@zephyr3d/scene 0.9.17 → 0.9.19

package/dist/animation/joint_dynamics/collision.js

@@ -170,9 +170,10 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
     const direction = Vector3.sub(point, center, _pushoutSphereDirection);
     const sqrLen = direction.magnitudeSq;
     if (sqrLen > EPSILON) {
-        const dirLen = Math.sqrt(sqrLen) - pointRadius;
-        if (dirLen < radius) {
-            const scaled = Vector3.scale(direction, radius / dirLen, _pushoutSphereScaled);
+        const dist = Math.sqrt(sqrLen);
+        const targetDist = radius + pointRadius;
+        if (dist < targetDist) {
+            const scaled = Vector3.scale(direction, targetDist / dist, _pushoutSphereScaled);
             Vector3.add(center, scaled, scaled);
             return writeCollisionResult(out, true, scaled, !out);
         }
@@ -212,10 +213,11 @@ function writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, sqrDistance,
     const pushVec = Vector3.sub(point, posOnVec, _pushoutCapsulePushVec);
     const sqrPushDist = pushVec.magnitudeSq;
     if (sqrPushDist > EPSILON) {
-        const pushDist = Math.sqrt(sqrPushDist) - ptR.pointRadius;
+        const pushDist = Math.sqrt(sqrPushDist);
         const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / capsuleHeight);
-        if (pushDist < r) {
-            const scaled = Vector3.scale(pushVec, r / pushDist, _pushoutCapsuleScaled);
+        const targetDist = r + ptR.pointRadius;
+        if (pushDist < targetDist) {
+            const scaled = Vector3.scale(pushVec, targetDist / pushDist, _pushoutCapsuleScaled);
             Vector3.add(posOnVec, scaled, scaled);
             return writeCollisionResult(out, true, scaled, !out);
         }

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

@@ -1 +1 @@
-{"version":3,"file":"collision.js","sources":["../../../src/animation/joint_dynamics/collision.ts"],"sourcesContent":["// Collision detection & response - direct port of SPCRJointDynamicsJob.cs Collision class\r\n\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { ColliderR, ColliderRW, PointR } from './types';\r\nimport { EPSILON, ColliderForce } from './types';\r\n\r\n/** @public */\r\nexport interface CollisionResult {\r\n  hit: boolean;\r\n  point: Vector3;\r\n}\r\n\r\n/** @public */\r\nexport interface LineCollisionResult {\r\n  hit: boolean;\r\n  pointOnLine: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\n/** @public */\r\nexport interface SurfaceCheckResult {\r\n  hit: boolean;\r\n  intersectionPoint: Vector3;\r\n  pushOut: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\n/** @public */\r\nexport interface NearestPointsResult {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n}\r\n\r\nconst _pushoutSphereDirection = new Vector3();\r\nconst _pushoutSphereScaled = new Vector3();\r\nconst _pushoutCapsuleVecN = new Vector3();\r\nconst _pushoutCapsuleTargetVec = new Vector3();\r\nconst _pushoutCapsuleTail = new Vector3();\r\nconst _pushoutCapsulePosOnVec = new Vector3();\r\nconst _pushoutCapsulePushVec = new Vector3();\r\nconst _pushoutCapsuleScaled = new Vector3();\r\nconst _pushInSphereDirection = new Vector3();\r\nconst _pushInSphereDirectionN = new Vector3();\r\nconst _pushInSphereScaled = new Vector3();\r\nconst _pushInCapsuleVecN = new Vector3();\r\nconst _pushInCapsuleTargetVec = new Vector3();\r\nconst _pushInCapsuleTail = new Vector3();\r\nconst _pushInCapsulePosOnVec = new Vector3();\r\nconst _pushInCapsulePullVec = new Vector3();\r\nconst _pushInCapsulePullVecN = new Vector3();\r\nconst _pushInCapsuleScaled = new Vector3();\r\nconst _collisionSphereDir = new Vector3();\r\nconst _collisionSphereDirN = new Vector3();\r\nconst _collisionSphereToCenter = new Vector3();\r\nconst _collisionSphereScaled = new Vector3();\r\nconst _collisionSphereDiff = new Vector3();\r\nconst _collisionCapsuleTail = new Vector3();\r\nconst _collisionCapsulePointDir = new Vector3();\r\nconst _collisionCapsulePtOnCol = new Vector3();\r\nconst _collisionCapsulePtOnLine = new Vector3();\r\nconst _collisionCapsuleDiff = new Vector3();\r\nconst _collisionCapsuleTempLineResult: LineCollisionResult = {\r\n  hit: false,\r\n  pointOnLine: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _nearestCross0 = new Vector3();\r\nconst _nearestCross1 = new Vector3();\r\nconst _nearestN1 = new Vector3();\r\nconst _nearestN2 = new Vector3();\r\nconst _nearestPosDiff = new Vector3();\r\nconst _nearestPointOnP = new Vector3();\r\nconst _nearestPointOnQ = new Vector3();\r\nconst _nearestPointDiff = new Vector3();\r\nconst _nearestResult: NearestPointsResult = {\r\n  tP: 0,\r\n  tQ: 0,\r\n  pointOnP: new Vector3(),\r\n  pointOnQ: new Vector3(),\r\n  sqrDistance: 0\r\n};\r\nconst _surfaceNoHit: 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\nconst _surfaceTriCenter = new Vector3();\r\nconst _surfaceEdgeAB = new Vector3();\r\nconst _surfaceEdgeAC = new Vector3();\r\nconst _surfacePlaneNormal = new Vector3();\r\nconst _surfacePlaneNormalNeg = new Vector3();\r\nconst _surfaceColliderDir = new Vector3();\r\nconst _surfaceRayDir = new Vector3();\r\nconst _surfaceRayDirN = new Vector3();\r\nconst _surfaceTail = new Vector3();\r\nconst _surfaceIntersection = new Vector3();\r\nconst _surfacePushOut = new Vector3();\r\nconst _surfaceToCol = new Vector3();\r\nconst _surfaceEndVec = new Vector3();\r\nconst _surfaceColDirVec = new Vector3();\r\nconst _surfaceIntersecToEnd = new Vector3();\r\nconst _surfaceColToEnd = new Vector3();\r\nconst _surfaceColToIntersect = new Vector3();\r\nconst _surfaceEVec = new Vector3();\r\nconst _surfacePoc2 = new Vector3();\r\nconst _triangleAp = new Vector3();\r\nconst _triangleBp = new Vector3();\r\nconst _triangleCp = new Vector3();\r\nconst _triangleU = new Vector3();\r\nconst _triangleV = new Vector3();\r\nconst _triangleW = new Vector3();\r\n\r\nfunction writeCollisionResult(\r\n  out: CollisionResult | undefined,\r\n  hit: boolean,\r\n  point: Vector3,\r\n  copyPoint: boolean\r\n) {\r\n  if (!out) {\r\n    return { hit, point: copyPoint ? point.clone() : point };\r\n  }\r\n  if (!out.point) {\r\n    out.point = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.point.set(point);\r\n  return out;\r\n}\r\n\r\nfunction writeLineCollisionResult(\r\n  out: LineCollisionResult | undefined,\r\n  hit: boolean,\r\n  pointOnLine: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      pointOnLine: copyVectors ? pointOnLine.clone() : pointOnLine,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.pointOnLine) {\r\n    out.pointOnLine = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.pointOnLine.set(pointOnLine);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeSurfaceCheckResult(\r\n  out: SurfaceCheckResult | undefined,\r\n  hit: boolean,\r\n  intersectionPoint: Vector3,\r\n  pushOut: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      intersectionPoint: copyVectors ? intersectionPoint.clone() : intersectionPoint,\r\n      pushOut: copyVectors ? pushOut.clone() : pushOut,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.intersectionPoint) {\r\n    out.intersectionPoint = new Vector3();\r\n  }\r\n  if (!out.pushOut) {\r\n    out.pushOut = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.intersectionPoint.set(intersectionPoint);\r\n  out.pushOut.set(pushOut);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeNearestPointsResult(\r\n  out: NearestPointsResult | undefined,\r\n  tP: number,\r\n  tQ: number,\r\n  pointOnP: Vector3,\r\n  pointOnQ: Vector3,\r\n  sqrDistance: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      tP,\r\n      tQ,\r\n      pointOnP: copyVectors ? pointOnP.clone() : pointOnP,\r\n      pointOnQ: copyVectors ? pointOnQ.clone() : pointOnQ,\r\n      sqrDistance\r\n    };\r\n  }\r\n  out.tP = tP;\r\n  out.tQ = tQ;\r\n  out.pointOnP.set(pointOnP);\r\n  out.pointOnQ.set(pointOnQ);\r\n  out.sqrDistance = sqrDistance;\r\n  return out;\r\n}\r\n\r\n// Pushout (keep point outside collider)\r\n\r\n/**\r\n * Pushes a point out of a sphere collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  pointRadius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(point, center, _pushoutSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON) {\r\n    const dirLen = Math.sqrt(sqrLen) - pointRadius;\r\n    if (dirLen < radius) {\r\n      const scaled = Vector3.scale(direction, radius / dirLen, _pushoutSphereScaled);\r\n      Vector3.add(center, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Pushes a point out of a collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  return pushoutFromCapsule(colR, colRW, point, ptR, out);\r\n}\r\n\r\n/**\r\n * Pushes a point out of a capsule collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleHeight = colRW.height > EPSILON ? colRW.height : capsuleVec.magnitude;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushoutCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushoutCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushoutFromSphere(capsulePos, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  if (distOnVec >= capsuleHeight) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushoutCapsuleTail);\r\n    return pushoutFromSphere(tail, colRW.radius * colR.radiusTailScale, ptR.pointRadius, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushoutCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pushVec = Vector3.sub(point, posOnVec, _pushoutCapsulePushVec);\r\n  const sqrPushDist = pushVec.magnitudeSq;\r\n  if (sqrPushDist > EPSILON) {\r\n    const pushDist = Math.sqrt(sqrPushDist) - ptR.pointRadius;\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / capsuleHeight);\r\n    if (pushDist < r) {\r\n      const scaled = Vector3.scale(pushVec, r / pushDist, _pushoutCapsuleScaled);\r\n      Vector3.add(posOnVec, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// PushIn (keep point inside collider - inverse mode)\r\n\r\n/**\r\n * Pulls a point inside a sphere collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(center, point, _pushInSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON && sqrLen > radius * radius) {\r\n    const dirLen = Math.sqrt(sqrLen);\r\n    const directionN = Vector3.normalize(direction, _pushInSphereDirectionN);\r\n    const scaled = Vector3.scale(directionN, dirLen - radius, _pushInSphereScaled);\r\n    Vector3.add(point, scaled, scaled);\r\n    return writeCollisionResult(out, true, scaled, !out);\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Pulls a point inside a collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushInFromSphere(colRW.positionCurrent, colRW.radius, point, out);\r\n  }\r\n  return pushInFromCapsule(colR, colRW, point, out);\r\n}\r\n\r\n/**\r\n * Pulls a point inside a capsule collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleHeight = colRW.height > EPSILON ? colRW.height : capsuleVec.magnitude;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushInCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushInCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushInFromSphere(capsulePos, colRW.radius, point, out);\r\n  }\r\n  if (distOnVec >= capsuleHeight) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushInCapsuleTail);\r\n    return pushInFromSphere(tail, colRW.radius * colR.radiusTailScale, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushInCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pullVec = Vector3.sub(posOnVec, point, _pushInCapsulePullVec);\r\n  const sqrPullDist = pullVec.magnitudeSq;\r\n  if (sqrPullDist > EPSILON) {\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / capsuleHeight);\r\n    if (sqrPullDist > r * r) {\r\n      const pullDist = Math.sqrt(sqrPullDist);\r\n      const pullVecN = Vector3.normalize(pullVec, _pushInCapsulePullVecN);\r\n      const scaled = Vector3.scale(pullVecN, pullDist - r, _pushInCapsuleScaled);\r\n      Vector3.add(point, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// Line segment vs collider detection\r\n\r\n/**\r\n * Performs sphere collision detection.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetectionSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const dir = Vector3.sub(point2, point1, _collisionSphereDir);\r\n  const dirLen = dir.magnitude;\r\n  if (dirLen < EPSILON) {\r\n    return writeLineCollisionResult(out, false, point1, center, radius, !out);\r\n  }\r\n  const dirN = Vector3.scale(dir, 1 / dirLen, _collisionSphereDirN);\r\n  const toCenter = Vector3.sub(center, point1, _collisionSphereToCenter);\r\n  const dot = Vector3.dot(dirN, toCenter);\r\n  const clamped = Math.max(0, Math.min(dot, dirLen));\r\n  const ptOnLine = Vector3.scale(dirN, clamped, _collisionSphereScaled);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(center, ptOnLine, _collisionSphereDiff);\r\n  const hit = diff.magnitudeSq <= radius * radius;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, center, radius, !out);\r\n}\r\n\r\n/**\r\n * Performs capsule collision detection.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetectionCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const capsuleDir = colRW.directionCurrent;\r\n  const capsulePos = colRW.positionCurrent;\r\n\r\n  let res = collisionDetectionSphere(capsulePos, colRW.radius, point1, point2, out);\r\n  if (res.hit) {\r\n    return res;\r\n  }\r\n\r\n  const tail = Vector3.add(capsulePos, capsuleDir, _collisionCapsuleTail);\r\n  res = collisionDetectionSphere(\r\n    tail,\r\n    colRW.radius * colR.radiusTailScale,\r\n    point1,\r\n    point2,\r\n    _collisionCapsuleTempLineResult\r\n  );\r\n  if (res.hit) {\r\n    return writeLineCollisionResult(out, true, res.pointOnLine, res.pointOnCollider, res.radius, !out);\r\n  }\r\n\r\n  const pointDir = Vector3.sub(point2, point1, _collisionCapsulePointDir);\r\n  const nearest = computeNearestPoints(capsulePos, capsuleDir, point1, pointDir, _nearestResult);\r\n  const t1 = Math.max(0, Math.min(1, nearest.tP));\r\n  const r = colRW.radius * lerp(1.0, colR.radiusTailScale, t1);\r\n\r\n  if (nearest.sqrDistance > r * r) {\r\n    return writeLineCollisionResult(out, false, point1, capsulePos, r, !out);\r\n  }\r\n\r\n  const t2 = Math.max(0, Math.min(1, nearest.tQ));\r\n  const ptOnCol = Vector3.scale(capsuleDir, t1, _collisionCapsulePtOnCol);\r\n  Vector3.add(capsulePos, ptOnCol, ptOnCol);\r\n  const ptOnLine = Vector3.scale(pointDir, t2, _collisionCapsulePtOnLine);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(ptOnCol, ptOnLine, _collisionCapsuleDiff);\r\n  const hit = diff.magnitudeSq <= r * r;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, ptOnCol, r, !out);\r\n}\r\n\r\n/**\r\n * Performs collision detection against the specified collider.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  return collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n}\r\n\r\n/**\r\n * Performs inward collision detection.\r\n *\r\n * @public\r\n */\r\nexport function pushInCollisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  const res = collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n  res.hit = false;\r\n  return res;\r\n}\r\n\r\n// Nearest points between two line segments\r\n\r\n/**\r\n * Computes the nearest points between two segments.\r\n *\r\n * @public\r\n */\r\nexport function computeNearestPoints(\r\n  posP: Vector3,\r\n  dirP: Vector3,\r\n  posQ: Vector3,\r\n  dirQ: Vector3,\r\n  out?: NearestPointsResult\r\n): {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n} {\r\n  const cross0 = Vector3.cross(dirQ, dirP, _nearestCross0);\r\n  const n1 = Vector3.cross(dirP, cross0, _nearestN1);\r\n  const cross1 = Vector3.cross(dirP, dirQ, _nearestCross1);\r\n  const n2 = Vector3.cross(dirQ, cross1, _nearestN2);\r\n  const dP_n2 = Vector3.dot(dirP, n2);\r\n  const dQ_n1 = Vector3.dot(dirQ, n1);\r\n  const posDiff = Vector3.sub(posQ, posP, _nearestPosDiff);\r\n  const tP = dP_n2 !== 0 ? Vector3.dot(posDiff, n2) / dP_n2 : 0;\r\n  const tQ = dQ_n1 !== 0 ? Vector3.dot(Vector3.scale(posDiff, -1, posDiff), n1) / dQ_n1 : 0;\r\n  const pointOnP = Vector3.scale(dirP, tP, _nearestPointOnP);\r\n  Vector3.add(posP, pointOnP, pointOnP);\r\n  const pointOnQ = Vector3.scale(dirQ, tQ, _nearestPointOnQ);\r\n  Vector3.add(posQ, pointOnQ, pointOnQ);\r\n  const diff = Vector3.sub(pointOnQ, pointOnP, _nearestPointDiff);\r\n  return writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, diff.magnitudeSq, !out);\r\n}\r\n\r\n// Surface collision (triangle-based)\r\n\r\n/**\r\n * Checks triangle-surface collision against a collider.\r\n *\r\n * @public\r\n */\r\nexport function checkSurfaceCollision(\r\n  ptA: Vector3,\r\n  ptB: Vector3,\r\n  ptC: Vector3,\r\n  colliderPos: Vector3,\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  out?: SurfaceCheckResult\r\n): SurfaceCheckResult {\r\n  _surfaceNoHit.hit = false;\r\n  _surfaceNoHit.intersectionPoint.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pushOut.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pointOnCollider.set(colliderPos);\r\n  _surfaceNoHit.radius = colRW.radius;\r\n\r\n  let pointOnCollider = colliderPos;\r\n  let radius = colRW.radius;\r\n  const isCapsule = colR.height > EPSILON;\r\n\r\n  const triCenter = centerOfTriangle(ptA, ptB, ptC, _surfaceTriCenter);\r\n  const edgeAB = Vector3.sub(ptB, ptA, _surfaceEdgeAB);\r\n  const edgeAC = Vector3.sub(ptC, ptA, _surfaceEdgeAC);\r\n  const planeNormal = Vector3.cross(edgeAB, edgeAC, _surfacePlaneNormal);\r\n  Vector3.normalize(planeNormal, planeNormal);\r\n  Vector3.scale(planeNormal, -1, planeNormal);\r\n  const planeNormalNeg = Vector3.scale(planeNormal, -1, _surfacePlaneNormalNeg);\r\n  const planeDist = -Vector3.dot(planeNormalNeg, ptA);\r\n  const colliderDir = Vector3.sub(colliderPos, triCenter, _surfaceColliderDir);\r\n  Vector3.normalize(colliderDir, colliderDir);\r\n  const dot = Vector3.dot(colliderDir, planeNormal);\r\n\r\n  if (isCapsule) {\r\n    const side = Vector3.dot(colRW.directionCurrent, planeNormal) * dot;\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const tempPOC = pointOnCollider;\r\n\r\n    if (side < 0) {\r\n      radius = colRW.radius * colR.radiusTailScale;\r\n      pointOnCollider = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceTail);\r\n    }\r\n\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    } else if (colR.forceType !== ColliderForce.Off) {\r\n      pointOnCollider = tempPOC;\r\n      let endVec = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceEndVec);\r\n      _surfaceColDirVec.set(colRW.directionCurrent);\r\n      let colDirVec = _surfaceColDirVec;\r\n      if (colR.forceType === ColliderForce.Pull) {\r\n        const tmp = pointOnCollider;\r\n        pointOnCollider = endVec;\r\n        endVec = tmp;\r\n        colDirVec = Vector3.scale(colDirVec, -1, colDirVec);\r\n      }\r\n      const enter2 = raycast(planeNormalNeg, planeDist, pointOnCollider, colDirVec);\r\n      if (enter2 !== null) {\r\n        const ip = Vector3.scale(colDirVec, enter2, _surfaceIntersection);\r\n        Vector3.add(pointOnCollider, ip, ip);\r\n        if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n          const intersecToEnd = Vector3.sub(endVec, ip, _surfaceIntersecToEnd);\r\n          const colToEnd = Vector3.sub(endVec, pointOnCollider, _surfaceColToEnd);\r\n          const colToIntersect = Vector3.sub(ip, pointOnCollider, _surfaceColToIntersect);\r\n          const pDot = Vector3.dot(intersecToEnd, colToIntersect);\r\n          const lDot = Vector3.dot(colToEnd, colToEnd);\r\n          if (!(pDot >= 0 && pDot <= lDot)) {\r\n            return writeSurfaceCheckResult(\r\n              out,\r\n              _surfaceNoHit.hit,\r\n              _surfaceNoHit.intersectionPoint,\r\n              _surfaceNoHit.pushOut,\r\n              _surfaceNoHit.pointOnCollider,\r\n              _surfaceNoHit.radius,\r\n              !out\r\n            );\r\n          }\r\n          const dotVal = Vector3.dot(colToEnd, colToIntersect);\r\n          const s2eMag = Vector3.dot(colToEnd, colToEnd);\r\n          const colToEndN = Vector3.normalize(colToEnd, colToEnd);\r\n          const eVec = Vector3.scale(colToEndN, -radius, _surfaceEVec);\r\n          Vector3.add(pointOnCollider, eVec, eVec);\r\n          const pushOut = Vector3.sub(ip, eVec, _surfacePushOut);\r\n          const poc2 = Vector3.scale(colToEnd, dotVal / s2eMag, _surfacePoc2);\r\n          Vector3.add(pointOnCollider, poc2, poc2);\r\n          const toCol = Vector3.sub(poc2, ip, _surfaceToCol);\r\n          if (toCol.magnitudeSq <= radius * radius) {\r\n            return writeSurfaceCheckResult(out, true, ip, pushOut, poc2, radius, !out);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  } else {\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  return writeSurfaceCheckResult(\r\n    out,\r\n    _surfaceNoHit.hit,\r\n    _surfaceNoHit.intersectionPoint,\r\n    _surfaceNoHit.pushOut,\r\n    _surfaceNoHit.pointOnCollider,\r\n    _surfaceNoHit.radius,\r\n    !out\r\n  );\r\n}\r\n\r\n// Helpers\r\n\r\nfunction raycast(normal: Vector3, planeDist: number, origin: Vector3, direction: Vector3): number | null {\r\n  const vdot = Vector3.dot(direction, normal);\r\n  const ndot = -Vector3.dot(origin, normal) - planeDist;\r\n  if (Math.abs(vdot) <= EPSILON) {\r\n    return null;\r\n  }\r\n  const enter = ndot / vdot;\r\n  return enter > 0 ? enter : null;\r\n}\r\n\r\nfunction centerOfTriangle(a: Vector3, b: Vector3, c: Vector3, result?: Vector3): Vector3 {\r\n  result = result || new Vector3();\r\n  return result.setXYZ((a.x + b.x + c.x) / 3, (a.y + b.y + c.y) / 3, (a.z + b.z + c.z) / 3);\r\n}\r\n\r\nfunction triangleContainsPoint(a: Vector3, b: Vector3, c: Vector3, p: Vector3): boolean {\r\n  const ap = Vector3.sub(a, p, _triangleAp);\r\n  const bp = Vector3.sub(b, p, _triangleBp);\r\n  const cp = Vector3.sub(c, p, _triangleCp);\r\n  const u = Vector3.cross(ap, bp, _triangleU);\r\n  const vv = Vector3.cross(bp, cp, _triangleV);\r\n  const w = Vector3.cross(cp, ap, _triangleW);\r\n  if (Vector3.dot(u, vv) < 0) {\r\n    return false;\r\n  }\r\n  if (Vector3.dot(vv, w) < 0) {\r\n    return false;\r\n  }\r\n  return true;\r\n}\r\n\r\nfunction lerp(a: number, b: number, t: number): number {\r\n  return a + (b - a) * t;\r\n}\r\n"],"names":["_pushoutSphereDirection","Vector3","_pushoutSphereScaled","_pushoutCapsuleVecN","_pushoutCapsuleTargetVec","_pushoutCapsuleTail","_pushoutCapsulePosOnVec","_pushoutCapsulePushVec","_pushoutCapsuleScaled","_pushInSphereDirection","_pushInSphereDirectionN","_pushInSphereScaled","_pushInCapsuleVecN","_pushInCapsuleTargetVec","_pushInCapsuleTail","_pushInCapsulePosOnVec","_pushInCapsulePullVec","_pushInCapsulePullVecN","_pushInCapsuleScaled","_collisionSphereDir","_collisionSphereDirN","_collisionSphereToCenter","_collisionSphereScaled","_collisionSphereDiff","_collisionCapsuleTail","_collisionCapsulePointDir","_collisionCapsulePtOnCol","_collisionCapsulePtOnLine","_collisionCapsuleDiff","_collisionCapsuleTempLineResult","hit","pointOnLine","pointOnCollider","radius","_nearestCross0","_nearestCross1","_nearestN1","_nearestN2","_nearestPosDiff","_nearestPointOnP","_nearestPointOnQ","_nearestPointDiff","_nearestResult","tP","tQ","pointOnP","pointOnQ","sqrDistance","_surfaceNoHit","intersectionPoint","pushOut","_surfaceTriCenter","_surfaceEdgeAB","_surfaceEdgeAC","_surfacePlaneNormal","_surfacePlaneNormalNeg","_surfaceColliderDir","_surfaceRayDir","_surfaceRayDirN","_surfaceTail","_surfaceIntersection","_surfacePushOut","_surfaceToCol","_surfaceEndVec","_surfaceColDirVec","_surfaceIntersecToEnd","_surfaceColToEnd","_surfaceColToIntersect","_surfaceEVec","_surfacePoc2","_triangleAp","_triangleBp","_triangleCp","_triangleU","_triangleV","_triangleW","writeCollisionResult","out","point","copyPoint","clone","set","writeLineCollisionResult","copyVectors","writeSurfaceCheckResult","writeNearestPointsResult","pushoutFromSphere","center","pointRadius","direction","sub","sqrLen","magnitudeSq","EPSILON","dirLen","Math","sqrt","scaled","scale","add","pushoutFromCollider","colR","colRW","ptR","height","positionCurrent","pushoutFromCapsule","capsuleVec","directionCurrent","capsuleHeight","magnitude","capsuleVecN","normalize","capsulePos","targetVec","distOnVec","dot","tail","radiusTailScale","posOnVec","pushVec","sqrPushDist","pushDist","r","lerp","pushInFromSphere","directionN","pushInFromCollider","pushInFromCapsule","pullVec","sqrPullDist","pullDist","pullVecN","collisionDetectionSphere","point1","point2","dir","dirN","toCenter","clamped","max","min","ptOnLine","diff","collisionDetectionCapsule","capsuleDir","res","pointDir","nearest","computeNearestPoints","t1","t2","ptOnCol","collisionDetection","pushInCollisionDetection","posP","dirP","posQ","dirQ","cross0","cross","n1","cross1","n2","dP_n2","dQ_n1","posDiff","checkSurfaceCollision","ptA","ptB","ptC","colliderPos","setXYZ","isCapsule","triCenter","centerOfTriangle","edgeAB","edgeAC","planeNormal","planeNormalNeg","planeDist","colliderDir","side","rayDir","tempPOC","rayDirN","enter","raycast","ip","triangleContainsPoint","toCol","forceType","ColliderForce","Off","endVec","colDirVec","Pull","tmp","enter2","intersecToEnd","colToEnd","colToIntersect","pDot","lDot","dotVal","s2eMag","colToEndN","eVec","poc2","normal","origin","vdot","ndot","abs","a","b","c","result","x","y","z","p","ap","bp","cp","u","vv","w","t"],"mappings":";;;AAAA;AAsCA,MAAMA,0BAA0B,IAAIC,OAAAA,EAAAA;AACpC,MAAMC,uBAAuB,IAAID,OAAAA,EAAAA;AACjC,MAAME,sBAAsB,IAAIF,OAAAA,EAAAA;AAChC,MAAMG,2BAA2B,IAAIH,OAAAA,EAAAA;AACrC,MAAMI,sBAAsB,IAAIJ,OAAAA,EAAAA;AAChC,MAAMK,0BAA0B,IAAIL,OAAAA,EAAAA;AACpC,MAAMM,yBAAyB,IAAIN,OAAAA,EAAAA;AACnC,MAAMO,wBAAwB,IAAIP,OAAAA,EAAAA;AAClC,MAAMQ,yBAAyB,IAAIR,OAAAA,EAAAA;AACnC,MAAMS,0BAA0B,IAAIT,OAAAA,EAAAA;AACpC,MAAMU,sBAAsB,IAAIV,OAAAA,EAAAA;AAChC,MAAMW,qBAAqB,IAAIX,OAAAA,EAAAA;AAC/B,MAAMY,0BAA0B,IAAIZ,OAAAA,EAAAA;AACpC,MAAMa,qBAAqB,IAAIb,OAAAA,EAAAA;AAC/B,MAAMc,yBAAyB,IAAId,OAAAA,EAAAA;AACnC,MAAMe,wBAAwB,IAAIf,OAAAA,EAAAA;AAClC,MAAMgB,yBAAyB,IAAIhB,OAAAA,EAAAA;AACnC,MAAMiB,uBAAuB,IAAIjB,OAAAA,EAAAA;AACjC,MAAMkB,sBAAsB,IAAIlB,OAAAA,EAAAA;AAChC,MAAMmB,uBAAuB,IAAInB,OAAAA,EAAAA;AACjC,MAAMoB,2BAA2B,IAAIpB,OAAAA,EAAAA;AACrC,MAAMqB,yBAAyB,IAAIrB,OAAAA,EAAAA;AACnC,MAAMsB,uBAAuB,IAAItB,OAAAA,EAAAA;AACjC,MAAMuB,wBAAwB,IAAIvB,OAAAA,EAAAA;AAClC,MAAMwB,4BAA4B,IAAIxB,OAAAA,EAAAA;AACtC,MAAMyB,2BAA2B,IAAIzB,OAAAA,EAAAA;AACrC,MAAM0B,4BAA4B,IAAI1B,OAAAA,EAAAA;AACtC,MAAM2B,wBAAwB,IAAI3B,OAAAA,EAAAA;AAClC,MAAM4B,+BAAuD,GAAA;IAC3DC,GAAK,EAAA,KAAA;AACLC,IAAAA,WAAAA,EAAa,IAAI9B,OAAAA,EAAAA;AACjB+B,IAAAA,eAAAA,EAAiB,IAAI/B,OAAAA,EAAAA;IACrBgC,MAAQ,EAAA;AACV,CAAA;AACA,MAAMC,iBAAiB,IAAIjC,OAAAA,EAAAA;AAC3B,MAAMkC,iBAAiB,IAAIlC,OAAAA,EAAAA;AAC3B,MAAMmC,aAAa,IAAInC,OAAAA,EAAAA;AACvB,MAAMoC,aAAa,IAAIpC,OAAAA,EAAAA;AACvB,MAAMqC,kBAAkB,IAAIrC,OAAAA,EAAAA;AAC5B,MAAMsC,mBAAmB,IAAItC,OAAAA,EAAAA;AAC7B,MAAMuC,mBAAmB,IAAIvC,OAAAA,EAAAA;AAC7B,MAAMwC,oBAAoB,IAAIxC,OAAAA,EAAAA;AAC9B,MAAMyC,cAAsC,GAAA;IAC1CC,EAAI,EAAA,CAAA;IACJC,EAAI,EAAA,CAAA;AACJC,IAAAA,QAAAA,EAAU,IAAI5C,OAAAA,EAAAA;AACd6C,IAAAA,QAAAA,EAAU,IAAI7C,OAAAA,EAAAA;IACd8C,WAAa,EAAA;AACf,CAAA;AACA,MAAMC,aAAoC,GAAA;IACxClB,GAAK,EAAA,KAAA;AACLmB,IAAAA,iBAAAA,EAAmB,IAAIhD,OAAAA,EAAAA;AACvBiD,IAAAA,OAAAA,EAAS,IAAIjD,OAAAA,EAAAA;AACb+B,IAAAA,eAAAA,EAAiB,IAAI/B,OAAAA,EAAAA;IACrBgC,MAAQ,EAAA;AACV,CAAA;AACA,MAAMkB,oBAAoB,IAAIlD,OAAAA,EAAAA;AAC9B,MAAMmD,iBAAiB,IAAInD,OAAAA,EAAAA;AAC3B,MAAMoD,iBAAiB,IAAIpD,OAAAA,EAAAA;AAC3B,MAAMqD,sBAAsB,IAAIrD,OAAAA,EAAAA;AAChC,MAAMsD,yBAAyB,IAAItD,OAAAA,EAAAA;AACnC,MAAMuD,sBAAsB,IAAIvD,OAAAA,EAAAA;AAChC,MAAMwD,iBAAiB,IAAIxD,OAAAA,EAAAA;AAC3B,MAAMyD,kBAAkB,IAAIzD,OAAAA,EAAAA;AAC5B,MAAM0D,eAAe,IAAI1D,OAAAA,EAAAA;AACzB,MAAM2D,uBAAuB,IAAI3D,OAAAA,EAAAA;AACjC,MAAM4D,kBAAkB,IAAI5D,OAAAA,EAAAA;AAC5B,MAAM6D,gBAAgB,IAAI7D,OAAAA,EAAAA;AAC1B,MAAM8D,iBAAiB,IAAI9D,OAAAA,EAAAA;AAC3B,MAAM+D,oBAAoB,IAAI/D,OAAAA,EAAAA;AAC9B,MAAMgE,wBAAwB,IAAIhE,OAAAA,EAAAA;AAClC,MAAMiE,mBAAmB,IAAIjE,OAAAA,EAAAA;AAC7B,MAAMkE,yBAAyB,IAAIlE,OAAAA,EAAAA;AACnC,MAAMmE,eAAe,IAAInE,OAAAA,EAAAA;AACzB,MAAMoE,eAAe,IAAIpE,OAAAA,EAAAA;AACzB,MAAMqE,cAAc,IAAIrE,OAAAA,EAAAA;AACxB,MAAMsE,cAAc,IAAItE,OAAAA,EAAAA;AACxB,MAAMuE,cAAc,IAAIvE,OAAAA,EAAAA;AACxB,MAAMwE,aAAa,IAAIxE,OAAAA,EAAAA;AACvB,MAAMyE,aAAa,IAAIzE,OAAAA,EAAAA;AACvB,MAAM0E,aAAa,IAAI1E,OAAAA,EAAAA;AAEvB,SAAS2E,qBACPC,GAAgC,EAChC/C,GAAY,EACZgD,KAAc,EACdC,SAAkB,EAAA;AAElB,IAAA,IAAI,CAACF,GAAK,EAAA;QACR,OAAO;AAAE/C,YAAAA,GAAAA;YAAKgD,KAAOC,EAAAA,SAAAA,GAAYD,KAAME,CAAAA,KAAK,EAAKF,GAAAA;AAAM,SAAA;AACzD;IACA,IAAI,CAACD,GAAIC,CAAAA,KAAK,EAAE;QACdD,GAAIC,CAAAA,KAAK,GAAG,IAAI7E,OAAAA,EAAAA;AAClB;AACA4E,IAAAA,GAAAA,CAAI/C,GAAG,GAAGA,GAAAA;IACV+C,GAAIC,CAAAA,KAAK,CAACG,GAAG,CAACH,KAAAA,CAAAA;IACd,OAAOD,GAAAA;AACT;AAEA,SAASK,wBAAAA,CACPL,GAAoC,EACpC/C,GAAY,EACZC,WAAoB,EACpBC,eAAwB,EACxBC,MAAc,EACdkD,WAAoB,EAAA;AAEpB,IAAA,IAAI,CAACN,GAAK,EAAA;QACR,OAAO;AACL/C,YAAAA,GAAAA;YACAC,WAAaoD,EAAAA,WAAAA,GAAcpD,WAAYiD,CAAAA,KAAK,EAAKjD,GAAAA,WAAAA;YACjDC,eAAiBmD,EAAAA,WAAAA,GAAcnD,eAAgBgD,CAAAA,KAAK,EAAKhD,GAAAA,eAAAA;AACzDC,YAAAA;AACF,SAAA;AACF;IACA,IAAI,CAAC4C,GAAI9C,CAAAA,WAAW,EAAE;QACpB8C,GAAI9C,CAAAA,WAAW,GAAG,IAAI9B,OAAAA,EAAAA;AACxB;IACA,IAAI,CAAC4E,GAAI7C,CAAAA,eAAe,EAAE;QACxB6C,GAAI7C,CAAAA,eAAe,GAAG,IAAI/B,OAAAA,EAAAA;AAC5B;AACA4E,IAAAA,GAAAA,CAAI/C,GAAG,GAAGA,GAAAA;IACV+C,GAAI9C,CAAAA,WAAW,CAACkD,GAAG,CAAClD,WAAAA,CAAAA;IACpB8C,GAAI7C,CAAAA,eAAe,CAACiD,GAAG,CAACjD,eAAAA,CAAAA;AACxB6C,IAAAA,GAAAA,CAAI5C,MAAM,GAAGA,MAAAA;IACb,OAAO4C,GAAAA;AACT;AAEA,SAASO,uBACPP,CAAAA,GAAmC,EACnC/C,GAAY,EACZmB,iBAA0B,EAC1BC,OAAgB,EAChBlB,eAAwB,EACxBC,MAAc,EACdkD,WAAoB,EAAA;AAEpB,IAAA,IAAI,CAACN,GAAK,EAAA;QACR,OAAO;AACL/C,YAAAA,GAAAA;YACAmB,iBAAmBkC,EAAAA,WAAAA,GAAclC,iBAAkB+B,CAAAA,KAAK,EAAK/B,GAAAA,iBAAAA;YAC7DC,OAASiC,EAAAA,WAAAA,GAAcjC,OAAQ8B,CAAAA,KAAK,EAAK9B,GAAAA,OAAAA;YACzClB,eAAiBmD,EAAAA,WAAAA,GAAcnD,eAAgBgD,CAAAA,KAAK,EAAKhD,GAAAA,eAAAA;AACzDC,YAAAA;AACF,SAAA;AACF;IACA,IAAI,CAAC4C,GAAI5B,CAAAA,iBAAiB,EAAE;QAC1B4B,GAAI5B,CAAAA,iBAAiB,GAAG,IAAIhD,OAAAA,EAAAA;AAC9B;IACA,IAAI,CAAC4E,GAAI3B,CAAAA,OAAO,EAAE;QAChB2B,GAAI3B,CAAAA,OAAO,GAAG,IAAIjD,OAAAA,EAAAA;AACpB;IACA,IAAI,CAAC4E,GAAI7C,CAAAA,eAAe,EAAE;QACxB6C,GAAI7C,CAAAA,eAAe,GAAG,IAAI/B,OAAAA,EAAAA;AAC5B;AACA4E,IAAAA,GAAAA,CAAI/C,GAAG,GAAGA,GAAAA;IACV+C,GAAI5B,CAAAA,iBAAiB,CAACgC,GAAG,CAAChC,iBAAAA,CAAAA;IAC1B4B,GAAI3B,CAAAA,OAAO,CAAC+B,GAAG,CAAC/B,OAAAA,CAAAA;IAChB2B,GAAI7C,CAAAA,eAAe,CAACiD,GAAG,CAACjD,eAAAA,CAAAA;AACxB6C,IAAAA,GAAAA,CAAI5C,MAAM,GAAGA,MAAAA;IACb,OAAO4C,GAAAA;AACT;AAEA,SAASQ,wBACPR,CAAAA,GAAoC,EACpClC,EAAU,EACVC,EAAU,EACVC,QAAiB,EACjBC,QAAiB,EACjBC,WAAmB,EACnBoC,WAAoB,EAAA;AAEpB,IAAA,IAAI,CAACN,GAAK,EAAA;QACR,OAAO;AACLlC,YAAAA,EAAAA;AACAC,YAAAA,EAAAA;YACAC,QAAUsC,EAAAA,WAAAA,GAActC,QAASmC,CAAAA,KAAK,EAAKnC,GAAAA,QAAAA;YAC3CC,QAAUqC,EAAAA,WAAAA,GAAcrC,QAASkC,CAAAA,KAAK,EAAKlC,GAAAA,QAAAA;AAC3CC,YAAAA;AACF,SAAA;AACF;AACA8B,IAAAA,GAAAA,CAAIlC,EAAE,GAAGA,EAAAA;AACTkC,IAAAA,GAAAA,CAAIjC,EAAE,GAAGA,EAAAA;IACTiC,GAAIhC,CAAAA,QAAQ,CAACoC,GAAG,CAACpC,QAAAA,CAAAA;IACjBgC,GAAI/B,CAAAA,QAAQ,CAACmC,GAAG,CAACnC,QAAAA,CAAAA;AACjB+B,IAAAA,GAAAA,CAAI9B,WAAW,GAAGA,WAAAA;IAClB,OAAO8B,GAAAA;AACT;AAEA;AAEA;;;;IAKO,SAASS,iBAAAA,CACdC,MAAe,EACftD,MAAc,EACduD,WAAmB,EACnBV,KAAc,EACdD,GAAqB,EAAA;AAErB,IAAA,MAAMY,SAAYxF,GAAAA,OAAAA,CAAQyF,GAAG,CAACZ,OAAOS,MAAQvF,EAAAA,uBAAAA,CAAAA;IAC7C,MAAM2F,MAAAA,GAASF,UAAUG,WAAW;AACpC,IAAA,IAAID,SAASE,OAAS,EAAA;AACpB,QAAA,MAAMC,MAASC,GAAAA,IAAAA,CAAKC,IAAI,CAACL,MAAUH,CAAAA,GAAAA,WAAAA;AACnC,QAAA,IAAIM,SAAS7D,MAAQ,EAAA;AACnB,YAAA,MAAMgE,SAAShG,OAAQiG,CAAAA,KAAK,CAACT,SAAAA,EAAWxD,SAAS6D,MAAQ5F,EAAAA,oBAAAA,CAAAA;YACzDD,OAAQkG,CAAAA,GAAG,CAACZ,MAAAA,EAAQU,MAAQA,EAAAA,MAAAA,CAAAA;AAC5B,YAAA,OAAOrB,oBAAqBC,CAAAA,GAAAA,EAAK,IAAMoB,EAAAA,MAAAA,EAAQ,CAACpB,GAAAA,CAAAA;AAClD;AACF;AACA,IAAA,OAAOD,oBAAqBC,CAAAA,GAAAA,EAAK,KAAOC,EAAAA,KAAAA,EAAO,CAACD,GAAAA,CAAAA;AAClD;AAEA;;;;IAKO,SAASuB,mBAAAA,CACdC,IAAe,EACfC,KAAiB,EACjBxB,KAAc,EACdyB,GAAW,EACX1B,GAAqB,EAAA;IAErB,IAAIwB,IAAAA,CAAKG,MAAM,IAAIX,OAAS,EAAA;QAC1B,OAAOP,iBAAAA,CAAkBgB,KAAMG,CAAAA,eAAe,EAAEH,KAAAA,CAAMrE,MAAM,EAAEsE,GAAAA,CAAIf,WAAW,EAAEV,KAAOD,EAAAA,GAAAA,CAAAA;AACxF;AACA,IAAA,OAAO6B,kBAAmBL,CAAAA,IAAAA,EAAMC,KAAOxB,EAAAA,KAAAA,EAAOyB,GAAK1B,EAAAA,GAAAA,CAAAA;AACrD;AAEA;;;;IAKO,SAAS6B,kBAAAA,CACdL,IAAe,EACfC,KAAiB,EACjBxB,KAAc,EACdyB,GAAW,EACX1B,GAAqB,EAAA;IAErB,MAAM8B,UAAAA,GAAaL,MAAMM,gBAAgB;IACzC,MAAMC,aAAAA,GAAgBP,MAAME,MAAM,GAAGX,UAAUS,KAAME,CAAAA,MAAM,GAAGG,UAAAA,CAAWG,SAAS;AAClF,IAAA,MAAMC,WAAc9G,GAAAA,OAAAA,CAAQ+G,SAAS,CAACL,UAAYxG,EAAAA,mBAAAA,CAAAA;IAClD,MAAM8G,UAAAA,GAAaX,MAAMG,eAAe;AACxC,IAAA,MAAMS,SAAYjH,GAAAA,OAAAA,CAAQyF,GAAG,CAACZ,OAAOmC,UAAY7G,EAAAA,wBAAAA,CAAAA;AACjD,IAAA,MAAM+G,SAAYlH,GAAAA,OAAAA,CAAQmH,GAAG,CAACL,WAAaG,EAAAA,SAAAA,CAAAA;AAE3C,IAAA,IAAIC,aAAatB,OAAS,EAAA;QACxB,OAAOP,iBAAAA,CAAkB2B,YAAYX,KAAMrE,CAAAA,MAAM,EAAEsE,GAAIf,CAAAA,WAAW,EAAEV,KAAOD,EAAAA,GAAAA,CAAAA;AAC7E;AACA,IAAA,IAAIsC,aAAaN,aAAe,EAAA;AAC9B,QAAA,MAAMQ,IAAOpH,GAAAA,OAAAA,CAAQkG,GAAG,CAACc,YAAYN,UAAYtG,EAAAA,mBAAAA,CAAAA;QACjD,OAAOiF,iBAAAA,CAAkB+B,IAAMf,EAAAA,KAAAA,CAAMrE,MAAM,GAAGoE,IAAKiB,CAAAA,eAAe,EAAEf,GAAAA,CAAIf,WAAW,EAAEV,KAAOD,EAAAA,GAAAA,CAAAA;AAC9F;AAEA,IAAA,MAAM0C,QAAWtH,GAAAA,OAAAA,CAAQiG,KAAK,CAACa,aAAaI,SAAW7G,EAAAA,uBAAAA,CAAAA;IACvDL,OAAQkG,CAAAA,GAAG,CAACc,UAAAA,EAAYM,QAAUA,EAAAA,QAAAA,CAAAA;AAClC,IAAA,MAAMC,OAAUvH,GAAAA,OAAAA,CAAQyF,GAAG,CAACZ,OAAOyC,QAAUhH,EAAAA,sBAAAA,CAAAA;IAC7C,MAAMkH,WAAAA,GAAcD,QAAQ5B,WAAW;AACvC,IAAA,IAAI6B,cAAc5B,OAAS,EAAA;AACzB,QAAA,MAAM6B,WAAW3B,IAAKC,CAAAA,IAAI,CAACyB,WAAAA,CAAAA,GAAelB,IAAIf,WAAW;QACzD,MAAMmC,CAAAA,GAAIrB,MAAMrE,MAAM,GAAG2F,KAAK,GAAKvB,EAAAA,IAAAA,CAAKiB,eAAe,EAAEH,SAAYN,GAAAA,aAAAA,CAAAA;AACrE,QAAA,IAAIa,WAAWC,CAAG,EAAA;AAChB,YAAA,MAAM1B,SAAShG,OAAQiG,CAAAA,KAAK,CAACsB,OAAAA,EAASG,IAAID,QAAUlH,EAAAA,qBAAAA,CAAAA;YACpDP,OAAQkG,CAAAA,GAAG,CAACoB,QAAAA,EAAUtB,MAAQA,EAAAA,MAAAA,CAAAA;AAC9B,YAAA,OAAOrB,oBAAqBC,CAAAA,GAAAA,EAAK,IAAMoB,EAAAA,MAAAA,EAAQ,CAACpB,GAAAA,CAAAA;AAClD;AACF;AACA,IAAA,OAAOD,oBAAqBC,CAAAA,GAAAA,EAAK,KAAOC,EAAAA,KAAAA,EAAO,CAACD,GAAAA,CAAAA;AAClD;AAEA;AAEA;;;;IAKO,SAASgD,gBACdtC,CAAAA,MAAe,EACftD,MAAc,EACd6C,KAAc,EACdD,GAAqB,EAAA;AAErB,IAAA,MAAMY,SAAYxF,GAAAA,OAAAA,CAAQyF,GAAG,CAACH,QAAQT,KAAOrE,EAAAA,sBAAAA,CAAAA;IAC7C,MAAMkF,MAAAA,GAASF,UAAUG,WAAW;AACpC,IAAA,IAAID,MAASE,GAAAA,OAAAA,IAAWF,MAAS1D,GAAAA,MAAAA,GAASA,MAAQ,EAAA;QAChD,MAAM6D,MAAAA,GAASC,IAAKC,CAAAA,IAAI,CAACL,MAAAA,CAAAA;AACzB,QAAA,MAAMmC,UAAa7H,GAAAA,OAAAA,CAAQ+G,SAAS,CAACvB,SAAW/E,EAAAA,uBAAAA,CAAAA;AAChD,QAAA,MAAMuF,SAAShG,OAAQiG,CAAAA,KAAK,CAAC4B,UAAAA,EAAYhC,SAAS7D,MAAQtB,EAAAA,mBAAAA,CAAAA;QAC1DV,OAAQkG,CAAAA,GAAG,CAACrB,KAAAA,EAAOmB,MAAQA,EAAAA,MAAAA,CAAAA;AAC3B,QAAA,OAAOrB,oBAAqBC,CAAAA,GAAAA,EAAK,IAAMoB,EAAAA,MAAAA,EAAQ,CAACpB,GAAAA,CAAAA;AAClD;AACA,IAAA,OAAOD,oBAAqBC,CAAAA,GAAAA,EAAK,KAAOC,EAAAA,KAAAA,EAAO,CAACD,GAAAA,CAAAA;AAClD;AAEA;;;;IAKO,SAASkD,kBACd1B,CAAAA,IAAe,EACfC,KAAiB,EACjBxB,KAAc,EACdD,GAAqB,EAAA;IAErB,IAAIwB,IAAAA,CAAKG,MAAM,IAAIX,OAAS,EAAA;AAC1B,QAAA,OAAOgC,iBAAiBvB,KAAMG,CAAAA,eAAe,EAAEH,KAAMrE,CAAAA,MAAM,EAAE6C,KAAOD,EAAAA,GAAAA,CAAAA;AACtE;IACA,OAAOmD,iBAAAA,CAAkB3B,IAAMC,EAAAA,KAAAA,EAAOxB,KAAOD,EAAAA,GAAAA,CAAAA;AAC/C;AAEA;;;;IAKO,SAASmD,iBACd3B,CAAAA,IAAe,EACfC,KAAiB,EACjBxB,KAAc,EACdD,GAAqB,EAAA;IAErB,MAAM8B,UAAAA,GAAaL,MAAMM,gBAAgB;IACzC,MAAMC,aAAAA,GAAgBP,MAAME,MAAM,GAAGX,UAAUS,KAAME,CAAAA,MAAM,GAAGG,UAAAA,CAAWG,SAAS;AAClF,IAAA,MAAMC,WAAc9G,GAAAA,OAAAA,CAAQ+G,SAAS,CAACL,UAAY/F,EAAAA,kBAAAA,CAAAA;IAClD,MAAMqG,UAAAA,GAAaX,MAAMG,eAAe;AACxC,IAAA,MAAMS,SAAYjH,GAAAA,OAAAA,CAAQyF,GAAG,CAACZ,OAAOmC,UAAYpG,EAAAA,uBAAAA,CAAAA;AACjD,IAAA,MAAMsG,SAAYlH,GAAAA,OAAAA,CAAQmH,GAAG,CAACL,WAAaG,EAAAA,SAAAA,CAAAA;AAE3C,IAAA,IAAIC,aAAatB,OAAS,EAAA;AACxB,QAAA,OAAOgC,gBAAiBZ,CAAAA,UAAAA,EAAYX,KAAMrE,CAAAA,MAAM,EAAE6C,KAAOD,EAAAA,GAAAA,CAAAA;AAC3D;AACA,IAAA,IAAIsC,aAAaN,aAAe,EAAA;AAC9B,QAAA,MAAMQ,IAAOpH,GAAAA,OAAAA,CAAQkG,GAAG,CAACc,YAAYN,UAAY7F,EAAAA,kBAAAA,CAAAA;QACjD,OAAO+G,gBAAAA,CAAiBR,MAAMf,KAAMrE,CAAAA,MAAM,GAAGoE,IAAKiB,CAAAA,eAAe,EAAExC,KAAOD,EAAAA,GAAAA,CAAAA;AAC5E;AAEA,IAAA,MAAM0C,QAAWtH,GAAAA,OAAAA,CAAQiG,KAAK,CAACa,aAAaI,SAAWpG,EAAAA,sBAAAA,CAAAA;IACvDd,OAAQkG,CAAAA,GAAG,CAACc,UAAAA,EAAYM,QAAUA,EAAAA,QAAAA,CAAAA;AAClC,IAAA,MAAMU,OAAUhI,GAAAA,OAAAA,CAAQyF,GAAG,CAAC6B,UAAUzC,KAAO9D,EAAAA,qBAAAA,CAAAA;IAC7C,MAAMkH,WAAAA,GAAcD,QAAQrC,WAAW;AACvC,IAAA,IAAIsC,cAAcrC,OAAS,EAAA;QACzB,MAAM8B,CAAAA,GAAIrB,MAAMrE,MAAM,GAAG2F,KAAK,GAAKvB,EAAAA,IAAAA,CAAKiB,eAAe,EAAEH,SAAYN,GAAAA,aAAAA,CAAAA;QACrE,IAAIqB,WAAAA,GAAcP,IAAIA,CAAG,EAAA;YACvB,MAAMQ,QAAAA,GAAWpC,IAAKC,CAAAA,IAAI,CAACkC,WAAAA,CAAAA;AAC3B,YAAA,MAAME,QAAWnI,GAAAA,OAAAA,CAAQ+G,SAAS,CAACiB,OAAShH,EAAAA,sBAAAA,CAAAA;AAC5C,YAAA,MAAMgF,SAAShG,OAAQiG,CAAAA,KAAK,CAACkC,QAAAA,EAAUD,WAAWR,CAAGzG,EAAAA,oBAAAA,CAAAA;YACrDjB,OAAQkG,CAAAA,GAAG,CAACrB,KAAAA,EAAOmB,MAAQA,EAAAA,MAAAA,CAAAA;AAC3B,YAAA,OAAOrB,oBAAqBC,CAAAA,GAAAA,EAAK,IAAMoB,EAAAA,MAAAA,EAAQ,CAACpB,GAAAA,CAAAA;AAClD;AACF;AACA,IAAA,OAAOD,oBAAqBC,CAAAA,GAAAA,EAAK,KAAOC,EAAAA,KAAAA,EAAO,CAACD,GAAAA,CAAAA;AAClD;AAEA;AAEA;;;;IAKO,SAASwD,wBAAAA,CACd9C,MAAe,EACftD,MAAc,EACdqG,MAAe,EACfC,MAAe,EACf1D,GAAyB,EAAA;AAEzB,IAAA,MAAM2D,GAAMvI,GAAAA,OAAAA,CAAQyF,GAAG,CAAC6C,QAAQD,MAAQnH,EAAAA,mBAAAA,CAAAA;IACxC,MAAM2E,MAAAA,GAAS0C,IAAI1B,SAAS;AAC5B,IAAA,IAAIhB,SAASD,OAAS,EAAA;AACpB,QAAA,OAAOX,yBAAyBL,GAAK,EAAA,KAAA,EAAOyD,MAAQ/C,EAAAA,MAAAA,EAAQtD,QAAQ,CAAC4C,GAAAA,CAAAA;AACvE;AACA,IAAA,MAAM4D,OAAOxI,OAAQiG,CAAAA,KAAK,CAACsC,GAAAA,EAAK,IAAI1C,MAAQ1E,EAAAA,oBAAAA,CAAAA;AAC5C,IAAA,MAAMsH,QAAWzI,GAAAA,OAAAA,CAAQyF,GAAG,CAACH,QAAQ+C,MAAQjH,EAAAA,wBAAAA,CAAAA;AAC7C,IAAA,MAAM+F,GAAMnH,GAAAA,OAAAA,CAAQmH,GAAG,CAACqB,IAAMC,EAAAA,QAAAA,CAAAA;IAC9B,MAAMC,OAAAA,GAAU5C,KAAK6C,GAAG,CAAC,GAAG7C,IAAK8C,CAAAA,GAAG,CAACzB,GAAKtB,EAAAA,MAAAA,CAAAA,CAAAA;AAC1C,IAAA,MAAMgD,QAAW7I,GAAAA,OAAAA,CAAQiG,KAAK,CAACuC,MAAME,OAASrH,EAAAA,sBAAAA,CAAAA;IAC9CrB,OAAQkG,CAAAA,GAAG,CAACmC,MAAAA,EAAQQ,QAAUA,EAAAA,QAAAA,CAAAA;AAC9B,IAAA,MAAMC,IAAO9I,GAAAA,OAAAA,CAAQyF,GAAG,CAACH,QAAQuD,QAAUvH,EAAAA,oBAAAA,CAAAA;AAC3C,IAAA,MAAMO,GAAMiH,GAAAA,IAAAA,CAAKnD,WAAW,IAAI3D,MAASA,GAAAA,MAAAA;AACzC,IAAA,OAAOiD,yBAAyBL,GAAK/C,EAAAA,GAAAA,EAAKgH,QAAUvD,EAAAA,MAAAA,EAAQtD,QAAQ,CAAC4C,GAAAA,CAAAA;AACvE;AAEA;;;;IAKO,SAASmE,yBAAAA,CACd3C,IAAe,EACfC,KAAiB,EACjBgC,MAAe,EACfC,MAAe,EACf1D,GAAyB,EAAA;IAEzB,MAAMoE,UAAAA,GAAa3C,MAAMM,gBAAgB;IACzC,MAAMK,UAAAA,GAAaX,MAAMG,eAAe;AAExC,IAAA,IAAIyC,MAAMb,wBAAyBpB,CAAAA,UAAAA,EAAYX,MAAMrE,MAAM,EAAEqG,QAAQC,MAAQ1D,EAAAA,GAAAA,CAAAA;IAC7E,IAAIqE,GAAAA,CAAIpH,GAAG,EAAE;QACX,OAAOoH,GAAAA;AACT;AAEA,IAAA,MAAM7B,IAAOpH,GAAAA,OAAAA,CAAQkG,GAAG,CAACc,YAAYgC,UAAYzH,EAAAA,qBAAAA,CAAAA;IACjD0H,GAAMb,GAAAA,wBAAAA,CACJhB,MACAf,KAAMrE,CAAAA,MAAM,GAAGoE,IAAKiB,CAAAA,eAAe,EACnCgB,MAAAA,EACAC,MACA1G,EAAAA,+BAAAA,CAAAA;IAEF,IAAIqH,GAAAA,CAAIpH,GAAG,EAAE;AACX,QAAA,OAAOoD,wBAAyBL,CAAAA,GAAAA,EAAK,IAAMqE,EAAAA,GAAAA,CAAInH,WAAW,EAAEmH,GAAIlH,CAAAA,eAAe,EAAEkH,GAAAA,CAAIjH,MAAM,EAAE,CAAC4C,GAAAA,CAAAA;AAChG;AAEA,IAAA,MAAMsE,QAAWlJ,GAAAA,OAAAA,CAAQyF,GAAG,CAAC6C,QAAQD,MAAQ7G,EAAAA,yBAAAA,CAAAA;AAC7C,IAAA,MAAM2H,OAAUC,GAAAA,oBAAAA,CAAqBpC,UAAYgC,EAAAA,UAAAA,EAAYX,QAAQa,QAAUzG,EAAAA,cAAAA,CAAAA;IAC/E,MAAM4G,EAAAA,GAAKvD,IAAK6C,CAAAA,GAAG,CAAC,CAAA,EAAG7C,KAAK8C,GAAG,CAAC,CAAGO,EAAAA,OAAAA,CAAQzG,EAAE,CAAA,CAAA;IAC7C,MAAMgF,CAAAA,GAAIrB,MAAMrE,MAAM,GAAG2F,KAAK,GAAKvB,EAAAA,IAAAA,CAAKiB,eAAe,EAAEgC,EAAAA,CAAAA;AAEzD,IAAA,IAAIF,OAAQrG,CAAAA,WAAW,GAAG4E,CAAAA,GAAIA,CAAG,EAAA;AAC/B,QAAA,OAAOzC,yBAAyBL,GAAK,EAAA,KAAA,EAAOyD,MAAQrB,EAAAA,UAAAA,EAAYU,GAAG,CAAC9C,GAAAA,CAAAA;AACtE;IAEA,MAAM0E,EAAAA,GAAKxD,IAAK6C,CAAAA,GAAG,CAAC,CAAA,EAAG7C,KAAK8C,GAAG,CAAC,CAAGO,EAAAA,OAAAA,CAAQxG,EAAE,CAAA,CAAA;AAC7C,IAAA,MAAM4G,OAAUvJ,GAAAA,OAAAA,CAAQiG,KAAK,CAAC+C,YAAYK,EAAI5H,EAAAA,wBAAAA,CAAAA;IAC9CzB,OAAQkG,CAAAA,GAAG,CAACc,UAAAA,EAAYuC,OAASA,EAAAA,OAAAA,CAAAA;AACjC,IAAA,MAAMV,QAAW7I,GAAAA,OAAAA,CAAQiG,KAAK,CAACiD,UAAUI,EAAI5H,EAAAA,yBAAAA,CAAAA;IAC7C1B,OAAQkG,CAAAA,GAAG,CAACmC,MAAAA,EAAQQ,QAAUA,EAAAA,QAAAA,CAAAA;AAC9B,IAAA,MAAMC,IAAO9I,GAAAA,OAAAA,CAAQyF,GAAG,CAAC8D,SAASV,QAAUlH,EAAAA,qBAAAA,CAAAA;AAC5C,IAAA,MAAME,GAAMiH,GAAAA,IAAAA,CAAKnD,WAAW,IAAI+B,CAAIA,GAAAA,CAAAA;AACpC,IAAA,OAAOzC,yBAAyBL,GAAK/C,EAAAA,GAAAA,EAAKgH,QAAUU,EAAAA,OAAAA,EAAS7B,GAAG,CAAC9C,GAAAA,CAAAA;AACnE;AAEA;;;;IAKO,SAAS4E,kBAAAA,CACdpD,IAAe,EACfC,KAAiB,EACjBgC,MAAe,EACfC,MAAe,EACf1D,GAAyB,EAAA;IAEzB,IAAIwB,IAAAA,CAAKG,MAAM,IAAIX,OAAS,EAAA;QAC1B,OAAOwC,wBAAAA,CAAyB/B,MAAMG,eAAe,EAAEH,MAAMrE,MAAM,EAAEqG,QAAQC,MAAQ1D,EAAAA,GAAAA,CAAAA;AACvF;AACA,IAAA,OAAOmE,yBAA0B3C,CAAAA,IAAAA,EAAMC,KAAOgC,EAAAA,MAAAA,EAAQC,MAAQ1D,EAAAA,GAAAA,CAAAA;AAChE;AAEA;;;;IAKO,SAAS6E,wBAAAA,CACdrD,IAAe,EACfC,KAAiB,EACjBgC,MAAe,EACfC,MAAe,EACf1D,GAAyB,EAAA;IAEzB,IAAIwB,IAAAA,CAAKG,MAAM,IAAIX,OAAS,EAAA;QAC1B,OAAOwC,wBAAAA,CAAyB/B,MAAMG,eAAe,EAAEH,MAAMrE,MAAM,EAAEqG,QAAQC,MAAQ1D,EAAAA,GAAAA,CAAAA;AACvF;AACA,IAAA,MAAMqE,GAAMF,GAAAA,yBAAAA,CAA0B3C,IAAMC,EAAAA,KAAAA,EAAOgC,QAAQC,MAAQ1D,EAAAA,GAAAA,CAAAA;AACnEqE,IAAAA,GAAAA,CAAIpH,GAAG,GAAG,KAAA;IACV,OAAOoH,GAAAA;AACT;AAEA;AAEA;;;;IAKO,SAASG,oBAAAA,CACdM,IAAa,EACbC,IAAa,EACbC,IAAa,EACbC,IAAa,EACbjF,GAAyB,EAAA;AAQzB,IAAA,MAAMkF,MAAS9J,GAAAA,OAAAA,CAAQ+J,KAAK,CAACF,MAAMF,IAAM1H,EAAAA,cAAAA,CAAAA;AACzC,IAAA,MAAM+H,EAAKhK,GAAAA,OAAAA,CAAQ+J,KAAK,CAACJ,MAAMG,MAAQ3H,EAAAA,UAAAA,CAAAA;AACvC,IAAA,MAAM8H,MAASjK,GAAAA,OAAAA,CAAQ+J,KAAK,CAACJ,MAAME,IAAM3H,EAAAA,cAAAA,CAAAA;AACzC,IAAA,MAAMgI,EAAKlK,GAAAA,OAAAA,CAAQ+J,KAAK,CAACF,MAAMI,MAAQ7H,EAAAA,UAAAA,CAAAA;AACvC,IAAA,MAAM+H,KAAQnK,GAAAA,OAAAA,CAAQmH,GAAG,CAACwC,IAAMO,EAAAA,EAAAA,CAAAA;AAChC,IAAA,MAAME,KAAQpK,GAAAA,OAAAA,CAAQmH,GAAG,CAAC0C,IAAMG,EAAAA,EAAAA,CAAAA;AAChC,IAAA,MAAMK,OAAUrK,GAAAA,OAAAA,CAAQyF,GAAG,CAACmE,MAAMF,IAAMrH,EAAAA,eAAAA,CAAAA;IACxC,MAAMK,EAAAA,GAAKyH,UAAU,CAAInK,GAAAA,OAAAA,CAAQmH,GAAG,CAACkD,OAAAA,EAASH,MAAMC,KAAQ,GAAA,CAAA;AAC5D,IAAA,MAAMxH,EAAKyH,GAAAA,KAAAA,KAAU,CAAIpK,GAAAA,OAAAA,CAAQmH,GAAG,CAACnH,OAAAA,CAAQiG,KAAK,CAACoE,OAAS,EAAA,EAAIA,EAAAA,OAAAA,CAAAA,EAAUL,MAAMI,KAAQ,GAAA,CAAA;AACxF,IAAA,MAAMxH,QAAW5C,GAAAA,OAAAA,CAAQiG,KAAK,CAAC0D,MAAMjH,EAAIJ,EAAAA,gBAAAA,CAAAA;IACzCtC,OAAQkG,CAAAA,GAAG,CAACwD,IAAAA,EAAM9G,QAAUA,EAAAA,QAAAA,CAAAA;AAC5B,IAAA,MAAMC,QAAW7C,GAAAA,OAAAA,CAAQiG,KAAK,CAAC4D,MAAMlH,EAAIJ,EAAAA,gBAAAA,CAAAA;IACzCvC,OAAQkG,CAAAA,GAAG,CAAC0D,IAAAA,EAAM/G,QAAUA,EAAAA,QAAAA,CAAAA;AAC5B,IAAA,MAAMiG,IAAO9I,GAAAA,OAAAA,CAAQyF,GAAG,CAAC5C,UAAUD,QAAUJ,EAAAA,iBAAAA,CAAAA;IAC7C,OAAO4C,wBAAAA,CAAyBR,KAAKlC,EAAIC,EAAAA,EAAAA,EAAIC,UAAUC,QAAUiG,EAAAA,IAAAA,CAAKnD,WAAW,EAAE,CAACf,GAAAA,CAAAA;AACtF;AAEA;AAEA;;;;AAIC,IACM,SAAS0F,qBACdC,CAAAA,GAAY,EACZC,GAAY,EACZC,GAAY,EACZC,WAAoB,EACpBtE,IAAe,EACfC,KAAiB,EACjBzB,GAAwB,EAAA;AAExB7B,IAAAA,aAAAA,CAAclB,GAAG,GAAG,KAAA;AACpBkB,IAAAA,aAAAA,CAAcC,iBAAiB,CAAC2H,MAAM,CAAC,GAAG,CAAG,EAAA,CAAA,CAAA;AAC7C5H,IAAAA,aAAAA,CAAcE,OAAO,CAAC0H,MAAM,CAAC,GAAG,CAAG,EAAA,CAAA,CAAA;IACnC5H,aAAchB,CAAAA,eAAe,CAACiD,GAAG,CAAC0F,WAAAA,CAAAA;IAClC3H,aAAcf,CAAAA,MAAM,GAAGqE,KAAAA,CAAMrE,MAAM;AAEnC,IAAA,IAAID,eAAkB2I,GAAAA,WAAAA;IACtB,IAAI1I,MAAAA,GAASqE,MAAMrE,MAAM;IACzB,MAAM4I,SAAAA,GAAYxE,IAAKG,CAAAA,MAAM,GAAGX,OAAAA;AAEhC,IAAA,MAAMiF,SAAYC,GAAAA,gBAAAA,CAAiBP,GAAKC,EAAAA,GAAAA,EAAKC,GAAKvH,EAAAA,iBAAAA,CAAAA;AAClD,IAAA,MAAM6H,MAAS/K,GAAAA,OAAAA,CAAQyF,GAAG,CAAC+E,KAAKD,GAAKpH,EAAAA,cAAAA,CAAAA;AACrC,IAAA,MAAM6H,MAAShL,GAAAA,OAAAA,CAAQyF,GAAG,CAACgF,KAAKF,GAAKnH,EAAAA,cAAAA,CAAAA;AACrC,IAAA,MAAM6H,WAAcjL,GAAAA,OAAAA,CAAQ+J,KAAK,CAACgB,QAAQC,MAAQ3H,EAAAA,mBAAAA,CAAAA;IAClDrD,OAAQ+G,CAAAA,SAAS,CAACkE,WAAaA,EAAAA,WAAAA,CAAAA;AAC/BjL,IAAAA,OAAAA,CAAQiG,KAAK,CAACgF,WAAa,EAAA,EAAIA,EAAAA,WAAAA,CAAAA;AAC/B,IAAA,MAAMC,iBAAiBlL,OAAQiG,CAAAA,KAAK,CAACgF,WAAAA,EAAa,EAAI3H,EAAAA,sBAAAA,CAAAA;AACtD,IAAA,MAAM6H,SAAY,GAAA,CAACnL,OAAQmH,CAAAA,GAAG,CAAC+D,cAAgBX,EAAAA,GAAAA,CAAAA;AAC/C,IAAA,MAAMa,WAAcpL,GAAAA,OAAAA,CAAQyF,GAAG,CAACiF,aAAaG,SAAWtH,EAAAA,mBAAAA,CAAAA;IACxDvD,OAAQ+G,CAAAA,SAAS,CAACqE,WAAaA,EAAAA,WAAAA,CAAAA;AAC/B,IAAA,MAAMjE,GAAMnH,GAAAA,OAAAA,CAAQmH,GAAG,CAACiE,WAAaH,EAAAA,WAAAA,CAAAA;AAErC,IAAA,IAAIL,SAAW,EAAA;AACb,QAAA,MAAMS,OAAOrL,OAAQmH,CAAAA,GAAG,CAACd,KAAMM,CAAAA,gBAAgB,EAAEsE,WAAe9D,CAAAA,GAAAA,GAAAA;AAChE,QAAA,MAAMmE,SAAStL,OAAQiG,CAAAA,KAAK,CAACgF,WAAa9D,EAAAA,GAAAA,GAAM,EAAI3D,EAAAA,cAAAA,CAAAA;AACpD,QAAA,MAAM+H,OAAUxJ,GAAAA,eAAAA;AAEhB,QAAA,IAAIsJ,OAAO,CAAG,EAAA;AACZrJ,YAAAA,MAAAA,GAASqE,KAAMrE,CAAAA,MAAM,GAAGoE,IAAAA,CAAKiB,eAAe;AAC5CtF,YAAAA,eAAAA,GAAkB/B,QAAQkG,GAAG,CAACwE,WAAarE,EAAAA,KAAAA,CAAMM,gBAAgB,EAAEjD,YAAAA,CAAAA;AACrE;AAEA,QAAA,MAAM8H,OAAUxL,GAAAA,OAAAA,CAAQ+G,SAAS,CAACuE,MAAQ7H,EAAAA,eAAAA,CAAAA;AAC1C,QAAA,MAAMgI,KAAQC,GAAAA,OAAAA,CAAQR,cAAgBC,EAAAA,SAAAA,EAAWpJ,eAAiByJ,EAAAA,OAAAA,CAAAA;AAClE,QAAA,IAAIC,UAAU,IAAM,EAAA;AAClB,YAAA,MAAME,EAAK3L,GAAAA,OAAAA,CAAQiG,KAAK,CAACuF,SAASC,KAAO9H,EAAAA,oBAAAA,CAAAA;YACzC3D,OAAQkG,CAAAA,GAAG,CAACnE,eAAAA,EAAiB4J,EAAIA,EAAAA,EAAAA,CAAAA;AACjC,YAAA,IAAIC,qBAAsBrB,CAAAA,GAAAA,EAAKC,GAAKC,EAAAA,GAAAA,EAAKkB,EAAK,CAAA,EAAA;AAC5C,gBAAA,MAAM1I,OAAUjD,GAAAA,OAAAA,CAAQyF,GAAG,CAACkG,IAAI5J,eAAiB6B,EAAAA,eAAAA,CAAAA;AACjD,gBAAA,MAAMiI,KAAQ7L,GAAAA,OAAAA,CAAQyF,GAAG,CAAC1D,iBAAiB4J,EAAI9H,EAAAA,aAAAA,CAAAA;AAC/C,gBAAA,IAAIgI,KAAMlG,CAAAA,WAAW,IAAI3D,MAAAA,GAASA,MAAQ,EAAA;AACxC,oBAAA,OAAOmD,wBAAwBP,GAAK,EAAA,IAAA,EAAM+G,IAAI1I,OAASlB,EAAAA,eAAAA,EAAiBC,QAAQ,CAAC4C,GAAAA,CAAAA;AACnF;AACF;AACF,SAAA,MAAO,IAAIwB,IAAK0F,CAAAA,SAAS,KAAKC,aAAAA,CAAcC,GAAG,EAAE;YAC/CjK,eAAkBwJ,GAAAA,OAAAA;AAClB,YAAA,IAAIU,SAASjM,OAAQkG,CAAAA,GAAG,CAACwE,WAAarE,EAAAA,KAAAA,CAAMM,gBAAgB,EAAE7C,cAAAA,CAAAA;YAC9DC,iBAAkBiB,CAAAA,GAAG,CAACqB,KAAAA,CAAMM,gBAAgB,CAAA;AAC5C,YAAA,IAAIuF,SAAYnI,GAAAA,iBAAAA;AAChB,YAAA,IAAIqC,IAAK0F,CAAAA,SAAS,KAAKC,aAAAA,CAAcI,IAAI,EAAE;AACzC,gBAAA,MAAMC,GAAMrK,GAAAA,eAAAA;gBACZA,eAAkBkK,GAAAA,MAAAA;gBAClBA,MAASG,GAAAA,GAAAA;AACTF,gBAAAA,SAAAA,GAAYlM,OAAQiG,CAAAA,KAAK,CAACiG,SAAAA,EAAW,EAAIA,EAAAA,SAAAA,CAAAA;AAC3C;AACA,YAAA,MAAMG,MAASX,GAAAA,OAAAA,CAAQR,cAAgBC,EAAAA,SAAAA,EAAWpJ,eAAiBmK,EAAAA,SAAAA,CAAAA;AACnE,YAAA,IAAIG,WAAW,IAAM,EAAA;AACnB,gBAAA,MAAMV,EAAK3L,GAAAA,OAAAA,CAAQiG,KAAK,CAACiG,WAAWG,MAAQ1I,EAAAA,oBAAAA,CAAAA;gBAC5C3D,OAAQkG,CAAAA,GAAG,CAACnE,eAAAA,EAAiB4J,EAAIA,EAAAA,EAAAA,CAAAA;AACjC,gBAAA,IAAIC,qBAAsBrB,CAAAA,GAAAA,EAAKC,GAAKC,EAAAA,GAAAA,EAAKkB,EAAK,CAAA,EAAA;AAC5C,oBAAA,MAAMW,aAAgBtM,GAAAA,OAAAA,CAAQyF,GAAG,CAACwG,QAAQN,EAAI3H,EAAAA,qBAAAA,CAAAA;AAC9C,oBAAA,MAAMuI,QAAWvM,GAAAA,OAAAA,CAAQyF,GAAG,CAACwG,QAAQlK,eAAiBkC,EAAAA,gBAAAA,CAAAA;AACtD,oBAAA,MAAMuI,cAAiBxM,GAAAA,OAAAA,CAAQyF,GAAG,CAACkG,IAAI5J,eAAiBmC,EAAAA,sBAAAA,CAAAA;AACxD,oBAAA,MAAMuI,IAAOzM,GAAAA,OAAAA,CAAQmH,GAAG,CAACmF,aAAeE,EAAAA,cAAAA,CAAAA;AACxC,oBAAA,MAAME,IAAO1M,GAAAA,OAAAA,CAAQmH,GAAG,CAACoF,QAAUA,EAAAA,QAAAA,CAAAA;AACnC,oBAAA,IAAI,EAAEE,IAAAA,IAAQ,CAAKA,IAAAA,IAAAA,IAAQC,IAAG,CAAI,EAAA;AAChC,wBAAA,OAAOvH,wBACLP,GACA7B,EAAAA,aAAAA,CAAclB,GAAG,EACjBkB,cAAcC,iBAAiB,EAC/BD,aAAcE,CAAAA,OAAO,EACrBF,aAAchB,CAAAA,eAAe,EAC7BgB,aAAcf,CAAAA,MAAM,EACpB,CAAC4C,GAAAA,CAAAA;AAEL;AACA,oBAAA,MAAM+H,MAAS3M,GAAAA,OAAAA,CAAQmH,GAAG,CAACoF,QAAUC,EAAAA,cAAAA,CAAAA;AACrC,oBAAA,MAAMI,MAAS5M,GAAAA,OAAAA,CAAQmH,GAAG,CAACoF,QAAUA,EAAAA,QAAAA,CAAAA;AACrC,oBAAA,MAAMM,SAAY7M,GAAAA,OAAAA,CAAQ+G,SAAS,CAACwF,QAAUA,EAAAA,QAAAA,CAAAA;AAC9C,oBAAA,MAAMO,OAAO9M,OAAQiG,CAAAA,KAAK,CAAC4G,SAAAA,EAAW,CAAC7K,MAAQmC,EAAAA,YAAAA,CAAAA;oBAC/CnE,OAAQkG,CAAAA,GAAG,CAACnE,eAAAA,EAAiB+K,IAAMA,EAAAA,IAAAA,CAAAA;AACnC,oBAAA,MAAM7J,OAAUjD,GAAAA,OAAAA,CAAQyF,GAAG,CAACkG,IAAImB,IAAMlJ,EAAAA,eAAAA,CAAAA;AACtC,oBAAA,MAAMmJ,OAAO/M,OAAQiG,CAAAA,KAAK,CAACsG,QAAAA,EAAUI,SAASC,MAAQxI,EAAAA,YAAAA,CAAAA;oBACtDpE,OAAQkG,CAAAA,GAAG,CAACnE,eAAAA,EAAiBgL,IAAMA,EAAAA,IAAAA,CAAAA;AACnC,oBAAA,MAAMlB,KAAQ7L,GAAAA,OAAAA,CAAQyF,GAAG,CAACsH,MAAMpB,EAAI9H,EAAAA,aAAAA,CAAAA;AACpC,oBAAA,IAAIgI,KAAMlG,CAAAA,WAAW,IAAI3D,MAAAA,GAASA,MAAQ,EAAA;AACxC,wBAAA,OAAOmD,wBAAwBP,GAAK,EAAA,IAAA,EAAM+G,IAAI1I,OAAS8J,EAAAA,IAAAA,EAAM/K,QAAQ,CAAC4C,GAAAA,CAAAA;AACxE;AACF;AACF;AACF;KACK,MAAA;AACL,QAAA,MAAM0G,SAAStL,OAAQiG,CAAAA,KAAK,CAACgF,WAAa9D,EAAAA,GAAAA,GAAM,EAAI3D,EAAAA,cAAAA,CAAAA;AACpD,QAAA,MAAMgI,OAAUxL,GAAAA,OAAAA,CAAQ+G,SAAS,CAACuE,MAAQ7H,EAAAA,eAAAA,CAAAA;AAC1C,QAAA,MAAMgI,KAAQC,GAAAA,OAAAA,CAAQR,cAAgBC,EAAAA,SAAAA,EAAWpJ,eAAiByJ,EAAAA,OAAAA,CAAAA;AAClE,QAAA,IAAIC,UAAU,IAAM,EAAA;AAClB,YAAA,MAAME,EAAK3L,GAAAA,OAAAA,CAAQiG,KAAK,CAACuF,SAASC,KAAO9H,EAAAA,oBAAAA,CAAAA;YACzC3D,OAAQkG,CAAAA,GAAG,CAACnE,eAAAA,EAAiB4J,EAAIA,EAAAA,EAAAA,CAAAA;AACjC,YAAA,IAAIC,qBAAsBrB,CAAAA,GAAAA,EAAKC,GAAKC,EAAAA,GAAAA,EAAKkB,EAAK,CAAA,EAAA;AAC5C,gBAAA,MAAM1I,OAAUjD,GAAAA,OAAAA,CAAQyF,GAAG,CAACkG,IAAI5J,eAAiB6B,EAAAA,eAAAA,CAAAA;AACjD,gBAAA,MAAMiI,KAAQ7L,GAAAA,OAAAA,CAAQyF,GAAG,CAAC1D,iBAAiB4J,EAAI9H,EAAAA,aAAAA,CAAAA;AAC/C,gBAAA,IAAIgI,KAAMlG,CAAAA,WAAW,IAAI3D,MAAAA,GAASA,MAAQ,EAAA;AACxC,oBAAA,OAAOmD,wBAAwBP,GAAK,EAAA,IAAA,EAAM+G,IAAI1I,OAASlB,EAAAA,eAAAA,EAAiBC,QAAQ,CAAC4C,GAAAA,CAAAA;AACnF;AACF;AACF;AACF;AAEA,IAAA,OAAOO,wBACLP,GACA7B,EAAAA,aAAAA,CAAclB,GAAG,EACjBkB,cAAcC,iBAAiB,EAC/BD,aAAcE,CAAAA,OAAO,EACrBF,aAAchB,CAAAA,eAAe,EAC7BgB,aAAcf,CAAAA,MAAM,EACpB,CAAC4C,GAAAA,CAAAA;AAEL;AAEA;AAEA,SAAS8G,QAAQsB,MAAe,EAAE7B,SAAiB,EAAE8B,MAAe,EAAEzH,SAAkB,EAAA;AACtF,IAAA,MAAM0H,IAAOlN,GAAAA,OAAAA,CAAQmH,GAAG,CAAC3B,SAAWwH,EAAAA,MAAAA,CAAAA;AACpC,IAAA,MAAMG,OAAO,CAACnN,OAAAA,CAAQmH,GAAG,CAAC8F,QAAQD,MAAU7B,CAAAA,GAAAA,SAAAA;AAC5C,IAAA,IAAIrF,IAAKsH,CAAAA,GAAG,CAACF,IAAAA,CAAAA,IAAStH,OAAS,EAAA;QAC7B,OAAO,IAAA;AACT;AACA,IAAA,MAAM6F,QAAQ0B,IAAOD,GAAAA,IAAAA;IACrB,OAAOzB,KAAAA,GAAQ,IAAIA,KAAQ,GAAA,IAAA;AAC7B;AAEA,SAASX,iBAAiBuC,CAAU,EAAEC,CAAU,EAAEC,CAAU,EAAEC,MAAgB,EAAA;AAC5EA,IAAAA,MAAAA,GAASA,UAAU,IAAIxN,OAAAA,EAAAA;AACvB,IAAA,OAAOwN,OAAO7C,MAAM,CAAC,CAAC0C,CAAAA,CAAEI,CAAC,GAAGH,CAAAA,CAAEG,CAAC,GAAGF,EAAEE,CAAAA,IAAK,CAAG,EAACJ,CAAAA,CAAEK,CAAAA,CAAC,GAAGJ,CAAAA,CAAEI,CAAC,GAAGH,CAAAA,CAAEG,CAAC,IAAI,GAAG,CAACL,CAAEM,CAAAA,CAAC,GAAGL,CAAEK,CAAAA,CAAC,GAAGJ,CAAEI,CAAAA,CAAC,IAAI,CAAA,CAAA;AACzF;AAEA,SAAS/B,sBAAsByB,CAAU,EAAEC,CAAU,EAAEC,CAAU,EAAEK,CAAU,EAAA;AAC3E,IAAA,MAAMC,EAAK7N,GAAAA,OAAAA,CAAQyF,GAAG,CAAC4H,GAAGO,CAAGvJ,EAAAA,WAAAA,CAAAA;AAC7B,IAAA,MAAMyJ,EAAK9N,GAAAA,OAAAA,CAAQyF,GAAG,CAAC6H,GAAGM,CAAGtJ,EAAAA,WAAAA,CAAAA;AAC7B,IAAA,MAAMyJ,EAAK/N,GAAAA,OAAAA,CAAQyF,GAAG,CAAC8H,GAAGK,CAAGrJ,EAAAA,WAAAA,CAAAA;AAC7B,IAAA,MAAMyJ,CAAIhO,GAAAA,OAAAA,CAAQ+J,KAAK,CAAC8D,IAAIC,EAAItJ,EAAAA,UAAAA,CAAAA;AAChC,IAAA,MAAMyJ,EAAKjO,GAAAA,OAAAA,CAAQ+J,KAAK,CAAC+D,IAAIC,EAAItJ,EAAAA,UAAAA,CAAAA;AACjC,IAAA,MAAMyJ,CAAIlO,GAAAA,OAAAA,CAAQ+J,KAAK,CAACgE,IAAIF,EAAInJ,EAAAA,UAAAA,CAAAA;AAChC,IAAA,IAAI1E,OAAQmH,CAAAA,GAAG,CAAC6G,CAAAA,EAAGC,MAAM,CAAG,EAAA;QAC1B,OAAO,KAAA;AACT;AACA,IAAA,IAAIjO,OAAQmH,CAAAA,GAAG,CAAC8G,EAAAA,EAAIC,KAAK,CAAG,EAAA;QAC1B,OAAO,KAAA;AACT;IACA,OAAO,IAAA;AACT;AAEA,SAASvG,IAAK0F,CAAAA,CAAS,EAAEC,CAAS,EAAEa,CAAS,EAAA;AAC3C,IAAA,OAAOd,CAAI,GAACC,CAAAA,CAAAA,GAAID,CAAAA,IAAKc,CAAAA;AACvB;;;;"}
+{"version":3,"file":"collision.js","sources":["../../../src/animation/joint_dynamics/collision.ts"],"sourcesContent":["// Collision detection & response - direct port of SPCRJointDynamicsJob.cs Collision class\r\n\r\nimport { Vector3 } from '@zephyr3d/base';\r\nimport type { ColliderR, ColliderRW, PointR } from './types';\r\nimport { EPSILON, ColliderForce } from './types';\r\n\r\n/** @public */\r\nexport interface CollisionResult {\r\n  hit: boolean;\r\n  point: Vector3;\r\n}\r\n\r\n/** @public */\r\nexport interface LineCollisionResult {\r\n  hit: boolean;\r\n  pointOnLine: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\n/** @public */\r\nexport interface SurfaceCheckResult {\r\n  hit: boolean;\r\n  intersectionPoint: Vector3;\r\n  pushOut: Vector3;\r\n  pointOnCollider: Vector3;\r\n  radius: number;\r\n}\r\n\r\n/** @public */\r\nexport interface NearestPointsResult {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n}\r\n\r\nconst _pushoutSphereDirection = new Vector3();\r\nconst _pushoutSphereScaled = new Vector3();\r\nconst _pushoutCapsuleVecN = new Vector3();\r\nconst _pushoutCapsuleTargetVec = new Vector3();\r\nconst _pushoutCapsuleTail = new Vector3();\r\nconst _pushoutCapsulePosOnVec = new Vector3();\r\nconst _pushoutCapsulePushVec = new Vector3();\r\nconst _pushoutCapsuleScaled = new Vector3();\r\nconst _pushInSphereDirection = new Vector3();\r\nconst _pushInSphereDirectionN = new Vector3();\r\nconst _pushInSphereScaled = new Vector3();\r\nconst _pushInCapsuleVecN = new Vector3();\r\nconst _pushInCapsuleTargetVec = new Vector3();\r\nconst _pushInCapsuleTail = new Vector3();\r\nconst _pushInCapsulePosOnVec = new Vector3();\r\nconst _pushInCapsulePullVec = new Vector3();\r\nconst _pushInCapsulePullVecN = new Vector3();\r\nconst _pushInCapsuleScaled = new Vector3();\r\nconst _collisionSphereDir = new Vector3();\r\nconst _collisionSphereDirN = new Vector3();\r\nconst _collisionSphereToCenter = new Vector3();\r\nconst _collisionSphereScaled = new Vector3();\r\nconst _collisionSphereDiff = new Vector3();\r\nconst _collisionCapsuleTail = new Vector3();\r\nconst _collisionCapsulePointDir = new Vector3();\r\nconst _collisionCapsulePtOnCol = new Vector3();\r\nconst _collisionCapsulePtOnLine = new Vector3();\r\nconst _collisionCapsuleDiff = new Vector3();\r\nconst _collisionCapsuleTempLineResult: LineCollisionResult = {\r\n  hit: false,\r\n  pointOnLine: new Vector3(),\r\n  pointOnCollider: new Vector3(),\r\n  radius: 0\r\n};\r\nconst _nearestCross0 = new Vector3();\r\nconst _nearestCross1 = new Vector3();\r\nconst _nearestN1 = new Vector3();\r\nconst _nearestN2 = new Vector3();\r\nconst _nearestPosDiff = new Vector3();\r\nconst _nearestPointOnP = new Vector3();\r\nconst _nearestPointOnQ = new Vector3();\r\nconst _nearestPointDiff = new Vector3();\r\nconst _nearestResult: NearestPointsResult = {\r\n  tP: 0,\r\n  tQ: 0,\r\n  pointOnP: new Vector3(),\r\n  pointOnQ: new Vector3(),\r\n  sqrDistance: 0\r\n};\r\nconst _surfaceNoHit: 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\nconst _surfaceTriCenter = new Vector3();\r\nconst _surfaceEdgeAB = new Vector3();\r\nconst _surfaceEdgeAC = new Vector3();\r\nconst _surfacePlaneNormal = new Vector3();\r\nconst _surfacePlaneNormalNeg = new Vector3();\r\nconst _surfaceColliderDir = new Vector3();\r\nconst _surfaceRayDir = new Vector3();\r\nconst _surfaceRayDirN = new Vector3();\r\nconst _surfaceTail = new Vector3();\r\nconst _surfaceIntersection = new Vector3();\r\nconst _surfacePushOut = new Vector3();\r\nconst _surfaceToCol = new Vector3();\r\nconst _surfaceEndVec = new Vector3();\r\nconst _surfaceColDirVec = new Vector3();\r\nconst _surfaceIntersecToEnd = new Vector3();\r\nconst _surfaceColToEnd = new Vector3();\r\nconst _surfaceColToIntersect = new Vector3();\r\nconst _surfaceEVec = new Vector3();\r\nconst _surfacePoc2 = new Vector3();\r\nconst _triangleAp = new Vector3();\r\nconst _triangleBp = new Vector3();\r\nconst _triangleCp = new Vector3();\r\nconst _triangleU = new Vector3();\r\nconst _triangleV = new Vector3();\r\nconst _triangleW = new Vector3();\r\n\r\nfunction writeCollisionResult(\r\n  out: CollisionResult | undefined,\r\n  hit: boolean,\r\n  point: Vector3,\r\n  copyPoint: boolean\r\n) {\r\n  if (!out) {\r\n    return { hit, point: copyPoint ? point.clone() : point };\r\n  }\r\n  if (!out.point) {\r\n    out.point = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.point.set(point);\r\n  return out;\r\n}\r\n\r\nfunction writeLineCollisionResult(\r\n  out: LineCollisionResult | undefined,\r\n  hit: boolean,\r\n  pointOnLine: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      pointOnLine: copyVectors ? pointOnLine.clone() : pointOnLine,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.pointOnLine) {\r\n    out.pointOnLine = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.pointOnLine.set(pointOnLine);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeSurfaceCheckResult(\r\n  out: SurfaceCheckResult | undefined,\r\n  hit: boolean,\r\n  intersectionPoint: Vector3,\r\n  pushOut: Vector3,\r\n  pointOnCollider: Vector3,\r\n  radius: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      hit,\r\n      intersectionPoint: copyVectors ? intersectionPoint.clone() : intersectionPoint,\r\n      pushOut: copyVectors ? pushOut.clone() : pushOut,\r\n      pointOnCollider: copyVectors ? pointOnCollider.clone() : pointOnCollider,\r\n      radius\r\n    };\r\n  }\r\n  if (!out.intersectionPoint) {\r\n    out.intersectionPoint = new Vector3();\r\n  }\r\n  if (!out.pushOut) {\r\n    out.pushOut = new Vector3();\r\n  }\r\n  if (!out.pointOnCollider) {\r\n    out.pointOnCollider = new Vector3();\r\n  }\r\n  out.hit = hit;\r\n  out.intersectionPoint.set(intersectionPoint);\r\n  out.pushOut.set(pushOut);\r\n  out.pointOnCollider.set(pointOnCollider);\r\n  out.radius = radius;\r\n  return out;\r\n}\r\n\r\nfunction writeNearestPointsResult(\r\n  out: NearestPointsResult | undefined,\r\n  tP: number,\r\n  tQ: number,\r\n  pointOnP: Vector3,\r\n  pointOnQ: Vector3,\r\n  sqrDistance: number,\r\n  copyVectors: boolean\r\n) {\r\n  if (!out) {\r\n    return {\r\n      tP,\r\n      tQ,\r\n      pointOnP: copyVectors ? pointOnP.clone() : pointOnP,\r\n      pointOnQ: copyVectors ? pointOnQ.clone() : pointOnQ,\r\n      sqrDistance\r\n    };\r\n  }\r\n  out.tP = tP;\r\n  out.tQ = tQ;\r\n  out.pointOnP.set(pointOnP);\r\n  out.pointOnQ.set(pointOnQ);\r\n  out.sqrDistance = sqrDistance;\r\n  return out;\r\n}\r\n\r\n// Pushout (keep point outside collider)\r\n\r\n/**\r\n * Pushes a point out of a sphere collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  pointRadius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(point, center, _pushoutSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON) {\r\n    const dist = Math.sqrt(sqrLen);\r\n    const targetDist = radius + pointRadius;\r\n    if (dist < targetDist) {\r\n      const scaled = Vector3.scale(direction, targetDist / dist, _pushoutSphereScaled);\r\n      Vector3.add(center, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Pushes a point out of a collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushoutFromSphere(colRW.positionCurrent, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  return pushoutFromCapsule(colR, colRW, point, ptR, out);\r\n}\r\n\r\n/**\r\n * Pushes a point out of a capsule collider.\r\n *\r\n * @public\r\n */\r\nexport function pushoutFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  ptR: PointR,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleHeight = colRW.height > EPSILON ? colRW.height : capsuleVec.magnitude;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushoutCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushoutCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushoutFromSphere(capsulePos, colRW.radius, ptR.pointRadius, point, out);\r\n  }\r\n  if (distOnVec >= capsuleHeight) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushoutCapsuleTail);\r\n    return pushoutFromSphere(tail, colRW.radius * colR.radiusTailScale, ptR.pointRadius, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushoutCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pushVec = Vector3.sub(point, posOnVec, _pushoutCapsulePushVec);\r\n  const sqrPushDist = pushVec.magnitudeSq;\r\n  if (sqrPushDist > EPSILON) {\r\n    const pushDist = Math.sqrt(sqrPushDist);\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / capsuleHeight);\r\n    const targetDist = r + ptR.pointRadius;\r\n    if (pushDist < targetDist) {\r\n      const scaled = Vector3.scale(pushVec, targetDist / pushDist, _pushoutCapsuleScaled);\r\n      Vector3.add(posOnVec, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// PushIn (keep point inside collider - inverse mode)\r\n\r\n/**\r\n * Pulls a point inside a sphere collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const direction = Vector3.sub(center, point, _pushInSphereDirection);\r\n  const sqrLen = direction.magnitudeSq;\r\n  if (sqrLen > EPSILON && sqrLen > radius * radius) {\r\n    const dirLen = Math.sqrt(sqrLen);\r\n    const directionN = Vector3.normalize(direction, _pushInSphereDirectionN);\r\n    const scaled = Vector3.scale(directionN, dirLen - radius, _pushInSphereScaled);\r\n    Vector3.add(point, scaled, scaled);\r\n    return writeCollisionResult(out, true, scaled, !out);\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n/**\r\n * Pulls a point inside a collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromCollider(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return pushInFromSphere(colRW.positionCurrent, colRW.radius, point, out);\r\n  }\r\n  return pushInFromCapsule(colR, colRW, point, out);\r\n}\r\n\r\n/**\r\n * Pulls a point inside a capsule collider.\r\n *\r\n * @public\r\n */\r\nexport function pushInFromCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point: Vector3,\r\n  out?: CollisionResult\r\n): CollisionResult {\r\n  const capsuleVec = colRW.directionCurrent;\r\n  const capsuleHeight = colRW.height > EPSILON ? colRW.height : capsuleVec.magnitude;\r\n  const capsuleVecN = Vector3.normalize(capsuleVec, _pushInCapsuleVecN);\r\n  const capsulePos = colRW.positionCurrent;\r\n  const targetVec = Vector3.sub(point, capsulePos, _pushInCapsuleTargetVec);\r\n  const distOnVec = Vector3.dot(capsuleVecN, targetVec);\r\n\r\n  if (distOnVec <= EPSILON) {\r\n    return pushInFromSphere(capsulePos, colRW.radius, point, out);\r\n  }\r\n  if (distOnVec >= capsuleHeight) {\r\n    const tail = Vector3.add(capsulePos, capsuleVec, _pushInCapsuleTail);\r\n    return pushInFromSphere(tail, colRW.radius * colR.radiusTailScale, point, out);\r\n  }\r\n\r\n  const posOnVec = Vector3.scale(capsuleVecN, distOnVec, _pushInCapsulePosOnVec);\r\n  Vector3.add(capsulePos, posOnVec, posOnVec);\r\n  const pullVec = Vector3.sub(posOnVec, point, _pushInCapsulePullVec);\r\n  const sqrPullDist = pullVec.magnitudeSq;\r\n  if (sqrPullDist > EPSILON) {\r\n    const r = colRW.radius * lerp(1.0, colR.radiusTailScale, distOnVec / capsuleHeight);\r\n    if (sqrPullDist > r * r) {\r\n      const pullDist = Math.sqrt(sqrPullDist);\r\n      const pullVecN = Vector3.normalize(pullVec, _pushInCapsulePullVecN);\r\n      const scaled = Vector3.scale(pullVecN, pullDist - r, _pushInCapsuleScaled);\r\n      Vector3.add(point, scaled, scaled);\r\n      return writeCollisionResult(out, true, scaled, !out);\r\n    }\r\n  }\r\n  return writeCollisionResult(out, false, point, !out);\r\n}\r\n\r\n// Line segment vs collider detection\r\n\r\n/**\r\n * Performs sphere collision detection.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetectionSphere(\r\n  center: Vector3,\r\n  radius: number,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const dir = Vector3.sub(point2, point1, _collisionSphereDir);\r\n  const dirLen = dir.magnitude;\r\n  if (dirLen < EPSILON) {\r\n    return writeLineCollisionResult(out, false, point1, center, radius, !out);\r\n  }\r\n  const dirN = Vector3.scale(dir, 1 / dirLen, _collisionSphereDirN);\r\n  const toCenter = Vector3.sub(center, point1, _collisionSphereToCenter);\r\n  const dot = Vector3.dot(dirN, toCenter);\r\n  const clamped = Math.max(0, Math.min(dot, dirLen));\r\n  const ptOnLine = Vector3.scale(dirN, clamped, _collisionSphereScaled);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(center, ptOnLine, _collisionSphereDiff);\r\n  const hit = diff.magnitudeSq <= radius * radius;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, center, radius, !out);\r\n}\r\n\r\n/**\r\n * Performs capsule collision detection.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetectionCapsule(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  const capsuleDir = colRW.directionCurrent;\r\n  const capsulePos = colRW.positionCurrent;\r\n\r\n  let res = collisionDetectionSphere(capsulePos, colRW.radius, point1, point2, out);\r\n  if (res.hit) {\r\n    return res;\r\n  }\r\n\r\n  const tail = Vector3.add(capsulePos, capsuleDir, _collisionCapsuleTail);\r\n  res = collisionDetectionSphere(\r\n    tail,\r\n    colRW.radius * colR.radiusTailScale,\r\n    point1,\r\n    point2,\r\n    _collisionCapsuleTempLineResult\r\n  );\r\n  if (res.hit) {\r\n    return writeLineCollisionResult(out, true, res.pointOnLine, res.pointOnCollider, res.radius, !out);\r\n  }\r\n\r\n  const pointDir = Vector3.sub(point2, point1, _collisionCapsulePointDir);\r\n  const nearest = computeNearestPoints(capsulePos, capsuleDir, point1, pointDir, _nearestResult);\r\n  const t1 = Math.max(0, Math.min(1, nearest.tP));\r\n  const r = colRW.radius * lerp(1.0, colR.radiusTailScale, t1);\r\n\r\n  if (nearest.sqrDistance > r * r) {\r\n    return writeLineCollisionResult(out, false, point1, capsulePos, r, !out);\r\n  }\r\n\r\n  const t2 = Math.max(0, Math.min(1, nearest.tQ));\r\n  const ptOnCol = Vector3.scale(capsuleDir, t1, _collisionCapsulePtOnCol);\r\n  Vector3.add(capsulePos, ptOnCol, ptOnCol);\r\n  const ptOnLine = Vector3.scale(pointDir, t2, _collisionCapsulePtOnLine);\r\n  Vector3.add(point1, ptOnLine, ptOnLine);\r\n  const diff = Vector3.sub(ptOnCol, ptOnLine, _collisionCapsuleDiff);\r\n  const hit = diff.magnitudeSq <= r * r;\r\n  return writeLineCollisionResult(out, hit, ptOnLine, ptOnCol, r, !out);\r\n}\r\n\r\n/**\r\n * Performs collision detection against the specified collider.\r\n *\r\n * @public\r\n */\r\nexport function collisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  return collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n}\r\n\r\n/**\r\n * Performs inward collision detection.\r\n *\r\n * @public\r\n */\r\nexport function pushInCollisionDetection(\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  point1: Vector3,\r\n  point2: Vector3,\r\n  out?: LineCollisionResult\r\n): LineCollisionResult {\r\n  if (colR.height <= EPSILON) {\r\n    return collisionDetectionSphere(colRW.positionCurrent, colRW.radius, point1, point2, out);\r\n  }\r\n  const res = collisionDetectionCapsule(colR, colRW, point1, point2, out);\r\n  res.hit = false;\r\n  return res;\r\n}\r\n\r\n// Nearest points between two line segments\r\n\r\n/**\r\n * Computes the nearest points between two segments.\r\n *\r\n * @public\r\n */\r\nexport function computeNearestPoints(\r\n  posP: Vector3,\r\n  dirP: Vector3,\r\n  posQ: Vector3,\r\n  dirQ: Vector3,\r\n  out?: NearestPointsResult\r\n): {\r\n  tP: number;\r\n  tQ: number;\r\n  pointOnP: Vector3;\r\n  pointOnQ: Vector3;\r\n  sqrDistance: number;\r\n} {\r\n  const cross0 = Vector3.cross(dirQ, dirP, _nearestCross0);\r\n  const n1 = Vector3.cross(dirP, cross0, _nearestN1);\r\n  const cross1 = Vector3.cross(dirP, dirQ, _nearestCross1);\r\n  const n2 = Vector3.cross(dirQ, cross1, _nearestN2);\r\n  const dP_n2 = Vector3.dot(dirP, n2);\r\n  const dQ_n1 = Vector3.dot(dirQ, n1);\r\n  const posDiff = Vector3.sub(posQ, posP, _nearestPosDiff);\r\n  const tP = dP_n2 !== 0 ? Vector3.dot(posDiff, n2) / dP_n2 : 0;\r\n  const tQ = dQ_n1 !== 0 ? Vector3.dot(Vector3.scale(posDiff, -1, posDiff), n1) / dQ_n1 : 0;\r\n  const pointOnP = Vector3.scale(dirP, tP, _nearestPointOnP);\r\n  Vector3.add(posP, pointOnP, pointOnP);\r\n  const pointOnQ = Vector3.scale(dirQ, tQ, _nearestPointOnQ);\r\n  Vector3.add(posQ, pointOnQ, pointOnQ);\r\n  const diff = Vector3.sub(pointOnQ, pointOnP, _nearestPointDiff);\r\n  return writeNearestPointsResult(out, tP, tQ, pointOnP, pointOnQ, diff.magnitudeSq, !out);\r\n}\r\n\r\n// Surface collision (triangle-based)\r\n\r\n/**\r\n * Checks triangle-surface collision against a collider.\r\n *\r\n * @public\r\n */\r\nexport function checkSurfaceCollision(\r\n  ptA: Vector3,\r\n  ptB: Vector3,\r\n  ptC: Vector3,\r\n  colliderPos: Vector3,\r\n  colR: ColliderR,\r\n  colRW: ColliderRW,\r\n  out?: SurfaceCheckResult\r\n): SurfaceCheckResult {\r\n  _surfaceNoHit.hit = false;\r\n  _surfaceNoHit.intersectionPoint.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pushOut.setXYZ(0, 0, 0);\r\n  _surfaceNoHit.pointOnCollider.set(colliderPos);\r\n  _surfaceNoHit.radius = colRW.radius;\r\n\r\n  let pointOnCollider = colliderPos;\r\n  let radius = colRW.radius;\r\n  const isCapsule = colR.height > EPSILON;\r\n\r\n  const triCenter = centerOfTriangle(ptA, ptB, ptC, _surfaceTriCenter);\r\n  const edgeAB = Vector3.sub(ptB, ptA, _surfaceEdgeAB);\r\n  const edgeAC = Vector3.sub(ptC, ptA, _surfaceEdgeAC);\r\n  const planeNormal = Vector3.cross(edgeAB, edgeAC, _surfacePlaneNormal);\r\n  Vector3.normalize(planeNormal, planeNormal);\r\n  Vector3.scale(planeNormal, -1, planeNormal);\r\n  const planeNormalNeg = Vector3.scale(planeNormal, -1, _surfacePlaneNormalNeg);\r\n  const planeDist = -Vector3.dot(planeNormalNeg, ptA);\r\n  const colliderDir = Vector3.sub(colliderPos, triCenter, _surfaceColliderDir);\r\n  Vector3.normalize(colliderDir, colliderDir);\r\n  const dot = Vector3.dot(colliderDir, planeNormal);\r\n\r\n  if (isCapsule) {\r\n    const side = Vector3.dot(colRW.directionCurrent, planeNormal) * dot;\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const tempPOC = pointOnCollider;\r\n\r\n    if (side < 0) {\r\n      radius = colRW.radius * colR.radiusTailScale;\r\n      pointOnCollider = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceTail);\r\n    }\r\n\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    } else if (colR.forceType !== ColliderForce.Off) {\r\n      pointOnCollider = tempPOC;\r\n      let endVec = Vector3.add(colliderPos, colRW.directionCurrent, _surfaceEndVec);\r\n      _surfaceColDirVec.set(colRW.directionCurrent);\r\n      let colDirVec = _surfaceColDirVec;\r\n      if (colR.forceType === ColliderForce.Pull) {\r\n        const tmp = pointOnCollider;\r\n        pointOnCollider = endVec;\r\n        endVec = tmp;\r\n        colDirVec = Vector3.scale(colDirVec, -1, colDirVec);\r\n      }\r\n      const enter2 = raycast(planeNormalNeg, planeDist, pointOnCollider, colDirVec);\r\n      if (enter2 !== null) {\r\n        const ip = Vector3.scale(colDirVec, enter2, _surfaceIntersection);\r\n        Vector3.add(pointOnCollider, ip, ip);\r\n        if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n          const intersecToEnd = Vector3.sub(endVec, ip, _surfaceIntersecToEnd);\r\n          const colToEnd = Vector3.sub(endVec, pointOnCollider, _surfaceColToEnd);\r\n          const colToIntersect = Vector3.sub(ip, pointOnCollider, _surfaceColToIntersect);\r\n          const pDot = Vector3.dot(intersecToEnd, colToIntersect);\r\n          const lDot = Vector3.dot(colToEnd, colToEnd);\r\n          if (!(pDot >= 0 && pDot <= lDot)) {\r\n            return writeSurfaceCheckResult(\r\n              out,\r\n              _surfaceNoHit.hit,\r\n              _surfaceNoHit.intersectionPoint,\r\n              _surfaceNoHit.pushOut,\r\n              _surfaceNoHit.pointOnCollider,\r\n              _surfaceNoHit.radius,\r\n              !out\r\n            );\r\n          }\r\n          const dotVal = Vector3.dot(colToEnd, colToIntersect);\r\n          const s2eMag = Vector3.dot(colToEnd, colToEnd);\r\n          const colToEndN = Vector3.normalize(colToEnd, colToEnd);\r\n          const eVec = Vector3.scale(colToEndN, -radius, _surfaceEVec);\r\n          Vector3.add(pointOnCollider, eVec, eVec);\r\n          const pushOut = Vector3.sub(ip, eVec, _surfacePushOut);\r\n          const poc2 = Vector3.scale(colToEnd, dotVal / s2eMag, _surfacePoc2);\r\n          Vector3.add(pointOnCollider, poc2, poc2);\r\n          const toCol = Vector3.sub(poc2, ip, _surfaceToCol);\r\n          if (toCol.magnitudeSq <= radius * radius) {\r\n            return writeSurfaceCheckResult(out, true, ip, pushOut, poc2, radius, !out);\r\n          }\r\n        }\r\n      }\r\n    }\r\n  } else {\r\n    const rayDir = Vector3.scale(planeNormal, dot * -1, _surfaceRayDir);\r\n    const rayDirN = Vector3.normalize(rayDir, _surfaceRayDirN);\r\n    const enter = raycast(planeNormalNeg, planeDist, pointOnCollider, rayDirN);\r\n    if (enter !== null) {\r\n      const ip = Vector3.scale(rayDirN, enter, _surfaceIntersection);\r\n      Vector3.add(pointOnCollider, ip, ip);\r\n      if (triangleContainsPoint(ptA, ptB, ptC, ip)) {\r\n        const pushOut = Vector3.sub(ip, pointOnCollider, _surfacePushOut);\r\n        const toCol = Vector3.sub(pointOnCollider, ip, _surfaceToCol);\r\n        if (toCol.magnitudeSq <= radius * radius) {\r\n          return writeSurfaceCheckResult(out, true, ip, pushOut, pointOnCollider, radius, !out);\r\n        }\r\n      }\r\n    }\r\n  }\r\n\r\n  return writeSurfaceCheckResult(\r\n    out,\r\n    _surfaceNoHit.hit,\r\n    _surfaceNoHit.intersectionPoint,\r\n    _surfaceNoHit.pushOut,\r\n    _surfaceNoHit.pointOnCollider,\r\n    _surfaceNoHit.radius,\r\n    !out\r\n  );\r\n}\r\n\r\n// Helpers\r\n\r\nfunction raycast(normal: Vector3, planeDist: number, origin: Vector3, direction: Vector3): number | null {\r\n  const vdot = Vector3.dot(direction, normal);\r\n  const ndot = -Vector3.dot(origin, normal) - planeDist;\r\n  if (Math.abs(vdot) <= EPSILON) {\r\n    return null;\r\n  }\r\n  const enter = ndot / vdot;\r\n  return enter > 0 ? enter : null;\r\n}\r\n\r\nfunction centerOfTriangle(a: Vector3, b: Vector3, c: Vector3, result?: Vector3): Vector3 {\r\n  result = result || new Vector3();\r\n  return result.setXYZ((a.x + b.x + c.x) / 3, (a.y + b.y + c.y) / 3, (a.z + b.z + c.z) / 3);\r\n}\r\n\r\nfunction triangleContainsPoint(a: Vector3, b: Vector3, c: Vector3, p: Vector3): boolean {\r\n  const ap = Vector3.sub(a, p, _triangleAp);\r\n  const bp = Vector3.sub(b, p, _triangleBp);\r\n  const cp = Vector3.sub(c, p, _triangleCp);\r\n  const u = Vector3.cross(ap, bp, _triangleU);\r\n  const vv = Vector3.cross(bp, cp, _triangleV);\r\n  const w = Vector3.cross(cp, ap, _triangleW);\r\n  if (Vector3.dot(u, vv) < 0) {\r\n    return false;\r\n  }\r\n  if (Vector3.dot(vv, w) < 0) {\r\n    return false;\r\n  }\r\n  return true;\r\n}\r\n\r\nfunction lerp(a: number, b: number, t: number): number {\r\n  return a + (b - a) * t;\r\n}\r\n"],"names":["_pushoutSphereDirection","Vector3","_pushoutSphereScaled","_pushoutCapsuleVecN","_pushoutCapsuleTargetVec","_pushoutCapsuleTail","_pushoutCapsulePosOnVec","_pushoutCapsulePushVec","_pushoutCapsuleScaled","_pushInSphereDirection","_pushInSphereDirectionN","_pushInSphereScaled","_pushInCapsuleVecN","_pushInCapsuleTargetVec","_pushInCapsuleTail","_pushInCapsulePosOnVec","_pushInCapsulePullVec","_pushInCapsulePullVecN","_pushInCapsuleScaled","_collisionSphereDir","_collisionSphereDirN","_collisionSphereToCenter","_collisionSphereScaled","_collisionSphereDiff","_collisionCapsuleTail","_collisionCapsulePointDir","_collisionCapsulePtOnCol","_collisionCapsulePtOnLine","_collisionCapsuleDiff","_collisionCapsuleTempLineResult","hit","pointOnLine","pointOnCollider","radius","_nearestCross0","_nearestCross1","_nearestN1","_nearestN2","_nearestPosDiff","_nearestPointOnP","_nearestPointOnQ","_nearestPointDiff","_nearestResult","tP","tQ","pointOnP","pointOnQ","sqrDistance","_surfaceNoHit","intersectionPoint","pushOut","_surfaceTriCenter","_surfaceEdgeAB","_surfaceEdgeAC","_surfacePlaneNormal","_surfacePlaneNormalNeg","_surfaceColliderDir","_surfaceRayDir","_surfaceRayDirN","_surfaceTail","_surfaceIntersection","_surfacePushOut","_surfaceToCol","_surfaceEndVec","_surfaceColDirVec","_surfaceIntersecToEnd","_surfaceColToEnd","_surfaceColToIntersect","_surfaceEVec","_surfacePoc2","_triangleAp","_triangleBp","_triangleCp","_triangleU","_triangleV","_triangleW","writeCollisionResult","out","point","copyPoint","clone","set","writeLineCollisionResult","copyVectors","writeSurfaceCheckResult","writeNearestPointsResult","pushoutFromSphere","center","pointRadius","direction","sub","sqrLen","magnitudeSq","EPSILON","dist","Math","sqrt","targetDist","scaled","scale","add","pushoutFromCollider","colR","colRW","ptR","height","positionCurrent","pushoutFromCapsule","capsuleVec","directionCurrent","capsuleHeight","magnitude","capsuleVecN","normalize","capsulePos","targetVec","distOnVec","dot","tail","radiusTailScale","posOnVec","pushVec","sqrPushDist","pushDist","r","lerp","pushInFromSphere","dirLen","directionN","pushInFromCollider","pushInFromCapsule","pullVec","sqrPullDist","pullDist","pullVecN","collisionDetectionSphere","point1","point2","dir","dirN","toCenter","clamped","max","min","ptOnLine","diff","collisionDetectionCapsule","capsuleDir","res","pointDir","nearest","computeNearestPoints","t1","t2","ptOnCol","collisionDetection","pushInCollisionDetection","posP","dirP","posQ","dirQ","cross0","cross","n1","cross1","n2","dP_n2","dQ_n1","posDiff","checkSurfaceCollision","ptA","ptB","ptC","colliderPos","setXYZ","isCapsule","triCenter","centerOfTriangle","edgeAB","edgeAC","planeNormal","planeNormalNeg","planeDist","colliderDir","side","rayDir","tempPOC","rayDirN","enter","raycast","ip","triangleContainsPoint","toCol","forceType","ColliderForce","Off","endVec","colDirVec","Pull","tmp","enter2","intersecToEnd","colToEnd","colToIntersect","pDot","lDot","dotVal","s2eMag","colToEndN","eVec","poc2","normal","origin","vdot","ndot","abs","a","b","c","result","x","y","z","p","ap","bp","cp","u","vv","w","t"],"mappings":";;;AAAA;AAsCA,MAAMA,0BAA0B,IAAIC,OAAAA,EAAAA;AACpC,MAAMC,uBAAuB,IAAID,OAAAA,EAAAA;AACjC,MAAME,sBAAsB,IAAIF,OAAAA,EAAAA;AAChC,MAAMG,2BAA2B,IAAIH,OAAAA,EAAAA;AACrC,MAAMI,sBAAsB,IAAIJ,OAAAA,EAAAA;AAChC,MAAMK,0BAA0B,IAAIL,OAAAA,EAAAA;AACpC,MAAMM,yBAAyB,IAAIN,OAAAA,EAAAA;AACnC,MAAMO,wBAAwB,IAAIP,OAAAA,EAAAA;AAClC,MAAMQ,yBAAyB,IAAIR,OAAAA,EAAAA;AACnC,MAAMS,0BAA0B,IAAIT,OAAAA,EAAAA;AACpC,MAAMU,sBAAsB,IAAIV,OAAAA,EAAAA;AAChC,MAAMW,qBAAqB,IAAIX,OAAAA,EAAAA;AAC/B,MAAMY,0BAA0B,IAAIZ,OAAAA,EAAAA;AACpC,MAAMa,qBAAqB,IAAIb,OAAAA,EAAAA;AAC/B,MAAMc,yBAAyB,IAAId,OAAAA,EAAAA;AACnC,MAAMe,wBAAwB,IAAIf,OAAAA,EAAAA;AAClC,MAAMgB,yBAAyB,IAAIhB,OAAAA,EAAAA;AACnC,MAAMiB,uBAAuB,IAAIjB,OAAAA,EAAAA;AACjC,MAAMkB,sBAAsB,IAAIlB,OAAAA,EAAAA;AAChC,MAAMmB,uBAAuB,IAAInB,OAAAA,EAAAA;AACjC,MAAMoB,2BAA2B,IAAIpB,OAAAA,EAAAA;AACrC,MAAMqB,yBAAyB,IAAIrB,OAAAA,EAAAA;AACnC,MAAMsB,uBAAuB,IAAItB,OAAAA,EAAAA;AACjC,MAAMuB,wBAAwB,IAAIvB,OAAAA,EAAAA;AAClC,MAAMwB,4BAA4B,IAAIxB,OAAAA,EAAAA;AACtC,MAAMyB,2BAA2B,IAAIzB,OAAAA,EAAAA;AACrC,MAAM0B,4BAA4B,IAAI1B,OAAAA,EAAAA;AACtC,MAAM2B,wBAAwB,IAAI3B,OAAAA,EAAAA;AAClC,MAAM4B,+BAAuD,GAAA;IAC3DC,GAAK,EAAA,KAAA;AACLC,IAAAA,WAAAA,EAAa,IAAI9B,OAAAA,EAAAA;AACjB+B,IAAAA,eAAAA,EAAiB,IAAI/B,OAAAA,EAAAA;IACrBgC,MAAQ,EAAA;AACV,CAAA;AACA,MAAMC,iBAAiB,IAAIjC,OAAAA,EAAAA;AAC3B,MAAMkC,iBAAiB,IAAIlC,OAAAA,EAAAA;AAC3B,MAAMmC,aAAa,IAAInC,OAAAA,EAAAA;AACvB,MAAMoC,aAAa,IAAIpC,OAAAA,EAAAA;AACvB,MAAMqC,kBAAkB,IAAIrC,OAAAA,EAAAA;AAC5B,MAAMsC,mBAAmB,IAAItC,OAAAA,EAAAA;AAC7B,MAAMuC,mBAAmB,IAAIvC,OAAAA,EAAAA;AAC7B,MAAMwC,oBAAoB,IAAIxC,OAAAA,EAAAA;AAC9B,MAAMyC,cAAsC,GAAA;IAC1CC,EAAI,EAAA,CAAA;IACJC,EAAI,EAAA,CAAA;AACJC,IAAAA,QAAAA,EAAU,IAAI5C,OAAAA,EAAAA;AACd6C,IAAAA,QAAAA,EAAU,IAAI7C,OAAAA,EAAAA;IACd8C,WAAa,EAAA;AACf,CAAA;AACA,MAAMC,aAAoC,GAAA;IACxClB,GAAK,EAAA,KAAA;AACLmB,IAAAA,iBAAAA,EAAmB,IAAIhD,OAAAA,EAAAA;AACvBiD,IAAAA,OAAAA,EAAS,IAAIjD,OAAAA,EAAAA;AACb+B,IAAAA,eAAAA,EAAiB,IAAI/B,OAAAA,EAAAA;IACrBgC,MAAQ,EAAA;AACV,CAAA;AACA,MAAMkB,oBAAoB,IAAIlD,OAAAA,EAAAA;AAC9B,MAAMmD,iBAAiB,IAAInD,OAAAA,EAAAA;AAC3B,MAAMoD,iBAAiB,IAAIpD,OAAAA,EAAAA;AAC3B,MAAMqD,sBAAsB,IAAIrD,OAAAA,EAAAA;AAChC,MAAMsD,yBAAyB,IAAItD,OAAAA,EAAAA;AACnC,MAAMuD,sBAAsB,IAAIvD,OAAAA,EAAAA;AAChC,MAAMwD,iBAAiB,IAAIxD,OAAAA,EAAAA;AAC3B,MAAMyD,kBAAkB,IAAIzD,OAAAA,EAAAA;AAC5B,MAAM0D,eAAe,IAAI1D,OAAAA,EAAAA;AACzB,MAAM2D,uBAAuB,IAAI3D,OAAAA,EAAAA;AACjC,MAAM4D,kBAAkB,IAAI5D,OAAAA,EAAAA;AAC5B,MAAM6D,gBAAgB,IAAI7D,OAAAA,EAAAA;AAC1B,MAAM8D,iBAAiB,IAAI9D,OAAAA,EAAAA;AAC3B,MAAM+D,oBAAoB,IAAI/D,OAAAA,EAAAA;AAC9B,MAAMgE,wBAAwB,IAAIhE,OAAAA,EAAAA;AAClC,MAAMiE,mBAAmB,IAAIjE,OAAAA,EAAAA;AAC7B,MAAMkE,yBAAyB,IAAIlE,OAAAA,EAAAA;AACnC,MAAMmE,eAAe,IAAInE,OAAAA,EAAAA;AACzB,MAAMoE,eAAe,IAAIpE,OAAAA,EAAAA;AACzB,MAAMqE,cAAc,IAAIrE,OAAAA,EAAAA;AACxB,MAAMsE,cAAc,IAAItE,OAAAA,EAAAA;AACxB,MAAMuE,cAAc,IAAIvE,OAAAA,EAAAA;AACxB,MAAMwE,aAAa,IAAIxE,OAAAA,EAAAA;AACvB,MAAMyE,aAAa,IAAIzE,OAAAA,EAAAA;AACvB,MAAM0E,aAAa,IAAI1E,OAAAA,EAAAA;AAEvB,SAAS2E,qBACPC,GAAgC,EAChC/C,GAAY,EACZgD,KAAc,EACdC,SAAkB,EAAA;AAElB,IAAA,IAAI,CAACF,GAAK,EAAA;QACR,OAAO;AAAE/C,YAAAA,GAAAA;YAAKgD,KAAOC,EAAAA,SAAAA,GAAYD,KAAME,CAAAA,KAAK,EAAKF,GAAAA;AAAM,SAAA;AACzD;IACA,IAAI,CAACD,GAAIC,CAAAA,KAAK,EAAE;QACdD,GAAIC,CAAAA,KAAK,GAAG,IAAI7E,OAAAA,EAAAA;AAClB;AACA4E,IAAAA,GAAAA,CAAI/C,GAAG,GAAGA,GAAAA;IACV+C,GAAIC,CAAAA,KAAK,CAACG,GAAG,CAACH,KAAAA,CAAAA;IACd,OAAOD,GAAAA;AACT;AAEA,SAASK,wBAAAA,CACPL,GAAoC,EACpC/C,GAAY,EACZC,WAAoB,EACpBC,eAAwB,EACxBC,MAAc,EACdkD,WAAoB,EAAA;AAEpB,IAAA,IAAI,CAACN,GAAK,EAAA;QACR,OAAO;AACL/C,YAAAA,GAAAA;YACAC,WAAaoD,EAAAA,WAAAA,GAAcpD,WAAYiD,CAAAA,KAAK,EAAKjD,GAAAA,WAAAA;YACjDC,eAAiBmD,EAAAA,WAAAA,GAAcnD,eAAgBgD,CAAAA,KAAK,EAAKhD,GAAAA,eAAAA;AACzDC,YAAAA;AACF,SAAA;AACF;IACA,IAAI,CAAC4C,GAAI9C,CAAAA,WAAW,EAAE;QACpB8C,GAAI9C,CAAAA,WAAW,GAAG,IAAI9B,OAAAA,EAAAA;AACxB;IACA,IAAI,CAAC4E,GAAI7C,CAAAA,eAAe,EAAE;QACxB6C,GAAI7C,CAAAA,eAAe,GAAG,IAAI/B,OAAAA,EAAAA;AAC5B;AACA4E,IAAAA,GAAAA,CAAI/C,GAAG,GAAGA,GAAAA;IACV+C,GAAI9C,CAAAA,WAAW,CAACkD,GAAG,CAAClD,WAAAA,CAAAA;IACpB8C,GAAI7C,CAAAA,eAAe,CAACiD,GAAG,CAACjD,eAAAA,CAAAA;AACxB6C,IAAAA,GAAAA,CAAI5C,MAAM,GAAGA,MAAAA;IACb,OAAO4C,GAAAA;AACT;AAEA,SAASO,uBACPP,CAAAA,GAAmC,EACnC/C,GAAY,EACZmB,iBAA0B,EAC1BC,OAAgB,EAChBlB,eAAwB,EACxBC,MAAc,EACdkD,WAAoB,EAAA;AAEpB,IAAA,IAAI,CAACN,GAAK,EAAA;QACR,OAAO;AACL/C,YAAAA,GAAAA;YACAmB,iBAAmBkC,EAAAA,WAAAA,GAAclC,iBAAkB+B,CAAAA,KAAK,EAAK/B,GAAAA,iBAAAA;YAC7DC,OAASiC,EAAAA,WAAAA,GAAcjC,OAAQ8B,CAAAA,KAAK,EAAK9B,GAAAA,OAAAA;YACzClB,eAAiBmD,EAAAA,WAAAA,GAAcnD,eAAgBgD,CAAAA,KAAK,EAAKhD,GAAAA,eAAAA;AACzDC,YAAAA;AACF,SAAA;AACF;IACA,IAAI,CAAC4C,GAAI5B,CAAAA,iBAAiB,EAAE;QAC1B4B,GAAI5B,CAAAA,iBAAiB,GAAG,IAAIhD,OAAAA,EAAAA;AAC9B;IACA,IAAI,CAAC4E,GAAI3B,CAAAA,OAAO,EAAE;QAChB2B,GAAI3B,CAAAA,OAAO,GAAG,IAAIjD,OAAAA,EAAAA;AACpB;IACA,IAAI,CAAC4E,GAAI7C,CAAAA,eAAe,EAAE;QACxB6C,GAAI7C,CAAAA,eAAe,GAAG,IAAI/B,OAAAA,EAAAA;AAC5B;AACA4E,IAAAA,GAAAA,CAAI/C,GAAG,GAAGA,GAAAA;IACV+C,GAAI5B,CAAAA,iBAAiB,CAACgC,GAAG,CAAChC,iBAAAA,CAAAA;IAC1B4B,GAAI3B,CAAAA,OAAO,CAAC+B,GAAG,CAAC/B,OAAAA,CAAAA;IAChB2B,GAAI7C,CAAAA,eAAe,CAACiD,GAAG,CAACjD,eAAAA,CAAAA;AACxB6C,IAAAA,GAAAA,CAAI5C,MAAM,GAAGA,MAAAA;IACb,OAAO4C,GAAAA;AACT;AAEA,SAASQ,wBACPR,CAAAA,GAAoC,EACpClC,EAAU,EACVC,EAAU,EACVC,QAAiB,EACjBC,QAAiB,EACjBC,WAAmB,EACnBoC,WAAoB,EAAA;AAEpB,IAAA,IAAI,CAACN,GAAK,EAAA;QACR,OAAO;AACLlC,YAAAA,EAAAA;AACAC,YAAAA,EAAAA;YACAC,QAAUsC,EAAAA,WAAAA,GAActC,QAASmC,CAAAA,KAAK,EAAKnC,GAAAA,QAAAA;YAC3CC,QAAUqC,EAAAA,WAAAA,GAAcrC,QAASkC,CAAAA,KAAK,EAAKlC,GAAAA,QAAAA;AAC3CC,YAAAA;AACF,SAAA;AACF;AACA8B,IAAAA,GAAAA,CAAIlC,EAAE,GAAGA,EAAAA;AACTkC,IAAAA,GAAAA,CAAIjC,EAAE,GAAGA,EAAAA;IACTiC,GAAIhC,CAAAA,QAAQ,CAACoC,GAAG,CAACpC,QAAAA,CAAAA;IACjBgC,GAAI/B,CAAAA,QAAQ,CAACmC,GAAG,CAACnC,QAAAA,CAAAA;AACjB+B,IAAAA,GAAAA,CAAI9B,WAAW,GAAGA,WAAAA;IAClB,OAAO8B,GAAAA;AACT;AAEA;AAEA;;;;IAKO,SAASS,iBAAAA,CACdC,MAAe,EACftD,MAAc,EACduD,WAAmB,EACnBV,KAAc,EACdD,GAAqB,EAAA;AAErB,IAAA,MAAMY,SAAYxF,GAAAA,OAAAA,CAAQyF,GAAG,CAACZ,OAAOS,MAAQvF,EAAAA,uBAAAA,CAAAA;IAC7C,MAAM2F,MAAAA,GAASF,UAAUG,WAAW;AACpC,IAAA,IAAID,SAASE,OAAS,EAAA;QACpB,MAAMC,IAAAA,GAAOC,IAAKC,CAAAA,IAAI,CAACL,MAAAA,CAAAA;AACvB,QAAA,MAAMM,aAAahE,MAASuD,GAAAA,WAAAA;AAC5B,QAAA,IAAIM,OAAOG,UAAY,EAAA;AACrB,YAAA,MAAMC,SAASjG,OAAQkG,CAAAA,KAAK,CAACV,SAAAA,EAAWQ,aAAaH,IAAM5F,EAAAA,oBAAAA,CAAAA;YAC3DD,OAAQmG,CAAAA,GAAG,CAACb,MAAAA,EAAQW,MAAQA,EAAAA,MAAAA,CAAAA;AAC5B,YAAA,OAAOtB,oBAAqBC,CAAAA,GAAAA,EAAK,IAAMqB,EAAAA,MAAAA,EAAQ,CAACrB,GAAAA,CAAAA;AAClD;AACF;AACA,IAAA,OAAOD,oBAAqBC,CAAAA,GAAAA,EAAK,KAAOC,EAAAA,KAAAA,EAAO,CAACD,GAAAA,CAAAA;AAClD;AAEA;;;;IAKO,SAASwB,mBAAAA,CACdC,IAAe,EACfC,KAAiB,EACjBzB,KAAc,EACd0B,GAAW,EACX3B,GAAqB,EAAA;IAErB,IAAIyB,IAAAA,CAAKG,MAAM,IAAIZ,OAAS,EAAA;QAC1B,OAAOP,iBAAAA,CAAkBiB,KAAMG,CAAAA,eAAe,EAAEH,KAAAA,CAAMtE,MAAM,EAAEuE,GAAAA,CAAIhB,WAAW,EAAEV,KAAOD,EAAAA,GAAAA,CAAAA;AACxF;AACA,IAAA,OAAO8B,kBAAmBL,CAAAA,IAAAA,EAAMC,KAAOzB,EAAAA,KAAAA,EAAO0B,GAAK3B,EAAAA,GAAAA,CAAAA;AACrD;AAEA;;;;IAKO,SAAS8B,kBAAAA,CACdL,IAAe,EACfC,KAAiB,EACjBzB,KAAc,EACd0B,GAAW,EACX3B,GAAqB,EAAA;IAErB,MAAM+B,UAAAA,GAAaL,MAAMM,gBAAgB;IACzC,MAAMC,aAAAA,GAAgBP,MAAME,MAAM,GAAGZ,UAAUU,KAAME,CAAAA,MAAM,GAAGG,UAAAA,CAAWG,SAAS;AAClF,IAAA,MAAMC,WAAc/G,GAAAA,OAAAA,CAAQgH,SAAS,CAACL,UAAYzG,EAAAA,mBAAAA,CAAAA;IAClD,MAAM+G,UAAAA,GAAaX,MAAMG,eAAe;AACxC,IAAA,MAAMS,SAAYlH,GAAAA,OAAAA,CAAQyF,GAAG,CAACZ,OAAOoC,UAAY9G,EAAAA,wBAAAA,CAAAA;AACjD,IAAA,MAAMgH,SAAYnH,GAAAA,OAAAA,CAAQoH,GAAG,CAACL,WAAaG,EAAAA,SAAAA,CAAAA;AAE3C,IAAA,IAAIC,aAAavB,OAAS,EAAA;QACxB,OAAOP,iBAAAA,CAAkB4B,YAAYX,KAAMtE,CAAAA,MAAM,EAAEuE,GAAIhB,CAAAA,WAAW,EAAEV,KAAOD,EAAAA,GAAAA,CAAAA;AAC7E;AACA,IAAA,IAAIuC,aAAaN,aAAe,EAAA;AAC9B,QAAA,MAAMQ,IAAOrH,GAAAA,OAAAA,CAAQmG,GAAG,CAACc,YAAYN,UAAYvG,EAAAA,mBAAAA,CAAAA;QACjD,OAAOiF,iBAAAA,CAAkBgC,IAAMf,EAAAA,KAAAA,CAAMtE,MAAM,GAAGqE,IAAKiB,CAAAA,eAAe,EAAEf,GAAAA,CAAIhB,WAAW,EAAEV,KAAOD,EAAAA,GAAAA,CAAAA;AAC9F;AAEA,IAAA,MAAM2C,QAAWvH,GAAAA,OAAAA,CAAQkG,KAAK,CAACa,aAAaI,SAAW9G,EAAAA,uBAAAA,CAAAA;IACvDL,OAAQmG,CAAAA,GAAG,CAACc,UAAAA,EAAYM,QAAUA,EAAAA,QAAAA,CAAAA;AAClC,IAAA,MAAMC,OAAUxH,GAAAA,OAAAA,CAAQyF,GAAG,CAACZ,OAAO0C,QAAUjH,EAAAA,sBAAAA,CAAAA;IAC7C,MAAMmH,WAAAA,GAAcD,QAAQ7B,WAAW;AACvC,IAAA,IAAI8B,cAAc7B,OAAS,EAAA;QACzB,MAAM8B,QAAAA,GAAW5B,IAAKC,CAAAA,IAAI,CAAC0B,WAAAA,CAAAA;QAC3B,MAAME,CAAAA,GAAIrB,MAAMtE,MAAM,GAAG4F,KAAK,GAAKvB,EAAAA,IAAAA,CAAKiB,eAAe,EAAEH,SAAYN,GAAAA,aAAAA,CAAAA;QACrE,MAAMb,UAAAA,GAAa2B,CAAIpB,GAAAA,GAAAA,CAAIhB,WAAW;AACtC,QAAA,IAAImC,WAAW1B,UAAY,EAAA;AACzB,YAAA,MAAMC,SAASjG,OAAQkG,CAAAA,KAAK,CAACsB,OAAAA,EAASxB,aAAa0B,QAAUnH,EAAAA,qBAAAA,CAAAA;YAC7DP,OAAQmG,CAAAA,GAAG,CAACoB,QAAAA,EAAUtB,MAAQA,EAAAA,MAAAA,CAAAA;AAC9B,YAAA,OAAOtB,oBAAqBC,CAAAA,GAAAA,EAAK,IAAMqB,EAAAA,MAAAA,EAAQ,CAACrB,GAAAA,CAAAA;AAClD;AACF;AACA,IAAA,OAAOD,oBAAqBC,CAAAA,GAAAA,EAAK,KAAOC,EAAAA,KAAAA,EAAO,CAACD,GAAAA,CAAAA;AAClD;AAEA;AAEA;;;;IAKO,SAASiD,gBACdvC,CAAAA,MAAe,EACftD,MAAc,EACd6C,KAAc,EACdD,GAAqB,EAAA;AAErB,IAAA,MAAMY,SAAYxF,GAAAA,OAAAA,CAAQyF,GAAG,CAACH,QAAQT,KAAOrE,EAAAA,sBAAAA,CAAAA;IAC7C,MAAMkF,MAAAA,GAASF,UAAUG,WAAW;AACpC,IAAA,IAAID,MAASE,GAAAA,OAAAA,IAAWF,MAAS1D,GAAAA,MAAAA,GAASA,MAAQ,EAAA;QAChD,MAAM8F,MAAAA,GAAShC,IAAKC,CAAAA,IAAI,CAACL,MAAAA,CAAAA;AACzB,QAAA,MAAMqC,UAAa/H,GAAAA,OAAAA,CAAQgH,SAAS,CAACxB,SAAW/E,EAAAA,uBAAAA,CAAAA;AAChD,QAAA,MAAMwF,SAASjG,OAAQkG,CAAAA,KAAK,CAAC6B,UAAAA,EAAYD,SAAS9F,MAAQtB,EAAAA,mBAAAA,CAAAA;QAC1DV,OAAQmG,CAAAA,GAAG,CAACtB,KAAAA,EAAOoB,MAAQA,EAAAA,MAAAA,CAAAA;AAC3B,QAAA,OAAOtB,oBAAqBC,CAAAA,GAAAA,EAAK,IAAMqB,EAAAA,MAAAA,EAAQ,CAACrB,GAAAA,CAAAA;AAClD;AACA,IAAA,OAAOD,oBAAqBC,CAAAA,GAAAA,EAAK,KAAOC,EAAAA,KAAAA,EAAO,CAACD,GAAAA,CAAAA;AAClD;AAEA;;;;IAKO,SAASoD,kBACd3B,CAAAA,IAAe,EACfC,KAAiB,EACjBzB,KAAc,EACdD,GAAqB,EAAA;IAErB,IAAIyB,IAAAA,CAAKG,MAAM,IAAIZ,OAAS,EAAA;AAC1B,QAAA,OAAOiC,iBAAiBvB,KAAMG,CAAAA,eAAe,EAAEH,KAAMtE,CAAAA,MAAM,EAAE6C,KAAOD,EAAAA,GAAAA,CAAAA;AACtE;IACA,OAAOqD,iBAAAA,CAAkB5B,IAAMC,EAAAA,KAAAA,EAAOzB,KAAOD,EAAAA,GAAAA,CAAAA;AAC/C;AAEA;;;;IAKO,SAASqD,iBACd5B,CAAAA,IAAe,EACfC,KAAiB,EACjBzB,KAAc,EACdD,GAAqB,EAAA;IAErB,MAAM+B,UAAAA,GAAaL,MAAMM,gBAAgB;IACzC,MAAMC,aAAAA,GAAgBP,MAAME,MAAM,GAAGZ,UAAUU,KAAME,CAAAA,MAAM,GAAGG,UAAAA,CAAWG,SAAS;AAClF,IAAA,MAAMC,WAAc/G,GAAAA,OAAAA,CAAQgH,SAAS,CAACL,UAAYhG,EAAAA,kBAAAA,CAAAA;IAClD,MAAMsG,UAAAA,GAAaX,MAAMG,eAAe;AACxC,IAAA,MAAMS,SAAYlH,GAAAA,OAAAA,CAAQyF,GAAG,CAACZ,OAAOoC,UAAYrG,EAAAA,uBAAAA,CAAAA;AACjD,IAAA,MAAMuG,SAAYnH,GAAAA,OAAAA,CAAQoH,GAAG,CAACL,WAAaG,EAAAA,SAAAA,CAAAA;AAE3C,IAAA,IAAIC,aAAavB,OAAS,EAAA;AACxB,QAAA,OAAOiC,gBAAiBZ,CAAAA,UAAAA,EAAYX,KAAMtE,CAAAA,MAAM,EAAE6C,KAAOD,EAAAA,GAAAA,CAAAA;AAC3D;AACA,IAAA,IAAIuC,aAAaN,aAAe,EAAA;AAC9B,QAAA,MAAMQ,IAAOrH,GAAAA,OAAAA,CAAQmG,GAAG,CAACc,YAAYN,UAAY9F,EAAAA,kBAAAA,CAAAA;QACjD,OAAOgH,gBAAAA,CAAiBR,MAAMf,KAAMtE,CAAAA,MAAM,GAAGqE,IAAKiB,CAAAA,eAAe,EAAEzC,KAAOD,EAAAA,GAAAA,CAAAA;AAC5E;AAEA,IAAA,MAAM2C,QAAWvH,GAAAA,OAAAA,CAAQkG,KAAK,CAACa,aAAaI,SAAWrG,EAAAA,sBAAAA,CAAAA;IACvDd,OAAQmG,CAAAA,GAAG,CAACc,UAAAA,EAAYM,QAAUA,EAAAA,QAAAA,CAAAA;AAClC,IAAA,MAAMW,OAAUlI,GAAAA,OAAAA,CAAQyF,GAAG,CAAC8B,UAAU1C,KAAO9D,EAAAA,qBAAAA,CAAAA;IAC7C,MAAMoH,WAAAA,GAAcD,QAAQvC,WAAW;AACvC,IAAA,IAAIwC,cAAcvC,OAAS,EAAA;QACzB,MAAM+B,CAAAA,GAAIrB,MAAMtE,MAAM,GAAG4F,KAAK,GAAKvB,EAAAA,IAAAA,CAAKiB,eAAe,EAAEH,SAAYN,GAAAA,aAAAA,CAAAA;QACrE,IAAIsB,WAAAA,GAAcR,IAAIA,CAAG,EAAA;YACvB,MAAMS,QAAAA,GAAWtC,IAAKC,CAAAA,IAAI,CAACoC,WAAAA,CAAAA;AAC3B,YAAA,MAAME,QAAWrI,GAAAA,OAAAA,CAAQgH,SAAS,CAACkB,OAASlH,EAAAA,sBAAAA,CAAAA;AAC5C,YAAA,MAAMiF,SAASjG,OAAQkG,CAAAA,KAAK,CAACmC,QAAAA,EAAUD,WAAWT,CAAG1G,EAAAA,oBAAAA,CAAAA;YACrDjB,OAAQmG,CAAAA,GAAG,CAACtB,KAAAA,EAAOoB,MAAQA,EAAAA,MAAAA,CAAAA;AAC3B,YAAA,OAAOtB,oBAAqBC,CAAAA,GAAAA,EAAK,IAAMqB,EAAAA,MAAAA,EAAQ,CAACrB,GAAAA,CAAAA;AAClD;AACF;AACA,IAAA,OAAOD,oBAAqBC,CAAAA,GAAAA,EAAK,KAAOC,EAAAA,KAAAA,EAAO,CAACD,GAAAA,CAAAA;AAClD;AAEA;AAEA;;;;IAKO,SAAS0D,wBAAAA,CACdhD,MAAe,EACftD,MAAc,EACduG,MAAe,EACfC,MAAe,EACf5D,GAAyB,EAAA;AAEzB,IAAA,MAAM6D,GAAMzI,GAAAA,OAAAA,CAAQyF,GAAG,CAAC+C,QAAQD,MAAQrH,EAAAA,mBAAAA,CAAAA;IACxC,MAAM4G,MAAAA,GAASW,IAAI3B,SAAS;AAC5B,IAAA,IAAIgB,SAASlC,OAAS,EAAA;AACpB,QAAA,OAAOX,yBAAyBL,GAAK,EAAA,KAAA,EAAO2D,MAAQjD,EAAAA,MAAAA,EAAQtD,QAAQ,CAAC4C,GAAAA,CAAAA;AACvE;AACA,IAAA,MAAM8D,OAAO1I,OAAQkG,CAAAA,KAAK,CAACuC,GAAAA,EAAK,IAAIX,MAAQ3G,EAAAA,oBAAAA,CAAAA;AAC5C,IAAA,MAAMwH,QAAW3I,GAAAA,OAAAA,CAAQyF,GAAG,CAACH,QAAQiD,MAAQnH,EAAAA,wBAAAA,CAAAA;AAC7C,IAAA,MAAMgG,GAAMpH,GAAAA,OAAAA,CAAQoH,GAAG,CAACsB,IAAMC,EAAAA,QAAAA,CAAAA;IAC9B,MAAMC,OAAAA,GAAU9C,KAAK+C,GAAG,CAAC,GAAG/C,IAAKgD,CAAAA,GAAG,CAAC1B,GAAKU,EAAAA,MAAAA,CAAAA,CAAAA;AAC1C,IAAA,MAAMiB,QAAW/I,GAAAA,OAAAA,CAAQkG,KAAK,CAACwC,MAAME,OAASvH,EAAAA,sBAAAA,CAAAA;IAC9CrB,OAAQmG,CAAAA,GAAG,CAACoC,MAAAA,EAAQQ,QAAUA,EAAAA,QAAAA,CAAAA;AAC9B,IAAA,MAAMC,IAAOhJ,GAAAA,OAAAA,CAAQyF,GAAG,CAACH,QAAQyD,QAAUzH,EAAAA,oBAAAA,CAAAA;AAC3C,IAAA,MAAMO,GAAMmH,GAAAA,IAAAA,CAAKrD,WAAW,IAAI3D,MAASA,GAAAA,MAAAA;AACzC,IAAA,OAAOiD,yBAAyBL,GAAK/C,EAAAA,GAAAA,EAAKkH,QAAUzD,EAAAA,MAAAA,EAAQtD,QAAQ,CAAC4C,GAAAA,CAAAA;AACvE;AAEA;;;;IAKO,SAASqE,yBAAAA,CACd5C,IAAe,EACfC,KAAiB,EACjBiC,MAAe,EACfC,MAAe,EACf5D,GAAyB,EAAA;IAEzB,MAAMsE,UAAAA,GAAa5C,MAAMM,gBAAgB;IACzC,MAAMK,UAAAA,GAAaX,MAAMG,eAAe;AAExC,IAAA,IAAI0C,MAAMb,wBAAyBrB,CAAAA,UAAAA,EAAYX,MAAMtE,MAAM,EAAEuG,QAAQC,MAAQ5D,EAAAA,GAAAA,CAAAA;IAC7E,IAAIuE,GAAAA,CAAItH,GAAG,EAAE;QACX,OAAOsH,GAAAA;AACT;AAEA,IAAA,MAAM9B,IAAOrH,GAAAA,OAAAA,CAAQmG,GAAG,CAACc,YAAYiC,UAAY3H,EAAAA,qBAAAA,CAAAA;IACjD4H,GAAMb,GAAAA,wBAAAA,CACJjB,MACAf,KAAMtE,CAAAA,MAAM,GAAGqE,IAAKiB,CAAAA,eAAe,EACnCiB,MAAAA,EACAC,MACA5G,EAAAA,+BAAAA,CAAAA;IAEF,IAAIuH,GAAAA,CAAItH,GAAG,EAAE;AACX,QAAA,OAAOoD,wBAAyBL,CAAAA,GAAAA,EAAK,IAAMuE,EAAAA,GAAAA,CAAIrH,WAAW,EAAEqH,GAAIpH,CAAAA,eAAe,EAAEoH,GAAAA,CAAInH,MAAM,EAAE,CAAC4C,GAAAA,CAAAA;AAChG;AAEA,IAAA,MAAMwE,QAAWpJ,GAAAA,OAAAA,CAAQyF,GAAG,CAAC+C,QAAQD,MAAQ/G,EAAAA,yBAAAA,CAAAA;AAC7C,IAAA,MAAM6H,OAAUC,GAAAA,oBAAAA,CAAqBrC,UAAYiC,EAAAA,UAAAA,EAAYX,QAAQa,QAAU3G,EAAAA,cAAAA,CAAAA;IAC/E,MAAM8G,EAAAA,GAAKzD,IAAK+C,CAAAA,GAAG,CAAC,CAAA,EAAG/C,KAAKgD,GAAG,CAAC,CAAGO,EAAAA,OAAAA,CAAQ3G,EAAE,CAAA,CAAA;IAC7C,MAAMiF,CAAAA,GAAIrB,MAAMtE,MAAM,GAAG4F,KAAK,GAAKvB,EAAAA,IAAAA,CAAKiB,eAAe,EAAEiC,EAAAA,CAAAA;AAEzD,IAAA,IAAIF,OAAQvG,CAAAA,WAAW,GAAG6E,CAAAA,GAAIA,CAAG,EAAA;AAC/B,QAAA,OAAO1C,yBAAyBL,GAAK,EAAA,KAAA,EAAO2D,MAAQtB,EAAAA,UAAAA,EAAYU,GAAG,CAAC/C,GAAAA,CAAAA;AACtE;IAEA,MAAM4E,EAAAA,GAAK1D,IAAK+C,CAAAA,GAAG,CAAC,CAAA,EAAG/C,KAAKgD,GAAG,CAAC,CAAGO,EAAAA,OAAAA,CAAQ1G,EAAE,CAAA,CAAA;AAC7C,IAAA,MAAM8G,OAAUzJ,GAAAA,OAAAA,CAAQkG,KAAK,CAACgD,YAAYK,EAAI9H,EAAAA,wBAAAA,CAAAA;IAC9CzB,OAAQmG,CAAAA,GAAG,CAACc,UAAAA,EAAYwC,OAASA,EAAAA,OAAAA,CAAAA;AACjC,IAAA,MAAMV,QAAW/I,GAAAA,OAAAA,CAAQkG,KAAK,CAACkD,UAAUI,EAAI9H,EAAAA,yBAAAA,CAAAA;IAC7C1B,OAAQmG,CAAAA,GAAG,CAACoC,MAAAA,EAAQQ,QAAUA,EAAAA,QAAAA,CAAAA;AAC9B,IAAA,MAAMC,IAAOhJ,GAAAA,OAAAA,CAAQyF,GAAG,CAACgE,SAASV,QAAUpH,EAAAA,qBAAAA,CAAAA;AAC5C,IAAA,MAAME,GAAMmH,GAAAA,IAAAA,CAAKrD,WAAW,IAAIgC,CAAIA,GAAAA,CAAAA;AACpC,IAAA,OAAO1C,yBAAyBL,GAAK/C,EAAAA,GAAAA,EAAKkH,QAAUU,EAAAA,OAAAA,EAAS9B,GAAG,CAAC/C,GAAAA,CAAAA;AACnE;AAEA;;;;IAKO,SAAS8E,kBAAAA,CACdrD,IAAe,EACfC,KAAiB,EACjBiC,MAAe,EACfC,MAAe,EACf5D,GAAyB,EAAA;IAEzB,IAAIyB,IAAAA,CAAKG,MAAM,IAAIZ,OAAS,EAAA;QAC1B,OAAO0C,wBAAAA,CAAyBhC,MAAMG,eAAe,EAAEH,MAAMtE,MAAM,EAAEuG,QAAQC,MAAQ5D,EAAAA,GAAAA,CAAAA;AACvF;AACA,IAAA,OAAOqE,yBAA0B5C,CAAAA,IAAAA,EAAMC,KAAOiC,EAAAA,MAAAA,EAAQC,MAAQ5D,EAAAA,GAAAA,CAAAA;AAChE;AAEA;;;;IAKO,SAAS+E,wBAAAA,CACdtD,IAAe,EACfC,KAAiB,EACjBiC,MAAe,EACfC,MAAe,EACf5D,GAAyB,EAAA;IAEzB,IAAIyB,IAAAA,CAAKG,MAAM,IAAIZ,OAAS,EAAA;QAC1B,OAAO0C,wBAAAA,CAAyBhC,MAAMG,eAAe,EAAEH,MAAMtE,MAAM,EAAEuG,QAAQC,MAAQ5D,EAAAA,GAAAA,CAAAA;AACvF;AACA,IAAA,MAAMuE,GAAMF,GAAAA,yBAAAA,CAA0B5C,IAAMC,EAAAA,KAAAA,EAAOiC,QAAQC,MAAQ5D,EAAAA,GAAAA,CAAAA;AACnEuE,IAAAA,GAAAA,CAAItH,GAAG,GAAG,KAAA;IACV,OAAOsH,GAAAA;AACT;AAEA;AAEA;;;;IAKO,SAASG,oBAAAA,CACdM,IAAa,EACbC,IAAa,EACbC,IAAa,EACbC,IAAa,EACbnF,GAAyB,EAAA;AAQzB,IAAA,MAAMoF,MAAShK,GAAAA,OAAAA,CAAQiK,KAAK,CAACF,MAAMF,IAAM5H,EAAAA,cAAAA,CAAAA;AACzC,IAAA,MAAMiI,EAAKlK,GAAAA,OAAAA,CAAQiK,KAAK,CAACJ,MAAMG,MAAQ7H,EAAAA,UAAAA,CAAAA;AACvC,IAAA,MAAMgI,MAASnK,GAAAA,OAAAA,CAAQiK,KAAK,CAACJ,MAAME,IAAM7H,EAAAA,cAAAA,CAAAA;AACzC,IAAA,MAAMkI,EAAKpK,GAAAA,OAAAA,CAAQiK,KAAK,CAACF,MAAMI,MAAQ/H,EAAAA,UAAAA,CAAAA;AACvC,IAAA,MAAMiI,KAAQrK,GAAAA,OAAAA,CAAQoH,GAAG,CAACyC,IAAMO,EAAAA,EAAAA,CAAAA;AAChC,IAAA,MAAME,KAAQtK,GAAAA,OAAAA,CAAQoH,GAAG,CAAC2C,IAAMG,EAAAA,EAAAA,CAAAA;AAChC,IAAA,MAAMK,OAAUvK,GAAAA,OAAAA,CAAQyF,GAAG,CAACqE,MAAMF,IAAMvH,EAAAA,eAAAA,CAAAA;IACxC,MAAMK,EAAAA,GAAK2H,UAAU,CAAIrK,GAAAA,OAAAA,CAAQoH,GAAG,CAACmD,OAAAA,EAASH,MAAMC,KAAQ,GAAA,CAAA;AAC5D,IAAA,MAAM1H,EAAK2H,GAAAA,KAAAA,KAAU,CAAItK,GAAAA,OAAAA,CAAQoH,GAAG,CAACpH,OAAAA,CAAQkG,KAAK,CAACqE,OAAS,EAAA,EAAIA,EAAAA,OAAAA,CAAAA,EAAUL,MAAMI,KAAQ,GAAA,CAAA;AACxF,IAAA,MAAM1H,QAAW5C,GAAAA,OAAAA,CAAQkG,KAAK,CAAC2D,MAAMnH,EAAIJ,EAAAA,gBAAAA,CAAAA;IACzCtC,OAAQmG,CAAAA,GAAG,CAACyD,IAAAA,EAAMhH,QAAUA,EAAAA,QAAAA,CAAAA;AAC5B,IAAA,MAAMC,QAAW7C,GAAAA,OAAAA,CAAQkG,KAAK,CAAC6D,MAAMpH,EAAIJ,EAAAA,gBAAAA,CAAAA;IACzCvC,OAAQmG,CAAAA,GAAG,CAAC2D,IAAAA,EAAMjH,QAAUA,EAAAA,QAAAA,CAAAA;AAC5B,IAAA,MAAMmG,IAAOhJ,GAAAA,OAAAA,CAAQyF,GAAG,CAAC5C,UAAUD,QAAUJ,EAAAA,iBAAAA,CAAAA;IAC7C,OAAO4C,wBAAAA,CAAyBR,KAAKlC,EAAIC,EAAAA,EAAAA,EAAIC,UAAUC,QAAUmG,EAAAA,IAAAA,CAAKrD,WAAW,EAAE,CAACf,GAAAA,CAAAA;AACtF;AAEA;AAEA;;;;AAIC,IACM,SAAS4F,qBACdC,CAAAA,GAAY,EACZC,GAAY,EACZC,GAAY,EACZC,WAAoB,EACpBvE,IAAe,EACfC,KAAiB,EACjB1B,GAAwB,EAAA;AAExB7B,IAAAA,aAAAA,CAAclB,GAAG,GAAG,KAAA;AACpBkB,IAAAA,aAAAA,CAAcC,iBAAiB,CAAC6H,MAAM,CAAC,GAAG,CAAG,EAAA,CAAA,CAAA;AAC7C9H,IAAAA,aAAAA,CAAcE,OAAO,CAAC4H,MAAM,CAAC,GAAG,CAAG,EAAA,CAAA,CAAA;IACnC9H,aAAchB,CAAAA,eAAe,CAACiD,GAAG,CAAC4F,WAAAA,CAAAA;IAClC7H,aAAcf,CAAAA,MAAM,GAAGsE,KAAAA,CAAMtE,MAAM;AAEnC,IAAA,IAAID,eAAkB6I,GAAAA,WAAAA;IACtB,IAAI5I,MAAAA,GAASsE,MAAMtE,MAAM;IACzB,MAAM8I,SAAAA,GAAYzE,IAAKG,CAAAA,MAAM,GAAGZ,OAAAA;AAEhC,IAAA,MAAMmF,SAAYC,GAAAA,gBAAAA,CAAiBP,GAAKC,EAAAA,GAAAA,EAAKC,GAAKzH,EAAAA,iBAAAA,CAAAA;AAClD,IAAA,MAAM+H,MAASjL,GAAAA,OAAAA,CAAQyF,GAAG,CAACiF,KAAKD,GAAKtH,EAAAA,cAAAA,CAAAA;AACrC,IAAA,MAAM+H,MAASlL,GAAAA,OAAAA,CAAQyF,GAAG,CAACkF,KAAKF,GAAKrH,EAAAA,cAAAA,CAAAA;AACrC,IAAA,MAAM+H,WAAcnL,GAAAA,OAAAA,CAAQiK,KAAK,CAACgB,QAAQC,MAAQ7H,EAAAA,mBAAAA,CAAAA;IAClDrD,OAAQgH,CAAAA,SAAS,CAACmE,WAAaA,EAAAA,WAAAA,CAAAA;AAC/BnL,IAAAA,OAAAA,CAAQkG,KAAK,CAACiF,WAAa,EAAA,EAAIA,EAAAA,WAAAA,CAAAA;AAC/B,IAAA,MAAMC,iBAAiBpL,OAAQkG,CAAAA,KAAK,CAACiF,WAAAA,EAAa,EAAI7H,EAAAA,sBAAAA,CAAAA;AACtD,IAAA,MAAM+H,SAAY,GAAA,CAACrL,OAAQoH,CAAAA,GAAG,CAACgE,cAAgBX,EAAAA,GAAAA,CAAAA;AAC/C,IAAA,MAAMa,WAActL,GAAAA,OAAAA,CAAQyF,GAAG,CAACmF,aAAaG,SAAWxH,EAAAA,mBAAAA,CAAAA;IACxDvD,OAAQgH,CAAAA,SAAS,CAACsE,WAAaA,EAAAA,WAAAA,CAAAA;AAC/B,IAAA,MAAMlE,GAAMpH,GAAAA,OAAAA,CAAQoH,GAAG,CAACkE,WAAaH,EAAAA,WAAAA,CAAAA;AAErC,IAAA,IAAIL,SAAW,EAAA;AACb,QAAA,MAAMS,OAAOvL,OAAQoH,CAAAA,GAAG,CAACd,KAAMM,CAAAA,gBAAgB,EAAEuE,WAAe/D,CAAAA,GAAAA,GAAAA;AAChE,QAAA,MAAMoE,SAASxL,OAAQkG,CAAAA,KAAK,CAACiF,WAAa/D,EAAAA,GAAAA,GAAM,EAAI5D,EAAAA,cAAAA,CAAAA;AACpD,QAAA,MAAMiI,OAAU1J,GAAAA,eAAAA;AAEhB,QAAA,IAAIwJ,OAAO,CAAG,EAAA;AACZvJ,YAAAA,MAAAA,GAASsE,KAAMtE,CAAAA,MAAM,GAAGqE,IAAAA,CAAKiB,eAAe;AAC5CvF,YAAAA,eAAAA,GAAkB/B,QAAQmG,GAAG,CAACyE,WAAatE,EAAAA,KAAAA,CAAMM,gBAAgB,EAAElD,YAAAA,CAAAA;AACrE;AAEA,QAAA,MAAMgI,OAAU1L,GAAAA,OAAAA,CAAQgH,SAAS,CAACwE,MAAQ/H,EAAAA,eAAAA,CAAAA;AAC1C,QAAA,MAAMkI,KAAQC,GAAAA,OAAAA,CAAQR,cAAgBC,EAAAA,SAAAA,EAAWtJ,eAAiB2J,EAAAA,OAAAA,CAAAA;AAClE,QAAA,IAAIC,UAAU,IAAM,EAAA;AAClB,YAAA,MAAME,EAAK7L,GAAAA,OAAAA,CAAQkG,KAAK,CAACwF,SAASC,KAAOhI,EAAAA,oBAAAA,CAAAA;YACzC3D,OAAQmG,CAAAA,GAAG,CAACpE,eAAAA,EAAiB8J,EAAIA,EAAAA,EAAAA,CAAAA;AACjC,YAAA,IAAIC,qBAAsBrB,CAAAA,GAAAA,EAAKC,GAAKC,EAAAA,GAAAA,EAAKkB,EAAK,CAAA,EAAA;AAC5C,gBAAA,MAAM5I,OAAUjD,GAAAA,OAAAA,CAAQyF,GAAG,CAACoG,IAAI9J,eAAiB6B,EAAAA,eAAAA,CAAAA;AACjD,gBAAA,MAAMmI,KAAQ/L,GAAAA,OAAAA,CAAQyF,GAAG,CAAC1D,iBAAiB8J,EAAIhI,EAAAA,aAAAA,CAAAA;AAC/C,gBAAA,IAAIkI,KAAMpG,CAAAA,WAAW,IAAI3D,MAAAA,GAASA,MAAQ,EAAA;AACxC,oBAAA,OAAOmD,wBAAwBP,GAAK,EAAA,IAAA,EAAMiH,IAAI5I,OAASlB,EAAAA,eAAAA,EAAiBC,QAAQ,CAAC4C,GAAAA,CAAAA;AACnF;AACF;AACF,SAAA,MAAO,IAAIyB,IAAK2F,CAAAA,SAAS,KAAKC,aAAAA,CAAcC,GAAG,EAAE;YAC/CnK,eAAkB0J,GAAAA,OAAAA;AAClB,YAAA,IAAIU,SAASnM,OAAQmG,CAAAA,GAAG,CAACyE,WAAatE,EAAAA,KAAAA,CAAMM,gBAAgB,EAAE9C,cAAAA,CAAAA;YAC9DC,iBAAkBiB,CAAAA,GAAG,CAACsB,KAAAA,CAAMM,gBAAgB,CAAA;AAC5C,YAAA,IAAIwF,SAAYrI,GAAAA,iBAAAA;AAChB,YAAA,IAAIsC,IAAK2F,CAAAA,SAAS,KAAKC,aAAAA,CAAcI,IAAI,EAAE;AACzC,gBAAA,MAAMC,GAAMvK,GAAAA,eAAAA;gBACZA,eAAkBoK,GAAAA,MAAAA;gBAClBA,MAASG,GAAAA,GAAAA;AACTF,gBAAAA,SAAAA,GAAYpM,OAAQkG,CAAAA,KAAK,CAACkG,SAAAA,EAAW,EAAIA,EAAAA,SAAAA,CAAAA;AAC3C;AACA,YAAA,MAAMG,MAASX,GAAAA,OAAAA,CAAQR,cAAgBC,EAAAA,SAAAA,EAAWtJ,eAAiBqK,EAAAA,SAAAA,CAAAA;AACnE,YAAA,IAAIG,WAAW,IAAM,EAAA;AACnB,gBAAA,MAAMV,EAAK7L,GAAAA,OAAAA,CAAQkG,KAAK,CAACkG,WAAWG,MAAQ5I,EAAAA,oBAAAA,CAAAA;gBAC5C3D,OAAQmG,CAAAA,GAAG,CAACpE,eAAAA,EAAiB8J,EAAIA,EAAAA,EAAAA,CAAAA;AACjC,gBAAA,IAAIC,qBAAsBrB,CAAAA,GAAAA,EAAKC,GAAKC,EAAAA,GAAAA,EAAKkB,EAAK,CAAA,EAAA;AAC5C,oBAAA,MAAMW,aAAgBxM,GAAAA,OAAAA,CAAQyF,GAAG,CAAC0G,QAAQN,EAAI7H,EAAAA,qBAAAA,CAAAA;AAC9C,oBAAA,MAAMyI,QAAWzM,GAAAA,OAAAA,CAAQyF,GAAG,CAAC0G,QAAQpK,eAAiBkC,EAAAA,gBAAAA,CAAAA;AACtD,oBAAA,MAAMyI,cAAiB1M,GAAAA,OAAAA,CAAQyF,GAAG,CAACoG,IAAI9J,eAAiBmC,EAAAA,sBAAAA,CAAAA;AACxD,oBAAA,MAAMyI,IAAO3M,GAAAA,OAAAA,CAAQoH,GAAG,CAACoF,aAAeE,EAAAA,cAAAA,CAAAA;AACxC,oBAAA,MAAME,IAAO5M,GAAAA,OAAAA,CAAQoH,GAAG,CAACqF,QAAUA,EAAAA,QAAAA,CAAAA;AACnC,oBAAA,IAAI,EAAEE,IAAAA,IAAQ,CAAKA,IAAAA,IAAAA,IAAQC,IAAG,CAAI,EAAA;AAChC,wBAAA,OAAOzH,wBACLP,GACA7B,EAAAA,aAAAA,CAAclB,GAAG,EACjBkB,cAAcC,iBAAiB,EAC/BD,aAAcE,CAAAA,OAAO,EACrBF,aAAchB,CAAAA,eAAe,EAC7BgB,aAAcf,CAAAA,MAAM,EACpB,CAAC4C,GAAAA,CAAAA;AAEL;AACA,oBAAA,MAAMiI,MAAS7M,GAAAA,OAAAA,CAAQoH,GAAG,CAACqF,QAAUC,EAAAA,cAAAA,CAAAA;AACrC,oBAAA,MAAMI,MAAS9M,GAAAA,OAAAA,CAAQoH,GAAG,CAACqF,QAAUA,EAAAA,QAAAA,CAAAA;AACrC,oBAAA,MAAMM,SAAY/M,GAAAA,OAAAA,CAAQgH,SAAS,CAACyF,QAAUA,EAAAA,QAAAA,CAAAA;AAC9C,oBAAA,MAAMO,OAAOhN,OAAQkG,CAAAA,KAAK,CAAC6G,SAAAA,EAAW,CAAC/K,MAAQmC,EAAAA,YAAAA,CAAAA;oBAC/CnE,OAAQmG,CAAAA,GAAG,CAACpE,eAAAA,EAAiBiL,IAAMA,EAAAA,IAAAA,CAAAA;AACnC,oBAAA,MAAM/J,OAAUjD,GAAAA,OAAAA,CAAQyF,GAAG,CAACoG,IAAImB,IAAMpJ,EAAAA,eAAAA,CAAAA;AACtC,oBAAA,MAAMqJ,OAAOjN,OAAQkG,CAAAA,KAAK,CAACuG,QAAAA,EAAUI,SAASC,MAAQ1I,EAAAA,YAAAA,CAAAA;oBACtDpE,OAAQmG,CAAAA,GAAG,CAACpE,eAAAA,EAAiBkL,IAAMA,EAAAA,IAAAA,CAAAA;AACnC,oBAAA,MAAMlB,KAAQ/L,GAAAA,OAAAA,CAAQyF,GAAG,CAACwH,MAAMpB,EAAIhI,EAAAA,aAAAA,CAAAA;AACpC,oBAAA,IAAIkI,KAAMpG,CAAAA,WAAW,IAAI3D,MAAAA,GAASA,MAAQ,EAAA;AACxC,wBAAA,OAAOmD,wBAAwBP,GAAK,EAAA,IAAA,EAAMiH,IAAI5I,OAASgK,EAAAA,IAAAA,EAAMjL,QAAQ,CAAC4C,GAAAA,CAAAA;AACxE;AACF;AACF;AACF;KACK,MAAA;AACL,QAAA,MAAM4G,SAASxL,OAAQkG,CAAAA,KAAK,CAACiF,WAAa/D,EAAAA,GAAAA,GAAM,EAAI5D,EAAAA,cAAAA,CAAAA;AACpD,QAAA,MAAMkI,OAAU1L,GAAAA,OAAAA,CAAQgH,SAAS,CAACwE,MAAQ/H,EAAAA,eAAAA,CAAAA;AAC1C,QAAA,MAAMkI,KAAQC,GAAAA,OAAAA,CAAQR,cAAgBC,EAAAA,SAAAA,EAAWtJ,eAAiB2J,EAAAA,OAAAA,CAAAA;AAClE,QAAA,IAAIC,UAAU,IAAM,EAAA;AAClB,YAAA,MAAME,EAAK7L,GAAAA,OAAAA,CAAQkG,KAAK,CAACwF,SAASC,KAAOhI,EAAAA,oBAAAA,CAAAA;YACzC3D,OAAQmG,CAAAA,GAAG,CAACpE,eAAAA,EAAiB8J,EAAIA,EAAAA,EAAAA,CAAAA;AACjC,YAAA,IAAIC,qBAAsBrB,CAAAA,GAAAA,EAAKC,GAAKC,EAAAA,GAAAA,EAAKkB,EAAK,CAAA,EAAA;AAC5C,gBAAA,MAAM5I,OAAUjD,GAAAA,OAAAA,CAAQyF,GAAG,CAACoG,IAAI9J,eAAiB6B,EAAAA,eAAAA,CAAAA;AACjD,gBAAA,MAAMmI,KAAQ/L,GAAAA,OAAAA,CAAQyF,GAAG,CAAC1D,iBAAiB8J,EAAIhI,EAAAA,aAAAA,CAAAA;AAC/C,gBAAA,IAAIkI,KAAMpG,CAAAA,WAAW,IAAI3D,MAAAA,GAASA,MAAQ,EAAA;AACxC,oBAAA,OAAOmD,wBAAwBP,GAAK,EAAA,IAAA,EAAMiH,IAAI5I,OAASlB,EAAAA,eAAAA,EAAiBC,QAAQ,CAAC4C,GAAAA,CAAAA;AACnF;AACF;AACF;AACF;AAEA,IAAA,OAAOO,wBACLP,GACA7B,EAAAA,aAAAA,CAAclB,GAAG,EACjBkB,cAAcC,iBAAiB,EAC/BD,aAAcE,CAAAA,OAAO,EACrBF,aAAchB,CAAAA,eAAe,EAC7BgB,aAAcf,CAAAA,MAAM,EACpB,CAAC4C,GAAAA,CAAAA;AAEL;AAEA;AAEA,SAASgH,QAAQsB,MAAe,EAAE7B,SAAiB,EAAE8B,MAAe,EAAE3H,SAAkB,EAAA;AACtF,IAAA,MAAM4H,IAAOpN,GAAAA,OAAAA,CAAQoH,GAAG,CAAC5B,SAAW0H,EAAAA,MAAAA,CAAAA;AACpC,IAAA,MAAMG,OAAO,CAACrN,OAAAA,CAAQoH,GAAG,CAAC+F,QAAQD,MAAU7B,CAAAA,GAAAA,SAAAA;AAC5C,IAAA,IAAIvF,IAAKwH,CAAAA,GAAG,CAACF,IAAAA,CAAAA,IAASxH,OAAS,EAAA;QAC7B,OAAO,IAAA;AACT;AACA,IAAA,MAAM+F,QAAQ0B,IAAOD,GAAAA,IAAAA;IACrB,OAAOzB,KAAAA,GAAQ,IAAIA,KAAQ,GAAA,IAAA;AAC7B;AAEA,SAASX,iBAAiBuC,CAAU,EAAEC,CAAU,EAAEC,CAAU,EAAEC,MAAgB,EAAA;AAC5EA,IAAAA,MAAAA,GAASA,UAAU,IAAI1N,OAAAA,EAAAA;AACvB,IAAA,OAAO0N,OAAO7C,MAAM,CAAC,CAAC0C,CAAAA,CAAEI,CAAC,GAAGH,CAAAA,CAAEG,CAAC,GAAGF,EAAEE,CAAAA,IAAK,CAAG,EAACJ,CAAAA,CAAEK,CAAAA,CAAC,GAAGJ,CAAAA,CAAEI,CAAC,GAAGH,CAAAA,CAAEG,CAAC,IAAI,GAAG,CAACL,CAAEM,CAAAA,CAAC,GAAGL,CAAEK,CAAAA,CAAC,GAAGJ,CAAEI,CAAAA,CAAC,IAAI,CAAA,CAAA;AACzF;AAEA,SAAS/B,sBAAsByB,CAAU,EAAEC,CAAU,EAAEC,CAAU,EAAEK,CAAU,EAAA;AAC3E,IAAA,MAAMC,EAAK/N,GAAAA,OAAAA,CAAQyF,GAAG,CAAC8H,GAAGO,CAAGzJ,EAAAA,WAAAA,CAAAA;AAC7B,IAAA,MAAM2J,EAAKhO,GAAAA,OAAAA,CAAQyF,GAAG,CAAC+H,GAAGM,CAAGxJ,EAAAA,WAAAA,CAAAA;AAC7B,IAAA,MAAM2J,EAAKjO,GAAAA,OAAAA,CAAQyF,GAAG,CAACgI,GAAGK,CAAGvJ,EAAAA,WAAAA,CAAAA;AAC7B,IAAA,MAAM2J,CAAIlO,GAAAA,OAAAA,CAAQiK,KAAK,CAAC8D,IAAIC,EAAIxJ,EAAAA,UAAAA,CAAAA;AAChC,IAAA,MAAM2J,EAAKnO,GAAAA,OAAAA,CAAQiK,KAAK,CAAC+D,IAAIC,EAAIxJ,EAAAA,UAAAA,CAAAA;AACjC,IAAA,MAAM2J,CAAIpO,GAAAA,OAAAA,CAAQiK,KAAK,CAACgE,IAAIF,EAAIrJ,EAAAA,UAAAA,CAAAA;AAChC,IAAA,IAAI1E,OAAQoH,CAAAA,GAAG,CAAC8G,CAAAA,EAAGC,MAAM,CAAG,EAAA;QAC1B,OAAO,KAAA;AACT;AACA,IAAA,IAAInO,OAAQoH,CAAAA,GAAG,CAAC+G,EAAAA,EAAIC,KAAK,CAAG,EAAA;QAC1B,OAAO,KAAA;AACT;IACA,OAAO,IAAA;AACT;AAEA,SAASxG,IAAK2F,CAAAA,CAAS,EAAEC,CAAS,EAAEa,CAAS,EAAA;AAC3C,IAAA,OAAOd,CAAI,GAACC,CAAAA,CAAAA,GAAID,CAAAA,IAAKc,CAAAA;AACvB;;;;"}

package/dist/animation/morphtargetgrouptrack.js

@@ -1,4 +1,4 @@
-import { InterpolatorScalar } from '@zephyr3d/base';
+import { Interpolator } from '@zephyr3d/base';
 import { AnimationTrack } from './animationtrack.js';
 
 function clamp01(value) {
@@ -19,7 +19,11 @@ function clamp01(value) {
    */ constructor(groupName, interpolator, embedded){
         super(embedded ?? false);
         this._groupName = groupName ?? '';
-        this._interpolator = interpolator ?? InterpolatorScalar.constant(0);
+        this._interpolator = interpolator ?? new Interpolator('step', 'number', new Float32Array([
+            0
+        ]), new Float32Array([
+            0
+        ]));
         this._state = [
             0
         ];
@@ -37,7 +41,11 @@ function clamp01(value) {
         if (value && value.target !== 'number') {
             throw new Error(`MorphTargetGroupTrack(): interpolator target must be 'number'`);
         }
-        this._interpolator = value ?? InterpolatorScalar.constant(0);
+        this._interpolator = value ?? new Interpolator('step', 'number', new Float32Array([
+            0
+        ]), new Float32Array([
+            0
+        ]));
     }
     /** {@inheritDoc AnimationTrack.clone} */ clone() {
         return new MorphTargetGroupTrack(this._groupName, this._interpolator.clone(), false);

package/dist/animation/morphtargetgrouptrack.js.map

@@ -1 +1 @@
-{"version":3,"file":"morphtargetgrouptrack.js","sources":["../../src/animation/morphtargetgrouptrack.ts"],"sourcesContent":["import { InterpolatorScalar } from '@zephyr3d/base';\r\nimport type { Interpolator } from '@zephyr3d/base';\r\nimport { AnimationTrack } from './animationtrack';\r\nimport type { SceneNode } from '../scene';\r\n\r\nfunction clamp01(value: number): number {\r\n  return value < 0 ? 0 : value > 1 ? 1 : value;\r\n}\r\n\r\n/**\r\n * Animates a model-level morph target group by name.\r\n * @public\r\n */\r\nexport class MorphTargetGroupTrack extends AnimationTrack<number> {\r\n  private _groupName: string;\r\n  private _interpolator: Interpolator;\r\n  private readonly _state: number[];\r\n  /**\r\n   * Create a morph target group animation track.\r\n   * @param groupName - Morph target group name\r\n   * @param interpolator - Scalar interpolator for the group weight\r\n   * @param embedded - Whether this track is embedded\r\n   */\r\n  constructor(groupName?: string, interpolator?: Interpolator, embedded?: boolean) {\r\n    super(embedded ?? false);\r\n    this._groupName = groupName ?? '';\r\n    this._interpolator = interpolator ?? InterpolatorScalar.constant(0);\r\n    this._state = [0];\r\n  }\r\n  /** Morph target group name controlled by this track. */\r\n  get groupName() {\r\n    return this._groupName;\r\n  }\r\n  set groupName(value: string) {\r\n    this._groupName = value ?? '';\r\n  }\r\n  /** Scalar interpolator for this track. */\r\n  get interpolator() {\r\n    return this._interpolator;\r\n  }\r\n  set interpolator(value: Interpolator) {\r\n    if (value && value.target !== 'number') {\r\n      throw new Error(`MorphTargetGroupTrack(): interpolator target must be 'number'`);\r\n    }\r\n    this._interpolator = value ?? InterpolatorScalar.constant(0);\r\n  }\r\n  /** {@inheritDoc AnimationTrack.clone} */\r\n  clone(): this {\r\n    return new MorphTargetGroupTrack(this._groupName, this._interpolator.clone(), false) as this;\r\n  }\r\n  /** {@inheritDoc AnimationTrack.calculateState} */\r\n  calculateState(target: object, currentTime: number) {\r\n    this._interpolator.interpolate(currentTime, this._state);\r\n    return clamp01(this._state[0]);\r\n  }\r\n  /** {@inheritDoc AnimationTrack.applyState} */\r\n  applyState(node: SceneNode, weight: number) {\r\n    if (this._groupName) {\r\n      node.setMorphTargetGroupWeight(this._groupName, clamp01(weight));\r\n    }\r\n  }\r\n  /** {@inheritDoc AnimationTrack.mixState} */\r\n  mixState(a: number, b: number, t: number) {\r\n    return a + (b - a) * t;\r\n  }\r\n  /** {@inheritDoc AnimationTrack.getBlendId} */\r\n  getBlendId() {\r\n    return `morph-target-group:${this._groupName}`;\r\n  }\r\n  /** {@inheritDoc AnimationTrack.getDuration} */\r\n  getDuration() {\r\n    return this._interpolator.maxTime;\r\n  }\r\n}\r\n"],"names":["clamp01","value","MorphTargetGroupTrack","AnimationTrack","_groupName","_interpolator","_state","groupName","interpolator","embedded","InterpolatorScalar","constant","target","Error","clone","calculateState","currentTime","interpolate","applyState","node","weight","setMorphTargetGroupWeight","mixState","a","b","t","getBlendId","getDuration","maxTime"],"mappings":";;;AAKA,SAASA,QAAQC,KAAa,EAAA;AAC5B,IAAA,OAAOA,KAAQ,GAAA,CAAA,GAAI,CAAIA,GAAAA,KAAAA,GAAQ,IAAI,CAAIA,GAAAA,KAAAA;AACzC;AAEA;;;IAIO,MAAMC,qBAA8BC,SAAAA,cAAAA,CAAAA;IACjCC,UAAmB;IACnBC,aAA4B;IACnBC,MAAiB;AAClC;;;;;AAKC,MACD,YAAYC,SAAkB,EAAEC,YAA2B,EAAEC,QAAkB,CAAE;AAC/E,QAAA,KAAK,CAACA,QAAY,IAAA,KAAA,CAAA;QAClB,IAAI,CAACL,UAAU,GAAGG,SAAa,IAAA,EAAA;AAC/B,QAAA,IAAI,CAACF,aAAa,GAAGG,YAAgBE,IAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;QACjE,IAAI,CAACL,MAAM,GAAG;AAAC,YAAA;AAAE,SAAA;AACnB;6DAEA,IAAIC,SAAY,GAAA;QACd,OAAO,IAAI,CAACH,UAAU;AACxB;IACA,IAAIG,SAAAA,CAAUN,KAAa,EAAE;QAC3B,IAAI,CAACG,UAAU,GAAGH,KAAS,IAAA,EAAA;AAC7B;+CAEA,IAAIO,YAAe,GAAA;QACjB,OAAO,IAAI,CAACH,aAAa;AAC3B;IACA,IAAIG,YAAAA,CAAaP,KAAmB,EAAE;AACpC,QAAA,IAAIA,KAASA,IAAAA,KAAAA,CAAMW,MAAM,KAAK,QAAU,EAAA;AACtC,YAAA,MAAM,IAAIC,KAAAA,CAAM,CAAC,6DAA6D,CAAC,CAAA;AACjF;AACA,QAAA,IAAI,CAACR,aAAa,GAAGJ,KAASS,IAAAA,kBAAAA,CAAmBC,QAAQ,CAAC,CAAA,CAAA;AAC5D;AACA,8CACAG,KAAc,GAAA;QACZ,OAAO,IAAIZ,qBAAsB,CAAA,IAAI,CAACE,UAAU,EAAE,IAAI,CAACC,aAAa,CAACS,KAAK,EAAI,EAAA,KAAA,CAAA;AAChF;AACA,uDACAC,cAAAA,CAAeH,MAAc,EAAEI,WAAmB,EAAE;QAClD,IAAI,CAACX,aAAa,CAACY,WAAW,CAACD,WAAa,EAAA,IAAI,CAACV,MAAM,CAAA;AACvD,QAAA,OAAON,OAAQ,CAAA,IAAI,CAACM,MAAM,CAAC,CAAE,CAAA,CAAA;AAC/B;AACA,mDACAY,UAAAA,CAAWC,IAAe,EAAEC,MAAc,EAAE;QAC1C,IAAI,IAAI,CAAChB,UAAU,EAAE;AACnBe,YAAAA,IAAAA,CAAKE,yBAAyB,CAAC,IAAI,CAACjB,UAAU,EAAEJ,OAAQoB,CAAAA,MAAAA,CAAAA,CAAAA;AAC1D;AACF;AACA,iDACAE,QAASC,CAAAA,CAAS,EAAEC,CAAS,EAAEC,CAAS,EAAE;AACxC,QAAA,OAAOF,CAAI,GAACC,CAAAA,CAAAA,GAAID,CAAAA,IAAKE,CAAAA;AACvB;AACA,mDACAC,UAAa,GAAA;AACX,QAAA,OAAO,CAAC,mBAAmB,EAAE,IAAI,CAACtB,UAAU,CAAE,CAAA;AAChD;AACA,oDACAuB,WAAc,GAAA;AACZ,QAAA,OAAO,IAAI,CAACtB,aAAa,CAACuB,OAAO;AACnC;AACF;;;;"}
+{"version":3,"file":"morphtargetgrouptrack.js","sources":["../../src/animation/morphtargetgrouptrack.ts"],"sourcesContent":["import { Interpolator } from '@zephyr3d/base';\r\nimport { AnimationTrack } from './animationtrack';\r\nimport type { SceneNode } from '../scene';\r\n\r\nfunction clamp01(value: number): number {\r\n  return value < 0 ? 0 : value > 1 ? 1 : value;\r\n}\r\n\r\n/**\r\n * Animates a model-level morph target group by name.\r\n * @public\r\n */\r\nexport class MorphTargetGroupTrack extends AnimationTrack<number> {\r\n  private _groupName: string;\r\n  private _interpolator: Interpolator;\r\n  private readonly _state: number[];\r\n  /**\r\n   * Create a morph target group animation track.\r\n   * @param groupName - Morph target group name\r\n   * @param interpolator - Scalar interpolator for the group weight\r\n   * @param embedded - Whether this track is embedded\r\n   */\r\n  constructor(groupName?: string, interpolator?: Interpolator, embedded?: boolean) {\r\n    super(embedded ?? false);\r\n    this._groupName = groupName ?? '';\r\n    this._interpolator =\r\n      interpolator ?? new Interpolator('step', 'number', new Float32Array([0]), new Float32Array([0]));\r\n    this._state = [0];\r\n  }\r\n  /** Morph target group name controlled by this track. */\r\n  get groupName() {\r\n    return this._groupName;\r\n  }\r\n  set groupName(value: string) {\r\n    this._groupName = value ?? '';\r\n  }\r\n  /** Scalar interpolator for this track. */\r\n  get interpolator() {\r\n    return this._interpolator;\r\n  }\r\n  set interpolator(value: Interpolator) {\r\n    if (value && value.target !== 'number') {\r\n      throw new Error(`MorphTargetGroupTrack(): interpolator target must be 'number'`);\r\n    }\r\n    this._interpolator =\r\n      value ?? new Interpolator('step', 'number', new Float32Array([0]), new Float32Array([0]));\r\n  }\r\n  /** {@inheritDoc AnimationTrack.clone} */\r\n  clone(): this {\r\n    return new MorphTargetGroupTrack(this._groupName, this._interpolator.clone(), false) as this;\r\n  }\r\n  /** {@inheritDoc AnimationTrack.calculateState} */\r\n  calculateState(target: object, currentTime: number) {\r\n    this._interpolator.interpolate(currentTime, this._state);\r\n    return clamp01(this._state[0]);\r\n  }\r\n  /** {@inheritDoc AnimationTrack.applyState} */\r\n  applyState(node: SceneNode, weight: number) {\r\n    if (this._groupName) {\r\n      node.setMorphTargetGroupWeight(this._groupName, clamp01(weight));\r\n    }\r\n  }\r\n  /** {@inheritDoc AnimationTrack.mixState} */\r\n  mixState(a: number, b: number, t: number) {\r\n    return a + (b - a) * t;\r\n  }\r\n  /** {@inheritDoc AnimationTrack.getBlendId} */\r\n  getBlendId() {\r\n    return `morph-target-group:${this._groupName}`;\r\n  }\r\n  /** {@inheritDoc AnimationTrack.getDuration} */\r\n  getDuration() {\r\n    return this._interpolator.maxTime;\r\n  }\r\n}\r\n"],"names":["clamp01","value","MorphTargetGroupTrack","AnimationTrack","_groupName","_interpolator","_state","groupName","interpolator","embedded","Interpolator","Float32Array","target","Error","clone","calculateState","currentTime","interpolate","applyState","node","weight","setMorphTargetGroupWeight","mixState","a","b","t","getBlendId","getDuration","maxTime"],"mappings":";;;AAIA,SAASA,QAAQC,KAAa,EAAA;AAC5B,IAAA,OAAOA,KAAQ,GAAA,CAAA,GAAI,CAAIA,GAAAA,KAAAA,GAAQ,IAAI,CAAIA,GAAAA,KAAAA;AACzC;AAEA;;;IAIO,MAAMC,qBAA8BC,SAAAA,cAAAA,CAAAA;IACjCC,UAAmB;IACnBC,aAA4B;IACnBC,MAAiB;AAClC;;;;;AAKC,MACD,YAAYC,SAAkB,EAAEC,YAA2B,EAAEC,QAAkB,CAAE;AAC/E,QAAA,KAAK,CAACA,QAAY,IAAA,KAAA,CAAA;QAClB,IAAI,CAACL,UAAU,GAAGG,SAAa,IAAA,EAAA;QAC/B,IAAI,CAACF,aAAa,GAChBG,YAAAA,IAAgB,IAAIE,YAAa,CAAA,MAAA,EAAQ,QAAU,EAAA,IAAIC,YAAa,CAAA;AAAC,YAAA;AAAE,SAAA,CAAA,EAAG,IAAIA,YAAa,CAAA;AAAC,YAAA;AAAE,SAAA,CAAA,CAAA;QAChG,IAAI,CAACL,MAAM,GAAG;AAAC,YAAA;AAAE,SAAA;AACnB;6DAEA,IAAIC,SAAY,GAAA;QACd,OAAO,IAAI,CAACH,UAAU;AACxB;IACA,IAAIG,SAAAA,CAAUN,KAAa,EAAE;QAC3B,IAAI,CAACG,UAAU,GAAGH,KAAS,IAAA,EAAA;AAC7B;+CAEA,IAAIO,YAAe,GAAA;QACjB,OAAO,IAAI,CAACH,aAAa;AAC3B;IACA,IAAIG,YAAAA,CAAaP,KAAmB,EAAE;AACpC,QAAA,IAAIA,KAASA,IAAAA,KAAAA,CAAMW,MAAM,KAAK,QAAU,EAAA;AACtC,YAAA,MAAM,IAAIC,KAAAA,CAAM,CAAC,6DAA6D,CAAC,CAAA;AACjF;QACA,IAAI,CAACR,aAAa,GAChBJ,KAAAA,IAAS,IAAIS,YAAa,CAAA,MAAA,EAAQ,QAAU,EAAA,IAAIC,YAAa,CAAA;AAAC,YAAA;AAAE,SAAA,CAAA,EAAG,IAAIA,YAAa,CAAA;AAAC,YAAA;AAAE,SAAA,CAAA,CAAA;AAC3F;AACA,8CACAG,KAAc,GAAA;QACZ,OAAO,IAAIZ,qBAAsB,CAAA,IAAI,CAACE,UAAU,EAAE,IAAI,CAACC,aAAa,CAACS,KAAK,EAAI,EAAA,KAAA,CAAA;AAChF;AACA,uDACAC,cAAAA,CAAeH,MAAc,EAAEI,WAAmB,EAAE;QAClD,IAAI,CAACX,aAAa,CAACY,WAAW,CAACD,WAAa,EAAA,IAAI,CAACV,MAAM,CAAA;AACvD,QAAA,OAAON,OAAQ,CAAA,IAAI,CAACM,MAAM,CAAC,CAAE,CAAA,CAAA;AAC/B;AACA,mDACAY,UAAAA,CAAWC,IAAe,EAAEC,MAAc,EAAE;QAC1C,IAAI,IAAI,CAAChB,UAAU,EAAE;AACnBe,YAAAA,IAAAA,CAAKE,yBAAyB,CAAC,IAAI,CAACjB,UAAU,EAAEJ,OAAQoB,CAAAA,MAAAA,CAAAA,CAAAA;AAC1D;AACF;AACA,iDACAE,QAASC,CAAAA,CAAS,EAAEC,CAAS,EAAEC,CAAS,EAAE;AACxC,QAAA,OAAOF,CAAI,GAACC,CAAAA,CAAAA,GAAID,CAAAA,IAAKE,CAAAA;AACvB;AACA,mDACAC,UAAa,GAAA;AACX,QAAA,OAAO,CAAC,mBAAmB,EAAE,IAAI,CAACtB,UAAU,CAAE,CAAA;AAChD;AACA,oDACAuB,WAAc,GAAA;AACZ,QAAA,OAAO,IAAI,CAACtB,aAAa,CAACuB,OAAO;AACnC;AACF;;;;"}

package/dist/app/scriptregistry.js

@@ -58,6 +58,37 @@ function hasRawQuery(spec) {
     }
     return query.split('&').some((part)=>part.trim() === 'raw');
 }
+/**
+ * Realm-global storage for shared script module registries, keyed by
+ * registry namespace. Bundles built by the same `ScriptRegistry` share one
+ * module registry so a module evaluates once and its exports (including
+ * module-level singletons) are identical across entry bundles.
+ * @internal
+ */ const SCRIPT_MODULES_GLOBAL_KEY = '__z3dScriptModules';
+let scriptRegistryNamespaceCounter = 0;
+function nextScriptRegistryNamespace() {
+    return `z3d-scripts:${++scriptRegistryNamespaceCounter}`;
+}
+/**
+ * Monotonic serial stamped into each built bundle. The shared runtime uses it
+ * to ignore registrations coming from bundles older than the one that already
+ * registered a module, so late imports of stale bundles cannot downgrade a
+ * module record.
+ * @internal
+ */ let scriptBuildSerialCounter = 0;
+/**
+ * FNV-1a hash of module code, used to version shared module records.
+ * Rebuilding an unchanged module keeps its already-evaluated instance;
+ * changed content replaces the record so the next load re-evaluates.
+ * @internal
+ */ function hashModuleCode(text) {
+    let h = 0x811c9dc5;
+    for(let i = 0; i < text.length; i++){
+        h ^= text.charCodeAt(i);
+        h = Math.imul(h, 0x01000193);
+    }
+    return (h >>> 0).toString(36);
+}
 /**
  * Resolves, builds, and serves runtime modules using a VFS.
  *
@@ -73,6 +104,13 @@ function hasRawQuery(spec) {
  *
  * Caching:
  * - Built bundles are memoized in `_built` map keyed by canonical source path.
+ * - At runtime, all bundles built by the same registry share one realm-global
+ *   module registry (keyed by a per-registry namespace): a local module is
+ *   evaluated once no matter how many entry bundles inline it, so module-level
+ *   singletons are identical across entries. Module records are versioned by a
+ *   content hash — rebuilding an unchanged module reuses its evaluated
+ *   instance, while changed content replaces the record so the next load
+ *   re-evaluates the new code.
  *
  * @public
  */ class ScriptRegistry {
@@ -81,6 +119,7 @@ function hasRawQuery(spec) {
     _built;
     _building;
     _builtDeps;
+    _namespace;
     /**
    * @param vfs - The virtual file system for existence checks, reads, and path ops.
    * @param scriptsRoot - Root directory for script resolution (used with `#/` specifiers).
@@ -90,6 +129,7 @@ function hasRawQuery(spec) {
         this._built = new Map();
         this._building = new Map();
         this._builtDeps = new Map();
+        this._namespace = nextScriptRegistryNamespace();
     }
     /**
    * The active virtual file system.
@@ -104,6 +144,11 @@ function hasRawQuery(spec) {
             this._built.clear();
             this._building.clear();
             this._builtDeps.clear();
+            // Rotate the shared module registry namespace: modules from the old VFS
+            // must not be reused as instances for same-named modules of the new VFS.
+            const root = globalThis[SCRIPT_MODULES_GLOBAL_KEY];
+            root?.delete(this._namespace);
+            this._namespace = nextScriptRegistryNamespace();
         }
     }
     /**
@@ -318,11 +363,16 @@ function hasRawQuery(spec) {
         if (!entry) {
             return '';
         }
+        // Replace content hashes with Merkle-style effective versions so that a
+        // module whose (transitive) dependencies changed is re-registered and
+        // re-evaluated even when its own source is unchanged.
+        this.applyEffectiveVersions(modules);
+        const serial = ++scriptBuildSerialCounter;
         const chunks = [
             this.getSystemBundleRuntime()
         ];
         for (const module of modules.values()){
-            chunks.push(`__z3dRegister(${JSON.stringify(module.id)}, () => {\n${module.systemCode}\n});`);
+            chunks.push(`__z3dRegister(${JSON.stringify(module.id)}, ${JSON.stringify(module.version)}, ${serial}, () => {\n${module.systemCode}\n});`);
         }
         chunks.push(`const __z3dEntry = await __z3dLoad(${JSON.stringify(entry.id)});\n` + `const plugin = __z3dEntry.plugin;\n` + `const __z3dDefault = __z3dEntry.default ?? __z3dEntry.plugin ?? __z3dEntry;\n` + `export { plugin };\n` + `export default __z3dDefault;\n` + `//# sourceURL=${entry.id}`);
         const url = toDataUrl(chunks.join('\n'), entry.id);
@@ -345,11 +395,47 @@ function hasRawQuery(spec) {
         const rewritten = await this.rewriteImportsToLogicalIds(esmCode, module.id);
         module.deps = rewritten.deps;
         module.systemCode = await this.transpileToSystemModule(rewritten.code, module.id);
+        module.version = hashModuleCode(module.systemCode);
         for (const dep of module.deps){
             await this.collectModule(dep, modules);
         }
         return module;
     }
+    /**
+   * Rewrites each collected module's version to a Merkle-style hash combining
+   * its own content hash with the effective versions of its local
+   * dependencies. Cycles fall back to the plain content hash, which is
+   * deterministic on both sides of the cycle.
+   */ applyEffectiveVersions(modules) {
+        const effective = new Map();
+        const visiting = new Set();
+        const visit = (id)=>{
+            const cached = effective.get(id);
+            if (cached !== undefined) {
+                return cached;
+            }
+            const module = modules.get(id);
+            if (!module) {
+                return '';
+            }
+            if (visiting.has(id)) {
+                return module.version;
+            }
+            visiting.add(id);
+            let acc = module.version;
+            for (const dep of module.deps){
+                if (modules.has(dep)) {
+                    acc = hashModuleCode(`${acc}:${dep}:${visit(dep)}`);
+                }
+            }
+            visiting.delete(id);
+            effective.set(id, acc);
+            return acc;
+        };
+        for (const module of modules.values()){
+            module.version = visit(module.id);
+        }
+    }
     async resolveModuleInfo(id) {
         const srcPath = await this.resolveSourcePath(id);
         if (!srcPath) {
@@ -362,7 +448,8 @@ function hasRawQuery(spec) {
             path,
             type: srcPath.type,
             deps: [],
-            systemCode: ''
+            systemCode: '',
+            version: ''
         };
     }
     getTypeScriptRuntime() {
@@ -467,8 +554,19 @@ function hasRawQuery(spec) {
     }
     getSystemBundleRuntime() {
         return `
-const __z3dRegistry = new Map();
+const __z3dRegistry = (() => {
+  const root = (globalThis.${SCRIPT_MODULES_GLOBAL_KEY} ??= new Map());
+  const ns = ${JSON.stringify(this._namespace)};
+  let registry = root.get(ns);
+  if (!registry) {
+    registry = new Map();
+    root.set(ns, registry);
+  }
+  return registry;
+})();
 let __z3dCurrentId = '';
+let __z3dCurrentVersion = '';
+let __z3dCurrentSerial = 0;
 const System = {
   register(deps, declare) {
     if (!__z3dCurrentId) {
@@ -476,6 +574,8 @@ const System = {
     }
     __z3dRegistry.set(__z3dCurrentId, {
       id: __z3dCurrentId,
+      version: __z3dCurrentVersion,
+      serial: __z3dCurrentSerial,
       deps,
       declare,
       exports: Object.create(null),
@@ -486,13 +586,31 @@ const System = {
     });
   }
 };
-function __z3dRegister(id, factory) {
-  const prev = __z3dCurrentId;
+function __z3dRegister(id, version, serial, factory) {
+  // The module registry is shared across bundles: a module already registered
+  // by another bundle with the same effective version is reused (so
+  // module-level singletons stay unique), while changed content replaces the
+  // record so the next load re-evaluates the new code. A record from a newer
+  // build or one that is currently executing is never replaced.
+  const existing = __z3dRegistry.get(id);
+  if (existing && (existing.version === version || existing.state === 1 || existing.serial > serial)) {
+    if (serial > existing.serial) {
+      existing.serial = serial;
+    }
+    return;
+  }
+  const prevId = __z3dCurrentId;
+  const prevVersion = __z3dCurrentVersion;
+  const prevSerial = __z3dCurrentSerial;
   __z3dCurrentId = id;
+  __z3dCurrentVersion = version;
+  __z3dCurrentSerial = serial;
   try {
     factory();
   } finally {
-    __z3dCurrentId = prev;
+    __z3dCurrentId = prevId;
+    __z3dCurrentVersion = prevVersion;
+    __z3dCurrentSerial = prevSerial;
   }
 }
 function __z3dResolve(spec, parentId) {