@flighthq/collision 0.4.0-next.1815.e47cc3c → 0.4.0-next.1821.efb1cbc

package/dist/capsuleContact2D.d.ts

@@ -0,0 +1,7 @@
+import type { CollisionAabb2D, CollisionCapsule2D, CollisionCircle2D, CollisionContactManifold2D, CollisionObb2D, CollisionPolygon2D } from '@flighthq/types/contract';
+export declare function collideCapsuleAabbContactManifold2D(a: Readonly<CollisionCapsule2D>, b: Readonly<CollisionAabb2D>, out: CollisionContactManifold2D): boolean;
+export declare function collideCapsuleCapsuleContactManifold2D(a: Readonly<CollisionCapsule2D>, b: Readonly<CollisionCapsule2D>, out: CollisionContactManifold2D): boolean;
+export declare function collideCapsuleObbContactManifold2D(a: Readonly<CollisionCapsule2D>, b: Readonly<CollisionObb2D>, out: CollisionContactManifold2D): boolean;
+export declare function collideCapsulePolygonContactManifold2D(a: Readonly<CollisionCapsule2D>, b: Readonly<CollisionPolygon2D>, out: CollisionContactManifold2D): boolean;
+export declare function collideCircleCapsuleContactManifold2D(a: Readonly<CollisionCircle2D>, b: Readonly<CollisionCapsule2D>, out: CollisionContactManifold2D): boolean;
+//# sourceMappingURL=capsuleContact2D.d.ts.map

package/dist/capsuleContact2D.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"capsuleContact2D.d.ts","sourceRoot":"","sources":["../src/capsuleContact2D.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EACV,eAAe,EACf,kBAAkB,EAClB,iBAAiB,EACjB,0BAA0B,EAC1B,cAAc,EACd,kBAAkB,EACnB,MAAM,0BAA0B,CAAC;AAgBlC,wBAAgB,mCAAmC,CACjD,CAAC,EAAE,QAAQ,CAAC,kBAAkB,CAAC,EAC/B,CAAC,EAAE,QAAQ,CAAC,eAAe,CAAC,EAC5B,GAAG,EAAE,0BAA0B,GAC9B,OAAO,CAGT;AAQD,wBAAgB,sCAAsC,CACpD,CAAC,EAAE,QAAQ,CAAC,kBAAkB,CAAC,EAC/B,CAAC,EAAE,QAAQ,CAAC,kBAAkB,CAAC,EAC/B,GAAG,EAAE,0BAA0B,GAC9B,OAAO,CAkHT;AAgBD,wBAAgB,kCAAkC,CAChD,CAAC,EAAE,QAAQ,CAAC,kBAAkB,CAAC,EAC/B,CAAC,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC3B,GAAG,EAAE,0BAA0B,GAC9B,OAAO,CAGT;AAGD,wBAAgB,sCAAsC,CACpD,CAAC,EAAE,QAAQ,CAAC,kBAAkB,CAAC,EAC/B,CAAC,EAAE,QAAQ,CAAC,kBAAkB,CAAC,EAC/B,GAAG,EAAE,0BAA0B,GAC9B,OAAO,CAET;AAOD,wBAAgB,qCAAqC,CACnD,CAAC,EAAE,QAAQ,CAAC,iBAAiB,CAAC,EAC9B,CAAC,EAAE,QAAQ,CAAC,kBAAkB,CAAC,EAC/B,GAAG,EAAE,0BAA0B,GAC9B,OAAO,CAuBT"}

package/dist/capsuleContact2D.js

@@ -0,0 +1,534 @@
+import { packContactFeatureId } from './contactFeatureId';
+import { clearCollisionContactManifold2D } from './contactManifold2D';
+import { writeAabbVertices, writeObbVertices } from './convexVertices2D';
+// Capsule contact manifolds. Separate from `shapeContact2D.ts` because the capsule is the one built-in
+// whose surface is neither a polygon nor a single disc, so it shares neither the SAT-over-vertices core
+// nor the one-point circle writer: it needs a separating-axis search whose candidate set includes its own
+// rounded ends, and it is the only kind that can produce a TWO-POINT manifold from a curved surface.
+//
+// Every function here writes the normal pushing **A out of B** and places contact points on **A's
+// surface**, matching `shapeContact2D.ts` exactly. Touching is exclusive: a pair at precisely zero
+// separation is reported as not overlapping.
+// Capsule vs axis-aligned box.
+export function collideCapsuleAabbContactManifold2D(a, b, out) {
+    writeAabbVertices(b, capsuleScratch.vertices);
+    return capsulePolygonContact(a, capsuleScratch.vertices, 4, out);
+}
+// Capsule vs capsule.
+//
+// Two rounded shapes, and yet this is the pair most likely to need TWO points: two capsules lying
+// side by side is a resting configuration, and a single contact point would let the pair rock about it
+// forever. The parallel case is detected and clipped; everything else is a one-point rounded contact
+// between the closest points on the two axes.
+export function collideCapsuleCapsuleContactManifold2D(a, b, out) {
+    if (!(a.radius > 0) || !(b.radius > 0)) {
+        clearCollisionContactManifold2D(out);
+        return false;
+    }
+    // A separating-axis search, NOT a distance between the two axes. The distance reduction is only valid
+    // while the segments are disjoint: two capsules crossing in an X have axes at distance zero and are
+    // deeply interpenetrating, and reading that as "the surfaces just barely reach" reports a depth of
+    // `rA + rB` along an arbitrary perpendicular — which does not separate them at all, because clearing a
+    // crossed pair means moving far enough for the SEGMENTS to clear, a distance set by their lengths and
+    // not by their radii.
+    //
+    // The candidate set is the boundary of the pair's Minkowski difference, which is the sum of segment A,
+    // reflected segment B, and a disc of radius `rA + rB`: four flat sides, from the two axes' own
+    // perpendiculars, and four circular corners, one per endpoint pair.
+    let bestSeparation = Number.NEGATIVE_INFINITY;
+    let bestNormalX = 0;
+    let bestNormalY = 0;
+    writePerpendicular(a.x1 - a.x0, a.y1 - a.y0);
+    const perpAX = capsuleScratch.axis[0];
+    const perpAY = capsuleScratch.axis[1];
+    writePerpendicular(b.x1 - b.x0, b.y1 - b.y0);
+    const perpBX = capsuleScratch.axis[0];
+    const perpBY = capsuleScratch.axis[1];
+    for (const [nx, ny] of [
+        [perpAX, perpAY],
+        [-perpAX, -perpAY],
+        [perpBX, perpBY],
+        [-perpBX, -perpBY],
+    ]) {
+        const separation = capsuleCapsuleSeparation(a, b, nx, ny);
+        if (separation > bestSeparation) {
+            bestSeparation = separation;
+            bestNormalX = nx;
+            bestNormalY = ny;
+        }
+    }
+    for (const [ax, ay] of [
+        [a.x0, a.y0],
+        [a.x1, a.y1],
+    ]) {
+        for (const [bx, by] of [
+            [b.x0, b.y0],
+            [b.x1, b.y1],
+        ]) {
+            const dx = ax - bx;
+            const dy = ay - by;
+            const length = Math.hypot(dx, dy);
+            if (length <= EPSILON)
+                continue;
+            const separation = capsuleCapsuleSeparation(a, b, dx / length, dy / length);
+            if (separation > bestSeparation) {
+                bestSeparation = separation;
+                bestNormalX = dx / length;
+                bestNormalY = dy / length;
+            }
+        }
+    }
+    if (bestSeparation >= 0 || bestSeparation === Number.NEGATIVE_INFINITY) {
+        clearCollisionContactManifold2D(out);
+        return false;
+    }
+    const depth = -bestSeparation;
+    // Parallel and overlapping: the flat sides face each other and the contact is a span, not a point.
+    if (writeParallelAxisOverlap(a, b, bestNormalX, bestNormalY) > 0) {
+        out.overlapping = true;
+        out.normalX = bestNormalX;
+        out.normalY = bestNormalY;
+        out.depth = depth;
+        for (let at = 0; at < 2; at += 1) {
+            const point = out.points[at];
+            point.x = capsuleScratch.span[at * 2] - bestNormalX * a.radius;
+            point.y = capsuleScratch.span[at * 2 + 1] - bestNormalY * a.radius;
+            point.depth = depth;
+            point.featureId = packContactFeatureId(true, 0, 0, at === 1);
+        }
+        out.pointCount = 2;
+        return true;
+    }
+    // One point, on A's surface. WHICH axis point to offset from depends on how the normal sits relative
+    // to the axis, and getting this wrong puts the contact inside the shape rather than on it.
+    //
+    // When the normal is perpendicular to the axis the contact is on A's flat side, every axis point is
+    // equally valid, and the closest point to B is the best-positioned one. When it is not — a rounded end
+    // pressed into something — only the SUPPORT point works: `axisPoint - normal * radius` sits at
+    // `radius * |sin(angle)|` from the axis for any other choice, which is inside the capsule. The support
+    // point is on the boundary by definition, which is exactly the property needed here.
+    const axisLength = Math.hypot(a.x1 - a.x0, a.y1 - a.y0);
+    const alongAxis = axisLength > EPSILON ? ((a.x1 - a.x0) * bestNormalX + (a.y1 - a.y0) * bestNormalY) / axisLength : 0;
+    if (Math.abs(alongAxis) <= PARALLEL_EPSILON) {
+        writeClosestPointsBetweenSegments(a.x0, a.y0, a.x1, a.y1, b.x0, b.y0, b.x1, b.y1);
+    }
+    else if (a.x0 * bestNormalX + a.y0 * bestNormalY <= a.x1 * bestNormalX + a.y1 * bestNormalY) {
+        capsuleScratch.closest[0] = a.x0;
+        capsuleScratch.closest[1] = a.y0;
+    }
+    else {
+        capsuleScratch.closest[0] = a.x1;
+        capsuleScratch.closest[1] = a.y1;
+    }
+    return writeSingleCapsulePoint(capsuleScratch.closest[0], capsuleScratch.closest[1], a.radius, bestNormalX, bestNormalY, depth, 0, out);
+}
+// How far A's surface clears B's along `normal`, which points from B toward A. Negative means
+// overlapping. Both extents come from the axes plus a radius, with no surface to sample.
+function capsuleCapsuleSeparation(a, b, normalX, normalY) {
+    const minimumA = Math.min(a.x0 * normalX + a.y0 * normalY, a.x1 * normalX + a.y1 * normalY) - a.radius;
+    const maximumB = Math.max(b.x0 * normalX + b.y0 * normalY, b.x1 * normalX + b.y1 * normalY) + b.radius;
+    return minimumA - maximumB;
+}
+// Capsule vs oriented box.
+export function collideCapsuleObbContactManifold2D(a, b, out) {
+    writeObbVertices(b, capsuleScratch.vertices);
+    return capsulePolygonContact(a, capsuleScratch.vertices, 4, out);
+}
+// Capsule vs convex polygon.
+export function collideCapsulePolygonContactManifold2D(a, b, out) {
+    return capsulePolygonContact(a, b.points, b.points.length >> 1, out);
+}
+// Circle vs capsule.
+//
+// Exactly circle-vs-circle once the capsule is reduced to the disc at its closest axis point, which is
+// what a capsule IS at any single point of contact — there is no separate body and cap case to get
+// wrong, and no approximation in saying so.
+export function collideCircleCapsuleContactManifold2D(a, b, out) {
+    writeClosestPointOnSegment(b.x0, b.y0, b.x1, b.y1, a.x, a.y);
+    const closestX = capsuleScratch.closest[0];
+    const closestY = capsuleScratch.closest[1];
+    let normalX = a.x - closestX;
+    let normalY = a.y - closestY;
+    const distance = Math.hypot(normalX, normalY);
+    const sum = a.radius + b.radius;
+    if (distance >= sum) {
+        clearCollisionContactManifold2D(out);
+        return false;
+    }
+    if (distance > EPSILON) {
+        normalX /= distance;
+        normalY /= distance;
+    }
+    else {
+        // The circle's centre sits on the capsule's axis. Push it out sideways: the perpendicular is the
+        // shortest way out of a capsule from its own axis, and it is defined even here.
+        writePerpendicular(b.x1 - b.x0, b.y1 - b.y0);
+        normalX = capsuleScratch.axis[0];
+        normalY = capsuleScratch.axis[1];
+    }
+    return writeSingleCapsulePoint(a.x, a.y, a.radius, normalX, normalY, sum - distance, 0, out);
+}
+// The separating-axis search for a capsule against a convex polygon, and the clipping that follows it.
+//
+// The candidate set is what makes this exact rather than approximate, and it has three parts because a
+// capsule can meet a polygon three ways:
+//   - the polygon's face normals, for the capsule resting against a flat side;
+//   - the capsule's own two side normals, for a polygon face lying along the capsule's straight body;
+//   - the direction from each polygon VERTEX to the nearest point on the capsule's axis, for a rounded
+//     end pressed into a corner. Nothing else covers that case: at a corner the deepest direction is
+//     radial from the vertex and matches no face normal of either shape, so a search over face normals
+//     alone reports a corner contact along whichever face happens to be least wrong.
+function capsulePolygonContact(a, vertices, count, out) {
+    if (count < 3 || !(a.radius > 0)) {
+        clearCollisionContactManifold2D(out);
+        return false;
+    }
+    let bestSeparation = Number.NEGATIVE_INFINITY;
+    let bestNormalX = 0;
+    let bestNormalY = 0;
+    let bestFace = -1;
+    let bestSource = SOURCE_VERTEX;
+    let bestIndex = 0;
+    for (let face = 0; face < count; face += 1) {
+        const next = face + 1 === count ? 0 : face + 1;
+        const x0 = vertices[face << 1];
+        const y0 = vertices[(face << 1) + 1];
+        const edgeX = vertices[next << 1] - x0;
+        const edgeY = vertices[(next << 1) + 1] - y0;
+        const length = Math.hypot(edgeX, edgeY);
+        if (length <= EPSILON)
+            continue;
+        // Both windings are admitted, as everywhere else in this package, by orienting the face normal
+        // away from the polygon's own interior rather than by assuming a winding.
+        let normalX = edgeY / length;
+        let normalY = -edgeX / length;
+        if (!isOutwardFromPolygon(vertices, count, x0, y0, normalX, normalY)) {
+            normalX = -normalX;
+            normalY = -normalY;
+        }
+        const separation = capsuleSeparation(a, vertices, count, normalX, normalY);
+        if (separation > bestSeparation) {
+            bestSeparation = separation;
+            bestNormalX = normalX;
+            bestNormalY = normalY;
+            bestFace = face;
+            bestSource = SOURCE_POLYGON_FACE;
+            bestIndex = face;
+        }
+    }
+    writePerpendicular(a.x1 - a.x0, a.y1 - a.y0);
+    for (let side = 0; side < 2; side += 1) {
+        const normalX = side === 0 ? capsuleScratch.axis[0] : -capsuleScratch.axis[0];
+        const normalY = side === 0 ? capsuleScratch.axis[1] : -capsuleScratch.axis[1];
+        const separation = capsuleSeparation(a, vertices, count, normalX, normalY);
+        if (separation > bestSeparation) {
+            bestSeparation = separation;
+            bestNormalX = normalX;
+            bestNormalY = normalY;
+            bestFace = -1;
+            bestSource = SOURCE_CAPSULE_SIDE;
+            bestIndex = side;
+        }
+    }
+    for (let vertex = 0; vertex < count; vertex += 1) {
+        const vx = vertices[vertex << 1];
+        const vy = vertices[(vertex << 1) + 1];
+        writeClosestPointOnSegment(a.x0, a.y0, a.x1, a.y1, vx, vy);
+        const dx = capsuleScratch.closest[0] - vx;
+        const dy = capsuleScratch.closest[1] - vy;
+        const length = Math.hypot(dx, dy);
+        if (length <= EPSILON)
+            continue;
+        const normalX = dx / length;
+        const normalY = dy / length;
+        const separation = capsuleSeparation(a, vertices, count, normalX, normalY);
+        if (separation > bestSeparation) {
+            bestSeparation = separation;
+            bestNormalX = normalX;
+            bestNormalY = normalY;
+            bestFace = -1;
+            bestSource = SOURCE_VERTEX;
+            bestIndex = vertex;
+        }
+    }
+    if (bestSeparation >= 0 || bestSeparation === Number.NEGATIVE_INFINITY) {
+        clearCollisionContactManifold2D(out);
+        return false;
+    }
+    const depth = -bestSeparation;
+    // A polygon face won, and the capsule's axis lies along it: the contact is a span. Clipping the axis
+    // to the face's extent is what produces the second point, and it is the whole reason a capsule can
+    // rest flat on a floor instead of rocking on one point forever.
+    if (bestSource === SOURCE_POLYGON_FACE && writeFaceSpan(a, vertices, count, bestFace, bestNormalX, bestNormalY)) {
+        out.overlapping = true;
+        out.normalX = bestNormalX;
+        out.normalY = bestNormalY;
+        out.depth = depth;
+        for (let at = 0; at < 2; at += 1) {
+            const point = out.points[at];
+            point.x = capsuleScratch.span[at * 2] - bestNormalX * a.radius;
+            point.y = capsuleScratch.span[at * 2 + 1] - bestNormalY * a.radius;
+            point.depth = capsuleScratch.spanDepth[at];
+            point.featureId = packContactFeatureId(false, bestFace, 0, at === 1);
+        }
+        out.pointCount = 2;
+        return true;
+    }
+    // One point, at whichever place on the capsule's axis is deepest along the winning normal.
+    writeDeepestAxisPoint(a, bestNormalX, bestNormalY, vertices, count, bestSource, bestIndex);
+    return writeSingleCapsulePoint(capsuleScratch.closest[0], capsuleScratch.closest[1], a.radius, bestNormalX, bestNormalY, depth, packContactFeatureId(bestSource === SOURCE_CAPSULE_SIDE, bestIndex, 0, false), out);
+}
+// How far the capsule's surface clears the polygon along `normal`, which points from the polygon toward
+// the capsule. Negative means overlapping by that much.
+//
+// The capsule's extent subtracts its radius rather than scanning a surface: every point of a capsule is
+// within `radius` of its axis, so the axis's own minimum along the normal, less the radius, IS the
+// surface minimum with no sampling.
+function capsuleSeparation(a, vertices, count, normalX, normalY) {
+    const axisMinimum = Math.min(a.x0 * normalX + a.y0 * normalY, a.x1 * normalX + a.y1 * normalY) - a.radius;
+    let polygonMaximum = Number.NEGATIVE_INFINITY;
+    for (let vertex = 0; vertex < count; vertex += 1) {
+        const projection = vertices[vertex << 1] * normalX + vertices[(vertex << 1) + 1] * normalY;
+        if (projection > polygonMaximum)
+            polygonMaximum = projection;
+    }
+    return axisMinimum - polygonMaximum;
+}
+// Whether `normal` at (`x`,`y`) points out of the polygon rather than into it.
+function isOutwardFromPolygon(vertices, count, x, y, normalX, normalY) {
+    for (let vertex = 0; vertex < count; vertex += 1) {
+        const projection = (vertices[vertex << 1] - x) * normalX + (vertices[(vertex << 1) + 1] - y) * normalY;
+        if (projection > EPSILON)
+            return false;
+    }
+    return true;
+}
+// Clips the capsule's axis to the winning face's extent and keeps the result only if BOTH ends survive
+// with real depth, which is what distinguishes a capsule lying along a face from one touching it at a
+// point. Returns false for the point case, leaving the caller to write a single contact.
+function writeFaceSpan(a, vertices, count, face, normalX, normalY) {
+    const axisX = a.x1 - a.x0;
+    const axisY = a.y1 - a.y0;
+    const axisLength = Math.hypot(axisX, axisY);
+    if (axisLength <= EPSILON)
+        return false;
+    // The capsule's flat SIDE has to be the thing facing the face, which means its axis lies along the
+    // face and not into it. Without this a near-end-on capsule still projects a span onto the face and
+    // still clears both depth checks, and the two points it produces are placed by stepping `radius` along
+    // a normal that is nearly parallel to the axis — which lands them deep INSIDE the capsule rather than
+    // on it. An end-on capsule has one genuine point of contact and must be left to the single-point path.
+    if (Math.abs((axisX / axisLength) * normalX + (axisY / axisLength) * normalY) > PARALLEL_EPSILON)
+        return false;
+    const next = face + 1 === count ? 0 : face + 1;
+    const faceX0 = vertices[face << 1];
+    const faceY0 = vertices[(face << 1) + 1];
+    const faceX1 = vertices[next << 1];
+    const faceY1 = vertices[(next << 1) + 1];
+    const tangentX = faceX1 - faceX0;
+    const tangentY = faceY1 - faceY0;
+    const faceLength = Math.hypot(tangentX, tangentY);
+    if (faceLength <= EPSILON)
+        return false;
+    const unitX = tangentX / faceLength;
+    const unitY = tangentY / faceLength;
+    // The capsule's axis projected onto the face's own direction, clipped to the face's span.
+    const start = (a.x0 - faceX0) * unitX + (a.y0 - faceY0) * unitY;
+    const end = (a.x1 - faceX0) * unitX + (a.y1 - faceY0) * unitY;
+    const low = Math.max(Math.min(start, end), 0);
+    const high = Math.min(Math.max(start, end), faceLength);
+    if (high - low <= CONTACT_SPAN_EPSILON)
+        return false;
+    for (let at = 0; at < 2; at += 1) {
+        const along = at === 0 ? low : high;
+        // Back from the face's parameter to the point on the capsule's axis with that projection.
+        const fraction = (along - start) / (end - start);
+        const x = a.x0 + (a.x1 - a.x0) * fraction;
+        const y = a.y0 + (a.y1 - a.y0) * fraction;
+        capsuleScratch.span[at * 2] = x;
+        capsuleScratch.span[at * 2 + 1] = y;
+        capsuleScratch.spanDepth[at] = a.radius - ((x - faceX0) * normalX + (y - faceY0) * normalY);
+    }
+    // A span whose ends do not both touch is a point contact wearing a span's clothing: keeping it would
+    // hand the solver a contact at a place the shapes are not in contact.
+    return capsuleScratch.spanDepth[0] > 0 && capsuleScratch.spanDepth[1] > 0;
+}
+// The point on the capsule's AXIS that is deepest along the contact normal, written into `closest`.
+function writeDeepestAxisPoint(a, normalX, normalY, vertices, count, source, index) {
+    if (source === SOURCE_VERTEX) {
+        // The winning axis came from this vertex, so the contact is where the axis is nearest to it.
+        writeClosestPointOnSegment(a.x0, a.y0, a.x1, a.y1, vertices[index << 1], vertices[(index << 1) + 1]);
+        return;
+    }
+    const projection0 = a.x0 * normalX + a.y0 * normalY;
+    const projection1 = a.x1 * normalX + a.y1 * normalY;
+    if (source === SOURCE_CAPSULE_SIDE) {
+        // A capsule side won, so both endpoints project equally along the normal and the axial position is
+        // undetermined by it. The polygon's own deepest vertex decides where along the capsule to sit.
+        let deepest = 0;
+        let deepestProjection = Number.NEGATIVE_INFINITY;
+        for (let vertex = 0; vertex < count; vertex += 1) {
+            const value = vertices[vertex << 1] * normalX + vertices[(vertex << 1) + 1] * normalY;
+            if (value > deepestProjection) {
+                deepestProjection = value;
+                deepest = vertex;
+            }
+        }
+        writeClosestPointOnSegment(a.x0, a.y0, a.x1, a.y1, vertices[deepest << 1], vertices[(deepest << 1) + 1]);
+        return;
+    }
+    if (projection0 <= projection1) {
+        capsuleScratch.closest[0] = a.x0;
+        capsuleScratch.closest[1] = a.y0;
+    }
+    else {
+        capsuleScratch.closest[0] = a.x1;
+        capsuleScratch.closest[1] = a.y1;
+    }
+}
+// The overlap of two parallel capsule axes along their shared direction, written into `span` as points
+// on A's axis. Returns the overlap length, or 0 when the pair is not parallel enough to have one.
+function writeParallelAxisOverlap(a, b, normalX, normalY) {
+    const axisAX = a.x1 - a.x0;
+    const axisAY = a.y1 - a.y0;
+    const lengthA = Math.hypot(axisAX, axisAY);
+    const lengthB = Math.hypot(b.x1 - b.x0, b.y1 - b.y0);
+    if (lengthA <= EPSILON || lengthB <= EPSILON)
+        return 0;
+    const unitX = axisAX / lengthA;
+    const unitY = axisAY / lengthA;
+    // Both axes must be perpendicular to the contact normal, which is what "lying side by side" means.
+    // A pair meeting end-to-end or at an angle has a genuine single point of contact and must not be
+    // handed a fabricated second one.
+    if (Math.abs(unitX * normalX + unitY * normalY) > PARALLEL_EPSILON)
+        return 0;
+    const unitBX = (b.x1 - b.x0) / lengthB;
+    const unitBY = (b.y1 - b.y0) / lengthB;
+    if (Math.abs(unitBX * normalX + unitBY * normalY) > PARALLEL_EPSILON)
+        return 0;
+    const startB = (b.x0 - a.x0) * unitX + (b.y0 - a.y0) * unitY;
+    const endB = (b.x1 - a.x0) * unitX + (b.y1 - a.y0) * unitY;
+    const low = Math.max(Math.min(startB, endB), 0);
+    const high = Math.min(Math.max(startB, endB), lengthA);
+    const overlap = high - low;
+    if (overlap <= CONTACT_SPAN_EPSILON)
+        return 0;
+    capsuleScratch.span[0] = a.x0 + unitX * low;
+    capsuleScratch.span[1] = a.y0 + unitY * low;
+    capsuleScratch.span[2] = a.x0 + unitX * high;
+    capsuleScratch.span[3] = a.y0 + unitY * high;
+    return overlap;
+}
+// The closest point on a segment to a point, written into `closest[0..1]`.
+function writeClosestPointOnSegment(x0, y0, x1, y1, px, py) {
+    const dx = x1 - x0;
+    const dy = y1 - y0;
+    const lengthSquared = dx * dx + dy * dy;
+    let t = 0;
+    if (lengthSquared > 0) {
+        t = ((px - x0) * dx + (py - y0) * dy) / lengthSquared;
+        t = t < 0 ? 0 : t > 1 ? 1 : t;
+    }
+    capsuleScratch.closest[0] = x0 + t * dx;
+    capsuleScratch.closest[1] = y0 + t * dy;
+}
+// The closest pair of points between two segments, written into `closest[0..3]` as A's then B's.
+//
+// The clamped analytic solution, with the parallel case falling back to the four endpoint-to-segment
+// distances. Parallel segments have a whole interval of equally-close pairs, so any single answer is as
+// correct as another and the caller decides whether the pair earns two contact points.
+function writeClosestPointsBetweenSegments(ax0, ay0, ax1, ay1, bx0, by0, bx1, by1) {
+    const dax = ax1 - ax0;
+    const day = ay1 - ay0;
+    const dbx = bx1 - bx0;
+    const dby = by1 - by0;
+    const rx = ax0 - bx0;
+    const ry = ay0 - by0;
+    const aa = dax * dax + day * day;
+    const bb = dbx * dbx + dby * dby;
+    const f = dbx * rx + dby * ry;
+    let s = 0;
+    let t = 0;
+    if (aa <= EPSILON && bb <= EPSILON) {
+        s = 0;
+        t = 0;
+    }
+    else if (aa <= EPSILON) {
+        t = clamp01(f / bb);
+    }
+    else {
+        const c = dax * rx + day * ry;
+        if (bb <= EPSILON) {
+            s = clamp01(-c / aa);
+        }
+        else {
+            const b = dax * dbx + day * dby;
+            const denominator = aa * bb - b * b;
+            s = denominator > EPSILON ? clamp01((b * f - c * bb) / denominator) : 0;
+            t = (b * s + f) / bb;
+            if (t < 0) {
+                t = 0;
+                s = clamp01(-c / aa);
+            }
+            else if (t > 1) {
+                t = 1;
+                s = clamp01((b - c) / aa);
+            }
+        }
+    }
+    capsuleScratch.closest[0] = ax0 + dax * s;
+    capsuleScratch.closest[1] = ay0 + day * s;
+    capsuleScratch.closest[2] = bx0 + dbx * t;
+    capsuleScratch.closest[3] = by0 + dby * t;
+}
+// The unit perpendicular of a direction, written into `axis`. Falls back to +x for a zero-length input,
+// which is the degenerate capsule that is really a circle and has no axis to be perpendicular to.
+function writePerpendicular(dx, dy) {
+    const length = Math.hypot(dx, dy);
+    if (length <= EPSILON) {
+        capsuleScratch.axis[0] = 1;
+        capsuleScratch.axis[1] = 0;
+        return;
+    }
+    capsuleScratch.axis[0] = -dy / length;
+    capsuleScratch.axis[1] = dx / length;
+}
+// The one-point manifold shared by every capsule pair that does not resolve to a span. `surfaceX`/
+// `surfaceY` is the point on A's AXIS (or A's centre, for a circle) that the normal is measured from.
+function writeSingleCapsulePoint(axisX, axisY, radius, normalX, normalY, depth, featureId, out) {
+    out.overlapping = true;
+    out.normalX = normalX;
+    out.normalY = normalY;
+    out.depth = depth;
+    const point = out.points[0];
+    point.x = axisX - normalX * radius;
+    point.y = axisY - normalY * radius;
+    point.depth = depth;
+    point.featureId = featureId;
+    out.pointCount = 1;
+    return true;
+}
+function clamp01(value) {
+    return value < 0 ? 0 : value > 1 ? 1 : value;
+}
+const EPSILON = 1e-9;
+// A span shorter than this is a point contact, and fabricating a second point on it would hand the
+// solver two contacts where the shapes touch once.
+const CONTACT_SPAN_EPSILON = 1e-6;
+// How close to perpendicular the two axes must be to the contact normal before the pair counts as lying
+// side by side. Generous on purpose: a nearly-parallel resting pair wants two points, and one point
+// short of the threshold rocks.
+const PARALLEL_EPSILON = 1e-3;
+const SOURCE_POLYGON_FACE = 0;
+const SOURCE_CAPSULE_SIDE = 1;
+const SOURCE_VERTEX = 2;
+// Reused across every capsule contact: these run per collider pair per step in a physics world.
+const capsuleScratch = {
+    axis: [0, 0],
+    closest: [0, 0, 0, 0],
+    span: [0, 0, 0, 0],
+    spanDepth: [0, 0],
+    // A Float64Array because that is what `writeAabbVertices`/`writeObbVertices` write into, and eight
+    // slots because both produce exactly four corners.
+    vertices: new Float64Array(8),
+};
+//# sourceMappingURL=capsuleContact2D.js.map

package/dist/capsuleContact2D.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"capsuleContact2D.js","sourceRoot":"","sources":["../src/capsuleContact2D.ts"],"names":[],"mappings":"AASA,OAAO,EAAE,oBAAoB,EAAE,MAAM,oBAAoB,CAAC;AAC1D,OAAO,EAAE,+BAA+B,EAAE,MAAM,qBAAqB,CAAC;AACtE,OAAO,EAAE,iBAAiB,EAAE,gBAAgB,EAAE,MAAM,oBAAoB,CAAC;AAEzE,uGAAuG;AACvG,wGAAwG;AACxG,0GAA0G;AAC1G,qGAAqG;AACrG,EAAE;AACF,kGAAkG;AAClG,mGAAmG;AACnG,6CAA6C;AAE7C,+BAA+B;AAC/B,MAAM,UAAU,mCAAmC,CACjD,CAA+B,EAC/B,CAA4B,EAC5B,GAA+B;IAE/B,iBAAiB,CAAC,CAAC,EAAE,cAAc,CAAC,QAAQ,CAAC,CAAC;IAC9C,OAAO,qBAAqB,CAAC,CAAC,EAAE,cAAc,CAAC,QAAQ,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;AACnE,CAAC;AAED,sBAAsB;AACtB,EAAE;AACF,kGAAkG;AAClG,uGAAuG;AACvG,qGAAqG;AACrG,8CAA8C;AAC9C,MAAM,UAAU,sCAAsC,CACpD,CAA+B,EAC/B,CAA+B,EAC/B,GAA+B;IAE/B,IAAI,CAAC,CAAC,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,EAAE,CAAC;QACvC,+BAA+B,CAAC,GAAG,CAAC,CAAC;QACrC,OAAO,KAAK,CAAC;IACf,CAAC;IAED,sGAAsG;IACtG,oGAAoG;IACpG,mGAAmG;IACnG,uGAAuG;IACvG,sGAAsG;IACtG,sBAAsB;IACtB,EAAE;IACF,uGAAuG;IACvG,+FAA+F;IAC/F,oEAAoE;IACpE,IAAI,cAAc,GAAG,MAAM,CAAC,iBAAiB,CAAC;IAC9C,IAAI,WAAW,GAAG,CAAC,CAAC;IACpB,IAAI,WAAW,GAAG,CAAC,CAAC;IAEpB,kBAAkB,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;IAC7C,MAAM,MAAM,GAAG,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IACtC,MAAM,MAAM,GAAG,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IACtC,kBAAkB,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;IAC7C,MAAM,MAAM,GAAG,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IACtC,MAAM,MAAM,GAAG,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAEtC,KAAK,MAAM,CAAC,EAAE,EAAE,EAAE,CAAC,IAAI;QACrB,CAAC,MAAM,EAAE,MAAM,CAAC;QAChB,CAAC,CAAC,MAAM,EAAE,CAAC,MAAM,CAAC;QAClB,CAAC,MAAM,EAAE,MAAM,CAAC;QAChB,CAAC,CAAC,MAAM,EAAE,CAAC,MAAM,CAAC;KACnB,EAAE,CAAC;QACF,MAAM,UAAU,GAAG,wBAAwB,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC;QAC1D,IAAI,UAAU,GAAG,cAAc,EAAE,CAAC;YAChC,cAAc,GAAG,UAAU,CAAC;YAC5B,WAAW,GAAG,EAAE,CAAC;YACjB,WAAW,GAAG,EAAE,CAAC;QACnB,CAAC;IACH,CAAC;IAED,KAAK,MAAM,CAAC,EAAE,EAAE,EAAE,CAAC,IAAI;QACrB,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC;QACZ,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC;KACb,EAAE,CAAC;QACF,KAAK,MAAM,CAAC,EAAE,EAAE,EAAE,CAAC,IAAI;YACrB,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC;YACZ,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC;SACb,EAAE,CAAC;YACF,MAAM,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;YACnB,MAAM,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;YACnB,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;YAClC,IAAI,MAAM,IAAI,OAAO;gBAAE,SAAS;YAChC,MAAM,UAAU,GAAG,wBAAwB,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,GAAG,MAAM,EAAE,EAAE,GAAG,MAAM,CAAC,CAAC;YAC5E,IAAI,UAAU,GAAG,cAAc,EAAE,CAAC;gBAChC,cAAc,GAAG,UAAU,CAAC;gBAC5B,WAAW,GAAG,EAAE,GAAG,MAAM,CAAC;gBAC1B,WAAW,GAAG,EAAE,GAAG,MAAM,CAAC;YAC5B,CAAC;QACH,CAAC;IACH,CAAC;IAED,IAAI,cAAc,IAAI,CAAC,IAAI,cAAc,KAAK,MAAM,CAAC,iBAAiB,EAAE,CAAC;QACvE,+BAA+B,CAAC,GAAG,CAAC,CAAC;QACrC,OAAO,KAAK,CAAC;IACf,CAAC;IACD,MAAM,KAAK,GAAG,CAAC,cAAc,CAAC;IAE9B,mGAAmG;IACnG,IAAI,wBAAwB,CAAC,CAAC,EAAE,CAAC,EAAE,WAAW,EAAE,WAAW,CAAC,GAAG,CAAC,EAAE,CAAC;QACjE,GAAG,CAAC,WAAW,GAAG,IAAI,CAAC;QACvB,GAAG,CAAC,OAAO,GAAG,WAAW,CAAC;QAC1B,GAAG,CAAC,OAAO,GAAG,WAAW,CAAC;QAC1B,GAAG,CAAC,KAAK,GAAG,KAAK,CAAC;QAClB,KAAK,IAAI,EAAE,GAAG,CAAC,EAAE,EAAE,GAAG,CAAC,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC;YACjC,MAAM,KAAK,GAAG,GAAG,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC;YAC7B,KAAK,CAAC,CAAC,GAAG,cAAc,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,WAAW,GAAG,CAAC,CAAC,MAAM,CAAC;YAC/D,KAAK,CAAC,CAAC,GAAG,cAAc,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,WAAW,GAAG,CAAC,CAAC,MAAM,CAAC;YACnE,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC;YACpB,KAAK,CAAC,SAAS,GAAG,oBAAoB,CAAC,IAAI,EAAE,CAAC,EAAE,CAAC,EAAE,EAAE,KAAK,CAAC,CAAC,CAAC;QAC/D,CAAC;QACD,GAAG,CAAC,UAAU,GAAG,CAAC,CAAC;QACnB,OAAO,IAAI,CAAC;IACd,CAAC;IAED,qGAAqG;IACrG,2FAA2F;IAC3F,EAAE;IACF,oGAAoG;IACpG,uGAAuG;IACvG,+FAA+F;IAC/F,uGAAuG;IACvG,qFAAqF;IACrF,MAAM,UAAU,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;IACxD,MAAM,SAAS,GAAG,UAAU,GAAG,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,WAAW,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,WAAW,CAAC,GAAG,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC;IACtH,IAAI,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,IAAI,gBAAgB,EAAE,CAAC;QAC5C,iCAAiC,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC;IACpF,CAAC;SAAM,IAAI,CAAC,CAAC,EAAE,GAAG,WAAW,GAAG,CAAC,CAAC,EAAE,GAAG,WAAW,IAAI,CAAC,CAAC,EAAE,GAAG,WAAW,GAAG,CAAC,CAAC,EAAE,GAAG,WAAW,EAAE,CAAC;QAC9F,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC;QACjC,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC;IACnC,CAAC;SAAM,CAAC;QACN,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC;QACjC,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC;IACnC,CAAC;IACD,OAAO,uBAAuB,CAC5B,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,EACzB,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,EACzB,CAAC,CAAC,MAAM,EACR,WAAW,EACX,WAAW,EACX,KAAK,EACL,CAAC,EACD,GAAG,CACJ,CAAC;AACJ,CAAC;AAED,8FAA8F;AAC9F,yFAAyF;AACzF,SAAS,wBAAwB,CAC/B,CAA+B,EAC/B,CAA+B,EAC/B,OAAe,EACf,OAAe;IAEf,MAAM,QAAQ,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,OAAO,GAAG,CAAC,CAAC,EAAE,GAAG,OAAO,EAAE,CAAC,CAAC,EAAE,GAAG,OAAO,GAAG,CAAC,CAAC,EAAE,GAAG,OAAO,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC;IACvG,MAAM,QAAQ,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,OAAO,GAAG,CAAC,CAAC,EAAE,GAAG,OAAO,EAAE,CAAC,CAAC,EAAE,GAAG,OAAO,GAAG,CAAC,CAAC,EAAE,GAAG,OAAO,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC;IACvG,OAAO,QAAQ,GAAG,QAAQ,CAAC;AAC7B,CAAC;AAED,2BAA2B;AAC3B,MAAM,UAAU,kCAAkC,CAChD,CAA+B,EAC/B,CAA2B,EAC3B,GAA+B;IAE/B,gBAAgB,CAAC,CAAC,EAAE,cAAc,CAAC,QAAQ,CAAC,CAAC;IAC7C,OAAO,qBAAqB,CAAC,CAAC,EAAE,cAAc,CAAC,QAAQ,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;AACnE,CAAC;AAED,6BAA6B;AAC7B,MAAM,UAAU,sCAAsC,CACpD,CAA+B,EAC/B,CAA+B,EAC/B,GAA+B;IAE/B,OAAO,qBAAqB,CAAC,CAAC,EAAE,CAAC,CAAC,MAAM,EAAE,CAAC,CAAC,MAAM,CAAC,MAAM,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC;AACvE,CAAC;AAED,qBAAqB;AACrB,EAAE;AACF,uGAAuG;AACvG,mGAAmG;AACnG,4CAA4C;AAC5C,MAAM,UAAU,qCAAqC,CACnD,CAA8B,EAC9B,CAA+B,EAC/B,GAA+B;IAE/B,0BAA0B,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;IAC7D,MAAM,QAAQ,GAAG,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IAC3C,MAAM,QAAQ,GAAG,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IAC3C,IAAI,OAAO,GAAG,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC;IAC7B,IAAI,OAAO,GAAG,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC;IAC7B,MAAM,QAAQ,GAAG,IAAI,CAAC,KAAK,CAAC,OAAO,EAAE,OAAO,CAAC,CAAC;IAC9C,MAAM,GAAG,GAAG,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,MAAM,CAAC;IAChC,IAAI,QAAQ,IAAI,GAAG,EAAE,CAAC;QACpB,+BAA+B,CAAC,GAAG,CAAC,CAAC;QACrC,OAAO,KAAK,CAAC;IACf,CAAC;IACD,IAAI,QAAQ,GAAG,OAAO,EAAE,CAAC;QACvB,OAAO,IAAI,QAAQ,CAAC;QACpB,OAAO,IAAI,QAAQ,CAAC;IACtB,CAAC;SAAM,CAAC;QACN,iGAAiG;QACjG,gFAAgF;QAChF,kBAAkB,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;QAC7C,OAAO,GAAG,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;QACjC,OAAO,GAAG,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IACnC,CAAC;IACD,OAAO,uBAAuB,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,MAAM,EAAE,OAAO,EAAE,OAAO,EAAE,GAAG,GAAG,QAAQ,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;AAC/F,CAAC;AAED,uGAAuG;AACvG,EAAE;AACF,uGAAuG;AACvG,yCAAyC;AACzC,+EAA+E;AAC/E,sGAAsG;AACtG,uGAAuG;AACvG,qGAAqG;AACrG,uGAAuG;AACvG,qFAAqF;AACrF,SAAS,qBAAqB,CAC5B,CAA+B,EAC/B,QAA2B,EAC3B,KAAa,EACb,GAA+B;IAE/B,IAAI,KAAK,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,EAAE,CAAC;QACjC,+BAA+B,CAAC,GAAG,CAAC,CAAC;QACrC,OAAO,KAAK,CAAC;IACf,CAAC;IAED,IAAI,cAAc,GAAG,MAAM,CAAC,iBAAiB,CAAC;IAC9C,IAAI,WAAW,GAAG,CAAC,CAAC;IACpB,IAAI,WAAW,GAAG,CAAC,CAAC;IACpB,IAAI,QAAQ,GAAG,CAAC,CAAC,CAAC;IAClB,IAAI,UAAU,GAAG,aAAa,CAAC;IAC/B,IAAI,SAAS,GAAG,CAAC,CAAC;IAElB,KAAK,IAAI,IAAI,GAAG,CAAC,EAAE,IAAI,GAAG,KAAK,EAAE,IAAI,IAAI,CAAC,EAAE,CAAC;QAC3C,MAAM,IAAI,GAAG,IAAI,GAAG,CAAC,KAAK,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,GAAG,CAAC,CAAC;QAC/C,MAAM,EAAE,GAAG,QAAQ,CAAC,IAAI,IAAI,CAAC,CAAC,CAAC;QAC/B,MAAM,EAAE,GAAG,QAAQ,CAAC,CAAC,IAAI,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;QACrC,MAAM,KAAK,GAAG,QAAQ,CAAC,IAAI,IAAI,CAAC,CAAC,GAAG,EAAE,CAAC;QACvC,MAAM,KAAK,GAAG,QAAQ,CAAC,CAAC,IAAI,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,EAAE,CAAC;QAC7C,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;QACxC,IAAI,MAAM,IAAI,OAAO;YAAE,SAAS;QAChC,+FAA+F;QAC/F,0EAA0E;QAC1E,IAAI,OAAO,GAAG,KAAK,GAAG,MAAM,CAAC;QAC7B,IAAI,OAAO,GAAG,CAAC,KAAK,GAAG,MAAM,CAAC;QAC9B,IAAI,CAAC,oBAAoB,CAAC,QAAQ,EAAE,KAAK,EAAE,EAAE,EAAE,EAAE,EAAE,OAAO,EAAE,OAAO,CAAC,EAAE,CAAC;YACrE,OAAO,GAAG,CAAC,OAAO,CAAC;YACnB,OAAO,GAAG,CAAC,OAAO,CAAC;QACrB,CAAC;QACD,MAAM,UAAU,GAAG,iBAAiB,CAAC,CAAC,EAAE,QAAQ,EAAE,KAAK,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC;QAC3E,IAAI,UAAU,GAAG,cAAc,EAAE,CAAC;YAChC,cAAc,GAAG,UAAU,CAAC;YAC5B,WAAW,GAAG,OAAO,CAAC;YACtB,WAAW,GAAG,OAAO,CAAC;YACtB,QAAQ,GAAG,IAAI,CAAC;YAChB,UAAU,GAAG,mBAAmB,CAAC;YACjC,SAAS,GAAG,IAAI,CAAC;QACnB,CAAC;IACH,CAAC;IAED,kBAAkB,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;IAC7C,KAAK,IAAI,IAAI,GAAG,CAAC,EAAE,IAAI,GAAG,CAAC,EAAE,IAAI,IAAI,CAAC,EAAE,CAAC;QACvC,MAAM,OAAO,GAAG,IAAI,KAAK,CAAC,CAAC,CAAC,CAAC,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;QAC9E,MAAM,OAAO,GAAG,IAAI,KAAK,CAAC,CAAC,CAAC,CAAC,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;QAC9E,MAAM,UAAU,GAAG,iBAAiB,CAAC,CAAC,EAAE,QAAQ,EAAE,KAAK,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC;QAC3E,IAAI,UAAU,GAAG,cAAc,EAAE,CAAC;YAChC,cAAc,GAAG,UAAU,CAAC;YAC5B,WAAW,GAAG,OAAO,CAAC;YACtB,WAAW,GAAG,OAAO,CAAC;YACtB,QAAQ,GAAG,CAAC,CAAC,CAAC;YACd,UAAU,GAAG,mBAAmB,CAAC;YACjC,SAAS,GAAG,IAAI,CAAC;QACnB,CAAC;IACH,CAAC;IAED,KAAK,IAAI,MAAM,GAAG,CAAC,EAAE,MAAM,GAAG,KAAK,EAAE,MAAM,IAAI,CAAC,EAAE,CAAC;QACjD,MAAM,EAAE,GAAG,QAAQ,CAAC,MAAM,IAAI,CAAC,CAAC,CAAC;QACjC,MAAM,EAAE,GAAG,QAAQ,CAAC,CAAC,MAAM,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;QACvC,0BAA0B,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC;QAC3D,MAAM,EAAE,GAAG,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;QAC1C,MAAM,EAAE,GAAG,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;QAC1C,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;QAClC,IAAI,MAAM,IAAI,OAAO;YAAE,SAAS;QAChC,MAAM,OAAO,GAAG,EAAE,GAAG,MAAM,CAAC;QAC5B,MAAM,OAAO,GAAG,EAAE,GAAG,MAAM,CAAC;QAC5B,MAAM,UAAU,GAAG,iBAAiB,CAAC,CAAC,EAAE,QAAQ,EAAE,KAAK,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC;QAC3E,IAAI,UAAU,GAAG,cAAc,EAAE,CAAC;YAChC,cAAc,GAAG,UAAU,CAAC;YAC5B,WAAW,GAAG,OAAO,CAAC;YACtB,WAAW,GAAG,OAAO,CAAC;YACtB,QAAQ,GAAG,CAAC,CAAC,CAAC;YACd,UAAU,GAAG,aAAa,CAAC;YAC3B,SAAS,GAAG,MAAM,CAAC;QACrB,CAAC;IACH,CAAC;IAED,IAAI,cAAc,IAAI,CAAC,IAAI,cAAc,KAAK,MAAM,CAAC,iBAAiB,EAAE,CAAC;QACvE,+BAA+B,CAAC,GAAG,CAAC,CAAC;QACrC,OAAO,KAAK,CAAC;IACf,CAAC;IACD,MAAM,KAAK,GAAG,CAAC,cAAc,CAAC;IAE9B,qGAAqG;IACrG,mGAAmG;IACnG,gEAAgE;IAChE,IAAI,UAAU,KAAK,mBAAmB,IAAI,aAAa,CAAC,CAAC,EAAE,QAAQ,EAAE,KAAK,EAAE,QAAQ,EAAE,WAAW,EAAE,WAAW,CAAC,EAAE,CAAC;QAChH,GAAG,CAAC,WAAW,GAAG,IAAI,CAAC;QACvB,GAAG,CAAC,OAAO,GAAG,WAAW,CAAC;QAC1B,GAAG,CAAC,OAAO,GAAG,WAAW,CAAC;QAC1B,GAAG,CAAC,KAAK,GAAG,KAAK,CAAC;QAClB,KAAK,IAAI,EAAE,GAAG,CAAC,EAAE,EAAE,GAAG,CAAC,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC;YACjC,MAAM,KAAK,GAAG,GAAG,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC;YAC7B,KAAK,CAAC,CAAC,GAAG,cAAc,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,WAAW,GAAG,CAAC,CAAC,MAAM,CAAC;YAC/D,KAAK,CAAC,CAAC,GAAG,cAAc,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,WAAW,GAAG,CAAC,CAAC,MAAM,CAAC;YACnE,KAAK,CAAC,KAAK,GAAG,cAAc,CAAC,SAAS,CAAC,EAAE,CAAC,CAAC;YAC3C,KAAK,CAAC,SAAS,GAAG,oBAAoB,CAAC,KAAK,EAAE,QAAQ,EAAE,CAAC,EAAE,EAAE,KAAK,CAAC,CAAC,CAAC;QACvE,CAAC;QACD,GAAG,CAAC,UAAU,GAAG,CAAC,CAAC;QACnB,OAAO,IAAI,CAAC;IACd,CAAC;IAED,2FAA2F;IAC3F,qBAAqB,CAAC,CAAC,EAAE,WAAW,EAAE,WAAW,EAAE,QAAQ,EAAE,KAAK,EAAE,UAAU,EAAE,SAAS,CAAC,CAAC;IAC3F,OAAO,uBAAuB,CAC5B,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,EACzB,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,EACzB,CAAC,CAAC,MAAM,EACR,WAAW,EACX,WAAW,EACX,KAAK,EACL,oBAAoB,CAAC,UAAU,KAAK,mBAAmB,EAAE,SAAS,EAAE,CAAC,EAAE,KAAK,CAAC,EAC7E,GAAG,CACJ,CAAC;AACJ,CAAC;AAED,wGAAwG;AACxG,wDAAwD;AACxD,EAAE;AACF,wGAAwG;AACxG,mGAAmG;AACnG,oCAAoC;AACpC,SAAS,iBAAiB,CACxB,CAA+B,EAC/B,QAA2B,EAC3B,KAAa,EACb,OAAe,EACf,OAAe;IAEf,MAAM,WAAW,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,OAAO,GAAG,CAAC,CAAC,EAAE,GAAG,OAAO,EAAE,CAAC,CAAC,EAAE,GAAG,OAAO,GAAG,CAAC,CAAC,EAAE,GAAG,OAAO,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC;IAC1G,IAAI,cAAc,GAAG,MAAM,CAAC,iBAAiB,CAAC;IAC9C,KAAK,IAAI,MAAM,GAAG,CAAC,EAAE,MAAM,GAAG,KAAK,EAAE,MAAM,IAAI,CAAC,EAAE,CAAC;QACjD,MAAM,UAAU,GAAG,QAAQ,CAAC,MAAM,IAAI,CAAC,CAAC,GAAG,OAAO,GAAG,QAAQ,CAAC,CAAC,MAAM,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,OAAO,CAAC;QAC3F,IAAI,UAAU,GAAG,cAAc;YAAE,cAAc,GAAG,UAAU,CAAC;IAC/D,CAAC;IACD,OAAO,WAAW,GAAG,cAAc,CAAC;AACtC,CAAC;AAED,+EAA+E;AAC/E,SAAS,oBAAoB,CAC3B,QAA2B,EAC3B,KAAa,EACb,CAAS,EACT,CAAS,EACT,OAAe,EACf,OAAe;IAEf,KAAK,IAAI,MAAM,GAAG,CAAC,EAAE,MAAM,GAAG,KAAK,EAAE,MAAM,IAAI,CAAC,EAAE,CAAC;QACjD,MAAM,UAAU,GAAG,CAAC,QAAQ,CAAC,MAAM,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,OAAO,GAAG,CAAC,QAAQ,CAAC,CAAC,MAAM,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,OAAO,CAAC;QACvG,IAAI,UAAU,GAAG,OAAO;YAAE,OAAO,KAAK,CAAC;IACzC,CAAC;IACD,OAAO,IAAI,CAAC;AACd,CAAC;AAED,uGAAuG;AACvG,sGAAsG;AACtG,yFAAyF;AACzF,SAAS,aAAa,CACpB,CAA+B,EAC/B,QAA2B,EAC3B,KAAa,EACb,IAAY,EACZ,OAAe,EACf,OAAe;IAEf,MAAM,KAAK,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC;IAC1B,MAAM,KAAK,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC;IAC1B,MAAM,UAAU,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;IAC5C,IAAI,UAAU,IAAI,OAAO;QAAE,OAAO,KAAK,CAAC;IACxC,mGAAmG;IACnG,mGAAmG;IACnG,uGAAuG;IACvG,sGAAsG;IACtG,uGAAuG;IACvG,IAAI,IAAI,CAAC,GAAG,CAAC,CAAC,KAAK,GAAG,UAAU,CAAC,GAAG,OAAO,GAAG,CAAC,KAAK,GAAG,UAAU,CAAC,GAAG,OAAO,CAAC,GAAG,gBAAgB;QAAE,OAAO,KAAK,CAAC;IAE/G,MAAM,IAAI,GAAG,IAAI,GAAG,CAAC,KAAK,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,GAAG,CAAC,CAAC;IAC/C,MAAM,MAAM,GAAG,QAAQ,CAAC,IAAI,IAAI,CAAC,CAAC,CAAC;IACnC,MAAM,MAAM,GAAG,QAAQ,CAAC,CAAC,IAAI,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IACzC,MAAM,MAAM,GAAG,QAAQ,CAAC,IAAI,IAAI,CAAC,CAAC,CAAC;IACnC,MAAM,MAAM,GAAG,QAAQ,CAAC,CAAC,IAAI,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;IACzC,MAAM,QAAQ,GAAG,MAAM,GAAG,MAAM,CAAC;IACjC,MAAM,QAAQ,GAAG,MAAM,GAAG,MAAM,CAAC;IACjC,MAAM,UAAU,GAAG,IAAI,CAAC,KAAK,CAAC,QAAQ,EAAE,QAAQ,CAAC,CAAC;IAClD,IAAI,UAAU,IAAI,OAAO;QAAE,OAAO,KAAK,CAAC;IACxC,MAAM,KAAK,GAAG,QAAQ,GAAG,UAAU,CAAC;IACpC,MAAM,KAAK,GAAG,QAAQ,GAAG,UAAU,CAAC;IAEpC,0FAA0F;IAC1F,MAAM,KAAK,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,MAAM,CAAC,GAAG,KAAK,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,MAAM,CAAC,GAAG,KAAK,CAAC;IAChE,MAAM,GAAG,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,MAAM,CAAC,GAAG,KAAK,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,MAAM,CAAC,GAAG,KAAK,CAAC;IAC9D,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC;IAC9C,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,KAAK,EAAE,GAAG,CAAC,EAAE,UAAU,CAAC,CAAC;IACxD,IAAI,IAAI,GAAG,GAAG,IAAI,oBAAoB;QAAE,OAAO,KAAK,CAAC;IAErD,KAAK,IAAI,EAAE,GAAG,CAAC,EAAE,EAAE,GAAG,CAAC,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC;QACjC,MAAM,KAAK,GAAG,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC;QACpC,0FAA0F;QAC1F,MAAM,QAAQ,GAAG,CAAC,KAAK,GAAG,KAAK,CAAC,GAAG,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC;QACjD,MAAM,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,QAAQ,CAAC;QAC1C,MAAM,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,QAAQ,CAAC;QAC1C,cAAc,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC;QAChC,cAAc,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC;QACpC,cAAc,CAAC,SAAS,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,GAAG,OAAO,GAAG,CAAC,CAAC,GAAG,MAAM,CAAC,GAAG,OAAO,CAAC,CAAC;IAC9F,CAAC;IACD,qGAAqG;IACrG,sEAAsE;IACtE,OAAO,cAAc,CAAC,SAAS,CAAC,CAAC,CAAC,GAAG,CAAC,IAAI,cAAc,CAAC,SAAS,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;AAC5E,CAAC;AAED,oGAAoG;AACpG,SAAS,qBAAqB,CAC5B,CAA+B,EAC/B,OAAe,EACf,OAAe,EACf,QAA2B,EAC3B,KAAa,EACb,MAAc,EACd,KAAa;IAEb,IAAI,MAAM,KAAK,aAAa,EAAE,CAAC;QAC7B,6FAA6F;QAC7F,0BAA0B,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,QAAQ,CAAC,KAAK,IAAI,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,KAAK,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACrG,OAAO;IACT,CAAC;IACD,MAAM,WAAW,GAAG,CAAC,CAAC,EAAE,GAAG,OAAO,GAAG,CAAC,CAAC,EAAE,GAAG,OAAO,CAAC;IACpD,MAAM,WAAW,GAAG,CAAC,CAAC,EAAE,GAAG,OAAO,GAAG,CAAC,CAAC,EAAE,GAAG,OAAO,CAAC;IACpD,IAAI,MAAM,KAAK,mBAAmB,EAAE,CAAC;QACnC,mGAAmG;QACnG,+FAA+F;QAC/F,IAAI,OAAO,GAAG,CAAC,CAAC;QAChB,IAAI,iBAAiB,GAAG,MAAM,CAAC,iBAAiB,CAAC;QACjD,KAAK,IAAI,MAAM,GAAG,CAAC,EAAE,MAAM,GAAG,KAAK,EAAE,MAAM,IAAI,CAAC,EAAE,CAAC;YACjD,MAAM,KAAK,GAAG,QAAQ,CAAC,MAAM,IAAI,CAAC,CAAC,GAAG,OAAO,GAAG,QAAQ,CAAC,CAAC,MAAM,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,OAAO,CAAC;YACtF,IAAI,KAAK,GAAG,iBAAiB,EAAE,CAAC;gBAC9B,iBAAiB,GAAG,KAAK,CAAC;gBAC1B,OAAO,GAAG,MAAM,CAAC;YACnB,CAAC;QACH,CAAC;QACD,0BAA0B,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,EAAE,QAAQ,CAAC,OAAO,IAAI,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,OAAO,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACzG,OAAO;IACT,CAAC;IACD,IAAI,WAAW,IAAI,WAAW,EAAE,CAAC;QAC/B,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC;QACjC,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC;IACnC,CAAC;SAAM,CAAC;QACN,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC;QACjC,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC;IACnC,CAAC;AACH,CAAC;AAED,uGAAuG;AACvG,kGAAkG;AAClG,SAAS,wBAAwB,CAC/B,CAA+B,EAC/B,CAA+B,EAC/B,OAAe,EACf,OAAe;IAEf,MAAM,MAAM,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC;IAC3B,MAAM,MAAM,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC;IAC3B,MAAM,OAAO,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;IAC3C,MAAM,OAAO,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC;IACrD,IAAI,OAAO,IAAI,OAAO,IAAI,OAAO,IAAI,OAAO;QAAE,OAAO,CAAC,CAAC;IACvD,MAAM,KAAK,GAAG,MAAM,GAAG,OAAO,CAAC;IAC/B,MAAM,KAAK,GAAG,MAAM,GAAG,OAAO,CAAC;IAC/B,mGAAmG;IACnG,iGAAiG;IACjG,kCAAkC;IAClC,IAAI,IAAI,CAAC,GAAG,CAAC,KAAK,GAAG,OAAO,GAAG,KAAK,GAAG,OAAO,CAAC,GAAG,gBAAgB;QAAE,OAAO,CAAC,CAAC;IAC7E,MAAM,MAAM,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,OAAO,CAAC;IACvC,MAAM,MAAM,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,OAAO,CAAC;IACvC,IAAI,IAAI,CAAC,GAAG,CAAC,MAAM,GAAG,OAAO,GAAG,MAAM,GAAG,OAAO,CAAC,GAAG,gBAAgB;QAAE,OAAO,CAAC,CAAC;IAE/E,MAAM,MAAM,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,KAAK,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,KAAK,CAAC;IAC7D,MAAM,IAAI,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,KAAK,GAAG,CAAC,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,EAAE,CAAC,GAAG,KAAK,CAAC;IAC3D,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,MAAM,EAAE,IAAI,CAAC,EAAE,CAAC,CAAC,CAAC;IAChD,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,MAAM,EAAE,IAAI,CAAC,EAAE,OAAO,CAAC,CAAC;IACvD,MAAM,OAAO,GAAG,IAAI,GAAG,GAAG,CAAC;IAC3B,IAAI,OAAO,IAAI,oBAAoB;QAAE,OAAO,CAAC,CAAC;IAC9C,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,KAAK,GAAG,GAAG,CAAC;IAC5C,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,KAAK,GAAG,GAAG,CAAC;IAC5C,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,KAAK,GAAG,IAAI,CAAC;IAC7C,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,KAAK,GAAG,IAAI,CAAC;IAC7C,OAAO,OAAO,CAAC;AACjB,CAAC;AAED,2EAA2E;AAC3E,SAAS,0BAA0B,CAAC,EAAU,EAAE,EAAU,EAAE,EAAU,EAAE,EAAU,EAAE,EAAU,EAAE,EAAU;IACxG,MAAM,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IACnB,MAAM,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IACnB,MAAM,aAAa,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;IACxC,IAAI,CAAC,GAAG,CAAC,CAAC;IACV,IAAI,aAAa,GAAG,CAAC,EAAE,CAAC;QACtB,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,EAAE,CAAC,GAAG,EAAE,GAAG,CAAC,EAAE,GAAG,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,aAAa,CAAC;QACtD,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IAChC,CAAC;IACD,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,EAAE,CAAC;IACxC,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,EAAE,CAAC;AAC1C,CAAC;AAED,iGAAiG;AACjG,EAAE;AACF,qGAAqG;AACrG,wGAAwG;AACxG,uFAAuF;AACvF,SAAS,iCAAiC,CACxC,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW;IAEX,MAAM,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACtB,MAAM,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACtB,MAAM,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACtB,MAAM,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACtB,MAAM,EAAE,GAAG,GAAG,GAAG,GAAG,CAAC;IACrB,MAAM,EAAE,GAAG,GAAG,GAAG,GAAG,CAAC;IACrB,MAAM,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACjC,MAAM,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;IACjC,MAAM,CAAC,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,CAAC;IAE9B,IAAI,CAAC,GAAG,CAAC,CAAC;IACV,IAAI,CAAC,GAAG,CAAC,CAAC;IACV,IAAI,EAAE,IAAI,OAAO,IAAI,EAAE,IAAI,OAAO,EAAE,CAAC;QACnC,CAAC,GAAG,CAAC,CAAC;QACN,CAAC,GAAG,CAAC,CAAC;IACR,CAAC;SAAM,IAAI,EAAE,IAAI,OAAO,EAAE,CAAC;QACzB,CAAC,GAAG,OAAO,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC;IACtB,CAAC;SAAM,CAAC;QACN,MAAM,CAAC,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,CAAC;QAC9B,IAAI,EAAE,IAAI,OAAO,EAAE,CAAC;YAClB,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC;QACvB,CAAC;aAAM,CAAC;YACN,MAAM,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC;YAChC,MAAM,WAAW,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,GAAG,CAAC,CAAC;YACpC,CAAC,GAAG,WAAW,GAAG,OAAO,CAAC,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;YACxE,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,EAAE,CAAC;YACrB,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC;gBACV,CAAC,GAAG,CAAC,CAAC;gBACN,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC;YACvB,CAAC;iBAAM,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC;gBACjB,CAAC,GAAG,CAAC,CAAC;gBACN,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC;YAC5B,CAAC;QACH,CAAC;IACH,CAAC;IACD,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC,CAAC;IAC1C,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC,CAAC;IAC1C,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC,CAAC;IAC1C,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,GAAG,GAAG,GAAG,GAAG,GAAG,CAAC,CAAC;AAC5C,CAAC;AAED,wGAAwG;AACxG,kGAAkG;AAClG,SAAS,kBAAkB,CAAC,EAAU,EAAE,EAAU;IAChD,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;IAClC,IAAI,MAAM,IAAI,OAAO,EAAE,CAAC;QACtB,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;QAC3B,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;QAC3B,OAAO;IACT,CAAC;IACD,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,GAAG,MAAM,CAAC;IACtC,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,MAAM,CAAC;AACvC,CAAC;AAED,mGAAmG;AACnG,sGAAsG;AACtG,SAAS,uBAAuB,CAC9B,KAAa,EACb,KAAa,EACb,MAAc,EACd,OAAe,EACf,OAAe,EACf,KAAa,EACb,SAAiB,EACjB,GAA+B;IAE/B,GAAG,CAAC,WAAW,GAAG,IAAI,CAAC;IACvB,GAAG,CAAC,OAAO,GAAG,OAAO,CAAC;IACtB,GAAG,CAAC,OAAO,GAAG,OAAO,CAAC;IACtB,GAAG,CAAC,KAAK,GAAG,KAAK,CAAC;IAClB,MAAM,KAAK,GAAG,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;IAC5B,KAAK,CAAC,CAAC,GAAG,KAAK,GAAG,OAAO,GAAG,MAAM,CAAC;IACnC,KAAK,CAAC,CAAC,GAAG,KAAK,GAAG,OAAO,GAAG,MAAM,CAAC;IACnC,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC;IACpB,KAAK,CAAC,SAAS,GAAG,SAAS,CAAC;IAC5B,GAAG,CAAC,UAAU,GAAG,CAAC,CAAC;IACnB,OAAO,IAAI,CAAC;AACd,CAAC;AAED,SAAS,OAAO,CAAC,KAAa;IAC5B,OAAO,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC;AAC/C,CAAC;AAED,MAAM,OAAO,GAAG,IAAI,CAAC;AACrB,mGAAmG;AACnG,mDAAmD;AACnD,MAAM,oBAAoB,GAAG,IAAI,CAAC;AAClC,wGAAwG;AACxG,oGAAoG;AACpG,gCAAgC;AAChC,MAAM,gBAAgB,GAAG,IAAI,CAAC;AAE9B,MAAM,mBAAmB,GAAG,CAAC,CAAC;AAC9B,MAAM,mBAAmB,GAAG,CAAC,CAAC;AAC9B,MAAM,aAAa,GAAG,CAAC,CAAC;AAExB,gGAAgG;AAChG,MAAM,cAAc,GAAG;IACrB,IAAI,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC;IACZ,OAAO,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;IACrB,IAAI,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;IAClB,SAAS,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC;IACjB,mGAAmG;IACnG,mDAAmD;IACnD,QAAQ,EAAE,IAAI,YAAY,CAAC,CAAC,CAAC;CAC9B,CAAC"}

package/dist/collideContactManifold2D.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"collideContactManifold2D.d.ts","sourceRoot":"","sources":["../src/collideContactManifold2D.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EACV,0BAA0B,EAC1B,uBAAuB,EAExB,MAAM,0BAA0B,CAAC;AA0ClC,wBAAgB,wBAAwB,CACtC,CAAC,EAAE,QAAQ,CAAC,uBAAuB,CAAC,EACpC,CAAC,EAAE,QAAQ,CAAC,uBAAuB,CAAC,EACpC,GAAG,EAAE,0BAA0B,GAC9B,OAAO,CAiET"}
+{"version":3,"file":"collideContactManifold2D.d.ts","sourceRoot":"","sources":["../src/collideContactManifold2D.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EACV,0BAA0B,EAC1B,uBAAuB,EAExB,MAAM,0BAA0B,CAAC;AAiDlC,wBAAgB,wBAAwB,CACtC,CAAC,EAAE,QAAQ,CAAC,uBAAuB,CAAC,EACpC,CAAC,EAAE,QAAQ,CAAC,uBAAuB,CAAC,EACpC,GAAG,EAAE,0BAA0B,GAC9B,OAAO,CAsFT"}