@knowvah/dot-engine 2.2.0 → 2.3.1

package/dist/index.js

@@ -265,22 +265,19 @@ function peg$parse(input, options) {
   function peg$f17(defs, rest) {
     return defs.concat(rest);
   }
-  function peg$f18(defs) {
-    return defs;
-  }
-  function peg$f19() {
+  function peg$f18() {
     return [];
   }
-  function peg$f20(a) {
+  function peg$f19(a) {
     return a;
   }
-  function peg$f21(pairs) {
+  function peg$f20(pairs) {
     return pairs;
   }
-  function peg$f22(k, v) {
+  function peg$f21(k, v) {
     return { key: k, value: v };
   }
-  function peg$f23(head, chain, attrs) {
+  function peg$f22(head, chain, attrs) {
     if (chain.length > 0) {
       const nodes = [head].concat(chain);
       return { type: "edge", nodes, attrs };
@@ -291,70 +288,70 @@ function peg$parse(input, options) {
       return { type: "node", id: head, attrs };
     }
   }
-  function peg$f24(s) {
+  function peg$f23(s) {
     return s;
   }
-  function peg$f25(n) {
+  function peg$f24(n) {
     return n;
   }
-  function peg$f26(id, port, compass) {
+  function peg$f25(id, port, compass) {
     return { id, port, compass };
   }
-  function peg$f27(id, port) {
+  function peg$f26(id, port) {
     return { id, port, compass: null };
   }
-  function peg$f28(id) {
+  function peg$f27(id) {
     return { id, port: null, compass: null };
   }
-  function peg$f29(s, rest) {
+  function peg$f28(s, rest) {
     return [s].concat(rest);
   }
-  function peg$f30() {
+  function peg$f29() {
     return [];
   }
-  function peg$f31(id, stmts) {
+  function peg$f30(id, stmts) {
     return { type: "subgraph", id, stmts };
   }
-  function peg$f32(stmts) {
+  function peg$f31(stmts) {
     return { type: "subgraph", id: null, stmts };
   }
-  function peg$f33(stmts) {
+  function peg$f32(stmts) {
     return { type: "subgraph", id: null, stmts };
   }
-  function peg$f34(first, s) {
+  function peg$f33(first, s) {
     return s;
   }
-  function peg$f35(first, rest) {
+  function peg$f34(first, rest) {
     return rest.length > 0 ? first + rest.join("") : first;
   }
-  function peg$f36(chars) {
+  function peg$f35(chars) {
     return chars.join("");
   }
-  function peg$f37() {
+  function peg$f36() {
     return '"';
   }
-  function peg$f38() {
+  function peg$f37() {
     return "";
   }
-  function peg$f39(c) {
+  function peg$f38(c) {
     return "\\" + c;
   }
-  function peg$f40(content) {
+  function peg$f39(content) {
     return "
" + content;
   }
-  function peg$f41(chars) {
+  function peg$f40(chars) {
     return chars.join("");
   }
-  function peg$f42(nested2, content) {
+  function peg$f41(nested2, content) {
     return "<" + content + ">";
   }
-  function peg$f43(n) {
+  function peg$f42(n) {
     return n;
   }
-  function peg$f44(first, rest) {
+  function peg$f43(first, rest) {
     return first + rest.join("");
   }
-  function peg$f45(s) {
+  function peg$f44(s) {
     return Array.isArray(s) ? s.flat(Infinity).filter((x) => x !== null && x !== void 0).join("") : String(s);
   }
   let peg$currPos = options.peg$currPos | 0;
@@ -730,7 +727,7 @@ function peg$parse(input, options) {
     s12 = peg$parseAttrType();
     if (s12 !== peg$FAILED) {
       s2 = peg$parse_();
-      s3 = peg$parseAttrList();
+      s3 = peg$parseAttrListReq();
       if (s3 !== peg$FAILED) {
         peg$savedPos = s0;
         s0 = peg$f12(s12, s3);
@@ -782,7 +779,7 @@ function peg$parse(input, options) {
     }
     return s0;
   }
-  function peg$parseAttrList() {
+  function peg$parseAttrListReq() {
     let s0, s12, s2, s3, s4, s5, s6, s7;
     s0 = peg$currPos;
     s12 = peg$parse_();
@@ -825,49 +822,17 @@ function peg$parse(input, options) {
       peg$currPos = s0;
       s0 = peg$FAILED;
     }
+    return s0;
+  }
+  function peg$parseAttrList() {
+    let s0, s12;
+    s0 = peg$parseAttrListReq();
     if (s0 === peg$FAILED) {
       s0 = peg$currPos;
-      s12 = peg$parse_();
-      if (input.charCodeAt(peg$currPos) === 91) {
-        s2 = peg$c3;
-        peg$currPos++;
-      } else {
-        s2 = peg$FAILED;
-        if (peg$silentFails === 0) {
-          peg$fail(peg$e3);
-        }
-      }
-      if (s2 !== peg$FAILED) {
-        s3 = peg$parse_();
-        s4 = peg$parseAttrDefs();
-        s5 = peg$parse_();
-        if (input.charCodeAt(peg$currPos) === 93) {
-          s6 = peg$c4;
-          peg$currPos++;
-        } else {
-          s6 = peg$FAILED;
-          if (peg$silentFails === 0) {
-            peg$fail(peg$e4);
-          }
-        }
-        if (s6 !== peg$FAILED) {
-          peg$savedPos = s0;
-          s0 = peg$f18(s4);
-        } else {
-          peg$currPos = s0;
-          s0 = peg$FAILED;
-        }
-      } else {
-        peg$currPos = s0;
-        s0 = peg$FAILED;
-      }
-      if (s0 === peg$FAILED) {
-        s0 = peg$currPos;
-        s12 = "";
-        peg$savedPos = s0;
-        s12 = peg$f19();
-        s0 = s12;
-      }
+      s12 = "";
+      peg$savedPos = s0;
+      s12 = peg$f18();
+      s0 = s12;
     }
     return s0;
   }
@@ -901,7 +866,7 @@ function peg$parse(input, options) {
         s5 = null;
       }
       peg$savedPos = s2;
-      s2 = peg$f20(s3);
+      s2 = peg$f19(s3);
     } else {
       peg$currPos = s2;
       s2 = peg$FAILED;
@@ -934,14 +899,14 @@ function peg$parse(input, options) {
           s5 = null;
         }
         peg$savedPos = s2;
-        s2 = peg$f20(s3);
+        s2 = peg$f19(s3);
       } else {
         peg$currPos = s2;
         s2 = peg$FAILED;
       }
     }
     peg$savedPos = s0;
-    s12 = peg$f21(s12);
+    s12 = peg$f20(s12);
     s0 = s12;
     return s0;
   }
@@ -965,7 +930,7 @@ function peg$parse(input, options) {
         s5 = peg$parseAtom();
         if (s5 !== peg$FAILED) {
           peg$savedPos = s0;
-          s0 = peg$f22(s12, s5);
+          s0 = peg$f21(s12, s5);
         } else {
           peg$currPos = s0;
           s0 = peg$FAILED;
@@ -992,7 +957,7 @@ function peg$parse(input, options) {
         s5 = peg$parseAttrList();
         if (s5 !== peg$FAILED) {
           peg$savedPos = s0;
-          s0 = peg$f23(s12, s3, s5);
+          s0 = peg$f22(s12, s3, s5);
         } else {
           peg$currPos = s0;
           s0 = peg$FAILED;
@@ -1013,7 +978,7 @@ function peg$parse(input, options) {
     s12 = peg$parseSubgraph();
     if (s12 !== peg$FAILED) {
       peg$savedPos = s0;
-      s12 = peg$f24(s12);
+      s12 = peg$f23(s12);
     }
     s0 = s12;
     if (s0 === peg$FAILED) {
@@ -1021,7 +986,7 @@ function peg$parse(input, options) {
       s12 = peg$parseNode();
       if (s12 !== peg$FAILED) {
         peg$savedPos = s0;
-        s12 = peg$f25(s12);
+        s12 = peg$f24(s12);
       }
       s0 = s12;
     }
@@ -1061,7 +1026,7 @@ function peg$parse(input, options) {
             s9 = peg$parseAtom();
             if (s9 !== peg$FAILED) {
               peg$savedPos = s0;
-              s0 = peg$f26(s12, s5, s9);
+              s0 = peg$f25(s12, s5, s9);
             } else {
               peg$currPos = s0;
               s0 = peg$FAILED;
@@ -1101,7 +1066,7 @@ function peg$parse(input, options) {
           s5 = peg$parseAtom();
           if (s5 !== peg$FAILED) {
             peg$savedPos = s0;
-            s0 = peg$f27(s12, s5);
+            s0 = peg$f26(s12, s5);
           } else {
             peg$currPos = s0;
             s0 = peg$FAILED;
@@ -1119,7 +1084,7 @@ function peg$parse(input, options) {
         s12 = peg$parseAtom();
         if (s12 !== peg$FAILED) {
           peg$savedPos = s0;
-          s12 = peg$f28(s12);
+          s12 = peg$f27(s12);
         }
         s0 = s12;
       }
@@ -1138,7 +1103,7 @@ function peg$parse(input, options) {
         s5 = peg$parseEdgeChain();
         if (s5 !== peg$FAILED) {
           peg$savedPos = s0;
-          s0 = peg$f29(s3, s5);
+          s0 = peg$f28(s3, s5);
         } else {
           peg$currPos = s0;
           s0 = peg$FAILED;
@@ -1155,7 +1120,7 @@ function peg$parse(input, options) {
       s0 = peg$currPos;
       s12 = "";
       peg$savedPos = s0;
-      s12 = peg$f30();
+      s12 = peg$f29();
       s0 = s12;
     }
     return s0;
@@ -1226,7 +1191,7 @@ function peg$parse(input, options) {
             }
             if (s9 !== peg$FAILED) {
               peg$savedPos = s0;
-              s0 = peg$f31(s3, s7);
+              s0 = peg$f30(s3, s7);
             } else {
               peg$currPos = s0;
               s0 = peg$FAILED;
@@ -1277,7 +1242,7 @@ function peg$parse(input, options) {
             }
             if (s7 !== peg$FAILED) {
               peg$savedPos = s0;
-              s0 = peg$f32(s5);
+              s0 = peg$f31(s5);
             } else {
               peg$currPos = s0;
               s0 = peg$FAILED;
@@ -1321,7 +1286,7 @@ function peg$parse(input, options) {
             }
             if (s5 !== peg$FAILED) {
               peg$savedPos = s0;
-              s0 = peg$f33(s3);
+              s0 = peg$f32(s3);
             } else {
               peg$currPos = s0;
               s0 = peg$FAILED;
@@ -1360,7 +1325,7 @@ function peg$parse(input, options) {
         s7 = peg$parseQAtom();
         if (s7 !== peg$FAILED) {
           peg$savedPos = s3;
-          s3 = peg$f34(s12, s7);
+          s3 = peg$f33(s12, s7);
         } else {
           peg$currPos = s3;
           s3 = peg$FAILED;
@@ -1387,7 +1352,7 @@ function peg$parse(input, options) {
           s7 = peg$parseQAtom();
           if (s7 !== peg$FAILED) {
             peg$savedPos = s3;
-            s3 = peg$f34(s12, s7);
+            s3 = peg$f33(s12, s7);
           } else {
             peg$currPos = s3;
             s3 = peg$FAILED;
@@ -1398,7 +1363,7 @@ function peg$parse(input, options) {
         }
       }
       peg$savedPos = s0;
-      s0 = peg$f35(s12, s2);
+      s0 = peg$f34(s12, s2);
     } else {
       peg$currPos = s0;
       s0 = peg$FAILED;
@@ -1446,7 +1411,7 @@ function peg$parse(input, options) {
       }
       if (s3 !== peg$FAILED) {
         peg$savedPos = s0;
-        s0 = peg$f36(s2);
+        s0 = peg$f35(s2);
       } else {
         peg$currPos = s0;
         s0 = peg$FAILED;
@@ -1471,7 +1436,7 @@ function peg$parse(input, options) {
     }
     if (s12 !== peg$FAILED) {
       peg$savedPos = s0;
-      s12 = peg$f37();
+      s12 = peg$f36();
     }
     s0 = s12;
     if (s0 === peg$FAILED) {
@@ -1487,7 +1452,7 @@ function peg$parse(input, options) {
       }
       if (s12 !== peg$FAILED) {
         peg$savedPos = s0;
-        s12 = peg$f38();
+        s12 = peg$f37();
       }
       s0 = s12;
       if (s0 === peg$FAILED) {
@@ -1513,7 +1478,7 @@ function peg$parse(input, options) {
           }
           if (s2 !== peg$FAILED) {
             peg$savedPos = s0;
-            s0 = peg$f39(s2);
+            s0 = peg$f38(s2);
           } else {
             peg$currPos = s0;
             s0 = peg$FAILED;
@@ -1562,7 +1527,7 @@ function peg$parse(input, options) {
       }
       if (s3 !== peg$FAILED) {
         peg$savedPos = s0;
-        s0 = peg$f40(s2);
+        s0 = peg$f39(s2);
       } else {
         peg$currPos = s0;
         s0 = peg$FAILED;
@@ -1583,7 +1548,7 @@ function peg$parse(input, options) {
       s2 = peg$parseHtmlChar();
     }
     peg$savedPos = s0;
-    s12 = peg$f41(s12);
+    s12 = peg$f40(s12);
     s0 = s12;
     return s0;
   }
@@ -1613,7 +1578,7 @@ function peg$parse(input, options) {
         }
         if (s3 !== peg$FAILED) {
           peg$savedPos = s0;
-          s0 = peg$f42(s12, s2);
+          s0 = peg$f41(s12, s2);
         } else {
           peg$currPos = s0;
           s0 = peg$FAILED;
@@ -1658,7 +1623,7 @@ function peg$parse(input, options) {
         s2 = peg$parseName();
         if (s2 !== peg$FAILED) {
           peg$savedPos = s0;
-          s0 = peg$f43(s2);
+          s0 = peg$f42(s2);
         } else {
           peg$currPos = s0;
           s0 = peg$FAILED;
@@ -1706,7 +1671,7 @@ function peg$parse(input, options) {
         }
       }
       peg$savedPos = s0;
-      s0 = peg$f44(s12, s2);
+      s0 = peg$f43(s12, s2);
     } else {
       peg$currPos = s0;
       s0 = peg$FAILED;
@@ -1927,7 +1892,7 @@ function peg$parse(input, options) {
     }
     if (s12 !== peg$FAILED) {
       peg$savedPos = s0;
-      s12 = peg$f45(s12);
+      s12 = peg$f44(s12);
     }
     s0 = s12;
     return s0;
@@ -29134,56 +29099,63 @@ function setEndTheta(P, e, merge) {
 
 // src/pathplan/solvers.ts
 var EPS2 = 1e-7;
-var Solver = class _Solver {
-  static aeq0(x) {
-    return x < EPS2 && x > -EPS2;
-  }
-  static solve1(c, r) {
-    if (_Solver.aeq0(c[1])) return _Solver.aeq0(c[0]) ? 4 : 0;
-    r[0] = -c[0] / c[1];
-    return 1;
-  }
-  static solve2(c, r) {
-    if (_Solver.aeq0(c[2])) return _Solver.solve1(c, r);
-    const b2a = c[1] / (2 * c[2]);
-    const disc = b2a * b2a - c[0] / c[2];
-    if (disc < 0) return 0;
-    if (disc > 0) {
-      r[0] = -b2a + Math.sqrt(disc);
-      r[1] = -2 * b2a - r[0];
-      return 2;
-    }
-    r[0] = -b2a;
-    return 1;
-  }
-  static solve3neg(disc, q, b3a, r) {
-    const rr = 0.5 * Math.sqrt(-disc + q * q);
+function aeq02(x) {
+  return x < EPS2 && x > -EPS2;
+}
+function solve3(coeff, roots) {
+  const a = coeff[3], b = coeff[2], c = coeff[1], d = coeff[0];
+  if (aeq02(a)) return solve2(coeff, roots);
+  const bOver3a = b / (3 * a), cOverA = c / a, dOverA = d / a;
+  let p = bOver3a * bOver3a;
+  const q = dOverA + fma(2 * bOver3a, p, -(bOver3a * cOverA));
+  p = cOverA / 3 - p;
+  const disc = fma(q, q, 4 * p * p * p);
+  let rootn;
+  if (disc < 0) {
+    const r = 0.5 * Math.sqrt(fma(q, q, -disc));
     const theta = Math.atan2(Math.sqrt(-disc), -q);
-    const temp = 2 * Math.cbrt(rr);
-    r[0] = temp * Math.cos(theta / 3) - b3a;
-    r[1] = temp * Math.cos((theta + 2 * Math.PI) / 3) - b3a;
-    r[2] = temp * Math.cos((theta - 2 * Math.PI) / 3) - b3a;
-    return 3;
+    const temp = 2 * Math.cbrt(r);
+    roots[0] = temp * Math.cos(theta / 3);
+    roots[1] = temp * Math.cos((theta + Math.PI + Math.PI) / 3);
+    roots[2] = temp * Math.cos((theta - Math.PI - Math.PI) / 3);
+    rootn = 3;
+  } else {
+    const alpha = 0.5 * (Math.sqrt(disc) - q);
+    const beta = -q - alpha;
+    roots[0] = Math.cbrt(alpha) + Math.cbrt(beta);
+    if (disc > 0) rootn = 1;
+    else {
+      roots[1] = roots[2] = -0.5 * roots[0];
+      rootn = 3;
+    }
   }
-  static solve3pos(disc, q, b3a, r) {
-    const al = 0.5 * (Math.sqrt(disc) - q);
-    r[0] = Math.cbrt(al) + Math.cbrt(-q - al) - b3a;
-    if (disc > 0) return 1;
-    r[1] = r[2] = -0.5 * (r[0] + b3a) - b3a;
-    return 3;
+  for (let i = 0; i < rootn; i++) roots[i] -= bOver3a;
+  return rootn;
+}
+function solve2(coeff, roots) {
+  const a = coeff[2], b = coeff[1], c = coeff[0];
+  if (aeq02(a)) return solve1(coeff, roots);
+  const bOver2a = b / (2 * a);
+  const cOverA = c / a;
+  const disc = fma(bOver2a, bOver2a, -cOverA);
+  if (disc < 0) {
+    return 0;
+  } else if (disc > 0) {
+    roots[0] = -bOver2a + Math.sqrt(disc);
+    roots[1] = fma(-2, bOver2a, -roots[0]);
+    return 2;
   }
-  static solve3(c, r) {
-    const a = c[3], b = c[2], cv = c[1], d = c[0];
-    if (_Solver.aeq0(a)) return _Solver.solve2(c, r);
-    const b3a = b / (3 * a), p0 = b3a * b3a;
-    const q = 2 * b3a * p0 - b3a * cv / a + d / a;
-    const p = cv / (3 * a) - p0;
-    const disc = q * q + 4 * p * p * p;
-    return disc < 0 ? _Solver.solve3neg(disc, q, b3a, r) : _Solver.solve3pos(disc, q, b3a, r);
+  roots[0] = -bOver2a;
+  return 1;
+}
+function solve1(coeff, roots) {
+  const a = coeff[1], b = coeff[0];
+  if (aeq02(a)) {
+    if (aeq02(b)) return 4;
+    return 0;
   }
-};
-function solve3(coeff, roots) {
-  return Solver.solve3(coeff, roots);
+  roots[0] = -b / a;
+  return 1;
 }
 
 // src/pathplan/route.ts
@@ -29205,16 +29177,19 @@ var RouteHelper = class _RouteHelper {
   static B3(t) {
     return t * t * t;
   }
+  /** @see lib/pathplan/route.c:B01 */
   static B01(t) {
     const u = 1 - t;
-    return u * u * (u + 3 * t);
+    return u * u * fma(3, t, u);
   }
+  /** @see lib/pathplan/route.c:B23 */
   static B23(t) {
     const u = 1 - t;
-    return t * t * (3 * u + t);
+    return t * t * fma(3, u, t);
   }
+  /** @see lib/pathplan/route.c:normv */
   static normv(v) {
-    const d = v.x * v.x + v.y * v.y;
+    const d = fma(v.x, v.x, v.y * v.y);
     if (d > 1e-6) {
       const s = Math.sqrt(d);
       return { x: v.x / s, y: v.y / s };
@@ -29230,20 +29205,28 @@ var RouteHelper = class _RouteHelper {
   static ptScale(p, c) {
     return { x: p.x * c, y: p.y * c };
   }
+  /** @see lib/pathplan/route.c:dot */
   static ptDot(a, b) {
-    return a.x * b.x + a.y * b.y;
+    return fma(a.x, b.x, a.y * b.y);
   }
+  /** @see lib/pathplan/route.c:dist (libm hypot, no contraction) */
   static ptDist(a, b) {
-    return Math.hypot(a.x - b.x, a.y - b.y);
+    return libmHypot(a.x - b.x, a.y - b.y);
   }
   static distN(pts) {
     let rv = 0;
     for (let i = 1; i < pts.length; i++) rv += _RouteHelper.ptDist(pts[i], pts[i - 1]);
     return rv;
   }
+  /**
+   * The cubic's coefficients come out of catastrophic cancellation when the
+   * spline is tangent to a barrier (tests/2646.dot), so clang's contraction
+   * here decides solve3's root count; mirror it exactly.
+   * @see lib/pathplan/route.c:points2coeff
+   */
   static points2coeff(v0, v1, v2, v3, c) {
-    c[3] = v3 + 3 * v1 - (v0 + 3 * v2);
-    c[2] = 3 * v0 + 3 * v2 - 6 * v1;
+    c[3] = fma(3, v1, v3) - fma(3, v2, v0);
+    c[2] = fma(-6, v1, fma(3, v0, 3 * v2));
     c[1] = 3 * (v1 - v0);
     c[0] = v0;
   }
@@ -29283,7 +29266,7 @@ var RouteHelper = class _RouteHelper {
       const tv = xr[i];
       if (tv >= 0 && tv <= 1) {
         _RouteHelper.points2coeff(sps[0].y, sps[1].y, sps[2].y, sps[3].y, sc);
-        const sv = (sc[0] + tv * (sc[1] + tv * (sc[2] + tv * sc[3])) - lc.yc0) / lc.yc1;
+        const sv = (fma(tv, fma(tv, fma(tv, sc[3], sc[2]), sc[1]), sc[0]) - lc.yc0) / lc.yc1;
         if (sv >= 0 && sv <= 1) _RouteHelper.addRoot(tv, acc);
       }
     }
@@ -29293,25 +29276,26 @@ var RouteHelper = class _RouteHelper {
     const sc = [0, 0, 0, 0], xr = [0, 0, 0];
     const rat = lc.yc1 / lc.xc1;
     _RouteHelper.points2coeff(
-      sps[0].y - rat * sps[0].x,
-      sps[1].y - rat * sps[1].x,
-      sps[2].y - rat * sps[2].x,
-      sps[3].y - rat * sps[3].x,
+      fms(rat, sps[0].x, sps[0].y),
+      fms(rat, sps[1].x, sps[1].y),
+      fms(rat, sps[2].x, sps[2].y),
+      fms(rat, sps[3].x, sps[3].y),
       sc
     );
-    sc[0] += rat * lc.xc0 - lc.yc0;
+    sc[0] += fma(rat, lc.xc0, -lc.yc0);
     const xn = solve3(sc, xr);
     if (xn === 4) return 4;
     for (let i = 0; i < xn; i++) {
       const tv = xr[i];
       if (tv >= 0 && tv <= 1) {
         _RouteHelper.points2coeff(sps[0].x, sps[1].x, sps[2].x, sps[3].x, sc);
-        const sv = (sc[0] + tv * (sc[1] + tv * (sc[2] + tv * sc[3])) - lc.xc0) / lc.xc1;
+        const sv = (fma(tv, fma(tv, fma(tv, sc[3], sc[2]), sc[1]), sc[0]) - lc.xc0) / lc.xc1;
         if (sv >= 0 && sv <= 1) _RouteHelper.addRoot(tv, acc);
       }
     }
     return acc.n;
   }
+  /** @see lib/pathplan/route.c:splineintersectsline */
   static splineIntersectsLine(sps, lps, roots) {
     const lc = {
       xc0: lps[0].x,
@@ -29362,8 +29346,9 @@ var RouteHelper = class _RouteHelper {
       x0 += _RouteHelper.ptDot(tnas[i].a[0], tmp);
       x1 += _RouteHelper.ptDot(tnas[i].a[1], tmp);
     }
-    const det01 = c00 * c11 - c01 * c01;
-    const detX1 = x0 * c11 - x1 * c01, det0X = c00 * x1 - c01 * x0;
+    const det01 = fma(c00, c11, -(c01 * c01));
+    const det0X = fma(c00, x1, -(c01 * x0));
+    const detX1 = fma(x0, c11, -(x1 * c01));
     if (Math.abs(det01) >= 1e-6) {
       scale0 = detX1 / det01;
       scale3 = det0X / det01;
@@ -29387,6 +29372,27 @@ var RouteHelper = class _RouteHelper {
     }
     return tnas;
   }
+  /**
+   * The max-deviation split of `reallyroutespline` (route.c:130-143): the
+   * interior polyline point farthest from the fitted bezier.
+   *
+   * Faithful contract. On a geometrically symmetric channel two interior
+   * deviations tie to within an ulp, so the split point (and the whole
+   * spline) is decided by C's exact arithmetic, which this mirrors bit for
+   * bit against the native arm64 oracle:
+   * - `dist` is libm `hypot` (route.c:448) -> `libmHypot` via `ptDist`;
+   * - the test is C's strict `(d = dist(p, inps[i])) > maxd` (route.c:139),
+   *   so an exact tie keeps the first index;
+   * - clang's default `-ffp-contract=on` fuses the bezier eval at
+   *   route.c:137-138 as `fma(B3,p2, fma(B2,cp2, fma(B0,p1, B1*cp1)))`; the
+   *   B0..B3 weights and cp1/cp2 (route.c:130-131) are not fused. Fusing the
+   *   other product first is NOT equivalent (flips pt-issue-23-w9 and 32).
+   * C is therefore not translation-equivariant on such ties (the winner
+   * depends on absolute-coordinate rounding), and neither is this port.
+   * This supersedes the former tolerant tie-break (accepted divergence A3).
+   * Contraction map: .agent-notes/pathplan-fma-contraction-map.md.
+   * @see lib/pathplan/route.c:reallyroutespline
+   */
   static findMaxDev(inps, tnas, ends) {
     const { p0, v0, p1, v1 } = ends;
     const cp1 = _RouteHelper.ptAdd(p0, _RouteHelper.ptScale(v0, 1 / 3));
@@ -29394,10 +29400,12 @@ var RouteHelper = class _RouteHelper {
     let maxi = -1, maxd = -1;
     for (let i = 1; i < inps.length - 1; i++) {
       const t = tnas[i].t;
-      const px = _RouteHelper.B0(t) * p0.x + _RouteHelper.B1(t) * cp1.x + _RouteHelper.B2(t) * cp2.x + _RouteHelper.B3(t) * p1.x;
-      const py = _RouteHelper.B0(t) * p0.y + _RouteHelper.B1(t) * cp1.y + _RouteHelper.B2(t) * cp2.y + _RouteHelper.B3(t) * p1.y;
+      const b0 = _RouteHelper.B0(t), b1 = _RouteHelper.B1(t);
+      const b2 = _RouteHelper.B2(t), b3 = _RouteHelper.B3(t);
+      const px = fma(b3, p1.x, fma(b2, cp2.x, fma(b0, p0.x, b1 * cp1.x)));
+      const py = fma(b3, p1.y, fma(b2, cp2.y, fma(b0, p0.y, b1 * cp1.y)));
       const d = _RouteHelper.ptDist({ x: px, y: py }, inps[i]);
-      if (d > maxd * (1 + 1e-10) + 1e-10) {
+      if (d > maxd) {
         maxd = d;
         maxi = i;
       }
@@ -33548,8 +33556,9 @@ function normalizeCopiedFlatSpline(orig, auxe) {
   if (orig.info.spl === void 0) return;
   if (swapEndsP(auxe) !== swapEndsP(orig)) swapEdgeSpline(orig);
 }
-function makeFlatAdjEdges(g, edges, cnt, _et) {
+function makeFlatAdjEdges(g, edges, cnt, et) {
   const aux = buildFlatAux(g, edges, cnt);
+  aux.auxg.info.flags = aux.auxg.info.flags & ~15 | et & 15;
   dotInitNodeEdge(aux.auxg);
   dotRank(aux.auxg);
   if (dotMincross(aux.auxg) !== 0) return 1;
@@ -33660,88 +33669,6 @@ function assembleFlatPath(P, tend, hend, mid) {
   for (let i = hend.boxn - 1; i >= 0; i--) addBox(P, hend.boxes[i]);
 }
 
-// src/layout/dot/splines-flat-multi.ts
-function portEq2(a, b) {
-  if (!a.defined && !b.defined) return true;
-  if (!a.defined || !b.defined) return false;
-  return a.p.x === b.p.x && a.p.y === b.p.y;
-}
-function flatPortKey(e, lo) {
-  return e.tail === lo ? { loP: e.info.tail_port, hiP: e.info.head_port } : { loP: e.info.head_port, hiP: e.info.tail_port };
-}
-function isNonAdjGroupable(x, g) {
-  return x.info.spl === void 0 && x.tail.info.rank !== void 0 && x.tail.info.rank === x.head.info.rank && !isFlatAdjacent(g, x);
-}
-function samePortsAs(x, lo, key) {
-  const k = flatPortKey(x, lo);
-  return portEq2(k.loP, key.loP) && portEq2(k.hiP, key.hiP);
-}
-function collectNonAdjacentFlatGroup(e, g) {
-  const u = e.tail, v = e.head;
-  const lo = (u.info.order ?? 0) <= (v.info.order ?? 0) ? u : v;
-  const key = flatPortKey(e, lo);
-  const sharesPair = (x) => x.tail === u && x.head === v || x.tail === v && x.head === u;
-  const group = g.edges.filter(
-    (x) => sharesPair(x) && isNonAdjGroupable(x, g) && samePortsAs(x, lo, key) && x.info.label === e.info.label
-  );
-  group.sort((a, b) => Number(b.tail === lo) - Number(a.tail === lo) || a.seq - b.seq);
-  return group;
-}
-function copyPathEnd(end) {
-  return {
-    ...end,
-    boxes: end.boxes.map((b) => ({ ll: { ...b.ll }, ur: { ...b.ur } }))
-  };
-}
-function routeGroupEdge(e, i, c) {
-  c.P.nbox = 0;
-  const endStepX = (i + 1) * c.stepx;
-  const endStepY = (i + 1) * c.stepy;
-  const mid = c.bottom ? bottomBoxes(c.tlast, c.hlast, endStepX, endStepY, c.stepy) : topBoxes(c.tlast, c.hlast, endStepX, endStepY, c.stepy);
-  assembleFlatPath(c.P, copyPathEnd(c.tend), copyPathEnd(c.hend), mid);
-  const pts = routeSplines(c.P);
-  if (pts === null || pts.length === 0) return false;
-  if (e.tail !== c.leftNode) pts.reverse();
-  clipAndInstall(e, e.head, pts, pts.length, { ...buildDotSinfo(), ignoreSwap: true });
-  return true;
-}
-function routeFlatEdgeGroupFaithful(g, edges, cnt) {
-  const lead = edges[0];
-  if (g.info.rank === void 0 || lead.tail.info.rank === void 0 || lead.head.info.rank !== lead.tail.info.rank) return false;
-  const tailIsLeft = (lead.tail.info.order ?? 0) <= (lead.head.info.order ?? 0);
-  const leftNode = tailIsLeft ? lead.tail : lead.head;
-  const rightNode = tailIsLeft ? lead.head : lead.tail;
-  const sample = tailIsLeft ? lead : {
-    ...lead,
-    tail: leftNode,
-    head: rightNode,
-    info: { ...lead.info, tail_port: lead.info.head_port, head_port: lead.info.tail_port }
-  };
-  const { bottom, side } = flatSide(sample);
-  const ctx = flatBboxCtx(g);
-  const ranksep = graphRanksep(g);
-  const P = freshFlatPath();
-  const tend = makeFlatEndBox({ ctx, P, e: sample, n: leftNode, side, ranksep, isBegin: true });
-  const hend = makeFlatEndBox({ ctx, P, e: sample, n: rightNode, side, ranksep, isBegin: false });
-  const stepx = (g.info.nodesep ?? 18) / (cnt + 1);
-  const stepy = flatVspace(g, leftNode, !bottom) / (cnt + 1);
-  const rc = {
-    P,
-    tend,
-    hend,
-    tlast: tend.boxes[tend.boxn - 1],
-    hlast: hend.boxes[hend.boxn - 1],
-    bottom,
-    stepx,
-    stepy,
-    leftNode
-  };
-  for (let i = 0; i < cnt; i++) {
-    if (!routeGroupEdge(edges[i], i, rc)) return false;
-  }
-  return true;
-}
-
 // src/layout/dot/splines-flat-labeled.ts
 var LBL_SPACE = 6;
 function findLabelNode(e) {
@@ -33996,6 +33923,93 @@ function makeAdjFlatNoPortEdge(g, e) {
   return true;
 }
 
+// src/layout/dot/splines-flat-multi.ts
+function portEq2(a, b) {
+  if (!a.defined && !b.defined) return true;
+  if (!a.defined || !b.defined) return false;
+  return a.p.x === b.p.x && a.p.y === b.p.y;
+}
+function flatPortKey(e, lo) {
+  return e.tail === lo ? { loP: e.info.tail_port, hiP: e.info.head_port } : { loP: e.info.head_port, hiP: e.info.tail_port };
+}
+function isNonAdjGroupable(x, g) {
+  return x.info.spl === void 0 && x.tail.info.rank !== void 0 && x.tail.info.rank === x.head.info.rank && !isFlatAdjacent(g, x);
+}
+function samePortsAs(x, lo, key) {
+  const k = flatPortKey(x, lo);
+  return portEq2(k.loP, key.loP) && portEq2(k.hiP, key.hiP);
+}
+function collectNonAdjacentFlatGroup(e, g) {
+  const u = e.tail, v = e.head;
+  const lo = (u.info.order ?? 0) <= (v.info.order ?? 0) ? u : v;
+  const key = flatPortKey(e, lo);
+  const sharesPair = (x) => x.tail === u && x.head === v || x.tail === v && x.head === u;
+  const group = g.edges.filter(
+    (x) => sharesPair(x) && isNonAdjGroupable(x, g) && samePortsAs(x, lo, key) && x.info.label === e.info.label
+  );
+  group.sort((a, b) => Number(b.tail === lo) - Number(a.tail === lo) || a.seq - b.seq);
+  return group;
+}
+function copyPathEnd(end) {
+  return {
+    ...end,
+    boxes: end.boxes.map((b) => ({ ll: { ...b.ll }, ur: { ...b.ur } }))
+  };
+}
+function routeGroupEdge(e, i, c) {
+  c.P.nbox = 0;
+  const endStepX = (i + 1) * c.stepx;
+  const endStepY = (i + 1) * c.stepy;
+  const mid = c.bottom ? bottomBoxes(c.tlast, c.hlast, endStepX, endStepY, c.stepy) : topBoxes(c.tlast, c.hlast, endStepX, endStepY, c.stepy);
+  assembleFlatPath(c.P, copyPathEnd(c.tend), copyPathEnd(c.hend), mid);
+  const pts = c.et === EDGETYPE_SPLINE ? routeSplines(c.P) : routePolylines(c.P);
+  if (pts === null || pts.length === 0) return false;
+  if (e.tail !== c.leftNode) pts.reverse();
+  clipAndInstall(e, e.head, pts, pts.length, { ...buildDotSinfo(), ignoreSwap: true });
+  return true;
+}
+function routeFlatEdgeGroupFaithful(g, edges, cnt, et) {
+  const lead = edges[0];
+  if (g.info.rank === void 0 || lead.tail.info.rank === void 0 || lead.head.info.rank !== lead.tail.info.rank) return false;
+  if (et === EDGETYPE_LINE) {
+    makeSimpleFlat(edges, et);
+    return true;
+  }
+  const tailIsLeft = (lead.tail.info.order ?? 0) <= (lead.head.info.order ?? 0);
+  const leftNode = tailIsLeft ? lead.tail : lead.head;
+  const rightNode = tailIsLeft ? lead.head : lead.tail;
+  const sample = tailIsLeft ? lead : {
+    ...lead,
+    tail: leftNode,
+    head: rightNode,
+    info: { ...lead.info, tail_port: lead.info.head_port, head_port: lead.info.tail_port }
+  };
+  const { bottom, side } = flatSide(sample);
+  const ctx = flatBboxCtx(g);
+  const ranksep = graphRanksep(g);
+  const P = freshFlatPath();
+  const tend = makeFlatEndBox({ ctx, P, e: sample, n: leftNode, side, ranksep, isBegin: true });
+  const hend = makeFlatEndBox({ ctx, P, e: sample, n: rightNode, side, ranksep, isBegin: false });
+  const stepx = (g.info.nodesep ?? 18) / (cnt + 1);
+  const stepy = flatVspace(g, leftNode, !bottom) / (cnt + 1);
+  const rc = {
+    P,
+    tend,
+    hend,
+    tlast: tend.boxes[tend.boxn - 1],
+    hlast: hend.boxes[hend.boxn - 1],
+    bottom,
+    et,
+    stepx,
+    stepy,
+    leftNode
+  };
+  for (let i = 0; i < cnt; i++) {
+    if (!routeGroupEdge(edges[i], i, rc)) return false;
+  }
+  return true;
+}
+
 // src/layout/dot/edge-route-boxes.ts
 var FUDGE2 = 2;
 function makeTailBox(nb, startPy) {
@@ -34295,7 +34309,10 @@ function isAdjacentPortFlat(e, g) {
   return e.tail.info.rank !== void 0 && e.tail.info.rank === e.head.info.rank && isFlatAdjacent(g, e) && hasDefinedPort(e);
 }
 function isGroupableFlat(x, g) {
-  return x.info.spl === void 0 && isAdjacentPortFlat(x, g);
+  return x.info.spl === void 0 && x.tail.info.rank !== void 0 && x.tail.info.rank === x.head.info.rank && isFlatAdjacent(g, x);
+}
+function joinsPortedFlatGroup(e, g) {
+  return isAdjFlatCandidate(e) && isGroupableFlat(e, g) && collectAdjacentFlatGroup(e, g).some(hasDefinedPort);
 }
 function collectAdjacentFlatGroup(e, g) {
   const u = e.tail, v = e.head;
@@ -34310,11 +34327,11 @@ function routeFaithfulSidePort(e, g) {
   const sameRank = e.tail.info.rank !== void 0 && e.tail.info.rank === e.head.info.rank;
   if (sameRank && isFlatAdjacent(g, e)) {
     const group = collectAdjacentFlatGroup(e, g);
-    return makeFlatAdjEdges(g, group, group.length, EDGETYPE_SPLINE) === 0 && e.info.spl !== void 0;
+    return makeFlatAdjEdges(g, group, group.length, edgeType(g)) === 0 && e.info.spl !== void 0;
   }
   if (sameRank) {
     const group = collectNonAdjacentFlatGroup(e, g);
-    return routeFlatEdgeGroupFaithful(g, group, group.length) && e.info.spl !== void 0;
+    return routeFlatEdgeGroupFaithful(g, group, group.length, edgeType(g)) && e.info.spl !== void 0;
   }
   const pts = routeRegularEdgeFaithful(g, e);
   if (pts === null) return false;
@@ -34335,11 +34352,12 @@ function isLostFlatAdjRecordEdge(g, e) {
 function routeFlatEdge(e, g) {
   if (isLostFlatAdjRecordEdge(g, e)) return true;
   if (makeFlatLabeledEdge(g, e)) return true;
+  if (joinsPortedFlatGroup(e, g) && routeFaithfulSidePort(e, g)) return true;
   if (makeAdjFlatNoPortEdge(g, e)) return true;
   if ((hasSidePort(e) || isAdjacentPortFlat(e, g)) && routeFaithfulSidePort(e, g)) return true;
   if (e.tail.info.rank !== void 0 && e.tail.info.rank === e.head.info.rank && e.info.label === void 0 && !isFlatAdjacent(g, e)) {
     const group = collectNonAdjacentFlatGroup(e, g);
-    if (group.length > 0 && routeFlatEdgeGroupFaithful(g, group, group.length) && e.info.spl !== void 0) return true;
+    if (group.length > 0 && routeFlatEdgeGroupFaithful(g, group, group.length, edgeType(g)) && e.info.spl !== void 0) return true;
   }
   return false;
 }
@@ -36636,7 +36654,6 @@ function buildEdges(g, nodeArr, orthoNodes) {
     const oes = outIndex.get(n);
     if (oes === void 0) continue;
     for (const e of oes) {
-      if (e.tail === e.head) continue;
       if (concentrate) {
         const ti = e.tail.id;
         const hi = e.head.id;
@@ -48189,11 +48206,11 @@ function addClusters(g) {
   g.info.clust = clusters;
   g.info.n_cluster = clusters.length;
 }
-function layoutComponents(g, comps, solve2, pinned) {
+function layoutComponents(g, comps, solve4, pinned) {
   for (const gc of comps) {
     setEdgeTypeFromAttr(gc, EDGETYPE_LINE);
-    solveModel2(gc, solve2.mode, solve2.model);
-    maybeRemoveOverlap(gc, solve2.am);
+    solveModel2(gc, solve4.mode, solve4.model);
+    maybeRemoveOverlap(gc, solve4.am);
     splineEdgesShifted(gc);
   }
   const pinfo = {