npm - @nakednous/tree - Versions diffs - 0.0.24 → 0.0.26 - Mend

@nakednous/tree 0.0.24 → 0.0.26

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1	- {"version":3,"file":"index.js","sources":["../src/constants.js","../src/quat.js","../src/form.js","../src/query.js","../src/track.js","../src/handle.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// Handle constraint kinds\nexport const SPHERE = 0;\nexport const PLANE = 1;\nexport const AXIS = 2;\nexport const DIAL = 3;\n\n// Handle report modes\nexport const POINT = 0;\nexport const DIRECTION = 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. Alias-safe: out may be a or 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]=awbx+axbw+aybz-azby;\n out[1]=awby-axbz+aybw+azbx;\n out[2]=awbz+axby-aybx+azbw;\n out[3]=awbw-axbx-ayby-azbz;\n return out;\n};\n\n/\n Conjugate out = [−x, −y, −z, w] — the inverse of a UNIT quaternion.\n * (Not qNegate: −q is the SAME rotation on the other hypersphere hemisphere;\n * the conjugate is the opposite rotation.)\n * @returns {number[]} out\n /\nexport const qConjugate = (out, a) => {\n out[0]=-a[0]; out[1]=-a[1]; out[2]=-a[2]; out[3]=a[3]; return out;\n};\n\n/\n Rotate a vec3 by a unit quaternion: out = q · v · q⁻¹, expanded to the\n * allocation-free t = 2(qv × v); out = v + w·t + qv × t form.\n * Alias-safe: out may be v.\n * @param {number[]} out 3-element destination.\n * @param {number[]} q Unit quaternion [x,y,z,w].\n * @param {number[]} v Vector [x,y,z].\n * @returns {number[]} out\n /\nexport const qRotateVec3 = (out, q, v) => {\n const qx=q[0],qy=q[1],qz=q[2],qw=q[3], vx=v[0],vy=v[1],vz=v[2];\n const tx=2(qyvz-qzvy), ty=2(qzvx-qxvz), tz=2(qxvy-qyvx);\n out[0]=vx+qwtx+qytz-qzty;\n out[1]=vy+qwty+qztx-qxtz;\n out[2]=vz+qwtz+qxty-qytx;\n return out;\n};\n\n// =========================================================================\n// Interpolation\n// =========================================================================\n\n/* Spherical linear interpolation. @returns {number[]} out /\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(tth)/st;\n } else {\n f0=1-t; f1=t;\n }\n out[0]=a[0]f0+bxf1; out[1]=a[1]f0+byf1;\n out[2]=a[2]f0+bzf1; out[3]=a[3]f0+bwf1;\n return qNormalize(out);\n};\n\n/\n Normalised linear interpolation (nlerp).\n * Cheaper than slerp; slightly non-constant angular velocity.\n * Handles antipodal quats by flipping b when dot < 0.\n * @returns {number[]} out\n /\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 Shortest-arc rotation taking unit vector a to unit vector b (three.js's\n * setFromUnitVectors; the arcball delta). Antiparallel inputs rotate 180°\n * about an axis ⊥ a, seeded from the world axis least aligned with a.\n * @param {number[]} out\n * @param {number[]} a Unit vector [x,y,z].\n * @param {number[]} b Unit vector [x,y,z].\n * @returns {number[]} out (normalised)\n /\nexport const qFromUnitVectors = (out, a, b) => {\n const d = a[0]b[0] + a[1]b[1] + a[2]b[2];\n if (d < -0.999999) {\n const ax = Math.abs(a[0]), ay = Math.abs(a[1]), az = Math.abs(a[2]);\n let rx = 0, ry = 0, rz = 0;\n if (ax <= ay && ax <= az) rx = 1; else if (ay <= az) ry = 1; else rz = 1;\n out[0]=rya[2]-rza[1]; out[1]=rza[0]-rxa[2]; out[2]=rxa[1]-rya[0];\n out[3]=0; // 180°: w = cos(π/2) = 0\n } else {\n out[0]=a[1]b[2]-a[2]b[1];\n out[1]=a[2]b[0]-a[0]b[2];\n out[2]=a[0]b[1]-a[1]b[0];\n out[3]=1+d;\n }\n return qNormalize(out);\n};\n\n/*\n Build a quaternion from axis-angle.\n * @param {number[]} out\n * @param {number} ax @param {number} ay @param {number} az Axis (need not be unit).\n * @param {number} angle Radians.\n * @returns {number[]} out\n /\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(axax + ayay + azaz) \|\| 1;\n out[0] = s ax / len; out[1] = s * ay / len; out[2] = s * az / len;\n out[3] = Math.cos(half);\n return out;\n};\n\n/*\n Build a quaternion from a look direction (−Z forward) and optional up (default +Y).\n * @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(fxfx+fyfy+fzfz)\|\|1;\n fx/=fl; fy/=fl; fz/=fl;\n let ux=up?up[0]:0, uy=up?up[1]:1, uz=up?up[2]:0;\n let rx=uyfz-uzfy, ry=uzfx-uxfz, rz=uxfy-uyfx;\n const rl=Math.sqrt(rxrx+ryry+rzrz)\|\|1;\n rx/=rl; ry/=rl; rz/=rl;\n ux=fyrz-fzry; uy=fzrx-fxrz; uz=fxry-fyrx;\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=2Math.sqrt(1+m00-m11-m22);\n out[3]=(m21-m12)/s; out[0]=0.25s; out[1]=(m01+m10)/s; out[2]=(m02+m20)/s;\n } else if (m11>m22) {\n const s=2Math.sqrt(1+m11-m00-m22);\n out[3]=(m02-m20)/s; out[0]=(m01+m10)/s; out[1]=0.25s; out[2]=(m12+m21)/s;\n } else {\n const s=2Math.sqrt(1+m22-m00-m11);\n out[3]=(m10-m01)/s; out[0]=(m02+m20)/s; out[1]=(m12+m21)/s; out[2]=0.25s;\n }\n return qNormalize(out);\n};\n\n/*\n Extract a unit quaternion from the upper-left 3×3 of a column-major mat4.\n * @param {number[]} out\n * @param {Float32Array\|number[]} m Column-major mat4.\n * @returns {number[]} out\n /\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=xx2,xy=xy2,xz=xz2,yy=yy2,yz=yz2,zz=zz2,wx=wx2,wy=wy2,wz=wz2;\n out[0]=1-(yy+zz); out[1]=xy+wz; out[2]=xz-wy; out[3]=0;\n out[4]=xy-wz; out[5]=1-(xx+zz); out[6]=yz+wx; out[7]=0;\n out[8]=xz+wy; out[9]=yz-wx; out[10]=1-(xx+yy); out[11]=0;\n out[12]=0; out[13]=0; out[14]=0; out[15]=1;\n return out;\n};\n\n// =========================================================================\n// Decomposition\n// =========================================================================\n\n/*\n Decompose a unit quaternion into { axis:[x,y,z], angle } (radians).\n * @param {number[]} q [x,y,z,w].\n * @param {Object} [out]\n * @returns {{ axis: number[], angle: number }}\n /\nexport const qToAxisAngle = (q, out) => {\n out = out \|\| {};\n const x=q[0],y=q[1],z=q[2],w=q[3];\n const sinHalf = Math.sqrt(xx+yy+zz);\n if (sinHalf < 1e-8) { out.axis=[0,1,0]; out.angle=0; return out; }\n out.angle = 2Math.atan2(sinHalf, w);\n out.axis = [x/sinHalf, y/sinHalf, z/sinHalf];\n return out;\n};\n","/\n @file Matrix construction from geometric specs and partial decomposition.\n * @module tree/form\n * @license AGPL-3.0-only\n \n Constructs mat4s from higher-level specs: TRS transforms, orthonormal\n * bases, lookat parameters, projection parameters, and special-purpose\n * matrices (bias, reflection).\n \n Design invariant: form.js has no dependency on query.js. Construction\n * from specs requires only scalar arithmetic and quaternion conversions.\n * Callers compose the resulting matrices using query.js (mat4Mul etc.).\n \n ── NDC Z convention ──────────────────────────────────────────────────────\n * Controlled by `ndcZMin` in every projection constructor:\n * WEBGL = −1 near → NDC z = −1, far → NDC z = +1\n * WEBGPU = 0 near → NDC z = 0, far → NDC z = +1\n \n ── NDC Y convention ──────────────────────────────────────────────────────\n * Controlled by `ndcYSign` in every projection constructor (default +1):\n * +1 NDC y-up — standard: OpenGL / WebGL / WebGPU browser / Three.js / p5v2\n * −1 NDC y-down — native Vulkan clip space\n \n Negating ndcYSign flips row 1 of the projection matrix (elements\n * out[1], out[5], out[9], out[13]), reversing the y-axis in clip space.\n * mat4View, mat4Eye, and all non-projection constructors are convention-\n * agnostic — they produce the same matrix regardless of the NDC y direction.\n \n ── Screen Y convention ───────────────────────────────────────────────────\n * Screen-y direction (DOM y-down vs OpenGL y-up) is a separate concern from\n * NDC-y direction and is handled in query.js via the signed viewport height.\n * See the query.js module header for details.\n \n All functions follow the out-first, zero-allocation contract.\n /\n\n'use strict';\n\n// =========================================================================\n// Frame construction\n// =========================================================================\n\n/\n Rigid frame from orthonormal basis + translation.\n * Column-major layout: col0=right, col1=up, col2=forward, col3=translation.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} rx,ry,rz Right vector (col 0).\n * @param {number} ux,uy,uz Up vector (col 1).\n * @param {number} fx,fy,fz Forward vec (col 2).\n * @param {number} tx,ty,tz Translation (col 3).\n /\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 * Camera looks along −Z in eye space; right = normalize(up × (−Z)).\n * Cheaper than building the eye matrix and inverting.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} ex,ey,ez Eye (camera) position.\n * @param {number} cx,cy,cz Look-at target.\n * @param {number} ux,uy,uz World up hint (need not be unit).\n /\nexport function mat4View(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n let zx=ex-cx, zy=ey-cy, zz=ez-cz;\n const zl=Math.sqrt(zxzx+zyzy+zzzz)\|\|1;\n zx/=zl; zy/=zl; zz/=zl;\n let xx=uyzz-uzzy, xy=uzzx-uxzz, xz=uxzy-uyzx;\n const xl=Math.sqrt(xxxx+xyxy+xzxz)\|\|1;\n xx/=xl; xy/=xl; xz/=xl;\n const yx=zyxz-zzxy, yy=zzxx-zxxz, yz=zxxy-zyxx;\n out[0]=xx; out[1]=yx; out[2]=zx; out[3]=0;\n out[4]=xy; out[5]=yy; out[6]=zy; out[7]=0;\n out[8]=xz; out[9]=yz; out[10]=zz; out[11]=0;\n out[12]=-(xxex+xyey+xzez);\n out[13]=-(yxex+yyey+yzez);\n out[14]=-(zxex+zyey+zzez);\n out[15]=1;\n return out;\n}\n\n/*\n Eye matrix (eye→world) from lookat parameters.\n * Transpose of the rotation block + direct translation column.\n * Same parameters as mat4View.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} ex,ey,ez Eye position.\n * @param {number} cx,cy,cz Look-at target.\n * @param {number} ux,uy,uz World up hint.\n /\nexport function mat4Eye(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n let zx=ex-cx, zy=ey-cy, zz=ez-cz;\n const zl=Math.sqrt(zxzx+zyzy+zzzz)\|\|1;\n zx/=zl; zy/=zl; zz/=zl;\n let xx=uyzz-uzzy, xy=uzzx-uxzz, xz=uxzy-uyzx;\n const xl=Math.sqrt(xxxx+xyxy+xzxz)\|\|1;\n xx/=xl; xy/=xl; xz/=xl;\n const yx=zyxz-zzxy, yy=zzxx-zxxz, yz=zxxy-zyxx;\n out[0]=xx; out[1]=xy; out[2]=xz; out[3]=0;\n out[4]=yx; out[5]=yy; out[6]=yz; out[7]=0;\n out[8]=zx; out[9]=zy; out[10]=zz; out[11]=0;\n out[12]=ex; out[13]=ey; out[14]=ez; out[15]=1;\n return out;\n}\n\n// =========================================================================\n// TRS construction\n// =========================================================================\n\n/\n Column-major mat4 from flat TRS scalars. No struct allocation.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} tx,ty,tz Translation.\n * @param {number} qx,qy,qz,qw Rotation quaternion [x,y,z,w].\n * @param {number} sx,sy,sz Scale.\n /\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=qxx2,xy=qxy2,xz=qxz2,yy=qyy2,yz=qyz2,zz=qzz2;\n const wx=qwx2,wy=qwy2,wz=qwz2;\n out[0]=(1-(yy+zz))sx; out[1]=(xy+wz)sx; out[2]=(xz-wy)sx; out[3]=0;\n out[4]=(xy-wz)sy; out[5]=(1-(xx+zz))sy; out[6]=(yz+wx)sy; out[7]=0;\n out[8]=(xz+wy)sz; out[9]=(yz-wx)sz; out[10]=(1-(xx+yy))sz; out[11]=0;\n out[12]=tx; out[13]=ty; out[14]=tz; out[15]=1;\n return out;\n}\n\n/\n Translation-only mat4.\n * @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} tx,ty,tz\n /\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 /\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 Orthographic projection matrix.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} left,right,bottom,top Frustum extents.\n * @param {number} near,far Clip plane distances (positive).\n * @param {number} ndcZMin −1 (WEBGL) or 0 (WEBGPU).\n * @param {number} [ndcYSign=1] +1 = NDC y-up (default); −1 = NDC y-down (native Vulkan).\n /\nexport function mat4Ortho(out, left, right, bottom, top, near, far, ndcZMin, ndcYSign=1) {\n const rl=1/(right-left), tb=1/(top-bottom), fn=1/(far-near);\n out[0]=2rl; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=ndcYSign2tb; out[6]=0; out[7]=0;\n out[8]=0; out[9]=0; out[10]=(ndcZMin-1)fn; out[11]=0;\n out[12]=-(right+left)rl; out[13]=ndcYSign(-(top+bottom)tb);\n out[14]=(ndcZMinfar-near)fn;\n out[15]=1;\n return out;\n}\n\n/*\n Perspective projection matrix (general / off-centre frustum).\n * Symmetric case: left=-right, bottom=-top — derive from fov+aspect in user space:\n * top = near * Math.tan(fov / 2); right = top * aspect\n * mat4Persp(out, -right, right, -top, top, near, far, ndcZMin)\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} left,right,bottom,top Near-plane extents (signed, y-up: top>0, bottom<0).\n * @param {number} near,far Clip plane distances (positive).\n * @param {number} ndcZMin −1 (WEBGL) or 0 (WEBGPU).\n * @param {number} [ndcYSign=1] +1 = NDC y-up (default); −1 = NDC y-down (native Vulkan).\n /\nexport function mat4Persp(out, left, right, bottom, top, near, far, ndcZMin, ndcYSign=1) {\n const rl=1/(right-left), tb=1/(top-bottom);\n out[0]=2nearrl; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=ndcYSign2neartb; out[6]=0; out[7]=0;\n out[8]=(right+left)rl; out[9]=ndcYSign(top+bottom)tb;\n out[10]=(ndcZMinnear-far)/(far-near);\n out[11]=-1;\n out[12]=0; out[13]=0;\n out[14]=(ndcZMin-1)farnear/(far-near);\n out[15]=0;\n return out;\n}\n\n// =========================================================================\n// Special-purpose construction\n// =========================================================================\n\n/*\n Bias matrix: remaps xyz from NDC to texture/UV space [0, 1].\n * xy remap from [−1, 1]; z remaps from [ndcZMin, 1].\n * Used to convert light-space NDC coordinates to shadow map UV.\n \n Convention note: the standard bias maps NDC y = −1 → texture v = 0 and\n * NDC y = +1 → texture v = 1. This is correct for both NDC y-up and y-down\n * conventions because the shadow map was rendered with the same projection.\n \n Column-major (WEBGL, ndcZMin=−1): Column-major (WEBGPU, ndcZMin=0):\n * [ 0.5 0 0 0.5 ] [ 0.5 0 0 0.5 ]\n * [ 0 0.5 0 0.5 ] [ 0 0.5 0 0.5 ]\n * [ 0 0 0.5 0.5 ] [ 0 0 1 0 ]\n * [ 0 0 0 1 ] [ 0 0 0 1 ]\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nexport function mat4Bias(out, ndcZMin) {\n const sz=1/(1-ndcZMin), tz=-ndcZMin/(1-ndcZMin);\n out[0]=0.5; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=0.5; out[6]=0; out[7]=0;\n out[8]=0; out[9]=0; out[10]=sz; out[11]=0;\n out[12]=0.5; out[13]=0.5; out[14]=tz; out[15]=1;\n return out;\n}\n\n/\n Reflection matrix across a plane ax + by + cz = d.\n * [nx, ny, nz] must be a unit normal.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} nx,ny,nz Unit plane normal.\n * @param {number} d Plane offset (dot(point_on_plane, normal)).\n /\nexport function mat4Reflect(out, nx,ny,nz,d) {\n out[0]=1-2nxnx; out[1]=-2nynx; out[2]=-2nznx; out[3]=0;\n out[4]=-2nxny; out[5]=1-2nyny; out[6]=-2nzny; out[7]=0;\n out[8]=-2nxnz; out[9]=-2nynz; out[10]=1-2nznz; out[11]=0;\n out[12]=2dnx; out[13]=2dny; out[14]=2dnz; out[15]=1;\n return out;\n}\n","/\n @file Matrix arithmetic, space-transform dispatch, and projection queries.\n * @module tree/query\n * @license AGPL-3.0-only\n \n The operative layer — receives matrices and extracts information.\n * Contrast with form.js which constructs matrices from specs.\n \n form.js — specs → matrix\n * query.js — matrix → information\n \n Storage: column-major Float32Array / ArrayLike<number>.\n * Multiply: mat4Mul(out, A, B) = A · B (standard math order).\n * Pipeline: clip = P · V · M · v\n \n ── NDC Z convention ──────────────────────────────────────────────────────\n * Passed as `ndcZMin` to every space-transform function:\n * WEBGL = −1 z ∈ [−1, 1]\n * WEBGPU = 0 z ∈ [ 0, 1]\n \n ── NDC Y convention ──────────────────────────────────────────────────────\n * Standard (OpenGL / WebGL / WebGPU browser / Three.js / p5v2):\n * NDC y-up — y = +1 at top, y = −1 at bottom.\n * Native Vulkan: NDC y-down — projections constructed with ndcYSign = −1\n * (see form.js). Query functions are convention-agnostic: they work on\n * whatever matrices are passed in.\n \n ── Viewport convention ───────────────────────────────────────────────────\n * vp = [x, y, w, h] — w and h are SIGNED.\n \n The sign of h encodes the relationship between NDC y and screen y:\n * h < 0 (e.g. −canvasH): screen y-DOWN (DOM / p5 mouseX·mouseY / Vulkan surface)\n * NDC y=+1 → screen y=0 (top)\n * NDC y=−1 → screen y=H (bottom)\n * h > 0 (e.g. +canvasH): screen y-UP (OpenGL desktop / WebGL gl_FragCoord)\n * NDC y=−1 → screen y=0 (bottom)\n * NDC y=+1 → screen y=H (top)\n \n Pass [0, canvasH, canvasW, −canvasH] for p5/DOM coordinates.\n * Pass [0, 0, canvasW, canvasH] for WebGL gl_FragCoord / OpenGL bottom-left.\n * All helpers use vp[2]/vp[3] signed — no Math.abs — so both conventions\n * work automatically without any branching.\n \n All functions follow the out-first, zero-allocation contract.\n * Returns null on degeneracy (singular matrix, etc.).\n /\n\n'use strict';\n\nimport { WORLD, EYE, NDC, SCREEN, MATRIX } from './constants.js';\nimport { qFromRotMat3x3 } from './quat.js';\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Mat4 arithmetic\n// ═══════════════════════════════════════════════════════════════════════════\n\n/* out = A · B (column-major) /\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]=a0b0+a4b1+a8b2+a12b3;\n out[1]=a1b0+a5b1+a9b2+a13b3;\n out[2]=a2b0+a6b1+a10b2+a14b3;\n out[3]=a3b0+a7b1+a11b2+a15b3;\n b0=B[4];b1=B[5];b2=B[6];b3=B[7];\n out[4]=a0b0+a4b1+a8b2+a12b3;\n out[5]=a1b0+a5b1+a9b2+a13b3;\n out[6]=a2b0+a6b1+a10b2+a14b3;\n out[7]=a3b0+a7b1+a11b2+a15b3;\n b0=B[8];b1=B[9];b2=B[10];b3=B[11];\n out[8]=a0b0+a4b1+a8b2+a12b3;\n out[9]=a1b0+a5b1+a9b2+a13b3;\n out[10]=a2b0+a6b1+a10b2+a14b3;\n out[11]=a3b0+a7b1+a11b2+a15b3;\n b0=B[12];b1=B[13];b2=B[14];b3=B[15];\n out[12]=a0b0+a4b1+a8b2+a12b3;\n out[13]=a1b0+a5b1+a9b2+a13b3;\n out[14]=a2b0+a6b1+a10b2+a14b3;\n out[15]=a3b0+a7b1+a11b2+a15b3;\n return out;\n}\n\n/* out = inverse(src). Returns null if singular (\|det\| < 1e-12). /\nexport function mat4Invert(out, src) {\n const s0=src[0],s1=src[1],s2=src[2],s3=src[3],\n s4=src[4],s5=src[5],s6=src[6],s7=src[7],\n s8=src[8],s9=src[9],s10=src[10],s11=src[11],\n s12=src[12],s13=src[13],s14=src[14],s15=src[15];\n const b0=s0s5-s1s4, b1=s0s6-s2s4, b2=s0s7-s3s4,\n b3=s1s6-s2s5, b4=s1s7-s3s5, b5=s2s7-s3s6,\n b6=s8s13-s9s12, b7=s8s14-s10s12, b8=s8s15-s11s12,\n b9=s9s14-s10s13, b10=s9s15-s11s13, b11=s10s15-s11s14;\n let det=b0b11-b1b10+b2b9+b3b8-b4b7+b5b6;\n if (Math.abs(det) < 1e-12) return null;\n det = 1/det;\n out[0]=(s5b11-s6b10+s7b9)det;\n out[1]=(s2b10-s1b11-s3b9)det;\n out[2]=(s13b5-s14b4+s15b3)det;\n out[3]=(s10b4-s9b5-s11b3)det;\n out[4]=(s6b8-s4b11-s7b7)det;\n out[5]=(s0b11-s2b8+s3b7)det;\n out[6]=(s14b2-s12b5-s15b1)det;\n out[7]=(s8b5-s10b2+s11b1)det;\n out[8]=(s4b10-s5b8+s7b6)det;\n out[9]=(s1b8-s0b10-s3b6)det;\n out[10]=(s12b4-s13b2+s15b0)det;\n out[11]=(s9b2-s8b4-s11b0)det;\n out[12]=(s5b7-s4b9-s6b6)det;\n out[13]=(s0b9-s1b7+s2b6)det;\n out[14]=(s13b1-s12b3-s14b0)det;\n out[15]=(s8b3-s9b1+s10b0)det;\n return out;\n}\n\n/\n Normal matrix: inverseTranspose(upper-left 3×3 of src).\n * On degeneracy writes zeros and returns out.\n * @param {Float32Array\|number[]} out 9-element destination.\n * @param {Float32Array\|number[]} src 16-element mat4.\n /\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=a22a11-a12a21, b11=-a22a01+a02a21, b21=a12a01-a02a11;\n let det=a00b01+a10b11+a20b21;\n if (Math.abs(det) < 1e-12) { for(let i=0;i<9;i++)out[i]=0; return out; }\n det=1/det;\n out[0]=b01det; out[1]=(-a22a10+a12a20)det; out[2]=(a21a10-a11a20)det;\n out[3]=b11det; out[4]=(a22a00-a02a20)det; out[5]=(-a21a00+a01a20)det;\n out[6]=b21det; out[7]=(-a12a00+a02a10)det; out[8]=(a11a00-a01a10)det;\n return out;\n}\n\n/* out = mat4 * [x,y,z,1], perspective-divides, writes xyz. /\nexport function mat4MulPoint(out, m, x, y, z) {\n const rx=m[0]x+m[4]y+m[8]z+m[12], ry=m[1]x+m[5]y+m[9]z+m[13],\n rz=m[2]x+m[6]y+m[10]z+m[14], rw=m[3]x+m[7]y+m[11]z+m[15];\n if (rw!==0&&rw!==1) { out[0]=rx/rw; out[1]=ry/rw; out[2]=rz/rw; }\n else { out[0]=rx; out[1]=ry; out[2]=rz; }\n return out;\n}\n\n/\n Apply only the 3×3 linear block of a mat4 to a direction (no translation,\n * no perspective divide). Use mat3NormalFromMat4 for normals under non-uniform scale.\n /\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\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 ? p[14]/(p[10]+ndcZMin) : (p[14]-ndcZMin)/p[10];\n}\n\n/* Far plane distance (far always maps to NDC z = 1, convention-independent). /\nexport function projFar(p) {\n return p[15]===0 ? p[14]/(1+p[10]) : (p[14]-1)/p[10];\n}\n\nexport function projLeft (p, ndcZMin) { return p[15]===1 ? -(1+p[12])/p[0] : projNear(p,ndcZMin)(p[8]-1)/p[0]; }\nexport function projRight (p, ndcZMin) { return p[15]===1 ? (1-p[12])/p[0] : projNear(p,ndcZMin)(1+p[8])/p[0]; }\n\n/\n Top extent of the near plane in camera space (y_max, positive for standard y-up camera).\n * Sign-normalized: returns the larger of the two y boundaries regardless of whether\n * the projection was built with ndcYSign = +1 or −1.\n /\nexport function projTop(p, ndcZMin) {\n return p[15]===1\n ? ( Math.sign(p[5]) - p[13]) / p[5] // ortho\n : projNear(p,ndcZMin)(1+p[9])/p[5]; // perspective (p[5]>0 in practice)\n}\n\n/*\n Bottom extent of the near plane in camera space (y_min, negative for standard y-up camera).\n /\nexport function projBottom(p, ndcZMin) {\n return p[15]===1\n ? (-Math.sign(p[5]) - p[13]) / p[5] // ortho\n : projNear(p,ndcZMin)(p[9]-1)/p[5]; // perspective\n}\n\n/** Vertical field of view in radians (perspective only). /\nexport function projFov (p) { return Math.abs(2Math.atan(1/p[5])); }\n/** Horizontal field of view in radians (perspective only). /\nexport function projHfov(p) { return Math.abs(2Math.atan(1/p[0])); }\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Derived matrices\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = P · V /\nexport function mat4PV(out, proj, view) { return mat4Mul(out, proj, view); }\n/* out = V · M /\nexport function mat4MV(out, model, view) { return mat4Mul(out, view, model); }\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Frame-relative transforms\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n Location transform between frames: out = inv(to) · from.\n * Assumes both matrices are affine (bottom row [0,0,0,1]).\n * @returns {ArrayLike<number>\|null} out, or null if `to` is singular.\n /\nexport function mat4Location(out, from, to) {\n // Same as: return mat4Invert(out, to) && mat4Mul(out, out, from);\n const a00=to[0],a01=to[1],a02=to[2],\n a10=to[4],a11=to[5],a12=to[6],\n a20=to[8],a21=to[9],a22=to[10];\n const b01=a22a11-a12a21, b11=a12a20-a22a10, b21=a21a10-a11a20;\n let det=a00b01+a01b11+a02b21;\n if (Math.abs(det) < 1e-12) return null;\n det=1/det;\n const i00=b01det, i01=(a02a21-a22a01)det, i02=(a12a01-a02a11)det;\n const i10=b11det, i11=(a22a00-a02a20)det, i12=(a02a10-a12a00)det;\n const i20=b21det, i21=(a01a20-a21a00)det, i22=(a11a00-a01a10)det;\n const f00=from[0],f01=from[1],f02=from[2],\n f10=from[4],f11=from[5],f12=from[6],\n f20=from[8],f21=from[9],f22=from[10];\n out[0]=i00f00+i01f01+i02f02; out[1]=i10f00+i11f01+i12f02; out[2]=i20f00+i21f01+i22f02; out[3]=0;\n out[4]=i00f10+i01f11+i02f12; out[5]=i10f10+i11f11+i12f12; out[6]=i20f10+i21f11+i22f12; out[7]=0;\n out[8]=i00f20+i01f21+i02f22; out[9]=i10f20+i11f21+i12f22; out[10]=i20f20+i21f21+i22f22; out[11]=0;\n const dx=from[12]-to[12], dy=from[13]-to[13], dz=from[14]-to[14];\n out[12]=i00dx+i01dy+i02dz; out[13]=i10dx+i11dy+i12dz; out[14]=i20dx+i21dy+i22dz; out[15]=1;\n return out;\n}\n\n/\n Direction transform between frames: out = to₃ · inv(from₃).\n * Uses only the upper-left 3×3 blocks (rotation/scale, no translation).\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=a22a11-a12a21, b11=a12a20-a22a10, b21=a21a10-a11a20;\n let det=a00b01+a01b11+a02b21;\n if (Math.abs(det) < 1e-12) return null;\n det=1/det;\n const i00=b01det, i01=(a02a21-a22a01)det, i02=(a12a01-a02a11)det;\n const i10=b11det, i11=(a22a00-a02a20)det, i12=(a02a10-a12a00)det;\n const i20=b21det, i21=(a01a20-a21a00)det, i22=(a11a00-a01a10)det;\n const t00=to[0],t01=to[1],t02=to[2], t10=to[4],t11=to[5],t12=to[6], t20=to[8],t21=to[9],t22=to[10];\n out[0]=t00i00+t10i01+t20i02; out[1]=t01i00+t11i01+t21i02; out[2]=t02i00+t12i01+t22i02;\n out[3]=t00i10+t10i11+t20i12; out[4]=t01i10+t11i11+t21i12; out[5]=t02i10+t12i11+t22i12;\n out[6]=t00i20+t10i21+t20i22; out[7]=t01i20+t11i21+t21i22; out[8]=t02i20+t12i21+t22i22;\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Space transforms — mapLocation / mapDirection\n// ═══════════════════════════════════════════════════════════════════════════\n//\n// Flat dispatch: every from→to pair is a self-contained leaf with only stack\n// locals — no reentrancy, no shared state between calls.\n//\n// Matrices bag `m`:\n// mat4Proj Float32Array(16) projection (eye → clip)\n// mat4View Float32Array(16) view (world → eye)\n// mat4Eye? Float32Array(16) eye (eye → world); caller fills before passing\n// mat4PV? Float32Array(16) P · V; caller fills or _ensurePV allocates once\n// mat4PVInv? Float32Array(16) inv(P · V); caller fills\n// fromFrame? Float32Array(16) MATRIX source frame\n// toFrameInv? Float32Array(16) inv(MATRIX dest frame)\n//\n// Viewport `vp` = [x, y, w, h]:\n// Use SIGNED h to encode screen-y direction (see module header).\n// Core formula: screen = (ndc0.5+0.5)vp[k] + vp[k-2] (k=2 for x, k=3 for y)\n// Inverse: ndc = ((screen-vp[k-2])/vp[k])2 - 1\n// Negative vp[3] flips NDC y-up to screen y-down automatically.\n//\n\n// ── Location helpers ─────────────────────────────────────────────────────\n\nfunction _worldToScreen(out, px, py, pz, pv, vp, ndcZMin) {\n const x=pv[0]px+pv[4]py+pv[8]pz+pv[12], y=pv[1]px+pv[5]py+pv[9]pz+pv[13],\n z=pv[2]px+pv[6]py+pv[10]pz+pv[14], w=pv[3]px+pv[7]py+pv[11]pz+pv[15];\n const xi=(w!==0&&w!==1)?1/w:1;\n out[0]=(xxi0.5+0.5)vp[2]+vp[0];\n out[1]=(yxi0.5+0.5)vp[3]+vp[1];\n out[2]=(zxi-ndcZMin)/(1-ndcZMin);\n return out;\n}\n\nfunction _screenToWorld(out, sx, sy, sz, ipv, vp, ndcZMin) {\n return mat4MulPoint(out, ipv,\n ((sx-vp[0])/vp[2])2-1,\n ((sy-vp[1])/vp[3])2-1,\n sz(1-ndcZMin)+ndcZMin);\n}\n\nfunction _worldToNDC(out, px, py, pz, pv) {\n const x=pv[0]px+pv[4]py+pv[8]pz+pv[12], y=pv[1]px+pv[5]py+pv[9]pz+pv[13],\n z=pv[2]px+pv[6]py+pv[10]pz+pv[14], w=pv[3]px+pv[7]py+pv[11]pz+pv[15];\n const xi=(w!==0&&w!==1)?1/w:1;\n out[0]=xxi; out[1]=yxi; out[2]=zxi;\n return out;\n}\n\nfunction _ndcToWorld(out, nx, ny, nz, ipv) { return mat4MulPoint(out,ipv,nx,ny,nz); }\n\nfunction _screenToNDC(out, sx, sy, sz, vp, ndcZMin) {\n out[0]=((sx-vp[0])/vp[2])2-1;\n out[1]=((sy-vp[1])/vp[3])2-1;\n out[2]=sz(1-ndcZMin)+ndcZMin;\n return out;\n}\n\nfunction _ndcToScreen(out, nx, ny, nz, vp, ndcZMin) {\n out[0]=(nx0.5+0.5)vp[2]+vp[0];\n out[1]=(ny0.5+0.5)vp[3]+vp[1];\n out[2]=(nz-ndcZMin)/(1-ndcZMin);\n return out;\n}\n\nfunction _ensurePV(m) {\n if (m.mat4PV) return m.mat4PV;\n m.mat4PV = new Float32Array(16);\n mat4Mul(m.mat4PV, m.mat4Proj, m.mat4View);\n return m.mat4PV;\n}\n\n/\n Map a point between named coordinate spaces.\n \n @param {number[]} out 3-element destination — written and returned.\n * @param {number} px,py,pz Input point.\n * @param {string} from Source space (WORLD, EYE, SCREEN, NDC, MATRIX).\n * @param {string} to Destination space.\n * @param {object} m Matrices bag — see module header.\n * @param {number[]} vp Viewport [x, y, w, h]; sign of h encodes screen-y direction.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @returns {number[]} out\n /\nexport function mapLocation(out, px, py, pz, from, to, m, vp, ndcZMin) {\n if (from===WORLD && to===SCREEN) return _worldToScreen(out,px,py,pz,_ensurePV(m),vp,ndcZMin);\n if (from===SCREEN && to===WORLD) return _screenToWorld(out,px,py,pz,m.mat4PVInv,vp,ndcZMin);\n\n if (from===WORLD && to===NDC) return _worldToNDC(out,px,py,pz,_ensurePV(m));\n if (from===NDC && to===WORLD) return _ndcToWorld(out,px,py,pz,m.mat4PVInv);\n\n if (from===SCREEN && to===NDC) return _screenToNDC(out,px,py,pz,vp,ndcZMin);\n if (from===NDC && to===SCREEN) return _ndcToScreen(out,px,py,pz,vp,ndcZMin);\n\n if (from===WORLD && to===EYE) return mat4MulPoint(out,m.mat4View,px,py,pz);\n if (from===EYE && to===WORLD) return mat4MulPoint(out,m.mat4Eye,px,py,pz);\n\n if (from===EYE && to===SCREEN) {\n const e=m.mat4Eye;\n return _worldToScreen(out,e[0]px+e[4]py+e[8]pz+e[12],\n e[1]px+e[5]py+e[9]pz+e[13],\n e[2]px+e[6]py+e[10]pz+e[14],_ensurePV(m),vp,ndcZMin);\n }\n if (from===SCREEN && to===EYE) {\n _screenToWorld(out,px,py,pz,m.mat4PVInv,vp,ndcZMin);\n return mat4MulPoint(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===EYE && to===NDC) {\n const e=m.mat4Eye;\n return _worldToNDC(out,e[0]px+e[4]py+e[8]pz+e[12],\n e[1]px+e[5]py+e[9]pz+e[13],\n e[2]px+e[6]py+e[10]pz+e[14],_ensurePV(m));\n }\n if (from===NDC && to===EYE) {\n _ndcToWorld(out,px,py,pz,m.mat4PVInv);\n return mat4MulPoint(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===WORLD) return mat4MulPoint(out,m.fromFrame,px,py,pz);\n if (from===WORLD && to===MATRIX) return mat4MulPoint(out,m.toFrameInv,px,py,pz);\n\n if (from===MATRIX && to===EYE) {\n const f=m.fromFrame;\n return mat4MulPoint(out,m.mat4View,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14]);\n }\n if (from===EYE && to===MATRIX) {\n const e=m.mat4Eye;\n return mat4MulPoint(out,m.toFrameInv,e[0]px+e[4]py+e[8]pz+e[12],\n e[1]px+e[5]py+e[9]pz+e[13],\n e[2]px+e[6]py+e[10]pz+e[14]);\n }\n\n if (from===MATRIX && to===SCREEN) {\n const f=m.fromFrame;\n return _worldToScreen(out,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14],_ensurePV(m),vp,ndcZMin);\n }\n if (from===SCREEN && to===MATRIX) {\n _screenToWorld(out,px,py,pz,m.mat4PVInv,vp,ndcZMin);\n return mat4MulPoint(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===NDC) {\n const f=m.fromFrame;\n return _worldToNDC(out,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14],_ensurePV(m));\n }\n if (from===NDC && to===MATRIX) {\n _ndcToWorld(out,px,py,pz,m.mat4PVInv);\n return mat4MulPoint(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===MATRIX) {\n const f=m.fromFrame;\n return mat4MulPoint(out,m.toFrameInv,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14]);\n }\n\n out[0]=px; out[1]=py; out[2]=pz;\n return out;\n}\n\n// ── Direction helpers ────────────────────────────────────────────────────\n//\n// Directions use only the linear 3×3 block — no translation, no w-divide.\n// The signed vp[2]/vp[3] carries the y-convention automatically.\n//\n\nfunction _applyDir(out, m, dx, dy, dz) {\n out[0]=m[0]dx+m[4]dy+m[8]dz;\n out[1]=m[1]dx+m[5]dy+m[9]dz;\n out[2]=m[2]dx+m[6]dy+m[10]dz;\n return out;\n}\n\nfunction _worldToScreenDir(out, dx, dy, dz, proj, view, vpW, vpH, ndcZMin) {\n const vx=view[0]dx+view[4]dy+view[8]dz,\n vy=view[1]dx+view[5]dy+view[9]dz,\n vz=view[2]dx+view[6]dy+view[10]dz;\n // vpH is signed — negative flips y component automatically.\n out[0]=(proj[0]vx+proj[4]vy+proj[8]vz)vpW0.5;\n out[1]=(proj[1]vx+proj[5]vy+proj[9]vz)vpH0.5;\n out[2]=(proj[2]vx+proj[6]vy+proj[10]vz)(1-ndcZMin)0.5;\n return out;\n}\n\nfunction _screenToWorldDir(out, dx, dy, dz, proj, eye, vpW, vpH, ndcZMin) {\n // Inverse of _worldToScreenDir; signed vpW/vpH cancel the y-flip.\n _applyDir(out, eye, dx/(vpW0.5)/proj[0], dy/(vpH0.5)/proj[5], dz/((1-ndcZMin)0.5));\n return out;\n}\n\nfunction _screenToNDCDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n out[0]=dx/(vpW0.5); out[1]=dy/(vpH0.5); out[2]=dz/((1-ndcZMin)0.5);\n return out;\n}\n\nfunction _ndcToScreenDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n out[0]=dxvpW0.5; out[1]=dyvpH0.5; out[2]=dz(1-ndcZMin)0.5;\n return out;\n}\n\n/\n Map a direction between named coordinate spaces.\n * Same bag and viewport contract as mapLocation.\n \n @param {number[]} out 3-element destination.\n * @param {number} dx,dy,dz Input direction.\n * @param {string} from Source space.\n * @param {string} to Destination space.\n * @param {object} m Matrices bag — see module header.\n * @param {number[]} vp Viewport [x, y, w, h]; sign of h encodes screen-y direction.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @returns {number[]} out\n /\nexport function mapDirection(out, dx, dy, dz, from, to, m, vp, ndcZMin) {\n const vpW=vp[2], vpH=vp[3]; // signed — carry y-convention through all helpers\n\n if (from===EYE && to===WORLD) return _applyDir(out,m.mat4Eye, dx,dy,dz);\n if (from===WORLD && to===EYE) return _applyDir(out,m.mat4View,dx,dy,dz);\n\n if (from===WORLD && to===SCREEN) return _worldToScreenDir(out,dx,dy,dz,m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n if (from===SCREEN && to===WORLD) return _screenToWorldDir(out,dx,dy,dz,m.mat4Proj,m.mat4Eye, vpW,vpH,ndcZMin);\n\n if (from===SCREEN && to===NDC) return _screenToNDCDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n if (from===NDC && to===SCREEN) return _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n\n if (from===WORLD && to===NDC) {\n _worldToScreenDir(out,dx,dy,dz,m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n return _screenToNDCDir(out,out[0],out[1],out[2],vpW,vpH,ndcZMin);\n }\n if (from===NDC && to===WORLD) {\n _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n return _screenToWorldDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n }\n\n if (from===EYE && to===SCREEN) {\n _applyDir(out,m.mat4Eye,dx,dy,dz);\n return _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n }\n if (from===SCREEN && to===EYE) {\n _screenToWorldDir(out,dx,dy,dz,m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===EYE && to===NDC) {\n _applyDir(out,m.mat4Eye,dx,dy,dz);\n _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n return _screenToNDCDir(out,out[0],out[1],out[2],vpW,vpH,ndcZMin);\n }\n if (from===NDC && to===EYE) {\n _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n _screenToWorldDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===WORLD) return _applyDir(out,m.fromFrame, dx,dy,dz);\n if (from===WORLD && to===MATRIX) return _applyDir(out,m.toFrameInv,dx,dy,dz);\n\n if (from===MATRIX && to===EYE) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n return _applyDir(out,m.mat4View,out[0],out[1],out[2]);\n }\n if (from===EYE && to===MATRIX) {\n _applyDir(out,m.mat4Eye,dx,dy,dz);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===SCREEN) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n return _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n }\n if (from===SCREEN && to===MATRIX) {\n _screenToWorldDir(out,dx,dy,dz,m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===NDC) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n return _screenToNDCDir(out,out[0],out[1],out[2],vpW,vpH,ndcZMin);\n }\n if (from===NDC && to===MATRIX) {\n _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n _screenToWorldDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===MATRIX) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n out[0]=dx; out[1]=dy; out[2]=dz;\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// pixelRatio\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n World-units-per-pixel at a given eye-space Z depth.\n * @param {ArrayLike<number>} proj Projection mat4.\n * @param {number} vpH Viewport height in pixels (positive).\n * @param {number} eyeZ Eye-space Z — negative means in front of camera.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nexport function pixelRatio(proj, vpH, eyeZ, ndcZMin) {\n return projIsOrtho(proj)\n ? Math.abs(projTop(proj,ndcZMin)-projBottom(proj,ndcZMin)) / vpH\n : 2Math.abs(eyeZ)Math.tan(projFov(proj)/2) / vpH;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Pick-matrix\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n Mutate a projection matrix in-place so that the pixel at (px, py) maps to\n * the full NDC square — making a 1×1 FBO render contain exactly that pixel.\n \n Premultiplies by M_pick (column-major, rows 2 and 3 unchanged):\n \n ┌ sx 0 0 tx ┐ sx = \|vp[2]\|, sy = \|vp[3]\|\n * │ 0 sy 0 ty │ cx = ((px−vp[0])/vp[2])·2 − 1 (NDC x of pixel centre)\n * │ 0 0 1 0 │ cy = ((py−vp[1])/vp[3])·2 − 1 (NDC y, sign-aware)\n * └ 0 0 0 1 ┘ tx = −cx·sx, ty = −cy·sy\n \n Result: P_pick = M_pick · P_original.\n * The viewport sign convention (vp[3] < 0 for screen y-down) is preserved\n * automatically through cx/cy — no separate flip needed.\n \n @param {Float32Array} proj Projection mat4 — mutated in place.\n * @param {number} px Query pixel X in screen coordinates.\n * @param {number} py Query pixel Y in screen coordinates.\n * @param {number[]} vp Viewport [x, y, w, h]; same signed convention as mapLocation.\n /\nexport function mat4Pick(proj, px, py, vp) {\n const cx=((px-vp[0])/vp[2])2-1;\n const cy=((py-vp[1])/vp[3])2-1;\n const sx=Math.abs(vp[2]), sy=Math.abs(vp[3]);\n const tx=-cxsx, ty=-cysy;\n for (let j=0; j<4; j++) {\n const a=proj[j4], b=proj[j4+1], d=proj[j4+3];\n proj[j4] = sxa + txd;\n proj[j4+1] = syb + tyd;\n }\n}\n\n// =========================================================================\n// Decomposition\n// =========================================================================\n\n/*\n Extract translation from a column-major mat4 (column 3).\n * @param {Float32Array\|number[]} out3 3-element destination.\n * @param {Float32Array\|number[]} m 16-element source.\n /\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 the rotation block).\n * Assumes no shear.\n * @param {Float32Array\|number[]} out3 3-element destination.\n * @param {Float32Array\|number[]} m 16-element source.\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. Assumes no shear.\n * @param {number[]} out4 4-element [x,y,z,w] destination.\n * @param {Float32Array\|number[]} m 16-element source.\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 Spline math and keyframe animation state machines.\n * @module tree/track\n * @license AGPL-3.0-only\n \n Quaternion algebra is provided by quat.js; projection matrix construction\n * by form.js. Spline helpers (hermiteVec3, lerpVec3) and TRS↔mat4 conversions\n * (transformToMat4, mat4ToTransform) live here because they are tightly\n * coupled to the PoseTrack keyframe shape.\n \n Zero dependencies on p5, DOM, WebGL, or WebGPU.\n \n ── Exports ──────────────────────────────────────────────────────────────\n * Quaternion helpers (re-exported from quat.js)\n * qSet qCopy qDot qNormalize qNegate qMul qConjugate qRotateVec3\n * qSlerp qNlerp qFromUnitVectors qFromAxisAngle qFromLookDir\n * qFromRotMat3x3 qFromMat4 qToMat4 qToAxisAngle\n * Spline / vector helpers\n * hermiteVec3 lerpVec3\n * Transform / mat4 helpers\n * transformToMat4 mat4ToTransform\n * Tracks\n * PoseTrack — { pos, rot, scl } TRS keyframes\n * CameraTrack — { eye, center, up, fov?, halfHeight?, near, far }\n * lookat keyframes\n \n ── Public path access (all zero-alloc, no cursor side effects) ──────────\n * PoseTrack\n * samplePos (out) \| (out, seg, t) vec3\n * mat4Model (out) \| (out, seg, t) mat4 — TRS model\n * tangents (outIn, outOut, index) vec3 × 2 at keyframe\n * eval (out?) TRS object at cursor\n \n CameraTrack\n * sampleEye (out) \| (out, seg, t) vec3\n * sampleCenter (out) \| (out, seg, t) vec3\n * mat4Eye (out) \| (out, seg, t) mat4 — lookat frame\n * eyeTangents (outIn, outOut, index) vec3 × 2 at keyframe\n * centerTangents (outIn, outOut, index) vec3 × 2 at keyframe\n * eval (out?) { eye, center, up,\n * fov, halfHeight,\n * near, far }\n \n Two arities for the continuous family:\n * (out) cursor form — reads track.seg / track.f. Useful when the\n * track's own transport is driving the animation.\n * (out, seg, t) explicit form — continuous (seg, t) coordinate, no cursor\n * side effects. seg ∈ [0, segments−1] integer, t ∈ [0, 1]\n * local to that segment. As a convenience, seg === segments\n * is accepted and rewritten to (segments−1, 1) — so the\n * idiom sampleX(out, i, 0) uniformly addresses keyframe i\n * for every i ∈ [0, keyframes.length−1].\n \n All honour the track's interpolation mode (hermite / linear / step) and\n * the same stored-tangent → centripetal-CR fallback chain that eval() uses.\n \n `tangents` / `eyeTangents` / `centerTangents` are keyframe-indexed — a\n * keyframe's incoming tangent belongs to the previous segment, outgoing to\n * the next. At boundary keyframes the missing side mirrors the present one\n * so drawing arrows at endpoints always yields a visible vector.\n \n Projection matrices are deliberately not exposed as a track method. Each\n * CameraTrack keyframe stores `fov` (perspective) or `halfHeight` (ortho)\n * directly on track.keyframes[i] — callers wanting a projection build one\n * with the free mat4Persp / mat4Ortho constructors. Animated fov in\n * sketches flows through the bridge's camera-binding via eval().fov and\n * eval().halfHeight (the bridge calls cam.perspective() / cam.ortho() each\n * frame).\n \n ── Class hierarchy ──────────────────────────────────────────────────────\n * Track (unexported, never instantiated directly)\n * └── PoseTrack (exported)\n * └── CameraTrack (exported)\n \n ── Hook architecture ────────────────────────────────────────────────────\n * Lib-space hooks (underscore prefix — host layer / UI layer):\n * _onActivate / _onDeactivate — fire on playing false→true / true→false.\n * _onPlay / _onEnd / _onStop — mirror the user-space hooks.\n \n User-space hooks:\n * onPlay : fires in play() on false→true transition.\n * onEnd : fires in tick() at natural boundary (once mode only).\n * onStop : fires in stop() / reset().\n \n Firing order:\n * play() → onPlay → _onPlay → _onActivate\n * tick() → onEnd → _onEnd → _onDeactivate\n * stop() → onStop → _onStop → _onDeactivate\n * reset() → onStop → _onStop → _onDeactivate\n \n ── Loop modes ───────────────────────────────────────────────────────────\n * loop:false, bounce:false — play once, stop at end (fires onEnd)\n * loop:true, bounce:false — repeat, wrap back to start\n * loop:true, bounce:true — bounce forever at boundaries\n * loop:false, bounce:true — bounce once: flip at far boundary, stop at origin\n \n ── Playback semantics (rate + _dir) ─────────────────────────────────────\n * rate > 0 forward rate < 0 backward rate === 0 frozen\n \n play() is the sole setter of playing = true.\n * stop() is the sole setter of playing = false.\n * Assigning rate never starts or stops playback.\n \n _dir (internal, ±1) tracks the current bounce travel direction.\n * tick() advances by rate * _dir and flips _dir at boundaries.\n * _dir is reset to 1 only in reset().\n \n ── One-keyframe behaviour ───────────────────────────────────────────────\n * play() with exactly one keyframe snaps eval() to that keyframe without\n * setting playing = true and without firing hooks.\n /\n\n'use strict';\n\nexport {\n qSet, qCopy, qDot, qNormalize, qNegate, qMul,\n qSlerp, qNlerp,\n qFromAxisAngle, qFromLookDir, qFromRotMat3x3, qFromMat4,\n qToAxisAngle,\n} from './quat.js';\n\nimport {\n qSlerp, qNlerp, qMul, qFromAxisAngle, qFromLookDir, qFromRotMat3x3, qToMat4,\n} from './quat.js';\n\nimport { mat4Eye as _buildMat4Eye } from './form.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(dxdx+dydy+dzdz);\n}\n\n/*\n Cubic Hermite interpolation between p0 and p1 with explicit tangents.\n * @param {number[]} out 3-element result.\n * @param {number[]} p0 Segment start.\n * @param {number[]} m0 Outgoing tangent at p0.\n * @param {number[]} p1 Segment end.\n * @param {number[]} m1 Incoming tangent at p1.\n * @param {number} t Blend [0, 1].\n * @returns {number[]} out\n /\nexport const hermiteVec3 = (out, p0, m0, p1, m1, t) => {\n const t2=tt, t3=t2t;\n const h00=2t3-3t2+1, h10=t3-2t2+t, h01=-2t3+3t2, h11=t3-t2;\n out[0]=h00p0[0]+h10m0[0]+h01p1[0]+h11m1[0];\n out[1]=h00p0[1]+h10m0[1]+h01p1[1]+h11m1[1];\n out[2]=h00p0[2]+h10m0[2]+h01p1[2]+h11m1[2];\n return out;\n};\n\n// Centripetal CR outgoing tangent at p1 for segment p1→p2.\n// Signature: (out, p0, p1, p2). Returns tangent AT p1 (the middle point).\nconst _crTanOut = (out, p0, p1, p2) => {\n const dt0=Math.pow(_dist3(p0,p1),0.5)\|\|1, dt1=Math.pow(_dist3(p1,p2),0.5)\|\|1;\n for (let i=0;i<3;i++) out[i]=((p1[i]-p0[i])/dt0-(p2[i]-p0[i])/(dt0+dt1)+(p2[i]-p1[i])/dt1)dt1;\n return out;\n};\n\n// Centripetal CR incoming tangent at p2 for segment p1→p2.\n// Signature: (out, p1, p2, p3). Returns tangent AT p2 (the middle point).\nconst _crTanIn = (out, p1, p2, p3) => {\n const dt1=Math.pow(_dist3(p1,p2),0.5)\|\|1, dt2=Math.pow(_dist3(p2,p3),0.5)\|\|1;\n for (let i=0;i<3;i++) out[i]=((p2[i]-p1[i])/dt1-(p3[i]-p1[i])/(dt1+dt2)+(p3[i]-p2[i])/dt2)dt1;\n return out;\n};\n\n// Module-level scratch — shared across track instances (non-reentrant hot path).\nconst _m0=[0,0,0], _m1=[0,0,0];\nconst _trsScratch = { pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] };\nconst _eyeScratch = { eye:[0,0,0], center:[0,0,0], up:[0,1,0] };\n\n/*\n Linear interpolation between two vec3s.\n /\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// S2b Path samplers — shared core\n// =========================================================================\n\n/** @private — sample interpolated vec3 path at (seg, t) into out. /\nfunction _samplePathCore(out, kfs, interp, field, tanInName, tanOutName, seg, t) {\n const n = kfs.length;\n if (n === 0) { out[0]=0; out[1]=0; out[2]=0; return out; }\n if (n === 1) {\n const p = kfs[0][field];\n out[0]=p[0]; out[1]=p[1]; out[2]=p[2];\n return out;\n }\n const nSeg = n - 1;\n seg = seg \| 0;\n if (seg >= nSeg) { seg = nSeg - 1; t = 1; }\n else if (seg < 0) { seg = 0; t = 0; }\n t = _clamp01(t);\n const k0 = kfs[seg];\n const k1 = kfs[seg + 1];\n\n if (interp === 'step') {\n const p = k0[field];\n out[0]=p[0]; out[1]=p[1]; out[2]=p[2];\n return out;\n }\n if (interp === 'linear') {\n return lerpVec3(out, k0[field], k1[field], t);\n }\n\n const p0 = seg > 0 ? kfs[seg - 1][field] : k0[field];\n const p3 = seg + 2 < n ? kfs[seg + 2][field] : k1[field];\n const m0 = k0[tanOutName] != null ? k0[tanOutName]\n : k0[tanInName] != null ? k0[tanInName]\n : _crTanOut(_m0, p0, k0[field], k1[field]);\n const m1 = k1[tanInName] != null ? k1[tanInName]\n : k1[tanOutName] != null ? k1[tanOutName]\n : _crTanIn(_m1, k0[field], k1[field], p3);\n return hermiteVec3(out, k0[field], m0, k1[field], m1, t);\n}\n\n/* @private — write effective in/out tangents at keyframe i. /\nfunction _sampleTangentsCore(outIn, outOut, kfs, field, tanInName, tanOutName, i) {\n const n = kfs.length;\n if (n === 0) {\n outIn[0]=outIn[1]=outIn[2]=0; outOut[0]=outOut[1]=outOut[2]=0;\n return;\n }\n i = _clampS(i \| 0, 0, n - 1);\n const ki = kfs[i];\n const hasTI = ki[tanInName] != null;\n const hasTO = ki[tanOutName] != null;\n\n if (hasTO) {\n outOut[0]=ki[tanOutName][0]; outOut[1]=ki[tanOutName][1]; outOut[2]=ki[tanOutName][2];\n } else if (hasTI) {\n outOut[0]=ki[tanInName][0]; outOut[1]=ki[tanInName][1]; outOut[2]=ki[tanInName][2];\n } else if (i < n - 1) {\n const k1 = kfs[i + 1];\n const p0 = i > 0 ? kfs[i - 1][field] : ki[field];\n _crTanOut(outOut, p0, ki[field], k1[field]);\n } else {\n outOut[0]=0; outOut[1]=0; outOut[2]=0;\n }\n\n if (hasTI) {\n outIn[0]=ki[tanInName][0]; outIn[1]=ki[tanInName][1]; outIn[2]=ki[tanInName][2];\n } else if (hasTO) {\n outIn[0]=ki[tanOutName][0]; outIn[1]=ki[tanOutName][1]; outIn[2]=ki[tanOutName][2];\n } else if (i > 0) {\n const k0 = kfs[i - 1];\n const p3 = i + 1 < n ? kfs[i + 1][field] : ki[field];\n _crTanIn(outIn, k0[field], ki[field], p3);\n } else {\n outIn[0]=outOut[0]; outIn[1]=outOut[1]; outIn[2]=outOut[2];\n }\n\n if (i === n - 1 && !hasTO && !hasTI) {\n outOut[0]=outIn[0]; outOut[1]=outIn[1]; outOut[2]=outIn[2];\n }\n}\n\n// =========================================================================\n// S3 Transform <-> Mat4\n// =========================================================================\n\n/\n Write a TRS transform into a column-major mat4.\n /\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 /\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\nconst _EULER_AXES = { X:[1,0,0], Y:[0,1,0], Z:[0,0,1] };\nconst _EULER_ORDERS = new Set(['XYZ','XZY','YXZ','YZX','ZXY','ZYX']);\n\n/*\n Parse any rotation representation into a unit quaternion [x,y,z,w].\n \n Accepted forms:\n * [x,y,z,w] — raw quaternion array\n * { axis:[x,y,z], angle } — axis-angle (angle in radians)\n * { dir:[x,y,z], up?:[x,y,z] } — forward direction (−Z) with optional up\n * { mat4Eye: mat4 } — rotation block of an eye matrix\n * { mat3: mat3 } — column-major 3×3 rotation matrix\n * { euler:[rx,ry,rz], order? } — intrinsic Euler (default order: YXZ)\n * { from:[x,y,z], to:[x,y,z] } — shortest-arc rotation between two vectors\n \n @param {} v\n @returns {number[]\|null} [x,y,z,w] or null if unparseable.\n /\nfunction _parseQuat(v) {\n if (!v) return null;\n\n // [x,y,z,w]\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 // { mat4Eye }\n if (v.mat4Eye != null) {\n const m = (ArrayBuffer.isView(v.mat4Eye) \|\| Array.isArray(v.mat4Eye))\n ? v.mat4Eye : (v.mat4Eye.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n return qFromRotMat3x3([0,0,0,1], m[0],m[4],m[8], m[1],m[5],m[9], m[2],m[6],m[10]);\n }\n\n // { mat3 }\n if (v.mat3 != null) {\n const m = (ArrayBuffer.isView(v.mat3) \|\| Array.isArray(v.mat3)) ? v.mat3 : null;\n if (!m \|\| m.length < 9) return null;\n return qFromRotMat3x3([0,0,0,1], m[0],m[3],m[6], m[1],m[4],m[7], m[2],m[5],m[8]);\n }\n\n // { euler, order? }\n if (v.euler != null) {\n const e = v.euler;\n if (!Array.isArray(e) \|\| e.length < 3) return null;\n const order = (v.order && _EULER_ORDERS.has(v.order)) ? v.order : 'YXZ';\n const q = [0,0,0,1], s = [0,0,0,1];\n for (let i = 0; i < 3; i++) {\n const ax = _EULER_AXES[order[i]];\n qMul(q, q, qFromAxisAngle(s, ax[0],ax[1],ax[2], e[i]));\n }\n return q;\n }\n\n // { from, to }\n if (v.from != null && v.to != null) {\n const f = Array.isArray(v.from) ? v.from : [v.from.x\|\|0, v.from.y\|\|0, v.from.z\|\|0];\n const t = Array.isArray(v.to) ? v.to : [v.to.x\|\|0, v.to.y\|\|0, v.to.z\|\|0];\n const fl = Math.sqrt(f[0]f[0]+f[1]f[1]+f[2]f[2]) \|\| 1;\n const tl = Math.sqrt(t[0]t[0]+t[1]t[1]+t[2]t[2]) \|\| 1;\n const fx=f[0]/fl, fy=f[1]/fl, fz=f[2]/fl;\n const tx=t[0]/tl, ty=t[1]/tl, tz=t[2]/tl;\n const dot = fxtx + fyty + fztz;\n if (dot >= 1 - 1e-8) return [0,0,0,1];\n if (dot <= -1 + 1e-8) {\n let px=0, py=fz, pz=-fy;\n let pl = Math.sqrt(pxpx+pypy+pzpz);\n if (pl < 1e-8) { px=fy; py=-fx; pz=0; pl = Math.sqrt(pxpx+pypy+pzpz); }\n if (pl < 1e-8) return [0,0,0,1];\n return qFromAxisAngle([0,0,0,1], px/pl,py/pl,pz/pl, Math.PI);\n }\n let ax=fytz-fzty, ay=fztx-fxtz, az=fxty-fytx;\n const al = Math.sqrt(axax+ayay+azaz) \|\| 1;\n return qFromAxisAngle([0,0,0,1], ax/al,ay/al,az/al,\n Math.acos(Math.max(-1, Math.min(1, dot))));\n }\n\n return null;\n}\n\n/\n Parse a PoseTrack keyframe spec into internal form.\n \n Accepted forms:\n * { mat4Model }\n * Decompose a column-major mat4 into TRS via mat4ToTransform.\n * Float32Array(16), plain Array, or { mat4 } wrapper.\n \n { pos?, rot?, scl?, tanIn?, tanOut? }\n * Explicit TRS. pos and scl are vec3; rot accepts any form from _parseQuat.\n * All fields are optional — missing pos/scl default to [0,0,0] / [1,1,1],\n * missing rot defaults to identity.\n * tanIn/tanOut are optional vec3 tangents for Hermite interpolation.\n \n @param {Object} spec\n * @returns {{ pos:number[], rot:number[], scl:number[],\n * tanIn:number[]\|null, tanOut:number[]\|null } \| null}\n /\nfunction _parseSpec(spec) {\n if (!spec \|\| typeof spec !== 'object') return null;\n\n // { mat4Model } — full TRS decomposition from model matrix\n if (spec.mat4Model != null) {\n const m = (ArrayBuffer.isView(spec.mat4Model) \|\| Array.isArray(spec.mat4Model))\n ? spec.mat4Model : (spec.mat4Model.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n const kf = mat4ToTransform({ pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] }, m);\n kf.tanIn = null; kf.tanOut = null;\n return kf;\n }\n\n // { pos?, rot?, scl?, tanIn?, tanOut? } — explicit TRS\n const pos = _parseVec3(spec.pos) \|\| [0,0,0];\n const rot = _parseQuat(spec.rot) \|\| [0,0,0,1];\n const scl = _parseVec3(spec.scl) \|\| [1,1,1];\n const tanIn = _parseVec3(spec.tanIn) \|\| null;\n const tanOut = _parseVec3(spec.tanOut) \|\| null;\n return { pos, rot, scl, tanIn, tanOut };\n}\n\nfunction _sameTransform(a, b) {\n for (let i=0;i<3;i++) if (a.pos[i]!==b.pos[i]\|\|a.scl[i]!==b.scl[i]) return false;\n for (let i=0;i<4;i++) if (a.rot[i]!==b.rot[i]) return false;\n return true;\n}\n\n// =========================================================================\n// S4b Spec parser — CameraTrack\n// =========================================================================\n\n// Lens defaults used when a spec omits near/far. Match the three.js /\n// Bevy conventions and are safe for typical p5 v2 scene scales.\nconst _DEFAULT_NEAR = 0.1;\nconst _DEFAULT_FAR = 1000;\n\n/\n Parse a CameraTrack keyframe spec into internal form.\n \n Required: eye (vec3). Everything else is optional.\n * center defaults to [0, 0, 0]\n * up defaults to [0, 1, 0] and is normalised\n * fov vertical fov (radians), perspective only — null if absent\n * halfHeight world-unit half-height of ortho frustum — null if absent\n * near near clip distance (positive) — defaults to 0.1\n * far far clip distance (positive) — defaults to 1000\n * eyeTanIn/Out optional Hermite tangents for the eye path\n * centerTanIn/Out optional Hermite tangents for the center path\n \n fov and halfHeight are mutually exclusive (perspective xor ortho) and\n * therefore left nullable; eval() lerps each only when both adjacent\n * keyframes carry a non-null value, passing null through otherwise.\n \n near and far are always meaningful regardless of projection type, so\n * they receive real defaults and are linearly interpolated unconditionally.\n \n @param {Object} spec\n * @returns {Object\|null} Parsed keyframe or null if eye is missing/malformed.\n /\nfunction _parseCameraSpec(spec) {\n if (!spec \|\| typeof spec !== 'object') return null;\n const eye = _parseVec3(spec.eye);\n if (!eye) return null;\n const center = _parseVec3(spec.center) \|\| [0,0,0];\n const upRaw = spec.up ? _parseVec3(spec.up) : null;\n const up = upRaw \|\| [0,1,0];\n const ul = Math.sqrt(up[0]up[0]+up[1]up[1]+up[2]up[2]) \|\| 1;\n return {\n eye, center,\n up: [up[0]/ul, up[1]/ul, up[2]/ul],\n fov: typeof spec.fov === 'number' ? spec.fov : null,\n halfHeight: typeof spec.halfHeight === 'number' ? spec.halfHeight : null,\n near: typeof spec.near === 'number' ? spec.near : _DEFAULT_NEAR,\n far: typeof spec.far === 'number' ? spec.far : _DEFAULT_FAR,\n eyeTanIn: _parseVec3(spec.eyeTanIn) \|\| null,\n eyeTanOut: _parseVec3(spec.eyeTanOut) \|\| null,\n centerTanIn: _parseVec3(spec.centerTanIn) \|\| null,\n centerTanOut: _parseVec3(spec.centerTanOut)\|\| null,\n };\n}\n\nfunction _sameCameraKeyframe(a, b) {\n for (let i=0;i<3;i++) {\n if (a.eye[i]!==b.eye[i]) return false;\n if (a.center[i]!==b.center[i]) return false;\n if (a.up[i]!==b.up[i]) return false;\n }\n if (a.fov !== b.fov) return false;\n if (a.halfHeight !== b.halfHeight) return false;\n if (a.near !== b.near) return false;\n if (a.far !== b.far) return false;\n return true;\n}\n\n// =========================================================================\n// S5 Track — unexported base class (transport machinery only)\n// =========================================================================\n\nclass Track {\n constructor() {\n /** @type {Array} Keyframe array — shape depends on subclass. /\n this.keyframes = [];\n /* Whether playback is currently active. @type {boolean} /\n this.playing = false;\n /* Loop at boundaries. @type {boolean} /\n this.loop = false;\n /* Ping-pong bounce at boundaries (independent of loop). @type {boolean} /\n this.bounce = false;\n /* Frames per segment (≥1). @type {number} /\n this.duration = 30;\n /* Current segment index. @type {number} /\n this.seg = 0;\n /* Frame offset within current segment (can be fractional). @type {number} /\n this.f = 0;\n\n // Playback rate (signed: negative = reverse; 0 = frozen).\n this._rate = 1;\n // Current bounce travel direction (±1). Reset to 1 only on reset().\n this._dir = 1;\n // Whether a bounce-once has already flipped direction.\n this._bounced = false;\n\n /* User hook: fires on play() false→true transition. @type {Function\|null} /\n this.onPlay = null;\n /* User hook: fires on natural boundary in once mode. @type {Function\|null} /\n this.onEnd = null;\n /* User hook: fires on stop() / reset() / end-of-bounce-once. @type {Function\|null} /\n this.onStop = null;\n\n // Lib-space hooks (underscore prefix — host layer / UI layer only).\n this._onActivate = null; this._onDeactivate = null;\n this._onPlay = null; this._onEnd = null; this._onStop = null;\n }\n\n /* Playback rate. Signed: negative reverses, 0 freezes. Assigning never starts or stops playback. @type {number} /\n get rate() { return this._rate; }\n set rate(v) { this._rate = (_isNum(v)) ? v : 1; }\n\n /* Number of interpolatable segments (keyframes.length − 1, min 0). @type {number} /\n get segments() { return Math.max(0, this.keyframes.length - 1); }\n\n /\n @private — resolve cursor (seg, f) into continuous (seg, t).\n * Shared backing of every cursor-form sampler / matrix method.\n /\n _cursorSegT() {\n const nSeg = this.segments;\n const dur = Math.max(1, this.duration \| 0);\n const seg = nSeg > 0 ? _clampS(this.seg, 0, nSeg - 1) : 0;\n const t = _clamp01(this.f / dur);\n return [seg, t];\n }\n\n /\n Start or update playback. Sole setter of `playing = true`.\n \n Fires `onPlay → _onPlay → _onActivate` only on a false→true transition.\n * Zero keyframes: no-op. Exactly one keyframe: snaps eval() to it but does\n * not set `playing` and fires no hooks.\n \n @param {number\|{duration?:number,loop?:boolean,bounce?:boolean,\n * rate?:number,onPlay?:Function,onEnd?:Function,\n * onStop?:Function}} [rateOrOpts]\n * A bare number is taken as `rate`; an object configures multiple\n * fields in one call.\n * @returns {Track} this\n /\n play(rateOrOpts) {\n if (this.keyframes.length === 0) return this;\n if (this.keyframes.length === 1) { this.seg = 0; this.f = 0; return this; }\n\n if (typeof rateOrOpts === 'number' && Number.isFinite(rateOrOpts)) {\n this._rate = rateOrOpts;\n } else if (rateOrOpts && typeof rateOrOpts === 'object') {\n const o = rateOrOpts;\n if (_isNum(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. Sole setter of `playing = false`. Fires\n * `onStop → _onStop → _onDeactivate` on a true→false transition.\n \n @param {boolean} [rewind] If true, seek to the origin end after stopping\n * (0 when playing forward, 1 when playing backward).\n * @returns {Track} this\n /\n stop(rewind) {\n const wasPlaying = this.playing;\n this.playing = false;\n if (wasPlaying) {\n this._bounced = false;\n if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }\n this._onStop?.();\n this._onDeactivate?.();\n if (rewind && this.keyframes.length > 1) this.seek(this._rate this._dir < 0 ? 1 : 0);\n }\n return this;\n }\n\n /*\n Clear all keyframes and stop. Fires stop-side hooks if it was playing.\n * Unlike stop(), this also resets `_dir` to +1.\n * @returns {Track} this\n /\n reset() {\n const wasPlaying = this.playing;\n this.playing = false;\n if (wasPlaying) {\n if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }\n this._onStop?.();\n this._onDeactivate?.();\n }\n this.keyframes.length = 0;\n this.seg = 0; this.f = 0; this._dir = 1; this._bounced = false;\n return this;\n }\n\n /\n Remove the keyframe at `index`. Adjusts the cursor if the removal shrinks\n * the track below the current segment.\n * @param {number} index\n * @returns {boolean} true if removed; false if index was invalid.\n /\n remove(index) {\n if (!_isNum(index)) return false;\n const i = index \| 0;\n if (i < 0 \|\| i >= this.keyframes.length) return false;\n this.keyframes.splice(i, 1);\n const nSeg = this.segments;\n if (nSeg === 0) { this.seg = 0; this.f = 0; }\n else if (this.seg >= nSeg) { this.seg = nSeg - 1; }\n return true;\n }\n\n /\n Move the cursor.\n * seek(t) Scrub to normalised position t ∈ [0, 1] across the\n * whole track.\n * seek(t, segIndex) Position within a specific segment — t is local to\n * that segment.\n * Does not affect `playing`.\n \n @param {number} t\n * @param {number} [segIndex]\n * @returns {Track} this\n /\n seek(t, segIndex) {\n const nSeg = this.segments;\n if (nSeg === 0) { this.seg = 0; this.f = 0; return this; }\n const dur = Math.max(1, this.duration \| 0);\n if (_isNum(segIndex)) {\n this.seg = _clampS(segIndex \| 0, 0, nSeg - 1);\n this.f = _clamp01(t) dur;\n } else {\n this._setCursorFromScalar(_clamp01(t) * nSeg * dur);\n }\n return this;\n }\n\n /*\n Normalised cursor position across the whole track.\n * @returns {number} ∈ [0, 1]; 0 when there are no segments.\n /\n time() {\n const nSeg = this.segments;\n if (nSeg === 0) return 0;\n const dur = Math.max(1, this.duration \| 0);\n return _clamp01((this.seg dur + this.f) / (nSeg * dur));\n }\n\n /*\n Snapshot of transport state. Allocates a new object per call — intended\n * for UI / debugging, not hot loops.\n * @returns {{keyframes:number, segments:number, seg:number, f:number,\n * playing:boolean, loop:boolean, bounce:boolean, rate:number,\n * duration:number, time:number}}\n /\n info() {\n return {\n keyframes: this.keyframes.length,\n segments: this.segments,\n seg: this.seg,\n f: this.f,\n playing: this.playing,\n loop: this.loop,\n bounce: this.bounce,\n rate: this._rate,\n duration: this.duration,\n time: this.segments > 0 ? this.time() : 0\n };\n }\n\n /\n Advance the cursor by `rate * _dir` in frames. Handles loop / bounce /\n * once modes per the table in the module header. Fires `onEnd → _onEnd →\n * _onDeactivate` at a natural boundary in once mode.\n \n Intended to be called once per animation frame by the bridge / UI layer.\n * rate === 0 freezes the cursor but keeps `playing` unchanged.\n \n @returns {boolean} Current `playing` state after advancing.\n /\n tick() {\n if (!this.playing) return false;\n const nSeg = this.segments;\n if (nSeg === 0) { this.playing = false; this._onDeactivate?.(); return false; }\n if (this._rate === 0) return true;\n\n const dur = Math.max(1, this.duration \| 0);\n const total = nSeg dur;\n const s = _clampS(this.seg * dur + this.f, 0, total);\n const next = s + this._rate * this._dir;\n\n if (this.loop && this.bounce) {\n let pos = next, flips = 0;\n while (pos < 0 \|\| pos > total) {\n if (pos < 0) { pos = -pos; flips++; }\n else { pos = 2 * total - pos; flips++; }\n }\n if (flips & 1) this._dir = -this._dir;\n this._setCursorFromScalar(pos);\n return true;\n }\n\n if (!this.loop && this.bounce) {\n if (next >= total) {\n this._setCursorFromScalar(Math.min(total, 2 * total - next));\n this._dir = -this._dir;\n this._bounced = true;\n return true;\n }\n if (next <= 0) {\n this._setCursorFromScalar(0);\n this.playing = false;\n this._dir = 1; this._bounced = false;\n if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n this._onEnd?.();\n this._onDeactivate?.();\n return false;\n }\n this._setCursorFromScalar(next);\n return true;\n }\n\n if (this.loop) {\n this._setCursorFromScalar(((next % total) + total) % total);\n return true;\n }\n\n if (next <= 0) {\n this._setCursorFromScalar(0);\n this.playing = false;\n if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n this._onEnd?.();\n this._onDeactivate?.();\n return false;\n }\n if (next >= total) {\n this._setCursorFromScalar(total);\n this.playing = false;\n if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n this._onEnd?.();\n this._onDeactivate?.();\n return false;\n }\n\n this._setCursorFromScalar(next);\n return true;\n }\n\n /** @private /\n _setCursorFromScalar(s) {\n const dur = Math.max(1, this.duration \| 0);\n const nSeg = this.segments;\n this.seg = Math.floor(s / dur);\n this.f = s - this.seg dur;\n if (this.seg >= nSeg) { this.seg = nSeg - 1; this.f = dur; }\n if (this.seg < 0) { this.seg = 0; this.f = 0; }\n }\n}\n\n// =========================================================================\n// S6 PoseTrack\n// =========================================================================\n\n/*\n Renderer-agnostic TRS keyframe track.\n \n Keyframe shape: { pos:[x,y,z], rot:[x,y,z,w], scl:[x,y,z],\n * tanIn?:[x,y,z], tanOut?:[x,y,z] }\n \n tanIn — incoming position tangent at this keyframe (Hermite mode).\n * tanOut — outgoing position tangent at this keyframe (Hermite mode).\n * When only one is supplied, the other mirrors it at sample time.\n * When neither is supplied, centripetal Catmull-Rom tangents are auto-computed.\n /\nexport class PoseTrack extends Track {\n constructor() {\n super();\n /\n Position interpolation mode.\n * - 'hermite' — cubic Hermite; auto-computes centripetal Catmull-Rom\n * tangents when none are stored (default)\n * - 'linear' — lerp\n * - 'step' — snap to k0; useful for discrete state changes\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.posInterp = 'hermite';\n /\n Rotation interpolation mode.\n * - 'slerp' — constant angular velocity (default)\n * - 'nlerp' — normalised lerp; cheaper, slightly non-constant speed\n * - 'step' — snap to k0 quaternion\n * @type {'slerp'\|'nlerp'\|'step'}\n /\n this.rotInterp = 'slerp';\n }\n\n /\n Append one or more keyframes. Adjacent duplicates are skipped by default.\n * Accepts any spec form understood by _parseSpec, or an array of them.\n * @param {Object\|Object[]} spec\n * @param {{ deduplicate?: boolean }} [opts]\n /\n add(spec, opts) {\n if (Array.isArray(spec)) { for (const s of spec) this.add(s, opts); return; }\n const kf = _parseSpec(spec);\n if (!kf) return;\n const dedup = !opts \|\| opts.deduplicate !== false;\n if (dedup && this.keyframes.length > 0) {\n if (_sameTransform(this.keyframes[this.keyframes.length - 1], kf)) return;\n }\n this.keyframes.push(kf);\n }\n\n /\n Replace the keyframe at `index`, or append at the end if `index` equals\n * the current keyframe count.\n * @param {number} index\n * @param {Object} spec Any spec form understood by _parseSpec.\n * @returns {boolean} true on success; false for invalid index or spec.\n /\n set(index, spec) {\n if (!_isNum(index)) return false;\n const i = index \| 0, kf = _parseSpec(spec);\n if (!kf \|\| i < 0 \|\| i > this.keyframes.length) return false;\n if (i === this.keyframes.length) this.keyframes.push(kf);\n else this.keyframes[i] = kf;\n return true;\n }\n\n /\n Sample the position path. Zero-alloc, no cursor side effects. Honours\n * posInterp and the stored-tangent → auto-CR fallback chain.\n \n Two signatures:\n * samplePos(out) cursor form — reads current seg/f\n * samplePos(out, seg, t) explicit (seg, t), continuous on the path\n \n @param {number[]} out 3-element result buffer.\n * @param {number} [seg] Segment index in [0, segments−1]. Omit for cursor.\n * @param {number} [t] Local parameter in [0, 1]. Omit for cursor.\n * @returns {number[]} out\n /\n samplePos(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n return _samplePathCore(out, this.keyframes, this.posInterp, 'pos', 'tanIn', 'tanOut', seg, t);\n }\n\n /\n Write the TRS pose as a column-major model mat4. Zero-alloc, no cursor\n * side effects.\n \n Two signatures:\n * mat4Model(out) cursor form — reads current seg/f\n * mat4Model(out, seg, t) explicit (seg, t), continuous on the path\n \n Replaces the previous toMatrix() method.\n \n @param {Float32Array\|number[]} out 16-element result buffer.\n * @param {number} [seg] Segment index in [0, segments−1]. Omit for cursor.\n * @param {number} [t] Local parameter in [0, 1]. Omit for cursor.\n * @returns {Float32Array\|number[]} out\n /\n mat4Model(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n this._sampleTRS(_trsScratch, seg, t);\n return transformToMat4(out, _trsScratch);\n }\n\n /\n Effective incoming / outgoing position tangents at keyframe `index`.\n * Stored tanIn/tanOut take precedence; each mirrors the other when only\n * one is stored; else centripetal Catmull-Rom tangents are auto-computed\n * from neighbours. Boundary keyframes mirror across the missing side.\n \n @param {number[]} outIn 3-element result — incoming tangent.\n * @param {number[]} outOut 3-element result — outgoing tangent.\n * @param {number} index Keyframe index.\n * @returns {PoseTrack} this\n /\n tangents(outIn, outOut, index) {\n _sampleTangentsCore(outIn, outOut, this.keyframes, 'pos', 'tanIn', 'tanOut', index);\n return this;\n }\n\n /* @private — write interpolated TRS at (seg, t). /\n _sampleTRS(out, seg, t) {\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) {\n const k = this.keyframes[0];\n out.pos[0]=k.pos[0]; out.pos[1]=k.pos[1]; out.pos[2]=k.pos[2];\n out.rot[0]=k.rot[0]; out.rot[1]=k.rot[1]; out.rot[2]=k.rot[2]; out.rot[3]=k.rot[3];\n out.scl[0]=k.scl[0]; out.scl[1]=k.scl[1]; out.scl[2]=k.scl[2];\n return out;\n }\n const nSeg = n - 1;\n seg = seg \| 0;\n if (seg >= nSeg) { seg = nSeg - 1; t = 1; }\n else if (seg < 0) { seg = 0; t = 0; }\n t = _clamp01(t);\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n _samplePathCore(out.pos, this.keyframes, this.posInterp, 'pos', 'tanIn', 'tanOut', seg, t);\n\n if (this.rotInterp === 'step') {\n out.rot[0]=k0.rot[0]; out.rot[1]=k0.rot[1]; out.rot[2]=k0.rot[2]; out.rot[3]=k0.rot[3];\n } else if (this.rotInterp === 'nlerp') {\n qNlerp(out.rot, k0.rot, k1.rot, t);\n } else {\n qSlerp(out.rot, k0.rot, k1.rot, t);\n }\n\n lerpVec3(out.scl, k0.scl, k1.scl, t);\n return out;\n }\n\n /\n Evaluate interpolated TRS pose at current cursor.\n * @param {{ pos:number[], rot:number[], scl:number[] }} [out]\n * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n /\n eval(out) {\n out = out \|\| { pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] };\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) return this._sampleTRS(out, 0, 0);\n const [seg, t] = this._cursorSegT();\n return this._sampleTRS(out, seg, t);\n }\n}\n\n// =========================================================================\n// S7 CameraTrack\n// =========================================================================\n\n/\n Lookat camera keyframe track.\n \n Keyframe shape: { eye:[x,y,z], center:[x,y,z], up:[x,y,z],\n * fov?:number, halfHeight?:number,\n * near:number, far:number,\n * eyeTanIn?:[x,y,z], eyeTanOut?:[x,y,z],\n * centerTanIn?:[x,y,z], centerTanOut?:[x,y,z] }\n \n fov — vertical fov (radians) for perspective cameras; null for ortho.\n * halfHeight — world-unit half-height of ortho frustum; null for perspective.\n * Both are optional and nullable because exactly one is meaningful per\n * keyframe (perspective xor ortho). eval() lerps each only when both\n * adjacent keyframes carry a non-null value for that field; mixed or\n * missing entries pass `null` through.\n \n near, far — clip plane distances (positive, world units). Always real\n * numbers. Defaults: near = 0.1, far = 1000 (three.js / Bevy convention).\n * Linearly interpolated between keyframes without null-passthrough.\n \n eyeTanIn/Out and centerTanIn/Out are optional vec3 tangents for Hermite\n * interpolation of the eye and center paths respectively. When absent,\n * centripetal Catmull-Rom tangents are auto-computed at sample time.\n \n Missing fields default to: center → [0,0,0], up → [0,1,0],\n * near → 0.1, far → 1000.\n \n For matrix-based capture of a camera-like pose use\n * PoseTrack.add({ mat4Model: mat4Eye }) for full TRS fidelity including roll,\n * or a lookat spec here for camera-style interpolation.\n /\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\n * default.\n * @param {Object\|Object[]} spec\n * @param {{ deduplicate?: boolean }} [opts]\n /\n add(spec, opts) {\n if (Array.isArray(spec)) { for (const s of spec) this.add(s, opts); return; }\n const kf = _parseCameraSpec(spec);\n if (!kf) return;\n const dedup = !opts \|\| opts.deduplicate !== false;\n if (dedup && this.keyframes.length > 0) {\n if (_sameCameraKeyframe(this.keyframes[this.keyframes.length - 1], kf)) return;\n }\n this.keyframes.push(kf);\n }\n\n /\n Replace the camera keyframe at `index`, or append at the end if `index`\n * equals the current keyframe count.\n * @param {number} index\n * @param {Object} spec\n * @returns {boolean}\n /\n set(index, spec) {\n if (!_isNum(index)) return false;\n const i = index \| 0, kf = _parseCameraSpec(spec);\n if (!kf \|\| i < 0 \|\| i > this.keyframes.length) return false;\n if (i === this.keyframes.length) this.keyframes.push(kf);\n else this.keyframes[i] = kf;\n return true;\n }\n\n /\n Sample the eye path. Zero-alloc, no cursor side effects.\n \n Two signatures:\n * sampleEye(out) cursor form — reads current seg/f\n * sampleEye(out, seg, t) explicit (seg, t), continuous on the path\n \n @param {number[]} out\n * @param {number} [seg]\n * @param {number} [t]\n * @returns {number[]} out\n /\n sampleEye(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n return _samplePathCore(out, this.keyframes, this.eyeInterp, 'eye', 'eyeTanIn', 'eyeTanOut', seg, t);\n }\n\n /\n Sample the center path. Zero-alloc, no cursor side effects.\n \n Two signatures:\n * sampleCenter(out) cursor form — reads current seg/f\n * sampleCenter(out, seg, t) explicit (seg, t)\n \n @param {number[]} out\n * @param {number} [seg]\n * @param {number} [t]\n * @returns {number[]} out\n /\n sampleCenter(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n return _samplePathCore(out, this.keyframes, this.centerInterp, 'center', 'centerTanIn', 'centerTanOut', seg, t);\n }\n\n /\n Write the interpolated lookat eye matrix as a column-major mat4\n * (eye→world rigid frame). Zero-alloc, no cursor side effects.\n \n Two signatures:\n * mat4Eye(out) cursor form — reads current seg/f\n * mat4Eye(out, seg, t) explicit (seg, t), continuous on the path\n \n @param {Float32Array\|number[]} out 16-element result buffer.\n * @param {number} [seg]\n * @param {number} [t]\n * @returns {Float32Array\|number[]} out\n /\n mat4Eye(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n this._sampleEyePose(_eyeScratch, seg, t);\n const e = _eyeScratch;\n return _buildMat4Eye(out,\n e.eye[0], e.eye[1], e.eye[2],\n e.center[0], e.center[1], e.center[2],\n e.up[0], e.up[1], e.up[2]);\n }\n\n /\n Effective in/out eye tangents at keyframe `index`.\n /\n eyeTangents(outIn, outOut, index) {\n _sampleTangentsCore(outIn, outOut, this.keyframes, 'eye', 'eyeTanIn', 'eyeTanOut', index);\n return this;\n }\n\n /\n Effective in/out center tangents at keyframe `index`.\n /\n centerTangents(outIn, outOut, index) {\n _sampleTangentsCore(outIn, outOut, this.keyframes, 'center', 'centerTanIn', 'centerTanOut', index);\n return this;\n }\n\n /* @private — write interpolated { eye, center, up } at (seg, t). /\n _sampleEyePose(out, seg, t) {\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) {\n const k = this.keyframes[0];\n out.eye[0]=k.eye[0]; out.eye[1]=k.eye[1]; out.eye[2]=k.eye[2];\n out.center[0]=k.center[0]; out.center[1]=k.center[1]; out.center[2]=k.center[2];\n out.up[0]=k.up[0]; out.up[1]=k.up[1]; out.up[2]=k.up[2];\n return out;\n }\n const nSeg = n - 1;\n seg = seg \| 0;\n if (seg >= nSeg) { seg = nSeg - 1; t = 1; }\n else if (seg < 0) { seg = 0; t = 0; }\n t = _clamp01(t);\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n _samplePathCore(out.eye, this.keyframes, this.eyeInterp, 'eye', 'eyeTanIn', 'eyeTanOut', seg, t);\n _samplePathCore(out.center, this.keyframes, this.centerInterp, 'center', 'centerTanIn', 'centerTanOut', seg, t);\n\n lerpVec3(out.up, k0.up, k1.up, t);\n const ul = Math.sqrt(out.up[0]out.up[0]+out.up[1]out.up[1]+out.up[2]out.up[2]) \|\| 1;\n out.up[0]/=ul; out.up[1]/=ul; out.up[2]/=ul;\n return out;\n }\n\n /*\n Evaluate interpolated camera pose at current cursor.\n \n `fov` / `halfHeight` are lerped only when both adjacent keyframes carry\n * a non-null value; mixed entries pass `null` through so the bridge can\n * leave the projection unchanged.\n \n `near` / `far` are always real numbers and are linearly interpolated\n * unconditionally.\n \n @param {{ eye:number[], center:number[], up:number[],\n * fov:number\|null, halfHeight:number\|null,\n * near:number, far:number }} [out]\n * @returns {{ eye:number[], center:number[], up:number[],\n * fov:number\|null, halfHeight:number\|null,\n * near:number, far:number }} out\n /\n eval(out) {\n out = out \|\| { eye:[0,0,0], center:[0,0,0], up:[0,1,0],\n fov:null, halfHeight:null,\n near:_DEFAULT_NEAR, far:_DEFAULT_FAR };\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) {\n const k = this.keyframes[0];\n this._sampleEyePose(out, 0, 0);\n out.fov = k.fov; out.halfHeight = k.halfHeight;\n out.near = k.near; out.far = k.far;\n return out;\n }\n const [seg, t] = this._cursorSegT();\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n this._sampleEyePose(out, seg, t);\n\n out.fov = (k0.fov != null && k1.fov != null)\n ? k0.fov + t (k1.fov - k0.fov) : (k0.fov ?? k1.fov ?? null);\n out.halfHeight = (k0.halfHeight != null && k1.halfHeight != null)\n ? k0.halfHeight + t * (k1.halfHeight - k0.halfHeight)\n : (k0.halfHeight ?? k1.halfHeight ?? null);\n\n // near / far carry real defaults on every keyframe — always lerp.\n out.near = k0.near + t * (k1.near - k0.near);\n out.far = k0.far + t * (k1.far - k0.far);\n\n return out;\n }\n}\n","/*\n @file Constraint solver, canonical handle state, and ray-primitive\n * intersections for interactive manipulators.\n * @module tree/handle\n * @license AGPL-3.0-only\n \n The numeric brain of the manipulator handle. Renderer- and frame-agnostic:\n * inputs are plain numbers in ONE working space chosen by the caller (the\n * bridge), and the solver never learns world vs eye — it solves in whatever\n * space the ray and geometry are expressed in. The bridge converts the pointer\n * ray into the working frame before calling solve(), and converts the value\n * back out via mapLocation / mapDirection.\n \n Zero dependencies on p5, DOM, WebGL, or WebGPU. Out-first throughout; no\n * allocation in solve() / value(). Vectors are passed as flat scalars (matching\n * form.js), state is held as plain number[] (matching track.js keyframes).\n \n ── Storage convention ─────────────────────────────────────────────────────\n * The core distinguishes two value shapes deliberately:\n * mat4 — 16-element ArrayLike, typically Float32Array, because matrices\n * cross the GL boundary (contiguous f32 is what the renderer wants).\n * vec3 / quat — plain number[] (f64), because they are authoring/state values\n * and because the frozen basis-vector constants (i, j, k, ORIGIN)\n * cannot be expressed as frozen typed arrays. Handle state follows\n * the vec3 rule.\n \n ── Constraint kinds ───────────────────────────────────────────────────────\n * SPHERE 2-DOF heading on a sphere of radius r about an anchor.\n * Canonical state is a UNIT DIRECTION (renormalised every solve) —\n * no stored Euler angles, so no gimbal degeneracy at the poles.\n * az/el are derived on request via azEl().\n * PLANE 2-DOF point on a fixed plane (anchor + unit normal).\n * AXIS 1-DOF point on a line (anchor + unit dir), scalar t clamped to extent.\n * DIAL 1-DOF angle on a circle of radius r in the plane (anchor, axis).\n * Canonical state is an ACCUMULATED angle θ (multi-turn winding is\n * preserved: each solve applies the smaller signed arc, so θ counts\n * full turns — essential for bind targets like \"rotate this 720°\").\n * θ=0 sits at the reference direction `zero` (derived from the axis\n * when not supplied); θ grows right-handed about the axis. Near\n * edge-on view (the ray almost parallel to the dial plane, where a\n * plane hit races to infinity — the classic rotate-gizmo failure)\n * the solve falls back to the TANGENT LINE of the circle at the\n * current angle, converting linear drag to dθ: bounded, monotone,\n * and still pure ray geometry.\n \n VIEW (the camera-facing free-translate constraint) is NOT a core kind: the\n * bridge implements it with PLANE, feeding a fresh camera-derived normal and\n * anchor each frame. The core stays oblivious to the camera.\n \n ── Report modes ───────────────────────────────────────────────────────────\n * DIRECTION value() writes the unit direction: SPHERE → the heading;\n * DIAL → the radial unit at θ.\n * POINT value() writes a position: SPHERE → anchor + dir·radius;\n * DIAL → the point on the circle; PLANE / AXIS → the constrained\n * point.\n \n ── State ownership & portability ──────────────────────────────────────────\n * Each Constraint owns its own state; there is no module-level scratch. solve()\n * writes into instance fields, never shared globals. This keeps the type a\n * plain-data state machine: it ports 1:1 to a Rust enum + impl that is\n * `Send + Sync` for free, with `&mut self` on solve() making concurrent\n * mutation a compile error. The binding closure deliberately lives in the\n * bridge, not here — a stored callback would forfeit that guarantee.\n \n ── Extension contract ─────────────────────────────────────────────────────\n * A constraint is any object exposing: `kind` (integer discriminant),\n * `solve(ox,oy,oz, dx,dy,dz)`, `value(out, report)`, `seed(x,y,z)`, and\n * optionally `scalar()` / `azEl(out2)`. The p5.tree handle controller drives\n * any conforming constraint (lifecycle, frame conversion, bind, hooks, pick);\n * a new kind — 6-DOF, or app-specific — implements this contract here\n * (portable, draw-free) plus a bridge-side locus/pick draw (`drawLocus` /\n * `pickProxy` on createHandle), rather than forking the controller. The\n * classes below are the reference implementation. See handle-design.md §9.\n \n ── Conventions ────────────────────────────────────────────────────────────\n * Ray direction `d` is assumed unit (the bridge normalises). Plane / axis\n * normals and directions are normalised at construction. The angular utilities\n * use a right-handed convention: az about +Y, el measured from the XZ plane.\n * solve() does NOT depend on this convention — it stores the hit direction\n * directly; az/el are a readout/authoring convenience only. DIAL's θ is\n * right-handed about its own axis, measured from `zero`.\n /\n\n'use strict';\n\nimport { SPHERE, PLANE, AXIS, DIAL, POINT, DIRECTION } from './constants.js';\n\nconst EPS = 1e-6;\nconst TWO_PI = Math.PI 2;\n\n// Edge-on threshold for DIAL: below this \|d·n\| the plane hit is ill-conditioned\n// (dθ per pixel diverges) and the solve switches to the tangent-line fallback.\n// ≈ 4.6° of incidence. Tune empirically (handle-experiments/e2).\nconst DIAL_EDGE = 0.08;\n\n// =========================================================================\n// H1 Small private helpers\n// =========================================================================\n\nconst _isNum = (x) => typeof x === 'number' && Number.isFinite(x);\nconst _clamp = (x, lo, hi) => x < lo ? lo : (x > hi ? hi : x);\nconst _num = (x, d) => _isNum(x) ? x : d;\n\n/** Wrap an angle to (−π, π]. /\nconst _wrapPi = (a) => a - TWO_PI Math.round(a / TWO_PI);\n\n/** Parse a vec3 from array / typed array / {x,y,z}. Returns a fresh [x,y,z] or null. /\nfunction _vec3(v) {\n if (!v) return null;\n if (ArrayBuffer.isView(v) && v.length >= 3) return [v[0], v[1], v[2]];\n if (Array.isArray(v) && v.length >= 3) return [v[0], v[1], v[2]];\n if (typeof v === 'object' && 'x' in v) return [v.x \|\| 0, v.y \|\| 0, v.z \|\| 0];\n return null;\n}\n\n/* Normalise a vec3 in place; zero-length falls back to the given default axis. /\nfunction _unit(v, dx, dy, dz) {\n const l = Math.sqrt(v[0]v[0] + v[1]v[1] + v[2]v[2]);\n if (l < EPS) { v[0]=dx; v[1]=dy; v[2]=dz; return v; }\n v[0]/=l; v[1]/=l; v[2]/=l;\n return v;\n}\n\n/*\n Orthonormal in-plane basis for a unit normal n, written into ub, vb. Seeds\n * from the world axis least aligned with n so the first cross can't degenerate.\n * (Same derivation the p5 bridge uses for its plane quad — duplicated here\n * because the core cannot depend on the bridge.)\n /\nfunction _basis(n, ub, vb) {\n const ax = Math.abs(n[0]), ay = Math.abs(n[1]), az = Math.abs(n[2]);\n let rx = 0, ry = 0, rz = 0;\n if (ax <= ay && ax <= az) rx = 1; else if (ay <= az) ry = 1; else rz = 1;\n ub[0] = ryn[2] - rzn[1]; ub[1] = rzn[0] - rxn[2]; ub[2] = rxn[1] - ryn[0];\n _unit(ub, 1, 0, 0);\n vb[0] = n[1]ub[2] - n[2]ub[1]; vb[1] = n[2]ub[0] - n[0]ub[2]; vb[2] = n[0]ub[1] - n[1]ub[0];\n}\n\n// =========================================================================\n// H2 Ray-primitive intersections (pure, out-first, scalar params)\n// =========================================================================\n\n/\n Nearest ray–sphere intersection. The ray direction is assumed unit, so the\n * quadratic's leading coefficient is 1. On a miss, writes the closest-approach\n * point projected onto the sphere (so the handle tracks the limb gracefully\n * rather than snapping away).\n \n @param {number[]} out 3-element destination (hit point).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} cx,cy,cz Sphere centre.\n * @param {number} r Sphere radius.\n * @returns {number} Ray parameter t at the written hit.\n /\nexport function raySphere(out, ox,oy,oz, dx,dy,dz, cx,cy,cz, r) {\n const lx=ox-cx, ly=oy-cy, lz=oz-cz;\n const b = lxdx + lydy + lzdz;\n const cc = lxlx + lyly + lzlz - rr;\n const disc = bb - cc;\n let t;\n if (disc >= 0) {\n const s = Math.sqrt(disc);\n t = -b - s;\n if (t < 0) t = -b + s; // origin inside the sphere: take far root\n out[0]=ox+tdx; out[1]=oy+tdy; out[2]=oz+tdz;\n } else {\n t = -b; // closest approach along the ray\n let hx=ox+tdx-cx, hy=oy+tdy-cy, hz=oz+tdz-cz;\n const hl = Math.sqrt(hxhx + hyhy + hzhz) \|\| 1;\n const k = r/hl;\n out[0]=cx+hxk; out[1]=cy+hyk; out[2]=cz+hzk;\n }\n return t;\n}\n\n/\n Ray–plane intersection. A near-parallel ray (\|d·n\| < EPS) returns Infinity\n * and leaves `out` untouched — the caller keeps the previous value.\n \n @param {number[]} out 3-element destination (hit point).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} px,py,pz A point on the plane.\n * @param {number} nx,ny,nz Plane normal (unit).\n * @returns {number} Ray parameter t, or Infinity if parallel.\n /\nexport function rayPlane(out, ox,oy,oz, dx,dy,dz, px,py,pz, nx,ny,nz) {\n const den = dxnx + dyny + dznz;\n if (den < EPS && den > -EPS) return Infinity;\n const t = ((px-ox)nx + (py-oy)ny + (pz-oz)nz) / den;\n out[0]=ox+tdx; out[1]=oy+tdy; out[2]=oz+tdz;\n return t;\n}\n\n/*\n Closest point on the infinite line (p, u) to the ray (o, d). Both `d` and\n * `u` are assumed unit. For a ray parallel to the line, projects the ray\n * origin onto the line.\n \n @param {number[]} out 3-element destination (closest point on the line).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} px,py,pz A point on the line.\n * @param {number} ux,uy,uz Line direction (unit).\n * @returns {number} Signed parameter s along u at the written point (unclamped).\n /\nexport function rayClosestPointOnAxis(out, ox,oy,oz, dx,dy,dz, px,py,pz, ux,uy,uz) {\n const wx=ox-px, wy=oy-py, wz=oz-pz;\n const b = dxux + dyuy + dzuz; // d·u\n const dd = dxwx + dywy + dzwz; // d·w\n const e = uxwx + uywy + uzwz; // u·w\n const den = 1 - bb; // (d·d)(u·u) − (d·u)² with d,u unit\n const s = (den > EPS) ? (e - bdd) / den : e;\n out[0]=px+sux; out[1]=py+suy; out[2]=pz+suz;\n return s;\n}\n\n// =========================================================================\n// H3 Angular utilities (readout / authoring convenience)\n// =========================================================================\n\n/\n Unit direction from azimuth/elevation (right-handed: az about +Y, el from XZ).\n * @param {number[]} out 3-element destination.\n * @param {number} az Azimuth (radians).\n * @param {number} el Elevation (radians).\n * @returns {number[]} out\n /\nexport function dirFromAzEl(out, az, el) {\n const ce = Math.cos(el);\n out[0]=ceMath.cos(az); out[1]=Math.sin(el); out[2]=ceMath.sin(az);\n return out;\n}\n\n/\n Azimuth/elevation from a unit direction. Inverse of dirFromAzEl.\n * @param {number[]} out2 2-element destination [az, el] (radians).\n * @param {number} dx,dy,dz Unit direction.\n * @returns {number[]} out2\n /\nexport function azElFromDir(out2, dx, dy, dz) {\n out2[0] = Math.atan2(dz, dx); // az\n out2[1] = Math.asin(_clamp(dy, -1, 1)); // el\n return out2;\n}\n\n// =========================================================================\n// H4 Constraint — tagged state machine (one class, kind discriminant)\n// =========================================================================\n\n/\n A draggable constraint: maps a ray to a constrained value and holds the\n * canonical state between drags. One class with a `kind` discriminant (never\n * per-constraint subclasses) so it maps cleanly to a Rust enum.\n \n Construction options (all optional unless noted):\n * SPHERE — { radius = 1, report = DIRECTION, anchor = [0,0,0] }\n * PLANE — { anchor = [0,0,0], normal = [0,1,0] }\n * AXIS — { anchor = [0,0,0], axis = [1,0,0], extent = [-1, 1] }\n * DIAL — { anchor = [0,0,0], axis = [0,1,0], radius = 1, zero?,\n * extent = [-∞, ∞] }\n * `axis` is the dial-plane normal (θ is right-handed about it);\n * `zero` is the in-plane reference direction for θ=0 (projected\n * onto the plane and normalised; derived from the axis when\n * absent); `extent` clamps θ in radians — unbounded by default,\n * so the dial winds multiple turns.\n \n @param {number} kind SPHERE \| PLANE \| AXIS \| DIAL.\n * @param {Object} [opts]\n /\nexport class Constraint {\n constructor(kind, opts = {}) {\n /* Constraint kind discriminant. @type {number} /\n this.kind = kind;\n\n /* Constraint origin (sphere centre / plane point / axis anchor / dial centre). @type {number[]} /\n this.anchor = _vec3(opts.anchor) \|\| [0, 0, 0];\n /* Canonical unit direction — SPHERE. @type {number[]} /\n this.dir = [0, 0, 1];\n /* Constrained point — PLANE / AXIS / DIAL (and SPHERE scratch). @type {number[]} /\n this.pt = [this.anchor[0], this.anchor[1], this.anchor[2]];\n /* Plane normal (unit) — PLANE. @type {number[]} /\n this.n = _unit(_vec3(opts.normal) \|\| [0, 1, 0], 0, 1, 0);\n /* Axis / dial-plane normal (unit) — AXIS / DIAL. @type {number[]} /\n this.u = kind === DIAL\n ? _unit(_vec3(opts.axis) \|\| [0, 1, 0], 0, 1, 0)\n : _unit(_vec3(opts.axis) \|\| [1, 0, 0], 1, 0, 0);\n /* Current scalar parameter — AXIS: t along the line; DIAL: accumulated θ. @type {number} /\n this.s = 0;\n\n // DIAL in-plane basis: r0 (the θ=0 reference) and r1 = u × r0, so the\n // point at θ is anchor + radius·(cosθ·r0 + sinθ·r1) — right-handed about u.\n /* θ=0 reference direction (unit, in-plane) — DIAL. @type {number[]} /\n this.r0 = [1, 0, 0];\n /* In-plane binormal u × r0 (unit) — DIAL. @type {number[]} /\n this.r1 = [0, 0, 1];\n if (kind === DIAL) {\n const z = _vec3(opts.zero);\n if (z) {\n // Project the supplied reference onto the dial plane.\n const d = z[0]this.u[0] + z[1]this.u[1] + z[2]this.u[2];\n this.r0[0] = z[0] - dthis.u[0];\n this.r0[1] = z[1] - dthis.u[1];\n this.r0[2] = z[2] - dthis.u[2];\n const l = Math.sqrt(this.r0[0]2 + this.r0[1]2 + this.r0[2]2);\n if (l < EPS) _basis(this.u, this.r0, this.r1);\n else { this.r0[0]/=l; this.r0[1]/=l; this.r0[2]/=l; }\n } else {\n _basis(this.u, this.r0, this.r1);\n }\n // r1 = u × r0 (recomputed even when _basis ran — same result, one rule).\n this.r1[0] = this.u[1]this.r0[2] - this.u[2]this.r0[1];\n this.r1[1] = this.u[2]this.r0[0] - this.u[0]this.r0[2];\n this.r1[2] = this.u[0]this.r0[1] - this.u[1]this.r0[0];\n }\n\n // Extent: AXIS clamps t (default [-1, 1]); DIAL clamps θ in radians\n // (default unbounded, so the dial winds freely).\n const ext = Array.isArray(opts.extent) ? opts.extent : null;\n const dial = kind === DIAL;\n /* Minimum scalar parameter. @type {number} /\n this.min = ext && _isNum(ext[0]) ? ext[0] : (dial ? -Infinity : -1);\n /* Maximum scalar parameter. @type {number} /\n this.max = ext && _isNum(ext[1]) ? ext[1] : (dial ? Infinity : 1);\n\n // Sphere / dial radius (private backing — see radius getter/setter).\n this._radius = _num(opts.radius, 1);\n\n /\n Default report mode. SPHERE defaults to DIRECTION; PLANE / AXIS / DIAL\n * report a POINT.\n * @type {number}\n /\n this.report = (opts.report === POINT \|\| opts.report === DIRECTION)\n ? opts.report\n : (kind === SPHERE ? DIRECTION : POINT);\n\n if (kind === DIAL) this._dialPoint();\n }\n\n /* Sphere / dial radius. @type {number} /\n get radius() { return this._radius; }\n set radius(r) { this._radius = _isNum(r) ? r : this._radius; if (this.kind === DIAL) this._dialPoint(); }\n\n // Recompute the DIAL point from θ (anchor + ρ(cosθ·r0 + sinθ·r1)).\n _dialPoint() {\n const c = Math.cos(this.s) this._radius, sn = Math.sin(this.s) * this._radius;\n this.pt[0] = this.anchor[0] + cthis.r0[0] + snthis.r1[0];\n this.pt[1] = this.anchor[1] + cthis.r0[1] + snthis.r1[1];\n this.pt[2] = this.anchor[2] + cthis.r0[2] + snthis.r1[2];\n }\n\n /*\n Update the canonical state from a ray in the working space. The ray\n * direction is assumed unit. Chainable.\n \n @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @returns {Constraint} this\n /\n solve(ox, oy, oz, dx, dy, dz) {\n if (this.kind === SPHERE) {\n // Hit the sphere into pt, then derive the unit heading from the anchor.\n raySphere(this.pt, ox,oy,oz, dx,dy,dz,\n this.anchor[0], this.anchor[1], this.anchor[2], this._radius);\n this.dir[0] = this.pt[0] - this.anchor[0];\n this.dir[1] = this.pt[1] - this.anchor[1];\n this.dir[2] = this.pt[2] - this.anchor[2];\n _unit(this.dir, this.dir[0], this.dir[1], this.dir[2]);\n } else if (this.kind === PLANE) {\n // Parallel ray returns Infinity and leaves pt unchanged (keep last).\n rayPlane(this.pt, ox,oy,oz, dx,dy,dz,\n this.anchor[0], this.anchor[1], this.anchor[2],\n this.n[0], this.n[1], this.n[2]);\n } else if (this.kind === AXIS) {\n let s = rayClosestPointOnAxis(this.pt, ox,oy,oz, dx,dy,dz,\n this.anchor[0], this.anchor[1], this.anchor[2],\n this.u[0], this.u[1], this.u[2]);\n s = _clamp(s, this.min, this.max);\n this.s = s;\n this.pt[0] = this.anchor[0] + sthis.u[0]; // clamped point\n this.pt[1] = this.anchor[1] + sthis.u[1];\n this.pt[2] = this.anchor[2] + sthis.u[2];\n } else if (this.kind === DIAL) {\n this._solveDial(ox, oy, oz, dx, dy, dz);\n }\n return this;\n }\n\n // DIAL solve. Face-on: hit the dial plane, derive the raw angle of the hit\n // about the anchor, and accumulate the smaller signed arc into θ (winding\n // preserved). Edge-on (\|d·u\| < DIAL_EDGE): the plane hit diverges, so solve\n // the ray against the TANGENT LINE of the circle at the current θ instead —\n // the signed tangent parameter over the radius is dθ, bounded and monotone.\n _solveDial(ox, oy, oz, dx, dy, dz) {\n const u = this.u, r0 = this.r0, r1 = this.r1, a = this.anchor;\n const den = dxu[0] + dyu[1] + dzu[2];\n let dth;\n if (den >= DIAL_EDGE \|\| den <= -DIAL_EDGE) {\n // Well-conditioned: plane hit → raw angle → smaller signed arc.\n const t = rayPlane(this.pt, ox,oy,oz, dx,dy,dz,\n a[0], a[1], a[2], u[0], u[1], u[2]);\n if (t === Infinity) return; // keep last (paranoia; den guards)\n const vx = this.pt[0]-a[0], vy = this.pt[1]-a[1], vz = this.pt[2]-a[2];\n const raw = Math.atan2(vxr1[0] + vyr1[1] + vzr1[2],\n vxr0[0] + vyr0[1] + vzr0[2]);\n dth = _wrapPi(raw - _wrapPi(this.s));\n } else {\n // Edge-on fallback: tangent at the current point, w = −sinθ·r0 + cosθ·r1.\n const cs = Math.cos(this.s), sn = Math.sin(this.s);\n const wx = -snr0[0] + csr1[0];\n const wy = -snr0[1] + csr1[1];\n const wz = -snr0[2] + csr1[2];\n this._dialPoint(); // tangent anchored at the current point\n const sl = rayClosestPointOnAxis(this.pt, ox,oy,oz, dx,dy,dz,\n this.pt[0], this.pt[1], this.pt[2],\n wx, wy, wz);\n dth = sl / (this._radius \|\| 1);\n }\n this.s = _clamp(this.s + dth, this.min, this.max);\n this._dialPoint();\n }\n\n /\n Write the current value into `out`. `report` overrides the default for\n * this call (e.g. read a SPHERE's point even when its default is DIRECTION).\n * SPHERE+POINT and DIAL+POINT are derived from the angle/heading and the\n * live radius, so they stay correct after a radius change without\n * re-solving. DIAL+DIRECTION writes the radial unit at θ.\n \n @param {number[]} out 3-element destination.\n * @param {number} [report] POINT \| DIRECTION override.\n * @returns {number[]} out\n /\n value(out, report) {\n const r = (report === POINT \|\| report === DIRECTION) ? report : this.report;\n if (this.kind === SPHERE) {\n if (r === DIRECTION) {\n out[0]=this.dir[0]; out[1]=this.dir[1]; out[2]=this.dir[2];\n } else {\n out[0]=this.anchor[0]+this.dir[0]this._radius;\n out[1]=this.anchor[1]+this.dir[1]this._radius;\n out[2]=this.anchor[2]+this.dir[2]this._radius;\n }\n } else if (this.kind === DIAL) {\n const cs = Math.cos(this.s), sn = Math.sin(this.s);\n if (r === DIRECTION) {\n out[0]=csthis.r0[0]+snthis.r1[0];\n out[1]=csthis.r0[1]+snthis.r1[1];\n out[2]=csthis.r0[2]+snthis.r1[2];\n } else {\n out[0]=this.anchor[0]+(csthis.r0[0]+snthis.r1[0])this._radius;\n out[1]=this.anchor[1]+(csthis.r0[1]+snthis.r1[1])this._radius;\n out[2]=this.anchor[2]+(csthis.r0[2]+snthis.r1[2])this._radius;\n }\n } else {\n out[0]=this.pt[0]; out[1]=this.pt[1]; out[2]=this.pt[2];\n }\n return out;\n }\n\n /\n Current scalar parameter: AXIS → signed t along the line; DIAL →\n * accumulated angle θ in radians (multi-turn).\n * @returns {number} The parameter, or NaN for non-scalar constraints.\n /\n scalar() {\n return (this.kind === AXIS \|\| this.kind === DIAL) ? this.s : NaN;\n }\n\n /\n Derive [az, el] from the current SPHERE direction (SPHERE only).\n * @param {number[]} out2 2-element destination [az, el].\n * @returns {number[]} out2\n /\n azEl(out2) {\n return azElFromDir(out2, this.dir[0], this.dir[1], this.dir[2]);\n }\n\n /\n Seed the canonical state from a value (used by the bridge on bind() so the\n * handle starts at the bound target's value). Chainable.\n * SPHERE — sets the unit direction (a point value recovers its heading).\n * PLANE — projects the value onto the plane.\n * AXIS — projects the value onto the line, clamped to extent.\n * DIAL — projects the value onto the dial plane, derives the wrapped\n * angle, and picks the WINDING NEAREST the current θ (so an\n * external sync doesn't unwind accumulated turns), clamped.\n \n @param {number} x,y,z Seed value.\n * @returns {Constraint} this\n /\n seed(x, y, z) {\n if (this.kind === SPHERE) {\n const vx=x-this.anchor[0], vy=y-this.anchor[1], vz=z-this.anchor[2];\n const l = Math.sqrt(vxvx + vyvy + vzvz);\n if (l >= EPS) { this.dir[0]=vx/l; this.dir[1]=vy/l; this.dir[2]=vz/l; }\n } else if (this.kind === PLANE) {\n const wx=x-this.anchor[0], wy=y-this.anchor[1], wz=z-this.anchor[2];\n const d = wxthis.n[0] + wythis.n[1] + wzthis.n[2];\n this.pt[0]=x-dthis.n[0]; this.pt[1]=y-dthis.n[1]; this.pt[2]=z-dthis.n[2];\n } else if (this.kind === AXIS) {\n const wx=x-this.anchor[0], wy=y-this.anchor[1], wz=z-this.anchor[2];\n const s = _clamp(wxthis.u[0] + wythis.u[1] + wzthis.u[2], this.min, this.max);\n this.s = s;\n this.pt[0]=this.anchor[0]+sthis.u[0];\n this.pt[1]=this.anchor[1]+sthis.u[1];\n this.pt[2]=this.anchor[2]+sthis.u[2];\n } else if (this.kind === DIAL) {\n const wx=x-this.anchor[0], wy=y-this.anchor[1], wz=z-this.anchor[2];\n const px = wxthis.r0[0] + wythis.r0[1] + wzthis.r0[2];\n const py = wxthis.r1[0] + wythis.r1[1] + wzthis.r1[2];\n if (pxpx + pypy >= EPSEPS) {\n const a = Math.atan2(py, px);\n // Nearest winding to the current θ preserves accumulated turns.\n this.s = _clamp(a + TWO_PI Math.round((this.s - a) / TWO_PI),\n this.min, this.max);\n }\n this._dialPoint();\n }\n return this;\n }\n}\n\n/*\n Convenience factory mirroring the constructor. Handy for headless tests and\n * for the bridge, which otherwise calls `new Constraint(...)` directly.\n * @param {number} kind SPHERE \| PLANE \| AXIS \| DIAL.\n * @param {Object} [opts]\n * @returns {Constraint}\n /\nexport function createConstraint(kind, opts) {\n return new Constraint(kind, opts);\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\n * Projection extents in camera space.\n * Sign contract: top > 0, bottom < 0, right > 0, left < 0 for standard y-up camera.\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 = posXvdX + posYvdY + posZvdZ;\n const posRight = posXrtX + posYrtY + posZrtZ;\n const posUp = posXupX + posYupY + posZupZ;\n\n if (ortho) {\n // Left: normal = −right\n out[0] = -rtX; out[1] = -rtY; out[2] = -rtZ;\n out[3] = -(posRight - left) * -1; // dot(pos - rightleft, -right) ... simplified:\n // Actually: d = dot(pointOnPlane, normal)\n // pointOnPlane = pos + rightleft (left is negative for standard ortho)\n // normal = -right\n // d = dot(pos + rightleft, -right) = -posRight - left\n out[3] = -posRight - left;\n\n // Right: normal = right\n out[4] = rtX; out[5] = rtY; out[6] = rtZ;\n out[7] = posRight + right;\n\n // Top: normal = up\n out[16] = upX; out[17] = upY; out[18] = upZ;\n out[19] = posUp + top;\n\n // Bottom: normal = -up\n out[20] = -upX; out[21] = -upY; out[22] = -upZ;\n out[23] = -posUp - bottom;\n } else {\n // Left\n const hfovl = Math.atan2(left, near);\n const shfovl = Math.sin(hfovl), chfovl = Math.cos(hfovl);\n out[0] = vdXshfovl - rtXchfovl;\n out[1] = vdYshfovl - rtYchfovl;\n out[2] = vdZshfovl - rtZchfovl;\n out[3] = shfovlposViewDir - chfovlposRight;\n\n // Right\n const hfovr = Math.atan2(right, near);\n const shfovr = Math.sin(hfovr), chfovr = Math.cos(hfovr);\n out[4] = -vdXshfovr + rtXchfovr;\n out[5] = -vdYshfovr + rtYchfovr;\n out[6] = -vdZshfovr + rtZchfovr;\n out[7] = -shfovrposViewDir + chfovrposRight;\n\n // Top\n const fovt = Math.atan2(top, near);\n const sfovt = Math.sin(fovt), cfovt = Math.cos(fovt);\n out[16] = -vdXsfovt + upXcfovt;\n out[17] = -vdYsfovt + upYcfovt;\n out[18] = -vdZsfovt + upZcfovt;\n out[19] = -sfovtposViewDir + cfovtposUp;\n\n // Bottom\n const fovb = Math.atan2(bottom, near);\n const sfovb = Math.sin(fovb), cfovb = Math.cos(fovb);\n out[20] = vdXsfovb - upXcfovb;\n out[21] = vdYsfovb - upYcfovb;\n out[22] = vdZsfovb - upZcfovb;\n out[23] = sfovbposViewDir - cfovbposUp;\n }\n\n // Near plane: normal = −viewDir\n out[8] = -vdX; out[9] = -vdY; out[10] = -vdZ;\n out[11] = -posViewDir - near;\n\n // Far plane: normal = viewDir\n out[12] = vdX; out[13] = vdY; out[14] = vdZ;\n out[15] = posViewDir + far;\n\n return out;\n}\n\n/\n Signed distance from point to one frustum plane.\n * @param {Float64Array} planes 24-float planes buffer.\n * @param {number} planeIdx 0–5 (LEFT, RIGHT, NEAR, FAR, TOP, BOTTOM).\n * @param {number} px,py,pz Point coordinates.\n * @returns {number}\n /\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 = acx + bvcy + 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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1	+ {"version":3,"file":"index.js","sources":["../src/constants.js","../src/quat.js","../src/form.js","../src/query.js","../src/track.js","../src/handle.js","../src/helm.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// Integrator frame source (helm `from` only): the construct's own current pose\n// — body-relative; not a general mapDirection space.\nexport const SELF = 'SELF';\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// Handle constraint kinds\nexport const SPHERE = 0;\nexport const PLANE = 1;\nexport const AXIS = 2;\nexport const DIAL = 3;\n\n// Handle report modes\nexport const POINT = 0;\nexport const DIRECTION = 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. Alias-safe: out may be a or 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]=awbx+axbw+aybz-azby;\n out[1]=awby-axbz+aybw+azbx;\n out[2]=awbz+axby-aybx+azbw;\n out[3]=awbw-axbx-ayby-azbz;\n return out;\n};\n\n/\n Conjugate out = [−x, −y, −z, w] — the inverse of a UNIT quaternion.\n * (Not qNegate: −q is the SAME rotation on the other hypersphere hemisphere;\n * the conjugate is the opposite rotation.)\n * @returns {number[]} out\n /\nexport const qConjugate = (out, a) => {\n out[0]=-a[0]; out[1]=-a[1]; out[2]=-a[2]; out[3]=a[3]; return out;\n};\n\n/\n Rotate a vec3 by a unit quaternion: out = q · v · q⁻¹, expanded to the\n * allocation-free t = 2(qv × v); out = v + w·t + qv × t form.\n * Alias-safe: out may be v.\n * @param {number[]} out 3-element destination.\n * @param {number[]} q Unit quaternion [x,y,z,w].\n * @param {number[]} v Vector [x,y,z].\n * @returns {number[]} out\n /\nexport const qRotateVec3 = (out, q, v) => {\n const qx=q[0],qy=q[1],qz=q[2],qw=q[3], vx=v[0],vy=v[1],vz=v[2];\n const tx=2(qyvz-qzvy), ty=2(qzvx-qxvz), tz=2(qxvy-qyvx);\n out[0]=vx+qwtx+qytz-qzty;\n out[1]=vy+qwty+qztx-qxtz;\n out[2]=vz+qwtz+qxty-qytx;\n return out;\n};\n\n// =========================================================================\n// Interpolation\n// =========================================================================\n\n/* Spherical linear interpolation. @returns {number[]} out /\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(tth)/st;\n } else {\n f0=1-t; f1=t;\n }\n out[0]=a[0]f0+bxf1; out[1]=a[1]f0+byf1;\n out[2]=a[2]f0+bzf1; out[3]=a[3]f0+bwf1;\n return qNormalize(out);\n};\n\n/\n Normalised linear interpolation (nlerp).\n * Cheaper than slerp; slightly non-constant angular velocity.\n * Handles antipodal quats by flipping b when dot < 0.\n * @returns {number[]} out\n /\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 Shortest-arc rotation taking unit vector a to unit vector b (three.js's\n * setFromUnitVectors; the arcball delta). Antiparallel inputs rotate 180°\n * about an axis ⊥ a, seeded from the world axis least aligned with a.\n * @param {number[]} out\n * @param {number[]} a Unit vector [x,y,z].\n * @param {number[]} b Unit vector [x,y,z].\n * @returns {number[]} out (normalised)\n /\nexport const qFromUnitVectors = (out, a, b) => {\n const d = a[0]b[0] + a[1]b[1] + a[2]b[2];\n if (d < -0.999999) {\n const ax = Math.abs(a[0]), ay = Math.abs(a[1]), az = Math.abs(a[2]);\n let rx = 0, ry = 0, rz = 0;\n if (ax <= ay && ax <= az) rx = 1; else if (ay <= az) ry = 1; else rz = 1;\n out[0]=rya[2]-rza[1]; out[1]=rza[0]-rxa[2]; out[2]=rxa[1]-rya[0];\n out[3]=0; // 180°: w = cos(π/2) = 0\n } else {\n out[0]=a[1]b[2]-a[2]b[1];\n out[1]=a[2]b[0]-a[0]b[2];\n out[2]=a[0]b[1]-a[1]b[0];\n out[3]=1+d;\n }\n return qNormalize(out);\n};\n\n/*\n Build a quaternion from axis-angle.\n * @param {number[]} out\n * @param {number} ax @param {number} ay @param {number} az Axis (need not be unit).\n * @param {number} angle Radians.\n * @returns {number[]} out\n /\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(axax + ayay + azaz) \|\| 1;\n out[0] = s ax / len; out[1] = s * ay / len; out[2] = s * az / len;\n out[3] = Math.cos(half);\n return out;\n};\n\n/*\n Build a quaternion from a look direction (−Z forward) and optional up (default +Y).\n * @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(fxfx+fyfy+fzfz)\|\|1;\n fx/=fl; fy/=fl; fz/=fl;\n let ux=up?up[0]:0, uy=up?up[1]:1, uz=up?up[2]:0;\n let rx=uyfz-uzfy, ry=uzfx-uxfz, rz=uxfy-uyfx;\n const rl=Math.sqrt(rxrx+ryry+rzrz)\|\|1;\n rx/=rl; ry/=rl; rz/=rl;\n ux=fyrz-fzry; uy=fzrx-fxrz; uz=fxry-fyrx;\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=2Math.sqrt(1+m00-m11-m22);\n out[3]=(m21-m12)/s; out[0]=0.25s; out[1]=(m01+m10)/s; out[2]=(m02+m20)/s;\n } else if (m11>m22) {\n const s=2Math.sqrt(1+m11-m00-m22);\n out[3]=(m02-m20)/s; out[0]=(m01+m10)/s; out[1]=0.25s; out[2]=(m12+m21)/s;\n } else {\n const s=2Math.sqrt(1+m22-m00-m11);\n out[3]=(m10-m01)/s; out[0]=(m02+m20)/s; out[1]=(m12+m21)/s; out[2]=0.25s;\n }\n return qNormalize(out);\n};\n\n/*\n Extract a unit quaternion from the upper-left 3×3 of a column-major mat4.\n * @param {number[]} out\n * @param {Float32Array\|number[]} m Column-major mat4.\n * @returns {number[]} out\n /\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=xx2,xy=xy2,xz=xz2,yy=yy2,yz=yz2,zz=zz2,wx=wx2,wy=wy2,wz=wz2;\n out[0]=1-(yy+zz); out[1]=xy+wz; out[2]=xz-wy; out[3]=0;\n out[4]=xy-wz; out[5]=1-(xx+zz); out[6]=yz+wx; out[7]=0;\n out[8]=xz+wy; out[9]=yz-wx; out[10]=1-(xx+yy); out[11]=0;\n out[12]=0; out[13]=0; out[14]=0; out[15]=1;\n return out;\n};\n\n// =========================================================================\n// Decomposition\n// =========================================================================\n\n/*\n Decompose a unit quaternion into { axis:[x,y,z], angle } (radians).\n * @param {number[]} q [x,y,z,w].\n * @param {Object} [out]\n * @returns {{ axis: number[], angle: number }}\n /\nexport const qToAxisAngle = (q, out) => {\n out = out \|\| {};\n const x=q[0],y=q[1],z=q[2],w=q[3];\n const sinHalf = Math.sqrt(xx+yy+zz);\n if (sinHalf < 1e-8) { out.axis=[0,1,0]; out.angle=0; return out; }\n out.angle = 2Math.atan2(sinHalf, w);\n out.axis = [x/sinHalf, y/sinHalf, z/sinHalf];\n return out;\n};\n","/\n @file Matrix construction from geometric specs and partial decomposition.\n * @module tree/form\n * @license AGPL-3.0-only\n \n Constructs mat4s from higher-level specs: TRS transforms, orthonormal\n * bases, lookat parameters, projection parameters, and special-purpose\n * matrices (bias, reflection).\n \n Design invariant: form.js has no dependency on query.js. Construction\n * from specs requires only scalar arithmetic and quaternion conversions.\n * Callers compose the resulting matrices using query.js (mat4Mul etc.).\n \n ── NDC Z convention ──────────────────────────────────────────────────────\n * Controlled by `ndcZMin` in every projection constructor:\n * WEBGL = −1 near → NDC z = −1, far → NDC z = +1\n * WEBGPU = 0 near → NDC z = 0, far → NDC z = +1\n \n ── NDC Y convention ──────────────────────────────────────────────────────\n * Controlled by `ndcYSign` in every projection constructor (default +1):\n * +1 NDC y-up — standard: OpenGL / WebGL / WebGPU browser / Three.js / p5v2\n * −1 NDC y-down — native Vulkan clip space\n \n Negating ndcYSign flips row 1 of the projection matrix (elements\n * out[1], out[5], out[9], out[13]), reversing the y-axis in clip space.\n * mat4View, mat4Eye, and all non-projection constructors are convention-\n * agnostic — they produce the same matrix regardless of the NDC y direction.\n \n ── Screen Y convention ───────────────────────────────────────────────────\n * Screen-y direction (DOM y-down vs OpenGL y-up) is a separate concern from\n * NDC-y direction and is handled in query.js via the signed viewport height.\n * See the query.js module header for details.\n \n All functions follow the out-first, zero-allocation contract.\n /\n\n'use strict';\n\n// =========================================================================\n// Frame construction\n// =========================================================================\n\n/\n Rigid frame from orthonormal basis + translation.\n * Column-major layout: col0=right, col1=up, col2=forward, col3=translation.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} rx,ry,rz Right vector (col 0).\n * @param {number} ux,uy,uz Up vector (col 1).\n * @param {number} fx,fy,fz Forward vec (col 2).\n * @param {number} tx,ty,tz Translation (col 3).\n /\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 * Camera looks along −Z in eye space; right = normalize(up × (−Z)).\n * Cheaper than building the eye matrix and inverting.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} ex,ey,ez Eye (camera) position.\n * @param {number} cx,cy,cz Look-at target.\n * @param {number} ux,uy,uz World up hint (need not be unit).\n /\nexport function mat4View(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n let zx=ex-cx, zy=ey-cy, zz=ez-cz;\n const zl=Math.sqrt(zxzx+zyzy+zzzz)\|\|1;\n zx/=zl; zy/=zl; zz/=zl;\n let xx=uyzz-uzzy, xy=uzzx-uxzz, xz=uxzy-uyzx;\n const xl=Math.sqrt(xxxx+xyxy+xzxz)\|\|1;\n xx/=xl; xy/=xl; xz/=xl;\n const yx=zyxz-zzxy, yy=zzxx-zxxz, yz=zxxy-zyxx;\n out[0]=xx; out[1]=yx; out[2]=zx; out[3]=0;\n out[4]=xy; out[5]=yy; out[6]=zy; out[7]=0;\n out[8]=xz; out[9]=yz; out[10]=zz; out[11]=0;\n out[12]=-(xxex+xyey+xzez);\n out[13]=-(yxex+yyey+yzez);\n out[14]=-(zxex+zyey+zzez);\n out[15]=1;\n return out;\n}\n\n/*\n Eye matrix (eye→world) from lookat parameters.\n * Transpose of the rotation block + direct translation column.\n * Same parameters as mat4View.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} ex,ey,ez Eye position.\n * @param {number} cx,cy,cz Look-at target.\n * @param {number} ux,uy,uz World up hint.\n /\nexport function mat4Eye(out, ex,ey,ez, cx,cy,cz, ux,uy,uz) {\n let zx=ex-cx, zy=ey-cy, zz=ez-cz;\n const zl=Math.sqrt(zxzx+zyzy+zzzz)\|\|1;\n zx/=zl; zy/=zl; zz/=zl;\n let xx=uyzz-uzzy, xy=uzzx-uxzz, xz=uxzy-uyzx;\n const xl=Math.sqrt(xxxx+xyxy+xzxz)\|\|1;\n xx/=xl; xy/=xl; xz/=xl;\n const yx=zyxz-zzxy, yy=zzxx-zxxz, yz=zxxy-zyxx;\n out[0]=xx; out[1]=xy; out[2]=xz; out[3]=0;\n out[4]=yx; out[5]=yy; out[6]=yz; out[7]=0;\n out[8]=zx; out[9]=zy; out[10]=zz; out[11]=0;\n out[12]=ex; out[13]=ey; out[14]=ez; out[15]=1;\n return out;\n}\n\n// =========================================================================\n// TRS construction\n// =========================================================================\n\n/\n Column-major mat4 from flat TRS scalars. No struct allocation.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} tx,ty,tz Translation.\n * @param {number} qx,qy,qz,qw Rotation quaternion [x,y,z,w].\n * @param {number} sx,sy,sz Scale.\n /\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=qxx2,xy=qxy2,xz=qxz2,yy=qyy2,yz=qyz2,zz=qzz2;\n const wx=qwx2,wy=qwy2,wz=qwz2;\n out[0]=(1-(yy+zz))sx; out[1]=(xy+wz)sx; out[2]=(xz-wy)sx; out[3]=0;\n out[4]=(xy-wz)sy; out[5]=(1-(xx+zz))sy; out[6]=(yz+wx)sy; out[7]=0;\n out[8]=(xz+wy)sz; out[9]=(yz-wx)sz; out[10]=(1-(xx+yy))sz; out[11]=0;\n out[12]=tx; out[13]=ty; out[14]=tz; out[15]=1;\n return out;\n}\n\n/\n Translation-only mat4.\n * @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} tx,ty,tz\n /\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 /\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 Orthographic projection matrix.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} left,right,bottom,top Frustum extents.\n * @param {number} near,far Clip plane distances (positive).\n * @param {number} ndcZMin −1 (WEBGL) or 0 (WEBGPU).\n * @param {number} [ndcYSign=1] +1 = NDC y-up (default); −1 = NDC y-down (native Vulkan).\n /\nexport function mat4Ortho(out, left, right, bottom, top, near, far, ndcZMin, ndcYSign=1) {\n const rl=1/(right-left), tb=1/(top-bottom), fn=1/(far-near);\n out[0]=2rl; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=ndcYSign2tb; out[6]=0; out[7]=0;\n out[8]=0; out[9]=0; out[10]=(ndcZMin-1)fn; out[11]=0;\n out[12]=-(right+left)rl; out[13]=ndcYSign(-(top+bottom)tb);\n out[14]=(ndcZMinfar-near)fn;\n out[15]=1;\n return out;\n}\n\n/*\n Perspective projection matrix (general / off-centre frustum).\n * Symmetric case: left=-right, bottom=-top — derive from fov+aspect in user space:\n * top = near * Math.tan(fov / 2); right = top * aspect\n * mat4Persp(out, -right, right, -top, top, near, far, ndcZMin)\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} left,right,bottom,top Near-plane extents (signed, y-up: top>0, bottom<0).\n * @param {number} near,far Clip plane distances (positive).\n * @param {number} ndcZMin −1 (WEBGL) or 0 (WEBGPU).\n * @param {number} [ndcYSign=1] +1 = NDC y-up (default); −1 = NDC y-down (native Vulkan).\n /\nexport function mat4Persp(out, left, right, bottom, top, near, far, ndcZMin, ndcYSign=1) {\n const rl=1/(right-left), tb=1/(top-bottom);\n out[0]=2nearrl; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=ndcYSign2neartb; out[6]=0; out[7]=0;\n out[8]=(right+left)rl; out[9]=ndcYSign(top+bottom)tb;\n out[10]=(ndcZMinnear-far)/(far-near);\n out[11]=-1;\n out[12]=0; out[13]=0;\n out[14]=(ndcZMin-1)farnear/(far-near);\n out[15]=0;\n return out;\n}\n\n// =========================================================================\n// Special-purpose construction\n// =========================================================================\n\n/*\n Bias matrix: remaps xyz from NDC to texture/UV space [0, 1].\n * xy remap from [−1, 1]; z remaps from [ndcZMin, 1].\n * Used to convert light-space NDC coordinates to shadow map UV.\n \n Convention note: the standard bias maps NDC y = −1 → texture v = 0 and\n * NDC y = +1 → texture v = 1. This is correct for both NDC y-up and y-down\n * conventions because the shadow map was rendered with the same projection.\n \n Column-major (WEBGL, ndcZMin=−1): Column-major (WEBGPU, ndcZMin=0):\n * [ 0.5 0 0 0.5 ] [ 0.5 0 0 0.5 ]\n * [ 0 0.5 0 0.5 ] [ 0 0.5 0 0.5 ]\n * [ 0 0 0.5 0.5 ] [ 0 0 1 0 ]\n * [ 0 0 0 1 ] [ 0 0 0 1 ]\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nexport function mat4Bias(out, ndcZMin) {\n const sz=1/(1-ndcZMin), tz=-ndcZMin/(1-ndcZMin);\n out[0]=0.5; out[1]=0; out[2]=0; out[3]=0;\n out[4]=0; out[5]=0.5; out[6]=0; out[7]=0;\n out[8]=0; out[9]=0; out[10]=sz; out[11]=0;\n out[12]=0.5; out[13]=0.5; out[14]=tz; out[15]=1;\n return out;\n}\n\n/\n Reflection matrix across a plane ax + by + cz = d.\n * [nx, ny, nz] must be a unit normal.\n \n @param {Float32Array\|number[]} out 16-element destination.\n * @param {number} nx,ny,nz Unit plane normal.\n * @param {number} d Plane offset (dot(point_on_plane, normal)).\n /\nexport function mat4Reflect(out, nx,ny,nz,d) {\n out[0]=1-2nxnx; out[1]=-2nynx; out[2]=-2nznx; out[3]=0;\n out[4]=-2nxny; out[5]=1-2nyny; out[6]=-2nzny; out[7]=0;\n out[8]=-2nxnz; out[9]=-2nynz; out[10]=1-2nznz; out[11]=0;\n out[12]=2dnx; out[13]=2dny; out[14]=2dnz; out[15]=1;\n return out;\n}\n","/\n @file Matrix arithmetic, space-transform dispatch, and projection queries.\n * @module tree/query\n * @license AGPL-3.0-only\n \n The operative layer — receives matrices and extracts information.\n * Contrast with form.js which constructs matrices from specs.\n \n form.js — specs → matrix\n * query.js — matrix → information\n \n Storage: column-major Float32Array / ArrayLike<number>.\n * Multiply: mat4Mul(out, A, B) = A · B (standard math order).\n * Pipeline: clip = P · V · M · v\n \n ── NDC Z convention ──────────────────────────────────────────────────────\n * Passed as `ndcZMin` to every space-transform function:\n * WEBGL = −1 z ∈ [−1, 1]\n * WEBGPU = 0 z ∈ [ 0, 1]\n \n ── NDC Y convention ──────────────────────────────────────────────────────\n * Standard (OpenGL / WebGL / WebGPU browser / Three.js / p5v2):\n * NDC y-up — y = +1 at top, y = −1 at bottom.\n * Native Vulkan: NDC y-down — projections constructed with ndcYSign = −1\n * (see form.js). Query functions are convention-agnostic: they work on\n * whatever matrices are passed in.\n \n ── Viewport convention ───────────────────────────────────────────────────\n * vp = [x, y, w, h] — w and h are SIGNED.\n \n The sign of h encodes the relationship between NDC y and screen y:\n * h < 0 (e.g. −canvasH): screen y-DOWN (DOM / p5 mouseX·mouseY / Vulkan surface)\n * NDC y=+1 → screen y=0 (top)\n * NDC y=−1 → screen y=H (bottom)\n * h > 0 (e.g. +canvasH): screen y-UP (OpenGL desktop / WebGL gl_FragCoord)\n * NDC y=−1 → screen y=0 (bottom)\n * NDC y=+1 → screen y=H (top)\n \n Pass [0, canvasH, canvasW, −canvasH] for p5/DOM coordinates.\n * Pass [0, 0, canvasW, canvasH] for WebGL gl_FragCoord / OpenGL bottom-left.\n * All helpers use vp[2]/vp[3] signed — no Math.abs — so both conventions\n * work automatically without any branching.\n \n All functions follow the out-first, zero-allocation contract.\n * Returns null on degeneracy (singular matrix, etc.).\n /\n\n'use strict';\n\nimport { WORLD, EYE, NDC, SCREEN, MATRIX } from './constants.js';\nimport { qFromRotMat3x3 } from './quat.js';\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Mat4 arithmetic\n// ═══════════════════════════════════════════════════════════════════════════\n\n/* out = A · B (column-major) /\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]=a0b0+a4b1+a8b2+a12b3;\n out[1]=a1b0+a5b1+a9b2+a13b3;\n out[2]=a2b0+a6b1+a10b2+a14b3;\n out[3]=a3b0+a7b1+a11b2+a15b3;\n b0=B[4];b1=B[5];b2=B[6];b3=B[7];\n out[4]=a0b0+a4b1+a8b2+a12b3;\n out[5]=a1b0+a5b1+a9b2+a13b3;\n out[6]=a2b0+a6b1+a10b2+a14b3;\n out[7]=a3b0+a7b1+a11b2+a15b3;\n b0=B[8];b1=B[9];b2=B[10];b3=B[11];\n out[8]=a0b0+a4b1+a8b2+a12b3;\n out[9]=a1b0+a5b1+a9b2+a13b3;\n out[10]=a2b0+a6b1+a10b2+a14b3;\n out[11]=a3b0+a7b1+a11b2+a15b3;\n b0=B[12];b1=B[13];b2=B[14];b3=B[15];\n out[12]=a0b0+a4b1+a8b2+a12b3;\n out[13]=a1b0+a5b1+a9b2+a13b3;\n out[14]=a2b0+a6b1+a10b2+a14b3;\n out[15]=a3b0+a7b1+a11b2+a15b3;\n return out;\n}\n\n/* out = inverse(src). Returns null if singular (\|det\| < 1e-12). /\nexport function mat4Invert(out, src) {\n const s0=src[0],s1=src[1],s2=src[2],s3=src[3],\n s4=src[4],s5=src[5],s6=src[6],s7=src[7],\n s8=src[8],s9=src[9],s10=src[10],s11=src[11],\n s12=src[12],s13=src[13],s14=src[14],s15=src[15];\n const b0=s0s5-s1s4, b1=s0s6-s2s4, b2=s0s7-s3s4,\n b3=s1s6-s2s5, b4=s1s7-s3s5, b5=s2s7-s3s6,\n b6=s8s13-s9s12, b7=s8s14-s10s12, b8=s8s15-s11s12,\n b9=s9s14-s10s13, b10=s9s15-s11s13, b11=s10s15-s11s14;\n let det=b0b11-b1b10+b2b9+b3b8-b4b7+b5b6;\n if (Math.abs(det) < 1e-12) return null;\n det = 1/det;\n out[0]=(s5b11-s6b10+s7b9)det;\n out[1]=(s2b10-s1b11-s3b9)det;\n out[2]=(s13b5-s14b4+s15b3)det;\n out[3]=(s10b4-s9b5-s11b3)det;\n out[4]=(s6b8-s4b11-s7b7)det;\n out[5]=(s0b11-s2b8+s3b7)det;\n out[6]=(s14b2-s12b5-s15b1)det;\n out[7]=(s8b5-s10b2+s11b1)det;\n out[8]=(s4b10-s5b8+s7b6)det;\n out[9]=(s1b8-s0b10-s3b6)det;\n out[10]=(s12b4-s13b2+s15b0)det;\n out[11]=(s9b2-s8b4-s11b0)det;\n out[12]=(s5b7-s4b9-s6b6)det;\n out[13]=(s0b9-s1b7+s2b6)det;\n out[14]=(s13b1-s12b3-s14b0)det;\n out[15]=(s8b3-s9b1+s10b0)det;\n return out;\n}\n\n/\n Normal matrix: inverseTranspose(upper-left 3×3 of src).\n * On degeneracy writes zeros and returns out.\n * @param {Float32Array\|number[]} out 9-element destination.\n * @param {Float32Array\|number[]} src 16-element mat4.\n /\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=a22a11-a12a21, b11=-a22a01+a02a21, b21=a12a01-a02a11;\n let det=a00b01+a10b11+a20b21;\n if (Math.abs(det) < 1e-12) { for(let i=0;i<9;i++)out[i]=0; return out; }\n det=1/det;\n out[0]=b01det; out[1]=(-a22a10+a12a20)det; out[2]=(a21a10-a11a20)det;\n out[3]=b11det; out[4]=(a22a00-a02a20)det; out[5]=(-a21a00+a01a20)det;\n out[6]=b21det; out[7]=(-a12a00+a02a10)det; out[8]=(a11a00-a01a10)det;\n return out;\n}\n\n/* out = mat4 * [x,y,z,1], perspective-divides, writes xyz. /\nexport function mat4MulPoint(out, m, x, y, z) {\n const rx=m[0]x+m[4]y+m[8]z+m[12], ry=m[1]x+m[5]y+m[9]z+m[13],\n rz=m[2]x+m[6]y+m[10]z+m[14], rw=m[3]x+m[7]y+m[11]z+m[15];\n if (rw!==0&&rw!==1) { out[0]=rx/rw; out[1]=ry/rw; out[2]=rz/rw; }\n else { out[0]=rx; out[1]=ry; out[2]=rz; }\n return out;\n}\n\n/\n Apply only the 3×3 linear block of a mat4 to a direction (no translation,\n * no perspective divide). Use mat3NormalFromMat4 for normals under non-uniform scale.\n /\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\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 ? p[14]/(p[10]+ndcZMin) : (p[14]-ndcZMin)/p[10];\n}\n\n/* Far plane distance (far always maps to NDC z = 1, convention-independent). /\nexport function projFar(p) {\n return p[15]===0 ? p[14]/(1+p[10]) : (p[14]-1)/p[10];\n}\n\nexport function projLeft (p, ndcZMin) { return p[15]===1 ? -(1+p[12])/p[0] : projNear(p,ndcZMin)(p[8]-1)/p[0]; }\nexport function projRight (p, ndcZMin) { return p[15]===1 ? (1-p[12])/p[0] : projNear(p,ndcZMin)(1+p[8])/p[0]; }\n\n/\n Top extent of the near plane in camera space (y_max, positive for standard y-up camera).\n * Sign-normalized: returns the larger of the two y boundaries regardless of whether\n * the projection was built with ndcYSign = +1 or −1.\n /\nexport function projTop(p, ndcZMin) {\n return p[15]===1\n ? ( Math.sign(p[5]) - p[13]) / p[5] // ortho\n : projNear(p,ndcZMin)(1+p[9])/p[5]; // perspective (p[5]>0 in practice)\n}\n\n/*\n Bottom extent of the near plane in camera space (y_min, negative for standard y-up camera).\n /\nexport function projBottom(p, ndcZMin) {\n return p[15]===1\n ? (-Math.sign(p[5]) - p[13]) / p[5] // ortho\n : projNear(p,ndcZMin)(p[9]-1)/p[5]; // perspective\n}\n\n/** Vertical field of view in radians (perspective only). /\nexport function projFov (p) { return Math.abs(2Math.atan(1/p[5])); }\n/** Horizontal field of view in radians (perspective only). /\nexport function projHfov(p) { return Math.abs(2Math.atan(1/p[0])); }\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Derived matrices\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = P · V /\nexport function mat4PV(out, proj, view) { return mat4Mul(out, proj, view); }\n/* out = V · M /\nexport function mat4MV(out, model, view) { return mat4Mul(out, view, model); }\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Frame-relative transforms\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n Location transform between frames: out = inv(to) · from.\n * Assumes both matrices are affine (bottom row [0,0,0,1]).\n * @returns {ArrayLike<number>\|null} out, or null if `to` is singular.\n /\nexport function mat4Location(out, from, to) {\n // Same as: return mat4Invert(out, to) && mat4Mul(out, out, from);\n const a00=to[0],a01=to[1],a02=to[2],\n a10=to[4],a11=to[5],a12=to[6],\n a20=to[8],a21=to[9],a22=to[10];\n const b01=a22a11-a12a21, b11=a12a20-a22a10, b21=a21a10-a11a20;\n let det=a00b01+a01b11+a02b21;\n if (Math.abs(det) < 1e-12) return null;\n det=1/det;\n const i00=b01det, i01=(a02a21-a22a01)det, i02=(a12a01-a02a11)det;\n const i10=b11det, i11=(a22a00-a02a20)det, i12=(a02a10-a12a00)det;\n const i20=b21det, i21=(a01a20-a21a00)det, i22=(a11a00-a01a10)det;\n const f00=from[0],f01=from[1],f02=from[2],\n f10=from[4],f11=from[5],f12=from[6],\n f20=from[8],f21=from[9],f22=from[10];\n out[0]=i00f00+i01f01+i02f02; out[1]=i10f00+i11f01+i12f02; out[2]=i20f00+i21f01+i22f02; out[3]=0;\n out[4]=i00f10+i01f11+i02f12; out[5]=i10f10+i11f11+i12f12; out[6]=i20f10+i21f11+i22f12; out[7]=0;\n out[8]=i00f20+i01f21+i02f22; out[9]=i10f20+i11f21+i12f22; out[10]=i20f20+i21f21+i22f22; out[11]=0;\n const dx=from[12]-to[12], dy=from[13]-to[13], dz=from[14]-to[14];\n out[12]=i00dx+i01dy+i02dz; out[13]=i10dx+i11dy+i12dz; out[14]=i20dx+i21dy+i22dz; out[15]=1;\n return out;\n}\n\n/\n Direction transform between frames: out = to₃ · inv(from₃).\n * Uses only the upper-left 3×3 blocks (rotation/scale, no translation).\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=a22a11-a12a21, b11=a12a20-a22a10, b21=a21a10-a11a20;\n let det=a00b01+a01b11+a02b21;\n if (Math.abs(det) < 1e-12) return null;\n det=1/det;\n const i00=b01det, i01=(a02a21-a22a01)det, i02=(a12a01-a02a11)det;\n const i10=b11det, i11=(a22a00-a02a20)det, i12=(a02a10-a12a00)det;\n const i20=b21det, i21=(a01a20-a21a00)det, i22=(a11a00-a01a10)det;\n const t00=to[0],t01=to[1],t02=to[2], t10=to[4],t11=to[5],t12=to[6], t20=to[8],t21=to[9],t22=to[10];\n out[0]=t00i00+t10i01+t20i02; out[1]=t01i00+t11i01+t21i02; out[2]=t02i00+t12i01+t22i02;\n out[3]=t00i10+t10i11+t20i12; out[4]=t01i10+t11i11+t21i12; out[5]=t02i10+t12i11+t22i12;\n out[6]=t00i20+t10i21+t20i22; out[7]=t01i20+t11i21+t21i22; out[8]=t02i20+t12i21+t22i22;\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Space transforms — mapLocation / mapDirection\n// ═══════════════════════════════════════════════════════════════════════════\n//\n// Flat dispatch: every from→to pair is a self-contained leaf with only stack\n// locals — no reentrancy, no shared state between calls.\n//\n// Matrices bag `m`:\n// mat4Proj Float32Array(16) projection (eye → clip)\n// mat4View Float32Array(16) view (world → eye)\n// mat4Eye? Float32Array(16) eye (eye → world); caller fills before passing\n// mat4PV? Float32Array(16) P · V; caller fills or _ensurePV allocates once\n// mat4PVInv? Float32Array(16) inv(P · V); caller fills\n// fromFrame? Float32Array(16) MATRIX source frame\n// toFrameInv? Float32Array(16) inv(MATRIX dest frame)\n//\n// Viewport `vp` = [x, y, w, h]:\n// Use SIGNED h to encode screen-y direction (see module header).\n// Core formula: screen = (ndc0.5+0.5)vp[k] + vp[k-2] (k=2 for x, k=3 for y)\n// Inverse: ndc = ((screen-vp[k-2])/vp[k])2 - 1\n// Negative vp[3] flips NDC y-up to screen y-down automatically.\n//\n\n// ── Location helpers ─────────────────────────────────────────────────────\n\nfunction _worldToScreen(out, px, py, pz, pv, vp, ndcZMin) {\n const x=pv[0]px+pv[4]py+pv[8]pz+pv[12], y=pv[1]px+pv[5]py+pv[9]pz+pv[13],\n z=pv[2]px+pv[6]py+pv[10]pz+pv[14], w=pv[3]px+pv[7]py+pv[11]pz+pv[15];\n const xi=(w!==0&&w!==1)?1/w:1;\n out[0]=(xxi0.5+0.5)vp[2]+vp[0];\n out[1]=(yxi0.5+0.5)vp[3]+vp[1];\n out[2]=(zxi-ndcZMin)/(1-ndcZMin);\n return out;\n}\n\nfunction _screenToWorld(out, sx, sy, sz, ipv, vp, ndcZMin) {\n return mat4MulPoint(out, ipv,\n ((sx-vp[0])/vp[2])2-1,\n ((sy-vp[1])/vp[3])2-1,\n sz(1-ndcZMin)+ndcZMin);\n}\n\nfunction _worldToNDC(out, px, py, pz, pv) {\n const x=pv[0]px+pv[4]py+pv[8]pz+pv[12], y=pv[1]px+pv[5]py+pv[9]pz+pv[13],\n z=pv[2]px+pv[6]py+pv[10]pz+pv[14], w=pv[3]px+pv[7]py+pv[11]pz+pv[15];\n const xi=(w!==0&&w!==1)?1/w:1;\n out[0]=xxi; out[1]=yxi; out[2]=zxi;\n return out;\n}\n\nfunction _ndcToWorld(out, nx, ny, nz, ipv) { return mat4MulPoint(out,ipv,nx,ny,nz); }\n\nfunction _screenToNDC(out, sx, sy, sz, vp, ndcZMin) {\n out[0]=((sx-vp[0])/vp[2])2-1;\n out[1]=((sy-vp[1])/vp[3])2-1;\n out[2]=sz(1-ndcZMin)+ndcZMin;\n return out;\n}\n\nfunction _ndcToScreen(out, nx, ny, nz, vp, ndcZMin) {\n out[0]=(nx0.5+0.5)vp[2]+vp[0];\n out[1]=(ny0.5+0.5)vp[3]+vp[1];\n out[2]=(nz-ndcZMin)/(1-ndcZMin);\n return out;\n}\n\nfunction _ensurePV(m) {\n if (m.mat4PV) return m.mat4PV;\n m.mat4PV = new Float32Array(16);\n mat4Mul(m.mat4PV, m.mat4Proj, m.mat4View);\n return m.mat4PV;\n}\n\n/\n Map a point between named coordinate spaces.\n \n @param {number[]} out 3-element destination — written and returned.\n * @param {number} px,py,pz Input point.\n * @param {string} from Source space (WORLD, EYE, SCREEN, NDC, MATRIX).\n * @param {string} to Destination space.\n * @param {object} m Matrices bag — see module header.\n * @param {number[]} vp Viewport [x, y, w, h]; sign of h encodes screen-y direction.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @returns {number[]} out\n /\nexport function mapLocation(out, px, py, pz, from, to, m, vp, ndcZMin) {\n if (from===WORLD && to===SCREEN) return _worldToScreen(out,px,py,pz,_ensurePV(m),vp,ndcZMin);\n if (from===SCREEN && to===WORLD) return _screenToWorld(out,px,py,pz,m.mat4PVInv,vp,ndcZMin);\n\n if (from===WORLD && to===NDC) return _worldToNDC(out,px,py,pz,_ensurePV(m));\n if (from===NDC && to===WORLD) return _ndcToWorld(out,px,py,pz,m.mat4PVInv);\n\n if (from===SCREEN && to===NDC) return _screenToNDC(out,px,py,pz,vp,ndcZMin);\n if (from===NDC && to===SCREEN) return _ndcToScreen(out,px,py,pz,vp,ndcZMin);\n\n if (from===WORLD && to===EYE) return mat4MulPoint(out,m.mat4View,px,py,pz);\n if (from===EYE && to===WORLD) return mat4MulPoint(out,m.mat4Eye,px,py,pz);\n\n if (from===EYE && to===SCREEN) {\n const e=m.mat4Eye;\n return _worldToScreen(out,e[0]px+e[4]py+e[8]pz+e[12],\n e[1]px+e[5]py+e[9]pz+e[13],\n e[2]px+e[6]py+e[10]pz+e[14],_ensurePV(m),vp,ndcZMin);\n }\n if (from===SCREEN && to===EYE) {\n _screenToWorld(out,px,py,pz,m.mat4PVInv,vp,ndcZMin);\n return mat4MulPoint(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===EYE && to===NDC) {\n const e=m.mat4Eye;\n return _worldToNDC(out,e[0]px+e[4]py+e[8]pz+e[12],\n e[1]px+e[5]py+e[9]pz+e[13],\n e[2]px+e[6]py+e[10]pz+e[14],_ensurePV(m));\n }\n if (from===NDC && to===EYE) {\n _ndcToWorld(out,px,py,pz,m.mat4PVInv);\n return mat4MulPoint(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===WORLD) return mat4MulPoint(out,m.fromFrame,px,py,pz);\n if (from===WORLD && to===MATRIX) return mat4MulPoint(out,m.toFrameInv,px,py,pz);\n\n if (from===MATRIX && to===EYE) {\n const f=m.fromFrame;\n return mat4MulPoint(out,m.mat4View,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14]);\n }\n if (from===EYE && to===MATRIX) {\n const e=m.mat4Eye;\n return mat4MulPoint(out,m.toFrameInv,e[0]px+e[4]py+e[8]pz+e[12],\n e[1]px+e[5]py+e[9]pz+e[13],\n e[2]px+e[6]py+e[10]pz+e[14]);\n }\n\n if (from===MATRIX && to===SCREEN) {\n const f=m.fromFrame;\n return _worldToScreen(out,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14],_ensurePV(m),vp,ndcZMin);\n }\n if (from===SCREEN && to===MATRIX) {\n _screenToWorld(out,px,py,pz,m.mat4PVInv,vp,ndcZMin);\n return mat4MulPoint(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===NDC) {\n const f=m.fromFrame;\n return _worldToNDC(out,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14],_ensurePV(m));\n }\n if (from===NDC && to===MATRIX) {\n _ndcToWorld(out,px,py,pz,m.mat4PVInv);\n return mat4MulPoint(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===MATRIX) {\n const f=m.fromFrame;\n return mat4MulPoint(out,m.toFrameInv,f[0]px+f[4]py+f[8]pz+f[12],\n f[1]px+f[5]py+f[9]pz+f[13],\n f[2]px+f[6]py+f[10]pz+f[14]);\n }\n\n out[0]=px; out[1]=py; out[2]=pz;\n return out;\n}\n\n// ── Direction helpers ────────────────────────────────────────────────────\n//\n// Directions use only the linear 3×3 block — no translation, no w-divide.\n// The signed vp[2]/vp[3] carries the y-convention automatically.\n//\n\nfunction _applyDir(out, m, dx, dy, dz) {\n out[0]=m[0]dx+m[4]dy+m[8]dz;\n out[1]=m[1]dx+m[5]dy+m[9]dz;\n out[2]=m[2]dx+m[6]dy+m[10]dz;\n return out;\n}\n\nfunction _worldToScreenDir(out, dx, dy, dz, proj, view, vpW, vpH, ndcZMin) {\n const vx=view[0]dx+view[4]dy+view[8]dz,\n vy=view[1]dx+view[5]dy+view[9]dz,\n vz=view[2]dx+view[6]dy+view[10]dz;\n // vpH is signed — negative flips y component automatically.\n out[0]=(proj[0]vx+proj[4]vy+proj[8]vz)vpW0.5;\n out[1]=(proj[1]vx+proj[5]vy+proj[9]vz)vpH0.5;\n out[2]=(proj[2]vx+proj[6]vy+proj[10]vz)(1-ndcZMin)0.5;\n return out;\n}\n\nfunction _screenToWorldDir(out, dx, dy, dz, proj, eye, vpW, vpH, ndcZMin) {\n // Inverse of _worldToScreenDir; signed vpW/vpH cancel the y-flip.\n _applyDir(out, eye, dx/(vpW0.5)/proj[0], dy/(vpH0.5)/proj[5], dz/((1-ndcZMin)0.5));\n return out;\n}\n\nfunction _screenToNDCDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n out[0]=dx/(vpW0.5); out[1]=dy/(vpH0.5); out[2]=dz/((1-ndcZMin)0.5);\n return out;\n}\n\nfunction _ndcToScreenDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n out[0]=dxvpW0.5; out[1]=dyvpH0.5; out[2]=dz(1-ndcZMin)0.5;\n return out;\n}\n\n/\n Map a direction between named coordinate spaces.\n * Same bag and viewport contract as mapLocation.\n \n @param {number[]} out 3-element destination.\n * @param {number} dx,dy,dz Input direction.\n * @param {string} from Source space.\n * @param {string} to Destination space.\n * @param {object} m Matrices bag — see module header.\n * @param {number[]} vp Viewport [x, y, w, h]; sign of h encodes screen-y direction.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n * @returns {number[]} out\n /\nexport function mapDirection(out, dx, dy, dz, from, to, m, vp, ndcZMin) {\n const vpW=vp[2], vpH=vp[3]; // signed — carry y-convention through all helpers\n\n if (from===EYE && to===WORLD) return _applyDir(out,m.mat4Eye, dx,dy,dz);\n if (from===WORLD && to===EYE) return _applyDir(out,m.mat4View,dx,dy,dz);\n\n if (from===WORLD && to===SCREEN) return _worldToScreenDir(out,dx,dy,dz,m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n if (from===SCREEN && to===WORLD) return _screenToWorldDir(out,dx,dy,dz,m.mat4Proj,m.mat4Eye, vpW,vpH,ndcZMin);\n\n if (from===SCREEN && to===NDC) return _screenToNDCDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n if (from===NDC && to===SCREEN) return _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n\n if (from===WORLD && to===NDC) {\n _worldToScreenDir(out,dx,dy,dz,m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n return _screenToNDCDir(out,out[0],out[1],out[2],vpW,vpH,ndcZMin);\n }\n if (from===NDC && to===WORLD) {\n _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n return _screenToWorldDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n }\n\n if (from===EYE && to===SCREEN) {\n _applyDir(out,m.mat4Eye,dx,dy,dz);\n return _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n }\n if (from===SCREEN && to===EYE) {\n _screenToWorldDir(out,dx,dy,dz,m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===EYE && to===NDC) {\n _applyDir(out,m.mat4Eye,dx,dy,dz);\n _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n return _screenToNDCDir(out,out[0],out[1],out[2],vpW,vpH,ndcZMin);\n }\n if (from===NDC && to===EYE) {\n _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n _screenToWorldDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.mat4View,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===WORLD) return _applyDir(out,m.fromFrame, dx,dy,dz);\n if (from===WORLD && to===MATRIX) return _applyDir(out,m.toFrameInv,dx,dy,dz);\n\n if (from===MATRIX && to===EYE) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n return _applyDir(out,m.mat4View,out[0],out[1],out[2]);\n }\n if (from===EYE && to===MATRIX) {\n _applyDir(out,m.mat4Eye,dx,dy,dz);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===SCREEN) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n return _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n }\n if (from===SCREEN && to===MATRIX) {\n _screenToWorldDir(out,dx,dy,dz,m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===NDC) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n _worldToScreenDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4View,vpW,vpH,ndcZMin);\n return _screenToNDCDir(out,out[0],out[1],out[2],vpW,vpH,ndcZMin);\n }\n if (from===NDC && to===MATRIX) {\n _ndcToScreenDir(out,dx,dy,dz,vpW,vpH,ndcZMin);\n _screenToWorldDir(out,out[0],out[1],out[2],m.mat4Proj,m.mat4Eye,vpW,vpH,ndcZMin);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n if (from===MATRIX && to===MATRIX) {\n _applyDir(out,m.fromFrame,dx,dy,dz);\n return _applyDir(out,m.toFrameInv,out[0],out[1],out[2]);\n }\n\n out[0]=dx; out[1]=dy; out[2]=dz;\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// pixelRatio\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n World-units-per-pixel at a given eye-space Z depth.\n * @param {ArrayLike<number>} proj Projection mat4.\n * @param {number} vpH Viewport height in pixels (positive).\n * @param {number} eyeZ Eye-space Z — negative means in front of camera.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nexport function pixelRatio(proj, vpH, eyeZ, ndcZMin) {\n return projIsOrtho(proj)\n ? Math.abs(projTop(proj,ndcZMin)-projBottom(proj,ndcZMin)) / vpH\n : 2Math.abs(eyeZ)Math.tan(projFov(proj)/2) / vpH;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Pick-matrix\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n Mutate a projection matrix in-place so that the pixel at (px, py) maps to\n * the full NDC square — making a 1×1 FBO render contain exactly that pixel.\n \n Premultiplies by M_pick (column-major, rows 2 and 3 unchanged):\n \n ┌ sx 0 0 tx ┐ sx = \|vp[2]\|, sy = \|vp[3]\|\n * │ 0 sy 0 ty │ cx = ((px−vp[0])/vp[2])·2 − 1 (NDC x of pixel centre)\n * │ 0 0 1 0 │ cy = ((py−vp[1])/vp[3])·2 − 1 (NDC y, sign-aware)\n * └ 0 0 0 1 ┘ tx = −cx·sx, ty = −cy·sy\n \n Result: P_pick = M_pick · P_original.\n * The viewport sign convention (vp[3] < 0 for screen y-down) is preserved\n * automatically through cx/cy — no separate flip needed.\n \n @param {Float32Array} proj Projection mat4 — mutated in place.\n * @param {number} px Query pixel X in screen coordinates.\n * @param {number} py Query pixel Y in screen coordinates.\n * @param {number[]} vp Viewport [x, y, w, h]; same signed convention as mapLocation.\n /\nexport function mat4Pick(proj, px, py, vp) {\n const cx=((px-vp[0])/vp[2])2-1;\n const cy=((py-vp[1])/vp[3])2-1;\n const sx=Math.abs(vp[2]), sy=Math.abs(vp[3]);\n const tx=-cxsx, ty=-cysy;\n for (let j=0; j<4; j++) {\n const a=proj[j4], b=proj[j4+1], d=proj[j4+3];\n proj[j4] = sxa + txd;\n proj[j4+1] = syb + tyd;\n }\n}\n\n// =========================================================================\n// Decomposition\n// =========================================================================\n\n/*\n Extract translation from a column-major mat4 (column 3).\n * @param {Float32Array\|number[]} out3 3-element destination.\n * @param {Float32Array\|number[]} m 16-element source.\n /\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 the rotation block).\n * Assumes no shear.\n * @param {Float32Array\|number[]} out3 3-element destination.\n * @param {Float32Array\|number[]} m 16-element source.\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. Assumes no shear.\n * @param {number[]} out4 4-element [x,y,z,w] destination.\n * @param {Float32Array\|number[]} m 16-element source.\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 Spline math and keyframe animation state machines.\n * @module tree/track\n * @license AGPL-3.0-only\n \n Quaternion algebra is provided by quat.js; projection matrix construction\n * by form.js. Spline helpers (hermiteVec3, lerpVec3) and TRS↔mat4 conversions\n * (transformToMat4, mat4ToTransform) live here because they are tightly\n * coupled to the PoseTrack keyframe shape.\n \n Zero dependencies on p5, DOM, WebGL, or WebGPU.\n \n ── Exports ──────────────────────────────────────────────────────────────\n * Quaternion helpers (re-exported from quat.js)\n * qSet qCopy qDot qNormalize qNegate qMul qConjugate qRotateVec3\n * qSlerp qNlerp qFromUnitVectors qFromAxisAngle qFromLookDir\n * qFromRotMat3x3 qFromMat4 qToMat4 qToAxisAngle\n * Spline / vector helpers\n * hermiteVec3 lerpVec3\n * Transform / mat4 helpers\n * transformToMat4 mat4ToTransform\n * Tracks\n * PoseTrack — { pos, rot, scl } TRS keyframes\n * CameraTrack — { eye, center, up, fov?, halfHeight?, near, far }\n * lookat keyframes\n \n ── Public path access (all zero-alloc, no cursor side effects) ──────────\n * PoseTrack\n * samplePos (out) \| (out, seg, t) vec3\n * mat4Model (out) \| (out, seg, t) mat4 — TRS model\n * tangents (outIn, outOut, index) vec3 × 2 at keyframe\n * eval (out?) TRS object at cursor\n \n CameraTrack\n * sampleEye (out) \| (out, seg, t) vec3\n * sampleCenter (out) \| (out, seg, t) vec3\n * mat4Eye (out) \| (out, seg, t) mat4 — lookat frame\n * eyeTangents (outIn, outOut, index) vec3 × 2 at keyframe\n * centerTangents (outIn, outOut, index) vec3 × 2 at keyframe\n * eval (out?) { eye, center, up,\n * fov, halfHeight,\n * near, far }\n \n Two arities for the continuous family:\n * (out) cursor form — reads track.seg / track.f. Useful when the\n * track's own transport is driving the animation.\n * (out, seg, t) explicit form — continuous (seg, t) coordinate, no cursor\n * side effects. seg ∈ [0, segments−1] integer, t ∈ [0, 1]\n * local to that segment. As a convenience, seg === segments\n * is accepted and rewritten to (segments−1, 1) — so the\n * idiom sampleX(out, i, 0) uniformly addresses keyframe i\n * for every i ∈ [0, keyframes.length−1].\n \n All honour the track's interpolation mode (hermite / linear / step) and\n * the same stored-tangent → centripetal-CR fallback chain that eval() uses.\n \n `tangents` / `eyeTangents` / `centerTangents` are keyframe-indexed — a\n * keyframe's incoming tangent belongs to the previous segment, outgoing to\n * the next. At boundary keyframes the missing side mirrors the present one\n * so drawing arrows at endpoints always yields a visible vector.\n \n Projection matrices are deliberately not exposed as a track method. Each\n * CameraTrack keyframe stores `fov` (perspective) or `halfHeight` (ortho)\n * directly on track.keyframes[i] — callers wanting a projection build one\n * with the free mat4Persp / mat4Ortho constructors. Animated fov in\n * sketches flows through the bridge's camera-binding via eval().fov and\n * eval().halfHeight (the bridge calls cam.perspective() / cam.ortho() each\n * frame).\n \n ── Class hierarchy ──────────────────────────────────────────────────────\n * Track (unexported, never instantiated directly)\n * └── PoseTrack (exported)\n * └── CameraTrack (exported)\n \n ── Hook architecture ────────────────────────────────────────────────────\n * Lib-space hooks (underscore prefix — host layer / UI layer):\n * _onActivate / _onDeactivate — fire on playing false→true / true→false.\n * _onPlay / _onEnd / _onStop — mirror the user-space hooks.\n \n User-space hooks:\n * onPlay : fires in play() on false→true transition.\n * onEnd : fires in tick() at natural boundary (once mode only).\n * onStop : fires in stop() / reset().\n \n Firing order:\n * play() → onPlay → _onPlay → _onActivate\n * tick() → onEnd → _onEnd → _onDeactivate\n * stop() → onStop → _onStop → _onDeactivate\n * reset() → onStop → _onStop → _onDeactivate\n \n ── Loop modes ───────────────────────────────────────────────────────────\n * loop:false, bounce:false — play once, stop at end (fires onEnd)\n * loop:true, bounce:false — repeat, wrap back to start\n * loop:true, bounce:true — bounce forever at boundaries\n * loop:false, bounce:true — bounce once: flip at far boundary, stop at origin\n \n ── Playback semantics (rate + _dir) ─────────────────────────────────────\n * rate > 0 forward rate < 0 backward rate === 0 frozen\n \n play() is the sole setter of playing = true.\n * stop() is the sole setter of playing = false.\n * Assigning rate never starts or stops playback.\n \n _dir (internal, ±1) tracks the current bounce travel direction.\n * tick() advances by rate * _dir and flips _dir at boundaries.\n * _dir is reset to 1 only in reset().\n \n ── One-keyframe behaviour ───────────────────────────────────────────────\n * play() with exactly one keyframe snaps eval() to that keyframe without\n * setting playing = true and without firing hooks.\n /\n\n'use strict';\n\nexport {\n qSet, qCopy, qDot, qNormalize, qNegate, qMul,\n qSlerp, qNlerp,\n qFromAxisAngle, qFromLookDir, qFromRotMat3x3, qFromMat4,\n qToAxisAngle,\n} from './quat.js';\n\nimport {\n qSlerp, qNlerp, qMul, qFromAxisAngle, qFromLookDir, qFromRotMat3x3, qToMat4,\n} from './quat.js';\n\nimport { mat4Eye as _buildMat4Eye } from './form.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(dxdx+dydy+dzdz);\n}\n\n/*\n Cubic Hermite interpolation between p0 and p1 with explicit tangents.\n * @param {number[]} out 3-element result.\n * @param {number[]} p0 Segment start.\n * @param {number[]} m0 Outgoing tangent at p0.\n * @param {number[]} p1 Segment end.\n * @param {number[]} m1 Incoming tangent at p1.\n * @param {number} t Blend [0, 1].\n * @returns {number[]} out\n /\nexport const hermiteVec3 = (out, p0, m0, p1, m1, t) => {\n const t2=tt, t3=t2t;\n const h00=2t3-3t2+1, h10=t3-2t2+t, h01=-2t3+3t2, h11=t3-t2;\n out[0]=h00p0[0]+h10m0[0]+h01p1[0]+h11m1[0];\n out[1]=h00p0[1]+h10m0[1]+h01p1[1]+h11m1[1];\n out[2]=h00p0[2]+h10m0[2]+h01p1[2]+h11m1[2];\n return out;\n};\n\n// Centripetal CR outgoing tangent at p1 for segment p1→p2.\n// Signature: (out, p0, p1, p2). Returns tangent AT p1 (the middle point).\nconst _crTanOut = (out, p0, p1, p2) => {\n const dt0=Math.pow(_dist3(p0,p1),0.5)\|\|1, dt1=Math.pow(_dist3(p1,p2),0.5)\|\|1;\n for (let i=0;i<3;i++) out[i]=((p1[i]-p0[i])/dt0-(p2[i]-p0[i])/(dt0+dt1)+(p2[i]-p1[i])/dt1)dt1;\n return out;\n};\n\n// Centripetal CR incoming tangent at p2 for segment p1→p2.\n// Signature: (out, p1, p2, p3). Returns tangent AT p2 (the middle point).\nconst _crTanIn = (out, p1, p2, p3) => {\n const dt1=Math.pow(_dist3(p1,p2),0.5)\|\|1, dt2=Math.pow(_dist3(p2,p3),0.5)\|\|1;\n for (let i=0;i<3;i++) out[i]=((p2[i]-p1[i])/dt1-(p3[i]-p1[i])/(dt1+dt2)+(p3[i]-p2[i])/dt2)dt1;\n return out;\n};\n\n// Module-level scratch — shared across track instances (non-reentrant hot path).\nconst _m0=[0,0,0], _m1=[0,0,0];\nconst _trsScratch = { pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] };\nconst _eyeScratch = { eye:[0,0,0], center:[0,0,0], up:[0,1,0] };\n\n/*\n Linear interpolation between two vec3s.\n /\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// S2b Path samplers — shared core\n// =========================================================================\n\n/** @private — sample interpolated vec3 path at (seg, t) into out. /\nfunction _samplePathCore(out, kfs, interp, field, tanInName, tanOutName, seg, t) {\n const n = kfs.length;\n if (n === 0) { out[0]=0; out[1]=0; out[2]=0; return out; }\n if (n === 1) {\n const p = kfs[0][field];\n out[0]=p[0]; out[1]=p[1]; out[2]=p[2];\n return out;\n }\n const nSeg = n - 1;\n seg = seg \| 0;\n if (seg >= nSeg) { seg = nSeg - 1; t = 1; }\n else if (seg < 0) { seg = 0; t = 0; }\n t = _clamp01(t);\n const k0 = kfs[seg];\n const k1 = kfs[seg + 1];\n\n if (interp === 'step') {\n const p = k0[field];\n out[0]=p[0]; out[1]=p[1]; out[2]=p[2];\n return out;\n }\n if (interp === 'linear') {\n return lerpVec3(out, k0[field], k1[field], t);\n }\n\n const p0 = seg > 0 ? kfs[seg - 1][field] : k0[field];\n const p3 = seg + 2 < n ? kfs[seg + 2][field] : k1[field];\n const m0 = k0[tanOutName] != null ? k0[tanOutName]\n : k0[tanInName] != null ? k0[tanInName]\n : _crTanOut(_m0, p0, k0[field], k1[field]);\n const m1 = k1[tanInName] != null ? k1[tanInName]\n : k1[tanOutName] != null ? k1[tanOutName]\n : _crTanIn(_m1, k0[field], k1[field], p3);\n return hermiteVec3(out, k0[field], m0, k1[field], m1, t);\n}\n\n/* @private — write effective in/out tangents at keyframe i. /\nfunction _sampleTangentsCore(outIn, outOut, kfs, field, tanInName, tanOutName, i) {\n const n = kfs.length;\n if (n === 0) {\n outIn[0]=outIn[1]=outIn[2]=0; outOut[0]=outOut[1]=outOut[2]=0;\n return;\n }\n i = _clampS(i \| 0, 0, n - 1);\n const ki = kfs[i];\n const hasTI = ki[tanInName] != null;\n const hasTO = ki[tanOutName] != null;\n\n if (hasTO) {\n outOut[0]=ki[tanOutName][0]; outOut[1]=ki[tanOutName][1]; outOut[2]=ki[tanOutName][2];\n } else if (hasTI) {\n outOut[0]=ki[tanInName][0]; outOut[1]=ki[tanInName][1]; outOut[2]=ki[tanInName][2];\n } else if (i < n - 1) {\n const k1 = kfs[i + 1];\n const p0 = i > 0 ? kfs[i - 1][field] : ki[field];\n _crTanOut(outOut, p0, ki[field], k1[field]);\n } else {\n outOut[0]=0; outOut[1]=0; outOut[2]=0;\n }\n\n if (hasTI) {\n outIn[0]=ki[tanInName][0]; outIn[1]=ki[tanInName][1]; outIn[2]=ki[tanInName][2];\n } else if (hasTO) {\n outIn[0]=ki[tanOutName][0]; outIn[1]=ki[tanOutName][1]; outIn[2]=ki[tanOutName][2];\n } else if (i > 0) {\n const k0 = kfs[i - 1];\n const p3 = i + 1 < n ? kfs[i + 1][field] : ki[field];\n _crTanIn(outIn, k0[field], ki[field], p3);\n } else {\n outIn[0]=outOut[0]; outIn[1]=outOut[1]; outIn[2]=outOut[2];\n }\n\n if (i === n - 1 && !hasTO && !hasTI) {\n outOut[0]=outIn[0]; outOut[1]=outIn[1]; outOut[2]=outIn[2];\n }\n}\n\n// =========================================================================\n// S3 Transform <-> Mat4\n// =========================================================================\n\n/\n Write a TRS transform into a column-major mat4.\n /\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 /\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\nconst _EULER_AXES = { X:[1,0,0], Y:[0,1,0], Z:[0,0,1] };\nconst _EULER_ORDERS = new Set(['XYZ','XZY','YXZ','YZX','ZXY','ZYX']);\n\n/*\n Parse any rotation representation into a unit quaternion [x,y,z,w].\n \n Accepted forms:\n * [x,y,z,w] — raw quaternion array\n * { axis:[x,y,z], angle } — axis-angle (angle in radians)\n * { dir:[x,y,z], up?:[x,y,z] } — forward direction (−Z) with optional up\n * { mat4Eye: mat4 } — rotation block of an eye matrix\n * { mat3: mat3 } — column-major 3×3 rotation matrix\n * { euler:[rx,ry,rz], order? } — intrinsic Euler (default order: YXZ)\n * { from:[x,y,z], to:[x,y,z] } — shortest-arc rotation between two vectors\n \n @param {} v\n @returns {number[]\|null} [x,y,z,w] or null if unparseable.\n /\nfunction _parseQuat(v) {\n if (!v) return null;\n\n // [x,y,z,w]\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 // { mat4Eye }\n if (v.mat4Eye != null) {\n const m = (ArrayBuffer.isView(v.mat4Eye) \|\| Array.isArray(v.mat4Eye))\n ? v.mat4Eye : (v.mat4Eye.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n return qFromRotMat3x3([0,0,0,1], m[0],m[4],m[8], m[1],m[5],m[9], m[2],m[6],m[10]);\n }\n\n // { mat3 }\n if (v.mat3 != null) {\n const m = (ArrayBuffer.isView(v.mat3) \|\| Array.isArray(v.mat3)) ? v.mat3 : null;\n if (!m \|\| m.length < 9) return null;\n return qFromRotMat3x3([0,0,0,1], m[0],m[3],m[6], m[1],m[4],m[7], m[2],m[5],m[8]);\n }\n\n // { euler, order? }\n if (v.euler != null) {\n const e = v.euler;\n if (!Array.isArray(e) \|\| e.length < 3) return null;\n const order = (v.order && _EULER_ORDERS.has(v.order)) ? v.order : 'YXZ';\n const q = [0,0,0,1], s = [0,0,0,1];\n for (let i = 0; i < 3; i++) {\n const ax = _EULER_AXES[order[i]];\n qMul(q, q, qFromAxisAngle(s, ax[0],ax[1],ax[2], e[i]));\n }\n return q;\n }\n\n // { from, to }\n if (v.from != null && v.to != null) {\n const f = Array.isArray(v.from) ? v.from : [v.from.x\|\|0, v.from.y\|\|0, v.from.z\|\|0];\n const t = Array.isArray(v.to) ? v.to : [v.to.x\|\|0, v.to.y\|\|0, v.to.z\|\|0];\n const fl = Math.sqrt(f[0]f[0]+f[1]f[1]+f[2]f[2]) \|\| 1;\n const tl = Math.sqrt(t[0]t[0]+t[1]t[1]+t[2]t[2]) \|\| 1;\n const fx=f[0]/fl, fy=f[1]/fl, fz=f[2]/fl;\n const tx=t[0]/tl, ty=t[1]/tl, tz=t[2]/tl;\n const dot = fxtx + fyty + fztz;\n if (dot >= 1 - 1e-8) return [0,0,0,1];\n if (dot <= -1 + 1e-8) {\n let px=0, py=fz, pz=-fy;\n let pl = Math.sqrt(pxpx+pypy+pzpz);\n if (pl < 1e-8) { px=fy; py=-fx; pz=0; pl = Math.sqrt(pxpx+pypy+pzpz); }\n if (pl < 1e-8) return [0,0,0,1];\n return qFromAxisAngle([0,0,0,1], px/pl,py/pl,pz/pl, Math.PI);\n }\n let ax=fytz-fzty, ay=fztx-fxtz, az=fxty-fytx;\n const al = Math.sqrt(axax+ayay+azaz) \|\| 1;\n return qFromAxisAngle([0,0,0,1], ax/al,ay/al,az/al,\n Math.acos(Math.max(-1, Math.min(1, dot))));\n }\n\n return null;\n}\n\n/\n Parse a PoseTrack keyframe spec into internal form.\n \n Accepted forms:\n * { mat4Model }\n * Decompose a column-major mat4 into TRS via mat4ToTransform.\n * Float32Array(16), plain Array, or { mat4 } wrapper.\n \n { pos?, rot?, scl?, tanIn?, tanOut? }\n * Explicit TRS. pos and scl are vec3; rot accepts any form from _parseQuat.\n * All fields are optional — missing pos/scl default to [0,0,0] / [1,1,1],\n * missing rot defaults to identity.\n * tanIn/tanOut are optional vec3 tangents for Hermite interpolation.\n \n @param {Object} spec\n * @returns {{ pos:number[], rot:number[], scl:number[],\n * tanIn:number[]\|null, tanOut:number[]\|null } \| null}\n /\nfunction _parseSpec(spec) {\n if (!spec \|\| typeof spec !== 'object') return null;\n\n // { mat4Model } — full TRS decomposition from model matrix\n if (spec.mat4Model != null) {\n const m = (ArrayBuffer.isView(spec.mat4Model) \|\| Array.isArray(spec.mat4Model))\n ? spec.mat4Model : (spec.mat4Model.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n const kf = mat4ToTransform({ pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] }, m);\n kf.tanIn = null; kf.tanOut = null;\n return kf;\n }\n\n // { pos?, rot?, scl?, tanIn?, tanOut? } — explicit TRS\n const pos = _parseVec3(spec.pos) \|\| [0,0,0];\n const rot = _parseQuat(spec.rot) \|\| [0,0,0,1];\n const scl = _parseVec3(spec.scl) \|\| [1,1,1];\n const tanIn = _parseVec3(spec.tanIn) \|\| null;\n const tanOut = _parseVec3(spec.tanOut) \|\| null;\n return { pos, rot, scl, tanIn, tanOut };\n}\n\nfunction _sameTransform(a, b) {\n for (let i=0;i<3;i++) if (a.pos[i]!==b.pos[i]\|\|a.scl[i]!==b.scl[i]) return false;\n for (let i=0;i<4;i++) if (a.rot[i]!==b.rot[i]) return false;\n return true;\n}\n\n// =========================================================================\n// S4b Spec parser — CameraTrack\n// =========================================================================\n\n// Lens defaults used when a spec omits near/far. Match the three.js /\n// Bevy conventions and are safe for typical p5 v2 scene scales.\nconst _DEFAULT_NEAR = 0.1;\nconst _DEFAULT_FAR = 1000;\n\n/\n Parse a CameraTrack keyframe spec into internal form.\n \n Required: eye (vec3). Everything else is optional.\n * center defaults to [0, 0, 0]\n * up defaults to [0, 1, 0] and is normalised\n * fov vertical fov (radians), perspective only — null if absent\n * halfHeight world-unit half-height of ortho frustum — null if absent\n * near near clip distance (positive) — defaults to 0.1\n * far far clip distance (positive) — defaults to 1000\n * eyeTanIn/Out optional Hermite tangents for the eye path\n * centerTanIn/Out optional Hermite tangents for the center path\n \n fov and halfHeight are mutually exclusive (perspective xor ortho) and\n * therefore left nullable; eval() lerps each only when both adjacent\n * keyframes carry a non-null value, passing null through otherwise.\n \n near and far are always meaningful regardless of projection type, so\n * they receive real defaults and are linearly interpolated unconditionally.\n \n @param {Object} spec\n * @returns {Object\|null} Parsed keyframe or null if eye is missing/malformed.\n /\nfunction _parseCameraSpec(spec) {\n if (!spec \|\| typeof spec !== 'object') return null;\n const eye = _parseVec3(spec.eye);\n if (!eye) return null;\n const center = _parseVec3(spec.center) \|\| [0,0,0];\n const upRaw = spec.up ? _parseVec3(spec.up) : null;\n const up = upRaw \|\| [0,1,0];\n const ul = Math.sqrt(up[0]up[0]+up[1]up[1]+up[2]up[2]) \|\| 1;\n return {\n eye, center,\n up: [up[0]/ul, up[1]/ul, up[2]/ul],\n fov: typeof spec.fov === 'number' ? spec.fov : null,\n halfHeight: typeof spec.halfHeight === 'number' ? spec.halfHeight : null,\n near: typeof spec.near === 'number' ? spec.near : _DEFAULT_NEAR,\n far: typeof spec.far === 'number' ? spec.far : _DEFAULT_FAR,\n eyeTanIn: _parseVec3(spec.eyeTanIn) \|\| null,\n eyeTanOut: _parseVec3(spec.eyeTanOut) \|\| null,\n centerTanIn: _parseVec3(spec.centerTanIn) \|\| null,\n centerTanOut: _parseVec3(spec.centerTanOut)\|\| null,\n };\n}\n\nfunction _sameCameraKeyframe(a, b) {\n for (let i=0;i<3;i++) {\n if (a.eye[i]!==b.eye[i]) return false;\n if (a.center[i]!==b.center[i]) return false;\n if (a.up[i]!==b.up[i]) return false;\n }\n if (a.fov !== b.fov) return false;\n if (a.halfHeight !== b.halfHeight) return false;\n if (a.near !== b.near) return false;\n if (a.far !== b.far) return false;\n return true;\n}\n\n// =========================================================================\n// S5 Track — unexported base class (transport machinery only)\n// =========================================================================\n\nclass Track {\n constructor() {\n /** @type {Array} Keyframe array — shape depends on subclass. /\n this.keyframes = [];\n /* Whether playback is currently active. @type {boolean} /\n this.playing = false;\n /* Loop at boundaries. @type {boolean} /\n this.loop = false;\n /* Ping-pong bounce at boundaries (independent of loop). @type {boolean} /\n this.bounce = false;\n /* Frames per segment (≥1). @type {number} /\n this.duration = 30;\n /* Current segment index. @type {number} /\n this.seg = 0;\n /* Frame offset within current segment (can be fractional). @type {number} /\n this.f = 0;\n\n // Playback rate (signed: negative = reverse; 0 = frozen).\n this._rate = 1;\n // Current bounce travel direction (±1). Reset to 1 only on reset().\n this._dir = 1;\n // Whether a bounce-once has already flipped direction.\n this._bounced = false;\n\n /* User hook: fires on play() false→true transition. @type {Function\|null} /\n this.onPlay = null;\n /* User hook: fires on natural boundary in once mode. @type {Function\|null} /\n this.onEnd = null;\n /* User hook: fires on stop() / reset() / end-of-bounce-once. @type {Function\|null} /\n this.onStop = null;\n\n // Lib-space hooks (underscore prefix — host layer / UI layer only).\n this._onActivate = null; this._onDeactivate = null;\n this._onPlay = null; this._onEnd = null; this._onStop = null;\n }\n\n /* Playback rate. Signed: negative reverses, 0 freezes. Assigning never starts or stops playback. @type {number} /\n get rate() { return this._rate; }\n set rate(v) { this._rate = (_isNum(v)) ? v : 1; }\n\n /* Number of interpolatable segments (keyframes.length − 1, min 0). @type {number} /\n get segments() { return Math.max(0, this.keyframes.length - 1); }\n\n /\n @private — resolve cursor (seg, f) into continuous (seg, t).\n * Shared backing of every cursor-form sampler / matrix method.\n /\n _cursorSegT() {\n const nSeg = this.segments;\n const dur = Math.max(1, this.duration \| 0);\n const seg = nSeg > 0 ? _clampS(this.seg, 0, nSeg - 1) : 0;\n const t = _clamp01(this.f / dur);\n return [seg, t];\n }\n\n /\n Start or update playback. Sole setter of `playing = true`.\n \n Fires `onPlay → _onPlay → _onActivate` only on a false→true transition.\n * Zero keyframes: no-op. Exactly one keyframe: snaps eval() to it but does\n * not set `playing` and fires no hooks.\n \n @param {number\|{duration?:number,loop?:boolean,bounce?:boolean,\n * rate?:number,onPlay?:Function,onEnd?:Function,\n * onStop?:Function}} [rateOrOpts]\n * A bare number is taken as `rate`; an object configures multiple\n * fields in one call.\n * @returns {Track} this\n /\n play(rateOrOpts) {\n if (this.keyframes.length === 0) return this;\n if (this.keyframes.length === 1) { this.seg = 0; this.f = 0; return this; }\n\n if (typeof rateOrOpts === 'number' && Number.isFinite(rateOrOpts)) {\n this._rate = rateOrOpts;\n } else if (rateOrOpts && typeof rateOrOpts === 'object') {\n const o = rateOrOpts;\n if (_isNum(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. Sole setter of `playing = false`. Fires\n * `onStop → _onStop → _onDeactivate` on a true→false transition.\n \n @param {boolean} [rewind] If true, seek to the origin end after stopping\n * (0 when playing forward, 1 when playing backward).\n * @returns {Track} this\n /\n stop(rewind) {\n const wasPlaying = this.playing;\n this.playing = false;\n if (wasPlaying) {\n this._bounced = false;\n if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }\n this._onStop?.();\n this._onDeactivate?.();\n if (rewind && this.keyframes.length > 1) this.seek(this._rate this._dir < 0 ? 1 : 0);\n }\n return this;\n }\n\n /*\n Clear all keyframes and stop. Fires stop-side hooks if it was playing.\n * Unlike stop(), this also resets `_dir` to +1.\n * @returns {Track} this\n /\n reset() {\n const wasPlaying = this.playing;\n this.playing = false;\n if (wasPlaying) {\n if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }\n this._onStop?.();\n this._onDeactivate?.();\n }\n this.keyframes.length = 0;\n this.seg = 0; this.f = 0; this._dir = 1; this._bounced = false;\n return this;\n }\n\n /\n Remove the keyframe at `index`. Adjusts the cursor if the removal shrinks\n * the track below the current segment.\n * @param {number} index\n * @returns {boolean} true if removed; false if index was invalid.\n /\n remove(index) {\n if (!_isNum(index)) return false;\n const i = index \| 0;\n if (i < 0 \|\| i >= this.keyframes.length) return false;\n this.keyframes.splice(i, 1);\n const nSeg = this.segments;\n if (nSeg === 0) { this.seg = 0; this.f = 0; }\n else if (this.seg >= nSeg) { this.seg = nSeg - 1; }\n return true;\n }\n\n /\n Move the cursor.\n * seek(t) Scrub to normalised position t ∈ [0, 1] across the\n * whole track.\n * seek(t, segIndex) Position within a specific segment — t is local to\n * that segment.\n * Does not affect `playing`.\n \n @param {number} t\n * @param {number} [segIndex]\n * @returns {Track} this\n /\n seek(t, segIndex) {\n const nSeg = this.segments;\n if (nSeg === 0) { this.seg = 0; this.f = 0; return this; }\n const dur = Math.max(1, this.duration \| 0);\n if (_isNum(segIndex)) {\n this.seg = _clampS(segIndex \| 0, 0, nSeg - 1);\n this.f = _clamp01(t) dur;\n } else {\n this._setCursorFromScalar(_clamp01(t) * nSeg * dur);\n }\n return this;\n }\n\n /*\n Normalised cursor position across the whole track.\n * @returns {number} ∈ [0, 1]; 0 when there are no segments.\n /\n time() {\n const nSeg = this.segments;\n if (nSeg === 0) return 0;\n const dur = Math.max(1, this.duration \| 0);\n return _clamp01((this.seg dur + this.f) / (nSeg * dur));\n }\n\n /*\n Snapshot of transport state. Allocates a new object per call — intended\n * for UI / debugging, not hot loops.\n * @returns {{keyframes:number, segments:number, seg:number, f:number,\n * playing:boolean, loop:boolean, bounce:boolean, rate:number,\n * duration:number, time:number}}\n /\n info() {\n return {\n keyframes: this.keyframes.length,\n segments: this.segments,\n seg: this.seg,\n f: this.f,\n playing: this.playing,\n loop: this.loop,\n bounce: this.bounce,\n rate: this._rate,\n duration: this.duration,\n time: this.segments > 0 ? this.time() : 0\n };\n }\n\n /\n Advance the cursor by `rate * _dir` in frames. Handles loop / bounce /\n * once modes per the table in the module header. Fires `onEnd → _onEnd →\n * _onDeactivate` at a natural boundary in once mode.\n \n Intended to be called once per animation frame by the bridge / UI layer.\n * rate === 0 freezes the cursor but keeps `playing` unchanged.\n \n @returns {boolean} Current `playing` state after advancing.\n /\n tick() {\n if (!this.playing) return false;\n const nSeg = this.segments;\n if (nSeg === 0) { this.playing = false; this._onDeactivate?.(); return false; }\n if (this._rate === 0) return true;\n\n const dur = Math.max(1, this.duration \| 0);\n const total = nSeg dur;\n const s = _clampS(this.seg * dur + this.f, 0, total);\n const next = s + this._rate * this._dir;\n\n if (this.loop && this.bounce) {\n let pos = next, flips = 0;\n while (pos < 0 \|\| pos > total) {\n if (pos < 0) { pos = -pos; flips++; }\n else { pos = 2 * total - pos; flips++; }\n }\n if (flips & 1) this._dir = -this._dir;\n this._setCursorFromScalar(pos);\n return true;\n }\n\n if (!this.loop && this.bounce) {\n if (next >= total) {\n this._setCursorFromScalar(Math.min(total, 2 * total - next));\n this._dir = -this._dir;\n this._bounced = true;\n return true;\n }\n if (next <= 0) {\n this._setCursorFromScalar(0);\n this.playing = false;\n this._dir = 1; this._bounced = false;\n if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n this._onEnd?.();\n this._onDeactivate?.();\n return false;\n }\n this._setCursorFromScalar(next);\n return true;\n }\n\n if (this.loop) {\n this._setCursorFromScalar(((next % total) + total) % total);\n return true;\n }\n\n if (next <= 0) {\n this._setCursorFromScalar(0);\n this.playing = false;\n if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n this._onEnd?.();\n this._onDeactivate?.();\n return false;\n }\n if (next >= total) {\n this._setCursorFromScalar(total);\n this.playing = false;\n if (typeof this.onEnd === 'function') { try { this.onEnd(this); } catch (_) {} }\n this._onEnd?.();\n this._onDeactivate?.();\n return false;\n }\n\n this._setCursorFromScalar(next);\n return true;\n }\n\n /** @private /\n _setCursorFromScalar(s) {\n const dur = Math.max(1, this.duration \| 0);\n const nSeg = this.segments;\n this.seg = Math.floor(s / dur);\n this.f = s - this.seg dur;\n if (this.seg >= nSeg) { this.seg = nSeg - 1; this.f = dur; }\n if (this.seg < 0) { this.seg = 0; this.f = 0; }\n }\n}\n\n// =========================================================================\n// S6 PoseTrack\n// =========================================================================\n\n/*\n Renderer-agnostic TRS keyframe track.\n \n Keyframe shape: { pos:[x,y,z], rot:[x,y,z,w], scl:[x,y,z],\n * tanIn?:[x,y,z], tanOut?:[x,y,z] }\n \n tanIn — incoming position tangent at this keyframe (Hermite mode).\n * tanOut — outgoing position tangent at this keyframe (Hermite mode).\n * When only one is supplied, the other mirrors it at sample time.\n * When neither is supplied, centripetal Catmull-Rom tangents are auto-computed.\n /\nexport class PoseTrack extends Track {\n constructor() {\n super();\n /\n Position interpolation mode.\n * - 'hermite' — cubic Hermite; auto-computes centripetal Catmull-Rom\n * tangents when none are stored (default)\n * - 'linear' — lerp\n * - 'step' — snap to k0; useful for discrete state changes\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.posInterp = 'hermite';\n /\n Rotation interpolation mode.\n * - 'slerp' — constant angular velocity (default)\n * - 'nlerp' — normalised lerp; cheaper, slightly non-constant speed\n * - 'step' — snap to k0 quaternion\n * @type {'slerp'\|'nlerp'\|'step'}\n /\n this.rotInterp = 'slerp';\n }\n\n /\n Append one or more keyframes. Adjacent duplicates are skipped by default.\n * Accepts any spec form understood by _parseSpec, or an array of them.\n * @param {Object\|Object[]} spec\n * @param {{ deduplicate?: boolean }} [opts]\n /\n add(spec, opts) {\n if (Array.isArray(spec)) { for (const s of spec) this.add(s, opts); return; }\n const kf = _parseSpec(spec);\n if (!kf) return;\n const dedup = !opts \|\| opts.deduplicate !== false;\n if (dedup && this.keyframes.length > 0) {\n if (_sameTransform(this.keyframes[this.keyframes.length - 1], kf)) return;\n }\n this.keyframes.push(kf);\n }\n\n /\n Replace the keyframe at `index`, or append at the end if `index` equals\n * the current keyframe count.\n * @param {number} index\n * @param {Object} spec Any spec form understood by _parseSpec.\n * @returns {boolean} true on success; false for invalid index or spec.\n /\n set(index, spec) {\n if (!_isNum(index)) return false;\n const i = index \| 0, kf = _parseSpec(spec);\n if (!kf \|\| i < 0 \|\| i > this.keyframes.length) return false;\n if (i === this.keyframes.length) this.keyframes.push(kf);\n else this.keyframes[i] = kf;\n return true;\n }\n\n /\n Sample the position path. Zero-alloc, no cursor side effects. Honours\n * posInterp and the stored-tangent → auto-CR fallback chain.\n \n Two signatures:\n * samplePos(out) cursor form — reads current seg/f\n * samplePos(out, seg, t) explicit (seg, t), continuous on the path\n \n @param {number[]} out 3-element result buffer.\n * @param {number} [seg] Segment index in [0, segments−1]. Omit for cursor.\n * @param {number} [t] Local parameter in [0, 1]. Omit for cursor.\n * @returns {number[]} out\n /\n samplePos(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n return _samplePathCore(out, this.keyframes, this.posInterp, 'pos', 'tanIn', 'tanOut', seg, t);\n }\n\n /\n Write the TRS pose as a column-major model mat4. Zero-alloc, no cursor\n * side effects.\n \n Two signatures:\n * mat4Model(out) cursor form — reads current seg/f\n * mat4Model(out, seg, t) explicit (seg, t), continuous on the path\n \n Replaces the previous toMatrix() method.\n \n @param {Float32Array\|number[]} out 16-element result buffer.\n * @param {number} [seg] Segment index in [0, segments−1]. Omit for cursor.\n * @param {number} [t] Local parameter in [0, 1]. Omit for cursor.\n * @returns {Float32Array\|number[]} out\n /\n mat4Model(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n this._sampleTRS(_trsScratch, seg, t);\n return transformToMat4(out, _trsScratch);\n }\n\n /\n Effective incoming / outgoing position tangents at keyframe `index`.\n * Stored tanIn/tanOut take precedence; each mirrors the other when only\n * one is stored; else centripetal Catmull-Rom tangents are auto-computed\n * from neighbours. Boundary keyframes mirror across the missing side.\n \n @param {number[]} outIn 3-element result — incoming tangent.\n * @param {number[]} outOut 3-element result — outgoing tangent.\n * @param {number} index Keyframe index.\n * @returns {PoseTrack} this\n /\n tangents(outIn, outOut, index) {\n _sampleTangentsCore(outIn, outOut, this.keyframes, 'pos', 'tanIn', 'tanOut', index);\n return this;\n }\n\n /* @private — write interpolated TRS at (seg, t). /\n _sampleTRS(out, seg, t) {\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) {\n const k = this.keyframes[0];\n out.pos[0]=k.pos[0]; out.pos[1]=k.pos[1]; out.pos[2]=k.pos[2];\n out.rot[0]=k.rot[0]; out.rot[1]=k.rot[1]; out.rot[2]=k.rot[2]; out.rot[3]=k.rot[3];\n out.scl[0]=k.scl[0]; out.scl[1]=k.scl[1]; out.scl[2]=k.scl[2];\n return out;\n }\n const nSeg = n - 1;\n seg = seg \| 0;\n if (seg >= nSeg) { seg = nSeg - 1; t = 1; }\n else if (seg < 0) { seg = 0; t = 0; }\n t = _clamp01(t);\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n _samplePathCore(out.pos, this.keyframes, this.posInterp, 'pos', 'tanIn', 'tanOut', seg, t);\n\n if (this.rotInterp === 'step') {\n out.rot[0]=k0.rot[0]; out.rot[1]=k0.rot[1]; out.rot[2]=k0.rot[2]; out.rot[3]=k0.rot[3];\n } else if (this.rotInterp === 'nlerp') {\n qNlerp(out.rot, k0.rot, k1.rot, t);\n } else {\n qSlerp(out.rot, k0.rot, k1.rot, t);\n }\n\n lerpVec3(out.scl, k0.scl, k1.scl, t);\n return out;\n }\n\n /\n Evaluate interpolated TRS pose at current cursor.\n * @param {{ pos:number[], rot:number[], scl:number[] }} [out]\n * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n /\n eval(out) {\n out = out \|\| { pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] };\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) return this._sampleTRS(out, 0, 0);\n const [seg, t] = this._cursorSegT();\n return this._sampleTRS(out, seg, t);\n }\n}\n\n// =========================================================================\n// S7 CameraTrack\n// =========================================================================\n\n/\n Lookat camera keyframe track.\n \n Keyframe shape: { eye:[x,y,z], center:[x,y,z], up:[x,y,z],\n * fov?:number, halfHeight?:number,\n * near:number, far:number,\n * eyeTanIn?:[x,y,z], eyeTanOut?:[x,y,z],\n * centerTanIn?:[x,y,z], centerTanOut?:[x,y,z] }\n \n fov — vertical fov (radians) for perspective cameras; null for ortho.\n * halfHeight — world-unit half-height of ortho frustum; null for perspective.\n * Both are optional and nullable because exactly one is meaningful per\n * keyframe (perspective xor ortho). eval() lerps each only when both\n * adjacent keyframes carry a non-null value for that field; mixed or\n * missing entries pass `null` through.\n \n near, far — clip plane distances (positive, world units). Always real\n * numbers. Defaults: near = 0.1, far = 1000 (three.js / Bevy convention).\n * Linearly interpolated between keyframes without null-passthrough.\n \n eyeTanIn/Out and centerTanIn/Out are optional vec3 tangents for Hermite\n * interpolation of the eye and center paths respectively. When absent,\n * centripetal Catmull-Rom tangents are auto-computed at sample time.\n \n Missing fields default to: center → [0,0,0], up → [0,1,0],\n * near → 0.1, far → 1000.\n \n For matrix-based capture of a camera-like pose use\n * PoseTrack.add({ mat4Model: mat4Eye }) for full TRS fidelity including roll,\n * or a lookat spec here for camera-style interpolation.\n /\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\n * default.\n * @param {Object\|Object[]} spec\n * @param {{ deduplicate?: boolean }} [opts]\n /\n add(spec, opts) {\n if (Array.isArray(spec)) { for (const s of spec) this.add(s, opts); return; }\n const kf = _parseCameraSpec(spec);\n if (!kf) return;\n const dedup = !opts \|\| opts.deduplicate !== false;\n if (dedup && this.keyframes.length > 0) {\n if (_sameCameraKeyframe(this.keyframes[this.keyframes.length - 1], kf)) return;\n }\n this.keyframes.push(kf);\n }\n\n /\n Replace the camera keyframe at `index`, or append at the end if `index`\n * equals the current keyframe count.\n * @param {number} index\n * @param {Object} spec\n * @returns {boolean}\n /\n set(index, spec) {\n if (!_isNum(index)) return false;\n const i = index \| 0, kf = _parseCameraSpec(spec);\n if (!kf \|\| i < 0 \|\| i > this.keyframes.length) return false;\n if (i === this.keyframes.length) this.keyframes.push(kf);\n else this.keyframes[i] = kf;\n return true;\n }\n\n /\n Sample the eye path. Zero-alloc, no cursor side effects.\n \n Two signatures:\n * sampleEye(out) cursor form — reads current seg/f\n * sampleEye(out, seg, t) explicit (seg, t), continuous on the path\n \n @param {number[]} out\n * @param {number} [seg]\n * @param {number} [t]\n * @returns {number[]} out\n /\n sampleEye(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n return _samplePathCore(out, this.keyframes, this.eyeInterp, 'eye', 'eyeTanIn', 'eyeTanOut', seg, t);\n }\n\n /\n Sample the center path. Zero-alloc, no cursor side effects.\n \n Two signatures:\n * sampleCenter(out) cursor form — reads current seg/f\n * sampleCenter(out, seg, t) explicit (seg, t)\n \n @param {number[]} out\n * @param {number} [seg]\n * @param {number} [t]\n * @returns {number[]} out\n /\n sampleCenter(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n return _samplePathCore(out, this.keyframes, this.centerInterp, 'center', 'centerTanIn', 'centerTanOut', seg, t);\n }\n\n /\n Write the interpolated lookat eye matrix as a column-major mat4\n * (eye→world rigid frame). Zero-alloc, no cursor side effects.\n \n Two signatures:\n * mat4Eye(out) cursor form — reads current seg/f\n * mat4Eye(out, seg, t) explicit (seg, t), continuous on the path\n \n @param {Float32Array\|number[]} out 16-element result buffer.\n * @param {number} [seg]\n * @param {number} [t]\n * @returns {Float32Array\|number[]} out\n /\n mat4Eye(out, seg, t) {\n if (arguments.length < 3) [seg, t] = this._cursorSegT();\n this._sampleEyePose(_eyeScratch, seg, t);\n const e = _eyeScratch;\n return _buildMat4Eye(out,\n e.eye[0], e.eye[1], e.eye[2],\n e.center[0], e.center[1], e.center[2],\n e.up[0], e.up[1], e.up[2]);\n }\n\n /\n Effective in/out eye tangents at keyframe `index`.\n /\n eyeTangents(outIn, outOut, index) {\n _sampleTangentsCore(outIn, outOut, this.keyframes, 'eye', 'eyeTanIn', 'eyeTanOut', index);\n return this;\n }\n\n /\n Effective in/out center tangents at keyframe `index`.\n /\n centerTangents(outIn, outOut, index) {\n _sampleTangentsCore(outIn, outOut, this.keyframes, 'center', 'centerTanIn', 'centerTanOut', index);\n return this;\n }\n\n /* @private — write interpolated { eye, center, up } at (seg, t). /\n _sampleEyePose(out, seg, t) {\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) {\n const k = this.keyframes[0];\n out.eye[0]=k.eye[0]; out.eye[1]=k.eye[1]; out.eye[2]=k.eye[2];\n out.center[0]=k.center[0]; out.center[1]=k.center[1]; out.center[2]=k.center[2];\n out.up[0]=k.up[0]; out.up[1]=k.up[1]; out.up[2]=k.up[2];\n return out;\n }\n const nSeg = n - 1;\n seg = seg \| 0;\n if (seg >= nSeg) { seg = nSeg - 1; t = 1; }\n else if (seg < 0) { seg = 0; t = 0; }\n t = _clamp01(t);\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n _samplePathCore(out.eye, this.keyframes, this.eyeInterp, 'eye', 'eyeTanIn', 'eyeTanOut', seg, t);\n _samplePathCore(out.center, this.keyframes, this.centerInterp, 'center', 'centerTanIn', 'centerTanOut', seg, t);\n\n lerpVec3(out.up, k0.up, k1.up, t);\n const ul = Math.sqrt(out.up[0]out.up[0]+out.up[1]out.up[1]+out.up[2]out.up[2]) \|\| 1;\n out.up[0]/=ul; out.up[1]/=ul; out.up[2]/=ul;\n return out;\n }\n\n /*\n Evaluate interpolated camera pose at current cursor.\n \n `fov` / `halfHeight` are lerped only when both adjacent keyframes carry\n * a non-null value; mixed entries pass `null` through so the bridge can\n * leave the projection unchanged.\n \n `near` / `far` are always real numbers and are linearly interpolated\n * unconditionally.\n \n @param {{ eye:number[], center:number[], up:number[],\n * fov:number\|null, halfHeight:number\|null,\n * near:number, far:number }} [out]\n * @returns {{ eye:number[], center:number[], up:number[],\n * fov:number\|null, halfHeight:number\|null,\n * near:number, far:number }} out\n /\n eval(out) {\n out = out \|\| { eye:[0,0,0], center:[0,0,0], up:[0,1,0],\n fov:null, halfHeight:null,\n near:_DEFAULT_NEAR, far:_DEFAULT_FAR };\n const n = this.keyframes.length;\n if (n === 0) return out;\n if (n === 1) {\n const k = this.keyframes[0];\n this._sampleEyePose(out, 0, 0);\n out.fov = k.fov; out.halfHeight = k.halfHeight;\n out.near = k.near; out.far = k.far;\n return out;\n }\n const [seg, t] = this._cursorSegT();\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n this._sampleEyePose(out, seg, t);\n\n out.fov = (k0.fov != null && k1.fov != null)\n ? k0.fov + t (k1.fov - k0.fov) : (k0.fov ?? k1.fov ?? null);\n out.halfHeight = (k0.halfHeight != null && k1.halfHeight != null)\n ? k0.halfHeight + t * (k1.halfHeight - k0.halfHeight)\n : (k0.halfHeight ?? k1.halfHeight ?? null);\n\n // near / far carry real defaults on every keyframe — always lerp.\n out.near = k0.near + t * (k1.near - k0.near);\n out.far = k0.far + t * (k1.far - k0.far);\n\n return out;\n }\n}\n","/*\n @file Constraint solver, canonical handle state, and ray-primitive\n * intersections for interactive manipulators.\n * @module tree/handle\n * @license AGPL-3.0-only\n \n The numeric brain of the manipulator handle. Renderer- and frame-agnostic:\n * inputs are plain numbers in ONE working space chosen by the caller (the\n * bridge), and the solver never learns world vs eye — it solves in whatever\n * space the ray and geometry are expressed in. The bridge converts the pointer\n * ray into the working frame before calling solve(), and converts the value\n * back out via mapLocation / mapDirection.\n \n Zero dependencies on p5, DOM, WebGL, or WebGPU. Out-first throughout; no\n * allocation in solve() / value(). Vectors are passed as flat scalars (matching\n * form.js), state is held as plain number[] (matching track.js keyframes).\n \n ── Storage convention ─────────────────────────────────────────────────────\n * The core distinguishes two value shapes deliberately:\n * mat4 — 16-element ArrayLike, typically Float32Array, because matrices\n * cross the GL boundary (contiguous f32 is what the renderer wants).\n * vec3 / quat — plain number[] (f64), because they are authoring/state values\n * and because the frozen basis-vector constants (i, j, k, ORIGIN)\n * cannot be expressed as frozen typed arrays. Handle state follows\n * the vec3 rule.\n \n ── Constraint kinds ───────────────────────────────────────────────────────\n * SPHERE 2-DOF heading on a sphere of radius r about an anchor.\n * Canonical state is a UNIT DIRECTION (renormalised every solve) —\n * no stored Euler angles, so no gimbal degeneracy at the poles.\n * az/el are derived on request via azEl().\n * PLANE 2-DOF point on a fixed plane (anchor + unit normal).\n * AXIS 1-DOF point on a line (anchor + unit dir), scalar t clamped to extent.\n * DIAL 1-DOF angle on a circle of radius r in the plane (anchor, axis).\n * Canonical state is an ACCUMULATED angle θ (multi-turn winding is\n * preserved: each solve applies the smaller signed arc, so θ counts\n * full turns — essential for bind targets like \"rotate this 720°\").\n * θ=0 sits at the reference direction `zero` (derived from the axis\n * when not supplied); θ grows right-handed about the axis. Near\n * edge-on view (the ray almost parallel to the dial plane, where a\n * plane hit races to infinity — the classic rotate-gizmo failure)\n * the solve falls back to the TANGENT LINE of the circle at the\n * current angle, converting linear drag to dθ: bounded, monotone,\n * and still pure ray geometry.\n \n VIEW (the camera-facing free-translate constraint) is NOT a core kind: the\n * bridge implements it with PLANE, feeding a fresh camera-derived normal and\n * anchor each frame. The core stays oblivious to the camera.\n \n ── Report modes ───────────────────────────────────────────────────────────\n * DIRECTION value() writes the unit direction: SPHERE → the heading;\n * DIAL → the radial unit at θ.\n * POINT value() writes a position: SPHERE → anchor + dir·radius;\n * DIAL → the point on the circle; PLANE / AXIS → the constrained\n * point.\n \n ── State ownership & portability ──────────────────────────────────────────\n * Each Constraint owns its own state; there is no module-level scratch. solve()\n * writes into instance fields, never shared globals. This keeps the type a\n * plain-data state machine: it ports 1:1 to a Rust enum + impl that is\n * `Send + Sync` for free, with `&mut self` on solve() making concurrent\n * mutation a compile error. The binding closure deliberately lives in the\n * bridge, not here — a stored callback would forfeit that guarantee.\n \n ── Extension contract ─────────────────────────────────────────────────────\n * A constraint is any object exposing: `kind` (integer discriminant),\n * `solve(ox,oy,oz, dx,dy,dz)`, `value(out, report)`, `seed(x,y,z)`, and\n * optionally `scalar()` / `azEl(out2)` / `aim(ax,ay,az[, zx,zy,zz])` — the\n * basis re-aim seam the bridge's deferred `from` frame drives (§4.13).\n * The p5.tree handle controller drives\n * any conforming constraint (lifecycle, frame conversion, bind, hooks, pick);\n * a new kind — 6-DOF, or app-specific — implements this contract here\n * (portable, draw-free) plus a bridge-side locus/pick draw (`drawLocus` /\n * `pickProxy` on createHandle), rather than forking the controller. The\n * classes below are the reference implementation. See handle-design.md §9.\n \n ── Conventions ────────────────────────────────────────────────────────────\n * Ray direction `d` is assumed unit (the bridge normalises). Plane / axis\n * normals and directions are normalised at construction. The angular utilities\n * use a right-handed convention: az about +Y, el measured from the XZ plane.\n * solve() does NOT depend on this convention — it stores the hit direction\n * directly; az/el are a readout/authoring convenience only. DIAL's θ is\n * right-handed about its own axis, measured from `zero`.\n /\n\n'use strict';\n\nimport { SPHERE, PLANE, AXIS, DIAL, POINT, DIRECTION } from './constants.js';\n\nconst EPS = 1e-6;\nconst TWO_PI = Math.PI 2;\n\n// Edge-on threshold for DIAL: below this \|d·n\| the plane hit is ill-conditioned\n// (dθ per pixel diverges) and the solve switches to the tangent-line fallback.\n// ≈ 4.6° of incidence. Tune empirically (handle-experiments/e2).\nconst DIAL_EDGE = 0.08;\n\n// =========================================================================\n// H1 Small private helpers\n// =========================================================================\n\nconst _isNum = (x) => typeof x === 'number' && Number.isFinite(x);\nconst _clamp = (x, lo, hi) => x < lo ? lo : (x > hi ? hi : x);\nconst _num = (x, d) => _isNum(x) ? x : d;\n\n/** Wrap an angle to (−π, π]. /\nconst _wrapPi = (a) => a - TWO_PI Math.round(a / TWO_PI);\n\n/** Parse a vec3 from array / typed array / {x,y,z}. Returns a fresh [x,y,z] or null. /\nfunction _vec3(v) {\n if (!v) return null;\n if (ArrayBuffer.isView(v) && v.length >= 3) return [v[0], v[1], v[2]];\n if (Array.isArray(v) && v.length >= 3) return [v[0], v[1], v[2]];\n if (typeof v === 'object' && 'x' in v) return [v.x \|\| 0, v.y \|\| 0, v.z \|\| 0];\n return null;\n}\n\n/* Normalise a vec3 in place; zero-length falls back to the given default axis. /\nfunction _unit(v, dx, dy, dz) {\n const l = Math.sqrt(v[0]v[0] + v[1]v[1] + v[2]v[2]);\n if (l < EPS) { v[0]=dx; v[1]=dy; v[2]=dz; return v; }\n v[0]/=l; v[1]/=l; v[2]/=l;\n return v;\n}\n\n/*\n Orthonormal in-plane basis for a unit normal n, written into ub, vb. Seeds\n * from the world axis least aligned with n so the first cross can't degenerate.\n * (Same derivation the p5 bridge uses for its plane quad — duplicated here\n * because the core cannot depend on the bridge.)\n /\nfunction _basis(n, ub, vb) {\n const ax = Math.abs(n[0]), ay = Math.abs(n[1]), az = Math.abs(n[2]);\n let rx = 0, ry = 0, rz = 0;\n if (ax <= ay && ax <= az) rx = 1; else if (ay <= az) ry = 1; else rz = 1;\n ub[0] = ryn[2] - rzn[1]; ub[1] = rzn[0] - rxn[2]; ub[2] = rxn[1] - ryn[0];\n _unit(ub, 1, 0, 0);\n vb[0] = n[1]ub[2] - n[2]ub[1]; vb[1] = n[2]ub[0] - n[0]ub[2]; vb[2] = n[0]ub[1] - n[1]ub[0];\n}\n\n// =========================================================================\n// H2 Ray-primitive intersections (pure, out-first, scalar params)\n// =========================================================================\n\n/\n Nearest ray–sphere intersection. The ray direction is assumed unit, so the\n * quadratic's leading coefficient is 1. On a miss, writes the closest-approach\n * point projected onto the sphere (so the handle tracks the limb gracefully\n * rather than snapping away).\n \n @param {number[]} out 3-element destination (hit point).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} cx,cy,cz Sphere centre.\n * @param {number} r Sphere radius.\n * @returns {number} Ray parameter t at the written hit.\n /\nexport function raySphere(out, ox,oy,oz, dx,dy,dz, cx,cy,cz, r) {\n const lx=ox-cx, ly=oy-cy, lz=oz-cz;\n const b = lxdx + lydy + lzdz;\n const cc = lxlx + lyly + lzlz - rr;\n const disc = bb - cc;\n let t;\n if (disc >= 0) {\n const s = Math.sqrt(disc);\n t = -b - s;\n if (t < 0) t = -b + s; // origin inside the sphere: take far root\n out[0]=ox+tdx; out[1]=oy+tdy; out[2]=oz+tdz;\n } else {\n t = -b; // closest approach along the ray\n let hx=ox+tdx-cx, hy=oy+tdy-cy, hz=oz+tdz-cz;\n const hl = Math.sqrt(hxhx + hyhy + hzhz) \|\| 1;\n const k = r/hl;\n out[0]=cx+hxk; out[1]=cy+hyk; out[2]=cz+hzk;\n }\n return t;\n}\n\n/\n Ray–plane intersection. A near-parallel ray (\|d·n\| < EPS) returns Infinity\n * and leaves `out` untouched — the caller keeps the previous value.\n \n @param {number[]} out 3-element destination (hit point).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} px,py,pz A point on the plane.\n * @param {number} nx,ny,nz Plane normal (unit).\n * @returns {number} Ray parameter t, or Infinity if parallel.\n /\nexport function rayPlane(out, ox,oy,oz, dx,dy,dz, px,py,pz, nx,ny,nz) {\n const den = dxnx + dyny + dznz;\n if (den < EPS && den > -EPS) return Infinity;\n const t = ((px-ox)nx + (py-oy)ny + (pz-oz)nz) / den;\n out[0]=ox+tdx; out[1]=oy+tdy; out[2]=oz+tdz;\n return t;\n}\n\n/*\n Closest point on the infinite line (p, u) to the ray (o, d). Both `d` and\n * `u` are assumed unit. For a ray parallel to the line, projects the ray\n * origin onto the line.\n \n @param {number[]} out 3-element destination (closest point on the line).\n * @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @param {number} px,py,pz A point on the line.\n * @param {number} ux,uy,uz Line direction (unit).\n * @returns {number} Signed parameter s along u at the written point (unclamped).\n /\nexport function rayClosestPointOnAxis(out, ox,oy,oz, dx,dy,dz, px,py,pz, ux,uy,uz) {\n const wx=ox-px, wy=oy-py, wz=oz-pz;\n const b = dxux + dyuy + dzuz; // d·u\n const dd = dxwx + dywy + dzwz; // d·w\n const e = uxwx + uywy + uzwz; // u·w\n const den = 1 - bb; // (d·d)(u·u) − (d·u)² with d,u unit\n const s = (den > EPS) ? (e - bdd) / den : e;\n out[0]=px+sux; out[1]=py+suy; out[2]=pz+suz;\n return s;\n}\n\n// =========================================================================\n// H3 Angular utilities (readout / authoring convenience)\n// =========================================================================\n\n/\n Unit direction from azimuth/elevation (right-handed: az about +Y, el from XZ).\n * @param {number[]} out 3-element destination.\n * @param {number} az Azimuth (radians).\n * @param {number} el Elevation (radians).\n * @returns {number[]} out\n /\nexport function dirFromAzEl(out, az, el) {\n const ce = Math.cos(el);\n out[0]=ceMath.cos(az); out[1]=Math.sin(el); out[2]=ceMath.sin(az);\n return out;\n}\n\n/\n Azimuth/elevation from a unit direction. Inverse of dirFromAzEl.\n * @param {number[]} out2 2-element destination [az, el] (radians).\n * @param {number} dx,dy,dz Unit direction.\n * @returns {number[]} out2\n /\nexport function azElFromDir(out2, dx, dy, dz) {\n out2[0] = Math.atan2(dz, dx); // az\n out2[1] = Math.asin(_clamp(dy, -1, 1)); // el\n return out2;\n}\n\n// =========================================================================\n// H4 Constraint — tagged state machine (one class, kind discriminant)\n// =========================================================================\n\n/\n A draggable constraint: maps a ray to a constrained value and holds the\n * canonical state between drags. One class with a `kind` discriminant (never\n * per-constraint subclasses) so it maps cleanly to a Rust enum.\n \n Construction options (all optional unless noted):\n * SPHERE — { radius = 1, report = DIRECTION, anchor = [0,0,0] }\n * PLANE — { anchor = [0,0,0], normal = [0,1,0] }\n * AXIS — { anchor = [0,0,0], axis = [1,0,0], extent = [-1, 1] }\n * DIAL — { anchor = [0,0,0], axis = [0,1,0], radius = 1, zero?,\n * extent = [-∞, ∞] }\n * `axis` is the dial-plane normal (θ is right-handed about it);\n * `zero` is the in-plane reference direction for θ=0 (projected\n * onto the plane and normalised; derived from the axis when\n * absent); `extent` clamps θ in radians — unbounded by default,\n * so the dial winds multiple turns.\n \n @param {number} kind SPHERE \| PLANE \| AXIS \| DIAL.\n * @param {Object} [opts]\n /\nexport class Constraint {\n constructor(kind, opts = {}) {\n /* Constraint kind discriminant. @type {number} /\n this.kind = kind;\n\n /* Constraint origin (sphere centre / plane point / axis anchor / dial centre). @type {number[]} /\n this.anchor = _vec3(opts.anchor) \|\| [0, 0, 0];\n /* Canonical unit direction — SPHERE. @type {number[]} /\n this.dir = [0, 0, 1];\n /* Constrained point — PLANE / AXIS / DIAL (and SPHERE scratch). @type {number[]} /\n this.pt = [this.anchor[0], this.anchor[1], this.anchor[2]];\n /* Plane normal (unit) — PLANE. @type {number[]} /\n this.n = _unit(_vec3(opts.normal) \|\| [0, 1, 0], 0, 1, 0);\n /* Axis / dial-plane normal (unit) — AXIS / DIAL. @type {number[]} /\n this.u = kind === DIAL\n ? _unit(_vec3(opts.axis) \|\| [0, 1, 0], 0, 1, 0)\n : _unit(_vec3(opts.axis) \|\| [1, 0, 0], 1, 0, 0);\n /* Current scalar parameter — AXIS: t along the line; DIAL: accumulated θ. @type {number} /\n this.s = 0;\n\n // DIAL in-plane basis: r0 (the θ=0 reference) and r1 = u × r0, so the\n // point at θ is anchor + radius·(cosθ·r0 + sinθ·r1) — right-handed about u.\n /* θ=0 reference direction (unit, in-plane) — DIAL. @type {number[]} /\n this.r0 = [1, 0, 0];\n /* In-plane binormal u × r0 (unit) — DIAL. @type {number[]} /\n this.r1 = [0, 0, 1];\n if (kind === DIAL) {\n const z = _vec3(opts.zero);\n this._dialBasis(z ? z[0] : NaN, z ? z[1] : NaN, z ? z[2] : NaN);\n }\n\n // Extent: AXIS clamps t (default [-1, 1]); DIAL clamps θ in radians\n // (default unbounded, so the dial winds freely).\n const ext = Array.isArray(opts.extent) ? opts.extent : null;\n const dial = kind === DIAL;\n /* Minimum scalar parameter. @type {number} /\n this.min = ext && _isNum(ext[0]) ? ext[0] : (dial ? -Infinity : -1);\n /* Maximum scalar parameter. @type {number} /\n this.max = ext && _isNum(ext[1]) ? ext[1] : (dial ? Infinity : 1);\n\n // Sphere / dial radius (private backing — see radius getter/setter).\n this._radius = _num(opts.radius, 1);\n\n /\n Default report mode. SPHERE defaults to DIRECTION; PLANE / AXIS / DIAL\n * report a POINT.\n * @type {number}\n /\n this.report = (opts.report === POINT \|\| opts.report === DIRECTION)\n ? opts.report\n : (kind === SPHERE ? DIRECTION : POINT);\n\n if (kind === DIAL) this._dialPoint();\n }\n\n /* Sphere / dial radius. @type {number} /\n get radius() { return this._radius; }\n set radius(r) { this._radius = _isNum(r) ? r : this._radius; if (this.kind === DIAL) this._dialPoint(); }\n\n // Recompute the DIAL point from θ (anchor + ρ(cosθ·r0 + sinθ·r1)).\n _dialPoint() {\n const c = Math.cos(this.s) this._radius, sn = Math.sin(this.s) * this._radius;\n this.pt[0] = this.anchor[0] + cthis.r0[0] + snthis.r1[0];\n this.pt[1] = this.anchor[1] + cthis.r0[1] + snthis.r1[1];\n this.pt[2] = this.anchor[2] + cthis.r0[2] + snthis.r1[2];\n }\n\n // Build the DIAL in-plane basis (r0, r1) from the current axis u and an\n // optional θ=0 reference (zx,zy,zz): the reference is projected onto the\n // dial plane and normalised; absent (NaN) or degenerate, r0 derives from u\n // via the least-aligned-axis seed. r1 = u × r0, right-handed about u.\n _dialBasis(zx, zy, zz) {\n if (_isNum(zx) && _isNum(zy) && _isNum(zz)) {\n const d = zxthis.u[0] + zythis.u[1] + zzthis.u[2];\n this.r0[0] = zx - dthis.u[0];\n this.r0[1] = zy - dthis.u[1];\n this.r0[2] = zz - dthis.u[2];\n const l = Math.sqrt(this.r0[0]2 + this.r0[1]2 + this.r0[2]*2);\n if (l < EPS) _basis(this.u, this.r0, this.r1);\n else { this.r0[0]/=l; this.r0[1]/=l; this.r0[2]/=l; }\n } else {\n _basis(this.u, this.r0, this.r1);\n }\n // r1 = u × r0 (recomputed even when _basis ran — same result, one rule).\n this.r1[0] = this.u[1]this.r0[2] - this.u[2]this.r0[1];\n this.r1[1] = this.u[2]this.r0[0] - this.u[0]this.r0[2];\n this.r1[2] = this.u[0]this.r0[1] - this.u[1]this.r0[0];\n }\n\n /\n Update the canonical state from a ray in the working space. The ray\n * direction is assumed unit. Chainable.\n \n @param {number} ox,oy,oz Ray origin.\n * @param {number} dx,dy,dz Ray direction (unit).\n * @returns {Constraint} this\n /\n solve(ox, oy, oz, dx, dy, dz) {\n if (this.kind === SPHERE) {\n // Hit the sphere into pt, then derive the unit heading from the anchor.\n raySphere(this.pt, ox,oy,oz, dx,dy,dz,\n this.anchor[0], this.anchor[1], this.anchor[2], this._radius);\n this.dir[0] = this.pt[0] - this.anchor[0];\n this.dir[1] = this.pt[1] - this.anchor[1];\n this.dir[2] = this.pt[2] - this.anchor[2];\n _unit(this.dir, this.dir[0], this.dir[1], this.dir[2]);\n } else if (this.kind === PLANE) {\n // Parallel ray returns Infinity and leaves pt unchanged (keep last).\n rayPlane(this.pt, ox,oy,oz, dx,dy,dz,\n this.anchor[0], this.anchor[1], this.anchor[2],\n this.n[0], this.n[1], this.n[2]);\n } else if (this.kind === AXIS) {\n let s = rayClosestPointOnAxis(this.pt, ox,oy,oz, dx,dy,dz,\n this.anchor[0], this.anchor[1], this.anchor[2],\n this.u[0], this.u[1], this.u[2]);\n s = _clamp(s, this.min, this.max);\n this.s = s;\n this.pt[0] = this.anchor[0] + sthis.u[0]; // clamped point\n this.pt[1] = this.anchor[1] + sthis.u[1];\n this.pt[2] = this.anchor[2] + sthis.u[2];\n } else if (this.kind === DIAL) {\n this._solveDial(ox, oy, oz, dx, dy, dz);\n }\n return this;\n }\n\n // DIAL solve. Face-on: hit the dial plane, derive the raw angle of the hit\n // about the anchor, and accumulate the smaller signed arc into θ (winding\n // preserved). Edge-on (\|d·u\| < DIAL_EDGE): the plane hit diverges, so solve\n // the ray against the TANGENT LINE of the circle at the current θ instead —\n // the signed tangent parameter over the radius is dθ, bounded and monotone.\n _solveDial(ox, oy, oz, dx, dy, dz) {\n const u = this.u, r0 = this.r0, r1 = this.r1, a = this.anchor;\n const den = dxu[0] + dyu[1] + dzu[2];\n let dth;\n if (den >= DIAL_EDGE \|\| den <= -DIAL_EDGE) {\n // Well-conditioned: plane hit → raw angle → smaller signed arc.\n const t = rayPlane(this.pt, ox,oy,oz, dx,dy,dz,\n a[0], a[1], a[2], u[0], u[1], u[2]);\n if (t === Infinity) return; // keep last (paranoia; den guards)\n const vx = this.pt[0]-a[0], vy = this.pt[1]-a[1], vz = this.pt[2]-a[2];\n const raw = Math.atan2(vxr1[0] + vyr1[1] + vzr1[2],\n vxr0[0] + vyr0[1] + vzr0[2]);\n dth = _wrapPi(raw - _wrapPi(this.s));\n } else {\n // Edge-on fallback: tangent at the current point, w = −sinθ·r0 + cosθ·r1.\n const cs = Math.cos(this.s), sn = Math.sin(this.s);\n const wx = -snr0[0] + csr1[0];\n const wy = -snr0[1] + csr1[1];\n const wz = -snr0[2] + csr1[2];\n this._dialPoint(); // tangent anchored at the current point\n const sl = rayClosestPointOnAxis(this.pt, ox,oy,oz, dx,dy,dz,\n this.pt[0], this.pt[1], this.pt[2],\n wx, wy, wz);\n dth = sl / (this._radius \|\| 1);\n }\n this.s = _clamp(this.s + dth, this.min, this.max);\n this._dialPoint();\n }\n\n /\n Write the current value into `out`. `report` overrides the default for\n * this call (e.g. read a SPHERE's point even when its default is DIRECTION).\n * SPHERE+POINT and DIAL+POINT are derived from the angle/heading and the\n * live radius, so they stay correct after a radius change without\n * re-solving. DIAL+DIRECTION writes the radial unit at θ.\n \n @param {number[]} out 3-element destination.\n * @param {number} [report] POINT \| DIRECTION override.\n * @returns {number[]} out\n /\n value(out, report) {\n const r = (report === POINT \|\| report === DIRECTION) ? report : this.report;\n if (this.kind === SPHERE) {\n if (r === DIRECTION) {\n out[0]=this.dir[0]; out[1]=this.dir[1]; out[2]=this.dir[2];\n } else {\n out[0]=this.anchor[0]+this.dir[0]this._radius;\n out[1]=this.anchor[1]+this.dir[1]this._radius;\n out[2]=this.anchor[2]+this.dir[2]this._radius;\n }\n } else if (this.kind === DIAL) {\n const cs = Math.cos(this.s), sn = Math.sin(this.s);\n if (r === DIRECTION) {\n out[0]=csthis.r0[0]+snthis.r1[0];\n out[1]=csthis.r0[1]+snthis.r1[1];\n out[2]=csthis.r0[2]+snthis.r1[2];\n } else {\n out[0]=this.anchor[0]+(csthis.r0[0]+snthis.r1[0])this._radius;\n out[1]=this.anchor[1]+(csthis.r0[1]+snthis.r1[1])this._radius;\n out[2]=this.anchor[2]+(csthis.r0[2]+snthis.r1[2])this._radius;\n }\n } else {\n out[0]=this.pt[0]; out[1]=this.pt[1]; out[2]=this.pt[2];\n }\n return out;\n }\n\n /\n Current scalar parameter: AXIS → signed t along the line; DIAL →\n * accumulated angle θ in radians (multi-turn).\n * @returns {number} The parameter, or NaN for non-scalar constraints.\n /\n scalar() {\n return (this.kind === AXIS \|\| this.kind === DIAL) ? this.s : NaN;\n }\n\n /\n Derive [az, el] from the current SPHERE direction (SPHERE only).\n * @param {number[]} out2 2-element destination [az, el].\n * @returns {number[]} out2\n /\n azEl(out2) {\n return azElFromDir(out2, this.dir[0], this.dir[1], this.dir[2]);\n }\n\n /\n Seed the canonical state from a value (used by the bridge on bind() so the\n * handle starts at the bound target's value). Chainable.\n * SPHERE — sets the unit direction (a point value recovers its heading).\n * PLANE — projects the value onto the plane.\n * AXIS — projects the value onto the line, clamped to extent.\n * DIAL — projects the value onto the dial plane, derives the wrapped\n * angle, and picks the WINDING NEAREST the current θ (so an\n * external sync doesn't unwind accumulated turns), clamped.\n \n @param {number} x,y,z Seed value.\n * @returns {Constraint} this\n /\n seed(x, y, z) {\n if (this.kind === SPHERE) {\n const vx=x-this.anchor[0], vy=y-this.anchor[1], vz=z-this.anchor[2];\n const l = Math.sqrt(vxvx + vyvy + vzvz);\n if (l >= EPS) { this.dir[0]=vx/l; this.dir[1]=vy/l; this.dir[2]=vz/l; }\n } else if (this.kind === PLANE) {\n const wx=x-this.anchor[0], wy=y-this.anchor[1], wz=z-this.anchor[2];\n const d = wxthis.n[0] + wythis.n[1] + wzthis.n[2];\n this.pt[0]=x-dthis.n[0]; this.pt[1]=y-dthis.n[1]; this.pt[2]=z-dthis.n[2];\n } else if (this.kind === AXIS) {\n const wx=x-this.anchor[0], wy=y-this.anchor[1], wz=z-this.anchor[2];\n const s = _clamp(wxthis.u[0] + wythis.u[1] + wzthis.u[2], this.min, this.max);\n this.s = s;\n this.pt[0]=this.anchor[0]+sthis.u[0];\n this.pt[1]=this.anchor[1]+sthis.u[1];\n this.pt[2]=this.anchor[2]+sthis.u[2];\n } else if (this.kind === DIAL) {\n const wx=x-this.anchor[0], wy=y-this.anchor[1], wz=z-this.anchor[2];\n const px = wxthis.r0[0] + wythis.r0[1] + wzthis.r0[2];\n const py = wxthis.r1[0] + wythis.r1[1] + wzthis.r1[2];\n if (pxpx + pypy >= EPSEPS) {\n const a = Math.atan2(py, px);\n // Nearest winding to the current θ preserves accumulated turns.\n this.s = _clamp(a + TWO_PI Math.round((this.s - a) / TWO_PI),\n this.min, this.max);\n }\n this._dialPoint();\n }\n return this;\n }\n\n /*\n Re-aim the constraint basis in the working space — the deferred-frame\n * seam (the p5.tree bridge's `from` opt resolves its symbolic basis through\n * mapDirection and calls this). Per kind:\n * PLANE — new normal; the point is re-projected onto the new plane.\n * AXIS — new direction; the scalar t is preserved, the point recomputed.\n * DIAL — new plane normal + optional θ=0 reference; θ is preserved, the\n * in-plane basis rebuilt (reference re-derived when omitted),\n * the point recomputed.\n * SPHERE — no basis; no-op.\n * Inputs are normalised; a zero-length axis keeps the previous one.\n * Chainable.\n \n @param {number} ax,ay,az New normal (PLANE) / direction (AXIS) / dial-plane normal (DIAL).\n * @param {number} [zx,zy,zz] DIAL only — θ=0 reference (re-derived when omitted).\n * @returns {Constraint} this\n /\n aim(ax, ay, az, zx, zy, zz) {\n if (this.kind === PLANE) {\n const px = this.n[0], py = this.n[1], pz = this.n[2];\n this.n[0] = ax; this.n[1] = ay; this.n[2] = az;\n _unit(this.n, px, py, pz);\n this.seed(this.pt[0], this.pt[1], this.pt[2]);\n } else if (this.kind === AXIS) {\n const px = this.u[0], py = this.u[1], pz = this.u[2];\n this.u[0] = ax; this.u[1] = ay; this.u[2] = az;\n _unit(this.u, px, py, pz);\n this.pt[0] = this.anchor[0] + this.sthis.u[0];\n this.pt[1] = this.anchor[1] + this.sthis.u[1];\n this.pt[2] = this.anchor[2] + this.sthis.u[2];\n } else if (this.kind === DIAL) {\n const px = this.u[0], py = this.u[1], pz = this.u[2];\n this.u[0] = ax; this.u[1] = ay; this.u[2] = az;\n _unit(this.u, px, py, pz);\n this._dialBasis(zx, zy, zz);\n this._dialPoint();\n }\n return this;\n }\n}\n\n/*\n Convenience factory mirroring the constructor. Handy for headless tests and\n * for the bridge, which otherwise calls `new Constraint(...)` directly.\n * @param {number} kind SPHERE \| PLANE \| AXIS \| DIAL.\n * @param {Object} [opts]\n * @returns {Constraint}\n /\nexport function createConstraint(kind, opts) {\n return new Constraint(kind, opts);\n}\n","/\n @file Source-agnostic 6-DOF pose helm — integrates a live rate stream into a\n * { pos, rot } pose. Renderer- and transport-agnostic. Zero dependencies.\n * @module tree/helm\n * @license AGPL-3.0-only\n \n A helm is the rate-stream sibling of the Track family: where a Track produces\n * a pose from keyframes over time, a helm produces a pose from a live 6-DOF\n * delta stream (a SpaceNavigator, a tracked hand, an agent policy). It is NOT a\n * handle — a handle reports a `vec3` solved from a pointer ray; a helm reports a\n * pose (position + orientation).\n \n Family placement (peer of PoseTrack, NOT a Track subclass — no timeline):\n * feed(translation, rotation) push the latest raw device rate (input, as Track.add)\n * step(out, dt, basis) integrate the rate by dt into the pose (BRIDGE-DRIVEN,\n * as Track.tick) — writes the new pose into out\n * eval(out) read the current { pos, rot } (zero-alloc, as Track.eval)\n * home(pose?) re-home the integrated pose (NOT reset — no keyframes to clear)\n \n Quaternion algebra is provided by quat.js. Out-first throughout; no allocation\n * in feed/step/eval. Storage convention (matches the rest of the core): vec3 and\n * quat state are plain number[] (f64) — the same shape as track.js keyframes and\n * the frozen basis-vector constants.\n \n ── Frame discipline (`from` / `basis`) ──────────────────────────────────────\n * The space the rates are interpreted in is named by `from` (WORLD \| EYE \| mat4),\n * a declaration the BRIDGE reads — the core never learns about a camera. The\n * resolved orientation arrives per-step as `basis`: an eye→world mat4 (or null\n * for WORLD ≡ the identity basis). Both the linear and angular rates are rotated\n * through that basis, then the quaternion is composed world-frame. This is the\n * single code path that covers both manipulation conventions:\n \n - camera body-fly — basis is the driven camera's own eye matrix (which this\n * helm produced last frame ⇒ equals the integrated `q`,\n * zero staleness); rotating a body delta through `q` then\n * world-composing is algebraically a body-frame compose.\n * - screen-relative — basis is the viewing camera's eye matrix (an external\n * frame); a push moves the target relative to the screen.\n \n Per-channel `from` ({ translation, rotation }) is a deferred, non-breaking\n * extension (one basis suffices today — pose-helm-design.md §8.3).\n /\n\n'use strict';\n\nimport { qFromAxisAngle, qMul, qNormalize } from './quat.js';\n\n// =========================================================================\n// Module-level scratch — shared across helm instances (non-reentrant; step\n// is synchronous and called at most once per helm per frame).\n// =========================================================================\n\nconst _dq = [0, 0, 0, 1];\n\n// Deadzone gate — \|v\| > dz keeps v, else 0. Module-level so step allocates no\n// closure. Strictly-greater matches the e7 reference (rest reads exact 0).\nconst _dz = (v, dz) => (v > dz \|\| v < -dz) ? v : 0;\n\n/\n Build the canonical default profile. SpaceNavigator-tuned lane permutation\n * and the eye-frame manipulation feel found in the e7 experiments; it is the\n * per-app / per-device mapping layer and is meant to be overwritten wholesale\n * (`helm.profile = { … }`) for a different transport.\n \n sign — per-app direction (camera-fly vs object-grab invert; flip live).\n * sens — per-axis sensitivity (tame roll without touching the rest).\n * lane — input-channel permutation: which fed channel drives this DOF.\n * T* lanes index the translation triple; R* lanes the rotation triple.\n /\nfunction _defaultProfile() {\n return {\n Tx: { sign: 1, sens: 0.30, lane: 0 },\n Ty: { sign: 1, sens: 0.30, lane: 2 },\n Tz: { sign: -1, sens: 0.30, lane: 1 },\n Rp: { sign: -1, sens: 0.0025, lane: 0 },\n Ry: { sign: -1, sens: 0.0025, lane: 2 },\n Rr: { sign: 1, sens: 0.0018, lane: 1 },\n };\n}\n\n/* Channel order — readout / iteration convenience (Tx Ty Tz Rp Ry Rr). /\nexport const HELM_CHANNELS = Object.freeze(['Tx', 'Ty', 'Tz', 'Rp', 'Ry', 'Rr']);\n\n// =========================================================================\n// PoseHelm\n// =========================================================================\n\n/\n Source-agnostic 6-DOF pose producer. Holds a profile + the integrated pose;\n * no timeline (no keyframes, no play/seek/loop).\n /\nexport class PoseHelm {\n constructor() {\n /\n DOF mapping table. Six channels, each `{ sign, sens, lane }`.\n * Public and mutable — set wholesale to re-map a device or app.\n * @type {{ Tx:Object, Ty:Object, Tz:Object, Rp:Object, Ry:Object, Rr:Object }}\n /\n this.profile = _defaultProfile();\n\n /\n Rest-drift floor. A fed rate with \|value\| ≤ deadzone reads as 0. Devices\n * that rest at exact 0 need only a small floor. @type {number}\n /\n this.deadzone = 8;\n\n /\n The space fed rates are interpreted in: a space constant (WORLD \| EYE) or\n * a mat4 frame. Declarative only — the bridge reads this to resolve the\n * per-step `basis`; the core stays camera-agnostic. @type {string\|ArrayLike<number>}\n /\n this.from = 'EYE';\n\n // Latest fed raw rates (refreshed by feed; persist until the next feed —\n // the transport is responsible for feeding 0 when motion should stop).\n this._lin = [0, 0, 0];\n this._ang = [0, 0, 0];\n\n // Integrated pose — the source of truth.\n this._pos = [0, 0, 0];\n this._q = [0, 0, 0, 1];\n }\n\n /\n Push the latest raw 6-DOF device rate. Either argument may be omitted to\n * leave that half unchanged (devices report the two halves on separate\n * frames). The value persists until the next feed. Raw device units — the\n * profile's `sens` does the scaling, so the same feed() suits any transport.\n \n @param {ArrayLike<number>} [translation] [tx, ty, tz] raw lane rates.\n * @param {ArrayLike<number>} [rotation] [rx, ry, rz] raw lane rates.\n * @returns {PoseHelm} this\n /\n feed(translation, rotation) {\n if (translation) {\n this._lin[0] = translation[0] \|\| 0;\n this._lin[1] = translation[1] \|\| 0;\n this._lin[2] = translation[2] \|\| 0;\n }\n if (rotation) {\n this._ang[0] = rotation[0] \|\| 0;\n this._ang[1] = rotation[1] \|\| 0;\n this._ang[2] = rotation[2] \|\| 0;\n }\n return this;\n }\n\n /\n Integrate the latest fed rate by `dt` seconds into the pose, then write the\n * pose into `out`. Bridge-driven (the player calls it each frame; a sketch\n * never does, as it never calls track.tick()).\n \n `basis` is the resolved `from` frame: an eye→world column-major mat4\n * (16-element ArrayLike), or null/omitted for WORLD (the identity basis). Its\n * columns supply the right/up/back axes; forward is −col2. Both the linear and\n * angular rates are rotated through it, then `q` is composed world-frame.\n \n Zero-allocation. `out` is `{ pos:number[3], rot:number[4] }`; omit it for a\n * fresh object.\n \n @param {{ pos:number[], rot:number[] }} [out]\n * @param {number} dt Elapsed time in seconds.\n * @param {ArrayLike<number>} [basis] Eye→world mat4, or null for WORLD.\n * @returns {{ pos:number[], rot:number[] }} out\n /\n step(out, dt, basis) {\n const p = this.profile, dz = this.deadzone;\n const lin = this._lin, ang = this._ang;\n\n // Basis axes (right / up / forward). No basis ⇒ the identity eye matrix:\n // right +X, up +Y, forward −Z. Forward is −col2 (an eye→world matrix stores\n // the camera's BACK in col2), and the identity's col2 is +Z, so forward is\n // −Z — making step(out, dt, null) identical to step(out, dt, IDENTITY_MAT4),\n // as the `from` contract (\"null ≡ the identity basis\") promises.\n let rX = 1, rY = 0, rZ = 0;\n let uX = 0, uY = 1, uZ = 0;\n let fX = 0, fY = 0, fZ = -1;\n if (basis) {\n rX = basis[0]; rY = basis[1]; rZ = basis[2];\n uX = basis[4]; uY = basis[5]; uZ = basis[6];\n fX = -basis[8]; fY = -basis[9]; fZ = -basis[10];\n }\n\n // Angular: three rates → one delta quat, rotated into world, world-composed.\n const wx = _dz(ang[p.Rp.lane], dz) p.Rp.sign * p.Rp.sens;\n const wy = _dz(ang[p.Ry.lane], dz) * p.Ry.sign * p.Ry.sens;\n const wz = _dz(ang[p.Rr.lane], dz) * p.Rr.sign * p.Rr.sens;\n const w = Math.sqrt(wx * wx + wy * wy + wz * wz);\n if (w > 0) {\n // Axis in world = basis · (wx,wy,wz); its length is w (basis orthonormal),\n // so the rotation angle is w·dt. qFromAxisAngle renormalizes the axis.\n const ax = wx * rX + wy * uX + wz * fX;\n const ay = wx * rY + wy * uY + wz * fY;\n const az = wx * rZ + wy * uZ + wz * fZ;\n qFromAxisAngle(_dq, ax, ay, az, w * dt);\n qMul(this._q, _dq, this._q); // delta already in world → world-frame compose\n qNormalize(this._q);\n }\n\n // Linear: three rates rotated into world, integrated by dt.\n const tx = _dz(lin[p.Tx.lane], dz) * p.Tx.sign * p.Tx.sens;\n const ty = _dz(lin[p.Ty.lane], dz) * p.Ty.sign * p.Ty.sens;\n const tz = _dz(lin[p.Tz.lane], dz) * p.Tz.sign * p.Tz.sens;\n this._pos[0] += (tx * rX + ty * uX + tz * fX) * dt;\n this._pos[1] += (tx * rY + ty * uY + tz * fY) * dt;\n this._pos[2] += (tx * rZ + ty * uZ + tz * fZ) * dt;\n\n return this.eval(out);\n }\n\n /*\n Read the current pose into `out` (zero-alloc). The shared output contract\n * that feeds applyPose — mirrors Track.eval.\n \n @param {{ pos:number[], rot:number[] }} [out]\n * @returns {{ pos:number[], rot:number[] }} out\n /\n eval(out) {\n out = out \|\| { pos: [0, 0, 0], rot: [0, 0, 0, 1] };\n out.pos[0] = this._pos[0]; out.pos[1] = this._pos[1]; out.pos[2] = this._pos[2];\n out.rot[0] = this._q[0]; out.rot[1] = this._q[1];\n out.rot[2] = this._q[2]; out.rot[3] = this._q[3];\n return out;\n }\n\n /\n Write the six effective channel rates (post deadzone·sign·sens) into `out6`,\n * in channel order [Tx, Ty, Tz, Rp, Ry, Rr]. The gizmo reads this to light the\n * DOFs being driven; readouts can show signed magnitudes. Zero-alloc.\n \n @param {number[]} out6 6-element destination.\n * @returns {number[]} out6\n /\n activity(out6) {\n const p = this.profile, dz = this.deadzone, lin = this._lin, ang = this._ang;\n out6[0] = _dz(lin[p.Tx.lane], dz) p.Tx.sign * p.Tx.sens;\n out6[1] = _dz(lin[p.Ty.lane], dz) * p.Ty.sign * p.Ty.sens;\n out6[2] = _dz(lin[p.Tz.lane], dz) * p.Tz.sign * p.Tz.sens;\n out6[3] = _dz(ang[p.Rp.lane], dz) * p.Rp.sign * p.Rp.sens;\n out6[4] = _dz(ang[p.Ry.lane], dz) * p.Ry.sign * p.Ry.sens;\n out6[5] = _dz(ang[p.Rr.lane], dz) * p.Rr.sign * p.Rr.sens;\n return out6;\n }\n\n /*\n Re-home the integrated pose. Sets position + orientation to `pose` (or the\n * identity pose when omitted) and clears any pending rate so the helm rests at\n * a clean, known state. NOT a reset — there are no keyframes to clear.\n \n @param {{ pos?:ArrayLike<number>, rot?:ArrayLike<number> }} [pose]\n * @returns {PoseHelm} this\n /\n home(pose) {\n if (pose && pose.pos) {\n this._pos[0] = pose.pos[0]; this._pos[1] = pose.pos[1]; this._pos[2] = pose.pos[2];\n } else {\n this._pos[0] = 0; this._pos[1] = 0; this._pos[2] = 0;\n }\n if (pose && pose.rot) {\n this._q[0] = pose.rot[0]; this._q[1] = pose.rot[1];\n this._q[2] = pose.rot[2]; this._q[3] = pose.rot[3];\n } else {\n this._q[0] = 0; this._q[1] = 0; this._q[2] = 0; this._q[3] = 1;\n }\n this._lin[0] = this._lin[1] = this._lin[2] = 0;\n this._ang[0] = this._ang[1] = this._ang[2] = 0;\n return this;\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\n * Projection extents in camera space.\n * Sign contract: top > 0, bottom < 0, right > 0, left < 0 for standard y-up camera.\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 = posXvdX + posYvdY + posZvdZ;\n const posRight = posXrtX + posYrtY + posZrtZ;\n const posUp = posXupX + posYupY + posZupZ;\n\n if (ortho) {\n // Left: normal = −right\n out[0] = -rtX; out[1] = -rtY; out[2] = -rtZ;\n out[3] = -(posRight - left) * -1; // dot(pos - rightleft, -right) ... simplified:\n // Actually: d = dot(pointOnPlane, normal)\n // pointOnPlane = pos + rightleft (left is negative for standard ortho)\n // normal = -right\n // d = dot(pos + rightleft, -right) = -posRight - left\n out[3] = -posRight - left;\n\n // Right: normal = right\n out[4] = rtX; out[5] = rtY; out[6] = rtZ;\n out[7] = posRight + right;\n\n // Top: normal = up\n out[16] = upX; out[17] = upY; out[18] = upZ;\n out[19] = posUp + top;\n\n // Bottom: normal = -up\n out[20] = -upX; out[21] = -upY; out[22] = -upZ;\n out[23] = -posUp - bottom;\n } else {\n // Left\n const hfovl = Math.atan2(left, near);\n const shfovl = Math.sin(hfovl), chfovl = Math.cos(hfovl);\n out[0] = vdXshfovl - rtXchfovl;\n out[1] = vdYshfovl - rtYchfovl;\n out[2] = vdZshfovl - rtZchfovl;\n out[3] = shfovlposViewDir - chfovlposRight;\n\n // Right\n const hfovr = Math.atan2(right, near);\n const shfovr = Math.sin(hfovr), chfovr = Math.cos(hfovr);\n out[4] = -vdXshfovr + rtXchfovr;\n out[5] = -vdYshfovr + rtYchfovr;\n out[6] = -vdZshfovr + rtZchfovr;\n out[7] = -shfovrposViewDir + chfovrposRight;\n\n // Top\n const fovt = Math.atan2(top, near);\n const sfovt = Math.sin(fovt), cfovt = Math.cos(fovt);\n out[16] = -vdXsfovt + upXcfovt;\n out[17] = -vdYsfovt + upYcfovt;\n out[18] = -vdZsfovt + upZcfovt;\n out[19] = -sfovtposViewDir + cfovtposUp;\n\n // Bottom\n const fovb = Math.atan2(bottom, near);\n const sfovb = Math.sin(fovb), cfovb = Math.cos(fovb);\n out[20] = vdXsfovb - upXcfovb;\n out[21] = vdYsfovb - upYcfovb;\n out[22] = vdZsfovb - upZcfovb;\n out[23] = sfovbposViewDir - cfovbposUp;\n }\n\n // Near plane: normal = −viewDir\n out[8] = -vdX; out[9] = -vdY; out[10] = -vdZ;\n out[11] = -posViewDir - near;\n\n // Far plane: normal = viewDir\n out[12] = vdX; out[13] = vdY; out[14] = vdZ;\n out[15] = posViewDir + far;\n\n return out;\n}\n\n/\n Signed distance from point to one frustum plane.\n * @param {Float64Array} planes 24-float planes buffer.\n * @param {number} planeIdx 0–5 (LEFT, RIGHT, NEAR, FAR, TOP, BOTTOM).\n * @param {number} px,py,pz Point coordinates.\n * @returns {number}\n /\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 = acx + bvcy + 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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