@carbonenginejs/runtime-trinity 0.4.0 → 0.4.3

package/dist/generated/eve/child/behaviors/EveKDdroneManagementTree.js

@@ -1,8 +1,9 @@
 import { identity as _identity, applyDecs2311 as _applyDecs2311 } from '../../../../_virtual/_rollupPluginBabelHelpers.js';
-import { type, schema } from '@carbonenginejs/core-types/schema';
+import { type, carbon, impl, schema } from '@carbonenginejs/core-types/schema';
 import { CjsModel } from '@carbonenginejs/core-types/model';
+import { vec3 } from '@carbonenginejs/core-math/vec3';
 
-let _initClass, _init_tree, _init_extra_tree, _init_debugSquareSize, _init_extra_debugSquareSize, _init_updateTimeCounter, _init_extra_updateTimeCounter, _init_maxFoundPerAgent, _init_extra_maxFoundPerAgent, _init_timeBetweenUpdate, _init_extra_timeBetweenUpdate, _init_agentRefs, _init_extra_agentRefs, _init_groupSearchReturnInfoBlock, _init_extra_groupSearchReturnInfoBlock, _init_agents, _init_extra_agents, _init_behaviorNbr, _init_extra_behaviorNbr, _init_radius, _init_extra_radius, _init_agent, _init_extra_agent, _init_rangeBetween, _init_extra_rangeBetween, _init_planeType, _init_extra_planeType, _init_b, _init_extra_b, _init_e, _init_extra_e, _init_left, _init_extra_left, _init_right, _init_extra_right;
+let _initProto, _initClass, _init_tree, _init_extra_tree, _init_debugSquareSize, _init_extra_debugSquareSize, _init_updateTimeCounter, _init_extra_updateTimeCounter, _init_maxFoundPerAgent, _init_extra_maxFoundPerAgent, _init_timeBetweenUpdate, _init_extra_timeBetweenUpdate, _init_agentRefs, _init_extra_agentRefs, _init_groupSearchReturnInfoBlock, _init_extra_groupSearchReturnInfoBlock, _init_agents, _init_extra_agents, _init_behaviorNbr, _init_extra_behaviorNbr, _init_radius, _init_extra_radius, _init_agent, _init_extra_agent, _init_rangeBetween, _init_extra_rangeBetween, _init_planeType, _init_extra_planeType, _init_b, _init_extra_b, _init_e, _init_extra_e, _init_left, _init_extra_left, _init_right, _init_extra_right;
 
 /** EveKDdroneManagementTree (eve/child/behaviors) - generated from schema shapeHash 11f612c5.... */
 let _EveKDdroneManagement;
@@ -10,19 +11,15 @@ new class extends _identity {
   static [class EveKDdroneManagementTree extends CjsModel {
     static {
       ({
-        e: [_init_tree, _init_extra_tree, _init_debugSquareSize, _init_extra_debugSquareSize, _init_updateTimeCounter, _init_extra_updateTimeCounter, _init_maxFoundPerAgent, _init_extra_maxFoundPerAgent, _init_timeBetweenUpdate, _init_extra_timeBetweenUpdate, _init_agentRefs, _init_extra_agentRefs, _init_groupSearchReturnInfoBlock, _init_extra_groupSearchReturnInfoBlock, _init_agents, _init_extra_agents, _init_behaviorNbr, _init_extra_behaviorNbr, _init_radius, _init_extra_radius, _init_agent, _init_extra_agent, _init_rangeBetween, _init_extra_rangeBetween, _init_planeType, _init_extra_planeType, _init_b, _init_extra_b, _init_e, _init_extra_e, _init_left, _init_extra_left, _init_right, _init_extra_right],
+        e: [_init_tree, _init_extra_tree, _init_debugSquareSize, _init_extra_debugSquareSize, _init_updateTimeCounter, _init_extra_updateTimeCounter, _init_maxFoundPerAgent, _init_extra_maxFoundPerAgent, _init_timeBetweenUpdate, _init_extra_timeBetweenUpdate, _init_agentRefs, _init_extra_agentRefs, _init_groupSearchReturnInfoBlock, _init_extra_groupSearchReturnInfoBlock, _init_agents, _init_extra_agents, _init_behaviorNbr, _init_extra_behaviorNbr, _init_radius, _init_extra_radius, _init_agent, _init_extra_agent, _init_rangeBetween, _init_extra_rangeBetween, _init_planeType, _init_extra_planeType, _init_b, _init_extra_b, _init_e, _init_extra_e, _init_left, _init_extra_left, _init_right, _init_extra_right, _initProto],
         c: [_EveKDdroneManagement, _initClass]
       } = _applyDecs2311(this, [type.define({
         className: "EveKDdroneManagementTree",
         family: "eve/child/behaviors"
-      })], [[type.objectRef("Agent"), 0, "tree"], [[type, type.float32], 16, "debugSquareSize"], [[type, type.float32], 16, "updateTimeCounter"], [[type, type.uint64], 16, "maxFoundPerAgent"], [[type, type.float32], 16, "timeBetweenUpdate"], [type.list("Agent"), 0, "agentRefs"], [type.list("std::vector<std::vector<DroneAgent>>"), 0, "groupSearchReturnInfoBlock"], [type.list("DroneAgent"), 0, "agents"], [[type, type.int32], 16, "behaviorNbr"], [[type, type.float32], 16, "radius"], [type.objectRef("DroneAgent"), 0, "agent"], [[type, type.float32], 16, "rangeBetween"], [[type, type.int32, void 0, schema.enum("PlaneType")], 16, "planeType"], [[type, type.int32], 16, "b"], [[type, type.int32], 16, "e"], [type.objectRef("Agent"), 0, "left"], [type.objectRef("Agent"), 0, "right"]], 0, void 0, CjsModel));
-    }
-    constructor(...args) {
-      super(...args);
-      _init_extra_right(this);
+      })], [[type.objectRef("Agent"), 0, "tree"], [[type, type.float32], 16, "debugSquareSize"], [[type, type.float32], 16, "updateTimeCounter"], [[type, type.uint64], 16, "maxFoundPerAgent"], [[type, type.float32], 16, "timeBetweenUpdate"], [type.list("Agent"), 0, "agentRefs"], [type.list("std::vector<std::vector<DroneAgent>>"), 0, "groupSearchReturnInfoBlock"], [type.list("DroneAgent"), 0, "agents"], [[type, type.int32], 16, "behaviorNbr"], [[type, type.float32], 16, "radius"], [type.objectRef("DroneAgent"), 0, "agent"], [[type, type.float32], 16, "rangeBetween"], [[type, type.int32, void 0, schema.enum("PlaneType")], 16, "planeType"], [[type, type.int32], 16, "b"], [[type, type.int32], 16, "e"], [type.objectRef("Agent"), 0, "left"], [type.objectRef("Agent"), 0, "right"], [[carbon, carbon.method, impl, impl.adapted, void 0, impl.reason("Carbon copies the root AgentRef by value into m_tree; the JS port keeps a reference into agentRefs (same fields, shared identity).")], 18, "CreateTree"], [[carbon, carbon.method, impl, impl.implemented], 18, "UpdateTree"], [[carbon, carbon.method, impl, impl.implemented], 18, "FindClosestAgent"], [[carbon, carbon.method, impl, impl.implemented], 18, "FindDronesInRange"]], 0, void 0, CjsModel));
     }
     /** m_tree (AgentRef) */
-    tree = _init_tree(this, null);
+    tree = (_initProto(this), _init_tree(this, null));
 
     /** m_debugSquareSize (float) */
     debugSquareSize = (_init_extra_tree(this), _init_debugSquareSize(this, 0));
@@ -71,7 +68,303 @@ new class extends _identity {
 
     /** right (AgentRef*) */
     right = (_init_extra_left(this), _init_right(this, null));
+
+    // Reused SearchRange records ({behaviorNbr, radius}) - rebuilt each
+    // FindDronesInRange call without reallocating the array shell.
+    #searchRanges = (_init_extra_right(this), []);
+
+    // Carbon threads activeRange as an int& through the recursive search; the
+    // JS port carries it as instance state reset per agent.
+    #activeRange = 0;
+
+    /**
+     * Builds the k-d tree over the agents and sizes the per-behavior search
+     * result block (Carbon EveKDdroneManagementTree::CreateTree, cpp:18-42).
+     * @param {Array} agents - DroneAgent records
+     * @param {Number} numberOfBehaviors
+     */
+    CreateTree(agents, numberOfBehaviors) {
+      if (!agents || agents.length === 0) {
+        return;
+      }
+      this.#ChangeAgentsIntoAgentRefs(agents);
+      this.tree = this.#SplitSort(0, agents.length - 1, _EveKDdroneManagement.PlaneType.Z);
+      const infoBlock = this.groupSearchReturnInfoBlock;
+      infoBlock.length = 0;
+      for (let j = 0; j < numberOfBehaviors; j++) {
+        const perAgentData = [];
+        for (let i = 0; i < agents.length; i++) {
+          perAgentData.push([]);
+        }
+        infoBlock.push(perAgentData);
+      }
+    }
+
+    /**
+     * Throttled incremental rebalance: every timeBetweenUpdate seconds each node
+     * is checked against its children and locally re-sorted when the splitting
+     * invariant broke (Carbon UpdateTree, cpp:44-55).
+     * @param {Number} dt - delta time in seconds
+     */
+    UpdateTree(dt) {
+      if (this.timeBetweenUpdate !== -1 && this.updateTimeCounter >= this.timeBetweenUpdate) {
+        this.updateTimeCounter = 0;
+        this.tree = this.#CompareNodeToChildren(this.tree);
+      } else {
+        this.updateTimeCounter += dt;
+      }
+    }
+
+    /**
+     * Standard nearest-neighbour tree search for callers outside the behavior
+     * group (Carbon FindClosestAgent, cpp:276-289).
+     * @param {Float32Array} pos
+     * @returns {Object|null} the closest DroneAgent record
+     */
+    FindClosestAgent(pos) {
+      if (!this.tree || !this.tree.agent) {
+        return null;
+      }
+      const closest = {
+        agent: this.tree.agent,
+        rangeBetween: vec3.distance(this.tree.agent.position, pos)
+      };
+      this.#FindClosestAgentRecursive(pos, this.tree, closest);
+      return closest.agent;
+    }
+
+    /**
+     * Batched range search for every agent against every behavior's search
+     * radius at once (Carbon FindDronesInRange, cpp:374-430). The result is
+     * indexed [behaviorIndex][agentIndex] -> agents in range (up to
+     * maxFoundPerAgent per Carbon's early-out bookkeeping).
+     * @param {Array} agents - DroneAgent records
+     * @param {Array<Number>} ranges - per-behavior search radii (-1 = don't care)
+     * @param {Number} behaviorGroupBoundingSphereRadius
+     * @returns {Array} groupSearchReturnInfoBlock
+     */
+    FindDronesInRange(agents, ranges, behaviorGroupBoundingSphereRadius) {
+      const searchRanges = this.#searchRanges;
+      searchRanges.length = 0;
+      for (let behaviorNumber = 0; behaviorNumber < ranges.length; behaviorNumber++) {
+        const radius = ranges[behaviorNumber];
+        searchRanges.push({
+          behaviorNbr: behaviorNumber,
+          radius: radius === -1 ? -1 : radius + behaviorGroupBoundingSphereRadius
+        });
+      }
+      searchRanges.sort(_EveKDdroneManagement.#CompareSearchRanges);
+      const infoBlock = this.groupSearchReturnInfoBlock;
+      if (infoBlock.length) {
+        for (let j = 0; j < ranges.length && j < infoBlock.length; j++) {
+          for (let i = 0; i < agents.length && i < infoBlock[j].length; i++) {
+            infoBlock[j][i].length = 0;
+          }
+        }
+      }
+      if (searchRanges.length === 0) {
+        return infoBlock;
+      }
+      if (searchRanges[0].radius === -1) {
+        return infoBlock;
+      }
+      for (let c = 0; c < agents.length; c++) {
+        this.#activeRange = 0;
+        this.#SearchThroughTreeHelperFunction(infoBlock, this.tree, agents[c], searchRanges, c);
+      }
+      return infoBlock;
+    }
+
+    // Rebuilds the AgentRef shells over the live agents (Carbon
+    // ChangeAgentsIntoAgentRefs, cpp:232-242).
+    #ChangeAgentsIntoAgentRefs(agents) {
+      const refs = this.agentRefs;
+      refs.length = 0;
+      for (const agent of agents) {
+        refs.push({
+          agent,
+          planeType: _EveKDdroneManagement.PlaneType.X,
+          b: 0,
+          e: 0,
+          left: null,
+          right: null
+        });
+      }
+    }
+
+    // Recursive median split over agentRefs[b..e] (Carbon SplitSort,
+    // cpp:202-230).
+    #SplitSort(b, e, planeType) {
+      const refs = this.agentRefs;
+      if (b === e) {
+        refs[b].b = b;
+        refs[b].e = e;
+        refs[b].left = null;
+        refs[b].right = null;
+        return refs[b];
+      }
+      if (b > e) {
+        return null;
+      }
+      this.#SortByAxis(refs, b, e + 1, planeType);
+      const m = b + (e - b >> 1);
+      refs[m].b = b;
+      refs[m].e = e;
+      const nextPlane = _EveKDdroneManagement.#FindNextSplitAxis(planeType);
+      refs[m].left = this.#SplitSort(b, m - 1, nextPlane);
+      refs[m].right = this.#SplitSort(m + 1, e, nextPlane);
+      return refs[m];
+    }
+
+    // Stamps planeType on the range then sorts it by that axis (Carbon
+    // SortByAxis, cpp:261-271); the temporary subrange copy replaces
+    // std::sort's in-place range sort and only allocates on the throttled
+    // rebuild path.
+    #SortByAxis(refs, b, endExclusive, planeType) {
+      for (let i = b; i < endExclusive; i++) {
+        refs[i].planeType = planeType;
+      }
+      const range = refs.slice(b, endExclusive);
+      range.sort((lhs, rhs) => lhs.agent.position[planeType] - rhs.agent.position[planeType]);
+      for (let i = 0; i < range.length; i++) {
+        refs[b + i] = range[i];
+      }
+    }
+
+    // Checks each split invariant and locally re-sorts broken subtrees (Carbon
+    // CompareNodeToChildren, cpp:58-110; the three per-axis cases collapse to
+    // one indexed body on the shared vec3 layout).
+    #CompareNodeToChildren(node) {
+      if (node === null) {
+        return null;
+      }
+      if (node.left === null && node.right === null) {
+        return node;
+      }
+      const axis = node.planeType;
+      if (this.#IsBiggestOnAxis(node.left, node.agent.position[axis], axis) && this.#IsSmallestOnAxis(node.right, node.agent.position[axis], axis)) {
+        node.left = this.#CompareNodeToChildren(node.left);
+        node.right = this.#CompareNodeToChildren(node.right);
+        return node;
+      }
+      return this.#SplitSort(node.b, node.e, axis);
+    }
+
+    // Carbon IsBiggestOnAxis (cpp:112-154): on the node's own split axis only
+    // the bigger side needs checking; on other axes both sides do.
+    #IsBiggestOnAxis(node, n, planeType) {
+      if (node === null) {
+        return true;
+      }
+      const axis = node.planeType;
+      if (planeType === axis) {
+        return n >= node.agent.position[axis] && this.#IsBiggestOnAxis(node.right, n, axis);
+      }
+      return n >= node.agent.position[axis] && this.#IsBiggestOnAxis(node.left, n, axis) && this.#IsBiggestOnAxis(node.right, n, axis);
+    }
+
+    // Carbon IsSmallestOnAxis (cpp:157-199): mirror of IsBiggestOnAxis.
+    #IsSmallestOnAxis(node, n, planeType) {
+      if (node === null) {
+        return true;
+      }
+      const axis = node.planeType;
+      if (planeType === axis) {
+        return n <= node.agent.position[axis] && this.#IsSmallestOnAxis(node.left, n, axis);
+      }
+      return n <= node.agent.position[axis] && this.#IsSmallestOnAxis(node.left, n, axis) && this.#IsSmallestOnAxis(node.right, n, axis);
+    }
+
+    // Carbon FindClosestAgentRecursive (cpp:291-371): digs through the tree,
+    // pruning half-spaces the best-so-far sphere cannot reach.
+    #FindClosestAgentRecursive(pos, node, closest) {
+      if (node === null) {
+        return;
+      }
+      const distToPoint = vec3.distance(node.agent.position, pos);
+      if (closest.rangeBetween > distToPoint) {
+        closest.rangeBetween = distToPoint;
+        closest.agent = node.agent;
+      }
+      const axis = node.planeType;
+      if (node.agent.position[axis] < pos[axis]) {
+        this.#FindClosestAgentRecursive(pos, node.right, closest);
+        if (node.agent.position[axis] + closest.rangeBetween > pos[axis]) {
+          this.#FindClosestAgentRecursive(pos, node.left, closest);
+        }
+      } else {
+        this.#FindClosestAgentRecursive(pos, node.left, closest);
+        if (node.agent.position[axis] - closest.rangeBetween < pos[axis]) {
+          this.#FindClosestAgentRecursive(pos, node.right, closest);
+        }
+      }
+    }
+
+    // Per-agent range search body (Carbon SearchThroughTreeHelperFunction,
+    // cpp:443-517), kept bug-compatible: a found agent is appended once, then
+    // once or twice more depending on the fill state, and activeRange advances
+    // when the widest range saturates.
+    #SearchThroughTreeHelperFunction(closeAgents, node, agent, ranges, c) {
+      if (node === null) {
+        return;
+      }
+      if (this.#activeRange > ranges.length - 1) {
+        return;
+      }
+      if (ranges[this.#activeRange].radius === -1) {
+        return;
+      }
+      const dist = vec3.squaredDistance(node.agent.position, agent.position);
+      const range = ranges[this.#activeRange].radius;
+      if (dist < range * range) {
+        _EveKDdroneManagement.#AddAgentToSearchLists(closeAgents, node, dist, ranges, this.#activeRange, c);
+        const found = closeAgents[ranges[this.#activeRange].behaviorNbr][c].length;
+        if (found < this.maxFoundPerAgent) {
+          _EveKDdroneManagement.#AddAgentToSearchLists(closeAgents, node, dist, ranges, this.#activeRange, c);
+        } else if (found === this.maxFoundPerAgent) {
+          _EveKDdroneManagement.#AddAgentToSearchLists(closeAgents, node, dist, ranges, this.#activeRange, c);
+          this.#activeRange++;
+        }
+      }
+      const axis = node.planeType;
+      const delta = node.agent.position[axis] - agent.position[axis];
+      if (delta <= range) {
+        this.#SearchThroughTreeHelperFunction(closeAgents, node.right, agent, ranges, c);
+      }
+      if (delta >= range) {
+        this.#SearchThroughTreeHelperFunction(closeAgents, node.left, agent, ranges, c);
+      }
+    }
+
+    // Descending-radius ordering (Carbon compareRef for SearchRange, h:81-84).
+
+    // Carbon AddAgentToSearchLists (cpp:519-532): the ranges are sorted
+    // descending, so appending stops at the first range the agent falls out of.
+
+    // X -> Y -> Z -> X (Carbon FindNextSplitAxis, cpp:244-259).
   }];
+  #CompareSearchRanges(lhs, rhs) {
+    return rhs.radius - lhs.radius;
+  }
+  #AddAgentToSearchLists(closeAgents, node, dist, ranges, activeRange, agentNbr) {
+    for (let i = activeRange; i < ranges.length; i++) {
+      if (dist < ranges[i].radius * ranges[i].radius) {
+        closeAgents[ranges[i].behaviorNbr][agentNbr].push(node.agent);
+      } else {
+        break;
+      }
+    }
+  }
+  #FindNextSplitAxis(planeType) {
+    switch (planeType) {
+      case _EveKDdroneManagement.PlaneType.X:
+        return _EveKDdroneManagement.PlaneType.Y;
+      case _EveKDdroneManagement.PlaneType.Y:
+        return _EveKDdroneManagement.PlaneType.Z;
+      default:
+        return _EveKDdroneManagement.PlaneType.X;
+    }
+  }
   PlaneType = Object.freeze({
     X: 0,
     Y: 1,

package/dist/generated/eve/child/behaviors/EveKDdroneManagementTree.js.map

@@ -1 +1 @@
-{"version":3,"file":"EveKDdroneManagementTree.js","sources":["../../../../../../src/generated/eve/child/behaviors/EveKDdroneManagementTree.js"],"sourcesContent":["// Ported from CarbonEngine (MIT, (c) 2026 CCP Games) - https://github.com/carbonengine/trinity\n//   trinity/trinity/Eve/SpaceObject/Children/Behaviors/EveKDdroneManagementTree.h\n// Generated by format-carbon carbon-class --emit. Verify against eve/child/behaviors/EveKDdroneManagementTree.json.\nimport { schema, type } from \"@carbonenginejs/core-types/schema\";\nimport { CjsModel } from \"@carbonenginejs/core-types/model\";\n\n/** EveKDdroneManagementTree (eve/child/behaviors) - generated from schema shapeHash 11f612c5.... */\n@type.define({ className: \"EveKDdroneManagementTree\", family: \"eve/child/behaviors\" })\nexport class EveKDdroneManagementTree extends CjsModel\n{\n\n  /** m_tree (AgentRef) */\n  @type.objectRef(\"Agent\")\n  tree = null;\n\n  /** m_debugSquareSize (float) */\n  @type.float32\n  debugSquareSize = 0;\n\n  /** m_updateTimeCounter (float) */\n  @type.float32\n  updateTimeCounter = 0;\n\n  /** m_maxFoundPerAgent (size_t) */\n  @type.uint64\n  maxFoundPerAgent = 5;\n\n  /** m_timeBetweenUpdate (float) */\n  @type.float32\n  timeBetweenUpdate = 1;\n\n  /** m_agentRefs (std::vector<AgentRef>) */\n  @type.list(\"Agent\")\n  agentRefs = [];\n\n  /** m_groupSearchReturnInfoBlock (std::vector<std::vector<std::vector<DroneAgent*>>>) */\n  @type.list(\"std::vector<std::vector<DroneAgent>>\")\n  groupSearchReturnInfoBlock = [];\n\n  /** agents (std::vector<DroneAgent> &) */\n  @type.list(\"DroneAgent\")\n  agents = [];\n\n  /** behaviorNbr (int) */\n  @type.int32\n  behaviorNbr = 0;\n\n  /** radius (float) */\n  @type.float32\n  radius = 0;\n\n  /** agent (DroneAgent*) */\n  @type.objectRef(\"DroneAgent\")\n  agent = null;\n\n  /** rangeBetween (float) */\n  @type.float32\n  rangeBetween = 0;\n\n  /** planeType (PlaneType - enum PlaneType) */\n  @type.int32\n  @schema.enum(\"PlaneType\")\n  planeType = 0;\n\n  /** b (int) */\n  @type.int32\n  b = 0;\n\n  /** e (int) */\n  @type.int32\n  e = 0;\n\n  /** left (AgentRef*) */\n  @type.objectRef(\"Agent\")\n  left = null;\n\n  /** right (AgentRef*) */\n  @type.objectRef(\"Agent\")\n  right = null;\n\n  static PlaneType = Object.freeze({\n    X: 0,\n    Y: 1,\n    Z: 2,\n  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+{"version":3,"file":"EveKDdroneManagementTree.js","sources":["../../../../../../src/generated/eve/child/behaviors/EveKDdroneManagementTree.js"],"sourcesContent":["// Ported from CarbonEngine (MIT, (c) 2026 CCP Games) - https://github.com/carbonengine/trinity\n//   trinity/trinity/Eve/SpaceObject/Children/Behaviors/EveKDdroneManagementTree.h\n//   trinity/trinity/Eve/SpaceObject/Children/Behaviors/EveKDdroneManagementTree.cpp\n// Generated by format-carbon carbon-class --emit. Verify against eve/child/behaviors/EveKDdroneManagementTree.json.\nimport { carbon, impl, schema, type } from \"@carbonenginejs/core-types/schema\";\nimport { CjsModel } from \"@carbonenginejs/core-types/model\";\nimport { vec3 } from \"@carbonenginejs/core-math/vec3\";\n\n/** EveKDdroneManagementTree (eve/child/behaviors) - generated from schema shapeHash 11f612c5.... */\n@type.define({ className: \"EveKDdroneManagementTree\", family: \"eve/child/behaviors\" })\nexport class EveKDdroneManagementTree extends CjsModel\n{\n\n  /** m_tree (AgentRef) */\n  @type.objectRef(\"Agent\")\n  tree = null;\n\n  /** m_debugSquareSize (float) */\n  @type.float32\n  debugSquareSize = 0;\n\n  /** m_updateTimeCounter (float) */\n  @type.float32\n  updateTimeCounter = 0;\n\n  /** m_maxFoundPerAgent (size_t) */\n  @type.uint64\n  maxFoundPerAgent = 5;\n\n  /** m_timeBetweenUpdate (float) */\n  @type.float32\n  timeBetweenUpdate = 1;\n\n  /** m_agentRefs (std::vector<AgentRef>) */\n  @type.list(\"Agent\")\n  agentRefs = [];\n\n  /** m_groupSearchReturnInfoBlock (std::vector<std::vector<std::vector<DroneAgent*>>>) */\n  @type.list(\"std::vector<std::vector<DroneAgent>>\")\n  groupSearchReturnInfoBlock = [];\n\n  /** agents (std::vector<DroneAgent> &) */\n  @type.list(\"DroneAgent\")\n  agents = [];\n\n  /** behaviorNbr (int) */\n  @type.int32\n  behaviorNbr = 0;\n\n  /** radius (float) */\n  @type.float32\n  radius = 0;\n\n  /** agent (DroneAgent*) */\n  @type.objectRef(\"DroneAgent\")\n  agent = null;\n\n  /** rangeBetween (float) */\n  @type.float32\n  rangeBetween = 0;\n\n  /** planeType (PlaneType - enum PlaneType) */\n  @type.int32\n  @schema.enum(\"PlaneType\")\n  planeType = 0;\n\n  /** b (int) */\n  @type.int32\n  b = 0;\n\n  /** e (int) */\n  @type.int32\n  e = 0;\n\n  /** left (AgentRef*) */\n  @type.objectRef(\"Agent\")\n  left = null;\n\n  /** right (AgentRef*) */\n  @type.objectRef(\"Agent\")\n  right = null;\n\n  // Reused SearchRange records ({behaviorNbr, radius}) - rebuilt each\n  // FindDronesInRange call without reallocating the array shell.\n  #searchRanges = [];\n\n  // Carbon threads activeRange as an int& through the recursive search; the\n  // JS port carries it as instance state reset per agent.\n  #activeRange = 0;\n\n  /**\n   * Builds the k-d tree over the agents and sizes the per-behavior search\n   * result block (Carbon EveKDdroneManagementTree::CreateTree, cpp:18-42).\n   * @param {Array} agents - DroneAgent records\n   * @param {Number} numberOfBehaviors\n   */\n  @carbon.method\n  @impl.adapted\n  @impl.reason(\"Carbon copies the root AgentRef by value into m_tree; the JS port keeps a reference into agentRefs (same fields, shared identity).\")\n  CreateTree(agents, numberOfBehaviors)\n  {\n    if (!agents || agents.length === 0)\n    {\n      return;\n    }\n\n    this.#ChangeAgentsIntoAgentRefs(agents);\n    this.tree = this.#SplitSort(0, agents.length - 1, EveKDdroneManagementTree.PlaneType.Z);\n\n    const infoBlock = this.groupSearchReturnInfoBlock;\n    infoBlock.length = 0;\n    for (let j = 0; j < numberOfBehaviors; j++)\n    {\n      const perAgentData = [];\n      for (let i = 0; i < agents.length; i++)\n      {\n        perAgentData.push([]);\n      }\n      infoBlock.push(perAgentData);\n    }\n  }\n\n  /**\n   * Throttled incremental rebalance: every timeBetweenUpdate seconds each node\n   * is checked against its children and locally re-sorted when the splitting\n   * invariant broke (Carbon UpdateTree, cpp:44-55).\n   * @param {Number} dt - delta time in seconds\n   */\n  @carbon.method\n  @impl.implemented\n  UpdateTree(dt)\n  {\n    if (this.timeBetweenUpdate !== -1 && this.updateTimeCounter >= this.timeBetweenUpdate)\n    {\n      this.updateTimeCounter = 0;\n      this.tree = this.#CompareNodeToChildren(this.tree);\n    }\n    else\n    {\n      this.updateTimeCounter += dt;\n    }\n  }\n\n  /**\n   * Standard nearest-neighbour tree search for callers outside the behavior\n   * group (Carbon FindClosestAgent, cpp:276-289).\n   * @param {Float32Array} pos\n   * @returns {Object|null} the closest DroneAgent record\n   */\n  @carbon.method\n  @impl.implemented\n  FindClosestAgent(pos)\n  {\n    if (!this.tree || !this.tree.agent)\n    {\n      return null;\n    }\n\n    const closest = {\n      agent: this.tree.agent,\n      rangeBetween: vec3.distance(this.tree.agent.position, pos)\n    };\n    this.#FindClosestAgentRecursive(pos, this.tree, closest);\n    return closest.agent;\n  }\n\n  /**\n   * Batched range search for every agent against every behavior's search\n   * radius at once (Carbon FindDronesInRange, cpp:374-430). The result is\n   * indexed [behaviorIndex][agentIndex] -> agents in range (up to\n   * maxFoundPerAgent per Carbon's early-out bookkeeping).\n   * @param {Array} agents - DroneAgent records\n   * @param {Array<Number>} ranges - per-behavior search radii (-1 = don't care)\n   * @param {Number} behaviorGroupBoundingSphereRadius\n   * @returns {Array} groupSearchReturnInfoBlock\n   */\n  @carbon.method\n  @impl.implemented\n  FindDronesInRange(agents, ranges, behaviorGroupBoundingSphereRadius)\n  {\n    const searchRanges = this.#searchRanges;\n    searchRanges.length = 0;\n    for (let behaviorNumber = 0; behaviorNumber < ranges.length; behaviorNumber++)\n    {\n      const radius = ranges[behaviorNumber];\n      searchRanges.push({\n        behaviorNbr: behaviorNumber,\n        radius: radius === -1 ? -1 : radius + behaviorGroupBoundingSphereRadius\n      });\n    }\n    searchRanges.sort(EveKDdroneManagementTree.#CompareSearchRanges);\n\n    const infoBlock = this.groupSearchReturnInfoBlock;\n    if (infoBlock.length)\n    {\n      for (let j = 0; j < ranges.length && j < infoBlock.length; j++)\n      {\n        for (let i = 0; i < agents.length && i < infoBlock[j].length; i++)\n        {\n          infoBlock[j][i].length = 0;\n        }\n      }\n    }\n\n    if (searchRanges.length === 0)\n    {\n      return infoBlock;\n    }\n    if (searchRanges[0].radius === -1)\n    {\n      return infoBlock;\n    }\n\n    for (let c = 0; c < agents.length; c++)\n    {\n      this.#activeRange = 0;\n      this.#SearchThroughTreeHelperFunction(infoBlock, this.tree, agents[c], searchRanges, c);\n    }\n\n    return infoBlock;\n  }\n\n  // Rebuilds the AgentRef shells over the live agents (Carbon\n  // ChangeAgentsIntoAgentRefs, cpp:232-242).\n  #ChangeAgentsIntoAgentRefs(agents)\n  {\n    const refs = this.agentRefs;\n    refs.length = 0;\n    for (const agent of agents)\n    {\n      refs.push({\n        agent,\n        planeType: EveKDdroneManagementTree.PlaneType.X,\n        b: 0,\n        e: 0,\n        left: null,\n        right: null\n      });\n    }\n  }\n\n  // Recursive median split over agentRefs[b..e] (Carbon SplitSort,\n  // cpp:202-230).\n  #SplitSort(b, e, planeType)\n  {\n    const refs = this.agentRefs;\n    if (b === e)\n    {\n      refs[b].b = b;\n      refs[b].e = e;\n      refs[b].left = null;\n      refs[b].right = null;\n      return refs[b];\n    }\n\n    if (b > e)\n    {\n      return null;\n    }\n\n    this.#SortByAxis(refs, b, e + 1, planeType);\n\n    const m = b + ((e - b) >> 1);\n    refs[m].b = b;\n    refs[m].e = e;\n\n    const nextPlane = EveKDdroneManagementTree.#FindNextSplitAxis(planeType);\n    refs[m].left = this.#SplitSort(b, m - 1, nextPlane);\n    refs[m].right = this.#SplitSort(m + 1, e, nextPlane);\n\n    return refs[m];\n  }\n\n  // Stamps planeType on the range then sorts it by that axis (Carbon\n  // SortByAxis, cpp:261-271); the temporary subrange copy replaces\n  // std::sort's in-place range sort and only allocates on the throttled\n  // rebuild path.\n  #SortByAxis(refs, b, endExclusive, planeType)\n  {\n    for (let i = b; i < endExclusive; i++)\n    {\n      refs[i].planeType = planeType;\n    }\n\n    const range = refs.slice(b, endExclusive);\n    range.sort((lhs, rhs) => lhs.agent.position[planeType] - rhs.agent.position[planeType]);\n    for (let i = 0; i < range.length; i++)\n    {\n      refs[b + i] = range[i];\n    }\n  }\n\n  // Checks each split invariant and locally re-sorts broken subtrees (Carbon\n  // CompareNodeToChildren, cpp:58-110; the three per-axis cases collapse to\n  // one indexed body on the shared vec3 layout).\n  #CompareNodeToChildren(node)\n  {\n    if (node === null)\n    {\n      return null;\n    }\n\n    if (node.left === null && node.right === null)\n    {\n      return node;\n    }\n\n    const axis = node.planeType;\n    if (this.#IsBiggestOnAxis(node.left, node.agent.position[axis], axis) &&\n      this.#IsSmallestOnAxis(node.right, node.agent.position[axis], axis))\n    {\n      node.left = this.#CompareNodeToChildren(node.left);\n      node.right = this.#CompareNodeToChildren(node.right);\n      return node;\n    }\n    return this.#SplitSort(node.b, node.e, axis);\n  }\n\n  // Carbon IsBiggestOnAxis (cpp:112-154): on the node's own split axis only\n  // the bigger side needs checking; on other axes both sides do.\n  #IsBiggestOnAxis(node, n, planeType)\n  {\n    if (node === null)\n    {\n      return true;\n    }\n\n    const axis = node.planeType;\n    if (planeType === axis)\n    {\n      return n >= node.agent.position[axis] && this.#IsBiggestOnAxis(node.right, n, axis);\n    }\n    return n >= node.agent.position[axis] &&\n      this.#IsBiggestOnAxis(node.left, n, axis) &&\n      this.#IsBiggestOnAxis(node.right, n, axis);\n  }\n\n  // Carbon IsSmallestOnAxis (cpp:157-199): mirror of IsBiggestOnAxis.\n  #IsSmallestOnAxis(node, n, planeType)\n  {\n    if (node === null)\n    {\n      return true;\n    }\n\n    const axis = node.planeType;\n    if (planeType === axis)\n    {\n      return n <= node.agent.position[axis] && this.#IsSmallestOnAxis(node.left, n, axis);\n    }\n    return n <= node.agent.position[axis] &&\n      this.#IsSmallestOnAxis(node.left, n, axis) &&\n      this.#IsSmallestOnAxis(node.right, n, axis);\n  }\n\n  // Carbon FindClosestAgentRecursive (cpp:291-371): digs through the tree,\n  // pruning half-spaces the best-so-far sphere cannot reach.\n  #FindClosestAgentRecursive(pos, node, closest)\n  {\n    if (node === null)\n    {\n      return;\n    }\n\n    const distToPoint = vec3.distance(node.agent.position, pos);\n    if (closest.rangeBetween > distToPoint)\n    {\n      closest.rangeBetween = distToPoint;\n      closest.agent = node.agent;\n    }\n\n    const axis = node.planeType;\n    if (node.agent.position[axis] < pos[axis])\n    {\n      this.#FindClosestAgentRecursive(pos, node.right, closest);\n      if (node.agent.position[axis] + closest.rangeBetween > pos[axis])\n      {\n        this.#FindClosestAgentRecursive(pos, node.left, closest);\n      }\n    }\n    else\n    {\n      this.#FindClosestAgentRecursive(pos, node.left, closest);\n      if (node.agent.position[axis] - closest.rangeBetween < pos[axis])\n      {\n        this.#FindClosestAgentRecursive(pos, node.right, closest);\n      }\n    }\n  }\n\n  // Per-agent range search body (Carbon SearchThroughTreeHelperFunction,\n  // cpp:443-517), kept bug-compatible: a found agent is appended once, then\n  // once or twice more depending on the fill state, and activeRange advances\n  // when the widest range saturates.\n  #SearchThroughTreeHelperFunction(closeAgents, node, agent, ranges, c)\n  {\n    if (node === null)\n    {\n      return;\n    }\n\n    if (this.#activeRange > ranges.length - 1)\n    {\n      return;\n    }\n\n    if (ranges[this.#activeRange].radius === -1)\n    {\n      return;\n    }\n\n    const dist = vec3.squaredDistance(node.agent.position, agent.position);\n    const range = ranges[this.#activeRange].radius;\n\n    if (dist < range * range)\n    {\n      EveKDdroneManagementTree.#AddAgentToSearchLists(closeAgents, node, dist, ranges, this.#activeRange, c);\n\n      const found = closeAgents[ranges[this.#activeRange].behaviorNbr][c].length;\n      if (found < this.maxFoundPerAgent)\n      {\n        EveKDdroneManagementTree.#AddAgentToSearchLists(closeAgents, node, dist, ranges, this.#activeRange, c);\n      }\n      else if (found === this.maxFoundPerAgent)\n      {\n        EveKDdroneManagementTree.#AddAgentToSearchLists(closeAgents, node, dist, ranges, this.#activeRange, c);\n        this.#activeRange++;\n      }\n    }\n\n    const axis = node.planeType;\n    const delta = node.agent.position[axis] - agent.position[axis];\n    if (delta <= range)\n    {\n      this.#SearchThroughTreeHelperFunction(closeAgents, node.right, agent, ranges, c);\n    }\n    if (delta >= range)\n    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