npm - @helix3/helix-cli - Versions diffs - 0.1.18-helix3.366 → 0.1.18-helix3.367 - Mend

@helix3/helix-cli 0.1.18-helix3.366 → 0.1.18-helix3.367

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (24) hide show

package/dist/tsconfig.build.tsbuildinfo +1 -1
package/dist/visualQa/command.d.ts +2 -0
package/dist/visualQa/command.js +32 -9
package/dist/visualQa/command.js.map +1 -1
package/dist/visualQa/vehicle.d.ts +5 -1
package/dist/visualQa/vehicle.js +52 -3
package/dist/visualQa/vehicle.js.map +1 -1
package/dist/visualQa/vehicleOccupants.d.ts +10 -2
package/dist/visualQa/vehicleOccupants.js +23 -17
package/dist/visualQa/vehicleOccupants.js.map +1 -1
package/dist/visualQa/vehiclePenetration.d.ts +20 -0
package/dist/visualQa/vehiclePenetration.js +78 -3
package/dist/visualQa/vehiclePenetration.js.map +1 -1
package/dist/visualQa/vehicleProbe.d.ts +1 -1
package/dist/visualQa/vehicleProbe.js +17 -0
package/dist/visualQa/vehicleProbe.js.map +1 -1
package/docs/visual-qa-candidate-versions.md +67 -0
package/docs/visual-qa.md +213 -0
package/package.json +3 -1
package/plugins/beamng-vehicle/bin/__pycache__/beamng_abs.cpython-312.pyc +0 -0
package/plugins/beamng-vehicle/bin/__pycache__/beamng_audio.cpython-312.pyc +0 -0
package/plugins/beamng-vehicle/bin/__pycache__/beamng_expression.cpython-312.pyc +0 -0
package/plugins/beamng-vehicle/bin/__pycache__/beamng_jbeam.cpython-312.pyc +0 -0
package/plugins/beamng-vehicle/bin/__pycache__/beamng_materials.cpython-312.pyc +0 -0

package/dist/visualQa/vehiclePenetration.js CHANGED Viewed

@@ -9,6 +9,8 @@ exports.ownSeatTriangles = ownSeatTriangles;
 exports.vertexSpacing = vertexSpacing;
 exports.projectedArea = projectedArea;
 exports.measurePenetration = measurePenetration;
+exports.evidenceClusters = evidenceClusters;
+exports.evidenceCamera = evidenceCamera;
 exports.clusterRow = clusterRow;
 exports.judgePenetration = judgePenetration;
 exports.PENETRATION_THRESHOLDS = {
@@ -822,7 +824,7 @@ function measurePenetration(pull, T = exports.PENETRATION_THRESHOLDS) {
                 continue;
             const inn = insideLimb(l, p);
             if (inn)
-                hits.push({ i, p, depth: inn.depth, part: 'hand', mesh: l.s.start, cabinPart: 'self', normal: inn.dir, support: false, source: 'skin' });
+                hits.push({ i, p, depth: inn.depth, part: 'hand', mesh: l.s.start, cabinPart: 'self', normal: [-inn.dir[0], -inn.dir[1], -inn.dir[2]], support: false, source: 'skin' });
         }
     }
     // ---- small cabin OBJECTS inside a limb (a steering rim through a knee, a pedal pad inside a sole, a gear knob in a
@@ -891,7 +893,7 @@ function measurePenetration(pull, T = exports.PENETRATION_THRESHOLDS) {
                     if (!best)
                         continue;
                     const part = subPart(best.l.s, closestT(p, best.l.s.a, best.l.s.b));
-                    hits.push({ i: -1, p, depth: best.depth, part, mesh: mname, cabinPart: partOfTri(t), normal: best.dir, support: false, source: 'object' });
+                    hits.push({ i: -1, p, depth: best.depth, part, mesh: mname, cabinPart: partOfTri(t), normal: [-best.dir[0], -best.dir[1], -best.dir[2]], support: false, source: 'object' });
                 }
         }
     }
@@ -1011,7 +1013,8 @@ function measurePenetration(pull, T = exports.PENETRATION_THRESHOLDS) {
             clusters.push({
                 seat: pull.seatKey, bodyPart: parts[0][0], bodyParts: parts, cabinPart: c[0].cabinPart, cabinMesh: c[0].mesh,
                 maxDepthM: r4(maxD), meanDepthM: r4(c.reduce((s, h) => s + h.depth, 0) / c.length), areaM2: r6(area), areaDeepM2: r6(areaDeep), vertices: c.length,
-                centroid: [r4(cen[0]), r4(cen[1]), r4(cen[2])], failDepthM: failDepth,
+                centroid: [r4(cen[0]), r4(cen[1]), r4(cen[2])], normal: [r4(normal[0]), r4(normal[1]), r4(normal[2])],
+                radiusM: r4(c.reduce((m, h) => Math.max(m, dist(h.p, cen)), 0)), failDepthM: failDepth,
                 verdict: deep.length >= T.failMinPoints && maxD >= failDepth
                     && (areaDeep >= T.failAreaM2 - 1e-9 || (maxD >= Math.max(failDepth, T.swallowDepthM) && areaDeep >= T.swallowAreaM2 - 1e-9)) ? 'fail' : 'near',
             });
@@ -1035,6 +1038,78 @@ function measurePenetration(pull, T = exports.PENETRATION_THRESHOLDS) {
 const mmS = (m) => `${(m * 1000).toFixed(0)} mm`;
 const cm2 = (a) => `${(a * 1e4).toFixed(1)} cm²`;
 const describe = (c) => `${c.seat}: ${c.bodyPart} through ${c.cabinPart === 'self' ? `its own ${c.cabinMesh.replace(/_/g, ' ')}` : `the ${c.cabinPart} (${c.cabinMesh})`} ${mmS(c.maxDepthM)} deep, ${cm2(c.areaDeepM2)} deeper than ${mmS(c.failDepthM)} (${cm2(c.areaM2)} in all)`;
+/** The failing clusters worth a picture: deduped by (seat, body part, cabin part), worst first (depth x sqrt(area)). */
+function evidenceClusters(clusters, max = 3) {
+    const score = (c) => c.maxDepthM * Math.sqrt(Math.max(c.areaDeepM2, 1e-6));
+    const seen = new Set();
+    const out = [];
+    for (const c of clusters.filter((x) => x.verdict === 'fail').sort((a, b) => score(b) - score(a))) {
+        const k = `${c.seat}|${c.bodyPart}|${c.cabinPart}`;
+        if (seen.has(k))
+            continue;
+        seen.add(k);
+        out.push(c);
+        if (out.length >= max)
+            break;
+    }
+    return out;
+}
+/**
+ * A camera that shows a cluster as geometry crossing, for a frame in which only the occupant and the clashing mesh are
+ * drawn: from the far side of the penetrated surface (the cluster normal points into the occupant, so the camera stands
+ * along its opposite, where the body part comes THROUGH the surface towards it), tilted outboard for a floor or a roof (a
+ * camera under the car would be under the ground), and side-on along the thigh for a hand in its own thigh. Never a
+ * clipping near plane: slicing the occupant reads as torn geometry.
+ */
+function evidenceCamera(c, outboard, occupant) {
+    const n = nrm(c.normal);
+    const side = [outboard || 1, 0, 0];
+    const r = Math.max(0.05, Math.min(0.25, c.radiusM));
+    const D = 0.45 + 1.6 * r;
+    let first;
+    if (c.cabinPart === 'self') {
+        const d = dot(side, n);
+        first = nrm([side[0] - n[0] * d, side[1] - n[1] * d + 0.3, side[2] - n[2] * d]);
+    }
+    else {
+        first = [-n[0], -n[1], -n[2]];
+        if (Math.abs(first[1]) > 0.6)
+            first = nrm([first[0] * 0.45 + side[0] * 0.85, first[1] * 0.45, first[2] * 0.45 + 0.1]);
+    }
+    // the occupant's OTHER parts can stand in front of the clash (a forearm over a knee): of a few views around the first,
+    // keep the one whose line of sight passes the fewest occupant vertices before it reaches the cluster
+    const tilt = (v, w, k) => nrm([v[0] + w[0] * k, v[1] + w[1] * k, v[2] + w[2] * k]);
+    const views = [first, tilt(first, side, 0.8), tilt(first, [0, 1, 0], 0.7), tilt(first, [0, -1, 0], 0.5), tilt(first, [0, 0, 1], 0.8), tilt(first, [0, 0, -1], 0.8), side];
+    const occlusion = (v) => {
+        if (!occupant)
+            return 0;
+        let k = 0;
+        const len = D - r - 0.03;
+        for (let i = 0; i < occupant.length; i += 3) {
+            const q = [occupant[i] - c.centroid[0], occupant[i + 1] - c.centroid[1], occupant[i + 2] - c.centroid[2]];
+            const t = dot(q, v);
+            if (t < r + 0.03 || t > len + r)
+                continue;
+            const perp = Math.hypot(q[0] - v[0] * t, q[1] - v[1] * t, q[2] - v[2] * t);
+            if (perp < 0.04 + 0.1 * (t / D))
+                k++;
+        }
+        return k;
+    };
+    let best = views[0], bestK = occlusion(views[0]);
+    for (const v of views.slice(1)) {
+        if (bestK === 0)
+            break;
+        const k = occlusion(v);
+        if (k < bestK * 0.5) {
+            best = v;
+            bestK = k;
+        }
+    }
+    const pos = [c.centroid[0] + best[0] * D, c.centroid[1] + best[1] * D, c.centroid[2] + best[2] * D];
+    const fov = Math.min(60, Math.max(24, (2 * Math.atan((r + 0.1) / D) * 180) / Math.PI));
+    return { pos, target: c.centroid, fov, near: 0.02, occluders: bestK };
+}
 /** One table row per cluster, for facts and the assert's measured block. */
 function clusterRow(c) {
     return {

package/dist/visualQa/vehiclePenetration.js.map CHANGED Viewed

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package/dist/visualQa/vehicleProbe.d.ts CHANGED Viewed

@@ -1,3 +1,3 @@
-export declare const INSTALL_VEHICLE_PROBE = "(() => {\n  const G = globalThis;\n  if (G.__vqaVeh) return true;\n  const HW = /(wheel|rim|tyre|tire|brake|caliper|disc|disk|rotor|hub|knuckle|upright|strut|spring|damper|shock|susp|axle|driveshaft|halfshaft|cv_?joint|control_?arm|wishbone|tie_?rod)/i;\n  const BODYISH = /(arch|well|liner|house|fender|guard|steer|tub|light|lamp|pedal|lever)/i;\n  const WHEELISH = /(^|[^a-z])(wheel|rim|tyre|tire)s?([^a-z]|$)/i;\n  const P = {};\n  P.mp = () => G.__assetGym.mp;\n  P.e = () => P.mp().portableVehicles.presentationRows()[0].entity;\n  P.root = () => P.e().object3d;\n  P.batches = () => { const out = []; P.root().traverse((o) => { if (o.isBatchedMesh && Array.isArray(o.instances)) out.push(o); }); return out; };\n  P.proxies = () => { const m = new Map(); for (const b of P.batches()) for (const inst of b.instances) m.set(inst.mesh, inst); return m; };\n  P.chainVisible = (o, root) => { for (let p = o; p; p = p.parent) { if (p.visible === false) return false; if (p === root) return true; } return true; };\n  P.drawn = (o, proxies, root) => {\n    if (!o.isMesh || o.isBatchedMesh || !o.geometry || !o.geometry.attributes || !o.geometry.attributes.position) return false;\n    if (!P.chainVisible(o, root)) return false;\n    const inst = proxies.get(o);\n    if (inst) return inst.visibleIntent !== false;\n    const ms = Array.isArray(o.material) ? o.material : [o.material];\n    return ms.some((m) => m && m.visible !== false && !(m.transparent && (m.opacity ?? 1) < 0.02) && m.colorWrite !== false);\n  };\n  P.inv = () => { const r = P.root(); r.updateMatrixWorld(true); return r.matrixWorld.clone().invert(); };\n  P.V = () => P.root().position.constructor;\n  P.Q = () => P.root().quaternion.constructor;\n  /** Index-referenced vertices of a mesh in BODY frame, appended flat to out. At most ~maxN unique vertices. With outBone\n   *  (skinned meshes), the skeleton index of each vertex's largest skin weight is appended to it, in the same order. */\n  P.meshPoints = (o, inv, maxN, out, outBone) => {\n    const g = o.geometry, pos = g.attributes.position;\n    const M = inv.clone().multiply(o.matrixWorld); const e = M.elements;\n    const idx = g.index ? g.index.array : null;\n    const start = (g.drawRange && g.drawRange.start) || 0;\n    const total = idx ? idx.length : pos.count;\n    const count = Math.min(total - start, Number.isFinite(g.drawRange && g.drawRange.count) ? g.drawRange.count : total);\n    const seen = new Uint8Array(pos.count);\n    const step = Math.max(1, Math.ceil(pos.count / maxN));\n    const skinned = o.isSkinnedMesh && typeof o.getVertexPosition === 'function';\n    const tmp = skinned ? new (P.V())() : null;\n    const si = skinned && outBone ? g.attributes.skinIndex : null, sw = skinned && outBone ? g.attributes.skinWeight : null;\n    let k = 0;\n    for (let i = start; i < start + count; i++) {\n      const vi = idx ? idx[i] : i;\n      if (seen[vi]) continue; seen[vi] = 1;\n      if ((k++ % step) !== 0) continue;\n      let x, y, z;\n      if (skinned) { o.getVertexPosition(vi, tmp); x = tmp.x; y = tmp.y; z = tmp.z; } else { x = pos.getX(vi); y = pos.getY(vi); z = pos.getZ(vi); }\n      if (!Number.isFinite(x) || !Number.isFinite(y) || !Number.isFinite(z)) continue;\n      out.push(e[0] * x + e[4] * y + e[8] * z + e[12], e[1] * x + e[5] * y + e[9] * z + e[13], e[2] * x + e[6] * y + e[10] * z + e[14]);\n      if (outBone) {\n        let bi = -1, bw = -1;\n        if (si && sw) for (let c = 0; c < 4; c++) { const w = sw.getComponent(vi, c); if (w > bw) { bw = w; bi = si.getComponent(vi, c); } }\n        outBone.push(bi);\n      }\n    }\n    return out;\n  };\n  /** Triangles of a mesh (body frame) whose AABB comes within reach of any hub, appended flat (9 per triangle). */\n  P.meshTris = (o, inv, hubs, reach, out, outMesh, mi) => {\n    const g = o.geometry, pos = g.attributes.position;\n    const M = inv.clone().multiply(o.matrixWorld); const e = M.elements;\n    const idx = g.index ? g.index.array : null;\n    const start = (g.drawRange && g.drawRange.start) || 0;\n    const total = idx ? idx.length : pos.count;\n    const count = Math.min(total - start, Number.isFinite(g.drawRange && g.drawRange.count) ? g.drawRange.count : total);\n    const v = new Float64Array(9);\n    for (let i = start; i + 2 < start + count; i += 3) {\n      for (let k = 0; k < 3; k++) {\n        const vi = idx ? idx[i + k] : i + k;\n        const x = pos.getX(vi), y = pos.getY(vi), z = pos.getZ(vi);\n        v[3 * k] = e[0] * x + e[4] * y + e[8] * z + e[12]; v[3 * k + 1] = e[1] * x + e[5] * y + e[9] * z + e[13]; v[3 * k + 2] = e[2] * x + e[6] * y + e[10] * z + e[14];\n      }\n      let near = false;\n      for (const h of hubs) {\n        let ok = true;\n        for (let a = 0; a < 3 && ok; a++) { const lo = Math.min(v[a], v[3 + a], v[6 + a]), hi = Math.max(v[a], v[3 + a], v[6 + a]); if (hi < h[a] - reach || lo > h[a] + reach) ok = false; }\n        if (ok) { near = true; break; }\n      }\n      if (!near) continue;\n      for (let k = 0; k < 9; k++) out.push(Math.round(v[k] * 10000) / 10000);\n      outMesh.push(mi);\n    }\n  };\n  P.bodyQuat = (o) => { const Q = P.Q(); const rq = P.root().getWorldQuaternion(new Q()).invert(); const q = rq.multiply(o.getWorldQuaternion(new Q())); return [q.x, q.y, q.z, q.w]; };\n  P.bodyPos = (o, inv) => { const p = o.getWorldPosition(new (P.V())()).applyMatrix4(inv || P.inv()); return [p.x, p.y, p.z]; };\n  P.wheelNode = (id, i) => { const ns = P.e().wheelNodes || []; return ns.find((n) => n.name === id) || ns[i] || null; };\n  P.contacts = () => ((P.e().controller.tuning && P.e().controller.tuning.contacts) || []).filter((k) => k.kind === 'wheel');\n  P.axleOf = (node) => { const V = P.V(); const q = P.bodyQuat(node); const Q = P.Q(); const a = new V(1, 0, 0).applyQuaternion(new Q(q[0], q[1], q[2], q[3])); return [a.x, a.y, a.z]; };\n  const R = (v) => Math.round(v * 10000) / 10000;\n  /** Everything the wheel/arch analysis needs, measured on the drawn geometry. */\n  P.pull = () => {\n    const e = P.e(), root = e.object3d, inv = P.inv(), proxies = P.proxies();\n    const st = e.controller.getState();\n    const contacts = P.contacts();\n    const underWheel = new Set();\n    for (const n of e.wheelNodes || []) n.traverse((o) => underWheel.add(o));\n    const wheels = contacts.map((k, i) => {\n      const node = P.wheelNode(k.id, i);\n      const fb = (st.wheels && st.wheels[i]) || {};\n      const meshes = [], pts = [];\n      if (node) node.traverse((o) => { if (P.drawn(o, proxies, root)) { meshes.push(o.name || (o.parent && o.parent.name) || '(unnamed)'); P.meshPoints(o, inv, 8000, pts); } });\n      return {\n        id: k.id, node: node ? node.name : null, mount: k.position, restLength: k.suspension ? k.suspension.restLength : null, travel: k.suspension ? k.suspension.travel : null,\n        radius: k.radius, steered: k.steered, powered: k.powered, compression: fb.compression ?? null, grounded: fb.grounded ?? null,\n        steerAngleRad: fb.steerAngleRad ?? null, contactPoint: fb.contactPoint ? [fb.contactPoint.x, fb.contactPoint.y, fb.contactPoint.z] : null,\n        axleNode: node ? P.axleOf(node) : null, nodePos: node ? P.bodyPos(node, inv) : null,\n        meshes, points: pts.map(R),\n      };\n    });\n    const hubs = wheels.map((w) => w.nodePos).filter(Boolean);\n    const maxHubY = hubs.length ? Math.max(...hubs.map((h) => h[1])) : 0;\n    const names = [], bpts = [], bmesh = [], strays = [], excluded = [], tris = [], triMesh = [];\n    let bodyMeshes = 0, bodyVerts = 0;\n    root.traverse((o) => {\n      if (underWheel.has(o) || !P.drawn(o, proxies, root)) return;\n      const nm = o.name || (o.parent && o.parent.name) || '(unnamed)';\n      if (HW.test(nm) && !BODYISH.test(nm)) {\n        const local = []; P.meshPoints(o, inv, 2000, local);\n        let cx = 0, cy = 0, cz = 0; const n = local.length / 3;\n        for (let j = 0; j < local.length; j += 3) { cx += local[j]; cy += local[j + 1]; cz += local[j + 2]; }\n        const c = n ? [cx / n, cy / n, cz / n] : null;\n        if (WHEELISH.test(nm)) strays.push({ mesh: nm, centre: c && c.map(R) });\n        excluded.push(nm);\n        return;\n      }\n      const local = []; P.meshPoints(o, inv, 200000, local);\n      const mi = names.length; names.push(nm); bodyMeshes++;\n      P.meshTris(o, inv, hubs, 1.0, tris, triMesh, mi);\n      for (let j = 0; j < local.length; j += 3) {\n        const x = local[j], y = local[j + 1], z = local[j + 2];\n        bodyVerts++;\n        let keep = y < maxHubY;\n        if (!keep) for (const h of hubs) { if (Math.hypot(x - h[0], y - h[1], z - h[2]) < 1.0) { keep = true; break; } }\n        if (!keep) continue;\n        bpts.push(R(x), R(y), R(z)); bmesh.push(mi);\n      }\n    });\n    return { wheels, body: { names, points: bpts, mesh: bmesh }, bodyTris: { names, tris, mesh: triMesh }, strays, excludedHardware: [...new Set(excluded)].slice(0, 40), bodyMeshes, bodyVerts,\n      batches: P.batches().map((b) => ({ name: b.name, instances: b.instances.length })), proxies: proxies.size,\n      state: { speed: st.speed, forwardSpeed: st.forwardSpeed, grounded: st.grounded, position: [st.position.x, st.position.y, st.position.z] } };\n  };\n  /** Suspension compression per wheel, sampled every animation frame for ms (the car rocks for seconds after boarding). */\n  P.compressionWindow = (ms) => new Promise((resolve) => {\n    const e = P.e(); const out = P.contacts().map(() => []); const t0 = performance.now();\n    const tick = () => {\n      try { const st = e.controller.getState(); (st.wheels || []).forEach((w, i) => { if (out[i] && Number.isFinite(w.compression)) out[i].push(w.compression); }); } catch (err) { /* keep sampling */ }\n      if (performance.now() - t0 < ms) requestAnimationFrame(tick); else resolve(out);\n    };\n    requestAnimationFrame(tick);\n  });\n  /** Body-frame AABB of the drawn car (geometry bounding-box corners, so slightly generous). */\n  P.bounds = () => {\n    const root = P.root(), inv = P.inv(), proxies = P.proxies(), V = P.V();\n    const mn = [Infinity, Infinity, Infinity], mx = [-Infinity, -Infinity, -Infinity]; const c = new V();\n    root.traverse((o) => {\n      if (!P.drawn(o, proxies, root)) return;\n      if (!o.geometry.boundingBox) o.geometry.computeBoundingBox();\n      const b = o.geometry.boundingBox; if (!b) return;\n      const M = inv.clone().multiply(o.matrixWorld);\n      for (let i = 0; i < 8; i++) {\n        c.set(i & 1 ? b.max.x : b.min.x, i & 2 ? b.max.y : b.min.y, i & 4 ? b.max.z : b.min.z).applyMatrix4(M);\n        mn[0] = Math.min(mn[0], c.x); mn[1] = Math.min(mn[1], c.y); mn[2] = Math.min(mn[2], c.z);\n        mx[0] = Math.max(mx[0], c.x); mx[1] = Math.max(mx[1], c.y); mx[2] = Math.max(mx[2], c.z);\n      }\n    });\n    return { min: mn.map(R), max: mx.map(R) };\n  };\n  /** Body-frame AABB of named nodes' drawn meshes. */\n  P.nodeBox = (names) => {\n    const root = P.root(), inv = P.inv(), proxies = P.proxies();\n    const pts = [];\n    for (const n of names) { const o = root.getObjectByName(n); if (!o) continue; o.traverse((m) => { if (P.drawn(m, proxies, root)) P.meshPoints(m, inv, 3000, pts); }); }\n    if (!pts.length) return null;\n    const mn = [Infinity, Infinity, Infinity], mx = [-Infinity, -Infinity, -Infinity];\n    for (let j = 0; j < pts.length; j += 3) for (let a = 0; a < 3; a++) { mn[a] = Math.min(mn[a], pts[j + a]); mx[a] = Math.max(mx[a], pts[j + a]); }\n    return { min: mn.map(R), max: mx.map(R) };\n  };\n  P.pose = (names) => {\n    const root = P.root(), inv = P.inv(); const out = {};\n    for (const n of names) { const o = root.getObjectByName(n); out[n] = o ? { q: P.bodyQuat(o), p: P.bodyPos(o, inv) } : null; }\n    return out;\n  };\n  /** Pose of node b in node a's frame (rigidity check). */\n  P.rel = (a, b) => {\n    const root = P.root(); const A = root.getObjectByName(a), B = root.getObjectByName(b); if (!A || !B) return null;\n    root.updateMatrixWorld(true);\n    const V = P.V(), Q = P.Q();\n    const p = A.worldToLocal(B.getWorldPosition(new V()));\n    const rel = A.getWorldQuaternion(new Q()).invert().multiply(B.getWorldQuaternion(new Q()));\n    return { p: [p.x, p.y, p.z], q: [rel.x, rel.y, rel.z, rel.w] };\n  };\n  P.durable = () => { try { const v = P.mp().portableVehicleEvidence().vehicles[0]; return v ? (v.durableState || {}) : {}; } catch (err) { return {}; } };\n  P.steering = () => {\n    const e = P.e(), root = e.object3d; const st = e.controller.getState();\n    const rim = (e.interior && (e.interior.steeringRim || e.interior.steering)) || root.getObjectByName('steering_rim') || root.getObjectByName('steering');\n    const contacts = P.contacts();\n    return {\n      rimNode: rim ? rim.name : null, rimQ: rim ? P.bodyQuat(rim) : null, rimAngleRad: e.interior ? e.interior.rimAngleRad ?? null : null,\n      steerInput: e.controller.input ? e.controller.input.steer : null, stateSteerRad: st.steerAngleRad,\n      wheels: contacts.map((k, i) => { const n = P.wheelNode(k.id, i); return { id: k.id, steered: k.steered, axle: n ? P.axleOf(n) : null, physicsSteerRad: st.wheels && st.wheels[i] ? st.wheels[i].steerAngleRad : null }; }),\n    };\n  };\n  /** Sample the drawn wheels' rotation about their own axle every animation frame for ms. */\n  P.sampleSpin = (ms) => new Promise((resolve) => {\n    const e = P.e(), root = e.object3d, proxies = P.proxies(), V = P.V();\n    const contacts = P.contacts();\n    const wheels = contacts.map((k, i) => {\n      const node = P.wheelNode(k.id, i); let mesh = null;\n      if (node) node.traverse((o) => { if (!mesh && P.drawn(o, proxies, root)) mesh = o; });\n      return { node, mesh: mesh || node };\n    });\n    const qOf = (o) => { const q = P.bodyQuat(o); return new (P.Q())(q[0], q[1], q[2], q[3]); };\n    // reference axis: the mesh-local axis most perpendicular to the axle, chosen once\n    const refs = wheels.map((w) => {\n      if (!w.mesh) return null;\n      const a = new V(...P.axleOf(w.node)); const q = qOf(w.mesh);\n      const cands = [new V(1, 0, 0), new V(0, 1, 0), new V(0, 0, 1)];\n      let best = 0, bd = Infinity; cands.forEach((c, j) => { const d = Math.abs(c.clone().applyQuaternion(q).dot(a)); if (d < bd) { bd = d; best = j; } });\n      return cands[best];\n    });\n    const samples = [];\n    const t0 = performance.now();\n    const tick = () => {\n      try {\n        const st = e.controller.getState(); const wp = root.getWorldPosition(new V());\n        const ang = wheels.map((w, i) => {\n          if (!w.mesh || !refs[i]) return NaN;\n          let a = new V(...P.axleOf(w.node)); if (a.x < 0) a = a.multiplyScalar(-1);\n          let up = new V(0, 1, 0).sub(a.clone().multiplyScalar(a.y)).normalize();\n          const r = refs[i].clone().applyQuaternion(qOf(w.mesh));\n          r.sub(a.clone().multiplyScalar(r.dot(a)));\n          return Math.atan2(up.clone().cross(r).dot(a), up.dot(r));\n        });\n        samples.push({ t: performance.now(), x: wp.x, z: wp.z, forwardSpeed: st.forwardSpeed, ang });\n      } catch (err) { /* keep sampling */ }\n      if (performance.now() - t0 < ms) requestAnimationFrame(tick); else resolve(samples);\n    };\n    requestAnimationFrame(tick);\n  });\n  /** Pin the render camera to a body-frame pose, re-applied every frame so the follow cam cannot fight it. */\n  P.camera = () => { try { return P.mp().local.services.camera.camera; } catch (err) { return G.__vqa && G.__vqa.main; } };\n  P.setCam = (c) => {\n    const cam = P.camera(); if (!cam) return false;\n    if (!cam.__vqaPinned) {\n      const orig = cam.updateMatrixWorld.bind(cam);\n      cam.updateMatrixWorld = function (force) {\n        const o = G.__vqaCam;\n        if (o) {\n          const r = P.root(); const V = P.V();\n          this.position.copy(r.localToWorld(new V(...o.pos)));\n          this.up.set(0, 1, 0);\n          this.lookAt(r.localToWorld(new V(...o.target)));\n          if (o.fov && this.fov !== o.fov) { this.fov = o.fov; this.updateProjectionMatrix(); }\n          if (o.near && this.near !== o.near) { this.near = o.near; this.updateProjectionMatrix(); }\n        }\n        return orig(force);\n      };\n      cam.__vqaPinned = { fov: cam.fov, near: cam.near };\n    }\n    G.__vqaCam = c; return true;\n  };\n  P.clearCam = () => { G.__vqaCam = null; const cam = P.camera(); if (cam && cam.__vqaPinned) { cam.fov = cam.__vqaPinned.fov; cam.near = cam.__vqaPinned.near; cam.updateProjectionMatrix(); } return true; };\n  /** Scene stats over the drawn car: batched proxies get their real material back for the (synchronous) count. */\n  P.stats = () => {\n    const swapped = [];\n    for (const b of P.batches()) for (const inst of b.instances) { if (inst.mesh.material === inst.hiddenMaterial && inst.originalMaterial) { swapped.push(inst); inst.mesh.material = inst.originalMaterial; } }\n    try { return G.__vqaStats(P.root(), { exclude: (o) => !!o.isBatchedMesh }); }\n    finally { for (const inst of swapped) inst.mesh.material = inst.hiddenMaterial; }\n  };\n  // ---------------------------------------------------------------------------------------------------- seated occupant\n  P.isUnder = (o, anc) => { for (let p = o; p; p = p.parent) if (p === anc) return true; return false; };\n  /** Triangles (body frame, 9 per triangle) of one mesh whose AABB overlaps the box, appended flat. */\n  P.meshTrisInBox = (o, inv, box, out, outMesh, mi) => {\n    const g = o.geometry, pos = g.attributes.position;\n    const M = inv.clone().multiply(o.matrixWorld); const e = M.elements;\n    const idx = g.index ? g.index.array : null;\n    const start = (g.drawRange && g.drawRange.start) || 0;\n    const total = idx ? idx.length : pos.count;\n    const count = Math.min(total - start, Number.isFinite(g.drawRange && g.drawRange.count) ? g.drawRange.count : total);\n    const v = new Float64Array(9);\n    // a mirrored node (negative determinant) flips the winding: swap two corners so the triangle's normal stays outward\n    const det = e[0] * (e[5] * e[10] - e[6] * e[9]) - e[4] * (e[1] * e[10] - e[2] * e[9]) + e[8] * (e[1] * e[6] - e[2] * e[5]);\n    const order = det < 0 ? [0, 2, 1] : [0, 1, 2];\n    for (let i = start; i + 2 < start + count; i += 3) {\n      for (let k = 0; k < 3; k++) {\n        const vi = idx ? idx[i + order[k]] : i + order[k];\n        const x = pos.getX(vi), y = pos.getY(vi), z = pos.getZ(vi);\n        v[3 * k] = e[0] * x + e[4] * y + e[8] * z + e[12]; v[3 * k + 1] = e[1] * x + e[5] * y + e[9] * z + e[13]; v[3 * k + 2] = e[2] * x + e[6] * y + e[10] * z + e[14];\n      }\n      let ok = true;\n      for (let a = 0; a < 3 && ok; a++) { const lo = Math.min(v[a], v[3 + a], v[6 + a]), hi = Math.max(v[a], v[3 + a], v[6 + a]); if (hi < box.min[a] || lo > box.max[a]) ok = false; }\n      if (!ok) continue;\n      for (let k = 0; k < 9; k++) out.push(Math.round(v[k] * 10000) / 10000);\n      outMesh.push(mi);\n    }\n  };\n  /**\n   * The LOCAL occupant: every bone (body frame) and the vertices of every drawn skinned mesh on it (body, hair, hats...),\n   * the steering wheel's vertices, and the car's own drawn triangles in a box around the pelvis. The car's triangles never\n   * include the occupant (skinned meshes, anything under the character model) or the wheels.\n   */\n  P.occupantPull = () => {\n    const mp = P.mp(); const local = mp.local; const model = local && local.model; if (!model) return null;\n    const e = P.e(), root = e.object3d, inv = P.inv(), proxies = P.proxies();\n    root.updateMatrixWorld(true); model.updateMatrixWorld(true);\n    const bones = {}; const boneParents = {}; const skinned = [];\n    model.traverse((o) => { if (o.isBone) { const p = P.bodyPos(o, inv); bones[o.name] = p.map(R); boneParents[o.name] = o.parent && o.parent.isBone ? o.parent.name : null; } if (o.isSkinnedMesh && P.chainVisible(o, model)) skinned.push(o); });\n    const points = []; const pointBone = []; const boneNames = Object.keys(bones); const boneIx = new Map(boneNames.map((n, i) => [n, i]));\n    for (const m of skinned) {\n      const tmp = []; const tb = [];\n      P.meshPoints(m, inv, 30000, tmp, tb);\n      for (let i = 0; i < tmp.length; i++) points.push(R(tmp[i]));\n      // the bone with the largest skin weight per vertex (vehiclePenetration measures each vertex against its own bone)\n      const sb = (m.skeleton && m.skeleton.bones) || [];\n      for (let i = 0; i < tb.length; i++) { const b = sb[tb[i]]; const k = b ? boneIx.get(b.name) : undefined; pointBone.push(k === undefined ? -1 : k); }\n    }\n    const pel = bones.pelvis || bones.hips || Object.values(bones)[0];\n    const box = { min: [pel[0] - 0.8, pel[1] - 0.9, pel[2] - 0.95], max: [pel[0] + 0.8, pel[1] + 1.1, pel[2] + 0.95] };\n    const underWheel = new Set(); for (const n of e.wheelNodes || []) n.traverse((o) => underWheel.add(o));\n    const names = [], tris = [], mesh = [], meshInfo = [];\n    root.traverse((o) => {\n      if (underWheel.has(o) || o.isSkinnedMesh || !P.drawn(o, proxies, root) || P.isUnder(o, model)) return;\n      const mi = names.length; names.push(o.name || (o.parent && o.parent.name) || '(unnamed)');\n      const before = tris.length;\n      P.meshTrisInBox(o, inv, box, tris, mesh, mi);\n      if (tris.length > before) {\n        const inst = proxies.get(o); const m0 = (inst && inst.originalMaterial) || (Array.isArray(o.material) ? o.material[0] : o.material);\n        meshInfo.push({ name: names[mi], batched: !!inst, color: m0 && m0.color ? m0.color.getHexString() : null, opacity: m0 ? m0.opacity : null, transparent: m0 ? !!m0.transparent : null, side: m0 ? m0.side : null, colorWrite: m0 ? m0.colorWrite : null, tris: (tris.length - before) / 9 });\n      }\n    });\n    let rim = null;\n    const rimNode = (e.interior && (e.interior.steeringRim || e.interior.steering)) || root.getObjectByName('steering_rim') || root.getObjectByName('steering');\n    if (rimNode) { const pts = []; rimNode.traverse((m) => { if (m.isMesh && !m.isSkinnedMesh && m.geometry && m.geometry.attributes && m.geometry.attributes.position) P.meshPoints(m, inv, 3000, pts); }); rim = pts.map(R); }\n    let residual = null; try { const l = mp.seatEvidence && mp.seatEvidence().local; residual = l && l.seated ? l.seated.seatResidualM : null; } catch (err) { /* keep null */ }\n    return { bones, boneParents, boneNames, points, pointBone, rim, cabin: { tris, mesh, names }, seatResidualM: residual, skinned: skinned.map((m) => m.name || '(unnamed)'), meshInfo, rimNode: rimNode ? rimNode.name : null };\n  };\n  /** Body-frame position of a seat: its named node when the model has one, else the cabin's own H-point. */\n  P.seatPos = (id) => {\n    const root = P.root(); root.updateMatrixWorld(true); let o = null;\n    root.traverse((x) => { if (!o && x.name === id && !x.isMesh) o = x; });\n    if (o) return P.bodyPos(o);\n    try { const s = P.e().interior.cabin.seats.find((x) => x.id === id); return s ? [s.hipPoint[0], s.hipPoint[1], s.hipPoint[2]] : null; } catch (err) { return null; }\n  };\n  /** Hide (or restore) named nodes, for a labelled cutaway frame. The vehicle batch reads visibility as the AND of the ancestors up to the root. */\n  P.setHidden = (names, hidden) => { const root = P.root(); let n = 0; for (const nm of names) { const o = root.getObjectByName(nm); if (o) { o.visible = !hidden; n++; } } return n; };\n  /** The engine's own cabin-fit self-report (what it BELIEVES the occupant fit is), for comparison with what is drawn. */\n  P.cabinFit = () => { try { const f = P.e().cabinFit; return f ? JSON.parse(JSON.stringify(f.report ?? f)) : null; } catch (err) { return null; } };\n  G.__vqaVeh = P;\n  return true;\n})()";
+export declare const INSTALL_VEHICLE_PROBE = "(() => {\n  const G = globalThis;\n  if (G.__vqaVeh) return true;\n  const HW = /(wheel|rim|tyre|tire|brake|caliper|disc|disk|rotor|hub|knuckle|upright|strut|spring|damper|shock|susp|axle|driveshaft|halfshaft|cv_?joint|control_?arm|wishbone|tie_?rod)/i;\n  const BODYISH = /(arch|well|liner|house|fender|guard|steer|tub|light|lamp|pedal|lever)/i;\n  const WHEELISH = /(^|[^a-z])(wheel|rim|tyre|tire)s?([^a-z]|$)/i;\n  const P = {};\n  P.mp = () => G.__assetGym.mp;\n  P.e = () => P.mp().portableVehicles.presentationRows()[0].entity;\n  P.root = () => P.e().object3d;\n  P.batches = () => { const out = []; P.root().traverse((o) => { if (o.isBatchedMesh && Array.isArray(o.instances)) out.push(o); }); return out; };\n  P.proxies = () => { const m = new Map(); for (const b of P.batches()) for (const inst of b.instances) m.set(inst.mesh, inst); return m; };\n  P.chainVisible = (o, root) => { for (let p = o; p; p = p.parent) { if (p.visible === false) return false; if (p === root) return true; } return true; };\n  P.drawn = (o, proxies, root) => {\n    if (!o.isMesh || o.isBatchedMesh || !o.geometry || !o.geometry.attributes || !o.geometry.attributes.position) return false;\n    if (!P.chainVisible(o, root)) return false;\n    const inst = proxies.get(o);\n    if (inst) return inst.visibleIntent !== false;\n    const ms = Array.isArray(o.material) ? o.material : [o.material];\n    return ms.some((m) => m && m.visible !== false && !(m.transparent && (m.opacity ?? 1) < 0.02) && m.colorWrite !== false);\n  };\n  P.inv = () => { const r = P.root(); r.updateMatrixWorld(true); return r.matrixWorld.clone().invert(); };\n  P.V = () => P.root().position.constructor;\n  P.Q = () => P.root().quaternion.constructor;\n  /** Index-referenced vertices of a mesh in BODY frame, appended flat to out. At most ~maxN unique vertices. With outBone\n   *  (skinned meshes), the skeleton index of each vertex's largest skin weight is appended to it, in the same order. */\n  P.meshPoints = (o, inv, maxN, out, outBone) => {\n    const g = o.geometry, pos = g.attributes.position;\n    const M = inv.clone().multiply(o.matrixWorld); const e = M.elements;\n    const idx = g.index ? g.index.array : null;\n    const start = (g.drawRange && g.drawRange.start) || 0;\n    const total = idx ? idx.length : pos.count;\n    const count = Math.min(total - start, Number.isFinite(g.drawRange && g.drawRange.count) ? g.drawRange.count : total);\n    const seen = new Uint8Array(pos.count);\n    const step = Math.max(1, Math.ceil(pos.count / maxN));\n    const skinned = o.isSkinnedMesh && typeof o.getVertexPosition === 'function';\n    const tmp = skinned ? new (P.V())() : null;\n    const si = skinned && outBone ? g.attributes.skinIndex : null, sw = skinned && outBone ? g.attributes.skinWeight : null;\n    let k = 0;\n    for (let i = start; i < start + count; i++) {\n      const vi = idx ? idx[i] : i;\n      if (seen[vi]) continue; seen[vi] = 1;\n      if ((k++ % step) !== 0) continue;\n      let x, y, z;\n      if (skinned) { o.getVertexPosition(vi, tmp); x = tmp.x; y = tmp.y; z = tmp.z; } else { x = pos.getX(vi); y = pos.getY(vi); z = pos.getZ(vi); }\n      if (!Number.isFinite(x) || !Number.isFinite(y) || !Number.isFinite(z)) continue;\n      out.push(e[0] * x + e[4] * y + e[8] * z + e[12], e[1] * x + e[5] * y + e[9] * z + e[13], e[2] * x + e[6] * y + e[10] * z + e[14]);\n      if (outBone) {\n        let bi = -1, bw = -1;\n        if (si && sw) for (let c = 0; c < 4; c++) { const w = sw.getComponent(vi, c); if (w > bw) { bw = w; bi = si.getComponent(vi, c); } }\n        outBone.push(bi);\n      }\n    }\n    return out;\n  };\n  /** Triangles of a mesh (body frame) whose AABB comes within reach of any hub, appended flat (9 per triangle). */\n  P.meshTris = (o, inv, hubs, reach, out, outMesh, mi) => {\n    const g = o.geometry, pos = g.attributes.position;\n    const M = inv.clone().multiply(o.matrixWorld); const e = M.elements;\n    const idx = g.index ? g.index.array : null;\n    const start = (g.drawRange && g.drawRange.start) || 0;\n    const total = idx ? idx.length : pos.count;\n    const count = Math.min(total - start, Number.isFinite(g.drawRange && g.drawRange.count) ? g.drawRange.count : total);\n    const v = new Float64Array(9);\n    for (let i = start; i + 2 < start + count; i += 3) {\n      for (let k = 0; k < 3; k++) {\n        const vi = idx ? idx[i + k] : i + k;\n        const x = pos.getX(vi), y = pos.getY(vi), z = pos.getZ(vi);\n        v[3 * k] = e[0] * x + e[4] * y + e[8] * z + e[12]; v[3 * k + 1] = e[1] * x + e[5] * y + e[9] * z + e[13]; v[3 * k + 2] = e[2] * x + e[6] * y + e[10] * z + e[14];\n      }\n      let near = false;\n      for (const h of hubs) {\n        let ok = true;\n        for (let a = 0; a < 3 && ok; a++) { const lo = Math.min(v[a], v[3 + a], v[6 + a]), hi = Math.max(v[a], v[3 + a], v[6 + a]); if (hi < h[a] - reach || lo > h[a] + reach) ok = false; }\n        if (ok) { near = true; break; }\n      }\n      if (!near) continue;\n      for (let k = 0; k < 9; k++) out.push(Math.round(v[k] * 10000) / 10000);\n      outMesh.push(mi);\n    }\n  };\n  P.bodyQuat = (o) => { const Q = P.Q(); const rq = P.root().getWorldQuaternion(new Q()).invert(); const q = rq.multiply(o.getWorldQuaternion(new Q())); return [q.x, q.y, q.z, q.w]; };\n  P.bodyPos = (o, inv) => { const p = o.getWorldPosition(new (P.V())()).applyMatrix4(inv || P.inv()); return [p.x, p.y, p.z]; };\n  P.wheelNode = (id, i) => { const ns = P.e().wheelNodes || []; return ns.find((n) => n.name === id) || ns[i] || null; };\n  P.contacts = () => ((P.e().controller.tuning && P.e().controller.tuning.contacts) || []).filter((k) => k.kind === 'wheel');\n  P.axleOf = (node) => { const V = P.V(); const q = P.bodyQuat(node); const Q = P.Q(); const a = new V(1, 0, 0).applyQuaternion(new Q(q[0], q[1], q[2], q[3])); return [a.x, a.y, a.z]; };\n  const R = (v) => Math.round(v * 10000) / 10000;\n  /** Everything the wheel/arch analysis needs, measured on the drawn geometry. */\n  P.pull = () => {\n    const e = P.e(), root = e.object3d, inv = P.inv(), proxies = P.proxies();\n    const st = e.controller.getState();\n    const contacts = P.contacts();\n    const underWheel = new Set();\n    for (const n of e.wheelNodes || []) n.traverse((o) => underWheel.add(o));\n    const wheels = contacts.map((k, i) => {\n      const node = P.wheelNode(k.id, i);\n      const fb = (st.wheels && st.wheels[i]) || {};\n      const meshes = [], pts = [];\n      if (node) node.traverse((o) => { if (P.drawn(o, proxies, root)) { meshes.push(o.name || (o.parent && o.parent.name) || '(unnamed)'); P.meshPoints(o, inv, 8000, pts); } });\n      return {\n        id: k.id, node: node ? node.name : null, mount: k.position, restLength: k.suspension ? k.suspension.restLength : null, travel: k.suspension ? k.suspension.travel : null,\n        radius: k.radius, steered: k.steered, powered: k.powered, compression: fb.compression ?? null, grounded: fb.grounded ?? null,\n        steerAngleRad: fb.steerAngleRad ?? null, contactPoint: fb.contactPoint ? [fb.contactPoint.x, fb.contactPoint.y, fb.contactPoint.z] : null,\n        axleNode: node ? P.axleOf(node) : null, nodePos: node ? P.bodyPos(node, inv) : null,\n        meshes, points: pts.map(R),\n      };\n    });\n    const hubs = wheels.map((w) => w.nodePos).filter(Boolean);\n    const maxHubY = hubs.length ? Math.max(...hubs.map((h) => h[1])) : 0;\n    const names = [], bpts = [], bmesh = [], strays = [], excluded = [], tris = [], triMesh = [];\n    let bodyMeshes = 0, bodyVerts = 0;\n    root.traverse((o) => {\n      if (underWheel.has(o) || !P.drawn(o, proxies, root)) return;\n      const nm = o.name || (o.parent && o.parent.name) || '(unnamed)';\n      if (HW.test(nm) && !BODYISH.test(nm)) {\n        const local = []; P.meshPoints(o, inv, 2000, local);\n        let cx = 0, cy = 0, cz = 0; const n = local.length / 3;\n        for (let j = 0; j < local.length; j += 3) { cx += local[j]; cy += local[j + 1]; cz += local[j + 2]; }\n        const c = n ? [cx / n, cy / n, cz / n] : null;\n        if (WHEELISH.test(nm)) strays.push({ mesh: nm, centre: c && c.map(R) });\n        excluded.push(nm);\n        return;\n      }\n      const local = []; P.meshPoints(o, inv, 200000, local);\n      const mi = names.length; names.push(nm); bodyMeshes++;\n      P.meshTris(o, inv, hubs, 1.0, tris, triMesh, mi);\n      for (let j = 0; j < local.length; j += 3) {\n        const x = local[j], y = local[j + 1], z = local[j + 2];\n        bodyVerts++;\n        let keep = y < maxHubY;\n        if (!keep) for (const h of hubs) { if (Math.hypot(x - h[0], y - h[1], z - h[2]) < 1.0) { keep = true; break; } }\n        if (!keep) continue;\n        bpts.push(R(x), R(y), R(z)); bmesh.push(mi);\n      }\n    });\n    return { wheels, body: { names, points: bpts, mesh: bmesh }, bodyTris: { names, tris, mesh: triMesh }, strays, excludedHardware: [...new Set(excluded)].slice(0, 40), bodyMeshes, bodyVerts,\n      batches: P.batches().map((b) => ({ name: b.name, instances: b.instances.length })), proxies: proxies.size,\n      state: { speed: st.speed, forwardSpeed: st.forwardSpeed, grounded: st.grounded, position: [st.position.x, st.position.y, st.position.z] } };\n  };\n  /** Suspension compression per wheel, sampled every animation frame for ms (the car rocks for seconds after boarding). */\n  P.compressionWindow = (ms) => new Promise((resolve) => {\n    const e = P.e(); const out = P.contacts().map(() => []); const t0 = performance.now();\n    const tick = () => {\n      try { const st = e.controller.getState(); (st.wheels || []).forEach((w, i) => { if (out[i] && Number.isFinite(w.compression)) out[i].push(w.compression); }); } catch (err) { /* keep sampling */ }\n      if (performance.now() - t0 < ms) requestAnimationFrame(tick); else resolve(out);\n    };\n    requestAnimationFrame(tick);\n  });\n  /** Body-frame AABB of the drawn car (geometry bounding-box corners, so slightly generous). */\n  P.bounds = () => {\n    const root = P.root(), inv = P.inv(), proxies = P.proxies(), V = P.V();\n    const mn = [Infinity, Infinity, Infinity], mx = [-Infinity, -Infinity, -Infinity]; const c = new V();\n    root.traverse((o) => {\n      if (!P.drawn(o, proxies, root)) return;\n      if (!o.geometry.boundingBox) o.geometry.computeBoundingBox();\n      const b = o.geometry.boundingBox; if (!b) return;\n      const M = inv.clone().multiply(o.matrixWorld);\n      for (let i = 0; i < 8; i++) {\n        c.set(i & 1 ? b.max.x : b.min.x, i & 2 ? b.max.y : b.min.y, i & 4 ? b.max.z : b.min.z).applyMatrix4(M);\n        mn[0] = Math.min(mn[0], c.x); mn[1] = Math.min(mn[1], c.y); mn[2] = Math.min(mn[2], c.z);\n        mx[0] = Math.max(mx[0], c.x); mx[1] = Math.max(mx[1], c.y); mx[2] = Math.max(mx[2], c.z);\n      }\n    });\n    return { min: mn.map(R), max: mx.map(R) };\n  };\n  /** Body-frame AABB of named nodes' drawn meshes. */\n  P.nodeBox = (names) => {\n    const root = P.root(), inv = P.inv(), proxies = P.proxies();\n    const pts = [];\n    for (const n of names) { const o = root.getObjectByName(n); if (!o) continue; o.traverse((m) => { if (P.drawn(m, proxies, root)) P.meshPoints(m, inv, 3000, pts); }); }\n    if (!pts.length) return null;\n    const mn = [Infinity, Infinity, Infinity], mx = [-Infinity, -Infinity, -Infinity];\n    for (let j = 0; j < pts.length; j += 3) for (let a = 0; a < 3; a++) { mn[a] = Math.min(mn[a], pts[j + a]); mx[a] = Math.max(mx[a], pts[j + a]); }\n    return { min: mn.map(R), max: mx.map(R) };\n  };\n  P.pose = (names) => {\n    const root = P.root(), inv = P.inv(); const out = {};\n    for (const n of names) { const o = root.getObjectByName(n); out[n] = o ? { q: P.bodyQuat(o), p: P.bodyPos(o, inv) } : null; }\n    return out;\n  };\n  /** Pose of node b in node a's frame (rigidity check). */\n  P.rel = (a, b) => {\n    const root = P.root(); const A = root.getObjectByName(a), B = root.getObjectByName(b); if (!A || !B) return null;\n    root.updateMatrixWorld(true);\n    const V = P.V(), Q = P.Q();\n    const p = A.worldToLocal(B.getWorldPosition(new V()));\n    const rel = A.getWorldQuaternion(new Q()).invert().multiply(B.getWorldQuaternion(new Q()));\n    return { p: [p.x, p.y, p.z], q: [rel.x, rel.y, rel.z, rel.w] };\n  };\n  P.durable = () => { try { const v = P.mp().portableVehicleEvidence().vehicles[0]; return v ? (v.durableState || {}) : {}; } catch (err) { return {}; } };\n  P.steering = () => {\n    const e = P.e(), root = e.object3d; const st = e.controller.getState();\n    const rim = (e.interior && (e.interior.steeringRim || e.interior.steering)) || root.getObjectByName('steering_rim') || root.getObjectByName('steering');\n    const contacts = P.contacts();\n    return {\n      rimNode: rim ? rim.name : null, rimQ: rim ? P.bodyQuat(rim) : null, rimAngleRad: e.interior ? e.interior.rimAngleRad ?? null : null,\n      steerInput: e.controller.input ? e.controller.input.steer : null, stateSteerRad: st.steerAngleRad,\n      wheels: contacts.map((k, i) => { const n = P.wheelNode(k.id, i); return { id: k.id, steered: k.steered, axle: n ? P.axleOf(n) : null, physicsSteerRad: st.wheels && st.wheels[i] ? st.wheels[i].steerAngleRad : null }; }),\n    };\n  };\n  /** Sample the drawn wheels' rotation about their own axle every animation frame for ms. */\n  P.sampleSpin = (ms) => new Promise((resolve) => {\n    const e = P.e(), root = e.object3d, proxies = P.proxies(), V = P.V();\n    const contacts = P.contacts();\n    const wheels = contacts.map((k, i) => {\n      const node = P.wheelNode(k.id, i); let mesh = null;\n      if (node) node.traverse((o) => { if (!mesh && P.drawn(o, proxies, root)) mesh = o; });\n      return { node, mesh: mesh || node };\n    });\n    const qOf = (o) => { const q = P.bodyQuat(o); return new (P.Q())(q[0], q[1], q[2], q[3]); };\n    // reference axis: the mesh-local axis most perpendicular to the axle, chosen once\n    const refs = wheels.map((w) => {\n      if (!w.mesh) return null;\n      const a = new V(...P.axleOf(w.node)); const q = qOf(w.mesh);\n      const cands = [new V(1, 0, 0), new V(0, 1, 0), new V(0, 0, 1)];\n      let best = 0, bd = Infinity; cands.forEach((c, j) => { const d = Math.abs(c.clone().applyQuaternion(q).dot(a)); if (d < bd) { bd = d; best = j; } });\n      return cands[best];\n    });\n    const samples = [];\n    const t0 = performance.now();\n    const tick = () => {\n      try {\n        const st = e.controller.getState(); const wp = root.getWorldPosition(new V());\n        const ang = wheels.map((w, i) => {\n          if (!w.mesh || !refs[i]) return NaN;\n          let a = new V(...P.axleOf(w.node)); if (a.x < 0) a = a.multiplyScalar(-1);\n          let up = new V(0, 1, 0).sub(a.clone().multiplyScalar(a.y)).normalize();\n          const r = refs[i].clone().applyQuaternion(qOf(w.mesh));\n          r.sub(a.clone().multiplyScalar(r.dot(a)));\n          return Math.atan2(up.clone().cross(r).dot(a), up.dot(r));\n        });\n        samples.push({ t: performance.now(), x: wp.x, z: wp.z, forwardSpeed: st.forwardSpeed, ang });\n      } catch (err) { /* keep sampling */ }\n      if (performance.now() - t0 < ms) requestAnimationFrame(tick); else resolve(samples);\n    };\n    requestAnimationFrame(tick);\n  });\n  /** Pin the render camera to a body-frame pose, re-applied every frame so the follow cam cannot fight it. */\n  P.camera = () => { try { return P.mp().local.services.camera.camera; } catch (err) { return G.__vqa && G.__vqa.main; } };\n  P.setCam = (c) => {\n    const cam = P.camera(); if (!cam) return false;\n    if (!cam.__vqaPinned) {\n      const orig = cam.updateMatrixWorld.bind(cam);\n      cam.updateMatrixWorld = function (force) {\n        const o = G.__vqaCam;\n        if (o) {\n          const r = P.root(); const V = P.V();\n          this.position.copy(r.localToWorld(new V(...o.pos)));\n          this.up.set(0, 1, 0);\n          this.lookAt(r.localToWorld(new V(...o.target)));\n          if (o.fov && this.fov !== o.fov) { this.fov = o.fov; this.updateProjectionMatrix(); }\n          if (o.near && this.near !== o.near) { this.near = o.near; this.updateProjectionMatrix(); }\n        }\n        return orig(force);\n      };\n      cam.__vqaPinned = { fov: cam.fov, near: cam.near };\n    }\n    G.__vqaCam = c; return true;\n  };\n  P.clearCam = () => { G.__vqaCam = null; const cam = P.camera(); if (cam && cam.__vqaPinned) { cam.fov = cam.__vqaPinned.fov; cam.near = cam.__vqaPinned.near; cam.updateProjectionMatrix(); } return true; };\n  /** Scene stats over the drawn car: batched proxies get their real material back for the (synchronous) count. */\n  P.stats = () => {\n    const swapped = [];\n    for (const b of P.batches()) for (const inst of b.instances) { if (inst.mesh.material === inst.hiddenMaterial && inst.originalMaterial) { swapped.push(inst); inst.mesh.material = inst.originalMaterial; } }\n    try { return G.__vqaStats(P.root(), { exclude: (o) => !!o.isBatchedMesh }); }\n    finally { for (const inst of swapped) inst.mesh.material = inst.hiddenMaterial; }\n  };\n  // ---------------------------------------------------------------------------------------------------- seated occupant\n  P.isUnder = (o, anc) => { for (let p = o; p; p = p.parent) if (p === anc) return true; return false; };\n  /** Triangles (body frame, 9 per triangle) of one mesh whose AABB overlaps the box, appended flat. */\n  P.meshTrisInBox = (o, inv, box, out, outMesh, mi) => {\n    const g = o.geometry, pos = g.attributes.position;\n    const M = inv.clone().multiply(o.matrixWorld); const e = M.elements;\n    const idx = g.index ? g.index.array : null;\n    const start = (g.drawRange && g.drawRange.start) || 0;\n    const total = idx ? idx.length : pos.count;\n    const count = Math.min(total - start, Number.isFinite(g.drawRange && g.drawRange.count) ? g.drawRange.count : total);\n    const v = new Float64Array(9);\n    // a mirrored node (negative determinant) flips the winding: swap two corners so the triangle's normal stays outward\n    const det = e[0] * (e[5] * e[10] - e[6] * e[9]) - e[4] * (e[1] * e[10] - e[2] * e[9]) + e[8] * (e[1] * e[6] - e[2] * e[5]);\n    const order = det < 0 ? [0, 2, 1] : [0, 1, 2];\n    for (let i = start; i + 2 < start + count; i += 3) {\n      for (let k = 0; k < 3; k++) {\n        const vi = idx ? idx[i + order[k]] : i + order[k];\n        const x = pos.getX(vi), y = pos.getY(vi), z = pos.getZ(vi);\n        v[3 * k] = e[0] * x + e[4] * y + e[8] * z + e[12]; v[3 * k + 1] = e[1] * x + e[5] * y + e[9] * z + e[13]; v[3 * k + 2] = e[2] * x + e[6] * y + e[10] * z + e[14];\n      }\n      let ok = true;\n      for (let a = 0; a < 3 && ok; a++) { const lo = Math.min(v[a], v[3 + a], v[6 + a]), hi = Math.max(v[a], v[3 + a], v[6 + a]); if (hi < box.min[a] || lo > box.max[a]) ok = false; }\n      if (!ok) continue;\n      for (let k = 0; k < 9; k++) out.push(Math.round(v[k] * 10000) / 10000);\n      outMesh.push(mi);\n    }\n  };\n  /**\n   * The LOCAL occupant: every bone (body frame) and the vertices of every drawn skinned mesh on it (body, hair, hats...),\n   * the steering wheel's vertices, and the car's own drawn triangles in a box around the pelvis. The car's triangles never\n   * include the occupant (skinned meshes, anything under the character model) or the wheels.\n   */\n  P.occupantPull = () => {\n    const mp = P.mp(); const local = mp.local; const model = local && local.model; if (!model) return null;\n    const e = P.e(), root = e.object3d, inv = P.inv(), proxies = P.proxies();\n    root.updateMatrixWorld(true); model.updateMatrixWorld(true);\n    const bones = {}; const boneParents = {}; const skinned = [];\n    model.traverse((o) => { if (o.isBone) { const p = P.bodyPos(o, inv); bones[o.name] = p.map(R); boneParents[o.name] = o.parent && o.parent.isBone ? o.parent.name : null; } if (o.isSkinnedMesh && P.chainVisible(o, model)) skinned.push(o); });\n    const points = []; const pointBone = []; const boneNames = Object.keys(bones); const boneIx = new Map(boneNames.map((n, i) => [n, i]));\n    for (const m of skinned) {\n      const tmp = []; const tb = [];\n      P.meshPoints(m, inv, 30000, tmp, tb);\n      for (let i = 0; i < tmp.length; i++) points.push(R(tmp[i]));\n      // the bone with the largest skin weight per vertex (vehiclePenetration measures each vertex against its own bone)\n      const sb = (m.skeleton && m.skeleton.bones) || [];\n      for (let i = 0; i < tb.length; i++) { const b = sb[tb[i]]; const k = b ? boneIx.get(b.name) : undefined; pointBone.push(k === undefined ? -1 : k); }\n    }\n    const pel = bones.pelvis || bones.hips || Object.values(bones)[0];\n    const box = { min: [pel[0] - 0.8, pel[1] - 0.9, pel[2] - 0.95], max: [pel[0] + 0.8, pel[1] + 1.1, pel[2] + 0.95] };\n    const underWheel = new Set(); for (const n of e.wheelNodes || []) n.traverse((o) => underWheel.add(o));\n    const names = [], tris = [], mesh = [], meshInfo = [];\n    root.traverse((o) => {\n      if (underWheel.has(o) || o.isSkinnedMesh || !P.drawn(o, proxies, root) || P.isUnder(o, model)) return;\n      const mi = names.length; names.push(o.name || (o.parent && o.parent.name) || '(unnamed)');\n      const before = tris.length;\n      P.meshTrisInBox(o, inv, box, tris, mesh, mi);\n      if (tris.length > before) {\n        const inst = proxies.get(o); const m0 = (inst && inst.originalMaterial) || (Array.isArray(o.material) ? o.material[0] : o.material);\n        meshInfo.push({ name: names[mi], batched: !!inst, color: m0 && m0.color ? m0.color.getHexString() : null, opacity: m0 ? m0.opacity : null, transparent: m0 ? !!m0.transparent : null, side: m0 ? m0.side : null, colorWrite: m0 ? m0.colorWrite : null, tris: (tris.length - before) / 9 });\n      }\n    });\n    let rim = null;\n    const rimNode = (e.interior && (e.interior.steeringRim || e.interior.steering)) || root.getObjectByName('steering_rim') || root.getObjectByName('steering');\n    if (rimNode) { const pts = []; rimNode.traverse((m) => { if (m.isMesh && !m.isSkinnedMesh && m.geometry && m.geometry.attributes && m.geometry.attributes.position) P.meshPoints(m, inv, 3000, pts); }); rim = pts.map(R); }\n    let residual = null; try { const l = mp.seatEvidence && mp.seatEvidence().local; residual = l && l.seated ? l.seated.seatResidualM : null; } catch (err) { /* keep null */ }\n    return { bones, boneParents, boneNames, points, pointBone, rim, cabin: { tris, mesh, names }, seatResidualM: residual, skinned: skinned.map((m) => m.name || '(unnamed)'), meshInfo, rimNode: rimNode ? rimNode.name : null };\n  };\n  /** Body-frame position of a seat: its named node when the model has one, else the cabin's own H-point. */\n  P.seatPos = (id) => {\n    const root = P.root(); root.updateMatrixWorld(true); let o = null;\n    root.traverse((x) => { if (!o && x.name === id && !x.isMesh) o = x; });\n    if (o) return P.bodyPos(o);\n    try { const s = P.e().interior.cabin.seats.find((x) => x.id === id); return s ? [s.hipPoint[0], s.hipPoint[1], s.hipPoint[2]] : null; } catch (err) { return null; }\n  };\n  /** Hide (or restore) named nodes, for a labelled cutaway frame. The vehicle batch reads visibility as the AND of the ancestors up to the root. */\n  /**\n   * Evidence cutaway: hide every drawn mesh of the car except those named (by the same name the occupant pull records),\n   * so only the occupant and the surface it clashes with are drawn. P.unisolate() puts every flag back exactly.\n   */\n  P.isolate = (keep) => {\n    P.unisolate();\n    const mp = P.mp(); const model = mp.local && mp.local.model; const root = P.root(); const proxies = P.proxies();\n    const ks = new Set(keep || []); const hidden = [];\n    root.traverse((o) => {\n      if (!o.isMesh || (model && P.isUnder(o, model)) || !P.drawn(o, proxies, root)) return;\n      const nm = o.name || (o.parent && o.parent.name) || '(unnamed)';\n      if (ks.has(nm)) return;\n      hidden.push([o, o.visible]); o.visible = false;\n    });\n    P.__isolated = hidden; return hidden.length;\n  };\n  P.unisolate = () => { const h = P.__isolated || []; for (const [o, v] of h) o.visible = v; P.__isolated = null; return h.length; };\n  P.setHidden = (names, hidden) => { const root = P.root(); let n = 0; for (const nm of names) { const o = root.getObjectByName(nm); if (o) { o.visible = !hidden; n++; } } return n; };\n  /** The engine's own cabin-fit self-report (what it BELIEVES the occupant fit is), for comparison with what is drawn. */\n  P.cabinFit = () => { try { const f = P.e().cabinFit; return f ? JSON.parse(JSON.stringify(f.report ?? f)) : null; } catch (err) { return null; } };\n  G.__vqaVeh = P;\n  return true;\n})()";
 /** Hide every positioned overlay (HUD, hints, menus) that does not contain the canvas, in one frame. */
 export declare const HIDE_OVERLAYS = "(() => {\n  const els = document.querySelectorAll('body *');\n  let n = 0;\n  for (const el of els) {\n    if (el.tagName === 'CANVAS' || el.tagName === 'IFRAME' || el.dataset.vqaHidden) continue;\n    const pos = getComputedStyle(el).position;\n    if (pos !== 'fixed' && pos !== 'absolute' && pos !== 'sticky') continue;\n    if (el.querySelector('canvas,iframe')) continue;\n    el.dataset.vqaHidden = '1';\n    el.style.setProperty('visibility', 'hidden', 'important');\n    n++;\n  }\n  return n;\n})()";