npm - @nakednous/host - Versions diffs - 0.0.2 → 0.0.3 - Mend

@nakednous/host 0.0.2 → 0.0.3

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1	- {"version":3,"file":"index.js","sources":["../../tree/dist/index.js","../src/view.js","../src/canvas.js","../src/pointer.js","../src/loop.js","../src/handle.js","../src/router.js","../src/helm.js","../src/track.js","../src/index.js"],"sourcesContent":["/*\n @file Core constants — zero dependencies.\n * @module tree/constants\n * @license AGPL-3.0-only\n /\n\n// Coordinate spaces\nconst WORLD = 'WORLD';\nconst EYE = 'EYE';\nconst NDC = 'NDC';\nconst SCREEN = 'SCREEN';\nconst MODEL = 'MODEL';\nconst MATRIX = 'MATRIX';\n\n// Integrator frame source (helm `from` only): the construct's own current pose\n// — body-relative; not a general mapDirection space.\nconst SELF = 'SELF';\n\n// NDC Z convention (only difference between backends)\nconst WEBGL = -1; // z ∈ [−1, 1]\nconst WEBGPU = 0; // z ∈ [0, 1]\n\n// Visibility results\nconst INVISIBLE = 0;\nconst VISIBLE = 1;\nconst SEMIVISIBLE = 2;\n\n// Basis vectors (frozen plain arrays — duck-typed Vec3)\nconst ORIGIN = Object.freeze([0, 0, 0]);\nconst i = Object.freeze([1, 0, 0]);\nconst j = Object.freeze([0, 1, 0]);\nconst k = Object.freeze([0, 0, 1]);\nconst _i = Object.freeze([-1, 0, 0]);\nconst _j = Object.freeze([0, -1, 0]);\nconst _k = Object.freeze([0, 0, -1]);\n\n// Handle constraint kinds\nconst SPHERE = 0;\nconst PLANE = 1;\nconst AXIS = 2;\nconst DIAL = 3;\n\n// Handle report modes\nconst POINT = 0;\nconst DIRECTION = 1;\n\n// Pointer-hit shapes (pointerHit); bullsEyeLines' shape\nconst CIRCLE = 0;\nconst SQUARE = 1;\n\n// Gizmo bits — one namespace per generator. The same value means different\n// things to different generators, and no generator reads another's bits.\nconst NONE = 0;\n\n// axesLines\nconst X = 1 << 0;\nconst _X = 1 << 1;\nconst Y = 1 << 2;\nconst _Y = 1 << 3;\nconst Z = 1 << 4;\nconst _Z = 1 << 5;\nconst LABELS = 1 << 6;\n\n// frustumLines (LEFT … TOP also key a bounds object's planes)\nconst NEAR = 1 << 0;\nconst FAR = 1 << 1;\nconst LEFT = 1 << 2;\nconst RIGHT = 1 << 3;\nconst BOTTOM = 1 << 4;\nconst TOP = 1 << 5;\nconst BODY = 1 << 6;\nconst APEX = 1 << 7;\n\n// pathLines\nconst PATH = 1 << 0;\nconst CENTER = 1 << 1;\nconst CONTROLS = 1 << 2;\nconst TANGENTS_IN = 1 << 3;\nconst TANGENTS_OUT = 1 << 4;\nconst TANGENTS = TANGENTS_IN \| TANGENTS_OUT;\nconst HANDLES = 1 << 5;\n\n// helmRigLines\nconst TRANSLATE = 1 << 0;\nconst ROTATE = 1 << 1;\n\n// locusLines (HANDLE is the bridge's dot, not a line)\nconst HANDLE = 1 << 0;\nconst AIM = 1 << 1;\nconst LOCUS = 1 << 2;\nconst RING = 1 << 3;\n\n// Semantic palette — normalised RGBA: red, lime, dodger blue; COLOR_DIM is\n// the alpha of a dimmed stroke (the helm rig's baseline).\nconst COLOR_X = Object.freeze([1, 0, 0, 1]);\nconst COLOR_Y = Object.freeze([0, 1, 0, 1]);\nconst COLOR_Z = Object.freeze([30 / 255, 144 / 255, 1, 1]);\nconst COLOR_DIM = 110 / 255;\n\n/\n @file Quaternion algebra and mat4/mat3 conversions.\n * @module tree/quat\n * @license AGPL-3.0-only\n \n Quaternions are stored as flat [x, y, z, w] arrays (w-last, glTF layout).\n \n All functions follow the out-first, zero-allocation contract.\n * Conversion functions bridge between quaternion and matrix representations\n * but do not perform any higher-level graphics operations — those belong\n * in form.js (matrix construction from specs) or track.js (animation).\n /\n\n\n// =========================================================================\n// Basic ops\n// =========================================================================\n\n/* Set all four components. @returns {number[]} out /\nconst qSet = (out, x, y, z, w) => {\n out[0] = x; out[1] = y; out[2] = z; out[3] = w; return out;\n};\n\n/* Copy quaternion a into out. @returns {number[]} out /\nconst qCopy = (out, a) => {\n out[0] = a[0]; out[1] = a[1]; out[2] = a[2]; out[3] = a[3]; return out;\n};\n\n/* Dot product of two quaternions. /\nconst qDot = (a, b) => a[0]b[0] + a[1]b[1] + a[2]b[2] + a[3]b[3];\n\n/* Normalise quaternion in-place. @returns {number[]} out /\nconst qNormalize = (out) => {\n const l = Math.sqrt(out[0]out[0]+out[1]out[1]+out[2]out[2]+out[3]out[3]) \|\| 1;\n out[0]/=l; out[1]/=l; out[2]/=l; out[3]/=l; return out;\n};\n\n/* Negate quaternion (same rotation, different hemisphere). @returns {number[]} out /\nconst qNegate = (out, a) => {\n out[0]=-a[0]; out[1]=-a[1]; out[2]=-a[2]; out[3]=-a[3]; return out;\n};\n\n/* Hamilton product out = a * b. Alias-safe: out may be a or b. @returns {number[]} out /\nconst qMul = (out, a, b) => {\n const ax=a[0],ay=a[1],az=a[2],aw=a[3], bx=b[0],by=b[1],bz=b[2],bw=b[3];\n out[0]=awbx+axbw+aybz-azby;\n out[1]=awby-axbz+aybw+azbx;\n out[2]=awbz+axby-aybx+azbw;\n out[3]=awbw-axbx-ayby-azbz;\n return out;\n};\n\n/\n Conjugate out = [−x, −y, −z, w] — the inverse of a UNIT quaternion.\n * (Not qNegate: −q is the SAME rotation on the other hypersphere hemisphere;\n * the conjugate is the opposite rotation.)\n * @returns {number[]} out\n /\nconst qConjugate = (out, a) => {\n out[0]=-a[0]; out[1]=-a[1]; out[2]=-a[2]; out[3]=a[3]; return out;\n};\n\n/\n Rotate a vec3 by a unit quaternion: out = q · v · q⁻¹, expanded to the\n * allocation-free t = 2(qv × v); out = v + w·t + qv × t form.\n * Alias-safe: out may be v.\n * @param {number[]} out 3-element destination.\n * @param {number[]} q Unit quaternion [x,y,z,w].\n * @param {number[]} v Vector [x,y,z].\n * @returns {number[]} out\n /\nconst qRotateVec3 = (out, q, v) => {\n const qx=q[0],qy=q[1],qz=q[2],qw=q[3], vx=v[0],vy=v[1],vz=v[2];\n const tx=2(qyvz-qzvy), ty=2(qzvx-qxvz), tz=2(qxvy-qyvx);\n out[0]=vx+qwtx+qytz-qzty;\n out[1]=vy+qwty+qztx-qxtz;\n out[2]=vz+qwtz+qxty-qytx;\n return out;\n};\n\n// =========================================================================\n// Interpolation\n// =========================================================================\n\n/* Spherical linear interpolation. @returns {number[]} out /\nconst qSlerp = (out, a, b, t) => {\n let bx=b[0],by=b[1],bz=b[2],bw=b[3];\n let d = a[0]bx+a[1]by+a[2]bz+a[3]bw;\n if (d < 0) { bx=-bx; by=-by; bz=-bz; bw=-bw; d=-d; }\n let f0, f1;\n if (1-d > 1e-10) {\n const th=Math.acos(d), st=Math.sin(th);\n f0=Math.sin((1-t)th)/st; f1=Math.sin(tth)/st;\n } else {\n f0=1-t; f1=t;\n }\n out[0]=a[0]f0+bxf1; out[1]=a[1]f0+byf1;\n out[2]=a[2]f0+bzf1; out[3]=a[3]f0+bwf1;\n return qNormalize(out);\n};\n\n/\n Normalised linear interpolation (nlerp).\n * Cheaper than slerp; slightly non-constant angular velocity.\n * Handles antipodal quats by flipping b when dot < 0.\n * @returns {number[]} out\n /\nconst qNlerp = (out, a, b, t) => {\n let bx=b[0],by=b[1],bz=b[2],bw=b[3];\n if (a[0]bx+a[1]by+a[2]bz+a[3]bw < 0) { bx=-bx; by=-by; bz=-bz; bw=-bw; }\n out[0]=a[0]+t(bx-a[0]); out[1]=a[1]+t(by-a[1]);\n out[2]=a[2]+t(bz-a[2]); out[3]=a[3]+t(bw-a[3]);\n return qNormalize(out);\n};\n\n// =========================================================================\n// Construction\n// =========================================================================\n\n/\n Shortest-arc rotation taking unit vector a to unit vector b (three.js's\n * setFromUnitVectors; the arcball delta). Antiparallel inputs rotate 180°\n * about an axis ⊥ a, seeded from the world axis least aligned with a.\n * @param {number[]} out\n * @param {number[]} a Unit vector [x,y,z].\n * @param {number[]} b Unit vector [x,y,z].\n * @returns {number[]} out (normalised)\n /\nconst qFromUnitVectors = (out, a, b) => {\n const d = a[0]b[0] + a[1]b[1] + a[2]b[2];\n if (d < -0.999999) {\n const ax = Math.abs(a[0]), ay = Math.abs(a[1]), az = Math.abs(a[2]);\n let rx = 0, ry = 0, rz = 0;\n if (ax <= ay && ax <= az) rx = 1; else if (ay <= az) ry = 1; else rz = 1;\n out[0]=rya[2]-rza[1]; out[1]=rza[0]-rxa[2]; out[2]=rxa[1]-rya[0];\n out[3]=0; // 180°: w = cos(π/2) = 0\n } else {\n out[0]=a[1]b[2]-a[2]b[1];\n out[1]=a[2]b[0]-a[0]b[2];\n out[2]=a[0]b[1]-a[1]b[0];\n out[3]=1+d;\n }\n return qNormalize(out);\n};\n\n/*\n Build a quaternion from axis-angle.\n * @param {number[]} out\n * @param {number} ax @param {number} ay @param {number} az Axis (need not be unit).\n * @param {number} angle Radians.\n * @returns {number[]} out\n /\nconst qFromAxisAngle = (out, ax, ay, az, angle) => {\n const half = angle 0.5;\n const s = Math.sin(half);\n const len = Math.sqrt(axax + ayay + azaz) \|\| 1;\n out[0] = s ax / len; out[1] = s * ay / len; out[2] = s * az / len;\n out[3] = Math.cos(half);\n return out;\n};\n\n/*\n Build a quaternion from a look direction (−Z forward) and optional up (default +Y).\n * `dir` need not be unit. Right = dir × up, up re-orthogonalised as right × dir;\n * when `dir` is parallel to `up` the up hint is re-seeded from the world axis\n * least aligned with `dir` (the same seed qFromUnitVectors uses), so every\n * direction yields a proper rotation.\n * @param {number[]} out\n * @param {number[]} dir Forward direction [x,y,z].\n * @param {number[]} [up] Up vector [x,y,z].\n * @returns {number[]} out\n /\nconst qFromLookDir = (out, dir, up) => {\n let fx=dir[0],fy=dir[1],fz=dir[2];\n const fl=Math.sqrt(fxfx+fyfy+fzfz)\|\|1;\n fx/=fl; fy/=fl; fz/=fl;\n let ux=up?up[0]:0, uy=up?up[1]:1, uz=up?up[2]:0;\n let rx=fyuz-fzuy, ry=fzux-fxuz, rz=fxuy-fyux; // right = dir × up\n let rl=Math.sqrt(rxrx+ryry+rzrz);\n if (rl < 1e-8) { // dir ∥ up: re-seed up\n const ax=Math.abs(fx), ay=Math.abs(fy), az=Math.abs(fz);\n ux=0; uy=0; uz=0;\n if (ax <= ay && ax <= az) ux=1; else if (ay <= az) uy=1; else uz=1;\n rx=fyuz-fzuy; ry=fzux-fxuz; rz=fxuy-fyux;\n rl=Math.sqrt(rxrx+ryry+rzrz)\|\|1;\n }\n rx/=rl; ry/=rl; rz/=rl;\n ux=ryfz-rzfy; uy=rzfx-rxfz; uz=rxfy-ryfx; // up = right × dir\n return qFromRotMat3x3(out, rx,ux,-fx, ry,uy,-fy, rz,uz,-fz); // columns: right, up, back\n};\n\n/*\n Build a quaternion from a 3×3 rotation matrix (9 row-major scalars).\n * @returns {number[]} out (normalised)\n /\nconst qFromRotMat3x3 = (out, m00,m01,m02, m10,m11,m12, m20,m21,m22) => {\n const tr = m00+m11+m22;\n if (tr > 0) {\n const s=0.5/Math.sqrt(tr+1);\n out[3]=0.25/s; out[0]=(m21-m12)s; out[1]=(m02-m20)s; out[2]=(m10-m01)s;\n } else if (m00>m11 && m00>m22) {\n const s=2Math.sqrt(1+m00-m11-m22);\n out[3]=(m21-m12)/s; out[0]=0.25s; out[1]=(m01+m10)/s; out[2]=(m02+m20)/s;\n } else if (m11>m22) {\n const s=2Math.sqrt(1+m11-m00-m22);\n out[3]=(m02-m20)/s; out[0]=(m01+m10)/s; out[1]=0.25s; out[2]=(m12+m21)/s;\n } else {\n const s=2Math.sqrt(1+m22-m00-m11);\n out[3]=(m10-m01)/s; out[0]=(m02+m20)/s; out[1]=(m12+m21)/s; out[2]=0.25s;\n }\n return qNormalize(out);\n};\n\n/*\n Extract a unit quaternion from the upper-left 3×3 of a column-major mat4.\n * @param {number[]} out\n * @param {Float32Array\|number[]} m Column-major mat4.\n * @returns {number[]} out\n /\nconst qFromMat4 = (out, m) =>\n qFromRotMat3x3(out, m[0],m[4],m[8], m[1],m[5],m[9], m[2],m[6],m[10]);\n\n/\n Write a quaternion into the rotation block of a column-major mat4.\n * Translation and perspective rows/cols are set to identity values.\n * @param {Float32Array\|number[]} out 16-element array.\n * @param {number[]} q [x,y,z,w].\n * @returns {Float32Array\|number[]} out\n /\nconst qToMat4 = (out, q) => {\n const x=q[0],y=q[1],z=q[2],w=q[3];\n const x2=x+x,y2=y+y,z2=z+z;\n const xx=xx2,xy=xy2,xz=xz2,yy=yy2,yz=yz2,zz=zz2,wx=wx2,wy=wy2,wz=wz2;\n out[0]=1-(yy+zz); out[1]=xy+wz; out[2]=xz-wy; out[3]=0;\n out[4]=xy-wz; out[5]=1-(xx+zz); out[6]=yz+wx; out[7]=0;\n out[8]=xz+wy; out[9]=yz-wx; out[10]=1-(xx+yy); out[11]=0;\n out[12]=0; out[13]=0; out[14]=0; out[15]=1;\n return out;\n};\n\n// =========================================================================\n// Decomposition\n// =========================================================================\n\n/*\n Decompose a unit quaternion into { axis:[x,y,z], angle } (radians).\n * @param {number[]} q [x,y,z,w].\n * @param {Object} [out]\n * @returns {{ axis: number[], angle: number }}\n /\nconst qToAxisAngle = (q, out) => {\n out = out \|\| {};\n const x=q[0],y=q[1],z=q[2],w=q[3];\n const sinHalf = Math.sqrt(xx+yy+zz);\n if (sinHalf < 1e-8) { out.axis=[0,1,0]; out.angle=0; return out; }\n out.angle = 2Math.atan2(sinHalf, w);\n out.axis = [x/sinHalf, y/sinHalf, z/sinHalf];\n return out;\n};\n\n/\n @file 1€ input filter — speed-adaptive first-order low-pass for noisy input.\n * @module tree/filter\n * @license AGPL-3.0-only\n \n A jitter conditioner for noisy / absolute input streams (the helm's optional\n * `filter` slot; sketch-side handle conditioning). It is NOT a deadzone\n * replacement: a low-pass passes DC, so a constant rest bias survives it and\n * still integrates to creep — only the deadzone's exact-zero clamp removes that.\n * The 1€ removes zero-mean jitter; the two are orthogonal and coexist, applied\n * filter → deadzone (condition the continuous signal first, then gate to zero).\n \n First-order low-pass whose cutoff rises with the signal's speed: slow (rest)\n * → low cutoff → heavy smoothing; fast (motion) → high cutoff → low lag. Tuned\n * by `minCutoff` (Hz, the rest cutoff) and `beta` (how fast the cutoff opens\n * with speed). Reimplemented from the paper's equations — `tree` is zero-dep, so\n * the ~one-page primitive is vendored, not depended on (the same call made for\n * quaternions over gl-matrix).\n \n Reference: Casiez, G., Roussel, N., & Vogel, D. (2012). 1€ Filter: A Simple\n * Speed-based Low-pass Filter for Noisy Input in Interactive Systems. CHI '12,\n * 2527–2530. DOI 10.1145/2207676.2208639 · https://gery.casiez.net/1euro/\n /\n\n\n/\n Build a stateful 1€ filter as an out-first carrying function.\n \n The returned `f` carries the previous filtered value and derivative across\n * calls (one state slot per vector component), and is used in one of two forms:\n \n - vec form `f(out, raw, dt)` — `out`/`raw` are equal-length ArrayLikes;\n * writes the filtered vector into `out` and returns it.\n * Zero-allocation after the first call (state sized to `raw`).\n * - scalar form `f(raw, dt)` — `raw` is a number; returns the filtered number.\n \n The form is chosen by the first argument's type (number ⇒ scalar). `minCutoff`,\n * `beta`, and `dCutoff` are live-mutable on the returned function (`f.minCutoff`,\n * `f.beta`, `f.dCutoff`) and read every call, so a panel can tune them against\n * live noise. `f.reset()` drops the carried state at a discontinuity (a\n * re-acquired source, a helm `home()`); smear across one and the output lurches.\n \n @param {Object} [opts]\n * @param {number} [opts.minCutoff=1] Minimum (rest) cutoff frequency, in Hz.\n * @param {number} [opts.beta=0] Speed coefficient (cutoff = minCutoff +\n * beta·\|filtered derivative\|); unitless.\n * @param {number} [opts.dCutoff=1] Derivative cutoff frequency, in Hz.\n * @returns {Function} A carrying filter `f(out, raw, dt)` / `f(raw, dt)` with a\n * `reset()` method and live `minCutoff` / `beta` / `dCutoff`.\n /\nfunction oneEuro(opts) {\n opts = opts \|\| {};\n\n // Carried state: previous filtered value + previous filtered derivative.\n // number (scalar form) \| number[] (vec form). primed = state is seeded.\n let xPrev = null;\n let dxPrev = null;\n let primed = false;\n\n // Low-pass smoothing factor for a sample period `dt` and a cutoff frequency\n // (the paper's α = 1 / (1 + τ/Te), τ = 1 / (2π·cutoff)).\n const alpha = (dt, cutoff) => {\n const tau = 1 / (2 Math.PI * cutoff);\n return 1 / (1 + tau / dt);\n };\n const smooth = (a, x, xp) => a * x + (1 - a) * xp;\n\n const scalar = (x, dt) => {\n if (!primed) { xPrev = x; dxPrev = 0; primed = true; return x; }\n const dx = (x - xPrev) / dt;\n const edx = smooth(alpha(dt, f.dCutoff), dx, dxPrev);\n const a = alpha(dt, f.minCutoff + f.beta * Math.abs(edx));\n const xh = smooth(a, x, xPrev);\n xPrev = xh; dxPrev = edx;\n return xh;\n };\n\n const vec = (out, raw, dt) => {\n const n = raw.length;\n if (!primed) {\n if (!Array.isArray(xPrev) \|\| xPrev.length !== n) {\n xPrev = new Array(n); dxPrev = new Array(n);\n }\n for (let i = 0; i < n; i++) { xPrev[i] = raw[i]; dxPrev[i] = 0; out[i] = raw[i]; }\n primed = true;\n return out;\n }\n for (let i = 0; i < n; i++) {\n const dx = (raw[i] - xPrev[i]) / dt;\n const edx = smooth(alpha(dt, f.dCutoff), dx, dxPrev[i]);\n const a = alpha(dt, f.minCutoff + f.beta * Math.abs(edx));\n const xh = smooth(a, raw[i], xPrev[i]);\n xPrev[i] = xh; dxPrev[i] = edx;\n out[i] = xh;\n }\n return out;\n };\n\n const f = (out, raw, dt) =>\n (typeof out === 'number') ? scalar(out, raw) : vec(out, raw, dt);\n\n f.minCutoff = (opts.minCutoff != null) ? opts.minCutoff : 1;\n f.beta = (opts.beta != null) ? opts.beta : 0;\n f.dCutoff = (opts.dCutoff != null) ? opts.dCutoff : 1;\n\n /** Drop the carried state — call at a discontinuity (re-acquire / home). /\n f.reset = () => { primed = false; return f; };\n\n return f;\n}\n\n/\n @file Matrix construction from geometric specs and partial decomposition.\n * @module tree/form\n * @license AGPL-3.0-only\n \n Constructs mat4s from higher-level specs: TRS transforms, orthonormal\n * bases, lookat parameters, projection parameters, and special-purpose\n * matrices (bias, reflection).\n \n Design invariant: form.js has no dependency on query.js. Construction\n * from specs requires only scalar arithmetic and quaternion conversions.\n * Callers compose the resulting matrices using query.js (mat4Mul etc.).\n \n ── NDC Z convention ──────────────────────────────────────────────────────\n * Controlled by `ndcZMin` in every projection constructor:\n * WEBGL = −1 near → NDC z = −1, far → NDC z = +1\n * WEBGPU = 0 near → NDC z = 0, far → NDC z = +1\n \n ── NDC Y convention ──────────────────────────────────────────────────────\n * Controlled by `ndcYSign` in every projection constructor (default +1):\n * +1 NDC y-up — standard: OpenGL / WebGL / WebGPU browser / Three.js / p5v2\n * −1 NDC y-down — native Vulkan clip space\n \n Negating ndcYSign flips row 1 of the projection matrix (elements\n * out[1], out[5], out[9], out[13]), reversing the y-axis in clip space.\n * mat4View, mat4Eye, and all non-projection constructors are convention-\n * agnostic — they produce the same matrix regardless of the NDC y direction.\n \n ── Screen Y convention ───────────────────────────────────────────────────\n * Screen-y direction (DOM y-down vs OpenGL y-up) is a separate concern from\n * NDC-y direction and is handled in query.js via the signed viewport height.\n * See the query.js module header for details.\n \n All functions follow the out-first, zero-allocation contract.\n /\n\n\n// =========================================================================\n// Frame construction\n// =========================================================================\n\n/\n Rigid frame from orthonormal basis + translation.\n * Column-major layout: col0=right, col1=up, col2=forward, col3=translation.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} rx,ry,rz Right vector (col 0).\n * @param {number} ux,uy,uz Up vector (col 1).\n * @param {number} fx,fy,fz Forward vec (col 2).\n * @param {number} tx,ty,tz Translation (col 3).\n /\nfunction mat4FromBasis(out, rx,ry,rz, ux,uy,uz, fx,fy,fz, tx,ty,tz) {\n out[0]=rx; out[1]=ry; out[2]=rz; out[3]=0;\n out[4]=ux; out[5]=uy; out[6]=uz; out[7]=0;\n out[8]=fx; out[9]=fy; out[10]=fz; out[11]=0;\n out[12]=tx; out[13]=ty; out[14]=tz; out[15]=1;\n return out;\n}\n\n// Lookat basis scratch — right (0–2), up (3–5), back (6–8): unit, world space.\nconst _lb = new Float64Array(9);\n\n/\n Orthonormal lookat basis into `_lb`: back = eye − center, right = up × back,\n * up = back × right. When the view direction is parallel to the up hint the\n * hint is re-seeded from the world axis least aligned with it — the seed\n * qFromUnitVectors and qFromLookDir use — so the basis is always a rotation.\n /\nfunction _lookBasis(ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n let zx=ex-cx, zy=ey-cy, zz=ez-cz;\n const zl=Math.sqrt(zxzx+zyzy+zzzz)\|\|1;\n zx/=zl; zy/=zl; zz/=zl;\n let xx=uyzz-uzzy, xy=uzzx-uxzz, xz=uxzy-uyzx;\n let xl=Math.sqrt(xxxx+xyxy+xzxz);\n if (xl < 1e-8) { // view ∥ up: re-seed up\n const ax=Math.abs(zx), ay=Math.abs(zy), az=Math.abs(zz);\n ux=0; uy=0; uz=0;\n if (ax <= ay && ax <= az) ux=1; else if (ay <= az) uy=1; else uz=1;\n xx=uyzz-uzzy; xy=uzzx-uxzz; xz=uxzy-uyzx;\n xl=Math.sqrt(xxxx+xyxy+xzxz)\|\|1;\n }\n xx/=xl; xy/=xl; xz/=xl;\n _lb[0]=xx; _lb[1]=xy; _lb[2]=xz;\n _lb[3]=zyxz-zzxy; _lb[4]=zzxx-zxxz; _lb[5]=zxxy-zyxx;\n _lb[6]=zx; _lb[7]=zy; _lb[8]=zz;\n}\n\n/*\n View matrix (world→eye) from lookat parameters.\n * Camera looks along −Z in eye space; right = normalize(up × (−Z)).\n * Cheaper than building the eye matrix and inverting.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} ex,ey,ez Eye (camera) position.\n * @param {number} cx,cy,cz Look-at target.\n * @param {number} ux,uy,uz World up hint (need not be unit; re-seeded when\n * parallel to the view direction).\n /\nfunction mat4View(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n _lookBasis(ex,ey,ez, cx,cy,cz, ux,uy,uz);\n const xx=_lb[0],xy=_lb[1],xz=_lb[2], yx=_lb[3],yy=_lb[4],yz=_lb[5], zx=_lb[6],zy=_lb[7],zz=_lb[8];\n out[0]=xx; out[1]=yx; out[2]=zx; out[3]=0;\n out[4]=xy; out[5]=yy; out[6]=zy; out[7]=0;\n out[8]=xz; out[9]=yz; out[10]=zz; out[11]=0;\n out[12]=-(xxex+xyey+xzez);\n out[13]=-(yxex+yyey+yzez);\n out[14]=-(zxex+zyey+zzez);\n out[15]=1;\n return out;\n}\n\n/*\n Eye matrix (eye→world) from lookat parameters.\n * Transpose of the rotation block + direct translation column.\n * Same parameters as mat4View.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} ex,ey,ez Eye position.\n * @param {number} cx,cy,cz Look-at target.\n * @param {number} ux,uy,uz World up hint (need not be unit; re-seeded when\n * parallel to the view direction).\n /\nfunction mat4Eye(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n _lookBasis(ex,ey,ez, cx,cy,cz, ux,uy,uz);\n const xx=_lb[0],xy=_lb[1],xz=_lb[2], yx=_lb[3],yy=_lb[4],yz=_lb[5], zx=_lb[6],zy=_lb[7],zz=_lb[8];\n out[0]=xx; out[1]=xy; out[2]=xz; out[3]=0;\n out[4]=yx; out[5]=yy; out[6]=yz; out[7]=0;\n out[8]=zx; out[9]=zy; out[10]=zz; out[11]=0;\n out[12]=ex; out[13]=ey; out[14]=ez; out[15]=1;\n return out;\n}\n\n// =========================================================================\n// TRS construction\n// =========================================================================\n\n/\n Column-major mat4 from flat TRS scalars. No struct allocation.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} tx,ty,tz Translation.\n * @param {number} qx,qy,qz,qw Rotation quaternion [x,y,z,w].\n * @param {number} sx,sy,sz Scale.\n /\nfunction mat4FromTRS(out, tx,ty,tz, qx,qy,qz,qw, sx,sy,sz) {\n const x2=qx+qx,y2=qy+qy,z2=qz+qz;\n const xx=qxx2,xy=qxy2,xz=qxz2,yy=qyy2,yz=qyz2,zz=qzz2;\n const wx=qwx2,wy=qwy2,wz=qwz2;\n out[0]=(1-(yy+zz))sx; out[1]=(xy+wz)sx; out[2]=(xz-wy)sx; out[3]=0;\n out[4]=(xy-wz)sy; out[5]=(1-(xx+zz))sy; out[6]=(yz+wx)sy; out[7]=0;\n out[8]=(xz+wy)sz; out[9]=(yz-wx)sz; out[10]=(1-(xx+yy))sz; out[11]=0;\n out[12]=tx; out[13]=ty; out[14]=tz; out[15]=1;\n return out;\n}\n\n/\n Translation-only mat4.\n * @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} tx,ty,tz\n /\nfunction mat4FromTranslation(out, tx,ty,tz) {\n out[0]=1; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=1; out[6]=0; out[7]=0;\n out[8]=0; out[9]=0; out[10]=1; out[11]=0;\n out[12]=tx; out[13]=ty; out[14]=tz; out[15]=1;\n return out;\n}\n\n/\n Scale-only mat4.\n * @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} sx,sy,sz\n /\nfunction mat4FromScale(out, sx,sy,sz) {\n out[0]=sx; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=sy; out[6]=0; out[7]=0;\n out[8]=0; out[9]=0; out[10]=sz; out[11]=0;\n out[12]=0; out[13]=0; out[14]=0; out[15]=1;\n return out;\n}\n\n// =========================================================================\n// Projection construction\n// =========================================================================\n\n/\n Orthographic projection matrix.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} left,right,bottom,top Frustum extents.\n * @param {number} near,far Clip plane distances (positive).\n * @param {number} ndcZMin −1 (WEBGL) or 0 (WEBGPU).\n * @param {number} [ndcYSign=1] +1 = NDC y-up (default); −1 = NDC y-down (native Vulkan).\n /\nfunction mat4Ortho(out, left, right, bottom, top, near, far, ndcZMin, ndcYSign=1) {\n const rl=1/(right-left), tb=1/(top-bottom), fn=1/(far-near);\n out[0]=2rl; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=ndcYSign2tb; out[6]=0; out[7]=0;\n out[8]=0; out[9]=0; out[10]=(ndcZMin-1)fn; out[11]=0;\n out[12]=-(right+left)rl; out[13]=ndcYSign(-(top+bottom)tb);\n out[14]=(ndcZMinfar-near)fn;\n out[15]=1;\n return out;\n}\n\n/*\n Perspective projection matrix (general / off-centre frustum).\n * Symmetric case: left=-right, bottom=-top — derive from fov+aspect in user space:\n * top = near * Math.tan(fov / 2); right = top * aspect\n * mat4Persp(out, -right, right, -top, top, near, far, ndcZMin)\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} left,right,bottom,top Near-plane extents (signed, y-up: top>0, bottom<0).\n * @param {number} near,far Clip plane distances (positive).\n * @param {number} ndcZMin −1 (WEBGL) or 0 (WEBGPU).\n * @param {number} [ndcYSign=1] +1 = NDC y-up (default); −1 = NDC y-down (native Vulkan).\n /\nfunction mat4Persp(out, left, right, bottom, top, near, far, ndcZMin, ndcYSign=1) {\n const rl=1/(right-left), tb=1/(top-bottom);\n out[0]=2nearrl; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=ndcYSign2neartb; out[6]=0; out[7]=0;\n out[8]=(right+left)rl; out[9]=ndcYSign(top+bottom)tb;\n out[10]=(ndcZMinnear-far)/(far-near);\n out[11]=-1;\n out[12]=0; out[13]=0;\n out[14]=(ndcZMin-1)farnear/(far-near);\n out[15]=0;\n return out;\n}\n\n// =========================================================================\n// Special-purpose construction\n// =========================================================================\n\n/*\n Bias matrix: remaps xyz from NDC to texture/UV space [0, 1].\n * xy remap from [−1, 1]; z remaps from [ndcZMin, 1].\n * Used to convert light-space NDC coordinates to shadow map UV.\n \n Convention note: the standard bias maps NDC y = −1 → texture v = 0 and\n * NDC y = +1 → texture v = 1. This is correct for both NDC y-up and y-down\n * conventions because the shadow map was rendered with the same projection.\n \n Column-major (WEBGL, ndcZMin=−1): Column-major (WEBGPU, ndcZMin=0):\n * [ 0.5 0 0 0.5 ] [ 0.5 0 0 0.5 ]\n * [ 0 0.5 0 0.5 ] [ 0 0.5 0 0.5 ]\n * [ 0 0 0.5 0.5 ] [ 0 0 1 0 ]\n * [ 0 0 0 1 ] [ 0 0 0 1 ]\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nfunction mat4Bias(out, ndcZMin) {\n const sz=1/(1-ndcZMin), tz=-ndcZMin/(1-ndcZMin);\n out[0]=0.5; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=0.5; out[6]=0; out[7]=0;\n out[8]=0; out[9]=0; out[10]=sz; out[11]=0;\n out[12]=0.5; out[13]=0.5; out[14]=tz; out[15]=1;\n return out;\n}\n\n/\n Reflection matrix across a plane ax + by + cz = d.\n * [nx, ny, nz] must be a unit normal.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} nx,ny,nz Unit plane normal.\n * @param {number} d Plane offset (dot(point_on_plane, normal)).\n /\nfunction mat4Reflect(out, nx,ny,nz,d) {\n out[0]=1-2nxnx; out[1]=-2nynx; out[2]=-2nznx; out[3]=0;\n out[4]=-2nxny; out[5]=1-2nyny; out[6]=-2nzny; out[7]=0;\n out[8]=-2nxnz; out[9]=-2nynz; out[10]=1-2nznz; out[11]=0;\n out[12]=2dnx; out[13]=2dny; out[14]=2dnz; out[15]=1;\n return out;\n}\n\n/\n @file Matrix arithmetic, space-transform dispatch, and projection queries.\n * @module tree/query\n * @license AGPL-3.0-only\n \n The operative layer — receives matrices and extracts information.\n * Contrast with form.js which constructs matrices from specs.\n \n form.js — specs → matrix\n * query.js — matrix → information\n \n Storage: column-major Float32Array / ArrayLike<number>.\n * Multiply: mat4Mul(out, A, B) = A · B (standard math order).\n * Pipeline: clip = P · V · M · v\n \n ── NDC Z convention ──────────────────────────────────────────────────────\n * Passed as `ndcZMin` to every space-transform function:\n * WEBGL = −1 z ∈ [−1, 1]\n * WEBGPU = 0 z ∈ [ 0, 1]\n \n ── NDC Y convention ──────────────────────────────────────────────────────\n * Standard (OpenGL / WebGL / WebGPU browser / Three.js / p5v2):\n * NDC y-up — y = +1 at top, y = −1 at bottom.\n * Native Vulkan: NDC y-down — projections constructed with ndcYSign = −1\n * (see form.js). Query functions are convention-agnostic: they work on\n * whatever matrices are passed in.\n \n ── Viewport convention ───────────────────────────────────────────────────\n * vp = [x, y, w, h] — w and h are SIGNED.\n \n The sign of h encodes the relationship between NDC y and screen y:\n * h < 0 (e.g. −canvasH): screen y-DOWN (DOM / p5 mouseX·mouseY / Vulkan surface)\n * NDC y=+1 → screen y=0 (top)\n * NDC y=−1 → screen y=H (bottom)\n * h > 0 (e.g. +canvasH): screen y-UP (OpenGL desktop / WebGL gl_FragCoord)\n * NDC y=−1 → screen y=0 (bottom)\n * NDC y=+1 → screen y=H (top)\n \n Pass [0, canvasH, canvasW, −canvasH] for p5/DOM coordinates.\n * Pass [0, 0, canvasW, canvasH] for WebGL gl_FragCoord / OpenGL bottom-left.\n * All helpers use vp[2]/vp[3] signed — no Math.abs — so both conventions\n * work automatically without any branching.\n \n All functions follow the out-first, zero-allocation contract.\n * Returns null on degeneracy (singular matrix, etc.).\n /\n\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Mat4 arithmetic\n// ═══════════════════════════════════════════════════════════════════════════\n\n/* out = A · B (column-major) /\nfunction mat4Mul(out, A, B) {\n const a0=A[0],a1=A[1],a2=A[2],a3=A[3],\n a4=A[4],a5=A[5],a6=A[6],a7=A[7],\n a8=A[8],a9=A[9],a10=A[10],a11=A[11],\n a12=A[12],a13=A[13],a14=A[14],a15=A[15];\n let b0=B[0],b1=B[1],b2=B[2],b3=B[3];\n out[0]=a0b0+a4b1+a8b2+a12b3;\n out[1]=a1b0+a5b1+a9b2+a13b3;\n out[2]=a2b0+a6b1+a10b2+a14b3;\n out[3]=a3b0+a7b1+a11b2+a15b3;\n b0=B[4];b1=B[5];b2=B[6];b3=B[7];\n out[4]=a0b0+a4b1+a8b2+a12b3;\n out[5]=a1b0+a5b1+a9b2+a13b3;\n out[6]=a2b0+a6b1+a10b2+a14b3;\n out[7]=a3b0+a7b1+a11b2+a15b3;\n b0=B[8];b1=B[9];b2=B[10];b3=B[11];\n out[8]=a0b0+a4b1+a8b2+a12b3;\n out[9]=a1b0+a5b1+a9b2+a13b3;\n out[10]=a2b0+a6b1+a10b2+a14b3;\n out[11]=a3b0+a7b1+a11b2+a15b3;\n b0=B[12];b1=B[13];b2=B[14];b3=B[15];\n out[12]=a0b0+a4b1+a8b2+a12b3;\n out[13]=a1b0+a5b1+a9b2+a13b3;\n out[14]=a2b0+a6b1+a10b2+a14b3;\n out[15]=a3b0+a7b1+a11b2+a15b3;\n return out;\n}\n\n/* out = inverse(src). Returns null if singular (\|det\| < 1e-12). /\nfunction mat4Invert(out, src) {\n const s0=src[0],s1=src[1],s2=src[2],s3=src[3],\n s4=src[4],s5=src[5],s6=src[6],s7=src[7],\n s8=src[8],s9=src[9],s10=src[10],s11=src[11],\n s12=src[12],s13=src[13],s14=src[14],s15=src[15];\n const b0=s0s5-s1s4, b1=s0s6-s2s4, b2=s0s7-s3s4,\n b3=s1s6-s2s5, b4=s1s7-s3s5, b5=s2s7-s3s6,\n b6=s8s13-s9s12, b7=s8s14-s10s12, b8=s8s15-s11s12,\n b9=s9s14-s10s13, b10=s9s15-s11s13, b11=s10s15-s11s14;\n let det=b0b11-b1b10+b2b9+b3b8-b4b7+b5b6;\n if (Math.abs(det) < 1e-12) return null;\n det = 1/det;\n out[0]=(s5b11-s6b10+s7b9)det;\n out[1]=(s2b10-s1b11-s3b9)det;\n out[2]=(s13b5-s14b4+s15b3)det;\n out[3]=(s10b4-s9b5-s11b3)det;\n out[4]=(s6b8-s4b11-s7b7)det;\n out[5]=(s0b11-s2b8+s3b7)det;\n out[6]=(s14b2-s12b5-s15b1)det;\n out[7]=(s8b5-s10b2+s11b1)det;\n out[8]=(s4b10-s5b8+s7b6)det;\n out[9]=(s1b8-s0b10-s3b6)det;\n out[10]=(s12b4-s13b2+s15b0)det;\n out[11]=(s9b2-s8b4-s11b0)det;\n out[12]=(s5b7-s4b9-s6b6)det;\n out[13]=(s0b9-s1b7+s2b6)det;\n out[14]=(s13b1-s12b3-s14b0)det;\n out[15]=(s8b3-s9b1+s10b0)det;\n return out;\n}\n\n/\n Normal matrix: inverseTranspose(upper-left 3×3 of src).\n * On degeneracy writes zeros and returns out.\n * @param {Float32Array\|number[]} out 9-element destination.\n * @param {Float32Array\|number[]} src 16-element mat4.\n /\nfunction mat3NormalFromMat4(out, src) {\n const a00=src[0],a01=src[1],a02=src[2],\n a10=src[4],a11=src[5],a12=src[6],\n a20=src[8],a21=src[9],a22=src[10];\n const b01=a22a11-a12a21, b11=-a22a01+a02a21, b21=a12a01-a02a11;\n let det=a00b01+a10b11+a20b21;\n if (Math.abs(det) < 1e-12) { for(let i=0;i<9;i++)out[i]=0; return out; }\n det=1/det;\n out[0]=b01det; out[1]=(-a22a10+a12a20)det; out[2]=(a21a10-a11a20)det;\n out[3]=b11det; out[4]=(a22a00-a02a20)det; out[5]=(-a21a00+a01a20)det;\n out[6]=b21det; out[7]=(-a12a00+a02a10)det; out[8]=(a11a00-a01a10)det;\n return out;\n}\n\n/* out = mat4 * [x,y,z,1], perspective-divides, writes xyz. /\nfunction mat4MulPoint(out, m, x, y, z) {\n const rx=m[0]x+m[4]y+m[8]z+m[12], ry=m[1]x+m[5]y+m[9]z+m[13],\n rz=m[2]x+m[6]y+m[10]z+m[14], rw=m[3]x+m[7]y+m[11]z+m[15];\n if (rw!==0&&rw!==1) { out[0]=rx/rw; out[1]=ry/rw; out[2]=rz/rw; }\n else { out[0]=rx; out[1]=ry; out[2]=rz; }\n return out;\n}\n\n/\n Apply only the 3×3 linear block of a mat4 to a direction (no translation,\n * no perspective divide). Use mat3NormalFromMat4 for normals under non-uniform scale.\n /\nfunction mat4MulDir(out, m, dx, dy, dz) {\n out[0]=m[0]dx+m[4]dy+m[8]dz;\n out[1]=m[1]dx+m[5]dy+m[9]dz;\n out[2]=m[2]dx+m[6]dy+m[10]dz;\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Projection queries\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** @returns {boolean} true if orthographic. /\nfunction projIsOrtho(p) { return p[15] !== 0; }\n\n/\n Near plane distance.\n * @param {ArrayLike<number>} p Projection mat4.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nfunction projNear(p, ndcZMin) {\n return p[15]===0 ? p[14]/(p[10]+ndcZMin) : (p[14]-ndcZMin)/p[10];\n}\n\n/* Far plane distance (far always maps to NDC z = 1, convention-independent). /\nfunction projFar(p) {\n return p[15]===0 ? p[14]/(1+p[10]) : (p[14]-1)/p[10];\n}\n\nfunction projLeft (p, ndcZMin) { return p[15]===1 ? -(1+p[12])/p[0] : projNear(p,ndcZMin)(p[8]-1)/p[0]; }\nfunction projRight (p, ndcZMin) { return p[15]===1 ? (1-p[12])/p[0] : projNear(p,ndcZMin)(1+p[8])/p[0]; }\n\n/\n Top extent of the near plane in camera space (y_max, positive for standard y-up camera).\n * Sign-normalized: returns the larger of the two y boundaries regardless of whether\n * the projection was built with ndcYSign = +1 or −1.\n /\nfunction projTop(p, ndcZMin) {\n return p[15]===1\n ? ( Math.sign(p[5]) - p[13]) / p[5] // ortho\n : projNear(p,ndcZMin)(Math.sign(p[5])+p[9])/p[5]; // perspective\n}\n\n/*\n Bottom extent of the near plane in camera space (y_min, negative for standard y-up camera).\n /\nfunction projBottom(p, ndcZMin) {\n return p[15]===1\n ? (-Math.sign(p[5]) - p[13]) / p[5] // ortho\n : projNear(p,ndcZMin)(p[9]-Math.sign(p[5]))/p[5]; // perspective\n}\n\n/** Vertical field of view in radians (perspective only). /\nfunction projFov (p) { return Math.abs(2Math.atan(1/p[5])); }\n/** Horizontal field of view in radians (perspective only). /\nfunction projHfov(p) { return Math.abs(2Math.atan(1/p[0])); }\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Derived matrices\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = P · V /\nfunction mat4PV(out, proj, view) { return mat4Mul(out, proj, view); }\n/* out = V · M /\nfunction mat4MV(out, model, view) { return mat4Mul(out, view, model); }\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Frame-relative transforms\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n Location transform between frames: out = inv(to) · from.\n * Assumes both matrices are affine (bottom row [0,0,0,1]).\n * @returns {ArrayLike<number>\|null} out, or null if `to` is singular.\n /\nfunction mat4Location(out, from, to) {\n // Same as: return mat4Invert(out, to) && mat4Mul(out, out, from);\n // a_rc reads column-major: element (row r, column c) is to[c4 + r].\n const a00=to[0],a01=to[4],a02=to[8],\n a10=to[1],a11=to[5],a12=to[9],\n a20=to[2],a21=to[6],a22=to[10];\n const b01=a22a11-a12a21, b11=a12a20-a22a10, b21=a21a10-a11a20;\n let det=a00b01+a01b11+a02b21;\n if (Math.abs(det) < 1e-12) return null;\n det=1/det;\n const i00=b01det, i01=(a02a21-a22a01)det, i02=(a12a01-a02a11)det;\n const i10=b11det, i11=(a22a00-a02a20)det, i12=(a02a10-a12a00)det;\n const i20=b21det, i21=(a01a20-a21a00)det, i22=(a11a00-a01a10)det;\n const f00=from[0],f01=from[1],f02=from[2],\n f10=from[4],f11=from[5],f12=from[6],\n f20=from[8],f21=from[9],f22=from[10];\n out[0]=i00f00+i01f01+i02f02; out[1]=i10f00+i11f01+i12f02; out[2]=i20f00+i21f01+i22f02; out[3]=0;\n out[4]=i00f10+i01f11+i02f12; out[5]=i10f10+i11f11+i12f12; out[6]=i20f10+i21f11+i22f12; out[7]=0;\n out[8]=i00f20+i01f21+i02f22; out[9]=i10f20+i11f21+i12f22; out[10]=i20f20+i21f21+i22f22; out[11]=0;\n const dx=from[12]-to[12], dy=from[13]-to[13], dz=from[14]-to[14];\n out[12]=i00dx+i01dy+i02dz; out[13]=i10dx+i11dy+i12dz; out[14]=i20dx+i21dy+i22dz; out[15]=1;\n return out;\n}\n\n/*\n Direction transform between frames: out = inv(to₃) · from₃ — a direction's\n * coordinates in `from` become its coordinates in `to`, the same conversion\n * mat4Location and mapDirection perform, on the upper-left 3×3 blocks only\n * (rotation / scale, no translation).\n * @returns {ArrayLike<number>\|null} out, or null if `to` is singular.\n /\nfunction mat3Direction(out, from, to) {\n // a_rc reads column-major: element (row r, column c) is to[c4 + r].\n const a00=to[0],a01=to[4],a02=to[8],\n a10=to[1],a11=to[5],a12=to[9],\n a20=to[2],a21=to[6],a22=to[10];\n const b01=a22a11-a12a21, b11=a12a20-a22a10, b21=a21a10-a11a20;\n let det=a00b01+a01b11+a02b21;\n if (Math.abs(det) < 1e-12) return null;\n det=1/det;\n const i00=b01det, i01=(a02a21-a22a01)det, i02=(a12a01-a02a11)det;\n const i10=b11det, i11=(a22a00-a02a20)det, i12=(a02a10-a12a00)det;\n const i20=b21det, i21=(a01a20-a21a00)det, i22=(a11a00-a01a10)det;\n // out = inv(to₃) · from₃, column by column of from.\n for (let c = 0; c < 3; c++) {\n const f0=from[c4], f1=from[c4+1], f2=from[c4+2];\n out[c3] = i00f0 + i01f1 + i02f2;\n out[c3+1] = i10f0 + i11f1 + i12f2;\n out[c3+2] = i20f0 + i21f1 + i22f2;\n }\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Space transforms — mapLocation / mapDirection\n// ═══════════════════════════════════════════════════════════════════════════\n//\n// Flat dispatch: every from→to pair is a self-contained leaf with only stack\n// locals — no reentrancy, no shared state between calls.\n//\n// Matrices bag `m`:\n// mat4Proj Float32Array(16) projection (eye → clip)\n// mat4View Float32Array(16) view (world → eye)\n// mat4Eye? Float32Array(16) eye (eye → world); caller fills before passing\n// mat4PV? Float32Array(16) P · V; caller fills or _ensurePV allocates once\n// mat4PVInv? Float32Array(16) inv(P · V); caller fills\n// fromFrame? Float32Array(16) MATRIX source frame\n// toFrameInv? Float32Array(16) inv(MATRIX dest frame)\n//\n// Viewport `vp` = [x, y, w, h]:\n// Use SIGNED h to encode screen-y direction (see module header).\n// Core formula: screen = (ndc0.5+0.5)vp[k] + vp[k-2] (k=2 for x, k=3 for y)\n// Inverse: ndc = ((screen-vp[k-2])/vp[k])2 - 1\n// Negative vp[3] flips NDC y-up to screen y-down automatically.\n//\n\n// ── Location helpers ─────────────────────────────────────────────────────\n\nfunction _worldToScreen(out, px, py, pz, pv, vp, ndcZMin) {\n const x=pv[0]px+pv[4]py+pv[8]pz+pv[12], y=pv[1]px+pv[5]py+pv[9]pz+pv[13],\n z=pv[2]px+pv[6]py+pv[10]pz+pv[14], w=pv[3]px+pv[7]py+pv[11]pz+pv[15];\n const xi=(w!==0&&w!==1)?1/w:1;\n out[0]=(xxi0.5+0.5)vp[2]+vp[0];\n out[1]=(yxi0.5+0.5)vp[3]+vp[1];\n out[2]=(zxi-ndcZMin)/(1-ndcZMin);\n return out;\n}\n\nfunction _screenToWorld(out, sx, sy, sz, ipv, vp, ndcZMin) {\n return mat4MulPoint(out, ipv,\n ((sx-vp[0])/vp[2])2-1,\n ((sy-vp[1])/vp[3])2-1,\n sz(1-ndcZMin)+ndcZMin);\n}\n\nfunction _worldToNDC(out, px, py, pz, pv) {\n const x=pv[0]px+pv[4]py+pv[8]pz+pv[12], y=pv[1]px+pv[5]py+pv[9]pz+pv[13],\n z=pv[2]px+pv[6]py+pv[10]pz+pv[14], w=pv[3]px+pv[7]py+pv[11]pz+pv[15];\n const xi=(w!==0&&w!==1)?1/w:1;\n out[0]=xxi; out[1]=yxi; out[2]=zxi;\n return out;\n}\n\nfunction _ndcToWorld(out, nx, ny, nz, ipv) { return mat4MulPoint(out,ipv,nx,ny,nz); }\n\nfunction _screenToNDC(out, sx, sy, sz, vp, ndcZMin) {\n out[0]=((sx-vp[0])/vp[2])2-1;\n out[1]=((sy-vp[1])/vp[3])2-1;\n out[2]=sz(1-ndcZMin)+ndcZMin;\n return out;\n}\n\nfunction _ndcToScreen(out, nx, ny, nz, vp, ndcZMin) {\n out[0]=(nx0.5+0.5)vp[2]+vp[0];\n out[1]=(ny0.5+0.5)vp[3]+vp[1];\n out[2]=(nz-ndcZMin)/(1-ndcZMin);\n return out;\n}\n\nfunction _ensurePV(m) {\n if (m.mat4PV) return m.mat4PV;\n m.mat4PV = new Float32Array(16);\n mat4Mul(m.mat4PV, m.mat4Proj, m.mat4View);\n return m.mat4PV;\n}\n\n/*\n Map a point between named coordinate spaces.\n \n @param {number[]} out 3-element destination — written and returned.\n * @param {number} px,py,pz Input point.\n * @param {string} from Source space (WORLD, EYE, SCREEN, NDC, MATRIX).\n * @param {string} to Destination space.\n * @param {object} m Matrices bag — see module header.\n * @param {number[]} vp Viewport [x, y, w, h]; sign of h encodes screen-y direction.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @returns {number[]} out\n /\nfunction mapLocation(out, px, py, pz, from, to, m, vp, ndcZMin) {\n if (from===WORLD && to===SCREEN) return _worldToScreen(out,px,py,pz,_ensurePV(m),vp,ndcZMin);\n if (from===SCREEN && to===WORLD) return _screenToWorld(out,px,py,pz,m.mat4PVInv,vp,ndcZMin);\n\n if (from===WORLD && to===NDC) return _worldToNDC(out,px,py,pz,_ensurePV(m));\n if (from===NDC && to===WORLD) return _ndcToWorld(out,px,py,pz,m.mat4PVInv);\n\n if (from===SCREEN && to===NDC) return _screenToNDC(out,px,py,pz,vp,ndcZMin);\n if (from===NDC && to===SCREEN) return _ndcToScreen(out,px,py,pz,vp,ndcZMin);\n\n if (from===WORLD && to===EYE) return mat4MulPoint(out,m.mat4View,px,py,pz);\n if (from===EYE && to===WORLD) return mat4MulPoint(out,m.mat4Eye,px,py,pz);\n\n if (from===EYE && to===SCREEN) {\n const e=m.mat4Eye;\n return _worldToScreen(out,e[0]px+e[4]py+e[8]pz+e[12],\n e[1]px+e[5]py+e[9]pz+e[13],\n e[2]px+e[6]py+e[10]pz+e[14],_ensurePV(m),vp,ndcZMin);\n }\n if (from===SCREEN && to===EYE) {\n _screenToWorld(out,px,py,pz,m.mat4PVInv,vp,ndcZMin);\n return mat4MulPoint(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===EYE && to===NDC) {\n const e=m.mat4Eye;\n return _worldToNDC(out,e[0]px+e[4]py+e[8]pz+e[12],\n e[1]px+e[5]py+e[9]pz+e[13],\n e[2]px+e[6]py+e[10]pz+e[14],_ensurePV(m));\n }\n if (from===NDC && to===EYE) {\n _ndcToWorld(out,px,py,pz,m.mat4PVInv);\n return mat4MulPoint(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===WORLD) return mat4MulPoint(out,m.fromFrame,px,py,pz);\n if (from===WORLD && to===MATRIX) return mat4MulPoint(out,m.toFrameInv,px,py,pz);\n\n if (from===MATRIX && to===EYE) {\n const f=m.fromFrame;\n return mat4MulPoint(out,m.mat4View,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14]);\n }\n if (from===EYE && to===MATRIX) {\n const e=m.mat4Eye;\n return mat4MulPoint(out,m.toFrameInv,e[0]px+e[4]py+e[8]pz+e[12],\n e[1]px+e[5]py+e[9]pz+e[13],\n e[2]px+e[6]py+e[10]pz+e[14]);\n }\n\n if (from===MATRIX && to===SCREEN) {\n const f=m.fromFrame;\n return _worldToScreen(out,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14],_ensurePV(m),vp,ndcZMin);\n }\n if (from===SCREEN && to===MATRIX) {\n _screenToWorld(out,px,py,pz,m.mat4PVInv,vp,ndcZMin);\n return mat4MulPoint(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===NDC) {\n const f=m.fromFrame;\n return _worldToNDC(out,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14],_ensurePV(m));\n }\n if (from===NDC && to===MATRIX) {\n _ndcToWorld(out,px,py,pz,m.mat4PVInv);\n return mat4MulPoint(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===MATRIX) {\n const f=m.fromFrame;\n return mat4MulPoint(out,m.toFrameInv,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14]);\n }\n\n out[0]=px; out[1]=py; out[2]=pz;\n return out;\n}\n\n// ── Direction helpers ────────────────────────────────────────────────────\n//\n// Directions use only the linear 3×3 block — no translation, no w-divide.\n// The signed vp[2]/vp[3] carries the y-convention automatically.\n//\n\nfunction _applyDir(out, m, dx, dy, dz) {\n out[0]=m[0]dx+m[4]dy+m[8]dz;\n out[1]=m[1]dx+m[5]dy+m[9]dz;\n out[2]=m[2]dx+m[6]dy+m[10]dz;\n return out;\n}\n\nfunction _worldToScreenDir(out, dx, dy, dz, proj, view, vpW, vpH, ndcZMin) {\n const vx=view[0]dx+view[4]dy+view[8]dz,\n vy=view[1]dx+view[5]dy+view[9]dz,\n vz=view[2]dx+view[6]dy+view[10]dz;\n // vpH is signed — negative flips y component automatically.\n out[0]=(proj[0]vx+proj[4]vy+proj[8]vz)vpW0.5;\n out[1]=(proj[1]vx+proj[5]vy+proj[9]vz)vpH0.5;\n out[2]=(proj[2]vx+proj[6]vy+proj[10]vz)(1-ndcZMin)0.5;\n return out;\n}\n\nfunction _screenToWorldDir(out, dx, dy, dz, proj, eye, vpW, vpH, ndcZMin) {\n // Inverse of _worldToScreenDir: undo the viewport scale, then the projection's\n // upper-triangular 3×3 block (p[8], p[9] carry an off-centre frustum), then\n // rotate eye→world. Signed vpW/vpH cancel the y-flip.\n const cz = dz/((1-ndcZMin)0.5)/proj[10];\n const cy = (dy/(vpH0.5) - proj[9]cz)/proj[5];\n const cx = (dx/(vpW0.5) - proj[8]cz)/proj[0];\n return _applyDir(out, eye, cx, cy, cz);\n}\n\nfunction _screenToNDCDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n out[0]=dx/(vpW0.5); out[1]=dy/(vpH0.5); out[2]=dz/((1-ndcZMin)0.5);\n return out;\n}\n\nfunction _ndcToScreenDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n out[0]=dxvpW0.5; out[1]=dyvpH0.5; out[2]=dz(1-ndcZMin)0.5;\n return out;\n}\n\n/\n Map a direction between named coordinate spaces.\n * Same bag and viewport contract as mapLocation.\n \n @param {number[]} out 3-element destination.\n * @param {number} dx,dy,dz Input direction.\n * @param {string} from Source space.\n * @param {string} to Destination space.\n * @param {object} m Matrices bag — see module header.\n * @param {number[]} vp Viewport [x, y, w, h]; sign of h encodes screen-y direction.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @returns {number[]} out\n /\nfunction mapDirection(out, dx, dy, dz, from, to, m, vp, ndcZMin) {\n const vpW=vp[2], vpH=vp[3]; // signed — carry y-convention through all helpers\n\n if (from===EYE && to===WORLD) return _applyDir(out,m.mat4Eye, dx,dy,dz);\n if (from===WORLD && to===EYE) return _applyDir(out,m.mat4View,dx,dy,dz);\n\n if (from===WORLD && to===SCREEN) return _worldToScreenDir(out,dx,dy,dz,m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n if (from===SCREEN && to===WORLD) return _screenToWorldDir(out,dx,dy,dz,m.mat4Proj,m.mat4Eye, vpW,vpH,ndcZMin);\n\n if (from===SCREEN && to===NDC) return _screenToNDCDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n if (from===NDC && to===SCREEN) return _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n\n if (from===WORLD && to===NDC) {\n _worldToScreenDir(out,dx,dy,dz,m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n return _screenToNDCDir(out,out[0],out[1],out[2],vpW,vpH,ndcZMin);\n }\n if (from===NDC && to===WORLD) {\n _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n return _screenToWorldDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n }\n\n if (from===EYE && to===SCREEN) {\n _applyDir(out,m.mat4Eye,dx,dy,dz);\n return _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n }\n if (from===SCREEN && to===EYE) {\n _screenToWorldDir(out,dx,dy,dz,m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===EYE && to===NDC) {\n _applyDir(out,m.mat4Eye,dx,dy,dz);\n _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n return _screenToNDCDir(out,out[0],out[1],out[2],vpW,vpH,ndcZMin);\n }\n if (from===NDC && to===EYE) {\n _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n _screenToWorldDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===WORLD) return _applyDir(out,m.fromFrame, dx,dy,dz);\n if (from===WORLD && to===MATRIX) return _applyDir(out,m.toFrameInv,dx,dy,dz);\n\n if (from===MATRIX && to===EYE) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n return _applyDir(out,m.mat4View,out[0],out[1],out[2]);\n }\n if (from===EYE && to===MATRIX) {\n _applyDir(out,m.mat4Eye,dx,dy,dz);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===SCREEN) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n return _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n }\n if (from===SCREEN && to===MATRIX) {\n _screenToWorldDir(out,dx,dy,dz,m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===NDC) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n return _screenToNDCDir(out,out[0],out[1],out[2],vpW,vpH,ndcZMin);\n }\n if (from===NDC && to===MATRIX) {\n _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n _screenToWorldDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===MATRIX) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n out[0]=dx; out[1]=dy; out[2]=dz;\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Rays and pointer hits\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n Screen point → world ray: origin on the near plane (screen depth 0), unit\n * direction toward the far plane (depth 1). Same bag and viewport contract as\n * mapLocation; `m.mat4PVInv` must be filled by the caller.\n \n @param {number[]} outO 3-element origin.\n * @param {number[]} outD 3-element unit direction.\n * @param {number} sx,sy Screen point.\n * @param {object} m Matrices bag — see module header.\n * @param {number[]} vp Viewport [x, y, w, h]; sign of h encodes screen-y direction.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @returns {number[]\|null} outD, or null when the bag carries no mat4PVInv\n * (singular P·V) or the ray has no length.\n /\nfunction unproject(outO, outD, sx, sy, m, vp, ndcZMin) {\n const ipv = m.mat4PVInv;\n if (!ipv) return null;\n _screenToWorld(outO, sx, sy, 0, ipv, vp, ndcZMin);\n _screenToWorld(outD, sx, sy, 1, ipv, vp, ndcZMin);\n const dx=outD[0]-outO[0], dy=outD[1]-outO[1], dz=outD[2]-outO[2];\n const l=Math.sqrt(dxdx+dydy+dzdz);\n if (!(l > 0)) return null;\n outD[0]=dx/l; outD[1]=dy/l; outD[2]=dz/l;\n return outD;\n}\n\nconst _hit = [0, 0, 0]; // pointerHit screen scratch\n\n/*\n Is the pointer within `radius` px of the projected world point (x, y, z)?\n * `shape` is CIRCLE (Euclidean, default) or SQUARE (Chebyshev); the boundary\n * hits. A point whose screen depth falls outside [0, 1] — behind the camera,\n * before the near plane or beyond the far plane — never hits.\n \n @param {number} px,py Pointer, screen px.\n * @param {number} x,y,z World point.\n * @param {number} radius Hit radius, px.\n * @param {object} m Matrices bag — see module header.\n * @param {number[]} vp Viewport [x, y, w, h]; sign of h encodes screen-y direction.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @param {number} [shape=CIRCLE] CIRCLE or SQUARE.\n * @returns {boolean}\n /\nfunction pointerHit(px, py, x, y, z, radius, m, vp, ndcZMin, shape = CIRCLE) {\n _worldToScreen(_hit, x, y, z, _ensurePV(m), vp, ndcZMin);\n const d = _hit[2];\n if (!(d >= 0 && d <= 1)) return false;\n const dx = px - _hit[0], dy = py - _hit[1];\n return shape === SQUARE\n ? Math.abs(dx) <= radius && Math.abs(dy) <= radius\n : dxdx + dydy <= radiusradius;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// pixelRatio\n// ═══════════════════════════════════════════════════════════════════════════\n\n/*\n World-units-per-pixel at a given eye-space Z depth.\n * @param {ArrayLike<number>} proj Projection mat4.\n * @param {number} vpH Viewport height in pixels (positive).\n * @param {number} eyeZ Eye-space Z — negative means in front of camera.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nfunction pixelRatio(proj, vpH, eyeZ, ndcZMin) {\n return projIsOrtho(proj)\n ? Math.abs(projTop(proj,ndcZMin)-projBottom(proj,ndcZMin)) / vpH\n : 2Math.abs(eyeZ)Math.tan(projFov(proj)/2) / vpH;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Pick-matrix\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n Mutate a projection matrix in-place so that the pixel at (px, py) maps to\n * the full NDC square — making a 1×1 FBO render contain exactly that pixel.\n \n Premultiplies by M_pick (column-major, rows 2 and 3 unchanged):\n \n ┌ sx 0 0 tx ┐ sx = \|vp[2]\|, sy = \|vp[3]\|\n * │ 0 sy 0 ty │ cx = ((px−vp[0])/vp[2])·2 − 1 (NDC x of pixel centre)\n * │ 0 0 1 0 │ cy = ((py−vp[1])/vp[3])·2 − 1 (NDC y, sign-aware)\n * └ 0 0 0 1 ┘ tx = −cx·sx, ty = −cy·sy\n \n Result: P_pick = M_pick · P_original.\n * The viewport sign convention (vp[3] < 0 for screen y-down) is preserved\n * automatically through cx/cy — no separate flip needed.\n \n @param {Float32Array} proj Projection mat4 — mutated in place.\n * @param {number} px Query pixel X in screen coordinates.\n * @param {number} py Query pixel Y in screen coordinates.\n * @param {number[]} vp Viewport [x, y, w, h]; same signed convention as mapLocation.\n /\nfunction mat4Pick(proj, px, py, vp) {\n const cx=((px-vp[0])/vp[2])2-1;\n const cy=((py-vp[1])/vp[3])2-1;\n const sx=Math.abs(vp[2]), sy=Math.abs(vp[3]);\n const tx=-cxsx, ty=-cysy;\n for (let j=0; j<4; j++) {\n const a=proj[j4], b=proj[j4+1], d=proj[j4+3];\n proj[j4] = sxa + txd;\n proj[j4+1] = syb + tyd;\n }\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Pick-id codec\n// ═══════════════════════════════════════════════════════════════════════════\n\n/*\n Pick id → colour: the 24-bit id packed into r, g, b as normalised floats,\n * R the low byte, alpha 1. Id 0 is the background; ids run 1 … 2²⁴ − 1.\n * @param {number[]} out 4-element destination.\n * @param {number} id Integer id.\n * @returns {number[]} out\n /\nfunction idToRgba(out, id) {\n out[0] = (id & 255) / 255;\n out[1] = ((id >> 8) & 255) / 255;\n out[2] = ((id >> 16) & 255) / 255;\n out[3] = 1;\n return out;\n}\n\n/\n Colour bytes → pick id, the inverse of idToRgba on a readback.\n * @param {number} r,g,b Bytes 0 … 255 (fractions truncated).\n * @returns {number} id\n /\nfunction rgbaToId(r, g, b) {\n return (r & 255) \| ((g & 255) << 8) \| ((b & 255) << 16);\n}\n\n// =========================================================================\n// Decomposition\n// =========================================================================\n\n/\n Extract translation from a column-major mat4 (column 3).\n * @param {Float32Array\|number[]} out3 3-element destination.\n * @param {Float32Array\|number[]} m 16-element source.\n /\nfunction mat4ToTranslation(out3, m) {\n out3[0]=m[12]; out3[1]=m[13]; out3[2]=m[14];\n return out3;\n}\n\n/\n Extract scale from a column-major mat4 (column lengths of the rotation block).\n * Assumes no shear.\n * @param {Float32Array\|number[]} out3 3-element destination.\n * @param {Float32Array\|number[]} m 16-element source.\n /\nfunction mat4ToScale(out3, m) {\n out3[0]=Math.sqrt(m[0]m[0]+m[1]m[1]+m[2]m[2]);\n out3[1]=Math.sqrt(m[4]m[4]+m[5]m[5]+m[6]m[6]);\n out3[2]=Math.sqrt(m[8]m[8]+m[9]m[9]+m[10]m[10]);\n return out3;\n}\n\n/*\n Extract rotation as a unit quaternion from a column-major mat4.\n * Scale is factored out from each column. Assumes no shear.\n * @param {number[]} out4 4-element [x,y,z,w] destination.\n * @param {Float32Array\|number[]} m 16-element source.\n /\nfunction mat4ToRotation(out4, m) {\n const sx=Math.sqrt(m[0]m[0]+m[1]m[1]+m[2]m[2])\|\|1;\n const sy=Math.sqrt(m[4]m[4]+m[5]m[5]+m[6]m[6])\|\|1;\n const sz=Math.sqrt(m[8]m[8]+m[9]m[9]+m[10]m[10])\|\|1;\n return qFromRotMat3x3(out4,\n m[0]/sx, m[4]/sy, m[8]/sz,\n m[1]/sx, m[5]/sy, m[9]/sz,\n m[2]/sx, m[6]/sy, m[10]/sz);\n}\n\n/*\n @file Spline math and keyframe animation state machines.\n * @module tree/track\n * @license AGPL-3.0-only\n \n Quaternion algebra is provided by quat.js; projection matrix construction\n * by form.js. Spline helpers (hermiteVec3, lerpVec3) and TRS↔mat4 conversions\n * (transformToMat4, mat4ToTransform) live here because they are tightly\n * coupled to the PoseTrack keyframe shape.\n \n Zero dependencies on p5, DOM, WebGL, or WebGPU.\n \n ── Exports ──────────────────────────────────────────────────────────────\n * Quaternion helpers (re-exported from quat.js)\n * qSet qCopy qDot qNormalize qNegate qMul qConjugate qRotateVec3\n * qSlerp qNlerp qFromUnitVectors qFromAxisAngle qFromLookDir\n * qFromRotMat3x3 qFromMat4 qToMat4 qToAxisAngle\n * Spline / vector helpers\n * hermiteVec3 lerpVec3\n * Transform / mat4 helpers\n * transformToMat4 mat4ToTransform\n * Tracks\n * PoseTrack — { pos, rot, scl } TRS keyframes\n * CameraTrack — { eye, center, up, fov?, halfHeight?, near, far }\n * lookat keyframes\n \n ── Public path access (all zero-alloc, no cursor side effects) ──────────\n * PoseTrack\n * samplePos (out) \| (out, seg, t) vec3\n * mat4Model (out) \| (out, seg, t) mat4 — TRS model\n * tangents (outIn, outOut, index) vec3 × 2 at keyframe\n * eval (out?) TRS object at cursor\n \n CameraTrack\n * sampleEye (out) \| (out, seg, t) vec3\n * sampleCenter (out) \| (out, seg, t) vec3\n * mat4Eye (out) \| (out, seg, t) mat4 — lookat frame\n * eyeTangents (outIn, outOut, index) vec3 × 2 at keyframe\n * centerTangents (outIn, outOut, index) vec3 × 2 at keyframe\n * eval (out?) { eye, center, up,\n * fov, halfHeight,\n * near, far }\n \n Two arities for the continuous family:\n * (out) cursor form — reads track.seg / track.f. Useful when the\n * track's own transport is driving the animation.\n * (out, seg, t) explicit form — continuous (seg, t) coordinate, no cursor\n * side effects. seg ∈ [0, segments−1] integer, t ∈ [0, 1]\n * local to that segment. As a convenience, seg === segments\n * is accepted and rewritten to (segments−1, 1) — so the\n * idiom sampleX(out, i, 0) uniformly addresses keyframe i\n * for every i ∈ [0, keyframes.length−1].\n \n All honour the track's interpolation mode (hermite / linear / step) and\n * the same stored-tangent → centripetal-CR fallback chain that eval() uses.\n \n `tangents` / `eyeTangents` / `centerTangents` are keyframe-indexed — a\n * keyframe's incoming tangent belongs to the previous segment, outgoing to\n * the next. At boundary keyframes the missing side mirrors the present one\n * so drawing arrows at endpoints always yields a visible vector.\n \n Projection matrices are deliberately not exposed as a track method. Each\n * CameraTrack keyframe stores `fov` (perspective) or `halfHeight` (ortho)\n * directly on track.keyframes[i] — callers wanting a projection build one\n * with the free mat4Persp / mat4Ortho constructors. Animated fov in\n * sketches flows through the bridge's camera-binding via eval().fov and\n * eval().halfHeight (the bridge calls cam.perspective() / cam.ortho() each\n * frame).\n \n ── Class hierarchy ──────────────────────────────────────────────────────\n * Track (unexported, never instantiated directly)\n * └── PoseTrack (exported)\n * └── CameraTrack (exported)\n \n ── Hook architecture ────────────────────────────────────────────────────\n * Lib-space hooks (underscore prefix — host layer / UI layer):\n * _onActivate / _onDeactivate — fire on playing false→true / true→false.\n * _onPlay / _onEnd / _onStop — mirror the user-space hooks.\n \n User-space hooks:\n * onPlay : fires in play() on false→true transition.\n * onEnd : fires in tick() at natural boundary (once mode only).\n * onStop : fires in stop() / reset().\n \n Firing order:\n * play() → onPlay → _onPlay → _onActivate\n * tick() → onEnd → _onEnd → _onDeactivate\n * stop() → onStop → _onStop → _onDeactivate\n * reset() → onStop → _onStop → _onDeactivate\n \n ── Loop modes ───────────────────────────────────────────────────────────\n * loop:false, bounce:false — play once, stop at end (fires onEnd)\n * loop:true, bounce:false — repeat, wrap back to start\n * loop:true, bounce:true — bounce forever at boundaries\n * loop:false, bounce:true — bounce once: flip at far boundary, stop at origin\n \n ── Playback semantics (rate + _dir) ─────────────────────────────────────\n * rate > 0 forward rate < 0 backward rate === 0 frozen\n \n play() is the sole setter of playing = true.\n * stop() is the sole setter of playing = false.\n * Assigning rate never starts or stops playback.\n \n _dir (internal, ±1) tracks the current bounce travel direction.\n * tick() advances by rate * _dir and flips _dir at boundaries.\n * _dir is reset to 1 only in reset().\n \n ── One-keyframe behaviour ───────────────────────────────────────────────\n * play() with exactly one keyframe snaps eval() to that keyframe without\n * setting playing = true and without firing hooks.\n /\n\n\n// =========================================================================\n// S2 Spline / vector helpers\n// =========================================================================\n\nfunction _dist3(a, b) {\n const dx=a[0]-b[0], dy=a[1]-b[1], dz=a[2]-b[2];\n return Math.sqrt(dxdx+dydy+dzdz);\n}\n\n/*\n Cubic Hermite interpolation between p0 and p1 with explicit tangents.\n * @param {number[]} out 3-element result.\n * @param {number[]} p0 Segment start.\n * @param {number[]} m0 Outgoing tangent at p0.\n * @param {number[]} p1 Segment end.\n * @param {number[]} m1 Incoming tangent at p1.\n * @param {number} t Blend [0, 1].\n * @returns {number[]} out\n /\nconst hermiteVec3 = (out, p0, m0, p1, m1, t) => {\n const t2=tt, t3=t2t;\n const h00=2t3-3t2+1, h10=t3-2t2+t, h01=-2t3+3t2, h11=t3-t2;\n out[0]=h00p0[0]+h10m0[0]+h01p1[0]+h11m1[0];\n out[1]=h00p0[1]+h10m0[1]+h01p1[1]+h11m1[1];\n out[2]=h00p0[2]+h10m0[2]+h01p1[2]+h11m1[2];\n return out;\n};\n\n// Centripetal CR outgoing tangent at p1 for segment p1→p2.\n// Signature: (out, p0, p1, p2). Returns tangent AT p1 (the middle point).\nconst _crTanOut = (out, p0, p1, p2) => {\n const dt0=Math.pow(_dist3(p0,p1),0.5)\|\|1, dt1=Math.pow(_dist3(p1,p2),0.5)\|\|1;\n for (let i=0;i<3;i++) out[i]=((p1[i]-p0[i])/dt0-(p2[i]-p0[i])/(dt0+dt1)+(p2[i]-p1[i])/dt1)dt1;\n return out;\n};\n\n// Centripetal CR incoming tangent at p2 for segment p1→p2.\n// Signature: (out, p1, p2, p3). Returns tangent AT p2 (the middle point).\nconst _crTanIn = (out, p1, p2, p3) => {\n const dt1=Math.pow(_dist3(p1,p2),0.5)\|\|1, dt2=Math.pow(_dist3(p2,p3),0.5)\|\|1;\n for (let i=0;i<3;i++) out[i]=((p2[i]-p1[i])/dt1-(p3[i]-p1[i])/(dt1+dt2)+(p3[i]-p2[i])/dt2)dt1;\n return out;\n};\n\n// Module-level scratch — shared across track instances (non-reentrant hot path).\nconst _m0=[0,0,0], _m1=[0,0,0];\nconst _trsScratch = { pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] };\nconst _eyeScratch = { eye:[0,0,0], center:[0,0,0], up:[0,1,0] };\n\n/*\n Linear interpolation between two vec3s.\n /\nconst lerpVec3 = (out, a, b, t) => {\n out[0]=a[0]+t(b[0]-a[0]);\n out[1]=a[1]+t(b[1]-a[1]);\n out[2]=a[2]+t(b[2]-a[2]);\n return out;\n};\n\n// =========================================================================\n// S2b Path samplers — shared core\n// =========================================================================\n\n/** @private — sample interpolated vec3 path at (seg, t) into out. /\nfunction _samplePathCore(out, kfs, interp, field, tanInName, tanOutName, seg, t) {\n const n = kfs.length;\n if (n === 0) { out[0]=0; out[1]=0; out[2]=0; return out; }\n if (n === 1) {\n const p = kfs[0][field];\n out[0]=p[0]; out[1]=p[1]; out[2]=p[2];\n return out;\n }\n const nSeg = n - 1;\n seg = seg \| 0;\n if (seg >= nSeg) { seg = nSeg - 1; t = 1; }\n else if (seg < 0) { seg = 0; t = 0; }\n t = _clamp01(t);\n const k0 = kfs[seg];\n const k1 = kfs[seg + 1];\n\n if (interp === 'step') {\n const p = k0[field];\n out[0]=p[0]; out[1]=p[1]; out[2]=p[2];\n return out;\n }\n if (interp === 'linear') {\n return lerpVec3(out, k0[field], k1[field], t);\n }\n\n const p0 = seg > 0 ? kfs[seg - 1][field] : k0[field];\n const p3 = seg + 2 < n ? kfs[seg + 2][field] : k1[field];\n const m0 = k0[tanOutName] != null ? k0[tanOutName]\n : k0[tanInName] != null ? k0[tanInName]\n : _crTanOut(_m0, p0, k0[field], k1[field]);\n const m1 = k1[tanInName] != null ? k1[tanInName]\n : k1[tanOutName] != null ? k1[tanOutName]\n : _crTanIn(_m1, k0[field], k1[field], p3);\n return hermiteVec3(out, k0[field], m0, k1[field], m1, t);\n}\n\n/* @private — write effective in/out tangents at keyframe i. /\nfunction _sampleTangentsCore(outIn, outOut, kfs, field, tanInName, tanOutName, i) {\n const n = kfs.length;\n if (n === 0) {\n outIn[0]=outIn[1]=outIn[2]=0; outOut[0]=outOut[1]=outOut[2]=0;\n return;\n }\n i = _clampS(i \| 0, 0, n - 1);\n const ki = kfs[i];\n const hasTI = ki[tanInName] != null;\n const hasTO = ki[tanOutName] != null;\n\n if (hasTO) {\n outOut[0]=ki[tanOutName][0]; outOut[1]=ki[tanOutName][1]; outOut[2]=ki[tanOutName][2];\n } else if (hasTI) {\n outOut[0]=ki[tanInName][0]; outOut[1]=ki[tanInName][1]; outOut[2]=ki[tanInName][2];\n } else if (i < n - 1) {\n const k1 = kfs[i + 1];\n const p0 = i > 0 ? kfs[i - 1][field] : ki[field];\n _crTanOut(outOut, p0, ki[field], k1[field]);\n } else {\n outOut[0]=0; outOut[1]=0; outOut[2]=0;\n }\n\n if (hasTI) {\n outIn[0]=ki[tanInName][0]; outIn[1]=ki[tanInName][1]; outIn[2]=ki[tanInName][2];\n } else if (hasTO) {\n outIn[0]=ki[tanOutName][0]; outIn[1]=ki[tanOutName][1]; outIn[2]=ki[tanOutName][2];\n } else if (i > 0) {\n const k0 = kfs[i - 1];\n const p3 = i + 1 < n ? kfs[i + 1][field] : ki[field];\n _crTanIn(outIn, k0[field], ki[field], p3);\n } else {\n outIn[0]=outOut[0]; outIn[1]=outOut[1]; outIn[2]=outOut[2];\n }\n\n if (i === n - 1 && !hasTO && !hasTI) {\n outOut[0]=outIn[0]; outOut[1]=outIn[1]; outOut[2]=outIn[2];\n }\n}\n\n// =========================================================================\n// S3 Transform <-> Mat4\n// =========================================================================\n\n/\n Write a TRS transform into a column-major mat4.\n /\nconst transformToMat4 = (out, xform) => {\n qToMat4(out, xform.rot);\n const sx=xform.scl[0], sy=xform.scl[1], sz=xform.scl[2];\n out[0]=sx; out[1]=sx; out[2]=sx;\n out[4]=sy; out[5]=sy; out[6]=sy;\n out[8]=sz; out[9]=sz; out[10]=sz;\n out[12]=xform.pos[0]; out[13]=xform.pos[1]; out[14]=xform.pos[2];\n return out;\n};\n\n/*\n Decompose a column-major mat4 into a TRS transform.\n /\nconst mat4ToTransform = (out, m) => {\n out.pos[0]=m[12]; out.pos[1]=m[13]; out.pos[2]=m[14];\n const sx=Math.sqrt(m[0]m[0]+m[1]m[1]+m[2]m[2]);\n const sy=Math.sqrt(m[4]m[4]+m[5]m[5]+m[6]m[6]);\n const sz=Math.sqrt(m[8]m[8]+m[9]m[9]+m[10]m[10]);\n out.scl[0]=sx; out.scl[1]=sy; out.scl[2]=sz;\n qFromRotMat3x3(out.rot,\n m[0]/sx,m[4]/sy,m[8]/sz,\n m[1]/sx,m[5]/sy,m[9]/sz,\n m[2]/sx,m[6]/sy,m[10]/sz);\n return out;\n};\n\n// =========================================================================\n// S4a Spec parser — PoseTrack\n// =========================================================================\n\nconst _isNum$1 = (x) => typeof x === 'number' && Number.isFinite(x);\nconst _clamp01 = (x) => x < 0 ? 0 : (x > 1 ? 1 : x);\nconst _clampS = (x, lo, hi) => x < lo ? lo : (x > hi ? hi : x);\n\nfunction _parseVec3(v) {\n if (!v) return null;\n if (ArrayBuffer.isView(v) && v.length >= 3) return [v[0], v[1], v[2]];\n if (Array.isArray(v) && v.length >= 3 && v.every(n => typeof n === 'number')) return [v[0], v[1], v[2]];\n if (typeof v === 'object' && 'x' in v) return [v.x \|\| 0, v.y \|\| 0, v.z \|\| 0];\n return null;\n}\n\nconst _EULER_AXES = { X:[1,0,0], Y:[0,1,0], Z:[0,0,1] };\nconst _EULER_ORDERS = new Set(['XYZ','XZY','YXZ','YZX','ZXY','ZYX']);\n\n/*\n Parse any rotation representation into a unit quaternion [x,y,z,w].\n \n Accepted forms:\n * [x,y,z,w] — raw quaternion array\n * { axis:[x,y,z], angle } — axis-angle (angle in radians)\n * { dir:[x,y,z], up?:[x,y,z] } — forward direction (−Z) with optional up\n * { mat4Eye: mat4 } — rotation block of an eye matrix\n * { mat3: mat3 } — column-major 3×3 rotation matrix\n * { euler:[rx,ry,rz], order? } — intrinsic Euler (default order: YXZ)\n * { from:[x,y,z], to:[x,y,z] } — shortest-arc rotation between two vectors\n \n @param {} v\n @returns {number[]\|null} [x,y,z,w] or null if unparseable.\n /\nfunction _parseQuat(v) {\n if (!v) return null;\n\n // [x,y,z,w] — normalised like every other form\n if (Array.isArray(v) && v.length === 4) return qNormalize([v[0],v[1],v[2],v[3]]);\n if (ArrayBuffer.isView(v) && v.length >= 4) return qNormalize([v[0],v[1],v[2],v[3]]);\n\n if (typeof v !== 'object') return null;\n\n // { axis, angle }\n if (v.axis != null && v.angle != null) {\n const ax = Array.isArray(v.axis) ? v.axis : [v.axis.x\|\|0, v.axis.y\|\|0, v.axis.z\|\|0];\n return qFromAxisAngle([0,0,0,1], ax[0],ax[1],ax[2], v.angle);\n }\n\n // { dir, up? }\n if (v.dir != null) {\n const d = Array.isArray(v.dir) ? v.dir : [v.dir.x\|\|0, v.dir.y\|\|0, v.dir.z\|\|0];\n const u = v.up ? (Array.isArray(v.up) ? v.up : [v.up.x\|\|0, v.up.y\|\|0, v.up.z\|\|0]) : null;\n return qFromLookDir([0,0,0,1], d, u);\n }\n\n // { mat4Eye }\n if (v.mat4Eye != null) {\n const m = (ArrayBuffer.isView(v.mat4Eye) \|\| Array.isArray(v.mat4Eye))\n ? v.mat4Eye : (v.mat4Eye.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n return qFromRotMat3x3([0,0,0,1], m[0],m[4],m[8], m[1],m[5],m[9], m[2],m[6],m[10]);\n }\n\n // { mat3 }\n if (v.mat3 != null) {\n const m = (ArrayBuffer.isView(v.mat3) \|\| Array.isArray(v.mat3)) ? v.mat3 : null;\n if (!m \|\| m.length < 9) return null;\n return qFromRotMat3x3([0,0,0,1], m[0],m[3],m[6], m[1],m[4],m[7], m[2],m[5],m[8]);\n }\n\n // { euler, order? }\n if (v.euler != null) {\n const e = v.euler;\n if (!Array.isArray(e) \|\| e.length < 3) return null;\n const order = (v.order && _EULER_ORDERS.has(v.order)) ? v.order : 'YXZ';\n const q = [0,0,0,1], s = [0,0,0,1];\n for (let i = 0; i < 3; i++) {\n const ax = _EULER_AXES[order[i]];\n qMul(q, q, qFromAxisAngle(s, ax[0],ax[1],ax[2], e[i]));\n }\n return q;\n }\n\n // { from, to }\n if (v.from != null && v.to != null) {\n const f = Array.isArray(v.from) ? v.from : [v.from.x\|\|0, v.from.y\|\|0, v.from.z\|\|0];\n const t = Array.isArray(v.to) ? v.to : [v.to.x\|\|0, v.to.y\|\|0, v.to.z\|\|0];\n const fl = Math.sqrt(f[0]f[0]+f[1]f[1]+f[2]f[2]) \|\| 1;\n const tl = Math.sqrt(t[0]t[0]+t[1]t[1]+t[2]t[2]) \|\| 1;\n const fx=f[0]/fl, fy=f[1]/fl, fz=f[2]/fl;\n const tx=t[0]/tl, ty=t[1]/tl, tz=t[2]/tl;\n const dot = fxtx + fyty + fztz;\n if (dot >= 1 - 1e-8) return [0,0,0,1];\n if (dot <= -1 + 1e-8) {\n let px=0, py=fz, pz=-fy;\n let pl = Math.sqrt(pxpx+pypy+pzpz);\n if (pl < 1e-8) { px=fy; py=-fx; pz=0; pl = Math.sqrt(pxpx+pypy+pzpz); }\n if (pl < 1e-8) return [0,0,0,1];\n return qFromAxisAngle([0,0,0,1], px/pl,py/pl,pz/pl, Math.PI);\n }\n let ax=fytz-fzty, ay=fztx-fxtz, az=fxty-fytx;\n const al = Math.sqrt(axax+ayay+azaz) \|\| 1;\n return qFromAxisAngle([0,0,0,1], ax/al,ay/al,az/al,\n Math.acos(Math.max(-1, Math.min(1, dot))));\n }\n\n return null;\n}\n\n/\n Parse a PoseTrack keyframe spec into internal form.\n \n Accepted forms:\n * { mat4Model }\n * Decompose a column-major mat4 into TRS via mat4ToTransform.\n * Float32Array(16), plain Array, or { mat4 } wrapper.\n \n { pos?, rot?, scl?, tanIn?, tanOut? }\n * Explicit TRS. pos and scl are vec3; rot accepts any form from _parseQuat.\n * All fields are optional — missing pos/scl default to [0,0,0] / [1,1,1],\n * missing rot defaults to identity.\n * tanIn/tanOut are optional vec3 tangents for Hermite interpolation.\n \n @param {Object} spec\n * @returns {{ pos:number[], rot:number[], scl:number[],\n * tanIn:number[]\|null, tanOut:number[]\|null } \| null}\n /\nfunction _parseSpec(spec) {\n if (!spec \|\| typeof spec !== 'object') return null;\n\n // { mat4Model } — full TRS decomposition from model matrix\n if (spec.mat4Model != null) {\n const m = (ArrayBuffer.isView(spec.mat4Model) \|\| Array.isArray(spec.mat4Model))\n ? spec.mat4Model : (spec.mat4Model.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n const kf = mat4ToTransform({ pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] }, m);\n kf.tanIn = null; kf.tanOut = null;\n return kf;\n }\n\n // { pos?, rot?, scl?, tanIn?, tanOut? } — explicit TRS\n const pos = _parseVec3(spec.pos) \|\| [0,0,0];\n const rot = _parseQuat(spec.rot) \|\| [0,0,0,1];\n const scl = _parseVec3(spec.scl) \|\| [1,1,1];\n const tanIn = _parseVec3(spec.tanIn) \|\| null;\n const tanOut = _parseVec3(spec.tanOut) \|\| null;\n return { pos, rot, scl, tanIn, tanOut };\n}\n\nfunction _sameTransform(a, b) {\n for (let i=0;i<3;i++) if (a.pos[i]!==b.pos[i]\|\|a.scl[i]!==b.scl[i]) return false;\n for (let i=0;i<4;i++) if (a.rot[i]!==b.rot[i]) return false;\n return true;\n}\n\n// =========================================================================\n// S4b Spec parser — CameraTrack\n// =========================================================================\n\n// Lens defaults used when a spec omits near/far. Match the three.js /\n// Bevy conventions and are safe for typical p5 v2 scene scales.\nconst _DEFAULT_NEAR = 0.1;\nconst _DEFAULT_FAR = 1000;\n\n/\n Parse a CameraTrack keyframe spec into internal form.\n \n Required: eye (vec3). Everything else is optional.\n * center defaults to [0, 0, 0]\n * up defaults to [0, 1, 0] and is normalised\n * fov vertical fov (radians), perspective only — null if absent\n * halfHeight world-unit half-height of ortho frustum — null if absent\n * near near clip distance (positive) — defaults to 0.1\n * far far clip distance (positive) — defaults to 1000\n * eyeTanIn/Out optional Hermite tangents for the eye path\n * centerTanIn/Out optional Hermite tangents for the center path\n \n fov and halfHeight are mutually exclusive (perspective xor ortho) and\n * therefore left nullable; eval() lerps each only when both adjacent\n * keyframes carry a non-null value, passing null through otherwise.\n \n near and far are always meaningful regardless of projection type, so\n * they receive real defaults and are linearly interpolated unconditionally.\n \n @param {Object} spec\n * @returns {Object\|null} Parsed keyframe or null if eye is missing/malformed.\n /\nfunction _parseCameraSpec(spec) {\n if (!spec \|\| typeof spec !== 'object') return null;\n const eye = _parseVec3(spec.eye);\n if (!eye) return null;\n const center = _parseVec3(spec.center) \|\| [0,0,0];\n const upRaw = spec.up ? _parseVec3(spec.up) : null;\n const up = upRaw \|\| [0,1,0];\n const ul = Math.sqrt(up[0]up[0]+up[1]up[1]+up[2]up[2]) \|\| 1;\n return {\n eye, center,\n up: [up[0]/ul, up[1]/ul, up[2]/ul],\n fov: typeof spec.fov === 'number' ? spec.fov : null,\n halfHeight: typeof spec.halfHeight === 'number' ? spec.halfHeight : null,\n near: typeof spec.near === 'number' ? spec.near : _DEFAULT_NEAR,\n far: typeof spec.far === 'number' ? spec.far : _DEFAULT_FAR,\n eyeTanIn: _parseVec3(spec.eyeTanIn) \|\| null,\n eyeTanOut: _parseVec3(spec.eyeTanOut) \|\| null,\n centerTanIn: _parseVec3(spec.centerTanIn) \|\| null,\n centerTanOut: _parseVec3(spec.centerTanOut)\|\| null,\n };\n}\n\nfunction _sameCameraKeyframe(a, b) {\n for (let i=0;i<3;i++) {\n if (a.eye[i]!==b.eye[i]) return false;\n if (a.center[i]!==b.center[i]) return false;\n if (a.up[i]!==b.up[i]) return false;\n }\n if (a.fov !== b.fov) return false;\n if (a.halfHeight !== b.halfHeight) return false;\n if (a.near !== b.near) return false;\n if (a.far !== b.far) return false;\n return true;\n}\n\n// =========================================================================\n// S5 Track — unexported base class (transport machinery only)\n// =========================================================================\n\nclass Track {\n constructor() {\n /** @type {Array} Keyframe array — shape depends on subclass. /\n this.keyframes = [];\n /* Whether playback is currently active. @type {boolean} /\n this.playing = false;\n /* Loop at boundaries. @type {boolean} /\n this.loop = false;\n /* Ping-pong bounce at boundaries (independent of loop). @type {boolean} /\n this.bounce = false;\n /* Frames per segment (≥1). @type {number} /\n this.duration = 30;\n /* Current segment index. @type {number} /\n this.seg = 0;\n /* Frame offset within current segment (can be fractional). @type {number} /\n this.f = 0;\n\n // Playback rate (signed: negative = reverse; 0 = frozen).\n this._rate = 1;\n // Current bounce travel direction (±1). Reset to 1 only on reset().\n this._dir = 1;\n // Whether a bounce-once has already flipped direction.\n this._bounced = false;\n\n /* User hook: fires on play() false→true transition. @type {Function\|null} /\n this.onPlay = null;\n /* User hook: fires on natural boundary in once mode. @type {Function\|null} /\n this.onEnd = null;\n /* User hook: fires on stop() / reset() / end-of-bounce-once. @type {Function\|null} /\n this.onStop = null;\n\n // Lib-space hooks (underscore prefix — host layer / UI layer only).\n this._onActivate = null; this._onDeactivate = null;\n this._onPlay = null; this._onEnd = null; this._onStop = null;\n }\n\n /* Playback rate. Signed: negative reverses, 0 freezes. Assigning never starts or stops playback. @type {number} /\n get rate() { return this._rate; }\n set rate(v) { this._rate = (_isNum$1(v)) ? v : 1; }\n\n /* Number of interpolatable segments (keyframes.length − 1, min 0). @type {number} /\n get segments() { return Math.max(0, this.keyframes.length - 1); }\n\n /\n @private — resolve cursor (seg, f) into continuous (seg, t).\n * Shared backing of every cursor-form sampler / matrix method.\n /\n _cursorSegT() {\n const nSeg = this.segments;\n const dur = Math.max(1, this.duration \| 0);\n const seg = nSeg > 0 ? _clampS(this.seg, 0, nSeg - 1) : 0;\n const t = _clamp01(this.f / dur);\n return [seg, t];\n }\n\n /\n Start or update playback. Sole setter of `playing = true`.\n \n Fires `onPlay → _onPlay → _onActivate` only on a false→true transition.\n * Zero keyframes: no-op. Exactly one keyframe: snaps eval() to it but does\n * not set `playing` and fires no hooks.\n \n @param {number\|{duration?:number,loop?:boolean,bounce?:boolean,\n * rate?:number,onPlay?:Function,onEnd?:Function,\n * onStop?:Function}} [rateOrOpts]\n * A bare number is taken as `rate`; an object configures multiple\n * fields in one call.\n * @returns {Track} this\n /\n play(rateOrOpts) {\n if (this.keyframes.length === 0) return this;\n if (this.keyframes.length === 1) { this.seg = 0; this.f = 0; return this; }\n\n if (typeof rateOrOpts === 'number' && Number.isFinite(rateOrOpts)) {\n this._rate = rateOrOpts;\n } else if (rateOrOpts && typeof rateOrOpts === 'object') {\n const o = rateOrOpts;\n if (_isNum$1(o.duration)) this.duration = Math.max(1, o.duration \| 0);\n if ('loop' in o) this.loop = !!o.loop;\n if ('bounce' in o) this.bounce = !!o.bounce;\n if (typeof o.onPlay === 'function') this.onPlay = o.onPlay;\n if (typeof o.onEnd === 'function') this.onEnd = o.onEnd;\n if (typeof o.onStop === 'function') this.onStop = o.onStop;\n if (_isNum$1(o.rate)) this._rate = o.rate;\n }\n\n const nSeg = this.segments, dur = Math.max(1, this.duration \| 0);\n if (this.seg < 0) this.seg = 0;\n if (this.seg >= nSeg) this.seg = nSeg - 1;\n if (this.f < 0) this.f = 0;\n if (this.f > dur) this.f = dur;\n\n const wasPlaying = this.playing;\n this.playing = true;\n if (!wasPlaying) {\n this._bounced = false;\n if (typeof this.onPlay === 'function') { try { this.onPlay(this); } catch (_) {} }\n this._onPlay?.();\n this._onActivate?.();\n }\n return this;\n }\n\n /\n Stop playback. Sole setter of `playing = false`. Fires\n * `onStop → _onStop → _onDeactivate` on a true→false transition.\n \n @param {boolean} [rewind] If true, seek to the origin end after stopping\n * (0 when playing forward, 1 when playing backward).\n * @returns {Track} this\n /\n stop(rewind) {\n const wasPlaying = this.playing;\n this.playing = false;\n if (wasPlaying) {\n this._bounced = false;\n if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }\n this._onStop?.();\n this._onDeactivate?.();\n if (rewind && this.keyframes.length > 1) this.seek(this._rate this._dir < 0 ? 1 : 0);\n }\n return this;\n }\n\n /*\n Clear all keyframes and stop. Fires stop-side hooks if it was playing.\n * Unlike stop(), this also resets `_dir` to +1.\n * @returns {Track} this\n /\n reset() {\n const wasPlaying = this.playing;\n this.playing = false;\n if (wasPlaying) {\n if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }\n this._onStop?.();\n this._onDeactivate?.();\n }\n this.keyframes.length = 0;\n this.seg = 0; this.f = 0; this._dir = 1; this._bounced = false;\n return this;\n }\n\n /\n Remove the keyframe at `index`. Adjusts the cursor if the removal shrinks\n * the track below the current segment.\n * @param {number} index\n * @returns {boolean} true if removed; false if index was invalid.\n /\n remove(index) {\n if (!_isNum$1(index)) return false;\n const i = index \| 0;\n if (i < 0 \|\| i >= this.keyframes.length) return false;\n this.keyframes.splice(i, 1);\n const nSeg = this.segments;\n if (nSeg === 0) { this.seg = 0; this.f = 0; }\n else if (this.seg >= nSeg) { this.seg = nSeg - 1; }\n return true;\n }\n\n /\n Move the cursor.\n * seek(t) Scrub to normalised position t ∈ [0, 1] across the\n * whole track.\n * seek(t, segIndex) Position within a specific segment — t is local to\n * that segment.\n * Does not affect `playing`.\n \n @param {number} t\n * @param {number} [segIndex]\n * @returns {Track} this\n /\n seek(t, segIndex) {\n const nSeg = this.segments;\n if (nSeg === 0) { this.seg = 0; this.f = 0; return this; }\n const dur = Math.max(1, this.duration \| 0);\n if (_isNum$1(segIndex)) {\n this.seg = _clampS(segIndex \| 0, 0, nSeg - 1);\n this.f = _clamp01(t) dur;\n } else {\n this._setCursorFromScalar(_clamp01(t) * nSeg * dur);\n }\n return this;\n }\n\n /*\n Normalised cursor position across the whole track.\n * @returns {number} ∈ [0, 1]; 0 when there are no segments.\n /\n time() {\n const nSeg = this.segments;\n if (nSeg === 0) return 0;\n const dur = Math.max(1, this.duration \| 0);\n return _clamp01((this.seg dur + this.f) / (nSeg * dur));\n }\n\n /*\n Snapshot of transport state. Allocates a new object per call — intended\n * for UI / debugging, not hot loops.\n * @returns {{keyframes:number, segments:number, seg:number, f:number,\n * playing:boolean, loop:boolean, bounce:boolean, rate:number,\n * duration:number, time:number}}\n /\n info() {\n return {\n keyframes: this.keyframes.length,\n segments: this.segments,\n seg: this.seg,\n f: this.f,\n playing: this.playing,\n loop: this.loop,\n bounce: this.bounce,\n rate: this._rate,\n duration: this.duration,\n time: this.segments > 0 ? this.time() : 0\n };\n }\n\n /\n Advance the cursor by `rate * _dir` in frames. Handles loop / bounce /\n * once modes per the table in the module header. Fires `onEnd → _onEnd →\n * _onDeactivate` at a natural boundary in once mode.\n \n Intended to be called once per animation frame by the bridge / UI layer.\n * rate === 0 freezes the cursor but keeps `playing` unchanged.\n \n @returns {boolean} Current `playing` state after advancing.\n /\n tick() {\n if (!this.playing) return false;\n const nSeg = this.segments;\n if (nSeg === 0) { this.playing = false; this._onDeactivate?.(); return false; }\n if (this._rate === 0) return true;\n\n const dur = Math.max(1, this.duration \| 0);\n const total = nSeg dur;\n const s = _clampS(this.seg * dur + this.f, 0, total);\n const next = s + this._rate * this._dir;\n\n if (this.loop && this.bounce) {\n let pos = next, flips = 0;\n while (pos < 0 \|\| pos > total) {\n if (pos < 0) { pos = -pos; flips++; }\n else { pos = 2 * total - pos; flips++; }\n }\n if (flips & 1) this._dir = -this._dir;\n this._setCursorFromScalar(pos);\n return true;\n }\n\n if (!this.loop && this.bounce) {\n if (next >= total) {\n this._setCursorFromScalar(Math.min(total, 2 * total - next));\n this._dir = -this._dir;\n this._bounced = true;\n return true;\n }\n if (next <= 0) {\n this._setCursorFromScalar(0);\n this.playing = false;\n this._dir = 1; this._bounced = false;\n if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n this._onEnd?.();\n this._onDeactivate?.();\n return false;\n }\n this._setCursorFromScalar(next);\n return true;\n }\n\n if (this.loop) {\n this._setCursorFromScalar(((next % total) + total) % total);\n return true;\n }\n\n if (next <= 0) {\n this._setCursorFromScalar(0);\n this.playing = false;\n if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n this._onEnd?.();\n this._onDeactivate?.();\n return false;\n }\n if (next >= total) {\n this._setCursorFromScalar(total);\n this.playing = false;\n if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n this._onEnd?.();\n this._onDeactivate?.();\n return false;\n }\n\n this._setCursorFromScalar(next);\n return true;\n }\n\n /** @private /\n _setCursorFromScalar(s) {\n const dur = Math.max(1, this.duration \| 0);\n const nSeg = this.segments;\n this.seg = Math.floor(s / dur);\n this.f = s - this.seg dur;\n if (this.seg >= nSeg) { this.seg = nSeg - 1; this.f = dur; }\n if (this.seg < 0) { this.seg = 0; this.f = 0; }\n }\n}\n\n// =========================================================================\n// S6 PoseTrack\n// =========================================================================\n\n/*\n Renderer-agnostic TRS keyframe track.\n \n Keyframe shape: { pos:[x,y,z], rot:[x,y,z,w], scl:[x,y,z],\n * tanIn?:[x,y,z], tanOut?:[x,y,z] }\n \n tanIn — incoming position tangent at this keyframe (Hermite mode).\n * tanOut — outgoing position tangent at this keyframe (Hermite mode).\n * When only one is supplied, the other mirrors it at sample time.\n * When neither is supplied, centripetal Catmull-Rom tangents are auto-computed.\n /\nclass PoseTrack extends Track {\n constructor() {\n super();\n /\n Position interpolation mode.\n * - 'hermite' — cubic Hermite; auto-computes centripetal Catmull-Rom\n * tangents when none are stored (default)\n * - 'linear' — lerp\n * - 'step' — snap to k0; useful for discrete state changes\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.posInterp = 'hermite';\n /\n Rotation interpolation mode.\n * - 'slerp' — constant angular velocity (default)\n * - 'nlerp' — normalised lerp; cheaper, slightly non-constant speed\n * - 'step' — snap to k0 quaternion\n * @type {'slerp'\|'nlerp'\|'step'}\n /\n this.rotInterp = 'slerp';\n }\n\n /\n Append one or more keyframes. Adjacent duplicates are skipped by default.\n * Accepts any spec form understood by _parseSpec, or an array of them.\n * @param {Object\|Object[]} spec\n * @param {{ deduplicate?: boolean }} [opts]\n /\n add(spec, opts) {\n if (Array.isArray(spec)) { for (const s of spec) this.add(s, opts); return; }\n const kf = _parseSpec(spec);\n if (!kf) return;\n const dedup = !opts \|\| opts.deduplicate !== false;\n if (dedup && this.keyframes.length > 0) {\n if (_sameTransform(this.keyframes[this.keyframes.length - 1], kf)) return;\n }\n this.keyframes.push(kf);\n }\n\n /\n Replace the keyframe at `index`, or append at the end if `index` equals\n * the current keyframe count.\n * @param {number} index\n * @param {Object} spec Any spec form understood by _parseSpec.\n * @returns {boolean} true on success; false for invalid index or spec.\n /\n set(index, spec) {\n if (!_isNum$1(index)) return false;\n const i = index \| 0, kf = _parseSpec(spec);\n if (!kf \|\| i < 0 \|\| i > this.keyframes.length) return false;\n if (i === this.keyframes.length) this.keyframes.push(kf);\n else this.keyframes[i] = kf;\n return true;\n }\n\n /\n Sample the position path. Zero-alloc, no cursor side effects. Honours\n * posInterp and the stored-tangent → auto-CR fallback chain.\n \n Two signatures:\n * samplePos(out) cursor form — reads current seg/f\n * samplePos(out, seg, t) explicit (seg, t), continuous on the path\n \n @param {number[]} out 3-element result buffer.\n * @param {number} [seg] Segment index in [0, segments−1]. Omit for cursor.\n * @param {number} [t] Local parameter in [0, 1]. Omit for cursor.\n * @returns {number[]} out\n /\n samplePos(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n return _samplePathCore(out, this.keyframes, this.posInterp, 'pos', 'tanIn', 'tanOut', seg, t);\n }\n\n /\n Write the TRS pose as a column-major model mat4. Zero-alloc, no cursor\n * side effects.\n \n Two signatures:\n * mat4Model(out) cursor form — reads current seg/f\n * mat4Model(out, seg, t) explicit (seg, t), continuous on the path\n \n Replaces the previous toMatrix() method.\n \n @param {Float32Array\|number[]} out 16-element result buffer.\n * @param {number} [seg] Segment index in [0, segments−1]. Omit for cursor.\n * @param {number} [t] Local parameter in [0, 1]. Omit for cursor.\n * @returns {Float32Array\|number[]} out\n /\n mat4Model(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n this._sampleTRS(_trsScratch, seg, t);\n return transformToMat4(out, _trsScratch);\n }\n\n /\n Effective incoming / outgoing position tangents at keyframe `index`.\n * Stored tanIn/tanOut take precedence; each mirrors the other when only\n * one is stored; else centripetal Catmull-Rom tangents are auto-computed\n * from neighbours. Boundary keyframes mirror across the missing side.\n \n @param {number[]} outIn 3-element result — incoming tangent.\n * @param {number[]} outOut 3-element result — outgoing tangent.\n * @param {number} index Keyframe index.\n * @returns {PoseTrack} this\n /\n tangents(outIn, outOut, index) {\n _sampleTangentsCore(outIn, outOut, this.keyframes, 'pos', 'tanIn', 'tanOut', index);\n return this;\n }\n\n /* @private — write interpolated TRS at (seg, t). /\n _sampleTRS(out, seg, t) {\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) {\n const k = this.keyframes[0];\n out.pos[0]=k.pos[0]; out.pos[1]=k.pos[1]; out.pos[2]=k.pos[2];\n out.rot[0]=k.rot[0]; out.rot[1]=k.rot[1]; out.rot[2]=k.rot[2]; out.rot[3]=k.rot[3];\n out.scl[0]=k.scl[0]; out.scl[1]=k.scl[1]; out.scl[2]=k.scl[2];\n return out;\n }\n const nSeg = n - 1;\n seg = seg \| 0;\n if (seg >= nSeg) { seg = nSeg - 1; t = 1; }\n else if (seg < 0) { seg = 0; t = 0; }\n t = _clamp01(t);\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n _samplePathCore(out.pos, this.keyframes, this.posInterp, 'pos', 'tanIn', 'tanOut', seg, t);\n\n if (this.rotInterp === 'step') {\n out.rot[0]=k0.rot[0]; out.rot[1]=k0.rot[1]; out.rot[2]=k0.rot[2]; out.rot[3]=k0.rot[3];\n } else if (this.rotInterp === 'nlerp') {\n qNlerp(out.rot, k0.rot, k1.rot, t);\n } else {\n qSlerp(out.rot, k0.rot, k1.rot, t);\n }\n\n lerpVec3(out.scl, k0.scl, k1.scl, t);\n return out;\n }\n\n /\n Evaluate interpolated TRS pose at current cursor.\n * @param {{ pos:number[], rot:number[], scl:number[] }} [out]\n * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n /\n eval(out) {\n out = out \|\| { pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] };\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) return this._sampleTRS(out, 0, 0);\n const [seg, t] = this._cursorSegT();\n return this._sampleTRS(out, seg, t);\n }\n}\n\n// =========================================================================\n// S7 CameraTrack\n// =========================================================================\n\n/\n Lookat camera keyframe track.\n \n Keyframe shape: { eye:[x,y,z], center:[x,y,z], up:[x,y,z],\n * fov?:number, halfHeight?:number,\n * near:number, far:number,\n * eyeTanIn?:[x,y,z], eyeTanOut?:[x,y,z],\n * centerTanIn?:[x,y,z], centerTanOut?:[x,y,z] }\n \n fov — vertical fov (radians) for perspective cameras; null for ortho.\n * halfHeight — world-unit half-height of ortho frustum; null for perspective.\n * Both are optional and nullable because exactly one is meaningful per\n * keyframe (perspective xor ortho). eval() lerps each only when both\n * adjacent keyframes carry a non-null value for that field; mixed or\n * missing entries pass `null` through.\n \n near, far — clip plane distances (positive, world units). Always real\n * numbers. Defaults: near = 0.1, far = 1000 (three.js / Bevy convention).\n * Linearly interpolated between keyframes without null-passthrough.\n \n eyeTanIn/Out and centerTanIn/Out are optional vec3 tangents for Hermite\n * interpolation of the eye and center paths respectively. When absent,\n * centripetal Catmull-Rom tangents are auto-computed at sample time.\n \n Missing fields default to: center → [0,0,0], up → [0,1,0],\n * near → 0.1, far → 1000.\n \n For matrix-based capture of a camera-like pose use\n * PoseTrack.add({ mat4Model: mat4Eye }) for full TRS fidelity including roll,\n * or a lookat spec here for camera-style interpolation.\n /\nclass CameraTrack extends Track {\n constructor() {\n super();\n /\n Eye-path interpolation mode.\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.eyeInterp = 'hermite';\n /\n Center-path interpolation mode.\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.centerInterp = 'linear';\n }\n\n /\n Append one or more camera keyframes. Adjacent duplicates are skipped by\n * default.\n * @param {Object\|Object[]} spec\n * @param {{ deduplicate?: boolean }} [opts]\n /\n add(spec, opts) {\n if (Array.isArray(spec)) { for (const s of spec) this.add(s, opts); return; }\n const kf = _parseCameraSpec(spec);\n if (!kf) return;\n const dedup = !opts \|\| opts.deduplicate !== false;\n if (dedup && this.keyframes.length > 0) {\n if (_sameCameraKeyframe(this.keyframes[this.keyframes.length - 1], kf)) return;\n }\n this.keyframes.push(kf);\n }\n\n /\n Replace the camera keyframe at `index`, or append at the end if `index`\n * equals the current keyframe count.\n * @param {number} index\n * @param {Object} spec\n * @returns {boolean}\n /\n set(index, spec) {\n if (!_isNum$1(index)) return false;\n const i = index \| 0, kf = _parseCameraSpec(spec);\n if (!kf \|\| i < 0 \|\| i > this.keyframes.length) return false;\n if (i === this.keyframes.length) this.keyframes.push(kf);\n else this.keyframes[i] = kf;\n return true;\n }\n\n /\n Sample the eye path. Zero-alloc, no cursor side effects.\n \n Two signatures:\n * sampleEye(out) cursor form — reads current seg/f\n * sampleEye(out, seg, t) explicit (seg, t), continuous on the path\n \n @param {number[]} out\n * @param {number} [seg]\n * @param {number} [t]\n * @returns {number[]} out\n /\n sampleEye(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n return _samplePathCore(out, this.keyframes, this.eyeInterp, 'eye', 'eyeTanIn', 'eyeTanOut', seg, t);\n }\n\n /\n Sample the center path. Zero-alloc, no cursor side effects.\n \n Two signatures:\n * sampleCenter(out) cursor form — reads current seg/f\n * sampleCenter(out, seg, t) explicit (seg, t)\n \n @param {number[]} out\n * @param {number} [seg]\n * @param {number} [t]\n * @returns {number[]} out\n /\n sampleCenter(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n return _samplePathCore(out, this.keyframes, this.centerInterp, 'center', 'centerTanIn', 'centerTanOut', seg, t);\n }\n\n /\n Write the interpolated lookat eye matrix as a column-major mat4\n * (eye→world rigid frame). Zero-alloc, no cursor side effects.\n \n Two signatures:\n * mat4Eye(out) cursor form — reads current seg/f\n * mat4Eye(out, seg, t) explicit (seg, t), continuous on the path\n \n @param {Float32Array\|number[]} out 16-element result buffer.\n * @param {number} [seg]\n * @param {number} [t]\n * @returns {Float32Array\|number[]} out\n /\n mat4Eye(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n this._sampleEyePose(_eyeScratch, seg, t);\n const e = _eyeScratch;\n return mat4Eye(out,\n e.eye[0], e.eye[1], e.eye[2],\n e.center[0], e.center[1], e.center[2],\n e.up[0], e.up[1], e.up[2]);\n }\n\n /\n Effective in/out eye tangents at keyframe `index`.\n /\n eyeTangents(outIn, outOut, index) {\n _sampleTangentsCore(outIn, outOut, this.keyframes, 'eye', 'eyeTanIn', 'eyeTanOut', index);\n return this;\n }\n\n /\n Effective in/out center tangents at keyframe `index`.\n /\n centerTangents(outIn, outOut, index) {\n _sampleTangentsCore(outIn, outOut, this.keyframes, 'center', 'centerTanIn', 'centerTanOut', index);\n return this;\n }\n\n /* @private — write interpolated { eye, center, up } at (seg, t). /\n _sampleEyePose(out, seg, t) {\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) {\n const k = this.keyframes[0];\n out.eye[0]=k.eye[0]; out.eye[1]=k.eye[1]; out.eye[2]=k.eye[2];\n out.center[0]=k.center[0]; out.center[1]=k.center[1]; out.center[2]=k.center[2];\n out.up[0]=k.up[0]; out.up[1]=k.up[1]; out.up[2]=k.up[2];\n return out;\n }\n const nSeg = n - 1;\n seg = seg \| 0;\n if (seg >= nSeg) { seg = nSeg - 1; t = 1; }\n else if (seg < 0) { seg = 0; t = 0; }\n t = _clamp01(t);\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n _samplePathCore(out.eye, this.keyframes, this.eyeInterp, 'eye', 'eyeTanIn', 'eyeTanOut', seg, t);\n _samplePathCore(out.center, this.keyframes, this.centerInterp, 'center', 'centerTanIn', 'centerTanOut', seg, t);\n\n lerpVec3(out.up, k0.up, k1.up, t);\n const ul = Math.sqrt(out.up[0]out.up[0]+out.up[1]out.up[1]+out.up[2]out.up[2]) \|\| 1;\n out.up[0]/=ul; out.up[1]/=ul; out.up[2]/=ul;\n return out;\n }\n\n /*\n Evaluate interpolated camera pose at current cursor.\n \n `fov` / `halfHeight` are lerped only when both adjacent keyframes carry\n * a non-null value; mixed entries pass `null` through so the bridge can\n * leave the projection unchanged.\n \n `near` / `far` are always real numbers and are linearly interpolated\n * unconditionally.\n \n @param {{ eye:number[], center:number[], up:number[],\n * fov:number\|null, halfHeight:number\|null,\n * near:number, far:number }} [out]\n * @returns {{ eye:number[], center:number[], up:number[],\n * fov:number\|null, halfHeight:number\|null,\n * near:number, far:number }} out\n /\n eval(out) {\n out = out \|\| { eye:[0,0,0], center:[0,0,0], up:[0,1,0],\n fov:null, halfHeight:null,\n near:_DEFAULT_NEAR, far:_DEFAULT_FAR };\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) {\n const k = this.keyframes[0];\n this._sampleEyePose(out, 0, 0);\n out.fov = k.fov; out.halfHeight = k.halfHeight;\n out.near = k.near; out.far = k.far;\n return out;\n }\n const [seg, t] = this._cursorSegT();\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n this._sampleEyePose(out, seg, t);\n\n out.fov = (k0.fov != null && k1.fov != null)\n ? k0.fov + t (k1.fov - k0.fov) : (k0.fov ?? k1.fov ?? null);\n out.halfHeight = (k0.halfHeight != null && k1.halfHeight != null)\n ? k0.halfHeight + t * (k1.halfHeight - k0.halfHeight)\n : (k0.halfHeight ?? k1.halfHeight ?? null);\n\n // near / far carry real defaults on every keyframe — always lerp.\n out.near = k0.near + t * (k1.near - k0.near);\n out.far = k0.far + t * (k1.far - k0.far);\n\n return out;\n }\n}\n\n/*\n @file Constraint solver, canonical handle state, and ray-primitive\n * intersections for interactive manipulators.\n * @module tree/handle\n * @license AGPL-3.0-only\n \n The numeric brain of the manipulator handle. Renderer- and frame-agnostic:\n * inputs are plain numbers in ONE working space chosen by the caller (the\n * bridge), and the solver never learns world vs eye — it solves in whatever\n * space the ray and geometry are expressed in. The bridge converts the pointer\n * ray into the working frame before calling solve(), and converts the value\n * back out via mapLocation / mapDirection.\n \n Zero dependencies on p5, DOM, WebGL, or WebGPU. Out-first throughout; no\n * allocation in solve() / value(). Vectors are passed as flat scalars (matching\n * form.js), state is held as plain number[] (matching track.js keyframes).\n \n ── Storage convention ─────────────────────────────────────────────────────\n * The core distinguishes two value shapes deliberately:\n * mat4 — 16-element ArrayLike, typically Float32Array, because matrices\n * cross the GL boundary (contiguous f32 is what the renderer wants).\n * vec3 / quat — plain number[] (f64), because they are authoring/state values\n * and because the frozen basis-vector constants (i, j, k, ORIGIN)\n * cannot be expressed as frozen typed arrays. Handle state follows\n * the vec3 rule.\n \n ── Constraint kinds ───────────────────────────────────────────────────────\n * SPHERE 2-DOF heading on a sphere of radius r about an anchor.\n * Canonical state is a UNIT DIRECTION (renormalised every solve) —\n * no stored Euler angles, so no gimbal degeneracy at the poles.\n * az/el are derived on request via azEl().\n * PLANE 2-DOF point on a fixed plane (anchor + unit normal).\n * AXIS 1-DOF point on a line (anchor + unit dir), scalar t clamped to extent.\n * DIAL 1-DOF angle on a circle of radius r in the plane (anchor, axis).\n * Canonical state is an ACCUMULATED angle θ (multi-turn winding is\n * preserved: each solve applies the smaller signed arc, so θ counts\n * full turns — essential for bind targets like \"rotate this 720°\").\n * θ=0 sits at the reference direction `zero` (derived from the axis\n * when not supplied); θ grows right-handed about the axis. Near\n * edge-on view (the ray almost parallel to the dial plane, where a\n * plane hit races to infinity — the classic rotate-gizmo failure)\n * the solve falls back to the TANGENT LINE of the circle at the\n * current angle, converting linear drag to dθ: bounded, monotone,\n * and still pure ray geometry.\n \n VIEW (the camera-facing free-translate constraint) is NOT a core kind: the\n * bridge implements it with PLANE, feeding a fresh camera-derived normal and\n * anchor each frame. The core stays oblivious to the camera.\n \n ── Report modes ───────────────────────────────────────────────────────────\n * DIRECTION value() writes the unit direction: SPHERE → the heading;\n * DIAL → the radial unit at θ.\n * POINT value() writes a position: SPHERE → anchor + dir·radius;\n * DIAL → the point on the circle; PLANE / AXIS → the constrained\n * point.\n \n ── State ownership & portability ──────────────────────────────────────────\n * Each Constraint owns its own state; there is no module-level scratch. solve()\n * writes into instance fields, never shared globals. This keeps the type a\n * plain-data state machine: it ports 1:1 to a Rust enum + impl that is\n * `Send + Sync` for free, with `&mut self` on solve() making concurrent\n * mutation a compile error. The binding closure deliberately lives in the\n * bridge, not here — a stored callback would forfeit that guarantee.\n \n ── Extension contract ─────────────────────────────────────────────────────\n * A constraint is any object exposing: `kind` (integer discriminant),\n * `solve(ox,oy,oz, dx,dy,dz)`, `value(out, report)`, `seed(x,y,z)`, and\n * optionally `scalar()` / `azEl(out2)` / `aim(ax,ay,az[, zx,zy,zz])` — the\n * basis re-aim seam the bridge's deferred `from` frame drives — and\n * `proxy(ox,oy,oz, dx,dy,dz, radius)`, the analytic pick: the ray parameter\n * at which a ray in the working space meets the grab proxy of `radius`\n * working units, or Infinity (a kind without one gets a sphere at its\n * POINT). The handle controller drives any conforming constraint\n * (lifecycle, frame conversion, bind, hooks, pick); a new kind — 6-DOF, or\n * app-specific — implements this contract here (portable, draw-free) plus a\n * bridge-side locus draw, rather than forking the controller. The classes\n * below are the reference implementation. See handle-design.md §9–§10.\n \n ── Conventions ────────────────────────────────────────────────────────────\n * Ray direction `d` is assumed unit (the bridge normalises). Plane / axis\n * normals and directions are normalised at construction. The angular utilities\n * use a right-handed convention: az about +Y, el measured from the XZ plane.\n * solve() does NOT depend on this convention — it stores the hit direction\n * directly; az/el are a readout/authoring convenience only. DIAL's θ is\n * right-handed about its own axis, measured from `zero`.\n /\n\n\nconst EPS = 1e-6;\nconst TWO_PI$1 = Math.PI 2;\n\n// Edge-on threshold for DIAL: below this \|d·n\| the plane hit is ill-conditioned\n// (dθ per pixel diverges) and the solve switches to the tangent-line fallback.\n// ≈ 4.6° of incidence. Tune empirically (handle-experiments/e2).\nconst DIAL_EDGE = 0.08;\n\n// =========================================================================\n// H1 Small private helpers\n// =========================================================================\n\nconst _isNum = (x) => typeof x === 'number' && Number.isFinite(x);\nconst _clamp = (x, lo, hi) => x < lo ? lo : (x > hi ? hi : x);\nconst _num = (x, d) => _isNum(x) ? x : d;\n\n/** Wrap an angle to (−π, π]. /\nconst _wrapPi = (a) => a - TWO_PI$1 Math.round(a / TWO_PI$1);\n\n/** Parse a vec3 from array / typed array / {x,y,z}. Returns a fresh [x,y,z] or null. /\nfunction _vec3$1(v) {\n if (!v) return null;\n if (ArrayBuffer.isView(v) && v.length >= 3) return [v[0], v[1], v[2]];\n if (Array.isArray(v) && v.length >= 3) return [v[0], v[1], v[2]];\n if (typeof v === 'object' && 'x' in v) return [v.x \|\| 0, v.y \|\| 0, v.z \|\| 0];\n return null;\n}\n\n/* Normalise a vec3 in place; zero-length falls back to the given default axis. /\nfunction _unit$1(v, dx, dy, dz) {\n const l = Math.sqrt(v[0]v[0] + v[1]v[1] + v[2]v[2]);\n if (l < EPS) { v[0]=dx; v[1]=dy; v[2]=dz; return v; }\n v[0]/=l; v[1]/=l; v[2]/=l;\n return v;\n}\n\n/*\n Orthonormal in-plane basis for a unit normal n, written into ub, vb. Seeds\n * from the world axis least aligned with n so the first cross can't degenerate.\n * (Same derivation the p5 bridge uses for its plane quad — duplicated here\n * because the core cannot depend on the bridge.)\n /\nfunction _basis$1(n, ub, vb) {\n const ax = Math.abs(n[0]), ay = Math.abs(n[1]), az = Math.abs(n[2]);\n let rx = 0, ry = 0, rz = 0;\n if (ax <= ay && ax <= az) rx = 1; else if (ay <= az) ry = 1; else rz = 1;\n ub[0] = ryn[2] - rzn[1]; ub[1] = rzn[0] - rxn[2]; ub[2] = rxn[1] - ryn[0];\n _unit$1(ub, 1, 0, 0);\n vb[0] = n[1]ub[2] - n[2]ub[1]; vb[1] = n[2]ub[0] - n[0]ub[2]; vb[2] = n[0]ub[1] - n[1]ub[0];\n}\n\n// =========================================================================\n// H2 Ray-primitive intersections (pure, out-first, scalar params)\n// =========================================================================\n\n/\n Nearest ray–sphere intersection. The ray direction is assumed unit, so the\n * quadratic's leading coefficient is 1. On a miss, writes the closest-approach\n * point projected onto the sphere (so the handle tracks the limb gracefully\n * rather than snapping away).\n \n @param {number[]} out 3-element destination (hit point).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} cx,cy,cz Sphere centre.\n * @param {number} r Sphere radius.\n * @returns {number} Ray parameter t at the written hit.\n /\nfunction raySphere(out, ox,oy,oz, dx,dy,dz, cx,cy,cz, r) {\n const lx=ox-cx, ly=oy-cy, lz=oz-cz;\n const b = lxdx + lydy + lzdz;\n const cc = lxlx + lyly + lzlz - rr;\n const disc = bb - cc;\n let t;\n if (disc >= 0) {\n const s = Math.sqrt(disc);\n t = -b - s;\n if (t < 0) t = -b + s; // origin inside the sphere: take far root\n out[0]=ox+tdx; out[1]=oy+tdy; out[2]=oz+tdz;\n } else {\n t = -b; // closest approach along the ray\n let hx=ox+tdx-cx, hy=oy+tdy-cy, hz=oz+tdz-cz;\n const hl = Math.sqrt(hxhx + hyhy + hzhz) \|\| 1;\n const k = r/hl;\n out[0]=cx+hxk; out[1]=cy+hyk; out[2]=cz+hzk;\n }\n return t;\n}\n\n/\n Ray–plane intersection. A near-parallel ray (\|d·n\| < EPS) returns Infinity\n * and leaves `out` untouched — the caller keeps the previous value.\n \n @param {number[]} out 3-element destination (hit point).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} px,py,pz A point on the plane.\n * @param {number} nx,ny,nz Plane normal (unit).\n * @returns {number} Ray parameter t, or Infinity if parallel.\n /\nfunction rayPlane(out, ox,oy,oz, dx,dy,dz, px,py,pz, nx,ny,nz) {\n const den = dxnx + dyny + dznz;\n if (den < EPS && den > -EPS) return Infinity;\n const t = ((px-ox)nx + (py-oy)ny + (pz-oz)nz) / den;\n out[0]=ox+tdx; out[1]=oy+tdy; out[2]=oz+tdz;\n return t;\n}\n\n/*\n Closest point on the infinite line (p, u) to the ray (o, d). Both `d` and\n * `u` are assumed unit. For a ray parallel to the line, projects the ray\n * origin onto the line.\n \n @param {number[]} out 3-element destination (closest point on the line).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} px,py,pz A point on the line.\n * @param {number} ux,uy,uz Line direction (unit).\n * @returns {number} Signed parameter s along u at the written point (unclamped).\n /\nfunction rayClosestPointOnAxis(out, ox,oy,oz, dx,dy,dz, px,py,pz, ux,uy,uz) {\n const wx=ox-px, wy=oy-py, wz=oz-pz;\n const b = dxux + dyuy + dzuz; // d·u\n const dd = dxwx + dywy + dzwz; // d·w\n const e = uxwx + uywy + uzwz; // u·w\n const den = 1 - bb; // (d·d)(u·u) − (d·u)² with d,u unit\n const s = (den > EPS) ? (e - bdd) / den : e;\n out[0]=px+sux; out[1]=py+suy; out[2]=pz+suz;\n return s;\n}\n\n// =========================================================================\n// H2b Ray-primitive hit tests (pure, no out: the nearest t, or Infinity)\n// =========================================================================\n//\n// Beside the solve primitives above, which always write a point, these are\n// TESTS: they write nothing and return the ray parameter of the nearest hit\n// with t ≥ 0, or Infinity on a miss. A ray whose origin lies inside the\n// primitive hits at its exit, so a press from inside a proxy still grabs.\n// The ray direction is assumed unit.\n\n/\n Ray–sphere hit test.\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} cx,cy,cz Sphere centre.\n * @param {number} r Sphere radius.\n * @returns {number} The nearest t ≥ 0, or Infinity.\n /\nfunction rayHitSphere(ox,oy,oz, dx,dy,dz, cx,cy,cz, r) {\n const lx=ox-cx, ly=oy-cy, lz=oz-cz;\n const b = lxdx + lydy + lzdz;\n const cc = lxlx + lyly + lzlz - rr;\n const disc = bb - cc;\n if (disc < 0) return Infinity;\n const s = Math.sqrt(disc);\n let t = -b - s;\n if (t < 0) t = -b + s; // origin inside: the exit\n return t < 0 ? Infinity : t; // both roots behind the origin\n}\n\n// One end cap of a capsule: the sphere at (cx,cy,cz), a root accepted only\n// where the hit's axial coordinate h = wu + t·du lies beyond the segment on\n// that cap's side (h ≤ 0 at A, h ≥ L at B), so the point is on the capsule's\n// surface and not inside its cylinder.\nfunction _capHit(ox,oy,oz, dx,dy,dz, cx,cy,cz, r, wu, du, lim, endB) {\n const lx=ox-cx, ly=oy-cy, lz=oz-cz;\n const b = lxdx + lydy + lzdz;\n const cc = lxlx + lyly + lzlz - rr;\n const disc = bb - cc;\n if (disc < 0) return Infinity;\n const s = Math.sqrt(disc);\n let t = -b - s, h = wu + tdu;\n if (t < 0 \|\| (endB ? h < lim : h > lim)) { t = -b + s; h = wu + tdu; }\n return (t >= 0 && (endB ? h >= lim : h <= lim)) ? t : Infinity;\n}\n\n/\n Ray–capsule hit test: the segment A→B swept by radius r. The cylinder wall\n * counts within the segment's extent, each end sphere beyond it; the nearest\n * of the three wins. A zero-length segment is the sphere at A.\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} ax,ay,az Segment start.\n * @param {number} bx,by,bz Segment end.\n * @param {number} r Capsule radius.\n * @returns {number} The nearest t ≥ 0, or Infinity.\n /\nfunction rayHitCapsule(ox,oy,oz, dx,dy,dz, ax,ay,az, bx,by,bz, r) {\n let ux=bx-ax, uy=by-ay, uz=bz-az;\n const L = Math.sqrt(uxux + uyuy + uzuz);\n if (L < EPS) return rayHitSphere(ox,oy,oz, dx,dy,dz, ax,ay,az, r);\n ux/=L; uy/=L; uz/=L;\n const wx=ox-ax, wy=oy-ay, wz=oz-az;\n const du = dxux + dyuy + dzuz; // d·u\n const wu = wxux + wyuy + wzuz; // w·u\n let best = Infinity;\n // Cylinder wall: the quadratic in the components perpendicular to u.\n const a = 1 - dudu;\n if (a > EPS) {\n const b = (dxwx + dywy + dzwz) - duwu;\n const c = (wxwx + wywy + wzwz) - wuwu - rr;\n const disc = bb - ac;\n if (disc >= 0) {\n const s = Math.sqrt(disc);\n let t = (-b - s)/a, h = wu + tdu;\n if (t < 0 \|\| h < 0 \|\| h > L) { t = (-b + s)/a; h = wu + tdu; }\n if (t >= 0 && h >= 0 && h <= L) best = t;\n }\n }\n const ta = _capHit(ox,oy,oz, dx,dy,dz, ax,ay,az, r, wu, du, 0, false);\n if (ta < best) best = ta;\n const tb = _capHit(ox,oy,oz, dx,dy,dz, bx,by,bz, r, wu, du, L, true);\n if (tb < best) best = tb;\n return best;\n}\n\n// Ring scratch — the plane normal and its in-plane basis. Function-local\n// working values, never state: rayHitRing runs to completion.\nconst _rn = [0, 0, 1], _r0 = [1, 0, 0], _r1 = [0, 1, 0];\n\n/*\n Ray–ring hit test: the circle of radius R about c in the plane\n * perpendicular to u, swept by tube radius r — the analytic torus proxy as a\n * capsule chain, the circle polygonised into `detail` segments and each\n * tested with rayHitCapsule. The chain has volume in every direction, so it\n * never degenerates edge-on; the chordal error is R · (1 − cos(π / detail)).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} cx,cy,cz Ring centre.\n * @param {number} ux,uy,uz Ring plane normal (normalised here).\n * @param {number} R Ring radius.\n * @param {number} r Tube radius.\n * @param {number} [detail=32] Chain segments (at least 3).\n * @returns {number} The nearest t ≥ 0, or Infinity.\n /\nfunction rayHitRing(ox,oy,oz, dx,dy,dz, cx,cy,cz, ux,uy,uz, R, r, detail = 32) {\n const n = _isNum(detail) && detail >= 3 ? Math.floor(detail) : 32;\n _rn[0]=ux; _rn[1]=uy; _rn[2]=uz;\n _unit$1(_rn, 0, 0, 1);\n _basis$1(_rn, _r0, _r1);\n const step = TWO_PI$1 / n;\n let best = Infinity;\n let ax = cx + R_r0[0], ay = cy + R_r0[1], az = cz + R_r0[2]; // vertex at angle 0\n for (let i = 1; i <= n; i++) {\n const th = i === n ? 0 : istep; // close the chain exactly\n const cs = Math.cos(th)R, sn = Math.sin(th)R;\n const bx = cx + cs_r0[0] + sn_r1[0];\n const by = cy + cs_r0[1] + sn_r1[1];\n const bz = cz + cs_r0[2] + sn_r1[2];\n const t = rayHitCapsule(ox,oy,oz, dx,dy,dz, ax,ay,az, bx,by,bz, r);\n if (t < best) best = t;\n ax = bx; ay = by; az = bz;\n }\n return best;\n}\n\n// =========================================================================\n// H3 Angular utilities (readout / authoring convenience)\n// =========================================================================\n\n/\n Unit direction from azimuth/elevation (right-handed: az about +Y, el from XZ).\n * @param {number[]} out 3-element destination.\n * @param {number} az Azimuth (radians).\n * @param {number} el Elevation (radians).\n * @returns {number[]} out\n /\nfunction dirFromAzEl(out, az, el) {\n const ce = Math.cos(el);\n out[0]=ceMath.cos(az); out[1]=Math.sin(el); out[2]=ceMath.sin(az);\n return out;\n}\n\n/\n Azimuth/elevation from a unit direction. Inverse of dirFromAzEl.\n * @param {number[]} out2 2-element destination [az, el] (radians).\n * @param {number} dx,dy,dz Unit direction.\n * @returns {number[]} out2\n /\nfunction azElFromDir(out2, dx, dy, dz) {\n out2[0] = Math.atan2(dz, dx); // az\n out2[1] = Math.asin(_clamp(dy, -1, 1)); // el\n return out2;\n}\n\n// =========================================================================\n// H4 Constraint — tagged state machine (one class, kind discriminant)\n// =========================================================================\n\n/\n A draggable constraint: maps a ray to a constrained value and holds the\n * canonical state between drags. One class with a `kind` discriminant (never\n * per-constraint subclasses) so it maps cleanly to a Rust enum.\n \n Construction options (all optional unless noted):\n * SPHERE — { radius = 1, report = DIRECTION, anchor = [0,0,0] }\n * PLANE — { anchor = [0,0,0], normal = [0,1,0] }\n * AXIS — { anchor = [0,0,0], axis = [1,0,0], extent = [-1, 1] }\n * DIAL — { anchor = [0,0,0], axis = [0,1,0], radius = 1, zero?,\n * extent = [-∞, ∞] }\n * `axis` is the dial-plane normal (θ is right-handed about it);\n * `zero` is the in-plane reference direction for θ=0 (projected\n * onto the plane and normalised; derived from the axis when\n * absent); `extent` clamps θ in radians — unbounded by default,\n * so the dial winds multiple turns.\n \n @param {number} kind SPHERE \| PLANE \| AXIS \| DIAL.\n * @param {Object} [opts]\n /\nclass Constraint {\n constructor(kind, opts = {}) {\n /* Constraint kind discriminant. @type {number} /\n this.kind = kind;\n\n /* Constraint origin (sphere centre / plane point / axis anchor / dial centre). @type {number[]} /\n this.anchor = _vec3$1(opts.anchor) \|\| [0, 0, 0];\n /* Canonical unit direction — SPHERE. @type {number[]} /\n this.dir = [0, 0, 1];\n /* Constrained point — PLANE / AXIS / DIAL (and SPHERE scratch). @type {number[]} /\n this.pt = [this.anchor[0], this.anchor[1], this.anchor[2]];\n /* Plane normal (unit) — PLANE. @type {number[]} /\n this.n = _unit$1(_vec3$1(opts.normal) \|\| [0, 1, 0], 0, 1, 0);\n /* Axis / dial-plane normal (unit) — AXIS / DIAL. @type {number[]} /\n this.u = kind === DIAL\n ? _unit$1(_vec3$1(opts.axis) \|\| [0, 1, 0], 0, 1, 0)\n : _unit$1(_vec3$1(opts.axis) \|\| [1, 0, 0], 1, 0, 0);\n /* Current scalar parameter — AXIS: t along the line; DIAL: accumulated θ. @type {number} /\n this.s = 0;\n\n // DIAL in-plane basis: r0 (the θ=0 reference) and r1 = u × r0, so the\n // point at θ is anchor + radius·(cosθ·r0 + sinθ·r1) — right-handed about u.\n /* θ=0 reference direction (unit, in-plane) — DIAL. @type {number[]} /\n this.r0 = [1, 0, 0];\n /* In-plane binormal u × r0 (unit) — DIAL. @type {number[]} /\n this.r1 = [0, 0, 1];\n if (kind === DIAL) {\n const z = _vec3$1(opts.zero);\n this._dialBasis(z ? z[0] : NaN, z ? z[1] : NaN, z ? z[2] : NaN);\n }\n\n // Extent: AXIS clamps t (default [-1, 1]); DIAL clamps θ in radians\n // (default unbounded, so the dial winds freely).\n const ext = Array.isArray(opts.extent) ? opts.extent : null;\n const dial = kind === DIAL;\n /* Minimum scalar parameter. @type {number} /\n this.min = ext && _isNum(ext[0]) ? ext[0] : (dial ? -Infinity : -1);\n /* Maximum scalar parameter. @type {number} /\n this.max = ext && _isNum(ext[1]) ? ext[1] : (dial ? Infinity : 1);\n\n // Sphere / dial radius (private backing — see radius getter/setter).\n this._radius = _num(opts.radius, 1);\n\n /\n Default report mode. SPHERE defaults to DIRECTION; PLANE / AXIS / DIAL\n * report a POINT.\n * @type {number}\n /\n this.report = (opts.report === POINT \|\| opts.report === DIRECTION)\n ? opts.report\n : (kind === SPHERE ? DIRECTION : POINT);\n\n if (kind === DIAL) this._dialPoint();\n }\n\n /* Sphere / dial radius. @type {number} /\n get radius() { return this._radius; }\n set radius(r) { this._radius = _isNum(r) ? r : this._radius; if (this.kind === DIAL) this._dialPoint(); }\n\n // Recompute the DIAL point from θ (anchor + ρ(cosθ·r0 + sinθ·r1)).\n _dialPoint() {\n const c = Math.cos(this.s) this._radius, sn = Math.sin(this.s) * this._radius;\n this.pt[0] = this.anchor[0] + cthis.r0[0] + snthis.r1[0];\n this.pt[1] = this.anchor[1] + cthis.r0[1] + snthis.r1[1];\n this.pt[2] = this.anchor[2] + cthis.r0[2] + snthis.r1[2];\n }\n\n // Build the DIAL in-plane basis (r0, r1) from the current axis u and an\n // optional θ=0 reference (zx,zy,zz): the reference is projected onto the\n // dial plane and normalised; absent (NaN) or degenerate, r0 derives from u\n // via the least-aligned-axis seed. r1 = u × r0, right-handed about u.\n _dialBasis(zx, zy, zz) {\n if (_isNum(zx) && _isNum(zy) && _isNum(zz)) {\n const d = zxthis.u[0] + zythis.u[1] + zzthis.u[2];\n this.r0[0] = zx - dthis.u[0];\n this.r0[1] = zy - dthis.u[1];\n this.r0[2] = zz - dthis.u[2];\n const l = Math.sqrt(this.r0[0]2 + this.r0[1]2 + this.r0[2]*2);\n if (l < EPS) _basis$1(this.u, this.r0, this.r1);\n else { this.r0[0]/=l; this.r0[1]/=l; this.r0[2]/=l; }\n } else {\n _basis$1(this.u, this.r0, this.r1);\n }\n // r1 = u × r0 (recomputed even when _basis ran — same result, one rule).\n this.r1[0] = this.u[1]this.r0[2] - this.u[2]this.r0[1];\n this.r1[1] = this.u[2]this.r0[0] - this.u[0]this.r0[2];\n this.r1[2] = this.u[0]this.r0[1] - this.u[1]this.r0[0];\n }\n\n /\n Update the canonical state from a ray in the working space. The ray\n * direction is assumed unit. Chainable.\n \n @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @returns {Constraint} this\n /\n solve(ox, oy, oz, dx, dy, dz) {\n if (this.kind === SPHERE) {\n // Hit the sphere into pt, then derive the unit heading from the anchor.\n raySphere(this.pt, ox,oy,oz, dx,dy,dz,\n this.anchor[0], this.anchor[1], this.anchor[2], this._radius);\n this.dir[0] = this.pt[0] - this.anchor[0];\n this.dir[1] = this.pt[1] - this.anchor[1];\n this.dir[2] = this.pt[2] - this.anchor[2];\n _unit$1(this.dir, this.dir[0], this.dir[1], this.dir[2]);\n } else if (this.kind === PLANE) {\n // Parallel ray returns Infinity and leaves pt unchanged (keep last).\n rayPlane(this.pt, ox,oy,oz, dx,dy,dz,\n this.anchor[0], this.anchor[1], this.anchor[2],\n this.n[0], this.n[1], this.n[2]);\n } else if (this.kind === AXIS) {\n let s = rayClosestPointOnAxis(this.pt, ox,oy,oz, dx,dy,dz,\n this.anchor[0], this.anchor[1], this.anchor[2],\n this.u[0], this.u[1], this.u[2]);\n s = _clamp(s, this.min, this.max);\n this.s = s;\n this.pt[0] = this.anchor[0] + sthis.u[0]; // clamped point\n this.pt[1] = this.anchor[1] + sthis.u[1];\n this.pt[2] = this.anchor[2] + sthis.u[2];\n } else if (this.kind === DIAL) {\n this._solveDial(ox, oy, oz, dx, dy, dz);\n }\n return this;\n }\n\n // DIAL solve. Face-on: hit the dial plane, derive the raw angle of the hit\n // about the anchor, and accumulate the smaller signed arc into θ (winding\n // preserved). Edge-on (\|d·u\| < DIAL_EDGE): the plane hit diverges, so solve\n // the ray against the TANGENT LINE of the circle at the current θ instead —\n // the signed tangent parameter over the radius is dθ, bounded and monotone.\n _solveDial(ox, oy, oz, dx, dy, dz) {\n const u = this.u, r0 = this.r0, r1 = this.r1, a = this.anchor;\n const den = dxu[0] + dyu[1] + dzu[2];\n let dth;\n if (den >= DIAL_EDGE \|\| den <= -DIAL_EDGE) {\n // Well-conditioned: plane hit → raw angle → smaller signed arc.\n const t = rayPlane(this.pt, ox,oy,oz, dx,dy,dz,\n a[0], a[1], a[2], u[0], u[1], u[2]);\n if (t === Infinity) return; // keep last (paranoia; den guards)\n const vx = this.pt[0]-a[0], vy = this.pt[1]-a[1], vz = this.pt[2]-a[2];\n const raw = Math.atan2(vxr1[0] + vyr1[1] + vzr1[2],\n vxr0[0] + vyr0[1] + vzr0[2]);\n dth = _wrapPi(raw - _wrapPi(this.s));\n } else {\n // Edge-on fallback: tangent at the current point, w = −sinθ·r0 + cosθ·r1.\n const cs = Math.cos(this.s), sn = Math.sin(this.s);\n const wx = -snr0[0] + csr1[0];\n const wy = -snr0[1] + csr1[1];\n const wz = -snr0[2] + csr1[2];\n this._dialPoint(); // tangent anchored at the current point\n const sl = rayClosestPointOnAxis(this.pt, ox,oy,oz, dx,dy,dz,\n this.pt[0], this.pt[1], this.pt[2],\n wx, wy, wz);\n dth = sl / (this._radius \|\| 1);\n }\n this.s = _clamp(this.s + dth, this.min, this.max);\n this._dialPoint();\n }\n\n /\n Write the current value into `out`. `report` overrides the default for\n * this call (e.g. read a SPHERE's point even when its default is DIRECTION).\n * SPHERE+POINT and DIAL+POINT are derived from the angle/heading and the\n * live radius, so they stay correct after a radius change without\n * re-solving. DIAL+DIRECTION writes the radial unit at θ.\n \n @param {number[]} out 3-element destination.\n * @param {number} [report] POINT \| DIRECTION override.\n * @returns {number[]} out\n /\n value(out, report) {\n const r = (report === POINT \|\| report === DIRECTION) ? report : this.report;\n if (this.kind === SPHERE) {\n if (r === DIRECTION) {\n out[0]=this.dir[0]; out[1]=this.dir[1]; out[2]=this.dir[2];\n } else {\n out[0]=this.anchor[0]+this.dir[0]this._radius;\n out[1]=this.anchor[1]+this.dir[1]this._radius;\n out[2]=this.anchor[2]+this.dir[2]this._radius;\n }\n } else if (this.kind === DIAL) {\n const cs = Math.cos(this.s), sn = Math.sin(this.s);\n if (r === DIRECTION) {\n out[0]=csthis.r0[0]+snthis.r1[0];\n out[1]=csthis.r0[1]+snthis.r1[1];\n out[2]=csthis.r0[2]+snthis.r1[2];\n } else {\n out[0]=this.anchor[0]+(csthis.r0[0]+snthis.r1[0])this._radius;\n out[1]=this.anchor[1]+(csthis.r0[1]+snthis.r1[1])this._radius;\n out[2]=this.anchor[2]+(csthis.r0[2]+snthis.r1[2])this._radius;\n }\n } else {\n out[0]=this.pt[0]; out[1]=this.pt[1]; out[2]=this.pt[2];\n }\n return out;\n }\n\n /\n Current scalar parameter: AXIS → signed t along the line; DIAL →\n * accumulated angle θ in radians (multi-turn).\n * @returns {number} The parameter, or NaN for non-scalar constraints.\n /\n scalar() {\n return (this.kind === AXIS \|\| this.kind === DIAL) ? this.s : NaN;\n }\n\n /\n Derive [az, el] from the current SPHERE direction (SPHERE only).\n * @param {number[]} out2 2-element destination [az, el].\n * @returns {number[]} out2\n /\n azEl(out2) {\n return azElFromDir(out2, this.dir[0], this.dir[1], this.dir[2]);\n }\n\n /\n Seed the canonical state from a value (used by the bridge on bind() so the\n * handle starts at the bound target's value). Chainable.\n * SPHERE — sets the unit direction (a point value recovers its heading).\n * PLANE — projects the value onto the plane.\n * AXIS — projects the value onto the line, clamped to extent.\n * DIAL — projects the value onto the dial plane, derives the wrapped\n * angle, and picks the WINDING NEAREST the current θ (so an\n * external sync doesn't unwind accumulated turns), clamped.\n \n @param {number} x,y,z Seed value.\n * @returns {Constraint} this\n /\n seed(x, y, z) {\n if (this.kind === SPHERE) {\n const vx=x-this.anchor[0], vy=y-this.anchor[1], vz=z-this.anchor[2];\n const l = Math.sqrt(vxvx + vyvy + vzvz);\n if (l >= EPS) { this.dir[0]=vx/l; this.dir[1]=vy/l; this.dir[2]=vz/l; }\n } else if (this.kind === PLANE) {\n const wx=x-this.anchor[0], wy=y-this.anchor[1], wz=z-this.anchor[2];\n const d = wxthis.n[0] + wythis.n[1] + wzthis.n[2];\n this.pt[0]=x-dthis.n[0]; this.pt[1]=y-dthis.n[1]; this.pt[2]=z-dthis.n[2];\n } else if (this.kind === AXIS) {\n const wx=x-this.anchor[0], wy=y-this.anchor[1], wz=z-this.anchor[2];\n const s = _clamp(wxthis.u[0] + wythis.u[1] + wzthis.u[2], this.min, this.max);\n this.s = s;\n this.pt[0]=this.anchor[0]+sthis.u[0];\n this.pt[1]=this.anchor[1]+sthis.u[1];\n this.pt[2]=this.anchor[2]+sthis.u[2];\n } else if (this.kind === DIAL) {\n const wx=x-this.anchor[0], wy=y-this.anchor[1], wz=z-this.anchor[2];\n const px = wxthis.r0[0] + wythis.r0[1] + wzthis.r0[2];\n const py = wxthis.r1[0] + wythis.r1[1] + wzthis.r1[2];\n if (pxpx + pypy >= EPSEPS) {\n const a = Math.atan2(py, px);\n // Nearest winding to the current θ preserves accumulated turns.\n this.s = _clamp(a + TWO_PI$1 Math.round((this.s - a) / TWO_PI$1),\n this.min, this.max);\n }\n this._dialPoint();\n }\n return this;\n }\n\n /*\n Re-aim the constraint basis in the working space — the deferred-frame\n * seam (the p5.tree bridge's `from` opt resolves its symbolic basis through\n * mapDirection and calls this). Per kind:\n * PLANE — new normal; the point is re-projected onto the new plane.\n * AXIS — new direction; the scalar t is preserved, the point recomputed.\n * DIAL — new plane normal + optional θ=0 reference; θ is preserved, the\n * in-plane basis rebuilt (reference re-derived when omitted),\n * the point recomputed.\n * SPHERE — no basis; no-op.\n * Inputs are normalised; a zero-length axis keeps the previous one.\n * Chainable.\n \n @param {number} ax,ay,az New normal (PLANE) / direction (AXIS) / dial-plane normal (DIAL).\n * @param {number} [zx,zy,zz] DIAL only — θ=0 reference (re-derived when omitted).\n * @returns {Constraint} this\n /\n aim(ax, ay, az, zx, zy, zz) {\n if (this.kind === PLANE) {\n const px = this.n[0], py = this.n[1], pz = this.n[2];\n this.n[0] = ax; this.n[1] = ay; this.n[2] = az;\n _unit$1(this.n, px, py, pz);\n this.seed(this.pt[0], this.pt[1], this.pt[2]);\n } else if (this.kind === AXIS) {\n const px = this.u[0], py = this.u[1], pz = this.u[2];\n this.u[0] = ax; this.u[1] = ay; this.u[2] = az;\n _unit$1(this.u, px, py, pz);\n this.pt[0] = this.anchor[0] + this.sthis.u[0];\n this.pt[1] = this.anchor[1] + this.sthis.u[1];\n this.pt[2] = this.anchor[2] + this.sthis.u[2];\n } else if (this.kind === DIAL) {\n const px = this.u[0], py = this.u[1], pz = this.u[2];\n this.u[0] = ax; this.u[1] = ay; this.u[2] = az;\n _unit$1(this.u, px, py, pz);\n this._dialBasis(zx, zy, zz);\n this._dialPoint();\n }\n return this;\n }\n\n /*\n The analytic pick proxy: the ray parameter t at which a ray in the\n * working space meets the grab proxy, or Infinity. `radius` is the grab\n * size in working-space units — a constant pixel size the caller converted\n * through pixelRatio at the proxy's depth. SPHERE / PLANE / AXIS: a sphere\n * of `radius` at the reported POINT. DIAL: the ring at the anchor with\n * tube radius `radius` (rayHitRing), so a grab lands anywhere on the ring.\n \n @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} radius Grab radius, working units.\n * @returns {number} The nearest t ≥ 0, or Infinity.\n /\n proxy(ox, oy, oz, dx, dy, dz, radius) {\n const a = this.anchor;\n if (this.kind === DIAL) {\n return rayHitRing(ox,oy,oz, dx,dy,dz, a[0], a[1], a[2],\n this.u[0], this.u[1], this.u[2], this._radius, radius);\n }\n let px, py, pz;\n if (this.kind === SPHERE) {\n px = a[0] + this.dir[0]this._radius;\n py = a[1] + this.dir[1]this._radius;\n pz = a[2] + this.dir[2]this._radius;\n } else {\n px = this.pt[0]; py = this.pt[1]; pz = this.pt[2];\n }\n return rayHitSphere(ox,oy,oz, dx,dy,dz, px,py,pz, radius);\n }\n}\n\n/*\n Convenience factory mirroring the constructor. Handy for headless tests and\n * for the bridge, which otherwise calls `new Constraint(...)` directly.\n * @param {number} kind SPHERE \| PLANE \| AXIS \| DIAL.\n * @param {Object} [opts]\n * @returns {Constraint}\n /\nfunction createConstraint(kind, opts) {\n return new Constraint(kind, opts);\n}\n\n/\n @file Source-agnostic 6-DOF pose helm — integrates a live rate stream into a\n * { pos, rot } pose. Renderer- and transport-agnostic. Zero dependencies.\n * @module tree/helm\n * @license AGPL-3.0-only\n \n A helm is the rate-stream sibling of the Track family: where a Track produces\n * a pose from keyframes over time, a helm produces a pose from a live 6-DOF\n * delta stream (a SpaceNavigator, a tracked hand, an agent policy). It is NOT a\n * handle — a handle reports a `vec3` solved from a pointer ray; a helm reports a\n * pose (position + orientation).\n \n Family placement (peer of PoseTrack, NOT a Track subclass — no timeline):\n * feed(translation, rotation) push the latest raw device rate (input, as Track.add)\n * step(out, dt, basis) integrate the rate by dt into the pose (BRIDGE-DRIVEN,\n * as Track.tick) — writes the new pose into out\n * eval(out) read the current { pos, rot } (zero-alloc, as Track.eval)\n * home(pose?) re-home the integrated pose (NOT reset — no keyframes to clear)\n \n Value layer (opt-in, §10): a per-helm `fullScale` keeps the read-outs honest\n * across input scales; an opt-in `filter` (oneEuro) conditions the fed rates\n * before the deadzone inside step; `poseDelta` differences two absolute poses\n * into a feedable rate. With `filter` null and the default `fullScale`, the\n * clean rate-native path is unchanged.\n \n Quaternion algebra is provided by quat.js. Out-first throughout; no allocation\n * in feed/step/eval. Storage convention (matches the rest of the core): vec3 and\n * quat state are plain number[] (f64) — the same shape as track.js keyframes and\n * the frozen basis-vector constants.\n \n ── Frame discipline (`from` / `basis`) ──────────────────────────────────────\n * The space the rates are interpreted in is named by `from` (WORLD \| EYE \| mat4),\n * a declaration the BRIDGE reads — the core never learns about a camera. The\n * resolved orientation arrives per-step as `basis`: an eye→world mat4 (or null\n * for WORLD ≡ the identity basis). Both the linear and angular rates are rotated\n * through that basis, then the quaternion is composed world-frame. This is the\n * single code path that covers both manipulation conventions:\n \n - camera body-fly — basis is the driven camera's own eye matrix (which this\n * helm produced last frame ⇒ equals the integrated `q`,\n * zero staleness); rotating a body delta through `q` then\n * world-composing is algebraically a body-frame compose.\n * - screen-relative — basis is the viewing camera's eye matrix (an external\n * frame); a push moves the target relative to the screen.\n \n Per-channel `from` ({ translation, rotation }) is a deferred, non-breaking\n * extension (one basis suffices today — pose-helm-design.md §8.3).\n /\n\n\n// =========================================================================\n// Module-level scratch — shared across helm instances (non-reentrant; step\n// is synchronous and called at most once per helm per frame).\n// =========================================================================\n\nconst _dq = [0, 0, 0, 1];\n\n// Scratch for the optional input filter (helm.filter). The fed rates are packed\n// into one 6-vector, conditioned, and unpacked to lin/ang triples before the\n// deadzone — so a single filter carries one state per helm. Shared across\n// instances (step is synchronous, at most once per helm per frame).\nconst _f6raw = [0, 0, 0, 0, 0, 0];\nconst _f6out = [0, 0, 0, 0, 0, 0];\nconst _fLin = [0, 0, 0];\nconst _fAng = [0, 0, 0];\n\n/\n Default full-deflection input magnitude — the fed rate a read-out shows as\n * full (the SpaceNavigator's saturated lane). Private to core: a transport on a\n * different raw scale sets helm.fullScale and never reads this, so there is no\n * public HELM_FULL export. Display-only; integration uses profile.sens directly.\n /\nconst HELM_FULL_SCALE = 500;\n\n// Deadzone gate — \|v\| > dz keeps v, else 0. Module-level so step allocates no\n// closure. Strictly-greater matches the e7 reference (rest reads exact 0).\nconst _dz = (v, dz) => (v > dz \|\| v < -dz) ? v : 0;\n\n/\n Build the canonical default profile. SpaceNavigator-tuned lane permutation\n * and the eye-frame manipulation feel found in the e7 experiments; it is the\n * per-app / per-device mapping layer and is meant to be overwritten wholesale\n * (`helm.profile = { … }`) for a different transport.\n \n sign — per-app direction (camera-fly vs object-grab invert; flip live).\n * sens — per-axis sensitivity (tame roll without touching the rest).\n * lane — input-channel permutation: which fed channel drives this DOF.\n * T* lanes index the translation triple; R* lanes the rotation triple.\n /\nfunction _defaultProfile() {\n return {\n Tx: { sign: 1, sens: 0.30, lane: 0 },\n Ty: { sign: 1, sens: 0.30, lane: 2 },\n Tz: { sign: -1, sens: 0.30, lane: 1 },\n Rp: { sign: -1, sens: 0.0025, lane: 0 },\n Ry: { sign: -1, sens: 0.0025, lane: 2 },\n Rr: { sign: 1, sens: 0.0018, lane: 1 },\n };\n}\n\n/* Channel order — readout / iteration convenience (Tx Ty Tz Rp Ry Rr). /\nconst HELM_CHANNELS = Object.freeze(['Tx', 'Ty', 'Tz', 'Rp', 'Ry', 'Rr']);\n\n// =========================================================================\n// PoseHelm\n// =========================================================================\n\n/\n Source-agnostic 6-DOF pose producer. Holds a profile + the integrated pose;\n * no timeline (no keyframes, no play/seek/loop).\n /\nclass PoseHelm {\n constructor() {\n /\n DOF mapping table. Six channels, each `{ sign, sens, lane }`.\n * Public and mutable — set wholesale to re-map a device or app.\n * @type {{ Tx:Object, Ty:Object, Tz:Object, Rp:Object, Ry:Object, Rr:Object }}\n /\n this.profile = _defaultProfile();\n\n /\n Rest-drift floor. A fed rate with \|value\| ≤ deadzone reads as 0. Devices\n * that rest at exact 0 need only a small floor. @type {number}\n /\n this.deadzone = 8;\n\n /\n Full-deflection input magnitude for the read-outs (gizmo overlay + panel\n * meters): a fed rate of \|fullScale\| reads as a full bar / arrow. Set by a\n * transport whose saturated rate differs from the default (a gamepad stick\n * that saturates at 1 sets fullScale = 1). Display-only — integration uses\n * profile.sens directly, so this never affects flight. @type {number}\n /\n this.fullScale = HELM_FULL_SCALE;\n\n /\n Optional input conditioner applied to the fed rates BEFORE the deadzone,\n * inside step — a oneEuro filter, or any f(out, raw, dt) carrying function\n * with a reset(). null (the default) is the clean rate-native path: the\n * filter branch is skipped, so a clean device pays nothing. Set for noisy /\n * absolute sources; home() resets it. @type {?Function}\n /\n this.filter = null;\n\n /\n The space fed rates are interpreted in: a space constant (WORLD \| EYE) or\n * a mat4 frame. Declarative only — the bridge reads this to resolve the\n * per-step `basis`; the core stays camera-agnostic. @type {string\|ArrayLike<number>}\n /\n this.from = 'EYE';\n\n // Latest fed raw rates (refreshed by feed; persist until the next feed —\n // the transport is responsible for feeding 0 when motion should stop).\n this._lin = [0, 0, 0];\n this._ang = [0, 0, 0];\n\n // Integrated pose — the source of truth.\n this._pos = [0, 0, 0];\n this._q = [0, 0, 0, 1];\n }\n\n /\n Push the latest raw 6-DOF device rate. Either argument may be omitted to\n * leave that half unchanged (devices report the two halves on separate\n * frames). The value persists until the next feed. Raw device units — the\n * profile's `sens` does the scaling, so the same feed() suits any transport.\n \n @param {ArrayLike<number>} [translation] [tx, ty, tz] raw lane rates.\n * @param {ArrayLike<number>} [rotation] [rx, ry, rz] raw lane rates.\n * @returns {PoseHelm} this\n /\n feed(translation, rotation) {\n if (translation) {\n this._lin[0] = translation[0] \|\| 0;\n this._lin[1] = translation[1] \|\| 0;\n this._lin[2] = translation[2] \|\| 0;\n }\n if (rotation) {\n this._ang[0] = rotation[0] \|\| 0;\n this._ang[1] = rotation[1] \|\| 0;\n this._ang[2] = rotation[2] \|\| 0;\n }\n return this;\n }\n\n /\n Integrate the latest fed rate by `dt` seconds into the pose, then write the\n * pose into `out`. Bridge-driven (the player calls it each frame; a sketch\n * never does, as it never calls track.tick()).\n \n `basis` is the resolved `from` frame: an eye→world column-major mat4\n * (16-element ArrayLike), or null/omitted for WORLD (the identity basis). Its\n * columns supply the right/up/back axes; forward is −col2. Both the linear and\n * angular rates are rotated through it, then `q` is composed world-frame.\n \n Zero-allocation. `out` is `{ pos:number[3], rot:number[4] }`; omit it for a\n * fresh object.\n \n @param {{ pos:number[], rot:number[] }} [out]\n * @param {number} dt Elapsed time in seconds.\n * @param {ArrayLike<number>} [basis] Eye→world mat4, or null for WORLD.\n * @returns {{ pos:number[], rot:number[] }} out\n /\n step(out, dt, basis) {\n const p = this.profile, dz = this.deadzone;\n let lin = this._lin, ang = this._ang;\n\n // Value layer — condition the fed rates BEFORE the deadzone (the filter\n // narrows the jitter band; the deadzone then gates the residual to exact\n // zero). The filter carries state, so it is ticked exactly once per step;\n // activity() reads the raw fed rate and is left unfiltered (the read-out\n // shows device input, normalized by fullScale). Skipped when filter is null.\n const filter = this.filter;\n if (filter) {\n _f6raw[0] = lin[0]; _f6raw[1] = lin[1]; _f6raw[2] = lin[2];\n _f6raw[3] = ang[0]; _f6raw[4] = ang[1]; _f6raw[5] = ang[2];\n filter(_f6out, _f6raw, dt);\n _fLin[0] = _f6out[0]; _fLin[1] = _f6out[1]; _fLin[2] = _f6out[2];\n _fAng[0] = _f6out[3]; _fAng[1] = _f6out[4]; _fAng[2] = _f6out[5];\n lin = _fLin; ang = _fAng;\n }\n\n // Basis axes (right / up / forward). No basis ⇒ the identity eye matrix:\n // right +X, up +Y, forward −Z. Forward is −col2 (an eye→world matrix stores\n // the camera's BACK in col2), and the identity's col2 is +Z, so forward is\n // −Z — making step(out, dt, null) identical to step(out, dt, IDENTITY_MAT4),\n // as the `from` contract (\"null ≡ the identity basis\") promises.\n let rX = 1, rY = 0, rZ = 0;\n let uX = 0, uY = 1, uZ = 0;\n let fX = 0, fY = 0, fZ = -1;\n if (basis) {\n rX = basis[0]; rY = basis[1]; rZ = basis[2];\n uX = basis[4]; uY = basis[5]; uZ = basis[6];\n fX = -basis[8]; fY = -basis[9]; fZ = -basis[10];\n }\n\n // Angular: three rates → one delta quat, rotated into world, world-composed.\n const wx = _dz(ang[p.Rp.lane], dz) p.Rp.sign * p.Rp.sens;\n const wy = _dz(ang[p.Ry.lane], dz) * p.Ry.sign * p.Ry.sens;\n const wz = _dz(ang[p.Rr.lane], dz) * p.Rr.sign * p.Rr.sens;\n const w = Math.sqrt(wx * wx + wy * wy + wz * wz);\n if (w > 0) {\n // Axis in world = basis · (wx,wy,wz); its length is w (basis orthonormal),\n // so the rotation angle is w·dt. qFromAxisAngle renormalizes the axis.\n const ax = wx * rX + wy * uX + wz * fX;\n const ay = wx * rY + wy * uY + wz * fY;\n const az = wx * rZ + wy * uZ + wz * fZ;\n qFromAxisAngle(_dq, ax, ay, az, w * dt);\n qMul(this._q, _dq, this._q); // delta already in world → world-frame compose\n qNormalize(this._q);\n }\n\n // Linear: three rates rotated into world, integrated by dt.\n const tx = _dz(lin[p.Tx.lane], dz) * p.Tx.sign * p.Tx.sens;\n const ty = _dz(lin[p.Ty.lane], dz) * p.Ty.sign * p.Ty.sens;\n const tz = _dz(lin[p.Tz.lane], dz) * p.Tz.sign * p.Tz.sens;\n this._pos[0] += (tx * rX + ty * uX + tz * fX) * dt;\n this._pos[1] += (tx * rY + ty * uY + tz * fY) * dt;\n this._pos[2] += (tx * rZ + ty * uZ + tz * fZ) * dt;\n\n return this.eval(out);\n }\n\n /*\n Read the current pose into `out` (zero-alloc). The shared output contract\n * that feeds applyPose — mirrors Track.eval.\n \n @param {{ pos:number[], rot:number[] }} [out]\n * @returns {{ pos:number[], rot:number[] }} out\n /\n eval(out) {\n out = out \|\| { pos: [0, 0, 0], rot: [0, 0, 0, 1] };\n out.pos[0] = this._pos[0]; out.pos[1] = this._pos[1]; out.pos[2] = this._pos[2];\n out.rot[0] = this._q[0]; out.rot[1] = this._q[1];\n out.rot[2] = this._q[2]; out.rot[3] = this._q[3];\n return out;\n }\n\n /\n Write the six effective channel rates (post deadzone·sign·sens) into `out6`,\n * in channel order [Tx, Ty, Tz, Rp, Ry, Rr]. The gizmo reads this to light the\n * DOFs being driven; readouts can show signed magnitudes. Zero-alloc.\n \n @param {number[]} out6 6-element destination.\n * @returns {number[]} out6\n /\n activity(out6) {\n const p = this.profile, dz = this.deadzone, lin = this._lin, ang = this._ang;\n out6[0] = _dz(lin[p.Tx.lane], dz) p.Tx.sign * p.Tx.sens;\n out6[1] = _dz(lin[p.Ty.lane], dz) * p.Ty.sign * p.Ty.sens;\n out6[2] = _dz(lin[p.Tz.lane], dz) * p.Tz.sign * p.Tz.sens;\n out6[3] = _dz(ang[p.Rp.lane], dz) * p.Rp.sign * p.Rp.sens;\n out6[4] = _dz(ang[p.Ry.lane], dz) * p.Ry.sign * p.Ry.sens;\n out6[5] = _dz(ang[p.Rr.lane], dz) * p.Rr.sign * p.Rr.sens;\n return out6;\n }\n\n /*\n Re-home the integrated pose. Sets position + orientation to `pose` (or the\n * identity pose when omitted) and clears any pending rate so the helm rests at\n * a clean, known state. NOT a reset — there are no keyframes to clear.\n \n @param {{ pos?:ArrayLike<number>, rot?:ArrayLike<number> }} [pose]\n * @returns {PoseHelm} this\n /\n home(pose) {\n if (pose && pose.pos) {\n this._pos[0] = pose.pos[0]; this._pos[1] = pose.pos[1]; this._pos[2] = pose.pos[2];\n } else {\n this._pos[0] = 0; this._pos[1] = 0; this._pos[2] = 0;\n }\n if (pose && pose.rot) {\n this._q[0] = pose.rot[0]; this._q[1] = pose.rot[1];\n this._q[2] = pose.rot[2]; this._q[3] = pose.rot[3];\n } else {\n this._q[0] = 0; this._q[1] = 0; this._q[2] = 0; this._q[3] = 1;\n }\n this._lin[0] = this._lin[1] = this._lin[2] = 0;\n this._ang[0] = this._ang[1] = this._ang[2] = 0;\n if (this.filter) this.filter.reset(); // drop filter state at the discontinuity\n return this;\n }\n}\n\n// =========================================================================\n// poseDelta — absolute pose → 6-DOF rate\n// =========================================================================\n\n/\n Difference two consecutive absolute poses into a 6-DOF rate the helm can be\n * fed — the bridge for absolute-pose transports (gesture / landmark / marker /\n * IMU) into feed(lin, ang). Out-first, zero-allocation.\n \n Linear rate is (cur.pos − prev.pos) / dt. Angular rate is the world-frame\n * angular velocity ω carrying prev.rot onto cur.rot over dt: the relative\n * rotation r = cur · conj(prev) (so cur = r · prev, the world-frame compose the\n * step integrates), read as axis · angle / dt.\n \n The double-cover guard is the whole reason to ship this rather than inline it:\n * a quaternion and its negation are the same orientation, so when\n * dot(prev.rot, cur.rot) < 0 the two samples sit on opposite hemispheres and a\n * naive difference takes the long way round — the angular rate spikes at the\n * crossing. Flipping cur into prev's hemisphere first keeps r the shortest arc.\n \n Fed through a helm in WORLD whose profile has unit `sens`, in-order lanes and\n * `Tz` / `Rr` signs of −1 — the helm's lanes are eye-frame and the null basis\n * is the identity eye matrix (forward −Z), so the two Z channels flip against\n * world axes — the integrated pose retraces the source (the round-trip e9\n * asserts). A 1:1, non-integrated consumer skips the helm and applyPoses the\n * absolute pose directly.\n \n @param {{ lin:number[], ang:number[] }} [out] Destination; omit for a fresh one.\n * @param {{ pos:ArrayLike<number>, rot:ArrayLike<number> }} prev Previous pose.\n * @param {{ pos:ArrayLike<number>, rot:ArrayLike<number> }} cur Current pose.\n * @param {number} dt Elapsed seconds between the two samples.\n * @returns {{ lin:number[], ang:number[] }} out\n /\nfunction poseDelta(out, prev, cur, dt) {\n out = out \|\| { lin: [0, 0, 0], ang: [0, 0, 0] };\n const inv = 1 / dt;\n\n out.lin[0] = (cur.pos[0] - prev.pos[0]) inv;\n out.lin[1] = (cur.pos[1] - prev.pos[1]) * inv;\n out.lin[2] = (cur.pos[2] - prev.pos[2]) * inv;\n\n const px = prev.rot[0], py = prev.rot[1], pz = prev.rot[2], pw = prev.rot[3];\n let cx = cur.rot[0], cy = cur.rot[1], cz = cur.rot[2], cw = cur.rot[3];\n\n // Double-cover guard: bring cur into prev's hemisphere so r is the short arc.\n if (px * cx + py * cy + pz * cz + pw * cw < 0) { cx = -cx; cy = -cy; cz = -cz; cw = -cw; }\n\n // Relative rotation r = cur · conj(prev), conj(prev) = (−px, −py, −pz, pw).\n const rx = -cw * px + cx * pw - cy * pz + cz * py;\n const ry = -cw * py + cx * pz + cy * pw - cz * px;\n const rz = -cw * pz - cx * py + cy * px + cz * pw;\n const rw = cw * pw + cx * px + cy * py + cz * pz; // = dot(prev, cur) ≥ 0 → angle ≤ π\n\n // Axis · angle of r → ω = axis · angle / dt. Below the threshold the rotation\n // is negligible (no well-defined axis) and the angular rate is exact zero.\n const sinHalf = Math.sqrt(rx * rx + ry * ry + rz * rz);\n if (sinHalf < 1e-8) {\n out.ang[0] = 0; out.ang[1] = 0; out.ang[2] = 0;\n } else {\n const k = (2 * Math.atan2(sinHalf, rw)) * inv / sinHalf;\n out.ang[0] = rx * k; out.ang[1] = ry * k; out.ang[2] = rz * k;\n }\n return out;\n}\n\n/*\n @file Frustum planes and visibility tests — zero allocations.\n * @module tree/visibility\n * @license AGPL-3.0-only\n \n Planes are a flat Float64Array(24): 6 planes × 4 floats [a, b, c, d].\n * All inputs are scalars. All outputs are INVISIBLE \| VISIBLE \| SEMIVISIBLE.\n /\n\n\n// Plane indices\nconst PLANE_LEFT = 0, PLANE_RIGHT = 1, PLANE_NEAR = 2,\n PLANE_FAR = 3, PLANE_TOP = 4, PLANE_BOTTOM = 5;\n\n/\n Compute 6 frustum planes from camera basis (world space) + projection params.\n * All inputs are scalars — the addon extracts them from the inverse view matrix\n * and projection queries before calling.\n \n @param {Float64Array} out 24-float output.\n * @param {number} posX,posY,posZ Camera world position.\n * @param {number} vdX,vdY,vdZ View direction (−Z in eye space, world).\n * @param {number} upX,upY,upZ Camera up.\n * @param {number} rtX,rtY,rtZ Camera right.\n * @param {boolean} ortho true if orthographic.\n * @param {number} near,far,left,right,top,bottom\n * Projection extents in camera space.\n * Sign contract: top > 0, bottom < 0, right > 0, left < 0 for standard y-up camera.\n /\nfunction frustumPlanes(\n out,\n posX, posY, posZ,\n vdX, vdY, vdZ,\n upX, upY, upZ,\n rtX, rtY, rtZ,\n ortho,\n near, far, left, right, top, bottom\n) {\n const posViewDir = posXvdX + posYvdY + posZvdZ;\n const posRight = posXrtX + posYrtY + posZrtZ;\n const posUp = posXupX + posYupY + posZupZ;\n\n if (ortho) {\n // Left: normal = −right\n out[0] = -rtX; out[1] = -rtY; out[2] = -rtZ;\n out[3] = -(posRight - left) * -1; // dot(pos - rightleft, -right) ... simplified:\n // Actually: d = dot(pointOnPlane, normal)\n // pointOnPlane = pos + rightleft (left is negative for standard ortho)\n // normal = -right\n // d = dot(pos + rightleft, -right) = -posRight - left\n out[3] = -posRight - left;\n\n // Right: normal = right\n out[4] = rtX; out[5] = rtY; out[6] = rtZ;\n out[7] = posRight + right;\n\n // Top: normal = up\n out[16] = upX; out[17] = upY; out[18] = upZ;\n out[19] = posUp + top;\n\n // Bottom: normal = -up\n out[20] = -upX; out[21] = -upY; out[22] = -upZ;\n out[23] = -posUp - bottom;\n } else {\n // Left\n const hfovl = Math.atan2(left, near);\n const shfovl = Math.sin(hfovl), chfovl = Math.cos(hfovl);\n out[0] = vdXshfovl - rtXchfovl;\n out[1] = vdYshfovl - rtYchfovl;\n out[2] = vdZshfovl - rtZchfovl;\n out[3] = shfovlposViewDir - chfovlposRight;\n\n // Right\n const hfovr = Math.atan2(right, near);\n const shfovr = Math.sin(hfovr), chfovr = Math.cos(hfovr);\n out[4] = -vdXshfovr + rtXchfovr;\n out[5] = -vdYshfovr + rtYchfovr;\n out[6] = -vdZshfovr + rtZchfovr;\n out[7] = -shfovrposViewDir + chfovrposRight;\n\n // Top\n const fovt = Math.atan2(top, near);\n const sfovt = Math.sin(fovt), cfovt = Math.cos(fovt);\n out[16] = -vdXsfovt + upXcfovt;\n out[17] = -vdYsfovt + upYcfovt;\n out[18] = -vdZsfovt + upZcfovt;\n out[19] = -sfovtposViewDir + cfovtposUp;\n\n // Bottom\n const fovb = Math.atan2(bottom, near);\n const sfovb = Math.sin(fovb), cfovb = Math.cos(fovb);\n out[20] = vdXsfovb - upXcfovb;\n out[21] = vdYsfovb - upYcfovb;\n out[22] = vdZsfovb - upZcfovb;\n out[23] = sfovbposViewDir - cfovbposUp;\n }\n\n // Near plane: normal = −viewDir\n out[8] = -vdX; out[9] = -vdY; out[10] = -vdZ;\n out[11] = -posViewDir - near;\n\n // Far plane: normal = viewDir\n out[12] = vdX; out[13] = vdY; out[14] = vdZ;\n out[15] = posViewDir + far;\n\n return out;\n}\n\n/\n Signed distance from point to one frustum plane.\n * @param {Float64Array} planes 24-float planes buffer.\n * @param {number} planeIdx 0–5 (LEFT, RIGHT, NEAR, FAR, TOP, BOTTOM).\n * @param {number} px,py,pz Point coordinates.\n * @returns {number}\n /\nfunction distanceToPlane(planes, planeIdx, px, py, pz) {\n const b = planeIdx 4;\n return planes[b]px + planes[b+1]py + planes[b+2]pz - planes[b+3];\n}\n\n/* @returns {number} INVISIBLE \| VISIBLE \| SEMIVISIBLE /\nfunction pointVisibility(planes, px, py, pz) {\n for (let i = 0; i < 6; i++) {\n if (distanceToPlane(planes, i, px, py, pz) > 0) return INVISIBLE;\n }\n return VISIBLE;\n}\n\n/* @returns {number} INVISIBLE \| VISIBLE \| SEMIVISIBLE /\nfunction sphereVisibility(planes, cx, cy, cz, radius) {\n let allIn = true;\n for (let i = 0; i < 6; i++) {\n const d = distanceToPlane(planes, i, cx, cy, cz);\n if (d > radius) return INVISIBLE;\n if (d > 0 \|\| -d < radius) allIn = false;\n }\n return allIn ? VISIBLE : SEMIVISIBLE;\n}\n\n/* @returns {number} INVISIBLE \| VISIBLE \| SEMIVISIBLE /\nfunction boxVisibility(planes, x0, y0, z0, x1, y1, z1) {\n let allIn = true;\n for (let i = 0; i < 6; i++) {\n const b = i 4;\n const a = planes[b], bv = planes[b+1], c = planes[b+2], d = planes[b+3];\n let allOut = true;\n for (let corner = 0; corner < 8; corner++) {\n const cx = (corner & 4) ? x0 : x1;\n const cy = (corner & 2) ? y0 : y1;\n const cz = (corner & 1) ? z0 : z1;\n const dist = acx + bvcy + ccz - d;\n if (dist > 0) { allIn = false; }\n else { allOut = false; }\n }\n if (allOut) return INVISIBLE;\n }\n return allIn ? VISIBLE : SEMIVISIBLE;\n}\n\n/\n @file Camera state ↔ matrices: builders, decomposers, and in-place edits.\n * @module tree/camera\n * @license AGPL-3.0-only\n \n The camera is plain data — the CameraTrack keyframe shape:\n \n cam = {\n * eye: [x, y, z], // position\n * center: [x, y, z], // lookat target; \|center − eye\| is the gaze distance\n * up: [x, y, z], // up hint, need not be unit\n * fov: number \| null, // vertical field of view, radians — perspective\n * halfHeight: number \| null, // world-unit half-height at the near plane — orthographic\n * near: number, // > 0\n * far: number, // > near\n * }\n \n Exactly one of fov / halfHeight is meaningful; fov wins when both are set.\n * With both null the lens is \"unchanged\": cameraProj and cameraPlanes return\n * null and leave their output untouched, so a track that evaluates null into\n * the state keeps the last projection installed. A track writes the state\n * directly — `track.eval(cam)` — and a pose drives it through cameraFromPose.\n \n The state carries no aspect ratio — the viewport owns it — so one state is\n * portable between targets of different sizes; every builder that needs it\n * takes it as an argument.\n \n Vectors are plain number[] (f64, authoring state); matrices are written into\n * whatever 16-element buffer the caller passes. createCamera is the one\n * allocating call; everything else is out-first (or in-place) and zero-alloc.\n \n Every function that needs the camera frame derives it through mat4Eye, so\n * planes and edits agree with cameraEye / cameraView exactly — including the\n * up re-seed when the view direction is parallel to the up hint.\n /\n\n\nconst _E$1 = new Float64Array(16); // eye→world frame scratch: right 0–2, up 4–6, back 8–10\nconst _d = [0, 0, 0]; // view-direction scratch\n\n/* Eye→world frame of `cam` into `_E`. /\nfunction _frame(cam) {\n const e = cam.eye, c = cam.center, u = cam.up;\n mat4Eye(_E$1, e[0],e[1],e[2], c[0],c[1],c[2], u[0],u[1],u[2]);\n}\n\n/* Gaze distance \|center − eye\|, or 1 when the state is degenerate. /\nfunction _gaze(cam) {\n const dx = cam.center[0]-cam.eye[0], dy = cam.center[1]-cam.eye[1], dz = cam.center[2]-cam.eye[2];\n const d = Math.sqrt(dxdx+dydy+dzdz);\n return d > 0 ? d : 1;\n}\n\nfunction _vec3(v, x, y, z) { return v != null ? [v[0], v[1], v[2]] : [x, y, z]; }\n\n// =========================================================================\n// State\n// =========================================================================\n\n/*\n Allocate a camera state — the one allocating call, setup-time.\n * Defaults: eye [0, 0, 500], center [0, 0, 0], up [0, 1, 0], fov π/3,\n * halfHeight null, near 0.1, far 1000. Passing halfHeight without fov yields\n * an orthographic state (fov null).\n \n @param {{ eye?:number[], center?:number[], up?:number[], fov?:number\|null,\n * halfHeight?:number\|null, near?:number, far?:number }} [opts]\n * @returns {{ eye:number[], center:number[], up:number[], fov:number\|null,\n * halfHeight:number\|null, near:number, far:number }}\n /\nfunction createCamera(opts) {\n const o = opts \|\| {};\n const ortho = o.halfHeight != null && o.fov === undefined;\n return {\n eye: _vec3(o.eye, 0, 0, 500),\n center: _vec3(o.center, 0, 0, 0),\n up: _vec3(o.up, 0, 1, 0),\n fov: o.fov !== undefined ? o.fov : (ortho ? null : Math.PI / 3),\n halfHeight: o.halfHeight !== undefined ? o.halfHeight : null,\n near: typeof o.near === 'number' ? o.near : 0.1,\n far: typeof o.far === 'number' ? o.far : 1000,\n };\n}\n\n/\n Copy one camera state into another (an orbit's home, a track's capture).\n * @param {object} out Destination state.\n * @param {object} cam Source state.\n * @returns {object} out\n /\nfunction cameraCopy(out, cam) {\n out.eye[0]=cam.eye[0]; out.eye[1]=cam.eye[1]; out.eye[2]=cam.eye[2];\n out.center[0]=cam.center[0]; out.center[1]=cam.center[1]; out.center[2]=cam.center[2];\n out.up[0]=cam.up[0]; out.up[1]=cam.up[1]; out.up[2]=cam.up[2];\n out.fov = cam.fov; out.halfHeight = cam.halfHeight;\n out.near = cam.near; out.far = cam.far;\n return out;\n}\n\n// =========================================================================\n// Builders — state → matrices\n// =========================================================================\n\n/\n View matrix (world→eye) from the state's lookat.\n * @param {Float32Array\|number[]} out 16-element destination.\n * @param {object} cam\n * @returns {Float32Array\|number[]} out\n /\nfunction cameraView(out, cam) {\n const e = cam.eye, c = cam.center, u = cam.up;\n return mat4View(out, e[0],e[1],e[2], c[0],c[1],c[2], u[0],u[1],u[2]);\n}\n\n/\n Eye matrix (eye→world) from the state's lookat.\n * @param {Float32Array\|number[]} out 16-element destination.\n * @param {object} cam\n * @returns {Float32Array\|number[]} out\n /\nfunction cameraEye(out, cam) {\n const e = cam.eye, c = cam.center, u = cam.up;\n return mat4Eye(out, e[0],e[1],e[2], c[0],c[1],c[2], u[0],u[1],u[2]);\n}\n\n/\n Projection matrix from the state's lens: mat4Persp from fov, or mat4Ortho\n * from halfHeight, with symmetric extents (top = near · tan(fov / 2) or\n * halfHeight; right = top · aspect).\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {object} cam\n * @param {number} aspect Viewport width / height.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @param {number} [ndcYSign=1] +1 NDC y-up; −1 NDC y-down.\n * @returns {Float32Array\|number[]\|null} out, or null (out untouched) when\n * both fov and halfHeight are null.\n /\nfunction cameraProj(out, cam, aspect, ndcZMin, ndcYSign = 1) {\n const near = cam.near, far = cam.far;\n if (cam.fov != null) {\n const top = near Math.tan(cam.fov / 2), right = top * aspect;\n return mat4Persp(out, -right, right, -top, top, near, far, ndcZMin, ndcYSign);\n }\n if (cam.halfHeight != null) {\n const top = cam.halfHeight, right = top * aspect;\n return mat4Ortho(out, -right, right, -top, top, near, far, ndcZMin, ndcYSign);\n }\n return null;\n}\n\n/*\n The six frustum planes of the state, world space — frustumPlanes over the\n * lookat basis and the symmetric extents cameraProj uses, so visibility tests\n * run against a camera state without any matrix.\n \n @param {Float64Array} planes 24-element destination.\n * @param {object} cam\n * @param {number} aspect Viewport width / height.\n * @returns {Float64Array\|null} planes, or null (planes untouched) when both\n * fov and halfHeight are null.\n /\nfunction cameraPlanes(planes, cam, aspect) {\n const ortho = cam.fov == null;\n if (ortho && cam.halfHeight == null) return null;\n const top = ortho ? cam.halfHeight : cam.near Math.tan(cam.fov / 2), right = top * aspect;\n _frame(cam);\n const e = cam.eye;\n return frustumPlanes(planes,\n e[0], e[1], e[2],\n -_E$1[8], -_E$1[9], -_E$1[10],\n _E$1[4], _E$1[5], _E$1[6],\n _E$1[0], _E$1[1], _E$1[2],\n ortho, cam.near, cam.far, -right, right, top, -top);\n}\n\n// =========================================================================\n// Decomposers — matrices and poses → state\n// =========================================================================\n\n/*\n Read a state back from an eye matrix and a projection: eye ← column 3,\n * up ← column 1, forward ← −column 2 of E; center ← eye + forward · d with d\n * the state's current gaze distance (1 when degenerate), so the distance\n * survives a round trip. The lens comes from the projection queries: fov or\n * halfHeight by projIsOrtho, near and far under `ndcZMin`.\n \n @param {object} cam State written in place.\n * @param {ArrayLike<number>} E Eye matrix (eye→world), 16 elements.\n * @param {ArrayLike<number>} P Projection matrix, 16 elements.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @returns {object} cam\n /\nfunction cameraFromMat4(cam, E, P, ndcZMin) {\n const d = _gaze(cam);\n let fx = -E[8], fy = -E[9], fz = -E[10];\n const fl = Math.sqrt(fxfx+fyfy+fzfz) \|\| 1;\n fx /= fl; fy /= fl; fz /= fl;\n cam.eye[0]=E[12]; cam.eye[1]=E[13]; cam.eye[2]=E[14];\n cam.up[0]=E[4]; cam.up[1]=E[5]; cam.up[2]=E[6];\n cam.center[0]=cam.eye[0]+fxd; cam.center[1]=cam.eye[1]+fyd; cam.center[2]=cam.eye[2]+fzd;\n if (projIsOrtho(P)) { cam.fov = null; cam.halfHeight = projTop(P, ndcZMin); }\n else { cam.fov = projFov(P); cam.halfHeight = null; }\n cam.near = projNear(P, ndcZMin);\n cam.far = projFar(P);\n return cam;\n}\n\n/\n Drive the lookat from a TRS pose: eye ← pos, up and forward from the\n * rotation's columns 1 and −2, center ← eye + forward · d with d the current\n * gaze distance (1 when degenerate). The lens is untouched; `scl` is ignored.\n \n @param {object} cam State written in place.\n * @param {{ pos:number[], rot:number[] }} pose rot is a unit quaternion [x,y,z,w].\n * @returns {object} cam\n /\nfunction cameraFromPose(cam, pose) {\n const d = _gaze(cam);\n const q = pose.rot, x=q[0], y=q[1], z=q[2], w=q[3];\n const x2=x+x, y2=y+y, z2=z+z;\n const xx=xx2, xy=xy2, xz=xz2, yy=yy2, yz=yz2, zz=zz2, wx=wx2, wy=wy2, wz=wz2;\n const ux=xy-wz, uy=1-(xx+zz), uz=yz+wx; // column 1 of qToMat4(rot): up\n const bx=xz+wy, by=yz-wx, bz=1-(xx+yy); // column 2: back\n cam.eye[0]=pose.pos[0]; cam.eye[1]=pose.pos[1]; cam.eye[2]=pose.pos[2];\n cam.up[0]=ux; cam.up[1]=uy; cam.up[2]=uz;\n cam.center[0]=cam.eye[0]-bxd; cam.center[1]=cam.eye[1]-byd; cam.center[2]=cam.eye[2]-bzd;\n return cam;\n}\n\n/\n The lookat as a TRS pose: pos ← eye, rot ← qFromLookDir(center − eye, up) —\n * the rotation of cameraEye, so a helm seeded from it continues the frame.\n \n @param {{ pos:number[], rot:number[] }} pose Written in place.\n * @param {object} cam\n * @returns {{ pos:number[], rot:number[] }} pose\n /\nfunction cameraToPose(pose, cam) {\n pose.pos[0]=cam.eye[0]; pose.pos[1]=cam.eye[1]; pose.pos[2]=cam.eye[2];\n _d[0]=cam.center[0]-cam.eye[0]; _d[1]=cam.center[1]-cam.eye[1]; _d[2]=cam.center[2]-cam.eye[2];\n qFromLookDir(pose.rot, _d, cam.up);\n return pose;\n}\n\n// =========================================================================\n// Edits — in place, chainable, zero-alloc\n// =========================================================================\n\n/\n Orbit the eye about the center: `dAz` rotates it about the up hint\n * (right-handed); `dEl` raises its elevation above the plane through the\n * center perpendicular to the hint, clamped to ±opts.maxEl so the view\n * direction never reaches the hint (the pole guard). `up` is left as the hint\n * it was, so an orbit never rolls. A state already at the pole is pulled\n * inside the guard by its first non-zero edit; (0, 0) is a no-op.\n \n @param {object} cam\n * @param {number} dAz Azimuth delta, radians.\n * @param {number} dEl Elevation delta, radians.\n * @param {{ maxEl?:number }} [opts] Elevation limit; default π/2 − 1e-3.\n * @returns {object} cam\n /\nfunction cameraOrbit(cam, dAz, dEl, opts) {\n if (dAz === 0 && dEl === 0) return cam;\n const maxEl = opts && typeof opts.maxEl === 'number' ? opts.maxEl : Math.PI / 2 - 1e-3;\n const e = cam.eye, c = cam.center;\n let ux=cam.up[0], uy=cam.up[1], uz=cam.up[2];\n const ul = Math.sqrt(uxux+uyuy+uzuz) \|\| 1;\n ux/=ul; uy/=ul; uz/=ul;\n const dx=e[0]-c[0], dy=e[1]-c[1], dz=e[2]-c[2];\n const r = Math.sqrt(dxdx+dydy+dzdz);\n _frame(cam);\n const px=_E$1[4], py=_E$1[5], pz=_E$1[6]; // the eye's up\n const bx=_E$1[8], by=_E$1[9], bz=_E$1[10]; // back: center → eye, unit\n // elevation: raise by θ within the (back, up) plane, clamped\n const el = Math.asin(Math.max(-1, Math.min(1, bxux+byuy+bzuz)));\n const th = Math.max(-maxEl, Math.min(maxEl, el + dEl)) - el;\n const ct = Math.cos(th), st = Math.sin(th);\n const ox = r(bxct+pxst), oy = r(byct+pyst), oz = r(bzct+pzst);\n // azimuth: rotate about the hint (Rodrigues)\n const ca = Math.cos(dAz), sa = Math.sin(dAz), k = (uxox+uyoy+uzoz)(1-ca);\n e[0] = c[0] + oxca + (uyoz-uzoy)sa + uxk;\n e[1] = c[1] + oyca + (uzox-uxoz)sa + uyk;\n e[2] = c[2] + ozca + (uxoy-uyox)sa + uzk;\n return cam;\n}\n\n/*\n Dolly: scale the gaze distance by `factor` — the eye moves along the view\n * direction under perspective; under orthographic (fov null, halfHeight set)\n * halfHeight is scaled instead, since moving the eye changes nothing on\n * screen. opts.min / opts.max clamp the scaled quantity. An edit that would\n * make it non-positive is a no-op.\n \n @param {object} cam\n * @param {number} factor\n * @param {{ min?:number, max?:number }} [opts]\n * @returns {object} cam\n /\nfunction cameraDolly(cam, factor, opts) {\n const min = opts && typeof opts.min === 'number' ? opts.min : 0;\n const max = opts && typeof opts.max === 'number' ? opts.max : Infinity;\n if (cam.fov == null && cam.halfHeight != null) {\n const h = Math.max(min, Math.min(max, cam.halfHeight factor));\n if (h > 0) cam.halfHeight = h;\n return cam;\n }\n const e = cam.eye, c = cam.center;\n const dx=e[0]-c[0], dy=e[1]-c[1], dz=e[2]-c[2];\n const r = Math.sqrt(dxdx+dydy+dzdz);\n if (r === 0) return cam;\n const r1 = Math.max(min, Math.min(max, r factor));\n if (!(r1 > 0)) return cam;\n const s = r1 / r;\n e[0]=c[0]+dxs; e[1]=c[1]+dys; e[2]=c[2]+dzs;\n return cam;\n}\n\n/\n Pan: translate eye and center by `dx` along the eye's right and `dy` along\n * its up, world units. The caller converts pixels through pixelRatio at the\n * center's depth so a pan tracks the pointer.\n \n @param {object} cam\n * @param {number} dx\n * @param {number} dy\n * @returns {object} cam\n /\nfunction cameraPan(cam, dx, dy) {\n _frame(cam);\n const tx=_E$1[0]dx+_E$1[4]dy, ty=_E$1[1]dx+_E$1[5]dy, tz=_E$1[2]dx+_E$1[6]dy;\n const e = cam.eye, c = cam.center;\n e[0]+=tx; e[1]+=ty; e[2]+=tz;\n c[0]+=tx; c[1]+=ty; c[2]+=tz;\n return cam;\n}\n\n/\n @file Gizmo line generators in the arrays shape.\n * @module tree/gizmo\n * @license AGPL-3.0-only\n \n A gizmo is geometry that explains: axes, a grid, a frustum, a path, a rig,\n * a handle's locus. This module generates its vertices — renderer-free, into\n * caller-owned arrays shaped the way twgl's createBufferInfoFromArrays\n * consumes them and a WebGPU vertex buffer is filled from — and nothing\n * else. Drawing, colour state, HUD mode, textures, the dot at a handle's\n * point, text: all the bridge's or the host's.\n \n ── The arrays shape ───────────────────────────────────────────────────────\n \n out = {\n * position: { numComponents: 3, data: Float32Array(3 · capacity) },\n * color: { numComponents: 4, data: Float32Array(4 · capacity) }, // optional\n * texcoord: { numComponents: 2, data: Float32Array(2 · capacity) }, // optional — panes\n * count: 0, // vertices written\n * labels: [], // optional — { x, y, z, text }\n * }\n \n Line generators write line lists — vertex pairs, no indices; paneTris\n * writes two triangles. capacity is position.data.length / 3.\n \n ── The contract — snprintf-style ──────────────────────────────────────────\n * Every generator gen(out, …) → n returns the vertex count it needs, writes\n * min(n, capacity) vertices, and sets out.count to what it wrote. A caller\n * sizes once and grows never in steady state:\n \n let n = axesLines(out, opts)\n * if (n > capacityOf(out)) { growArrays(out, n); axesLines(out, opts) }\n \n Each generator states its count formula so a caller can pre-size exactly.\n \n ── Colour ─────────────────────────────────────────────────────────────────\n * If out.color exists, every vertex written gets a colour: a generator with\n * semantic colouring (axes, the helm rig) writes its palette, every other\n * generator writes opts.color (default white). If out.color is absent\n * nothing is written and the bridge draws with a uniform colour.\n \n ── Frames ─────────────────────────────────────────────────────────────────\n * A generator writes in the frame the caller means — model space for scene\n * gizmos (the bridge's M places them), screen pixels for HUD gizmos.\n * Nothing here consults a camera except locusLines and frustumLines, which\n * take what they need explicitly. Signatures: out first, the subject second\n * where there is one, options last.\n /\n\n\nconst TWO_PI = Math.PI 2;\nconst _AXIS_COLORS = [COLOR_X, COLOR_Y, COLOR_Z];\nconst _U = [1, 0, 0], _V = [0, 1, 0]; // the HUD plane's basis\nconst _E = new Float64Array(16); // a camera state's eye matrix\nconst _p3 = [0, 0, 0]; // a transformed corner / a sampled point\nconst _q3 = [0, 0, 0]; // the previous sampled point\nconst _c24 = new Float64Array(24); // frustum corners scratch\nconst _tIn = [0, 0, 0], _tOut = [0, 0, 0]; // a keyframe's tangents\nconst _act = [0, 0, 0, 0, 0, 0]; // a helm's activity\nconst _tip = [0, 0, 0], _ha = [0, 0, 0]; // an arrow's tip and head base\nconst _AXES = [[1, 0, 0], [0, 1, 0], [0, 0, 1]];\nconst _b0 = [0, 0, 0], _b1 = [0, 0, 0], _b2 = [0, 0, 0]; // a locus basis\nconst _UV_DEFAULT = [0, 1, 1, 1, 1, 0, 0, 0]; // paneTris: p0 top-left → (0, 1), clockwise\n\n// =========================================================================\n// G1 Arrays — the one allocating call, growth, capacity\n// =========================================================================\n\n/*\n Allocate an arrays object of `capacity` vertices — the one allocating\n * call, setup-time. Flags add the optional attributes and the label list.\n \n @param {number} capacity Vertices.\n * @param {{ color?:boolean, texcoord?:boolean, labels?:boolean }} [opts]\n * @returns {{ position:{numComponents:number,data:Float32Array},\n * color?:{numComponents:number,data:Float32Array},\n * texcoord?:{numComponents:number,data:Float32Array},\n * count:number, labels?:object[] }}\n /\nfunction createArrays(capacity, opts) {\n const o = opts \|\| {};\n const n = Math.max(0, capacity \| 0);\n const out = { position: { numComponents: 3, data: new Float32Array(3 n) } };\n if (o.color) out.color = { numComponents: 4, data: new Float32Array(4 * n) };\n if (o.texcoord) out.texcoord = { numComponents: 2, data: new Float32Array(2 * n) };\n out.count = 0;\n if (o.labels) out.labels = [];\n return out;\n}\n\n/*\n Reallocate an arrays object to a new capacity, keeping its attribute set;\n * the data is fresh (a generator refills it) and count is 0.\n \n @param {object} out An arrays object from createArrays.\n * @param {number} capacity Vertices.\n * @returns {object} out\n /\nfunction growArrays(out, capacity) {\n const n = Math.max(0, capacity \| 0);\n out.position.data = new Float32Array(3 n);\n if (out.color) out.color.data = new Float32Array(4 * n);\n if (out.texcoord) out.texcoord.data = new Float32Array(2 * n);\n out.count = 0;\n if (out.labels) out.labels.length = 0;\n return out;\n}\n\n/*\n The vertex capacity of an arrays object: position.data.length / 3.\n * @param {object} out\n * @returns {number}\n /\nfunction capacityOf(out) {\n return (out.position.data.length / 3) \| 0;\n}\n\n// =========================================================================\n// G2 The writer — a cursor over out; counts every vertex, writes those\n// within capacity. Module-level scratch: a generator runs to completion.\n// =========================================================================\n\nconst _w = { pos: null, col: null, tex: null, cap: 0, n: 0, r: 1, g: 1, b: 1, a: 1 };\nconst _WHITE = [1, 1, 1, 1];\n\nfunction _begin(out) {\n _w.pos = out.position.data;\n _w.col = out.color ? out.color.data : null;\n _w.tex = out.texcoord ? out.texcoord.data : null;\n _w.cap = (_w.pos.length / 3) \| 0;\n _w.n = 0;\n if (out.labels) out.labels.length = 0;\n}\n\n/* Set the current colour from an RGB(A) array, with an alpha override. /\nfunction _color(c, alpha) {\n const v = c \|\| _WHITE;\n _w.r = v[0]; _w.g = v[1]; _w.b = v[2];\n _w.a = alpha != null ? alpha : (v.length > 3 ? v[3] : 1);\n}\n\nfunction _vertex(x, y, z) {\n const n = _w.n++;\n if (n >= _w.cap) return;\n const p = _w.pos, i = 3 n;\n p[i] = x; p[i + 1] = y; p[i + 2] = z;\n const c = _w.col;\n if (c) { const j = 4 * n; c[j] = _w.r; c[j + 1] = _w.g; c[j + 2] = _w.b; c[j + 3] = _w.a; }\n}\n\nfunction _line(x0, y0, z0, x1, y1, z1) {\n _vertex(x0, y0, z0);\n _vertex(x1, y1, z1);\n}\n\n/** A vertex with a texture coordinate (written when out.texcoord exists). /\nfunction _vertexUV(x, y, z, u, v) {\n const n = _w.n;\n _vertex(x, y, z);\n if (_w.tex && n < _w.cap) { _w.tex[2n] = u; _w.tex[2n + 1] = v; }\n}\n\n/* Normalise v in place; a zero vector becomes (dx, dy, dz). /\nfunction _unit(v, dx, dy, dz) {\n const l = Math.sqrt(v[0]v[0] + v[1]v[1] + v[2]v[2]);\n if (l < 1e-9) { v[0] = dx; v[1] = dy; v[2] = dz; return v; }\n v[0] /= l; v[1] /= l; v[2] /= l;\n return v;\n}\n\n/** Orthonormal in-plane basis (ub, vb) for a unit normal n, seeded from the least-aligned axis. /\nfunction _basis(n, ub, vb) {\n const ax = Math.abs(n[0]), ay = Math.abs(n[1]), az = Math.abs(n[2]);\n let rx = 0, ry = 0, rz = 0;\n if (ax <= ay && ax <= az) rx = 1; else if (ay <= az) ry = 1; else rz = 1;\n ub[0] = ryn[2] - rzn[1]; ub[1] = rzn[0] - rxn[2]; ub[2] = rxn[1] - ryn[0];\n _unit(ub, 1, 0, 0);\n vb[0] = n[1]ub[2] - n[2]ub[1]; vb[1] = n[2]ub[0] - n[0]ub[2]; vb[2] = n[0]ub[1] - n[1]ub[0];\n}\n\n/* The four edges of a square of half-extent h at c, spanned by u, v. /\nfunction _square(c, u, v, h) {\n const x0 = c[0] - hu[0] - hv[0], y0 = c[1] - hu[1] - hv[1], z0 = c[2] - hu[2] - hv[2];\n const x1 = c[0] + hu[0] - hv[0], y1 = c[1] + hu[1] - hv[1], z1 = c[2] + hu[2] - hv[2];\n const x2 = c[0] + hu[0] + hv[0], y2 = c[1] + hu[1] + hv[1], z2 = c[2] + hu[2] + hv[2];\n const x3 = c[0] - hu[0] + hv[0], y3 = c[1] - hu[1] + hv[1], z3 = c[2] - hu[2] + hv[2];\n _line(x0, y0, z0, x1, y1, z1);\n _line(x1, y1, z1, x2, y2, z2);\n _line(x2, y2, z2, x3, y3, z3);\n _line(x3, y3, z3, x0, y0, z0);\n}\n\n/* Close the write: count ← what fits; return what was needed. /\nfunction _end(out) {\n out.count = _w.n < _w.cap ? _w.n : _w.cap;\n return _w.n;\n}\n\n/* A sampled circle (or arc of `sweep`) of radius r at c, spanned by u, v: n segments. /\nfunction _ring(cx, cy, cz, r, u, v, n, sweep) {\n let px = 0, py = 0, pz = 0;\n for (let i = 0; i <= n; i++) {\n const t = (i / n) sweep;\n const ct = Math.cos(t) * r, st = Math.sin(t) * r;\n const x = cx + ctu[0] + stv[0];\n const y = cy + ctu[1] + stv[1];\n const z = cz + ctu[2] + stv[2];\n if (i > 0) _line(px, py, pz, x, y, z);\n px = x; py = y; pz = z;\n }\n}\n\n// =========================================================================\n// G3 Axes, grid, cross, bulls-eye, ring\n// =========================================================================\n\n/*\n A coordinate frame at the origin: six half-axes by bit and, with LABELS,\n * the X (2 lines) · Y (4) · Z (3) glyphs at 1.04 · size, sized size / 40 ×\n * size / 30. Semantic colour per axis and its glyph (COLOR_X / Y / Z), or\n * opts.color when `semantic` is false.\n \n Count: 2 · axes + 18 · (LABELS ? 1 : 0), at most 30.\n \n @param {object} out Arrays object.\n * @param {{ size?:number, bits?:number, semantic?:boolean, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction axesLines(out, opts) {\n const o = opts \|\| {};\n const size = o.size ?? 100;\n const bits = o.bits ?? (LABELS \| X \| Y \| Z);\n const semantic = o.semantic !== false;\n const axis = (i) => _color(semantic ? _AXIS_COLORS[i] : o.color);\n _begin(out);\n if (bits & LABELS) {\n const cw = size/40, ch = size/30, cs = 1.04size;\n axis(0);\n _line(cs, cw, -ch, cs, -cw, ch);\n _line(cs, -cw, -ch, cs, cw, ch);\n axis(1);\n _line( cw, cs, ch, 0, cs, 0);\n _line( 0, cs, 0, -cw, cs, ch);\n _line(-cw, cs, ch, 0, cs, 0);\n _line( 0, cs, 0, 0, cs, -ch);\n axis(2);\n _line(-cw, -ch, cs, cw, -ch, cs);\n _line( cw, -ch, cs, -cw, ch, cs);\n _line(-cw, ch, cs, cw, ch, cs);\n }\n axis(0);\n if (bits & X) _line(0, 0, 0, size, 0, 0);\n if (bits & _X) _line(0, 0, 0, -size, 0, 0);\n axis(1);\n if (bits & Y) _line(0, 0, 0, 0, size, 0);\n if (bits & _Y) _line(0, 0, 0, 0, -size, 0);\n axis(2);\n if (bits & Z) _line(0, 0, 0, 0, 0, size);\n if (bits & _Z) _line(0, 0, 0, 0, 0, -size);\n return _end(out);\n}\n\n/*\n A grid in the XY plane: subdivisions + 1 lines each way spanning ±size.\n * Orientation is the caller's M (a ground plane is a rotation about X).\n \n Count: 4 · (subdivisions + 1).\n \n @param {object} out Arrays object.\n * @param {{ size?:number, subdivisions?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction gridLines(out, opts) {\n const o = opts \|\| {};\n const size = o.size ?? 100;\n const sub = Math.max(1, (o.subdivisions ?? 10) \| 0);\n _begin(out);\n _color(o.color);\n for (let i = 0; i <= sub; i++) {\n const pos = size (2i/sub - 1);\n _line(pos, -size, 0, pos, size, 0);\n _line(-size, pos, 0, size, pos, 0);\n }\n return _end(out);\n}\n\n/\n A crosshair in HUD space (z = 0, target pixels): two lines of `size`\n * through (x, y). The bridge projects a model origin and converts a world\n * size to pixels before this call.\n \n Count: 4.\n \n @param {object} out Arrays object.\n * @param {{ x?:number, y?:number, size?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction crossLines(out, opts) {\n const o = opts \|\| {};\n const x = o.x ?? 0, y = o.y ?? 0, half = (o.size ?? 50) / 2;\n _begin(out);\n _color(o.color);\n _line(x - half, y, 0, x + half, y, 0);\n _line(x, y - half, 0, x, y + half, 0);\n return _end(out);\n}\n\n/\n A bulls-eye in HUD space (z = 0, target pixels): a sampled circle of\n * radius size / 2 (`detail` segments) or the cornered square (8 lines),\n * plus the central cross at 0.6 · half.\n \n Count: 2 · detail + 4 (CIRCLE) or 20 (SQUARE).\n \n @param {object} out Arrays object.\n * @param {{ x?:number, y?:number, size?:number, shape?:number, detail?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction bullsEyeLines(out, opts) {\n const o = opts \|\| {};\n const x = o.x ?? 0, y = o.y ?? 0, half = (o.size ?? 50) / 2;\n const shape = o.shape ?? CIRCLE;\n const detail = Math.max(3, (o.detail ?? 50) \| 0);\n _begin(out);\n _color(o.color);\n if (shape === CIRCLE) {\n _ring(x, y, 0, half, _U, _V, detail, TWO_PI);\n } else {\n const c = 0.6 half;\n _line(x-half, y-half+c, 0, x-half, y-half, 0);\n _line(x-half, y-half, 0, x-half+c, y-half, 0);\n _line(x+half-c, y-half, 0, x+half, y-half, 0);\n _line(x+half, y-half, 0, x+half, y-half+c, 0);\n _line(x+half, y+half-c, 0, x+half, y+half, 0);\n _line(x+half, y+half, 0, x+half-c, y+half, 0);\n _line(x-half+c, y+half, 0, x-half, y+half, 0);\n _line(x-half, y+half, 0, x-half, y+half-c, 0);\n }\n const ch = 0.6 * half;\n _line(x - ch, y, 0, x + ch, y, 0);\n _line(x, y - ch, 0, x, y + ch, 0);\n return _end(out);\n}\n\n/*\n A sampled circle of radius r at (cx, cy, cz) spanned by the orthonormal\n * u, v — the shared primitive; a partial `sweep` gives an arc from u.\n \n Count: 2 · detail.\n \n @param {object} out Arrays object.\n * @param {number} cx,cy,cz Centre.\n * @param {number} r Radius.\n * @param {number[]} u,v Orthonormal in-plane basis.\n * @param {{ detail?:number, sweep?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction ringLines(out, cx, cy, cz, r, u, v, opts) {\n const o = opts \|\| {};\n const detail = Math.max(1, (o.detail ?? 48) \| 0);\n const sweep = o.sweep ?? TWO_PI;\n _begin(out);\n _color(o.color);\n _ring(cx, cy, cz, r, u, v, detail, sweep);\n return _end(out);\n}\n\n// =========================================================================\n// G4 Frustum and Hermite\n// =========================================================================\n\nconst _isMat = (cam) => cam != null && cam.mat4Eye != null && cam.mat4Proj != null;\n\n/* Corner i of out24 ← E · (x, y, z). /\nfunction _corner(out24, i, E, x, y, z) {\n mat4MulPoint(_p3, E, x, y, z);\n out24[3i] = _p3[0]; out24[3i + 1] = _p3[1]; out24[3i + 2] = _p3[2];\n}\n\n/*\n The eight world-space corners of a camera's frustum: the near face 0–3\n * counter-clockwise from bottom-left (BL, BR, TR, TL), then the far face\n * 4–7 in the same order — so corners 3, 2, 1, 0 are a pane's TL, TR, BR,\n * BL. `cam` is a camera state (its symmetric extents from fov or\n * halfHeight and `aspect`), or { mat4Eye, mat4Proj, ndcZMin? } for a\n * matrix-captured camera (the extents read off the projection). The far\n * extents follow by similar triangles, or equal the near ones under\n * orthographic.\n \n @param {Float64Array\|number[]} out24 24-element destination.\n * @param {object} cam Camera state, or { mat4Eye, mat4Proj, ndcZMin? }.\n * @param {number} [aspect=1] Viewport width / height (state form).\n * @param {number} [ndcZMin=WEBGL] NDC-z convention when the matrix form carries none.\n * @returns {Float64Array\|number[]\|null} out24, or null when the state's lens is unset.\n /\nfunction frustumCorners(out24, cam, aspect, ndcZMin) {\n let E, n, f, l, r, t, b, ortho;\n if (_isMat(cam)) {\n E = cam.mat4Eye;\n const P = cam.mat4Proj, z = cam.ndcZMin ?? ndcZMin ?? WEBGL;\n ortho = projIsOrtho(P);\n n = projNear(P, z); f = projFar(P);\n l = projLeft(P, z); r = projRight(P, z); t = projTop(P, z); b = projBottom(P, z);\n } else {\n ortho = cam.fov == null;\n if (ortho && cam.halfHeight == null) return null;\n n = cam.near; f = cam.far;\n t = ortho ? cam.halfHeight : n Math.tan(cam.fov / 2);\n r = t * (aspect ?? 1);\n b = -t; l = -r;\n E = cameraEye(_E, cam);\n }\n const k = ortho ? 1 : f / n;\n _corner(out24, 0, E, l, b, -n);\n _corner(out24, 1, E, r, b, -n);\n _corner(out24, 2, E, r, t, -n);\n _corner(out24, 3, E, l, t, -n);\n _corner(out24, 4, E, kl, kb, -f);\n _corner(out24, 5, E, kr, kb, -f);\n _corner(out24, 6, E, kr, kt, -f);\n _corner(out24, 7, E, kl, kt, -f);\n return out24;\n}\n\n/** Line between corners i and j of the scratch corners. /\nfunction _edge(i, j) {\n _line(_c24[3i], _c24[3i + 1], _c24[3i + 2], _c24[3j], _c24[3j + 1], _c24[3j + 2]);\n}\n\n/\n A camera's frustum as edges by bit: NEAR and FAR the two rectangles,\n * BODY the four edges joining them, APEX (perspective only) the eye to\n * the near corners. `cam` as frustumCorners takes it.\n \n Count: 8 · (NEAR + FAR + BODY + APEX), at most 32.\n \n @param {object} out Arrays object.\n * @param {object} cam Camera state, or { mat4Eye, mat4Proj, ndcZMin? }.\n * @param {{ aspect?:number, ndcZMin?:number, bits?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed (0 when the state's lens is unset).\n /\nfunction frustumLines(out, cam, opts) {\n const o = opts \|\| {};\n const bits = o.bits ?? (NEAR \| FAR \| BODY \| APEX);\n _begin(out);\n _color(o.color);\n if (frustumCorners(_c24, cam, o.aspect ?? 1, o.ndcZMin ?? WEBGL) === null) return _end(out);\n if (bits & NEAR) { _edge(0, 1); _edge(1, 2); _edge(2, 3); _edge(3, 0); }\n if (bits & FAR) { _edge(4, 5); _edge(5, 6); _edge(6, 7); _edge(7, 4); }\n if (bits & BODY) { _edge(0, 4); _edge(1, 5); _edge(2, 6); _edge(3, 7); }\n const persp = _isMat(cam) ? !projIsOrtho(cam.mat4Proj) : cam.fov != null;\n if ((bits & APEX) && persp) {\n const E = _isMat(cam) ? cam.mat4Eye : null;\n const ex = E ? E[12] : cam.eye[0], ey = E ? E[13] : cam.eye[1], ez = E ? E[14] : cam.eye[2];\n for (let i = 0; i < 4; i++) _line(ex, ey, ez, _c24[3i], _c24[3i + 1], _c24[3i + 2]);\n }\n return _end(out);\n}\n\n/*\n One cubic Hermite segment through hermiteVec3, as a polyline of\n * `samples` steps.\n \n Count: 2 · samples.\n \n @param {object} out Arrays object.\n * @param {number[]} p0,t0 Start point and its outgoing tangent.\n * @param {number[]} p1,t1 End point and its incoming tangent.\n * @param {{ samples?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction hermiteLines(out, p0, t0, p1, t1, opts) {\n const o = opts \|\| {};\n const N = Math.max(1, (o.samples ?? 32) \| 0);\n _begin(out);\n _color(o.color);\n for (let i = 0; i <= N; i++) {\n hermiteVec3(_p3, p0, t0, p1, t1, i / N);\n if (i > 0) _line(_q3[0], _q3[1], _q3[2], _p3[0], _p3[1], _p3[2]);\n _q3[0] = _p3[0]; _q3[1] = _p3[1]; _q3[2] = _p3[2];\n }\n return _end(out);\n}\n\n// =========================================================================\n// G5 Path, helm rig, locus, pane\n// =========================================================================\n\n/\n A PoseTrack or CameraTrack's path by bit, over the track's own samplers\n * (samplePos / sampleEye / sampleCenter and the tangent readers), so the\n * interpolation modes are honoured: PATH the sampled polyline, `samples`\n * per segment; CONTROLS the straight control polygon; TANGENTS_IN /\n * TANGENTS_OUT the tangent at each keyframe scaled by `tangentScale`;\n * CENTER (camera tracks) the gaze line eye → center per keyframe and a\n * three-axis star of half-size `centerSize` at the center. `target`\n * ('eye' or 'center') picks a camera track's path for the first three\n * bits. Markers and handles are the bridge's composition.\n \n Count: 2 · samples · segments (PATH) + 2 · segments (CONTROLS) +\n * 2 · keyframes per tangent bit + 8 · keyframes (CENTER).\n \n @param {object} out Arrays object.\n * @param {object} track PoseTrack or CameraTrack.\n * @param {{ bits?:number, samples?:number, tangentScale?:number, target?:string,\n * centerSize?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction pathLines(out, track, opts) {\n const o = opts \|\| {};\n const bits = o.bits ?? (PATH \| CONTROLS \| TANGENTS_IN \| TANGENTS_OUT);\n const N = Math.max(1, (o.samples ?? 32) \| 0);\n const ts = o.tangentScale ?? 0.25;\n const cs = o.centerSize ?? 4;\n const kfs = track.keyframes, n = kfs.length;\n const isCamera = typeof track.sampleEye === 'function';\n const useCenter = isCamera && o.target === 'center';\n const field = isCamera ? (useCenter ? 'center' : 'eye') : 'pos';\n const sampler = isCamera ? (useCenter ? 'sampleCenter' : 'sampleEye') : 'samplePos';\n const tangents = isCamera ? (useCenter ? 'centerTangents' : 'eyeTangents') : 'tangents';\n _begin(out);\n _color(o.color);\n if ((bits & PATH) && n > 1) {\n for (let seg = 0; seg < n - 1; seg++) {\n for (let i = 0; i <= N; i++) {\n track[sampler](_p3, seg, i / N);\n if (i > 0) _line(_q3[0], _q3[1], _q3[2], _p3[0], _p3[1], _p3[2]);\n _q3[0] = _p3[0]; _q3[1] = _p3[1]; _q3[2] = _p3[2];\n }\n }\n }\n if (bits & CONTROLS) {\n for (let i = 0; i < n - 1; i++) {\n const a = kfs[i][field], b = kfs[i + 1][field];\n _line(a[0], a[1], a[2], b[0], b[1], b[2]);\n }\n }\n if (bits & (TANGENTS_IN \| TANGENTS_OUT)) {\n for (let i = 0; i < n; i++) {\n track[tangents](_tIn, _tOut, i);\n const k = kfs[i][field];\n if (bits & TANGENTS_IN) _line(k[0] - ts_tIn[0], k[1] - ts_tIn[1], k[2] - ts_tIn[2], k[0], k[1], k[2]);\n if (bits & TANGENTS_OUT) _line(k[0], k[1], k[2], k[0] + ts_tOut[0], k[1] + ts_tOut[1], k[2] + ts_tOut[2]);\n }\n }\n if ((bits & CENTER) && isCamera) {\n for (let i = 0; i < n; i++) {\n const e = kfs[i].eye, c = kfs[i].center;\n _line(e[0], e[1], e[2], c[0], c[1], c[2]);\n _line(c[0] - cs, c[1], c[2], c[0] + cs, c[1], c[2]);\n _line(c[0], c[1] - cs, c[2], c[0], c[1] + cs, c[2]);\n _line(c[0], c[1], c[2] - cs, c[0], c[1], c[2] + cs);\n }\n }\n return _end(out);\n}\n\n/* An arrow along principal axis `axis` (0 X, 1 Y, 2 Z): signed length L, head size h — 5 lines. /\nfunction _arrow(axis, L, h) {\n const a = (axis + 1) % 3, b = (axis + 2) % 3;\n _tip[0] = _tip[1] = _tip[2] = 0; _tip[axis] = L;\n _line(0, 0, 0, _tip[0], _tip[1], _tip[2]);\n const s = Math.sign(L) \|\| 1;\n _ha[0] = _ha[1] = _ha[2] = 0; _ha[axis] = L - sh;\n _ha[a] = h0.5; _line(_tip[0], _tip[1], _tip[2], _ha[0], _ha[1], _ha[2]);\n _ha[a] = -h0.5; _line(_tip[0], _tip[1], _tip[2], _ha[0], _ha[1], _ha[2]);\n _ha[a] = 0;\n _ha[b] = h0.5; _line(_tip[0], _tip[1], _tip[2], _ha[0], _ha[1], _ha[2]);\n _ha[b] = -h0.5; _line(_tip[0], _tip[1], _tip[2], _ha[0], _ha[1], _ha[2]);\n}\n\n/*\n A helm's rig, colour always semantic: per translation channel a dim\n * baseline arrow of signed length sign · size · sens / 0.30 and, while the\n * channel's activity is non-zero, a bright arrow of length ∝ \|activity\| /\n * (sens · fullScale); per rotation channel a dim ring of radius size / 2 ·\n * sens / 0.0025 and a bright arc sweeping π · f in the live direction.\n * Dim and bright are the alpha of the written colour (COLOR_DIM, 1). With\n * `identify`, one anchor per channel goes to out.labels as { x, y, z,\n * text: 'L' + lane }. Orientation is the caller's M.\n \n Count: 10 · 3 · 2 (arrows) + 96 · 3 (rings) + 48 · 3 (arcs), at most 492;\n * the bright half only while a channel is active.\n \n @param {object} out Arrays object.\n * @param {object} helm A PoseHelm (profile, fullScale, activity).\n * @param {{ size?:number, bits?:number, identify?:boolean }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction helmRigLines(out, helm, opts) {\n const o = opts \|\| {};\n const size = o.size ?? 100;\n const bits = o.bits ?? (TRANSLATE \| ROTATE);\n const identify = o.identify === true;\n const prof = helm.profile;\n const head = size 0.08, ringR0 = size * 0.5;\n const TREF = 0.30, RREF = 0.0025, FULL = helm.fullScale, ARC_FULL = Math.PI;\n helm.activity(_act);\n _begin(out);\n const labels = identify && out.labels ? out.labels : null;\n if (bits & TRANSLATE) {\n const T = [prof.Tx, prof.Ty, prof.Tz];\n for (let ax = 0; ax < 3; ax++) {\n const ch = T[ax];\n const L = ch.sign * size * (ch.sens / TREF);\n _color(_AXIS_COLORS[ax], COLOR_DIM);\n _arrow(ax, L, head);\n const a = _act[ax];\n if (a !== 0) {\n const f = Math.min(Math.abs(a) / (ch.sens * FULL), 1);\n _color(_AXIS_COLORS[ax], 1);\n _arrow(ax, Math.sign(a) * f * Math.abs(L), head);\n }\n if (labels) {\n const lp = [0, 0, 0]; lp[ax] = L + ch.sign * head * 1.5;\n labels.push({ x: lp[0], y: lp[1], z: lp[2], text: 'L' + ch.lane });\n }\n }\n }\n if (bits & ROTATE) {\n const R = [prof.Rp, prof.Ry, prof.Rr]; // pitch ⊥ X, yaw ⊥ Y, roll ⊥ Z\n for (let ax = 0; ax < 3; ax++) {\n const ch = R[ax];\n const r = ringR0 * (ch.sens / RREF);\n const u = _AXES[(ax + 1) % 3], v = _AXES[(ax + 2) % 3];\n _color(_AXIS_COLORS[ax], COLOR_DIM);\n _ring(0, 0, 0, r, u, v, 48, TWO_PI);\n const a = _act[3 + ax];\n if (a !== 0) {\n const f = Math.min(Math.abs(a) / (ch.sens * FULL), 1);\n _color(_AXIS_COLORS[ax], 1);\n _ring(0, 0, 0, r, u, v, 24, Math.sign(a) * f * ARC_FULL);\n }\n if (labels) {\n const lp = [0, 0, 0]; lp[(ax + 1) % 3] = r;\n labels.push({ x: lp[0], y: lp[1], z: lp[2], text: 'L' + ch.lane });\n }\n }\n }\n return _end(out);\n}\n\n/*\n A handle's stroked parts by bit. AIM: anchor → `point` (the handle's\n * current point, read by the caller with value). LOCUS by constraint.kind:\n * SPHERE three great circles about the anchor; PLANE a square of\n * half-extent 100 in the plane's basis; AXIS the segment anchor + [min,\n * max] · u; DIAL the ring in the dial plane; a constraint flagged `view`\n * (the host's VIEW) a screen-aligned square of half-extent 100 at `point`,\n * its basis the camera's right and up read off `mat4View`. RING: SPHERE\n * the view-facing limb, a ring perpendicular to anchor − eye (the eye from\n * `mat4View`); PLANE the border of the locus square (written once when\n * both bits ask for it). A constraint supplying locus(out, opts) is\n * dispatched to it. The HANDLE dot is not a line and not generated here.\n \n Count: AIM 2; LOCUS SPHERE 288 · PLANE 8 · AXIS 2 · DIAL 96 · view 8;\n * RING SPHERE 96 · PLANE 8 (shared with LOCUS); at most 386.\n \n @param {object} out Arrays object.\n * @param {object} constraint A contract-conforming constraint.\n * @param {{ bits?:number, mat4View?:ArrayLike<number>, point?:number[], color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction locusLines(out, constraint, opts) {\n const o = opts \|\| {};\n if (typeof constraint.locus === 'function') return constraint.locus(out, o);\n const bits = o.bits ?? (AIM \| LOCUS);\n const c = constraint, a = c.anchor, pt = o.point, V = o.mat4View;\n _begin(out);\n _color(o.color);\n if ((bits & AIM) && a && pt) _line(a[0], a[1], a[2], pt[0], pt[1], pt[2]);\n if (c.view === true) {\n if ((bits & LOCUS) && pt && V) {\n _b0[0] = V[0]; _b0[1] = V[4]; _b0[2] = V[8]; // the camera's right\n _b1[0] = V[1]; _b1[1] = V[5]; _b1[2] = V[9]; // the camera's up\n _square(pt, _b0, _b1, 100);\n }\n } else if (c.kind === SPHERE && a) {\n if (bits & LOCUS) {\n _ring(a[0], a[1], a[2], c.radius, _AXES[0], _AXES[1], 48, TWO_PI);\n _ring(a[0], a[1], a[2], c.radius, _AXES[1], _AXES[2], 48, TWO_PI);\n _ring(a[0], a[1], a[2], c.radius, _AXES[2], _AXES[0], 48, TWO_PI);\n }\n if ((bits & RING) && V) {\n // eye = −Rᵀ t of the view matrix; the limb is ⊥ anchor − eye\n const tx = V[12], ty = V[13], tz = V[14];\n _b2[0] = a[0] + (V[0]tx + V[1]ty + V[2]tz);\n _b2[1] = a[1] + (V[4]tx + V[5]ty + V[6]tz);\n _b2[2] = a[2] + (V[8]tx + V[9]ty + V[10]tz);\n _unit(_b2, 0, 0, 1);\n _basis(_b2, _b0, _b1);\n _ring(a[0], a[1], a[2], c.radius, _b0, _b1, 48, TWO_PI);\n }\n } else if (c.kind === PLANE && a) {\n if (bits & (LOCUS \| RING)) {\n _basis(c.n, _b0, _b1);\n _square(a, _b0, _b1, 100);\n }\n } else if (c.kind === AXIS && a) {\n if (bits & LOCUS) {\n const u = c.u;\n _line(a[0] + c.minu[0], a[1] + c.minu[1], a[2] + c.minu[2],\n a[0] + c.maxu[0], a[1] + c.maxu[1], a[2] + c.maxu[2]);\n }\n } else if (c.kind === DIAL && a) {\n if (bits & LOCUS) _ring(a[0], a[1], a[2], c.radius, c.r0, c.r1, 48, TWO_PI);\n }\n return _end(out);\n}\n\n/*\n A textured quad as two triangles (p0, p1, p2) (p0, p2, p3) — the winding\n * of the corner order — with texcoord written when the array exists.\n * Default uvs: p0 (top-left) → (0, 1), p1 → (1, 1), p2 → (1, 0), p3 →\n * (0, 0), so a texture in GL's bottom-up space reads upright with no\n * flip; `opts.uvs` overrides, four pairs flat in corner order.\n \n Count: 6.\n \n @param {object} out Arrays object.\n * @param {number[]} p0,p1,p2,p3 Corners, top-left clockwise.\n * @param {{ uvs?:number[], color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction paneTris(out, p0, p1, p2, p3, opts) {\n const o = opts \|\| {};\n const uv = o.uvs \|\| _UV_DEFAULT;\n _begin(out);\n _color(o.color);\n _vertexUV(p0[0], p0[1], p0[2], uv[0], uv[1]);\n _vertexUV(p1[0], p1[1], p1[2], uv[2], uv[3]);\n _vertexUV(p2[0], p2[1], p2[2], uv[4], uv[5]);\n _vertexUV(p0[0], p0[1], p0[2], uv[0], uv[1]);\n _vertexUV(p2[0], p2[1], p2[2], uv[4], uv[5]);\n _vertexUV(p3[0], p3[1], p3[2], uv[6], uv[7]);\n return _end(out);\n}\n\nexport { AIM, APEX, AXIS, BODY, BOTTOM, CENTER, CIRCLE, COLOR_DIM, COLOR_X, COLOR_Y, COLOR_Z, CONTROLS, CameraTrack, Constraint, DIAL, DIRECTION, EYE, FAR, HANDLE, HANDLES, HELM_CHANNELS, INVISIBLE, LABELS, LEFT, LOCUS, MATRIX, MODEL, NDC, NEAR, NONE, ORIGIN, PATH, PLANE, PLANE_BOTTOM, PLANE_FAR, PLANE_LEFT, PLANE_NEAR, PLANE_RIGHT, PLANE_TOP, POINT, PoseHelm, PoseTrack, RIGHT, RING, ROTATE, SCREEN, SELF, SEMIVISIBLE, SPHERE, SQUARE, TANGENTS, TANGENTS_IN, TANGENTS_OUT, TOP, TRANSLATE, VISIBLE, WEBGL, WEBGPU, WORLD, X, Y, Z, _X, _Y, _Z, _i, _j, _k, axesLines, azElFromDir, boxVisibility, bullsEyeLines, cameraCopy, cameraDolly, cameraEye, cameraFromMat4, cameraFromPose, cameraOrbit, cameraPan, cameraPlanes, cameraProj, cameraToPose, cameraView, capacityOf, createArrays, createCamera, createConstraint, crossLines, dirFromAzEl, distanceToPlane, frustumCorners, frustumLines, frustumPlanes, gridLines, growArrays, helmRigLines, hermiteLines, hermiteVec3, i, idToRgba, j, k, lerpVec3, locusLines, mapDirection, mapLocation, mat3Direction, mat3NormalFromMat4, mat4Bias, mat4Eye, mat4FromBasis, mat4FromScale, mat4FromTRS, mat4FromTranslation, mat4Invert, mat4Location, mat4MV, mat4Mul, mat4MulDir, mat4MulPoint, mat4Ortho, mat4PV, mat4Persp, mat4Pick, mat4Reflect, mat4ToRotation, mat4ToScale, mat4ToTransform, mat4ToTranslation, mat4View, oneEuro, paneTris, pathLines, pixelRatio, pointVisibility, pointerHit, poseDelta, projBottom, projFar, projFov, projHfov, projIsOrtho, projLeft, projNear, projRight, projTop, qConjugate, qCopy, qDot, qFromAxisAngle, qFromLookDir, qFromMat4, qFromRotMat3x3, qFromUnitVectors, qMul, qNegate, qNlerp, qNormalize, qRotateVec3, qSet, qSlerp, qToAxisAngle, qToMat4, rayClosestPointOnAxis, rayHitCapsule, rayHitRing, rayHitSphere, rayPlane, raySphere, rgbaToId, ringLines, sphereVisibility, transformToMat4, unproject };\n//# sourceMappingURL=index.js.map\n","/\n @file The view bag — the matrices every pick, solve, label and orbit reads.\n * @module host/view\n * @license AGPL-3.0-only\n \n The matrices bag mapLocation takes, plus the signed viewport and the NDC\n * convention:\n \n view = {\n * mat4Proj, mat4View, mat4PV, mat4PVInv, // Float32Array(16) each, host-owned\n * mat4Eye, // inverse of mat4View — EYE → WORLD\n * vp, // [0, h, w, −h] — y-down, logical canvas px\n * ndcZMin, // WEBGL \| WEBGPU, set once at creation\n * stale, // true until a set() with an invertible P · V\n * set(P, V) // copy P and V, recompute PV and PVInv\n * setCamera(cam) // build V and P from a camera state, then set\n * resize(width, height) // the canvas observer's write into vp\n * }\n \n mat4PVInv and mat4Eye are recomputed on set, once per frame, so unproject\n * and every mapping from SCREEN or EYE share them. A degenerate P · V or V\n * leaves the previous inverses and marks the bag stale; consumers treat a\n * stale bag as \"no pick this frame\".\n /\n\n'use strict';\n\nimport { WEBGL, mat4Mul, mat4Invert, cameraView, cameraProj } from '@nakednous/tree';\n\nconst _inv = new Float32Array(16); // inverse scratch: the bag keeps its previous inverse on failure\nconst _P = new Float32Array(16); // setCamera's projection\nconst _V = new Float32Array(16); // setCamera's view\n\nfunction _identity(m) {\n m.fill(0);\n m[0] = m[5] = m[10] = m[15] = 1;\n return m;\n}\n\n/\n Create a view bag. The matrices start at identity and the bag stale, so a\n * consumer reading it before the first set() picks nothing.\n \n @param {{ ndcZMin?:number, width?:number, height?:number }} [opts]\n * ndcZMin: WEBGL (−1, default) or WEBGPU (0) — written once here, never\n * detected. width / height: the initial logical canvas size.\n * @returns {object} The view bag.\n /\nexport function createView(opts) {\n const o = opts \|\| {};\n const w = o.width \|\| 0, h = o.height \|\| 0;\n const view = {\n mat4Proj: _identity(new Float32Array(16)),\n mat4View: _identity(new Float32Array(16)),\n mat4PV: _identity(new Float32Array(16)),\n mat4PVInv: _identity(new Float32Array(16)),\n mat4Eye: _identity(new Float32Array(16)),\n vp: [0, h, w, -h],\n ndcZMin: o.ndcZMin === 0 ? 0 : WEBGL,\n stale: true,\n\n /\n Install a projection and a view: both copied, P · V with its inverse\n * and the eye matrix (V's inverse) recomputed. A singular product or\n * view keeps the previous inverses and marks the bag stale.\n * @param {ArrayLike<number>} P Projection mat4.\n * @param {ArrayLike<number>} V View mat4 (world → eye).\n * @returns {object} this\n /\n set(P, V) {\n for (let i = 0; i < 16; i++) { view.mat4Proj[i] = P[i]; view.mat4View[i] = V[i]; }\n mat4Mul(view.mat4PV, view.mat4Proj, view.mat4View);\n if (mat4Invert(_inv, view.mat4PV) === null) { view.stale = true; return view; }\n view.mat4PVInv.set(_inv);\n if (mat4Invert(_inv, view.mat4View) === null) { view.stale = true; return view; }\n view.mat4Eye.set(_inv);\n view.stale = false;\n return view;\n },\n\n /\n Install a camera state: cameraView and cameraProj at the viewport's\n * aspect under the bag's ndcZMin, then set(). A state with both fov and\n * halfHeight null keeps the projection already installed.\n * @param {object} cam Camera state.\n * @returns {object} this\n /\n setCamera(cam) {\n const aspect = view.vp[3] !== 0 ? view.vp[2] / -view.vp[3] : 1;\n cameraView(_V, cam);\n const P = cameraProj(_P, cam, aspect, view.ndcZMin) \|\| view.mat4Proj;\n return view.set(P, _V);\n },\n\n /\n Write a new logical canvas size into vp: [0, height, width, −height].\n * @param {number} width\n * @param {number} height\n * @returns {object} this\n /\n resize(width, height) {\n view.vp[1] = height; view.vp[2] = width; view.vp[3] = -height;\n return view;\n },\n };\n return view;\n}\n","/\n @file The canvas observer — logical size and device pixel ratio.\n * @module host/canvas\n * @license AGPL-3.0-only\n \n A ResizeObserver on the canvas element plus devicePixelRatio tracking:\n * on change the observer reports the logical size in CSS px and the dpr to\n * its callback, which the context uses to update host.width / host.height /\n * host.dpr, the view bag's vp, the label layer and the bridge's onSize. The\n * observer never touches canvas.width / canvas.height — that is the\n * renderer's decision.\n \n Without a ResizeObserver (a headless run) the size is measured once from\n * the element's bounding rectangle, falling back to its width / height\n * attributes.\n /\n\n'use strict';\n\n/\n Measure a canvas: logical CSS size from its bounding rectangle when laid\n * out, else its width / height attributes; dpr from the window.\n * @param {HTMLCanvasElement} canvas\n * @param {number[]} out3 [width, height, dpr] destination.\n * @returns {number[]} out3\n /\nexport function measureCanvas(canvas, out3) {\n const r = typeof canvas.getBoundingClientRect === 'function' ? canvas.getBoundingClientRect() : null;\n const laidOut = r && r.width > 0 && r.height > 0;\n out3[0] = laidOut ? r.width : (canvas.width \|\| 0);\n out3[1] = laidOut ? r.height : (canvas.height \|\| 0);\n out3[2] = (typeof window !== 'undefined' && window.devicePixelRatio) \|\| 1;\n return out3;\n}\n\n/\n Observe a canvas's logical size and dpr. `onChange(width, height, dpr)`\n * fires once immediately with the current measure and again on every\n * change; a change is reported only when a value differs.\n \n @param {HTMLCanvasElement} canvas\n * @param {function(number, number, number):void} onChange\n * @returns {{ width:number, height:number, dpr:number, measure():void, dispose():void }}\n /\nexport function observeCanvas(canvas, onChange) {\n const m = [0, 0, 1];\n const obs = { width: -1, height: 0, dpr: 1, measure, dispose };\n let ro = null;\n const onWindow = () => measure();\n\n function measure() {\n measureCanvas(canvas, m);\n if (m[0] === obs.width && m[1] === obs.height && m[2] === obs.dpr) return;\n obs.width = m[0]; obs.height = m[1]; obs.dpr = m[2];\n onChange(obs.width, obs.height, obs.dpr);\n }\n\n function dispose() {\n if (ro) { ro.disconnect(); ro = null; }\n if (typeof window !== 'undefined' && window.removeEventListener) window.removeEventListener('resize', onWindow);\n }\n\n measure(); // width −1 makes the first measure report\n if (typeof ResizeObserver !== 'undefined') {\n ro = new ResizeObserver(() => measure());\n ro.observe(canvas);\n }\n // A zoom changes devicePixelRatio and fires resize; the observer alone would miss it.\n if (typeof window !== 'undefined' && window.addEventListener) window.addEventListener('resize', onWindow);\n return obs;\n}\n","/\n @file The pointer source — a typed event buffer with claims, one per canvas.\n * @module host/pointer\n * @license AGPL-3.0-only\n \n Shared by every handle, router and orbit on a canvas. Listeners only\n * record; nothing solves in a listener:\n \n - pointerdown · pointermove · pointerup · pointercancel on the canvas,\n * keydown (Esc) on the window.\n * - Coordinates in logical canvas px through the element's bounding\n * rectangle — (clientX − rect.left) · (width / rect.width), the logical\n * size read off the view bag's vp — the numbers mapLocation(SCREEN) and vp\n * expect, so a CSS-scaled canvas maps correctly.\n * - Per pointer: an entry { id, x, y, seq, down, up, cancel, owner }, kept\n * from its press until the frame after its release; `seq` counts moves,\n * so a consumer remembers the last seq it consumed and reads only new\n * motion. Multitouch is per-pointer by construction; the mouse is one\n * more pointer.\n * - Presses queue in order for the frame (`presses`); consumers read the\n * queue inside the frame and claim what they take. Several same-frame\n * presses on different members all land.\n * - Claims: claim(id, owner) captures the pointer on the canvas so a drag\n * that leaves it keeps flowing; release(id), up and cancel release the\n * capture. An unclaimed pointer is what the orbit sees.\n * - Esc sets the cancel flag on every claimed pointer.\n * - flush() ends the frame: the press queue empties and released pointers\n * leave the map. The loop calls it after onFrame; an external loop calls\n * it after its consumers ran (the p5 adapter from postdraw).\n /\n\n'use strict';\n\n/\n Create the pointer source of a canvas.\n \n @param {HTMLCanvasElement} canvas\n * @param {object} view The view bag; vp[2] and −vp[3] are the logical size.\n * @returns {object} The source: { presses, pointers, get, claim, release,\n * ownerOf, flush, dispose }.\n /\nexport function createPointer(canvas, view) {\n const pointers = new Map(); // id → entry\n const presses = []; // this frame's presses, in order: { id, x, y }\n const xy = [0, 0];\n\n const toCanvas = (e, out) => {\n const r = canvas.getBoundingClientRect ? canvas.getBoundingClientRect() : null;\n const w = view.vp[2], h = -view.vp[3];\n if (r && r.width > 0 && r.height > 0 && w > 0 && h > 0) {\n out[0] = (e.clientX - r.left) (w / r.width);\n out[1] = (e.clientY - r.top) * (h / r.height);\n } else {\n out[0] = e.clientX; out[1] = e.clientY;\n }\n return out;\n };\n\n const entry = (id) => {\n let p = pointers.get(id);\n if (!p) { p = { id, x: 0, y: 0, seq: 0, down: false, up: false, cancel: false, owner: null }; pointers.set(id, p); }\n return p;\n };\n\n const capture = (id, on) => {\n const f = on ? canvas.setPointerCapture : canvas.releasePointerCapture;\n if (typeof f !== 'function') return;\n try { f.call(canvas, id); } catch (_) { /* best effort: a synthetic or already-released id / }\n };\n\n const onDown = (e) => {\n const p = entry(e.pointerId);\n toCanvas(e, xy);\n p.x = xy[0]; p.y = xy[1]; p.seq++;\n p.down = true; p.up = false; p.cancel = false;\n presses.push({ id: p.id, x: p.x, y: p.y });\n };\n const onMove = (e) => {\n const p = entry(e.pointerId);\n toCanvas(e, xy);\n p.x = xy[0]; p.y = xy[1]; p.seq++;\n };\n const onUp = (e) => {\n const p = pointers.get(e.pointerId);\n if (!p) return;\n toCanvas(e, xy);\n p.x = xy[0]; p.y = xy[1]; p.seq++;\n p.up = true;\n capture(p.id, false);\n };\n const onCancel = (e) => {\n const p = pointers.get(e.pointerId);\n if (!p) return;\n p.cancel = true;\n capture(p.id, false);\n };\n const onKey = (e) => {\n if (e.key !== 'Escape') return;\n for (const p of pointers.values()) if (p.owner !== null) p.cancel = true;\n };\n\n canvas.addEventListener('pointerdown', onDown);\n canvas.addEventListener('pointermove', onMove);\n canvas.addEventListener('pointerup', onUp);\n canvas.addEventListener('pointercancel', onCancel);\n if (typeof window !== 'undefined' && window.addEventListener) window.addEventListener('keydown', onKey);\n\n const source = {\n /* This frame's presses in order, each { id, x, y }; emptied by flush(). /\n presses,\n /* The live pointer entries by id. /\n pointers,\n\n /\n The entry of a pointer, or null when it is not on the canvas.\n * @param {number} id\n * @returns {object\|null}\n /\n get(id) { return pointers.get(id) \|\| null; },\n\n /\n Claim a pointer for an owner and capture it on the canvas. Fails when\n * another owner holds it or the pointer is unknown.\n * @param {number} id\n * @param {object} owner\n * @returns {boolean} claimed\n /\n claim(id, owner) {\n const p = pointers.get(id);\n if (!p \|\| (p.owner !== null && p.owner !== owner)) return false;\n p.owner = owner;\n capture(id, true);\n return true;\n },\n\n /\n Release a claim and the capture with it. No-op for an unclaimed id.\n * @param {number} id\n /\n release(id) {\n const p = pointers.get(id);\n if (!p \|\| p.owner === null) return;\n p.owner = null;\n capture(id, false);\n },\n\n /\n The owner holding a pointer, or null.\n * @param {number} id\n * @returns {object\|null}\n /\n ownerOf(id) { const p = pointers.get(id); return p ? p.owner : null; },\n\n /\n End the frame: the press queue empties; pointers that released or\n * cancelled leave the map (their claims dropped), the rest keep their\n * position and seq.\n /\n flush() {\n presses.length = 0;\n for (const [id, p] of pointers) {\n if (p.up \|\| p.cancel) { p.owner = null; pointers.delete(id); }\n }\n },\n\n /* Remove every listener and release every capture. /\n dispose() {\n canvas.removeEventListener('pointerdown', onDown);\n canvas.removeEventListener('pointermove', onMove);\n canvas.removeEventListener('pointerup', onUp);\n canvas.removeEventListener('pointercancel', onCancel);\n if (typeof window !== 'undefined' && window.removeEventListener) window.removeEventListener('keydown', onKey);\n for (const p of pointers.values()) if (p.owner !== null) capture(p.id, false);\n pointers.clear();\n presses.length = 0;\n },\n };\n return source;\n}\n","/\n @file The players registry and the frame loop.\n * @module host/loop\n * @license AGPL-3.0-only\n \n A player is { tick(dt) → boolean }, removed from the registry when it\n * returns false. Iteration snapshots the set, so a player may remove itself\n * or add another during a tick. Tracks register through their activation\n * hooks, helms until disposed.\n \n The loop is optional: with it, requestAnimationFrame (overridable — the\n * seam a WebXR session fills) drives onFrame(dt) with dt in seconds clamped\n * to 50 ms, the stalled-tab guard; without it the application ticks the\n * players from its own loop.\n /\n\n'use strict';\n\n/\n Create a players registry.\n * @returns {{ add(player):object, remove(player):object, has(player):boolean,\n * tick(dt:number):void, size:number, clear():void }}\n /\nexport function createPlayers() {\n const set = new Set();\n const players = {\n /* Register a player; adding one already present is a no-op. /\n add(player) { if (player) set.add(player); return players; },\n /* Unregister a player. /\n remove(player) { set.delete(player); return players; },\n /* Whether a player is registered. /\n has(player) { return set.has(player); },\n /* Tick every player with dt (seconds); one returning false is removed. /\n tick(dt) {\n for (const p of [...set]) {\n if (!set.has(p)) continue; // removed by an earlier player this tick\n if (p.tick(dt) === false) set.delete(p);\n }\n },\n /* Registered count. /\n get size() { return set.size; },\n /* Unregister every player. /\n clear() { set.clear(); },\n };\n return players;\n}\n\nconst _now = () => (typeof performance !== 'undefined' && performance.now) ? performance.now() : Date.now();\n\n/\n Create a frame loop. `onFrame(dt)` runs once per animation frame with the\n * clamped period in seconds; start() schedules, stop() cancels.\n \n @param {{ onFrame:function(number):void, raf?:function, caf?:function,\n * clampMs?:number, now?:function():number }} opts\n * raf / caf default to the window's requestAnimationFrame /\n * cancelAnimationFrame; clampMs defaults to 50.\n * @returns {{ start():object, stop():object, running:boolean, dt:number }}\n /\nexport function createLoop(opts) {\n const o = opts \|\| {};\n const raf = o.raf \|\| ((cb) => requestAnimationFrame(cb));\n const caf = o.caf \|\| ((id) => cancelAnimationFrame(id));\n const now = o.now \|\| _now;\n const clamp = (o.clampMs ?? 50) / 1000;\n let handle = null, last = 0;\n const loop = {\n running: false,\n dt: 0,\n start() {\n if (loop.running) return loop;\n loop.running = true;\n last = now();\n const frame = () => {\n if (!loop.running) return;\n const t = now();\n loop.dt = Math.min((t - last) / 1000, clamp);\n last = t;\n o.onFrame(loop.dt);\n if (loop.running) handle = raf(frame);\n };\n handle = raf(frame);\n return loop;\n },\n stop() {\n loop.running = false;\n if (handle !== null) { caf(handle); handle = null; }\n return loop;\n },\n };\n return loop;\n}\n","/\n @file The handle controller — a draggable constraint driven from the pointer source.\n * @module host/handle\n * @license AGPL-3.0-only\n \n Wraps a core Constraint (@nakednous/tree) with the transport a draggable\n * 3D control needs: presses, moves and releases from the host's pointer\n * source, a pixel → ray unprojection through the host's view bag, an\n * analytic pick against the constraint's proxy, and a host-driven update()\n * lifecycle. No drawing: a bridge draws the locus (locusLines) and the dot.\n \n ── update() ordering contract ─────────────────────────────────────────────\n * update() is host-driven, before the orbit, because the orbit gate depends\n * on the grab resolving first:\n \n onFrame() { setCamera(cam); if (!h.update()) orbit.update(); scene() }\n \n ── Pick ───────────────────────────────────────────────────────────────────\n * The pointer's ray is unproject(x, y, view) in WORLD; the grab size is\n * grabPx converted to world units through pixelRatio at the proxy's depth;\n * the constraint's proxy(ray, radius) answers t or Infinity. Built-in kinds\n * carry their proxy (a sphere at the point, the DIAL's ring); a custom kind\n * supplies one or gets the sphere. solve() runs in WORLD; value() converts.\n \n ── Pointer source ─────────────────────────────────────────────────────────\n * update() reads the frame's press queue and the tracked pointer's entry\n * (seq counts moves; up / cancel end the gesture; Esc cancels every claimed\n * pointer). A grab claims the pointer, which captures it on the canvas; a\n * miss leaves it unclaimed for the orbit. The whole gesture keys to one\n * pointerId, so on a shared surface each handle tracks its own finger.\n \n ── Constraint kinds ───────────────────────────────────────────────────────\n * Core SPHERE / PLANE / AXIS / DIAL pass straight through. VIEW is a core\n * PLANE re-aimed at the camera each solve — a screen-parallel drag plane\n * through the current point — reported as a world position; its constraint\n * carries `view: true`, the flag locusLines reads. A custom kind is a\n * contract-conforming object (kind / solve / value / seed, optional scalar /\n * azEl / aim / proxy / locus) passed as `constraint`.\n \n ── Snap / hover / cancel / from ───────────────────────────────────────────\n * snap quantises at the solve seam: an angular step for SPHERE (az/el) and\n * DIAL (θ), a world grid for PLANE / AXIS / VIEW (PLANE re-projecting).\n * hover is a lone-handle opt-in (a router provides it shared). Cancel — Esc,\n * pointercancel, cancel() — reverts to the value captured at grab, restores\n * the binding and fires onCancel instead of onRelease. `from` names the space\n * the symbolic basis (axis / normal / zero) resolves FROM into WORLD each idle\n * frame through mapDirection on the view bag — WORLD, EYE, or a mat4 —\n * frozen at grab.\n /\n\n'use strict';\n\nimport {\n createConstraint, dirFromAzEl, unproject, rayHitSphere,\n mapLocation, mapDirection, pixelRatio, mat4Invert,\n SPHERE, PLANE, AXIS, DIAL, POINT, DIRECTION, WORLD, MATRIX,\n} from '@nakednous/tree';\n\n/* The screen-parallel free-translate constraint (a core PLANE re-aimed each solve). /\nexport const VIEW = 4;\n\n// Module-level scratch — update() and value() run to completion within one\n// frame with no reentrancy across handles.\nconst _rayO = [0, 0, 0]; // pick ray origin, WORLD\nconst _rayD = [0, 0, 0]; // pick ray unit direction, WORLD\n/* The ray scratch a handle's _ray(x, y) fills — the router's shared pick reads it. /\nexport const rayScratch = { o: _rayO, d: _rayD };\nconst _v3 = [0, 0, 0]; // value() extraction scratch\nconst _q2 = [0, 0]; // az/el snap scratch\nconst _b0 = [0, 0, 0]; // resolved θ = 0 reference\nconst _b2 = [0, 0, 0]; // resolved axis / normal\nconst _frameInv = new Float32Array(16);\n\n// The mapping bag mapLocation / mapDirection take: the view's matrices plus\n// the frames a call names (a mat4 `from` or `to` is the MATRIX space).\nconst _bag = { mat4Proj: null, mat4View: null, mat4PV: null, mat4PVInv: null, mat4Eye: null,\n fromFrame: null, toFrame: null, toFrameInv: null };\nconst _isMat = (s) => s != null && typeof s !== 'string';\nconst _space = (s) => (_isMat(s) ? MATRIX : s);\n\nfunction _bagOf(view, from, to) {\n _bag.mat4Proj = view.mat4Proj; _bag.mat4View = view.mat4View;\n _bag.mat4PV = view.mat4PV; _bag.mat4PVInv = view.mat4PVInv; _bag.mat4Eye = view.mat4Eye;\n _bag.fromFrame = _isMat(from) ? from : null;\n if (_isMat(to)) { _bag.toFrame = to; _bag.toFrameInv = mat4Invert(_frameInv, to) ? _frameInv : null; }\n else { _bag.toFrame = null; _bag.toFrameInv = null; }\n return _bag;\n}\n\nconst _norm3 = (o) => {\n const l = Math.hypot(o[0], o[1], o[2]) \|\| 1;\n o[0] /= l; o[1] /= l; o[2] /= l;\n return o;\n};\n\n// Orthonormal in-plane basis for a unit normal n, seeded from the world axis\n// least aligned with it (a DIAL's θ = 0 reference when `from` gives none).\nconst _basisFromNormal = (n, ub, vb) => {\n const ax = Math.abs(n[0]), ay = Math.abs(n[1]), az = Math.abs(n[2]);\n let rx = 0, ry = 0, rz = 0;\n if (ax <= ay && ax <= az) rx = 1; else if (ay <= az) ry = 1; else rz = 1;\n ub[0] = ryn[2] - rzn[1]; ub[1] = rzn[0] - rxn[2]; ub[2] = rxn[1] - ryn[0];\n _norm3(ub);\n vb[0] = n[1]ub[2] - n[2]ub[1]; vb[1] = n[2]ub[0] - n[0]ub[2]; vb[2] = n[0]ub[1] - n[1]ub[0];\n};\n\n// Read component i of an array or {x, y, z}, falling back to d.\nconst _vx = (v, i, d) => {\n if (v == null) return d;\n const c = i === 0 ? v.x : i === 1 ? v.y : v.z;\n return c ?? v[i] ?? d;\n};\n\n/* Contract check for a custom constraint object. /\nexport const isConstraint = (c) =>\n c && typeof c === 'object' &&\n typeof c.solve === 'function' &&\n typeof c.value === 'function' &&\n typeof c.seed === 'function';\n\n/\n The handle controller. Stateful and long-lived, like a track; driven from\n * the frame through update(), read with value(out, opts).\n /\nexport class Handle {\n /\n @param {object} host The host context (its pointer source and view bag).\n * @param {object} opts See host.handle().\n /\n constructor(host, opts) {\n this._host = host;\n this._pointer = host.pointer;\n this._view = host.view;\n\n const kind = opts.constraint;\n this._isView = (kind === VIEW);\n if (isConstraint(kind)) {\n this._constraint = kind;\n } else {\n const coreKind = this._isView ? PLANE : kind;\n // Vector opts pass straight through — the core duck-types arrays and {x, y, z}.\n this._constraint = createConstraint(coreKind, {\n radius: opts.radius, report: opts.report, anchor: opts.anchor,\n normal: opts.normal, axis: opts.axis, zero: opts.zero, extent: opts.extent,\n });\n if (this._isView) this._constraint.view = true; // the flag locusLines reads\n }\n\n // Deferred constraint frame: the symbolic basis and the space it resolves from.\n this._from = null; this._fromDir = null; this._fromZero = null;\n if (opts.from != null && opts.from !== WORLD) {\n const custom = isConstraint(kind);\n const dirOpt = (kind === PLANE) ? opts.normal : (opts.axis ?? opts.normal);\n const ok = !this._isView &&\n (kind === PLANE \|\| kind === AXIS \|\| kind === DIAL \|\|\n (custom && typeof this._constraint.aim === 'function'));\n if (!ok) {\n console.error('[host] handle: `from` needs an aimable constraint — PLANE, AXIS, DIAL, or a custom kind exposing aim(); ignoring.');\n } else if (custom && dirOpt == null) {\n console.error('[host] handle: `from` on a custom kind needs a symbolic `axis` (or `normal`) to resolve; ignoring.');\n } else {\n this._from = opts.from;\n this._fromDir = [_vx(dirOpt, 0, kind === AXIS ? 1 : 0), _vx(dirOpt, 1, kind === AXIS ? 0 : 1), _vx(dirOpt, 2, 0)];\n if (opts.zero != null) {\n this._fromZero = [_vx(opts.zero, 0, 1), _vx(opts.zero, 1, 0), _vx(opts.zero, 2, 0)];\n } else if (kind === DIAL) {\n // Derive the θ = 0 reference once, in the FROM space, so axis and zero co-rotate.\n _b2[0] = this._fromDir[0]; _b2[1] = this._fromDir[1]; _b2[2] = this._fromDir[2];\n _norm3(_b2);\n const r0 = [0, 0, 0], r1 = [0, 0, 0];\n _basisFromNormal(_b2, r0, r1);\n this._fromZero = r0;\n }\n }\n }\n\n this._enabled = opts.enabled !== false;\n this._grabPx = Number.isFinite(opts.grabPx) ? opts.grabPx : 12;\n this._snap = opts.snap ?? null;\n this._hover = opts.hover === true;\n this._hovered = false;\n this._hid = null; this._hseq = -1; // the pointer last hover-tested, and its seq then\n\n // Transport state: one pointerId per gesture, its last consumed move seq\n // and its position in logical canvas px; _routed hands the down step to a router.\n this._grabbed = false;\n this._pid = null;\n this._seq = -1;\n this._ptr = [0, 0];\n this._routed = false;\n\n // The proxy: its world position and the grab radius in world units.\n this._proxyPos = [0, 0, 0];\n this._proxyRad = 0;\n\n // Cancel state — the value (and scalar, for winding) captured at grab.\n this._saved = [0, 0, 0];\n this._savedS = 0;\n\n // Hooks — user-facing, then the lib-space seams a router or a track owns.\n this.onGrab = typeof opts.onGrab === 'function' ? opts.onGrab : null;\n this.onRelease = typeof opts.onRelease === 'function' ? opts.onRelease : null;\n this.onChange = typeof opts.onChange === 'function' ? opts.onChange : null;\n this.onCancel = typeof opts.onCancel === 'function' ? opts.onCancel : null;\n this._onGrab = null; this._onRelease = null; this._onChange = null; this._onCancel = null;\n\n // Binding — a normalised { get, set } accessor; _bindVal the reused value array.\n this._binder = null;\n this._bindVal = [0, 0, 0];\n\n if (opts.bind != null) this.bind(opts.bind);\n }\n\n // ── Lifecycle ───────────────────────────────────────────────────────────\n\n /\n Resolve the grab and re-solve from the pointer. Call first in the frame,\n * before the orbit; a routed handle is updated by its router. Returns the\n * grabbed state so the orbit gate can short-circuit; a disabled handle\n * returns false.\n * @returns {boolean} grabbed\n /\n update() {\n if (!this._enabled) {\n if (this._pid !== null && this._pointer) this._pointer.release(this._pid);\n this._grabbed = false; this._hovered = false; this._pid = null;\n return false;\n }\n const src = this._pointer;\n if (!src) return false;\n if (this._from && !this._grabbed) this._resolveFrame();\n\n // Fresh press (unrouted): the first unclaimed press this frame is\n // hit-tested at its pixel; a hit claims the pointer, a miss leaves it.\n if (!this._routed && this._pid === null) {\n for (const pr of src.presses) {\n if (src.ownerOf(pr.id) !== null) continue;\n this._ptr[0] = pr.x; this._ptr[1] = pr.y;\n if (this._pickAt(pr.x, pr.y)) { this._adopt(pr.id, pr.x, pr.y); break; }\n }\n }\n\n if (this._pid !== null) {\n const e = src.get(this._pid);\n if (!e) {\n this._cancelNow(); // the entry left before this handle saw its end\n } else {\n if (this._grabbed && e.seq !== this._seq && !e.cancel) {\n this._seq = e.seq;\n this._ptr[0] = e.x; this._ptr[1] = e.y;\n this._solveFromPointer(e.x, e.y);\n this._applySnap();\n this._afterSolve();\n }\n if (e.cancel) {\n this._cancelNow();\n } else if (e.up) {\n src.release(this._pid);\n this._grabbed = false;\n this._pid = null;\n this.onRelease && this.onRelease(this);\n this._onRelease && this._onRelease(this);\n }\n }\n }\n\n // Hover: a lone handle tests the latest unclaimed pointer motion.\n if (this._grabbed) {\n this._hovered = true;\n } else if (this._hover && !this._routed) {\n for (const e of src.pointers.values()) {\n if (e.owner !== null) continue;\n if (e.id === this._hid && e.seq === this._hseq) continue;\n this._hid = e.id; this._hseq = e.seq;\n this._hovered = this._pickAt(e.x, e.y);\n break;\n }\n }\n return this._grabbed;\n }\n\n _beginGrab() {\n const c = this._constraint;\n c.value(this._saved, POINT);\n this._savedS = typeof c.scalar === 'function' ? c.scalar() : 0;\n this._grabbed = true;\n this.onGrab && this.onGrab(this);\n this._onGrab && this._onGrab(this);\n }\n\n /* Router seam: adopt a pointer a shared pick decided; claims it through the source. /\n _adopt(pointerId, x, y) {\n const e = this._pointer.get(pointerId);\n this._pid = pointerId;\n this._seq = e ? e.seq : -1;\n this._ptr[0] = x; this._ptr[1] = y;\n this._pointer.claim(pointerId, this);\n this._beginGrab();\n }\n\n /\n Revert the drag in flight to the value captured at grab (exact θ winding\n * included), restore the binding, fire onCancel. No-op when not grabbed.\n * Chainable.\n * @returns {Handle} this\n /\n cancel() {\n if (this._grabbed) this._cancelNow();\n return this;\n }\n\n _cancelNow() {\n const c = this._constraint;\n if (this._isView) {\n c.pt[0] = this._saved[0]; c.pt[1] = this._saved[1]; c.pt[2] = this._saved[2];\n } else if (c.kind === DIAL) {\n c.s = this._savedS;\n c._dialPoint();\n } else {\n c.seed(this._saved[0], this._saved[1], this._saved[2]);\n }\n if (this._binder) this._binder.set(this.value(this._bindVal));\n this._grabbed = false;\n if (this._pid !== null && this._pointer) this._pointer.release(this._pid);\n this._pid = null;\n this.onCancel && this.onCancel(this);\n this._onCancel && this._onCancel(this);\n }\n\n // ── Frame, pick, solve ──────────────────────────────────────────────────\n\n // Resolve the symbolic basis from its space into WORLD through the view\n // bag and re-aim the constraint; idle frames only.\n _resolveFrame() {\n const v = this._view, bag = _bagOf(v, this._from, null), from = _space(this._from);\n const d = this._fromDir;\n mapDirection(_b2, d[0], d[1], d[2], from, WORLD, bag, v.vp, v.ndcZMin);\n if (this._fromZero) {\n const z = this._fromZero;\n mapDirection(_b0, z[0], z[1], z[2], from, WORLD, bag, v.vp, v.ndcZMin);\n this._constraint.aim(_b2[0], _b2[1], _b2[2], _b0[0], _b0[1], _b0[2]);\n } else {\n this._constraint.aim(_b2[0], _b2[1], _b2[2]);\n }\n }\n\n // The proxy's world position and its grab radius in world units — a\n // constant grabPx screen size at the proxy's depth.\n _proxyPrep() {\n const c = this._constraint, v = this._view, p = this._proxyPos;\n if (this._from && !this._grabbed) this._resolveFrame();\n if (c.kind === DIAL && !this._isView) {\n p[0] = c.anchor[0]; p[1] = c.anchor[1]; p[2] = c.anchor[2];\n } else {\n c.value(p, POINT);\n }\n const V = v.mat4View;\n const eyeZ = V[2]p[0] + V[6]p[1] + V[10]p[2] + V[14];\n this._proxyRad = this._grabPx * pixelRatio(v.mat4Proj, -v.vp[3], eyeZ, v.ndcZMin);\n }\n\n // The analytic pick: t along the ray, or Infinity.\n _proxyT(o, d) {\n this._proxyPrep();\n const c = this._constraint;\n if (typeof c.proxy === 'function') return c.proxy(o[0], o[1], o[2], d[0], d[1], d[2], this._proxyRad);\n const p = this._proxyPos;\n return rayHitSphere(o[0], o[1], o[2], d[0], d[1], d[2], p[0], p[1], p[2], this._proxyRad);\n }\n\n /** Unproject a canvas pixel into the ray scratch; false on a stale view. /\n _ray(x, y) {\n const v = this._view;\n if (v.stale) return false;\n return unproject(_rayO, _rayD, x, y, v, v.vp, v.ndcZMin) !== null;\n }\n\n /* Hit-test the proxy at a canvas pixel. /\n _pickAt(x, y) {\n return this._ray(x, y) && this._proxyT(_rayO, _rayD) < Infinity;\n }\n\n _solveFromPointer(x, y) {\n if (!this._ray(x, y)) return;\n if (this._isView) this._viewUpdatePlane();\n this._constraint.solve(_rayO[0], _rayO[1], _rayO[2], _rayD[0], _rayD[1], _rayD[2]);\n }\n\n // VIEW: re-aim the plane at the camera through the current point — its\n // normal the look direction (−Z of the eye matrix), its anchor the point.\n _viewUpdatePlane() {\n const c = this._constraint, E = this._view.mat4Eye;\n c.n[0] = -E[8]; c.n[1] = -E[9]; c.n[2] = -E[10];\n _norm3(c.n);\n c.anchor[0] = c.pt[0]; c.anchor[1] = c.pt[1]; c.anchor[2] = c.pt[2];\n }\n\n // ── Snap ────────────────────────────────────────────────────────────────\n\n /* Snap step — angular (rad) for SPHERE / DIAL, a world grid for PLANE / AXIS / VIEW; null off. /\n get snap() { return this._snap; }\n set snap(v) { this._snap = v ?? null; }\n\n _applySnap() {\n const sn = this._snap;\n if (sn == null) return;\n const c = this._constraint;\n if (this._isView \|\| c.kind === PLANE) {\n const gx = Array.isArray(sn) ? sn[0] : sn, gy = Array.isArray(sn) ? sn[1] : sn, gz = Array.isArray(sn) ? sn[2] : sn;\n _v3[0] = gx > 0 ? Math.round(c.pt[0] / gx) gx : c.pt[0];\n _v3[1] = gy > 0 ? Math.round(c.pt[1] / gy) * gy : c.pt[1];\n _v3[2] = gz > 0 ? Math.round(c.pt[2] / gz) * gz : c.pt[2];\n if (this._isView) { c.pt[0] = _v3[0]; c.pt[1] = _v3[1]; c.pt[2] = _v3[2]; }\n else c.seed(_v3[0], _v3[1], _v3[2]);\n } else if (c.kind === AXIS \|\| c.kind === DIAL) {\n const step = Array.isArray(sn) ? sn[0] : sn;\n if (!(step > 0)) return;\n const q = Math.round(c.s / step) * step;\n c.s = q < c.min ? c.min : (q > c.max ? c.max : q);\n if (c.kind === DIAL) c._dialPoint();\n else {\n c.pt[0] = c.anchor[0] + c.s * c.u[0];\n c.pt[1] = c.anchor[1] + c.s * c.u[1];\n c.pt[2] = c.anchor[2] + c.s * c.u[2];\n }\n } else if (c.kind === SPHERE) {\n const step = Array.isArray(sn) ? sn[0] : sn;\n if (!(step > 0)) return;\n c.azEl(_q2);\n dirFromAzEl(c.dir, Math.round(_q2[0] / step) * step, Math.round(_q2[1] / step) * step);\n }\n }\n\n // ── Value and binding ───────────────────────────────────────────────────\n\n /*\n Write the current value into `out`. `report` overrides the constraint's\n * (POINT \| DIRECTION); `to` converts from WORLD to EYE, SCREEN, NDC, or a\n * mat4 frame through the view bag. Out-first, out required.\n * @param {number[]} out 3-element destination.\n * @param {{ to?:string\|ArrayLike<number>, report?:number }} [opts]\n * @returns {number[]} out\n /\n value(out, opts) {\n const o = opts \|\| {}, c = this._constraint;\n const report = (o.report === POINT \|\| o.report === DIRECTION) ? o.report : c.report;\n const to = o.to ?? WORLD;\n c.value(_v3, report);\n if (to === WORLD) { out[0] = _v3[0]; out[1] = _v3[1]; out[2] = _v3[2]; return out; }\n const v = this._view, bag = _bagOf(v, null, to), space = _space(to);\n return report === DIRECTION\n ? mapDirection(out, _v3[0], _v3[1], _v3[2], WORLD, space, bag, v.vp, v.ndcZMin)\n : mapLocation(out, _v3[0], _v3[1], _v3[2], WORLD, space, bag, v.vp, v.ndcZMin);\n }\n\n /\n Bind the handle to a target it drives while dragging: a `{ get, set }`\n * accessor, or a vec3 array mutated in place (a camera state's eye or\n * center is one). get() seeds the constraint now; each solve calls\n * set(value) with the reused value array, then fires onChange. Chainable.\n * @param {number[]\|{ get:Function, set:Function }} target\n * @returns {Handle} this\n /\n bind(target) {\n let binder = null;\n if (target && typeof target.get === 'function' && typeof target.set === 'function') {\n binder = target;\n } else if (target && typeof target === 'object' && typeof target.length === 'number' && target.length >= 3) {\n binder = { get: () => target, set: (v) => { target[0] = v[0]; target[1] = v[1]; target[2] = v[2]; } };\n } else {\n console.error('[host] handle.bind: unrecognised target — pass a vec3 array or an { get, set } accessor. Leaving unbound.');\n return this;\n }\n this._binder = binder;\n if (this._from && !this._grabbed) this._resolveFrame();\n this._seedFromBinding();\n return this;\n }\n\n /* Re-seed the constraint from the bound target after it changed externally. Chainable. /\n sync() {\n if (this._binder) this._seedFromBinding();\n return this;\n }\n\n _seedFromBinding() {\n const g = this._binder.get();\n if (g == null) return;\n const x = _vx(g, 0, 0), y = _vx(g, 1, 0), z = _vx(g, 2, 0);\n if (this._isView) { const pt = this._constraint.pt; pt[0] = x; pt[1] = y; pt[2] = z; }\n else this._constraint.seed(x, y, z);\n }\n\n // Push the freshly solved value to the binding and fire onChange, once per solve.\n _afterSolve() {\n const bound = this._binder !== null;\n const notify = !!(this.onChange \|\| this._onChange);\n if (!bound && !notify) return;\n const v = this.value(this._bindVal);\n if (bound) this._binder.set(v);\n if (notify) {\n this.onChange && this.onChange(v, this);\n this._onChange && this._onChange(v, this);\n }\n }\n\n // ── Readouts and edits ──────────────────────────────────────────────────\n\n /* AXIS: the signed distance along the rail; DIAL: the accumulated angle; NaN otherwise. /\n scalar() { return typeof this._constraint.scalar === 'function' ? this._constraint.scalar() : NaN; }\n\n /* SPHERE: [az, el] of the current direction, into out2. /\n azEl(out2) {\n const o = out2 \|\| [0, 0];\n return typeof this._constraint.azEl === 'function' ? this._constraint.azEl(o) : o;\n }\n\n /* True between grab and release. /\n grabbed() { return this._grabbed; }\n\n /* True while the pointer rests on the proxy, and while grabbed. /\n hovered() { return this._hovered; }\n\n /\n Move the reference point — sphere centre, plane point, axis anchor,\n * dial centre, or a VIEW handle's point; the stored point rides along.\n * Chainable.\n * @param {number[]\|{x:number,y:number,z:number}} v\n * @returns {Handle} this\n /\n anchor(v) {\n const c = this._constraint;\n const t = this._isView ? c.pt : c.anchor;\n if (!t) return this;\n t[0] = _vx(v, 0, t[0]); t[1] = _vx(v, 1, t[1]); t[2] = _vx(v, 2, t[2]);\n if (!this._isView) {\n if (c.kind === DIAL) c._dialPoint();\n else if (c.kind === AXIS) {\n c.pt[0] = c.anchor[0] + c.s c.u[0];\n c.pt[1] = c.anchor[1] + c.s * c.u[1];\n c.pt[2] = c.anchor[2] + c.s * c.u[2];\n } else if (c.kind === PLANE) c.seed(c.pt[0], c.pt[1], c.pt[2]);\n }\n return this;\n }\n\n /** Runtime gate — false suspends grab / solve without disposing. /\n get enabled() { return this._enabled; }\n set enabled(v) {\n this._enabled = !!v;\n if (!this._enabled) {\n if (this._pid !== null && this._pointer) this._pointer.release(this._pid);\n this._grabbed = false; this._hovered = false; this._pid = null;\n }\n }\n\n /* Release the pointer claim and leave the host. /\n dispose() {\n if (this._pid !== null && this._pointer) this._pointer.release(this._pid);\n this._pid = null;\n this._grabbed = false;\n this._pointer = null;\n this._host.unregister(this);\n }\n}\n\n/\n Validate the constraint option: a built-in kind, VIEW, or a contract object.\n * @param {} kind\n @returns {boolean}\n /\nexport function validConstraint(kind) {\n return kind === SPHERE \|\| kind === PLANE \|\| kind === AXIS \|\| kind === DIAL \|\| kind === VIEW \|\| !!isConstraint(kind);\n}\n","/\n @file The pointer router — shared arbitration for overlapping handles.\n * @module host/router\n * @license AGPL-3.0-only\n \n Per-handle self-picking double-grabs on overlap: two proxies under one\n * finger each test only themselves and both hit. The router replaces the\n * members' down step with one shared pick: the pointer's ray once, every\n * enabled member's proxy tested, the nearest t wins (a tie keeps the\n * earlier member, as draw order would). Members keep their own move /\n * solve / release machinery, grabbed through their injected _adopt; every\n * unclaimed press of the frame resolves, so several same-frame presses on\n * different members all land. Hover is the same test on unclaimed pointer\n * motion, shared, setting at most one hovered member.\n /\n\n'use strict';\n\nimport { rayScratch } from './handle.js';\n\n/* Shared pick over a set of handles on one host. /\nexport class PointerRouter {\n /\n @param {object} host The host context.\n * @param {object[]} handles Members.\n * @param {{ hover?:boolean }} [opts] hover defaults to true.\n /\n constructor(host, handles, opts) {\n const o = opts \|\| {};\n this._host = host;\n this._pointer = host.pointer;\n this._handles = [];\n this._hover = o.hover !== false;\n this._hoveredH = null;\n this._hid = null; this._hseq = -1;\n for (const h of handles \|\| []) this.add(h);\n }\n\n /\n Route a handle: its own pointerdown adoption is disabled and the shared\n * pick grabs it through _adopt. Chainable.\n * @param {object} h\n * @returns {PointerRouter} this\n /\n add(h) {\n if (!h \|\| typeof h._proxyT !== 'function') {\n console.error('[host] router.add: not a handle — ignoring.');\n return this;\n }\n if (this._handles.includes(h)) return this;\n h._routed = true;\n h._onRelease = h._onCancel = () => this._unclaim(h);\n this._handles.push(h);\n return this;\n }\n\n /\n Un-route a handle; it self-picks again. Chainable.\n * @param {object} h\n * @returns {PointerRouter} this\n /\n remove(h) {\n const i = this._handles.indexOf(h);\n if (i < 0) return this;\n this._handles.splice(i, 1);\n this._unclaim(h);\n h._routed = false;\n h._onRelease = h._onCancel = null;\n if (this._hoveredH === h) { this._hoveredH = null; h._hovered = false; }\n return this;\n }\n\n /\n Resolve the frame's presses with one shared pick each, refresh hover on\n * pointer motion, then update every member. Call first in the frame, in\n * place of the members' own updates.\n * @returns {boolean} true if any member is grabbed.\n /\n update() {\n const hs = this._handles, src = this._pointer;\n if (!src) return false;\n for (const pr of src.presses) {\n if (src.ownerOf(pr.id) !== null) continue;\n const win = this._sharedPick(pr.x, pr.y);\n if (win && win._pid === null && win.enabled) win._adopt(pr.id, pr.x, pr.y);\n }\n if (this._hover) {\n for (const e of src.pointers.values()) {\n if (e.owner !== null) continue;\n if (e.id === this._hid && e.seq === this._hseq) continue;\n this._hid = e.id; this._hseq = e.seq;\n const win = this._sharedPick(e.x, e.y);\n this._hoveredH = win;\n for (const h of hs) h._hovered = (h === win) \|\| h._grabbed;\n break;\n }\n }\n let g = false;\n for (const h of hs) g = h.update() \|\| g;\n return g;\n }\n\n // One ray, every enabled member's proxy, the nearest t.\n _sharedPick(x, y) {\n const hs = this._handles;\n const first = hs.find((h) => h.enabled);\n if (!first \|\| !first._ray(x, y)) return null;\n let win = null, best = Infinity;\n for (const h of hs) {\n if (!h.enabled) continue;\n const t = h._proxyT(rayScratch.o, rayScratch.d);\n if (t < best) { best = t; win = h; }\n }\n return win;\n }\n\n _unclaim(h) {\n const src = this._pointer;\n if (!src) return;\n for (const e of src.pointers.values()) if (e.owner === h) src.release(e.id);\n }\n\n /* The member under the pointer, or null. /\n hovered() { return this._hoveredH; }\n\n /* Un-route every member and leave the host. /\n dispose() {\n for (const h of [...this._handles]) this.remove(h);\n this._pointer = null;\n this._host.unregister(this);\n }\n}\n","/\n @file Helm factories — a core PoseHelm driven from the host's players.\n * @module host/helm\n * @license AGPL-3.0-only\n \n cameraHelm(host, cam, opts) flies a camera state body-relative: the helm is\n * seeded from the state through cameraToPose, integrates each tick in the\n * state's own eye matrix (which equals the pose written last tick, so a\n * forward push flies forward) and writes back through cameraFromPose at the\n * state's gaze distance. poseHelm(host, opts) produces a pose in a declared\n * frame — WORLD, EYE (the host's view bag), SELF (its own pose) or a mat4 —\n * and drives whatever bind() names: a camera state, an { applyPose } sink, a\n * { get, set } accessor or a { pos, rot } object. Both register a player\n * with the host until disposed.\n /\n\n'use strict';\n\nimport {\n PoseHelm, cameraEye, cameraFromPose, cameraToPose, qToMat4, WORLD, EYE, SELF,\n} from '@nakednous/tree';\n\nconst _pose = { pos: [0, 0, 0], rot: [0, 0, 0, 1] }; // step() output\nconst _self = { pos: [0, 0, 0], rot: [0, 0, 0, 1] }; // eval() readout for SELF\nconst _em = new Float32Array(16); // the resolved basis\n\nconst _rawMat4 = (m) => (m != null && m.mat4 != null) ? m.mat4 : m;\nconst _isCameraState = (c) => !!(c && c.eye && c.center && c.up);\n\nfunction _applyOpts(helm, opts) {\n if (!opts) return;\n if (opts.profile) helm.profile = opts.profile;\n if (opts.deadzone != null) helm.deadzone = opts.deadzone;\n if (opts.filter != null) helm.filter = opts.filter;\n if (opts.fullScale != null) helm.fullScale = opts.fullScale;\n}\n\n/\n The basis a pose helm's `from` resolves to: null for WORLD, the view bag's\n * eye matrix for EYE, the helm's own rotation for SELF, a mat4 as given.\n * Exported for a bridge's rig gizmo.\n * @param {PoseHelm} helm\n * @param {object} view The host's view bag.\n * @param {Float32Array} em 16-element scratch.\n * @returns {ArrayLike<number>\|null}\n /\nexport function helmBasis(helm, view, em) {\n const from = helm.from;\n if (from != null && typeof from !== 'string') return _rawMat4(from);\n if (from === EYE) return view ? view.mat4Eye : null;\n if (from === SELF) return qToMat4(em, helm.eval(_self).rot);\n if (from === WORLD \|\| from == null) return null;\n console.error('[host] poseHelm: `from` must be EYE, WORLD, SELF, or a mat4 frame. Falling back to WORLD.');\n return null;\n}\n\n/\n Fly a camera state from a live 6-DOF rate stream, body-relative.\n * @param {object} host\n * @param {object} cam A camera state ({ eye, center, up, … }).\n * @param {{ profile?:object, deadzone?:number, filter?:object, fullScale?:number }} [opts]\n * @returns {PoseHelm} The helm, with dispose().\n /\nexport function cameraHelm(host, cam, opts) {\n const helm = new PoseHelm();\n _applyOpts(helm, opts);\n if (opts && opts.from != null) {\n console.error('[host] cameraHelm: a camera helm is always body-fly and has no `from`. Ignoring it; bind the camera to a poseHelm for screen- or world-relative motion.');\n }\n if (_isCameraState(cam)) helm.home(cameraToPose(_pose, cam));\n const player = {\n tick(dt) {\n helm.step(_pose, dt, _isCameraState(cam) ? cameraEye(_em, cam) : null);\n if (_isCameraState(cam)) {\n cameraFromPose(cam, _pose);\n if (helm._onApply) helm._onApply(cam);\n }\n return true;\n },\n };\n helm._onApply = null; // lib-space seam: a bridge pushes the written state to its camera\n host.players.add(player);\n helm.dispose = () => { host.players.remove(player); host.unregister(helm); return helm; };\n return host.register(helm);\n}\n\n/\n Integrate a live 6-DOF rate stream into a pose in a declared frame and\n * drive a bound target with it.\n * @param {object} host\n * @param {{ profile?:object, deadzone?:number, filter?:object, fullScale?:number,\n * from?:string\|ArrayLike<number>, bind?:object }} [opts]\n * @returns {PoseHelm} The helm, with bind() and dispose().\n /\nexport function poseHelm(host, opts) {\n const o = opts \|\| {};\n const helm = new PoseHelm();\n _applyOpts(helm, o);\n if (o.from != null) helm.from = o.from;\n let sink = null;\n\n const player = {\n tick(dt) {\n if (sink) {\n helm.step(_pose, dt, helmBasis(helm, host.view, _em));\n sink(_pose);\n }\n return true;\n },\n };\n host.players.add(player);\n\n /\n Bind the target the helm drives: a camera state (seeded from it, written\n * through cameraFromPose), an { applyPose } sink, a { get, set } accessor\n * (get() seeds, set(pose) writes) or a { pos, rot } object mutated in\n * place. Chainable.\n * @param {object} target\n * @returns {PoseHelm} this\n /\n helm.bind = (target) => {\n if (_isCameraState(target)) {\n helm.home(cameraToPose(_pose, target));\n sink = (pose) => cameraFromPose(target, pose);\n } else if (target && typeof target.get === 'function' && typeof target.set === 'function') {\n helm.home(target.get());\n sink = (pose) => target.set(pose);\n } else if (target && typeof target.applyPose === 'function') {\n sink = (pose) => target.applyPose(pose);\n } else if (target && target.pos && target.rot) {\n helm.home(target);\n sink = (pose) => {\n target.pos[0] = pose.pos[0]; target.pos[1] = pose.pos[1]; target.pos[2] = pose.pos[2];\n target.rot[0] = pose.rot[0]; target.rot[1] = pose.rot[1];\n target.rot[2] = pose.rot[2]; target.rot[3] = pose.rot[3];\n };\n } else {\n console.error('[host] poseHelm: bind() target must be a camera state, an { applyPose } sink, a { get, set } accessor, or a { pos, rot } object. Leaving unbound.');\n }\n return helm;\n };\n helm.dispose = () => { host.players.remove(player); host.unregister(helm); return helm; };\n if (o.bind != null) helm.bind(o.bind);\n return host.register(helm);\n}\n","/\n @file Track factories and TrackHandles — core tracks wired to the host's players.\n * @module host/track\n * @license AGPL-3.0-only\n \n poseTrack(host, opts) is a core PoseTrack whose activation hooks add and\n * remove its player. cameraTrack(host, cam, opts) is a core CameraTrack whose\n * player evaluates straight into the camera state `cam` — the state is the\n * keyframe shape, so track.eval(cam) is the write — and once more on\n * deactivate so the camera rests on the path; add() with no argument\n * captures `cam`, add({ camera }) any camera-state object. { handles } on\n * either decorates the track with TrackHandles: one VIEW handle per\n * draggable keyframe field (pos / eye / center), an optional rot DIAL per\n * keyframe about a declared axis, all on one router.\n /\n\n'use strict';\n\nimport { PoseTrack, CameraTrack, qFromAxisAngle, DIAL } from '@nakednous/tree';\nimport { VIEW } from './handle.js';\n\n// ── Players ────────────────────────────────────────────────────────────────\n\nfunction _wirePoseTrack(host, track) {\n let player = null;\n track._onActivate = () => {\n player = player \|\| { tick() { track.tick(); return track.playing; } };\n host.players.add(player);\n };\n track._onDeactivate = () => { if (player) host.players.remove(player); };\n}\n\n/\n A core PoseTrack ticked by the host while it plays.\n * @param {object} host\n * @param {{ handles?:boolean\|object }} [opts]\n * @returns {PoseTrack}\n /\nexport function poseTrack(host, opts) {\n const o = opts \|\| {};\n const track = new PoseTrack();\n _wirePoseTrack(host, track);\n if (o.handles) track.handles = new TrackHandles(host, track, o.handles, false);\n return track;\n}\n\n/\n A core CameraTrack evaluating into the camera state `cam` while it plays.\n * @param {object} host\n * @param {object} cam A camera state ({ eye, center, up, fov, halfHeight, near, far }).\n * @param {{ handles?:boolean\|object }} [opts]\n * @returns {CameraTrack}\n /\nexport function cameraTrack(host, cam, opts) {\n const o = opts \|\| {};\n const track = new CameraTrack();\n const state = cam \|\| null; // the evaluation target; track.camera is informational\n track.camera = state;\n track._onApply = null; // lib-space seam: a bridge pushes the evaluated state to its camera\n\n const coreAdd = track.add.bind(track);\n track.add = function (spec, addOpts) {\n if (spec == null) {\n if (!state) return;\n spec = state;\n } else if (Array.isArray(spec)) {\n for (const s of spec) track.add(s, addOpts);\n return;\n } else if (spec.camera != null) {\n spec = spec.camera;\n }\n coreAdd(spec, addOpts);\n };\n\n const apply = () => {\n if (!state \|\| track.keyframes.length === 0) return;\n track.eval(state);\n if (track._onApply) track._onApply(state);\n };\n const player = {\n tick() {\n if (!track.playing) return false;\n track.tick();\n apply();\n return track.playing;\n },\n };\n track._onActivate = () => host.players.add(player);\n track._onDeactivate = () => { host.players.remove(player); apply(); };\n\n if (o.handles) track.handles = new TrackHandles(host, track, o.handles, true);\n return track;\n}\n\n// ── TrackHandles ───────────────────────────────────────────────────────────\n\nconst _vx = (v, i) => (v[i] !== undefined ? v[i] : (i === 0 ? v.x : i === 1 ? v.y : v.z));\n\n/\n Per-keyframe manipulators of a track — the factories' `handles` opt,\n * stored at track.handles. Members are internal handles on one router;\n * their hooks are re-exposed with keyframe coordinates: onGrab(index, field,\n * h) / onChange(value, index, field, h) / onRelease / onCancel, field one of\n * 'pos' \| 'eye' \| 'center' \| 'rot'. update() rebuilds the members when the\n * keyframe count changes and re-seeds every idle member from its keyframe.\n * A bridge draws the members itself (`members`).\n /\nexport class TrackHandles {\n /\n @param {object} host\n * @param {object} track PoseTrack \| CameraTrack.\n * @param {true\|object} opts `true` for the defaults, or\n * { center?, rot?, rotRadius?, rotSnap?, grabPx?, snap?, hover? }.\n * @param {boolean} isCamera CameraTrack (eye / center) vs PoseTrack (pos / rot).\n /\n constructor(host, track, opts, isCamera) {\n const o = opts === true ? {} : (opts \|\| {});\n this._host = host;\n this._track = track;\n this._isCamera = !!isCamera;\n this._members = [];\n this._rotByIndex = new Map();\n this._n = -1;\n this._enabled = true;\n /* Last-grabbed keyframe index, null until a grab. @type {number\|null} /\n this.selected = null;\n\n this._grabPx = Number.isFinite(o.grabPx) ? o.grabPx : 12;\n this._snap = o.snap ?? null;\n this._rotSnap = o.rotSnap ?? null;\n this._center = this._isCamera ? (o.center !== false) : false;\n if (!this._isCamera && o.center !== undefined) console.error('[host] track handles: `center` is CameraTrack-only — ignoring.');\n this._rotAxis = null;\n this._rotRadius = Number.isFinite(o.rotRadius) ? o.rotRadius : 40;\n if (o.rot != null) {\n if (this._isCamera) {\n console.error('[host] track handles: `rot` is PoseTrack-only — a camera keyframe\\'s orientation is its center; drag that instead. Ignoring.');\n } else {\n const ax = _vx(o.rot, 0) ?? 0, ay = _vx(o.rot, 1) ?? 1, az = _vx(o.rot, 2) ?? 0;\n const l = Math.hypot(ax, ay, az) \|\| 1;\n this._rotAxis = [ax / l, ay / l, az / l];\n }\n }\n\n this.onGrab = null; this.onChange = null; this.onRelease = null; this.onCancel = null;\n this._hover = o.hover !== false;\n this._router = null; // made on the first rebuild, once a subclass is constructed\n }\n\n // The construction seams a bridge subclass overrides so the members are\n // handles it can draw.\n _makeHandle(opts) { return this._host.handle(opts); }\n _makeRouter(opts) { return this._host.router([], opts); }\n\n /* The members, { h, index, field } each, for a bridge's draw. /\n get members() { return this._members; }\n /* Dot radius in pixels, the members' grabPx. /\n get grabPx() { return this._grabPx; }\n\n /\n Rebuild if the keyframe count changed, re-seed idle members, then route.\n * Call first in the frame, before the orbit.\n * @returns {boolean} true while any member is grabbed.\n /\n update() {\n if (this._track.keyframes.length !== this._n) this._rebuild();\n if (this._enabled) this._syncIdle();\n return this._router.update();\n }\n\n /* The members' router, made on the first update(). /\n get router() { return this._router; }\n\n /* Runtime gate — false suspends grab / solve and empties the pick. /\n get enabled() { return this._enabled; }\n set enabled(v) {\n this._enabled = !!v;\n for (const m of this._members) m.h.enabled = this._enabled;\n }\n\n /* True while any member is grabbed. /\n grabbed() {\n for (const m of this._members) if (m.h.grabbed()) return true;\n return false;\n }\n\n /* The keyframe index under the pointer (or grabbed), else null. /\n hovered() {\n for (const m of this._members) if (m.h.hovered()) return m.index;\n return null;\n }\n\n /* Re-seed every idle member from its keyframe. Chainable. /\n sync() { this._syncIdle(); return this; }\n\n /* Dispose the members and the router, detach from the track. /\n dispose() {\n this._teardown();\n if (this._router) this._router.dispose();\n if (this._track.handles === this) this._track.handles = null;\n }\n\n _rebuild() {\n if (!this._router) this._router = this._makeRouter({ hover: this._hover });\n this._teardown();\n const n = this._track.keyframes.length;\n this._n = n;\n for (let i = 0; i < n; i++) {\n this._addViewMember(i, this._isCamera ? 'eye' : 'pos');\n if (this._center) this._addViewMember(i, 'center');\n if (this._rotAxis) this._addRotMember(i);\n }\n if (this.selected != null && this.selected >= n) this.selected = null;\n }\n\n _teardown() {\n for (const m of this._members) { this._router.remove(m.h); m.h.dispose(); }\n this._members.length = 0;\n this._rotByIndex.clear();\n }\n\n // A VIEW member bound to kf[field] by index, so set(i, spec) replacing the\n // keyframe never strands it.\n _addViewMember(index, field) {\n const track = this._track;\n const h = this._makeHandle({\n constraint: VIEW, grabPx: this._grabPx, snap: this._snap,\n bind: {\n get: () => track.keyframes[index] ? track.keyframes[index][field] : null,\n set: (v) => {\n const k = track.keyframes[index];\n if (!k) return;\n const a = k[field];\n a[0] = _vx(v, 0); a[1] = _vx(v, 1); a[2] = _vx(v, 2);\n },\n },\n });\n if (!h) return;\n this._wire(h, index, field);\n this._members.push({ h, index, field });\n this._router.add(h);\n }\n\n // A rot member: one DIAL about the declared axis at the keyframe's\n // position, unbound — θ lands in kf.rot through the hooks.\n _addRotMember(index) {\n const kf = this._track.keyframes[index];\n const h = this._makeHandle({\n constraint: DIAL, anchor: [kf.pos[0], kf.pos[1], kf.pos[2]],\n axis: this._rotAxis, radius: this._rotRadius, grabPx: this._grabPx, snap: this._rotSnap,\n });\n if (!h) return;\n this._wire(h, index, 'rot');\n const m = { h, index, field: 'rot' };\n this._members.push(m);\n this._rotByIndex.set(index, m);\n this._router.add(h);\n this._syncRot(m);\n }\n\n _wire(h, index, field) {\n const rotWrite = () => {\n const k = this._track.keyframes[index];\n if (k) { const u = this._rotAxis; qFromAxisAngle(k.rot, u[0], u[1], u[2], h.scalar()); }\n };\n h.onGrab = () => {\n this.selected = index;\n if (this.onGrab) this.onGrab(index, field, h);\n };\n h.onChange = (v) => {\n if (field === 'rot') rotWrite();\n else if (field === 'pos') {\n // Forward the dragged position into the keyframe's rot ring now, so\n // the ring never trails the dot by a frame.\n const rm = this._rotByIndex.get(index);\n const k = this._track.keyframes[index];\n if (rm && k) rm.h.anchor(k.pos);\n }\n if (this.onChange) this.onChange(v, index, field, h);\n };\n h.onRelease = () => { if (this.onRelease) this.onRelease(index, field, h); };\n h.onCancel = () => {\n if (field === 'rot') rotWrite(); // a DIAL is unbound: re-derive from the reverted θ\n if (this.onCancel) this.onCancel(index, field, h);\n };\n }\n\n _syncIdle() {\n for (const m of this._members) {\n if (m.h.grabbed()) continue;\n if (m.field === 'rot') this._syncRot(m);\n else m.h.sync();\n }\n }\n\n // Anchor the ring at the live keyframe position and set θ to the twist of\n // kf.rot about the axis: θ = 2·atan2(q.xyz · u, q.w).\n _syncRot(m) {\n const k = this._track.keyframes[m.index];\n if (!k) return;\n m.h.anchor(k.pos);\n const u = this._rotAxis;\n const th = 2 Math.atan2(k.rot[0] * u[0] + k.rot[1] * u[1] + k.rot[2] * u[2], k.rot[3]);\n const c = m.h._constraint;\n if (c.s !== th) { c.s = th; c._dialPoint(); }\n }\n}\n","/*\n @file The host context — one per canvas: pointer, view bag, players, loop, observer.\n * @module host\n * @license AGPL-3.0-only\n \n The signal host of a program: what it needs from the browser that is\n * neither math nor GPU — a canvas element's pointer input, the frame clock,\n * its size — and the registry its constructs tick from. Pure vanilla DOM;\n * everything it computes goes through @nakednous/tree, nothing it draws.\n \n const host = createHost(canvas, { onFrame })\n * host.pointer · host.view · host.players\n * host.width · host.height · host.dpr · host.dt · host.clock()\n * host.handle(opts) · host.router(handles, opts)\n * host.cameraHelm(cam, opts) · host.poseHelm(opts)\n * host.poseTrack(opts) · host.cameraTrack(cam, opts)\n * host.tick(dt) // external-loop mode\n * host.dispose()\n \n Two loop modes. With { onFrame } the host runs requestAnimationFrame\n * (overridable through { raf, caf }): each frame computes dt (clamped to\n * 50 ms), ticks the players, calls onFrame(dt, host), then flushes the\n * pointer source. Without it the application, or the p5 adapter from\n * predraw, calls host.tick(dt) = players.tick(dt) and host.pointer.flush()\n * once its consumers ran. Nothing else in the host cares who owns the loop.\n \n The frame order inside onFrame: install the camera (which fills\n * host.view), update handles or routers, fall through to the orbit when\n * nothing grabbed, draw.\n /\n\n'use strict';\n\nimport { createView } from './view.js';\nimport { observeCanvas } from './canvas.js';\nimport { createPointer } from './pointer.js';\nimport { createPlayers, createLoop } from './loop.js';\nimport { Handle, validConstraint } from './handle.js';\nimport { PointerRouter } from './router.js';\nimport { cameraHelm, poseHelm } from './helm.js';\nimport { poseTrack, cameraTrack } from './track.js';\n\nexport { createView } from './view.js';\nexport { observeCanvas, measureCanvas } from './canvas.js';\nexport { createPointer } from './pointer.js';\nexport { createPlayers, createLoop } from './loop.js';\nexport { Handle, VIEW, isConstraint, validConstraint } from './handle.js';\nexport { PointerRouter } from './router.js';\nexport { cameraHelm, poseHelm, helmBasis } from './helm.js';\nexport { poseTrack, cameraTrack, TrackHandles } from './track.js';\n\nconst _now = () => (typeof performance !== 'undefined' && performance.now) ? performance.now() : Date.now();\n\n/\n Create the host context of a canvas.\n \n @param {HTMLCanvasElement} canvas\n * @param {{ ndcZMin?:number, onFrame?:function(number, object):void, raf?:function,\n * caf?:function, onSize?:function(number, number, number):void }} [opts]\n * ndcZMin: the GPU API's NDC-z convention, WEBGL (default) or WEBGPU —\n * written once, never detected. onFrame: the host's own loop; absent,\n * external-tick mode. onSize(width, height, dpr): the bridge's chance\n * to resize its drawing buffer.\n * @returns {object} The host.\n /\nexport function createHost(canvas, opts) {\n const o = opts \|\| {};\n const t0 = _now();\n const constructs = new Set();\n let loop = null, observer = null;\n const host = {\n canvas,\n width: 0, height: 0, dpr: 1,\n dt: 0,\n view: null, pointer: null, players: null,\n\n /* Seconds since the host was created. /\n clock() { return (_now() - t0) / 1000; },\n\n /\n External-loop mode: tick the players with dt (seconds). The caller\n * flushes the pointer source once its consumers ran.\n * @param {number} dt\n /\n tick(dt) { host.dt = dt; host.players.tick(dt); },\n\n /\n A draggable handle on this canvas — see host/handle. Returns null on\n * an invalid `constraint`.\n * @param {object} opts\n * @returns {Handle\|null}\n /\n handle(opts) {\n const o = opts \|\| {};\n if (!validConstraint(o.constraint)) {\n console.error('[host] handle: `constraint` must be SPHERE, PLANE, AXIS, DIAL, VIEW, or a contract-conforming constraint object; got ' + String(o.constraint) + '.');\n return null;\n }\n return host.register(new Handle(host, o));\n },\n\n /\n A shared pick over overlapping handles — see host/router.\n * @param {Handle[]} handles\n * @param {{ hover?:boolean }} [opts]\n * @returns {PointerRouter}\n /\n router(handles, opts) { return host.register(new PointerRouter(host, handles, opts)); },\n\n /* Fly a camera state body-relative from a 6-DOF rate stream — see host/helm. /\n cameraHelm(cam, opts) { return cameraHelm(host, cam, opts); },\n /* Integrate a 6-DOF rate stream into a pose in a declared frame — see host/helm. /\n poseHelm(opts) { return poseHelm(host, opts); },\n /* A core PoseTrack ticked while it plays — see host/track. /\n poseTrack(opts) { return poseTrack(host, opts); },\n /* A core CameraTrack evaluating into a camera state while it plays — see host/track. /\n cameraTrack(cam, opts) { return cameraTrack(host, cam, opts); },\n\n /* Register a construct with dispose() so host.dispose() releases it. /\n register(c) { if (c) constructs.add(c); return c; },\n /* Unregister a construct. /\n unregister(c) { constructs.delete(c); },\n\n /* Stop the loop, disconnect the observer, remove every listener, dispose every construct. */\n dispose() {\n if (loop) loop.stop();\n for (const c of [...constructs]) { if (typeof c.dispose === 'function') c.dispose(); }\n constructs.clear();\n observer.dispose();\n host.pointer.dispose();\n host.players.clear();\n },\n };\n\n host.view = createView({ ndcZMin: o.ndcZMin });\n host.players = createPlayers();\n host.pointer = createPointer(canvas, host.view);\n observer = observeCanvas(canvas, (w, h, dpr) => {\n host.width = w; host.height = h; host.dpr = dpr;\n host.view.resize(w, h);\n if (typeof o.onSize === 'function') o.onSize(w, h, dpr);\n });\n\n if (typeof o.onFrame === 'function') {\n loop = createLoop({\n raf: o.raf, caf: o.caf,\n onFrame: (dt) => {\n host.dt = dt;\n host.players.tick(dt);\n o.onFrame(dt, host);\n host.pointer.flush();\n },\n });\n loop.start();\n }\n return 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1	+ {"version":3,"file":"index.js","sources":["../../tree/dist/index.js","../src/view.js","../src/canvas.js","../src/pointer.js","../src/loop.js","../src/handle.js","../src/router.js","../src/helm.js","../src/track.js","../src/stream.js","../src/media.js","../src/labels.js","../src/orbit.js","../src/index.js"],"sourcesContent":["/*\n @file Core constants — zero dependencies.\n * @module tree/constants\n * @license AGPL-3.0-only\n /\n\n// Coordinate spaces\nconst WORLD = 'WORLD';\nconst EYE = 'EYE';\nconst NDC = 'NDC';\nconst SCREEN = 'SCREEN';\nconst MODEL = 'MODEL';\nconst MATRIX = 'MATRIX';\n\n// Integrator frame source (helm `from` only): the construct's own current pose\n// — body-relative; not a general mapDirection space.\nconst SELF = 'SELF';\n\n// NDC Z convention (only difference between backends)\nconst WEBGL = -1; // z ∈ [−1, 1]\nconst WEBGPU = 0; // z ∈ [0, 1]\n\n// Visibility results\nconst INVISIBLE = 0;\nconst VISIBLE = 1;\nconst SEMIVISIBLE = 2;\n\n// Basis vectors (frozen plain arrays — duck-typed Vec3)\nconst ORIGIN = Object.freeze([0, 0, 0]);\nconst i = Object.freeze([1, 0, 0]);\nconst j = Object.freeze([0, 1, 0]);\nconst k = Object.freeze([0, 0, 1]);\nconst _i = Object.freeze([-1, 0, 0]);\nconst _j = Object.freeze([0, -1, 0]);\nconst _k = Object.freeze([0, 0, -1]);\n\n// Handle constraint kinds\nconst SPHERE = 0;\nconst PLANE = 1;\nconst AXIS = 2;\nconst DIAL = 3;\n\n// Handle report modes\nconst POINT = 0;\nconst DIRECTION = 1;\n\n// Pointer-hit shapes (pointerHit); bullsEyeLines' shape\nconst CIRCLE = 0;\nconst SQUARE = 1;\n\n// Gizmo bits — one namespace per generator. The same value means different\n// things to different generators, and no generator reads another's bits.\nconst NONE = 0;\n\n// axesLines\nconst X = 1 << 0;\nconst _X = 1 << 1;\nconst Y = 1 << 2;\nconst _Y = 1 << 3;\nconst Z = 1 << 4;\nconst _Z = 1 << 5;\nconst LABELS = 1 << 6;\n\n// frustumLines (LEFT … TOP also key a bounds object's planes)\nconst NEAR = 1 << 0;\nconst FAR = 1 << 1;\nconst LEFT = 1 << 2;\nconst RIGHT = 1 << 3;\nconst BOTTOM = 1 << 4;\nconst TOP = 1 << 5;\nconst BODY = 1 << 6;\nconst APEX = 1 << 7;\n\n// pathLines\nconst PATH = 1 << 0;\nconst CENTER = 1 << 1;\nconst CONTROLS = 1 << 2;\nconst TANGENTS_IN = 1 << 3;\nconst TANGENTS_OUT = 1 << 4;\nconst TANGENTS = TANGENTS_IN \| TANGENTS_OUT;\nconst HANDLES = 1 << 5;\n\n// helmRigLines\nconst TRANSLATE = 1 << 0;\nconst ROTATE = 1 << 1;\n\n// locusLines (HANDLE is the bridge's dot, not a line)\nconst HANDLE = 1 << 0;\nconst AIM = 1 << 1;\nconst LOCUS = 1 << 2;\nconst RING = 1 << 3;\n\n// Semantic palette — normalised RGBA: red, lime, dodger blue; COLOR_DIM is\n// the alpha of a dimmed stroke (the helm rig's baseline).\nconst COLOR_X = Object.freeze([1, 0, 0, 1]);\nconst COLOR_Y = Object.freeze([0, 1, 0, 1]);\nconst COLOR_Z = Object.freeze([30 / 255, 144 / 255, 1, 1]);\nconst COLOR_DIM = 110 / 255;\n\n/\n @file Quaternion algebra and mat4/mat3 conversions.\n * @module tree/quat\n * @license AGPL-3.0-only\n \n Quaternions are stored as flat [x, y, z, w] arrays (w-last, glTF layout).\n \n All functions follow the out-first, zero-allocation contract.\n * Conversion functions bridge between quaternion and matrix representations\n * but do not perform any higher-level graphics operations — those belong\n * in form.js (matrix construction from specs) or track.js (animation).\n /\n\n\n// =========================================================================\n// Basic ops\n// =========================================================================\n\n/* Set all four components. @returns {number[]} out /\nconst qSet = (out, x, y, z, w) => {\n out[0] = x; out[1] = y; out[2] = z; out[3] = w; return out;\n};\n\n/* Copy quaternion a into out. @returns {number[]} out /\nconst qCopy = (out, a) => {\n out[0] = a[0]; out[1] = a[1]; out[2] = a[2]; out[3] = a[3]; return out;\n};\n\n/* Dot product of two quaternions. /\nconst qDot = (a, b) => a[0]b[0] + a[1]b[1] + a[2]b[2] + a[3]b[3];\n\n/* Normalise quaternion in-place. @returns {number[]} out /\nconst qNormalize = (out) => {\n const l = Math.sqrt(out[0]out[0]+out[1]out[1]+out[2]out[2]+out[3]out[3]) \|\| 1;\n out[0]/=l; out[1]/=l; out[2]/=l; out[3]/=l; return out;\n};\n\n/* Negate quaternion (same rotation, different hemisphere). @returns {number[]} out /\nconst qNegate = (out, a) => {\n out[0]=-a[0]; out[1]=-a[1]; out[2]=-a[2]; out[3]=-a[3]; return out;\n};\n\n/* Hamilton product out = a * b. Alias-safe: out may be a or b. @returns {number[]} out /\nconst qMul = (out, a, b) => {\n const ax=a[0],ay=a[1],az=a[2],aw=a[3], bx=b[0],by=b[1],bz=b[2],bw=b[3];\n out[0]=awbx+axbw+aybz-azby;\n out[1]=awby-axbz+aybw+azbx;\n out[2]=awbz+axby-aybx+azbw;\n out[3]=awbw-axbx-ayby-azbz;\n return out;\n};\n\n/\n Conjugate out = [−x, −y, −z, w] — the inverse of a UNIT quaternion.\n * (Not qNegate: −q is the SAME rotation on the other hypersphere hemisphere;\n * the conjugate is the opposite rotation.)\n * @returns {number[]} out\n /\nconst qConjugate = (out, a) => {\n out[0]=-a[0]; out[1]=-a[1]; out[2]=-a[2]; out[3]=a[3]; return out;\n};\n\n/\n Rotate a vec3 by a unit quaternion: out = q · v · q⁻¹, expanded to the\n * allocation-free t = 2(qv × v); out = v + w·t + qv × t form.\n * Alias-safe: out may be v.\n * @param {number[]} out 3-element destination.\n * @param {number[]} q Unit quaternion [x,y,z,w].\n * @param {number[]} v Vector [x,y,z].\n * @returns {number[]} out\n /\nconst qRotateVec3 = (out, q, v) => {\n const qx=q[0],qy=q[1],qz=q[2],qw=q[3], vx=v[0],vy=v[1],vz=v[2];\n const tx=2(qyvz-qzvy), ty=2(qzvx-qxvz), tz=2(qxvy-qyvx);\n out[0]=vx+qwtx+qytz-qzty;\n out[1]=vy+qwty+qztx-qxtz;\n out[2]=vz+qwtz+qxty-qytx;\n return out;\n};\n\n// =========================================================================\n// Interpolation\n// =========================================================================\n\n/* Spherical linear interpolation. @returns {number[]} out /\nconst qSlerp = (out, a, b, t) => {\n let bx=b[0],by=b[1],bz=b[2],bw=b[3];\n let d = a[0]bx+a[1]by+a[2]bz+a[3]bw;\n if (d < 0) { bx=-bx; by=-by; bz=-bz; bw=-bw; d=-d; }\n let f0, f1;\n if (1-d > 1e-10) {\n const th=Math.acos(d), st=Math.sin(th);\n f0=Math.sin((1-t)th)/st; f1=Math.sin(tth)/st;\n } else {\n f0=1-t; f1=t;\n }\n out[0]=a[0]f0+bxf1; out[1]=a[1]f0+byf1;\n out[2]=a[2]f0+bzf1; out[3]=a[3]f0+bwf1;\n return qNormalize(out);\n};\n\n/\n Normalised linear interpolation (nlerp).\n * Cheaper than slerp; slightly non-constant angular velocity.\n * Handles antipodal quats by flipping b when dot < 0.\n * @returns {number[]} out\n /\nconst qNlerp = (out, a, b, t) => {\n let bx=b[0],by=b[1],bz=b[2],bw=b[3];\n if (a[0]bx+a[1]by+a[2]bz+a[3]bw < 0) { bx=-bx; by=-by; bz=-bz; bw=-bw; }\n out[0]=a[0]+t(bx-a[0]); out[1]=a[1]+t(by-a[1]);\n out[2]=a[2]+t(bz-a[2]); out[3]=a[3]+t(bw-a[3]);\n return qNormalize(out);\n};\n\n// =========================================================================\n// Construction\n// =========================================================================\n\n/\n Shortest-arc rotation taking unit vector a to unit vector b (three.js's\n * setFromUnitVectors; the arcball delta). Antiparallel inputs rotate 180°\n * about an axis ⊥ a, seeded from the world axis least aligned with a.\n * @param {number[]} out\n * @param {number[]} a Unit vector [x,y,z].\n * @param {number[]} b Unit vector [x,y,z].\n * @returns {number[]} out (normalised)\n /\nconst qFromUnitVectors = (out, a, b) => {\n const d = a[0]b[0] + a[1]b[1] + a[2]b[2];\n if (d < -0.999999) {\n const ax = Math.abs(a[0]), ay = Math.abs(a[1]), az = Math.abs(a[2]);\n let rx = 0, ry = 0, rz = 0;\n if (ax <= ay && ax <= az) rx = 1; else if (ay <= az) ry = 1; else rz = 1;\n out[0]=rya[2]-rza[1]; out[1]=rza[0]-rxa[2]; out[2]=rxa[1]-rya[0];\n out[3]=0; // 180°: w = cos(π/2) = 0\n } else {\n out[0]=a[1]b[2]-a[2]b[1];\n out[1]=a[2]b[0]-a[0]b[2];\n out[2]=a[0]b[1]-a[1]b[0];\n out[3]=1+d;\n }\n return qNormalize(out);\n};\n\n/*\n Build a quaternion from axis-angle.\n * @param {number[]} out\n * @param {number} ax @param {number} ay @param {number} az Axis (need not be unit).\n * @param {number} angle Radians.\n * @returns {number[]} out\n /\nconst qFromAxisAngle = (out, ax, ay, az, angle) => {\n const half = angle 0.5;\n const s = Math.sin(half);\n const len = Math.sqrt(axax + ayay + azaz) \|\| 1;\n out[0] = s ax / len; out[1] = s * ay / len; out[2] = s * az / len;\n out[3] = Math.cos(half);\n return out;\n};\n\n/*\n Build a quaternion from a look direction (−Z forward) and optional up (default +Y).\n * `dir` need not be unit. Right = dir × up, up re-orthogonalised as right × dir;\n * when `dir` is parallel to `up` the up hint is re-seeded from the world axis\n * least aligned with `dir` (the same seed qFromUnitVectors uses), so every\n * direction yields a proper rotation.\n * @param {number[]} out\n * @param {number[]} dir Forward direction [x,y,z].\n * @param {number[]} [up] Up vector [x,y,z].\n * @returns {number[]} out\n /\nconst qFromLookDir = (out, dir, up) => {\n let fx=dir[0],fy=dir[1],fz=dir[2];\n const fl=Math.sqrt(fxfx+fyfy+fzfz)\|\|1;\n fx/=fl; fy/=fl; fz/=fl;\n let ux=up?up[0]:0, uy=up?up[1]:1, uz=up?up[2]:0;\n let rx=fyuz-fzuy, ry=fzux-fxuz, rz=fxuy-fyux; // right = dir × up\n let rl=Math.sqrt(rxrx+ryry+rzrz);\n if (rl < 1e-8) { // dir ∥ up: re-seed up\n const ax=Math.abs(fx), ay=Math.abs(fy), az=Math.abs(fz);\n ux=0; uy=0; uz=0;\n if (ax <= ay && ax <= az) ux=1; else if (ay <= az) uy=1; else uz=1;\n rx=fyuz-fzuy; ry=fzux-fxuz; rz=fxuy-fyux;\n rl=Math.sqrt(rxrx+ryry+rzrz)\|\|1;\n }\n rx/=rl; ry/=rl; rz/=rl;\n ux=ryfz-rzfy; uy=rzfx-rxfz; uz=rxfy-ryfx; // up = right × dir\n return qFromRotMat3x3(out, rx,ux,-fx, ry,uy,-fy, rz,uz,-fz); // columns: right, up, back\n};\n\n/*\n Build a quaternion from a 3×3 rotation matrix (9 row-major scalars).\n * @returns {number[]} out (normalised)\n /\nconst qFromRotMat3x3 = (out, m00,m01,m02, m10,m11,m12, m20,m21,m22) => {\n const tr = m00+m11+m22;\n if (tr > 0) {\n const s=0.5/Math.sqrt(tr+1);\n out[3]=0.25/s; out[0]=(m21-m12)s; out[1]=(m02-m20)s; out[2]=(m10-m01)s;\n } else if (m00>m11 && m00>m22) {\n const s=2Math.sqrt(1+m00-m11-m22);\n out[3]=(m21-m12)/s; out[0]=0.25s; out[1]=(m01+m10)/s; out[2]=(m02+m20)/s;\n } else if (m11>m22) {\n const s=2Math.sqrt(1+m11-m00-m22);\n out[3]=(m02-m20)/s; out[0]=(m01+m10)/s; out[1]=0.25s; out[2]=(m12+m21)/s;\n } else {\n const s=2Math.sqrt(1+m22-m00-m11);\n out[3]=(m10-m01)/s; out[0]=(m02+m20)/s; out[1]=(m12+m21)/s; out[2]=0.25s;\n }\n return qNormalize(out);\n};\n\n/*\n Extract a unit quaternion from the upper-left 3×3 of a column-major mat4.\n * @param {number[]} out\n * @param {Float32Array\|number[]} m Column-major mat4.\n * @returns {number[]} out\n /\nconst qFromMat4 = (out, m) =>\n qFromRotMat3x3(out, m[0],m[4],m[8], m[1],m[5],m[9], m[2],m[6],m[10]);\n\n/\n Write a quaternion into the rotation block of a column-major mat4.\n * Translation and perspective rows/cols are set to identity values.\n * @param {Float32Array\|number[]} out 16-element array.\n * @param {number[]} q [x,y,z,w].\n * @returns {Float32Array\|number[]} out\n /\nconst qToMat4 = (out, q) => {\n const x=q[0],y=q[1],z=q[2],w=q[3];\n const x2=x+x,y2=y+y,z2=z+z;\n const xx=xx2,xy=xy2,xz=xz2,yy=yy2,yz=yz2,zz=zz2,wx=wx2,wy=wy2,wz=wz2;\n out[0]=1-(yy+zz); out[1]=xy+wz; out[2]=xz-wy; out[3]=0;\n out[4]=xy-wz; out[5]=1-(xx+zz); out[6]=yz+wx; out[7]=0;\n out[8]=xz+wy; out[9]=yz-wx; out[10]=1-(xx+yy); out[11]=0;\n out[12]=0; out[13]=0; out[14]=0; out[15]=1;\n return out;\n};\n\n// =========================================================================\n// Decomposition\n// =========================================================================\n\n/*\n Decompose a unit quaternion into { axis:[x,y,z], angle } (radians).\n * @param {number[]} q [x,y,z,w].\n * @param {Object} [out]\n * @returns {{ axis: number[], angle: number }}\n /\nconst qToAxisAngle = (q, out) => {\n out = out \|\| {};\n const x=q[0],y=q[1],z=q[2],w=q[3];\n const sinHalf = Math.sqrt(xx+yy+zz);\n if (sinHalf < 1e-8) { out.axis=[0,1,0]; out.angle=0; return out; }\n out.angle = 2Math.atan2(sinHalf, w);\n out.axis = [x/sinHalf, y/sinHalf, z/sinHalf];\n return out;\n};\n\n/\n @file 1€ input filter — speed-adaptive first-order low-pass for noisy input.\n * @module tree/filter\n * @license AGPL-3.0-only\n \n A jitter conditioner for noisy / absolute input streams (the helm's optional\n * `filter` slot; sketch-side handle conditioning). It is NOT a deadzone\n * replacement: a low-pass passes DC, so a constant rest bias survives it and\n * still integrates to creep — only the deadzone's exact-zero clamp removes that.\n * The 1€ removes zero-mean jitter; the two are orthogonal and coexist, applied\n * filter → deadzone (condition the continuous signal first, then gate to zero).\n \n First-order low-pass whose cutoff rises with the signal's speed: slow (rest)\n * → low cutoff → heavy smoothing; fast (motion) → high cutoff → low lag. Tuned\n * by `minCutoff` (Hz, the rest cutoff) and `beta` (how fast the cutoff opens\n * with speed). Reimplemented from the paper's equations — `tree` is zero-dep, so\n * the ~one-page primitive is vendored, not depended on (the same call made for\n * quaternions over gl-matrix).\n \n Reference: Casiez, G., Roussel, N., & Vogel, D. (2012). 1€ Filter: A Simple\n * Speed-based Low-pass Filter for Noisy Input in Interactive Systems. CHI '12,\n * 2527–2530. DOI 10.1145/2207676.2208639 · https://gery.casiez.net/1euro/\n /\n\n\n/\n Build a stateful 1€ filter as an out-first carrying function.\n \n The returned `f` carries the previous filtered value and derivative across\n * calls (one state slot per vector component), and is used in one of two forms:\n \n - vec form `f(out, raw, dt)` — `out`/`raw` are equal-length ArrayLikes;\n * writes the filtered vector into `out` and returns it.\n * Zero-allocation after the first call (state sized to `raw`).\n * - scalar form `f(raw, dt)` — `raw` is a number; returns the filtered number.\n \n The form is chosen by the first argument's type (number ⇒ scalar). `minCutoff`,\n * `beta`, and `dCutoff` are live-mutable on the returned function (`f.minCutoff`,\n * `f.beta`, `f.dCutoff`) and read every call, so a panel can tune them against\n * live noise. `f.reset()` drops the carried state at a discontinuity (a\n * re-acquired source, a helm `home()`); smear across one and the output lurches.\n \n @param {Object} [opts]\n * @param {number} [opts.minCutoff=1] Minimum (rest) cutoff frequency, in Hz.\n * @param {number} [opts.beta=0] Speed coefficient (cutoff = minCutoff +\n * beta·\|filtered derivative\|); unitless.\n * @param {number} [opts.dCutoff=1] Derivative cutoff frequency, in Hz.\n * @returns {Function} A carrying filter `f(out, raw, dt)` / `f(raw, dt)` with a\n * `reset()` method and live `minCutoff` / `beta` / `dCutoff`.\n /\nfunction oneEuro(opts) {\n opts = opts \|\| {};\n\n // Carried state: previous filtered value + previous filtered derivative.\n // number (scalar form) \| number[] (vec form). primed = state is seeded.\n let xPrev = null;\n let dxPrev = null;\n let primed = false;\n\n // Low-pass smoothing factor for a sample period `dt` and a cutoff frequency\n // (the paper's α = 1 / (1 + τ/Te), τ = 1 / (2π·cutoff)).\n const alpha = (dt, cutoff) => {\n const tau = 1 / (2 Math.PI * cutoff);\n return 1 / (1 + tau / dt);\n };\n const smooth = (a, x, xp) => a * x + (1 - a) * xp;\n\n const scalar = (x, dt) => {\n if (!primed) { xPrev = x; dxPrev = 0; primed = true; return x; }\n const dx = (x - xPrev) / dt;\n const edx = smooth(alpha(dt, f.dCutoff), dx, dxPrev);\n const a = alpha(dt, f.minCutoff + f.beta * Math.abs(edx));\n const xh = smooth(a, x, xPrev);\n xPrev = xh; dxPrev = edx;\n return xh;\n };\n\n const vec = (out, raw, dt) => {\n const n = raw.length;\n if (!primed) {\n if (!Array.isArray(xPrev) \|\| xPrev.length !== n) {\n xPrev = new Array(n); dxPrev = new Array(n);\n }\n for (let i = 0; i < n; i++) { xPrev[i] = raw[i]; dxPrev[i] = 0; out[i] = raw[i]; }\n primed = true;\n return out;\n }\n for (let i = 0; i < n; i++) {\n const dx = (raw[i] - xPrev[i]) / dt;\n const edx = smooth(alpha(dt, f.dCutoff), dx, dxPrev[i]);\n const a = alpha(dt, f.minCutoff + f.beta * Math.abs(edx));\n const xh = smooth(a, raw[i], xPrev[i]);\n xPrev[i] = xh; dxPrev[i] = edx;\n out[i] = xh;\n }\n return out;\n };\n\n const f = (out, raw, dt) =>\n (typeof out === 'number') ? scalar(out, raw) : vec(out, raw, dt);\n\n f.minCutoff = (opts.minCutoff != null) ? opts.minCutoff : 1;\n f.beta = (opts.beta != null) ? opts.beta : 0;\n f.dCutoff = (opts.dCutoff != null) ? opts.dCutoff : 1;\n\n /** Drop the carried state — call at a discontinuity (re-acquire / home). /\n f.reset = () => { primed = false; return f; };\n\n return f;\n}\n\n/\n @file Matrix construction from geometric specs and partial decomposition.\n * @module tree/form\n * @license AGPL-3.0-only\n \n Constructs mat4s from higher-level specs: TRS transforms, orthonormal\n * bases, lookat parameters, projection parameters, and special-purpose\n * matrices (bias, reflection).\n \n Design invariant: form.js has no dependency on query.js. Construction\n * from specs requires only scalar arithmetic and quaternion conversions.\n * Callers compose the resulting matrices using query.js (mat4Mul etc.).\n \n ── NDC Z convention ──────────────────────────────────────────────────────\n * Controlled by `ndcZMin` in every projection constructor:\n * WEBGL = −1 near → NDC z = −1, far → NDC z = +1\n * WEBGPU = 0 near → NDC z = 0, far → NDC z = +1\n \n ── NDC Y convention ──────────────────────────────────────────────────────\n * Controlled by `ndcYSign` in every projection constructor (default +1):\n * +1 NDC y-up — standard: OpenGL / WebGL / WebGPU browser / Three.js / p5v2\n * −1 NDC y-down — native Vulkan clip space\n \n Negating ndcYSign flips row 1 of the projection matrix (elements\n * out[1], out[5], out[9], out[13]), reversing the y-axis in clip space.\n * mat4View, mat4Eye, and all non-projection constructors are convention-\n * agnostic — they produce the same matrix regardless of the NDC y direction.\n \n ── Screen Y convention ───────────────────────────────────────────────────\n * Screen-y direction (DOM y-down vs OpenGL y-up) is a separate concern from\n * NDC-y direction and is handled in query.js via the signed viewport height.\n * See the query.js module header for details.\n \n All functions follow the out-first, zero-allocation contract.\n /\n\n\n// =========================================================================\n// Frame construction\n// =========================================================================\n\n/\n Rigid frame from orthonormal basis + translation.\n * Column-major layout: col0=right, col1=up, col2=forward, col3=translation.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} rx,ry,rz Right vector (col 0).\n * @param {number} ux,uy,uz Up vector (col 1).\n * @param {number} fx,fy,fz Forward vec (col 2).\n * @param {number} tx,ty,tz Translation (col 3).\n /\nfunction mat4FromBasis(out, rx,ry,rz, ux,uy,uz, fx,fy,fz, tx,ty,tz) {\n out[0]=rx; out[1]=ry; out[2]=rz; out[3]=0;\n out[4]=ux; out[5]=uy; out[6]=uz; out[7]=0;\n out[8]=fx; out[9]=fy; out[10]=fz; out[11]=0;\n out[12]=tx; out[13]=ty; out[14]=tz; out[15]=1;\n return out;\n}\n\n// Lookat basis scratch — right (0–2), up (3–5), back (6–8): unit, world space.\nconst _lb = new Float64Array(9);\n\n/\n Orthonormal lookat basis into `_lb`: back = eye − center, right = up × back,\n * up = back × right. When the view direction is parallel to the up hint the\n * hint is re-seeded from the world axis least aligned with it — the seed\n * qFromUnitVectors and qFromLookDir use — so the basis is always a rotation.\n /\nfunction _lookBasis(ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n let zx=ex-cx, zy=ey-cy, zz=ez-cz;\n const zl=Math.sqrt(zxzx+zyzy+zzzz)\|\|1;\n zx/=zl; zy/=zl; zz/=zl;\n let xx=uyzz-uzzy, xy=uzzx-uxzz, xz=uxzy-uyzx;\n let xl=Math.sqrt(xxxx+xyxy+xzxz);\n if (xl < 1e-8) { // view ∥ up: re-seed up\n const ax=Math.abs(zx), ay=Math.abs(zy), az=Math.abs(zz);\n ux=0; uy=0; uz=0;\n if (ax <= ay && ax <= az) ux=1; else if (ay <= az) uy=1; else uz=1;\n xx=uyzz-uzzy; xy=uzzx-uxzz; xz=uxzy-uyzx;\n xl=Math.sqrt(xxxx+xyxy+xzxz)\|\|1;\n }\n xx/=xl; xy/=xl; xz/=xl;\n _lb[0]=xx; _lb[1]=xy; _lb[2]=xz;\n _lb[3]=zyxz-zzxy; _lb[4]=zzxx-zxxz; _lb[5]=zxxy-zyxx;\n _lb[6]=zx; _lb[7]=zy; _lb[8]=zz;\n}\n\n/*\n View matrix (world→eye) from lookat parameters.\n * Camera looks along −Z in eye space; right = normalize(up × (−Z)).\n * Cheaper than building the eye matrix and inverting.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} ex,ey,ez Eye (camera) position.\n * @param {number} cx,cy,cz Look-at target.\n * @param {number} ux,uy,uz World up hint (need not be unit; re-seeded when\n * parallel to the view direction).\n /\nfunction mat4View(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n _lookBasis(ex,ey,ez, cx,cy,cz, ux,uy,uz);\n const xx=_lb[0],xy=_lb[1],xz=_lb[2], yx=_lb[3],yy=_lb[4],yz=_lb[5], zx=_lb[6],zy=_lb[7],zz=_lb[8];\n out[0]=xx; out[1]=yx; out[2]=zx; out[3]=0;\n out[4]=xy; out[5]=yy; out[6]=zy; out[7]=0;\n out[8]=xz; out[9]=yz; out[10]=zz; out[11]=0;\n out[12]=-(xxex+xyey+xzez);\n out[13]=-(yxex+yyey+yzez);\n out[14]=-(zxex+zyey+zzez);\n out[15]=1;\n return out;\n}\n\n/*\n Eye matrix (eye→world) from lookat parameters.\n * Transpose of the rotation block + direct translation column.\n * Same parameters as mat4View.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} ex,ey,ez Eye position.\n * @param {number} cx,cy,cz Look-at target.\n * @param {number} ux,uy,uz World up hint (need not be unit; re-seeded when\n * parallel to the view direction).\n /\nfunction mat4Eye(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n _lookBasis(ex,ey,ez, cx,cy,cz, ux,uy,uz);\n const xx=_lb[0],xy=_lb[1],xz=_lb[2], yx=_lb[3],yy=_lb[4],yz=_lb[5], zx=_lb[6],zy=_lb[7],zz=_lb[8];\n out[0]=xx; out[1]=xy; out[2]=xz; out[3]=0;\n out[4]=yx; out[5]=yy; out[6]=yz; out[7]=0;\n out[8]=zx; out[9]=zy; out[10]=zz; out[11]=0;\n out[12]=ex; out[13]=ey; out[14]=ez; out[15]=1;\n return out;\n}\n\n// =========================================================================\n// TRS construction\n// =========================================================================\n\n/\n Column-major mat4 from flat TRS scalars. No struct allocation.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} tx,ty,tz Translation.\n * @param {number} qx,qy,qz,qw Rotation quaternion [x,y,z,w].\n * @param {number} sx,sy,sz Scale.\n /\nfunction mat4FromTRS(out, tx,ty,tz, qx,qy,qz,qw, sx,sy,sz) {\n const x2=qx+qx,y2=qy+qy,z2=qz+qz;\n const xx=qxx2,xy=qxy2,xz=qxz2,yy=qyy2,yz=qyz2,zz=qzz2;\n const wx=qwx2,wy=qwy2,wz=qwz2;\n out[0]=(1-(yy+zz))sx; out[1]=(xy+wz)sx; out[2]=(xz-wy)sx; out[3]=0;\n out[4]=(xy-wz)sy; out[5]=(1-(xx+zz))sy; out[6]=(yz+wx)sy; out[7]=0;\n out[8]=(xz+wy)sz; out[9]=(yz-wx)sz; out[10]=(1-(xx+yy))sz; out[11]=0;\n out[12]=tx; out[13]=ty; out[14]=tz; out[15]=1;\n return out;\n}\n\n/\n Translation-only mat4.\n * @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} tx,ty,tz\n /\nfunction mat4FromTranslation(out, tx,ty,tz) {\n out[0]=1; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=1; out[6]=0; out[7]=0;\n out[8]=0; out[9]=0; out[10]=1; out[11]=0;\n out[12]=tx; out[13]=ty; out[14]=tz; out[15]=1;\n return out;\n}\n\n/\n Scale-only mat4.\n * @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} sx,sy,sz\n /\nfunction mat4FromScale(out, sx,sy,sz) {\n out[0]=sx; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=sy; out[6]=0; out[7]=0;\n out[8]=0; out[9]=0; out[10]=sz; out[11]=0;\n out[12]=0; out[13]=0; out[14]=0; out[15]=1;\n return out;\n}\n\n// =========================================================================\n// Projection construction\n// =========================================================================\n\n/\n Orthographic projection matrix.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} left,right,bottom,top Frustum extents.\n * @param {number} near,far Clip plane distances (positive).\n * @param {number} ndcZMin −1 (WEBGL) or 0 (WEBGPU).\n * @param {number} [ndcYSign=1] +1 = NDC y-up (default); −1 = NDC y-down (native Vulkan).\n /\nfunction mat4Ortho(out, left, right, bottom, top, near, far, ndcZMin, ndcYSign=1) {\n const rl=1/(right-left), tb=1/(top-bottom), fn=1/(far-near);\n out[0]=2rl; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=ndcYSign2tb; out[6]=0; out[7]=0;\n out[8]=0; out[9]=0; out[10]=(ndcZMin-1)fn; out[11]=0;\n out[12]=-(right+left)rl; out[13]=ndcYSign(-(top+bottom)tb);\n out[14]=(ndcZMinfar-near)fn;\n out[15]=1;\n return out;\n}\n\n/*\n Perspective projection matrix (general / off-centre frustum).\n * Symmetric case: left=-right, bottom=-top — derive from fov+aspect in user space:\n * top = near * Math.tan(fov / 2); right = top * aspect\n * mat4Persp(out, -right, right, -top, top, near, far, ndcZMin)\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} left,right,bottom,top Near-plane extents (signed, y-up: top>0, bottom<0).\n * @param {number} near,far Clip plane distances (positive).\n * @param {number} ndcZMin −1 (WEBGL) or 0 (WEBGPU).\n * @param {number} [ndcYSign=1] +1 = NDC y-up (default); −1 = NDC y-down (native Vulkan).\n /\nfunction mat4Persp(out, left, right, bottom, top, near, far, ndcZMin, ndcYSign=1) {\n const rl=1/(right-left), tb=1/(top-bottom);\n out[0]=2nearrl; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=ndcYSign2neartb; out[6]=0; out[7]=0;\n out[8]=(right+left)rl; out[9]=ndcYSign(top+bottom)tb;\n out[10]=(ndcZMinnear-far)/(far-near);\n out[11]=-1;\n out[12]=0; out[13]=0;\n out[14]=(ndcZMin-1)farnear/(far-near);\n out[15]=0;\n return out;\n}\n\n// =========================================================================\n// Special-purpose construction\n// =========================================================================\n\n/*\n Bias matrix: remaps xyz from NDC to texture/UV space [0, 1].\n * xy remap from [−1, 1]; z remaps from [ndcZMin, 1].\n * Used to convert light-space NDC coordinates to shadow map UV.\n \n Convention note: the standard bias maps NDC y = −1 → texture v = 0 and\n * NDC y = +1 → texture v = 1. This is correct for both NDC y-up and y-down\n * conventions because the shadow map was rendered with the same projection.\n \n Column-major (WEBGL, ndcZMin=−1): Column-major (WEBGPU, ndcZMin=0):\n * [ 0.5 0 0 0.5 ] [ 0.5 0 0 0.5 ]\n * [ 0 0.5 0 0.5 ] [ 0 0.5 0 0.5 ]\n * [ 0 0 0.5 0.5 ] [ 0 0 1 0 ]\n * [ 0 0 0 1 ] [ 0 0 0 1 ]\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nfunction mat4Bias(out, ndcZMin) {\n const sz=1/(1-ndcZMin), tz=-ndcZMin/(1-ndcZMin);\n out[0]=0.5; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=0.5; out[6]=0; out[7]=0;\n out[8]=0; out[9]=0; out[10]=sz; out[11]=0;\n out[12]=0.5; out[13]=0.5; out[14]=tz; out[15]=1;\n return out;\n}\n\n/\n Reflection matrix across a plane ax + by + cz = d.\n * [nx, ny, nz] must be a unit normal.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} nx,ny,nz Unit plane normal.\n * @param {number} d Plane offset (dot(point_on_plane, normal)).\n /\nfunction mat4Reflect(out, nx,ny,nz,d) {\n out[0]=1-2nxnx; out[1]=-2nynx; out[2]=-2nznx; out[3]=0;\n out[4]=-2nxny; out[5]=1-2nyny; out[6]=-2nzny; out[7]=0;\n out[8]=-2nxnz; out[9]=-2nynz; out[10]=1-2nznz; out[11]=0;\n out[12]=2dnx; out[13]=2dny; out[14]=2dnz; out[15]=1;\n return out;\n}\n\n/\n @file Matrix arithmetic, space-transform dispatch, and projection queries.\n * @module tree/query\n * @license AGPL-3.0-only\n \n The operative layer — receives matrices and extracts information.\n * Contrast with form.js which constructs matrices from specs.\n \n form.js — specs → matrix\n * query.js — matrix → information\n \n Storage: column-major Float32Array / ArrayLike<number>.\n * Multiply: mat4Mul(out, A, B) = A · B (standard math order).\n * Pipeline: clip = P · V · M · v\n \n ── NDC Z convention ──────────────────────────────────────────────────────\n * Passed as `ndcZMin` to every space-transform function:\n * WEBGL = −1 z ∈ [−1, 1]\n * WEBGPU = 0 z ∈ [ 0, 1]\n \n ── NDC Y convention ──────────────────────────────────────────────────────\n * Standard (OpenGL / WebGL / WebGPU browser / Three.js / p5v2):\n * NDC y-up — y = +1 at top, y = −1 at bottom.\n * Native Vulkan: NDC y-down — projections constructed with ndcYSign = −1\n * (see form.js). Query functions are convention-agnostic: they work on\n * whatever matrices are passed in.\n \n ── Viewport convention ───────────────────────────────────────────────────\n * vp = [x, y, w, h] — w and h are SIGNED.\n \n The sign of h encodes the relationship between NDC y and screen y:\n * h < 0 (e.g. −canvasH): screen y-DOWN (DOM / p5 mouseX·mouseY / Vulkan surface)\n * NDC y=+1 → screen y=0 (top)\n * NDC y=−1 → screen y=H (bottom)\n * h > 0 (e.g. +canvasH): screen y-UP (OpenGL desktop / WebGL gl_FragCoord)\n * NDC y=−1 → screen y=0 (bottom)\n * NDC y=+1 → screen y=H (top)\n \n Pass [0, canvasH, canvasW, −canvasH] for p5/DOM coordinates.\n * Pass [0, 0, canvasW, canvasH] for WebGL gl_FragCoord / OpenGL bottom-left.\n * All helpers use vp[2]/vp[3] signed — no Math.abs — so both conventions\n * work automatically without any branching.\n \n All functions follow the out-first, zero-allocation contract.\n * Returns null on degeneracy (singular matrix, etc.).\n /\n\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Mat4 arithmetic\n// ═══════════════════════════════════════════════════════════════════════════\n\n/* out = A · B (column-major) /\nfunction mat4Mul(out, A, B) {\n const a0=A[0],a1=A[1],a2=A[2],a3=A[3],\n a4=A[4],a5=A[5],a6=A[6],a7=A[7],\n a8=A[8],a9=A[9],a10=A[10],a11=A[11],\n a12=A[12],a13=A[13],a14=A[14],a15=A[15];\n let b0=B[0],b1=B[1],b2=B[2],b3=B[3];\n out[0]=a0b0+a4b1+a8b2+a12b3;\n out[1]=a1b0+a5b1+a9b2+a13b3;\n out[2]=a2b0+a6b1+a10b2+a14b3;\n out[3]=a3b0+a7b1+a11b2+a15b3;\n b0=B[4];b1=B[5];b2=B[6];b3=B[7];\n out[4]=a0b0+a4b1+a8b2+a12b3;\n out[5]=a1b0+a5b1+a9b2+a13b3;\n out[6]=a2b0+a6b1+a10b2+a14b3;\n out[7]=a3b0+a7b1+a11b2+a15b3;\n b0=B[8];b1=B[9];b2=B[10];b3=B[11];\n out[8]=a0b0+a4b1+a8b2+a12b3;\n out[9]=a1b0+a5b1+a9b2+a13b3;\n out[10]=a2b0+a6b1+a10b2+a14b3;\n out[11]=a3b0+a7b1+a11b2+a15b3;\n b0=B[12];b1=B[13];b2=B[14];b3=B[15];\n out[12]=a0b0+a4b1+a8b2+a12b3;\n out[13]=a1b0+a5b1+a9b2+a13b3;\n out[14]=a2b0+a6b1+a10b2+a14b3;\n out[15]=a3b0+a7b1+a11b2+a15b3;\n return out;\n}\n\n/* out = inverse(src). Returns null if singular (\|det\| < 1e-12). /\nfunction mat4Invert(out, src) {\n const s0=src[0],s1=src[1],s2=src[2],s3=src[3],\n s4=src[4],s5=src[5],s6=src[6],s7=src[7],\n s8=src[8],s9=src[9],s10=src[10],s11=src[11],\n s12=src[12],s13=src[13],s14=src[14],s15=src[15];\n const b0=s0s5-s1s4, b1=s0s6-s2s4, b2=s0s7-s3s4,\n b3=s1s6-s2s5, b4=s1s7-s3s5, b5=s2s7-s3s6,\n b6=s8s13-s9s12, b7=s8s14-s10s12, b8=s8s15-s11s12,\n b9=s9s14-s10s13, b10=s9s15-s11s13, b11=s10s15-s11s14;\n let det=b0b11-b1b10+b2b9+b3b8-b4b7+b5b6;\n if (Math.abs(det) < 1e-12) return null;\n det = 1/det;\n out[0]=(s5b11-s6b10+s7b9)det;\n out[1]=(s2b10-s1b11-s3b9)det;\n out[2]=(s13b5-s14b4+s15b3)det;\n out[3]=(s10b4-s9b5-s11b3)det;\n out[4]=(s6b8-s4b11-s7b7)det;\n out[5]=(s0b11-s2b8+s3b7)det;\n out[6]=(s14b2-s12b5-s15b1)det;\n out[7]=(s8b5-s10b2+s11b1)det;\n out[8]=(s4b10-s5b8+s7b6)det;\n out[9]=(s1b8-s0b10-s3b6)det;\n out[10]=(s12b4-s13b2+s15b0)det;\n out[11]=(s9b2-s8b4-s11b0)det;\n out[12]=(s5b7-s4b9-s6b6)det;\n out[13]=(s0b9-s1b7+s2b6)det;\n out[14]=(s13b1-s12b3-s14b0)det;\n out[15]=(s8b3-s9b1+s10b0)det;\n return out;\n}\n\n/\n Normal matrix: inverseTranspose(upper-left 3×3 of src).\n * On degeneracy writes zeros and returns out.\n * @param {Float32Array\|number[]} out 9-element destination.\n * @param {Float32Array\|number[]} src 16-element mat4.\n /\nfunction mat3NormalFromMat4(out, src) {\n const a00=src[0],a01=src[1],a02=src[2],\n a10=src[4],a11=src[5],a12=src[6],\n a20=src[8],a21=src[9],a22=src[10];\n const b01=a22a11-a12a21, b11=-a22a01+a02a21, b21=a12a01-a02a11;\n let det=a00b01+a10b11+a20b21;\n if (Math.abs(det) < 1e-12) { for(let i=0;i<9;i++)out[i]=0; return out; }\n det=1/det;\n out[0]=b01det; out[1]=(-a22a10+a12a20)det; out[2]=(a21a10-a11a20)det;\n out[3]=b11det; out[4]=(a22a00-a02a20)det; out[5]=(-a21a00+a01a20)det;\n out[6]=b21det; out[7]=(-a12a00+a02a10)det; out[8]=(a11a00-a01a10)det;\n return out;\n}\n\n/* out = mat4 * [x,y,z,1], perspective-divides, writes xyz. /\nfunction mat4MulPoint(out, m, x, y, z) {\n const rx=m[0]x+m[4]y+m[8]z+m[12], ry=m[1]x+m[5]y+m[9]z+m[13],\n rz=m[2]x+m[6]y+m[10]z+m[14], rw=m[3]x+m[7]y+m[11]z+m[15];\n if (rw!==0&&rw!==1) { out[0]=rx/rw; out[1]=ry/rw; out[2]=rz/rw; }\n else { out[0]=rx; out[1]=ry; out[2]=rz; }\n return out;\n}\n\n/\n Apply only the 3×3 linear block of a mat4 to a direction (no translation,\n * no perspective divide). Use mat3NormalFromMat4 for normals under non-uniform scale.\n /\nfunction mat4MulDir(out, m, dx, dy, dz) {\n out[0]=m[0]dx+m[4]dy+m[8]dz;\n out[1]=m[1]dx+m[5]dy+m[9]dz;\n out[2]=m[2]dx+m[6]dy+m[10]dz;\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Projection queries\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** @returns {boolean} true if orthographic. /\nfunction projIsOrtho(p) { return p[15] !== 0; }\n\n/\n Near plane distance.\n * @param {ArrayLike<number>} p Projection mat4.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nfunction projNear(p, ndcZMin) {\n return p[15]===0 ? p[14]/(p[10]+ndcZMin) : (p[14]-ndcZMin)/p[10];\n}\n\n/* Far plane distance (far always maps to NDC z = 1, convention-independent). /\nfunction projFar(p) {\n return p[15]===0 ? p[14]/(1+p[10]) : (p[14]-1)/p[10];\n}\n\nfunction projLeft (p, ndcZMin) { return p[15]===1 ? -(1+p[12])/p[0] : projNear(p,ndcZMin)(p[8]-1)/p[0]; }\nfunction projRight (p, ndcZMin) { return p[15]===1 ? (1-p[12])/p[0] : projNear(p,ndcZMin)(1+p[8])/p[0]; }\n\n/\n Top extent of the near plane in camera space (y_max, positive for standard y-up camera).\n * Sign-normalized: returns the larger of the two y boundaries regardless of whether\n * the projection was built with ndcYSign = +1 or −1.\n /\nfunction projTop(p, ndcZMin) {\n return p[15]===1\n ? ( Math.sign(p[5]) - p[13]) / p[5] // ortho\n : projNear(p,ndcZMin)(Math.sign(p[5])+p[9])/p[5]; // perspective\n}\n\n/*\n Bottom extent of the near plane in camera space (y_min, negative for standard y-up camera).\n /\nfunction projBottom(p, ndcZMin) {\n return p[15]===1\n ? (-Math.sign(p[5]) - p[13]) / p[5] // ortho\n : projNear(p,ndcZMin)(p[9]-Math.sign(p[5]))/p[5]; // perspective\n}\n\n/** Vertical field of view in radians (perspective only). /\nfunction projFov (p) { return Math.abs(2Math.atan(1/p[5])); }\n/** Horizontal field of view in radians (perspective only). /\nfunction projHfov(p) { return Math.abs(2Math.atan(1/p[0])); }\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Derived matrices\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = P · V /\nfunction mat4PV(out, proj, view) { return mat4Mul(out, proj, view); }\n/* out = V · M /\nfunction mat4MV(out, model, view) { return mat4Mul(out, view, model); }\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Frame-relative transforms\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n Location transform between frames: out = inv(to) · from.\n * Assumes both matrices are affine (bottom row [0,0,0,1]).\n * @returns {ArrayLike<number>\|null} out, or null if `to` is singular.\n /\nfunction mat4Location(out, from, to) {\n // Same as: return mat4Invert(out, to) && mat4Mul(out, out, from);\n // a_rc reads column-major: element (row r, column c) is to[c4 + r].\n const a00=to[0],a01=to[4],a02=to[8],\n a10=to[1],a11=to[5],a12=to[9],\n a20=to[2],a21=to[6],a22=to[10];\n const b01=a22a11-a12a21, b11=a12a20-a22a10, b21=a21a10-a11a20;\n let det=a00b01+a01b11+a02b21;\n if (Math.abs(det) < 1e-12) return null;\n det=1/det;\n const i00=b01det, i01=(a02a21-a22a01)det, i02=(a12a01-a02a11)det;\n const i10=b11det, i11=(a22a00-a02a20)det, i12=(a02a10-a12a00)det;\n const i20=b21det, i21=(a01a20-a21a00)det, i22=(a11a00-a01a10)det;\n const f00=from[0],f01=from[1],f02=from[2],\n f10=from[4],f11=from[5],f12=from[6],\n f20=from[8],f21=from[9],f22=from[10];\n out[0]=i00f00+i01f01+i02f02; out[1]=i10f00+i11f01+i12f02; out[2]=i20f00+i21f01+i22f02; out[3]=0;\n out[4]=i00f10+i01f11+i02f12; out[5]=i10f10+i11f11+i12f12; out[6]=i20f10+i21f11+i22f12; out[7]=0;\n out[8]=i00f20+i01f21+i02f22; out[9]=i10f20+i11f21+i12f22; out[10]=i20f20+i21f21+i22f22; out[11]=0;\n const dx=from[12]-to[12], dy=from[13]-to[13], dz=from[14]-to[14];\n out[12]=i00dx+i01dy+i02dz; out[13]=i10dx+i11dy+i12dz; out[14]=i20dx+i21dy+i22dz; out[15]=1;\n return out;\n}\n\n/*\n Direction transform between frames: out = inv(to₃) · from₃ — a direction's\n * coordinates in `from` become its coordinates in `to`, the same conversion\n * mat4Location and mapDirection perform, on the upper-left 3×3 blocks only\n * (rotation / scale, no translation).\n * @returns {ArrayLike<number>\|null} out, or null if `to` is singular.\n /\nfunction mat3Direction(out, from, to) {\n // a_rc reads column-major: element (row r, column c) is to[c4 + r].\n const a00=to[0],a01=to[4],a02=to[8],\n a10=to[1],a11=to[5],a12=to[9],\n a20=to[2],a21=to[6],a22=to[10];\n const b01=a22a11-a12a21, b11=a12a20-a22a10, b21=a21a10-a11a20;\n let det=a00b01+a01b11+a02b21;\n if (Math.abs(det) < 1e-12) return null;\n det=1/det;\n const i00=b01det, i01=(a02a21-a22a01)det, i02=(a12a01-a02a11)det;\n const i10=b11det, i11=(a22a00-a02a20)det, i12=(a02a10-a12a00)det;\n const i20=b21det, i21=(a01a20-a21a00)det, i22=(a11a00-a01a10)det;\n // out = inv(to₃) · from₃, column by column of from.\n for (let c = 0; c < 3; c++) {\n const f0=from[c4], f1=from[c4+1], f2=from[c4+2];\n out[c3] = i00f0 + i01f1 + i02f2;\n out[c3+1] = i10f0 + i11f1 + i12f2;\n out[c3+2] = i20f0 + i21f1 + i22f2;\n }\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Space transforms — mapLocation / mapDirection\n// ═══════════════════════════════════════════════════════════════════════════\n//\n// Flat dispatch: every from→to pair is a self-contained leaf with only stack\n// locals — no reentrancy, no shared state between calls.\n//\n// Matrices bag `m`:\n// mat4Proj Float32Array(16) projection (eye → clip)\n// mat4View Float32Array(16) view (world → eye)\n// mat4Eye? Float32Array(16) eye (eye → world); caller fills before passing\n// mat4PV? Float32Array(16) P · V; caller fills or _ensurePV allocates once\n// mat4PVInv? Float32Array(16) inv(P · V); caller fills\n// fromFrame? Float32Array(16) MATRIX source frame\n// toFrameInv? Float32Array(16) inv(MATRIX dest frame)\n//\n// Viewport `vp` = [x, y, w, h]:\n// Use SIGNED h to encode screen-y direction (see module header).\n// Core formula: screen = (ndc0.5+0.5)vp[k] + vp[k-2] (k=2 for x, k=3 for y)\n// Inverse: ndc = ((screen-vp[k-2])/vp[k])2 - 1\n// Negative vp[3] flips NDC y-up to screen y-down automatically.\n//\n\n// ── Location helpers ─────────────────────────────────────────────────────\n\nfunction _worldToScreen(out, px, py, pz, pv, vp, ndcZMin) {\n const x=pv[0]px+pv[4]py+pv[8]pz+pv[12], y=pv[1]px+pv[5]py+pv[9]pz+pv[13],\n z=pv[2]px+pv[6]py+pv[10]pz+pv[14], w=pv[3]px+pv[7]py+pv[11]pz+pv[15];\n const xi=(w!==0&&w!==1)?1/w:1;\n out[0]=(xxi0.5+0.5)vp[2]+vp[0];\n out[1]=(yxi0.5+0.5)vp[3]+vp[1];\n out[2]=(zxi-ndcZMin)/(1-ndcZMin);\n return out;\n}\n\nfunction _screenToWorld(out, sx, sy, sz, ipv, vp, ndcZMin) {\n return mat4MulPoint(out, ipv,\n ((sx-vp[0])/vp[2])2-1,\n ((sy-vp[1])/vp[3])2-1,\n sz(1-ndcZMin)+ndcZMin);\n}\n\nfunction _worldToNDC(out, px, py, pz, pv) {\n const x=pv[0]px+pv[4]py+pv[8]pz+pv[12], y=pv[1]px+pv[5]py+pv[9]pz+pv[13],\n z=pv[2]px+pv[6]py+pv[10]pz+pv[14], w=pv[3]px+pv[7]py+pv[11]pz+pv[15];\n const xi=(w!==0&&w!==1)?1/w:1;\n out[0]=xxi; out[1]=yxi; out[2]=zxi;\n return out;\n}\n\nfunction _ndcToWorld(out, nx, ny, nz, ipv) { return mat4MulPoint(out,ipv,nx,ny,nz); }\n\nfunction _screenToNDC(out, sx, sy, sz, vp, ndcZMin) {\n out[0]=((sx-vp[0])/vp[2])2-1;\n out[1]=((sy-vp[1])/vp[3])2-1;\n out[2]=sz(1-ndcZMin)+ndcZMin;\n return out;\n}\n\nfunction _ndcToScreen(out, nx, ny, nz, vp, ndcZMin) {\n out[0]=(nx0.5+0.5)vp[2]+vp[0];\n out[1]=(ny0.5+0.5)vp[3]+vp[1];\n out[2]=(nz-ndcZMin)/(1-ndcZMin);\n return out;\n}\n\nfunction _ensurePV(m) {\n if (m.mat4PV) return m.mat4PV;\n m.mat4PV = new Float32Array(16);\n mat4Mul(m.mat4PV, m.mat4Proj, m.mat4View);\n return m.mat4PV;\n}\n\n/*\n Map a point between named coordinate spaces.\n \n @param {number[]} out 3-element destination — written and returned.\n * @param {number} px,py,pz Input point.\n * @param {string} from Source space (WORLD, EYE, SCREEN, NDC, MATRIX).\n * @param {string} to Destination space.\n * @param {object} m Matrices bag — see module header.\n * @param {number[]} vp Viewport [x, y, w, h]; sign of h encodes screen-y direction.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @returns {number[]} out\n /\nfunction mapLocation(out, px, py, pz, from, to, m, vp, ndcZMin) {\n if (from===WORLD && to===SCREEN) return _worldToScreen(out,px,py,pz,_ensurePV(m),vp,ndcZMin);\n if (from===SCREEN && to===WORLD) return _screenToWorld(out,px,py,pz,m.mat4PVInv,vp,ndcZMin);\n\n if (from===WORLD && to===NDC) return _worldToNDC(out,px,py,pz,_ensurePV(m));\n if (from===NDC && to===WORLD) return _ndcToWorld(out,px,py,pz,m.mat4PVInv);\n\n if (from===SCREEN && to===NDC) return _screenToNDC(out,px,py,pz,vp,ndcZMin);\n if (from===NDC && to===SCREEN) return _ndcToScreen(out,px,py,pz,vp,ndcZMin);\n\n if (from===WORLD && to===EYE) return mat4MulPoint(out,m.mat4View,px,py,pz);\n if (from===EYE && to===WORLD) return mat4MulPoint(out,m.mat4Eye,px,py,pz);\n\n if (from===EYE && to===SCREEN) {\n const e=m.mat4Eye;\n return _worldToScreen(out,e[0]px+e[4]py+e[8]pz+e[12],\n e[1]px+e[5]py+e[9]pz+e[13],\n e[2]px+e[6]py+e[10]pz+e[14],_ensurePV(m),vp,ndcZMin);\n }\n if (from===SCREEN && to===EYE) {\n _screenToWorld(out,px,py,pz,m.mat4PVInv,vp,ndcZMin);\n return mat4MulPoint(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===EYE && to===NDC) {\n const e=m.mat4Eye;\n return _worldToNDC(out,e[0]px+e[4]py+e[8]pz+e[12],\n e[1]px+e[5]py+e[9]pz+e[13],\n e[2]px+e[6]py+e[10]pz+e[14],_ensurePV(m));\n }\n if (from===NDC && to===EYE) {\n _ndcToWorld(out,px,py,pz,m.mat4PVInv);\n return mat4MulPoint(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===WORLD) return mat4MulPoint(out,m.fromFrame,px,py,pz);\n if (from===WORLD && to===MATRIX) return mat4MulPoint(out,m.toFrameInv,px,py,pz);\n\n if (from===MATRIX && to===EYE) {\n const f=m.fromFrame;\n return mat4MulPoint(out,m.mat4View,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14]);\n }\n if (from===EYE && to===MATRIX) {\n const e=m.mat4Eye;\n return mat4MulPoint(out,m.toFrameInv,e[0]px+e[4]py+e[8]pz+e[12],\n e[1]px+e[5]py+e[9]pz+e[13],\n e[2]px+e[6]py+e[10]pz+e[14]);\n }\n\n if (from===MATRIX && to===SCREEN) {\n const f=m.fromFrame;\n return _worldToScreen(out,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14],_ensurePV(m),vp,ndcZMin);\n }\n if (from===SCREEN && to===MATRIX) {\n _screenToWorld(out,px,py,pz,m.mat4PVInv,vp,ndcZMin);\n return mat4MulPoint(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===NDC) {\n const f=m.fromFrame;\n return _worldToNDC(out,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14],_ensurePV(m));\n }\n if (from===NDC && to===MATRIX) {\n _ndcToWorld(out,px,py,pz,m.mat4PVInv);\n return mat4MulPoint(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===MATRIX) {\n const f=m.fromFrame;\n return mat4MulPoint(out,m.toFrameInv,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14]);\n }\n\n out[0]=px; out[1]=py; out[2]=pz;\n return out;\n}\n\n// ── Direction helpers ────────────────────────────────────────────────────\n//\n// Directions use only the linear 3×3 block — no translation, no w-divide.\n// The signed vp[2]/vp[3] carries the y-convention automatically.\n//\n\nfunction _applyDir(out, m, dx, dy, dz) {\n out[0]=m[0]dx+m[4]dy+m[8]dz;\n out[1]=m[1]dx+m[5]dy+m[9]dz;\n out[2]=m[2]dx+m[6]dy+m[10]dz;\n return out;\n}\n\nfunction _worldToScreenDir(out, dx, dy, dz, proj, view, vpW, vpH, ndcZMin) {\n const vx=view[0]dx+view[4]dy+view[8]dz,\n vy=view[1]dx+view[5]dy+view[9]dz,\n vz=view[2]dx+view[6]dy+view[10]dz;\n // vpH is signed — negative flips y component automatically.\n out[0]=(proj[0]vx+proj[4]vy+proj[8]vz)vpW0.5;\n out[1]=(proj[1]vx+proj[5]vy+proj[9]vz)vpH0.5;\n out[2]=(proj[2]vx+proj[6]vy+proj[10]vz)(1-ndcZMin)0.5;\n return out;\n}\n\nfunction _screenToWorldDir(out, dx, dy, dz, proj, eye, vpW, vpH, ndcZMin) {\n // Inverse of _worldToScreenDir: undo the viewport scale, then the projection's\n // upper-triangular 3×3 block (p[8], p[9] carry an off-centre frustum), then\n // rotate eye→world. Signed vpW/vpH cancel the y-flip.\n const cz = dz/((1-ndcZMin)0.5)/proj[10];\n const cy = (dy/(vpH0.5) - proj[9]cz)/proj[5];\n const cx = (dx/(vpW0.5) - proj[8]cz)/proj[0];\n return _applyDir(out, eye, cx, cy, cz);\n}\n\nfunction _screenToNDCDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n out[0]=dx/(vpW0.5); out[1]=dy/(vpH0.5); out[2]=dz/((1-ndcZMin)0.5);\n return out;\n}\n\nfunction _ndcToScreenDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n out[0]=dxvpW0.5; out[1]=dyvpH0.5; out[2]=dz(1-ndcZMin)0.5;\n return out;\n}\n\n/\n Map a direction between named coordinate spaces.\n * Same bag and viewport contract as mapLocation.\n \n @param {number[]} out 3-element destination.\n * @param {number} dx,dy,dz Input direction.\n * @param {string} from Source space.\n * @param {string} to Destination space.\n * @param {object} m Matrices bag — see module header.\n * @param {number[]} vp Viewport [x, y, w, h]; sign of h encodes screen-y direction.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @returns {number[]} out\n /\nfunction mapDirection(out, dx, dy, dz, from, to, m, vp, ndcZMin) {\n const vpW=vp[2], vpH=vp[3]; // signed — carry y-convention through all helpers\n\n if (from===EYE && to===WORLD) return _applyDir(out,m.mat4Eye, dx,dy,dz);\n if (from===WORLD && to===EYE) return _applyDir(out,m.mat4View,dx,dy,dz);\n\n if (from===WORLD && to===SCREEN) return _worldToScreenDir(out,dx,dy,dz,m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n if (from===SCREEN && to===WORLD) return _screenToWorldDir(out,dx,dy,dz,m.mat4Proj,m.mat4Eye, vpW,vpH,ndcZMin);\n\n if (from===SCREEN && to===NDC) return _screenToNDCDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n if (from===NDC && to===SCREEN) return _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n\n if (from===WORLD && to===NDC) {\n _worldToScreenDir(out,dx,dy,dz,m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n return _screenToNDCDir(out,out[0],out[1],out[2],vpW,vpH,ndcZMin);\n }\n if (from===NDC && to===WORLD) {\n _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n return _screenToWorldDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n }\n\n if (from===EYE && to===SCREEN) {\n _applyDir(out,m.mat4Eye,dx,dy,dz);\n return _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n }\n if (from===SCREEN && to===EYE) {\n _screenToWorldDir(out,dx,dy,dz,m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===EYE && to===NDC) {\n _applyDir(out,m.mat4Eye,dx,dy,dz);\n _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n return _screenToNDCDir(out,out[0],out[1],out[2],vpW,vpH,ndcZMin);\n }\n if (from===NDC && to===EYE) {\n _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n _screenToWorldDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===WORLD) return _applyDir(out,m.fromFrame, dx,dy,dz);\n if (from===WORLD && to===MATRIX) return _applyDir(out,m.toFrameInv,dx,dy,dz);\n\n if (from===MATRIX && to===EYE) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n return _applyDir(out,m.mat4View,out[0],out[1],out[2]);\n }\n if (from===EYE && to===MATRIX) {\n _applyDir(out,m.mat4Eye,dx,dy,dz);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===SCREEN) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n return _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n }\n if (from===SCREEN && to===MATRIX) {\n _screenToWorldDir(out,dx,dy,dz,m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===NDC) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n return _screenToNDCDir(out,out[0],out[1],out[2],vpW,vpH,ndcZMin);\n }\n if (from===NDC && to===MATRIX) {\n _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n _screenToWorldDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===MATRIX) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n out[0]=dx; out[1]=dy; out[2]=dz;\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Rays and pointer hits\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n Screen point → world ray: origin on the near plane (screen depth 0), unit\n * direction toward the far plane (depth 1). Same bag and viewport contract as\n * mapLocation; `m.mat4PVInv` must be filled by the caller.\n \n @param {number[]} outO 3-element origin.\n * @param {number[]} outD 3-element unit direction.\n * @param {number} sx,sy Screen point.\n * @param {object} m Matrices bag — see module header.\n * @param {number[]} vp Viewport [x, y, w, h]; sign of h encodes screen-y direction.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @returns {number[]\|null} outD, or null when the bag carries no mat4PVInv\n * (singular P·V) or the ray has no length.\n /\nfunction unproject(outO, outD, sx, sy, m, vp, ndcZMin) {\n const ipv = m.mat4PVInv;\n if (!ipv) return null;\n _screenToWorld(outO, sx, sy, 0, ipv, vp, ndcZMin);\n _screenToWorld(outD, sx, sy, 1, ipv, vp, ndcZMin);\n const dx=outD[0]-outO[0], dy=outD[1]-outO[1], dz=outD[2]-outO[2];\n const l=Math.sqrt(dxdx+dydy+dzdz);\n if (!(l > 0)) return null;\n outD[0]=dx/l; outD[1]=dy/l; outD[2]=dz/l;\n return outD;\n}\n\nconst _hit = [0, 0, 0]; // pointerHit screen scratch\n\n/*\n Is the pointer within `radius` px of the projected world point (x, y, z)?\n * `shape` is CIRCLE (Euclidean, default) or SQUARE (Chebyshev); the boundary\n * hits. A point whose screen depth falls outside [0, 1] — behind the camera,\n * before the near plane or beyond the far plane — never hits.\n \n @param {number} px,py Pointer, screen px.\n * @param {number} x,y,z World point.\n * @param {number} radius Hit radius, px.\n * @param {object} m Matrices bag — see module header.\n * @param {number[]} vp Viewport [x, y, w, h]; sign of h encodes screen-y direction.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @param {number} [shape=CIRCLE] CIRCLE or SQUARE.\n * @returns {boolean}\n /\nfunction pointerHit(px, py, x, y, z, radius, m, vp, ndcZMin, shape = CIRCLE) {\n _worldToScreen(_hit, x, y, z, _ensurePV(m), vp, ndcZMin);\n const d = _hit[2];\n if (!(d >= 0 && d <= 1)) return false;\n const dx = px - _hit[0], dy = py - _hit[1];\n return shape === SQUARE\n ? Math.abs(dx) <= radius && Math.abs(dy) <= radius\n : dxdx + dydy <= radiusradius;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// pixelRatio\n// ═══════════════════════════════════════════════════════════════════════════\n\n/*\n World-units-per-pixel at a given eye-space Z depth.\n * @param {ArrayLike<number>} proj Projection mat4.\n * @param {number} vpH Viewport height in pixels (positive).\n * @param {number} eyeZ Eye-space Z — negative means in front of camera.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nfunction pixelRatio(proj, vpH, eyeZ, ndcZMin) {\n return projIsOrtho(proj)\n ? Math.abs(projTop(proj,ndcZMin)-projBottom(proj,ndcZMin)) / vpH\n : 2Math.abs(eyeZ)Math.tan(projFov(proj)/2) / vpH;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Pick-matrix\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n Mutate a projection matrix in-place so that the pixel at (px, py) maps to\n * the full NDC square — making a 1×1 FBO render contain exactly that pixel.\n \n Premultiplies by M_pick (column-major, rows 2 and 3 unchanged):\n \n ┌ sx 0 0 tx ┐ sx = \|vp[2]\|, sy = \|vp[3]\|\n * │ 0 sy 0 ty │ cx = ((px−vp[0])/vp[2])·2 − 1 (NDC x of pixel centre)\n * │ 0 0 1 0 │ cy = ((py−vp[1])/vp[3])·2 − 1 (NDC y, sign-aware)\n * └ 0 0 0 1 ┘ tx = −cx·sx, ty = −cy·sy\n \n Result: P_pick = M_pick · P_original.\n * The viewport sign convention (vp[3] < 0 for screen y-down) is preserved\n * automatically through cx/cy — no separate flip needed.\n \n @param {Float32Array} proj Projection mat4 — mutated in place.\n * @param {number} px Query pixel X in screen coordinates.\n * @param {number} py Query pixel Y in screen coordinates.\n * @param {number[]} vp Viewport [x, y, w, h]; same signed convention as mapLocation.\n /\nfunction mat4Pick(proj, px, py, vp) {\n const cx=((px-vp[0])/vp[2])2-1;\n const cy=((py-vp[1])/vp[3])2-1;\n const sx=Math.abs(vp[2]), sy=Math.abs(vp[3]);\n const tx=-cxsx, ty=-cysy;\n for (let j=0; j<4; j++) {\n const a=proj[j4], b=proj[j4+1], d=proj[j4+3];\n proj[j4] = sxa + txd;\n proj[j4+1] = syb + tyd;\n }\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Pick-id codec\n// ═══════════════════════════════════════════════════════════════════════════\n\n/*\n Pick id → colour: the 24-bit id packed into r, g, b as normalised floats,\n * R the low byte, alpha 1. Id 0 is the background; ids run 1 … 2²⁴ − 1.\n * @param {number[]} out 4-element destination.\n * @param {number} id Integer id.\n * @returns {number[]} out\n /\nfunction idToRgba(out, id) {\n out[0] = (id & 255) / 255;\n out[1] = ((id >> 8) & 255) / 255;\n out[2] = ((id >> 16) & 255) / 255;\n out[3] = 1;\n return out;\n}\n\n/\n Colour bytes → pick id, the inverse of idToRgba on a readback.\n * @param {number} r,g,b Bytes 0 … 255 (fractions truncated).\n * @returns {number} id\n /\nfunction rgbaToId(r, g, b) {\n return (r & 255) \| ((g & 255) << 8) \| ((b & 255) << 16);\n}\n\n// =========================================================================\n// Decomposition\n// =========================================================================\n\n/\n Extract translation from a column-major mat4 (column 3).\n * @param {Float32Array\|number[]} out3 3-element destination.\n * @param {Float32Array\|number[]} m 16-element source.\n /\nfunction mat4ToTranslation(out3, m) {\n out3[0]=m[12]; out3[1]=m[13]; out3[2]=m[14];\n return out3;\n}\n\n/\n Extract scale from a column-major mat4 (column lengths of the rotation block).\n * Assumes no shear.\n * @param {Float32Array\|number[]} out3 3-element destination.\n * @param {Float32Array\|number[]} m 16-element source.\n /\nfunction mat4ToScale(out3, m) {\n out3[0]=Math.sqrt(m[0]m[0]+m[1]m[1]+m[2]m[2]);\n out3[1]=Math.sqrt(m[4]m[4]+m[5]m[5]+m[6]m[6]);\n out3[2]=Math.sqrt(m[8]m[8]+m[9]m[9]+m[10]m[10]);\n return out3;\n}\n\n/*\n Extract rotation as a unit quaternion from a column-major mat4.\n * Scale is factored out from each column. Assumes no shear.\n * @param {number[]} out4 4-element [x,y,z,w] destination.\n * @param {Float32Array\|number[]} m 16-element source.\n /\nfunction mat4ToRotation(out4, m) {\n const sx=Math.sqrt(m[0]m[0]+m[1]m[1]+m[2]m[2])\|\|1;\n const sy=Math.sqrt(m[4]m[4]+m[5]m[5]+m[6]m[6])\|\|1;\n const sz=Math.sqrt(m[8]m[8]+m[9]m[9]+m[10]m[10])\|\|1;\n return qFromRotMat3x3(out4,\n m[0]/sx, m[4]/sy, m[8]/sz,\n m[1]/sx, m[5]/sy, m[9]/sz,\n m[2]/sx, m[6]/sy, m[10]/sz);\n}\n\n/*\n @file Spline math and keyframe animation state machines.\n * @module tree/track\n * @license AGPL-3.0-only\n \n Quaternion algebra is provided by quat.js; projection matrix construction\n * by form.js. Spline helpers (hermiteVec3, lerpVec3) and TRS↔mat4 conversions\n * (transformToMat4, mat4ToTransform) live here because they are tightly\n * coupled to the PoseTrack keyframe shape.\n \n Zero dependencies on p5, DOM, WebGL, or WebGPU.\n \n ── Exports ──────────────────────────────────────────────────────────────\n * Quaternion helpers (re-exported from quat.js)\n * qSet qCopy qDot qNormalize qNegate qMul qConjugate qRotateVec3\n * qSlerp qNlerp qFromUnitVectors qFromAxisAngle qFromLookDir\n * qFromRotMat3x3 qFromMat4 qToMat4 qToAxisAngle\n * Spline / vector helpers\n * hermiteVec3 lerpVec3\n * Transform / mat4 helpers\n * transformToMat4 mat4ToTransform\n * Tracks\n * PoseTrack — { pos, rot, scl } TRS keyframes\n * CameraTrack — { eye, center, up, fov?, halfHeight?, near, far }\n * lookat keyframes\n \n ── Public path access (all zero-alloc, no cursor side effects) ──────────\n * PoseTrack\n * samplePos (out) \| (out, seg, t) vec3\n * mat4Model (out) \| (out, seg, t) mat4 — TRS model\n * tangents (outIn, outOut, index) vec3 × 2 at keyframe\n * eval (out?) TRS object at cursor\n \n CameraTrack\n * sampleEye (out) \| (out, seg, t) vec3\n * sampleCenter (out) \| (out, seg, t) vec3\n * mat4Eye (out) \| (out, seg, t) mat4 — lookat frame\n * eyeTangents (outIn, outOut, index) vec3 × 2 at keyframe\n * centerTangents (outIn, outOut, index) vec3 × 2 at keyframe\n * eval (out?) { eye, center, up,\n * fov, halfHeight,\n * near, far }\n \n Two arities for the continuous family:\n * (out) cursor form — reads track.seg / track.f. Useful when the\n * track's own transport is driving the animation.\n * (out, seg, t) explicit form — continuous (seg, t) coordinate, no cursor\n * side effects. seg ∈ [0, segments−1] integer, t ∈ [0, 1]\n * local to that segment. As a convenience, seg === segments\n * is accepted and rewritten to (segments−1, 1) — so the\n * idiom sampleX(out, i, 0) uniformly addresses keyframe i\n * for every i ∈ [0, keyframes.length−1].\n \n All honour the track's interpolation mode (hermite / linear / step) and\n * the same stored-tangent → centripetal-CR fallback chain that eval() uses.\n \n `tangents` / `eyeTangents` / `centerTangents` are keyframe-indexed — a\n * keyframe's incoming tangent belongs to the previous segment, outgoing to\n * the next. At boundary keyframes the missing side mirrors the present one\n * so drawing arrows at endpoints always yields a visible vector.\n \n Projection matrices are deliberately not exposed as a track method. Each\n * CameraTrack keyframe stores `fov` (perspective) or `halfHeight` (ortho)\n * directly on track.keyframes[i] — callers wanting a projection build one\n * with the free mat4Persp / mat4Ortho constructors. Animated fov in\n * sketches flows through the bridge's camera-binding via eval().fov and\n * eval().halfHeight (the bridge calls cam.perspective() / cam.ortho() each\n * frame).\n \n ── Class hierarchy ──────────────────────────────────────────────────────\n * Track (unexported, never instantiated directly)\n * └── PoseTrack (exported)\n * └── CameraTrack (exported)\n \n ── Hook architecture ────────────────────────────────────────────────────\n * Lib-space hooks (underscore prefix — host layer / UI layer):\n * _onActivate / _onDeactivate — fire on playing false→true / true→false.\n * _onPlay / _onEnd / _onStop — mirror the user-space hooks.\n \n User-space hooks:\n * onPlay : fires in play() on false→true transition.\n * onEnd : fires in tick() at natural boundary (once mode only).\n * onStop : fires in stop() / reset().\n \n Firing order:\n * play() → onPlay → _onPlay → _onActivate\n * tick() → onEnd → _onEnd → _onDeactivate\n * stop() → onStop → _onStop → _onDeactivate\n * reset() → onStop → _onStop → _onDeactivate\n \n ── Loop modes ───────────────────────────────────────────────────────────\n * loop:false, bounce:false — play once, stop at end (fires onEnd)\n * loop:true, bounce:false — repeat, wrap back to start\n * loop:true, bounce:true — bounce forever at boundaries\n * loop:false, bounce:true — bounce once: flip at far boundary, stop at origin\n \n ── Playback semantics (rate + _dir) ─────────────────────────────────────\n * rate > 0 forward rate < 0 backward rate === 0 frozen\n \n play() is the sole setter of playing = true.\n * stop() is the sole setter of playing = false.\n * Assigning rate never starts or stops playback.\n \n _dir (internal, ±1) tracks the current bounce travel direction.\n * tick() advances by rate * _dir and flips _dir at boundaries.\n * _dir is reset to 1 only in reset().\n \n ── One-keyframe behaviour ───────────────────────────────────────────────\n * play() with exactly one keyframe snaps eval() to that keyframe without\n * setting playing = true and without firing hooks.\n /\n\n\n// =========================================================================\n// S2 Spline / vector helpers\n// =========================================================================\n\nfunction _dist3(a, b) {\n const dx=a[0]-b[0], dy=a[1]-b[1], dz=a[2]-b[2];\n return Math.sqrt(dxdx+dydy+dzdz);\n}\n\n/*\n Cubic Hermite interpolation between p0 and p1 with explicit tangents.\n * @param {number[]} out 3-element result.\n * @param {number[]} p0 Segment start.\n * @param {number[]} m0 Outgoing tangent at p0.\n * @param {number[]} p1 Segment end.\n * @param {number[]} m1 Incoming tangent at p1.\n * @param {number} t Blend [0, 1].\n * @returns {number[]} out\n /\nconst hermiteVec3 = (out, p0, m0, p1, m1, t) => {\n const t2=tt, t3=t2t;\n const h00=2t3-3t2+1, h10=t3-2t2+t, h01=-2t3+3t2, h11=t3-t2;\n out[0]=h00p0[0]+h10m0[0]+h01p1[0]+h11m1[0];\n out[1]=h00p0[1]+h10m0[1]+h01p1[1]+h11m1[1];\n out[2]=h00p0[2]+h10m0[2]+h01p1[2]+h11m1[2];\n return out;\n};\n\n// Centripetal CR outgoing tangent at p1 for segment p1→p2.\n// Signature: (out, p0, p1, p2). Returns tangent AT p1 (the middle point).\nconst _crTanOut = (out, p0, p1, p2) => {\n const dt0=Math.pow(_dist3(p0,p1),0.5)\|\|1, dt1=Math.pow(_dist3(p1,p2),0.5)\|\|1;\n for (let i=0;i<3;i++) out[i]=((p1[i]-p0[i])/dt0-(p2[i]-p0[i])/(dt0+dt1)+(p2[i]-p1[i])/dt1)dt1;\n return out;\n};\n\n// Centripetal CR incoming tangent at p2 for segment p1→p2.\n// Signature: (out, p1, p2, p3). Returns tangent AT p2 (the middle point).\nconst _crTanIn = (out, p1, p2, p3) => {\n const dt1=Math.pow(_dist3(p1,p2),0.5)\|\|1, dt2=Math.pow(_dist3(p2,p3),0.5)\|\|1;\n for (let i=0;i<3;i++) out[i]=((p2[i]-p1[i])/dt1-(p3[i]-p1[i])/(dt1+dt2)+(p3[i]-p2[i])/dt2)dt1;\n return out;\n};\n\n// Module-level scratch — shared across track instances (non-reentrant hot path).\nconst _m0=[0,0,0], _m1=[0,0,0];\nconst _trsScratch = { pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] };\nconst _eyeScratch = { eye:[0,0,0], center:[0,0,0], up:[0,1,0] };\n\n/*\n Linear interpolation between two vec3s.\n /\nconst lerpVec3 = (out, a, b, t) => {\n out[0]=a[0]+t(b[0]-a[0]);\n out[1]=a[1]+t(b[1]-a[1]);\n out[2]=a[2]+t(b[2]-a[2]);\n return out;\n};\n\n// =========================================================================\n// S2b Path samplers — shared core\n// =========================================================================\n\n/** @private — sample interpolated vec3 path at (seg, t) into out. /\nfunction _samplePathCore(out, kfs, interp, field, tanInName, tanOutName, seg, t) {\n const n = kfs.length;\n if (n === 0) { out[0]=0; out[1]=0; out[2]=0; return out; }\n if (n === 1) {\n const p = kfs[0][field];\n out[0]=p[0]; out[1]=p[1]; out[2]=p[2];\n return out;\n }\n const nSeg = n - 1;\n seg = seg \| 0;\n if (seg >= nSeg) { seg = nSeg - 1; t = 1; }\n else if (seg < 0) { seg = 0; t = 0; }\n t = _clamp01(t);\n const k0 = kfs[seg];\n const k1 = kfs[seg + 1];\n\n if (interp === 'step') {\n const p = k0[field];\n out[0]=p[0]; out[1]=p[1]; out[2]=p[2];\n return out;\n }\n if (interp === 'linear') {\n return lerpVec3(out, k0[field], k1[field], t);\n }\n\n const p0 = seg > 0 ? kfs[seg - 1][field] : k0[field];\n const p3 = seg + 2 < n ? kfs[seg + 2][field] : k1[field];\n const m0 = k0[tanOutName] != null ? k0[tanOutName]\n : k0[tanInName] != null ? k0[tanInName]\n : _crTanOut(_m0, p0, k0[field], k1[field]);\n const m1 = k1[tanInName] != null ? k1[tanInName]\n : k1[tanOutName] != null ? k1[tanOutName]\n : _crTanIn(_m1, k0[field], k1[field], p3);\n return hermiteVec3(out, k0[field], m0, k1[field], m1, t);\n}\n\n/* @private — write effective in/out tangents at keyframe i. /\nfunction _sampleTangentsCore(outIn, outOut, kfs, field, tanInName, tanOutName, i) {\n const n = kfs.length;\n if (n === 0) {\n outIn[0]=outIn[1]=outIn[2]=0; outOut[0]=outOut[1]=outOut[2]=0;\n return;\n }\n i = _clampS(i \| 0, 0, n - 1);\n const ki = kfs[i];\n const hasTI = ki[tanInName] != null;\n const hasTO = ki[tanOutName] != null;\n\n if (hasTO) {\n outOut[0]=ki[tanOutName][0]; outOut[1]=ki[tanOutName][1]; outOut[2]=ki[tanOutName][2];\n } else if (hasTI) {\n outOut[0]=ki[tanInName][0]; outOut[1]=ki[tanInName][1]; outOut[2]=ki[tanInName][2];\n } else if (i < n - 1) {\n const k1 = kfs[i + 1];\n const p0 = i > 0 ? kfs[i - 1][field] : ki[field];\n _crTanOut(outOut, p0, ki[field], k1[field]);\n } else {\n outOut[0]=0; outOut[1]=0; outOut[2]=0;\n }\n\n if (hasTI) {\n outIn[0]=ki[tanInName][0]; outIn[1]=ki[tanInName][1]; outIn[2]=ki[tanInName][2];\n } else if (hasTO) {\n outIn[0]=ki[tanOutName][0]; outIn[1]=ki[tanOutName][1]; outIn[2]=ki[tanOutName][2];\n } else if (i > 0) {\n const k0 = kfs[i - 1];\n const p3 = i + 1 < n ? kfs[i + 1][field] : ki[field];\n _crTanIn(outIn, k0[field], ki[field], p3);\n } else {\n outIn[0]=outOut[0]; outIn[1]=outOut[1]; outIn[2]=outOut[2];\n }\n\n if (i === n - 1 && !hasTO && !hasTI) {\n outOut[0]=outIn[0]; outOut[1]=outIn[1]; outOut[2]=outIn[2];\n }\n}\n\n// =========================================================================\n// S3 Transform <-> Mat4\n// =========================================================================\n\n/\n Write a TRS transform into a column-major mat4.\n /\nconst transformToMat4 = (out, xform) => {\n qToMat4(out, xform.rot);\n const sx=xform.scl[0], sy=xform.scl[1], sz=xform.scl[2];\n out[0]=sx; out[1]=sx; out[2]=sx;\n out[4]=sy; out[5]=sy; out[6]=sy;\n out[8]=sz; out[9]=sz; out[10]=sz;\n out[12]=xform.pos[0]; out[13]=xform.pos[1]; out[14]=xform.pos[2];\n return out;\n};\n\n/*\n Decompose a column-major mat4 into a TRS transform.\n /\nconst mat4ToTransform = (out, m) => {\n out.pos[0]=m[12]; out.pos[1]=m[13]; out.pos[2]=m[14];\n const sx=Math.sqrt(m[0]m[0]+m[1]m[1]+m[2]m[2]);\n const sy=Math.sqrt(m[4]m[4]+m[5]m[5]+m[6]m[6]);\n const sz=Math.sqrt(m[8]m[8]+m[9]m[9]+m[10]m[10]);\n out.scl[0]=sx; out.scl[1]=sy; out.scl[2]=sz;\n qFromRotMat3x3(out.rot,\n m[0]/sx,m[4]/sy,m[8]/sz,\n m[1]/sx,m[5]/sy,m[9]/sz,\n m[2]/sx,m[6]/sy,m[10]/sz);\n return out;\n};\n\n// =========================================================================\n// S4a Spec parser — PoseTrack\n// =========================================================================\n\nconst _isNum$1 = (x) => typeof x === 'number' && Number.isFinite(x);\nconst _clamp01 = (x) => x < 0 ? 0 : (x > 1 ? 1 : x);\nconst _clampS = (x, lo, hi) => x < lo ? lo : (x > hi ? hi : x);\n\nfunction _parseVec3(v) {\n if (!v) return null;\n if (ArrayBuffer.isView(v) && v.length >= 3) return [v[0], v[1], v[2]];\n if (Array.isArray(v) && v.length >= 3 && v.every(n => typeof n === 'number')) return [v[0], v[1], v[2]];\n if (typeof v === 'object' && 'x' in v) return [v.x \|\| 0, v.y \|\| 0, v.z \|\| 0];\n return null;\n}\n\nconst _EULER_AXES = { X:[1,0,0], Y:[0,1,0], Z:[0,0,1] };\nconst _EULER_ORDERS = new Set(['XYZ','XZY','YXZ','YZX','ZXY','ZYX']);\n\n/*\n Parse any rotation representation into a unit quaternion [x,y,z,w].\n \n Accepted forms:\n * [x,y,z,w] — raw quaternion array\n * { axis:[x,y,z], angle } — axis-angle (angle in radians)\n * { dir:[x,y,z], up?:[x,y,z] } — forward direction (−Z) with optional up\n * { mat4Eye: mat4 } — rotation block of an eye matrix\n * { mat3: mat3 } — column-major 3×3 rotation matrix\n * { euler:[rx,ry,rz], order? } — intrinsic Euler (default order: YXZ)\n * { from:[x,y,z], to:[x,y,z] } — shortest-arc rotation between two vectors\n \n @param {} v\n @returns {number[]\|null} [x,y,z,w] or null if unparseable.\n /\nfunction _parseQuat(v) {\n if (!v) return null;\n\n // [x,y,z,w] — normalised like every other form\n if (Array.isArray(v) && v.length === 4) return qNormalize([v[0],v[1],v[2],v[3]]);\n if (ArrayBuffer.isView(v) && v.length >= 4) return qNormalize([v[0],v[1],v[2],v[3]]);\n\n if (typeof v !== 'object') return null;\n\n // { axis, angle }\n if (v.axis != null && v.angle != null) {\n const ax = Array.isArray(v.axis) ? v.axis : [v.axis.x\|\|0, v.axis.y\|\|0, v.axis.z\|\|0];\n return qFromAxisAngle([0,0,0,1], ax[0],ax[1],ax[2], v.angle);\n }\n\n // { dir, up? }\n if (v.dir != null) {\n const d = Array.isArray(v.dir) ? v.dir : [v.dir.x\|\|0, v.dir.y\|\|0, v.dir.z\|\|0];\n const u = v.up ? (Array.isArray(v.up) ? v.up : [v.up.x\|\|0, v.up.y\|\|0, v.up.z\|\|0]) : null;\n return qFromLookDir([0,0,0,1], d, u);\n }\n\n // { mat4Eye }\n if (v.mat4Eye != null) {\n const m = (ArrayBuffer.isView(v.mat4Eye) \|\| Array.isArray(v.mat4Eye))\n ? v.mat4Eye : (v.mat4Eye.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n return qFromRotMat3x3([0,0,0,1], m[0],m[4],m[8], m[1],m[5],m[9], m[2],m[6],m[10]);\n }\n\n // { mat3 }\n if (v.mat3 != null) {\n const m = (ArrayBuffer.isView(v.mat3) \|\| Array.isArray(v.mat3)) ? v.mat3 : null;\n if (!m \|\| m.length < 9) return null;\n return qFromRotMat3x3([0,0,0,1], m[0],m[3],m[6], m[1],m[4],m[7], m[2],m[5],m[8]);\n }\n\n // { euler, order? }\n if (v.euler != null) {\n const e = v.euler;\n if (!Array.isArray(e) \|\| e.length < 3) return null;\n const order = (v.order && _EULER_ORDERS.has(v.order)) ? v.order : 'YXZ';\n const q = [0,0,0,1], s = [0,0,0,1];\n for (let i = 0; i < 3; i++) {\n const ax = _EULER_AXES[order[i]];\n qMul(q, q, qFromAxisAngle(s, ax[0],ax[1],ax[2], e[i]));\n }\n return q;\n }\n\n // { from, to }\n if (v.from != null && v.to != null) {\n const f = Array.isArray(v.from) ? v.from : [v.from.x\|\|0, v.from.y\|\|0, v.from.z\|\|0];\n const t = Array.isArray(v.to) ? v.to : [v.to.x\|\|0, v.to.y\|\|0, v.to.z\|\|0];\n const fl = Math.sqrt(f[0]f[0]+f[1]f[1]+f[2]f[2]) \|\| 1;\n const tl = Math.sqrt(t[0]t[0]+t[1]t[1]+t[2]t[2]) \|\| 1;\n const fx=f[0]/fl, fy=f[1]/fl, fz=f[2]/fl;\n const tx=t[0]/tl, ty=t[1]/tl, tz=t[2]/tl;\n const dot = fxtx + fyty + fztz;\n if (dot >= 1 - 1e-8) return [0,0,0,1];\n if (dot <= -1 + 1e-8) {\n let px=0, py=fz, pz=-fy;\n let pl = Math.sqrt(pxpx+pypy+pzpz);\n if (pl < 1e-8) { px=fy; py=-fx; pz=0; pl = Math.sqrt(pxpx+pypy+pzpz); }\n if (pl < 1e-8) return [0,0,0,1];\n return qFromAxisAngle([0,0,0,1], px/pl,py/pl,pz/pl, Math.PI);\n }\n let ax=fytz-fzty, ay=fztx-fxtz, az=fxty-fytx;\n const al = Math.sqrt(axax+ayay+azaz) \|\| 1;\n return qFromAxisAngle([0,0,0,1], ax/al,ay/al,az/al,\n Math.acos(Math.max(-1, Math.min(1, dot))));\n }\n\n return null;\n}\n\n/\n Parse a PoseTrack keyframe spec into internal form.\n \n Accepted forms:\n * { mat4Model }\n * Decompose a column-major mat4 into TRS via mat4ToTransform.\n * Float32Array(16), plain Array, or { mat4 } wrapper.\n \n { pos?, rot?, scl?, tanIn?, tanOut? }\n * Explicit TRS. pos and scl are vec3; rot accepts any form from _parseQuat.\n * All fields are optional — missing pos/scl default to [0,0,0] / [1,1,1],\n * missing rot defaults to identity.\n * tanIn/tanOut are optional vec3 tangents for Hermite interpolation.\n \n @param {Object} spec\n * @returns {{ pos:number[], rot:number[], scl:number[],\n * tanIn:number[]\|null, tanOut:number[]\|null } \| null}\n /\nfunction _parseSpec(spec) {\n if (!spec \|\| typeof spec !== 'object') return null;\n\n // { mat4Model } — full TRS decomposition from model matrix\n if (spec.mat4Model != null) {\n const m = (ArrayBuffer.isView(spec.mat4Model) \|\| Array.isArray(spec.mat4Model))\n ? spec.mat4Model : (spec.mat4Model.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n const kf = mat4ToTransform({ pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] }, m);\n kf.tanIn = null; kf.tanOut = null;\n return kf;\n }\n\n // { pos?, rot?, scl?, tanIn?, tanOut? } — explicit TRS\n const pos = _parseVec3(spec.pos) \|\| [0,0,0];\n const rot = _parseQuat(spec.rot) \|\| [0,0,0,1];\n const scl = _parseVec3(spec.scl) \|\| [1,1,1];\n const tanIn = _parseVec3(spec.tanIn) \|\| null;\n const tanOut = _parseVec3(spec.tanOut) \|\| null;\n return { pos, rot, scl, tanIn, tanOut };\n}\n\nfunction _sameTransform(a, b) {\n for (let i=0;i<3;i++) if (a.pos[i]!==b.pos[i]\|\|a.scl[i]!==b.scl[i]) return false;\n for (let i=0;i<4;i++) if (a.rot[i]!==b.rot[i]) return false;\n return true;\n}\n\n// =========================================================================\n// S4b Spec parser — CameraTrack\n// =========================================================================\n\n// Lens defaults used when a spec omits near/far. Match the three.js /\n// Bevy conventions and are safe for typical p5 v2 scene scales.\nconst _DEFAULT_NEAR = 0.1;\nconst _DEFAULT_FAR = 1000;\n\n/\n Parse a CameraTrack keyframe spec into internal form.\n \n Required: eye (vec3). Everything else is optional.\n * center defaults to [0, 0, 0]\n * up defaults to [0, 1, 0] and is normalised\n * fov vertical fov (radians), perspective only — null if absent\n * halfHeight world-unit half-height of ortho frustum — null if absent\n * near near clip distance (positive) — defaults to 0.1\n * far far clip distance (positive) — defaults to 1000\n * eyeTanIn/Out optional Hermite tangents for the eye path\n * centerTanIn/Out optional Hermite tangents for the center path\n \n fov and halfHeight are mutually exclusive (perspective xor ortho) and\n * therefore left nullable; eval() lerps each only when both adjacent\n * keyframes carry a non-null value, passing null through otherwise.\n \n near and far are always meaningful regardless of projection type, so\n * they receive real defaults and are linearly interpolated unconditionally.\n \n @param {Object} spec\n * @returns {Object\|null} Parsed keyframe or null if eye is missing/malformed.\n /\nfunction _parseCameraSpec(spec) {\n if (!spec \|\| typeof spec !== 'object') return null;\n const eye = _parseVec3(spec.eye);\n if (!eye) return null;\n const center = _parseVec3(spec.center) \|\| [0,0,0];\n const upRaw = spec.up ? _parseVec3(spec.up) : null;\n const up = upRaw \|\| [0,1,0];\n const ul = Math.sqrt(up[0]up[0]+up[1]up[1]+up[2]up[2]) \|\| 1;\n return {\n eye, center,\n up: [up[0]/ul, up[1]/ul, up[2]/ul],\n fov: typeof spec.fov === 'number' ? spec.fov : null,\n halfHeight: typeof spec.halfHeight === 'number' ? spec.halfHeight : null,\n near: typeof spec.near === 'number' ? spec.near : _DEFAULT_NEAR,\n far: typeof spec.far === 'number' ? spec.far : _DEFAULT_FAR,\n eyeTanIn: _parseVec3(spec.eyeTanIn) \|\| null,\n eyeTanOut: _parseVec3(spec.eyeTanOut) \|\| null,\n centerTanIn: _parseVec3(spec.centerTanIn) \|\| null,\n centerTanOut: _parseVec3(spec.centerTanOut)\|\| null,\n };\n}\n\nfunction _sameCameraKeyframe(a, b) {\n for (let i=0;i<3;i++) {\n if (a.eye[i]!==b.eye[i]) return false;\n if (a.center[i]!==b.center[i]) return false;\n if (a.up[i]!==b.up[i]) return false;\n }\n if (a.fov !== b.fov) return false;\n if (a.halfHeight !== b.halfHeight) return false;\n if (a.near !== b.near) return false;\n if (a.far !== b.far) return false;\n return true;\n}\n\n// =========================================================================\n// S5 Track — unexported base class (transport machinery only)\n// =========================================================================\n\nclass Track {\n constructor() {\n /** @type {Array} Keyframe array — shape depends on subclass. /\n this.keyframes = [];\n /* Whether playback is currently active. @type {boolean} /\n this.playing = false;\n /* Loop at boundaries. @type {boolean} /\n this.loop = false;\n /* Ping-pong bounce at boundaries (independent of loop). @type {boolean} /\n this.bounce = false;\n /* Frames per segment (≥1). @type {number} /\n this.duration = 30;\n /* Current segment index. @type {number} /\n this.seg = 0;\n /* Frame offset within current segment (can be fractional). @type {number} /\n this.f = 0;\n\n // Playback rate (signed: negative = reverse; 0 = frozen).\n this._rate = 1;\n // Current bounce travel direction (±1). Reset to 1 only on reset().\n this._dir = 1;\n // Whether a bounce-once has already flipped direction.\n this._bounced = false;\n\n /* User hook: fires on play() false→true transition. @type {Function\|null} /\n this.onPlay = null;\n /* User hook: fires on natural boundary in once mode. @type {Function\|null} /\n this.onEnd = null;\n /* User hook: fires on stop() / reset() / end-of-bounce-once. @type {Function\|null} /\n this.onStop = null;\n\n // Lib-space hooks (underscore prefix — host layer / UI layer only).\n this._onActivate = null; this._onDeactivate = null;\n this._onPlay = null; this._onEnd = null; this._onStop = null;\n }\n\n /* Playback rate. Signed: negative reverses, 0 freezes. Assigning never starts or stops playback. @type {number} /\n get rate() { return this._rate; }\n set rate(v) { this._rate = (_isNum$1(v)) ? v : 1; }\n\n /* Number of interpolatable segments (keyframes.length − 1, min 0). @type {number} /\n get segments() { return Math.max(0, this.keyframes.length - 1); }\n\n /\n @private — resolve cursor (seg, f) into continuous (seg, t).\n * Shared backing of every cursor-form sampler / matrix method.\n /\n _cursorSegT() {\n const nSeg = this.segments;\n const dur = Math.max(1, this.duration \| 0);\n const seg = nSeg > 0 ? _clampS(this.seg, 0, nSeg - 1) : 0;\n const t = _clamp01(this.f / dur);\n return [seg, t];\n }\n\n /\n Start or update playback. Sole setter of `playing = true`.\n \n Fires `onPlay → _onPlay → _onActivate` only on a false→true transition.\n * Zero keyframes: no-op. Exactly one keyframe: snaps eval() to it but does\n * not set `playing` and fires no hooks.\n \n @param {number\|{duration?:number,loop?:boolean,bounce?:boolean,\n * rate?:number,onPlay?:Function,onEnd?:Function,\n * onStop?:Function}} [rateOrOpts]\n * A bare number is taken as `rate`; an object configures multiple\n * fields in one call.\n * @returns {Track} this\n /\n play(rateOrOpts) {\n if (this.keyframes.length === 0) return this;\n if (this.keyframes.length === 1) { this.seg = 0; this.f = 0; return this; }\n\n if (typeof rateOrOpts === 'number' && Number.isFinite(rateOrOpts)) {\n this._rate = rateOrOpts;\n } else if (rateOrOpts && typeof rateOrOpts === 'object') {\n const o = rateOrOpts;\n if (_isNum$1(o.duration)) this.duration = Math.max(1, o.duration \| 0);\n if ('loop' in o) this.loop = !!o.loop;\n if ('bounce' in o) this.bounce = !!o.bounce;\n if (typeof o.onPlay === 'function') this.onPlay = o.onPlay;\n if (typeof o.onEnd === 'function') this.onEnd = o.onEnd;\n if (typeof o.onStop === 'function') this.onStop = o.onStop;\n if (_isNum$1(o.rate)) this._rate = o.rate;\n }\n\n const nSeg = this.segments, dur = Math.max(1, this.duration \| 0);\n if (this.seg < 0) this.seg = 0;\n if (this.seg >= nSeg) this.seg = nSeg - 1;\n if (this.f < 0) this.f = 0;\n if (this.f > dur) this.f = dur;\n\n const wasPlaying = this.playing;\n this.playing = true;\n if (!wasPlaying) {\n this._bounced = false;\n if (typeof this.onPlay === 'function') { try { this.onPlay(this); } catch (_) {} }\n this._onPlay?.();\n this._onActivate?.();\n }\n return this;\n }\n\n /\n Stop playback. Sole setter of `playing = false`. Fires\n * `onStop → _onStop → _onDeactivate` on a true→false transition.\n \n @param {boolean} [rewind] If true, seek to the origin end after stopping\n * (0 when playing forward, 1 when playing backward).\n * @returns {Track} this\n /\n stop(rewind) {\n const wasPlaying = this.playing;\n this.playing = false;\n if (wasPlaying) {\n this._bounced = false;\n if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }\n this._onStop?.();\n this._onDeactivate?.();\n if (rewind && this.keyframes.length > 1) this.seek(this._rate this._dir < 0 ? 1 : 0);\n }\n return this;\n }\n\n /*\n Clear all keyframes and stop. Fires stop-side hooks if it was playing.\n * Unlike stop(), this also resets `_dir` to +1.\n * @returns {Track} this\n /\n reset() {\n const wasPlaying = this.playing;\n this.playing = false;\n if (wasPlaying) {\n if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }\n this._onStop?.();\n this._onDeactivate?.();\n }\n this.keyframes.length = 0;\n this.seg = 0; this.f = 0; this._dir = 1; this._bounced = false;\n return this;\n }\n\n /\n Remove the keyframe at `index`. Adjusts the cursor if the removal shrinks\n * the track below the current segment.\n * @param {number} index\n * @returns {boolean} true if removed; false if index was invalid.\n /\n remove(index) {\n if (!_isNum$1(index)) return false;\n const i = index \| 0;\n if (i < 0 \|\| i >= this.keyframes.length) return false;\n this.keyframes.splice(i, 1);\n const nSeg = this.segments;\n if (nSeg === 0) { this.seg = 0; this.f = 0; }\n else if (this.seg >= nSeg) { this.seg = nSeg - 1; }\n return true;\n }\n\n /\n Move the cursor.\n * seek(t) Scrub to normalised position t ∈ [0, 1] across the\n * whole track.\n * seek(t, segIndex) Position within a specific segment — t is local to\n * that segment.\n * Does not affect `playing`.\n \n @param {number} t\n * @param {number} [segIndex]\n * @returns {Track} this\n /\n seek(t, segIndex) {\n const nSeg = this.segments;\n if (nSeg === 0) { this.seg = 0; this.f = 0; return this; }\n const dur = Math.max(1, this.duration \| 0);\n if (_isNum$1(segIndex)) {\n this.seg = _clampS(segIndex \| 0, 0, nSeg - 1);\n this.f = _clamp01(t) dur;\n } else {\n this._setCursorFromScalar(_clamp01(t) * nSeg * dur);\n }\n return this;\n }\n\n /*\n Normalised cursor position across the whole track.\n * @returns {number} ∈ [0, 1]; 0 when there are no segments.\n /\n time() {\n const nSeg = this.segments;\n if (nSeg === 0) return 0;\n const dur = Math.max(1, this.duration \| 0);\n return _clamp01((this.seg dur + this.f) / (nSeg * dur));\n }\n\n /*\n Snapshot of transport state. Allocates a new object per call — intended\n * for UI / debugging, not hot loops.\n * @returns {{keyframes:number, segments:number, seg:number, f:number,\n * playing:boolean, loop:boolean, bounce:boolean, rate:number,\n * duration:number, time:number}}\n /\n info() {\n return {\n keyframes: this.keyframes.length,\n segments: this.segments,\n seg: this.seg,\n f: this.f,\n playing: this.playing,\n loop: this.loop,\n bounce: this.bounce,\n rate: this._rate,\n duration: this.duration,\n time: this.segments > 0 ? this.time() : 0\n };\n }\n\n /\n Advance the cursor by `rate * _dir` in frames. Handles loop / bounce /\n * once modes per the table in the module header. Fires `onEnd → _onEnd →\n * _onDeactivate` at a natural boundary in once mode.\n \n Intended to be called once per animation frame by the bridge / UI layer.\n * rate === 0 freezes the cursor but keeps `playing` unchanged.\n \n @returns {boolean} Current `playing` state after advancing.\n /\n tick() {\n if (!this.playing) return false;\n const nSeg = this.segments;\n if (nSeg === 0) { this.playing = false; this._onDeactivate?.(); return false; }\n if (this._rate === 0) return true;\n\n const dur = Math.max(1, this.duration \| 0);\n const total = nSeg dur;\n const s = _clampS(this.seg * dur + this.f, 0, total);\n const next = s + this._rate * this._dir;\n\n if (this.loop && this.bounce) {\n let pos = next, flips = 0;\n while (pos < 0 \|\| pos > total) {\n if (pos < 0) { pos = -pos; flips++; }\n else { pos = 2 * total - pos; flips++; }\n }\n if (flips & 1) this._dir = -this._dir;\n this._setCursorFromScalar(pos);\n return true;\n }\n\n if (!this.loop && this.bounce) {\n if (next >= total) {\n this._setCursorFromScalar(Math.min(total, 2 * total - next));\n this._dir = -this._dir;\n this._bounced = true;\n return true;\n }\n if (next <= 0) {\n this._setCursorFromScalar(0);\n this.playing = false;\n this._dir = 1; this._bounced = false;\n if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n this._onEnd?.();\n this._onDeactivate?.();\n return false;\n }\n this._setCursorFromScalar(next);\n return true;\n }\n\n if (this.loop) {\n this._setCursorFromScalar(((next % total) + total) % total);\n return true;\n }\n\n if (next <= 0) {\n this._setCursorFromScalar(0);\n this.playing = false;\n if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n this._onEnd?.();\n this._onDeactivate?.();\n return false;\n }\n if (next >= total) {\n this._setCursorFromScalar(total);\n this.playing = false;\n if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n this._onEnd?.();\n this._onDeactivate?.();\n return false;\n }\n\n this._setCursorFromScalar(next);\n return true;\n }\n\n /** @private /\n _setCursorFromScalar(s) {\n const dur = Math.max(1, this.duration \| 0);\n const nSeg = this.segments;\n this.seg = Math.floor(s / dur);\n this.f = s - this.seg dur;\n if (this.seg >= nSeg) { this.seg = nSeg - 1; this.f = dur; }\n if (this.seg < 0) { this.seg = 0; this.f = 0; }\n }\n}\n\n// =========================================================================\n// S6 PoseTrack\n// =========================================================================\n\n/*\n Renderer-agnostic TRS keyframe track.\n \n Keyframe shape: { pos:[x,y,z], rot:[x,y,z,w], scl:[x,y,z],\n * tanIn?:[x,y,z], tanOut?:[x,y,z] }\n \n tanIn — incoming position tangent at this keyframe (Hermite mode).\n * tanOut — outgoing position tangent at this keyframe (Hermite mode).\n * When only one is supplied, the other mirrors it at sample time.\n * When neither is supplied, centripetal Catmull-Rom tangents are auto-computed.\n /\nclass PoseTrack extends Track {\n constructor() {\n super();\n /\n Position interpolation mode.\n * - 'hermite' — cubic Hermite; auto-computes centripetal Catmull-Rom\n * tangents when none are stored (default)\n * - 'linear' — lerp\n * - 'step' — snap to k0; useful for discrete state changes\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.posInterp = 'hermite';\n /\n Rotation interpolation mode.\n * - 'slerp' — constant angular velocity (default)\n * - 'nlerp' — normalised lerp; cheaper, slightly non-constant speed\n * - 'step' — snap to k0 quaternion\n * @type {'slerp'\|'nlerp'\|'step'}\n /\n this.rotInterp = 'slerp';\n }\n\n /\n Append one or more keyframes. Adjacent duplicates are skipped by default.\n * Accepts any spec form understood by _parseSpec, or an array of them.\n * @param {Object\|Object[]} spec\n * @param {{ deduplicate?: boolean }} [opts]\n /\n add(spec, opts) {\n if (Array.isArray(spec)) { for (const s of spec) this.add(s, opts); return; }\n const kf = _parseSpec(spec);\n if (!kf) return;\n const dedup = !opts \|\| opts.deduplicate !== false;\n if (dedup && this.keyframes.length > 0) {\n if (_sameTransform(this.keyframes[this.keyframes.length - 1], kf)) return;\n }\n this.keyframes.push(kf);\n }\n\n /\n Replace the keyframe at `index`, or append at the end if `index` equals\n * the current keyframe count.\n * @param {number} index\n * @param {Object} spec Any spec form understood by _parseSpec.\n * @returns {boolean} true on success; false for invalid index or spec.\n /\n set(index, spec) {\n if (!_isNum$1(index)) return false;\n const i = index \| 0, kf = _parseSpec(spec);\n if (!kf \|\| i < 0 \|\| i > this.keyframes.length) return false;\n if (i === this.keyframes.length) this.keyframes.push(kf);\n else this.keyframes[i] = kf;\n return true;\n }\n\n /\n Sample the position path. Zero-alloc, no cursor side effects. Honours\n * posInterp and the stored-tangent → auto-CR fallback chain.\n \n Two signatures:\n * samplePos(out) cursor form — reads current seg/f\n * samplePos(out, seg, t) explicit (seg, t), continuous on the path\n \n @param {number[]} out 3-element result buffer.\n * @param {number} [seg] Segment index in [0, segments−1]. Omit for cursor.\n * @param {number} [t] Local parameter in [0, 1]. Omit for cursor.\n * @returns {number[]} out\n /\n samplePos(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n return _samplePathCore(out, this.keyframes, this.posInterp, 'pos', 'tanIn', 'tanOut', seg, t);\n }\n\n /\n Write the TRS pose as a column-major model mat4. Zero-alloc, no cursor\n * side effects.\n \n Two signatures:\n * mat4Model(out) cursor form — reads current seg/f\n * mat4Model(out, seg, t) explicit (seg, t), continuous on the path\n \n Replaces the previous toMatrix() method.\n \n @param {Float32Array\|number[]} out 16-element result buffer.\n * @param {number} [seg] Segment index in [0, segments−1]. Omit for cursor.\n * @param {number} [t] Local parameter in [0, 1]. Omit for cursor.\n * @returns {Float32Array\|number[]} out\n /\n mat4Model(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n this._sampleTRS(_trsScratch, seg, t);\n return transformToMat4(out, _trsScratch);\n }\n\n /\n Effective incoming / outgoing position tangents at keyframe `index`.\n * Stored tanIn/tanOut take precedence; each mirrors the other when only\n * one is stored; else centripetal Catmull-Rom tangents are auto-computed\n * from neighbours. Boundary keyframes mirror across the missing side.\n \n @param {number[]} outIn 3-element result — incoming tangent.\n * @param {number[]} outOut 3-element result — outgoing tangent.\n * @param {number} index Keyframe index.\n * @returns {PoseTrack} this\n /\n tangents(outIn, outOut, index) {\n _sampleTangentsCore(outIn, outOut, this.keyframes, 'pos', 'tanIn', 'tanOut', index);\n return this;\n }\n\n /* @private — write interpolated TRS at (seg, t). /\n _sampleTRS(out, seg, t) {\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) {\n const k = this.keyframes[0];\n out.pos[0]=k.pos[0]; out.pos[1]=k.pos[1]; out.pos[2]=k.pos[2];\n out.rot[0]=k.rot[0]; out.rot[1]=k.rot[1]; out.rot[2]=k.rot[2]; out.rot[3]=k.rot[3];\n out.scl[0]=k.scl[0]; out.scl[1]=k.scl[1]; out.scl[2]=k.scl[2];\n return out;\n }\n const nSeg = n - 1;\n seg = seg \| 0;\n if (seg >= nSeg) { seg = nSeg - 1; t = 1; }\n else if (seg < 0) { seg = 0; t = 0; }\n t = _clamp01(t);\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n _samplePathCore(out.pos, this.keyframes, this.posInterp, 'pos', 'tanIn', 'tanOut', seg, t);\n\n if (this.rotInterp === 'step') {\n out.rot[0]=k0.rot[0]; out.rot[1]=k0.rot[1]; out.rot[2]=k0.rot[2]; out.rot[3]=k0.rot[3];\n } else if (this.rotInterp === 'nlerp') {\n qNlerp(out.rot, k0.rot, k1.rot, t);\n } else {\n qSlerp(out.rot, k0.rot, k1.rot, t);\n }\n\n lerpVec3(out.scl, k0.scl, k1.scl, t);\n return out;\n }\n\n /\n Evaluate interpolated TRS pose at current cursor.\n * @param {{ pos:number[], rot:number[], scl:number[] }} [out]\n * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n /\n eval(out) {\n out = out \|\| { pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] };\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) return this._sampleTRS(out, 0, 0);\n const [seg, t] = this._cursorSegT();\n return this._sampleTRS(out, seg, t);\n }\n}\n\n// =========================================================================\n// S7 CameraTrack\n// =========================================================================\n\n/\n Lookat camera keyframe track.\n \n Keyframe shape: { eye:[x,y,z], center:[x,y,z], up:[x,y,z],\n * fov?:number, halfHeight?:number,\n * near:number, far:number,\n * eyeTanIn?:[x,y,z], eyeTanOut?:[x,y,z],\n * centerTanIn?:[x,y,z], centerTanOut?:[x,y,z] }\n \n fov — vertical fov (radians) for perspective cameras; null for ortho.\n * halfHeight — world-unit half-height of ortho frustum; null for perspective.\n * Both are optional and nullable because exactly one is meaningful per\n * keyframe (perspective xor ortho). eval() lerps each only when both\n * adjacent keyframes carry a non-null value for that field; mixed or\n * missing entries pass `null` through.\n \n near, far — clip plane distances (positive, world units). Always real\n * numbers. Defaults: near = 0.1, far = 1000 (three.js / Bevy convention).\n * Linearly interpolated between keyframes without null-passthrough.\n \n eyeTanIn/Out and centerTanIn/Out are optional vec3 tangents for Hermite\n * interpolation of the eye and center paths respectively. When absent,\n * centripetal Catmull-Rom tangents are auto-computed at sample time.\n \n Missing fields default to: center → [0,0,0], up → [0,1,0],\n * near → 0.1, far → 1000.\n \n For matrix-based capture of a camera-like pose use\n * PoseTrack.add({ mat4Model: mat4Eye }) for full TRS fidelity including roll,\n * or a lookat spec here for camera-style interpolation.\n /\nclass CameraTrack extends Track {\n constructor() {\n super();\n /\n Eye-path interpolation mode.\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.eyeInterp = 'hermite';\n /\n Center-path interpolation mode.\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.centerInterp = 'linear';\n }\n\n /\n Append one or more camera keyframes. Adjacent duplicates are skipped by\n * default.\n * @param {Object\|Object[]} spec\n * @param {{ deduplicate?: boolean }} [opts]\n /\n add(spec, opts) {\n if (Array.isArray(spec)) { for (const s of spec) this.add(s, opts); return; }\n const kf = _parseCameraSpec(spec);\n if (!kf) return;\n const dedup = !opts \|\| opts.deduplicate !== false;\n if (dedup && this.keyframes.length > 0) {\n if (_sameCameraKeyframe(this.keyframes[this.keyframes.length - 1], kf)) return;\n }\n this.keyframes.push(kf);\n }\n\n /\n Replace the camera keyframe at `index`, or append at the end if `index`\n * equals the current keyframe count.\n * @param {number} index\n * @param {Object} spec\n * @returns {boolean}\n /\n set(index, spec) {\n if (!_isNum$1(index)) return false;\n const i = index \| 0, kf = _parseCameraSpec(spec);\n if (!kf \|\| i < 0 \|\| i > this.keyframes.length) return false;\n if (i === this.keyframes.length) this.keyframes.push(kf);\n else this.keyframes[i] = kf;\n return true;\n }\n\n /\n Sample the eye path. Zero-alloc, no cursor side effects.\n \n Two signatures:\n * sampleEye(out) cursor form — reads current seg/f\n * sampleEye(out, seg, t) explicit (seg, t), continuous on the path\n \n @param {number[]} out\n * @param {number} [seg]\n * @param {number} [t]\n * @returns {number[]} out\n /\n sampleEye(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n return _samplePathCore(out, this.keyframes, this.eyeInterp, 'eye', 'eyeTanIn', 'eyeTanOut', seg, t);\n }\n\n /\n Sample the center path. Zero-alloc, no cursor side effects.\n \n Two signatures:\n * sampleCenter(out) cursor form — reads current seg/f\n * sampleCenter(out, seg, t) explicit (seg, t)\n \n @param {number[]} out\n * @param {number} [seg]\n * @param {number} [t]\n * @returns {number[]} out\n /\n sampleCenter(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n return _samplePathCore(out, this.keyframes, this.centerInterp, 'center', 'centerTanIn', 'centerTanOut', seg, t);\n }\n\n /\n Write the interpolated lookat eye matrix as a column-major mat4\n * (eye→world rigid frame). Zero-alloc, no cursor side effects.\n \n Two signatures:\n * mat4Eye(out) cursor form — reads current seg/f\n * mat4Eye(out, seg, t) explicit (seg, t), continuous on the path\n \n @param {Float32Array\|number[]} out 16-element result buffer.\n * @param {number} [seg]\n * @param {number} [t]\n * @returns {Float32Array\|number[]} out\n /\n mat4Eye(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n this._sampleEyePose(_eyeScratch, seg, t);\n const e = _eyeScratch;\n return mat4Eye(out,\n e.eye[0], e.eye[1], e.eye[2],\n e.center[0], e.center[1], e.center[2],\n e.up[0], e.up[1], e.up[2]);\n }\n\n /\n Effective in/out eye tangents at keyframe `index`.\n /\n eyeTangents(outIn, outOut, index) {\n _sampleTangentsCore(outIn, outOut, this.keyframes, 'eye', 'eyeTanIn', 'eyeTanOut', index);\n return this;\n }\n\n /\n Effective in/out center tangents at keyframe `index`.\n /\n centerTangents(outIn, outOut, index) {\n _sampleTangentsCore(outIn, outOut, this.keyframes, 'center', 'centerTanIn', 'centerTanOut', index);\n return this;\n }\n\n /* @private — write interpolated { eye, center, up } at (seg, t). /\n _sampleEyePose(out, seg, t) {\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) {\n const k = this.keyframes[0];\n out.eye[0]=k.eye[0]; out.eye[1]=k.eye[1]; out.eye[2]=k.eye[2];\n out.center[0]=k.center[0]; out.center[1]=k.center[1]; out.center[2]=k.center[2];\n out.up[0]=k.up[0]; out.up[1]=k.up[1]; out.up[2]=k.up[2];\n return out;\n }\n const nSeg = n - 1;\n seg = seg \| 0;\n if (seg >= nSeg) { seg = nSeg - 1; t = 1; }\n else if (seg < 0) { seg = 0; t = 0; }\n t = _clamp01(t);\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n _samplePathCore(out.eye, this.keyframes, this.eyeInterp, 'eye', 'eyeTanIn', 'eyeTanOut', seg, t);\n _samplePathCore(out.center, this.keyframes, this.centerInterp, 'center', 'centerTanIn', 'centerTanOut', seg, t);\n\n lerpVec3(out.up, k0.up, k1.up, t);\n const ul = Math.sqrt(out.up[0]out.up[0]+out.up[1]out.up[1]+out.up[2]out.up[2]) \|\| 1;\n out.up[0]/=ul; out.up[1]/=ul; out.up[2]/=ul;\n return out;\n }\n\n /*\n Evaluate interpolated camera pose at current cursor.\n \n `fov` / `halfHeight` are lerped only when both adjacent keyframes carry\n * a non-null value; mixed entries pass `null` through so the bridge can\n * leave the projection unchanged.\n \n `near` / `far` are always real numbers and are linearly interpolated\n * unconditionally.\n \n @param {{ eye:number[], center:number[], up:number[],\n * fov:number\|null, halfHeight:number\|null,\n * near:number, far:number }} [out]\n * @returns {{ eye:number[], center:number[], up:number[],\n * fov:number\|null, halfHeight:number\|null,\n * near:number, far:number }} out\n /\n eval(out) {\n out = out \|\| { eye:[0,0,0], center:[0,0,0], up:[0,1,0],\n fov:null, halfHeight:null,\n near:_DEFAULT_NEAR, far:_DEFAULT_FAR };\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) {\n const k = this.keyframes[0];\n this._sampleEyePose(out, 0, 0);\n out.fov = k.fov; out.halfHeight = k.halfHeight;\n out.near = k.near; out.far = k.far;\n return out;\n }\n const [seg, t] = this._cursorSegT();\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n this._sampleEyePose(out, seg, t);\n\n out.fov = (k0.fov != null && k1.fov != null)\n ? k0.fov + t (k1.fov - k0.fov) : (k0.fov ?? k1.fov ?? null);\n out.halfHeight = (k0.halfHeight != null && k1.halfHeight != null)\n ? k0.halfHeight + t * (k1.halfHeight - k0.halfHeight)\n : (k0.halfHeight ?? k1.halfHeight ?? null);\n\n // near / far carry real defaults on every keyframe — always lerp.\n out.near = k0.near + t * (k1.near - k0.near);\n out.far = k0.far + t * (k1.far - k0.far);\n\n return out;\n }\n}\n\n/*\n @file Constraint solver, canonical handle state, and ray-primitive\n * intersections for interactive manipulators.\n * @module tree/handle\n * @license AGPL-3.0-only\n \n The numeric brain of the manipulator handle. Renderer- and frame-agnostic:\n * inputs are plain numbers in ONE working space chosen by the caller (the\n * bridge), and the solver never learns world vs eye — it solves in whatever\n * space the ray and geometry are expressed in. The bridge converts the pointer\n * ray into the working frame before calling solve(), and converts the value\n * back out via mapLocation / mapDirection.\n \n Zero dependencies on p5, DOM, WebGL, or WebGPU. Out-first throughout; no\n * allocation in solve() / value(). Vectors are passed as flat scalars (matching\n * form.js), state is held as plain number[] (matching track.js keyframes).\n \n ── Storage convention ─────────────────────────────────────────────────────\n * The core distinguishes two value shapes deliberately:\n * mat4 — 16-element ArrayLike, typically Float32Array, because matrices\n * cross the GL boundary (contiguous f32 is what the renderer wants).\n * vec3 / quat — plain number[] (f64), because they are authoring/state values\n * and because the frozen basis-vector constants (i, j, k, ORIGIN)\n * cannot be expressed as frozen typed arrays. Handle state follows\n * the vec3 rule.\n \n ── Constraint kinds ───────────────────────────────────────────────────────\n * SPHERE 2-DOF heading on a sphere of radius r about an anchor.\n * Canonical state is a UNIT DIRECTION (renormalised every solve) —\n * no stored Euler angles, so no gimbal degeneracy at the poles.\n * az/el are derived on request via azEl().\n * PLANE 2-DOF point on a fixed plane (anchor + unit normal).\n * AXIS 1-DOF point on a line (anchor + unit dir), scalar t clamped to extent.\n * DIAL 1-DOF angle on a circle of radius r in the plane (anchor, axis).\n * Canonical state is an ACCUMULATED angle θ (multi-turn winding is\n * preserved: each solve applies the smaller signed arc, so θ counts\n * full turns — essential for bind targets like \"rotate this 720°\").\n * θ=0 sits at the reference direction `zero` (derived from the axis\n * when not supplied); θ grows right-handed about the axis. Near\n * edge-on view (the ray almost parallel to the dial plane, where a\n * plane hit races to infinity — the classic rotate-gizmo failure)\n * the solve falls back to the TANGENT LINE of the circle at the\n * current angle, converting linear drag to dθ: bounded, monotone,\n * and still pure ray geometry.\n \n VIEW (the camera-facing free-translate constraint) is NOT a core kind: the\n * bridge implements it with PLANE, feeding a fresh camera-derived normal and\n * anchor each frame. The core stays oblivious to the camera.\n \n ── Report modes ───────────────────────────────────────────────────────────\n * DIRECTION value() writes the unit direction: SPHERE → the heading;\n * DIAL → the radial unit at θ.\n * POINT value() writes a position: SPHERE → anchor + dir·radius;\n * DIAL → the point on the circle; PLANE / AXIS → the constrained\n * point.\n \n ── State ownership & portability ──────────────────────────────────────────\n * Each Constraint owns its own state; there is no module-level scratch. solve()\n * writes into instance fields, never shared globals. This keeps the type a\n * plain-data state machine: it ports 1:1 to a Rust enum + impl that is\n * `Send + Sync` for free, with `&mut self` on solve() making concurrent\n * mutation a compile error. The binding closure deliberately lives in the\n * bridge, not here — a stored callback would forfeit that guarantee.\n \n ── Extension contract ─────────────────────────────────────────────────────\n * A constraint is any object exposing: `kind` (integer discriminant),\n * `solve(ox,oy,oz, dx,dy,dz)`, `value(out, report)`, `seed(x,y,z)`, and\n * optionally `scalar()` / `azEl(out2)` / `aim(ax,ay,az[, zx,zy,zz])` — the\n * basis re-aim seam the bridge's deferred `from` frame drives — and\n * `proxy(ox,oy,oz, dx,dy,dz, radius)`, the analytic pick: the ray parameter\n * at which a ray in the working space meets the grab proxy of `radius`\n * working units, or Infinity (a kind without one gets a sphere at its\n * POINT). The handle controller drives any conforming constraint\n * (lifecycle, frame conversion, bind, hooks, pick); a new kind — 6-DOF, or\n * app-specific — implements this contract here (portable, draw-free) plus a\n * bridge-side locus draw, rather than forking the controller. The classes\n * below are the reference implementation. See handle-design.md §9–§10.\n \n ── Conventions ────────────────────────────────────────────────────────────\n * Ray direction `d` is assumed unit (the bridge normalises). Plane / axis\n * normals and directions are normalised at construction. The angular utilities\n * use a right-handed convention: az about +Y, el measured from the XZ plane.\n * solve() does NOT depend on this convention — it stores the hit direction\n * directly; az/el are a readout/authoring convenience only. DIAL's θ is\n * right-handed about its own axis, measured from `zero`.\n /\n\n\nconst EPS = 1e-6;\nconst TWO_PI$1 = Math.PI 2;\n\n// Edge-on threshold for DIAL: below this \|d·n\| the plane hit is ill-conditioned\n// (dθ per pixel diverges) and the solve switches to the tangent-line fallback.\n// ≈ 4.6° of incidence. Tune empirically (handle-experiments/e2).\nconst DIAL_EDGE = 0.08;\n\n// =========================================================================\n// H1 Small private helpers\n// =========================================================================\n\nconst _isNum = (x) => typeof x === 'number' && Number.isFinite(x);\nconst _clamp = (x, lo, hi) => x < lo ? lo : (x > hi ? hi : x);\nconst _num = (x, d) => _isNum(x) ? x : d;\n\n/** Wrap an angle to (−π, π]. /\nconst _wrapPi = (a) => a - TWO_PI$1 Math.round(a / TWO_PI$1);\n\n/** Parse a vec3 from array / typed array / {x,y,z}. Returns a fresh [x,y,z] or null. /\nfunction _vec3$1(v) {\n if (!v) return null;\n if (ArrayBuffer.isView(v) && v.length >= 3) return [v[0], v[1], v[2]];\n if (Array.isArray(v) && v.length >= 3) return [v[0], v[1], v[2]];\n if (typeof v === 'object' && 'x' in v) return [v.x \|\| 0, v.y \|\| 0, v.z \|\| 0];\n return null;\n}\n\n/* Normalise a vec3 in place; zero-length falls back to the given default axis. /\nfunction _unit$1(v, dx, dy, dz) {\n const l = Math.sqrt(v[0]v[0] + v[1]v[1] + v[2]v[2]);\n if (l < EPS) { v[0]=dx; v[1]=dy; v[2]=dz; return v; }\n v[0]/=l; v[1]/=l; v[2]/=l;\n return v;\n}\n\n/*\n Orthonormal in-plane basis for a unit normal n, written into ub, vb. Seeds\n * from the world axis least aligned with n so the first cross can't degenerate.\n * (Same derivation the p5 bridge uses for its plane quad — duplicated here\n * because the core cannot depend on the bridge.)\n /\nfunction _basis$1(n, ub, vb) {\n const ax = Math.abs(n[0]), ay = Math.abs(n[1]), az = Math.abs(n[2]);\n let rx = 0, ry = 0, rz = 0;\n if (ax <= ay && ax <= az) rx = 1; else if (ay <= az) ry = 1; else rz = 1;\n ub[0] = ryn[2] - rzn[1]; ub[1] = rzn[0] - rxn[2]; ub[2] = rxn[1] - ryn[0];\n _unit$1(ub, 1, 0, 0);\n vb[0] = n[1]ub[2] - n[2]ub[1]; vb[1] = n[2]ub[0] - n[0]ub[2]; vb[2] = n[0]ub[1] - n[1]ub[0];\n}\n\n// =========================================================================\n// H2 Ray-primitive intersections (pure, out-first, scalar params)\n// =========================================================================\n\n/\n Nearest ray–sphere intersection. The ray direction is assumed unit, so the\n * quadratic's leading coefficient is 1. On a miss, writes the closest-approach\n * point projected onto the sphere (so the handle tracks the limb gracefully\n * rather than snapping away).\n \n @param {number[]} out 3-element destination (hit point).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} cx,cy,cz Sphere centre.\n * @param {number} r Sphere radius.\n * @returns {number} Ray parameter t at the written hit.\n /\nfunction raySphere(out, ox,oy,oz, dx,dy,dz, cx,cy,cz, r) {\n const lx=ox-cx, ly=oy-cy, lz=oz-cz;\n const b = lxdx + lydy + lzdz;\n const cc = lxlx + lyly + lzlz - rr;\n const disc = bb - cc;\n let t;\n if (disc >= 0) {\n const s = Math.sqrt(disc);\n t = -b - s;\n if (t < 0) t = -b + s; // origin inside the sphere: take far root\n out[0]=ox+tdx; out[1]=oy+tdy; out[2]=oz+tdz;\n } else {\n t = -b; // closest approach along the ray\n let hx=ox+tdx-cx, hy=oy+tdy-cy, hz=oz+tdz-cz;\n const hl = Math.sqrt(hxhx + hyhy + hzhz) \|\| 1;\n const k = r/hl;\n out[0]=cx+hxk; out[1]=cy+hyk; out[2]=cz+hzk;\n }\n return t;\n}\n\n/\n Ray–plane intersection. A near-parallel ray (\|d·n\| < EPS) returns Infinity\n * and leaves `out` untouched — the caller keeps the previous value.\n \n @param {number[]} out 3-element destination (hit point).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} px,py,pz A point on the plane.\n * @param {number} nx,ny,nz Plane normal (unit).\n * @returns {number} Ray parameter t, or Infinity if parallel.\n /\nfunction rayPlane(out, ox,oy,oz, dx,dy,dz, px,py,pz, nx,ny,nz) {\n const den = dxnx + dyny + dznz;\n if (den < EPS && den > -EPS) return Infinity;\n const t = ((px-ox)nx + (py-oy)ny + (pz-oz)nz) / den;\n out[0]=ox+tdx; out[1]=oy+tdy; out[2]=oz+tdz;\n return t;\n}\n\n/*\n Closest point on the infinite line (p, u) to the ray (o, d). Both `d` and\n * `u` are assumed unit. For a ray parallel to the line, projects the ray\n * origin onto the line.\n \n @param {number[]} out 3-element destination (closest point on the line).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} px,py,pz A point on the line.\n * @param {number} ux,uy,uz Line direction (unit).\n * @returns {number} Signed parameter s along u at the written point (unclamped).\n /\nfunction rayClosestPointOnAxis(out, ox,oy,oz, dx,dy,dz, px,py,pz, ux,uy,uz) {\n const wx=ox-px, wy=oy-py, wz=oz-pz;\n const b = dxux + dyuy + dzuz; // d·u\n const dd = dxwx + dywy + dzwz; // d·w\n const e = uxwx + uywy + uzwz; // u·w\n const den = 1 - bb; // (d·d)(u·u) − (d·u)² with d,u unit\n const s = (den > EPS) ? (e - bdd) / den : e;\n out[0]=px+sux; out[1]=py+suy; out[2]=pz+suz;\n return s;\n}\n\n// =========================================================================\n// H2b Ray-primitive hit tests (pure, no out: the nearest t, or Infinity)\n// =========================================================================\n//\n// Beside the solve primitives above, which always write a point, these are\n// TESTS: they write nothing and return the ray parameter of the nearest hit\n// with t ≥ 0, or Infinity on a miss. A ray whose origin lies inside the\n// primitive hits at its exit, so a press from inside a proxy still grabs.\n// The ray direction is assumed unit.\n\n/\n Ray–sphere hit test.\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} cx,cy,cz Sphere centre.\n * @param {number} r Sphere radius.\n * @returns {number} The nearest t ≥ 0, or Infinity.\n /\nfunction rayHitSphere(ox,oy,oz, dx,dy,dz, cx,cy,cz, r) {\n const lx=ox-cx, ly=oy-cy, lz=oz-cz;\n const b = lxdx + lydy + lzdz;\n const cc = lxlx + lyly + lzlz - rr;\n const disc = bb - cc;\n if (disc < 0) return Infinity;\n const s = Math.sqrt(disc);\n let t = -b - s;\n if (t < 0) t = -b + s; // origin inside: the exit\n return t < 0 ? Infinity : t; // both roots behind the origin\n}\n\n// One end cap of a capsule: the sphere at (cx,cy,cz), a root accepted only\n// where the hit's axial coordinate h = wu + t·du lies beyond the segment on\n// that cap's side (h ≤ 0 at A, h ≥ L at B), so the point is on the capsule's\n// surface and not inside its cylinder.\nfunction _capHit(ox,oy,oz, dx,dy,dz, cx,cy,cz, r, wu, du, lim, endB) {\n const lx=ox-cx, ly=oy-cy, lz=oz-cz;\n const b = lxdx + lydy + lzdz;\n const cc = lxlx + lyly + lzlz - rr;\n const disc = bb - cc;\n if (disc < 0) return Infinity;\n const s = Math.sqrt(disc);\n let t = -b - s, h = wu + tdu;\n if (t < 0 \|\| (endB ? h < lim : h > lim)) { t = -b + s; h = wu + tdu; }\n return (t >= 0 && (endB ? h >= lim : h <= lim)) ? t : Infinity;\n}\n\n/\n Ray–capsule hit test: the segment A→B swept by radius r. The cylinder wall\n * counts within the segment's extent, each end sphere beyond it; the nearest\n * of the three wins. A zero-length segment is the sphere at A.\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} ax,ay,az Segment start.\n * @param {number} bx,by,bz Segment end.\n * @param {number} r Capsule radius.\n * @returns {number} The nearest t ≥ 0, or Infinity.\n /\nfunction rayHitCapsule(ox,oy,oz, dx,dy,dz, ax,ay,az, bx,by,bz, r) {\n let ux=bx-ax, uy=by-ay, uz=bz-az;\n const L = Math.sqrt(uxux + uyuy + uzuz);\n if (L < EPS) return rayHitSphere(ox,oy,oz, dx,dy,dz, ax,ay,az, r);\n ux/=L; uy/=L; uz/=L;\n const wx=ox-ax, wy=oy-ay, wz=oz-az;\n const du = dxux + dyuy + dzuz; // d·u\n const wu = wxux + wyuy + wzuz; // w·u\n let best = Infinity;\n // Cylinder wall: the quadratic in the components perpendicular to u.\n const a = 1 - dudu;\n if (a > EPS) {\n const b = (dxwx + dywy + dzwz) - duwu;\n const c = (wxwx + wywy + wzwz) - wuwu - rr;\n const disc = bb - ac;\n if (disc >= 0) {\n const s = Math.sqrt(disc);\n let t = (-b - s)/a, h = wu + tdu;\n if (t < 0 \|\| h < 0 \|\| h > L) { t = (-b + s)/a; h = wu + tdu; }\n if (t >= 0 && h >= 0 && h <= L) best = t;\n }\n }\n const ta = _capHit(ox,oy,oz, dx,dy,dz, ax,ay,az, r, wu, du, 0, false);\n if (ta < best) best = ta;\n const tb = _capHit(ox,oy,oz, dx,dy,dz, bx,by,bz, r, wu, du, L, true);\n if (tb < best) best = tb;\n return best;\n}\n\n// Ring scratch — the plane normal and its in-plane basis. Function-local\n// working values, never state: rayHitRing runs to completion.\nconst _rn = [0, 0, 1], _r0 = [1, 0, 0], _r1 = [0, 1, 0];\n\n/*\n Ray–ring hit test: the circle of radius R about c in the plane\n * perpendicular to u, swept by tube radius r — the analytic torus proxy as a\n * capsule chain, the circle polygonised into `detail` segments and each\n * tested with rayHitCapsule. The chain has volume in every direction, so it\n * never degenerates edge-on; the chordal error is R · (1 − cos(π / detail)).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} cx,cy,cz Ring centre.\n * @param {number} ux,uy,uz Ring plane normal (normalised here).\n * @param {number} R Ring radius.\n * @param {number} r Tube radius.\n * @param {number} [detail=32] Chain segments (at least 3).\n * @returns {number} The nearest t ≥ 0, or Infinity.\n /\nfunction rayHitRing(ox,oy,oz, dx,dy,dz, cx,cy,cz, ux,uy,uz, R, r, detail = 32) {\n const n = _isNum(detail) && detail >= 3 ? Math.floor(detail) : 32;\n _rn[0]=ux; _rn[1]=uy; _rn[2]=uz;\n _unit$1(_rn, 0, 0, 1);\n _basis$1(_rn, _r0, _r1);\n const step = TWO_PI$1 / n;\n let best = Infinity;\n let ax = cx + R_r0[0], ay = cy + R_r0[1], az = cz + R_r0[2]; // vertex at angle 0\n for (let i = 1; i <= n; i++) {\n const th = i === n ? 0 : istep; // close the chain exactly\n const cs = Math.cos(th)R, sn = Math.sin(th)R;\n const bx = cx + cs_r0[0] + sn_r1[0];\n const by = cy + cs_r0[1] + sn_r1[1];\n const bz = cz + cs_r0[2] + sn_r1[2];\n const t = rayHitCapsule(ox,oy,oz, dx,dy,dz, ax,ay,az, bx,by,bz, r);\n if (t < best) best = t;\n ax = bx; ay = by; az = bz;\n }\n return best;\n}\n\n// =========================================================================\n// H3 Angular utilities (readout / authoring convenience)\n// =========================================================================\n\n/\n Unit direction from azimuth/elevation (right-handed: az about +Y, el from XZ).\n * @param {number[]} out 3-element destination.\n * @param {number} az Azimuth (radians).\n * @param {number} el Elevation (radians).\n * @returns {number[]} out\n /\nfunction dirFromAzEl(out, az, el) {\n const ce = Math.cos(el);\n out[0]=ceMath.cos(az); out[1]=Math.sin(el); out[2]=ceMath.sin(az);\n return out;\n}\n\n/\n Azimuth/elevation from a unit direction. Inverse of dirFromAzEl.\n * @param {number[]} out2 2-element destination [az, el] (radians).\n * @param {number} dx,dy,dz Unit direction.\n * @returns {number[]} out2\n /\nfunction azElFromDir(out2, dx, dy, dz) {\n out2[0] = Math.atan2(dz, dx); // az\n out2[1] = Math.asin(_clamp(dy, -1, 1)); // el\n return out2;\n}\n\n// =========================================================================\n// H4 Constraint — tagged state machine (one class, kind discriminant)\n// =========================================================================\n\n/\n A draggable constraint: maps a ray to a constrained value and holds the\n * canonical state between drags. One class with a `kind` discriminant (never\n * per-constraint subclasses) so it maps cleanly to a Rust enum.\n \n Construction options (all optional unless noted):\n * SPHERE — { radius = 1, report = DIRECTION, anchor = [0,0,0] }\n * PLANE — { anchor = [0,0,0], normal = [0,1,0] }\n * AXIS — { anchor = [0,0,0], axis = [1,0,0], extent = [-1, 1] }\n * DIAL — { anchor = [0,0,0], axis = [0,1,0], radius = 1, zero?,\n * extent = [-∞, ∞] }\n * `axis` is the dial-plane normal (θ is right-handed about it);\n * `zero` is the in-plane reference direction for θ=0 (projected\n * onto the plane and normalised; derived from the axis when\n * absent); `extent` clamps θ in radians — unbounded by default,\n * so the dial winds multiple turns.\n \n @param {number} kind SPHERE \| PLANE \| AXIS \| DIAL.\n * @param {Object} [opts]\n /\nclass Constraint {\n constructor(kind, opts = {}) {\n /* Constraint kind discriminant. @type {number} /\n this.kind = kind;\n\n /* Constraint origin (sphere centre / plane point / axis anchor / dial centre). @type {number[]} /\n this.anchor = _vec3$1(opts.anchor) \|\| [0, 0, 0];\n /* Canonical unit direction — SPHERE. @type {number[]} /\n this.dir = [0, 0, 1];\n /* Constrained point — PLANE / AXIS / DIAL (and SPHERE scratch). @type {number[]} /\n this.pt = [this.anchor[0], this.anchor[1], this.anchor[2]];\n /* Plane normal (unit) — PLANE. @type {number[]} /\n this.n = _unit$1(_vec3$1(opts.normal) \|\| [0, 1, 0], 0, 1, 0);\n /* Axis / dial-plane normal (unit) — AXIS / DIAL. @type {number[]} /\n this.u = kind === DIAL\n ? _unit$1(_vec3$1(opts.axis) \|\| [0, 1, 0], 0, 1, 0)\n : _unit$1(_vec3$1(opts.axis) \|\| [1, 0, 0], 1, 0, 0);\n /* Current scalar parameter — AXIS: t along the line; DIAL: accumulated θ. @type {number} /\n this.s = 0;\n\n // DIAL in-plane basis: r0 (the θ=0 reference) and r1 = u × r0, so the\n // point at θ is anchor + radius·(cosθ·r0 + sinθ·r1) — right-handed about u.\n /* θ=0 reference direction (unit, in-plane) — DIAL. @type {number[]} /\n this.r0 = [1, 0, 0];\n /* In-plane binormal u × r0 (unit) — DIAL. @type {number[]} /\n this.r1 = [0, 0, 1];\n if (kind === DIAL) {\n const z = _vec3$1(opts.zero);\n this._dialBasis(z ? z[0] : NaN, z ? z[1] : NaN, z ? z[2] : NaN);\n }\n\n // Extent: AXIS clamps t (default [-1, 1]); DIAL clamps θ in radians\n // (default unbounded, so the dial winds freely).\n const ext = Array.isArray(opts.extent) ? opts.extent : null;\n const dial = kind === DIAL;\n /* Minimum scalar parameter. @type {number} /\n this.min = ext && _isNum(ext[0]) ? ext[0] : (dial ? -Infinity : -1);\n /* Maximum scalar parameter. @type {number} /\n this.max = ext && _isNum(ext[1]) ? ext[1] : (dial ? Infinity : 1);\n\n // Sphere / dial radius (private backing — see radius getter/setter).\n this._radius = _num(opts.radius, 1);\n\n /\n Default report mode. SPHERE defaults to DIRECTION; PLANE / AXIS / DIAL\n * report a POINT.\n * @type {number}\n /\n this.report = (opts.report === POINT \|\| opts.report === DIRECTION)\n ? opts.report\n : (kind === SPHERE ? DIRECTION : POINT);\n\n if (kind === DIAL) this._dialPoint();\n }\n\n /* Sphere / dial radius. @type {number} /\n get radius() { return this._radius; }\n set radius(r) { this._radius = _isNum(r) ? r : this._radius; if (this.kind === DIAL) this._dialPoint(); }\n\n // Recompute the DIAL point from θ (anchor + ρ(cosθ·r0 + sinθ·r1)).\n _dialPoint() {\n const c = Math.cos(this.s) this._radius, sn = Math.sin(this.s) * this._radius;\n this.pt[0] = this.anchor[0] + cthis.r0[0] + snthis.r1[0];\n this.pt[1] = this.anchor[1] + cthis.r0[1] + snthis.r1[1];\n this.pt[2] = this.anchor[2] + cthis.r0[2] + snthis.r1[2];\n }\n\n // Build the DIAL in-plane basis (r0, r1) from the current axis u and an\n // optional θ=0 reference (zx,zy,zz): the reference is projected onto the\n // dial plane and normalised; absent (NaN) or degenerate, r0 derives from u\n // via the least-aligned-axis seed. r1 = u × r0, right-handed about u.\n _dialBasis(zx, zy, zz) {\n if (_isNum(zx) && _isNum(zy) && _isNum(zz)) {\n const d = zxthis.u[0] + zythis.u[1] + zzthis.u[2];\n this.r0[0] = zx - dthis.u[0];\n this.r0[1] = zy - dthis.u[1];\n this.r0[2] = zz - dthis.u[2];\n const l = Math.sqrt(this.r0[0]2 + this.r0[1]2 + this.r0[2]*2);\n if (l < EPS) _basis$1(this.u, this.r0, this.r1);\n else { this.r0[0]/=l; this.r0[1]/=l; this.r0[2]/=l; }\n } else {\n _basis$1(this.u, this.r0, this.r1);\n }\n // r1 = u × r0 (recomputed even when _basis ran — same result, one rule).\n this.r1[0] = this.u[1]this.r0[2] - this.u[2]this.r0[1];\n this.r1[1] = this.u[2]this.r0[0] - this.u[0]this.r0[2];\n this.r1[2] = this.u[0]this.r0[1] - this.u[1]this.r0[0];\n }\n\n /\n Update the canonical state from a ray in the working space. The ray\n * direction is assumed unit. Chainable.\n \n @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @returns {Constraint} this\n /\n solve(ox, oy, oz, dx, dy, dz) {\n if (this.kind === SPHERE) {\n // Hit the sphere into pt, then derive the unit heading from the anchor.\n raySphere(this.pt, ox,oy,oz, dx,dy,dz,\n this.anchor[0], this.anchor[1], this.anchor[2], this._radius);\n this.dir[0] = this.pt[0] - this.anchor[0];\n this.dir[1] = this.pt[1] - this.anchor[1];\n this.dir[2] = this.pt[2] - this.anchor[2];\n _unit$1(this.dir, this.dir[0], this.dir[1], this.dir[2]);\n } else if (this.kind === PLANE) {\n // Parallel ray returns Infinity and leaves pt unchanged (keep last).\n rayPlane(this.pt, ox,oy,oz, dx,dy,dz,\n this.anchor[0], this.anchor[1], this.anchor[2],\n this.n[0], this.n[1], this.n[2]);\n } else if (this.kind === AXIS) {\n let s = rayClosestPointOnAxis(this.pt, ox,oy,oz, dx,dy,dz,\n this.anchor[0], this.anchor[1], this.anchor[2],\n this.u[0], this.u[1], this.u[2]);\n s = _clamp(s, this.min, this.max);\n this.s = s;\n this.pt[0] = this.anchor[0] + sthis.u[0]; // clamped point\n this.pt[1] = this.anchor[1] + sthis.u[1];\n this.pt[2] = this.anchor[2] + sthis.u[2];\n } else if (this.kind === DIAL) {\n this._solveDial(ox, oy, oz, dx, dy, dz);\n }\n return this;\n }\n\n // DIAL solve. Face-on: hit the dial plane, derive the raw angle of the hit\n // about the anchor, and accumulate the smaller signed arc into θ (winding\n // preserved). Edge-on (\|d·u\| < DIAL_EDGE): the plane hit diverges, so solve\n // the ray against the TANGENT LINE of the circle at the current θ instead —\n // the signed tangent parameter over the radius is dθ, bounded and monotone.\n _solveDial(ox, oy, oz, dx, dy, dz) {\n const u = this.u, r0 = this.r0, r1 = this.r1, a = this.anchor;\n const den = dxu[0] + dyu[1] + dzu[2];\n let dth;\n if (den >= DIAL_EDGE \|\| den <= -DIAL_EDGE) {\n // Well-conditioned: plane hit → raw angle → smaller signed arc.\n const t = rayPlane(this.pt, ox,oy,oz, dx,dy,dz,\n a[0], a[1], a[2], u[0], u[1], u[2]);\n if (t === Infinity) return; // keep last (paranoia; den guards)\n const vx = this.pt[0]-a[0], vy = this.pt[1]-a[1], vz = this.pt[2]-a[2];\n const raw = Math.atan2(vxr1[0] + vyr1[1] + vzr1[2],\n vxr0[0] + vyr0[1] + vzr0[2]);\n dth = _wrapPi(raw - _wrapPi(this.s));\n } else {\n // Edge-on fallback: tangent at the current point, w = −sinθ·r0 + cosθ·r1.\n const cs = Math.cos(this.s), sn = Math.sin(this.s);\n const wx = -snr0[0] + csr1[0];\n const wy = -snr0[1] + csr1[1];\n const wz = -snr0[2] + csr1[2];\n this._dialPoint(); // tangent anchored at the current point\n const sl = rayClosestPointOnAxis(this.pt, ox,oy,oz, dx,dy,dz,\n this.pt[0], this.pt[1], this.pt[2],\n wx, wy, wz);\n dth = sl / (this._radius \|\| 1);\n }\n this.s = _clamp(this.s + dth, this.min, this.max);\n this._dialPoint();\n }\n\n /\n Write the current value into `out`. `report` overrides the default for\n * this call (e.g. read a SPHERE's point even when its default is DIRECTION).\n * SPHERE+POINT and DIAL+POINT are derived from the angle/heading and the\n * live radius, so they stay correct after a radius change without\n * re-solving. DIAL+DIRECTION writes the radial unit at θ.\n \n @param {number[]} out 3-element destination.\n * @param {number} [report] POINT \| DIRECTION override.\n * @returns {number[]} out\n /\n value(out, report) {\n const r = (report === POINT \|\| report === DIRECTION) ? report : this.report;\n if (this.kind === SPHERE) {\n if (r === DIRECTION) {\n out[0]=this.dir[0]; out[1]=this.dir[1]; out[2]=this.dir[2];\n } else {\n out[0]=this.anchor[0]+this.dir[0]this._radius;\n out[1]=this.anchor[1]+this.dir[1]this._radius;\n out[2]=this.anchor[2]+this.dir[2]this._radius;\n }\n } else if (this.kind === DIAL) {\n const cs = Math.cos(this.s), sn = Math.sin(this.s);\n if (r === DIRECTION) {\n out[0]=csthis.r0[0]+snthis.r1[0];\n out[1]=csthis.r0[1]+snthis.r1[1];\n out[2]=csthis.r0[2]+snthis.r1[2];\n } else {\n out[0]=this.anchor[0]+(csthis.r0[0]+snthis.r1[0])this._radius;\n out[1]=this.anchor[1]+(csthis.r0[1]+snthis.r1[1])this._radius;\n out[2]=this.anchor[2]+(csthis.r0[2]+snthis.r1[2])this._radius;\n }\n } else {\n out[0]=this.pt[0]; out[1]=this.pt[1]; out[2]=this.pt[2];\n }\n return out;\n }\n\n /\n Current scalar parameter: AXIS → signed t along the line; DIAL →\n * accumulated angle θ in radians (multi-turn).\n * @returns {number} The parameter, or NaN for non-scalar constraints.\n /\n scalar() {\n return (this.kind === AXIS \|\| this.kind === DIAL) ? this.s : NaN;\n }\n\n /\n Derive [az, el] from the current SPHERE direction (SPHERE only).\n * @param {number[]} out2 2-element destination [az, el].\n * @returns {number[]} out2\n /\n azEl(out2) {\n return azElFromDir(out2, this.dir[0], this.dir[1], this.dir[2]);\n }\n\n /\n Seed the canonical state from a value (used by the bridge on bind() so the\n * handle starts at the bound target's value). Chainable.\n * SPHERE — sets the unit direction (a point value recovers its heading).\n * PLANE — projects the value onto the plane.\n * AXIS — projects the value onto the line, clamped to extent.\n * DIAL — projects the value onto the dial plane, derives the wrapped\n * angle, and picks the WINDING NEAREST the current θ (so an\n * external sync doesn't unwind accumulated turns), clamped.\n \n @param {number} x,y,z Seed value.\n * @returns {Constraint} this\n /\n seed(x, y, z) {\n if (this.kind === SPHERE) {\n const vx=x-this.anchor[0], vy=y-this.anchor[1], vz=z-this.anchor[2];\n const l = Math.sqrt(vxvx + vyvy + vzvz);\n if (l >= EPS) { this.dir[0]=vx/l; this.dir[1]=vy/l; this.dir[2]=vz/l; }\n } else if (this.kind === PLANE) {\n const wx=x-this.anchor[0], wy=y-this.anchor[1], wz=z-this.anchor[2];\n const d = wxthis.n[0] + wythis.n[1] + wzthis.n[2];\n this.pt[0]=x-dthis.n[0]; this.pt[1]=y-dthis.n[1]; this.pt[2]=z-dthis.n[2];\n } else if (this.kind === AXIS) {\n const wx=x-this.anchor[0], wy=y-this.anchor[1], wz=z-this.anchor[2];\n const s = _clamp(wxthis.u[0] + wythis.u[1] + wzthis.u[2], this.min, this.max);\n this.s = s;\n this.pt[0]=this.anchor[0]+sthis.u[0];\n this.pt[1]=this.anchor[1]+sthis.u[1];\n this.pt[2]=this.anchor[2]+sthis.u[2];\n } else if (this.kind === DIAL) {\n const wx=x-this.anchor[0], wy=y-this.anchor[1], wz=z-this.anchor[2];\n const px = wxthis.r0[0] + wythis.r0[1] + wzthis.r0[2];\n const py = wxthis.r1[0] + wythis.r1[1] + wzthis.r1[2];\n if (pxpx + pypy >= EPSEPS) {\n const a = Math.atan2(py, px);\n // Nearest winding to the current θ preserves accumulated turns.\n this.s = _clamp(a + TWO_PI$1 Math.round((this.s - a) / TWO_PI$1),\n this.min, this.max);\n }\n this._dialPoint();\n }\n return this;\n }\n\n /*\n Re-aim the constraint basis in the working space — the deferred-frame\n * seam (the p5.tree bridge's `from` opt resolves its symbolic basis through\n * mapDirection and calls this). Per kind:\n * PLANE — new normal; the point is re-projected onto the new plane.\n * AXIS — new direction; the scalar t is preserved, the point recomputed.\n * DIAL — new plane normal + optional θ=0 reference; θ is preserved, the\n * in-plane basis rebuilt (reference re-derived when omitted),\n * the point recomputed.\n * SPHERE — no basis; no-op.\n * Inputs are normalised; a zero-length axis keeps the previous one.\n * Chainable.\n \n @param {number} ax,ay,az New normal (PLANE) / direction (AXIS) / dial-plane normal (DIAL).\n * @param {number} [zx,zy,zz] DIAL only — θ=0 reference (re-derived when omitted).\n * @returns {Constraint} this\n /\n aim(ax, ay, az, zx, zy, zz) {\n if (this.kind === PLANE) {\n const px = this.n[0], py = this.n[1], pz = this.n[2];\n this.n[0] = ax; this.n[1] = ay; this.n[2] = az;\n _unit$1(this.n, px, py, pz);\n this.seed(this.pt[0], this.pt[1], this.pt[2]);\n } else if (this.kind === AXIS) {\n const px = this.u[0], py = this.u[1], pz = this.u[2];\n this.u[0] = ax; this.u[1] = ay; this.u[2] = az;\n _unit$1(this.u, px, py, pz);\n this.pt[0] = this.anchor[0] + this.sthis.u[0];\n this.pt[1] = this.anchor[1] + this.sthis.u[1];\n this.pt[2] = this.anchor[2] + this.sthis.u[2];\n } else if (this.kind === DIAL) {\n const px = this.u[0], py = this.u[1], pz = this.u[2];\n this.u[0] = ax; this.u[1] = ay; this.u[2] = az;\n _unit$1(this.u, px, py, pz);\n this._dialBasis(zx, zy, zz);\n this._dialPoint();\n }\n return this;\n }\n\n /*\n The analytic pick proxy: the ray parameter t at which a ray in the\n * working space meets the grab proxy, or Infinity. `radius` is the grab\n * size in working-space units — a constant pixel size the caller converted\n * through pixelRatio at the proxy's depth. SPHERE / PLANE / AXIS: a sphere\n * of `radius` at the reported POINT. DIAL: the ring at the anchor with\n * tube radius `radius` (rayHitRing), so a grab lands anywhere on the ring.\n \n @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} radius Grab radius, working units.\n * @returns {number} The nearest t ≥ 0, or Infinity.\n /\n proxy(ox, oy, oz, dx, dy, dz, radius) {\n const a = this.anchor;\n if (this.kind === DIAL) {\n return rayHitRing(ox,oy,oz, dx,dy,dz, a[0], a[1], a[2],\n this.u[0], this.u[1], this.u[2], this._radius, radius);\n }\n let px, py, pz;\n if (this.kind === SPHERE) {\n px = a[0] + this.dir[0]this._radius;\n py = a[1] + this.dir[1]this._radius;\n pz = a[2] + this.dir[2]this._radius;\n } else {\n px = this.pt[0]; py = this.pt[1]; pz = this.pt[2];\n }\n return rayHitSphere(ox,oy,oz, dx,dy,dz, px,py,pz, radius);\n }\n}\n\n/*\n Convenience factory mirroring the constructor. Handy for headless tests and\n * for the bridge, which otherwise calls `new Constraint(...)` directly.\n * @param {number} kind SPHERE \| PLANE \| AXIS \| DIAL.\n * @param {Object} [opts]\n * @returns {Constraint}\n /\nfunction createConstraint(kind, opts) {\n return new Constraint(kind, opts);\n}\n\n/\n @file Source-agnostic 6-DOF pose helm — integrates a live rate stream into a\n * { pos, rot } pose. Renderer- and transport-agnostic. Zero dependencies.\n * @module tree/helm\n * @license AGPL-3.0-only\n \n A helm is the rate-stream sibling of the Track family: where a Track produces\n * a pose from keyframes over time, a helm produces a pose from a live 6-DOF\n * delta stream (a SpaceNavigator, a tracked hand, an agent policy). It is NOT a\n * handle — a handle reports a `vec3` solved from a pointer ray; a helm reports a\n * pose (position + orientation).\n \n Family placement (peer of PoseTrack, NOT a Track subclass — no timeline):\n * feed(translation, rotation) push the latest raw device rate (input, as Track.add)\n * step(out, dt, basis) integrate the rate by dt into the pose (BRIDGE-DRIVEN,\n * as Track.tick) — writes the new pose into out\n * eval(out) read the current { pos, rot } (zero-alloc, as Track.eval)\n * home(pose?) re-home the integrated pose (NOT reset — no keyframes to clear)\n \n Value layer (opt-in, §10): a per-helm `fullScale` keeps the read-outs honest\n * across input scales; an opt-in `filter` (oneEuro) conditions the fed rates\n * before the deadzone inside step; `poseDelta` differences two absolute poses\n * into a feedable rate. With `filter` null and the default `fullScale`, the\n * clean rate-native path is unchanged.\n \n Quaternion algebra is provided by quat.js. Out-first throughout; no allocation\n * in feed/step/eval. Storage convention (matches the rest of the core): vec3 and\n * quat state are plain number[] (f64) — the same shape as track.js keyframes and\n * the frozen basis-vector constants.\n \n ── Frame discipline (`from` / `basis`) ──────────────────────────────────────\n * The space the rates are interpreted in is named by `from` (WORLD \| EYE \| mat4),\n * a declaration the BRIDGE reads — the core never learns about a camera. The\n * resolved orientation arrives per-step as `basis`: an eye→world mat4 (or null\n * for WORLD ≡ the identity basis). Both the linear and angular rates are rotated\n * through that basis, then the quaternion is composed world-frame. This is the\n * single code path that covers both manipulation conventions:\n \n - camera body-fly — basis is the driven camera's own eye matrix (which this\n * helm produced last frame ⇒ equals the integrated `q`,\n * zero staleness); rotating a body delta through `q` then\n * world-composing is algebraically a body-frame compose.\n * - screen-relative — basis is the viewing camera's eye matrix (an external\n * frame); a push moves the target relative to the screen.\n \n Per-channel `from` ({ translation, rotation }) is a deferred, non-breaking\n * extension (one basis suffices today — pose-helm-design.md §8.3).\n /\n\n\n// =========================================================================\n// Module-level scratch — shared across helm instances (non-reentrant; step\n// is synchronous and called at most once per helm per frame).\n// =========================================================================\n\nconst _dq = [0, 0, 0, 1];\n\n// Scratch for the optional input filter (helm.filter). The fed rates are packed\n// into one 6-vector, conditioned, and unpacked to lin/ang triples before the\n// deadzone — so a single filter carries one state per helm. Shared across\n// instances (step is synchronous, at most once per helm per frame).\nconst _f6raw = [0, 0, 0, 0, 0, 0];\nconst _f6out = [0, 0, 0, 0, 0, 0];\nconst _fLin = [0, 0, 0];\nconst _fAng = [0, 0, 0];\n\n/\n Default full-deflection input magnitude — the fed rate a read-out shows as\n * full (the SpaceNavigator's saturated lane). Private to core: a transport on a\n * different raw scale sets helm.fullScale and never reads this, so there is no\n * public HELM_FULL export. Display-only; integration uses profile.sens directly.\n /\nconst HELM_FULL_SCALE = 500;\n\n// Deadzone gate — \|v\| > dz keeps v, else 0. Module-level so step allocates no\n// closure. Strictly-greater matches the e7 reference (rest reads exact 0).\nconst _dz = (v, dz) => (v > dz \|\| v < -dz) ? v : 0;\n\n/\n Build the canonical default profile. SpaceNavigator-tuned lane permutation\n * and the eye-frame manipulation feel found in the e7 experiments; it is the\n * per-app / per-device mapping layer and is meant to be overwritten wholesale\n * (`helm.profile = { … }`) for a different transport.\n \n sign — per-app direction (camera-fly vs object-grab invert; flip live).\n * sens — per-axis sensitivity (tame roll without touching the rest).\n * lane — input-channel permutation: which fed channel drives this DOF.\n * T* lanes index the translation triple; R* lanes the rotation triple.\n /\nfunction _defaultProfile() {\n return {\n Tx: { sign: 1, sens: 0.30, lane: 0 },\n Ty: { sign: 1, sens: 0.30, lane: 2 },\n Tz: { sign: -1, sens: 0.30, lane: 1 },\n Rp: { sign: -1, sens: 0.0025, lane: 0 },\n Ry: { sign: -1, sens: 0.0025, lane: 2 },\n Rr: { sign: 1, sens: 0.0018, lane: 1 },\n };\n}\n\n/* Channel order — readout / iteration convenience (Tx Ty Tz Rp Ry Rr). /\nconst HELM_CHANNELS = Object.freeze(['Tx', 'Ty', 'Tz', 'Rp', 'Ry', 'Rr']);\n\n// =========================================================================\n// PoseHelm\n// =========================================================================\n\n/\n Source-agnostic 6-DOF pose producer. Holds a profile + the integrated pose;\n * no timeline (no keyframes, no play/seek/loop).\n /\nclass PoseHelm {\n constructor() {\n /\n DOF mapping table. Six channels, each `{ sign, sens, lane }`.\n * Public and mutable — set wholesale to re-map a device or app.\n * @type {{ Tx:Object, Ty:Object, Tz:Object, Rp:Object, Ry:Object, Rr:Object }}\n /\n this.profile = _defaultProfile();\n\n /\n Rest-drift floor. A fed rate with \|value\| ≤ deadzone reads as 0. Devices\n * that rest at exact 0 need only a small floor. @type {number}\n /\n this.deadzone = 8;\n\n /\n Full-deflection input magnitude for the read-outs (gizmo overlay + panel\n * meters): a fed rate of \|fullScale\| reads as a full bar / arrow. Set by a\n * transport whose saturated rate differs from the default (a gamepad stick\n * that saturates at 1 sets fullScale = 1). Display-only — integration uses\n * profile.sens directly, so this never affects flight. @type {number}\n /\n this.fullScale = HELM_FULL_SCALE;\n\n /\n Optional input conditioner applied to the fed rates BEFORE the deadzone,\n * inside step — a oneEuro filter, or any f(out, raw, dt) carrying function\n * with a reset(). null (the default) is the clean rate-native path: the\n * filter branch is skipped, so a clean device pays nothing. Set for noisy /\n * absolute sources; home() resets it. @type {?Function}\n /\n this.filter = null;\n\n /\n The space fed rates are interpreted in: a space constant (WORLD \| EYE) or\n * a mat4 frame. Declarative only — the bridge reads this to resolve the\n * per-step `basis`; the core stays camera-agnostic. @type {string\|ArrayLike<number>}\n /\n this.from = 'EYE';\n\n // Latest fed raw rates (refreshed by feed; persist until the next feed —\n // the transport is responsible for feeding 0 when motion should stop).\n this._lin = [0, 0, 0];\n this._ang = [0, 0, 0];\n\n // Integrated pose — the source of truth.\n this._pos = [0, 0, 0];\n this._q = [0, 0, 0, 1];\n }\n\n /\n Push the latest raw 6-DOF device rate. Either argument may be omitted to\n * leave that half unchanged (devices report the two halves on separate\n * frames). The value persists until the next feed. Raw device units — the\n * profile's `sens` does the scaling, so the same feed() suits any transport.\n \n @param {ArrayLike<number>} [translation] [tx, ty, tz] raw lane rates.\n * @param {ArrayLike<number>} [rotation] [rx, ry, rz] raw lane rates.\n * @returns {PoseHelm} this\n /\n feed(translation, rotation) {\n if (translation) {\n this._lin[0] = translation[0] \|\| 0;\n this._lin[1] = translation[1] \|\| 0;\n this._lin[2] = translation[2] \|\| 0;\n }\n if (rotation) {\n this._ang[0] = rotation[0] \|\| 0;\n this._ang[1] = rotation[1] \|\| 0;\n this._ang[2] = rotation[2] \|\| 0;\n }\n return this;\n }\n\n /\n Integrate the latest fed rate by `dt` seconds into the pose, then write the\n * pose into `out`. Bridge-driven (the player calls it each frame; a sketch\n * never does, as it never calls track.tick()).\n \n `basis` is the resolved `from` frame: an eye→world column-major mat4\n * (16-element ArrayLike), or null/omitted for WORLD (the identity basis). Its\n * columns supply the right/up/back axes; forward is −col2. Both the linear and\n * angular rates are rotated through it, then `q` is composed world-frame.\n \n Zero-allocation. `out` is `{ pos:number[3], rot:number[4] }`; omit it for a\n * fresh object.\n \n @param {{ pos:number[], rot:number[] }} [out]\n * @param {number} dt Elapsed time in seconds.\n * @param {ArrayLike<number>} [basis] Eye→world mat4, or null for WORLD.\n * @returns {{ pos:number[], rot:number[] }} out\n /\n step(out, dt, basis) {\n const p = this.profile, dz = this.deadzone;\n let lin = this._lin, ang = this._ang;\n\n // Value layer — condition the fed rates BEFORE the deadzone (the filter\n // narrows the jitter band; the deadzone then gates the residual to exact\n // zero). The filter carries state, so it is ticked exactly once per step;\n // activity() reads the raw fed rate and is left unfiltered (the read-out\n // shows device input, normalized by fullScale). Skipped when filter is null.\n const filter = this.filter;\n if (filter) {\n _f6raw[0] = lin[0]; _f6raw[1] = lin[1]; _f6raw[2] = lin[2];\n _f6raw[3] = ang[0]; _f6raw[4] = ang[1]; _f6raw[5] = ang[2];\n filter(_f6out, _f6raw, dt);\n _fLin[0] = _f6out[0]; _fLin[1] = _f6out[1]; _fLin[2] = _f6out[2];\n _fAng[0] = _f6out[3]; _fAng[1] = _f6out[4]; _fAng[2] = _f6out[5];\n lin = _fLin; ang = _fAng;\n }\n\n // Basis axes (right / up / forward). No basis ⇒ the identity eye matrix:\n // right +X, up +Y, forward −Z. Forward is −col2 (an eye→world matrix stores\n // the camera's BACK in col2), and the identity's col2 is +Z, so forward is\n // −Z — making step(out, dt, null) identical to step(out, dt, IDENTITY_MAT4),\n // as the `from` contract (\"null ≡ the identity basis\") promises.\n let rX = 1, rY = 0, rZ = 0;\n let uX = 0, uY = 1, uZ = 0;\n let fX = 0, fY = 0, fZ = -1;\n if (basis) {\n rX = basis[0]; rY = basis[1]; rZ = basis[2];\n uX = basis[4]; uY = basis[5]; uZ = basis[6];\n fX = -basis[8]; fY = -basis[9]; fZ = -basis[10];\n }\n\n // Angular: three rates → one delta quat, rotated into world, world-composed.\n const wx = _dz(ang[p.Rp.lane], dz) p.Rp.sign * p.Rp.sens;\n const wy = _dz(ang[p.Ry.lane], dz) * p.Ry.sign * p.Ry.sens;\n const wz = _dz(ang[p.Rr.lane], dz) * p.Rr.sign * p.Rr.sens;\n const w = Math.sqrt(wx * wx + wy * wy + wz * wz);\n if (w > 0) {\n // Axis in world = basis · (wx,wy,wz); its length is w (basis orthonormal),\n // so the rotation angle is w·dt. qFromAxisAngle renormalizes the axis.\n const ax = wx * rX + wy * uX + wz * fX;\n const ay = wx * rY + wy * uY + wz * fY;\n const az = wx * rZ + wy * uZ + wz * fZ;\n qFromAxisAngle(_dq, ax, ay, az, w * dt);\n qMul(this._q, _dq, this._q); // delta already in world → world-frame compose\n qNormalize(this._q);\n }\n\n // Linear: three rates rotated into world, integrated by dt.\n const tx = _dz(lin[p.Tx.lane], dz) * p.Tx.sign * p.Tx.sens;\n const ty = _dz(lin[p.Ty.lane], dz) * p.Ty.sign * p.Ty.sens;\n const tz = _dz(lin[p.Tz.lane], dz) * p.Tz.sign * p.Tz.sens;\n this._pos[0] += (tx * rX + ty * uX + tz * fX) * dt;\n this._pos[1] += (tx * rY + ty * uY + tz * fY) * dt;\n this._pos[2] += (tx * rZ + ty * uZ + tz * fZ) * dt;\n\n return this.eval(out);\n }\n\n /*\n Read the current pose into `out` (zero-alloc). The shared output contract\n * that feeds applyPose — mirrors Track.eval.\n \n @param {{ pos:number[], rot:number[] }} [out]\n * @returns {{ pos:number[], rot:number[] }} out\n /\n eval(out) {\n out = out \|\| { pos: [0, 0, 0], rot: [0, 0, 0, 1] };\n out.pos[0] = this._pos[0]; out.pos[1] = this._pos[1]; out.pos[2] = this._pos[2];\n out.rot[0] = this._q[0]; out.rot[1] = this._q[1];\n out.rot[2] = this._q[2]; out.rot[3] = this._q[3];\n return out;\n }\n\n /\n Write the six effective channel rates (post deadzone·sign·sens) into `out6`,\n * in channel order [Tx, Ty, Tz, Rp, Ry, Rr]. The gizmo reads this to light the\n * DOFs being driven; readouts can show signed magnitudes. Zero-alloc.\n \n @param {number[]} out6 6-element destination.\n * @returns {number[]} out6\n /\n activity(out6) {\n const p = this.profile, dz = this.deadzone, lin = this._lin, ang = this._ang;\n out6[0] = _dz(lin[p.Tx.lane], dz) p.Tx.sign * p.Tx.sens;\n out6[1] = _dz(lin[p.Ty.lane], dz) * p.Ty.sign * p.Ty.sens;\n out6[2] = _dz(lin[p.Tz.lane], dz) * p.Tz.sign * p.Tz.sens;\n out6[3] = _dz(ang[p.Rp.lane], dz) * p.Rp.sign * p.Rp.sens;\n out6[4] = _dz(ang[p.Ry.lane], dz) * p.Ry.sign * p.Ry.sens;\n out6[5] = _dz(ang[p.Rr.lane], dz) * p.Rr.sign * p.Rr.sens;\n return out6;\n }\n\n /*\n Re-home the integrated pose. Sets position + orientation to `pose` (or the\n * identity pose when omitted) and clears any pending rate so the helm rests at\n * a clean, known state. NOT a reset — there are no keyframes to clear.\n \n @param {{ pos?:ArrayLike<number>, rot?:ArrayLike<number> }} [pose]\n * @returns {PoseHelm} this\n /\n home(pose) {\n if (pose && pose.pos) {\n this._pos[0] = pose.pos[0]; this._pos[1] = pose.pos[1]; this._pos[2] = pose.pos[2];\n } else {\n this._pos[0] = 0; this._pos[1] = 0; this._pos[2] = 0;\n }\n if (pose && pose.rot) {\n this._q[0] = pose.rot[0]; this._q[1] = pose.rot[1];\n this._q[2] = pose.rot[2]; this._q[3] = pose.rot[3];\n } else {\n this._q[0] = 0; this._q[1] = 0; this._q[2] = 0; this._q[3] = 1;\n }\n this._lin[0] = this._lin[1] = this._lin[2] = 0;\n this._ang[0] = this._ang[1] = this._ang[2] = 0;\n if (this.filter) this.filter.reset(); // drop filter state at the discontinuity\n return this;\n }\n}\n\n// =========================================================================\n// poseDelta — absolute pose → 6-DOF rate\n// =========================================================================\n\n/\n Difference two consecutive absolute poses into a 6-DOF rate the helm can be\n * fed — the bridge for absolute-pose transports (gesture / landmark / marker /\n * IMU) into feed(lin, ang). Out-first, zero-allocation.\n \n Linear rate is (cur.pos − prev.pos) / dt. Angular rate is the world-frame\n * angular velocity ω carrying prev.rot onto cur.rot over dt: the relative\n * rotation r = cur · conj(prev) (so cur = r · prev, the world-frame compose the\n * step integrates), read as axis · angle / dt.\n \n The double-cover guard is the whole reason to ship this rather than inline it:\n * a quaternion and its negation are the same orientation, so when\n * dot(prev.rot, cur.rot) < 0 the two samples sit on opposite hemispheres and a\n * naive difference takes the long way round — the angular rate spikes at the\n * crossing. Flipping cur into prev's hemisphere first keeps r the shortest arc.\n \n Fed through a helm in WORLD whose profile has unit `sens`, in-order lanes and\n * `Tz` / `Rr` signs of −1 — the helm's lanes are eye-frame and the null basis\n * is the identity eye matrix (forward −Z), so the two Z channels flip against\n * world axes — the integrated pose retraces the source (the round-trip e9\n * asserts). A 1:1, non-integrated consumer skips the helm and applyPoses the\n * absolute pose directly.\n \n @param {{ lin:number[], ang:number[] }} [out] Destination; omit for a fresh one.\n * @param {{ pos:ArrayLike<number>, rot:ArrayLike<number> }} prev Previous pose.\n * @param {{ pos:ArrayLike<number>, rot:ArrayLike<number> }} cur Current pose.\n * @param {number} dt Elapsed seconds between the two samples.\n * @returns {{ lin:number[], ang:number[] }} out\n /\nfunction poseDelta(out, prev, cur, dt) {\n out = out \|\| { lin: [0, 0, 0], ang: [0, 0, 0] };\n const inv = 1 / dt;\n\n out.lin[0] = (cur.pos[0] - prev.pos[0]) inv;\n out.lin[1] = (cur.pos[1] - prev.pos[1]) * inv;\n out.lin[2] = (cur.pos[2] - prev.pos[2]) * inv;\n\n const px = prev.rot[0], py = prev.rot[1], pz = prev.rot[2], pw = prev.rot[3];\n let cx = cur.rot[0], cy = cur.rot[1], cz = cur.rot[2], cw = cur.rot[3];\n\n // Double-cover guard: bring cur into prev's hemisphere so r is the short arc.\n if (px * cx + py * cy + pz * cz + pw * cw < 0) { cx = -cx; cy = -cy; cz = -cz; cw = -cw; }\n\n // Relative rotation r = cur · conj(prev), conj(prev) = (−px, −py, −pz, pw).\n const rx = -cw * px + cx * pw - cy * pz + cz * py;\n const ry = -cw * py + cx * pz + cy * pw - cz * px;\n const rz = -cw * pz - cx * py + cy * px + cz * pw;\n const rw = cw * pw + cx * px + cy * py + cz * pz; // = dot(prev, cur) ≥ 0 → angle ≤ π\n\n // Axis · angle of r → ω = axis · angle / dt. Below the threshold the rotation\n // is negligible (no well-defined axis) and the angular rate is exact zero.\n const sinHalf = Math.sqrt(rx * rx + ry * ry + rz * rz);\n if (sinHalf < 1e-8) {\n out.ang[0] = 0; out.ang[1] = 0; out.ang[2] = 0;\n } else {\n const k = (2 * Math.atan2(sinHalf, rw)) * inv / sinHalf;\n out.ang[0] = rx * k; out.ang[1] = ry * k; out.ang[2] = rz * k;\n }\n return out;\n}\n\n/*\n @file Frustum planes and visibility tests — zero allocations.\n * @module tree/visibility\n * @license AGPL-3.0-only\n \n Planes are a flat Float64Array(24): 6 planes × 4 floats [a, b, c, d].\n * All inputs are scalars. All outputs are INVISIBLE \| VISIBLE \| SEMIVISIBLE.\n /\n\n\n// Plane indices\nconst PLANE_LEFT = 0, PLANE_RIGHT = 1, PLANE_NEAR = 2,\n PLANE_FAR = 3, PLANE_TOP = 4, PLANE_BOTTOM = 5;\n\n/\n Compute 6 frustum planes from camera basis (world space) + projection params.\n * All inputs are scalars — the addon extracts them from the inverse view matrix\n * and projection queries before calling.\n \n @param {Float64Array} out 24-float output.\n * @param {number} posX,posY,posZ Camera world position.\n * @param {number} vdX,vdY,vdZ View direction (−Z in eye space, world).\n * @param {number} upX,upY,upZ Camera up.\n * @param {number} rtX,rtY,rtZ Camera right.\n * @param {boolean} ortho true if orthographic.\n * @param {number} near,far,left,right,top,bottom\n * Projection extents in camera space.\n * Sign contract: top > 0, bottom < 0, right > 0, left < 0 for standard y-up camera.\n /\nfunction frustumPlanes(\n out,\n posX, posY, posZ,\n vdX, vdY, vdZ,\n upX, upY, upZ,\n rtX, rtY, rtZ,\n ortho,\n near, far, left, right, top, bottom\n) {\n const posViewDir = posXvdX + posYvdY + posZvdZ;\n const posRight = posXrtX + posYrtY + posZrtZ;\n const posUp = posXupX + posYupY + posZupZ;\n\n if (ortho) {\n // Left: normal = −right\n out[0] = -rtX; out[1] = -rtY; out[2] = -rtZ;\n out[3] = -(posRight - left) * -1; // dot(pos - rightleft, -right) ... simplified:\n // Actually: d = dot(pointOnPlane, normal)\n // pointOnPlane = pos + rightleft (left is negative for standard ortho)\n // normal = -right\n // d = dot(pos + rightleft, -right) = -posRight - left\n out[3] = -posRight - left;\n\n // Right: normal = right\n out[4] = rtX; out[5] = rtY; out[6] = rtZ;\n out[7] = posRight + right;\n\n // Top: normal = up\n out[16] = upX; out[17] = upY; out[18] = upZ;\n out[19] = posUp + top;\n\n // Bottom: normal = -up\n out[20] = -upX; out[21] = -upY; out[22] = -upZ;\n out[23] = -posUp - bottom;\n } else {\n // Left\n const hfovl = Math.atan2(left, near);\n const shfovl = Math.sin(hfovl), chfovl = Math.cos(hfovl);\n out[0] = vdXshfovl - rtXchfovl;\n out[1] = vdYshfovl - rtYchfovl;\n out[2] = vdZshfovl - rtZchfovl;\n out[3] = shfovlposViewDir - chfovlposRight;\n\n // Right\n const hfovr = Math.atan2(right, near);\n const shfovr = Math.sin(hfovr), chfovr = Math.cos(hfovr);\n out[4] = -vdXshfovr + rtXchfovr;\n out[5] = -vdYshfovr + rtYchfovr;\n out[6] = -vdZshfovr + rtZchfovr;\n out[7] = -shfovrposViewDir + chfovrposRight;\n\n // Top\n const fovt = Math.atan2(top, near);\n const sfovt = Math.sin(fovt), cfovt = Math.cos(fovt);\n out[16] = -vdXsfovt + upXcfovt;\n out[17] = -vdYsfovt + upYcfovt;\n out[18] = -vdZsfovt + upZcfovt;\n out[19] = -sfovtposViewDir + cfovtposUp;\n\n // Bottom\n const fovb = Math.atan2(bottom, near);\n const sfovb = Math.sin(fovb), cfovb = Math.cos(fovb);\n out[20] = vdXsfovb - upXcfovb;\n out[21] = vdYsfovb - upYcfovb;\n out[22] = vdZsfovb - upZcfovb;\n out[23] = sfovbposViewDir - cfovbposUp;\n }\n\n // Near plane: normal = −viewDir\n out[8] = -vdX; out[9] = -vdY; out[10] = -vdZ;\n out[11] = -posViewDir - near;\n\n // Far plane: normal = viewDir\n out[12] = vdX; out[13] = vdY; out[14] = vdZ;\n out[15] = posViewDir + far;\n\n return out;\n}\n\n/\n Signed distance from point to one frustum plane.\n * @param {Float64Array} planes 24-float planes buffer.\n * @param {number} planeIdx 0–5 (LEFT, RIGHT, NEAR, FAR, TOP, BOTTOM).\n * @param {number} px,py,pz Point coordinates.\n * @returns {number}\n /\nfunction distanceToPlane(planes, planeIdx, px, py, pz) {\n const b = planeIdx 4;\n return planes[b]px + planes[b+1]py + planes[b+2]pz - planes[b+3];\n}\n\n/* @returns {number} INVISIBLE \| VISIBLE \| SEMIVISIBLE /\nfunction pointVisibility(planes, px, py, pz) {\n for (let i = 0; i < 6; i++) {\n if (distanceToPlane(planes, i, px, py, pz) > 0) return INVISIBLE;\n }\n return VISIBLE;\n}\n\n/* @returns {number} INVISIBLE \| VISIBLE \| SEMIVISIBLE /\nfunction sphereVisibility(planes, cx, cy, cz, radius) {\n let allIn = true;\n for (let i = 0; i < 6; i++) {\n const d = distanceToPlane(planes, i, cx, cy, cz);\n if (d > radius) return INVISIBLE;\n if (d > 0 \|\| -d < radius) allIn = false;\n }\n return allIn ? VISIBLE : SEMIVISIBLE;\n}\n\n/* @returns {number} INVISIBLE \| VISIBLE \| SEMIVISIBLE /\nfunction boxVisibility(planes, x0, y0, z0, x1, y1, z1) {\n let allIn = true;\n for (let i = 0; i < 6; i++) {\n const b = i 4;\n const a = planes[b], bv = planes[b+1], c = planes[b+2], d = planes[b+3];\n let allOut = true;\n for (let corner = 0; corner < 8; corner++) {\n const cx = (corner & 4) ? x0 : x1;\n const cy = (corner & 2) ? y0 : y1;\n const cz = (corner & 1) ? z0 : z1;\n const dist = acx + bvcy + ccz - d;\n if (dist > 0) { allIn = false; }\n else { allOut = false; }\n }\n if (allOut) return INVISIBLE;\n }\n return allIn ? VISIBLE : SEMIVISIBLE;\n}\n\n/\n @file Camera state ↔ matrices: builders, decomposers, and in-place edits.\n * @module tree/camera\n * @license AGPL-3.0-only\n \n The camera is plain data — the CameraTrack keyframe shape:\n \n cam = {\n * eye: [x, y, z], // position\n * center: [x, y, z], // lookat target; \|center − eye\| is the gaze distance\n * up: [x, y, z], // up hint, need not be unit\n * fov: number \| null, // vertical field of view, radians — perspective\n * halfHeight: number \| null, // world-unit half-height at the near plane — orthographic\n * near: number, // > 0\n * far: number, // > near\n * }\n \n Exactly one of fov / halfHeight is meaningful; fov wins when both are set.\n * With both null the lens is \"unchanged\": cameraProj and cameraPlanes return\n * null and leave their output untouched, so a track that evaluates null into\n * the state keeps the last projection installed. A track writes the state\n * directly — `track.eval(cam)` — and a pose drives it through cameraFromPose.\n \n The state carries no aspect ratio — the viewport owns it — so one state is\n * portable between targets of different sizes; every builder that needs it\n * takes it as an argument.\n \n Vectors are plain number[] (f64, authoring state); matrices are written into\n * whatever 16-element buffer the caller passes. createCamera is the one\n * allocating call; everything else is out-first (or in-place) and zero-alloc.\n \n Every function that needs the camera frame derives it through mat4Eye, so\n * planes and edits agree with cameraEye / cameraView exactly — including the\n * up re-seed when the view direction is parallel to the up hint.\n /\n\n\nconst _E$1 = new Float64Array(16); // eye→world frame scratch: right 0–2, up 4–6, back 8–10\nconst _d = [0, 0, 0]; // view-direction scratch\n\n/* Eye→world frame of `cam` into `_E`. /\nfunction _frame(cam) {\n const e = cam.eye, c = cam.center, u = cam.up;\n mat4Eye(_E$1, e[0],e[1],e[2], c[0],c[1],c[2], u[0],u[1],u[2]);\n}\n\n/* Gaze distance \|center − eye\|, or 1 when the state is degenerate. /\nfunction _gaze(cam) {\n const dx = cam.center[0]-cam.eye[0], dy = cam.center[1]-cam.eye[1], dz = cam.center[2]-cam.eye[2];\n const d = Math.sqrt(dxdx+dydy+dzdz);\n return d > 0 ? d : 1;\n}\n\nfunction _vec3(v, x, y, z) { return v != null ? [v[0], v[1], v[2]] : [x, y, z]; }\n\n// =========================================================================\n// State\n// =========================================================================\n\n/*\n Allocate a camera state — the one allocating call, setup-time.\n * Defaults: eye [0, 0, 500], center [0, 0, 0], up [0, 1, 0], fov π/3,\n * halfHeight null, near 0.1, far 1000. Passing halfHeight without fov yields\n * an orthographic state (fov null).\n \n @param {{ eye?:number[], center?:number[], up?:number[], fov?:number\|null,\n * halfHeight?:number\|null, near?:number, far?:number }} [opts]\n * @returns {{ eye:number[], center:number[], up:number[], fov:number\|null,\n * halfHeight:number\|null, near:number, far:number }}\n /\nfunction createCamera(opts) {\n const o = opts \|\| {};\n const ortho = o.halfHeight != null && o.fov === undefined;\n return {\n eye: _vec3(o.eye, 0, 0, 500),\n center: _vec3(o.center, 0, 0, 0),\n up: _vec3(o.up, 0, 1, 0),\n fov: o.fov !== undefined ? o.fov : (ortho ? null : Math.PI / 3),\n halfHeight: o.halfHeight !== undefined ? o.halfHeight : null,\n near: typeof o.near === 'number' ? o.near : 0.1,\n far: typeof o.far === 'number' ? o.far : 1000,\n };\n}\n\n/\n Copy one camera state into another (an orbit's home, a track's capture).\n * @param {object} out Destination state.\n * @param {object} cam Source state.\n * @returns {object} out\n /\nfunction cameraCopy(out, cam) {\n out.eye[0]=cam.eye[0]; out.eye[1]=cam.eye[1]; out.eye[2]=cam.eye[2];\n out.center[0]=cam.center[0]; out.center[1]=cam.center[1]; out.center[2]=cam.center[2];\n out.up[0]=cam.up[0]; out.up[1]=cam.up[1]; out.up[2]=cam.up[2];\n out.fov = cam.fov; out.halfHeight = cam.halfHeight;\n out.near = cam.near; out.far = cam.far;\n return out;\n}\n\n// =========================================================================\n// Builders — state → matrices\n// =========================================================================\n\n/\n View matrix (world→eye) from the state's lookat.\n * @param {Float32Array\|number[]} out 16-element destination.\n * @param {object} cam\n * @returns {Float32Array\|number[]} out\n /\nfunction cameraView(out, cam) {\n const e = cam.eye, c = cam.center, u = cam.up;\n return mat4View(out, e[0],e[1],e[2], c[0],c[1],c[2], u[0],u[1],u[2]);\n}\n\n/\n Eye matrix (eye→world) from the state's lookat.\n * @param {Float32Array\|number[]} out 16-element destination.\n * @param {object} cam\n * @returns {Float32Array\|number[]} out\n /\nfunction cameraEye(out, cam) {\n const e = cam.eye, c = cam.center, u = cam.up;\n return mat4Eye(out, e[0],e[1],e[2], c[0],c[1],c[2], u[0],u[1],u[2]);\n}\n\n/\n Projection matrix from the state's lens: mat4Persp from fov, or mat4Ortho\n * from halfHeight, with symmetric extents (top = near · tan(fov / 2) or\n * halfHeight; right = top · aspect).\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {object} cam\n * @param {number} aspect Viewport width / height.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @param {number} [ndcYSign=1] +1 NDC y-up; −1 NDC y-down.\n * @returns {Float32Array\|number[]\|null} out, or null (out untouched) when\n * both fov and halfHeight are null.\n /\nfunction cameraProj(out, cam, aspect, ndcZMin, ndcYSign = 1) {\n const near = cam.near, far = cam.far;\n if (cam.fov != null) {\n const top = near Math.tan(cam.fov / 2), right = top * aspect;\n return mat4Persp(out, -right, right, -top, top, near, far, ndcZMin, ndcYSign);\n }\n if (cam.halfHeight != null) {\n const top = cam.halfHeight, right = top * aspect;\n return mat4Ortho(out, -right, right, -top, top, near, far, ndcZMin, ndcYSign);\n }\n return null;\n}\n\n/*\n The six frustum planes of the state, world space — frustumPlanes over the\n * lookat basis and the symmetric extents cameraProj uses, so visibility tests\n * run against a camera state without any matrix.\n \n @param {Float64Array} planes 24-element destination.\n * @param {object} cam\n * @param {number} aspect Viewport width / height.\n * @returns {Float64Array\|null} planes, or null (planes untouched) when both\n * fov and halfHeight are null.\n /\nfunction cameraPlanes(planes, cam, aspect) {\n const ortho = cam.fov == null;\n if (ortho && cam.halfHeight == null) return null;\n const top = ortho ? cam.halfHeight : cam.near Math.tan(cam.fov / 2), right = top * aspect;\n _frame(cam);\n const e = cam.eye;\n return frustumPlanes(planes,\n e[0], e[1], e[2],\n -_E$1[8], -_E$1[9], -_E$1[10],\n _E$1[4], _E$1[5], _E$1[6],\n _E$1[0], _E$1[1], _E$1[2],\n ortho, cam.near, cam.far, -right, right, top, -top);\n}\n\n// =========================================================================\n// Decomposers — matrices and poses → state\n// =========================================================================\n\n/*\n Read a state back from an eye matrix and a projection: eye ← column 3,\n * up ← column 1, forward ← −column 2 of E; center ← eye + forward · d with d\n * the state's current gaze distance (1 when degenerate), so the distance\n * survives a round trip. The lens comes from the projection queries: fov or\n * halfHeight by projIsOrtho, near and far under `ndcZMin`.\n \n @param {object} cam State written in place.\n * @param {ArrayLike<number>} E Eye matrix (eye→world), 16 elements.\n * @param {ArrayLike<number>} P Projection matrix, 16 elements.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @returns {object} cam\n /\nfunction cameraFromMat4(cam, E, P, ndcZMin) {\n const d = _gaze(cam);\n let fx = -E[8], fy = -E[9], fz = -E[10];\n const fl = Math.sqrt(fxfx+fyfy+fzfz) \|\| 1;\n fx /= fl; fy /= fl; fz /= fl;\n cam.eye[0]=E[12]; cam.eye[1]=E[13]; cam.eye[2]=E[14];\n cam.up[0]=E[4]; cam.up[1]=E[5]; cam.up[2]=E[6];\n cam.center[0]=cam.eye[0]+fxd; cam.center[1]=cam.eye[1]+fyd; cam.center[2]=cam.eye[2]+fzd;\n if (projIsOrtho(P)) { cam.fov = null; cam.halfHeight = projTop(P, ndcZMin); }\n else { cam.fov = projFov(P); cam.halfHeight = null; }\n cam.near = projNear(P, ndcZMin);\n cam.far = projFar(P);\n return cam;\n}\n\n/\n Drive the lookat from a TRS pose: eye ← pos, up and forward from the\n * rotation's columns 1 and −2, center ← eye + forward · d with d the current\n * gaze distance (1 when degenerate). The lens is untouched; `scl` is ignored.\n \n @param {object} cam State written in place.\n * @param {{ pos:number[], rot:number[] }} pose rot is a unit quaternion [x,y,z,w].\n * @returns {object} cam\n /\nfunction cameraFromPose(cam, pose) {\n const d = _gaze(cam);\n const q = pose.rot, x=q[0], y=q[1], z=q[2], w=q[3];\n const x2=x+x, y2=y+y, z2=z+z;\n const xx=xx2, xy=xy2, xz=xz2, yy=yy2, yz=yz2, zz=zz2, wx=wx2, wy=wy2, wz=wz2;\n const ux=xy-wz, uy=1-(xx+zz), uz=yz+wx; // column 1 of qToMat4(rot): up\n const bx=xz+wy, by=yz-wx, bz=1-(xx+yy); // column 2: back\n cam.eye[0]=pose.pos[0]; cam.eye[1]=pose.pos[1]; cam.eye[2]=pose.pos[2];\n cam.up[0]=ux; cam.up[1]=uy; cam.up[2]=uz;\n cam.center[0]=cam.eye[0]-bxd; cam.center[1]=cam.eye[1]-byd; cam.center[2]=cam.eye[2]-bzd;\n return cam;\n}\n\n/\n The lookat as a TRS pose: pos ← eye, rot ← qFromLookDir(center − eye, up) —\n * the rotation of cameraEye, so a helm seeded from it continues the frame.\n \n @param {{ pos:number[], rot:number[] }} pose Written in place.\n * @param {object} cam\n * @returns {{ pos:number[], rot:number[] }} pose\n /\nfunction cameraToPose(pose, cam) {\n pose.pos[0]=cam.eye[0]; pose.pos[1]=cam.eye[1]; pose.pos[2]=cam.eye[2];\n _d[0]=cam.center[0]-cam.eye[0]; _d[1]=cam.center[1]-cam.eye[1]; _d[2]=cam.center[2]-cam.eye[2];\n qFromLookDir(pose.rot, _d, cam.up);\n return pose;\n}\n\n// =========================================================================\n// Edits — in place, chainable, zero-alloc\n// =========================================================================\n\n/\n Orbit the eye about the center: `dAz` rotates it about the up hint\n * (right-handed); `dEl` raises its elevation above the plane through the\n * center perpendicular to the hint, clamped to ±opts.maxEl so the view\n * direction never reaches the hint (the pole guard). `up` is left as the hint\n * it was, so an orbit never rolls. A state already at the pole is pulled\n * inside the guard by its first non-zero edit; (0, 0) is a no-op.\n \n @param {object} cam\n * @param {number} dAz Azimuth delta, radians.\n * @param {number} dEl Elevation delta, radians.\n * @param {{ maxEl?:number }} [opts] Elevation limit; default π/2 − 1e-3.\n * @returns {object} cam\n /\nfunction cameraOrbit(cam, dAz, dEl, opts) {\n if (dAz === 0 && dEl === 0) return cam;\n const maxEl = opts && typeof opts.maxEl === 'number' ? opts.maxEl : Math.PI / 2 - 1e-3;\n const e = cam.eye, c = cam.center;\n let ux=cam.up[0], uy=cam.up[1], uz=cam.up[2];\n const ul = Math.sqrt(uxux+uyuy+uzuz) \|\| 1;\n ux/=ul; uy/=ul; uz/=ul;\n const dx=e[0]-c[0], dy=e[1]-c[1], dz=e[2]-c[2];\n const r = Math.sqrt(dxdx+dydy+dzdz);\n _frame(cam);\n const px=_E$1[4], py=_E$1[5], pz=_E$1[6]; // the eye's up\n const bx=_E$1[8], by=_E$1[9], bz=_E$1[10]; // back: center → eye, unit\n // elevation: raise by θ within the (back, up) plane, clamped\n const el = Math.asin(Math.max(-1, Math.min(1, bxux+byuy+bzuz)));\n const th = Math.max(-maxEl, Math.min(maxEl, el + dEl)) - el;\n const ct = Math.cos(th), st = Math.sin(th);\n const ox = r(bxct+pxst), oy = r(byct+pyst), oz = r(bzct+pzst);\n // azimuth: rotate about the hint (Rodrigues)\n const ca = Math.cos(dAz), sa = Math.sin(dAz), k = (uxox+uyoy+uzoz)(1-ca);\n e[0] = c[0] + oxca + (uyoz-uzoy)sa + uxk;\n e[1] = c[1] + oyca + (uzox-uxoz)sa + uyk;\n e[2] = c[2] + ozca + (uxoy-uyox)sa + uzk;\n return cam;\n}\n\n/*\n Dolly: scale the gaze distance by `factor` — the eye moves along the view\n * direction under perspective; under orthographic (fov null, halfHeight set)\n * halfHeight is scaled instead, since moving the eye changes nothing on\n * screen. opts.min / opts.max clamp the scaled quantity. An edit that would\n * make it non-positive is a no-op.\n \n @param {object} cam\n * @param {number} factor\n * @param {{ min?:number, max?:number }} [opts]\n * @returns {object} cam\n /\nfunction cameraDolly(cam, factor, opts) {\n const min = opts && typeof opts.min === 'number' ? opts.min : 0;\n const max = opts && typeof opts.max === 'number' ? opts.max : Infinity;\n if (cam.fov == null && cam.halfHeight != null) {\n const h = Math.max(min, Math.min(max, cam.halfHeight factor));\n if (h > 0) cam.halfHeight = h;\n return cam;\n }\n const e = cam.eye, c = cam.center;\n const dx=e[0]-c[0], dy=e[1]-c[1], dz=e[2]-c[2];\n const r = Math.sqrt(dxdx+dydy+dzdz);\n if (r === 0) return cam;\n const r1 = Math.max(min, Math.min(max, r factor));\n if (!(r1 > 0)) return cam;\n const s = r1 / r;\n e[0]=c[0]+dxs; e[1]=c[1]+dys; e[2]=c[2]+dzs;\n return cam;\n}\n\n/\n Pan: translate eye and center by `dx` along the eye's right and `dy` along\n * its up, world units. The caller converts pixels through pixelRatio at the\n * center's depth so a pan tracks the pointer.\n \n @param {object} cam\n * @param {number} dx\n * @param {number} dy\n * @returns {object} cam\n /\nfunction cameraPan(cam, dx, dy) {\n _frame(cam);\n const tx=_E$1[0]dx+_E$1[4]dy, ty=_E$1[1]dx+_E$1[5]dy, tz=_E$1[2]dx+_E$1[6]dy;\n const e = cam.eye, c = cam.center;\n e[0]+=tx; e[1]+=ty; e[2]+=tz;\n c[0]+=tx; c[1]+=ty; c[2]+=tz;\n return cam;\n}\n\n/\n @file Gizmo line generators in the arrays shape.\n * @module tree/gizmo\n * @license AGPL-3.0-only\n \n A gizmo is geometry that explains: axes, a grid, a frustum, a path, a rig,\n * a handle's locus. This module generates its vertices — renderer-free, into\n * caller-owned arrays shaped the way twgl's createBufferInfoFromArrays\n * consumes them and a WebGPU vertex buffer is filled from — and nothing\n * else. Drawing, colour state, HUD mode, textures, the dot at a handle's\n * point, text: all the bridge's or the host's.\n \n ── The arrays shape ───────────────────────────────────────────────────────\n \n out = {\n * position: { numComponents: 3, data: Float32Array(3 · capacity) },\n * color: { numComponents: 4, data: Float32Array(4 · capacity) }, // optional\n * texcoord: { numComponents: 2, data: Float32Array(2 · capacity) }, // optional — panes\n * count: 0, // vertices written\n * labels: [], // optional — { x, y, z, text }\n * }\n \n Line generators write line lists — vertex pairs, no indices; paneTris\n * writes two triangles. capacity is position.data.length / 3.\n \n ── The contract — snprintf-style ──────────────────────────────────────────\n * Every generator gen(out, …) → n returns the vertex count it needs, writes\n * min(n, capacity) vertices, and sets out.count to what it wrote. A caller\n * sizes once and grows never in steady state:\n \n let n = axesLines(out, opts)\n * if (n > capacityOf(out)) { growArrays(out, n); axesLines(out, opts) }\n \n Each generator states its count formula so a caller can pre-size exactly.\n \n ── Colour ─────────────────────────────────────────────────────────────────\n * If out.color exists, every vertex written gets a colour: a generator with\n * semantic colouring (axes, the helm rig) writes its palette, every other\n * generator writes opts.color (default white). If out.color is absent\n * nothing is written and the bridge draws with a uniform colour.\n \n ── Frames ─────────────────────────────────────────────────────────────────\n * A generator writes in the frame the caller means — model space for scene\n * gizmos (the bridge's M places them), screen pixels for HUD gizmos.\n * Nothing here consults a camera except locusLines and frustumLines, which\n * take what they need explicitly. Signatures: out first, the subject second\n * where there is one, options last.\n /\n\n\nconst TWO_PI = Math.PI 2;\nconst _AXIS_COLORS = [COLOR_X, COLOR_Y, COLOR_Z];\nconst _U = [1, 0, 0], _V = [0, 1, 0]; // the HUD plane's basis\nconst _E = new Float64Array(16); // a camera state's eye matrix\nconst _p3 = [0, 0, 0]; // a transformed corner / a sampled point\nconst _q3 = [0, 0, 0]; // the previous sampled point\nconst _c24 = new Float64Array(24); // frustum corners scratch\nconst _tIn = [0, 0, 0], _tOut = [0, 0, 0]; // a keyframe's tangents\nconst _act = [0, 0, 0, 0, 0, 0]; // a helm's activity\nconst _tip = [0, 0, 0], _ha = [0, 0, 0]; // an arrow's tip and head base\nconst _AXES = [[1, 0, 0], [0, 1, 0], [0, 0, 1]];\nconst _b0 = [0, 0, 0], _b1 = [0, 0, 0], _b2 = [0, 0, 0]; // a locus basis\nconst _UV_DEFAULT = [0, 1, 1, 1, 1, 0, 0, 0]; // paneTris: p0 top-left → (0, 1), clockwise\n\n// =========================================================================\n// G1 Arrays — the one allocating call, growth, capacity\n// =========================================================================\n\n/*\n Allocate an arrays object of `capacity` vertices — the one allocating\n * call, setup-time. Flags add the optional attributes and the label list.\n \n @param {number} capacity Vertices.\n * @param {{ color?:boolean, texcoord?:boolean, labels?:boolean }} [opts]\n * @returns {{ position:{numComponents:number,data:Float32Array},\n * color?:{numComponents:number,data:Float32Array},\n * texcoord?:{numComponents:number,data:Float32Array},\n * count:number, labels?:object[] }}\n /\nfunction createArrays(capacity, opts) {\n const o = opts \|\| {};\n const n = Math.max(0, capacity \| 0);\n const out = { position: { numComponents: 3, data: new Float32Array(3 n) } };\n if (o.color) out.color = { numComponents: 4, data: new Float32Array(4 * n) };\n if (o.texcoord) out.texcoord = { numComponents: 2, data: new Float32Array(2 * n) };\n out.count = 0;\n if (o.labels) out.labels = [];\n return out;\n}\n\n/*\n Reallocate an arrays object to a new capacity, keeping its attribute set;\n * the data is fresh (a generator refills it) and count is 0.\n \n @param {object} out An arrays object from createArrays.\n * @param {number} capacity Vertices.\n * @returns {object} out\n /\nfunction growArrays(out, capacity) {\n const n = Math.max(0, capacity \| 0);\n out.position.data = new Float32Array(3 n);\n if (out.color) out.color.data = new Float32Array(4 * n);\n if (out.texcoord) out.texcoord.data = new Float32Array(2 * n);\n out.count = 0;\n if (out.labels) out.labels.length = 0;\n return out;\n}\n\n/*\n The vertex capacity of an arrays object: position.data.length / 3.\n * @param {object} out\n * @returns {number}\n /\nfunction capacityOf(out) {\n return (out.position.data.length / 3) \| 0;\n}\n\n// =========================================================================\n// G2 The writer — a cursor over out; counts every vertex, writes those\n// within capacity. Module-level scratch: a generator runs to completion.\n// =========================================================================\n\nconst _w = { pos: null, col: null, tex: null, cap: 0, n: 0, r: 1, g: 1, b: 1, a: 1 };\nconst _WHITE = [1, 1, 1, 1];\n\nfunction _begin(out) {\n _w.pos = out.position.data;\n _w.col = out.color ? out.color.data : null;\n _w.tex = out.texcoord ? out.texcoord.data : null;\n _w.cap = (_w.pos.length / 3) \| 0;\n _w.n = 0;\n if (out.labels) out.labels.length = 0;\n}\n\n/* Set the current colour from an RGB(A) array, with an alpha override. /\nfunction _color(c, alpha) {\n const v = c \|\| _WHITE;\n _w.r = v[0]; _w.g = v[1]; _w.b = v[2];\n _w.a = alpha != null ? alpha : (v.length > 3 ? v[3] : 1);\n}\n\nfunction _vertex(x, y, z) {\n const n = _w.n++;\n if (n >= _w.cap) return;\n const p = _w.pos, i = 3 n;\n p[i] = x; p[i + 1] = y; p[i + 2] = z;\n const c = _w.col;\n if (c) { const j = 4 * n; c[j] = _w.r; c[j + 1] = _w.g; c[j + 2] = _w.b; c[j + 3] = _w.a; }\n}\n\nfunction _line(x0, y0, z0, x1, y1, z1) {\n _vertex(x0, y0, z0);\n _vertex(x1, y1, z1);\n}\n\n/** A vertex with a texture coordinate (written when out.texcoord exists). /\nfunction _vertexUV(x, y, z, u, v) {\n const n = _w.n;\n _vertex(x, y, z);\n if (_w.tex && n < _w.cap) { _w.tex[2n] = u; _w.tex[2n + 1] = v; }\n}\n\n/* Normalise v in place; a zero vector becomes (dx, dy, dz). /\nfunction _unit(v, dx, dy, dz) {\n const l = Math.sqrt(v[0]v[0] + v[1]v[1] + v[2]v[2]);\n if (l < 1e-9) { v[0] = dx; v[1] = dy; v[2] = dz; return v; }\n v[0] /= l; v[1] /= l; v[2] /= l;\n return v;\n}\n\n/** Orthonormal in-plane basis (ub, vb) for a unit normal n, seeded from the least-aligned axis. /\nfunction _basis(n, ub, vb) {\n const ax = Math.abs(n[0]), ay = Math.abs(n[1]), az = Math.abs(n[2]);\n let rx = 0, ry = 0, rz = 0;\n if (ax <= ay && ax <= az) rx = 1; else if (ay <= az) ry = 1; else rz = 1;\n ub[0] = ryn[2] - rzn[1]; ub[1] = rzn[0] - rxn[2]; ub[2] = rxn[1] - ryn[0];\n _unit(ub, 1, 0, 0);\n vb[0] = n[1]ub[2] - n[2]ub[1]; vb[1] = n[2]ub[0] - n[0]ub[2]; vb[2] = n[0]ub[1] - n[1]ub[0];\n}\n\n/* The four edges of a square of half-extent h at c, spanned by u, v. /\nfunction _square(c, u, v, h) {\n const x0 = c[0] - hu[0] - hv[0], y0 = c[1] - hu[1] - hv[1], z0 = c[2] - hu[2] - hv[2];\n const x1 = c[0] + hu[0] - hv[0], y1 = c[1] + hu[1] - hv[1], z1 = c[2] + hu[2] - hv[2];\n const x2 = c[0] + hu[0] + hv[0], y2 = c[1] + hu[1] + hv[1], z2 = c[2] + hu[2] + hv[2];\n const x3 = c[0] - hu[0] + hv[0], y3 = c[1] - hu[1] + hv[1], z3 = c[2] - hu[2] + hv[2];\n _line(x0, y0, z0, x1, y1, z1);\n _line(x1, y1, z1, x2, y2, z2);\n _line(x2, y2, z2, x3, y3, z3);\n _line(x3, y3, z3, x0, y0, z0);\n}\n\n/* Close the write: count ← what fits; return what was needed. /\nfunction _end(out) {\n out.count = _w.n < _w.cap ? _w.n : _w.cap;\n return _w.n;\n}\n\n/* A sampled circle (or arc of `sweep`) of radius r at c, spanned by u, v: n segments. /\nfunction _ring(cx, cy, cz, r, u, v, n, sweep) {\n let px = 0, py = 0, pz = 0;\n for (let i = 0; i <= n; i++) {\n const t = (i / n) sweep;\n const ct = Math.cos(t) * r, st = Math.sin(t) * r;\n const x = cx + ctu[0] + stv[0];\n const y = cy + ctu[1] + stv[1];\n const z = cz + ctu[2] + stv[2];\n if (i > 0) _line(px, py, pz, x, y, z);\n px = x; py = y; pz = z;\n }\n}\n\n// =========================================================================\n// G3 Axes, grid, cross, bulls-eye, ring\n// =========================================================================\n\n/*\n A coordinate frame at the origin: six half-axes by bit and, with LABELS,\n * the X (2 lines) · Y (4) · Z (3) glyphs at 1.04 · size, sized size / 40 ×\n * size / 30. Semantic colour per axis and its glyph (COLOR_X / Y / Z), or\n * opts.color when `semantic` is false.\n \n Count: 2 · axes + 18 · (LABELS ? 1 : 0), at most 30.\n \n @param {object} out Arrays object.\n * @param {{ size?:number, bits?:number, semantic?:boolean, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction axesLines(out, opts) {\n const o = opts \|\| {};\n const size = o.size ?? 100;\n const bits = o.bits ?? (LABELS \| X \| Y \| Z);\n const semantic = o.semantic !== false;\n const axis = (i) => _color(semantic ? _AXIS_COLORS[i] : o.color);\n _begin(out);\n if (bits & LABELS) {\n const cw = size/40, ch = size/30, cs = 1.04size;\n axis(0);\n _line(cs, cw, -ch, cs, -cw, ch);\n _line(cs, -cw, -ch, cs, cw, ch);\n axis(1);\n _line( cw, cs, ch, 0, cs, 0);\n _line( 0, cs, 0, -cw, cs, ch);\n _line(-cw, cs, ch, 0, cs, 0);\n _line( 0, cs, 0, 0, cs, -ch);\n axis(2);\n _line(-cw, -ch, cs, cw, -ch, cs);\n _line( cw, -ch, cs, -cw, ch, cs);\n _line(-cw, ch, cs, cw, ch, cs);\n }\n axis(0);\n if (bits & X) _line(0, 0, 0, size, 0, 0);\n if (bits & _X) _line(0, 0, 0, -size, 0, 0);\n axis(1);\n if (bits & Y) _line(0, 0, 0, 0, size, 0);\n if (bits & _Y) _line(0, 0, 0, 0, -size, 0);\n axis(2);\n if (bits & Z) _line(0, 0, 0, 0, 0, size);\n if (bits & _Z) _line(0, 0, 0, 0, 0, -size);\n return _end(out);\n}\n\n/*\n A grid in the XY plane: subdivisions + 1 lines each way spanning ±size.\n * Orientation is the caller's M (a ground plane is a rotation about X).\n \n Count: 4 · (subdivisions + 1).\n \n @param {object} out Arrays object.\n * @param {{ size?:number, subdivisions?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction gridLines(out, opts) {\n const o = opts \|\| {};\n const size = o.size ?? 100;\n const sub = Math.max(1, (o.subdivisions ?? 10) \| 0);\n _begin(out);\n _color(o.color);\n for (let i = 0; i <= sub; i++) {\n const pos = size (2i/sub - 1);\n _line(pos, -size, 0, pos, size, 0);\n _line(-size, pos, 0, size, pos, 0);\n }\n return _end(out);\n}\n\n/\n A crosshair in HUD space (z = 0, target pixels): two lines of `size`\n * through (x, y). The bridge projects a model origin and converts a world\n * size to pixels before this call.\n \n Count: 4.\n \n @param {object} out Arrays object.\n * @param {{ x?:number, y?:number, size?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction crossLines(out, opts) {\n const o = opts \|\| {};\n const x = o.x ?? 0, y = o.y ?? 0, half = (o.size ?? 50) / 2;\n _begin(out);\n _color(o.color);\n _line(x - half, y, 0, x + half, y, 0);\n _line(x, y - half, 0, x, y + half, 0);\n return _end(out);\n}\n\n/\n A bulls-eye in HUD space (z = 0, target pixels): a sampled circle of\n * radius size / 2 (`detail` segments) or the cornered square (8 lines),\n * plus the central cross at 0.6 · half.\n \n Count: 2 · detail + 4 (CIRCLE) or 20 (SQUARE).\n \n @param {object} out Arrays object.\n * @param {{ x?:number, y?:number, size?:number, shape?:number, detail?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction bullsEyeLines(out, opts) {\n const o = opts \|\| {};\n const x = o.x ?? 0, y = o.y ?? 0, half = (o.size ?? 50) / 2;\n const shape = o.shape ?? CIRCLE;\n const detail = Math.max(3, (o.detail ?? 50) \| 0);\n _begin(out);\n _color(o.color);\n if (shape === CIRCLE) {\n _ring(x, y, 0, half, _U, _V, detail, TWO_PI);\n } else {\n const c = 0.6 half;\n _line(x-half, y-half+c, 0, x-half, y-half, 0);\n _line(x-half, y-half, 0, x-half+c, y-half, 0);\n _line(x+half-c, y-half, 0, x+half, y-half, 0);\n _line(x+half, y-half, 0, x+half, y-half+c, 0);\n _line(x+half, y+half-c, 0, x+half, y+half, 0);\n _line(x+half, y+half, 0, x+half-c, y+half, 0);\n _line(x-half+c, y+half, 0, x-half, y+half, 0);\n _line(x-half, y+half, 0, x-half, y+half-c, 0);\n }\n const ch = 0.6 * half;\n _line(x - ch, y, 0, x + ch, y, 0);\n _line(x, y - ch, 0, x, y + ch, 0);\n return _end(out);\n}\n\n/*\n A sampled circle of radius r at (cx, cy, cz) spanned by the orthonormal\n * u, v — the shared primitive; a partial `sweep` gives an arc from u.\n \n Count: 2 · detail.\n \n @param {object} out Arrays object.\n * @param {number} cx,cy,cz Centre.\n * @param {number} r Radius.\n * @param {number[]} u,v Orthonormal in-plane basis.\n * @param {{ detail?:number, sweep?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction ringLines(out, cx, cy, cz, r, u, v, opts) {\n const o = opts \|\| {};\n const detail = Math.max(1, (o.detail ?? 48) \| 0);\n const sweep = o.sweep ?? TWO_PI;\n _begin(out);\n _color(o.color);\n _ring(cx, cy, cz, r, u, v, detail, sweep);\n return _end(out);\n}\n\n// =========================================================================\n// G4 Frustum and Hermite\n// =========================================================================\n\nconst _isMat = (cam) => cam != null && cam.mat4Eye != null && cam.mat4Proj != null;\n\n/* Corner i of out24 ← E · (x, y, z). /\nfunction _corner(out24, i, E, x, y, z) {\n mat4MulPoint(_p3, E, x, y, z);\n out24[3i] = _p3[0]; out24[3i + 1] = _p3[1]; out24[3i + 2] = _p3[2];\n}\n\n/*\n The eight world-space corners of a camera's frustum: the near face 0–3\n * counter-clockwise from bottom-left (BL, BR, TR, TL), then the far face\n * 4–7 in the same order — so corners 3, 2, 1, 0 are a pane's TL, TR, BR,\n * BL. `cam` is a camera state (its symmetric extents from fov or\n * halfHeight and `aspect`), or { mat4Eye, mat4Proj, ndcZMin? } for a\n * matrix-captured camera (the extents read off the projection). The far\n * extents follow by similar triangles, or equal the near ones under\n * orthographic.\n \n @param {Float64Array\|number[]} out24 24-element destination.\n * @param {object} cam Camera state, or { mat4Eye, mat4Proj, ndcZMin? }.\n * @param {number} [aspect=1] Viewport width / height (state form).\n * @param {number} [ndcZMin=WEBGL] NDC-z convention when the matrix form carries none.\n * @returns {Float64Array\|number[]\|null} out24, or null when the state's lens is unset.\n /\nfunction frustumCorners(out24, cam, aspect, ndcZMin) {\n let E, n, f, l, r, t, b, ortho;\n if (_isMat(cam)) {\n E = cam.mat4Eye;\n const P = cam.mat4Proj, z = cam.ndcZMin ?? ndcZMin ?? WEBGL;\n ortho = projIsOrtho(P);\n n = projNear(P, z); f = projFar(P);\n l = projLeft(P, z); r = projRight(P, z); t = projTop(P, z); b = projBottom(P, z);\n } else {\n ortho = cam.fov == null;\n if (ortho && cam.halfHeight == null) return null;\n n = cam.near; f = cam.far;\n t = ortho ? cam.halfHeight : n Math.tan(cam.fov / 2);\n r = t * (aspect ?? 1);\n b = -t; l = -r;\n E = cameraEye(_E, cam);\n }\n const k = ortho ? 1 : f / n;\n _corner(out24, 0, E, l, b, -n);\n _corner(out24, 1, E, r, b, -n);\n _corner(out24, 2, E, r, t, -n);\n _corner(out24, 3, E, l, t, -n);\n _corner(out24, 4, E, kl, kb, -f);\n _corner(out24, 5, E, kr, kb, -f);\n _corner(out24, 6, E, kr, kt, -f);\n _corner(out24, 7, E, kl, kt, -f);\n return out24;\n}\n\n/** Line between corners i and j of the scratch corners. /\nfunction _edge(i, j) {\n _line(_c24[3i], _c24[3i + 1], _c24[3i + 2], _c24[3j], _c24[3j + 1], _c24[3j + 2]);\n}\n\n/\n A camera's frustum as edges by bit: NEAR and FAR the two rectangles,\n * BODY the four edges joining them, APEX (perspective only) the eye to\n * the near corners. `cam` as frustumCorners takes it.\n \n Count: 8 · (NEAR + FAR + BODY + APEX), at most 32.\n \n @param {object} out Arrays object.\n * @param {object} cam Camera state, or { mat4Eye, mat4Proj, ndcZMin? }.\n * @param {{ aspect?:number, ndcZMin?:number, bits?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed (0 when the state's lens is unset).\n /\nfunction frustumLines(out, cam, opts) {\n const o = opts \|\| {};\n const bits = o.bits ?? (NEAR \| FAR \| BODY \| APEX);\n _begin(out);\n _color(o.color);\n if (frustumCorners(_c24, cam, o.aspect ?? 1, o.ndcZMin ?? WEBGL) === null) return _end(out);\n if (bits & NEAR) { _edge(0, 1); _edge(1, 2); _edge(2, 3); _edge(3, 0); }\n if (bits & FAR) { _edge(4, 5); _edge(5, 6); _edge(6, 7); _edge(7, 4); }\n if (bits & BODY) { _edge(0, 4); _edge(1, 5); _edge(2, 6); _edge(3, 7); }\n const persp = _isMat(cam) ? !projIsOrtho(cam.mat4Proj) : cam.fov != null;\n if ((bits & APEX) && persp) {\n const E = _isMat(cam) ? cam.mat4Eye : null;\n const ex = E ? E[12] : cam.eye[0], ey = E ? E[13] : cam.eye[1], ez = E ? E[14] : cam.eye[2];\n for (let i = 0; i < 4; i++) _line(ex, ey, ez, _c24[3i], _c24[3i + 1], _c24[3i + 2]);\n }\n return _end(out);\n}\n\n/*\n One cubic Hermite segment through hermiteVec3, as a polyline of\n * `samples` steps.\n \n Count: 2 · samples.\n \n @param {object} out Arrays object.\n * @param {number[]} p0,t0 Start point and its outgoing tangent.\n * @param {number[]} p1,t1 End point and its incoming tangent.\n * @param {{ samples?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction hermiteLines(out, p0, t0, p1, t1, opts) {\n const o = opts \|\| {};\n const N = Math.max(1, (o.samples ?? 32) \| 0);\n _begin(out);\n _color(o.color);\n for (let i = 0; i <= N; i++) {\n hermiteVec3(_p3, p0, t0, p1, t1, i / N);\n if (i > 0) _line(_q3[0], _q3[1], _q3[2], _p3[0], _p3[1], _p3[2]);\n _q3[0] = _p3[0]; _q3[1] = _p3[1]; _q3[2] = _p3[2];\n }\n return _end(out);\n}\n\n// =========================================================================\n// G5 Path, helm rig, locus, pane\n// =========================================================================\n\n/\n A PoseTrack or CameraTrack's path by bit, over the track's own samplers\n * (samplePos / sampleEye / sampleCenter and the tangent readers), so the\n * interpolation modes are honoured: PATH the sampled polyline, `samples`\n * per segment; CONTROLS the straight control polygon; TANGENTS_IN /\n * TANGENTS_OUT the tangent at each keyframe scaled by `tangentScale`;\n * CENTER (camera tracks) the gaze line eye → center per keyframe and a\n * three-axis star of half-size `centerSize` at the center. `target`\n * ('eye' or 'center') picks a camera track's path for the first three\n * bits. Markers and handles are the bridge's composition.\n \n Count: 2 · samples · segments (PATH) + 2 · segments (CONTROLS) +\n * 2 · keyframes per tangent bit + 8 · keyframes (CENTER).\n \n @param {object} out Arrays object.\n * @param {object} track PoseTrack or CameraTrack.\n * @param {{ bits?:number, samples?:number, tangentScale?:number, target?:string,\n * centerSize?:number, color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction pathLines(out, track, opts) {\n const o = opts \|\| {};\n const bits = o.bits ?? (PATH \| CONTROLS \| TANGENTS_IN \| TANGENTS_OUT);\n const N = Math.max(1, (o.samples ?? 32) \| 0);\n const ts = o.tangentScale ?? 0.25;\n const cs = o.centerSize ?? 4;\n const kfs = track.keyframes, n = kfs.length;\n const isCamera = typeof track.sampleEye === 'function';\n const useCenter = isCamera && o.target === 'center';\n const field = isCamera ? (useCenter ? 'center' : 'eye') : 'pos';\n const sampler = isCamera ? (useCenter ? 'sampleCenter' : 'sampleEye') : 'samplePos';\n const tangents = isCamera ? (useCenter ? 'centerTangents' : 'eyeTangents') : 'tangents';\n _begin(out);\n _color(o.color);\n if ((bits & PATH) && n > 1) {\n for (let seg = 0; seg < n - 1; seg++) {\n for (let i = 0; i <= N; i++) {\n track[sampler](_p3, seg, i / N);\n if (i > 0) _line(_q3[0], _q3[1], _q3[2], _p3[0], _p3[1], _p3[2]);\n _q3[0] = _p3[0]; _q3[1] = _p3[1]; _q3[2] = _p3[2];\n }\n }\n }\n if (bits & CONTROLS) {\n for (let i = 0; i < n - 1; i++) {\n const a = kfs[i][field], b = kfs[i + 1][field];\n _line(a[0], a[1], a[2], b[0], b[1], b[2]);\n }\n }\n if (bits & (TANGENTS_IN \| TANGENTS_OUT)) {\n for (let i = 0; i < n; i++) {\n track[tangents](_tIn, _tOut, i);\n const k = kfs[i][field];\n if (bits & TANGENTS_IN) _line(k[0] - ts_tIn[0], k[1] - ts_tIn[1], k[2] - ts_tIn[2], k[0], k[1], k[2]);\n if (bits & TANGENTS_OUT) _line(k[0], k[1], k[2], k[0] + ts_tOut[0], k[1] + ts_tOut[1], k[2] + ts_tOut[2]);\n }\n }\n if ((bits & CENTER) && isCamera) {\n for (let i = 0; i < n; i++) {\n const e = kfs[i].eye, c = kfs[i].center;\n _line(e[0], e[1], e[2], c[0], c[1], c[2]);\n _line(c[0] - cs, c[1], c[2], c[0] + cs, c[1], c[2]);\n _line(c[0], c[1] - cs, c[2], c[0], c[1] + cs, c[2]);\n _line(c[0], c[1], c[2] - cs, c[0], c[1], c[2] + cs);\n }\n }\n return _end(out);\n}\n\n/* An arrow along principal axis `axis` (0 X, 1 Y, 2 Z): signed length L, head size h — 5 lines. /\nfunction _arrow(axis, L, h) {\n const a = (axis + 1) % 3, b = (axis + 2) % 3;\n _tip[0] = _tip[1] = _tip[2] = 0; _tip[axis] = L;\n _line(0, 0, 0, _tip[0], _tip[1], _tip[2]);\n const s = Math.sign(L) \|\| 1;\n _ha[0] = _ha[1] = _ha[2] = 0; _ha[axis] = L - sh;\n _ha[a] = h0.5; _line(_tip[0], _tip[1], _tip[2], _ha[0], _ha[1], _ha[2]);\n _ha[a] = -h0.5; _line(_tip[0], _tip[1], _tip[2], _ha[0], _ha[1], _ha[2]);\n _ha[a] = 0;\n _ha[b] = h0.5; _line(_tip[0], _tip[1], _tip[2], _ha[0], _ha[1], _ha[2]);\n _ha[b] = -h0.5; _line(_tip[0], _tip[1], _tip[2], _ha[0], _ha[1], _ha[2]);\n}\n\n/*\n A helm's rig, colour always semantic: per translation channel a dim\n * baseline arrow of signed length sign · size · sens / 0.30 and, while the\n * channel's activity is non-zero, a bright arrow of length ∝ \|activity\| /\n * (sens · fullScale); per rotation channel a dim ring of radius size / 2 ·\n * sens / 0.0025 and a bright arc sweeping π · f in the live direction.\n * Dim and bright are the alpha of the written colour (COLOR_DIM, 1). With\n * `identify`, one anchor per channel goes to out.labels as { x, y, z,\n * text: 'L' + lane }. Orientation is the caller's M.\n \n Count: 10 · 3 · 2 (arrows) + 96 · 3 (rings) + 48 · 3 (arcs), at most 492;\n * the bright half only while a channel is active.\n \n @param {object} out Arrays object.\n * @param {object} helm A PoseHelm (profile, fullScale, activity).\n * @param {{ size?:number, bits?:number, identify?:boolean }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction helmRigLines(out, helm, opts) {\n const o = opts \|\| {};\n const size = o.size ?? 100;\n const bits = o.bits ?? (TRANSLATE \| ROTATE);\n const identify = o.identify === true;\n const prof = helm.profile;\n const head = size 0.08, ringR0 = size * 0.5;\n const TREF = 0.30, RREF = 0.0025, FULL = helm.fullScale, ARC_FULL = Math.PI;\n helm.activity(_act);\n _begin(out);\n const labels = identify && out.labels ? out.labels : null;\n if (bits & TRANSLATE) {\n const T = [prof.Tx, prof.Ty, prof.Tz];\n for (let ax = 0; ax < 3; ax++) {\n const ch = T[ax];\n const L = ch.sign * size * (ch.sens / TREF);\n _color(_AXIS_COLORS[ax], COLOR_DIM);\n _arrow(ax, L, head);\n const a = _act[ax];\n if (a !== 0) {\n const f = Math.min(Math.abs(a) / (ch.sens * FULL), 1);\n _color(_AXIS_COLORS[ax], 1);\n _arrow(ax, Math.sign(a) * f * Math.abs(L), head);\n }\n if (labels) {\n const lp = [0, 0, 0]; lp[ax] = L + ch.sign * head * 1.5;\n labels.push({ x: lp[0], y: lp[1], z: lp[2], text: 'L' + ch.lane });\n }\n }\n }\n if (bits & ROTATE) {\n const R = [prof.Rp, prof.Ry, prof.Rr]; // pitch ⊥ X, yaw ⊥ Y, roll ⊥ Z\n for (let ax = 0; ax < 3; ax++) {\n const ch = R[ax];\n const r = ringR0 * (ch.sens / RREF);\n const u = _AXES[(ax + 1) % 3], v = _AXES[(ax + 2) % 3];\n _color(_AXIS_COLORS[ax], COLOR_DIM);\n _ring(0, 0, 0, r, u, v, 48, TWO_PI);\n const a = _act[3 + ax];\n if (a !== 0) {\n const f = Math.min(Math.abs(a) / (ch.sens * FULL), 1);\n _color(_AXIS_COLORS[ax], 1);\n _ring(0, 0, 0, r, u, v, 24, Math.sign(a) * f * ARC_FULL);\n }\n if (labels) {\n const lp = [0, 0, 0]; lp[(ax + 1) % 3] = r;\n labels.push({ x: lp[0], y: lp[1], z: lp[2], text: 'L' + ch.lane });\n }\n }\n }\n return _end(out);\n}\n\n/*\n A handle's stroked parts by bit. AIM: anchor → `point` (the handle's\n * current point, read by the caller with value). LOCUS by constraint.kind:\n * SPHERE three great circles about the anchor; PLANE a square of\n * half-extent 100 in the plane's basis; AXIS the segment anchor + [min,\n * max] · u; DIAL the ring in the dial plane; a constraint flagged `view`\n * (the host's VIEW) a screen-aligned square of half-extent 100 at `point`,\n * its basis the camera's right and up read off `mat4View`. RING: SPHERE\n * the view-facing limb, a ring perpendicular to anchor − eye (the eye from\n * `mat4View`); PLANE the border of the locus square (written once when\n * both bits ask for it). A constraint supplying locus(out, opts) is\n * dispatched to it. The HANDLE dot is not a line and not generated here.\n \n Count: AIM 2; LOCUS SPHERE 288 · PLANE 8 · AXIS 2 · DIAL 96 · view 8;\n * RING SPHERE 96 · PLANE 8 (shared with LOCUS); at most 386.\n \n @param {object} out Arrays object.\n * @param {object} constraint A contract-conforming constraint.\n * @param {{ bits?:number, mat4View?:ArrayLike<number>, point?:number[], color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction locusLines(out, constraint, opts) {\n const o = opts \|\| {};\n if (typeof constraint.locus === 'function') return constraint.locus(out, o);\n const bits = o.bits ?? (AIM \| LOCUS);\n const c = constraint, a = c.anchor, pt = o.point, V = o.mat4View;\n _begin(out);\n _color(o.color);\n if ((bits & AIM) && a && pt) _line(a[0], a[1], a[2], pt[0], pt[1], pt[2]);\n if (c.view === true) {\n if ((bits & LOCUS) && pt && V) {\n _b0[0] = V[0]; _b0[1] = V[4]; _b0[2] = V[8]; // the camera's right\n _b1[0] = V[1]; _b1[1] = V[5]; _b1[2] = V[9]; // the camera's up\n _square(pt, _b0, _b1, 100);\n }\n } else if (c.kind === SPHERE && a) {\n if (bits & LOCUS) {\n _ring(a[0], a[1], a[2], c.radius, _AXES[0], _AXES[1], 48, TWO_PI);\n _ring(a[0], a[1], a[2], c.radius, _AXES[1], _AXES[2], 48, TWO_PI);\n _ring(a[0], a[1], a[2], c.radius, _AXES[2], _AXES[0], 48, TWO_PI);\n }\n if ((bits & RING) && V) {\n // eye = −Rᵀ t of the view matrix; the limb is ⊥ anchor − eye\n const tx = V[12], ty = V[13], tz = V[14];\n _b2[0] = a[0] + (V[0]tx + V[1]ty + V[2]tz);\n _b2[1] = a[1] + (V[4]tx + V[5]ty + V[6]tz);\n _b2[2] = a[2] + (V[8]tx + V[9]ty + V[10]tz);\n _unit(_b2, 0, 0, 1);\n _basis(_b2, _b0, _b1);\n _ring(a[0], a[1], a[2], c.radius, _b0, _b1, 48, TWO_PI);\n }\n } else if (c.kind === PLANE && a) {\n if (bits & (LOCUS \| RING)) {\n _basis(c.n, _b0, _b1);\n _square(a, _b0, _b1, 100);\n }\n } else if (c.kind === AXIS && a) {\n if (bits & LOCUS) {\n const u = c.u;\n _line(a[0] + c.minu[0], a[1] + c.minu[1], a[2] + c.minu[2],\n a[0] + c.maxu[0], a[1] + c.maxu[1], a[2] + c.maxu[2]);\n }\n } else if (c.kind === DIAL && a) {\n if (bits & LOCUS) _ring(a[0], a[1], a[2], c.radius, c.r0, c.r1, 48, TWO_PI);\n }\n return _end(out);\n}\n\n/*\n A textured quad as two triangles (p0, p1, p2) (p0, p2, p3) — the winding\n * of the corner order — with texcoord written when the array exists.\n * Default uvs: p0 (top-left) → (0, 1), p1 → (1, 1), p2 → (1, 0), p3 →\n * (0, 0), so a texture in GL's bottom-up space reads upright with no\n * flip; `opts.uvs` overrides, four pairs flat in corner order.\n \n Count: 6.\n \n @param {object} out Arrays object.\n * @param {number[]} p0,p1,p2,p3 Corners, top-left clockwise.\n * @param {{ uvs?:number[], color?:number[] }} [opts]\n * @returns {number} Vertices needed.\n /\nfunction paneTris(out, p0, p1, p2, p3, opts) {\n const o = opts \|\| {};\n const uv = o.uvs \|\| _UV_DEFAULT;\n _begin(out);\n _color(o.color);\n _vertexUV(p0[0], p0[1], p0[2], uv[0], uv[1]);\n _vertexUV(p1[0], p1[1], p1[2], uv[2], uv[3]);\n _vertexUV(p2[0], p2[1], p2[2], uv[4], uv[5]);\n _vertexUV(p0[0], p0[1], p0[2], uv[0], uv[1]);\n _vertexUV(p2[0], p2[1], p2[2], uv[4], uv[5]);\n _vertexUV(p3[0], p3[1], p3[2], uv[6], uv[7]);\n return _end(out);\n}\n\nexport { AIM, APEX, AXIS, BODY, BOTTOM, CENTER, CIRCLE, COLOR_DIM, COLOR_X, COLOR_Y, COLOR_Z, CONTROLS, CameraTrack, Constraint, DIAL, DIRECTION, EYE, FAR, HANDLE, HANDLES, HELM_CHANNELS, INVISIBLE, LABELS, LEFT, LOCUS, MATRIX, MODEL, NDC, NEAR, NONE, ORIGIN, PATH, PLANE, PLANE_BOTTOM, PLANE_FAR, PLANE_LEFT, PLANE_NEAR, PLANE_RIGHT, PLANE_TOP, POINT, PoseHelm, PoseTrack, RIGHT, RING, ROTATE, SCREEN, SELF, SEMIVISIBLE, SPHERE, SQUARE, TANGENTS, TANGENTS_IN, TANGENTS_OUT, TOP, TRANSLATE, VISIBLE, WEBGL, WEBGPU, WORLD, X, Y, Z, _X, _Y, _Z, _i, _j, _k, axesLines, azElFromDir, boxVisibility, bullsEyeLines, cameraCopy, cameraDolly, cameraEye, cameraFromMat4, cameraFromPose, cameraOrbit, cameraPan, cameraPlanes, cameraProj, cameraToPose, cameraView, capacityOf, createArrays, createCamera, createConstraint, crossLines, dirFromAzEl, distanceToPlane, frustumCorners, frustumLines, frustumPlanes, gridLines, growArrays, helmRigLines, hermiteLines, hermiteVec3, i, idToRgba, j, k, lerpVec3, locusLines, mapDirection, mapLocation, mat3Direction, mat3NormalFromMat4, mat4Bias, mat4Eye, mat4FromBasis, mat4FromScale, mat4FromTRS, mat4FromTranslation, mat4Invert, mat4Location, mat4MV, mat4Mul, mat4MulDir, mat4MulPoint, mat4Ortho, mat4PV, mat4Persp, mat4Pick, mat4Reflect, mat4ToRotation, mat4ToScale, mat4ToTransform, mat4ToTranslation, mat4View, oneEuro, paneTris, pathLines, pixelRatio, pointVisibility, pointerHit, poseDelta, projBottom, projFar, projFov, projHfov, projIsOrtho, projLeft, projNear, projRight, projTop, qConjugate, qCopy, qDot, qFromAxisAngle, qFromLookDir, qFromMat4, qFromRotMat3x3, qFromUnitVectors, qMul, qNegate, qNlerp, qNormalize, qRotateVec3, qSet, qSlerp, qToAxisAngle, qToMat4, rayClosestPointOnAxis, rayHitCapsule, rayHitRing, rayHitSphere, rayPlane, raySphere, rgbaToId, ringLines, sphereVisibility, transformToMat4, unproject };\n//# sourceMappingURL=index.js.map\n","/\n @file The view bag — the matrices every pick, solve, label and orbit reads.\n * @module host/view\n * @license AGPL-3.0-only\n \n The matrices bag mapLocation takes, plus the signed viewport and the NDC\n * convention:\n \n view = {\n * mat4Proj, mat4View, mat4PV, mat4PVInv, // Float32Array(16) each, host-owned\n * mat4Eye, // inverse of mat4View — EYE → WORLD\n * vp, // [0, h, w, −h] — y-down, logical canvas px\n * ndcZMin, // WEBGL \| WEBGPU, set once at creation\n * stale, // true until a set() with an invertible P · V\n * set(P, V) // copy P and V, recompute PV and PVInv\n * setCamera(cam) // build V and P from a camera state, then set\n * resize(width, height) // the canvas observer's write into vp\n * }\n \n mat4PVInv and mat4Eye are recomputed on set, once per frame, so unproject\n * and every mapping from SCREEN or EYE share them. A degenerate P · V or V\n * leaves the previous inverses and marks the bag stale; consumers treat a\n * stale bag as \"no pick this frame\".\n /\n\n'use strict';\n\nimport { WEBGL, mat4Mul, mat4Invert, cameraView, cameraProj } from '@nakednous/tree';\n\nconst _inv = new Float32Array(16); // inverse scratch: the bag keeps its previous inverse on failure\nconst _P = new Float32Array(16); // setCamera's projection\nconst _V = new Float32Array(16); // setCamera's view\n\nfunction _identity(m) {\n m.fill(0);\n m[0] = m[5] = m[10] = m[15] = 1;\n return m;\n}\n\n/\n Create a view bag. The matrices start at identity and the bag stale, so a\n * consumer reading it before the first set() picks nothing.\n \n @param {{ ndcZMin?:number, width?:number, height?:number }} [opts]\n * ndcZMin: WEBGL (−1, default) or WEBGPU (0) — written once here, never\n * detected. width / height: the initial logical canvas size.\n * @returns {object} The view bag.\n /\nexport function createView(opts) {\n const o = opts \|\| {};\n const w = o.width \|\| 0, h = o.height \|\| 0;\n const view = {\n mat4Proj: _identity(new Float32Array(16)),\n mat4View: _identity(new Float32Array(16)),\n mat4PV: _identity(new Float32Array(16)),\n mat4PVInv: _identity(new Float32Array(16)),\n mat4Eye: _identity(new Float32Array(16)),\n vp: [0, h, w, -h],\n ndcZMin: o.ndcZMin === 0 ? 0 : WEBGL,\n stale: true,\n\n /\n Install a projection and a view: both copied, P · V with its inverse\n * and the eye matrix (V's inverse) recomputed. A singular product or\n * view keeps the previous inverses and marks the bag stale.\n * @param {ArrayLike<number>} P Projection mat4.\n * @param {ArrayLike<number>} V View mat4 (world → eye).\n * @returns {object} this\n /\n set(P, V) {\n for (let i = 0; i < 16; i++) { view.mat4Proj[i] = P[i]; view.mat4View[i] = V[i]; }\n mat4Mul(view.mat4PV, view.mat4Proj, view.mat4View);\n if (mat4Invert(_inv, view.mat4PV) === null) { view.stale = true; return view; }\n view.mat4PVInv.set(_inv);\n if (mat4Invert(_inv, view.mat4View) === null) { view.stale = true; return view; }\n view.mat4Eye.set(_inv);\n view.stale = false;\n return view;\n },\n\n /\n Install a camera state: cameraView and cameraProj at the viewport's\n * aspect under the bag's ndcZMin, then set(). A state with both fov and\n * halfHeight null keeps the projection already installed.\n * @param {object} cam Camera state.\n * @returns {object} this\n /\n setCamera(cam) {\n const aspect = view.vp[3] !== 0 ? view.vp[2] / -view.vp[3] : 1;\n cameraView(_V, cam);\n const P = cameraProj(_P, cam, aspect, view.ndcZMin) \|\| view.mat4Proj;\n return view.set(P, _V);\n },\n\n /\n Write a new logical canvas size into vp: [0, height, width, −height].\n * @param {number} width\n * @param {number} height\n * @returns {object} this\n /\n resize(width, height) {\n view.vp[1] = height; view.vp[2] = width; view.vp[3] = -height;\n return view;\n },\n };\n return view;\n}\n","/\n @file The canvas observer — logical size and device pixel ratio.\n * @module host/canvas\n * @license AGPL-3.0-only\n \n A ResizeObserver on the canvas element plus devicePixelRatio tracking:\n * on change the observer reports the logical size in CSS px and the dpr to\n * its callback, which the context uses to update host.width / host.height /\n * host.dpr, the view bag's vp, the label layer and the bridge's onSize. The\n * observer never touches canvas.width / canvas.height — that is the\n * renderer's decision.\n \n Without a ResizeObserver (a headless run) the size is measured once from\n * the element's bounding rectangle, falling back to its width / height\n * attributes.\n /\n\n'use strict';\n\n/\n Measure a canvas: logical CSS size from its bounding rectangle when laid\n * out, else its width / height attributes; dpr from the window.\n * @param {HTMLCanvasElement} canvas\n * @param {number[]} out3 [width, height, dpr] destination.\n * @returns {number[]} out3\n /\nexport function measureCanvas(canvas, out3) {\n const r = typeof canvas.getBoundingClientRect === 'function' ? canvas.getBoundingClientRect() : null;\n const laidOut = r && r.width > 0 && r.height > 0;\n out3[0] = laidOut ? r.width : (canvas.width \|\| 0);\n out3[1] = laidOut ? r.height : (canvas.height \|\| 0);\n out3[2] = (typeof window !== 'undefined' && window.devicePixelRatio) \|\| 1;\n return out3;\n}\n\n/\n Observe a canvas's logical size and dpr. `onChange(width, height, dpr)`\n * fires once immediately with the current measure and again on every\n * change; a change is reported only when a value differs.\n \n @param {HTMLCanvasElement} canvas\n * @param {function(number, number, number):void} onChange\n * @returns {{ width:number, height:number, dpr:number, measure():void, dispose():void }}\n /\nexport function observeCanvas(canvas, onChange) {\n const m = [0, 0, 1];\n const obs = { width: -1, height: 0, dpr: 1, measure, dispose };\n let ro = null;\n const onWindow = () => measure();\n\n function measure() {\n measureCanvas(canvas, m);\n if (m[0] === obs.width && m[1] === obs.height && m[2] === obs.dpr) return;\n obs.width = m[0]; obs.height = m[1]; obs.dpr = m[2];\n onChange(obs.width, obs.height, obs.dpr);\n }\n\n function dispose() {\n if (ro) { ro.disconnect(); ro = null; }\n if (typeof window !== 'undefined' && window.removeEventListener) window.removeEventListener('resize', onWindow);\n }\n\n measure(); // width −1 makes the first measure report\n if (typeof ResizeObserver !== 'undefined') {\n ro = new ResizeObserver(() => measure());\n ro.observe(canvas);\n }\n // A zoom changes devicePixelRatio and fires resize; the observer alone would miss it.\n if (typeof window !== 'undefined' && window.addEventListener) window.addEventListener('resize', onWindow);\n return obs;\n}\n","/\n @file The pointer source — a typed event buffer with claims, one per canvas.\n * @module host/pointer\n * @license AGPL-3.0-only\n \n Shared by every handle, router and orbit on a canvas. Listeners only\n * record; nothing solves in a listener:\n \n - pointerdown · pointermove · pointerup · pointercancel on the canvas,\n * keydown (Esc) on the window.\n * - Coordinates in logical canvas px through the element's bounding\n * rectangle — (clientX − rect.left) · (width / rect.width), the logical\n * size read off the view bag's vp — the numbers mapLocation(SCREEN) and vp\n * expect, so a CSS-scaled canvas maps correctly.\n * - Per pointer: an entry { id, x, y, seq, down, up, cancel, owner }, kept\n * from its press until the frame after its release; `seq` counts moves,\n * so a consumer remembers the last seq it consumed and reads only new\n * motion. Multitouch is per-pointer by construction; the mouse is one\n * more pointer.\n * - Presses queue in order for the frame (`presses`); consumers read the\n * queue inside the frame and claim what they take. Several same-frame\n * presses on different members all land.\n * - Claims: claim(id, owner) captures the pointer on the canvas so a drag\n * that leaves it keeps flowing; release(id), up and cancel release the\n * capture. An unclaimed pointer is what the orbit sees.\n * - Esc sets the cancel flag on every claimed pointer.\n * - flush() ends the frame: the press queue empties and released pointers\n * leave the map. The loop calls it after onFrame; an external loop calls\n * it after its consumers ran (the p5 adapter from postdraw).\n /\n\n'use strict';\n\n/\n Create the pointer source of a canvas.\n \n @param {HTMLCanvasElement} canvas\n * @param {object} view The view bag; vp[2] and −vp[3] are the logical size.\n * @returns {object} The source: { presses, pointers, get, claim, release,\n * ownerOf, flush, dispose }.\n /\nexport function createPointer(canvas, view) {\n const pointers = new Map(); // id → entry\n const presses = []; // this frame's presses, in order: { id, x, y }\n const xy = [0, 0];\n\n const toCanvas = (e, out) => {\n const r = canvas.getBoundingClientRect ? canvas.getBoundingClientRect() : null;\n const w = view.vp[2], h = -view.vp[3];\n if (r && r.width > 0 && r.height > 0 && w > 0 && h > 0) {\n out[0] = (e.clientX - r.left) (w / r.width);\n out[1] = (e.clientY - r.top) * (h / r.height);\n } else {\n out[0] = e.clientX; out[1] = e.clientY;\n }\n return out;\n };\n\n const entry = (id) => {\n let p = pointers.get(id);\n if (!p) { p = { id, x: 0, y: 0, seq: 0, down: false, up: false, cancel: false, owner: null }; pointers.set(id, p); }\n return p;\n };\n\n const capture = (id, on) => {\n const f = on ? canvas.setPointerCapture : canvas.releasePointerCapture;\n if (typeof f !== 'function') return;\n try { f.call(canvas, id); } catch (_) { /* best effort: a synthetic or already-released id / }\n };\n\n const onDown = (e) => {\n const p = entry(e.pointerId);\n toCanvas(e, xy);\n p.x = xy[0]; p.y = xy[1]; p.seq++;\n p.down = true; p.up = false; p.cancel = false;\n presses.push({ id: p.id, x: p.x, y: p.y });\n };\n const onMove = (e) => {\n const p = entry(e.pointerId);\n toCanvas(e, xy);\n p.x = xy[0]; p.y = xy[1]; p.seq++;\n };\n const onUp = (e) => {\n const p = pointers.get(e.pointerId);\n if (!p) return;\n toCanvas(e, xy);\n p.x = xy[0]; p.y = xy[1]; p.seq++;\n p.up = true;\n capture(p.id, false);\n };\n const onCancel = (e) => {\n const p = pointers.get(e.pointerId);\n if (!p) return;\n p.cancel = true;\n capture(p.id, false);\n };\n const onKey = (e) => {\n if (e.key !== 'Escape') return;\n for (const p of pointers.values()) if (p.owner !== null) p.cancel = true;\n };\n\n canvas.addEventListener('pointerdown', onDown);\n canvas.addEventListener('pointermove', onMove);\n canvas.addEventListener('pointerup', onUp);\n canvas.addEventListener('pointercancel', onCancel);\n if (typeof window !== 'undefined' && window.addEventListener) window.addEventListener('keydown', onKey);\n\n const source = {\n /* This frame's presses in order, each { id, x, y }; emptied by flush(). /\n presses,\n /* The live pointer entries by id. /\n pointers,\n\n /\n The entry of a pointer, or null when it is not on the canvas.\n * @param {number} id\n * @returns {object\|null}\n /\n get(id) { return pointers.get(id) \|\| null; },\n\n /\n Claim a pointer for an owner and capture it on the canvas. Fails when\n * another owner holds it or the pointer is unknown.\n * @param {number} id\n * @param {object} owner\n * @returns {boolean} claimed\n /\n claim(id, owner) {\n const p = pointers.get(id);\n if (!p \|\| (p.owner !== null && p.owner !== owner)) return false;\n p.owner = owner;\n capture(id, true);\n return true;\n },\n\n /\n Release a claim and the capture with it. No-op for an unclaimed id.\n * @param {number} id\n /\n release(id) {\n const p = pointers.get(id);\n if (!p \|\| p.owner === null) return;\n p.owner = null;\n capture(id, false);\n },\n\n /\n The owner holding a pointer, or null.\n * @param {number} id\n * @returns {object\|null}\n /\n ownerOf(id) { const p = pointers.get(id); return p ? p.owner : null; },\n\n /\n End the frame: the press queue empties; pointers that released or\n * cancelled leave the map (their claims dropped), the rest keep their\n * position and seq.\n /\n flush() {\n presses.length = 0;\n for (const [id, p] of pointers) {\n if (p.up \|\| p.cancel) { p.owner = null; pointers.delete(id); }\n }\n },\n\n /* Remove every listener and release every capture. /\n dispose() {\n canvas.removeEventListener('pointerdown', onDown);\n canvas.removeEventListener('pointermove', onMove);\n canvas.removeEventListener('pointerup', onUp);\n canvas.removeEventListener('pointercancel', onCancel);\n if (typeof window !== 'undefined' && window.removeEventListener) window.removeEventListener('keydown', onKey);\n for (const p of pointers.values()) if (p.owner !== null) capture(p.id, false);\n pointers.clear();\n presses.length = 0;\n },\n };\n return source;\n}\n","/\n @file The players registry and the frame loop.\n * @module host/loop\n * @license AGPL-3.0-only\n \n A player is { tick(dt) → boolean }, removed from the registry when it\n * returns false. Iteration snapshots the set, so a player may remove itself\n * or add another during a tick. Tracks register through their activation\n * hooks, helms until disposed.\n \n The loop is optional: with it, requestAnimationFrame (overridable — the\n * seam a WebXR session fills) drives onFrame(dt) with dt in seconds clamped\n * to 50 ms, the stalled-tab guard; without it the application ticks the\n * players from its own loop.\n /\n\n'use strict';\n\n/\n Create a players registry.\n * @returns {{ add(player):object, remove(player):object, has(player):boolean,\n * tick(dt:number):void, size:number, clear():void }}\n /\nexport function createPlayers() {\n const set = new Set();\n const players = {\n /* Register a player; adding one already present is a no-op. /\n add(player) { if (player) set.add(player); return players; },\n /* Unregister a player. /\n remove(player) { set.delete(player); return players; },\n /* Whether a player is registered. /\n has(player) { return set.has(player); },\n /* Tick every player with dt (seconds); one returning false is removed. /\n tick(dt) {\n for (const p of [...set]) {\n if (!set.has(p)) continue; // removed by an earlier player this tick\n if (p.tick(dt) === false) set.delete(p);\n }\n },\n /* Registered count. /\n get size() { return set.size; },\n /* Unregister every player. /\n clear() { set.clear(); },\n };\n return players;\n}\n\nconst _now = () => (typeof performance !== 'undefined' && performance.now) ? performance.now() : Date.now();\n\n/\n Create a frame loop. `onFrame(dt)` runs once per animation frame with the\n * clamped period in seconds; start() schedules, stop() cancels.\n \n @param {{ onFrame:function(number):void, raf?:function, caf?:function,\n * clampMs?:number, now?:function():number }} opts\n * raf / caf default to the window's requestAnimationFrame /\n * cancelAnimationFrame; clampMs defaults to 50.\n * @returns {{ start():object, stop():object, running:boolean, dt:number }}\n /\nexport function createLoop(opts) {\n const o = opts \|\| {};\n const raf = o.raf \|\| ((cb) => requestAnimationFrame(cb));\n const caf = o.caf \|\| ((id) => cancelAnimationFrame(id));\n const now = o.now \|\| _now;\n const clamp = (o.clampMs ?? 50) / 1000;\n let handle = null, last = 0;\n const loop = {\n running: false,\n dt: 0,\n start() {\n if (loop.running) return loop;\n loop.running = true;\n last = now();\n const frame = () => {\n if (!loop.running) return;\n const t = now();\n loop.dt = Math.min((t - last) / 1000, clamp);\n last = t;\n o.onFrame(loop.dt);\n if (loop.running) handle = raf(frame);\n };\n handle = raf(frame);\n return loop;\n },\n stop() {\n loop.running = false;\n if (handle !== null) { caf(handle); handle = null; }\n return loop;\n },\n };\n return loop;\n}\n","/\n @file The handle controller — a draggable constraint driven from the pointer source.\n * @module host/handle\n * @license AGPL-3.0-only\n \n Wraps a core Constraint (@nakednous/tree) with the transport a draggable\n * 3D control needs: presses, moves and releases from the host's pointer\n * source, a pixel → ray unprojection through the host's view bag, an\n * analytic pick against the constraint's proxy, and a host-driven update()\n * lifecycle. No drawing: a bridge draws the locus (locusLines) and the dot.\n \n ── update() ordering contract ─────────────────────────────────────────────\n * update() is host-driven, before the orbit, because the orbit gate depends\n * on the grab resolving first:\n \n onFrame() { setCamera(cam); if (!h.update()) orbit.update(); scene() }\n \n ── Pick ───────────────────────────────────────────────────────────────────\n * The pointer's ray is unproject(x, y, view) in WORLD; the grab size is\n * grabPx converted to world units through pixelRatio at the proxy's depth;\n * the constraint's proxy(ray, radius) answers t or Infinity. Built-in kinds\n * carry their proxy (a sphere at the point, the DIAL's ring); a custom kind\n * supplies one or gets the sphere. solve() runs in WORLD; value() converts.\n \n ── Pointer source ─────────────────────────────────────────────────────────\n * update() reads the frame's press queue and the tracked pointer's entry\n * (seq counts moves; up / cancel end the gesture; Esc cancels every claimed\n * pointer). A grab claims the pointer, which captures it on the canvas; a\n * miss leaves it unclaimed for the orbit. The whole gesture keys to one\n * pointerId, so on a shared surface each handle tracks its own finger.\n \n ── Constraint kinds ───────────────────────────────────────────────────────\n * Core SPHERE / PLANE / AXIS / DIAL pass straight through. VIEW is a core\n * PLANE re-aimed at the camera each solve — a screen-parallel drag plane\n * through the current point — reported as a world position; its constraint\n * carries `view: true`, the flag locusLines reads. A custom kind is a\n * contract-conforming object (kind / solve / value / seed, optional scalar /\n * azEl / aim / proxy / locus) passed as `constraint`.\n \n ── Snap / hover / cancel / from ───────────────────────────────────────────\n * snap quantises at the solve seam: an angular step for SPHERE (az/el) and\n * DIAL (θ), a world grid for PLANE / AXIS / VIEW (PLANE re-projecting).\n * hover is a lone-handle opt-in (a router provides it shared). Cancel — Esc,\n * pointercancel, cancel() — reverts to the value captured at grab, restores\n * the binding and fires onCancel instead of onRelease. `from` names the space\n * the symbolic basis (axis / normal / zero) resolves FROM into WORLD each idle\n * frame through mapDirection on the view bag — WORLD, EYE, or a mat4 —\n * frozen at grab.\n /\n\n'use strict';\n\nimport {\n createConstraint, dirFromAzEl, unproject, rayHitSphere,\n mapLocation, mapDirection, pixelRatio, mat4Invert,\n SPHERE, PLANE, AXIS, DIAL, POINT, DIRECTION, WORLD, MATRIX,\n} from '@nakednous/tree';\n\n/* The screen-parallel free-translate constraint (a core PLANE re-aimed each solve). /\nexport const VIEW = 4;\n\n// Module-level scratch — update() and value() run to completion within one\n// frame with no reentrancy across handles.\nconst _rayO = [0, 0, 0]; // pick ray origin, WORLD\nconst _rayD = [0, 0, 0]; // pick ray unit direction, WORLD\n/* The ray scratch a handle's _ray(x, y) fills — the router's shared pick reads it. /\nexport const rayScratch = { o: _rayO, d: _rayD };\nconst _v3 = [0, 0, 0]; // value() extraction scratch\nconst _q2 = [0, 0]; // az/el snap scratch\nconst _b0 = [0, 0, 0]; // resolved θ = 0 reference\nconst _b2 = [0, 0, 0]; // resolved axis / normal\nconst _frameInv = new Float32Array(16);\n\n// The mapping bag mapLocation / mapDirection take: the view's matrices plus\n// the frames a call names (a mat4 `from` or `to` is the MATRIX space).\nconst _bag = { mat4Proj: null, mat4View: null, mat4PV: null, mat4PVInv: null, mat4Eye: null,\n fromFrame: null, toFrame: null, toFrameInv: null };\nconst _isMat = (s) => s != null && typeof s !== 'string';\nconst _space = (s) => (_isMat(s) ? MATRIX : s);\n\nfunction _bagOf(view, from, to) {\n _bag.mat4Proj = view.mat4Proj; _bag.mat4View = view.mat4View;\n _bag.mat4PV = view.mat4PV; _bag.mat4PVInv = view.mat4PVInv; _bag.mat4Eye = view.mat4Eye;\n _bag.fromFrame = _isMat(from) ? from : null;\n if (_isMat(to)) { _bag.toFrame = to; _bag.toFrameInv = mat4Invert(_frameInv, to) ? _frameInv : null; }\n else { _bag.toFrame = null; _bag.toFrameInv = null; }\n return _bag;\n}\n\nconst _norm3 = (o) => {\n const l = Math.hypot(o[0], o[1], o[2]) \|\| 1;\n o[0] /= l; o[1] /= l; o[2] /= l;\n return o;\n};\n\n// Orthonormal in-plane basis for a unit normal n, seeded from the world axis\n// least aligned with it (a DIAL's θ = 0 reference when `from` gives none).\nconst _basisFromNormal = (n, ub, vb) => {\n const ax = Math.abs(n[0]), ay = Math.abs(n[1]), az = Math.abs(n[2]);\n let rx = 0, ry = 0, rz = 0;\n if (ax <= ay && ax <= az) rx = 1; else if (ay <= az) ry = 1; else rz = 1;\n ub[0] = ryn[2] - rzn[1]; ub[1] = rzn[0] - rxn[2]; ub[2] = rxn[1] - ryn[0];\n _norm3(ub);\n vb[0] = n[1]ub[2] - n[2]ub[1]; vb[1] = n[2]ub[0] - n[0]ub[2]; vb[2] = n[0]ub[1] - n[1]ub[0];\n};\n\n// Read component i of an array or {x, y, z}, falling back to d.\nconst _vx = (v, i, d) => {\n if (v == null) return d;\n const c = i === 0 ? v.x : i === 1 ? v.y : v.z;\n return c ?? v[i] ?? d;\n};\n\n/* Contract check for a custom constraint object. /\nexport const isConstraint = (c) =>\n c && typeof c === 'object' &&\n typeof c.solve === 'function' &&\n typeof c.value === 'function' &&\n typeof c.seed === 'function';\n\n/\n The handle controller. Stateful and long-lived, like a track; driven from\n * the frame through update(), read with value(out, opts).\n /\nexport class Handle {\n /\n @param {object} host The host context (its pointer source and view bag).\n * @param {object} opts See host.handle().\n /\n constructor(host, opts) {\n this._host = host;\n this._pointer = host.pointer;\n this._view = host.view;\n\n const kind = opts.constraint;\n this._isView = (kind === VIEW);\n if (isConstraint(kind)) {\n this._constraint = kind;\n } else {\n const coreKind = this._isView ? PLANE : kind;\n // Vector opts pass straight through — the core duck-types arrays and {x, y, z}.\n this._constraint = createConstraint(coreKind, {\n radius: opts.radius, report: opts.report, anchor: opts.anchor,\n normal: opts.normal, axis: opts.axis, zero: opts.zero, extent: opts.extent,\n });\n if (this._isView) this._constraint.view = true; // the flag locusLines reads\n }\n\n // Deferred constraint frame: the symbolic basis and the space it resolves from.\n this._from = null; this._fromDir = null; this._fromZero = null;\n if (opts.from != null && opts.from !== WORLD) {\n const custom = isConstraint(kind);\n const dirOpt = (kind === PLANE) ? opts.normal : (opts.axis ?? opts.normal);\n const ok = !this._isView &&\n (kind === PLANE \|\| kind === AXIS \|\| kind === DIAL \|\|\n (custom && typeof this._constraint.aim === 'function'));\n if (!ok) {\n console.error('[host] handle: `from` needs an aimable constraint — PLANE, AXIS, DIAL, or a custom kind exposing aim(); ignoring.');\n } else if (custom && dirOpt == null) {\n console.error('[host] handle: `from` on a custom kind needs a symbolic `axis` (or `normal`) to resolve; ignoring.');\n } else {\n this._from = opts.from;\n this._fromDir = [_vx(dirOpt, 0, kind === AXIS ? 1 : 0), _vx(dirOpt, 1, kind === AXIS ? 0 : 1), _vx(dirOpt, 2, 0)];\n if (opts.zero != null) {\n this._fromZero = [_vx(opts.zero, 0, 1), _vx(opts.zero, 1, 0), _vx(opts.zero, 2, 0)];\n } else if (kind === DIAL) {\n // Derive the θ = 0 reference once, in the FROM space, so axis and zero co-rotate.\n _b2[0] = this._fromDir[0]; _b2[1] = this._fromDir[1]; _b2[2] = this._fromDir[2];\n _norm3(_b2);\n const r0 = [0, 0, 0], r1 = [0, 0, 0];\n _basisFromNormal(_b2, r0, r1);\n this._fromZero = r0;\n }\n }\n }\n\n this._enabled = opts.enabled !== false;\n this._grabPx = Number.isFinite(opts.grabPx) ? opts.grabPx : 12;\n this._snap = opts.snap ?? null;\n this._hover = opts.hover === true;\n this._hovered = false;\n this._hid = null; this._hseq = -1; // the pointer last hover-tested, and its seq then\n\n // Transport state: one pointerId per gesture, its last consumed move seq\n // and its position in logical canvas px; _routed hands the down step to a router.\n this._grabbed = false;\n this._pid = null;\n this._seq = -1;\n this._ptr = [0, 0];\n this._routed = false;\n\n // The proxy: its world position and the grab radius in world units.\n this._proxyPos = [0, 0, 0];\n this._proxyRad = 0;\n\n // Cancel state — the value (and scalar, for winding) captured at grab.\n this._saved = [0, 0, 0];\n this._savedS = 0;\n\n // Hooks — user-facing, then the lib-space seams a router or a track owns.\n this.onGrab = typeof opts.onGrab === 'function' ? opts.onGrab : null;\n this.onRelease = typeof opts.onRelease === 'function' ? opts.onRelease : null;\n this.onChange = typeof opts.onChange === 'function' ? opts.onChange : null;\n this.onCancel = typeof opts.onCancel === 'function' ? opts.onCancel : null;\n this._onGrab = null; this._onRelease = null; this._onChange = null; this._onCancel = null;\n\n // Binding — a normalised { get, set } accessor; _bindVal the reused value array.\n this._binder = null;\n this._bindVal = [0, 0, 0];\n\n if (opts.bind != null) this.bind(opts.bind);\n }\n\n // ── Lifecycle ───────────────────────────────────────────────────────────\n\n /\n Resolve the grab and re-solve from the pointer. Call first in the frame,\n * before the orbit; a routed handle is updated by its router. Returns the\n * grabbed state so the orbit gate can short-circuit; a disabled handle\n * returns false.\n * @returns {boolean} grabbed\n /\n update() {\n if (!this._enabled) {\n if (this._pid !== null && this._pointer) this._pointer.release(this._pid);\n this._grabbed = false; this._hovered = false; this._pid = null;\n return false;\n }\n const src = this._pointer;\n if (!src) return false;\n if (this._from && !this._grabbed) this._resolveFrame();\n\n // Fresh press (unrouted): the first unclaimed press this frame is\n // hit-tested at its pixel; a hit claims the pointer, a miss leaves it.\n if (!this._routed && this._pid === null) {\n for (const pr of src.presses) {\n if (src.ownerOf(pr.id) !== null) continue;\n this._ptr[0] = pr.x; this._ptr[1] = pr.y;\n if (this._pickAt(pr.x, pr.y)) { this._adopt(pr.id, pr.x, pr.y); break; }\n }\n }\n\n if (this._pid !== null) {\n const e = src.get(this._pid);\n if (!e) {\n this._cancelNow(); // the entry left before this handle saw its end\n } else {\n if (this._grabbed && e.seq !== this._seq && !e.cancel) {\n this._seq = e.seq;\n this._ptr[0] = e.x; this._ptr[1] = e.y;\n this._solveFromPointer(e.x, e.y);\n this._applySnap();\n this._afterSolve();\n }\n if (e.cancel) {\n this._cancelNow();\n } else if (e.up) {\n src.release(this._pid);\n this._grabbed = false;\n this._pid = null;\n this.onRelease && this.onRelease(this);\n this._onRelease && this._onRelease(this);\n }\n }\n }\n\n // Hover: a lone handle tests the latest unclaimed pointer motion.\n if (this._grabbed) {\n this._hovered = true;\n } else if (this._hover && !this._routed) {\n for (const e of src.pointers.values()) {\n if (e.owner !== null) continue;\n if (e.id === this._hid && e.seq === this._hseq) continue;\n this._hid = e.id; this._hseq = e.seq;\n this._hovered = this._pickAt(e.x, e.y);\n break;\n }\n }\n return this._grabbed;\n }\n\n _beginGrab() {\n const c = this._constraint;\n c.value(this._saved, POINT);\n this._savedS = typeof c.scalar === 'function' ? c.scalar() : 0;\n this._grabbed = true;\n this.onGrab && this.onGrab(this);\n this._onGrab && this._onGrab(this);\n }\n\n /* Router seam: adopt a pointer a shared pick decided; claims it through the source. /\n _adopt(pointerId, x, y) {\n const e = this._pointer.get(pointerId);\n this._pid = pointerId;\n this._seq = e ? e.seq : -1;\n this._ptr[0] = x; this._ptr[1] = y;\n this._pointer.claim(pointerId, this);\n this._beginGrab();\n }\n\n /\n Revert the drag in flight to the value captured at grab (exact θ winding\n * included), restore the binding, fire onCancel. No-op when not grabbed.\n * Chainable.\n * @returns {Handle} this\n /\n cancel() {\n if (this._grabbed) this._cancelNow();\n return this;\n }\n\n _cancelNow() {\n const c = this._constraint;\n if (this._isView) {\n c.pt[0] = this._saved[0]; c.pt[1] = this._saved[1]; c.pt[2] = this._saved[2];\n } else if (c.kind === DIAL) {\n c.s = this._savedS;\n c._dialPoint();\n } else {\n c.seed(this._saved[0], this._saved[1], this._saved[2]);\n }\n if (this._binder) this._binder.set(this.value(this._bindVal));\n this._grabbed = false;\n if (this._pid !== null && this._pointer) this._pointer.release(this._pid);\n this._pid = null;\n this.onCancel && this.onCancel(this);\n this._onCancel && this._onCancel(this);\n }\n\n // ── Frame, pick, solve ──────────────────────────────────────────────────\n\n // Resolve the symbolic basis from its space into WORLD through the view\n // bag and re-aim the constraint; idle frames only.\n _resolveFrame() {\n const v = this._view, bag = _bagOf(v, this._from, null), from = _space(this._from);\n const d = this._fromDir;\n mapDirection(_b2, d[0], d[1], d[2], from, WORLD, bag, v.vp, v.ndcZMin);\n if (this._fromZero) {\n const z = this._fromZero;\n mapDirection(_b0, z[0], z[1], z[2], from, WORLD, bag, v.vp, v.ndcZMin);\n this._constraint.aim(_b2[0], _b2[1], _b2[2], _b0[0], _b0[1], _b0[2]);\n } else {\n this._constraint.aim(_b2[0], _b2[1], _b2[2]);\n }\n }\n\n // The proxy's world position and its grab radius in world units — a\n // constant grabPx screen size at the proxy's depth.\n _proxyPrep() {\n const c = this._constraint, v = this._view, p = this._proxyPos;\n if (this._from && !this._grabbed) this._resolveFrame();\n if (c.kind === DIAL && !this._isView) {\n p[0] = c.anchor[0]; p[1] = c.anchor[1]; p[2] = c.anchor[2];\n } else {\n c.value(p, POINT);\n }\n const V = v.mat4View;\n const eyeZ = V[2]p[0] + V[6]p[1] + V[10]p[2] + V[14];\n this._proxyRad = this._grabPx * pixelRatio(v.mat4Proj, -v.vp[3], eyeZ, v.ndcZMin);\n }\n\n // The analytic pick: t along the ray, or Infinity.\n _proxyT(o, d) {\n this._proxyPrep();\n const c = this._constraint;\n if (typeof c.proxy === 'function') return c.proxy(o[0], o[1], o[2], d[0], d[1], d[2], this._proxyRad);\n const p = this._proxyPos;\n return rayHitSphere(o[0], o[1], o[2], d[0], d[1], d[2], p[0], p[1], p[2], this._proxyRad);\n }\n\n /** Unproject a canvas pixel into the ray scratch; false on a stale view. /\n _ray(x, y) {\n const v = this._view;\n if (v.stale) return false;\n return unproject(_rayO, _rayD, x, y, v, v.vp, v.ndcZMin) !== null;\n }\n\n /* Hit-test the proxy at a canvas pixel. /\n _pickAt(x, y) {\n return this._ray(x, y) && this._proxyT(_rayO, _rayD) < Infinity;\n }\n\n _solveFromPointer(x, y) {\n if (!this._ray(x, y)) return;\n if (this._isView) this._viewUpdatePlane();\n this._constraint.solve(_rayO[0], _rayO[1], _rayO[2], _rayD[0], _rayD[1], _rayD[2]);\n }\n\n // VIEW: re-aim the plane at the camera through the current point — its\n // normal the look direction (−Z of the eye matrix), its anchor the point.\n _viewUpdatePlane() {\n const c = this._constraint, E = this._view.mat4Eye;\n c.n[0] = -E[8]; c.n[1] = -E[9]; c.n[2] = -E[10];\n _norm3(c.n);\n c.anchor[0] = c.pt[0]; c.anchor[1] = c.pt[1]; c.anchor[2] = c.pt[2];\n }\n\n // ── Snap ────────────────────────────────────────────────────────────────\n\n /* Snap step — angular (rad) for SPHERE / DIAL, a world grid for PLANE / AXIS / VIEW; null off. /\n get snap() { return this._snap; }\n set snap(v) { this._snap = v ?? null; }\n\n _applySnap() {\n const sn = this._snap;\n if (sn == null) return;\n const c = this._constraint;\n if (this._isView \|\| c.kind === PLANE) {\n const gx = Array.isArray(sn) ? sn[0] : sn, gy = Array.isArray(sn) ? sn[1] : sn, gz = Array.isArray(sn) ? sn[2] : sn;\n _v3[0] = gx > 0 ? Math.round(c.pt[0] / gx) gx : c.pt[0];\n _v3[1] = gy > 0 ? Math.round(c.pt[1] / gy) * gy : c.pt[1];\n _v3[2] = gz > 0 ? Math.round(c.pt[2] / gz) * gz : c.pt[2];\n if (this._isView) { c.pt[0] = _v3[0]; c.pt[1] = _v3[1]; c.pt[2] = _v3[2]; }\n else c.seed(_v3[0], _v3[1], _v3[2]);\n } else if (c.kind === AXIS \|\| c.kind === DIAL) {\n const step = Array.isArray(sn) ? sn[0] : sn;\n if (!(step > 0)) return;\n const q = Math.round(c.s / step) * step;\n c.s = q < c.min ? c.min : (q > c.max ? c.max : q);\n if (c.kind === DIAL) c._dialPoint();\n else {\n c.pt[0] = c.anchor[0] + c.s * c.u[0];\n c.pt[1] = c.anchor[1] + c.s * c.u[1];\n c.pt[2] = c.anchor[2] + c.s * c.u[2];\n }\n } else if (c.kind === SPHERE) {\n const step = Array.isArray(sn) ? sn[0] : sn;\n if (!(step > 0)) return;\n c.azEl(_q2);\n dirFromAzEl(c.dir, Math.round(_q2[0] / step) * step, Math.round(_q2[1] / step) * step);\n }\n }\n\n // ── Value and binding ───────────────────────────────────────────────────\n\n /*\n Write the current value into `out`. `report` overrides the constraint's\n * (POINT \| DIRECTION); `to` converts from WORLD to EYE, SCREEN, NDC, or a\n * mat4 frame through the view bag. Out-first, out required.\n * @param {number[]} out 3-element destination.\n * @param {{ to?:string\|ArrayLike<number>, report?:number }} [opts]\n * @returns {number[]} out\n /\n value(out, opts) {\n const o = opts \|\| {}, c = this._constraint;\n const report = (o.report === POINT \|\| o.report === DIRECTION) ? o.report : c.report;\n const to = o.to ?? WORLD;\n c.value(_v3, report);\n if (to === WORLD) { out[0] = _v3[0]; out[1] = _v3[1]; out[2] = _v3[2]; return out; }\n const v = this._view, bag = _bagOf(v, null, to), space = _space(to);\n return report === DIRECTION\n ? mapDirection(out, _v3[0], _v3[1], _v3[2], WORLD, space, bag, v.vp, v.ndcZMin)\n : mapLocation(out, _v3[0], _v3[1], _v3[2], WORLD, space, bag, v.vp, v.ndcZMin);\n }\n\n /\n Bind the handle to a target it drives while dragging: a `{ get, set }`\n * accessor, or a vec3 array mutated in place (a camera state's eye or\n * center is one). get() seeds the constraint now; each solve calls\n * set(value) with the reused value array, then fires onChange. Chainable.\n * @param {number[]\|{ get:Function, set:Function }} target\n * @returns {Handle} this\n /\n bind(target) {\n let binder = null;\n if (target && typeof target.get === 'function' && typeof target.set === 'function') {\n binder = target;\n } else if (target && typeof target === 'object' && typeof target.length === 'number' && target.length >= 3) {\n binder = { get: () => target, set: (v) => { target[0] = v[0]; target[1] = v[1]; target[2] = v[2]; } };\n } else {\n console.error('[host] handle.bind: unrecognised target — pass a vec3 array or an { get, set } accessor. Leaving unbound.');\n return this;\n }\n this._binder = binder;\n if (this._from && !this._grabbed) this._resolveFrame();\n this._seedFromBinding();\n return this;\n }\n\n /* Re-seed the constraint from the bound target after it changed externally. Chainable. /\n sync() {\n if (this._binder) this._seedFromBinding();\n return this;\n }\n\n _seedFromBinding() {\n const g = this._binder.get();\n if (g == null) return;\n const x = _vx(g, 0, 0), y = _vx(g, 1, 0), z = _vx(g, 2, 0);\n if (this._isView) { const pt = this._constraint.pt; pt[0] = x; pt[1] = y; pt[2] = z; }\n else this._constraint.seed(x, y, z);\n }\n\n // Push the freshly solved value to the binding and fire onChange, once per solve.\n _afterSolve() {\n const bound = this._binder !== null;\n const notify = !!(this.onChange \|\| this._onChange);\n if (!bound && !notify) return;\n const v = this.value(this._bindVal);\n if (bound) this._binder.set(v);\n if (notify) {\n this.onChange && this.onChange(v, this);\n this._onChange && this._onChange(v, this);\n }\n }\n\n // ── Readouts and edits ──────────────────────────────────────────────────\n\n /* AXIS: the signed distance along the rail; DIAL: the accumulated angle; NaN otherwise. /\n scalar() { return typeof this._constraint.scalar === 'function' ? this._constraint.scalar() : NaN; }\n\n /* SPHERE: [az, el] of the current direction, into out2. /\n azEl(out2) {\n const o = out2 \|\| [0, 0];\n return typeof this._constraint.azEl === 'function' ? this._constraint.azEl(o) : o;\n }\n\n /* True between grab and release. /\n grabbed() { return this._grabbed; }\n\n /* True while the pointer rests on the proxy, and while grabbed. /\n hovered() { return this._hovered; }\n\n /\n Move the reference point — sphere centre, plane point, axis anchor,\n * dial centre, or a VIEW handle's point; the stored point rides along.\n * Chainable.\n * @param {number[]\|{x:number,y:number,z:number}} v\n * @returns {Handle} this\n /\n anchor(v) {\n const c = this._constraint;\n const t = this._isView ? c.pt : c.anchor;\n if (!t) return this;\n t[0] = _vx(v, 0, t[0]); t[1] = _vx(v, 1, t[1]); t[2] = _vx(v, 2, t[2]);\n if (!this._isView) {\n if (c.kind === DIAL) c._dialPoint();\n else if (c.kind === AXIS) {\n c.pt[0] = c.anchor[0] + c.s c.u[0];\n c.pt[1] = c.anchor[1] + c.s * c.u[1];\n c.pt[2] = c.anchor[2] + c.s * c.u[2];\n } else if (c.kind === PLANE) c.seed(c.pt[0], c.pt[1], c.pt[2]);\n }\n return this;\n }\n\n /** Runtime gate — false suspends grab / solve without disposing. /\n get enabled() { return this._enabled; }\n set enabled(v) {\n this._enabled = !!v;\n if (!this._enabled) {\n if (this._pid !== null && this._pointer) this._pointer.release(this._pid);\n this._grabbed = false; this._hovered = false; this._pid = null;\n }\n }\n\n /* Release the pointer claim and leave the host. /\n dispose() {\n if (this._pid !== null && this._pointer) this._pointer.release(this._pid);\n this._pid = null;\n this._grabbed = false;\n this._pointer = null;\n this._host.unregister(this);\n }\n}\n\n/\n Validate the constraint option: a built-in kind, VIEW, or a contract object.\n * @param {} kind\n @returns {boolean}\n /\nexport function validConstraint(kind) {\n return kind === SPHERE \|\| kind === PLANE \|\| kind === AXIS \|\| kind === DIAL \|\| kind === VIEW \|\| !!isConstraint(kind);\n}\n","/\n @file The pointer router — shared arbitration for overlapping handles.\n * @module host/router\n * @license AGPL-3.0-only\n \n Per-handle self-picking double-grabs on overlap: two proxies under one\n * finger each test only themselves and both hit. The router replaces the\n * members' down step with one shared pick: the pointer's ray once, every\n * enabled member's proxy tested, the nearest t wins (a tie keeps the\n * earlier member, as draw order would). Members keep their own move /\n * solve / release machinery, grabbed through their injected _adopt; every\n * unclaimed press of the frame resolves, so several same-frame presses on\n * different members all land. Hover is the same test on unclaimed pointer\n * motion, shared, setting at most one hovered member.\n /\n\n'use strict';\n\nimport { rayScratch } from './handle.js';\n\n/* Shared pick over a set of handles on one host. /\nexport class PointerRouter {\n /\n @param {object} host The host context.\n * @param {object[]} handles Members.\n * @param {{ hover?:boolean }} [opts] hover defaults to true.\n /\n constructor(host, handles, opts) {\n const o = opts \|\| {};\n this._host = host;\n this._pointer = host.pointer;\n this._handles = [];\n this._hover = o.hover !== false;\n this._hoveredH = null;\n this._hid = null; this._hseq = -1;\n for (const h of handles \|\| []) this.add(h);\n }\n\n /\n Route a handle: its own pointerdown adoption is disabled and the shared\n * pick grabs it through _adopt. Chainable.\n * @param {object} h\n * @returns {PointerRouter} this\n /\n add(h) {\n if (!h \|\| typeof h._proxyT !== 'function') {\n console.error('[host] router.add: not a handle — ignoring.');\n return this;\n }\n if (this._handles.includes(h)) return this;\n h._routed = true;\n h._onRelease = h._onCancel = () => this._unclaim(h);\n this._handles.push(h);\n return this;\n }\n\n /\n Un-route a handle; it self-picks again. Chainable.\n * @param {object} h\n * @returns {PointerRouter} this\n /\n remove(h) {\n const i = this._handles.indexOf(h);\n if (i < 0) return this;\n this._handles.splice(i, 1);\n this._unclaim(h);\n h._routed = false;\n h._onRelease = h._onCancel = null;\n if (this._hoveredH === h) { this._hoveredH = null; h._hovered = false; }\n return this;\n }\n\n /\n Resolve the frame's presses with one shared pick each, refresh hover on\n * pointer motion, then update every member. Call first in the frame, in\n * place of the members' own updates.\n * @returns {boolean} true if any member is grabbed.\n /\n update() {\n const hs = this._handles, src = this._pointer;\n if (!src) return false;\n for (const pr of src.presses) {\n if (src.ownerOf(pr.id) !== null) continue;\n const win = this._sharedPick(pr.x, pr.y);\n if (win && win._pid === null && win.enabled) win._adopt(pr.id, pr.x, pr.y);\n }\n if (this._hover) {\n for (const e of src.pointers.values()) {\n if (e.owner !== null) continue;\n if (e.id === this._hid && e.seq === this._hseq) continue;\n this._hid = e.id; this._hseq = e.seq;\n const win = this._sharedPick(e.x, e.y);\n this._hoveredH = win;\n for (const h of hs) h._hovered = (h === win) \|\| h._grabbed;\n break;\n }\n }\n let g = false;\n for (const h of hs) g = h.update() \|\| g;\n return g;\n }\n\n // One ray, every enabled member's proxy, the nearest t.\n _sharedPick(x, y) {\n const hs = this._handles;\n const first = hs.find((h) => h.enabled);\n if (!first \|\| !first._ray(x, y)) return null;\n let win = null, best = Infinity;\n for (const h of hs) {\n if (!h.enabled) continue;\n const t = h._proxyT(rayScratch.o, rayScratch.d);\n if (t < best) { best = t; win = h; }\n }\n return win;\n }\n\n _unclaim(h) {\n const src = this._pointer;\n if (!src) return;\n for (const e of src.pointers.values()) if (e.owner === h) src.release(e.id);\n }\n\n /* The member under the pointer, or null. /\n hovered() { return this._hoveredH; }\n\n /* Un-route every member and leave the host. /\n dispose() {\n for (const h of [...this._handles]) this.remove(h);\n this._pointer = null;\n this._host.unregister(this);\n }\n}\n","/\n @file Helm factories — a core PoseHelm driven from the host's players.\n * @module host/helm\n * @license AGPL-3.0-only\n \n cameraHelm(host, cam, opts) flies a camera state body-relative: the helm is\n * seeded from the state through cameraToPose, integrates each tick in the\n * state's own eye matrix (which equals the pose written last tick, so a\n * forward push flies forward) and writes back through cameraFromPose at the\n * state's gaze distance. poseHelm(host, opts) produces a pose in a declared\n * frame — WORLD, EYE (the host's view bag), SELF (its own pose) or a mat4 —\n * and drives whatever bind() names: a camera state, an { applyPose } sink, a\n * { get, set } accessor or a { pos, rot } object. Both register a player\n * with the host until disposed.\n /\n\n'use strict';\n\nimport {\n PoseHelm, cameraEye, cameraFromPose, cameraToPose, qToMat4, WORLD, EYE, SELF,\n} from '@nakednous/tree';\n\nconst _pose = { pos: [0, 0, 0], rot: [0, 0, 0, 1] }; // step() output\nconst _self = { pos: [0, 0, 0], rot: [0, 0, 0, 1] }; // eval() readout for SELF\nconst _em = new Float32Array(16); // the resolved basis\n\nconst _rawMat4 = (m) => (m != null && m.mat4 != null) ? m.mat4 : m;\nconst _isCameraState = (c) => !!(c && c.eye && c.center && c.up);\n\nfunction _applyOpts(helm, opts) {\n if (!opts) return;\n if (opts.profile) helm.profile = opts.profile;\n if (opts.deadzone != null) helm.deadzone = opts.deadzone;\n if (opts.filter != null) helm.filter = opts.filter;\n if (opts.fullScale != null) helm.fullScale = opts.fullScale;\n}\n\n/\n The basis a pose helm's `from` resolves to: null for WORLD, the view bag's\n * eye matrix for EYE, the helm's own rotation for SELF, a mat4 as given.\n * Exported for a bridge's rig gizmo.\n * @param {PoseHelm} helm\n * @param {object} view The host's view bag.\n * @param {Float32Array} em 16-element scratch.\n * @returns {ArrayLike<number>\|null}\n /\nexport function helmBasis(helm, view, em) {\n const from = helm.from;\n if (from != null && typeof from !== 'string') return _rawMat4(from);\n if (from === EYE) return view ? view.mat4Eye : null;\n if (from === SELF) return qToMat4(em, helm.eval(_self).rot);\n if (from === WORLD \|\| from == null) return null;\n console.error('[host] poseHelm: `from` must be EYE, WORLD, SELF, or a mat4 frame. Falling back to WORLD.');\n return null;\n}\n\n/\n Fly a camera state from a live 6-DOF rate stream, body-relative.\n * @param {object} host\n * @param {object} cam A camera state ({ eye, center, up, … }).\n * @param {{ profile?:object, deadzone?:number, filter?:object, fullScale?:number }} [opts]\n * @returns {PoseHelm} The helm, with dispose().\n /\nexport function cameraHelm(host, cam, opts) {\n const helm = new PoseHelm();\n _applyOpts(helm, opts);\n if (opts && opts.from != null) {\n console.error('[host] cameraHelm: a camera helm is always body-fly and has no `from`. Ignoring it; bind the camera to a poseHelm for screen- or world-relative motion.');\n }\n if (_isCameraState(cam)) helm.home(cameraToPose(_pose, cam));\n const player = {\n tick(dt) {\n helm.step(_pose, dt, _isCameraState(cam) ? cameraEye(_em, cam) : null);\n if (_isCameraState(cam)) {\n cameraFromPose(cam, _pose);\n if (helm._onApply) helm._onApply(cam);\n }\n return true;\n },\n };\n helm._onApply = null; // lib-space seam: a bridge pushes the written state to its camera\n host.players.add(player);\n helm.dispose = () => { host.players.remove(player); host.unregister(helm); return helm; };\n return host.register(helm);\n}\n\n/\n Integrate a live 6-DOF rate stream into a pose in a declared frame and\n * drive a bound target with it.\n * @param {object} host\n * @param {{ profile?:object, deadzone?:number, filter?:object, fullScale?:number,\n * from?:string\|ArrayLike<number>, bind?:object }} [opts]\n * @returns {PoseHelm} The helm, with bind() and dispose().\n /\nexport function poseHelm(host, opts) {\n const o = opts \|\| {};\n const helm = new PoseHelm();\n _applyOpts(helm, o);\n if (o.from != null) helm.from = o.from;\n let sink = null;\n\n const player = {\n tick(dt) {\n if (sink) {\n helm.step(_pose, dt, helmBasis(helm, host.view, _em));\n sink(_pose);\n }\n return true;\n },\n };\n host.players.add(player);\n\n /\n Bind the target the helm drives: a camera state (seeded from it, written\n * through cameraFromPose), an { applyPose } sink, a { get, set } accessor\n * (get() seeds, set(pose) writes) or a { pos, rot } object mutated in\n * place. Chainable.\n * @param {object} target\n * @returns {PoseHelm} this\n /\n helm.bind = (target) => {\n if (_isCameraState(target)) {\n helm.home(cameraToPose(_pose, target));\n sink = (pose) => cameraFromPose(target, pose);\n } else if (target && typeof target.get === 'function' && typeof target.set === 'function') {\n helm.home(target.get());\n sink = (pose) => target.set(pose);\n } else if (target && typeof target.applyPose === 'function') {\n sink = (pose) => target.applyPose(pose);\n } else if (target && target.pos && target.rot) {\n helm.home(target);\n sink = (pose) => {\n target.pos[0] = pose.pos[0]; target.pos[1] = pose.pos[1]; target.pos[2] = pose.pos[2];\n target.rot[0] = pose.rot[0]; target.rot[1] = pose.rot[1];\n target.rot[2] = pose.rot[2]; target.rot[3] = pose.rot[3];\n };\n } else {\n console.error('[host] poseHelm: bind() target must be a camera state, an { applyPose } sink, a { get, set } accessor, or a { pos, rot } object. Leaving unbound.');\n }\n return helm;\n };\n helm.dispose = () => { host.players.remove(player); host.unregister(helm); return helm; };\n if (o.bind != null) helm.bind(o.bind);\n return host.register(helm);\n}\n","/\n @file Track factories and TrackHandles — core tracks wired to the host's players.\n * @module host/track\n * @license AGPL-3.0-only\n \n poseTrack(host, opts) is a core PoseTrack whose activation hooks add and\n * remove its player. cameraTrack(host, cam, opts) is a core CameraTrack whose\n * player evaluates straight into the camera state `cam` — the state is the\n * keyframe shape, so track.eval(cam) is the write — and once more on\n * deactivate so the camera rests on the path; add() with no argument\n * captures `cam`, add({ camera }) any camera-state object. { handles } on\n * either decorates the track with TrackHandles: one VIEW handle per\n * draggable keyframe field (pos / eye / center), an optional rot DIAL per\n * keyframe about a declared axis, all on one router.\n /\n\n'use strict';\n\nimport { PoseTrack, CameraTrack, qFromAxisAngle, DIAL } from '@nakednous/tree';\nimport { VIEW } from './handle.js';\n\n// ── Players ────────────────────────────────────────────────────────────────\n\nfunction _wirePoseTrack(host, track) {\n let player = null;\n track._onActivate = () => {\n player = player \|\| { tick() { track.tick(); return track.playing; } };\n host.players.add(player);\n };\n track._onDeactivate = () => { if (player) host.players.remove(player); };\n}\n\n/\n A core PoseTrack ticked by the host while it plays.\n * @param {object} host\n * @param {{ handles?:boolean\|object }} [opts]\n * @returns {PoseTrack}\n /\nexport function poseTrack(host, opts) {\n const o = opts \|\| {};\n const track = new PoseTrack();\n _wirePoseTrack(host, track);\n if (o.handles) track.handles = new TrackHandles(host, track, o.handles, false);\n return track;\n}\n\n/\n A core CameraTrack evaluating into the camera state `cam` while it plays.\n * @param {object} host\n * @param {object} cam A camera state ({ eye, center, up, fov, halfHeight, near, far }).\n * @param {{ handles?:boolean\|object }} [opts]\n * @returns {CameraTrack}\n /\nexport function cameraTrack(host, cam, opts) {\n const o = opts \|\| {};\n const track = new CameraTrack();\n const state = cam \|\| null; // the evaluation target; track.camera is informational\n track.camera = state;\n track._onApply = null; // lib-space seam: a bridge pushes the evaluated state to its camera\n\n const coreAdd = track.add.bind(track);\n track.add = function (spec, addOpts) {\n if (spec == null) {\n if (!state) return;\n spec = state;\n } else if (Array.isArray(spec)) {\n for (const s of spec) track.add(s, addOpts);\n return;\n } else if (spec.camera != null) {\n spec = spec.camera;\n }\n coreAdd(spec, addOpts);\n };\n\n const apply = () => {\n if (!state \|\| track.keyframes.length === 0) return;\n track.eval(state);\n if (track._onApply) track._onApply(state);\n };\n const player = {\n tick() {\n if (!track.playing) return false;\n track.tick();\n apply();\n return track.playing;\n },\n };\n track._onActivate = () => host.players.add(player);\n track._onDeactivate = () => { host.players.remove(player); apply(); };\n\n if (o.handles) track.handles = new TrackHandles(host, track, o.handles, true);\n return track;\n}\n\n// ── TrackHandles ───────────────────────────────────────────────────────────\n\nconst _vx = (v, i) => (v[i] !== undefined ? v[i] : (i === 0 ? v.x : i === 1 ? v.y : v.z));\n\n/\n Per-keyframe manipulators of a track — the factories' `handles` opt,\n * stored at track.handles. Members are internal handles on one router;\n * their hooks are re-exposed with keyframe coordinates: onGrab(index, field,\n * h) / onChange(value, index, field, h) / onRelease / onCancel, field one of\n * 'pos' \| 'eye' \| 'center' \| 'rot'. update() rebuilds the members when the\n * keyframe count changes and re-seeds every idle member from its keyframe.\n * A bridge draws the members itself (`members`).\n /\nexport class TrackHandles {\n /\n @param {object} host\n * @param {object} track PoseTrack \| CameraTrack.\n * @param {true\|object} opts `true` for the defaults, or\n * { center?, rot?, rotRadius?, rotSnap?, grabPx?, snap?, hover? }.\n * @param {boolean} isCamera CameraTrack (eye / center) vs PoseTrack (pos / rot).\n /\n constructor(host, track, opts, isCamera) {\n const o = opts === true ? {} : (opts \|\| {});\n this._host = host;\n this._track = track;\n this._isCamera = !!isCamera;\n this._members = [];\n this._rotByIndex = new Map();\n this._n = -1;\n this._enabled = true;\n /* Last-grabbed keyframe index, null until a grab. @type {number\|null} /\n this.selected = null;\n\n this._grabPx = Number.isFinite(o.grabPx) ? o.grabPx : 12;\n this._snap = o.snap ?? null;\n this._rotSnap = o.rotSnap ?? null;\n this._center = this._isCamera ? (o.center !== false) : false;\n if (!this._isCamera && o.center !== undefined) console.error('[host] track handles: `center` is CameraTrack-only — ignoring.');\n this._rotAxis = null;\n this._rotRadius = Number.isFinite(o.rotRadius) ? o.rotRadius : 40;\n if (o.rot != null) {\n if (this._isCamera) {\n console.error('[host] track handles: `rot` is PoseTrack-only — a camera keyframe\\'s orientation is its center; drag that instead. Ignoring.');\n } else {\n const ax = _vx(o.rot, 0) ?? 0, ay = _vx(o.rot, 1) ?? 1, az = _vx(o.rot, 2) ?? 0;\n const l = Math.hypot(ax, ay, az) \|\| 1;\n this._rotAxis = [ax / l, ay / l, az / l];\n }\n }\n\n this.onGrab = null; this.onChange = null; this.onRelease = null; this.onCancel = null;\n this._hover = o.hover !== false;\n this._router = null; // made on the first rebuild, once a subclass is constructed\n }\n\n // The construction seams a bridge subclass overrides so the members are\n // handles it can draw.\n _makeHandle(opts) { return this._host.handle(opts); }\n _makeRouter(opts) { return this._host.router([], opts); }\n\n /* The members, { h, index, field } each, for a bridge's draw. /\n get members() { return this._members; }\n /* Dot radius in pixels, the members' grabPx. /\n get grabPx() { return this._grabPx; }\n\n /\n Rebuild if the keyframe count changed, re-seed idle members, then route.\n * Call first in the frame, before the orbit.\n * @returns {boolean} true while any member is grabbed.\n /\n update() {\n if (this._track.keyframes.length !== this._n) this._rebuild();\n if (this._enabled) this._syncIdle();\n return this._router.update();\n }\n\n /* The members' router, made on the first update(). /\n get router() { return this._router; }\n\n /* Runtime gate — false suspends grab / solve and empties the pick. /\n get enabled() { return this._enabled; }\n set enabled(v) {\n this._enabled = !!v;\n for (const m of this._members) m.h.enabled = this._enabled;\n }\n\n /* True while any member is grabbed. /\n grabbed() {\n for (const m of this._members) if (m.h.grabbed()) return true;\n return false;\n }\n\n /* The keyframe index under the pointer (or grabbed), else null. /\n hovered() {\n for (const m of this._members) if (m.h.hovered()) return m.index;\n return null;\n }\n\n /* Re-seed every idle member from its keyframe. Chainable. /\n sync() { this._syncIdle(); return this; }\n\n /* Dispose the members and the router, detach from the track. /\n dispose() {\n this._teardown();\n if (this._router) this._router.dispose();\n if (this._track.handles === this) this._track.handles = null;\n }\n\n _rebuild() {\n if (!this._router) this._router = this._makeRouter({ hover: this._hover });\n this._teardown();\n const n = this._track.keyframes.length;\n this._n = n;\n for (let i = 0; i < n; i++) {\n this._addViewMember(i, this._isCamera ? 'eye' : 'pos');\n if (this._center) this._addViewMember(i, 'center');\n if (this._rotAxis) this._addRotMember(i);\n }\n if (this.selected != null && this.selected >= n) this.selected = null;\n }\n\n _teardown() {\n for (const m of this._members) { this._router.remove(m.h); m.h.dispose(); }\n this._members.length = 0;\n this._rotByIndex.clear();\n }\n\n // A VIEW member bound to kf[field] by index, so set(i, spec) replacing the\n // keyframe never strands it.\n _addViewMember(index, field) {\n const track = this._track;\n const h = this._makeHandle({\n constraint: VIEW, grabPx: this._grabPx, snap: this._snap,\n bind: {\n get: () => track.keyframes[index] ? track.keyframes[index][field] : null,\n set: (v) => {\n const k = track.keyframes[index];\n if (!k) return;\n const a = k[field];\n a[0] = _vx(v, 0); a[1] = _vx(v, 1); a[2] = _vx(v, 2);\n },\n },\n });\n if (!h) return;\n this._wire(h, index, field);\n this._members.push({ h, index, field });\n this._router.add(h);\n }\n\n // A rot member: one DIAL about the declared axis at the keyframe's\n // position, unbound — θ lands in kf.rot through the hooks.\n _addRotMember(index) {\n const kf = this._track.keyframes[index];\n const h = this._makeHandle({\n constraint: DIAL, anchor: [kf.pos[0], kf.pos[1], kf.pos[2]],\n axis: this._rotAxis, radius: this._rotRadius, grabPx: this._grabPx, snap: this._rotSnap,\n });\n if (!h) return;\n this._wire(h, index, 'rot');\n const m = { h, index, field: 'rot' };\n this._members.push(m);\n this._rotByIndex.set(index, m);\n this._router.add(h);\n this._syncRot(m);\n }\n\n _wire(h, index, field) {\n const rotWrite = () => {\n const k = this._track.keyframes[index];\n if (k) { const u = this._rotAxis; qFromAxisAngle(k.rot, u[0], u[1], u[2], h.scalar()); }\n };\n h.onGrab = () => {\n this.selected = index;\n if (this.onGrab) this.onGrab(index, field, h);\n };\n h.onChange = (v) => {\n if (field === 'rot') rotWrite();\n else if (field === 'pos') {\n // Forward the dragged position into the keyframe's rot ring now, so\n // the ring never trails the dot by a frame.\n const rm = this._rotByIndex.get(index);\n const k = this._track.keyframes[index];\n if (rm && k) rm.h.anchor(k.pos);\n }\n if (this.onChange) this.onChange(v, index, field, h);\n };\n h.onRelease = () => { if (this.onRelease) this.onRelease(index, field, h); };\n h.onCancel = () => {\n if (field === 'rot') rotWrite(); // a DIAL is unbound: re-derive from the reverted θ\n if (this.onCancel) this.onCancel(index, field, h);\n };\n }\n\n _syncIdle() {\n for (const m of this._members) {\n if (m.h.grabbed()) continue;\n if (m.field === 'rot') this._syncRot(m);\n else m.h.sync();\n }\n }\n\n // Anchor the ring at the live keyframe position and set θ to the twist of\n // kf.rot about the axis: θ = 2·atan2(q.xyz · u, q.w).\n _syncRot(m) {\n const k = this._track.keyframes[m.index];\n if (!k) return;\n m.h.anchor(k.pos);\n const u = this._rotAxis;\n const th = 2 Math.atan2(k.rot[0] * u[0] + k.rot[1] * u[1] + k.rot[2] * u[2], k.rot[3]);\n const c = m.h._constraint;\n if (c.s !== th) { c.s = th; c._dialPoint(); }\n }\n}\n","/*\n @file Device streams — WebHID and Gamepad rate sources that feed a helm.\n * @module host/stream\n * @license AGPL-3.0-only\n \n The measure-by-subscription transports. Each yields lin[3] / ang[3] in raw\n * device units and, once bind(helm) ran, calls helm.feed(lin, ang) every\n * tick of the host's players — the helm's profile does all scaling, so a\n * stream carries no configuration beyond identification and decoding.\n \n hid — WebHID. connect() must run from a user gesture; reports land\n * out of band into the stream's buffers and the frame reads the\n * latest (last-write-wins). Permissions-Policy gates\n * requestDevice to top-level documents: a stream in an iframe\n * without allow=\"hid\" reports available === false and never\n * prompts.\n * gamepad — the Gamepad API, polled once per tick from\n * navigator.getGamepads(); an absent axis reads exactly 0.\n \n Both expose available and connected for a UI to reflect, and bind(helm),\n * unbind(), dispose().\n /\n\n'use strict';\n\nconst _nav = () => (typeof navigator !== 'undefined' ? navigator : null);\n\n/* The 3Dconnexion vendor ids: the SpaceNavigator and its successors. /\nexport const HID_FILTERS = [{ vendorId: 0x046d }, { vendorId: 0x256f }];\n\n/\n The SpaceNavigator decode: report 1 carries translation, report 2\n * rotation, each three int16 little-endian lanes; a firmware that packs all\n * six lanes into one report fills both halves from it.\n * @param {DataView} report The report's data (the id byte excluded).\n * @param {number} reportId\n * @param {number[]} lin Translation lanes, written.\n * @param {number[]} ang Rotation lanes, written.\n /\nexport function decodeSpaceNavigator(report, reportId, lin, ang) {\n if (report.byteLength >= 12) {\n for (let i = 0; i < 3; i++) { lin[i] = report.getInt16(2 i, true); ang[i] = report.getInt16(6 + 2 * i, true); }\n return;\n }\n if (report.byteLength < 6) return;\n const t = reportId === 1 ? lin : reportId === 2 ? ang : null;\n if (!t) return;\n for (let i = 0; i < 3; i++) t[i] = report.getInt16(2 * i, true);\n}\n\n/** Whether WebHID's requestDevice is allowed in this document. /\nfunction _hidAllowed() {\n if (typeof document !== 'undefined' && document.featurePolicy && typeof document.featurePolicy.allowsFeature === 'function') {\n return document.featurePolicy.allowsFeature('hid');\n }\n if (typeof window !== 'undefined' && 'top' in window) return window.top === window.self;\n return true;\n}\n\nfunction _stream(host, lin, ang) {\n let helm = null;\n const s = {\n /* The latest translation lanes, raw device units. /\n lin,\n /* The latest rotation lanes, raw device units. /\n ang,\n /* The bound helm, or null. /\n get helm() { return helm; },\n /\n Feed a helm every tick. Chainable.\n * @param {object} target A PoseHelm (anything with feed(lin, ang)).\n * @returns {object} this\n /\n bind(target) {\n if (!target \|\| typeof target.feed !== 'function') {\n console.error('[host] stream: bind() target must have feed(lin, ang). Leaving unbound.');\n return s;\n }\n helm = target;\n return s;\n },\n /* Stop feeding; the helm sees its last rate until it is fed again. /\n unbind() { helm = null; return s; },\n };\n const feed = () => { if (helm) helm.feed(lin, ang); };\n return { s, feed };\n}\n\n/\n A WebHID rate stream.\n \n @param {object} host\n * @param {{ filters?:object[], decode?:function, bind?:object, resume?:boolean,\n * hid?:object }} [opts]\n * filters: the requestDevice filters (default HID_FILTERS). decode:\n * decode(report, reportId, lin, ang) (default decodeSpaceNavigator).\n * bind: a helm to bind at once. resume (default true): attach a device\n * this origin was already granted, without a prompt. hid: the WebHID\n * interface (default navigator.hid) — the seam a test fills.\n * @returns {object} The stream: { available, connected, device, lin, ang,\n * connect(), bind(helm), unbind(), dispose() }.\n /\nexport function createHid(host, opts) {\n const o = opts \|\| {};\n const hid = o.hid \|\| (_nav() && _nav().hid) \|\| null;\n const filters = o.filters \|\| HID_FILTERS;\n const decode = typeof o.decode === 'function' ? o.decode : decodeSpaceNavigator;\n const lin = [0, 0, 0], ang = [0, 0, 0];\n const { s, feed } = _stream(host, lin, ang);\n let device = null;\n\n const onReport = (e) => decode(e.data, e.reportId, lin, ang);\n const onDisconnect = (e) => { if (device && e.device === device) detach(); };\n const matches = (d) => filters.length === 0 \|\| filters.some((f) =>\n (f.vendorId == null \|\| f.vendorId === d.vendorId) && (f.productId == null \|\| f.productId === d.productId));\n\n function detach() {\n if (!device) return;\n device.removeEventListener('inputreport', onReport);\n if (device.opened && typeof device.close === 'function') device.close().catch(() => {});\n device = null;\n s.connected = false;\n lin[0] = lin[1] = lin[2] = ang[0] = ang[1] = ang[2] = 0;\n }\n\n async function attach(d) {\n detach();\n try { if (!d.opened) await d.open(); }\n catch (e) { console.error('[host] hid: open() failed: ' + e.message + '.'); return false; }\n device = d;\n d.addEventListener('inputreport', onReport);\n s.connected = true;\n return true;\n }\n\n Object.assign(s, {\n /* Whether WebHID exists and requestDevice is allowed here. /\n available: !!(hid && typeof hid.requestDevice === 'function') && _hidAllowed(),\n /* Whether a device is open and reporting. /\n connected: false,\n\n /\n Prompt for a device (a user gesture is required) and attach the choice.\n * @returns {Promise<boolean>} attached\n /\n async connect() {\n if (!s.available) { console.error('[host] hid: WebHID is unavailable here (a top-level Chromium document over https or localhost).'); return false; }\n let devices;\n try { devices = await hid.requestDevice({ filters }); }\n catch (e) { console.error('[host] hid: requestDevice rejected: ' + e.message + '.'); return false; }\n if (!devices \|\| !devices.length) return false;\n return attach(devices[0]);\n },\n\n /\n Attach a device this origin was already granted, without a prompt.\n * @returns {Promise<boolean>} attached\n /\n async resume() {\n if (!hid \|\| typeof hid.getDevices !== 'function') return false;\n let devices;\n try { devices = await hid.getDevices(); } catch (_) { return false; }\n const d = (devices \|\| []).find(matches);\n return d ? attach(d) : false;\n },\n\n /* Close the device, remove every listener, unregister from the host. /\n dispose() {\n detach();\n if (hid && typeof hid.removeEventListener === 'function') hid.removeEventListener('disconnect', onDisconnect);\n host.players.remove(player);\n host.unregister(s);\n return s;\n },\n });\n\n /* The open HIDDevice, or null. /\n Object.defineProperty(s, 'device', { get: () => device, enumerable: true });\n\n const player = { tick() { feed(); return true; } };\n host.players.add(player);\n if (hid && typeof hid.addEventListener === 'function') hid.addEventListener('disconnect', onDisconnect);\n if (o.bind) s.bind(o.bind);\n if (s.available && o.resume !== false) s.resume();\n return host.register(s);\n}\n\n/\n The default gamepad map, the standard layout: left stick → lin[0] / lin[1],\n * right stick → ang[1] / ang[0], the triggers → lin[2] (right minus left).\n /\nexport const GAMEPAD_MAP = { lin: [0, 1, { buttons: [6, 7] }], ang: [3, 2, null] };\n\nfunction _lane(gp, spec) {\n if (spec == null) return 0;\n if (typeof spec === 'number') { const v = gp.axes[spec]; return typeof v === 'number' ? v : 0; }\n if (spec.buttons) {\n const n = gp.buttons[spec.buttons[0]], p = gp.buttons[spec.buttons[1]];\n return (p ? p.value : 0) - (n ? n.value : 0);\n }\n if (spec.button) { const b = gp.buttons[spec.button]; return b ? b.value : 0; }\n return 0;\n}\n\n/\n A Gamepad rate stream, polled once per tick.\n \n @param {object} host\n * @param {{ index?:number, map?:object, bind?:object, gamepads?:function }} [opts]\n * index: which gamepad (default: the first connected). map: { lin,\n * ang }, each three lane specs — an axis index, { buttons: [neg,\n * pos] }, { button } or null (default GAMEPAD_MAP). bind: a helm to\n * bind at once. gamepads: the poll (default navigator.getGamepads) —\n * the seam a test fills.\n * @returns {object} The stream: { available, connected, index, lin, ang,\n * bind(helm), unbind(), dispose() }.\n /\nexport function createGamepad(host, opts) {\n const o = opts \|\| {};\n const nav = _nav();\n const poll = o.gamepads \|\| (nav && typeof nav.getGamepads === 'function' ? () => nav.getGamepads() : null);\n const map = o.map \|\| GAMEPAD_MAP;\n const lin = [0, 0, 0], ang = [0, 0, 0];\n const { s, feed } = _stream(host, lin, ang);\n\n Object.assign(s, {\n /* Whether the Gamepad API exists. /\n available: !!poll,\n /* Whether the last poll found a gamepad. /\n connected: false,\n /* The gamepad index polled, or null for the first connected. /\n index: o.index ?? null,\n /* Stop polling, unregister from the host. /\n dispose() { host.players.remove(player); host.unregister(s); return s; },\n });\n\n const player = {\n tick() {\n let gp = null;\n if (poll) {\n const list = poll() \|\| [];\n if (s.index != null) gp = list[s.index] \|\| null;\n else for (let i = 0; i < list.length; i++) if (list[i]) { gp = list[i]; break; }\n }\n s.connected = !!gp;\n for (let i = 0; i < 3; i++) {\n lin[i] = gp ? _lane(gp, map.lin[i]) : 0;\n ang[i] = gp ? _lane(gp, map.ang[i]) : 0;\n }\n feed();\n return true;\n },\n };\n host.players.add(player);\n if (o.bind) s.bind(o.bind);\n return host.register(s);\n}\n","/\n @file Media sources — images, video and Canvas2D rasters for a bridge's textures.\n * @module host/media\n * @license AGPL-3.0-only\n \n What a texture upload reads from: an ImageBitmap fetched from a URL, a\n * hidden <video> element from a file or the user's camera, a bitmap drawn\n * through a 2D context (the text path — glyph strips, billboard tags,\n * anything Canvas2D can typeset). No orientation option anywhere: whether\n * rows flip is the bridge's upload, since it depends on the GPU API's\n * texture space.\n /\n\n'use strict';\n\n/\n Fetch an image into an ImageBitmap.\n * @param {string} url\n * @param {{ fetch?:object, bitmap?:object }} [opts]\n * fetch: the fetch init (credentials, mode, …). bitmap: the\n * createImageBitmap options (premultiplyAlpha, colorSpaceConversion, …).\n * @returns {Promise<ImageBitmap>}\n /\nexport async function loadImage(url, opts) {\n const o = opts \|\| {};\n const res = await fetch(url, o.fetch);\n if (!res.ok) throw new Error('[host] image: ' + url + ' → ' + res.status);\n const blob = await res.blob();\n return o.bitmap ? createImageBitmap(blob, o.bitmap) : createImageBitmap(blob);\n}\n\n/\n A hidden, muted, inline <video> element from a file or the user's camera.\n * `ready` resolves once metadata arrived (width / height known); a camera\n * denial rejects it. Inside an iframe a camera source needs allow=\"camera\"\n * on the frame.\n \n @param {{ src?:string, camera?:boolean\|object, loop?:boolean, autoplay?:boolean,\n * document?:object, media?:object }} opts\n * src: a media URL. camera: true or getUserMedia video constraints\n * ({ facingMode, width, height }). loop (default true for src).\n * autoplay (default true): start() once ready. document / media: the\n * Document and MediaDevices to use (defaults: the globals) — the seam\n * a test fills.\n * @returns {{ el:HTMLVideoElement, ready:Promise<object>, width:number, height:number,\n * start():Promise<void>, stop():object, dispose():object }}\n /\nexport function createVideo(opts) {\n const o = opts \|\| {};\n const doc = o.document \|\| (typeof document !== 'undefined' ? document : null);\n if (!doc) { console.error('[host] video: no document.'); return null; }\n const el = doc.createElement('video');\n el.muted = true;\n el.playsInline = true;\n el.setAttribute('playsinline', '');\n el.setAttribute('muted', '');\n el.style.display = 'none';\n let stream = null;\n\n const v = {\n /* The <video> element — the bridge's upload source, refreshed each frame. /\n el,\n /* Intrinsic size, known once `ready` resolved. /\n width: 0, height: 0,\n /* Resolves with this source once metadata arrived; rejects on a camera denial or a load error. /\n ready: null,\n /* Play; resolves when playback began. /\n start() { const p = el.play(); return p && typeof p.catch === 'function' ? p.catch((e) => console.error('[host] video: play() failed: ' + e.message + '.')) : Promise.resolve(); },\n /* Pause. Chainable. /\n stop() { el.pause(); return v; },\n /* Stop, release the camera tracks, detach the element. /\n dispose() {\n el.pause();\n if (stream) { for (const t of stream.getTracks()) t.stop(); stream = null; }\n el.removeAttribute('src');\n el.srcObject = null;\n if (typeof el.remove === 'function') el.remove();\n return v;\n },\n };\n\n v.ready = new Promise((resolve, reject) => {\n const unlisten = () => { el.removeEventListener('loadedmetadata', onMeta); el.removeEventListener('error', onErr); };\n const fail = (msg) => { unlisten(); reject(new Error('[host] video: ' + msg)); };\n const onMeta = () => {\n v.width = el.videoWidth \|\| 0; v.height = el.videoHeight \|\| 0;\n unlisten();\n if (o.autoplay !== false) v.start();\n resolve(v);\n };\n const onErr = () => fail('failed to load ' + (o.src \|\| 'the source') + '.');\n el.addEventListener('loadedmetadata', onMeta);\n el.addEventListener('error', onErr);\n if (o.camera) {\n const media = o.media \|\| (typeof navigator !== 'undefined' && navigator.mediaDevices) \|\| null;\n if (!media \|\| typeof media.getUserMedia !== 'function') { fail('getUserMedia is unavailable here.'); return; }\n media.getUserMedia({ video: o.camera === true ? true : o.camera, audio: false })\n .then((s) => { stream = s; el.srcObject = s; })\n .catch((e) => fail('camera denied: ' + e.message + '.'));\n } else if (o.src) {\n el.loop = o.loop !== false;\n el.src = o.src;\n } else {\n fail('needs { src } or { camera }.');\n }\n });\n v.ready.catch(() => {}); // an unobserved rejection is the caller's to observe, not a crash\n return v;\n}\n\n/\n Draw through a 2D context and hand the result back as a texture source: an\n * ImageBitmap where OffscreenCanvas exists, else the canvas element itself.\n \n @param {function(CanvasRenderingContext2D, number, number):void} draw\n * @param {number} w Pixel width.\n * @param {number} h Pixel height.\n * @param {{ document?:object }} [opts] The Document for the fallback canvas.\n * @returns {ImageBitmap\|HTMLCanvasElement\|null}\n /\nexport function raster(draw, w, h, opts) {\n const o = opts \|\| {};\n if (typeof OffscreenCanvas !== 'undefined') {\n const c = new OffscreenCanvas(w, h);\n draw(c.getContext('2d'), w, h);\n return c.transferToImageBitmap();\n }\n const doc = o.document \|\| (typeof document !== 'undefined' ? document : null);\n if (!doc) { console.error('[host] raster: no OffscreenCanvas and no document.'); return null; }\n const c = doc.createElement('canvas');\n c.width = w; c.height = h;\n draw(c.getContext('2d'), w, h);\n return c;\n}\n","/\n @file The label layer — DOM text over the canvas, anchored in world or screen space.\n * @module host/labels\n * @license AGPL-3.0-only\n \n The replacement for WEBGL text() in HUDs, gizmo labels and formula\n * readouts, with the browser's own shaping. One absolutely positioned <div>\n * overlays the canvas as its next sibling, pointer-events: none, sized by\n * the canvas observer; the host sets the canvas parent to position:\n * relative when it is static, and says so in the console once.\n \n labels.set(id, text, x, y, z, opts) // a world anchor, projected each tick()\n * labels.setScreen(id, text, sx, sy, opts) // canvas px, the HUD form\n * labels.remove(id) · labels.clear() · labels.visible\n * labels.tick() // after the view bag is current\n \n opts: dx / dy pixel offsets, anchor ('center' default, 'left', 'right'),\n * class — a CSS class beside the layer's own 'host-label', frame — a\n * transient label that lives for the frame it was set in: a gizmo re-sets\n * it every draw and tick() removes it once a frame passes without. A label\n * whose screen depth leaves [0, 1] or whose anchor leaves the canvas is\n * hidden, not clamped. Elements are reused by id; tick() writes transforms\n * only, text when the string changed.\n /\n\n'use strict';\n\nimport { WORLD, SCREEN, mapLocation } from '@nakednous/tree';\n\nconst _p = [0, 0, 0];\nconst _ANCHOR = { center: -50, left: 0, right: -100 };\nconst _NO_OPTS = {};\n\n/\n Create the label layer of a canvas. The layer is inserted at once; it\n * needs a parent, so create it after the canvas is in the document.\n \n @param {object} host Its canvas, view bag and size are read.\n * @param {{ document?:object }} [opts] The Document (default: the global).\n * @returns {object\|null} The layer, or null without a document or a parent.\n /\nexport function createLabels(host, opts) {\n const o = opts \|\| {};\n const doc = o.document \|\| (typeof document !== 'undefined' ? document : null);\n const canvas = host.canvas;\n const parent = canvas && canvas.parentNode;\n if (!doc \|\| !parent) { console.error('[host] labels: the canvas needs a parent element.'); return null; }\n\n const el = doc.createElement('div');\n el.className = 'host-labels';\n Object.assign(el.style, {\n position: 'absolute', left: '0px', top: '0px', width: '0px', height: '0px',\n pointerEvents: 'none', overflow: 'hidden',\n });\n const cs = typeof getComputedStyle === 'function' ? getComputedStyle(parent) : null;\n if (cs && cs.position === 'static') {\n parent.style.position = 'relative';\n console.info('[host] labels: set the canvas parent to position: relative for the label layer.');\n }\n parent.insertBefore(el, canvas.nextSibling);\n\n const entries = new Map(); // id → { el, text, x, y, z, dx, dy, ax, screen, cls, sx, sy, shown }\n let width = 0, height = 0, left = -1, top = -1, visible = true;\n\n const entry = (id, text, o) => {\n let e = entries.get(id);\n if (!e) {\n const span = doc.createElement('span');\n Object.assign(span.style, { position: 'absolute', left: '0px', top: '0px', whiteSpace: 'nowrap', willChange: 'transform' });\n span.style.visibility = 'hidden';\n el.appendChild(span);\n e = { el: span, text: null, x: 0, y: 0, z: 0, dx: 0, dy: 0, ax: -50, screen: false, cls: null, sx: NaN, sy: NaN, shown: false, frame: false, fresh: false };\n entries.set(id, e);\n }\n if (e.text !== text) { e.text = text; e.el.textContent = text; }\n const c = o.class \|\| null;\n if (e.cls !== c) { e.cls = c; e.el.className = c ? 'host-label ' + c : 'host-label'; }\n e.ax = _ANCHOR[o.anchor] ?? -50;\n e.dx = o.dx \|\| 0; e.dy = o.dy \|\| 0;\n e.frame = !!o.frame; e.fresh = true;\n return e;\n };\n const place = (e, sx, sy) => {\n if (sx === e.sx && sy === e.sy) return;\n e.sx = sx; e.sy = sy;\n e.el.style.transform = 'translate(' + sx + 'px, ' + sy + 'px) translate(' + e.ax + '%, -50%)';\n };\n const show = (e, on) => {\n if (e.shown === on) return;\n e.shown = on;\n e.el.style.visibility = on ? '' : 'hidden';\n };\n\n const labels = {\n /* The layer element. /\n el,\n /* Whether the layer shows; false hides every label at once. /\n get visible() { return visible; },\n set visible(v) { visible = !!v; el.style.display = visible ? '' : 'none'; },\n /* Live label count. /\n get size() { return entries.size; },\n\n /\n Place a label at a world anchor, projected each tick().\n * @param {string} id\n * @param {string} text\n * @param {number} x, y, z World anchor.\n * @param {{ dx?:number, dy?:number, anchor?:string, class?:string, frame?:boolean }} [opts]\n * @returns {object} this\n /\n set(id, text, x, y, z, opts) {\n const e = entry(id, text, opts \|\| _NO_OPTS);\n e.screen = false; e.x = x; e.y = y; e.z = z;\n return labels;\n },\n\n /\n Place a label in canvas px — the HUD form.\n * @param {string} id\n * @param {string} text\n * @param {number} sx, sy Canvas px, y down.\n * @param {{ dx?:number, dy?:number, anchor?:string, class?:string, frame?:boolean }} [opts]\n * @returns {object} this\n /\n setScreen(id, text, sx, sy, opts) {\n const e = entry(id, text, opts \|\| _NO_OPTS);\n e.screen = true; e.x = sx; e.y = sy; e.z = 0;\n return labels;\n },\n\n /* Remove a label. /\n remove(id) {\n const e = entries.get(id);\n if (e) { el.removeChild(e.el); entries.delete(id); }\n return labels;\n },\n\n /* Remove every label. /\n clear() { for (const id of [...entries.keys()]) labels.remove(id); return labels; },\n\n /\n Project every world label through the view bag and write the\n * transforms; hide what falls outside the canvas or the depth range.\n * Call after the view bag is current for the frame.\n * @returns {object} this\n /\n tick() {\n const ol = canvas.offsetLeft \|\| 0, ot = canvas.offsetTop \|\| 0;\n if (ol !== left \|\| ot !== top) { left = ol; top = ot; el.style.left = ol + 'px'; el.style.top = ot + 'px'; }\n const view = host.view;\n for (const [id, e] of entries) {\n if (e.frame && !e.fresh) { labels.remove(id); continue; }\n e.fresh = false;\n let sx, sy, on;\n if (e.screen) { sx = e.x; sy = e.y; on = true; }\n else if (!view \|\| view.stale) { on = false; }\n else {\n mapLocation(_p, e.x, e.y, e.z, WORLD, SCREEN, view, view.vp, view.ndcZMin);\n sx = _p[0]; sy = _p[1];\n on = _p[2] >= 0 && _p[2] <= 1 && sx >= 0 && sx <= width && sy >= 0 && sy <= height;\n }\n if (on) place(e, sx + e.dx, sy + e.dy);\n show(e, on);\n }\n return labels;\n },\n\n /\n The observer's write: the layer's size in CSS px.\n * @param {number} w\n * @param {number} h\n * @returns {object} this\n /\n resize(w, h) {\n width = w; height = h;\n el.style.width = w + 'px'; el.style.height = h + 'px';\n return labels;\n },\n\n /* Remove the layer and its labels. /\n dispose() {\n entries.clear();\n if (el.parentNode) el.parentNode.removeChild(el);\n host.unregister(labels);\n return labels;\n },\n };\n labels.resize(host.width \|\| 0, host.height \|\| 0);\n return host.register(labels);\n}\n","/\n @file The orbit — the fall-through camera gesture on unclaimed pointers.\n * @module host/orbit\n * @license AGPL-3.0-only\n \n What the handle gate yields to: one pointer orbits the camera state about\n * its center, two pointers dolly by their distance and pan by their\n * midpoint, the wheel dollies. update() consumes only unclaimed pointers and\n * returns true when it moved the camera, so\n \n if (!h.update()) orbit.update()\n \n reads as the gate. It writes cam only; the next setCamera(cam) installs it.\n * Two-pointer motion is computed from the pointers' own coordinates, never\n * from a browser's pinch synthesis, so it reads the same on every platform;\n * the canvas gets touch-action: none while the orbit lives so the browser\n * does not scroll or zoom the page instead. No damping, no inertia: direct\n * manipulation wants exactness, and a sketch that wants smoothing lerps the\n * camera it owns.\n \n Screen y runs down; which world direction that is depends on the\n * projection installed in the view bag: a y-up projection (GL's, tree's\n * default) maps a downward drag to the eye's −up, a y-flipped one (p5's,\n * mat4Proj[5] < 0) to +up. The orbit reads that sign off the bag each\n * update, so a drag down always brings the scene down.\n /\n\n'use strict';\n\nimport { createCamera, cameraCopy, cameraOrbit, cameraDolly, cameraPan, pixelRatio } from '@nakednous/tree';\n\nconst _clamp = { min: 0, max: Infinity };\n\n/\n Create an orbit on a camera state.\n \n @param {object} host\n * @param {object} cam The camera state written.\n * @param {{ rotate?:number, pan?:number, zoom?:number, wheel?:number,\n * minDistance?:number, maxDistance?:number, enabled?:boolean }} [opts]\n * rotate: radians per pixel (default 0.005). pan / zoom / wheel:\n * scalars on the two-pointer pan, the pinch and the wheel dolly\n * (default 1). minDistance / maxDistance: gaze-distance clamps.\n * @returns {object} The orbit: { cam, enabled, rotate, pan, zoom, wheel,\n * minDistance, maxDistance, update(), home(), dispose() }.\n /\nexport function createOrbit(host, cam, opts) {\n const o = opts \|\| {};\n const canvas = host.canvas;\n const home = cameraCopy(createCamera(), cam);\n const tracked = new Map(); // pointer id → { x, y } as last consumed\n let wheelAcc = 0;\n\n const onWheel = (e) => {\n if (typeof e.preventDefault === 'function') e.preventDefault();\n const unit = e.deltaMode === 1 ? 16 : e.deltaMode === 2 ? (host.height \|\| 1) : 1;\n wheelAcc += (e.deltaY \|\| 0) unit;\n };\n canvas.addEventListener('wheel', onWheel, { passive: false });\n const touchAction = canvas.style ? canvas.style.touchAction : undefined;\n if (canvas.style) canvas.style.touchAction = 'none';\n\n const track = (p) => {\n let t = tracked.get(p.id);\n if (!t) { t = { x: p.x, y: p.y }; tracked.set(p.id, t); }\n else { t.x = p.x; t.y = p.y; }\n };\n const distance = () => {\n const e = cam.eye, c = cam.center;\n return Math.hypot(e[0] - c[0], e[1] - c[1], e[2] - c[2]);\n };\n const dolly = (factor) => {\n _clamp.min = orbit.minDistance; _clamp.max = orbit.maxDistance;\n cameraDolly(cam, factor, _clamp);\n };\n\n const orbit = {\n /** The camera state written. /\n cam,\n /* False makes update() a no-op that drops its pointer memory. /\n enabled: o.enabled !== false,\n /* Radians per pixel of one-pointer drag. /\n rotate: o.rotate ?? 0.005,\n /* Scalar on the two-pointer pan. /\n pan: o.pan ?? 1,\n /* Scalar on the pinch dolly's exponent. /\n zoom: o.zoom ?? 1,\n /* Scalar on the wheel dolly. /\n wheel: o.wheel ?? 1,\n /* Gaze-distance clamps for every dolly. /\n minDistance: o.minDistance ?? 0,\n maxDistance: o.maxDistance ?? Infinity,\n\n /\n Consume this frame's unclaimed pointer motion and wheel into cam.\n * @returns {boolean} Whether the camera moved.\n /\n update() {\n if (!orbit.enabled) { tracked.clear(); wheelAcc = 0; return false; }\n const src = host.pointer;\n let a = null, b = null;\n for (const p of src.pointers.values()) {\n if (p.owner !== null \|\| p.up \|\| p.cancel) { tracked.delete(p.id); continue; }\n if (a === null \|\| p.id < a.id) { b = a; a = p; }\n else if (b === null \|\| p.id < b.id) b = p;\n }\n for (const id of tracked.keys()) {\n if ((a === null \|\| id !== a.id) && (b === null \|\| id !== b.id)) tracked.delete(id);\n }\n let moved = false;\n const view = host.view;\n const ys = view.mat4Proj[5] < 0 ? -1 : 1; // screen-down is the eye's −up under a y-up projection, +up under p5's flip\n if (a !== null && b === null) {\n const t = tracked.get(a.id);\n if (t) {\n const dx = a.x - t.x, dy = a.y - t.y;\n if (dx !== 0 \|\| dy !== 0) { cameraOrbit(cam, -dx orbit.rotate, ys * dy * orbit.rotate); moved = true; }\n }\n track(a);\n } else if (a !== null && b !== null) {\n const ta = tracked.get(a.id), tb = tracked.get(b.id);\n if (ta && tb) {\n const dmx = (a.x + b.x - ta.x - tb.x) / 2, dmy = (a.y + b.y - ta.y - tb.y) / 2;\n if (dmx !== 0 \|\| dmy !== 0) {\n const ratio = pixelRatio(view.mat4Proj, -view.vp[3] \|\| 1, -distance(), view.ndcZMin);\n cameraPan(cam, -dmx * ratio * orbit.pan, ys * dmy * ratio * orbit.pan);\n moved = true;\n }\n const d0 = Math.hypot(ta.x - tb.x, ta.y - tb.y), d1 = Math.hypot(a.x - b.x, a.y - b.y);\n if (d0 > 0 && d1 > 0 && d0 !== d1) { dolly(Math.pow(d0 / d1, orbit.zoom)); moved = true; }\n }\n track(a); track(b);\n }\n if (wheelAcc !== 0) {\n dolly(Math.exp(wheelAcc * 0.001 * orbit.wheel));\n wheelAcc = 0;\n moved = true;\n }\n return moved;\n },\n\n /** Restore the pose captured at creation. /\n home() { cameraCopy(cam, home); return orbit; },\n\n /* Remove the wheel listener, restore touch-action, unregister from the host. /\n dispose() {\n canvas.removeEventListener('wheel', onWheel);\n if (canvas.style) canvas.style.touchAction = touchAction;\n tracked.clear();\n host.unregister(orbit);\n return orbit;\n },\n };\n return host.register(orbit);\n}\n","/\n @file The host context — one per canvas: pointer, view bag, players, loop, observer.\n * @module host\n * @license AGPL-3.0-only\n \n The signal host of a program: what it needs from the browser that is\n * neither math nor GPU — a canvas element's pointer input, the frame clock,\n * its size — and the registry its constructs tick from. Pure vanilla DOM;\n * everything it computes goes through @nakednous/tree, nothing it draws.\n \n const host = createHost(canvas, { onFrame })\n * host.pointer · host.view · host.players\n * host.width · host.height · host.dpr · host.dt · host.clock()\n * host.handle(opts) · host.router(handles, opts)\n * host.cameraHelm(cam, opts) · host.poseHelm(opts)\n * host.poseTrack(opts) · host.cameraTrack(cam, opts)\n * host.hid(opts) · host.gamepad(opts)\n * host.image(url) · host.video(opts) · host.raster(draw, w, h)\n * host.labels // the DOM label layer, created on first access\n * host.orbit(cam, opts)\n * host.tick(dt) // external-loop mode\n * host.dispose()\n \n Two loop modes. With { onFrame } the host runs requestAnimationFrame\n * (overridable through { raf, caf }): each frame computes dt (clamped to\n * 50 ms), ticks the players, calls onFrame(dt, host), then flushes the\n * pointer source. Without it the application, or the p5 adapter from\n * predraw, calls host.tick(dt) = players.tick(dt) and host.pointer.flush()\n * once its consumers ran. Nothing else in the host cares who owns the loop.\n \n The frame order inside onFrame: install the camera (which fills\n * host.view), update handles or routers, fall through to the orbit when\n * nothing grabbed, draw.\n /\n\n'use strict';\n\nimport { createView } from './view.js';\nimport { observeCanvas } from './canvas.js';\nimport { createPointer } from './pointer.js';\nimport { createPlayers, createLoop } from './loop.js';\nimport { Handle, validConstraint } from './handle.js';\nimport { PointerRouter } from './router.js';\nimport { cameraHelm, poseHelm } from './helm.js';\nimport { poseTrack, cameraTrack } from './track.js';\nimport { createHid, createGamepad } from './stream.js';\nimport { loadImage, createVideo, raster } from './media.js';\nimport { createLabels } from './labels.js';\nimport { createOrbit } from './orbit.js';\n\nexport { createView } from './view.js';\nexport { observeCanvas, measureCanvas } from './canvas.js';\nexport { createPointer } from './pointer.js';\nexport { createPlayers, createLoop } from './loop.js';\nexport { Handle, VIEW, isConstraint, validConstraint } from './handle.js';\nexport { PointerRouter } from './router.js';\nexport { cameraHelm, poseHelm, helmBasis } from './helm.js';\nexport { poseTrack, cameraTrack, TrackHandles } from './track.js';\nexport { createHid, createGamepad, decodeSpaceNavigator, HID_FILTERS, GAMEPAD_MAP } from './stream.js';\nexport { loadImage, createVideo, raster } from './media.js';\nexport { createLabels } from './labels.js';\nexport { createOrbit } from './orbit.js';\n\nconst _now = () => (typeof performance !== 'undefined' && performance.now) ? performance.now() : Date.now();\n\n/\n Create the host context of a canvas.\n \n @param {HTMLCanvasElement} canvas\n * @param {{ ndcZMin?:number, onFrame?:function(number, object):void, raf?:function,\n * caf?:function, onSize?:function(number, number, number):void }} [opts]\n * ndcZMin: the GPU API's NDC-z convention, WEBGL (default) or WEBGPU —\n * written once, never detected. onFrame: the host's own loop; absent,\n * external-tick mode. onSize(width, height, dpr): the bridge's chance\n * to resize its drawing buffer.\n * @returns {object} The host.\n /\nexport function createHost(canvas, opts) {\n const o = opts \|\| {};\n const t0 = _now();\n const constructs = new Set();\n let loop = null, observer = null, labels = null;\n const host = {\n canvas,\n width: 0, height: 0, dpr: 1,\n dt: 0,\n view: null, pointer: null, players: null,\n\n /* Seconds since the host was created. /\n clock() { return (_now() - t0) / 1000; },\n\n /\n External-loop mode: tick the players with dt (seconds). The caller\n * flushes the pointer source once its consumers ran.\n * @param {number} dt\n /\n tick(dt) { host.dt = dt; host.players.tick(dt); },\n\n /\n A draggable handle on this canvas — see host/handle. Returns null on\n * an invalid `constraint`.\n * @param {object} opts\n * @returns {Handle\|null}\n /\n handle(opts) {\n const o = opts \|\| {};\n if (!validConstraint(o.constraint)) {\n console.error('[host] handle: `constraint` must be SPHERE, PLANE, AXIS, DIAL, VIEW, or a contract-conforming constraint object; got ' + String(o.constraint) + '.');\n return null;\n }\n return host.register(new Handle(host, o));\n },\n\n /\n A shared pick over overlapping handles — see host/router.\n * @param {Handle[]} handles\n * @param {{ hover?:boolean }} [opts]\n * @returns {PointerRouter}\n /\n router(handles, opts) { return host.register(new PointerRouter(host, handles, opts)); },\n\n /* Fly a camera state body-relative from a 6-DOF rate stream — see host/helm. /\n cameraHelm(cam, opts) { return cameraHelm(host, cam, opts); },\n /* Integrate a 6-DOF rate stream into a pose in a declared frame — see host/helm. /\n poseHelm(opts) { return poseHelm(host, opts); },\n /* A core PoseTrack ticked while it plays — see host/track. /\n poseTrack(opts) { return poseTrack(host, opts); },\n /* A core CameraTrack evaluating into a camera state while it plays — see host/track. /\n cameraTrack(cam, opts) { return cameraTrack(host, cam, opts); },\n /* A WebHID 6-DOF rate stream — see host/stream. /\n hid(opts) { return createHid(host, opts); },\n /* A Gamepad rate stream, polled each tick — see host/stream. /\n gamepad(opts) { return createGamepad(host, opts); },\n /* Fetch an image into an ImageBitmap — see host/media. /\n image(url, opts) { return loadImage(url, opts); },\n /* A hidden <video> from a file or the camera, disposed with the host — see host/media. /\n video(opts) { return host.register(createVideo(opts)); },\n /* Draw through a 2D context into a texture source — see host/media. /\n raster(draw, w, h, opts) { return raster(draw, w, h, opts); },\n /\n The label layer — see host/labels. Created on first access, so a\n * canvas that never labels never gets a layer nor a repositioned parent.\n /\n get labels() {\n if (labels === null) labels = createLabels(host);\n return labels;\n },\n /* Whether the label layer exists, without creating it. /\n get hasLabels() { return labels !== null; },\n /* The fall-through camera gesture on unclaimed pointers — see host/orbit. /\n orbit(cam, opts) { return createOrbit(host, cam, opts); },\n\n /* Register a construct with dispose() so host.dispose() releases it. /\n register(c) { if (c) constructs.add(c); return c; },\n /* Unregister a construct. /\n unregister(c) { constructs.delete(c); },\n\n /* Stop the loop, disconnect the observer, remove every listener, dispose every construct. */\n dispose() {\n if (loop) loop.stop();\n for (const c of [...constructs]) { if (typeof c.dispose === 'function') c.dispose(); }\n constructs.clear();\n labels = null;\n observer.dispose();\n host.pointer.dispose();\n host.players.clear();\n },\n };\n\n host.view = createView({ ndcZMin: o.ndcZMin });\n host.players = createPlayers();\n host.pointer = createPointer(canvas, host.view);\n observer = observeCanvas(canvas, (w, h, dpr) => {\n host.width = w; host.height = h; host.dpr = dpr;\n host.view.resize(w, h);\n if (labels) labels.resize(w, h);\n if (typeof o.onSize === 'function') o.onSize(w, h, dpr);\n });\n\n if (typeof o.onFrame === 'function') {\n loop = createLoop({\n raf: o.raf, caf: o.caf,\n onFrame: (dt) => {\n host.dt = dt;\n host.players.tick(dt);\n o.onFrame(dt, host);\n host.pointer.flush();\n },\n });\n loop.start();\n }\n return 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