npm - @nakednous/tree - Versions diffs - 0.0.9 → 0.0.10 - Mend

@nakednous/tree 0.0.9 → 0.0.10

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

Files changed (3) hide show

package/dist/index.js CHANGED Viewed

@@ -856,7 +856,16 @@ function applyPickMatrix(proj, px, py, W, H) {
  *    stop()  → onStop → _onStop → _onDeactivate
  *    reset() → onStop → _onStop → _onDeactivate
  *
- * ── Playback semantics (rate) ─────────────────────────────────────────────────
+ * ── Loop modes ────────────────────────────────────────────────────────────────
+ *  once     loop=false, bounce=false  — stop at end (fires onEnd)
+ *  repeat   loop=true,  bounce=false  — wrap back to start
+ *  bounce loop=true,  bounce=true   — bounce at boundaries
+ *
+ *  Exclusivity enforced in play():
+ *    bounce: true  → loop is also set true
+ *    loop: false     → bounce is also cleared
+ *
+ * ── Playback semantics (rate + _dir) ─────────────────────────────────────────
  *  rate > 0   forward
  *  rate < 0   backward
  *  rate === 0 frozen: tick() no-op; playing unchanged
@@ -865,6 +874,12 @@ function applyPickMatrix(proj, px, py, W, H) {
  *  stop() is the sole setter of playing = false.
  *  Assigning rate never starts or stops playback.
  *
+ *  _dir (internal, ±1) tracks the current bounce travel direction.
+ *  tick() advances by rate * _dir and flips _dir at boundaries.
+ *  rate always holds the user-set value — it is never mutated by bounce.
+ *  _dir is reset to 1 only in reset() (keyframes cleared) — stop/replay
+ *  preserves the current travel direction.
+ *
  * ── One-keyframe behaviour ────────────────────────────────────────────────────
  *  play() with exactly one keyframe snaps eval() to that keyframe without
  *  setting playing = true and without firing hooks.
@@ -1437,7 +1452,7 @@ class Track {
     /** Loop at boundaries. @type {boolean} */
     this.loop      = false;
     /** Ping-pong bounce (takes precedence over loop). @type {boolean} */
-    this.pingPong  = false;
+    this.bounce  = false;
     /** Frames per segment (≥1). @type {number} */
     this.duration  = 30;
     /** Current segment index. @type {number} */
@@ -1447,6 +1462,10 @@ class Track {
     // Internal rate — never directly starts/stops playback
     this._rate = 1;
+    // Internal bounce direction: +1 forward, -1 backward.
+    // Flipped by tick() at boundaries. Never exposed publicly.
+    // rate always holds the user-set value — only _dir changes.
+    this._dir  = 1;
     // User-space hooks
     /** @type {Function|null} */ this.onPlay = null;
@@ -1472,7 +1491,7 @@ class Track {
   /**
    * Start or update playback.
    * @param {number|Object} [rateOrOpts]  Numeric rate or options object:
-   *   { rate, duration, loop, pingPong, onPlay, onEnd, onStop }
+   *   { rate, duration, loop, bounce, onPlay, onEnd, onStop }
    * @returns {Track} this
    */
   play(rateOrOpts) {
@@ -1488,9 +1507,9 @@ class Track {
       this._rate = rateOrOpts;
     } else if (rateOrOpts && typeof rateOrOpts === 'object') {
       const o = rateOrOpts;
-      if (_isNum(o.duration))             this.duration = Math.max(1, o.duration | 0);
-      if ('loop'     in o)                this.loop     = !!o.loop;
-      if ('pingPong' in o)                this.pingPong = !!o.pingPong;
+      if (_isNum(o.duration))             this.duration  = Math.max(1, o.duration | 0);
+      if ('loop'     in o) { this.loop     = !!o.loop;     if (!this.loop)     this.bounce = false; }
+      if ('bounce' in o) { this.bounce = !!o.bounce; if (this.bounce)  this.loop     = true;  }
       if (typeof o.onPlay === 'function') this.onPlay   = o.onPlay;
       if (typeof o.onEnd  === 'function') this.onEnd    = o.onEnd;
       if (typeof o.onStop === 'function') this.onStop   = o.onStop;
@@ -1525,7 +1544,7 @@ class Track {
       if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }
       this._onStop?.();
       this._onDeactivate?.();
-      if (rewind && this.keyframes.length > 1) this.seek(this._rate < 0 ? 1 : 0);
+      if (rewind && this.keyframes.length > 1) this.seek(this._rate * this._dir < 0 ? 1 : 0);
     }
     return this;
   }
@@ -1543,7 +1562,7 @@ class Track {
       this._onDeactivate?.();
     }
     this.keyframes.length = 0;
-    this.seg = 0; this.f = 0;
+    this.seg = 0; this.f = 0; this._dir = 1;
     return this;
   }
@@ -1605,7 +1624,7 @@ class Track {
       f:         this.f,
       playing:   this.playing,
       loop:      this.loop,
-      pingPong:  this.pingPong,
+      bounce:  this.bounce,
       rate:      this._rate,
       duration:  this.duration,
       time:      this.segments > 0 ? this.time() : 0
@@ -1628,15 +1647,15 @@ class Track {
     const dur   = Math.max(1, this.duration | 0);
     const total = nSeg * dur;
     const s     = _clampS(this.seg * dur + this.f, 0, total);
-    const next  = s + this._rate;
+    const next  = s + this._rate * this._dir;
-    if (this.pingPong) {
+    if (this.bounce) {
       let pos = next, flips = 0;
       while (pos < 0 || pos > total) {
         if (pos < 0) { pos = -pos; flips++; }
         else         { pos = 2 * total - pos; flips++; }
       }
-      if (flips & 1) this._rate = -this._rate;
+      if (flips & 1) this._dir = -this._dir;
       this._setCursorFromScalar(pos);
       return true;
     }

package/dist/index.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"index.js","sources":["../src/constants.js","../src/math.js","../src/track.js","../src/visibility.js"],"sourcesContent":["/*\n @file Core constants — zero dependencies.\n * @module tree/constants\n * @license AGPL-3.0-only\n /\n\n// Coordinate spaces\nexport const WORLD = 'WORLD';\nexport const EYE = 'EYE';\nexport const NDC = 'NDC';\nexport const SCREEN = 'SCREEN';\nexport const MODEL = 'MODEL';\nexport const MATRIX = 'MATRIX';\n\n// NDC Z convention (only difference between backends)\nexport const WEBGL = -1; // z ∈ [−1, 1]\nexport const WEBGPU = 0; // z ∈ [0, 1]\n\n// Visibility results\nexport const INVISIBLE = 0;\nexport const VISIBLE = 1;\nexport const SEMIVISIBLE = 2;\n\n// Basis vectors (frozen plain arrays — duck-typed Vec3)\nexport const ORIGIN = Object.freeze([0, 0, 0]);\nexport const i = Object.freeze([1, 0, 0]);\nexport const j = Object.freeze([0, 1, 0]);\nexport const k = Object.freeze([0, 0, 1]);\nexport const _i = Object.freeze([-1, 0, 0]);\nexport const _j = Object.freeze([0, -1, 0]);\nexport const _k = Object.freeze([0, 0, -1]);\n","/\n @file Pure numeric math — mat4, mat3, projection queries, space transforms.\n * @module tree/math\n * @license AGPL-3.0-only\n \n CONVENTIONS (all functions in this module follow these):\n \n Storage: Column-major Float32Array / ArrayLike<number>.\n * Element [col4 + row] = M[row, col].\n \n * Multiply: mat4Mul(out, A, B) = A · B (standard math order).\n \n Pipeline: clip = P · V · M · v\n * P = projection (eye → clip)\n * V = view (world → eye)\n * M = model (local → world)\n \n PV: All functions expecting a \"pv\" matrix receive P · V.\n * This is what _worldToScreen, _ensurePV, etc. compute.\n \n Matrix stack (translate/rotate/scale in p5):\n * Each call post-multiplies: M = M · T, so:\n * translate(tx,ty,tz); rotateY(a); scale(s);\n * yields M = T · R · S. A vertex v is transformed as M·v = T·R·S·v\n * (scaled first, then rotated, then translated — last-written-first-applied).\n \n p5 bridge note (for implementors of host layers):\n * p5.Matrix.mult(B) computes B · this (pre-multiply, arg on LEFT).\n * p5 translate/rotate/scale do this · T (post-multiply, GL stack).\n * So p5's pvMatrix() = V.clone().mult(P) = P · V — same as ours.\n * The bridge extracts .mat4 (Float32Array) and feeds it directly,\n * or uses mat4Mul(out, proj, view) for the non-cached path.\n \n Every function uses only stack locals for intermediates (zero shared state).\n * Every mutating function writes to a caller-provided `out` and returns `out`.\n * Returns null on degeneracy (singular matrix, etc.).\n /\n\n'use strict';\n\nimport {\n WORLD, EYE, NDC, SCREEN, MATRIX,\n} from './constants.js';\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Mat4 math\n// ═══════════════════════════════════════════════════════════════════════════\n\n/* out = A · B (column-major, standard math order) /\nexport function mat4Mul(out, A, B) {\n const a0=A[0],a1=A[1],a2=A[2],a3=A[3],\n a4=A[4],a5=A[5],a6=A[6],a7=A[7],\n a8=A[8],a9=A[9],a10=A[10],a11=A[11],\n a12=A[12],a13=A[13],a14=A[14],a15=A[15];\n let b0=B[0],b1=B[1],b2=B[2],b3=B[3];\n out[0]=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. /\nexport function mat4Invert(out, src) {\n const s=src;\n const a00=s[0],a01=s[1],a02=s[2],a03=s[3],\n a10=s[4],a11=s[5],a12=s[6],a13=s[7],\n a20=s[8],a21=s[9],a22=s[10],a23=s[11],\n a30=s[12],a31=s[13],a32=s[14],a33=s[15];\n const b00=a00a11-a01a10,b01=a00a12-a02a10,\n b02=a00a13-a03a10,b03=a01a12-a02a11,\n b04=a01a13-a03a11,b05=a02a13-a03a12,\n b06=a20a31-a21a30,b07=a20a32-a22a30,\n b08=a20a33-a23a30,b09=a21a32-a22a31,\n b10=a21a33-a23a31,b11=a22a33-a23a32;\n let det=b00b11-b01b10+b02b09+b03b08-b04b07+b05b06;\n if (Math.abs(det) < 1e-12) return null;\n det=1/det;\n out[0]=(a11b11-a12b10+a13b09)det;\n out[1]=(a02b10-a01b11-a03b09)det;\n out[2]=(a31b05-a32b04+a33b03)det;\n out[3]=(a22b04-a21b05-a23b03)det;\n out[4]=(a12b08-a10b11-a13b07)det;\n out[5]=(a00b11-a02b08+a03b07)det;\n out[6]=(a32b02-a30b05-a33b01)det;\n out[7]=(a20b05-a22b02+a23b01)det;\n out[8]=(a10b10-a11b08+a13b06)det;\n out[9]=(a01b08-a00b10-a03b06)det;\n out[10]=(a30b04-a31b02+a33b00)det;\n out[11]=(a21b02-a20b04-a23b00)det;\n out[12]=(a11b07-a10b09-a12b06)det;\n out[13]=(a00b09-a01b07+a02b06)det;\n out[14]=(a31b01-a30b03-a32b00)det;\n out[15]=(a20b03-a21b01+a22b00)det;\n return out;\n}\n\n/* out = transpose(src) /\nexport function mat4Transpose(out, src) {\n if (out === src) {\n let t;\n t=src[1];out[1]=src[4];out[4]=t;\n t=src[2];out[2]=src[8];out[8]=t;\n t=src[3];out[3]=src[12];out[12]=t;\n t=src[6];out[6]=src[9];out[9]=t;\n t=src[7];out[7]=src[13];out[13]=t;\n t=src[11];out[11]=src[14];out[14]=t;\n } else {\n out[0]=src[0];out[1]=src[4];out[2]=src[8];out[3]=src[12];\n out[4]=src[1];out[5]=src[5];out[6]=src[9];out[7]=src[13];\n out[8]=src[2];out[9]=src[6];out[10]=src[10];out[11]=src[14];\n out[12]=src[3];out[13]=src[7];out[14]=src[11];out[15]=src[15];\n }\n return out;\n}\n\n/* out[0..8] = inverseTranspose(upper3×3(src)) (normal matrix) /\nexport function mat3NormalFromMat4(out, src) {\n const a00=src[0],a01=src[1],a02=src[2],\n a10=src[4],a11=src[5],a12=src[6],\n a20=src[8],a21=src[9],a22=src[10];\n const b01=a22a11-a12a21,\n b11=-a22a01+a02a21,\n 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;\n out[1]=(-a22a10+a12a20)det;\n out[2]=(a21a10-a11a20)det;\n out[3]=b11det;\n out[4]=(a22a00-a02a20)det;\n out[5]=(-a21a00+a01a20)det;\n out[6]=b21det;\n out[7]=(-a12a00+a02a10)det;\n 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];\n const ry = m[1]x + m[5]y + m[9]z + m[13];\n const rz = m[2]x + m[6]y + m[10]z + m[14];\n const rw = m[3]x + m[7]y + m[11]z + m[15];\n if (rw !== 0 && rw !== 1) {\n out[0] = rx/rw; out[1] = ry/rw; out[2] = rz/rw;\n } else {\n out[0] = rx; out[1] = ry; out[2] = rz;\n }\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Projection queries (read scalars from a projection mat4)\n// ═══════════════════════════════════════════════════════════════════════════\n\n/* @returns {boolean} true if orthographic /\nexport function projIsOrtho(p) { return p[15] !== 0; }\n\n/\n Near plane distance.\n * @param {ArrayLike<number>} p Projection Mat4.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nexport function projNear(p, ndcZMin) {\n return p[15] === 0\n ? p[14] / (p[10] + ndcZMin)\n : (p[14] - ndcZMin) / p[10];\n}\n\n/* Far plane distance (convention-independent: far always maps to NDC z=1). /\nexport function projFar(p) {\n return p[15] === 0\n ? p[14] / (1 + p[10])\n : (p[14] - 1) / p[10];\n}\n\nexport function projLeft(p, ndcZMin) {\n return p[15] === 1\n ? -(1 + p[12]) / p[0]\n : projNear(p, ndcZMin) (p[8] - 1) / p[0];\n}\n\nexport function projRight(p, ndcZMin) {\n return p[15] === 1\n ? (1 - p[12]) / p[0]\n : projNear(p, ndcZMin) * (1 + p[8]) / p[0];\n}\n\nexport function projTop(p, ndcZMin) {\n return p[15] === 1\n ? (p[13] - 1) / p[5]\n : projNear(p, ndcZMin) * (p[9] - 1) / p[5];\n}\n\nexport function projBottom(p, ndcZMin) {\n return p[15] === 1\n ? (1 + p[13]) / p[5]\n : projNear(p, ndcZMin) * (1 + p[9]) / p[5];\n}\n\n/** Vertical fov (radians, perspective only). /\nexport function projFov(p) {\n return Math.abs(2 Math.atan(1 / p[5]));\n}\n\n/** Horizontal fov (radians, perspective only). /\nexport function projHfov(p) {\n return Math.abs(2 Math.atan(1 / p[0]));\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Derived matrices (convenience)\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = P · V /\nexport function mat4PV(out, proj, view) { return mat4Mul(out, proj, view); }\n\n/* out = V · M /\nexport function mat4MV(out, model, view) { return mat4Mul(out, view, model); }\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Location / Direction transforms\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n Relative transform for locations (points): out = inv(to) · from.\n * @param {ArrayLike<number>} out 16-element destination.\n * @param {ArrayLike<number>} from Source frame transform.\n * @param {ArrayLike<number>} to Destination frame transform.\n * @returns {ArrayLike<number>\|null} out, or null if to is singular.\n /\nexport function mat4Location(out, from, to) {\n return mat4Invert(out, to) && mat4Mul(out, out, from);\n}\n\n/\n Relative transform for directions (vectors): out = to₃ · inv(from₃).\n * Uses only the upper-left 3×3 blocks, ignoring translation.\n * @param {ArrayLike<number>} out 9-element destination.\n * @param {ArrayLike<number>} from Source frame transform.\n * @param {ArrayLike<number>} to Destination frame transform.\n * @returns {ArrayLike<number>\|null} out, or null if from is singular.\n /\nexport function mat3Direction(out, from, to) {\n const a00=from[0], a01=from[1], a02=from[2],\n a10=from[4], a11=from[5], a12=from[6],\n a20=from[8], a21=from[9], a22=from[10];\n const b01=a22a11-a12a21,\n b11=a12a20-a22a10,\n 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],\n t10=to[4], t11=to[5], t12=to[6],\n t20=to[8], t21=to[9], t22=to[10];\n const m00=t00i00+t10i01+t20i02, m01=t01i00+t11i01+t21i02, m02=t02i00+t12i01+t22i02;\n const m10=t00i10+t10i11+t20i12, m11=t01i10+t11i11+t21i12, m12=t02i10+t12i11+t22i12;\n const m20=t00i20+t10i21+t20i22, m21=t01i20+t11i21+t21i22, m22=t02i20+t12i21+t22i22;\n out[0]=m00; out[1]=m10; out[2]=m20;\n out[3]=m01; out[4]=m11; out[5]=m21;\n out[6]=m02; out[7]=m12; out[8]=m22;\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Space transforms — mapLocation / mapDirection\n// ═══════════════════════════════════════════════════════════════════════════\n//\n// FLAT DISPATCH: every from→to pair is a self-contained leaf.\n// No path calls back into mapLocation/mapDirection (no reentrancy).\n// All intermediates are stack locals (zero shared state).\n//\n// Matrices bag m:\n// {\n// pMatrix: Float32Array(16) — projection (eye → clip)\n// vMatrix: Float32Array(16) — view (world → eye)\n// eMatrix?: Float32Array(16) — eye (eye → world, inv view); lazy\n// pvMatrix?: Float32Array(16) — P · V; lazy\n// ipvMatrix?:Float32Array(16) — inv(P · V); lazy\n// fromFrame?:Float32Array(16) — MATRIX source frame (custom space)\n// toFrameInv?:Float32Array(16) — inv(MATRIX dest frame)\n// }\n//\n\n// ── Location leaf helpers ────────────────────────────────────────────────\n\nfunction _worldToScreen(out, px, py, pz, pv, vp, ndcZMin) {\n const x = pv[0]px+pv[4]py+pv[8]pz+pv[12];\n const y = pv[1]px+pv[5]py+pv[9]pz+pv[13];\n const z = pv[2]px+pv[6]py+pv[10]pz+pv[14];\n const w = pv[3]px+pv[7]py+pv[11]pz+pv[15];\n const xi = (w !== 0 && w !== 1) ? x/w : x;\n const yi = (w !== 0 && w !== 1) ? y/w : y;\n const zi = (w !== 0 && w !== 1) ? z/w : z;\n const ndcZRange = 1 - ndcZMin;\n out[0] = (xi0.5+0.5)vp[2]+vp[0];\n out[1] = (yi0.5+0.5)vp[3]+vp[1];\n out[2] = (zi - ndcZMin) / ndcZRange;\n return out;\n}\n\nfunction _screenToWorld(out, px, py, pz, ipv, vp, ndcZMin) {\n const ndcZRange = 1 - ndcZMin;\n const nx = ((px-vp[0])/vp[2])2-1;\n const ny = ((py-vp[1])/vp[3])2-1;\n const nz = pz * ndcZRange + ndcZMin;\n const x = ipv[0]nx+ipv[4]ny+ipv[8]nz+ipv[12];\n const y = ipv[1]nx+ipv[5]ny+ipv[9]nz+ipv[13];\n const z = ipv[2]nx+ipv[6]ny+ipv[10]nz+ipv[14];\n const w = ipv[3]nx+ipv[7]ny+ipv[11]nz+ipv[15];\n out[0]=x/w; out[1]=y/w; out[2]=z/w;\n return out;\n}\n\nfunction _worldToNDC(out, px, py, pz, pv) {\n const x = pv[0]px+pv[4]py+pv[8]pz+pv[12];\n const y = pv[1]px+pv[5]py+pv[9]pz+pv[13];\n const z = pv[2]px+pv[6]py+pv[10]pz+pv[14];\n const w = pv[3]px+pv[7]py+pv[11]pz+pv[15];\n out[0]=x/w; out[1]=y/w; out[2]=z/w;\n return out;\n}\n\nfunction _ndcToWorld(out, px, py, pz, ipv) {\n const x = ipv[0]px+ipv[4]py+ipv[8]pz+ipv[12];\n const y = ipv[1]px+ipv[5]py+ipv[9]pz+ipv[13];\n const z = ipv[2]px+ipv[6]py+ipv[10]pz+ipv[14];\n const w = ipv[3]px+ipv[7]py+ipv[11]pz+ipv[15];\n out[0]=x/w; out[1]=y/w; out[2]=z/w;\n return out;\n}\n\nfunction _screenToNDC(out, px, py, pz, vp, ndcZMin) {\n const ndcZRange = 1 - ndcZMin;\n out[0] = ((px-vp[0])/vp[2])2-1;\n out[1] = ((py-vp[1])/vp[3])2-1;\n out[2] = pz * ndcZRange + ndcZMin;\n return out;\n}\n\nfunction _ndcToScreen(out, px, py, pz, vp, ndcZMin) {\n const ndcZRange = 1 - ndcZMin;\n out[0] = (px0.5+0.5)vp[2]+vp[0];\n out[1] = (py0.5+0.5)vp[3]+vp[1];\n out[2] = (pz - ndcZMin) / ndcZRange;\n return out;\n}\n\n// ── _ensurePV — return pvMatrix from bag, computing inline if absent ──────\n\nfunction _ensurePV(m) {\n if (m.pvMatrix) return m.pvMatrix;\n const p = m.pMatrix, v = m.vMatrix;\n return [\n p[0]v[0]+p[4]v[1]+p[8]v[2]+p[12]v[3],\n p[1]v[0]+p[5]v[1]+p[9]v[2]+p[13]v[3],\n p[2]v[0]+p[6]v[1]+p[10]v[2]+p[14]v[3],\n p[3]v[0]+p[7]v[1]+p[11]v[2]+p[15]v[3],\n p[0]v[4]+p[4]v[5]+p[8]v[6]+p[12]v[7],\n p[1]v[4]+p[5]v[5]+p[9]v[6]+p[13]v[7],\n p[2]v[4]+p[6]v[5]+p[10]v[6]+p[14]v[7],\n p[3]v[4]+p[7]v[5]+p[11]v[6]+p[15]v[7],\n p[0]v[8]+p[4]v[9]+p[8]v[10]+p[12]v[11],\n p[1]v[8]+p[5]v[9]+p[9]v[10]+p[13]v[11],\n p[2]v[8]+p[6]v[9]+p[10]v[10]+p[14]v[11],\n p[3]v[8]+p[7]v[9]+p[11]v[10]+p[15]v[11],\n p[0]v[12]+p[4]v[13]+p[8]v[14]+p[12]v[15],\n p[1]v[12]+p[5]v[13]+p[9]v[14]+p[13]v[15],\n p[2]v[12]+p[6]v[13]+p[10]v[14]+p[14]v[15],\n p[3]v[12]+p[7]v[13]+p[11]v[14]+p[15]v[15],\n ];\n}\n\n/*\n Map a point between coordinate spaces.\n \n @param {Vec3} out Result written here.\n * @param {number} px,py,pz Input point.\n * @param {string} from Source space constant.\n * @param {string} to Target space constant.\n * @param {object} m Matrices bag:\n * { pMatrix, vMatrix, eMatrix?, pvMatrix?, ipvMatrix?, fromFrame?, toFrameInv? }\n * @param {Vec4} vp Viewport [x, y, width, height].\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nexport function mapLocation(out, px, py, pz, from, to, m, vp, ndcZMin) {\n // WORLD ↔ SCREEN\n if (from === WORLD && to === SCREEN)\n return _worldToScreen(out, px,py,pz, _ensurePV(m), vp, ndcZMin);\n if (from === SCREEN && to === WORLD)\n return _screenToWorld(out, px,py,pz, m.ipvMatrix, vp, ndcZMin);\n\n // WORLD ↔ NDC\n if (from === WORLD && to === NDC)\n return _worldToNDC(out, px,py,pz, _ensurePV(m));\n if (from === NDC && to === WORLD)\n return _ndcToWorld(out, px,py,pz, m.ipvMatrix);\n\n // SCREEN ↔ NDC\n if (from === SCREEN && to === NDC)\n return _screenToNDC(out, px,py,pz, vp, ndcZMin);\n if (from === NDC && to === SCREEN)\n return _ndcToScreen(out, px,py,pz, vp, ndcZMin);\n\n // WORLD ↔ EYE\n if (from === WORLD && to === EYE)\n return mat4MulPoint(out, m.vMatrix, px,py,pz);\n if (from === EYE && to === WORLD)\n return mat4MulPoint(out, m.eMatrix, px,py,pz);\n\n // EYE ↔ SCREEN\n if (from === EYE && to === SCREEN) {\n const e = m.eMatrix;\n const ex=e[0]px+e[4]py+e[8]pz+e[12],\n ey=e[1]px+e[5]py+e[9]pz+e[13],\n ez=e[2]px+e[6]py+e[10]pz+e[14];\n return _worldToScreen(out, ex,ey,ez, _ensurePV(m), vp, ndcZMin);\n }\n if (from === SCREEN && to === EYE) {\n _screenToWorld(out, px,py,pz, m.ipvMatrix, vp, ndcZMin);\n const wx=out[0],wy=out[1],wz=out[2];\n return mat4MulPoint(out, m.vMatrix, wx,wy,wz);\n }\n\n // EYE ↔ NDC\n if (from === EYE && to === NDC) {\n const e = m.eMatrix;\n const ex=e[0]px+e[4]py+e[8]pz+e[12],\n ey=e[1]px+e[5]py+e[9]pz+e[13],\n ez=e[2]px+e[6]py+e[10]pz+e[14];\n return _worldToNDC(out, ex,ey,ez, _ensurePV(m));\n }\n if (from === NDC && to === EYE) {\n _ndcToWorld(out, px,py,pz, m.ipvMatrix);\n const wx=out[0],wy=out[1],wz=out[2];\n return mat4MulPoint(out, m.vMatrix, wx,wy,wz);\n }\n\n // MATRIX (custom frame) ↔ WORLD\n if (from === MATRIX && to === WORLD)\n return mat4MulPoint(out, m.fromFrame, px,py,pz);\n if (from === WORLD && to === MATRIX)\n return mat4MulPoint(out, m.toFrameInv, px,py,pz);\n\n // MATRIX ↔ EYE\n if (from === MATRIX && to === EYE) {\n const f = m.fromFrame;\n const fx=f[0]px+f[4]py+f[8]pz+f[12],\n fy=f[1]px+f[5]py+f[9]pz+f[13],\n fz=f[2]px+f[6]py+f[10]pz+f[14];\n return mat4MulPoint(out, m.vMatrix, fx,fy,fz);\n }\n if (from === EYE && to === MATRIX) {\n const e = m.eMatrix;\n const ex=e[0]px+e[4]py+e[8]pz+e[12],\n ey=e[1]px+e[5]py+e[9]pz+e[13],\n ez=e[2]px+e[6]py+e[10]pz+e[14];\n return mat4MulPoint(out, m.toFrameInv, ex,ey,ez);\n }\n\n // MATRIX ↔ SCREEN\n if (from === MATRIX && to === SCREEN) {\n const f = m.fromFrame;\n const fx=f[0]px+f[4]py+f[8]pz+f[12],\n fy=f[1]px+f[5]py+f[9]pz+f[13],\n fz=f[2]px+f[6]py+f[10]pz+f[14];\n return _worldToScreen(out, fx,fy,fz, _ensurePV(m), vp, ndcZMin);\n }\n if (from === SCREEN && to === MATRIX) {\n _screenToWorld(out, px,py,pz, m.ipvMatrix, vp, ndcZMin);\n const wx=out[0],wy=out[1],wz=out[2];\n return mat4MulPoint(out, m.toFrameInv, wx,wy,wz);\n }\n\n // MATRIX ↔ NDC\n if (from === MATRIX && to === NDC) {\n const f = m.fromFrame;\n const fx=f[0]px+f[4]py+f[8]pz+f[12],\n fy=f[1]px+f[5]py+f[9]pz+f[13],\n fz=f[2]px+f[6]py+f[10]pz+f[14];\n return _worldToNDC(out, fx,fy,fz, _ensurePV(m));\n }\n if (from === NDC && to === MATRIX) {\n _ndcToWorld(out, px,py,pz, m.ipvMatrix);\n const wx=out[0],wy=out[1],wz=out[2];\n return mat4MulPoint(out, m.toFrameInv, wx,wy,wz);\n }\n\n // MATRIX ↔ MATRIX\n if (from === MATRIX && to === MATRIX) {\n const f = m.fromFrame;\n const fx=f[0]px+f[4]py+f[8]pz+f[12],\n fy=f[1]px+f[5]py+f[9]pz+f[13],\n fz=f[2]px+f[6]py+f[10]pz+f[14];\n return mat4MulPoint(out, m.toFrameInv, fx,fy,fz);\n }\n\n // Fallback\n out[0]=px; out[1]=py; out[2]=pz;\n return out;\n}\n\n// ── Direction helpers ────────────────────────────────────────────────────\n\n/** Apply the 3×3 linear part of a mat4 (rotation/scale, no translation). /\nfunction _applyDir(out, mat, dx, dy, dz) {\n out[0]=mat[0]dx+mat[4]dy+mat[8]dz;\n out[1]=mat[1]dx+mat[5]dy+mat[9]dz;\n out[2]=mat[2]dx+mat[6]dy+mat[10]dz;\n return out;\n}\n\nfunction _worldToScreenDir(out, dx, dy, dz, proj, view, vpW, vpH, ndcZMin) {\n const edx = view[0]dx + view[4]dy + view[8]dz;\n const edy = view[1]dx + view[5]dy + view[9]dz;\n const edz = view[2]dx + view[6]dy + view[10]dz;\n const isPersp = proj[15] === 0;\n let sdx = edx, sdy = edy;\n if (isPersp) {\n const zEye = view[14];\n const halfTan = Math.tan(projFov(proj) / 2);\n const k = Math.abs(zEye halfTan);\n const pixPerUnit = vpH / (2 * k);\n sdx = pixPerUnit;\n sdy = pixPerUnit;\n } else {\n const orthoW = Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin));\n sdx = vpW / orthoW;\n sdy = vpH / Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin));\n }\n const near = projNear(proj, ndcZMin), far = projFar(proj);\n const depthRange = near - far;\n let sdz;\n if (isPersp) {\n sdz = edz / (depthRange / Math.tan(projFov(proj) / 2));\n } else {\n sdz = edz / (depthRange / (Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin)) / vpW));\n }\n out[0] = sdx; out[1] = sdy; out[2] = sdz;\n return out;\n}\n\nfunction _screenToWorldDir(out, dx, dy, dz, proj, view, eye, vpW, vpH, ndcZMin) {\n const isPersp = proj[15] === 0;\n let edx = dx, edy = dy;\n if (isPersp) {\n const zEye = view[14];\n const halfTan = Math.tan(projFov(proj) / 2);\n const k = Math.abs(zEye * halfTan);\n edx = 2 k / vpH;\n edy = 2 k / vpH;\n } else {\n const orthoW = Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin));\n edx = orthoW / vpW;\n edy = Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin)) / vpH;\n }\n const near = projNear(proj, ndcZMin), far = projFar(proj);\n const depthRange = near - far;\n let edz;\n if (isPersp) {\n edz = dz * (depthRange / Math.tan(projFov(proj) / 2));\n } else {\n edz = dz * (depthRange / (Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin)) / vpW));\n }\n _applyDir(out, eye, edx, edy, edz);\n return out;\n}\n\nfunction _screenToNDCDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n const ndcZRange = 1 - ndcZMin;\n out[0] = 2 * dx / vpW;\n out[1] = 2 * dy / vpH;\n out[2] = dz * ndcZRange;\n return out;\n}\n\nfunction _ndcToScreenDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n const ndcZRange = 1 - ndcZMin;\n out[0] = vpW * dx / 2;\n out[1] = vpH * dy / 2;\n out[2] = dz / ndcZRange;\n return out;\n}\n\n/*\n Map a direction vector between coordinate spaces.\n * Same bag contract as mapLocation.\n /\nexport function mapDirection(out, dx, dy, dz, from, to, m, vp, ndcZMin) {\n const vpW = Math.abs(vp[2]), vpH = Math.abs(vp[3]);\n\n // EYE ↔ WORLD (most common)\n if (from === EYE && to === WORLD) return _applyDir(out, m.eMatrix, dx, dy, dz);\n if (from === WORLD && to === EYE) return _applyDir(out, m.vMatrix, dx, dy, dz);\n\n // WORLD ↔ SCREEN\n if (from === WORLD && to === SCREEN)\n return _worldToScreenDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n if (from === SCREEN && to === WORLD)\n return _screenToWorldDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n\n // SCREEN ↔ NDC\n if (from === SCREEN && to === NDC)\n return _screenToNDCDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n if (from === NDC && to === SCREEN)\n return _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n\n // WORLD ↔ NDC\n if (from === WORLD && to === NDC) {\n _worldToScreenDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n const sx=out[0],sy=out[1],sz=out[2];\n return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n }\n if (from === NDC && to === WORLD) {\n _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n const sx=out[0],sy=out[1],sz=out[2];\n return _screenToWorldDir(out, sx,sy,sz, m.pMatrix, m.vMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n }\n\n // EYE ↔ SCREEN\n if (from === EYE && to === SCREEN) {\n _applyDir(out, m.eMatrix, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n return _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n }\n if (from === SCREEN && to === EYE) {\n _screenToWorldDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.vMatrix, wx,wy,wz);\n }\n\n // EYE ↔ NDC\n if (from === EYE && to === NDC) {\n _applyDir(out, m.eMatrix, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n const sx=out[0],sy=out[1],sz=out[2];\n return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n }\n if (from === NDC && to === EYE) {\n _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n const sx=out[0],sy=out[1],sz=out[2];\n _screenToWorldDir(out, sx,sy,sz, m.pMatrix, m.vMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.vMatrix, wx,wy,wz);\n }\n\n // MATRIX ↔ WORLD\n if (from === MATRIX && to === WORLD) return _applyDir(out, m.fromFrame, dx,dy,dz);\n if (from === WORLD && to === MATRIX) return _applyDir(out, m.toFrameInv, dx,dy,dz);\n\n // MATRIX ↔ EYE\n if (from === MATRIX && to === EYE) {\n _applyDir(out, m.fromFrame, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.vMatrix, wx,wy,wz);\n }\n if (from === EYE && to === MATRIX) {\n _applyDir(out, m.eMatrix, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.toFrameInv, wx,wy,wz);\n }\n\n // MATRIX ↔ SCREEN\n if (from === MATRIX && to === SCREEN) {\n _applyDir(out, m.fromFrame, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n return _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n }\n if (from === SCREEN && to === MATRIX) {\n _screenToWorldDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.toFrameInv, wx,wy,wz);\n }\n\n // MATRIX ↔ NDC\n if (from === MATRIX && to === NDC) {\n _applyDir(out, m.fromFrame, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n const sx=out[0],sy=out[1],sz=out[2];\n return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n }\n if (from === NDC && to === MATRIX) {\n _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n const sx=out[0],sy=out[1],sz=out[2];\n _screenToWorldDir(out, sx,sy,sz, m.pMatrix, m.vMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.toFrameInv, wx,wy,wz);\n }\n\n // MATRIX ↔ MATRIX\n if (from === MATRIX && to === MATRIX) {\n _applyDir(out, m.fromFrame, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.toFrameInv, wx,wy,wz);\n }\n\n // Fallback\n out[0]=dx; out[1]=dy; out[2]=dz;\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// pixelRatio\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n World-units-per-pixel at a given eye-space Z depth.\n * @param {ArrayLike<number>} proj Projection mat4.\n * @param {number} vpH Viewport height (pixels).\n * @param {number} eyeZ Eye-space Z (negative for in-front-of camera).\n * @param {number} ndcZMin WEBGL or WEBGPU.\n /\nexport function pixelRatio(proj, vpH, eyeZ, ndcZMin) {\n if (projIsOrtho(proj)) {\n return Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin)) / vpH;\n }\n return 2 Math.abs(eyeZ) * Math.tan(projFov(proj) / 2) / vpH;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Pick-matrix\n// ═══════════════════════════════════════════════════════════════════════════\n\n/*\n Apply the pick-matrix in-place: proj ← M_pick · proj\n \n Zooms the frustum so that pixel (px, py) maps to the full NDC square,\n * making a 1×1 framebuffer render contain exactly that pixel's content.\n * Convention-independent — correct for both perspective and orthographic.\n \n M_pick (column-major):\n * [ sx 0 0 tx ] sx = W, sy = H\n * [ 0 sy 0 ty ] cx = NDC X of pixel centre = 2(px+0.5)/W − 1\n [ 0 0 1 0 ] cy = NDC Y of pixel centre = 1 − 2(py+0.5)/H\n [ 0 0 0 1 ] tx = −cx·W, ty = −cy·H\n \n @param {Float32Array} proj Projection mat4 — mutated in place.\n * @param {number} px Query X (CSS pixels).\n * @param {number} py Query Y (CSS pixels).\n * @param {number} W Canvas width (CSS pixels).\n * @param {number} H Canvas height (CSS pixels).\n * @returns {Float32Array} proj (same reference)\n /\nexport function applyPickMatrix(proj, px, py, W, H) {\n const cx = 2 (px + 0.5) / W - 1;\n const cy = -2 * (py + 0.5) / H + 1; // Y flip: screen-down → NDC-up\n const sx = W;\n const sy = H;\n const tx = -cx * W;\n const ty = -cy * H;\n // P_pick = M_pick * P_orig (rows 2 and 3 are unchanged)\n for (let j = 0; j < 4; j++) {\n const a = proj[j * 4];\n const b = proj[j * 4 + 1];\n const d = proj[j * 4 + 3];\n proj[j * 4] = sx * a + tx * d;\n proj[j * 4 + 1] = sy * b + ty * d;\n }\n return proj;\n}\n","/*\n @file Pure quaternion/spline math + track state machines.\n * @module tree/track\n * @license AGPL-3.0-only\n \n Zero dependencies. No p5, DOM, WebGL, or WebGPU usage.\n \n ── Exports ──────────────────────────────────────────────────────────────────\n * Quaternion helpers\n * qSet qCopy qDot qNormalize qNegate qMul qSlerp qNlerp\n * qFromAxisAngle qFromLookDir qFromRotMat3x3 qFromMat4 qToMat4\n * quatToAxisAngle\n * Spline / vector helpers\n * hermiteVec3 lerpVec3\n * Transform / mat4 helpers\n * transformToMat4 mat4ToTransform\n * Tracks\n * PoseTrack — { pos, rot, scl } TRS keyframes\n * CameraTrack — { eye, center, up } lookat keyframes\n \n ── Class hierarchy ───────────────────────────────────────────────────────────\n * Track (unexported, never instantiated directly)\n * └── PoseTrack (exported)\n * └── CameraTrack (exported)\n \n Track holds all transport machinery: cursor, play/stop/seek/tick,\n * hooks, rate semantics. Subclasses add only keyframe storage and\n * add() / eval() for their respective data shape.\n \n ── Hook architecture ─────────────────────────────────────────────────────────\n * Lib-space hooks (underscore prefix — reserved for host layer / UI layer):\n * _onActivate / _onDeactivate — fire on playing transitions false→true / true→false.\n * _onPlay / _onEnd / _onStop — mirror the user-space hooks; used by the UI layer\n * so it can sync without chaining the public slots.\n \n User-space hooks (public):\n * onPlay : fires in play() on false→true transition.\n * onEnd : fires in tick() at natural boundary (once mode only).\n * onStop : fires in stop() / reset() — explicit deactivation.\n * onEnd and onStop are mutually exclusive per event.\n \n Firing order:\n * play() → onPlay → _onPlay → _onActivate\n * tick() → onEnd → _onEnd → _onDeactivate\n * stop() → onStop → _onStop → _onDeactivate\n * reset() → onStop → _onStop → _onDeactivate\n \n ── Playback semantics (rate) ─────────────────────────────────────────────────\n * rate > 0 forward\n * rate < 0 backward\n * rate === 0 frozen: tick() no-op; playing unchanged\n \n play() is the sole setter of playing = true.\n * stop() is the sole setter of playing = false.\n * Assigning rate never starts or stops playback.\n \n ── 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\n// =========================================================================\n// S1 Quaternion helpers (flat [x, y, z, w], w-last)\n// =========================================================================\n\n/* Set all four components. @returns {number[]} out /\nexport const qSet = (out, x, y, z, w) => {\n out[0] = x; out[1] = y; out[2] = z; out[3] = w; return out;\n};\n\n/* Copy quaternion a into out. @returns {number[]} out /\nexport const qCopy = (out, a) => {\n out[0] = a[0]; out[1] = a[1]; out[2] = a[2]; out[3] = a[3]; return out;\n};\n\n/* Dot product of two quaternions. /\nexport const qDot = (a, b) => a[0]b[0] + a[1]b[1] + a[2]b[2] + a[3]b[3];\n\n/* Normalise quaternion in-place. @returns {number[]} out /\nexport const qNormalize = (out) => {\n const l = Math.sqrt(out[0]out[0]+out[1]out[1]+out[2]out[2]+out[3]out[3]) \|\| 1;\n out[0]/=l; out[1]/=l; out[2]/=l; out[3]/=l; return out;\n};\n\n/* Negate quaternion (same rotation, different hemisphere). @returns {number[]} out /\nexport const qNegate = (out, a) => {\n out[0]=-a[0]; out[1]=-a[1]; out[2]=-a[2]; out[3]=-a[3]; return out;\n};\n\n/* Hamilton product out = a * b. @returns {number[]} out /\nexport const qMul = (out, a, b) => {\n const ax=a[0],ay=a[1],az=a[2],aw=a[3], bx=b[0],by=b[1],bz=b[2],bw=b[3];\n out[0]=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/* 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 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 Decompose a unit quaternion into { axis:[x,y,z], angle } (radians).\n * @param {number[]} q [x,y,z,w].\n * @param {Object} [out]\n * @returns {{ axis: number[], angle: number }}\n /\nexport const quatToAxisAngle = (q, out) => {\n out = out \|\| {};\n const x=q[0],y=q[1],z=q[2],w=q[3];\n const sinHalf = Math.sqrt(xx+yy+zz);\n if (sinHalf < 1e-8) { out.axis=[0,1,0]; out.angle=0; return out; }\n out.angle = 2Math.atan2(sinHalf, w);\n out.axis = [x/sinHalf, y/sinHalf, z/sinHalf];\n return out;\n};\n\n// =========================================================================\n// 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 * Catmull-Rom is a special case where m0/m1 are auto-computed from neighbors.\n * @param {number[]} out 3-element result.\n * @param {number[]} p0 Segment start.\n * @param {number[]} m0 Outgoing tangent at p0 (world-space, dp/dt scaled to segment).\n * @param {number[]} p1 Segment end.\n * @param {number[]} m1 Incoming tangent at p1 (world-space, dp/dt scaled to segment).\n * @param {number} t Blend [0, 1].\n * @returns {number[]} out\n /\nexport const hermiteVec3 = (out, p0, m0, p1, m1, t) => {\n const t2=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, scaled by dt1.\nconst _crTanOut = (out, p0, p1, p2, p3) => {\n const dt0=Math.pow(_dist3(p0,p1),0.5)\|\|1, dt1=Math.pow(_dist3(p1,p2),0.5)\|\|1, dt2=Math.pow(_dist3(p2,p3),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, scaled by dt1.\nconst _crTanIn = (out, p0, p1, p2, p3) => {\n const dt0=Math.pow(_dist3(p0,p1),0.5)\|\|1, dt1=Math.pow(_dist3(p1,p2),0.5)\|\|1, dt2=Math.pow(_dist3(p2,p3),0.5)\|\|1;\n for (let i=0;i<3;i++) out[i]=((p2[i]-p1[i])/dt1-(p3[i]-p1[i])/(dt1+dt2)+(p3[i]-p2[i])/dt2)dt1;\n return out;\n};\n\n// Module-level scratch — shared by eval() across all track instances (non-reentrant hot path).\nconst _m0=[0,0,0], _m1=[0,0,0];\n\n/*\n Linear interpolation between two vec3s.\n * @param {number[]} out\n * @param {number[]} a\n * @param {number[]} b\n * @param {number} t Blend [0, 1].\n * @returns {number[]} out\n /\nexport const lerpVec3 = (out, a, b, t) => {\n out[0]=a[0]+t(b[0]-a[0]);\n out[1]=a[1]+t(b[1]-a[1]);\n out[2]=a[2]+t(b[2]-a[2]);\n return out;\n};\n\n// =========================================================================\n// S3 Transform <-> Mat4\n// =========================================================================\n\n/*\n Write a TRS transform into a column-major mat4.\n * @param {Float32Array\|number[]} out 16-element column-major mat4.\n * @param {{ pos:number[], rot:number[], scl:number[] }} xform\n * @returns {Float32Array\|number[]} out\n /\nexport const transformToMat4 = (out, xform) => {\n qToMat4(out, xform.rot);\n const sx=xform.scl[0], sy=xform.scl[1], sz=xform.scl[2];\n out[0]=sx; out[1]=sx; out[2]=sx;\n out[4]=sy; out[5]=sy; out[6]=sy;\n out[8]=sz; out[9]=sz; out[10]=sz;\n out[12]=xform.pos[0]; out[13]=xform.pos[1]; out[14]=xform.pos[2];\n return out;\n};\n\n/*\n Decompose a column-major mat4 into a TRS transform.\n * Assumes no shear. Scale extracted from column lengths.\n * @param {{ pos:number[], rot:number[], scl:number[] }} out\n * @param {Float32Array\|number[]} m Column-major mat4.\n * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n /\nexport const mat4ToTransform = (out, m) => {\n out.pos[0]=m[12]; out.pos[1]=m[13]; out.pos[2]=m[14];\n const sx=Math.sqrt(m[0]m[0]+m[1]m[1]+m[2]m[2]);\n const sy=Math.sqrt(m[4]m[4]+m[5]m[5]+m[6]m[6]);\n const sz=Math.sqrt(m[8]m[8]+m[9]m[9]+m[10]m[10]);\n out.scl[0]=sx; out.scl[1]=sy; out.scl[2]=sz;\n qFromRotMat3x3(out.rot,\n m[0]/sx,m[4]/sy,m[8]/sz,\n m[1]/sx,m[5]/sy,m[9]/sz,\n m[2]/sx,m[6]/sy,m[10]/sz);\n return out;\n};\n\n// =========================================================================\n// S4a Spec parser — PoseTrack\n// =========================================================================\n\nconst _isNum = (x) => typeof x === 'number' && Number.isFinite(x);\nconst _clamp01 = (x) => x < 0 ? 0 : (x > 1 ? 1 : x);\nconst _clampS = (x, lo, hi) => x < lo ? lo : (x > hi ? hi : x);\n\nfunction _parseVec3(v) {\n if (!v) return null;\n if (ArrayBuffer.isView(v) && v.length >= 3) return [v[0], v[1], v[2]];\n if (Array.isArray(v) && v.length >= 3 && v.every(n => typeof n === 'number')) return [v[0], v[1], v[2]];\n if (typeof v === 'object' && 'x' in v) return [v.x \|\| 0, v.y \|\| 0, v.z \|\| 0];\n return null;\n}\n\n// Euler: unit axis vectors and the six valid intrinsic orderings.\nconst _EULER_AXES = { X:[1,0,0], Y:[0,1,0], Z:[0,0,1] };\nconst _EULER_ORDERS = new Set(['XYZ','XZY','YXZ','YZX','ZXY','ZYX']);\n\n/*\n Parse any rotation representation into a unit quaternion [x,y,z,w].\n \n Accepted forms:\n \n [x,y,z,w]\n * Raw quaternion array.\n \n { axis:[x,y,z], angle }\n * Axis-angle. Axis need not be unit.\n \n { dir:[x,y,z], up?:[x,y,z] }\n * Object orientation — forward direction (−Z) with optional up hint.\n \n { eMatrix: mat4 }\n * Extract rotation block from an eye (eye→world) matrix.\n * Column-major Float32Array(16), plain Array, or { mat4 } wrapper.\n \n { mat3: mat3 }\n * Column-major 3×3 rotation matrix — Float32Array(9) or plain Array.\n \n { euler:[rx,ry,rz], order?:'YXZ' }\n * Intrinsic Euler angles (radians). Angles are indexed by order position:\n * e[0] rotates around order[0] axis, e[1] around order[1], e[2] around order[2].\n * Supported orders: YXZ (default), XYZ, ZYX, ZXY, XZY, YZX.\n * Note: intrinsic ABC = extrinsic CBA with the same angles — to use\n * extrinsic order ABC, reverse the string and use intrinsic CBA.\n \n { from:[x,y,z], to:[x,y,z] }\n * Shortest-arc rotation from one direction onto another.\n * Both vectors are normalised internally.\n * Antiparallel input: 180° rotation around a perpendicular axis.\n \n @param {} v\n @returns {number[]\|null} [x,y,z,w] or null if unparseable.\n /\nfunction _parseQuat(v) {\n if (!v) return null;\n\n // raw [x,y,z,w] — plain array or typed array\n if ((Array.isArray(v) \|\| ArrayBuffer.isView(v)) && v.length === 4) return [v[0], v[1], v[2], v[3]];\n\n // { axis, angle }\n if (v.axis && typeof v.angle === 'number') {\n const a = 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], a[0],a[1],a[2], v.angle);\n }\n\n // { dir, up? }\n if (v.dir) {\n const d = Array.isArray(v.dir) ? v.dir : [v.dir.x\|\|0, v.dir.y\|\|0, v.dir.z\|\|0];\n const u = v.up ? (Array.isArray(v.up) ? v.up : [v.up.x\|\|0, v.up.y\|\|0, v.up.z\|\|0]) : null;\n return qFromLookDir([0,0,0,1], d, u);\n }\n\n // { eMatrix } — rotation block from eye (eye→world) matrix, col-major mat4\n if (v.eMatrix != null) {\n const m = (ArrayBuffer.isView(v.eMatrix) \|\| Array.isArray(v.eMatrix))\n ? v.eMatrix : (v.eMatrix.mat4 ?? null);\n if (m && m.length >= 16) return qFromMat4([0,0,0,1], m);\n }\n\n // { mat3 } — column-major 3×3 rotation matrix\n // col0=[m0,m1,m2], col1=[m3,m4,m5], col2=[m6,m7,m8]\n // row-major for qFromRotMat3x3: row0=[m0,m3,m6], row1=[m1,m4,m7], row2=[m2,m5,m8]\n if (v.mat3 != null) {\n const m = v.mat3;\n if ((ArrayBuffer.isView(m) \|\| Array.isArray(m)) && m.length >= 9)\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? } — intrinsic Euler angles (radians), default order YXZ\n if (v.euler != null) {\n const e = v.euler;\n if (!Array.isArray(e) \|\| e.length < 3) return null;\n const order = (typeof v.order === 'string' && _EULER_ORDERS.has(v.order))\n ? v.order : 'YXZ';\n const q = [0,0,0,1];\n const s = [0,0,0,1]; // scratch — reused each step\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 } — shortest-arc rotation from one direction onto another\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 // parallel — identity\n if (dot >= 1 - 1e-8) return [0,0,0,1];\n // antiparallel — 180° around any perpendicular axis\n if (dot <= -1 + 1e-8) {\n // cross(from, X=[1,0,0]) = [0, fz, -fy]\n let px=0, py=fz, pz=-fy;\n let pl = Math.sqrt(pxpx+pypy+pzpz);\n if (pl < 1e-8) {\n // from ≈ ±X; try cross(from, Z=[0,0,1]) = [fy, -fx, 0]\n px=fy; py=-fx; pz=0;\n pl = Math.sqrt(pxpx+pypy+pzpz);\n }\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 // general case — axis = normalize(cross(from, to))\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.\n \n Accepted forms:\n \n { mMatrix }\n * Decompose a column-major mat4 into TRS via mat4ToTransform.\n * Float32Array(16), plain Array, or { mat4 } wrapper.\n * pos from col3, scl from column lengths, rot from normalised rotation block.\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 * When absent, centripetal Catmull-Rom tangents are auto-computed at eval time.\n \n @param {Object} spec\n * @returns {{ pos:number[], rot:number[], scl:number[], tanIn:number[]\|null, tanOut:number[]\|null }\|null}\n /\nfunction _parseSpec(spec) {\n if (!spec \|\| typeof spec !== 'object') return null;\n\n // { mMatrix } — full TRS decomposition from model matrix\n if (spec.mMatrix != null) {\n const m = (ArrayBuffer.isView(spec.mMatrix) \|\| Array.isArray(spec.mMatrix))\n ? spec.mMatrix : (spec.mMatrix.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n const kf = mat4ToTransform({ pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] }, m);\n kf.tanIn = null; kf.tanOut = null;\n return kf;\n }\n\n const pos = _parseVec3(spec.pos) \|\| [0,0,0];\n const rot = _parseQuat(spec.rot) \|\| [0,0,0,1];\n const scl = _parseVec3(spec.scl) \|\| [1,1,1];\n const tanIn = _parseVec3(spec.tanIn) \|\| null;\n const tanOut = _parseVec3(spec.tanOut) \|\| null;\n return { pos, rot, scl, tanIn, tanOut };\n}\n\nfunction _sameTransform(a, b) {\n for (let i=0;i<3;i++) if (a.pos[i]!==b.pos[i]\|\|a.scl[i]!==b.scl[i]) return false;\n for (let i=0;i<4;i++) if (a.rot[i]!==b.rot[i]) return false;\n return true;\n}\n\n// =========================================================================\n// S4b Spec parser — CameraTrack\n// =========================================================================\n\n/\n Parse a camera keyframe spec into internal { eye, center, up } form.\n \n Accepted forms:\n \n { eye, center?, up?, fov?, halfHeight?,\n * eyeTanIn?, eyeTanOut?, centerTanIn?, centerTanOut? }\n * Explicit lookat. center defaults to [0,0,0], up defaults to [0,1,0].\n * Both are normalised/stored as-is. eye must be a vec3.\n * eyeTanIn/Out and centerTanIn/Out are optional vec3 tangents for Hermite.\n * When absent, centripetal Catmull-Rom tangents are auto-computed at eval time.\n \n { vMatrix: mat4 }\n * Column-major view matrix (world→eye).\n * eye reconstructed via -R^T·t; center = eye + forward·1; up = [0,1,0].\n * The matrix's up_ortho (col1) is intentionally NOT used as up —\n * passing it to cam.camera() shifts orbitControl's orbit reference.\n * Float32Array(16), plain Array, or { mat4 } wrapper.\n \n { eMatrix: mat4 }\n * Column-major eye matrix (eye→world, i.e. inverse view).\n * eye read directly from col3; center = eye + forward·1; up = [0,1,0].\n * Simpler extraction than vMatrix; prefer this form when eMatrix is available.\n * Float32Array(16), plain Array, or { mat4 } wrapper.\n \n @param {Object} spec\n * @returns {{ eye:number[], center:number[], up:number[],\n * fov:number\|null, halfHeight:number\|null,\n * eyeTanIn:number[]\|null, eyeTanOut:number[]\|null,\n * centerTanIn:number[]\|null, centerTanOut:number[]\|null }\|null}\n /\nfunction _parseCameraSpec(spec) {\n if (!spec \|\| typeof spec !== 'object') return null;\n\n // { vMatrix } — view matrix (world→eye); reconstruct eye via -R^T·t\n if (spec.vMatrix != null) {\n const m = (ArrayBuffer.isView(spec.vMatrix) \|\| Array.isArray(spec.vMatrix))\n ? spec.vMatrix : (spec.vMatrix.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n const ex = -(m[0]m[12] + m[4]m[13] + m[8]m[14]);\n const ey = -(m[1]m[12] + m[5]m[13] + m[9]m[14]);\n const ez = -(m[2]m[12] + m[6]m[13] + m[10]m[14]);\n const fx=-m[8], fy=-m[9], fz=-m[10];\n const fl=Math.sqrt(fxfx+fyfy+fzfz)\|\|1;\n return { eye:[ex,ey,ez], center:[ex+fx/fl,ey+fy/fl,ez+fz/fl], up:[0,1,0],\n fov:null, halfHeight:null,\n eyeTanIn:null, eyeTanOut:null, centerTanIn:null, centerTanOut:null };\n }\n\n // { eMatrix } — eye matrix (eye→world); eye = col3, forward = -col2\n if (spec.eMatrix != null) {\n const m = (ArrayBuffer.isView(spec.eMatrix) \|\| Array.isArray(spec.eMatrix))\n ? spec.eMatrix : (spec.eMatrix.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n const ex=m[12], ey=m[13], ez=m[14];\n const fx=-m[8], fy=-m[9], fz=-m[10];\n const fl=Math.sqrt(fxfx+fyfy+fzfz)\|\|1;\n return { eye:[ex,ey,ez], center:[ex+fx/fl,ey+fy/fl,ez+fz/fl], up:[0,1,0],\n fov:null, halfHeight:null,\n eyeTanIn:null, eyeTanOut:null, centerTanIn:null, centerTanOut:null };\n }\n\n // { eye, center?, up? } — explicit lookat (eye is a vec3, not a mat4)\n const eye = _parseVec3(spec.eye);\n if (!eye) return null;\n const center = _parseVec3(spec.center) \|\| [0,0,0];\n const upRaw = spec.up ? _parseVec3(spec.up) : null;\n const up = upRaw \|\| [0,1,0];\n const ul = Math.sqrt(up[0]up[0]+up[1]up[1]+up[2]up[2]) \|\| 1;\n return {\n eye, center,\n up: [up[0]/ul, up[1]/ul, up[2]/ul],\n fov: typeof spec.fov === 'number' ? spec.fov : null,\n halfHeight: typeof spec.halfHeight === 'number' ? spec.halfHeight : null,\n eyeTanIn: _parseVec3(spec.eyeTanIn) \|\| null,\n eyeTanOut: _parseVec3(spec.eyeTanOut) \|\| null,\n centerTanIn: _parseVec3(spec.centerTanIn) \|\| null,\n centerTanOut:_parseVec3(spec.centerTanOut)\|\| null,\n };\n}\n\nfunction _sameCameraKeyframe(a, b) {\n for (let i=0;i<3;i++) {\n if (a.eye[i]!==b.eye[i]) return false;\n if (a.center[i]!==b.center[i]) return false;\n if (a.up[i]!==b.up[i]) return false;\n }\n if (a.fov !== b.fov) return false;\n if (a.halfHeight !== b.halfHeight) return false;\n return true;\n}\n\n// =========================================================================\n// S5 Track — unexported base class (transport machinery only)\n// =========================================================================\n\nclass Track {\n constructor() {\n /* @type {Array} Keyframe array — shape depends on subclass. /\n this.keyframes = [];\n /* Whether playback is active. @type {boolean} /\n this.playing = false;\n /* Loop at boundaries. @type {boolean} /\n this.loop = false;\n /* Ping-pong bounce (takes precedence over loop). @type {boolean} /\n this.pingPong = false;\n /* Frames per segment (≥1). @type {number} /\n this.duration = 30;\n /* Current segment index. @type {number} /\n this.seg = 0;\n /* Frame offset within segment (can be fractional). @type {number} /\n this.f = 0;\n\n // Internal rate — never directly starts/stops playback\n this._rate = 1;\n\n // User-space hooks\n /* @type {Function\|null} / this.onPlay = null;\n /* @type {Function\|null} / this.onEnd = null;\n /* @type {Function\|null} / this.onStop = null;\n\n // Lib-space hooks (set by host layer, e.g. p5 bridge)\n /* @type {Function\|null} / this._onActivate = null;\n /* @type {Function\|null} / this._onDeactivate = null;\n // Lib-space event mirrors — set by UI layer (trackUI), never touched by user code\n /* @type {Function\|null} / this._onPlay = null;\n /* @type {Function\|null} / this._onEnd = null;\n /* @type {Function\|null} / this._onStop = null;\n }\n\n /* Playback rate. Assigning never starts/stops playback. @type {number} /\n get rate() { return this._rate; }\n set rate(v) { this._rate = (_isNum(v)) ? v : 1; }\n\n /* Number of interpolatable segments (keyframes.length − 1, min 0). @type {number} /\n get segments() { return Math.max(0, this.keyframes.length - 1); }\n\n /\n Start or update playback.\n * @param {number\|Object} [rateOrOpts] Numeric rate or options object:\n * { rate, duration, loop, pingPong, onPlay, onEnd, onStop }\n * @returns {Track} this\n /\n play(rateOrOpts) {\n if (this.keyframes.length === 0) return this;\n\n // One keyframe: snap cursor, no animation\n if (this.keyframes.length === 1) {\n this.seg = 0; this.f = 0;\n return this;\n }\n\n if (typeof rateOrOpts === 'number' && Number.isFinite(rateOrOpts)) {\n this._rate = rateOrOpts;\n } else if (rateOrOpts && typeof rateOrOpts === 'object') {\n const o = rateOrOpts;\n if (_isNum(o.duration)) this.duration = Math.max(1, o.duration \| 0);\n if ('loop' in o) this.loop = !!o.loop;\n if ('pingPong' in o) this.pingPong = !!o.pingPong;\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 if (typeof this.onPlay === 'function') { try { this.onPlay(this); } catch (_) {} }\n this._onPlay?.();\n this._onActivate?.();\n }\n return this;\n }\n\n /\n Stop playback.\n * @param {boolean} [rewind=false] Seek to origin after stopping.\n * @returns {Track} this\n /\n stop(rewind) {\n const wasPlaying = this.playing;\n this.playing = false;\n if (wasPlaying) {\n 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 < 0 ? 1 : 0);\n }\n return this;\n }\n\n /\n Clear all keyframes and stop.\n * @returns {Track} this\n /\n reset() {\n const wasPlaying = this.playing;\n this.playing = false;\n if (wasPlaying) {\n if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }\n this._onStop?.();\n this._onDeactivate?.();\n }\n this.keyframes.length = 0;\n this.seg = 0; this.f = 0;\n return this;\n }\n\n /\n Remove the keyframe at index. Adjusts cursor if needed.\n * @param {number} index\n * @returns {boolean}\n /\n remove(index) {\n if (!_isNum(index)) return false;\n const i = index \| 0;\n if (i < 0 \|\| i >= this.keyframes.length) return false;\n this.keyframes.splice(i, 1);\n const nSeg = this.segments;\n if (nSeg === 0) { this.seg = 0; this.f = 0; }\n else if (this.seg >= nSeg) { this.seg = nSeg - 1; }\n return true;\n }\n\n /\n Seek to a normalised position [0,1] across the full path.\n * @param {number} t Normalised time [0, 1].\n * @param {number} [segIndex] Optional segment override.\n * @returns {Track} this\n /\n seek(t, segIndex) {\n const nSeg = this.segments;\n if (nSeg === 0) { this.seg = 0; this.f = 0; return this; }\n const dur = Math.max(1, this.duration \| 0);\n if (_isNum(segIndex)) {\n this.seg = _clampS(segIndex \| 0, 0, nSeg - 1);\n this.f = _clamp01(t) dur;\n } else {\n this._setCursorFromScalar(_clamp01(t) * nSeg * dur);\n }\n return this;\n }\n\n /*\n Normalised playback position [0,1].\n * @returns {number}\n /\n time() {\n const nSeg = this.segments;\n if (nSeg === 0) return 0;\n const dur = Math.max(1, this.duration \| 0);\n return _clamp01((this.seg dur + this.f) / (nSeg * dur));\n }\n\n /*\n Snapshot of transport state.\n * @returns {Object}\n /\n info() {\n return {\n keyframes: this.keyframes.length,\n segments: this.segments,\n seg: this.seg,\n f: this.f,\n playing: this.playing,\n loop: this.loop,\n pingPong: this.pingPong,\n rate: this._rate,\n duration: this.duration,\n time: this.segments > 0 ? this.time() : 0\n };\n }\n\n /\n Advance cursor by rate frames.\n * Returns true while playing, false when stopping.\n * @returns {boolean}\n /\n tick() {\n if (!this.playing) return false;\n const nSeg = this.segments;\n if (nSeg === 0) {\n this.playing = false; this._onDeactivate?.(); return false;\n }\n if (this._rate === 0) return true;\n\n const dur = Math.max(1, this.duration \| 0);\n const total = nSeg dur;\n const s = _clampS(this.seg * dur + this.f, 0, total);\n const next = s + this._rate;\n\n if (this.pingPong) {\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._rate = -this._rate;\n this._setCursorFromScalar(pos);\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.\n * When neither is supplied, centripetal Catmull-Rom tangents are auto-computed.\n \n add() accepts individual specs or a bulk array of specs:\n \n { mMatrix } — full TRS from model matrix\n * { pos?, rot?, scl?, tanIn?, tanOut? } — direct TRS; all fields optional\n * { pos?, rot: [x,y,z,w] } — explicit quaternion\n * { pos?, rot: { axis, angle } } — axis-angle\n * { pos?, rot: { dir, up? } } — look direction\n * { pos?, rot: { eMatrix: mat4 } } — rotation from eye matrix\n * { pos?, rot: { mat3 } } — column-major 3×3 rotation matrix\n * { pos?, rot: { euler, order? } } — intrinsic Euler angles (default YXZ)\n * { pos?, rot: { from, to } } — shortest-arc between two directions\n * [ spec, spec, ... ] — bulk\n \n Missing fields default to: pos → [0,0,0], rot → [0,0,0,1], scl → [1,1,1].\n \n eval() writes { pos, rot, scl }:\n * pos — Hermite (tanIn/tanOut per keyframe; auto-CR when absent) or linear or step\n * rot — slerp (rotInterp='slerp') or nlerp or step\n * scl — lerp\n \n @example\n * const track = new PoseTrack()\n * track.add({ pos:[0,0,0] })\n * track.add({ pos:[100,0,0], tanOut:[0,50,0] }) // leave heading +Y\n * track.add({ pos:[200,0,0] })\n * track.play({ loop: true })\n * // per frame:\n * track.tick()\n * const out = { pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] }\n * track.eval(out)\n /\nexport class PoseTrack extends Track {\n constructor() {\n super();\n /\n Position interpolation mode.\n * - 'hermite' — cubic Hermite; uses tanIn/tanOut per keyframe when present,\n * auto-computes centripetal Catmull-Rom tangents when absent (default)\n * - 'linear' — lerp\n * - 'step' — snap to k0 value; useful for discrete state changes\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.posInterp = 'hermite';\n /\n Rotation interpolation mode.\n * - 'slerp' — constant angular velocity (default)\n * - 'nlerp' — normalised lerp; cheaper, slightly non-constant speed\n * - 'step' — snap to k0 quaternion; useful for discrete state changes\n * @type {'slerp'\|'nlerp'\|'step'}\n /\n this.rotInterp = 'slerp';\n // Scratch for toMatrix() — avoids hot-path allocations\n this._pos = [0,0,0];\n this._rot = [0,0,0,1];\n this._scl = [1,1,1];\n }\n\n /\n Append one or more keyframes. Adjacent duplicates are skipped by default.\n * @param {Object\|Object[]} spec\n * @param {{ deduplicate?: boolean }} [opts]\n /\n add(spec, opts) {\n if (Array.isArray(spec)) {\n for (const s of spec) this.add(s, opts);\n return;\n }\n const kf = _parseSpec(spec);\n if (!kf) return;\n const dedup = !opts \|\| opts.deduplicate !== false;\n if (dedup && this.keyframes.length > 0) {\n if (_sameTransform(this.keyframes[this.keyframes.length - 1], kf)) return;\n }\n this.keyframes.push(kf);\n }\n\n /\n Replace (or append at end) the keyframe at index.\n * @param {number} index\n * @param {Object} spec\n * @returns {boolean}\n /\n set(index, spec) {\n if (!_isNum(index)) return false;\n const i = index \| 0, kf = _parseSpec(spec);\n if (!kf \|\| i < 0 \|\| i > this.keyframes.length) return false;\n if (i === this.keyframes.length) this.keyframes.push(kf);\n else this.keyframes[i] = kf;\n return true;\n }\n\n /\n Evaluate interpolated TRS pose at current cursor.\n * @param {{ pos:number[], rot:number[], scl:number[] }} [out]\n * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n /\n eval(out) {\n out = out \|\| { pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] };\n const n = this.keyframes.length;\n if (n === 0) return out;\n\n if (n === 1) {\n const k = this.keyframes[0];\n out.pos[0]=k.pos[0]; out.pos[1]=k.pos[1]; out.pos[2]=k.pos[2];\n out.rot[0]=k.rot[0]; out.rot[1]=k.rot[1]; out.rot[2]=k.rot[2]; out.rot[3]=k.rot[3];\n out.scl[0]=k.scl[0]; out.scl[1]=k.scl[1]; out.scl[2]=k.scl[2];\n return out;\n }\n\n const nSeg = n - 1;\n const dur = Math.max(1, this.duration \| 0);\n const seg = _clampS(this.seg, 0, nSeg - 1);\n const t = _clamp01(this.f / dur);\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n // pos — Hermite (auto-CR tangents when none stored), linear, or step\n if (this.posInterp === 'step') {\n out.pos[0]=k0.pos[0]; out.pos[1]=k0.pos[1]; out.pos[2]=k0.pos[2];\n } else if (this.posInterp === 'linear') {\n lerpVec3(out.pos, k0.pos, k1.pos, t);\n } else {\n const p0 = seg > 0 ? this.keyframes[seg - 1].pos : k0.pos;\n const p3 = seg + 2 < n ? this.keyframes[seg + 2].pos : k1.pos;\n // tanOut on k0: use stored, else symmetric from tanIn, else auto-CR\n const m0 = k0.tanOut != null ? k0.tanOut\n : k0.tanIn != null ? k0.tanIn\n : _crTanOut(_m0, p0, k0.pos, k1.pos, p3);\n // tanIn on k1: use stored, else symmetric from tanOut, else auto-CR\n const m1 = k1.tanIn != null ? k1.tanIn\n : k1.tanOut != null ? k1.tanOut\n : _crTanIn(_m1, p0, k0.pos, k1.pos, p3);\n hermiteVec3(out.pos, k0.pos, m0, k1.pos, m1, t);\n }\n\n // rot — step, slerp, or nlerp\n if (this.rotInterp === 'step') {\n out.rot[0]=k0.rot[0]; out.rot[1]=k0.rot[1]; out.rot[2]=k0.rot[2]; out.rot[3]=k0.rot[3];\n } else if (this.rotInterp === 'nlerp') {\n qNlerp(out.rot, k0.rot, k1.rot, t);\n } else {\n qSlerp(out.rot, k0.rot, k1.rot, t);\n }\n\n // scl — lerp\n lerpVec3(out.scl, k0.scl, k1.scl, t);\n\n return out;\n }\n\n /\n Evaluate into an existing column-major mat4.\n * @param {Float32Array\|number[]} outMat4 16-element array.\n * @returns {Float32Array\|number[]} outMat4\n /\n toMatrix(outMat4) {\n const xf = this.eval({ pos: this._pos, rot: this._rot, scl: this._scl });\n return transformToMat4(outMat4, xf);\n }\n}\n\n// =========================================================================\n// S7 CameraTrack\n// =========================================================================\n\n/\n Lookat camera keyframe track.\n \n Keyframe shape: { eye:[x,y,z], center:[x,y,z], up:[x,y,z],\n * fov?:number, halfHeight?:number,\n * eyeTanIn?:[x,y,z], eyeTanOut?:[x,y,z],\n * centerTanIn?:[x,y,z], centerTanOut?:[x,y,z] }\n \n fov — vertical fov (radians) for perspective cameras; null for ortho.\n * halfHeight — world-unit half-height of ortho frustum; null for perspective.\n * Both are optional and nullable. eval() lerps each only when both adjacent\n * keyframes carry a non-null value for that field.\n \n eyeTanIn/Out and centerTanIn/Out are optional vec3 tangents for Hermite\n * interpolation of the eye and center paths respectively.\n * When absent, centripetal Catmull-Rom tangents are auto-computed at eval time.\n \n Each field is independently interpolated — eye and center along their\n * own paths, up nlerped on the unit sphere. This correctly handles cameras\n * that always look at a fixed target (center stays at origin throughout)\n * as well as free-fly paths where center moves independently.\n \n Missing fields default to: center → [0,0,0], up → [0,1,0].\n \n add() accepts individual specs or a bulk array of specs:\n \n { eye, center?, up?, fov?, halfHeight?,\n * eyeTanIn?, eyeTanOut?, centerTanIn?, centerTanOut? }\n * explicit lookat; center defaults to [0,0,0], up to [0,1,0].\n * fov and halfHeight are mutually exclusive nullable scalars.\n * { vMatrix: mat4 } view matrix (world→eye); eye reconstructed via -R^T·t\n * { eMatrix: mat4 } eye matrix (eye→world); eye read from col3 directly\n * [ spec, spec, ... ] bulk\n \n Note on up for matrix forms:\n * up is always [0,1,0]. The matrix's col1 (up_ortho) is intentionally\n * not used — it differs from the hint [0,1,0] for upright cameras and\n * passing it to cam.camera() shifts orbitControl's orbit reference.\n * Use capturePose() (p5.tree bridge) when the real up hint is needed.\n \n eval() writes { eye, center, up, fov, halfHeight }:\n * eye — Hermite (auto-CR when no tangents stored) or linear or step\n * center — Hermite (auto-CR when no tangents stored) or linear or step\n * up — nlerp (normalize-after-lerp on unit sphere)\n * fov — lerp when both keyframes carry non-null fov; else null\n * halfHeight — lerp when both keyframes carry non-null halfHeight; else null\n \n @example\n * const track = new CameraTrack()\n * track.add({ eye:[0,0,500] }) // center defaults to [0,0,0]\n * track.add({ eye:[300,-150,0], center:[0,0,0] })\n * track.add({ eMatrix: myEyeMatrix })\n * track.add({ vMatrix: myViewMatrix })\n * track.play({ loop: true })\n * // per frame:\n * track.tick()\n * const out = { eye:[0,0,0], center:[0,0,0], up:[0,1,0] }\n * track.eval(out)\n * cam.camera(out.eye[0],out.eye[1],out.eye[2],\n * out.center[0],out.center[1],out.center[2],\n * out.up[0],out.up[1],out.up[2])\n /\nexport class CameraTrack extends Track {\n constructor() {\n super();\n /\n Eye position interpolation mode.\n * - 'hermite' — cubic Hermite; auto-CR tangents when none stored (default)\n * - 'linear' — lerp\n * - 'step' — snap to k0 eye\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.eyeInterp = 'hermite';\n /\n Center (lookat target) interpolation mode.\n * 'linear' suits fixed or predictably moving targets (default).\n * 'hermite' gives smoother paths when center is also flying freely.\n * - 'hermite' — cubic Hermite; auto-CR tangents when none stored\n * - 'linear' — lerp\n * - 'step' — snap to k0 center\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.centerInterp = 'linear';\n // Scratch for toCamera() — avoids hot-path allocations\n this._eye = [0,0,0];\n this._center = [0,0,0];\n this._up = [0,1,0];\n }\n\n /\n Append one or more camera keyframes. Adjacent duplicates are skipped by default.\n \n @param {Object\|Object[]} spec\n * { eye, center?, up? } or { vMatrix: mat4 } or { eMatrix: mat4 } or an array of either.\n * @param {{ deduplicate?: boolean }} [opts]\n /\n add(spec, opts) {\n if (Array.isArray(spec)) {\n for (const s of spec) this.add(s, opts);\n return;\n }\n const kf = _parseCameraSpec(spec);\n if (!kf) return;\n const dedup = !opts \|\| opts.deduplicate !== false;\n if (dedup && this.keyframes.length > 0) {\n if (_sameCameraKeyframe(this.keyframes[this.keyframes.length - 1], kf)) return;\n }\n this.keyframes.push(kf);\n }\n\n /\n Replace (or append at end) the keyframe at index.\n * @param {number} index\n * @param {Object} spec\n * @returns {boolean}\n /\n set(index, spec) {\n if (!_isNum(index)) return false;\n const i = index \| 0, kf = _parseCameraSpec(spec);\n if (!kf \|\| i < 0 \|\| i > this.keyframes.length) return false;\n if (i === this.keyframes.length) this.keyframes.push(kf);\n else this.keyframes[i] = kf;\n return true;\n }\n\n /\n Evaluate interpolated camera pose at current cursor.\n \n @param {{ eye:number[], center:number[], up:number[] }} [out]\n * @returns {{ eye:number[], center:number[], up:number[] }} out\n /\n eval(out) {\n out = out \|\| { eye:[0,0,0], center:[0,0,0], up:[0,1,0], fov:null, halfHeight:null };\n const n = this.keyframes.length;\n if (n === 0) return out;\n\n if (n === 1) {\n const k = this.keyframes[0];\n out.eye[0]=k.eye[0]; out.eye[1]=k.eye[1]; out.eye[2]=k.eye[2];\n out.center[0]=k.center[0]; out.center[1]=k.center[1]; out.center[2]=k.center[2];\n out.up[0]=k.up[0]; out.up[1]=k.up[1]; out.up[2]=k.up[2];\n out.fov = k.fov;\n out.halfHeight = k.halfHeight;\n return out;\n }\n\n const nSeg = n - 1;\n const dur = Math.max(1, this.duration \| 0);\n const seg = _clampS(this.seg, 0, nSeg - 1);\n const t = _clamp01(this.f / dur);\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n // eye — Hermite (auto-CR tangents when none stored), linear, or step\n if (this.eyeInterp === 'step') {\n out.eye[0]=k0.eye[0]; out.eye[1]=k0.eye[1]; out.eye[2]=k0.eye[2];\n } else if (this.eyeInterp === 'linear') {\n lerpVec3(out.eye, k0.eye, k1.eye, t);\n } else {\n const p0 = seg > 0 ? this.keyframes[seg - 1].eye : k0.eye;\n const p3 = seg + 2 < n ? this.keyframes[seg + 2].eye : k1.eye;\n const m0 = k0.eyeTanOut != null ? k0.eyeTanOut\n : k0.eyeTanIn != null ? k0.eyeTanIn\n : _crTanOut(_m0, p0, k0.eye, k1.eye, p3);\n const m1 = k1.eyeTanIn != null ? k1.eyeTanIn\n : k1.eyeTanOut != null ? k1.eyeTanOut\n : _crTanIn(_m1, p0, k0.eye, k1.eye, p3);\n hermiteVec3(out.eye, k0.eye, m0, k1.eye, m1, t);\n }\n\n // center — Hermite, linear, or step (independent lookat target)\n if (this.centerInterp === 'step') {\n out.center[0]=k0.center[0]; out.center[1]=k0.center[1]; out.center[2]=k0.center[2];\n } else if (this.centerInterp === 'linear') {\n lerpVec3(out.center, k0.center, k1.center, t);\n } else {\n const c0 = seg > 0 ? this.keyframes[seg - 1].center : k0.center;\n const c3 = seg + 2 < n ? this.keyframes[seg + 2].center : k1.center;\n const m0 = k0.centerTanOut != null ? k0.centerTanOut\n : k0.centerTanIn != null ? k0.centerTanIn\n : _crTanOut(_m0, c0, k0.center, k1.center, c3);\n const m1 = k1.centerTanIn != null ? k1.centerTanIn\n : k1.centerTanOut != null ? k1.centerTanOut\n : _crTanIn(_m1, c0, k0.center, k1.center, c3);\n hermiteVec3(out.center, k0.center, m0, k1.center, m1, t);\n }\n\n // up — nlerp (normalize after lerp; correct for typical near-upright cameras)\n const ux = k0.up[0] + t(k1.up[0]-k0.up[0]);\n const uy = k0.up[1] + t(k1.up[1]-k0.up[1]);\n const uz = k0.up[2] + t(k1.up[2]-k0.up[2]);\n const ul = Math.sqrt(uxux+uyuy+uzuz) \|\| 1;\n out.up[0]=ux/ul; out.up[1]=uy/ul; out.up[2]=uz/ul;\n\n // fov — lerp (perspective); null when either keyframe lacks it\n out.fov = (k0.fov !== null && k1.fov !== null)\n ? k0.fov + t (k1.fov - k0.fov) : null;\n // halfHeight — lerp (ortho); null when either keyframe lacks it\n out.halfHeight = (k0.halfHeight !== null && k1.halfHeight !== null)\n ? k0.halfHeight + t * (k1.halfHeight - k0.halfHeight) : null;\n\n return out;\n }\n}\n","/*\n @file Frustum planes and visibility tests — zero allocations.\n * @module tree/visibility\n * @license AGPL-3.0-only\n \n Planes are a flat Float64Array(24): 6 planes × 4 floats [a, b, c, d].\n * All inputs are scalars. All outputs are INVISIBLE \| VISIBLE \| SEMIVISIBLE.\n /\n\nimport { INVISIBLE, VISIBLE, SEMIVISIBLE } from './constants.js';\n\n// Plane indices\nexport const PLANE_LEFT = 0, PLANE_RIGHT = 1, PLANE_NEAR = 2,\n PLANE_FAR = 3, PLANE_TOP = 4, PLANE_BOTTOM = 5;\n\n/\n Compute 6 frustum planes from camera basis (world space) + projection params.\n * All inputs are scalars — the addon extracts them from the inverse view matrix\n * and projection queries before calling.\n \n @param {Float64Array} out 24-float output.\n * @param {number} posX,posY,posZ Camera world position.\n * @param {number} vdX,vdY,vdZ View direction (−Z in eye space, world).\n * @param {number} upX,upY,upZ Camera up.\n * @param {number} rtX,rtY,rtZ Camera right.\n * @param {boolean} ortho true if orthographic.\n * @param {number} near,far,left,right,top,bottom Projection plane values.\n /\nexport function frustumPlanes(\n out,\n posX, posY, posZ,\n vdX, vdY, vdZ,\n upX, upY, upZ,\n rtX, rtY, rtZ,\n ortho,\n near, far, left, right, top, bottom\n) {\n const posViewDir = 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 - bottom; // note: p5 top/bottom are swapped in sign convention\n\n // Bottom: normal = -up\n out[20] = -upX; out[21] = -upY; out[22] = -upZ;\n out[23] = -posUp + top;\n } else {\n // Left\n const hfovl = Math.atan2(left, near);\n const shfovl = Math.sin(hfovl), chfovl = Math.cos(hfovl);\n out[0] = 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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1	+ {"version":3,"file":"index.js","sources":["../src/constants.js","../src/math.js","../src/track.js","../src/visibility.js"],"sourcesContent":["/*\n @file Core constants — zero dependencies.\n * @module tree/constants\n * @license AGPL-3.0-only\n /\n\n// Coordinate spaces\nexport const WORLD = 'WORLD';\nexport const EYE = 'EYE';\nexport const NDC = 'NDC';\nexport const SCREEN = 'SCREEN';\nexport const MODEL = 'MODEL';\nexport const MATRIX = 'MATRIX';\n\n// NDC Z convention (only difference between backends)\nexport const WEBGL = -1; // z ∈ [−1, 1]\nexport const WEBGPU = 0; // z ∈ [0, 1]\n\n// Visibility results\nexport const INVISIBLE = 0;\nexport const VISIBLE = 1;\nexport const SEMIVISIBLE = 2;\n\n// Basis vectors (frozen plain arrays — duck-typed Vec3)\nexport const ORIGIN = Object.freeze([0, 0, 0]);\nexport const i = Object.freeze([1, 0, 0]);\nexport const j = Object.freeze([0, 1, 0]);\nexport const k = Object.freeze([0, 0, 1]);\nexport const _i = Object.freeze([-1, 0, 0]);\nexport const _j = Object.freeze([0, -1, 0]);\nexport const _k = Object.freeze([0, 0, -1]);\n","/\n @file Pure numeric math — mat4, mat3, projection queries, space transforms.\n * @module tree/math\n * @license AGPL-3.0-only\n \n CONVENTIONS (all functions in this module follow these):\n \n Storage: Column-major Float32Array / ArrayLike<number>.\n * Element [col4 + row] = M[row, col].\n \n * Multiply: mat4Mul(out, A, B) = A · B (standard math order).\n \n Pipeline: clip = P · V · M · v\n * P = projection (eye → clip)\n * V = view (world → eye)\n * M = model (local → world)\n \n PV: All functions expecting a \"pv\" matrix receive P · V.\n * This is what _worldToScreen, _ensurePV, etc. compute.\n \n Matrix stack (translate/rotate/scale in p5):\n * Each call post-multiplies: M = M · T, so:\n * translate(tx,ty,tz); rotateY(a); scale(s);\n * yields M = T · R · S. A vertex v is transformed as M·v = T·R·S·v\n * (scaled first, then rotated, then translated — last-written-first-applied).\n \n p5 bridge note (for implementors of host layers):\n * p5.Matrix.mult(B) computes B · this (pre-multiply, arg on LEFT).\n * p5 translate/rotate/scale do this · T (post-multiply, GL stack).\n * So p5's pvMatrix() = V.clone().mult(P) = P · V — same as ours.\n * The bridge extracts .mat4 (Float32Array) and feeds it directly,\n * or uses mat4Mul(out, proj, view) for the non-cached path.\n \n Every function uses only stack locals for intermediates (zero shared state).\n * Every mutating function writes to a caller-provided `out` and returns `out`.\n * Returns null on degeneracy (singular matrix, etc.).\n /\n\n'use strict';\n\nimport {\n WORLD, EYE, NDC, SCREEN, MATRIX,\n} from './constants.js';\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Mat4 math\n// ═══════════════════════════════════════════════════════════════════════════\n\n/* out = A · B (column-major, standard math order) /\nexport function mat4Mul(out, A, B) {\n const a0=A[0],a1=A[1],a2=A[2],a3=A[3],\n a4=A[4],a5=A[5],a6=A[6],a7=A[7],\n a8=A[8],a9=A[9],a10=A[10],a11=A[11],\n a12=A[12],a13=A[13],a14=A[14],a15=A[15];\n let b0=B[0],b1=B[1],b2=B[2],b3=B[3];\n out[0]=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. /\nexport function mat4Invert(out, src) {\n const s=src;\n const a00=s[0],a01=s[1],a02=s[2],a03=s[3],\n a10=s[4],a11=s[5],a12=s[6],a13=s[7],\n a20=s[8],a21=s[9],a22=s[10],a23=s[11],\n a30=s[12],a31=s[13],a32=s[14],a33=s[15];\n const b00=a00a11-a01a10,b01=a00a12-a02a10,\n b02=a00a13-a03a10,b03=a01a12-a02a11,\n b04=a01a13-a03a11,b05=a02a13-a03a12,\n b06=a20a31-a21a30,b07=a20a32-a22a30,\n b08=a20a33-a23a30,b09=a21a32-a22a31,\n b10=a21a33-a23a31,b11=a22a33-a23a32;\n let det=b00b11-b01b10+b02b09+b03b08-b04b07+b05b06;\n if (Math.abs(det) < 1e-12) return null;\n det=1/det;\n out[0]=(a11b11-a12b10+a13b09)det;\n out[1]=(a02b10-a01b11-a03b09)det;\n out[2]=(a31b05-a32b04+a33b03)det;\n out[3]=(a22b04-a21b05-a23b03)det;\n out[4]=(a12b08-a10b11-a13b07)det;\n out[5]=(a00b11-a02b08+a03b07)det;\n out[6]=(a32b02-a30b05-a33b01)det;\n out[7]=(a20b05-a22b02+a23b01)det;\n out[8]=(a10b10-a11b08+a13b06)det;\n out[9]=(a01b08-a00b10-a03b06)det;\n out[10]=(a30b04-a31b02+a33b00)det;\n out[11]=(a21b02-a20b04-a23b00)det;\n out[12]=(a11b07-a10b09-a12b06)det;\n out[13]=(a00b09-a01b07+a02b06)det;\n out[14]=(a31b01-a30b03-a32b00)det;\n out[15]=(a20b03-a21b01+a22b00)det;\n return out;\n}\n\n/* out = transpose(src) /\nexport function mat4Transpose(out, src) {\n if (out === src) {\n let t;\n t=src[1];out[1]=src[4];out[4]=t;\n t=src[2];out[2]=src[8];out[8]=t;\n t=src[3];out[3]=src[12];out[12]=t;\n t=src[6];out[6]=src[9];out[9]=t;\n t=src[7];out[7]=src[13];out[13]=t;\n t=src[11];out[11]=src[14];out[14]=t;\n } else {\n out[0]=src[0];out[1]=src[4];out[2]=src[8];out[3]=src[12];\n out[4]=src[1];out[5]=src[5];out[6]=src[9];out[7]=src[13];\n out[8]=src[2];out[9]=src[6];out[10]=src[10];out[11]=src[14];\n out[12]=src[3];out[13]=src[7];out[14]=src[11];out[15]=src[15];\n }\n return out;\n}\n\n/* out[0..8] = inverseTranspose(upper3×3(src)) (normal matrix) /\nexport function mat3NormalFromMat4(out, src) {\n const a00=src[0],a01=src[1],a02=src[2],\n a10=src[4],a11=src[5],a12=src[6],\n a20=src[8],a21=src[9],a22=src[10];\n const b01=a22a11-a12a21,\n b11=-a22a01+a02a21,\n 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;\n out[1]=(-a22a10+a12a20)det;\n out[2]=(a21a10-a11a20)det;\n out[3]=b11det;\n out[4]=(a22a00-a02a20)det;\n out[5]=(-a21a00+a01a20)det;\n out[6]=b21det;\n out[7]=(-a12a00+a02a10)det;\n 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];\n const ry = m[1]x + m[5]y + m[9]z + m[13];\n const rz = m[2]x + m[6]y + m[10]z + m[14];\n const rw = m[3]x + m[7]y + m[11]z + m[15];\n if (rw !== 0 && rw !== 1) {\n out[0] = rx/rw; out[1] = ry/rw; out[2] = rz/rw;\n } else {\n out[0] = rx; out[1] = ry; out[2] = rz;\n }\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Projection queries (read scalars from a projection mat4)\n// ═══════════════════════════════════════════════════════════════════════════\n\n/* @returns {boolean} true if orthographic /\nexport function projIsOrtho(p) { return p[15] !== 0; }\n\n/\n Near plane distance.\n * @param {ArrayLike<number>} p Projection Mat4.\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nexport function projNear(p, ndcZMin) {\n return p[15] === 0\n ? p[14] / (p[10] + ndcZMin)\n : (p[14] - ndcZMin) / p[10];\n}\n\n/* Far plane distance (convention-independent: far always maps to NDC z=1). /\nexport function projFar(p) {\n return p[15] === 0\n ? p[14] / (1 + p[10])\n : (p[14] - 1) / p[10];\n}\n\nexport function projLeft(p, ndcZMin) {\n return p[15] === 1\n ? -(1 + p[12]) / p[0]\n : projNear(p, ndcZMin) (p[8] - 1) / p[0];\n}\n\nexport function projRight(p, ndcZMin) {\n return p[15] === 1\n ? (1 - p[12]) / p[0]\n : projNear(p, ndcZMin) * (1 + p[8]) / p[0];\n}\n\nexport function projTop(p, ndcZMin) {\n return p[15] === 1\n ? (p[13] - 1) / p[5]\n : projNear(p, ndcZMin) * (p[9] - 1) / p[5];\n}\n\nexport function projBottom(p, ndcZMin) {\n return p[15] === 1\n ? (1 + p[13]) / p[5]\n : projNear(p, ndcZMin) * (1 + p[9]) / p[5];\n}\n\n/** Vertical fov (radians, perspective only). /\nexport function projFov(p) {\n return Math.abs(2 Math.atan(1 / p[5]));\n}\n\n/** Horizontal fov (radians, perspective only). /\nexport function projHfov(p) {\n return Math.abs(2 Math.atan(1 / p[0]));\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Derived matrices (convenience)\n// ═══════════════════════════════════════════════════════════════════════════\n\n/** out = P · V /\nexport function mat4PV(out, proj, view) { return mat4Mul(out, proj, view); }\n\n/* out = V · M /\nexport function mat4MV(out, model, view) { return mat4Mul(out, view, model); }\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Location / Direction transforms\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n Relative transform for locations (points): out = inv(to) · from.\n * @param {ArrayLike<number>} out 16-element destination.\n * @param {ArrayLike<number>} from Source frame transform.\n * @param {ArrayLike<number>} to Destination frame transform.\n * @returns {ArrayLike<number>\|null} out, or null if to is singular.\n /\nexport function mat4Location(out, from, to) {\n return mat4Invert(out, to) && mat4Mul(out, out, from);\n}\n\n/\n Relative transform for directions (vectors): out = to₃ · inv(from₃).\n * Uses only the upper-left 3×3 blocks, ignoring translation.\n * @param {ArrayLike<number>} out 9-element destination.\n * @param {ArrayLike<number>} from Source frame transform.\n * @param {ArrayLike<number>} to Destination frame transform.\n * @returns {ArrayLike<number>\|null} out, or null if from is singular.\n /\nexport function mat3Direction(out, from, to) {\n const a00=from[0], a01=from[1], a02=from[2],\n a10=from[4], a11=from[5], a12=from[6],\n a20=from[8], a21=from[9], a22=from[10];\n const b01=a22a11-a12a21,\n b11=a12a20-a22a10,\n 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],\n t10=to[4], t11=to[5], t12=to[6],\n t20=to[8], t21=to[9], t22=to[10];\n const m00=t00i00+t10i01+t20i02, m01=t01i00+t11i01+t21i02, m02=t02i00+t12i01+t22i02;\n const m10=t00i10+t10i11+t20i12, m11=t01i10+t11i11+t21i12, m12=t02i10+t12i11+t22i12;\n const m20=t00i20+t10i21+t20i22, m21=t01i20+t11i21+t21i22, m22=t02i20+t12i21+t22i22;\n out[0]=m00; out[1]=m10; out[2]=m20;\n out[3]=m01; out[4]=m11; out[5]=m21;\n out[6]=m02; out[7]=m12; out[8]=m22;\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Space transforms — mapLocation / mapDirection\n// ═══════════════════════════════════════════════════════════════════════════\n//\n// FLAT DISPATCH: every from→to pair is a self-contained leaf.\n// No path calls back into mapLocation/mapDirection (no reentrancy).\n// All intermediates are stack locals (zero shared state).\n//\n// Matrices bag m:\n// {\n// pMatrix: Float32Array(16) — projection (eye → clip)\n// vMatrix: Float32Array(16) — view (world → eye)\n// eMatrix?: Float32Array(16) — eye (eye → world, inv view); lazy\n// pvMatrix?: Float32Array(16) — P · V; lazy\n// ipvMatrix?:Float32Array(16) — inv(P · V); lazy\n// fromFrame?:Float32Array(16) — MATRIX source frame (custom space)\n// toFrameInv?:Float32Array(16) — inv(MATRIX dest frame)\n// }\n//\n\n// ── Location leaf helpers ────────────────────────────────────────────────\n\nfunction _worldToScreen(out, px, py, pz, pv, vp, ndcZMin) {\n const x = pv[0]px+pv[4]py+pv[8]pz+pv[12];\n const y = pv[1]px+pv[5]py+pv[9]pz+pv[13];\n const z = pv[2]px+pv[6]py+pv[10]pz+pv[14];\n const w = pv[3]px+pv[7]py+pv[11]pz+pv[15];\n const xi = (w !== 0 && w !== 1) ? x/w : x;\n const yi = (w !== 0 && w !== 1) ? y/w : y;\n const zi = (w !== 0 && w !== 1) ? z/w : z;\n const ndcZRange = 1 - ndcZMin;\n out[0] = (xi0.5+0.5)vp[2]+vp[0];\n out[1] = (yi0.5+0.5)vp[3]+vp[1];\n out[2] = (zi - ndcZMin) / ndcZRange;\n return out;\n}\n\nfunction _screenToWorld(out, px, py, pz, ipv, vp, ndcZMin) {\n const ndcZRange = 1 - ndcZMin;\n const nx = ((px-vp[0])/vp[2])2-1;\n const ny = ((py-vp[1])/vp[3])2-1;\n const nz = pz * ndcZRange + ndcZMin;\n const x = ipv[0]nx+ipv[4]ny+ipv[8]nz+ipv[12];\n const y = ipv[1]nx+ipv[5]ny+ipv[9]nz+ipv[13];\n const z = ipv[2]nx+ipv[6]ny+ipv[10]nz+ipv[14];\n const w = ipv[3]nx+ipv[7]ny+ipv[11]nz+ipv[15];\n out[0]=x/w; out[1]=y/w; out[2]=z/w;\n return out;\n}\n\nfunction _worldToNDC(out, px, py, pz, pv) {\n const x = pv[0]px+pv[4]py+pv[8]pz+pv[12];\n const y = pv[1]px+pv[5]py+pv[9]pz+pv[13];\n const z = pv[2]px+pv[6]py+pv[10]pz+pv[14];\n const w = pv[3]px+pv[7]py+pv[11]pz+pv[15];\n out[0]=x/w; out[1]=y/w; out[2]=z/w;\n return out;\n}\n\nfunction _ndcToWorld(out, px, py, pz, ipv) {\n const x = ipv[0]px+ipv[4]py+ipv[8]pz+ipv[12];\n const y = ipv[1]px+ipv[5]py+ipv[9]pz+ipv[13];\n const z = ipv[2]px+ipv[6]py+ipv[10]pz+ipv[14];\n const w = ipv[3]px+ipv[7]py+ipv[11]pz+ipv[15];\n out[0]=x/w; out[1]=y/w; out[2]=z/w;\n return out;\n}\n\nfunction _screenToNDC(out, px, py, pz, vp, ndcZMin) {\n const ndcZRange = 1 - ndcZMin;\n out[0] = ((px-vp[0])/vp[2])2-1;\n out[1] = ((py-vp[1])/vp[3])2-1;\n out[2] = pz * ndcZRange + ndcZMin;\n return out;\n}\n\nfunction _ndcToScreen(out, px, py, pz, vp, ndcZMin) {\n const ndcZRange = 1 - ndcZMin;\n out[0] = (px0.5+0.5)vp[2]+vp[0];\n out[1] = (py0.5+0.5)vp[3]+vp[1];\n out[2] = (pz - ndcZMin) / ndcZRange;\n return out;\n}\n\n// ── _ensurePV — return pvMatrix from bag, computing inline if absent ──────\n\nfunction _ensurePV(m) {\n if (m.pvMatrix) return m.pvMatrix;\n const p = m.pMatrix, v = m.vMatrix;\n return [\n p[0]v[0]+p[4]v[1]+p[8]v[2]+p[12]v[3],\n p[1]v[0]+p[5]v[1]+p[9]v[2]+p[13]v[3],\n p[2]v[0]+p[6]v[1]+p[10]v[2]+p[14]v[3],\n p[3]v[0]+p[7]v[1]+p[11]v[2]+p[15]v[3],\n p[0]v[4]+p[4]v[5]+p[8]v[6]+p[12]v[7],\n p[1]v[4]+p[5]v[5]+p[9]v[6]+p[13]v[7],\n p[2]v[4]+p[6]v[5]+p[10]v[6]+p[14]v[7],\n p[3]v[4]+p[7]v[5]+p[11]v[6]+p[15]v[7],\n p[0]v[8]+p[4]v[9]+p[8]v[10]+p[12]v[11],\n p[1]v[8]+p[5]v[9]+p[9]v[10]+p[13]v[11],\n p[2]v[8]+p[6]v[9]+p[10]v[10]+p[14]v[11],\n p[3]v[8]+p[7]v[9]+p[11]v[10]+p[15]v[11],\n p[0]v[12]+p[4]v[13]+p[8]v[14]+p[12]v[15],\n p[1]v[12]+p[5]v[13]+p[9]v[14]+p[13]v[15],\n p[2]v[12]+p[6]v[13]+p[10]v[14]+p[14]v[15],\n p[3]v[12]+p[7]v[13]+p[11]v[14]+p[15]v[15],\n ];\n}\n\n/*\n Map a point between coordinate spaces.\n \n @param {Vec3} out Result written here.\n * @param {number} px,py,pz Input point.\n * @param {string} from Source space constant.\n * @param {string} to Target space constant.\n * @param {object} m Matrices bag:\n * { pMatrix, vMatrix, eMatrix?, pvMatrix?, ipvMatrix?, fromFrame?, toFrameInv? }\n * @param {Vec4} vp Viewport [x, y, width, height].\n * @param {number} ndcZMin WEBGL (−1) or WEBGPU (0).\n /\nexport function mapLocation(out, px, py, pz, from, to, m, vp, ndcZMin) {\n // WORLD ↔ SCREEN\n if (from === WORLD && to === SCREEN)\n return _worldToScreen(out, px,py,pz, _ensurePV(m), vp, ndcZMin);\n if (from === SCREEN && to === WORLD)\n return _screenToWorld(out, px,py,pz, m.ipvMatrix, vp, ndcZMin);\n\n // WORLD ↔ NDC\n if (from === WORLD && to === NDC)\n return _worldToNDC(out, px,py,pz, _ensurePV(m));\n if (from === NDC && to === WORLD)\n return _ndcToWorld(out, px,py,pz, m.ipvMatrix);\n\n // SCREEN ↔ NDC\n if (from === SCREEN && to === NDC)\n return _screenToNDC(out, px,py,pz, vp, ndcZMin);\n if (from === NDC && to === SCREEN)\n return _ndcToScreen(out, px,py,pz, vp, ndcZMin);\n\n // WORLD ↔ EYE\n if (from === WORLD && to === EYE)\n return mat4MulPoint(out, m.vMatrix, px,py,pz);\n if (from === EYE && to === WORLD)\n return mat4MulPoint(out, m.eMatrix, px,py,pz);\n\n // EYE ↔ SCREEN\n if (from === EYE && to === SCREEN) {\n const e = m.eMatrix;\n const ex=e[0]px+e[4]py+e[8]pz+e[12],\n ey=e[1]px+e[5]py+e[9]pz+e[13],\n ez=e[2]px+e[6]py+e[10]pz+e[14];\n return _worldToScreen(out, ex,ey,ez, _ensurePV(m), vp, ndcZMin);\n }\n if (from === SCREEN && to === EYE) {\n _screenToWorld(out, px,py,pz, m.ipvMatrix, vp, ndcZMin);\n const wx=out[0],wy=out[1],wz=out[2];\n return mat4MulPoint(out, m.vMatrix, wx,wy,wz);\n }\n\n // EYE ↔ NDC\n if (from === EYE && to === NDC) {\n const e = m.eMatrix;\n const ex=e[0]px+e[4]py+e[8]pz+e[12],\n ey=e[1]px+e[5]py+e[9]pz+e[13],\n ez=e[2]px+e[6]py+e[10]pz+e[14];\n return _worldToNDC(out, ex,ey,ez, _ensurePV(m));\n }\n if (from === NDC && to === EYE) {\n _ndcToWorld(out, px,py,pz, m.ipvMatrix);\n const wx=out[0],wy=out[1],wz=out[2];\n return mat4MulPoint(out, m.vMatrix, wx,wy,wz);\n }\n\n // MATRIX (custom frame) ↔ WORLD\n if (from === MATRIX && to === WORLD)\n return mat4MulPoint(out, m.fromFrame, px,py,pz);\n if (from === WORLD && to === MATRIX)\n return mat4MulPoint(out, m.toFrameInv, px,py,pz);\n\n // MATRIX ↔ EYE\n if (from === MATRIX && to === EYE) {\n const f = m.fromFrame;\n const fx=f[0]px+f[4]py+f[8]pz+f[12],\n fy=f[1]px+f[5]py+f[9]pz+f[13],\n fz=f[2]px+f[6]py+f[10]pz+f[14];\n return mat4MulPoint(out, m.vMatrix, fx,fy,fz);\n }\n if (from === EYE && to === MATRIX) {\n const e = m.eMatrix;\n const ex=e[0]px+e[4]py+e[8]pz+e[12],\n ey=e[1]px+e[5]py+e[9]pz+e[13],\n ez=e[2]px+e[6]py+e[10]pz+e[14];\n return mat4MulPoint(out, m.toFrameInv, ex,ey,ez);\n }\n\n // MATRIX ↔ SCREEN\n if (from === MATRIX && to === SCREEN) {\n const f = m.fromFrame;\n const fx=f[0]px+f[4]py+f[8]pz+f[12],\n fy=f[1]px+f[5]py+f[9]pz+f[13],\n fz=f[2]px+f[6]py+f[10]pz+f[14];\n return _worldToScreen(out, fx,fy,fz, _ensurePV(m), vp, ndcZMin);\n }\n if (from === SCREEN && to === MATRIX) {\n _screenToWorld(out, px,py,pz, m.ipvMatrix, vp, ndcZMin);\n const wx=out[0],wy=out[1],wz=out[2];\n return mat4MulPoint(out, m.toFrameInv, wx,wy,wz);\n }\n\n // MATRIX ↔ NDC\n if (from === MATRIX && to === NDC) {\n const f = m.fromFrame;\n const fx=f[0]px+f[4]py+f[8]pz+f[12],\n fy=f[1]px+f[5]py+f[9]pz+f[13],\n fz=f[2]px+f[6]py+f[10]pz+f[14];\n return _worldToNDC(out, fx,fy,fz, _ensurePV(m));\n }\n if (from === NDC && to === MATRIX) {\n _ndcToWorld(out, px,py,pz, m.ipvMatrix);\n const wx=out[0],wy=out[1],wz=out[2];\n return mat4MulPoint(out, m.toFrameInv, wx,wy,wz);\n }\n\n // MATRIX ↔ MATRIX\n if (from === MATRIX && to === MATRIX) {\n const f = m.fromFrame;\n const fx=f[0]px+f[4]py+f[8]pz+f[12],\n fy=f[1]px+f[5]py+f[9]pz+f[13],\n fz=f[2]px+f[6]py+f[10]pz+f[14];\n return mat4MulPoint(out, m.toFrameInv, fx,fy,fz);\n }\n\n // Fallback\n out[0]=px; out[1]=py; out[2]=pz;\n return out;\n}\n\n// ── Direction helpers ────────────────────────────────────────────────────\n\n/** Apply the 3×3 linear part of a mat4 (rotation/scale, no translation). /\nfunction _applyDir(out, mat, dx, dy, dz) {\n out[0]=mat[0]dx+mat[4]dy+mat[8]dz;\n out[1]=mat[1]dx+mat[5]dy+mat[9]dz;\n out[2]=mat[2]dx+mat[6]dy+mat[10]dz;\n return out;\n}\n\nfunction _worldToScreenDir(out, dx, dy, dz, proj, view, vpW, vpH, ndcZMin) {\n const edx = view[0]dx + view[4]dy + view[8]dz;\n const edy = view[1]dx + view[5]dy + view[9]dz;\n const edz = view[2]dx + view[6]dy + view[10]dz;\n const isPersp = proj[15] === 0;\n let sdx = edx, sdy = edy;\n if (isPersp) {\n const zEye = view[14];\n const halfTan = Math.tan(projFov(proj) / 2);\n const k = Math.abs(zEye halfTan);\n const pixPerUnit = vpH / (2 * k);\n sdx = pixPerUnit;\n sdy = pixPerUnit;\n } else {\n const orthoW = Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin));\n sdx = vpW / orthoW;\n sdy = vpH / Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin));\n }\n const near = projNear(proj, ndcZMin), far = projFar(proj);\n const depthRange = near - far;\n let sdz;\n if (isPersp) {\n sdz = edz / (depthRange / Math.tan(projFov(proj) / 2));\n } else {\n sdz = edz / (depthRange / (Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin)) / vpW));\n }\n out[0] = sdx; out[1] = sdy; out[2] = sdz;\n return out;\n}\n\nfunction _screenToWorldDir(out, dx, dy, dz, proj, view, eye, vpW, vpH, ndcZMin) {\n const isPersp = proj[15] === 0;\n let edx = dx, edy = dy;\n if (isPersp) {\n const zEye = view[14];\n const halfTan = Math.tan(projFov(proj) / 2);\n const k = Math.abs(zEye * halfTan);\n edx = 2 k / vpH;\n edy = 2 k / vpH;\n } else {\n const orthoW = Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin));\n edx = orthoW / vpW;\n edy = Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin)) / vpH;\n }\n const near = projNear(proj, ndcZMin), far = projFar(proj);\n const depthRange = near - far;\n let edz;\n if (isPersp) {\n edz = dz * (depthRange / Math.tan(projFov(proj) / 2));\n } else {\n edz = dz * (depthRange / (Math.abs(projRight(proj, ndcZMin) - projLeft(proj, ndcZMin)) / vpW));\n }\n _applyDir(out, eye, edx, edy, edz);\n return out;\n}\n\nfunction _screenToNDCDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n const ndcZRange = 1 - ndcZMin;\n out[0] = 2 * dx / vpW;\n out[1] = 2 * dy / vpH;\n out[2] = dz * ndcZRange;\n return out;\n}\n\nfunction _ndcToScreenDir(out, dx, dy, dz, vpW, vpH, ndcZMin) {\n const ndcZRange = 1 - ndcZMin;\n out[0] = vpW * dx / 2;\n out[1] = vpH * dy / 2;\n out[2] = dz / ndcZRange;\n return out;\n}\n\n/*\n Map a direction vector between coordinate spaces.\n * Same bag contract as mapLocation.\n /\nexport function mapDirection(out, dx, dy, dz, from, to, m, vp, ndcZMin) {\n const vpW = Math.abs(vp[2]), vpH = Math.abs(vp[3]);\n\n // EYE ↔ WORLD (most common)\n if (from === EYE && to === WORLD) return _applyDir(out, m.eMatrix, dx, dy, dz);\n if (from === WORLD && to === EYE) return _applyDir(out, m.vMatrix, dx, dy, dz);\n\n // WORLD ↔ SCREEN\n if (from === WORLD && to === SCREEN)\n return _worldToScreenDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n if (from === SCREEN && to === WORLD)\n return _screenToWorldDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n\n // SCREEN ↔ NDC\n if (from === SCREEN && to === NDC)\n return _screenToNDCDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n if (from === NDC && to === SCREEN)\n return _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n\n // WORLD ↔ NDC\n if (from === WORLD && to === NDC) {\n _worldToScreenDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n const sx=out[0],sy=out[1],sz=out[2];\n return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n }\n if (from === NDC && to === WORLD) {\n _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n const sx=out[0],sy=out[1],sz=out[2];\n return _screenToWorldDir(out, sx,sy,sz, m.pMatrix, m.vMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n }\n\n // EYE ↔ SCREEN\n if (from === EYE && to === SCREEN) {\n _applyDir(out, m.eMatrix, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n return _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n }\n if (from === SCREEN && to === EYE) {\n _screenToWorldDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.vMatrix, wx,wy,wz);\n }\n\n // EYE ↔ NDC\n if (from === EYE && to === NDC) {\n _applyDir(out, m.eMatrix, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n const sx=out[0],sy=out[1],sz=out[2];\n return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n }\n if (from === NDC && to === EYE) {\n _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n const sx=out[0],sy=out[1],sz=out[2];\n _screenToWorldDir(out, sx,sy,sz, m.pMatrix, m.vMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.vMatrix, wx,wy,wz);\n }\n\n // MATRIX ↔ WORLD\n if (from === MATRIX && to === WORLD) return _applyDir(out, m.fromFrame, dx,dy,dz);\n if (from === WORLD && to === MATRIX) return _applyDir(out, m.toFrameInv, dx,dy,dz);\n\n // MATRIX ↔ EYE\n if (from === MATRIX && to === EYE) {\n _applyDir(out, m.fromFrame, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.vMatrix, wx,wy,wz);\n }\n if (from === EYE && to === MATRIX) {\n _applyDir(out, m.eMatrix, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.toFrameInv, wx,wy,wz);\n }\n\n // MATRIX ↔ SCREEN\n if (from === MATRIX && to === SCREEN) {\n _applyDir(out, m.fromFrame, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n return _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n }\n if (from === SCREEN && to === MATRIX) {\n _screenToWorldDir(out, dx,dy,dz, m.pMatrix, m.vMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.toFrameInv, wx,wy,wz);\n }\n\n // MATRIX ↔ NDC\n if (from === MATRIX && to === NDC) {\n _applyDir(out, m.fromFrame, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n _worldToScreenDir(out, wx,wy,wz, m.pMatrix, m.vMatrix, vpW, vpH, ndcZMin);\n const sx=out[0],sy=out[1],sz=out[2];\n return _screenToNDCDir(out, sx,sy,sz, vpW, vpH, ndcZMin);\n }\n if (from === NDC && to === MATRIX) {\n _ndcToScreenDir(out, dx,dy,dz, vpW, vpH, ndcZMin);\n const sx=out[0],sy=out[1],sz=out[2];\n _screenToWorldDir(out, sx,sy,sz, m.pMatrix, m.vMatrix, m.eMatrix, vpW, vpH, ndcZMin);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.toFrameInv, wx,wy,wz);\n }\n\n // MATRIX ↔ MATRIX\n if (from === MATRIX && to === MATRIX) {\n _applyDir(out, m.fromFrame, dx,dy,dz);\n const wx=out[0],wy=out[1],wz=out[2];\n return _applyDir(out, m.toFrameInv, wx,wy,wz);\n }\n\n // Fallback\n out[0]=dx; out[1]=dy; out[2]=dz;\n return out;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// pixelRatio\n// ═══════════════════════════════════════════════════════════════════════════\n\n/\n World-units-per-pixel at a given eye-space Z depth.\n * @param {ArrayLike<number>} proj Projection mat4.\n * @param {number} vpH Viewport height (pixels).\n * @param {number} eyeZ Eye-space Z (negative for in-front-of camera).\n * @param {number} ndcZMin WEBGL or WEBGPU.\n /\nexport function pixelRatio(proj, vpH, eyeZ, ndcZMin) {\n if (projIsOrtho(proj)) {\n return Math.abs(projTop(proj, ndcZMin) - projBottom(proj, ndcZMin)) / vpH;\n }\n return 2 Math.abs(eyeZ) * Math.tan(projFov(proj) / 2) / vpH;\n}\n\n// ═══════════════════════════════════════════════════════════════════════════\n// Pick-matrix\n// ═══════════════════════════════════════════════════════════════════════════\n\n/*\n Apply the pick-matrix in-place: proj ← M_pick · proj\n \n Zooms the frustum so that pixel (px, py) maps to the full NDC square,\n * making a 1×1 framebuffer render contain exactly that pixel's content.\n * Convention-independent — correct for both perspective and orthographic.\n \n M_pick (column-major):\n * [ sx 0 0 tx ] sx = W, sy = H\n * [ 0 sy 0 ty ] cx = NDC X of pixel centre = 2(px+0.5)/W − 1\n [ 0 0 1 0 ] cy = NDC Y of pixel centre = 1 − 2(py+0.5)/H\n [ 0 0 0 1 ] tx = −cx·W, ty = −cy·H\n \n @param {Float32Array} proj Projection mat4 — mutated in place.\n * @param {number} px Query X (CSS pixels).\n * @param {number} py Query Y (CSS pixels).\n * @param {number} W Canvas width (CSS pixels).\n * @param {number} H Canvas height (CSS pixels).\n * @returns {Float32Array} proj (same reference)\n /\nexport function applyPickMatrix(proj, px, py, W, H) {\n const cx = 2 (px + 0.5) / W - 1;\n const cy = -2 * (py + 0.5) / H + 1; // Y flip: screen-down → NDC-up\n const sx = W;\n const sy = H;\n const tx = -cx * W;\n const ty = -cy * H;\n // P_pick = M_pick * P_orig (rows 2 and 3 are unchanged)\n for (let j = 0; j < 4; j++) {\n const a = proj[j * 4];\n const b = proj[j * 4 + 1];\n const d = proj[j * 4 + 3];\n proj[j * 4] = sx * a + tx * d;\n proj[j * 4 + 1] = sy * b + ty * d;\n }\n return proj;\n}\n","/*\n @file Pure quaternion/spline math + track state machines.\n * @module tree/track\n * @license AGPL-3.0-only\n \n Zero dependencies. No p5, DOM, WebGL, or WebGPU usage.\n \n ── Exports ──────────────────────────────────────────────────────────────────\n * Quaternion helpers\n * qSet qCopy qDot qNormalize qNegate qMul qSlerp qNlerp\n * qFromAxisAngle qFromLookDir qFromRotMat3x3 qFromMat4 qToMat4\n * quatToAxisAngle\n * Spline / vector helpers\n * hermiteVec3 lerpVec3\n * Transform / mat4 helpers\n * transformToMat4 mat4ToTransform\n * Tracks\n * PoseTrack — { pos, rot, scl } TRS keyframes\n * CameraTrack — { eye, center, up } lookat keyframes\n \n ── Class hierarchy ───────────────────────────────────────────────────────────\n * Track (unexported, never instantiated directly)\n * └── PoseTrack (exported)\n * └── CameraTrack (exported)\n \n Track holds all transport machinery: cursor, play/stop/seek/tick,\n * hooks, rate semantics. Subclasses add only keyframe storage and\n * add() / eval() for their respective data shape.\n \n ── Hook architecture ─────────────────────────────────────────────────────────\n * Lib-space hooks (underscore prefix — reserved for host layer / UI layer):\n * _onActivate / _onDeactivate — fire on playing transitions false→true / true→false.\n * _onPlay / _onEnd / _onStop — mirror the user-space hooks; used by the UI layer\n * so it can sync without chaining the public slots.\n \n User-space hooks (public):\n * onPlay : fires in play() on false→true transition.\n * onEnd : fires in tick() at natural boundary (once mode only).\n * onStop : fires in stop() / reset() — explicit deactivation.\n * onEnd and onStop are mutually exclusive per event.\n \n Firing order:\n * play() → onPlay → _onPlay → _onActivate\n * tick() → onEnd → _onEnd → _onDeactivate\n * stop() → onStop → _onStop → _onDeactivate\n * reset() → onStop → _onStop → _onDeactivate\n \n ── Loop modes ────────────────────────────────────────────────────────────────\n * once loop=false, bounce=false — stop at end (fires onEnd)\n * repeat loop=true, bounce=false — wrap back to start\n * bounce loop=true, bounce=true — bounce at boundaries\n \n Exclusivity enforced in play():\n * bounce: true → loop is also set true\n * loop: false → bounce is also cleared\n \n ── Playback semantics (rate + _dir) ─────────────────────────────────────────\n * rate > 0 forward\n * rate < 0 backward\n * rate === 0 frozen: tick() no-op; playing unchanged\n \n play() is the sole setter of playing = true.\n * stop() is the sole setter of playing = false.\n * Assigning rate never starts or stops playback.\n \n _dir (internal, ±1) tracks the current bounce travel direction.\n * tick() advances by rate * _dir and flips _dir at boundaries.\n * rate always holds the user-set value — it is never mutated by bounce.\n * _dir is reset to 1 only in reset() (keyframes cleared) — stop/replay\n * preserves the current travel direction.\n \n ── One-keyframe behaviour ────────────────────────────────────────────────────\n * play() with exactly one keyframe snaps eval() to that keyframe without\n * setting playing = true and without firing hooks.\n /\n\n'use strict';\n\n// =========================================================================\n// S1 Quaternion helpers (flat [x, y, z, w], w-last)\n// =========================================================================\n\n/* Set all four components. @returns {number[]} out /\nexport const qSet = (out, x, y, z, w) => {\n out[0] = x; out[1] = y; out[2] = z; out[3] = w; return out;\n};\n\n/* Copy quaternion a into out. @returns {number[]} out /\nexport const qCopy = (out, a) => {\n out[0] = a[0]; out[1] = a[1]; out[2] = a[2]; out[3] = a[3]; return out;\n};\n\n/* Dot product of two quaternions. /\nexport const qDot = (a, b) => a[0]b[0] + a[1]b[1] + a[2]b[2] + a[3]b[3];\n\n/* Normalise quaternion in-place. @returns {number[]} out /\nexport const qNormalize = (out) => {\n const l = Math.sqrt(out[0]out[0]+out[1]out[1]+out[2]out[2]+out[3]out[3]) \|\| 1;\n out[0]/=l; out[1]/=l; out[2]/=l; out[3]/=l; return out;\n};\n\n/* Negate quaternion (same rotation, different hemisphere). @returns {number[]} out /\nexport const qNegate = (out, a) => {\n out[0]=-a[0]; out[1]=-a[1]; out[2]=-a[2]; out[3]=-a[3]; return out;\n};\n\n/* Hamilton product out = a * b. @returns {number[]} out /\nexport const qMul = (out, a, b) => {\n const ax=a[0],ay=a[1],az=a[2],aw=a[3], bx=b[0],by=b[1],bz=b[2],bw=b[3];\n out[0]=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/* 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 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 Decompose a unit quaternion into { axis:[x,y,z], angle } (radians).\n * @param {number[]} q [x,y,z,w].\n * @param {Object} [out]\n * @returns {{ axis: number[], angle: number }}\n /\nexport const quatToAxisAngle = (q, out) => {\n out = out \|\| {};\n const x=q[0],y=q[1],z=q[2],w=q[3];\n const sinHalf = Math.sqrt(xx+yy+zz);\n if (sinHalf < 1e-8) { out.axis=[0,1,0]; out.angle=0; return out; }\n out.angle = 2Math.atan2(sinHalf, w);\n out.axis = [x/sinHalf, y/sinHalf, z/sinHalf];\n return out;\n};\n\n// =========================================================================\n// 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 * Catmull-Rom is a special case where m0/m1 are auto-computed from neighbors.\n * @param {number[]} out 3-element result.\n * @param {number[]} p0 Segment start.\n * @param {number[]} m0 Outgoing tangent at p0 (world-space, dp/dt scaled to segment).\n * @param {number[]} p1 Segment end.\n * @param {number[]} m1 Incoming tangent at p1 (world-space, dp/dt scaled to segment).\n * @param {number} t Blend [0, 1].\n * @returns {number[]} out\n /\nexport const hermiteVec3 = (out, p0, m0, p1, m1, t) => {\n const t2=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, scaled by dt1.\nconst _crTanOut = (out, p0, p1, p2, p3) => {\n const dt0=Math.pow(_dist3(p0,p1),0.5)\|\|1, dt1=Math.pow(_dist3(p1,p2),0.5)\|\|1, dt2=Math.pow(_dist3(p2,p3),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, scaled by dt1.\nconst _crTanIn = (out, p0, p1, p2, p3) => {\n const dt0=Math.pow(_dist3(p0,p1),0.5)\|\|1, dt1=Math.pow(_dist3(p1,p2),0.5)\|\|1, dt2=Math.pow(_dist3(p2,p3),0.5)\|\|1;\n for (let i=0;i<3;i++) out[i]=((p2[i]-p1[i])/dt1-(p3[i]-p1[i])/(dt1+dt2)+(p3[i]-p2[i])/dt2)dt1;\n return out;\n};\n\n// Module-level scratch — shared by eval() across all track instances (non-reentrant hot path).\nconst _m0=[0,0,0], _m1=[0,0,0];\n\n/*\n Linear interpolation between two vec3s.\n * @param {number[]} out\n * @param {number[]} a\n * @param {number[]} b\n * @param {number} t Blend [0, 1].\n * @returns {number[]} out\n /\nexport const lerpVec3 = (out, a, b, t) => {\n out[0]=a[0]+t(b[0]-a[0]);\n out[1]=a[1]+t(b[1]-a[1]);\n out[2]=a[2]+t(b[2]-a[2]);\n return out;\n};\n\n// =========================================================================\n// S3 Transform <-> Mat4\n// =========================================================================\n\n/*\n Write a TRS transform into a column-major mat4.\n * @param {Float32Array\|number[]} out 16-element column-major mat4.\n * @param {{ pos:number[], rot:number[], scl:number[] }} xform\n * @returns {Float32Array\|number[]} out\n /\nexport const transformToMat4 = (out, xform) => {\n qToMat4(out, xform.rot);\n const sx=xform.scl[0], sy=xform.scl[1], sz=xform.scl[2];\n out[0]=sx; out[1]=sx; out[2]=sx;\n out[4]=sy; out[5]=sy; out[6]=sy;\n out[8]=sz; out[9]=sz; out[10]=sz;\n out[12]=xform.pos[0]; out[13]=xform.pos[1]; out[14]=xform.pos[2];\n return out;\n};\n\n/*\n Decompose a column-major mat4 into a TRS transform.\n * Assumes no shear. Scale extracted from column lengths.\n * @param {{ pos:number[], rot:number[], scl:number[] }} out\n * @param {Float32Array\|number[]} m Column-major mat4.\n * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n /\nexport const mat4ToTransform = (out, m) => {\n out.pos[0]=m[12]; out.pos[1]=m[13]; out.pos[2]=m[14];\n const sx=Math.sqrt(m[0]m[0]+m[1]m[1]+m[2]m[2]);\n const sy=Math.sqrt(m[4]m[4]+m[5]m[5]+m[6]m[6]);\n const sz=Math.sqrt(m[8]m[8]+m[9]m[9]+m[10]m[10]);\n out.scl[0]=sx; out.scl[1]=sy; out.scl[2]=sz;\n qFromRotMat3x3(out.rot,\n m[0]/sx,m[4]/sy,m[8]/sz,\n m[1]/sx,m[5]/sy,m[9]/sz,\n m[2]/sx,m[6]/sy,m[10]/sz);\n return out;\n};\n\n// =========================================================================\n// S4a Spec parser — PoseTrack\n// =========================================================================\n\nconst _isNum = (x) => typeof x === 'number' && Number.isFinite(x);\nconst _clamp01 = (x) => x < 0 ? 0 : (x > 1 ? 1 : x);\nconst _clampS = (x, lo, hi) => x < lo ? lo : (x > hi ? hi : x);\n\nfunction _parseVec3(v) {\n if (!v) return null;\n if (ArrayBuffer.isView(v) && v.length >= 3) return [v[0], v[1], v[2]];\n if (Array.isArray(v) && v.length >= 3 && v.every(n => typeof n === 'number')) return [v[0], v[1], v[2]];\n if (typeof v === 'object' && 'x' in v) return [v.x \|\| 0, v.y \|\| 0, v.z \|\| 0];\n return null;\n}\n\n// Euler: unit axis vectors and the six valid intrinsic orderings.\nconst _EULER_AXES = { X:[1,0,0], Y:[0,1,0], Z:[0,0,1] };\nconst _EULER_ORDERS = new Set(['XYZ','XZY','YXZ','YZX','ZXY','ZYX']);\n\n/*\n Parse any rotation representation into a unit quaternion [x,y,z,w].\n \n Accepted forms:\n \n [x,y,z,w]\n * Raw quaternion array.\n \n { axis:[x,y,z], angle }\n * Axis-angle. Axis need not be unit.\n \n { dir:[x,y,z], up?:[x,y,z] }\n * Object orientation — forward direction (−Z) with optional up hint.\n \n { eMatrix: mat4 }\n * Extract rotation block from an eye (eye→world) matrix.\n * Column-major Float32Array(16), plain Array, or { mat4 } wrapper.\n \n { mat3: mat3 }\n * Column-major 3×3 rotation matrix — Float32Array(9) or plain Array.\n \n { euler:[rx,ry,rz], order?:'YXZ' }\n * Intrinsic Euler angles (radians). Angles are indexed by order position:\n * e[0] rotates around order[0] axis, e[1] around order[1], e[2] around order[2].\n * Supported orders: YXZ (default), XYZ, ZYX, ZXY, XZY, YZX.\n * Note: intrinsic ABC = extrinsic CBA with the same angles — to use\n * extrinsic order ABC, reverse the string and use intrinsic CBA.\n \n { from:[x,y,z], to:[x,y,z] }\n * Shortest-arc rotation from one direction onto another.\n * Both vectors are normalised internally.\n * Antiparallel input: 180° rotation around a perpendicular axis.\n \n @param {} v\n @returns {number[]\|null} [x,y,z,w] or null if unparseable.\n /\nfunction _parseQuat(v) {\n if (!v) return null;\n\n // raw [x,y,z,w] — plain array or typed array\n if ((Array.isArray(v) \|\| ArrayBuffer.isView(v)) && v.length === 4) return [v[0], v[1], v[2], v[3]];\n\n // { axis, angle }\n if (v.axis && typeof v.angle === 'number') {\n const a = 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], a[0],a[1],a[2], v.angle);\n }\n\n // { dir, up? }\n if (v.dir) {\n const d = Array.isArray(v.dir) ? v.dir : [v.dir.x\|\|0, v.dir.y\|\|0, v.dir.z\|\|0];\n const u = v.up ? (Array.isArray(v.up) ? v.up : [v.up.x\|\|0, v.up.y\|\|0, v.up.z\|\|0]) : null;\n return qFromLookDir([0,0,0,1], d, u);\n }\n\n // { eMatrix } — rotation block from eye (eye→world) matrix, col-major mat4\n if (v.eMatrix != null) {\n const m = (ArrayBuffer.isView(v.eMatrix) \|\| Array.isArray(v.eMatrix))\n ? v.eMatrix : (v.eMatrix.mat4 ?? null);\n if (m && m.length >= 16) return qFromMat4([0,0,0,1], m);\n }\n\n // { mat3 } — column-major 3×3 rotation matrix\n // col0=[m0,m1,m2], col1=[m3,m4,m5], col2=[m6,m7,m8]\n // row-major for qFromRotMat3x3: row0=[m0,m3,m6], row1=[m1,m4,m7], row2=[m2,m5,m8]\n if (v.mat3 != null) {\n const m = v.mat3;\n if ((ArrayBuffer.isView(m) \|\| Array.isArray(m)) && m.length >= 9)\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? } — intrinsic Euler angles (radians), default order YXZ\n if (v.euler != null) {\n const e = v.euler;\n if (!Array.isArray(e) \|\| e.length < 3) return null;\n const order = (typeof v.order === 'string' && _EULER_ORDERS.has(v.order))\n ? v.order : 'YXZ';\n const q = [0,0,0,1];\n const s = [0,0,0,1]; // scratch — reused each step\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 } — shortest-arc rotation from one direction onto another\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 // parallel — identity\n if (dot >= 1 - 1e-8) return [0,0,0,1];\n // antiparallel — 180° around any perpendicular axis\n if (dot <= -1 + 1e-8) {\n // cross(from, X=[1,0,0]) = [0, fz, -fy]\n let px=0, py=fz, pz=-fy;\n let pl = Math.sqrt(pxpx+pypy+pzpz);\n if (pl < 1e-8) {\n // from ≈ ±X; try cross(from, Z=[0,0,1]) = [fy, -fx, 0]\n px=fy; py=-fx; pz=0;\n pl = Math.sqrt(pxpx+pypy+pzpz);\n }\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 // general case — axis = normalize(cross(from, to))\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.\n \n Accepted forms:\n \n { mMatrix }\n * Decompose a column-major mat4 into TRS via mat4ToTransform.\n * Float32Array(16), plain Array, or { mat4 } wrapper.\n * pos from col3, scl from column lengths, rot from normalised rotation block.\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 * When absent, centripetal Catmull-Rom tangents are auto-computed at eval time.\n \n @param {Object} spec\n * @returns {{ pos:number[], rot:number[], scl:number[], tanIn:number[]\|null, tanOut:number[]\|null }\|null}\n /\nfunction _parseSpec(spec) {\n if (!spec \|\| typeof spec !== 'object') return null;\n\n // { mMatrix } — full TRS decomposition from model matrix\n if (spec.mMatrix != null) {\n const m = (ArrayBuffer.isView(spec.mMatrix) \|\| Array.isArray(spec.mMatrix))\n ? spec.mMatrix : (spec.mMatrix.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n const kf = mat4ToTransform({ pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] }, m);\n kf.tanIn = null; kf.tanOut = null;\n return kf;\n }\n\n const pos = _parseVec3(spec.pos) \|\| [0,0,0];\n const rot = _parseQuat(spec.rot) \|\| [0,0,0,1];\n const scl = _parseVec3(spec.scl) \|\| [1,1,1];\n const tanIn = _parseVec3(spec.tanIn) \|\| null;\n const tanOut = _parseVec3(spec.tanOut) \|\| null;\n return { pos, rot, scl, tanIn, tanOut };\n}\n\nfunction _sameTransform(a, b) {\n for (let i=0;i<3;i++) if (a.pos[i]!==b.pos[i]\|\|a.scl[i]!==b.scl[i]) return false;\n for (let i=0;i<4;i++) if (a.rot[i]!==b.rot[i]) return false;\n return true;\n}\n\n// =========================================================================\n// S4b Spec parser — CameraTrack\n// =========================================================================\n\n/\n Parse a camera keyframe spec into internal { eye, center, up } form.\n \n Accepted forms:\n \n { eye, center?, up?, fov?, halfHeight?,\n * eyeTanIn?, eyeTanOut?, centerTanIn?, centerTanOut? }\n * Explicit lookat. center defaults to [0,0,0], up defaults to [0,1,0].\n * Both are normalised/stored as-is. eye must be a vec3.\n * eyeTanIn/Out and centerTanIn/Out are optional vec3 tangents for Hermite.\n * When absent, centripetal Catmull-Rom tangents are auto-computed at eval time.\n \n { vMatrix: mat4 }\n * Column-major view matrix (world→eye).\n * eye reconstructed via -R^T·t; center = eye + forward·1; up = [0,1,0].\n * The matrix's up_ortho (col1) is intentionally NOT used as up —\n * passing it to cam.camera() shifts orbitControl's orbit reference.\n * Float32Array(16), plain Array, or { mat4 } wrapper.\n \n { eMatrix: mat4 }\n * Column-major eye matrix (eye→world, i.e. inverse view).\n * eye read directly from col3; center = eye + forward·1; up = [0,1,0].\n * Simpler extraction than vMatrix; prefer this form when eMatrix is available.\n * Float32Array(16), plain Array, or { mat4 } wrapper.\n \n @param {Object} spec\n * @returns {{ eye:number[], center:number[], up:number[],\n * fov:number\|null, halfHeight:number\|null,\n * eyeTanIn:number[]\|null, eyeTanOut:number[]\|null,\n * centerTanIn:number[]\|null, centerTanOut:number[]\|null }\|null}\n /\nfunction _parseCameraSpec(spec) {\n if (!spec \|\| typeof spec !== 'object') return null;\n\n // { vMatrix } — view matrix (world→eye); reconstruct eye via -R^T·t\n if (spec.vMatrix != null) {\n const m = (ArrayBuffer.isView(spec.vMatrix) \|\| Array.isArray(spec.vMatrix))\n ? spec.vMatrix : (spec.vMatrix.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n const ex = -(m[0]m[12] + m[4]m[13] + m[8]m[14]);\n const ey = -(m[1]m[12] + m[5]m[13] + m[9]m[14]);\n const ez = -(m[2]m[12] + m[6]m[13] + m[10]m[14]);\n const fx=-m[8], fy=-m[9], fz=-m[10];\n const fl=Math.sqrt(fxfx+fyfy+fzfz)\|\|1;\n return { eye:[ex,ey,ez], center:[ex+fx/fl,ey+fy/fl,ez+fz/fl], up:[0,1,0],\n fov:null, halfHeight:null,\n eyeTanIn:null, eyeTanOut:null, centerTanIn:null, centerTanOut:null };\n }\n\n // { eMatrix } — eye matrix (eye→world); eye = col3, forward = -col2\n if (spec.eMatrix != null) {\n const m = (ArrayBuffer.isView(spec.eMatrix) \|\| Array.isArray(spec.eMatrix))\n ? spec.eMatrix : (spec.eMatrix.mat4 ?? null);\n if (!m \|\| m.length < 16) return null;\n const ex=m[12], ey=m[13], ez=m[14];\n const fx=-m[8], fy=-m[9], fz=-m[10];\n const fl=Math.sqrt(fxfx+fyfy+fzfz)\|\|1;\n return { eye:[ex,ey,ez], center:[ex+fx/fl,ey+fy/fl,ez+fz/fl], up:[0,1,0],\n fov:null, halfHeight:null,\n eyeTanIn:null, eyeTanOut:null, centerTanIn:null, centerTanOut:null };\n }\n\n // { eye, center?, up? } — explicit lookat (eye is a vec3, not a mat4)\n const eye = _parseVec3(spec.eye);\n if (!eye) return null;\n const center = _parseVec3(spec.center) \|\| [0,0,0];\n const upRaw = spec.up ? _parseVec3(spec.up) : null;\n const up = upRaw \|\| [0,1,0];\n const ul = Math.sqrt(up[0]up[0]+up[1]up[1]+up[2]up[2]) \|\| 1;\n return {\n eye, center,\n up: [up[0]/ul, up[1]/ul, up[2]/ul],\n fov: typeof spec.fov === 'number' ? spec.fov : null,\n halfHeight: typeof spec.halfHeight === 'number' ? spec.halfHeight : null,\n eyeTanIn: _parseVec3(spec.eyeTanIn) \|\| null,\n eyeTanOut: _parseVec3(spec.eyeTanOut) \|\| null,\n centerTanIn: _parseVec3(spec.centerTanIn) \|\| null,\n centerTanOut:_parseVec3(spec.centerTanOut)\|\| null,\n };\n}\n\nfunction _sameCameraKeyframe(a, b) {\n for (let i=0;i<3;i++) {\n if (a.eye[i]!==b.eye[i]) return false;\n if (a.center[i]!==b.center[i]) return false;\n if (a.up[i]!==b.up[i]) return false;\n }\n if (a.fov !== b.fov) return false;\n if (a.halfHeight !== b.halfHeight) return false;\n return true;\n}\n\n// =========================================================================\n// S5 Track — unexported base class (transport machinery only)\n// =========================================================================\n\nclass Track {\n constructor() {\n /* @type {Array} Keyframe array — shape depends on subclass. /\n this.keyframes = [];\n /* Whether playback is active. @type {boolean} /\n this.playing = false;\n /* Loop at boundaries. @type {boolean} /\n this.loop = false;\n /* Ping-pong bounce (takes precedence over loop). @type {boolean} /\n this.bounce = false;\n /* Frames per segment (≥1). @type {number} /\n this.duration = 30;\n /* Current segment index. @type {number} /\n this.seg = 0;\n /* Frame offset within segment (can be fractional). @type {number} /\n this.f = 0;\n\n // Internal rate — never directly starts/stops playback\n this._rate = 1;\n // Internal bounce direction: +1 forward, -1 backward.\n // Flipped by tick() at boundaries. Never exposed publicly.\n // rate always holds the user-set value — only _dir changes.\n this._dir = 1;\n\n // User-space hooks\n /* @type {Function\|null} / this.onPlay = null;\n /* @type {Function\|null} / this.onEnd = null;\n /* @type {Function\|null} / this.onStop = null;\n\n // Lib-space hooks (set by host layer, e.g. p5 bridge)\n /* @type {Function\|null} / this._onActivate = null;\n /* @type {Function\|null} / this._onDeactivate = null;\n // Lib-space event mirrors — set by UI layer (trackUI), never touched by user code\n /* @type {Function\|null} / this._onPlay = null;\n /* @type {Function\|null} / this._onEnd = null;\n /* @type {Function\|null} / this._onStop = null;\n }\n\n /* Playback rate. Assigning never starts/stops playback. @type {number} /\n get rate() { return this._rate; }\n set rate(v) { this._rate = (_isNum(v)) ? v : 1; }\n\n /* Number of interpolatable segments (keyframes.length − 1, min 0). @type {number} /\n get segments() { return Math.max(0, this.keyframes.length - 1); }\n\n /\n Start or update playback.\n * @param {number\|Object} [rateOrOpts] Numeric rate or options object:\n * { rate, duration, loop, bounce, onPlay, onEnd, onStop }\n * @returns {Track} this\n /\n play(rateOrOpts) {\n if (this.keyframes.length === 0) return this;\n\n // One keyframe: snap cursor, no animation\n if (this.keyframes.length === 1) {\n this.seg = 0; this.f = 0;\n return this;\n }\n\n if (typeof rateOrOpts === 'number' && Number.isFinite(rateOrOpts)) {\n this._rate = rateOrOpts;\n } else if (rateOrOpts && typeof rateOrOpts === 'object') {\n const o = rateOrOpts;\n if (_isNum(o.duration)) this.duration = Math.max(1, o.duration \| 0);\n if ('loop' in o) { this.loop = !!o.loop; if (!this.loop) this.bounce = false; }\n if ('bounce' in o) { this.bounce = !!o.bounce; if (this.bounce) this.loop = true; }\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 if (typeof this.onPlay === 'function') { try { this.onPlay(this); } catch (_) {} }\n this._onPlay?.();\n this._onActivate?.();\n }\n return this;\n }\n\n /\n Stop playback.\n * @param {boolean} [rewind=false] Seek to origin after stopping.\n * @returns {Track} this\n /\n stop(rewind) {\n const wasPlaying = this.playing;\n this.playing = false;\n if (wasPlaying) {\n if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }\n this._onStop?.();\n this._onDeactivate?.();\n if (rewind && this.keyframes.length > 1) this.seek(this._rate this._dir < 0 ? 1 : 0);\n }\n return this;\n }\n\n /*\n Clear all keyframes and stop.\n * @returns {Track} this\n /\n reset() {\n const wasPlaying = this.playing;\n this.playing = false;\n if (wasPlaying) {\n if (typeof this.onStop === 'function') { try { this.onStop(this); } catch (_) {} }\n this._onStop?.();\n this._onDeactivate?.();\n }\n this.keyframes.length = 0;\n this.seg = 0; this.f = 0; this._dir = 1;\n return this;\n }\n\n /\n Remove the keyframe at index. Adjusts cursor if needed.\n * @param {number} index\n * @returns {boolean}\n /\n remove(index) {\n if (!_isNum(index)) return false;\n const i = index \| 0;\n if (i < 0 \|\| i >= this.keyframes.length) return false;\n this.keyframes.splice(i, 1);\n const nSeg = this.segments;\n if (nSeg === 0) { this.seg = 0; this.f = 0; }\n else if (this.seg >= nSeg) { this.seg = nSeg - 1; }\n return true;\n }\n\n /\n Seek to a normalised position [0,1] across the full path.\n * @param {number} t Normalised time [0, 1].\n * @param {number} [segIndex] Optional segment override.\n * @returns {Track} this\n /\n seek(t, segIndex) {\n const nSeg = this.segments;\n if (nSeg === 0) { this.seg = 0; this.f = 0; return this; }\n const dur = Math.max(1, this.duration \| 0);\n if (_isNum(segIndex)) {\n this.seg = _clampS(segIndex \| 0, 0, nSeg - 1);\n this.f = _clamp01(t) dur;\n } else {\n this._setCursorFromScalar(_clamp01(t) * nSeg * dur);\n }\n return this;\n }\n\n /*\n Normalised playback position [0,1].\n * @returns {number}\n /\n time() {\n const nSeg = this.segments;\n if (nSeg === 0) return 0;\n const dur = Math.max(1, this.duration \| 0);\n return _clamp01((this.seg dur + this.f) / (nSeg * dur));\n }\n\n /*\n Snapshot of transport state.\n * @returns {Object}\n /\n info() {\n return {\n keyframes: this.keyframes.length,\n segments: this.segments,\n seg: this.seg,\n f: this.f,\n playing: this.playing,\n loop: this.loop,\n bounce: this.bounce,\n rate: this._rate,\n duration: this.duration,\n time: this.segments > 0 ? this.time() : 0\n };\n }\n\n /\n Advance cursor by rate frames.\n * Returns true while playing, false when stopping.\n * @returns {boolean}\n /\n tick() {\n if (!this.playing) return false;\n const nSeg = this.segments;\n if (nSeg === 0) {\n this.playing = false; this._onDeactivate?.(); return false;\n }\n if (this._rate === 0) return true;\n\n const dur = Math.max(1, this.duration \| 0);\n const total = nSeg dur;\n const s = _clampS(this.seg * dur + this.f, 0, total);\n const next = s + this._rate * this._dir;\n\n if (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) {\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.\n * When neither is supplied, centripetal Catmull-Rom tangents are auto-computed.\n \n add() accepts individual specs or a bulk array of specs:\n \n { mMatrix } — full TRS from model matrix\n * { pos?, rot?, scl?, tanIn?, tanOut? } — direct TRS; all fields optional\n * { pos?, rot: [x,y,z,w] } — explicit quaternion\n * { pos?, rot: { axis, angle } } — axis-angle\n * { pos?, rot: { dir, up? } } — look direction\n * { pos?, rot: { eMatrix: mat4 } } — rotation from eye matrix\n * { pos?, rot: { mat3 } } — column-major 3×3 rotation matrix\n * { pos?, rot: { euler, order? } } — intrinsic Euler angles (default YXZ)\n * { pos?, rot: { from, to } } — shortest-arc between two directions\n * [ spec, spec, ... ] — bulk\n \n Missing fields default to: pos → [0,0,0], rot → [0,0,0,1], scl → [1,1,1].\n \n eval() writes { pos, rot, scl }:\n * pos — Hermite (tanIn/tanOut per keyframe; auto-CR when absent) or linear or step\n * rot — slerp (rotInterp='slerp') or nlerp or step\n * scl — lerp\n \n @example\n * const track = new PoseTrack()\n * track.add({ pos:[0,0,0] })\n * track.add({ pos:[100,0,0], tanOut:[0,50,0] }) // leave heading +Y\n * track.add({ pos:[200,0,0] })\n * track.play({ loop: true })\n * // per frame:\n * track.tick()\n * const out = { pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] }\n * track.eval(out)\n /\nexport class PoseTrack extends Track {\n constructor() {\n super();\n /\n Position interpolation mode.\n * - 'hermite' — cubic Hermite; uses tanIn/tanOut per keyframe when present,\n * auto-computes centripetal Catmull-Rom tangents when absent (default)\n * - 'linear' — lerp\n * - 'step' — snap to k0 value; useful for discrete state changes\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.posInterp = 'hermite';\n /\n Rotation interpolation mode.\n * - 'slerp' — constant angular velocity (default)\n * - 'nlerp' — normalised lerp; cheaper, slightly non-constant speed\n * - 'step' — snap to k0 quaternion; useful for discrete state changes\n * @type {'slerp'\|'nlerp'\|'step'}\n /\n this.rotInterp = 'slerp';\n // Scratch for toMatrix() — avoids hot-path allocations\n this._pos = [0,0,0];\n this._rot = [0,0,0,1];\n this._scl = [1,1,1];\n }\n\n /\n Append one or more keyframes. Adjacent duplicates are skipped by default.\n * @param {Object\|Object[]} spec\n * @param {{ deduplicate?: boolean }} [opts]\n /\n add(spec, opts) {\n if (Array.isArray(spec)) {\n for (const s of spec) this.add(s, opts);\n return;\n }\n const kf = _parseSpec(spec);\n if (!kf) return;\n const dedup = !opts \|\| opts.deduplicate !== false;\n if (dedup && this.keyframes.length > 0) {\n if (_sameTransform(this.keyframes[this.keyframes.length - 1], kf)) return;\n }\n this.keyframes.push(kf);\n }\n\n /\n Replace (or append at end) the keyframe at index.\n * @param {number} index\n * @param {Object} spec\n * @returns {boolean}\n /\n set(index, spec) {\n if (!_isNum(index)) return false;\n const i = index \| 0, kf = _parseSpec(spec);\n if (!kf \|\| i < 0 \|\| i > this.keyframes.length) return false;\n if (i === this.keyframes.length) this.keyframes.push(kf);\n else this.keyframes[i] = kf;\n return true;\n }\n\n /\n Evaluate interpolated TRS pose at current cursor.\n * @param {{ pos:number[], rot:number[], scl:number[] }} [out]\n * @returns {{ pos:number[], rot:number[], scl:number[] }} out\n /\n eval(out) {\n out = out \|\| { pos:[0,0,0], rot:[0,0,0,1], scl:[1,1,1] };\n const n = this.keyframes.length;\n if (n === 0) return out;\n\n if (n === 1) {\n const k = this.keyframes[0];\n out.pos[0]=k.pos[0]; out.pos[1]=k.pos[1]; out.pos[2]=k.pos[2];\n out.rot[0]=k.rot[0]; out.rot[1]=k.rot[1]; out.rot[2]=k.rot[2]; out.rot[3]=k.rot[3];\n out.scl[0]=k.scl[0]; out.scl[1]=k.scl[1]; out.scl[2]=k.scl[2];\n return out;\n }\n\n const nSeg = n - 1;\n const dur = Math.max(1, this.duration \| 0);\n const seg = _clampS(this.seg, 0, nSeg - 1);\n const t = _clamp01(this.f / dur);\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n // pos — Hermite (auto-CR tangents when none stored), linear, or step\n if (this.posInterp === 'step') {\n out.pos[0]=k0.pos[0]; out.pos[1]=k0.pos[1]; out.pos[2]=k0.pos[2];\n } else if (this.posInterp === 'linear') {\n lerpVec3(out.pos, k0.pos, k1.pos, t);\n } else {\n const p0 = seg > 0 ? this.keyframes[seg - 1].pos : k0.pos;\n const p3 = seg + 2 < n ? this.keyframes[seg + 2].pos : k1.pos;\n // tanOut on k0: use stored, else symmetric from tanIn, else auto-CR\n const m0 = k0.tanOut != null ? k0.tanOut\n : k0.tanIn != null ? k0.tanIn\n : _crTanOut(_m0, p0, k0.pos, k1.pos, p3);\n // tanIn on k1: use stored, else symmetric from tanOut, else auto-CR\n const m1 = k1.tanIn != null ? k1.tanIn\n : k1.tanOut != null ? k1.tanOut\n : _crTanIn(_m1, p0, k0.pos, k1.pos, p3);\n hermiteVec3(out.pos, k0.pos, m0, k1.pos, m1, t);\n }\n\n // rot — step, slerp, or nlerp\n if (this.rotInterp === 'step') {\n out.rot[0]=k0.rot[0]; out.rot[1]=k0.rot[1]; out.rot[2]=k0.rot[2]; out.rot[3]=k0.rot[3];\n } else if (this.rotInterp === 'nlerp') {\n qNlerp(out.rot, k0.rot, k1.rot, t);\n } else {\n qSlerp(out.rot, k0.rot, k1.rot, t);\n }\n\n // scl — lerp\n lerpVec3(out.scl, k0.scl, k1.scl, t);\n\n return out;\n }\n\n /\n Evaluate into an existing column-major mat4.\n * @param {Float32Array\|number[]} outMat4 16-element array.\n * @returns {Float32Array\|number[]} outMat4\n /\n toMatrix(outMat4) {\n const xf = this.eval({ pos: this._pos, rot: this._rot, scl: this._scl });\n return transformToMat4(outMat4, xf);\n }\n}\n\n// =========================================================================\n// S7 CameraTrack\n// =========================================================================\n\n/\n Lookat camera keyframe track.\n \n Keyframe shape: { eye:[x,y,z], center:[x,y,z], up:[x,y,z],\n * fov?:number, halfHeight?:number,\n * eyeTanIn?:[x,y,z], eyeTanOut?:[x,y,z],\n * centerTanIn?:[x,y,z], centerTanOut?:[x,y,z] }\n \n fov — vertical fov (radians) for perspective cameras; null for ortho.\n * halfHeight — world-unit half-height of ortho frustum; null for perspective.\n * Both are optional and nullable. eval() lerps each only when both adjacent\n * keyframes carry a non-null value for that field.\n \n eyeTanIn/Out and centerTanIn/Out are optional vec3 tangents for Hermite\n * interpolation of the eye and center paths respectively.\n * When absent, centripetal Catmull-Rom tangents are auto-computed at eval time.\n \n Each field is independently interpolated — eye and center along their\n * own paths, up nlerped on the unit sphere. This correctly handles cameras\n * that always look at a fixed target (center stays at origin throughout)\n * as well as free-fly paths where center moves independently.\n \n Missing fields default to: center → [0,0,0], up → [0,1,0].\n \n add() accepts individual specs or a bulk array of specs:\n \n { eye, center?, up?, fov?, halfHeight?,\n * eyeTanIn?, eyeTanOut?, centerTanIn?, centerTanOut? }\n * explicit lookat; center defaults to [0,0,0], up to [0,1,0].\n * fov and halfHeight are mutually exclusive nullable scalars.\n * { vMatrix: mat4 } view matrix (world→eye); eye reconstructed via -R^T·t\n * { eMatrix: mat4 } eye matrix (eye→world); eye read from col3 directly\n * [ spec, spec, ... ] bulk\n \n Note on up for matrix forms:\n * up is always [0,1,0]. The matrix's col1 (up_ortho) is intentionally\n * not used — it differs from the hint [0,1,0] for upright cameras and\n * passing it to cam.camera() shifts orbitControl's orbit reference.\n * Use capturePose() (p5.tree bridge) when the real up hint is needed.\n \n eval() writes { eye, center, up, fov, halfHeight }:\n * eye — Hermite (auto-CR when no tangents stored) or linear or step\n * center — Hermite (auto-CR when no tangents stored) or linear or step\n * up — nlerp (normalize-after-lerp on unit sphere)\n * fov — lerp when both keyframes carry non-null fov; else null\n * halfHeight — lerp when both keyframes carry non-null halfHeight; else null\n \n @example\n * const track = new CameraTrack()\n * track.add({ eye:[0,0,500] }) // center defaults to [0,0,0]\n * track.add({ eye:[300,-150,0], center:[0,0,0] })\n * track.add({ eMatrix: myEyeMatrix })\n * track.add({ vMatrix: myViewMatrix })\n * track.play({ loop: true })\n * // per frame:\n * track.tick()\n * const out = { eye:[0,0,0], center:[0,0,0], up:[0,1,0] }\n * track.eval(out)\n * cam.camera(out.eye[0],out.eye[1],out.eye[2],\n * out.center[0],out.center[1],out.center[2],\n * out.up[0],out.up[1],out.up[2])\n /\nexport class CameraTrack extends Track {\n constructor() {\n super();\n /\n Eye position interpolation mode.\n * - 'hermite' — cubic Hermite; auto-CR tangents when none stored (default)\n * - 'linear' — lerp\n * - 'step' — snap to k0 eye\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.eyeInterp = 'hermite';\n /\n Center (lookat target) interpolation mode.\n * 'linear' suits fixed or predictably moving targets (default).\n * 'hermite' gives smoother paths when center is also flying freely.\n * - 'hermite' — cubic Hermite; auto-CR tangents when none stored\n * - 'linear' — lerp\n * - 'step' — snap to k0 center\n * @type {'hermite'\|'linear'\|'step'}\n /\n this.centerInterp = 'linear';\n // Scratch for toCamera() — avoids hot-path allocations\n this._eye = [0,0,0];\n this._center = [0,0,0];\n this._up = [0,1,0];\n }\n\n /\n Append one or more camera keyframes. Adjacent duplicates are skipped by default.\n \n @param {Object\|Object[]} spec\n * { eye, center?, up? } or { vMatrix: mat4 } or { eMatrix: mat4 } or an array of either.\n * @param {{ deduplicate?: boolean }} [opts]\n /\n add(spec, opts) {\n if (Array.isArray(spec)) {\n for (const s of spec) this.add(s, opts);\n return;\n }\n const kf = _parseCameraSpec(spec);\n if (!kf) return;\n const dedup = !opts \|\| opts.deduplicate !== false;\n if (dedup && this.keyframes.length > 0) {\n if (_sameCameraKeyframe(this.keyframes[this.keyframes.length - 1], kf)) return;\n }\n this.keyframes.push(kf);\n }\n\n /\n Replace (or append at end) the keyframe at index.\n * @param {number} index\n * @param {Object} spec\n * @returns {boolean}\n /\n set(index, spec) {\n if (!_isNum(index)) return false;\n const i = index \| 0, kf = _parseCameraSpec(spec);\n if (!kf \|\| i < 0 \|\| i > this.keyframes.length) return false;\n if (i === this.keyframes.length) this.keyframes.push(kf);\n else this.keyframes[i] = kf;\n return true;\n }\n\n /\n Evaluate interpolated camera pose at current cursor.\n \n @param {{ eye:number[], center:number[], up:number[] }} [out]\n * @returns {{ eye:number[], center:number[], up:number[] }} out\n /\n eval(out) {\n out = out \|\| { eye:[0,0,0], center:[0,0,0], up:[0,1,0], fov:null, halfHeight:null };\n const n = this.keyframes.length;\n if (n === 0) return out;\n\n if (n === 1) {\n const k = this.keyframes[0];\n out.eye[0]=k.eye[0]; out.eye[1]=k.eye[1]; out.eye[2]=k.eye[2];\n out.center[0]=k.center[0]; out.center[1]=k.center[1]; out.center[2]=k.center[2];\n out.up[0]=k.up[0]; out.up[1]=k.up[1]; out.up[2]=k.up[2];\n out.fov = k.fov;\n out.halfHeight = k.halfHeight;\n return out;\n }\n\n const nSeg = n - 1;\n const dur = Math.max(1, this.duration \| 0);\n const seg = _clampS(this.seg, 0, nSeg - 1);\n const t = _clamp01(this.f / dur);\n const k0 = this.keyframes[seg];\n const k1 = this.keyframes[seg + 1];\n\n // eye — Hermite (auto-CR tangents when none stored), linear, or step\n if (this.eyeInterp === 'step') {\n out.eye[0]=k0.eye[0]; out.eye[1]=k0.eye[1]; out.eye[2]=k0.eye[2];\n } else if (this.eyeInterp === 'linear') {\n lerpVec3(out.eye, k0.eye, k1.eye, t);\n } else {\n const p0 = seg > 0 ? this.keyframes[seg - 1].eye : k0.eye;\n const p3 = seg + 2 < n ? this.keyframes[seg + 2].eye : k1.eye;\n const m0 = k0.eyeTanOut != null ? k0.eyeTanOut\n : k0.eyeTanIn != null ? k0.eyeTanIn\n : _crTanOut(_m0, p0, k0.eye, k1.eye, p3);\n const m1 = k1.eyeTanIn != null ? k1.eyeTanIn\n : k1.eyeTanOut != null ? k1.eyeTanOut\n : _crTanIn(_m1, p0, k0.eye, k1.eye, p3);\n hermiteVec3(out.eye, k0.eye, m0, k1.eye, m1, t);\n }\n\n // center — Hermite, linear, or step (independent lookat target)\n if (this.centerInterp === 'step') {\n out.center[0]=k0.center[0]; out.center[1]=k0.center[1]; out.center[2]=k0.center[2];\n } else if (this.centerInterp === 'linear') {\n lerpVec3(out.center, k0.center, k1.center, t);\n } else {\n const c0 = seg > 0 ? this.keyframes[seg - 1].center : k0.center;\n const c3 = seg + 2 < n ? this.keyframes[seg + 2].center : k1.center;\n const m0 = k0.centerTanOut != null ? k0.centerTanOut\n : k0.centerTanIn != null ? k0.centerTanIn\n : _crTanOut(_m0, c0, k0.center, k1.center, c3);\n const m1 = k1.centerTanIn != null ? k1.centerTanIn\n : k1.centerTanOut != null ? k1.centerTanOut\n : _crTanIn(_m1, c0, k0.center, k1.center, c3);\n hermiteVec3(out.center, k0.center, m0, k1.center, m1, t);\n }\n\n // up — nlerp (normalize after lerp; correct for typical near-upright cameras)\n const ux = k0.up[0] + t(k1.up[0]-k0.up[0]);\n const uy = k0.up[1] + t(k1.up[1]-k0.up[1]);\n const uz = k0.up[2] + t(k1.up[2]-k0.up[2]);\n const ul = Math.sqrt(uxux+uyuy+uzuz) \|\| 1;\n out.up[0]=ux/ul; out.up[1]=uy/ul; out.up[2]=uz/ul;\n\n // fov — lerp (perspective); null when either keyframe lacks it\n out.fov = (k0.fov !== null && k1.fov !== null)\n ? k0.fov + t (k1.fov - k0.fov) : null;\n // halfHeight — lerp (ortho); null when either keyframe lacks it\n out.halfHeight = (k0.halfHeight !== null && k1.halfHeight !== null)\n ? k0.halfHeight + t * (k1.halfHeight - k0.halfHeight) : null;\n\n return out;\n }\n}\n","/*\n @file Frustum planes and visibility tests — zero allocations.\n * @module tree/visibility\n * @license AGPL-3.0-only\n \n Planes are a flat Float64Array(24): 6 planes × 4 floats [a, b, c, d].\n * All inputs are scalars. All outputs are INVISIBLE \| VISIBLE \| SEMIVISIBLE.\n /\n\nimport { INVISIBLE, VISIBLE, SEMIVISIBLE } from './constants.js';\n\n// Plane indices\nexport const PLANE_LEFT = 0, PLANE_RIGHT = 1, PLANE_NEAR = 2,\n PLANE_FAR = 3, PLANE_TOP = 4, PLANE_BOTTOM = 5;\n\n/\n Compute 6 frustum planes from camera basis (world space) + projection params.\n * All inputs are scalars — the addon extracts them from the inverse view matrix\n * and projection queries before calling.\n \n @param {Float64Array} out 24-float output.\n * @param {number} posX,posY,posZ Camera world position.\n * @param {number} vdX,vdY,vdZ View direction (−Z in eye space, world).\n * @param {number} upX,upY,upZ Camera up.\n * @param {number} rtX,rtY,rtZ Camera right.\n * @param {boolean} ortho true if orthographic.\n * @param {number} near,far,left,right,top,bottom Projection plane values.\n /\nexport function frustumPlanes(\n out,\n posX, posY, posZ,\n vdX, vdY, vdZ,\n upX, upY, upZ,\n rtX, rtY, rtZ,\n ortho,\n near, far, left, right, top, bottom\n) {\n const posViewDir = 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 - bottom; // note: p5 top/bottom are swapped in sign convention\n\n // Bottom: normal = -up\n out[20] = -upX; out[21] = -upY; out[22] = -upZ;\n out[23] = -posUp + top;\n } else {\n // Left\n const hfovl = Math.atan2(left, near);\n const shfovl = Math.sin(hfovl), chfovl = Math.cos(hfovl);\n out[0] = 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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package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@nakednous/tree",
-  "version": "0.0.9",
+  "version": "0.0.10",
   "description": "tree — pure numeric core. Zero dependencies.",
   "type": "module",
   "main": "dist/index.js",