# Docs by gkjohnson

> API reference for gkjohnson's open source JavaScript libraries: 3D Tiles streaming, spatial queries ( BVH ), path tracing, edge projection, GeoJSON, robotics ( URDF, xacro, inverse kinematics ) and more. Every page is also available as markdown by replacing the trailing "/" with ".md".

The full reference in one file: [llms-full.txt](/tools/docs/llms-full.txt)

## 3d-tiles-renderer

Enables streaming and rendering of massive 3D datasets with adaptive level-of-detail for architecture and geospatial applications worldwide.

- [3d-tiles-renderer overview](/tools/docs/3d-tiles-renderer.md)
- [3d-tiles-renderer/babylonjs API](/tools/docs/3d-tiles-renderer/babylonjs.md)
- [3d-tiles-renderer/core API](/tools/docs/3d-tiles-renderer/core.md)
- [3d-tiles-renderer/core/plugins API](/tools/docs/3d-tiles-renderer/core/plugins.md)
- [3d-tiles-renderer/r3f API](/tools/docs/3d-tiles-renderer/r3f.md)
- [3d-tiles-renderer/three API](/tools/docs/3d-tiles-renderer/three.md)
- [3d-tiles-renderer/three/plugins API](/tools/docs/3d-tiles-renderer/three/plugins.md)

## three-geojson

Utilities for parsing and rendering GeoJSON data as three.js geometry. Simplifies the visualization of geographic vector data including polygons, lines, and points with support for ellipsoidal projections.

- [three-geojson overview](/tools/docs/three-geojson.md)
- [three-geojson API](/tools/docs/three-geojson/api.md)

## three-mesh-bvh

A long-standing & still growing spatial query system for three.js trusted for fast and accurate spatial queries. Used for accelerating raycasting, collision detection, and spatial queries with BVH-based acceleration structures.

- [three-mesh-bvh overview](/tools/docs/three-mesh-bvh.md)
- [three-mesh-bvh API](/tools/docs/three-mesh-bvh/api.md)
- [three-mesh-bvh/webgpu API](/tools/docs/three-mesh-bvh/webgpu.md)

## three-gpu-pathtracer

GPU-accelerated path tracing renderer for physically based rendering on the web. Supports PBR materials, area lights, depth of field, and volumetric fog for high-quality rendering visuals.

- [three-gpu-pathtracer overview](/tools/docs/three-gpu-pathtracer.md)
- [three-gpu-pathtracer/webgpu API](/tools/docs/three-gpu-pathtracer/webgpu.md)

## three-edge-projection

Package for extracting and projecting visible edges and silhouettes from 3D geometry. Useful for generating technical drawings, floor plans, and architectural visualizations with line-based rendering.

- [three-edge-projection overview](/tools/docs/three-edge-projection.md)
- [three-edge-projection API](/tools/docs/three-edge-projection/api.md)
- [three-edge-projection/webgpu API](/tools/docs/three-edge-projection/webgpu.md)

## urdf-loader

Loads and displays URDF robot description files in three.js, enabling robot visualization and simulation in web-based interfaces. Used at NASA JPL for rover state visualization in Mars operations tools.

- [urdf-loader overview](/tools/docs/urdf-loader.md)
- [urdf-loader API](/tools/docs/urdf-loader/api.md)

## xacro-parser

Javascript-based parser for Xacro robot description files, the macro language used to build modular URDF robot definitions enabling integration with commonly used ROS formats.

- [xacro-parser overview](/tools/docs/xacro-parser.md)
- [xacro-parser API](/tools/docs/xacro-parser/api.md)

## closed-chain-ik

Inverse kinematics solver for closed-chain and parallel mechanisms commonly found in robotics. Enables solving complex linkage systems like hexapod platforms, delta robots, and other parallel manipulators.

- [closed-chain-ik overview](/tools/docs/closed-chain-ik.md)
- [closed-chain-ik/core API](/tools/docs/closed-chain-ik/core.md)
- [closed-chain-ik/three API](/tools/docs/closed-chain-ik/three.md)
- [closed-chain-ik/worker API](/tools/docs/closed-chain-ik/worker.md)