@egen-civitas/esm-app-shell 2.1.0 → 2.1.1

package/dist/6740948aa3c94b36.js

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b=m[v];r[b]=n({args:["array","array","array"],pre:{args:[],body:"this_f=Math."+b,thisVars:["this_f"]},body:{args:["a","b","c"],body:"a=this_f(b,c)",thisVars:["this_f"]},funcName:b}),r[b+"s"]=n({args:["array","array","scalar"],pre:{args:[],body:"this_f=Math."+b,thisVars:["this_f"]},body:{args:["a","b","c"],body:"a=this_f(b,c)",thisVars:["this_f"]},funcName:b+"s"}),r[b+"eq"]=n({args:["array","array"],pre:{args:[],body:"this_f=Math."+b,thisVars:["this_f"]},body:{args:["a","b"],body:"a=this_f(a,b)",thisVars:["this_f"]},rvalue:!0,count:2,funcName:b+"eq"}),r[b+"seq"]=n({args:["array","scalar"],pre:{args:[],body:"this_f=Math."+b,thisVars:["this_f"]},body:{args:["a","b"],body:"a=this_f(a,b)",thisVars:["this_f"]},rvalue:!0,count:2,funcName:b+"seq"})}for(var _=["atan2","pow"],M=0;M<_.length;++M){var k=_[M];r[k+"op"]=n({args:["array","array","array"],pre:{args:[],body:"this_f=Math."+k,thisVars:["this_f"]},body:{args:["a","b","c"],body:"a=this_f(c,b)",thisVars:["this_f"]},funcName:k+"op"}),r[k+"ops"]=n({args:["array","array","scalar"],pre:{args:[],body:"this_f=Math."+k,thisVars:["this_f"]},body:{args:["a","b","c"],body:"a=this_f(c,b)",thisVars:["this_f"]},funcName:k+"ops"}),r[k+"opeq"]=n({args:["array","array"],pre:{args:[],body:"this_f=Math."+k,thisVars:["this_f"]},body:{args:["a","b"],body:"a=this_f(b,a)",thisVars:["this_f"]},rvalue:!0,count:2,funcName:k+"opeq"}),r[k+"opseq"]=n({args:["array","scalar"],pre:{args:[],body:"this_f=Math."+k,thisVars:["this_f"]},body:{args:["a","b"],body:"a=this_f(b,a)",thisVars:["this_f"]},rvalue:!0,count:2,funcName:k+"opseq"})}r.any=a({args:["array"],pre:e,body:{args:[{name:"a",lvalue:!1,rvalue:!0,count:1}],body:"if(a){return true}",localVars:[],thisVars:[]},post:{args:[],localVars:[],thisVars:[],body:"return false"},funcName:"any"}),r.all=a({args:["array"],pre:e,body:{args:[{name:"x",lvalue:!1,rvalue:!0,count:1}],body:"if(!x){return false}",localVars:[],thisVars:[]},post:{args:[],localVars:[],thisVars:[],body:"return true"},funcName:"all"}),r.sum=a({args:["array"],pre:{args:[],localVars:[],thisVars:["this_s"],body:"this_s=0"},body:{args:[{name:"a",lvalue:!1,rvalue:!0,count:1}],body:"this_s+=a",localVars:[],thisVars:["this_s"]},post:{args:[],localVars:[],thisVars:["this_s"],body:"return this_s"},funcName:"sum"}),r.prod=a({args:["array"],pre:{args:[],localVars:[],thisVars:["this_s"],body:"this_s=1"},body:{args:[{name:"a",lvalue:!1,rvalue:!0,count:1}],body:"this_s*=a",localVars:[],thisVars:["this_s"]},post:{args:[],localVars:[],thisVars:["this_s"],body:"return 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Uint8Array(e.shape[0]),[e.shape[0]]);T.rrshifts(s,e,11),T.rrshifts(o,e,5),T.bandseq(o,G.maxIntBits(6)),T.bands(u,e,G.maxIntBits(5)),n=(0,P.default)(new Float32Array(3*e.shape[0]),[e.shape[0],3]),T.muls(n.pick(null,0),s,1/G.maxIntBits(5)),T.muls(n.pick(null,1),o,1/G.maxIntBits(6)),T.muls(n.pick(null,2),u,1/G.maxIntBits(5))}else{var h=(0,P.default)(new Uint16Array(e.shape[0]),[e.shape[0]]),c=(0,P.default)(new Uint16Array(e.shape[0]),[e.shape[0]]),l=(0,P.default)(new Uint16Array(e.shape[0]),[e.shape[0]]);T.rrshifts(h,e,21),T.rrshifts(c,e,11),T.bandseq(c,G.maxIntBits(10)),T.bands(l,e,G.maxIntBits(11)),n=(0,P.default)(new Float32Array(3*e.shape[0]),[e.shape[0],3]),T.muls(n.pick(null,0),h,1/G.maxIntBits(11)),T.muls(n.pick(null,1),c,1/G.maxIntBits(10)),T.muls(n.pick(null,2),l,1/G.maxIntBits(11))}return new R(n,r,t)}}],[{key:"maxIntBits",value:function(r){return Math.pow(2,r)-1}},{key:"fromNormalized",value:function(r,t){var n,a=r.data;if("norm8x"===t){var e=G.maxIntBits(8),i=(0,P.default)(new Float32Array(a.size),a.shape);T.muls(i,a,e),T.roundeq(i),n=(0,P.default)(new Uint8Array(i.data),a.shape)}else if("norm565"===t){var s=(0,P.default)(new Float32Array(a.size),a.shape);T.assign(s,a),T.mulseq(s.pick(null,0),G.maxIntBits(5)),T.mulseq(s.pick(null,1),G.maxIntBits(6)),T.mulseq(s.pick(null,2),G.maxIntBits(5)),T.roundeq(s);var o=(0,P.default)(new Uint16Array(s.data),a.shape),u=(0,P.default)(new Uint16Array(a.shape[0]),[a.shape[0]]),h=(0,P.default)(new Uint16Array(a.shape[0]),[a.shape[0]]);T.lshifts(u,o.pick(null,0),11),T.lshifts(h,o.pick(null,1),5),T.boreq(u,h),T.boreq(u,o.pick(null,2)),n=u}else{var c=(0,P.default)(new Float32Array(a.size),a.shape);T.assign(c,a),T.mulseq(c.pick(null,0),G.maxIntBits(11)),T.mulseq(c.pick(null,1),G.maxIntBits(10)),T.mulseq(c.pick(null,2),G.maxIntBits(11)),T.roundeq(c);var l=(0,P.default)(new Uint32Array(c.data),a.shape),f=(0,P.default)(new Uint32Array(a.shape[0]),[a.shape[0]]),p=(0,P.default)(new 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Float32Array(2*n),[n,2]),e=0,i=n,s=0,o=this.minmaxMatrix.shape[0],u=0;u<r.length;u++)(i=(o=r[u])-s+e)>e&&O.assign(a.hi(i,2).lo(e,0),this.minmaxMatrix.hi(o,2).lo(s,0)),e=i,s=o+1;return e<n&&O.assign(a.lo(e,0),this.minmaxMatrix.lo(s,0)),a}},{key:"_createPrunedQuantized",value:function(r){var t,n,a=r.length,e=this.quantized.shape[0]-a,i=this._quantizationMethod;if("norm8x"===i){var s=(n=this._quantized.shape[1])?e*n:e;t=(0,E.default)(new Uint8Array(s),n?[e,n]:[e,1])}else t="norm565"===i?(0,E.default)(new Uint16Array(e),[e]):(0,E.default)(new Uint32Array(e),[e]);for(var o=0,u=e,h=0,c=t.shape[0],l=0;l<r.length;l++)(u=(c=r[l])-h+o)>o&&(n?O.assign(t.hi(u,n).lo(o,0),this._quantized.hi(c,n).lo(h,0)):O.assign(t.hi(u).lo(o),this._quantized.hi(c).lo(h))),o=u,h=c+1;return o<e&&(n?O.assign(t.lo(o,0),this._quantized.lo(h,0)):O.assign(t.lo(o),this._quantized.lo(h))),t}},{key:"pruneFeature",value:function(r,t,n){return new 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a,e=r.shape[0],i=Math.floor(e/n),s=(0,E.default)(new Float32Array(2*i),[i,2],[2,1]);a="norm8x"===t?(0,E.default)(new Uint8Array(r.size),r.shape):"norm565"===t?(0,E.default)(new Uint16Array(r.shape[0]),[r.shape[0]]):(0,E.default)(new Uint32Array(r.shape[0]),[r.shape[0]]);for(var o=0;o<i;o++){var u=o*n,h=o+1<i?(o+1)*n:e,c=void 0;c=r.shape.length>1?R.createFromUnnormalized(r.hi(h,r.shape[1]).lo(u,0)):R.createFromUnnormalized(r.hi(h).lo(u)),s.set(o,0,c.minD),s.set(o,1,c.maxD),a.shape.length>1?O.assign(a.hi(h,a.shape[1]).lo(u,0),G.fromNormalized(c,t).quantized):O.assign(a.hi(h).lo(u),G.fromNormalized(c,t).quantized)}return new H(a,s,n,t)}},{key:"fetchArrayBuffer",value:function(r){return i(function(){return f(this,function(t){switch(t.label){case 0:return[4,fetch(r,{mode:"cors"})];case 1:return[4,t.sent().arrayBuffer()];case 2:return[2,t.sent()]}})})()}}]),r}(),W=S(F(),1),Y=S(L(),1),Q=S(F(),1),Z=S(L(),1),X=[1,10,100,1e3,1e4,1e5,1e6,1e7,1e8,1e9];function $(r){return 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s=0,o=0,u=1;if(i(r,t[n+e])>0){for(o=a-e;u<o&&i(r,t[n+e+u])>0;)s=u,(u=(u<<1)+1)<=0&&(u=o);u>o&&(u=o),s+=e,u+=e}else{for(o=e+1;u<o&&0>=i(r,t[n+e-u]);)s=u,(u=(u<<1)+1)<=0&&(u=o);u>o&&(u=o);var h=s;s=e-u,u=e-h}for(s++;s<u;){var c=s+(u-s>>>1);i(r,t[n+c])>0?s=c+1:u=c}return u}function rn(r,t,n,a,e,i){var s=0,o=0,u=1;if(0>i(r,t[n+e])){for(o=e+1;u<o&&0>i(r,t[n+e-u]);)s=u,(u=(u<<1)+1)<=0&&(u=o);u>o&&(u=o);var h=s;s=e-u,u=e-h}else{for(o=a-e;u<o&&i(r,t[n+e+u])>=0;)s=u,(u=(u<<1)+1)<=0&&(u=o);u>o&&(u=o),s+=e,u+=e}for(s++;s<u;){var c=s+(u-s>>>1);0>i(r,t[n+c])?u=c:s=c+1}return u}var ra=function(){function 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d=0,y=0,g=!1;do if(0>e(s[h],i[u])){if(i[c--]=i[u--],d++,y=0,0==--t){g=!0;break}}else if(i[c--]=s[h--],y++,d=0,1==--a){g=!0;break}while((d|y)<p);if(g)break;do{if(0!=(d=t-rn(s[h],i,r,t,t-1,e))){for(c-=d,u-=d,t-=d,f=c+1,l=u+1,o=d-1;o>=0;o--)i[f+o]=i[l+o];if(0===t){g=!0;break}}if(i[c--]=s[h--],1==--a){g=!0;break}if(0!=(y=a-rt(i[u],s,0,a,a-1,e))){for(c-=y,h-=y,a-=y,f=c+1,l=h+1,o=0;o<y;o++)i[f+o]=s[l+o];if(a<=1){g=!0;break}}if(i[c--]=i[u--],0==--t){g=!0;break}p--}while(d>=7||y>=7);if(g)break;p<0&&(p=0),p+=2}if(this.minGallop=p,p<1&&(this.minGallop=1),1===a){for(c-=t,u-=t,f=c+1,l=u+1,o=t-1;o>=0;o--)i[f+o]=i[l+o];i[c]=s[h]}else{if(0===a)throw Error("mergeHigh preconditions were not respected");for(l=c-(a-1),o=0;o<a;o++)i[l+o]=s[o]}}}]),r}();function re(r){var t=(0,Q.default)(new Int32Array(r.shape[0]),[r.shape[0]]),n=(0,Q.default)(new Int32Array(r.shape[0]),[r.shape[0]]);return 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e=0;e<this.harmonics.length;e++){var i=3*e;Y.assign(a.pick(null,this.propertyDescs["f_rest_".concat(i)].index),this.harmonics[e].pick(null,0)),Y.assign(a.pick(null,this.propertyDescs["f_rest_".concat(i+1)].index),this.harmonics[e].pick(null,1)),Y.assign(a.pick(null,this.propertyDescs["f_rest_".concat(i+2)].index),this.harmonics[e].pick(null,2))}var s=new Uint8Array(a.data.buffer),o=new Uint8Array(s.length+t.length);return o.set(t),o.set(s,t.length),o.buffer}},{key:"save",value:function(r,t){var n=new File([new Blob([this.getPlyBinary()],{type:"application/octet-stream"})],r),a=new FormData;a.append("file",n),a.append("filename",r),a.append("basedir",t),fetch("".concat("http://127.0.0.1:8000","/push_file"),{method:"POST",body:a})}},{key:"mortonPositionSplatsSort",value:function(){for(var r,t,n,a,e,i,s,o,u,h=(r=this.xyz,t=1e3/Math.min(1e3,Z.sup(r)-Z.inf(r)),n=(0,Q.default)(new Float32Array(r.data),r.shape),Z.mulseq(n,t),!function(r,t,n,a){if(!Array.isArray(r))throw TypeError("Can only sort arrays");t?"function"!=typeof t&&(a=n,n=t,t=J):t=J,n||(n=0),a||(a=r.length);var e=a-n;if(!(e<2)){var i=0;if(e<32){i=K(r,n,a,t),rr(r,n,a,n+i,t);return}var s=new ra(r,t),o=function(r){for(var t=0;r>=32;)t|=1&r,r>>=1;return r+t}(e);do{if((i=K(r,n,a,t))<o){var u=e;u>o&&(u=o),rr(r,n,n+u,n+i,t),i=u}s.pushRun(n,i),s.mergeRuns(),e-=i,n+=i}while(0!==e);s.forceMergeRuns()}}(o=Array.from((e=re((a=(0,Q.default)(new Int32Array(n.data),r.shape)).pick(null,0)),i=re(a.pick(null,1)),Z.lshiftseq(i,1),s=re(a.pick(null,2)),Z.lshiftseq(s,2),Z.boreq(e,i),Z.boreq(e,s),e).data).map(function(r,t){return[r,t]}),function(r,t){return r[0]-t[0]}),u=o.map(function(r){var t=function(r){if(Array.isArray(r))return r}(r)||function(r){var t,n,a=null==r?null:"u">typeof Symbol&&r[Symbol.iterator]||r["@@iterator"];if(null!=a){var e=[],i=!0,s=!1;try{for(a=a.call(r);!(i=(t=a.next()).done)&&(e.push(t.value),2!==e.length);i=!0);}catch(r){s=!0,n=r}finally{try{i||null==a.return||a.return()}finally{if(s)throw n}}return 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Float32Array(3*a),[a,3]);Y.assign(m.pick(null,0),h.pick(null,l.f_dc_0/4)),Y.assign(m.pick(null,1),h.pick(null,l.f_dc_1/4)),Y.assign(m.pick(null,2),h.pick(null,l.f_dc_2/4));var v=(0,W.default)(new Float32Array(4*a),[a,4]);Y.assign(v.pick(null,0),h.pick(null,l.rot_1/4)),Y.assign(v.pick(null,1),h.pick(null,l.rot_2/4)),Y.assign(v.pick(null,2),h.pick(null,l.rot_3/4)),Y.assign(v.pick(null,3),h.pick(null,l.rot_0/4));for(var b=0;b<a;b++){var _=v.pick(b,null),M=Math.sqrt(Math.pow(_.get(0),2)+Math.pow(_.get(1),2)+Math.pow(_.get(2),2)+Math.pow(_.get(3),2));Y.divseq(_,M)}var k=(0,W.default)(new Float32Array(+a),[a,1]);Y.assign(k.pick(null,0),h.pick(null,l.opacity/4)),Y.negeq(k),Y.expeq(k),Y.addseq(k,1),Y.recipeq(k),Y.mulseq(k,255);for(var x=Math.pow(Math.min(Math.max(t,0),3)+1,2)-1,w=[],A=0;A<x;A++){var q=(0,W.default)(new 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rz},fromValues:function(){return rm},identity:function(){return rb},invert:function(){return rM},mul:function(){return rR},multiply:function(){return rw},multiplyScalar:function(){return rE},multiplyScalarAndAdd:function(){return rO},normalFromMat4:function(){return rF},projection:function(){return rB},rotate:function(){return rq},scale:function(){return rj},set:function(){return rv},str:function(){return rN},sub:function(){return rG},subtract:function(){return rL},translate:function(){return rA},transpose:function(){return r_}});var rR=rw,rG=rL,rH={};function rW(){var r=new rc(16);return rc!=Float32Array&&(r[1]=0,r[2]=0,r[3]=0,r[4]=0,r[6]=0,r[7]=0,r[8]=0,r[9]=0,r[11]=0,r[12]=0,r[13]=0,r[14]=0),r[0]=1,r[5]=1,r[10]=1,r[15]=1,r}function rY(r){var t=new rc(16);return t[0]=r[0],t[1]=r[1],t[2]=r[2],t[3]=r[3],t[4]=r[4],t[5]=r[5],t[6]=r[6],t[7]=r[7],t[8]=r[8],t[9]=r[9],t[10]=r[10],t[11]=r[11],t[12]=r[12],t[13]=r[13],t[14]=r[14],t[15]=r[15],t}function rQ(r,t){return r[0]=t[0],r[1]=t[1],r[2]=t[2],r[3]=t[3],r[4]=t[4],r[5]=t[5],r[6]=t[6],r[7]=t[7],r[8]=t[8],r[9]=t[9],r[10]=t[10],r[11]=t[11],r[12]=t[12],r[13]=t[13],r[14]=t[14],r[15]=t[15],r}function rZ(r,t,n,a,e,i,s,o,u,h,c,l,f,p,d,y){var g=new rc(16);return g[0]=r,g[1]=t,g[2]=n,g[3]=a,g[4]=e,g[5]=i,g[6]=s,g[7]=o,g[8]=u,g[9]=h,g[10]=c,g[11]=l,g[12]=f,g[13]=p,g[14]=d,g[15]=y,g}function rX(r,t,n,a,e,i,s,o,u,h,c,l,f,p,d,y,g){return r[0]=t,r[1]=n,r[2]=a,r[3]=e,r[4]=i,r[5]=s,r[6]=o,r[7]=u,r[8]=h,r[9]=c,r[10]=l,r[11]=f,r[12]=p,r[13]=d,r[14]=y,r[15]=g,r}function r$(r){return r[0]=1,r[1]=0,r[2]=0,r[3]=0,r[4]=0,r[5]=1,r[6]=0,r[7]=0,r[8]=0,r[9]=0,r[10]=1,r[11]=0,r[12]=0,r[13]=0,r[14]=0,r[15]=1,r}function rJ(r,t){if(r===t){var n=t[1],a=t[2],e=t[3],i=t[6],s=t[7],o=t[11];r[1]=t[4],r[2]=t[8],r[3]=t[12],r[4]=n,r[6]=t[9],r[7]=t[13],r[8]=a,r[9]=i,r[11]=t[14],r[12]=e,r[13]=s,r[14]=o}else r[0]=t[0],r[1]=t[4],r[2]=t[8],r[3]=t[12],r[4]=t[1],r[5]=t[5],r[6]=t[9],r[7]=t[13],r[8]=t[2],r[9]=t[6],r[10]=t[10],r[11]=t[14],r[12]=t[3],r[13]=t[7],r[14]=t[11],r[15]=t[15];return r}function rK(r,t){var n=t[0],a=t[1],e=t[2],i=t[3],s=t[4],o=t[5],u=t[6],h=t[7],c=t[8],l=t[9],f=t[10],p=t[11],d=t[12],y=t[13],g=t[14],m=t[15],v=n*o-a*s,b=n*u-e*s,_=n*h-i*s,M=a*u-e*o,k=a*h-i*o,x=e*h-i*u,w=c*y-l*d,A=c*g-f*d,q=c*m-p*d,j=l*g-f*y,z=l*m-p*y,S=f*m-p*g,V=v*S-b*z+_*j+M*q-k*A+x*w;return V?(V=1/V,r[0]=(o*S-u*z+h*j)*V,r[1]=(e*z-a*S-i*j)*V,r[2]=(y*x-g*k+m*M)*V,r[3]=(f*k-l*x-p*M)*V,r[4]=(u*q-s*S-h*A)*V,r[5]=(n*S-e*q+i*A)*V,r[6]=(g*_-d*x-m*b)*V,r[7]=(c*x-f*_+p*b)*V,r[8]=(s*z-o*q+h*w)*V,r[9]=(a*q-n*z-i*w)*V,r[10]=(d*k-y*_+m*v)*V,r[11]=(l*_-c*k-p*v)*V,r[12]=(o*A-s*j-u*w)*V,r[13]=(n*j-a*A+e*w)*V,r[14]=(y*b-d*M-g*v)*V,r[15]=(c*M-l*b+f*v)*V,r):null}function r1(r,t){var n=t[0],a=t[1],e=t[2],i=t[3],s=t[4],o=t[5],u=t[6],h=t[7],c=t[8],l=t[9],f=t[10],p=t[11],d=t[12],y=t[13],g=t[14],m=t[15];return r[0]=o*(f*m-p*g)-l*(u*m-h*g)+y*(u*p-h*f),r[1]=-(a*(f*m-p*g)-l*(e*m-i*g)+y*(e*p-i*f)),r[2]=a*(u*m-h*g)-o*(e*m-i*g)+y*(e*h-i*u),r[3]=-(a*(u*p-h*f)-o*(e*p-i*f)+l*(e*h-i*u)),r[4]=-(s*(f*m-p*g)-c*(u*m-h*g)+d*(u*p-h*f)),r[5]=n*(f*m-p*g)-c*(e*m-i*g)+d*(e*p-i*f),r[6]=-(n*(u*m-h*g)-s*(e*m-i*g)+d*(e*h-i*u)),r[7]=n*(u*p-h*f)-s*(e*p-i*f)+c*(e*h-i*u),r[8]=s*(l*m-p*y)-c*(o*m-h*y)+d*(o*p-h*l),r[9]=-(n*(l*m-p*y)-c*(a*m-i*y)+d*(a*p-i*l)),r[10]=n*(o*m-h*y)-s*(a*m-i*y)+d*(a*h-i*o),r[11]=-(n*(o*p-h*l)-s*(a*p-i*l)+c*(a*h-i*o)),r[12]=-(s*(l*g-f*y)-c*(o*g-u*y)+d*(o*f-u*l)),r[13]=n*(l*g-f*y)-c*(a*g-e*y)+d*(a*f-e*l),r[14]=-(n*(o*g-u*y)-s*(a*g-e*y)+d*(a*u-e*o)),r[15]=n*(o*f-u*l)-s*(a*f-e*l)+c*(a*u-e*o),r}function r0(r){var t=r[0],n=r[1],a=r[2],e=r[3],i=r[4],s=r[5],o=r[6],u=r[7],h=r[8],c=r[9],l=r[10],f=r[11],p=r[12],d=r[13],y=r[14],g=r[15];return(t*s-n*i)*(l*g-f*y)-(t*o-a*i)*(c*g-f*d)+(t*u-e*i)*(c*y-l*d)+(n*o-a*s)*(h*g-f*p)-(n*u-e*s)*(h*y-l*p)+(a*u-e*o)*(h*d-c*p)}function r2(r,t,n){var a=t[0],e=t[1],i=t[2],s=t[3],o=t[4],u=t[5],h=t[6],c=t[7],l=t[8],f=t[9],p=t[10],d=t[11],y=t[12],g=t[13],m=t[14],v=t[15],b=n[0],_=n[1],M=n[2],k=n[3];return r[0]=b*a+_*o+M*l+k*y,r[1]=b*e+_*u+M*f+k*g,r[2]=b*i+_*h+M*p+k*m,r[3]=b*s+_*c+M*d+k*v,b=n[4],_=n[5],M=n[6],k=n[7],r[4]=b*a+_*o+M*l+k*y,r[5]=b*e+_*u+M*f+k*g,r[6]=b*i+_*h+M*p+k*m,r[7]=b*s+_*c+M*d+k*v,b=n[8],_=n[9],M=n[10],k=n[11],r[8]=b*a+_*o+M*l+k*y,r[9]=b*e+_*u+M*f+k*g,r[10]=b*i+_*h+M*p+k*m,r[11]=b*s+_*c+M*d+k*v,b=n[12],_=n[13],M=n[14],k=n[15],r[12]=b*a+_*o+M*l+k*y,r[13]=b*e+_*u+M*f+k*g,r[14]=b*i+_*h+M*p+k*m,r[15]=b*s+_*c+M*d+k*v,r}function r3(r,t,n){var a,e,i,s,o,u,h,c,l,f,p,d,y=n[0],g=n[1],m=n[2];return t===r?(r[12]=t[0]*y+t[4]*g+t[8]*m+t[12],r[13]=t[1]*y+t[5]*g+t[9]*m+t[13],r[14]=t[2]*y+t[6]*g+t[10]*m+t[14],r[15]=t[3]*y+t[7]*g+t[11]*m+t[15]):(a=t[0],e=t[1],i=t[2],s=t[3],o=t[4],u=t[5],h=t[6],c=t[7],l=t[8],f=t[9],p=t[10],d=t[11],r[0]=a,r[1]=e,r[2]=i,r[3]=s,r[4]=o,r[5]=u,r[6]=h,r[7]=c,r[8]=l,r[9]=f,r[10]=p,r[11]=d,r[12]=a*y+o*g+l*m+t[12],r[13]=e*y+u*g+f*m+t[13],r[14]=i*y+h*g+p*m+t[14],r[15]=s*y+c*g+d*m+t[15]),r}function r4(r,t,n){var a=n[0],e=n[1],i=n[2];return r[0]=t[0]*a,r[1]=t[1]*a,r[2]=t[2]*a,r[3]=t[3]*a,r[4]=t[4]*e,r[5]=t[5]*e,r[6]=t[6]*e,r[7]=t[7]*e,r[8]=t[8]*i,r[9]=t[9]*i,r[10]=t[10]*i,r[11]=t[11]*i,r[12]=t[12],r[13]=t[13],r[14]=t[14],r[15]=t[15],r}function r5(r,t,n,a){var e,i,s,o,u,h,c,l,f,p,d,y,g,m,v,b,_,M,k,x,w,A,q,j,z=a[0],S=a[1],V=a[2],I=Math.hypot(z,S,V);return I<1e-6?null:(z*=I=1/I,S*=I,V*=I,e=Math.sin(n),s=1-(i=Math.cos(n)),o=t[0],u=t[1],h=t[2],c=t[3],l=t[4],f=t[5],p=t[6],d=t[7],y=t[8],g=t[9],m=t[10],v=t[11],b=z*z*s+i,_=S*z*s+V*e,M=V*z*s-S*e,k=z*S*s-V*e,x=S*S*s+i,w=V*S*s+z*e,A=z*V*s+S*e,q=S*V*s-z*e,j=V*V*s+i,r[0]=o*b+l*_+y*M,r[1]=u*b+f*_+g*M,r[2]=h*b+p*_+m*M,r[3]=c*b+d*_+v*M,r[4]=o*k+l*x+y*w,r[5]=u*k+f*x+g*w,r[6]=h*k+p*x+m*w,r[7]=c*k+d*x+v*w,r[8]=o*A+l*q+y*j,r[9]=u*A+f*q+g*j,r[10]=h*A+p*q+m*j,r[11]=c*A+d*q+v*j,t!==r&&(r[12]=t[12],r[13]=t[13],r[14]=t[14],r[15]=t[15]),r)}function r6(r,t,n){var a=Math.sin(n),e=Math.cos(n),i=t[4],s=t[5],o=t[6],u=t[7],h=t[8],c=t[9],l=t[10],f=t[11];return t!==r&&(r[0]=t[0],r[1]=t[1],r[2]=t[2],r[3]=t[3],r[12]=t[12],r[13]=t[13],r[14]=t[14],r[15]=t[15]),r[4]=i*e+h*a,r[5]=s*e+c*a,r[6]=o*e+l*a,r[7]=u*e+f*a,r[8]=h*e-i*a,r[9]=c*e-s*a,r[10]=l*e-o*a,r[11]=f*e-u*a,r}function r8(r,t,n){var a=Math.sin(n),e=Math.cos(n),i=t[0],s=t[1],o=t[2],u=t[3],h=t[8],c=t[9],l=t[10],f=t[11];return t!==r&&(r[4]=t[4],r[5]=t[5],r[6]=t[6],r[7]=t[7],r[12]=t[12],r[13]=t[13],r[14]=t[14],r[15]=t[15]),r[0]=i*e-h*a,r[1]=s*e-c*a,r[2]=o*e-l*a,r[3]=u*e-f*a,r[8]=i*a+h*e,r[9]=s*a+c*e,r[10]=o*a+l*e,r[11]=u*a+f*e,r}function r7(r,t,n){var a=Math.sin(n),e=Math.cos(n),i=t[0],s=t[1],o=t[2],u=t[3],h=t[4],c=t[5],l=t[6],f=t[7];return t!==r&&(r[8]=t[8],r[9]=t[9],r[10]=t[10],r[11]=t[11],r[12]=t[12],r[13]=t[13],r[14]=t[14],r[15]=t[15]),r[0]=i*e+h*a,r[1]=s*e+c*a,r[2]=o*e+l*a,r[3]=u*e+f*a,r[4]=h*e-i*a,r[5]=c*e-s*a,r[6]=l*e-o*a,r[7]=f*e-u*a,r}function r9(r,t){return r[0]=1,r[1]=0,r[2]=0,r[3]=0,r[4]=0,r[5]=1,r[6]=0,r[7]=0,r[8]=0,r[9]=0,r[10]=1,r[11]=0,r[12]=t[0],r[13]=t[1],r[14]=t[2],r[15]=1,r}function tr(r,t){return r[0]=t[0],r[1]=0,r[2]=0,r[3]=0,r[4]=0,r[5]=t[1],r[6]=0,r[7]=0,r[8]=0,r[9]=0,r[10]=t[2],r[11]=0,r[12]=0,r[13]=0,r[14]=0,r[15]=1,r}function tt(r,t,n){var a,e,i,s=n[0],o=n[1],u=n[2],h=Math.hypot(s,o,u);return h<1e-6?null:(s*=h=1/h,o*=h,u*=h,a=Math.sin(t),i=1-(e=Math.cos(t)),r[0]=s*s*i+e,r[1]=o*s*i+u*a,r[2]=u*s*i-o*a,r[3]=0,r[4]=s*o*i-u*a,r[5]=o*o*i+e,r[6]=u*o*i+s*a,r[7]=0,r[8]=s*u*i+o*a,r[9]=o*u*i-s*a,r[10]=u*u*i+e,r[11]=0,r[12]=0,r[13]=0,r[14]=0,r[15]=1,r)}function tn(r,t){var n=Math.sin(t),a=Math.cos(t);return r[0]=1,r[1]=0,r[2]=0,r[3]=0,r[4]=0,r[5]=a,r[6]=n,r[7]=0,r[8]=0,r[9]=-n,r[10]=a,r[11]=0,r[12]=0,r[13]=0,r[14]=0,r[15]=1,r}function ta(r,t){var n=Math.sin(t),a=Math.cos(t);return r[0]=a,r[1]=0,r[2]=-n,r[3]=0,r[4]=0,r[5]=1,r[6]=0,r[7]=0,r[8]=n,r[9]=0,r[10]=a,r[11]=0,r[12]=0,r[13]=0,r[14]=0,r[15]=1,r}function te(r,t){var n=Math.sin(t),a=Math.cos(t);return r[0]=a,r[1]=n,r[2]=0,r[3]=0,r[4]=-n,r[5]=a,r[6]=0,r[7]=0,r[8]=0,r[9]=0,r[10]=1,r[11]=0,r[12]=0,r[13]=0,r[14]=0,r[15]=1,r}function ti(r,t,n){var a=t[0],e=t[1],i=t[2],s=t[3],o=a+a,u=e+e,h=i+i,c=a*o,l=a*u,f=a*h,p=e*u,d=e*h,y=i*h,g=s*o,m=s*u,v=s*h;return r[0]=1-(p+y),r[1]=l+v,r[2]=f-m,r[3]=0,r[4]=l-v,r[5]=1-(c+y),r[6]=d+g,r[7]=0,r[8]=f+m,r[9]=d-g,r[10]=1-(c+p),r[11]=0,r[12]=n[0],r[13]=n[1],r[14]=n[2],r[15]=1,r}function ts(r,t){var n=new rc(3),a=-t[0],e=-t[1],i=-t[2],s=t[3],o=t[4],u=t[5],h=t[6],c=t[7],l=a*a+e*e+i*i+s*s;return l>0?(n[0]=(o*s+c*a+u*i-h*e)*2/l,n[1]=(u*s+c*e+h*a-o*i)*2/l,n[2]=(h*s+c*i+o*e-u*a)*2/l):(n[0]=(o*s+c*a+u*i-h*e)*2,n[1]=(u*s+c*e+h*a-o*i)*2,n[2]=(h*s+c*i+o*e-u*a)*2),ti(r,t,n),r}function to(r,t){return r[0]=t[12],r[1]=t[13],r[2]=t[14],r}function tu(r,t){var n=t[0],a=t[1],e=t[2],i=t[4],s=t[5],o=t[6],u=t[8],h=t[9],c=t[10];return r[0]=Math.hypot(n,a,e),r[1]=Math.hypot(i,s,o),r[2]=Math.hypot(u,h,c),r}function th(r,t){var n=new rc(3);tu(n,t);var a=1/n[0],e=1/n[1],i=1/n[2],s=t[0]*a,o=t[1]*e,u=t[2]*i,h=t[4]*a,c=t[5]*e,l=t[6]*i,f=t[8]*a,p=t[9]*e,d=t[10]*i,y=s+c+d,g=0;return y>0?(g=2*Math.sqrt(y+1),r[3]=.25*g,r[0]=(l-p)/g,r[1]=(f-u)/g,r[2]=(o-h)/g):s>c&&s>d?(g=2*Math.sqrt(1+s-c-d),r[3]=(l-p)/g,r[0]=.25*g,r[1]=(o+h)/g,r[2]=(f+u)/g):c>d?(g=2*Math.sqrt(1+c-s-d),r[3]=(f-u)/g,r[0]=(o+h)/g,r[1]=.25*g,r[2]=(l+p)/g):(g=2*Math.sqrt(1+d-s-c),r[3]=(o-h)/g,r[0]=(f+u)/g,r[1]=(l+p)/g,r[2]=.25*g),r}function tc(r,t,n,a){var e=t[0],i=t[1],s=t[2],o=t[3],u=e+e,h=i+i,c=s+s,l=e*u,f=e*h,p=e*c,d=i*h,y=i*c,g=s*c,m=o*u,v=o*h,b=o*c,_=a[0],M=a[1],k=a[2];return r[0]=(1-(d+g))*_,r[1]=(f+b)*_,r[2]=(p-v)*_,r[3]=0,r[4]=(f-b)*M,r[5]=(1-(l+g))*M,r[6]=(y+m)*M,r[7]=0,r[8]=(p+v)*k,r[9]=(y-m)*k,r[10]=(1-(l+d))*k,r[11]=0,r[12]=n[0],r[13]=n[1],r[14]=n[2],r[15]=1,r}function tl(r,t,n,a,e){var i=t[0],s=t[1],o=t[2],u=t[3],h=i+i,c=s+s,l=o+o,f=i*h,p=i*c,d=i*l,y=s*c,g=s*l,m=o*l,v=u*h,b=u*c,_=u*l,M=a[0],k=a[1],x=a[2],w=e[0],A=e[1],q=e[2],j=(1-(y+m))*M,z=(p+_)*M,S=(d-b)*M,V=(p-_)*k,I=(1-(f+m))*k,D=(g+v)*k,F=(d+b)*x,B=(g-v)*x,N=(1-(f+y))*x;return r[0]=j,r[1]=z,r[2]=S,r[3]=0,r[4]=V,r[5]=I,r[6]=D,r[7]=0,r[8]=F,r[9]=B,r[10]=N,r[11]=0,r[12]=n[0]+w-(j*w+V*A+F*q),r[13]=n[1]+A-(z*w+I*A+B*q),r[14]=n[2]+q-(S*w+D*A+N*q),r[15]=1,r}function tf(r,t){var n=t[0],a=t[1],e=t[2],i=t[3],s=n+n,o=a+a,u=e+e,h=n*s,c=a*s,l=a*o,f=e*s,p=e*o,d=e*u,y=i*s,g=i*o,m=i*u;return r[0]=1-l-d,r[1]=c+m,r[2]=f-g,r[3]=0,r[4]=c-m,r[5]=1-h-d,r[6]=p+y,r[7]=0,r[8]=f+g,r[9]=p-y,r[10]=1-h-l,r[11]=0,r[12]=0,r[13]=0,r[14]=0,r[15]=1,r}function tp(r,t,n,a,e,i,s){var o=1/(n-t),u=1/(e-a),h=1/(i-s);return r[0]=2*i*o,r[1]=0,r[2]=0,r[3]=0,r[4]=0,r[5]=2*i*u,r[6]=0,r[7]=0,r[8]=(n+t)*o,r[9]=(e+a)*u,r[10]=(s+i)*h,r[11]=-1,r[12]=0,r[13]=0,r[14]=s*i*2*h,r[15]=0,r}function td(r,t,n,a,e){var i,s=1/Math.tan(t/2);return r[0]=s/n,r[1]=0,r[2]=0,r[3]=0,r[4]=0,r[5]=s,r[6]=0,r[7]=0,r[8]=0,r[9]=0,r[11]=-1,r[12]=0,r[13]=0,r[15]=0,null!=e&&e!==1/0?(i=1/(a-e),r[10]=(e+a)*i,r[14]=2*e*a*i):(r[10]=-1,r[14]=-2*a),r}j(rH,{add:function(){return tA},adjoint:function(){return r1},clone:function(){return rY},copy:function(){return rQ},create:function(){return rW},determinant:function(){return r0},equals:function(){return tV},exactEquals:function(){return tS},frob:function(){return tw},fromQuat:function(){return tf},fromQuat2:function(){return ts},fromRotation:function(){return tt},fromRotationTranslation:function(){return ti},fromRotationTranslationScale:function(){return tc},fromRotationTranslationScaleOrigin:function(){return tl},fromScaling:function(){return tr},fromTranslation:function(){return r9},fromValues:function(){return rZ},fromXRotation:function(){return tn},fromYRotation:function(){return ta},fromZRotation:function(){return te},frustum:function(){return tp},getRotation:function(){return th},getScaling:function(){return tu},getTranslation:function(){return to},identity:function(){return r$},invert:function(){return rK},lookAt:function(){return tM},mul:function(){return tI},multiply:function(){return r2},multiplyScalar:function(){return tj},multiplyScalarAndAdd:function(){return tz},ortho:function(){return tb},orthoNO:function(){return tv},orthoZO:function(){return t_},perspective:function(){return ty},perspectiveFromFieldOfView:function(){return tm},perspectiveNO:function(){return td},perspectiveZO:function(){return tg},rotate:function(){return r5},rotateX:function(){return r6},rotateY:function(){return r8},rotateZ:function(){return r7},scale:function(){return r4},set:function(){return rX},str:function(){return tx},sub:function(){return tD},subtract:function(){return tq},targetTo:function(){return tk},translate:function(){return r3},transpose:function(){return rJ}});var ty=td;function tg(r,t,n,a,e){var i,s=1/Math.tan(t/2);return r[0]=s/n,r[1]=0,r[2]=0,r[3]=0,r[4]=0,r[5]=s,r[6]=0,r[7]=0,r[8]=0,r[9]=0,r[11]=-1,r[12]=0,r[13]=0,r[15]=0,null!=e&&e!==1/0?(i=1/(a-e),r[10]=e*i,r[14]=e*a*i):(r[10]=-1,r[14]=-a),r}function tm(r,t,n,a){var e=Math.tan(t.upDegrees*Math.PI/180),i=Math.tan(t.downDegrees*Math.PI/180),s=Math.tan(t.leftDegrees*Math.PI/180),o=Math.tan(t.rightDegrees*Math.PI/180),u=2/(s+o),h=2/(e+i);return r[0]=u,r[1]=0,r[2]=0,r[3]=0,r[4]=0,r[5]=h,r[6]=0,r[7]=0,r[8]=-((s-o)*u*.5),r[9]=(e-i)*h*.5,r[10]=a/(n-a),r[11]=-1,r[12]=0,r[13]=0,r[14]=a*n/(n-a),r[15]=0,r}function tv(r,t,n,a,e,i,s){var o=1/(t-n),u=1/(a-e),h=1/(i-s);return r[0]=-2*o,r[1]=0,r[2]=0,r[3]=0,r[4]=0,r[5]=-2*u,r[6]=0,r[7]=0,r[8]=0,r[9]=0,r[10]=2*h,r[11]=0,r[12]=(t+n)*o,r[13]=(e+a)*u,r[14]=(s+i)*h,r[15]=1,r}var tb=tv;function t_(r,t,n,a,e,i,s){var o=1/(t-n),u=1/(a-e),h=1/(i-s);return r[0]=-2*o,r[1]=0,r[2]=0,r[3]=0,r[4]=0,r[5]=-2*u,r[6]=0,r[7]=0,r[8]=0,r[9]=0,r[10]=h,r[11]=0,r[12]=(t+n)*o,r[13]=(e+a)*u,r[14]=i*h,r[15]=1,r}function tM(r,t,n,a){var e,i,s,o,u,h,c,l,f,p,d=t[0],y=t[1],g=t[2],m=a[0],v=a[1],b=a[2],_=n[0],M=n[1],k=n[2];return 1e-6>Math.abs(d-_)&&1e-6>Math.abs(y-M)&&1e-6>Math.abs(g-k)?r$(r):(p=1/Math.hypot(c=d-_,l=y-M,f=g-k),c*=p,l*=p,f*=p,(p=Math.hypot(e=v*f-b*l,i=b*c-m*f,s=m*l-v*c))?(e*=p=1/p,i*=p,s*=p):(e=0,i=0,s=0),(p=Math.hypot(o=l*s-f*i,u=f*e-c*s,h=c*i-l*e))?(o*=p=1/p,u*=p,h*=p):(o=0,u=0,h=0),r[0]=e,r[1]=o,r[2]=c,r[3]=0,r[4]=i,r[5]=u,r[6]=l,r[7]=0,r[8]=s,r[9]=h,r[10]=f,r[11]=0,r[12]=-(e*d+i*y+s*g),r[13]=-(o*d+u*y+h*g),r[14]=-(c*d+l*y+f*g),r[15]=1,r)}function tk(r,t,n,a){var e=t[0],i=t[1],s=t[2],o=a[0],u=a[1],h=a[2],c=e-n[0],l=i-n[1],f=s-n[2],p=c*c+l*l+f*f;p>0&&(c*=p=1/Math.sqrt(p),l*=p,f*=p);var d=u*f-h*l,y=h*c-o*f,g=o*l-u*c;return(p=d*d+y*y+g*g)>0&&(d*=p=1/Math.sqrt(p),y*=p,g*=p),r[0]=d,r[1]=y,r[2]=g,r[3]=0,r[4]=l*g-f*y,r[5]=f*d-c*g,r[6]=c*y-l*d,r[7]=0,r[8]=c,r[9]=l,r[10]=f,r[11]=0,r[12]=e,r[13]=i,r[14]=s,r[15]=1,r}function tx(r){return"mat4("+r[0]+", "+r[1]+", "+r[2]+", "+r[3]+", "+r[4]+", "+r[5]+", "+r[6]+", "+r[7]+", "+r[8]+", "+r[9]+", "+r[10]+", "+r[11]+", "+r[12]+", "+r[13]+", "+r[14]+", "+r[15]+")"}function tw(r){return Math.hypot(r[0],r[1],r[2],r[3],r[4],r[5],r[6],r[7],r[8],r[9],r[10],r[11],r[12],r[13],r[14],r[15])}function tA(r,t,n){return r[0]=t[0]+n[0],r[1]=t[1]+n[1],r[2]=t[2]+n[2],r[3]=t[3]+n[3],r[4]=t[4]+n[4],r[5]=t[5]+n[5],r[6]=t[6]+n[6],r[7]=t[7]+n[7],r[8]=t[8]+n[8],r[9]=t[9]+n[9],r[10]=t[10]+n[10],r[11]=t[11]+n[11],r[12]=t[12]+n[12],r[13]=t[13]+n[13],r[14]=t[14]+n[14],r[15]=t[15]+n[15],r}function tq(r,t,n){return r[0]=t[0]-n[0],r[1]=t[1]-n[1],r[2]=t[2]-n[2],r[3]=t[3]-n[3],r[4]=t[4]-n[4],r[5]=t[5]-n[5],r[6]=t[6]-n[6],r[7]=t[7]-n[7],r[8]=t[8]-n[8],r[9]=t[9]-n[9],r[10]=t[10]-n[10],r[11]=t[11]-n[11],r[12]=t[12]-n[12],r[13]=t[13]-n[13],r[14]=t[14]-n[14],r[15]=t[15]-n[15],r}function tj(r,t,n){return r[0]=t[0]*n,r[1]=t[1]*n,r[2]=t[2]*n,r[3]=t[3]*n,r[4]=t[4]*n,r[5]=t[5]*n,r[6]=t[6]*n,r[7]=t[7]*n,r[8]=t[8]*n,r[9]=t[9]*n,r[10]=t[10]*n,r[11]=t[11]*n,r[12]=t[12]*n,r[13]=t[13]*n,r[14]=t[14]*n,r[15]=t[15]*n,r}function tz(r,t,n,a){return r[0]=t[0]+n[0]*a,r[1]=t[1]+n[1]*a,r[2]=t[2]+n[2]*a,r[3]=t[3]+n[3]*a,r[4]=t[4]+n[4]*a,r[5]=t[5]+n[5]*a,r[6]=t[6]+n[6]*a,r[7]=t[7]+n[7]*a,r[8]=t[8]+n[8]*a,r[9]=t[9]+n[9]*a,r[10]=t[10]+n[10]*a,r[11]=t[11]+n[11]*a,r[12]=t[12]+n[12]*a,r[13]=t[13]+n[13]*a,r[14]=t[14]+n[14]*a,r[15]=t[15]+n[15]*a,r}function tS(r,t){return r[0]===t[0]&&r[1]===t[1]&&r[2]===t[2]&&r[3]===t[3]&&r[4]===t[4]&&r[5]===t[5]&&r[6]===t[6]&&r[7]===t[7]&&r[8]===t[8]&&r[9]===t[9]&&r[10]===t[10]&&r[11]===t[11]&&r[12]===t[12]&&r[13]===t[13]&&r[14]===t[14]&&r[15]===t[15]}function tV(r,t){var n=r[0],a=r[1],e=r[2],i=r[3],s=r[4],o=r[5],u=r[6],h=r[7],c=r[8],l=r[9],f=r[10],p=r[11],d=r[12],y=r[13],g=r[14],m=r[15],v=t[0],b=t[1],_=t[2],M=t[3],k=t[4],x=t[5],w=t[6],A=t[7],q=t[8],j=t[9],z=t[10],S=t[11],V=t[12],I=t[13],D=t[14],F=t[15];return Math.abs(n-v)<=1e-6*Math.max(1,Math.abs(n),Math.abs(v))&&Math.abs(a-b)<=1e-6*Math.max(1,Math.abs(a),Math.abs(b))&&Math.abs(e-_)<=1e-6*Math.max(1,Math.abs(e),Math.abs(_))&&Math.abs(i-M)<=1e-6*Math.max(1,Math.abs(i),Math.abs(M))&&Math.abs(s-k)<=1e-6*Math.max(1,Math.abs(s),Math.abs(k))&&Math.abs(o-x)<=1e-6*Math.max(1,Math.abs(o),Math.abs(x))&&Math.abs(u-w)<=1e-6*Math.max(1,Math.abs(u),Math.abs(w))&&Math.abs(h-A)<=1e-6*Math.max(1,Math.abs(h),Math.abs(A))&&Math.abs(c-q)<=1e-6*Math.max(1,Math.abs(c),Math.abs(q))&&Math.abs(l-j)<=1e-6*Math.max(1,Math.abs(l),Math.abs(j))&&Math.abs(f-z)<=1e-6*Math.max(1,Math.abs(f),Math.abs(z))&&Math.abs(p-S)<=1e-6*Math.max(1,Math.abs(p),Math.abs(S))&&Math.abs(d-V)<=1e-6*Math.max(1,Math.abs(d),Math.abs(V))&&Math.abs(y-I)<=1e-6*Math.max(1,Math.abs(y),Math.abs(I))&&Math.abs(g-D)<=1e-6*Math.max(1,Math.abs(g),Math.abs(D))&&Math.abs(m-F)<=1e-6*Math.max(1,Math.abs(m),Math.abs(F))}var tI=r2,tD=tq,tF={};function tB(){var r=new rc(3);return rc!=Float32Array&&(r[0]=0,r[1]=0,r[2]=0),r}function tN(r,t,n){var a=new rc(3);return a[0]=r,a[1]=t,a[2]=n,a}function tU(r,t,n){var a=t[0],e=t[1],i=t[2],s=n[0],o=n[1],u=n[2];return r[0]=e*u-i*o,r[1]=i*s-a*u,r[2]=a*o-e*s,r}function tC(){var r=new rc(4);return rc!=Float32Array&&(r[0]=0,r[1]=0,r[2]=0),r[3]=1,r}function tL(r){return r[0]=0,r[1]=0,r[2]=0,r[3]=1,r}function tE(r,t,n){var a=Math.sin(n*=.5);return r[0]=a*t[0],r[1]=a*t[1],r[2]=a*t[2],r[3]=Math.cos(n),r}function tO(r,t){var n=2*Math.acos(t[3]),a=Math.sin(n/2);return a>1e-6?(r[0]=t[0]/a,r[1]=t[1]/a,r[2]=t[2]/a):(r[0]=1,r[1]=0,r[2]=0),n}function tP(r,t){var n=nr(r,t);return Math.acos(2*n*n-1)}function tT(r,t,n){var a=t[0],e=t[1],i=t[2],s=t[3],o=n[0],u=n[1],h=n[2],c=n[3];return r[0]=a*c+s*o+e*h-i*u,r[1]=e*c+s*u+i*o-a*h,r[2]=i*c+s*h+a*u-e*o,r[3]=s*c-a*o-e*u-i*h,r}function tR(r,t,n){n*=.5;var a=t[0],e=t[1],i=t[2],s=t[3],o=Math.sin(n),u=Math.cos(n);return r[0]=a*u+s*o,r[1]=e*u+i*o,r[2]=i*u-e*o,r[3]=s*u-a*o,r}function tG(r,t,n){n*=.5;var a=t[0],e=t[1],i=t[2],s=t[3],o=Math.sin(n),u=Math.cos(n);return r[0]=a*u-i*o,r[1]=e*u+s*o,r[2]=i*u+a*o,r[3]=s*u-e*o,r}function tH(r,t,n){n*=.5;var a=t[0],e=t[1],i=t[2],s=t[3],o=Math.sin(n),u=Math.cos(n);return r[0]=a*u+e*o,r[1]=e*u-a*o,r[2]=i*u+s*o,r[3]=s*u-i*o,r}function tW(r,t){var n=t[0],a=t[1],e=t[2];return r[0]=n,r[1]=a,r[2]=e,r[3]=Math.sqrt(Math.abs(1-n*n-a*a-e*e)),r}function tY(r,t){var n=t[0],a=t[1],e=t[2],i=t[3],s=Math.sqrt(n*n+a*a+e*e),o=Math.exp(i),u=s>0?o*Math.sin(s)/s:0;return r[0]=n*u,r[1]=a*u,r[2]=e*u,r[3]=o*Math.cos(s),r}function tQ(r,t){var n=t[0],a=t[1],e=t[2],i=t[3],s=Math.sqrt(n*n+a*a+e*e),o=s>0?Math.atan2(s,i)/s:0;return r[0]=n*o,r[1]=a*o,r[2]=e*o,r[3]=.5*Math.log(n*n+a*a+e*e+i*i),r}function tZ(r,t,n){return tQ(r,t),t9(r,r,n),tY(r,r),r}function tX(r,t,n,a){var 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