@playcanvas/splat-transform 1.8.3 → 1.9.0

package/dist/index.cjs

@@ -932,20 +932,610 @@ const sortMortonOrder = (dataTable, indices) => {
     generate(indices);
 };
 
-/**
- * Sorts the provided indices by visibility score (descending order).
- *
- * Visibility is computed as: linear_opacity * volume
- * where:
- * - linear_opacity = sigmoid(opacity) = 1 / (1 + exp(-opacity))
- * - volume = exp(scale_0) * exp(scale_1) * exp(scale_2)
- *
- * After calling this function, indices[0] will contain the index of the most
- * visible splat, indices[1] the second most visible, and so on.
- *
- * @param dataTable - The DataTable containing splat data.
- * @param indices - Array of indices to sort in-place.
- */
+class KdTree {
+    centroids;
+    root;
+    constructor(centroids) {
+        const build = (indices, depth) => {
+            const { centroids } = this;
+            const values = centroids.columns[depth % centroids.numColumns].data;
+            indices.sort((a, b) => values[a] - values[b]);
+            if (indices.length === 1) {
+                return {
+                    index: indices[0],
+                    count: 1
+                };
+            }
+            else if (indices.length === 2) {
+                return {
+                    index: indices[0],
+                    count: 2,
+                    right: {
+                        index: indices[1],
+                        count: 1
+                    }
+                };
+            }
+            const mid = indices.length >> 1;
+            const left = build(indices.subarray(0, mid), depth + 1);
+            const right = build(indices.subarray(mid + 1), depth + 1);
+            return {
+                index: indices[mid],
+                count: 1 + left.count + right.count,
+                left,
+                right
+            };
+        };
+        const indices = new Uint32Array(centroids.numRows);
+        for (let i = 0; i < indices.length; ++i) {
+            indices[i] = i;
+        }
+        this.centroids = centroids;
+        this.root = build(indices, 0);
+    }
+    findNearest(point, filterFunc) {
+        const { centroids } = this;
+        const { numColumns } = centroids;
+        const calcDistance = (index) => {
+            let l = 0;
+            for (let i = 0; i < numColumns; ++i) {
+                const v = centroids.columns[i].data[index] - point[i];
+                l += v * v;
+            }
+            return l;
+        };
+        let mind = Infinity;
+        let mini = -1;
+        let cnt = 0;
+        const recurse = (node, depth) => {
+            const axis = depth % numColumns;
+            const distance = point[axis] - centroids.columns[axis].data[node.index];
+            const next = (distance > 0) ? node.right : node.left;
+            cnt++;
+            if (next) {
+                recurse(next, depth + 1);
+            }
+            // check index
+            if (!filterFunc || filterFunc(node.index)) {
+                const thisd = calcDistance(node.index);
+                if (thisd < mind) {
+                    mind = thisd;
+                    mini = node.index;
+                }
+            }
+            // check the other side
+            if (distance * distance < mind) {
+                const other = next === node.right ? node.left : node.right;
+                if (other) {
+                    recurse(other, depth + 1);
+                }
+            }
+        };
+        recurse(this.root, 0);
+        return { index: mini, distanceSqr: mind, cnt };
+    }
+    findKNearest(point, k, filterFunc) {
+        if (k <= 0) {
+            return { indices: new Int32Array(0), distances: new Float32Array(0) };
+        }
+        k = Math.min(k, this.centroids.numRows);
+        const { centroids } = this;
+        const { numColumns } = centroids;
+        const calcDistance = (index) => {
+            let l = 0;
+            for (let i = 0; i < numColumns; ++i) {
+                const v = centroids.columns[i].data[index] - point[i];
+                l += v * v;
+            }
+            return l;
+        };
+        // Bounded max-heap: stores (distance, index) pairs sorted so the
+        // farthest element is at position 0, enabling O(1) pruning bound.
+        const heapDist = new Float32Array(k).fill(Infinity);
+        const heapIdx = new Int32Array(k).fill(-1);
+        let heapSize = 0;
+        const heapPush = (dist, idx) => {
+            if (heapSize < k) {
+                // Heap not full yet -- insert via sift-up
+                let pos = heapSize++;
+                heapDist[pos] = dist;
+                heapIdx[pos] = idx;
+                while (pos > 0) {
+                    const parent = (pos - 1) >> 1;
+                    if (heapDist[parent] < heapDist[pos]) {
+                        // swap
+                        const td = heapDist[parent];
+                        heapDist[parent] = heapDist[pos];
+                        heapDist[pos] = td;
+                        const ti = heapIdx[parent];
+                        heapIdx[parent] = heapIdx[pos];
+                        heapIdx[pos] = ti;
+                        pos = parent;
+                    }
+                    else {
+                        break;
+                    }
+                }
+            }
+            else if (dist < heapDist[0]) {
+                // Replace root (farthest) and sift-down
+                heapDist[0] = dist;
+                heapIdx[0] = idx;
+                let pos = 0;
+                for (;;) {
+                    const left = 2 * pos + 1;
+                    const right = 2 * pos + 2;
+                    let largest = pos;
+                    if (left < k && heapDist[left] > heapDist[largest])
+                        largest = left;
+                    if (right < k && heapDist[right] > heapDist[largest])
+                        largest = right;
+                    if (largest === pos)
+                        break;
+                    const td = heapDist[pos];
+                    heapDist[pos] = heapDist[largest];
+                    heapDist[largest] = td;
+                    const ti = heapIdx[pos];
+                    heapIdx[pos] = heapIdx[largest];
+                    heapIdx[largest] = ti;
+                    pos = largest;
+                }
+            }
+        };
+        const recurse = (node, depth) => {
+            const axis = depth % numColumns;
+            const distance = point[axis] - centroids.columns[axis].data[node.index];
+            const next = (distance > 0) ? node.right : node.left;
+            if (next) {
+                recurse(next, depth + 1);
+            }
+            if (!filterFunc || filterFunc(node.index)) {
+                const thisd = calcDistance(node.index);
+                heapPush(thisd, node.index);
+            }
+            const bound = heapSize < k ? Infinity : heapDist[0];
+            if (distance * distance < bound) {
+                const other = next === node.right ? node.left : node.right;
+                if (other) {
+                    recurse(other, depth + 1);
+                }
+            }
+        };
+        recurse(this.root, 0);
+        // Extract results sorted by distance (ascending)
+        const resultIndices = new Int32Array(heapSize);
+        const resultDist = new Float32Array(heapSize);
+        for (let i = 0; i < heapSize; i++) {
+            resultIndices[i] = heapIdx[i];
+            resultDist[i] = heapDist[i];
+        }
+        // Simple insertion sort by distance (k is small)
+        for (let i = 1; i < heapSize; i++) {
+            const d = resultDist[i];
+            const idx = resultIndices[i];
+            let j = i - 1;
+            while (j >= 0 && resultDist[j] > d) {
+                resultDist[j + 1] = resultDist[j];
+                resultIndices[j + 1] = resultIndices[j];
+                j--;
+            }
+            resultDist[j + 1] = d;
+            resultIndices[j + 1] = idx;
+        }
+        return { indices: resultIndices, distances: resultDist };
+    }
+}
+
+const TWO_PI_POW_1_5 = Math.pow(2 * Math.PI, 1.5);
+const LOG2PI = Math.log(2 * Math.PI);
+const OPACITY_PRUNE_THRESHOLD = 0.1;
+const KNN_K = 16;
+const MC_SAMPLES = 1;
+const EPS_COV = 1e-8;
+// ---------- sigmoid / logit ----------
+const sigmoid$1 = (x) => 1 / (1 + Math.exp(-x));
+const logit = (p) => {
+    p = Math.max(1e-7, Math.min(1 - 1e-7, p));
+    return Math.log(p / (1 - p));
+};
+const logAddExp = (a, b) => {
+    if (a === -Infinity)
+        return b;
+    if (b === -Infinity)
+        return a;
+    const m = Math.max(a, b);
+    return m + Math.log(Math.exp(a - m) + Math.exp(b - m));
+};
+// ---------- PRNG ----------
+const mulberry32 = (seed) => {
+    return () => {
+        let t = (seed += 0x6d2b79f5);
+        t = Math.imul(t ^ (t >>> 15), t | 1);
+        t ^= t + Math.imul(t ^ (t >>> 7), t | 61);
+        return ((t ^ (t >>> 14)) >>> 0) / 4294967296;
+    };
+};
+const makeGaussianSamples = (n, seed) => {
+    const rand = mulberry32(seed >>> 0);
+    const out = [];
+    while (out.length < n) {
+        const u1 = Math.max(rand(), 1e-12);
+        const u2 = rand();
+        const u3 = Math.max(rand(), 1e-12);
+        const u4 = rand();
+        const r1 = Math.sqrt(-2 * Math.log(u1));
+        const t1 = 2 * Math.PI * u2;
+        const r2 = Math.sqrt(-2 * Math.log(u3));
+        const t2 = 2 * Math.PI * u4;
+        out.push(new Float64Array([r1 * Math.cos(t1), r1 * Math.sin(t1), r2 * Math.cos(t2)]));
+    }
+    return out;
+};
+// ---------- 3x3 matrix helpers (row-major, 9 floats) ----------
+const quatToRotmat = (qw, qx, qy, qz, out, o) => {
+    const xx = qx * qx, yy = qy * qy, zz = qz * qz;
+    const wx = qw * qx, wy = qw * qy, wz = qw * qz;
+    const xy = qx * qy, xz = qx * qz, yz = qy * qz;
+    out[o] = 1 - 2 * (yy + zz);
+    out[o + 1] = 2 * (xy - wz);
+    out[o + 2] = 2 * (xz + wy);
+    out[o + 3] = 2 * (xy + wz);
+    out[o + 4] = 1 - 2 * (xx + zz);
+    out[o + 5] = 2 * (yz - wx);
+    out[o + 6] = 2 * (xz - wy);
+    out[o + 7] = 2 * (yz + wx);
+    out[o + 8] = 1 - 2 * (xx + yy);
+};
+const transpose3 = (src, so, dst, doff) => {
+    dst[doff] = src[so];
+    dst[doff + 1] = src[so + 3];
+    dst[doff + 2] = src[so + 6];
+    dst[doff + 3] = src[so + 1];
+    dst[doff + 4] = src[so + 4];
+    dst[doff + 5] = src[so + 7];
+    dst[doff + 6] = src[so + 2];
+    dst[doff + 7] = src[so + 5];
+    dst[doff + 8] = src[so + 8];
+};
+const sigmaFromRotVar = (R, r, vx, vy, vz, out, o) => {
+    const r00 = R[r], r01 = R[r + 1], r02 = R[r + 2];
+    const r10 = R[r + 3], r11 = R[r + 4], r12 = R[r + 5];
+    const r20 = R[r + 6], r21 = R[r + 7], r22 = R[r + 8];
+    out[o] = r00 * r00 * vx + r01 * r01 * vy + r02 * r02 * vz;
+    out[o + 1] = r00 * r10 * vx + r01 * r11 * vy + r02 * r12 * vz;
+    out[o + 2] = r00 * r20 * vx + r01 * r21 * vy + r02 * r22 * vz;
+    out[o + 3] = out[o + 1];
+    out[o + 4] = r10 * r10 * vx + r11 * r11 * vy + r12 * r12 * vz;
+    out[o + 5] = r10 * r20 * vx + r11 * r21 * vy + r12 * r22 * vz;
+    out[o + 6] = out[o + 2];
+    out[o + 7] = out[o + 5];
+    out[o + 8] = r20 * r20 * vx + r21 * r21 * vy + r22 * r22 * vz;
+};
+const det3 = (A, o) => {
+    return (A[o] * (A[o + 4] * A[o + 8] - A[o + 5] * A[o + 7]) -
+        A[o + 1] * (A[o + 3] * A[o + 8] - A[o + 5] * A[o + 6]) +
+        A[o + 2] * (A[o + 3] * A[o + 7] - A[o + 4] * A[o + 6]));
+};
+const gaussLogpdfDiagrot = (x, y, z, mx, my, mz, R, ro, invx, invy, invz, logdet) => {
+    const dx = x - mx, dy = y - my, dz = z - mz;
+    const y0 = dx * R[ro] + dy * R[ro + 3] + dz * R[ro + 6];
+    const y1 = dx * R[ro + 1] + dy * R[ro + 4] + dz * R[ro + 7];
+    const y2 = dx * R[ro + 2] + dy * R[ro + 5] + dz * R[ro + 8];
+    const quad = y0 * y0 * invx + y1 * y1 * invy + y2 * y2 * invz;
+    return -0.5 * (3 * LOG2PI + logdet + quad);
+};
+// Jacobi eigendecomposition for 3x3 symmetric matrix (full 9-element row-major)
+const eigenSymmetric3x3 = (Ain) => {
+    const A = new Float64Array(Ain);
+    const V = new Float64Array([1, 0, 0, 0, 1, 0, 0, 0, 1]);
+    for (let iter = 0; iter < 24; iter++) {
+        let p = 0, q = 1;
+        let maxAbs = Math.abs(A[1]);
+        if (Math.abs(A[2]) > maxAbs) {
+            p = 0;
+            q = 2;
+            maxAbs = Math.abs(A[2]);
+        }
+        if (Math.abs(A[5]) > maxAbs) {
+            p = 1;
+            q = 2;
+            maxAbs = Math.abs(A[5]);
+        }
+        if (maxAbs < 1e-12)
+            break;
+        const pp = 3 * p + p, qq = 3 * q + q, pq = 3 * p + q;
+        const app = A[pp], aqq = A[qq], apq = A[pq];
+        const tau = (aqq - app) / (2 * apq);
+        const t = Math.sign(tau) / (Math.abs(tau) + Math.sqrt(1 + tau * tau));
+        const c = 1 / Math.sqrt(1 + t * t);
+        const s = t * c;
+        for (let k = 0; k < 3; k++) {
+            if (k === p || k === q)
+                continue;
+            const kp = 3 * k + p, kq = 3 * k + q;
+            const pk = 3 * p + k, qk = 3 * q + k;
+            const akp = A[kp], akq = A[kq];
+            A[kp] = c * akp - s * akq;
+            A[pk] = A[kp];
+            A[kq] = s * akp + c * akq;
+            A[qk] = A[kq];
+        }
+        A[pp] = c * c * app - 2 * s * c * apq + s * s * aqq;
+        A[qq] = s * s * app + 2 * s * c * apq + c * c * aqq;
+        A[pq] = 0;
+        A[3 * q + p] = 0;
+        for (let k = 0; k < 3; k++) {
+            const kp = 3 * k + p, kq = 3 * k + q;
+            const vkp = V[kp], vkq = V[kq];
+            V[kp] = c * vkp - s * vkq;
+            V[kq] = s * vkp + c * vkq;
+        }
+    }
+    return { values: [A[0], A[4], A[8]], vectors: V };
+};
+const rotmatToQuat = (R, o) => {
+    const m00 = R[o], m11 = R[o + 4], m22 = R[o + 8];
+    const tr = m00 + m11 + m22;
+    let qw, qx, qy, qz;
+    if (tr > 0) {
+        const S = Math.sqrt(tr + 1) * 2;
+        qw = 0.25 * S;
+        qx = (R[o + 7] - R[o + 5]) / S;
+        qy = (R[o + 2] - R[o + 6]) / S;
+        qz = (R[o + 3] - R[o + 1]) / S;
+    }
+    else if (R[o] > R[o + 4] && R[o] > R[o + 8]) {
+        const S = Math.sqrt(1 + R[o] - R[o + 4] - R[o + 8]) * 2;
+        qw = (R[o + 7] - R[o + 5]) / S;
+        qx = 0.25 * S;
+        qy = (R[o + 1] + R[o + 3]) / S;
+        qz = (R[o + 2] + R[o + 6]) / S;
+    }
+    else if (R[o + 4] > R[o + 8]) {
+        const S = Math.sqrt(1 + R[o + 4] - R[o] - R[o + 8]) * 2;
+        qw = (R[o + 2] - R[o + 6]) / S;
+        qx = (R[o + 1] + R[o + 3]) / S;
+        qy = 0.25 * S;
+        qz = (R[o + 5] + R[o + 7]) / S;
+    }
+    else {
+        const S = Math.sqrt(1 + R[o + 8] - R[o] - R[o + 4]) * 2;
+        qw = (R[o + 3] - R[o + 1]) / S;
+        qx = (R[o + 2] + R[o + 6]) / S;
+        qy = (R[o + 5] + R[o + 7]) / S;
+        qz = 0.25 * S;
+    }
+    const n = Math.hypot(qw, qx, qy, qz);
+    const inv = 1 / Math.max(n, 1e-12);
+    return new Float64Array([qw * inv, qx * inv, qy * inv, qz * inv]);
+};
+const buildPerSplatCache = (n, cx, cy, cz, cop, cs0, cs1, cs2, cr0, cr1, cr2, cr3) => {
+    const R = new Float64Array(n * 9);
+    const Rt = new Float64Array(n * 9);
+    const v = new Float64Array(n * 3);
+    const invdiag = new Float64Array(n * 3);
+    const logdet = new Float64Array(n);
+    const sigma = new Float64Array(n * 9);
+    const mass = new Float64Array(n);
+    for (let i = 0; i < n; i++) {
+        const i3 = 3 * i;
+        const i9 = 9 * i;
+        const linAlpha = sigmoid$1(cop[i]);
+        const sx = Math.max(Math.exp(cs0[i]), 1e-12);
+        const sy = Math.max(Math.exp(cs1[i]), 1e-12);
+        const sz = Math.max(Math.exp(cs2[i]), 1e-12);
+        const vx = sx * sx + EPS_COV;
+        const vy = sy * sy + EPS_COV;
+        const vz = sz * sz + EPS_COV;
+        v[i3] = vx;
+        v[i3 + 1] = vy;
+        v[i3 + 2] = vz;
+        invdiag[i3] = 1 / Math.max(vx, 1e-30);
+        invdiag[i3 + 1] = 1 / Math.max(vy, 1e-30);
+        invdiag[i3 + 2] = 1 / Math.max(vz, 1e-30);
+        logdet[i] = Math.log(Math.max(vx, 1e-30)) + Math.log(Math.max(vy, 1e-30)) + Math.log(Math.max(vz, 1e-30));
+        // Normalize quaternion before building rotation
+        let qw = cr0[i], qx = cr1[i], qy = cr2[i], qz = cr3[i];
+        const qn = Math.hypot(qw, qx, qy, qz);
+        const invq = 1 / Math.max(qn, 1e-12);
+        qw *= invq;
+        qx *= invq;
+        qy *= invq;
+        qz *= invq;
+        quatToRotmat(qw, qx, qy, qz, R, i9);
+        transpose3(R, i9, Rt, i9);
+        sigmaFromRotVar(R, i9, vx, vy, vz, sigma, i9);
+        mass[i] = TWO_PI_POW_1_5 * linAlpha * sx * sy * sz + 1e-12;
+    }
+    return { R, Rt, v, invdiag, logdet, sigma, mass };
+};
+// ====================== COST FUNCTION ======================
+const _Sigm = new Float64Array(9);
+const computeEdgeCost = (i, j, cx, cy, cz, cache, Z, appData, appColCount) => {
+    const i3 = 3 * i, j3 = 3 * j;
+    const i9 = 9 * i, j9 = 9 * j;
+    const mux = cx[i], muy = cy[i], muz = cz[i];
+    const mvx = cx[j], mvy = cy[j], mvz = cz[j];
+    const wi = cache.mass[i], wj = cache.mass[j];
+    const W = wi + wj;
+    const Wsafe = W > 0 ? W : 1;
+    let pi = wi / Wsafe;
+    pi = Math.max(1e-12, Math.min(1 - 1e-12, pi));
+    const pj = 1 - pi;
+    const logPi = Math.log(pi);
+    const logPj = Math.log(pj);
+    // Merged mean
+    const mmx = pi * mux + pj * mvx;
+    const mmy = pi * muy + pj * mvy;
+    const mmz = pi * muz + pj * mvz;
+    const dix = mux - mmx, diy = muy - mmy, diz = muz - mmz;
+    const djx = mvx - mmx, djy = mvy - mmy, djz = mvz - mmz;
+    // Merged covariance (full 9-element, reuse preallocated buffer)
+    for (let a = 0; a < 9; a++) {
+        _Sigm[a] = pi * cache.sigma[i9 + a] + pj * cache.sigma[j9 + a];
+    }
+    _Sigm[0] += pi * dix * dix + pj * djx * djx;
+    _Sigm[1] += pi * dix * diy + pj * djx * djy;
+    _Sigm[2] += pi * dix * diz + pj * djx * djz;
+    _Sigm[3] += pi * diy * dix + pj * djy * djx;
+    _Sigm[4] += pi * diy * diy + pj * djy * djy;
+    _Sigm[5] += pi * diy * diz + pj * djy * djz;
+    _Sigm[6] += pi * diz * dix + pj * djz * djx;
+    _Sigm[7] += pi * diz * diy + pj * djz * djy;
+    _Sigm[8] += pi * diz * diz + pj * djz * djz;
+    // Force symmetry + regularize
+    _Sigm[1] = _Sigm[3] = 0.5 * (_Sigm[1] + _Sigm[3]);
+    _Sigm[2] = _Sigm[6] = 0.5 * (_Sigm[2] + _Sigm[6]);
+    _Sigm[5] = _Sigm[7] = 0.5 * (_Sigm[5] + _Sigm[7]);
+    _Sigm[0] += EPS_COV;
+    _Sigm[4] += EPS_COV;
+    _Sigm[8] += EPS_COV;
+    const detm = Math.max(det3(_Sigm, 0), 1e-30);
+    const logdetm = Math.log(detm);
+    // E_p[-log q_m] computed analytically as entropy of merged Gaussian
+    const EpNegLogQ = 0.5 * (3 * LOG2PI + logdetm + 3);
+    // Sample from each component separately with same z-vectors
+    const stdix = Math.sqrt(Math.max(cache.v[i3], 0));
+    const stdiy = Math.sqrt(Math.max(cache.v[i3 + 1], 0));
+    const stdiz = Math.sqrt(Math.max(cache.v[i3 + 2], 0));
+    const stdjx = Math.sqrt(Math.max(cache.v[j3], 0));
+    const stdjy = Math.sqrt(Math.max(cache.v[j3 + 1], 0));
+    const stdjz = Math.sqrt(Math.max(cache.v[j3 + 2], 0));
+    let sumLogpOnI = 0;
+    let sumLogpOnJ = 0;
+    for (let s = 0; s < Z.length; s++) {
+        const z0 = Z[s][0], z1 = Z[s][1], z2 = Z[s][2];
+        // x_i = mu_i + R_i^T * diag(std_i) * z
+        const xix = mux + z0 * stdix * cache.Rt[i9] + z1 * stdiy * cache.Rt[i9 + 3] + z2 * stdiz * cache.Rt[i9 + 6];
+        const xiy = muy + z0 * stdix * cache.Rt[i9 + 1] + z1 * stdiy * cache.Rt[i9 + 4] + z2 * stdiz * cache.Rt[i9 + 7];
+        const xiz = muz + z0 * stdix * cache.Rt[i9 + 2] + z1 * stdiy * cache.Rt[i9 + 5] + z2 * stdiz * cache.Rt[i9 + 8];
+        // x_j = mu_j + R_j^T * diag(std_j) * z
+        const xjx = mvx + z0 * stdjx * cache.Rt[j9] + z1 * stdjy * cache.Rt[j9 + 3] + z2 * stdjz * cache.Rt[j9 + 6];
+        const xjy = mvy + z0 * stdjx * cache.Rt[j9 + 1] + z1 * stdjy * cache.Rt[j9 + 4] + z2 * stdjz * cache.Rt[j9 + 7];
+        const xjz = mvz + z0 * stdjx * cache.Rt[j9 + 2] + z1 * stdjy * cache.Rt[j9 + 5] + z2 * stdjz * cache.Rt[j9 + 8];
+        // Evaluate log p_ij at samples from component i
+        const logNiOnI = gaussLogpdfDiagrot(xix, xiy, xiz, mux, muy, muz, cache.R, i9, cache.invdiag[i3], cache.invdiag[i3 + 1], cache.invdiag[i3 + 2], cache.logdet[i]);
+        const logNjOnI = gaussLogpdfDiagrot(xix, xiy, xiz, mvx, mvy, mvz, cache.R, j9, cache.invdiag[j3], cache.invdiag[j3 + 1], cache.invdiag[j3 + 2], cache.logdet[j]);
+        sumLogpOnI += logAddExp(logPi + logNiOnI, logPj + logNjOnI);
+        // Evaluate log p_ij at samples from component j
+        const logNiOnJ = gaussLogpdfDiagrot(xjx, xjy, xjz, mux, muy, muz, cache.R, i9, cache.invdiag[i3], cache.invdiag[i3 + 1], cache.invdiag[i3 + 2], cache.logdet[i]);
+        const logNjOnJ = gaussLogpdfDiagrot(xjx, xjy, xjz, mvx, mvy, mvz, cache.R, j9, cache.invdiag[j3], cache.invdiag[j3 + 1], cache.invdiag[j3 + 2], cache.logdet[j]);
+        sumLogpOnJ += logAddExp(logPi + logNiOnJ, logPj + logNjOnJ);
+    }
+    const Ei = sumLogpOnI / Z.length;
+    const Ej = sumLogpOnJ / Z.length;
+    const EpLogp = pi * Ei + pj * Ej;
+    const geo = EpLogp + EpNegLogQ;
+    // Appearance cost
+    let cSh = 0;
+    for (let k = 0; k < appColCount; k++) {
+        const d = appData[k][i] - appData[k][j];
+        cSh += d * d;
+    }
+    return geo + cSh;
+};
+// ====================== MERGE (MPMM) ======================
+const momentMatch = (i, j, cx, cy, cz, cop, cs0, cs1, cs2, cr0, cr1, cr2, cr3, out, appData, appColCount) => {
+    const sxi = Math.max(Math.exp(cs0[i]), 1e-12);
+    const syi = Math.max(Math.exp(cs1[i]), 1e-12);
+    const szi = Math.max(Math.exp(cs2[i]), 1e-12);
+    const sxj = Math.max(Math.exp(cs0[j]), 1e-12);
+    const syj = Math.max(Math.exp(cs1[j]), 1e-12);
+    const szj = Math.max(Math.exp(cs2[j]), 1e-12);
+    const alphaI = sigmoid$1(cop[i]);
+    const alphaJ = sigmoid$1(cop[j]);
+    const wi = TWO_PI_POW_1_5 * alphaI * sxi * syi * szi + 1e-12;
+    const wj = TWO_PI_POW_1_5 * alphaJ * sxj * syj * szj + 1e-12;
+    const W = Math.max(wi + wj, 1e-12);
+    // Merged mean
+    const mux = (wi * cx[i] + wj * cx[j]) / W;
+    const muy = (wi * cy[i] + wj * cy[j]) / W;
+    const muz = (wi * cz[i] + wj * cz[j]) / W;
+    // Build per-splat covariance matrices
+    const SigI = new Float64Array(9);
+    const SigJ = new Float64Array(9);
+    const Ri = new Float64Array(9);
+    const Rj = new Float64Array(9);
+    let qwi = cr0[i], qxi = cr1[i], qyi = cr2[i], qzi = cr3[i];
+    let ni = Math.hypot(qwi, qxi, qyi, qzi);
+    ni = 1 / Math.max(ni, 1e-12);
+    qwi *= ni;
+    qxi *= ni;
+    qyi *= ni;
+    qzi *= ni;
+    let qwj = cr0[j], qxj = cr1[j], qyj = cr2[j], qzj = cr3[j];
+    let nj = Math.hypot(qwj, qxj, qyj, qzj);
+    nj = 1 / Math.max(nj, 1e-12);
+    qwj *= nj;
+    qxj *= nj;
+    qyj *= nj;
+    qzj *= nj;
+    quatToRotmat(qwi, qxi, qyi, qzi, Ri, 0);
+    quatToRotmat(qwj, qxj, qyj, qzj, Rj, 0);
+    sigmaFromRotVar(Ri, 0, sxi * sxi, syi * syi, szi * szi, SigI, 0);
+    sigmaFromRotVar(Rj, 0, sxj * sxj, syj * syj, szj * szj, SigJ, 0);
+    const dix = cx[i] - mux, diy = cy[i] - muy, diz = cz[i] - muz;
+    const djx = cx[j] - mux, djy = cy[j] - muy, djz = cz[j] - muz;
+    // Merged covariance
+    const Sig = new Float64Array(9);
+    for (let a = 0; a < 9; a++) {
+        Sig[a] = (wi * SigI[a] + wj * SigJ[a]) / W;
+    }
+    Sig[0] += (wi * dix * dix + wj * djx * djx) / W;
+    Sig[1] += (wi * dix * diy + wj * djx * djy) / W;
+    Sig[2] += (wi * dix * diz + wj * djx * djz) / W;
+    Sig[3] += (wi * diy * dix + wj * djy * djx) / W;
+    Sig[4] += (wi * diy * diy + wj * djy * djy) / W;
+    Sig[5] += (wi * diy * diz + wj * djy * djz) / W;
+    Sig[6] += (wi * diz * dix + wj * djz * djx) / W;
+    Sig[7] += (wi * diz * diy + wj * djz * djy) / W;
+    Sig[8] += (wi * diz * diz + wj * djz * djz) / W;
+    // Force symmetry + regularize
+    Sig[1] = Sig[3] = 0.5 * (Sig[1] + Sig[3]);
+    Sig[2] = Sig[6] = 0.5 * (Sig[2] + Sig[6]);
+    Sig[5] = Sig[7] = 0.5 * (Sig[5] + Sig[7]);
+    Sig[0] += EPS_COV;
+    Sig[4] += EPS_COV;
+    Sig[8] += EPS_COV;
+    // Eigendecomposition
+    const ev = eigenSymmetric3x3(Sig);
+    let vals = ev.values;
+    const vecs = ev.vectors;
+    // Sort eigenvalues descending
+    const order = [0, 1, 2].sort((a, b) => vals[b] - vals[a]);
+    vals = order.map(k => Math.max(vals[k], 1e-18));
+    // Build rotation matrix with sorted eigenvectors as columns
+    const Rm = new Float64Array(9);
+    for (let c = 0; c < 3; c++) {
+        const src = order[c];
+        Rm[0 + c] = vecs[0 + src];
+        Rm[3 + c] = vecs[3 + src];
+        Rm[6 + c] = vecs[6 + src];
+    }
+    if (det3(Rm, 0) < 0) {
+        Rm[2] *= -1;
+        Rm[5] *= -1;
+        Rm[8] *= -1;
+    }
+    const q = rotmatToQuat(Rm, 0);
+    out.mu[0] = mux;
+    out.mu[1] = muy;
+    out.mu[2] = muz;
+    out.sc[0] = Math.log(Math.sqrt(vals[0]));
+    out.sc[1] = Math.log(Math.sqrt(vals[1]));
+    out.sc[2] = Math.log(Math.sqrt(vals[2]));
+    out.q[0] = q[0];
+    out.q[1] = q[1];
+    out.q[2] = q[2];
+    out.q[3] = q[3];
+    // Porter-Duff over opacity
+    out.op = alphaI + alphaJ - alphaI * alphaJ;
+    // Mass-weighted appearance
+    for (let k = 0; k < appColCount; k++) {
+        out.sh[k] = (wi * appData[k][i] + wj * appData[k][j]) / W;
+    }
+};
+// ====================== SORT BY VISIBILITY (legacy) ======================
 const sortByVisibility = (dataTable, indices) => {
     const opacityCol = dataTable.getColumnByName('opacity');
     const scale0Col = dataTable.getColumnByName('scale_0');
@@ -955,37 +1545,253 @@ const sortByVisibility = (dataTable, indices) => {
         logger.debug('missing required columns for visibility sorting (opacity, scale_0, scale_1, scale_2)');
         return;
     }
-    if (indices.length === 0) {
+    if (indices.length === 0)
         return;
-    }
     const opacity = opacityCol.data;
     const scale0 = scale0Col.data;
     const scale1 = scale1Col.data;
     const scale2 = scale2Col.data;
-    // Compute visibility scores for each splat
     const scores = new Float32Array(indices.length);
     for (let i = 0; i < indices.length; i++) {
         const ri = indices[i];
-        // Convert logit opacity to linear using sigmoid
-        const logitOpacity = opacity[ri];
-        const linearOpacity = 1 / (1 + Math.exp(-logitOpacity));
-        // Convert log scales to linear and compute volume
-        // volume = exp(scale_0) * exp(scale_1) * exp(scale_2) = exp(scale_0 + scale_1 + scale_2)
-        const volume = Math.exp(scale0[ri] + scale1[ri] + scale2[ri]);
-        // Visibility score is opacity * volume
-        scores[i] = linearOpacity * volume;
-    }
-    // Sort indices by score (descending - most visible first)
+        scores[i] = (1 / (1 + Math.exp(-opacity[ri]))) * Math.exp(scale0[ri] + scale1[ri] + scale2[ri]);
+    }
     const order = new Uint32Array(indices.length);
-    for (let i = 0; i < order.length; i++) {
+    for (let i = 0; i < order.length; i++)
         order[i] = i;
-    }
     order.sort((a, b) => scores[b] - scores[a]);
-    // Apply the sorted order to indices
-    const tmpIndices = indices.slice();
-    for (let i = 0; i < indices.length; i++) {
-        indices[i] = tmpIndices[order[i]];
+    const tmp = indices.slice();
+    for (let i = 0; i < indices.length; i++)
+        indices[i] = tmp[order[i]];
+};
+// ====================== MAIN: simplifyGaussians ======================
+/**
+ * Simplifies a Gaussian splat DataTable to a target number of splats using the
+ * NanoGS progressive pairwise merging algorithm.
+ *
+ * Reference: "NanoGS: Training-Free Gaussian Splat Simplification" (Xiong et al.)
+ *
+ * @param dataTable - The input splat DataTable.
+ * @param targetCount - The desired number of output splats.
+ * @returns A new DataTable with approximately `targetCount` splats.
+ */
+const simplifyGaussians = (dataTable, targetCount) => {
+    const N = dataTable.numRows;
+    if (N <= targetCount || targetCount <= 0) {
+        return targetCount <= 0 ? dataTable.permuteRows([]) : dataTable;
+    }
+    const requiredCols = ['x', 'y', 'z', 'opacity', 'scale_0', 'scale_1', 'scale_2',
+        'rot_0', 'rot_1', 'rot_2', 'rot_3'];
+    for (const name of requiredCols) {
+        if (!dataTable.hasColumn(name)) {
+            logger.debug(`simplifyGaussians: missing required column '${name}', falling back to visibility pruning`);
+            const indices = new Uint32Array(N);
+            for (let i = 0; i < N; i++)
+                indices[i] = i;
+            sortByVisibility(dataTable, indices);
+            return dataTable.permuteRows(indices.subarray(0, targetCount));
+        }
+    }
+    // Identify appearance columns
+    const allAppearanceCols = [];
+    for (const name of ['f_dc_0', 'f_dc_1', 'f_dc_2']) {
+        if (dataTable.hasColumn(name))
+            allAppearanceCols.push(name);
+    }
+    for (let i = 0; i < 45; i++) {
+        const name = `f_rest_${i}`;
+        if (dataTable.hasColumn(name))
+            allAppearanceCols.push(name);
+    }
+    // Step 1: Opacity pruning
+    const opacityData = dataTable.getColumnByName('opacity').data;
+    const opsSorted = new Array(N);
+    for (let i = 0; i < N; i++)
+        opsSorted[i] = sigmoid$1(opacityData[i]);
+    opsSorted.sort((a, b) => a - b);
+    const median = opsSorted[N >> 1];
+    const pruneThreshold = Math.min(OPACITY_PRUNE_THRESHOLD, median);
+    const keptIndices = [];
+    for (let i = 0; i < N; i++) {
+        if (sigmoid$1(opacityData[i]) >= pruneThreshold)
+            keptIndices.push(i);
+    }
+    let current;
+    if (keptIndices.length < N && keptIndices.length > targetCount) {
+        current = dataTable.permuteRows(keptIndices);
+        logger.debug(`opacity pruning: ${N} -> ${current.numRows} splats (threshold=${pruneThreshold.toFixed(4)})`);
     }
+    else {
+        current = dataTable;
+    }
+    // Pre-generate MC samples
+    const Z = makeGaussianSamples(MC_SAMPLES, 0);
+    // Step 2: Iterative merging
+    while (current.numRows > targetCount) {
+        const n = current.numRows;
+        const kEff = Math.min(Math.max(1, KNN_K), Math.max(1, n - 1));
+        logger.debug(`merging iteration: ${n} -> ${targetCount} splats`);
+        const cx = current.getColumnByName('x').data;
+        const cy = current.getColumnByName('y').data;
+        const cz = current.getColumnByName('z').data;
+        const cop = current.getColumnByName('opacity').data;
+        const cs0 = current.getColumnByName('scale_0').data;
+        const cs1 = current.getColumnByName('scale_1').data;
+        const cs2 = current.getColumnByName('scale_2').data;
+        const cr0 = current.getColumnByName('rot_0').data;
+        const cr1 = current.getColumnByName('rot_1').data;
+        const cr2 = current.getColumnByName('rot_2').data;
+        const cr3 = current.getColumnByName('rot_3').data;
+        const cache = buildPerSplatCache(n, cx, cy, cz, cop, cs0, cs1, cs2, cr0, cr1, cr2, cr3);
+        // Build KNN graph
+        const posTable = new DataTable([
+            new Column('x', cx instanceof Float32Array ? cx : new Float32Array(cx)),
+            new Column('y', cy instanceof Float32Array ? cy : new Float32Array(cy)),
+            new Column('z', cz instanceof Float32Array ? cz : new Float32Array(cz))
+        ]);
+        const kdTree = new KdTree(posTable);
+        const edgeSet = new Set();
+        const edges = [];
+        const queryPoint = new Float32Array(3);
+        for (let i = 0; i < n; i++) {
+            queryPoint[0] = cx[i];
+            queryPoint[1] = cy[i];
+            queryPoint[2] = cz[i];
+            const knn = kdTree.findKNearest(queryPoint, kEff + 1);
+            for (let ki = 0; ki < knn.indices.length; ki++) {
+                const j = knn.indices[ki];
+                if (j === i || j < 0)
+                    continue;
+                const u = Math.min(i, j);
+                const v = Math.max(i, j);
+                const key = `${u},${v}`;
+                if (!edgeSet.has(key)) {
+                    edgeSet.add(key);
+                    edges.push([u, v]);
+                }
+            }
+        }
+        if (edges.length === 0)
+            break;
+        // Compute edge costs
+        const appData = [];
+        for (let ai = 0; ai < allAppearanceCols.length; ai++) {
+            const col = current.getColumnByName(allAppearanceCols[ai]);
+            if (col)
+                appData.push(col.data);
+        }
+        const costs = new Float32Array(edges.length);
+        for (let e = 0; e < edges.length; e++) {
+            costs[e] = computeEdgeCost(edges[e][0], edges[e][1], cx, cy, cz, cache, Z, appData, appData.length);
+        }
+        // Greedy disjoint pair selection
+        const valid = [];
+        for (let i = 0; i < edges.length; i++) {
+            if (Number.isFinite(costs[i]))
+                valid.push(i);
+        }
+        valid.sort((a, b) => {
+            const d = costs[a] - costs[b];
+            return d !== 0 ? d : a - b;
+        });
+        const mergesNeeded = n - targetCount;
+        const used = new Uint8Array(n);
+        const pairs = [];
+        for (let t = 0; t < valid.length; t++) {
+            const e = valid[t];
+            const u = edges[e][0], v = edges[e][1];
+            if (used[u] || used[v])
+                continue;
+            used[u] = 1;
+            used[v] = 1;
+            pairs.push([u, v]);
+            if (pairs.length >= mergesNeeded)
+                break;
+        }
+        if (pairs.length === 0)
+            break;
+        logger.debug(`selected ${pairs.length} merge pairs from ${edges.length} edges`);
+        // Mark which indices are consumed by merging
+        const usedSet = new Uint8Array(n);
+        for (let p = 0; p < pairs.length; p++) {
+            usedSet[pairs[p][0]] = 1;
+            usedSet[pairs[p][1]] = 1;
+        }
+        const keepIndices = [];
+        for (let i = 0; i < n; i++) {
+            if (!usedSet[i])
+                keepIndices.push(i);
+        }
+        const outCount = keepIndices.length + pairs.length;
+        const cols = current.columns;
+        const newColumns = [];
+        for (let ci = 0; ci < cols.length; ci++) {
+            const c = cols[ci];
+            newColumns.push(new Column(c.name, new c.data.constructor(outCount)));
+        }
+        const newTable = new DataTable(newColumns);
+        // Copy unmerged splats
+        let dst = 0;
+        for (let t = 0; t < keepIndices.length; t++, dst++) {
+            const src = keepIndices[t];
+            for (let c = 0; c < cols.length; c++) {
+                newTable.columns[c].data[dst] = cols[c].data[src];
+            }
+        }
+        // Merge pairs -- cache column refs and handled set once
+        const mergeOut = {
+            mu: new Float64Array(3),
+            sc: new Float64Array(3),
+            q: new Float64Array(4),
+            op: 0,
+            sh: new Float64Array(allAppearanceCols.length)
+        };
+        const dstXCol = newTable.getColumnByName('x');
+        const dstYCol = newTable.getColumnByName('y');
+        const dstZCol = newTable.getColumnByName('z');
+        const dstS0Col = newTable.getColumnByName('scale_0');
+        const dstS1Col = newTable.getColumnByName('scale_1');
+        const dstS2Col = newTable.getColumnByName('scale_2');
+        const dstR0Col = newTable.getColumnByName('rot_0');
+        const dstR1Col = newTable.getColumnByName('rot_1');
+        const dstR2Col = newTable.getColumnByName('rot_2');
+        const dstR3Col = newTable.getColumnByName('rot_3');
+        const dstOpCol = newTable.getColumnByName('opacity');
+        const dstAppCols = allAppearanceCols.map(name => newTable.getColumnByName(name));
+        const handledCols = new Set([
+            'x', 'y', 'z', 'opacity', 'scale_0', 'scale_1', 'scale_2',
+            'rot_0', 'rot_1', 'rot_2', 'rot_3', ...allAppearanceCols
+        ]);
+        const unhandledColPairs = cols
+            .filter(col => !handledCols.has(col.name))
+            .map(col => ({ src: col, dst: newTable.getColumnByName(col.name) }))
+            .filter(pair => pair.dst);
+        for (let p = 0; p < pairs.length; p++, dst++) {
+            const pi = pairs[p][0], pj = pairs[p][1];
+            momentMatch(pi, pj, cx, cy, cz, cop, cs0, cs1, cs2, cr0, cr1, cr2, cr3, mergeOut, appData, appData.length);
+            dstXCol.data[dst] = mergeOut.mu[0];
+            dstYCol.data[dst] = mergeOut.mu[1];
+            dstZCol.data[dst] = mergeOut.mu[2];
+            dstS0Col.data[dst] = mergeOut.sc[0];
+            dstS1Col.data[dst] = mergeOut.sc[1];
+            dstS2Col.data[dst] = mergeOut.sc[2];
+            dstR0Col.data[dst] = mergeOut.q[0];
+            dstR1Col.data[dst] = mergeOut.q[1];
+            dstR2Col.data[dst] = mergeOut.q[2];
+            dstR3Col.data[dst] = mergeOut.q[3];
+            dstOpCol.data[dst] = logit(Math.max(0, Math.min(1, mergeOut.op)));
+            for (let k = 0; k < dstAppCols.length; k++) {
+                if (dstAppCols[k])
+                    dstAppCols[k].data[dst] = mergeOut.sh[k];
+            }
+            const dominant = cache.mass[pi] >= cache.mass[pj] ? pi : pj;
+            for (let u = 0; u < unhandledColPairs.length; u++) {
+                unhandledColPairs[u].dst.data[dst] = unhandledColPairs[u].src.data[dominant];
+            }
+        }
+        current = newTable;
+    }
+    return current;
 };
 
 /**
@@ -4810,7 +5616,7 @@ class CompressedChunk {
     }
 }
 
-var version = "1.8.3";
+var version = "1.9.0";
 
 const generatedByString = `Generated by splat-transform ${version}`;
 const chunkProps = [
@@ -4945,6 +5751,341 @@ const writeCsv = async (options, fs) => {
     await writer.close();
 };
 
+const SH_C0$1 = 0.2820947917738781;
+const shRestNames = new Array(45).fill('').map((_, i) => `f_rest_${i}`);
+// glTF accessor component types
+const FLOAT = 5126;
+const UNSIGNED_BYTE = 5121;
+// glTF buffer view targets
+const ARRAY_BUFFER = 34962;
+// GLB chunk types
+const GLB_MAGIC = 0x46546C67;
+const GLB_VERSION = 2;
+const JSON_CHUNK_TYPE = 0x4E4F534A;
+const BIN_CHUNK_TYPE = 0x004E4942;
+/**
+ * Determines how many SH bands (0-3) the DataTable contains beyond the DC term.
+ * Band detection uses the same channel-major layout as the rest of the codebase:
+ * N coefficients per channel, 3 channels, stored as f_rest_0..f_rest_(3N-1).
+ *
+ * @param dataTable - The DataTable to inspect.
+ * @returns The number of SH bands (0-3).
+ */
+const getSHBands = (dataTable) => {
+    const idx = shRestNames.findIndex(v => !dataTable.hasColumn(v));
+    return { '9': 1, '24': 2, '-1': 3 }[String(idx)] ?? 0;
+};
+/**
+ * Computes POSITION accessor min/max bounds required by the glTF spec.
+ *
+ * @param x - X position data.
+ * @param y - Y position data.
+ * @param z - Z position data.
+ * @returns Object with min and max arrays.
+ */
+const computePositionBounds = (x, y, z) => {
+    let minX = Infinity, minY = Infinity, minZ = Infinity;
+    let maxX = -Infinity, maxY = -Infinity, maxZ = -Infinity;
+    for (let i = 0; i < x.length; i++) {
+        if (x[i] < minX)
+            minX = x[i];
+        if (x[i] > maxX)
+            maxX = x[i];
+        if (y[i] < minY)
+            minY = y[i];
+        if (y[i] > maxY)
+            maxY = y[i];
+        if (z[i] < minZ)
+            minZ = z[i];
+        if (z[i] > maxZ)
+            maxZ = z[i];
+    }
+    return {
+        min: [minX, minY, minZ],
+        max: [maxX, maxY, maxZ]
+    };
+};
+/**
+ * Pads a byte length up to the next multiple of 4.
+ *
+ * @param n - The byte length to align.
+ * @returns The aligned byte length.
+ */
+const align4 = (n) => (n + 3) & -4;
+/**
+ * Builds the binary buffer containing all attribute data, and returns the
+ * list of buffer views / accessor descriptions needed for the glTF JSON.
+ *
+ * @param dataTable - The DataTable containing splat data.
+ * @param numSplats - Number of splats in the table.
+ * @param shBands - Number of SH bands beyond DC (0-3).
+ * @returns Object with segments, offsets, and the assembled binary buffer.
+ */
+const buildBinaryBuffer = (dataTable, numSplats, shBands) => {
+    const x = dataTable.getColumnByName('x').data;
+    const y = dataTable.getColumnByName('y').data;
+    const z = dataTable.getColumnByName('z').data;
+    const rot0 = dataTable.getColumnByName('rot_0').data;
+    const rot1 = dataTable.getColumnByName('rot_1').data;
+    const rot2 = dataTable.getColumnByName('rot_2').data;
+    const rot3 = dataTable.getColumnByName('rot_3').data;
+    const scale0 = dataTable.getColumnByName('scale_0').data;
+    const scale1 = dataTable.getColumnByName('scale_1').data;
+    const scale2 = dataTable.getColumnByName('scale_2').data;
+    const opacity = dataTable.getColumnByName('opacity').data;
+    const fdc0 = dataTable.getColumnByName('f_dc_0').data;
+    const fdc1 = dataTable.getColumnByName('f_dc_1').data;
+    const fdc2 = dataTable.getColumnByName('f_dc_2').data;
+    // Coefficients per channel for each SH band beyond DC
+    const coeffsPerChannel = [0, 3, 8, 15][shBands];
+    const shCoefCount = [0, 3, 5, 7]; // per-degree coefficient count
+    const shDegrees = shBands; // degrees 1..shDegrees have rest coefficients
+    const segments = [];
+    // POSITION (VEC3 float)
+    const posData = new Float32Array(numSplats * 3);
+    for (let i = 0; i < numSplats; i++) {
+        posData[i * 3] = x[i];
+        posData[i * 3 + 1] = y[i];
+        posData[i * 3 + 2] = z[i];
+    }
+    const bounds = computePositionBounds(x, y, z);
+    segments.push({
+        name: 'POSITION',
+        data: posData.buffer,
+        componentType: FLOAT,
+        type: 'VEC3',
+        count: numSplats,
+        min: bounds.min,
+        max: bounds.max
+    });
+    // COLOR_0 fallback (VEC4 unsigned byte normalized)
+    const colorData = new Uint8Array(numSplats * 4);
+    for (let i = 0; i < numSplats; i++) {
+        const r = Math.max(0, Math.min(255, Math.round((fdc0[i] * SH_C0$1 + 0.5) * 255)));
+        const g = Math.max(0, Math.min(255, Math.round((fdc1[i] * SH_C0$1 + 0.5) * 255)));
+        const b = Math.max(0, Math.min(255, Math.round((fdc2[i] * SH_C0$1 + 0.5) * 255)));
+        const a = Math.max(0, Math.min(255, Math.round(sigmoid(opacity[i]) * 255)));
+        colorData[i * 4] = r;
+        colorData[i * 4 + 1] = g;
+        colorData[i * 4 + 2] = b;
+        colorData[i * 4 + 3] = a;
+    }
+    segments.push({
+        name: 'COLOR_0',
+        data: colorData.buffer,
+        componentType: UNSIGNED_BYTE,
+        type: 'VEC4',
+        count: numSplats,
+        normalized: true
+    });
+    // KHR_gaussian_splatting:ROTATION (VEC4 float, xyzw order)
+    const rotData = new Float32Array(numSplats * 4);
+    for (let i = 0; i < numSplats; i++) {
+        rotData[i * 4] = rot1[i]; // x
+        rotData[i * 4 + 1] = rot2[i]; // y
+        rotData[i * 4 + 2] = rot3[i]; // z
+        rotData[i * 4 + 3] = rot0[i]; // w
+    }
+    segments.push({
+        name: 'KHR_gaussian_splatting:ROTATION',
+        data: rotData.buffer,
+        componentType: FLOAT,
+        type: 'VEC4',
+        count: numSplats
+    });
+    // KHR_gaussian_splatting:SCALE (VEC3 float, log-space)
+    const scaleData = new Float32Array(numSplats * 3);
+    for (let i = 0; i < numSplats; i++) {
+        scaleData[i * 3] = scale0[i];
+        scaleData[i * 3 + 1] = scale1[i];
+        scaleData[i * 3 + 2] = scale2[i];
+    }
+    segments.push({
+        name: 'KHR_gaussian_splatting:SCALE',
+        data: scaleData.buffer,
+        componentType: FLOAT,
+        type: 'VEC3',
+        count: numSplats
+    });
+    // KHR_gaussian_splatting:OPACITY (SCALAR float, sigmoid-activated)
+    const opacityData = new Float32Array(numSplats);
+    for (let i = 0; i < numSplats; i++) {
+        opacityData[i] = sigmoid(opacity[i]);
+    }
+    segments.push({
+        name: 'KHR_gaussian_splatting:OPACITY',
+        data: opacityData.buffer,
+        componentType: FLOAT,
+        type: 'SCALAR',
+        count: numSplats
+    });
+    // SH_DEGREE_0_COEF_0 (VEC3 float, raw DC coefficients)
+    const shDC = new Float32Array(numSplats * 3);
+    for (let i = 0; i < numSplats; i++) {
+        shDC[i * 3] = fdc0[i];
+        shDC[i * 3 + 1] = fdc1[i];
+        shDC[i * 3 + 2] = fdc2[i];
+    }
+    segments.push({
+        name: 'KHR_gaussian_splatting:SH_DEGREE_0_COEF_0',
+        data: shDC.buffer,
+        componentType: FLOAT,
+        type: 'VEC3',
+        count: numSplats
+    });
+    // Higher-order SH coefficients (degrees 1-3)
+    // Internal layout is channel-major: f_rest[k] for k in [0..N-1] is red,
+    // [N..2N-1] is green, [2N..3N-1] is blue, where N = coeffsPerChannel.
+    if (shDegrees > 0) {
+        const restData = [];
+        for (let k = 0; k < coeffsPerChannel; k++) {
+            restData.push(dataTable.getColumnByName(shRestNames[k]).data); // red
+            restData.push(dataTable.getColumnByName(shRestNames[k + coeffsPerChannel]).data); // green
+            restData.push(dataTable.getColumnByName(shRestNames[k + 2 * coeffsPerChannel]).data); // blue
+        }
+        let coefOffset = 0;
+        for (let degree = 1; degree <= shDegrees; degree++) {
+            const numCoefs = shCoefCount[degree];
+            for (let c = 0; c < numCoefs; c++) {
+                const k = coefOffset + c;
+                const rChannel = restData[k * 3];
+                const gChannel = restData[k * 3 + 1];
+                const bChannel = restData[k * 3 + 2];
+                const buf = new Float32Array(numSplats * 3);
+                for (let i = 0; i < numSplats; i++) {
+                    buf[i * 3] = rChannel[i];
+                    buf[i * 3 + 1] = gChannel[i];
+                    buf[i * 3 + 2] = bChannel[i];
+                }
+                segments.push({
+                    name: `KHR_gaussian_splatting:SH_DEGREE_${degree}_COEF_${c}`,
+                    data: buf.buffer,
+                    componentType: FLOAT,
+                    type: 'VEC3',
+                    count: numSplats
+                });
+            }
+            coefOffset += numCoefs;
+        }
+    }
+    // Compute total binary buffer size (each segment aligned to 4 bytes)
+    let totalSize = 0;
+    const offsets = [];
+    for (const seg of segments) {
+        offsets.push(totalSize);
+        totalSize += align4(seg.data.byteLength);
+    }
+    // Assemble the binary buffer
+    const binBuffer = new Uint8Array(totalSize);
+    for (let i = 0; i < segments.length; i++) {
+        binBuffer.set(new Uint8Array(segments[i].data), offsets[i]);
+    }
+    return { segments, offsets, binBuffer };
+};
+/**
+ * Writes Gaussian splat data to a GLB file using the KHR_gaussian_splatting extension.
+ *
+ * @param options - Options including filename and data table to write.
+ * @param fs - File system for writing the output file.
+ * @ignore
+ */
+const writeGlb = async (options, fs) => {
+    const { filename, dataTable } = options;
+    const numSplats = dataTable.numRows;
+    const shBands = getSHBands(dataTable);
+    const { segments, offsets, binBuffer } = buildBinaryBuffer(dataTable, numSplats, shBands);
+    // Build glTF JSON
+    const bufferViews = [];
+    const accessors = [];
+    const attributes = {};
+    for (let i = 0; i < segments.length; i++) {
+        const seg = segments[i];
+        bufferViews.push({
+            buffer: 0,
+            byteOffset: offsets[i],
+            byteLength: seg.data.byteLength,
+            target: ARRAY_BUFFER
+        });
+        const accessor = {
+            bufferView: i,
+            byteOffset: 0,
+            componentType: seg.componentType,
+            count: seg.count,
+            type: seg.type
+        };
+        if (seg.normalized) {
+            accessor.normalized = true;
+        }
+        if (seg.min) {
+            accessor.min = seg.min;
+            accessor.max = seg.max;
+        }
+        accessors.push(accessor);
+        attributes[seg.name] = i;
+    }
+    const gltf = {
+        asset: {
+            version: '2.0',
+            generator: `splat-transform ${version}`
+        },
+        extensionsUsed: ['KHR_gaussian_splatting'],
+        scene: 0,
+        scenes: [{ nodes: [0] }],
+        nodes: [{ mesh: 0 }],
+        buffers: [{ byteLength: binBuffer.byteLength }],
+        bufferViews,
+        accessors,
+        meshes: [{
+                primitives: [{
+                        attributes,
+                        mode: 0,
+                        extensions: {
+                            KHR_gaussian_splatting: {
+                                kernel: 'ellipse',
+                                colorSpace: 'srgb_rec709_display',
+                                sortingMethod: 'cameraDistance',
+                                projection: 'perspective'
+                            }
+                        }
+                    }]
+            }]
+    };
+    const jsonString = JSON.stringify(gltf);
+    const jsonEncoder = new TextEncoder();
+    const jsonBytes = jsonEncoder.encode(jsonString);
+    const jsonPaddedLength = align4(jsonBytes.byteLength);
+    const binPaddedLength = align4(binBuffer.byteLength);
+    const totalLength = 12 + 8 + jsonPaddedLength + 8 + binPaddedLength;
+    const glb = new ArrayBuffer(totalLength);
+    const view = new DataView(glb);
+    const bytes = new Uint8Array(glb);
+    // GLB header (12 bytes)
+    view.setUint32(0, GLB_MAGIC, true);
+    view.setUint32(4, GLB_VERSION, true);
+    view.setUint32(8, totalLength, true);
+    // JSON chunk header (8 bytes)
+    let offset = 12;
+    view.setUint32(offset, jsonPaddedLength, true);
+    view.setUint32(offset + 4, JSON_CHUNK_TYPE, true);
+    offset += 8;
+    // JSON chunk data (padded with spaces per spec)
+    bytes.set(jsonBytes, offset);
+    for (let i = jsonBytes.byteLength; i < jsonPaddedLength; i++) {
+        bytes[offset + i] = 0x20; // space
+    }
+    offset += jsonPaddedLength;
+    // BIN chunk header (8 bytes)
+    view.setUint32(offset, binPaddedLength, true);
+    view.setUint32(offset + 4, BIN_CHUNK_TYPE, true);
+    offset += 8;
+    // BIN chunk data (padded with zeros per spec)
+    bytes.set(binBuffer, offset);
+    // Write the GLB file
+    const writer = await fs.createWriter(filename);
+    await writer.write(new Uint8Array(glb));
+    await writer.close();
+};
+
 var index$2 = ":root {\n  --canvas-opacity: 1;\n}\n\n* {\n  margin: 0;\n  padding: 0;\n  touch-action: none;\n}\n\nbody {\n  overflow: hidden;\n  font-family: \"Arial\", sans-serif;\n  -moz-user-select: none;\n       user-select: none;\n  -webkit-user-select: none;\n  -webkit-touch-callout: none;\n}\n\ncanvas {\n  opacity: var(--canvas-opacity);\n  position: fixed;\n  top: 0;\n  left: 0;\n  width: 100%;\n  height: 100%;\n}\n\nbutton {\n  -webkit-appearance: none;\n     -moz-appearance: none;\n          appearance: none;\n}\n\n.hidden {\n  display: none !important;\n}\n\n.spacer {\n  flex-grow: 1;\n}\n\n#ui {\n  position: fixed;\n  top: 0;\n  left: 0;\n  width: 100%;\n  height: 100%;\n  pointer-events: none;\n}\n\n#ui * {\n  pointer-events: auto;\n}\n\n.walkHint {\n  position: absolute;\n  top: max(60px, env(safe-area-inset-top));\n  left: 50%;\n  transform: translateX(-50%);\n  background-color: rgba(0, 0, 0, 0.7);\n  color: #fff;\n  font-size: 14px;\n  padding: 10px 20px;\n  border-radius: 8px;\n  cursor: pointer;\n  pointer-events: auto;\n  white-space: nowrap;\n}\n\n/* branding link for third-party embeds */\n#supersplatBranding {\n  position: absolute;\n  top: max(16px, env(safe-area-inset-top));\n  left: max(16px, env(safe-area-inset-left));\n  display: flex;\n  align-items: center;\n  gap: 6px;\n  text-decoration: none;\n  white-space: nowrap;\n  cursor: pointer;\n  color: #fff;\n}\n#supersplatBranding > svg {\n  height: 16px;\n  width: auto;\n  flex-shrink: 0;\n  padding: 8px;\n  border-radius: 6px;\n  background-color: rgba(0, 0, 0, 0.3);\n}\n#supersplatBranding > svg > g.stroke {\n  fill: black;\n  stroke: black;\n  stroke-width: 2;\n  stroke-linejoin: round;\n  opacity: 0.4;\n}\n#supersplatBranding > svg > g.fill {\n  fill: currentColor;\n  stroke: none;\n}\n#supersplatBranding > span {\n  font-size: 14px;\n  font-weight: bold;\n  text-shadow: -1px -1px 0 rgba(0, 0, 0, 0.4), 1px -1px 0 rgba(0, 0, 0, 0.4), -1px 1px 0 rgba(0, 0, 0, 0.4), 1px 1px 0 rgba(0, 0, 0, 0.4);\n}\n\n/* poster */\n#poster {\n  display: none;\n  position: absolute;\n  top: 0;\n  left: 0;\n  width: 100%;\n  height: 100%;\n  background-image: var(--poster-url);\n  background-size: cover;\n  background-position: center;\n  background-repeat: no-repeat;\n}\n\n/* loadingWrap */\n#loadingWrap {\n  position: fixed;\n  bottom: 120px;\n  left: 50%;\n  transform: translate(-50%, 0);\n  width: min(380px, 100vw - 32px);\n  display: flex;\n  flex-direction: column;\n  padding: 16px;\n}\n#loadingWrap > #loadingText {\n  font-size: 18px;\n  color: #fff;\n  text-align: center;\n  text-shadow: 0 0 4px rgba(0, 0, 0, 0.5);\n}\n#loadingWrap > #loadingBar {\n  width: 100%;\n  height: 10px;\n  margin-top: 8px;\n  border-radius: 4px;\n  overflow: hidden;\n}\n\n/* controlsWrap */\n#controlsWrap {\n  position: absolute;\n  left: max(16px, env(safe-area-inset-left));\n  right: max(16px, env(safe-area-inset-right));\n  bottom: max(16px, env(safe-area-inset-bottom));\n  display: flex;\n  flex-direction: column;\n}\n#controlsWrap.faded-in {\n  visibility: visible;\n  opacity: 1;\n  transition: opacity 0.5s ease-out;\n}\n#controlsWrap.faded-out {\n  visibility: hidden;\n  opacity: 0;\n  transition: visibility 0s 0.5s, opacity 0.5s ease-out;\n}\n#controlsWrap > #timelineContainer {\n  height: 30px;\n  cursor: pointer;\n}\n#controlsWrap > #timelineContainer > #line {\n  width: 100%;\n  height: 50%;\n  border-bottom: 4px solid #d9d9d9;\n}\n#controlsWrap > #timelineContainer > #handle {\n  position: absolute;\n  top: 16.5px;\n  width: 12px;\n  height: 12px;\n  transform: translate(-50%, -50%);\n  border: 2px solid #d9d9d9;\n  border-radius: 50%;\n  background-color: #FFAF50;\n}\n#controlsWrap > #timelineContainer > #time {\n  position: absolute;\n  top: 0;\n  padding: 2px 4px;\n  transform: translate(-50%, -100%);\n  font-size: 12px;\n  border-radius: 4px;\n  color: #fff;\n  background-color: rgba(40, 40, 40, 0.5);\n}\n#controlsWrap > #buttonsContainer {\n  display: flex;\n  gap: 8px;\n}\n#controlsWrap > #buttonsContainer .buttonGroup {\n  display: flex;\n  background-color: rgba(0, 0, 0, 0.3);\n  border-radius: 6px;\n}\n#controlsWrap > #buttonsContainer .buttonGroup:not(:has(> :not(.hidden))) {\n  display: none;\n}\n#controlsWrap > #buttonsContainer {\n  /* controlButton */\n}\n#controlsWrap > #buttonsContainer .controlButton {\n  width: 34px;\n  height: 34px;\n  padding: 0;\n  margin: 0;\n  border: 0;\n  cursor: pointer;\n  color: #E0DCDD;\n  background-color: transparent;\n}\n#controlsWrap > #buttonsContainer .controlButton:hover {\n  color: #fff;\n}\n#controlsWrap > #buttonsContainer .controlButton {\n  /* icon styling */\n}\n#controlsWrap > #buttonsContainer .controlButton > svg {\n  display: block;\n  margin: auto;\n}\n#controlsWrap > #buttonsContainer .controlButton > svg > g.stroke {\n  fill: none;\n  stroke: black;\n  stroke-width: 2;\n  stroke-linejoin: round;\n  opacity: 0.4;\n}\n#controlsWrap > #buttonsContainer .controlButton > svg > g.fill {\n  fill: currentColor;\n  stroke: none;\n}\n#controlsWrap > #buttonsContainer .controlButton {\n  /* active highlight for simple toggle buttons (e.g. voxel overlay) */\n}\n#controlsWrap > #buttonsContainer .controlButton.active:not(.toggle) {\n  color: #F60;\n}\n#controlsWrap > #buttonsContainer .controlButton {\n  /* camera toggle styling */\n}\n#controlsWrap > #buttonsContainer .controlButton.toggle {\n  background: linear-gradient(90deg, transparent 0%, transparent 50%, #F60 50%, #F60 100%);\n  background-size: 200% 100%;\n  background-position: 100% 0%;\n  background-repeat: no-repeat;\n  transition: background-position 0.1s ease-in-out;\n}\n#controlsWrap > #buttonsContainer .controlButton.toggle.left {\n  border-radius: 4px 0px 0px 4px;\n}\n#controlsWrap > #buttonsContainer .controlButton.toggle.left:not(.active) {\n  background-position: 0% 0%;\n}\n#controlsWrap > #buttonsContainer .controlButton.toggle.middle {\n  border-radius: 0;\n}\n#controlsWrap > #buttonsContainer .controlButton.toggle.middle:not(.active) {\n  background-position: 0% 0%;\n}\n#controlsWrap > #buttonsContainer .controlButton.toggle.right {\n  border-radius: 0px 4px 4px 0px;\n}\n#controlsWrap > #buttonsContainer .controlButton.toggle.right:not(.active) {\n  background-position: 200% 0%;\n}\n\n/* settingsPanel */\n#settingsPanel {\n  position: fixed;\n  right: max(16px, env(safe-area-inset-right));\n  bottom: calc(max(16px, env(safe-area-inset-bottom)) + 70px);\n  padding: 12px;\n  border-radius: 16px;\n  border: 1px solid rgba(255, 255, 255, 0.08);\n  display: flex;\n  flex-direction: column;\n  align-items: flex-end;\n  gap: 4px;\n  font-size: 14px;\n  color: #E0DCDD;\n  background-color: rgba(51, 51, 51, 0.8);\n  backdrop-filter: blur(20px);\n  -webkit-backdrop-filter: blur(20px);\n}\n#settingsPanel > .settingsRow {\n  display: flex;\n  align-items: center;\n  justify-content: space-between;\n  gap: 4px;\n  width: 100%;\n}\n#settingsPanel > .settingsRow > button {\n  flex-grow: 1;\n  height: 34px;\n  padding: 0 20px;\n  border: 1px solid rgba(255, 255, 255, 0.1);\n  border-radius: 8px;\n  font-size: 13px;\n  cursor: pointer;\n  color: #AAA;\n  background-color: rgba(255, 255, 255, 0.04);\n  transition: background-color 250ms ease, color 250ms ease;\n}\n#settingsPanel > .settingsRow > button:hover {\n  color: #fff;\n  background-color: rgba(255, 255, 255, 0.1);\n}\n#settingsPanel > .settingsRow > div {\n  height: 34px;\n  display: flex;\n  align-items: center;\n  padding: 0 8px;\n  cursor: pointer;\n  color: #AAA;\n}\n#settingsPanel > .settingsRow > div.toggleSwitch {\n  padding: 0 4px;\n}\n#settingsPanel > .settingsRow > div.toggleSwitch .toggleTrack {\n  width: 36px;\n  height: 20px;\n  border-radius: 10px;\n  background-color: rgba(255, 255, 255, 0.15);\n  position: relative;\n  transition: background-color 200ms ease;\n}\n#settingsPanel > .settingsRow > div.toggleSwitch .toggleTrack .toggleThumb {\n  width: 16px;\n  height: 16px;\n  border-radius: 50%;\n  background-color: #777;\n  position: absolute;\n  top: 2px;\n  left: 2px;\n  transition: transform 200ms ease, background-color 200ms ease;\n}\n#settingsPanel > .settingsRow > div.toggleSwitch.active .toggleTrack {\n  background-color: rgba(255, 102, 0, 0.35);\n}\n#settingsPanel > .settingsRow > div.toggleSwitch.active .toggleTrack .toggleThumb {\n  transform: translateX(16px);\n  background-color: #F60;\n}\n#settingsPanel > .settingsRow > div:hover {\n  color: #E0DCDD;\n}\n#settingsPanel > .divider {\n  width: 100%;\n  height: 1px;\n  margin: 8px 0;\n  background-color: rgba(255, 255, 255, 0.08);\n}\n\n/* infoPanel */\n#infoPanel {\n  position: fixed;\n  top: 0;\n  left: 0;\n  width: 100%;\n  height: 100%;\n  background-color: rgba(0, 0, 0, 0.4);\n  backdrop-filter: blur(2px);\n}\n#infoPanel > #infoPanelContent {\n  position: absolute;\n  top: 50%;\n  left: 50%;\n  transform: translate(-50%, -50%);\n  min-height: 280px;\n  min-width: 320px;\n  padding: 8px;\n  border-radius: 16px;\n  border: 1px solid rgba(255, 255, 255, 0.08);\n  display: flex;\n  flex-direction: column;\n  color: #E0DCDD;\n  background-color: rgba(51, 51, 51, 0.8);\n  backdrop-filter: blur(20px);\n  -webkit-backdrop-filter: blur(20px);\n}\n#infoPanel > #infoPanelContent > #tabs {\n  display: flex;\n  gap: 4px;\n  padding: 4px;\n  border-radius: 12px;\n  background-color: #282828;\n}\n#infoPanel > #infoPanelContent > #tabs > .tab {\n  padding: 8px 12px;\n  border-radius: 10px;\n  cursor: pointer;\n  flex-grow: 1;\n  text-align: center;\n  font-weight: bold;\n  font-size: 14px;\n  color: #AAA;\n  transition: background-color 250ms ease, color 250ms ease;\n}\n#infoPanel > #infoPanelContent > #tabs > .tab:hover {\n  color: #fff;\n  background-color: rgba(255, 255, 255, 0.06);\n}\n#infoPanel > #infoPanelContent > #tabs > .tab.active {\n  color: #fff;\n  background-color: rgba(255, 255, 255, 0.1);\n}\n#infoPanel > #infoPanelContent > #infoPanels {\n  padding: 16px;\n}\n#infoPanel > #infoPanelContent > #infoPanels h1 {\n  font-size: 11px;\n  font-weight: bold;\n  text-transform: uppercase;\n  letter-spacing: 1px;\n  padding: 4px 0 8px 0;\n  color: #F60;\n}\n#infoPanel > #infoPanelContent > #infoPanels .control-item {\n  display: flex;\n  justify-content: space-between;\n  align-items: center;\n  gap: 32px;\n  padding: 5px 8px;\n  margin: 0 -8px;\n  border-radius: 6px;\n  font-size: 13px;\n}\n#infoPanel > #infoPanelContent > #infoPanels .control-item > .control-action {\n  text-align: left;\n}\n#infoPanel > #infoPanelContent > #infoPanels .control-item > .control-key {\n  text-align: right;\n  color: #AAA;\n  font-size: 12px;\n}\n#infoPanel > #infoPanelContent > #infoPanels .control-item:nth-child(odd) {\n  background-color: rgba(255, 255, 255, 0.03);\n}\n#infoPanel > #infoPanelContent > #infoPanels .control-spacer {\n  margin: 14px 0;\n}\n\n#joystickBase {\n  position: absolute;\n  width: 56px;\n  height: 100px;\n  transform: translate(-50%, -50%);\n  border-radius: 28px;\n  touch-action: none;\n  background: linear-gradient(180deg, rgba(0, 0, 0, 0.2666666667) 0%, rgba(0, 0, 0, 0) 30%, rgba(0, 0, 0, 0) 70%, rgba(0, 0, 0, 0.2666666667) 100%);\n  background-color: rgba(0, 0, 0, 0.2);\n  border: 2px solid rgba(255, 255, 255, 0.2);\n  transition: width 0.2s ease, height 0.2s ease, border-radius 0.2s ease;\n}\n#joystickBase > #joystick {\n  position: absolute;\n  left: 8px;\n  width: 40px;\n  height: 40px;\n  border-radius: 50%;\n  touch-action: none;\n  background-color: rgba(255, 255, 255, 0.5333333333);\n  box-shadow: 0 2px 8px rgba(0, 0, 0, 0.3);\n  transition: left 0.1s ease;\n}\n#joystickBase.mode-2d {\n  width: 100px;\n  height: 100px;\n  border-radius: 50px;\n  background: radial-gradient(circle, rgba(0, 0, 0, 0) 40%, rgba(0, 0, 0, 0.2666666667) 100%);\n  background-color: rgba(0, 0, 0, 0.2);\n}\n#joystickBase.mode-2d > #joystick {\n  left: 30px;\n}\n\n#tooltip {\n  display: none;\n  position: absolute;\n  border-radius: 4px;\n  padding: 4px 4px;\n  font-size: 12px;\n  color: #E0DCDD;\n  background-color: #282828;\n}\n\n#annotations {\n  position: fixed;\n  top: 0;\n  left: 0;\n  width: 100%;\n  height: 100%;\n  pointer-events: none;\n  z-index: -1;\n}\n\n#annotations * {\n  pointer-events: auto;\n}\n\n/* annotationNav */\n#annotationNav {\n  pointer-events: none;\n}\n#annotationNav.faded-in {\n  visibility: visible;\n  opacity: 1;\n  transition: opacity 0.5s ease-out;\n}\n#annotationNav.faded-out {\n  visibility: hidden;\n  opacity: 0;\n  transition: visibility 0s 0.5s, opacity 0.5s ease-out;\n}\n#annotationNav > button {\n  pointer-events: auto;\n  -webkit-appearance: none;\n     -moz-appearance: none;\n          appearance: none;\n  border: 0;\n  padding: 0;\n  margin: 0;\n  cursor: pointer;\n  display: flex;\n  align-items: center;\n  justify-content: center;\n  color: #E0DCDD;\n  background-color: rgba(0, 0, 0, 0.3);\n}\n#annotationNav > button:hover {\n  color: #fff;\n  background-color: rgba(0, 0, 0, 0.5);\n}\n#annotationNav > button > svg {\n  display: block;\n}\n#annotationNav > button > svg > g.stroke {\n  fill: none;\n  stroke: black;\n  stroke-width: 3;\n  stroke-linecap: round;\n  stroke-linejoin: round;\n  opacity: 0.4;\n}\n#annotationNav > button > svg > g.fill {\n  fill: none;\n  stroke: currentColor;\n  stroke-width: 2;\n  stroke-linecap: round;\n  stroke-linejoin: round;\n}\n#annotationNav.desktop {\n  position: absolute;\n  top: max(16px, env(safe-area-inset-top));\n  left: 50%;\n  transform: translateX(-50%);\n  display: flex;\n  align-items: center;\n  gap: 0;\n  border-radius: 6px;\n  overflow: hidden;\n  background-color: rgba(0, 0, 0, 0.6);\n}\n#annotationNav.desktop > button {\n  width: 34px;\n  height: 34px;\n  background-color: transparent;\n}\n#annotationNav.desktop > button:hover {\n  background-color: rgba(255, 255, 255, 0.1);\n}\n#annotationNav.desktop > #annotationInfo {\n  pointer-events: none;\n  display: flex;\n  align-items: center;\n  justify-content: center;\n  padding: 0 12px;\n  white-space: nowrap;\n  width: 240px;\n}\n#annotationNav.desktop > #annotationInfo > #annotationNavTitle {\n  font-size: 14px;\n  color: #fff;\n  overflow: hidden;\n  text-overflow: ellipsis;\n}\n#annotationNav.touch {\n  position: fixed;\n  top: 0;\n  left: 0;\n  width: 100%;\n  height: 100%;\n}\n#annotationNav.touch > #annotationInfo {\n  display: none;\n}\n#annotationNav.touch > button {\n  position: absolute;\n  top: 50%;\n  transform: translateY(-50%);\n  width: 44px;\n  height: 80px;\n  background-color: rgba(0, 0, 0, 0.3);\n}\n#annotationNav.touch > button:active {\n  background-color: rgba(0, 0, 0, 0.4);\n}\n#annotationNav.touch > #annotationPrev {\n  left: max(0px, env(safe-area-inset-left));\n  border-radius: 0 6px 6px 0;\n}\n#annotationNav.touch > #annotationNext {\n  right: max(0px, env(safe-area-inset-right));\n  border-radius: 6px 0 0 6px;\n}";
 
 var index$1 = "<!DOCTYPE html>\n<html lang=\"en\">\n    <head>\n        <title>SuperSplat Viewer</title>\n        <meta charset=\"UTF-8\">\n        <meta name=\"viewport\" content=\"width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no, viewport-fit=cover\">\n        <base href=\"\">\n        <link rel=\"stylesheet\" href=\"./index.css\">\n        <script type=\"module\">\n            const createImage = (url) => {\n                const img = new Image();\n                img.src = url;\n                return img;\n            };\n\n            const url = new URL(location.href);\n\n            const posterUrl = url.searchParams.get('poster');\n            const skyboxUrl = url.searchParams.get('skybox');\n            const voxelUrl = url.searchParams.get('voxel');\n            const settingsUrl = url.searchParams.has('settings') ? url.searchParams.get('settings') : './settings.json';\n            const contentUrl = url.searchParams.has('content') ? url.searchParams.get('content') : './scene.compressed.ply';\n\n            const sseConfig = {\n                poster: posterUrl && createImage(posterUrl),\n                skyboxUrl,\n                voxelUrl,\n                contentUrl,\n                contents: fetch(contentUrl),\n                noui: url.searchParams.has('noui'),\n                noanim: url.searchParams.has('noanim'),\n                nofx: url.searchParams.has('nofx'),\n                hpr: url.searchParams.has('hpr') ? ['', '1', 'true', 'enable'].includes(url.searchParams.get('hpr')) : undefined,\n                ministats: url.searchParams.has('ministats'),\n                colorize: url.searchParams.has('colorize'),\n                unified: url.searchParams.has('unified'),\n                webgpu: url.searchParams.has('webgpu'),\n                gpusort: url.searchParams.has('gpusort'),\n                aa: url.searchParams.has('aa'),\n                heatmap: url.searchParams.has('heatmap'),\n            };\n\n            window.sse = {\n                config: sseConfig,\n                settings: fetch(settingsUrl).then(response => response.json())\n            };\n        </script>\n    </head>\n    <body>\n        <canvas id=\"application-canvas\"></canvas>\n\n        <div id=\"ui\">\n            <div id=\"poster\"></div>\n\n            <!-- SuperSplat Branding -->\n            <a id=\"supersplatBranding\" class=\"hidden\" target=\"_blank\" rel=\"noopener noreferrer\">\n                <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"16\" height=\"16\" viewBox=\"0 0 32 32\">\n                    <g class='stroke'><use href=\"#supersplatIcon\"/></g>\n                    <g class='fill'><use href=\"#supersplatIcon\"/></g>\n                </svg>\n                <span>SuperSplat</span>\n            </a>\n\n            <!-- Loading Indicator -->\n            <div id=\"loadingWrap\">\n                <div id=\"loadingText\"></div>\n                <div id=\"loadingBar\"></div>\n            </div>\n\n            <div id=\"controlsWrap\" class=\"hidden\">\n\n                <!-- Timeline Panel -->\n                <div id=\"timelineContainer\" class=\"hidden\">\n                    <div id=\"line\"></div>\n                    <div id=\"handle\"></div>\n                    <div id=\"time\" class=\"hidden\">0:00</div>\n                </div>\n\n                <!-- Buttons Panel -->\n                <div id=\"buttonsContainer\">\n                    <div class=\"buttonGroup\">\n                        <button id=\"play\" class=\"controlButton hidden\">\n                            <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"24\" height=\"24\">\n                                <g class='stroke'><use href=\"#playIcon\"/></g>\n                                <g class='fill'><use href=\"#playIcon\"/></g>\n                            </svg>\n                        </button>\n                        <button id=\"pause\" class=\"controlButton hidden\">\n                            <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"24px\" height=\"24px\">\n                                <g class='stroke'><use href=\"#pauseIcon\"/></g>\n                                <g class='fill'><use href=\"#pauseIcon\"/></g>\n                            </svg>\n                        </button>\n                    </div>\n\n                    <div class=\"spacer\"></div>\n\n                    <div class=\"buttonGroup\">\n                        <button id=\"orbitCamera\" class=\"controlButton toggle left\">\n                            <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"24\" height=\"24\">\n                                <g class='stroke'><use href=\"#orbitIcon\"/></g>\n                                <g class='fill'><use href=\"#orbitIcon\"/></g>\n                            </svg>\n                        </button>\n                        <button id=\"flyCamera\" class=\"controlButton toggle right\">\n                            <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"24\" height=\"24\">\n                                <g class='stroke'><use href=\"#flyIcon\"/></g>\n                                <g class='fill'><use href=\"#flyIcon\"/></g>\n                            </svg>\n                        </button>\n                        <button id=\"fpsCamera\" class=\"controlButton toggle right hidden\">\n                            <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"24\" height=\"24\">\n                                <g class='stroke'><use href=\"#walkIcon\"/></g>\n                                <g class='fill'><use href=\"#walkIcon\"/></g>\n                            </svg>\n                        </button>\n                    </div>\n\n                    <div class=\"buttonGroup\">\n                        <button id=\"arMode\" class=\"controlButton hidden\">\n                            <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"24\" height=\"24\">\n                                <g class='stroke'><use href=\"#arIcon\"/></g>\n                                <g class='fill'><use href=\"#arIcon\"/></g>\n                            </svg>\n                        </button>\n                        <button id=\"vrMode\" class=\"controlButton hidden\">\n                            <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"24\" height=\"24\">\n                                <g class='stroke'><use href=\"#vrIcon\"/></g>\n                                <g class='fill'><use href=\"#vrIcon\"/></g>\n                            </svg>\n                        </button>\n\n                        <button id=\"showVoxels\" class=\"controlButton hidden\">\n                            <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"24\" height=\"24\">\n                                <g class='stroke'><use href=\"#voxelIcon\"/></g>\n                                <g class='fill'><use href=\"#voxelIcon\"/></g>\n                            </svg>\n                        </button>\n\n                        <button id=\"info\" class=\"controlButton\">\n                            <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"24\" height=\"24\">\n                                <g class='stroke'><use href=\"#infoIcon\"/></g>\n                                <g class='fill'><use href=\"#infoIcon\"/></g>\n                            </svg>\n                        </button>\n                        <button id=\"settings\" class=\"controlButton\">\n                            <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"24\" height=\"24\">\n                                <g class='stroke'><use href=\"#settingsIcon\"/></g>\n                                <g class='fill'><use href=\"#settingsIcon\"/></g>\n                            </svg>\n                        </button>\n\n                        <button id=\"enterFullscreen\" class=\"controlButton\">\n                            <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"24\" height=\"24\">\n                                <g class='stroke'><use href=\"#enterFullscreenIcon\"/></g>\n                                <g class='fill'><use href=\"#enterFullscreenIcon\"/></g>\n                            </svg>\n                        </button>\n                        <button id=\"exitFullscreen\" class=\"controlButton hidden\">\n                            <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"24\" height=\"24\">\n                                <g class='stroke'><use href=\"#exitFullscreenIcon\"/></g>\n                                <g class='fill'><use href=\"#exitFullscreenIcon\"/></g>\n                            </svg>\n                        </button>\n                    </div>\n                </div>\n            </div>\n\n            <div id=\"walkHint\" class=\"walkHint hidden\"></div>\n\n            <!-- Settings Panel -->\n            <div id=\"settingsPanel\" class=\"hidden\">\n                <div id=\"retinaDisplayRow\" class=\"settingsRow\">\n                    <div id=\"retinaDisplayOption\">Retina Display</div>\n                    <div id=\"retinaDisplayCheck\" class=\"toggleSwitch\"><div class=\"toggleTrack\"><div class=\"toggleThumb\"></div></div></div>\n                </div>\n                <div id=\"gamingControlsDivider\" class=\"divider\"></div>\n                <div id=\"gamingControlsRow\" class=\"settingsRow\">\n                    <div id=\"gamingControlsOption\">Gaming Controls</div>\n                    <div id=\"gamingControlsCheck\" class=\"toggleSwitch\"><div class=\"toggleTrack\"><div class=\"toggleThumb\"></div></div></div>\n                </div>\n                <div class=\"divider\"></div>\n                <div class=\"settingsRow\">\n                    <button id=\"frame\">Frame</button>\n                    <button id=\"reset\">Reset</button>\n                </div>\n            </div>\n\n            <!-- Info Panel -->\n            <div id=\"infoPanel\" class=\"hidden\">\n                <div id=\"infoPanelContent\" onpointerdown=\"event.stopPropagation()\">\n                    <div id=\"tabs\">\n                        <div id=\"desktopTab\" class=\"tab active\">Desktop</div>\n                        <div id=\"touchTab\" class=\"tab\">Touch</div>\n                    </div>\n                    <div id=\"infoPanels\">\n                        <div id=\"desktopInfoPanel\">\n                            <div class=\"control-spacer\"></div>\n                            <h1>Orbit Mode</h1>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Orbit</span>\n                                <span class=\"control-key\">Left Mouse</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Pan</span>\n                                <span class=\"control-key\">Right Mouse</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Zoom</span>\n                                <span class=\"control-key\">Mouse Wheel</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Set Focus</span>\n                                <span class=\"control-key\">Double Click</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Frame Scene</span>\n                                <span class=\"control-key\">F</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Reset Camera</span>\n                                <span class=\"control-key\">R</span>\n                            </div>\n                            <div class=\"control-spacer\"></div>\n                            <h1>Fly Mode</h1>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Look Around</span>\n                                <span class=\"control-key\">Click + Drag</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Pan</span>\n                                <span class=\"control-key\">Right Mouse</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Move</span>\n                                <span class=\"control-key\">W,S,A,D</span>\n                            </div>\n                            <div class=\"control-spacer\"></div>\n                            <h1>Walk Mode</h1>\n                            <div id=\"desktopClickToWalk\">\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Walk To</span>\n                                    <span class=\"control-key\">Click</span>\n                                </div>\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Look Around</span>\n                                    <span class=\"control-key\">Click + Drag</span>\n                                </div>\n                            </div>\n                            <div id=\"desktopGamingControls\">\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Look Around</span>\n                                    <span class=\"control-key\">Mouse</span>\n                                </div>\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Move</span>\n                                    <span class=\"control-key\">W,S,A,D</span>\n                                </div>\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Jump</span>\n                                    <span class=\"control-key\">Space</span>\n                                </div>\n                            </div>\n                            <div class=\"control-spacer\"></div>\n                            <h1>Mode Switching</h1>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Orbit Mode</span>\n                                <span class=\"control-key\">1</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Fly Mode</span>\n                                <span class=\"control-key\">2</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Walk Mode</span>\n                                <span class=\"control-key\">3</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Voxel Overlay</span>\n                                <span class=\"control-key\">V</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Play / Pause</span>\n                                <span class=\"control-key\">Space</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Toggle Help</span>\n                                <span class=\"control-key\">H</span>\n                            </div>\n                        </div>\n                        <div id=\"touchInfoPanel\" class=\"hidden\">\n                            <div class=\"control-spacer\"></div>\n                            <h1>Orbit Mode</h1>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Orbit</span>\n                                <span class=\"control-key\">One Finger Drag</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Pan</span>\n                                <span class=\"control-key\">Two Finger Drag</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Zoom</span>\n                                <span class=\"control-key\">Pinch</span>\n                            </div>\n                            <div class=\"control-item\">\n                                <span class=\"control-action\">Set Focus</span>\n                                <span class=\"control-key\">Double Tap</span>\n                            </div>\n                            <div class=\"control-spacer\"></div>\n                            <h1>Fly Mode</h1>\n                            <div id=\"touchFlyClickToWalk\">\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Look Around</span>\n                                    <span class=\"control-key\">Touch + Drag</span>\n                                </div>\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Move</span>\n                                    <span class=\"control-key\">Pinch / Two Finger Drag</span>\n                                </div>\n                            </div>\n                            <div id=\"touchFlyGamingControls\" class=\"hidden\">\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Look Around</span>\n                                    <span class=\"control-key\">Touch + Drag</span>\n                                </div>\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Move</span>\n                                    <span class=\"control-key\">Joystick</span>\n                                </div>\n                            </div>\n                            <div class=\"control-spacer\"></div>\n                            <h1>Walk Mode</h1>\n                            <div id=\"touchClickToWalk\">\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Walk To</span>\n                                    <span class=\"control-key\">Tap</span>\n                                </div>\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Look Around</span>\n                                    <span class=\"control-key\">Touch + Drag</span>\n                                </div>\n                            </div>\n                            <div id=\"touchGamingControls\" class=\"hidden\">\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Look Around</span>\n                                    <span class=\"control-key\">Touch + Drag</span>\n                                </div>\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Move</span>\n                                    <span class=\"control-key\">Joystick</span>\n                                </div>\n                                <div class=\"control-item\">\n                                    <span class=\"control-action\">Jump</span>\n                                    <span class=\"control-key\">Tap</span>\n                                </div>\n                            </div>\n                        </div>\n                    </div>\n                </div>\n            </div>\n\n            <!-- Touch Joystick -->\n            <div id=\"joystickBase\" class=\"hidden\">\n                <div id=\"joystick\"></div>\n            </div>\n\n            <!-- Annotation Navigator -->\n            <div id=\"annotationNav\" class=\"hidden\">\n                <button id=\"annotationPrev\">\n                    <svg xmlns=\"http://www.w3.org/2000/svg\" width=\"20\" height=\"20\">\n                        <g class='stroke'><use href=\"#chevronLeftIcon\"/></g>\n                        <g class='fill'><use href=\"#chevronLeftIcon\"/></g>\n                    </svg>\n                </button>\n                <div id=\"annotationInfo\">\n                    <span id=\"annotationNavTitle\"></span>\n                </div>\n                <button id=\"annotationNext\">\n                    <svg 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@@ -5195,90 +6336,6 @@ class ZipFileSystem {
     }
 }
 
-class KdTree {
-    centroids;
-    root;
-    constructor(centroids) {
-        const build = (indices, depth) => {
-            const { centroids } = this;
-            const values = centroids.columns[depth % centroids.numColumns].data;
-            indices.sort((a, b) => values[a] - values[b]);
-            if (indices.length === 1) {
-                return {
-                    index: indices[0],
-                    count: 1
-                };
-            }
-            else if (indices.length === 2) {
-                return {
-                    index: indices[0],
-                    count: 2,
-                    right: {
-                        index: indices[1],
-                        count: 1
-                    }
-                };
-            }
-            const mid = indices.length >> 1;
-            const left = build(indices.subarray(0, mid), depth + 1);
-            const right = build(indices.subarray(mid + 1), depth + 1);
-            return {
-                index: indices[mid],
-                count: 1 + left.count + right.count,
-                left,
-                right
-            };
-        };
-        const indices = new Uint32Array(centroids.numRows);
-        for (let i = 0; i < indices.length; ++i) {
-            indices[i] = i;
-        }
-        this.centroids = centroids;
-        this.root = build(indices, 0);
-    }
-    findNearest(point, filterFunc) {
-        const { centroids } = this;
-        const { numColumns } = centroids;
-        const calcDistance = (index) => {
-            let l = 0;
-            for (let i = 0; i < numColumns; ++i) {
-                const v = centroids.columns[i].data[index] - point[i];
-                l += v * v;
-            }
-            return l;
-        };
-        let mind = Infinity;
-        let mini = -1;
-        let cnt = 0;
-        const recurse = (node, depth) => {
-            const axis = depth % numColumns;
-            const distance = point[axis] - centroids.columns[axis].data[node.index];
-            const next = (distance > 0) ? node.right : node.left;
-            cnt++;
-            if (next) {
-                recurse(next, depth + 1);
-            }
-            // check index
-            if (!filterFunc || filterFunc(node.index)) {
-                const thisd = calcDistance(node.index);
-                if (thisd < mind) {
-                    mind = thisd;
-                    mini = node.index;
-                }
-            }
-            // check the other side
-            if (distance * distance < mind) {
-                const other = next === node.right ? node.left : node.right;
-                if (other) {
-                    recurse(other, depth + 1);
-                }
-            }
-        };
-        recurse(this.root, 0);
-        return { index: mini, distanceSqr: mind, cnt };
-    }
-}
-
 const clusterWgsl = (numColumns, useF16) => {
     const floatType = useF16 ? 'f16' : 'f32';
     return /* wgsl */ `
@@ -7985,6 +9042,9 @@ const getOutputFormat = (filename, options) => {
     else if (lowerFilename.endsWith('.ply')) {
         return 'ply';
     }
+    else if (lowerFilename.endsWith('.glb')) {
+        return 'glb';
+    }
     else if (lowerFilename.endsWith('.html')) {
         return options.unbundled ? 'html' : 'html-bundle';
     }
@@ -8055,6 +9115,9 @@ const writeFile = async (writeOptions, fs) => {
                 }
             }, fs);
             break;
+        case 'glb':
+            await writeGlb({ filename, dataTable }, fs);
+            break;
         case 'html':
         case 'html-bundle':
             await writeHtml({
@@ -8308,13 +9371,7 @@ const processDataTable = (dataTable, processActions) => {
                 result.permuteRowsInPlace(indices);
                 break;
             }
-            case 'filterVisibility': {
-                const indices = new Uint32Array(result.numRows);
-                for (let i = 0; i < indices.length; i++) {
-                    indices[i] = i;
-                }
-                sortByVisibility(result, indices);
-                // Determine how many to keep
+            case 'decimate': {
                 let keepCount;
                 if (processAction.count !== null) {
                     keepCount = Math.min(processAction.count, result.numRows);
@@ -8323,7 +9380,7 @@ const processDataTable = (dataTable, processActions) => {
                     keepCount = Math.round(result.numRows * (processAction.percent ?? 100) / 100);
                 }
                 keepCount = Math.max(0, keepCount);
-                result = result.permuteRows(indices.subarray(0, keepCount));
+                result = simplifyGaussians(result, keepCount);
                 break;
             }
         }
@@ -8356,12 +9413,14 @@ exports.readSog = readSog;
 exports.readSplat = readSplat;
 exports.readSpz = readSpz;
 exports.readVoxel = readVoxel;
+exports.simplifyGaussians = simplifyGaussians;
 exports.sortByVisibility = sortByVisibility;
 exports.sortMortonOrder = sortMortonOrder;
 exports.transform = transform;
 exports.writeCompressedPly = writeCompressedPly;
 exports.writeCsv = writeCsv;
 exports.writeFile = writeFile;
+exports.writeGlb = writeGlb;
 exports.writeHtml = writeHtml;
 exports.writeLod = writeLod;
 exports.writePly = writePly;