@flighthq/physics3d 0.4.0-next.1694.598ef6f

package/dist/solver.js

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+import { applySymmetricTensor, TENSOR_XX, TENSOR_XY, TENSOR_XZ, TENSOR_YY, TENSOR_YZ, TENSOR_ZZ, } from './symmetricTensor';
+// 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 previousByPair = state.constraintByPair;
+    const constraints = [];
+    const nextByPair = new Map();
+    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;
+            }
+            const constraint = createPhysics3DContactConstraint();
+            constraint.contact = contactIndex;
+            writeFrictionBasis(contact.normalX, contact.normalY, contact.normalZ, constraint);
+            const previous = previousByPair.get(getContactPairKey(contact.bodyA, contact.bodyB));
+            for (let i = 0; i < contact.pointCount; i += 1) {
+                const source = contact.points[i];
+                const point = createPhysics3DContactConstraintPoint();
+                point.featureId = source.featureId;
+                if (config.warmStarting && previous !== undefined) {
+                    const carried = findPointByFeatureId(previous, source.featureId);
+                    if (carried !== null) {
+                        point.normalImpulse = carried.normalImpulse;
+                        point.tangentImpulse0 = carried.tangentImpulse0;
+                        point.tangentImpulse1 = carried.tangentImpulse1;
+                    }
+                }
+                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;
+                constraint.points.push(point);
+                constraint.pointCount += 1;
+            }
+            constraints.push(constraint);
+            nextByPair.set(getContactPairKey(contact.bodyA, contact.bodyB), constraint);
+        }
+    }
+    state.constraints = constraints;
+    state.constraintByPair = nextByPair;
+}
+// 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.
+//
+// The lever arms are the ones captured at prepare time and are NOT recomputed as bodies move. A true
+// non-linear Gauss-Seidel re-derives the contact from the shapes each iteration; this package has no
+// shapes to re-derive from, so the approximation is structural rather than an omission — it is good for
+// the small corrections that resting contact produces and degrades as a correction gets large.
+export function solvePhysics3DContactPositions(world) {
+    const config = world.config.sequentialImpulse;
+    let deepest = 0;
+    for (const constraint of world.solver.constraints) {
+        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 excess = source.depth - config.penetrationSlop;
+            if (excess > deepest)
+                deepest = excess;
+            if (excess <= 0)
+                continue;
+            const correction = config.positionCorrection * excess * point.normalMass;
+            applyPositionCorrection(bodyA, bodyB, source.rAX, source.rAY, source.rAZ, source.rBX, source.rBY, source.rBZ, contact.normalX * correction, contact.normalY * correction, contact.normalZ * correction);
+        }
+    }
+    return deepest;
+}
+// Runs one velocity iteration over every prepared constraint. Call `velocityIterations` times.
+//
+// Friction is solved before the normal, and 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) {
+    for (const constraint of world.solver.constraints) {
+        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 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);
+            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);
+        }
+    }
+}
+// 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;
+    for (const constraint of world.solver.constraints) {
+        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 findPointByFeatureId(constraint, featureId) {
+    for (let i = 0; i < constraint.pointCount; i += 1) {
+        if (constraint.points[i].featureId === featureId)
+            return constraint.points[i];
+    }
+    return null;
+}
+// Packs a canonical body pair into one number by positional multiplication rather than bit shifting.
+// `<<` truncates to 32 bits, so a shift-packed key would silently alias two unrelated pairs onto one
+// entry once an index passed its field width — and the symptom would be a contact warm-started with an
+// impulse belonging to a different pair entirely, which reads as jitter rather than as a fault. The
+// widest key here is under 2^52, so every key is an exactly representable integer.
+function getContactPairKey(bodyA, bodyB) {
+    return bodyA * PAIR_KEY_SCALE + bodyB;
+}
+// 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 PAIR_KEY_SCALE = 67108864;
+const scratchTensor = [0, 0, 0, 0, 0, 0];
+const scratchVector = [0, 0, 0];
+//# sourceMappingURL=solver.js.map

package/dist/solver.js.map

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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;AAgClC,wBAAgB,qBAAqB,CAAC,KAAK,EAAE,kBAAkB,GAAG,IAAI,GAAG,IAAI,CAE5E;AAcD,wBAAgB,aAAa,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAgCrE;AAkBD,wBAAgB,qBAAqB,CAAC,KAAK,EAAE,cAAc,EAAE,EAAE,EAAE,MAAM,GAAG,IAAI,CAwC7E"}