@zephyr3d/scene 0.9.0 → 0.9.2

package/dist/animation/joint_dynamics/solver.js.map

@@ -1 +1 @@
-{"version":3,"file":"solver.js","sources":["../../../src/animation/joint_dynamics/solver.ts"],"sourcesContent":["// Core physics simulation 閳?direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs\r\n\r\nimport {\r\n  Quaternion,\r\n  Vector3,\r\n  Matrix4x4,\r\n  degree2radian,\r\n  radian2degree,\r\n  clamp01,\r\n  smoothStep\r\n} from '@zephyr3d/base';\r\nimport {\r\n  EPSILON,\r\n  ConstraintType,\r\n  type PointR,\r\n  type PointRW,\r\n  type Constraint,\r\n  type ColliderR,\r\n  type ColliderRW,\r\n  type GrabberR,\r\n  type GrabberRW,\r\n  type AngleLimitConfig,\r\n  type FlatPlane\r\n} from './types';\r\nimport {\r\n  pushoutFromSphere,\r\n  pushoutFromCapsule,\r\n  pushInFromSphere,\r\n  pushInFromCapsule,\r\n  collisionDetection,\r\n  checkSurfaceCollision,\r\n  type CollisionResult,\r\n  type SurfaceCheckResult\r\n} from './collision';\r\n\r\nconst AXIS_Y = new Vector3(0, 1, 0);\r\nconst VEC3_ONE = new Vector3(1, 1, 1);\r\nconst _computeCapsuleAxis = new Vector3();\r\nconst _computeCapsuleHalfDir = new Vector3();\r\nconst _applySystemTransformOffset = new Vector3();\r\nconst _applySystemTransformRotated = new Vector3();\r\nconst _broadPhaseSegmentDir = new Vector3();\r\nconst _broadPhaseToCenter = new Vector3();\r\nconst _broadPhaseClosestPoint = new Vector3();\r\nconst _broadPhaseDelta = new Vector3();\r\n\r\n/** Parameters for a single simulation step */\r\nexport interface SimulationParams {\r\n  /** If true, skip force integration (only apply root motion and output positions) */\r\n  isPaused: boolean;\r\n  /** Frame delta time in seconds (will be subdivided by subSteps) */\r\n  stepTime: number;\r\n  /** Number of substeps per frame. Higher = more stable simulation */\r\n  subSteps: number;\r\n  /** Current root bone world position */\r\n  rootPosition: Vector3;\r\n  /** Previous frame's root bone world position (for root motion limiting) */\r\n  previousRootPosition: Vector3;\r\n  /** Max root slide distance per substep. -1 = no limit */\r\n  rootSlideLimit: number;\r\n  /** Current root bone world rotation */\r\n  rootRotation: Quaternion;\r\n  /** Previous frame's root bone world rotation */\r\n  previousRootRotation: Quaternion;\r\n  /** Max root rotation angle (degrees) per substep. -1 = no limit */\r\n  rootRotateLimit: number;\r\n  /** Global wind force vector */\r\n  windForce: Vector3;\r\n  /** Enable triangle-based surface collision */\r\n  enableSurfaceCollision: boolean;\r\n  /** Triangle indices for surface collision (6 per quad: 2 triangles 鑴?3 indices) */\r\n  surfaceConstraints: number[];\r\n  /** Number of constraint relaxation iterations per substep */\r\n  relaxation: number;\r\n  /** Upper limit for horizontal/shear shrink power */\r\n  constraintShrinkLimit: number;\r\n  /** Blend ratio between physics and animation [0-1]. 0 = full physics */\r\n  blendRatio: number;\r\n  /** Enable sinusoidal fake wave on leaf bones */\r\n  isFakeWave: boolean;\r\n  /** Fake wave speed (frequency accumulation rate) */\r\n  fakeWaveSpeed: number;\r\n  /** Fake wave global amplitude */\r\n  fakeWavePower: number;\r\n  /** Current fake wave phase counter (accumulated across frames) */\r\n  fakeWaveCounter: number;\r\n  /** Global scale multiplier for all collider radii */\r\n  collisionScale: number;\r\n  /** Enable broad-phase pruning before precise collision checks */\r\n  enableBroadPhase: boolean;\r\n}\r\n\r\n/**\r\n * Run the full simulation step. Mutates pointsRW and collidersRW in place.\r\n * Returns { positionsToTransform, fakeWaveCounter }.\r\n */\r\nexport function simulate(\r\n  params: SimulationParams,\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  constraints: readonly Constraint[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: ColliderRW[],\r\n  grabbersR: readonly GrabberR[],\r\n  grabbersRW: readonly GrabberRW[],\r\n  movableLimitTargets: readonly Vector3[],\r\n  flatPlanes: readonly FlatPlane[]\r\n): { positionsToTransform: Vector3[]; fakeWaveCounter: number } {\r\n  const pointCount = pointsR.length;\r\n  const positionsToTransform: Vector3[] = new Array(pointCount);\r\n\r\n  let subSteps = params.subSteps;\r\n  if (params.isPaused) {\r\n    subSteps = 1;\r\n  }\r\n\r\n  let fakeWaveFreq = params.fakeWaveCounter;\r\n\r\n  // Root slide offset\r\n  let rootSlideOffset = Vector3.zero();\r\n  const rootDeltaSlide = Vector3.sub(params.rootPosition, params.previousRootPosition);\r\n  const rootDeltaSlideLen = rootDeltaSlide.magnitude;\r\n  if (params.rootSlideLimit >= 0 && rootDeltaSlideLen > params.rootSlideLimit) {\r\n    rootSlideOffset = Vector3.scale(\r\n      rootDeltaSlide,\r\n      (1.0 - params.rootSlideLimit / rootDeltaSlideLen) / subSteps\r\n    );\r\n  }\r\n\r\n  // Root rotation offset\r\n  let rootRotationOffset = Quaternion.identity();\r\n  const rootDeltaRot = Quaternion.multiply(\r\n    params.rootRotation,\r\n    Quaternion.inverse(params.previousRootRotation)\r\n  );\r\n  let rotateAngle = Math.acos(Math.max(-1, Math.min(1, rootDeltaRot.w))) * 2.0 * (180 / Math.PI);\r\n  if (rotateAngle > 180) {\r\n    rotateAngle -= 360;\r\n  }\r\n\r\n  if (params.rootRotateLimit >= 0 && Math.abs(rotateAngle) > params.rootRotateLimit) {\r\n    // Extract the rotation axis from the delta quaternion\r\n    const sinHalf = Math.sqrt(Math.max(0, 1 - rootDeltaRot.w * rootDeltaRot.w));\r\n    let rotateAxis: Vector3;\r\n    if (sinHalf > 0.0001) {\r\n      rotateAxis = new Vector3(rootDeltaRot.x / sinHalf, rootDeltaRot.y / sinHalf, rootDeltaRot.z / sinHalf);\r\n    } else {\r\n      rotateAxis = Vector3.axisPY();\r\n    }\r\n    let angle = rotateAngle > 0 ? rotateAngle - params.rootRotateLimit : rotateAngle + params.rootRotateLimit;\r\n    angle /= subSteps;\r\n    rootRotationOffset = Quaternion.fromAxisAngle(rotateAxis, degree2radian(angle));\r\n  }\r\n\r\n  if (params.isPaused) {\r\n    rootSlideOffset = rootDeltaSlide;\r\n    rootRotationOffset = rootDeltaRot;\r\n  }\r\n\r\n  const stepTime = params.stepTime / subSteps;\r\n\r\n  for (let iSubStep = 1; iSubStep <= subSteps; iSubStep++) {\r\n    const stepDelta = iSubStep / subSteps;\r\n    const stepTime_x2_half = stepTime * stepTime * 0.5;\r\n\r\n    colliderUpdate(collidersR, collidersRW, stepDelta);\r\n    pointUpdatePass1(\r\n      pointsR,\r\n      pointsRW,\r\n      stepDelta,\r\n      stepTime_x2_half,\r\n      rootSlideOffset,\r\n      rootRotationOffset,\r\n      params.rootPosition,\r\n      params.windForce,\r\n      params.isPaused,\r\n      grabbersR,\r\n      grabbersRW,\r\n      movableLimitTargets,\r\n      flatPlanes,\r\n      collidersR,\r\n      collidersRW\r\n    );\r\n\r\n    if (!params.isPaused) {\r\n      fakeWaveFreq += params.fakeWaveSpeed * stepTime;\r\n\r\n      if (params.enableSurfaceCollision) {\r\n        surfaceCollision(pointsRW, collidersR, collidersRW, params.surfaceConstraints);\r\n      }\r\n\r\n      // Push fixed points out of colliders before constraint solving.\r\n      // Fixed points follow animation and cannot be moved by the solver, but if\r\n      // their animated position is inside a collider, the distance constraint will\r\n      // pull free children inward through the surface — causing the characteristic\r\n      // \"hair flipping outward\" artifact at the back of the head.\r\n      // By temporarily clamping fixed-point positionCurrent to the collider surface\r\n      // before each substep's constraint pass, we ensure constraints operate from\r\n      // a geometrically valid anchor.  The original animated position is restored\r\n      // at the start of the next substep via positionCurrentTransform.\r\n      fixedPointColliderPushout(pointsR, pointsRW, collidersR, collidersRW);\r\n\r\n      for (let iRelax = params.relaxation - 1; iRelax >= 0; --iRelax) {\r\n        constraintUpdate(\r\n          pointsR,\r\n          pointsRW,\r\n          constraints,\r\n          collidersR,\r\n          collidersRW,\r\n          params.constraintShrinkLimit,\r\n          params.enableBroadPhase\r\n        );\r\n      }\r\n\r\n      // After all constraint/collision iterations are done, cancel any residual\r\n      // normal velocity that would push points back into colliders next frame.\r\n      // We compare the final positionCurrent (guaranteed outside all colliders)\r\n      // against positionPrevious (the Verlet integration start point) and zero\r\n      // out the component pointing into each collider.\r\n      postCollisionVelocityFix(pointsR, pointsRW, collidersR, collidersRW);\r\n    }\r\n\r\n    pointUpdatePass2(\r\n      pointsR,\r\n      pointsRW,\r\n      positionsToTransform,\r\n      stepDelta,\r\n      fakeWaveFreq,\r\n      params.blendRatio,\r\n      params.isFakeWave,\r\n      params.fakeWavePower\r\n    );\r\n  }\r\n\r\n  return { positionsToTransform, fakeWaveCounter: fakeWaveFreq };\r\n}\r\n\r\nfunction computeCapsule(\r\n  pos: Vector3,\r\n  rot: Quaternion,\r\n  height: number,\r\n  head: Vector3,\r\n  direction: Vector3\r\n): void {\r\n  rot.transform(Vector3.scale(AXIS_Y, height, _computeCapsuleAxis), direction);\r\n  Vector3.scale(direction, 0.5, _computeCapsuleHalfDir);\r\n  Vector3.sub(pos, _computeCapsuleHalfDir, head);\r\n}\r\n\r\nfunction colliderUpdate(collidersR: readonly ColliderR[], collidersRW: ColliderRW[], stepDelta: number) {\r\n  const curPos = new Vector3();\r\n  const curDir = new Quaternion();\r\n  const corner = new Vector3();\r\n  const center = new Vector3();\r\n  const tailCorner = new Vector3();\r\n  const tailCenter = new Vector3();\r\n  for (let i = 0; i < collidersR.length; i++) {\r\n    const colR = collidersR[i];\r\n    const colRW = collidersRW[i];\r\n    // Scale radius by the uniform world scale of the collider node.\r\n    // Use the average of x/y/z components to handle non-uniform scale gracefully.\r\n    const ws = colRW.worldScale;\r\n    const worldScaleUniform = (ws.x + ws.y + ws.z) / 3;\r\n    colRW.radius = colR.radius * worldScaleUniform;\r\n\r\n    Vector3.lerp(colRW.positionPreviousTransform, colRW.positionCurrentTransform, stepDelta, curPos);\r\n    Quaternion.slerp(colRW.directionPreviousTransform, colRW.directionCurrentTransform, stepDelta, curDir);\r\n\r\n    computeCapsule(curPos, curDir, colR.height, colRW.positionCurrent, colRW.directionCurrent);\r\n    if (colR.height > EPSILON) {\r\n      Vector3.scale(colRW.directionCurrent, 0.5, _computeCapsuleHalfDir);\r\n      Vector3.add(colRW.positionCurrent, _computeCapsuleHalfDir, colRW.boundsCenter);\r\n      colRW.boundsRadius =\r\n        Math.sqrt(colRW.directionCurrent.magnitudeSq) * 0.5 +\r\n        Math.max(colRW.radius, colRW.radius * colR.radiusTailScale);\r\n    } else {\r\n      colRW.boundsCenter.set(colRW.positionCurrent);\r\n      colRW.boundsRadius = colRW.radius;\r\n    }\r\n\r\n    // Update local bounds\r\n    Vector3.scale(VEC3_ONE, colR.radius, corner);\r\n    colRW.worldToLocal.transformPointAffine(colRW.positionCurrent, center);\r\n    Vector3.sub(center, corner, colRW.localBoundsMin);\r\n    Vector3.add(center, corner, colRW.localBoundsMax);\r\n\r\n    if (colR.height > EPSILON) {\r\n      Vector3.scale(VEC3_ONE, colR.radius * colR.radiusTailScale, tailCorner);\r\n      Vector3.add(colRW.positionCurrent, colRW.directionCurrent, tailCenter);\r\n      colRW.worldToLocal.transformPointAffine(tailCenter, tailCenter);\r\n      colRW.localBoundsMin.setXYZ(\r\n        Math.min(colRW.localBoundsMin.x, tailCenter.x - tailCorner.x),\r\n        Math.min(colRW.localBoundsMin.y, tailCenter.y - tailCorner.y),\r\n        Math.min(colRW.localBoundsMin.z, tailCenter.z - tailCorner.z)\r\n      );\r\n      colRW.localBoundsMax.setXYZ(\r\n        Math.max(colRW.localBoundsMax.x, tailCenter.x + tailCorner.x),\r\n        Math.max(colRW.localBoundsMax.y, tailCenter.y + tailCorner.y),\r\n        Math.max(colRW.localBoundsMax.z, tailCenter.z + tailCorner.z)\r\n      );\r\n    }\r\n  }\r\n}\r\n\r\nfunction applySystemTransform(\r\n  point: Vector3,\r\n  pivot: Vector3,\r\n  slideOffset: Vector3,\r\n  rotOffset: Quaternion,\r\n  result?: Vector3\r\n): Vector3 {\r\n  const rotated = rotOffset.transform(\r\n    Vector3.sub(point, pivot, _applySystemTransformOffset),\r\n    result || _applySystemTransformRotated\r\n  );\r\n  Vector3.add(rotated, pivot, rotated);\r\n  return Vector3.add(rotated, slideOffset, rotated);\r\n}\r\n\r\nfunction pointMayCollideBroadPhase(point: Vector3, colRW: ColliderRW, padding = 0): boolean {\r\n  const radius = colRW.boundsRadius + padding;\r\n  const delta = Vector3.sub(point, colRW.boundsCenter, _broadPhaseDelta);\r\n  return delta.magnitudeSq <= radius * radius;\r\n}\r\n\r\nfunction segmentMayCollideBroadPhase(point1: Vector3, point2: Vector3, colRW: ColliderRW): boolean {\r\n  const segmentDir = Vector3.sub(point2, point1, _broadPhaseSegmentDir);\r\n  const lenSq = segmentDir.magnitudeSq;\r\n  if (lenSq <= EPSILON) {\r\n    return pointMayCollideBroadPhase(point1, colRW);\r\n  }\r\n  const toCenter = Vector3.sub(colRW.boundsCenter, point1, _broadPhaseToCenter);\r\n  const t = clamp01(Vector3.dot(toCenter, segmentDir) / lenSq);\r\n  const closestPoint = Vector3.scale(segmentDir, t, _broadPhaseClosestPoint);\r\n  Vector3.add(point1, closestPoint, closestPoint);\r\n  const delta = Vector3.sub(colRW.boundsCenter, closestPoint, _broadPhaseDelta);\r\n  return delta.magnitudeSq <= colRW.boundsRadius * colRW.boundsRadius;\r\n}\r\n\r\n// Pass 1: Verlet integration + forces\r\n\r\nfunction pointUpdatePass1(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  stepDelta: number,\r\n  stepTime_x2_half: number,\r\n  rootSlideOffset: Vector3,\r\n  rootRotationOffset: Quaternion,\r\n  rootPosition: Vector3,\r\n  windForce: Vector3,\r\n  isPaused: boolean,\r\n  grabbersR: readonly GrabberR[],\r\n  grabbersRW: readonly GrabberRW[],\r\n  movableLimitTargets: readonly Vector3[],\r\n  flatPlanes: readonly FlatPlane[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: readonly ColliderRW[]\r\n) {\r\n  const currentTransformPos = new Vector3();\r\n  const moveDir = new Vector3();\r\n  const extForce = new Vector3();\r\n  const displacement = new Vector3();\r\n  const restore = new Vector3();\r\n  const tempVec0 = new Vector3();\r\n  const tempVec1 = new Vector3();\r\n  const planeOffset = new Vector3();\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    const ptRW = pointsRW[index];\r\n\r\n    Vector3.lerp(\r\n      ptRW.positionPreviousTransform,\r\n      ptRW.positionCurrentTransform,\r\n      stepDelta,\r\n      currentTransformPos\r\n    );\r\n\r\n    if (ptR.weight <= EPSILON) {\r\n      ptRW.positionPrevious.set(ptRW.positionCurrent);\r\n      ptRW.positionCurrent.set(currentTransformPos);\r\n    } else {\r\n      applySystemTransform(\r\n        ptRW.positionPrevious,\r\n        rootPosition,\r\n        rootSlideOffset,\r\n        rootRotationOffset,\r\n        ptRW.positionPrevious\r\n      );\r\n      applySystemTransform(\r\n        ptRW.positionCurrent,\r\n        rootPosition,\r\n        rootSlideOffset,\r\n        rootRotationOffset,\r\n        ptRW.positionCurrent\r\n      );\r\n\r\n      displacement.setXYZ(0, 0, 0);\r\n      if (!isPaused) {\r\n        Vector3.sub(ptRW.positionCurrent, ptRW.positionPrevious, moveDir);\r\n        Vector3.scale(windForce, ptR.windForceScale / ptR.mass, extForce);\r\n        Vector3.add(ptR.gravity, extForce, extForce);\r\n        Vector3.scale(extForce, stepTime_x2_half, extForce);\r\n\r\n        // Clamp the per-step force displacement to half the bone's rest length.\r\n        // Without this, large gravity values (e.g. -50 in world space) produce a\r\n        // per-step displacement comparable to the bone spacing, which exceeds what\r\n        // the constraint relaxation can correct in one pass and causes surface jitter.\r\n        if (ptR.parentLength > EPSILON) {\r\n          const maxForceDisp = ptR.parentLength * 0.5;\r\n          const forceDispSq = extForce.magnitudeSq;\r\n          if (forceDispSq > maxForceDisp * maxForceDisp) {\r\n            Vector3.scale(extForce, maxForceDisp / Math.sqrt(forceDispSq), extForce);\r\n          }\r\n        }\r\n\r\n        // Apply resistance (damping) only to the velocity term, not to external forces.\r\n        // Applying resistance to gravity would incorrectly attenuate acceleration each frame,\r\n        // causing energy errors and instability under high gravity.\r\n        Vector3.scale(moveDir, ptR.resistance, moveDir);\r\n        Vector3.scale(moveDir, 1.0 - clamp01(ptRW.friction * ptR.frictionScale), moveDir);\r\n\r\n        // Clamp per-step velocity to a multiple of bone rest length.\r\n        // During fast root rotations the Verlet velocity can become very large,\r\n        // overwhelming the constraint solver and causing the hair to lose shape.\r\n        // Limiting velocity keeps the simulation stable regardless of how fast\r\n        // the root moves, while still allowing natural large-amplitude swings.\r\n        if (ptR.parentLength > EPSILON) {\r\n          const maxVelDisp = ptR.parentLength * 2.0;\r\n          const velDispSq = moveDir.magnitudeSq;\r\n          if (velDispSq > maxVelDisp * maxVelDisp) {\r\n            Vector3.scale(moveDir, maxVelDisp / Math.sqrt(velDispSq), moveDir);\r\n          }\r\n        }\r\n\r\n        Vector3.add(moveDir, extForce, displacement);\r\n      }\r\n\r\n      ptRW.positionPrevious.set(ptRW.positionCurrent);\r\n      Vector3.add(ptRW.positionCurrent, displacement, ptRW.positionCurrent);\r\n      ptRW.friction = 0;\r\n\r\n      if (!isPaused) {\r\n        // Hardness restore\r\n        if (ptR.hardness > 0) {\r\n          Vector3.sub(currentTransformPos, ptRW.positionCurrent, restore);\r\n          Vector3.scale(restore, ptR.hardness, restore);\r\n          Vector3.add(ptRW.positionCurrent, restore, ptRW.positionCurrent);\r\n        }\r\n        // Force fade ratio\r\n        if (ptR.forceFadeRatio > 0) {\r\n          Vector3.lerp(ptRW.positionCurrent, currentTransformPos, ptR.forceFadeRatio, ptRW.positionCurrent);\r\n        }\r\n        // Push out of colliders immediately after hardness/fade pulls the point\r\n        // toward the animated position (which may be inside a collider).\r\n        // This prevents the hardness↔collision tug-of-war that causes jitter.\r\n        for (let ci = 0; ci < collidersR.length; ci++) {\r\n          const colRci = collidersR[ci];\r\n          const colRWci = collidersRW[ci];\r\n          if (colRWci.enabled === 0 || colRci.isInverseCollider) {\r\n            continue;\r\n          }\r\n          const hRes =\r\n            colRci.height <= EPSILON\r\n              ? pushoutFromSphere(\r\n                  colRWci.positionCurrent,\r\n                  colRWci.radius,\r\n                  ptR.pointRadius,\r\n                  ptRW.positionCurrent\r\n                )\r\n              : pushoutFromCapsule(colRci, colRWci, ptRW.positionCurrent, ptR);\r\n          if (hRes.hit) {\r\n            ptRW.positionCurrent.set(hRes.point);\r\n          }\r\n        }\r\n        // Grabber\r\n        if (ptRW.grabberIndex !== -1) {\r\n          const grR = grabbersR[ptRW.grabberIndex];\r\n          const grRW = grabbersRW[ptRW.grabberIndex];\r\n          if (grRW.enabled === 0) {\r\n            ptRW.grabberIndex = -1;\r\n          } else {\r\n            Vector3.sub(ptRW.positionCurrent, grRW.position, tempVec0);\r\n            Vector3.normalize(tempVec0, tempVec0);\r\n            Vector3.scale(tempVec0, ptRW.grabberDistance, tempVec1);\r\n            Vector3.add(grRW.position, tempVec1, tempVec1);\r\n            Vector3.sub(tempVec1, ptRW.positionCurrent, tempVec0);\r\n            Vector3.scale(tempVec0, grR.force, tempVec0);\r\n            Vector3.add(ptRW.positionCurrent, tempVec0, ptRW.positionCurrent);\r\n          }\r\n        } else {\r\n          let nearIndex = -1;\r\n          let sqrNearRange = 1000 * 1000;\r\n          for (let ig = 0; ig < grabbersR.length; ig++) {\r\n            const grRW = grabbersRW[ig];\r\n            if (grRW.enabled !== 0) {\r\n              const sqrLen = Vector3.sub(grRW.position, ptRW.positionCurrent, tempVec0).magnitudeSq;\r\n              if (sqrLen < grabbersR[ig].radius * grabbersR[ig].radius && sqrLen < sqrNearRange) {\r\n                sqrNearRange = sqrLen;\r\n                nearIndex = ig;\r\n              }\r\n            }\r\n          }\r\n          if (nearIndex !== -1) {\r\n            ptRW.grabberIndex = nearIndex;\r\n            ptRW.grabberDistance = Math.sqrt(sqrNearRange) / 2.0;\r\n          }\r\n        }\r\n        // Movable limit\r\n        if (ptR.movableLimitIndex !== -1) {\r\n          const target = movableLimitTargets[ptR.movableLimitIndex];\r\n          const move = Vector3.sub(ptRW.positionCurrent, target, tempVec0);\r\n          const moveLen = move.magnitude;\r\n          if (moveLen > ptR.movableLimitRadius) {\r\n            Vector3.scale(move, ptR.movableLimitRadius / moveLen, move);\r\n            Vector3.add(target, move, ptRW.positionCurrent);\r\n          }\r\n        }\r\n      }\r\n\r\n      // Flat plane collision\r\n      for (let i = 0; i < flatPlanes.length; i++) {\r\n        const fp = flatPlanes[i];\r\n        const dist = Vector3.dot(fp.normal, ptRW.positionCurrent) + fp.distance;\r\n        if (dist < 0) {\r\n          Vector3.scale(fp.normal, dist, planeOffset);\r\n          Vector3.sub(ptRW.positionCurrent, planeOffset, ptRW.positionCurrent);\r\n          ptRW.friction = 0.3;\r\n        }\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\n// Surface collision (triangle-based cloth collision)\r\n\r\nfunction surfaceCollision(\r\n  pointsRW: PointRW[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: ColliderRW[],\r\n  surfaceConstraints: readonly number[]\r\n) {\r\n  const surfaceResult: SurfaceCheckResult = {\r\n    hit: false,\r\n    intersectionPoint: new Vector3(),\r\n    pushOut: new Vector3(),\r\n    pointOnCollider: new Vector3(),\r\n    radius: 0\r\n  };\r\n  const triCenter = new Vector3();\r\n  const pushDir = new Vector3();\r\n  const centerToPt = new Vector3();\r\n  const intersectToPt = new Vector3();\r\n  const pushVec = new Vector3();\r\n  for (let index = 0; index < surfaceConstraints.length; index += 6) {\r\n    for (let i = 0; i < collidersR.length; i++) {\r\n      const colR = collidersR[i];\r\n      const colRW = collidersRW[i];\r\n      if (colRW.enabled === 0) {\r\n        continue;\r\n      }\r\n\r\n      const colliderPos = colRW.positionCurrent;\r\n\r\n      for (let j = 0; j < 6; j += 3) {\r\n        const idxA = surfaceConstraints[index + j + 0];\r\n        const idxB = surfaceConstraints[index + j + 1];\r\n        const idxC = surfaceConstraints[index + j + 2];\r\n\r\n        const rwA = pointsRW[idxA];\r\n        const rwB = pointsRW[idxB];\r\n        const rwC = pointsRW[idxC];\r\n\r\n        const result = checkSurfaceCollision(\r\n          rwA.positionCurrent,\r\n          rwB.positionCurrent,\r\n          rwC.positionCurrent,\r\n          colliderPos,\r\n          colR,\r\n          colRW,\r\n          surfaceResult\r\n        );\r\n\r\n        if (result.hit) {\r\n          triCenter.setXYZ(\r\n            (rwA.positionCurrent.x + rwB.positionCurrent.x + rwC.positionCurrent.x) / 3,\r\n            (rwA.positionCurrent.y + rwB.positionCurrent.y + rwC.positionCurrent.y) / 3,\r\n            (rwA.positionCurrent.z + rwB.positionCurrent.z + rwC.positionCurrent.z) / 3\r\n          );\r\n          const pushMag = result.pushOut.magnitude;\r\n          if (pushMag < EPSILON) {\r\n            continue;\r\n          }\r\n          Vector3.scale(result.pushOut, 1 / pushMag, pushDir);\r\n\r\n          for (let k = 0; k < 3; k++) {\r\n            const idxR = surfaceConstraints[index + j + k];\r\n            const rwPt = pointsRW[idxR];\r\n            Vector3.sub(rwPt.positionCurrent, triCenter, centerToPt);\r\n            Vector3.sub(rwPt.positionCurrent, result.intersectionPoint, intersectToPt);\r\n            const intersectLen = intersectToPt.magnitude;\r\n            let rate = intersectLen > EPSILON ? centerToPt.magnitude / intersectLen : 0;\r\n            rate = clamp01(Math.abs(rate));\r\n            Vector3.scale(pushDir, (result.radius - pushMag) * rate, pushVec);\r\n            Vector3.add(rwPt.positionCurrent, pushVec, rwPt.positionCurrent);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\nconst _postFixNormal = new Vector3();\r\nconst _fixedPushResult: CollisionResult = { hit: false, point: new Vector3() };\r\n\r\n/**\r\n * Before constraint solving each substep, push fixed points (weight=0) out of\r\n * any colliders they animate into.  Fixed points normally follow animation\r\n * exactly, but when their animated position lies inside a collider the distance\r\n * constraint pulls free children inward through the surface, producing the\r\n * classic \"hair flipping outward\" artifact.\r\n *\r\n * We clamp positionCurrent to the collider surface so that constraints operate\r\n * from a geometrically valid anchor.  The temporary change is overwritten at the\r\n * start of the next substep when positionCurrent is refreshed from the animation\r\n * transform, so the skeleton itself is never permanently altered.\r\n */\r\nfunction fixedPointColliderPushout(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: readonly ColliderRW[]\r\n): void {\r\n  for (let pi = 0; pi < pointsR.length; pi++) {\r\n    if (pointsR[pi].weight > EPSILON) {\r\n      continue;\r\n    }\r\n    const ptRW = pointsRW[pi];\r\n    const ptR = pointsR[pi];\r\n    for (let ci = 0; ci < collidersR.length; ci++) {\r\n      const colR = collidersR[ci];\r\n      const colRW = collidersRW[ci];\r\n      if (colRW.enabled === 0 || colR.isInverseCollider) {\r\n        continue;\r\n      }\r\n      const res =\r\n        colR.height <= EPSILON\r\n          ? pushoutFromSphere(\r\n              colRW.positionCurrent,\r\n              colRW.radius,\r\n              ptR.pointRadius,\r\n              ptRW.positionCurrent,\r\n              _fixedPushResult\r\n            )\r\n          : pushoutFromCapsule(colR, colRW, ptRW.positionCurrent, ptR, _fixedPushResult);\r\n      if (res.hit) {\r\n        ptRW.positionCurrent.set(res.point);\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\n/**\r\n * Called once per substep after ALL constraint + collision relaxation iterations finish.\r\n * For each dynamic point that is actually touching a collider surface (within radius),\r\n * cancel the normal-direction component of the Verlet velocity from positionPrevious.\r\n * Points far from all colliders are untouched, preserving wind-driven velocity.\r\n */\r\nfunction postCollisionVelocityFix(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: readonly ColliderRW[]\r\n): void {\r\n  for (let pi = 0; pi < pointsR.length; pi++) {\r\n    const ptR = pointsR[pi];\r\n    if (ptR.weight <= EPSILON) {\r\n      continue;\r\n    }\r\n    const ptRW = pointsRW[pi];\r\n\r\n    for (let ci = 0; ci < collidersR.length; ci++) {\r\n      const colR = collidersR[ci];\r\n      const colRW = collidersRW[ci];\r\n      if (colRW.enabled === 0 || colR.isInverseCollider) {\r\n        continue;\r\n      }\r\n\r\n      let nx = 0,\r\n        ny = 0,\r\n        nz = 0;\r\n      if (colR.height <= EPSILON) {\r\n        nx = ptRW.positionCurrent.x - colRW.positionCurrent.x;\r\n        ny = ptRW.positionCurrent.y - colRW.positionCurrent.y;\r\n        nz = ptRW.positionCurrent.z - colRW.positionCurrent.z;\r\n      } else {\r\n        const capsuleVec = colRW.directionCurrent;\r\n        const capsuleVecLenSq = capsuleVec.magnitudeSq;\r\n        if (capsuleVecLenSq > EPSILON) {\r\n          const tx = ptRW.positionCurrent.x - colRW.positionCurrent.x;\r\n          const ty = ptRW.positionCurrent.y - colRW.positionCurrent.y;\r\n          const tz = ptRW.positionCurrent.z - colRW.positionCurrent.z;\r\n          const t = Math.max(\r\n            0,\r\n            Math.min(1, (tx * capsuleVec.x + ty * capsuleVec.y + tz * capsuleVec.z) / capsuleVecLenSq)\r\n          );\r\n          nx = ptRW.positionCurrent.x - (colRW.positionCurrent.x + capsuleVec.x * t);\r\n          ny = ptRW.positionCurrent.y - (colRW.positionCurrent.y + capsuleVec.y * t);\r\n          nz = ptRW.positionCurrent.z - (colRW.positionCurrent.z + capsuleVec.z * t);\r\n        } else {\r\n          nx = ptRW.positionCurrent.x - colRW.positionCurrent.x;\r\n          ny = ptRW.positionCurrent.y - colRW.positionCurrent.y;\r\n          nz = ptRW.positionCurrent.z - colRW.positionCurrent.z;\r\n        }\r\n      }\r\n\r\n      const nLen = Math.sqrt(nx * nx + ny * ny + nz * nz);\r\n      if (nLen < EPSILON) {\r\n        continue;\r\n      }\r\n\r\n      const surfaceDist = nLen - colRW.radius - ptR.pointRadius;\r\n      if (surfaceDist > colRW.radius * 0.05) {\r\n        continue;\r\n      }\r\n\r\n      _postFixNormal.setXYZ(nx / nLen, ny / nLen, nz / nLen);\r\n      const vx = ptRW.positionCurrent.x - ptRW.positionPrevious.x;\r\n      const vy = ptRW.positionCurrent.y - ptRW.positionPrevious.y;\r\n      const vz = ptRW.positionCurrent.z - ptRW.positionPrevious.z;\r\n      const vDotN = vx * _postFixNormal.x + vy * _postFixNormal.y + vz * _postFixNormal.z;\r\n      if (vDotN < 0) {\r\n        ptRW.positionPrevious.x += _postFixNormal.x * vDotN;\r\n        ptRW.positionPrevious.y += _postFixNormal.y * vDotN;\r\n        ptRW.positionPrevious.z += _postFixNormal.z * vDotN;\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\nfunction constraintUpdate(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  constraints: readonly Constraint[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: ColliderRW[],\r\n  constraintShrinkLimit: number,\r\n  enableBroadPhase: boolean\r\n) {\r\n  const direction = new Vector3();\r\n  const dirN = new Vector3();\r\n  const disp = new Vector3();\r\n  const scaledDisp = new Vector3();\r\n  const pointResultA: CollisionResult = { hit: false, point: new Vector3() };\r\n  const pointResultB: CollisionResult = { hit: false, point: new Vector3() };\r\n  const lineResult = {\r\n    hit: false,\r\n    pointOnLine: new Vector3(),\r\n    pointOnCollider: new Vector3(),\r\n    radius: 0\r\n  };\r\n  const pushout = new Vector3();\r\n  const segment = new Vector3();\r\n  const pointToA = new Vector3();\r\n  const pointToB = new Vector3();\r\n  const pushN = new Vector3();\r\n  const pushVec = new Vector3();\r\n  for (let index = 0; index < constraints.length; index++) {\r\n    const c = constraints[index];\r\n    const ptRA = pointsR[c.indexA];\r\n    const ptRB = pointsR[c.indexB];\r\n    const weightA = ptRA.weight;\r\n    const weightB = ptRB.weight;\r\n    if (weightA <= EPSILON && weightB <= EPSILON) {\r\n      continue;\r\n    }\r\n\r\n    const rwA = pointsRW[c.indexA];\r\n    const rwB = pointsRW[c.indexB];\r\n\r\n    Vector3.sub(rwB.positionCurrent, rwA.positionCurrent, direction);\r\n    const distance = direction.magnitude;\r\n\r\n    let shrinkLen = c.length;\r\n    let stretchLen = shrinkLen;\r\n    if (\r\n      c.type === ConstraintType.Structural_Horizontal ||\r\n      c.type === ConstraintType.Bending_Horizontal ||\r\n      c.type === ConstraintType.Shear\r\n    ) {\r\n      stretchLen += ptRA.sliderJointLength + ptRB.sliderJointLength;\r\n    }\r\n\r\n    let force = 0;\r\n    if (distance <= shrinkLen) {\r\n      force = distance - shrinkLen;\r\n    } else if (distance >= stretchLen) {\r\n      force = distance - stretchLen;\r\n    }\r\n\r\n    const isShrink = force >= 0;\r\n    let power = 0;\r\n    switch (c.type) {\r\n      case ConstraintType.Structural_Vertical:\r\n        power = isShrink\r\n          ? ptRA.structuralShrinkVertical + ptRB.structuralShrinkVertical\r\n          : ptRA.structuralStretchVertical + ptRB.structuralStretchVertical;\r\n        break;\r\n      case ConstraintType.Structural_Horizontal:\r\n        power = isShrink\r\n          ? Math.min(constraintShrinkLimit, ptRA.structuralShrinkHorizontal + ptRB.structuralShrinkHorizontal)\r\n          : ptRA.structuralStretchHorizontal + ptRB.structuralStretchHorizontal;\r\n        break;\r\n      case ConstraintType.Shear:\r\n        power = isShrink\r\n          ? Math.min(constraintShrinkLimit, ptRA.shearShrink + ptRB.shearShrink)\r\n          : ptRA.shearStretch + ptRB.shearStretch;\r\n        break;\r\n      case ConstraintType.Bending_Vertical:\r\n        power = isShrink\r\n          ? ptRA.bendingShrinkVertical + ptRB.bendingShrinkVertical\r\n          : ptRA.bendingStretchVertical + ptRB.bendingStretchVertical;\r\n        break;\r\n      case ConstraintType.Bending_Horizontal:\r\n        power = isShrink\r\n          ? Math.min(constraintShrinkLimit, ptRA.bendingShrinkHorizontal + ptRB.bendingShrinkHorizontal)\r\n          : ptRA.bendingStretchHorizontal + ptRB.bendingStretchHorizontal;\r\n        break;\r\n    }\r\n\r\n    if (power > 0) {\r\n      if (distance > EPSILON) {\r\n        Vector3.scale(direction, 1 / distance, dirN);\r\n      } else {\r\n        dirN.setXYZ(0, 0, 0);\r\n      }\r\n      Vector3.scale(dirN, force * power, disp);\r\n      const wAB = weightA + weightB;\r\n      Vector3.scale(disp, weightA / wAB, scaledDisp);\r\n      Vector3.add(rwA.positionCurrent, scaledDisp, rwA.positionCurrent);\r\n      Vector3.scale(disp, weightB / wAB, scaledDisp);\r\n      Vector3.sub(rwB.positionCurrent, scaledDisp, rwB.positionCurrent);\r\n    }\r\n\r\n    // Per-constraint collision\r\n    if (c.isCollision !== 0) {\r\n      let friction = 0;\r\n      for (let i = 0; i < collidersR.length; i++) {\r\n        const colRW = collidersRW[i];\r\n        if (colRW.enabled === 0) {\r\n          continue;\r\n        }\r\n        const colR = collidersR[i];\r\n        const canPointA =\r\n          !enableBroadPhase ||\r\n          colR.isInverseCollider ||\r\n          pointMayCollideBroadPhase(rwA.positionCurrent, colRW, ptRA.pointRadius);\r\n        const canPointB =\r\n          !enableBroadPhase ||\r\n          colR.isInverseCollider ||\r\n          pointMayCollideBroadPhase(rwB.positionCurrent, colRW, ptRB.pointRadius);\r\n        const canLine =\r\n          !colR.isInverseCollider &&\r\n          (!enableBroadPhase || segmentMayCollideBroadPhase(rwA.positionCurrent, rwB.positionCurrent, colRW));\r\n\r\n        if (!canPointA && !canPointB && !canLine) {\r\n          continue;\r\n        }\r\n\r\n        if (colR.height > EPSILON) {\r\n          if (colR.isInverseCollider) {\r\n            if (ptRA.applyInvertCollision === 1 && canPointA) {\r\n              const res = pushInFromCapsule(colR, colRW, rwA.positionCurrent, pointResultA);\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (ptRB.applyInvertCollision === 1 && canPointB) {\r\n              const res = pushInFromCapsule(colR, colRW, rwB.positionCurrent, pointResultB);\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          } else {\r\n            if (canPointA) {\r\n              const res = pushoutFromCapsule(colR, colRW, rwA.positionCurrent, ptRA, pointResultA);\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (canPointB) {\r\n              const res = pushoutFromCapsule(colR, colRW, rwB.positionCurrent, ptRB, pointResultB);\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          }\r\n        } else {\r\n          if (colR.isInverseCollider) {\r\n            if (ptRA.applyInvertCollision === 1 && canPointA) {\r\n              const res = pushInFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                rwA.positionCurrent,\r\n                pointResultA\r\n              );\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (ptRB.applyInvertCollision === 1 && canPointB) {\r\n              const res = pushInFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                rwB.positionCurrent,\r\n                pointResultB\r\n              );\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          } else {\r\n            if (canPointA) {\r\n              const res = pushoutFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                ptRA.pointRadius,\r\n                rwA.positionCurrent,\r\n                pointResultA\r\n              );\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (canPointB) {\r\n              const res = pushoutFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                ptRB.pointRadius,\r\n                rwB.positionCurrent,\r\n                pointResultB\r\n              );\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          }\r\n        }\r\n\r\n        // Line segment collision\r\n        if (!colR.isInverseCollider && canLine) {\r\n          const lineRes = collisionDetection(\r\n            colR,\r\n            colRW,\r\n            rwA.positionCurrent,\r\n            rwB.positionCurrent,\r\n            lineResult\r\n          );\r\n          if (lineRes.hit) {\r\n            Vector3.sub(lineRes.pointOnLine, lineRes.pointOnCollider, pushout);\r\n            const pushDist = pushout.magnitude;\r\n            if (pushDist > EPSILON) {\r\n              const ptDist = Vector3.sub(rwB.positionCurrent, rwA.positionCurrent, segment).magnitude * 0.5;\r\n              const rateP1 =\r\n                ptDist > EPSILON\r\n                  ? clamp01(\r\n                      Vector3.sub(lineRes.pointOnLine, rwA.positionCurrent, pointToA).magnitude / ptDist\r\n                    )\r\n                  : 0;\r\n              const rateP2 =\r\n                ptDist > EPSILON\r\n                  ? clamp01(\r\n                      Vector3.sub(lineRes.pointOnLine, rwB.positionCurrent, pointToB).magnitude / ptDist\r\n                    )\r\n                  : 0;\r\n              Vector3.scale(pushout, 1 / pushDist, pushN);\r\n              Vector3.scale(pushN, Math.max(lineRes.radius - pushDist, 0), pushVec);\r\n              if (weightA > EPSILON) {\r\n                Vector3.scale(pushVec, rateP2, scaledDisp);\r\n                Vector3.add(rwA.positionCurrent, scaledDisp, rwA.positionCurrent);\r\n              }\r\n              if (weightB > EPSILON) {\r\n                Vector3.scale(pushVec, rateP1, scaledDisp);\r\n                Vector3.add(rwB.positionCurrent, scaledDisp, rwB.positionCurrent);\r\n              }\r\n\r\n              const dotUp = Vector3.dot(AXIS_Y, Vector3.normalize(pushout, pushN));\r\n              friction = Math.max(friction, colR.friction * clamp01(dotUp));\r\n            }\r\n          }\r\n        }\r\n      }\r\n      rwA.friction = Math.max(friction, rwA.friction);\r\n      rwB.friction = Math.max(friction, rwB.friction);\r\n    }\r\n  }\r\n}\r\n\r\nfunction pointUpdatePass2(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  positionsToTransform: Vector3[],\r\n  stepDelta: number,\r\n  fakeWaveFreq: number,\r\n  blendRatio: number,\r\n  isFakeWave: boolean,\r\n  fakeWavePower: number\r\n) {\r\n  let freq = fakeWaveFreq;\r\n  const curTransformPos = new Vector3();\r\n  const fakeWindOffset = new Vector3();\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    const ptRW = pointsRW[index];\r\n\r\n    Vector3.lerp(ptRW.positionPreviousTransform, ptRW.positionCurrentTransform, stepDelta, curTransformPos);\r\n    const blend = smoothStep(0, 1, Math.max(ptR.forceFadeRatio, blendRatio));\r\n    Vector3.lerp(ptRW.positionCurrent, curTransformPos, blend, ptRW.positionToTransform);\r\n\r\n    if (isFakeWave && ptR.child === -1 && ptR.parent !== -1) {\r\n      const A = pointsRW[ptR.parent].positionToTransform;\r\n      const B = ptRW.positionToTransform;\r\n      const mAxis = Matrix4x4.lookAt(A, B, AXIS_Y);\r\n      // Column 1 = up axis of the look-at matrix\r\n      const col1 = mAxis.getCol(1).xyz();\r\n      Vector3.lerp(ptRW.fakeWindDirection, col1, 0.5, ptRW.fakeWindDirection);\r\n\r\n      freq += ptR.fakeWaveFreq;\r\n      const power = Math.sin(freq) * fakeWavePower * ptR.fakeWavePower;\r\n      Vector3.scale(ptRW.fakeWindDirection, power, fakeWindOffset);\r\n      Vector3.add(ptRW.positionToTransform, fakeWindOffset, ptRW.positionToTransform);\r\n    }\r\n\r\n    positionsToTransform[index] = ptRW.positionToTransform.clone();\r\n  }\r\n}\r\n\r\nexport interface ApplyResultOutput {\r\n  position: Vector3;\r\n  rotation: Quaternion;\r\n  localRotation: Quaternion;\r\n}\r\n\r\nexport function applyResult(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  positionsToTransform: readonly Vector3[],\r\n  blendRatio: number,\r\n  // Current transform rotations (world and local) read from engine\r\n  transformRotations: readonly Quaternion[],\r\n  transformLocalRotations: readonly Quaternion[],\r\n  preserveTwist: boolean\r\n): ApplyResultOutput[] {\r\n  const results: ApplyResultOutput[] = new Array(pointsR.length);\r\n\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    const ptRW = pointsRW[index];\r\n    let worldRot = transformRotations[index];\r\n    let localRot = transformLocalRotations[index];\r\n\r\n    if (ptR.weight >= EPSILON) {\r\n      // Dynamic point\r\n      if (ptR.parent !== -1) {\r\n        const direction = Vector3.sub(ptRW.positionToTransform, positionsToTransform[ptR.parent]);\r\n        const realLen = direction.magnitude;\r\n        if (realLen > EPSILON) {\r\n          ptRW.directionPrevious = direction;\r\n        } else {\r\n          ptRW.positionToTransform = Vector3.add(positionsToTransform[ptR.parent], ptRW.directionPrevious);\r\n        }\r\n      }\r\n      const pos = ptRW.positionToTransform;\r\n      // SetRotation with blendRatio=0 for dynamic points\r\n      // Step 1: Reset localRotation 閳?initialLocalRotation (blendRatio=0 閳?fully initial)\r\n      localRot = ptR.initialLocalRotation.clone();\r\n\r\n      // Step 2: Recompute worldRot from the new localRot\r\n      // In C#, setting localRotation immediately updates the world rotation.\r\n      // worldRot = parentWorldRot * localRot\r\n      // We approximate: the parent's current world rotation is in transformRotations[ptR.parent]\r\n      if (ptR.parent !== -1) {\r\n        // Use the parent's OUTPUT rotation (already computed if parent index < current index)\r\n        const parentRot = results[ptR.parent] ? results[ptR.parent].rotation : transformRotations[ptR.parent];\r\n        worldRot = Quaternion.multiply(parentRot, localRot);\r\n      } else {\r\n        worldRot = localRot.clone();\r\n      }\r\n\r\n      // Step 3: Aim toward child (simple shortest-arc, no twist correction here)\r\n      if (ptR.child !== -1) {\r\n        const childDir = Vector3.sub(positionsToTransform[ptR.child], ptRW.positionToTransform);\r\n        if (childDir.magnitudeSq > EPSILON) {\r\n          const aimVec = worldRot.transform(ptR.boneAxis);\r\n          const aimRot = Quaternion.unitVectorToUnitVector(aimVec, childDir);\r\n          Quaternion.multiply(aimRot, worldRot, worldRot);\r\n        }\r\n      }\r\n      results[index] = {\r\n        position: pos,\r\n        rotation: worldRot,\r\n        localRotation: localRot\r\n      };\r\n    } else {\r\n      const childBlend =\r\n        ptR.child !== -1 ? Math.max(pointsR[ptR.child].forceFadeRatio, blendRatio) : blendRatio;\r\n\r\n      // Fixed joints are fully driven by the scene graph (animation + parent transforms).\r\n      // Use the engine's current world rotation directly as the baseline — do NOT\r\n      // reconstruct it from localRot, because localRot was read from the transform that\r\n      // was written back last frame (after aim correction), so it carries stale physics\r\n      // noise that would accumulate each frame and cause periodic spin artifacts.\r\n      // transformRotations[index] is read before applyResult runs, so it still holds\r\n      // the correct animated world rotation for this frame.\r\n      worldRot = transformRotations[index];\r\n\r\n      // Aim toward simulated child position, blended back toward the animated direction.\r\n      if (ptR.child !== -1) {\r\n        const childDir = Vector3.sub(positionsToTransform[ptR.child], ptRW.positionToTransform);\r\n        if (childDir.magnitudeSq > EPSILON) {\r\n          const aimVec = worldRot.transform(ptR.boneAxis);\r\n          const aimRot = Quaternion.unitVectorToUnitVector(aimVec, childDir);\r\n          worldRot = Quaternion.slerp(Quaternion.multiply(aimRot, worldRot), worldRot, childBlend);\r\n        }\r\n      }\r\n      results[index] = {\r\n        position: ptRW.positionCurrentTransform,\r\n        rotation: worldRot,\r\n        localRotation: localRot\r\n      };\r\n    }\r\n  }\r\n\r\n  // Post-process: twist correction pass (parent → child order).\r\n  if (preserveTwist) {\r\n    for (let index = 0; index < pointsR.length; index++) {\r\n      const ptR = pointsR[index];\r\n      if (ptR.weight < EPSILON || ptR.child === -1) {\r\n        continue;\r\n      }\r\n      const result = results[index];\r\n      const parentWorldRot = ptR.parent !== -1 ? results[ptR.parent].rotation : Quaternion.identity();\r\n      const effectiveLocal = Quaternion.multiply(Quaternion.inverse(parentWorldRot), result.rotation);\r\n      const curTwist = new Quaternion();\r\n      effectiveLocal.decomposeSwingTwist(ptR.boneAxis, undefined, curTwist);\r\n      const swingTF = Quaternion.multiply(effectiveLocal, Quaternion.inverse(curTwist));\r\n      const correctedLocal = Quaternion.multiply(swingTF, ptR.initialLocalTwist);\r\n      Quaternion.multiply(parentWorldRot, correctedLocal, result.rotation);\r\n    }\r\n  }\r\n\r\n  return results;\r\n}\r\n\r\nexport function applyAngleLimits(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  config: AngleLimitConfig\r\n): void {\r\n  if (config.angleLimit < 0) {\r\n    return;\r\n  }\r\n\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    if (ptR.parent === -1) {\r\n      continue;\r\n    }\r\n    const ptRW = pointsRW[index];\r\n\r\n    const ptRp = pointsR[ptR.parent];\r\n    const ptRWp = pointsRW[ptR.parent];\r\n\r\n    const superParentPos = ptRp.parent !== -1 ? pointsRW[ptRp.parent].positionCurrent : ptRWp.positionCurrent;\r\n\r\n    const boneDir = Vector3.sub(ptRW.positionCurrent, ptRWp.positionCurrent);\r\n    let parentBoneDir = Vector3.sub(ptRWp.positionCurrent, superParentPos);\r\n\r\n    if (parentBoneDir.magnitude === 0 || config.limitFromRoot) {\r\n      parentBoneDir = Vector3.sub(ptRW.positionCurrentTransform, ptRWp.positionCurrentTransform);\r\n    }\r\n\r\n    const angle = Vector3.angleBetween(parentBoneDir, boneDir);\r\n    const remaining = radian2degree(angle) - config.angleLimit;\r\n\r\n    if (remaining > 0) {\r\n      const axis = Vector3.cross(parentBoneDir, boneDir);\r\n      const rotated = Quaternion.fromAxisAngle(axis, degree2radian(-remaining)).transform(boneDir);\r\n      ptRW.positionCurrent = Vector3.add(ptRWp.positionCurrent, rotated);\r\n    }\r\n  }\r\n}\r\n"],"names":["AXIS_Y","Vector3","VEC3_ONE","_computeCapsuleAxis","_computeCapsuleHalfDir","_applySystemTransformOffset","_applySystemTransformRotated","_broadPhaseSegmentDir","_broadPhaseToCenter","_broadPhaseClosestPoint","_broadPhaseDelta","simulate","params","pointsR","pointsRW","constraints","collidersR","collidersRW","grabbersR","grabbersRW","movableLimitTargets","flatPlanes","pointCount","length","positionsToTransform","Array","subSteps","isPaused","fakeWaveFreq","fakeWaveCounter","rootSlideOffset","zero","rootDeltaSlide","sub","rootPosition","previousRootPosition","rootDeltaSlideLen","magnitude","rootSlideLimit","scale","rootRotationOffset","Quaternion","identity","rootDeltaRot","multiply","rootRotation","inverse","previousRootRotation","rotateAngle","Math","acos","max","min","w","PI","rootRotateLimit","abs","sinHalf","sqrt","rotateAxis","x","y","z","axisPY","angle","fromAxisAngle","degree2radian","stepTime","iSubStep","stepDelta","stepTime_x2_half","colliderUpdate","pointUpdatePass1","windForce","fakeWaveSpeed","enableSurfaceCollision","surfaceCollision","surfaceConstraints","fixedPointColliderPushout","iRelax","relaxation","constraintUpdate","constraintShrinkLimit","enableBroadPhase","postCollisionVelocityFix","pointUpdatePass2","blendRatio","isFakeWave","fakeWavePower","computeCapsule","pos","rot","height","head","direction","transform","curPos","curDir","corner","center","tailCorner","tailCenter","i","colR","colRW","ws","worldScale","worldScaleUniform","radius","lerp","positionPreviousTransform","positionCurrentTransform","slerp","directionPreviousTransform","directionCurrentTransform","positionCurrent","directionCurrent","EPSILON","add","boundsCenter","boundsRadius","magnitudeSq","radiusTailScale","set","worldToLocal","transformPointAffine","localBoundsMin","localBoundsMax","setXYZ","applySystemTransform","point","pivot","slideOffset","rotOffset","result","rotated","pointMayCollideBroadPhase","padding","delta","segmentMayCollideBroadPhase","point1","point2","segmentDir","lenSq","toCenter","t","clamp01","dot","closestPoint","currentTransformPos","moveDir","extForce","displacement","restore","tempVec0","tempVec1","planeOffset","index","ptR","ptRW","weight","positionPrevious","windForceScale","mass","gravity","parentLength","maxForceDisp","forceDispSq","resistance","friction","frictionScale","maxVelDisp","velDispSq","hardness","forceFadeRatio","ci","colRci","colRWci","enabled","isInverseCollider","hRes","pushoutFromSphere","pointRadius","pushoutFromCapsule","hit","grabberIndex","grR","grRW","position","normalize","grabberDistance","force","nearIndex","sqrNearRange","ig","sqrLen","movableLimitIndex","target","move","moveLen","movableLimitRadius","fp","dist","normal","distance","surfaceResult","intersectionPoint","pushOut","pointOnCollider","triCenter","pushDir","centerToPt","intersectToPt","pushVec","colliderPos","j","idxA","idxB","idxC","rwA","rwB","rwC","checkSurfaceCollision","pushMag","k","idxR","rwPt","intersectLen","rate","_postFixNormal","_fixedPushResult","pi","res","nx","ny","nz","capsuleVec","capsuleVecLenSq","tx","ty","tz","nLen","surfaceDist","vx","vy","vz","vDotN","dirN","disp","scaledDisp","pointResultA","pointResultB","lineResult","pointOnLine","pushout","segment","pointToA","pointToB","pushN","c","ptRA","indexA","ptRB","indexB","weightA","weightB","shrinkLen","stretchLen","type","ConstraintType","Structural_Horizontal","Bending_Horizontal","Shear","sliderJointLength","isShrink","power","Structural_Vertical","structuralShrinkVertical","structuralStretchVertical","structuralShrinkHorizontal","structuralStretchHorizontal","shearShrink","shearStretch","Bending_Vertical","bendingShrinkVertical","bendingStretchVertical","bendingShrinkHorizontal","bendingStretchHorizontal","wAB","isCollision","canPointA","canPointB","canLine","applyInvertCollision","pushInFromCapsule","pushInFromSphere","lineRes","collisionDetection","pushDist","ptDist","rateP1","rateP2","dotUp","freq","curTransformPos","fakeWindOffset","blend","smoothStep","positionToTransform","child","parent","A","B","mAxis","Matrix4x4","lookAt","col1","getCol","xyz","fakeWindDirection","sin","clone","applyResult","transformRotations","transformLocalRotations","preserveTwist","results","worldRot","localRot","realLen","directionPrevious","initialLocalRotation","parentRot","rotation","childDir","aimVec","boneAxis","aimRot","unitVectorToUnitVector","localRotation","childBlend","parentWorldRot","effectiveLocal","curTwist","decomposeSwingTwist","undefined","swingTF","correctedLocal","initialLocalTwist","applyAngleLimits","config","angleLimit","ptRp","ptRWp","superParentPos","boneDir","parentBoneDir","limitFromRoot","angleBetween","remaining","radian2degree","axis","cross"],"mappings":";;;;AAAA;AAmCA,MAAMA,MAAS,GAAA,IAAIC,OAAQ,CAAA,CAAA,EAAG,CAAG,EAAA,CAAA,CAAA;AACjC,MAAMC,QAAW,GAAA,IAAID,OAAQ,CAAA,CAAA,EAAG,CAAG,EAAA,CAAA,CAAA;AACnC,MAAME,sBAAsB,IAAIF,OAAAA,EAAAA;AAChC,MAAMG,yBAAyB,IAAIH,OAAAA,EAAAA;AACnC,MAAMI,8BAA8B,IAAIJ,OAAAA,EAAAA;AACxC,MAAMK,+BAA+B,IAAIL,OAAAA,EAAAA;AACzC,MAAMM,wBAAwB,IAAIN,OAAAA,EAAAA;AAClC,MAAMO,sBAAsB,IAAIP,OAAAA,EAAAA;AAChC,MAAMQ,0BAA0B,IAAIR,OAAAA,EAAAA;AACpC,MAAMS,mBAAmB,IAAIT,OAAAA,EAAAA;AAgD7B;;;IAIO,SAASU,QACdC,CAAAA,MAAwB,EACxBC,OAA0B,EAC1BC,QAAmB,EACnBC,WAAkC,EAClCC,UAAgC,EAChCC,WAAyB,EACzBC,SAA8B,EAC9BC,UAAgC,EAChCC,mBAAuC,EACvCC,UAAgC,EAAA;IAEhC,MAAMC,UAAAA,GAAaT,QAAQU,MAAM;IACjC,MAAMC,oBAAAA,GAAkC,IAAIC,KAAMH,CAAAA,UAAAA,CAAAA;IAElD,IAAII,QAAAA,GAAWd,OAAOc,QAAQ;IAC9B,IAAId,MAAAA,CAAOe,QAAQ,EAAE;QACnBD,QAAW,GAAA,CAAA;AACb;IAEA,IAAIE,YAAAA,GAAehB,OAAOiB,eAAe;;IAGzC,IAAIC,eAAAA,GAAkB7B,QAAQ8B,IAAI,EAAA;IAClC,MAAMC,cAAAA,GAAiB/B,QAAQgC,GAAG,CAACrB,OAAOsB,YAAY,EAAEtB,OAAOuB,oBAAoB,CAAA;IACnF,MAAMC,iBAAAA,GAAoBJ,eAAeK,SAAS;AAClD,IAAA,IAAIzB,OAAO0B,cAAc,IAAI,KAAKF,iBAAoBxB,GAAAA,MAAAA,CAAO0B,cAAc,EAAE;QAC3ER,eAAkB7B,GAAAA,OAAAA,CAAQsC,KAAK,CAC7BP,cACA,EAAC,CAAA,GAAA,GAAMpB,MAAO0B,CAAAA,cAAc,GAAGF,iBAAgB,IAAKV,QAAAA,CAAAA;AAExD;;IAGA,IAAIc,kBAAAA,GAAqBC,WAAWC,QAAQ,EAAA;IAC5C,MAAMC,YAAAA,GAAeF,UAAWG,CAAAA,QAAQ,CACtChC,MAAAA,CAAOiC,YAAY,EACnBJ,UAAWK,CAAAA,OAAO,CAAClC,MAAAA,CAAOmC,oBAAoB,CAAA,CAAA;IAEhD,IAAIC,WAAAA,GAAcC,KAAKC,IAAI,CAACD,KAAKE,GAAG,CAAC,EAAIF,EAAAA,IAAAA,CAAKG,GAAG,CAAC,CAAA,EAAGT,aAAaU,CAAC,CAAA,CAAA,CAAA,GAAM,OAAO,GAAA,GAAMJ,IAAKK,CAAAA,EAAE,CAAD;AAC5F,IAAA,IAAIN,cAAc,GAAK,EAAA;QACrBA,WAAe,IAAA,GAAA;AACjB;IAEA,IAAIpC,MAAAA,CAAO2C,eAAe,IAAI,CAAKN,IAAAA,IAAAA,CAAKO,GAAG,CAACR,WAAAA,CAAAA,GAAepC,MAAO2C,CAAAA,eAAe,EAAE;;AAEjF,QAAA,MAAME,OAAUR,GAAAA,IAAAA,CAAKS,IAAI,CAACT,IAAKE,CAAAA,GAAG,CAAC,CAAA,EAAG,CAAIR,GAAAA,YAAAA,CAAaU,CAAC,GAAGV,aAAaU,CAAC,CAAA,CAAA;QACzE,IAAIM,UAAAA;AACJ,QAAA,IAAIF,UAAU,MAAQ,EAAA;AACpBE,YAAAA,UAAAA,GAAa,IAAI1D,OAAAA,CAAQ0C,YAAaiB,CAAAA,CAAC,GAAGH,OAAAA,EAASd,YAAakB,CAAAA,CAAC,GAAGJ,OAAAA,EAASd,YAAamB,CAAAA,CAAC,GAAGL,OAAAA,CAAAA;SACzF,MAAA;AACLE,YAAAA,UAAAA,GAAa1D,QAAQ8D,MAAM,EAAA;AAC7B;QACA,IAAIC,KAAAA,GAAQhB,cAAc,CAAIA,GAAAA,WAAAA,GAAcpC,OAAO2C,eAAe,GAAGP,WAAcpC,GAAAA,MAAAA,CAAO2C,eAAe;QACzGS,KAAStC,IAAAA,QAAAA;AACTc,QAAAA,kBAAAA,GAAqBC,UAAWwB,CAAAA,aAAa,CAACN,UAAAA,EAAYO,aAAcF,CAAAA,KAAAA,CAAAA,CAAAA;AAC1E;IAEA,IAAIpD,MAAAA,CAAOe,QAAQ,EAAE;QACnBG,eAAkBE,GAAAA,cAAAA;QAClBQ,kBAAqBG,GAAAA,YAAAA;AACvB;IAEA,MAAMwB,QAAAA,GAAWvD,MAAOuD,CAAAA,QAAQ,GAAGzC,QAAAA;AAEnC,IAAA,IAAK,IAAI0C,QAAAA,GAAW,CAAGA,EAAAA,QAAAA,IAAY1C,UAAU0C,QAAY,EAAA,CAAA;AACvD,QAAA,MAAMC,YAAYD,QAAW1C,GAAAA,QAAAA;QAC7B,MAAM4C,gBAAAA,GAAmBH,WAAWA,QAAW,GAAA,GAAA;AAE/CI,QAAAA,cAAAA,CAAevD,YAAYC,WAAaoD,EAAAA,SAAAA,CAAAA;AACxCG,QAAAA,gBAAAA,CACE3D,SACAC,QACAuD,EAAAA,SAAAA,EACAC,kBACAxC,eACAU,EAAAA,kBAAAA,EACA5B,OAAOsB,YAAY,EACnBtB,OAAO6D,SAAS,EAChB7D,OAAOe,QAAQ,EACfT,WACAC,UACAC,EAAAA,mBAAAA,EACAC,YACAL,UACAC,EAAAA,WAAAA,CAAAA;QAGF,IAAI,CAACL,MAAOe,CAAAA,QAAQ,EAAE;YACpBC,YAAgBhB,IAAAA,MAAAA,CAAO8D,aAAa,GAAGP,QAAAA;YAEvC,IAAIvD,MAAAA,CAAO+D,sBAAsB,EAAE;AACjCC,gBAAAA,gBAAAA,CAAiB9D,QAAUE,EAAAA,UAAAA,EAAYC,WAAaL,EAAAA,MAAAA,CAAOiE,kBAAkB,CAAA;AAC/E;;;;;;;;;;YAWAC,yBAA0BjE,CAAAA,OAAAA,EAASC,UAAUE,UAAYC,EAAAA,WAAAA,CAAAA;YAEzD,IAAK,IAAI8D,SAASnE,MAAOoE,CAAAA,UAAU,GAAG,CAAGD,EAAAA,MAAAA,IAAU,CAAG,EAAA,EAAEA,MAAQ,CAAA;gBAC9DE,gBACEpE,CAAAA,OAAAA,EACAC,UACAC,WACAC,EAAAA,UAAAA,EACAC,aACAL,MAAOsE,CAAAA,qBAAqB,EAC5BtE,MAAAA,CAAOuE,gBAAgB,CAAA;AAE3B;;;;;;YAOAC,wBAAyBvE,CAAAA,OAAAA,EAASC,UAAUE,UAAYC,EAAAA,WAAAA,CAAAA;AAC1D;AAEAoE,QAAAA,gBAAAA,CACExE,OACAC,EAAAA,QAAAA,EACAU,oBACA6C,EAAAA,SAAAA,EACAzC,YACAhB,EAAAA,MAAAA,CAAO0E,UAAU,EACjB1E,MAAO2E,CAAAA,UAAU,EACjB3E,MAAAA,CAAO4E,aAAa,CAAA;AAExB;IAEA,OAAO;AAAEhE,QAAAA,oBAAAA;QAAsBK,eAAiBD,EAAAA;AAAa,KAAA;AAC/D;AAEA,SAAS6D,cAAAA,CACPC,GAAY,EACZC,GAAe,EACfC,MAAc,EACdC,IAAa,EACbC,SAAkB,EAAA;AAElBH,IAAAA,GAAAA,CAAII,SAAS,CAAC9F,OAAAA,CAAQsC,KAAK,CAACvC,MAAAA,EAAQ4F,QAAQzF,mBAAsB2F,CAAAA,EAAAA,SAAAA,CAAAA;IAClE7F,OAAQsC,CAAAA,KAAK,CAACuD,SAAAA,EAAW,GAAK1F,EAAAA,sBAAAA,CAAAA;IAC9BH,OAAQgC,CAAAA,GAAG,CAACyD,GAAAA,EAAKtF,sBAAwByF,EAAAA,IAAAA,CAAAA;AAC3C;AAEA,SAAStB,cAAevD,CAAAA,UAAgC,EAAEC,WAAyB,EAAEoD,SAAiB,EAAA;AACpG,IAAA,MAAM2B,SAAS,IAAI/F,OAAAA,EAAAA;AACnB,IAAA,MAAMgG,SAAS,IAAIxD,UAAAA,EAAAA;AACnB,IAAA,MAAMyD,SAAS,IAAIjG,OAAAA,EAAAA;AACnB,IAAA,MAAMkG,SAAS,IAAIlG,OAAAA,EAAAA;AACnB,IAAA,MAAMmG,aAAa,IAAInG,OAAAA,EAAAA;AACvB,IAAA,MAAMoG,aAAa,IAAIpG,OAAAA,EAAAA;AACvB,IAAA,IAAK,IAAIqG,CAAI,GAAA,CAAA,EAAGA,IAAItF,UAAWO,CAAAA,MAAM,EAAE+E,CAAK,EAAA,CAAA;QAC1C,MAAMC,IAAAA,GAAOvF,UAAU,CAACsF,CAAE,CAAA;QAC1B,MAAME,KAAAA,GAAQvF,WAAW,CAACqF,CAAE,CAAA;;;QAG5B,MAAMG,EAAAA,GAAKD,MAAME,UAAU;AAC3B,QAAA,MAAMC,iBAAoB,GAACF,CAAAA,EAAAA,CAAG7C,CAAC,GAAG6C,EAAG5C,CAAAA,CAAC,GAAG4C,EAAAA,CAAG3C,CAAAA,IAAK,CAAA;AACjD0C,QAAAA,KAAAA,CAAMI,MAAM,GAAGL,IAAKK,CAAAA,MAAM,GAAGD,iBAAAA;QAE7B1G,OAAQ4G,CAAAA,IAAI,CAACL,KAAMM,CAAAA,yBAAyB,EAAEN,KAAMO,CAAAA,wBAAwB,EAAE1C,SAAW2B,EAAAA,MAAAA,CAAAA;QACzFvD,UAAWuE,CAAAA,KAAK,CAACR,KAAMS,CAAAA,0BAA0B,EAAET,KAAMU,CAAAA,yBAAyB,EAAE7C,SAAW4B,EAAAA,MAAAA,CAAAA;QAE/FR,cAAeO,CAAAA,MAAAA,EAAQC,QAAQM,IAAKX,CAAAA,MAAM,EAAEY,KAAMW,CAAAA,eAAe,EAAEX,KAAAA,CAAMY,gBAAgB,CAAA;QACzF,IAAIb,IAAAA,CAAKX,MAAM,GAAGyB,OAAS,EAAA;AACzBpH,YAAAA,OAAAA,CAAQsC,KAAK,CAACiE,KAAMY,CAAAA,gBAAgB,EAAE,GAAKhH,EAAAA,sBAAAA,CAAAA;AAC3CH,YAAAA,OAAAA,CAAQqH,GAAG,CAACd,KAAAA,CAAMW,eAAe,EAAE/G,sBAAAA,EAAwBoG,MAAMe,YAAY,CAAA;YAC7Ef,KAAMgB,CAAAA,YAAY,GAChBvE,IAAKS,CAAAA,IAAI,CAAC8C,KAAMY,CAAAA,gBAAgB,CAACK,WAAW,CAAA,GAAI,MAChDxE,IAAKE,CAAAA,GAAG,CAACqD,KAAMI,CAAAA,MAAM,EAAEJ,KAAMI,CAAAA,MAAM,GAAGL,IAAAA,CAAKmB,eAAe,CAAA;SACvD,MAAA;AACLlB,YAAAA,KAAAA,CAAMe,YAAY,CAACI,GAAG,CAACnB,MAAMW,eAAe,CAAA;YAC5CX,KAAMgB,CAAAA,YAAY,GAAGhB,KAAAA,CAAMI,MAAM;AACnC;;AAGA3G,QAAAA,OAAAA,CAAQsC,KAAK,CAACrC,QAAUqG,EAAAA,IAAAA,CAAKK,MAAM,EAAEV,MAAAA,CAAAA;AACrCM,QAAAA,KAAAA,CAAMoB,YAAY,CAACC,oBAAoB,CAACrB,KAAAA,CAAMW,eAAe,EAAEhB,MAAAA,CAAAA;AAC/DlG,QAAAA,OAAAA,CAAQgC,GAAG,CAACkE,MAAQD,EAAAA,MAAAA,EAAQM,MAAMsB,cAAc,CAAA;AAChD7H,QAAAA,OAAAA,CAAQqH,GAAG,CAACnB,MAAQD,EAAAA,MAAAA,EAAQM,MAAMuB,cAAc,CAAA;QAEhD,IAAIxB,IAAAA,CAAKX,MAAM,GAAGyB,OAAS,EAAA;YACzBpH,OAAQsC,CAAAA,KAAK,CAACrC,QAAUqG,EAAAA,IAAAA,CAAKK,MAAM,GAAGL,IAAAA,CAAKmB,eAAe,EAAEtB,UAAAA,CAAAA;AAC5DnG,YAAAA,OAAAA,CAAQqH,GAAG,CAACd,KAAAA,CAAMW,eAAe,EAAEX,KAAAA,CAAMY,gBAAgB,EAAEf,UAAAA,CAAAA;AAC3DG,YAAAA,KAAAA,CAAMoB,YAAY,CAACC,oBAAoB,CAACxB,UAAYA,EAAAA,UAAAA,CAAAA;YACpDG,KAAMsB,CAAAA,cAAc,CAACE,MAAM,CACzB/E,KAAKG,GAAG,CAACoD,MAAMsB,cAAc,CAAClE,CAAC,EAAEyC,UAAAA,CAAWzC,CAAC,GAAGwC,UAAAA,CAAWxC,CAAC,CAC5DX,EAAAA,IAAAA,CAAKG,GAAG,CAACoD,KAAAA,CAAMsB,cAAc,CAACjE,CAAC,EAAEwC,UAAWxC,CAAAA,CAAC,GAAGuC,UAAWvC,CAAAA,CAAC,GAC5DZ,IAAKG,CAAAA,GAAG,CAACoD,KAAMsB,CAAAA,cAAc,CAAChE,CAAC,EAAEuC,WAAWvC,CAAC,GAAGsC,WAAWtC,CAAC,CAAA,CAAA;YAE9D0C,KAAMuB,CAAAA,cAAc,CAACC,MAAM,CACzB/E,KAAKE,GAAG,CAACqD,MAAMuB,cAAc,CAACnE,CAAC,EAAEyC,UAAAA,CAAWzC,CAAC,GAAGwC,UAAAA,CAAWxC,CAAC,CAC5DX,EAAAA,IAAAA,CAAKE,GAAG,CAACqD,KAAAA,CAAMuB,cAAc,CAAClE,CAAC,EAAEwC,UAAWxC,CAAAA,CAAC,GAAGuC,UAAWvC,CAAAA,CAAC,GAC5DZ,IAAKE,CAAAA,GAAG,CAACqD,KAAMuB,CAAAA,cAAc,CAACjE,CAAC,EAAEuC,WAAWvC,CAAC,GAAGsC,WAAWtC,CAAC,CAAA,CAAA;AAEhE;AACF;AACF;AAEA,SAASmE,oBAAAA,CACPC,KAAc,EACdC,KAAc,EACdC,WAAoB,EACpBC,SAAqB,EACrBC,MAAgB,EAAA;IAEhB,MAAMC,OAAAA,GAAUF,SAAUtC,CAAAA,SAAS,CACjC9F,OAAAA,CAAQgC,GAAG,CAACiG,KAAAA,EAAOC,KAAO9H,EAAAA,2BAAAA,CAAAA,EAC1BiI,MAAUhI,IAAAA,4BAAAA,CAAAA;IAEZL,OAAQqH,CAAAA,GAAG,CAACiB,OAAAA,EAASJ,KAAOI,EAAAA,OAAAA,CAAAA;AAC5B,IAAA,OAAOtI,OAAQqH,CAAAA,GAAG,CAACiB,OAAAA,EAASH,WAAaG,EAAAA,OAAAA,CAAAA;AAC3C;AAEA,SAASC,0BAA0BN,KAAc,EAAE1B,KAAiB,EAAEiC,UAAU,CAAC,EAAA;IAC/E,MAAM7B,MAAAA,GAASJ,KAAMgB,CAAAA,YAAY,GAAGiB,OAAAA;AACpC,IAAA,MAAMC,QAAQzI,OAAQgC,CAAAA,GAAG,CAACiG,KAAO1B,EAAAA,KAAAA,CAAMe,YAAY,EAAE7G,gBAAAA,CAAAA;IACrD,OAAOgI,KAAAA,CAAMjB,WAAW,IAAIb,MAASA,GAAAA,MAAAA;AACvC;AAEA,SAAS+B,2BAA4BC,CAAAA,MAAe,EAAEC,MAAe,EAAErC,KAAiB,EAAA;AACtF,IAAA,MAAMsC,UAAa7I,GAAAA,OAAAA,CAAQgC,GAAG,CAAC4G,QAAQD,MAAQrI,EAAAA,qBAAAA,CAAAA;IAC/C,MAAMwI,KAAAA,GAAQD,WAAWrB,WAAW;AACpC,IAAA,IAAIsB,SAAS1B,OAAS,EAAA;AACpB,QAAA,OAAOmB,0BAA0BI,MAAQpC,EAAAA,KAAAA,CAAAA;AAC3C;AACA,IAAA,MAAMwC,WAAW/I,OAAQgC,CAAAA,GAAG,CAACuE,KAAMe,CAAAA,YAAY,EAAEqB,MAAQpI,EAAAA,mBAAAA,CAAAA;AACzD,IAAA,MAAMyI,IAAIC,OAAQjJ,CAAAA,OAAAA,CAAQkJ,GAAG,CAACH,UAAUF,UAAcC,CAAAA,GAAAA,KAAAA,CAAAA;AACtD,IAAA,MAAMK,YAAenJ,GAAAA,OAAAA,CAAQsC,KAAK,CAACuG,YAAYG,CAAGxI,EAAAA,uBAAAA,CAAAA;IAClDR,OAAQqH,CAAAA,GAAG,CAACsB,MAAAA,EAAQQ,YAAcA,EAAAA,YAAAA,CAAAA;AAClC,IAAA,MAAMV,QAAQzI,OAAQgC,CAAAA,GAAG,CAACuE,KAAMe,CAAAA,YAAY,EAAE6B,YAAc1I,EAAAA,gBAAAA,CAAAA;AAC5D,IAAA,OAAOgI,MAAMjB,WAAW,IAAIjB,MAAMgB,YAAY,GAAGhB,MAAMgB,YAAY;AACrE;AAEA;AAEA,SAAShD,gBACP3D,CAAAA,OAA0B,EAC1BC,QAAmB,EACnBuD,SAAiB,EACjBC,gBAAwB,EACxBxC,eAAwB,EACxBU,kBAA8B,EAC9BN,YAAqB,EACrBuC,SAAkB,EAClB9C,QAAiB,EACjBT,SAA8B,EAC9BC,UAAgC,EAChCC,mBAAuC,EACvCC,UAAgC,EAChCL,UAAgC,EAChCC,WAAkC,EAAA;AAElC,IAAA,MAAMoI,sBAAsB,IAAIpJ,OAAAA,EAAAA;AAChC,IAAA,MAAMqJ,UAAU,IAAIrJ,OAAAA,EAAAA;AACpB,IAAA,MAAMsJ,WAAW,IAAItJ,OAAAA,EAAAA;AACrB,IAAA,MAAMuJ,eAAe,IAAIvJ,OAAAA,EAAAA;AACzB,IAAA,MAAMwJ,UAAU,IAAIxJ,OAAAA,EAAAA;AACpB,IAAA,MAAMyJ,WAAW,IAAIzJ,OAAAA,EAAAA;AACrB,IAAA,MAAM0J,WAAW,IAAI1J,OAAAA,EAAAA;AACrB,IAAA,MAAM2J,cAAc,IAAI3J,OAAAA,EAAAA;AACxB,IAAA,IAAK,IAAI4J,KAAQ,GAAA,CAAA,EAAGA,QAAQhJ,OAAQU,CAAAA,MAAM,EAAEsI,KAAS,EAAA,CAAA;QACnD,MAAMC,GAAAA,GAAMjJ,OAAO,CAACgJ,KAAM,CAAA;QAC1B,MAAME,IAAAA,GAAOjJ,QAAQ,CAAC+I,KAAM,CAAA;QAE5B5J,OAAQ4G,CAAAA,IAAI,CACVkD,IAAKjD,CAAAA,yBAAyB,EAC9BiD,IAAKhD,CAAAA,wBAAwB,EAC7B1C,SACAgF,EAAAA,mBAAAA,CAAAA;QAGF,IAAIS,GAAAA,CAAIE,MAAM,IAAI3C,OAAS,EAAA;AACzB0C,YAAAA,IAAAA,CAAKE,gBAAgB,CAACtC,GAAG,CAACoC,KAAK5C,eAAe,CAAA;YAC9C4C,IAAK5C,CAAAA,eAAe,CAACQ,GAAG,CAAC0B,mBAAAA,CAAAA;SACpB,MAAA;AACLpB,YAAAA,oBAAAA,CACE8B,KAAKE,gBAAgB,EACrB/H,cACAJ,eACAU,EAAAA,kBAAAA,EACAuH,KAAKE,gBAAgB,CAAA;AAEvBhC,YAAAA,oBAAAA,CACE8B,KAAK5C,eAAe,EACpBjF,cACAJ,eACAU,EAAAA,kBAAAA,EACAuH,KAAK5C,eAAe,CAAA;YAGtBqC,YAAaxB,CAAAA,MAAM,CAAC,CAAA,EAAG,CAAG,EAAA,CAAA,CAAA;AAC1B,YAAA,IAAI,CAACrG,QAAU,EAAA;AACb1B,gBAAAA,OAAAA,CAAQgC,GAAG,CAAC8H,IAAAA,CAAK5C,eAAe,EAAE4C,IAAAA,CAAKE,gBAAgB,EAAEX,OAAAA,CAAAA;gBACzDrJ,OAAQsC,CAAAA,KAAK,CAACkC,SAAWqF,EAAAA,GAAAA,CAAII,cAAc,GAAGJ,GAAAA,CAAIK,IAAI,EAAEZ,QAAAA,CAAAA;AACxDtJ,gBAAAA,OAAAA,CAAQqH,GAAG,CAACwC,GAAIM,CAAAA,OAAO,EAAEb,QAAUA,EAAAA,QAAAA,CAAAA;gBACnCtJ,OAAQsC,CAAAA,KAAK,CAACgH,QAAAA,EAAUjF,gBAAkBiF,EAAAA,QAAAA,CAAAA;;;;;gBAM1C,IAAIO,GAAAA,CAAIO,YAAY,GAAGhD,OAAS,EAAA;oBAC9B,MAAMiD,YAAAA,GAAeR,GAAIO,CAAAA,YAAY,GAAG,GAAA;oBACxC,MAAME,WAAAA,GAAchB,SAAS9B,WAAW;oBACxC,IAAI8C,WAAAA,GAAcD,eAAeA,YAAc,EAAA;AAC7CrK,wBAAAA,OAAAA,CAAQsC,KAAK,CAACgH,QAAAA,EAAUe,eAAerH,IAAKS,CAAAA,IAAI,CAAC6G,WAAchB,CAAAA,EAAAA,QAAAA,CAAAA;AACjE;AACF;;;;AAKAtJ,gBAAAA,OAAAA,CAAQsC,KAAK,CAAC+G,OAASQ,EAAAA,GAAAA,CAAIU,UAAU,EAAElB,OAAAA,CAAAA;gBACvCrJ,OAAQsC,CAAAA,KAAK,CAAC+G,OAAAA,EAAS,GAAMJ,GAAAA,OAAAA,CAAQa,KAAKU,QAAQ,GAAGX,GAAIY,CAAAA,aAAa,CAAGpB,EAAAA,OAAAA,CAAAA;;;;;;gBAOzE,IAAIQ,GAAAA,CAAIO,YAAY,GAAGhD,OAAS,EAAA;oBAC9B,MAAMsD,UAAAA,GAAab,GAAIO,CAAAA,YAAY,GAAG,GAAA;oBACtC,MAAMO,SAAAA,GAAYtB,QAAQ7B,WAAW;oBACrC,IAAImD,SAAAA,GAAYD,aAAaA,UAAY,EAAA;AACvC1K,wBAAAA,OAAAA,CAAQsC,KAAK,CAAC+G,OAAAA,EAASqB,aAAa1H,IAAKS,CAAAA,IAAI,CAACkH,SAAYtB,CAAAA,EAAAA,OAAAA,CAAAA;AAC5D;AACF;gBAEArJ,OAAQqH,CAAAA,GAAG,CAACgC,OAAAA,EAASC,QAAUC,EAAAA,YAAAA,CAAAA;AACjC;AAEAO,YAAAA,IAAAA,CAAKE,gBAAgB,CAACtC,GAAG,CAACoC,KAAK5C,eAAe,CAAA;AAC9ClH,YAAAA,OAAAA,CAAQqH,GAAG,CAACyC,IAAAA,CAAK5C,eAAe,EAAEqC,YAAAA,EAAcO,KAAK5C,eAAe,CAAA;AACpE4C,YAAAA,IAAAA,CAAKU,QAAQ,GAAG,CAAA;AAEhB,YAAA,IAAI,CAAC9I,QAAU,EAAA;;gBAEb,IAAImI,GAAAA,CAAIe,QAAQ,GAAG,CAAG,EAAA;AACpB5K,oBAAAA,OAAAA,CAAQgC,GAAG,CAACoH,mBAAqBU,EAAAA,IAAAA,CAAK5C,eAAe,EAAEsC,OAAAA,CAAAA;AACvDxJ,oBAAAA,OAAAA,CAAQsC,KAAK,CAACkH,OAASK,EAAAA,GAAAA,CAAIe,QAAQ,EAAEpB,OAAAA,CAAAA;AACrCxJ,oBAAAA,OAAAA,CAAQqH,GAAG,CAACyC,IAAAA,CAAK5C,eAAe,EAAEsC,OAAAA,EAASM,KAAK5C,eAAe,CAAA;AACjE;;gBAEA,IAAI2C,GAAAA,CAAIgB,cAAc,GAAG,CAAG,EAAA;oBAC1B7K,OAAQ4G,CAAAA,IAAI,CAACkD,IAAAA,CAAK5C,eAAe,EAAEkC,qBAAqBS,GAAIgB,CAAAA,cAAc,EAAEf,IAAAA,CAAK5C,eAAe,CAAA;AAClG;;;;AAIA,gBAAA,IAAK,IAAI4D,EAAK,GAAA,CAAA,EAAGA,KAAK/J,UAAWO,CAAAA,MAAM,EAAEwJ,EAAM,EAAA,CAAA;oBAC7C,MAAMC,MAAAA,GAAShK,UAAU,CAAC+J,EAAG,CAAA;oBAC7B,MAAME,OAAAA,GAAUhK,WAAW,CAAC8J,EAAG,CAAA;AAC/B,oBAAA,IAAIE,QAAQC,OAAO,KAAK,CAAKF,IAAAA,MAAAA,CAAOG,iBAAiB,EAAE;AACrD,wBAAA;AACF;oBACA,MAAMC,IAAAA,GACJJ,OAAOpF,MAAM,IAAIyB,UACbgE,iBACEJ,CAAAA,OAAAA,CAAQ9D,eAAe,EACvB8D,OAAQrE,CAAAA,MAAM,EACdkD,GAAIwB,CAAAA,WAAW,EACfvB,IAAAA,CAAK5C,eAAe,CAAA,GAEtBoE,mBAAmBP,MAAQC,EAAAA,OAAAA,EAASlB,IAAK5C,CAAAA,eAAe,EAAE2C,GAAAA,CAAAA;oBAChE,IAAIsB,IAAAA,CAAKI,GAAG,EAAE;AACZzB,wBAAAA,IAAAA,CAAK5C,eAAe,CAACQ,GAAG,CAACyD,KAAKlD,KAAK,CAAA;AACrC;AACF;;AAEA,gBAAA,IAAI6B,IAAK0B,CAAAA,YAAY,KAAK,EAAI,EAAA;AAC5B,oBAAA,MAAMC,GAAMxK,GAAAA,SAAS,CAAC6I,IAAAA,CAAK0B,YAAY,CAAC;AACxC,oBAAA,MAAME,IAAOxK,GAAAA,UAAU,CAAC4I,IAAAA,CAAK0B,YAAY,CAAC;oBAC1C,IAAIE,IAAAA,CAAKT,OAAO,KAAK,CAAG,EAAA;wBACtBnB,IAAK0B,CAAAA,YAAY,GAAG,EAAC;qBAChB,MAAA;AACLxL,wBAAAA,OAAAA,CAAQgC,GAAG,CAAC8H,IAAAA,CAAK5C,eAAe,EAAEwE,IAAAA,CAAKC,QAAQ,EAAElC,QAAAA,CAAAA;wBACjDzJ,OAAQ4L,CAAAA,SAAS,CAACnC,QAAUA,EAAAA,QAAAA,CAAAA;AAC5BzJ,wBAAAA,OAAAA,CAAQsC,KAAK,CAACmH,QAAUK,EAAAA,IAAAA,CAAK+B,eAAe,EAAEnC,QAAAA,CAAAA;AAC9C1J,wBAAAA,OAAAA,CAAQqH,GAAG,CAACqE,IAAKC,CAAAA,QAAQ,EAAEjC,QAAUA,EAAAA,QAAAA,CAAAA;AACrC1J,wBAAAA,OAAAA,CAAQgC,GAAG,CAAC0H,QAAUI,EAAAA,IAAAA,CAAK5C,eAAe,EAAEuC,QAAAA,CAAAA;AAC5CzJ,wBAAAA,OAAAA,CAAQsC,KAAK,CAACmH,QAAUgC,EAAAA,GAAAA,CAAIK,KAAK,EAAErC,QAAAA,CAAAA;AACnCzJ,wBAAAA,OAAAA,CAAQqH,GAAG,CAACyC,IAAAA,CAAK5C,eAAe,EAAEuC,QAAAA,EAAUK,KAAK5C,eAAe,CAAA;AAClE;iBACK,MAAA;AACL,oBAAA,IAAI6E,YAAY,EAAC;AACjB,oBAAA,IAAIC,eAAe,IAAO,GAAA,IAAA;AAC1B,oBAAA,IAAK,IAAIC,EAAK,GAAA,CAAA,EAAGA,KAAKhL,SAAUK,CAAAA,MAAM,EAAE2K,EAAM,EAAA,CAAA;wBAC5C,MAAMP,IAAAA,GAAOxK,UAAU,CAAC+K,EAAG,CAAA;wBAC3B,IAAIP,IAAAA,CAAKT,OAAO,KAAK,CAAG,EAAA;4BACtB,MAAMiB,MAAAA,GAASlM,OAAQgC,CAAAA,GAAG,CAAC0J,IAAAA,CAAKC,QAAQ,EAAE7B,IAAK5C,CAAAA,eAAe,EAAEuC,QAAAA,CAAAA,CAAUjC,WAAW;AACrF,4BAAA,IAAI0E,MAASjL,GAAAA,SAAS,CAACgL,EAAAA,CAAG,CAACtF,MAAM,GAAG1F,SAAS,CAACgL,EAAG,CAAA,CAACtF,MAAM,IAAIuF,SAASF,YAAc,EAAA;gCACjFA,YAAeE,GAAAA,MAAAA;gCACfH,SAAYE,GAAAA,EAAAA;AACd;AACF;AACF;oBACA,IAAIF,SAAAA,KAAc,EAAI,EAAA;AACpBjC,wBAAAA,IAAAA,CAAK0B,YAAY,GAAGO,SAAAA;AACpBjC,wBAAAA,IAAAA,CAAK+B,eAAe,GAAG7I,IAAKS,CAAAA,IAAI,CAACuI,YAAgB,CAAA,GAAA,GAAA;AACnD;AACF;;AAEA,gBAAA,IAAInC,GAAIsC,CAAAA,iBAAiB,KAAK,EAAI,EAAA;AAChC,oBAAA,MAAMC,MAASjL,GAAAA,mBAAmB,CAAC0I,GAAAA,CAAIsC,iBAAiB,CAAC;AACzD,oBAAA,MAAME,OAAOrM,OAAQgC,CAAAA,GAAG,CAAC8H,IAAK5C,CAAAA,eAAe,EAAEkF,MAAQ3C,EAAAA,QAAAA,CAAAA;oBACvD,MAAM6C,OAAAA,GAAUD,KAAKjK,SAAS;oBAC9B,IAAIkK,OAAAA,GAAUzC,GAAI0C,CAAAA,kBAAkB,EAAE;AACpCvM,wBAAAA,OAAAA,CAAQsC,KAAK,CAAC+J,IAAAA,EAAMxC,GAAI0C,CAAAA,kBAAkB,GAAGD,OAASD,EAAAA,IAAAA,CAAAA;AACtDrM,wBAAAA,OAAAA,CAAQqH,GAAG,CAAC+E,MAAQC,EAAAA,IAAAA,EAAMvC,KAAK5C,eAAe,CAAA;AAChD;AACF;AACF;;AAGA,YAAA,IAAK,IAAIb,CAAI,GAAA,CAAA,EAAGA,IAAIjF,UAAWE,CAAAA,MAAM,EAAE+E,CAAK,EAAA,CAAA;gBAC1C,MAAMmG,EAAAA,GAAKpL,UAAU,CAACiF,CAAE,CAAA;gBACxB,MAAMoG,IAAAA,GAAOzM,OAAQkJ,CAAAA,GAAG,CAACsD,EAAAA,CAAGE,MAAM,EAAE5C,IAAK5C,CAAAA,eAAe,CAAIsF,GAAAA,EAAAA,CAAGG,QAAQ;AACvE,gBAAA,IAAIF,OAAO,CAAG,EAAA;AACZzM,oBAAAA,OAAAA,CAAQsC,KAAK,CAACkK,EAAGE,CAAAA,MAAM,EAAED,IAAM9C,EAAAA,WAAAA,CAAAA;AAC/B3J,oBAAAA,OAAAA,CAAQgC,GAAG,CAAC8H,IAAAA,CAAK5C,eAAe,EAAEyC,WAAAA,EAAaG,KAAK5C,eAAe,CAAA;AACnE4C,oBAAAA,IAAAA,CAAKU,QAAQ,GAAG,GAAA;AAClB;AACF;AACF;AACF;AACF;AAEA;AAEA,SAAS7F,iBACP9D,QAAmB,EACnBE,UAAgC,EAChCC,WAAyB,EACzB4D,kBAAqC,EAAA;AAErC,IAAA,MAAMgI,aAAoC,GAAA;QACxCrB,GAAK,EAAA,KAAA;AACLsB,QAAAA,iBAAAA,EAAmB,IAAI7M,OAAAA,EAAAA;AACvB8M,QAAAA,OAAAA,EAAS,IAAI9M,OAAAA,EAAAA;AACb+M,QAAAA,eAAAA,EAAiB,IAAI/M,OAAAA,EAAAA;QACrB2G,MAAQ,EAAA;AACV,KAAA;AACA,IAAA,MAAMqG,YAAY,IAAIhN,OAAAA,EAAAA;AACtB,IAAA,MAAMiN,UAAU,IAAIjN,OAAAA,EAAAA;AACpB,IAAA,MAAMkN,aAAa,IAAIlN,OAAAA,EAAAA;AACvB,IAAA,MAAMmN,gBAAgB,IAAInN,OAAAA,EAAAA;AAC1B,IAAA,MAAMoN,UAAU,IAAIpN,OAAAA,EAAAA;IACpB,IAAK,IAAI4J,QAAQ,CAAGA,EAAAA,KAAAA,GAAQhF,mBAAmBtD,MAAM,EAAEsI,SAAS,CAAG,CAAA;AACjE,QAAA,IAAK,IAAIvD,CAAI,GAAA,CAAA,EAAGA,IAAItF,UAAWO,CAAAA,MAAM,EAAE+E,CAAK,EAAA,CAAA;YAC1C,MAAMC,IAAAA,GAAOvF,UAAU,CAACsF,CAAE,CAAA;YAC1B,MAAME,KAAAA,GAAQvF,WAAW,CAACqF,CAAE,CAAA;YAC5B,IAAIE,KAAAA,CAAM0E,OAAO,KAAK,CAAG,EAAA;AACvB,gBAAA;AACF;YAEA,MAAMoC,WAAAA,GAAc9G,MAAMW,eAAe;AAEzC,YAAA,IAAK,IAAIoG,CAAI,GAAA,CAAA,EAAGA,CAAI,GAAA,CAAA,EAAGA,KAAK,CAAG,CAAA;AAC7B,gBAAA,MAAMC,IAAO3I,GAAAA,kBAAkB,CAACgF,KAAAA,GAAQ0D,IAAI,CAAE,CAAA;AAC9C,gBAAA,MAAME,IAAO5I,GAAAA,kBAAkB,CAACgF,KAAAA,GAAQ0D,IAAI,CAAE,CAAA;AAC9C,gBAAA,MAAMG,IAAO7I,GAAAA,kBAAkB,CAACgF,KAAAA,GAAQ0D,IAAI,CAAE,CAAA;gBAE9C,MAAMI,GAAAA,GAAM7M,QAAQ,CAAC0M,IAAK,CAAA;gBAC1B,MAAMI,GAAAA,GAAM9M,QAAQ,CAAC2M,IAAK,CAAA;gBAC1B,MAAMI,GAAAA,GAAM/M,QAAQ,CAAC4M,IAAK,CAAA;AAE1B,gBAAA,MAAMpF,MAASwF,GAAAA,qBAAAA,CACbH,GAAIxG,CAAAA,eAAe,EACnByG,GAAAA,CAAIzG,eAAe,EACnB0G,GAAI1G,CAAAA,eAAe,EACnBmG,WAAAA,EACA/G,MACAC,KACAqG,EAAAA,aAAAA,CAAAA;gBAGF,IAAIvE,MAAAA,CAAOkD,GAAG,EAAE;oBACdyB,SAAUjF,CAAAA,MAAM,CACb2F,CAAAA,GAAAA,CAAIxG,eAAe,CAACvD,CAAC,GAAGgK,GAAIzG,CAAAA,eAAe,CAACvD,CAAC,GAAGiK,GAAI1G,CAAAA,eAAe,CAACvD,CAAC,IAAI,CAC1E,EAAC+J,CAAAA,GAAAA,CAAIxG,eAAe,CAACtD,CAAC,GAAG+J,IAAIzG,eAAe,CAACtD,CAAC,GAAGgK,GAAI1G,CAAAA,eAAe,CAACtD,CAAC,IAAI,CAC1E,EAAC8J,CAAAA,GAAAA,CAAIxG,eAAe,CAACrD,CAAC,GAAG8J,GAAIzG,CAAAA,eAAe,CAACrD,CAAC,GAAG+J,GAAAA,CAAI1G,eAAe,CAACrD,CAAAA,IAAK,CAAA,CAAA;AAE5E,oBAAA,MAAMiK,OAAUzF,GAAAA,MAAAA,CAAOyE,OAAO,CAAC1K,SAAS;AACxC,oBAAA,IAAI0L,UAAU1G,OAAS,EAAA;AACrB,wBAAA;AACF;AACApH,oBAAAA,OAAAA,CAAQsC,KAAK,CAAC+F,MAAAA,CAAOyE,OAAO,EAAE,IAAIgB,OAASb,EAAAA,OAAAA,CAAAA;AAE3C,oBAAA,IAAK,IAAIc,CAAAA,GAAI,CAAGA,EAAAA,CAAAA,GAAI,GAAGA,CAAK,EAAA,CAAA;AAC1B,wBAAA,MAAMC,IAAOpJ,GAAAA,kBAAkB,CAACgF,KAAAA,GAAQ0D,IAAIS,CAAE,CAAA;wBAC9C,MAAME,IAAAA,GAAOpN,QAAQ,CAACmN,IAAK,CAAA;AAC3BhO,wBAAAA,OAAAA,CAAQgC,GAAG,CAACiM,IAAK/G,CAAAA,eAAe,EAAE8F,SAAWE,EAAAA,UAAAA,CAAAA;AAC7ClN,wBAAAA,OAAAA,CAAQgC,GAAG,CAACiM,IAAAA,CAAK/G,eAAe,EAAEmB,MAAAA,CAAOwE,iBAAiB,EAAEM,aAAAA,CAAAA;wBAC5D,MAAMe,YAAAA,GAAef,cAAc/K,SAAS;AAC5C,wBAAA,IAAI+L,OAAOD,YAAe9G,GAAAA,OAAAA,GAAU8F,UAAW9K,CAAAA,SAAS,GAAG8L,YAAe,GAAA,CAAA;wBAC1EC,IAAOlF,GAAAA,OAAAA,CAAQjG,IAAKO,CAAAA,GAAG,CAAC4K,IAAAA,CAAAA,CAAAA;wBACxBnO,OAAQsC,CAAAA,KAAK,CAAC2K,OAAAA,EAAS,CAAC5E,OAAO1B,MAAM,GAAGmH,OAAM,IAAKK,IAAMf,EAAAA,OAAAA,CAAAA;AACzDpN,wBAAAA,OAAAA,CAAQqH,GAAG,CAAC4G,IAAAA,CAAK/G,eAAe,EAAEkG,OAAAA,EAASa,KAAK/G,eAAe,CAAA;AACjE;AACF;AACF;AACF;AACF;AACF;AAEA,MAAMkH,iBAAiB,IAAIpO,OAAAA,EAAAA;AAC3B,MAAMqO,gBAAoC,GAAA;IAAE9C,GAAK,EAAA,KAAA;AAAOtD,IAAAA,KAAAA,EAAO,IAAIjI,OAAAA;AAAU,CAAA;AAE7E;;;;;;;;;;;IAYA,SAAS6E,0BACPjE,OAA0B,EAC1BC,QAAmB,EACnBE,UAAgC,EAChCC,WAAkC,EAAA;AAElC,IAAA,IAAK,IAAIsN,EAAK,GAAA,CAAA,EAAGA,KAAK1N,OAAQU,CAAAA,MAAM,EAAEgN,EAAM,EAAA,CAAA;AAC1C,QAAA,IAAI1N,OAAO,CAAC0N,EAAAA,CAAG,CAACvE,MAAM,GAAG3C,OAAS,EAAA;AAChC,YAAA;AACF;QACA,MAAM0C,IAAAA,GAAOjJ,QAAQ,CAACyN,EAAG,CAAA;QACzB,MAAMzE,GAAAA,GAAMjJ,OAAO,CAAC0N,EAAG,CAAA;AACvB,QAAA,IAAK,IAAIxD,EAAK,GAAA,CAAA,EAAGA,KAAK/J,UAAWO,CAAAA,MAAM,EAAEwJ,EAAM,EAAA,CAAA;YAC7C,MAAMxE,IAAAA,GAAOvF,UAAU,CAAC+J,EAAG,CAAA;YAC3B,MAAMvE,KAAAA,GAAQvF,WAAW,CAAC8J,EAAG,CAAA;AAC7B,YAAA,IAAIvE,MAAM0E,OAAO,KAAK,CAAK3E,IAAAA,IAAAA,CAAK4E,iBAAiB,EAAE;AACjD,gBAAA;AACF;YACA,MAAMqD,GAAAA,GACJjI,IAAKX,CAAAA,MAAM,IAAIyB,OAAAA,GACXgE,kBACE7E,KAAMW,CAAAA,eAAe,EACrBX,KAAAA,CAAMI,MAAM,EACZkD,IAAIwB,WAAW,EACfvB,IAAK5C,CAAAA,eAAe,EACpBmH,gBAAAA,CAAAA,GAEF/C,kBAAmBhF,CAAAA,IAAAA,EAAMC,KAAOuD,EAAAA,IAAAA,CAAK5C,eAAe,EAAE2C,GAAKwE,EAAAA,gBAAAA,CAAAA;YACjE,IAAIE,GAAAA,CAAIhD,GAAG,EAAE;AACXzB,gBAAAA,IAAAA,CAAK5C,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACpC;AACF;AACF;AACF;AAEA;;;;;IAMA,SAAS9C,yBACPvE,OAA0B,EAC1BC,QAAmB,EACnBE,UAAgC,EAChCC,WAAkC,EAAA;AAElC,IAAA,IAAK,IAAIsN,EAAK,GAAA,CAAA,EAAGA,KAAK1N,OAAQU,CAAAA,MAAM,EAAEgN,EAAM,EAAA,CAAA;QAC1C,MAAMzE,GAAAA,GAAMjJ,OAAO,CAAC0N,EAAG,CAAA;QACvB,IAAIzE,GAAAA,CAAIE,MAAM,IAAI3C,OAAS,EAAA;AACzB,YAAA;AACF;QACA,MAAM0C,IAAAA,GAAOjJ,QAAQ,CAACyN,EAAG,CAAA;AAEzB,QAAA,IAAK,IAAIxD,EAAK,GAAA,CAAA,EAAGA,KAAK/J,UAAWO,CAAAA,MAAM,EAAEwJ,EAAM,EAAA,CAAA;YAC7C,MAAMxE,IAAAA,GAAOvF,UAAU,CAAC+J,EAAG,CAAA;YAC3B,MAAMvE,KAAAA,GAAQvF,WAAW,CAAC8J,EAAG,CAAA;AAC7B,YAAA,IAAIvE,MAAM0E,OAAO,KAAK,CAAK3E,IAAAA,IAAAA,CAAK4E,iBAAiB,EAAE;AACjD,gBAAA;AACF;AAEA,YAAA,IAAIsD,EAAK,GAAA,CAAA,EACPC,EAAK,GAAA,CAAA,EACLC,EAAK,GAAA,CAAA;YACP,IAAIpI,IAAAA,CAAKX,MAAM,IAAIyB,OAAS,EAAA;gBAC1BoH,EAAK1E,GAAAA,IAAAA,CAAK5C,eAAe,CAACvD,CAAC,GAAG4C,KAAMW,CAAAA,eAAe,CAACvD,CAAC;gBACrD8K,EAAK3E,GAAAA,IAAAA,CAAK5C,eAAe,CAACtD,CAAC,GAAG2C,KAAMW,CAAAA,eAAe,CAACtD,CAAC;gBACrD8K,EAAK5E,GAAAA,IAAAA,CAAK5C,eAAe,CAACrD,CAAC,GAAG0C,KAAMW,CAAAA,eAAe,CAACrD,CAAC;aAChD,MAAA;gBACL,MAAM8K,UAAAA,GAAapI,MAAMY,gBAAgB;gBACzC,MAAMyH,eAAAA,GAAkBD,WAAWnH,WAAW;AAC9C,gBAAA,IAAIoH,kBAAkBxH,OAAS,EAAA;oBAC7B,MAAMyH,EAAAA,GAAK/E,KAAK5C,eAAe,CAACvD,CAAC,GAAG4C,KAAAA,CAAMW,eAAe,CAACvD,CAAC;oBAC3D,MAAMmL,EAAAA,GAAKhF,KAAK5C,eAAe,CAACtD,CAAC,GAAG2C,KAAAA,CAAMW,eAAe,CAACtD,CAAC;oBAC3D,MAAMmL,EAAAA,GAAKjF,KAAK5C,eAAe,CAACrD,CAAC,GAAG0C,KAAAA,CAAMW,eAAe,CAACrD,CAAC;oBAC3D,MAAMmF,CAAAA,GAAIhG,KAAKE,GAAG,CAChB,GACAF,IAAKG,CAAAA,GAAG,CAAC,CAAA,EAAG,CAAC0L,KAAKF,UAAWhL,CAAAA,CAAC,GAAGmL,EAAAA,GAAKH,UAAW/K,CAAAA,CAAC,GAAGmL,EAAKJ,GAAAA,UAAAA,CAAW9K,CAAAA,IAAK+K,eAAAA,CAAAA,CAAAA;AAE5EJ,oBAAAA,EAAAA,GAAK1E,IAAK5C,CAAAA,eAAe,CAACvD,CAAC,IAAI4C,KAAAA,CAAMW,eAAe,CAACvD,CAAC,GAAGgL,UAAWhL,CAAAA,CAAC,GAAGqF,CAAAA,CAAAA;AACxEyF,oBAAAA,EAAAA,GAAK3E,IAAK5C,CAAAA,eAAe,CAACtD,CAAC,IAAI2C,KAAAA,CAAMW,eAAe,CAACtD,CAAC,GAAG+K,UAAW/K,CAAAA,CAAC,GAAGoF,CAAAA,CAAAA;AACxE0F,oBAAAA,EAAAA,GAAK5E,IAAK5C,CAAAA,eAAe,CAACrD,CAAC,IAAI0C,KAAAA,CAAMW,eAAe,CAACrD,CAAC,GAAG8K,UAAW9K,CAAAA,CAAC,GAAGmF,CAAAA,CAAAA;iBACnE,MAAA;oBACLwF,EAAK1E,GAAAA,IAAAA,CAAK5C,eAAe,CAACvD,CAAC,GAAG4C,KAAMW,CAAAA,eAAe,CAACvD,CAAC;oBACrD8K,EAAK3E,GAAAA,IAAAA,CAAK5C,eAAe,CAACtD,CAAC,GAAG2C,KAAMW,CAAAA,eAAe,CAACtD,CAAC;oBACrD8K,EAAK5E,GAAAA,IAAAA,CAAK5C,eAAe,CAACrD,CAAC,GAAG0C,KAAMW,CAAAA,eAAe,CAACrD,CAAC;AACvD;AACF;YAEA,MAAMmL,IAAAA,GAAOhM,KAAKS,IAAI,CAAC+K,KAAKA,EAAKC,GAAAA,EAAAA,GAAKA,KAAKC,EAAKA,GAAAA,EAAAA,CAAAA;AAChD,YAAA,IAAIM,OAAO5H,OAAS,EAAA;AAClB,gBAAA;AACF;AAEA,YAAA,MAAM6H,cAAcD,IAAOzI,GAAAA,KAAAA,CAAMI,MAAM,GAAGkD,IAAIwB,WAAW;AACzD,YAAA,IAAI4D,WAAc1I,GAAAA,KAAAA,CAAMI,MAAM,GAAG,IAAM,EAAA;AACrC,gBAAA;AACF;AAEAyH,YAAAA,cAAAA,CAAerG,MAAM,CAACyG,EAAAA,GAAKQ,IAAMP,EAAAA,EAAAA,GAAKO,MAAMN,EAAKM,GAAAA,IAAAA,CAAAA;YACjD,MAAME,EAAAA,GAAKpF,KAAK5C,eAAe,CAACvD,CAAC,GAAGmG,IAAAA,CAAKE,gBAAgB,CAACrG,CAAC;YAC3D,MAAMwL,EAAAA,GAAKrF,KAAK5C,eAAe,CAACtD,CAAC,GAAGkG,IAAAA,CAAKE,gBAAgB,CAACpG,CAAC;YAC3D,MAAMwL,EAAAA,GAAKtF,KAAK5C,eAAe,CAACrD,CAAC,GAAGiG,IAAAA,CAAKE,gBAAgB,CAACnG,CAAC;YAC3D,MAAMwL,KAAAA,GAAQH,EAAKd,GAAAA,cAAAA,CAAezK,CAAC,GAAGwL,EAAKf,GAAAA,cAAAA,CAAexK,CAAC,GAAGwL,EAAKhB,GAAAA,cAAAA,CAAevK,CAAC;AACnF,YAAA,IAAIwL,QAAQ,CAAG,EAAA;AACbvF,gBAAAA,IAAAA,CAAKE,gBAAgB,CAACrG,CAAC,IAAIyK,cAAAA,CAAezK,CAAC,GAAG0L,KAAAA;AAC9CvF,gBAAAA,IAAAA,CAAKE,gBAAgB,CAACpG,CAAC,IAAIwK,cAAAA,CAAexK,CAAC,GAAGyL,KAAAA;AAC9CvF,gBAAAA,IAAAA,CAAKE,gBAAgB,CAACnG,CAAC,IAAIuK,cAAAA,CAAevK,CAAC,GAAGwL,KAAAA;AAChD;AACF;AACF;AACF;AAEA,SAASrK,gBACPpE,CAAAA,OAA0B,EAC1BC,QAAmB,EACnBC,WAAkC,EAClCC,UAAgC,EAChCC,WAAyB,EACzBiE,qBAA6B,EAC7BC,gBAAyB,EAAA;AAEzB,IAAA,MAAMW,YAAY,IAAI7F,OAAAA,EAAAA;AACtB,IAAA,MAAMsP,OAAO,IAAItP,OAAAA,EAAAA;AACjB,IAAA,MAAMuP,OAAO,IAAIvP,OAAAA,EAAAA;AACjB,IAAA,MAAMwP,aAAa,IAAIxP,OAAAA,EAAAA;AACvB,IAAA,MAAMyP,YAAgC,GAAA;QAAElE,GAAK,EAAA,KAAA;AAAOtD,QAAAA,KAAAA,EAAO,IAAIjI,OAAAA;AAAU,KAAA;AACzE,IAAA,MAAM0P,YAAgC,GAAA;QAAEnE,GAAK,EAAA,KAAA;AAAOtD,QAAAA,KAAAA,EAAO,IAAIjI,OAAAA;AAAU,KAAA;AACzE,IAAA,MAAM2P,UAAa,GAAA;QACjBpE,GAAK,EAAA,KAAA;AACLqE,QAAAA,WAAAA,EAAa,IAAI5P,OAAAA,EAAAA;AACjB+M,QAAAA,eAAAA,EAAiB,IAAI/M,OAAAA,EAAAA;QACrB2G,MAAQ,EAAA;AACV,KAAA;AACA,IAAA,MAAMkJ,UAAU,IAAI7P,OAAAA,EAAAA;AACpB,IAAA,MAAM8P,UAAU,IAAI9P,OAAAA,EAAAA;AACpB,IAAA,MAAM+P,WAAW,IAAI/P,OAAAA,EAAAA;AACrB,IAAA,MAAMgQ,WAAW,IAAIhQ,OAAAA,EAAAA;AACrB,IAAA,MAAMiQ,QAAQ,IAAIjQ,OAAAA,EAAAA;AAClB,IAAA,MAAMoN,UAAU,IAAIpN,OAAAA,EAAAA;AACpB,IAAA,IAAK,IAAI4J,KAAQ,GAAA,CAAA,EAAGA,QAAQ9I,WAAYQ,CAAAA,MAAM,EAAEsI,KAAS,EAAA,CAAA;QACvD,MAAMsG,CAAAA,GAAIpP,WAAW,CAAC8I,KAAM,CAAA;AAC5B,QAAA,MAAMuG,IAAOvP,GAAAA,OAAO,CAACsP,CAAAA,CAAEE,MAAM,CAAC;AAC9B,QAAA,MAAMC,IAAOzP,GAAAA,OAAO,CAACsP,CAAAA,CAAEI,MAAM,CAAC;QAC9B,MAAMC,OAAAA,GAAUJ,KAAKpG,MAAM;QAC3B,MAAMyG,OAAAA,GAAUH,KAAKtG,MAAM;QAC3B,IAAIwG,OAAAA,IAAWnJ,OAAWoJ,IAAAA,OAAAA,IAAWpJ,OAAS,EAAA;AAC5C,YAAA;AACF;AAEA,QAAA,MAAMsG,GAAM7M,GAAAA,QAAQ,CAACqP,CAAAA,CAAEE,MAAM,CAAC;AAC9B,QAAA,MAAMzC,GAAM9M,GAAAA,QAAQ,CAACqP,CAAAA,CAAEI,MAAM,CAAC;AAE9BtQ,QAAAA,OAAAA,CAAQgC,GAAG,CAAC2L,GAAAA,CAAIzG,eAAe,EAAEwG,GAAAA,CAAIxG,eAAe,EAAErB,SAAAA,CAAAA;QACtD,MAAM8G,QAAAA,GAAW9G,UAAUzD,SAAS;QAEpC,IAAIqO,SAAAA,GAAYP,EAAE5O,MAAM;AACxB,QAAA,IAAIoP,UAAaD,GAAAA,SAAAA;AACjB,QAAA,IACEP,EAAES,IAAI,KAAKC,cAAeC,CAAAA,qBAAqB,IAC/CX,CAAES,CAAAA,IAAI,KAAKC,cAAAA,CAAeE,kBAAkB,IAC5CZ,CAAAA,CAAES,IAAI,KAAKC,cAAAA,CAAeG,KAAK,EAC/B;AACAL,YAAAA,UAAAA,IAAcP,IAAKa,CAAAA,iBAAiB,GAAGX,IAAAA,CAAKW,iBAAiB;AAC/D;AAEA,QAAA,IAAIlF,KAAQ,GAAA,CAAA;AACZ,QAAA,IAAIa,YAAY8D,SAAW,EAAA;AACzB3E,YAAAA,KAAAA,GAAQa,QAAW8D,GAAAA,SAAAA;SACd,MAAA,IAAI9D,YAAY+D,UAAY,EAAA;AACjC5E,YAAAA,KAAAA,GAAQa,QAAW+D,GAAAA,UAAAA;AACrB;AAEA,QAAA,MAAMO,WAAWnF,KAAS,IAAA,CAAA;AAC1B,QAAA,IAAIoF,KAAQ,GAAA,CAAA;AACZ,QAAA,OAAQhB,EAAES,IAAI;AACZ,YAAA,KAAKC,eAAeO,mBAAmB;gBACrCD,KAAQD,GAAAA,QAAAA,GACJd,IAAKiB,CAAAA,wBAAwB,GAAGf,IAAAA,CAAKe,wBAAwB,GAC7DjB,IAAKkB,CAAAA,yBAAyB,GAAGhB,IAAAA,CAAKgB,yBAAyB;AACnE,gBAAA;AACF,YAAA,KAAKT,eAAeC,qBAAqB;AACvCK,gBAAAA,KAAAA,GAAQD,QACJjO,GAAAA,IAAAA,CAAKG,GAAG,CAAC8B,uBAAuBkL,IAAKmB,CAAAA,0BAA0B,GAAGjB,IAAAA,CAAKiB,0BAA0B,CACjGnB,GAAAA,IAAAA,CAAKoB,2BAA2B,GAAGlB,KAAKkB,2BAA2B;AACvE,gBAAA;AACF,YAAA,KAAKX,eAAeG,KAAK;AACvBG,gBAAAA,KAAAA,GAAQD,QACJjO,GAAAA,IAAAA,CAAKG,GAAG,CAAC8B,uBAAuBkL,IAAKqB,CAAAA,WAAW,GAAGnB,IAAAA,CAAKmB,WAAW,CACnErB,GAAAA,IAAAA,CAAKsB,YAAY,GAAGpB,KAAKoB,YAAY;AACzC,gBAAA;AACF,YAAA,KAAKb,eAAec,gBAAgB;gBAClCR,KAAQD,GAAAA,QAAAA,GACJd,IAAKwB,CAAAA,qBAAqB,GAAGtB,IAAAA,CAAKsB,qBAAqB,GACvDxB,IAAKyB,CAAAA,sBAAsB,GAAGvB,IAAAA,CAAKuB,sBAAsB;AAC7D,gBAAA;AACF,YAAA,KAAKhB,eAAeE,kBAAkB;AACpCI,gBAAAA,KAAAA,GAAQD,QACJjO,GAAAA,IAAAA,CAAKG,GAAG,CAAC8B,uBAAuBkL,IAAK0B,CAAAA,uBAAuB,GAAGxB,IAAAA,CAAKwB,uBAAuB,CAC3F1B,GAAAA,IAAAA,CAAK2B,wBAAwB,GAAGzB,KAAKyB,wBAAwB;AACjE,gBAAA;AACJ;AAEA,QAAA,IAAIZ,QAAQ,CAAG,EAAA;AACb,YAAA,IAAIvE,WAAWvF,OAAS,EAAA;AACtBpH,gBAAAA,OAAAA,CAAQsC,KAAK,CAACuD,SAAW,EAAA,CAAA,GAAI8G,QAAU2C,EAAAA,IAAAA,CAAAA;aAClC,MAAA;gBACLA,IAAKvH,CAAAA,MAAM,CAAC,CAAA,EAAG,CAAG,EAAA,CAAA,CAAA;AACpB;AACA/H,YAAAA,OAAAA,CAAQsC,KAAK,CAACgN,IAAMxD,EAAAA,KAAAA,GAAQoF,KAAO3B,EAAAA,IAAAA,CAAAA;AACnC,YAAA,MAAMwC,MAAMxB,OAAUC,GAAAA,OAAAA;AACtBxQ,YAAAA,OAAAA,CAAQsC,KAAK,CAACiN,IAAMgB,EAAAA,OAAAA,GAAUwB,GAAKvC,EAAAA,UAAAA,CAAAA;AACnCxP,YAAAA,OAAAA,CAAQqH,GAAG,CAACqG,GAAAA,CAAIxG,eAAe,EAAEsI,UAAAA,EAAY9B,IAAIxG,eAAe,CAAA;AAChElH,YAAAA,OAAAA,CAAQsC,KAAK,CAACiN,IAAMiB,EAAAA,OAAAA,GAAUuB,GAAKvC,EAAAA,UAAAA,CAAAA;AACnCxP,YAAAA,OAAAA,CAAQgC,GAAG,CAAC2L,GAAAA,CAAIzG,eAAe,EAAEsI,UAAAA,EAAY7B,IAAIzG,eAAe,CAAA;AAClE;;QAGA,IAAIgJ,CAAAA,CAAE8B,WAAW,KAAK,CAAG,EAAA;AACvB,YAAA,IAAIxH,QAAW,GAAA,CAAA;AACf,YAAA,IAAK,IAAInE,CAAI,GAAA,CAAA,EAAGA,IAAItF,UAAWO,CAAAA,MAAM,EAAE+E,CAAK,EAAA,CAAA;gBAC1C,MAAME,KAAAA,GAAQvF,WAAW,CAACqF,CAAE,CAAA;gBAC5B,IAAIE,KAAAA,CAAM0E,OAAO,KAAK,CAAG,EAAA;AACvB,oBAAA;AACF;gBACA,MAAM3E,IAAAA,GAAOvF,UAAU,CAACsF,CAAE,CAAA;AAC1B,gBAAA,MAAM4L,SACJ,GAAA,CAAC/M,gBACDoB,IAAAA,IAAAA,CAAK4E,iBAAiB,IACtB3C,yBAA0BmF,CAAAA,GAAAA,CAAIxG,eAAe,EAAEX,KAAO4J,EAAAA,IAAAA,CAAK9E,WAAW,CAAA;AACxE,gBAAA,MAAM6G,SACJ,GAAA,CAAChN,gBACDoB,IAAAA,IAAAA,CAAK4E,iBAAiB,IACtB3C,yBAA0BoF,CAAAA,GAAAA,CAAIzG,eAAe,EAAEX,KAAO8J,EAAAA,IAAAA,CAAKhF,WAAW,CAAA;AACxE,gBAAA,MAAM8G,OACJ,GAAA,CAAC7L,IAAK4E,CAAAA,iBAAiB,KACtB,CAAChG,gBAAoBwD,IAAAA,2BAAAA,CAA4BgF,IAAIxG,eAAe,EAAEyG,GAAIzG,CAAAA,eAAe,EAAEX,KAAK,CAAA,CAAA;AAEnG,gBAAA,IAAI,CAAC0L,SAAAA,IAAa,CAACC,SAAAA,IAAa,CAACC,OAAS,EAAA;AACxC,oBAAA;AACF;gBAEA,IAAI7L,IAAAA,CAAKX,MAAM,GAAGyB,OAAS,EAAA;oBACzB,IAAId,IAAAA,CAAK4E,iBAAiB,EAAE;AAC1B,wBAAA,IAAIiF,IAAKiC,CAAAA,oBAAoB,KAAK,CAAA,IAAKH,SAAW,EAAA;AAChD,4BAAA,MAAM1D,MAAM8D,iBAAkB/L,CAAAA,IAAAA,EAAMC,KAAOmH,EAAAA,GAAAA,CAAIxG,eAAe,EAAEuI,YAAAA,CAAAA;4BAChE,IAAIlB,GAAAA,CAAIhD,GAAG,EAAE;AACXmC,gCAAAA,GAAAA,CAAIxG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;AACA,wBAAA,IAAI6F,IAAK+B,CAAAA,oBAAoB,KAAK,CAAA,IAAKF,SAAW,EAAA;AAChD,4BAAA,MAAM3D,MAAM8D,iBAAkB/L,CAAAA,IAAAA,EAAMC,KAAOoH,EAAAA,GAAAA,CAAIzG,eAAe,EAAEwI,YAAAA,CAAAA;4BAChE,IAAInB,GAAAA,CAAIhD,GAAG,EAAE;AACXoC,gCAAAA,GAAAA,CAAIzG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;qBACK,MAAA;AACL,wBAAA,IAAIyH,SAAW,EAAA;AACb,4BAAA,MAAM1D,MAAMjD,kBAAmBhF,CAAAA,IAAAA,EAAMC,OAAOmH,GAAIxG,CAAAA,eAAe,EAAEiJ,IAAMV,EAAAA,YAAAA,CAAAA;4BACvE,IAAIlB,GAAAA,CAAIhD,GAAG,EAAE;AACXmC,gCAAAA,GAAAA,CAAIxG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;AACA,wBAAA,IAAI0H,SAAW,EAAA;AACb,4BAAA,MAAM3D,MAAMjD,kBAAmBhF,CAAAA,IAAAA,EAAMC,OAAOoH,GAAIzG,CAAAA,eAAe,EAAEmJ,IAAMX,EAAAA,YAAAA,CAAAA;4BACvE,IAAInB,GAAAA,CAAIhD,GAAG,EAAE;AACXoC,gCAAAA,GAAAA,CAAIzG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;AACF;iBACK,MAAA;oBACL,IAAIlE,IAAAA,CAAK4E,iBAAiB,EAAE;AAC1B,wBAAA,IAAIiF,IAAKiC,CAAAA,oBAAoB,KAAK,CAAA,IAAKH,SAAW,EAAA;4BAChD,MAAM1D,GAAAA,GAAM+D,gBACV/L,CAAAA,KAAAA,CAAMW,eAAe,EACrBX,MAAMI,MAAM,EACZ+G,GAAIxG,CAAAA,eAAe,EACnBuI,YAAAA,CAAAA;4BAEF,IAAIlB,GAAAA,CAAIhD,GAAG,EAAE;AACXmC,gCAAAA,GAAAA,CAAIxG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;AACA,wBAAA,IAAI6F,IAAK+B,CAAAA,oBAAoB,KAAK,CAAA,IAAKF,SAAW,EAAA;4BAChD,MAAM3D,GAAAA,GAAM+D,gBACV/L,CAAAA,KAAAA,CAAMW,eAAe,EACrBX,MAAMI,MAAM,EACZgH,GAAIzG,CAAAA,eAAe,EACnBwI,YAAAA,CAAAA;4BAEF,IAAInB,GAAAA,CAAIhD,GAAG,EAAE;AACXoC,gCAAAA,GAAAA,CAAIzG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;qBACK,MAAA;AACL,wBAAA,IAAIyH,SAAW,EAAA;AACb,4BAAA,MAAM1D,GAAMnD,GAAAA,iBAAAA,CACV7E,KAAMW,CAAAA,eAAe,EACrBX,KAAAA,CAAMI,MAAM,EACZwJ,IAAK9E,CAAAA,WAAW,EAChBqC,GAAAA,CAAIxG,eAAe,EACnBuI,YAAAA,CAAAA;4BAEF,IAAIlB,GAAAA,CAAIhD,GAAG,EAAE;AACXmC,gCAAAA,GAAAA,CAAIxG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;AACA,wBAAA,IAAI0H,SAAW,EAAA;AACb,4BAAA,MAAM3D,GAAMnD,GAAAA,iBAAAA,CACV7E,KAAMW,CAAAA,eAAe,EACrBX,KAAAA,CAAMI,MAAM,EACZ0J,IAAKhF,CAAAA,WAAW,EAChBsC,GAAAA,CAAIzG,eAAe,EACnBwI,YAAAA,CAAAA;4BAEF,IAAInB,GAAAA,CAAIhD,GAAG,EAAE;AACXoC,gCAAAA,GAAAA,CAAIzG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;AACF;AACF;;AAGA,gBAAA,IAAI,CAAClE,IAAAA,CAAK4E,iBAAiB,IAAIiH,OAAS,EAAA;oBACtC,MAAMI,OAAAA,GAAUC,mBACdlM,IACAC,EAAAA,KAAAA,EACAmH,IAAIxG,eAAe,EACnByG,GAAIzG,CAAAA,eAAe,EACnByI,UAAAA,CAAAA;oBAEF,IAAI4C,OAAAA,CAAQhH,GAAG,EAAE;AACfvL,wBAAAA,OAAAA,CAAQgC,GAAG,CAACuQ,OAAAA,CAAQ3C,WAAW,EAAE2C,OAAAA,CAAQxF,eAAe,EAAE8C,OAAAA,CAAAA;wBAC1D,MAAM4C,QAAAA,GAAW5C,QAAQzN,SAAS;AAClC,wBAAA,IAAIqQ,WAAWrL,OAAS,EAAA;AACtB,4BAAA,MAAMsL,MAAS1S,GAAAA,OAAAA,CAAQgC,GAAG,CAAC2L,GAAIzG,CAAAA,eAAe,EAAEwG,GAAAA,CAAIxG,eAAe,EAAE4I,OAAS1N,CAAAA,CAAAA,SAAS,GAAG,GAAA;AAC1F,4BAAA,MAAMuQ,SACJD,MAAStL,GAAAA,OAAAA,GACL6B,OACEjJ,CAAAA,OAAAA,CAAQgC,GAAG,CAACuQ,OAAAA,CAAQ3C,WAAW,EAAElC,IAAIxG,eAAe,EAAE6I,QAAU3N,CAAAA,CAAAA,SAAS,GAAGsQ,MAE9E,CAAA,GAAA,CAAA;AACN,4BAAA,MAAME,SACJF,MAAStL,GAAAA,OAAAA,GACL6B,OACEjJ,CAAAA,OAAAA,CAAQgC,GAAG,CAACuQ,OAAAA,CAAQ3C,WAAW,EAAEjC,IAAIzG,eAAe,EAAE8I,QAAU5N,CAAAA,CAAAA,SAAS,GAAGsQ,MAE9E,CAAA,GAAA,CAAA;AACN1S,4BAAAA,OAAAA,CAAQsC,KAAK,CAACuN,OAAS,EAAA,CAAA,GAAI4C,QAAUxC,EAAAA,KAAAA,CAAAA;4BACrCjQ,OAAQsC,CAAAA,KAAK,CAAC2N,KAAAA,EAAOjN,IAAKE,CAAAA,GAAG,CAACqP,OAAQ5L,CAAAA,MAAM,GAAG8L,QAAAA,EAAU,CAAIrF,CAAAA,EAAAA,OAAAA,CAAAA;AAC7D,4BAAA,IAAImD,UAAUnJ,OAAS,EAAA;gCACrBpH,OAAQsC,CAAAA,KAAK,CAAC8K,OAAAA,EAASwF,MAAQpD,EAAAA,UAAAA,CAAAA;AAC/BxP,gCAAAA,OAAAA,CAAQqH,GAAG,CAACqG,GAAAA,CAAIxG,eAAe,EAAEsI,UAAAA,EAAY9B,IAAIxG,eAAe,CAAA;AAClE;AACA,4BAAA,IAAIsJ,UAAUpJ,OAAS,EAAA;gCACrBpH,OAAQsC,CAAAA,KAAK,CAAC8K,OAAAA,EAASuF,MAAQnD,EAAAA,UAAAA,CAAAA;AAC/BxP,gCAAAA,OAAAA,CAAQqH,GAAG,CAACsG,GAAAA,CAAIzG,eAAe,EAAEsI,UAAAA,EAAY7B,IAAIzG,eAAe,CAAA;AAClE;4BAEA,MAAM2L,KAAAA,GAAQ7S,QAAQkJ,GAAG,CAACnJ,QAAQC,OAAQ4L,CAAAA,SAAS,CAACiE,OAASI,EAAAA,KAAAA,CAAAA,CAAAA;AAC7DzF,4BAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,UAAUlE,IAAKkE,CAAAA,QAAQ,GAAGvB,OAAQ4J,CAAAA,KAAAA,CAAAA,CAAAA;AACxD;AACF;AACF;AACF;AACAnF,YAAAA,GAAAA,CAAIlD,QAAQ,GAAGxH,IAAAA,CAAKE,GAAG,CAACsH,QAAAA,EAAUkD,IAAIlD,QAAQ,CAAA;AAC9CmD,YAAAA,GAAAA,CAAInD,QAAQ,GAAGxH,IAAAA,CAAKE,GAAG,CAACsH,QAAAA,EAAUmD,IAAInD,QAAQ,CAAA;AAChD;AACF;AACF;AAEA,SAASpF,gBACPxE,CAAAA,OAA0B,EAC1BC,QAAmB,EACnBU,oBAA+B,EAC/B6C,SAAiB,EACjBzC,YAAoB,EACpB0D,UAAkB,EAClBC,UAAmB,EACnBC,aAAqB,EAAA;AAErB,IAAA,IAAIuN,IAAOnR,GAAAA,YAAAA;AACX,IAAA,MAAMoR,kBAAkB,IAAI/S,OAAAA,EAAAA;AAC5B,IAAA,MAAMgT,iBAAiB,IAAIhT,OAAAA,EAAAA;AAC3B,IAAA,IAAK,IAAI4J,KAAQ,GAAA,CAAA,EAAGA,QAAQhJ,OAAQU,CAAAA,MAAM,EAAEsI,KAAS,EAAA,CAAA;QACnD,MAAMC,GAAAA,GAAMjJ,OAAO,CAACgJ,KAAM,CAAA;QAC1B,MAAME,IAAAA,GAAOjJ,QAAQ,CAAC+I,KAAM,CAAA;QAE5B5J,OAAQ4G,CAAAA,IAAI,CAACkD,IAAKjD,CAAAA,yBAAyB,EAAEiD,IAAKhD,CAAAA,wBAAwB,EAAE1C,SAAW2O,EAAAA,eAAAA,CAAAA;QACvF,MAAME,KAAAA,GAAQC,WAAW,CAAG,EAAA,CAAA,EAAGlQ,KAAKE,GAAG,CAAC2G,GAAIgB,CAAAA,cAAc,EAAExF,UAAAA,CAAAA,CAAAA;QAC5DrF,OAAQ4G,CAAAA,IAAI,CAACkD,IAAK5C,CAAAA,eAAe,EAAE6L,eAAiBE,EAAAA,KAAAA,EAAOnJ,KAAKqJ,mBAAmB,CAAA;QAEnF,IAAI7N,UAAAA,IAAcuE,GAAIuJ,CAAAA,KAAK,KAAK,MAAMvJ,GAAIwJ,CAAAA,MAAM,KAAK,EAAI,EAAA;AACvD,YAAA,MAAMC,IAAIzS,QAAQ,CAACgJ,IAAIwJ,MAAM,CAAC,CAACF,mBAAmB;YAClD,MAAMI,CAAAA,GAAIzJ,KAAKqJ,mBAAmB;AAClC,YAAA,MAAMK,KAAQC,GAAAA,SAAAA,CAAUC,MAAM,CAACJ,GAAGC,CAAGxT,EAAAA,MAAAA,CAAAA;;AAErC,YAAA,MAAM4T,IAAOH,GAAAA,KAAAA,CAAMI,MAAM,CAAC,GAAGC,GAAG,EAAA;YAChC7T,OAAQ4G,CAAAA,IAAI,CAACkD,IAAKgK,CAAAA,iBAAiB,EAAEH,IAAM,EAAA,GAAA,EAAK7J,KAAKgK,iBAAiB,CAAA;AAEtEhB,YAAAA,IAAAA,IAAQjJ,IAAIlI,YAAY;AACxB,YAAA,MAAMuP,QAAQlO,IAAK+Q,CAAAA,GAAG,CAACjB,IAAQvN,CAAAA,GAAAA,aAAAA,GAAgBsE,IAAItE,aAAa;AAChEvF,YAAAA,OAAAA,CAAQsC,KAAK,CAACwH,IAAKgK,CAAAA,iBAAiB,EAAE5C,KAAO8B,EAAAA,cAAAA,CAAAA;AAC7ChT,YAAAA,OAAAA,CAAQqH,GAAG,CAACyC,IAAAA,CAAKqJ,mBAAmB,EAAEH,cAAAA,EAAgBlJ,KAAKqJ,mBAAmB,CAAA;AAChF;AAEA5R,QAAAA,oBAAoB,CAACqI,KAAM,CAAA,GAAGE,IAAKqJ,CAAAA,mBAAmB,CAACa,KAAK,EAAA;AAC9D;AACF;AAQO,SAASC,WACdrT,CAAAA,OAA0B,EAC1BC,QAAmB,EACnBU,oBAAwC,EACxC8D,UAAkB;AAElB6O,kBAAyC,EACzCC,uBAA8C,EAC9CC,aAAsB,EAAA;AAEtB,IAAA,MAAMC,OAA+B,GAAA,IAAI7S,KAAMZ,CAAAA,OAAAA,CAAQU,MAAM,CAAA;AAE7D,IAAA,IAAK,IAAIsI,KAAQ,GAAA,CAAA,EAAGA,QAAQhJ,OAAQU,CAAAA,MAAM,EAAEsI,KAAS,EAAA,CAAA;QACnD,MAAMC,GAAAA,GAAMjJ,OAAO,CAACgJ,KAAM,CAAA;QAC1B,MAAME,IAAAA,GAAOjJ,QAAQ,CAAC+I,KAAM,CAAA;QAC5B,IAAI0K,QAAAA,GAAWJ,kBAAkB,CAACtK,KAAM,CAAA;QACxC,IAAI2K,QAAAA,GAAWJ,uBAAuB,CAACvK,KAAM,CAAA;QAE7C,IAAIC,GAAAA,CAAIE,MAAM,IAAI3C,OAAS,EAAA;;AAEzB,YAAA,IAAIyC,GAAIwJ,CAAAA,MAAM,KAAK,EAAI,EAAA;gBACrB,MAAMxN,SAAAA,GAAY7F,OAAQgC,CAAAA,GAAG,CAAC8H,IAAAA,CAAKqJ,mBAAmB,EAAE5R,oBAAoB,CAACsI,GAAIwJ,CAAAA,MAAM,CAAC,CAAA;gBACxF,MAAMmB,OAAAA,GAAU3O,UAAUzD,SAAS;AACnC,gBAAA,IAAIoS,UAAUpN,OAAS,EAAA;AACrB0C,oBAAAA,IAAAA,CAAK2K,iBAAiB,GAAG5O,SAAAA;iBACpB,MAAA;AACLiE,oBAAAA,IAAAA,CAAKqJ,mBAAmB,GAAGnT,OAAQqH,CAAAA,GAAG,CAAC9F,oBAAoB,CAACsI,GAAAA,CAAIwJ,MAAM,CAAC,EAAEvJ,IAAAA,CAAK2K,iBAAiB,CAAA;AACjG;AACF;YACA,MAAMhP,GAAAA,GAAMqE,KAAKqJ,mBAAmB;;;YAGpCoB,QAAW1K,GAAAA,GAAAA,CAAI6K,oBAAoB,CAACV,KAAK,EAAA;;;;;AAMzC,YAAA,IAAInK,GAAIwJ,CAAAA,MAAM,KAAK,EAAI,EAAA;;AAErB,gBAAA,MAAMsB,YAAYN,OAAO,CAACxK,IAAIwJ,MAAM,CAAC,GAAGgB,OAAO,CAACxK,IAAIwJ,MAAM,CAAC,CAACuB,QAAQ,GAAGV,kBAAkB,CAACrK,GAAAA,CAAIwJ,MAAM,CAAC;gBACrGiB,QAAW9R,GAAAA,UAAAA,CAAWG,QAAQ,CAACgS,SAAWJ,EAAAA,QAAAA,CAAAA;aACrC,MAAA;AACLD,gBAAAA,QAAAA,GAAWC,SAASP,KAAK,EAAA;AAC3B;;AAGA,YAAA,IAAInK,GAAIuJ,CAAAA,KAAK,KAAK,EAAI,EAAA;gBACpB,MAAMyB,QAAAA,GAAW7U,OAAQgC,CAAAA,GAAG,CAACT,oBAAoB,CAACsI,GAAAA,CAAIuJ,KAAK,CAAC,EAAEtJ,IAAAA,CAAKqJ,mBAAmB,CAAA;gBACtF,IAAI0B,QAAAA,CAASrN,WAAW,GAAGJ,OAAS,EAAA;AAClC,oBAAA,MAAM0N,MAASR,GAAAA,QAAAA,CAASxO,SAAS,CAAC+D,IAAIkL,QAAQ,CAAA;AAC9C,oBAAA,MAAMC,MAASxS,GAAAA,UAAAA,CAAWyS,sBAAsB,CAACH,MAAQD,EAAAA,QAAAA,CAAAA;oBACzDrS,UAAWG,CAAAA,QAAQ,CAACqS,MAAAA,EAAQV,QAAUA,EAAAA,QAAAA,CAAAA;AACxC;AACF;YACAD,OAAO,CAACzK,MAAM,GAAG;gBACf+B,QAAUlG,EAAAA,GAAAA;gBACVmP,QAAUN,EAAAA,QAAAA;gBACVY,aAAeX,EAAAA;AACjB,aAAA;SACK,MAAA;AACL,YAAA,MAAMY,aACJtL,GAAIuJ,CAAAA,KAAK,KAAK,KAAKpQ,IAAKE,CAAAA,GAAG,CAACtC,OAAO,CAACiJ,GAAIuJ,CAAAA,KAAK,CAAC,CAACvI,cAAc,EAAExF,UAAcA,CAAAA,GAAAA,UAAAA;;;;;;;;YAS/EiP,QAAWJ,GAAAA,kBAAkB,CAACtK,KAAM,CAAA;;AAGpC,YAAA,IAAIC,GAAIuJ,CAAAA,KAAK,KAAK,EAAI,EAAA;gBACpB,MAAMyB,QAAAA,GAAW7U,OAAQgC,CAAAA,GAAG,CAACT,oBAAoB,CAACsI,GAAAA,CAAIuJ,KAAK,CAAC,EAAEtJ,IAAAA,CAAKqJ,mBAAmB,CAAA;gBACtF,IAAI0B,QAAAA,CAASrN,WAAW,GAAGJ,OAAS,EAAA;AAClC,oBAAA,MAAM0N,MAASR,GAAAA,QAAAA,CAASxO,SAAS,CAAC+D,IAAIkL,QAAQ,CAAA;AAC9C,oBAAA,MAAMC,MAASxS,GAAAA,UAAAA,CAAWyS,sBAAsB,CAACH,MAAQD,EAAAA,QAAAA,CAAAA;oBACzDP,QAAW9R,GAAAA,UAAAA,CAAWuE,KAAK,CAACvE,UAAAA,CAAWG,QAAQ,CAACqS,MAAAA,EAAQV,WAAWA,QAAUa,EAAAA,UAAAA,CAAAA;AAC/E;AACF;YACAd,OAAO,CAACzK,MAAM,GAAG;AACf+B,gBAAAA,QAAAA,EAAU7B,KAAKhD,wBAAwB;gBACvC8N,QAAUN,EAAAA,QAAAA;gBACVY,aAAeX,EAAAA;AACjB,aAAA;AACF;AACF;;AAGA,IAAA,IAAIH,aAAe,EAAA;AACjB,QAAA,IAAK,IAAIxK,KAAQ,GAAA,CAAA,EAAGA,QAAQhJ,OAAQU,CAAAA,MAAM,EAAEsI,KAAS,EAAA,CAAA;YACnD,MAAMC,GAAAA,GAAMjJ,OAAO,CAACgJ,KAAM,CAAA;YAC1B,IAAIC,GAAAA,CAAIE,MAAM,GAAG3C,OAAAA,IAAWyC,IAAIuJ,KAAK,KAAK,EAAI,EAAA;AAC5C,gBAAA;AACF;YACA,MAAM/K,MAAAA,GAASgM,OAAO,CAACzK,KAAM,CAAA;AAC7B,YAAA,MAAMwL,cAAiBvL,GAAAA,GAAAA,CAAIwJ,MAAM,KAAK,EAAKgB,GAAAA,OAAO,CAACxK,GAAAA,CAAIwJ,MAAM,CAAC,CAACuB,QAAQ,GAAGpS,WAAWC,QAAQ,EAAA;YAC7F,MAAM4S,cAAAA,GAAiB7S,WAAWG,QAAQ,CAACH,WAAWK,OAAO,CAACuS,cAAiB/M,CAAAA,EAAAA,MAAAA,CAAOuM,QAAQ,CAAA;AAC9F,YAAA,MAAMU,WAAW,IAAI9S,UAAAA,EAAAA;AACrB6S,YAAAA,cAAAA,CAAeE,mBAAmB,CAAC1L,GAAIkL,CAAAA,QAAQ,EAAES,SAAWF,EAAAA,QAAAA,CAAAA;AAC5D,YAAA,MAAMG,UAAUjT,UAAWG,CAAAA,QAAQ,CAAC0S,cAAgB7S,EAAAA,UAAAA,CAAWK,OAAO,CAACyS,QAAAA,CAAAA,CAAAA;AACvE,YAAA,MAAMI,iBAAiBlT,UAAWG,CAAAA,QAAQ,CAAC8S,OAAAA,EAAS5L,IAAI8L,iBAAiB,CAAA;AACzEnT,YAAAA,UAAAA,CAAWG,QAAQ,CAACyS,cAAgBM,EAAAA,cAAAA,EAAgBrN,OAAOuM,QAAQ,CAAA;AACrE;AACF;IAEA,OAAOP,OAAAA;AACT;AAEO,SAASuB,gBACdhV,CAAAA,OAA0B,EAC1BC,QAAmB,EACnBgV,MAAwB,EAAA;IAExB,IAAIA,MAAAA,CAAOC,UAAU,GAAG,CAAG,EAAA;AACzB,QAAA;AACF;AAEA,IAAA,IAAK,IAAIlM,KAAQ,GAAA,CAAA,EAAGA,QAAQhJ,OAAQU,CAAAA,MAAM,EAAEsI,KAAS,EAAA,CAAA;QACnD,MAAMC,GAAAA,GAAMjJ,OAAO,CAACgJ,KAAM,CAAA;AAC1B,QAAA,IAAIC,GAAIwJ,CAAAA,MAAM,KAAK,EAAI,EAAA;AACrB,YAAA;AACF;QACA,MAAMvJ,IAAAA,GAAOjJ,QAAQ,CAAC+I,KAAM,CAAA;AAE5B,QAAA,MAAMmM,IAAOnV,GAAAA,OAAO,CAACiJ,GAAAA,CAAIwJ,MAAM,CAAC;AAChC,QAAA,MAAM2C,KAAQnV,GAAAA,QAAQ,CAACgJ,GAAAA,CAAIwJ,MAAM,CAAC;AAElC,QAAA,MAAM4C,cAAiBF,GAAAA,IAAAA,CAAK1C,MAAM,KAAK,EAAKxS,GAAAA,QAAQ,CAACkV,IAAAA,CAAK1C,MAAM,CAAC,CAACnM,eAAe,GAAG8O,MAAM9O,eAAe;QAEzG,MAAMgP,OAAAA,GAAUlW,QAAQgC,GAAG,CAAC8H,KAAK5C,eAAe,EAAE8O,MAAM9O,eAAe,CAAA;AACvE,QAAA,IAAIiP,gBAAgBnW,OAAQgC,CAAAA,GAAG,CAACgU,KAAAA,CAAM9O,eAAe,EAAE+O,cAAAA,CAAAA;AAEvD,QAAA,IAAIE,cAAc/T,SAAS,KAAK,CAAKyT,IAAAA,MAAAA,CAAOO,aAAa,EAAE;AACzDD,YAAAA,aAAAA,GAAgBnW,QAAQgC,GAAG,CAAC8H,KAAKhD,wBAAwB,EAAEkP,MAAMlP,wBAAwB,CAAA;AAC3F;AAEA,QAAA,MAAM/C,KAAQ/D,GAAAA,OAAAA,CAAQqW,YAAY,CAACF,aAAeD,EAAAA,OAAAA,CAAAA;AAClD,QAAA,MAAMI,SAAYC,GAAAA,aAAAA,CAAcxS,KAAS8R,CAAAA,GAAAA,MAAAA,CAAOC,UAAU;AAE1D,QAAA,IAAIQ,YAAY,CAAG,EAAA;AACjB,YAAA,MAAME,IAAOxW,GAAAA,OAAAA,CAAQyW,KAAK,CAACN,aAAeD,EAAAA,OAAAA,CAAAA;YAC1C,MAAM5N,OAAAA,GAAU9F,WAAWwB,aAAa,CAACwS,MAAMvS,aAAc,CAAA,CAACqS,SAAYxQ,CAAAA,CAAAA,CAAAA,SAAS,CAACoQ,OAAAA,CAAAA;AACpFpM,YAAAA,IAAAA,CAAK5C,eAAe,GAAGlH,OAAAA,CAAQqH,GAAG,CAAC2O,KAAAA,CAAM9O,eAAe,EAAEoB,OAAAA,CAAAA;AAC5D;AACF;AACF;;;;"}
+{"version":3,"file":"solver.js","sources":["../../../src/animation/joint_dynamics/solver.ts"],"sourcesContent":["// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs\r\n\r\nimport {\r\n  Quaternion,\r\n  Vector3,\r\n  Matrix4x4,\r\n  degree2radian,\r\n  radian2degree,\r\n  clamp01,\r\n  smoothStep\r\n} from '@zephyr3d/base';\r\nimport {\r\n  EPSILON,\r\n  ConstraintType,\r\n  type PointR,\r\n  type PointRW,\r\n  type Constraint,\r\n  type ColliderR,\r\n  type ColliderRW,\r\n  type GrabberR,\r\n  type GrabberRW,\r\n  type AngleLimitConfig,\r\n  type FlatPlane\r\n} from './types';\r\nimport {\r\n  pushoutFromSphere,\r\n  pushoutFromCapsule,\r\n  pushInFromSphere,\r\n  pushInFromCapsule,\r\n  collisionDetection,\r\n  checkSurfaceCollision,\r\n  type CollisionResult,\r\n  type SurfaceCheckResult\r\n} from './collision';\r\n\r\nconst AXIS_Y = new Vector3(0, 1, 0);\r\nconst VEC3_ONE = new Vector3(1, 1, 1);\r\nconst _computeCapsuleAxis = new Vector3();\r\nconst _computeCapsuleHalfDir = new Vector3();\r\nconst _applySystemTransformOffset = new Vector3();\r\nconst _applySystemTransformRotated = new Vector3();\r\nconst _broadPhaseSegmentDir = new Vector3();\r\nconst _broadPhaseToCenter = new Vector3();\r\nconst _broadPhaseClosestPoint = new Vector3();\r\nconst _broadPhaseDelta = new Vector3();\r\n\r\n/**\r\n * Parameters for a single simulation step.\r\n *\r\n * @public\r\n */\r\nexport interface SimulationParams {\r\n  /** If true, skip force integration (only apply root motion and output positions) */\r\n  isPaused: boolean;\r\n  /** Frame delta time in seconds (will be subdivided by subSteps) */\r\n  stepTime: number;\r\n  /** Number of substeps per frame. Higher = more stable simulation */\r\n  subSteps: number;\r\n  /** Current root bone world position */\r\n  rootPosition: Vector3;\r\n  /** Previous frame's root bone world position (for root motion limiting) */\r\n  previousRootPosition: Vector3;\r\n  /** Max root slide distance per substep. -1 = no limit */\r\n  rootSlideLimit: number;\r\n  /** Current root bone world rotation */\r\n  rootRotation: Quaternion;\r\n  /** Previous frame's root bone world rotation */\r\n  previousRootRotation: Quaternion;\r\n  /** Max root rotation angle (degrees) per substep. -1 = no limit */\r\n  rootRotateLimit: number;\r\n  /** Global wind force vector */\r\n  windForce: Vector3;\r\n  /** Enable triangle-based surface collision */\r\n  enableSurfaceCollision: boolean;\r\n  /** Triangle indices for surface collision (6 per quad: 2 triangles, 3 indices each) */\r\n  surfaceConstraints: number[];\r\n  /** Number of constraint relaxation iterations per substep */\r\n  relaxation: number;\r\n  /** Upper limit for horizontal/shear shrink power */\r\n  constraintShrinkLimit: number;\r\n  /** Blend ratio between physics and animation [0-1]. 0 = full physics */\r\n  blendRatio: number;\r\n  /** Enable sinusoidal fake wave on leaf bones */\r\n  isFakeWave: boolean;\r\n  /** Fake wave speed (frequency accumulation rate) */\r\n  fakeWaveSpeed: number;\r\n  /** Fake wave global amplitude */\r\n  fakeWavePower: number;\r\n  /** Current fake wave phase counter (accumulated across frames) */\r\n  fakeWaveCounter: number;\r\n  /** Global scale multiplier for all collider radii */\r\n  collisionScale: number;\r\n  /** Enable broad-phase pruning before precise collision checks */\r\n  enableBroadPhase: boolean;\r\n}\r\n\r\n/**\r\n * Run the full simulation step. Mutates `pointsRW` and `collidersRW` in place.\r\n * Returns `{ positionsToTransform, fakeWaveCounter }`.\r\n *\r\n * @public\r\n */\r\nexport function simulate(\r\n  params: SimulationParams,\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  constraints: readonly Constraint[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: ColliderRW[],\r\n  grabbersR: readonly GrabberR[],\r\n  grabbersRW: readonly GrabberRW[],\r\n  movableLimitTargets: readonly Vector3[],\r\n  flatPlanes: readonly FlatPlane[]\r\n): { positionsToTransform: Vector3[]; fakeWaveCounter: number } {\r\n  const pointCount = pointsR.length;\r\n  const positionsToTransform: Vector3[] = new Array(pointCount);\r\n\r\n  let subSteps = params.subSteps;\r\n  if (params.isPaused) {\r\n    subSteps = 1;\r\n  }\r\n\r\n  let fakeWaveFreq = params.fakeWaveCounter;\r\n\r\n  // Root slide offset\r\n  let rootSlideOffset = Vector3.zero();\r\n  const rootDeltaSlide = Vector3.sub(params.rootPosition, params.previousRootPosition);\r\n  const rootDeltaSlideLen = rootDeltaSlide.magnitude;\r\n  if (params.rootSlideLimit >= 0 && rootDeltaSlideLen > params.rootSlideLimit) {\r\n    rootSlideOffset = Vector3.scale(\r\n      rootDeltaSlide,\r\n      (1.0 - params.rootSlideLimit / rootDeltaSlideLen) / subSteps\r\n    );\r\n  }\r\n\r\n  // Root rotation offset\r\n  let rootRotationOffset = Quaternion.identity();\r\n  const rootDeltaRot = Quaternion.multiply(\r\n    params.rootRotation,\r\n    Quaternion.inverse(params.previousRootRotation)\r\n  );\r\n  let rotateAngle = Math.acos(Math.max(-1, Math.min(1, rootDeltaRot.w))) * 2.0 * (180 / Math.PI);\r\n  if (rotateAngle > 180) {\r\n    rotateAngle -= 360;\r\n  }\r\n\r\n  if (params.rootRotateLimit >= 0 && Math.abs(rotateAngle) > params.rootRotateLimit) {\r\n    // Extract the rotation axis from the delta quaternion\r\n    const sinHalf = Math.sqrt(Math.max(0, 1 - rootDeltaRot.w * rootDeltaRot.w));\r\n    let rotateAxis: Vector3;\r\n    if (sinHalf > 0.0001) {\r\n      rotateAxis = new Vector3(rootDeltaRot.x / sinHalf, rootDeltaRot.y / sinHalf, rootDeltaRot.z / sinHalf);\r\n    } else {\r\n      rotateAxis = Vector3.axisPY();\r\n    }\r\n    let angle = rotateAngle > 0 ? rotateAngle - params.rootRotateLimit : rotateAngle + params.rootRotateLimit;\r\n    angle /= subSteps;\r\n    rootRotationOffset = Quaternion.fromAxisAngle(rotateAxis, degree2radian(angle));\r\n  }\r\n\r\n  if (params.isPaused) {\r\n    rootSlideOffset = rootDeltaSlide;\r\n    rootRotationOffset = rootDeltaRot;\r\n  }\r\n\r\n  const stepTime = params.stepTime / subSteps;\r\n\r\n  for (let iSubStep = 1; iSubStep <= subSteps; iSubStep++) {\r\n    const stepDelta = iSubStep / subSteps;\r\n    const stepTime_x2_half = stepTime * stepTime * 0.5;\r\n\r\n    colliderUpdate(collidersR, collidersRW, stepDelta);\r\n    pointUpdatePass1(\r\n      pointsR,\r\n      pointsRW,\r\n      stepDelta,\r\n      stepTime_x2_half,\r\n      rootSlideOffset,\r\n      rootRotationOffset,\r\n      params.rootPosition,\r\n      params.windForce,\r\n      params.isPaused,\r\n      grabbersR,\r\n      grabbersRW,\r\n      movableLimitTargets,\r\n      flatPlanes,\r\n      collidersR,\r\n      collidersRW\r\n    );\r\n\r\n    if (!params.isPaused) {\r\n      fakeWaveFreq += params.fakeWaveSpeed * stepTime;\r\n\r\n      if (params.enableSurfaceCollision) {\r\n        surfaceCollision(pointsRW, collidersR, collidersRW, params.surfaceConstraints);\r\n      }\r\n\r\n      // Push fixed points out of colliders before constraint solving.\r\n      // Fixed points follow animation and cannot be moved by the solver, but if\r\n      // their animated position is inside a collider, the distance constraint will\r\n      // pull free children inward through the surface �?causing the characteristic\r\n      // \"hair flipping outward\" artifact at the back of the head.\r\n      // By temporarily clamping fixed-point positionCurrent to the collider surface\r\n      // before each substep's constraint pass, we ensure constraints operate from\r\n      // a geometrically valid anchor.  The original animated position is restored\r\n      // at the start of the next substep via positionCurrentTransform.\r\n      fixedPointColliderPushout(pointsR, pointsRW, collidersR, collidersRW);\r\n\r\n      for (let iRelax = params.relaxation - 1; iRelax >= 0; --iRelax) {\r\n        constraintUpdate(\r\n          pointsR,\r\n          pointsRW,\r\n          constraints,\r\n          collidersR,\r\n          collidersRW,\r\n          params.constraintShrinkLimit,\r\n          params.enableBroadPhase\r\n        );\r\n      }\r\n\r\n      // After all constraint/collision iterations are done, cancel any residual\r\n      // normal velocity that would push points back into colliders next frame.\r\n      // We compare the final positionCurrent (guaranteed outside all colliders)\r\n      // against positionPrevious (the Verlet integration start point) and zero\r\n      // out the component pointing into each collider.\r\n      postCollisionVelocityFix(pointsR, pointsRW, collidersR, collidersRW);\r\n    }\r\n\r\n    pointUpdatePass2(\r\n      pointsR,\r\n      pointsRW,\r\n      positionsToTransform,\r\n      stepDelta,\r\n      fakeWaveFreq,\r\n      params.blendRatio,\r\n      params.isFakeWave,\r\n      params.fakeWavePower\r\n    );\r\n  }\r\n\r\n  return { positionsToTransform, fakeWaveCounter: fakeWaveFreq };\r\n}\r\n\r\nfunction computeCapsule(\r\n  pos: Vector3,\r\n  rot: Quaternion,\r\n  height: number,\r\n  head: Vector3,\r\n  direction: Vector3\r\n): void {\r\n  rot.transform(Vector3.scale(AXIS_Y, height, _computeCapsuleAxis), direction);\r\n  Vector3.scale(direction, 0.5, _computeCapsuleHalfDir);\r\n  Vector3.sub(pos, _computeCapsuleHalfDir, head);\r\n}\r\n\r\nfunction colliderUpdate(collidersR: readonly ColliderR[], collidersRW: ColliderRW[], stepDelta: number) {\r\n  const curPos = new Vector3();\r\n  const curDir = new Quaternion();\r\n  const corner = new Vector3();\r\n  const center = new Vector3();\r\n  const tailCorner = new Vector3();\r\n  const tailCenter = new Vector3();\r\n  for (let i = 0; i < collidersR.length; i++) {\r\n    const colR = collidersR[i];\r\n    const colRW = collidersRW[i];\r\n    // Scale radius by the uniform world scale of the collider node.\r\n    // Use the average of x/y/z components to handle non-uniform scale gracefully.\r\n    const ws = colRW.worldScale;\r\n    const worldScaleUniform = (ws.x + ws.y + ws.z) / 3;\r\n    colRW.radius = colR.radius * worldScaleUniform;\r\n\r\n    Vector3.lerp(colRW.positionPreviousTransform, colRW.positionCurrentTransform, stepDelta, curPos);\r\n    Quaternion.slerp(colRW.directionPreviousTransform, colRW.directionCurrentTransform, stepDelta, curDir);\r\n\r\n    computeCapsule(curPos, curDir, colR.height, colRW.positionCurrent, colRW.directionCurrent);\r\n    if (colR.height > EPSILON) {\r\n      Vector3.scale(colRW.directionCurrent, 0.5, _computeCapsuleHalfDir);\r\n      Vector3.add(colRW.positionCurrent, _computeCapsuleHalfDir, colRW.boundsCenter);\r\n      colRW.boundsRadius =\r\n        Math.sqrt(colRW.directionCurrent.magnitudeSq) * 0.5 +\r\n        Math.max(colRW.radius, colRW.radius * colR.radiusTailScale);\r\n    } else {\r\n      colRW.boundsCenter.set(colRW.positionCurrent);\r\n      colRW.boundsRadius = colRW.radius;\r\n    }\r\n\r\n    // Update local bounds\r\n    Vector3.scale(VEC3_ONE, colR.radius, corner);\r\n    colRW.worldToLocal.transformPointAffine(colRW.positionCurrent, center);\r\n    Vector3.sub(center, corner, colRW.localBoundsMin);\r\n    Vector3.add(center, corner, colRW.localBoundsMax);\r\n\r\n    if (colR.height > EPSILON) {\r\n      Vector3.scale(VEC3_ONE, colR.radius * colR.radiusTailScale, tailCorner);\r\n      Vector3.add(colRW.positionCurrent, colRW.directionCurrent, tailCenter);\r\n      colRW.worldToLocal.transformPointAffine(tailCenter, tailCenter);\r\n      colRW.localBoundsMin.setXYZ(\r\n        Math.min(colRW.localBoundsMin.x, tailCenter.x - tailCorner.x),\r\n        Math.min(colRW.localBoundsMin.y, tailCenter.y - tailCorner.y),\r\n        Math.min(colRW.localBoundsMin.z, tailCenter.z - tailCorner.z)\r\n      );\r\n      colRW.localBoundsMax.setXYZ(\r\n        Math.max(colRW.localBoundsMax.x, tailCenter.x + tailCorner.x),\r\n        Math.max(colRW.localBoundsMax.y, tailCenter.y + tailCorner.y),\r\n        Math.max(colRW.localBoundsMax.z, tailCenter.z + tailCorner.z)\r\n      );\r\n    }\r\n  }\r\n}\r\n\r\nfunction applySystemTransform(\r\n  point: Vector3,\r\n  pivot: Vector3,\r\n  slideOffset: Vector3,\r\n  rotOffset: Quaternion,\r\n  result?: Vector3\r\n): Vector3 {\r\n  const rotated = rotOffset.transform(\r\n    Vector3.sub(point, pivot, _applySystemTransformOffset),\r\n    result || _applySystemTransformRotated\r\n  );\r\n  Vector3.add(rotated, pivot, rotated);\r\n  return Vector3.add(rotated, slideOffset, rotated);\r\n}\r\n\r\nfunction pointMayCollideBroadPhase(point: Vector3, colRW: ColliderRW, padding = 0): boolean {\r\n  const radius = colRW.boundsRadius + padding;\r\n  const delta = Vector3.sub(point, colRW.boundsCenter, _broadPhaseDelta);\r\n  return delta.magnitudeSq <= radius * radius;\r\n}\r\n\r\nfunction segmentMayCollideBroadPhase(point1: Vector3, point2: Vector3, colRW: ColliderRW): boolean {\r\n  const segmentDir = Vector3.sub(point2, point1, _broadPhaseSegmentDir);\r\n  const lenSq = segmentDir.magnitudeSq;\r\n  if (lenSq <= EPSILON) {\r\n    return pointMayCollideBroadPhase(point1, colRW);\r\n  }\r\n  const toCenter = Vector3.sub(colRW.boundsCenter, point1, _broadPhaseToCenter);\r\n  const t = clamp01(Vector3.dot(toCenter, segmentDir) / lenSq);\r\n  const closestPoint = Vector3.scale(segmentDir, t, _broadPhaseClosestPoint);\r\n  Vector3.add(point1, closestPoint, closestPoint);\r\n  const delta = Vector3.sub(colRW.boundsCenter, closestPoint, _broadPhaseDelta);\r\n  return delta.magnitudeSq <= colRW.boundsRadius * colRW.boundsRadius;\r\n}\r\n\r\n// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs\r\n\r\nfunction pointUpdatePass1(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  stepDelta: number,\r\n  stepTime_x2_half: number,\r\n  rootSlideOffset: Vector3,\r\n  rootRotationOffset: Quaternion,\r\n  rootPosition: Vector3,\r\n  windForce: Vector3,\r\n  isPaused: boolean,\r\n  grabbersR: readonly GrabberR[],\r\n  grabbersRW: readonly GrabberRW[],\r\n  movableLimitTargets: readonly Vector3[],\r\n  flatPlanes: readonly FlatPlane[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: readonly ColliderRW[]\r\n) {\r\n  const currentTransformPos = new Vector3();\r\n  const moveDir = new Vector3();\r\n  const extForce = new Vector3();\r\n  const displacement = new Vector3();\r\n  const restore = new Vector3();\r\n  const tempVec0 = new Vector3();\r\n  const tempVec1 = new Vector3();\r\n  const planeOffset = new Vector3();\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    const ptRW = pointsRW[index];\r\n\r\n    Vector3.lerp(\r\n      ptRW.positionPreviousTransform,\r\n      ptRW.positionCurrentTransform,\r\n      stepDelta,\r\n      currentTransformPos\r\n    );\r\n\r\n    if (ptR.weight <= EPSILON) {\r\n      ptRW.positionPrevious.set(ptRW.positionCurrent);\r\n      ptRW.positionCurrent.set(currentTransformPos);\r\n    } else {\r\n      applySystemTransform(\r\n        ptRW.positionPrevious,\r\n        rootPosition,\r\n        rootSlideOffset,\r\n        rootRotationOffset,\r\n        ptRW.positionPrevious\r\n      );\r\n      applySystemTransform(\r\n        ptRW.positionCurrent,\r\n        rootPosition,\r\n        rootSlideOffset,\r\n        rootRotationOffset,\r\n        ptRW.positionCurrent\r\n      );\r\n\r\n      displacement.setXYZ(0, 0, 0);\r\n      if (!isPaused) {\r\n        Vector3.sub(ptRW.positionCurrent, ptRW.positionPrevious, moveDir);\r\n        Vector3.scale(windForce, ptR.windForceScale / ptR.mass, extForce);\r\n        Vector3.add(ptR.gravity, extForce, extForce);\r\n        Vector3.scale(extForce, stepTime_x2_half, extForce);\r\n\r\n        // Clamp the per-step force displacement to half the bone's rest length.\r\n        // Without this, large gravity values (e.g. -50 in world space) produce a\r\n        // per-step displacement comparable to the bone spacing, which exceeds what\r\n        // the constraint relaxation can correct in one pass and causes surface jitter.\r\n        if (ptR.parentLength > EPSILON) {\r\n          const maxForceDisp = ptR.parentLength * 0.5;\r\n          const forceDispSq = extForce.magnitudeSq;\r\n          if (forceDispSq > maxForceDisp * maxForceDisp) {\r\n            Vector3.scale(extForce, maxForceDisp / Math.sqrt(forceDispSq), extForce);\r\n          }\r\n        }\r\n\r\n        // Apply resistance (damping) only to the velocity term, not to external forces.\r\n        // Applying resistance to gravity would incorrectly attenuate acceleration each frame,\r\n        // causing energy errors and instability under high gravity.\r\n        Vector3.scale(moveDir, ptR.resistance, moveDir);\r\n        Vector3.scale(moveDir, 1.0 - clamp01(ptRW.friction * ptR.frictionScale), moveDir);\r\n\r\n        // Clamp per-step velocity to a multiple of bone rest length.\r\n        // During fast root rotations the Verlet velocity can become very large,\r\n        // overwhelming the constraint solver and causing the hair to lose shape.\r\n        // Limiting velocity keeps the simulation stable regardless of how fast\r\n        // the root moves, while still allowing natural large-amplitude swings.\r\n        if (ptR.parentLength > EPSILON) {\r\n          const maxVelDisp = ptR.parentLength * 2.0;\r\n          const velDispSq = moveDir.magnitudeSq;\r\n          if (velDispSq > maxVelDisp * maxVelDisp) {\r\n            Vector3.scale(moveDir, maxVelDisp / Math.sqrt(velDispSq), moveDir);\r\n          }\r\n        }\r\n\r\n        Vector3.add(moveDir, extForce, displacement);\r\n      }\r\n\r\n      ptRW.positionPrevious.set(ptRW.positionCurrent);\r\n      Vector3.add(ptRW.positionCurrent, displacement, ptRW.positionCurrent);\r\n      ptRW.friction = 0;\r\n\r\n      if (!isPaused) {\r\n        // Hardness restore\r\n        if (ptR.hardness > 0) {\r\n          Vector3.sub(currentTransformPos, ptRW.positionCurrent, restore);\r\n          Vector3.scale(restore, ptR.hardness, restore);\r\n          Vector3.add(ptRW.positionCurrent, restore, ptRW.positionCurrent);\r\n        }\r\n        // Force fade ratio\r\n        if (ptR.forceFadeRatio > 0) {\r\n          Vector3.lerp(ptRW.positionCurrent, currentTransformPos, ptR.forceFadeRatio, ptRW.positionCurrent);\r\n        }\r\n        // Push out of colliders immediately after hardness/fade pulls the point\r\n        // toward the animated position (which may be inside a collider).\r\n        // This prevents the hardness↔collision tug-of-war that causes jitter.\r\n        for (let ci = 0; ci < collidersR.length; ci++) {\r\n          const colRci = collidersR[ci];\r\n          const colRWci = collidersRW[ci];\r\n          if (colRWci.enabled === 0 || colRci.isInverseCollider) {\r\n            continue;\r\n          }\r\n          const hRes =\r\n            colRci.height <= EPSILON\r\n              ? pushoutFromSphere(\r\n                  colRWci.positionCurrent,\r\n                  colRWci.radius,\r\n                  ptR.pointRadius,\r\n                  ptRW.positionCurrent\r\n                )\r\n              : pushoutFromCapsule(colRci, colRWci, ptRW.positionCurrent, ptR);\r\n          if (hRes.hit) {\r\n            ptRW.positionCurrent.set(hRes.point);\r\n          }\r\n        }\r\n        // Grabber\r\n        if (ptRW.grabberIndex !== -1) {\r\n          const grR = grabbersR[ptRW.grabberIndex];\r\n          const grRW = grabbersRW[ptRW.grabberIndex];\r\n          if (grRW.enabled === 0) {\r\n            ptRW.grabberIndex = -1;\r\n          } else {\r\n            Vector3.sub(ptRW.positionCurrent, grRW.position, tempVec0);\r\n            Vector3.normalize(tempVec0, tempVec0);\r\n            Vector3.scale(tempVec0, ptRW.grabberDistance, tempVec1);\r\n            Vector3.add(grRW.position, tempVec1, tempVec1);\r\n            Vector3.sub(tempVec1, ptRW.positionCurrent, tempVec0);\r\n            Vector3.scale(tempVec0, grR.force, tempVec0);\r\n            Vector3.add(ptRW.positionCurrent, tempVec0, ptRW.positionCurrent);\r\n          }\r\n        } else {\r\n          let nearIndex = -1;\r\n          let sqrNearRange = 1000 * 1000;\r\n          for (let ig = 0; ig < grabbersR.length; ig++) {\r\n            const grRW = grabbersRW[ig];\r\n            if (grRW.enabled !== 0) {\r\n              const sqrLen = Vector3.sub(grRW.position, ptRW.positionCurrent, tempVec0).magnitudeSq;\r\n              if (sqrLen < grabbersR[ig].radius * grabbersR[ig].radius && sqrLen < sqrNearRange) {\r\n                sqrNearRange = sqrLen;\r\n                nearIndex = ig;\r\n              }\r\n            }\r\n          }\r\n          if (nearIndex !== -1) {\r\n            ptRW.grabberIndex = nearIndex;\r\n            ptRW.grabberDistance = Math.sqrt(sqrNearRange) / 2.0;\r\n          }\r\n        }\r\n        // Movable limit\r\n        if (ptR.movableLimitIndex !== -1) {\r\n          const target = movableLimitTargets[ptR.movableLimitIndex];\r\n          const move = Vector3.sub(ptRW.positionCurrent, target, tempVec0);\r\n          const moveLen = move.magnitude;\r\n          if (moveLen > ptR.movableLimitRadius) {\r\n            Vector3.scale(move, ptR.movableLimitRadius / moveLen, move);\r\n            Vector3.add(target, move, ptRW.positionCurrent);\r\n          }\r\n        }\r\n      }\r\n\r\n      // Flat plane collision\r\n      for (let i = 0; i < flatPlanes.length; i++) {\r\n        const fp = flatPlanes[i];\r\n        const dist = Vector3.dot(fp.normal, ptRW.positionCurrent) + fp.distance;\r\n        if (dist < 0) {\r\n          Vector3.scale(fp.normal, dist, planeOffset);\r\n          Vector3.sub(ptRW.positionCurrent, planeOffset, ptRW.positionCurrent);\r\n          ptRW.friction = 0.3;\r\n        }\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\n// Core physics simulation - direct port of JobExecuteSimulation from SPCRJointDynamicsJob.cs\r\n\r\nfunction surfaceCollision(\r\n  pointsRW: PointRW[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: ColliderRW[],\r\n  surfaceConstraints: readonly number[]\r\n) {\r\n  const surfaceResult: SurfaceCheckResult = {\r\n    hit: false,\r\n    intersectionPoint: new Vector3(),\r\n    pushOut: new Vector3(),\r\n    pointOnCollider: new Vector3(),\r\n    radius: 0\r\n  };\r\n  const triCenter = new Vector3();\r\n  const pushDir = new Vector3();\r\n  const centerToPt = new Vector3();\r\n  const intersectToPt = new Vector3();\r\n  const pushVec = new Vector3();\r\n  for (let index = 0; index < surfaceConstraints.length; index += 6) {\r\n    for (let i = 0; i < collidersR.length; i++) {\r\n      const colR = collidersR[i];\r\n      const colRW = collidersRW[i];\r\n      if (colRW.enabled === 0) {\r\n        continue;\r\n      }\r\n\r\n      const colliderPos = colRW.positionCurrent;\r\n\r\n      for (let j = 0; j < 6; j += 3) {\r\n        const idxA = surfaceConstraints[index + j + 0];\r\n        const idxB = surfaceConstraints[index + j + 1];\r\n        const idxC = surfaceConstraints[index + j + 2];\r\n\r\n        const rwA = pointsRW[idxA];\r\n        const rwB = pointsRW[idxB];\r\n        const rwC = pointsRW[idxC];\r\n\r\n        const result = checkSurfaceCollision(\r\n          rwA.positionCurrent,\r\n          rwB.positionCurrent,\r\n          rwC.positionCurrent,\r\n          colliderPos,\r\n          colR,\r\n          colRW,\r\n          surfaceResult\r\n        );\r\n\r\n        if (result.hit) {\r\n          triCenter.setXYZ(\r\n            (rwA.positionCurrent.x + rwB.positionCurrent.x + rwC.positionCurrent.x) / 3,\r\n            (rwA.positionCurrent.y + rwB.positionCurrent.y + rwC.positionCurrent.y) / 3,\r\n            (rwA.positionCurrent.z + rwB.positionCurrent.z + rwC.positionCurrent.z) / 3\r\n          );\r\n          const pushMag = result.pushOut.magnitude;\r\n          if (pushMag < EPSILON) {\r\n            continue;\r\n          }\r\n          Vector3.scale(result.pushOut, 1 / pushMag, pushDir);\r\n\r\n          for (let k = 0; k < 3; k++) {\r\n            const idxR = surfaceConstraints[index + j + k];\r\n            const rwPt = pointsRW[idxR];\r\n            Vector3.sub(rwPt.positionCurrent, triCenter, centerToPt);\r\n            Vector3.sub(rwPt.positionCurrent, result.intersectionPoint, intersectToPt);\r\n            const intersectLen = intersectToPt.magnitude;\r\n            let rate = intersectLen > EPSILON ? centerToPt.magnitude / intersectLen : 0;\r\n            rate = clamp01(Math.abs(rate));\r\n            Vector3.scale(pushDir, (result.radius - pushMag) * rate, pushVec);\r\n            Vector3.add(rwPt.positionCurrent, pushVec, rwPt.positionCurrent);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\nconst _postFixNormal = new Vector3();\r\nconst _fixedPushResult: CollisionResult = { hit: false, point: new Vector3() };\r\n\r\n/**\r\n * Before constraint solving each substep, push fixed points (weight=0) out of\r\n * any colliders they animate into.  Fixed points normally follow animation\r\n * exactly, but when their animated position lies inside a collider the distance\r\n * constraint pulls free children inward through the surface, producing the\r\n * classic \"hair flipping outward\" artifact.\r\n *\r\n * We clamp positionCurrent to the collider surface so that constraints operate\r\n * from a geometrically valid anchor.  The temporary change is overwritten at the\r\n * start of the next substep when positionCurrent is refreshed from the animation\r\n * transform, so the skeleton itself is never permanently altered.\r\n */\r\nfunction fixedPointColliderPushout(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: readonly ColliderRW[]\r\n): void {\r\n  for (let pi = 0; pi < pointsR.length; pi++) {\r\n    if (pointsR[pi].weight > EPSILON) {\r\n      continue;\r\n    }\r\n    const ptRW = pointsRW[pi];\r\n    const ptR = pointsR[pi];\r\n    for (let ci = 0; ci < collidersR.length; ci++) {\r\n      const colR = collidersR[ci];\r\n      const colRW = collidersRW[ci];\r\n      if (colRW.enabled === 0 || colR.isInverseCollider) {\r\n        continue;\r\n      }\r\n      const res =\r\n        colR.height <= EPSILON\r\n          ? pushoutFromSphere(\r\n              colRW.positionCurrent,\r\n              colRW.radius,\r\n              ptR.pointRadius,\r\n              ptRW.positionCurrent,\r\n              _fixedPushResult\r\n            )\r\n          : pushoutFromCapsule(colR, colRW, ptRW.positionCurrent, ptR, _fixedPushResult);\r\n      if (res.hit) {\r\n        ptRW.positionCurrent.set(res.point);\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\n/**\r\n * Called once per substep after ALL constraint + collision relaxation iterations finish.\r\n * For each dynamic point that is actually touching a collider surface (within radius),\r\n * cancel the normal-direction component of the Verlet velocity from positionPrevious.\r\n * Points far from all colliders are untouched, preserving wind-driven velocity.\r\n */\r\nfunction postCollisionVelocityFix(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: readonly ColliderRW[]\r\n): void {\r\n  for (let pi = 0; pi < pointsR.length; pi++) {\r\n    const ptR = pointsR[pi];\r\n    if (ptR.weight <= EPSILON) {\r\n      continue;\r\n    }\r\n    const ptRW = pointsRW[pi];\r\n\r\n    for (let ci = 0; ci < collidersR.length; ci++) {\r\n      const colR = collidersR[ci];\r\n      const colRW = collidersRW[ci];\r\n      if (colRW.enabled === 0 || colR.isInverseCollider) {\r\n        continue;\r\n      }\r\n\r\n      let nx = 0,\r\n        ny = 0,\r\n        nz = 0;\r\n      if (colR.height <= EPSILON) {\r\n        nx = ptRW.positionCurrent.x - colRW.positionCurrent.x;\r\n        ny = ptRW.positionCurrent.y - colRW.positionCurrent.y;\r\n        nz = ptRW.positionCurrent.z - colRW.positionCurrent.z;\r\n      } else {\r\n        const capsuleVec = colRW.directionCurrent;\r\n        const capsuleVecLenSq = capsuleVec.magnitudeSq;\r\n        if (capsuleVecLenSq > EPSILON) {\r\n          const tx = ptRW.positionCurrent.x - colRW.positionCurrent.x;\r\n          const ty = ptRW.positionCurrent.y - colRW.positionCurrent.y;\r\n          const tz = ptRW.positionCurrent.z - colRW.positionCurrent.z;\r\n          const t = Math.max(\r\n            0,\r\n            Math.min(1, (tx * capsuleVec.x + ty * capsuleVec.y + tz * capsuleVec.z) / capsuleVecLenSq)\r\n          );\r\n          nx = ptRW.positionCurrent.x - (colRW.positionCurrent.x + capsuleVec.x * t);\r\n          ny = ptRW.positionCurrent.y - (colRW.positionCurrent.y + capsuleVec.y * t);\r\n          nz = ptRW.positionCurrent.z - (colRW.positionCurrent.z + capsuleVec.z * t);\r\n        } else {\r\n          nx = ptRW.positionCurrent.x - colRW.positionCurrent.x;\r\n          ny = ptRW.positionCurrent.y - colRW.positionCurrent.y;\r\n          nz = ptRW.positionCurrent.z - colRW.positionCurrent.z;\r\n        }\r\n      }\r\n\r\n      const nLen = Math.sqrt(nx * nx + ny * ny + nz * nz);\r\n      if (nLen < EPSILON) {\r\n        continue;\r\n      }\r\n\r\n      const surfaceDist = nLen - colRW.radius - ptR.pointRadius;\r\n      if (surfaceDist > colRW.radius * 0.05) {\r\n        continue;\r\n      }\r\n\r\n      _postFixNormal.setXYZ(nx / nLen, ny / nLen, nz / nLen);\r\n      const vx = ptRW.positionCurrent.x - ptRW.positionPrevious.x;\r\n      const vy = ptRW.positionCurrent.y - ptRW.positionPrevious.y;\r\n      const vz = ptRW.positionCurrent.z - ptRW.positionPrevious.z;\r\n      const vDotN = vx * _postFixNormal.x + vy * _postFixNormal.y + vz * _postFixNormal.z;\r\n      if (vDotN < 0) {\r\n        ptRW.positionPrevious.x += _postFixNormal.x * vDotN;\r\n        ptRW.positionPrevious.y += _postFixNormal.y * vDotN;\r\n        ptRW.positionPrevious.z += _postFixNormal.z * vDotN;\r\n      }\r\n    }\r\n  }\r\n}\r\n\r\nfunction constraintUpdate(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  constraints: readonly Constraint[],\r\n  collidersR: readonly ColliderR[],\r\n  collidersRW: ColliderRW[],\r\n  constraintShrinkLimit: number,\r\n  enableBroadPhase: boolean\r\n) {\r\n  const direction = new Vector3();\r\n  const dirN = new Vector3();\r\n  const disp = new Vector3();\r\n  const scaledDisp = new Vector3();\r\n  const pointResultA: CollisionResult = { hit: false, point: new Vector3() };\r\n  const pointResultB: CollisionResult = { hit: false, point: new Vector3() };\r\n  const lineResult = {\r\n    hit: false,\r\n    pointOnLine: new Vector3(),\r\n    pointOnCollider: new Vector3(),\r\n    radius: 0\r\n  };\r\n  const pushout = new Vector3();\r\n  const segment = new Vector3();\r\n  const pointToA = new Vector3();\r\n  const pointToB = new Vector3();\r\n  const pushN = new Vector3();\r\n  const pushVec = new Vector3();\r\n  for (let index = 0; index < constraints.length; index++) {\r\n    const c = constraints[index];\r\n    const ptRA = pointsR[c.indexA];\r\n    const ptRB = pointsR[c.indexB];\r\n    const weightA = ptRA.weight;\r\n    const weightB = ptRB.weight;\r\n    if (weightA <= EPSILON && weightB <= EPSILON) {\r\n      continue;\r\n    }\r\n\r\n    const rwA = pointsRW[c.indexA];\r\n    const rwB = pointsRW[c.indexB];\r\n\r\n    Vector3.sub(rwB.positionCurrent, rwA.positionCurrent, direction);\r\n    const distance = direction.magnitude;\r\n\r\n    let shrinkLen = c.length;\r\n    let stretchLen = shrinkLen;\r\n    if (\r\n      c.type === ConstraintType.Structural_Horizontal ||\r\n      c.type === ConstraintType.Bending_Horizontal ||\r\n      c.type === ConstraintType.Shear\r\n    ) {\r\n      stretchLen += ptRA.sliderJointLength + ptRB.sliderJointLength;\r\n    }\r\n\r\n    let force = 0;\r\n    if (distance <= shrinkLen) {\r\n      force = distance - shrinkLen;\r\n    } else if (distance >= stretchLen) {\r\n      force = distance - stretchLen;\r\n    }\r\n\r\n    const isShrink = force >= 0;\r\n    let power = 0;\r\n    switch (c.type) {\r\n      case ConstraintType.Structural_Vertical:\r\n        power = isShrink\r\n          ? ptRA.structuralShrinkVertical + ptRB.structuralShrinkVertical\r\n          : ptRA.structuralStretchVertical + ptRB.structuralStretchVertical;\r\n        break;\r\n      case ConstraintType.Structural_Horizontal:\r\n        power = isShrink\r\n          ? Math.min(constraintShrinkLimit, ptRA.structuralShrinkHorizontal + ptRB.structuralShrinkHorizontal)\r\n          : ptRA.structuralStretchHorizontal + ptRB.structuralStretchHorizontal;\r\n        break;\r\n      case ConstraintType.Shear:\r\n        power = isShrink\r\n          ? Math.min(constraintShrinkLimit, ptRA.shearShrink + ptRB.shearShrink)\r\n          : ptRA.shearStretch + ptRB.shearStretch;\r\n        break;\r\n      case ConstraintType.Bending_Vertical:\r\n        power = isShrink\r\n          ? ptRA.bendingShrinkVertical + ptRB.bendingShrinkVertical\r\n          : ptRA.bendingStretchVertical + ptRB.bendingStretchVertical;\r\n        break;\r\n      case ConstraintType.Bending_Horizontal:\r\n        power = isShrink\r\n          ? Math.min(constraintShrinkLimit, ptRA.bendingShrinkHorizontal + ptRB.bendingShrinkHorizontal)\r\n          : ptRA.bendingStretchHorizontal + ptRB.bendingStretchHorizontal;\r\n        break;\r\n    }\r\n\r\n    if (power > 0) {\r\n      if (distance > EPSILON) {\r\n        Vector3.scale(direction, 1 / distance, dirN);\r\n      } else {\r\n        dirN.setXYZ(0, 0, 0);\r\n      }\r\n      Vector3.scale(dirN, force * power, disp);\r\n      const wAB = weightA + weightB;\r\n      Vector3.scale(disp, weightA / wAB, scaledDisp);\r\n      Vector3.add(rwA.positionCurrent, scaledDisp, rwA.positionCurrent);\r\n      Vector3.scale(disp, weightB / wAB, scaledDisp);\r\n      Vector3.sub(rwB.positionCurrent, scaledDisp, rwB.positionCurrent);\r\n    }\r\n\r\n    // Per-constraint collision\r\n    if (c.isCollision !== 0) {\r\n      let friction = 0;\r\n      for (let i = 0; i < collidersR.length; i++) {\r\n        const colRW = collidersRW[i];\r\n        if (colRW.enabled === 0) {\r\n          continue;\r\n        }\r\n        const colR = collidersR[i];\r\n        const canPointA =\r\n          !enableBroadPhase ||\r\n          colR.isInverseCollider ||\r\n          pointMayCollideBroadPhase(rwA.positionCurrent, colRW, ptRA.pointRadius);\r\n        const canPointB =\r\n          !enableBroadPhase ||\r\n          colR.isInverseCollider ||\r\n          pointMayCollideBroadPhase(rwB.positionCurrent, colRW, ptRB.pointRadius);\r\n        const canLine =\r\n          !colR.isInverseCollider &&\r\n          (!enableBroadPhase || segmentMayCollideBroadPhase(rwA.positionCurrent, rwB.positionCurrent, colRW));\r\n\r\n        if (!canPointA && !canPointB && !canLine) {\r\n          continue;\r\n        }\r\n\r\n        if (colR.height > EPSILON) {\r\n          if (colR.isInverseCollider) {\r\n            if (ptRA.applyInvertCollision === 1 && canPointA) {\r\n              const res = pushInFromCapsule(colR, colRW, rwA.positionCurrent, pointResultA);\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (ptRB.applyInvertCollision === 1 && canPointB) {\r\n              const res = pushInFromCapsule(colR, colRW, rwB.positionCurrent, pointResultB);\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          } else {\r\n            if (canPointA) {\r\n              const res = pushoutFromCapsule(colR, colRW, rwA.positionCurrent, ptRA, pointResultA);\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (canPointB) {\r\n              const res = pushoutFromCapsule(colR, colRW, rwB.positionCurrent, ptRB, pointResultB);\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          }\r\n        } else {\r\n          if (colR.isInverseCollider) {\r\n            if (ptRA.applyInvertCollision === 1 && canPointA) {\r\n              const res = pushInFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                rwA.positionCurrent,\r\n                pointResultA\r\n              );\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (ptRB.applyInvertCollision === 1 && canPointB) {\r\n              const res = pushInFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                rwB.positionCurrent,\r\n                pointResultB\r\n              );\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          } else {\r\n            if (canPointA) {\r\n              const res = pushoutFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                ptRA.pointRadius,\r\n                rwA.positionCurrent,\r\n                pointResultA\r\n              );\r\n              if (res.hit) {\r\n                rwA.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n            if (canPointB) {\r\n              const res = pushoutFromSphere(\r\n                colRW.positionCurrent,\r\n                colRW.radius,\r\n                ptRB.pointRadius,\r\n                rwB.positionCurrent,\r\n                pointResultB\r\n              );\r\n              if (res.hit) {\r\n                rwB.positionCurrent.set(res.point);\r\n                friction = Math.max(friction, colR.friction * 0.25);\r\n              }\r\n            }\r\n          }\r\n        }\r\n\r\n        // Line segment collision\r\n        if (!colR.isInverseCollider && canLine) {\r\n          const lineRes = collisionDetection(\r\n            colR,\r\n            colRW,\r\n            rwA.positionCurrent,\r\n            rwB.positionCurrent,\r\n            lineResult\r\n          );\r\n          if (lineRes.hit) {\r\n            Vector3.sub(lineRes.pointOnLine, lineRes.pointOnCollider, pushout);\r\n            const pushDist = pushout.magnitude;\r\n            if (pushDist > EPSILON) {\r\n              const ptDist = Vector3.sub(rwB.positionCurrent, rwA.positionCurrent, segment).magnitude * 0.5;\r\n              const rateP1 =\r\n                ptDist > EPSILON\r\n                  ? clamp01(\r\n                      Vector3.sub(lineRes.pointOnLine, rwA.positionCurrent, pointToA).magnitude / ptDist\r\n                    )\r\n                  : 0;\r\n              const rateP2 =\r\n                ptDist > EPSILON\r\n                  ? clamp01(\r\n                      Vector3.sub(lineRes.pointOnLine, rwB.positionCurrent, pointToB).magnitude / ptDist\r\n                    )\r\n                  : 0;\r\n              Vector3.scale(pushout, 1 / pushDist, pushN);\r\n              Vector3.scale(pushN, Math.max(lineRes.radius - pushDist, 0), pushVec);\r\n              if (weightA > EPSILON) {\r\n                Vector3.scale(pushVec, rateP2, scaledDisp);\r\n                Vector3.add(rwA.positionCurrent, scaledDisp, rwA.positionCurrent);\r\n              }\r\n              if (weightB > EPSILON) {\r\n                Vector3.scale(pushVec, rateP1, scaledDisp);\r\n                Vector3.add(rwB.positionCurrent, scaledDisp, rwB.positionCurrent);\r\n              }\r\n\r\n              const dotUp = Vector3.dot(AXIS_Y, Vector3.normalize(pushout, pushN));\r\n              friction = Math.max(friction, colR.friction * clamp01(dotUp));\r\n            }\r\n          }\r\n        }\r\n      }\r\n      rwA.friction = Math.max(friction, rwA.friction);\r\n      rwB.friction = Math.max(friction, rwB.friction);\r\n    }\r\n  }\r\n}\r\n\r\nfunction pointUpdatePass2(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  positionsToTransform: Vector3[],\r\n  stepDelta: number,\r\n  fakeWaveFreq: number,\r\n  blendRatio: number,\r\n  isFakeWave: boolean,\r\n  fakeWavePower: number\r\n) {\r\n  let freq = fakeWaveFreq;\r\n  const curTransformPos = new Vector3();\r\n  const fakeWindOffset = new Vector3();\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    const ptRW = pointsRW[index];\r\n\r\n    Vector3.lerp(ptRW.positionPreviousTransform, ptRW.positionCurrentTransform, stepDelta, curTransformPos);\r\n    const blend = smoothStep(0, 1, Math.max(ptR.forceFadeRatio, blendRatio));\r\n    Vector3.lerp(ptRW.positionCurrent, curTransformPos, blend, ptRW.positionToTransform);\r\n\r\n    if (isFakeWave && ptR.child === -1 && ptR.parent !== -1) {\r\n      const A = pointsRW[ptR.parent].positionToTransform;\r\n      const B = ptRW.positionToTransform;\r\n      const mAxis = Matrix4x4.lookAt(A, B, AXIS_Y);\r\n      // Column 1 = up axis of the look-at matrix\r\n      const col1 = mAxis.getCol(1).xyz();\r\n      Vector3.lerp(ptRW.fakeWindDirection, col1, 0.5, ptRW.fakeWindDirection);\r\n\r\n      freq += ptR.fakeWaveFreq;\r\n      const power = Math.sin(freq) * fakeWavePower * ptR.fakeWavePower;\r\n      Vector3.scale(ptRW.fakeWindDirection, power, fakeWindOffset);\r\n      Vector3.add(ptRW.positionToTransform, fakeWindOffset, ptRW.positionToTransform);\r\n    }\r\n\r\n    positionsToTransform[index] = ptRW.positionToTransform.clone();\r\n  }\r\n}\r\n\r\n/**\r\n * Output of applying the simulated result back to transforms.\r\n *\r\n * @public\r\n */\r\nexport interface ApplyResultOutput {\r\n  position: Vector3;\r\n  rotation: Quaternion;\r\n  localRotation: Quaternion;\r\n}\r\n\r\n/**\r\n * Computes transform outputs from the simulated point positions.\r\n *\r\n * @public\r\n */\r\nexport function applyResult(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  positionsToTransform: readonly Vector3[],\r\n  blendRatio: number,\r\n  // Current transform rotations (world and local) read from engine\r\n  transformRotations: readonly Quaternion[],\r\n  transformLocalRotations: readonly Quaternion[],\r\n  preserveTwist: boolean\r\n): ApplyResultOutput[] {\r\n  const results: ApplyResultOutput[] = new Array(pointsR.length);\r\n\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    const ptRW = pointsRW[index];\r\n    let worldRot = transformRotations[index];\r\n    let localRot = transformLocalRotations[index];\r\n\r\n    if (ptR.weight >= EPSILON) {\r\n      // Dynamic point\r\n      if (ptR.parent !== -1) {\r\n        const direction = Vector3.sub(ptRW.positionToTransform, positionsToTransform[ptR.parent]);\r\n        const realLen = direction.magnitude;\r\n        if (realLen > EPSILON) {\r\n          ptRW.directionPrevious = direction;\r\n        } else {\r\n          ptRW.positionToTransform = Vector3.add(positionsToTransform[ptR.parent], ptRW.directionPrevious);\r\n        }\r\n      }\r\n      const pos = ptRW.positionToTransform;\r\n      // SetRotation with blendRatio=0 for dynamic points\r\n      // Step 1: Reset localRotation to initialLocalRotation (blendRatio = 0 means fully initial)\r\n      localRot = ptR.initialLocalRotation.clone();\r\n\r\n      // Step 2: Recompute worldRot from the new localRot\r\n      // In C#, setting localRotation immediately updates the world rotation.\r\n      // worldRot = parentWorldRot * localRot\r\n      // We approximate: the parent's current world rotation is in transformRotations[ptR.parent]\r\n      if (ptR.parent !== -1) {\r\n        // Use the parent's OUTPUT rotation (already computed if parent index < current index)\r\n        const parentRot = results[ptR.parent] ? results[ptR.parent].rotation : transformRotations[ptR.parent];\r\n        worldRot = Quaternion.multiply(parentRot, localRot);\r\n      } else {\r\n        worldRot = localRot.clone();\r\n      }\r\n\r\n      // Step 3: Aim toward child (simple shortest-arc, no twist correction here)\r\n      if (ptR.child !== -1) {\r\n        const childDir = Vector3.sub(positionsToTransform[ptR.child], ptRW.positionToTransform);\r\n        if (childDir.magnitudeSq > EPSILON) {\r\n          const aimVec = worldRot.transform(ptR.boneAxis);\r\n          const aimRot = Quaternion.unitVectorToUnitVector(aimVec, childDir);\r\n          Quaternion.multiply(aimRot, worldRot, worldRot);\r\n        }\r\n      }\r\n      results[index] = {\r\n        position: pos,\r\n        rotation: worldRot,\r\n        localRotation: localRot\r\n      };\r\n    } else {\r\n      const childBlend =\r\n        ptR.child !== -1 ? Math.max(pointsR[ptR.child].forceFadeRatio, blendRatio) : blendRatio;\r\n\r\n      // Fixed joints are fully driven by the scene graph (animation + parent transforms).\r\n      // Use the engine's current world rotation directly as the baseline �?do NOT\r\n      // reconstruct it from localRot, because localRot was read from the transform that\r\n      // was written back last frame (after aim correction), so it carries stale physics\r\n      // noise that would accumulate each frame and cause periodic spin artifacts.\r\n      // transformRotations[index] is read before applyResult runs, so it still holds\r\n      // the correct animated world rotation for this frame.\r\n      worldRot = transformRotations[index];\r\n\r\n      // Aim toward simulated child position, blended back toward the animated direction.\r\n      if (ptR.child !== -1) {\r\n        const childDir = Vector3.sub(positionsToTransform[ptR.child], ptRW.positionToTransform);\r\n        if (childDir.magnitudeSq > EPSILON) {\r\n          const aimVec = worldRot.transform(ptR.boneAxis);\r\n          const aimRot = Quaternion.unitVectorToUnitVector(aimVec, childDir);\r\n          worldRot = Quaternion.slerp(Quaternion.multiply(aimRot, worldRot), worldRot, childBlend);\r\n        }\r\n      }\r\n      results[index] = {\r\n        position: ptRW.positionCurrentTransform,\r\n        rotation: worldRot,\r\n        localRotation: localRot\r\n      };\r\n    }\r\n  }\r\n\r\n  // Post-process: twist correction pass (parent �?child order).\r\n  if (preserveTwist) {\r\n    for (let index = 0; index < pointsR.length; index++) {\r\n      const ptR = pointsR[index];\r\n      if (ptR.weight < EPSILON || ptR.child === -1) {\r\n        continue;\r\n      }\r\n      const result = results[index];\r\n      const parentWorldRot = ptR.parent !== -1 ? results[ptR.parent].rotation : Quaternion.identity();\r\n      const effectiveLocal = Quaternion.multiply(Quaternion.inverse(parentWorldRot), result.rotation);\r\n      const curTwist = new Quaternion();\r\n      effectiveLocal.decomposeSwingTwist(ptR.boneAxis, undefined, curTwist);\r\n      const swingTF = Quaternion.multiply(effectiveLocal, Quaternion.inverse(curTwist));\r\n      const correctedLocal = Quaternion.multiply(swingTF, ptR.initialLocalTwist);\r\n      Quaternion.multiply(parentWorldRot, correctedLocal, result.rotation);\r\n    }\r\n  }\r\n\r\n  return results;\r\n}\r\n\r\n/**\r\n * Applies post-simulation angle limits to the point state.\r\n *\r\n * @public\r\n */\r\nexport function applyAngleLimits(\r\n  pointsR: readonly PointR[],\r\n  pointsRW: PointRW[],\r\n  config: AngleLimitConfig\r\n): void {\r\n  if (config.angleLimit < 0) {\r\n    return;\r\n  }\r\n\r\n  for (let index = 0; index < pointsR.length; index++) {\r\n    const ptR = pointsR[index];\r\n    if (ptR.parent === -1) {\r\n      continue;\r\n    }\r\n    const ptRW = pointsRW[index];\r\n\r\n    const ptRp = pointsR[ptR.parent];\r\n    const ptRWp = pointsRW[ptR.parent];\r\n\r\n    const superParentPos = ptRp.parent !== -1 ? pointsRW[ptRp.parent].positionCurrent : ptRWp.positionCurrent;\r\n\r\n    const boneDir = Vector3.sub(ptRW.positionCurrent, ptRWp.positionCurrent);\r\n    let parentBoneDir = Vector3.sub(ptRWp.positionCurrent, superParentPos);\r\n\r\n    if (parentBoneDir.magnitude === 0 || config.limitFromRoot) {\r\n      parentBoneDir = Vector3.sub(ptRW.positionCurrentTransform, ptRWp.positionCurrentTransform);\r\n    }\r\n\r\n    const angle = Vector3.angleBetween(parentBoneDir, boneDir);\r\n    const remaining = radian2degree(angle) - config.angleLimit;\r\n\r\n    if (remaining > 0) {\r\n      const axis = Vector3.cross(parentBoneDir, boneDir);\r\n      const rotated = Quaternion.fromAxisAngle(axis, degree2radian(-remaining)).transform(boneDir);\r\n      ptRW.positionCurrent = Vector3.add(ptRWp.positionCurrent, rotated);\r\n    }\r\n  }\r\n}\r\n"],"names":["AXIS_Y","Vector3","VEC3_ONE","_computeCapsuleAxis","_computeCapsuleHalfDir","_applySystemTransformOffset","_applySystemTransformRotated","_broadPhaseSegmentDir","_broadPhaseToCenter","_broadPhaseClosestPoint","_broadPhaseDelta","simulate","params","pointsR","pointsRW","constraints","collidersR","collidersRW","grabbersR","grabbersRW","movableLimitTargets","flatPlanes","pointCount","length","positionsToTransform","Array","subSteps","isPaused","fakeWaveFreq","fakeWaveCounter","rootSlideOffset","zero","rootDeltaSlide","sub","rootPosition","previousRootPosition","rootDeltaSlideLen","magnitude","rootSlideLimit","scale","rootRotationOffset","Quaternion","identity","rootDeltaRot","multiply","rootRotation","inverse","previousRootRotation","rotateAngle","Math","acos","max","min","w","PI","rootRotateLimit","abs","sinHalf","sqrt","rotateAxis","x","y","z","axisPY","angle","fromAxisAngle","degree2radian","stepTime","iSubStep","stepDelta","stepTime_x2_half","colliderUpdate","pointUpdatePass1","windForce","fakeWaveSpeed","enableSurfaceCollision","surfaceCollision","surfaceConstraints","fixedPointColliderPushout","iRelax","relaxation","constraintUpdate","constraintShrinkLimit","enableBroadPhase","postCollisionVelocityFix","pointUpdatePass2","blendRatio","isFakeWave","fakeWavePower","computeCapsule","pos","rot","height","head","direction","transform","curPos","curDir","corner","center","tailCorner","tailCenter","i","colR","colRW","ws","worldScale","worldScaleUniform","radius","lerp","positionPreviousTransform","positionCurrentTransform","slerp","directionPreviousTransform","directionCurrentTransform","positionCurrent","directionCurrent","EPSILON","add","boundsCenter","boundsRadius","magnitudeSq","radiusTailScale","set","worldToLocal","transformPointAffine","localBoundsMin","localBoundsMax","setXYZ","applySystemTransform","point","pivot","slideOffset","rotOffset","result","rotated","pointMayCollideBroadPhase","padding","delta","segmentMayCollideBroadPhase","point1","point2","segmentDir","lenSq","toCenter","t","clamp01","dot","closestPoint","currentTransformPos","moveDir","extForce","displacement","restore","tempVec0","tempVec1","planeOffset","index","ptR","ptRW","weight","positionPrevious","windForceScale","mass","gravity","parentLength","maxForceDisp","forceDispSq","resistance","friction","frictionScale","maxVelDisp","velDispSq","hardness","forceFadeRatio","ci","colRci","colRWci","enabled","isInverseCollider","hRes","pushoutFromSphere","pointRadius","pushoutFromCapsule","hit","grabberIndex","grR","grRW","position","normalize","grabberDistance","force","nearIndex","sqrNearRange","ig","sqrLen","movableLimitIndex","target","move","moveLen","movableLimitRadius","fp","dist","normal","distance","surfaceResult","intersectionPoint","pushOut","pointOnCollider","triCenter","pushDir","centerToPt","intersectToPt","pushVec","colliderPos","j","idxA","idxB","idxC","rwA","rwB","rwC","checkSurfaceCollision","pushMag","k","idxR","rwPt","intersectLen","rate","_postFixNormal","_fixedPushResult","pi","res","nx","ny","nz","capsuleVec","capsuleVecLenSq","tx","ty","tz","nLen","surfaceDist","vx","vy","vz","vDotN","dirN","disp","scaledDisp","pointResultA","pointResultB","lineResult","pointOnLine","pushout","segment","pointToA","pointToB","pushN","c","ptRA","indexA","ptRB","indexB","weightA","weightB","shrinkLen","stretchLen","type","ConstraintType","Structural_Horizontal","Bending_Horizontal","Shear","sliderJointLength","isShrink","power","Structural_Vertical","structuralShrinkVertical","structuralStretchVertical","structuralShrinkHorizontal","structuralStretchHorizontal","shearShrink","shearStretch","Bending_Vertical","bendingShrinkVertical","bendingStretchVertical","bendingShrinkHorizontal","bendingStretchHorizontal","wAB","isCollision","canPointA","canPointB","canLine","applyInvertCollision","pushInFromCapsule","pushInFromSphere","lineRes","collisionDetection","pushDist","ptDist","rateP1","rateP2","dotUp","freq","curTransformPos","fakeWindOffset","blend","smoothStep","positionToTransform","child","parent","A","B","mAxis","Matrix4x4","lookAt","col1","getCol","xyz","fakeWindDirection","sin","clone","applyResult","transformRotations","transformLocalRotations","preserveTwist","results","worldRot","localRot","realLen","directionPrevious","initialLocalRotation","parentRot","rotation","childDir","aimVec","boneAxis","aimRot","unitVectorToUnitVector","localRotation","childBlend","parentWorldRot","effectiveLocal","curTwist","decomposeSwingTwist","undefined","swingTF","correctedLocal","initialLocalTwist","applyAngleLimits","config","angleLimit","ptRp","ptRWp","superParentPos","boneDir","parentBoneDir","limitFromRoot","angleBetween","remaining","radian2degree","axis","cross"],"mappings":";;;;AAAA;AAmCA,MAAMA,MAAS,GAAA,IAAIC,OAAQ,CAAA,CAAA,EAAG,CAAG,EAAA,CAAA,CAAA;AACjC,MAAMC,QAAW,GAAA,IAAID,OAAQ,CAAA,CAAA,EAAG,CAAG,EAAA,CAAA,CAAA;AACnC,MAAME,sBAAsB,IAAIF,OAAAA,EAAAA;AAChC,MAAMG,yBAAyB,IAAIH,OAAAA,EAAAA;AACnC,MAAMI,8BAA8B,IAAIJ,OAAAA,EAAAA;AACxC,MAAMK,+BAA+B,IAAIL,OAAAA,EAAAA;AACzC,MAAMM,wBAAwB,IAAIN,OAAAA,EAAAA;AAClC,MAAMO,sBAAsB,IAAIP,OAAAA,EAAAA;AAChC,MAAMQ,0BAA0B,IAAIR,OAAAA,EAAAA;AACpC,MAAMS,mBAAmB,IAAIT,OAAAA,EAAAA;AAoD7B;;;;;IAMO,SAASU,QACdC,CAAAA,MAAwB,EACxBC,OAA0B,EAC1BC,QAAmB,EACnBC,WAAkC,EAClCC,UAAgC,EAChCC,WAAyB,EACzBC,SAA8B,EAC9BC,UAAgC,EAChCC,mBAAuC,EACvCC,UAAgC,EAAA;IAEhC,MAAMC,UAAAA,GAAaT,QAAQU,MAAM;IACjC,MAAMC,oBAAAA,GAAkC,IAAIC,KAAMH,CAAAA,UAAAA,CAAAA;IAElD,IAAII,QAAAA,GAAWd,OAAOc,QAAQ;IAC9B,IAAId,MAAAA,CAAOe,QAAQ,EAAE;QACnBD,QAAW,GAAA,CAAA;AACb;IAEA,IAAIE,YAAAA,GAAehB,OAAOiB,eAAe;;IAGzC,IAAIC,eAAAA,GAAkB7B,QAAQ8B,IAAI,EAAA;IAClC,MAAMC,cAAAA,GAAiB/B,QAAQgC,GAAG,CAACrB,OAAOsB,YAAY,EAAEtB,OAAOuB,oBAAoB,CAAA;IACnF,MAAMC,iBAAAA,GAAoBJ,eAAeK,SAAS;AAClD,IAAA,IAAIzB,OAAO0B,cAAc,IAAI,KAAKF,iBAAoBxB,GAAAA,MAAAA,CAAO0B,cAAc,EAAE;QAC3ER,eAAkB7B,GAAAA,OAAAA,CAAQsC,KAAK,CAC7BP,cACA,EAAC,CAAA,GAAA,GAAMpB,MAAO0B,CAAAA,cAAc,GAAGF,iBAAgB,IAAKV,QAAAA,CAAAA;AAExD;;IAGA,IAAIc,kBAAAA,GAAqBC,WAAWC,QAAQ,EAAA;IAC5C,MAAMC,YAAAA,GAAeF,UAAWG,CAAAA,QAAQ,CACtChC,MAAAA,CAAOiC,YAAY,EACnBJ,UAAWK,CAAAA,OAAO,CAAClC,MAAAA,CAAOmC,oBAAoB,CAAA,CAAA;IAEhD,IAAIC,WAAAA,GAAcC,KAAKC,IAAI,CAACD,KAAKE,GAAG,CAAC,EAAIF,EAAAA,IAAAA,CAAKG,GAAG,CAAC,CAAA,EAAGT,aAAaU,CAAC,CAAA,CAAA,CAAA,GAAM,OAAO,GAAA,GAAMJ,IAAKK,CAAAA,EAAE,CAAD;AAC5F,IAAA,IAAIN,cAAc,GAAK,EAAA;QACrBA,WAAe,IAAA,GAAA;AACjB;IAEA,IAAIpC,MAAAA,CAAO2C,eAAe,IAAI,CAAKN,IAAAA,IAAAA,CAAKO,GAAG,CAACR,WAAAA,CAAAA,GAAepC,MAAO2C,CAAAA,eAAe,EAAE;;AAEjF,QAAA,MAAME,OAAUR,GAAAA,IAAAA,CAAKS,IAAI,CAACT,IAAKE,CAAAA,GAAG,CAAC,CAAA,EAAG,CAAIR,GAAAA,YAAAA,CAAaU,CAAC,GAAGV,aAAaU,CAAC,CAAA,CAAA;QACzE,IAAIM,UAAAA;AACJ,QAAA,IAAIF,UAAU,MAAQ,EAAA;AACpBE,YAAAA,UAAAA,GAAa,IAAI1D,OAAAA,CAAQ0C,YAAaiB,CAAAA,CAAC,GAAGH,OAAAA,EAASd,YAAakB,CAAAA,CAAC,GAAGJ,OAAAA,EAASd,YAAamB,CAAAA,CAAC,GAAGL,OAAAA,CAAAA;SACzF,MAAA;AACLE,YAAAA,UAAAA,GAAa1D,QAAQ8D,MAAM,EAAA;AAC7B;QACA,IAAIC,KAAAA,GAAQhB,cAAc,CAAIA,GAAAA,WAAAA,GAAcpC,OAAO2C,eAAe,GAAGP,WAAcpC,GAAAA,MAAAA,CAAO2C,eAAe;QACzGS,KAAStC,IAAAA,QAAAA;AACTc,QAAAA,kBAAAA,GAAqBC,UAAWwB,CAAAA,aAAa,CAACN,UAAAA,EAAYO,aAAcF,CAAAA,KAAAA,CAAAA,CAAAA;AAC1E;IAEA,IAAIpD,MAAAA,CAAOe,QAAQ,EAAE;QACnBG,eAAkBE,GAAAA,cAAAA;QAClBQ,kBAAqBG,GAAAA,YAAAA;AACvB;IAEA,MAAMwB,QAAAA,GAAWvD,MAAOuD,CAAAA,QAAQ,GAAGzC,QAAAA;AAEnC,IAAA,IAAK,IAAI0C,QAAAA,GAAW,CAAGA,EAAAA,QAAAA,IAAY1C,UAAU0C,QAAY,EAAA,CAAA;AACvD,QAAA,MAAMC,YAAYD,QAAW1C,GAAAA,QAAAA;QAC7B,MAAM4C,gBAAAA,GAAmBH,WAAWA,QAAW,GAAA,GAAA;AAE/CI,QAAAA,cAAAA,CAAevD,YAAYC,WAAaoD,EAAAA,SAAAA,CAAAA;AACxCG,QAAAA,gBAAAA,CACE3D,SACAC,QACAuD,EAAAA,SAAAA,EACAC,kBACAxC,eACAU,EAAAA,kBAAAA,EACA5B,OAAOsB,YAAY,EACnBtB,OAAO6D,SAAS,EAChB7D,OAAOe,QAAQ,EACfT,WACAC,UACAC,EAAAA,mBAAAA,EACAC,YACAL,UACAC,EAAAA,WAAAA,CAAAA;QAGF,IAAI,CAACL,MAAOe,CAAAA,QAAQ,EAAE;YACpBC,YAAgBhB,IAAAA,MAAAA,CAAO8D,aAAa,GAAGP,QAAAA;YAEvC,IAAIvD,MAAAA,CAAO+D,sBAAsB,EAAE;AACjCC,gBAAAA,gBAAAA,CAAiB9D,QAAUE,EAAAA,UAAAA,EAAYC,WAAaL,EAAAA,MAAAA,CAAOiE,kBAAkB,CAAA;AAC/E;;;;;;;;;;YAWAC,yBAA0BjE,CAAAA,OAAAA,EAASC,UAAUE,UAAYC,EAAAA,WAAAA,CAAAA;YAEzD,IAAK,IAAI8D,SAASnE,MAAOoE,CAAAA,UAAU,GAAG,CAAGD,EAAAA,MAAAA,IAAU,CAAG,EAAA,EAAEA,MAAQ,CAAA;gBAC9DE,gBACEpE,CAAAA,OAAAA,EACAC,UACAC,WACAC,EAAAA,UAAAA,EACAC,aACAL,MAAOsE,CAAAA,qBAAqB,EAC5BtE,MAAAA,CAAOuE,gBAAgB,CAAA;AAE3B;;;;;;YAOAC,wBAAyBvE,CAAAA,OAAAA,EAASC,UAAUE,UAAYC,EAAAA,WAAAA,CAAAA;AAC1D;AAEAoE,QAAAA,gBAAAA,CACExE,OACAC,EAAAA,QAAAA,EACAU,oBACA6C,EAAAA,SAAAA,EACAzC,YACAhB,EAAAA,MAAAA,CAAO0E,UAAU,EACjB1E,MAAO2E,CAAAA,UAAU,EACjB3E,MAAAA,CAAO4E,aAAa,CAAA;AAExB;IAEA,OAAO;AAAEhE,QAAAA,oBAAAA;QAAsBK,eAAiBD,EAAAA;AAAa,KAAA;AAC/D;AAEA,SAAS6D,cAAAA,CACPC,GAAY,EACZC,GAAe,EACfC,MAAc,EACdC,IAAa,EACbC,SAAkB,EAAA;AAElBH,IAAAA,GAAAA,CAAII,SAAS,CAAC9F,OAAAA,CAAQsC,KAAK,CAACvC,MAAAA,EAAQ4F,QAAQzF,mBAAsB2F,CAAAA,EAAAA,SAAAA,CAAAA;IAClE7F,OAAQsC,CAAAA,KAAK,CAACuD,SAAAA,EAAW,GAAK1F,EAAAA,sBAAAA,CAAAA;IAC9BH,OAAQgC,CAAAA,GAAG,CAACyD,GAAAA,EAAKtF,sBAAwByF,EAAAA,IAAAA,CAAAA;AAC3C;AAEA,SAAStB,cAAevD,CAAAA,UAAgC,EAAEC,WAAyB,EAAEoD,SAAiB,EAAA;AACpG,IAAA,MAAM2B,SAAS,IAAI/F,OAAAA,EAAAA;AACnB,IAAA,MAAMgG,SAAS,IAAIxD,UAAAA,EAAAA;AACnB,IAAA,MAAMyD,SAAS,IAAIjG,OAAAA,EAAAA;AACnB,IAAA,MAAMkG,SAAS,IAAIlG,OAAAA,EAAAA;AACnB,IAAA,MAAMmG,aAAa,IAAInG,OAAAA,EAAAA;AACvB,IAAA,MAAMoG,aAAa,IAAIpG,OAAAA,EAAAA;AACvB,IAAA,IAAK,IAAIqG,CAAI,GAAA,CAAA,EAAGA,IAAItF,UAAWO,CAAAA,MAAM,EAAE+E,CAAK,EAAA,CAAA;QAC1C,MAAMC,IAAAA,GAAOvF,UAAU,CAACsF,CAAE,CAAA;QAC1B,MAAME,KAAAA,GAAQvF,WAAW,CAACqF,CAAE,CAAA;;;QAG5B,MAAMG,EAAAA,GAAKD,MAAME,UAAU;AAC3B,QAAA,MAAMC,iBAAoB,GAACF,CAAAA,EAAAA,CAAG7C,CAAC,GAAG6C,EAAG5C,CAAAA,CAAC,GAAG4C,EAAAA,CAAG3C,CAAAA,IAAK,CAAA;AACjD0C,QAAAA,KAAAA,CAAMI,MAAM,GAAGL,IAAKK,CAAAA,MAAM,GAAGD,iBAAAA;QAE7B1G,OAAQ4G,CAAAA,IAAI,CAACL,KAAMM,CAAAA,yBAAyB,EAAEN,KAAMO,CAAAA,wBAAwB,EAAE1C,SAAW2B,EAAAA,MAAAA,CAAAA;QACzFvD,UAAWuE,CAAAA,KAAK,CAACR,KAAMS,CAAAA,0BAA0B,EAAET,KAAMU,CAAAA,yBAAyB,EAAE7C,SAAW4B,EAAAA,MAAAA,CAAAA;QAE/FR,cAAeO,CAAAA,MAAAA,EAAQC,QAAQM,IAAKX,CAAAA,MAAM,EAAEY,KAAMW,CAAAA,eAAe,EAAEX,KAAAA,CAAMY,gBAAgB,CAAA;QACzF,IAAIb,IAAAA,CAAKX,MAAM,GAAGyB,OAAS,EAAA;AACzBpH,YAAAA,OAAAA,CAAQsC,KAAK,CAACiE,KAAMY,CAAAA,gBAAgB,EAAE,GAAKhH,EAAAA,sBAAAA,CAAAA;AAC3CH,YAAAA,OAAAA,CAAQqH,GAAG,CAACd,KAAAA,CAAMW,eAAe,EAAE/G,sBAAAA,EAAwBoG,MAAMe,YAAY,CAAA;YAC7Ef,KAAMgB,CAAAA,YAAY,GAChBvE,IAAKS,CAAAA,IAAI,CAAC8C,KAAMY,CAAAA,gBAAgB,CAACK,WAAW,CAAA,GAAI,MAChDxE,IAAKE,CAAAA,GAAG,CAACqD,KAAMI,CAAAA,MAAM,EAAEJ,KAAMI,CAAAA,MAAM,GAAGL,IAAAA,CAAKmB,eAAe,CAAA;SACvD,MAAA;AACLlB,YAAAA,KAAAA,CAAMe,YAAY,CAACI,GAAG,CAACnB,MAAMW,eAAe,CAAA;YAC5CX,KAAMgB,CAAAA,YAAY,GAAGhB,KAAAA,CAAMI,MAAM;AACnC;;AAGA3G,QAAAA,OAAAA,CAAQsC,KAAK,CAACrC,QAAUqG,EAAAA,IAAAA,CAAKK,MAAM,EAAEV,MAAAA,CAAAA;AACrCM,QAAAA,KAAAA,CAAMoB,YAAY,CAACC,oBAAoB,CAACrB,KAAAA,CAAMW,eAAe,EAAEhB,MAAAA,CAAAA;AAC/DlG,QAAAA,OAAAA,CAAQgC,GAAG,CAACkE,MAAQD,EAAAA,MAAAA,EAAQM,MAAMsB,cAAc,CAAA;AAChD7H,QAAAA,OAAAA,CAAQqH,GAAG,CAACnB,MAAQD,EAAAA,MAAAA,EAAQM,MAAMuB,cAAc,CAAA;QAEhD,IAAIxB,IAAAA,CAAKX,MAAM,GAAGyB,OAAS,EAAA;YACzBpH,OAAQsC,CAAAA,KAAK,CAACrC,QAAUqG,EAAAA,IAAAA,CAAKK,MAAM,GAAGL,IAAAA,CAAKmB,eAAe,EAAEtB,UAAAA,CAAAA;AAC5DnG,YAAAA,OAAAA,CAAQqH,GAAG,CAACd,KAAAA,CAAMW,eAAe,EAAEX,KAAAA,CAAMY,gBAAgB,EAAEf,UAAAA,CAAAA;AAC3DG,YAAAA,KAAAA,CAAMoB,YAAY,CAACC,oBAAoB,CAACxB,UAAYA,EAAAA,UAAAA,CAAAA;YACpDG,KAAMsB,CAAAA,cAAc,CAACE,MAAM,CACzB/E,KAAKG,GAAG,CAACoD,MAAMsB,cAAc,CAAClE,CAAC,EAAEyC,UAAAA,CAAWzC,CAAC,GAAGwC,UAAAA,CAAWxC,CAAC,CAC5DX,EAAAA,IAAAA,CAAKG,GAAG,CAACoD,KAAAA,CAAMsB,cAAc,CAACjE,CAAC,EAAEwC,UAAWxC,CAAAA,CAAC,GAAGuC,UAAWvC,CAAAA,CAAC,GAC5DZ,IAAKG,CAAAA,GAAG,CAACoD,KAAMsB,CAAAA,cAAc,CAAChE,CAAC,EAAEuC,WAAWvC,CAAC,GAAGsC,WAAWtC,CAAC,CAAA,CAAA;YAE9D0C,KAAMuB,CAAAA,cAAc,CAACC,MAAM,CACzB/E,KAAKE,GAAG,CAACqD,MAAMuB,cAAc,CAACnE,CAAC,EAAEyC,UAAAA,CAAWzC,CAAC,GAAGwC,UAAAA,CAAWxC,CAAC,CAC5DX,EAAAA,IAAAA,CAAKE,GAAG,CAACqD,KAAAA,CAAMuB,cAAc,CAAClE,CAAC,EAAEwC,UAAWxC,CAAAA,CAAC,GAAGuC,UAAWvC,CAAAA,CAAC,GAC5DZ,IAAKE,CAAAA,GAAG,CAACqD,KAAMuB,CAAAA,cAAc,CAACjE,CAAC,EAAEuC,WAAWvC,CAAC,GAAGsC,WAAWtC,CAAC,CAAA,CAAA;AAEhE;AACF;AACF;AAEA,SAASmE,oBAAAA,CACPC,KAAc,EACdC,KAAc,EACdC,WAAoB,EACpBC,SAAqB,EACrBC,MAAgB,EAAA;IAEhB,MAAMC,OAAAA,GAAUF,SAAUtC,CAAAA,SAAS,CACjC9F,OAAAA,CAAQgC,GAAG,CAACiG,KAAAA,EAAOC,KAAO9H,EAAAA,2BAAAA,CAAAA,EAC1BiI,MAAUhI,IAAAA,4BAAAA,CAAAA;IAEZL,OAAQqH,CAAAA,GAAG,CAACiB,OAAAA,EAASJ,KAAOI,EAAAA,OAAAA,CAAAA;AAC5B,IAAA,OAAOtI,OAAQqH,CAAAA,GAAG,CAACiB,OAAAA,EAASH,WAAaG,EAAAA,OAAAA,CAAAA;AAC3C;AAEA,SAASC,0BAA0BN,KAAc,EAAE1B,KAAiB,EAAEiC,UAAU,CAAC,EAAA;IAC/E,MAAM7B,MAAAA,GAASJ,KAAMgB,CAAAA,YAAY,GAAGiB,OAAAA;AACpC,IAAA,MAAMC,QAAQzI,OAAQgC,CAAAA,GAAG,CAACiG,KAAO1B,EAAAA,KAAAA,CAAMe,YAAY,EAAE7G,gBAAAA,CAAAA;IACrD,OAAOgI,KAAAA,CAAMjB,WAAW,IAAIb,MAASA,GAAAA,MAAAA;AACvC;AAEA,SAAS+B,2BAA4BC,CAAAA,MAAe,EAAEC,MAAe,EAAErC,KAAiB,EAAA;AACtF,IAAA,MAAMsC,UAAa7I,GAAAA,OAAAA,CAAQgC,GAAG,CAAC4G,QAAQD,MAAQrI,EAAAA,qBAAAA,CAAAA;IAC/C,MAAMwI,KAAAA,GAAQD,WAAWrB,WAAW;AACpC,IAAA,IAAIsB,SAAS1B,OAAS,EAAA;AACpB,QAAA,OAAOmB,0BAA0BI,MAAQpC,EAAAA,KAAAA,CAAAA;AAC3C;AACA,IAAA,MAAMwC,WAAW/I,OAAQgC,CAAAA,GAAG,CAACuE,KAAMe,CAAAA,YAAY,EAAEqB,MAAQpI,EAAAA,mBAAAA,CAAAA;AACzD,IAAA,MAAMyI,IAAIC,OAAQjJ,CAAAA,OAAAA,CAAQkJ,GAAG,CAACH,UAAUF,UAAcC,CAAAA,GAAAA,KAAAA,CAAAA;AACtD,IAAA,MAAMK,YAAenJ,GAAAA,OAAAA,CAAQsC,KAAK,CAACuG,YAAYG,CAAGxI,EAAAA,uBAAAA,CAAAA;IAClDR,OAAQqH,CAAAA,GAAG,CAACsB,MAAAA,EAAQQ,YAAcA,EAAAA,YAAAA,CAAAA;AAClC,IAAA,MAAMV,QAAQzI,OAAQgC,CAAAA,GAAG,CAACuE,KAAMe,CAAAA,YAAY,EAAE6B,YAAc1I,EAAAA,gBAAAA,CAAAA;AAC5D,IAAA,OAAOgI,MAAMjB,WAAW,IAAIjB,MAAMgB,YAAY,GAAGhB,MAAMgB,YAAY;AACrE;AAEA;AAEA,SAAShD,gBACP3D,CAAAA,OAA0B,EAC1BC,QAAmB,EACnBuD,SAAiB,EACjBC,gBAAwB,EACxBxC,eAAwB,EACxBU,kBAA8B,EAC9BN,YAAqB,EACrBuC,SAAkB,EAClB9C,QAAiB,EACjBT,SAA8B,EAC9BC,UAAgC,EAChCC,mBAAuC,EACvCC,UAAgC,EAChCL,UAAgC,EAChCC,WAAkC,EAAA;AAElC,IAAA,MAAMoI,sBAAsB,IAAIpJ,OAAAA,EAAAA;AAChC,IAAA,MAAMqJ,UAAU,IAAIrJ,OAAAA,EAAAA;AACpB,IAAA,MAAMsJ,WAAW,IAAItJ,OAAAA,EAAAA;AACrB,IAAA,MAAMuJ,eAAe,IAAIvJ,OAAAA,EAAAA;AACzB,IAAA,MAAMwJ,UAAU,IAAIxJ,OAAAA,EAAAA;AACpB,IAAA,MAAMyJ,WAAW,IAAIzJ,OAAAA,EAAAA;AACrB,IAAA,MAAM0J,WAAW,IAAI1J,OAAAA,EAAAA;AACrB,IAAA,MAAM2J,cAAc,IAAI3J,OAAAA,EAAAA;AACxB,IAAA,IAAK,IAAI4J,KAAQ,GAAA,CAAA,EAAGA,QAAQhJ,OAAQU,CAAAA,MAAM,EAAEsI,KAAS,EAAA,CAAA;QACnD,MAAMC,GAAAA,GAAMjJ,OAAO,CAACgJ,KAAM,CAAA;QAC1B,MAAME,IAAAA,GAAOjJ,QAAQ,CAAC+I,KAAM,CAAA;QAE5B5J,OAAQ4G,CAAAA,IAAI,CACVkD,IAAKjD,CAAAA,yBAAyB,EAC9BiD,IAAKhD,CAAAA,wBAAwB,EAC7B1C,SACAgF,EAAAA,mBAAAA,CAAAA;QAGF,IAAIS,GAAAA,CAAIE,MAAM,IAAI3C,OAAS,EAAA;AACzB0C,YAAAA,IAAAA,CAAKE,gBAAgB,CAACtC,GAAG,CAACoC,KAAK5C,eAAe,CAAA;YAC9C4C,IAAK5C,CAAAA,eAAe,CAACQ,GAAG,CAAC0B,mBAAAA,CAAAA;SACpB,MAAA;AACLpB,YAAAA,oBAAAA,CACE8B,KAAKE,gBAAgB,EACrB/H,cACAJ,eACAU,EAAAA,kBAAAA,EACAuH,KAAKE,gBAAgB,CAAA;AAEvBhC,YAAAA,oBAAAA,CACE8B,KAAK5C,eAAe,EACpBjF,cACAJ,eACAU,EAAAA,kBAAAA,EACAuH,KAAK5C,eAAe,CAAA;YAGtBqC,YAAaxB,CAAAA,MAAM,CAAC,CAAA,EAAG,CAAG,EAAA,CAAA,CAAA;AAC1B,YAAA,IAAI,CAACrG,QAAU,EAAA;AACb1B,gBAAAA,OAAAA,CAAQgC,GAAG,CAAC8H,IAAAA,CAAK5C,eAAe,EAAE4C,IAAAA,CAAKE,gBAAgB,EAAEX,OAAAA,CAAAA;gBACzDrJ,OAAQsC,CAAAA,KAAK,CAACkC,SAAWqF,EAAAA,GAAAA,CAAII,cAAc,GAAGJ,GAAAA,CAAIK,IAAI,EAAEZ,QAAAA,CAAAA;AACxDtJ,gBAAAA,OAAAA,CAAQqH,GAAG,CAACwC,GAAIM,CAAAA,OAAO,EAAEb,QAAUA,EAAAA,QAAAA,CAAAA;gBACnCtJ,OAAQsC,CAAAA,KAAK,CAACgH,QAAAA,EAAUjF,gBAAkBiF,EAAAA,QAAAA,CAAAA;;;;;gBAM1C,IAAIO,GAAAA,CAAIO,YAAY,GAAGhD,OAAS,EAAA;oBAC9B,MAAMiD,YAAAA,GAAeR,GAAIO,CAAAA,YAAY,GAAG,GAAA;oBACxC,MAAME,WAAAA,GAAchB,SAAS9B,WAAW;oBACxC,IAAI8C,WAAAA,GAAcD,eAAeA,YAAc,EAAA;AAC7CrK,wBAAAA,OAAAA,CAAQsC,KAAK,CAACgH,QAAAA,EAAUe,eAAerH,IAAKS,CAAAA,IAAI,CAAC6G,WAAchB,CAAAA,EAAAA,QAAAA,CAAAA;AACjE;AACF;;;;AAKAtJ,gBAAAA,OAAAA,CAAQsC,KAAK,CAAC+G,OAASQ,EAAAA,GAAAA,CAAIU,UAAU,EAAElB,OAAAA,CAAAA;gBACvCrJ,OAAQsC,CAAAA,KAAK,CAAC+G,OAAAA,EAAS,GAAMJ,GAAAA,OAAAA,CAAQa,KAAKU,QAAQ,GAAGX,GAAIY,CAAAA,aAAa,CAAGpB,EAAAA,OAAAA,CAAAA;;;;;;gBAOzE,IAAIQ,GAAAA,CAAIO,YAAY,GAAGhD,OAAS,EAAA;oBAC9B,MAAMsD,UAAAA,GAAab,GAAIO,CAAAA,YAAY,GAAG,GAAA;oBACtC,MAAMO,SAAAA,GAAYtB,QAAQ7B,WAAW;oBACrC,IAAImD,SAAAA,GAAYD,aAAaA,UAAY,EAAA;AACvC1K,wBAAAA,OAAAA,CAAQsC,KAAK,CAAC+G,OAAAA,EAASqB,aAAa1H,IAAKS,CAAAA,IAAI,CAACkH,SAAYtB,CAAAA,EAAAA,OAAAA,CAAAA;AAC5D;AACF;gBAEArJ,OAAQqH,CAAAA,GAAG,CAACgC,OAAAA,EAASC,QAAUC,EAAAA,YAAAA,CAAAA;AACjC;AAEAO,YAAAA,IAAAA,CAAKE,gBAAgB,CAACtC,GAAG,CAACoC,KAAK5C,eAAe,CAAA;AAC9ClH,YAAAA,OAAAA,CAAQqH,GAAG,CAACyC,IAAAA,CAAK5C,eAAe,EAAEqC,YAAAA,EAAcO,KAAK5C,eAAe,CAAA;AACpE4C,YAAAA,IAAAA,CAAKU,QAAQ,GAAG,CAAA;AAEhB,YAAA,IAAI,CAAC9I,QAAU,EAAA;;gBAEb,IAAImI,GAAAA,CAAIe,QAAQ,GAAG,CAAG,EAAA;AACpB5K,oBAAAA,OAAAA,CAAQgC,GAAG,CAACoH,mBAAqBU,EAAAA,IAAAA,CAAK5C,eAAe,EAAEsC,OAAAA,CAAAA;AACvDxJ,oBAAAA,OAAAA,CAAQsC,KAAK,CAACkH,OAASK,EAAAA,GAAAA,CAAIe,QAAQ,EAAEpB,OAAAA,CAAAA;AACrCxJ,oBAAAA,OAAAA,CAAQqH,GAAG,CAACyC,IAAAA,CAAK5C,eAAe,EAAEsC,OAAAA,EAASM,KAAK5C,eAAe,CAAA;AACjE;;gBAEA,IAAI2C,GAAAA,CAAIgB,cAAc,GAAG,CAAG,EAAA;oBAC1B7K,OAAQ4G,CAAAA,IAAI,CAACkD,IAAAA,CAAK5C,eAAe,EAAEkC,qBAAqBS,GAAIgB,CAAAA,cAAc,EAAEf,IAAAA,CAAK5C,eAAe,CAAA;AAClG;;;;AAIA,gBAAA,IAAK,IAAI4D,EAAK,GAAA,CAAA,EAAGA,KAAK/J,UAAWO,CAAAA,MAAM,EAAEwJ,EAAM,EAAA,CAAA;oBAC7C,MAAMC,MAAAA,GAAShK,UAAU,CAAC+J,EAAG,CAAA;oBAC7B,MAAME,OAAAA,GAAUhK,WAAW,CAAC8J,EAAG,CAAA;AAC/B,oBAAA,IAAIE,QAAQC,OAAO,KAAK,CAAKF,IAAAA,MAAAA,CAAOG,iBAAiB,EAAE;AACrD,wBAAA;AACF;oBACA,MAAMC,IAAAA,GACJJ,OAAOpF,MAAM,IAAIyB,UACbgE,iBACEJ,CAAAA,OAAAA,CAAQ9D,eAAe,EACvB8D,OAAQrE,CAAAA,MAAM,EACdkD,GAAIwB,CAAAA,WAAW,EACfvB,IAAAA,CAAK5C,eAAe,CAAA,GAEtBoE,mBAAmBP,MAAQC,EAAAA,OAAAA,EAASlB,IAAK5C,CAAAA,eAAe,EAAE2C,GAAAA,CAAAA;oBAChE,IAAIsB,IAAAA,CAAKI,GAAG,EAAE;AACZzB,wBAAAA,IAAAA,CAAK5C,eAAe,CAACQ,GAAG,CAACyD,KAAKlD,KAAK,CAAA;AACrC;AACF;;AAEA,gBAAA,IAAI6B,IAAK0B,CAAAA,YAAY,KAAK,EAAI,EAAA;AAC5B,oBAAA,MAAMC,GAAMxK,GAAAA,SAAS,CAAC6I,IAAAA,CAAK0B,YAAY,CAAC;AACxC,oBAAA,MAAME,IAAOxK,GAAAA,UAAU,CAAC4I,IAAAA,CAAK0B,YAAY,CAAC;oBAC1C,IAAIE,IAAAA,CAAKT,OAAO,KAAK,CAAG,EAAA;wBACtBnB,IAAK0B,CAAAA,YAAY,GAAG,EAAC;qBAChB,MAAA;AACLxL,wBAAAA,OAAAA,CAAQgC,GAAG,CAAC8H,IAAAA,CAAK5C,eAAe,EAAEwE,IAAAA,CAAKC,QAAQ,EAAElC,QAAAA,CAAAA;wBACjDzJ,OAAQ4L,CAAAA,SAAS,CAACnC,QAAUA,EAAAA,QAAAA,CAAAA;AAC5BzJ,wBAAAA,OAAAA,CAAQsC,KAAK,CAACmH,QAAUK,EAAAA,IAAAA,CAAK+B,eAAe,EAAEnC,QAAAA,CAAAA;AAC9C1J,wBAAAA,OAAAA,CAAQqH,GAAG,CAACqE,IAAKC,CAAAA,QAAQ,EAAEjC,QAAUA,EAAAA,QAAAA,CAAAA;AACrC1J,wBAAAA,OAAAA,CAAQgC,GAAG,CAAC0H,QAAUI,EAAAA,IAAAA,CAAK5C,eAAe,EAAEuC,QAAAA,CAAAA;AAC5CzJ,wBAAAA,OAAAA,CAAQsC,KAAK,CAACmH,QAAUgC,EAAAA,GAAAA,CAAIK,KAAK,EAAErC,QAAAA,CAAAA;AACnCzJ,wBAAAA,OAAAA,CAAQqH,GAAG,CAACyC,IAAAA,CAAK5C,eAAe,EAAEuC,QAAAA,EAAUK,KAAK5C,eAAe,CAAA;AAClE;iBACK,MAAA;AACL,oBAAA,IAAI6E,YAAY,EAAC;AACjB,oBAAA,IAAIC,eAAe,IAAO,GAAA,IAAA;AAC1B,oBAAA,IAAK,IAAIC,EAAK,GAAA,CAAA,EAAGA,KAAKhL,SAAUK,CAAAA,MAAM,EAAE2K,EAAM,EAAA,CAAA;wBAC5C,MAAMP,IAAAA,GAAOxK,UAAU,CAAC+K,EAAG,CAAA;wBAC3B,IAAIP,IAAAA,CAAKT,OAAO,KAAK,CAAG,EAAA;4BACtB,MAAMiB,MAAAA,GAASlM,OAAQgC,CAAAA,GAAG,CAAC0J,IAAAA,CAAKC,QAAQ,EAAE7B,IAAK5C,CAAAA,eAAe,EAAEuC,QAAAA,CAAAA,CAAUjC,WAAW;AACrF,4BAAA,IAAI0E,MAASjL,GAAAA,SAAS,CAACgL,EAAAA,CAAG,CAACtF,MAAM,GAAG1F,SAAS,CAACgL,EAAG,CAAA,CAACtF,MAAM,IAAIuF,SAASF,YAAc,EAAA;gCACjFA,YAAeE,GAAAA,MAAAA;gCACfH,SAAYE,GAAAA,EAAAA;AACd;AACF;AACF;oBACA,IAAIF,SAAAA,KAAc,EAAI,EAAA;AACpBjC,wBAAAA,IAAAA,CAAK0B,YAAY,GAAGO,SAAAA;AACpBjC,wBAAAA,IAAAA,CAAK+B,eAAe,GAAG7I,IAAKS,CAAAA,IAAI,CAACuI,YAAgB,CAAA,GAAA,GAAA;AACnD;AACF;;AAEA,gBAAA,IAAInC,GAAIsC,CAAAA,iBAAiB,KAAK,EAAI,EAAA;AAChC,oBAAA,MAAMC,MAASjL,GAAAA,mBAAmB,CAAC0I,GAAAA,CAAIsC,iBAAiB,CAAC;AACzD,oBAAA,MAAME,OAAOrM,OAAQgC,CAAAA,GAAG,CAAC8H,IAAK5C,CAAAA,eAAe,EAAEkF,MAAQ3C,EAAAA,QAAAA,CAAAA;oBACvD,MAAM6C,OAAAA,GAAUD,KAAKjK,SAAS;oBAC9B,IAAIkK,OAAAA,GAAUzC,GAAI0C,CAAAA,kBAAkB,EAAE;AACpCvM,wBAAAA,OAAAA,CAAQsC,KAAK,CAAC+J,IAAAA,EAAMxC,GAAI0C,CAAAA,kBAAkB,GAAGD,OAASD,EAAAA,IAAAA,CAAAA;AACtDrM,wBAAAA,OAAAA,CAAQqH,GAAG,CAAC+E,MAAQC,EAAAA,IAAAA,EAAMvC,KAAK5C,eAAe,CAAA;AAChD;AACF;AACF;;AAGA,YAAA,IAAK,IAAIb,CAAI,GAAA,CAAA,EAAGA,IAAIjF,UAAWE,CAAAA,MAAM,EAAE+E,CAAK,EAAA,CAAA;gBAC1C,MAAMmG,EAAAA,GAAKpL,UAAU,CAACiF,CAAE,CAAA;gBACxB,MAAMoG,IAAAA,GAAOzM,OAAQkJ,CAAAA,GAAG,CAACsD,EAAAA,CAAGE,MAAM,EAAE5C,IAAK5C,CAAAA,eAAe,CAAIsF,GAAAA,EAAAA,CAAGG,QAAQ;AACvE,gBAAA,IAAIF,OAAO,CAAG,EAAA;AACZzM,oBAAAA,OAAAA,CAAQsC,KAAK,CAACkK,EAAGE,CAAAA,MAAM,EAAED,IAAM9C,EAAAA,WAAAA,CAAAA;AAC/B3J,oBAAAA,OAAAA,CAAQgC,GAAG,CAAC8H,IAAAA,CAAK5C,eAAe,EAAEyC,WAAAA,EAAaG,KAAK5C,eAAe,CAAA;AACnE4C,oBAAAA,IAAAA,CAAKU,QAAQ,GAAG,GAAA;AAClB;AACF;AACF;AACF;AACF;AAEA;AAEA,SAAS7F,iBACP9D,QAAmB,EACnBE,UAAgC,EAChCC,WAAyB,EACzB4D,kBAAqC,EAAA;AAErC,IAAA,MAAMgI,aAAoC,GAAA;QACxCrB,GAAK,EAAA,KAAA;AACLsB,QAAAA,iBAAAA,EAAmB,IAAI7M,OAAAA,EAAAA;AACvB8M,QAAAA,OAAAA,EAAS,IAAI9M,OAAAA,EAAAA;AACb+M,QAAAA,eAAAA,EAAiB,IAAI/M,OAAAA,EAAAA;QACrB2G,MAAQ,EAAA;AACV,KAAA;AACA,IAAA,MAAMqG,YAAY,IAAIhN,OAAAA,EAAAA;AACtB,IAAA,MAAMiN,UAAU,IAAIjN,OAAAA,EAAAA;AACpB,IAAA,MAAMkN,aAAa,IAAIlN,OAAAA,EAAAA;AACvB,IAAA,MAAMmN,gBAAgB,IAAInN,OAAAA,EAAAA;AAC1B,IAAA,MAAMoN,UAAU,IAAIpN,OAAAA,EAAAA;IACpB,IAAK,IAAI4J,QAAQ,CAAGA,EAAAA,KAAAA,GAAQhF,mBAAmBtD,MAAM,EAAEsI,SAAS,CAAG,CAAA;AACjE,QAAA,IAAK,IAAIvD,CAAI,GAAA,CAAA,EAAGA,IAAItF,UAAWO,CAAAA,MAAM,EAAE+E,CAAK,EAAA,CAAA;YAC1C,MAAMC,IAAAA,GAAOvF,UAAU,CAACsF,CAAE,CAAA;YAC1B,MAAME,KAAAA,GAAQvF,WAAW,CAACqF,CAAE,CAAA;YAC5B,IAAIE,KAAAA,CAAM0E,OAAO,KAAK,CAAG,EAAA;AACvB,gBAAA;AACF;YAEA,MAAMoC,WAAAA,GAAc9G,MAAMW,eAAe;AAEzC,YAAA,IAAK,IAAIoG,CAAI,GAAA,CAAA,EAAGA,CAAI,GAAA,CAAA,EAAGA,KAAK,CAAG,CAAA;AAC7B,gBAAA,MAAMC,IAAO3I,GAAAA,kBAAkB,CAACgF,KAAAA,GAAQ0D,IAAI,CAAE,CAAA;AAC9C,gBAAA,MAAME,IAAO5I,GAAAA,kBAAkB,CAACgF,KAAAA,GAAQ0D,IAAI,CAAE,CAAA;AAC9C,gBAAA,MAAMG,IAAO7I,GAAAA,kBAAkB,CAACgF,KAAAA,GAAQ0D,IAAI,CAAE,CAAA;gBAE9C,MAAMI,GAAAA,GAAM7M,QAAQ,CAAC0M,IAAK,CAAA;gBAC1B,MAAMI,GAAAA,GAAM9M,QAAQ,CAAC2M,IAAK,CAAA;gBAC1B,MAAMI,GAAAA,GAAM/M,QAAQ,CAAC4M,IAAK,CAAA;AAE1B,gBAAA,MAAMpF,MAASwF,GAAAA,qBAAAA,CACbH,GAAIxG,CAAAA,eAAe,EACnByG,GAAAA,CAAIzG,eAAe,EACnB0G,GAAI1G,CAAAA,eAAe,EACnBmG,WAAAA,EACA/G,MACAC,KACAqG,EAAAA,aAAAA,CAAAA;gBAGF,IAAIvE,MAAAA,CAAOkD,GAAG,EAAE;oBACdyB,SAAUjF,CAAAA,MAAM,CACb2F,CAAAA,GAAAA,CAAIxG,eAAe,CAACvD,CAAC,GAAGgK,GAAIzG,CAAAA,eAAe,CAACvD,CAAC,GAAGiK,GAAI1G,CAAAA,eAAe,CAACvD,CAAC,IAAI,CAC1E,EAAC+J,CAAAA,GAAAA,CAAIxG,eAAe,CAACtD,CAAC,GAAG+J,IAAIzG,eAAe,CAACtD,CAAC,GAAGgK,GAAI1G,CAAAA,eAAe,CAACtD,CAAC,IAAI,CAC1E,EAAC8J,CAAAA,GAAAA,CAAIxG,eAAe,CAACrD,CAAC,GAAG8J,GAAIzG,CAAAA,eAAe,CAACrD,CAAC,GAAG+J,GAAAA,CAAI1G,eAAe,CAACrD,CAAAA,IAAK,CAAA,CAAA;AAE5E,oBAAA,MAAMiK,OAAUzF,GAAAA,MAAAA,CAAOyE,OAAO,CAAC1K,SAAS;AACxC,oBAAA,IAAI0L,UAAU1G,OAAS,EAAA;AACrB,wBAAA;AACF;AACApH,oBAAAA,OAAAA,CAAQsC,KAAK,CAAC+F,MAAAA,CAAOyE,OAAO,EAAE,IAAIgB,OAASb,EAAAA,OAAAA,CAAAA;AAE3C,oBAAA,IAAK,IAAIc,CAAAA,GAAI,CAAGA,EAAAA,CAAAA,GAAI,GAAGA,CAAK,EAAA,CAAA;AAC1B,wBAAA,MAAMC,IAAOpJ,GAAAA,kBAAkB,CAACgF,KAAAA,GAAQ0D,IAAIS,CAAE,CAAA;wBAC9C,MAAME,IAAAA,GAAOpN,QAAQ,CAACmN,IAAK,CAAA;AAC3BhO,wBAAAA,OAAAA,CAAQgC,GAAG,CAACiM,IAAK/G,CAAAA,eAAe,EAAE8F,SAAWE,EAAAA,UAAAA,CAAAA;AAC7ClN,wBAAAA,OAAAA,CAAQgC,GAAG,CAACiM,IAAAA,CAAK/G,eAAe,EAAEmB,MAAAA,CAAOwE,iBAAiB,EAAEM,aAAAA,CAAAA;wBAC5D,MAAMe,YAAAA,GAAef,cAAc/K,SAAS;AAC5C,wBAAA,IAAI+L,OAAOD,YAAe9G,GAAAA,OAAAA,GAAU8F,UAAW9K,CAAAA,SAAS,GAAG8L,YAAe,GAAA,CAAA;wBAC1EC,IAAOlF,GAAAA,OAAAA,CAAQjG,IAAKO,CAAAA,GAAG,CAAC4K,IAAAA,CAAAA,CAAAA;wBACxBnO,OAAQsC,CAAAA,KAAK,CAAC2K,OAAAA,EAAS,CAAC5E,OAAO1B,MAAM,GAAGmH,OAAM,IAAKK,IAAMf,EAAAA,OAAAA,CAAAA;AACzDpN,wBAAAA,OAAAA,CAAQqH,GAAG,CAAC4G,IAAAA,CAAK/G,eAAe,EAAEkG,OAAAA,EAASa,KAAK/G,eAAe,CAAA;AACjE;AACF;AACF;AACF;AACF;AACF;AAEA,MAAMkH,iBAAiB,IAAIpO,OAAAA,EAAAA;AAC3B,MAAMqO,gBAAoC,GAAA;IAAE9C,GAAK,EAAA,KAAA;AAAOtD,IAAAA,KAAAA,EAAO,IAAIjI,OAAAA;AAAU,CAAA;AAE7E;;;;;;;;;;;IAYA,SAAS6E,0BACPjE,OAA0B,EAC1BC,QAAmB,EACnBE,UAAgC,EAChCC,WAAkC,EAAA;AAElC,IAAA,IAAK,IAAIsN,EAAK,GAAA,CAAA,EAAGA,KAAK1N,OAAQU,CAAAA,MAAM,EAAEgN,EAAM,EAAA,CAAA;AAC1C,QAAA,IAAI1N,OAAO,CAAC0N,EAAAA,CAAG,CAACvE,MAAM,GAAG3C,OAAS,EAAA;AAChC,YAAA;AACF;QACA,MAAM0C,IAAAA,GAAOjJ,QAAQ,CAACyN,EAAG,CAAA;QACzB,MAAMzE,GAAAA,GAAMjJ,OAAO,CAAC0N,EAAG,CAAA;AACvB,QAAA,IAAK,IAAIxD,EAAK,GAAA,CAAA,EAAGA,KAAK/J,UAAWO,CAAAA,MAAM,EAAEwJ,EAAM,EAAA,CAAA;YAC7C,MAAMxE,IAAAA,GAAOvF,UAAU,CAAC+J,EAAG,CAAA;YAC3B,MAAMvE,KAAAA,GAAQvF,WAAW,CAAC8J,EAAG,CAAA;AAC7B,YAAA,IAAIvE,MAAM0E,OAAO,KAAK,CAAK3E,IAAAA,IAAAA,CAAK4E,iBAAiB,EAAE;AACjD,gBAAA;AACF;YACA,MAAMqD,GAAAA,GACJjI,IAAKX,CAAAA,MAAM,IAAIyB,OAAAA,GACXgE,kBACE7E,KAAMW,CAAAA,eAAe,EACrBX,KAAAA,CAAMI,MAAM,EACZkD,IAAIwB,WAAW,EACfvB,IAAK5C,CAAAA,eAAe,EACpBmH,gBAAAA,CAAAA,GAEF/C,kBAAmBhF,CAAAA,IAAAA,EAAMC,KAAOuD,EAAAA,IAAAA,CAAK5C,eAAe,EAAE2C,GAAKwE,EAAAA,gBAAAA,CAAAA;YACjE,IAAIE,GAAAA,CAAIhD,GAAG,EAAE;AACXzB,gBAAAA,IAAAA,CAAK5C,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACpC;AACF;AACF;AACF;AAEA;;;;;IAMA,SAAS9C,yBACPvE,OAA0B,EAC1BC,QAAmB,EACnBE,UAAgC,EAChCC,WAAkC,EAAA;AAElC,IAAA,IAAK,IAAIsN,EAAK,GAAA,CAAA,EAAGA,KAAK1N,OAAQU,CAAAA,MAAM,EAAEgN,EAAM,EAAA,CAAA;QAC1C,MAAMzE,GAAAA,GAAMjJ,OAAO,CAAC0N,EAAG,CAAA;QACvB,IAAIzE,GAAAA,CAAIE,MAAM,IAAI3C,OAAS,EAAA;AACzB,YAAA;AACF;QACA,MAAM0C,IAAAA,GAAOjJ,QAAQ,CAACyN,EAAG,CAAA;AAEzB,QAAA,IAAK,IAAIxD,EAAK,GAAA,CAAA,EAAGA,KAAK/J,UAAWO,CAAAA,MAAM,EAAEwJ,EAAM,EAAA,CAAA;YAC7C,MAAMxE,IAAAA,GAAOvF,UAAU,CAAC+J,EAAG,CAAA;YAC3B,MAAMvE,KAAAA,GAAQvF,WAAW,CAAC8J,EAAG,CAAA;AAC7B,YAAA,IAAIvE,MAAM0E,OAAO,KAAK,CAAK3E,IAAAA,IAAAA,CAAK4E,iBAAiB,EAAE;AACjD,gBAAA;AACF;AAEA,YAAA,IAAIsD,EAAK,GAAA,CAAA,EACPC,EAAK,GAAA,CAAA,EACLC,EAAK,GAAA,CAAA;YACP,IAAIpI,IAAAA,CAAKX,MAAM,IAAIyB,OAAS,EAAA;gBAC1BoH,EAAK1E,GAAAA,IAAAA,CAAK5C,eAAe,CAACvD,CAAC,GAAG4C,KAAMW,CAAAA,eAAe,CAACvD,CAAC;gBACrD8K,EAAK3E,GAAAA,IAAAA,CAAK5C,eAAe,CAACtD,CAAC,GAAG2C,KAAMW,CAAAA,eAAe,CAACtD,CAAC;gBACrD8K,EAAK5E,GAAAA,IAAAA,CAAK5C,eAAe,CAACrD,CAAC,GAAG0C,KAAMW,CAAAA,eAAe,CAACrD,CAAC;aAChD,MAAA;gBACL,MAAM8K,UAAAA,GAAapI,MAAMY,gBAAgB;gBACzC,MAAMyH,eAAAA,GAAkBD,WAAWnH,WAAW;AAC9C,gBAAA,IAAIoH,kBAAkBxH,OAAS,EAAA;oBAC7B,MAAMyH,EAAAA,GAAK/E,KAAK5C,eAAe,CAACvD,CAAC,GAAG4C,KAAAA,CAAMW,eAAe,CAACvD,CAAC;oBAC3D,MAAMmL,EAAAA,GAAKhF,KAAK5C,eAAe,CAACtD,CAAC,GAAG2C,KAAAA,CAAMW,eAAe,CAACtD,CAAC;oBAC3D,MAAMmL,EAAAA,GAAKjF,KAAK5C,eAAe,CAACrD,CAAC,GAAG0C,KAAAA,CAAMW,eAAe,CAACrD,CAAC;oBAC3D,MAAMmF,CAAAA,GAAIhG,KAAKE,GAAG,CAChB,GACAF,IAAKG,CAAAA,GAAG,CAAC,CAAA,EAAG,CAAC0L,KAAKF,UAAWhL,CAAAA,CAAC,GAAGmL,EAAAA,GAAKH,UAAW/K,CAAAA,CAAC,GAAGmL,EAAKJ,GAAAA,UAAAA,CAAW9K,CAAAA,IAAK+K,eAAAA,CAAAA,CAAAA;AAE5EJ,oBAAAA,EAAAA,GAAK1E,IAAK5C,CAAAA,eAAe,CAACvD,CAAC,IAAI4C,KAAAA,CAAMW,eAAe,CAACvD,CAAC,GAAGgL,UAAWhL,CAAAA,CAAC,GAAGqF,CAAAA,CAAAA;AACxEyF,oBAAAA,EAAAA,GAAK3E,IAAK5C,CAAAA,eAAe,CAACtD,CAAC,IAAI2C,KAAAA,CAAMW,eAAe,CAACtD,CAAC,GAAG+K,UAAW/K,CAAAA,CAAC,GAAGoF,CAAAA,CAAAA;AACxE0F,oBAAAA,EAAAA,GAAK5E,IAAK5C,CAAAA,eAAe,CAACrD,CAAC,IAAI0C,KAAAA,CAAMW,eAAe,CAACrD,CAAC,GAAG8K,UAAW9K,CAAAA,CAAC,GAAGmF,CAAAA,CAAAA;iBACnE,MAAA;oBACLwF,EAAK1E,GAAAA,IAAAA,CAAK5C,eAAe,CAACvD,CAAC,GAAG4C,KAAMW,CAAAA,eAAe,CAACvD,CAAC;oBACrD8K,EAAK3E,GAAAA,IAAAA,CAAK5C,eAAe,CAACtD,CAAC,GAAG2C,KAAMW,CAAAA,eAAe,CAACtD,CAAC;oBACrD8K,EAAK5E,GAAAA,IAAAA,CAAK5C,eAAe,CAACrD,CAAC,GAAG0C,KAAMW,CAAAA,eAAe,CAACrD,CAAC;AACvD;AACF;YAEA,MAAMmL,IAAAA,GAAOhM,KAAKS,IAAI,CAAC+K,KAAKA,EAAKC,GAAAA,EAAAA,GAAKA,KAAKC,EAAKA,GAAAA,EAAAA,CAAAA;AAChD,YAAA,IAAIM,OAAO5H,OAAS,EAAA;AAClB,gBAAA;AACF;AAEA,YAAA,MAAM6H,cAAcD,IAAOzI,GAAAA,KAAAA,CAAMI,MAAM,GAAGkD,IAAIwB,WAAW;AACzD,YAAA,IAAI4D,WAAc1I,GAAAA,KAAAA,CAAMI,MAAM,GAAG,IAAM,EAAA;AACrC,gBAAA;AACF;AAEAyH,YAAAA,cAAAA,CAAerG,MAAM,CAACyG,EAAAA,GAAKQ,IAAMP,EAAAA,EAAAA,GAAKO,MAAMN,EAAKM,GAAAA,IAAAA,CAAAA;YACjD,MAAME,EAAAA,GAAKpF,KAAK5C,eAAe,CAACvD,CAAC,GAAGmG,IAAAA,CAAKE,gBAAgB,CAACrG,CAAC;YAC3D,MAAMwL,EAAAA,GAAKrF,KAAK5C,eAAe,CAACtD,CAAC,GAAGkG,IAAAA,CAAKE,gBAAgB,CAACpG,CAAC;YAC3D,MAAMwL,EAAAA,GAAKtF,KAAK5C,eAAe,CAACrD,CAAC,GAAGiG,IAAAA,CAAKE,gBAAgB,CAACnG,CAAC;YAC3D,MAAMwL,KAAAA,GAAQH,EAAKd,GAAAA,cAAAA,CAAezK,CAAC,GAAGwL,EAAKf,GAAAA,cAAAA,CAAexK,CAAC,GAAGwL,EAAKhB,GAAAA,cAAAA,CAAevK,CAAC;AACnF,YAAA,IAAIwL,QAAQ,CAAG,EAAA;AACbvF,gBAAAA,IAAAA,CAAKE,gBAAgB,CAACrG,CAAC,IAAIyK,cAAAA,CAAezK,CAAC,GAAG0L,KAAAA;AAC9CvF,gBAAAA,IAAAA,CAAKE,gBAAgB,CAACpG,CAAC,IAAIwK,cAAAA,CAAexK,CAAC,GAAGyL,KAAAA;AAC9CvF,gBAAAA,IAAAA,CAAKE,gBAAgB,CAACnG,CAAC,IAAIuK,cAAAA,CAAevK,CAAC,GAAGwL,KAAAA;AAChD;AACF;AACF;AACF;AAEA,SAASrK,gBACPpE,CAAAA,OAA0B,EAC1BC,QAAmB,EACnBC,WAAkC,EAClCC,UAAgC,EAChCC,WAAyB,EACzBiE,qBAA6B,EAC7BC,gBAAyB,EAAA;AAEzB,IAAA,MAAMW,YAAY,IAAI7F,OAAAA,EAAAA;AACtB,IAAA,MAAMsP,OAAO,IAAItP,OAAAA,EAAAA;AACjB,IAAA,MAAMuP,OAAO,IAAIvP,OAAAA,EAAAA;AACjB,IAAA,MAAMwP,aAAa,IAAIxP,OAAAA,EAAAA;AACvB,IAAA,MAAMyP,YAAgC,GAAA;QAAElE,GAAK,EAAA,KAAA;AAAOtD,QAAAA,KAAAA,EAAO,IAAIjI,OAAAA;AAAU,KAAA;AACzE,IAAA,MAAM0P,YAAgC,GAAA;QAAEnE,GAAK,EAAA,KAAA;AAAOtD,QAAAA,KAAAA,EAAO,IAAIjI,OAAAA;AAAU,KAAA;AACzE,IAAA,MAAM2P,UAAa,GAAA;QACjBpE,GAAK,EAAA,KAAA;AACLqE,QAAAA,WAAAA,EAAa,IAAI5P,OAAAA,EAAAA;AACjB+M,QAAAA,eAAAA,EAAiB,IAAI/M,OAAAA,EAAAA;QACrB2G,MAAQ,EAAA;AACV,KAAA;AACA,IAAA,MAAMkJ,UAAU,IAAI7P,OAAAA,EAAAA;AACpB,IAAA,MAAM8P,UAAU,IAAI9P,OAAAA,EAAAA;AACpB,IAAA,MAAM+P,WAAW,IAAI/P,OAAAA,EAAAA;AACrB,IAAA,MAAMgQ,WAAW,IAAIhQ,OAAAA,EAAAA;AACrB,IAAA,MAAMiQ,QAAQ,IAAIjQ,OAAAA,EAAAA;AAClB,IAAA,MAAMoN,UAAU,IAAIpN,OAAAA,EAAAA;AACpB,IAAA,IAAK,IAAI4J,KAAQ,GAAA,CAAA,EAAGA,QAAQ9I,WAAYQ,CAAAA,MAAM,EAAEsI,KAAS,EAAA,CAAA;QACvD,MAAMsG,CAAAA,GAAIpP,WAAW,CAAC8I,KAAM,CAAA;AAC5B,QAAA,MAAMuG,IAAOvP,GAAAA,OAAO,CAACsP,CAAAA,CAAEE,MAAM,CAAC;AAC9B,QAAA,MAAMC,IAAOzP,GAAAA,OAAO,CAACsP,CAAAA,CAAEI,MAAM,CAAC;QAC9B,MAAMC,OAAAA,GAAUJ,KAAKpG,MAAM;QAC3B,MAAMyG,OAAAA,GAAUH,KAAKtG,MAAM;QAC3B,IAAIwG,OAAAA,IAAWnJ,OAAWoJ,IAAAA,OAAAA,IAAWpJ,OAAS,EAAA;AAC5C,YAAA;AACF;AAEA,QAAA,MAAMsG,GAAM7M,GAAAA,QAAQ,CAACqP,CAAAA,CAAEE,MAAM,CAAC;AAC9B,QAAA,MAAMzC,GAAM9M,GAAAA,QAAQ,CAACqP,CAAAA,CAAEI,MAAM,CAAC;AAE9BtQ,QAAAA,OAAAA,CAAQgC,GAAG,CAAC2L,GAAAA,CAAIzG,eAAe,EAAEwG,GAAAA,CAAIxG,eAAe,EAAErB,SAAAA,CAAAA;QACtD,MAAM8G,QAAAA,GAAW9G,UAAUzD,SAAS;QAEpC,IAAIqO,SAAAA,GAAYP,EAAE5O,MAAM;AACxB,QAAA,IAAIoP,UAAaD,GAAAA,SAAAA;AACjB,QAAA,IACEP,EAAES,IAAI,KAAKC,cAAeC,CAAAA,qBAAqB,IAC/CX,CAAES,CAAAA,IAAI,KAAKC,cAAAA,CAAeE,kBAAkB,IAC5CZ,CAAAA,CAAES,IAAI,KAAKC,cAAAA,CAAeG,KAAK,EAC/B;AACAL,YAAAA,UAAAA,IAAcP,IAAKa,CAAAA,iBAAiB,GAAGX,IAAAA,CAAKW,iBAAiB;AAC/D;AAEA,QAAA,IAAIlF,KAAQ,GAAA,CAAA;AACZ,QAAA,IAAIa,YAAY8D,SAAW,EAAA;AACzB3E,YAAAA,KAAAA,GAAQa,QAAW8D,GAAAA,SAAAA;SACd,MAAA,IAAI9D,YAAY+D,UAAY,EAAA;AACjC5E,YAAAA,KAAAA,GAAQa,QAAW+D,GAAAA,UAAAA;AACrB;AAEA,QAAA,MAAMO,WAAWnF,KAAS,IAAA,CAAA;AAC1B,QAAA,IAAIoF,KAAQ,GAAA,CAAA;AACZ,QAAA,OAAQhB,EAAES,IAAI;AACZ,YAAA,KAAKC,eAAeO,mBAAmB;gBACrCD,KAAQD,GAAAA,QAAAA,GACJd,IAAKiB,CAAAA,wBAAwB,GAAGf,IAAAA,CAAKe,wBAAwB,GAC7DjB,IAAKkB,CAAAA,yBAAyB,GAAGhB,IAAAA,CAAKgB,yBAAyB;AACnE,gBAAA;AACF,YAAA,KAAKT,eAAeC,qBAAqB;AACvCK,gBAAAA,KAAAA,GAAQD,QACJjO,GAAAA,IAAAA,CAAKG,GAAG,CAAC8B,uBAAuBkL,IAAKmB,CAAAA,0BAA0B,GAAGjB,IAAAA,CAAKiB,0BAA0B,CACjGnB,GAAAA,IAAAA,CAAKoB,2BAA2B,GAAGlB,KAAKkB,2BAA2B;AACvE,gBAAA;AACF,YAAA,KAAKX,eAAeG,KAAK;AACvBG,gBAAAA,KAAAA,GAAQD,QACJjO,GAAAA,IAAAA,CAAKG,GAAG,CAAC8B,uBAAuBkL,IAAKqB,CAAAA,WAAW,GAAGnB,IAAAA,CAAKmB,WAAW,CACnErB,GAAAA,IAAAA,CAAKsB,YAAY,GAAGpB,KAAKoB,YAAY;AACzC,gBAAA;AACF,YAAA,KAAKb,eAAec,gBAAgB;gBAClCR,KAAQD,GAAAA,QAAAA,GACJd,IAAKwB,CAAAA,qBAAqB,GAAGtB,IAAAA,CAAKsB,qBAAqB,GACvDxB,IAAKyB,CAAAA,sBAAsB,GAAGvB,IAAAA,CAAKuB,sBAAsB;AAC7D,gBAAA;AACF,YAAA,KAAKhB,eAAeE,kBAAkB;AACpCI,gBAAAA,KAAAA,GAAQD,QACJjO,GAAAA,IAAAA,CAAKG,GAAG,CAAC8B,uBAAuBkL,IAAK0B,CAAAA,uBAAuB,GAAGxB,IAAAA,CAAKwB,uBAAuB,CAC3F1B,GAAAA,IAAAA,CAAK2B,wBAAwB,GAAGzB,KAAKyB,wBAAwB;AACjE,gBAAA;AACJ;AAEA,QAAA,IAAIZ,QAAQ,CAAG,EAAA;AACb,YAAA,IAAIvE,WAAWvF,OAAS,EAAA;AACtBpH,gBAAAA,OAAAA,CAAQsC,KAAK,CAACuD,SAAW,EAAA,CAAA,GAAI8G,QAAU2C,EAAAA,IAAAA,CAAAA;aAClC,MAAA;gBACLA,IAAKvH,CAAAA,MAAM,CAAC,CAAA,EAAG,CAAG,EAAA,CAAA,CAAA;AACpB;AACA/H,YAAAA,OAAAA,CAAQsC,KAAK,CAACgN,IAAMxD,EAAAA,KAAAA,GAAQoF,KAAO3B,EAAAA,IAAAA,CAAAA;AACnC,YAAA,MAAMwC,MAAMxB,OAAUC,GAAAA,OAAAA;AACtBxQ,YAAAA,OAAAA,CAAQsC,KAAK,CAACiN,IAAMgB,EAAAA,OAAAA,GAAUwB,GAAKvC,EAAAA,UAAAA,CAAAA;AACnCxP,YAAAA,OAAAA,CAAQqH,GAAG,CAACqG,GAAAA,CAAIxG,eAAe,EAAEsI,UAAAA,EAAY9B,IAAIxG,eAAe,CAAA;AAChElH,YAAAA,OAAAA,CAAQsC,KAAK,CAACiN,IAAMiB,EAAAA,OAAAA,GAAUuB,GAAKvC,EAAAA,UAAAA,CAAAA;AACnCxP,YAAAA,OAAAA,CAAQgC,GAAG,CAAC2L,GAAAA,CAAIzG,eAAe,EAAEsI,UAAAA,EAAY7B,IAAIzG,eAAe,CAAA;AAClE;;QAGA,IAAIgJ,CAAAA,CAAE8B,WAAW,KAAK,CAAG,EAAA;AACvB,YAAA,IAAIxH,QAAW,GAAA,CAAA;AACf,YAAA,IAAK,IAAInE,CAAI,GAAA,CAAA,EAAGA,IAAItF,UAAWO,CAAAA,MAAM,EAAE+E,CAAK,EAAA,CAAA;gBAC1C,MAAME,KAAAA,GAAQvF,WAAW,CAACqF,CAAE,CAAA;gBAC5B,IAAIE,KAAAA,CAAM0E,OAAO,KAAK,CAAG,EAAA;AACvB,oBAAA;AACF;gBACA,MAAM3E,IAAAA,GAAOvF,UAAU,CAACsF,CAAE,CAAA;AAC1B,gBAAA,MAAM4L,SACJ,GAAA,CAAC/M,gBACDoB,IAAAA,IAAAA,CAAK4E,iBAAiB,IACtB3C,yBAA0BmF,CAAAA,GAAAA,CAAIxG,eAAe,EAAEX,KAAO4J,EAAAA,IAAAA,CAAK9E,WAAW,CAAA;AACxE,gBAAA,MAAM6G,SACJ,GAAA,CAAChN,gBACDoB,IAAAA,IAAAA,CAAK4E,iBAAiB,IACtB3C,yBAA0BoF,CAAAA,GAAAA,CAAIzG,eAAe,EAAEX,KAAO8J,EAAAA,IAAAA,CAAKhF,WAAW,CAAA;AACxE,gBAAA,MAAM8G,OACJ,GAAA,CAAC7L,IAAK4E,CAAAA,iBAAiB,KACtB,CAAChG,gBAAoBwD,IAAAA,2BAAAA,CAA4BgF,IAAIxG,eAAe,EAAEyG,GAAIzG,CAAAA,eAAe,EAAEX,KAAK,CAAA,CAAA;AAEnG,gBAAA,IAAI,CAAC0L,SAAAA,IAAa,CAACC,SAAAA,IAAa,CAACC,OAAS,EAAA;AACxC,oBAAA;AACF;gBAEA,IAAI7L,IAAAA,CAAKX,MAAM,GAAGyB,OAAS,EAAA;oBACzB,IAAId,IAAAA,CAAK4E,iBAAiB,EAAE;AAC1B,wBAAA,IAAIiF,IAAKiC,CAAAA,oBAAoB,KAAK,CAAA,IAAKH,SAAW,EAAA;AAChD,4BAAA,MAAM1D,MAAM8D,iBAAkB/L,CAAAA,IAAAA,EAAMC,KAAOmH,EAAAA,GAAAA,CAAIxG,eAAe,EAAEuI,YAAAA,CAAAA;4BAChE,IAAIlB,GAAAA,CAAIhD,GAAG,EAAE;AACXmC,gCAAAA,GAAAA,CAAIxG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;AACA,wBAAA,IAAI6F,IAAK+B,CAAAA,oBAAoB,KAAK,CAAA,IAAKF,SAAW,EAAA;AAChD,4BAAA,MAAM3D,MAAM8D,iBAAkB/L,CAAAA,IAAAA,EAAMC,KAAOoH,EAAAA,GAAAA,CAAIzG,eAAe,EAAEwI,YAAAA,CAAAA;4BAChE,IAAInB,GAAAA,CAAIhD,GAAG,EAAE;AACXoC,gCAAAA,GAAAA,CAAIzG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;qBACK,MAAA;AACL,wBAAA,IAAIyH,SAAW,EAAA;AACb,4BAAA,MAAM1D,MAAMjD,kBAAmBhF,CAAAA,IAAAA,EAAMC,OAAOmH,GAAIxG,CAAAA,eAAe,EAAEiJ,IAAMV,EAAAA,YAAAA,CAAAA;4BACvE,IAAIlB,GAAAA,CAAIhD,GAAG,EAAE;AACXmC,gCAAAA,GAAAA,CAAIxG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;AACA,wBAAA,IAAI0H,SAAW,EAAA;AACb,4BAAA,MAAM3D,MAAMjD,kBAAmBhF,CAAAA,IAAAA,EAAMC,OAAOoH,GAAIzG,CAAAA,eAAe,EAAEmJ,IAAMX,EAAAA,YAAAA,CAAAA;4BACvE,IAAInB,GAAAA,CAAIhD,GAAG,EAAE;AACXoC,gCAAAA,GAAAA,CAAIzG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;AACF;iBACK,MAAA;oBACL,IAAIlE,IAAAA,CAAK4E,iBAAiB,EAAE;AAC1B,wBAAA,IAAIiF,IAAKiC,CAAAA,oBAAoB,KAAK,CAAA,IAAKH,SAAW,EAAA;4BAChD,MAAM1D,GAAAA,GAAM+D,gBACV/L,CAAAA,KAAAA,CAAMW,eAAe,EACrBX,MAAMI,MAAM,EACZ+G,GAAIxG,CAAAA,eAAe,EACnBuI,YAAAA,CAAAA;4BAEF,IAAIlB,GAAAA,CAAIhD,GAAG,EAAE;AACXmC,gCAAAA,GAAAA,CAAIxG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;AACA,wBAAA,IAAI6F,IAAK+B,CAAAA,oBAAoB,KAAK,CAAA,IAAKF,SAAW,EAAA;4BAChD,MAAM3D,GAAAA,GAAM+D,gBACV/L,CAAAA,KAAAA,CAAMW,eAAe,EACrBX,MAAMI,MAAM,EACZgH,GAAIzG,CAAAA,eAAe,EACnBwI,YAAAA,CAAAA;4BAEF,IAAInB,GAAAA,CAAIhD,GAAG,EAAE;AACXoC,gCAAAA,GAAAA,CAAIzG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;qBACK,MAAA;AACL,wBAAA,IAAIyH,SAAW,EAAA;AACb,4BAAA,MAAM1D,GAAMnD,GAAAA,iBAAAA,CACV7E,KAAMW,CAAAA,eAAe,EACrBX,KAAAA,CAAMI,MAAM,EACZwJ,IAAK9E,CAAAA,WAAW,EAChBqC,GAAAA,CAAIxG,eAAe,EACnBuI,YAAAA,CAAAA;4BAEF,IAAIlB,GAAAA,CAAIhD,GAAG,EAAE;AACXmC,gCAAAA,GAAAA,CAAIxG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;AACA,wBAAA,IAAI0H,SAAW,EAAA;AACb,4BAAA,MAAM3D,GAAMnD,GAAAA,iBAAAA,CACV7E,KAAMW,CAAAA,eAAe,EACrBX,KAAAA,CAAMI,MAAM,EACZ0J,IAAKhF,CAAAA,WAAW,EAChBsC,GAAAA,CAAIzG,eAAe,EACnBwI,YAAAA,CAAAA;4BAEF,IAAInB,GAAAA,CAAIhD,GAAG,EAAE;AACXoC,gCAAAA,GAAAA,CAAIzG,eAAe,CAACQ,GAAG,CAAC6G,IAAItG,KAAK,CAAA;AACjCuC,gCAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,QAAUlE,EAAAA,IAAAA,CAAKkE,QAAQ,GAAG,IAAA,CAAA;AAChD;AACF;AACF;AACF;;AAGA,gBAAA,IAAI,CAAClE,IAAAA,CAAK4E,iBAAiB,IAAIiH,OAAS,EAAA;oBACtC,MAAMI,OAAAA,GAAUC,mBACdlM,IACAC,EAAAA,KAAAA,EACAmH,IAAIxG,eAAe,EACnByG,GAAIzG,CAAAA,eAAe,EACnByI,UAAAA,CAAAA;oBAEF,IAAI4C,OAAAA,CAAQhH,GAAG,EAAE;AACfvL,wBAAAA,OAAAA,CAAQgC,GAAG,CAACuQ,OAAAA,CAAQ3C,WAAW,EAAE2C,OAAAA,CAAQxF,eAAe,EAAE8C,OAAAA,CAAAA;wBAC1D,MAAM4C,QAAAA,GAAW5C,QAAQzN,SAAS;AAClC,wBAAA,IAAIqQ,WAAWrL,OAAS,EAAA;AACtB,4BAAA,MAAMsL,MAAS1S,GAAAA,OAAAA,CAAQgC,GAAG,CAAC2L,GAAIzG,CAAAA,eAAe,EAAEwG,GAAAA,CAAIxG,eAAe,EAAE4I,OAAS1N,CAAAA,CAAAA,SAAS,GAAG,GAAA;AAC1F,4BAAA,MAAMuQ,SACJD,MAAStL,GAAAA,OAAAA,GACL6B,OACEjJ,CAAAA,OAAAA,CAAQgC,GAAG,CAACuQ,OAAAA,CAAQ3C,WAAW,EAAElC,IAAIxG,eAAe,EAAE6I,QAAU3N,CAAAA,CAAAA,SAAS,GAAGsQ,MAE9E,CAAA,GAAA,CAAA;AACN,4BAAA,MAAME,SACJF,MAAStL,GAAAA,OAAAA,GACL6B,OACEjJ,CAAAA,OAAAA,CAAQgC,GAAG,CAACuQ,OAAAA,CAAQ3C,WAAW,EAAEjC,IAAIzG,eAAe,EAAE8I,QAAU5N,CAAAA,CAAAA,SAAS,GAAGsQ,MAE9E,CAAA,GAAA,CAAA;AACN1S,4BAAAA,OAAAA,CAAQsC,KAAK,CAACuN,OAAS,EAAA,CAAA,GAAI4C,QAAUxC,EAAAA,KAAAA,CAAAA;4BACrCjQ,OAAQsC,CAAAA,KAAK,CAAC2N,KAAAA,EAAOjN,IAAKE,CAAAA,GAAG,CAACqP,OAAQ5L,CAAAA,MAAM,GAAG8L,QAAAA,EAAU,CAAIrF,CAAAA,EAAAA,OAAAA,CAAAA;AAC7D,4BAAA,IAAImD,UAAUnJ,OAAS,EAAA;gCACrBpH,OAAQsC,CAAAA,KAAK,CAAC8K,OAAAA,EAASwF,MAAQpD,EAAAA,UAAAA,CAAAA;AAC/BxP,gCAAAA,OAAAA,CAAQqH,GAAG,CAACqG,GAAAA,CAAIxG,eAAe,EAAEsI,UAAAA,EAAY9B,IAAIxG,eAAe,CAAA;AAClE;AACA,4BAAA,IAAIsJ,UAAUpJ,OAAS,EAAA;gCACrBpH,OAAQsC,CAAAA,KAAK,CAAC8K,OAAAA,EAASuF,MAAQnD,EAAAA,UAAAA,CAAAA;AAC/BxP,gCAAAA,OAAAA,CAAQqH,GAAG,CAACsG,GAAAA,CAAIzG,eAAe,EAAEsI,UAAAA,EAAY7B,IAAIzG,eAAe,CAAA;AAClE;4BAEA,MAAM2L,KAAAA,GAAQ7S,QAAQkJ,GAAG,CAACnJ,QAAQC,OAAQ4L,CAAAA,SAAS,CAACiE,OAASI,EAAAA,KAAAA,CAAAA,CAAAA;AAC7DzF,4BAAAA,QAAAA,GAAWxH,KAAKE,GAAG,CAACsH,UAAUlE,IAAKkE,CAAAA,QAAQ,GAAGvB,OAAQ4J,CAAAA,KAAAA,CAAAA,CAAAA;AACxD;AACF;AACF;AACF;AACAnF,YAAAA,GAAAA,CAAIlD,QAAQ,GAAGxH,IAAAA,CAAKE,GAAG,CAACsH,QAAAA,EAAUkD,IAAIlD,QAAQ,CAAA;AAC9CmD,YAAAA,GAAAA,CAAInD,QAAQ,GAAGxH,IAAAA,CAAKE,GAAG,CAACsH,QAAAA,EAAUmD,IAAInD,QAAQ,CAAA;AAChD;AACF;AACF;AAEA,SAASpF,gBACPxE,CAAAA,OAA0B,EAC1BC,QAAmB,EACnBU,oBAA+B,EAC/B6C,SAAiB,EACjBzC,YAAoB,EACpB0D,UAAkB,EAClBC,UAAmB,EACnBC,aAAqB,EAAA;AAErB,IAAA,IAAIuN,IAAOnR,GAAAA,YAAAA;AACX,IAAA,MAAMoR,kBAAkB,IAAI/S,OAAAA,EAAAA;AAC5B,IAAA,MAAMgT,iBAAiB,IAAIhT,OAAAA,EAAAA;AAC3B,IAAA,IAAK,IAAI4J,KAAQ,GAAA,CAAA,EAAGA,QAAQhJ,OAAQU,CAAAA,MAAM,EAAEsI,KAAS,EAAA,CAAA;QACnD,MAAMC,GAAAA,GAAMjJ,OAAO,CAACgJ,KAAM,CAAA;QAC1B,MAAME,IAAAA,GAAOjJ,QAAQ,CAAC+I,KAAM,CAAA;QAE5B5J,OAAQ4G,CAAAA,IAAI,CAACkD,IAAKjD,CAAAA,yBAAyB,EAAEiD,IAAKhD,CAAAA,wBAAwB,EAAE1C,SAAW2O,EAAAA,eAAAA,CAAAA;QACvF,MAAME,KAAAA,GAAQC,WAAW,CAAG,EAAA,CAAA,EAAGlQ,KAAKE,GAAG,CAAC2G,GAAIgB,CAAAA,cAAc,EAAExF,UAAAA,CAAAA,CAAAA;QAC5DrF,OAAQ4G,CAAAA,IAAI,CAACkD,IAAK5C,CAAAA,eAAe,EAAE6L,eAAiBE,EAAAA,KAAAA,EAAOnJ,KAAKqJ,mBAAmB,CAAA;QAEnF,IAAI7N,UAAAA,IAAcuE,GAAIuJ,CAAAA,KAAK,KAAK,MAAMvJ,GAAIwJ,CAAAA,MAAM,KAAK,EAAI,EAAA;AACvD,YAAA,MAAMC,IAAIzS,QAAQ,CAACgJ,IAAIwJ,MAAM,CAAC,CAACF,mBAAmB;YAClD,MAAMI,CAAAA,GAAIzJ,KAAKqJ,mBAAmB;AAClC,YAAA,MAAMK,KAAQC,GAAAA,SAAAA,CAAUC,MAAM,CAACJ,GAAGC,CAAGxT,EAAAA,MAAAA,CAAAA;;AAErC,YAAA,MAAM4T,IAAOH,GAAAA,KAAAA,CAAMI,MAAM,CAAC,GAAGC,GAAG,EAAA;YAChC7T,OAAQ4G,CAAAA,IAAI,CAACkD,IAAKgK,CAAAA,iBAAiB,EAAEH,IAAM,EAAA,GAAA,EAAK7J,KAAKgK,iBAAiB,CAAA;AAEtEhB,YAAAA,IAAAA,IAAQjJ,IAAIlI,YAAY;AACxB,YAAA,MAAMuP,QAAQlO,IAAK+Q,CAAAA,GAAG,CAACjB,IAAQvN,CAAAA,GAAAA,aAAAA,GAAgBsE,IAAItE,aAAa;AAChEvF,YAAAA,OAAAA,CAAQsC,KAAK,CAACwH,IAAKgK,CAAAA,iBAAiB,EAAE5C,KAAO8B,EAAAA,cAAAA,CAAAA;AAC7ChT,YAAAA,OAAAA,CAAQqH,GAAG,CAACyC,IAAAA,CAAKqJ,mBAAmB,EAAEH,cAAAA,EAAgBlJ,KAAKqJ,mBAAmB,CAAA;AAChF;AAEA5R,QAAAA,oBAAoB,CAACqI,KAAM,CAAA,GAAGE,IAAKqJ,CAAAA,mBAAmB,CAACa,KAAK,EAAA;AAC9D;AACF;AAaA;;;;IAKO,SAASC,WAAAA,CACdrT,OAA0B,EAC1BC,QAAmB,EACnBU,oBAAwC,EACxC8D,UAAkB;AAElB6O,kBAAyC,EACzCC,uBAA8C,EAC9CC,aAAsB,EAAA;AAEtB,IAAA,MAAMC,OAA+B,GAAA,IAAI7S,KAAMZ,CAAAA,OAAAA,CAAQU,MAAM,CAAA;AAE7D,IAAA,IAAK,IAAIsI,KAAQ,GAAA,CAAA,EAAGA,QAAQhJ,OAAQU,CAAAA,MAAM,EAAEsI,KAAS,EAAA,CAAA;QACnD,MAAMC,GAAAA,GAAMjJ,OAAO,CAACgJ,KAAM,CAAA;QAC1B,MAAME,IAAAA,GAAOjJ,QAAQ,CAAC+I,KAAM,CAAA;QAC5B,IAAI0K,QAAAA,GAAWJ,kBAAkB,CAACtK,KAAM,CAAA;QACxC,IAAI2K,QAAAA,GAAWJ,uBAAuB,CAACvK,KAAM,CAAA;QAE7C,IAAIC,GAAAA,CAAIE,MAAM,IAAI3C,OAAS,EAAA;;AAEzB,YAAA,IAAIyC,GAAIwJ,CAAAA,MAAM,KAAK,EAAI,EAAA;gBACrB,MAAMxN,SAAAA,GAAY7F,OAAQgC,CAAAA,GAAG,CAAC8H,IAAAA,CAAKqJ,mBAAmB,EAAE5R,oBAAoB,CAACsI,GAAIwJ,CAAAA,MAAM,CAAC,CAAA;gBACxF,MAAMmB,OAAAA,GAAU3O,UAAUzD,SAAS;AACnC,gBAAA,IAAIoS,UAAUpN,OAAS,EAAA;AACrB0C,oBAAAA,IAAAA,CAAK2K,iBAAiB,GAAG5O,SAAAA;iBACpB,MAAA;AACLiE,oBAAAA,IAAAA,CAAKqJ,mBAAmB,GAAGnT,OAAQqH,CAAAA,GAAG,CAAC9F,oBAAoB,CAACsI,GAAAA,CAAIwJ,MAAM,CAAC,EAAEvJ,IAAAA,CAAK2K,iBAAiB,CAAA;AACjG;AACF;YACA,MAAMhP,GAAAA,GAAMqE,KAAKqJ,mBAAmB;;;YAGpCoB,QAAW1K,GAAAA,GAAAA,CAAI6K,oBAAoB,CAACV,KAAK,EAAA;;;;;AAMzC,YAAA,IAAInK,GAAIwJ,CAAAA,MAAM,KAAK,EAAI,EAAA;;AAErB,gBAAA,MAAMsB,YAAYN,OAAO,CAACxK,IAAIwJ,MAAM,CAAC,GAAGgB,OAAO,CAACxK,IAAIwJ,MAAM,CAAC,CAACuB,QAAQ,GAAGV,kBAAkB,CAACrK,GAAAA,CAAIwJ,MAAM,CAAC;gBACrGiB,QAAW9R,GAAAA,UAAAA,CAAWG,QAAQ,CAACgS,SAAWJ,EAAAA,QAAAA,CAAAA;aACrC,MAAA;AACLD,gBAAAA,QAAAA,GAAWC,SAASP,KAAK,EAAA;AAC3B;;AAGA,YAAA,IAAInK,GAAIuJ,CAAAA,KAAK,KAAK,EAAI,EAAA;gBACpB,MAAMyB,QAAAA,GAAW7U,OAAQgC,CAAAA,GAAG,CAACT,oBAAoB,CAACsI,GAAAA,CAAIuJ,KAAK,CAAC,EAAEtJ,IAAAA,CAAKqJ,mBAAmB,CAAA;gBACtF,IAAI0B,QAAAA,CAASrN,WAAW,GAAGJ,OAAS,EAAA;AAClC,oBAAA,MAAM0N,MAASR,GAAAA,QAAAA,CAASxO,SAAS,CAAC+D,IAAIkL,QAAQ,CAAA;AAC9C,oBAAA,MAAMC,MAASxS,GAAAA,UAAAA,CAAWyS,sBAAsB,CAACH,MAAQD,EAAAA,QAAAA,CAAAA;oBACzDrS,UAAWG,CAAAA,QAAQ,CAACqS,MAAAA,EAAQV,QAAUA,EAAAA,QAAAA,CAAAA;AACxC;AACF;YACAD,OAAO,CAACzK,MAAM,GAAG;gBACf+B,QAAUlG,EAAAA,GAAAA;gBACVmP,QAAUN,EAAAA,QAAAA;gBACVY,aAAeX,EAAAA;AACjB,aAAA;SACK,MAAA;AACL,YAAA,MAAMY,aACJtL,GAAIuJ,CAAAA,KAAK,KAAK,KAAKpQ,IAAKE,CAAAA,GAAG,CAACtC,OAAO,CAACiJ,GAAIuJ,CAAAA,KAAK,CAAC,CAACvI,cAAc,EAAExF,UAAcA,CAAAA,GAAAA,UAAAA;;;;;;;;YAS/EiP,QAAWJ,GAAAA,kBAAkB,CAACtK,KAAM,CAAA;;AAGpC,YAAA,IAAIC,GAAIuJ,CAAAA,KAAK,KAAK,EAAI,EAAA;gBACpB,MAAMyB,QAAAA,GAAW7U,OAAQgC,CAAAA,GAAG,CAACT,oBAAoB,CAACsI,GAAAA,CAAIuJ,KAAK,CAAC,EAAEtJ,IAAAA,CAAKqJ,mBAAmB,CAAA;gBACtF,IAAI0B,QAAAA,CAASrN,WAAW,GAAGJ,OAAS,EAAA;AAClC,oBAAA,MAAM0N,MAASR,GAAAA,QAAAA,CAASxO,SAAS,CAAC+D,IAAIkL,QAAQ,CAAA;AAC9C,oBAAA,MAAMC,MAASxS,GAAAA,UAAAA,CAAWyS,sBAAsB,CAACH,MAAQD,EAAAA,QAAAA,CAAAA;oBACzDP,QAAW9R,GAAAA,UAAAA,CAAWuE,KAAK,CAACvE,UAAAA,CAAWG,QAAQ,CAACqS,MAAAA,EAAQV,WAAWA,QAAUa,EAAAA,UAAAA,CAAAA;AAC/E;AACF;YACAd,OAAO,CAACzK,MAAM,GAAG;AACf+B,gBAAAA,QAAAA,EAAU7B,KAAKhD,wBAAwB;gBACvC8N,QAAUN,EAAAA,QAAAA;gBACVY,aAAeX,EAAAA;AACjB,aAAA;AACF;AACF;;AAGA,IAAA,IAAIH,aAAe,EAAA;AACjB,QAAA,IAAK,IAAIxK,KAAQ,GAAA,CAAA,EAAGA,QAAQhJ,OAAQU,CAAAA,MAAM,EAAEsI,KAAS,EAAA,CAAA;YACnD,MAAMC,GAAAA,GAAMjJ,OAAO,CAACgJ,KAAM,CAAA;YAC1B,IAAIC,GAAAA,CAAIE,MAAM,GAAG3C,OAAAA,IAAWyC,IAAIuJ,KAAK,KAAK,EAAI,EAAA;AAC5C,gBAAA;AACF;YACA,MAAM/K,MAAAA,GAASgM,OAAO,CAACzK,KAAM,CAAA;AAC7B,YAAA,MAAMwL,cAAiBvL,GAAAA,GAAAA,CAAIwJ,MAAM,KAAK,EAAKgB,GAAAA,OAAO,CAACxK,GAAAA,CAAIwJ,MAAM,CAAC,CAACuB,QAAQ,GAAGpS,WAAWC,QAAQ,EAAA;YAC7F,MAAM4S,cAAAA,GAAiB7S,WAAWG,QAAQ,CAACH,WAAWK,OAAO,CAACuS,cAAiB/M,CAAAA,EAAAA,MAAAA,CAAOuM,QAAQ,CAAA;AAC9F,YAAA,MAAMU,WAAW,IAAI9S,UAAAA,EAAAA;AACrB6S,YAAAA,cAAAA,CAAeE,mBAAmB,CAAC1L,GAAIkL,CAAAA,QAAQ,EAAES,SAAWF,EAAAA,QAAAA,CAAAA;AAC5D,YAAA,MAAMG,UAAUjT,UAAWG,CAAAA,QAAQ,CAAC0S,cAAgB7S,EAAAA,UAAAA,CAAWK,OAAO,CAACyS,QAAAA,CAAAA,CAAAA;AACvE,YAAA,MAAMI,iBAAiBlT,UAAWG,CAAAA,QAAQ,CAAC8S,OAAAA,EAAS5L,IAAI8L,iBAAiB,CAAA;AACzEnT,YAAAA,UAAAA,CAAWG,QAAQ,CAACyS,cAAgBM,EAAAA,cAAAA,EAAgBrN,OAAOuM,QAAQ,CAAA;AACrE;AACF;IAEA,OAAOP,OAAAA;AACT;AAEA;;;;AAIC,IACM,SAASuB,gBAAAA,CACdhV,OAA0B,EAC1BC,QAAmB,EACnBgV,MAAwB,EAAA;IAExB,IAAIA,MAAAA,CAAOC,UAAU,GAAG,CAAG,EAAA;AACzB,QAAA;AACF;AAEA,IAAA,IAAK,IAAIlM,KAAQ,GAAA,CAAA,EAAGA,QAAQhJ,OAAQU,CAAAA,MAAM,EAAEsI,KAAS,EAAA,CAAA;QACnD,MAAMC,GAAAA,GAAMjJ,OAAO,CAACgJ,KAAM,CAAA;AAC1B,QAAA,IAAIC,GAAIwJ,CAAAA,MAAM,KAAK,EAAI,EAAA;AACrB,YAAA;AACF;QACA,MAAMvJ,IAAAA,GAAOjJ,QAAQ,CAAC+I,KAAM,CAAA;AAE5B,QAAA,MAAMmM,IAAOnV,GAAAA,OAAO,CAACiJ,GAAAA,CAAIwJ,MAAM,CAAC;AAChC,QAAA,MAAM2C,KAAQnV,GAAAA,QAAQ,CAACgJ,GAAAA,CAAIwJ,MAAM,CAAC;AAElC,QAAA,MAAM4C,cAAiBF,GAAAA,IAAAA,CAAK1C,MAAM,KAAK,EAAKxS,GAAAA,QAAQ,CAACkV,IAAAA,CAAK1C,MAAM,CAAC,CAACnM,eAAe,GAAG8O,MAAM9O,eAAe;QAEzG,MAAMgP,OAAAA,GAAUlW,QAAQgC,GAAG,CAAC8H,KAAK5C,eAAe,EAAE8O,MAAM9O,eAAe,CAAA;AACvE,QAAA,IAAIiP,gBAAgBnW,OAAQgC,CAAAA,GAAG,CAACgU,KAAAA,CAAM9O,eAAe,EAAE+O,cAAAA,CAAAA;AAEvD,QAAA,IAAIE,cAAc/T,SAAS,KAAK,CAAKyT,IAAAA,MAAAA,CAAOO,aAAa,EAAE;AACzDD,YAAAA,aAAAA,GAAgBnW,QAAQgC,GAAG,CAAC8H,KAAKhD,wBAAwB,EAAEkP,MAAMlP,wBAAwB,CAAA;AAC3F;AAEA,QAAA,MAAM/C,KAAQ/D,GAAAA,OAAAA,CAAQqW,YAAY,CAACF,aAAeD,EAAAA,OAAAA,CAAAA;AAClD,QAAA,MAAMI,SAAYC,GAAAA,aAAAA,CAAcxS,KAAS8R,CAAAA,GAAAA,MAAAA,CAAOC,UAAU;AAE1D,QAAA,IAAIQ,YAAY,CAAG,EAAA;AACjB,YAAA,MAAME,IAAOxW,GAAAA,OAAAA,CAAQyW,KAAK,CAACN,aAAeD,EAAAA,OAAAA,CAAAA;YAC1C,MAAM5N,OAAAA,GAAU9F,WAAWwB,aAAa,CAACwS,MAAMvS,aAAc,CAAA,CAACqS,SAAYxQ,CAAAA,CAAAA,CAAAA,SAAS,CAACoQ,OAAAA,CAAAA;AACpFpM,YAAAA,IAAAA,CAAK5C,eAAe,GAAGlH,OAAAA,CAAQqH,GAAG,CAAC2O,KAAAA,CAAM9O,eAAe,EAAEoB,OAAAA,CAAAA;AAC5D;AACF;AACF;;;;"}

package/dist/animation/joint_dynamics/types.js

@@ -1,6 +1,14 @@
 // Data structure definitions — direct port of C# structs from SPCRJointDynamicsJob.cs
-const EPSILON = 0.001;
-/** Constraint topology type */ var ConstraintType = /*#__PURE__*/ function(ConstraintType) {
+/**
+ * Numerical tolerance used by the joint dynamics solver.
+ *
+ * @public
+ */ const EPSILON = 0.001;
+/** Constraint topology type */ /**
+ * Constraint topology type.
+ *
+ * @public
+ */ var ConstraintType = /*#__PURE__*/ function(ConstraintType) {
     /** Parent-child bone pairs along vertical chains */ ConstraintType[ConstraintType["Structural_Vertical"] = 0] = "Structural_Vertical";
     /** Same-depth bones across adjacent chains */ ConstraintType[ConstraintType["Structural_Horizontal"] = 1] = "Structural_Horizontal";
     /** Diagonal cross-bracing between adjacent chains */ ConstraintType[ConstraintType["Shear"] = 2] = "Shear";
@@ -8,7 +16,11 @@ const EPSILON = 0.001;
     /** Skip-one horizontal across chains for bending resistance */ ConstraintType[ConstraintType["Bending_Horizontal"] = 4] = "Bending_Horizontal";
     return ConstraintType;
 }({});
-/** Collider surface force direction (used for surface/triangle collision) */ var ColliderForce = /*#__PURE__*/ function(ColliderForce) {
+/** Collider surface force direction (used for surface/triangle collision) */ /**
+ * Collider surface force direction used for surface and triangle collision.
+ *
+ * @public
+ */ var ColliderForce = /*#__PURE__*/ function(ColliderForce) {
     /** No surface force */ ColliderForce[ColliderForce["Off"] = 0] = "Off";
     /** Push surface outward from collider */ ColliderForce[ColliderForce["Push"] = 1] = "Push";
     /** Pull surface inward toward collider */ ColliderForce[ColliderForce["Pull"] = 2] = "Pull";

package/dist/animation/joint_dynamics/types.js.map

@@ -1 +1 @@
-{"version":3,"file":"types.js","sources":["../../../src/animation/joint_dynamics/types.ts"],"sourcesContent":["// Data structure definitions — direct port of C# structs from SPCRJointDynamicsJob.cs\r\n\r\nimport type { Matrix4x4, Quaternion, Vector3 } from '@zephyr3d/base';\r\n\r\nexport const EPSILON = 0.001;\r\n\r\n/** Constraint topology type */\r\nexport const enum ConstraintType {\r\n  /** Parent-child bone pairs along vertical chains */\r\n  Structural_Vertical = 0,\r\n  /** Same-depth bones across adjacent chains */\r\n  Structural_Horizontal = 1,\r\n  /** Diagonal cross-bracing between adjacent chains */\r\n  Shear = 2,\r\n  /** Skip-one vertical (grandparent→grandchild) for bending resistance */\r\n  Bending_Vertical = 3,\r\n  /** Skip-one horizontal across chains for bending resistance */\r\n  Bending_Horizontal = 4\r\n}\r\n\r\n/** Collider surface force direction (used for surface/triangle collision) */\r\nexport const enum ColliderForce {\r\n  /** No surface force */\r\n  Off = 0,\r\n  /** Push surface outward from collider */\r\n  Push = 1,\r\n  /** Pull surface inward toward collider */\r\n  Pull = 2\r\n}\r\n\r\n/**\r\n * Read-only per-point physics parameters.\r\n * Set once at initialization, immutable during simulation.\r\n * Constraint scale values are pre-multiplied by 0.5 (summed between two points in solver).\r\n */\r\nexport interface PointR {\r\n  /** Index of parent point in the hierarchy (-1 = root, no parent) */\r\n  parent: number;\r\n  /** Index of first child point (-1 = leaf, no child) */\r\n  child: number;\r\n  /** Whether this point responds to inverse colliders (0 or 1) */\r\n  applyInvertCollision: number;\r\n  /** Index into movableLimitTargets array (-1 = no limit) */\r\n  movableLimitIndex: number;\r\n  /** Max distance from movable limit target (sphere constraint radius) */\r\n  movableLimitRadius: number;\r\n  /** 0 = fixed (follows animation), 1 = dynamic (simulated) */\r\n  weight: number;\r\n  /** Mass of the point, affects wind force scaling */\r\n  mass: number;\r\n  /** Velocity damping factor [0-1]. Higher = less damping, more movement */\r\n  resistance: number;\r\n  /** Restore-to-animation strength [0-1]. Higher = stiffer, pulls toward animated pose */\r\n  hardness: number;\r\n  /** Multiplier for accumulated friction from collisions */\r\n  frictionScale: number;\r\n  /** Extra slack length added to horizontal/shear constraint stretch limits */\r\n  sliderJointLength: number;\r\n  /** Distance to parent point (used for angle limiting) */\r\n  parentLength: number;\r\n  /** Structural vertical constraint shrink stiffness (×0.5, summed with other point) */\r\n  structuralShrinkVertical: number;\r\n  /** Structural vertical constraint stretch stiffness */\r\n  structuralStretchVertical: number;\r\n  /** Structural horizontal constraint shrink stiffness */\r\n  structuralShrinkHorizontal: number;\r\n  /** Structural horizontal constraint stretch stiffness */\r\n  structuralStretchHorizontal: number;\r\n  /** Shear constraint shrink stiffness */\r\n  shearShrink: number;\r\n  /** Shear constraint stretch stiffness */\r\n  shearStretch: number;\r\n  /** Bending vertical constraint shrink stiffness */\r\n  bendingShrinkVertical: number;\r\n  /** Bending vertical constraint stretch stiffness */\r\n  bendingStretchVertical: number;\r\n  /** Bending horizontal constraint shrink stiffness */\r\n  bendingShrinkHorizontal: number;\r\n  /** Bending horizontal constraint stretch stiffness */\r\n  bendingStretchHorizontal: number;\r\n  /** Wind force multiplier (scaled by depth rate) */\r\n  windForceScale: number;\r\n  /** Fake wave amplitude multiplier for leaf bones */\r\n  fakeWavePower: number;\r\n  /** Fake wave frequency offset for leaf bones */\r\n  fakeWaveFreq: number;\r\n  /** Blend ratio toward animation pose [0-1]. Used for fade in/out */\r\n  forceFadeRatio: number;\r\n  /** Collision radius of this point (used in sphere/capsule pushout) */\r\n  pointRadius: number;\r\n  /** Gravity vector applied to this point (scaled by depth curve) */\r\n  gravity: Vector3;\r\n  /** Local-space direction from this bone to its first child (for rotation calculation) */\r\n  boneAxis: Vector3;\r\n  /** Initial local scale captured at init (for transform reset) */\r\n  initialLocalScale: Vector3;\r\n  /** Initial local rotation captured at init (for rotation blending) */\r\n  initialLocalRotation: Quaternion;\r\n  /** Initial twist component of localRotation around boneAxis (for twist preservation) */\r\n  initialLocalTwist: Quaternion;\r\n  /** Initial local position captured at init (for transform reset) */\r\n  initialLocalPosition: Vector3;\r\n}\r\n\r\n/**\r\n * Mutable per-point simulation state.\r\n * Updated every substep during simulation.\r\n */\r\nexport interface PointRW {\r\n  /** Final output position to write back to the transform */\r\n  positionToTransform: Vector3;\r\n  /** Current frame's animated world position (read from transform) */\r\n  positionCurrentTransform: Vector3;\r\n  /** Previous frame's animated world position */\r\n  positionPreviousTransform: Vector3;\r\n  /** Current simulated world position (Verlet integration state) */\r\n  positionCurrent: Vector3;\r\n  /** Previous simulated world position (Verlet integration state) */\r\n  positionPrevious: Vector3;\r\n  /** Previous frame's bone direction (fallback when direction is zero-length) */\r\n  directionPrevious: Vector3;\r\n  /** Interpolated wind direction for fake wave effect */\r\n  fakeWindDirection: Vector3;\r\n  /** Index of the grabber currently holding this point (-1 = not grabbed) */\r\n  grabberIndex: number;\r\n  /** Distance maintained from grabber center when grabbed */\r\n  grabberDistance: number;\r\n  /** Accumulated friction from collisions this frame (reset each substep) */\r\n  friction: number;\r\n}\r\n\r\n/** Distance constraint between two points */\r\nexport interface Constraint {\r\n  /** Whether collision detection runs for this constraint's bone pair (0 or 1) */\r\n  isCollision: number;\r\n  /** Constraint topology type */\r\n  type: ConstraintType;\r\n  /** Index of first connected point */\r\n  indexA: number;\r\n  /** Index of second connected point */\r\n  indexB: number;\r\n  /** Rest length — the target distance between the two points */\r\n  length: number;\r\n}\r\n\r\n/** Read-only collider shape parameters (set at init) */\r\nexport interface ColliderR {\r\n  /** Base radius of the collider sphere (or capsule head) */\r\n  radius: number;\r\n  /** Scale factor for capsule tail radius relative to head (1.0 = uniform) */\r\n  radiusTailScale: number;\r\n  /** Capsule height. 0 = sphere collider, >0 = capsule collider */\r\n  height: number;\r\n  /** Friction coefficient applied on collision contact */\r\n  friction: number;\r\n  /** If true, keeps points INSIDE the collider (e.g. muscle volume) */\r\n  isInverseCollider: boolean;\r\n  /** Surface force direction for triangle/surface collision */\r\n  forceType: ColliderForce;\r\n}\r\n\r\n/** Mutable collider runtime state (updated each frame) */\r\nexport interface ColliderRW {\r\n  /** Current interpolated head position (for this substep) */\r\n  positionCurrent: Vector3;\r\n  /** Current interpolated capsule direction vector (head→tail) */\r\n  directionCurrent: Vector3;\r\n  /** World-space broad-phase center for current collider */\r\n  boundsCenter: Vector3;\r\n  /** World-space broad-phase radius for current collider */\r\n  boundsRadius: number;\r\n  /** This frame's world position (read from transform) */\r\n  positionCurrentTransform: Vector3;\r\n  /** Previous frame's world position */\r\n  positionPreviousTransform: Vector3;\r\n  /** This frame's world rotation (read from transform) */\r\n  directionCurrentTransform: Quaternion;\r\n  /** Previous frame's world rotation */\r\n  directionPreviousTransform: Quaternion;\r\n  /** World-to-local matrix for AABB bounds computation */\r\n  worldToLocal: Matrix4x4;\r\n  /** World-space scale of the collider node (product of all ancestor scales × own local scale) */\r\n  worldScale: Vector3;\r\n  /** Local-space AABB min corner */\r\n  localBoundsMin: Vector3;\r\n  /** Local-space AABB max corner */\r\n  localBoundsMax: Vector3;\r\n  /** Scaled radius for current frame (base radius × world scale) */\r\n  radius: number;\r\n  /** Whether this collider is active (0 = disabled, 1 = enabled) */\r\n  enabled: number;\r\n}\r\n\r\n/** Read-only grabber parameters (set at init) */\r\nexport interface GrabberR {\r\n  /** Grab activation radius — points within this distance can be grabbed */\r\n  radius: number;\r\n  /** Pull strength toward grabber [0-1]. 1 = snap to grabber, 0 = no pull */\r\n  force: number;\r\n}\r\n\r\n/** Mutable grabber runtime state (updated each frame) */\r\nexport interface GrabberRW {\r\n  /** Whether this grabber is active (0 = disabled, 1 = enabled) */\r\n  enabled: number;\r\n  /** Current world position of the grabber */\r\n  position: Vector3;\r\n}\r\n\r\n/** Angle limiting configuration for post-simulation bone angle clamping */\r\nexport interface AngleLimitConfig {\r\n  /** Max angle in degrees between parent and child bone. Negative = disabled */\r\n  angleLimit: number;\r\n  /** If true, measure angle from original transform orientation instead of simulated parent */\r\n  limitFromRoot: boolean;\r\n}\r\n\r\n/** Flat plane limiter — infinite plane that points cannot pass through */\r\nexport interface FlatPlane {\r\n  /** Plane normal (points toward the \"allowed\" side) */\r\n  normal: Vector3;\r\n  /** Signed distance from origin (plane equation: dot(normal, point) + distance = 0) */\r\n  distance: number;\r\n}\r\n\r\n/**\r\n * Input point data for low-level initialization (mirrors C# Point struct).\r\n * Used when bypassing the Controller and calling the solver directly.\r\n */\r\nexport interface PointInit {\r\n  /** Parent point index (-1 = no parent) */\r\n  parent: number;\r\n  /** Child point index (-1 = no child) */\r\n  child: number;\r\n  /** Index into movable limit targets array (-1 = none) */\r\n  movableLimitIndex: number;\r\n  /** Whether to respond to inverse colliders (0 or 1) */\r\n  applyInvertCollision: number;\r\n  /** Movable limit sphere radius */\r\n  movableLimitRadius: number;\r\n  /** 0 = fixed, 1 = dynamic */\r\n  weight: number;\r\n  /** Point mass */\r\n  mass: number;\r\n  /** Velocity damping [0-1] */\r\n  resistance: number;\r\n  /** Restore-to-animation stiffness [0-1] */\r\n  hardness: number;\r\n  /** Friction scale multiplier */\r\n  frictionScale: number;\r\n  /** Extra slack for horizontal/shear stretch */\r\n  sliderJointLength: number;\r\n  /** Fake wave amplitude */\r\n  fakeWavePower: number;\r\n  /** Fake wave frequency offset */\r\n  fakeWaveFreq: number;\r\n  /** Distance to parent point */\r\n  parentLength: number;\r\n  /** Structural vertical shrink stiffness */\r\n  structuralShrinkVertical: number;\r\n  /** Structural vertical stretch stiffness */\r\n  structuralStretchVertical: number;\r\n  /** Structural horizontal shrink stiffness */\r\n  structuralShrinkHorizontal: number;\r\n  /** Structural horizontal stretch stiffness */\r\n  structuralStretchHorizontal: number;\r\n  /** Shear shrink stiffness */\r\n  shearShrink: number;\r\n  /** Shear stretch stiffness */\r\n  shearStretch: number;\r\n  /** Bending vertical shrink stiffness */\r\n  bendingShrinkVertical: number;\r\n  /** Bending vertical stretch stiffness */\r\n  bendingStretchVertical: number;\r\n  /** Bending horizontal shrink stiffness */\r\n  bendingShrinkHorizontal: number;\r\n  /** Bending horizontal stretch stiffness */\r\n  bendingStretchHorizontal: number;\r\n  /** Wind force multiplier */\r\n  windForceScale: number;\r\n  /** Collision radius */\r\n  pointRadius: number;\r\n  /** Gravity vector */\r\n  gravity: Vector3;\r\n  /** Local-space bone axis direction */\r\n  boneAxis: Vector3;\r\n  /** Initial world position */\r\n  position: Vector3;\r\n  /** Initial direction */\r\n  direction: Vector3;\r\n}\r\n\r\n/**\r\n * Engine-agnostic transform read/write interface.\r\n * Implement this to bridge the solver with any rendering engine (Three.js, Babylon, custom).\r\n */\r\nexport interface TransformAccess {\r\n  /** Read world-space position */\r\n  getWorldPosition(): Vector3;\r\n  /** Read world-space rotation */\r\n  getWorldRotation(): Quaternion;\r\n  /** Read world-space scale (product of all ancestor scales and own local scale) */\r\n  getWorldScale(): Vector3;\r\n  /** Read local-space position (relative to parent) */\r\n  getLocalPosition(): Vector3;\r\n  /** Read local-space rotation (relative to parent) */\r\n  getLocalRotation(): Quaternion;\r\n  /** Read local scale */\r\n  getLocalScale(): Vector3;\r\n  /** Write world-space position (implementation must convert to local if parented) */\r\n  setWorldPosition(p: Vector3): void;\r\n  /** Write world-space rotation (implementation must convert to local if parented) */\r\n  setWorldRotation(q: Quaternion): void;\r\n  /** Write local-space position */\r\n  setLocalPosition(p: Vector3): void;\r\n  /** Write local-space rotation */\r\n  setLocalRotation(q: Quaternion): void;\r\n  /** Write local scale */\r\n  setLocalScale(s: Vector3): void;\r\n}\r\n\r\n/**\r\n * Bone hierarchy node for constraint building.\r\n * Represents a single bone in the tree structure passed to buildConstraints().\r\n */\r\nexport interface BoneNode {\r\n  /** Unique index of this bone (must match the position in the pointTransforms array) */\r\n  index: number;\r\n  /** World-space position at initialization time (used for rest-length calculation) */\r\n  position: Vector3;\r\n  /** Child nodes in the hierarchy */\r\n  children: BoneNode[];\r\n  /** If true, this point is fixed (weight=0, follows animation) — typically depth=0 roots */\r\n  isFixed: boolean;\r\n  /** Depth in the hierarchy (0 = root, increments per level) */\r\n  depth: number;\r\n  /** Whether to include in surface collision triangle generation (default: true) */\r\n  useForSurfaceCollision?: boolean;\r\n  /** Local-space direction to first child. Auto-computed from transforms if omitted */\r\n  boneAxis?: Vector3;\r\n}\r\n"],"names":["EPSILON","ConstraintType","ColliderForce"],"mappings":"AAAA;AAIO,MAAMA,UAAU;AAEvB,gCACO,IAAWC,cAAAA,iBAAAA,SAAAA,cAAAA,EAAAA;yDACkC,cAAA,CAAA,cAAA,CAAA,qBAAA,CAAA,GAAA,CAAA,CAAA,GAAA,qBAAA;mDAEN,cAAA,CAAA,cAAA,CAAA,uBAAA,CAAA,GAAA,CAAA,CAAA,GAAA,uBAAA;0DAEO,cAAA,CAAA,cAAA,CAAA,OAAA,CAAA,GAAA,CAAA,CAAA,GAAA,OAAA;6EAEmB,cAAA,CAAA,cAAA,CAAA,kBAAA,CAAA,GAAA,CAAA,CAAA,GAAA,kBAAA;oEAET,cAAA,CAAA,cAAA,CAAA,oBAAA,CAAA,GAAA,CAAA,CAAA,GAAA,oBAAA;AAT7CA,IAAAA,OAAAA,cAAAA;AAWjB,CAAA,CAAA,EAAA;AAED,8EACO,IAAWC,aAAAA,iBAAAA,SAAAA,aAAAA,EAAAA;4BACK,aAAA,CAAA,aAAA,CAAA,KAAA,CAAA,GAAA,CAAA,CAAA,GAAA,KAAA;8CAEkB,aAAA,CAAA,aAAA,CAAA,MAAA,CAAA,GAAA,CAAA,CAAA,GAAA,MAAA;+CAEC,aAAA,CAAA,aAAA,CAAA,MAAA,CAAA,GAAA,CAAA,CAAA,GAAA,MAAA;AALxBA,IAAAA,OAAAA,aAAAA;AAOjB,CAAA,CAAA,EAAA;;;;"}
+{"version":3,"file":"types.js","sources":["../../../src/animation/joint_dynamics/types.ts"],"sourcesContent":["// Data structure definitions — direct port of C# structs from SPCRJointDynamicsJob.cs\r\n\r\nimport type { Matrix4x4, Quaternion, Vector3 } from '@zephyr3d/base';\r\n\r\n/**\r\n * Numerical tolerance used by the joint dynamics solver.\r\n *\r\n * @public\r\n */\r\nexport const EPSILON = 0.001;\r\n\r\n/** Constraint topology type */\r\n/**\r\n * Constraint topology type.\r\n *\r\n * @public\r\n */\r\nexport const enum ConstraintType {\r\n  /** Parent-child bone pairs along vertical chains */\r\n  Structural_Vertical = 0,\r\n  /** Same-depth bones across adjacent chains */\r\n  Structural_Horizontal = 1,\r\n  /** Diagonal cross-bracing between adjacent chains */\r\n  Shear = 2,\r\n  /** Skip-one vertical (grandparent→grandchild) for bending resistance */\r\n  Bending_Vertical = 3,\r\n  /** Skip-one horizontal across chains for bending resistance */\r\n  Bending_Horizontal = 4\r\n}\r\n\r\n/** Collider surface force direction (used for surface/triangle collision) */\r\n/**\r\n * Collider surface force direction used for surface and triangle collision.\r\n *\r\n * @public\r\n */\r\nexport const enum ColliderForce {\r\n  /** No surface force */\r\n  Off = 0,\r\n  /** Push surface outward from collider */\r\n  Push = 1,\r\n  /** Pull surface inward toward collider */\r\n  Pull = 2\r\n}\r\n\r\n/**\r\n * Read-only per-point physics parameters.\r\n * Set once at initialization, immutable during simulation.\r\n * Constraint scale values are pre-multiplied by 0.5 (summed between two points in solver).\r\n */\r\n/**\r\n * Read-only per-point physics parameters.\r\n *\r\n * @public\r\n */\r\nexport interface PointR {\r\n  /** Index of parent point in the hierarchy (-1 = root, no parent) */\r\n  parent: number;\r\n  /** Index of first child point (-1 = leaf, no child) */\r\n  child: number;\r\n  /** Whether this point responds to inverse colliders (0 or 1) */\r\n  applyInvertCollision: number;\r\n  /** Index into movableLimitTargets array (-1 = no limit) */\r\n  movableLimitIndex: number;\r\n  /** Max distance from movable limit target (sphere constraint radius) */\r\n  movableLimitRadius: number;\r\n  /** 0 = fixed (follows animation), 1 = dynamic (simulated) */\r\n  weight: number;\r\n  /** Mass of the point, affects wind force scaling */\r\n  mass: number;\r\n  /** Velocity damping factor [0-1]. Higher = less damping, more movement */\r\n  resistance: number;\r\n  /** Restore-to-animation strength [0-1]. Higher = stiffer, pulls toward animated pose */\r\n  hardness: number;\r\n  /** Multiplier for accumulated friction from collisions */\r\n  frictionScale: number;\r\n  /** Extra slack length added to horizontal/shear constraint stretch limits */\r\n  sliderJointLength: number;\r\n  /** Distance to parent point (used for angle limiting) */\r\n  parentLength: number;\r\n  /** Structural vertical constraint shrink stiffness (×0.5, summed with other point) */\r\n  structuralShrinkVertical: number;\r\n  /** Structural vertical constraint stretch stiffness */\r\n  structuralStretchVertical: number;\r\n  /** Structural horizontal constraint shrink stiffness */\r\n  structuralShrinkHorizontal: number;\r\n  /** Structural horizontal constraint stretch stiffness */\r\n  structuralStretchHorizontal: number;\r\n  /** Shear constraint shrink stiffness */\r\n  shearShrink: number;\r\n  /** Shear constraint stretch stiffness */\r\n  shearStretch: number;\r\n  /** Bending vertical constraint shrink stiffness */\r\n  bendingShrinkVertical: number;\r\n  /** Bending vertical constraint stretch stiffness */\r\n  bendingStretchVertical: number;\r\n  /** Bending horizontal constraint shrink stiffness */\r\n  bendingShrinkHorizontal: number;\r\n  /** Bending horizontal constraint stretch stiffness */\r\n  bendingStretchHorizontal: number;\r\n  /** Wind force multiplier (scaled by depth rate) */\r\n  windForceScale: number;\r\n  /** Fake wave amplitude multiplier for leaf bones */\r\n  fakeWavePower: number;\r\n  /** Fake wave frequency offset for leaf bones */\r\n  fakeWaveFreq: number;\r\n  /** Blend ratio toward animation pose [0-1]. Used for fade in/out */\r\n  forceFadeRatio: number;\r\n  /** Collision radius of this point (used in sphere/capsule pushout) */\r\n  pointRadius: number;\r\n  /** Gravity vector applied to this point (scaled by depth curve) */\r\n  gravity: Vector3;\r\n  /** Local-space direction from this bone to its first child (for rotation calculation) */\r\n  boneAxis: Vector3;\r\n  /** Initial local scale captured at init (for transform reset) */\r\n  initialLocalScale: Vector3;\r\n  /** Initial local rotation captured at init (for rotation blending) */\r\n  initialLocalRotation: Quaternion;\r\n  /** Initial twist component of localRotation around boneAxis (for twist preservation) */\r\n  initialLocalTwist: Quaternion;\r\n  /** Initial local position captured at init (for transform reset) */\r\n  initialLocalPosition: Vector3;\r\n}\r\n\r\n/**\r\n * Mutable per-point simulation state.\r\n * Updated every substep during simulation.\r\n */\r\n/**\r\n * Mutable per-point simulation state.\r\n *\r\n * @public\r\n */\r\nexport interface PointRW {\r\n  /** Final output position to write back to the transform */\r\n  positionToTransform: Vector3;\r\n  /** Current frame's animated world position (read from transform) */\r\n  positionCurrentTransform: Vector3;\r\n  /** Previous frame's animated world position */\r\n  positionPreviousTransform: Vector3;\r\n  /** Current simulated world position (Verlet integration state) */\r\n  positionCurrent: Vector3;\r\n  /** Previous simulated world position (Verlet integration state) */\r\n  positionPrevious: Vector3;\r\n  /** Previous frame's bone direction (fallback when direction is zero-length) */\r\n  directionPrevious: Vector3;\r\n  /** Interpolated wind direction for fake wave effect */\r\n  fakeWindDirection: Vector3;\r\n  /** Index of the grabber currently holding this point (-1 = not grabbed) */\r\n  grabberIndex: number;\r\n  /** Distance maintained from grabber center when grabbed */\r\n  grabberDistance: number;\r\n  /** Accumulated friction from collisions this frame (reset each substep) */\r\n  friction: number;\r\n}\r\n\r\n/** Distance constraint between two points */\r\n/**\r\n * Distance constraint between two points.\r\n *\r\n * @public\r\n */\r\nexport interface Constraint {\r\n  /** Whether collision detection runs for this constraint's bone pair (0 or 1) */\r\n  isCollision: number;\r\n  /** Constraint topology type */\r\n  type: ConstraintType;\r\n  /** Index of first connected point */\r\n  indexA: number;\r\n  /** Index of second connected point */\r\n  indexB: number;\r\n  /** Rest length — the target distance between the two points */\r\n  length: number;\r\n}\r\n\r\n/** Read-only collider shape parameters (set at init) */\r\n/**\r\n * Read-only collider shape parameters.\r\n *\r\n * @public\r\n */\r\nexport interface ColliderR {\r\n  /** Base radius of the collider sphere (or capsule head) */\r\n  radius: number;\r\n  /** Scale factor for capsule tail radius relative to head (1.0 = uniform) */\r\n  radiusTailScale: number;\r\n  /** Capsule height. `0` means a sphere collider; `\\> 0` means a capsule collider. */\r\n  height: number;\r\n  /** Friction coefficient applied on collision contact */\r\n  friction: number;\r\n  /** If true, keeps points INSIDE the collider (e.g. muscle volume) */\r\n  isInverseCollider: boolean;\r\n  /** Surface force direction for triangle/surface collision */\r\n  forceType: ColliderForce;\r\n}\r\n\r\n/** Mutable collider runtime state (updated each frame) */\r\n/**\r\n * Mutable collider runtime state.\r\n *\r\n * @public\r\n */\r\nexport interface ColliderRW {\r\n  /** Current interpolated head position (for this substep) */\r\n  positionCurrent: Vector3;\r\n  /** Current interpolated capsule direction vector (head→tail) */\r\n  directionCurrent: Vector3;\r\n  /** World-space broad-phase center for current collider */\r\n  boundsCenter: Vector3;\r\n  /** World-space broad-phase radius for current collider */\r\n  boundsRadius: number;\r\n  /** This frame's world position (read from transform) */\r\n  positionCurrentTransform: Vector3;\r\n  /** Previous frame's world position */\r\n  positionPreviousTransform: Vector3;\r\n  /** This frame's world rotation (read from transform) */\r\n  directionCurrentTransform: Quaternion;\r\n  /** Previous frame's world rotation */\r\n  directionPreviousTransform: Quaternion;\r\n  /** World-to-local matrix for AABB bounds computation */\r\n  worldToLocal: Matrix4x4;\r\n  /** World-space scale of the collider node (product of all ancestor scales × own local scale) */\r\n  worldScale: Vector3;\r\n  /** Local-space AABB min corner */\r\n  localBoundsMin: Vector3;\r\n  /** Local-space AABB max corner */\r\n  localBoundsMax: Vector3;\r\n  /** Scaled radius for current frame (base radius × world scale) */\r\n  radius: number;\r\n  /** Whether this collider is active (0 = disabled, 1 = enabled) */\r\n  enabled: number;\r\n}\r\n\r\n/** Read-only grabber parameters (set at init) */\r\n/**\r\n * Read-only grabber parameters.\r\n *\r\n * @public\r\n */\r\nexport interface GrabberR {\r\n  /** Grab activation radius — points within this distance can be grabbed */\r\n  radius: number;\r\n  /** Pull strength toward grabber [0-1]. 1 = snap to grabber, 0 = no pull */\r\n  force: number;\r\n}\r\n\r\n/** Mutable grabber runtime state (updated each frame) */\r\n/**\r\n * Mutable grabber runtime state.\r\n *\r\n * @public\r\n */\r\nexport interface GrabberRW {\r\n  /** Whether this grabber is active (0 = disabled, 1 = enabled) */\r\n  enabled: number;\r\n  /** Current world position of the grabber */\r\n  position: Vector3;\r\n}\r\n\r\n/** Angle limiting configuration for post-simulation bone angle clamping */\r\n/**\r\n * Angle limiting configuration for post-simulation bone angle clamping.\r\n *\r\n * @public\r\n */\r\nexport interface AngleLimitConfig {\r\n  /** Max angle in degrees between parent and child bone. Negative = disabled */\r\n  angleLimit: number;\r\n  /** If true, measure angle from original transform orientation instead of simulated parent */\r\n  limitFromRoot: boolean;\r\n}\r\n\r\n/** Flat plane limiter — infinite plane that points cannot pass through */\r\n/**\r\n * Infinite plane limiter that points cannot pass through.\r\n *\r\n * @public\r\n */\r\nexport interface FlatPlane {\r\n  /** Plane normal (points toward the \"allowed\" side) */\r\n  normal: Vector3;\r\n  /** Signed distance from origin (plane equation: dot(normal, point) + distance = 0) */\r\n  distance: number;\r\n}\r\n\r\n/**\r\n * Input point data for low-level initialization (mirrors C# Point struct).\r\n * Used when bypassing the Controller and calling the solver directly.\r\n */\r\n/**\r\n * Input point data for low-level initialization.\r\n *\r\n * @public\r\n */\r\nexport interface PointInit {\r\n  /** Parent point index (-1 = no parent) */\r\n  parent: number;\r\n  /** Child point index (-1 = no child) */\r\n  child: number;\r\n  /** Index into movable limit targets array (-1 = none) */\r\n  movableLimitIndex: number;\r\n  /** Whether to respond to inverse colliders (0 or 1) */\r\n  applyInvertCollision: number;\r\n  /** Movable limit sphere radius */\r\n  movableLimitRadius: number;\r\n  /** 0 = fixed, 1 = dynamic */\r\n  weight: number;\r\n  /** Point mass */\r\n  mass: number;\r\n  /** Velocity damping [0-1] */\r\n  resistance: number;\r\n  /** Restore-to-animation stiffness [0-1] */\r\n  hardness: number;\r\n  /** Friction scale multiplier */\r\n  frictionScale: number;\r\n  /** Extra slack for horizontal/shear stretch */\r\n  sliderJointLength: number;\r\n  /** Fake wave amplitude */\r\n  fakeWavePower: number;\r\n  /** Fake wave frequency offset */\r\n  fakeWaveFreq: number;\r\n  /** Distance to parent point */\r\n  parentLength: number;\r\n  /** Structural vertical shrink stiffness */\r\n  structuralShrinkVertical: number;\r\n  /** Structural vertical stretch stiffness */\r\n  structuralStretchVertical: number;\r\n  /** Structural horizontal shrink stiffness */\r\n  structuralShrinkHorizontal: number;\r\n  /** Structural horizontal stretch stiffness */\r\n  structuralStretchHorizontal: number;\r\n  /** Shear shrink stiffness */\r\n  shearShrink: number;\r\n  /** Shear stretch stiffness */\r\n  shearStretch: number;\r\n  /** Bending vertical shrink stiffness */\r\n  bendingShrinkVertical: number;\r\n  /** Bending vertical stretch stiffness */\r\n  bendingStretchVertical: number;\r\n  /** Bending horizontal shrink stiffness */\r\n  bendingShrinkHorizontal: number;\r\n  /** Bending horizontal stretch stiffness */\r\n  bendingStretchHorizontal: number;\r\n  /** Wind force multiplier */\r\n  windForceScale: number;\r\n  /** Collision radius */\r\n  pointRadius: number;\r\n  /** Gravity vector */\r\n  gravity: Vector3;\r\n  /** Local-space bone axis direction */\r\n  boneAxis: Vector3;\r\n  /** Initial world position */\r\n  position: Vector3;\r\n  /** Initial direction */\r\n  direction: Vector3;\r\n}\r\n\r\n/**\r\n * Engine-agnostic transform read/write interface.\r\n * Implement this to bridge the solver with any rendering engine (Three.js, Babylon, custom).\r\n */\r\n/**\r\n * Transform adapter used by the solver to read and write bone state.\r\n *\r\n * @public\r\n */\r\nexport interface TransformAccess {\r\n  /** Read world-space position */\r\n  getWorldPosition(): Vector3;\r\n  /** Read world-space rotation */\r\n  getWorldRotation(): Quaternion;\r\n  /** Read world-space scale (product of all ancestor scales and own local scale) */\r\n  getWorldScale(): Vector3;\r\n  /** Read local-space position (relative to parent) */\r\n  getLocalPosition(): Vector3;\r\n  /** Read local-space rotation (relative to parent) */\r\n  getLocalRotation(): Quaternion;\r\n  /** Read local scale */\r\n  getLocalScale(): Vector3;\r\n  /** Write world-space position (implementation must convert to local if parented) */\r\n  setWorldPosition(p: Vector3): void;\r\n  /** Write world-space rotation (implementation must convert to local if parented) */\r\n  setWorldRotation(q: Quaternion): void;\r\n  /** Write local-space position */\r\n  setLocalPosition(p: Vector3): void;\r\n  /** Write local-space rotation */\r\n  setLocalRotation(q: Quaternion): void;\r\n  /** Write local scale */\r\n  setLocalScale(s: Vector3): void;\r\n}\r\n\r\n/**\r\n * Bone hierarchy node for constraint building.\r\n * Represents a single bone in the tree structure passed to buildConstraints().\r\n */\r\n/**\r\n * Bone hierarchy node used to build constraints and simulation points.\r\n *\r\n * @public\r\n */\r\nexport interface BoneNode {\r\n  /** Unique index of this bone (must match the position in the pointTransforms array) */\r\n  index: number;\r\n  /** World-space position at initialization time (used for rest-length calculation) */\r\n  position: Vector3;\r\n  /** Child nodes in the hierarchy */\r\n  children: BoneNode[];\r\n  /** If true, this point is fixed (weight=0, follows animation) — typically depth=0 roots */\r\n  isFixed: boolean;\r\n  /** Depth in the hierarchy (0 = root, increments per level) */\r\n  depth: number;\r\n  /** Whether to include in surface collision triangle generation (default: true) */\r\n  useForSurfaceCollision?: boolean;\r\n  /** Local-space direction to first child. Auto-computed from transforms if omitted */\r\n  boneAxis?: Vector3;\r\n}\r\n"],"names":["EPSILON","ConstraintType","ColliderForce"],"mappings":"AAAA;AAIA;;;;IAKaA,MAAAA,OAAAA,GAAU;AAEvB;;;;IAMO,IAAWC,cAAAA,iBAAAA,SAAAA,cAAAA,EAAAA;yDACkC,cAAA,CAAA,cAAA,CAAA,qBAAA,CAAA,GAAA,CAAA,CAAA,GAAA,qBAAA;mDAEN,cAAA,CAAA,cAAA,CAAA,uBAAA,CAAA,GAAA,CAAA,CAAA,GAAA,uBAAA;0DAEO,cAAA,CAAA,cAAA,CAAA,OAAA,CAAA,GAAA,CAAA,CAAA,GAAA,OAAA;6EAEmB,cAAA,CAAA,cAAA,CAAA,kBAAA,CAAA,GAAA,CAAA,CAAA,GAAA,kBAAA;oEAET,cAAA,CAAA,cAAA,CAAA,oBAAA,CAAA,GAAA,CAAA,CAAA,GAAA,oBAAA;AAT7CA,IAAAA,OAAAA,cAAAA;AAWjB,CAAA,CAAA,EAAA;AAED;;;;IAMO,IAAWC,aAAAA,iBAAAA,SAAAA,aAAAA,EAAAA;4BACK,aAAA,CAAA,aAAA,CAAA,KAAA,CAAA,GAAA,CAAA,CAAA,GAAA,KAAA;8CAEkB,aAAA,CAAA,aAAA,CAAA,MAAA,CAAA,GAAA,CAAA,CAAA,GAAA,MAAA;+CAEC,aAAA,CAAA,aAAA,CAAA,MAAA,CAAA,GAAA,CAAA,CAAA,GAAA,MAAA;AALxBA,IAAAA,OAAAA,aAAAA;AAOjB,CAAA,CAAA,EAAA;;;;"}

package/dist/animation/pca_geometry_cache_track.js

@@ -3,7 +3,11 @@ import { BoundingBox } from '../utility/bounding_volume.js';
 import { Vector3 } from '@zephyr3d/base';
 import { createGeometryCacheState, ensureGeometryCacheMeshBinding, mixGeometryCacheBoundingBox } from './geometry_cache_utils.js';
 
-class PCAGeometryCacheTrack extends AnimationTrack {
+/**
+ * Geometry cache track reconstructed from PCA bases and coefficients.
+ *
+ * @public
+ */ class PCAGeometryCacheTrack extends AnimationTrack {
     _times;
     _bounds;
     _positionReference;