@aura3d/engine 1.5.2 → 2.0.0

package/dist/physics/VehicleDynamics.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"VehicleDynamics.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/VehicleDynamics.ts"],"names":[],"mappings":"AAAA,MAAM,WAAW,0BAA0B;IACzC,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,SAAS,CAAC,EAAE,OAAO,CAAC;IAC7B,QAAQ,CAAC,KAAK,CAAC,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;CAC/B;AAED,MAAM,WAAW,2BAA2B;IAC1C,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,GAAG,EAAE,MAAM,CAAC;IACrB,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,qBAAqB,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;CAC3E;AAED,MAAM,MAAM,iBAAiB,GAAG,QAAQ,GAAG,OAAO,GAAG,QAAQ,GAAG,SAAS,CAAC;AAC1E,MAAM,MAAM,kBAAkB,GAAG,MAAM,GAAG,QAAQ,GAAG,MAAM,CAAC;AAC5D,MAAM,MAAM,sBAAsB,GAAG,MAAM,GAAG,cAAc,GAAG,QAAQ,GAAG,YAAY,CAAC;AAEvF,MAAM,WAAW,uBAAuB;IACtC,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;CACpB;AAED,MAAM,WAAW,qBAAqB;IACpC,QAAQ,CAAC,oBAAoB,EAAE,MAAM,CAAC;IACtC,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,OAAO,CAAC,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,iBAAiB,CAAC,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,YAAY,CAAC,EAAE,uBAAuB,GAAG,iBAAiB,CAAC;IACpE,QAAQ,CAAC,OAAO,CAAC,EAAE,uBAAuB,GAAG,iBAAiB,CAAC;CAChE;AAED,MAAM,WAAW,sBAAsB;IACrC,QAAQ,CAAC,iBAAiB,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,gBAAgB,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,gBAAgB,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,MAAM,EAAE;QACf,QAAQ,CAAC,YAAY,EAAE,iBAAiB,GAAG,QAAQ,CAAC;QACpD,QAAQ,CAAC,OAAO,EAAE,iBAAiB,GAAG,QAAQ,CAAC;KAChD,CAAC;CACH;AAED,MAAM,WAAW,mBAAmB;IAClC,QAAQ,CAAC,UAAU,CAAC,EAAE,kBAAkB,CAAC;IACzC,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,gBAAgB,CAAC,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,aAAa,CAAC,EAAE,OAAO,CAAC;IACjC,QAAQ,CAAC,gBAAgB,CAAC,EAAE,MAAM,CAAC;CACpC;AAED,MAAM,WAAW,oBAAoB;IACnC,QAAQ,CAAC,UAAU,EAAE,kBAAkB,CAAC;IACxC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,iBAAiB,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,UAAU,EAAE,OAAO,CAAC;IAC7B,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;CAClC;AAED,MAAM,WAAW,sBAAsB;IACrC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,UAAU,CAAC,EAAE,SAAS,MAAM,EAAE,CAAC;IACxC,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,OAAO,CAAC,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,YAAY,CAAC,EAAE,sBAAsB,CAAC;IAC/C,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,oBAAoB,CAAC,EAAE,MAAM,CAAC;CACxC;AAED,MAAM,WAAW,uBAAuB;IACtC,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,UAAU,EAAE,MAAM,GAAG,SAAS,GAAG,WAAW,CAAC;IACtD,QAAQ,CAAC,YAAY,EAAE,sBAAsB,CAAC;CAC/C;AAED,MAAM,WAAW,yBAAyB;IACxC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,SAAS,CAAC,EAAE,OAAO,CAAC;IAC7B,QAAQ,CAAC,WAAW,CAAC,EAAE,OAAO,CAAC;IAC/B,QAAQ,CAAC,aAAa,CAAC,EAAE,SAAS,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC;CACxE;AAED,MAAM,WAAW,0BAA0B;IACzC,QAAQ,CAAC,cAAc,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnE,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,qBAAqB,EAAE,MAAM,CAAC;IACvC,QAAQ,CAAC,WAAW,EAAE,MAAM,GAAG,WAAW,GAAG,kBAAkB,GAAG,kBAAkB,CAAC;CACtF;AAED,MAAM,WAAW,kBAAkB;IACjC,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,iBAAiB,CAAC,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;CAC1B;AAED,MAAM,WAAW,mBAAmB;IAClC,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,iBAAiB,EAAE,MAAM,GAAG,WAAW,GAAG,QAAQ,GAAG,UAAU,CAAC;IACzE,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;CAC5B;AAED,wBAAgB,2BAA2B,CAAC,KAAK,EAAE,0BAA0B,GAAG,2BAA2B,CAoC1G;AAED,wBAAgB,mBAAmB,CAAC,KAAK,EAAE,kBAAkB,GAAG,mBAAmB,CAelF;AAED,wBAAgB,2BAA2B,CAAC,KAAK,EAAE,yBAAyB,GAAG,0BAA0B,CA0BxG;AAED,wBAAgB,uBAAuB,CAAC,KAAK,EAAE,sBAAsB,GAAG,uBAAuB,CAuD9F;AAED,wBAAgB,oBAAoB,CAAC,KAAK,EAAE,mBAAmB,GAAG,oBAAoB,CAgCrF;AAED,wBAAgB,uBAAuB,CAAC,KAAK,EAAE,qBAAqB,GAAG,sBAAsB,CAsD5F"}
+{"version":3,"file":"VehicleDynamics.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/VehicleDynamics.ts"],"names":[],"mappings":"AAAA,MAAM,WAAW,0BAA0B;IACzC,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,SAAS,CAAC,EAAE,OAAO,CAAC;IAC7B,QAAQ,CAAC,KAAK,CAAC,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;CAC/B;AAED,MAAM,WAAW,2BAA2B;IAC1C,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,GAAG,EAAE,MAAM,CAAC;IACrB,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,qBAAqB,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;CAC3E;AAED,MAAM,MAAM,iBAAiB,GAAG,QAAQ,GAAG,OAAO,GAAG,QAAQ,GAAG,SAAS,CAAC;AAC1E,MAAM,MAAM,kBAAkB,GAAG,MAAM,GAAG,QAAQ,GAAG,MAAM,CAAC;AAC5D,MAAM,MAAM,sBAAsB,GAAG,MAAM,GAAG,cAAc,GAAG,QAAQ,GAAG,YAAY,CAAC;AAEvF,MAAM,WAAW,uBAAuB;IACtC,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;CACpB;AAED,MAAM,WAAW,qBAAqB;IACpC,QAAQ,CAAC,oBAAoB,EAAE,MAAM,CAAC;IACtC,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,OAAO,CAAC,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,iBAAiB,CAAC,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,YAAY,CAAC,EAAE,uBAAuB,GAAG,iBAAiB,CAAC;IACpE,QAAQ,CAAC,OAAO,CAAC,EAAE,uBAAuB,GAAG,iBAAiB,CAAC;CAChE;AAED,MAAM,WAAW,sBAAsB;IACrC,QAAQ,CAAC,iBAAiB,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,gBAAgB,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,gBAAgB,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,MAAM,EAAE;QACf,QAAQ,CAAC,YAAY,EAAE,iBAAiB,GAAG,QAAQ,CAAC;QACpD,QAAQ,CAAC,OAAO,EAAE,iBAAiB,GAAG,QAAQ,CAAC;KAChD,CAAC;CACH;AAED,MAAM,WAAW,mBAAmB;IAClC,QAAQ,CAAC,UAAU,CAAC,EAAE,kBAAkB,CAAC;IACzC,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,gBAAgB,CAAC,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,aAAa,CAAC,EAAE,OAAO,CAAC;IACjC,QAAQ,CAAC,gBAAgB,CAAC,EAAE,MAAM,CAAC;CACpC;AAED,MAAM,WAAW,oBAAoB;IACnC,QAAQ,CAAC,UAAU,EAAE,kBAAkB,CAAC;IACxC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,iBAAiB,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,UAAU,EAAE,OAAO,CAAC;IAC7B,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;CAClC;AAED,MAAM,WAAW,sBAAsB;IACrC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,UAAU,CAAC,EAAE,SAAS,MAAM,EAAE,CAAC;IACxC,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,OAAO,CAAC,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,YAAY,CAAC,EAAE,sBAAsB,CAAC;IAC/C,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,oBAAoB,CAAC,EAAE,MAAM,CAAC;CACxC;AAED,MAAM,WAAW,uBAAuB;IACtC,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,UAAU,EAAE,MAAM,GAAG,SAAS,GAAG,WAAW,CAAC;IACtD,QAAQ,CAAC,YAAY,EAAE,sBAAsB,CAAC;CAC/C;AAED,MAAM,WAAW,yBAAyB;IACxC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,SAAS,CAAC,EAAE,OAAO,CAAC;IAC7B,QAAQ,CAAC,WAAW,CAAC,EAAE,OAAO,CAAC;IAC/B,QAAQ,CAAC,aAAa,CAAC,EAAE,SAAS,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC;CACxE;AAED,MAAM,WAAW,0BAA0B;IACzC,QAAQ,CAAC,cAAc,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnE,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,qBAAqB,EAAE,MAAM,CAAC;IACvC,QAAQ,CAAC,WAAW,EAAE,MAAM,GAAG,WAAW,GAAG,kBAAkB,GAAG,kBAAkB,CAAC;CACtF;AAED,MAAM,WAAW,kBAAkB;IACjC,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,iBAAiB,CAAC,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;CAC1B;AAED,MAAM,WAAW,mBAAmB;IAClC,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,iBAAiB,EAAE,MAAM,GAAG,WAAW,GAAG,QAAQ,GAAG,UAAU,CAAC;IACzE,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;CAC5B;AAED,wBAAgB,2BAA2B,CAAC,KAAK,EAAE,0BAA0B,GAAG,2BAA2B,CAoC1G;AAED,wBAAgB,mBAAmB,CAAC,KAAK,EAAE,kBAAkB,GAAG,mBAAmB,CAelF;AAED,wBAAgB,2BAA2B,CAAC,KAAK,EAAE,yBAAyB,GAAG,0BAA0B,CA0BxG;AAED,wBAAgB,uBAAuB,CAAC,KAAK,EAAE,sBAAsB,GAAG,uBAAuB,CAuD9F;AAED,wBAAgB,oBAAoB,CAAC,KAAK,EAAE,mBAAmB,GAAG,oBAAoB,CAgCrF;AAED;;;;;;;;GAQG;AACH,wBAAgB,0BAA0B,CAAC,IAAI,EAAE,uBAAuB,GAAG,iBAAiB,GAAG,MAAM,CAGpG;AAED,wBAAgB,uBAAuB,CAAC,KAAK,EAAE,qBAAqB,GAAG,sBAAsB,CAoE5F"}

package/dist/physics/VehicleDynamics.js

@@ -167,6 +167,19 @@ export function sampleRacingAiDriver(input) {
         rubberbandBoost: Number(rubberbandBoost.toFixed(4))
     };
 }
+/**
+ * Peak lateral cornering stiffness of a tyre preset, per newton of vertical load.
+ *
+ * This is the initial slope of the Magic Formula lateral curve, `d * c * b`, in units of
+ * force per radian of slip per newton of load. An integrator needs it to size a stable
+ * timestep: the tyre is the stiffest spring in a vehicle model, so it sets the step, and
+ * assuming a fixed 1/60 s regardless of tyre, mass and wheelbase is what let the vehicle
+ * integrator go unstable and produce yaw opposing its own steering input.
+ */
+export function tirePeakCorneringStiffness(tire) {
+    const { value } = coefficients(tire);
+    return value.d * value.c * value.b;
+}
 export function samplePacejkaTireForces(input) {
     const normalForce = finiteNonNegative(input.normalForce, "normalForce");
     const longitudinalVelocity = finite(input.longitudinalVelocity, "longitudinalVelocity");
@@ -200,14 +213,28 @@ export function samplePacejkaTireForces(input) {
     const camberGrip = clamp(1 - Math.abs(camberAngle) * 0.1, 0.75, 1.08);
     const longitudinalPure = pacejka(slipRatio, longitudinal.value) * normalForce * loadFactor * camberGrip
         - Math.sign(longitudinalVelocity) * normalForce * rollingResistance;
-    const lateralPure = pacejka(slipAngle * 180 / Math.PI, lateral.value) * normalForce * loadFactor * clamp(1 + camberAngle * 0.1, 0.75, 1.15);
+    /*
+     * Slip angle stays in radians.
+     *
+     * The lateral presets use stiffness factors around b=10..14, which is the radian
+     * convention for the Magic Formula. (The degree convention runs b=0.2..0.3.) Feeding
+     * degrees into radian coefficients moved the grip peak from ~6.9 degrees of slip to
+     * ~0.08 degrees, so every physically real cornering slip angle landed far down the
+     * falloff: at 19 degrees of slip the model returned mu=0.20 instead of mu=1.21.
+     *
+     * A tyre that loses 85% of its grip the instant it is asked to corner cannot hold a
+     * line, and it makes tiny near-zero slip angles produce enormous force swings, which
+     * showed up as yaw-rate chatter. Verified in `tyre-slip-curve.test.ts`.
+     */
+    const lateralPure = pacejka(slipAngle, lateral.value) * normalForce * loadFactor * clamp(1 + camberAngle * 0.1, 0.75, 1.15);
     const slipMagnitude = Math.hypot(Math.abs(slipRatio), Math.abs(slipAngle));
     const longitudinalScale = slipMagnitude < 0.001 ? 1 : Math.sqrt(Math.max(0, 1 - Math.pow((Math.abs(slipAngle) / slipMagnitude) * 0.9, 2)));
     const lateralScale = slipMagnitude < 0.001 ? 1 : Math.sqrt(Math.max(0, 1 - Math.pow((Math.abs(slipRatio) / slipMagnitude) * 0.9, 2)));
     const longitudinalForce = longitudinalPure * longitudinalScale;
     const lateralForce = lateralPure * lateralScale;
     const pneumaticTrail = width * 0.5;
-    const torqueCoeff = -pneumaticTrail * clamp(1 - Math.abs(slipAngle * 180 / Math.PI) / 20, 0, 1);
+    // Pneumatic trail collapses as the tyre saturates; 20 degrees expressed in radians.
+    const torqueCoeff = -pneumaticTrail * clamp(1 - Math.abs(slipAngle) / (20 * Math.PI / 180), 0, 1);
     const aligningTorque = clamp(lateralForce * torqueCoeff, -normalForce * width, normalForce * width);
     return {
         longitudinalForce: Number(longitudinalForce.toFixed(3)),
@@ -327,7 +354,8 @@ function optimalSlipRatio(coeff) {
     return Math.min(Math.tan(Math.PI / (2 * coeff.c)) / coeff.b, 0.2);
 }
 function optimalSlipAngle(coeff) {
-    return Math.min((Math.tan(Math.PI / (2 * coeff.c)) / coeff.b) * Math.PI / 180, 0.3);
+    // Radians, matching the units the lateral curve is now evaluated in.
+    return Math.min(Math.tan(Math.PI / (2 * coeff.c)) / coeff.b, 0.3);
 }
 function clamp(value, min, max) {
     return Math.max(min, Math.min(max, value));

package/dist/physics/VehicleDynamics.js.map

@@ -1 +1 @@
-{"version":3,"file":"VehicleDynamics.js","sourceRoot":"","sources":["../../../../packages/physics/src/VehicleDynamics.ts"],"names":[],"mappings":"AA+JA,MAAM,UAAU,2BAA2B,CAAC,KAAiC;IAC3E,MAAM,OAAO,GAAG,iBAAiB,CAAC,KAAK,CAAC,cAAc,EAAE,gBAAgB,CAAC,CAAC;IAC1E,MAAM,QAAQ,GAAG,KAAK,CAAC,KAAK,CAAC,QAAQ,IAAI,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACnD,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC,KAAK,IAAI,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC5C,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC,KAAK,IAAI,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC7C,MAAM,WAAW,GAAG,QAAQ,CAAC,KAAK,CAAC,WAAW,IAAI,GAAG,EAAE,aAAa,CAAC,CAAC;IACtE,MAAM,YAAY,GAAG,QAAQ,CAAC,KAAK,CAAC,YAAY,IAAI,GAAG,EAAE,cAAc,CAAC,CAAC;IACzE,MAAM,UAAU,GAAG,QAAQ,CAAC,KAAK,CAAC,UAAU,IAAI,EAAE,EAAE,YAAY,CAAC,CAAC;IAClE,MAAM,UAAU,GAAG,KAAK,CAAC,KAAK,CAAC,UAAU,IAAI,IAAI,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACzD,MAAM,WAAW,GAAG,KAAK,CAAC,KAAK,CAAC,WAAW,IAAI,IAAI,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC3D,MAAM,WAAW,GAAG,WAAW,GAAG,GAAG,CAAC;IACtC,MAAM,iBAAiB,GAAG,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,OAAO,GAAG,YAAY,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,WAAW,CAAC,CAAC,CAAC;IAC3F,MAAM,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE,UAAU,GAAG,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC,CAAC;IACjF,MAAM,cAAc,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,GAAG,OAAO,GAAG,IAAI,CAAC,CAAC;IACzD,MAAM,UAAU,GAAG,KAAK,CAAC,KAAK,KAAK,IAAI,IAAI,cAAc,GAAG,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IACzE,MAAM,cAAc,GAAG,KAAK,CAAC,CAAC,WAAW,GAAG,iBAAiB,GAAG,QAAQ,GAAG,UAAU,CAAC,GAAG,OAAO,EAAE,CAAC,WAAW,GAAG,IAAI,EAAE,WAAW,GAAG,UAAU,CAAC,CAAC;IACjJ,MAAM,UAAU,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,cAAc,CAAC,GAAG,WAAW,CAAC,CAAC;IACvE,MAAM,mBAAmB,GAAG,CAAC,GAAG,UAAU,GAAG,IAAI,CAAC;IAClD,MAAM,UAAU,GAAG,KAAK,GAAG,IAAI,GAAG,mBAAmB,CAAC;IACtD,MAAM,aAAa,GAAG,KAAK,CAAC,SAAS,KAAK,IAAI,CAAC,CAAC,CAAC,WAAW,GAAG,CAAC,IAAI,GAAG,UAAU,GAAG,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IAC9F,MAAM,YAAY,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,UAAU,GAAG,CAAC,CAAC,GAAG,UAAU,CAAC,GAAG,IAAI,CAAC;IAC5E,MAAM,SAAS,GAAG,KAAK,CAAC,aAAa,GAAG,YAAY,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC5D,MAAM,IAAI,GAAG,KAAK,CAAC,UAAU,GAAG,CAAC,CAAC,GAAG,SAAS,GAAG,IAAI,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC9D,MAAM,GAAG,GAAG,IAAI,GAAG,UAAU,GAAG,IAAI,GAAG,CAAC,KAAK,CAAC,KAAK,KAAK,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,SAAS,GAAG,GAAG,CAAC;IAC1F,MAAM,SAAS,GAAG,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,cAAc,CAAC,GAAG,CAAC,CAAC,GAAG,SAAS,GAAG,GAAG,CAAC,CAAC;IAC7E,MAAM,qBAAqB,GAAG,aAAa,CAAC,KAAK,EAAE,UAAU,EAAE,SAAS,CAAC,CAAC;IAC1E,OAAO;QACL,QAAQ,EAAE,MAAM,CAAC,CAAC,cAAc,GAAG,GAAG,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACnD,GAAG,EAAE,MAAM,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC3B,KAAK,EAAE,MAAM,CAAC,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACxC,UAAU,EAAE,MAAM,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACzC,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,IAAI,EAAE,MAAM,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC7B,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,qBAAqB;KACtB,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,mBAAmB,CAAC,KAAyB;IAC3D,MAAM,MAAM,GAAG,KAAK,CAAC,iBAAiB,CAAC,KAAK,CAAC,MAAM,IAAI,GAAG,EAAE,QAAQ,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;IAC/E,MAAM,cAAc,GAAG,iBAAiB,CAAC,KAAK,CAAC,cAAc,IAAI,CAAC,EAAE,gBAAgB,CAAC,CAAC;IACtF,MAAM,iBAAiB,GAAG,KAAK,CAAC,KAAK,CAAC,iBAAiB,IAAI,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACpE,MAAM,MAAM,GAAG,KAAK,CAAC,KAAK,CAAC,MAAM,IAAI,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;IAChD,MAAM,YAAY,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,cAAc,GAAG,EAAE,CAAC,GAAG,IAAI,GAAG,iBAAiB,CAAC,CAAC;IACnF,MAAM,UAAU,GAAG,KAAK,CAAC,MAAM,GAAG,YAAY,GAAG,MAAM,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;IACjE,MAAM,MAAM,GAAG,GAAG,GAAG,UAAU,CAAC;IAChC,OAAO;QACL,MAAM,EAAE,MAAM,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACrC,MAAM,EAAE,MAAM,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACjC,YAAY,EAAE,MAAM,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC7C,iBAAiB,EAAE,MAAM,IAAI,EAAE,CAAC,CAAC,CAAC,UAAU,CAAC,CAAC,CAAC,MAAM,IAAI,EAAE,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,MAAM;QAC1G,QAAQ,EAAE,UAAU,IAAI,CAAC;KAC1B,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,2BAA2B,CAAC,KAAgC;IAC1E,MAAM,QAAQ,GAAG,iBAAiB,CAAC,KAAK,CAAC,QAAQ,EAAE,UAAU,CAAC,CAAC;IAC/D,MAAM,QAAQ,GAAG,KAAK,CAAC,KAAK,CAAC,QAAQ,IAAI,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACnD,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC,KAAK,IAAI,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC7C,MAAM,aAAa,GAAG,KAAK,CAAC,aAAa,IAAI,CAAC,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;IACtE,MAAM,WAAW,GAAG,KAAK,CAAC,SAAS,KAAK,IAAI;QAC1C,CAAC,CAAC,WAAW;QACb,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,QAAQ,CAAC,GAAG,GAAG,IAAI,QAAQ,GAAG,EAAE;YACzC,CAAC,CAAC,kBAAkB;YACpB,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,GAAG,IAAI,QAAQ,GAAG,EAAE;gBACtC,CAAC,CAAC,kBAAkB;gBACpB,CAAC,CAAC,MAAM,CAAC;IACf,MAAM,aAAa,GAAG,WAAW,KAAK,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,WAAW,KAAK,WAAW,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,WAAW,KAAK,kBAAkB,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;IACnI,MAAM,cAAc,GAAG,aAAa,CAAC,GAAG,CAAC,CAAC,QAAQ,EAAE,KAAK,EAAE,EAAE;QAC3D,MAAM,QAAQ,GAAG,KAAK,IAAI,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC;QAC1C,OAAO,QAAQ,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,aAAa,GAAG,QAAQ,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACtE,CAAC,CAAqC,CAAC;IACvC,MAAM,cAAc,GAAG,KAAK,CAAC,WAAW,KAAK,IAAI,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,QAAQ,CAAC,GAAG,EAAE,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IAC3G,MAAM,kBAAkB,GAAG,MAAM,CAAC,cAAc,CAAC,MAAM,CAAC,CAAC,GAAG,EAAE,IAAI,EAAE,EAAE,CAAC,GAAG,GAAG,IAAI,EAAE,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC;IAClG,OAAO;QACL,cAAc;QACd,kBAAkB;QAClB,cAAc;QACd,qBAAqB,EAAE,cAAc,CAAC,MAAM,CAAC,CAAC,IAAI,EAAE,EAAE,CAAC,IAAI,GAAG,CAAC,CAAC,CAAC,MAAM,GAAG,CAAC,cAAc,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;QACtG,WAAW;KACZ,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,uBAAuB,CAAC,KAA6B;IACnE,MAAM,QAAQ,GAAG,iBAAiB,CAAC,KAAK,CAAC,QAAQ,EAAE,UAAU,CAAC,CAAC;IAC/D,MAAM,QAAQ,GAAG,KAAK,CAAC,KAAK,CAAC,QAAQ,IAAI,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAClD,MAAM,MAAM,GAAG,KAAK,CAAC,KAAK,CAAC,MAAM,IAAI,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC9C,MAAM,UAAU,GAAG,kBAAkB,CAAC,KAAK,CAAC,UAAU,IAAI,CAAC,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC,CAAC;IAChG,MAAM,eAAe,GAAG,QAAQ,CAAC,KAAK,CAAC,eAAe,IAAI,IAAI,EAAE,iBAAiB,CAAC,CAAC;IACnF,MAAM,OAAO,GAAG,QAAQ,CAAC,KAAK,CAAC,OAAO,IAAI,GAAG,EAAE,SAAS,CAAC,CAAC;IAC1D,MAAM,MAAM,GAAG,IAAI,CAAC,GAAG,CAAC,OAAO,GAAG,CAAC,EAAE,QAAQ,CAAC,KAAK,CAAC,MAAM,IAAI,IAAI,EAAE,QAAQ,CAAC,CAAC,CAAC;IAC/E,MAAM,UAAU,GAAG,QAAQ,CAAC,KAAK,CAAC,UAAU,IAAI,GAAG,EAAE,YAAY,CAAC,CAAC;IACnE,MAAM,aAAa,GAAG,KAAK,CAAC,QAAQ,CAAC,KAAK,CAAC,aAAa,IAAI,IAAI,EAAE,eAAe,CAAC,EAAE,OAAO,EAAE,MAAM,CAAC,CAAC;IACrG,MAAM,UAAU,GAAG,KAAK,CAAC,KAAK,CAAC,UAAU,IAAI,MAAM,GAAG,IAAI,EAAE,OAAO,EAAE,MAAM,CAAC,CAAC;IAC7E,MAAM,YAAY,GAAG,KAAK,CAAC,KAAK,CAAC,YAAY,IAAI,aAAa,GAAG,IAAI,EAAE,OAAO,EAAE,UAAU,CAAC,CAAC;IAC5F,MAAM,YAAY,GAAG,KAAK,CAAC,YAAY,IAAI,cAAc,CAAC;IAC1D,MAAM,cAAc,GAAG,KAAK,CAAC,KAAK,CAAC,cAAc,IAAI,IAAI,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACjE,MAAM,aAAa,GAAG,KAAK,CAAC,KAAK,CAAC,aAAa,IAAI,IAAI,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC/D,MAAM,eAAe,GAAG,QAAQ,CAAC,KAAK,CAAC,eAAe,IAAI,IAAI,EAAE,iBAAiB,CAAC,CAAC;IACnF,MAAM,WAAW,GAAG,QAAQ,CAAC,KAAK,CAAC,WAAW,IAAI,GAAG,EAAE,aAAa,CAAC,CAAC;IACtE,MAAM,oBAAoB,GAAG,iBAAiB,CAAC,KAAK,CAAC,oBAAoB,IAAI,IAAI,EAAE,sBAAsB,CAAC,CAAC;IAC3G,MAAM,QAAQ,GAAG,QAAQ,GAAG,GAAG,CAAC;IAChC,MAAM,WAAW,GAAG,IAAI,CAAC;IACzB,MAAM,QAAQ,GAAG,QAAQ,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,QAAQ,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,WAAW,CAAC,CAAC,GAAG,EAAE,CAAC;IACnF,MAAM,QAAQ,GAAG,mBAAmB,CAAC,UAAU,EAAE,QAAQ,EAAE,eAAe,EAAE,OAAO,EAAE,MAAM,EAAE,UAAU,EAAE,YAAY,CAAC,CAAC;IACvH,MAAM,SAAS,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,QAAQ,GAAG,QAAQ,CAAC,KAAK,GAAG,eAAe,CAAC,EAAE,OAAO,EAAE,MAAM,CAAC,CAAC;IACzG,MAAM,YAAY,GAAG,cAAc,CAAC,SAAS,EAAE,UAAU,EAAE,aAAa,EAAE,OAAO,EAAE,MAAM,CAAC,GAAG,QAAQ,CAAC;IACtG,MAAM,sBAAsB,GAAG,YAAY,KAAK,MAAM;QACpD,CAAC,CAAC,IAAI;QACN,CAAC,CAAC,YAAY,KAAK,cAAc;YAC/B,CAAC,CAAC,IAAI,GAAG,aAAa,GAAG,KAAK;YAC9B,CAAC,CAAC,YAAY,KAAK,QAAQ;gBACzB,CAAC,CAAC,IAAI,GAAG,aAAa,GAAG,IAAI;gBAC7B,CAAC,CAAC,IAAI,GAAG,aAAa,GAAG,IAAI,CAAC;IACpC,MAAM,WAAW,GAAG,YAAY,GAAG,QAAQ,CAAC,KAAK,GAAG,eAAe,GAAG,MAAM,GAAG,sBAAsB,CAAC;IACtG,MAAM,UAAU,GAAG,YAAY,KAAK,MAAM;QACxC,CAAC,CAAC,CAAC;QACH,CAAC,CAAC,YAAY,KAAK,cAAc;YAC/B,CAAC,CAAC,aAAa,GAAG,IAAI;YACtB,CAAC,CAAC,YAAY,KAAK,QAAQ;gBACzB,CAAC,CAAC,aAAa,GAAG,IAAI;gBACtB,CAAC,CAAC,aAAa,GAAG,IAAI,CAAC;IAC7B,MAAM,UAAU,GAAG,KAAK,CAAC,cAAc,GAAG,UAAU,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC5D,MAAM,SAAS,GAAG,GAAG,GAAG,KAAK,GAAG,eAAe,GAAG,WAAW,GAAG,QAAQ,GAAG,QAAQ,CAAC;IACpF,MAAM,SAAS,GAAG,GAAG,GAAG,KAAK,GAAG,oBAAoB,GAAG,WAAW,GAAG,QAAQ,GAAG,QAAQ,CAAC;IACzF,OAAO;QACL,IAAI,EAAE,QAAQ,CAAC,IAAI;QACnB,SAAS,EAAE,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC5C,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,YAAY,EAAE,MAAM,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC7C,WAAW,EAAE,MAAM,CAAC,WAAW,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC3C,WAAW,EAAE,MAAM,CAAC,CAAC,WAAW,GAAG,UAAU,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC1D,UAAU,EAAE,MAAM,CAAC,CAAC,WAAW,GAAG,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC/D,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,UAAU,EAAE,QAAQ,CAAC,UAAU;QAC/B,YAAY;KACb,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,oBAAoB,CAAC,KAA0B;IAC7D,MAAM,OAAO,GAAG,iBAAiB,CAAC,KAAK,CAAC,cAAc,EAAE,gBAAgB,CAAC,CAAC;IAC1E,MAAM,QAAQ,GAAG,KAAK,CAAC,MAAM,CAAC,KAAK,CAAC,QAAQ,EAAE,UAAU,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACjE,MAAM,QAAQ,GAAG,iBAAiB,CAAC,KAAK,CAAC,QAAQ,EAAE,UAAU,CAAC,CAAC;IAC/D,MAAM,cAAc,GAAG,QAAQ,CAAC,KAAK,CAAC,cAAc,IAAI,GAAG,EAAE,gBAAgB,CAAC,CAAC;IAC/E,MAAM,SAAS,GAAG,KAAK,CAAC,KAAK,CAAC,cAAc,IAAI,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC1D,MAAM,gBAAgB,GAAG,KAAK,CAAC,gBAAgB,KAAK,SAAS,CAAC,CAAC,CAAC,MAAM,CAAC,iBAAiB,CAAC,CAAC,CAAC,iBAAiB,CAAC,KAAK,CAAC,gBAAgB,EAAE,kBAAkB,CAAC,CAAC;IACzJ,MAAM,gBAAgB,GAAG,MAAM,CAAC,KAAK,CAAC,gBAAgB,IAAI,CAAC,EAAE,kBAAkB,CAAC,CAAC;IACjF,MAAM,UAAU,GAAG,KAAK,CAAC,UAAU,IAAI,QAAQ,CAAC;IAChD,MAAM,QAAQ,GAAG,gBAAgB,CAAC,UAAU,CAAC,CAAC;IAC9C,MAAM,eAAe,GAAG,KAAK,CAAC,CAAC,CAAC,gBAAgB,CAAC,GAAG,QAAQ,CAAC,kBAAkB,GAAG,IAAI,EAAE,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;IACrG,MAAM,YAAY,GAAG,cAAc,GAAG,QAAQ,CAAC,iBAAiB,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,eAAe,CAAC,CAAC;IAC5H,MAAM,UAAU,GAAG,YAAY,GAAG,QAAQ,CAAC;IAC3C,MAAM,UAAU,GAAG,KAAK,CAAC,aAAa,KAAK,IAAI,IAAI,gBAAgB,GAAG,EAAE,IAAI,QAAQ,CAAC,cAAc,IAAI,IAAI,CAAC;IAC5G,MAAM,iBAAiB,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,QAAQ,GAAG,OAAO,GAAG,IAAI,CAAC,GAAG,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IAC5F,MAAM,cAAc,GAAG,UAAU,CAAC,CAAC,CAAC,iBAAiB,GAAG,CAAC,IAAI,GAAG,QAAQ,CAAC,cAAc,GAAG,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACpG,MAAM,eAAe,GAAG,IAAI,CAAC,GAAG,CAAC,QAAQ,GAAG,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,IAAI,GAAG,SAAS,GAAG,IAAI,CAAC;IACnF,MAAM,QAAQ,GAAG,eAAe,GAAG,cAAc,CAAC;IAClD,MAAM,KAAK,GAAG,KAAK,CAAC,QAAQ,GAAG,QAAQ,CAAC,cAAc,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC/D,OAAO;QACL,UAAU;QACV,QAAQ,EAAE,MAAM,CAAC,KAAK,CAAC,UAAU,GAAG,EAAE,GAAG,GAAG,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC/D,KAAK,EAAE,MAAM,CAAC,KAAK,CAAC,CAAC,UAAU,GAAG,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACpF,KAAK,EAAE,MAAM,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC/B,cAAc,EAAE,MAAM,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC/C,iBAAiB,EAAE,MAAM,CAAC,CAAC,EAAE,GAAG,QAAQ,GAAG,EAAE,GAAG,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAClF,YAAY,EAAE,QAAQ,CAAC,YAAY;QACnC,cAAc,EAAE,QAAQ,CAAC,cAAc;QACvC,UAAU;QACV,cAAc,EAAE,MAAM,CAAC,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACjD,eAAe,EAAE,MAAM,CAAC,eAAe,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;KACpD,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,uBAAuB,CAAC,KAA4B;IAClE,MAAM,WAAW,GAAG,iBAAiB,CAAC,KAAK,CAAC,WAAW,EAAE,aAAa,CAAC,CAAC;IACxE,MAAM,oBAAoB,GAAG,MAAM,CAAC,KAAK,CAAC,oBAAoB,EAAE,sBAAsB,CAAC,CAAC;IACxF,MAAM,eAAe,GAAG,MAAM,CAAC,KAAK,CAAC,eAAe,IAAI,CAAC,EAAE,iBAAiB,CAAC,CAAC;IAC9E,MAAM,eAAe,GAAG,MAAM,CAAC,KAAK,CAAC,eAAe,EAAE,iBAAiB,CAAC,CAAC;IACzE,MAAM,aAAa,GAAG,MAAM,CAAC,KAAK,CAAC,aAAa,IAAI,CAAC,EAAE,eAAe,CAAC,CAAC;IACxE,MAAM,WAAW,GAAG,MAAM,CAAC,KAAK,CAAC,WAAW,IAAI,CAAC,EAAE,aAAa,CAAC,CAAC;IAClE,MAAM,MAAM,GAAG,QAAQ,CAAC,KAAK,CAAC,MAAM,IAAI,IAAI,EAAE,QAAQ,CAAC,CAAC;IACxD,MAAM,KAAK,GAAG,QAAQ,CAAC,KAAK,CAAC,KAAK,IAAI,KAAK,EAAE,OAAO,CAAC,CAAC;IACtD,MAAM,OAAO,GAAG,QAAQ,CAAC,KAAK,CAAC,OAAO,IAAI,IAAI,EAAE,SAAS,CAAC,CAAC;IAC3D,MAAM,eAAe,GAAG,QAAQ,CAAC,KAAK,CAAC,eAAe,IAAI,CAAC,EAAE,iBAAiB,CAAC,CAAC;IAChF,MAAM,iBAAiB,GAAG,KAAK,CAAC,KAAK,CAAC,iBAAiB,IAAI,KAAK,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACxE,MAAM,YAAY,GAAG,YAAY,CAAC,KAAK,CAAC,YAAY,IAAI,OAAO,CAAC,CAAC;IACjE,MAAM,OAAO,GAAG,YAAY,CAAC,KAAK,CAAC,OAAO,IAAI,OAAO,CAAC,CAAC;IACvD,IAAI,WAAW,KAAK,CAAC,EAAE,CAAC;QACtB,OAAO;YACL,iBAAiB,EAAE,CAAC;YACpB,YAAY,EAAE,CAAC;YACf,aAAa,EAAE,CAAC;YAChB,SAAS,EAAE,CAAC;YACZ,SAAS,EAAE,CAAC;YACZ,cAAc,EAAE,CAAC;YACjB,gBAAgB,EAAE,gBAAgB,CAAC,YAAY,CAAC,KAAK,CAAC;YACtD,gBAAgB,EAAE,gBAAgB,CAAC,OAAO,CAAC,KAAK,CAAC;YACjD,MAAM,EAAE,EAAE,YAAY,EAAE,YAAY,CAAC,MAAM,EAAE,OAAO,EAAE,OAAO,CAAC,MAAM,EAAE;SACvE,CAAC;IACJ,CAAC;IAED,MAAM,SAAS,GAAG,aAAa,CAAC,oBAAoB,EAAE,eAAe,EAAE,MAAM,CAAC,CAAC;IAC/E,MAAM,SAAS,GAAG,aAAa,CAAC,oBAAoB,EAAE,eAAe,EAAE,aAAa,CAAC,CAAC;IACtF,MAAM,UAAU,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,GAAG,OAAO,EAAE,eAAe,CAAC,EAAE,GAAG,EAAE,GAAG,CAAC,CAAC;IACrF,MAAM,UAAU,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,WAAW,CAAC,GAAG,GAAG,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;IACtE,MAAM,gBAAgB,GAAG,OAAO,CAAC,SAAS,EAAE,YAAY,CAAC,KAAK,CAAC,GAAG,WAAW,GAAG,UAAU,GAAG,UAAU;UACnG,IAAI,CAAC,IAAI,CAAC,oBAAoB,CAAC,GAAG,WAAW,GAAG,iBAAiB,CAAC;IACtE,MAAM,WAAW,GAAG,OAAO,CAAC,SAAS,GAAG,GAAG,GAAG,IAAI,CAAC,EAAE,EAAE,OAAO,CAAC,KAAK,CAAC,GAAG,WAAW,GAAG,UAAU,GAAG,KAAK,CAAC,CAAC,GAAG,WAAW,GAAG,GAAG,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;IAC5I,MAAM,aAAa,GAAG,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,CAAC,CAAC;IAC3E,MAAM,iBAAiB,GAAG,aAAa,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,GAAG,aAAa,CAAC,GAAG,GAAG,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;IAC3I,MAAM,YAAY,GAAG,aAAa,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,GAAG,aAAa,CAAC,GAAG,GAAG,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;IACtI,MAAM,iBAAiB,GAAG,gBAAgB,GAAG,iBAAiB,CAAC;IAC/D,MAAM,YAAY,GAAG,WAAW,GAAG,YAAY,CAAC;IAChD,MAAM,cAAc,GAAG,KAAK,GAAG,GAAG,CAAC;IACnC,MAAM,WAAW,GAAG,CAAC,cAAc,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,GAAG,GAAG,GAAG,IAAI,CAAC,EAAE,CAAC,GAAG,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAChG,MAAM,cAAc,GAAG,KAAK,CAAC,YAAY,GAAG,WAAW,EAAE,CAAC,WAAW,GAAG,KAAK,EAAE,WAAW,GAAG,KAAK,CAAC,CAAC;IACpG,OAAO;QACL,iBAAiB,EAAE,MAAM,CAAC,iBAAiB,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvD,YAAY,EAAE,MAAM,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC7C,aAAa,EAAE,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,iBAAiB,EAAE,YAAY,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC7E,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,cAAc,EAAE,MAAM,CAAC,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACjD,gBAAgB,EAAE,MAAM,CAAC,gBAAgB,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACzE,gBAAgB,EAAE,MAAM,CAAC,gBAAgB,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACpE,MAAM,EAAE,EAAE,YAAY,EAAE,YAAY,CAAC,MAAM,EAAE,OAAO,EAAE,OAAO,CAAC,MAAM,EAAE;KACvE,CAAC;AACJ,CAAC;AAED,SAAS,kBAAkB,CAAC,MAAyB;IACnD,IAAI,MAAM,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;QACxB,MAAM,IAAI,UAAU,CAAC,6DAA6D,CAAC,CAAC;IACtF,CAAC;IACD,OAAO,MAAM,CAAC,GAAG,CAAC,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,QAAQ,CAAC,KAAK,EAAE,cAAc,KAAK,GAAG,CAAC,CAAC,CAAC;AAC/E,CAAC;AAED,SAAS,mBAAmB,CAC1B,UAA6B,EAC7B,QAAgB,EAChB,eAAuB,EACvB,OAAe,EACf,MAAc,EACd,UAAkB,EAClB,YAAoB;IAEpB,IAAI,QAAQ,IAAI,CAAC;QAAE,OAAO,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,UAAU,CAAC,CAAC,CAAC,IAAI,CAAC,EAAE,UAAU,EAAE,MAAM,EAAE,CAAC;IACrF,IAAI,SAAS,GAAG,CAAC,CAAC;IAClB,IAAI,GAAG,GAAG,QAAQ,GAAG,CAAC,UAAU,CAAC,SAAS,CAAC,IAAI,CAAC,CAAC,GAAG,eAAe,CAAC;IACpE,OAAO,SAAS,GAAG,UAAU,CAAC,MAAM,GAAG,CAAC,IAAI,GAAG,GAAG,UAAU,EAAE,CAAC;QAC7D,SAAS,IAAI,CAAC,CAAC;QACf,GAAG,GAAG,QAAQ,GAAG,CAAC,UAAU,CAAC,SAAS,CAAC,IAAI,CAAC,CAAC,GAAG,eAAe,CAAC;IAClE,CAAC;IACD,OAAO,SAAS,GAAG,CAAC,IAAI,GAAG,GAAG,YAAY,EAAE,CAAC;QAC3C,SAAS,IAAI,CAAC,CAAC;QACf,GAAG,GAAG,QAAQ,GAAG,CAAC,UAAU,CAAC,SAAS,CAAC,IAAI,CAAC,CAAC,GAAG,eAAe,CAAC;IAClE,CAAC;IACD,MAAM,UAAU,GAAG,KAAK,CAAC,GAAG,EAAE,OAAO,EAAE,MAAM,CAAC,CAAC;IAC/C,OAAO;QACL,IAAI,EAAE,SAAS,GAAG,CAAC;QACnB,KAAK,EAAE,UAAU,CAAC,SAAS,CAAC,IAAI,CAAC;QACjC,UAAU,EAAE,UAAU,IAAI,UAAU,IAAI,SAAS,GAAG,UAAU,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,UAAU,IAAI,YAAY,IAAI,SAAS,GAAG,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,MAAM;KAC3J,CAAC;AACJ,CAAC;AAED,SAAS,cAAc,CAAC,SAAiB,EAAE,UAAkB,EAAE,aAAqB,EAAE,OAAe,EAAE,MAAc;IACnH,IAAI,SAAS,IAAI,aAAa,EAAE,CAAC;QAC/B,MAAM,CAAC,GAAG,KAAK,CAAC,CAAC,SAAS,GAAG,OAAO,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,aAAa,GAAG,OAAO,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QACpF,OAAO,UAAU,GAAG,CAAC,GAAG,GAAG,GAAG,GAAG,CAAC,CAAC,CAAC;IACtC,CAAC;IACD,MAAM,CAAC,GAAG,KAAK,CAAC,CAAC,SAAS,GAAG,aAAa,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,MAAM,GAAG,aAAa,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACzF,OAAO,UAAU,GAAG,CAAC,CAAC,GAAG,GAAG,GAAG,CAAC,CAAC,CAAC;AACpC,CAAC;AAED,SAAS,gBAAgB,CAAC,UAA8B;IAOtD,QAAQ,UAAU,EAAE,CAAC;QACnB,KAAK,MAAM;YACT,OAAO,EAAE,iBAAiB,EAAE,GAAG,EAAE,cAAc,EAAE,GAAG,EAAE,YAAY,EAAE,GAAG,EAAE,cAAc,EAAE,GAAG,EAAE,kBAAkB,EAAE,GAAG,EAAE,CAAC;QAC1H,KAAK,MAAM;YACT,OAAO,EAAE,iBAAiB,EAAE,IAAI,EAAE,cAAc,EAAE,GAAG,EAAE,YAAY,EAAE,IAAI,EAAE,cAAc,EAAE,GAAG,EAAE,kBAAkB,EAAE,GAAG,EAAE,CAAC;QAC5H,KAAK,QAAQ;YACX,OAAO,EAAE,iBAAiB,EAAE,IAAI,EAAE,cAAc,EAAE,GAAG,EAAE,YAAY,EAAE,IAAI,EAAE,cAAc,EAAE,GAAG,EAAE,kBAAkB,EAAE,GAAG,EAAE,CAAC;IAC9H,CAAC;AACH,CAAC;AAED,SAAS,aAAa,CAAC,KAAa,EAAE,UAAkB,EAAE,SAAiB;IACzE,MAAM,YAAY,GAAG,KAAK,GAAG,UAAU,GAAG,IAAI,CAAC;IAC/C,MAAM,SAAS,GAAG,SAAS,GAAG,IAAI,CAAC;IACnC,OAAO;QACL,KAAK,CAAC,MAAM,CAAC,CAAC,IAAI,GAAG,YAAY,GAAG,SAAS,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;QACjE,KAAK,CAAC,MAAM,CAAC,CAAC,IAAI,GAAG,YAAY,GAAG,SAAS,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;QACjE,KAAK,CAAC,MAAM,CAAC,CAAC,IAAI,GAAG,YAAY,GAAG,IAAI,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;QAC5D,KAAK,CAAC,MAAM,CAAC,CAAC,IAAI,GAAG,YAAY,GAAG,IAAI,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;KAC7D,CAAC;AACJ,CAAC;AAED,SAAS,MAAM,CAAC,KAAa,EAAE,KAAa;IAC1C,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;QAC5B,MAAM,IAAI,UAAU,CAAC,mBAAmB,KAAK,kBAAkB,CAAC,CAAC;IACnE,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,SAAS,iBAAiB,CAAC,KAAa,EAAE,KAAa;IACrD,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,IAAI,KAAK,GAAG,CAAC,EAAE,CAAC;QACzC,MAAM,IAAI,UAAU,CAAC,mBAAmB,KAAK,mCAAmC,CAAC,CAAC;IACpF,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,SAAS,QAAQ,CAAC,KAAa,EAAE,KAAa;IAC5C,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,IAAI,KAAK,IAAI,CAAC,EAAE,CAAC;QAC1C,MAAM,IAAI,UAAU,CAAC,mBAAmB,KAAK,+BAA+B,CAAC,CAAC;IAChF,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,SAAS,YAAY,CAAC,KAAkD;IACtE,IAAI,OAAO,KAAK,KAAK,QAAQ;QAAE,OAAO,EAAE,MAAM,EAAE,QAAQ,EAAE,KAAK,EAAE,CAAC;IAClE,QAAQ,KAAK,EAAE,CAAC;QACd,KAAK,QAAQ;YACX,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,IAAI,EAAE,EAAE,CAAC;QACpE,KAAK,OAAO;YACV,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,IAAI,EAAE,EAAE,CAAC;QACpE,KAAK,QAAQ;YACX,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,GAAG,EAAE,EAAE,CAAC;QACrE,KAAK,SAAS;YACZ,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC;IACpE,CAAC;AACH,CAAC;AAED,SAAS,aAAa,CAAC,oBAA4B,EAAE,eAAuB,EAAE,MAAc;IAC1F,MAAM,aAAa,GAAG,eAAe,GAAG,MAAM,CAAC;IAC/C,MAAM,WAAW,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,aAAa,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,oBAAoB,CAAC,CAAC,CAAC;IACtF,IAAI,WAAW,GAAG,GAAG;QAAE,OAAO,CAAC,CAAC;IAChC,OAAO,KAAK,CAAC,CAAC,aAAa,GAAG,oBAAoB,CAAC,GAAG,WAAW,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;AAC5E,CAAC;AAED,SAAS,aAAa,CAAC,oBAA4B,EAAE,eAAuB,EAAE,aAAqB;IACjG,IAAI,IAAI,CAAC,GAAG,CAAC,oBAAoB,CAAC,GAAG,GAAG;QAAE,OAAO,CAAC,CAAC;IACnD,OAAO,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,eAAe,EAAE,oBAAoB,CAAC,GAAG,aAAa,EAAE,CAAC,IAAI,CAAC,EAAE,GAAG,GAAG,EAAE,IAAI,CAAC,EAAE,GAAG,GAAG,CAAC,CAAC;AACjH,CAAC;AAED,SAAS,OAAO,CAAC,IAAY,EAAE,KAA8B;IAC3D,MAAM,EAAE,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC;IAC1B,OAAO,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,EAAE,GAAG,KAAK,CAAC,CAAC,GAAG,CAAC,EAAE,GAAG,IAAI,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;AACtF,CAAC;AAED,SAAS,gBAAgB,CAAC,KAA8B;IACtD,OAAO,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC;AACpE,CAAC;AAED,SAAS,gBAAgB,CAAC,KAA8B;IACtD,OAAO,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,EAAE,GAAG,GAAG,EAAE,GAAG,CAAC,CAAC;AACtF,CAAC;AAED,SAAS,KAAK,CAAC,KAAa,EAAE,GAAW,EAAE,GAAW;IACpD,OAAO,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,KAAK,CAAC,CAAC,CAAC;AAC7C,CAAC"}
+{"version":3,"file":"VehicleDynamics.js","sourceRoot":"","sources":["../../../../packages/physics/src/VehicleDynamics.ts"],"names":[],"mappings":"AA+JA,MAAM,UAAU,2BAA2B,CAAC,KAAiC;IAC3E,MAAM,OAAO,GAAG,iBAAiB,CAAC,KAAK,CAAC,cAAc,EAAE,gBAAgB,CAAC,CAAC;IAC1E,MAAM,QAAQ,GAAG,KAAK,CAAC,KAAK,CAAC,QAAQ,IAAI,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACnD,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC,KAAK,IAAI,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC5C,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC,KAAK,IAAI,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC7C,MAAM,WAAW,GAAG,QAAQ,CAAC,KAAK,CAAC,WAAW,IAAI,GAAG,EAAE,aAAa,CAAC,CAAC;IACtE,MAAM,YAAY,GAAG,QAAQ,CAAC,KAAK,CAAC,YAAY,IAAI,GAAG,EAAE,cAAc,CAAC,CAAC;IACzE,MAAM,UAAU,GAAG,QAAQ,CAAC,KAAK,CAAC,UAAU,IAAI,EAAE,EAAE,YAAY,CAAC,CAAC;IAClE,MAAM,UAAU,GAAG,KAAK,CAAC,KAAK,CAAC,UAAU,IAAI,IAAI,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACzD,MAAM,WAAW,GAAG,KAAK,CAAC,KAAK,CAAC,WAAW,IAAI,IAAI,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC3D,MAAM,WAAW,GAAG,WAAW,GAAG,GAAG,CAAC;IACtC,MAAM,iBAAiB,GAAG,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,OAAO,GAAG,YAAY,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,WAAW,CAAC,CAAC,CAAC;IAC3F,MAAM,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE,UAAU,GAAG,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC,CAAC;IACjF,MAAM,cAAc,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,GAAG,OAAO,GAAG,IAAI,CAAC,CAAC;IACzD,MAAM,UAAU,GAAG,KAAK,CAAC,KAAK,KAAK,IAAI,IAAI,cAAc,GAAG,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IACzE,MAAM,cAAc,GAAG,KAAK,CAAC,CAAC,WAAW,GAAG,iBAAiB,GAAG,QAAQ,GAAG,UAAU,CAAC,GAAG,OAAO,EAAE,CAAC,WAAW,GAAG,IAAI,EAAE,WAAW,GAAG,UAAU,CAAC,CAAC;IACjJ,MAAM,UAAU,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,cAAc,CAAC,GAAG,WAAW,CAAC,CAAC;IACvE,MAAM,mBAAmB,GAAG,CAAC,GAAG,UAAU,GAAG,IAAI,CAAC;IAClD,MAAM,UAAU,GAAG,KAAK,GAAG,IAAI,GAAG,mBAAmB,CAAC;IACtD,MAAM,aAAa,GAAG,KAAK,CAAC,SAAS,KAAK,IAAI,CAAC,CAAC,CAAC,WAAW,GAAG,CAAC,IAAI,GAAG,UAAU,GAAG,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IAC9F,MAAM,YAAY,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,UAAU,GAAG,CAAC,CAAC,GAAG,UAAU,CAAC,GAAG,IAAI,CAAC;IAC5E,MAAM,SAAS,GAAG,KAAK,CAAC,aAAa,GAAG,YAAY,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC5D,MAAM,IAAI,GAAG,KAAK,CAAC,UAAU,GAAG,CAAC,CAAC,GAAG,SAAS,GAAG,IAAI,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC9D,MAAM,GAAG,GAAG,IAAI,GAAG,UAAU,GAAG,IAAI,GAAG,CAAC,KAAK,CAAC,KAAK,KAAK,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,SAAS,GAAG,GAAG,CAAC;IAC1F,MAAM,SAAS,GAAG,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,cAAc,CAAC,GAAG,CAAC,CAAC,GAAG,SAAS,GAAG,GAAG,CAAC,CAAC;IAC7E,MAAM,qBAAqB,GAAG,aAAa,CAAC,KAAK,EAAE,UAAU,EAAE,SAAS,CAAC,CAAC;IAC1E,OAAO;QACL,QAAQ,EAAE,MAAM,CAAC,CAAC,cAAc,GAAG,GAAG,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACnD,GAAG,EAAE,MAAM,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC3B,KAAK,EAAE,MAAM,CAAC,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACxC,UAAU,EAAE,MAAM,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACzC,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,IAAI,EAAE,MAAM,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC7B,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,qBAAqB;KACtB,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,mBAAmB,CAAC,KAAyB;IAC3D,MAAM,MAAM,GAAG,KAAK,CAAC,iBAAiB,CAAC,KAAK,CAAC,MAAM,IAAI,GAAG,EAAE,QAAQ,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;IAC/E,MAAM,cAAc,GAAG,iBAAiB,CAAC,KAAK,CAAC,cAAc,IAAI,CAAC,EAAE,gBAAgB,CAAC,CAAC;IACtF,MAAM,iBAAiB,GAAG,KAAK,CAAC,KAAK,CAAC,iBAAiB,IAAI,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACpE,MAAM,MAAM,GAAG,KAAK,CAAC,KAAK,CAAC,MAAM,IAAI,CAAC,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;IAChD,MAAM,YAAY,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,cAAc,GAAG,EAAE,CAAC,GAAG,IAAI,GAAG,iBAAiB,CAAC,CAAC;IACnF,MAAM,UAAU,GAAG,KAAK,CAAC,MAAM,GAAG,YAAY,GAAG,MAAM,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;IACjE,MAAM,MAAM,GAAG,GAAG,GAAG,UAAU,CAAC;IAChC,OAAO;QACL,MAAM,EAAE,MAAM,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACrC,MAAM,EAAE,MAAM,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACjC,YAAY,EAAE,MAAM,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC7C,iBAAiB,EAAE,MAAM,IAAI,EAAE,CAAC,CAAC,CAAC,UAAU,CAAC,CAAC,CAAC,MAAM,IAAI,EAAE,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,MAAM;QAC1G,QAAQ,EAAE,UAAU,IAAI,CAAC;KAC1B,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,2BAA2B,CAAC,KAAgC;IAC1E,MAAM,QAAQ,GAAG,iBAAiB,CAAC,KAAK,CAAC,QAAQ,EAAE,UAAU,CAAC,CAAC;IAC/D,MAAM,QAAQ,GAAG,KAAK,CAAC,KAAK,CAAC,QAAQ,IAAI,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACnD,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC,KAAK,IAAI,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC7C,MAAM,aAAa,GAAG,KAAK,CAAC,aAAa,IAAI,CAAC,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;IACtE,MAAM,WAAW,GAAG,KAAK,CAAC,SAAS,KAAK,IAAI;QAC1C,CAAC,CAAC,WAAW;QACb,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,QAAQ,CAAC,GAAG,GAAG,IAAI,QAAQ,GAAG,EAAE;YACzC,CAAC,CAAC,kBAAkB;YACpB,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,GAAG,IAAI,QAAQ,GAAG,EAAE;gBACtC,CAAC,CAAC,kBAAkB;gBACpB,CAAC,CAAC,MAAM,CAAC;IACf,MAAM,aAAa,GAAG,WAAW,KAAK,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,WAAW,KAAK,WAAW,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,WAAW,KAAK,kBAAkB,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;IACnI,MAAM,cAAc,GAAG,aAAa,CAAC,GAAG,CAAC,CAAC,QAAQ,EAAE,KAAK,EAAE,EAAE;QAC3D,MAAM,QAAQ,GAAG,KAAK,IAAI,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC;QAC1C,OAAO,QAAQ,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,aAAa,GAAG,QAAQ,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACtE,CAAC,CAAqC,CAAC;IACvC,MAAM,cAAc,GAAG,KAAK,CAAC,WAAW,KAAK,IAAI,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,QAAQ,CAAC,GAAG,EAAE,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IAC3G,MAAM,kBAAkB,GAAG,MAAM,CAAC,cAAc,CAAC,MAAM,CAAC,CAAC,GAAG,EAAE,IAAI,EAAE,EAAE,CAAC,GAAG,GAAG,IAAI,EAAE,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC;IAClG,OAAO;QACL,cAAc;QACd,kBAAkB;QAClB,cAAc;QACd,qBAAqB,EAAE,cAAc,CAAC,MAAM,CAAC,CAAC,IAAI,EAAE,EAAE,CAAC,IAAI,GAAG,CAAC,CAAC,CAAC,MAAM,GAAG,CAAC,cAAc,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;QACtG,WAAW;KACZ,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,uBAAuB,CAAC,KAA6B;IACnE,MAAM,QAAQ,GAAG,iBAAiB,CAAC,KAAK,CAAC,QAAQ,EAAE,UAAU,CAAC,CAAC;IAC/D,MAAM,QAAQ,GAAG,KAAK,CAAC,KAAK,CAAC,QAAQ,IAAI,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAClD,MAAM,MAAM,GAAG,KAAK,CAAC,KAAK,CAAC,MAAM,IAAI,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC9C,MAAM,UAAU,GAAG,kBAAkB,CAAC,KAAK,CAAC,UAAU,IAAI,CAAC,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC,CAAC;IAChG,MAAM,eAAe,GAAG,QAAQ,CAAC,KAAK,CAAC,eAAe,IAAI,IAAI,EAAE,iBAAiB,CAAC,CAAC;IACnF,MAAM,OAAO,GAAG,QAAQ,CAAC,KAAK,CAAC,OAAO,IAAI,GAAG,EAAE,SAAS,CAAC,CAAC;IAC1D,MAAM,MAAM,GAAG,IAAI,CAAC,GAAG,CAAC,OAAO,GAAG,CAAC,EAAE,QAAQ,CAAC,KAAK,CAAC,MAAM,IAAI,IAAI,EAAE,QAAQ,CAAC,CAAC,CAAC;IAC/E,MAAM,UAAU,GAAG,QAAQ,CAAC,KAAK,CAAC,UAAU,IAAI,GAAG,EAAE,YAAY,CAAC,CAAC;IACnE,MAAM,aAAa,GAAG,KAAK,CAAC,QAAQ,CAAC,KAAK,CAAC,aAAa,IAAI,IAAI,EAAE,eAAe,CAAC,EAAE,OAAO,EAAE,MAAM,CAAC,CAAC;IACrG,MAAM,UAAU,GAAG,KAAK,CAAC,KAAK,CAAC,UAAU,IAAI,MAAM,GAAG,IAAI,EAAE,OAAO,EAAE,MAAM,CAAC,CAAC;IAC7E,MAAM,YAAY,GAAG,KAAK,CAAC,KAAK,CAAC,YAAY,IAAI,aAAa,GAAG,IAAI,EAAE,OAAO,EAAE,UAAU,CAAC,CAAC;IAC5F,MAAM,YAAY,GAAG,KAAK,CAAC,YAAY,IAAI,cAAc,CAAC;IAC1D,MAAM,cAAc,GAAG,KAAK,CAAC,KAAK,CAAC,cAAc,IAAI,IAAI,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACjE,MAAM,aAAa,GAAG,KAAK,CAAC,KAAK,CAAC,aAAa,IAAI,IAAI,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC/D,MAAM,eAAe,GAAG,QAAQ,CAAC,KAAK,CAAC,eAAe,IAAI,IAAI,EAAE,iBAAiB,CAAC,CAAC;IACnF,MAAM,WAAW,GAAG,QAAQ,CAAC,KAAK,CAAC,WAAW,IAAI,GAAG,EAAE,aAAa,CAAC,CAAC;IACtE,MAAM,oBAAoB,GAAG,iBAAiB,CAAC,KAAK,CAAC,oBAAoB,IAAI,IAAI,EAAE,sBAAsB,CAAC,CAAC;IAC3G,MAAM,QAAQ,GAAG,QAAQ,GAAG,GAAG,CAAC;IAChC,MAAM,WAAW,GAAG,IAAI,CAAC;IACzB,MAAM,QAAQ,GAAG,QAAQ,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,QAAQ,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,WAAW,CAAC,CAAC,GAAG,EAAE,CAAC;IACnF,MAAM,QAAQ,GAAG,mBAAmB,CAAC,UAAU,EAAE,QAAQ,EAAE,eAAe,EAAE,OAAO,EAAE,MAAM,EAAE,UAAU,EAAE,YAAY,CAAC,CAAC;IACvH,MAAM,SAAS,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,QAAQ,GAAG,QAAQ,CAAC,KAAK,GAAG,eAAe,CAAC,EAAE,OAAO,EAAE,MAAM,CAAC,CAAC;IACzG,MAAM,YAAY,GAAG,cAAc,CAAC,SAAS,EAAE,UAAU,EAAE,aAAa,EAAE,OAAO,EAAE,MAAM,CAAC,GAAG,QAAQ,CAAC;IACtG,MAAM,sBAAsB,GAAG,YAAY,KAAK,MAAM;QACpD,CAAC,CAAC,IAAI;QACN,CAAC,CAAC,YAAY,KAAK,cAAc;YAC/B,CAAC,CAAC,IAAI,GAAG,aAAa,GAAG,KAAK;YAC9B,CAAC,CAAC,YAAY,KAAK,QAAQ;gBACzB,CAAC,CAAC,IAAI,GAAG,aAAa,GAAG,IAAI;gBAC7B,CAAC,CAAC,IAAI,GAAG,aAAa,GAAG,IAAI,CAAC;IACpC,MAAM,WAAW,GAAG,YAAY,GAAG,QAAQ,CAAC,KAAK,GAAG,eAAe,GAAG,MAAM,GAAG,sBAAsB,CAAC;IACtG,MAAM,UAAU,GAAG,YAAY,KAAK,MAAM;QACxC,CAAC,CAAC,CAAC;QACH,CAAC,CAAC,YAAY,KAAK,cAAc;YAC/B,CAAC,CAAC,aAAa,GAAG,IAAI;YACtB,CAAC,CAAC,YAAY,KAAK,QAAQ;gBACzB,CAAC,CAAC,aAAa,GAAG,IAAI;gBACtB,CAAC,CAAC,aAAa,GAAG,IAAI,CAAC;IAC7B,MAAM,UAAU,GAAG,KAAK,CAAC,cAAc,GAAG,UAAU,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAC5D,MAAM,SAAS,GAAG,GAAG,GAAG,KAAK,GAAG,eAAe,GAAG,WAAW,GAAG,QAAQ,GAAG,QAAQ,CAAC;IACpF,MAAM,SAAS,GAAG,GAAG,GAAG,KAAK,GAAG,oBAAoB,GAAG,WAAW,GAAG,QAAQ,GAAG,QAAQ,CAAC;IACzF,OAAO;QACL,IAAI,EAAE,QAAQ,CAAC,IAAI;QACnB,SAAS,EAAE,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC5C,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,YAAY,EAAE,MAAM,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC7C,WAAW,EAAE,MAAM,CAAC,WAAW,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC3C,WAAW,EAAE,MAAM,CAAC,CAAC,WAAW,GAAG,UAAU,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC1D,UAAU,EAAE,MAAM,CAAC,CAAC,WAAW,GAAG,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC/D,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,UAAU,EAAE,QAAQ,CAAC,UAAU;QAC/B,YAAY;KACb,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,oBAAoB,CAAC,KAA0B;IAC7D,MAAM,OAAO,GAAG,iBAAiB,CAAC,KAAK,CAAC,cAAc,EAAE,gBAAgB,CAAC,CAAC;IAC1E,MAAM,QAAQ,GAAG,KAAK,CAAC,MAAM,CAAC,KAAK,CAAC,QAAQ,EAAE,UAAU,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACjE,MAAM,QAAQ,GAAG,iBAAiB,CAAC,KAAK,CAAC,QAAQ,EAAE,UAAU,CAAC,CAAC;IAC/D,MAAM,cAAc,GAAG,QAAQ,CAAC,KAAK,CAAC,cAAc,IAAI,GAAG,EAAE,gBAAgB,CAAC,CAAC;IAC/E,MAAM,SAAS,GAAG,KAAK,CAAC,KAAK,CAAC,cAAc,IAAI,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC1D,MAAM,gBAAgB,GAAG,KAAK,CAAC,gBAAgB,KAAK,SAAS,CAAC,CAAC,CAAC,MAAM,CAAC,iBAAiB,CAAC,CAAC,CAAC,iBAAiB,CAAC,KAAK,CAAC,gBAAgB,EAAE,kBAAkB,CAAC,CAAC;IACzJ,MAAM,gBAAgB,GAAG,MAAM,CAAC,KAAK,CAAC,gBAAgB,IAAI,CAAC,EAAE,kBAAkB,CAAC,CAAC;IACjF,MAAM,UAAU,GAAG,KAAK,CAAC,UAAU,IAAI,QAAQ,CAAC;IAChD,MAAM,QAAQ,GAAG,gBAAgB,CAAC,UAAU,CAAC,CAAC;IAC9C,MAAM,eAAe,GAAG,KAAK,CAAC,CAAC,CAAC,gBAAgB,CAAC,GAAG,QAAQ,CAAC,kBAAkB,GAAG,IAAI,EAAE,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;IACrG,MAAM,YAAY,GAAG,cAAc,GAAG,QAAQ,CAAC,iBAAiB,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,eAAe,CAAC,CAAC;IAC5H,MAAM,UAAU,GAAG,YAAY,GAAG,QAAQ,CAAC;IAC3C,MAAM,UAAU,GAAG,KAAK,CAAC,aAAa,KAAK,IAAI,IAAI,gBAAgB,GAAG,EAAE,IAAI,QAAQ,CAAC,cAAc,IAAI,IAAI,CAAC;IAC5G,MAAM,iBAAiB,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,QAAQ,GAAG,OAAO,GAAG,IAAI,CAAC,GAAG,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IAC5F,MAAM,cAAc,GAAG,UAAU,CAAC,CAAC,CAAC,iBAAiB,GAAG,CAAC,IAAI,GAAG,QAAQ,CAAC,cAAc,GAAG,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACpG,MAAM,eAAe,GAAG,IAAI,CAAC,GAAG,CAAC,QAAQ,GAAG,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,IAAI,GAAG,SAAS,GAAG,IAAI,CAAC;IACnF,MAAM,QAAQ,GAAG,eAAe,GAAG,cAAc,CAAC;IAClD,MAAM,KAAK,GAAG,KAAK,CAAC,QAAQ,GAAG,QAAQ,CAAC,cAAc,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC/D,OAAO;QACL,UAAU;QACV,QAAQ,EAAE,MAAM,CAAC,KAAK,CAAC,UAAU,GAAG,EAAE,GAAG,GAAG,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC/D,KAAK,EAAE,MAAM,CAAC,KAAK,CAAC,CAAC,UAAU,GAAG,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACpF,KAAK,EAAE,MAAM,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC/B,cAAc,EAAE,MAAM,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC/C,iBAAiB,EAAE,MAAM,CAAC,CAAC,EAAE,GAAG,QAAQ,GAAG,EAAE,GAAG,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAClF,YAAY,EAAE,QAAQ,CAAC,YAAY;QACnC,cAAc,EAAE,QAAQ,CAAC,cAAc;QACvC,UAAU;QACV,cAAc,EAAE,MAAM,CAAC,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACjD,eAAe,EAAE,MAAM,CAAC,eAAe,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;KACpD,CAAC;AACJ,CAAC;AAED;;;;;;;;GAQG;AACH,MAAM,UAAU,0BAA0B,CAAC,IAAiD;IAC1F,MAAM,EAAE,KAAK,EAAE,GAAG,YAAY,CAAC,IAAI,CAAC,CAAC;IACrC,OAAO,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC;AACrC,CAAC;AAED,MAAM,UAAU,uBAAuB,CAAC,KAA4B;IAClE,MAAM,WAAW,GAAG,iBAAiB,CAAC,KAAK,CAAC,WAAW,EAAE,aAAa,CAAC,CAAC;IACxE,MAAM,oBAAoB,GAAG,MAAM,CAAC,KAAK,CAAC,oBAAoB,EAAE,sBAAsB,CAAC,CAAC;IACxF,MAAM,eAAe,GAAG,MAAM,CAAC,KAAK,CAAC,eAAe,IAAI,CAAC,EAAE,iBAAiB,CAAC,CAAC;IAC9E,MAAM,eAAe,GAAG,MAAM,CAAC,KAAK,CAAC,eAAe,EAAE,iBAAiB,CAAC,CAAC;IACzE,MAAM,aAAa,GAAG,MAAM,CAAC,KAAK,CAAC,aAAa,IAAI,CAAC,EAAE,eAAe,CAAC,CAAC;IACxE,MAAM,WAAW,GAAG,MAAM,CAAC,KAAK,CAAC,WAAW,IAAI,CAAC,EAAE,aAAa,CAAC,CAAC;IAClE,MAAM,MAAM,GAAG,QAAQ,CAAC,KAAK,CAAC,MAAM,IAAI,IAAI,EAAE,QAAQ,CAAC,CAAC;IACxD,MAAM,KAAK,GAAG,QAAQ,CAAC,KAAK,CAAC,KAAK,IAAI,KAAK,EAAE,OAAO,CAAC,CAAC;IACtD,MAAM,OAAO,GAAG,QAAQ,CAAC,KAAK,CAAC,OAAO,IAAI,IAAI,EAAE,SAAS,CAAC,CAAC;IAC3D,MAAM,eAAe,GAAG,QAAQ,CAAC,KAAK,CAAC,eAAe,IAAI,CAAC,EAAE,iBAAiB,CAAC,CAAC;IAChF,MAAM,iBAAiB,GAAG,KAAK,CAAC,KAAK,CAAC,iBAAiB,IAAI,KAAK,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACxE,MAAM,YAAY,GAAG,YAAY,CAAC,KAAK,CAAC,YAAY,IAAI,OAAO,CAAC,CAAC;IACjE,MAAM,OAAO,GAAG,YAAY,CAAC,KAAK,CAAC,OAAO,IAAI,OAAO,CAAC,CAAC;IACvD,IAAI,WAAW,KAAK,CAAC,EAAE,CAAC;QACtB,OAAO;YACL,iBAAiB,EAAE,CAAC;YACpB,YAAY,EAAE,CAAC;YACf,aAAa,EAAE,CAAC;YAChB,SAAS,EAAE,CAAC;YACZ,SAAS,EAAE,CAAC;YACZ,cAAc,EAAE,CAAC;YACjB,gBAAgB,EAAE,gBAAgB,CAAC,YAAY,CAAC,KAAK,CAAC;YACtD,gBAAgB,EAAE,gBAAgB,CAAC,OAAO,CAAC,KAAK,CAAC;YACjD,MAAM,EAAE,EAAE,YAAY,EAAE,YAAY,CAAC,MAAM,EAAE,OAAO,EAAE,OAAO,CAAC,MAAM,EAAE;SACvE,CAAC;IACJ,CAAC;IAED,MAAM,SAAS,GAAG,aAAa,CAAC,oBAAoB,EAAE,eAAe,EAAE,MAAM,CAAC,CAAC;IAC/E,MAAM,SAAS,GAAG,aAAa,CAAC,oBAAoB,EAAE,eAAe,EAAE,aAAa,CAAC,CAAC;IACtF,MAAM,UAAU,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,WAAW,GAAG,OAAO,EAAE,eAAe,CAAC,EAAE,GAAG,EAAE,GAAG,CAAC,CAAC;IACrF,MAAM,UAAU,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,WAAW,CAAC,GAAG,GAAG,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;IACtE,MAAM,gBAAgB,GAAG,OAAO,CAAC,SAAS,EAAE,YAAY,CAAC,KAAK,CAAC,GAAG,WAAW,GAAG,UAAU,GAAG,UAAU;UACnG,IAAI,CAAC,IAAI,CAAC,oBAAoB,CAAC,GAAG,WAAW,GAAG,iBAAiB,CAAC;IACtE;;;;;;;;;;;;OAYG;IACH,MAAM,WAAW,GAAG,OAAO,CAAC,SAAS,EAAE,OAAO,CAAC,KAAK,CAAC,GAAG,WAAW,GAAG,UAAU,GAAG,KAAK,CAAC,CAAC,GAAG,WAAW,GAAG,GAAG,EAAE,IAAI,EAAE,IAAI,CAAC,CAAC;IAC5H,MAAM,aAAa,GAAG,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,CAAC,CAAC;IAC3E,MAAM,iBAAiB,GAAG,aAAa,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,GAAG,aAAa,CAAC,GAAG,GAAG,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;IAC3I,MAAM,YAAY,GAAG,aAAa,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,GAAG,aAAa,CAAC,GAAG,GAAG,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;IACtI,MAAM,iBAAiB,GAAG,gBAAgB,GAAG,iBAAiB,CAAC;IAC/D,MAAM,YAAY,GAAG,WAAW,GAAG,YAAY,CAAC;IAChD,MAAM,cAAc,GAAG,KAAK,GAAG,GAAG,CAAC;IACnC,oFAAoF;IACpF,MAAM,WAAW,GAAG,CAAC,cAAc,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,GAAG,CAAC,EAAE,GAAG,IAAI,CAAC,EAAE,GAAG,GAAG,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAClG,MAAM,cAAc,GAAG,KAAK,CAAC,YAAY,GAAG,WAAW,EAAE,CAAC,WAAW,GAAG,KAAK,EAAE,WAAW,GAAG,KAAK,CAAC,CAAC;IACpG,OAAO;QACL,iBAAiB,EAAE,MAAM,CAAC,iBAAiB,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvD,YAAY,EAAE,MAAM,CAAC,YAAY,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC7C,aAAa,EAAE,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,iBAAiB,EAAE,YAAY,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QAC7E,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,SAAS,EAAE,MAAM,CAAC,SAAS,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACvC,cAAc,EAAE,MAAM,CAAC,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACjD,gBAAgB,EAAE,MAAM,CAAC,gBAAgB,CAAC,YAAY,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACzE,gBAAgB,EAAE,MAAM,CAAC,gBAAgB,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;QACpE,MAAM,EAAE,EAAE,YAAY,EAAE,YAAY,CAAC,MAAM,EAAE,OAAO,EAAE,OAAO,CAAC,MAAM,EAAE;KACvE,CAAC;AACJ,CAAC;AAED,SAAS,kBAAkB,CAAC,MAAyB;IACnD,IAAI,MAAM,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;QACxB,MAAM,IAAI,UAAU,CAAC,6DAA6D,CAAC,CAAC;IACtF,CAAC;IACD,OAAO,MAAM,CAAC,GAAG,CAAC,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,QAAQ,CAAC,KAAK,EAAE,cAAc,KAAK,GAAG,CAAC,CAAC,CAAC;AAC/E,CAAC;AAED,SAAS,mBAAmB,CAC1B,UAA6B,EAC7B,QAAgB,EAChB,eAAuB,EACvB,OAAe,EACf,MAAc,EACd,UAAkB,EAClB,YAAoB;IAEpB,IAAI,QAAQ,IAAI,CAAC;QAAE,OAAO,EAAE,IAAI,EAAE,CAAC,EAAE,KAAK,EAAE,UAAU,CAAC,CAAC,CAAC,IAAI,CAAC,EAAE,UAAU,EAAE,MAAM,EAAE,CAAC;IACrF,IAAI,SAAS,GAAG,CAAC,CAAC;IAClB,IAAI,GAAG,GAAG,QAAQ,GAAG,CAAC,UAAU,CAAC,SAAS,CAAC,IAAI,CAAC,CAAC,GAAG,eAAe,CAAC;IACpE,OAAO,SAAS,GAAG,UAAU,CAAC,MAAM,GAAG,CAAC,IAAI,GAAG,GAAG,UAAU,EAAE,CAAC;QAC7D,SAAS,IAAI,CAAC,CAAC;QACf,GAAG,GAAG,QAAQ,GAAG,CAAC,UAAU,CAAC,SAAS,CAAC,IAAI,CAAC,CAAC,GAAG,eAAe,CAAC;IAClE,CAAC;IACD,OAAO,SAAS,GAAG,CAAC,IAAI,GAAG,GAAG,YAAY,EAAE,CAAC;QAC3C,SAAS,IAAI,CAAC,CAAC;QACf,GAAG,GAAG,QAAQ,GAAG,CAAC,UAAU,CAAC,SAAS,CAAC,IAAI,CAAC,CAAC,GAAG,eAAe,CAAC;IAClE,CAAC;IACD,MAAM,UAAU,GAAG,KAAK,CAAC,GAAG,EAAE,OAAO,EAAE,MAAM,CAAC,CAAC;IAC/C,OAAO;QACL,IAAI,EAAE,SAAS,GAAG,CAAC;QACnB,KAAK,EAAE,UAAU,CAAC,SAAS,CAAC,IAAI,CAAC;QACjC,UAAU,EAAE,UAAU,IAAI,UAAU,IAAI,SAAS,GAAG,UAAU,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,UAAU,IAAI,YAAY,IAAI,SAAS,GAAG,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,MAAM;KAC3J,CAAC;AACJ,CAAC;AAED,SAAS,cAAc,CAAC,SAAiB,EAAE,UAAkB,EAAE,aAAqB,EAAE,OAAe,EAAE,MAAc;IACnH,IAAI,SAAS,IAAI,aAAa,EAAE,CAAC;QAC/B,MAAM,CAAC,GAAG,KAAK,CAAC,CAAC,SAAS,GAAG,OAAO,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,aAAa,GAAG,OAAO,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QACpF,OAAO,UAAU,GAAG,CAAC,GAAG,GAAG,GAAG,GAAG,CAAC,CAAC,CAAC;IACtC,CAAC;IACD,MAAM,CAAC,GAAG,KAAK,CAAC,CAAC,SAAS,GAAG,aAAa,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,MAAM,GAAG,aAAa,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACzF,OAAO,UAAU,GAAG,CAAC,CAAC,GAAG,GAAG,GAAG,CAAC,CAAC,CAAC;AACpC,CAAC;AAED,SAAS,gBAAgB,CAAC,UAA8B;IAOtD,QAAQ,UAAU,EAAE,CAAC;QACnB,KAAK,MAAM;YACT,OAAO,EAAE,iBAAiB,EAAE,GAAG,EAAE,cAAc,EAAE,GAAG,EAAE,YAAY,EAAE,GAAG,EAAE,cAAc,EAAE,GAAG,EAAE,kBAAkB,EAAE,GAAG,EAAE,CAAC;QAC1H,KAAK,MAAM;YACT,OAAO,EAAE,iBAAiB,EAAE,IAAI,EAAE,cAAc,EAAE,GAAG,EAAE,YAAY,EAAE,IAAI,EAAE,cAAc,EAAE,GAAG,EAAE,kBAAkB,EAAE,GAAG,EAAE,CAAC;QAC5H,KAAK,QAAQ;YACX,OAAO,EAAE,iBAAiB,EAAE,IAAI,EAAE,cAAc,EAAE,GAAG,EAAE,YAAY,EAAE,IAAI,EAAE,cAAc,EAAE,GAAG,EAAE,kBAAkB,EAAE,GAAG,EAAE,CAAC;IAC9H,CAAC;AACH,CAAC;AAED,SAAS,aAAa,CAAC,KAAa,EAAE,UAAkB,EAAE,SAAiB;IACzE,MAAM,YAAY,GAAG,KAAK,GAAG,UAAU,GAAG,IAAI,CAAC;IAC/C,MAAM,SAAS,GAAG,SAAS,GAAG,IAAI,CAAC;IACnC,OAAO;QACL,KAAK,CAAC,MAAM,CAAC,CAAC,IAAI,GAAG,YAAY,GAAG,SAAS,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;QACjE,KAAK,CAAC,MAAM,CAAC,CAAC,IAAI,GAAG,YAAY,GAAG,SAAS,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;QACjE,KAAK,CAAC,MAAM,CAAC,CAAC,IAAI,GAAG,YAAY,GAAG,IAAI,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;QAC5D,KAAK,CAAC,MAAM,CAAC,CAAC,IAAI,GAAG,YAAY,GAAG,IAAI,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;KAC7D,CAAC;AACJ,CAAC;AAED,SAAS,MAAM,CAAC,KAAa,EAAE,KAAa;IAC1C,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,EAAE,CAAC;QAC5B,MAAM,IAAI,UAAU,CAAC,mBAAmB,KAAK,kBAAkB,CAAC,CAAC;IACnE,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,SAAS,iBAAiB,CAAC,KAAa,EAAE,KAAa;IACrD,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,IAAI,KAAK,GAAG,CAAC,EAAE,CAAC;QACzC,MAAM,IAAI,UAAU,CAAC,mBAAmB,KAAK,mCAAmC,CAAC,CAAC;IACpF,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,SAAS,QAAQ,CAAC,KAAa,EAAE,KAAa;IAC5C,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,IAAI,KAAK,IAAI,CAAC,EAAE,CAAC;QAC1C,MAAM,IAAI,UAAU,CAAC,mBAAmB,KAAK,+BAA+B,CAAC,CAAC;IAChF,CAAC;IACD,OAAO,KAAK,CAAC;AACf,CAAC;AAED,SAAS,YAAY,CAAC,KAAkD;IACtE,IAAI,OAAO,KAAK,KAAK,QAAQ;QAAE,OAAO,EAAE,MAAM,EAAE,QAAQ,EAAE,KAAK,EAAE,CAAC;IAClE,QAAQ,KAAK,EAAE,CAAC;QACd,KAAK,QAAQ;YACX,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,IAAI,EAAE,EAAE,CAAC;QACpE,KAAK,OAAO;YACV,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,IAAI,EAAE,EAAE,CAAC;QACpE,KAAK,QAAQ;YACX,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,GAAG,EAAE,EAAE,CAAC;QACrE,KAAK,SAAS;YACZ,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC;IACpE,CAAC;AACH,CAAC;AAED,SAAS,aAAa,CAAC,oBAA4B,EAAE,eAAuB,EAAE,MAAc;IAC1F,MAAM,aAAa,GAAG,eAAe,GAAG,MAAM,CAAC;IAC/C,MAAM,WAAW,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,aAAa,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,oBAAoB,CAAC,CAAC,CAAC;IACtF,IAAI,WAAW,GAAG,GAAG;QAAE,OAAO,CAAC,CAAC;IAChC,OAAO,KAAK,CAAC,CAAC,aAAa,GAAG,oBAAoB,CAAC,GAAG,WAAW,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;AAC5E,CAAC;AAED,SAAS,aAAa,CAAC,oBAA4B,EAAE,eAAuB,EAAE,aAAqB;IACjG,IAAI,IAAI,CAAC,GAAG,CAAC,oBAAoB,CAAC,GAAG,GAAG;QAAE,OAAO,CAAC,CAAC;IACnD,OAAO,KAAK,CAAC,IAAI,CAAC,KAAK,CAAC,eAAe,EAAE,oBAAoB,CAAC,GAAG,aAAa,EAAE,CAAC,IAAI,CAAC,EAAE,GAAG,GAAG,EAAE,IAAI,CAAC,EAAE,GAAG,GAAG,CAAC,CAAC;AACjH,CAAC;AAED,SAAS,OAAO,CAAC,IAAY,EAAE,KAA8B;IAC3D,MAAM,EAAE,GAAG,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC;IAC1B,OAAO,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,EAAE,GAAG,KAAK,CAAC,CAAC,GAAG,CAAC,EAAE,GAAG,IAAI,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;AACtF,CAAC;AAED,SAAS,gBAAgB,CAAC,KAA8B;IACtD,OAAO,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC;AACpE,CAAC;AAED,SAAS,gBAAgB,CAAC,KAA8B;IACtD,qEAAqE;IACrE,OAAO,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC;AACpE,CAAC;AAED,SAAS,KAAK,CAAC,KAAa,EAAE,GAAW,EAAE,GAAW;IACpD,OAAO,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,KAAK,CAAC,CAAC,CAAC;AAC7C,CAAC"}

package/dist/physics/VehicleMotion.d.ts

@@ -0,0 +1,125 @@
+import { type PacejkaTirePreset } from "./VehicleDynamics.js";
+/**
+ * Force-based planar vehicle motion.
+ *
+ * ## The gap this closes
+ *
+ * `samplePacejkaTireForce` is a real tyre model — slip ratio, slip angle, load-sensitive
+ * grip, a combined-slip friction circle and aligning torque. It had **zero consumers**.
+ * Meanwhile the racing kit drove a kinematic 2D point: heading integrated straight from
+ * steering input, speed from a throttle curve, and a `driftSlip` fudge factor standing in
+ * for lateral dynamics. Those two facts together are why `vehicle dynamics` claimed
+ * `exceed` while the car behaved like a sprite sliding on a plane.
+ *
+ * This module is the missing middle. It takes throttle, brake and steering, asks the tyre
+ * model for forces at each axle, and integrates the body's planar state from those forces.
+ * That produces the behaviours a kinematic point cannot:
+ *
+ * - **Understeer**: front slip angle saturates, so the car runs wide of where it is pointed.
+ * - **Wheelspin**: excess drive torque exceeds available longitudinal grip.
+ * - **Weight transfer**: braking loads the front axle and unloads the rear.
+ * - **Grip sensitivity**: a low-grip surface reduces available force rather than being a
+ *   cosmetic multiplier on a scripted speed.
+ */
+export interface VehicleMotionSpec {
+    /** Total mass in kilograms. */
+    readonly mass: number;
+    /** Distance between axles, world units. */
+    readonly wheelbase: number;
+    /** Fraction of the wheelbase from the front axle to the centre of mass, 0..1. */
+    readonly frontWeightBias?: number | undefined;
+    /** Centre-of-mass height, which sets how much load transfers under braking. */
+    readonly centreOfMassHeight?: number | undefined;
+    /** Peak steering angle at the roadwheel, radians. */
+    readonly maxSteerAngle?: number | undefined;
+    /** Drive force at full throttle, newtons. */
+    readonly driveForce?: number | undefined;
+    /** Brake force at full brake, newtons. */
+    readonly brakeForce?: number | undefined;
+    /** Tyre compound. */
+    readonly tirePreset?: PacejkaTirePreset | undefined;
+    /** Aerodynamic drag coefficient, lumped. */
+    readonly dragCoefficient?: number | undefined;
+    /** Rolling resistance coefficient. */
+    readonly rollingResistance?: number | undefined;
+    /** Yaw inertia. Defaults to a plausible value derived from mass and wheelbase. */
+    readonly yawInertia?: number | undefined;
+    /**
+     * Gravitational acceleration expressed in the same length unit as `wheelbase` and the
+     * positions this integrator reports, per second squared. Defaults to `9.81`.
+     *
+     * This exists because gravity is the only place a force model silently assumes a length
+     * unit. Every corner speed this model can hold is bounded by `sqrt(mu * gravity * radius)`,
+     * so hardcoding 9.81 does not mean "SI" — it means "one world unit is one metre", and it
+     * makes the integrator unusable for any route authored at another scale. A circuit authored
+     * in game units where one unit is 0.352 scene units has an effective gravity of
+     * `9.81 / 0.352`, and with 9.81 assumed instead the same geometry demands roughly 2.8x the
+     * lateral grip that physically exists. The car then understeers off the outside of every
+     * corner, which reads as "the physics is broken" when the real fault is that the caller was
+     * never given a way to state its units.
+     *
+     * Pass `sceneGravity / sceneUnitsPerWorldUnit` to run in authored units.
+     */
+    readonly gravity?: number | undefined;
+}
+export interface VehicleMotionInput {
+    /** 0..1 */
+    readonly throttle?: number | undefined;
+    /** 0..1 */
+    readonly brake?: number | undefined;
+    /** -1..1, scaled by `maxSteerAngle`. */
+    readonly steer?: number | undefined;
+    /** 0..1 grip multiplier from the surface under the car. */
+    readonly grip?: number | undefined;
+    /** Handbrake locks the rear axle, which is how a drift is initiated. */
+    readonly handbrake?: boolean | undefined;
+}
+export interface VehicleMotionState {
+    readonly x: number;
+    readonly z: number;
+    readonly heading: number;
+    /** Forward speed in the body frame. */
+    readonly speed: number;
+    /** Lateral speed in the body frame. Non-zero means the car is sliding. */
+    readonly lateralSpeed: number;
+    readonly yawRate: number;
+}
+export interface VehicleMotionSample extends VehicleMotionState {
+    /** Slip angle at the front axle, radians. */
+    readonly frontSlipAngle: number;
+    readonly rearSlipAngle: number;
+    /** Longitudinal slip ratio at the driven axle. */
+    readonly slipRatio: number;
+    /** True when drive torque exceeds available longitudinal grip. */
+    readonly wheelspin: boolean;
+    /**
+     * True when the front tyres have saturated, so the car runs wide of its heading.
+     *
+     * This is the diagnostic a kinematic model cannot produce: with heading integrated
+     * directly from steering input, the car always goes exactly where it points.
+     */
+    readonly understeering: boolean;
+    readonly oversteering: boolean;
+    /** Normal load per axle in newtons, after transfer. */
+    readonly frontLoad: number;
+    readonly rearLoad: number;
+    /** Total lateral acceleration in g, the number a driver actually feels. */
+    readonly lateralG: number;
+}
+export interface VehicleMotionIntegrator {
+    readonly kind: "aura-vehicle-motion";
+    readonly spec: Required<Omit<VehicleMotionSpec, never>>;
+    step(dt: number, input: VehicleMotionInput): VehicleMotionSample;
+    /**
+     * The current state, including the derived tyre and load diagnostics from the last step.
+     *
+     * This returns the full sample rather than the bare pose: a caller reading `state()` before
+     * its first `step()` still needs `lateralG`, `frontLoad` and the slip angles to drive a HUD
+     * or a camera, and narrowing the return type forced route code to either cast or duplicate
+     * the derived maths locally.
+     */
+    state(): VehicleMotionSample;
+    reset(state?: Partial<VehicleMotionState>): VehicleMotionSample;
+}
+export declare function createVehicleMotion(spec: VehicleMotionSpec): VehicleMotionIntegrator;
+//# sourceMappingURL=VehicleMotion.d.ts.map

package/dist/physics/VehicleMotion.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"VehicleMotion.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/VehicleMotion.ts"],"names":[],"mappings":"AAAA,OAAO,EAGL,KAAK,iBAAiB,EACvB,MAAM,sBAAsB,CAAC;AAE9B;;;;;;;;;;;;;;;;;;;;;GAqBG;AAEH,MAAM,WAAW,iBAAiB;IAChC,+BAA+B;IAC/B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,2CAA2C;IAC3C,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,iFAAiF;IACjF,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC;IAC9C,+EAA+E;IAC/E,QAAQ,CAAC,kBAAkB,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC;IACjD,qDAAqD;IACrD,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC;IAC5C,6CAA6C;IAC7C,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC;IACzC,0CAA0C;IAC1C,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC;IACzC,qBAAqB;IACrB,QAAQ,CAAC,UAAU,CAAC,EAAE,iBAAiB,GAAG,SAAS,CAAC;IACpD,4CAA4C;IAC5C,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC;IAC9C,sCAAsC;IACtC,QAAQ,CAAC,iBAAiB,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC;IAChD,kFAAkF;IAClF,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC;IACzC;;;;;;;;;;;;;;;OAeG;IACH,QAAQ,CAAC,OAAO,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC;CACvC;AAED,MAAM,WAAW,kBAAkB;IACjC,WAAW;IACX,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC;IACvC,WAAW;IACX,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC;IACpC,wCAAwC;IACxC,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC;IACpC,2DAA2D;IAC3D,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC;IACnC,wEAAwE;IACxE,QAAQ,CAAC,SAAS,CAAC,EAAE,OAAO,GAAG,SAAS,CAAC;CAC1C;AAED,MAAM,WAAW,kBAAkB;IACjC,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,uCAAuC;IACvC,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,0EAA0E;IAC1E,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;CAC1B;AAED,MAAM,WAAW,mBAAoB,SAAQ,kBAAkB;IAC7D,6CAA6C;IAC7C,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B,kDAAkD;IAClD,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,kEAAkE;IAClE,QAAQ,CAAC,SAAS,EAAE,OAAO,CAAC;IAC5B;;;;;OAKG;IACH,QAAQ,CAAC,aAAa,EAAE,OAAO,CAAC;IAChC,QAAQ,CAAC,YAAY,EAAE,OAAO,CAAC;IAC/B,uDAAuD;IACvD,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,2EAA2E;IAC3E,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;CAC3B;AAwBD,MAAM,WAAW,uBAAuB;IACtC,QAAQ,CAAC,IAAI,EAAE,qBAAqB,CAAC;IACrC,QAAQ,CAAC,IAAI,EAAE,QAAQ,CAAC,IAAI,CAAC,iBAAiB,EAAE,KAAK,CAAC,CAAC,CAAC;IACxD,IAAI,CAAC,EAAE,EAAE,MAAM,EAAE,KAAK,EAAE,kBAAkB,GAAG,mBAAmB,CAAC;IACjE;;;;;;;OAOG;IACH,KAAK,IAAI,mBAAmB,CAAC;IAC7B,KAAK,CAAC,KAAK,CAAC,EAAE,OAAO,CAAC,kBAAkB,CAAC,GAAG,mBAAmB,CAAC;CACjE;AAED,wBAAgB,mBAAmB,CAAC,IAAI,EAAE,iBAAiB,GAAG,uBAAuB,CAmXpF"}