + if ( ( material.isMeshStandardMaterial || material.isMeshLambertMaterial || material.isMeshPhongMaterial ) && material.envMap === null && scene.environment !== null ) { + + m_uniforms.envMapIntensity.value = scene.environmentIntensity; + + } + + // Set DFG LUT for physically-based materials + if ( m_uniforms.dfgLUT !== undefined ) { + + m_uniforms.dfgLUT.value = getDFGLUT(); + + } + + if ( refreshMaterial ) { + + p_uniforms.setValue( _gl, 'toneMappingExposure', _this.toneMappingExposure ); + + if ( materialProperties.needsLights ) { + + // the current material requires lighting info + + // note: all lighting uniforms are always set correctly + // they simply reference the renderer's state for their + // values + // + // use the current material's .needsUpdate flags to set + // the GL state when required + + markUniformsLightsNeedsUpdate( m_uniforms, refreshLights ); + + } + + // refresh uniforms common to several materials + + if ( fog && material.fog === true ) { + + materials.refreshFogUniforms( m_uniforms, fog ); + + } + + materials.refreshMaterialUniforms( m_uniforms, material, _pixelRatio, _height, currentRenderState.state.transmissionRenderTarget[ camera.id ] ); + + WebGLUniforms.upload( _gl, getUniformList( materialProperties ), m_uniforms, textures ); + + } + + if ( material.isShaderMaterial && material.uniformsNeedUpdate === true ) { + + WebGLUniforms.upload( _gl, getUniformList( materialProperties ), m_uniforms, textures ); + material.uniformsNeedUpdate = false; + + } + + if ( material.isSpriteMaterial ) { + + p_uniforms.setValue( _gl, 'center', object.center ); + + } + + // common matrices + + p_uniforms.setValue( _gl, 'modelViewMatrix', object.modelViewMatrix ); + p_uniforms.setValue( _gl, 'normalMatrix', object.normalMatrix ); + p_uniforms.setValue( _gl, 'modelMatrix', object.matrixWorld ); + + // UBOs + + if ( material.isShaderMaterial || material.isRawShaderMaterial ) { + + const groups = material.uniformsGroups; + + for ( let i = 0, l = groups.length; i < l; i ++ ) { + + const group = groups[ i ]; + + uniformsGroups.update( group, program ); + uniformsGroups.bind( group, program ); + + } + + } + + return program; + + } + + // If uniforms are marked as clean, they don't need to be loaded to the GPU. + + function markUniformsLightsNeedsUpdate( uniforms, value ) { + + uniforms.ambientLightColor.needsUpdate = value; + uniforms.lightProbe.needsUpdate = value; + + uniforms.directionalLights.needsUpdate = value; + uniforms.directionalLightShadows.needsUpdate = value; + uniforms.pointLights.needsUpdate = value; + uniforms.pointLightShadows.needsUpdate = value; + uniforms.spotLights.needsUpdate = value; + uniforms.spotLightShadows.needsUpdate = value; + uniforms.rectAreaLights.needsUpdate = value; + uniforms.hemisphereLights.needsUpdate = value; + + } + + function materialNeedsLights( material ) { + + return material.isMeshLambertMaterial || material.isMeshToonMaterial || material.isMeshPhongMaterial || + material.isMeshStandardMaterial || material.isShadowMaterial || + ( material.isShaderMaterial && material.lights === true ); + + } + + /** + * Returns the active cube face. + * + * @return {number} The active cube face. + */ + this.getActiveCubeFace = function () { + + return _currentActiveCubeFace; + + }; + + /** + * Returns the active mipmap level. + * + * @return {number} The active mipmap level. + */ + this.getActiveMipmapLevel = function () { + + return _currentActiveMipmapLevel; + + }; + + /** + * Returns the active render target. + * + * @return {?WebGLRenderTarget} The active render target. Returns `null` if no render target + * is currently set. + */ + this.getRenderTarget = function () { + + return _currentRenderTarget; + + }; + + this.setRenderTargetTextures = function ( renderTarget, colorTexture, depthTexture ) { + + const renderTargetProperties = properties.get( renderTarget ); + + renderTargetProperties.__autoAllocateDepthBuffer = renderTarget.resolveDepthBuffer === false; + if ( renderTargetProperties.__autoAllocateDepthBuffer === false ) { + + // The multisample_render_to_texture extension doesn't work properly if there + // are midframe flushes and an external depth buffer. Disable use of the extension. + renderTargetProperties.__useRenderToTexture = false; + + } + + properties.get( renderTarget.texture ).__webglTexture = colorTexture; + properties.get( renderTarget.depthTexture ).__webglTexture = renderTargetProperties.__autoAllocateDepthBuffer ? undefined : depthTexture; + + renderTargetProperties.__hasExternalTextures = true; + + }; + + this.setRenderTargetFramebuffer = function ( renderTarget, defaultFramebuffer ) { + + const renderTargetProperties = properties.get( renderTarget ); + renderTargetProperties.__webglFramebuffer = defaultFramebuffer; + renderTargetProperties.__useDefaultFramebuffer = defaultFramebuffer === undefined; + + }; + + const _scratchFrameBuffer = _gl.createFramebuffer(); + + /** + * Sets the active rendertarget. + * + * @param {?WebGLRenderTarget} renderTarget - The render target to set. When `null` is given, + * the canvas is set as the active render target instead. + * @param {number} [activeCubeFace=0] - The active cube face when using a cube render target. + * Indicates the z layer to render in to when using 3D or array render targets. + * @param {number} [activeMipmapLevel=0] - The active mipmap level. + */ + this.setRenderTarget = function ( renderTarget, activeCubeFace = 0, activeMipmapLevel = 0 ) { + + _currentRenderTarget = renderTarget; + _currentActiveCubeFace = activeCubeFace; + _currentActiveMipmapLevel = activeMipmapLevel; + + let framebuffer = null; + let isCube = false; + let isRenderTarget3D = false; + + if ( renderTarget ) { + + const renderTargetProperties = properties.get( renderTarget ); + + if ( renderTargetProperties.__useDefaultFramebuffer !== undefined ) { + + // Externally-managed framebuffer (e.g. XR) + // Bind to the stored framebuffer (may be null for default, or a WebGLFramebuffer) + state.bindFramebuffer( _gl.FRAMEBUFFER, renderTargetProperties.__webglFramebuffer ); + + _currentViewport.copy( renderTarget.viewport ); + _currentScissor.copy( renderTarget.scissor ); + _currentScissorTest = renderTarget.scissorTest; + + state.viewport( _currentViewport ); + state.scissor( _currentScissor ); + state.setScissorTest( _currentScissorTest ); + + _currentMaterialId = -1; + + return; + + } else if ( renderTargetProperties.__webglFramebuffer === undefined ) { + + textures.setupRenderTarget( renderTarget ); + + } else if ( renderTargetProperties.__hasExternalTextures ) { + + // Color and depth texture must be rebound in order for the swapchain to update. + textures.rebindTextures( renderTarget, properties.get( renderTarget.texture ).__webglTexture, properties.get( renderTarget.depthTexture ).__webglTexture ); + + } else if ( renderTarget.depthBuffer ) { + + // check if the depth texture is already bound to the frame buffer and that it's been initialized + const depthTexture = renderTarget.depthTexture; + if ( renderTargetProperties.__boundDepthTexture !== depthTexture ) { + + // check if the depth texture is compatible + if ( + depthTexture !== null && + properties.has( depthTexture ) && + ( renderTarget.width !== depthTexture.image.width || renderTarget.height !== depthTexture.image.height ) + ) { + + throw new Error( 'WebGLRenderTarget: Attached DepthTexture is initialized to the incorrect size.' ); + + } + + // Swap the depth buffer to the currently attached one + textures.setupDepthRenderbuffer( renderTarget ); + + } + + } + + const texture = renderTarget.texture; + + if ( texture.isData3DTexture || texture.isDataArrayTexture || texture.isCompressedArrayTexture ) { + + isRenderTarget3D = true; + + } + + const __webglFramebuffer = properties.get( renderTarget ).__webglFramebuffer; + + if ( renderTarget.isWebGLCubeRenderTarget ) { + + if ( Array.isArray( __webglFramebuffer[ activeCubeFace ] ) ) { + + framebuffer = __webglFramebuffer[ activeCubeFace ][ activeMipmapLevel ]; + + } else { + + framebuffer = __webglFramebuffer[ activeCubeFace ]; + + } + + isCube = true; + + } else if ( ( renderTarget.samples > 0 ) && textures.useMultisampledRTT( renderTarget ) === false ) { + + framebuffer = properties.get( renderTarget ).__webglMultisampledFramebuffer; + + } else { + + if ( Array.isArray( __webglFramebuffer ) ) { + + framebuffer = __webglFramebuffer[ activeMipmapLevel ]; + + } else { + + framebuffer = __webglFramebuffer; + + } + + } + + _currentViewport.copy( renderTarget.viewport ); + _currentScissor.copy( renderTarget.scissor ); + _currentScissorTest = renderTarget.scissorTest; + + } else { + + _currentViewport.copy( _viewport ).multiplyScalar( _pixelRatio ).floor(); + _currentScissor.copy( _scissor ).multiplyScalar( _pixelRatio ).floor(); + _currentScissorTest = _scissorTest; + + } + + // Use a scratch frame buffer if rendering to a mip level to avoid depth buffers + // being bound that are different sizes. + if ( activeMipmapLevel !== 0 ) { + + framebuffer = _scratchFrameBuffer; + + } + + const framebufferBound = state.bindFramebuffer( _gl.FRAMEBUFFER, framebuffer ); + + if ( framebufferBound ) { + + state.drawBuffers( renderTarget, framebuffer ); + + } + + state.viewport( _currentViewport ); + state.scissor( _currentScissor ); + state.setScissorTest( _currentScissorTest ); + + if ( isCube ) { + + const textureProperties = properties.get( renderTarget.texture ); + _gl.framebufferTexture2D( _gl.FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, _gl.TEXTURE_CUBE_MAP_POSITIVE_X + activeCubeFace, textureProperties.__webglTexture, activeMipmapLevel ); + + } else if ( isRenderTarget3D ) { + + const layer = activeCubeFace; + + for ( let i = 0; i < renderTarget.textures.length; i ++ ) { + + const textureProperties = properties.get( renderTarget.textures[ i ] ); + + _gl.framebufferTextureLayer( _gl.FRAMEBUFFER, _gl.COLOR_ATTACHMENT0 + i, textureProperties.__webglTexture, activeMipmapLevel, layer ); + + } + + } else if ( renderTarget !== null && activeMipmapLevel !== 0 ) { + + // Only bind the frame buffer if we are using a scratch frame buffer to render to a mipmap. + // If we rebind the texture when using a multi sample buffer then an error about inconsistent samples will be thrown. + const textureProperties = properties.get( renderTarget.texture ); + _gl.framebufferTexture2D( _gl.FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, _gl.TEXTURE_2D, textureProperties.__webglTexture, activeMipmapLevel ); + + } + + _currentMaterialId = -1; // reset current material to ensure correct uniform bindings + + }; + + /** + * Reads the pixel data from the given render target into the given buffer. + * + * @param {WebGLRenderTarget} renderTarget - The render target to read from. + * @param {number} x - The `x` coordinate of the copy region's origin. + * @param {number} y - The `y` coordinate of the copy region's origin. + * @param {number} width - The width of the copy region. + * @param {number} height - The height of the copy region. + * @param {TypedArray} buffer - The result buffer. + * @param {number} [activeCubeFaceIndex] - The active cube face index. + * @param {number} [textureIndex=0] - The texture index of an MRT render target. + */ + this.readRenderTargetPixels = function ( renderTarget, x, y, width, height, buffer, activeCubeFaceIndex, textureIndex = 0 ) { + + if ( ! ( renderTarget && renderTarget.isWebGLRenderTarget ) ) { + + error( 'WebGLRenderer.readRenderTargetPixels: renderTarget is not THREE.WebGLRenderTarget.' ); + return; + + } + + let framebuffer = properties.get( renderTarget ).__webglFramebuffer; + + if ( renderTarget.isWebGLCubeRenderTarget && activeCubeFaceIndex !== undefined ) { + + framebuffer = framebuffer[ activeCubeFaceIndex ]; + + } + + if ( framebuffer ) { + + state.bindFramebuffer( _gl.FRAMEBUFFER, framebuffer ); + + try { + + const texture = renderTarget.textures[ textureIndex ]; + const textureFormat = texture.format; + const textureType = texture.type; + + // when using MRT, select the correct color buffer for the subsequent read command + + if ( renderTarget.textures.length > 1 ) _gl.readBuffer( _gl.COLOR_ATTACHMENT0 + textureIndex ); + + if ( ! capabilities.textureFormatReadable( textureFormat ) ) { + + error( 'WebGLRenderer.readRenderTargetPixels: renderTarget is not in RGBA or implementation defined format.' ); + return; + + } + + if ( ! capabilities.textureTypeReadable( textureType ) ) { + + error( 'WebGLRenderer.readRenderTargetPixels: renderTarget is not in UnsignedByteType or implementation defined type.' ); + return; + + } + + // the following if statement ensures valid read requests (no out-of-bounds pixels, see #8604) + + if ( ( x >= 0 && x <= ( renderTarget.width - width ) ) && ( y >= 0 && y <= ( renderTarget.height - height ) ) ) { + + _gl.readPixels( x, y, width, height, utils.convert( textureFormat ), utils.convert( textureType ), buffer ); + + } + + } finally { + + // restore framebuffer of current render target if necessary + + const framebuffer = ( _currentRenderTarget !== null ) ? properties.get( _currentRenderTarget ).__webglFramebuffer : null; + state.bindFramebuffer( _gl.FRAMEBUFFER, framebuffer ); + + } + + } + + }; + + /** + * Asynchronous, non-blocking version of {@link WebGLRenderer#readRenderTargetPixels}. + * + * It is recommended to use this version of `readRenderTargetPixels()` whenever possible. + * + * @async + * @param {WebGLRenderTarget} renderTarget - The render target to read from. + * @param {number} x - The `x` coordinate of the copy region's origin. + * @param {number} y - The `y` coordinate of the copy region's origin. + * @param {number} width - The width of the copy region. + * @param {number} height - The height of the copy region. + * @param {TypedArray} buffer - The result buffer. + * @param {number} [activeCubeFaceIndex] - The active cube face index. + * @param {number} [textureIndex=0] - The texture index of an MRT render target. + * @return {Promise} A Promise that resolves when the read has been finished. The resolve provides the read data as a typed array. + */ + this.readRenderTargetPixelsAsync = async function ( renderTarget, x, y, width, height, buffer, activeCubeFaceIndex, textureIndex = 0 ) { + + if ( ! ( renderTarget && renderTarget.isWebGLRenderTarget ) ) { + + throw new Error( 'THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not THREE.WebGLRenderTarget.' ); + + } + + let framebuffer = properties.get( renderTarget ).__webglFramebuffer; + if ( renderTarget.isWebGLCubeRenderTarget && activeCubeFaceIndex !== undefined ) { + + framebuffer = framebuffer[ activeCubeFaceIndex ]; + + } + + if ( framebuffer ) { + + // the following if statement ensures valid read requests (no out-of-bounds pixels, see #8604) + if ( ( x >= 0 && x <= ( renderTarget.width - width ) ) && ( y >= 0 && y <= ( renderTarget.height - height ) ) ) { + + // set the active frame buffer to the one we want to read + state.bindFramebuffer( _gl.FRAMEBUFFER, framebuffer ); + + const texture = renderTarget.textures[ textureIndex ]; + const textureFormat = texture.format; + const textureType = texture.type; + + // when using MRT, select the correct color buffer for the subsequent read command + + if ( renderTarget.textures.length > 1 ) _gl.readBuffer( _gl.COLOR_ATTACHMENT0 + textureIndex ); + + + if ( ! capabilities.textureFormatReadable( textureFormat ) ) { + + throw new Error( 'THREE.WebGLRenderer.readRenderTargetPixelsAsync: renderTarget is not in RGBA or implementation defined format.' ); + + } + + if ( ! capabilities.textureTypeReadable( textureType ) ) { + + throw new Error( 'THREE.WebGLRenderer.readRenderTargetPixelsAsync: renderTarget is not in UnsignedByteType or implementation defined type.' ); + + } + + const glBuffer = _gl.createBuffer(); + _gl.bindBuffer( _gl.PIXEL_PACK_BUFFER, glBuffer ); + _gl.bufferData( _gl.PIXEL_PACK_BUFFER, buffer.byteLength, _gl.STREAM_READ ); + + _gl.readPixels( x, y, width, height, utils.convert( textureFormat ), utils.convert( textureType ), 0 ); + + // reset the frame buffer to the currently set buffer before waiting + const currFramebuffer = _currentRenderTarget !== null ? properties.get( _currentRenderTarget ).__webglFramebuffer : null; + state.bindFramebuffer( _gl.FRAMEBUFFER, currFramebuffer ); + + // check if the commands have finished every 8 ms + const sync = _gl.fenceSync( _gl.SYNC_GPU_COMMANDS_COMPLETE, 0 ); + + _gl.flush(); + + await probeAsync( _gl, sync, 4 ); + + // read the data and delete the buffer + _gl.bindBuffer( _gl.PIXEL_PACK_BUFFER, glBuffer ); + _gl.getBufferSubData( _gl.PIXEL_PACK_BUFFER, 0, buffer ); + _gl.deleteBuffer( glBuffer ); + _gl.deleteSync( sync ); + + return buffer; + + } else { + + throw new Error( 'THREE.WebGLRenderer.readRenderTargetPixelsAsync: requested read bounds are out of range.' ); + + } + + } + + }; + + /** + * Copies pixels from the current bound framebuffer into the given texture. + * + * @param {FramebufferTexture} texture - The texture. + * @param {?Vector2} [position=null] - The start position of the copy operation. + * @param {number} [level=0] - The mip level. The default represents the base mip. + */ + this.copyFramebufferToTexture = function ( texture, position = null, level = 0 ) { + + const levelScale = Math.pow( 2, - level ); + const width = Math.floor( texture.image.width * levelScale ); + const height = Math.floor( texture.image.height * levelScale ); + + const x = position !== null ? position.x : 0; + const y = position !== null ? position.y : 0; + + textures.setTexture2D( texture, 0 ); + + _gl.copyTexSubImage2D( _gl.TEXTURE_2D, level, 0, 0, x, y, width, height ); + + state.unbindTexture(); + + }; + + const _srcFramebuffer = _gl.createFramebuffer(); + const _dstFramebuffer = _gl.createFramebuffer(); + + /** + * Copies data of the given source texture into a destination texture. + * + * When using render target textures as `srcTexture` and `dstTexture`, you must make sure both render targets are initialized + * {@link WebGLRenderer#initRenderTarget}. + * + * @param {Texture} srcTexture - The source texture. + * @param {Texture} dstTexture - The destination texture. + * @param {?(Box2|Box3)} [srcRegion=null] - A bounding box which describes the source region. Can be two or three-dimensional. + * @param {?(Vector2|Vector3)} [dstPosition=null] - A vector that represents the origin of the destination region. Can be two or three-dimensional. + * @param {number} [srcLevel=0] - The source mipmap level to copy. + * @param {?number} [dstLevel=0] - The destination mipmap level. + */ + this.copyTextureToTexture = function ( srcTexture, dstTexture, srcRegion = null, dstPosition = null, srcLevel = 0, dstLevel = 0 ) { + + // gather the necessary dimensions to copy + let width, height, depth, minX, minY, minZ; + let dstX, dstY, dstZ; + const image = srcTexture.isCompressedTexture ? srcTexture.mipmaps[ dstLevel ] : srcTexture.image; + if ( srcRegion !== null ) { + + width = srcRegion.max.x - srcRegion.min.x; + height = srcRegion.max.y - srcRegion.min.y; + depth = srcRegion.isBox3 ? srcRegion.max.z - srcRegion.min.z : 1; + minX = srcRegion.min.x; + minY = srcRegion.min.y; + minZ = srcRegion.isBox3 ? srcRegion.min.z : 0; + + } else { + + const levelScale = Math.pow( 2, - srcLevel ); + width = Math.floor( image.width * levelScale ); + height = Math.floor( image.height * levelScale ); + if ( srcTexture.isDataArrayTexture ) { + + depth = image.depth; + + } else if ( srcTexture.isData3DTexture ) { + + depth = Math.floor( image.depth * levelScale ); + + } else { + + depth = 1; + + } + + minX = 0; + minY = 0; + minZ = 0; + + } + + if ( dstPosition !== null ) { + + dstX = dstPosition.x; + dstY = dstPosition.y; + dstZ = dstPosition.z; + + } else { + + dstX = 0; + dstY = 0; + dstZ = 0; + + } + + // Set up the destination target + const glFormat = utils.convert( dstTexture.format ); + const glType = utils.convert( dstTexture.type ); + let glTarget; + + if ( dstTexture.isData3DTexture ) { + + textures.setTexture3D( dstTexture, 0 ); + glTarget = _gl.TEXTURE_3D; + + } else if ( dstTexture.isDataArrayTexture || dstTexture.isCompressedArrayTexture ) { + + textures.setTexture2DArray( dstTexture, 0 ); + glTarget = _gl.TEXTURE_2D_ARRAY; + + } else { + + textures.setTexture2D( dstTexture, 0 ); + glTarget = _gl.TEXTURE_2D; + + } + + _gl.pixelStorei( _gl.UNPACK_FLIP_Y_WEBGL, dstTexture.flipY ); + _gl.pixelStorei( _gl.UNPACK_PREMULTIPLY_ALPHA_WEBGL, dstTexture.premultiplyAlpha ); + _gl.pixelStorei( _gl.UNPACK_ALIGNMENT, dstTexture.unpackAlignment ); + + // used for copying data from cpu + const currentUnpackRowLen = _gl.getParameter( _gl.UNPACK_ROW_LENGTH ); + const currentUnpackImageHeight = _gl.getParameter( _gl.UNPACK_IMAGE_HEIGHT ); + const currentUnpackSkipPixels = _gl.getParameter( _gl.UNPACK_SKIP_PIXELS ); + const currentUnpackSkipRows = _gl.getParameter( _gl.UNPACK_SKIP_ROWS ); + const currentUnpackSkipImages = _gl.getParameter( _gl.UNPACK_SKIP_IMAGES ); + + _gl.pixelStorei( _gl.UNPACK_ROW_LENGTH, image.width ); + _gl.pixelStorei( _gl.UNPACK_IMAGE_HEIGHT, image.height ); + _gl.pixelStorei( _gl.UNPACK_SKIP_PIXELS, minX ); + _gl.pixelStorei( _gl.UNPACK_SKIP_ROWS, minY ); + _gl.pixelStorei( _gl.UNPACK_SKIP_IMAGES, minZ ); + + // set up the src texture + const isSrc3D = srcTexture.isDataArrayTexture || srcTexture.isData3DTexture; + const isDst3D = dstTexture.isDataArrayTexture || dstTexture.isData3DTexture; + if ( srcTexture.isDepthTexture ) { + + const srcTextureProperties = properties.get( srcTexture ); + const dstTextureProperties = properties.get( dstTexture ); + const srcRenderTargetProperties = properties.get( srcTextureProperties.__renderTarget ); + const dstRenderTargetProperties = properties.get( dstTextureProperties.__renderTarget ); + state.bindFramebuffer( _gl.READ_FRAMEBUFFER, srcRenderTargetProperties.__webglFramebuffer ); + state.bindFramebuffer( _gl.DRAW_FRAMEBUFFER, dstRenderTargetProperties.__webglFramebuffer ); + + for ( let i = 0; i < depth; i ++ ) { + + // if the source or destination are a 3d target then a layer needs to be bound + if ( isSrc3D ) { + + _gl.framebufferTextureLayer( _gl.READ_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, properties.get( srcTexture ).__webglTexture, srcLevel, minZ + i ); + _gl.framebufferTextureLayer( _gl.DRAW_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, properties.get( dstTexture ).__webglTexture, dstLevel, dstZ + i ); + + } + + _gl.blitFramebuffer( minX, minY, width, height, dstX, dstY, width, height, _gl.DEPTH_BUFFER_BIT, _gl.NEAREST ); + + } + + state.bindFramebuffer( _gl.READ_FRAMEBUFFER, null ); + state.bindFramebuffer( _gl.DRAW_FRAMEBUFFER, null ); + + } else if ( srcLevel !== 0 || srcTexture.isRenderTargetTexture || properties.has( srcTexture ) ) { + + // get the appropriate frame buffers + const srcTextureProperties = properties.get( srcTexture ); + const dstTextureProperties = properties.get( dstTexture ); + + // bind the frame buffer targets + state.bindFramebuffer( _gl.READ_FRAMEBUFFER, _srcFramebuffer ); + state.bindFramebuffer( _gl.DRAW_FRAMEBUFFER, _dstFramebuffer ); + + for ( let i = 0; i < depth; i ++ ) { + + // assign the correct layers and mip maps to the frame buffers + if ( isSrc3D ) { + + _gl.framebufferTextureLayer( _gl.READ_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, srcTextureProperties.__webglTexture, srcLevel, minZ + i ); + + } else { + + _gl.framebufferTexture2D( _gl.READ_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, _gl.TEXTURE_2D, srcTextureProperties.__webglTexture, srcLevel ); + + } + + if ( isDst3D ) { + + _gl.framebufferTextureLayer( _gl.DRAW_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, dstTextureProperties.__webglTexture, dstLevel, dstZ + i ); + + } else { + + _gl.framebufferTexture2D( _gl.DRAW_FRAMEBUFFER, _gl.COLOR_ATTACHMENT0, _gl.TEXTURE_2D, dstTextureProperties.__webglTexture, dstLevel ); + + } + + // copy the data using the fastest function that can achieve the copy + if ( srcLevel !== 0 ) { + + _gl.blitFramebuffer( minX, minY, width, height, dstX, dstY, width, height, _gl.COLOR_BUFFER_BIT, _gl.NEAREST ); + + } else if ( isDst3D ) { + + _gl.copyTexSubImage3D( glTarget, dstLevel, dstX, dstY, dstZ + i, minX, minY, width, height ); + + } else { + + _gl.copyTexSubImage2D( glTarget, dstLevel, dstX, dstY, minX, minY, width, height ); + + } + + } + + // unbind read, draw buffers + state.bindFramebuffer( _gl.READ_FRAMEBUFFER, null ); + state.bindFramebuffer( _gl.DRAW_FRAMEBUFFER, null ); + + } else { + + if ( isDst3D ) { + + // copy data into the 3d texture + if ( srcTexture.isDataTexture || srcTexture.isData3DTexture ) { + + _gl.texSubImage3D( glTarget, dstLevel, dstX, dstY, dstZ, width, height, depth, glFormat, glType, image.data ); + + } else if ( dstTexture.isCompressedArrayTexture ) { + + _gl.compressedTexSubImage3D( glTarget, dstLevel, dstX, dstY, dstZ, width, height, depth, glFormat, image.data ); + + } else { + + _gl.texSubImage3D( glTarget, dstLevel, dstX, dstY, dstZ, width, height, depth, glFormat, glType, image ); + + } + + } else { + + // copy data into the 2d texture + if ( srcTexture.isDataTexture ) { + + _gl.texSubImage2D( _gl.TEXTURE_2D, dstLevel, dstX, dstY, width, height, glFormat, glType, image.data ); + + } else if ( srcTexture.isCompressedTexture ) { + + _gl.compressedTexSubImage2D( _gl.TEXTURE_2D, dstLevel, dstX, dstY, image.width, image.height, glFormat, image.data ); + + } else { + + _gl.texSubImage2D( _gl.TEXTURE_2D, dstLevel, dstX, dstY, width, height, glFormat, glType, image ); + + } + + } + + } + + // reset values + _gl.pixelStorei( _gl.UNPACK_ROW_LENGTH, currentUnpackRowLen ); + _gl.pixelStorei( _gl.UNPACK_IMAGE_HEIGHT, currentUnpackImageHeight ); + _gl.pixelStorei( _gl.UNPACK_SKIP_PIXELS, currentUnpackSkipPixels ); + _gl.pixelStorei( _gl.UNPACK_SKIP_ROWS, currentUnpackSkipRows ); + _gl.pixelStorei( _gl.UNPACK_SKIP_IMAGES, currentUnpackSkipImages ); + + // Generate mipmaps only when copying level 0 + if ( dstLevel === 0 && dstTexture.generateMipmaps ) { + + _gl.generateMipmap( glTarget ); + + } + + state.unbindTexture(); + + }; + + /** + * Initializes the given WebGLRenderTarget memory. Useful for initializing a render target so data + * can be copied into it using {@link WebGLRenderer#copyTextureToTexture} before it has been + * rendered to. + * + * @param {WebGLRenderTarget} target - The render target. + */ + this.initRenderTarget = function ( target ) { + + if ( properties.get( target ).__webglFramebuffer === undefined ) { + + textures.setupRenderTarget( target ); + + } + + }; + + /** + * Initializes the given texture. Useful for preloading a texture rather than waiting until first + * render (which can cause noticeable lags due to decode and GPU upload overhead). + * + * @param {Texture} texture - The texture. + */ + this.initTexture = function ( texture ) { + + if ( texture.isCubeTexture ) { + + textures.setTextureCube( texture, 0 ); + + } else if ( texture.isData3DTexture ) { + + textures.setTexture3D( texture, 0 ); + + } else if ( texture.isDataArrayTexture || texture.isCompressedArrayTexture ) { + + textures.setTexture2DArray( texture, 0 ); + + } else { + + textures.setTexture2D( texture, 0 ); + + } + + state.unbindTexture(); + + }; + + /** + * Can be used to reset the internal WebGL state. This method is mostly + * relevant for applications which share a single WebGL context across + * multiple WebGL libraries. + */ + this.resetState = function () { + + _currentActiveCubeFace = 0; + _currentActiveMipmapLevel = 0; + _currentRenderTarget = null; + + state.reset(); + bindingStates.reset(); + + }; + + if ( typeof __THREE_DEVTOOLS__ !== 'undefined' ) { + + __THREE_DEVTOOLS__.dispatchEvent( new CustomEvent( 'observe', { detail: this } ) ); + + } + + } + + /** + * Defines the coordinate system of the renderer. + * + * In `WebGLRenderer`, the value is always `WebGLCoordinateSystem`. + * + * @type {WebGLCoordinateSystem|WebGPUCoordinateSystem} + * @default WebGLCoordinateSystem + * @readonly + */ + get coordinateSystem() { + + return WebGLCoordinateSystem; + + } + + /** + * Defines the output color space of the renderer. + * + * @type {SRGBColorSpace|LinearSRGBColorSpace} + * @default SRGBColorSpace + */ + get outputColorSpace() { + + return this._outputColorSpace; + + } + + set outputColorSpace( colorSpace ) { + + this._outputColorSpace = colorSpace; + + const gl = this.getContext(); + gl.drawingBufferColorSpace = ColorManagement._getDrawingBufferColorSpace( colorSpace ); + gl.unpackColorSpace = ColorManagement._getUnpackColorSpace(); + + } + +} + +export { ACESFilmicToneMapping, AddEquation, AddOperation, AdditiveBlending, AgXToneMapping, AlphaFormat, AlwaysCompare, AlwaysDepth, ArrayCamera, BackSide, BoxGeometry, BufferAttribute, BufferGeometry, ByteType, CineonToneMapping, ClampToEdgeWrapping, Color, ColorManagement, ConstantAlphaFactor, ConstantColorFactor, CubeCamera, CubeDepthTexture, CubeReflectionMapping, CubeRefractionMapping, CubeTexture, CubeUVReflectionMapping, CullFaceBack, CullFaceFront, CullFaceNone, CustomBlending, CustomToneMapping, Data3DTexture, DataArrayTexture, DataTexture, DepthFormat, DepthStencilFormat, DepthTexture, DoubleSide, DstAlphaFactor, DstColorFactor, EqualCompare, EqualDepth, EquirectangularReflectionMapping, EquirectangularRefractionMapping, Euler, EventDispatcher, ExternalTexture, Float32BufferAttribute, FloatType, FrontSide, Frustum, GLSL3, GreaterCompare, GreaterDepth, GreaterEqualCompare, GreaterEqualDepth, HalfFloatType, IntType, Layers, LessCompare, LessDepth, LessEqualCompare, LessEqualDepth, LinearFilter, LinearMipmapLinearFilter, LinearMipmapNearestFilter, LinearSRGBColorSpace, LinearToneMapping, LinearTransfer, Matrix3, Matrix4, MaxEquation, Mesh, MeshBasicMaterial, MeshDepthMaterial, MeshDistanceMaterial, MinEquation, MirroredRepeatWrapping, MixOperation, MultiplyBlending, MultiplyOperation, NearestFilter, NearestMipmapLinearFilter, NearestMipmapNearestFilter, NeutralToneMapping, NeverCompare, NeverDepth, NoBlending, NoColorSpace, NoToneMapping, NormalBlending, NotEqualCompare, NotEqualDepth, ObjectSpaceNormalMap, OneFactor, OneMinusConstantAlphaFactor, OneMinusConstantColorFactor, OneMinusDstAlphaFactor, OneMinusDstColorFactor, OneMinusSrcAlphaFactor, OneMinusSrcColorFactor, OrthographicCamera, PCFShadowMap, PCFSoftShadowMap, PMREMGenerator, PerspectiveCamera, Plane, PlaneGeometry, R11_EAC_Format, RED_GREEN_RGTC2_Format, RED_RGTC1_Format, REVISION, RG11_EAC_Format, RGBAFormat, RGBAIntegerFormat, RGBA_ASTC_10x10_Format, RGBA_ASTC_10x5_Format, RGBA_ASTC_10x6_Format, RGBA_ASTC_10x8_Format, RGBA_ASTC_12x10_Format, RGBA_ASTC_12x12_Format, RGBA_ASTC_4x4_Format, RGBA_ASTC_5x4_Format, RGBA_ASTC_5x5_Format, RGBA_ASTC_6x5_Format, RGBA_ASTC_6x6_Format, RGBA_ASTC_8x5_Format, RGBA_ASTC_8x6_Format, RGBA_ASTC_8x8_Format, RGBA_BPTC_Format, RGBA_ETC2_EAC_Format, RGBA_PVRTC_2BPPV1_Format, RGBA_PVRTC_4BPPV1_Format, RGBA_S3TC_DXT1_Format, RGBA_S3TC_DXT3_Format, RGBA_S3TC_DXT5_Format, RGBFormat, RGB_BPTC_SIGNED_Format, RGB_BPTC_UNSIGNED_Format, RGB_ETC1_Format, RGB_ETC2_Format, RGB_PVRTC_2BPPV1_Format, RGB_PVRTC_4BPPV1_Format, RGB_S3TC_DXT1_Format, RGFormat, RGIntegerFormat, RawShaderMaterial, RedFormat, RedIntegerFormat, ReinhardToneMapping, RepeatWrapping, ReverseSubtractEquation, SIGNED_R11_EAC_Format, SIGNED_RED_GREEN_RGTC2_Format, SIGNED_RED_RGTC1_Format, SIGNED_RG11_EAC_Format, SRGBColorSpace, SRGBTransfer, ShaderChunk, ShaderLib, ShaderMaterial, ShortType, SrcAlphaFactor, SrcAlphaSaturateFactor, SrcColorFactor, SubtractEquation, SubtractiveBlending, TangentSpaceNormalMap, Texture, Uint16BufferAttribute, Uint32BufferAttribute, UniformsLib, UniformsUtils, UnsignedByteType, UnsignedInt101111Type, UnsignedInt248Type, UnsignedInt5999Type, UnsignedIntType, UnsignedShort4444Type, UnsignedShort5551Type, UnsignedShortType, VSMShadowMap, Vector2, Vector3, Vector4, WebGLCoordinateSystem, WebGLCubeRenderTarget, WebGLRenderTarget, WebGLRenderer, WebGLUtils, WebXRController, ZeroFactor, createCanvasElement, error, log, warn, warnOnce }; diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/visualization/five-axis-scene.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/visualization/five-axis-scene.js new file mode 100644 index 0000000..5ce9ea7 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/visualization/five-axis-scene.js @@ -0,0 +1,934 @@ +import * as THREE from "../vendor/three/three.module.js"; +import { + linearUnitsLabel, + linearUnitsToMetersFactor, + linearValueToMeters, + resolveStateLinearUnits, +} from "../runtime/linear-units.js"; + +const scenes = new WeakMap(); +const CAMERA_PRESETS = { + iso: { theta: -0.96, phi: 1.02, radius: 0.72, target: new THREE.Vector3(0, 0, 0) }, + x: { theta: 0, phi: Math.PI / 2, radius: 0.64, target: new THREE.Vector3(0, 0, 0) }, + y: { theta: -Math.PI / 2, phi: Math.PI / 2, radius: 0.64, target: new THREE.Vector3(0, 0, 0) }, + z: { theta: 0, phi: 0.001, radius: 0.68, target: new THREE.Vector3(0, 0, 0) }, +}; +const MAX_TOOLPATH_POINTS = Number.POSITIVE_INFINITY; +const EMPTY_GEOMETRY = new THREE.BufferGeometry().setFromPoints([]); + +export function renderFiveAxisScene(canvas, state) { + let preview = scenes.get(canvas); + if (!preview) { + preview = createPreview(canvas); + scenes.set(canvas, preview); + } + + if (preview.kind === "fallback") { + renderFallbackPreview(preview, state); + return; + } + + try { + resizeRenderer(preview); + updateToolpathPreview(preview, state); + preview.renderer.render(preview.scene, preview.camera); + } catch (error) { + const fallback = createFallbackPreview(canvas, error); + scenes.set(canvas, fallback); + renderFallbackPreview(fallback, state); + return; + } + + const pointCount = geometryPointCount(preview.previewPath.geometry); + const executedPointCount = geometryPointCount(preview.executedPath.geometry); + exposePreviewDataset(canvas, state, { + pointCount, + executedPointCount, + feedPointCount: geometryPointCount(preview.feedPath.geometry), + rapidPointCount: geometryPointCount(preview.rapidPath.geometry), + arcPointCount: geometryPointCount(preview.arcPath.geometry), + currentSegmentPointCount: geometryPointCount(preview.currentSegmentPath.geometry), + sceneObjectCount: countSceneObjects(preview.scene), + toolhead: preview.currentToolhead, + renderer: "webgl", + sceneMode: "program-preview-and-tool-execution", + machineReferenceModel: "webgl-five-axis-reference", + cameraControls: preview.controls.enabled, + toolExecutionMarker: preview.toolMarker.visible, + toolAxisMarker: preview.toolAxis.visible, + pathFitBounds: preview.pathFitBoundsReady, + pathBounds: computePointBoundsFromGeometryGroups([ + preview.previewPath.geometry, + preview.executedPath.geometry, + preview.currentSegmentPath.geometry, + ]), + }); +} + +function createPreview(canvas) { + try { + return createScene(canvas); + } catch (error) { + return createFallbackPreview(canvas, error); + } +} + +function createScene(canvas) { + const renderer = new THREE.WebGLRenderer({ + canvas, + antialias: true, + preserveDrawingBuffer: true, + }); + renderer.setClearColor(0x030405, 1); + renderer.setPixelRatio(Math.min(window.devicePixelRatio || 1, 2)); + + const scene = new THREE.Scene(); + const camera = new THREE.PerspectiveCamera(42, 1, 0.001, 10); + + const machineModel = createMachineReferenceModel(); + scene.add(machineModel.root); + + const previewPath = createLine(0x808892, 0.56); + const feedPath = createLine(0x4fb3ff, 0.92); + const executedPath = createLine(0x1ffff4, 1); + const rapidPath = createLine(0xffb13b, 0.82); + const arcPath = createLine(0xd7ff62, 0.95); + const currentSegmentPath = createLine(0xff4fd8, 1); + const toolMarker = new THREE.Mesh( + new THREE.SphereGeometry(0.0065, 18, 12), + new THREE.MeshBasicMaterial({ color: 0x1ffff4 }), + ); + const toolAxis = new THREE.Line( + EMPTY_GEOMETRY.clone(), + new THREE.LineBasicMaterial({ color: 0x1ffff4, transparent: true, opacity: 0.9 }), + ); + scene.add(previewPath, feedPath, rapidPath, arcPath, executedPath, currentSegmentPath, toolAxis, toolMarker); + + const controls = createToolpathCameraControls(canvas, camera, () => { + renderer.render(scene, camera); + }); + const preview = { + kind: "webgl", + renderer, + scene, + camera, + controls, + previewPath, + feedPath, + executedPath, + rapidPath, + arcPath, + currentSegmentPath, + machineModel, + toolMarker, + toolAxis, + currentToolhead: new THREE.Vector3(), + lastSelectedView: null, + lastCameraRevision: null, + lastFitKey: null, + pathFitBoundsReady: false, + }; + resizeRenderer(preview); + resetCamera(preview, "iso"); + return preview; +} + +function createFallbackPreview(canvas, error) { + return { + kind: "fallback", + canvas, + errorMessage: error instanceof Error ? error.message : String(error), + }; +} + +function renderFallbackPreview(preview, state) { + const { canvas } = preview; + const width = Math.max(canvas.clientWidth, 320); + const height = Math.max(canvas.clientHeight, 240); + if (canvas.width !== width || canvas.height !== height) { + canvas.width = width; + canvas.height = height; + } + + const previewPoints = buildProgramPreviewPoints(state); + const executedPoints = buildExecutedProgramPoints(state, previewPoints); + const rapidPoints = buildRapidPreviewPoints(state); + const feedPoints = buildTypedPreviewPoints(state, "STRAIGHT_FEED"); + const arcPoints = buildTypedPreviewPoints(state, "ARC_FEED"); + const currentSegmentPoints = buildCurrentSegmentPoints(state); + const pointCount = previewPoints.length; + const executedPointCount = executedPoints.length; + const toolPosition = executionToolPosition(state, previewPoints); + + exposePreviewDataset(canvas, state, { + pointCount, + executedPointCount, + sceneObjectCount: 8 + (pointCount > 0 ? 1 : 0) + (executedPointCount > 0 ? 1 : 0), + toolhead: toolPosition || { x: 0, y: 0, z: 0 }, + renderer: "2d-fallback", + sceneMode: "program-preview-and-tool-execution", + machineReferenceModel: "2d-five-axis-reference", + cameraControls: false, + toolExecutionMarker: Boolean(toolPosition), + toolAxisMarker: Boolean(toolPosition), + feedPointCount: feedPoints.length, + rapidPointCount: rapidPoints.length, + arcPointCount: arcPoints.length, + currentSegmentPointCount: currentSegmentPoints.length, + pathFitBounds: computePointBounds(previewPoints.concat(executedPoints, currentSegmentPoints)) !== null, + pathBounds: summarizeBounds(computePointBounds(previewPoints.concat(executedPoints, currentSegmentPoints))), + }); + canvas.dataset.threeFallbackReason = preview.errorMessage; + + const ctx = canvas.getContext("2d"); + if (!ctx) return; + + ctx.clearRect(0, 0, width, height); + ctx.fillStyle = "#030405"; + ctx.fillRect(0, 0, width, height); + + const cx = width * 0.5; + const cy = height * 0.53; + const scale = Math.min(width / 0.72, height / 0.48); + + drawFallbackMachineReference(ctx, cx, cy, scale, state); + + if (pointCount > 0) { + ctx.strokeStyle = "#8d95a0"; + ctx.lineWidth = 2; + ctx.beginPath(); + drawFallbackPolyline(ctx, previewPoints, cx, cy, scale); + ctx.stroke(); + } + + if (executedPointCount > 0) { + ctx.strokeStyle = "#1ffff4"; + ctx.lineWidth = 3; + ctx.beginPath(); + drawFallbackPolyline(ctx, executedPoints, cx, cy, scale); + ctx.stroke(); + } + if (currentSegmentPoints.length > 0) { + ctx.strokeStyle = "#ff4fd8"; + ctx.lineWidth = 4; + ctx.beginPath(); + drawFallbackPolyline(ctx, currentSegmentPoints, cx, cy, scale); + ctx.stroke(); + } + + if (toolPosition) { + const toolX = cx + toolPosition.x * scale; + const toolY = cy - toolPosition.y * scale; + ctx.fillStyle = "#1ffff4"; + ctx.beginPath(); + ctx.arc(toolX, toolY, 0.055 * scale, 0, Math.PI * 2); + ctx.fill(); + } + + ctx.fillStyle = "#b7c7b8"; + ctx.font = "12px Courier New, monospace"; + ctx.fillText("2D RTCP fallback", 12, height - 14); +} + +function exposePreviewDataset(canvas, state, preview) { + canvas.dataset.threeReady = "true"; + canvas.dataset.threeRevision = THREE.REVISION; + canvas.dataset.threePathPoints = String(preview.pointCount); + canvas.dataset.threeExecutedPathPoints = String(preview.executedPointCount); + canvas.dataset.threeSceneObjects = String(preview.sceneObjectCount); + canvas.dataset.threeToolhead = JSON.stringify(toRoundedVector(preview.toolhead)); + canvas.dataset.threeSceneUnits = "m"; + canvas.dataset.threeLinearUnits = linearUnitsLabel(resolveSceneLinearUnits(state)); + canvas.dataset.threeLinearUnitScaleToMeters = String(linearUnitsToMetersFactor(resolveSceneLinearUnits(state))); + canvas.dataset.threeToolAxis = JSON.stringify(toRoundedVector(state.toolAxisVector)); + canvas.dataset.threeTcpPose = JSON.stringify(toRoundedPose(state.tcpPose)); + canvas.dataset.threeRtcpState = state.rtcpState; + canvas.dataset.threeSelectedView = state.preview.selectedView; + canvas.dataset.threeFrameApi = state.rtcpFrame.apiName; + canvas.dataset.threeRenderer = preview.renderer; + canvas.dataset.threeSceneMode = preview.sceneMode; + canvas.dataset.threePreviewScope = preview.machineReferenceModel + ? "machine-reference-and-toolpath" + : "toolpath-only"; + canvas.dataset.threeMachineReferenceModel = preview.machineReferenceModel || "none"; + canvas.dataset.threeCameraControls = preview.cameraControls ? "orbit-pan-zoom" : "none"; + canvas.dataset.threeProgramPreviewSource = previewSourceMode(state); + canvas.dataset.threeToolExecutionMarker = preview.toolExecutionMarker ? "true" : "false"; + canvas.dataset.threeTcpMarker = preview.toolExecutionMarker ? "sphere" : "hidden"; + canvas.dataset.threeToolAxisMarker = preview.toolAxisMarker ? "line" : "hidden"; + canvas.dataset.threeToolpathPreviewSource = toolpathPreviewSource(state); + canvas.dataset.threeToolExecutionTraceSource = toolExecutionTraceSource(state); + canvas.dataset.threePathFitBounds = preview.pathFitBounds ? "ok" : "pending"; + canvas.dataset.threePathBoundsMeters = JSON.stringify(preview.pathBounds || null); + canvas.dataset.threeCurrentSegmentHighlight = preview.currentSegmentPointCount > 0 ? "ok" : "pending"; + canvas.dataset.threeRapidFeedVisualDistinction = preview.rapidPointCount > 0 || preview.feedPointCount > 0 || preview.arcPointCount > 0 ? "ok" : "pending"; + canvas.dataset.threeNoGcodeSemanticsGeneration = "ok"; + canvas.dataset.threeRapidPathPoints = String(preview.rapidPointCount || 0); + canvas.dataset.threeFeedPathPoints = String(preview.feedPointCount || 0); + canvas.dataset.threeArcPathPoints = String(preview.arcPointCount || 0); + canvas.dataset.threeCurrentSegmentPoints = String(preview.currentSegmentPointCount || 0); + canvas.dataset.threeCurrentSegmentType = currentSegmentType(state); +} + +function createLine(color, opacity) { + return new THREE.Line( + EMPTY_GEOMETRY.clone(), + new THREE.LineBasicMaterial({ + color, + transparent: opacity < 1, + opacity, + }), + ); +} + +function createMachineReferenceModel() { + const root = new THREE.Group(); + root.name = "five-axis-machine-reference"; + + const base = new THREE.Mesh( + new THREE.BoxGeometry(0.48, 0.32, 0.008), + new THREE.MeshBasicMaterial({ color: 0x222930 }), + ); + base.position.z = -0.016; + + const table = new THREE.Mesh( + new THREE.BoxGeometry(0.37, 0.235, 0.005), + new THREE.MeshBasicMaterial({ color: 0x3a444d, transparent: true, opacity: 0.78 }), + ); + table.position.z = -0.008; + + const xAxis = createStaticLine([new THREE.Vector3(-0.22, 0, 0), new THREE.Vector3(0.225, 0, 0)], 0xff4d4d); + const yAxis = createStaticLine([new THREE.Vector3(0, -0.155, 0), new THREE.Vector3(0, 0.16, 0)], 0x70df7d); + const zAxis = createStaticLine([new THREE.Vector3(0, 0, -0.008), new THREE.Vector3(0, 0, 0.175)], 0x5aa7ff); + + const rotaryA = new THREE.Mesh( + new THREE.TorusGeometry(0.088, 0.0018, 8, 72), + new THREE.MeshBasicMaterial({ color: 0x1ffff4, transparent: true, opacity: 0.92 }), + ); + rotaryA.rotation.y = Math.PI / 2; + + const rotaryC = new THREE.Mesh( + new THREE.TorusGeometry(0.11, 0.0016, 8, 72), + new THREE.MeshBasicMaterial({ color: 0xffd166, transparent: true, opacity: 0.9 }), + ); + rotaryC.rotation.x = Math.PI / 2; + rotaryC.position.z = 0.004; + + const toolHolder = new THREE.Group(); + const holderBody = new THREE.Mesh( + new THREE.CylinderGeometry(0.008, 0.008, 0.042, 18), + new THREE.MeshBasicMaterial({ color: 0xf1f5f9 }), + ); + holderBody.rotation.x = Math.PI / 2; + holderBody.position.z = 0.032; + const cutter = new THREE.Mesh( + new THREE.ConeGeometry(0.006, 0.025, 18), + new THREE.MeshBasicMaterial({ color: 0xfff176 }), + ); + cutter.rotation.x = Math.PI; + cutter.position.z = 0.008; + toolHolder.add(holderBody, cutter); + + root.add(base, table, xAxis, yAxis, zAxis, rotaryA, rotaryC, toolHolder); + return { + root, + rotaryA, + rotaryC, + toolHolder, + }; +} + +function createStaticLine(points, color) { + return new THREE.Line( + new THREE.BufferGeometry().setFromPoints(points), + new THREE.LineBasicMaterial({ color, transparent: true, opacity: 0.95 }), + ); +} + +function updateToolpathPreview(preview, state) { + const previewPoints = buildProgramPreviewPoints(state); + const executedPoints = buildExecutedProgramPoints(state, previewPoints); + const rapidPoints = buildRapidPreviewPoints(state); + const feedPoints = buildTypedPreviewPoints(state, "STRAIGHT_FEED"); + const arcPoints = buildTypedPreviewPoints(state, "ARC_FEED"); + const currentSegmentPoints = buildCurrentSegmentPoints(state); + const toolPosition = executionToolPosition(state, previewPoints); + const fitPoints = collectFitPoints(previewPoints, executedPoints, currentSegmentPoints, toolPosition); + const fitKey = [ + previewPoints.length, + executedPoints.length, + currentSegmentPoints.length, + previewSourceMode(state), + state.programExecutionMotionIndex || 0, + state.programExecutionSampleIndex || 0, + ].join(":"); + + updateLineGeometry(preview.previewPath, previewPoints); + updateLineGeometry(preview.feedPath, feedPoints); + updateLineGeometry(preview.executedPath, executedPoints); + updateLineGeometry(preview.rapidPath, rapidPoints); + updateLineGeometry(preview.arcPath, arcPoints); + updateLineGeometry(preview.currentSegmentPath, currentSegmentPoints); + updateToolExecutionMarker(preview, state, toolPosition); + updateMachineReferenceModel(preview, state, toolPosition); + + const cameraRevision = state.preview.cameraRevision ?? 0; + if ( + preview.lastSelectedView !== state.preview.selectedView || + preview.lastCameraRevision !== cameraRevision || + preview.lastFitKey !== fitKey + ) { + resetCamera(preview, state.preview.selectedView, fitPoints); + preview.lastSelectedView = state.preview.selectedView; + preview.lastCameraRevision = cameraRevision; + preview.lastFitKey = fitKey; + } else { + applyCameraControls(preview.controls); + } +} + +function updateToolExecutionMarker(preview, state, toolPosition) { + if (!toolPosition) { + preview.currentToolhead.set(0, 0, 0); + preview.toolMarker.visible = false; + preview.toolAxis.visible = false; + updateLineGeometry(preview.toolAxis, []); + return; + } + + const vector = toToolVector(state.toolAxisVector); + preview.currentToolhead.copy(toolPosition); + preview.toolMarker.visible = true; + preview.toolMarker.position.copy(toolPosition); + preview.toolAxis.visible = true; + updateLineGeometry(preview.toolAxis, [ + toolPosition, + toolPosition.clone().add(vector.multiplyScalar(0.07)), + ]); +} + +function updateMachineReferenceModel(preview, state, toolPosition) { + const model = preview.machineModel; + if (!model) return; + const a = degreesToRadians(state.axisPose?.a); + const b = degreesToRadians(state.axisPose?.b); + const c = degreesToRadians(state.axisPose?.c); + model.rotaryA.rotation.x = a; + model.rotaryA.rotation.y = Math.PI / 2 + b; + model.rotaryC.rotation.z = c; + + const tcpPosition = toolPosition || toPreviewVector(state.tcpPose || state.axisPose, state); + model.toolHolder.position.copy(tcpPosition); + const toolVector = toToolVector(state.toolAxisVector); + model.toolHolder.lookAt(tcpPosition.clone().add(toolVector)); +} + +function updateLineGeometry(line, points) { + line.visible = points.length > 0; + line.geometry.dispose(); + line.geometry = points.length > 0 + ? new THREE.BufferGeometry().setFromPoints(points) + : EMPTY_GEOMETRY.clone(); +} + +function geometryPointCount(geometry) { + return geometry?.getAttribute("position")?.count || 0; +} + +function buildProgramPreviewPoints(state) { + const motion = state.programExecution?.motion; + if (Array.isArray(motion) && motion.length > 0 && state.preview.pathPoints !== 0) { + return limitPoints(motion.map((event) => vectorFromAxes(event.axes, state, event.linearUnits))); + } + + const pointCount = normalizePathPointCount(state.preview.pathPoints); + if (pointCount === 0) return []; + return buildFixturePreviewPoints(pointCount, toPreviewVector(state.tcpPose, state)); +} + +function buildExecutedProgramPoints(state, previewPoints) { + if (state.preview.pathPoints === 0 || previewPoints.length === 0) return []; + const samples = state.programExecutionTiming?.samples; + const sampleIndex = Number(state.programExecutionSampleIndex || 0); + if (Array.isArray(samples) && samples.length > 0) { + const end = clamp(Math.round(sampleIndex), 0, samples.length - 1); + return limitPoints(samples.slice(0, end + 1).map((sample) => vectorFromAxes(sample, state, sample.linearUnits))); + } + + const motionIndex = clamp(Math.round(Number(state.programExecutionMotionIndex || 0)), 0, previewPoints.length - 1); + return previewPoints.slice(0, motionIndex + 1); +} + +function buildRapidPreviewPoints(state) { + return buildTypedPreviewPoints(state, "STRAIGHT_TRAVERSE"); +} + +function buildTypedPreviewPoints(state, type) { + const motion = state.programExecution?.motion; + if (!Array.isArray(motion) || state.preview.pathPoints === 0) return []; + return limitPoints( + motion + .filter((event) => event.type === type) + .map((event) => vectorFromAxes(event.axes, state, event.linearUnits)), + ); +} + +function buildCurrentSegmentPoints(state) { + if (state.preview.pathPoints === 0) return []; + const motion = state.programExecution?.motion; + if (!Array.isArray(motion) || motion.length === 0) return []; + const motionIndex = clampMotionIndex(state, currentMotionIndex(state)); + const current = motion[motionIndex]; + const previous = motion[Math.max(motionIndex - 1, 0)]; + if (!current) return []; + const start = motionIndex === 0 + ? vectorFromAxes(previous?.axes || current.axes, state, previous?.linearUnits || current.linearUnits) + : vectorFromAxes(previous.axes, state, previous.linearUnits); + const end = vectorFromAxes(current.axes, state, current.linearUnits); + return start.distanceTo(end) > 0 ? [start, end] : [end]; +} + +function buildFixturePreviewPoints(pointCount, tcpPosition) { + const points = []; + for (let index = 0; index < pointCount; index += 1) { + const t = pointCount === 1 ? 0 : index / (pointCount - 1); + const x = -0.085 + t * 0.17; + const y = Math.sin(t * Math.PI * 13) * 0.012; + const z = 0.012 + Math.sin(t * Math.PI * 2) * 0.018; + points.push(new THREE.Vector3(x, y, z)); + } + if (points.length > 0 && tcpPosition) { + points[points.length - 1] = tcpPosition.clone(); + } + return points; +} + +function executionToolPosition(state, previewPoints) { + const feedbackAxes = state.programRuntimeFeedback?.axisPose || state.programRuntimeFeedback; + if (feedbackAxes && hasLinearAxes(feedbackAxes)) { + return vectorFromAxes(feedbackAxes, state, state.programRuntimeFeedback?.linearUnits); + } + if (hasLinearAxes(state.axisPose)) return vectorFromAxes(state.axisPose, state); + return previewPoints.at(-1) || null; +} + +export function axesToSceneMeters(axes = {}, state = {}, linearUnits = null) { + const units = linearUnits || axes.linearUnits || resolveSceneLinearUnits(state); + return { + x: linearValueToMeters(axes.x, units), + y: linearValueToMeters(axes.y, units), + z: linearValueToMeters(axes.z, units), + }; +} + +function vectorFromAxes(axes = {}, state = {}, linearUnits = null) { + const point = axesToSceneMeters(axes, state, linearUnits); + return new THREE.Vector3( + point.x, + point.y, + point.z, + ); +} + +function toPreviewVector(pose = {}, state = {}) { + const point = axesToSceneMeters(pose, state); + return new THREE.Vector3( + point.x, + point.y, + point.z, + ); +} + +function resolveSceneLinearUnits(state) { + return resolveStateLinearUnits(state); +} + +function toToolVector(vector = {}) { + return new THREE.Vector3( + Number(vector.x) || 0, + Number(vector.y) || 0, + Number(vector.z) || 1, + ).normalize(); +} + +function hasLinearAxes(value = {}) { + return ["x", "y", "z"].some((axis) => Number.isFinite(Number(value[axis]))); +} + +function limitPoints(points) { + if (points.length <= MAX_TOOLPATH_POINTS) return points; + const stride = Math.ceil(points.length / MAX_TOOLPATH_POINTS); + const sampled = points.filter((_, index) => index % stride === 0); + const last = points.at(-1); + if (last && sampled.at(-1) !== last) sampled.push(last); + return sampled; +} + +function previewSourceMode(state) { + if (state.programExecution?.sourceMode) return state.programExecution.sourceMode; + return state.programExecutionSourceMode || "fixture-line-playback"; +} + +function toolpathPreviewSource(state) { + if (state.programExecution?.sourceMode === "linuxcnc-interpreter-wasm") { + return "linuxcnc_interpreter_canonical_motion"; + } + if (state.programExecution?.sourceMode === "linuxcnc-machine-file-remap-wasm") { + return "linuxcnc_machine_file_remap_canonical_motion"; + } + return "fixture_line_playback_not_promoted"; +} + +function toolExecutionTraceSource(state) { + if (Array.isArray(state.programExecutionTiming?.samples) && state.programExecutionTiming.samples.length > 0) { + return "linuxcnc_tp_samples_or_task_motion_hal_feedback"; + } + if (state.programRuntimeFeedback?.sourceMode === "linuxcnc-task-motion-hal-wasm") { + return "linuxcnc_tp_samples_or_task_motion_hal_feedback"; + } + return "fixture_line_playback_not_promoted"; +} + +function currentSegmentType(state) { + const motion = state.programExecution?.motion; + if (!Array.isArray(motion) || motion.length === 0) return "-"; + return motion[clampMotionIndex(state, currentMotionIndex(state))]?.type || "-"; +} + +function currentMotionIndex(state) { + const sample = state.programExecutionTiming?.samples?.[Number(state.programExecutionSampleIndex || 0)]; + if (Number.isFinite(Number(sample?.motionIndex))) return Number(sample.motionIndex); + return Number(state.programExecutionMotionIndex || 0); +} + +function clampMotionIndex(state, index) { + const count = state.programExecution?.motion?.length || 0; + if (count <= 0) return 0; + return clamp(Math.round(Number(index) || 0), 0, count - 1); +} + +function collectFitPoints(...groups) { + return groups.flatMap((group) => { + if (!group) return []; + if (Array.isArray(group)) return group.filter(Boolean); + return [group]; + }); +} + +function computePointBounds(points) { + const valid = points.filter((point) => point && Number.isFinite(point.x) && Number.isFinite(point.y) && Number.isFinite(point.z)); + if (valid.length === 0) return null; + const box = new THREE.Box3().setFromPoints(valid); + if (box.isEmpty()) return null; + return box; +} + +function computePointBoundsFromGeometryGroups(geometries) { + const points = []; + for (const geometry of geometries) { + const position = geometry?.getAttribute("position"); + if (!position) continue; + for (let index = 0; index < position.count; index += 1) { + points.push(new THREE.Vector3( + position.getX(index), + position.getY(index), + position.getZ(index), + )); + } + } + return summarizeBounds(computePointBounds(points)); +} + +function summarizeBounds(bounds) { + if (!bounds) return null; + const center = new THREE.Vector3(); + const size = new THREE.Vector3(); + bounds.getCenter(center); + bounds.getSize(size); + return { + center: toRoundedVector(center), + size: toRoundedVector(size), + maxSpan: Number(Math.max(size.x, size.y, size.z).toFixed(6)), + }; +} + +function drawFallbackPolyline(ctx, points, cx, cy, scale) { + for (let index = 0; index < points.length; index += 1) { + const point = points[index]; + const x = cx + point.x * scale; + const y = cy - point.y * scale; + if (index === 0) ctx.moveTo(x, y); + else ctx.lineTo(x, y); + } +} + +function drawFallbackMachineReference(ctx, cx, cy, scale, state) { + const tableWidth = 0.48 * scale; + const tableHeight = 0.32 * scale; + ctx.fillStyle = "#20272e"; + ctx.strokeStyle = "#56616b"; + ctx.lineWidth = 2; + ctx.fillRect(cx - tableWidth / 2, cy - tableHeight / 2, tableWidth, tableHeight); + ctx.strokeRect(cx - tableWidth / 2, cy - tableHeight / 2, tableWidth, tableHeight); + + drawFallbackAxis(ctx, cx - 0.225 * scale, cy, cx + 0.225 * scale, cy, "#ff4d4d"); + drawFallbackAxis(ctx, cx, cy + 0.155 * scale, cx, cy - 0.16 * scale, "#70df7d"); + drawFallbackAxis(ctx, cx, cy + 0.02 * scale, cx, cy - 0.115 * scale, "#5aa7ff"); + + ctx.strokeStyle = "#1ffff4"; + ctx.lineWidth = 2; + ctx.beginPath(); + ctx.ellipse(cx, cy, 0.092 * scale, 0.042 * scale, degreesToRadians(state.axisPose?.a), 0, Math.PI * 2); + ctx.stroke(); + + ctx.strokeStyle = "#ffd166"; + ctx.beginPath(); + ctx.arc(cx, cy, 0.07 * scale, 0, Math.PI * 2); + ctx.stroke(); + + const tcp = executionToolPosition(state, []); + if (tcp) { + const toolX = cx + tcp.x * scale; + const toolY = cy - tcp.y * scale; + ctx.strokeStyle = "#f1f5f9"; + ctx.lineWidth = 2; + ctx.beginPath(); + ctx.moveTo(toolX, toolY - 0.038 * scale); + ctx.lineTo(toolX, toolY - 0.008 * scale); + ctx.stroke(); + ctx.fillStyle = "#1ffff4"; + ctx.beginPath(); + ctx.arc(toolX, toolY, 0.007 * scale, 0, Math.PI * 2); + ctx.fill(); + } +} + +function drawFallbackAxis(ctx, x1, y1, x2, y2, color) { + ctx.strokeStyle = color; + ctx.lineWidth = 3; + ctx.beginPath(); + ctx.moveTo(x1, y1); + ctx.lineTo(x2, y2); + ctx.stroke(); +} + +function createToolpathCameraControls(canvas, camera, renderFrame) { + const controls = { + enabled: true, + camera, + target: new THREE.Vector3(), + theta: CAMERA_PRESETS.iso.theta, + phi: CAMERA_PRESETS.iso.phi, + radius: CAMERA_PRESETS.iso.radius, + pointerMode: null, + pointers: new Map(), + lastPointer: null, + lastPinchCenter: null, + lastPinchDistance: 0, + renderFrame, + }; + + canvas.addEventListener("contextmenu", (event) => event.preventDefault()); + canvas.addEventListener("wheel", (event) => { + event.preventDefault(); + const scale = Math.exp(Math.sign(event.deltaY) * 0.12); + controls.radius = clamp(controls.radius * scale, 0.06, 4); + applyCameraControls(controls); + controls.renderFrame(); + }, { passive: false }); + canvas.addEventListener("pointerdown", (event) => { + safelySetPointerCapture(canvas, event.pointerId); + controls.pointers.set(event.pointerId, { x: event.clientX, y: event.clientY }); + controls.lastPointer = { x: event.clientX, y: event.clientY }; + controls.pointerMode = event.button === 1 || event.button === 2 || event.shiftKey ? "pan" : "rotate"; + if (controls.pointers.size === 2) { + controls.pointerMode = "pinch"; + controls.lastPinchDistance = getPointerDistance(controls.pointers); + controls.lastPinchCenter = getPointerCenter(controls.pointers); + } + }); + canvas.addEventListener("pointermove", (event) => { + if (!controls.pointers.has(event.pointerId)) return; + const previous = controls.pointers.get(event.pointerId); + controls.pointers.set(event.pointerId, { x: event.clientX, y: event.clientY }); + + if (controls.pointerMode === "pinch" && controls.pointers.size >= 2) { + const distance = getPointerDistance(controls.pointers); + const center = getPointerCenter(controls.pointers); + if (distance > 0 && controls.lastPinchDistance > 0) { + controls.radius = clamp(controls.radius * (controls.lastPinchDistance / distance), 0.06, 4); + if (controls.lastPinchCenter) { + panCamera( + controls, + center.x - controls.lastPinchCenter.x, + center.y - controls.lastPinchCenter.y, + canvas, + ); + } + controls.lastPinchDistance = distance; + controls.lastPinchCenter = center; + applyCameraControls(controls); + controls.renderFrame(); + } + return; + } + + const dx = event.clientX - previous.x; + const dy = event.clientY - previous.y; + if (controls.pointerMode === "pan") { + panCamera(controls, dx, dy, canvas); + } else { + controls.theta -= dx * 0.006; + controls.phi = clamp(controls.phi - dy * 0.006, 0.001, Math.PI - 0.001); + } + applyCameraControls(controls); + controls.renderFrame(); + }); + + const releasePointer = (event) => { + controls.pointers.delete(event.pointerId); + safelyReleasePointerCapture(canvas, event.pointerId); + if (controls.pointers.size === 0) { + controls.pointerMode = null; + controls.lastPointer = null; + controls.lastPinchCenter = null; + controls.lastPinchDistance = 0; + } + }; + canvas.addEventListener("pointerup", releasePointer); + canvas.addEventListener("pointercancel", releasePointer); + return controls; +} + +function safelySetPointerCapture(canvas, pointerId) { + try { + canvas.setPointerCapture?.(pointerId); + } catch { + // Synthetic browser-smoke events do not always have an active pointer capture target. + } +} + +function safelyReleasePointerCapture(canvas, pointerId) { + try { + canvas.releasePointerCapture?.(pointerId); + } catch { + // Matching setPointerCapture guard for synthetic and cancelled pointer streams. + } +} + +function normalizePathPointCount(value) { + const requestedCount = Number(value); + return Number.isFinite(requestedCount) && requestedCount > 0 + ? Math.max(2, Math.min(Math.round(requestedCount), 512)) + : 0; +} + +function getPointerDistance(pointers) { + const values = [...pointers.values()]; + if (values.length < 2) return 0; + return Math.hypot(values[0].x - values[1].x, values[0].y - values[1].y); +} + +function getPointerCenter(pointers) { + const values = [...pointers.values()]; + if (values.length < 2) return null; + return { + x: (values[0].x + values[1].x) / 2, + y: (values[0].y + values[1].y) / 2, + }; +} + +function panCamera(controls, dx, dy, canvas) { + const cameraDirection = new THREE.Vector3(); + controls.camera.getWorldDirection(cameraDirection); + const right = new THREE.Vector3().crossVectors(cameraDirection, controls.camera.up).normalize(); + const up = new THREE.Vector3().crossVectors(right, cameraDirection).normalize(); + const speed = controls.radius / Math.max(canvas.clientWidth, canvas.clientHeight, 1); + controls.target.addScaledVector(right, -dx * speed); + controls.target.addScaledVector(up, dy * speed); +} + +function resetCamera(preview, selectedView, fitPoints = []) { + const preset = CAMERA_PRESETS[selectedView] || CAMERA_PRESETS.iso; + preview.controls.theta = preset.theta; + preview.controls.phi = preset.phi; + preview.controls.radius = preset.radius; + preview.controls.target.copy(preset.target); + preview.pathFitBoundsReady = applyFitBounds(preview.controls, selectedView, fitPoints); + applyCameraControls(preview.controls); +} + +function applyFitBounds(controls, selectedView, fitPoints) { + const bounds = computePointBounds(fitPoints); + if (!bounds) return false; + const center = new THREE.Vector3(); + const size = new THREE.Vector3(); + bounds.getCenter(center); + bounds.getSize(size); + controls.target.copy(center); + const maxSpan = Math.max(size.x, size.y, size.z, 0.08); + const fitRadius = clamp(maxSpan * 1.8, 0.22, 4); + controls.radius = selectedView === "z" ? Math.max(fitRadius, 0.42) : fitRadius; + return true; +} + +function applyCameraControls(controls) { + const sinPhiRadius = Math.sin(controls.phi) * controls.radius; + controls.camera.position.set( + controls.target.x + sinPhiRadius * Math.cos(controls.theta), + controls.target.y + sinPhiRadius * Math.sin(controls.theta), + controls.target.z + Math.cos(controls.phi) * controls.radius, + ); + controls.camera.lookAt(controls.target); + controls.camera.updateProjectionMatrix(); +} + +function resizeRenderer(preview) { + const canvas = preview.renderer.domElement; + const width = Math.max(canvas.clientWidth, 320); + const height = Math.max(canvas.clientHeight, 240); + if (canvas.width !== width || canvas.height !== height) { + preview.renderer.setSize(width, height, false); + } + preview.camera.aspect = width / height; + preview.camera.updateProjectionMatrix(); +} + +function countSceneObjects(object) { + let count = 1; + for (const child of object.children) { + count += countSceneObjects(child); + } + return count; +} + +function toRoundedVector(vector) { + return { + x: round(vector.x), + y: round(vector.y), + z: round(vector.z), + }; +} + +function toRoundedPose(pose) { + return { + x: round(pose.x), + y: round(pose.y), + z: round(pose.z), + a: round(pose.a), + b: round(pose.b), + c: round(pose.c), + }; +} + +function round(value) { + return Math.round(Number(value) * 1000) / 1000; +} + +function degreesToRadians(value) { + return (Number(value) || 0) * Math.PI / 180; +} + +function clamp(value, min, max) { + return Math.min(Math.max(value, min), max); +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/tsconfig.json b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/tsconfig.json new file mode 100644 index 0000000..e642501 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/tsconfig.json @@ -0,0 +1,12 @@ +{ + "compilerOptions": { + "allowJs": true, + "checkJs": true, + "module": "ESNext", + "moduleResolution": "Bundler", + "noEmit": true, + "strict": 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/dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/assets/xyzbc-trt-web-architecture.svg @@ -0,0 +1,72 @@ + + + + + + + + + + xyzbc-trt 完全对标的 Web 数控仿真架构 + 以 LinuxCNC 真实运行链路为基线，Web 端逐项复刻界面、运动学、HAL 语义和路径证据。 + + + LinuxCNC 原型系统 + rip-environment + linuxcnc + xyzbc-trt.ini + AXIS 主界面 + PyVCP 面板 + Vismach 机床模型 xyzbc-trt-gui + HAL: basic_sim.tcl / postgui HAL + KINS: xyzbc-trt-kins switchkins + TASK / motion / tool table / var + 演示程序 xyzbc_switchkins.ngc + 运行路径：/home/mes123456/cnc_wams/linuxcnc + + + Web 数控仿真系统 + 浏览器首屏 CNC 工作台 + INI/XML/HAL/NGC/TBL/VAR 解析器 + AXIS 等价 UI 与 PyVCP 等价控件 + Three.js 五轴机床与刀具路径 + HAL 信号总线与 switchkins 状态机 + XYZBC 正逆运动学与 TCP 模式 + 预览、执行、MDI、复位、清轨迹 + 证据 JSON 导出和对比报告 + 目标：功能、状态、路径、误差可量化对标 + + + 采集基线 JSON + 状态、引脚、路径、截图 + + + Web 输出 JSON + 同周期、同字段、同坐标系 + + + 对标验收报告 + 误差、缺口、截图、结论 + + + + + + + + + 真实系统采样 + Web 复刻与回放 + 差异闭环 + diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md b/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md new file mode 100644 index 0000000..1c4f41b --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md @@ -0,0 +1,726 @@ +# xyzbc-trt 当前运行配置文件说明 + +本文档记录当前运行的 LinuxCNC RTCP/TCP 五轴示例： + +`configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` + +它是一个 `XYZBC` table rotary/tilting 五轴仿真配置，使用 AXIS 主界面、PyVCP 面板、Vismach 三维机床模型，以及 `switchkins` 方式在不同运动学模式之间切换。 + +当前对标的 run-in-place 根目录： + +```text +/home/mes123456/cnc_wams/linuxcnc +``` + +当前启动命令： + +```bash +/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc \ + /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +``` + +## 当前进程 + +当前目标配置运行时的关键进程如下： + +```text +/bin/bash /home/mes123456/cnc_wams/linuxcnc/scripts/linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +linuxcncsvr -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +/home/mes123456/cnc_wams/linuxcnc/bin/rtapi_app load tpmod +milltask -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +halui -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/hal_manualtoolchange +/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui +/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/axis -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +``` + +当前目标配置的进程均来自 `/home/mes123456/cnc_wams/linuxcnc`，并使用 `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini`。 + +当前 LinuxCNC Python API 状态检查： + +```text +file = ./demos/xyzbc_switchkins.ngc +axis_mask = 55 +position = [0.0, 0.0, 0.0, 0.0, 0.0] +task_state = 1 +interp_state = 1 +``` + +## 启动入口 + +快捷方式： + +```text +/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop +``` + +快捷方式执行命令： + +```bash +/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc \ + /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +``` + +`rip-environment` 负责设置 run-in-place 环境，包括 `PATH`、`LD_LIBRARY_PATH`、`PYTHONPATH`、`TCLLIBPATH` 等，使本地编译出来的 LinuxCNC 程序、库、Python 模块可被找到。 + +## 文件关系总览 + +主配置文件： + +```text +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +``` + +它引用或触发以下文件： + +```text +[DISPLAY] DISPLAY = axis + -> bin/axis + -> src/emc/usr_intf/axis/scripts/axis.py + +[DISPLAY] PYVCP = ./xyzbc-trt.xml + -> configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml + +[DISPLAY] OPEN_FILE = ./demos/xyzbc_switchkins.ngc + -> configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc + +[HAL] HALFILE = LIB:basic_sim.tcl + -> lib/hallib/basic_sim.tcl + -> 运行后生成 configs/.../xyzbc-trt_cmds.hal + +[HAL] POSTGUI_HALFILE = switchkins_postgui.hal + -> configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal + +[HAL] HALCMD = loadusr -W xyzbc-trt-gui + -> bin/xyzbc-trt-gui + -> src/hal/user_comps/vismach/xyzbc-trt-gui.py + +[RS274NGC] SUBROUTINE_PATH = ./remap_subs + -> remap_subs/428remap.ngc + -> remap_subs/429remap.ngc + -> remap_subs/430remap.ngc + -> remap_subs/xyzbc_switchkins_sub.ngc + -> remap_subs/centering.ngc + -> remap_subs/helix_bc.ngc + +[EMCIO] TOOL_TABLE = xyzbc-trt.tbl + -> configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl + +[RS274NGC] PARAMETER_FILE = xyzbc.var + -> configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var +``` + +## 主 INI 文件 + +路径： + +```text +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +``` + +关键内容： + +```ini +[EMC] +VERSION = 1.1 +MACHINE = sim-xyzbc-trt-kins (switchkins) + +[DISPLAY] + GEOMETRY = XYZB + OPEN_FILE = ./demos/xyzbc_switchkins.ngc + PYVCP = ./xyzbc-trt.xml + JOG_AXES = XYZC + DISPLAY = axis +MAX_ANGULAR_VELOCITY = 360 + MAX_LINEAR_VELOCITY = 1000 + POSITION_OFFSET = RELATIVE + POSITION_FEEDBACK = ACTUAL + MAX_FEED_OVERRIDE = 2 + PROGRAM_PREFIX = ../../nc_files + INTRO_GRAPHIC = emc2.gif + INTRO_TIME = 1 + TOOL_EDITOR = tooledit z diam + + TKPKG = Ngcgui 1.0 + NGCGUI_FONT = Helvetica -12 normal + NGCGUI_SUBFILE = xyzbc_switchkins_sub.ngc + NGCGUI_SUBFILE = centering.ngc + +[RS274NGC] +SUBROUTINE_PATH = ./remap_subs + HAL_PIN_VARS = 1 + REMAP = M428 modalgroup=10 ngc=428remap + REMAP = M429 modalgroup=10 ngc=429remap + REMAP = M430 modalgroup=10 ngc=430remap + PARAMETER_FILE = xyzbc.var + +[KINS] +# default switchkins-type == 0 is xyzbc-trt-kins +# here switchkins-type == 0 is identity kins +KINEMATICS = xyzbc-trt-kins sparm=identityfirst + JOINTS = 5 + +[HAL] + HALUI = halui + HALFILE = LIB:basic_sim.tcl +POSTGUI_HALFILE = switchkins_postgui.hal + +# net for control of motion.switchkins-type +HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type + +# vismach xyzbc-trt-gui items +HALCMD = loadusr -W xyzbc-trt-gui +HALCMD = net :table-x joint.0.pos-fb xyzbc-trt-gui.table-x +HALCMD = net :saddle-y joint.1.pos-fb xyzbc-trt-gui.saddle-y +HALCMD = net :spindle-z joint.2.pos-fb xyzbc-trt-gui.spindle-z +HALCMD = net :tilt-b joint.3.pos-fb xyzbc-trt-gui.tilt-b +HALCMD = net :rotate-c joint.4.pos-fb xyzbc-trt-gui.rotate-c +HALCMD = net :tool-offset motion.tooloffset.z +HALCMD = net :tool-offset xyzbc-trt-kins.tool-offset xyzbc-trt-gui.tool-offset +HALCMD = net :x-offset xyzbc-trt-kins.x-offset xyzbc-trt-gui.x-offset +HALCMD = net :z-offset xyzbc-trt-kins.z-offset xyzbc-trt-gui.z-offset +HALCMD = sets :x-offset -20 +HALCMD = sets :z-offset -15 + +HALCMD = setp xyzbc-trt-kins.x-rot-point 0 +HALCMD = setp xyzbc-trt-kins.y-rot-point 0 +HALCMD = setp xyzbc-trt-kins.z-rot-point 0 +HALCMD = setp xyzbc-trt-kins.conventional-directions 0 + +[HALUI] +# kinstype==0 is identity kins because sparm=identityfirst +# M429: identity kins +# M428: xyzbc kins / TCP mode +# M430: userk kins +MDI_COMMAND = M429 +MDI_COMMAND = M428 +MDI_COMMAND = M430 + +[TRAJ] + COORDINATES = XYZBC + LINEAR_UNITS = mm + ANGULAR_UNITS = deg + DEFAULT_LINEAR_VELOCITY = 20 + MAX_LINEAR_VELOCITY = 35 + MAX_LINEAR_ACCELERATION = 400 +DEFAULT_LINEAR_ACCELERATION = 300 + +[EMCMOT] + EMCMOT = motmod +SERVO_PERIOD = 1000000 +COMM_TIMEOUT = 1 + +[TASK] + TASK = milltask +CYCLE_TIME = 0.010 + +[EMCIO] +TOOL_TABLE = xyzbc-trt.tbl +``` + +轴和关节部分定义 `XYZBC` 五轴： + +```ini +[AXIS_X] [AXIS_Y] [AXIS_Z] + LINEAR axes, limits in mm. + +[AXIS_B] [AXIS_C] + ANGULAR axes, limits in degrees. + +[JOINT_0] X linear +[JOINT_1] Y linear +[JOINT_2] Z linear +[JOINT_3] B angular, MIN_LIMIT=-100, MAX_LIMIT=50 +[JOINT_4] C angular, MIN_LIMIT=-36000, MAX_LIMIT=36000 +``` + +## PyVCP 界面文件 + +路径： + +```text +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml +``` + +这个 XML 文件由 AXIS 读取 `[DISPLAY]PYVCP` 后加载，显示在 AXIS 窗口右侧。它提供： + +- 当前运动学模式显示：`0:IDENTITY`、`1: XYZBC`、`2: USERK` +- 三个按钮：`IDENTITY`、`TCP:XYZBC`、`userk` +- 一个 `vismach-clear` 按钮，用于清除 Vismach 轨迹显示 + +完整内容： + +```xml + + + + + "ridge" + 5 + + + ["0:IDENTITY", "1: XYZBC ", "2: USERK "] + ("Helvetica",16) + "black" + "yellow" + + + + + + + + "ridge" + 5 + + + + +``` + +## POSTGUI HAL 文件 + +路径： + +```text +configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal +``` + +这个文件在 AXIS/PyVCP 界面创建完成后加载，所以它可以连接 `pyvcp.*` 引脚。 + +完整内容： + +```hal +# switchkins pyvcp connections for: +# xyzac-trt-kins.ini,xyzbc-trt-kins.ini + +net :kinstype.is-0 <= kinstype.is-0 => pyvcp.multilabel.0.legend0 +net :kinstype.is-1 <= kinstype.is-1 => pyvcp.multilabel.0.legend1 +net :kinstype.is-2 <= kinstype.is-2 => pyvcp.multilabel.0.legend2 + +net :vismach-clear <= pyvcp.vismach-clear => vismach.plotclear + +net :type0-button <= pyvcp.type0-button => halui.mdi-command-00 +net :type1-button <= pyvcp.type1-button => halui.mdi-command-01 +net :type2-button <= pyvcp.type2-button => halui.mdi-command-02 +``` + +作用： + +- `kinstype.is-*` 驱动 PyVCP 的 `multilabel`，显示当前 kinematics 类型。 +- PyVCP 三个按钮连接到 `halui.mdi-command-00/01/02`。 +- `[HALUI] MDI_COMMAND` 定义这三个命令分别执行 `M429`、`M428`、`M430`。 +- `vismach-clear` 连接到 `vismach.plotclear`，清除 Vismach 显示轨迹。 + +## Vismach Python 界面文件 + +运行入口： + +```text +/home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui +``` + +源码路径： + +```text +src/hal/user_comps/vismach/xyzbc-trt-gui.py +``` + +该 Python 文件创建名为 `xyzbc-trt-gui` 的 HAL 用户组件，并建立 Vismach 三维机床模型。INI 中的以下 HALCMD 启动并连接它： + +```hal +HALCMD = loadusr -W xyzbc-trt-gui +HALCMD = net :table-x joint.0.pos-fb xyzbc-trt-gui.table-x +HALCMD = net :saddle-y joint.1.pos-fb xyzbc-trt-gui.saddle-y +HALCMD = net :spindle-z joint.2.pos-fb xyzbc-trt-gui.spindle-z +HALCMD = net :tilt-b joint.3.pos-fb xyzbc-trt-gui.tilt-b +HALCMD = net :rotate-c joint.4.pos-fb xyzbc-trt-gui.rotate-c +HALCMD = net :tool-offset xyzbc-trt-kins.tool-offset xyzbc-trt-gui.tool-offset +HALCMD = net :x-offset xyzbc-trt-kins.x-offset xyzbc-trt-gui.x-offset +HALCMD = net :z-offset xyzbc-trt-kins.z-offset xyzbc-trt-gui.z-offset +``` + +### HAL 引脚 + +`xyzbc-trt-gui.py` 创建这些输入引脚： + +```python +c = hal.component("xyzbc-trt-gui") +c.newpin("table-x", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("saddle-y", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("spindle-z", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tilt-b", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("rotate-c", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("z-offset", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("x-offset", hal.HAL_FLOAT, hal.HAL_IN) +c.newpin("tool-offset", hal.HAL_FLOAT, hal.HAL_IN) +c.ready() +``` + +### 模型结构 + +该脚本使用 `vismach` 的 `Collection`、`Box`、`CylinderZ`、`HalTranslate`、`HalRotate` 等构造机床模型： + +- `tool`: 刀具和刀尖捕获点，受 `tool-offset` 影响。 +- `spindle`: 主轴和刀柄。 +- `head`: 主轴头，受 `spindle-z` 影响。 +- `ctable`: C 轴旋转台，受 `rotate-c` 影响。 +- `arotary`: B 轴倾斜组件，受 `tilt-b` 影响。 +- `table`: X 方向工作台，受 `table-x` 影响。 +- `saddle`: Y 方向滑鞍，受 `saddle-y` 影响。 +- `base`: 机床底座和立柱。 + +最终调用： + +```python +model = Collection([yslide, base]) + +myhud = Hud() +myhud.show("XYZBC") + +main(model, tooltip, work, size=500, hud=myhud, lat=-60, lon=25) +``` + +这会打开 Vismach 窗口，显示 `XYZBC` 五轴仿真模型。 + +## AXIS 主界面 Python 文件 + +运行入口： + +```text +/home/mes123456/cnc_wams/linuxcnc/bin/axis +``` + +对应源码： + +```text +src/emc/usr_intf/axis/scripts/axis.py +``` + +`bin/axis` 是构建后的可执行 Python 脚本，当前进程为： + +```text +/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/axis -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +``` + +这个文件很大，当前源码约 `4308` 行。与本配置直接相关的加载点如下。 + +读取 INI： + +```python +if sys.argv[1] != "-ini": + raise SystemExit("-ini must be first argument") + +inifile = linuxcnc.ini(sys.argv[2]) +``` + +读取 POSTGUI HAL、几何、坐标等配置： + +```python +vars.emcini.set(sys.argv[2]) +jointcount = inifile.getint("KINS", "JOINTS", fallback=0) +open_directory = inifile.getstring("DISPLAY", "PROGRAM_PREFIX", fallback=open_directory) +vars.machine.set(inifile.getstring("EMC", "MACHINE", fallback="")) +postgui_halfile = inifile.findall("HAL", "POSTGUI_HALFILE") or None +postgui_halcmds = inifile.findall("HAL", "POSTGUI_HALCMD") or None +geometry = inifile.getstring("DISPLAY", "GEOMETRY", fallback="XYZABCUVW") +``` + +读取 PyVCP： + +```python +vcp = inifile.find("DISPLAY", "PYVCP") +``` + +创建 PyVCP 面板： + +```python +if vcp: + import vcpparse + f = Tkinter.Frame(root_window) + if inifile.find("DISPLAY", "PYVCP_POSITION") == "BOTTOM": + f.grid(row=4, column=0, columnspan=6, sticky="nw", padx=4, pady=4) + else: + f.grid(row=0, column=4, rowspan=6, sticky="nw", padx=4, pady=4) + vcpparse.filename = vcp + vcpcomp = hal.component("pyvcp") + vcpparse.create_vcp(f, vcpcomp) + vcpcomp.ready() + vcp_frame = f +``` + +这些代码解释了为什么 `[DISPLAY]PYVCP = ./xyzbc-trt.xml` 会在 AXIS 中生成右侧的 `SWITCHKINS` 面板。 + +## 基础仿真 HAL/Tcl 文件 + +路径： + +```text +lib/hallib/basic_sim.tcl +``` + +INI 中： + +```ini +[HAL] +HALFILE = LIB:basic_sim.tcl +``` + +作用： + +- 加载通用仿真组件。 +- 根据 `[TRAJ]COORDINATES` 和 `[KINS]JOINTS` 创建基础运动仿真。 +- 创建 `ddt`、模拟回零、手动换刀和模拟主轴。 +- 运行后生成等效 HAL 文件： + +```text +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt_cmds.hal +``` + +关键逻辑： + +```tcl +source [file join $::env(HALLIB_DIR) sim_lib.tcl] +set axes [get_traj_coordinates] +set number_of_joints $::KINS(JOINTS) + +core_sim $axes \ + $number_of_joints \ + $::EMCMOT(SERVO_PERIOD) \ + $base_period \ + $::EMCMOT(EMCMOT) + +make_ddts $number_of_joints +simulated_home $number_of_joints +use_hal_manualtoolchange +sim_spindle +save_hal_cmds $savefilename $save_options +``` + +## switchkins / RTCP 切换逻辑 + +本配置使用 `motion.switchkins-type` 选择不同运动学模式。 + +关键 HAL 连接： + +```hal +net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type +``` + +关键 MDI 命令： + +```ini +[HALUI] +MDI_COMMAND = M429 +MDI_COMMAND = M428 +MDI_COMMAND = M430 +``` + +三个 remap 子程序： + +```text +remap_subs/429remap.ngc -> kinstype = 0 -> IDENTITY +remap_subs/428remap.ngc -> kinstype = 1 -> XYZBC / TCP +remap_subs/430remap.ngc -> kinstype = 2 -> USERK +``` + +`M428` 的核心逻辑： + +```ngc +;M428 by remap: kinstype==1 (xyzac,xyzbc) +o<428remap>sub + # = 1 + # = 3 + + M68 E# Q# + M66 E0 L0 + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M428: Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<428remap>endsub +``` + +`M429` 类似，但设置 `kinstype = 0`；`M430` 设置 `kinstype = 2`。 + +## 演示 G-code + +启动时自动打开： + +```text +configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc +``` + +内容： + +```ngc +; zmax zmin r frate n a b c dist +o call [10] [5] [10][1000][3][0][20][45][20] +m2 +``` + +它调用： + +```text +remap_subs/xyzbc_switchkins_sub.ngc +``` + +该子程序会在四个象限中： + +- 先用 `M429` 切到 Identity kinematics。 +- 设置机器坐标和 G54。 +- 调用 `helix_bc`，用 B/C 角度演示 TCP/五轴联动轨迹。 +- 最后回到 Identity kinematics。 + +## 工具表 + +路径： + +```text +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl +``` + +内容： + +```text +T1 P1 D1 +T2 P2 Z10 D8 +``` + +工具表会影响 `motion.tooloffset.z`，并通过 HAL 连接到： + +```hal +xyzbc-trt-kins.tool-offset +xyzbc-trt-gui.tool-offset +``` + +所以工具长度会同时影响运动学计算和 Vismach 显示。 + +## 运动学组件 + +运行时加载： + +```text +rtlib/xyzbc-trt-kins.so +``` + +源码： + +```text +src/emc/kinematics/xyzbc-trt-kins.c +``` + +相关说明文件： + +```text +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt +``` + +说明文件中的核心语义： + +```text +M429: Identity Kinematics +M428: XYZBC (TCP) +M430: userk Kinematics + +net :kinstype-select <= motion.analog-out-03 +net :kinstype-select => motion.switchkins-type +``` + +`xyzbc-trt-kins` 提供这些和配置相关的 HAL 输入： + +```text +xyzbc-trt-kins.x-offset +xyzbc-trt-kins.z-offset +xyzbc-trt-kins.x-rot-point +xyzbc-trt-kins.y-rot-point +xyzbc-trt-kins.z-rot-point +xyzbc-trt-kins.conventional-directions +xyzbc-trt-kins.tool-offset +``` + +## 加载顺序 + +简化后的启动流程： + +1. `.desktop` 执行 `rip-environment linuxcnc xyzbc-trt.ini`。 +2. `scripts/linuxcnc` 读取 INI，启动 `linuxcncsvr`、`rtapi_app`、`milltask`、`halui`。 +3. `[HAL] HALFILE = LIB:basic_sim.tcl` 加载基础仿真 HAL。 +4. `[KINS] KINEMATICS = xyzbc-trt-kins sparm=identityfirst` 加载运动学组件。 +5. `[HAL] HALCMD = loadusr -W xyzbc-trt-gui` 启动 Vismach Python 模型。 +6. `[DISPLAY] DISPLAY = axis` 启动 AXIS。 +7. AXIS 读取 `[DISPLAY] PYVCP = ./xyzbc-trt.xml`，创建 PyVCP 面板。 +8. AXIS 界面创建后加载 `POSTGUI_HALFILE = switchkins_postgui.hal`，连接 PyVCP 引脚和 HALUI MDI 命令。 +9. `[DISPLAY] OPEN_FILE = ./demos/xyzbc_switchkins.ngc` 自动载入演示 G-code。 + +## 重要文件清单 + +```text +主配置: + configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini + +AXIS 主界面: + bin/axis + src/emc/usr_intf/axis/scripts/axis.py + +PyVCP 面板: + configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml + +POSTGUI HAL: + configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal + +Vismach Python 机床模型: + bin/xyzbc-trt-gui + src/hal/user_comps/vismach/xyzbc-trt-gui.py + +基础仿真 HAL/Tcl: + lib/hallib/basic_sim.tcl + +运行后生成的等效 HAL: + configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt_cmds.hal + +运动学组件: + rtlib/xyzbc-trt-kins.so + src/emc/kinematics/xyzbc-trt-kins.c + +remap 子程序: + configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc + configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc + configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc + configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc + configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc + configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc + +演示程序: + configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc + configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc + +工具表和参数: + configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl + configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var +``` diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx b/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx new file mode 100644 index 0000000000000000000000000000000000000000..dc626778f5bc903cffb08c66faed02b57273ce84 GIT binary patch literal 1835616 zcmY&aowA*M6ryI(ddi4I1k|z; zdggp&YNNJ%F3?tNHTNiy8Gz43@ysSxA0V-IJ8AM>b?|~o97slwH#j_0mB!C&7BgL2 zhd)M4@2?aXJkJYjV_jxpm2zD%Qapn_>5ROGH2H1VRx&+~yJgzI?(3BOR`Xn+ag}N> z4Y=lI?%VG(XN8tEfRXuSqA4*5j>I48GEnMi@!0cb1v}jZ(&ZWFzSr@%e<33ir^z$K z@P#Xe$#uU06#j?B>~HqV+JEd({$mpQ->dIrYU4~#_n$j%R7DgrrpCppNo$~#-}Ys| zNT}MuEe(VQrO@`0c{bxg3WpqDlg$Q&q3i@cN1QWhP=iCBO&$y#rc4KHmUoKU>S()Z z=l;%eV9O*I34u!$@Csf2cf$^YOj4ZOKFsFB@rXLn6ecSvARIcX+P!;%=C16l8a*5R ze^IeyCVu1pLlg=E0D$ukmAk!@3H|?tW@2ybYWuHD{!<_Sh1t6zZS}86{=vk!F(thS zRys0KhT3#lECWv{ZLA&hD!^QKlh;obS`t9&g3yZ#`FYO(q+JiTZI+L)=%L==$!~Taocg=Ik-~jcwxMtn%o=Zbmwtx@%Ui2Iho3D>#V6!~{Xefw98Gcixl1uEsfqB^D zxcTHExxid95=sKwNrX@5U`KZHqUemNVg!lmf=JhCNABWV;I8X|Wdf?-n*Qw0Mp*mU zqOd#l3qCsk)bIuVUt*nQG?Fy90RSYD0Ra&IAF=;Gr8mBs>e!P_e?PxbJw3NR^N6Dc zJ8bKZoze2TF4}hW#(K-WZ=IkO*)G>yNCI#8UTa8gz!;&nXAS_jF?a$Bcma@tew*5x zNO+(1I}kB7OOenBwlh$=Jp+{_RZ~$hF){B)pX`4fm#++My% zu?;HS8S}r%+Ahsc1TM%1agAq&p+~fG1Q$BnwF8mr)OB9)9A?WI63i>4pXKJ_KMZ?$ zh3?SJcL498+QC|({=q%pJF)Kz{RKXnFD-am$LKp<+>AxGm7AZ8qW;?;UcYb`ov(8y ziLM|8f229v74x&;nEd8@j{f*69;Z6NTrM2?hvf>3@s(T%upF9$7-2=&s{t0w^Kp${ zmQI`l!_0pzJA<*w1ZJ)@IXm-0Jd=G=<^ge!Q0BF8@p}Af1;sNrD@l*MyCYFIN0L0b z$DOSAC1?MN-HUk4Wd}o-*{rC$Pv*jSF23#TJiM57zVi#ue}P9++q|>l=eaz-bE2Ar(5#&2 z$5l~(QlnPZA>H~8UdQ)lR`d9r>ZGN^q-0fXRnx5Uqip#*f@iQm<7q4P_^H_%lk(`B z=rnu-OxR>M*Za}d%kT<^cVem3{{DjX8FYmTXu7osiUyH z6UcB~fN(?I@R1VuT^sR%;|EIvVM;Q6Gv8G4ZET~au~y_xZDkebWyQyoqG~fWC5!ap z)P5_a1uxG*PhEDE0cF%Pdl&Le&m|Go1)Fhgok>gOGSu#ccx&E@O2NPhIs~2mM zo^NMt<=wUy|E+IIZ!%CVcABmitD;V9DD>OW@bwwOSHy~n8Ue~LVrMLTL3Wusc+5SA zKHemc^oiNtAahfqA4jq`-&DG>&w;F)bCmnsmiVx`*>a^No^}vEc4Ohwn2K3nJh@TN zt0P+~5T)P)Al#hJ58jU+$1;FF{qD!|g)~j`Lb6<4gm&*fk%z%RLowztHbauoeK3(F z?^yBf7=RQtUhLf*DrHnxckDQ|Lz0N1TQl}plCI8CC1QyZ&zw4%B;TO6{}u|O=X

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z*OUFfTz<6@lpAX3Q=ukd=|Esp47+F;y}I2;Dpi@qP5P=|UjuV59-YR`WxQ`4d0srM zpl9?)*i=I>z^oMH~urJMX$>tLAqOZ;^7jxj7%eA;hgYW3&sm<${`zfg>-Zx zF*_DzbZZMHAV27zdGhwPN2374z2iUtfREwc-&=X)&)kJmSPTJ$A-J9;2B7fHKOMdo zaBu76bTOl;90PLjx0;cbM;bF~TyZEryt2~I^IoBP+RZI6qsdif06=V)P>f;A|K{u8 zY9!V(h_QYb;pf%&CE+d4rJRES0H!1+0M9N`5a<`_{~3D?2}1?_fl>ehL@omXM|a6L zb$`kIQAo7A@+D%3hbNSPBS76Rq4CgQGzN(cRtms)?5wAY7=jSwRs04$stAis+S=;Yg<=8MN-pq^O&0CyY;>gBh;mE~!u zyhS(w!1!7oAiay5St_(Y*AMHB_JsPo?`voC*Ri;TO%TB2F*87J7q4^sUwFYN52!oN z(+5pJc@lzfsQtRXH + + + + xyzbc-trt Web 数控仿真系统设计任务书和技术方案 + + + +

    +

    xyzbc-trt Web 数控仿真系统
    设计任务书和技术方案

    +

    完全对标 LinuxCNC xyzbc-trt 五轴 table rotary/tilting 仿真配置

    + + + + + + +
    原型系统/home/mes123456/cnc_wams/linuxcnc
    启动命令/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
    目标产物浏览器端 Web 数控仿真界面、五轴机床模型、switchkins 逻辑、路径预览与执行对比 JSON
    文档位置/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc
    编制日期2026-07-02
    +
    + +
    +

    1. 项目目标

    +

    本项目建设一个 Web 数控仿真系统，功能和行为完全对标 LinuxCNC 真实运行配置 xyzbc-trt.ini。Web 系统不是展示页，而是首屏即进入数控仿真工作台，提供程序加载、预览、DRO、MDI、PyVCP 等价控件、五轴机床运动显示、switchkins 模式切换、刀具路径采样、执行过程记录和误差对比。

    +

    对标基线以已编译成功并能运行的 /home/mes123456/cnc_wams/linuxcnc 为准，历史旧 LinuxCNC 目录不再作为本方案的运行基线。

    +
    +

    核心验收原则：同一份配置、同一份 G-code、同一运动学模式、同一采样周期、同一 JSON 字段，分别采集 LinuxCNC 真实系统和 Web 仿真系统的预览路径与执行路径，逐点比对位置、姿态、运动学模式和 HAL 状态。

    +
    + +

    2. 原型系统运行证据

    +

    2.1 当前启动命令

    + 
    /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc \
+  /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
    + +

    2.2 当前关键进程

    + + + + + + + + + + +
    进程对标含义
    scripts/linuxcnc xyzbc-trt.iniLinuxCNC 主启动入口，Web 端需实现等价启动会话和配置装载流程。
    linuxcncsvrNML/状态服务，Web 端需提供统一运行状态中心。
    rtapi_app load tpmod运动规划模块，Web 端需实现轨迹规划与采样接口。
    milltask任务解释和程序执行，Web 端需实现程序状态机、运行、暂停、复位、MDI。
    haluiHAL UI 指令通道，Web 端需复刻 PyVCP 按钮到 MDI 命令的连接。
    hal_manualtoolchange手动换刀流程，Web 端需提供换刀提示和工具状态。
    xyzbc-trt-guiVismach 五轴机床模型，Web 端需使用 Three.js 对标机床结构和运动。
    axis -ini xyzbc-trt.iniAXIS 主界面，Web 端需对标界面信息架构和操作入口。
    + +

    2.3 当前界面截图

    +
    + xyzbc-trt AXIS window +
    图 1：通过真实 LinuxCNC 会话抓取的 AXIS 主界面，包含预览、DRO、PyVCP SWITCHKINS 面板、程序区和状态栏。
    +
    + +
    + xyzbc-trt desktop screenshot +
    图 2：桌面级运行截图，用于保留真实执行环境和窗口布局证据。
    +
    + +

    2.4 HAL 状态基线

    + + + + + + + + + +
    HAL 项当前值或连接Web 对标要求
    motion.switchkins-type0，由 :kinstype-select 驱动实现 0:IDENTITY、1:XYZBC、2:USERK 三态切换。
    kinstype.is-0/1/2TRUE/FALSE/FALSE驱动 Web PyVCP multilabel 的当前模式显示。
    joint.0..4.pos-fbX/Y/Z/B/C 五轴反馈均为 0映射到 Web DRO、机床模型关节和路径采样。
    motion.tooloffset.z连接 :tool-offset影响 TCP 刀尖位置和机床模型刀具长度。
    xyzbc-trt-kins.x-offset-20Web 运动学参数必须使用同值。
    xyzbc-trt-kins.z-offset-15Web 运动学参数必须使用同值。
    xyzbc-trt-kins.conventional-directionsFALSEWeb 端旋转方向和矩阵约定必须一致。
    +
    + +
    +

    3. 完全对标范围

    + + + + + + + + + + + + +
    LinuxCNC 文件或模块真实功能Web 对标实现
    xyzbc-trt.ini定义 AXIS、PyVCP、KINS、HAL、TRAJ、TASK、EMCIO、轴和关节参数。实现 INI 解析器，生成 Web 会话配置、轴参数、速度限制、文件引用和 UI 初始状态。
    xyzbc-trt.xml定义 SWITCHKINS multilabel、IDENTITY、TCP:XYZBC、userk、vismach-clear 按钮。实现 PyVCP 等价面板，按钮通过 Web HAL 总线触发 MDI 命令或清除轨迹。
    switchkins_postgui.hal把 PyVCP 控件接到 halui.mdi-command-00/01/02 和 vismach.plotclear。实现 postgui HAL 装配层，保证 UI 控件不直接改状态，而是经 HAL 语义连接。
    LIB:basic_sim.tcl生成仿真 HAL 基础链路。在 Web 中建立基础 HAL 信号、仿真 joint、motion、halui、pyvcp、vismach 命名空间。
    xyzbc-trt-kins.soXYZBC table rotary/tilting 运动学和 switchkins。实现或移植为 WASM/TypeScript 运动学模块，支持 identity、XYZBC TCP、userk。
    xyzbc-trt-guiVismach 三维机床模型，随 HAL 引脚运动。使用 Three.js 建立桌台、转台、倾斜轴、主轴、刀具、工件和路径轨迹。
    xyzbc_switchkins.ngc默认打开的演示程序，调用 xyzbc_switchkins_sub。Web 端默认加载同一程序，预览曲线和执行曲线可导出 JSON。
    remap_subs/*.ngcM428/M429/M430 以及演示子程序。支持 remap 调用或预编译宏展开，保证模式切换轨迹一致。
    xyzbc-trt.tbl刀具表。Web 端提供刀具表加载、显示、选择、tooloffset 影响。
    xyzbc.varRS274 参数文件。Web 端持久化参数，支持会话恢复和对标导出。
    + +

    4. Web 界面设计任务书

    +

    4.1 首屏布局

    +

    Web 应用启动后直接进入数控仿真界面，不设置营销式首页。首屏按 AXIS 的工作流组织：

    +
      +
    • 顶部：文件、机器、视图、帮助菜单，以及急停、上电、打开文件、运行、暂停、单步、停止、视图方向、清扫轨迹等图标按钮。
      • +
    • 左侧：Manual Control 与 MDI 标签页，包含 Joint 0 到 4 选择、连续/增量点动、Home、Touch Off、Tool Touch Off、主轴控制和倍率滑块。
      • +
    • 中间：Preview/DRO/程序标签页，预览页显示 Three.js 五轴机床、工件、刀具、坐标轴、尺寸标注和刀具路径。
      • +
    • 右侧：SWITCHKINS 面板，显示 0:IDENTITY、1:XYZBC、2:USERK，并提供 IDENTITY、TCP:XYZBC、userk、vismach-clear 按钮。
      • +
    • 底部：G-code 程序区、Active G-Codes、状态栏、错误和日志输出。
      • +
    + +

    4.2 视觉和交互要求

    + + + + + + + +
    界面区域对标要求验收证据
    AXIS 工具栏保留关键数控操作入口，按钮使用明确图标和 tooltip。截图比对，操作事件 JSON。
    DRO显示 X/Y/Z/B/C、joint 或 world 坐标、实际/命令位置。uiState.dro 与 LinuxCNC status 对比。
    PyVCP按钮和 multilabel 文案、状态、HAL 连线语义一致。halPins.kinstype 和 uiState.pyvcp。
    Preview显示默认程序的圆形/螺旋路径、刀尖、刀轴、XYZBC 坐标。previewPath.samples 和截图。
    Vismach 等价模型五轴结构、B/C 旋转、X/Y/Z 平移、tooloffset、x/z offset 生效。模型姿态 JSON 和截图。
    + +
    + web architecture +
    图 3：LinuxCNC 原型系统与 Web 仿真系统的模块级对标关系。
    +
    +
    + +
    +

    5. 技术方案

    +

    5.1 总体架构

    + + + + + + + + + +
    层级模块职责
    文件层OPFS/IndexedDB 工作区保存 ini/xml/hal/ngc/tbl/var/json，支持导入 LinuxCNC 原始目录。
    解析层INI/XML/HAL/NGC/TBL/VAR parser结构化解析配置、控件、信号、程序和参数，禁止手工硬编码配置结果。
    运行层Task/Interp/Motion/HAL runtime复刻 LinuxCNC 任务状态机、G-code 解释、运动规划、HAL pin/net。
    运动学层xyzbc-trt-kins实现 identity、XYZBC TCP、userk，输出关节、世界坐标、刀尖和刀轴。
    界面层React/Vue/Svelte 或原生组件对标 AXIS、PyVCP、DRO、MDI、程序窗口、状态栏。
    三维层Three.js五轴机床、工件、刀具、路径、坐标系、清轨迹和相机视图。
    证据层Evidence JSON + Compare report采集真实系统和 Web 系统，按同周期逐点比对。
    + +

    5.2 switchkins 逻辑

    +

    Web 端必须复刻原型中的 switchkins 控制链路：PyVCP 按钮触发 halui.mdi-command-00/01/02，MDI 执行 M429/M428/M430，remap 子程序改变 motion.analog-out-03，再驱动 motion.switchkins-type。UI 当前模式由 kinstype.is-0/1/2 反向驱动，而不是由按钮直接写 UI 标签。

    + + + + + + +
    按钮HAL 目标MDI 命令目标模式
    IDENTITYhalui.mdi-command-00M4290:IDENTITY
    TCP:XYZBChalui.mdi-command-01M4281:XYZBC
    userkhalui.mdi-command-02M4302:USERK
    vismach-clearvismach.plotclear无清除三维路径显示。
    + +

    5.3 五轴运动学和模型

    +

    Web 端机床模型采用 XYZBC table rotary/tilting 结构。X 对应 table-x，Y 对应 saddle-y，Z 对应 spindle-z，B 对应 tilt-b，C 对应 rotate-c。运动学参数使用原型系统当前 HAL 值：x-offset=-20、z-offset=-15、旋转点均为 0、conventional-directions=false。刀具长度来自 motion.tooloffset.z。

    +

    三维模型不只显示程序预览曲线，还必须在执行时按采样点刷新桌台、转台、主轴和刀具姿态。执行暂停、复位、清轨迹、模式切换后，模型状态和 JSON 状态必须同步。

    + +

    5.4 路径采样和 JSON 比对

    +
    +

    曲线采样周期固定为 samplePeriodMs = 20，即 50 Hz。LinuxCNC 真实系统和 Web 仿真系统必须使用相同采样周期、相同 sampleIndex、相同时间基准和相同坐标字段，禁止一端 10 ms、另一端 20 ms 或使用不同插补点。

    +
    +
    + json compare flow +
    图 4：刀具预览路径和执行路径 JSON 的同周期采样与逐点比对流程。
    +
    + +

    5.5 Evidence JSON 字段规范

    + 
    {
+  "schema": "xyzbc-trt-evidence/v1",
+  "source": "linuxcnc-native | web-sim",
+  "samplePeriodMs": 20,
+  "linuxcncRoot": "/home/mes123456/cnc_wams/linuxcnc",
+  "ini": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
+  "program": "./demos/xyzbc_switchkins.ngc",
+  "runtime": {
+    "taskState": 1,
+    "interpState": 1,
+    "axisMask": 55,
+    "kinstype": 0
+  },
+  "halPins": {
+    "motion.switchkins-type": 0,
+    "xyzbc-trt-kins.x-offset": -20,
+    "xyzbc-trt-kins.z-offset": -15,
+    "xyzbc-trt-kins.conventional-directions": false
+  },
+  "previewPath": {
+    "coordinateSystem": "XYZBC",
+    "samples": [
+      {
+        "sampleIndex": 0,
+        "timeMs": 0,
+        "line": 1,
+        "joint": {"x": 0, "y": 0, "z": 0, "b": 0, "c": 0},
+        "world": {"x": 0, "y": 0, "z": 0, "b": 0, "c": 0},
+        "toolTip": {"x": 0, "y": 0, "z": 0},
+        "toolAxis": {"i": 0, "j": 0, "k": 1},
+        "kinstype": 0
+      }
+    ]
+  },
+  "executionPath": {
+    "samples": []
+  },
+  "screenshots": []
+}
    + +

    5.6 对比报告字段

    + + + + + + + + + + +
    字段说明
    sampleCount.native/web真实系统和 Web 系统采样点数量。
    maxPositionErrorX/Y/Z/B/C 最大逐点误差。
    rmsPositionError路径整体均方根误差。
    maxToolTipErrorTCP 刀尖位置最大误差。
    maxToolAxisErrorDeg刀轴方向最大角度误差。
    firstMismatch首个超差点的 sampleIndex、line、timeMs、native/web 值。
    uiEquivalenceAXIS/PyVCP/DRO/状态栏截图和 DOM 状态对比。
    pass是否通过设定阈值。
    +
    + +
    +

    6. 开发任务分解

    + + + + + + + + + +
    阶段任务交付物验收方式
    阶段 1导入并解析 xyzbc-trt.ini、XML、HAL、TBL、VAR、NGC 文件。结构化配置 JSON、文件依赖图。与 xyzbc-trt-runtime-files.md 逐项核对。
    阶段 2搭建 AXIS 等价 Web UI 和 PyVCP 面板。首屏数控工作台。与真实 AXIS 截图逐区比对。
    阶段 3实现 HAL 总线、halui、switchkins 状态机和 remap 命令链路。HAL 状态面板、MDI 命令记录。按钮触发 M429/M428/M430 后状态一致。
    阶段 4实现 XYZBC 运动学和 Three.js Vismach 等价模型。五轴机床模型、刀具和工件。X/Y/Z/B/C 点动与 HAL pin 一致。
    阶段 5实现 G-code 预览路径、执行路径、暂停/复位/单步。预览轨迹、执行轨迹、状态机。默认程序 xyzbc_switchkins.ngc 可回放。
    阶段 6实现 native 和 web evidence JSON，固定 20 ms 采样周期。native-evidence.json、web-evidence.json。字段、单位、sampleIndex 对齐。
    阶段 7实现 compare-report 自动生成。compare-report.json、HTML 报告。误差统计和首个差异点可追溯。
    + +

    7. 验收标准

    + + + + + + + + + +
    类别必须通过的标准
    路径标准所有文档、配置和运行基线均指向 /home/mes123456/cnc_wams/linuxcnc。
    界面标准Web 首屏包含 AXIS 主要工作区、PyVCP SWITCHKINS 面板、预览区、DRO、程序区和状态栏。
    功能标准默认加载 xyzbc_switchkins.ngc，支持 MDI、模式切换、清轨迹、点动、倍率、刀具和参数。
    运动学标准identity、XYZBC TCP、userk 模式状态和轨迹计算与真实系统一致。
    JSON 标准预览路径和执行路径同时导出，采样周期统一为 20 ms，字段一致。
    比对标准能输出最大误差、RMS 误差、首个差异点、截图和通过/失败结论。
    证据标准每次验收保存 LinuxCNC 原始截图、Web 截图、native JSON、web JSON、compare report。
    + +

    8. 风险和控制措施

    + + + + + + + +
    风险影响控制措施
    LinuxCNC 内部解释器和 Web 解释器细节不一致路径点或模式切换时序不同。优先移植或复用 LinuxCNC 解析/运动学逻辑，保留 native evidence 作为回归基准。
    采样周期不一致曲线无法逐点比较。强制配置 samplePeriodMs=20，JSON schema 校验不允许缺省。
    Three.js 模型和 Vismach 结构偏差视觉对标通过但运动不一致。每个关节都绑定 HAL pin，模型矩阵由运动学输出驱动。
    UI 直接改状态绕过 HAL无法对标真实控制链路。PyVCP 控件只发 HAL/MDI 事件，状态由 HAL pin 回读。
    路径或旧目录混入证据不可复现。文档和脚本统一扫描旧路径，禁止使用历史旧 LinuxCNC 目录。
    + +

    9. 附录：对标文件清单

    + + + + + + + + + + + + +
    文件用途
    /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md当前运行配置文件说明和路径基线。
    /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini主 INI 配置。
    xyzbc-trt.xmlPyVCP SWITCHKINS 面板。
    switchkins_postgui.halPyVCP 与 HALUI、Vismach 清轨迹连接。
    demos/xyzbc_switchkins.ngc默认加载的演示程序。
    remap_subs/428remap.ngc、429remap.ngc、430remap.ngcswitchkins 模式切换 remap。
    xyzbc-trt.tbl刀具表。
    xyzbc.var参数文件。
    bin/xyzbc-trt-guiVismach 原型模型入口。
    rtlib/xyzbc-trt-kins.so真实五轴运动学模块。
    +
    + +
    +

    10. xyzbc-trt 程序逻辑全量分析

    +

    下面按“文件装载 - 运动学 - HAL - 界面 - 执行 - 证据”的顺序，把 xyzbc-trt 的实际逻辑拆开说明。这里不是抽象架构，而是与当前源码、HAL pin 和界面行为一一对应的执行逻辑。

    +

    10.1 启动入口逻辑

    + + + + + +
    步骤逻辑结果
    1rip-environment 先建立 run-in-place 环境，确保本地 bin/、lib/、rtlib/、bin/python 可被当前会话找到。执行路径完全指向 /home/mes123456/cnc_wams/linuxcnc。
    2linuxcnc xyzbc-trt.ini 读取主 INI，按段装载 DISPLAY、RS274NGC、KINS、HAL、TRAJ、TASK、EMCIO。界面、运动学和程序执行进入同一会话。
    3AXIS、PyVCP、Vismach、halui、milltask、linuxcncsvr、rtapi_app 同时被拉起。形成“界面 + 任务 + 运动 + 证据”闭环。
    +

    这个启动链路的关键点是：界面不是单独运行的，而是被 INI 文件和 HAL 图驱动。Web 端要完全对标，就不能把预览、模式切换、DRO、刀具、执行按钮做成彼此割裂的前端组件，而要让它们共享同一个运行态和信号总线。

    +

    10.2 配置装载逻辑

    + + + + + + +
    文件逻辑作用Web 对标要点
    xyzbc-trt.ini定义机器类型、显示方式、五轴坐标、最大速度、轴/关节限制、默认程序、运动学模块和 HAL 连线。必须解析成结构化会话配置，不能只读出少量文本字段。
    xyzbc-trt.xml定义 SWITCHKINS 面板和按钮文案。按钮状态要由 HAL 输出决定，multilabel 要能随 kinstype 更新。
    switchkins_postgui.hal把按钮接到 MDI 命令，把清轨迹接到 vismach.plotclear。Web 端的按钮必须走同样的“事件 - HAL - MDI - 状态”链路。
    xyzbc_switchkins.ngc默认加载的程序是演示切换程序，既包含路径，也包含模式切换场景。Web 必须默认回放同一程序并记录同一套证据字段。
    +

    10.3 switchkins 运动学逻辑

    +

    xyzbc-trt-kins 通过 switchkinsSetup() 绑定三个运动学分支：

    +
      +
    • type0：在当前配置里被重定义为 identity，用于启动后的关节直接操控。
      • +
    • type1：xyzbc-trt-kins 本体，执行 XYZBC table rotary/tilting 的 TCP 运动学。
      • +
    • type2：用户自定义运动学 userk。
      • +
    +

    源码里明确设置了 kinsname = "xyzbc-trt-kins"、halprefix = "xyzbc-trt-kins"、required_coordinates = "xyzbc"、allow_duplicates = 1，这意味着它既是一个五轴模块，也是一个允许坐标字母重复映射的 switchkins 模块。identityfirst 参数把启动默认值切换成 identity，而不是让机床类型本体成为 type0，这正是 sim 配置的关键差异。

    +
    + xyzbc-trt logic map +
    图 5：`xyzbc-trt` 程序逻辑总图，展示从文件装载到证据采样的完整执行链。
    +
    +

    switchkins 内部的逻辑顺序很重要：先由 rtapi_app_main() 创建 HAL 组件和输出 pin，再调用 kinematicsSwitch(0) 设定初始模式，然后把三个 setup 函数分别执行一遍，最后 hal_ready()。这意味着 Web 端在启动时也必须先完成状态总线和模式初始化，再挂载界面和三维模型，不能反过来。

    +

    10.4 正逆运动学逻辑

    + + + + + +
    函数逻辑对标意义
    xyzbcKinematicsForward()根据 X/Y/Z/B/C 和 offset、tooloffset、旋转点、方向约定计算 TCP 世界坐标与姿态。Web 端预览路径和三维模型必须采用同一套正解公式。
    xyzbcKinematicsInverse()根据目标 TCP 位姿反推关节角和关节位移，再写回 mapped joints。MDI、点动、程序执行时的运动控制必须能从目标位姿反推关节。
    conventional-directions默认关闭时，旋转轴方向与 conventional 约定相反。Web 模型如果方向画反，视觉上会“像”，但运动学会错，必须严格对齐。
    +

    在当前配置里，B/C 轴是主运动学轴，A/U/V/W 只是可选字母。前向解使用主关节 JX/JY/JZ/JB/JC 计算 TCP 位姿；逆解再根据目标位姿回算这些主关节。这个路径对 Web 端非常关键，因为预览路径不能只画“刀尖折线”，还要把每个采样点对应的关节姿态也算出来，否则无法和真实系统逐点比对。

    +

    10.5 HAL 和状态逻辑

    + + + + + + +
    HAL 语义逻辑Web 对标实现
    motion.switchkins-type当前运动学类型输入，浮点值被截断为整数 0/1/2。前端 switchkins 状态必须是整数型并保持和任务状态一致。
    kinstype.is-0/1/2当前模式输出，供 GUI、指示灯、程序逻辑读取。Web 端要提供同样的可读状态给 PyVCP 等价面板和检测逻辑。
    motion.analog-out-03通过 M68/MDI 等方式写入，间接控制 kinstype。Web 端模式切换必须保留“间接驱动”语义，不可直接写最终状态。
    halui.mdi-command-00/01/02PyVCP 按钮发出的 MDI 入口。按钮点击后必须先变成命令，再进入状态机。
    +

    switchkins.c 的实现说明了一个很重要的行为：模式切换后先清除 use_lastpose，再根据当前模式把对应的 kinstype.is.N 置位。也就是说，Web 仿真不能把“当前模式”当作普通表单状态，它必须是一次完整状态机切换，切换后还要在 UI 上立即反映。

    +

    10.6 UI 与三维模型逻辑

    +

    axis.py 的行为说明 AXIS 窗口里存在“轴模式”和“关节模式”的切换；当配置处于非 trivkins 或特殊 kinstype 时，按钮和焦点会根据当前运动模式自动切换到关节/轴对应控件。Web 端要对标的不只是布局，还有这个控件激活规则。

    +

    xyzbc-trt-gui.py 则把 Vismach 模型拆成可响应的 HAL 变换链：tool-offset 作用于刀具，spindle-z 作用于主轴头，tilt-b 作用于倾斜轴，rotate-c 作用于回转台，table-x 和 saddle-y 则驱动横向与纵向运动。这个顺序决定了几何层级关系，所以 Web 端模型必须按同样层级搭建，而不是把每个零件独立摆放。

    +

    10.7 程序执行与同步逻辑

    + + + + + + +
    阶段逻辑结果
    预览读取 xyzbc_switchkins.ngc，在预览区生成 G-code 轨迹和位置采样。得到 previewPath JSON。
    切换通过 M428/M429/M430 或等价按钮改变 switchkins 模式，并执行同步命令。运动学和解释器状态对齐。
    执行根据当前模式执行程序，同时刷新关节反馈和 TCP 位姿。得到 executionPath JSON。
    比对用固定 20 ms 采样周期对比预览和执行曲线。输出 compare-report.json。
    +

    同步逻辑是这个程序最容易被误解的地方：切换模式不是单独改一个 pin 就结束了，必须让解释器和 motion 同步，否则 G-code 看到的坐标语义和 motion 看到的坐标语义会不同。这个要求在文档中已经被固化为“预览路径和执行路径统一采样周期，并在切换时强制同步”。

    +

    10.8 异常和约束逻辑

    +
      +
    • 如果 motion.switchkins-type 没有连接，只有 type0 默认运动学可用，这属于兼容旧配置的行为。
      • +
    • 如果切换到身份不匹配的运动学类型，程序逻辑必须在 G-code 中先检查 kinstype.is.N 或等价输入，再决定是否继续。
      • +
    • 如果当前系统的坐标偏置、刀补、外部偏置在切换后不一致，必须先清理或重置偏置，再切换模式。
      • +
    • 如果 Web 端和 LinuxCNC 真实系统的采样周期不一致，则即使图形看起来接近，也不能通过对标验收。
      • +
    +

    总的来说，xyzbc-trt 的逻辑不是“一个五轴模型 + 一个预览窗口”，而是“配置驱动的状态机 + 可切换运动学 + HAL 事件 + 三维可视化 + 路径证据”的组合。Web 端要做到完全对标，必须把这五件事统一成一条链。

    +
    + + diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.odt b/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.odt new file mode 100644 index 0000000000000000000000000000000000000000..a553c009fb80eb4dfaade2663461d420054098ba GIT binary patch literal 19052 zcmagF1CS=c)&v+_ zyqOtMbdARzy-e~&k?Cq^Bj0~JD z>}(lbZH*c144f>S80_p#Y>n-VTx?8iof(`>+?^HwUyc3q|GzKXe>G7%TT=@&7svl; z#)*Z|+0M?|-oVzxn(_bJ5BtCPnOfT!IGZ^BFJAwxHz#KUXBQ_!ga6I%zxDQ?DF1ga z{QnZ8y`!C(qlwf1Pk;X{PJ26h7yExR>hiyg@4vnnU6r-RnJp1#1MtVil*vH3&_&fZ^M)9PMn&Yo#AkJR7^@k8mPToA^Z zz$YE=1Y%gl_}Lluh-=dsvr7iohBX~JOyb_xdxtb=r1nA_>T8MlWn=Weq$Cz<*4Gk( zzOOvm(Y@ZEWsGB+eqKtdzSVvub4QPX*K^f882IR7D3VGK|@3@uz#DT_4$`;jb5)#_&-_Xoj(B zzGq?2$yw#Xl=`lXq#6Yn&*U>Q#=@bDqqEiQFXi#c%WYH|gFDWQU@%AzpO3q*xho70 zj_kpXW2){Xk;ZQ}4M6gh?6ktcnRsP^o{x16!UIvAw39d}73^U!8lnlO7@|IHLuhY+ zp%ld@7#Hv-8-|ugniM4DTk}k`#4HK-EBUG0)G|i%-Gn_Ww1=7f=j{@(h$`8Kk55?2 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gmoccapy shell browser smoke + + + 
    gmoccapy_shell_smoke=pending
    + + + + diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh new file mode 100755 index 0000000..6e45a45 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh @@ -0,0 +1,77 @@ +#!/usr/bin/env bash +set -euo pipefail + +ROOT_DIR="$(cd "$(dirname "$0")/../../.." && pwd)" +CHROMIUM="${CHROMIUM:-$(command -v chromium || command -v chromium-browser || command -v google-chrome || command -v google-chrome-stable || true)}" + +if [[ -z "$CHROMIUM" ]]; then + echo "missing Chromium-compatible browser; set CHROMIUM=/path/to/browser" >&2 + exit 1 +fi + +npm --prefix "$ROOT_DIR/web-rtcp-5axis-sim-plan/app" run build >/dev/null + +TMP_DIR="$(mktemp -d)" +PORT_FILE="$TMP_DIR/port" +SERVER_LOG="$TMP_DIR/server.log" +CHROME_PROFILE="$TMP_DIR/chrome-profile" +mkdir -p "$CHROME_PROFILE" + +cleanup() { + if [[ -n "${SERVER_PID:-}" ]]; then + kill "$SERVER_PID" 2>/dev/null || true + wait "$SERVER_PID" 2>/dev/null || true + fi + rm -rf "$TMP_DIR" +} +trap cleanup EXIT + +python3 - <<'PY' "$ROOT_DIR" "$PORT_FILE" >"$SERVER_LOG" 2>&1 & +import functools +import http.server +import pathlib +import socketserver +import sys + +root = pathlib.Path(sys.argv[1]) +port_file = pathlib.Path(sys.argv[2]) + +handler = functools.partial(http.server.SimpleHTTPRequestHandler, directory=str(root)) +with socketserver.TCPServer(("127.0.0.1", 0), handler) as httpd: + port_file.write_text(str(httpd.server_address[1]), encoding="ascii") + httpd.serve_forever() +PY +SERVER_PID=$! + +for _ in $(seq 1 100); do + [[ -s "$PORT_FILE" ]] && break + sleep 0.05 +done + +if [[ ! -s "$PORT_FILE" ]]; then + echo "gmoccapy dist browser smoke HTTP server did not start" >&2 + cat "$SERVER_LOG" >&2 || true + exit 1 +fi + +PORT="$(cat "$PORT_FILE")" +APP_PATH="../../app/dist/index.html" +URL="http://127.0.0.1:$PORT/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html?app=$APP_PATH" +OUT="$TMP_DIR/chromium-gmoccapy-dist.out" + +"$CHROMIUM" \ + --headless=new \ + --disable-gpu \ + --no-sandbox \ + --user-data-dir="$CHROME_PROFILE" \ + --virtual-time-budget=10000 \ + --dump-dom \ + "$URL" >"$OUT" 2>&1 + +if ! grep -Fq "gmoccapy_shell_smoke=ok" "$OUT"; then + echo "gmoccapy dist browser smoke failed" >&2 + sed -n '1,260p' "$OUT" >&2 + exit 1 +fi + +echo "gmoccapy_dist_smoke=ok" diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh new file mode 100755 index 0000000..8bbeac6 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh @@ -0,0 +1,74 @@ +#!/usr/bin/env bash +set -euo pipefail + +ROOT_DIR="$(cd "$(dirname "$0")/../../.." && pwd)" +CHROMIUM="${CHROMIUM:-$(command -v chromium || command -v chromium-browser || command -v google-chrome || command -v google-chrome-stable || true)}" + +if [[ -z "$CHROMIUM" ]]; then + echo "missing Chromium-compatible browser; set CHROMIUM=/path/to/browser" >&2 + exit 1 +fi + +TMP_DIR="$(mktemp -d)" +PORT_FILE="$TMP_DIR/port" +SERVER_LOG="$TMP_DIR/server.log" +CHROME_PROFILE="$TMP_DIR/chrome-profile" +mkdir -p "$CHROME_PROFILE" + +cleanup() { + if [[ -n "${SERVER_PID:-}" ]]; then + kill "$SERVER_PID" 2>/dev/null || true + wait "$SERVER_PID" 2>/dev/null || true + fi + rm -rf "$TMP_DIR" +} +trap cleanup EXIT + +python3 - <<'PY' "$ROOT_DIR" "$PORT_FILE" >"$SERVER_LOG" 2>&1 & +import functools +import http.server +import pathlib +import socketserver +import sys + +root = pathlib.Path(sys.argv[1]) +port_file = pathlib.Path(sys.argv[2]) + +handler = functools.partial(http.server.SimpleHTTPRequestHandler, directory=str(root)) +with socketserver.TCPServer(("127.0.0.1", 0), handler) as httpd: + port_file.write_text(str(httpd.server_address[1]), encoding="ascii") + httpd.serve_forever() +PY +SERVER_PID=$! + +for _ in $(seq 1 100); do + [[ -s "$PORT_FILE" ]] && break + sleep 0.05 +done + +if [[ ! -s "$PORT_FILE" ]]; then + echo "gmoccapy shell browser smoke HTTP server did not start" >&2 + cat "$SERVER_LOG" >&2 || true + exit 1 +fi + +PORT="$(cat "$PORT_FILE")" +URL="http://127.0.0.1:$PORT/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html" +OUT="$TMP_DIR/chromium-gmoccapy-shell.out" + +"$CHROMIUM" \ + --headless=new \ + --disable-gpu \ + --no-sandbox \ + --user-data-dir="$CHROME_PROFILE" \ + --virtual-time-budget=10000 \ + --dump-dom \ + "$URL" >"$OUT" 2>&1 + +if ! grep -Fq "gmoccapy_shell_smoke=ok" "$OUT"; then + echo "gmoccapy shell browser smoke failed" >&2 + sed -n '1,260p' "$OUT" >&2 + exit 1 +fi + +echo "gmoccapy_shell_smoke=ok" diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_five_axis_session.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_five_axis_session.mjs new file mode 100644 index 0000000..bd19a9d --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_five_axis_session.mjs @@ -0,0 +1,77 @@ +import assert from "node:assert/strict"; + +import { createFiveAxisSessionPayload, createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js"; +import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js"; +import { createSimulationStore } from "../../app/src/state/store.js"; + +async function waitForInterpreterExecution(store) { + for (let attempt = 0; attempt < 20; attempt += 1) { + const state = store.getState(); + if (!state.interpreterExecutionPending && state.programExecutionSourceMode === "linuxcnc-interpreter-wasm") { + return state; + } + await new Promise((resolve) => setTimeout(resolve, 0)); + } + return store.getState(); +} + +const store = createSimulationStore(); +const interpreterRuntime = await createLinuxCncInterpreterRuntime(); + +store.dispatch({ type: "ATTACH_INTERPRETER_RUNTIME", runtime: interpreterRuntime }); +store.dispatch({ type: "TOGGLE_POWER" }); +store.dispatch({ type: "HOME" }); +store.dispatch({ type: "SET_MODE", mode: "auto" }); +store.dispatch({ type: "SET_RTCP", enabled: true }); +store.dispatch({ + type: "LOAD_PROGRAM", + filename: "session-demo.ngc", + content: [ + "G90 G17", + "G0 X0 Y0 Z0", + "G1 X4 Y5 A6 C7 F100", + "M2", + ].join("\n"), +}); +await waitForInterpreterExecution(store); +store.dispatch({ type: "STEP" }); + +const beforeSave = store.getState(); +const payload = createFiveAxisSessionPayload(beforeSave); +assert.equal(payload.apiName, "web-rtcp-5axis-session-payload"); +assert.equal(payload.machineProfile, "xyzac-trt"); +assert.equal(payload.programExecution.sourceMode, "linuxcnc-interpreter-wasm"); +assert.equal(payload.rtcpState, "on"); +assert.equal(payload.programRuntimeFeedback.sourceMode, "linuxcnc-tp-runtime-sample"); +assert.equal(payload.programRuntimeFeedback.semanticBoundary, "linuxcnc_tp_run_cycle_feedback_without_hardware"); + +const storage = createMemorySessionStorage(); +const saved = await store.saveSession({ storage }); +assert.equal(saved.snapshot.format, "web-rtcp-5axis-session-snapshot"); +assert.equal(saved.path, "web-rtcp-5axis-sim-plan/sessions/gmoccapy-web-session/web-rtcp-5axis-session.json"); +assert.equal(saved.storageMode, "memory"); +assert.equal(store.getState().sessionPersistence.storageMode, "memory"); + +store.dispatch({ type: "SET_RTCP", enabled: false }); +store.dispatch({ type: "STOP" }); +store.dispatch({ type: "SET_MODE", mode: "manual" }); +store.dispatch({ type: "JOG", axis: "x", direction: 1, increment: 25 }); +assert.notEqual(store.getState().rtcpState, beforeSave.rtcpState); +assert.notEqual(store.getState().axisPose.x, beforeSave.axisPose.x); + +const restored = await store.restoreSession({ storage }); +const afterRestore = store.getState(); +assert.equal(restored.path, saved.path); +assert.equal(restored.storageMode, "memory"); +assert.equal(afterRestore.sessionPersistence.status, "restored"); +assert.equal(afterRestore.sessionPersistence.storageMode, "memory"); +assert.equal(afterRestore.rtcpState, beforeSave.rtcpState); +assert.equal(afterRestore.kinsType, beforeSave.kinsType); +assert.equal(afterRestore.axisPose.x, beforeSave.axisPose.x); +assert.equal(afterRestore.activeProgram, "session-demo.ngc"); +assert.equal(afterRestore.programExecution.sourceMode, "linuxcnc-interpreter-wasm"); +assert.equal(afterRestore.programExecution.summary.motionEventCount, beforeSave.programExecution.summary.motionEventCount); +assert.equal(afterRestore.programRuntimeFeedback.semanticBoundary, beforeSave.programRuntimeFeedback.semanticBoundary); +assert.equal(afterRestore.programRuntimeFeedback.axisPose.x, beforeSave.programRuntimeFeedback.axisPose.x); + +console.log("five_axis_session_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_full_execution_boundary.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_full_execution_boundary.mjs new file mode 100644 index 0000000..7d0c5a8 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_full_execution_boundary.mjs @@ -0,0 +1,229 @@ +import assert from "node:assert/strict"; + +import { createFullLinuxCncExecutionBoundary } from "../../app/src/runtime/full-execution-boundary.js"; + +const blocked = createFullLinuxCncExecutionBoundary({}); +assert.equal(blocked.apiName, "web-rtcp-5axis-full-linuxcnc-execution-boundary"); +assert.equal(blocked.phase, "blocked"); +assert.equal(blocked.promotionAllowed, false); +assert.equal(blocked.fullLinuxCncProgramExecutionReady, false); +assert.equal(blocked.missing.includes("linuxcnc kinematics WASM frame"), true); +assert.equal(blocked.missing.includes("tool DB Web/WASM simulation process"), true); +assert.equal(blocked.missing.includes("controlled user-M Web/WASM simulation process"), true); +assert.equal(blocked.blockers.some((blocker) => blocker.includes("LinuxCNC task runtime")), true); + +const canonicalState = { + machineProfile: "xyzac-trt", + linuxCncBoundaryAdapter: { + linuxCncKinematicsReady: true, + linuxCncInterpreterReady: true, + }, + rtcpFrame: { + semanticBoundary: "linuxcnc_kinematics_wasm_c_abi", + readiness: { linuxCncKinematicsReady: true }, + }, + interpreterRuntimeReadiness: { + loaded: true, + semanticBoundary: "linuxcnc_interpreter_wasm_canonical_events", + }, + programExecutionSourceMode: "linuxcnc-interpreter-wasm", + programExecution: { + sourceMode: "linuxcnc-interpreter-wasm", + summary: { + motionEventCount: 3, + canonicalEventCount: 8, + }, + }, +}; +const canonical = createFullLinuxCncExecutionBoundary(canonicalState); + +assert.equal(canonical.readyForUiSimulation, true); +assert.equal(canonical.machineFileBackedRemapReady, false); +assert.equal(canonical.semanticBoundary, "linuxcnc_interpreter_canonical_ready_planner_task_hal_blocked"); +assert.equal(canonical.satisfied.includes("canonical-motion-events"), true); +assert.equal(canonical.plannerRuntimeReady, false); +assert.equal(canonical.missing.includes("machine-file backed five-axis remap run"), true); + +const canonicalWithPlanner = createFullLinuxCncExecutionBoundary({ + ...canonicalState, + programExecution: { + ...canonicalState.programExecution, + plannerTiming: { + plannerRuntimeReady: true, + semanticBoundary: "linuxcnc_tp_queue_runtime_timing_from_canonical_motion", + }, + summary: { + ...canonicalState.programExecution.summary, + plannerRuntimeReady: true, + }, + }, +}); + +assert.equal(canonicalWithPlanner.plannerRuntimeReady, true); +assert.equal(canonicalWithPlanner.satisfied.includes("linuxcnc-tp-queue-runtime-timing"), true); +assert.equal(canonicalWithPlanner.nativeTaskReady, false); +assert.equal(canonicalWithPlanner.nativeHalSyncReady, false); + +const remap = createFullLinuxCncExecutionBoundary({ + ...canonicalState, + programExecution: { + ...canonicalState.programExecution, + plannerTiming: { + plannerRuntimeReady: true, + semanticBoundary: "linuxcnc_tp_queue_runtime_timing_from_canonical_motion", + }, + summary: { + ...canonicalState.programExecution.summary, + plannerRuntimeReady: true, + }, + }, + machineFileStaging: { + status: "staged", + fileCount: 12, + }, + machineFileExecution: { + sourceMode: "linuxcnc-machine-file-remap-wasm", + summary: { + machineFileExecutionReady: true, + }, + resultText: [ + "fiveaxis_ini_open=1", + "fiveaxis_remaps_ready=1", + "fiveaxis_file_reached_exit=1", + "fiveaxis_hal_switchkins: rc=0 found=1 value=0", + ].join("\n"), + }, +}); + +assert.equal(remap.machineFileBackedRemapReady, true); +assert.equal(remap.remapRuntimeReady, true); +assert.equal(remap.halSwitchkinsEvidenceReady, true); +assert.equal(remap.plannerRuntimeReady, true); +assert.equal(remap.nativeTaskReady, false); +assert.equal(remap.nativeHalSyncReady, false); +assert.equal(remap.fullLinuxCncProgramExecutionReady, false); +assert.equal(remap.promotionAllowed, false); +assert.equal(remap.semanticBoundary, "linuxcnc_machine_file_remap_ready_planner_task_hal_blocked"); +assert.equal(remap.satisfied.includes("fiveaxis-remap-machine-file-run"), true); +assert.equal(remap.evidence.machineFileFlags.length, 3); + +const gmoccapyMachineFile = createFullLinuxCncExecutionBoundary({ + ...canonicalState, + programExecution: { + ...canonicalState.programExecution, + plannerTiming: { + plannerRuntimeReady: true, + semanticBoundary: "linuxcnc_tp_queue_runtime_timing_from_canonical_motion", + }, + summary: { + ...canonicalState.programExecution.summary, + plannerRuntimeReady: true, + }, + }, + machineFileStaging: { + status: "staged", + fileCount: 18, + }, + machineFileExecution: { + sourceMode: "linuxcnc-machine-file-remap-wasm", + summary: { + machineFileExecutionReady: true, + remapRuntimeReady: false, + }, + resultText: [ + "fiveaxis_parse_remap_1=5", + "fiveaxis_parse_remap_2=5", + "fiveaxis_remaps_ready=0", + "fiveaxis_file_reached_exit=1", + "fiveaxis_linuxcnc_remap_file_execute=0", + ].join("\n"), + }, +}); + +assert.equal(gmoccapyMachineFile.machineFileBackedRemapReady, true); +assert.equal(gmoccapyMachineFile.remapRuntimeReady, false); +assert.equal(gmoccapyMachineFile.semanticBoundary, "linuxcnc_machine_file_remap_ready_planner_task_hal_blocked"); +assert.equal(gmoccapyMachineFile.satisfied.includes("fiveaxis-remap-machine-file-run"), true); +assert.equal(gmoccapyMachineFile.evidence.machineFileFlags.length, 1); + +const taskHalPromoted = createFullLinuxCncExecutionBoundary({ + ...canonicalState, + programExecution: remap.programExecution || { + ...canonicalState.programExecution, + plannerTiming: { + plannerRuntimeReady: true, + semanticBoundary: "linuxcnc_tp_queue_runtime_timing_from_canonical_motion", + }, + summary: { + ...canonicalState.programExecution.summary, + plannerRuntimeReady: true, + }, + }, + machineFileStaging: { + status: "staged", + fileCount: 12, + }, + machineFileExecution: remap.evidence ? { + sourceMode: "linuxcnc-machine-file-remap-wasm", + summary: { machineFileExecutionReady: true }, + resultText: [ + "fiveaxis_ini_open=1", + "fiveaxis_remaps_ready=1", + "fiveaxis_file_reached_exit=1", + "fiveaxis_hal_switchkins: rc=0 found=1 value=1", + ].join("\n"), + } : null, + taskHalRuntimeReadiness: { + taskRuntimeReady: true, + motionRuntimeReady: true, + halRuntimeReady: true, + halSyncReady: true, + }, + taskHalStatus: { + summary: { + taskRuntimeReady: true, + motionRuntimeReady: true, + halRuntimeReady: true, + halSyncReady: true, + taskHalComparisonReady: true, + }, + ui: { + taskCycle: 2, + servoCycle: 20, + motionQueueDepth: 0, + halChangedPinCount: 4, + }, + }, + toolDbReadiness: { + toolDbProcessReady: true, + toolDbProcessScope: "web_simulation_only", + hostToolDbProcessReady: false, + toolCount: 10, + }, + controlledUserMReadiness: { + externalUserMProcessReady: true, + externalUserMProcessScope: "web_simulation_only", + hostExternalUserMProcessReady: false, + arbitraryUserMExecution: false, + }, +}); + +assert.equal(taskHalPromoted.semanticBoundary, "linuxcnc_task_motion_hal_wasm_simulation_runtime"); +assert.equal(taskHalPromoted.nativeTaskReady, true); +assert.equal(taskHalPromoted.nativeHalSyncReady, true); +assert.equal(taskHalPromoted.fullLinuxCncProgramExecutionReady, true); +assert.equal(taskHalPromoted.promotionAllowed, true); +assert.equal(taskHalPromoted.hardwareDrive, false); +assert.equal(taskHalPromoted.hostRealtimeKernel, false); +assert.equal(taskHalPromoted.externalUserMProcessReady, true); +assert.equal(taskHalPromoted.externalUserMProcessScope, "web_simulation_only"); +assert.equal(taskHalPromoted.toolDbProcessReady, true); +assert.equal(taskHalPromoted.toolDbProcessScope, "web_simulation_only"); +assert.equal(taskHalPromoted.hostExternalUserMProcessReady, false); +assert.equal(taskHalPromoted.hostToolDbProcessReady, false); +assert.equal(taskHalPromoted.arbitraryUserMExecution, false); +assert.equal(taskHalPromoted.satisfied.includes("tool-db-web-simulation"), true); +assert.equal(taskHalPromoted.satisfied.includes("controlled-user-m-web-simulation"), true); +assert.equal(taskHalPromoted.evidence.taskCycle, 2); + +console.log("full_execution_boundary_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_full_linuxcnc_5axis_source.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_full_linuxcnc_5axis_source.mjs new file mode 100644 index 0000000..f9f5461 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_full_linuxcnc_5axis_source.mjs @@ -0,0 +1,109 @@ +import assert from "node:assert/strict"; +import { readFileSync } from "node:fs"; +import { dirname, resolve } from "node:path"; +import { fileURLToPath } from "node:url"; + +import { + createLinuxCncInterpSdk, + createLinuxCncKinematicsSdk, + planSimConfigStaging, +} from "../../../wasm-port/runtime/sdk/src/index.js"; +import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js"; + +const __filename = fileURLToPath(import.meta.url); +const __dirname = dirname(__filename); +const workspaceRoot = resolve(__dirname, "../../.."); +const wasmPortRoot = resolve(workspaceRoot, "wasm-port"); +const vendorRoot = resolve(wasmPortRoot, "vendor/linuxcnc"); +const trtConfigRel = "configs/sim/axis/vismach/5axis/table-rotary-tilting"; + +function near(actual, expected, tolerance = 1e-7) { + return Math.abs(actual - expected) <= tolerance; +} + +function assertPoseComponent(pose, key, expected, label) { + assert.equal(near(Number(pose[key] ?? 0), expected), true, `${label}.${key}: ${pose[key]} != ${expected}`); +} + +async function verifyTrtKinematics(moduleId, joints, expectedAxis) { + const wasmFile = `linuxcnc_${moduleId.replaceAll("-", "_")}_kinematics.wasm`; + const kins = await createLinuxCncKinematicsSdk({ + moduleId, + moduleOptions: { + wasmBinary: readFileSync(resolve(wasmPortRoot, "build/wasm/kinematics", wasmFile)), + print() {}, + printErr() {}, + }, + }); + + assert.equal(kins.apiName, "linuxcnc-kinematics-wasm-sdk"); + assert.equal(kins.switchable(), 1); + assert.equal(kins.switchKinematics(0), 0); + + const forward = kins.forward(joints); + assert.equal(forward.rc, 0, `${moduleId} forward`); + + const inverse = kins.inverse(forward.pose, 5, { seedJoints: joints }); + assert.equal(inverse.rc, 0, `${moduleId} inverse`); + inverse.joints.slice(0, 5).forEach((joint, index) => { + assert.equal(near(joint, joints[index]), true, `${moduleId} inverse joint ${index}`); + }); + + assert.equal(kins.switchKinematics(1), 0); + const identity = kins.forward(joints); + assert.equal(identity.rc, 0, `${moduleId} identity forward`); + assertPoseComponent(identity.pose, "x", joints[0], `${moduleId} identity`); + assertPoseComponent(identity.pose, "y", joints[1], `${moduleId} identity`); + assertPoseComponent(identity.pose, "z", joints[2], `${moduleId} identity`); + assertPoseComponent(identity.pose, expectedAxis, joints[3], `${moduleId} identity`); + assertPoseComponent(identity.pose, "c", joints[4], `${moduleId} identity`); +} + +await verifyTrtKinematics("xyzac-trt", [10, 20, 30, 25, 40], "a"); +await verifyTrtKinematics("xyzbc-trt", [10, 20, 30, 35, 40], "b"); + +const manifestText = readFileSync(resolve(wasmPortRoot, "tools/source-manifest.txt"), "utf8"); +for (const iniFile of ["xyzac-trt.ini", "xyzbc-trt.ini"]) { + const iniText = readFileSync(resolve(vendorRoot, trtConfigRel, iniFile), "utf8"); + const iniConfig = parseLinuxCncIni(iniText, { + path: `${trtConfigRel}/${iniFile}`, + profileId: iniFile.startsWith("xyzbc") ? "xyzbc-trt" : "xyzac-trt", + }); + assert.equal(iniConfig.validation.ready, true, `${iniFile} INI ready`); + assert.equal(iniConfig.kinematics.name.endsWith("-trt-kins"), true, `${iniFile} kins`); + assert.deepEqual(iniConfig.halui.mdiCommands, ["M429", "M428", "M430"], `${iniFile} HALUI MDI`); + + const plan = planSimConfigStaging({ + manifestText, + machineRel: `axis/vismach/5axis/table-rotary-tilting`, + iniFile, + iniText, + }); + const staged = plan.files.map((file) => file.sourceRel); + assert.equal(staged.includes(`${trtConfigRel}/${iniFile}`), true, `${iniFile} staged`); + assert.equal(staged.some((file) => file.endsWith("/remap_subs/428remap.ngc")), true, `${iniFile} M428 remap staged`); + assert.equal(staged.some((file) => file.endsWith("/remap_subs/429remap.ngc")), true, `${iniFile} M429 remap staged`); + assert.equal(staged.some((file) => file.endsWith("/remap_subs/430remap.ngc")), true, `${iniFile} M430 remap staged`); + assert.equal(staged.some((file) => file.endsWith(".tbl")), true, `${iniFile} tool table staged`); +} + +const interp = await createLinuxCncInterpSdk({ + wasmBinary: readFileSync(resolve(wasmPortRoot, "build/wasm/core/linuxcnc_interp.wasm")), + print() {}, + printErr() {}, +}); +const directFiveAxisProgram = [ + "G90 G17", + "G0 X0 Y0 Z0 A0 C0", + "G1 X10 Y2 Z-1 A15 C30 F120", + "G1 X0 Y0 Z0 A0 C0 F120", + "M2", + "", +].join("\n"); +const output = interp.runProgram(directFiveAxisProgram); +assert.equal(output.includes("canon_event=STRAIGHT_TRAVERSE"), true); +assert.equal(output.includes("canon_event=STRAIGHT_FEED"), true); +assert.equal(output.includes("a=15"), true); +assert.equal(output.includes("c=30"), true); + +console.log("full_linuxcnc_5axis_source_node_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs new file mode 100644 index 0000000..9466e6c --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs @@ -0,0 +1,152 @@ +import assert from "node:assert/strict"; + +import { + createGmoccapyCommunicationSummary, + gmoccapyCommunicationModel, +} from "../../app/src/runtime/gmoccapy-communication-model.js"; + +const model = gmoccapyCommunicationModel; + +assert.equal(model.apiName, "web-rtcp-5axis-gmoccapy-communication-model"); +assert.equal(model.profileId, "gmoccapy-xyzab"); +assert.equal(model.nativeConfigPath.endsWith("gmoccapy_XYZAB.ini"), true); +assert.equal(model.cycleTimeMs, 100); +assert.equal(model.semanticBoundary, "native_gmoccapy_nml_hal_reference_web_store_runtime_mapping"); + +assert.deepEqual(model.nativePaths.command.path, ["gmoccapy", "linuxcnc.command()", "NML emcCommand", "milltask"]); +assert.equal(model.nativePaths.status.path.includes("linuxcnc.stat()"), true); +assert.equal(model.nativePaths.status.path.includes("linuxcnc.error_channel()"), true); +assert.equal(model.nativePaths.hal.path.includes("HAL shared memory"), true); +assert.equal(model.nativePaths.hardwareButtons.path.includes("_button_pin_changed"), true); +assert.equal(model.nativePaths.halPins.path.includes("hal_glib.GPin value_changed"), true); +assert.equal(model.nativePaths.remap.path.includes("Python remap prolog/ngc/epilog"), true); +assert.equal(model.nativePaths.filePage.path.includes("IconFileSelection1"), true); +assert.equal(model.nativePaths.macroPage.path.includes("_on_btn_macro_pressed"), true); +assert.equal(model.nativePaths.toolEditorPage.path.includes("tooledit1.reload()"), true); +assert.equal(model.nativePaths.nativePages.path.includes("Web implementation matrix"), true); +assert.deepEqual(model.webPath.path, ["button", "store.dispatch", "linuxcnc-task-policy", "runtime/status snapshot", "UI/Three.js"]); + +assert.equal(model.startupStages.length, 9); +assert.equal(model.startupStages[0].id, "parse-ini"); +assert.equal(model.startupStages.at(-1).id, "postgui"); +assert.equal(model.startupStages.at(-1).nativeStep.includes("halcomp.ready()"), true); + +const actionIds = model.actionMappings.map((mapping) => mapping.actionId); +for (const actionId of [ + "estop", + "estop-reset", + "power-on", + "mode-manual", + "mode-mdi", + "mode-auto", + "jog", + "home", + "mdi", + "auto-run", + "auto-pause", + "auto-resume", + "abort", + "spindle", + "coolant", + "hardware-button", + "hal-pin-input", + "hal-settings-unlock", + "hal-jog-pin", + "hal-tool-measurement", + "hal-user-message", + "hal-warning-confirm", + "file-page", + "macro-page", + "tool-editor-page", + "native-page-diagnostic", +]) { + assert.equal(actionIds.includes(actionId), true, `${actionId} missing`); +} + +const runMapping = model.actionMappings.find((mapping) => mapping.actionId === "auto-run"); +assert.equal(runMapping.nativeCommand, "command.auto(AUTO_RUN, start_line)"); +assert.equal(runMapping.webAction, "RUN"); +assert.equal(runMapping.gate.includes("INI loaded"), true); +assert.equal(runMapping.gate.includes("runtime ready"), true); + +const jogMapping = model.actionMappings.find((mapping) => mapping.actionId === "jog"); +assert.equal(jogMapping.nativeCommand.includes("JOG_CONTINUOUS"), true); +assert.equal(jogMapping.gate, "machine on, manual mode, not running"); + +const spindleMapping = model.actionMappings.find((mapping) => mapping.actionId === "spindle"); +assert.equal(spindleMapping.nativeStatus.includes("spindle.0.forward"), true); +assert.equal(spindleMapping.gate.includes("restricted during interpreter"), true); + +const hardwareButtonMapping = model.actionMappings.find((mapping) => mapping.actionId === "hardware-button"); +assert.equal(hardwareButtonMapping.nativeCommand.includes("_button_pin_changed"), true); +assert.equal(hardwareButtonMapping.gate.includes("rising-edge"), true); +assert.equal(hardwareButtonMapping.gate.includes("insensitive"), true); + +const halPinMapping = model.actionMappings.find((mapping) => mapping.actionId === "hal-pin-input"); +assert.equal(halPinMapping.webAction, "GMOCAPY_HAL_PIN"); +assert.equal(halPinMapping.nativeCommand.includes("_optional_blocks"), true); +assert.equal(halPinMapping.nativeCommand.includes("_on_counts_changed"), true); +assert.equal(halPinMapping.nativeCommand.includes("_del_message_changed"), true); +assert.equal(halPinMapping.gate.includes("counts require count-enable"), true); +assert.equal(halPinMapping.gate.includes("direct-value requires analog-enable"), true); +assert.equal(halPinMapping.gate.includes("delete-message pins are rising-edge only"), true); + +const settingsUnlockMapping = model.actionMappings.find((mapping) => mapping.actionId === "hal-settings-unlock"); +assert.equal(settingsUnlockMapping.nativeCommand, "_on_unlock_settings_changed"); +assert.equal(settingsUnlockMapping.gate.includes("unlock_way"), true); +assert.equal(settingsUnlockMapping.gate.includes("HAL unlock"), true); + +const halJogMapping = model.actionMappings.find((mapping) => mapping.actionId === "hal-jog-pin"); +assert.equal(halJogMapping.webAction, "GMOCAPY_HAL_PIN jog.axis/jog-inc"); +assert.equal(halJogMapping.nativeCommand.includes("_on_pin_jog_changed"), true); +assert.equal(halJogMapping.nativeCommand.includes("_on_pin_incr_changed"), true); +assert.equal(halJogMapping.gate.includes("press/release level"), true); +assert.equal(halJogMapping.gate.includes("increment pins are rising-edge only"), true); + +const toolMeasurementMapping = model.actionMappings.find((mapping) => mapping.actionId === "hal-tool-measurement"); +assert.equal(toolMeasurementMapping.nativeCommand.includes("_check_toolmeasurement"), true); +assert.equal(toolMeasurementMapping.nativeStatus.includes("probeheight"), true); +assert.equal(toolMeasurementMapping.gate.includes("no [TOOLSENSOR]"), true); + +const userMessageMapping = model.actionMappings.find((mapping) => mapping.actionId === "hal-user-message"); +assert.equal(userMessageMapping.nativeCommand.includes("_init_user_messages"), true); +assert.equal(userMessageMapping.nativeStatus.includes("messages."), true); +assert.equal(userMessageMapping.gate.includes("no MESSAGE_*"), true); + +const warningConfirmMapping = model.actionMappings.find((mapping) => mapping.actionId === "hal-warning-confirm"); +assert.equal(warningConfirmMapping.nativeCommand.includes("confirm_pin"), true); +assert.equal(warningConfirmMapping.gate, "level-polled while warning dialog is active"); + +const filePageMapping = model.actionMappings.find((mapping) => mapping.actionId === "file-page"); +assert.equal(filePageMapping.nativeCommand.includes("IconFileSelection1"), true); +assert.equal(filePageMapping.gate.includes("native GTK file chooser"), true); + +const macroPageMapping = model.actionMappings.find((mapping) => mapping.actionId === "macro-page"); +assert.equal(macroPageMapping.webAction, "GMOCAPY_RUN_MACRO"); +assert.equal(macroPageMapping.nativeCommand.includes("command.mdi"), true); +assert.equal(macroPageMapping.gate.includes("same as RUN_MDI"), true); + +const toolEditorPageMapping = model.actionMappings.find((mapping) => mapping.actionId === "tool-editor-page"); +assert.equal(toolEditorPageMapping.nativeCommand.includes("_show_tooledit_tab"), true); +assert.equal(toolEditorPageMapping.gate.includes("writeback is disabled"), true); + +const nativePageMapping = model.actionMappings.find((mapping) => mapping.actionId === "native-page-diagnostic"); +assert.equal(nativePageMapping.webAction, "GMOCAPY_NATIVE_PAGE"); +assert.equal(nativePageMapping.gate.includes("do not emit fake GTK"), true); + +const summary = createGmoccapyCommunicationSummary(model); +assert.equal(summary.apiName, "web-rtcp-5axis-gmoccapy-communication-model-summary"); +assert.equal(summary.profileId, "gmoccapy-xyzab"); +assert.equal(summary.nativePathCount, 10); +assert.equal(summary.startupStageCount, 9); +assert.equal(summary.actionCount, 26); +assert.equal(summary.pagePathCount, 4); +assert.equal(summary.postguiAfterHalcompReady, true); +assert.equal(summary.hasNativeNmlCommandPath, true); +assert.equal(summary.hasNativeHalPath, true); +assert.equal(summary.hasNativeHardwareButtonPath, true); +assert.equal(summary.hasNativeHalPinInputPath, true); +assert.equal(summary.hasWebStorePath, true); +assert.equal(summary.semanticBoundary, model.semanticBoundary); + +console.log("gmoccapy_communication_model_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs new file mode 100644 index 0000000..88e5c72 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs @@ -0,0 +1,232 @@ +import assert from "node:assert/strict"; + +import { + createGmoccapyHalSummary, + gmoccapyHalModel, + resolveGmoccapyHardwareButton, +} from "../../app/src/runtime/gmoccapy-hal-model.js"; + +const model = gmoccapyHalModel; + +assert.equal(model.apiName, "web-rtcp-5axis-gmoccapy-hal-model"); +assert.equal(model.profileId, "gmoccapy-xyzab"); +assert.equal(model.nativeConfigPath.endsWith("gmoccapy_XYZAB.ini"), true); +assert.equal(model.semanticBoundary, "gmoccapy_hal_pin_postgui_reference_web_diagnostic_only"); + +assert.equal(model.halFiles.length, 4); +assert.equal(model.halFiles.some((file) => file.path.endsWith("core_sim_XYZAB.hal") && file.stage === "HALFILE"), true); +assert.equal(model.halFiles.some((file) => file.path.endsWith("spindle_sim.hal") && file.stage === "HALFILE"), true); +assert.equal(model.halFiles.some((file) => file.path.endsWith("simulated_home.hal") && file.stage === "HALFILE"), true); +assert.equal(model.halFiles.some((file) => file.path.endsWith("gmoccapy_postgui.hal") && file.requiresHalcompReady), true); + +const groups = new Map(model.nativePins.map((group) => [group.group, group])); +for (const groupName of [ + "hard-buttons", + "jog", + "override", + "operator-inputs", + "settings", + "tool", + "program", + "message", + "spindle-postgui", +]) { + assert.equal(groups.has(groupName), true, `${groupName} missing`); +} + +assert.equal(groups.get("hard-buttons").pins.includes("gmoccapy.h-button.button-0"), true); +assert.equal(groups.get("hard-buttons").pins.includes("gmoccapy.v-button.button-6"), true); +assert.equal(groups.get("jog").pins.includes("gmoccapy.jog.axis.jog-b-minus"), true); +assert.equal(groups.get("jog").pins.includes("gmoccapy.jog.jog-inc-5"), true); +assert.equal(groups.get("jog").pins.includes("gmoccapy.jog.turtle-jog"), true); +assert.equal(groups.get("override").pins.includes("gmoccapy.rapid.rapid-override.direct-value"), true); +assert.equal(groups.get("override").pins.includes("gmoccapy.feed.feed-override.count-enable"), true); +assert.equal(groups.get("override").pins.includes("gmoccapy.spindle.reset-spindle-override"), true); +assert.equal(groups.get("operator-inputs").pins.includes("gmoccapy.ignore-limits"), true); +assert.equal(groups.get("operator-inputs").pins.includes("gmoccapy.optional-stop"), true); +assert.equal(groups.get("operator-inputs").pins.includes("gmoccapy.blockdelete"), true); +assert.equal(groups.get("settings").pins.includes("gmoccapy.unlock-settings"), true); +assert.equal(groups.get("tool").pins.includes("gmoccapy.toolchange-changed"), true); +assert.equal(groups.get("tool").pins.includes("gmoccapy.probeheight"), true); +assert.equal(groups.get("tool").pins.includes("gmoccapy.blockheight"), true); +assert.equal(groups.get("tool").pins.includes("gmoccapy.toolmeasurement"), true); +assert.equal(groups.get("program").pins.includes("gmoccapy.program.current-line"), true); +assert.equal(groups.get("message").pins.includes("gmoccapy.error"), true); +assert.equal(groups.get("spindle-postgui").pins.includes("gmoccapy.spindle_at_speed_led"), true); + +assert.equal(model.coreNets.length, 10); +assert.equal(model.coreNets.some((net) => net.signal === "Xpos" && net.target === "joint.0.motor-pos-fb"), true); +assert.equal(model.coreNets.some((net) => net.signal === "Bpos" && net.target === "joint.4.motor-pos-fb"), true); +assert.equal(model.coreNets.some((net) => net.signal === "estop-loop"), true); +assert.equal(model.coreNets.some((net) => net.signal === "tool-change-loop"), true); + +assert.equal(model.spindleNets.length, 4); +assert.equal(model.spindleNets.some((net) => net.signal === "spindle-speed-cmd"), true); +assert.equal(model.spindleNets.some((net) => net.signal === "spindle-at-speed"), true); + +assert.equal(model.postguiNets.length, 5); +assert.equal(model.postguiNets.every((net) => net.requiresHalcompReady), true); +assert.equal(model.postguiNets.some((net) => net.target === "gmoccapy.spindle_feedback_bar"), true); +assert.equal(model.postguiNets.some((net) => net.target === "gmoccapy.tooloffset-x"), true); +assert.equal(model.postguiNets.some((net) => net.simulationLoop && net.signal === "tool-change-loop"), true); + +assert.equal(model.hardwareButtons.source.methods.includes("_button_pin_changed"), true); +assert.equal(model.hardwareButtons.behavior.edge, "rising-edge-only"); +assert.equal(model.hardwareButtons.behavior.insensitiveTarget, "ignored"); +assert.deepEqual(model.hardwareButtons.verticalMain.map((button) => button.nativeWidget), [ + "tbtn_estop", + "tbtn_on", + "rbt_manual", + "rbt_mdi", + "rbt_auto", + "tbtn_user_tabs", + "tbtn_setup", +]); +assert.deepEqual(model.hardwareButtons.verticalMain.map((button) => button.pin), [ + "gmoccapy.v-button.button-0", + "gmoccapy.v-button.button-1", + "gmoccapy.v-button.button-2", + "gmoccapy.v-button.button-3", + "gmoccapy.v-button.button-4", + "gmoccapy.v-button.button-5", + "gmoccapy.v-button.button-6", +]); +assert.equal(model.hardwareButtons.bottomMain.find((button) => button.index === 0).nativeWidget, "btn_homing"); +assert.equal(model.hardwareButtons.bottomMain.find((button) => button.index === 0).webDispatch.type, "HOME"); +assert.equal(resolveGmoccapyHardwareButton("gmoccapy.v-button.button-4", model).webDispatch.mode, "auto"); +assert.equal(resolveGmoccapyHardwareButton({ location: "bottom", index: 0 }, model).webDispatch.type, "HOME"); +assert.equal(resolveGmoccapyHardwareButton({ location: "right", index: 6 }, model).webDispatch.pageId, "setup"); +assert.equal(resolveGmoccapyHardwareButton("gmoccapy.h-button.button-9", model), null); +assert.equal(resolveGmoccapyHardwareButton({ location: "right", index: 5 }, model).webDispatch.type, "GMOCAPY_NATIVE_PAGE"); +assert.equal(resolveGmoccapyHardwareButton({ location: "right", index: 5 }, model).webDispatch.pageId, "user-tabs"); +assert.equal(resolveGmoccapyHardwareButton({ location: "bottom", index: 3 }, model).webDispatch.pageId, "tool-editor"); + +assert.equal(model.nativePages.filePage.nativeWidget, "IconFileSelection1"); +assert.equal(model.nativePages.filePage.boundary, "native_GtkIconFileSelection_not_embedded_in_browser"); +assert.equal(model.nativePages.macroPage.macros.length, 5); +assert.equal(model.nativePages.macroPage.macros.find((macro) => macro.name === "increment").args.length, 2); +assert.equal(model.nativePages.macroPage.boundary.includes("MDI"), true); +assert.equal(model.nativePages.toolEditorPage.editableInWeb, false); +assert.equal(model.nativePages.toolEditorPage.toolCount, 17); +assert.equal(model.nativePages.implementationMatrix.some((page) => page.pageId === "setup" && page.implementation === "diagnostic-only"), true); +assert.equal(model.nativePages.implementationMatrix.some((page) => page.pageId === "edit" && page.implementation === "native-only"), true); +assert.equal(model.nativePages.behavior.hardButtonsDoNotFakeNativePages, true); +assert.equal(model.nativePages.behavior.toolEditorKeepsIocontrolLoopback, true); + +assert.equal(model.halPinActions.source.methods.includes("_optional_blocks"), true); +assert.equal(model.halPinActions.source.methods.includes("_blockdelete"), true); +assert.equal(model.halPinActions.source.methods.includes("_on_pin_jog_changed"), true); +assert.equal(model.halPinActions.source.methods.includes("_on_pin_incr_changed"), true); +assert.equal(model.halPinActions.source.methods.includes("_del_message_changed"), true); +assert.equal(model.halPinActions.source.methods.includes("_on_unlock_settings_changed"), true); +assert.equal(model.halPinActions.source.methods.includes("_check_toolmeasurement"), true); +assert.equal(model.halPinActions.source.methods.includes("_init_user_messages"), true); +assert.equal(model.halPinActions.jogPins.axes.length, 5); +assert.equal(model.halPinActions.jogPins.axes.find((entry) => entry.axis === "b").minus, "gmoccapy.jog.axis.jog-b-minus"); +assert.equal(model.halPinActions.jogPins.increments.length, 6); +assert.equal(model.halPinActions.jogPins.increments[0].distance, 0); +assert.equal(model.halPinActions.jogPins.increments[5].pin, "gmoccapy.jog.jog-inc-5"); +assert.equal(model.halPinActions.jogPins.increments[5].distance, 31.3563); +assert.equal(model.halPinActions.jogPins.turtlePin, "gmoccapy.jog.turtle-jog"); +assert.equal(model.halPinActions.operatorPins.find((pin) => pin.pin === "gmoccapy.optional-stop").webState, "gmoccapyGui.optionalBlocks"); +assert.equal(model.halPinActions.operatorPins.find((pin) => pin.pin === "gmoccapy.blockdelete").webState, "gmoccapyGui.optionalStop"); +assert.equal(model.halPinActions.settingsPins.find((pin) => pin.pin === "gmoccapy.unlock-settings").prefDefault, "unlock_way=use"); +assert.equal(model.halPinActions.overridePins.find((pin) => pin.target === "feed").countEnable, "gmoccapy.feed.feed-override.count-enable"); +assert.equal(model.halPinActions.overridePins.find((pin) => pin.target === "spindle").reset, "gmoccapy.spindle.reset-spindle-override"); +assert.equal(model.halPinActions.overridePins.find((pin) => pin.target === "jogVelocity").scalePref, "scale_jog_vel=140.4"); +assert.equal(model.halPinActions.behavior.optionalStopPinCrossesToBlockDelete, true); +assert.equal(model.halPinActions.behavior.blockdeletePinCrossesToOptionalStop, true); +assert.equal(model.halPinActions.behavior.unlockSettingsLevelDriven, true); +assert.equal(model.halPinActions.behavior.jogAxisPinsPressRelease, true); +assert.equal(model.halPinActions.behavior.jogPinsUseTaskPolicyGate, true); +assert.equal(model.halPinActions.behavior.jogIncrementPinsRisingEdgeOnly, true); +assert.equal(model.halPinActions.behavior.jogIncrementZeroIsContinuous, true); +assert.equal(model.halPinActions.behavior.turtleJogLevelDriven, true); +assert.equal(model.halPinActions.behavior.countInputRequiresEnable, true); +assert.equal(model.halPinActions.behavior.directValueRequiresAnalogEnable, true); +assert.equal(model.halPinActions.behavior.resetPinsRisingEdgeOnly, true); +assert.equal(model.halPinActions.messagePins.find((pin) => pin.pin === "gmoccapy.delete-message").nativeCallback, "_del_message_changed"); +assert.equal(model.halPinActions.messagePins.find((pin) => pin.pin === "gmoccapy.warning-confirm").nativeCallback, "dialogs.warning_dialog periodic confirm_pin poll"); +assert.equal(model.halPinActions.behavior.deleteMessageRisingEdgeOnly, true); +assert.equal(model.halPinActions.behavior.warningConfirmLevelPolled, true); +assert.equal(model.halPinActions.toolMeasurementPins.toolsensorConfigured, false); +assert.equal(model.halPinActions.toolMeasurementPins.pins.length, 5); +assert.equal(model.halPinActions.toolMeasurementPins.pins.find((pin) => pin.pin === "gmoccapy.toolmeasurement").direction, "HAL_OUT"); +assert.equal(model.halPinActions.userMessages.configured, false); +assert.equal(model.halPinActions.userMessages.dynamicPinPatterns.includes("gmoccapy.messages.-response"), true); +assert.equal(model.halPinActions.behavior.toolMeasurementPinsAreHalOut, true); +assert.equal(model.halPinActions.behavior.toolMeasurementDisabledWithoutToolsensor, true); +assert.equal(model.halPinActions.behavior.userMessagesDynamicIniOnly, true); + +assert.equal(model.toolChange.strategy, "iocontrol-loopback"); +assert.equal(model.toolChange.manualGmoccapyPinsConnected, false); +assert.deepEqual(model.toolChange.remapCodes, ["M6", "M61"]); +assert.equal(model.toolChange.postguiUnlinks.map((entry) => entry.pin).join(","), "iocontrol.0.tool-change,iocontrol.0.tool-changed,iocontrol.0.tool-prep-number"); +assert.equal(model.toolChange.commentedManualGuiNets.some((net) => net.target === "gmoccapy.toolchange-change"), true); +assert.equal(model.toolChange.commentedManualGuiNets.some((net) => net.source === "gmoccapy.toolchange-changed"), true); +assert.equal(model.toolChange.activeLoop.signal, "tool-change-loop"); +assert.equal(model.toolChange.activeLoop.stage, "POSTGUI_HALFILE"); +assert.equal(model.toolChange.semanticBoundary, "gmoccapy_xyzab_iocontrol_tool_change_loop_no_manual_gui_dialog"); + +const summary = createGmoccapyHalSummary(model); +assert.equal(summary.apiName, "web-rtcp-5axis-gmoccapy-hal-model-summary"); +assert.equal(summary.profileId, "gmoccapy-xyzab"); +assert.equal(summary.halFileCount, 4); +assert.equal(summary.nativePinGroupCount, 9); +assert.equal(summary.nativePinCount >= 58, true); +assert.equal(summary.coreNetCount, 10); +assert.equal(summary.spindleNetCount, 4); +assert.equal(summary.postguiNetCount, 5); +assert.equal(summary.postguiRequiresHalcompReady, true); +assert.equal(summary.hasToolChangeSimulationLoop, true); +assert.equal(summary.toolChangeStrategy, "iocontrol-loopback"); +assert.equal(summary.manualToolChangeGuiConnected, false); +assert.equal(summary.postguiToolUnlinkCount, 3); +assert.equal(summary.commentedManualToolChangeNetCount, 3); +assert.equal(summary.hardwareButtonVerticalCount, 7); +assert.equal(summary.hardwareButtonBottomMainCount, 4); +assert.equal(summary.mappedHardwareButtonCount, 6); +assert.equal(summary.hardwareButtonEdge, "rising-edge-only"); +assert.equal(summary.hardwareButtonInsensitiveTarget, "ignored"); +assert.equal(summary.operatorInputPinCount, 3); +assert.equal(summary.settingsInputPinCount, 1); +assert.equal(summary.overridePinTargetCount, 4); +assert.equal(summary.jogAxisPinCount, 10); +assert.equal(summary.jogIncrementPinCount, 6); +assert.equal(summary.messageInputPinCount, 3); +assert.equal(summary.toolMeasurementPinCount, 5); +assert.equal(summary.toolMeasurementEnabled, false); +assert.equal(summary.toolsensorConfigured, false); +assert.equal(summary.userMessagePinCount, 0); +assert.equal(summary.userMessagesConfigured, false); +assert.equal(summary.optionalStopPinCrossesToBlockDelete, true); +assert.equal(summary.blockdeletePinCrossesToOptionalStop, true); +assert.equal(summary.unlockSettingsLevelDriven, true); +assert.equal(summary.jogAxisPinsPressRelease, true); +assert.equal(summary.jogPinsUseTaskPolicyGate, true); +assert.equal(summary.jogIncrementPinsRisingEdgeOnly, true); +assert.equal(summary.jogIncrementZeroIsContinuous, true); +assert.equal(summary.turtleJogLevelDriven, true); +assert.equal(summary.countInputRequiresEnable, true); +assert.equal(summary.directValueRequiresAnalogEnable, true); +assert.equal(summary.resetPinsRisingEdgeOnly, true); +assert.equal(summary.deleteMessageRisingEdgeOnly, true); +assert.equal(summary.warningConfirmLevelPolled, true); +assert.equal(summary.toolMeasurementPinsAreHalOut, true); +assert.equal(summary.toolMeasurementDisabledWithoutToolsensor, true); +assert.equal(summary.userMessagesDynamicIniOnly, true); +assert.equal(summary.nativePageCount, 12); +assert.equal(summary.implementedNativePageCount, 1); +assert.equal(summary.partialNativePageCount, 4); +assert.equal(summary.diagnosticOnlyNativePageCount, 5); +assert.equal(summary.nativeOnlyPageCount, 2); +assert.equal(summary.filePageImplementation, "partial"); +assert.equal(summary.macroCount, 5); +assert.equal(summary.macroButtonsUseMdiGate, true); +assert.equal(summary.toolEditorImplementation, "diagnostic-only"); +assert.equal(summary.toolEditorWritebackDisabled, true); +assert.equal(summary.hardButtonsDoNotFakeNativePages, true); +assert.equal(summary.unimplementedPagesDiagnosticOnly, true); +assert.equal(summary.semanticBoundary, model.semanticBoundary); + +console.log("gmoccapy_hal_model_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_icon_manifest.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_icon_manifest.mjs new file mode 100644 index 0000000..f8010e3 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_icon_manifest.mjs @@ -0,0 +1,84 @@ +import assert from "node:assert/strict"; +import { access, readFile } from "node:fs/promises"; +import { join } from "node:path"; + +const repoRoot = new URL("../../..", import.meta.url).pathname.replace(/\/$/, ""); +const manifestPath = join(repoRoot, "web-rtcp-5axis-sim-plan/app/src/ui-reference/gmoccapy-button-icons.json"); +const manifest = JSON.parse(await readFile(manifestPath, "utf8")); + +assert.equal(manifest.schema, "web-rtcp-5axis-gmoccapy-button-icons-v1"); +assert.equal(manifest.semanticBoundary, "gmoccapy_button_icon_asset_reference_only_not_control_semantics"); +assert.equal(manifest.generatedFrom.csv, "work/working3/gmoccapy_button_icons/button_icon_inventory.csv"); +assert.equal(manifest.rowCount, 211); +assert.equal(manifest.entries.length, 211); +assert.equal(manifest.copiedIconCount, 112); + +const entriesByButton = new Map(); +for (const entry of manifest.entries) { + if (!entriesByButton.has(entry.buttonId)) entriesByButton.set(entry.buttonId, []); + entriesByButton.get(entry.buttonId).push(entry); + if (entry.projectAsset) { + await access(join(repoRoot, "web-rtcp-5axis-sim-plan", entry.projectAsset.replace(/^app\//, "app/"))); + } +} + +const coreButtons = [ + "tbtn_estop", + "tbtn_on", + "rbt_manual", + "rbt_mdi", + "rbt_auto", + "tbtn_setup", + "tbtn_user_tabs", + "btn_homing", + "btn_tool", + "btn_touch", + "btn_load", + "btn_reload", + "btn_run", + "btn_stop", + "tbtn_pause", + "btn_step", + "ref_all", + "home_axis_x", + "home_axis_y", + "home_axis_z", + "home_axis_a", + "home_axis_b", + "touch_x", + "touch_y", + "touch_z", + "touch_a", + "touch_b", + "rbt_forward", + "rbt_reverse", + "rbt_stop", + "tbtn_flood", + "tbtn_mist", + "btn_zoom_in", + "btn_zoom_out", + "rbt_view_x", + "rbt_view_y", + "rbt_view_z", + "rbt_view_p", + "tbtn_view_tool_path", + "tbtn_view_dimension", +]; + +for (const buttonId of coreButtons) { + const entries = entriesByButton.get(buttonId) || []; + assert.equal(entries.length > 0, true, `${buttonId} missing from manifest`); + assert.equal(entries.some((entry) => entry.projectAsset || entry.sourceType === "none"), true, `${buttonId} lacks asset/fallback`); +} + +assert.equal(entriesByButton.get("rbt_auto").some((entry) => entry.stateOrVariant === "active" && entry.iconName === "mode_auto_active"), true); +assert.equal(entriesByButton.get("rbt_auto").some((entry) => entry.iconName === "mode_auto_inactive"), true); +assert.equal(entriesByButton.get("tbtn_estop").some((entry) => entry.iconName === "main_switch_on"), true); +assert.equal(entriesByButton.get("tbtn_estop").some((entry) => entry.iconName === "main_switch_off"), true); +assert.equal(entriesByButton.get("tbtn_flood").some((entry) => entry.iconName === "coolant_flood_active"), true); +assert.equal(entriesByButton.get("tbtn_mist").some((entry) => entry.iconName === "coolant_mist_inactive"), true); + +const copiedAssets = new Set(manifest.entries.map((entry) => entry.projectAsset).filter(Boolean)); +assert.equal(copiedAssets.size, 112); + +console.log("gmoccapy_icon_manifest_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_icon_registry.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_icon_registry.mjs new file mode 100644 index 0000000..5c4c594 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_icon_registry.mjs @@ -0,0 +1,63 @@ +import assert from "node:assert/strict"; +import { access, readFile } from "node:fs/promises"; +import { join } from "node:path"; + +import { + GMOCAPY_ICON_REGISTRY_BOUNDARY, + getGmoccapyIcon, + listGmoccapyIconRegistryEntries, +} from "../../app/src/ui/gmoccapy-icon-registry.js"; + +const repoRoot = new URL("../../..", import.meta.url).pathname.replace(/\/$/, ""); +const manifestPath = join(repoRoot, "web-rtcp-5axis-sim-plan/app/src/ui-reference/gmoccapy-button-icons.json"); +const manifest = JSON.parse(await readFile(manifestPath, "utf8")); +const manifestIconNames = new Set(manifest.entries.map((entry) => entry.iconName).filter(Boolean)); +const registryEntries = listGmoccapyIconRegistryEntries(); + +assert.equal(GMOCAPY_ICON_REGISTRY_BOUNDARY, "gmoccapy_icon_registry_from_working3_manifest_core_ui_subset"); +assert.equal(registryEntries.length >= 40, true); + +const required = [ + ["tbtn_estop", "active", "main_switch_on"], + ["tbtn_estop", "inactive", "main_switch_off"], + ["tbtn_on", "active", "power_on"], + ["rbt_manual", "active", "mode_manual_active"], + ["rbt_mdi", "active", "mode_mdi_active"], + ["rbt_auto", "active", "mode_auto_active"], + ["btn_load", "default", "open_file"], + ["btn_reload", "default", "refresh"], + ["btn_run", "default", "play"], + ["btn_stop", "default", "stop"], + ["tbtn_pause", "active", "pause_active"], + ["btn_step", "default", "step"], + ["btn_homing", "default", "ref_all"], + ["btn_tool", "default", "hsk_mill_tool"], + ["btn_touch", "default", "touch_off"], + ["rbt_forward", "active", "spindle_right_on"], + ["rbt_reverse", "active", "spindle_left_on"], + ["rbt_stop", "active", "spindle_stop_on"], + ["tbtn_flood", "active", "coolant_flood_active"], + ["tbtn_mist", "inactive", "coolant_mist_inactive"], + ["rbt_view_x", "default", "tool_axis_x"], + ["rbt_view_y", "default", "tool_axis_y"], + ["rbt_view_z", "default", "tool_axis_z"], + ["rbt_view_p", "default", "tool_axis_p"], + ["tbtn_view_tool_path", "default", "toolpath"], + ["tbtn_view_dimension", "default", "dimensions"], +]; + +for (const [buttonId, variant, expectedIconName] of required) { + const icon = getGmoccapyIcon(buttonId, variant); + assert.equal(icon.iconName, expectedIconName, `${buttonId}/${variant}`); + assert.equal(icon.fallback, false, `${buttonId}/${variant} should use an asset`); + assert.equal(icon.semanticBoundary, GMOCAPY_ICON_REGISTRY_BOUNDARY); + assert.equal(manifestIconNames.has(icon.iconName), true, `${icon.iconName} missing from manifest`); + assert.match(icon.path, /\/assets\/gmoccapy-icons\//); + await access(new URL(icon.path)); +} + +const fallback = getGmoccapyIcon("unknown_button", "active"); +assert.equal(fallback.iconName, "text_fallback"); +assert.equal(fallback.fallback, true); + +console.log("gmoccapy_icon_registry_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_trt_project_sidebar.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_trt_project_sidebar.mjs new file mode 100644 index 0000000..539c117 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_trt_project_sidebar.mjs @@ -0,0 +1,164 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; + +import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js"; +import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js"; +import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js"; +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; +import { createSimulationStore } from "../../app/src/state/store.js"; + +function sidebarEntry(state, id) { + const entry = state.rightSidebarEntrances.find((candidate) => candidate.id === id); + assert.ok(entry, `missing right sidebar entry ${id}`); + return entry; +} + +async function waitForValidatedProgram(store) { + for (let attempt = 0; attempt < 30; attempt += 1) { + const state = store.getState(); + if (!state.interpreterExecutionPending && state.programValidation?.ready) { + return state; + } + await new Promise((resolve) => setTimeout(resolve, 0)); + } + return store.getState(); +} + +async function loadIniConfigFromVendoredSource(profile) { + const text = await readFile( + new URL(`../../../wasm-port/vendor/linuxcnc/${profile.iniPath}`, import.meta.url), + "utf8", + ); + return parseLinuxCncIni(text, { + path: profile.iniPath, + profileId: profile.id, + }); +} + +const store = createSimulationStore(); +let state = store.getState(); +assert.equal(state.rightSidebarEntrances.length, 9); +assert.deepEqual( + state.rightSidebarEntrances.map((entry) => entry.label), + ["E-STOP", "POWER", "RESET", "AUTO", "MANUAL", "JOG", "MDI", "IDENTITY", "TCP"], +); +assert.equal(sidebarEntry(state, "power").allowed, true); +assert.equal(sidebarEntry(state, "auto").allowed, false); +assert.equal(sidebarEntry(state, "manual").allowed, false); +assert.equal(sidebarEntry(state, "jog").allowed, false); +assert.equal(sidebarEntry(state, "mdi").allowed, false); +assert.equal(sidebarEntry(state, "identity").active, true); +assert.equal(sidebarEntry(state, "identity").status, "active-blocked"); +assert.equal(sidebarEntry(state, "tcp").allowed, false); + +store.dispatch({ type: "ESTOP" }); +state = store.getState(); +assert.equal(sidebarEntry(state, "estop").status, "emergency"); +assert.equal(sidebarEntry(state, "power").allowed, false); +assert.equal(sidebarEntry(state, "power").operatorMessage, "power on blocked: reset estop first"); + +store.dispatch({ type: "RESET" }); +store.dispatch({ type: "TOGGLE_POWER" }); +state = store.getState(); +assert.equal(state.machine.taskState, "on"); +assert.equal(sidebarEntry(state, "power").active, true); +assert.equal(sidebarEntry(state, "manual").active, true); +assert.equal(sidebarEntry(state, "jog").active, false); +assert.equal(sidebarEntry(state, "auto").allowed, false); +assert.equal(sidebarEntry(state, "auto").operatorMessage, "mode blocked: home machine before AUTO"); + +store.dispatch({ type: "SET_MODE", mode: "jog" }); +state = store.getState(); +assert.equal(state.machine.mode, "manual"); +assert.equal(state.machine.manualPanel, "jog"); +assert.equal(sidebarEntry(state, "manual").active, false); +assert.equal(sidebarEntry(state, "jog").active, true); + +store.dispatch({ type: "HOME" }); +store.dispatch({ type: "SET_MODE", mode: "auto" }); +state = store.getState(); +assert.equal(sidebarEntry(state, "auto").active, true); +assert.equal(sidebarEntry(state, "mdi").allowed, true); +assert.equal(sidebarEntry(state, "tcp").allowed, true); + +store.dispatch({ type: "SET_KINS_TYPE", kinsType: "tcp-xyzac" }); +state = store.getState(); +assert.equal(state.kinsType, "tcp-xyzac"); +assert.equal(state.rtcpState, "on"); +assert.equal(sidebarEntry(state, "tcp").active, true); +store.dispatch({ type: "SET_KINS_TYPE", kinsType: "identity" }); +assert.equal(store.getState().kinsType, "identity"); + +store.dispatch({ + type: "LOAD_PROGRAM", + filename: "sidebar-running-gate.ngc", + content: [ + "G0 X0 Y0 Z0", + "G1 X1 F100", + "G1 X2", + "G1 X3", + "G1 X4", + "G1 X5", + "G1 X6", + "G1 X7", + "G1 X8", + "G1 X9", + "M2", + ].join("\n"), +}); +store.dispatch({ type: "RUN" }); +state = store.getState(); +assert.equal(state.runState, "running"); +assert.equal(sidebarEntry(state, "manual").allowed, false); +assert.equal(sidebarEntry(state, "tcp").allowed, false); +assert.equal(sidebarEntry(state, "tcp").operatorMessage, "kinematics blocked: interpreter must be idle"); + +store.dispatch({ type: "STOP" }); +store.dispatch({ type: "SET_MODE", mode: "manual" }); + +const profile = getFiveAxisProfile("xyzac-trt"); +const iniConfig = await loadIniConfigFromVendoredSource(profile); +store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig }); +store.dispatch({ + type: "ATTACH_INTERPRETER_RUNTIME", + runtime: await createLinuxCncInterpreterRuntime(), +}); +await store.stageMachineFiles({ storage: createMemorySessionStorage() }); +state = store.getState(); +assert.equal(state.machineProject.profileId, "xyzac-trt"); +assert.equal(state.machineProject.projectRoot, "web-rtcp-5axis-sim-plan/machines/xyzac-trt"); +assert.equal(state.machineProject.ini.filename, "xyzac-trt.ini"); +assert.equal(state.machineProject.ini.sourceMatchesProfile, true); +assert.equal(state.machineProject.ini.textMatchesLoadedIni, true); +assert.equal(state.machineProject.configFileCount > 0, true); +assert.equal(state.machineProject.gcodeFileCount, 16); +assert.equal(state.machineProject.gcodeFiles.some((file) => file.filename === "impeller-7bl-xyzac.ngc"), true); + +store.dispatch({ + type: "LOAD_LINUXCNC_GCODE_SOURCE", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc", +}); +state = await waitForValidatedProgram(store); +assert.equal(state.programValidation.ready, true); +assert.equal(state.programValidation.sourceGuard, "linuxcnc_vendored_5axis_gcode_source_file"); +assert.equal(state.programValidation.previewSource, "linuxcnc_interpreter_canonical_motion"); +assert.equal(state.programValidation.motionEventCount > 0, true); +assert.equal(state.programValidation.plannerSampleCount > 0, true); +assert.equal(state.programValidation.realtimeAxisValues.x, state.axisPose.x); +assert.equal(state.machineProject.selectedProgram.filename, "impeller-7bl-xyzac.ngc"); + +const xyzbcStore = createSimulationStore(); +xyzbcStore.dispatch({ type: "SET_PROFILE", profileId: "xyzbc-trt" }); +const xyzbcProfile = getFiveAxisProfile("xyzbc-trt"); +xyzbcStore.dispatch({ + type: "ATTACH_INI_CONFIG", + profileId: xyzbcProfile.id, + iniConfig: await loadIniConfigFromVendoredSource(xyzbcProfile), +}); +await xyzbcStore.stageMachineFiles({ storage: createMemorySessionStorage() }); +const xyzbcState = xyzbcStore.getState(); +assert.equal(xyzbcState.machineProject.profileId, "xyzbc-trt"); +assert.equal(xyzbcState.machineProject.ini.filename, "xyzbc-trt.ini"); +assert.equal(xyzbcState.machineProject.gcodeFiles.some((file) => file.filename === "boat-xyzbc.ngc"), true); + +console.log("gmoccapy_trt_project_sidebar_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs new file mode 100644 index 0000000..e95eeb4 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs @@ -0,0 +1,372 @@ +import assert from "node:assert/strict"; + +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; +import { createSimulationStore, validateRunPreconditions } from "../../app/src/state/store.js"; +import { gateLinuxCncTaskAction } from "../../app/src/state/linuxcnc-task-policy.js"; + +const profile = getFiveAxisProfile("gmoccapy-xyzab"); +const store = createSimulationStore(); +store.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" }); + +assert.equal(store.getState().profile.id, profile.id); +assert.equal(store.getState().machine.noForceHoming, false); + +let gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "run blocked: machine must be on"); + +gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "manual" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "mode blocked: machine must be on before MANUAL"); +gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "mdi" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "mode blocked: machine must be on before MDI"); +gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "auto" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "mode blocked: machine must be on before AUTO"); + +store.dispatch({ type: "TOGGLE_POWER" }); +gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "manual" }); +assert.equal(gate.allowed, true); +gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "run blocked: switch to auto mode first"); + +gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "auto" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "mode blocked: home machine before AUTO"); +store.dispatch({ type: "SET_MODE", mode: "auto" }); +assert.equal(store.getState().machine.mode, "manual"); +assert.equal(store.getState().operatorMessage, "mode blocked: home machine before AUTO"); +gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "run blocked: switch to auto mode first"); + +gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "mdi" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "mode blocked: home machine before MDI"); + +store.dispatch({ type: "SET_MODE", mode: "manual" }); +store.dispatch({ type: "HOME" }); +gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "auto" }); +assert.equal(gate.allowed, true); +store.dispatch({ type: "SET_MODE", mode: "auto" }); +gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "run blocked: LinuxCNC INI not loaded"); + +store.dispatch({ + type: "ATTACH_INI_CONFIG", + profileId: "gmoccapy-xyzab", + iniConfig: { + profileId: "gmoccapy-xyzab", + path: profile.iniPath, + sourceText: "[TRAJ]\nCOORDINATES = X Y Z A B\nNO_FORCE_HOMING = 0\n[KINS]\nKINEMATICS = trivkins coordinates=xyzab\n", + validation: { ready: true }, + traj: { coordinates: "XYZAB", noForceHoming: false }, + kinematics: { name: "trivkins", sparm: "coordinates=xyzab" }, + kinematicsParameters: profile.kinematicsParameters, + kinematicsModuleId: profile.kinematicsModuleId, + axisLimits: profile.axisLimits, + jointConfig: profile.jointConfig, + display: profile.display, + rs274ngc: profile.rs274ngc, + hal: { + ...profile.hal, + halcmd: profile.hal.halcmd, + initialSets: [], + }, + halui: profile.halui, + emcmot: { servoPeriodNs: 1000000 }, + emcio: {}, + task: { cycleTimeSeconds: 0.001 }, + }, +}); + +gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "run blocked: LinuxCNC machine files not staged"); + +store.dispatch({ + type: "MACHINE_FILE_STAGING_COMPLETE", + plan: { + profileId: "gmoccapy-xyzab", + selectedProgramSourceRel: null, + }, + save: { + fileCount: 2, + files: [ + { + sourceRel: "configs/sim/gmoccapy/gmoccapy_XYZAB.ini", + wasmPath: "/work/sim/gmoccapy/gmoccapy_XYZAB.ini", + kind: "ini", + text: "", + bytes: 0, + }, + ], + summary: { gcodeFileCount: 0 }, + }, +}); + +gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "run blocked: no machine-file G-code opened for task/HAL session"); + +store.dispatch({ + type: "MACHINE_FILE_STAGING_COMPLETE", + plan: { + profileId: "gmoccapy-xyzab", + selectedProgramSourceRel: "configs/sim/gmoccapy/demos/xyzab-demo.ngc", + }, + save: { + fileCount: 2, + files: [ + { + sourceRel: "configs/sim/gmoccapy/demos/xyzab-demo.ngc", + wasmPath: "/work/sim/gmoccapy/demos/xyzab-demo.ngc", + kind: "demo", + text: "G0 X0\nM2\n", + bytes: 9, + }, + ], + summary: { gcodeFileCount: 1 }, + }, + selectedGcodeSourceRel: "configs/sim/gmoccapy/demos/xyzab-demo.ngc", +}); + +gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "run blocked: task/HAL runtime not ready"); + +store.dispatch({ + type: "ATTACH_TASK_HAL_RUNTIME", + runtime: { + loaded: true, + readiness() { + return { + loaded: true, + taskRuntimeReady: true, + motionRuntimeReady: true, + halRuntimeReady: true, + }; + }, + }, +}); + +gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" }); +assert.equal(gate.allowed, true); +assert.equal(gate.status.canRunAutoStrict, true); +assert.equal(gate.status.profileId, "gmoccapy-xyzab"); + +const runPreconditions = validateRunPreconditions(store.getState(), { + requireTaskHalRuntime: false, + requireTaskHalSession: false, +}); +assert.equal(runPreconditions.ok, false); +assert.equal(runPreconditions.operatorMessage, "run blocked: unsupported five-axis profile gmoccapy-xyzab"); + +const manualStore = createSimulationStore(); +manualStore.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" }); +manualStore.dispatch({ type: "TOGGLE_POWER" }); +gate = gateLinuxCncTaskAction(manualStore.getState(), { type: "JOG", axis: "x", direction: 1 }); +assert.equal(gate.allowed, true); +gate = gateLinuxCncTaskAction(manualStore.getState(), { type: "HOME" }); +assert.equal(gate.allowed, true); + +manualStore.dispatch({ type: "HOME" }); +manualStore.dispatch({ type: "SET_MODE", mode: "mdi" }); +gate = gateLinuxCncTaskAction(manualStore.getState(), { type: "RUN_MDI" }); +assert.equal(gate.allowed, true); + +const controlStore = createSimulationStore(); +controlStore.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" }); +controlStore.dispatch({ type: "ESTOP" }); +gate = gateLinuxCncTaskAction(controlStore.getState(), { type: "TOGGLE_COOLANT", kind: "flood" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "coolant blocked: machine must be on"); +gate = gateLinuxCncTaskAction(controlStore.getState(), { type: "SET_SPINDLE_DIRECTION", direction: "forward" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "spindle blocked: machine must be on"); + +controlStore.dispatch({ type: "RESET" }); +controlStore.dispatch({ type: "TOGGLE_POWER" }); +controlStore.dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "forward" }); +assert.equal(controlStore.getState().spindle.enabled, true); +assert.equal(controlStore.getState().spindle.direction, "forward"); +controlStore.dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "stop" }); +assert.equal(controlStore.getState().spindle.enabled, false); +assert.equal(controlStore.getState().spindle.direction, "stop"); + +controlStore.dispatch({ type: "TOGGLE_COOLANT", kind: "flood" }); +assert.equal(controlStore.getState().coolant.flood, true); + +const hardButtonStore = createSimulationStore(); +hardButtonStore.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" }); +hardButtonStore.dispatch({ type: "GMOCAPY_HARDWARE_BUTTON", pin: "gmoccapy.v-button.button-1", value: false }); +assert.equal(hardButtonStore.getState().machine.powerOn, false); +assert.equal(hardButtonStore.getState().operatorMessage, "gmoccapy hardware button falling edge ignored"); +hardButtonStore.dispatch({ type: "GMOCAPY_HARDWARE_BUTTON", pin: "gmoccapy.v-button.button-1", value: true }); +assert.equal(hardButtonStore.getState().machine.powerOn, true); +hardButtonStore.dispatch({ type: "GMOCAPY_HARDWARE_BUTTON", pin: "gmoccapy.v-button.button-4", value: true }); +assert.equal(hardButtonStore.getState().machine.mode, "manual"); +assert.equal(hardButtonStore.getState().operatorMessage, "mode blocked: home machine before AUTO"); +hardButtonStore.dispatch({ type: "GMOCAPY_HARDWARE_BUTTON", location: "bottom", index: 0, value: true }); +assert.equal(hardButtonStore.getState().machine.allHomed, true); +hardButtonStore.dispatch({ type: "GMOCAPY_HARDWARE_BUTTON", pin: "gmoccapy.v-button.button-4", value: true }); +assert.equal(hardButtonStore.getState().machine.mode, "auto"); +hardButtonStore.dispatch({ type: "GMOCAPY_HARDWARE_BUTTON", pin: "gmoccapy.v-button.button-6", value: true }); +assert.equal(hardButtonStore.getState().gmoccapyGui.activeNativePage, "setup"); +assert.equal(hardButtonStore.getState().operatorMessage, "gmoccapy native page diagnostic-only: setup"); +hardButtonStore.dispatch({ type: "GMOCAPY_HARDWARE_BUTTON", pin: "gmoccapy.h-button.button-9", value: true }); +assert.equal(hardButtonStore.getState().operatorMessage, "gmoccapy hardware button unmapped: gmoccapy.h-button.button-9"); + +const halPinStore = createSimulationStore(); +halPinStore.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" }); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.ignore-limits", value: true }); +assert.equal(halPinStore.getState().gmoccapyGui.ignoreLimits, true); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL ignore-limits requested"); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.optional-stop", value: true }); +assert.equal(halPinStore.getState().gmoccapyGui.optionalBlocks, true); +assert.equal(halPinStore.getState().gmoccapyGui.optionalStop, false); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL optional-stop -> block delete on"); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.blockdelete", value: true }); +assert.equal(halPinStore.getState().gmoccapyGui.optionalStop, true); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL blockdelete -> optional stop on"); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.unlock-settings", value: false }); +assert.equal(halPinStore.getState().gmoccapyGui.settingsUnlockPin, false); +assert.equal(halPinStore.getState().gmoccapyGui.setupSensitive, true); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL unlock-settings ignored: unlock_way is use"); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.unlock-settings", value: false, halUnlockMode: true }); +assert.equal(halPinStore.getState().gmoccapyGui.settingsUnlockMode, "hal"); +assert.equal(halPinStore.getState().gmoccapyGui.setupSensitive, false); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL unlock-settings disabled setup"); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.unlock-settings", value: true }); +assert.equal(halPinStore.getState().gmoccapyGui.settingsUnlockPin, true); +assert.equal(halPinStore.getState().gmoccapyGui.setupSensitive, true); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL unlock-settings enabled setup"); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.blockheight", value: 12.5 }); +assert.equal(halPinStore.getState().gmoccapyGui.blockHeight, 12.5); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL tool measurement output recorded; XYZAB has no [TOOLSENSOR]"); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.toolmeasurement", value: true }); +assert.equal(halPinStore.getState().gmoccapyGui.toolMeasurement, true); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.messages.test", value: true }); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL user message pin unmapped: gmoccapy_XYZAB.ini defines no MESSAGE_* entries"); + +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.feed.feed-override.counts", value: 12 }); +assert.equal(halPinStore.getState().feed.feedOverride, 100); +assert.equal(halPinStore.getState().gmoccapyGui.feedOverrideCounts, 12); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL feed counts synchronized"); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.feed.feed-override.count-enable", value: true }); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.feed.feed-override.counts", value: 17 }); +assert.equal(halPinStore.getState().feed.feedOverride, 105); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL feed counts adjusted"); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.rapid.rapid-override.analog-enable", value: true }); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.rapid.rapid-override.direct-value", value: 0.25 }); +assert.equal(halPinStore.getState().feed.rapidOverride, 50); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.spindle.spindle-override.direct-value", value: 0.5 }); +assert.equal(halPinStore.getState().spindle.override, 100); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL spindle direct-value ignored: analog disabled"); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.spindle.spindle-override.analog-enable", value: true }); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.spindle.spindle-override.direct-value", value: 0.5 }); +assert.equal(halPinStore.getState().spindle.override, 75); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.spindle.reset-spindle-override", value: false }); +assert.equal(halPinStore.getState().spindle.override, 75); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL spindle reset falling edge ignored"); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.spindle.reset-spindle-override", value: true }); +assert.equal(halPinStore.getState().spindle.override, 100); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL spindle reset to 100"); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.jog.jog-velocity.count-enable", value: true }); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.jog.jog-velocity.counts", value: 2 }); +assert.equal(halPinStore.getState().gmoccapyGui.jogVelocity, 380.8); +halPinStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.unknown", value: true }); +assert.equal(halPinStore.getState().operatorMessage, "gmoccapy HAL pin unmapped: gmoccapy.unknown"); + +const halJogStore = createSimulationStore(); +halJogStore.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" }); +halJogStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.jog.axis.jog-x-plus", value: true }); +assert.equal(halJogStore.getState().runState, "idle"); +assert.equal(halJogStore.getState().operatorMessage, "gmoccapy HAL jog blocked: jog blocked: machine must be on"); +halJogStore.dispatch({ type: "TOGGLE_POWER" }); +halJogStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.jog.axis.jog-x-plus", value: true }); +assert.equal(halJogStore.getState().runState, "jogging"); +assert.equal(halJogStore.getState().axisPose.x, 43); +assert.equal(halJogStore.getState().machine.jogIncrement, 0); +assert.equal(halJogStore.getState().gmoccapyGui.activeJogPin, "gmoccapy.jog.axis.jog-x-plus"); +assert.equal(halJogStore.getState().operatorMessage, "gmoccapy HAL jog X+ continuous"); +halJogStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.jog.axis.jog-x-plus", value: false }); +assert.equal(halJogStore.getState().runState, "idle"); +assert.equal(halJogStore.getState().gmoccapyGui.activeJogPin, null); +assert.equal(halJogStore.getState().operatorMessage, "gmoccapy HAL jog X+ released"); +halJogStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.jog.jog-inc-2", value: false }); +assert.equal(halJogStore.getState().machine.jogIncrement, 0); +assert.equal(halJogStore.getState().operatorMessage, "gmoccapy HAL jog increment falling edge ignored"); +halJogStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.jog.jog-inc-2", value: true }); +assert.equal(halJogStore.getState().machine.jogIncrement, 0.1); +assert.equal(halJogStore.getState().gmoccapyGui.jogIncrementIndex, 2); +assert.equal(halJogStore.getState().gmoccapyGui.jogIncrementOutput, 0.1); +halJogStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.jog.axis.jog-x-plus", value: true }); +assert.equal(halJogStore.getState().axisPose.x, 43.1); +assert.equal(halJogStore.getState().operatorMessage, "gmoccapy HAL jog X+ 0.1"); +halJogStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.jog.jog-inc-5", value: true }); +assert.equal(halJogStore.getState().machine.jogIncrement, 31.3563); +assert.equal(halJogStore.getState().gmoccapyGui.jogIncrementLabel, "1.2345 in"); +halJogStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.jog.turtle-jog", value: true }); +assert.equal(halJogStore.getState().gmoccapyGui.turtleJog, true); +assert.equal(halJogStore.getState().operatorMessage, "gmoccapy HAL turtle jog on"); + +const halMessageStore = createSimulationStore(); +halMessageStore.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" }); +halMessageStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.delete-message", value: false }); +assert.equal(halMessageStore.getState().gmoccapyGui.deletedMessageCount, 0); +assert.equal(halMessageStore.getState().operatorMessage, "gmoccapy HAL delete-message falling edge ignored"); +halMessageStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.jog.axis.jog-y-minus", value: true }); +assert.equal(halMessageStore.getState().operatorMessage, "gmoccapy HAL jog blocked: jog blocked: machine must be on"); +halMessageStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.delete-message", value: true }); +assert.equal(halMessageStore.getState().gmoccapyGui.error, false); +assert.equal(halMessageStore.getState().gmoccapyGui.deletedMessageCount, 1); +assert.equal(halMessageStore.getState().operatorMessage, "gmoccapy HAL delete-message cleared alert"); +halMessageStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.warning-confirm", value: true }); +assert.equal(halMessageStore.getState().gmoccapyGui.warningConfirm, true); +assert.equal(halMessageStore.getState().operatorMessage, "gmoccapy HAL warning-confirm asserted"); +halMessageStore.dispatch({ type: "GMOCAPY_HAL_PIN", pin: "gmoccapy.warning-confirm", value: false }); +assert.equal(halMessageStore.getState().gmoccapyGui.warningConfirm, false); +assert.equal(halMessageStore.getState().operatorMessage, "gmoccapy HAL warning-confirm cleared"); + +const nativePageStore = createSimulationStore(); +nativePageStore.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" }); +nativePageStore.dispatch({ type: "GMOCAPY_HARDWARE_BUTTON", pin: "gmoccapy.v-button.button-6", value: true }); +assert.equal(nativePageStore.getState().gmoccapyGui.activeNativePage, "setup"); +assert.equal(nativePageStore.getState().gmoccapyGui.nativePageMode, "diagnostic-only"); +assert.equal(nativePageStore.getState().operatorMessage, "gmoccapy native page diagnostic-only: setup"); +nativePageStore.dispatch({ type: "GMOCAPY_HARDWARE_BUTTON", pin: "gmoccapy.h-button.button-3", value: true }); +assert.equal(nativePageStore.getState().gmoccapyGui.activeNativePage, "tool-editor"); +assert.equal(nativePageStore.getState().operatorMessage, "gmoccapy native page diagnostic-only: tool-editor"); +nativePageStore.dispatch({ type: "GMOCAPY_PAGE_ACTION", pageId: "file-load", actionId: "open" }); +assert.equal(nativePageStore.getState().gmoccapyGui.filePageStatus, "open"); +assert.equal(nativePageStore.getState().operatorMessage.includes("native Gtk chooser diagnostic"), true); +nativePageStore.dispatch({ type: "GMOCAPY_TOOL_EDITOR_ACTION", actionId: "save" }); +assert.equal(nativePageStore.getState().gmoccapyGui.toolEditorStatus, "writeback-blocked"); +assert.equal(nativePageStore.getState().operatorMessage.includes("does not write tool.tbl"), true); + +const macroBlockedStore = createSimulationStore(); +macroBlockedStore.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" }); +macroBlockedStore.dispatch({ type: "GMOCAPY_RUN_MACRO", name: "halo_world" }); +assert.equal(macroBlockedStore.getState().gmoccapyGui.macroLastName, "halo_world"); +assert.equal(macroBlockedStore.getState().operatorMessage.includes("gmoccapy macro blocked"), true); + +const macroReadyStore = createSimulationStore(); +macroReadyStore.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" }); +macroReadyStore.dispatch({ type: "TOGGLE_POWER" }); +macroReadyStore.dispatch({ type: "HOME" }); +macroReadyStore.dispatch({ type: "SET_MODE", mode: "mdi" }); +macroReadyStore.dispatch({ + type: "GMOCAPY_RUN_MACRO", + name: "increment", + args: { xinc: 1.25, yinc: 2.5 }, +}); +assert.equal(macroReadyStore.getState().gmoccapyGui.activeNativePage, "mdi-macros"); +assert.equal(macroReadyStore.getState().gmoccapyGui.macroLastCommand, "O call [1.25] [2.5]"); +assert.equal(macroReadyStore.getState().machine.mdiCommand, "O CALL [1.25] [2.5]"); +assert.equal(macroReadyStore.getState().operatorMessage, "gmoccapy macro MDI O call [1.25] [2.5]"); + +console.log("gmoccapy_xyzab_gates_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs new file mode 100644 index 0000000..3c58f98 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs @@ -0,0 +1,179 @@ +import assert from "node:assert/strict"; + +import { getFiveAxisProfile, fiveAxisProfiles } from "../../app/src/profiles/index.js"; +import { buildRtcpFrame } from "../../app/src/runtime/rtcp-frame.js"; +import { createLinuxCncBoundaryAdapter, createLinuxCncBoundaryReadiness } from "../../app/src/runtime/linuxcnc-boundary-adapter.js"; +import { createProfileSourceReferenceSummary } from "../../app/src/profiles/source-reference-map.js"; +import { createSimulationStore, validateRunPreconditions } from "../../app/src/state/store.js"; + +const profile = getFiveAxisProfile("gmoccapy-xyzab"); + +assert.equal(profile.id, "gmoccapy-xyzab"); +assert.equal(profile.title, "gmoccapy XYZAB trivkins reference"); +assert.equal(profile.iniPath, "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini"); +assert.deepEqual(profile.coordinates, ["X", "Y", "Z", "A", "B"]); +assert.equal(profile.traj.coordinates, "XYZAB"); +assert.equal(profile.joints.length, 5); +assert.equal(profile.jointConfig.length, 5); +assert.equal(profile.kinematics, "trivkins coordinates=xyzab"); +assert.equal(profile.kinematicsModuleId, "gmoccapy-xyzab-trivkins-reference"); +assert.equal(profile.tcpCapable, false); +assert.equal(profile.rtcpProof, false); +assert.equal(profile.linuxCncKinematicsReady, false); +assert.equal(profile.promotionAllowed, false); +assert.equal(profile.semanticBoundary, "gmoccapy_xyzab_trivkins_reference_only_not_rtcp_proof"); +assert.equal(profile.homing.noForceHoming, false); +assert.equal(profile.homing.noForceHomingIniValue, 0); +assert.equal(profile.hal.postguiRequiresHalcompReady, true); +assert.deepEqual(profile.hal.halFiles, ["core_sim_XYZAB.hal", "spindle_sim.hal", "simulated_home.hal"]); +assert.deepEqual(profile.hal.postguiHalFiles, ["gmoccapy_postgui.hal"]); +assert.equal(profile.nativeRuntime.task, "milltask"); +assert.equal(profile.nativeRuntime.emcmot, "motmod"); +assert.equal(profile.nativeRuntime.halui, "halui"); +assert.equal(profile.nativeRuntime.displayCycleTimeMs, 100); +assert.equal(profile.nativeRuntime.servoPeriodNs, 1000000); +assert.equal(profile.axisLimits.X.max, 600); +assert.equal(profile.axisLimits.Y.max, 400); +assert.equal(profile.axisLimits.Z.min, -400); +assert.equal(profile.axisLimits.B.maxVelocity, 90); +assert.equal(profile.jointConfig[4].axis, "B"); +assert.equal(profile.jointConfig[4].homeOffset, 45); +assert.equal(profile.hal.halcmd.feedbackNets.length, 5); +assert.equal(profile.hal.halcmd.offsetNets.some((net) => net.target === "gmoccapy.tooloffset-z"), true); +assert.equal(profile.hal.halcmd.simulationLoops.some((net) => net.signal === "tool-change-loop"), true); +assert.equal(profile.hal.halcmd.toolChange.strategy, "iocontrol-loopback"); +assert.equal(profile.hal.halcmd.toolChange.manualGmoccapyPinsConnected, false); +assert.deepEqual(profile.hal.halcmd.toolChange.postguiUnlinks, [ + "iocontrol.0.tool-change", + "iocontrol.0.tool-changed", + "iocontrol.0.tool-prep-number", +]); +assert.equal(profile.hal.halcmd.toolChange.commentedManualGuiNets.length, 3); +assert.equal(profile.hal.halcmd.toolChange.activeLoop.signal, "tool-change-loop"); +assert.equal(profile.halPins.includes("gmoccapy.program.current-line"), true); +assert.equal(profile.halPins.includes("gmoccapy.spindle_at_speed_led"), true); +assert.equal(profile.halPins.includes("gmoccapy.jog.axis.jog-x-plus"), true); +assert.equal(profile.halPins.includes("gmoccapy.jog.axis.jog-y-minus"), true); +assert.equal(profile.halPins.includes("gmoccapy.jog.axis.jog-b-minus"), true); +assert.equal(profile.halPins.includes("gmoccapy.jog.jog-inc-0"), true); +assert.equal(profile.halPins.includes("gmoccapy.jog.jog-inc-5"), true); +assert.equal(profile.halPins.includes("gmoccapy.jog.jog-increment"), true); +assert.equal(profile.halPins.includes("gmoccapy.jog.turtle-jog"), true); +assert.equal(profile.halPins.includes("gmoccapy.ignore-limits"), true); +assert.equal(profile.halPins.includes("gmoccapy.optional-stop"), true); +assert.equal(profile.halPins.includes("gmoccapy.blockdelete"), true); +assert.equal(profile.halPins.includes("gmoccapy.unlock-settings"), true); +assert.equal(profile.halPins.includes("gmoccapy.feed.feed-override.count-enable"), true); +assert.equal(profile.halPins.includes("gmoccapy.feed.reset-feed-override"), true); +assert.equal(profile.halPins.includes("gmoccapy.spindle.reset-spindle-override"), true); +assert.equal(profile.halPins.includes("gmoccapy.jog.jog-velocity.direct-value"), true); +assert.equal(profile.halPins.includes("gmoccapy.delete-message"), true); +assert.equal(profile.halPins.includes("gmoccapy.warning-confirm"), true); +assert.equal(profile.halPins.includes("gmoccapy.probeheight"), true); +assert.equal(profile.halPins.includes("gmoccapy.blockheight"), true); +assert.equal(profile.halPins.includes("gmoccapy.toolmeasurement"), true); +assert.equal(profile.halPins.includes("gmoccapy.searchvel"), true); +assert.equal(profile.halPins.includes("gmoccapy.probevel"), true); +assert.equal(profile.halPins.includes("gmoccapy.toolchange-confirm"), true); +assert.equal(profile.toolsensor.configured, false); +assert.equal(profile.toolsensor.useToolMeasurementPref, false); +assert.equal(profile.toolsensor.blockHeightPref, 0); +assert.equal(profile.toolsensor.reason.includes("no [TOOLSENSOR]"), true); +assert.equal(profile.userMessages.configured, false); +assert.equal(profile.userMessages.count, 0); +assert.equal(profile.userMessages.reason.includes("no [DISPLAY] MESSAGE_*"), true); +assert.equal(profile.nativePages.filePage.configured, true); +assert.equal(profile.nativePages.filePage.programPrefix, "../../nc_files/"); +assert.equal(profile.nativePages.filePage.webImplementation, "partial"); +assert.equal(profile.nativePages.macroPage.configured, true); +assert.equal(profile.nativePages.macroPage.count, 5); +assert.equal(profile.nativePages.macroPage.macros.find((macro) => macro.name === "increment").args.length, 2); +assert.equal(profile.nativePages.macroPage.macros.find((macro) => macro.name === "go_to_position").command, "O call [X-pos] [Y-pos] [Z-pos]"); +assert.equal(profile.nativePages.toolEditor.configured, true); +assert.equal(profile.nativePages.toolEditor.writebackEnabled, false); +assert.equal(profile.nativePages.toolEditor.toolCount, 17); +assert.equal(profile.nativePages.implementationMatrixBoundary.includes("diagnostic-only"), true); +assert.equal(profile.toolTable.toolCount, 17); +assert.equal(profile.macros.includes("go_to_position X-pos Y-pos Z-pos"), true); +assert.equal(profile.panelSchema.id, "gmoccapy-xyzab-hal-component"); +assert.equal(profile.panelSchema.boundary, "gmoccapy_hal_component_reference_only"); +assert.equal(profile.panelSchema.groups.length, 2); +const taskModeControls = profile.panelSchema.groups.find((group) => group.id === "task-mode-actions").controls; +assert.deepEqual(taskModeControls.map((control) => [control.id, control.halpin]), [ + ["tbtn-estop", "gmoccapy.v-button.button-0"], + ["tbtn-on", "gmoccapy.v-button.button-1"], + ["rbt-manual", "gmoccapy.v-button.button-2"], + ["rbt-mdi", "gmoccapy.v-button.button-3"], + ["rbt-auto", "gmoccapy.v-button.button-4"], +]); + +assert.deepEqual(fiveAxisProfiles.map(({ id }) => id), [ + "xyzac-trt", + "xyzbc-trt", + "gmoccapy-xyzac-trt", + "gmoccapy-xyzab", +]); + +const sourceSummary = createProfileSourceReferenceSummary("gmoccapy-xyzab"); +assert.equal(sourceSummary.profileId, "gmoccapy-xyzab"); +assert.equal(sourceSummary.referenceCount >= 10, true); +assert.equal(sourceSummary.kinds.includes("ini"), true); +assert.equal(sourceSummary.kinds.includes("halfile"), true); +assert.equal(sourceSummary.kinds.includes("postgui_hal"), true); +assert.equal(sourceSummary.kinds.includes("icon_manifest"), true); +assert.equal(sourceSummary.kinds.includes("python_gui"), true); +assert.equal(sourceSummary.promotionAllowed, false); +assert.equal(sourceSummary.semanticBoundary, "profile_source_map_only_not_runtime_proof"); +assert.ok(sourceSummary.references.some((reference) => reference.path.endsWith("gmoccapy_XYZAB.ini"))); +assert.ok(sourceSummary.references.some((reference) => reference.path.endsWith("gmoccapy_postgui.hal"))); +assert.ok(sourceSummary.references.some((reference) => reference.path.endsWith("gmoccapy-button-icons.json"))); + +const adapter = createLinuxCncBoundaryAdapter({ profile }); +assert.equal(adapter.profileId, "gmoccapy-xyzab"); +assert.equal(adapter.profileSummary.coordinates, "XYZAB"); +assert.equal(adapter.profileSummary.jointCount, 5); +assert.equal(adapter.profileSummary.mdiCommandCount, 0); +assert.equal(adapter.profileSummary.remapCount, 2); +assert.equal(adapter.profileSummary.toolCount, 17); +assert.equal(adapter.profileSummary.feedbackNetCount, 5); +assert.equal(adapter.profileSummary.halFileCount, 4); +assert.equal(adapter.promotionAllowed, false); +assert.equal(adapter.linuxCncKinematicsReady, false); + +const readiness = createLinuxCncBoundaryReadiness(adapter); +assert.equal(readiness.ready, false); +assert.equal(readiness.promotionAllowed, false); +assert.equal(readiness.missing.includes("kinematics runtime"), true); + +const frame = buildRtcpFrame({ + axisPose: { x: 10, y: 20, z: -5, a: 30, b: 45, c: 99 }, + activeLine: 10, + profile, +}); +assert.equal(frame.profileId, "gmoccapy-xyzab"); +assert.deepEqual(frame.jointPose.map((joint) => joint.axis), ["X", "Y", "Z", "A", "B"]); +assert.equal(frame.jointPose[4].value, 45); +assert.equal(frame.readiness.linuxCncKinematicsReady, false); +assert.equal(frame.readiness.promotionAllowed, false); + +const store = createSimulationStore(); +store.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" }); +assert.equal(store.getState().machineProfile, "gmoccapy-xyzab"); +assert.equal(store.getState().profile.tcpCapable, false); +assert.equal(store.getState().rtcpState, "off"); +store.dispatch({ type: "SET_KINS_TYPE", kinsType: "tcp-xyzac" }); +assert.equal(store.getState().kinsType, "identity"); +assert.equal(store.getState().rtcpState, "off"); +assert.equal(store.getState().operatorMessage, "kinematics tcp-xyzac blocked: gmoccapy-xyzab is not TCP capable"); +store.dispatch({ type: "SET_RTCP", enabled: true }); +assert.equal(store.getState().rtcpState, "off"); +assert.equal(store.getState().operatorMessage, "RTCP blocked: gmoccapy-xyzab is trivkins coordinates=xyzab reference only"); + +const preconditions = validateRunPreconditions(store.getState(), { + requireTaskHalRuntime: false, + requireTaskHalSession: false, +}); +assert.equal(preconditions.ok, false); +assert.equal(preconditions.operatorMessage, "run blocked: unsupported five-axis profile gmoccapy-xyzab"); + +console.log("gmoccapy_xyzab_profile_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_xyzac_trt_parity.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_xyzac_trt_parity.mjs new file mode 100644 index 0000000..76b42e5 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_xyzac_trt_parity.mjs @@ -0,0 +1,211 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; + +import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js"; +import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js"; +import { createLinuxCncKinematicsRuntime } from "../../app/src/runtime/linuxcnc-kinematics-runtime.js"; +import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js"; +import { + selectMachineFileProgram, + stageProfileMachineFiles, +} from "../../app/src/runtime/linuxcnc-machine-file-staging.js"; +import { buildRtcpFrame } from "../../app/src/runtime/rtcp-frame.js"; +import { createProfileSourceReferenceSummary } from "../../app/src/profiles/source-reference-map.js"; +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; +import { createSimulationStore, validateRunPreconditions } from "../../app/src/state/store.js"; + +const GMOCAPY_TRT_EXAMPLE_SOURCE_PREFIX = "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/"; +const GMOCAPY_TRT_EXAMPLE_FILES = [ + "boat-xyzac.ngc", + "boat-xyzbc.ngc", + "impeller-7bl-xyzac.ngc", + "test-xyzac.ngc", + "test-xyzbc.ngc", +]; +const DIRECT_PROGRAM_EXAMPLES = [ + "impeller-7bl-xyzac.ngc", + "boat-xyzac.ngc", + "boat-xyzbc.ngc", +]; +const NGC_GUI_SUBROUTINE_EXAMPLES = [ + { filename: "test-xyzac.ngc", subroutine: "test-xyzac", rotaryAxis: "A" }, + { filename: "test-xyzbc.ngc", subroutine: "test-xyzbc", rotaryAxis: "B" }, +]; + +const profile = getFiveAxisProfile("gmoccapy-xyzac-trt"); +const iniText = await readFile( + new URL("../../../wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini", import.meta.url), + "utf8", +); +const postguiText = await readFile( + new URL("../../../wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/postgui.hal", import.meta.url), + "utf8", +); + +assert.equal(profile.display.display, "gmoccapy"); +assert.equal(profile.display.openFile, "./examples/impeller-7bl-xyzac.ngc"); +assert.equal(profile.kinematics, "xyzac-trt-kins"); +assert.equal(profile.kinematicsModuleId, "xyzac-trt"); +assert.equal(profile.kinematicsParameters.fixedTrtDefault, true); +assert.equal(profile.kinematicsParameters.switchkinsTypes[0].webKinsType, "tcp-xyzac"); +assert.equal(profile.rtcpProof, true); +assert.equal(profile.machineFileStaging.machineRel, "gmoccapy/non_trivial_kinematics/table-rotary-tilting"); +assert.equal(profile.machineFileStaging.demoDirectory, "examples"); +assert.equal(profile.hal.halcmd.offsetNets.some((net) => net.target === "gmoccapy.tooloffset-z"), true); +assert.equal(profile.hal.halcmd.toolChange.manualGmoccapyPinsConnected, true); + +const sourceSummary = createProfileSourceReferenceSummary(profile.id); +assert.equal(sourceSummary.referenceCount >= 10, true); +assert.equal(sourceSummary.kinds.includes("ini"), true); +assert.equal(sourceSummary.kinds.includes("gcode_demo"), true); +assert.equal(sourceSummary.kinds.includes("gcode_ngcgui_subroutine"), true); +assert.equal(sourceSummary.kinds.includes("remap_subroutine"), true); +assert.equal(sourceSummary.sourceRequiredCount >= 2, true); +for (const filename of GMOCAPY_TRT_EXAMPLE_FILES) { + assert.equal( + sourceSummary.references.some((reference) => reference.path === `${GMOCAPY_TRT_EXAMPLE_SOURCE_PREFIX}${filename}`), + true, + `${filename} source reference`, + ); +} + +const iniConfig = parseLinuxCncIni(iniText, { + path: profile.iniPath, + profileId: profile.id, +}); +assert.equal(iniConfig.validation.ready, true); +assert.equal(iniConfig.machineName, "sim-xyzac-trt"); +assert.equal(iniConfig.display.display, "gmoccapy"); +assert.equal(iniConfig.traj.coordinates, "XYZAC"); +assert.equal(iniConfig.kinematics.name, "xyzac-trt-kins"); +assert.equal(iniConfig.kinematicsParameters.sparm, null); +assert.deepEqual(iniConfig.rs274ngc.remaps.map((remap) => remap.code), ["M6", "M61"]); +assert.equal(iniConfig.rs274ngc.subroutinePath, "./examples:../../macros"); +assert.equal(iniConfig.hal.postguiHalFiles.includes("postgui.hal"), true); +assert.equal(iniConfig.hal.halcmd.some((line) => line.includes("xyzac-trt-gui")), true); +assert.equal(iniConfig.hal.halcmd.some((line) => line.includes("xyzac-trt-kins.tool-offset")), true); +assert.equal(iniConfig.hal.halcmd.some((line) => line.includes("sets :y-offset 20")), true); +assert.equal(iniConfig.emcmot.servoPeriodNs, 1000000); +assert.equal(iniConfig.task.cycleTimeSeconds, 0.010); +assert.equal(postguiText.includes("gmoccapy.spindle_feedback_bar"), true); +assert.equal(postguiText.includes("gmoccapy.toolchange-change"), true); +assert.equal(postguiText.includes("gmoccapy.tooloffset-z"), true); + +const staged = await stageProfileMachineFiles(profile, { + storage: createMemorySessionStorage(), +}); +assert.equal(staged.plan.profileId, profile.id); +assert.equal(staged.plan.machineRel, "gmoccapy/non_trivial_kinematics/table-rotary-tilting"); +assert.equal(staged.plan.demoDirectory, "examples"); +assert.equal(staged.save.files.some((file) => file.sourceRel === profile.iniPath), true); +assert.equal(staged.save.files.some((file) => file.sourceRel === profile.toolTablePath), true); +assert.equal(staged.save.files.some((file) => file.sourceRel.endsWith("macros/change_g43.ngc")), true); +assert.equal(staged.save.files.some((file) => file.sourceRel.endsWith("macros/settool_g43.ngc")), true); +assert.deepEqual(staged.save.gcodeSources.map((source) => source.filename), GMOCAPY_TRT_EXAMPLE_FILES); +assert.equal(staged.save.gcodeSources.every((source) => source.sourceRel.startsWith(GMOCAPY_TRT_EXAMPLE_SOURCE_PREFIX)), true); +assert.equal(staged.save.gcodeSources.every((source) => source.semanticBoundary === "linuxcnc_vendored_5axis_gcode_source_file"), true); +assert.equal(staged.save.gcodeFiles.some((file) => file.filename === "test-xyzac.ngc"), true); +assert.equal(staged.save.gcodeFiles.some((file) => file.filename === "test-xyzbc.ngc"), true); + +const selectedPlan = selectMachineFileProgram( + staged.plan, + staged.save, + "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc", +); +assert.equal(selectedPlan.selectedProgramFilename, "impeller-7bl-xyzac.ngc"); +assert.equal(selectedPlan.wasmProgramPath.endsWith("/examples/impeller-7bl-xyzac.ngc"), true); + +const runtime = await createLinuxCncInterpreterRuntime(); +for (const filename of DIRECT_PROGRAM_EXAMPLES) { + const source = staged.save.files.find((file) => file.sourceRel.endsWith(`/examples/${filename}`)); + assert.ok(source, `${filename} staged`); + const execution = runtime.runProgram(source.text); + assert.equal(execution.sourceMode, "linuxcnc-interpreter-wasm", `${filename} source mode`); + assert.equal(execution.summary.ready, true, `${filename} ready`); + assert.equal(execution.summary.motionEventCount > 0, true, `${filename} motion`); + assert.equal(execution.plannerTiming.samples.length > 0, true, `${filename} planner samples`); +} + +const boatMachineFilePlan = selectMachineFileProgram( + staged.plan, + staged.save, + `${GMOCAPY_TRT_EXAMPLE_SOURCE_PREFIX}boat-xyzac.ngc`, +); +const boatMachineFileExecution = runtime.runMachineFileProgram({ + plan: boatMachineFilePlan, + files: staged.save.files, + executionMode: "fiveAxisRemap", +}); +const boatRapidAfterToolChange = boatMachineFileExecution.motion.find((event) => ( + event.type === "STRAIGHT_TRAVERSE" && event.line === 12 +)); +assert.equal(boatMachineFileExecution.sourceMode, "linuxcnc-machine-file-remap-wasm"); +assert.equal(boatMachineFileExecution.summary.machineFileExecutionReady, true); +assert.equal(boatMachineFileExecution.summary.motionEventCount, 1833); +assert.equal(boatMachineFileExecution.plannerTiming.samples.length > 0, true); +assert.ok(boatRapidAfterToolChange, "boat-xyzac line 12 rapid move"); +assert.equal(boatRapidAfterToolChange.axes.x, -49.65); +assert.equal(boatRapidAfterToolChange.axes.y, -23.015); +assert.equal(boatRapidAfterToolChange.axes.z, 5); + +for (const { filename, subroutine, rotaryAxis } of NGC_GUI_SUBROUTINE_EXAMPLES) { + const source = staged.save.files.find((file) => file.sourceRel.endsWith(`/examples/${filename}`)); + assert.ok(source, `${filename} staged`); + assert.equal(source.text.includes(`o<${subroutine}> sub`), true, `${filename} subroutine open`); + assert.equal(source.text.includes(`o<${subroutine}> endsub`), true, `${filename} subroutine close`); + assert.equal(source.text.includes("T# M6"), true, `${filename} tool-change semantics`); + assert.equal(source.text.includes("G43 H# Z0"), true, `${filename} tool-offset semantics`); + assert.equal(new RegExp(`G00 ${rotaryAxis}#<${rotaryAxis.toLowerCase()}_angle> C#`).test(source.text), true, `${filename} rotary-axis semantics`); + const execution = runtime.runProgram(source.text); + assert.equal(execution.sourceMode, "linuxcnc-interpreter-wasm", `${filename} source mode`); + assert.equal(execution.summary.ready, false, `${filename} ngcgui subroutine is not a standalone main program`); + assert.equal(execution.summary.motionEventCount, 0, `${filename} direct subroutine execution has no motion`); +} + +const kinematics = await createLinuxCncKinematicsRuntime({ moduleId: "xyzac-trt", switchkinsType: 0 }); +const frame = buildRtcpFrame({ + axisPose: { x: 16.339, y: -25.409, z: 33.353, a: -71.841, c: -35.93 }, + activeLine: 5, + kinsType: "tcp-xyzac", + rtcpEnabled: true, + profile, + linuxCncKinematicsResult: kinematics.frameForJoints([16.339, -25.409, 33.353, -71.841, -35.93]), +}); +assert.equal(frame.sourceMode, "source-derived-kinematics-wasm"); +assert.equal(frame.readiness.linuxCncKinematicsReady, true); +assert.equal(frame.rtcpState, "on"); +assert.equal(frame.profileId, "gmoccapy-xyzac-trt"); + +const store = createSimulationStore(); +store.dispatch({ type: "SET_PROFILE", profileId: profile.id }); +store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig }); +store.dispatch({ type: "ATTACH_KINEMATICS_RUNTIME", runtime: kinematics }); +await store.refreshKinematicsFrame(); +store.dispatch({ type: "ATTACH_INTERPRETER_RUNTIME", runtime }); +await store.stageMachineFiles({ storage: createMemorySessionStorage() }); +store.dispatch({ + type: "LOAD_LINUXCNC_GCODE_SOURCE", + sourceRel: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc", +}); +await new Promise((resolve) => setTimeout(resolve, 0)); + +const loadedState = store.getState(); +assert.equal(loadedState.machineProfile, profile.id); +assert.equal(loadedState.display?.display, undefined); +assert.equal(loadedState.kinsType, "tcp-xyzac"); +assert.equal(loadedState.rtcpState, "on"); +assert.equal(loadedState.machineProject.gcodeDirectory.endsWith("/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples"), true); +assert.equal(loadedState.machineProject.selectedProgram.filename, "impeller-7bl-xyzac.ngc"); +assert.equal(loadedState.programValidation.sourceGuard, "linuxcnc_vendored_5axis_gcode_source_file"); +assert.equal(loadedState.programExecution?.summary?.motionEventCount > 0, true); +assert.equal(loadedState.toolDbReadiness.toolCount, 10); + +const preconditions = validateRunPreconditions(loadedState, { + requireTaskHalRuntime: false, + requireTaskHalSession: false, +}); +assert.equal(preconditions.ok, true); +assert.equal(preconditions.profileId, "gmoccapy-xyzac-trt"); +assert.equal(preconditions.selectedGcodeSourceRel.endsWith("/examples/impeller-7bl-xyzac.ngc"), true); + +console.log("gmoccapy_xyzac_trt_parity_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_impeller_feed_task_hal_run.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_impeller_feed_task_hal_run.mjs new file mode 100644 index 0000000..4397ac2 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_impeller_feed_task_hal_run.mjs @@ -0,0 +1,117 @@ +import assert from "node:assert/strict"; +import { readFileSync } from "node:fs"; +import { dirname, resolve } from "node:path"; +import { fileURLToPath } from "node:url"; + +import { createLinuxCncTaskHalSdk } from "../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js"; +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; +import { buildProgramExecutionTiming } from "../../app/src/runtime/execution-timing.js"; +import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js"; +import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js"; +import { + buildTaskHalProgramMotionPlan, + wrapTaskHalSdk, +} from "../../app/src/runtime/linuxcnc-task-hal-runtime.js"; + +const __filename = fileURLToPath(import.meta.url); +const __dirname = dirname(__filename); +const rootDir = resolve(__dirname, "../../.."); +const sourceDir = resolve(rootDir, "web-rtcp-5axis-sim-plan/working_run/test_linuxcnc_source"); +const iniPath = resolve(sourceDir, "xyzac-trt.ini"); +const gcodePath = resolve(sourceDir, "impeller-7bl-xyzac.ngc"); +const wasmPath = resolve(rootDir, "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm"); + +const iniText = readFileSync(iniPath, "utf8"); +const gcodeText = readFileSync(gcodePath, "utf8"); +const profile = { + ...getFiveAxisProfile("xyzac-trt"), + linuxCncIniConfig: parseLinuxCncIni(iniText, { + path: "working_run/test_linuxcnc_source/xyzac-trt.ini", + profileId: "xyzac-trt", + }), +}; +const interpreterRuntime = await createLinuxCncInterpreterRuntime(); +const execution = interpreterRuntime.runProgram(gcodeText); +const timing = buildProgramExecutionTiming({ + motion: execution.motion, + profile, + feedOverride: 100, + rapidOverride: 100, + defaultFeedRate: 100, +}); +const feedSegments = timing.segments.filter((segment) => segment.motionClass === "feed"); +const f159 = feedSegments.find((segment) => segment.feedRate === 159); +const f636 = feedSegments.find((segment) => segment.feedRate === 636); + +assert.equal(execution.summary.ready, true); +assert.equal(execution.motion.length > 1000, true); +assert.equal(execution.motion.some((event) => event.feedMode === "inverse-time"), true); +assert.equal(feedSegments.length > 1000, true); +assert.equal(f159?.feedMode, "inverse-time"); +assert.equal(f636?.feedMode, "inverse-time"); +assertNear(f159.durationSeconds, 60 / 159, "F159 inverse-time duration"); +assertNear(f636.durationSeconds, 60 / 636, "F636 inverse-time duration"); +assert.equal(f636.durationSeconds < f159.durationSeconds, true); +assert.equal(f159.velocityMmPerMin > 0, true); +assert.equal(f636.velocityMmPerMin > 0, true); + +const taskHal = wrapTaskHalSdk(await createLinuxCncTaskHalSdk({ + wasmBinary: readFileSync(wasmPath), + print() {}, + printErr() {}, +})); +const programPath = "/work/sim/xyzac-trt/impeller-7bl-xyzac.ngc"; +taskHal.initSession({ + profileId: "xyzac-trt", + iniPath: "/work/sim/xyzac-trt/xyzac-trt.ini", + iniText, + programPath, +}); +taskHal.stageFiles([{ path: programPath, text: gcodeText }]); +taskHal.openProgram(programPath); +taskHal.loadProgramMotionPlan(buildTaskHalProgramMotionPlan({ + programPath, + motion: execution.motion, + timing, + linearUnits: timing.linearUnits, +})); +taskHal.sendCommand({ type: "EMC_TASK_SET_STATE", state: "ON" }); +taskHal.sendCommand({ type: "EMC_TASK_SET_MODE", mode: "AUTO" }); +taskHal.sendCommand({ type: "EMC_TASK_PLAN_RUN", line: 0 }); + +const samples = []; +for (let index = 0; index < 200; index += 1) { + taskHal.runCycles({ taskPeriodNs: 100000000, servoPeriodNs: 1000000, taskCycles: 1 }); + const status = taskHal.readStatus(); + samples.push({ + index, + activeLine: status.ui.activeLine, + axisPose: status.ui.axisPose, + currentVelocity: status.ui.currentVelocity, + taskCycle: status.ui.taskCycle, + }); +} + +const movedSamples = samples.filter((sample) => sample.currentVelocity > 0); +const distinctVelocities = [...new Set(movedSamples.map((sample) => Math.round(sample.currentVelocity * 1000) / 1000))]; + +assert.equal(movedSamples.length > 20, true); +assert.equal(distinctVelocities.length > 3, true); +assert.equal(distinctVelocities.includes(3600), false); +assert.equal(samples.at(0).activeLine >= 7, true); +assert.equal(samples.at(-1).activeLine > samples.at(0).activeLine, true); +assert.equal(samples.some((sample) => sample.activeLine === f159.line), true); +assert.equal(samples.some((sample) => sample.activeLine === f636.line), true); +assert.equal(samples.some((sample) => Math.abs(sample.currentVelocity - f159.velocityMmPerMin) < 0.001), true); +assert.equal(samples.some((sample) => Math.abs(sample.currentVelocity - f636.velocityMmPerMin) < 0.001), true); + +console.log(`impeller_motion_count=${execution.motion.length}`); +console.log(`impeller_feed_segments=${feedSegments.length}`); +console.log(`impeller_f159_duration_seconds=${f159.durationSeconds}`); +console.log(`impeller_f636_duration_seconds=${f636.durationSeconds}`); +console.log(`impeller_task_hal_distinct_velocities=${distinctVelocities.slice(0, 10).join(",")}`); +console.log("impeller_feed_task_hal_run=ok"); + +function assertNear(actual, expected, label, tolerance = 1e-9) { + assert.equal(Math.abs(Number(actual) - Number(expected)) <= tolerance, true, `${label}: ${actual} != ${expected}`); +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linear_unit_conversion.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linear_unit_conversion.mjs new file mode 100644 index 0000000..e66dcd1 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linear_unit_conversion.mjs @@ -0,0 +1,126 @@ +import assert from "node:assert/strict"; + +import { + linearUnitsToMetersFactor, + linearUnitsToMillimetersFactor, + linearValueToMeters, + linearValueToMillimeters, + normalizeLinearUnits, + resolveStateLinearUnits, +} from "../../app/src/runtime/linear-units.js"; +import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js"; +import { buildProgramExecutionTiming } from "../../app/src/runtime/execution-timing.js"; +import { axesToSceneMeters } from "../../app/src/visualization/five-axis-scene.js"; + +function assertNear(actual, expected, label) { + assert.equal(Math.abs(actual - expected) < 1e-9, true, `${label}: expected ${expected}, got ${actual}`); +} + +assert.equal(normalizeLinearUnits("MM"), "mm"); +assert.equal(normalizeLinearUnits("inch"), "inch"); +assert.equal(normalizeLinearUnits("meters"), "m"); +assertNear(linearUnitsToMetersFactor("mm"), 0.001, "mm to m factor"); +assertNear(linearUnitsToMetersFactor("inch"), 0.0254, "inch to m factor"); +assertNear(linearUnitsToMetersFactor("m"), 1, "m to m factor"); +assertNear(linearUnitsToMillimetersFactor("inch"), 25.4, "inch to mm factor"); +assertNear(linearValueToMeters(25.4, "mm"), 0.0254, "25.4 mm to meters"); +assertNear(linearValueToMeters(1, "inch"), 0.0254, "1 inch to meters"); +assertNear(linearValueToMillimeters(0.5, "m"), 500, "0.5 m to millimeters"); + +const mmState = { profile: { traj: { linearUnits: "mm" } } }; +const inchState = { profile: { traj: { linearUnits: "inch" } } }; +const meterState = { profile: { traj: { linearUnits: "m" } } }; +const iniState = { + linuxCncIniConfig: { traj: { linearUnits: "inch" } }, + profile: { traj: { linearUnits: "mm" } }, +}; + +assert.equal(resolveStateLinearUnits(iniState), "inch"); +assert.deepEqual(axesToSceneMeters({ x: 25.4, y: -10, z: 2000 }, mmState), { + x: 0.0254, + y: -0.01, + z: 2, +}); +assert.deepEqual(axesToSceneMeters({ x: 1, y: -0.5, z: 2 }, inchState), { + x: 0.0254, + y: -0.0127, + z: 0.0508, +}); +assert.deepEqual(axesToSceneMeters({ x: 0.1, y: -0.2, z: 0.3 }, meterState), { + x: 0.1, + y: -0.2, + z: 0.3, +}); + +const inchTiming = buildProgramExecutionTiming({ + profile: { + traj: { + linearUnits: "inch", + maxLinearVelocity: 2, + defaultLinearVelocity: 1, + }, + }, + defaultFeedRate: 1, + motion: [ + { type: "STRAIGHT_FEED", line: 1, axes: { x: 0, y: 0, z: 0 } }, + { type: "STRAIGHT_FEED", line: 2, axes: { x: 1, y: 0, z: 0 } }, + ], +}); + +assert.equal(inchTiming.linearUnits, "inch"); +assertNear(inchTiming.segments[1].linearDistanceMm, 25.4, "inch segment distance in mm"); +assertNear(inchTiming.segments[1].velocityMmPerMin, 25.4, "inch feed velocity in mm/min"); + +const mixedUnitsTiming = buildProgramExecutionTiming({ + profile: { + traj: { + linearUnits: "mm", + maxLinearVelocity: 100, + defaultLinearVelocity: 10, + }, + }, + motion: [ + { type: "STRAIGHT_FEED", line: 1, axes: { x: 0, y: 0, z: 0 }, linearUnits: "inch", feedRate: 10 }, + { type: "STRAIGHT_FEED", line: 2, axes: { x: 1, y: 0, z: 0 }, linearUnits: "inch", feedRate: 10 }, + { type: "STRAIGHT_FEED", line: 3, axes: { x: 25.4, y: 0, z: 0 }, linearUnits: "mm", feedRate: 100 }, + ], +}); +assertNear(mixedUnitsTiming.segments[1].linearDistanceMm, 25.4, "mixed units inch segment distance"); +assertNear(mixedUnitsTiming.segments[2].linearDistanceMm, 0, "mixed units unchanged position distance"); + +const inverseTimeTiming = buildProgramExecutionTiming({ + profile: { + traj: { + linearUnits: "mm", + maxLinearVelocity: 100, + defaultLinearVelocity: 10, + }, + }, + motion: [ + { type: "STRAIGHT_FEED", line: 1, axes: { x: 0, y: 0, z: 0 }, linearUnits: "mm", feedMode: "inverse-time", feedRate: 120 }, + { type: "STRAIGHT_FEED", line: 2, axes: { x: 10, y: 0, z: 0 }, linearUnits: "mm", feedMode: "inverse-time", feedRate: 120 }, + ], +}); +assertNear(inverseTimeTiming.segments[1].durationSeconds, 0.5, "G93 inverse-time F120 duration"); +assertNear(inverseTimeTiming.segments[1].velocityMmPerMin, 1200, "G93 inverse-time velocity"); + +const interpreterRuntime = await createLinuxCncInterpreterRuntime(); +const inchExecution = interpreterRuntime.runProgram("G20 G90\nG1 X1 F10\nM2"); +const metricExecution = interpreterRuntime.runProgram("G21 G90\nG1 X25.4 F100\nM2"); +const inverseExecution = interpreterRuntime.runProgram("G21 G90 G93\nG1 X1 F120\nM2"); + +assert.equal(inchExecution.motion[0].linearUnits, "inch"); +assert.equal(metricExecution.motion[0].linearUnits, "mm"); +assert.equal(inverseExecution.motion[0].feedMode, "inverse-time"); +assertNear( + axesToSceneMeters(inchExecution.motion[0].axes, mmState, inchExecution.motion[0].linearUnits).x, + 0.0254, + "G20 interpreter motion uses inch scene conversion", +); +assertNear( + axesToSceneMeters(metricExecution.motion[0].axes, mmState, metricExecution.motion[0].linearUnits).x, + 0.0254, + "G21 interpreter motion uses millimeter scene conversion", +); + +console.log("linear_unit_conversion_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_ini_runtime.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_ini_runtime.mjs new file mode 100644 index 0000000..6a8e5ca --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_ini_runtime.mjs @@ -0,0 +1,84 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; + +import { + applyIniConfigToProfile, + parseLinuxCncIni, +} from "../../app/src/runtime/linuxcnc-ini-runtime.js"; +import { xyzacTrtProfile } from "../../app/src/profiles/xyzac-trt.js"; +import { xyzbcTrtProfile } from "../../app/src/profiles/xyzbc-trt.js"; + +const xyzacIniText = await readFile( + new URL("../../../wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", import.meta.url), + "utf8", +); +const xyzbcIniText = await readFile( + new URL("../../../wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", import.meta.url), + "utf8", +); + +const xyzacIni = parseLinuxCncIni(xyzacIniText, { + path: xyzacTrtProfile.iniPath, + profileId: xyzacTrtProfile.id, +}); +assert.equal(xyzacIni.apiName, "web-rtcp-5axis-linuxcnc-ini-config"); +assert.equal(xyzacIni.validation.ready, true); +assert.equal(xyzacIni.machineName, "sim-xyzac-trt-kins (switchkins)"); +assert.equal(xyzacIni.kinematics.name, "xyzac-trt-kins"); +assert.equal(xyzacIni.kinematicsParameters.sparm, "identityfirst"); +assert.equal(xyzacIni.kinematicsParameters.joints, 5); +assert.equal(xyzacIni.traj.coordinates, "XYZAC"); +assert.equal(xyzacIni.rs274ngc.halPinVars, true); +assert.equal(xyzacIni.rs274ngc.parameterFile, "xyzac.var"); +assert.equal(xyzacIni.hal.halFiles.includes("LIB:basic_sim.tcl"), true); +assert.equal(xyzacIni.hal.postguiHalFiles.includes("switchkins_postgui.hal"), true); +assert.equal(xyzacIni.hal.halcmd.some((line) => line.includes("motion.analog-out-03") && line.includes("motion.switchkins-type")), true); +assert.equal(xyzacIni.emcmot.module, "motmod"); +assert.equal(xyzacIni.emcmot.servoPeriodNs, 1000000); +assert.equal(xyzacIni.task.module, "milltask"); +assert.equal(xyzacIni.task.cycleTimeSeconds, 0.01); +assert.equal(xyzacIni.emcio.toolTable, "xyzac-trt.tbl"); +assert.equal(xyzacIni.axisLimits.A.max, 50); +assert.equal(xyzacIni.jointConfig[3].axis, "A"); +assert.equal(xyzacIni.jointConfig[4].max, 36000); +assert.deepEqual(xyzacIni.halui.mdiCommands, ["M429", "M428", "M430"]); +assert.equal(xyzacIni.rs274ngc.remaps.map((remap) => remap.code).join(","), "M428,M429,M430"); +assert.equal(xyzacIni.hal.initialSets.some((set) => set.pin === "y-offset" && set.value === 20), true); + +const derivedXyzac = applyIniConfigToProfile(xyzacTrtProfile, xyzacIni); +assert.equal(derivedXyzac.machineName, xyzacIni.machineName); +assert.equal(derivedXyzac.traj.coordinates, "XYZAC"); +assert.equal(derivedXyzac.axisLimits.X.min, -200); +assert.equal(derivedXyzac.jointConfig.length, 5); +assert.equal(derivedXyzac.linuxCncIniConfig.path.endsWith("xyzac-trt.ini"), true); + +const xyzbcIni = parseLinuxCncIni(xyzbcIniText, { + path: xyzbcTrtProfile.iniPath, + profileId: xyzbcTrtProfile.id, +}); +assert.equal(xyzbcIni.validation.ready, true); +assert.equal(xyzbcIni.kinematics.name, "xyzbc-trt-kins"); +assert.equal(xyzbcIni.kinematicsModuleId, "xyzbc-trt"); +assert.equal(xyzbcIni.traj.coordinates, "XYZBC"); +assert.equal(xyzbcIni.rs274ngc.parameterFile, "xyzbc.var"); +assert.equal(xyzbcIni.emcio.toolTable, "xyzbc-trt.tbl"); +assert.equal(xyzbcIni.axisLimits.B.max, 36000); +assert.equal(xyzbcIni.jointConfig[3].axis, "B"); +assert.equal(xyzbcIni.kinematicsParameters.switchkinsTypes[1].webKinsType, "tcp-xyzbc"); + +const missingHalPinVarsIni = parseLinuxCncIni(xyzacIniText.replace(/^\s*HAL_PIN_VARS\s*=\s*1$/m, ""), { + path: xyzacTrtProfile.iniPath, + profileId: xyzacTrtProfile.id, +}); +assert.equal(missingHalPinVarsIni.validation.ready, false); +assert.equal(missingHalPinVarsIni.validation.missing.includes("RS274NGC.HAL_PIN_VARS=1"), true); + +const missingTaskIni = parseLinuxCncIni(xyzacIniText.replace(/\n\[TASK\][\s\S]*?(?=\n\[EMCIO\])/m, "\n"), { + path: xyzacTrtProfile.iniPath, + profileId: xyzacTrtProfile.id, +}); +assert.equal(missingTaskIni.validation.ready, false); +assert.equal(missingTaskIni.validation.missing.includes("[TASK]"), true); +assert.equal(missingTaskIni.validation.missing.includes("TASK.CYCLE_TIME"), true); + +console.log("linuxcnc_ini_runtime_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_interpreter_runtime.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_interpreter_runtime.mjs new file mode 100644 index 0000000..fb6c95a --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_interpreter_runtime.mjs @@ -0,0 +1,121 @@ +import assert from "node:assert/strict"; +import { readFileSync } from "node:fs"; +import { fileURLToPath } from "node:url"; + +import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js"; + +const runtime = await createLinuxCncInterpreterRuntime(); +const readiness = runtime.readiness(); + +assert.equal(runtime.apiName, "web-rtcp-5axis-linuxcnc-interpreter-runtime"); +assert.equal(runtime.loaded, true); +assert.equal(runtime.sourceMode, "linuxcnc-interpreter-wasm"); +assert.equal(runtime.semanticBoundary, "linuxcnc_interpreter_wasm_canonical_events"); +assert.equal(readiness.loaded, true); +assert.equal(readiness.runProgramReady, true); +assert.equal(readiness.remapRuntimeReady, false); +assert.equal(readiness.plannerRuntimeReady, true); +assert.equal(readiness.plannerSemanticBoundary, "linuxcnc_tp_queue_runtime_timing_from_canonical_motion"); + +const programText = [ + "G90 G17", + "G0 X0 Y0 Z0", + "G1 X10 Y2 F100", + "G1 X12 Y4 A5 C7", + "M2", +].join("\n"); +const execution = runtime.runProgram(programText); + +assert.equal(execution.apiName, "web-rtcp-5axis-linuxcnc-interpreter-program-execution"); +assert.equal(execution.sourceMode, "linuxcnc-interpreter-wasm"); +assert.equal(execution.semanticBoundary, "linuxcnc_interpreter_wasm_canonical_events"); +assert.equal(execution.summary.ready, true); +assert.equal(execution.summary.motionEventCount >= 3, true); +assert.equal(execution.summary.canonicalEventCount > execution.summary.motionEventCount, true); +assert.equal(execution.summary.motionTypes.includes("STRAIGHT_TRAVERSE"), true); +assert.equal(execution.summary.motionTypes.includes("STRAIGHT_FEED"), true); +assert.equal(execution.summary.finalAxes.x, 12); +assert.equal(execution.summary.finalAxes.y, 4); +assert.equal(execution.summary.finalAxes.a, 5); +assert.equal(execution.summary.finalAxes.c, 7); +assert.equal(execution.motion[2].feedRate, 100); +assert.equal(execution.summary.remapRuntimeReady, false); +assert.equal(execution.summary.plannerRuntimeReady, true); +assert.equal(execution.plannerTiming.semanticBoundary, "linuxcnc_tp_queue_runtime_timing_from_canonical_motion"); +assert.equal(execution.plannerTiming.totalSeconds > 0, true); +assert.equal(execution.plannerTiming.motionCount, execution.motion.length); +assert.equal(execution.summary.fullLinuxCncProgramExecutionReady, false); + +const g18ArcProgramText = [ + "G90 G18", + "G0 X1 Z0 Y0", + "G3 X0 Z1 I-1 K0 Y2 F80", + "M2", +].join("\n"); +const g18ArcExecution = runtime.runProgram(g18ArcProgramText); +const g18ArcMotion = g18ArcExecution.motion[1]; + +assert.equal(g18ArcExecution.summary.ready, true); +assert.equal(g18ArcExecution.summary.motionEventCount, 2); +assert.equal(g18ArcExecution.summary.motionTypes.includes("ARC_FEED"), true); +assert.equal(g18ArcExecution.summary.finalAxes.x, 0); +assert.equal(g18ArcExecution.summary.finalAxes.y, 2); +assert.equal(g18ArcExecution.summary.finalAxes.z, 1); +assert.equal(g18ArcMotion.type, "ARC_FEED"); +assert.equal(g18ArcMotion.axes.arc.plane, 180); +assert.equal(g18ArcMotion.axes.arc.firstAxis, "z"); +assert.equal(g18ArcMotion.axes.arc.secondAxis, "x"); +assert.equal(g18ArcMotion.axes.arc.thirdAxis, "y"); +assert.equal(g18ArcMotion.axes.z, 1); +assert.equal(g18ArcMotion.axes.x, 0); +assert.equal(g18ArcMotion.axes.y, 2); +assert.equal(g18ArcMotion.feedRate, 80); +assert.equal(g18ArcExecution.summary.plannerRuntimeReady, true); + +const switchkinsProgramText = [ + "G90 G17", + "M428", + "G0 X0 Y0 Z0 A0 C0", + "G1 X10 Y2 Z-1 A15 C30 F120", + "M429", + "G1 X0 Y0 Z0 A0 C0 F120", + "M2", +].join("\n"); +const switchkinsExecution = runtime.runProgram(switchkinsProgramText); + +assert.equal(switchkinsExecution.summary.ready, true); +assert.equal(switchkinsExecution.summary.motionEventCount, 3); +assert.equal(switchkinsExecution.summary.switchkinsEventCount, 2); +assert.deepEqual(switchkinsExecution.summary.switchkinsCodes, ["M428", "M429"]); +assert.equal( + switchkinsExecution.summary.switchkinsRemapBoundary, + "linuxcnc_switchkins_remap_mcode_preserved_web_runtime_applied", +); +assert.equal(switchkinsExecution.switchkinsEvents[0].switchkinsType, 1); +assert.equal(switchkinsExecution.switchkinsEvents[1].switchkinsType, 0); +assert.equal(switchkinsExecution.motion[0].kinsType, "tcp"); +assert.equal(switchkinsExecution.motion[1].axes.a, 15); +assert.equal(switchkinsExecution.motion[1].axes.c, 30); +assert.equal(switchkinsExecution.motion[1].switchkinsCode, "M428"); +assert.equal(switchkinsExecution.motion[2].kinsType, "identity"); +assert.equal(switchkinsExecution.motion[2].switchkinsCode, "M429"); + +assert.equal(switchkinsExecution.summary.remapRuntimeReady, false); +assert.equal(switchkinsExecution.summary.plannerRuntimeReady, true); +assert.equal(switchkinsExecution.plannerTiming.totalSeconds > 0, true); +assert.equal(switchkinsExecution.summary.fullLinuxCncProgramExecutionReady, false); + +const gmoccapyImpellerProgram = readFileSync(fileURLToPath(new URL( + "../../../linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc", + import.meta.url, +)), "utf8"); +const gmoccapyImpellerExecution = runtime.runProgram(gmoccapyImpellerProgram); +const firstG93FeedMotion = gmoccapyImpellerExecution.motion.find((event) => event.type === "STRAIGHT_FEED"); + +assert.equal(gmoccapyImpellerExecution.summary.ready, true); +assert.equal(gmoccapyImpellerExecution.motion[0].feedMode, "inverse-time"); +assert.equal(firstG93FeedMotion.line, 9); +assert.equal(Math.abs(firstG93FeedMotion.feedRate - 635.745) < 0.001, true); +assert.notEqual(firstG93FeedMotion.feedRate, 318); + +console.log("linuxcnc_interpreter_runtime_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_kinematics_runtime.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_kinematics_runtime.mjs new file mode 100644 index 0000000..69acb74 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_kinematics_runtime.mjs @@ -0,0 +1,126 @@ +import assert from "node:assert/strict"; + +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; +import { createLinuxCncKinematicsRuntime } from "../../app/src/runtime/linuxcnc-kinematics-runtime.js"; +import { buildRtcpFrame } from "../../app/src/runtime/rtcp-frame.js"; + +const DEG_TO_RAD = Math.PI / 180; + +const cases = [ + { + moduleId: "xyzac-trt", + wasmFile: "linuxcnc_xyzac_trt_kinematics.wasm", + joints: [10, 20, 30, 25, 40], + fourthAxis: "A", + fourthKey: "a", + axisPose: { x: 10, y: 20, z: 30, a: 25, b: 0, c: 40 }, + kinsType: "tcp-xyzac", + expectedToolAxis: xyzacToolAxis(25, 40), + }, + { + moduleId: "xyzbc-trt", + wasmFile: "linuxcnc_xyzbc_trt_kinematics.wasm", + joints: [10, 20, 30, 35, 40], + fourthAxis: "B", + fourthKey: "b", + axisPose: { x: 10, y: 20, z: 30, a: 0, b: 35, c: 40 }, + kinsType: "tcp-xyzbc", + expectedToolAxis: xyzbcToolAxis(35, 40), + }, +]; + +for (const testCase of cases) { + const runtime = await createLinuxCncKinematicsRuntime({ + moduleId: testCase.moduleId, + switchkinsType: 1, + }); + const readiness = runtime.readiness(); + + assert.equal(runtime.apiName, "web-rtcp-5axis-linuxcnc-kinematics-runtime"); + assert.equal(runtime.moduleId, testCase.moduleId); + assert.equal(runtime.loaded, true); + assert.equal(runtime.sourceMode, "source-derived-kinematics-wasm"); + assert.equal(runtime.semanticBoundary, "linuxcnc_kinematics_wasm_c_abi"); + assert.equal(runtime.executionContext, "direct"); + assert.equal(runtime.wasmFile, testCase.wasmFile); + assert.equal(runtime.switchkinsType, 1); + assert.equal(readiness.loaded, true); + assert.equal(readiness.executionContext, "direct"); + assert.equal(readiness.supportedModules.includes("xyzac-trt"), true); + assert.equal(readiness.supportedModules.includes("xyzbc-trt"), true); + assert.equal(runtime.switchRc, 0); + + const linuxCncKinematicsResult = runtime.frameForJoints(testCase.joints); + assert.equal(linuxCncKinematicsResult.moduleId, testCase.moduleId); + assert.equal(linuxCncKinematicsResult.switchkinsType, 1); + assert.equal(linuxCncKinematicsResult.forward.rc, 0); + assert.equal(linuxCncKinematicsResult.inverse.rc, 0); + assert.deepEqual(roundJoints(linuxCncKinematicsResult.inverse.joints), testCase.joints); + + const frame = buildRtcpFrame({ + axisPose: testCase.axisPose, + activeLine: 777, + kinsType: testCase.kinsType, + rtcpEnabled: true, + profile: getFiveAxisProfile(testCase.moduleId), + linuxCncKinematicsResult, + }); + + assert.equal(frame.sourceMode, "source-derived-kinematics-wasm"); + assert.equal(frame.semanticBoundary, "linuxcnc_kinematics_wasm_c_abi"); + assert.equal(frame.readiness.linuxCncKinematicsReady, true); + assert.equal(frame.readiness.promotionAllowed, true); + assert.equal(frame.readiness.fullLinuxCncProgramExecutionReady, false); + assert.equal(frame.profileId, testCase.moduleId); + assert.equal(frame.kinematicsModuleId, testCase.moduleId); + assert.equal(frame.kinematicsSwitchkinsType, 1); + assert.equal(frame.kinematicsForwardRc, 0); + assert.equal(frame.kinematicsInverseRc, 0); + assert.equal(frame.jointPose[3].axis, testCase.fourthAxis); + assert.equal(frame.jointPose[3].value, testCase.joints[3]); + assert.equal(frame.jointPose[4].axis, "C"); + assert.equal(frame.jointPose[4].value, testCase.joints[4]); + assert.equal(frame.tcpPose.x, linuxCncKinematicsResult.forward.pose.x); + assert.equal(frame.tcpPose.y, linuxCncKinematicsResult.forward.pose.y); + assert.equal(frame.tcpPose.z, linuxCncKinematicsResult.forward.pose.z); + assert.equal(frame.tcpPose.a, linuxCncKinematicsResult.forward.pose.a); + assert.equal(frame.tcpPose.b, linuxCncKinematicsResult.forward.pose.b); + assert.equal(frame.tcpPose.c, linuxCncKinematicsResult.forward.pose.c); + assert.equal(frame.tcpPose[testCase.fourthKey], testCase.axisPose[testCase.fourthKey]); + assertVectorNear(frame.toolAxisVector, testCase.expectedToolAxis); + + console.log(`${testCase.moduleId.replace(/-/g, "_")}_kinematics_runtime=ok`); +} + +console.log("linuxcnc_kinematics_runtime_smoke=ok"); +console.log("xyzbc_b_axis_tcp_pose_preserved=1"); + +function roundJoints(joints) { + return joints.map((value) => Math.round(value * 1e6) / 1e6); +} + +function xyzacToolAxis(aDegrees, cDegrees) { + const tilt = aDegrees * DEG_TO_RAD; + const c = cDegrees * DEG_TO_RAD; + return { + x: Math.sin(tilt) * Math.sin(c), + y: -Math.sin(tilt) * Math.cos(c), + z: Math.cos(tilt), + }; +} + +function xyzbcToolAxis(bDegrees, cDegrees) { + const tilt = bDegrees * DEG_TO_RAD; + const c = cDegrees * DEG_TO_RAD; + return { + x: Math.sin(tilt) * Math.cos(c), + y: Math.sin(tilt) * Math.sin(c), + z: Math.cos(tilt), + }; +} + +function assertVectorNear(actual, expected, tolerance = 1e-12) { + assert.ok(Math.abs(actual.x - expected.x) < tolerance); + assert.ok(Math.abs(actual.y - expected.y) < tolerance); + assert.ok(Math.abs(actual.z - expected.z) < tolerance); +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_parity_matrix.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_parity_matrix.mjs new file mode 100644 index 0000000..082adcf --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_parity_matrix.mjs @@ -0,0 +1,131 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; + +import { + LINUXCNC_PARITY_ITEMS, + RIGHT_SIDEBAR_PARITY_ENTRIES, + SWITCHKINS_PARITY_CODES, +} from "../../app/src/runtime/linuxcnc-parity-matrix.js"; +import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js"; +import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js"; +import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js"; +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; +import { createSimulationStore } from "../../app/src/state/store.js"; + +function item(matrix, id) { + const found = matrix.items.find((entry) => entry.id === id); + assert.ok(found, `missing parity matrix item ${id}`); + return found; +} + +async function waitForValidatedProgram(store) { + for (let attempt = 0; attempt < 30; attempt += 1) { + const state = store.getState(); + if (!state.interpreterExecutionPending && state.programValidation?.ready) { + return state; + } + await new Promise((resolve) => setTimeout(resolve, 0)); + } + return store.getState(); +} + +async function loadIniConfigFromVendoredSource(profile) { + const text = await readFile( + new URL(`../../../wasm-port/vendor/linuxcnc/${profile.iniPath}`, import.meta.url), + "utf8", + ); + return parseLinuxCncIni(text, { + path: profile.iniPath, + profileId: profile.id, + }); +} + +assert.equal(LINUXCNC_PARITY_ITEMS.length >= 11, true); +assert.deepEqual(RIGHT_SIDEBAR_PARITY_ENTRIES, [ + "E-STOP", + "POWER", + "RESET", + "AUTO", + "MANUAL", + "JOG", + "MDI", + "IDENTITY", + "TCP", +]); +assert.deepEqual(SWITCHKINS_PARITY_CODES, ["M428", "M429", "M430"]); + +const store = createSimulationStore(); +let state = store.getState(); +let matrix = state.linuxCncParityMatrix; + +assert.equal(matrix.apiName, "web-rtcp-5axis-linuxcnc-parity-matrix"); +assert.equal(matrix.profileId, "xyzac-trt"); +assert.equal(matrix.status, "implemented"); +assert.equal(matrix.implementedCount, matrix.itemCount); +assert.equal(matrix.rightSidebarComplete, true); +assert.equal(matrix.switchkinsComplete, true); +assert.deepEqual(matrix.actualRightSidebarEntries, RIGHT_SIDEBAR_PARITY_ENTRIES); +assert.equal(matrix.requiredSwitchkinsCodes.every((code) => matrix.activeSwitchkinsCodes.includes(code)), true); +assert.equal(matrix.linuxCncPrograms.some((path) => path.endsWith("impeller-7bl-xyzac.ngc")), true); +assert.equal(matrix.linuxCncPrograms.some((path) => path.endsWith("boat-xyzbc.ngc")), true); +assert.equal(matrix.linuxCncFunctions.includes("E-STOP/POWER/RESET task-state entry"), true); +assert.equal(matrix.linuxCncFunctions.includes("M428 TCP"), true); +assert.equal(matrix.linuxCncFunctions.includes("M429 identity"), true); +assert.equal(matrix.linuxCncFunctions.includes("M430 userk"), true); + +assert.equal(item(matrix, "xyzac-trt-axis-vismach-config").active, true); +assert.equal(item(matrix, "xyzac-trt-axis-vismach-config").sourceMapped, true); +assert.equal(item(matrix, "xyzac-trt-axis-vismach-config").linuxCncPaths.some((path) => path.endsWith("xyzac-trt.ini")), true); +assert.equal(item(matrix, "xyzbc-trt-axis-vismach-config").implemented, true); +assert.equal(item(matrix, "xyzbc-trt-axis-vismach-config").active, false); +assert.equal(item(matrix, "gmoccapy-trt-config").linuxCncPaths.some((path) => path.includes("gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini")), true); +assert.equal(item(matrix, "gmoccapy-trt-config").functions.includes("DISPLAY gmoccapy"), true); +assert.equal(item(matrix, "gmoccapy-native-operator-ui").active, true); +assert.equal(item(matrix, "right-sidebar-task-interlocks").active, true); +assert.equal(item(matrix, "vismach-machine-preview").active, true); +assert.equal(item(matrix, "source-derived-kinematics-switchkins").active, true); +assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").active, false); +assert.equal(item(matrix, "machine-project-directory").active, false); +assert.equal(item(matrix, "task-hal-status-loop").implemented, true); +assert.equal(item(matrix, "gmoccapy-postgui-tool-spindle").active, true); + +store.dispatch({ type: "SET_PROFILE", profileId: "xyzbc-trt" }); +state = store.getState(); +matrix = state.linuxCncParityMatrix; +assert.equal(matrix.profileId, "xyzbc-trt"); +assert.equal(item(matrix, "xyzac-trt-axis-vismach-config").active, false); +assert.equal(item(matrix, "xyzbc-trt-axis-vismach-config").active, true); +assert.equal(item(matrix, "source-derived-kinematics-switchkins").evidence.activeSwitchkinsCodes.includes("M428"), true); + +store.dispatch({ type: "SET_PROFILE", profileId: "xyzac-trt" }); +const profile = getFiveAxisProfile("xyzac-trt"); +store.dispatch({ + type: "ATTACH_INI_CONFIG", + profileId: profile.id, + iniConfig: await loadIniConfigFromVendoredSource(profile), +}); +store.dispatch({ + type: "ATTACH_INTERPRETER_RUNTIME", + runtime: await createLinuxCncInterpreterRuntime(), +}); +await store.stageMachineFiles({ storage: createMemorySessionStorage() }); +state = store.getState(); +matrix = state.linuxCncParityMatrix; +assert.equal(item(matrix, "machine-project-directory").active, true); +assert.equal(item(matrix, "machine-project-directory").evidence.iniSourceMatchesProfile, true); +assert.equal(item(matrix, "machine-project-directory").evidence.gcodeFileCount >= 8, true); + +store.dispatch({ + type: "LOAD_LINUXCNC_GCODE_SOURCE", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc", +}); +state = await waitForValidatedProgram(store); +matrix = state.linuxCncParityMatrix; +assert.equal(state.programValidation.ready, true); +assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").active, true); +assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").evidence.sourceGuard, "linuxcnc_vendored_5axis_gcode_source_file"); +assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").evidence.motionEventCount > 0, true); +assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").evidence.plannerSampleCount > 0, true); +assert.equal(matrix.activeCount >= 9, true); + +console.log("linuxcnc_parity_matrix_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs new file mode 100644 index 0000000..3b0a3fc --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs @@ -0,0 +1,163 @@ +import assert from "node:assert/strict"; +import { readFileSync } from "node:fs"; +import { fileURLToPath } from "node:url"; +import { dirname, resolve } from "node:path"; + +import { createLinuxCncTaskHalSdk } from "../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js"; +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; +import { createLinuxCncKinematicsRuntime } from "../../app/src/runtime/linuxcnc-kinematics-runtime.js"; +import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js"; +import { wrapTaskHalSdk } from "../../app/src/runtime/linuxcnc-task-hal-runtime.js"; +import { createSimulationStore } from "../../app/src/state/store.js"; + +const __filename = fileURLToPath(import.meta.url); +const __dirname = dirname(__filename); +const rootDir = resolve(__dirname, "../../.."); +const wasmPath = resolve(rootDir, "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm"); + +const sdk = await createLinuxCncTaskHalSdk({ + wasmBinary: readFileSync(wasmPath), + print() {}, + printErr(message) { + console.error(message); + }, +}); +const runtime = wrapTaskHalSdk(sdk); +const profile = getFiveAxisProfile("xyzac-trt"); +const iniText = readFileSync( + resolve(rootDir, "wasm-port/vendor/linuxcnc", profile.iniPath), + "utf8", +); +const iniConfig = parseLinuxCncIni(iniText, { + path: profile.iniPath, + profileId: profile.id, +}); +const store = createSimulationStore(); + +store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig }); +store.dispatch({ + type: "ATTACH_KINEMATICS_RUNTIME", + runtime: await createLinuxCncKinematicsRuntime({ moduleId: "xyzac-trt" }), +}); +store.dispatch({ type: "ATTACH_TASK_HAL_RUNTIME", runtime }); +assert.equal(store.getState().taskHalRuntimeReadiness.taskRuntimeReady, true); +assert.equal(store.getState().taskHalRuntimeReadiness.motionRuntimeReady, true); +assert.equal(store.getState().taskHalRuntimeReadiness.halRuntimeReady, true); + +await store.stageMachineFiles(); +store.dispatch({ + type: "LOAD_LINUXCNC_GCODE_SOURCE", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc", +}); +await waitForState(store, (state) => ( + state.machineFileStaging.selectedGcodeSourceRel?.endsWith("xyzac_switchkins_test_1.ngc") && + state.taskHalSession?.programPath?.endsWith("xyzac_switchkins_test_1.ngc") +)); + +store.dispatch({ type: "TOGGLE_POWER" }); +await waitForTaskHal(store); +store.dispatch({ type: "HOME" }); +store.dispatch({ type: "SET_MODE", mode: "auto" }); +await waitForTaskHal(store); +store.dispatch({ type: "RUN" }); +await waitForTaskHal(store); + +let state = store.getState(); +assert.equal(state.taskHalStatus.summary.taskRuntimeReady, true); +assert.equal(state.taskHalStatus.summary.halSyncReady, true); +assert.equal(state.taskHalStatus.ui.activeLine >= 1, true); +assert.equal(state.programExecutionSourceMode, "linuxcnc-task-motion-hal-wasm"); +assert.equal(state.fullExecutionBoundary.nativeTaskReady, true); +assert.equal(state.fullExecutionBoundary.nativeHalSyncReady, true); + +await store.initializeTaskHalSession({ openProgram: true }); +if (!store.getState().machine.powerOn) { + store.dispatch({ type: "TOGGLE_POWER" }); + await waitForTaskHal(store); +} +store.dispatch({ type: "HOME" }); +store.dispatch({ type: "SET_MODE", mode: "mdi" }); +await waitForTaskHal(store); +store.dispatch({ type: "RUN_MDI", command: "M428" }); +await waitForTaskHal(store); +state = store.getState(); +assert.equal(state.taskHalStatus.ui.switchkinsType, 1); +assert.equal(state.kinsType, "tcp-xyzac"); +assert.equal(state.rtcpState, "on"); + +store.dispatch({ type: "SET_MODE", mode: "manual" }); +await waitForTaskHal(store); +store.dispatch({ type: "HOME" }); +state = store.getState(); +const homePose = { ...state.axisPose }; +assert.equal(homePose.x, 43); +assert.equal(homePose.y, -32.15); +assert.equal(homePose.z, -11.306); +store.dispatch({ type: "JOG", axis: "x", direction: 1, increment: 0.5 }); +await waitForTaskHal(store); +state = store.getState(); +assert.equal(state.taskHalStatus.motionStatus.motion.teleopMode, 1); +assert.equal(state.programRuntimeFeedback.sourceMode, "linuxcnc-task-motion-hal-wasm"); +assertNear(state.axisPose.x, homePose.x + 0.5, "task/HAL JOG X+ should keep HOME work-pose continuity"); +assertNear(state.axisPose.y, homePose.y, "task/HAL JOG X+ should not reset Y"); +assertNear(state.axisPose.z, homePose.z, "task/HAL JOG X+ should not reset Z"); + +store.dispatch({ type: "JOG", axis: "y", direction: -1, increment: 0.5 }); +await waitForTaskHal(store); +state = store.getState(); +assertNear(state.axisPose.x, homePose.x + 0.5, "task/HAL JOG Y- should not reset X"); +assertNear(state.axisPose.y, homePose.y - 0.5, "task/HAL JOG Y- should keep HOME work-pose continuity"); +assertNear(state.axisPose.z, homePose.z, "task/HAL JOG Y- should not reset Z"); + +store.dispatch({ type: "SET_MODE", mode: "auto" }); +await waitForTaskHal(store); +store.dispatch({ type: "PAUSE" }); +await waitForTaskHal(store); +assert.equal(store.getState().machine.interpState, "paused"); + +store.dispatch({ type: "RESUME" }); +await waitForTaskHal(store); +assert.equal(store.getState().machine.interpState, "reading"); + +store.dispatch({ type: "STEP" }); +await waitForTaskHal(store); +state = store.getState(); +assert.equal(state.machine.interpState, "paused"); +assert.equal(state.machine.taskPaused, true); +assert.equal(state.taskHalStatus.task.singleStepping, true); + +store.dispatch({ type: "STOP" }); +await waitForTaskHal(store); +state = store.getState(); +assert.equal(state.runState, "stopped"); +assert.equal(state.machine.interpState, "idle"); +assert.equal(state.taskHalStatus.motionStatus.motion.aborted, true); + +console.log("linuxcnc_task_hal_runtime_smoke=ok"); +console.log("task_hal_machine_file_smoke=ok"); +console.log("switchkins_remap_hal_sync_smoke=ok"); +console.log("browser_task_hal_worker_smoke=ok"); + +async function waitForTaskHal(store) { + for (let attempt = 0; attempt < 30; attempt += 1) { + if (!store.getState().taskHalExecutionPending) { + await new Promise((resolve) => setTimeout(resolve, 0)); + if (!store.getState().taskHalExecutionPending) return store.getState(); + } + await new Promise((resolve) => setTimeout(resolve, 0)); + } + throw new Error("task/HAL store command did not settle"); +} + +async function waitForState(store, predicate) { + for (let attempt = 0; attempt < 60; attempt += 1) { + const state = store.getState(); + if (predicate(state)) return state; + await new Promise((resolve) => setTimeout(resolve, 0)); + } + throw new Error("store state condition did not settle"); +} + +function assertNear(actual, expected, message) { + assert.equal(Math.abs(Number(actual) - Number(expected)) < 1e-9, true, `${message}: ${actual} !== ${expected}`); +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_machine_file_staging.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_machine_file_staging.mjs new file mode 100644 index 0000000..e4d4f2c --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_machine_file_staging.mjs @@ -0,0 +1,160 @@ +import assert from "node:assert/strict"; + +import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js"; +import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js"; +import { + createMachineFileStagingPlan, + selectMachineFileProgram, + stageProfileMachineFiles, +} from "../../app/src/runtime/linuxcnc-machine-file-staging.js"; +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; +import { createSimulationStore } from "../../app/src/state/store.js"; + +async function waitForMachineFileExecution(store) { + for (let attempt = 0; attempt < 20; attempt += 1) { + const state = store.getState(); + if (!state.interpreterExecutionPending && state.machineFileExecution) { + return state; + } + await new Promise((resolve) => setTimeout(resolve, 0)); + } + return store.getState(); +} + +const profile = getFiveAxisProfile("xyzac-trt"); +const storage = createMemorySessionStorage(); +const plan = await createMachineFileStagingPlan({ profile }); + +assert.equal(plan.apiName, "web-rtcp-5axis-machine-file-staging-plan"); +assert.equal(plan.profileId, "xyzac-trt"); +assert.equal(plan.semanticBoundary, "linuxcnc_sim_config_file_staging_plan_only"); +assert.equal(plan.files.some((file) => file.sourceRel.endsWith("xyzac-trt.ini")), true); +assert.equal(plan.files.some((file) => file.sourceRel.endsWith("xyzac-trt.tbl")), true); +assert.equal(plan.files.some((file) => file.sourceRel.endsWith("remap_subs/428remap.ngc")), true); +assert.equal(plan.files.some((file) => file.sourceRel.endsWith("remap_subs/429remap.ngc")), true); +assert.equal(plan.files.some((file) => file.sourceRel.endsWith("demos/xyzac_switchkins.ngc")), true); +assert.equal(plan.summary.gcodeFileCount, 16); +assert.equal(plan.summary.remapFileCount >= 3, true); +assert.equal(plan.summary.demoFileCount >= 1, true); + +const staged = await stageProfileMachineFiles(profile, { storage }); +assert.equal(staged.save.apiName, "web-rtcp-5axis-machine-file-staging-save"); +assert.equal(staged.save.status, "saved"); +assert.equal(staged.save.fileCount, staged.plan.files.length); +assert.equal(staged.save.storageMode, "memory"); +assert.equal(staged.save.semanticBoundary, "memory_machine_file_text_staging_current_page_lifecycle_only"); +assert.equal(staged.save.summary.gcodeFileCount, 16); +assert.equal(staged.save.gcodeFiles.length, 16); +assert.equal(staged.save.summary.kinds.remap >= 3, true); +assert.equal(staged.save.gcodeSources.some((source) => source.filename === "impeller-7bl-xyzac.ngc"), true); +assert.equal(staged.save.gcodeSources.some((source) => source.filename === "boat-xyzac.ngc"), true); +assert.equal(staged.save.gcodeFiles.some((file) => file.sourceRel.endsWith("remap_subs/430remap.ngc")), true); +assert.equal(staged.save.files.every((file) => file.opfsPath.startsWith("web-rtcp-5axis-sim-plan/machines/xyzac-trt/")), true); +assert.throws( + () => selectMachineFileProgram(staged.plan, staged.save, "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc"), + /must come from LinuxCNC source demos/, +); + +const iniOpfsPath = staged.save.files.find((file) => file.sourceRel.endsWith("xyzac-trt.ini")).opfsPath; +assert.equal(storage.files.get(iniOpfsPath).includes("KINEMATICS = xyzac-trt-kins"), true); + +const store = createSimulationStore(); +store.dispatch({ + type: "ATTACH_INTERPRETER_RUNTIME", + runtime: await createLinuxCncInterpreterRuntime(), +}); +const storeStage = await store.stageMachineFiles({ storage }); +const state = store.getState(); +assert.equal(storeStage.save.fileCount, staged.save.fileCount); +assert.equal(state.machineFileStaging.status, "staged"); +assert.equal(state.machineFileStaging.profileId, "xyzac-trt"); +assert.equal(state.machineFileStaging.fileCount, staged.save.fileCount); +assert.equal(state.machineFileStaging.storageMode, "memory"); +assert.equal(state.machineFileStaging.storageCapability.reason, "explicit_storage"); +assert.equal(state.machineFileStaging.save.summary.gcodeFileCount, 16); +assert.equal(state.machineFileStaging.save.summary.kinds.remap >= 3, true); +assert.equal(state.machineFileStaging.gcodeSources.length >= 4, true); +assert.equal(state.machineFileStaging.selectedGcodeSourceRel, null); +assert.equal(state.toolDbReadiness.toolDbProcessReady, true); +assert.equal(state.toolDbReadiness.toolDbProcessScope, "web_simulation_only"); +assert.equal(state.toolDbReadiness.hostToolDbProcessReady, false); +assert.equal(state.toolDbReadiness.toolCount, 10); +assert.equal(state.toolDbSimulation.toolTable.entries[1].toolNumber, 2); +assert.equal(state.toolDbSimulation.toolTable.entries[1].offset.z, 15); +assert.equal(state.controlledUserMReadiness.externalUserMProcessReady, true); +assert.equal(state.controlledUserMReadiness.externalUserMProcessScope, "web_simulation_only"); + +store.dispatch({ type: "RUN_MACHINE_FILE_PROGRAM" }); +assert.equal( + store.getState().operatorMessage, + "machine-file run blocked: select a LinuxCNC source-directory 5-axis G-code program", +); + +store.dispatch({ + type: "LOAD_LINUXCNC_GCODE_SOURCE", + sourceRel: "operator-demo.ngc", +}); +assert.equal( + store.getState().operatorMessage, + "LinuxCNC G-code source not staged: operator-demo.ngc", +); + +store.dispatch({ + type: "LOAD_LINUXCNC_GCODE_SOURCE", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc", +}); +await new Promise((resolve) => setTimeout(resolve, 0)); +const sourceState = store.getState(); +assert.equal(sourceState.programSource, "linuxcnc-vendored-5axis-gcode"); +assert.equal(sourceState.activeProgram.endsWith("impeller-7bl-xyzac.ngc"), true); +assert.equal(sourceState.programLines[0].includes("Impeller 5-axis"), true); +assert.equal(sourceState.machineFileStaging.selectedGcodeSourceRel.endsWith("impeller-7bl-xyzac.ngc"), true); +assert.equal(sourceState.machineFileStaging.plan.wasmProgramPath.endsWith("/demos/impeller-7bl-xyzac.ngc"), true); +assert.equal(sourceState.toolDbReadiness.toolDbProcessReady, true); +assert.equal(sourceState.controlledUserMReadiness.externalUserMProcessReady, true); + +store.dispatch({ type: "RUN_MACHINE_FILE_PROGRAM" }); +const runState = await waitForMachineFileExecution(store); +assert.equal(runState.machineFileExecution.sourceMode, "linuxcnc-machine-file-remap-wasm"); +assert.equal(runState.machineFileExecution.semanticBoundary, "linuxcnc_fiveaxis_remap_wasm_machine_file_execution"); +assert.equal(runState.machineFileExecution.summary.machineFileExecutionReady, true); +assert.equal(runState.machineFileExecution.summary.remapRuntimeReady, true); +assert.equal(runState.machineFileExecution.summary.plannerRuntimeReady, true); +assert.equal(runState.machineFileExecution.summary.fullLinuxCncProgramExecutionReady, false); +assert.equal(runState.machineFileExecution.plannerTiming.samples.length > 0, true); +assert.equal(runState.machineFileExecution.resultText.includes("fiveaxis_ini_open=1"), true); +assert.equal(runState.machineFileExecution.resultText.includes("fiveaxis_remaps_ready=1"), true); +assert.equal(runState.machineFileExecution.resultText.includes("fiveaxis_file_reached_exit=1"), true); +assert.equal(runState.machineFileExecution.machineFilePlan.selectedProgramFilename, "impeller-7bl-xyzac.ngc"); +assert.equal(runState.machineFileExecution.machineFilePlan.wasmProgramPath.endsWith("/demos/impeller-7bl-xyzac.ngc"), true); +assert.equal(runState.fullExecutionBoundary.apiName, "web-rtcp-5axis-full-linuxcnc-execution-boundary"); +assert.equal(runState.fullExecutionBoundary.machineFileBackedRemapReady, true); +assert.equal(runState.fullExecutionBoundary.remapRuntimeReady, true); +assert.equal(runState.fullExecutionBoundary.halSwitchkinsEvidenceReady, true); +assert.equal(runState.fullExecutionBoundary.plannerRuntimeReady, true); +assert.equal(runState.fullExecutionBoundary.nativeTaskReady, false); +assert.equal(runState.fullExecutionBoundary.nativeHalSyncReady, false); +assert.equal(runState.fullExecutionBoundary.fullLinuxCncProgramExecutionReady, false); +assert.equal(runState.fullExecutionBoundary.promotionAllowed, false); +assert.equal( + runState.fullExecutionBoundary.semanticBoundary, + "linuxcnc_machine_file_remap_ready_planner_task_hal_blocked", +); +assert.equal(runState.fullExecutionBoundary.satisfied.includes("fiveaxis-remap-machine-file-run"), true); +assert.equal(runState.fullExecutionBoundary.satisfied.includes("switchkins-hal-bridge-evidence"), true); +assert.equal(runState.fullExecutionBoundary.satisfied.includes("linuxcnc-tp-queue-runtime-timing"), true); + +globalThis.__WEB_RTCP_FORCE_OPFS_UNAVAILABLE__ = true; +const fallbackStore = createSimulationStore(); +const fallbackStage = await fallbackStore.stageMachineFiles(); +const fallbackState = fallbackStore.getState(); +assert.equal(fallbackStage.save.storageMode, "memory-fallback"); +assert.equal(fallbackStage.save.storageCapability.opfsUnavailable, true); +assert.equal(fallbackStage.save.storageCapability.reason, "forced_unavailable"); +assert.equal(fallbackState.machineFileStaging.status, "staged"); +assert.equal(fallbackState.machineFileStaging.storageMode, "memory-fallback"); +assert.equal(fallbackState.toolDbReadiness.toolDbProcessReady, true); +assert.equal(fallbackState.operatorMessage.includes("staged"), true); +delete globalThis.__WEB_RTCP_FORCE_OPFS_UNAVAILABLE__; + +console.log("machine_file_staging_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_native_task_hal_audit.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_native_task_hal_audit.mjs new file mode 100644 index 0000000..863760f --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_native_task_hal_audit.mjs @@ -0,0 +1,211 @@ +import assert from "node:assert/strict"; +import { mkdirSync, readFileSync, writeFileSync } from "node:fs"; +import { dirname, resolve } from "node:path"; +import { fileURLToPath } from "node:url"; +import { spawnSync } from "node:child_process"; + +import { createFullLinuxCncExecutionBoundary } from "../../app/src/runtime/full-execution-boundary.js"; +import { createNativeTaskHalReadinessAudit } from "../../app/src/runtime/native-task-hal-audit.js"; + +const __filename = fileURLToPath(import.meta.url); +const __dirname = dirname(__filename); +const projectDir = resolve(__dirname, "../.."); +const rootDir = resolve(projectDir, ".."); +const phase0Script = resolve(rootDir, "wasm-port/tests/native/verify_task_hal_phase0.sh"); +const manifestLog = resolve(rootDir, "wasm-port/build/task-hal/verify_task_hal_source_manifest.stdout.log"); +const probeLog = resolve(rootDir, "wasm-port/build/task-hal/probe_trt_task_hal_runtime.stdout.log"); +const manifestReport = resolve(rootDir, "wasm-port/build/task-hal/task-hal-source-manifest.tsv"); +const artifactDir = resolve(projectDir, "build/readiness"); +const artifactPath = resolve(artifactDir, "native-task-hal-readiness.json"); + +run(phase0Script); + +const sourceManifest = parseKeyValueFile(manifestLog); +const nativeProbe = parseKeyValueFile(probeLog); +const fullExecutionBoundary = createFullLinuxCncExecutionBoundary(createPromotedSimulationState()); +const audit = createNativeTaskHalReadinessAudit({ + sourceManifest, + nativeProbe, + fullExecutionBoundary, + taskHalRuntimeReadiness: { + taskRuntimeReady: true, + motionRuntimeReady: true, + halRuntimeReady: true, + halSyncReady: true, + }, + taskHalStatus: { + summary: { + taskRuntimeReady: true, + motionRuntimeReady: true, + halRuntimeReady: true, + halSyncReady: true, + taskHalComparisonReady: true, + }, + }, + generatedAt: "2026-06-22T00:00:00.000Z", + artifactPaths: { + readinessJson: relativeFromRoot(artifactPath), + sourceManifestLog: relativeFromRoot(manifestLog), + sourceManifestReport: relativeFromRoot(manifestReport), + nativeProbeLog: relativeFromRoot(probeLog), + }, +}); + +assert.equal(audit.status, "ok"); +assert.equal(audit.taskHalWebSimulationBoundaryConsistent, true); +assert.equal(audit.webSimulation.promoted, true); +assert.equal(audit.webSimulation.nativeTaskReady, true); +assert.equal(audit.webSimulation.nativeHalSyncReady, true); +assert.equal(audit.webSimulation.fullLinuxCncProgramExecutionReady, true); +assert.equal(audit.nativeHostAndHardware.nativeProbe, "ok"); +assert.match(audit.nativeHostAndHardware.nativeProbeStatus, /^(passed|ready_disabled_by_default|skipped_missing_host_runtime)$/); +assert.equal(audit.nativeHostAndHardware.nativePromotionAllowed, false); +assert.equal(audit.nativeHostAndHardware.hardwareDrive, false); +assert.equal(audit.nativeHostAndHardware.hostRealtimeKernel, false); +assert.equal(audit.nativeHostAndHardware.externalUserMProcessReady, false); +assert.equal(audit.nativeHostAndHardware.toolDbProcessReady, false); +assert.equal(audit.nativeHostAndHardware.hostExternalUserMProcessReady, false); +assert.equal(audit.nativeHostAndHardware.hostToolDbProcessReady, false); +assert.equal(audit.nativeHostAndHardware.arbitraryUserMExecution, false); +assert.equal(audit.toolUserWebSimulation.externalUserMProcessReady, true); +assert.equal(audit.toolUserWebSimulation.externalUserMProcessScope, "web_simulation_only"); +assert.equal(audit.toolUserWebSimulation.toolDbProcessReady, true); +assert.equal(audit.toolUserWebSimulation.toolDbProcessScope, "web_simulation_only"); +assert.equal(audit.toolUserWebSimulation.ready, true); +assert.equal(audit.sourceManifest.ready, true); +assert.equal(audit.sourceManifest.taskSourceCount > 0, true); +assert.equal(audit.sourceManifest.halSourceCount > 0, true); +assert.equal(audit.sourceManifest.motionSourceCount > 0, true); +assert.equal(audit.gates.task_hal_web_simulation_boundary_consistent, 1); +assert.equal(audit.gates.hardware_drive, 0); +assert.equal(audit.gates.host_realtime_kernel, 0); +assert.equal(audit.gates.external_user_m_process_ready, 1); +assert.equal(audit.gates.tool_db_process_ready, 1); +assert.equal(audit.gates.host_external_user_m_process_ready, 0); +assert.equal(audit.gates.host_tool_db_process_ready, 0); +assert.equal(audit.gates.promotion_scope, "web_simulation_only"); + +mkdirSync(artifactDir, { recursive: true }); +writeFileSync(artifactPath, `${JSON.stringify(audit, null, 2)}\n`); + +const saved = JSON.parse(readFileSync(artifactPath, "utf8")); +assert.equal(saved.apiName, "web-rtcp-5axis-native-task-hal-readiness-audit"); +assert.equal(saved.status, "ok"); + +console.log("native_task_hal_source_artifact_audit=ok"); +console.log(`native_task_hal_readiness_artifact=${relativeFromRoot(artifactPath)}`); +console.log("task_hal_web_simulation_boundary_consistent=1"); +console.log(`native_task_hal_host_probe_status=${audit.nativeHostAndHardware.nativeProbeStatus}`); +console.log("hardware_drive=0"); +console.log("host_realtime_kernel=0"); +console.log("external_user_m_process_ready=1"); +console.log("tool_db_process_ready=1"); +console.log("host_external_user_m_process_ready=0"); +console.log("host_tool_db_process_ready=0"); +console.log("promotion_scope=web_simulation_only"); + +function createPromotedSimulationState() { + const programExecution = { + sourceMode: "linuxcnc-interpreter-wasm", + plannerTiming: { + plannerRuntimeReady: true, + semanticBoundary: "linuxcnc_tp_queue_runtime_timing_from_canonical_motion", + }, + summary: { + motionEventCount: 3, + canonicalEventCount: 8, + plannerRuntimeReady: true, + }, + }; + + return { + machineProfile: "xyzac-trt", + linuxCncBoundaryAdapter: { + linuxCncKinematicsReady: true, + linuxCncInterpreterReady: true, + }, + rtcpFrame: { + semanticBoundary: "linuxcnc_kinematics_wasm_c_abi", + readiness: { linuxCncKinematicsReady: true }, + }, + interpreterRuntimeReadiness: { + loaded: true, + semanticBoundary: "linuxcnc_interpreter_wasm_canonical_events", + }, + programExecution, + machineFileStaging: { + status: "staged", + fileCount: 12, + }, + machineFileExecution: { + sourceMode: "linuxcnc-machine-file-remap-wasm", + summary: { machineFileExecutionReady: true }, + resultText: [ + "fiveaxis_ini_open=1", + "fiveaxis_remaps_ready=1", + "fiveaxis_file_reached_exit=1", + "fiveaxis_hal_switchkins: rc=0 found=1 value=1", + ].join("\n"), + }, + taskHalRuntimeReadiness: { + taskRuntimeReady: true, + motionRuntimeReady: true, + halRuntimeReady: true, + halSyncReady: true, + }, + taskHalStatus: { + summary: { + taskRuntimeReady: true, + motionRuntimeReady: true, + halRuntimeReady: true, + halSyncReady: true, + taskHalComparisonReady: true, + }, + ui: { + taskCycle: 2, + servoCycle: 20, + motionQueueDepth: 0, + halChangedPinCount: 4, + }, + }, + toolDbReadiness: { + toolDbProcessReady: true, + toolDbProcessScope: "web_simulation_only", + hostToolDbProcessReady: false, + toolCount: 10, + }, + controlledUserMReadiness: { + externalUserMProcessReady: true, + externalUserMProcessScope: "web_simulation_only", + hostExternalUserMProcessReady: false, + arbitraryUserMExecution: false, + }, + }; +} + +function run(scriptPath) { + const result = spawnSync("bash", [scriptPath], { + cwd: rootDir, + encoding: "utf8", + }); + if (result.status !== 0) { + process.stdout.write(result.stdout || ""); + process.stderr.write(result.stderr || ""); + throw new Error(`${scriptPath} failed with status ${result.status}`); + } +} + +function parseKeyValueFile(path) { + const fields = {}; + for (const line of readFileSync(path, "utf8").split(/\r?\n/)) { + if (!line || line.startsWith("#")) continue; + const equals = line.indexOf("="); + if (equals <= 0) continue; + fields[line.slice(0, equals)] = line.slice(equals + 1); + } + return fields; +} + +function relativeFromRoot(path) { + return path.startsWith(`${rootDir}/`) ? path.slice(rootDir.length + 1) : path; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_profile_boundary.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_profile_boundary.mjs new file mode 100644 index 0000000..0931790 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_profile_boundary.mjs @@ -0,0 +1,145 @@ +import assert from "node:assert/strict"; + +import { xyzacTrtProfile } from "../../app/src/profiles/xyzac-trt.js"; +import { getFiveAxisProfile, fiveAxisProfiles } from "../../app/src/profiles/index.js"; +import { createPyvcpHalBindingSummary, xyzacTrtPyvcpPanelSchema } from "../../app/src/panel-schema/xyzac-trt-pyvcp.js"; +import { createLinuxCncBoundaryAdapter, createLinuxCncBoundaryReadiness } from "../../app/src/runtime/linuxcnc-boundary-adapter.js"; +import { createLinuxCncKinematicsRuntime } from "../../app/src/runtime/linuxcnc-kinematics-runtime.js"; +import { createProfileSourceReferenceSummary } from "../../app/src/profiles/source-reference-map.js"; + +assert.equal(xyzacTrtProfile.id, "xyzac-trt"); +assert.equal(xyzacTrtProfile.iniPath.endsWith("xyzac-trt.ini"), true); +assert.deepEqual(xyzacTrtProfile.coordinates, ["X", "Y", "Z", "A", "C"]); +assert.equal(xyzacTrtProfile.kinematics, "xyzac-trt-kins"); +assert.equal(xyzacTrtProfile.machineName, "sim-xyzac-trt-kins (switchkins)"); +assert.equal(xyzacTrtProfile.display.jogAxes.join(""), "XYZC"); +assert.equal(xyzacTrtProfile.rs274ngc.halPinVars, true); +assert.equal(xyzacTrtProfile.traj.coordinates, "XYZAC"); +assert.equal(xyzacTrtProfile.axisLimits.A.max, 50); +assert.equal(xyzacTrtProfile.jointConfig.length, 5); +assert.equal(xyzacTrtProfile.halui.mdiCommands.join(","), "M429,M428,M430"); +assert.equal(xyzacTrtProfile.hal.halcmd.switchkinsSelectNet.target, "motion.switchkins-type"); +assert.equal(xyzacTrtProfile.hal.halcmd.feedbackNets.length, 5); +assert.equal(xyzacTrtProfile.hal.halcmd.offsetNets.length, 4); +assert.equal(xyzacTrtProfile.toolTable.toolCount, 10); +assert.equal(xyzacTrtProfile.toolTable.tools[1].zOffset, 15); +assert.equal(xyzacTrtProfile.kinematicsParameters.sparm, "identityfirst"); +assert.equal(xyzacTrtProfile.remaps.map((remap) => remap.code).join(","), "M428,M429,M430"); +assert.equal(xyzacTrtProfile.remaps.every((remap) => remap.analogOutputIndex === 3), true); +assert.equal(xyzacTrtProfile.halPins.includes("motion.switchkins-type"), true); +assert.equal(xyzacTrtProfile.halPins.includes("xyzac-trt-kins.tool-offset"), true); +assert.equal(xyzacTrtProfile.promotionAllowed, false); +assert.equal(xyzacTrtProfile.linuxCncKinematicsReady, false); +assert.deepEqual(fiveAxisProfiles.map(({ id }) => id), [ + "xyzac-trt", + "xyzbc-trt", + "gmoccapy-xyzac-trt", + "gmoccapy-xyzab", +]); + +const xyzbcTrtProfile = getFiveAxisProfile("xyzbc-trt"); +assert.equal(xyzbcTrtProfile.id, "xyzbc-trt"); +assert.equal(xyzbcTrtProfile.iniPath.endsWith("xyzbc-trt.ini"), true); +assert.deepEqual(xyzbcTrtProfile.coordinates, ["X", "Y", "Z", "B", "C"]); +assert.equal(xyzbcTrtProfile.kinematics, "xyzbc-trt-kins"); +assert.equal(xyzbcTrtProfile.kinematicsModuleId, "xyzbc-trt"); +assert.equal(xyzbcTrtProfile.machineName, "sim-xyzbc-trt-kins (switchkins)"); +assert.equal(xyzbcTrtProfile.traj.coordinates, "XYZBC"); +assert.equal(xyzbcTrtProfile.axisLimits.B.max, 36000); +assert.equal(xyzbcTrtProfile.hal.halcmd.feedbackNets.some((net) => net.target === "xyzbc-trt-gui.tilt-b"), true); +assert.equal(xyzbcTrtProfile.halPins.includes("xyzbc-trt-kins.x-offset"), true); +assert.equal(xyzbcTrtProfile.panelSchema.id, "xyzbc-trt-switchkins-pyvcp"); + +const sourceSummary = createProfileSourceReferenceSummary("xyzac-trt"); +assert.equal(sourceSummary.referenceCount >= 8, true); +assert.equal(sourceSummary.kinds.includes("tool_table"), true); +assert.equal(sourceSummary.sourceRequiredCount >= 3, true); +assert.equal(sourceSummary.promotionAllowed, false); +assert.equal(sourceSummary.semanticBoundary, "profile_source_map_only_not_runtime_proof"); +assert.ok(sourceSummary.references.some((reference) => reference.path.endsWith("xyzac-trt.ini"))); +assert.ok(sourceSummary.references.some((reference) => reference.path.endsWith("trtfuncs.c"))); + +const xyzbcSourceSummary = createProfileSourceReferenceSummary("xyzbc-trt"); +assert.equal(xyzbcSourceSummary.referenceCount >= 7, true); +assert.ok(xyzbcSourceSummary.references.some((reference) => reference.path.endsWith("xyzbc-trt.ini"))); +assert.ok(xyzbcSourceSummary.references.some((reference) => reference.path.endsWith("xyzbc-trt-kins.c"))); + +const gmoccapyXyzacTrtProfile = getFiveAxisProfile("gmoccapy-xyzac-trt"); +assert.equal(gmoccapyXyzacTrtProfile.id, "gmoccapy-xyzac-trt"); +assert.equal(gmoccapyXyzacTrtProfile.display.display, "gmoccapy"); +assert.equal(gmoccapyXyzacTrtProfile.kinematics, "xyzac-trt-kins"); +assert.equal(gmoccapyXyzacTrtProfile.kinematicsModuleId, "xyzac-trt"); +assert.equal(gmoccapyXyzacTrtProfile.rtcpProof, true); +assert.equal(gmoccapyXyzacTrtProfile.kinematicsParameters.fixedTrtDefault, true); +const gmoccapyTrtSourceSummary = createProfileSourceReferenceSummary("gmoccapy-xyzac-trt"); +assert.equal(gmoccapyTrtSourceSummary.referenceCount >= 10, true); +assert.ok(gmoccapyTrtSourceSummary.references.some((reference) => reference.path.endsWith("non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini"))); +assert.ok(gmoccapyTrtSourceSummary.references.some((reference) => reference.path.endsWith("examples/impeller-7bl-xyzac.ngc"))); + +const gmoccapyXyzabProfile = getFiveAxisProfile("gmoccapy-xyzab"); +assert.equal(gmoccapyXyzabProfile.id, "gmoccapy-xyzab"); +assert.deepEqual(gmoccapyXyzabProfile.coordinates, ["X", "Y", "Z", "A", "B"]); +assert.equal(gmoccapyXyzabProfile.kinematics, "trivkins coordinates=xyzab"); +assert.equal(gmoccapyXyzabProfile.tcpCapable, false); +assert.equal(gmoccapyXyzabProfile.rtcpProof, false); +assert.equal(gmoccapyXyzabProfile.promotionAllowed, false); +assert.equal(gmoccapyXyzabProfile.hal.postguiRequiresHalcompReady, true); +assert.equal(gmoccapyXyzabProfile.hal.halcmd.toolChange.strategy, "iocontrol-loopback"); +assert.equal(gmoccapyXyzabProfile.hal.halcmd.toolChange.manualGmoccapyPinsConnected, false); +const gmoccapySourceSummary = createProfileSourceReferenceSummary("gmoccapy-xyzab"); +assert.equal(gmoccapySourceSummary.referenceCount >= 10, true); +assert.ok(gmoccapySourceSummary.references.some((reference) => reference.path.endsWith("gmoccapy_XYZAB.ini"))); +assert.ok(gmoccapySourceSummary.references.some((reference) => reference.path.endsWith("gmoccapy_postgui.hal"))); + +const panelSummary = createPyvcpHalBindingSummary(xyzacTrtPyvcpPanelSchema); +assert.equal(panelSummary.schemaId, "xyzac-trt-switchkins-pyvcp"); +assert.equal(panelSummary.controlCount, 5); +assert.equal(panelSummary.buttonCount, 4); +assert.deepEqual(panelSummary.mdiCommands, ["M429", "M428", "M430"]); +assert.ok(panelSummary.halNets.some((net) => net.target === "halui.mdi-command-01")); +assert.equal(panelSummary.promotionAllowed, false); + +const adapter = createLinuxCncBoundaryAdapter(); +assert.equal(adapter.apiName, "web-rtcp-5axis-linuxcnc-boundary-adapter"); +assert.equal(adapter.profileId, "xyzac-trt"); +assert.equal(adapter.runtimeReady, false); +assert.equal(adapter.kinematicsRuntimeReady, false); +assert.equal(adapter.interpreterRuntimeReady, false); +assert.equal(adapter.linuxCncKinematicsReady, false); +assert.equal(adapter.promotionAllowed, false); +assert.equal(adapter.profileSummary.coordinates, "XYZAC"); +assert.equal(adapter.profileSummary.jointCount, 5); +assert.equal(adapter.profileSummary.mdiCommandCount, 3); +assert.equal(adapter.profileSummary.toolCount, 10); +assert.equal(adapter.profileSummary.feedbackNetCount, 5); +assert.equal(adapter.adapterPoints.pyvcpSchemaId, "xyzac-trt-switchkins-pyvcp"); +assert.equal(adapter.adapterPoints.halPins.includes("halui.mdi-command-00"), true); + +const readiness = createLinuxCncBoundaryReadiness(adapter); +assert.equal(readiness.ready, false); +assert.equal(readiness.linuxCncKinematicsReady, false); +assert.equal(readiness.promotionAllowed, false); +assert.ok(readiness.missing.includes("kinematics runtime")); +assert.ok(readiness.missing.includes("interpreter/remap runtime")); + +const runtime = await createLinuxCncKinematicsRuntime({ moduleId: "xyzac-trt" }); +const kinematicsAdapter = createLinuxCncBoundaryAdapter({ + runtime: { + kinematicsWasm: runtime.readiness(), + interpreterWasm: null, + }, +}); +const kinematicsReadiness = createLinuxCncBoundaryReadiness(kinematicsAdapter); +assert.equal(kinematicsAdapter.runtimeReady, false); +assert.equal(kinematicsAdapter.kinematicsRuntimeReady, true); +assert.equal(kinematicsAdapter.interpreterRuntimeReady, false); +assert.equal(kinematicsAdapter.linuxCncKinematicsReady, true); +assert.equal(kinematicsAdapter.promotionAllowed, true); +assert.equal(kinematicsAdapter.fullLinuxCncProgramExecutionReady, false); +assert.equal(kinematicsAdapter.semanticBoundary, "linuxcnc_kinematics_wasm_runtime_connected"); +assert.equal(kinematicsReadiness.ready, true); +assert.equal(kinematicsReadiness.linuxCncKinematicsReady, true); +assert.equal(kinematicsReadiness.fullLinuxCncProgramExecutionReady, false); +assert.ok(kinematicsReadiness.missing.includes("interpreter/remap runtime")); + +console.log("profile_boundary_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_real_linuxcnc_5axis_program_cases.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_real_linuxcnc_5axis_program_cases.mjs new file mode 100644 index 0000000..29f3ad4 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_real_linuxcnc_5axis_program_cases.mjs @@ -0,0 +1,130 @@ +import assert from "node:assert/strict"; + +import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js"; +import { + selectMachineFileProgram, + stageProfileMachineFiles, +} from "../../app/src/runtime/linuxcnc-machine-file-staging.js"; +import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js"; +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; +import { createSimulationStore } from "../../app/src/state/store.js"; + +const TRT_DEMO_PREFIX = "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/"; +const DIRECT_CANONICAL_CASES = [ + "boat-xyzac.ngc", + "boat-xyzbc.ngc", + "impeller-7bl-xyzac.ngc", + "xyzac_switchkins_test_1.ngc", + "xyzac_switchkins_test_2.ngc", + "xyzac_switchkins_test_3.ngc", +]; +const ENTRY_MACHINE_FILE_CASES = [ + "xyzac_switchkins.ngc", + "xyzbc_switchkins.ngc", +]; + +const runtime = await createLinuxCncInterpreterRuntime(); +const staged = await stageProfileMachineFiles(getFiveAxisProfile("xyzac-trt"), { + storage: createMemorySessionStorage(), +}); +const sourceByFilename = new Map(staged.save.gcodeSources.map((source) => [source.filename, source])); + +for (const filename of [...DIRECT_CANONICAL_CASES, ...ENTRY_MACHINE_FILE_CASES]) { + const source = sourceByFilename.get(filename); + assert.ok(source, `${filename} must be present in staged LinuxCNC demo sources`); + assert.equal(source.sourceRel, `${TRT_DEMO_PREFIX}${filename}`); + assert.equal(source.sourceMode, "linuxcnc-vendored-5axis-gcode"); + assert.equal(source.semanticBoundary, "linuxcnc_vendored_5axis_gcode_source_file"); +} + +const canonicalReports = []; +for (const filename of DIRECT_CANONICAL_CASES) { + const source = sourceByFilename.get(filename); + const file = staged.save.files.find((candidate) => candidate.sourceRel === source.sourceRel); + const execution = runtime.runProgram(file.text); + + assert.equal(execution.sourceMode, "linuxcnc-interpreter-wasm", `${filename} source mode`); + assert.equal(execution.semanticBoundary, "linuxcnc_interpreter_wasm_canonical_events", `${filename} boundary`); + assert.equal(execution.summary.motionEventCount > 0, true, `${filename} canonical motion`); + assert.equal(execution.summary.ready, true, `${filename} ready`); + assert.equal(execution.summary.plannerRuntimeReady, true, `${filename} TP timing ready`); + assert.equal(execution.plannerTiming.semanticBoundary, "linuxcnc_tp_queue_runtime_timing_from_canonical_motion"); + assert.equal(execution.plannerTiming.motionCount, execution.motion.length, `${filename} TP motion count`); + assert.equal(execution.plannerTiming.segments.length, execution.motion.length, `${filename} TP segment count`); + assert.equal(execution.plannerTiming.samples.length > 0, true, `${filename} TP samples`); + + const firstMotionLine = execution.motion.find((event) => Number.isFinite(Number(event.line)))?.line; + assert.equal(Number.isFinite(Number(firstMotionLine)), true, `${filename} current source line`); + assert.equal(execution.motion.every((event) => event.statement !== undefined), true, `${filename} source statements`); + + if (execution.summary.switchkinsEventCount > 0) { + assert.equal( + execution.switchkinsEvents.some((event) => event.switchkinsType === 1), + true, + `${filename} switchkins TCP event`, + ); + assert.equal( + execution.switchkinsEvents.some((event) => event.switchkinsType === 0), + true, + `${filename} switchkins identity event`, + ); + assert.equal( + execution.summary.switchkinsRemapBoundary, + "linuxcnc_switchkins_remap_mcode_preserved_web_runtime_applied", + `${filename} switchkins boundary`, + ); + } + + canonicalReports.push({ + filename, + previewPoints: execution.motion.length, + executedPathPoints: execution.plannerTiming.samples.length, + currentLine: firstMotionLine, + switchkinsEvents: execution.summary.switchkinsEventCount, + }); +} + +for (const filename of ENTRY_MACHINE_FILE_CASES) { + const source = sourceByFilename.get(filename); + const selectedPlan = selectMachineFileProgram(staged.plan, staged.save, source.sourceRel); + const execution = runtime.runMachineFileProgram({ + plan: selectedPlan, + files: staged.save.files, + executionMode: "fiveAxisRemap", + }); + + assert.equal(execution.sourceMode, "linuxcnc-machine-file-remap-wasm", `${filename} machine-file source`); + assert.equal(execution.summary.machineFileExecutionReady, true, `${filename} machine-file ready`); + assert.equal(execution.summary.remapRuntimeReady, true, `${filename} remap ready`); + assert.equal(execution.resultText.includes("fiveaxis_ini_open=1"), true, `${filename} INI proof`); + assert.equal(execution.resultText.includes("fiveaxis_remaps_ready=1"), true, `${filename} remap proof`); + assert.equal(execution.resultText.includes("fiveaxis_file_reached_exit=1"), true, `${filename} exit proof`); + assert.equal(execution.machineFilePlan.selectedProgramFilename, filename); + assert.equal(execution.machineFilePlan.selectedProgramSourceRel, source.sourceRel); +} + +const store = createSimulationStore(); +assert.equal(store.getState().programExecutionSourceMode, "fixture-line-playback"); +assert.equal(store.getState().programExecution, null); +assert.equal(store.getState().fullExecutionBoundary.promotionAllowed, false); + +assert.equal(canonicalReports.length >= 5, true); +assert.equal(canonicalReports.every((report) => report.previewPoints > 0), true); +assert.equal(canonicalReports.every((report) => report.executedPathPoints > 0), true); +assert.equal(canonicalReports.every((report) => Number.isFinite(Number(report.currentLine))), true); +assert.equal(canonicalReports.some((report) => report.filename === "boat-xyzac.ngc"), true); +assert.equal(canonicalReports.some((report) => report.filename === "boat-xyzbc.ngc"), true); +assert.equal(canonicalReports.some((report) => report.filename === "impeller-7bl-xyzac.ngc"), true); +assert.equal(canonicalReports.some((report) => report.filename.startsWith("xyzac_switchkins")), true); +assert.equal(sourceByFilename.has("xyzbc_switchkins.ngc"), true); +assert.equal(canonicalReports.some((report) => report.switchkinsEvents > 0), true); + +console.log(`linuxcnc_source_program_case_count=${canonicalReports.length + ENTRY_MACHINE_FILE_CASES.length}`); +console.log("all_cases_program_preview_points=ok"); +console.log("all_cases_executed_path_points=ok_after_run_or_step"); +console.log("all_cases_toolpath_preview_source=linuxcnc_interpreter_canonical_motion"); +console.log("all_cases_tool_execution_trace_source=linuxcnc_tp_samples_or_task_motion_hal_feedback"); +console.log("all_switchkins_cases_rtcp_state_changes_verified=1"); +console.log("all_cases_source_guard=linuxcnc_vendored_5axis_gcode_source_file"); +console.log("fixture_toolpath_fallback_not_promoted=1"); +console.log("real_linuxcnc_5axis_program_cases_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_rtcp_store.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_rtcp_store.mjs new file mode 100644 index 0000000..1a75378 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_rtcp_store.mjs @@ -0,0 +1,531 @@ +import assert from "node:assert/strict"; + +import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js"; +import { createLinuxCncKinematicsRuntime } from "../../app/src/runtime/linuxcnc-kinematics-runtime.js"; +import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js"; +import { buildRtcpFrame } from "../../app/src/runtime/rtcp-frame.js"; +import { createSimulationStore } from "../../app/src/state/store.js"; +import { readFile } from "node:fs/promises"; + +async function waitForInterpreterExecution(store) { + for (let attempt = 0; attempt < 20; attempt += 1) { + const state = store.getState(); + if (!state.interpreterExecutionPending && state.programExecutionSourceMode === "linuxcnc-interpreter-wasm") { + return state; + } + await new Promise((resolve) => setTimeout(resolve, 0)); + } + return store.getState(); +} + +const identityFrame = buildRtcpFrame({ + axisPose: { x: 43, y: -32.15, z: -11.306, a: 0, b: 0, c: 0 }, + activeLine: 501, + kinsType: "identity", + rtcpEnabled: false, +}); + +assert.equal(identityFrame.apiName, "web-rtcp-5axis-motion-frame"); +assert.equal(identityFrame.rtcpState, "off"); +assert.equal(identityFrame.readiness.frameReady, true); +assert.equal(identityFrame.readiness.linuxCncKinematicsReady, false); +assert.equal(identityFrame.readiness.promotionAllowed, false); +assert.equal(identityFrame.semanticBoundary, "fixture_frame_ui_plumbing_not_linuxcnc_kinematics_proof"); +assert.deepEqual(identityFrame.compensation, { x: 0, y: 0, z: 0 }); + +const tcpFrame = buildRtcpFrame({ + axisPose: { x: 43, y: -32.15, z: -11.306, a: 15, b: 0, c: 30 }, + activeLine: 502, + kinsType: "tcp-xyzac", + rtcpEnabled: true, +}); + +assert.equal(tcpFrame.rtcpState, "on"); +assert.equal(tcpFrame.kinsType, "tcp-xyzac"); +assert.notEqual(tcpFrame.compensation.z, 0); +assert.ok(Number.isFinite(tcpFrame.tcpPose.x)); +assert.ok(Number.isFinite(tcpFrame.toolAxisVector.z)); +assert.equal(tcpFrame.jointPose.length, 5); + +const runtime = await createLinuxCncKinematicsRuntime({ moduleId: "xyzac-trt" }); +const interpreterRuntime = await createLinuxCncInterpreterRuntime(); +const linuxCncKinematicsResult = runtime.frameForJoints([10, 20, 30, 25, 40]); +const linuxCncFrame = buildRtcpFrame({ + axisPose: { x: 10, y: 20, z: 30, a: 25, b: 0, c: 40 }, + activeLine: 503, + kinsType: "tcp-xyzac", + rtcpEnabled: true, + linuxCncKinematicsResult, +}); +assert.equal(linuxCncFrame.sourceMode, "source-derived-kinematics-wasm"); +assert.equal(linuxCncFrame.semanticBoundary, "linuxcnc_kinematics_wasm_c_abi"); +assert.equal(linuxCncFrame.readiness.linuxCncKinematicsReady, true); +assert.equal(linuxCncFrame.readiness.promotionAllowed, true); +assert.equal(linuxCncFrame.readiness.fullLinuxCncProgramExecutionReady, false); +assert.equal(linuxCncFrame.kinematicsModuleId, "xyzac-trt"); +assert.equal(linuxCncFrame.jointPose[3].value, 25); +assert.equal(linuxCncFrame.jointPose[4].value, 40); + +const fixtureInitialStore = createSimulationStore(); +assert.equal(fixtureInitialStore.getState().rtcpState, "off"); +assert.equal(fixtureInitialStore.getState().machine.powerOn, false); +assert.equal(fixtureInitialStore.getState().machine.mode, "manual"); +assert.equal( + fixtureInitialStore.getState().linuxCncBoundaryAdapter.apiName, + "web-rtcp-5axis-linuxcnc-boundary-adapter", +); +assert.equal(fixtureInitialStore.getState().linuxCncBoundaryAdapter.panelSummary.schemaId, "xyzac-trt-switchkins-pyvcp"); +assert.equal(fixtureInitialStore.getState().linuxCncBoundaryAdapter.sourceSummary.referenceCount >= 8, true); +assert.equal(fixtureInitialStore.getState().linuxCncBoundaryAdapter.profileSummary.toolCount, 10); +assert.equal(fixtureInitialStore.getState().linuxCncBoundaryAdapter.profileSummary.coordinates, "XYZAC"); +assert.equal(fixtureInitialStore.getState().linuxCncBoundaryReadiness.ready, false); +assert.equal(fixtureInitialStore.getState().linuxCncBoundaryReadiness.promotionAllowed, false); +assert.equal(fixtureInitialStore.getState().fullExecutionBoundary.fullLinuxCncProgramExecutionReady, false); +assert.equal(fixtureInitialStore.getState().fullExecutionBoundary.promotionAllowed, false); +assert.equal(fixtureInitialStore.getState().fullExecutionBoundary.phase, "blocked"); +assert.equal(fixtureInitialStore.getState().linuxCncTaskPolicy.semanticBoundary, "linuxcnc_task_state_mode_command_gate"); +assert.equal( + fixtureInitialStore.getState().linuxCncTaskPolicy.sourceReferences.some((reference) => reference.path === "linuxcnc/src/emc/task/emctaskmain.cc"), + true, +); +assert.equal(fixtureInitialStore.getState().linuxCncTaskPolicy.canRunAuto, false); + +const xyzacIniText = await readFile( + new URL("../../../wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", import.meta.url), + "utf8", +); +const xyzacIniConfig = parseLinuxCncIni(xyzacIniText, { + path: fixtureInitialStore.getState().profile.iniPath, + profileId: fixtureInitialStore.getState().machineProfile, +}); +fixtureInitialStore.dispatch({ type: "ATTACH_INI_CONFIG", iniConfig: xyzacIniConfig }); +assert.equal(fixtureInitialStore.getState().iniConfigReadiness.loaded, true); +assert.equal(fixtureInitialStore.getState().iniConfigReadiness.ready, true); +assert.equal(fixtureInitialStore.getState().profile.axisLimits.X.max, 200); +fixtureInitialStore.dispatch({ type: "TOGGLE_POWER" }); +fixtureInitialStore.dispatch({ type: "HOME" }); +fixtureInitialStore.dispatch({ type: "SET_MODE", mode: "mdi" }); +fixtureInitialStore.dispatch({ type: "RUN_MDI", command: "G90 X999 Y-999 Z999 A999 C99999" }); +assert.equal(fixtureInitialStore.getState().axisPose.x, 200); +assert.equal(fixtureInitialStore.getState().axisPose.y, -100); +assert.equal(fixtureInitialStore.getState().axisPose.z, 120); +assert.equal(fixtureInitialStore.getState().axisPose.a, 50); +assert.equal(fixtureInitialStore.getState().axisPose.c, 36000); + +const kinematicsStore = createSimulationStore(); +kinematicsStore.dispatch({ type: "ATTACH_KINEMATICS_RUNTIME", runtime }); +let kinematicsState = kinematicsStore.getState(); +assert.equal(kinematicsState.linuxCncBoundaryAdapter.linuxCncKinematicsReady, true); +assert.equal(kinematicsState.linuxCncBoundaryAdapter.interpreterRuntimeReady, false); +assert.equal(kinematicsState.linuxCncBoundaryReadiness.ready, true); +assert.equal(kinematicsState.linuxCncBoundaryReadiness.fullLinuxCncProgramExecutionReady, false); +assert.equal(kinematicsState.linuxCncBoundaryReadiness.missing.includes("interpreter/remap runtime"), true); +assert.equal(kinematicsState.fullExecutionBoundary.satisfied.includes("linuxcnc-kinematics-wasm"), true); +assert.equal(kinematicsState.fullExecutionBoundary.missing.includes("linuxcnc interpreter WASM runtime"), true); +assert.equal(kinematicsState.kinematicsExecutionContext, "direct"); +assert.equal(kinematicsState.rtcpFrame.sourceMode, "source-derived-kinematics-wasm"); +assert.equal(kinematicsState.rtcpFrame.semanticBoundary, "linuxcnc_kinematics_wasm_c_abi"); +assert.equal(kinematicsState.rtcpFrame.readiness.linuxCncKinematicsReady, true); + +kinematicsStore.dispatch({ type: "SET_RTCP", enabled: true }); +kinematicsState = kinematicsStore.getState(); +assert.equal(kinematicsState.rtcpState, "off"); +assert.equal(kinematicsState.operatorMessage, "kinematics blocked: machine must be on"); + +kinematicsStore.dispatch({ type: "TOGGLE_POWER" }); +kinematicsStore.dispatch({ type: "HOME" }); +kinematicsStore.dispatch({ type: "SET_RTCP", enabled: true }); +kinematicsState = kinematicsStore.getState(); +assert.equal(kinematicsState.rtcpState, "on"); +assert.equal(kinematicsState.rtcpFrame.sourceMode, "source-derived-kinematics-wasm"); +assert.equal(kinematicsState.lastKinematicsResult.moduleId, "xyzac-trt"); +assert.equal(kinematicsState.dro.tcpX, kinematicsState.rtcpFrame.tcpPose.x); + +kinematicsStore.dispatch({ type: "SET_MODE", mode: "auto" }); +kinematicsStore.dispatch({ type: "STEP" }); +kinematicsState = kinematicsStore.getState(); +assert.equal(kinematicsState.runState, "stepping"); +assert.equal(kinematicsState.rtcpFrame.sourceMode, "source-derived-kinematics-wasm"); +assert.equal(kinematicsState.rtcpFrame.readiness.fullLinuxCncProgramExecutionReady, false); + +kinematicsStore.dispatch({ type: "ATTACH_INTERPRETER_RUNTIME", runtime: interpreterRuntime }); +kinematicsStore.dispatch({ + type: "LOAD_PROGRAM", + filename: "linuxcnc-canonical-demo.ngc", + content: [ + "G90 G17", + "G0 X0 Y0 Z0", + "G1 X10 Y2 F100", + "G1 X12 Y4 A5 C7", + "M2", + ].join("\n"), +}); +kinematicsState = await waitForInterpreterExecution(kinematicsStore); +assert.equal(kinematicsState.linuxCncBoundaryAdapter.linuxCncInterpreterReady, true); +assert.equal(kinematicsState.linuxCncBoundaryReadiness.linuxCncInterpreterReady, true); +assert.equal(kinematicsState.programExecutionSourceMode, "linuxcnc-interpreter-wasm"); +assert.equal(kinematicsState.programExecution.summary.motionEventCount >= 3, true); +assert.equal(kinematicsState.programExecutionTiming.motionCount >= 3, true); +assert.equal(kinematicsState.programExecutionTiming.sampleCount >= 3, true); +assert.equal(kinematicsState.programExecutionTiming.totalSeconds > 0, true); +assert.equal(kinematicsState.programExecutionTiming.semanticBoundary, "linuxcnc_tp_queue_runtime_timing_from_canonical_motion"); +assert.equal(kinematicsState.programExecution.summary.plannerRuntimeReady, true); +assert.equal(kinematicsState.fullExecutionBoundary.plannerRuntimeReady, true); +assert.equal(kinematicsState.programExecution.summary.fullLinuxCncProgramExecutionReady, false); +assert.equal(kinematicsState.fullExecutionBoundary.readyForUiSimulation, true); +assert.equal(kinematicsState.fullExecutionBoundary.machineFileBackedRemapReady, false); +assert.equal(kinematicsState.fullExecutionBoundary.fullLinuxCncProgramExecutionReady, false); +assert.equal( + kinematicsState.fullExecutionBoundary.semanticBoundary, + "linuxcnc_interpreter_canonical_ready_planner_task_hal_blocked", +); + +kinematicsStore.dispatch({ type: "STEP" }); +kinematicsState = kinematicsStore.getState(); +assert.equal(kinematicsState.programExecutionMotionIndex, 1); +assert.equal(kinematicsState.activeLine, kinematicsState.programExecution.motion[1].line); +assert.equal(kinematicsState.programRuntimeFeedback.sourceMode, "linuxcnc-tp-runtime-sample"); +assert.equal(kinematicsState.programRuntimeFeedback.semanticBoundary, "linuxcnc_tp_run_cycle_feedback_without_hardware"); +assert.equal(kinematicsState.axisPose.x, kinematicsState.programRuntimeFeedback.axisPose.x); +assert.notEqual(kinematicsState.axisPose.x, kinematicsState.programExecution.motion[1].axes.x); +assert.equal(kinematicsState.programRuntimeFeedback.queueDepth >= 0, true); +assert.equal(kinematicsState.programElapsedSeconds > 0, true); +assert.equal(kinematicsState.programRemainingSeconds >= 0, true); +assert.equal(kinematicsState.feed.currentVelocity > 0, true); + +kinematicsStore.dispatch({ + type: "LOAD_PROGRAM", + filename: "linuxcnc-switchkins-rtcp-demo.ngc", + content: [ + "G90 G17", + "M428", + "G0 X0 Y0 Z0 A0 C0", + "G1 X10 Y2 Z-1 A15 C30 F120", + "M429", + "G1 X0 Y0 Z0 A0 C0 F120", + "M2", + ].join("\n"), +}); +kinematicsState = await waitForInterpreterExecution(kinematicsStore); +assert.equal(kinematicsState.programExecutionSourceMode, "linuxcnc-interpreter-wasm"); +assert.equal(kinematicsState.programExecution.summary.switchkinsEventCount, 2); +assert.equal(kinematicsState.programExecution.motion[0].switchkinsType, 1); +assert.equal(kinematicsState.kinsType, "tcp-xyzac"); +assert.equal(kinematicsState.rtcpState, "on"); +assert.equal(kinematicsState.rtcpFrame.kinematicsSwitchkinsType, 1); + +kinematicsStore.dispatch({ type: "STEP" }); +kinematicsState = kinematicsStore.getState(); +assert.equal(kinematicsState.programExecutionMotionIndex, 1); +assert.equal(kinematicsState.programRuntimeFeedback.semanticBoundary, "linuxcnc_tp_run_cycle_feedback_without_hardware"); +assert.equal(kinematicsState.axisPose.a > 0 && kinematicsState.axisPose.a < 15, true); +assert.equal(kinematicsState.axisPose.c > 0 && kinematicsState.axisPose.c < 30, true); +assert.equal(kinematicsState.programRuntimeFeedback.distanceToGo > 0, true); +assert.equal(kinematicsState.kinsType, "tcp-xyzac"); +assert.equal(kinematicsState.rtcpState, "on"); +assert.equal(kinematicsState.rtcpFrame.kinematicsSwitchkinsType, 1); +const switchkinsStepSampleIndex = kinematicsState.programExecutionSampleIndex; + +kinematicsStore.dispatch({ type: "RESUME" }); +kinematicsStore.dispatch({ type: "RUN" }); +kinematicsState = kinematicsStore.getState(); +assert.equal(kinematicsState.programExecutionSampleIndex > switchkinsStepSampleIndex, true); +assert.equal(kinematicsState.programExecutionMotionIndex, 1); +assert.equal(kinematicsState.programRuntimeFeedback.semanticBoundary, "linuxcnc_tp_run_cycle_feedback_without_hardware"); +assert.equal(kinematicsState.programRuntimeFeedback.distanceToGo > 0, true); +assert.equal(kinematicsState.kinsType, "tcp-xyzac"); +assert.equal(kinematicsState.rtcpState, "on"); +assert.equal(kinematicsState.rtcpFrame.kinematicsSwitchkinsType, 1); + +kinematicsStore.dispatch({ type: "PAUSE" }); +kinematicsState = kinematicsStore.getState(); +assert.equal(kinematicsState.runState, "paused"); +assert.equal(kinematicsState.machine.interpState, "paused"); +assert.equal(kinematicsState.machine.taskPaused, true); + +kinematicsStore.dispatch({ type: "RUN" }); +kinematicsState = kinematicsStore.getState(); +assert.equal(kinematicsState.operatorMessage, "run blocked: resume paused program first"); +assert.equal(kinematicsState.runState, "paused"); + +kinematicsStore.dispatch({ type: "RESUME" }); +kinematicsState = kinematicsStore.getState(); +assert.equal(kinematicsState.runState, "running"); +assert.equal(kinematicsState.machine.interpState, "reading"); +assert.equal(kinematicsState.machine.taskPaused, false); + +kinematicsStore.dispatch({ type: "STOP" }); +kinematicsState = kinematicsStore.getState(); +assert.equal(kinematicsState.runState, "stopped"); +assert.equal(kinematicsState.machine.interpState, "idle"); + +kinematicsStore.dispatch({ type: "SET_FRAME_SOURCE", sourceMode: "fixture-ui-only" }); +kinematicsState = kinematicsStore.getState(); +assert.equal(kinematicsState.rtcpFrame.sourceMode, "fixture-ui-only"); +assert.equal(kinematicsState.rtcpFrame.readiness.linuxCncKinematicsReady, false); + +const store = createSimulationStore(); +let state; +assert.deepEqual( + store.getState().availableProfiles.map((profile) => profile.id), + ["xyzac-trt", "xyzbc-trt", "gmoccapy-xyzac-trt", "gmoccapy-xyzab"], +); +store.dispatch({ type: "SET_PROFILE", profileId: "xyzbc-trt" }); +assert.equal(store.getState().machineProfile, "xyzbc-trt"); +assert.equal(store.getState().profile.traj.coordinates, "XYZBC"); +const xyzbcRuntime = await createLinuxCncKinematicsRuntime({ moduleId: "xyzbc-trt" }); +store.dispatch({ type: "ATTACH_KINEMATICS_RUNTIME", runtime: xyzbcRuntime }); +store.dispatch({ type: "TOGGLE_POWER" }); +store.dispatch({ type: "HOME" }); +store.dispatch({ type: "SET_RTCP", enabled: true }); +state = store.getState(); +assert.equal(state.kinsType, "tcp-xyzbc"); +assert.equal(state.rtcpFrame.kinematicsModuleId, "xyzbc-trt"); +assert.equal(state.rtcpFrame.jointPose[3].axis, "B"); +assert.equal(Number.isFinite(state.tcpPose.b), true); +assert.equal(state.rtcpFrame.tcpPose.b, state.tcpPose.b); +assert.equal(state.rtcpFrame.tcpPose.b, state.rtcpFrame.axisPose.b); + +store.dispatch({ type: "SET_PROFILE", profileId: "xyzac-trt" }); +store.dispatch({ type: "RESET" }); +store.dispatch({ type: "RUN" }); +assert.equal(store.getState().activeLine, 501); +assert.equal(store.getState().operatorMessage, "run blocked: machine must be on"); + +store.dispatch({ type: "TOGGLE_POWER" }); +assert.equal(store.getState().machine.powerOn, true); +store.dispatch({ type: "HOME" }); +assert.equal(store.getState().machine.allHomed, true); +store.dispatch({ type: "SET_MODE", mode: "auto" }); +assert.equal(store.getState().linuxCncTaskPolicy.canRunAuto, true); +assert.equal(store.getState().linuxCncTaskPolicy.canExecuteMdi, false); + +store.dispatch({ type: "SET_RTCP", enabled: true }); +state = store.getState(); +assert.equal(state.rtcpState, "on"); +assert.equal(state.kinsType, "tcp-xyzac"); +assert.equal(state.rtcpFrame.readiness.linuxCncKinematicsReady, false); +assert.notEqual(state.dro.tcpZ, state.dro.z); + +const previousLine = state.activeLine; +const previousTcpX = state.tcpPose.x; +store.dispatch({ type: "STEP" }); +state = store.getState(); +assert.equal(state.activeLine, previousLine + 1); +assert.equal(state.runState, "stepping"); +assert.notEqual(state.tcpPose.x, previousTcpX); + +store.dispatch({ type: "STOP" }); +store.dispatch({ type: "SET_MODE", mode: "manual" }); +store.dispatch({ type: "JOG", axis: "x", direction: 1, increment: 2 }); +state = store.getState(); +assert.equal(state.machine.mode, "manual"); +assert.equal(state.runState, "jogging"); +assert.equal(Math.round(state.axisPose.x), Math.round(state.rtcpFrame.axisPose.x)); + +store.dispatch({ type: "SET_MODE", mode: "mdi" }); +store.dispatch({ type: "RUN_MDI", command: "G0 X1" }); +state = store.getState(); +assert.equal(state.machine.mode, "mdi"); +assert.equal(state.machine.mdiCommand, "G0 X1"); +assert.equal(state.runState, "mdi"); +assert.equal(state.axisPose.x, 1); +assert.equal(state.programSource, "operator-mdi"); +assert.equal(state.programLines[0], "G0 X1"); +assert.equal(state.mdiHistory[0], "G0 X1"); + +const mdiRelativeBase = store.getState().axisPose; +store.dispatch({ type: "RUN_MDI", command: "G91 X2 Y-3 F1200 M3 S2400 M8" }); +state = store.getState(); +assert.equal(state.machine.mdiDistanceMode, "relative"); +assert.equal(state.axisPose.x, mdiRelativeBase.x + 2); +assert.equal(state.axisPose.y, mdiRelativeBase.y - 3); +assert.equal(state.feed.feedRate, 1200); +assert.equal(state.spindle.enabled, true); +assert.equal(state.spindle.rpm, 2400); +assert.equal(state.coolant.flood, true); + +store.dispatch({ type: "RUN_MDI", command: "M428" }); +state = store.getState(); +assert.equal(state.kinsType, "tcp-xyzac"); +assert.equal(state.rtcpState, "on"); + +store.dispatch({ type: "RUN_MDI", command: "M429 M9 M5" }); +state = store.getState(); +assert.equal(state.kinsType, "identity"); +assert.equal(state.rtcpState, "off"); +assert.equal(state.coolant.flood, false); +assert.equal(state.coolant.mist, false); +assert.equal(state.spindle.enabled, false); + +store.dispatch({ + type: "LOAD_PROGRAM", + filename: "operator-demo.ngc", + content: "G0 X0 Y0\nG1 X10 F100\nM30\n", +}); +state = await waitForInterpreterExecution(store); +assert.equal(state.activeProgram, "operator-demo.ngc"); +assert.equal(state.programSource, "operator-file"); +assert.equal(state.programStartLine, 1); +assert.equal(state.activeLine, 1); +assert.equal(state.programLines.length, 3); +assert.equal(state.machine.mode, "auto"); + +store.dispatch({ type: "RUN" }); +state = store.getState(); +assert.equal(state.activeLine, 3); +assert.equal(state.runState, "complete"); + +store.dispatch({ type: "SET_RTCP", enabled: false }); +state = store.getState(); +assert.equal(state.rtcpState, "off"); +assert.equal(state.kinsType, "identity"); +assert.equal(state.dro.tcpX, state.dro.x); + +store.dispatch({ type: "ADJUST_OVERRIDE", target: "feed", delta: -10 }); +state = store.getState(); +assert.equal(state.feed.feedOverride, 90); +assert.equal(state.operatorMessage, "feed override adjusted"); + +store.dispatch({ type: "ADJUST_OVERRIDE", target: "rapid", delta: 20 }); +state = store.getState(); +assert.equal(state.feed.rapidOverride, 120); + +store.dispatch({ type: "ADJUST_SPINDLE_OVERRIDE", delta: 10 }); +state = store.getState(); +assert.equal(state.spindle.override, 110); + +const floodBeforeToggle = store.getState().coolant.flood; +store.dispatch({ type: "TOGGLE_COOLANT", kind: "flood" }); +state = store.getState(); +assert.equal(state.coolant.flood, !floodBeforeToggle); + +const mistBeforeToggle = store.getState().coolant.mist; +store.dispatch({ type: "TOGGLE_COOLANT", kind: "mist" }); +state = store.getState(); +assert.equal(state.coolant.mist, !mistBeforeToggle); + +store.dispatch({ type: "SET_VIEW", view: "x" }); +state = store.getState(); +assert.equal(state.preview.selectedView, "x"); + +store.dispatch({ type: "CLEAR_PREVIEW" }); +state = store.getState(); +assert.equal(state.preview.pathPoints, 0); + +store.dispatch({ type: "RELOAD_PROGRAM" }); +state = store.getState(); +assert.equal(state.preview.pathPoints, 3); +assert.equal(state.activeLine, 1); +assert.equal(state.runState, "idle"); + +store.dispatch({ type: "TOGGLE_FULLSCREEN" }); +state = store.getState(); +assert.equal(state.preview.fullscreen, true); + +store.dispatch({ type: "SET_MODE", mode: "manual" }); +store.dispatch({ type: "HOME" }); +state = store.getState(); +assert.equal(state.axisPose.x, 43); +assert.equal(state.operatorMessage, "machine homed to fixture origin"); + +store.dispatch({ type: "ESTOP" }); +state = store.getState(); +assert.equal(state.machine.powerOn, false); +assert.equal(state.machine.estopActive, true); +assert.equal(state.runState, "estopped"); + +store.dispatch({ type: "RESET" }); +state = store.getState(); +assert.equal(state.machine.estopActive, false); +assert.equal(state.machine.powerOn, false); +assert.equal(state.machine.taskState, "estop-reset"); +assert.equal(state.operatorMessage, "estop reset; machine off"); + +const taskHalSwitchkinsStore = createSimulationStore({ + programStartLine: 1, + activeLine: 5, + kinsType: "tcp-xyzac", + rtcpState: "on", + programExecutionSourceMode: "linuxcnc-interpreter-wasm", + programExecution: { + sourceMode: "linuxcnc-interpreter-wasm", + motion: [ + { + type: "STRAIGHT_TRAVERSE", + line: 5, + axes: { x: 1, y: 2, z: 3, a: 10, c: 20 }, + switchkinsType: 1, + kinsType: "tcp", + }, + { + type: "STRAIGHT_FEED", + line: 20, + axes: { x: 2, y: 3, z: 4, a: 0, c: 0 }, + switchkinsType: 0, + kinsType: "identity", + }, + ], + summary: { + motionEventCount: 2, + switchkinsEventCount: 2, + switchkinsCodes: ["M428", "M429"], + }, + }, +}); +taskHalSwitchkinsStore.dispatch({ + type: "TASK_HAL_STATUS_APPLIED", + status: taskHalStatusForSwitchkinsLine({ activeLine: 5, switchkinsType: 0 }), + operatorMessage: "task/HAL status retained program TCP switchkins", +}); +state = taskHalSwitchkinsStore.getState(); +assert.equal(state.activeLine, 5); +assert.equal(state.kinsType, "tcp-xyzac"); +assert.equal(state.rtcpState, "on"); + +taskHalSwitchkinsStore.dispatch({ + type: "TASK_HAL_STATUS_APPLIED", + status: taskHalStatusForSwitchkinsLine({ activeLine: 20, switchkinsType: 0 }), + operatorMessage: "task/HAL status applied program identity switchkins", +}); +state = taskHalSwitchkinsStore.getState(); +assert.equal(state.activeLine, 20); +assert.equal(state.kinsType, "identity"); +assert.equal(state.rtcpState, "off"); + +console.log("rtcp_store_smoke=ok"); + +function taskHalStatusForSwitchkinsLine({ activeLine, switchkinsType }) { + return { + semanticBoundary: "linuxcnc_task_motion_hal_wasm_simulation_runtime", + task: { + state: "ON", + mode: "AUTO", + interpState: "READING", + execState: "WAITING_FOR_MOTION", + }, + motionStatus: { + motion: { + programLine: activeLine, + motionType: 1, + switchkinsType, + currentVel: 1, + requestedVel: 1, + inPosition: false, + }, + }, + ui: { + taskState: "on", + taskMode: "auto", + interpState: "reading", + activeLine, + switchkinsType, + axisPoseFrame: "work", + axisPose: { x: 1, y: 2, z: 3, a: 10, b: 0, c: 20 }, + currentVelocity: 60, + servoCycle: 1, + taskCycle: 1, + motionQueueDepth: 1, + }, + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_run_feedback_loop.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_run_feedback_loop.mjs new file mode 100644 index 0000000..d7da3e3 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_run_feedback_loop.mjs @@ -0,0 +1,244 @@ +import assert from "node:assert/strict"; +import { readFileSync } from "node:fs"; +import { dirname, resolve } from "node:path"; +import { fileURLToPath } from "node:url"; + +import { createLinuxCncTaskHalSdk } from "../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js"; +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; +import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js"; +import { createLinuxCncKinematicsRuntime } from "../../app/src/runtime/linuxcnc-kinematics-runtime.js"; +import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js"; +import { wrapTaskHalSdk } from "../../app/src/runtime/linuxcnc-task-hal-runtime.js"; +import { createSimulationStore } from "../../app/src/state/store.js"; + +const __filename = fileURLToPath(import.meta.url); +const __dirname = dirname(__filename); +const rootDir = resolve(__dirname, "../../.."); +const wasmPath = resolve(rootDir, "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm"); + +await verifyRunFeedbackLoop({ + profileId: "xyzac-trt", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc", + stopAction: "STOP", +}); + +await verifyRunReadySequence({ + profileId: "xyzac-trt", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc", +}); + +await verifyRunFeedbackLoop({ + profileId: "xyzac-trt", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc", + stopAction: "ABORT", +}); + +await verifyRunFeedbackLoop({ + profileId: "xyzbc-trt", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc", + stopAction: "STOP", +}); + +console.log("run_feedback_status_loop_smoke=ok"); +console.log("run_ready_sequence_smoke=ok"); + +async function verifyRunFeedbackLoop({ profileId, sourceRel, stopAction }) { + const sdk = await createLinuxCncTaskHalSdk({ + wasmBinary: readFileSync(wasmPath), + print() {}, + printErr(message) { + console.error(message); + }, + }); + const profile = getFiveAxisProfile(profileId); + const iniText = readFileSync(resolve(rootDir, "wasm-port/vendor/linuxcnc", profile.iniPath), "utf8"); + const iniConfig = parseLinuxCncIni(iniText, { + path: profile.iniPath, + profileId: profile.id, + }); + const kinematicsModuleId = iniConfig.kinematicsModuleId; + const store = createSimulationStore(); + + store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig }); + store.dispatch({ + type: "ATTACH_KINEMATICS_RUNTIME", + runtime: await createLinuxCncKinematicsRuntime({ moduleId: kinematicsModuleId }), + }); + store.dispatch({ + type: "ATTACH_INTERPRETER_RUNTIME", + runtime: await createLinuxCncInterpreterRuntime(), + }); + store.dispatch({ type: "ATTACH_TASK_HAL_RUNTIME", runtime: wrapTaskHalSdk(sdk) }); + await store.stageMachineFiles(); + store.dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel }); + await waitForState(store, (state) => ( + state.taskHalSession?.programPath?.endsWith(sourceRel.split("/").at(-1)) && + state.rtcpFrame?.sourceMode === "source-derived-kinematics-wasm" + )); + + store.dispatch({ type: "TOGGLE_POWER" }); + await waitForTaskHalCommand(store); + store.dispatch({ type: "HOME" }); + store.dispatch({ type: "SET_MODE", mode: "auto" }); + await waitForTaskHalCommand(store); + + store.dispatch({ type: "RUN" }); + await waitForTaskHalCommand(store); + await waitForState(store, (state) => distinctActiveLines(state.programRuntimeFeedbackHistory).length >= 3); + + let state = store.getState(); + const history = state.programRuntimeFeedbackHistory; + if (state.taskHalStatusLoop.profileId) { + assert.equal(state.taskHalStatusLoop.profileId, profileId); + } + if (state.taskHalStatusLoop.kinematicsModuleId) { + assert.equal(state.taskHalStatusLoop.kinematicsModuleId, kinematicsModuleId); + } + assert.equal(state.taskHalStatusLoop.taskPeriodNs, 10000000); + assert.equal(state.taskHalStatusLoop.servoPeriodNs, 1000000); + assert.equal(history.length >= 3, true); + assert.equal(history.every((entry) => entry.sourceMode === "linuxcnc-task-motion-hal-wasm"), true); + assert.equal(history.every((entry) => entry.semanticBoundary === "linuxcnc_task_motion_hal_wasm_simulation_runtime"), true); + assert.equal(history.some((entry) => entry.sourceMode === "fixture-line-playback"), false); + assert.equal(history.every((entry) => entry.activeLineSource === "motion-status"), true); + assert.equal(history.every((entry) => entry.activeLineHalSynced === true), true); + assert.equal(history.every((entry) => entry.line === entry.motionProgramLine), true); + assert.equal(history.every((entry) => entry.line === entry.halProgramLine), true); + assert.equal(history.some((entry) => entry.currentVelocityMmPerMin > 0), true); + assert.equal(history.some((entry) => entry.currentVelocityMmPerMin !== 3600), true); + assert.equal(isMonotonic(history.map((entry) => entry.taskCycle).reverse()), true); + assert.equal(isMonotonic(history.map((entry) => entry.cycle).reverse()), true); + const activeLines = distinctActiveLines(history); + assert.equal(activeLines.length >= 3, true, `${sourceRel} activeLines=${activeLines.join(",")}`); + assert.equal(isMonotonic(activeLines), true, `${sourceRel} activeLines=${activeLines.join(",")}`); + assert.equal( + sourceRel.endsWith("boat-xyzbc.ngc") ? activeLines.join(",") !== "1,10" : true, + true, + `${sourceRel} activeLines=${activeLines.join(",")}`, + ); + assert.equal( + sourceRel.endsWith("boat-xyzbc.ngc") ? activeLines.some((line) => line > activeLines.indexOf(line) + 1) : true, + true, + `${sourceRel} activeLines=${activeLines.join(",")}`, + ); + assert.equal(state.programExecutionSourceMode, "linuxcnc-task-motion-hal-wasm"); + assert.equal(state.taskHalStatus.summary.taskRuntimeReady, true); + assert.equal(state.taskHalStatus.summary.halSyncReady, true); + + const cycleAfterRun = state.taskHalStatus.ui.taskCycle; + store.dispatch({ type: "STEP" }); + await waitForTaskHalCommand(store); + state = store.getState(); + assert.equal(state.programRuntimeFeedback.sourceMode, "linuxcnc-task-motion-hal-wasm"); + assert.equal(state.programExecutionSourceMode, "linuxcnc-task-motion-hal-wasm"); + + store.dispatch({ type: stopAction }); + await waitForTaskHalCommand(store); + state = store.getState(); + assert.equal(state.taskHalStatusLoop.active, false); + assert.equal(["stopped", "complete", "idle"].includes(state.runState), true); + assert.equal( + stopAction !== "ABORT" || ["aborted", "stopped", "complete", "idle"].includes(state.taskHalStatusLoop.stopReason), + true, + ); + assert.equal(state.taskHalStatus.ui.taskCycle >= cycleAfterRun, true); +} + +async function verifyRunReadySequence({ profileId, sourceRel }) { + const sdk = await createLinuxCncTaskHalSdk({ + wasmBinary: readFileSync(wasmPath), + print() {}, + printErr(message) { + console.error(message); + }, + }); + const profile = getFiveAxisProfile(profileId); + const iniText = readFileSync(resolve(rootDir, "wasm-port/vendor/linuxcnc", profile.iniPath), "utf8"); + const iniConfig = parseLinuxCncIni(iniText, { + path: profile.iniPath, + profileId: profile.id, + }); + const store = createSimulationStore(); + + store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig }); + store.dispatch({ + type: "ATTACH_KINEMATICS_RUNTIME", + runtime: await createLinuxCncKinematicsRuntime({ moduleId: iniConfig.kinematicsModuleId }), + }); + store.dispatch({ + type: "ATTACH_INTERPRETER_RUNTIME", + runtime: await createLinuxCncInterpreterRuntime(), + }); + store.dispatch({ type: "ATTACH_TASK_HAL_RUNTIME", runtime: wrapTaskHalSdk(sdk) }); + await store.stageMachineFiles(); + store.dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel }); + await waitForState(store, (state) => ( + state.taskHalSession?.programPath?.endsWith(sourceRel.split("/").at(-1)) && + state.rtcpFrame?.sourceMode === "source-derived-kinematics-wasm" + )); + + store.dispatch({ type: "RUN_READY" }); + await waitForTaskHalCommand(store); + await waitForState(store, (state) => state.machine.taskState === "on" && state.machine.mode === "auto"); + + let state = store.getState(); + assert.equal(state.machine.powerOn, true); + assert.equal(state.machine.taskState, "on"); + assert.equal(state.machine.mode, "auto"); + assert.equal(state.machine.allHomed, true); + assert.equal(state.rtcpState, "on"); + assert.equal(String(state.kinsType).startsWith("tcp-"), true); + + store.dispatch({ type: "RUN" }); + await waitForTaskHalCommand(store); + await waitForState(store, (nextState) => distinctActiveLines(nextState.programRuntimeFeedbackHistory).length >= 2); + + state = store.getState(); + assert.equal(state.programExecutionSourceMode, "linuxcnc-task-motion-hal-wasm"); + assert.equal(state.programRuntimeFeedback.sourceMode, "linuxcnc-task-motion-hal-wasm"); + assert.notEqual(state.operatorMessage, "run blocked: home machine first"); + assert.equal(state.machine.allHomed, true); + + const activeLineBeforeStop = state.activeLine; + store.dispatch({ type: "STOP" }); + await waitForTaskHalCommand(store); + await new Promise((resolve) => setTimeout(resolve, 120)); + state = store.getState(); + assert.equal(state.taskHalStatusLoop.active, false); + assert.equal(state.runState, "stopped"); + assert.equal(state.machine.interpState, "idle"); + assert.equal(state.feed.currentVelocity, 0); + assert.equal(state.activeLine, activeLineBeforeStop); +} + +async function waitForTaskHalCommand(store) { + for (let attempt = 0; attempt < 80; attempt += 1) { + if (!store.getState().taskHalExecutionPending) { + await new Promise((resolve) => setTimeout(resolve, 0)); + if (!store.getState().taskHalExecutionPending) return store.getState(); + } + await new Promise((resolve) => setTimeout(resolve, 0)); + } + throw new Error("task/HAL command did not settle"); +} + +async function waitForState(store, predicate) { + for (let attempt = 0; attempt < 160; attempt += 1) { + const state = store.getState(); + if (predicate(state)) return state; + await new Promise((resolve) => setTimeout(resolve, 5)); + } + throw new Error("store state condition did not settle"); +} + +function isMonotonic(values) { + for (let index = 1; index < values.length; index += 1) { + if (Number(values[index]) < Number(values[index - 1])) return false; + } + return true; +} + +function distinctActiveLines(history = []) { + return [...new Set(history.map((entry) => Number(entry.line)).reverse())] + .filter((line) => Number.isFinite(line)); +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_run_preconditions.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_run_preconditions.mjs new file mode 100644 index 0000000..6aa22b1 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_run_preconditions.mjs @@ -0,0 +1,172 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; + +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; +import { createLinuxCncKinematicsRuntime } from "../../app/src/runtime/linuxcnc-kinematics-runtime.js"; +import { + applyIniConfigToProfile, + parseLinuxCncIni, +} from "../../app/src/runtime/linuxcnc-ini-runtime.js"; +import { stageProfileMachineFiles } from "../../app/src/runtime/linuxcnc-machine-file-staging.js"; +import { buildTaskHalSessionFromMachineFiles } from "../../app/src/runtime/linuxcnc-task-hal-runtime.js"; +import { + createSimulationStore, + validateRunPreconditions, +} from "../../app/src/state/store.js"; +import { gateLinuxCncTaskAction } from "../../app/src/state/linuxcnc-task-policy.js"; + +const cases = [ + { + profileId: "xyzac-trt", + machineName: "sim-xyzac-trt-kins (switchkins)", + coordinates: "XYZAC", + kinematicsName: "xyzac-trt-kins", + kinematicsModuleId: "xyzac-trt", + wasmFile: "linuxcnc_xyzac_trt_kinematics.wasm", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc", + }, + { + profileId: "xyzbc-trt", + machineName: "sim-xyzbc-trt-kins (switchkins)", + coordinates: "XYZBC", + kinematicsName: "xyzbc-trt-kins", + kinematicsModuleId: "xyzbc-trt", + wasmFile: "linuxcnc_xyzbc_trt_kinematics.wasm", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc", + }, +]; + +for (const item of cases) { + const baseProfile = getFiveAxisProfile(item.profileId); + const iniText = await readLinuxCncFile(baseProfile.iniPath); + const iniConfig = parseLinuxCncIni(iniText, { + path: baseProfile.iniPath, + profileId: item.profileId, + }); + + assert.equal(iniConfig.profileId, item.profileId); + assert.equal(iniConfig.machineName, item.machineName); + assert.equal(iniConfig.traj.coordinates, item.coordinates); + assert.equal(iniConfig.kinematics.name, item.kinematicsName); + assert.equal(iniConfig.kinematicsModuleId, item.kinematicsModuleId); + assert.equal(iniConfig.validation.ready, true); + + const profile = applyIniConfigToProfile(baseProfile, iniConfig); + assert.equal(profile.traj.coordinates, item.coordinates); + assert.equal(profile.kinematicsModuleId, item.kinematicsModuleId); + assert.equal(profile.axisLimits[item.coordinates[0]].max > 0, true); + assert.equal(profile.jointConfig.length, item.coordinates.length); + + const kinematicsRuntime = await createLinuxCncKinematicsRuntime({ moduleId: item.kinematicsModuleId }); + assert.equal(kinematicsRuntime.readiness().moduleId, item.kinematicsModuleId); + assert.equal(kinematicsRuntime.wasmFile, item.wasmFile); + assert.equal(kinematicsRuntime.frameForJoints([10, 20, 30, 5, 15]).moduleId, item.kinematicsModuleId); + + const staged = await stageProfileMachineFiles(profile); + const selectedPlan = staged.plan.selectedProgramSourceRel === item.sourceRel + ? staged.plan + : { + ...staged.plan, + wasmProgramPath: staged.save.files.find((file) => file.sourceRel === item.sourceRel)?.wasmPath, + selectedProgramSourceRel: item.sourceRel, + }; + const session = buildTaskHalSessionFromMachineFiles({ + profile, + plan: selectedPlan, + save: staged.save, + selectedProgramRel: item.sourceRel, + }); + assert.equal(session.profileId, item.profileId); + assert.equal(session.iniPath.endsWith(`${item.profileId}.ini`), true); + assert.equal(session.programSourceRel, item.sourceRel); + assert.equal(session.programPath.endsWith(item.sourceRel.split("/").at(-1)), true); +} + +const initialStore = createSimulationStore(); +let check = validateRunPreconditions(initialStore.getState(), { + requireTaskHalRuntime: false, + requireTaskHalSession: false, +}); +assert.equal(check.ok, false); +assert.equal(check.operatorMessage, "run blocked: LinuxCNC INI not loaded"); + +const profile = getFiveAxisProfile("xyzac-trt"); +const iniText = await readLinuxCncFile(profile.iniPath); +const iniConfig = parseLinuxCncIni(iniText, { + path: profile.iniPath, + profileId: profile.id, +}); +const store = createSimulationStore(); +store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig }); +store.dispatch({ + type: "ATTACH_KINEMATICS_RUNTIME", + runtime: await createLinuxCncKinematicsRuntime({ moduleId: "xyzac-trt" }), +}); +await store.stageMachineFiles(); +store.dispatch({ + type: "LOAD_LINUXCNC_GCODE_SOURCE", + sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc", +}); + +check = validateRunPreconditions(store.getState(), { + requireTaskHalRuntime: false, + requireTaskHalSession: false, +}); +assert.equal(check.ok, true); +assert.equal(check.profileId, "xyzac-trt"); +assert.equal(check.coordinates, "XYZAC"); +assert.equal(check.kinematicsModuleId, "xyzac-trt"); +assert.equal(check.selectedGcodeSourceRel.endsWith("xyzac_switchkins_test_1.ngc"), true); + +check = validateRunPreconditions(store.getState(), { + requireTaskHalRuntime: true, + requireTaskHalSession: false, +}); +assert.equal(check.ok, false); +assert.equal(check.operatorMessage, "run blocked: task/HAL runtime not ready"); + +let gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "run blocked: machine must be on"); + +store.dispatch({ type: "TOGGLE_POWER" }); +gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "run blocked: switch to auto mode first"); + +gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "auto" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "mode blocked: home machine before AUTO"); +store.dispatch({ type: "SET_MODE", mode: "auto" }); +assert.equal(store.getState().machine.mode, "manual"); +gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "run blocked: switch to auto mode first"); + +store.dispatch({ type: "HOME" }); +store.dispatch({ type: "SET_MODE", mode: "manual" }); +gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" }); +assert.equal(gate.allowed, false); +assert.equal(gate.operatorMessage, "run blocked: switch to auto mode first"); + +const unopenedStore = createSimulationStore(); +unopenedStore.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig }); +unopenedStore.dispatch({ + type: "ATTACH_KINEMATICS_RUNTIME", + runtime: await createLinuxCncKinematicsRuntime({ moduleId: "xyzac-trt" }), +}); +await unopenedStore.stageMachineFiles(); +check = validateRunPreconditions(unopenedStore.getState(), { + requireTaskHalRuntime: false, + requireTaskHalSession: false, +}); +assert.equal(check.ok, false); +assert.equal(check.operatorMessage, "run blocked: no machine-file G-code opened for task/HAL session"); + +console.log("run_preconditions_ini_profile_smoke=ok"); +console.log("run_preconditions_kinematics_smoke=ok"); +console.log("run_preconditions_machine_file_smoke=ok"); + +async function readLinuxCncFile(sourceRel) { + return readFile(new URL(`../../../wasm-port/vendor/linuxcnc/${sourceRel}`, import.meta.url), "utf8"); +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_tool_db_user_m_simulation.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_tool_db_user_m_simulation.mjs new file mode 100644 index 0000000..4f0aba8 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_tool_db_user_m_simulation.mjs @@ -0,0 +1,142 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; + +import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js"; +import { + applyToolCommandSequence, + createToolDbReadiness, + createToolDbSimulation, + editToolEntry, + parseLinuxCncToolTable, + queryToolEntry, + saveToolDbSimulation, +} from "../../app/src/runtime/tool-db-simulation.js"; +import { + createControlledUserMReadiness, + createControlledUserMSimulation, + runControlledUserM, + runControlledUserMProgramScan, +} from "../../app/src/runtime/controlled-user-m-simulation.js"; +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; + +const profile = getFiveAxisProfile("xyzac-trt"); +const toolTableText = await readFile( + new URL("../../../linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl", import.meta.url), + "utf8", +); + +const parsed = parseLinuxCncToolTable(toolTableText, { + sourceRel: profile.toolTablePath, +}); +assert.equal(parsed.apiName, "web-rtcp-5axis-tool-table"); +assert.equal(parsed.toolCount, 10); +assert.equal(parsed.entries[0].toolNumber, 1); +assert.equal(parsed.entries[0].pocket, 1); +assert.equal(parsed.entries[1].offset.z, 15); +assert.equal(parsed.entries[1].diameter, 8); +assert.equal(parsed.semanticBoundary, "linuxcnc_tool_table_text_parsed_for_web_simulation"); + +let toolDb = createToolDbSimulation({ + toolTable: parsed, + profile, + storageMode: "memory", +}); +assert.equal(toolDb.processReady, true); +assert.equal(toolDb.processScope, "web_simulation_only"); +assert.equal(toolDb.hostProcessReady, false); +assert.equal(createToolDbReadiness(toolDb).toolDbProcessReady, true); +assert.equal(createToolDbReadiness(toolDb).hostProcessExecution, false); + +toolDb = applyToolCommandSequence(toolDb, [ + { code: "T", toolNumber: 2 }, + { code: "M6" }, + { code: "G43", h: 2 }, +]); +assert.equal(toolDb.toolInSpindle, 2); +assert.equal(toolDb.toolFromPocket, 2); +assert.equal(toolDb.activeToolOffset.toolNumber, 2); +assert.equal(toolDb.activeToolOffset.offset.z, 15); +assert.equal(toolDb.iocontrol.toolNumber, 2); +assert.equal(toolDb.events.some((event) => event.code === "M6"), true); + +toolDb = applyToolCommandSequence(toolDb, [{ code: "M61", q: 4 }]); +assert.equal(toolDb.toolInSpindle, 4); +assert.equal(toolDb.iocontrol.toolNumber, 4); + +toolDb = editToolEntry(toolDb, { + toolNumber: 4, + pocket: 44, + diameter: 12.5, + offset: { z: 42.25 }, + comment: "edited by web simulation", +}); +const editedTool = queryToolEntry(toolDb, { toolNumber: 4 }); +assert.equal(editedTool.pocket, 44); +assert.equal(editedTool.diameter, 12.5); +assert.equal(editedTool.offset.z, 42.25); + +const storage = createMemorySessionStorage(); +const save = await saveToolDbSimulation(toolDb, { + storage, + storageMode: "memory", +}); +assert.equal(save.semanticBoundary, "tool_table_saved_in_web_storage_boundary"); +assert.equal(save.text.includes("T4 P44 D+12.500000 Z+42.250000 ;edited by web simulation"), true); +assert.equal(storage.files.get(save.path), save.text); + +let userM = createControlledUserMSimulation(); +assert.equal(createControlledUserMReadiness(userM).externalUserMProcessReady, true); +assert.equal(createControlledUserMReadiness(userM).hostProcessExecution, false); + +let result = runControlledUserM(userM, "M428", { profile }); +userM = result.simulation; +assert.equal(result.event.allowed, true); +assert.equal(result.statePatch.kinsType, "tcp-xyzac"); +assert.equal(result.statePatch.rtcpState, "on"); +assert.equal(result.halPatch["motion.switchkins-type"], 1); + +result = runControlledUserM(userM, "M429", { profile }); +userM = result.simulation; +assert.equal(result.event.allowed, true); +assert.equal(result.statePatch.kinsType, "identity"); +assert.equal(result.statePatch.rtcpState, "off"); +assert.equal(result.halPatch["motion.switchkins-type"], 0); + +result = runControlledUserM(userM, "M430", { profile }); +userM = result.simulation; +assert.equal(result.event.allowed, true); +assert.equal(result.statePatch.kinsType, "userk"); +assert.equal(result.halPatch["motion.switchkins-type"], 2); + +result = runControlledUserM(userM, "M128", { profile }); +userM = result.simulation; +assert.equal(result.event.allowed, true); +assert.equal(result.event.hostProcessExecution, false); + +result = runControlledUserM(userM, "M199", { profile }); +userM = result.simulation; +assert.equal(result.event.allowed, false); +assert.equal(result.event.semanticBoundary, "arbitrary_external_user_m_blocked"); +assert.equal(result.event.hostProcessExecution, false); +assert.equal(userM.blockedEvents.length, 1); + +const scan = runControlledUserMProgramScan( + userM, + [ + "M428", + "G0 X1", + "M129", + "M199", + "M429", + ].join("\n"), + { profile, sourceRel: "operator-test.ngc" }, +); +assert.equal(scan.events.length, 4); +assert.equal(scan.events.filter((event) => event.allowed).length, 3); +assert.equal(scan.events.filter((event) => !event.allowed).length, 1); + +console.log("tool_db_user_m_simulation_smoke=ok"); +console.log("tool_db_process_ready_web_simulation_only=1"); +console.log("external_user_m_process_ready_web_simulation_only=1"); +console.log("arbitrary_user_m_blocked=1"); +console.log("host_process_execution=0"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_tool_db_web_simulation.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_tool_db_web_simulation.mjs new file mode 100644 index 0000000..43f8d15 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_tool_db_web_simulation.mjs @@ -0,0 +1,150 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; + +import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js"; +import { + applyToolCommandSequence, + createMemoryToolDbStorage, + createToolDbReadiness, + createToolDbSimulation, + editToolEntry, + extractToolCommandSequenceFromProgram, + listToolEntries, + parseLinuxCncToolTable, + queryToolEntry, + saveToolDbSimulation, +} from "../../app/src/runtime/tool-db-simulation.js"; +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; +import { createSimulationStore } from "../../app/src/state/store.js"; + +const profile = getFiveAxisProfile("xyzac-trt"); +const toolTableText = await readFile( + new URL("../../../linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl", import.meta.url), + "utf8", +); + +const parsed = parseLinuxCncToolTable(toolTableText, { + sourceRel: profile.toolTablePath, +}); +assert.equal(parsed.randomToolChanger, false); +assert.equal(parsed.toolCount, 10); +assert.equal(parsed.pockets[0].toolNumber, 0); +assert.equal(parsed.entries[0].idx, 1); +assert.equal(parsed.entries[0].toolNumber, 1); +assert.equal(parsed.entries[0].pocket, 1); +assert.equal(parsed.entries[1].idx, 2); +assert.equal(parsed.entries[1].toolNumber, 2); +assert.equal(parsed.entries[1].pocket, 2); +assert.equal(parsed.entries[1].offset.z, 15); +assert.equal(parsed.entries[1].diameter, 8); + +let toolDb = createToolDbSimulation({ + toolTable: parsed, + profile, +}); +assert.equal(createToolDbReadiness(toolDb).toolDbProcessReady, true); +assert.equal(createToolDbReadiness(toolDb).dbProgramReady, false); +assert.equal(toolDb.hostProcessExecution, false); +assert.equal(toolDb.toolTable.pockets[0].toolNumber, 0); + +assert.equal(listToolEntries(toolDb).length, 10); +assert.equal(queryToolEntry(toolDb, { idx: 2 }).toolNumber, 2); +assert.equal(queryToolEntry(toolDb, { toolNumber: 2 }).idx, 2); +assert.equal(queryToolEntry(toolDb, { pocket: 2 }).diameter, 8); + +toolDb = applyToolCommandSequence(toolDb, [ + { code: "T", toolNumber: 2 }, + { code: "M6" }, + { code: "G43", h: 2 }, +]); +assert.equal(toolDb.toolInSpindle, 2); +assert.equal(toolDb.toolFromPocket, 2); +assert.equal(toolDb.currentPocket, 2); +assert.equal(toolDb.toolTable.pockets[0].toolNumber, 2); +assert.equal(toolDb.toolTable.pockets[0].offset.z, 15); +assert.equal(queryToolEntry(toolDb, { pocket: 2 }).idx, 2); +assert.equal(toolDb.emcioStatus.tool.pocketPrepped, -1); +assert.equal(toolDb.iocontrol.toolNumber, 2); +assert.equal(toolDb.iocontrol.toolFromPocket, 2); +assert.equal(toolDb.activeToolOffset.toolNumber, 2); +assert.equal(toolDb.activeToolOffset.offset.z, 15); +assert.equal(toolDb.interpreterParameters[5400], 2); +assert.equal(toolDb.interpreterParameters[5403], 15); +assert.equal(toolDb.interpreterParameters[5410], 8); +assert.equal(toolDb.events.some((event) => event.code === "READ_TOOL_INPUTS_PREPARED"), true); +assert.equal(toolDb.events.some((event) => event.code === "READ_TOOL_INPUTS_CHANGED"), true); + +const compactToolCommands = extractToolCommandSequenceFromProgram("T2M6G43H2"); +assert.deepEqual(compactToolCommands.map((command) => command.code), ["T", "M6", "G43"]); +assert.equal(compactToolCommands[2].toolNumber, 2); + +toolDb = editToolEntry(toolDb, { + toolNumber: 4, + pocket: 44, + diameter: 12.5, + length: 42.25, + comment: "edited by web simulation", +}); +const edited = queryToolEntry(toolDb, { toolNumber: 4 }); +assert.equal(edited.idx, 4); +assert.equal(edited.pocket, 44); +assert.equal(edited.offset.z, 42.25); +assert.equal(edited.diameter, 12.5); + +toolDb = editToolEntry(toolDb, { + idx: 6, + toolNumber: 66, + pocket: 66, + diameter: 6.6, + toolLength: 16.6, +}); +const renumbered = queryToolEntry(toolDb, { toolNumber: 66 }); +assert.equal(renumbered.idx, 6); +assert.equal(renumbered.pocket, 66); +assert.equal(renumbered.offset.z, 16.6); +assert.equal(renumbered.diameter, 6.6); + +const storage = createMemoryToolDbStorage(); +const save = await saveToolDbSimulation(toolDb, { + storage, + storageMode: "memory", +}); +assert.equal(save.storageMode, "memory"); +assert.equal(storage.files.get(save.path), save.text); +assert.equal(save.text.includes("T4 P44 D+12.500000 Z+42.250000 ;edited by web simulation"), true); +assert.equal(save.text.includes("T66 P66 D+6.600000 Z+16.600000"), true); + +const fallbackSave = await saveToolDbSimulation(toolDb); +assert.equal(fallbackSave.storageMode, "memory-fallback"); +assert.equal(fallbackSave.storageCapability.opfsUnavailable, true); + +const store = createSimulationStore(); +const machineStorage = createMemorySessionStorage(); +await store.stageMachineFiles({ storage: machineStorage }); +assert.equal(store.getState().toolDbReadiness.toolDbProcessReady, true); +assert.equal(store.queryToolDb({ toolNumber: 2 }).offset.z, 15); +assert.equal(store.queryToolDb({ all: true }).length, 10); + +store.editToolDb({ + toolNumber: 3, + pocket: 33, + diameter: 9.75, + toolLength: 21.5, +}); +assert.equal(store.queryToolDb({ toolNumber: 3 }).pocket, 33); +assert.equal(store.queryToolDb({ toolNumber: 3 }).offset.z, 21.5); + +const storeSaveStorage = createMemoryToolDbStorage(); +const storeSave = await store.saveToolDb({ + storage: storeSaveStorage, + storageMode: "memory", +}); +assert.equal(storeSave.text.includes("T3 P33 D+9.750000 Z+21.500000"), true); +assert.equal(storeSaveStorage.files.get(storeSave.path), storeSave.text); + +console.log("tool_db_web_simulation_smoke=ok"); +console.log("staged_tool_tbl_loaded=1"); +console.log("tool_db_query_edit_save=1"); +console.log("tool_db_t_m6_g43_state=1"); +console.log("tool_db_memory_fallback_save=1"); +console.log("host_tool_db_process=0"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_xyzbc_trt_web_app.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_xyzbc_trt_web_app.mjs new file mode 100644 index 0000000..251eb8b --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_xyzbc_trt_web_app.mjs @@ -0,0 +1,96 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; + +import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js"; +import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js"; +import { + createMachineFileStagingPlan, + selectMachineFileProgram, + stageProfileMachineFiles, +} from "../../app/src/runtime/linuxcnc-machine-file-staging.js"; +import { getFiveAxisProfile } from "../../app/src/profiles/index.js"; +import { createSimulationStore } from "../../app/src/state/store.js"; + +const profile = getFiveAxisProfile(); + +assert.equal(profile.id, "xyzbc-trt"); +assert.equal(profile.machineName, "sim-xyzbc-trt-kins (switchkins)"); +assert.equal(profile.traj.coordinates, "XYZBC"); +assert.deepEqual(profile.coordinates, ["X", "Y", "Z", "B", "C"]); +assert.equal(profile.kinematics, "xyzbc-trt-kins"); +assert.equal(profile.kinematicsModuleId, "xyzbc-trt"); +assert.equal(profile.machineFileStaging.defaultProgramFilename, "xyzbc_switchkins.ngc"); +assert.equal(profile.panelSchema.id, "xyzbc-trt-switchkins-pyvcp"); +assert.ok(profile.halPins.includes("xyzbc-trt-kins.x-offset")); +assert.ok(profile.halPins.includes("motion.switchkins-type")); +assert.ok(profile.remaps.some((remap) => remap.code === "M428" && remap.switchkinsType === 1)); +assert.ok(profile.remaps.some((remap) => remap.code === "M429" && remap.switchkinsType === 0)); +assert.ok(profile.remaps.some((remap) => remap.code === "M430" && remap.switchkinsType === 2)); + +const iniText = await readFile( + new URL("../../../wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", import.meta.url), + "utf8", +); +const ini = parseLinuxCncIni(iniText, { + path: profile.iniPath, + profileId: profile.id, +}); + +assert.equal(ini.validation.ready, true); +assert.equal(ini.machineName, "sim-xyzbc-trt-kins (switchkins)"); +assert.equal(ini.kinematics.name, "xyzbc-trt-kins"); +assert.equal(ini.kinematicsModuleId, "xyzbc-trt"); +assert.equal(ini.traj.coordinates, "XYZBC"); +assert.equal(ini.rs274ngc.halPinVars, true); +assert.equal(ini.rs274ngc.parameterFile, "xyzbc.var"); +assert.equal(ini.emcio.toolTable, "xyzbc-trt.tbl"); +assert.equal(ini.jointConfig[3].axis, "B"); +assert.equal(ini.jointConfig[4].axis, "C"); +assert.deepEqual(ini.halui.mdiCommands, ["M429", "M428", "M430"]); + +const storage = createMemorySessionStorage(); +const staged = await stageProfileMachineFiles(profile, { storage }); + +assert.equal(staged.plan.profileId, "xyzbc-trt"); +assert.equal(staged.plan.wasmDir, "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt"); +assert.equal(staged.save.status, "saved"); +assert.equal(staged.save.storageMode, "memory"); +assert.ok(staged.save.opfsRoot.endsWith("/xyzbc-trt")); +assert.ok(staged.save.files.every((file) => file.opfsPath.startsWith("web-rtcp-5axis-xyzbc-trt-sim-plan/machines/xyzbc-trt/"))); +assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc-trt.ini") && file.kind === "ini")); +assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc-trt.xml") && file.kind === "pyvcp")); +assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc-trt.tbl") && file.kind === "toolTable")); +assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/428remap.ngc") && file.kind === "remap")); +assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/429remap.ngc") && file.kind === "remap")); +assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/430remap.ngc") && file.kind === "remap")); +assert.ok(staged.save.gcodeSources.some((source) => source.filename === "xyzbc_switchkins.ngc")); +assert.ok(staged.save.gcodeSources.some((source) => source.filename === "boat-xyzbc.ngc")); +assert.equal(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc.var") && file.kind === "parameters"), true); + +const selectedPlan = selectMachineFileProgram( + staged.plan, + staged.save, + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", +); +assert.equal(selectedPlan.selectedProgramFilename, "xyzbc_switchkins.ngc"); +assert.ok(selectedPlan.wasmProgramPath.endsWith("/demos/xyzbc_switchkins.ngc")); + +const store = createSimulationStore(); +const state = store.getState(); +assert.equal(state.machineProfile, "xyzbc-trt"); +assert.equal(state.profile.id, "xyzbc-trt"); +assert.equal(state.sessionName, "xyzbc-trt-web-session"); +assert.equal(state.kinematicsRuntimeReadiness, null); + +const storeStage = await store.stageMachineFiles({ storage: createMemorySessionStorage() }); +const stagedState = store.getState(); +assert.equal(storeStage.save.profileId, "xyzbc-trt"); +assert.equal(stagedState.machineFileStaging.profileId, "xyzbc-trt"); +assert.ok(stagedState.machineProject.projectRoot.startsWith("web-rtcp-5axis-xyzbc-trt-sim-plan/machines/xyzbc-trt")); +assert.ok(stagedState.machineFileStaging.gcodeSources.some((source) => source.filename === "xyzbc_switchkins.ngc")); + +const stagingPlan = await createMachineFileStagingPlan({ profile }); +assert.equal(stagingPlan.summary.remapFileCount >= 3, true); +assert.equal(stagingPlan.files.some((file) => file.sourceRel.endsWith("xyzbc.var")), true); + +console.log("xyzbc_trt_web_app_smoke=ok"); diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py b/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py new file mode 100755 index 0000000..d8dbbd0 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py @@ -0,0 +1,282 @@ +#!/usr/bin/env python3 +import argparse +import json +import math +import pathlib +import subprocess +import sys +import time + + +AXES = ["X", "Y", "Z", "A", "B", "C", "U", "V", "W"] +DEFAULT_INI = "/home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini" +DEFAULT_PROGRAM = "/home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc" +DEFAULT_OUTPUT = "/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json" + + +def main(): + parser = argparse.ArgumentParser(description="Collect native LinuxCNC xyzbc-trt evidence as JSON.") + parser.add_argument("--ini", default=DEFAULT_INI) + parser.add_argument("--program", default=DEFAULT_PROGRAM) + parser.add_argument("--output", default=DEFAULT_OUTPUT) + parser.add_argument("--run", action="store_true", help="Optionally execute the program through linuxcnc.command().") + parser.add_argument("--timeout", type=float, default=60.0) + args = parser.parse_args() + + try: + import linuxcnc + except Exception as exc: + write_json(args.output, { + "apiName": "xyzbc-trt-native-linuxcnc-evidence", + "status": "blocked", + "blocker": "python_linuxcnc_import_failed", + "error": f"{type(exc).__name__}: {exc}", + "hint": "Run through /home/mes123456/linuxcnc-master/scripts/rip-environment python3", + }) + return 2 + + stat = linuxcnc.stat() + command = linuxcnc.command() + error_channel = linuxcnc.error_channel() + + before = poll_stat(stat) + command_result = None + if args.run: + command_result = run_program(linuxcnc, stat, command, pathlib.Path(args.program), args.timeout) + + after = poll_stat(stat) + hal = collect_hal_snapshot() + errors = drain_errors(error_channel) + + evidence = { + "apiName": "xyzbc-trt-native-linuxcnc-evidence", + "status": "ok", + "collectedAt": iso_now(), + "executionMode": "auto-run" if args.run else "snapshot-only", + "iniPath": args.ini, + "programPath": args.program, + "programExists": pathlib.Path(args.program).exists(), + "programLineCount": count_program_lines(args.program), + "linuxcncRuntime": { + "pythonApi": True, + "processes": list_processes(), + }, + "before": before, + "after": after, + "commandResult": command_result, + "hal": hal, + "errors": errors, + "coverage": { + "axisProfile": before.get("axisMask") == 55 or after.get("axisMask") == 55, + "xyzbcProgramOpen": str(after.get("file") or before.get("file") or "").endswith("xyzbc_switchkins.ngc"), + "switchkinsPinReadable": "motion.switchkins-type" in hal.get("pins", {}), + "jointFeedbackReadable": all(f"joint.{i}.pos-fb" in hal.get("pins", {}) for i in range(5)), + "taskStateReadable": after.get("taskState") is not None, + "positionReadable": bool(after.get("position")), + }, + "semanticBoundary": "native_linuxcnc_axis_vismach_xyzbc_trt_runtime", + } + write_json(args.output, evidence) + print(f"native_xyzbc_trt_evidence={args.output}") + return 0 + + +def run_program(linuxcnc, stat, command, program_path, timeout): + result = { + "requested": True, + "program": str(program_path), + "events": [], + "status": "unknown", + } + try: + command.state(linuxcnc.STATE_ESTOP_RESET) + command.wait_complete() + command.state(linuxcnc.STATE_ON) + command.wait_complete() + command.mode(linuxcnc.MODE_AUTO) + command.wait_complete() + command.program_open(str(program_path)) + command.wait_complete() + command.auto(linuxcnc.AUTO_RUN, 0) + start = time.time() + while time.time() - start < timeout: + snapshot = poll_stat(stat) + result["events"].append({ + "elapsedSeconds": round(time.time() - start, 3), + "interpState": snapshot.get("interpState"), + "execState": snapshot.get("execState"), + "currentLine": snapshot.get("currentLine"), + "readLine": snapshot.get("readLine"), + "position": snapshot.get("position"), + "jointActualPosition": snapshot.get("jointActualPosition"), + }) + if snapshot.get("interpState") == linuxcnc.INTERP_IDLE and len(result["events"]) > 2: + result["status"] = "completed" + break + time.sleep(0.05) + else: + result["status"] = "timeout" + except Exception as exc: + result["status"] = "error" + result["error"] = f"{type(exc).__name__}: {exc}" + return result + + +def poll_stat(stat): + stat.poll() + return { + "taskState": value(stat, "task_state"), + "taskMode": value(stat, "task_mode"), + "interpState": value(stat, "interp_state"), + "execState": value(stat, "exec_state"), + "file": value(stat, "file"), + "currentLine": value(stat, "current_line"), + "readLine": value(stat, "read_line"), + "axisMask": value(stat, "axis_mask"), + "homed": tuple_to_list(value(stat, "homed")), + "position": axes_tuple(value(stat, "position")), + "actualPosition": axes_tuple(value(stat, "actual_position")), + "jointActualPosition": joint_tuple(value(stat, "joint_actual_position")), + "jointPosition": joint_tuple(value(stat, "joint_position")), + "dtg": axes_tuple(value(stat, "dtg")), + "velocity": value(stat, "current_vel"), + "feedrate": value(stat, "feedrate"), + "rapidrate": value(stat, "rapidrate"), + "spindle": normalize_json(value(stat, "spindle")), + } + + +def collect_hal_snapshot(): + pins = {} + commands = [ + ["halcmd", "show", "pin", "motion.switchkins-type"], + ["halcmd", "show", "pin", "motion.analog-out-03"], + ["halcmd", "show", "pin", "motion.tooloffset.z"], + ["halcmd", "show", "pin", "joint.0.pos-fb"], + ["halcmd", "show", "pin", "joint.1.pos-fb"], + ["halcmd", "show", "pin", "joint.2.pos-fb"], + ["halcmd", "show", "pin", "joint.3.pos-fb"], + ["halcmd", "show", "pin", "joint.4.pos-fb"], + ["halcmd", "show", "pin", "xyzbc-trt-kins.tool-offset"], + ["halcmd", "show", "pin", "xyzbc-trt-kins.x-offset"], + ["halcmd", "show", "pin", "xyzbc-trt-kins.z-offset"], + ] + raw = [] + for command in commands: + completed = subprocess.run(command, text=True, capture_output=True) + raw.append({ + "command": command, + "returncode": completed.returncode, + "stdout": completed.stdout, + "stderr": completed.stderr, + }) + parse_halcmd_pins(completed.stdout, pins) + return { + "pins": pins, + "raw": raw, + } + + +def parse_halcmd_pins(text, pins): + for line in text.splitlines(): + parts = line.split() + if len(parts) < 5: + continue + name = parts[4] + if "." not in name: + continue + pins[name] = { + "owner": parts[0], + "type": parts[1], + "direction": parts[2], + "value": parse_number(parts[3]), + "linked": "==>" in line or "<==" in line, + "raw": line, + } + + +def drain_errors(error_channel): + errors = [] + for _ in range(20): + error = error_channel.poll() + if not error: + break + errors.append(normalize_json(error)) + return errors + + +def list_processes(): + completed = subprocess.run( + ["ps", "-ef"], + text=True, + capture_output=True, + ) + processes = [] + for line in completed.stdout.splitlines(): + if "xyzbc-trt" in line or "linuxcncsvr" in line or "milltask" in line or "halui -ini" in line: + processes.append(line) + return processes + + +def count_program_lines(path): + try: + return len(pathlib.Path(path).read_text(encoding="utf-8", errors="replace").splitlines()) + except OSError: + return 0 + + +def value(obj, attr): + return normalize_json(getattr(obj, attr, None)) + + +def axes_tuple(values): + values = tuple_to_list(values) + return {axis.lower(): values[index] for index, axis in enumerate(AXES) if index < len(values)} + + +def joint_tuple(values): + values = tuple_to_list(values) + return {str(index): values[index] for index in range(min(5, len(values)))} + + +def tuple_to_list(values): + if values is None: + return [] + return [normalize_json(value) for value in values] + + +def normalize_json(value): + if isinstance(value, float): + if math.isnan(value) or math.isinf(value): + return None + return value + if isinstance(value, (str, int, bool)) or value is None: + return value + if isinstance(value, tuple): + return [normalize_json(item) for item in value] + if isinstance(value, list): + return [normalize_json(item) for item in value] + if isinstance(value, dict): + return {str(key): normalize_json(item) for key, item in value.items()} + return str(value) + + +def parse_number(value): + try: + return float(value) + except ValueError: + return value + + +def write_json(path, payload): + output = pathlib.Path(path) + output.parent.mkdir(parents=True, exist_ok=True) + output.write_text(json.dumps(payload, ensure_ascii=False, indent=2) + "\n", encoding="utf-8") + + +def iso_now(): + return time.strftime("%Y-%m-%dT%H:%M:%S%z") + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-web-xyzbc-trt-evidence.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-web-xyzbc-trt-evidence.mjs new file mode 100644 index 0000000..bc9d92b --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-web-xyzbc-trt-evidence.mjs @@ -0,0 +1,167 @@ +import { access, mkdir, readFile, writeFile } from "node:fs/promises"; +import { dirname, resolve } from "node:path"; +import { fileURLToPath } from "node:url"; + +import { createMemorySessionStorage } from "../app/src/runtime/five-axis-session.js"; +import { parseLinuxCncIni } from "../app/src/runtime/linuxcnc-ini-runtime.js"; +import { + selectMachineFileProgram, + stageProfileMachineFiles, +} from "../app/src/runtime/linuxcnc-machine-file-staging.js"; +import { createSimulationStore } from "../app/src/state/store.js"; +import { getFiveAxisProfile } from "../app/src/profiles/index.js"; + +const repoRoot = resolve(dirname(fileURLToPath(import.meta.url)), "../.."); +const projectRoot = resolve(repoRoot, "web-rtcp-5axis-xyzbc-trt-sim-plan"); +const outputPath = process.argv[2] + || resolve(projectRoot, "working/evidence/web-xyzbc-trt-evidence.json"); +const sourceRel = "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc"; + +const profile = getFiveAxisProfile("xyzbc-trt"); +const wasmArtifacts = await inspectWasmArtifacts(); +const iniText = await readFile( + resolve(repoRoot, "wasm-port/vendor/linuxcnc", profile.iniPath), + "utf8", +); +const ini = parseLinuxCncIni(iniText, { + path: profile.iniPath, + profileId: profile.id, +}); + +const storage = createMemorySessionStorage(); +const staged = await stageProfileMachineFiles(profile, { storage }); +const selectedPlan = selectMachineFileProgram(staged.plan, staged.save, sourceRel); +const store = createSimulationStore(); +const storeStage = await store.stageMachineFiles({ storage: createMemorySessionStorage() }); +store.dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel }); +const state = store.getState(); + +const evidence = { + apiName: "xyzbc-trt-web-opfs-wasm-evidence", + status: wasmArtifacts.ready ? "ready-for-wasm-runtime" : "blocked", + collectedAt: new Date().toISOString(), + profile: { + id: profile.id, + machineName: profile.machineName, + iniPath: profile.iniPath, + pyvcpXmlPath: profile.pyvcpXmlPath, + toolTablePath: profile.toolTablePath, + coordinates: profile.coordinates, + kinematics: profile.kinematics, + kinematicsModuleId: profile.kinematicsModuleId, + defaultProgramFilename: profile.machineFileStaging?.defaultProgramFilename, + switchkinsTypes: profile.kinematicsParameters?.switchkinsTypes, + halPins: profile.halPins, + }, + ini: { + ready: ini.validation.ready, + machineName: ini.machineName, + coordinates: ini.traj.coordinates, + kinematicsName: ini.kinematics.name, + kinematicsModuleId: ini.kinematicsModuleId, + remaps: ini.rs274ngc.remaps, + haluiMdiCommands: ini.halui.mdiCommands, + toolTable: ini.emcio.toolTable, + parameterFile: ini.rs274ngc.parameterFile, + jointConfig: ini.jointConfig, + }, + opfsStaging: { + storageMode: staged.save.storageMode, + opfsRoot: staged.save.opfsRoot, + fileCount: staged.save.fileCount, + summary: staged.save.summary, + files: staged.save.files.map((file) => ({ + sourceRel: file.sourceRel, + opfsPath: file.opfsPath, + wasmPath: file.wasmPath, + kind: file.kind, + bytes: file.bytes, + executable: file.executable, + })), + gcodeSources: staged.save.gcodeSources, + selectedProgram: { + sourceRel: selectedPlan.selectedProgramSourceRel, + filename: selectedPlan.selectedProgramFilename, + wasmProgramPath: selectedPlan.wasmProgramPath, + }, + }, + store: { + machineProfile: state.machineProfile, + sessionName: state.sessionName, + machineProjectRoot: state.machineProject?.projectRoot || storeStage.save.opfsRoot, + activeProgram: state.activeProgram, + programSource: state.programSource, + programLineCount: state.programLines.length, + selectedGcodeSourceRel: state.machineFileStaging.selectedGcodeSourceRel, + }, + wasm: wasmArtifacts, + coverage: { + profileDefaultXyzbc: profile.id === "xyzbc-trt", + iniReady: ini.validation.ready, + opfsStaged: staged.save.status === "saved" && staged.save.fileCount > 0, + pyvcpXmlStaged: staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc-trt.xml")), + remapsStaged: ["428remap.ngc", "429remap.ngc", "430remap.ngc"].every((name) => ( + staged.save.files.some((file) => file.sourceRel.endsWith(`/remap_subs/${name}`)) + )), + toolTableStaged: staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc-trt.tbl")), + parameterFileStaged: staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc.var")), + defaultProgramStaged: staged.save.gcodeSources.some((source) => source.filename === "xyzbc_switchkins.ngc"), + wasmArtifactsReady: wasmArtifacts.ready, + }, + blockers: [ + ...(wasmArtifacts.ready ? [] : [{ + id: "missing-wasm-artifacts", + detail: "wasm-port/build/wasm does not contain all required kinematics/core/tp/task-hal artifacts.", + required: wasmArtifacts.required, + missing: wasmArtifacts.missing, + }]), + ...(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc.var")) ? [] : [{ + id: "missing-parameter-file-staging", + detail: "xyzbc.var is referenced by INI but absent from wasm-port/vendor manifest in this workspace.", + }]), + ], + semanticBoundary: "web_opfs_wasm_runtime_readiness_for_linuxcnc_xyzbc_trt", +}; + +await mkdir(dirname(outputPath), { recursive: true }); +await writeFile(outputPath, JSON.stringify(evidence, null, 2) + "\n", "utf8"); +console.log(`web_xyzbc_trt_evidence=${outputPath}`); + +async function inspectWasmArtifacts() { + const required = [ + "wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.js", + "wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.wasm", + "wasm-port/build/wasm/core/linuxcnc_interp.js", + "wasm-port/build/wasm/core/linuxcnc_interp.wasm", + "wasm-port/build/wasm/tp/linuxcnc_tp.js", + "wasm-port/build/wasm/tp/linuxcnc_tp.wasm", + "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.js", + "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm", + ]; + const files = []; + const missing = []; + for (const rel of required) { + const abs = resolve(repoRoot, rel); + try { + await access(abs); + files.push(rel); + } catch { + missing.push(rel); + } + } + return { + required, + files, + missing, + ready: missing.length === 0, + emscriptenAvailable: Boolean(await commandExists("emcc")), + }; +} + +async function commandExists(command) { + const { spawn } = await import("node:child_process"); + return new Promise((resolveCommand) => { + const child = spawn("bash", ["-lc", `command -v ${command}`], { stdio: "ignore" }); + child.on("exit", (code) => resolveCommand(code === 0)); + }); +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/compare-xyzbc-trt-evidence.mjs b/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/compare-xyzbc-trt-evidence.mjs new file mode 100644 index 0000000..695a298 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/compare-xyzbc-trt-evidence.mjs @@ -0,0 +1,98 @@ +import { mkdir, readFile, writeFile } from "node:fs/promises"; +import { dirname, resolve } from "node:path"; +import { fileURLToPath } from "node:url"; + +const repoRoot = resolve(dirname(fileURLToPath(import.meta.url)), "../.."); +const projectRoot = resolve(repoRoot, "web-rtcp-5axis-xyzbc-trt-sim-plan"); +const nativePath = process.argv[2] || resolve(projectRoot, "working/evidence/native-xyzbc-trt-evidence.json"); +const webPath = process.argv[3] || resolve(projectRoot, "working/evidence/web-xyzbc-trt-evidence.json"); +const outputPath = process.argv[4] || resolve(projectRoot, "working/evidence/compare-xyzbc-trt-evidence.json"); + +const nativeEvidence = JSON.parse(await readFile(nativePath, "utf8")); +const webEvidence = JSON.parse(await readFile(webPath, "utf8")); + +const checks = [ + check("profile", "native axis mask is XYZBC", nativeEvidence.coverage?.axisProfile === true, { + nativeAxisMask: nativeEvidence.after?.axisMask ?? nativeEvidence.before?.axisMask, + }), + check("profile", "web default profile is xyzbc-trt", webEvidence.coverage?.profileDefaultXyzbc === true, { + webProfile: webEvidence.profile?.id, + }), + check("ini", "native loaded xyzbc switchkins program", nativeEvidence.coverage?.xyzbcProgramOpen === true, { + nativeFile: nativeEvidence.after?.file ?? nativeEvidence.before?.file, + }), + check("ini", "web INI parse is ready", webEvidence.coverage?.iniReady === true, { + webIniReady: webEvidence.ini?.ready, + }), + check("switchkins", "native switchkins pin readable", nativeEvidence.coverage?.switchkinsPinReadable === true, { + nativePin: nativeEvidence.hal?.pins?.["motion.switchkins-type"], + }), + check("switchkins", "web remap files staged", webEvidence.coverage?.remapsStaged === true, { + remaps: webEvidence.ini?.remaps, + }), + check("program", "web default xyzbc_switchkins program staged", webEvidence.coverage?.defaultProgramStaged === true, { + selected: webEvidence.opfsStaging?.selectedProgram, + }), + check("tool-table", "web tool table staged", webEvidence.coverage?.toolTableStaged === true, { + toolTable: webEvidence.ini?.toolTable, + }), + check("pyvcp", "web PyVCP XML staged", webEvidence.coverage?.pyvcpXmlStaged === true, { + pyvcpXmlPath: webEvidence.profile?.pyvcpXmlPath, + }), + check("positions", "native joint feedback readable", nativeEvidence.coverage?.jointFeedbackReadable === true, { + joints: nativeEvidence.after?.jointActualPosition, + }), + check("wasm", "required WASM artifacts available", webEvidence.coverage?.wasmArtifactsReady === true, { + missing: webEvidence.wasm?.missing, + }), + check("parameters", "parameter file staged", webEvidence.coverage?.parameterFileStaged === true, { + parameterFile: webEvidence.ini?.parameterFile, + }), +]; + +const failed = checks.filter((item) => item.status !== "pass"); +const blockers = [ + ...(nativeEvidence.status === "blocked" ? nativeEvidence.blocker ? [nativeEvidence.blocker] : ["native-blocked"] : []), + ...(webEvidence.blockers || []).map((blocker) => blocker.id), +]; + +const report = { + apiName: "xyzbc-trt-native-web-evidence-comparison", + status: failed.length === 0 ? "pass" : "fail", + comparedAt: new Date().toISOString(), + nativePath, + webPath, + summary: { + checkCount: checks.length, + passCount: checks.length - failed.length, + failCount: failed.length, + blockers, + nativeStatus: nativeEvidence.status, + webStatus: webEvidence.status, + }, + checks, + requiredImprovements: failed.map((item) => ({ + category: item.category, + requirement: item.requirement, + evidence: item.evidence, + })), + semanticBoundary: "native_linuxcnc_vs_web_opfs_wasm_xyzbc_trt_evidence_comparison", +}; + +await mkdir(dirname(outputPath), { recursive: true }); +await writeFile(outputPath, JSON.stringify(report, null, 2) + "\n", "utf8"); +console.log(`compare_xyzbc_trt_evidence=${outputPath}`); +if (failed.length > 0) { + console.log(`compare_xyzbc_trt_status=fail fail_count=${failed.length}`); +} else { + console.log("compare_xyzbc_trt_status=pass"); +} + +function check(category, requirement, passed, evidence = {}) { + return { + category, + requirement, + status: passed ? "pass" : "fail", + evidence, + }; +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/01-项目功能内容.md b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/01-项目功能内容.md new file mode 100644 index 0000000..8f16196 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/01-项目功能内容.md @@ -0,0 +1,189 @@ +# 01-项目功能内容 + +## 目标 + +对标 LinuxCNC `xyzbc-trt` 当前运行配置，在 Web 中实现 XYZBC table rotary/tilting 五轴数控系统仿真界面。界面基于 HTML/JavaScript，文件和会话持久化基于 OPFS，CNC 核心能力通过 `wasm-port` 的 LinuxCNC-derived WASM/SDK 边界提供。 + +Native 对标基线： + +- 后续以 `/home/mes123456/cnc_wams/linuxcnc` 作为 LinuxCNC `xyzbc-trt` 源码与真实执行基线。 +- Web 数控仿真界面和逻辑必须根据该路径编译后执行 `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` 的真实运行结果设计。 +- native evidence 采集脚本应通过 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment` 启动/连接 LinuxCNC，而不是继续依赖 `/home/mes123456/linuxcnc-master`。 +- `/home/mes123456/cnc_wams/linuxcnc` 已完成 run-in-place 编译，并已验证 `scripts/rip-environment`、`scripts/linuxcnc`、`bin/axis`、`bin/xyzbc-trt-gui`、`bin/milltask`、`bin/linuxcncsvr`、`bin/halui`、`rtlib/xyzbc-trt-kins.so`、`rtlib/tpmod.so`、`lib/python/linuxcnc.so` 存在可用。后续可以基于该路径重新生成真实 native JSON。 + +完全对标要求： + +- `working` 下的设计、任务和验收必须逐项覆盖 `doc/xyzbc-trt-runtime-files.md` 中记录的运行进程、启动顺序、INI 配置、AXIS 界面行为、PyVCP、POSTGUI HAL、basic_sim、Vismach、switchkins/remap、G-code 子程序、tool table、parameter file、kinematics HAL pins、轴/关节限制和 JSON 执行证据。 +- Web 不只展示五轴场景，还必须具备与 LinuxCNC 配置等价的运行状态、按钮行为、文件 staging、HAL/task 反馈、刀具预览路径、刀具执行路径和 native/Web JSON 对比闭环。 +- 无法在浏览器中一比一复用的 LinuxCNC 桌面组件，例如 AXIS/Tk/PyVCP/Vismach 窗口，必须在 Web 中提供同语义等效实现，并在 evidence JSON 中说明替代边界。 + +## 对标文件 + +主对标文档： + +```text +web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md +``` + +LinuxCNC 目标配置： + +```text +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml +configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var +lib/hallib/basic_sim.tcl +src/hal/user_comps/vismach/xyzbc-trt-gui.py +src/emc/usr_intf/axis/scripts/axis.py +src/emc/kinematics/xyzbc-trt-kins.c +``` + +## 功能清单 + +| 功能 | Web 实现方式 | 当前状态 | +| --- | --- | --- | +| XYZBC 机型默认进入 | `app/src/state/store.js` 默认 profile 为 `xyzbc-trt` | 已落地 | +| INI 配置解析 | `linuxcnc-ini-runtime.js` 解析 vendored `xyzbc-trt.ini` | 已落地 | +| PyVCP switchkins 面板 | `xyzbc-trt` profile 复用并改写 PyVCP schema：`IDENTITY`、`TCP:XYZBC`、`userk`、`vismach-clear` | 已落地 | +| M428/M429/M430 remap | profile 映射 remap 文件和 switchkins type；WASM interp/remap 由 `wasm-port` 支撑 | Web staging 已完成；真实 WASM 执行需 artifact | +| `motion.switchkins-type` | profile 描述 `motion.analog-out-03 => motion.switchkins-type` | 已落地 | +| XYZBC kinematics | `wasm-port/runtime/sdk/src/linuxcnc-kinematics.js` 支持 `xyzbc-trt` 和 `linuxcnc_xyzbc_trt_kinematics.wasm` | SDK 已支持，当前缺 build artifact | +| Vismach 等效三维仿真 | Web canvas/Three 风格五轴场景替代 Python Vismach GUI，显示机床参考、刀路、TCP、刀轴 | 参考 app 已移植 | +| OPFS 机器文件 staging | `web-rtcp-5axis-xyzbc-trt-sim-plan/machines/xyzbc-trt/...` | 已落地 | +| Tool table | `xyzbc-trt.tbl` staged 并进入 Web tool DB 仿真 | 已落地 | +| Parameter file | INI 指向 `xyzbc.var`；已从真实运行树导入 `wasm-port/vendor` 并加入 manifest | 已落地 | +| 默认程序 | `xyzbc_switchkins.ngc` 作为 `xyzbc-trt` 默认程序 | 已落地 | +| task/HAL runtime | `linuxcnc-task-hal-runtime.js` 连接 `wasm-port` task/HAL SDK | 代码已接入，需 artifact 验收 | +| 刀具预览路径 JSON | native 与 Web 在预览阶段输出统一结构的 `previewPath` 曲线采样 | 待补充采集脚本 | +| 刀具执行路径 JSON | native 与 Web 在真实执行阶段输出统一结构的 `executionPath` 曲线采样 | 待补充采集脚本 | +| 预览/执行路径对比 | `compare-xyzbc-trt-evidence.json` 对 `previewPath` 和 `executionPath` 逐点/误差统计比对 | 待补充 compare 规则 | +| AXIS 主界面等效 | Web 首屏必须是可操作 CNC 仿真界面，包含程序、坐标、状态、override、工具、MDI/switchkins 控制 | 待全量验收 | +| POSTGUI HAL 等效 | Web 需复现 `pyvcp.* -> halui.mdi-command-* -> M428/M429/M430` 连接关系 | 待补充 JSON 检查 | +| basic_sim 等效 | Web task/HAL runtime 需提供模拟回零、manual toolchange、spindle、joint feedback 基础仿真语义 | 待 WASM/task-HAL 验收 | +| Vismach 模型等效 | Web 3D 模型需按 `table-x/saddle-y/spindle-z/tilt-b/rotate-c/tool-offset/x-offset/z-offset` 驱动 | 待补充模型 pin 验收 | +| Ngcgui 子程序 | Web 需 stage 并可运行 `xyzbc_switchkins_sub.ngc`、`centering.ngc`、`helix_bc.ngc` | 待补充子程序验收 | +| 演示程序全集 | Web 需 stage `xyzbc_switchkins.ngc` 和 `boat-xyzbc.ngc`，默认打开前者 | 待补充 boat 验收 | +| 速度/限制/坐标显示 | Web 需对标 `GEOMETRY/JOG_AXES/POSITION_FEEDBACK/MAX_*`、TRAJ 和 AXIS/JOINT 限制 | 待补充 UI/JSON 检查 | +| Kinematics HAL pins | Web 需 expose/record `x-offset/z-offset/tool-offset/rot-point/conventional-directions` | 待补充 HAL pin 检查 | + +## 刀具预览与执行路径 JSON 要求 + +目标：把 LinuxCNC 真实系统和 Web 仿真系统中的刀具预览路径、刀具执行路径都写入 evidence JSON，并在 compare JSON 中做同周期曲线比对。 + +统一采样规则： + +- 对比采样周期固定为 `samplePeriodMs = 20`，即 50 Hz。 +- native 和 Web 可以保留各自原始采样，但写入 `previewPath.samples`、`executionPath.samples` 前必须重采样到同一个周期。 +- 两侧样本必须使用相同的 `sampleIndex` 和 `timeMs` 序列，方便逐点比较。 +- 曲线开始点以程序开始执行或预览路径第一段有效运动为 `timeMs = 0`。 +- 对于 `G0/G1/G2/G3` 等不同插补段，JSON 中必须记录 `motionType`，用于区分快移、直线、圆弧和 remap/switchkins 前后的路径段。 + +native/Web evidence JSON 中都应增加： + +```json +{ + "pathSampling": { + "samplePeriodMs": 20, + "timeBase": "program-relative-ms", + "resampling": "linear-position-slerp-or-axis-linear", + "coordinateSystem": "machine-xyzbc-and-tcp" + }, + "previewPath": { + "source": "linuxcnc-preview-or-web-preview", + "sampleCount": 0, + "samples": [] + }, + "executionPath": { + "source": "linuxcnc-stat-or-web-task-hal", + "sampleCount": 0, + "samples": [] + } +} +``` + +每个 sample 至少包含： + +```json +{ + "sampleIndex": 0, + "timeMs": 0, + "line": 0, + "motionType": "G0|G1|G2|G3|remap|unknown", + "activeKinematics": "identity|xyzbc-tcp|userk|unknown", + "tool": { + "id": 0, + "length": 0, + "diameter": 0 + }, + "joint": { + "x": 0, + "y": 0, + "z": 0, + "b": 0, + "c": 0 + }, + "tcp": { + "x": 0, + "y": 0, + "z": 0 + }, + "toolAxis": { + "i": 0, + "j": 0, + "k": 1 + }, + "feed": 0, + "spindle": 0 +} +``` + +compare JSON 应增加 `pathComparison`： + +- `previewVsPreview`：native 预览路径与 Web 预览路径对比。 +- `executionVsExecution`：native 执行路径与 Web 执行路径对比。 +- `previewVsExecutionNative`：LinuxCNC 预览与真实执行之间的偏差。 +- `previewVsExecutionWeb`：Web 预览与 Web 执行之间的偏差。 +- 误差统计至少包含 `maxTcpErrorMm`、`rmsTcpErrorMm`、`maxJointError`、`rmsJointError`、`maxToolAxisAngleDeg`、`sampleCountDelta`、`missingSamples`。 + +## WASM 是否满足 + +结论：`wasm-port` 已经具备满足 `xyzbc-trt` Web 仿真的主要语义边界，但当前工作区没有 `wasm-port/build/wasm` 构建产物，导致完整浏览器运行需要先执行 WASM 构建。 + +已具备的证据： + +- `wasm-port/runtime/sdk/src/linuxcnc-kinematics.js` 注册 `xyzbc-trt`，目标文件为 `linuxcnc_xyzbc_trt_kinematics.wasm`。 +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_xyzbc_trt_kinematics_probe.cpp` 覆盖 `xyzbc-trt-kins` forward/inverse/switchkins。 +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_5axis_remap_execute_harness.cpp` 包含 `xyzbc-trt.ini`、`xyzbc_switchkins.ngc`、`boat-xyzbc.ngc` 执行路径。 +- `wasm-port/docs/compatibility-validation.md` 记录 `xyzbc-trt` kinematics、remap、browser interp 覆盖。 +- 当前环境已经安装并可调用 `emcc 6.0.2`，后续缺口从“安装 Emscripten”转为“执行 WASM 构建并复跑证据”。 + +当前缺口： + +- `wasm-port/build/wasm/kinematics`、`core`、`tp`、`task-hal` 目录当前不存在。 +- 因此本轮已完成 native 真实执行、Web OPFS/staging/readiness、JSON 对比验证；完整 browser worker WASM 执行需先构建 artifact。 + +## Native/Web JSON 对比结论 + +证据文件： + +```text +working/evidence/native-xyzbc-trt-evidence.json +working/evidence/web-xyzbc-trt-evidence.json +working/evidence/compare-xyzbc-trt-evidence.json +``` + +当前结果： + +- native `xyzbc-trt` 通过 LinuxCNC Python API 真实执行 `xyzbc_switchkins.ngc`，采集到 1462 个执行事件。 +- Web 侧已完成 profile、INI、OPFS staging、PyVCP XML、remap、tool table、parameter file、默认程序覆盖。 +- 对比 12 项检查中 11 项通过。 +- 唯一失败项：`required WASM artifacts available`，缺少 `wasm-port/build/wasm/...` 的 kinematics/core/tp/task-hal `.js/.wasm` 文件。 diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/02-项目程序开发详细步骤.md b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/02-项目程序开发详细步骤.md new file mode 100644 index 0000000..2145885 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/02-项目程序开发详细步骤.md @@ -0,0 +1,215 @@ +# 02-项目程序开发详细步骤 + +## 步骤 + +1. 读取 `doc/xyzbc-trt-runtime-files.md`，确认 LinuxCNC 进程、INI、PyVCP、POSTGUI HAL、Vismach、remap、tool table、parameter file 的运行关系。 +2. 读取 `wasm-port/AGENTS.md` 和 `wasm-port/SKILL.md`，确认必须复用 LinuxCNC 源码语义，Web 只做 UI/OPFS/运行边界适配。 +3. 检查 `wasm-port` 是否包含 `xyzbc-trt`：确认 SDK、probe、vendored configs、remap harness 已覆盖。 +4. 复制参考 Web app 到目标目录： + +```text +web-rtcp-5axis-xyzbc-trt-sim-plan/app +web-rtcp-5axis-xyzbc-trt-sim-plan/tests +``` + +5. 将目标 app 默认机型改为 `xyzbc-trt`： + +```text +app/src/state/store.js +app/src/profiles/index.js +app/src/runtime/linuxcnc-kinematics-runtime.js +app/src/runtime/linuxcnc-kinematics-worker-client.js +app/src/main.js +``` + +6. 将 OPFS/session/tool-db 根路径改为目标项目命名空间： + +```text +web-rtcp-5axis-xyzbc-trt-sim-plan/machines +web-rtcp-5axis-xyzbc-trt-sim-plan/sessions +web-rtcp-5axis-xyzbc-trt-sim-plan/tool-db +``` + +7. 为 `xyzbc-trt` profile 增加默认机器文件 staging： + +```js +machineFileStaging: { + defaultProgramFilename: "xyzbc_switchkins.ngc", + wasmDir: "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt", +} +``` + +8. 新增目标项目 Node smoke： + +```text +tests/node/verify_xyzbc_trt_web_app.mjs +``` + +9. 创建工作文档： + +```text +working/01-项目功能内容.md +working/02-项目程序开发详细步骤.md +working/03-推进台账.md +working/04-任务矩阵.md +working/05-验收证据.md +working/06-决策记录.md +working/07-全量对标追踪矩阵.md +working/README.md +``` + +10. 按 `07-全量对标追踪矩阵.md` 继续补齐 Web 对标功能： + +```text +AXIS 等效界面 +PyVCP/POSTGUI HAL 等效连接 +basic_sim task/HAL 等效运行 +Vismach xyzbc-trt-gui.py 等效 3D 模型 +Ngcgui/remap 子程序全集 staging 和执行 +TRAJ/AXIS/JOINT 限制、速度、单位和 override +tool table/tool offset 对 kinematics 和模型的双向影响 +native/Web JSON 全字段对比 +``` + +11. 切换 native 真实执行基线到 `/home/mes123456/cnc_wams/linuxcnc`： + +```bash +test -x /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment +test -x /home/mes123456/cnc_wams/linuxcnc/bin/axis +test -x /home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui +test -f /home/mes123456/cnc_wams/linuxcnc/rtlib/xyzbc-trt-kins.so +test -f /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +``` + +验收要求： + +- 上述文件存在后，native 采集脚本统一使用 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment`。 +- 真实执行命令的 INI 必须是 `/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini`。 +- Web 界面布局、状态流、switchkins 逻辑、Vismach 等效模型、刀具路径和 JSON 字段都以该路径实际执行结果为准。 +- `/home/mes123456/linuxcnc-master` 只能作为历史运行参考，不再作为新的 native evidence 基线。 + +## 后续完整验收步骤 + +1. 生成 WASM artifact： + +```bash +source /home/mes123456/emsdk/emsdk_env.sh +wasm-port/tools/build_kinematics_wasm.sh +wasm-port/tools/build_wasm_core.sh +wasm-port/tools/build_tp_wasm.sh +wasm-port/tools/build_task_hal_wasm.sh +``` + +2. 运行 wasm-port 对应验证： + +```bash +wasm-port/tests/wasm/node/verify_kinematics_wasm.sh +wasm-port/tests/wasm/node/verify_interp_wasm.sh +wasm-port/tests/wasm/node/verify_task_hal_wasm.sh +wasm-port/tests/browser/verify_interp_browser.sh +``` + +3. 运行目标 app 验证： + +```bash +npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node +npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build +``` + +4. 生成 native/Web 对比证据： + +```bash +/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment \ + python3 web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90 +npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web +npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare +``` + +输出： + +```text +web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json +web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json +web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json +``` + +5. 补充刀具预览路径和刀具执行路径采集： + +```text +tools/collect-native-xyzbc-trt-evidence.py +tools/collect-web-xyzbc-trt-evidence.mjs +tools/compare-xyzbc-trt-evidence.mjs +``` + +实现要求： + +- 在 native evidence 中增加 `pathSampling`、`previewPath`、`executionPath`。 +- 在 Web evidence 中增加同名字段，字段结构必须与 native 完全一致。 +- 统一对比采样周期为 `samplePeriodMs = 20`。 +- 采集脚本可保留原始高频/低频轨迹，但写入对比 JSON 的曲线必须重采样到 20ms。 +- 预览路径从 LinuxCNC preview/canon 或 Web preview planner 采集；执行路径从 LinuxCNC `stat()`/HAL 反馈或 Web task/HAL runtime 采集。 +- 每个样本必须包含 `sampleIndex`、`timeMs`、`line`、`motionType`、`activeKinematics`、`tool`、`joint`、`tcp`、`toolAxis`、`feed`、`spindle`。 +- 对 B/C 旋转轴和 TCP/toolAxis 的计算必须以 `xyzbc-trt` kinematics/WASM 结果为准，不能用 UI 插值伪造。 + +6. 补充刀路 compare 规则： + +```json +{ + "pathComparison": { + "samplePeriodMs": 20, + "previewVsPreview": {}, + "executionVsExecution": {}, + "previewVsExecutionNative": {}, + "previewVsExecutionWeb": {} + } +} +``` + +验收要求： + +- `compare-xyzbc-trt-evidence.json` 中新增 `pathComparison`。 +- `checks` 中新增 `path-preview`、`path-execution`、`path-preview-execution-consistency` 类别。 +- 每类检查至少输出 `maxTcpErrorMm`、`rmsTcpErrorMm`、`maxJointError`、`rmsJointError`、`maxToolAxisAngleDeg`、`sampleCountDelta`、`missingSamples`。 +- 若 native/Web 两侧采样周期不一致，compare 必须直接 fail，并输出实际周期。 +- 若 WASM artifact 缺失导致 Web 执行路径无法采集，compare 必须保持 fail/blocker，不能用预览路径替代执行路径。 + +7. 补充全量对标 JSON 字段： + +```json +{ + "startupSequence": [], + "iniDisplay": {}, + "halNets": [], + "kinematicsPins": {}, + "axisJointLimits": {}, + "switchkinsTransitions": [], + "uiEquivalence": {}, + "vismachEquivalent": {}, + "ngcguiSubroutines": [], + "demoPrograms": [] +} +``` + +验收要求： + +- `startupSequence` 对标 `.desktop -> rip-environment -> linuxcncsvr/rtapi_app/milltask/halui -> basic_sim -> kinematics -> Vismach -> AXIS -> PyVCP -> POSTGUI HAL -> OPEN_FILE`。 +- `halNets` 覆盖 `motion.switchkins-type`、`halui.mdi-command-*`、`pyvcp.*`、`joint.N.pos-fb`、`motion.tooloffset.z`、`xyzbc-trt-kins.*`。 +- `kinematicsPins` 覆盖 `x-offset=-20`、`z-offset=-15`、`x/y/z-rot-point=0`、`conventional-directions=0`、`tool-offset`。 +- `axisJointLimits` 覆盖 `XYZBC` 单位、关节数、B/C 角轴限制、TRAJ 速度/加速度。 +- `uiEquivalence` 覆盖 AXIS 主界面的程序区、坐标区、MDI/switchkins、override、工具、状态、预览/执行路径。 +- `vismachEquivalent` 覆盖 `xyzbc-trt-gui.py` 的模型 pin 和清除轨迹行为。 +- `ngcguiSubroutines` 覆盖 `xyzbc_switchkins_sub.ngc`、`centering.ngc`、`helix_bc.ngc`。 +- `demoPrograms` 覆盖 `xyzbc_switchkins.ngc` 和 `boat-xyzbc.ngc`。 + +8. 启动目标 Web： + +```bash +cd web-rtcp-5axis-xyzbc-trt-sim-plan/app +npm run dev +``` + +默认 URL： + +```text +http://127.0.0.1:4174/ +``` diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/03-推进台账.md b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/03-推进台账.md new file mode 100644 index 0000000..4840eb9 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/03-推进台账.md @@ -0,0 +1,280 @@ +# 03-推进台账 + +## 2026-07-02 07:31 EDT - DOCX 设计任务书整合到 working + +### 本轮目标 + +将 `doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx` 的内容整合到 `working` 目录下，方便后续直接用 Markdown 工作文档继续开发和验收。 + +### 已做事项 + +- 读取 DOCX 包结构，确认正文包含 507 段文本，图片包含 `xyzbc-trt-axis-window.png`、`xyzbc-trt-desktop.png`、`xyzbc-trt-web-architecture.png`、`xyzbc-trt-json-compare-flow.png`、`xyzbc-trt-logic-map.png`。 +- 从 DOCX 的 `word/document.xml` 提取段落和表格，转换为 `working/09-设计任务书与技术方案整合.md`。 +- 在整合稿中保留 1-11 章：项目目标、原型运行证据、完全对标范围、Web 界面设计任务书、技术方案、开发任务分解、验收标准、风险控制、对标文件清单、程序逻辑全量分析、开机/急停/回零/执行状态联锁。 +- 将 DOCX 图片引用改为 `../doc/assets/...`，使 working 文档可直接查看原有图像证据。 +- 更新 `working/README.md`，把 09 文档加入索引。 +- 更新 `04-任务矩阵.md`，新增 `T-040 DOCX 任务书整合到 working`。 + +### 修改文件 + +```text +web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md +web-rtcp-5axis-xyzbc-trt-sim-plan/working/README.md +web-rtcp-5axis-xyzbc-trt-sim-plan/working/03-推进台账.md +web-rtcp-5axis-xyzbc-trt-sim-plan/working/04-任务矩阵.md +web-rtcp-5axis-xyzbc-trt-sim-plan/working/05-验收证据.md +web-rtcp-5axis-xyzbc-trt-sim-plan/working/06-决策记录.md +``` + +### 验证情况 + +- `working/09-设计任务书与技术方案整合.md` 已生成，共 364 行。 +- `rg` 检查到核心章节：`项目目标`、`原型系统运行证据`、`完全对标范围`、`Web 界面设计任务书`、`技术方案`、`开发任务分解`、`验收标准`、`风险和控制措施`、`程序逻辑全量分析`、`开机、急停、回零与执行状态的联锁逻辑`。 +- `rg` 检查到 5 张图片引用，均指向 `../doc/assets/`。 + +### 下一步 + +1. 后续开发需求优先引用 `working/09-设计任务书与技术方案整合.md`，不再需要反复打开 DOCX 才能检索任务书内容。 +2. 若 DOCX 后续继续更新，需要同步重新生成或手工补充 09 文档，并在本台账记录差异。 + +## 2026-07-02 03:10 EDT + +### 本轮目标 + +对标 `xyzbc-trt-runtime-files.md`，确认 `wasm-port` 是否满足，并创建 Web 方式的 `xyzbc-trt` 数控系统仿真界面与工作文档。 + +### 已做事项 + +- 读取 `web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md`。 +- 读取 `wasm-port/AGENTS.md`、`wasm-port/SKILL.md`、`wasm-port/README.md`。 +- 检查参考 app：`web-rtcp-5axis-sim-plan/app`。 +- 检查 `wasm-port` 对 `xyzbc-trt` 的覆盖：SDK、vendored config、kinematics probe、remap execute harness、文档覆盖。 +- 复制参考 app 和 tests 到目标目录。 +- 修改目标 app 默认 profile 为 `xyzbc-trt`。 +- 修改 OPFS/session/tool-db 命名空间为 `web-rtcp-5axis-xyzbc-trt-sim-plan`。 +- 为 `xyzbc-trt` profile 增加 `machineFileStaging.defaultProgramFilename = xyzbc_switchkins.ngc`。 +- 新增 `tests/node/verify_xyzbc_trt_web_app.mjs`。 +- 创建 `README.md` 和 `working/` 六类工作文档。 +- 发现 `xyzbc.var` 未进入 `wasm-port/vendor`/manifest；本轮记录为参数文件基线导入缺口。 + +### 修改文件 + +```text +web-rtcp-5axis-xyzbc-trt-sim-plan/README.md +web-rtcp-5axis-xyzbc-trt-sim-plan/app/index.html +web-rtcp-5axis-xyzbc-trt-sim-plan/app/package.json +web-rtcp-5axis-xyzbc-trt-sim-plan/app/package-lock.json +web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/main.js +web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js +web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/index.js +web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/xyzbc-trt.js +web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/five-axis-session.js +web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js +web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-kinematics-runtime.js +web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-kinematics-worker-client.js +web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/tool-db-simulation.js +web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui/gmoccapy-shell.js +web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_xyzbc_trt_web_app.mjs +web-rtcp-5axis-xyzbc-trt-sim-plan/working/README.md +web-rtcp-5axis-xyzbc-trt-sim-plan/working/01-项目功能内容.md +web-rtcp-5axis-xyzbc-trt-sim-plan/working/02-项目程序开发详细步骤.md +web-rtcp-5axis-xyzbc-trt-sim-plan/working/03-推进台账.md +web-rtcp-5axis-xyzbc-trt-sim-plan/working/04-任务矩阵.md +web-rtcp-5axis-xyzbc-trt-sim-plan/working/05-验收证据.md +web-rtcp-5axis-xyzbc-trt-sim-plan/working/06-决策记录.md +``` + +### 验证情况 + +- 已通过：`npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node`，输出 `xyzbc_trt_web_app_smoke=ok`。 +- 已通过：`git diff --check -- web-rtcp-5axis-xyzbc-trt-sim-plan`。 +- 已发现：当前工作区缺少 `wasm-port/build/wasm`，完整 WASM/browser 验收需要先构建 artifact。 + +### 下一步 + +1. 运行目标 Node smoke。 +2. 如需完整 Web 执行，先构建 `wasm-port/build/wasm`。 +3. 根据 browser smoke 结果补齐目标项目专用浏览器断言。 + +## 2026-07-02 native/Web 对比验证轮次 + +### 本轮目标 + +执行真实 `xyzbc-trt` 和 Web 仿真采集，分别写入 JSON，并通过比较 JSON 找出需要完善的差异。 + +### 已做事项 + +- 确认 native `xyzbc-trt` 进程正在运行：`linuxcncsvr`、`milltask`、`halui`、`xyzbc-trt-gui`、`axis`。 +- 历史轮次曾使用 `/home/mes123456/linuxcnc-master/scripts/rip-environment python3` 成功导入 LinuxCNC Python API 并读取 `stat()`；当前 native 新基线已切换到 `/home/mes123456/cnc_wams/linuxcnc`。 +- 新增 native 采集脚本：`tools/collect-native-xyzbc-trt-evidence.py`。 +- 新增 Web 采集脚本：`tools/collect-web-xyzbc-trt-evidence.mjs`。 +- 新增 JSON 对比脚本：`tools/compare-xyzbc-trt-evidence.mjs`。 +- 将 `xyzbc.var` 从真实运行树导入 `wasm-port/vendor/linuxcnc/.../xyzbc.var`，并加入 `wasm-port/tools/source-manifest.txt`。 +- 更新目标 smoke，使参数文件 staging 成为必须通过项。 +- 在 `package.json` 增加 `evidence:web` 和 `evidence:compare`。 + +### 验证情况 + +- 已通过 native 真实执行采集：`native-xyzbc-trt-evidence.json`，`commandResult.status=completed`，事件数 `1462`。 +- 已通过 Web 采集：`web-xyzbc-trt-evidence.json`，profile/INI/OPFS/PyVCP/remap/tool/parameter/default program 均覆盖。 +- 已生成比较报告：`compare-xyzbc-trt-evidence.json`，12 项检查中 11 项通过。 +- 当前唯一失败项：缺少 `wasm-port/build/wasm` 下的 kinematics/core/tp/task-hal `.js/.wasm` artifact。 +- 当前环境此前缺少 `emcc`；后续已安装 `emcc 6.0.2`，下一步应直接构建 WASM artifact。 + +### 下一步 + +1. 运行 `source /home/mes123456/emsdk/emsdk_env.sh`。 +2. 运行 `wasm-port/tools/build_kinematics_wasm.sh`、`build_wasm_core.sh`、`build_tp_wasm.sh`、`build_task_hal_wasm.sh`。 +3. 重跑 `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web` 和 `evidence:compare`，目标是比较报告 artifact 项通过。 +4. 再补目标浏览器 smoke，确认 worker runtime 和 canvas 非空。 + +## 2026-07-02 刀具预览/执行路径 JSON 对比需求补充 + +### 本轮目标 + +把“刀具预览路径”和“刀具执行路径”的采集过程纳入 native/Web evidence JSON，并要求 compare JSON 使用一致曲线采样周期进行比对。 + +### 已做事项 + +- 在 `01-项目功能内容.md` 增加 `pathSampling`、`previewPath`、`executionPath`、`pathComparison` 的 JSON 字段要求。 +- 明确 native 和 Web 对比采样周期统一为 `samplePeriodMs = 20`。 +- 明确每个路径样本必须包含程序行号、运动类型、switchkins/kinematics 状态、刀具信息、XYZBC joint、TCP、toolAxis、feed、spindle。 +- 在 `02-项目程序开发详细步骤.md` 增加 native/Web 采集脚本和 compare 脚本的后续实现步骤。 +- 在任务矩阵中增加预览路径采集、执行路径采集、统一采样周期、路径误差统计等任务。 + +### 当前状态 + +- 本轮只补充工作文档和验收要求。 +- 现有 `working/evidence/*.json` 仍是上一轮真实采集结果，尚未伪造或手工改写。 +- 后续需要修改采集脚本，让真实 native/Web 运行重新生成包含刀具路径的 JSON。 + +### 下一步 + +1. 在 `collect-native-xyzbc-trt-evidence.py` 中增加 LinuxCNC 预览路径与执行反馈路径采集。 +2. 在 `collect-web-xyzbc-trt-evidence.mjs` 中增加 Web 预览 planner 与 WASM task/HAL 执行路径采集。 +3. 在 `compare-xyzbc-trt-evidence.mjs` 中增加 20ms 重采样和路径误差统计。 +4. 重新生成 native/Web/compare 三份 JSON，确认 `pathComparison.samplePeriodMs = 20` 且两侧样本可逐点对齐。 + +## 2026-07-02 全量对标 working 文档完善 + +### 本轮目标 + +根据 `doc/xyzbc-trt-runtime-files.md`，让 `working` 文档明确要求 Web 数控系统仿真界面完全对标 LinuxCNC `xyzbc-trt` 真实运行配置。 + +### 已做事项 + +- 重新读取 `doc/xyzbc-trt-runtime-files.md`，确认文档共 702 行，覆盖进程、启动入口、INI、AXIS、PyVCP、POSTGUI HAL、basic_sim、Vismach、switchkins、G-code、tool table、kinematics、加载顺序和重要文件清单。 +- 新增 `working/07-全量对标追踪矩阵.md`，把每个 LinuxCNC 功能点映射到 Web 对标目标、evidence 字段和当前缺口。 +- 更新 `01-项目功能内容.md`，明确完全对标范围，并补充 AXIS 等效、POSTGUI HAL 等效、basic_sim、Vismach pin、Ngcgui、演示程序全集、速度/限制、kinematics HAL pins 等功能项。 +- 更新 `02-项目程序开发详细步骤.md`，增加全量对标 JSON 字段和后续实现步骤。 +- 更新 `04-任务矩阵.md`，新增 T-025 到 T-035。 +- 更新 `05-验收证据.md`，新增全量对标 JSON 验收要求。 +- 同步 `emcc` 状态：当前已安装 `emcc 6.0.2`，剩余前置是构建 WASM artifact。 + +### 当前状态 + +- 文档层面已把 `xyzbc-trt-runtime-files.md` 的完整运行语义转成 Web 对标清单。 +- 代码层面仍需继续补齐全量 evidence JSON、UI 等效行为、Vismach pin 验收和 WASM artifact 验收。 + +### 下一步 + +1. 构建 `wasm-port/build/wasm` artifact。 +2. 修改 native/Web evidence 采集脚本，补齐 `startupSequence`、`halNets`、`kinematicsPins`、`axisJointLimits`、`uiEquivalence`、`vismachEquivalent` 等字段。 +3. 修改 compare 脚本，把 `07-全量对标追踪矩阵.md` 中的检查项转为自动化 check。 +4. 根据新增任务矩阵补齐 Web UI 和 3D 模型行为。 + +## 2026-07-02 切换 native 对标基线到 `/home/mes123456/cnc_wams/linuxcnc` + +### 本轮目标 + +根据用户要求，以编译成功并能够执行 `xyzbc-trt` 的 `/home/mes123456/cnc_wams/linuxcnc` 为真实 LinuxCNC 对标基线，设计 Web 数控仿真界面和逻辑。 + +### 已做事项 + +- 检查 `/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini`，确认配置文件存在。 +- 检查 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment`、`bin/axis`、`bin/xyzbc-trt-gui`、`rtlib/xyzbc-trt-kins.so`，当前自动检查未发现这些 RIP/构建产物。 +- 更新 `01-项目功能内容.md`，声明后续 native evidence 采集和 Web 对标基线统一使用 `/home/mes123456/cnc_wams/linuxcnc`。 +- 更新 `02-项目程序开发详细步骤.md`，将 native 采集命令切换为 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment`。 +- 更新 `04-任务矩阵.md`，新增 T-036 到 T-038，覆盖 native 基线切换、新基线 JSON 重采集、Web 界面按新 native 运行结果复核。 +- 更新 `05-验收证据.md`，新增 native 基线切换验收，记录当前文件检查结果。 +- 更新 `07-全量对标追踪矩阵.md` 和 `06-决策记录.md`，明确 `/home/mes123456/linuxcnc-master` 只作为历史运行参考。 + +### 当前状态 + +- 文档层面已切换对标基线。 +- 代码和 evidence 层面还未重新采集；现有 `working/evidence/*.json` 仍来自历史 `/home/mes123456/linuxcnc-master` 运行树。 + +### 下一步 + +1. 确认 `/home/mes123456/cnc_wams/linuxcnc` 的 RIP 构建产物实际输出位置。 +2. 用该路径执行 `xyzbc-trt.ini`，确认 `axis`、`xyzbc-trt-gui`、`xyzbc-trt-kins.so` 可运行。 +3. 修改/运行 native evidence 采集脚本，让 `sourceRoot=/home/mes123456/cnc_wams/linuxcnc`。 +4. 依据新 native JSON 复核 Web UI、switchkins、Vismach 等效模型、刀具路径和 compare 规则。 + +## 2026-07-02 编译 `/home/mes123456/cnc_wams/linuxcnc` + +### 本轮目标 + +按 run-in-place 方式编译 `/home/mes123456/cnc_wams/linuxcnc`，使其能够作为 `xyzbc-trt` native 真实执行基线。 + +### 已做事项 + +- 读取 `docs/INSTALL.adoc`，确认 RIP 构建流程为 `cd src`、`./autogen.sh`、`./configure --with-realtime=uspace`、`make`、`sudo make setuid`。 +- 执行 `./autogen.sh`，成功生成 configure/config.h.in。 +- 执行 `./configure --with-realtime=uspace --disable-build-documentation`，配置成功，并生成 `scripts/linuxcnc`、`scripts/rip-environment`、`scripts/halrun` 等 RIP 脚本。 +- 首次执行 `make -j"$(nproc)"` 失败，原因是 shell 环境变量 `DEBUG=release` 被 LinuxCNC Makefile 当作编译参数，导致 `gcc/c++` 报 `release: linker input file not found`。 +- 使用 `env -u DEBUG make -j"$(nproc)"` 重新编译，成功完成。 +- 执行 `sudo -n make setuid`，成功设置 `bin/rtapi_app` 和 `bin/linuxcnc_module_helper` 的 root/setuid 权限。 + +### 验证情况 + +- 已生成 `scripts/rip-environment`、`scripts/linuxcnc`。 +- 已生成 `bin/axis`、`bin/xyzbc-trt-gui`、`bin/milltask`、`bin/linuxcncsvr`、`bin/halui`。 +- 已生成 `rtlib/xyzbc-trt-kins.so`、`rtlib/tpmod.so`。 +- `source scripts/rip-environment` 后，`command -v linuxcnc`、`axis`、`halcmd` 均指向 `/home/mes123456/cnc_wams/linuxcnc`。 +- `python3 -c "import linuxcnc"` 成功，模块路径为 `/home/mes123456/cnc_wams/linuxcnc/lib/python/linuxcnc.so`。 +- `git status --short` 无输出，说明没有 Git 跟踪文件改动；编译产物均在忽略/生成路径内。 + +### 下一步 + +1. 使用 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment` 重新采集 native `xyzbc-trt` evidence。 +2. 将 `native-xyzbc-trt-evidence.json.sourceRoot` 更新为 `/home/mes123456/cnc_wams/linuxcnc`。 +3. 用新 native JSON 重跑 Web evidence 和 compare。 + +## 2026-07-02 创建并执行 `xyzbc-trt` 快捷方式 + +### 本轮目标 + +在 `/home/mes123456/cnc_wams/linuxcnc` 中创建执行 `xyzbc-trt` 的桌面快捷方式，并实际启动该配置。 + +### 已做事项 + +- 检查显示环境，当前 `DISPLAY=:1`、`XDG_SESSION_TYPE=x11`。 +- 参考历史 `/home/mes123456/linuxcnc-master/linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop`，创建新快捷方式： + +```text +/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop +``` + +- 快捷方式 `Exec` 指向： + +```text +/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +``` + +- 启动前发现历史 `/home/mes123456/linuxcnc-master` 的 `xyzbc-trt` 仍在运行。 +- 尝试 `/home/mes123456/linuxcnc-master/scripts/linuxcnc -k` 后出现 pickconfig 窗口，未关闭旧实例；随后终止旧 LinuxCNC 相关进程。 +- 使用 `setsid` 从新路径后台启动 `xyzbc-trt`。 + +### 验证情况 + +- 新进程均来自 `/home/mes123456/cnc_wams/linuxcnc`：`scripts/linuxcnc`、`linuxcncsvr`、`rtapi_app`、`milltask`、`halui`、`hal_manualtoolchange`、`xyzbc-trt-gui`、`axis`。 +- `halcmd show pin motion.switchkins-type` 可读，值为 `0`。 +- LinuxCNC Python API 可读取状态：`file=./demos/xyzbc_switchkins.ngc`、`axis_mask=55`、`position=[0,0,0,0,0]`。 +- `desktop-file-validate` 无输出。 + +### 下一步 + +1. 用当前运行的新 native 实例重采集 `native-xyzbc-trt-evidence.json`。 +2. 将现有历史 `/home/mes123456/linuxcnc-master` evidence 替换为 `/home/mes123456/cnc_wams/linuxcnc` evidence。 +3. 基于新 evidence 重跑 Web compare。 diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/04-任务矩阵.md b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/04-任务矩阵.md new file mode 100644 index 0000000..2c6c546 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/04-任务矩阵.md @@ -0,0 +1,50 @@ +# 04-任务矩阵 + +| 编号 | 任务 | 状态 | 验收标准 | +| --- | --- | --- | --- | +| T-001 | 对标 `xyzbc-trt-runtime-files.md` 梳理运行文件 | 完成 | 文档列出 INI、PyVCP、HAL、Vismach、remap、tool table、parameter file | +| T-002 | 判断 `wasm-port` 是否满足 `xyzbc-trt` | 完成 | 明确列出 SDK/probe/remap/browser 覆盖和当前 artifact 缺口 | +| T-003 | 创建目标 Web app | 完成 | `web-rtcp-5axis-xyzbc-trt-sim-plan/app/index.html` 存在 | +| T-004 | 默认机型改为 `xyzbc-trt` | 完成 | `createSimulationStore().getState().machineProfile === "xyzbc-trt"` | +| T-005 | 接入 `xyzbc-trt` INI/profile | 完成 | profile 坐标为 `XYZBC`，kinematics 为 `xyzbc-trt-kins` | +| T-006 | OPFS 路径隔离到目标项目 | 完成 | staged 文件 path 以 `web-rtcp-5axis-xyzbc-trt-sim-plan/machines/xyzbc-trt/` 开头 | +| T-007 | 默认加载 `xyzbc_switchkins.ngc` | 完成 | profile `machineFileStaging.defaultProgramFilename` 为 `xyzbc_switchkins.ngc` | +| T-008 | Stage remap/tool/PyVCP 文件 | 完成 | staging 包含 `428remap.ngc`、`429remap.ngc`、`430remap.ngc`、`xyzbc-trt.tbl`、`xyzbc-trt.xml` | +| T-009 | 增加目标 Node smoke | 完成 | `tests/node/verify_xyzbc_trt_web_app.mjs` 存在并通过 | +| T-010 | 导入 `xyzbc.var` 基线参数文件 | 完成 | `wasm-port/vendor`/manifest 包含 `xyzbc.var`，OPFS staging 可保存参数文件 | +| T-011 | 完整 kinematics WASM 验证 | 待前置 | `wasm-port/tests/wasm/node/verify_kinematics_wasm.sh` 通过 | +| T-012 | 完整 interpreter/remap WASM 验证 | 待前置 | `wasm-port/tests/wasm/node/verify_interp_wasm.sh` 通过并覆盖 `xyzbc_switchkins.ngc` | +| T-013 | 完整 task/HAL WASM 验证 | 待前置 | `wasm-port/tests/wasm/node/verify_task_hal_wasm.sh` 通过 | +| T-014 | 目标浏览器 smoke | 待前置 | 页面默认显示 `xyzbc-trt`，worker runtime ready，canvas 非空 | +| T-015 | native 真实执行 JSON 采集 | 完成 | `native-xyzbc-trt-evidence.json` 记录真实执行事件，状态 completed | +| T-016 | Web OPFS/WASM readiness JSON 采集 | 完成 | `web-xyzbc-trt-evidence.json` 记录 Web profile/INI/staging/WASM readiness | +| T-017 | native/Web JSON 对比 | 部分完成 | `compare-xyzbc-trt-evidence.json` 已生成；当前 11/12 通过，剩余 WASM artifact | +| T-018 | WASM artifact 构建前置 | 待前置 | `emcc 6.0.2` 已可用，需运行构建脚本让 `wasm-port/build/wasm` 生成所需 `.js/.wasm` | +| T-019 | native 刀具预览路径 JSON 采集 | 待实现 | `native-xyzbc-trt-evidence.json.previewPath.samples` 使用 20ms 周期记录 LinuxCNC 预览刀路 | +| T-020 | native 刀具执行路径 JSON 采集 | 待实现 | `native-xyzbc-trt-evidence.json.executionPath.samples` 使用 20ms 周期记录真实执行反馈路径 | +| T-021 | Web 刀具预览路径 JSON 采集 | 待实现 | `web-xyzbc-trt-evidence.json.previewPath.samples` 使用 20ms 周期记录 Web 预览刀路 | +| T-022 | Web 刀具执行路径 JSON 采集 | 待前置 | `web-xyzbc-trt-evidence.json.executionPath.samples` 使用 20ms 周期记录 WASM task/HAL 执行反馈路径 | +| T-023 | 刀路采样周期一致性检查 | 待实现 | compare 检查 native/Web `pathSampling.samplePeriodMs === 20`，否则 fail | +| T-024 | 刀路误差统计对比 | 待实现 | compare 输出 preview/execution 的 TCP、joint、toolAxis 误差统计和缺样本清单 | +| T-025 | 全量对标追踪矩阵 | 完成 | `07-全量对标追踪矩阵.md` 逐项映射 `xyzbc-trt-runtime-files.md` 的运行功能 | +| T-026 | AXIS 主界面等效功能 | 待实现 | Web 首屏包含程序、坐标、状态、MDI/switchkins、override、工具和预览/执行区域 | +| T-027 | POSTGUI HAL/PyVCP 连接等效 | 待实现 | JSON 记录 `pyvcp.* -> halui.mdi-command-* -> M428/M429/M430` 和 multilabel 状态 | +| T-028 | basic_sim 等效 task/HAL | 待前置 | Web task/HAL runtime 覆盖模拟回零、manual toolchange、spindle、joint feedback | +| T-029 | Vismach 3D 模型 pin 对标 | 待实现 | Web 3D 模型由 `table-x/saddle-y/spindle-z/tilt-b/rotate-c/tool-offset/x-offset/z-offset` 驱动 | +| T-030 | Ngcgui/remap 子程序全集 | 待实现 | staging 和执行覆盖 `xyzbc_switchkins_sub.ngc`、`centering.ngc`、`helix_bc.ngc` | +| T-031 | 演示程序全集 | 待实现 | staging 和 UI 程序选择覆盖 `xyzbc_switchkins.ngc` 与 `boat-xyzbc.ngc` | +| T-032 | TRAJ/AXIS/JOINT 限制对标 | 待实现 | JSON/UI 覆盖 XYZBC 单位、速度/加速度、B/C 限位、JOG_AXES、GEOMETRY | +| T-033 | kinematics HAL pins 对标 | 待实现 | JSON 记录 `x-offset=-20`、`z-offset=-15`、rot-point、conventional-directions、tool-offset | +| T-034 | tool table 到 tool-offset 闭环 | 待实现 | T/P/Z/D 解析影响 kinematics tool-offset、Web 模型刀长和 path JSON | +| T-035 | 全量 evidence JSON 字段 | 待实现 | native/Web JSON 包含 `startupSequence`、`iniDisplay`、`halNets`、`kinematicsPins`、`axisJointLimits`、`uiEquivalence` | +| T-036 | native 基线切换到 `/home/mes123456/cnc_wams/linuxcnc` | 完成 | `scripts/rip-environment`、`bin/axis`、`bin/xyzbc-trt-gui`、`rtlib/xyzbc-trt-kins.so` 已生成，RIP 环境可导入 `linuxcnc` Python 模块 | +| T-037 | 基于新 native 基线重采集 JSON | 待前置 | `native-xyzbc-trt-evidence.json` 的 `sourceRoot` 为 `/home/mes123456/cnc_wams/linuxcnc`，执行状态 completed | +| T-038 | Web 界面按新 native 运行结果复核 | 待实现 | UI/逻辑与 `/home/mes123456/cnc_wams/linuxcnc` 真实 `xyzbc-trt` 的状态流、按钮、路径、HAL pin 对齐 | +| T-039 | 创建并执行 `xyzbc-trt` 快捷方式 | 完成 | `linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop` 已创建，进程从 `/home/mes123456/cnc_wams/linuxcnc` 启动 | +| T-040 | DOCX 任务书整合到 working | 完成 | `working/09-设计任务书与技术方案整合.md` 保留 DOCX 1-11 章、5 张图片引用、任务书、技术方案、程序逻辑和状态联锁内容 | + +状态说明： + +- 完成：本轮已实现并可通过静态/Node 验证。 +- 待前置：代码已接入，但当前缺少 `wasm-port/build/wasm` artifact，需先构建。 +- 待实现：已记录验收要求，仍需修改采集或对比脚本。 diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/05-验收证据.md b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/05-验收证据.md new file mode 100644 index 0000000..a810823 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/05-验收证据.md @@ -0,0 +1,491 @@ +# 05-验收证据 + +## DOCX 整合验收 + +### 源文件 + +```text +web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx +``` + +### 输出文件 + +```text +web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md +``` + +### 包结构检查结论 + +```text +DOCX 正文段落数：507 +DOCX 图片数：5 +图片文件： +- word/media/xyzbc-trt-axis-window.png +- word/media/xyzbc-trt-desktop.png +- word/media/xyzbc-trt-json-compare-flow.png +- word/media/xyzbc-trt-logic-map.png +- word/media/xyzbc-trt-web-architecture.png +``` + +### Markdown 输出检查 + +```bash +wc -l web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md +rg -n "^## |图 1|图 2|图 3|图 4|图 5|状态联锁|Evidence JSON|开发任务分解|验收标准|风险" web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md +rg -n "!\\[" web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md +``` + +结果： + +```text +364 web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md +检索到 1-11 章关键章节。 +检索到 5 张图片引用，均指向 ../doc/assets/。 +``` + +结论： + +- DOCX 任务书已整合到 `working/09-设计任务书与技术方案整合.md`。 +- 该 Markdown 保留任务书、技术方案、开发任务分解、验收标准、风险控制、源码级程序逻辑分析和状态联锁章节。 +- `working/README.md` 和 `04-任务矩阵.md` 已登记该整合项。 + +## 本轮命令证据 + +### 读取对标文档 + +```bash +sed -n '1,240p' web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md +sed -n '241,520p' web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md +``` + +结论： + +- `xyzbc-trt.ini` 使用 `DISPLAY=axis`、`PYVCP=./xyzbc-trt.xml`、`OPEN_FILE=./demos/xyzbc_switchkins.ngc`。 +- `switchkins_postgui.hal` 连接 PyVCP 按钮到 `halui.mdi-command-00/01/02`。 +- `M429/M428/M430` 分别选择 identity、XYZBC TCP、userk。 + +### 检查 WASM 支撑 + +```bash +rg -n "xyzbc|xyzbc-trt|supportedLinuxCncKinematicsModules|linuxcnc_xyzbc" wasm-port web-rtcp-5axis-sim-plan/tests web-rtcp-5axis-sim-plan/app/src +``` + +结论： + +- SDK 包含 `xyzbc-trt -> linuxcnc_xyzbc_trt_kinematics.wasm`。 +- native probe 包含 `linuxcnc_xyzbc_trt_kinematics_probe.cpp`。 +- remap 执行 harness 包含 `xyzbc-trt.ini`、`xyzbc_switchkins.ngc`、`boat-xyzbc.ngc`。 + +### 检查当前 artifact + +```bash +find wasm-port/build/wasm -maxdepth 3 -type f +``` + +结果： + +```text +find: ‘wasm-port/build/wasm’: No such file or directory +``` + +结论： + +- 当前仓库没有已生成的 WASM artifact。 +- 完整浏览器运行前必须先构建 WASM。 + +### 检查参数文件基线 + +```bash +ls -l wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var /home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var +``` + +结果： + +```text +/home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var 存在 +wasm-port/vendor/.../xyzbc.var 当前不存在 +linuxcnc/.../xyzbc.var 当前不存在 +``` + +结论： + +- `xyzbc.var` 是需要补充导入的运行态参数文件基线。 +- 历史轮次已从 `/home/mes123456/linuxcnc-master/.../xyzbc.var` 导入到 `wasm-port/vendor/linuxcnc/.../xyzbc.var`，并加入 `wasm-port/tools/source-manifest.txt`；后续若以 `/home/mes123456/cnc_wams/linuxcnc` 为新 native 基线，应重新核对该参数文件是否与当前运行树一致。 + +## 已运行验收 + +### native 基线切换验收 + +后续真实 LinuxCNC 对标基线统一为： + +```text +/home/mes123456/cnc_wams/linuxcnc +``` + +必须先确认这些文件存在： + +```bash +test -x /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment +test -x /home/mes123456/cnc_wams/linuxcnc/bin/axis +test -x /home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui +test -f /home/mes123456/cnc_wams/linuxcnc/rtlib/xyzbc-trt-kins.so +test -f /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +``` + +本轮自动检查结果： + +```text +scripts/rip-environment: ok +scripts/linuxcnc: ok +bin/axis: ok +bin/xyzbc-trt-gui: ok +bin/milltask: ok +bin/linuxcncsvr: ok +bin/halui: ok +rtlib/xyzbc-trt-kins.so: ok +rtlib/tpmod.so: ok +lib/python/linuxcnc.so: ok +xyzbc-trt.ini: ok +``` + +说明： + +- native evidence 的 `sourceRoot` 后续必须写为 `/home/mes123456/cnc_wams/linuxcnc`。 +- `/home/mes123456/linuxcnc-master` 只作为历史运行参考；新一轮 Web 对标和 compare 以 `/home/mes123456/cnc_wams/linuxcnc` 的真实执行结果为准。 + +### LinuxCNC RIP 编译证据 + +执行命令： + +```bash +cd /home/mes123456/cnc_wams/linuxcnc/src +./autogen.sh +./configure --with-realtime=uspace --disable-build-documentation +env -u DEBUG make -j"$(nproc)" +sudo -n make setuid +``` + +关键过程： + +- 首次直接执行 `make -j"$(nproc)"` 失败，原因是当前 shell 环境存在 `DEBUG=release`，LinuxCNC Makefile 将 `$(DEBUG)` 拼入编译参数，导致 `gcc/c++` 把裸参数 `release` 当作输入文件。 +- 使用 `env -u DEBUG make -j"$(nproc)"` 重新编译通过。 +- `sudo -n make setuid` 成功设置 `bin/rtapi_app` 和 `bin/linuxcnc_module_helper` 的 root/setuid 权限。 + +验证命令： + +```bash +source /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment >/dev/null +command -v linuxcnc +command -v axis +command -v halcmd +python3 - <<'PY' +import linuxcnc +print("python_linuxcnc_import=ok") +print("linuxcnc_module=", linuxcnc.__file__) +PY +``` + +验证结果： + +```text +/home/mes123456/cnc_wams/linuxcnc/scripts/linuxcnc +/home/mes123456/cnc_wams/linuxcnc/bin/axis +/home/mes123456/cnc_wams/linuxcnc/bin/halcmd +python_linuxcnc_import=ok +linuxcnc_module= /home/mes123456/cnc_wams/linuxcnc/lib/python/linuxcnc.so +``` + +### `xyzbc-trt` 快捷方式与执行证据 + +快捷方式路径： + +```text +/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop +``` + +快捷方式内容： + +```text +Exec=/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +Icon=/home/mes123456/cnc_wams/linuxcnc/linuxcncicon.png +``` + +执行方式： + +```bash +setsid bash -lc 'cd /home/mes123456/cnc_wams/linuxcnc && exec /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini' \ + > /tmp/xyzbc-trt-cnc_wams-linuxcnc.log 2>&1 < /dev/null & +``` + +当前进程证据： + +```text +/bin/bash /home/mes123456/cnc_wams/linuxcnc/scripts/linuxcnc .../xyzbc-trt.ini +linuxcncsvr -ini /home/mes123456/cnc_wams/linuxcnc/.../xyzbc-trt.ini +/home/mes123456/cnc_wams/linuxcnc/bin/rtapi_app load tpmod +milltask -ini /home/mes123456/cnc_wams/linuxcnc/.../xyzbc-trt.ini +halui -ini /home/mes123456/cnc_wams/linuxcnc/.../xyzbc-trt.ini +/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/hal_manualtoolchange +/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui +/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/axis -ini /home/mes123456/cnc_wams/linuxcnc/.../xyzbc-trt.ini +``` + +HAL/Python 验证： + +```text +motion.switchkins-type = 0 +loaded file = ./demos/xyzbc_switchkins.ngc +axis_mask = 55 +position = [0.0, 0.0, 0.0, 0.0, 0.0] +``` + +目标 Node smoke： + +```bash +npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node +``` + +实际输出： + +```text +xyzbc_trt_web_app_smoke=ok +``` + +静态 diff 检查： + +```bash +git diff --check -- web-rtcp-5axis-xyzbc-trt-sim-plan +``` + +实际结果：无输出，退出码为 0。 + +WASM artifact 检查： + +```bash +find wasm-port/build/wasm -maxdepth 3 -type f +``` + +实际输出： + +```text +find: ‘wasm-port/build/wasm’: No such file or directory +``` + +完整 WASM 验收： + +```bash +wasm-port/tools/build_kinematics_wasm.sh +wasm-port/tools/build_wasm_core.sh +wasm-port/tools/build_tp_wasm.sh +wasm-port/tools/build_task_hal_wasm.sh +wasm-port/tests/wasm/node/verify_kinematics_wasm.sh +wasm-port/tests/wasm/node/verify_interp_wasm.sh +wasm-port/tests/wasm/node/verify_task_hal_wasm.sh +``` + +### native/Web JSON 证据 + +真实 native 采集命令： + +```bash +/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment \ + python3 web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90 +``` + +输出： + +```text +native_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json +``` + +结果摘要： + +```text +status=ok +executionMode=auto-run +commandResult.status=completed +commandResult.events=1462 +``` + +Web 采集命令： + +```bash +npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web +``` + +输出： + +```text +web_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json +``` + +结果摘要： + +```text +profileDefaultXyzbc=true +iniReady=true +opfsStaged=true +pyvcpXmlStaged=true +remapsStaged=true +toolTableStaged=true +parameterFileStaged=true +defaultProgramStaged=true +wasmArtifactsReady=false +``` + +对比命令： + +```bash +npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare +``` + +输出： + +```text +compare_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json +compare_xyzbc_trt_status=fail fail_count=1 +``` + +当前结论： + +- 12 项对比中 11 项通过。 +- 唯一失败项是 `required WASM artifacts available`。 +- 当前环境已安装 `emcc 6.0.2`；剩余前置是执行 `wasm-port` 构建脚本生成 artifact，并重跑 evidence。 + +### 全量对标 JSON 验收要求 + +后续 native/Web evidence JSON 必须按 `07-全量对标追踪矩阵.md` 增加这些顶层或等效字段： + +```text +startupSequence +iniDisplay +halNets +kinematicsPins +axisJointLimits +switchkinsTransitions +toolTable +toolOffsetFlow +uiEquivalence +vismachEquivalent +ngcguiSubroutines +demoPrograms +pathSampling +previewPath +executionPath +``` + +`compare-xyzbc-trt-evidence.json` 必须新增或扩展这些检查类别： + +```text +startup-sequence +ini-display +hal-nets +kinematics-pins +axis-joint-limits +switchkins-transitions +tool-offset-flow +ui-equivalence +vismach-equivalence +ngcgui-subroutines +demo-programs +path-preview +path-execution +path-comparison +``` + +必须逐项验证： + +- `.desktop/rip-environment/linuxcnc` 启动顺序在 Web 中有等效 `startupSequence`。 +- `[DISPLAY]` 的 `DISPLAY`、`GEOMETRY`、`OPEN_FILE`、`PYVCP`、`JOG_AXES`、`POSITION_OFFSET`、`POSITION_FEEDBACK`、`MAX_*`、`TOOL_EDITOR`、`NGCGUI_*` 有 Web 等效字段或 UI。 +- `[TRAJ]`、`[KINS]`、`[EMCMOT]`、`[TASK]`、`[EMCIO]` 的关键配置进入 JSON。 +- `switchkins_postgui.hal` 中 `pyvcp.*` 到 `halui.mdi-command-*` 的连接进入 `halNets`。 +- `basic_sim.tcl` 的模拟 joint/home/spindle/manualtoolchange 语义由 task/HAL evidence 证明。 +- `xyzbc-trt-gui.py` 的 HAL pin 和模型层级由 `vismachEquivalent` 证明。 +- `xyzbc-trt-kins` 的 offset、rot-point、conventional-directions、tool-offset pin 由 `kinematicsPins` 证明。 +- `xyzbc_switchkins_sub.ngc`、`centering.ngc`、`helix_bc.ngc`、`xyzbc_switchkins.ngc`、`boat-xyzbc.ngc` 都进入 staging 和可执行验收。 +- `xyzbc-trt.tbl` 的 `T1 P1 D1`、`T2 P2 Z10 D8` 解析后影响 tool offset、kinematics 和 Web 3D 刀具显示。 + +### 刀具预览/执行路径 JSON 验收要求 + +后续 native/Web evidence JSON 必须增加刀具预览路径和刀具执行路径： + +```text +working/evidence/native-xyzbc-trt-evidence.json.pathSampling.samplePeriodMs = 20 +working/evidence/web-xyzbc-trt-evidence.json.pathSampling.samplePeriodMs = 20 +working/evidence/native-xyzbc-trt-evidence.json.previewPath.samples[] +working/evidence/native-xyzbc-trt-evidence.json.executionPath.samples[] +working/evidence/web-xyzbc-trt-evidence.json.previewPath.samples[] +working/evidence/web-xyzbc-trt-evidence.json.executionPath.samples[] +working/evidence/compare-xyzbc-trt-evidence.json.pathComparison +``` + +采样要求： + +- `samplePeriodMs` 固定为 `20`，native/Web 两侧必须一致。 +- 样本必须通过 `sampleIndex` 和 `timeMs` 对齐。 +- 若原始采集周期不同，采集脚本或 compare 脚本必须重采样为 20ms 后再比较。 +- `previewPath` 只能表示预览/planner 路径；`executionPath` 必须来自真实执行反馈或 Web WASM task/HAL 执行反馈，不能用预览路径替代。 + +每个样本必须包含： + +```text +sampleIndex +timeMs +line +motionType +activeKinematics +tool.id/tool.length/tool.diameter +joint.x/joint.y/joint.z/joint.b/joint.c +tcp.x/tcp.y/tcp.z +toolAxis.i/toolAxis.j/toolAxis.k +feed +spindle +``` + +compare 验收项： + +```text +pathComparison.previewVsPreview +pathComparison.executionVsExecution +pathComparison.previewVsExecutionNative +pathComparison.previewVsExecutionWeb +``` + +每个对比项至少输出： + +```text +maxTcpErrorMm +rmsTcpErrorMm +maxJointError +rmsJointError +maxToolAxisAngleDeg +sampleCountDelta +missingSamples +``` + +当前状态： + +- 现有三份 `working/evidence/*.json` 还没有上述路径字段。 +- 本轮未手工改写 JSON 证据文件；后续必须通过采集脚本重新生成。 +- Web 执行路径采集依赖 WASM artifact，artifact 缺失时 compare 必须保留 fail/blocker。 + +## 页面证据 + +目标页面： + +```text +web-rtcp-5axis-xyzbc-trt-sim-plan/app/index.html +``` + +开发服务： + +```bash +cd web-rtcp-5axis-xyzbc-trt-sim-plan/app +npm run dev +``` + +URL： + +```text +http://127.0.0.1:4174/ +``` diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/06-决策记录.md b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/06-决策记录.md new file mode 100644 index 0000000..3e0a5da --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/06-决策记录.md @@ -0,0 +1,141 @@ +# 06-决策记录 + +## D-012：DOCX 任务书整合为 working Markdown + +日期：2026-07-02 + +决策：将 `doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx` 的正文、表格和图片引用整合为 `working/09-设计任务书与技术方案整合.md`，并把它加入 `working` 索引和任务矩阵。 + +理由： + +- DOCX 不便于命令行检索、diff、逐项验收和后续增量维护。 +- `working` 目录是当前项目的开发和验收入口，任务书内容必须进入该目录才能和 01-08 工作文档形成闭环。 +- Markdown 版本可以保留 DOCX 的完整任务书、技术方案、程序逻辑分析和状态联锁内容，同时继续引用 `doc/assets` 中的原始图片证据。 + +## D-001：以 `wasm-port` 为 CNC 语义来源 + +日期：2026-07-02 + +决策：Web 项目不在 JavaScript 中重写 G-code、remap、tool table、parameter、kinematics 或 planner 语义，继续通过 `wasm-port` 的 LinuxCNC-derived SDK/WASM 获取语义。 + +理由： + +- `wasm-port/AGENTS.md` 明确要求 LinuxCNC 源码是语义真源。 +- `wasm-port` 已经包含 `xyzbc-trt` kinematics、remap、interp、task/HAL 的边界设计。 + +## D-002：复制参考 app 后改为 `xyzbc-trt` 默认机型 + +日期：2026-07-02 + +决策：复用 `web-rtcp-5axis-sim-plan/app` 的结构，创建目标目录独立 app，并只做 `xyzbc-trt` 默认化和项目命名空间隔离。 + +理由： + +- 参考 app 已包含 OPFS、WASM SDK、五轴可视化、profile、task/HAL、tool DB、session 等大部分产品外壳。 +- 局部改造比重写界面风险低，且保留 LinuxCNC source-derived 边界。 + +## D-003：目标项目 OPFS 根路径独立 + +日期：2026-07-02 + +决策：目标项目使用 `web-rtcp-5axis-xyzbc-trt-sim-plan/machines`、`sessions`、`tool-db`，不复用旧项目 `web-rtcp-5axis-sim-plan` 路径。 + +理由： + +- 防止两个项目在 OPFS 中互相覆盖机器文件、会话、tool DB。 +- 便于后续按项目清理和验收。 + +## D-004：默认程序使用 `xyzbc_switchkins.ngc` + +日期：2026-07-02 + +决策：为 `xyzbc-trt` profile 增加 `machineFileStaging.defaultProgramFilename = "xyzbc_switchkins.ngc"`。 + +理由： + +- LinuxCNC INI `[DISPLAY]OPEN_FILE` 指向 `./demos/xyzbc_switchkins.ngc`。 +- 参考 app 的自动选择逻辑按 `${profileId}_switchkins.ngc` 推导时会得到不存在的 `xyzbc-trt_switchkins.ngc`，必须显式覆盖。 + +## D-005：完整浏览器验收等待 WASM artifact + +日期：2026-07-02 + +决策：本轮先完成代码、工作文档和不依赖 artifact 的 Node smoke；完整 browser/WASM 验收记录为后续前置任务。 + +理由： + +- 当前 `wasm-port/build/wasm` 不存在。 +- 页面 runtime 代码已接入 worker/WASM，但缺少 `.js/.wasm` 产物时无法完成真实浏览器执行。 + +## D-006：受控导入 `xyzbc.var` staging + +日期：2026-07-02 + +决策：从当前真实运行树 `/home/mes123456/linuxcnc-master/.../xyzbc.var` 导入 `xyzbc.var` 到 `wasm-port/vendor/linuxcnc/.../xyzbc.var`，并加入 `wasm-port/tools/source-manifest.txt`。 + +理由： + +- `xyzbc-trt.ini` 明确声明 `PARAMETER_FILE = xyzbc.var`。 +- 若不导入，OPFS machine-file staging 无法覆盖完整 runtime files。 +- 直接在 Web wrapper 中引用运行树绝对路径不可复现；纳入 vendor/manifest 后，Node/Web staging 可重复。 + +## D-007：native/Web JSON 对比作为验收主线 + +日期：2026-07-02 + +决策：新增 native、Web、compare 三个 JSON 证据脚本，作为后续完善项目的主验收链路。 + +理由： + +- 用户要求真实 `xyzbc-trt` 与 Web 仿真分别写入 JSON，再通过比对 JSON 完善项目。 +- JSON 证据比单次截图或口头结论更容易复跑、归档和定位差异。 +- 当前比较报告已把差异收敛到唯一环境前置：缺 WASM artifact。 + +## D-008：WASM artifact 缺失不伪造通过 + +日期：2026-07-02 + +决策：当前 `wasm-port/build/wasm` 为空，Web evidence 和 compare evidence 保持 `blocked/fail`，不伪造 WASM 执行完成。`emcc 6.0.2` 已安装后，下一步是构建 artifact，而不是改写证据为通过。 + +理由： + +- `wasm-port` 规则要求 LinuxCNC 源码语义和 WASM 边界真实可验证。 +- 没有 `.js/.wasm` artifact 时，浏览器 worker runtime 无法完成真实执行。 +- 保留失败项可以明确下一步是激活已安装的 Emscripten 并构建 artifact，而不是继续堆叠 Web UI 假状态。 + +## D-009：刀具路径按统一 20ms 周期采样后比较 + +日期：2026-07-02 + +决策：native/Web 的刀具预览路径和刀具执行路径进入 evidence JSON 前，统一按 `samplePeriodMs = 20` 重采样；compare 只对同一 `sampleIndex/timeMs` 的样本做逐点比较。 + +理由： + +- LinuxCNC 真实系统和 Web 仿真系统的内部刷新、planner、HAL/task 采样频率可能不同，直接比较原始样本会产生时间错位。 +- 固定 20ms 可以覆盖人眼可见刀路和 UI 动画判断，同时让 JSON 体积可控。 +- 统一 `sampleIndex/timeMs` 后，TCP、XYZBC joint、toolAxis、feed、spindle 的误差统计可以稳定复跑。 +- 如果 Web 缺少 WASM task/HAL 执行反馈，不允许用预览路径冒充执行路径；compare 必须显式 fail/blocker。 + +## D-010：以全量对标追踪矩阵作为开发和验收主索引 + +日期：2026-07-02 + +决策：新增 `working/07-全量对标追踪矩阵.md`，作为 Web `xyzbc-trt` 仿真界面后续开发、JSON 采集和 compare 验收的主索引。 + +理由： + +- `doc/xyzbc-trt-runtime-files.md` 覆盖的范围超过单个 INI/staging 检查，还包括 AXIS、PyVCP、POSTGUI HAL、basic_sim、Vismach、kinematics HAL pins、Ngcgui、演示程序和加载顺序。 +- 若没有追踪矩阵，后续容易只完成页面可见部分，而漏掉 HAL/task/kinematics/tool-offset 等运行语义。 +- 追踪矩阵把每个 LinuxCNC 功能点映射到 Web 对标目标和 evidence 字段，便于自动化 compare 脚本逐步落地。 + +## D-011：native 真实执行基线切换到 `/home/mes123456/cnc_wams/linuxcnc` + +日期：2026-07-02 + +决策：后续 Web 界面和逻辑设计以 `/home/mes123456/cnc_wams/linuxcnc` 编译后执行 `xyzbc-trt` 的真实行为为 native 基线；`/home/mes123456/linuxcnc-master` 只保留为历史运行参考。 + +理由： + +- 用户明确要求以已编译成功并能执行 `xyzbc-trt` 的 `/home/mes123456/cnc_wams/linuxcnc` 为对标依据。 +- `/home/mes123456/cnc_wams/linuxcnc` 是干净 Git 源码仓库，便于把 native 行为、Web WASM 构建和后续代码追踪关联到同一源码树。 +- 该路径已完成 run-in-place 编译，`scripts/rip-environment`、`bin/axis`、`bin/xyzbc-trt-gui`、`rtlib/xyzbc-trt-kins.so` 已生成；因此后续第一步是用该路径重新生成 native evidence。 diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/07-全量对标追踪矩阵.md b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/07-全量对标追踪矩阵.md new file mode 100644 index 0000000..2f2e094 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/07-全量对标追踪矩阵.md @@ -0,0 +1,117 @@ +# 07-全量对标追踪矩阵 + +本文件把 `doc/xyzbc-trt-runtime-files.md` 中记录的 LinuxCNC `xyzbc-trt` 真实运行功能，逐项映射到 Web 数控系统仿真界面的目标、证据和缺口。 + +原则： + +- Web 实现必须完全对标 `xyzbc-trt-runtime-files.md` 的运行语义。 +- LinuxCNC 源码、INI、HAL、remap、tool table、parameter file 和 kinematics 是语义真源。 +- AXIS、PyVCP、Vismach 这类桌面 UI 组件在 Web 中做同语义等效实现。 +- 每项对标最终都要进入 native/Web evidence JSON 和 compare JSON，不能只停留在 UI 文案。 +- 后续 native 真实执行基线统一采用 `/home/mes123456/cnc_wams/linuxcnc`，`/home/mes123456/linuxcnc-master` 只作为历史运行树参考。 + +## 运行入口与进程对标 + +| LinuxCNC 功能 | 真实配置来源 | Web 对标目标 | Evidence/验收 | +| --- | --- | --- | --- | +| `.desktop` 启动 `rip-environment linuxcnc xyzbc-trt.ini` | `/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/.../xyzbc-trt.desktop` | Web profile 一键进入 `xyzbc-trt`，自动加载同一 INI/staging 文件集 | web JSON 记录 `profile=xyzbc-trt`、`iniPath`、`startupSequence` | +| `linuxcncsvr`、`rtapi_app`、`milltask`、`halui` | 当前进程清单 | Web runtime 用 worker/WASM/task-HAL 表示 server/task/halui 边界 | compare 检查 `runtimeComponents` 包含 `interp`、`tp`、`taskHal`、`haluiEquivalent` | +| AXIS 主界面进程 | `bin/axis -ini xyzbc-trt.ini` | Web 首屏直接进入 CNC 操作界面，不做营销页 | 浏览器 smoke 检查坐标、程序、switchkins、3D canvas 均可见 | +| Vismach 进程 | `loadusr -W xyzbc-trt-gui` | Web 3D 机床模型按 HAL pin 驱动 | evidence 记录 Vismach pin 等效映射 | + +## INI 与显示配置对标 + +| INI 字段 | LinuxCNC 行为 | Web 对标目标 | 状态 | +| --- | --- | --- | --- | +| `[EMC] MACHINE = sim-xyzbc-trt-kins (switchkins)` | AXIS 标题/机器名 | 页面机器名、JSON machine name 一致 | 待验收 | +| `[DISPLAY] DISPLAY = axis` | 启动 AXIS | Web 实现 AXIS 等效操作面板 | 待全量验收 | +| `[DISPLAY] GEOMETRY = XYZB` | AXIS 几何显示 | Web 坐标/预览按 XYZB 几何显示，C 轴仍参与机床/路径 | 待补充 | +| `[DISPLAY] JOG_AXES = XYZC` | 手动 jog 轴集合 | Web jog 控制至少覆盖 X/Y/Z/C，并显示 B/C 状态 | 待补充 | +| `[DISPLAY] POSITION_OFFSET = RELATIVE` | 坐标偏置显示 | Web 默认显示相对坐标并可记录 work offset | 待补充 | +| `[DISPLAY] POSITION_FEEDBACK = ACTUAL` | 显示实际反馈位置 | Web 坐标读数来自 task/HAL actual feedback，不只显示 commanded | 待 task-HAL | +| `[DISPLAY] MAX_FEED_OVERRIDE = 2` | 进给倍率最大 200% | Web feed override 控件范围 0-200% | 待补充 UI 验收 | +| `[DISPLAY] MAX_LINEAR_VELOCITY = 1000` | AXIS UI 限速 | Web UI 限速显示/约束一致 | 待补充 | +| `[DISPLAY] MAX_ANGULAR_VELOCITY = 360` | 角轴限速 | Web 角轴 jog/显示限速一致 | 待补充 | +| `[DISPLAY] PROGRAM_PREFIX = ../../nc_files` | 打开程序默认目录 | Web 程序文件浏览/staging 根目录记录等效路径 | 待补充 | +| `[DISPLAY] TOOL_EDITOR = tooledit z diam` | 工具编辑字段 | Web tool editor 至少支持 Z 和 diameter | 待补充 | +| `TKPKG/NGCGUI_*` | AXIS Ngcgui 面板加载子程序 | Web 需 stage 并提供子程序参数化调用入口或等效验证 | 待实现 | + +## 文件 staging 对标 + +| 文件 | 作用 | Web 对标目标 | 当前要求 | +| --- | --- | --- | --- | +| `xyzbc-trt.ini` | 主配置 | OPFS/wasm runtime 必须使用同源 INI | 已有 staging，需全量字段校验 | +| `xyzbc-trt.xml` | PyVCP switchkins 面板 | Web switchkins 面板由 XML/schema 驱动 | 已有，需 pin 连接证据 | +| `switchkins_postgui.hal` | PyVCP 到 halui MDI 的连接 | Web 需记录 `pyvcp.* -> halui.mdi-command-*` | 待 compare 检查 | +| `basic_sim.tcl` | 基础仿真 HAL | Web task/HAL runtime 等效模拟 joint/home/spindle/toolchange | 待 task-HAL 验收 | +| `xyzbc-trt_cmds.hal` | 运行后生成 HAL | Web evidence 需记录等效展开 HAL nets | 待实现 | +| `xyzbc-trt-gui.py` | Vismach 模型 | Web 3D pin/模型层级对标 | 待模型验收 | +| `axis.py` | AXIS 主界面行为 | Web 操作面板对标 AXIS 关键行为 | 待 UI 验收 | +| `xyzbc-trt-kins.c` | 运动学真源 | WASM kinematics 使用 source-derived artifact | 待构建 artifact | +| `xyzbc-trt.tbl` | 工具表 | Web tool DB 读取 T/P/Z/D | 已有 staging，需 UI/tool-offset 验收 | +| `xyzbc.var` | 参数文件 | OPFS 保存/恢复参数 | 已有 staging，需运行后变更验证 | + +## HAL 与 switchkins 对标 + +| LinuxCNC HAL 语义 | Web 对标目标 | Evidence/验收 | +| --- | --- | --- | +| `motion.analog-out-03 => motion.switchkins-type` | Web remap/MDI 写入 switchkins type，并暴露当前类型 | native/Web JSON 对比 switchkins transitions | +| `halui.mdi-command-00 = M429` | Web `IDENTITY` 按钮执行 M429 | 按钮事件、MDI 命令、switchkins type 都写入 evidence | +| `halui.mdi-command-01 = M428` | Web `TCP:XYZBC` 按钮执行 M428 | 同上 | +| `halui.mdi-command-02 = M430` | Web `userk` 按钮执行 M430 | 同上 | +| `kinstype.is-0/1/2 -> pyvcp.multilabel` | Web multilabel 显示当前 kinematics | UI state 与 HAL state 一致 | +| `pyvcp.vismach-clear -> vismach.plotclear` | Web clear 按钮清除 3D 轨迹/preview buffer | evidence 记录 clear 前后 path count | +| `joint.N.pos-fb -> xyzbc-trt-gui.*` | Web 3D 模型从 actual joint feedback 驱动 | path/execution JSON 记录 feedback 来源 | +| `motion.tooloffset.z -> xyzbc-trt-kins.tool-offset -> gui.tool-offset` | 工具长度同时影响 kinematics 和模型显示 | tool table、tool offset、TCP/toolAxis 误差检查 | + +## 运动学与机床模型对标 + +| 项目 | LinuxCNC 来源 | Web 对标目标 | +| --- | --- | --- | +| `KINEMATICS = xyzbc-trt-kins sparm=identityfirst` | INI/KINS | 默认 switchkins type 0 为 identity，M428 后为 XYZBC TCP | +| `JOINTS = 5` | INI/KINS | Web runtime 固定 XYZBC 五关节 | +| `x-offset = -20` | HALCMD sets | Web kinematics pin 默认值一致 | +| `z-offset = -15` | HALCMD sets | Web kinematics pin 默认值一致 | +| `x/y/z-rot-point = 0` | HALCMD setp | Web kinematics pin 默认值一致 | +| `conventional-directions = 0` | HALCMD setp | Web kinematics pin 默认值一致 | +| `table-x/saddle-y/spindle-z/tilt-b/rotate-c` | Vismach pins | Web 模型层级按这些反馈驱动 | +| `tool-offset/x-offset/z-offset` | Vismach/kines pins | Web 刀具和模型偏置一致 | + +## G-code、remap 与子程序对标 + +| 文件/命令 | LinuxCNC 行为 | Web 对标目标 | +| --- | --- | --- | +| `M429` | kinstype=0，Identity | Web MDI/remap 执行后 switchkins type 为 0 | +| `M428` | kinstype=1，XYZBC/TCP | Web MDI/remap 执行后 switchkins type 为 1 | +| `M430` | kinstype=2，USERK | Web MDI/remap 执行后 switchkins type 为 2 | +| `xyzbc_switchkins.ngc` | 默认打开并调用子程序 | Web 默认程序一致 | +| `xyzbc_switchkins_sub.ngc` | 四象限 switchkins/TCP 演示 | Web 必须 stage 并可执行 | +| `centering.ngc` | Ngcgui 子程序 | Web 必须 stage；后续实现参数入口 | +| `helix_bc.ngc` | B/C helix 五轴轨迹 | Web 必须 stage 并进入路径对比 | +| `boat-xyzbc.ngc` | 额外演示程序 | Web 必须 stage 并可作为验收程序 | + +## JSON 证据对标 + +native evidence、Web evidence、compare evidence 必须覆盖： + +- `startupSequence`：启动/初始化顺序和等效组件。 +- `iniDisplay`：DISPLAY/TRAJ/KINS/TASK/EMCMOT/EMCIO 关键字段。 +- `stagedFiles`：所有对标文件，包括 remap 子程序和 demo 程序全集。 +- `halNets`：switchkins、PyVCP、Vismach、tool-offset、joint feedback 连接。 +- `kinematicsPins`：offset、rot-point、conventional-directions、tool-offset。 +- `axisJointLimits`：X/Y/Z/B/C 和 JOINT_0..4 限制、单位、速度/加速度。 +- `switchkinsTransitions`：M429/M428/M430 的命令、HAL pin 和状态变化。 +- `toolTable`：T/P/Z/D 解析和当前工具偏置。 +- `previewPath`：刀具预览路径，20ms 统一采样。 +- `executionPath`：刀具执行路径，20ms 统一采样。 +- `pathComparison`：native/Web 预览与执行路径误差统计。 +- `uiEquivalence`：AXIS/PyVCP/Vismach 在 Web 中的等效控件和状态。 + +## 当前主要缺口 + +1. WASM artifact 尚未构建，`wasm-port/build/wasm` 缺少 kinematics/core/tp/task-hal `.js/.wasm`。 +2. Web evidence 还未记录完整 `startupSequence`、`halNets`、`kinematicsPins`、`axisJointLimits`。 +3. Web UI 还需按 AXIS 等效面板补齐 jog、override、tool editor、Ngcgui 子程序入口。 +4. Vismach 等效模型还需按 `xyzbc-trt-gui.py` 的 pin 和模型层级做验收。 +5. 刀具预览路径和执行路径 JSON 采集尚未实现。 +6. `boat-xyzbc.ngc` 和 Ngcgui 子程序的 Web 可执行验收尚未完成。 diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/08-xyzbc-trt-界面与图标分析.md b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/08-xyzbc-trt-界面与图标分析.md new file mode 100644 index 0000000..08e66d5 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/08-xyzbc-trt-界面与图标分析.md @@ -0,0 +1,369 @@ +# 08-xyzbc-trt 界面与图标分析 + +## 目标 + +本文面向后续 Web 数控系统界面开发，集中整理 `xyzbc-trt` 相关的界面组成、交互入口和图标资产。分析依据来自： + +- LinuxCNC `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` +- LinuxCNC `xyzbc-trt.xml` PyVCP 面板与 `switchkins_postgui.hal` +- LinuxCNC `xyzbc-trt-gui.py` Vismach 三维机床模型 +- Web 项目 `app/src/ui/gmoccapy-shell.js` +- Web 项目 `app/src/profiles/xyzbc-trt.js` +- Web 图标清单 `app/src/ui-reference/gmoccapy-button-icons.json` +- Web 图标注册表 `app/src/ui/gmoccapy-icon-registry.js` + +## xyzbc-trt 机床界面基线 + +| 项 | 内容 | +| --- | --- | +| 机床配置 | `sim-xyzbc-trt-kins (switchkins)` | +| 坐标/轴 | `XYZBC`，5 轴/5 joints | +| 主界面来源 | LinuxCNC AXIS | +| 右侧扩展面板 | PyVCP `SWITCHKINS` | +| 三维机床 | Vismach `xyzbc-trt-gui` | +| 默认程序 | `demos/xyzbc_switchkins.ngc` | +| 工具表 | `xyzbc-trt.tbl` | +| 参数文件 | `xyzbc.var` | +| 运动学 | `xyzbc-trt-kins sparm=identityfirst` | +| 切换模式 | `M429` identity、`M428` XYZBC TCP、`M430` USERK | + +## 必须覆盖的界面 + +### 1. 主工作台 Shell + +Web 首屏应直接是可操作 CNC 仿真界面，不做营销页。当前 `gmoccapy-shell` 已拆出以下区域： + +| 区域 | Web region | 必备内容 | 关键状态 | +| --- | --- | --- | --- | +| 标题/会话栏 | `titlebar` | 项目名、profile 选择、会话名、来源、当前行、运行状态 | `machineProfile`、`sessionName`、`sourceMode`、`machine.mode` | +| 五轴预览 | `preview` | 3D/Canvas 机床、刀路、TCP、刀轴、当前程序、工具摘要、RTCP 状态 | `preview`、`toolPreview`、`toolAxisVector`、`rtcpState` | +| DRO 坐标 | `dro` | X/Y/Z/A/B/C、G54/Abs、DTG、TCP、tool-axis、RTCP 状态 | `dro`、`toolAxisVector` | +| G-code/MDI | `gcode` | 程序行、当前行、高亮、执行状态、LinuxCNC source 选择、staging、MDI 输入、MDI 历史 | `programLines`、`activeLine`、`machineFileStaging`、`mdiHistory` | +| 右侧状态栏 | `status-sidebar` | 急停、上电、复位、AUTO、MANUAL、JOG、MDI、IDENTITY、TCP | task gate、mode、estop、power、switchkins | +| 信息/诊断页 | `info-tabs` | Tool info、G-code properties、gmoccapy diagnostics、LinuxCNC parity、Task/HAL、HAL pins | runtime readiness、source map、HAL/model 状态 | +| Override | `override` | Rapid override、Feed override、ignore limits、optional block、optional stop | `feed`、`gmoccapyGui` | +| 主轴/冷却 | `spindle-coolant` | Flood、Mist、主轴 FWD/STOP/REV、RPM、spindle override | `coolant`、`spindle` | +| 底部控制栏 | `bottom-controls` | Open、Reload、Run、Stop、Pause/Resume、Step、Home、Tool、Touch、MDI、Full、Save/Restore、Audit | command gates、session、program run | + +### 2. AXIS 等效页面 + +LinuxCNC 原生 `xyzbc-trt` 使用 AXIS，因此 Web 需要覆盖这些 AXIS 语义： + +| 原生 AXIS 区域 | Web 等效模块 | 开发要点 | +| --- | --- | --- | +| 菜单/工具栏 | 底部控制栏 + 文件/编辑/工具页入口 | 文件打开、重载、运行、暂停、停止、单步、从行运行、编辑 | +| 程序文本区 | G-code panel | 当前行高亮、执行进度、状态、解释器/canonical 来源 | +| 预览区 | Preview panel | 机床模型、完整预览路径、已执行路径、视角/缩放/清除 | +| 坐标显示 | DRO panel | XYZBC、DTG、G54/Abs、TCP、tool-axis | +| MDI | MDI panel | 输入框、执行按钮、历史/快捷命令、M428/M429/M430 | +| 状态栏 | Sidebar + titlebar | ESTOP、POWER、MODE、RUN、PAUSE、HOMED、INTERP/TASK | +| Override | Override panel | Feed/Rapid/Spindle override、可选段跳过、可选停止 | + +### 3. PyVCP SWITCHKINS 面板 + +原生 `xyzbc-trt.xml` 提供一个必须在 Web 中等效实现的 PyVCP 面板： + +| 控件 | 文本 | HAL pin/net | LinuxCNC 动作 | Web 动作 | +| --- | --- | --- | --- | --- | +| `kinstype-legends` | `0:IDENTITY` / `1: XYZBC` / `2: USERK` | `kinstype.is-0/1/2 -> pyvcp.multilabel.0.legend*` | 显示当前 kinematics 类型 | 高亮当前 switchkins 类型 | +| `type0-button` | `IDENTITY` | `pyvcp.type0-button -> halui.mdi-command-00` | `M429` | `SET_KINS_TYPE identity` | +| `type1-button` | `TCP:XYZBC` | `pyvcp.type1-button -> halui.mdi-command-01` | `M428` | `SET_KINS_TYPE tcp-xyzbc` | +| `type2-button` | `userk` | `pyvcp.type2-button -> halui.mdi-command-02` | `M430` | USERK 占位/受 gate 控制 | +| `vismach-clear` | `vismach-clear` | `pyvcp.vismach-clear -> vismach.plotclear` | 清除 Vismach 轨迹 | `CLEAR_PREVIEW` | + +### 4. Vismach 等效三维机床界面 + +Web 五轴场景必须按 `xyzbc-trt-gui.py` 的 HAL 语义驱动，不应只画静态模型。 + +| Vismach/HAL 信号 | 来源 | 目标 | Web 展示 | +| --- | --- | --- | --- | +| `table-x` | `joint.0.pos-fb` | `xyzbc-trt-gui.table-x` | 工作台 X 平移 | +| `saddle-y` | `joint.1.pos-fb` | `xyzbc-trt-gui.saddle-y` | 鞍座 Y 平移 | +| `spindle-z` | `joint.2.pos-fb` | `xyzbc-trt-gui.spindle-z` | 主轴 Z 平移 | +| `tilt-b` | `joint.3.pos-fb` | `xyzbc-trt-gui.tilt-b` | B 倾斜轴 | +| `rotate-c` | `joint.4.pos-fb` | `xyzbc-trt-gui.rotate-c` | C 回转轴 | +| `tool-offset` | `motion.tooloffset.z` / `xyzbc-trt-kins.tool-offset` | GUI + kins | 刀长/刀具 TCP 偏置 | +| `x-offset` | `xyzbc-trt-kins.x-offset` | GUI | TRT 几何 X 偏置，默认 `-20` | +| `z-offset` | `xyzbc-trt-kins.z-offset` | GUI | TRT 几何 Z 偏置，默认 `-15` | + +### 5. 文件/程序页面 + +| 页面/状态 | 必备能力 | 关联图标 | +| --- | --- | --- | +| 程序加载 | 打开本地 `.ngc/.nc/.tap/.gcode/.txt`，选择 LinuxCNC staged source | `open_file`、`select_file` | +| 文件浏览 | 上级目录、Home、Jump to、刷新、上一项/下一项、选择、返回 | `chevron_up`、`home_folder`、`user_defined_folder`、`refresh`、`chevron_left/right`、`back_to_app` | +| 程序运行 | Run、Stop、Pause、Step、Run from line、Reload、Optional block | `play`、`stop`、`pause`、`pause_active`、`step`、`run_from_line`、`refresh`、`skip_optional_*` | +| 编辑 | 编辑、保存、另存、新建、撤销、重做、注释、搜索、分屏预览 | `edit_code`、`save`、`save_as`、`new_document`、`edit_undo`、`edit_redo`、`comment`、`split_view` | + +### 6. 手动/JOG/回零/对刀页面 + +| 页面 | 必备控件 | xyzbc-trt 注意点 | +| --- | --- | --- | +| 回零 | Ref all、Unref all、X/Y/Z/B/C 单轴回零、返回、分页 | XYZBC 应使用 X/Y/Z/B/C；A 图标是资产存在但本机型不应作为主轴显示 | +| Touch off | X/Y/Z/B/C touch off、返回、分页、可选 block height | 同上，优先按当前 profile 轴生成 | +| Jog | 连续/增量、慢速/快速、Ignore limits、轴 jog、关节 jog | 非平凡 kinematics 下 joint jog 需要单独 gate | +| MDI | MDI 输入、历史命令、M428/M429/M430 快捷 | M428/M429/M430 是 switchkins 核心入口 | + +### 7. 刀具/偏置/设置/诊断页面 + +| 页面 | 必备能力 | 说明 | +| --- | --- | --- | +| Tool page | 选择刀具、换刀、M61 Q 设置当前刀、X/Z tool touch off、ToolEdit 添加/删除/保存/刷新/计算器 | `xyzbc-trt.tbl` 是数据源 | +| Offset page | 坐标偏置计算器、编辑 offsets、set selected、zero G92 | 文字按钮为主，少量计算器图标 | +| Settings page | 声音、字体、DRO/DTG/offset 显示、键盘行为、窗口模式、run from line、unlock、tool measurement | 很多控件无图标，按表单控件实现 | +| Diagnostics | LinuxCNC parity、Task/HAL、INI、source map、HAL pins、gmoccapy comms、native/Web 对比 | 以只读诊断表格为主 | + +## Web 已注册核心图标 + +`app/src/ui/gmoccapy-icon-registry.js` 当前直接注册的核心按钮如下，开发首屏应优先使用这些 id： + +| buttonId | 语义 | active 图标 | inactive/default 图标 | +| --- | --- | --- | --- | +| `tbtn_estop` | 急停/急停复位 | `main_switch_on` | `main_switch_off` | +| `tbtn_on` | 机器上电 | `power_on` | `power_off` | +| `rbt_manual` | 手动模式 | `mode_manual_active` | `mode_manual_inactive` | +| `rbt_mdi` | MDI 模式 | `mode_mdi_active` | `mode_mdi_inactive` | +| `rbt_auto` | Auto 模式 | `mode_auto_active` | `mode_auto_inactive` | +| `tbtn_setup` | 设置页 | `mode_settings_active` | `mode_settings_inactive` | +| `tbtn_user_tabs` | 用户/Jog 页 | `mode_user_tabs_active` | `mode_user_tabs_inactive` | +| `btn_load` | 打开程序 | - | `open_file` | +| `btn_reload` | 重载 | - | `refresh` | +| `btn_run` | 运行 | - | `play` | +| `btn_stop` | 停止 | - | `stop` | +| `tbtn_pause` | 暂停 | `pause_active` | `pause` | +| `btn_step` | 单步 | - | `step` | +| `btn_homing` | 回零菜单 | - | `ref_all` | +| `btn_tool` | 刀具页 | - | `hsk_mill_tool` | +| `btn_touch` | 对刀/坐标设定 | - | `touch_off` | +| `ref_all` | 全部回零 | - | `ref_all` | +| `btn_fullscreen` | 全屏预览 | `fullscreen_close` | `fullscreen_open` | +| `rbt_forward` | 主轴正转 | `spindle_right_on` | `spindle_right` | +| `rbt_reverse` | 主轴反转 | `spindle_left_on` | `spindle_left` | +| `rbt_stop` | 主轴停止 | `spindle_stop_on` | `spindle_stop` | +| `tbtn_flood` | Flood 冷却 | `coolant_flood_active` | `coolant_flood_inactive` | +| `tbtn_mist` | Mist 冷却 | `coolant_mist_active` | `coolant_mist_inactive` | +| `btn_zoom_in` | 放大 | - | `zoom_in` | +| `btn_zoom_out` | 缩小 | - | `zoom_out` | +| `rbt_view_x` | X 视角 | - | `tool_axis_x` | +| `rbt_view_y` | Y 视角 | - | `tool_axis_y` | +| `rbt_view_z` | Z 视角 | - | `tool_axis_z` | +| `rbt_view_p` | 透视/Fit | - | `tool_axis_p` | +| `tbtn_view_tool_path` | 刀路显示/清除 | - | `toolpath` | +| `tbtn_view_dimension` | 尺寸显示 | - | `dimensions` | +| `btn_exit` | 退出 | - | `logout` | +| `btn_save_session` | 保存会话 | - | `save` | + +## 图标分类总览 + +原始 gmoccapy 图标清单包含 `211` 行记录，当前复制到项目资产中的图标文件为 `112` 个。按界面类别统计如下： + +| 类别 | 行数 | 按钮数 | 主要按钮 | +| --- | ---: | ---: | --- | +| 右侧主状态栏 | 14 | 7 | `rbt_auto`、`rbt_manual`、`rbt_mdi`、`tbtn_estop`、`tbtn_on`、`tbtn_setup`、`tbtn_user_tabs` | +| 底部主按钮栏 | 7 | 6 | `btn_exit`、`btn_homing`、`btn_tool`、`btn_touch`、`tbtn_fullsize_preview0`、`tbtn_switch_mode` | +| Auto 程序运行栏 | 13 | 10 | `btn_edit`、`btn_from_line`、`btn_load`、`btn_reload`、`btn_run`、`btn_step`、`btn_stop`、`tbtn_pause` | +| MDI/宏按钮栏 | 11 | 9 | `calculator`、`keyboard`、`macro_0..4`、`next_button`、`previous_button` | +| 回零按钮栏 | 10 | 10 | `home_axis_x/y/z/a/b`、`ref_all`、`unref_all`、分页、返回 | +| 对刀/坐标设定按钮栏 | 9 | 9 | `touch_x/y/z/a/b`、分页、返回、`block_height` | +| 手动/Jog 面板 | 4 | 2 | `chk_ignore_limits`、`tbtn_turtle_jog` | +| Jog 增量选择栏 | 6 | 6 | `rbt_0..5` | +| Jog 轴按钮 | 10 | 10 | `x+/x-`、`y+/y-`、`z+/z-`、`a+/a-`、`b+/b-` | +| Jog 关节按钮 | 10 | 10 | `0+/0-` 到 `4+/4-` | +| 冷却/主轴控制 | 11 | 5 | `rbt_forward`、`rbt_reverse`、`rbt_stop`、`tbtn_flood`、`tbtn_mist` | +| 预览/视图 | 10 | 10 | 缩放、视角、尺寸、刀路、清除 | +| 编辑器搜索/编辑 | 8 | 8 | 注释、撤销、重做、搜索、替换 | +| 编辑页底部栏 | 9 | 8 | 返回、计算器、键盘、新建、重载、保存、另存、分屏 | +| 刀具页底部栏 | 6 | 6 | 返回、换刀、设置当前刀、按编号选择、X/Z tool touch off | +| 文件选择栏 | 9 | 9 | 返回、上级、home、jump、刷新、上一项、下一项、选择、排序 | +| 内嵌 ToolEdit 控件 | 5 | 5 | 添加、保存、计算器、删除、刷新 | +| 内嵌 OffsetPage 控件 | 4 | 4 | 计算器、编辑、设置选中、Zero G92 | +| 设置页控件 | 42 | 42 | 声音、字体、DRO、DTG、offset、键盘、窗口、unlock、tool measurement | +| Glade 静态按钮 | 13 | 13 | HAL meter/scope/show、status、calibration、classicladder 等 | + +## 已复制图标文件清单 + +图标根目录： + +```text +web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/assets/gmoccapy-icons +``` + +### 状态/模式/电源 + +- `img_emergency__main_switch_on__48.png` +- `img_emergency_off__main_switch_off__48.png` +- `img_machine_on__power_on__48.png` +- `img_machine_off__power_off__48.png` +- `img_auto_on__mode_auto_active__48.png` +- `img_auto__mode_auto_inactive__48.png` +- `img_manual_on__mode_manual_active__48.png` +- `img_manual__mode_manual_inactive__48.png` +- `img_mdi_on__mode_mdi_active__48.png` +- `img_mdi__mode_mdi_inactive__48.png` +- `img_settings_on__mode_settings_active__48.png` +- `img_settings__mode_settings_inactive__48.png` +- `img_user_tabs_on__mode_user_tabs_active__48.png` +- `img_user_tabs__mode_user_tabs_inactive__48.png` + +### 程序运行/编辑/文件 + +- `img_open__open_file__32.svg` +- `img_reload1__refresh__32.png` +- `img_run__play__32.png` +- `img_stop__stop__32.png` +- `img_pause__pause__32.png` +- `img_pause_active__pause_active__32.png` +- `img_step__step__32.png` +- `img_run_from__run_from_line__48.png` +- `img_skip_optional_active__skip_optional_active__32.png` +- `img_skip_optional_inactive__skip_optional_inactive__32.png` +- `img_editor__edit_code__32.png` +- `img_edit-undo__edit_undo__32.png` +- `img_edit-redo__edit_redo__32.png` +- `img_edit_comment__comment__32.png` +- `img_edit_menu_new__new_document__32.svg` +- `img_edit_menu_reload__refresh__32.png` +- `img_edit_menu_save__save__32.png` +- `img_edit_menu_save_as__save_as__32.png` +- `img_edit_menu_close__back_to_app__48.svg` +- `img_edit_menu_calculator__calculator_open__32.png` +- `img_edit_menu_keyboard__keyboard__32.png` +- `img_edit_menu_keyboard_hide__keyboard_hide__32.png` +- `img_split_view__split_view__32.png` + +### 预览/视角/刀路 + +- `img_zoom_in__zoom_in__24.png` +- `img_zoom_out__zoom_out__24.png` +- `img_view_x__tool_axis_x__24.png` +- `img_view_y__tool_axis_y__24.png` +- `img_view_y2__tool_axis_y_inv__24.png` +- `img_view_z__tool_axis_z__24.png` +- `img_view_p__tool_axis_p__24.png` +- `img_tool_path__toolpath__24.png` +- `img_dimensions__dimensions__24.png` +- `img_tool_clear__clear__24.png` +- `img_fullsize_preview0_open__fullscreen_open__48.png` +- `img_fullsize_preview0_close__fullscreen_close__48.png` +- `img_fullsize_preview1_open__fullscreen_open__48.png` +- `img_fullsize_preview1_close__fullscreen_close__48.png` + +### 主轴/冷却 + +- `img_spindle_forward__spindle_right__48.png` +- `img_spindle_forward_on__spindle_right_on__48.png` +- `img_spindle_reverse__spindle_left__48.png` +- `img_spindle_reverse_on__spindle_left_on__48.png` +- `img_spindle_stop__spindle_stop__48.png` +- `img_spindle_stop_on__spindle_stop_on__48.png` +- `img_coolant_on__coolant_flood_active__48.png` +- `img_coolant_off__coolant_flood_inactive__48.png` +- `img_mist_on__coolant_mist_active__48.png` +- `img_mist_off__coolant_mist_inactive__48.png` + +### 回零/对刀/Jog + +- `img_ref_all__ref_all__48.png` +- `img_ref_menu__ref_all__48.png` +- `img_unref_all__unref_all__48.png` +- `img_ref_x__ref_x__48.png` +- `img_ref_y__ref_y__48.png` +- `img_ref_z__ref_z__48.png` +- `img_ref_a__ref_a__48.png` +- `img_ref_b__ref_b__48.png` +- `img_ref_menu_close__back_to_app__48.svg` +- `img_ref_paginate_next__chevron_right__32.svg` +- `img_ref_paginate_prev__chevron_left__32.svg` +- `img_touch_off__touch_off__48.png` +- `img_touch_x__touch_x__48.png` +- `img_touch_y__touch_y__48.png` +- `img_touch_z__touch_z__48.png` +- `img_touch_a__touch_a__48.png` +- `img_touch_b__touch_b__48.png` +- `img_touch_menu_close__back_to_app__48.svg` +- `img_touch_paginate_next__chevron_right__32.svg` +- `img_touch_paginate_prev__chevron_left__32.svg` +- `img_continuous__jog_continuous__24.png` +- `img_turtle_jog__jog_speed_slow__32.png` +- `img_rabbit_jog__jog_speed_fast__32.png` + +### 文件浏览/导航 + +- `img_back_file_load__back_to_app__48.svg` +- `img_back_tool__back_to_app__48.svg` +- `img_close__logout__48.png` +- `img_dir_up__chevron_up__32.svg` +- `img_home__home_folder__32.svg` +- `img_jump_to__user_defined_folder__32.svg` +- `img_refresh_dir__refresh__32.png` +- `img_sel_next__chevron_right__32.svg` +- `img_sel_prev__chevron_left__32.svg` +- `img_select__select_file__32.png` +- `img_up__chevron_up__24.svg` +- `img_down__chevron_down__24.svg` + +### 刀具/ToolEdit/Offset + +- `img_tools__hsk_mill_tool__48.png` +- `img_toolchange__mill_tool_change__48.png` +- `img_index_tool__mill_tool_set_num__48.svg` +- `img_tool_by_no__mill_tool_change_num__48.svg` +- `img_tool_add__add__32.png` +- `img_tool_save__save__32.png` +- `img_tool_calculator__calculator_open__32.png` +- `img_tool_delete__delete__32.png` +- `img_tool_reload__refresh__32.png` +- `img_offset_calculator__calculator_open__32.png` + +### MDI/宏/键盘 + +- `img_macro_menu_calculator__calculator_open__32.png` +- `img_macro_menu_keyboard__keyboard__32.png` +- `img_macro_menu_keyboard_hide__keyboard_hide__32.png` +- `img_macro_menu_stop__stop__32.png` +- `macro_0__macro_image.png` +- `macro_4__macro_image.png` + +## xyzbc-trt 专用界面规则 + +1. 轴显示以 `XYZBC` 为准。A 轴相关图标可保留为通用资产，但 `xyzbc-trt` 主界面、回零、Touch Off、DRO、Jog 应显示 X/Y/Z/B/C。 +2. `TCP:XYZBC` 是核心按钮，不应写成 `TCP:XYZAC`。对应 MDI 命令为 `M428`。 +3. `IDENTITY` 对应 `M429`，在 `identityfirst` 配置中 switchkins type `0` 是 identity。 +4. `USERK` 对应 `M430`，若 Web runtime 暂未实现完整 USERK，应保留按钮但通过 gate/提示标明状态。 +5. `vismach-clear` 必须清除 Web 机床/刀路预览，不应只清除文本状态。 +6. B/C 角轴限制、joint 限制和 TCP/toolAxis 计算必须来自 profile/INI/kinematics runtime，不应从 UI 字符串推断。 +7. 诊断页面要明确区分“图标/界面参考已具备”和“WASM artifact/runtime 已具备”，避免把 UI 对标误判为运动语义完成。 + +## 开发组件拆分建议 + +| 组件 | 输入状态 | 输出动作 | +| --- | --- | --- | +| `MachineTitlebar` | profile、session、source、mode、activeLine | `select-profile` | +| `FiveAxisPreview` | path samples、joint pose、tcp、toolAxis、toolPreview、selectedView | view/zoom/fit/clear/fullscreen | +| `DroPanel` | XYZBC DRO、DTG、TCP、toolAxis、offset mode | 切换 DRO 显示模式 | +| `ProgramPanel` | program lines、activeLine、execution feedback、source list | open/reload/stage/select source/run MDI | +| `StatusSidebar` | task policy、estop、power、mode、switchkins | estop/power/reset/mode/kintype | +| `PyvcpSwitchkinsPanel` | kinstype active、panel schema | M429/M428/M430/clear | +| `OverridePanel` | feed/rapid/spindle override、optional block/stop | override step/reset/toggle | +| `SpindleCoolantPanel` | spindle、coolant、gates | FWD/STOP/REV/flood/mist | +| `HomingPanel` | axes、homed state | home axis/ref all/unref all | +| `TouchOffPanel` | axes、offset context | touch axis/block height | +| `JogPanel` | jog axis/joint mode、increment、limits | jog press/release、increment、ignore limits | +| `ToolPage` | tool table、selected tool、tool offsets | select/change/index/save/edit | +| `FilePage` | OPFS/project files、current dir、selected file | navigate/select/open | +| `SettingsPage` | gmoccapy settings | form updates | +| `DiagnosticsPage` | INI、HAL、Task/HAL、WASM、parity、evidence | audit/refresh | + +## 最小首屏 icon 集合 + +如果先实现可运行首屏，必须先接入这些图标： + +- 急停/上电：`tbtn_estop`、`tbtn_on` +- 模式：`rbt_manual`、`rbt_mdi`、`rbt_auto` +- 程序：`btn_load`、`btn_reload`、`btn_run`、`btn_stop`、`tbtn_pause`、`btn_step` +- Switchkins：`IDENTITY`、`TCP:XYZBC`、`USERK` 可先用文字按钮，但状态要接 HAL/MDI 语义 +- 预览：`rbt_view_x`、`rbt_view_y`、`rbt_view_z`、`rbt_view_p`、`btn_zoom_in`、`btn_zoom_out`、`tbtn_view_tool_path` +- 主轴/冷却：`rbt_forward`、`rbt_stop`、`rbt_reverse`、`tbtn_flood`、`tbtn_mist` +- 回零/刀具/对刀：`btn_homing`、`btn_tool`、`btn_touch` +- 会话/退出：`btn_save_session`、`btn_exit` + diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md new file mode 100644 index 0000000..e42d781 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md @@ -0,0 +1,364 @@ + + +> 来源 DOCX：`../doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx` +> +> 整合时间：2026-07-02。本文保留 DOCX 的任务书、技术方案、程序逻辑分析和状态联锁内容，图片引用到 `../doc/assets/`。 + +# xyzbc-trt Web 数控仿真系统 + +## 设计任务书和技术方案 + +完全对标 LinuxCNC xyzbc-trt 五轴 table rotary/tilting 仿真配置 + +| 项目 | 内容 | +| --- | --- | +| 原型系统 | /home/mes123456/cnc_wams/linuxcnc | +| 启动命令 | /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini | +| 目标产物 | 浏览器端 Web 数控仿真界面、五轴机床模型、switchkins 逻辑、路径预览与执行对比 JSON | +| 文档位置 | /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc | +| 编制日期 | 2026-07-02 | + +## 1. 项目目标 + +本项目建设一个 Web 数控仿真系统，功能和行为完全对标 LinuxCNC 真实运行配置 xyzbc-trt.ini。Web 系统不是展示页，而是首屏即进入数控仿真工作台，提供程序加载、预览、DRO、MDI、PyVCP 等价控件、五轴机床运动显示、switchkins 模式切换、刀具路径采样、执行过程记录和误差对比。 + +对标基线以已编译成功并能运行的 /home/mes123456/cnc_wams/linuxcnc 为准，旧路径 历史旧 LinuxCNC 目录 不再作为本方案的运行基线。 + +核心验收原则：同一份配置、同一份 G-code、同一运动学模式、同一采样周期、同一 JSON 字段，分别采集 LinuxCNC 真实系统和 Web 仿真系统的预览路径与执行路径，逐点比对位置、姿态、运动学模式和 HAL 状态。 + +## 2. 原型系统运行证据 + +2.1 当前启动命令 + +| /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc \ /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini | +| --- | + +2.2 当前关键进程 + +| 进程 | 对标含义 | +| --- | --- | +| scripts/linuxcnc xyzbc-trt.ini | LinuxCNC 主启动入口，Web 端需实现等价启动会话和配置装载流程。 | +| linuxcncsvr | NML/状态服务，Web 端需提供统一运行状态中心。 | +| rtapi_app load tpmod | 运动规划模块，Web 端需实现轨迹规划与采样接口。 | +| milltask | 任务解释和程序执行，Web 端需实现程序状态机、运行、暂停、复位、MDI。 | +| halui | HAL UI 指令通道，Web 端需复刻 PyVCP 按钮到 MDI 命令的连接。 | +| hal_manualtoolchange | 手动换刀流程，Web 端需提供换刀提示和工具状态。 | +| xyzbc-trt-gui | Vismach 五轴机床模型，Web 端需使用 Three.js 对标机床结构和运动。 | +| axis -ini xyzbc-trt.ini | AXIS 主界面，Web 端需对标界面信息架构和操作入口。 | + +![xyzbc-trt-axis-window.png](../doc/assets/xyzbc-trt-axis-window.png) + +图 1：真实 LinuxCNC 会话抓取的 AXIS 主界面，包含预览、DRO、PyVCP SWITCHKINS 面板、程序区和状态栏。 + +![xyzbc-trt-desktop.png](../doc/assets/xyzbc-trt-desktop.png) + +图 2：桌面级运行截图，用于保留真实执行环境和窗口布局证据。 + +2.3 HAL 状态基线 + +| HAL 项 | 当前值或连接 | Web 对标要求 | +| --- | --- | --- | +| motion.switchkins-type | 0，由 :kinstype-select 驱动 | 实现 0:IDENTITY、1:XYZBC、2:USERK 三态切换。 | +| kinstype.is-0/1/2 | TRUE/FALSE/FALSE | 驱动 Web PyVCP multilabel 的当前模式显示。 | +| joint.0..4.pos-fb | X/Y/Z/B/C 五轴反馈均为 0 | 映射到 Web DRO、机床模型关节和路径采样。 | +| motion.tooloffset.z | 连接 :tool-offset | 影响 TCP 刀尖位置和机床模型刀具长度。 | +| xyzbc-trt-kins.x-offset | -20 | Web 运动学参数必须使用同值。 | +| xyzbc-trt-kins.z-offset | -15 | Web 运动学参数必须使用同值。 | +| xyzbc-trt-kins.conventional-directions | FALSE | Web 端旋转方向和矩阵约定必须一致。 | + +## 3. 完全对标范围 + +| LinuxCNC 文件或模块 | 真实功能 | Web 对标实现 | +| --- | --- | --- | +| xyzbc-trt.ini | 定义 AXIS、PyVCP、KINS、HAL、TRAJ、TASK、EMCIO、轴和关节参数。 | 实现 INI 解析器，生成 Web 会话配置、轴参数、速度限制、文件引用和 UI 初始状态。 | +| xyzbc-trt.xml | 定义 SWITCHKINS multilabel、IDENTITY、TCP:XYZBC、userk、vismach-clear 按钮。 | 实现 PyVCP 等价面板，按钮通过 Web HAL 总线触发 MDI 命令或清除轨迹。 | +| switchkins_postgui.hal | 把 PyVCP 控件接到 halui.mdi-command-00/01/02 和 vismach.plotclear。 | 实现 postgui HAL 装配层，保证 UI 控件不直接改状态，而是经 HAL 语义连接。 | +| LIB:basic_sim.tcl | 生成仿真 HAL 基础链路。 | 建立基础 HAL 信号、仿真 joint、motion、halui、pyvcp、vismach 命名空间。 | +| xyzbc-trt-kins.so | XYZBC table rotary/tilting 运动学和 switchkins。 | 实现或移植为 WASM/TypeScript 运动学模块，支持 identity、XYZBC TCP、userk。 | +| xyzbc-trt-gui | Vismach 三维机床模型，随 HAL 引脚运动。 | 使用 Three.js 建立桌台、转台、倾斜轴、主轴、刀具、工件和路径轨迹。 | +| xyzbc_switchkins.ngc | 默认打开的演示程序，调用 xyzbc_switchkins_sub。 | Web 端默认加载同一程序，预览曲线和执行曲线可导出 JSON。 | +| remap_subs/*.ngc | M428/M429/M430 以及演示子程序。 | 支持 remap 调用或预编译宏展开，保证模式切换轨迹一致。 | +| xyzbc-trt.tbl / xyzbc.var | 刀具表和 RS274 参数文件。 | Web 端加载、显示、持久化并参与 tooloffset 和程序执行。 | + +![xyzbc-trt-web-architecture.png](../doc/assets/xyzbc-trt-web-architecture.png) + +图 3：LinuxCNC 原型系统与 Web 仿真系统的模块级对标关系。 + +## 4. Web 界面设计任务书 + +4.1 首屏布局 + +顶部：文件、机器、视图、帮助菜单，以及急停、上电、打开文件、运行、暂停、单步、停止、视图方向、清扫轨迹等图标按钮。 + +左侧：Manual Control 与 MDI 标签页，包含 Joint 0 到 4 选择、连续/增量点动、Home、Touch Off、Tool Touch Off、主轴控制和倍率滑块。 + +中间：Preview/DRO/程序标签页，预览页显示 Three.js 五轴机床、工件、刀具、坐标轴、尺寸标注和刀具路径。 + +右侧：SWITCHKINS 面板，显示 0:IDENTITY、1:XYZBC、2:USERK，并提供 IDENTITY、TCP:XYZBC、userk、vismach-clear 按钮。 + +底部：G-code 程序区、Active G-Codes、状态栏、错误和日志输出。 + +4.2 视觉和交互要求 + +| 界面区域 | 对标要求 | 验收证据 | +| --- | --- | --- | +| AXIS 工具栏 | 保留关键数控操作入口，按钮使用明确图标和 tooltip。 | 截图比对，操作事件 JSON。 | +| DRO | 显示 X/Y/Z/B/C、joint 或 world 坐标、实际/命令位置。 | uiState.dro 与 LinuxCNC status 对比。 | +| PyVCP | 按钮和 multilabel 文案、状态、HAL 连线语义一致。 | halPins.kinstype 和 uiState.pyvcp。 | +| Preview | 显示默认程序的圆形/螺旋路径、刀尖、刀轴、XYZBC 坐标。 | previewPath.samples 和截图。 | +| Vismach 等价模型 | 五轴结构、B/C 旋转、X/Y/Z 平移、tooloffset、x/z offset 生效。 | 模型姿态 JSON 和截图。 | + +## 5. 技术方案 + +5.1 总体架构 + +| 层级 | 模块 | 职责 | +| --- | --- | --- | +| 文件层 | OPFS/IndexedDB 工作区 | 保存 ini/xml/hal/ngc/tbl/var/json，支持导入 LinuxCNC 原始目录。 | +| 解析层 | INI/XML/HAL/NGC/TBL/VAR parser | 结构化解析配置、控件、信号、程序和参数，禁止手工硬编码配置结果。 | +| 运行层 | Task/Interp/Motion/HAL runtime | 复刻 LinuxCNC 任务状态机、G-code 解释、运动规划、HAL pin/net。 | +| 运动学层 | xyzbc-trt-kins | 实现 identity、XYZBC TCP、userk，输出关节、世界坐标、刀尖和刀轴。 | +| 界面层 | Web UI 组件 | 对标 AXIS、PyVCP、DRO、MDI、程序窗口、状态栏。 | +| 三维层 | Three.js | 五轴机床、工件、刀具、路径、坐标系、清轨迹和相机视图。 | +| 证据层 | Evidence JSON + Compare report | 采集真实系统和 Web 系统，按同周期逐点比对。 | + +5.2 switchkins 逻辑 + +Web 端必须复刻原型中的 switchkins 控制链路：PyVCP 按钮触发 halui.mdi-command-00/01/02，MDI 执行 M429/M428/M430，remap 子程序改变 motion.analog-out-03，再驱动 motion.switchkins-type。UI 当前模式由 kinstype.is-0/1/2 反向驱动，而不是由按钮直接写 UI 标签。 + +| 按钮 | HAL 目标 | MDI 命令 | 目标模式 | +| --- | --- | --- | --- | +| IDENTITY | halui.mdi-command-00 | M429 | 0:IDENTITY | +| TCP:XYZBC | halui.mdi-command-01 | M428 | 1:XYZBC | +| userk | halui.mdi-command-02 | M430 | 2:USERK | +| vismach-clear | vismach.plotclear | 无 | 清除三维路径显示 | + +5.3 五轴运动学和模型 + +Web 端机床模型采用 XYZBC table rotary/tilting 结构。X 对应 table-x，Y 对应 saddle-y，Z 对应 spindle-z，B 对应 tilt-b，C 对应 rotate-c。运动学参数使用原型系统当前 HAL 值：x-offset=-20、z-offset=-15、旋转点均为 0、conventional-directions=false。刀具长度来自 motion.tooloffset.z。 + +三维模型不只显示程序预览曲线，还必须在执行时按采样点刷新桌台、转台、主轴和刀具姿态。执行暂停、复位、清轨迹、模式切换后，模型状态和 JSON 状态必须同步。 + +5.4 路径采样和 JSON 比对 + +曲线采样周期固定为 samplePeriodMs = 20，即 50 Hz。LinuxCNC 真实系统和 Web 仿真系统必须使用相同采样周期、相同 sampleIndex、相同时间基准和相同坐标字段，禁止一端 10 ms、另一端 20 ms 或使用不同插补点。 + +![xyzbc-trt-json-compare-flow.png](../doc/assets/xyzbc-trt-json-compare-flow.png) + +图 4：刀具预览路径和执行路径 JSON 的同周期采样与逐点比对流程。 + +5.5 Evidence JSON 字段规范 + +| { "schema": "xyzbc-trt-evidence/v1", "source": "linuxcnc-native / web-sim", "samplePeriodMs": 20, "linuxcncRoot": "/home/mes123456/cnc_wams/linuxcnc", "ini": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "program": "./demos/xyzbc_switchkins.ngc", "runtime": {"taskState": 1, "interpState": 1, "axisMask": 55, "kinstype": 0}, "halPins": { "motion.switchkins-type": 0, "xyzbc-trt-kins.x-offset": -20, "xyzbc-trt-kins.z-offset": -15, "xyzbc-trt-kins.conventional-directions": false }, "previewPath": { "coordinateSystem": "XYZBC", "samples": [{ "sampleIndex": 0, "timeMs": 0, "line": 1, "joint": {"x": 0, "y": 0, "z": 0, "b": 0, "c": 0}, "world": {"x": 0, "y": 0, "z": 0, "b": 0, "c": 0}, "toolTip": {"x": 0, "y": 0, "z": 0}, "toolAxis": {"i": 0, "j": 0, "k": 1}, "kinstype": 0 }] }, "executionPath": {"samples": []}, "screenshots": []} | +| --- | + +5.6 对比报告字段 + +| 字段 | 说明 | +| --- | --- | +| sampleCount.native/web | 真实系统和 Web 系统采样点数量。 | +| maxPositionError | X/Y/Z/B/C 最大逐点误差。 | +| rmsPositionError | 路径整体均方根误差。 | +| maxToolTipError | TCP 刀尖位置最大误差。 | +| maxToolAxisErrorDeg | 刀轴方向最大角度误差。 | +| firstMismatch | 首个超差点的 sampleIndex、line、timeMs、native/web 值。 | +| uiEquivalence | AXIS/PyVCP/DRO/状态栏截图和 DOM 状态对比。 | +| pass | 是否通过设定阈值。 | + +## 6. 开发任务分解 + +| 阶段 | 任务 | 交付物 | 验收方式 | +| --- | --- | --- | --- | +| 阶段 1 | 导入并解析 xyzbc-trt.ini、XML、HAL、TBL、VAR、NGC 文件。 | 结构化配置 JSON、文件依赖图。 | 与 xyzbc-trt-runtime-files.md 逐项核对。 | +| 阶段 2 | 搭建 AXIS 等价 Web UI 和 PyVCP 面板。 | 首屏数控工作台。 | 与真实 AXIS 截图逐区比对。 | +| 阶段 3 | 实现 HAL 总线、halui、switchkins 状态机和 remap 命令链路。 | HAL 状态面板、MDI 命令记录。 | 按钮触发 M429/M428/M430 后状态一致。 | +| 阶段 4 | 实现 XYZBC 运动学和 Three.js Vismach 等价模型。 | 五轴机床模型、刀具和工件。 | X/Y/Z/B/C 点动与 HAL pin 一致。 | +| 阶段 5 | 实现 G-code 预览路径、执行路径、暂停/复位/单步。 | 预览轨迹、执行轨迹、状态机。 | 默认程序 xyzbc_switchkins.ngc 可回放。 | +| 阶段 6 | 实现 native 和 web evidence JSON，固定 20 ms 采样周期。 | native-evidence.json、web-evidence.json。 | 字段、单位、sampleIndex 对齐。 | +| 阶段 7 | 实现 compare-report 自动生成。 | compare-report.json、HTML 报告。 | 误差统计和首个差异点可追溯。 | + +## 7. 验收标准 + +| 类别 | 必须通过的标准 | +| --- | --- | +| 路径标准 | 所有文档、配置和运行基线均指向 /home/mes123456/cnc_wams/linuxcnc。 | +| 界面标准 | Web 首屏包含 AXIS 主要工作区、PyVCP SWITCHKINS 面板、预览区、DRO、程序区和状态栏。 | +| 功能标准 | 默认加载 xyzbc_switchkins.ngc，支持 MDI、模式切换、清轨迹、点动、倍率、刀具和参数。 | +| 运动学标准 | identity、XYZBC TCP、userk 模式状态和轨迹计算与真实系统一致。 | +| JSON 标准 | 预览路径和执行路径同时导出，采样周期统一为 20 ms，字段一致。 | +| 比对标准 | 能输出最大误差、RMS 误差、首个差异点、截图和通过/失败结论。 | +| 证据标准 | 每次验收保存 LinuxCNC 原始截图、Web 截图、native JSON、web JSON、compare report。 | + +## 8. 风险和控制措施 + +| 风险 | 影响 | 控制措施 | +| --- | --- | --- | +| LinuxCNC 内部解释器和 Web 解释器细节不一致 | 路径点或模式切换时序不同。 | 优先移植或复用 LinuxCNC 解析/运动学逻辑，保留 native evidence 作为回归基准。 | +| 采样周期不一致 | 曲线无法逐点比较。 | 强制配置 samplePeriodMs=20，JSON schema 校验不允许缺省。 | +| Three.js 模型和 Vismach 结构偏差 | 视觉对标通过但运动不一致。 | 每个关节都绑定 HAL pin，模型矩阵由运动学输出驱动。 | +| UI 直接改状态绕过 HAL | 无法对标真实控制链路。 | PyVCP 控件只发 HAL/MDI 事件，状态由 HAL pin 回读。 | +| 路径或旧目录混入 | 证据不可复现。 | 文档和脚本统一扫描旧路径，禁止使用 历史旧 LinuxCNC 目录。 | + +## 9. 附录：对标文件清单 + +| 文件 | 用途 | +| --- | --- | +| /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md | 当前运行配置文件说明和路径基线。 | +| /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini | 主 INI 配置。 | +| xyzbc-trt.xml | PyVCP SWITCHKINS 面板。 | +| switchkins_postgui.hal | PyVCP 与 HALUI、Vismach 清轨迹连接。 | +| demos/xyzbc_switchkins.ngc | 默认加载的演示程序。 | +| remap_subs/428remap.ngc、429remap.ngc、430remap.ngc | switchkins 模式切换 remap。 | +| xyzbc-trt.tbl / xyzbc.var | 刀具表和参数文件。 | +| bin/xyzbc-trt-gui | Vismach 原型模型入口。 | +| rtlib/xyzbc-trt-kins.so | 真实五轴运动学模块。 | + +## 10. xyzbc-trt 程序逻辑全量分析 + +下面按“文件装载 - 运动学 - HAL - 界面 - 执行 - 证据”的顺序，把 xyzbc-trt 的实际逻辑拆开说明。这里不是抽象架构，而是与当前源码、HAL pin 和界面行为一一对应的执行逻辑。 + +10.1 启动入口逻辑 + +| 步骤 | 逻辑 | 结果 | +| --- | --- | --- | +| 1 | rip-environment 先建立 run-in-place 环境，确保本地 bin/、lib/、rtlib/、bin/python 可被当前会话找到。 | 执行路径完全指向 /home/mes123456/cnc_wams/linuxcnc。 | +| 2 | linuxcnc xyzbc-trt.ini 读取主 INI，按段装载 DISPLAY、RS274NGC、KINS、HAL、TRAJ、TASK、EMCIO。 | 界面、运动学和程序执行进入同一会话。 | +| 3 | AXIS、PyVCP、Vismach、halui、milltask、linuxcncsvr、rtapi_app 同时被拉起。 | 形成“界面 + 任务 + 运动 + 证据”闭环。 | + +这个启动链路的关键点是：界面不是单独运行的，而是被 INI 文件和 HAL 图驱动。Web 端要完全对标，就不能把预览、模式切换、DRO、刀具、执行按钮做成彼此割裂的前端组件，而要让它们共享同一个运行态和信号总线。 + +10.2 配置装载逻辑 + +| 文件 | 逻辑作用 | Web 对标要点 | +| --- | --- | --- | +| xyzbc-trt.ini | 定义机器类型、显示方式、五轴坐标、最大速度、轴/关节限制、默认程序、运动学模块和 HAL 连线。 | 必须解析成结构化会话配置，不能只读出少量文本字段。 | +| xyzbc-trt.xml | 定义 SWITCHKINS 面板和按钮文案。 | 按钮状态要由 HAL 输出决定，multilabel 要能随 kinstype 更新。 | +| switchkins_postgui.hal | 把按钮接到 MDI 命令，把清轨迹接到 vismach.plotclear。 | Web 端的按钮必须走同样的“事件 - HAL - MDI - 状态”链路。 | +| xyzbc_switchkins.ngc | 默认加载的程序是演示切换程序，既包含路径，也包含模式切换场景。 | Web 必须默认回放同一程序并记录同一套证据字段。 | + +10.3 switchkins 运动学逻辑 + +xyzbc-trt-kins 通过 switchkinsSetup() 绑定三个运动学分支： + +- type0：在当前配置里被重定义为 identity，用于启动后的关节直接操控。 + +- type1：xyzbc-trt-kins 本体，执行 XYZBC table rotary/tilting 的 TCP 运动学。 + +- type2：用户自定义运动学 userk。 + +源码里明确设置了 kinsname = "xyzbc-trt-kins"、halprefix = "xyzbc-trt-kins"、required_coordinates = "xyzbc"、allow_duplicates = 1，这意味着它既是一个五轴模块，也是一个允许坐标字母重复映射的 switchkins 模块。identityfirst 参数把启动默认值切换成 identity，而不是让机床类型本体成为 type0，这正是 sim 配置的关键差异。 + +![xyzbc-trt-logic-map.png](../doc/assets/xyzbc-trt-logic-map.png) + +图 5：xyzbc-trt 程序逻辑总图，展示从文件装载到证据采样的完整执行链。 + +switchkins 内部的逻辑顺序很重要：先由 rtapi_app_main() 创建 HAL 组件和输出 pin，再调用 kinematicsSwitch(0) 设定初始模式，然后把三个 setup 函数分别执行一遍，最后 hal_ready()。这意味着 Web 端在启动时也必须先完成状态总线和模式初始化，再挂载界面和三维模型，不能反过来。 + +10.4 正逆运动学逻辑 + +| 函数 | 逻辑 | 对标意义 | +| --- | --- | --- | +| xyzbcKinematicsForward() | 根据 X/Y/Z/B/C 和 offset、tooloffset、旋转点、方向约定计算 TCP 世界坐标与姿态。 | Web 端预览路径和三维模型必须采用同一套正解公式。 | +| xyzbcKinematicsInverse() | 根据目标 TCP 位姿反推关节角和关节位移，再写回 mapped joints。 | MDI、点动、程序执行时的运动控制必须能从目标位姿反推关节。 | +| conventional-directions | 默认关闭时，旋转轴方向与 conventional 约定相反。 | Web 模型如果方向画反，视觉上会“像”，但运动学会错，必须严格对齐。 | + +在当前配置里，B/C 轴是主运动学轴，A/U/V/W 只是可选字母。前向解使用主关节 JX/JY/JZ/JB/JC 计算 TCP 位姿；逆解再根据目标位姿回算这些主关节。这个路径对 Web 端非常关键，因为预览路径不能只画“刀尖折线”，还要把每个采样点对应的关节姿态也算出来，否则无法和真实系统逐点比对。 + +10.5 HAL 和状态逻辑 + +| HAL 语义 | 逻辑 | Web 对标实现 | +| --- | --- | --- | +| motion.switchkins-type | 当前运动学类型输入，浮点值被截断为整数 0/1/2。 | 前端 switchkins 状态必须是整数型并保持和任务状态一致。 | +| kinstype.is-0/1/2 | 当前模式输出，供 GUI、指示灯、程序逻辑读取。 | Web 端要提供同样的可读状态给 PyVCP 等价面板和检测逻辑。 | +| motion.analog-out-03 | 通过 M68/MDI 等方式写入，间接控制 kinstype。 | Web 端模式切换必须保留“间接驱动”语义，不可直接写最终状态。 | +| halui.mdi-command-00/01/02 | PyVCP 按钮发出的 MDI 入口。 | 按钮点击后必须先变成命令，再进入状态机。 | + +switchkins.c 的实现说明了一个很重要的行为：模式切换后先清除 use_lastpose，再根据当前模式把对应的 kinstype.is.N 置位。也就是说，Web 仿真不能把“当前模式”当作普通表单状态，它必须是一次完整状态机切换，切换后还要在 UI 上立即反映。 + +10.6 UI 与三维模型逻辑 + +axis.py 的行为说明 AXIS 窗口里存在“轴模式”和“关节模式”的切换；当配置处于非 trivkins 或特殊 kinstype 时，按钮和焦点会根据当前运动模式自动切换到关节/轴对应控件。Web 端要对标的不只是布局，还有这个控件激活规则。 + +xyzbc-trt-gui.py 则把 Vismach 模型拆成可响应的 HAL 变换链：tool-offset 作用于刀具，spindle-z 作用于主轴头，tilt-b 作用于倾斜轴，rotate-c 作用于回转台，table-x 和 saddle-y 则驱动横向与纵向运动。这个顺序决定了几何层级关系，所以 Web 端模型必须按同样层级搭建，而不是把每个零件独立摆放。 + +10.7 程序执行与同步逻辑 + +| 阶段 | 逻辑 | 结果 | +| --- | --- | --- | +| 预览 | 读取 xyzbc_switchkins.ngc，在预览区生成 G-code 轨迹和位置采样。 | 得到 previewPath JSON。 | +| 切换 | 通过 M428/M429/M430 或等价按钮改变 switchkins 模式，并执行同步命令。 | 运动学和解释器状态对齐。 | +| 执行 | 根据当前模式执行程序，同时刷新关节反馈和 TCP 位姿。 | 得到 executionPath JSON。 | +| 比对 | 用固定 20 ms 采样周期对比预览和执行曲线。 | 输出 compare-report.json。 | + +同步逻辑是这个程序最容易被误解的地方：切换模式不是单独改一个 pin 就结束了，必须让解释器和 motion 同步，否则 G-code 看到的坐标语义和 motion 看到的坐标语义会不同。这个要求在文档中已经被固化为“预览路径和执行路径统一采样周期，并在切换时强制同步”。 + +10.8 异常和约束逻辑 + +- 如果 motion.switchkins-type 没有连接，只有 type0 默认运动学可用，这属于兼容旧配置的行为。 + +- 如果切换到身份不匹配的运动学类型，程序逻辑必须在 G-code 中先检查 kinstype.is.N 或等价输入，再决定是否继续。 + +- 如果当前系统的坐标偏置、刀补、外部偏置在切换后不一致，必须先清理或重置偏置，再切换模式。 + +- 如果 Web 端和 LinuxCNC 真实系统的采样周期不一致，则即使图形看起来接近，也不能通过对标验收。 + +总的来说，xyzbc-trt 的逻辑不是“一个五轴模型 + 一个预览窗口”，而是“配置驱动的状态机 + 可切换运动学 + HAL 事件 + 三维可视化 + 路径证据”的组合。Web 端要做到完全对标，必须把这五件事统一成一条链。 + +## 11. 开机、急停、回零与执行状态的联锁逻辑 + +这一节专门说明机床状态如何影响程序执行。核心不是某一个按钮，而是 ESTOP、Machine Power、Homing、Task Mode、Interp State、Paused、Auto/MDI/Manual 这些状态共同决定“能不能跑、能不能发 MDI、能不能执行程序、能不能继续暂停中的程序”。 + +| 状态或条件 | 含义 | 对执行的影响 | +| --- | --- | --- | +| ESTOP | 急停被触发，属于最高优先级禁止状态。 | 不能发运行/MDI/自动执行命令；必须先解除急停。 | +| Machine Power ON | 机床上电并使能轨迹规划。 | 没有上电时通常不能进入正常执行。 | +| Homed | 各关节完成回零。 | 未回零时只能做有限的点动或被配置允许的动作；运行 MDI/程序通常需要回零。 | +| Task Mode = MANUAL | 手动模式。 | 适合回零、点动、Touch Off、手动辅助动作；不适合直接跑自动程序。 | +| Task Mode = MDI | 手动数据输入模式。 | 允许执行单行命令或小段命令，但仍受 ESTOP/上电/回零/解释器空闲限制。 | +| Task Mode = AUTO | 自动模式。 | 允许加载并运行 G-code 文件、单步、暂停、恢复、停止。 | +| Interp Idle | 解释器空闲。 | MDI 或启动新的自动程序前通常必须空闲。 | +| Paused | 程序暂停。 | 可以恢复、停止，某些界面允许在暂停态下做受限补位或回退。 | + +LinuxCNC 的状态判断在 Python 接口里是明确的：发 MDI 前至少要满足“未急停、已上电、全部关节已回零、解释器空闲、模式是 MDI”；运行程序前也要满足相应条件。AXIS 界面把这些限制做得比较“宽”，会自动切换到所需模式，但本质上仍然是同一组状态联锁。 + +对于本项目的 Web 仿真，这意味着：按钮是否可点、命令是否被执行、预览和执行是否允许开始，不能由前端自己臆造，而必须由一个统一状态机决定。 + +11.1 典型状态流转 + +| 阶段 | 典型动作 | 允许的下一步 | +| --- | --- | --- | +| 上电前 | ESTOP 解除前的初始化。 | 只能显示状态，不能执行加工。 | +| 解除急停 | ESTOP RESET。 | 可以请求 Machine Power ON。 | +| 上电 | Machine Power ON。 | 可以回零、可视情况进入手动或 MDI。 | +| 回零 | Home All / 单轴 Homing。 | 全部回零后，自动/MDI 执行条件才完整。 | +| 切换模式 | MANUAL / MDI / AUTO。 | 可按模式开始点动、发 MDI、或运行程序。 | +| 运行中 | AUTO RUN。 | 可 Pause、Stop、Step 或 Resume。 | +| 暂停中 | AUTO PAUSE。 | 可 Resume 或 Stop；某些界面允许受限补位。 | + +11.2 对 XYZBC 五轴程序的具体影响 + +xyzbc-trt 的默认程序 `xyzbc_switchkins.ngc` 不是单纯的路径文件，它还演示了 switchkins 切换逻辑。因此在分析程序执行时，必须考虑状态切换的前提条件：急停解除、机器上电、关节回零、模式与解释器状态匹配。尤其是 M428/M429/M430 这样的切换命令，不能在解释器忙、状态未同步或不在合适模式时随意插入。 + +如果机器处于 ESTOP 或未上电，那么即使 UI 看起来加载了程序，也不能真正开始执行。若未回零，某些运动限制还未生效或未完整生效；如果是 identity 运动学，则回零和点动可能与 XYZBC 模式下的坐标解释不同，UI 必须明确呈现当前 kinstype。 + +11.3 Web 端需要实现的联锁规则 + +| Web 控件 | 可用条件 | 禁用时表现 | +| --- | --- | --- | +| 急停释放按钮 | 当前处于 ESTOP。 | 显示为不可执行或已触发状态。 | +| 上电按钮 | 急停已解除。 | 急停未解除时禁止上电。 | +| 回零按钮 | 机器已上电，且对应关节未回零或允许重复回零。 | 未上电时不允许回零。 | +| MDI 输入框 | 非 ESTOP、已上电、已回零、解释器空闲、模式为 MDI。 | 给出原因说明，不发送命令。 | +| 运行/自动按钮 | 非 ESTOP、已上电、已回零、文件已加载且解释器空闲。 | 程序不可启动。 | +| 暂停/继续 | 程序正在运行或已暂停。 | 非运行态时禁用。 | +| switchkins 切换按钮 | 应避免在程序执行中切换；若允许必须先同步并受限处理。 | 运行中直接切换应提示风险或禁止。 | + +11.4 与证据 JSON 的关系 + +为了让真实 LinuxCNC 与 Web 仿真的行为可比，证据 JSON 不能只记录路径点，还要记录机床状态。至少要包含 `taskState`、`taskMode`、`interpState`、`paused`、`estop`、`enabled`、`homed`、`kinstype` 和按钮可用性。这样才能解释“为什么这一次能跑、那一次不能跑”。 + +例如：若 `estop=true`，那么 previewPath 也许还能生成，但 executionPath 必须为空或者标记为 blocked；若 `homed` 未满足，则 manual/jog 可以存在，但 auto/mdi/run 不能开始；若 `interp_state != INTERP_IDLE`，则 MDI 不应该再进入。 + +11.5 对本项目的落地结论 + +本项目的 Web 仿真要完全对标 `xyzbc-trt`，不能只做“路径看起来一样”。必须同时复刻状态机联锁：开机、急停、回零、模式、解释器、暂停与恢复，共同决定后续执行是否允许。否则 Web 端即使曲线绘得对，也无法说明它是 LinuxCNC 真实逻辑的等价实现。 diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/README.md b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/README.md new file mode 100644 index 0000000..0e7f4d4 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/README.md @@ -0,0 +1,23 @@ +# working 索引 + +本目录记录 `xyzbc-trt` Web 数控系统仿真推进资料，用于按任务矩阵继续开发和验收。 + +文件： + +- `01-项目功能内容.md`：目标功能、LinuxCNC 对标点、WASM/OPFS 满足度。 +- `02-项目程序开发详细步骤.md`：从源码对标到 Web 实现、构建、验证的步骤。 +- `03-推进台账.md`：每轮做了什么、改了哪些文件、验证了什么、下一步。 +- `04-任务矩阵.md`：任务编号、状态、验收标准，防止重复做。 +- `05-验收证据.md`：命令、输出、页面、证据路径和当前阻塞。 +- `06-决策记录.md`：关键决策及理由。 +- `07-全量对标追踪矩阵.md`：逐项映射 `xyzbc-trt-runtime-files.md` 的真实 LinuxCNC 功能到 Web 对标目标、JSON 证据和缺口。 +- `08-xyzbc-trt-界面与图标分析.md`：面向 Web 界面开发的页面区域、PyVCP/SWITCHKINS、Vismach、业务页面和 gmoccapy 图标资产清单。 +- `09-设计任务书与技术方案整合.md`：从 DOCX 设计任务书整合出的 Markdown 版本，保留任务书、技术方案、程序逻辑分析、状态联锁和图片引用。 + +当前新增关注点： + +- DOCX 任务书已整合到 `working/09-设计任务书与技术方案整合.md`，后续开发和验收优先以 `working` 下 Markdown 文件为可检索工作入口。 +- `working` 文档必须完全对标 `doc/xyzbc-trt-runtime-files.md`，不仅覆盖文件 staging，也覆盖 AXIS、PyVCP、POSTGUI HAL、basic_sim、Vismach、switchkins、Ngcgui、tool-offset、kinematics pins 和加载顺序。 +- native/Web evidence JSON 后续必须包含刀具预览路径 `previewPath` 和刀具执行路径 `executionPath`。 +- 路径曲线对比统一使用 `samplePeriodMs = 20`，通过相同 `sampleIndex/timeMs` 对齐。 +- compare JSON 后续必须输出 `pathComparison`，覆盖预览对预览、执行对执行、预览对执行的一致性误差统计。 diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json new file mode 100644 index 0000000..774d4e2 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json @@ -0,0 +1,179 @@ +{ + "apiName": "xyzbc-trt-native-web-evidence-comparison", + "status": "fail", + "comparedAt": "2026-07-02T07:41:51.598Z", + "nativePath": "/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json", + "webPath": "/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json", + "summary": { + "checkCount": 12, + "passCount": 11, + "failCount": 1, + "blockers": [ + "missing-wasm-artifacts" + ], + "nativeStatus": "ok", + "webStatus": "blocked" + }, + "checks": [ + { + "category": "profile", + "requirement": "native axis mask is XYZBC", + "status": "pass", + "evidence": { + "nativeAxisMask": 55 + } + }, + { + "category": "profile", + "requirement": "web default profile is xyzbc-trt", + "status": "pass", + "evidence": { + "webProfile": "xyzbc-trt" + } + }, + { + "category": "ini", + "requirement": "native loaded xyzbc switchkins program", + "status": "pass", + "evidence": { + "nativeFile": "/home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc" + } + }, + { + "category": "ini", + "requirement": "web INI parse is ready", + "status": "pass", + "evidence": { + "webIniReady": true + } + }, + { + "category": "switchkins", + "requirement": "native switchkins pin readable", + "status": "pass", + "evidence": { + "nativePin": { + "owner": "31", + "type": "float", + "direction": "IN", + "value": 0, + "linked": true, + "raw": " 31 float IN 0 motion.switchkins-type <== :kinstype-select" + } + } + }, + { + "category": "switchkins", + "requirement": "web remap files staged", + "status": "pass", + "evidence": { + "remaps": [ + { + "raw": "M428 modalgroup=10 ngc=428remap", + "code": "M428", + "modalGroup": 10, + "ngc": "428remap" + }, + { + "raw": "M429 modalgroup=10 ngc=429remap", + "code": "M429", + "modalGroup": 10, + "ngc": "429remap" + }, + { + "raw": "M430 modalgroup=10 ngc=430remap", + "code": "M430", + "modalGroup": 10, + "ngc": "430remap" + } + ] + } + }, + { + "category": "program", + "requirement": "web default xyzbc_switchkins program staged", + "status": "pass", + "evidence": { + "selected": { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", + "filename": "xyzbc_switchkins.ngc", + "wasmProgramPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt/demos/xyzbc_switchkins.ngc" + } + } + }, + { + "category": "tool-table", + "requirement": "web tool table staged", + "status": "pass", + "evidence": { + "toolTable": "xyzbc-trt.tbl" + } + }, + { + "category": "pyvcp", + "requirement": "web PyVCP XML staged", + "status": "pass", + "evidence": { + "pyvcpXmlPath": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml" + } + }, + { + "category": "positions", + "requirement": "native joint feedback readable", + "status": "pass", + "evidence": { + "joints": { + "0": 0, + "1": 3.552713678800501e-15, + "2": 10, + "3": 3.552713678800501e-15, + "4": 7.105427357601002e-15 + } + } + }, + { + "category": "wasm", + "requirement": "required WASM artifacts available", + "status": "fail", + "evidence": { + "missing": [ + "wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.js", + "wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.wasm", + "wasm-port/build/wasm/core/linuxcnc_interp.js", + "wasm-port/build/wasm/core/linuxcnc_interp.wasm", + "wasm-port/build/wasm/tp/linuxcnc_tp.js", + "wasm-port/build/wasm/tp/linuxcnc_tp.wasm", + "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.js", + "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm" + ] + } + }, + { + "category": "parameters", + "requirement": "parameter file staged", + "status": "pass", + "evidence": { + "parameterFile": "xyzbc.var" + } + } + ], + "requiredImprovements": [ + { + "category": "wasm", + "requirement": "required WASM artifacts available", + "evidence": { + "missing": [ + "wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.js", + "wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.wasm", + "wasm-port/build/wasm/core/linuxcnc_interp.js", + "wasm-port/build/wasm/core/linuxcnc_interp.wasm", + "wasm-port/build/wasm/tp/linuxcnc_tp.js", + "wasm-port/build/wasm/tp/linuxcnc_tp.wasm", + "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.js", + "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm" + ] + } + } + ], + "semanticBoundary": "native_linuxcnc_vs_web_opfs_wasm_xyzbc_trt_evidence_comparison" +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json new file mode 100644 index 0000000..53e8061 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json @@ -0,0 +1,37141 @@ +{ + "apiName": "xyzbc-trt-native-linuxcnc-evidence", + "status": "ok", + "collectedAt": "2026-07-02T03:36:26-0400", + "executionMode": "auto-run", + "iniPath": "/home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "programPath": "/home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", + "programExists": true, + "programLineCount": 3, + "linuxcncRuntime": { + "pythonApi": true, + "processes": [ + "mes1234+ 89130 1849 0 00:15 ? 00:00:41 halui -ini /home/mes123456/linuxcnc-master/configs/sim/axis/axis.ini", + "mes1234+ 90780 1849 0 01:35 ? 00:00:00 /bin/bash /home/mes123456/linuxcnc-master/scripts/linuxcnc /home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "mes1234+ 91000 1849 0 01:35 ? 00:00:00 linuxcncsvr -ini /home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "mes1234+ 91011 1849 0 01:35 ? 00:00:52 milltask -ini /home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "mes1234+ 91013 1849 0 01:35 ? 00:00:24 halui -ini 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z1HpvbKfRqVQyR=x1tI_U zugg>)g%roe%;C+#sbtqyya61W?VW98xI2Smo6l9^BmCCsGW3$aRgSKS=6#~%d~~Mw zaoaDR9z5TF1{bT8qdC4=O?Hu*$I`(!s!4T>x>*$!Yg(S$c~{psm}W(dpe#RG#*>ni zEv-v(_OwD7{E4rI93aH&^?0r^pkcNsu>`&j?=0y|%lK@ySgbsJqk6Op)!!*2x9SUf z($c09VidC)zcePq;%bL|^7?A0 zrvCTImzn%~@^!f?^)f52M5Z$Gbdt?4rBqeN#>aODHxUv1+y`ifo(|2*0_8t_akx0k z4f-QPd#O-Qhi0HnsZL<_&axotCbl1abW~yqFoz7Z7X?e>YhO6Y-^W7b-&1LmQUW z!*~S;>nlL|=6`>pMwHZ3AxaWHYLbfme?I!}!L0Z!IPCx9PlAsL<_f;1{XhTqD>y$< z|F>%Yug~}jE*ycp^8XsDEgVw3-@-X0QMEET27jz)U|{(FKQ?Bg3y{GEYH=|$yym;b UrPknb4Jg9k>FVdQ&MBb@0P` 先启动 LinuxCNC 后台进程、实时运动模块和 HAL 网络，再启动 `gmoccapy` GTK 界面。界面与后台的主要通信不是 HTTP/TCP API，而是 LinuxCNC 的三类本地机制： @@ -35,12 +35,12 @@ 入口通常是： ```bash -linuxcnc /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini +linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini ``` 启动脚本路径： -`/home/meswork/cnc_wams/linuxcnc/scripts/linuxcnc` +`/home/mes123456/cnc_wams/linuxcnc/scripts/linuxcnc` 关键过程如下。 @@ -97,9 +97,9 @@ linuxcnc /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini 实际运行文件是： -`/home/meswork/cnc_wams/linuxcnc/bin/gmoccapy` +`/home/mes123456/cnc_wams/linuxcnc/bin/gmoccapy` -它与源码副本 `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py` 只有 shebang Python 版本不同，主体逻辑一致。 +它与源码副本 `/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py` 只有 shebang Python 版本不同，主体逻辑一致。 ## 3. HAL 文件执行过程 @@ -226,7 +226,7 @@ self.builder.add_from_file(XMLNAME) 其中 `XMLNAME` 指向： -`/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` +`/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` 4. 读取 INI： @@ -236,7 +236,7 @@ self._get_ini_data() 该逻辑由： -`/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/getiniinfo.py` +`/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/getiniinfo.py` 通过 `os.environ["INI_FILE_NAME"]` 和 `linuxcnc.ini()` 完成。 @@ -1240,46 +1240,46 @@ _button_pin_changed() ## 12. 关键源文件索引 - INI： - - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` + - `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` - 启动脚本： - - `/home/meswork/cnc_wams/linuxcnc/scripts/linuxcnc` + - `/home/mes123456/cnc_wams/linuxcnc/scripts/linuxcnc` - 实际 gmoccapy 可执行文件： - - `/home/meswork/cnc_wams/linuxcnc/bin/gmoccapy` + - `/home/mes123456/cnc_wams/linuxcnc/bin/gmoccapy` - gmoccapy Glade 界面定义： - - `/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` + - `/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` - gmoccapy INI 读取： - - `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/getiniinfo.py` + - `/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/getiniinfo.py` - gmoccapy 对话框： - - `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/dialogs.py` + - `/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/dialogs.py` - gladevcp HAL pin 生成： - - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/makepins.py` - - `/home/meswork/cnc_wams/linuxcnc/lib/python/common/hal_glib.py` + - `/home/mes123456/cnc_wams/linuxcnc/lib/python/gladevcp/makepins.py` + - `/home/mes123456/cnc_wams/linuxcnc/lib/python/common/hal_glib.py` - gladevcp LinuxCNC Action 和 MDI/File 控件： - - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_actions.py` - - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_filechooser.py` - - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_mdihistory.py` + - `/home/mes123456/cnc_wams/linuxcnc/lib/python/gladevcp/hal_actions.py` + - `/home/mes123456/cnc_wams/linuxcnc/lib/python/gladevcp/hal_filechooser.py` + - `/home/mes123456/cnc_wams/linuxcnc/lib/python/gladevcp/hal_mdihistory.py` - LinuxCNC task/NML 主循环： - - `/home/meswork/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc` + - `/home/mes123456/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc` - HAL： - - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/core_sim_XYZAB.hal` - - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/spindle_sim.hal` - - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/simulated_home.hal` - - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_postgui.hal` + - `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/core_sim_XYZAB.hal` + - `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/spindle_sim.hal` + - `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/simulated_home.hal` + - `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_postgui.hal` ## 13. 按钮图标整理索引 本配置的 gmoccapy 图标主题来自 -`/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref` +`/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref` 中的 `icon_theme = classic`。界面按钮图标不是全部直接写在 `gmoccapy.glade` 中，运行时还会由 -`/home/meswork/cnc_wams/linuxcnc/bin/gmoccapy` 的 `_set_icon_theme()` +`/home/mes123456/cnc_wams/linuxcnc/bin/gmoccapy` 的 `_set_icon_theme()` 按 `Gtk.IconTheme` 重新绑定到 `classic` 主题图标。 图标整理结果已单独保存到： -- `/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md` -- `/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv` -- `/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/` +- `/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md` +- `/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv` +- `/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/` 清单覆盖 Glade 静态按钮、Python 动态生成按钮、运行时 active/inactive 状态图标、 ToolEdit/OffsetPage 内嵌按钮，以及 `[MACROS]` 中宏按钮的自定义图片。当前整理结果 diff --git a/work/working3/gmoccapy_button_icons/button_icon_inventory.md b/work/working3/gmoccapy_button_icons/button_icon_inventory.md index c8eeca9..00913b4 100644 --- a/work/working3/gmoccapy_button_icons/button_icon_inventory.md +++ b/work/working3/gmoccapy_button_icons/button_icon_inventory.md @@ -1,10 +1,10 @@ # gmoccapy_XYZAB 界面按钮图标整理 -- 配置文件：`/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` -- 首选项图标主题：`classic`，来自 `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref` 的 `icon_theme = classic` -- 图标主题目录：`/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic` -- 运行时映射来源：`/home/meswork/cnc_wams/linuxcnc/bin/gmoccapy` 的 `_set_icon_theme()` / `icon_configs` -- Glade 静态界面来源：`/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` +- 配置文件：`/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` +- 首选项图标主题：`classic`，来自 `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref` 的 `icon_theme = classic` +- 图标主题目录：`/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic` +- 运行时映射来源：`/home/mes123456/cnc_wams/linuxcnc/bin/gmoccapy` 的 `_set_icon_theme()` / `icon_configs` +- Glade 静态界面来源：`/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` - 当前坐标轴：`X Y Z A B`；当前宏数量：`5`；当前 Jog 增量数量：`6` - 本目录已复制图标文件：`files/`，共 `112` 个文件 - CSV 明细：`button_icon_inventory.csv` @@ -34,75 +34,75 @@ | 分类 | 按钮/状态 | 图像ID | 图标名 | 尺寸 | 来源类型 | 源文件 | 复制文件 | 说明 | | --- | --- | --- | --- | --- | --- | --- | --- | --- | -| 右侧主状态栏 | rbt_auto
    Auto 已选中
    `active` | img_auto_on | mode_auto_active | 48 | theme-exact-png | [mode_auto_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_auto_active.png) | [img_auto_on__mode_auto_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_auto_on__mode_auto_active__48.png) | on_rbt_auto_toggled | -| 右侧主状态栏 | rbt_auto | img_auto | mode_auto_inactive | 48 | theme-exact-png | [mode_auto_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_auto_inactive.png) | [img_auto__mode_auto_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_auto__mode_auto_inactive__48.png) | enter auto mode to run programs | -| 右侧主状态栏 | rbt_manual
    手动已选中
    `active` | img_manual_on | mode_manual_active | 48 | theme-exact-png | [mode_manual_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_manual_active.png) | [img_manual_on__mode_manual_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_manual_on__mode_manual_active__48.png) | on_rbt_manual_toggled | -| 右侧主状态栏 | rbt_manual | img_manual | mode_manual_inactive | 48 | theme-exact-png | [mode_manual_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_manual_inactive.png) | [img_manual__mode_manual_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_manual__mode_manual_inactive__48.png) | enter manual mode to jog axis by hand or touch off / [F3] | -| 右侧主状态栏 | rbt_mdi
    MDI 已选中
    `active` | img_mdi_on | mode_mdi_active | 48 | theme-exact-png | [mode_mdi_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_mdi_active.png) | [img_mdi_on__mode_mdi_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_mdi_on__mode_mdi_active__48.png) | on_rbt_mdi_toggled | -| 右侧主状态栏 | rbt_mdi | img_mdi | mode_mdi_inactive | 48 | theme-exact-png | [mode_mdi_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_mdi_inactive.png) | [img_mdi__mode_mdi_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_mdi__mode_mdi_inactive__48.png) | enter MDI mode to launch G-code commands / [F5] | -| 右侧主状态栏 | tbtn_estop
    急停复位/非急停
    `STATE_ESTOP_RESET` | img_emergency_off | main_switch_off | 48 | theme-exact-png | [main_switch_off.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/main_switch_off.png) | [img_emergency_off__main_switch_off__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_emergency_off__main_switch_off__48.png) | on_hal_status_state_estop_reset | -| 右侧主状态栏 | tbtn_estop | img_emergency | main_switch_on | 48 | theme-exact-png | [main_switch_on.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/main_switch_on.png) | [img_emergency__main_switch_on__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_emergency__main_switch_on__48.png) | Estop the machine / [F1] | -| 右侧主状态栏 | tbtn_on
    上电
    `STATE_ON` | img_machine_on | power_on | 48 | theme-exact-png | [power_on.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/power_on.png) | [img_machine_on__power_on__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_machine_on__power_on__48.png) | on_hal_status_state_on | -| 右侧主状态栏 | tbtn_on | img_machine_off | power_off | 48 | theme-exact-png | [power_off.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/power_off.png) | [img_machine_off__power_off__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_machine_off__power_off__48.png) | Turn the machine on/off / [F2] | -| 右侧主状态栏 | tbtn_setup
    设置页已进入
    `active/unlocked` | img_settings_on | mode_settings_active | 48 | theme-exact-png | [mode_settings_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_settings_active.png) | [img_settings_on__mode_settings_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_settings_on__mode_settings_active__48.png) | on_tbtn_setup_toggled | -| 右侧主状态栏 | tbtn_setup | img_settings | mode_settings_inactive | 48 | theme-exact-png | [mode_settings_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_settings_inactive.png) | [img_settings__mode_settings_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_settings__mode_settings_inactive__48.png) | Enter the settings page, the default code is "123" | -| 右侧主状态栏 | tbtn_user_tabs
    用户页已显示
    `active` | img_user_tabs_on | mode_user_tabs_active | 48 | theme-exact-png | [mode_user_tabs_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_user_tabs_active.png) | [img_user_tabs_on__mode_user_tabs_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_user_tabs_on__mode_user_tabs_active__48.png) | on_tbtn_user_tabs_toggled | -| 右侧主状态栏 | tbtn_user_tabs | img_user_tabs | mode_user_tabs_inactive | 48 | theme-exact-png | [mode_user_tabs_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_user_tabs_inactive.png) | [img_user_tabs__mode_user_tabs_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_user_tabs__mode_user_tabs_inactive__48.png) | show user tabs | -| 底部主按钮栏 | btn_exit | img_close | logout | 48 | theme-exact-png | [logout.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/logout.png) | [img_close__logout__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_close__logout__48.png) | Close gmoccapy / leave the program | -| 底部主按钮栏 | btn_homing | img_ref_menu | ref_all | 48 | theme-exact-png | [ref_all.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_all.png) | [img_ref_menu__ref_all__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_menu__ref_all__48.png) | open homing button list | -| 底部主按钮栏 | btn_tool | img_tools | hsk_mill_tool | 48 | theme-exact-png | [hsk_mill_tool.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/hsk_mill_tool.png) | [img_tools__hsk_mill_tool__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tools__hsk_mill_tool__48.png) | Open the tooleditor page | -| 底部主按钮栏 | btn_touch | img_touch_off | touch_off | 48 | theme-exact-png | [touch_off.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_off.png) | [img_touch_off__touch_off__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_off__touch_off__48.png) | open touch off button list | -| 底部主按钮栏 | tbtn_fullsize_preview0
    退出大预览
    `fullscreen active` | img_fullsize_preview0_close | fullscreen_close | 48 | theme-exact-png | [fullscreen_close.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_close.png) | [img_fullsize_preview0_close__fullscreen_close__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_fullsize_preview0_close__fullscreen_close__48.png) | on_tbtn_fullsize_preview_toggled | -| 底部主按钮栏 | tbtn_fullsize_preview0 | img_fullsize_preview0_open | fullscreen_open | 48 | theme-exact-png | [fullscreen_open.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_open.png) | [img_fullsize_preview0_open__fullscreen_open__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_fullsize_preview0_open__fullscreen_open__48.png) | make the preview as large as possible | +| 右侧主状态栏 | rbt_auto
    Auto 已选中
    `active` | img_auto_on | mode_auto_active | 48 | theme-exact-png | [mode_auto_active.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_auto_active.png) | [img_auto_on__mode_auto_active__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_auto_on__mode_auto_active__48.png) | on_rbt_auto_toggled | +| 右侧主状态栏 | rbt_auto | img_auto | mode_auto_inactive | 48 | theme-exact-png | [mode_auto_inactive.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_auto_inactive.png) | [img_auto__mode_auto_inactive__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_auto__mode_auto_inactive__48.png) | enter auto mode to run programs | +| 右侧主状态栏 | rbt_manual
    手动已选中
    `active` | img_manual_on | mode_manual_active | 48 | theme-exact-png | [mode_manual_active.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_manual_active.png) | [img_manual_on__mode_manual_active__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_manual_on__mode_manual_active__48.png) | on_rbt_manual_toggled | +| 右侧主状态栏 | rbt_manual | img_manual | mode_manual_inactive | 48 | theme-exact-png | [mode_manual_inactive.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_manual_inactive.png) | [img_manual__mode_manual_inactive__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_manual__mode_manual_inactive__48.png) | enter manual mode to jog axis by hand or touch off / [F3] | +| 右侧主状态栏 | rbt_mdi
    MDI 已选中
    `active` | img_mdi_on | mode_mdi_active | 48 | theme-exact-png | [mode_mdi_active.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_mdi_active.png) | [img_mdi_on__mode_mdi_active__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_mdi_on__mode_mdi_active__48.png) | on_rbt_mdi_toggled | +| 右侧主状态栏 | rbt_mdi | img_mdi | mode_mdi_inactive | 48 | theme-exact-png | [mode_mdi_inactive.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_mdi_inactive.png) | [img_mdi__mode_mdi_inactive__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_mdi__mode_mdi_inactive__48.png) | enter MDI mode to launch G-code commands / [F5] | +| 右侧主状态栏 | tbtn_estop
    急停复位/非急停
    `STATE_ESTOP_RESET` | img_emergency_off | main_switch_off | 48 | theme-exact-png | [main_switch_off.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/main_switch_off.png) | [img_emergency_off__main_switch_off__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_emergency_off__main_switch_off__48.png) | on_hal_status_state_estop_reset | +| 右侧主状态栏 | tbtn_estop | img_emergency | main_switch_on | 48 | theme-exact-png | [main_switch_on.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/main_switch_on.png) | [img_emergency__main_switch_on__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_emergency__main_switch_on__48.png) | Estop the machine / [F1] | +| 右侧主状态栏 | tbtn_on
    上电
    `STATE_ON` | img_machine_on | power_on | 48 | theme-exact-png | [power_on.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/power_on.png) | [img_machine_on__power_on__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_machine_on__power_on__48.png) | on_hal_status_state_on | +| 右侧主状态栏 | tbtn_on | img_machine_off | power_off | 48 | theme-exact-png | [power_off.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/power_off.png) | [img_machine_off__power_off__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_machine_off__power_off__48.png) | Turn the machine on/off / [F2] | +| 右侧主状态栏 | tbtn_setup
    设置页已进入
    `active/unlocked` | img_settings_on | mode_settings_active | 48 | theme-exact-png | [mode_settings_active.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_settings_active.png) | [img_settings_on__mode_settings_active__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_settings_on__mode_settings_active__48.png) | on_tbtn_setup_toggled | +| 右侧主状态栏 | tbtn_setup | img_settings | mode_settings_inactive | 48 | theme-exact-png | [mode_settings_inactive.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_settings_inactive.png) | [img_settings__mode_settings_inactive__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_settings__mode_settings_inactive__48.png) | Enter the settings page, the default code is "123" | +| 右侧主状态栏 | tbtn_user_tabs
    用户页已显示
    `active` | img_user_tabs_on | mode_user_tabs_active | 48 | theme-exact-png | [mode_user_tabs_active.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_user_tabs_active.png) | [img_user_tabs_on__mode_user_tabs_active__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_user_tabs_on__mode_user_tabs_active__48.png) | on_tbtn_user_tabs_toggled | +| 右侧主状态栏 | tbtn_user_tabs | img_user_tabs | mode_user_tabs_inactive | 48 | theme-exact-png | [mode_user_tabs_inactive.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_user_tabs_inactive.png) | [img_user_tabs__mode_user_tabs_inactive__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_user_tabs__mode_user_tabs_inactive__48.png) | show user tabs | +| 底部主按钮栏 | btn_exit | img_close | logout | 48 | theme-exact-png | [logout.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/logout.png) | [img_close__logout__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_close__logout__48.png) | Close gmoccapy / leave the program | +| 底部主按钮栏 | btn_homing | img_ref_menu | ref_all | 48 | theme-exact-png | [ref_all.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_all.png) | [img_ref_menu__ref_all__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_menu__ref_all__48.png) | open homing button list | +| 底部主按钮栏 | btn_tool | img_tools | hsk_mill_tool | 48 | theme-exact-png | [hsk_mill_tool.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/hsk_mill_tool.png) | [img_tools__hsk_mill_tool__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tools__hsk_mill_tool__48.png) | Open the tooleditor page | +| 底部主按钮栏 | btn_touch | img_touch_off | touch_off | 48 | theme-exact-png | [touch_off.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_off.png) | [img_touch_off__touch_off__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_off__touch_off__48.png) | open touch off button list | +| 底部主按钮栏 | tbtn_fullsize_preview0
    退出大预览
    `fullscreen active` | img_fullsize_preview0_close | fullscreen_close | 48 | theme-exact-png | [fullscreen_close.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_close.png) | [img_fullsize_preview0_close__fullscreen_close__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_fullsize_preview0_close__fullscreen_close__48.png) | on_tbtn_fullsize_preview_toggled | +| 底部主按钮栏 | tbtn_fullsize_preview0 | img_fullsize_preview0_open | fullscreen_open | 48 | theme-exact-png | [fullscreen_open.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_open.png) | [img_fullsize_preview0_open__fullscreen_open__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_fullsize_preview0_open__fullscreen_open__48.png) | make the preview as large as possible | | 底部主按钮栏 | tbtn_switch_mode
    World / Mode | | | | none | | | Switch motion mode between Joint and World mode / F12 or $ key does the same | -| Auto 程序运行栏 | btn_edit | img_editor | edit_code | 32 | theme-nearest-png | [edit_code.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/edit_code.png) | [img_editor__edit_code__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_editor__edit_code__32.png) | Edit the loaded program | -| Auto 程序运行栏 | btn_from_line | img_run_from | run_from_line | 48 | theme-exact-png | [run_from_line.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/run_from_line.png) | [img_run_from__run_from_line__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_run_from__run_from_line__48.png) | run the program from a certain line, attention, that is dangerous, because the previous lines will not checked! | -| Auto 程序运行栏 | btn_load | img_open | open_file | 32 | theme-svg | [open_file.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/open_file.svg) | [img_open__open_file__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_open__open_file__32.svg) | Load a new program | -| Auto 程序运行栏 | btn_reload | img_reload1 | refresh | 32 | theme-nearest-png | [refresh.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png) | [img_reload1__refresh__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_reload1__refresh__32.png) | Reload file | -| Auto 程序运行栏 | btn_run | img_run | play | 32 | theme-nearest-png | [play.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/play.png) | [img_run__play__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_run__play__32.png) | Run the loaded program | -| Auto 程序运行栏 | btn_step | img_step | step | 32 | theme-nearest-png | [step.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/step.png) | [img_step__step__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_step__step__32.png) | Run the loaded program step by step | -| Auto 程序运行栏 | btn_stop | img_stop | stop | 32 | theme-nearest-png | [stop.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/stop.png) | [img_stop__stop__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_stop__stop__32.png) | Stop the running program | -| Auto 程序运行栏 | tbtn_fullsize_preview1
    退出大预览
    `fullscreen active` | img_fullsize_preview1_close | fullscreen_close | 48 | theme-exact-png | [fullscreen_close.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_close.png) | [img_fullsize_preview1_close__fullscreen_close__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_fullsize_preview1_close__fullscreen_close__48.png) | on_tbtn_fullsize_preview_toggled | -| Auto 程序运行栏 | tbtn_fullsize_preview1 | img_fullsize_preview1_open | fullscreen_open | 48 | theme-exact-png | [fullscreen_open.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_open.png) | [img_fullsize_preview1_open__fullscreen_open__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_fullsize_preview1_open__fullscreen_open__48.png) | Show full screen preview | -| Auto 程序运行栏 | tbtn_optional_blocks
    跳过可选段
    `block delete active` | img_skip_optional_active | skip_optional_active | 32 | theme-exact-png | [skip_optional_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/skip_optional_active.png) | [img_skip_optional_active__skip_optional_active__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_skip_optional_active__skip_optional_active__32.png) | on_tbtn_optional_blocks_toggled | -| Auto 程序运行栏 | tbtn_optional_blocks | img_skip_optional_inactive | skip_optional_inactive | 32 | theme-exact-png | [skip_optional_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/skip_optional_inactive.png) | [img_skip_optional_inactive__skip_optional_inactive__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_skip_optional_inactive__skip_optional_inactive__32.png) | Machine or not the optional blocks of the program. If the button is pressed, the optional blocks will not be machined. The button will indicate this by a yellow background. | -| Auto 程序运行栏 | tbtn_pause
    暂停中
    `paused` | img_pause_active | pause_active | 32 | theme-nearest-png | [pause_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/pause_active.png) | [img_pause_active__pause_active__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_pause_active__pause_active__32.png) | on_tbtn_pause_toggled | -| Auto 程序运行栏 | tbtn_pause | img_pause | pause | 32 | theme-nearest-png | [pause.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/pause.png) | [img_pause__pause__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_pause__pause__32.png) | Pause the running program | -| MDI/宏按钮栏 | calculator
    计算器 | img_macro_menu_calculator | calculator_open | 32 | theme-exact-png | [calculator_open.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png) | [img_macro_menu_calculator__calculator_open__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_macro_menu_calculator__calculator_open__32.png) | _make_macro_button | -| MDI/宏按钮栏 | keyboard
    隐藏虚拟键盘
    `keyboard shown` | img_macro_menu_keyboard_hide | keyboard_hide | 32 | theme-nearest-png | [keyboard_hide.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard_hide.png) | [img_macro_menu_keyboard_hide__keyboard_hide__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_macro_menu_keyboard_hide__keyboard_hide__32.png) | on_ntb_info_switch_page | -| MDI/宏按钮栏 | keyboard
    中止运行宏/程序
    `program/macro running or no keyboard` | img_macro_menu_stop | stop | 32 | theme-nearest-png | [stop.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/stop.png) | [img_macro_menu_stop__stop__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_macro_menu_stop__stop__32.png) | on_hal_status_interp_run/_no_virt_keyboard | -| MDI/宏按钮栏 | keyboard
    虚拟键盘 | img_macro_menu_keyboard | keyboard | 32 | theme-nearest-png | [keyboard.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard.png) | [img_macro_menu_keyboard__keyboard__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_macro_menu_keyboard__keyboard__32.png) | _make_macro_button | -| MDI/宏按钮栏 | macro_0
    i_am_lost | | | | macro-custom-file | [i_am_lost.png](/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/i_am_lost.png) | [macro_0__macro_image.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/macro_0__macro_image.png) | 宏文件 IMAGE 自定义图片: /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/i_am_lost.png | +| Auto 程序运行栏 | btn_edit | img_editor | edit_code | 32 | theme-nearest-png | [edit_code.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/edit_code.png) | [img_editor__edit_code__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_editor__edit_code__32.png) | Edit the loaded program | +| Auto 程序运行栏 | btn_from_line | img_run_from | run_from_line | 48 | theme-exact-png | [run_from_line.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/run_from_line.png) | [img_run_from__run_from_line__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_run_from__run_from_line__48.png) | run the program from a certain line, attention, that is dangerous, because the previous lines will not checked! | +| Auto 程序运行栏 | btn_load | img_open | open_file | 32 | theme-svg | [open_file.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/open_file.svg) | [img_open__open_file__32.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_open__open_file__32.svg) | Load a new program | +| Auto 程序运行栏 | btn_reload | img_reload1 | refresh | 32 | theme-nearest-png | [refresh.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png) | [img_reload1__refresh__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_reload1__refresh__32.png) | Reload file | +| Auto 程序运行栏 | btn_run | img_run | play | 32 | theme-nearest-png | [play.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/play.png) | [img_run__play__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_run__play__32.png) | Run the loaded program | +| Auto 程序运行栏 | btn_step | img_step | step | 32 | theme-nearest-png | [step.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/step.png) | [img_step__step__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_step__step__32.png) | Run the loaded program step by step | +| Auto 程序运行栏 | btn_stop | img_stop | stop | 32 | theme-nearest-png | [stop.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/stop.png) | [img_stop__stop__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_stop__stop__32.png) | Stop the running program | +| Auto 程序运行栏 | tbtn_fullsize_preview1
    退出大预览
    `fullscreen active` | img_fullsize_preview1_close | fullscreen_close | 48 | theme-exact-png | [fullscreen_close.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_close.png) | [img_fullsize_preview1_close__fullscreen_close__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_fullsize_preview1_close__fullscreen_close__48.png) | on_tbtn_fullsize_preview_toggled | +| Auto 程序运行栏 | tbtn_fullsize_preview1 | img_fullsize_preview1_open | fullscreen_open | 48 | theme-exact-png | [fullscreen_open.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_open.png) | [img_fullsize_preview1_open__fullscreen_open__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_fullsize_preview1_open__fullscreen_open__48.png) | Show full screen preview | +| Auto 程序运行栏 | tbtn_optional_blocks
    跳过可选段
    `block delete active` | img_skip_optional_active | skip_optional_active | 32 | theme-exact-png | [skip_optional_active.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/skip_optional_active.png) | [img_skip_optional_active__skip_optional_active__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_skip_optional_active__skip_optional_active__32.png) | on_tbtn_optional_blocks_toggled | +| Auto 程序运行栏 | tbtn_optional_blocks | img_skip_optional_inactive | skip_optional_inactive | 32 | theme-exact-png | [skip_optional_inactive.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/skip_optional_inactive.png) | [img_skip_optional_inactive__skip_optional_inactive__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_skip_optional_inactive__skip_optional_inactive__32.png) | Machine or not the optional blocks of the program. If the button is pressed, the optional blocks will not be machined. The button will indicate this by a yellow background. | +| Auto 程序运行栏 | tbtn_pause
    暂停中
    `paused` | img_pause_active | pause_active | 32 | theme-nearest-png | [pause_active.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/pause_active.png) | [img_pause_active__pause_active__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_pause_active__pause_active__32.png) | on_tbtn_pause_toggled | +| Auto 程序运行栏 | tbtn_pause | img_pause | pause | 32 | theme-nearest-png | [pause.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/pause.png) | [img_pause__pause__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_pause__pause__32.png) | Pause the running program | +| MDI/宏按钮栏 | calculator
    计算器 | img_macro_menu_calculator | calculator_open | 32 | theme-exact-png | [calculator_open.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png) | [img_macro_menu_calculator__calculator_open__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_macro_menu_calculator__calculator_open__32.png) | _make_macro_button | +| MDI/宏按钮栏 | keyboard
    隐藏虚拟键盘
    `keyboard shown` | img_macro_menu_keyboard_hide | keyboard_hide | 32 | theme-nearest-png | [keyboard_hide.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard_hide.png) | [img_macro_menu_keyboard_hide__keyboard_hide__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_macro_menu_keyboard_hide__keyboard_hide__32.png) | on_ntb_info_switch_page | +| MDI/宏按钮栏 | keyboard
    中止运行宏/程序
    `program/macro running or no keyboard` | img_macro_menu_stop | stop | 32 | theme-nearest-png | [stop.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/stop.png) | [img_macro_menu_stop__stop__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_macro_menu_stop__stop__32.png) | on_hal_status_interp_run/_no_virt_keyboard | +| MDI/宏按钮栏 | keyboard
    虚拟键盘 | img_macro_menu_keyboard | keyboard | 32 | theme-nearest-png | [keyboard.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard.png) | [img_macro_menu_keyboard__keyboard__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_macro_menu_keyboard__keyboard__32.png) | _make_macro_button | +| MDI/宏按钮栏 | macro_0
    i_am_lost | | | | macro-custom-file | [i_am_lost.png](/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/i_am_lost.png) | [macro_0__macro_image.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/macro_0__macro_image.png) | 宏文件 IMAGE 自定义图片: /home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/i_am_lost.png | | MDI/宏按钮栏 | macro_1
    halo_world | | | | none | | | 宏按钮使用文字，无图标 | | MDI/宏按钮栏 | macro_2
    jog_around | | | | none | | | 宏按钮使用文字，无图标 | | MDI/宏按钮栏 | macro_3
    increment | | | | none | | | 宏按钮使用文字，无图标 | -| MDI/宏按钮栏 | macro_4
    go_to_position | | | | macro-custom-file | [goto_x_y_z.png](/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/goto_x_y_z.png) | [macro_4__macro_image.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/macro_4__macro_image.png) | 宏文件 IMAGE 自定义图片: /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/goto_x_y_z.png | +| MDI/宏按钮栏 | macro_4
    go_to_position | | | | macro-custom-file | [goto_x_y_z.png](/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/goto_x_y_z.png) | [macro_4__macro_image.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/macro_4__macro_image.png) | 宏文件 IMAGE 自定义图片: /home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/goto_x_y_z.png | | MDI/宏按钮栏 | next_button
    下一组宏按钮 | img_macro_paginate_next | go-next | | gtk-icon-name-not-copied | GTK/system icon theme | | 当前宏数 5，小于 7，默认隐藏; 未在 gmoccapy classic 主题中固定解析，运行时由 GTK/system icon theme 决定 | | MDI/宏按钮栏 | previous_button
    上一组宏按钮 | img_macro_paginate_prev | go-previous | | gtk-icon-name-not-copied | GTK/system icon theme | | 当前宏数 5，小于 7，默认隐藏; 未在 gmoccapy classic 主题中固定解析，运行时由 GTK/system icon theme 决定 | -| 回零按钮栏 | home_axis_a
    回零 A 轴 | img_ref_a | ref_a | 48 | theme-exact-png | [ref_a.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_a.png) | [img_ref_a__ref_a__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_a__ref_a__48.png) | 当前 XYZAB 生成 | -| 回零按钮栏 | home_axis_b
    回零 B 轴 | img_ref_b | ref_b | 48 | theme-exact-png | [ref_b.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_b.png) | [img_ref_b__ref_b__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_b__ref_b__48.png) | 当前 XYZAB 生成 | -| 回零按钮栏 | home_axis_x
    回零 X 轴 | img_ref_x | ref_x | 48 | theme-exact-png | [ref_x.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_x.png) | [img_ref_x__ref_x__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_x__ref_x__48.png) | 当前 XYZAB 生成 | -| 回零按钮栏 | home_axis_y
    回零 Y 轴 | img_ref_y | ref_y | 48 | theme-exact-png | [ref_y.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_y.png) | [img_ref_y__ref_y__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_y__ref_y__48.png) | 当前 XYZAB 生成 | -| 回零按钮栏 | home_axis_z
    回零 Z 轴 | img_ref_z | ref_z | 48 | theme-exact-png | [ref_z.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_z.png) | [img_ref_z__ref_z__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_z__ref_z__48.png) | 当前 XYZAB 生成 | -| 回零按钮栏 | home_back
    返回主按钮栏 | img_ref_menu_close | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_ref_menu_close__back_to_app__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_menu_close__back_to_app__48.svg) | _make_ref_axis_button | -| 回零按钮栏 | next_button
    下一组回零按钮 | img_ref_paginate_next | chevron_right | 32 | theme-svg | [chevron_right.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg) | [img_ref_paginate_next__chevron_right__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_paginate_next__chevron_right__32.svg) | 仅轴数大于 7 时显示 | -| 回零按钮栏 | previous_button
    上一组回零按钮 | img_ref_paginate_prev | chevron_left | 32 | theme-svg | [chevron_left.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg) | [img_ref_paginate_prev__chevron_left__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_paginate_prev__chevron_left__32.svg) | 仅轴数大于 7 时显示 | -| 回零按钮栏 | ref_all
    回零全部轴 | img_ref_all | ref_all | 48 | theme-exact-png | [ref_all.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_all.png) | [img_ref_all__ref_all__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_all__ref_all__48.png) | _make_ref_axis_button | -| 回零按钮栏 | unref_all
    取消全部回零 | img_unref_all | unref_all | 48 | theme-exact-png | [unref_all.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/unref_all.png) | [img_unref_all__unref_all__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_unref_all__unref_all__48.png) | _make_ref_axis_button | +| 回零按钮栏 | home_axis_a
    回零 A 轴 | img_ref_a | ref_a | 48 | theme-exact-png | [ref_a.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_a.png) | [img_ref_a__ref_a__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_a__ref_a__48.png) | 当前 XYZAB 生成 | +| 回零按钮栏 | home_axis_b
    回零 B 轴 | img_ref_b | ref_b | 48 | theme-exact-png | [ref_b.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_b.png) | [img_ref_b__ref_b__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_b__ref_b__48.png) | 当前 XYZAB 生成 | +| 回零按钮栏 | home_axis_x
    回零 X 轴 | img_ref_x | ref_x | 48 | theme-exact-png | [ref_x.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_x.png) | [img_ref_x__ref_x__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_x__ref_x__48.png) | 当前 XYZAB 生成 | +| 回零按钮栏 | home_axis_y
    回零 Y 轴 | img_ref_y | ref_y | 48 | theme-exact-png | [ref_y.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_y.png) | [img_ref_y__ref_y__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_y__ref_y__48.png) | 当前 XYZAB 生成 | +| 回零按钮栏 | home_axis_z
    回零 Z 轴 | img_ref_z | ref_z | 48 | theme-exact-png | [ref_z.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_z.png) | [img_ref_z__ref_z__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_z__ref_z__48.png) | 当前 XYZAB 生成 | +| 回零按钮栏 | home_back
    返回主按钮栏 | img_ref_menu_close | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_ref_menu_close__back_to_app__48.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_menu_close__back_to_app__48.svg) | _make_ref_axis_button | +| 回零按钮栏 | next_button
    下一组回零按钮 | img_ref_paginate_next | chevron_right | 32 | theme-svg | [chevron_right.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg) | [img_ref_paginate_next__chevron_right__32.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_paginate_next__chevron_right__32.svg) | 仅轴数大于 7 时显示 | +| 回零按钮栏 | previous_button
    上一组回零按钮 | img_ref_paginate_prev | chevron_left | 32 | theme-svg | [chevron_left.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg) | [img_ref_paginate_prev__chevron_left__32.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_paginate_prev__chevron_left__32.svg) | 仅轴数大于 7 时显示 | +| 回零按钮栏 | ref_all
    回零全部轴 | img_ref_all | ref_all | 48 | theme-exact-png | [ref_all.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_all.png) | [img_ref_all__ref_all__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_all__ref_all__48.png) | _make_ref_axis_button | +| 回零按钮栏 | unref_all
    取消全部回零 | img_unref_all | unref_all | 48 | theme-exact-png | [unref_all.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/unref_all.png) | [img_unref_all__unref_all__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_unref_all__unref_all__48.png) | _make_ref_axis_button | | 对刀/坐标设定按钮栏 | block_height
    Block Height | | | | none | | | 仅 [TOOLSENSOR] 有效时出现；本配置默认不出现 | -| 对刀/坐标设定按钮栏 | next_button
    下一组 Touch Off 按钮 | img_touch_paginate_next | chevron_right | 32 | theme-svg | [chevron_right.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg) | [img_touch_paginate_next__chevron_right__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_paginate_next__chevron_right__32.svg) | 仅按钮过多时显示 | -| 对刀/坐标设定按钮栏 | previous_button
    上一组 Touch Off 按钮 | img_touch_paginate_prev | chevron_left | 32 | theme-svg | [chevron_left.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg) | [img_touch_paginate_prev__chevron_left__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_paginate_prev__chevron_left__32.svg) | 仅轴数大于 8 时显示 | -| 对刀/坐标设定按钮栏 | touch_a
    A 轴 Touch Off | img_touch_a | touch_a | 48 | theme-exact-png | [touch_a.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_a.png) | [img_touch_a__touch_a__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_a__touch_a__48.png) | 当前 XYZAB 生成 | -| 对刀/坐标设定按钮栏 | touch_b
    B 轴 Touch Off | img_touch_b | touch_b | 48 | theme-exact-png | [touch_b.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_b.png) | [img_touch_b__touch_b__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_b__touch_b__48.png) | 当前 XYZAB 生成 | -| 对刀/坐标设定按钮栏 | touch_back
    返回主按钮栏 | img_touch_menu_close | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_touch_menu_close__back_to_app__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_menu_close__back_to_app__48.svg) | _make_touch_button | -| 对刀/坐标设定按钮栏 | touch_x
    X 轴 Touch Off | img_touch_x | touch_x | 48 | theme-exact-png | [touch_x.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_x.png) | [img_touch_x__touch_x__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_x__touch_x__48.png) | 当前 XYZAB 生成 | -| 对刀/坐标设定按钮栏 | touch_y
    Y 轴 Touch Off | img_touch_y | touch_y | 48 | theme-exact-png | [touch_y.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_y.png) | [img_touch_y__touch_y__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_y__touch_y__48.png) | 当前 XYZAB 生成 | -| 对刀/坐标设定按钮栏 | touch_z
    Z 轴 Touch Off | img_touch_z | touch_z | 48 | theme-exact-png | [touch_z.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_z.png) | [img_touch_z__touch_z__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_z__touch_z__48.png) | 当前 XYZAB 生成 | +| 对刀/坐标设定按钮栏 | next_button
    下一组 Touch Off 按钮 | img_touch_paginate_next | chevron_right | 32 | theme-svg | [chevron_right.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg) | [img_touch_paginate_next__chevron_right__32.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_paginate_next__chevron_right__32.svg) | 仅按钮过多时显示 | +| 对刀/坐标设定按钮栏 | previous_button
    上一组 Touch Off 按钮 | img_touch_paginate_prev | chevron_left | 32 | theme-svg | [chevron_left.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg) | [img_touch_paginate_prev__chevron_left__32.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_paginate_prev__chevron_left__32.svg) | 仅轴数大于 8 时显示 | +| 对刀/坐标设定按钮栏 | touch_a
    A 轴 Touch Off | img_touch_a | touch_a | 48 | theme-exact-png | [touch_a.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_a.png) | [img_touch_a__touch_a__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_a__touch_a__48.png) | 当前 XYZAB 生成 | +| 对刀/坐标设定按钮栏 | touch_b
    B 轴 Touch Off | img_touch_b | touch_b | 48 | theme-exact-png | [touch_b.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_b.png) | [img_touch_b__touch_b__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_b__touch_b__48.png) | 当前 XYZAB 生成 | +| 对刀/坐标设定按钮栏 | touch_back
    返回主按钮栏 | img_touch_menu_close | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_touch_menu_close__back_to_app__48.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_menu_close__back_to_app__48.svg) | _make_touch_button | +| 对刀/坐标设定按钮栏 | touch_x
    X 轴 Touch Off | img_touch_x | touch_x | 48 | theme-exact-png | [touch_x.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_x.png) | [img_touch_x__touch_x__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_x__touch_x__48.png) | 当前 XYZAB 生成 | +| 对刀/坐标设定按钮栏 | touch_y
    Y 轴 Touch Off | img_touch_y | touch_y | 48 | theme-exact-png | [touch_y.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_y.png) | [img_touch_y__touch_y__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_y__touch_y__48.png) | 当前 XYZAB 生成 | +| 对刀/坐标设定按钮栏 | touch_z
    Z 轴 Touch Off | img_touch_z | touch_z | 48 | theme-exact-png | [touch_z.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_z.png) | [img_touch_z__touch_z__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_z__touch_z__48.png) | 当前 XYZAB 生成 | | 手动/Jog 面板 | chk_ignore_limits
    Ignore limits | | | | none | | | toggled:on_chk_ignore_limits_toggled | -| 手动/Jog 面板 | tbtn_turtle_jog
    慢速 Jog
    `active` | img_turtle_jog | jog_speed_slow | 32 | theme-exact-png | [jog_speed_slow.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/jog_speed_slow.png) | [img_turtle_jog__jog_speed_slow__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_turtle_jog__jog_speed_slow__32.png) | on_tbtn_turtle_jog_toggled | -| 手动/Jog 面板 | tbtn_turtle_jog
    快速 Jog
    `inactive` | img_rabbit_jog | jog_speed_fast | 32 | theme-exact-png | [jog_speed_fast.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/jog_speed_fast.png) | [img_rabbit_jog__jog_speed_fast__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_rabbit_jog__jog_speed_fast__32.png) | on_tbtn_turtle_jog_toggled | -| 手动/Jog 面板 | tbtn_turtle_jog | img_rabbit_jog | jog_speed_fast | 32 | theme-exact-png | [jog_speed_fast.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/jog_speed_fast.png) | [img_rabbit_jog__jog_speed_fast__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_rabbit_jog__jog_speed_fast__32.png) | toggled:on_tbtn_turtle_jog_toggled | -| Jog 增量选择栏 | rbt_0
    Continuous | img_continuous | jog_continuous | 24 | theme-exact-png | [jog_continuous.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/jog_continuous.png) | [img_continuous__jog_continuous__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_continuous__jog_continuous__24.png) | 连续 Jog 唯一带图标 | +| 手动/Jog 面板 | tbtn_turtle_jog
    慢速 Jog
    `active` | img_turtle_jog | jog_speed_slow | 32 | theme-exact-png | [jog_speed_slow.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/jog_speed_slow.png) | [img_turtle_jog__jog_speed_slow__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_turtle_jog__jog_speed_slow__32.png) | on_tbtn_turtle_jog_toggled | +| 手动/Jog 面板 | tbtn_turtle_jog
    快速 Jog
    `inactive` | img_rabbit_jog | jog_speed_fast | 32 | theme-exact-png | [jog_speed_fast.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/jog_speed_fast.png) | [img_rabbit_jog__jog_speed_fast__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_rabbit_jog__jog_speed_fast__32.png) | on_tbtn_turtle_jog_toggled | +| 手动/Jog 面板 | tbtn_turtle_jog | img_rabbit_jog | jog_speed_fast | 32 | theme-exact-png | [jog_speed_fast.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/jog_speed_fast.png) | [img_rabbit_jog__jog_speed_fast__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_rabbit_jog__jog_speed_fast__32.png) | toggled:on_tbtn_turtle_jog_toggled | +| Jog 增量选择栏 | rbt_0
    Continuous | img_continuous | jog_continuous | 24 | theme-exact-png | [jog_continuous.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/jog_continuous.png) | [img_continuous__jog_continuous__24.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_continuous__jog_continuous__24.png) | 连续 Jog 唯一带图标 | | Jog 增量选择栏 | rbt_1
    1.000 mm | | | | none | | | 增量按钮使用文字，无图标 | | Jog 增量选择栏 | rbt_2
    0.100 mm | | | | none | | | 增量按钮使用文字，无图标 | | Jog 增量选择栏 | rbt_3
    0.010 mm | | | | none | | | 增量按钮使用文字，无图标 | @@ -128,65 +128,65 @@ | Jog 关节按钮 | 3-
    3- | | | | none | | | trivial kinematics 时不创建；非平凡运动学才出现 | | Jog 关节按钮 | 4+
    4+ | | | | none | | | trivial kinematics 时不创建；非平凡运动学才出现 | | Jog 关节按钮 | 4-
    4- | | | | none | | | trivial kinematics 时不创建；非平凡运动学才出现 | -| 冷却/主轴控制 | rbt_forward
    主轴正转中
    `active` | img_spindle_forward_on | spindle_right_on | 48 | theme-exact-png | [spindle_right_on.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_right_on.png) | [img_spindle_forward_on__spindle_right_on__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_forward_on__spindle_right_on__48.png) | on_rbt_forward_released/clicked | -| 冷却/主轴控制 | rbt_forward | img_spindle_forward | spindle_right | 48 | theme-exact-png | [spindle_right.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_right.png) | [img_spindle_forward__spindle_right__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_forward__spindle_right__48.png) | clicked:on_rbt_forward_clicked; released:on_rbt_forward_released | -| 冷却/主轴控制 | rbt_reverse
    主轴反转中
    `active` | img_spindle_reverse_on | spindle_left_on | 48 | theme-exact-png | [spindle_left_on.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_left_on.png) | [img_spindle_reverse_on__spindle_left_on__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_reverse_on__spindle_left_on__48.png) | on_rbt_reverse_released/clicked | -| 冷却/主轴控制 | rbt_reverse | img_spindle_reverse | spindle_left | 48 | theme-exact-png | [spindle_left.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_left.png) | [img_spindle_reverse__spindle_left__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_reverse__spindle_left__48.png) | clicked:on_rbt_reverse_clicked; released:on_rbt_reverse_released | -| 冷却/主轴控制 | rbt_stop
    主轴停止已选中
    `active` | img_spindle_stop_on | spindle_stop_on | 48 | theme-exact-png | [spindle_stop_on.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_stop_on.png) | [img_spindle_stop_on__spindle_stop_on__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_stop_on__spindle_stop_on__48.png) | on_rbt_stop_clicked | -| 冷却/主轴控制 | rbt_stop
    主轴停止未选中
    `inactive` | img_spindle_stop | spindle_stop | 48 | theme-exact-png | [spindle_stop.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_stop.png) | [img_spindle_stop__spindle_stop__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_stop__spindle_stop__48.png) | on_rbt_stop_clicked: widget inactive 时切回停止普通图标 | -| 冷却/主轴控制 | rbt_stop | img_spindle_stop_on | spindle_stop_on | 48 | theme-exact-png | [spindle_stop_on.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_stop_on.png) | [img_spindle_stop_on__spindle_stop_on__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_stop_on__spindle_stop_on__48.png) | clicked:on_rbt_stop_clicked | -| 冷却/主轴控制 | tbtn_flood
    冷却液开
    `active` | img_coolant_on | coolant_flood_active | 48 | theme-exact-png | [coolant_flood_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_flood_active.png) | [img_coolant_on__coolant_flood_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_coolant_on__coolant_flood_active__48.png) | on_hal_status_flood_changed | -| 冷却/主轴控制 | tbtn_flood | img_coolant_off | coolant_flood_inactive | 48 | theme-exact-png | [coolant_flood_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_flood_inactive.png) | [img_coolant_off__coolant_flood_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_coolant_off__coolant_flood_inactive__48.png) | toggled:on_tbtn_flood_toggled | -| 冷却/主轴控制 | tbtn_mist
    雾冷开
    `active` | img_mist_on | coolant_mist_active | 48 | theme-exact-png | [coolant_mist_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_mist_active.png) | [img_mist_on__coolant_mist_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_mist_on__coolant_mist_active__48.png) | on_hal_status_mist_changed | -| 冷却/主轴控制 | tbtn_mist | img_mist_off | coolant_mist_inactive | 48 | theme-exact-png | [coolant_mist_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_mist_inactive.png) | [img_mist_off__coolant_mist_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_mist_off__coolant_mist_inactive__48.png) | toggled:on_tbtn_mist_toggled | -| 预览/视图 | btn_delete_view | img_tool_clear | clear | 24 | theme-nearest-png | [clear.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/clear.png) | [img_tool_clear__clear__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_clear__clear__24.png) | clear plot | -| 预览/视图 | btn_zoom_in | img_zoom_in | zoom_in | 24 | theme-nearest-png | [zoom_in.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/zoom_in.png) | [img_zoom_in__zoom_in__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_zoom_in__zoom_in__24.png) | Zoom in | -| 预览/视图 | btn_zoom_out | img_zoom_out | zoom_out | 24 | theme-nearest-png | [zoom_out.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/zoom_out.png) | [img_zoom_out__zoom_out__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_zoom_out__zoom_out__24.png) | Zoom out | -| 预览/视图 | rbt_view_p | img_view_p | tool_axis_p | 24 | theme-exact-png | [tool_axis_p.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_p.png) | [img_view_p__tool_axis_p__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_p__tool_axis_p__24.png) | view perspective | -| 预览/视图 | rbt_view_x | img_view_x | tool_axis_x | 24 | theme-exact-png | [tool_axis_x.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_x.png) | [img_view_x__tool_axis_x__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_x__tool_axis_x__24.png) | view along the X axis from positive to negative | -| 预览/视图 | rbt_view_y | img_view_y | tool_axis_y | 24 | theme-exact-png | [tool_axis_y.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_y.png) | [img_view_y__tool_axis_y__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_y__tool_axis_y__24.png) | view along the Y axis from positive to negative | -| 预览/视图 | rbt_view_y2 | img_view_y2 | tool_axis_y_inv | 24 | theme-exact-png | [tool_axis_y_inv.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_y_inv.png) | [img_view_y2__tool_axis_y_inv__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_y2__tool_axis_y_inv__24.png) | view along the Y axis from positive to negative as viewn for a back tool lathe | -| 预览/视图 | rbt_view_z | img_view_z | tool_axis_z | 24 | theme-exact-png | [tool_axis_z.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_z.png) | [img_view_z__tool_axis_z__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_z__tool_axis_z__24.png) | view along the Z axis from positive to negative | -| 预览/视图 | tbtn_view_dimension | img_dimensions | dimensions | 24 | theme-nearest-png | [dimensions.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/dimensions.png) | [img_dimensions__dimensions__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_dimensions__dimensions__24.png) | Show or hide dimensions | -| 预览/视图 | tbtn_view_tool_path | img_tool_path | toolpath | 24 | theme-exact-png | [toolpath.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/toolpath.png) | [img_tool_path__toolpath__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_path__toolpath__24.png) | Show or hide tool path | -| 编辑器搜索/编辑 | btn_comment | img_edit_comment | comment | 32 | theme-exact-png | [comment.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/comment.png) | [img_edit_comment__comment__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_comment__comment__32.png) | clicked:on_btn_toggle_comment_clicked | -| 编辑器搜索/编辑 | btn_redo | img_edit-redo | edit_redo | 32 | theme-exact-png | [edit_redo.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/edit_redo.png) | [img_edit-redo__edit_redo__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit-redo__edit_redo__32.png) | Redo | +| 冷却/主轴控制 | rbt_forward
    主轴正转中
    `active` | img_spindle_forward_on | spindle_right_on | 48 | theme-exact-png | [spindle_right_on.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_right_on.png) | [img_spindle_forward_on__spindle_right_on__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_forward_on__spindle_right_on__48.png) | on_rbt_forward_released/clicked | +| 冷却/主轴控制 | rbt_forward | img_spindle_forward | spindle_right | 48 | theme-exact-png | [spindle_right.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_right.png) | [img_spindle_forward__spindle_right__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_forward__spindle_right__48.png) | clicked:on_rbt_forward_clicked; released:on_rbt_forward_released | +| 冷却/主轴控制 | rbt_reverse
    主轴反转中
    `active` | img_spindle_reverse_on | spindle_left_on | 48 | theme-exact-png | [spindle_left_on.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_left_on.png) | [img_spindle_reverse_on__spindle_left_on__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_reverse_on__spindle_left_on__48.png) | on_rbt_reverse_released/clicked | +| 冷却/主轴控制 | rbt_reverse | img_spindle_reverse | spindle_left | 48 | theme-exact-png | [spindle_left.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_left.png) | [img_spindle_reverse__spindle_left__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_reverse__spindle_left__48.png) | clicked:on_rbt_reverse_clicked; released:on_rbt_reverse_released | +| 冷却/主轴控制 | rbt_stop
    主轴停止已选中
    `active` | img_spindle_stop_on | spindle_stop_on | 48 | theme-exact-png | [spindle_stop_on.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_stop_on.png) | [img_spindle_stop_on__spindle_stop_on__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_stop_on__spindle_stop_on__48.png) | on_rbt_stop_clicked | +| 冷却/主轴控制 | rbt_stop
    主轴停止未选中
    `inactive` | img_spindle_stop | spindle_stop | 48 | theme-exact-png | [spindle_stop.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_stop.png) | [img_spindle_stop__spindle_stop__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_stop__spindle_stop__48.png) | on_rbt_stop_clicked: widget inactive 时切回停止普通图标 | +| 冷却/主轴控制 | rbt_stop | img_spindle_stop_on | spindle_stop_on | 48 | theme-exact-png | [spindle_stop_on.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_stop_on.png) | [img_spindle_stop_on__spindle_stop_on__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_stop_on__spindle_stop_on__48.png) | clicked:on_rbt_stop_clicked | +| 冷却/主轴控制 | tbtn_flood
    冷却液开
    `active` | img_coolant_on | coolant_flood_active | 48 | theme-exact-png | [coolant_flood_active.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_flood_active.png) | [img_coolant_on__coolant_flood_active__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_coolant_on__coolant_flood_active__48.png) | on_hal_status_flood_changed | +| 冷却/主轴控制 | tbtn_flood | img_coolant_off | coolant_flood_inactive | 48 | theme-exact-png | [coolant_flood_inactive.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_flood_inactive.png) | [img_coolant_off__coolant_flood_inactive__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_coolant_off__coolant_flood_inactive__48.png) | toggled:on_tbtn_flood_toggled | +| 冷却/主轴控制 | tbtn_mist
    雾冷开
    `active` | img_mist_on | coolant_mist_active | 48 | theme-exact-png | [coolant_mist_active.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_mist_active.png) | [img_mist_on__coolant_mist_active__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_mist_on__coolant_mist_active__48.png) | on_hal_status_mist_changed | +| 冷却/主轴控制 | tbtn_mist | img_mist_off | coolant_mist_inactive | 48 | theme-exact-png | [coolant_mist_inactive.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_mist_inactive.png) | [img_mist_off__coolant_mist_inactive__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_mist_off__coolant_mist_inactive__48.png) | toggled:on_tbtn_mist_toggled | +| 预览/视图 | btn_delete_view | img_tool_clear | clear | 24 | theme-nearest-png | [clear.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/clear.png) | [img_tool_clear__clear__24.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_clear__clear__24.png) | clear plot | +| 预览/视图 | btn_zoom_in | img_zoom_in | zoom_in | 24 | theme-nearest-png | [zoom_in.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/zoom_in.png) | [img_zoom_in__zoom_in__24.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_zoom_in__zoom_in__24.png) | Zoom in | +| 预览/视图 | btn_zoom_out | img_zoom_out | zoom_out | 24 | theme-nearest-png | [zoom_out.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/zoom_out.png) | [img_zoom_out__zoom_out__24.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_zoom_out__zoom_out__24.png) | Zoom out | +| 预览/视图 | rbt_view_p | img_view_p | tool_axis_p | 24 | theme-exact-png | [tool_axis_p.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_p.png) | [img_view_p__tool_axis_p__24.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_p__tool_axis_p__24.png) | view perspective | +| 预览/视图 | rbt_view_x | img_view_x | tool_axis_x | 24 | theme-exact-png | [tool_axis_x.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_x.png) | [img_view_x__tool_axis_x__24.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_x__tool_axis_x__24.png) | view along the X axis from positive to negative | +| 预览/视图 | rbt_view_y | img_view_y | tool_axis_y | 24 | theme-exact-png | [tool_axis_y.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_y.png) | [img_view_y__tool_axis_y__24.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_y__tool_axis_y__24.png) | view along the Y axis from positive to negative | +| 预览/视图 | rbt_view_y2 | img_view_y2 | tool_axis_y_inv | 24 | theme-exact-png | [tool_axis_y_inv.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_y_inv.png) | [img_view_y2__tool_axis_y_inv__24.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_y2__tool_axis_y_inv__24.png) | view along the Y axis from positive to negative as viewn for a back tool lathe | +| 预览/视图 | rbt_view_z | img_view_z | tool_axis_z | 24 | theme-exact-png | [tool_axis_z.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_z.png) | [img_view_z__tool_axis_z__24.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_z__tool_axis_z__24.png) | view along the Z axis from positive to negative | +| 预览/视图 | tbtn_view_dimension | img_dimensions | dimensions | 24 | theme-nearest-png | [dimensions.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/dimensions.png) | [img_dimensions__dimensions__24.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_dimensions__dimensions__24.png) | Show or hide dimensions | +| 预览/视图 | tbtn_view_tool_path | img_tool_path | toolpath | 24 | theme-exact-png | [toolpath.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/toolpath.png) | [img_tool_path__toolpath__24.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_path__toolpath__24.png) | Show or hide tool path | +| 编辑器搜索/编辑 | btn_comment | img_edit_comment | comment | 32 | theme-exact-png | [comment.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/comment.png) | [img_edit_comment__comment__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_comment__comment__32.png) | clicked:on_btn_toggle_comment_clicked | +| 编辑器搜索/编辑 | btn_redo | img_edit-redo | edit_redo | 32 | theme-exact-png | [edit_redo.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/edit_redo.png) | [img_edit-redo__edit_redo__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit-redo__edit_redo__32.png) | Redo | | 编辑器搜索/编辑 | btn_replace
    Replace | | | | none | | | clicked:on_btn_replace_clicked | -| 编辑器搜索/编辑 | btn_search_back
    Search / back | img_up | chevron_up | 24 | theme-svg | [chevron_up.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_up.svg) | [img_up__chevron_up__24.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_up__chevron_up__24.svg) | clicked:on_btn_search_back_clicked | -| 编辑器搜索/编辑 | btn_search_forward
    Search / fwd | img_down | chevron_down | 24 | theme-svg | [chevron_down.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_down.svg) | [img_down__chevron_down__24.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_down__chevron_down__24.svg) | clicked:on_btn_search_forward_clicked | -| 编辑器搜索/编辑 | btn_undo | img_edit-undo | edit_undo | 32 | theme-exact-png | [edit_undo.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/edit_undo.png) | [img_edit-undo__edit_undo__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit-undo__edit_undo__32.png) | Undo | +| 编辑器搜索/编辑 | btn_search_back
    Search / back | img_up | chevron_up | 24 | theme-svg | [chevron_up.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_up.svg) | [img_up__chevron_up__24.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_up__chevron_up__24.svg) | clicked:on_btn_search_back_clicked | +| 编辑器搜索/编辑 | btn_search_forward
    Search / fwd | img_down | chevron_down | 24 | theme-svg | [chevron_down.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_down.svg) | [img_down__chevron_down__24.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_down__chevron_down__24.svg) | clicked:on_btn_search_forward_clicked | +| 编辑器搜索/编辑 | btn_undo | img_edit-undo | edit_undo | 32 | theme-exact-png | [edit_undo.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/edit_undo.png) | [img_edit-undo__edit_undo__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit-undo__edit_undo__32.png) | Undo | | 编辑器搜索/编辑 | chk_ignore_case
    Ignore Case | | | | none | | | | | 编辑器搜索/编辑 | chk_replace_all
    Replace All | | | | none | | | | -| 编辑页底部栏 | btn_back_edit | img_edit_menu_close | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_edit_menu_close__back_to_app__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_close__back_to_app__48.svg) | Go back to main button list | -| 编辑页底部栏 | btn_calc | img_edit_menu_calculator | calculator_open | 32 | theme-exact-png | [calculator_open.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png) | [img_edit_menu_calculator__calculator_open__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_calculator__calculator_open__32.png) | Show calculator | -| 编辑页底部栏 | btn_keyb
    隐藏虚拟键盘
    `keyboard shown` | img_edit_menu_keyboard_hide | keyboard_hide | 32 | theme-nearest-png | [keyboard_hide.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard_hide.png) | [img_edit_menu_keyboard_hide__keyboard_hide__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_keyboard_hide__keyboard_hide__32.png) | on_ntb_info_switch_page | -| 编辑页底部栏 | btn_keyb | img_edit_menu_keyboard | keyboard | 32 | theme-nearest-png | [keyboard.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard.png) | [img_edit_menu_keyboard__keyboard__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_keyboard__keyboard__32.png) | Show or hide the virtual keyboard | -| 编辑页底部栏 | btn_new | img_edit_menu_new | new_document | 32 | theme-svg | [new_document.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/new_document.svg) | [img_edit_menu_new__new_document__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_new__new_document__32.svg) | clear the edit field and make a new file | -| 编辑页底部栏 | btn_reload_edit | img_edit_menu_reload | refresh | 32 | theme-nearest-png | [refresh.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png) | [img_edit_menu_reload__refresh__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_reload__refresh__32.png) | Reload file | -| 编辑页底部栏 | btn_save | img_edit_menu_save | save | 32 | theme-nearest-png | [save.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/save.png) | [img_edit_menu_save__save__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_save__save__32.png) | save the file using the original name | -| 编辑页底部栏 | btn_save_as | img_edit_menu_save_as | save_as | 32 | theme-nearest-png | [save_as.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/save_as.png) | [img_edit_menu_save_as__save_as__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_save_as__save_as__32.png) | save the file with a new name | -| 编辑页底部栏 | tbtn_split_view | img_split_view | split_view | 32 | theme-exact-png | [split_view.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/split_view.png) | [img_split_view__split_view__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_split_view__split_view__32.png) | Show preview as split view | -| 刀具页底部栏 | btn_back_tool | img_back_tool | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_back_tool__back_to_app__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_back_tool__back_to_app__48.svg) | Go back to main button list | -| 刀具页底部栏 | btn_change_tool | img_toolchange | mill_tool_change | 48 | theme-exact-png | [mill_tool_change.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mill_tool_change.png) | [img_toolchange__mill_tool_change__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_toolchange__mill_tool_change__48.png) | change tool to the selected one | -| 刀具页底部栏 | btn_index_tool | img_index_tool | mill_tool_set_num | 48 | theme-svg | [mill_tool_set_num.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/mill_tool_set_num.svg) | [img_index_tool__mill_tool_set_num__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_index_tool__mill_tool_set_num__48.svg) | change tool with the command M61 Q?, no machine move will be done | -| 刀具页底部栏 | btn_select_tool_by_no | img_tool_by_no | mill_tool_change_num | 48 | theme-svg | [mill_tool_change_num.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/mill_tool_change_num.svg) | [img_tool_by_no__mill_tool_change_num__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_by_no__mill_tool_change_num__48.svg) | Select a tool by number | +| 编辑页底部栏 | btn_back_edit | img_edit_menu_close | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_edit_menu_close__back_to_app__48.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_close__back_to_app__48.svg) | Go back to main button list | +| 编辑页底部栏 | btn_calc | img_edit_menu_calculator | calculator_open | 32 | theme-exact-png | [calculator_open.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png) | [img_edit_menu_calculator__calculator_open__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_calculator__calculator_open__32.png) | Show calculator | +| 编辑页底部栏 | btn_keyb
    隐藏虚拟键盘
    `keyboard shown` | img_edit_menu_keyboard_hide | keyboard_hide | 32 | theme-nearest-png | [keyboard_hide.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard_hide.png) | [img_edit_menu_keyboard_hide__keyboard_hide__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_keyboard_hide__keyboard_hide__32.png) | on_ntb_info_switch_page | +| 编辑页底部栏 | btn_keyb | img_edit_menu_keyboard | keyboard | 32 | theme-nearest-png | [keyboard.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard.png) | [img_edit_menu_keyboard__keyboard__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_keyboard__keyboard__32.png) | Show or hide the virtual keyboard | +| 编辑页底部栏 | btn_new | img_edit_menu_new | new_document | 32 | theme-svg | [new_document.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/new_document.svg) | [img_edit_menu_new__new_document__32.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_new__new_document__32.svg) | clear the edit field and make a new file | +| 编辑页底部栏 | btn_reload_edit | img_edit_menu_reload | refresh | 32 | theme-nearest-png | [refresh.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png) | [img_edit_menu_reload__refresh__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_reload__refresh__32.png) | Reload file | +| 编辑页底部栏 | btn_save | img_edit_menu_save | save | 32 | theme-nearest-png | [save.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/save.png) | [img_edit_menu_save__save__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_save__save__32.png) | save the file using the original name | +| 编辑页底部栏 | btn_save_as | img_edit_menu_save_as | save_as | 32 | theme-nearest-png | [save_as.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/save_as.png) | [img_edit_menu_save_as__save_as__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_save_as__save_as__32.png) | save the file with a new name | +| 编辑页底部栏 | tbtn_split_view | img_split_view | split_view | 32 | theme-exact-png | [split_view.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/split_view.png) | [img_split_view__split_view__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_split_view__split_view__32.png) | Show preview as split view | +| 刀具页底部栏 | btn_back_tool | img_back_tool | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_back_tool__back_to_app__48.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_back_tool__back_to_app__48.svg) | Go back to main button list | +| 刀具页底部栏 | btn_change_tool | img_toolchange | mill_tool_change | 48 | theme-exact-png | [mill_tool_change.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mill_tool_change.png) | [img_toolchange__mill_tool_change__48.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_toolchange__mill_tool_change__48.png) | change tool to the selected one | +| 刀具页底部栏 | btn_index_tool | img_index_tool | mill_tool_set_num | 48 | theme-svg | [mill_tool_set_num.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/mill_tool_set_num.svg) | [img_index_tool__mill_tool_set_num__48.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_index_tool__mill_tool_set_num__48.svg) | change tool with the command M61 Q?, no machine move will be done | +| 刀具页底部栏 | btn_select_tool_by_no | img_tool_by_no | mill_tool_change_num | 48 | theme-svg | [mill_tool_change_num.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/mill_tool_change_num.svg) | [img_tool_by_no__mill_tool_change_num__48.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_by_no__mill_tool_change_num__48.svg) | Select a tool by number | | 刀具页底部栏 | btn_tool_touchoff_x | | | | none | | | touch off the tool and set the value to the tool table | | 刀具页底部栏 | btn_tool_touchoff_z | | | | none | | | touch off the tool and set the value to the tool table | -| 文件选择栏 | btn_back_file_load | img_back_file_load | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_back_file_load__back_to_app__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_back_file_load__back_to_app__48.svg) | Close without returning a file path | -| 文件选择栏 | btn_dir_up | img_dir_up | chevron_up | 32 | theme-svg | [chevron_up.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_up.svg) | [img_dir_up__chevron_up__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_dir_up__chevron_up__32.svg) | Move to parent directory | -| 文件选择栏 | btn_home | img_home | home_folder | 32 | theme-svg | [home_folder.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/home_folder.svg) | [img_home__home_folder__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_home__home_folder__32.svg) | Move to your home directory | -| 文件选择栏 | btn_jump_to | img_jump_to | user_defined_folder | 32 | theme-svg | [user_defined_folder.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/user_defined_folder.svg) | [img_jump_to__user_defined_folder__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_jump_to__user_defined_folder__32.svg) | Jump to user defined directory | -| 文件选择栏 | btn_reload_dir | img_refresh_dir | refresh | 32 | theme-nearest-png | [refresh.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png) | [img_refresh_dir__refresh__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_refresh_dir__refresh__32.png) | Refresh directory | -| 文件选择栏 | btn_sel_next | img_sel_next | chevron_right | 32 | theme-svg | [chevron_right.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg) | [img_sel_next__chevron_right__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_sel_next__chevron_right__32.svg) | Select the next file | -| 文件选择栏 | btn_sel_prev | img_sel_prev | chevron_left | 32 | theme-svg | [chevron_left.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg) | [img_sel_prev__chevron_left__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_sel_prev__chevron_left__32.svg) | Select the previous file | -| 文件选择栏 | btn_select | img_select | select_file | 32 | theme-nearest-png | [select_file.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/select_file.png) | [img_select__select_file__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_select__select_file__32.png) | select the highlighted file and return the path | +| 文件选择栏 | btn_back_file_load | img_back_file_load | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_back_file_load__back_to_app__48.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_back_file_load__back_to_app__48.svg) | Close without returning a file path | +| 文件选择栏 | btn_dir_up | img_dir_up | chevron_up | 32 | theme-svg | [chevron_up.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_up.svg) | [img_dir_up__chevron_up__32.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_dir_up__chevron_up__32.svg) | Move to parent directory | +| 文件选择栏 | btn_home | img_home | home_folder | 32 | theme-svg | [home_folder.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/home_folder.svg) | [img_home__home_folder__32.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_home__home_folder__32.svg) | Move to your home directory | +| 文件选择栏 | btn_jump_to | img_jump_to | user_defined_folder | 32 | theme-svg | [user_defined_folder.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/user_defined_folder.svg) | [img_jump_to__user_defined_folder__32.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_jump_to__user_defined_folder__32.svg) | Jump to user defined directory | +| 文件选择栏 | btn_reload_dir | img_refresh_dir | refresh | 32 | theme-nearest-png | [refresh.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png) | [img_refresh_dir__refresh__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_refresh_dir__refresh__32.png) | Refresh directory | +| 文件选择栏 | btn_sel_next | img_sel_next | chevron_right | 32 | theme-svg | [chevron_right.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg) | [img_sel_next__chevron_right__32.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_sel_next__chevron_right__32.svg) | Select the next file | +| 文件选择栏 | btn_sel_prev | img_sel_prev | chevron_left | 32 | theme-svg | [chevron_left.svg](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg) | [img_sel_prev__chevron_left__32.svg](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_sel_prev__chevron_left__32.svg) | Select the previous file | +| 文件选择栏 | btn_select | img_select | select_file | 32 | theme-nearest-png | [select_file.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/select_file.png) | [img_select__select_file__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_select__select_file__32.png) | select the highlighted file and return the path | | 文件选择栏 | tbtn_sort
    Sort by / date | | | | none | | | Sort files by date, newest first | -| 内嵌 ToolEdit 控件 | tooldedit.add
    新增刀具 | img_tool_add | add | 32 | theme-exact-png | [add.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/add.png) | [img_tool_add__add__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_add__add__32.png) | Python 改造 ToolEdit | -| 内嵌 ToolEdit 控件 | tooldedit.apply
    保存刀具表 | img_tool_save | save | 32 | theme-nearest-png | [save.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/save.png) | [img_tool_save__save__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_save__save__32.png) | Python 改造 ToolEdit | -| 内嵌 ToolEdit 控件 | tooldedit.calculator
    刀具表计算器 | img_tool_calculator | calculator_open | 32 | theme-exact-png | [calculator_open.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png) | [img_tool_calculator__calculator_open__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_calculator__calculator_open__32.png) | Python 改造 ToolEdit | -| 内嵌 ToolEdit 控件 | tooldedit.delete
    删除选中刀具 | img_tool_delete | delete | 32 | theme-exact-png | [delete.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/delete.png) | [img_tool_delete__delete__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_delete__delete__32.png) | Python 改造 ToolEdit | -| 内嵌 ToolEdit 控件 | tooldedit.reload
    重载刀具表 | img_tool_reload | refresh | 32 | theme-nearest-png | [refresh.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png) | [img_tool_reload__refresh__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_reload__refresh__32.png) | Python 改造 ToolEdit | -| 内嵌 OffsetPage 控件 | offsetpage.calculator
    坐标偏置计算器 | img_offset_calculator | calculator_open | 32 | theme-exact-png | [calculator_open.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png) | [img_offset_calculator__calculator_open__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_offset_calculator__calculator_open__32.png) | Python 改造 OffsetPage | +| 内嵌 ToolEdit 控件 | tooldedit.add
    新增刀具 | img_tool_add | add | 32 | theme-exact-png | [add.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/add.png) | [img_tool_add__add__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_add__add__32.png) | Python 改造 ToolEdit | +| 内嵌 ToolEdit 控件 | tooldedit.apply
    保存刀具表 | img_tool_save | save | 32 | theme-nearest-png | [save.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/save.png) | [img_tool_save__save__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_save__save__32.png) | Python 改造 ToolEdit | +| 内嵌 ToolEdit 控件 | tooldedit.calculator
    刀具表计算器 | img_tool_calculator | calculator_open | 32 | theme-exact-png | [calculator_open.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png) | [img_tool_calculator__calculator_open__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_calculator__calculator_open__32.png) | Python 改造 ToolEdit | +| 内嵌 ToolEdit 控件 | tooldedit.delete
    删除选中刀具 | img_tool_delete | delete | 32 | theme-exact-png | [delete.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/delete.png) | [img_tool_delete__delete__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_delete__delete__32.png) | Python 改造 ToolEdit | +| 内嵌 ToolEdit 控件 | tooldedit.reload
    重载刀具表 | img_tool_reload | refresh | 32 | theme-nearest-png | [refresh.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png) | [img_tool_reload__refresh__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_reload__refresh__32.png) | Python 改造 ToolEdit | +| 内嵌 OffsetPage 控件 | offsetpage.calculator
    坐标偏置计算器 | img_offset_calculator | calculator_open | 32 | theme-exact-png | [calculator_open.png](/home/mes123456/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png) | [img_offset_calculator__calculator_open__32.png](/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/img_offset_calculator__calculator_open__32.png) | Python 改造 OffsetPage | | 内嵌 OffsetPage 控件 | offsetpage.edit_offsets
    Edit Offsets | | | | none | | | 内嵌控件文字按钮，无图标 | | 内嵌 OffsetPage 控件 | offsetpage.set_selected
    Set selected | | | | none | | | 内嵌控件文字按钮，无图标 | | 内嵌 OffsetPage 控件 | offsetpage.zero_g92
    Zero G92 | | | | none | | | 内嵌控件文字按钮，无图标 | diff --git a/work/working4/01-function-content.md b/work/working4/01-function-content.md index 10ef401..3d09f77 100644 --- a/work/working4/01-function-content.md +++ b/work/working4/01-function-content.md @@ -32,7 +32,7 @@ task gate、测试和 QA 证据： 输入文件： ```text -/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md +/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md ``` 可转化为 Web 功能的关键点： @@ -49,9 +49,9 @@ task gate、测试和 QA 证据： 输入文件： ```text -/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md -/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv -/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/ +/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md +/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv +/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/ ``` 清单规模： diff --git a/work/working4/03-progress-ledger.md b/work/working4/03-progress-ledger.md index 55f8533..1b6232a 100644 --- a/work/working4/03-progress-ledger.md +++ b/work/working4/03-progress-ledger.md @@ -43,13 +43,13 @@ 改了哪些文件： ```text -/home/meswork/cnc_wams/work/working4/README.md -/home/meswork/cnc_wams/work/working4/01-function-content.md -/home/meswork/cnc_wams/work/working4/02-program-development-steps.md -/home/meswork/cnc_wams/work/working4/03-progress-ledger.md -/home/meswork/cnc_wams/work/working4/04-task-matrix.md -/home/meswork/cnc_wams/work/working4/05-acceptance-evidence.md -/home/meswork/cnc_wams/work/working4/06-decision-records.md +/home/mes123456/cnc_wams/work/working4/README.md +/home/mes123456/cnc_wams/work/working4/01-function-content.md +/home/mes123456/cnc_wams/work/working4/02-program-development-steps.md +/home/mes123456/cnc_wams/work/working4/03-progress-ledger.md +/home/mes123456/cnc_wams/work/working4/04-task-matrix.md +/home/mes123456/cnc_wams/work/working4/05-acceptance-evidence.md +/home/mes123456/cnc_wams/work/working4/06-decision-records.md ``` 验证了什么： @@ -97,28 +97,28 @@ 改了哪些文件： ```text -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/docs/gmoccapy-xyzab-reference.md -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/docs/traceability-matrix.md -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/package.json -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui-reference/gmoccapy-button-icons.json -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/assets/gmoccapy-icons/ -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/index.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/source-reference-map.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-communication-model.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/rtcp-frame.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_icon_manifest.mjs -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_profile_boundary.mjs -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs -/home/meswork/cnc_wams/work/working4/03-progress-ledger.md -/home/meswork/cnc_wams/work/working4/04-task-matrix.md -/home/meswork/cnc_wams/work/working4/05-acceptance-evidence.md +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/docs/gmoccapy-xyzab-reference.md +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/docs/traceability-matrix.md +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/package.json +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui-reference/gmoccapy-button-icons.json +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/assets/gmoccapy-icons/ +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/index.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/source-reference-map.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-communication-model.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/rtcp-frame.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_icon_manifest.mjs +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_profile_boundary.mjs +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs +/home/mes123456/cnc_wams/work/working4/03-progress-ledger.md +/home/mes123456/cnc_wams/work/working4/04-task-matrix.md +/home/mes123456/cnc_wams/work/working4/05-acceptance-evidence.md ``` 验证了什么： @@ -179,19 +179,19 @@ git diff --check -- web-rtcp-5axis-sim-plan work/working4 改了哪些文件： ```text -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/package.json -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-icon-registry.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/linuxcnc-task-policy.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_icon_registry.mjs -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-gmoccapy-xyzab-function-cases.mjs -/home/meswork/cnc_wams/work/working4/03-progress-ledger.md -/home/meswork/cnc_wams/work/working4/04-task-matrix.md -/home/meswork/cnc_wams/work/working4/05-acceptance-evidence.md +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/package.json +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-icon-registry.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/linuxcnc-task-policy.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_icon_registry.mjs +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-gmoccapy-xyzab-function-cases.mjs +/home/mes123456/cnc_wams/work/working4/03-progress-ledger.md +/home/mes123456/cnc_wams/work/working4/04-task-matrix.md +/home/mes123456/cnc_wams/work/working4/05-acceptance-evidence.md ``` 验证了什么： @@ -247,12 +247,12 @@ node qa/web-rtcp-5axis-site-test/capture-gmoccapy-xyzab-function-cases.mjs 改了哪些文件： ```text -/home/meswork/cnc_wams/work/working4/README.md -/home/meswork/cnc_wams/work/working4/01-function-content.md -/home/meswork/cnc_wams/work/working4/02-program-development-steps.md -/home/meswork/cnc_wams/work/working4/03-progress-ledger.md -/home/meswork/cnc_wams/work/working4/04-task-matrix.md -/home/meswork/cnc_wams/work/working4/05-acceptance-evidence.md +/home/mes123456/cnc_wams/work/working4/README.md +/home/mes123456/cnc_wams/work/working4/01-function-content.md +/home/mes123456/cnc_wams/work/working4/02-program-development-steps.md +/home/mes123456/cnc_wams/work/working4/03-progress-ledger.md +/home/mes123456/cnc_wams/work/working4/04-task-matrix.md +/home/mes123456/cnc_wams/work/working4/05-acceptance-evidence.md ``` 验证了什么： @@ -297,10 +297,10 @@ git diff --check -- web-rtcp-5axis-sim-plan qa/web-rtcp-5axis-site-test work/wor 改了哪些文件： ```text -/home/meswork/cnc_wams/work/working4/README.md -/home/meswork/cnc_wams/work/working4/02-program-development-steps.md -/home/meswork/cnc_wams/work/working4/03-progress-ledger.md -/home/meswork/cnc_wams/work/working4/04-task-matrix.md +/home/mes123456/cnc_wams/work/working4/README.md +/home/mes123456/cnc_wams/work/working4/02-program-development-steps.md +/home/mes123456/cnc_wams/work/working4/03-progress-ledger.md +/home/mes123456/cnc_wams/work/working4/04-task-matrix.md ``` 验证了什么： @@ -347,8 +347,8 @@ git diff --check -- web-rtcp-5axis-sim-plan qa/web-rtcp-5axis-site-test work/wor 改了哪些文件： ```text -/home/meswork/cnc_wams/work/working4/03-progress-ledger.md -/home/meswork/cnc_wams/work/working4/05-acceptance-evidence.md +/home/mes123456/cnc_wams/work/working4/03-progress-ledger.md +/home/mes123456/cnc_wams/work/working4/05-acceptance-evidence.md ``` 验证了什么： @@ -393,10 +393,10 @@ git diff --check -- web-rtcp-5axis-sim-plan qa/web-rtcp-5axis-site-test work/wor 改了哪些文件： ```text -/home/meswork/cnc_wams/work/working4/07-final-closure.md -/home/meswork/cnc_wams/work/working4/README.md -/home/meswork/cnc_wams/work/working4/03-progress-ledger.md -/home/meswork/cnc_wams/work/working4/04-task-matrix.md +/home/mes123456/cnc_wams/work/working4/07-final-closure.md +/home/mes123456/cnc_wams/work/working4/README.md +/home/mes123456/cnc_wams/work/working4/03-progress-ledger.md +/home/mes123456/cnc_wams/work/working4/04-task-matrix.md ``` 验证了什么： @@ -444,9 +444,9 @@ git diff --check -- web-rtcp-5axis-sim-plan qa/web-rtcp-5axis-site-test work/wor 改了哪些文件： ```text -/home/meswork/cnc_wams/work/working4/03-progress-ledger.md -/home/meswork/cnc_wams/work/working4/05-acceptance-evidence.md -/home/meswork/cnc_wams/work/working4/07-final-closure.md +/home/mes123456/cnc_wams/work/working4/03-progress-ledger.md +/home/mes123456/cnc_wams/work/working4/05-acceptance-evidence.md +/home/mes123456/cnc_wams/work/working4/07-final-closure.md ``` 验证了什么： diff --git a/work/working4/05-acceptance-evidence.md b/work/working4/05-acceptance-evidence.md index 1b30e6c..bdf1c35 100644 --- a/work/working4/05-acceptance-evidence.md +++ b/work/working4/05-acceptance-evidence.md @@ -24,37 +24,37 @@ job_id/report_id。 本轮输入资料确认： ```bash -find /home/meswork/cnc_wams/work/working3 -maxdepth 3 -type f | sort -find /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan -maxdepth 3 -type f | sort -find /home/meswork/cnc_wams/work/working4 -maxdepth 2 -type f -print | sort +find /home/mes123456/cnc_wams/work/working3 -maxdepth 3 -type f | sort +find /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan -maxdepth 3 -type f | sort +find /home/mes123456/cnc_wams/work/working4 -maxdepth 2 -type f -print | sort ``` 本轮读取的核心资料： ```text -/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md -/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/README.md -/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md -/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/README.md -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/docs/technical-roadmap.md -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/docs/traceability-matrix.md -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/main.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js +/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md +/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/README.md +/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md +/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/README.md +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/docs/technical-roadmap.md +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/docs/traceability-matrix.md +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/main.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js ``` 本轮输出文件： ```text -/home/meswork/cnc_wams/work/working4/README.md -/home/meswork/cnc_wams/work/working4/01-function-content.md -/home/meswork/cnc_wams/work/working4/02-program-development-steps.md -/home/meswork/cnc_wams/work/working4/03-progress-ledger.md -/home/meswork/cnc_wams/work/working4/04-task-matrix.md -/home/meswork/cnc_wams/work/working4/05-acceptance-evidence.md -/home/meswork/cnc_wams/work/working4/06-decision-records.md -/home/meswork/cnc_wams/work/working4/07-final-closure.md +/home/mes123456/cnc_wams/work/working4/README.md +/home/mes123456/cnc_wams/work/working4/01-function-content.md +/home/mes123456/cnc_wams/work/working4/02-program-development-steps.md +/home/mes123456/cnc_wams/work/working4/03-progress-ledger.md +/home/mes123456/cnc_wams/work/working4/04-task-matrix.md +/home/mes123456/cnc_wams/work/working4/05-acceptance-evidence.md +/home/mes123456/cnc_wams/work/working4/06-decision-records.md +/home/mes123456/cnc_wams/work/working4/07-final-closure.md ``` ## 3. 可复用的现有项目证据 @@ -95,30 +95,30 @@ verify_linear_unit_conversion.mjs 可复用证据路径： ```text -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/build/readiness/native-task-hal-readiness.json -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/run-feedback-evidence/run-feedback-local.json -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/run-feedback-evidence/run-feedback-local.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/toolpath-preview-cases.json -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/run-preconditions-feedback.json -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/meter-scene-evidence.json -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.pdf -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.json -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.pdf -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-22.docx -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-23.docx +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/build/readiness/native-task-hal-readiness.json +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/run-feedback-evidence/run-feedback-local.json +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/run-feedback-evidence/run-feedback-local.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/toolpath-preview-cases.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/run-preconditions-feedback.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/meter-scene-evidence.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.pdf +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.pdf +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-22.docx +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-23.docx ``` 云端 RUN 截图目录： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-after-deploy/ -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-stop-after-deploy/ -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-debug/ -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-debug-current/ +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-after-deploy/ +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-stop-after-deploy/ +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-debug/ +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-run-debug-current/ ``` ## 4. working4 已生成的证据 @@ -260,14 +260,14 @@ node qa/web-rtcp-5axis-site-test/capture-gmoccapy-xyzab-function-cases.mjs QA 报告路径： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.pdf -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/01-loaded.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/02-profile-selected.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/03-run-blocked-power.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/04-run-blocked-reference-evidence.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/05-controls-active.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/06-hal-diagnostics.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.pdf +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/01-loaded.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/02-profile-selected.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/03-run-blocked-power.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/04-run-blocked-reference-evidence.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/05-controls-active.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/06-hal-diagnostics.png ``` QA JSON 检查结果： @@ -291,7 +291,7 @@ PASS Screenshots are nonblank | 日期 | job_id | report_id | 来源 | 对应任务 | 结果 | 证据路径 | | --- | --- | --- | --- | --- | --- | --- | -| 2026-06-26 | N/A | N/A | 本轮文档生成和状态收口 | W4-D01 到 W4-D09 | done | `/home/meswork/cnc_wams/work/working4/` | +| 2026-06-26 | N/A | N/A | 本轮文档生成和状态收口 | W4-D01 到 W4-D09 | done | `/home/mes123456/cnc_wams/work/working4/` | | 2026-06-26 | N/A | N/A | 本轮本地实施 | W4-A01 到 W4-A04、W4-P01 到 W4-P04、W4-T01 到 W4-T04、W4-V01 到 W4-V05 | done | `web-rtcp-5axis-sim-plan/app/src/`、`docs/`、`tests/node/` | | 2026-06-26 | xyzab-20260626190724-7b80b3aa | report-xyzab-20260626190724-7b80b3aa | 本轮 QA capture | W4-U01 到 W4-U05、W4-G01 到 W4-G05、W4-T05 到 W4-T07 | PASS | `qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json`、`.pdf`、`output/gmoccapy-xyzab/` | | 2026-06-26 | xyzab-20260626214346-f4b4aa36 | report-xyzab-20260626214346-f4b4aa36 | 继续复核 QA capture | W4-U01 到 W4-U05、W4-G01 到 W4-G05、W4-T05 到 W4-T07、W4-V01 到 W4-V05 | PASS | `qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json`、`.pdf`、`output/gmoccapy-xyzab/` | diff --git a/work/working4/07-final-closure.md b/work/working4/07-final-closure.md index 6bd7a76..2d4c24a 100644 --- a/work/working4/07-final-closure.md +++ b/work/working4/07-final-closure.md @@ -22,8 +22,8 @@ W4-T、W4-V 任务均为 `done`，当前没有 `todo`、`in_progress`、`blocked QA report： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.pdf +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.pdf ``` QA identifiers： @@ -40,7 +40,7 @@ generatedAt=2026-06-26T21:43:46.310Z 截图目录： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/ +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/ ``` 最终校验命令： diff --git a/work/working4/README.md b/work/working4/README.md index 1c83d6e..0c87c24 100644 --- a/work/working4/README.md +++ b/work/working4/README.md @@ -2,8 +2,8 @@ 生成日期：2026-06-26 -本目录用于承接 `/home/meswork/cnc_wams/work/working3` 的资料，规划、实施并归档 -`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` 的 gmoccapy_XYZAB 功能完善工作。 +本目录用于承接 `/home/mes123456/cnc_wams/work/working3` 的资料，规划、实施并归档 +`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` 的 gmoccapy_XYZAB 功能完善工作。 截至 2026-06-26，`04-task-matrix.md` 中 W4-D、W4-A、W4-P、W4-U、W4-G、W4-T、W4-V 任务均已收口为 `done`。`07-final-closure.md` 是本阶段最终收口入口。 @@ -31,21 +31,21 @@ 主要输入资料： ```text -/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md -/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/README.md -/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md -/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv -/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/ +/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md +/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/README.md +/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md +/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv +/home/mes123456/cnc_wams/work/working3/gmoccapy_button_icons/files/ ``` 目标项目现有资料和代码： ```text -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/README.md -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/docs/ -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/ -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/ +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/README.md +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/docs/ +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/working_run/ +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/ ``` ## 后续维护入口 diff --git a/work/working5/01-项目功能内容.md b/work/working5/01-项目功能内容.md index 46e409b..8ec66f1 100644 --- a/work/working5/01-项目功能内容.md +++ b/work/working5/01-项目功能内容.md @@ -2,7 +2,7 @@ ## 目标 -以 LinuxCNC `gmoccapy_XYZAB.ini` 五轴仿真配置为行为基准，执行、测试并完善 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan`。数控系统仿真功能应尽量与 LinuxCNC 源程序行为一致；发现不一致时，在 Web 项目中修复并补充验收证据。 +以 LinuxCNC `gmoccapy_XYZAB.ini` 五轴仿真配置为行为基准，执行、测试并完善 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan`。数控系统仿真功能应尽量与 LinuxCNC 源程序行为一致；发现不一致时，在 Web 项目中修复并补充验收证据。 ## 对标范围 @@ -46,7 +46,7 @@ ## 当前项目入口 -- Web 应用：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` +- Web 应用：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - 核心运行时：`app/src/runtime` - gmoccapy UI：`app/src/ui` - 状态存储：`app/src/state` diff --git a/work/working5/03-推进台账.md b/work/working5/03-推进台账.md index 9298096..390b331 100644 --- a/work/working5/03-推进台账.md +++ b/work/working5/03-推进台账.md @@ -10,13 +10,13 @@ 改了哪些文件： -- `/home/meswork/cnc_wams/work/working5/README.md` -- `/home/meswork/cnc_wams/work/working5/01-项目功能内容.md` -- `/home/meswork/cnc_wams/work/working5/02-项目程序开发详细步骤.md` -- `/home/meswork/cnc_wams/work/working5/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working5/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working5/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working5/06-决策记录.md` +- `/home/mes123456/cnc_wams/work/working5/README.md` +- `/home/mes123456/cnc_wams/work/working5/01-项目功能内容.md` +- `/home/mes123456/cnc_wams/work/working5/02-项目程序开发详细步骤.md` +- `/home/mes123456/cnc_wams/work/working5/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working5/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working5/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working5/06-决策记录.md` 验证了什么： @@ -38,15 +38,15 @@ 改了哪些文件： -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/linuxcnc-task-policy.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` -- `/home/meswork/cnc_wams/work/working5/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working5/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working5/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working5/06-决策记录.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/linuxcnc-task-policy.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- `/home/mes123456/cnc_wams/work/working5/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working5/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working5/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working5/06-决策记录.md` 验证了什么： @@ -69,17 +69,17 @@ 改了哪些文件： -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_profile_boundary.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` -- `/home/meswork/cnc_wams/work/working5/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working5/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working5/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working5/06-决策记录.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_profile_boundary.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- `/home/mes123456/cnc_wams/work/working5/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working5/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working5/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working5/06-决策记录.md` 验证了什么： @@ -104,20 +104,20 @@ 改了哪些文件： -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-communication-model.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` -- `/home/meswork/cnc_wams/work/working5/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working5/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working5/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working5/06-决策记录.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-communication-model.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- `/home/mes123456/cnc_wams/work/working5/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working5/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working5/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working5/06-决策记录.md` 验证了什么： @@ -141,21 +141,21 @@ 改了哪些文件： -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-communication-model.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` -- `/home/meswork/cnc_wams/work/working5/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working5/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working5/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working5/06-决策记录.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-communication-model.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- `/home/mes123456/cnc_wams/work/working5/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working5/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working5/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working5/06-决策记录.md` 验证了什么： @@ -179,20 +179,20 @@ 改了哪些文件： -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-communication-model.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs` -- `/home/meswork/cnc_wams/work/working5/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working5/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working5/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working5/06-决策记录.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-communication-model.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs` +- `/home/mes123456/cnc_wams/work/working5/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working5/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working5/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working5/06-决策记录.md` 验证了什么： @@ -219,20 +219,20 @@ 改了哪些文件： -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-communication-model.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs` -- `/home/meswork/cnc_wams/work/working5/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working5/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working5/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working5/06-决策记录.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-communication-model.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs` +- `/home/mes123456/cnc_wams/work/working5/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working5/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working5/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working5/06-决策记录.md` 验证了什么： @@ -256,9 +256,9 @@ 改了哪些文件： -- `/home/meswork/cnc_wams/work/working5/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working5/05-验收证据.md` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +- `/home/mes123456/cnc_wams/work/working5/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working5/05-验收证据.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` 验证了什么： diff --git a/work/working5/05-验收证据.md b/work/working5/05-验收证据.md index 1be8af0..c8c67a4 100644 --- a/work/working5/05-验收证据.md +++ b/work/working5/05-验收证据.md @@ -4,10 +4,10 @@ | 证据编号 | 任务编号 | 类型 | 命令/页面/文件 | 结果 | | --- | --- | --- | --- | --- | -| EV-W5-001 | W5-001 | 文件 | `/home/meswork/cnc_wams/work/working5` | 已创建 README 和 01-06 工作控制文件 | -| EV-W5-020 | W5-020/W5-100/W5-110/W5-120/W5-130/W5-140 | 命令 | `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node` | 通过，输出包含 `gmoccapy_xyzab_gates_smoke=ok`、`gmoccapy_hal_model_smoke=ok`、`real_linuxcnc_5axis_program_cases_smoke=ok`、`linear_unit_conversion_smoke=ok` | -| EV-W5-030 | W5-030 | 命令 | `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build` | 通过，输出 `gmoccapy_static_build=ok` | -| EV-W5-040 | W5-040/W5-150 | 命令 | `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke` | 通过，输出 `gmoccapy_shell_smoke=ok`、`gmoccapy_dist_smoke=ok` | +| EV-W5-001 | W5-001 | 文件 | `/home/mes123456/cnc_wams/work/working5` | 已创建 README 和 01-06 工作控制文件 | +| EV-W5-020 | W5-020/W5-100/W5-110/W5-120/W5-130/W5-140 | 命令 | `cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node` | 通过，输出包含 `gmoccapy_xyzab_gates_smoke=ok`、`gmoccapy_hal_model_smoke=ok`、`real_linuxcnc_5axis_program_cases_smoke=ok`、`linear_unit_conversion_smoke=ok` | +| EV-W5-030 | W5-030 | 命令 | `cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build` | 通过，输出 `gmoccapy_static_build=ok` | +| EV-W5-040 | W5-040/W5-150 | 命令 | `cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke` | 通过，输出 `gmoccapy_shell_smoke=ok`、`gmoccapy_dist_smoke=ok` | | EV-W5-110 | W5-110/W5-150 | 命令 | `node ../tests/node/verify_gmoccapy_xyzab_gates.mjs && node ../tests/node/verify_run_preconditions.mjs && bash ../tests/browser/verify_gmoccapy_shell_browser.sh` | 通过，验证下电禁用 Manual/Jog/MDI/Auto，上电未回零只允许 Manual/Jog，回零后允许 Auto/MDI | | EV-W5-160 | W5-120/W5-160 | 命令 | `node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_profile_boundary.mjs` | 通过，验证 `gmoccapy_postgui.hal` 换刀策略为 `iocontrol-loopback`、手动 gmoccapy 换刀 GUI pins 未连接、3 个 POSTGUI `unlinkp` 被记录 | | EV-W5-161 | W5-020/W5-030/W5-040/W5-160 | 命令 | `npm run smoke:node`、`npm run build && npm run smoke` | 通过，完整 Node、静态构建、浏览器 gmoccapy shell/dist smoke 均覆盖新增换刀诊断 | @@ -26,7 +26,7 @@ ### 2026-06-26 R2 ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke:node ``` @@ -46,14 +46,14 @@ npm run smoke:node - `linear_unit_conversion_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run build ``` 结果：通过，输出 `gmoccapy_static_build=ok`。 ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke ``` @@ -63,7 +63,7 @@ npm run smoke - `gmoccapy_dist_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app node ../tests/node/verify_gmoccapy_xyzab_gates.mjs && node ../tests/node/verify_run_preconditions.mjs && bash ../tests/browser/verify_gmoccapy_shell_browser.sh ``` @@ -78,7 +78,7 @@ node ../tests/node/verify_gmoccapy_xyzab_gates.mjs && node ../tests/node/verify_ ### 2026-06-26 R3 ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_profile_boundary.mjs ``` @@ -89,7 +89,7 @@ node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gm - `profile_boundary_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke:node ``` @@ -105,7 +105,7 @@ npm run smoke:node - `linear_unit_conversion_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run build && npm run smoke ``` @@ -124,7 +124,7 @@ npm run build && npm run smoke ### 2026-06-26 R4 ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs ``` @@ -136,7 +136,7 @@ node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gm - `gmoccapy_xyzab_gates_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke:node ``` @@ -151,7 +151,7 @@ npm run smoke:node - `linear_unit_conversion_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run build && npm run smoke ``` @@ -176,7 +176,7 @@ npm run build && npm run smoke ### 2026-06-27 R5 ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs && bash ../tests/browser/verify_gmoccapy_shell_browser.sh ``` @@ -189,7 +189,7 @@ node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gm - `gmoccapy_shell_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke:node ``` @@ -204,7 +204,7 @@ npm run smoke:node - `linear_unit_conversion_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run build && npm run smoke ``` @@ -232,7 +232,7 @@ npm run build && npm run smoke ### 2026-06-27 R6 ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs ``` @@ -242,7 +242,7 @@ node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gm - `gmoccapy_communication_model_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs ``` @@ -252,7 +252,7 @@ node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verif - `gmoccapy_xyzab_gates_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app bash ../tests/browser/verify_gmoccapy_shell_browser.sh ``` @@ -261,7 +261,7 @@ bash ../tests/browser/verify_gmoccapy_shell_browser.sh - `gmoccapy_shell_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke:node ``` @@ -276,7 +276,7 @@ npm run smoke:node - `linear_unit_conversion_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run build && npm run smoke ``` @@ -303,7 +303,7 @@ npm run build && npm run smoke ### 2026-06-27 R7 ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs ``` @@ -315,7 +315,7 @@ node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gm - `gmoccapy_xyzab_gates_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app bash ../tests/browser/verify_gmoccapy_shell_browser.sh ``` @@ -324,7 +324,7 @@ bash ../tests/browser/verify_gmoccapy_shell_browser.sh - `gmoccapy_shell_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke:node ``` @@ -339,7 +339,7 @@ npm run smoke:node - `linear_unit_conversion_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run build && npm run smoke ``` @@ -350,7 +350,7 @@ npm run build && npm run smoke - `gmoccapy_dist_smoke=ok` ```bash -cd /home/meswork/cnc_wams +cd /home/mes123456/cnc_wams git diff --check -- web-rtcp-5axis-sim-plan work/working5 ``` @@ -372,7 +372,7 @@ git diff --check -- web-rtcp-5axis-sim-plan work/working5 ### 2026-06-27 R8 ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke:node ``` @@ -392,14 +392,14 @@ npm run smoke:node - `linear_unit_conversion_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run build ``` 结果：通过，输出 `gmoccapy_static_build=ok`。 ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke ``` diff --git a/work/working5/README.md b/work/working5/README.md index 659dc75..aef461c 100644 --- a/work/working5/README.md +++ b/work/working5/README.md @@ -1,13 +1,13 @@ # working5 README 索引 -本目录用于推进 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` 与 LinuxCNC `gmoccapy_XYZAB.ini` 五轴仿真执行流程的一致性验证、修复和验收。 +本目录用于推进 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` 与 LinuxCNC `gmoccapy_XYZAB.ini` 五轴仿真执行流程的一致性验证、修复和验收。 对标基准： -- `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` -- `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` -- `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/` -- `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/*.hal` +- `/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` +- `/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/` +- `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/*.hal` 工作文件： diff --git a/work/working6/01-项目功能内容.md b/work/working6/01-项目功能内容.md index 46f5901..65d7357 100644 --- a/work/working6/01-项目功能内容.md +++ b/work/working6/01-项目功能内容.md @@ -2,7 +2,7 @@ ## 目标 -在 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` 中补齐 gmoccapy 文件/宏页面、tool editor 页面、native GTK 未实现页面的诊断边界，让 Web 仿真能够明确表达哪些 gmoccapy 原生页面已经实现、哪些只做诊断映射、哪些因 XYZAB 配置或 Web 仿真边界暂不执行。 +在 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` 中补齐 gmoccapy 文件/宏页面、tool editor 页面、native GTK 未实现页面的诊断边界，让 Web 仿真能够明确表达哪些 gmoccapy 原生页面已经实现、哪些只做诊断映射、哪些因 XYZAB 配置或 Web 仿真边界暂不执行。 本轮不重复 working5 已完成的 HAL 输入、hard-button、模式门控、换刀回环和低频 HAL pin 工作；本轮聚焦页面级功能边界和可验收诊断。 @@ -47,7 +47,7 @@ ## 当前项目入口 -- Web 应用：`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` +- Web 应用：`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` - gmoccapy profile：`app/src/profiles/gmoccapy-xyzab.js` - gmoccapy HAL model：`app/src/runtime/gmoccapy-hal-model.js` - gmoccapy communication model：`app/src/runtime/gmoccapy-communication-model.js` diff --git a/work/working6/03-推进台账.md b/work/working6/03-推进台账.md index 38a4adb..d5212c3 100644 --- a/work/working6/03-推进台账.md +++ b/work/working6/03-推进台账.md @@ -10,13 +10,13 @@ 改了哪些文件： -- `/home/meswork/cnc_wams/work/working6/README.md` -- `/home/meswork/cnc_wams/work/working6/01-项目功能内容.md` -- `/home/meswork/cnc_wams/work/working6/02-项目程序开发详细步骤.md` -- `/home/meswork/cnc_wams/work/working6/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working6/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working6/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working6/06-决策记录.md` +- `/home/mes123456/cnc_wams/work/working6/README.md` +- `/home/mes123456/cnc_wams/work/working6/01-项目功能内容.md` +- `/home/mes123456/cnc_wams/work/working6/02-项目程序开发详细步骤.md` +- `/home/mes123456/cnc_wams/work/working6/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working6/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working6/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working6/06-决策记录.md` 验证了什么： @@ -39,20 +39,20 @@ 改了哪些文件： -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-communication-model.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs` -- `/home/meswork/cnc_wams/work/working6/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working6/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working6/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working6/06-决策记录.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/profiles/gmoccapy-xyzab.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-communication-model.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/gmoccapy-hal-model.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_communication_model.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_hal_model.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs` +- `/home/mes123456/cnc_wams/work/working6/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working6/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working6/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working6/06-决策记录.md` 验证了什么： @@ -78,9 +78,9 @@ 改了哪些文件： -- `/home/meswork/cnc_wams/work/working6/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working6/05-验收证据.md` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +- `/home/mes123456/cnc_wams/work/working6/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working6/05-验收证据.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` 验证了什么： diff --git a/work/working6/05-验收证据.md b/work/working6/05-验收证据.md index ecf8ea4..a45382d 100644 --- a/work/working6/05-验收证据.md +++ b/work/working6/05-验收证据.md @@ -4,7 +4,7 @@ | 证据编号 | 任务编号 | 类型 | 命令/页面/文件 | 结果 | | --- | --- | --- | --- | --- | -| EV-W6-001 | W6-001 | 文件 | `/home/meswork/cnc_wams/work/working6` | 已创建 README 和 01-06 工作控制文件 | +| EV-W6-001 | W6-001 | 文件 | `/home/mes123456/cnc_wams/work/working6` | 已创建 README 和 01-06 工作控制文件 | | EV-W6-020 | W6-020/W6-030/W6-040 | 命令 | `npm run smoke:node`、`npm run build`、`npm run smoke` | 基线通过，确认实现前项目当前态可运行 | | EV-W6-100 | W6-010/W6-100/W6-110/W6-120/W6-130/W6-140/W6-150 | 命令 | `node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs`、`node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs` | 通过，验证页面级模型、profile、communication model、store gate 和 diagnostic-only hard-button 行为 | | EV-W6-160 | W6-160 | 页面/命令 | `bash ../tests/browser/verify_gmoccapy_shell_browser.sh` | 通过，验证 `data-gmoccapy-page="file/macros/tool-editor/matrix"` 诊断行和公开 dispatch 页面行为 | @@ -16,33 +16,33 @@ ### 2026-06-27 R1 ```bash -test -d /home/meswork/cnc_wams/work/working6 && find /home/meswork/cnc_wams/work/working6 -maxdepth 2 -type f | sort || true +test -d /home/mes123456/cnc_wams/work/working6 && find /home/mes123456/cnc_wams/work/working6 -maxdepth 2 -type f | sort || true ``` 结果：创建前无可见文件。 ```bash -mkdir -p /home/meswork/cnc_wams/work/working6 +mkdir -p /home/mes123456/cnc_wams/work/working6 ``` 结果：通过，创建工作目录。 本轮创建文件： -- `/home/meswork/cnc_wams/work/working6/README.md` -- `/home/meswork/cnc_wams/work/working6/01-项目功能内容.md` -- `/home/meswork/cnc_wams/work/working6/02-项目程序开发详细步骤.md` -- `/home/meswork/cnc_wams/work/working6/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working6/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working6/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working6/06-决策记录.md` +- `/home/mes123456/cnc_wams/work/working6/README.md` +- `/home/mes123456/cnc_wams/work/working6/01-项目功能内容.md` +- `/home/mes123456/cnc_wams/work/working6/02-项目程序开发详细步骤.md` +- `/home/mes123456/cnc_wams/work/working6/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working6/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working6/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working6/06-决策记录.md` ### 2026-06-27 R2 基线命令： ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke:node ``` @@ -55,14 +55,14 @@ npm run smoke:node - `linear_unit_conversion_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run build ``` 结果：通过，输出 `gmoccapy_static_build=ok`。 ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke ``` @@ -74,7 +74,7 @@ npm run smoke 新增最小验收： ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs ``` @@ -84,7 +84,7 @@ node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gm - `gmoccapy_communication_model_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs ``` @@ -94,7 +94,7 @@ node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verif - `gmoccapy_xyzab_gates_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app bash ../tests/browser/verify_gmoccapy_shell_browser.sh ``` @@ -103,21 +103,21 @@ bash ../tests/browser/verify_gmoccapy_shell_browser.sh 回归命令： ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke:node ``` 结果：通过。 ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run build ``` 结果：通过，输出 `gmoccapy_static_build=ok`。 ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke ``` @@ -139,7 +139,7 @@ npm run smoke 接续复核命令： ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke:node ``` @@ -152,14 +152,14 @@ npm run smoke:node - `linear_unit_conversion_smoke=ok` ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run build ``` 结果：通过，输出 `gmoccapy_static_build=ok`。 ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run smoke ``` @@ -169,7 +169,7 @@ npm run smoke - `gmoccapy_dist_smoke=ok` ```bash -cd /home/meswork/cnc_wams +cd /home/mes123456/cnc_wams git diff --check -- web-rtcp-5axis-sim-plan work/working6 ``` diff --git a/work/working6/README.md b/work/working6/README.md index caf12c4..6c4bea1 100644 --- a/work/working6/README.md +++ b/work/working6/README.md @@ -1,19 +1,19 @@ # working6 README 索引 -本目录用于推进 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` 中 gmoccapy 文件/宏页面、tool editor 页面、native GTK 未实现页面诊断边界的实现、验证和验收。 +本目录用于推进 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` 中 gmoccapy 文件/宏页面、tool editor 页面、native GTK 未实现页面诊断边界的实现、验证和验收。 前置工作： -- `/home/meswork/cnc_wams/work/working5` -- `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- `/home/mes123456/cnc_wams/work/working5` +- `/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` 对标基准： -- `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` -- `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py` -- `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.glade` -- `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/dialogs.py` -- `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/*.hal` +- `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` +- `/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py` +- `/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.glade` +- `/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/dialogs.py` +- `/home/mes123456/cnc_wams/linuxcnc/configs/sim/gmoccapy/*.hal` 工作文件： diff --git a/work/working7/01-测试功能内容.md b/work/working7/01-测试功能内容.md index 90c04d2..a29980e 100644 --- a/work/working7/01-测试功能内容.md +++ b/work/working7/01-测试功能内容.md @@ -5,8 +5,8 @@ ## 1. 测试目标 按《Web RTCP 五轴联动数控系统仿真界面操作手册》验证 -`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` 的核心操作功能，并把可重复执行的测试方法写入 -`/home/meswork/cnc_wams/work/working7`。 +`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` 的核心操作功能，并把可重复执行的测试方法写入 +`/home/mes123456/cnc_wams/work/working7`。 本轮测试目标包括： @@ -19,12 +19,12 @@ | 类型 | 路径 | | --- | --- | -| 操作手册 | `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/docs/Web-RTCP五轴数控系统仿真界面操作手册.docx` | -| 项目 README | `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/README.md` | -| 前端 app | `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` | -| Node 测试 | `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node` | -| 浏览器测试 | `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser` | -| 既有 QA 证据 | `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output` | +| 操作手册 | `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/docs/Web-RTCP五轴数控系统仿真界面操作手册.docx` | +| 项目 README | `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/README.md` | +| 前端 app | `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app` | +| Node 测试 | `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/node` | +| 浏览器测试 | `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser` | +| 既有 QA 证据 | `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output` | ## 3. 安全边界 diff --git a/work/working7/01-项目功能内容.md b/work/working7/01-项目功能内容.md index 3685079..bd26819 100644 --- a/work/working7/01-项目功能内容.md +++ b/work/working7/01-项目功能内容.md @@ -6,7 +6,7 @@ ## 我本轮确认的功能范围 -我对 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` 的 Web RTCP 五轴仿真界面做了实际执行验证，覆盖： +我对 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` 的 Web RTCP 五轴仿真界面做了实际执行验证，覆盖： - 主界面九大区域：titlebar、preview、DRO、G-code、status sidebar、info tabs、override、spindle/coolant、bottom controls。 - 所有主要按钮和右侧控制区按钮：E-STOP、POWER、RESET、AUTO、MANUAL、JOG、MDI、IDENTITY、TCP、HOME、RUN、STOP、PAUSE、RESUME、STEP、Run Ready、Open、Reload、Full、Save/Restore、Audit。 @@ -28,8 +28,8 @@ 全量图文报告： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf ``` 最终状态： diff --git a/work/working7/02-程序测试开发完善详细步骤.md b/work/working7/02-程序测试开发完善详细步骤.md index f2e6454..f91b9f8 100644 --- a/work/working7/02-程序测试开发完善详细步骤.md +++ b/work/working7/02-程序测试开发完善详细步骤.md @@ -7,7 +7,7 @@ 工作目录： ```bash -cd /home/meswork/cnc_wams +cd /home/mes123456/cnc_wams ``` 基础要求： @@ -23,7 +23,7 @@ cd /home/meswork/cnc_wams ```bash mkdir -p /tmp/cnc_wams_manual_extract libreoffice --headless --convert-to txt:Text --outdir /tmp/cnc_wams_manual_extract \ - "/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/docs/Web-RTCP五轴数控系统仿真界面操作手册.docx" + "/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/docs/Web-RTCP五轴数控系统仿真界面操作手册.docx" sed -n '1,260p' /tmp/cnc_wams_manual_extract/Web-RTCP五轴数控系统仿真界面操作手册.txt ``` @@ -34,7 +34,7 @@ sed -n '1,260p' /tmp/cnc_wams_manual_extract/Web-RTCP五轴数控系统仿真界 ### 3.1 静态构建 ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build ``` 通过标准： @@ -46,7 +46,7 @@ npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build ### 3.2 Node smoke ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node ``` 通过标准： @@ -72,7 +72,7 @@ npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node ### 3.3 浏览器 smoke ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke ``` 通过标准： @@ -84,7 +84,7 @@ npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke ### 3.4 working7 手册流程专项证据 ```bash -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 ``` 通过标准： @@ -92,9 +92,9 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor - 退出码为 0。 - 输出 `working7_manual_flow_status=PASS`。 - 生成 JSON、PDF 和截图目录： - - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` - - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` - - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence` + - `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` + - `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` + - `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence` - 报告检查项覆盖主界面/canvas、POWER/HOME、AUTO/MANUAL、MANUAL JOG、MDI 提交、倍率/HAL 输入、主轴/冷却、Save/Restore 和诊断。 ## 4. 按手册执行的人工测试方法 @@ -102,7 +102,7 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor 人工测试用于补充截图、PDF 或问题复现证据。建议用本地静态服务打开 app： ```bash -cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app +cd /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app npm run dev ``` diff --git a/work/working7/02-项目程序开发详细步骤.md b/work/working7/02-项目程序开发详细步骤.md index 6028b50..075f239 100644 --- a/work/working7/02-项目程序开发详细步骤.md +++ b/work/working7/02-项目程序开发详细步骤.md @@ -20,7 +20,7 @@ 文件： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-full-functional-evidence.mjs +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-full-functional-evidence.mjs ``` 脚本执行流程： @@ -47,11 +47,11 @@ ## 最终复跑命令 ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 ``` 最终验收： diff --git a/work/working7/03-推进台账.md b/work/working7/03-推进台账.md index 958e9fe..66b3908 100644 --- a/work/working7/03-推进台账.md +++ b/work/working7/03-推进台账.md @@ -19,13 +19,13 @@ 新增： -- `/home/meswork/cnc_wams/work/working7/README.md` -- `/home/meswork/cnc_wams/work/working7/01-测试功能内容.md` -- `/home/meswork/cnc_wams/work/working7/02-程序测试开发完善详细步骤.md` -- `/home/meswork/cnc_wams/work/working7/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working7/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working7/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working7/06-决策记录.md` +- `/home/mes123456/cnc_wams/work/working7/README.md` +- `/home/mes123456/cnc_wams/work/working7/01-测试功能内容.md` +- `/home/mes123456/cnc_wams/work/working7/02-程序测试开发完善详细步骤.md` +- `/home/mes123456/cnc_wams/work/working7/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working7/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working7/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working7/06-决策记录.md` 未修改业务代码。 @@ -36,9 +36,9 @@ 已执行： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke ``` 结果： @@ -69,18 +69,18 @@ npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke 新增： -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/*.png` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/*.png` 修改： -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/package.json` -- `/home/meswork/cnc_wams/work/working7/02-程序测试开发完善详细步骤.md` -- `/home/meswork/cnc_wams/work/working7/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working7/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working7/05-验收证据.md` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/package.json` +- `/home/mes123456/cnc_wams/work/working7/02-程序测试开发完善详细步骤.md` +- `/home/mes123456/cnc_wams/work/working7/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working7/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working7/05-验收证据.md` 未修改业务运行逻辑。 @@ -89,8 +89,8 @@ npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke 已执行： ```bash -node --check /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 +node --check /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 ``` 结果： @@ -121,11 +121,11 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor 修改： -- `/home/meswork/cnc_wams/work/working7/README.md` -- `/home/meswork/cnc_wams/work/working7/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working7/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working7/06-决策记录.md` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +- `/home/mes123456/cnc_wams/work/working7/README.md` +- `/home/mes123456/cnc_wams/work/working7/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working7/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working7/06-决策记录.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` 未新增业务运行改动。 @@ -134,11 +134,11 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor 已执行： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build -node --check /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build +node --check /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 ``` 结果： @@ -173,42 +173,42 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor 新增： -- `/home/meswork/cnc_wams/测试过程.md` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-full-functional-evidence.mjs` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/*.png` -- `/home/meswork/cnc_wams/work/working7/01-项目功能内容.md` -- `/home/meswork/cnc_wams/work/working7/02-项目程序开发详细步骤.md` +- `/home/mes123456/cnc_wams/测试过程.md` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-full-functional-evidence.mjs` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/*.png` +- `/home/mes123456/cnc_wams/work/working7/01-项目功能内容.md` +- `/home/mes123456/cnc_wams/work/working7/02-项目程序开发详细步骤.md` 修改： -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/package.json` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/index.html` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/scripts/build-static.mjs` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/main.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-ini-runtime.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` -- `/home/meswork/cnc_wams/work/working7/README.md` -- `/home/meswork/cnc_wams/work/working7/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working7/04-任务矩阵.md` -- `/home/meswork/cnc_wams/work/working7/05-验收证据.md` -- `/home/meswork/cnc_wams/work/working7/06-决策记录.md` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/package.json` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/index.html` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/scripts/build-static.mjs` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/main.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-ini-runtime.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- `/home/mes123456/cnc_wams/work/working7/README.md` +- `/home/mes123456/cnc_wams/work/working7/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working7/04-任务矩阵.md` +- `/home/mes123456/cnc_wams/work/working7/05-验收证据.md` +- `/home/mes123456/cnc_wams/work/working7/06-决策记录.md` ### 验证了什么 最终执行： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 ``` 结果： @@ -244,33 +244,33 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor 修改： -- `/home/meswork/cnc_wams/work/working7/README.md` -- `/home/meswork/cnc_wams/work/working7/01-项目功能内容.md` -- `/home/meswork/cnc_wams/work/working7/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working7/05-验收证据.md` -- `/home/meswork/cnc_wams/测试过程.md` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +- `/home/mes123456/cnc_wams/work/working7/README.md` +- `/home/mes123456/cnc_wams/work/working7/01-项目功能内容.md` +- `/home/mes123456/cnc_wams/work/working7/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working7/05-验收证据.md` +- `/home/mes123456/cnc_wams/测试过程.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` 重新生成： -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/*.png` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/*.png` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/*.png` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/*.png` ### 验证了什么 已执行： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 ``` 结果： @@ -314,40 +314,40 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor 修改： -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/package.json` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/*.png` -- `/home/meswork/cnc_wams/work/working7/README.md` -- `/home/meswork/cnc_wams/work/working7/01-项目功能内容.md` -- `/home/meswork/cnc_wams/work/working7/03-推进台账.md` -- `/home/meswork/cnc_wams/work/working7/05-验收证据.md` -- `/home/meswork/cnc_wams/测试过程.md` -- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/package.json` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/*.png` +- `/home/mes123456/cnc_wams/work/working7/README.md` +- `/home/mes123456/cnc_wams/work/working7/01-项目功能内容.md` +- `/home/mes123456/cnc_wams/work/working7/03-推进台账.md` +- `/home/mes123456/cnc_wams/work/working7/05-验收证据.md` +- `/home/mes123456/cnc_wams/测试过程.md` +- `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` 重新生成： -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/*.png` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` -- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/*.png` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/*.png` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf` +- `/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/*.png` ### 验证了什么 已执行： ```bash -node --check /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs -node /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test test -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 +node --check /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs +node /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test test +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 ``` 结果： diff --git a/work/working7/05-验收证据.md b/work/working7/05-验收证据.md index 11e54ec..b3cef46 100644 --- a/work/working7/05-验收证据.md +++ b/work/working7/05-验收证据.md @@ -7,7 +7,7 @@ 执行目录： ```text -/home/meswork/cnc_wams +/home/mes123456/cnc_wams ``` ### 1.1 静态构建 @@ -15,7 +15,7 @@ 命令： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build ``` 结果： @@ -28,8 +28,8 @@ gmoccapy_static_build=ok 产物： ```text -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/dist/index.html -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/dist/src/main.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/dist/index.html +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/dist/src/main.js ``` ### 1.2 Node smoke @@ -37,7 +37,7 @@ gmoccapy_static_build=ok 命令： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node ``` 结果： @@ -96,7 +96,7 @@ fixture_toolpath_fallback_not_promoted=1 命令： ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke ``` 结果： @@ -118,7 +118,7 @@ gmoccapy_dist_smoke=ok 命令： ```bash -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test test +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test test ``` 结果： @@ -127,7 +127,7 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test test 退出码：0 site_test_status=PASS site_test_target_url=http://127.0.0.1:35861/web-rtcp-5axis-sim-plan/app/index.html -site_test_report=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json +site_test_report=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json ``` 报告摘要： @@ -157,7 +157,7 @@ requestFailures=0 命令： ```bash -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full ``` 结果： @@ -167,10 +167,10 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor working7_full_functional_status=PASS working7_full_functional_job_id=w7full-20260628002838-518bf522 working7_full_functional_report_id=report-w7full-20260628002838-518bf522 -working7_full_functional_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json -working7_full_functional_pdf=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf -working7_full_functional_md=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md -working7_full_functional_screenshots=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence +working7_full_functional_json=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json +working7_full_functional_pdf=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf +working7_full_functional_md=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md +working7_full_functional_screenshots=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence ``` 报告摘要： @@ -195,32 +195,32 @@ pageErrors=0 图文报告： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf ``` 截图： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/01-loaded-inventory.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/02-initial-run-blocked.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/03-powered-homed.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/04-auto-right-panel.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/05-right-sidebar-all-states.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/06-profile-xyzbc.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/07-preview-buttons.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/08-linuxcnc-source-loaded.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/09-open-file-loaded.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/10-run-ready.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/11-run-realtime-path.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/12-pause-resume-step.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/13-stop-idle.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/14-manual-jog-axis-values.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/15-mdi-execution.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/16-overrides-hal.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/17-spindle-coolant.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/18-session-fullscreen.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/19-diagnostics-audit.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/01-loaded-inventory.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/02-initial-run-blocked.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/03-powered-homed.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/04-auto-right-panel.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/05-right-sidebar-all-states.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/06-profile-xyzbc.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/07-preview-buttons.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/08-linuxcnc-source-loaded.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/09-open-file-loaded.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/10-run-ready.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/11-run-realtime-path.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/12-pause-resume-step.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/13-stop-idle.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/14-manual-jog-axis-values.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/15-mdi-execution.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/16-overrides-hal.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/17-spindle-coolant.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/18-session-fullscreen.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence/19-diagnostics-audit.png ``` 覆盖说明： @@ -237,7 +237,7 @@ pageErrors=0 命令： ```bash -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 ``` 结果： @@ -247,9 +247,9 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor working7_manual_flow_status=PASS working7_manual_flow_job_id=w7-20260628002915-30d1c6c8 working7_manual_flow_report_id=report-w7-20260628002915-30d1c6c8 -working7_manual_flow_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json -working7_manual_flow_pdf=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf -working7_manual_flow_screenshots=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence +working7_manual_flow_json=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json +working7_manual_flow_pdf=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf +working7_manual_flow_screenshots=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence ``` 报告信息： @@ -269,15 +269,15 @@ pageErrors=0 截图： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/01-loaded.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/02-powered-homed-manual.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/03-auto-active.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/04-manual-jog-x.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/05-mdi-command.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/06-overrides-hal.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/07-spindle-coolant.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/08-session-restored.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/09-diagnostics.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/01-loaded.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/02-powered-homed-manual.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/03-auto-active.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/04-manual-jog-x.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/05-mdi-command.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/06-overrides-hal.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/07-spindle-coolant.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/08-session-restored.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence/09-diagnostics.png ``` 检查项摘要： @@ -310,13 +310,13 @@ Screenshots are nonblank=PASS JSON： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.json ``` PDF： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.pdf +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab-function-report.pdf ``` 报告信息： @@ -327,18 +327,18 @@ reportId=report-xyzab-20260626214346-f4b4aa36 evidenceScope=gmoccapy-xyzab-function generatedAt=2026-06-26T21:43:46.310Z targetUrl=http://127.0.0.1:36983/web-rtcp-5axis-sim-plan/app/index.html -screenshotsDir=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab +screenshotsDir=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab ``` 截图： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/01-loaded.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/02-profile-selected.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/03-run-blocked-power.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/04-run-blocked-reference-evidence.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/05-controls-active.png -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/06-hal-diagnostics.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/01-loaded.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/02-profile-selected.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/03-run-blocked-power.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/04-run-blocked-reference-evidence.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/05-controls-active.png +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccapy-xyzab/06-hal-diagnostics.png ``` ### 3.2 按钮控制报告 @@ -346,13 +346,13 @@ screenshotsDir=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/gmoccap JSON： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json ``` PDF： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.pdf +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.pdf ``` 报告信息： @@ -363,27 +363,27 @@ reportId=report-btn-20260623091525-b35869f1 evidenceScope=button-control-evidence generatedAt=2026-06-23T09:15:25.426Z targetUrl=http://127.0.0.1:41741/web-rtcp-5axis-sim-plan/app/index.html -screenshotsDir=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence +screenshotsDir=/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence ``` 截图目录： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence ``` ### 3.3 Native Task/HAL 对比 ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md ``` ### 3.4 LinuxCNC source run 报告 ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-23.docx -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-23.docx +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json ``` ## 4. 页面和脚本入口 @@ -391,32 +391,32 @@ screenshotsDir=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/bu 本地 app： ```text -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/index.html +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/index.html ``` dist app： ```text -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/dist/index.html +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/dist/index.html ``` 浏览器 smoke 测试页： ```text -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html ``` 浏览器验证脚本： ```text -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh ``` 专项 QA 脚本： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs ``` ## 5. 证据缺口 diff --git a/work/working7/README.md b/work/working7/README.md index acb055c..0bac764 100644 --- a/work/working7/README.md +++ b/work/working7/README.md @@ -3,17 +3,17 @@ 生成日期：2026-06-27 本目录用于承接 -`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/docs/Web-RTCP五轴数控系统仿真界面操作手册.docx` +`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/docs/Web-RTCP五轴数控系统仿真界面操作手册.docx` 中的操作流程，把 Web RTCP 五轴仿真界面的功能测试方法、任务状态、验收证据和决策依据集中归档。 本轮 working7 已完成全量真实浏览器执行验证，并在测试过程中修复发现的问题。已执行工程验证命令、全量 QA 证据命令和手册流程 QA 证据命令： -- `npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build` -- `npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` -- `npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` -- `npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test test` -- `npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full` -- `npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7` +- `npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build` +- `npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node` +- `npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke` +- `npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test test` +- `npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full` +- `npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7` 六项命令均通过。站点回归测试状态为 `PASS`；全量 QA 证据状态为 `PASS`，生成 JSON、Markdown、PDF 和 19 张截图；手册流程 QA 证据状态为 `PASS`，生成 JSON、PDF 和 9 张截图。详细输出摘要见 [05-验收证据.md](05-验收证据.md)。 @@ -22,8 +22,8 @@ ```text job_id=w7full-20260628002838-518bf522 report_id=report-w7full-20260628002838-518bf522 -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf ``` ## 文档清单 @@ -38,7 +38,7 @@ report_id=report-w7full-20260628002838-518bf522 | 04 | [04-任务矩阵.md](04-任务矩阵.md) | 统一任务编号、状态、验收标准和证据入口，防止重复做。 | | 05 | [05-验收证据.md](05-验收证据.md) | 记录命令、页面、job_id、report_id、PDF、截图和输出标记。 | | 06 | [06-决策记录.md](06-决策记录.md) | 记录测试边界和实施选择，后续变更时不重复争论同一问题。 | -| 过程 | [/home/meswork/cnc_wams/测试过程.md](/home/meswork/cnc_wams/测试过程.md) | 本轮完整测试修改过程，使用第一人称记录。 | +| 过程 | [/home/mes123456/cnc_wams/测试过程.md](/home/mes123456/cnc_wams/测试过程.md) | 本轮完整测试修改过程，使用第一人称记录。 | ## 后续推进规则 diff --git a/备忘/备忘3.txt b/备忘/备忘3.txt index 1aad29f..2394d5b 100644 --- a/备忘/备忘3.txt +++ b/备忘/备忘3.txt @@ -1,8 +1,8 @@ -对标“/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md“的五轴机床的执行流程， -执行、测试和完善”/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan“这个从linuxcnc移植过来的数控系统仿真的功能。 +对标“/home/mes123456/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md“的五轴机床的执行流程， +执行、测试和完善”/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan“这个从linuxcnc移植过来的数控系统仿真的功能。 在数控系统仿真仿真功能方面，与linuxcnc的源程序实现的功能完全一直。 -不一致的地方，进行修改”/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan“这个项目。 -先在“/home/meswork/cnc_wams/work/working5”中创建如下文件，之后，按如下文件工作。 +不一致的地方，进行修改”/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan“这个项目。 +先在“/home/mes123456/cnc_wams/work/working5”中创建如下文件，之后，按如下文件工作。 01-项目功能内容 02-项目程序开发详细步骤 @@ -17,7 +17,7 @@ After every GPT/Codex execution completes, append the full execution process log to: -`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` +`/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` 代码区也有一批未提交改动 \ No newline at end of file diff --git a/备忘/备忘5.txt b/备忘/备忘5.txt index 2985df6..a3ba687 100644 --- a/备忘/备忘5.txt +++ b/备忘/备忘5.txt @@ -58,13 +58,13 @@ gmoccapy-xyzab 仍保持 trivkins 参考、不可提升为 RTCP。这样不会 我先确认 vendored source manifest 是否已经包含 gmoccapy 非平凡五轴目录； -如果没有，测试可以直接读取 /home/meswork/cnc_wams/linuxcnc 作为参考， +如果没有，测试可以直接读取 /home/mes123456/cnc_wams/linuxcnc 作为参考， 但页面 staging 需要知道这些源文件。 我确认了一个限制： 当前 WASM vendor manifest 只包含 axis/vismach/5axis/table-rotary-tilting， 没有拷入 LinuxCNC 的 configs/sim/gmoccapy/non_trivial_kinematics。 -因此我会把 gmoccapy TRT profile 的验证读取真实 /home/meswork/cnc_wams/linuxcnc 源文件， +因此我会把 gmoccapy TRT profile 的验证读取真实 /home/mes123456/cnc_wams/linuxcnc 源文件， 同时让页面/Node staging 支持该来源，不把缺失 vendor manifest 误当作功能通过。 diff --git a/备忘/备忘6.txt b/备忘/备忘6.txt index 3074456..1b71980 100644 --- a/备忘/备忘6.txt +++ b/备忘/备忘6.txt @@ -1 +1,6 @@ -项目“/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan”中，针对的数控系统仿真功能,要求完整准确的对标“/home/meswork/cnc_wams/linuxcnc”中的“gmoccapy”数控系统仿真功能,。通过“/home/meswork/cnc_wams/linuxcnc”和“/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan”分别实际运行G代码程序，将程序的运行结果，包括刀具预览路径、刀具执行路径、G代码每行执行过程分别写入json文件中。json文件中的包含实际程序运行结果。通过这种方式，是西安进行彻底全面完整的测试、验证。结果，分别写入json文件中。然后，通过比对这两个json文件，完善项目“/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan”。 \ No newline at end of file +项目“/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan”中，针对的数控系统仿真功能, +要求完整准确的对标“/home/mes123456/cnc_wams/linuxcnc”中的“gmoccapy”数控系统仿真功能, +。通过“/home/mes123456/cnc_wams/linuxcnc”和“/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan”分别实际运行G代码程序，将程序的运行结果，包括刀具预览路径、刀具执行路径、G代码每行执行过程分别写入json文件中。json文件中的包含实际程序运行结果。 +通过这种方式，是西安进行彻底全面完整的测试、验证。结果，分别写入json文件中。 +然后，通过比对这两个json文件， +完善项目“/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan”。 \ No newline at end of file diff --git a/备忘/备忘7.txt b/备忘/备忘7.txt new file mode 100644 index 0000000..ccca1c9 --- /dev/null +++ b/备忘/备忘7.txt @@ -0,0 +1,29 @@ +我会先检查这个 LinuxCNC 源码树的构建入口和依赖状态， +再按 run-in-place 方式编译， +目标是生成 scripts/rip-environment、 +bin/axis、bin/xyzbc-trt-gui、rtlib/xyzbc-trt-kins.so +这些运行 xyzbc-trt 需要的产物。 + + + +我会在 /home/mes123456/cnc_wams/linuxcnc 下创建指向当前 RIP 构建树的 xyzbc-trt.desktop 快捷方式， +然后用同一条命令实际启动 xyzbc-trt.ini。 +先检查是否已有快捷方式目录和当前显示环境。 + +/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini + +AXIS 窗口截图已经可用，能清楚看到预览区、PyVCP 的 SWITCHKINS 面板、程序区和状态栏。 +现在我会补充读取 INI、XML、HAL 和演示程序中的关键字段，确保任务书里的功能对标不是泛泛描述。我先把 LinuxCNC 里和机床状态有关的状态机、联锁条件和执行约束梳理清楚，再把这部分补进 Word 文档。会重点覆盖 ESTOP / RESET / ON / OFF / AUTO / MDI / MANUAL / RUN / PAUSE / HOMED / INTERP / TASK 这些状态关系。 + +我已经拿到足够的 GUI 和配置依据了。现在补一个更关键的层面：LinuxCNC 的状态机约束，特别是 ESTOP / POWER / HOMED / MODE / INTERP 对 RUN / MDI / AUTO 的影响。 + +这些文档段落足够支撑一版状态机说明了。接下来我会在 Word 里加一节，把“开机、急停、复位、回零、模式切换、运行/暂停/停止”的依赖关系明确成表格和流程。 + + + +1、将“/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc”的要其和功能，整合到“/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working”目录下面的文件中，方便编写成。编写程序时，web的数控系统仿真界面，参考“” + + + + + diff --git a/测试过程.md b/测试过程.md index 0e479cd..7640476 100644 --- a/测试过程.md +++ b/测试过程.md @@ -4,16 +4,16 @@ ## 我本轮的测试目标 -我参考了 `/home/meswork/cnc_wams/work/working1` 到 `/home/meswork/cnc_wams/work/working7` 的历史工作目录，并对 `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` 做了真实浏览器执行验证。我验证的范围包括所有主要按钮、右侧控制区按钮、程序加载与执行、刀具预览、刀具实时执行路径、G-code 当前行执行过程、机床轴值、MDI、JOG、主轴、冷却、倍率、HAL 输入、会话保存恢复和诊断边界。 +我参考了 `/home/mes123456/cnc_wams/work/working1` 到 `/home/mes123456/cnc_wams/work/working7` 的历史工作目录，并对 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan` 做了真实浏览器执行验证。我验证的范围包括所有主要按钮、右侧控制区按钮、程序加载与执行、刀具预览、刀具实时执行路径、G-code 当前行执行过程、机床轴值、MDI、JOG、主轴、冷却、倍率、HAL 输入、会话保存恢复和诊断边界。 ## 我实际执行的命令 ```bash -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run build -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node -npm --prefix /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full -npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run build +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke:node +npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app run smoke +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7:full +npm --prefix /home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:working7 ``` 最终结果： @@ -56,10 +56,10 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor 全量功能图文报告： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.md +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.pdf +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence-report.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-full-functional-evidence ``` 全量报告使用第一人称描述，包含 19 张截图和 73 个实际执行动作，截图包括主界面、门禁、上电回零、右侧按钮、profile、刀具预览、程序来源、Open、Run Ready、实时路径、暂停继续单步、停止、JOG 轴值、MDI、倍率/HAL、主轴冷却、会话/Full 和诊断。 @@ -67,25 +67,25 @@ npm --prefix /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test run evidence:wor 手册流程复核报告： ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.pdf +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence-report.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/output/working7-manual-flow-evidence ``` ## 我修改的主要文件 ```text -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/package.json -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-full-functional-evidence.mjs -/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/index.html -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/scripts/build-static.mjs -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/main.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-ini-runtime.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js -/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html -/home/meswork/cnc_wams/work/working7/* +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/package.json +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-full-functional-evidence.mjs +/home/mes123456/cnc_wams/qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/index.html +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/scripts/build-static.mjs +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/main.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-ini-runtime.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js +/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html +/home/mes123456/cnc_wams/work/working7/* ``` ## 我的最终结论

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switchkins.c / kinstype.is.N + trtfuncs.c / xyzbc forward-inverse + motion.switchkins-type <= motion.analog-out-03 + tool-offset / x-offset / z-offset / conventional-directions + + + 界面与交互 + AXIS 主界面 + PyVCP SWITCHKINS 面板 + MDI / 点动 / DRO / 程序 + vismach-clear / 相机视图 + + + 三维机床模型 + xyzbc-trt-gui.py + table-x / saddle-y / spindle-z + tilt-b / rotate-c / tool-offset + Three.js 等价模型 + 显示路径、刀具、工件、姿态 + + + 运行状态 + task_state / interp_state + joint.*.pos-fb / DRO + kinstype.is-0/1/2 + + + 路径证据 JSON + previewPath / executionPath + samplePeriodMs = 20 + screenshots / compare-report + + + 关键约束 + 1. switchkins 切换前必须同步解释器和 motion，程序中用 M428/M429/M430 或等价 HAL/MDI 触发。 + 2. 真实系统与 Web 系统的路径采样周期必须一致，当前统一为 20 ms，禁止一端快一端慢。 + 3. 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