@flighthq/physics3d 0.4.0-edge.1908.751021c

package/dist/solver.js

@@ -0,0 +1,460 @@
+import { createCollisionContactManifold3D } from '@flighthq/collision/contract';
+import { collidePhysics3DColliderShapes } from './colliderCollision';
+import { updatePhysics3DColliderWorldShape } from './colliderTransform';
+import { applySymmetricTensor, TENSOR_XX, TENSOR_XY, TENSOR_XZ, TENSOR_YY, TENSOR_YZ, TENSOR_ZZ, } from './symmetricTensor';
+import { writeRigidBody3DWorldCenter } from './world';
+// Allocates one contact constraint with no points. The solver owns this record; nothing here belongs
+// on `Physics3DContact`, which carries geometry and identity only.
+export function createPhysics3DContactConstraint() {
+    return {
+        contact: -1,
+        pointCount: 0,
+        points: [],
+        tangent0X: 0,
+        tangent0Y: 0,
+        tangent0Z: 0,
+        tangent1X: 0,
+        tangent1Y: 0,
+        tangent1Z: 0,
+    };
+}
+// Allocates one point's accumulators, zeroed. A fresh point warm-starts from nothing, which is the
+// correct behaviour for a contact that did not exist last step.
+export function createPhysics3DContactConstraintPoint() {
+    return {
+        bias: 0,
+        featureId: 0,
+        normalImpulse: 0,
+        normalMass: 0,
+        tangentImpulse0: 0,
+        tangentImpulse1: 0,
+        tangentMass0: 0,
+        tangentMass1: 0,
+    };
+}
+// Rebuilds the solver's working set from the world's contact list and prepares every constraint row:
+// the friction basis, the three effective masses, and the restitution bias.
+//
+// Call once per sub-interval, after `buildPhysics3DSolveIslands` and before
+// `warmStartPhysics3DContacts`. The island order is a real precondition rather than a convention: this
+// reads the island contact slices, so a world whose workspace was never built has no contacts to
+// prepare and produces no constraints at all.
+//
+// Two things happen here that cannot happen anywhere else. The restitution bias is captured from the
+// approach speed BEFORE any impulse is applied — once the first iteration runs, the velocity it would
+// be read from has already been changed by the solve, and restitution computed from it decays toward
+// zero. And the accumulators are matched to last step's by `featureId` rather than by point index,
+// because a narrow phase may report the same physical corner at a different index between steps, and
+// warm starting the wrong corner is worse than not warm starting at all.
+//
+// Contacts that are disabled, sensors, non-touching, asleep, or between two bodies that both have
+// infinite mass produce no constraint: they are skipped rather than emitted with zero rows, so the
+// iteration loops never see work that cannot move anything.
+//
+// The disabled, sensor, and sleeping ones are already gone before this runs, because the iteration is
+// over the SOLVE ISLAND contact slices rather than `world.contacts`. That is what makes a settled world
+// cost nothing here: a sleeping island contributes no slice, so a thousand-body pile at rest is not
+// re-scanned every sub-interval merely to discover there is nothing to do. It also groups the emitted
+// constraints island-major, which disconnected islands cannot perturb for each other.
+//
+// The remaining velocity and position passes stay global over the emitted list rather than looping per
+// island. With a fixed iteration count and no convergence test the two are the same work in the same
+// order — islands are disconnected, so interleaving them cannot change a result — and the flat list is
+// what lets joints and contacts share one interleaved pass.
+export function preparePhysics3DContactConstraints(world) {
+    const state = world.solver;
+    const previousByContact = state.constraintByContact;
+    const constraints = state.constraints;
+    // `contact = -1` is the inactive mark while the same high-water objects are gathered back into solve
+    // order. The map cannot be cleared first because it is also how the contact finds its prior impulses.
+    for (let i = 0; i < constraints.length; i += 1)
+        constraints[i].contact = -1;
+    constraints.length = 0;
+    const config = world.config.sequentialImpulse;
+    for (let island = 0; island < world.solveIslandRoots.length; island += 1) {
+        const islandStart = world.solveIslandContactStarts[island];
+        const islandEnd = islandStart + world.solveIslandContactCounts[island];
+        for (let at = islandStart; at < islandEnd; at += 1) {
+            const contactIndex = world.solveIslandContactIndices[at];
+            const contact = world.contacts[contactIndex];
+            if (!contact.touching || contact.pointCount === 0)
+                continue;
+            const bodyA = world.bodyByIndex.get(contact.bodyA);
+            const bodyB = world.bodyByIndex.get(contact.bodyB);
+            if (bodyA === undefined || bodyB === undefined)
+                continue;
+            if (bodyA.inverseMass === 0 &&
+                bodyB.inverseMass === 0 &&
+                !hasRotationalFreedom(bodyA) &&
+                !hasRotationalFreedom(bodyB)) {
+                continue;
+            }
+            let constraint = previousByContact.get(contact);
+            if (constraint === undefined) {
+                constraint = createPhysics3DContactConstraint();
+                previousByContact.set(contact, constraint);
+            }
+            const previousPointCount = constraint.pointCount;
+            for (let i = 0; i < previousPointCount; i += 1) {
+                const point = constraint.points[i];
+                previousFeatures[i] = point.featureId;
+                previousNormalImpulses[i] = point.normalImpulse;
+                previousTangentImpulses0[i] = point.tangentImpulse0;
+                previousTangentImpulses1[i] = point.tangentImpulse1;
+            }
+            constraint.contact = contactIndex;
+            constraint.pointCount = contact.pointCount;
+            writeFrictionBasis(contact.normalX, contact.normalY, contact.normalZ, constraint);
+            for (let i = 0; i < contact.pointCount; i += 1) {
+                const source = contact.points[i];
+                let point = constraint.points[i];
+                if (point === undefined) {
+                    point = createPhysics3DContactConstraintPoint();
+                    constraint.points.push(point);
+                }
+                point.featureId = source.featureId;
+                point.normalImpulse = 0;
+                point.tangentImpulse0 = 0;
+                point.tangentImpulse1 = 0;
+                if (config.warmStarting) {
+                    const carried = findPreviousPointByFeatureId(source.featureId, previousPointCount);
+                    if (carried >= 0) {
+                        point.normalImpulse = previousNormalImpulses[carried];
+                        point.tangentImpulse0 = previousTangentImpulses0[carried];
+                        point.tangentImpulse1 = previousTangentImpulses1[carried];
+                    }
+                }
+                point.normalMass = getEffectiveMass(bodyA, bodyB, source.rAX, source.rAY, source.rAZ, source.rBX, source.rBY, source.rBZ, contact.normalX, contact.normalY, contact.normalZ);
+                point.tangentMass0 = getEffectiveMass(bodyA, bodyB, source.rAX, source.rAY, source.rAZ, source.rBX, source.rBY, source.rBZ, constraint.tangent0X, constraint.tangent0Y, constraint.tangent0Z);
+                point.tangentMass1 = getEffectiveMass(bodyA, bodyB, source.rAX, source.rAY, source.rAZ, source.rBX, source.rBY, source.rBZ, constraint.tangent1X, constraint.tangent1Y, constraint.tangent1Z);
+                const approach = getRelativeNormalVelocity(bodyA, bodyB, source.rAX, source.rAY, source.rAZ, source.rBX, source.rBY, source.rBZ, contact.normalX, contact.normalY, contact.normalZ);
+                point.bias = approach < -config.restitutionThreshold ? -contact.restitution * approach : 0;
+            }
+            constraints.push(constraint);
+        }
+    }
+    // Retire constraints whose contacts were omitted from the awake solve without replacing the map.
+    // Deleting while iterating a Map is defined to leave the remaining entries visitable.
+    previousByContact.forEach((constraint, contact) => {
+        if (constraint.contact < 0)
+            previousByContact.delete(contact);
+    });
+}
+// Resolves penetration by moving bodies directly, leaving `penetrationSlop` of overlap deliberately
+// unresolved so resting bodies do not twitch against a target of exactly zero. Returns the deepest
+// remaining penetration, so a caller can stop iterating once the stack is within tolerance.
+//
+// This is a separate pass from the velocity solve on purpose: correcting overlap by adding separating
+// velocity injects energy the simulation never spent, and a deep stack resolved that way visibly
+// launches itself apart.
+//
+// EACH CONTACT IS REGENERATED IMMEDIATELY BEFORE IT IS SOLVED, which is what makes this a true
+// non-linear Gauss-Seidel pass rather than a repeated correction against one stale measurement.
+//
+// That distinction is the whole quality of a stack. An earlier correction in the same pass has already
+// moved one or both bodies, so the depth captured at intake describes a configuration that no longer
+// exists — and re-applying `positionCorrection * staleDepth` on every iteration cannot converge, because
+// the quantity it is driving to zero never changes. The visible symptom is penetration that grows with
+// stack HEIGHT while every single-contact test still passes: a twelve-box pile measured 0.23 of sink at
+// its base against 0.005 for one box, and correcting from current geometry removes it.
+//
+// The manifold is leased scratch, so the pass allocates nothing.
+export function solvePhysics3DContactPositions(world) {
+    const scratch = acquirePhysics3DPositionScratch();
+    try {
+        return solvePhysics3DContactPositionsWithScratch(world, scratch);
+    }
+    finally {
+        releasePhysics3DPositionScratch(scratch);
+    }
+}
+function solvePhysics3DContactPositionsWithScratch(world, scratch) {
+    const config = world.config.sequentialImpulse;
+    let deepest = 0;
+    const constraints = world.solver.constraints;
+    for (let constraintIndex = 0; constraintIndex < constraints.length; constraintIndex += 1) {
+        const constraint = constraints[constraintIndex];
+        const contact = world.contacts[constraint.contact];
+        const bodyA = world.bodyByIndex.get(contact.bodyA);
+        const bodyB = world.bodyByIndex.get(contact.bodyB);
+        if (bodyA === undefined || bodyB === undefined)
+            continue;
+        const colliderA = bodyA.colliders[contact.colliderA];
+        const colliderB = bodyB.colliders[contact.colliderB];
+        if (colliderA === undefined || colliderB === undefined)
+            continue;
+        updatePhysics3DColliderWorldShape(colliderA, bodyA);
+        updatePhysics3DColliderWorldShape(colliderB, bodyB);
+        if (!collidePhysics3DColliderShapes(colliderA.world, colliderB.world, scratch.manifold))
+            continue;
+        const manifold = scratch.manifold;
+        writeRigidBody3DWorldCenter(bodyA, scratch.centerA);
+        writeRigidBody3DWorldCenter(bodyB, scratch.centerB);
+        for (let i = 0; i < manifold.pointCount; i += 1) {
+            const source = manifold.points[i];
+            const excess = source.depth - config.penetrationSlop;
+            if (excess > deepest)
+                deepest = excess;
+            if (excess <= 0)
+                continue;
+            // Lever arms from the CURRENT centres to the CURRENT contact point, for the same reason the
+            // manifold is regenerated: an arm measured against a pose two corrections ago applies its torque
+            // about the wrong axis.
+            const rAX = source.x - scratch.centerA[0];
+            const rAY = source.y - scratch.centerA[1];
+            const rAZ = source.z - scratch.centerA[2];
+            const rBX = source.x - scratch.centerB[0];
+            const rBY = source.y - scratch.centerB[1];
+            const rBZ = source.z - scratch.centerB[2];
+            const mass = getEffectiveMass(bodyA, bodyB, rAX, rAY, rAZ, rBX, rBY, rBZ, manifold.normalX, manifold.normalY, manifold.normalZ);
+            const correction = config.positionCorrection * excess * mass;
+            applyPositionCorrection(bodyA, bodyB, rAX, rAY, rAZ, rBX, rBY, rBZ, manifold.normalX * correction, manifold.normalY * correction, manifold.normalZ * correction);
+        }
+    }
+    return deepest;
+}
+// Runs one velocity iteration over every prepared constraint. Call `velocityIterations` times.
+//
+// The normal is solved before friction, so a NEW contact has a Coulomb limit in its first iteration.
+// Reversing them makes friction read the previous normal impulse: zero on first impact, and one
+// iteration behind thereafter. The two tangents are clamped TOGETHER as a cone rather than
+// independently. Clamping each to `friction * normalImpulse` on its own admits a combined
+// magnitude of `sqrt(2) * friction * normalImpulse` along the diagonal, which presents as a box that
+// slides measurably faster at 45 degrees than it does along either tangent — a bug that looks like bad
+// friction tuning rather than like a geometry error, and one that cannot occur in 2D because there is
+// only one tangent to clamp.
+export function solvePhysics3DContactVelocities(world) {
+    const constraints = world.solver.constraints;
+    for (let constraintIndex = 0; constraintIndex < constraints.length; constraintIndex += 1) {
+        const constraint = constraints[constraintIndex];
+        const contact = world.contacts[constraint.contact];
+        const bodyA = world.bodyByIndex.get(contact.bodyA);
+        const bodyB = world.bodyByIndex.get(contact.bodyB);
+        if (bodyA === undefined || bodyB === undefined)
+            continue;
+        for (let i = 0; i < constraint.pointCount; i += 1) {
+            const source = contact.points[i];
+            const point = constraint.points[i];
+            const normalVelocity = getRelativeNormalVelocity(bodyA, bodyB, source.rAX, source.rAY, source.rAZ, source.rBX, source.rBY, source.rBZ, contact.normalX, contact.normalY, contact.normalZ);
+            const normalImpulse = Math.max(point.normalImpulse + (point.bias - normalVelocity) * point.normalMass, 0);
+            const deltaNormal = normalImpulse - point.normalImpulse;
+            point.normalImpulse = normalImpulse;
+            applyContactImpulse(bodyA, bodyB, source.rAX, source.rAY, source.rAZ, source.rBX, source.rBY, source.rBZ, contact.normalX * deltaNormal, contact.normalY * deltaNormal, contact.normalZ * deltaNormal);
+            const maxFriction = contact.friction * point.normalImpulse;
+            const tangentVelocity0 = getRelativeNormalVelocity(bodyA, bodyB, source.rAX, source.rAY, source.rAZ, source.rBX, source.rBY, source.rBZ, constraint.tangent0X, constraint.tangent0Y, constraint.tangent0Z);
+            let impulse0 = point.tangentImpulse0 - tangentVelocity0 * point.tangentMass0;
+            const tangentVelocity1 = getRelativeNormalVelocity(bodyA, bodyB, source.rAX, source.rAY, source.rAZ, source.rBX, source.rBY, source.rBZ, constraint.tangent1X, constraint.tangent1Y, constraint.tangent1Z);
+            let impulse1 = point.tangentImpulse1 - tangentVelocity1 * point.tangentMass1;
+            const magnitude = Math.sqrt(impulse0 * impulse0 + impulse1 * impulse1);
+            if (magnitude > maxFriction) {
+                const scale = maxFriction / magnitude;
+                impulse0 *= scale;
+                impulse1 *= scale;
+            }
+            const deltaTangent0 = impulse0 - point.tangentImpulse0;
+            const deltaTangent1 = impulse1 - point.tangentImpulse1;
+            point.tangentImpulse0 = impulse0;
+            point.tangentImpulse1 = impulse1;
+            applyContactImpulse(bodyA, bodyB, source.rAX, source.rAY, source.rAZ, source.rBX, source.rBY, source.rBZ, constraint.tangent0X * deltaTangent0 + constraint.tangent1X * deltaTangent1, constraint.tangent0Y * deltaTangent0 + constraint.tangent1Y * deltaTangent1, constraint.tangent0Z * deltaTangent0 + constraint.tangent1Z * deltaTangent1);
+        }
+    }
+}
+// Replays the accumulated impulses carried over from last step, so the solver starts an iteration
+// budget from roughly the answer it converged to rather than from zero. A stack solved cold every step
+// sinks visibly under its own weight at any practical iteration count.
+//
+// Runs after `preparePhysics3DContactConstraints` and before the first velocity iteration.
+export function warmStartPhysics3DContacts(world) {
+    if (!world.config.sequentialImpulse.warmStarting)
+        return;
+    const constraints = world.solver.constraints;
+    for (let constraintIndex = 0; constraintIndex < constraints.length; constraintIndex += 1) {
+        const constraint = constraints[constraintIndex];
+        const contact = world.contacts[constraint.contact];
+        const bodyA = world.bodyByIndex.get(contact.bodyA);
+        const bodyB = world.bodyByIndex.get(contact.bodyB);
+        if (bodyA === undefined || bodyB === undefined)
+            continue;
+        for (let i = 0; i < constraint.pointCount; i += 1) {
+            const source = contact.points[i];
+            const point = constraint.points[i];
+            applyContactImpulse(bodyA, bodyB, source.rAX, source.rAY, source.rAZ, source.rBX, source.rBY, source.rBZ, contact.normalX * point.normalImpulse +
+                constraint.tangent0X * point.tangentImpulse0 +
+                constraint.tangent1X * point.tangentImpulse1, contact.normalY * point.normalImpulse +
+                constraint.tangent0Y * point.tangentImpulse0 +
+                constraint.tangent1Y * point.tangentImpulse1, contact.normalZ * point.normalImpulse +
+                constraint.tangent0Z * point.tangentImpulse0 +
+                constraint.tangent1Z * point.tangentImpulse1);
+        }
+    }
+}
+// Applies an equal and opposite impulse at the contact: A gains it, B loses it. The contact normal
+// points out of B, so a positive normal impulse separates the pair.
+function applyContactImpulse(bodyA, bodyB, rAX, rAY, rAZ, rBX, rBY, rBZ, impulseX, impulseY, impulseZ) {
+    applyBodyImpulse(bodyA, rAX, rAY, rAZ, impulseX, impulseY, impulseZ);
+    applyBodyImpulse(bodyB, rBX, rBY, rBZ, -impulseX, -impulseY, -impulseZ);
+}
+// A static body's zero inverse mass and zero inverse inertia make this a no-op with no branch, which is
+// the whole reason infinite mass is represented as a zero inverse rather than as a flag.
+function applyBodyImpulse(body, rX, rY, rZ, impulseX, impulseY, impulseZ) {
+    body.velocityX += impulseX * body.inverseMass;
+    body.velocityY += impulseY * body.inverseMass;
+    body.velocityZ += impulseZ * body.inverseMass;
+    const torqueX = rY * impulseZ - rZ * impulseY;
+    const torqueY = rZ * impulseX - rX * impulseZ;
+    const torqueZ = rX * impulseY - rY * impulseX;
+    readWorldInverseInertia(body, scratchTensor);
+    applySymmetricTensor(scratchTensor, torqueX, torqueY, torqueZ, scratchVector);
+    body.angularVelocityX += scratchVector[0];
+    body.angularVelocityY += scratchVector[1];
+    body.angularVelocityZ += scratchVector[2];
+}
+// Moves both bodies apart along an already-scaled correction vector, rotating each about its centre of
+// mass by the same lever-arm term the velocity solve uses. Orientation is nudged by the small-angle
+// quaternion update and renormalized, exactly as pose integration does.
+function applyPositionCorrection(bodyA, bodyB, rAX, rAY, rAZ, rBX, rBY, rBZ, correctionX, correctionY, correctionZ) {
+    applyBodyPositionCorrection(bodyA, rAX, rAY, rAZ, correctionX, correctionY, correctionZ);
+    applyBodyPositionCorrection(bodyB, rBX, rBY, rBZ, -correctionX, -correctionY, -correctionZ);
+}
+function applyBodyPositionCorrection(body, rX, rY, rZ, correctionX, correctionY, correctionZ) {
+    body.x += correctionX * body.inverseMass;
+    body.y += correctionY * body.inverseMass;
+    body.z += correctionZ * body.inverseMass;
+    const turnX = rY * correctionZ - rZ * correctionY;
+    const turnY = rZ * correctionX - rX * correctionZ;
+    const turnZ = rX * correctionY - rY * correctionX;
+    readWorldInverseInertia(body, scratchTensor);
+    applySymmetricTensor(scratchTensor, turnX, turnY, turnZ, scratchVector);
+    const angleX = scratchVector[0];
+    const angleY = scratchVector[1];
+    const angleZ = scratchVector[2];
+    if (angleX === 0 && angleY === 0 && angleZ === 0)
+        return;
+    const qx = body.orientationX;
+    const qy = body.orientationY;
+    const qz = body.orientationZ;
+    const qw = body.orientationW;
+    let nextX = qx + 0.5 * (angleX * qw + angleY * qz - angleZ * qy);
+    let nextY = qy + 0.5 * (angleY * qw + angleZ * qx - angleX * qz);
+    let nextZ = qz + 0.5 * (angleZ * qw + angleX * qy - angleY * qx);
+    let nextW = qw - 0.5 * (angleX * qx + angleY * qy + angleZ * qz);
+    const length = Math.sqrt(nextX * nextX + nextY * nextY + nextZ * nextZ + nextW * nextW);
+    if (length === 0)
+        return;
+    const inverseLength = 1 / length;
+    nextX *= inverseLength;
+    nextY *= inverseLength;
+    nextZ *= inverseLength;
+    nextW *= inverseLength;
+    body.orientationX = nextX;
+    body.orientationY = nextY;
+    body.orientationZ = nextZ;
+    body.orientationW = nextW;
+}
+// Locates last step's accumulators for a feature. Linear because a manifold holds at most a handful of
+// points and a map per contact would cost more than the scan.
+function findPreviousPointByFeatureId(featureId, pointCount) {
+    for (let i = 0; i < pointCount; i += 1) {
+        if (previousFeatures[i] === featureId)
+            return i;
+    }
+    return -1;
+}
+// The constraint denominator along one direction: the scalar mass a unit impulse in that direction
+// acts against, including both bodies' resistance to being spun about the contact.
+//
+// Returns 0 when the pair cannot move along the direction at all, so the impulse computed from it is
+// zero rather than infinite.
+function getEffectiveMass(bodyA, bodyB, rAX, rAY, rAZ, rBX, rBY, rBZ, directionX, directionY, directionZ) {
+    let denominator = bodyA.inverseMass + bodyB.inverseMass;
+    const crossAX = rAY * directionZ - rAZ * directionY;
+    const crossAY = rAZ * directionX - rAX * directionZ;
+    const crossAZ = rAX * directionY - rAY * directionX;
+    readWorldInverseInertia(bodyA, scratchTensor);
+    applySymmetricTensor(scratchTensor, crossAX, crossAY, crossAZ, scratchVector);
+    denominator += crossAX * scratchVector[0] + crossAY * scratchVector[1] + crossAZ * scratchVector[2];
+    const crossBX = rBY * directionZ - rBZ * directionY;
+    const crossBY = rBZ * directionX - rBX * directionZ;
+    const crossBZ = rBX * directionY - rBY * directionX;
+    readWorldInverseInertia(bodyB, scratchTensor);
+    applySymmetricTensor(scratchTensor, crossBX, crossBY, crossBZ, scratchVector);
+    denominator += crossBX * scratchVector[0] + crossBY * scratchVector[1] + crossBZ * scratchVector[2];
+    return denominator > 0 ? 1 / denominator : 0;
+}
+// The closing speed of the two contact points along a direction, positive when they separate. Each
+// point's velocity is its body's linear velocity plus the rotational contribution at its lever arm,
+// which is the term that makes a spinning body's surface move even when its centre is still.
+function getRelativeNormalVelocity(bodyA, bodyB, rAX, rAY, rAZ, rBX, rBY, rBZ, directionX, directionY, directionZ) {
+    const pointAX = bodyA.velocityX + (bodyA.angularVelocityY * rAZ - bodyA.angularVelocityZ * rAY);
+    const pointAY = bodyA.velocityY + (bodyA.angularVelocityZ * rAX - bodyA.angularVelocityX * rAZ);
+    const pointAZ = bodyA.velocityZ + (bodyA.angularVelocityX * rAY - bodyA.angularVelocityY * rAX);
+    const pointBX = bodyB.velocityX + (bodyB.angularVelocityY * rBZ - bodyB.angularVelocityZ * rBY);
+    const pointBY = bodyB.velocityY + (bodyB.angularVelocityZ * rBX - bodyB.angularVelocityX * rBZ);
+    const pointBZ = bodyB.velocityZ + (bodyB.angularVelocityX * rBY - bodyB.angularVelocityY * rBX);
+    return (pointAX - pointBX) * directionX + (pointAY - pointBY) * directionY + (pointAZ - pointBZ) * directionZ;
+}
+function hasRotationalFreedom(body) {
+    return (body.inverseInertiaWorldXX !== 0 ||
+        body.inverseInertiaWorldYY !== 0 ||
+        body.inverseInertiaWorldZZ !== 0 ||
+        body.inverseInertiaWorldXY !== 0 ||
+        body.inverseInertiaWorldXZ !== 0 ||
+        body.inverseInertiaWorldYZ !== 0);
+}
+function readWorldInverseInertia(body, out) {
+    out[TENSOR_XX] = body.inverseInertiaWorldXX;
+    out[TENSOR_YY] = body.inverseInertiaWorldYY;
+    out[TENSOR_ZZ] = body.inverseInertiaWorldZZ;
+    out[TENSOR_XY] = body.inverseInertiaWorldXY;
+    out[TENSOR_XZ] = body.inverseInertiaWorldXZ;
+    out[TENSOR_YZ] = body.inverseInertiaWorldYZ;
+}
+// Builds an orthonormal pair spanning the plane orthogonal to the contact normal. The seed axis is
+// whichever principal axis the normal leans on least, so the cross product is never near-degenerate:
+// a normal within 1/sqrt(3) of x leans on x least often, and that threshold is exactly where the
+// choice flips.
+function writeFrictionBasis(normalX, normalY, normalZ, out) {
+    let seedX = 0;
+    let seedY = 0;
+    let seedZ = 0;
+    if (Math.abs(normalX) < AXIS_SELECTION_THRESHOLD)
+        seedX = 1;
+    else if (Math.abs(normalY) < AXIS_SELECTION_THRESHOLD)
+        seedY = 1;
+    else
+        seedZ = 1;
+    let tangent0X = normalY * seedZ - normalZ * seedY;
+    let tangent0Y = normalZ * seedX - normalX * seedZ;
+    let tangent0Z = normalX * seedY - normalY * seedX;
+    const length = Math.sqrt(tangent0X * tangent0X + tangent0Y * tangent0Y + tangent0Z * tangent0Z);
+    if (length > 0) {
+        const inverseLength = 1 / length;
+        tangent0X *= inverseLength;
+        tangent0Y *= inverseLength;
+        tangent0Z *= inverseLength;
+    }
+    out.tangent0X = tangent0X;
+    out.tangent0Y = tangent0Y;
+    out.tangent0Z = tangent0Z;
+    out.tangent1X = normalY * tangent0Z - normalZ * tangent0Y;
+    out.tangent1Y = normalZ * tangent0X - normalX * tangent0Z;
+    out.tangent1Z = normalX * tangent0Y - normalY * tangent0X;
+}
+const AXIS_SELECTION_THRESHOLD = 0.5773502691896258;
+const scratchTensor = [0, 0, 0, 0, 0, 0];
+const scratchVector = [0, 0, 0];
+const previousFeatures = [];
+const previousNormalImpulses = [];
+const previousTangentImpulses0 = [];
+const previousTangentImpulses1 = [];
+function acquirePhysics3DPositionScratch() {
+    return physics3DPositionScratchPool.pop() ?? createPhysics3DPositionScratch();
+}
+function createPhysics3DPositionScratch() {
+    return { manifold: createCollisionContactManifold3D(), centerA: [0, 0, 0], centerB: [0, 0, 0] };
+}
+function releasePhysics3DPositionScratch(scratch) {
+    physics3DPositionScratchPool.push(scratch);
+}
+const physics3DPositionScratchPool = [createPhysics3DPositionScratch()];
+//# sourceMappingURL=solver.js.map

package/dist/solver.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"solver.js","sourceRoot":"","sources":["../src/solver.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,gCAAgC,EAAE,MAAM,8BAA8B,CAAC;AAShF,OAAO,EAAE,8BAA8B,EAAE,MAAM,qBAAqB,CAAC;AACrE,OAAO,EAAE,iCAAiC,EAAE,MAAM,qBAAqB,CAAC;AACxE,OAAO,EACL,oBAAoB,EACpB,SAAS,EACT,SAAS,EACT,SAAS,EACT,SAAS,EACT,SAAS,EACT,SAAS,GACV,MAAM,mBAAmB,CAAC;AAC3B,OAAO,EAAE,2BAA2B,EAAE,MAAM,SAAS,CAAC;AAEtD,qGAAqG;AACrG,mEAAmE;AACnE,MAAM,UAAU,gCAAgC;IAC9C,OAAO;QACL,OAAO,EAAE,CAAC,CAAC;QACX,UAAU,EAAE,CAAC;QACb,MAAM,EAAE,EAAE;QACV,SAAS,EAAE,CAAC;QACZ,SAAS,EAAE,CAAC;QACZ,SAAS,EAAE,CAAC;QACZ,SAAS,EAAE,CAAC;QACZ,SAAS,EAAE,CAAC;QACZ,SAAS,EAAE,CAAC;KACb,CAAC;AACJ,CAAC;AAED,mGAAmG;AACnG,gEAAgE;AAChE,MAAM,UAAU,qCAAqC;IACnD,OAAO;QACL,IAAI,EAAE,CAAC;QACP,SAAS,EAAE,CAAC;QACZ,aAAa,EAAE,CAAC;QAChB,UAAU,EAAE,CAAC;QACb,eAAe,EAAE,CAAC;QAClB,eAAe,EAAE,CAAC;QAClB,YAAY,EAAE,CAAC;QACf,YAAY,EAAE,CAAC;KAChB,CAAC;AACJ,CAAC;AAED,qGAAqG;AACrG,4EAA4E;AAC5E,EAAE;AACF,4EAA4E;AAC5E,uGAAuG;AACvG,iGAAiG;AACjG,8CAA8C;AAC9C,EAAE;AACF,qGAAqG;AACrG,sGAAsG;AACtG,qGAAqG;AACrG,mGAAmG;AACnG,qGAAqG;AACrG,yEAAyE;AACzE,EAAE;AACF,kGAAkG;AAClG,mGAAmG;AACnG,4DAA4D;AAC5D,EAAE;AACF,sGAAsG;AACtG,wGAAwG;AACxG,oGAAoG;AACpG,sGAAsG;AACtG,sFAAsF;AACtF,EAAE;AACF,uGAAuG;AACvG,qGAAqG;AACrG,uGAAuG;AACvG,4DAA4D;AAC5D,MAAM,UAAU,kCAAkC,CAAC,KAAqB;IACtE,MAAM,KAAK,GAAG,KAAK,CAAC,MAAM,CAAC;IAC3B,MAAM,iBAAiB,GAAG,KAAK,CAAC,mBAAmB,CAAC;IACpD,MAAM,WAAW,GAAG,KAAK,CAAC,WAAW,CAAC;IACtC,qGAAqG;IACrG,sGAAsG;IACtG,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,WAAW,CAAC,MAAM,EAAE,CAAC,IAAI,CAAC;QAAE,WAAW,CAAC,CAAC,CAAC,CAAC,OAAO,GAAG,CAAC,CAAC,CAAC;IAC5E,WAAW,CAAC,MAAM,GAAG,CAAC,CAAC;IACvB,MAAM,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC,iBAAiB,CAAC;IAE9C,KAAK,IAAI,MAAM,GAAG,CAAC,EAAE,MAAM,GAAG,KAAK,CAAC,gBAAgB,CAAC,MAAM,EAAE,MAAM,IAAI,CAAC,EAAE,CAAC;QACzE,MAAM,WAAW,GAAG,KAAK,CAAC,wBAAwB,CAAC,MAAM,CAAC,CAAC;QAC3D,MAAM,SAAS,GAAG,WAAW,GAAG,KAAK,CAAC,wBAAwB,CAAC,MAAM,CAAC,CAAC;QACvE,KAAK,IAAI,EAAE,GAAG,WAAW,EAAE,EAAE,GAAG,SAAS,EAAE,EAAE,IAAI,CAAC,EAAE,CAAC;YACnD,MAAM,YAAY,GAAG,KAAK,CAAC,yBAAyB,CAAC,EAAE,CAAC,CAAC;YACzD,MAAM,OAAO,GAAG,KAAK,CAAC,QAAQ,CAAC,YAAY,CAAC,CAAC;YAC7C,IAAI,CAAC,OAAO,CAAC,QAAQ,IAAI,OAAO,CAAC,UAAU,KAAK,CAAC;gBAAE,SAAS;YAE5D,MAAM,KAAK,GAAG,KAAK,CAAC,WAAW,CAAC,GAAG,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;YACnD,MAAM,KAAK,GAAG,KAAK,CAAC,WAAW,CAAC,GAAG,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;YACnD,IAAI,KAAK,KAAK,SAAS,IAAI,KAAK,KAAK,SAAS;gBAAE,SAAS;YACzD,IACE,KAAK,CAAC,WAAW,KAAK,CAAC;gBACvB,KAAK,CAAC,WAAW,KAAK,CAAC;gBACvB,CAAC,oBAAoB,CAAC,KAAK,CAAC;gBAC5B,CAAC,oBAAoB,CAAC,KAAK,CAAC,EAC5B,CAAC;gBACD,SAAS;YACX,CAAC;YAED,IAAI,UAAU,GAAG,iBAAiB,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC;YAChD,IAAI,UAAU,KAAK,SAAS,EAAE,CAAC;gBAC7B,UAAU,GAAG,gCAAgC,EAAE,CAAC;gBAChD,iBAAiB,CAAC,GAAG,CAAC,OAAO,EAAE,UAAU,CAAC,CAAC;YAC7C,CAAC;YACD,MAAM,kBAAkB,GAAG,UAAU,CAAC,UAAU,CAAC;YACjD,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,kBAAkB,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC;gBAC/C,MAAM,KAAK,GAAG,UAAU,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;gBACnC,gBAAgB,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,SAAS,CAAC;gBACtC,sBAAsB,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,aAAa,CAAC;gBAChD,wBAAwB,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,eAAe,CAAC;gBACpD,wBAAwB,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,eAAe,CAAC;YACtD,CAAC;YACD,UAAU,CAAC,OAAO,GAAG,YAAY,CAAC;YAClC,UAAU,CAAC,UAAU,GAAG,OAAO,CAAC,UAAU,CAAC;YAC3C,kBAAkB,CAAC,OAAO,CAAC,OAAO,EAAE,OAAO,CAAC,OAAO,EAAE,OAAO,CAAC,OAAO,EAAE,UAAU,CAAC,CAAC;YAElF,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,OAAO,CAAC,UAAU,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC;gBAC/C,MAAM,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;gBACjC,IAAI,KAAK,GAAG,UAAU,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;gBACjC,IAAI,KAAK,KAAK,SAAS,EAAE,CAAC;oBACxB,KAAK,GAAG,qCAAqC,EAAE,CAAC;oBAChD,UAAU,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;gBAChC,CAAC;gBACD,KAAK,CAAC,SAAS,GAAG,MAAM,CAAC,SAAS,CAAC;gBACnC,KAAK,CAAC,aAAa,GAAG,CAAC,CAAC;gBACxB,KAAK,CAAC,eAAe,GAAG,CAAC,CAAC;gBAC1B,KAAK,CAAC,eAAe,GAAG,CAAC,CAAC;gBAE1B,IAAI,MAAM,CAAC,YAAY,EAAE,CAAC;oBACxB,MAAM,OAAO,GAAG,4BAA4B,CAAC,MAAM,CAAC,SAAS,EAAE,kBAAkB,CAAC,CAAC;oBACnF,IAAI,OAAO,IAAI,CAAC,EAAE,CAAC;wBACjB,KAAK,CAAC,aAAa,GAAG,sBAAsB,CAAC,OAAO,CAAC,CAAC;wBACtD,KAAK,CAAC,eAAe,GAAG,wBAAwB,CAAC,OAAO,CAAC,CAAC;wBAC1D,KAAK,CAAC,eAAe,GAAG,wBAAwB,CAAC,OAAO,CAAC,CAAC;oBAC5D,CAAC;gBACH,CAAC;gBAED,KAAK,CAAC,UAAU,GAAG,gBAAgB,CACjC,KAAK,EACL,KAAK,EACL,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,OAAO,CAAC,OAAO,EACf,OAAO,CAAC,OAAO,EACf,OAAO,CAAC,OAAO,CAChB,CAAC;gBACF,KAAK,CAAC,YAAY,GAAG,gBAAgB,CACnC,KAAK,EACL,KAAK,EACL,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,UAAU,CAAC,SAAS,EACpB,UAAU,CAAC,SAAS,EACpB,UAAU,CAAC,SAAS,CACrB,CAAC;gBACF,KAAK,CAAC,YAAY,GAAG,gBAAgB,CACnC,KAAK,EACL,KAAK,EACL,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,UAAU,CAAC,SAAS,EACpB,UAAU,CAAC,SAAS,EACpB,UAAU,CAAC,SAAS,CACrB,CAAC;gBAEF,MAAM,QAAQ,GAAG,yBAAyB,CACxC,KAAK,EACL,KAAK,EACL,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,OAAO,CAAC,OAAO,EACf,OAAO,CAAC,OAAO,EACf,OAAO,CAAC,OAAO,CAChB,CAAC;gBACF,KAAK,CAAC,IAAI,GAAG,QAAQ,GAAG,CAAC,MAAM,CAAC,oBAAoB,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,WAAW,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC;YAC7F,CAAC;YAED,WAAW,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;QAC/B,CAAC;IACH,CAAC;IAED,iGAAiG;IACjG,sFAAsF;IACtF,iBAAiB,CAAC,OAAO,CAAC,CAAC,UAAU,EAAE,OAAO,EAAE,EAAE;QAChD,IAAI,UAAU,CAAC,OAAO,GAAG,CAAC;YAAE,iBAAiB,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC;IAChE,CAAC,CAAC,CAAC;AACL,CAAC;AAED,oGAAoG;AACpG,mGAAmG;AACnG,4FAA4F;AAC5F,EAAE;AACF,sGAAsG;AACtG,iGAAiG;AACjG,yBAAyB;AACzB,EAAE;AACF,+FAA+F;AAC/F,gGAAgG;AAChG,EAAE;AACF,uGAAuG;AACvG,qGAAqG;AACrG,yGAAyG;AACzG,uGAAuG;AACvG,wGAAwG;AACxG,uFAAuF;AACvF,EAAE;AACF,iEAAiE;AACjE,MAAM,UAAU,8BAA8B,CAAC,KAAqB;IAClE,MAAM,OAAO,GAAG,+BAA+B,EAAE,CAAC;IAClD,IAAI,CAAC;QACH,OAAO,yCAAyC,CAAC,KAAK,EAAE,OAAO,CAAC,CAAC;IACnE,CAAC;YAAS,CAAC;QACT,+BAA+B,CAAC,OAAO,CAAC,CAAC;IAC3C,CAAC;AACH,CAAC;AAED,SAAS,yCAAyC,CAAC,KAAqB,EAAE,OAAiC;IACzG,MAAM,MAAM,GAAG,KAAK,CAAC,MAAM,CAAC,iBAAiB,CAAC;IAC9C,IAAI,OAAO,GAAG,CAAC,CAAC;IAEhB,MAAM,WAAW,GAAG,KAAK,CAAC,MAAM,CAAC,WAAW,CAAC;IAC7C,KAAK,IAAI,eAAe,GAAG,CAAC,EAAE,eAAe,GAAG,WAAW,CAAC,MAAM,EAAE,eAAe,IAAI,CAAC,EAAE,CAAC;QACzF,MAAM,UAAU,GAAG,WAAW,CAAC,eAAe,CAAC,CAAC;QAChD,MAAM,OAAO,GAAG,KAAK,CAAC,QAAQ,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC;QACnD,MAAM,KAAK,GAAG,KAAK,CAAC,WAAW,CAAC,GAAG,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;QACnD,MAAM,KAAK,GAAG,KAAK,CAAC,WAAW,CAAC,GAAG,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;QACnD,IAAI,KAAK,KAAK,SAAS,IAAI,KAAK,KAAK,SAAS;YAAE,SAAS;QAEzD,MAAM,SAAS,GAAG,KAAK,CAAC,SAAS,CAAC,OAAO,CAAC,SAAS,CAAC,CAAC;QACrD,MAAM,SAAS,GAAG,KAAK,CAAC,SAAS,CAAC,OAAO,CAAC,SAAS,CAAC,CAAC;QACrD,IAAI,SAAS,KAAK,SAAS,IAAI,SAAS,KAAK,SAAS;YAAE,SAAS;QACjE,iCAAiC,CAAC,SAAS,EAAE,KAAK,CAAC,CAAC;QACpD,iCAAiC,CAAC,SAAS,EAAE,KAAK,CAAC,CAAC;QACpD,IAAI,CAAC,8BAA8B,CAAC,SAAS,CAAC,KAAK,EAAE,SAAS,CAAC,KAAK,EAAE,OAAO,CAAC,QAAQ,CAAC;YAAE,SAAS;QAElG,MAAM,QAAQ,GAAG,OAAO,CAAC,QAAQ,CAAC;QAClC,2BAA2B,CAAC,KAAK,EAAE,OAAO,CAAC,OAAO,CAAC,CAAC;QACpD,2BAA2B,CAAC,KAAK,EAAE,OAAO,CAAC,OAAO,CAAC,CAAC;QAEpD,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,QAAQ,CAAC,UAAU,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC;YAChD,MAAM,MAAM,GAAG,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;YAClC,MAAM,MAAM,GAAG,MAAM,CAAC,KAAK,GAAG,MAAM,CAAC,eAAe,CAAC;YACrD,IAAI,MAAM,GAAG,OAAO;gBAAE,OAAO,GAAG,MAAM,CAAC;YACvC,IAAI,MAAM,IAAI,CAAC;gBAAE,SAAS;YAE1B,4FAA4F;YAC5F,iGAAiG;YACjG,wBAAwB;YACxB,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,GAAG,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;YAC1C,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,GAAG,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;YAC1C,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,GAAG,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;YAC1C,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,GAAG,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;YAC1C,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,GAAG,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;YAC1C,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,GAAG,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;YAC1C,MAAM,IAAI,GAAG,gBAAgB,CAC3B,KAAK,EACL,KAAK,EACL,GAAG,EACH,GAAG,EACH,GAAG,EACH,GAAG,EACH,GAAG,EACH,GAAG,EACH,QAAQ,CAAC,OAAO,EAChB,QAAQ,CAAC,OAAO,EAChB,QAAQ,CAAC,OAAO,CACjB,CAAC;YAEF,MAAM,UAAU,GAAG,MAAM,CAAC,kBAAkB,GAAG,MAAM,GAAG,IAAI,CAAC;YAC7D,uBAAuB,CACrB,KAAK,EACL,KAAK,EACL,GAAG,EACH,GAAG,EACH,GAAG,EACH,GAAG,EACH,GAAG,EACH,GAAG,EACH,QAAQ,CAAC,OAAO,GAAG,UAAU,EAC7B,QAAQ,CAAC,OAAO,GAAG,UAAU,EAC7B,QAAQ,CAAC,OAAO,GAAG,UAAU,CAC9B,CAAC;QACJ,CAAC;IACH,CAAC;IAED,OAAO,OAAO,CAAC;AACjB,CAAC;AAED,+FAA+F;AAC/F,EAAE;AACF,qGAAqG;AACrG,gGAAgG;AAChG,2FAA2F;AAC3F,0FAA0F;AAC1F,qGAAqG;AACrG,uGAAuG;AACvG,sGAAsG;AACtG,6BAA6B;AAC7B,MAAM,UAAU,+BAA+B,CAAC,KAAqB;IACnE,MAAM,WAAW,GAAG,KAAK,CAAC,MAAM,CAAC,WAAW,CAAC;IAC7C,KAAK,IAAI,eAAe,GAAG,CAAC,EAAE,eAAe,GAAG,WAAW,CAAC,MAAM,EAAE,eAAe,IAAI,CAAC,EAAE,CAAC;QACzF,MAAM,UAAU,GAAG,WAAW,CAAC,eAAe,CAAC,CAAC;QAChD,MAAM,OAAO,GAAG,KAAK,CAAC,QAAQ,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC;QACnD,MAAM,KAAK,GAAG,KAAK,CAAC,WAAW,CAAC,GAAG,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;QACnD,MAAM,KAAK,GAAG,KAAK,CAAC,WAAW,CAAC,GAAG,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;QACnD,IAAI,KAAK,KAAK,SAAS,IAAI,KAAK,KAAK,SAAS;YAAE,SAAS;QAEzD,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,UAAU,CAAC,UAAU,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC;YAClD,MAAM,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;YACjC,MAAM,KAAK,GAAG,UAAU,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;YAEnC,MAAM,cAAc,GAAG,yBAAyB,CAC9C,KAAK,EACL,KAAK,EACL,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,OAAO,CAAC,OAAO,EACf,OAAO,CAAC,OAAO,EACf,OAAO,CAAC,OAAO,CAChB,CAAC;YACF,MAAM,aAAa,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,aAAa,GAAG,CAAC,KAAK,CAAC,IAAI,GAAG,cAAc,CAAC,GAAG,KAAK,CAAC,UAAU,EAAE,CAAC,CAAC,CAAC;YAC1G,MAAM,WAAW,GAAG,aAAa,GAAG,KAAK,CAAC,aAAa,CAAC;YACxD,KAAK,CAAC,aAAa,GAAG,aAAa,CAAC;YAEpC,mBAAmB,CACjB,KAAK,EACL,KAAK,EACL,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,OAAO,CAAC,OAAO,GAAG,WAAW,EAC7B,OAAO,CAAC,OAAO,GAAG,WAAW,EAC7B,OAAO,CAAC,OAAO,GAAG,WAAW,CAC9B,CAAC;YAEF,MAAM,WAAW,GAAG,OAAO,CAAC,QAAQ,GAAG,KAAK,CAAC,aAAa,CAAC;YAE3D,MAAM,gBAAgB,GAAG,yBAAyB,CAChD,KAAK,EACL,KAAK,EACL,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,UAAU,CAAC,SAAS,EACpB,UAAU,CAAC,SAAS,EACpB,UAAU,CAAC,SAAS,CACrB,CAAC;YACF,IAAI,QAAQ,GAAG,KAAK,CAAC,eAAe,GAAG,gBAAgB,GAAG,KAAK,CAAC,YAAY,CAAC;YAE7E,MAAM,gBAAgB,GAAG,yBAAyB,CAChD,KAAK,EACL,KAAK,EACL,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,UAAU,CAAC,SAAS,EACpB,UAAU,CAAC,SAAS,EACpB,UAAU,CAAC,SAAS,CACrB,CAAC;YACF,IAAI,QAAQ,GAAG,KAAK,CAAC,eAAe,GAAG,gBAAgB,GAAG,KAAK,CAAC,YAAY,CAAC;YAE7E,MAAM,SAAS,GAAG,IAAI,CAAC,IAAI,CAAC,QAAQ,GAAG,QAAQ,GAAG,QAAQ,GAAG,QAAQ,CAAC,CAAC;YACvE,IAAI,SAAS,GAAG,WAAW,EAAE,CAAC;gBAC5B,MAAM,KAAK,GAAG,WAAW,GAAG,SAAS,CAAC;gBACtC,QAAQ,IAAI,KAAK,CAAC;gBAClB,QAAQ,IAAI,KAAK,CAAC;YACpB,CAAC;YAED,MAAM,aAAa,GAAG,QAAQ,GAAG,KAAK,CAAC,eAAe,CAAC;YACvD,MAAM,aAAa,GAAG,QAAQ,GAAG,KAAK,CAAC,eAAe,CAAC;YACvD,KAAK,CAAC,eAAe,GAAG,QAAQ,CAAC;YACjC,KAAK,CAAC,eAAe,GAAG,QAAQ,CAAC;YAEjC,mBAAmB,CACjB,KAAK,EACL,KAAK,EACL,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,UAAU,CAAC,SAAS,GAAG,aAAa,GAAG,UAAU,CAAC,SAAS,GAAG,aAAa,EAC3E,UAAU,CAAC,SAAS,GAAG,aAAa,GAAG,UAAU,CAAC,SAAS,GAAG,aAAa,EAC3E,UAAU,CAAC,SAAS,GAAG,aAAa,GAAG,UAAU,CAAC,SAAS,GAAG,aAAa,CAC5E,CAAC;QACJ,CAAC;IACH,CAAC;AACH,CAAC;AAED,kGAAkG;AAClG,uGAAuG;AACvG,uEAAuE;AACvE,EAAE;AACF,2FAA2F;AAC3F,MAAM,UAAU,0BAA0B,CAAC,KAAqB;IAC9D,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,iBAAiB,CAAC,YAAY;QAAE,OAAO;IAEzD,MAAM,WAAW,GAAG,KAAK,CAAC,MAAM,CAAC,WAAW,CAAC;IAC7C,KAAK,IAAI,eAAe,GAAG,CAAC,EAAE,eAAe,GAAG,WAAW,CAAC,MAAM,EAAE,eAAe,IAAI,CAAC,EAAE,CAAC;QACzF,MAAM,UAAU,GAAG,WAAW,CAAC,eAAe,CAAC,CAAC;QAChD,MAAM,OAAO,GAAG,KAAK,CAAC,QAAQ,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC;QACnD,MAAM,KAAK,GAAG,KAAK,CAAC,WAAW,CAAC,GAAG,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;QACnD,MAAM,KAAK,GAAG,KAAK,CAAC,WAAW,CAAC,GAAG,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;QACnD,IAAI,KAAK,KAAK,SAAS,IAAI,KAAK,KAAK,SAAS;YAAE,SAAS;QAEzD,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,UAAU,CAAC,UAAU,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC;YAClD,MAAM,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;YACjC,MAAM,KAAK,GAAG,UAAU,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;YACnC,mBAAmB,CACjB,KAAK,EACL,KAAK,EACL,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,MAAM,CAAC,GAAG,EACV,OAAO,CAAC,OAAO,GAAG,KAAK,CAAC,aAAa;gBACnC,UAAU,CAAC,SAAS,GAAG,KAAK,CAAC,eAAe;gBAC5C,UAAU,CAAC,SAAS,GAAG,KAAK,CAAC,eAAe,EAC9C,OAAO,CAAC,OAAO,GAAG,KAAK,CAAC,aAAa;gBACnC,UAAU,CAAC,SAAS,GAAG,KAAK,CAAC,eAAe;gBAC5C,UAAU,CAAC,SAAS,GAAG,KAAK,CAAC,eAAe,EAC9C,OAAO,CAAC,OAAO,GAAG,KAAK,CAAC,aAAa;gBACnC,UAAU,CAAC,SAAS,GAAG,KAAK,CAAC,eAAe;gBAC5C,UAAU,CAAC,SAAS,GAAG,KAAK,CAAC,eAAe,CAC/C,CAAC;QACJ,CAAC;IACH,CAAC;AACH,CAAC;AAED,mGAAmG;AACnG,oEAAoE;AACpE,SAAS,mBAAmB,CAC1B,KAAkB,EAClB,KAAkB,EAClB,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,QAAgB,EAChB,QAAgB,EAChB,QAAgB;IAEhB,gBAAgB,CAAC,KAAK,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,QAAQ,EAAE,QAAQ,EAAE,QAAQ,CAAC,CAAC;IACrE,gBAAgB,CAAC,KAAK,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,QAAQ,EAAE,CAAC,QAAQ,EAAE,CAAC,QAAQ,CAAC,CAAC;AAC1E,CAAC;AAED,wGAAwG;AACxG,yFAAyF;AACzF,SAAS,gBAAgB,CACvB,IAAiB,EACjB,EAAU,EACV,EAAU,EACV,EAAU,EACV,QAAgB,EAChB,QAAgB,EAChB,QAAgB;IAEhB,IAAI,CAAC,SAAS,IAAI,QAAQ,GAAG,IAAI,CAAC,WAAW,CAAC;IAC9C,IAAI,CAAC,SAAS,IAAI,QAAQ,GAAG,IAAI,CAAC,WAAW,CAAC;IAC9C,IAAI,CAAC,SAAS,IAAI,QAAQ,GAAG,IAAI,CAAC,WAAW,CAAC;IAE9C,MAAM,OAAO,GAAG,EAAE,GAAG,QAAQ,GAAG,EAAE,GAAG,QAAQ,CAAC;IAC9C,MAAM,OAAO,GAAG,EAAE,GAAG,QAAQ,GAAG,EAAE,GAAG,QAAQ,CAAC;IAC9C,MAAM,OAAO,GAAG,EAAE,GAAG,QAAQ,GAAG,EAAE,GAAG,QAAQ,CAAC;IAE9C,uBAAuB,CAAC,IAAI,EAAE,aAAa,CAAC,CAAC;IAC7C,oBAAoB,CAAC,aAAa,EAAE,OAAO,EAAE,OAAO,EAAE,OAAO,EAAE,aAAa,CAAC,CAAC;IAC9E,IAAI,CAAC,gBAAgB,IAAI,aAAa,CAAC,CAAC,CAAC,CAAC;IAC1C,IAAI,CAAC,gBAAgB,IAAI,aAAa,CAAC,CAAC,CAAC,CAAC;IAC1C,IAAI,CAAC,gBAAgB,IAAI,aAAa,CAAC,CAAC,CAAC,CAAC;AAC5C,CAAC;AAED,uGAAuG;AACvG,oGAAoG;AACpG,wEAAwE;AACxE,SAAS,uBAAuB,CAC9B,KAAkB,EAClB,KAAkB,EAClB,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,WAAmB,EACnB,WAAmB,EACnB,WAAmB;IAEnB,2BAA2B,CAAC,KAAK,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,WAAW,EAAE,WAAW,EAAE,WAAW,CAAC,CAAC;IACzF,2BAA2B,CAAC,KAAK,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,WAAW,EAAE,CAAC,WAAW,EAAE,CAAC,WAAW,CAAC,CAAC;AAC9F,CAAC;AAED,SAAS,2BAA2B,CAClC,IAAiB,EACjB,EAAU,EACV,EAAU,EACV,EAAU,EACV,WAAmB,EACnB,WAAmB,EACnB,WAAmB;IAEnB,IAAI,CAAC,CAAC,IAAI,WAAW,GAAG,IAAI,CAAC,WAAW,CAAC;IACzC,IAAI,CAAC,CAAC,IAAI,WAAW,GAAG,IAAI,CAAC,WAAW,CAAC;IACzC,IAAI,CAAC,CAAC,IAAI,WAAW,GAAG,IAAI,CAAC,WAAW,CAAC;IAEzC,MAAM,KAAK,GAAG,EAAE,GAAG,WAAW,GAAG,EAAE,GAAG,WAAW,CAAC;IAClD,MAAM,KAAK,GAAG,EAAE,GAAG,WAAW,GAAG,EAAE,GAAG,WAAW,CAAC;IAClD,MAAM,KAAK,GAAG,EAAE,GAAG,WAAW,GAAG,EAAE,GAAG,WAAW,CAAC;IAElD,uBAAuB,CAAC,IAAI,EAAE,aAAa,CAAC,CAAC;IAC7C,oBAAoB,CAAC,aAAa,EAAE,KAAK,EAAE,KAAK,EAAE,KAAK,EAAE,aAAa,CAAC,CAAC;IAExE,MAAM,MAAM,GAAG,aAAa,CAAC,CAAC,CAAC,CAAC;IAChC,MAAM,MAAM,GAAG,aAAa,CAAC,CAAC,CAAC,CAAC;IAChC,MAAM,MAAM,GAAG,aAAa,CAAC,CAAC,CAAC,CAAC;IAChC,IAAI,MAAM,KAAK,CAAC,IAAI,MAAM,KAAK,CAAC,IAAI,MAAM,KAAK,CAAC;QAAE,OAAO;IAEzD,MAAM,EAAE,GAAG,IAAI,CAAC,YAAY,CAAC;IAC7B,MAAM,EAAE,GAAG,IAAI,CAAC,YAAY,CAAC;IAC7B,MAAM,EAAE,GAAG,IAAI,CAAC,YAAY,CAAC;IAC7B,MAAM,EAAE,GAAG,IAAI,CAAC,YAAY,CAAC;IAE7B,IAAI,KAAK,GAAG,EAAE,GAAG,GAAG,GAAG,CAAC,MAAM,GAAG,EAAE,GAAG,MAAM,GAAG,EAAE,GAAG,MAAM,GAAG,EAAE,CAAC,CAAC;IACjE,IAAI,KAAK,GAAG,EAAE,GAAG,GAAG,GAAG,CAAC,MAAM,GAAG,EAAE,GAAG,MAAM,GAAG,EAAE,GAAG,MAAM,GAAG,EAAE,CAAC,CAAC;IACjE,IAAI,KAAK,GAAG,EAAE,GAAG,GAAG,GAAG,CAAC,MAAM,GAAG,EAAE,GAAG,MAAM,GAAG,EAAE,GAAG,MAAM,GAAG,EAAE,CAAC,CAAC;IACjE,IAAI,KAAK,GAAG,EAAE,GAAG,GAAG,GAAG,CAAC,MAAM,GAAG,EAAE,GAAG,MAAM,GAAG,EAAE,GAAG,MAAM,GAAG,EAAE,CAAC,CAAC;IAEjE,MAAM,MAAM,GAAG,IAAI,CAAC,IAAI,CAAC,KAAK,GAAG,KAAK,GAAG,KAAK,GAAG,KAAK,GAAG,KAAK,GAAG,KAAK,GAAG,KAAK,GAAG,KAAK,CAAC,CAAC;IACxF,IAAI,MAAM,KAAK,CAAC;QAAE,OAAO;IACzB,MAAM,aAAa,GAAG,CAAC,GAAG,MAAM,CAAC;IACjC,KAAK,IAAI,aAAa,CAAC;IACvB,KAAK,IAAI,aAAa,CAAC;IACvB,KAAK,IAAI,aAAa,CAAC;IACvB,KAAK,IAAI,aAAa,CAAC;IAEvB,IAAI,CAAC,YAAY,GAAG,KAAK,CAAC;IAC1B,IAAI,CAAC,YAAY,GAAG,KAAK,CAAC;IAC1B,IAAI,CAAC,YAAY,GAAG,KAAK,CAAC;IAC1B,IAAI,CAAC,YAAY,GAAG,KAAK,CAAC;AAC5B,CAAC;AAED,uGAAuG;AACvG,8DAA8D;AAC9D,SAAS,4BAA4B,CAAC,SAAiB,EAAE,UAAkB;IACzE,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,UAAU,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC;QACvC,IAAI,gBAAgB,CAAC,CAAC,CAAC,KAAK,SAAS;YAAE,OAAO,CAAC,CAAC;IAClD,CAAC;IACD,OAAO,CAAC,CAAC,CAAC;AACZ,CAAC;AAED,mGAAmG;AACnG,mFAAmF;AACnF,EAAE;AACF,qGAAqG;AACrG,6BAA6B;AAC7B,SAAS,gBAAgB,CACvB,KAA4B,EAC5B,KAA4B,EAC5B,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,UAAkB,EAClB,UAAkB,EAClB,UAAkB;IAElB,IAAI,WAAW,GAAG,KAAK,CAAC,WAAW,GAAG,KAAK,CAAC,WAAW,CAAC;IAExD,MAAM,OAAO,GAAG,GAAG,GAAG,UAAU,GAAG,GAAG,GAAG,UAAU,CAAC;IACpD,MAAM,OAAO,GAAG,GAAG,GAAG,UAAU,GAAG,GAAG,GAAG,UAAU,CAAC;IACpD,MAAM,OAAO,GAAG,GAAG,GAAG,UAAU,GAAG,GAAG,GAAG,UAAU,CAAC;IACpD,uBAAuB,CAAC,KAAK,EAAE,aAAa,CAAC,CAAC;IAC9C,oBAAoB,CAAC,aAAa,EAAE,OAAO,EAAE,OAAO,EAAE,OAAO,EAAE,aAAa,CAAC,CAAC;IAC9E,WAAW,IAAI,OAAO,GAAG,aAAa,CAAC,CAAC,CAAC,GAAG,OAAO,GAAG,aAAa,CAAC,CAAC,CAAC,GAAG,OAAO,GAAG,aAAa,CAAC,CAAC,CAAC,CAAC;IAEpG,MAAM,OAAO,GAAG,GAAG,GAAG,UAAU,GAAG,GAAG,GAAG,UAAU,CAAC;IACpD,MAAM,OAAO,GAAG,GAAG,GAAG,UAAU,GAAG,GAAG,GAAG,UAAU,CAAC;IACpD,MAAM,OAAO,GAAG,GAAG,GAAG,UAAU,GAAG,GAAG,GAAG,UAAU,CAAC;IACpD,uBAAuB,CAAC,KAAK,EAAE,aAAa,CAAC,CAAC;IAC9C,oBAAoB,CAAC,aAAa,EAAE,OAAO,EAAE,OAAO,EAAE,OAAO,EAAE,aAAa,CAAC,CAAC;IAC9E,WAAW,IAAI,OAAO,GAAG,aAAa,CAAC,CAAC,CAAC,GAAG,OAAO,GAAG,aAAa,CAAC,CAAC,CAAC,GAAG,OAAO,GAAG,aAAa,CAAC,CAAC,CAAC,CAAC;IAEpG,OAAO,WAAW,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,WAAW,CAAC,CAAC,CAAC,CAAC,CAAC;AAC/C,CAAC;AAED,mGAAmG;AACnG,oGAAoG;AACpG,6FAA6F;AAC7F,SAAS,yBAAyB,CAChC,KAA4B,EAC5B,KAA4B,EAC5B,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,GAAW,EACX,UAAkB,EAClB,UAAkB,EAClB,UAAkB;IAElB,MAAM,OAAO,GAAG,KAAK,CAAC,SAAS,GAAG,CAAC,KAAK,CAAC,gBAAgB,GAAG,GAAG,GAAG,KAAK,CAAC,gBAAgB,GAAG,GAAG,CAAC,CAAC;IAChG,MAAM,OAAO,GAAG,KAAK,CAAC,SAAS,GAAG,CAAC,KAAK,CAAC,gBAAgB,GAAG,GAAG,GAAG,KAAK,CAAC,gBAAgB,GAAG,GAAG,CAAC,CAAC;IAChG,MAAM,OAAO,GAAG,KAAK,CAAC,SAAS,GAAG,CAAC,KAAK,CAAC,gBAAgB,GAAG,GAAG,GAAG,KAAK,CAAC,gBAAgB,GAAG,GAAG,CAAC,CAAC;IAEhG,MAAM,OAAO,GAAG,KAAK,CAAC,SAAS,GAAG,CAAC,KAAK,CAAC,gBAAgB,GAAG,GAAG,GAAG,KAAK,CAAC,gBAAgB,GAAG,GAAG,CAAC,CAAC;IAChG,MAAM,OAAO,GAAG,KAAK,CAAC,SAAS,GAAG,CAAC,KAAK,CAAC,gBAAgB,GAAG,GAAG,GAAG,KAAK,CAAC,gBAAgB,GAAG,GAAG,CAAC,CAAC;IAChG,MAAM,OAAO,GAAG,KAAK,CAAC,SAAS,GAAG,CAAC,KAAK,CAAC,gBAAgB,GAAG,GAAG,GAAG,KAAK,CAAC,gBAAgB,GAAG,GAAG,CAAC,CAAC;IAEhG,OAAO,CAAC,OAAO,GAAG,OAAO,CAAC,GAAG,UAAU,GAAG,CAAC,OAAO,GAAG,OAAO,CAAC,GAAG,UAAU,GAAG,CAAC,OAAO,GAAG,OAAO,CAAC,GAAG,UAAU,CAAC;AAChH,CAAC;AAED,SAAS,oBAAoB,CAAC,IAA2B;IACvD,OAAO,CACL,IAAI,CAAC,qBAAqB,KAAK,CAAC;QAChC,IAAI,CAAC,qBAAqB,KAAK,CAAC;QAChC,IAAI,CAAC,qBAAqB,KAAK,CAAC;QAChC,IAAI,CAAC,qBAAqB,KAAK,CAAC;QAChC,IAAI,CAAC,qBAAqB,KAAK,CAAC;QAChC,IAAI,CAAC,qBAAqB,KAAK,CAAC,CACjC,CAAC;AACJ,CAAC;AAED,SAAS,uBAAuB,CAAC,IAA2B,EAAE,GAAa;IACzE,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,qBAAqB,CAAC;IAC5C,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,qBAAqB,CAAC;IAC5C,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,qBAAqB,CAAC;IAC5C,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,qBAAqB,CAAC;IAC5C,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,qBAAqB,CAAC;IAC5C,GAAG,CAAC,SAAS,CAAC,GAAG,IAAI,CAAC,qBAAqB,CAAC;AAC9C,CAAC;AAED,mGAAmG;AACnG,qGAAqG;AACrG,iGAAiG;AACjG,gBAAgB;AAChB,SAAS,kBAAkB,CAAC,OAAe,EAAE,OAAe,EAAE,OAAe,EAAE,GAA+B;IAC5G,IAAI,KAAK,GAAG,CAAC,CAAC;IACd,IAAI,KAAK,GAAG,CAAC,CAAC;IACd,IAAI,KAAK,GAAG,CAAC,CAAC;IACd,IAAI,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,GAAG,wBAAwB;QAAE,KAAK,GAAG,CAAC,CAAC;SACvD,IAAI,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,GAAG,wBAAwB;QAAE,KAAK,GAAG,CAAC,CAAC;;QAC5D,KAAK,GAAG,CAAC,CAAC;IAEf,IAAI,SAAS,GAAG,OAAO,GAAG,KAAK,GAAG,OAAO,GAAG,KAAK,CAAC;IAClD,IAAI,SAAS,GAAG,OAAO,GAAG,KAAK,GAAG,OAAO,GAAG,KAAK,CAAC;IAClD,IAAI,SAAS,GAAG,OAAO,GAAG,KAAK,GAAG,OAAO,GAAG,KAAK,CAAC;IAElD,MAAM,MAAM,GAAG,IAAI,CAAC,IAAI,CAAC,SAAS,GAAG,SAAS,GAAG,SAAS,GAAG,SAAS,GAAG,SAAS,GAAG,SAAS,CAAC,CAAC;IAChG,IAAI,MAAM,GAAG,CAAC,EAAE,CAAC;QACf,MAAM,aAAa,GAAG,CAAC,GAAG,MAAM,CAAC;QACjC,SAAS,IAAI,aAAa,CAAC;QAC3B,SAAS,IAAI,aAAa,CAAC;QAC3B,SAAS,IAAI,aAAa,CAAC;IAC7B,CAAC;IAED,GAAG,CAAC,SAAS,GAAG,SAAS,CAAC;IAC1B,GAAG,CAAC,SAAS,GAAG,SAAS,CAAC;IAC1B,GAAG,CAAC,SAAS,GAAG,SAAS,CAAC;IAC1B,GAAG,CAAC,SAAS,GAAG,OAAO,GAAG,SAAS,GAAG,OAAO,GAAG,SAAS,CAAC;IAC1D,GAAG,CAAC,SAAS,GAAG,OAAO,GAAG,SAAS,GAAG,OAAO,GAAG,SAAS,CAAC;IAC1D,GAAG,CAAC,SAAS,GAAG,OAAO,GAAG,SAAS,GAAG,OAAO,GAAG,SAAS,CAAC;AAC5D,CAAC;AAED,MAAM,wBAAwB,GAAG,kBAAkB,CAAC;AACpD,MAAM,aAAa,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AACzC,MAAM,aAAa,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAChC,MAAM,gBAAgB,GAAa,EAAE,CAAC;AACtC,MAAM,sBAAsB,GAAa,EAAE,CAAC;AAC5C,MAAM,wBAAwB,GAAa,EAAE,CAAC;AAC9C,MAAM,wBAAwB,GAAa,EAAE,CAAC;AAQ9C,SAAS,+BAA+B;IACtC,OAAO,4BAA4B,CAAC,GAAG,EAAE,IAAI,8BAA8B,EAAE,CAAC;AAChF,CAAC;AAED,SAAS,8BAA8B;IACrC,OAAO,EAAE,QAAQ,EAAE,gCAAgC,EAAE,EAAE,OAAO,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,OAAO,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC;AAClG,CAAC;AAED,SAAS,+BAA+B,CAAC,OAAiC;IACxE,4BAA4B,CAAC,IAAI,CAAC,OAAO,CAAC,CAAC;AAC7C,CAAC;AAED,MAAM,4BAA4B,GAA+B,CAAC,8BAA8B,EAAE,CAAC,CAAC"}

package/dist/step.d.ts

@@ -0,0 +1,5 @@
+import type { Physics3DStepGuard, Physics3DWorld } from '@flighthq/types/contract';
+export declare function setPhysics3DStepGuard(guard: Physics3DStepGuard | null): void;
+export declare function stepPhysics3D(world: Physics3DWorld, dt: number): void;
+export declare function stepPhysics3DInterval(world: Physics3DWorld, dt: number): void;
+//# sourceMappingURL=step.d.ts.map

package/dist/step.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"step.d.ts","sourceRoot":"","sources":["../src/step.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAKV,kBAAkB,EAClB,cAAc,EAEf,MAAM,0BAA0B,CAAC;AAoClC,wBAAgB,qBAAqB,CAAC,KAAK,EAAE,kBAAkB,GAAG,IAAI,GAAG,IAAI,CAE5E;AAcD,wBAAgB,aAAa,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAiCrE;AAkBD,wBAAgB,qBAAqB,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CA0C7E"}