@nakednous/tree 0.0.11 → 0.0.12

package/README.md

@@ -289,8 +289,8 @@ mat4PV  mat4MV
 **Matrix construction from specs** (`form.js`):
 ```
 mat4FromBasis        — rigid frame from orthonormal basis + translation
-mat4LookAt           — view matrix (world→eye) from lookat params
-mat4EyeMatrix        — eye matrix (eye→world) from lookat params
+mat4View           — view matrix (world→eye) from lookat params
+mat4Eye        — eye matrix (eye→world) from lookat params
 mat4FromTRS          — column-major mat4 from flat TRS scalars
 mat4FromTranslation  — translation-only mat4
 mat4FromScale        — scale-only mat4

package/dist/index.js

@@ -240,7 +240,7 @@ const quatToAxisAngle = (q, out) => {
  *
  * Lookat constructors live here because a camera is just a frame — the eye
  * matrix is the camera object's model matrix, not a camera-specific concept.
- * There is no camera module; mat4LookAt and mat4EyeMatrix are frame
+ * There is no camera module; mat4View and mat4Eye are frame
  * constructions that happen to use lookat parameterisation.
  *
  * Projection constructors live here because they construct matrices from
@@ -295,7 +295,7 @@ function mat4FromBasis(out, rx,ry,rz, ux,uy,uz, fx,fy,fz, tx,ty,tz) {
  * @param {number} ux,uy,uz   World up hint (need not be unit).
  * @returns {Float32Array|number[]} out
  */
-function mat4LookAt(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {
+function mat4View(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {
   // z = normalize(eye - center)  (camera +Z away from target)
   let zx=ex-cx, zy=ey-cy, zz=ez-cz;
   const zl=Math.sqrt(zx*zx+zy*zy+zz*zz)||1;
@@ -320,7 +320,7 @@ function mat4LookAt(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {
 /**
  * Eye matrix (eye→world) from lookat parameters.
  * Transpose of the rotation block + direct translation column.
- * Same inputs as mat4LookAt.
+ * Same inputs as mat4View.
  *
  * @param {Float32Array|number[]} out  16-element destination.
  * @param {number} ex,ey,ez   Eye (camera) position.
@@ -328,8 +328,8 @@ function mat4LookAt(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {
  * @param {number} ux,uy,uz   World up hint (need not be unit).
  * @returns {Float32Array|number[]} out
  */
-function mat4EyeMatrix(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {
-  // Same basis computation as mat4LookAt.
+function mat4Eye(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {
+  // Same basis computation as mat4View.
   let zx=ex-cx, zy=ey-cy, zz=ez-cz;
   const zl=Math.sqrt(zx*zx+zy*zy+zz*zz)||1;
   zx/=zl; zy/=zl; zz/=zl;
@@ -2445,5 +2445,5 @@ function boxVisibility(planes, x0, y0, z0, x1, y1, z1) {
   return allIn ? VISIBLE : SEMIVISIBLE;
 }
 
-export { CameraTrack, EYE, INVISIBLE, MATRIX, MODEL, NDC, ORIGIN, PLANE_BOTTOM, PLANE_FAR, PLANE_LEFT, PLANE_NEAR, PLANE_RIGHT, PLANE_TOP, PoseTrack, SCREEN, SEMIVISIBLE, VISIBLE, WEBGL, WEBGPU, WORLD, _i, _j, _k, boxVisibility, distanceToPlane, frustumPlanes, hermiteVec3, i, j, k, lerpVec3, mapDirection, mapLocation, mat3Direction, mat3NormalFromMat4, mat4Bias, mat4EyeMatrix, mat4FromBasis, mat4FromScale, mat4FromTRS, mat4FromTranslation, mat4Frustum, mat4Invert, mat4Location, mat4LookAt, mat4MV, mat4Mul, mat4MulDir, mat4MulPoint, mat4Ortho, mat4PV, mat4Perspective, mat4Pick, mat4Reflect, mat4ToRotation, mat4ToScale, mat4ToTransform, mat4ToTranslation, mat4Transpose, pixelRatio, pointVisibility, projBottom, projFar, projFov, projHfov, projIsOrtho, projLeft, projNear, projRight, projTop, qCopy, qDot, qFromAxisAngle, qFromLookDir, qFromMat4, qFromRotMat3x3, qMul, qNegate, qNlerp, qNormalize, qSet, qSlerp, qToMat4, quatToAxisAngle, sphereVisibility, transformToMat4 };
+export { CameraTrack, EYE, INVISIBLE, MATRIX, MODEL, NDC, ORIGIN, PLANE_BOTTOM, PLANE_FAR, PLANE_LEFT, PLANE_NEAR, PLANE_RIGHT, PLANE_TOP, PoseTrack, SCREEN, SEMIVISIBLE, VISIBLE, WEBGL, WEBGPU, WORLD, _i, _j, _k, boxVisibility, distanceToPlane, frustumPlanes, hermiteVec3, i, j, k, lerpVec3, mapDirection, mapLocation, mat3Direction, mat3NormalFromMat4, mat4Bias, mat4Eye, mat4FromBasis, mat4FromScale, mat4FromTRS, mat4FromTranslation, mat4Frustum, mat4Invert, mat4Location, mat4MV, mat4Mul, mat4MulDir, mat4MulPoint, mat4Ortho, mat4PV, mat4Perspective, mat4Pick, mat4Reflect, mat4ToRotation, mat4ToScale, mat4ToTransform, mat4ToTranslation, mat4Transpose, mat4View, pixelRatio, pointVisibility, projBottom, projFar, projFov, projHfov, projIsOrtho, projLeft, projNear, projRight, projTop, qCopy, qDot, qFromAxisAngle, qFromLookDir, qFromMat4, qFromRotMat3x3, qMul, qNegate, qNlerp, qNormalize, qSet, qSlerp, qToMat4, quatToAxisAngle, sphereVisibility, transformToMat4 };
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sources":["../src/constants.js","../src/quat.js","../src/form.js","../src/query.js","../src/track.js","../src/visibility.js"],"sourcesContent":["/**\n * @file Core constants — zero dependencies.\n * @module tree/constants\n * @license AGPL-3.0-only\n */\n\n// Coordinate spaces\nexport const WORLD  = 'WORLD';\nexport const EYE    = 'EYE';\nexport const NDC    = 'NDC';\nexport const SCREEN = 'SCREEN';\nexport const MODEL  = 'MODEL';\nexport const MATRIX = 'MATRIX';\n\n// NDC Z convention (only difference between backends)\nexport const WEBGL  = -1;   // z ∈ [−1, 1]\nexport const WEBGPU =  0;   // z ∈ [0, 1]\n\n// Visibility results\nexport const INVISIBLE   = 0;\nexport const VISIBLE     = 1;\nexport const SEMIVISIBLE = 2;\n\n// Basis vectors (frozen plain arrays — duck-typed Vec3)\nexport const ORIGIN = Object.freeze([0, 0, 0]);\nexport const i  = Object.freeze([1, 0, 0]);\nexport const j  = Object.freeze([0, 1, 0]);\nexport const k  = Object.freeze([0, 0, 1]);\nexport const _i = Object.freeze([-1, 0, 0]);\nexport const _j = Object.freeze([0, -1, 0]);\nexport const _k = Object.freeze([0, 0, -1]);\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'use strict';\n\n// =========================================================================\n// Basic ops\n// =========================================================================\n\n/** Set all four components. @returns {number[]} out */\nexport const 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 */\nexport const 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. */\nexport const 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 */\nexport const 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 */\nexport const 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. @returns {number[]} out */\nexport const 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]=aw*bx+ax*bw+ay*bz-az*by;\n  out[1]=aw*by-ax*bz+ay*bw+az*bx;\n  out[2]=aw*bz+ax*by-ay*bx+az*bw;\n  out[3]=aw*bw-ax*bx-ay*by-az*bz;\n  return out;\n};\n\n// =========================================================================\n// Interpolation\n// =========================================================================\n\n/** Spherical linear interpolation. @returns {number[]} out */\nexport const 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(t*th)/st;\n  } else {\n    f0=1-t; f1=t;\n  }\n  out[0]=a[0]*f0+bx*f1; out[1]=a[1]*f0+by*f1;\n  out[2]=a[2]*f0+bz*f1; out[3]=a[3]*f0+bw*f1;\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 */\nexport const 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 * 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 */\nexport const qFromAxisAngle = (out, ax, ay, az, angle) => {\n  const half = angle * 0.5;\n  const s    = Math.sin(half);\n  const len  = Math.sqrt(ax*ax + ay*ay + az*az) || 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 * @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 */\nexport const qFromLookDir = (out, dir, up) => {\n  let fx=dir[0],fy=dir[1],fz=dir[2];\n  const fl=Math.sqrt(fx*fx+fy*fy+fz*fz)||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=uy*fz-uz*fy, ry=uz*fx-ux*fz, rz=ux*fy-uy*fx;\n  const rl=Math.sqrt(rx*rx+ry*ry+rz*rz)||1;\n  rx/=rl; ry/=rl; rz/=rl;\n  ux=fy*rz-fz*ry; uy=fz*rx-fx*rz; uz=fx*ry-fy*rx;\n  return qFromRotMat3x3(out, rx,ry,rz, ux,uy,uz, -fx,-fy,-fz);\n};\n\n/**\n * Build a quaternion from a 3×3 rotation matrix (9 row-major scalars).\n * @returns {number[]} out (normalised)\n */\nexport const 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=2*Math.sqrt(1+m00-m11-m22);\n    out[3]=(m21-m12)/s; out[0]=0.25*s; out[1]=(m01+m10)/s; out[2]=(m02+m20)/s;\n  } else if (m11>m22) {\n    const s=2*Math.sqrt(1+m11-m00-m22);\n    out[3]=(m02-m20)/s; out[0]=(m01+m10)/s; out[1]=0.25*s; out[2]=(m12+m21)/s;\n  } else {\n    const s=2*Math.sqrt(1+m22-m00-m11);\n    out[3]=(m10-m01)/s; out[0]=(m02+m20)/s; out[1]=(m12+m21)/s; out[2]=0.25*s;\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 */\nexport const 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 */\nexport const 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=x*x2,xy=x*y2,xz=x*z2,yy=y*y2,yz=y*z2,zz=z*z2,wx=w*x2,wy=w*y2,wz=w*z2;\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 */\nexport const quatToAxisAngle = (q, out) => {\n  out = out || {};\n  const x=q[0],y=q[1],z=q[2],w=q[3];\n  const sinHalf = Math.sqrt(x*x+y*y+z*z);\n  if (sinHalf < 1e-8) { out.axis=[0,1,0]; out.angle=0; return out; }\n  out.angle = 2*Math.atan2(sinHalf, w);\n  out.axis  = [x/sinHalf, y/sinHalf, z/sinHalf];\n  return out;\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 * Lookat constructors live here because a camera is just a frame — the eye\n * matrix is the camera object's model matrix, not a camera-specific concept.\n * There is no camera module; mat4LookAt and mat4EyeMatrix are frame\n * constructions that happen to use lookat parameterisation.\n *\n * Projection constructors live here because they construct matrices from\n * geometric parameters. Projection scalar reads (projNear, projFov, etc.)\n * live in query.js — they interrogate an existing projection matrix.\n *\n * Partial decomposers (mat4To___) are the inverse of construction — they\n * extract a single component from an existing matrix. Kept alongside\n * constructors because they are paired operations on the same components.\n *\n * Imports quat.js only. No dependency on query.js, visibility.js, or track.js.\n *\n * All functions follow the out-first, zero-allocation contract.\n * Returns null on degeneracy where applicable.\n */\n\n'use strict';\n\nimport { qFromRotMat3x3 } from './quat.js';\n\n// =========================================================================\n// Frame construction\n// =========================================================================\n\n/**\n * Rigid frame from orthonormal basis + translation.\n * The primitive that lookat constructors use internally.\n *\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 * @returns {Float32Array|number[]} out\n */\nexport function 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/**\n * View matrix (world→eye) from lookat parameters.\n * Cheaper than building the eye matrix and inverting.\n *\n * Convention: −Z axis points toward center (camera looks along −Z in eye space).\n *\n * @param {Float32Array|number[]} out  16-element destination.\n * @param {number} ex,ey,ez   Eye (camera) position.\n * @param {number} cx,cy,cz   Center (look-at target).\n * @param {number} ux,uy,uz   World up hint (need not be unit).\n * @returns {Float32Array|number[]} out\n */\nexport function mat4LookAt(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n  // z = normalize(eye - center)  (camera +Z away from target)\n  let zx=ex-cx, zy=ey-cy, zz=ez-cz;\n  const zl=Math.sqrt(zx*zx+zy*zy+zz*zz)||1;\n  zx/=zl; zy/=zl; zz/=zl;\n  // x = normalize(up × z)  (right)\n  let xx=uy*zz-uz*zy, xy=uz*zx-ux*zz, xz=ux*zy-uy*zx;\n  const xl=Math.sqrt(xx*xx+xy*xy+xz*xz)||1;\n  xx/=xl; xy/=xl; xz/=xl;\n  // y = z × x  (up_ortho, guaranteed perpendicular)\n  const yx=zy*xz-zz*xy, yy=zz*xx-zx*xz, yz=zx*xy-zy*xx;\n  // View = [R | -R·t]  (column-major)\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]=-(xx*ex+xy*ey+xz*ez);\n  out[13]=-(yx*ex+yy*ey+yz*ez);\n  out[14]=-(zx*ex+zy*ey+zz*ez);\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 inputs as mat4LookAt.\n *\n * @param {Float32Array|number[]} out  16-element destination.\n * @param {number} ex,ey,ez   Eye (camera) position.\n * @param {number} cx,cy,cz   Center (look-at target).\n * @param {number} ux,uy,uz   World up hint (need not be unit).\n * @returns {Float32Array|number[]} out\n */\nexport function mat4EyeMatrix(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n  // Same basis computation as mat4LookAt.\n  let zx=ex-cx, zy=ey-cy, zz=ez-cz;\n  const zl=Math.sqrt(zx*zx+zy*zy+zz*zz)||1;\n  zx/=zl; zy/=zl; zz/=zl;\n  let xx=uy*zz-uz*zy, xy=uz*zx-ux*zz, xz=ux*zy-uy*zx;\n  const xl=Math.sqrt(xx*xx+xy*xy+xz*xz)||1;\n  xx/=xl; xy/=xl; xz/=xl;\n  const yx=zy*xz-zz*xy, yy=zz*xx-zx*xz, yz=zx*xy-zy*xx;\n  // Eye matrix = [R^T | t]  (rotation transposed, translation = eye position)\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.\n * No struct allocation — all components passed as plain numbers.\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 * @returns {Float32Array|number[]} out\n */\nexport function 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=qx*x2,xy=qx*y2,xz=qx*z2,yy=qy*y2,yz=qy*z2,zz=qz*z2;\n  const wx=qw*x2,wy=qw*y2,wz=qw*z2;\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 * @returns {Float32Array|number[]} out\n */\nexport function 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 * @returns {Float32Array|number[]} out\n */\nexport function 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 * Perspective projection matrix.\n *\n * NDC convention: ndcZMin = WEBGL (−1) or WEBGPU (0).\n * near maps to ndcZMin, far maps to +1.\n *\n * @param {Float32Array|number[]} out  16-element destination.\n * @param {number} fov      Vertical field of view (radians).\n * @param {number} aspect   Width / height.\n * @param {number} near     Near plane distance (positive).\n * @param {number} far      Far plane distance (positive, > near).\n * @param {number} ndcZMin  -1 (WEBGL) or 0 (WEBGPU).\n * @returns {Float32Array|number[]} out\n */\nexport function mat4Perspective(out, fov, aspect, near, far, ndcZMin) {\n  const f = 1 / Math.tan(fov * 0.5);\n  out[0]=f/aspect; out[1]=0; out[2]=0;  out[3]=0;\n  out[4]=0;        out[5]=f; out[6]=0;  out[7]=0;\n  out[8]=0;        out[9]=0;\n  out[10]=(ndcZMin*near-far)/(far-near);\n  out[11]=-1;\n  out[12]=0; out[13]=0;\n  out[14]=(ndcZMin-1)*far*near/(far-near);\n  out[15]=0;\n  return out;\n}\n\n/**\n * Orthographic projection matrix.\n *\n * NDC convention: ndcZMin = WEBGL (−1) or WEBGPU (0).\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 * @returns {Float32Array|number[]} out\n */\nexport function mat4Ortho(out, left, right, bottom, top, near, far, ndcZMin) {\n  const rl=1/(right-left), tb=1/(top-bottom), fn=1/(far-near);\n  out[0]=2*rl;              out[1]=0;                out[2]=0;                     out[3]=0;\n  out[4]=0;                 out[5]=2*tb;             out[6]=0;                     out[7]=0;\n  out[8]=0;                 out[9]=0;\n  out[10]=(ndcZMin-1)*fn;\n  out[11]=0;\n  out[12]=-(right+left)*rl; out[13]=-(top+bottom)*tb;\n  out[14]=(ndcZMin*far-near)*fn;\n  out[15]=1;\n  return out;\n}\n\n/**\n * Frustum (off-centre perspective) projection matrix.\n *\n * NDC convention: ndcZMin = WEBGL (−1) or WEBGPU (0).\n *\n * @param {Float32Array|number[]} out  16-element destination.\n * @param {number} left,right,bottom,top  Near-plane extents.\n * @param {number} near,far              Clip plane distances (positive).\n * @param {number} ndcZMin               -1 (WEBGL) or 0 (WEBGPU).\n * @returns {Float32Array|number[]} out\n */\nexport function mat4Frustum(out, left, right, bottom, top, near, far, ndcZMin) {\n  const rl=1/(right-left), tb=1/(top-bottom);\n  out[0]=2*near*rl;         out[1]=0;               out[2]=0;  out[3]=0;\n  out[4]=0;                 out[5]=2*near*tb;       out[6]=0;  out[7]=0;\n  out[8]=(right+left)*rl;   out[9]=(top+bottom)*tb;\n  out[10]=(ndcZMin*near-far)/(far-near);\n  out[11]=-1;\n  out[12]=0; out[13]=0;\n  out[14]=(ndcZMin-1)*far*near/(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 always remap from [−1,1]; z remaps from [ndcZMin,1].\n * Used to transform light-space NDC coordinates for shadow map sampling.\n *\n * Column-major (WebGL, ndcZMin=−1):\n *   [ 0.5  0    0    0.5 ]\n *   [ 0    0.5  0    0.5 ]\n *   [ 0    0    0.5  0.5 ]\n *   [ 0    0    0    1   ]\n *\n * Column-major (WebGPU, ndcZMin=0):\n *   [ 0.5  0    0    0.5 ]\n *   [ 0    0.5  0    0.5 ]\n *   [ 0    0    1    0   ]\n *   [ 0    0    0    1   ]\n *\n * @param {Float32Array|number[]} out  16-element destination.\n * @param {number} ndcZMin  WEBGL (−1) or WEBGPU (0).\n * @returns {Float32Array|number[]} out\n */\nexport function mat4Bias(out, ndcZMin) {\n  const sz = 1 / (1 - ndcZMin);\n  const 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 * @returns {Float32Array|number[]} out\n */\nexport function mat4Reflect(out, nx,ny,nz,d) {\n  out[0]=1-2*nx*nx; out[1]=-2*ny*nx; out[2]=-2*nz*nx; out[3]=0;\n  out[4]=-2*nx*ny;  out[5]=1-2*ny*ny; out[6]=-2*nz*ny; out[7]=0;\n  out[8]=-2*nx*nz;  out[9]=-2*ny*nz; out[10]=1-2*nz*nz; out[11]=0;\n  out[12]=2*d*nx;   out[13]=2*d*ny;  out[14]=2*d*nz;   out[15]=1;\n  return out;\n}\n\n// =========================================================================\n// Partial decomposition  (mat4To___ mirrors mat4From___)\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 * @returns {Float32Array|number[]} out3\n */\nexport function 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 rotation block).\n * Assumes no shear.\n * @param {Float32Array|number[]} out3  3-element destination.\n * @param {Float32Array|number[]} m     16-element source.\n * @returns {Float32Array|number[]} out3\n */\nexport function 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 before extraction.\n * Assumes no shear.\n * @param {number[]} out4  4-element [x,y,z,w] destination.\n * @param {Float32Array|number[]} m  16-element source.\n * @returns {number[]} out4\n */\nexport function 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 * @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 existing matrices and extracts information.\n * Contrast with form.js which constructs matrices from specs.\n *\n *   form.js  — you have specs, you want a matrix\n *   query.js  — you have a matrix, you want information\n *\n * No dependency on form.js. Operating on matrices requires no knowledge\n * of how they were constructed.\n *\n * Storage: column-major Float32Array / ArrayLike<number>.\n * Element [col*4 + row] = M[row, col].\n *\n * Multiply: mat4Mul(out, A, B) = A · B  (standard math order).\n *\n * Pipeline: clip = P · V · M · v\n *   P = projection (eye → clip)\n *   V = view       (world → eye)\n *   M = model      (local → world)\n *\n * NDC convention parameter (ndcZMin):\n *   WEBGL  = -1   z ∈ [−1, 1]\n *   WEBGPU =  0   z ∈ [0, 1]\n *\n * All functions follow the out-first, zero-allocation contract.\n * Returns null on degeneracy (singular matrix, etc.).\n */\n\n'use strict';\n\nimport {\n  WORLD, EYE, NDC, SCREEN, MATRIX,\n} from './constants.js';\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Mat4 math\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = A · B  (column-major, standard math order) */\nexport function 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]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[1]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[2]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[3]=a3*b0+a7*b1+a11*b2+a15*b3;\n  b0=B[4];b1=B[5];b2=B[6];b3=B[7];\n  out[4]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[5]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[6]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[7]=a3*b0+a7*b1+a11*b2+a15*b3;\n  b0=B[8];b1=B[9];b2=B[10];b3=B[11];\n  out[8]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[9]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[10]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[11]=a3*b0+a7*b1+a11*b2+a15*b3;\n  b0=B[12];b1=B[13];b2=B[14];b3=B[15];\n  out[12]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[13]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[14]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[15]=a3*b0+a7*b1+a11*b2+a15*b3;\n  return out;\n}\n\n/** out = inverse(src).  Returns null if singular. */\nexport function mat4Invert(out, src) {\n  const s=src;\n  const a00=s[0],a01=s[1],a02=s[2],a03=s[3],\n        a10=s[4],a11=s[5],a12=s[6],a13=s[7],\n        a20=s[8],a21=s[9],a22=s[10],a23=s[11],\n        a30=s[12],a31=s[13],a32=s[14],a33=s[15];\n  const b00=a00*a11-a01*a10,b01=a00*a12-a02*a10,\n        b02=a00*a13-a03*a10,b03=a01*a12-a02*a11,\n        b04=a01*a13-a03*a11,b05=a02*a13-a03*a12,\n        b06=a20*a31-a21*a30,b07=a20*a32-a22*a30,\n        b08=a20*a33-a23*a30,b09=a21*a32-a22*a31,\n        b10=a21*a33-a23*a31,b11=a22*a33-a23*a32;\n  let det=b00*b11-b01*b10+b02*b09+b03*b08-b04*b07+b05*b06;\n  if (Math.abs(det) < 1e-12) return null;\n  det=1/det;\n  out[0]=(a11*b11-a12*b10+a13*b09)*det;\n  out[1]=(a02*b10-a01*b11-a03*b09)*det;\n  out[2]=(a31*b05-a32*b04+a33*b03)*det;\n  out[3]=(a22*b04-a21*b05-a23*b03)*det;\n  out[4]=(a12*b08-a10*b11-a13*b07)*det;\n  out[5]=(a00*b11-a02*b08+a03*b07)*det;\n  out[6]=(a32*b02-a30*b05-a33*b01)*det;\n  out[7]=(a20*b05-a22*b02+a23*b01)*det;\n  out[8]=(a10*b10-a11*b08+a13*b06)*det;\n  out[9]=(a01*b08-a00*b10-a03*b06)*det;\n  out[10]=(a30*b04-a31*b02+a33*b00)*det;\n  out[11]=(a21*b02-a20*b04-a23*b00)*det;\n  out[12]=(a11*b07-a10*b09-a12*b06)*det;\n  out[13]=(a00*b09-a01*b07+a02*b06)*det;\n  out[14]=(a31*b01-a30*b03-a32*b00)*det;\n  out[15]=(a20*b03-a21*b01+a22*b00)*det;\n  return out;\n}\n\n/** out = transpose(src) */\nexport function mat4Transpose(out, src) {\n  if (out === src) {\n    let t;\n    t=src[1];out[1]=src[4];out[4]=t;\n    t=src[2];out[2]=src[8];out[8]=t;\n    t=src[3];out[3]=src[12];out[12]=t;\n    t=src[6];out[6]=src[9];out[9]=t;\n    t=src[7];out[7]=src[13];out[13]=t;\n    t=src[11];out[11]=src[14];out[14]=t;\n  } else {\n    out[0]=src[0];out[1]=src[4];out[2]=src[8];out[3]=src[12];\n    out[4]=src[1];out[5]=src[5];out[6]=src[9];out[7]=src[13];\n    out[8]=src[2];out[9]=src[6];out[10]=src[10];out[11]=src[14];\n    out[12]=src[3];out[13]=src[7];out[14]=src[11];out[15]=src[15];\n  }\n  return out;\n}\n\n/** out[0..8] = inverseTranspose(upper3×3(src))  (normal matrix) */\nexport function 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=a22*a11-a12*a21,\n        b11=-a22*a01+a02*a21,\n        b21=a12*a01-a02*a11;\n  let det=a00*b01+a10*b11+a20*b21;\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]=b01*det;\n  out[1]=(-a22*a10+a12*a20)*det;\n  out[2]=(a21*a10-a11*a20)*det;\n  out[3]=b11*det;\n  out[4]=(a22*a00-a02*a20)*det;\n  out[5]=(-a21*a00+a01*a20)*det;\n  out[6]=b21*det;\n  out[7]=(-a12*a00+a02*a10)*det;\n  out[8]=(a11*a00-a01*a10)*det;\n  return out;\n}\n\n/** out = mat4 * [x,y,z,1], perspective-divides, writes xyz */\nexport function mat4MulPoint(out, m, x, y, z) {\n  const rx = m[0]*x + m[4]*y + m[8]*z  + m[12];\n  const ry = m[1]*x + m[5]*y + m[9]*z  + m[13];\n  const rz = m[2]*x + m[6]*y + m[10]*z + m[14];\n  const rw = m[3]*x + m[7]*y + m[11]*z + m[15];\n  if (rw !== 0 && rw !== 1) {\n    out[0] = rx/rw; out[1] = ry/rw; out[2] = rz/rw;\n  } else {\n    out[0] = rx; out[1] = ry; out[2] = rz;\n  }\n  return out;\n}\n\n/**\n * Apply only the 3×3 linear block of a mat4 to a direction vector.\n * No translation, no perspective divide. Suitable for directions and normals\n * when the matrix is known to be orthogonal (use mat3NormalFromMat4 for normals\n * under non-uniform scale).\n *\n * @param {Float32Array|number[]} out  3-element destination.\n * @param {Float32Array|number[]} m    16-element mat4.\n * @param {number} dx,dy,dz           Input direction.\n * @returns {Float32Array|number[]} out\n */\nexport function 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  (read scalars from a projection mat4)\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** @returns {boolean} true if orthographic */\nexport function 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 */\nexport function projNear(p, ndcZMin) {\n  return p[15] === 0\n    ? p[14] / (p[10] + ndcZMin)\n    : (p[14] - ndcZMin) / p[10];\n}\n\n/** Far plane distance (convention-independent: far always maps to NDC z=1). */\nexport function projFar(p) {\n  return p[15] === 0\n    ? p[14] / (1 + p[10])\n    : (p[14] - 1) / p[10];\n}\n\nexport function projLeft(p, ndcZMin) {\n  return p[15] === 1\n    ? -(1 + p[12]) / p[0]\n    : projNear(p, ndcZMin) * (p[8] - 1) / p[0];\n}\n\nexport function projRight(p, ndcZMin) {\n  return p[15] === 1\n    ? (1 - p[12]) / p[0]\n    : projNear(p, ndcZMin) * (1 + p[8]) / p[0];\n}\n\nexport function projTop(p, ndcZMin) {\n  return p[15] === 1\n    ? (p[13] - 1) / p[5]\n    : projNear(p, ndcZMin) * (p[9] - 1) / p[5];\n}\n\nexport function projBottom(p, ndcZMin) {\n  return p[15] === 1\n    ? (1 + p[13]) / p[5]\n    : projNear(p, ndcZMin) * (1 + p[9]) / p[5];\n}\n\n/** Vertical fov (radians, perspective only). */\nexport function projFov(p) {\n  return Math.abs(2 * Math.atan(1 / p[5]));\n}\n\n/** Horizontal fov (radians, perspective only). */\nexport function projHfov(p) {\n  return Math.abs(2 * Math.atan(1 / p[0]));\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Derived matrices (convenience)\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = P · V */\nexport function mat4PV(out, proj, view) { return mat4Mul(out, proj, view); }\n\n/** out = V · M */\nexport function mat4MV(out, model, view) { return mat4Mul(out, view, model); }\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Location / Direction transforms\n// ═══════════════════════════════════════════════════════════════════════════\n\n/**\n * Relative transform for locations (points): out = inv(to) · from.\n * @param {ArrayLike<number>} out   16-element destination.\n * @param {ArrayLike<number>} from  Source frame transform.\n * @param {ArrayLike<number>} to    Destination frame transform.\n * @returns {ArrayLike<number>|null} out, or null if to is singular.\n */\nexport function mat4Location(out, from, to) {\n  return mat4Invert(out, to) && mat4Mul(out, out, from);\n}\n\n/**\n * Relative transform for directions (vectors): out = to₃ · inv(from₃).\n * Uses only the upper-left 3×3 blocks, ignoring translation.\n * @param {ArrayLike<number>} out   9-element destination.\n * @param {ArrayLike<number>} from  Source frame transform.\n * @param {ArrayLike<number>} to    Destination frame transform.\n * @returns {ArrayLike<number>|null} out, or null if from is singular.\n */\nexport function mat3Direction(out, from, to) {\n  const a00=from[0], a01=from[1], a02=from[2],\n        a10=from[4], a11=from[5], a12=from[6],\n        a20=from[8], a21=from[9], a22=from[10];\n  const b01=a22*a11-a12*a21,\n        b11=a12*a20-a22*a10,\n        b21=a21*a10-a11*a20;\n  let det=a00*b01+a01*b11+a02*b21;\n  if (Math.abs(det) < 1e-12) return null;\n  det=1/det;\n  const i00=b01*det, i01=(a02*a21-a22*a01)*det, i02=(a12*a01-a02*a11)*det;\n  const i10=b11*det, i11=(a22*a00-a02*a20)*det, i12=(a02*a10-a12*a00)*det;\n  const i20=b21*det, i21=(a01*a20-a21*a00)*det, i22=(a11*a00-a01*a10)*det;\n  const t00=to[0], t01=to[1], t02=to[2],\n        t10=to[4], t11=to[5], t12=to[6],\n        t20=to[8], t21=to[9], t22=to[10];\n  const m00=t00*i00+t10*i01+t20*i02, m01=t01*i00+t11*i01+t21*i02, m02=t02*i00+t12*i01+t22*i02;\n  const m10=t00*i10+t10*i11+t20*i12, m11=t01*i10+t11*i11+t21*i12, m12=t02*i10+t12*i11+t22*i12;\n  const m20=t00*i20+t10*i21+t20*i22, m21=t01*i20+t11*i21+t21*i22, m22=t02*i20+t12*i21+t22*i22;\n  out[0]=m00; out[1]=m10; out[2]=m20;\n  out[3]=m01; out[4]=m11; out[5]=m21;\n  out[6]=m02; out[7]=m12; out[8]=m22;\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.\n// No path calls back into mapLocation/mapDirection (no reentrancy).\n// All intermediates are stack locals (zero shared state).\n//\n// Matrices bag m:\n//   {\n//     pMatrix:    Float32Array(16)  — projection (eye → clip)\n//     vMatrix:    Float32Array(16)  — view        (world → eye)\n//     eMatrix?:   Float32Array(16)  — eye         (eye → world, inv view); lazy\n//     pvMatrix?:  Float32Array(16)  — P · V;      lazy\n//     ipvMatrix?: Float32Array(16)  — inv(P · V); lazy\n//     fromFrame?: Float32Array(16)  — MATRIX source frame (custom space)\n//     toFrameInv?:Float32Array(16)  — inv(MATRIX dest frame)\n//   }\n//\n\n// ── Location leaf 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];\n  const y = pv[1]*px+pv[5]*py+pv[9]*pz+pv[13];\n  const z = pv[2]*px+pv[6]*py+pv[10]*pz+pv[14];\n  const w = pv[3]*px+pv[7]*py+pv[11]*pz+pv[15];\n  const xi = (w !== 0 && w !== 1) ? 1/w : 1;\n  const nx = x*xi, ny = y*xi, nz = z*xi;\n  const vpX=vp[0], vpY=vp[1], vpW=Math.abs(vp[2]), vpH=Math.abs(vp[3]);\n  out[0] = vpX + vpW * (nx + 1) * 0.5;\n  out[1] = vpY + vpH * (1 - (ny + 1) * 0.5);\n  out[2] = (nz - ndcZMin) / (1 - ndcZMin);\n  return out;\n}\n\nfunction _screenToWorld(out, sx, sy, sz, ipv, vp, ndcZMin) {\n  const vpX=vp[0], vpY=vp[1], vpW=Math.abs(vp[2]), vpH=Math.abs(vp[3]);\n  const nx = (sx - vpX) / vpW * 2 - 1;\n  const ny = 1 - (sy - vpY) / vpH * 2;\n  const nz = sz * (1 - ndcZMin) + ndcZMin;\n  return mat4MulPoint(out, ipv, nx, ny, nz);\n}\n\nfunction _worldToNDC(out, px, py, pz, pv) {\n  const x=pv[0]*px+pv[4]*py+pv[8]*pz+pv[12];\n  const y=pv[1]*px+pv[5]*py+pv[9]*pz+pv[13];\n  const z=pv[2]*px+pv[6]*py+pv[10]*pz+pv[14];\n  const 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]=x*xi; out[1]=y*xi; out[2]=z*xi;\n  return out;\n}\n\nfunction _ndcToWorld(out, nx, ny, nz, ipv) {\n  return mat4MulPoint(out, ipv, nx, ny, nz);\n}\n\nfunction _screenToNDC(out, sx, sy, sz, vp, ndcZMin) {\n  const vpX=vp[0], vpY=vp[1], vpW=Math.abs(vp[2]), vpH=Math.abs(vp[3]);\n  out[0] = (sx - vpX) / vpW * 2 - 1;\n  out[1] = 1 - (sy - vpY) / vpH * 2;\n  out[2] = sz * (1 - ndcZMin) + ndcZMin;\n  return out;\n}\n\nfunction _ndcToScreen(out, nx, ny, nz, vp, ndcZMin) {\n  const vpX=vp[0], vpY=vp[1], vpW=Math.abs(vp[2]), vpH=Math.abs(vp[3]);\n  out[0] = vpX + vpW * (nx + 1) * 0.5;\n  out[1] = vpY + vpH * (1 - (ny + 1) * 0.5);\n  out[2] = (nz - ndcZMin) / (1 - ndcZMin);\n  return out;\n}\n\nfunction _ensurePV(m) {\n  if (m.pvMatrix) return m.pvMatrix;\n  m.pvMatrix = new Float32Array(16);\n  mat4Mul(m.pvMatrix, m.pMatrix, m.vMatrix);\n  return m.pvMatrix;\n}\n\n/**\n * Map a point between named coordinate spaces.\n *\n * @param {Vec3}   out         Result written here.\n * @param {number} px,py,pz    Input point.\n * @param {string} from        Source space constant.\n * @param {string} to          Target space constant.\n * @param {object} m           Matrices bag:\n *   { pMatrix, vMatrix, eMatrix?, pvMatrix?, ipvMatrix?, fromFrame?, toFrameInv? }\n * @param {Vec4}   vp          Viewport [x, y, width, height].\n * @param {number} ndcZMin     WEBGL (−1) or WEBGPU (0).\n */\nexport function mapLocation(out, px, py, pz, from, to, m, vp, ndcZMin) {\n  // WORLD ↔ SCREEN\n  if (from === WORLD && to === SCREEN)\n    return _worldToScreen(out, px,py,pz, _ensurePV(m), vp, ndcZMin);\n  if (from === SCREEN && to === WORLD)\n    return _screenToWorld(out, px,py,pz, m.ipvMatrix, vp, ndcZMin);\n\n  // WORLD ↔ NDC\n  if (from === WORLD && to === NDC)\n    return _worldToNDC(out, px,py,pz, _ensurePV(m));\n  if (from === NDC && to === WORLD)\n    return _ndcToWorld(out, px,py,pz, m.ipvMatrix);\n\n  // SCREEN ↔ NDC\n  if (from === SCREEN && to === NDC)\n    return _screenToNDC(out, px,py,pz, vp, ndcZMin);\n  if (from === NDC && to === SCREEN)\n    return _ndcToScreen(out, px,py,pz, vp, ndcZMin);\n\n  // WORLD ↔ EYE\n  if (from === WORLD && to === EYE)\n    return mat4MulPoint(out, m.vMatrix, px,py,pz);\n  if (from === EYE && to === WORLD)\n    return mat4MulPoint(out, m.eMatrix, px,py,pz);\n\n  // EYE ↔ SCREEN\n  if (from === EYE && to === SCREEN) {\n    const e = m.eMatrix;\n    const ex=e[0]*px+e[4]*py+e[8]*pz+e[12],\n          ey=e[1]*px+e[5]*py+e[9]*pz+e[13],\n          ez=e[2]*px+e[6]*py+e[10]*pz+e[14];\n    return _worldToScreen(out, ex,ey,ez, _ensurePV(m), vp, ndcZMin);\n  }\n  if (from === SCREEN && to === EYE) {\n    _screenToWorld(out, px,py,pz, m.ipvMatrix, vp, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.vMatrix, wx,wy,wz);\n  }\n\n  // EYE ↔ NDC\n  if (from === EYE && to === NDC) {\n    const e = m.eMatrix;\n    const ex=e[0]*px+e[4]*py+e[8]*pz+e[12],\n          ey=e[1]*px+e[5]*py+e[9]*pz+e[13],\n          ez=e[2]*px+e[6]*py+e[10]*pz+e[14];\n    return _worldToNDC(out, ex,ey,ez, _ensurePV(m));\n  }\n  if (from === NDC && to === EYE) {\n    _ndcToWorld(out, px,py,pz, m.ipvMatrix);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.vMatrix, wx,wy,wz);\n  }\n\n  // MATRIX (custom frame) ↔ WORLD\n  if (from === MATRIX && to === WORLD)\n    return mat4MulPoint(out, m.fromFrame, px,py,pz);\n  if (from === WORLD && to === MATRIX)\n    return mat4MulPoint(out, m.toFrameInv, px,py,pz);\n\n  // MATRIX ↔ EYE\n  if (from === MATRIX && to === EYE) {\n    const f = m.fromFrame;\n    const fx=f[0]*px+f[4]*py+f[8]*pz+f[12],\n          fy=f[1]*px+f[5]*py+f[9]*pz+f[13],\n          fz=f[2]*px+f[6]*py+f[10]*pz+f[14];\n    return mat4MulPoint(out, m.vMatrix, fx,fy,fz);\n  }\n  if (from === EYE && to === MATRIX) {\n    const e = m.eMatrix;\n    const ex=e[0]*px+e[4]*py+e[8]*pz+e[12],\n          ey=e[1]*px+e[5]*py+e[9]*pz+e[13],\n          ez=e[2]*px+e[6]*py+e[10]*pz+e[14];\n    return mat4MulPoint(out, m.toFrameInv, ex,ey,ez);\n  }\n\n  // MATRIX ↔ SCREEN\n  if (from === MATRIX && to === SCREEN) {\n    const f = m.fromFrame;\n    const fx=f[0]*px+f[4]*py+f[8]*pz+f[12],\n          fy=f[1]*px+f[5]*py+f[9]*pz+f[13],\n          fz=f[2]*px+f[6]*py+f[10]*pz+f[14];\n    return _worldToScreen(out, fx,fy,fz, _ensurePV(m), vp, ndcZMin);\n  }\n  if (from === SCREEN && to === MATRIX) {\n    _screenToWorld(out, px,py,pz, m.ipvMatrix, vp, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ NDC\n  if (from === MATRIX && to === NDC) {\n    const f = m.fromFrame;\n    const fx=f[0]*px+f[4]*py+f[8]*pz+f[12],\n          fy=f[1]*px+f[5]*py+f[9]*pz+f[13],\n          fz=f[2]*px+f[6]*py+f[10]*pz+f[14];\n    return _worldToNDC(out, fx,fy,fz, _ensurePV(m));\n  }\n  if (from === NDC && to === MATRIX) {\n    _ndcToWorld(out, px,py,pz, m.ipvMatrix);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ MATRIX\n  if (from === MATRIX && to === MATRIX) {\n    const f = m.fromFrame;\n    const fx=f[0]*px+f[4]*py+f[8]*pz+f[12],\n          fy=f[1]*px+f[5]*py+f[9]*pz+f[13],\n          fz=f[2]*px+f[6]*py+f[10]*pz+f[14];\n    return mat4MulPoint(out, m.toFrameInv, fx,fy,fz);\n  }\n\n  // Fallback\n  out[0]=px; out[1]=py; out[2]=pz;\n  return out;\n}\n\n// ── Direction leaf helpers ───────────────────────────────────────────────\n\n/** Apply the 3×3 linear part of a mat4 (rotation/scale, no translation). */\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  // Transform to clip space (no w divide for direction).\n  const vx=view[0]*dx+view[4]*dy+view[8]*dz;\n  const vy=view[1]*dx+view[5]*dy+view[9]*dz;\n  const vz=view[2]*dx+view[6]*dy+view[10]*dz;\n  const cx=proj[0]*vx+proj[4]*vy+proj[8]*vz;\n  const cy=proj[1]*vx+proj[5]*vy+proj[9]*vz;\n  const cz=proj[2]*vx+proj[6]*vy+proj[10]*vz;\n  // NDC→screen scale (direction, no offset).\n  out[0]=cx*vpW*0.5; out[1]=-cy*vpH*0.5;\n  out[2]=cz*(1-ndcZMin)*0.5;\n  return out;\n}\n\nfunction _screenToWorldDir(out, dx, dy, dz, proj, eMatrix, vpW, vpH, ndcZMin) {\n  // Screen direction → NDC direction.\n  const nx=dx/(vpW*0.5), ny=-dy/(vpH*0.5);\n  const nz=dz/((1-ndcZMin)*0.5);\n  // NDC direction → eye direction (inverse projection, linear only).\n  const ex=nx/proj[0], ey=ny/proj[5], ez=nz;\n  // Eye direction → world direction.\n  _applyDir(out, eMatrix, ex, ey, ez);\n  return out;\n}\n\nfunction _screenToNDCDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n  out[0]=dx/(vpW*0.5); out[1]=-dy/(vpH*0.5);\n  out[2]=dz/((1-ndcZMin)*0.5);\n  return out;\n}\n\nfunction _ndcToScreenDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n  out[0]=dx*vpW*0.5; out[1]=-dy*vpH*0.5;\n  out[2]=dz*(1-ndcZMin)*0.5;\n  return out;\n}\n\n/**\n * Map a direction between named coordinate spaces.\n * Same bag contract as mapLocation.\n */\nexport function mapDirection(out, dx, dy, dz, from, to, m, vp, ndcZMin) {\n  const vpW = Math.abs(vp[2]), vpH = Math.abs(vp[3]);\n\n  // EYE ↔ WORLD (most common)\n  if (from === EYE && to === WORLD) return _applyDir(out, m.eMatrix, dx, dy, dz);\n  if (from === WORLD && to === EYE) return _applyDir(out, m.vMatrix, dx, dy, dz);\n\n  // WORLD ↔ SCREEN\n  if (from === WORLD && to === SCREEN)\n    return _worldToScreenDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n  if (from === SCREEN && to === WORLD)\n    return _screenToWorldDir(out, dx,dy,dz, m.pMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n\n  // SCREEN ↔ NDC\n  if (from === SCREEN && to === NDC)\n    return _screenToNDCDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n  if (from === NDC && to === SCREEN)\n    return _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n\n  // WORLD ↔ NDC\n  if (from === WORLD && to === NDC) {\n    _worldToScreenDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n  }\n  if (from === NDC && to === WORLD) {\n    _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToWorldDir(out, sx,sy,sz, m.pMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n  }\n\n  // EYE ↔ SCREEN\n  if (from === EYE && to === SCREEN) {\n    _applyDir(out, m.eMatrix, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n  }\n  if (from === SCREEN && to === EYE) {\n    _screenToWorldDir(out, dx,dy,dz, m.pMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.vMatrix, wx,wy,wz);\n  }\n\n  // EYE ↔ NDC\n  if (from === EYE && to === NDC) {\n    _applyDir(out, m.eMatrix, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n  }\n  if (from === NDC && to === EYE) {\n    _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    _screenToWorldDir(out, sx,sy,sz, m.pMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.vMatrix, wx,wy,wz);\n  }\n\n  // MATRIX ↔ WORLD\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  // MATRIX ↔ EYE\n  if (from === MATRIX && to === EYE) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.vMatrix, wx,wy,wz);\n  }\n  if (from === EYE && to === MATRIX) {\n    _applyDir(out, m.eMatrix, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ SCREEN\n  if (from === MATRIX && to === SCREEN) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n  }\n  if (from === SCREEN && to === MATRIX) {\n    _screenToWorldDir(out, dx,dy,dz, m.pMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ NDC\n  if (from === MATRIX && to === NDC) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n  }\n  if (from === NDC && to === MATRIX) {\n    _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    _screenToWorldDir(out, sx,sy,sz, m.pMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ MATRIX\n  if (from === MATRIX && to === MATRIX) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // Fallback\n  out[0]=dx; out[1]=dy; out[2]=dz;\n  return out;\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 (pixels).\n * @param {number} eyeZ     Eye-space Z (negative for in-front-of camera).\n * @param {number} ndcZMin  WEBGL or WEBGPU.\n */\nexport function pixelRatio(proj, vpH, eyeZ, ndcZMin) {\n  if (projIsOrtho(proj)) {\n    return Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin)) / vpH;\n  }\n  return 2 * Math.abs(eyeZ) * Math.tan(projFov(proj) / 2) / vpH;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Pick-matrix\n// ═══════════════════════════════════════════════════════════════════════════\n\n/**\n * Apply the pick-matrix in-place:  proj ← M_pick · proj\n *\n * Zooms the frustum so that pixel (px, py) maps to the full NDC square,\n * making a 1×1 framebuffer render contain exactly that pixel's content.\n * Convention-independent — correct for both perspective and orthographic.\n *\n * M_pick (column-major):\n *   [ sx   0   0   tx ]     sx = W,  sy = H\n *   [  0  sy   0   ty ]     cx = NDC X of pixel centre =  2*(px+0.5)/W − 1\n *   [  0   0   1    0 ]     cy = NDC Y of pixel centre =  1 − 2*(py+0.5)/H\n *   [  0   0   0    1 ]     tx = −cx·W,  ty = −cy·H\n *\n * @param {Float32Array} proj  Projection mat4 — mutated in place.\n * @param {number} px  Query X (CSS pixels).\n * @param {number} py  Query Y (CSS pixels).\n * @param {number} W   Canvas width  (CSS pixels).\n * @param {number} H   Canvas height (CSS pixels).\n * @returns {Float32Array} proj (same reference)\n */\nexport function mat4Pick(proj, px, py, W, H) {\n  const cx =  2 * (px + 0.5) / W - 1;\n  const cy = -2 * (py + 0.5) / H + 1;\n  const sx = W;\n  const sy = H;\n  const tx = -cx * W;\n  const ty = -cy * H;\n  for (let j = 0; j < 4; j++) {\n    const a = proj[j * 4];\n    const b = proj[j * 4 + 1];\n    const d = proj[j * 4 + 3];\n    proj[j * 4]     = sx * a + tx * d;\n    proj[j * 4 + 1] = sy * b + ty * d;\n  }\n  return proj;\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 — this module imports and uses\n * it but does not define it. Spline helpers (hermiteVec3, lerpVec3) and\n * TRS↔mat4 conversions (transformToMat4, mat4ToTransform) remain here\n * because they are tightly 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 qSlerp qNlerp\n *    qFromAxisAngle qFromLookDir qFromRotMat3x3 qFromMat4 qToMat4\n *    quatToAxisAngle\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 } lookat keyframes\n *\n * ── Class hierarchy ───────────────────────────────────────────────────────────\n *  Track (unexported, never instantiated directly)\n *    └── PoseTrack   (exported)\n *    └── CameraTrack (exported)\n *\n *  Track holds all transport machinery: cursor, play/stop/seek/tick,\n *  hooks, rate semantics.  Subclasses add only keyframe storage and\n *  add() / eval() for their respective data shape.\n *\n * ── Hook architecture ─────────────────────────────────────────────────────────\n *  Lib-space hooks (underscore prefix — reserved for host layer / UI layer):\n *    _onActivate / _onDeactivate  — fire on playing transitions false→true / true→false.\n *    _onPlay / _onEnd / _onStop   — mirror the user-space hooks; used by the UI layer\n *                                   so it can sync without chaining the public slots.\n *\n *  User-space hooks (public):\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() — explicit deactivation.\n *    onEnd and onStop are mutually exclusive per event.\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 *  bounce and loop are fully independent flags — no exclusivity enforced.\n *\n * ── Playback semantics (rate + _dir) ─────────────────────────────────────────\n *  rate > 0   forward\n *  rate < 0   backward\n *  rate === 0 frozen: tick() no-op; playing unchanged\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 *  rate always holds the user-set value — it is never mutated by bounce.\n *  _dir is reset to 1 only in reset() (keyframes cleared) — stop/replay\n *  preserves the current travel direction.\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'use strict';\n\nexport {\n  qSet, qCopy, qDot, qNormalize, qNegate, qMul,\n  qSlerp, qNlerp,\n  qFromAxisAngle, qFromLookDir, qFromRotMat3x3, qFromMat4,\n  quatToAxisAngle,\n} from './quat.js';\n\nimport {\n  qSlerp, qNlerp, qMul, qFromAxisAngle, qFromLookDir, qFromRotMat3x3, qToMat4,\n} from './quat.js';\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(dx*dx+dy*dy+dz*dz);\n}\n\n/**\n * Cubic Hermite interpolation between p0 and p1 with explicit tangents.\n * Catmull-Rom is a special case where m0/m1 are auto-computed from neighbors.\n * @param {number[]} out  3-element result.\n * @param {number[]} p0   Segment start.\n * @param {number[]} m0   Outgoing tangent at p0 (world-space, dp/dt scaled to segment).\n * @param {number[]} p1   Segment end.\n * @param {number[]} m1   Incoming tangent at p1 (world-space, dp/dt scaled to segment).\n * @param {number}   t    Blend [0, 1].\n * @returns {number[]} out\n */\nexport const hermiteVec3 = (out, p0, m0, p1, m1, t) => {\n  const t2=t*t, t3=t2*t;\n  const h00=2*t3-3*t2+1, h10=t3-2*t2+t, h01=-2*t3+3*t2, h11=t3-t2;\n  out[0]=h00*p0[0]+h10*m0[0]+h01*p1[0]+h11*m1[0];\n  out[1]=h00*p0[1]+h10*m0[1]+h01*p1[1]+h11*m1[1];\n  out[2]=h00*p0[2]+h10*m0[2]+h01*p1[2]+h11*m1[2];\n  return out;\n};\n\n// Centripetal CR outgoing tangent at p1 for segment p1→p2, scaled by dt1.\nconst _crTanOut = (out, p0, p1, p2, p3) => {\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\nconst _crTanIn = (out, p0, 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 by eval() across all track instances (non-reentrant hot path).\nconst _m0=[0,0,0], _m1=[0,0,0];\n\n/**\n * Linear interpolation between two vec3s.\n * @param {number[]} out\n * @param {number[]} a\n * @param {number[]} b\n * @param {number}   t  Blend [0, 1].\n * @returns {number[]} out\n */\nexport const 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// S3  Transform <-> Mat4\n// =========================================================================\n\n/**\n * Write a TRS transform into a column-major mat4.\n * @param {Float32Array|number[]} out  16-element column-major mat4.\n * @param {{ pos:number[], rot:number[], scl:number[] }} xform\n * @returns {Float32Array|number[]} out\n */\nexport const 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 * Assumes no shear. Scale extracted from column lengths.\n * @param {{ pos:number[], rot:number[], scl:number[] }} out\n * @param {Float32Array|number[]} m  Column-major mat4.\n * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n */\nexport const 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   = (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\n// Euler: unit axis vectors and the six valid intrinsic orderings.\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 *\n *   [x,y,z,w]                        — raw quaternion array\n *   { axis:[x,y,z], angle }          — axis-angle\n *   { dir:[x,y,z], up?:[x,y,z] }    — forward direction (−Z) with optional up\n *   { eMatrix: 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\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  // Raw array [x,y,z,w]\n  if (Array.isArray(v) && v.length === 4) return [v[0],v[1],v[2],v[3]];\n  if (ArrayBuffer.isView(v) && v.length >= 4) return [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  // { eMatrix }\n  if (v.eMatrix != null) {\n    const m = (ArrayBuffer.isView(v.eMatrix) || Array.isArray(v.eMatrix))\n      ? v.eMatrix : (v.eMatrix.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))\n      ? 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];\n    const 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 = fx*tx + fy*ty + fz*tz;\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(px*px+py*py+pz*pz);\n      if (pl < 1e-8) { px=fy; py=-fx; pz=0; pl = Math.sqrt(px*px+py*py+pz*pz); }\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=fy*tz-fz*ty, ay=fz*tx-fx*tz, az=fx*ty-fy*tx;\n    const al = Math.sqrt(ax*ax+ay*ay+az*az) || 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.\n *\n * Accepted forms:\n *\n *   { mMatrix }\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[], tanIn:number[]|null, tanOut:number[]|null }|null}\n */\nfunction _parseSpec(spec) {\n  if (!spec || typeof spec !== 'object') return null;\n\n  // { mMatrix } — full TRS decomposition from model matrix\n  if (spec.mMatrix != null) {\n    const m = (ArrayBuffer.isView(spec.mMatrix) || Array.isArray(spec.mMatrix))\n      ? spec.mMatrix : (spec.mMatrix.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  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/**\n * Parse a camera keyframe spec into internal { eye, center, up } form.\n *\n * Accepted forms:\n *\n *   { eye, center?, up?, fov?, halfHeight?,\n *     eyeTanIn?, eyeTanOut?, centerTanIn?, centerTanOut? }\n *     Explicit lookat.  center defaults to [0,0,0], up defaults to [0,1,0].\n *     eyeTanIn/Out and centerTanIn/Out are optional vec3 tangents for Hermite.\n *     When absent, centripetal Catmull-Rom tangents are auto-computed at eval time.\n *\n *   Removed forms (task 2):\n *     { vMatrix } and { eMatrix } — use PoseTrack.add({ mMatrix: eMatrix }) for\n *     full-fidelity capture including roll, or cam.capturePose() for lookat-style.\n *\n * @param {Object} spec\n * @returns {{ eye:number[], center:number[], up:number[],\n *             fov:number|null, halfHeight:number|null,\n *             eyeTanIn:number[]|null, eyeTanOut:number[]|null,\n *             centerTanIn:number[]|null, centerTanOut:number[]|null }|null}\n */\nfunction _parseCameraSpec(spec) {\n  if (!spec || typeof spec !== 'object') return null;\n\n  // { eye, center?, up? } — explicit lookat\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    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  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 active. @type {boolean} */\n    this.playing   = false;\n    /** Loop at boundaries. @type {boolean} */\n    this.loop      = false;\n    /** Ping-pong bounce (takes precedence over 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 segment (can be fractional). @type {number} */\n    this.f         = 0;\n\n    // Internal rate — never directly starts/stops playback\n    this._rate = 1;\n    // Internal bounce direction: +1 forward, -1 backward.\n    this._dir  = 1;\n    // Scratch: true once _dir has been flipped in bounce-once mode.\n    this._bounced = false;\n\n    // User-space hooks\n    /** @type {Function|null} */ this.onPlay = null;\n    /** @type {Function|null} */ this.onEnd  = null;\n    /** @type {Function|null} */ this.onStop = null;\n\n    // Lib-space hooks (set by host layer, e.g. p5 bridge)\n    /** @type {Function|null} */ this._onActivate   = null;\n    /** @type {Function|null} */ this._onDeactivate = null;\n    // Lib-space event mirrors — set by UI layer (trackUI), never touched by user code\n    /** @type {Function|null} */ this._onPlay = null;\n    /** @type {Function|null} */ this._onEnd  = null;\n    /** @type {Function|null} */ this._onStop = null;\n  }\n\n  /** Playback rate. Assigning never starts/stops playback. @type {number} */\n  get rate()  { return this._rate; }\n  set rate(v) { this._rate = (_isNum(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   * Start or update playback.\n   * @param {number|Object} [rateOrOpts]  Numeric rate or options object:\n   *   { rate, duration, loop, bounce, onPlay, onEnd, onStop }\n   * @returns {Track} this\n   */\n  play(rateOrOpts) {\n    if (this.keyframes.length === 0) return this;\n\n    // One keyframe: snap cursor, no animation\n    if (this.keyframes.length === 1) {\n      this.seg = 0; this.f = 0;\n      return this;\n    }\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(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(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.\n   * @param {boolean} [rewind=false]  Seek to origin after stopping.\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.\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 cursor if needed.\n   * @param {number} index\n   * @returns {boolean}\n   */\n  remove(index) {\n    if (!_isNum(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   * Seek to a normalised position [0,1] across the full path.\n   * @param {number} t           Normalised time [0, 1].\n   * @param {number} [segIndex]  Optional segment override.\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(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 playback position [0,1].\n   * @returns {number}\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.\n   * @returns {Object}\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 cursor by rate frames.\n   * Returns true while playing, false when stopping.\n   * @returns {boolean}\n   */\n  tick() {\n    if (!this.playing) return false;\n    const nSeg = this.segments;\n    if (nSeg === 0) {\n      this.playing = false; this._onDeactivate?.(); return false;\n    }\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    // ── loop:true, bounce:true — bounce forever ───────────────────────────\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    // ── loop:false, bounce:true — bounce once, stop at origin ────────────\n    if (!this.loop && this.bounce) {\n      if (next >= total) {\n        // far boundary: reflect and flip direction once\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        // origin: stop (whether we bounced or started backward)\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    // ── loop:true, bounce:false — repeat forever ──────────────────────────\n    if (this.loop) {\n      this._setCursorFromScalar(((next % total) + total) % total);\n      return true;\n    }\n\n    // ── loop:false, bounce:false — play once, stop at boundary ───────────\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.\n * When neither is supplied, centripetal Catmull-Rom tangents are auto-computed.\n */\nexport class PoseTrack extends Track {\n  constructor() {\n    super();\n    /**\n     * Position interpolation mode.\n     * - 'hermite' — cubic Hermite; auto-computes centripetal Catmull-Rom tangents\n     *               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; useful for discrete state changes\n     * @type {'slerp'|'nlerp'|'step'}\n     */\n    this.rotInterp = 'slerp';\n    // Scratch for toMatrix() — avoids hot-path allocations\n    this._pos = [0,0,0];\n    this._rot = [0,0,0,1];\n    this._scl = [1,1,1];\n  }\n\n  /**\n   * Append one or more keyframes. Adjacent duplicates are skipped by default.\n   * @param {Object|Object[]} spec\n   * @param {{ deduplicate?: boolean }} [opts]\n   */\n  add(spec, opts) {\n    if (Array.isArray(spec)) {\n      for (const s of spec) this.add(s, opts);\n      return;\n    }\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 (or append at end) the keyframe at index.\n   * @param {number} index\n   * @param {Object} spec\n   * @returns {boolean}\n   */\n  set(index, spec) {\n    if (!_isNum(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   * 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\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\n    const nSeg = n - 1;\n    const dur  = Math.max(1, this.duration | 0);\n    const seg  = _clampS(this.seg, 0, nSeg - 1);\n    const t    = _clamp01(this.f / dur);\n    const k0   = this.keyframes[seg];\n    const k1   = this.keyframes[seg + 1];\n\n    // pos — Hermite (auto-CR tangents when none stored), linear, or step\n    if (this.posInterp === 'step') {\n      out.pos[0]=k0.pos[0]; out.pos[1]=k0.pos[1]; out.pos[2]=k0.pos[2];\n    } else if (this.posInterp === 'linear') {\n      lerpVec3(out.pos, k0.pos, k1.pos, t);\n    } else {\n      const p0 = seg > 0      ? this.keyframes[seg - 1].pos : k0.pos;\n      const p3 = seg + 2 < n ? this.keyframes[seg + 2].pos  : k1.pos;\n      const m0 = k0.tanOut != null ? k0.tanOut\n               : k0.tanIn  != null ? k0.tanIn\n               : _crTanOut(_m0, p0, k0.pos, k1.pos, p3);\n      const m1 = k1.tanIn  != null ? k1.tanIn\n               : k1.tanOut != null ? k1.tanOut\n               : _crTanIn(_m1, p0, k0.pos, k1.pos, p3);\n      hermiteVec3(out.pos, k0.pos, m0, k1.pos, m1, t);\n    }\n\n    // rot — step, slerp, or nlerp\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    // scl — lerp\n    lerpVec3(out.scl, k0.scl, k1.scl, t);\n\n    return out;\n  }\n\n  /**\n   * Evaluate into an existing column-major mat4.\n   * @param {Float32Array|number[]} outMat4  16-element array.\n   * @returns {Float32Array|number[]} outMat4\n   */\n  toMatrix(outMat4) {\n    const xf = this.eval({ pos: this._pos, rot: this._rot, scl: this._scl });\n    return transformToMat4(outMat4, xf);\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 *                   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. eval() lerps each only when both adjacent\n * keyframes carry a non-null value for that field.\n *\n * eyeTanIn/Out and centerTanIn/Out are optional vec3 tangents for Hermite\n * interpolation of the eye and center paths respectively.\n * When absent, centripetal Catmull-Rom tangents are auto-computed at eval time.\n *\n * Missing fields default to: center → [0,0,0], up → [0,1,0].\n *\n * add() accepts individual specs or a bulk array of specs:\n *\n *   { eye, center?, up?, fov?, halfHeight?,\n *     eyeTanIn?, eyeTanOut?, centerTanIn?, centerTanOut? }\n *\n * To capture a matrix-based pose, use PoseTrack.add({ mMatrix: eMatrix })\n * for full-fidelity including roll, or cam.capturePose() for lookat-style.\n */\nexport class 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 default.\n   * @param {Object|Object[]} spec\n   * @param {{ deduplicate?: boolean }} [opts]\n   */\n  add(spec, opts) {\n    if (Array.isArray(spec)) {\n      for (const s of spec) this.add(s, opts);\n      return;\n    }\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 (or append at end) the camera keyframe at index.\n   * @param {number} index\n   * @param {Object} spec\n   * @returns {boolean}\n   */\n  set(index, spec) {\n    if (!_isNum(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   * Evaluate interpolated camera pose at current cursor.\n   *\n   * @param {{ eye:number[], center:number[], up:number[] }} [out]\n   * @returns {{ eye:number[], center:number[], up:number[] }} out\n   */\n  eval(out) {\n    out = out || { eye:[0,0,0], center:[0,0,0], up:[0,1,0], fov:null, halfHeight:null };\n    const n = this.keyframes.length;\n    if (n === 0) return out;\n\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      out.fov        = k.fov;\n      out.halfHeight = k.halfHeight;\n      return out;\n    }\n\n    const nSeg = n - 1;\n    const dur  = Math.max(1, this.duration | 0);\n    const seg  = _clampS(this.seg, 0, nSeg - 1);\n    const t    = _clamp01(this.f / dur);\n    const k0   = this.keyframes[seg];\n    const k1   = this.keyframes[seg + 1];\n\n    // eye — Hermite (auto-CR tangents when none stored), linear, or step\n    if (this.eyeInterp === 'step') {\n      out.eye[0]=k0.eye[0]; out.eye[1]=k0.eye[1]; out.eye[2]=k0.eye[2];\n    } else if (this.eyeInterp === 'linear') {\n      lerpVec3(out.eye, k0.eye, k1.eye, t);\n    } else {\n      const p0 = seg > 0      ? this.keyframes[seg - 1].eye : k0.eye;\n      const p3 = seg + 2 < n ? this.keyframes[seg + 2].eye  : k1.eye;\n      const m0 = k0.eyeTanOut != null ? k0.eyeTanOut\n               : k0.eyeTanIn  != null ? k0.eyeTanIn\n               : _crTanOut(_m0, p0, k0.eye, k1.eye, p3);\n      const m1 = k1.eyeTanIn  != null ? k1.eyeTanIn\n               : k1.eyeTanOut != null ? k1.eyeTanOut\n               : _crTanIn(_m1, p0, k0.eye, k1.eye, p3);\n      hermiteVec3(out.eye, k0.eye, m0, k1.eye, m1, t);\n    }\n\n    // center — Hermite, linear, or step (independent lookat target)\n    if (this.centerInterp === 'step') {\n      out.center[0]=k0.center[0]; out.center[1]=k0.center[1]; out.center[2]=k0.center[2];\n    } else if (this.centerInterp === 'hermite') {\n      const c0 = seg > 0      ? this.keyframes[seg - 1].center : k0.center;\n      const c3 = seg + 2 < n ? this.keyframes[seg + 2].center  : k1.center;\n      const m0 = k0.centerTanOut != null ? k0.centerTanOut\n               : k0.centerTanIn  != null ? k0.centerTanIn\n               : _crTanOut(_m0, c0, k0.center, k1.center, c3);\n      const m1 = k1.centerTanIn  != null ? k1.centerTanIn\n               : k1.centerTanOut != null ? k1.centerTanOut\n               : _crTanIn(_m1, c0, k0.center, k1.center, c3);\n      hermiteVec3(out.center, k0.center, m0, k1.center, m1, t);\n    } else {\n      lerpVec3(out.center, k0.center, k1.center, t);\n    }\n\n    // up — nlerp on unit sphere\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\n    // fov / halfHeight — lerp when both keyframes carry non-null values\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    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\nimport { INVISIBLE, VISIBLE, SEMIVISIBLE } from './constants.js';\n\n// Plane indices\nexport const 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  Projection plane values.\n */\nexport function 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 = posX*vdX + posY*vdY + posZ*vdZ;\n  const posRight   = posX*rtX + posY*rtY + posZ*rtZ;\n  const posUp      = posX*upX + posY*upY + posZ*upZ;\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 - right*left, -right) ... simplified:\n    // Actually: d = dot(pointOnPlane, normal)\n    // pointOnPlane = pos + right*left (left is negative for standard ortho)\n    // normal = -right\n    // d = dot(pos + right*left, -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 - bottom; // note: p5 top/bottom are swapped in sign convention\n\n    // Bottom: normal = -up\n    out[20] = -upX; out[21] = -upY; out[22] = -upZ;\n    out[23] = -posUp + top;\n  } else {\n    // Left\n    const hfovl = Math.atan2(left, near);\n    const shfovl = Math.sin(hfovl), chfovl = Math.cos(hfovl);\n    out[0] = vdX*shfovl - rtX*chfovl;\n    out[1] = vdY*shfovl - rtY*chfovl;\n    out[2] = vdZ*shfovl - rtZ*chfovl;\n    out[3] = shfovl*posViewDir - chfovl*posRight;\n\n    // Right\n    const hfovr = Math.atan2(right, near);\n    const shfovr = Math.sin(hfovr), chfovr = Math.cos(hfovr);\n    out[4] = -vdX*shfovr + rtX*chfovr;\n    out[5] = -vdY*shfovr + rtY*chfovr;\n    out[6] = -vdZ*shfovr + rtZ*chfovr;\n    out[7] = -shfovr*posViewDir + chfovr*posRight;\n\n    // Top\n    const fovt = Math.atan2(top, near);\n    const sfovt = Math.sin(fovt), cfovt = Math.cos(fovt);\n    out[16] = -vdX*sfovt + upX*cfovt;\n    out[17] = -vdY*sfovt + upY*cfovt;\n    out[18] = -vdZ*sfovt + upZ*cfovt;\n    out[19] = -sfovt*posViewDir + cfovt*posUp;\n\n    // Bottom\n    const fovb = Math.atan2(bottom, near);\n    const sfovb = Math.sin(fovb), cfovb = Math.cos(fovb);\n    out[20] = vdX*sfovb - upX*cfovb;\n    out[21] = vdY*sfovb - upY*cfovb;\n    out[22] = vdZ*sfovb - upZ*cfovb;\n    out[23] = sfovb*posViewDir - cfovb*posUp;\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 */\nexport function 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 */\nexport function 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 */\nexport function 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 */\nexport function 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 = a*cx + bv*cy + c*cz - d;\n      if (dist > 0) { allIn = false; }\n      else { allOut = false; }\n    }\n    if (allOut) return INVISIBLE;\n  }\n  return allIn ? VISIBLE : 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+{"version":3,"file":"index.js","sources":["../src/constants.js","../src/quat.js","../src/form.js","../src/query.js","../src/track.js","../src/visibility.js"],"sourcesContent":["/**\n * @file Core constants — zero dependencies.\n * @module tree/constants\n * @license AGPL-3.0-only\n */\n\n// Coordinate spaces\nexport const WORLD  = 'WORLD';\nexport const EYE    = 'EYE';\nexport const NDC    = 'NDC';\nexport const SCREEN = 'SCREEN';\nexport const MODEL  = 'MODEL';\nexport const MATRIX = 'MATRIX';\n\n// NDC Z convention (only difference between backends)\nexport const WEBGL  = -1;   // z ∈ [−1, 1]\nexport const WEBGPU =  0;   // z ∈ [0, 1]\n\n// Visibility results\nexport const INVISIBLE   = 0;\nexport const VISIBLE     = 1;\nexport const SEMIVISIBLE = 2;\n\n// Basis vectors (frozen plain arrays — duck-typed Vec3)\nexport const ORIGIN = Object.freeze([0, 0, 0]);\nexport const i  = Object.freeze([1, 0, 0]);\nexport const j  = Object.freeze([0, 1, 0]);\nexport const k  = Object.freeze([0, 0, 1]);\nexport const _i = Object.freeze([-1, 0, 0]);\nexport const _j = Object.freeze([0, -1, 0]);\nexport const _k = Object.freeze([0, 0, -1]);\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'use strict';\n\n// =========================================================================\n// Basic ops\n// =========================================================================\n\n/** Set all four components. @returns {number[]} out */\nexport const 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 */\nexport const 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. */\nexport const 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 */\nexport const 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 */\nexport const 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. @returns {number[]} out */\nexport const 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]=aw*bx+ax*bw+ay*bz-az*by;\n  out[1]=aw*by-ax*bz+ay*bw+az*bx;\n  out[2]=aw*bz+ax*by-ay*bx+az*bw;\n  out[3]=aw*bw-ax*bx-ay*by-az*bz;\n  return out;\n};\n\n// =========================================================================\n// Interpolation\n// =========================================================================\n\n/** Spherical linear interpolation. @returns {number[]} out */\nexport const 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(t*th)/st;\n  } else {\n    f0=1-t; f1=t;\n  }\n  out[0]=a[0]*f0+bx*f1; out[1]=a[1]*f0+by*f1;\n  out[2]=a[2]*f0+bz*f1; out[3]=a[3]*f0+bw*f1;\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 */\nexport const 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 * 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 */\nexport const qFromAxisAngle = (out, ax, ay, az, angle) => {\n  const half = angle * 0.5;\n  const s    = Math.sin(half);\n  const len  = Math.sqrt(ax*ax + ay*ay + az*az) || 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 * @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 */\nexport const qFromLookDir = (out, dir, up) => {\n  let fx=dir[0],fy=dir[1],fz=dir[2];\n  const fl=Math.sqrt(fx*fx+fy*fy+fz*fz)||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=uy*fz-uz*fy, ry=uz*fx-ux*fz, rz=ux*fy-uy*fx;\n  const rl=Math.sqrt(rx*rx+ry*ry+rz*rz)||1;\n  rx/=rl; ry/=rl; rz/=rl;\n  ux=fy*rz-fz*ry; uy=fz*rx-fx*rz; uz=fx*ry-fy*rx;\n  return qFromRotMat3x3(out, rx,ry,rz, ux,uy,uz, -fx,-fy,-fz);\n};\n\n/**\n * Build a quaternion from a 3×3 rotation matrix (9 row-major scalars).\n * @returns {number[]} out (normalised)\n */\nexport const 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=2*Math.sqrt(1+m00-m11-m22);\n    out[3]=(m21-m12)/s; out[0]=0.25*s; out[1]=(m01+m10)/s; out[2]=(m02+m20)/s;\n  } else if (m11>m22) {\n    const s=2*Math.sqrt(1+m11-m00-m22);\n    out[3]=(m02-m20)/s; out[0]=(m01+m10)/s; out[1]=0.25*s; out[2]=(m12+m21)/s;\n  } else {\n    const s=2*Math.sqrt(1+m22-m00-m11);\n    out[3]=(m10-m01)/s; out[0]=(m02+m20)/s; out[1]=(m12+m21)/s; out[2]=0.25*s;\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 */\nexport const 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 */\nexport const 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=x*x2,xy=x*y2,xz=x*z2,yy=y*y2,yz=y*z2,zz=z*z2,wx=w*x2,wy=w*y2,wz=w*z2;\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 */\nexport const quatToAxisAngle = (q, out) => {\n  out = out || {};\n  const x=q[0],y=q[1],z=q[2],w=q[3];\n  const sinHalf = Math.sqrt(x*x+y*y+z*z);\n  if (sinHalf < 1e-8) { out.axis=[0,1,0]; out.angle=0; return out; }\n  out.angle = 2*Math.atan2(sinHalf, w);\n  out.axis  = [x/sinHalf, y/sinHalf, z/sinHalf];\n  return out;\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 * Lookat constructors live here because a camera is just a frame — the eye\n * matrix is the camera object's model matrix, not a camera-specific concept.\n * There is no camera module; mat4View and mat4Eye are frame\n * constructions that happen to use lookat parameterisation.\n *\n * Projection constructors live here because they construct matrices from\n * geometric parameters. Projection scalar reads (projNear, projFov, etc.)\n * live in query.js — they interrogate an existing projection matrix.\n *\n * Partial decomposers (mat4To___) are the inverse of construction — they\n * extract a single component from an existing matrix. Kept alongside\n * constructors because they are paired operations on the same components.\n *\n * Imports quat.js only. No dependency on query.js, visibility.js, or track.js.\n *\n * All functions follow the out-first, zero-allocation contract.\n * Returns null on degeneracy where applicable.\n */\n\n'use strict';\n\nimport { qFromRotMat3x3 } from './quat.js';\n\n// =========================================================================\n// Frame construction\n// =========================================================================\n\n/**\n * Rigid frame from orthonormal basis + translation.\n * The primitive that lookat constructors use internally.\n *\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 * @returns {Float32Array|number[]} out\n */\nexport function 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/**\n * View matrix (world→eye) from lookat parameters.\n * Cheaper than building the eye matrix and inverting.\n *\n * Convention: −Z axis points toward center (camera looks along −Z in eye space).\n *\n * @param {Float32Array|number[]} out  16-element destination.\n * @param {number} ex,ey,ez   Eye (camera) position.\n * @param {number} cx,cy,cz   Center (look-at target).\n * @param {number} ux,uy,uz   World up hint (need not be unit).\n * @returns {Float32Array|number[]} out\n */\nexport function mat4View(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n  // z = normalize(eye - center)  (camera +Z away from target)\n  let zx=ex-cx, zy=ey-cy, zz=ez-cz;\n  const zl=Math.sqrt(zx*zx+zy*zy+zz*zz)||1;\n  zx/=zl; zy/=zl; zz/=zl;\n  // x = normalize(up × z)  (right)\n  let xx=uy*zz-uz*zy, xy=uz*zx-ux*zz, xz=ux*zy-uy*zx;\n  const xl=Math.sqrt(xx*xx+xy*xy+xz*xz)||1;\n  xx/=xl; xy/=xl; xz/=xl;\n  // y = z × x  (up_ortho, guaranteed perpendicular)\n  const yx=zy*xz-zz*xy, yy=zz*xx-zx*xz, yz=zx*xy-zy*xx;\n  // View = [R | -R·t]  (column-major)\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]=-(xx*ex+xy*ey+xz*ez);\n  out[13]=-(yx*ex+yy*ey+yz*ez);\n  out[14]=-(zx*ex+zy*ey+zz*ez);\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 inputs as mat4View.\n *\n * @param {Float32Array|number[]} out  16-element destination.\n * @param {number} ex,ey,ez   Eye (camera) position.\n * @param {number} cx,cy,cz   Center (look-at target).\n * @param {number} ux,uy,uz   World up hint (need not be unit).\n * @returns {Float32Array|number[]} out\n */\nexport function mat4Eye(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n  // Same basis computation as mat4View.\n  let zx=ex-cx, zy=ey-cy, zz=ez-cz;\n  const zl=Math.sqrt(zx*zx+zy*zy+zz*zz)||1;\n  zx/=zl; zy/=zl; zz/=zl;\n  let xx=uy*zz-uz*zy, xy=uz*zx-ux*zz, xz=ux*zy-uy*zx;\n  const xl=Math.sqrt(xx*xx+xy*xy+xz*xz)||1;\n  xx/=xl; xy/=xl; xz/=xl;\n  const yx=zy*xz-zz*xy, yy=zz*xx-zx*xz, yz=zx*xy-zy*xx;\n  // Eye matrix = [R^T | t]  (rotation transposed, translation = eye position)\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.\n * No struct allocation — all components passed as plain numbers.\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 * @returns {Float32Array|number[]} out\n */\nexport function 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=qx*x2,xy=qx*y2,xz=qx*z2,yy=qy*y2,yz=qy*z2,zz=qz*z2;\n  const wx=qw*x2,wy=qw*y2,wz=qw*z2;\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 * @returns {Float32Array|number[]} out\n */\nexport function 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 * @returns {Float32Array|number[]} out\n */\nexport function 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 * Perspective projection matrix.\n *\n * NDC convention: ndcZMin = WEBGL (−1) or WEBGPU (0).\n * near maps to ndcZMin, far maps to +1.\n *\n * @param {Float32Array|number[]} out  16-element destination.\n * @param {number} fov      Vertical field of view (radians).\n * @param {number} aspect   Width / height.\n * @param {number} near     Near plane distance (positive).\n * @param {number} far      Far plane distance (positive, > near).\n * @param {number} ndcZMin  -1 (WEBGL) or 0 (WEBGPU).\n * @returns {Float32Array|number[]} out\n */\nexport function mat4Perspective(out, fov, aspect, near, far, ndcZMin) {\n  const f = 1 / Math.tan(fov * 0.5);\n  out[0]=f/aspect; out[1]=0; out[2]=0;  out[3]=0;\n  out[4]=0;        out[5]=f; out[6]=0;  out[7]=0;\n  out[8]=0;        out[9]=0;\n  out[10]=(ndcZMin*near-far)/(far-near);\n  out[11]=-1;\n  out[12]=0; out[13]=0;\n  out[14]=(ndcZMin-1)*far*near/(far-near);\n  out[15]=0;\n  return out;\n}\n\n/**\n * Orthographic projection matrix.\n *\n * NDC convention: ndcZMin = WEBGL (−1) or WEBGPU (0).\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 * @returns {Float32Array|number[]} out\n */\nexport function mat4Ortho(out, left, right, bottom, top, near, far, ndcZMin) {\n  const rl=1/(right-left), tb=1/(top-bottom), fn=1/(far-near);\n  out[0]=2*rl;              out[1]=0;                out[2]=0;                     out[3]=0;\n  out[4]=0;                 out[5]=2*tb;             out[6]=0;                     out[7]=0;\n  out[8]=0;                 out[9]=0;\n  out[10]=(ndcZMin-1)*fn;\n  out[11]=0;\n  out[12]=-(right+left)*rl; out[13]=-(top+bottom)*tb;\n  out[14]=(ndcZMin*far-near)*fn;\n  out[15]=1;\n  return out;\n}\n\n/**\n * Frustum (off-centre perspective) projection matrix.\n *\n * NDC convention: ndcZMin = WEBGL (−1) or WEBGPU (0).\n *\n * @param {Float32Array|number[]} out  16-element destination.\n * @param {number} left,right,bottom,top  Near-plane extents.\n * @param {number} near,far              Clip plane distances (positive).\n * @param {number} ndcZMin               -1 (WEBGL) or 0 (WEBGPU).\n * @returns {Float32Array|number[]} out\n */\nexport function mat4Frustum(out, left, right, bottom, top, near, far, ndcZMin) {\n  const rl=1/(right-left), tb=1/(top-bottom);\n  out[0]=2*near*rl;         out[1]=0;               out[2]=0;  out[3]=0;\n  out[4]=0;                 out[5]=2*near*tb;       out[6]=0;  out[7]=0;\n  out[8]=(right+left)*rl;   out[9]=(top+bottom)*tb;\n  out[10]=(ndcZMin*near-far)/(far-near);\n  out[11]=-1;\n  out[12]=0; out[13]=0;\n  out[14]=(ndcZMin-1)*far*near/(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 always remap from [−1,1]; z remaps from [ndcZMin,1].\n * Used to transform light-space NDC coordinates for shadow map sampling.\n *\n * Column-major (WebGL, ndcZMin=−1):\n *   [ 0.5  0    0    0.5 ]\n *   [ 0    0.5  0    0.5 ]\n *   [ 0    0    0.5  0.5 ]\n *   [ 0    0    0    1   ]\n *\n * Column-major (WebGPU, ndcZMin=0):\n *   [ 0.5  0    0    0.5 ]\n *   [ 0    0.5  0    0.5 ]\n *   [ 0    0    1    0   ]\n *   [ 0    0    0    1   ]\n *\n * @param {Float32Array|number[]} out  16-element destination.\n * @param {number} ndcZMin  WEBGL (−1) or WEBGPU (0).\n * @returns {Float32Array|number[]} out\n */\nexport function mat4Bias(out, ndcZMin) {\n  const sz = 1 / (1 - ndcZMin);\n  const 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 * @returns {Float32Array|number[]} out\n */\nexport function mat4Reflect(out, nx,ny,nz,d) {\n  out[0]=1-2*nx*nx; out[1]=-2*ny*nx; out[2]=-2*nz*nx; out[3]=0;\n  out[4]=-2*nx*ny;  out[5]=1-2*ny*ny; out[6]=-2*nz*ny; out[7]=0;\n  out[8]=-2*nx*nz;  out[9]=-2*ny*nz; out[10]=1-2*nz*nz; out[11]=0;\n  out[12]=2*d*nx;   out[13]=2*d*ny;  out[14]=2*d*nz;   out[15]=1;\n  return out;\n}\n\n// =========================================================================\n// Partial decomposition  (mat4To___ mirrors mat4From___)\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 * @returns {Float32Array|number[]} out3\n */\nexport function 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 rotation block).\n * Assumes no shear.\n * @param {Float32Array|number[]} out3  3-element destination.\n * @param {Float32Array|number[]} m     16-element source.\n * @returns {Float32Array|number[]} out3\n */\nexport function 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 before extraction.\n * Assumes no shear.\n * @param {number[]} out4  4-element [x,y,z,w] destination.\n * @param {Float32Array|number[]} m  16-element source.\n * @returns {number[]} out4\n */\nexport function 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 * @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 existing matrices and extracts information.\n * Contrast with form.js which constructs matrices from specs.\n *\n *   form.js  — you have specs, you want a matrix\n *   query.js  — you have a matrix, you want information\n *\n * No dependency on form.js. Operating on matrices requires no knowledge\n * of how they were constructed.\n *\n * Storage: column-major Float32Array / ArrayLike<number>.\n * Element [col*4 + row] = M[row, col].\n *\n * Multiply: mat4Mul(out, A, B) = A · B  (standard math order).\n *\n * Pipeline: clip = P · V · M · v\n *   P = projection (eye → clip)\n *   V = view       (world → eye)\n *   M = model      (local → world)\n *\n * NDC convention parameter (ndcZMin):\n *   WEBGL  = -1   z ∈ [−1, 1]\n *   WEBGPU =  0   z ∈ [0, 1]\n *\n * All functions follow the out-first, zero-allocation contract.\n * Returns null on degeneracy (singular matrix, etc.).\n */\n\n'use strict';\n\nimport {\n  WORLD, EYE, NDC, SCREEN, MATRIX,\n} from './constants.js';\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Mat4 math\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = A · B  (column-major, standard math order) */\nexport function 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]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[1]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[2]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[3]=a3*b0+a7*b1+a11*b2+a15*b3;\n  b0=B[4];b1=B[5];b2=B[6];b3=B[7];\n  out[4]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[5]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[6]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[7]=a3*b0+a7*b1+a11*b2+a15*b3;\n  b0=B[8];b1=B[9];b2=B[10];b3=B[11];\n  out[8]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[9]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[10]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[11]=a3*b0+a7*b1+a11*b2+a15*b3;\n  b0=B[12];b1=B[13];b2=B[14];b3=B[15];\n  out[12]=a0*b0+a4*b1+a8*b2+a12*b3;\n  out[13]=a1*b0+a5*b1+a9*b2+a13*b3;\n  out[14]=a2*b0+a6*b1+a10*b2+a14*b3;\n  out[15]=a3*b0+a7*b1+a11*b2+a15*b3;\n  return out;\n}\n\n/** out = inverse(src).  Returns null if singular. */\nexport function mat4Invert(out, src) {\n  const s=src;\n  const a00=s[0],a01=s[1],a02=s[2],a03=s[3],\n        a10=s[4],a11=s[5],a12=s[6],a13=s[7],\n        a20=s[8],a21=s[9],a22=s[10],a23=s[11],\n        a30=s[12],a31=s[13],a32=s[14],a33=s[15];\n  const b00=a00*a11-a01*a10,b01=a00*a12-a02*a10,\n        b02=a00*a13-a03*a10,b03=a01*a12-a02*a11,\n        b04=a01*a13-a03*a11,b05=a02*a13-a03*a12,\n        b06=a20*a31-a21*a30,b07=a20*a32-a22*a30,\n        b08=a20*a33-a23*a30,b09=a21*a32-a22*a31,\n        b10=a21*a33-a23*a31,b11=a22*a33-a23*a32;\n  let det=b00*b11-b01*b10+b02*b09+b03*b08-b04*b07+b05*b06;\n  if (Math.abs(det) < 1e-12) return null;\n  det=1/det;\n  out[0]=(a11*b11-a12*b10+a13*b09)*det;\n  out[1]=(a02*b10-a01*b11-a03*b09)*det;\n  out[2]=(a31*b05-a32*b04+a33*b03)*det;\n  out[3]=(a22*b04-a21*b05-a23*b03)*det;\n  out[4]=(a12*b08-a10*b11-a13*b07)*det;\n  out[5]=(a00*b11-a02*b08+a03*b07)*det;\n  out[6]=(a32*b02-a30*b05-a33*b01)*det;\n  out[7]=(a20*b05-a22*b02+a23*b01)*det;\n  out[8]=(a10*b10-a11*b08+a13*b06)*det;\n  out[9]=(a01*b08-a00*b10-a03*b06)*det;\n  out[10]=(a30*b04-a31*b02+a33*b00)*det;\n  out[11]=(a21*b02-a20*b04-a23*b00)*det;\n  out[12]=(a11*b07-a10*b09-a12*b06)*det;\n  out[13]=(a00*b09-a01*b07+a02*b06)*det;\n  out[14]=(a31*b01-a30*b03-a32*b00)*det;\n  out[15]=(a20*b03-a21*b01+a22*b00)*det;\n  return out;\n}\n\n/** out = transpose(src) */\nexport function mat4Transpose(out, src) {\n  if (out === src) {\n    let t;\n    t=src[1];out[1]=src[4];out[4]=t;\n    t=src[2];out[2]=src[8];out[8]=t;\n    t=src[3];out[3]=src[12];out[12]=t;\n    t=src[6];out[6]=src[9];out[9]=t;\n    t=src[7];out[7]=src[13];out[13]=t;\n    t=src[11];out[11]=src[14];out[14]=t;\n  } else {\n    out[0]=src[0];out[1]=src[4];out[2]=src[8];out[3]=src[12];\n    out[4]=src[1];out[5]=src[5];out[6]=src[9];out[7]=src[13];\n    out[8]=src[2];out[9]=src[6];out[10]=src[10];out[11]=src[14];\n    out[12]=src[3];out[13]=src[7];out[14]=src[11];out[15]=src[15];\n  }\n  return out;\n}\n\n/** out[0..8] = inverseTranspose(upper3×3(src))  (normal matrix) */\nexport function 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=a22*a11-a12*a21,\n        b11=-a22*a01+a02*a21,\n        b21=a12*a01-a02*a11;\n  let det=a00*b01+a10*b11+a20*b21;\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]=b01*det;\n  out[1]=(-a22*a10+a12*a20)*det;\n  out[2]=(a21*a10-a11*a20)*det;\n  out[3]=b11*det;\n  out[4]=(a22*a00-a02*a20)*det;\n  out[5]=(-a21*a00+a01*a20)*det;\n  out[6]=b21*det;\n  out[7]=(-a12*a00+a02*a10)*det;\n  out[8]=(a11*a00-a01*a10)*det;\n  return out;\n}\n\n/** out = mat4 * [x,y,z,1], perspective-divides, writes xyz */\nexport function mat4MulPoint(out, m, x, y, z) {\n  const rx = m[0]*x + m[4]*y + m[8]*z  + m[12];\n  const ry = m[1]*x + m[5]*y + m[9]*z  + m[13];\n  const rz = m[2]*x + m[6]*y + m[10]*z + m[14];\n  const rw = m[3]*x + m[7]*y + m[11]*z + m[15];\n  if (rw !== 0 && rw !== 1) {\n    out[0] = rx/rw; out[1] = ry/rw; out[2] = rz/rw;\n  } else {\n    out[0] = rx; out[1] = ry; out[2] = rz;\n  }\n  return out;\n}\n\n/**\n * Apply only the 3×3 linear block of a mat4 to a direction vector.\n * No translation, no perspective divide. Suitable for directions and normals\n * when the matrix is known to be orthogonal (use mat3NormalFromMat4 for normals\n * under non-uniform scale).\n *\n * @param {Float32Array|number[]} out  3-element destination.\n * @param {Float32Array|number[]} m    16-element mat4.\n * @param {number} dx,dy,dz           Input direction.\n * @returns {Float32Array|number[]} out\n */\nexport function 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  (read scalars from a projection mat4)\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** @returns {boolean} true if orthographic */\nexport function 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 */\nexport function projNear(p, ndcZMin) {\n  return p[15] === 0\n    ? p[14] / (p[10] + ndcZMin)\n    : (p[14] - ndcZMin) / p[10];\n}\n\n/** Far plane distance (convention-independent: far always maps to NDC z=1). */\nexport function projFar(p) {\n  return p[15] === 0\n    ? p[14] / (1 + p[10])\n    : (p[14] - 1) / p[10];\n}\n\nexport function projLeft(p, ndcZMin) {\n  return p[15] === 1\n    ? -(1 + p[12]) / p[0]\n    : projNear(p, ndcZMin) * (p[8] - 1) / p[0];\n}\n\nexport function projRight(p, ndcZMin) {\n  return p[15] === 1\n    ? (1 - p[12]) / p[0]\n    : projNear(p, ndcZMin) * (1 + p[8]) / p[0];\n}\n\nexport function projTop(p, ndcZMin) {\n  return p[15] === 1\n    ? (p[13] - 1) / p[5]\n    : projNear(p, ndcZMin) * (p[9] - 1) / p[5];\n}\n\nexport function projBottom(p, ndcZMin) {\n  return p[15] === 1\n    ? (1 + p[13]) / p[5]\n    : projNear(p, ndcZMin) * (1 + p[9]) / p[5];\n}\n\n/** Vertical fov (radians, perspective only). */\nexport function projFov(p) {\n  return Math.abs(2 * Math.atan(1 / p[5]));\n}\n\n/** Horizontal fov (radians, perspective only). */\nexport function projHfov(p) {\n  return Math.abs(2 * Math.atan(1 / p[0]));\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Derived matrices (convenience)\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = P · V */\nexport function mat4PV(out, proj, view) { return mat4Mul(out, proj, view); }\n\n/** out = V · M */\nexport function mat4MV(out, model, view) { return mat4Mul(out, view, model); }\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Location / Direction transforms\n// ═══════════════════════════════════════════════════════════════════════════\n\n/**\n * Relative transform for locations (points): out = inv(to) · from.\n * @param {ArrayLike<number>} out   16-element destination.\n * @param {ArrayLike<number>} from  Source frame transform.\n * @param {ArrayLike<number>} to    Destination frame transform.\n * @returns {ArrayLike<number>|null} out, or null if to is singular.\n */\nexport function mat4Location(out, from, to) {\n  return mat4Invert(out, to) && mat4Mul(out, out, from);\n}\n\n/**\n * Relative transform for directions (vectors): out = to₃ · inv(from₃).\n * Uses only the upper-left 3×3 blocks, ignoring translation.\n * @param {ArrayLike<number>} out   9-element destination.\n * @param {ArrayLike<number>} from  Source frame transform.\n * @param {ArrayLike<number>} to    Destination frame transform.\n * @returns {ArrayLike<number>|null} out, or null if from is singular.\n */\nexport function mat3Direction(out, from, to) {\n  const a00=from[0], a01=from[1], a02=from[2],\n        a10=from[4], a11=from[5], a12=from[6],\n        a20=from[8], a21=from[9], a22=from[10];\n  const b01=a22*a11-a12*a21,\n        b11=a12*a20-a22*a10,\n        b21=a21*a10-a11*a20;\n  let det=a00*b01+a01*b11+a02*b21;\n  if (Math.abs(det) < 1e-12) return null;\n  det=1/det;\n  const i00=b01*det, i01=(a02*a21-a22*a01)*det, i02=(a12*a01-a02*a11)*det;\n  const i10=b11*det, i11=(a22*a00-a02*a20)*det, i12=(a02*a10-a12*a00)*det;\n  const i20=b21*det, i21=(a01*a20-a21*a00)*det, i22=(a11*a00-a01*a10)*det;\n  const t00=to[0], t01=to[1], t02=to[2],\n        t10=to[4], t11=to[5], t12=to[6],\n        t20=to[8], t21=to[9], t22=to[10];\n  const m00=t00*i00+t10*i01+t20*i02, m01=t01*i00+t11*i01+t21*i02, m02=t02*i00+t12*i01+t22*i02;\n  const m10=t00*i10+t10*i11+t20*i12, m11=t01*i10+t11*i11+t21*i12, m12=t02*i10+t12*i11+t22*i12;\n  const m20=t00*i20+t10*i21+t20*i22, m21=t01*i20+t11*i21+t21*i22, m22=t02*i20+t12*i21+t22*i22;\n  out[0]=m00; out[1]=m10; out[2]=m20;\n  out[3]=m01; out[4]=m11; out[5]=m21;\n  out[6]=m02; out[7]=m12; out[8]=m22;\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.\n// No path calls back into mapLocation/mapDirection (no reentrancy).\n// All intermediates are stack locals (zero shared state).\n//\n// Matrices bag m:\n//   {\n//     pMatrix:    Float32Array(16)  — projection (eye → clip)\n//     vMatrix:    Float32Array(16)  — view        (world → eye)\n//     eMatrix?:   Float32Array(16)  — eye         (eye → world, inv view); lazy\n//     pvMatrix?:  Float32Array(16)  — P · V;      lazy\n//     ipvMatrix?: Float32Array(16)  — inv(P · V); lazy\n//     fromFrame?: Float32Array(16)  — MATRIX source frame (custom space)\n//     toFrameInv?:Float32Array(16)  — inv(MATRIX dest frame)\n//   }\n//\n\n// ── Location leaf 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];\n  const y = pv[1]*px+pv[5]*py+pv[9]*pz+pv[13];\n  const z = pv[2]*px+pv[6]*py+pv[10]*pz+pv[14];\n  const w = pv[3]*px+pv[7]*py+pv[11]*pz+pv[15];\n  const xi = (w !== 0 && w !== 1) ? 1/w : 1;\n  const nx = x*xi, ny = y*xi, nz = z*xi;\n  const vpX=vp[0], vpY=vp[1], vpW=Math.abs(vp[2]), vpH=Math.abs(vp[3]);\n  out[0] = vpX + vpW * (nx + 1) * 0.5;\n  out[1] = vpY + vpH * (1 - (ny + 1) * 0.5);\n  out[2] = (nz - ndcZMin) / (1 - ndcZMin);\n  return out;\n}\n\nfunction _screenToWorld(out, sx, sy, sz, ipv, vp, ndcZMin) {\n  const vpX=vp[0], vpY=vp[1], vpW=Math.abs(vp[2]), vpH=Math.abs(vp[3]);\n  const nx = (sx - vpX) / vpW * 2 - 1;\n  const ny = 1 - (sy - vpY) / vpH * 2;\n  const nz = sz * (1 - ndcZMin) + ndcZMin;\n  return mat4MulPoint(out, ipv, nx, ny, nz);\n}\n\nfunction _worldToNDC(out, px, py, pz, pv) {\n  const x=pv[0]*px+pv[4]*py+pv[8]*pz+pv[12];\n  const y=pv[1]*px+pv[5]*py+pv[9]*pz+pv[13];\n  const z=pv[2]*px+pv[6]*py+pv[10]*pz+pv[14];\n  const 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]=x*xi; out[1]=y*xi; out[2]=z*xi;\n  return out;\n}\n\nfunction _ndcToWorld(out, nx, ny, nz, ipv) {\n  return mat4MulPoint(out, ipv, nx, ny, nz);\n}\n\nfunction _screenToNDC(out, sx, sy, sz, vp, ndcZMin) {\n  const vpX=vp[0], vpY=vp[1], vpW=Math.abs(vp[2]), vpH=Math.abs(vp[3]);\n  out[0] = (sx - vpX) / vpW * 2 - 1;\n  out[1] = 1 - (sy - vpY) / vpH * 2;\n  out[2] = sz * (1 - ndcZMin) + ndcZMin;\n  return out;\n}\n\nfunction _ndcToScreen(out, nx, ny, nz, vp, ndcZMin) {\n  const vpX=vp[0], vpY=vp[1], vpW=Math.abs(vp[2]), vpH=Math.abs(vp[3]);\n  out[0] = vpX + vpW * (nx + 1) * 0.5;\n  out[1] = vpY + vpH * (1 - (ny + 1) * 0.5);\n  out[2] = (nz - ndcZMin) / (1 - ndcZMin);\n  return out;\n}\n\nfunction _ensurePV(m) {\n  if (m.pvMatrix) return m.pvMatrix;\n  m.pvMatrix = new Float32Array(16);\n  mat4Mul(m.pvMatrix, m.pMatrix, m.vMatrix);\n  return m.pvMatrix;\n}\n\n/**\n * Map a point between named coordinate spaces.\n *\n * @param {Vec3}   out         Result written here.\n * @param {number} px,py,pz    Input point.\n * @param {string} from        Source space constant.\n * @param {string} to          Target space constant.\n * @param {object} m           Matrices bag:\n *   { pMatrix, vMatrix, eMatrix?, pvMatrix?, ipvMatrix?, fromFrame?, toFrameInv? }\n * @param {Vec4}   vp          Viewport [x, y, width, height].\n * @param {number} ndcZMin     WEBGL (−1) or WEBGPU (0).\n */\nexport function mapLocation(out, px, py, pz, from, to, m, vp, ndcZMin) {\n  // WORLD ↔ SCREEN\n  if (from === WORLD && to === SCREEN)\n    return _worldToScreen(out, px,py,pz, _ensurePV(m), vp, ndcZMin);\n  if (from === SCREEN && to === WORLD)\n    return _screenToWorld(out, px,py,pz, m.ipvMatrix, vp, ndcZMin);\n\n  // WORLD ↔ NDC\n  if (from === WORLD && to === NDC)\n    return _worldToNDC(out, px,py,pz, _ensurePV(m));\n  if (from === NDC && to === WORLD)\n    return _ndcToWorld(out, px,py,pz, m.ipvMatrix);\n\n  // SCREEN ↔ NDC\n  if (from === SCREEN && to === NDC)\n    return _screenToNDC(out, px,py,pz, vp, ndcZMin);\n  if (from === NDC && to === SCREEN)\n    return _ndcToScreen(out, px,py,pz, vp, ndcZMin);\n\n  // WORLD ↔ EYE\n  if (from === WORLD && to === EYE)\n    return mat4MulPoint(out, m.vMatrix, px,py,pz);\n  if (from === EYE && to === WORLD)\n    return mat4MulPoint(out, m.eMatrix, px,py,pz);\n\n  // EYE ↔ SCREEN\n  if (from === EYE && to === SCREEN) {\n    const e = m.eMatrix;\n    const ex=e[0]*px+e[4]*py+e[8]*pz+e[12],\n          ey=e[1]*px+e[5]*py+e[9]*pz+e[13],\n          ez=e[2]*px+e[6]*py+e[10]*pz+e[14];\n    return _worldToScreen(out, ex,ey,ez, _ensurePV(m), vp, ndcZMin);\n  }\n  if (from === SCREEN && to === EYE) {\n    _screenToWorld(out, px,py,pz, m.ipvMatrix, vp, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.vMatrix, wx,wy,wz);\n  }\n\n  // EYE ↔ NDC\n  if (from === EYE && to === NDC) {\n    const e = m.eMatrix;\n    const ex=e[0]*px+e[4]*py+e[8]*pz+e[12],\n          ey=e[1]*px+e[5]*py+e[9]*pz+e[13],\n          ez=e[2]*px+e[6]*py+e[10]*pz+e[14];\n    return _worldToNDC(out, ex,ey,ez, _ensurePV(m));\n  }\n  if (from === NDC && to === EYE) {\n    _ndcToWorld(out, px,py,pz, m.ipvMatrix);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.vMatrix, wx,wy,wz);\n  }\n\n  // MATRIX (custom frame) ↔ WORLD\n  if (from === MATRIX && to === WORLD)\n    return mat4MulPoint(out, m.fromFrame, px,py,pz);\n  if (from === WORLD && to === MATRIX)\n    return mat4MulPoint(out, m.toFrameInv, px,py,pz);\n\n  // MATRIX ↔ EYE\n  if (from === MATRIX && to === EYE) {\n    const f = m.fromFrame;\n    const fx=f[0]*px+f[4]*py+f[8]*pz+f[12],\n          fy=f[1]*px+f[5]*py+f[9]*pz+f[13],\n          fz=f[2]*px+f[6]*py+f[10]*pz+f[14];\n    return mat4MulPoint(out, m.vMatrix, fx,fy,fz);\n  }\n  if (from === EYE && to === MATRIX) {\n    const e = m.eMatrix;\n    const ex=e[0]*px+e[4]*py+e[8]*pz+e[12],\n          ey=e[1]*px+e[5]*py+e[9]*pz+e[13],\n          ez=e[2]*px+e[6]*py+e[10]*pz+e[14];\n    return mat4MulPoint(out, m.toFrameInv, ex,ey,ez);\n  }\n\n  // MATRIX ↔ SCREEN\n  if (from === MATRIX && to === SCREEN) {\n    const f = m.fromFrame;\n    const fx=f[0]*px+f[4]*py+f[8]*pz+f[12],\n          fy=f[1]*px+f[5]*py+f[9]*pz+f[13],\n          fz=f[2]*px+f[6]*py+f[10]*pz+f[14];\n    return _worldToScreen(out, fx,fy,fz, _ensurePV(m), vp, ndcZMin);\n  }\n  if (from === SCREEN && to === MATRIX) {\n    _screenToWorld(out, px,py,pz, m.ipvMatrix, vp, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ NDC\n  if (from === MATRIX && to === NDC) {\n    const f = m.fromFrame;\n    const fx=f[0]*px+f[4]*py+f[8]*pz+f[12],\n          fy=f[1]*px+f[5]*py+f[9]*pz+f[13],\n          fz=f[2]*px+f[6]*py+f[10]*pz+f[14];\n    return _worldToNDC(out, fx,fy,fz, _ensurePV(m));\n  }\n  if (from === NDC && to === MATRIX) {\n    _ndcToWorld(out, px,py,pz, m.ipvMatrix);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return mat4MulPoint(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ MATRIX\n  if (from === MATRIX && to === MATRIX) {\n    const f = m.fromFrame;\n    const fx=f[0]*px+f[4]*py+f[8]*pz+f[12],\n          fy=f[1]*px+f[5]*py+f[9]*pz+f[13],\n          fz=f[2]*px+f[6]*py+f[10]*pz+f[14];\n    return mat4MulPoint(out, m.toFrameInv, fx,fy,fz);\n  }\n\n  // Fallback\n  out[0]=px; out[1]=py; out[2]=pz;\n  return out;\n}\n\n// ── Direction leaf helpers ───────────────────────────────────────────────\n\n/** Apply the 3×3 linear part of a mat4 (rotation/scale, no translation). */\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  // Transform to clip space (no w divide for direction).\n  const vx=view[0]*dx+view[4]*dy+view[8]*dz;\n  const vy=view[1]*dx+view[5]*dy+view[9]*dz;\n  const vz=view[2]*dx+view[6]*dy+view[10]*dz;\n  const cx=proj[0]*vx+proj[4]*vy+proj[8]*vz;\n  const cy=proj[1]*vx+proj[5]*vy+proj[9]*vz;\n  const cz=proj[2]*vx+proj[6]*vy+proj[10]*vz;\n  // NDC→screen scale (direction, no offset).\n  out[0]=cx*vpW*0.5; out[1]=-cy*vpH*0.5;\n  out[2]=cz*(1-ndcZMin)*0.5;\n  return out;\n}\n\nfunction _screenToWorldDir(out, dx, dy, dz, proj, eMatrix, vpW, vpH, ndcZMin) {\n  // Screen direction → NDC direction.\n  const nx=dx/(vpW*0.5), ny=-dy/(vpH*0.5);\n  const nz=dz/((1-ndcZMin)*0.5);\n  // NDC direction → eye direction (inverse projection, linear only).\n  const ex=nx/proj[0], ey=ny/proj[5], ez=nz;\n  // Eye direction → world direction.\n  _applyDir(out, eMatrix, ex, ey, ez);\n  return out;\n}\n\nfunction _screenToNDCDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n  out[0]=dx/(vpW*0.5); out[1]=-dy/(vpH*0.5);\n  out[2]=dz/((1-ndcZMin)*0.5);\n  return out;\n}\n\nfunction _ndcToScreenDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n  out[0]=dx*vpW*0.5; out[1]=-dy*vpH*0.5;\n  out[2]=dz*(1-ndcZMin)*0.5;\n  return out;\n}\n\n/**\n * Map a direction between named coordinate spaces.\n * Same bag contract as mapLocation.\n */\nexport function mapDirection(out, dx, dy, dz, from, to, m, vp, ndcZMin) {\n  const vpW = Math.abs(vp[2]), vpH = Math.abs(vp[3]);\n\n  // EYE ↔ WORLD (most common)\n  if (from === EYE && to === WORLD) return _applyDir(out, m.eMatrix, dx, dy, dz);\n  if (from === WORLD && to === EYE) return _applyDir(out, m.vMatrix, dx, dy, dz);\n\n  // WORLD ↔ SCREEN\n  if (from === WORLD && to === SCREEN)\n    return _worldToScreenDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n  if (from === SCREEN && to === WORLD)\n    return _screenToWorldDir(out, dx,dy,dz, m.pMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n\n  // SCREEN ↔ NDC\n  if (from === SCREEN && to === NDC)\n    return _screenToNDCDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n  if (from === NDC && to === SCREEN)\n    return _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n\n  // WORLD ↔ NDC\n  if (from === WORLD && to === NDC) {\n    _worldToScreenDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n  }\n  if (from === NDC && to === WORLD) {\n    _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToWorldDir(out, sx,sy,sz, m.pMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n  }\n\n  // EYE ↔ SCREEN\n  if (from === EYE && to === SCREEN) {\n    _applyDir(out, m.eMatrix, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n  }\n  if (from === SCREEN && to === EYE) {\n    _screenToWorldDir(out, dx,dy,dz, m.pMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.vMatrix, wx,wy,wz);\n  }\n\n  // EYE ↔ NDC\n  if (from === EYE && to === NDC) {\n    _applyDir(out, m.eMatrix, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n  }\n  if (from === NDC && to === EYE) {\n    _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    _screenToWorldDir(out, sx,sy,sz, m.pMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.vMatrix, wx,wy,wz);\n  }\n\n  // MATRIX ↔ WORLD\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  // MATRIX ↔ EYE\n  if (from === MATRIX && to === EYE) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.vMatrix, wx,wy,wz);\n  }\n  if (from === EYE && to === MATRIX) {\n    _applyDir(out, m.eMatrix, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ SCREEN\n  if (from === MATRIX && to === SCREEN) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n  }\n  if (from === SCREEN && to === MATRIX) {\n    _screenToWorldDir(out, dx,dy,dz, m.pMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ NDC\n  if (from === MATRIX && to === NDC) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n  }\n  if (from === NDC && to === MATRIX) {\n    _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n    const sx=out[0],sy=out[1],sz=out[2];\n    _screenToWorldDir(out, sx,sy,sz, m.pMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // MATRIX ↔ MATRIX\n  if (from === MATRIX && to === MATRIX) {\n    _applyDir(out, m.fromFrame, dx,dy,dz);\n    const wx=out[0],wy=out[1],wz=out[2];\n    return _applyDir(out, m.toFrameInv, wx,wy,wz);\n  }\n\n  // Fallback\n  out[0]=dx; out[1]=dy; out[2]=dz;\n  return out;\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 (pixels).\n * @param {number} eyeZ     Eye-space Z (negative for in-front-of camera).\n * @param {number} ndcZMin  WEBGL or WEBGPU.\n */\nexport function pixelRatio(proj, vpH, eyeZ, ndcZMin) {\n  if (projIsOrtho(proj)) {\n    return Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin)) / vpH;\n  }\n  return 2 * Math.abs(eyeZ) * Math.tan(projFov(proj) / 2) / vpH;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Pick-matrix\n// ═══════════════════════════════════════════════════════════════════════════\n\n/**\n * Apply the pick-matrix in-place:  proj ← M_pick · proj\n *\n * Zooms the frustum so that pixel (px, py) maps to the full NDC square,\n * making a 1×1 framebuffer render contain exactly that pixel's content.\n * Convention-independent — correct for both perspective and orthographic.\n *\n * M_pick (column-major):\n *   [ sx   0   0   tx ]     sx = W,  sy = H\n *   [  0  sy   0   ty ]     cx = NDC X of pixel centre =  2*(px+0.5)/W − 1\n *   [  0   0   1    0 ]     cy = NDC Y of pixel centre =  1 − 2*(py+0.5)/H\n *   [  0   0   0    1 ]     tx = −cx·W,  ty = −cy·H\n *\n * @param {Float32Array} proj  Projection mat4 — mutated in place.\n * @param {number} px  Query X (CSS pixels).\n * @param {number} py  Query Y (CSS pixels).\n * @param {number} W   Canvas width  (CSS pixels).\n * @param {number} H   Canvas height (CSS pixels).\n * @returns {Float32Array} proj (same reference)\n */\nexport function mat4Pick(proj, px, py, W, H) {\n  const cx =  2 * (px + 0.5) / W - 1;\n  const cy = -2 * (py + 0.5) / H + 1;\n  const sx = W;\n  const sy = H;\n  const tx = -cx * W;\n  const ty = -cy * H;\n  for (let j = 0; j < 4; j++) {\n    const a = proj[j * 4];\n    const b = proj[j * 4 + 1];\n    const d = proj[j * 4 + 3];\n    proj[j * 4]     = sx * a + tx * d;\n    proj[j * 4 + 1] = sy * b + ty * d;\n  }\n  return proj;\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 — this module imports and uses\n * it but does not define it. Spline helpers (hermiteVec3, lerpVec3) and\n * TRS↔mat4 conversions (transformToMat4, mat4ToTransform) remain here\n * because they are tightly 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 qSlerp qNlerp\n *    qFromAxisAngle qFromLookDir qFromRotMat3x3 qFromMat4 qToMat4\n *    quatToAxisAngle\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 } lookat keyframes\n *\n * ── Class hierarchy ───────────────────────────────────────────────────────────\n *  Track (unexported, never instantiated directly)\n *    └── PoseTrack   (exported)\n *    └── CameraTrack (exported)\n *\n *  Track holds all transport machinery: cursor, play/stop/seek/tick,\n *  hooks, rate semantics.  Subclasses add only keyframe storage and\n *  add() / eval() for their respective data shape.\n *\n * ── Hook architecture ─────────────────────────────────────────────────────────\n *  Lib-space hooks (underscore prefix — reserved for host layer / UI layer):\n *    _onActivate / _onDeactivate  — fire on playing transitions false→true / true→false.\n *    _onPlay / _onEnd / _onStop   — mirror the user-space hooks; used by the UI layer\n *                                   so it can sync without chaining the public slots.\n *\n *  User-space hooks (public):\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() — explicit deactivation.\n *    onEnd and onStop are mutually exclusive per event.\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 *  bounce and loop are fully independent flags — no exclusivity enforced.\n *\n * ── Playback semantics (rate + _dir) ─────────────────────────────────────────\n *  rate > 0   forward\n *  rate < 0   backward\n *  rate === 0 frozen: tick() no-op; playing unchanged\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 *  rate always holds the user-set value — it is never mutated by bounce.\n *  _dir is reset to 1 only in reset() (keyframes cleared) — stop/replay\n *  preserves the current travel direction.\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'use strict';\n\nexport {\n  qSet, qCopy, qDot, qNormalize, qNegate, qMul,\n  qSlerp, qNlerp,\n  qFromAxisAngle, qFromLookDir, qFromRotMat3x3, qFromMat4,\n  quatToAxisAngle,\n} from './quat.js';\n\nimport {\n  qSlerp, qNlerp, qMul, qFromAxisAngle, qFromLookDir, qFromRotMat3x3, qToMat4,\n} from './quat.js';\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(dx*dx+dy*dy+dz*dz);\n}\n\n/**\n * Cubic Hermite interpolation between p0 and p1 with explicit tangents.\n * Catmull-Rom is a special case where m0/m1 are auto-computed from neighbors.\n * @param {number[]} out  3-element result.\n * @param {number[]} p0   Segment start.\n * @param {number[]} m0   Outgoing tangent at p0 (world-space, dp/dt scaled to segment).\n * @param {number[]} p1   Segment end.\n * @param {number[]} m1   Incoming tangent at p1 (world-space, dp/dt scaled to segment).\n * @param {number}   t    Blend [0, 1].\n * @returns {number[]} out\n */\nexport const hermiteVec3 = (out, p0, m0, p1, m1, t) => {\n  const t2=t*t, t3=t2*t;\n  const h00=2*t3-3*t2+1, h10=t3-2*t2+t, h01=-2*t3+3*t2, h11=t3-t2;\n  out[0]=h00*p0[0]+h10*m0[0]+h01*p1[0]+h11*m1[0];\n  out[1]=h00*p0[1]+h10*m0[1]+h01*p1[1]+h11*m1[1];\n  out[2]=h00*p0[2]+h10*m0[2]+h01*p1[2]+h11*m1[2];\n  return out;\n};\n\n// Centripetal CR outgoing tangent at p1 for segment p1→p2, scaled by dt1.\nconst _crTanOut = (out, p0, p1, p2, p3) => {\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\nconst _crTanIn = (out, p0, 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 by eval() across all track instances (non-reentrant hot path).\nconst _m0=[0,0,0], _m1=[0,0,0];\n\n/**\n * Linear interpolation between two vec3s.\n * @param {number[]} out\n * @param {number[]} a\n * @param {number[]} b\n * @param {number}   t  Blend [0, 1].\n * @returns {number[]} out\n */\nexport const 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// S3  Transform <-> Mat4\n// =========================================================================\n\n/**\n * Write a TRS transform into a column-major mat4.\n * @param {Float32Array|number[]} out  16-element column-major mat4.\n * @param {{ pos:number[], rot:number[], scl:number[] }} xform\n * @returns {Float32Array|number[]} out\n */\nexport const 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 * Assumes no shear. Scale extracted from column lengths.\n * @param {{ pos:number[], rot:number[], scl:number[] }} out\n * @param {Float32Array|number[]} m  Column-major mat4.\n * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n */\nexport const 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   = (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\n// Euler: unit axis vectors and the six valid intrinsic orderings.\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 *\n *   [x,y,z,w]                        — raw quaternion array\n *   { axis:[x,y,z], angle }          — axis-angle\n *   { dir:[x,y,z], up?:[x,y,z] }    — forward direction (−Z) with optional up\n *   { eMatrix: 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\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  // Raw array [x,y,z,w]\n  if (Array.isArray(v) && v.length === 4) return [v[0],v[1],v[2],v[3]];\n  if (ArrayBuffer.isView(v) && v.length >= 4) return [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  // { eMatrix }\n  if (v.eMatrix != null) {\n    const m = (ArrayBuffer.isView(v.eMatrix) || Array.isArray(v.eMatrix))\n      ? v.eMatrix : (v.eMatrix.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))\n      ? 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];\n    const 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 = fx*tx + fy*ty + fz*tz;\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(px*px+py*py+pz*pz);\n      if (pl < 1e-8) { px=fy; py=-fx; pz=0; pl = Math.sqrt(px*px+py*py+pz*pz); }\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=fy*tz-fz*ty, ay=fz*tx-fx*tz, az=fx*ty-fy*tx;\n    const al = Math.sqrt(ax*ax+ay*ay+az*az) || 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.\n *\n * Accepted forms:\n *\n *   { mMatrix }\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[], tanIn:number[]|null, tanOut:number[]|null }|null}\n */\nfunction _parseSpec(spec) {\n  if (!spec || typeof spec !== 'object') return null;\n\n  // { mMatrix } — full TRS decomposition from model matrix\n  if (spec.mMatrix != null) {\n    const m = (ArrayBuffer.isView(spec.mMatrix) || Array.isArray(spec.mMatrix))\n      ? spec.mMatrix : (spec.mMatrix.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  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/**\n * Parse a camera keyframe spec into internal { eye, center, up } form.\n *\n * Accepted forms:\n *\n *   { eye, center?, up?, fov?, halfHeight?,\n *     eyeTanIn?, eyeTanOut?, centerTanIn?, centerTanOut? }\n *     Explicit lookat.  center defaults to [0,0,0], up defaults to [0,1,0].\n *     eyeTanIn/Out and centerTanIn/Out are optional vec3 tangents for Hermite.\n *     When absent, centripetal Catmull-Rom tangents are auto-computed at eval time.\n *\n *   Removed forms (task 2):\n *     { vMatrix } and { eMatrix } — use PoseTrack.add({ mMatrix: eMatrix }) for\n *     full-fidelity capture including roll, or cam.capturePose() for lookat-style.\n *\n * @param {Object} spec\n * @returns {{ eye:number[], center:number[], up:number[],\n *             fov:number|null, halfHeight:number|null,\n *             eyeTanIn:number[]|null, eyeTanOut:number[]|null,\n *             centerTanIn:number[]|null, centerTanOut:number[]|null }|null}\n */\nfunction _parseCameraSpec(spec) {\n  if (!spec || typeof spec !== 'object') return null;\n\n  // { eye, center?, up? } — explicit lookat\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    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  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 active. @type {boolean} */\n    this.playing   = false;\n    /** Loop at boundaries. @type {boolean} */\n    this.loop      = false;\n    /** Ping-pong bounce (takes precedence over 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 segment (can be fractional). @type {number} */\n    this.f         = 0;\n\n    // Internal rate — never directly starts/stops playback\n    this._rate = 1;\n    // Internal bounce direction: +1 forward, -1 backward.\n    this._dir  = 1;\n    // Scratch: true once _dir has been flipped in bounce-once mode.\n    this._bounced = false;\n\n    // User-space hooks\n    /** @type {Function|null} */ this.onPlay = null;\n    /** @type {Function|null} */ this.onEnd  = null;\n    /** @type {Function|null} */ this.onStop = null;\n\n    // Lib-space hooks (set by host layer, e.g. p5 bridge)\n    /** @type {Function|null} */ this._onActivate   = null;\n    /** @type {Function|null} */ this._onDeactivate = null;\n    // Lib-space event mirrors — set by UI layer (trackUI), never touched by user code\n    /** @type {Function|null} */ this._onPlay = null;\n    /** @type {Function|null} */ this._onEnd  = null;\n    /** @type {Function|null} */ this._onStop = null;\n  }\n\n  /** Playback rate. Assigning never starts/stops playback. @type {number} */\n  get rate()  { return this._rate; }\n  set rate(v) { this._rate = (_isNum(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   * Start or update playback.\n   * @param {number|Object} [rateOrOpts]  Numeric rate or options object:\n   *   { rate, duration, loop, bounce, onPlay, onEnd, onStop }\n   * @returns {Track} this\n   */\n  play(rateOrOpts) {\n    if (this.keyframes.length === 0) return this;\n\n    // One keyframe: snap cursor, no animation\n    if (this.keyframes.length === 1) {\n      this.seg = 0; this.f = 0;\n      return this;\n    }\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(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(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.\n   * @param {boolean} [rewind=false]  Seek to origin after stopping.\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.\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 cursor if needed.\n   * @param {number} index\n   * @returns {boolean}\n   */\n  remove(index) {\n    if (!_isNum(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   * Seek to a normalised position [0,1] across the full path.\n   * @param {number} t           Normalised time [0, 1].\n   * @param {number} [segIndex]  Optional segment override.\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(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 playback position [0,1].\n   * @returns {number}\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.\n   * @returns {Object}\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 cursor by rate frames.\n   * Returns true while playing, false when stopping.\n   * @returns {boolean}\n   */\n  tick() {\n    if (!this.playing) return false;\n    const nSeg = this.segments;\n    if (nSeg === 0) {\n      this.playing = false; this._onDeactivate?.(); return false;\n    }\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    // ── loop:true, bounce:true — bounce forever ───────────────────────────\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    // ── loop:false, bounce:true — bounce once, stop at origin ────────────\n    if (!this.loop && this.bounce) {\n      if (next >= total) {\n        // far boundary: reflect and flip direction once\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        // origin: stop (whether we bounced or started backward)\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    // ── loop:true, bounce:false — repeat forever ──────────────────────────\n    if (this.loop) {\n      this._setCursorFromScalar(((next % total) + total) % total);\n      return true;\n    }\n\n    // ── loop:false, bounce:false — play once, stop at boundary ───────────\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.\n * When neither is supplied, centripetal Catmull-Rom tangents are auto-computed.\n */\nexport class PoseTrack extends Track {\n  constructor() {\n    super();\n    /**\n     * Position interpolation mode.\n     * - 'hermite' — cubic Hermite; auto-computes centripetal Catmull-Rom tangents\n     *               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; useful for discrete state changes\n     * @type {'slerp'|'nlerp'|'step'}\n     */\n    this.rotInterp = 'slerp';\n    // Scratch for toMatrix() — avoids hot-path allocations\n    this._pos = [0,0,0];\n    this._rot = [0,0,0,1];\n    this._scl = [1,1,1];\n  }\n\n  /**\n   * Append one or more keyframes. Adjacent duplicates are skipped by default.\n   * @param {Object|Object[]} spec\n   * @param {{ deduplicate?: boolean }} [opts]\n   */\n  add(spec, opts) {\n    if (Array.isArray(spec)) {\n      for (const s of spec) this.add(s, opts);\n      return;\n    }\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 (or append at end) the keyframe at index.\n   * @param {number} index\n   * @param {Object} spec\n   * @returns {boolean}\n   */\n  set(index, spec) {\n    if (!_isNum(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   * 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\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\n    const nSeg = n - 1;\n    const dur  = Math.max(1, this.duration | 0);\n    const seg  = _clampS(this.seg, 0, nSeg - 1);\n    const t    = _clamp01(this.f / dur);\n    const k0   = this.keyframes[seg];\n    const k1   = this.keyframes[seg + 1];\n\n    // pos — Hermite (auto-CR tangents when none stored), linear, or step\n    if (this.posInterp === 'step') {\n      out.pos[0]=k0.pos[0]; out.pos[1]=k0.pos[1]; out.pos[2]=k0.pos[2];\n    } else if (this.posInterp === 'linear') {\n      lerpVec3(out.pos, k0.pos, k1.pos, t);\n    } else {\n      const p0 = seg > 0      ? this.keyframes[seg - 1].pos : k0.pos;\n      const p3 = seg + 2 < n ? this.keyframes[seg + 2].pos  : k1.pos;\n      const m0 = k0.tanOut != null ? k0.tanOut\n               : k0.tanIn  != null ? k0.tanIn\n               : _crTanOut(_m0, p0, k0.pos, k1.pos, p3);\n      const m1 = k1.tanIn  != null ? k1.tanIn\n               : k1.tanOut != null ? k1.tanOut\n               : _crTanIn(_m1, p0, k0.pos, k1.pos, p3);\n      hermiteVec3(out.pos, k0.pos, m0, k1.pos, m1, t);\n    }\n\n    // rot — step, slerp, or nlerp\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    // scl — lerp\n    lerpVec3(out.scl, k0.scl, k1.scl, t);\n\n    return out;\n  }\n\n  /**\n   * Evaluate into an existing column-major mat4.\n   * @param {Float32Array|number[]} outMat4  16-element array.\n   * @returns {Float32Array|number[]} outMat4\n   */\n  toMatrix(outMat4) {\n    const xf = this.eval({ pos: this._pos, rot: this._rot, scl: this._scl });\n    return transformToMat4(outMat4, xf);\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 *                   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. eval() lerps each only when both adjacent\n * keyframes carry a non-null value for that field.\n *\n * eyeTanIn/Out and centerTanIn/Out are optional vec3 tangents for Hermite\n * interpolation of the eye and center paths respectively.\n * When absent, centripetal Catmull-Rom tangents are auto-computed at eval time.\n *\n * Missing fields default to: center → [0,0,0], up → [0,1,0].\n *\n * add() accepts individual specs or a bulk array of specs:\n *\n *   { eye, center?, up?, fov?, halfHeight?,\n *     eyeTanIn?, eyeTanOut?, centerTanIn?, centerTanOut? }\n *\n * To capture a matrix-based pose, use PoseTrack.add({ mMatrix: eMatrix })\n * for full-fidelity including roll, or cam.capturePose() for lookat-style.\n */\nexport class 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 default.\n   * @param {Object|Object[]} spec\n   * @param {{ deduplicate?: boolean }} [opts]\n   */\n  add(spec, opts) {\n    if (Array.isArray(spec)) {\n      for (const s of spec) this.add(s, opts);\n      return;\n    }\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 (or append at end) the camera keyframe at index.\n   * @param {number} index\n   * @param {Object} spec\n   * @returns {boolean}\n   */\n  set(index, spec) {\n    if (!_isNum(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   * Evaluate interpolated camera pose at current cursor.\n   *\n   * @param {{ eye:number[], center:number[], up:number[] }} [out]\n   * @returns {{ eye:number[], center:number[], up:number[] }} out\n   */\n  eval(out) {\n    out = out || { eye:[0,0,0], center:[0,0,0], up:[0,1,0], fov:null, halfHeight:null };\n    const n = this.keyframes.length;\n    if (n === 0) return out;\n\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      out.fov        = k.fov;\n      out.halfHeight = k.halfHeight;\n      return out;\n    }\n\n    const nSeg = n - 1;\n    const dur  = Math.max(1, this.duration | 0);\n    const seg  = _clampS(this.seg, 0, nSeg - 1);\n    const t    = _clamp01(this.f / dur);\n    const k0   = this.keyframes[seg];\n    const k1   = this.keyframes[seg + 1];\n\n    // eye — Hermite (auto-CR tangents when none stored), linear, or step\n    if (this.eyeInterp === 'step') {\n      out.eye[0]=k0.eye[0]; out.eye[1]=k0.eye[1]; out.eye[2]=k0.eye[2];\n    } else if (this.eyeInterp === 'linear') {\n      lerpVec3(out.eye, k0.eye, k1.eye, t);\n    } else {\n      const p0 = seg > 0      ? this.keyframes[seg - 1].eye : k0.eye;\n      const p3 = seg + 2 < n ? this.keyframes[seg + 2].eye  : k1.eye;\n      const m0 = k0.eyeTanOut != null ? k0.eyeTanOut\n               : k0.eyeTanIn  != null ? k0.eyeTanIn\n               : _crTanOut(_m0, p0, k0.eye, k1.eye, p3);\n      const m1 = k1.eyeTanIn  != null ? k1.eyeTanIn\n               : k1.eyeTanOut != null ? k1.eyeTanOut\n               : _crTanIn(_m1, p0, k0.eye, k1.eye, p3);\n      hermiteVec3(out.eye, k0.eye, m0, k1.eye, m1, t);\n    }\n\n    // center — Hermite, linear, or step (independent lookat target)\n    if (this.centerInterp === 'step') {\n      out.center[0]=k0.center[0]; out.center[1]=k0.center[1]; out.center[2]=k0.center[2];\n    } else if (this.centerInterp === 'hermite') {\n      const c0 = seg > 0      ? this.keyframes[seg - 1].center : k0.center;\n      const c3 = seg + 2 < n ? this.keyframes[seg + 2].center  : k1.center;\n      const m0 = k0.centerTanOut != null ? k0.centerTanOut\n               : k0.centerTanIn  != null ? k0.centerTanIn\n               : _crTanOut(_m0, c0, k0.center, k1.center, c3);\n      const m1 = k1.centerTanIn  != null ? k1.centerTanIn\n               : k1.centerTanOut != null ? k1.centerTanOut\n               : _crTanIn(_m1, c0, k0.center, k1.center, c3);\n      hermiteVec3(out.center, k0.center, m0, k1.center, m1, t);\n    } else {\n      lerpVec3(out.center, k0.center, k1.center, t);\n    }\n\n    // up — nlerp on unit sphere\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\n    // fov / halfHeight — lerp when both keyframes carry non-null values\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    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\nimport { INVISIBLE, VISIBLE, SEMIVISIBLE } from './constants.js';\n\n// Plane indices\nexport const 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  Projection plane values.\n */\nexport function 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 = posX*vdX + posY*vdY + posZ*vdZ;\n  const posRight   = posX*rtX + posY*rtY + posZ*rtZ;\n  const posUp      = posX*upX + posY*upY + posZ*upZ;\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 - right*left, -right) ... simplified:\n    // Actually: d = dot(pointOnPlane, normal)\n    // pointOnPlane = pos + right*left (left is negative for standard ortho)\n    // normal = -right\n    // d = dot(pos + right*left, -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 - bottom; // note: p5 top/bottom are swapped in sign convention\n\n    // Bottom: normal = -up\n    out[20] = -upX; out[21] = -upY; out[22] = -upZ;\n    out[23] = -posUp + top;\n  } else {\n    // Left\n    const hfovl = Math.atan2(left, near);\n    const shfovl = Math.sin(hfovl), chfovl = Math.cos(hfovl);\n    out[0] = vdX*shfovl - rtX*chfovl;\n    out[1] = vdY*shfovl - rtY*chfovl;\n    out[2] = vdZ*shfovl - rtZ*chfovl;\n    out[3] = shfovl*posViewDir - chfovl*posRight;\n\n    // Right\n    const hfovr = Math.atan2(right, near);\n    const shfovr = Math.sin(hfovr), chfovr = Math.cos(hfovr);\n    out[4] = -vdX*shfovr + rtX*chfovr;\n    out[5] = -vdY*shfovr + rtY*chfovr;\n    out[6] = -vdZ*shfovr + rtZ*chfovr;\n    out[7] = -shfovr*posViewDir + chfovr*posRight;\n\n    // Top\n    const fovt = Math.atan2(top, near);\n    const sfovt = Math.sin(fovt), cfovt = Math.cos(fovt);\n    out[16] = -vdX*sfovt + upX*cfovt;\n    out[17] = -vdY*sfovt + upY*cfovt;\n    out[18] = -vdZ*sfovt + upZ*cfovt;\n    out[19] = -sfovt*posViewDir + cfovt*posUp;\n\n    // Bottom\n    const fovb = Math.atan2(bottom, near);\n    const sfovb = Math.sin(fovb), cfovb = Math.cos(fovb);\n    out[20] = vdX*sfovb - upX*cfovb;\n    out[21] = vdY*sfovb - upY*cfovb;\n    out[22] = vdZ*sfovb - upZ*cfovb;\n    out[23] = sfovb*posViewDir - cfovb*posUp;\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 */\nexport function 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 */\nexport function 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 */\nexport function 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 */\nexport function 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 = a*cx + bv*cy + c*cz - d;\n      if (dist > 0) { allIn = false; }\n      else { allOut = false; }\n    }\n    if (allOut) return INVISIBLE;\n  }\n  return allIn ? 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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@nakednous/tree",
-  "version": "0.0.11",
+  "version": "0.0.12",
   "description": "tree — pure numeric core. Zero dependencies.",
   "type": "module",
   "main": "dist/index.js",