@zephyr3d/scene 0.9.4 → 0.9.6

package/dist/animation/spring2/controller.js

@@ -1,434 +0,0 @@
-import { clamp01 } from './math.js';
-import { EPSILON } from './types.js';
-import { buildConstraints, buildSurfaceFaces } from './constraints.js';
-import { simulate, applyAngleLimits, applyResult } from './solver.js';
-import { Vector3, Quaternion, Matrix4x4 } from '@zephyr3d/base';
-
-// High-level orchestrator — SPCRJointDynamicsController API
-class SpringSystemController {
-    _config;
-    _pointsR = [];
-    _pointsRW = [];
-    _constraints = [];
-    _collidersR = [];
-    _collidersRW = [];
-    _grabbersR = [];
-    _grabbersRW = [];
-    _movableLimitTargets = [];
-    _flatPlanes = [];
-    _surfaceConstraints = [];
-    _positionsToTransform = [];
-    _fakeWaveCounter = 0;
-    _previousRootPosition = Vector3.zero();
-    _previousRootRotation = Quaternion.identity();
-    _rootTransform = null;
-    _pointTransforms = [];
-    _colliderTransforms = [];
-    _grabberTransforms = [];
-    _initialized = false;
-    _isPaused = false;
-    _fadeState = 'none';
-    _fadeTimer = 0;
-    _fadeDuration = 0;
-    constructor(config){
-        this._config = config;
-    }
-    /**
-   * 初始化物理系统
-   * @param rootTransform 根骨骼的 transform（用于检测根运动）
-   * @param rootPoints 骨骼层级的根节点数组（可以有多个根，如裙子的多条链）
-   * @param pointTransforms 所有物理点的 transform 数组（顺序必须与 BoneNode.index 对应）
-   * @param colliders 碰撞器数组（球体/胶囊体）
-   * @param grabbers 抓取器数组（用于鼠标交互等）
-   * @param flatPlanes 平面限制器数组（如地板，防止穿透）
-   */ initialize(rootTransform, rootPoints, pointTransforms, colliders, grabbers, flatPlanes) {
-        this._rootTransform = rootTransform;
-        this._pointTransforms = pointTransforms;
-        this._colliderTransforms = colliders.map((c)=>c.transform);
-        this._grabberTransforms = grabbers.map((g)=>g.transform);
-        // Build constraints
-        this._constraints = buildConstraints(rootPoints, this._config.constraintOptions);
-        this._surfaceConstraints = buildSurfaceFaces(rootPoints, this._config.constraintOptions.isLoop);
-        // Flatten bone hierarchy to point list, build parent map
-        const allPoints = [];
-        const parentMap = new Map(); // child index → parent index
-        function walk(node) {
-            allPoints.push(node);
-            for (const c of node.children){
-                parentMap.set(c.index, node.index);
-                walk(c);
-            }
-        }
-        for (const r of rootPoints){
-            walk(r);
-        }
-        const maxDepth = Math.max(...allPoints.map((p)=>p.depth));
-        // Compute boneAxis from transforms: local-space direction to first child
-        // This is critical for correct bone rotation in skinned meshes
-        const indexToNode = new Map();
-        for (const p of allPoints){
-            indexToNode.set(p.index, p);
-        }
-        for (const p of allPoints){
-            if (!p.boneAxis && p.children.length > 0) {
-                const childPos = pointTransforms[p.children[0].index].getWorldPosition();
-                const parentPos = pointTransforms[p.index].getWorldPosition();
-                // InverseTransformPoint: convert child world pos to parent local space
-                const parentRot = pointTransforms[p.index].getWorldRotation();
-                const parentScale = pointTransforms[p.index].getLocalScale();
-                const diff = Vector3.sub(childPos, parentPos);
-                const invRot = Quaternion.inverse(parentRot);
-                const localDir = invRot.transform(diff);
-                // Apply inverse scale
-                const unscaled = new Vector3(parentScale.x !== 0 ? localDir.x / parentScale.x : 0, parentScale.y !== 0 ? localDir.y / parentScale.y : 0, parentScale.z !== 0 ? localDir.z / parentScale.z : 0);
-                p.boneAxis = Vector3.normalize(unscaled);
-            }
-        }
-        // Build PointR/RW arrays
-        this._pointsR = allPoints.map((p)=>this._createPointR(p, maxDepth, parentMap, pointTransforms));
-        this._pointsRW = allPoints.map(()=>this._createPointRW());
-        this._positionsToTransform = new Array(allPoints.length).fill(Vector3.zero());
-        // Initialize colliders
-        this._collidersR = colliders.map((c)=>c.r);
-        this._collidersRW = colliders.map((c)=>this._createColliderRW(c.transform));
-        // Initialize grabbers
-        this._grabbersR = grabbers.map((g)=>g.r);
-        this._grabbersRW = grabbers.map((g)=>({
-                enabled: g.enabled ? 1 : 0,
-                position: g.transform.getWorldPosition()
-            }));
-        // Flat planes
-        this._flatPlanes = flatPlanes.map((fp)=>({
-                normal: Vector3.normalize(fp.up),
-                distance: -Vector3.dot(Vector3.normalize(fp.up), fp.position)
-            }));
-        // Capture initial state
-        this._previousRootPosition = rootTransform.getWorldPosition();
-        this._previousRootRotation = rootTransform.getWorldRotation();
-        for(let i = 0; i < this._pointsRW.length; i++){
-            const pos = pointTransforms[i].getWorldPosition();
-            this._pointsRW[i].positionCurrent = pos.clone();
-            this._pointsRW[i].positionPrevious = pos.clone();
-            this._pointsRW[i].positionCurrentTransform = pos.clone();
-            this._pointsRW[i].positionPreviousTransform = pos.clone();
-            this._pointsRW[i].positionToTransform = pos.clone();
-            this._pointsRW[i].directionPrevious = Vector3.axisPZ();
-            this._pointsRW[i].fakeWindDirection = Vector3.axisPZ();
-            this._pointsRW[i].grabberIndex = -1;
-            this._pointsRW[i].grabberDistance = 0;
-            this._pointsRW[i].friction = 0;
-        }
-        this._initialized = true;
-    }
-    /**
-   * 执行一帧物理模拟
-   * 内部流程：读取当前 transform → 运行 Verlet 积分和约束求解 → 写回 transform
-   * @param deltaTime 帧间隔时间（秒）。内部会被 subSteps 细分
-   */ step(deltaTime) {
-        if (!this._initialized || !this._rootTransform) {
-            return;
-        }
-        // Update fade
-        if (this._fadeState !== 'none') {
-            this._fadeTimer += deltaTime;
-            if (this._fadeTimer >= this._fadeDuration) {
-                this._fadeState = 'none';
-                this._fadeTimer = 0;
-            }
-        }
-        const blendRatio = this._computeBlendRatio();
-        // Capture current transforms
-        const rootPos = this._rootTransform.getWorldPosition();
-        const rootRot = this._rootTransform.getWorldRotation();
-        for(let i = 0; i < this._pointsRW.length; i++){
-            this._pointsRW[i].positionPreviousTransform = this._pointsRW[i].positionCurrentTransform.clone();
-            this._pointsRW[i].positionCurrentTransform = this._pointTransforms[i].getWorldPosition();
-        }
-        for(let i = 0; i < this._collidersRW.length; i++){
-            const t = this._colliderTransforms[i];
-            this._collidersRW[i].positionPreviousTransform = this._collidersRW[i].positionCurrentTransform.clone();
-            this._collidersRW[i].directionPreviousTransform = this._collidersRW[i].directionCurrentTransform.clone();
-            this._collidersRW[i].positionCurrentTransform = t.getWorldPosition();
-            this._collidersRW[i].directionCurrentTransform = t.getWorldRotation();
-            this._collidersRW[i].worldToLocal = Matrix4x4.compose(t.getLocalScale(), this._collidersRW[i].directionCurrentTransform, this._collidersRW[i].positionCurrentTransform).inplaceInvertAffine();
-        }
-        for(let i = 0; i < this._grabbersRW.length; i++){
-            this._grabbersRW[i].position = this._grabberTransforms[i].getWorldPosition();
-        }
-        // Run simulation
-        const params = {
-            isPaused: this._isPaused,
-            stepTime: deltaTime,
-            subSteps: this._config.subSteps,
-            rootPosition: rootPos,
-            previousRootPosition: this._previousRootPosition,
-            rootSlideLimit: this._config.rootSlideLimit,
-            rootRotation: rootRot,
-            previousRootRotation: this._previousRootRotation,
-            rootRotateLimit: this._config.rootRotateLimit,
-            windForce: this._config.windForce,
-            enableSurfaceCollision: this._config.enableSurfaceCollision,
-            surfaceConstraints: this._surfaceConstraints,
-            relaxation: this._config.relaxation,
-            constraintShrinkLimit: this._config.constraintShrinkLimit,
-            blendRatio,
-            isFakeWave: this._config.isFakeWave,
-            fakeWaveSpeed: this._config.fakeWaveSpeed,
-            fakeWavePower: this._config.fakeWavePower,
-            fakeWaveCounter: this._fakeWaveCounter,
-            collisionScale: 1.0,
-            enableBroadPhase: this._config.enableBroadPhase
-        };
-        const result = simulate(params, this._pointsR, this._pointsRW, this._constraints, this._collidersR, this._collidersRW, this._grabbersR, this._grabbersRW, this._movableLimitTargets, this._flatPlanes);
-        this._positionsToTransform = result.positionsToTransform;
-        this._fakeWaveCounter = result.fakeWaveCounter;
-        // Angle limits
-        if (this._config.angleLimitConfig.angleLimit >= 0) {
-            applyAngleLimits(this._pointsR, this._pointsRW, this._config.angleLimitConfig);
-        }
-        // Apply results
-        const transformRots = this._pointTransforms.map((t)=>t.getWorldRotation());
-        const transformLocalRots = this._pointTransforms.map((t)=>t.getLocalRotation());
-        const outputs = applyResult(this._pointsR, this._pointsRW, this._positionsToTransform, blendRatio, transformRots, transformLocalRots);
-        for(let i = 0; i < outputs.length; i++){
-            this._pointTransforms[i].setWorldPosition(outputs[i].position);
-            this._pointTransforms[i].setWorldRotation(outputs[i].rotation);
-        }
-        this._previousRootPosition = rootPos;
-        this._previousRootRotation = rootRot;
-    }
-    /**
-   * 获取所有点的模拟结果（世界坐标位置和旋转）
-   * 通常不需要手动调用——step() 已经自动写回 transform。
-   * 适用于需要在不写回 transform 的情况下读取物理结果的场景。
-   */ getResults() {
-        const transformRots = this._pointTransforms.map((t)=>t.getWorldRotation());
-        const transformLocalRots = this._pointTransforms.map((t)=>t.getLocalRotation());
-        const outputs = applyResult(this._pointsR, this._pointsRW, this._positionsToTransform, this._config.blendRatio, transformRots, transformLocalRots);
-        return outputs.map((o)=>({
-                position: o.position,
-                rotation: o.rotation
-            }));
-    }
-    /**
-   * 瞬移补偿——在角色传送/瞬移后调用
-   * 将上一帧的根骨骼位置和旋转设为当前值，
-   * 使下一帧的根运动增量为零，避免物理点因巨大位移而弹射。
-   */ warp() {
-        if (!this._rootTransform) {
-            return;
-        }
-        this._previousRootPosition = this._rootTransform.getWorldPosition();
-        this._previousRootRotation = this._rootTransform.getWorldRotation();
-    }
-    /**
-   * 重置所有物理状态
-   * 将所有点的模拟位置重置为当前 transform 位置，清除速度和抓取状态。
-   * 适用于场景切换或需要消除所有物理运动的场景。
-   */ reset() {
-        for(let i = 0; i < this._pointsRW.length; i++){
-            const pos = this._pointTransforms[i].getWorldPosition();
-            this._pointsRW[i].positionCurrent = pos.clone();
-            this._pointsRW[i].positionPrevious = pos.clone();
-            this._pointsRW[i].grabberIndex = -1;
-        }
-        this._fakeWaveCounter = 0;
-    }
-    /**
-   * 释放固定点为动态点（如脱衣、布料脱落）
-   * 将 weight 从 0 改为 1，同时重置该点的模拟状态避免瞬间弹射。
-   * @param index 点的索引
-   */ releasePoint(index) {
-        if (index < 0 || index >= this._pointsR.length) {
-            return;
-        }
-        this._pointsR[index].weight = 1;
-        const pos = this._pointTransforms[index].getWorldPosition();
-        this._pointsRW[index].positionCurrent = pos.clone();
-        this._pointsRW[index].positionPrevious = pos.clone();
-        this._pointsRW[index].grabberIndex = -1;
-    }
-    /**
-   * 将动态点重新固定为跟随动画（如重新穿戴）
-   * 将 weight 从 1 改为 0，清除抓取状态。
-   * @param index 点的索引
-   */ fixPoint(index) {
-        if (index < 0 || index >= this._pointsR.length) {
-            return;
-        }
-        this._pointsR[index].weight = 0;
-        this._pointsRW[index].grabberIndex = -1;
-    }
-    /**
-   * 查询某个点是否为固定状态（weight=0，跟随动画）
-   * @param index 点的索引
-   */ isPointFixed(index) {
-        if (index < 0 || index >= this._pointsR.length) {
-            return false;
-        }
-        return this._pointsR[index].weight <= EPSILON;
-    }
-    /** 获取物理点总数 */ get pointCount() {
-        return this._pointsR.length;
-    }
-    /**
-   * 渐入物理——从动画姿态平滑过渡到物理模拟
-   * blendRatio 从 1（纯动画）渐变到 0（纯物理）
-   * @param seconds 过渡时长（秒）
-   */ fadeIn(seconds) {
-        this._fadeState = 'in';
-        this._fadeTimer = 0;
-        this._fadeDuration = seconds;
-    }
-    /**
-   * 渐出物理——从物理模拟平滑过渡回动画姿态
-   * blendRatio 从 0（纯物理）渐变到 1（纯动画）
-   * @param seconds 过渡时长（秒）
-   */ fadeOut(seconds) {
-        this._fadeState = 'out';
-        this._fadeTimer = 0;
-        this._fadeDuration = seconds;
-    }
-    /**
-   * 设置全局风力向量
-   * 风力会按每个点的 windForceScale 和质量进行缩放
-   * @param wind 风力向量（世界坐标）
-   */ setWindForce(wind) {
-        this._config.windForce = wind;
-    }
-    /** Enable/disable broad-phase pruning for runtime performance comparison */ setBroadPhaseEnabled(enabled) {
-        this._config.enableBroadPhase = enabled;
-    }
-    /**
-   * 暂停/恢复物理模拟
-   * 暂停时仍会跟随根骨骼运动，但不进行力学积分和约束求解
-   * @param paused true=暂停, false=恢复
-   */ setPaused(paused) {
-        this._isPaused = paused;
-    }
-    /**
-   * 运行时更新碰撞器状态
-   * 用于外部直接控制碰撞器的启用/禁用和位置，而不通过 TransformAccess 读取
-   * @param index 碰撞器索引
-   * @param enabled 是否启用
-   * @param position 世界坐标位置
-   * @param rotation 世界旋转
-   */ updateColliderState(index, enabled, position, rotation) {
-        if (index >= 0 && index < this._collidersRW.length) {
-            this._collidersRW[index].enabled = enabled ? 1 : 0;
-            this._collidersRW[index].positionCurrentTransform = position;
-            this._collidersRW[index].directionCurrentTransform = rotation;
-        }
-    }
-    /**
-   * 运行时更新抓取器状态
-   * 用于鼠标拖拽等交互场景，控制抓取器的启用和位置
-   * @param index 抓取器索引
-   * @param enabled 是否启用（鼠标按下=true，松开=false）
-   * @param position 抓取器世界坐标位置
-   */ updateGrabberState(index, enabled, position) {
-        if (index >= 0 && index < this._grabbersRW.length) {
-            this._grabbersRW[index].enabled = enabled ? 1 : 0;
-            this._grabbersRW[index].position = position;
-        }
-    }
-    _computeBlendRatio() {
-        if (this._fadeState === 'in') {
-            return 1.0 - clamp01(this._fadeTimer / this._fadeDuration);
-        }
-        if (this._fadeState === 'out') {
-            return clamp01(this._fadeTimer / this._fadeDuration);
-        }
-        return this._config.blendRatio;
-    }
-    _createPointR(node, maxDepth, parentMap, transforms) {
-        const rate = maxDepth > 0 ? node.depth / maxDepth : 0;
-        const c = this._config.curves;
-        const parentIdx = parentMap.get(node.index) ?? -1;
-        const childIdx = node.children.length > 0 ? node.children[0].index : -1;
-        // Capture initial local transform for rotation blending
-        const t = transforms[node.index];
-        const initLocalPos = t.getLocalPosition();
-        const initLocalRot = t.getLocalRotation();
-        const initLocalScale = t.getLocalScale();
-        // BoneAxis: local-space direction to first child (computed in initialize)
-        const boneAxis = node.boneAxis ?? new Vector3(0, -1, 0);
-        // ParentLength: distance to parent
-        let parentLength = 0;
-        if (parentIdx !== -1) {
-            const pPos = transforms[parentIdx].getWorldPosition();
-            const cPos = transforms[node.index].getWorldPosition();
-            parentLength = Vector3.distance(pPos, cPos);
-        }
-        return {
-            parent: parentIdx,
-            child: childIdx,
-            applyInvertCollision: 0,
-            movableLimitIndex: -1,
-            movableLimitRadius: 0,
-            weight: node.isFixed ? 0 : 1,
-            mass: c.massScale.evaluate(rate),
-            resistance: clamp01(c.resistance.evaluate(rate)),
-            hardness: clamp01(c.hardness.evaluate(rate)),
-            frictionScale: c.friction.evaluate(rate),
-            sliderJointLength: c.sliderJointLength.evaluate(rate),
-            parentLength,
-            structuralShrinkVertical: c.structuralShrinkVertical.evaluate(rate) * 0.5,
-            structuralStretchVertical: c.structuralStretchVertical.evaluate(rate) * 0.5,
-            structuralShrinkHorizontal: c.structuralShrinkHorizontal.evaluate(rate) * 0.5,
-            structuralStretchHorizontal: c.structuralStretchHorizontal.evaluate(rate) * 0.5,
-            shearShrink: c.shearShrink.evaluate(rate) * 0.5,
-            shearStretch: c.shearStretch.evaluate(rate) * 0.5,
-            bendingShrinkVertical: c.bendingShrinkVertical.evaluate(rate) * 0.5,
-            bendingStretchVertical: c.bendingStretchVertical.evaluate(rate) * 0.5,
-            bendingShrinkHorizontal: c.bendingShrinkHorizontal.evaluate(rate) * 0.5,
-            bendingStretchHorizontal: c.bendingStretchHorizontal.evaluate(rate) * 0.5,
-            windForceScale: c.windForceScale.evaluate(rate) * rate,
-            fakeWavePower: c.fakeWavePower.evaluate(rate),
-            fakeWaveFreq: c.fakeWaveFreq.evaluate(rate),
-            forceFadeRatio: 0,
-            pointRadius: 0.05,
-            gravity: Vector3.scale(this._config.gravity, c.gravityScale.evaluate(rate)),
-            boneAxis,
-            initialLocalScale: initLocalScale,
-            initialLocalRotation: initLocalRot,
-            initialLocalPosition: initLocalPos
-        };
-    }
-    _createPointRW() {
-        return {
-            positionToTransform: Vector3.zero(),
-            positionCurrentTransform: Vector3.zero(),
-            positionPreviousTransform: Vector3.zero(),
-            positionCurrent: Vector3.zero(),
-            positionPrevious: Vector3.zero(),
-            directionPrevious: Vector3.axisPZ(),
-            fakeWindDirection: Vector3.axisPZ(),
-            grabberIndex: -1,
-            grabberDistance: 0,
-            friction: 0
-        };
-    }
-    _createColliderRW(transform) {
-        const pos = transform.getWorldPosition();
-        const rot = transform.getWorldRotation();
-        return {
-            positionCurrent: pos.clone(),
-            directionCurrent: Vector3.zero(),
-            boundsCenter: pos.clone(),
-            boundsRadius: 0,
-            positionCurrentTransform: pos.clone(),
-            positionPreviousTransform: pos.clone(),
-            directionCurrentTransform: rot.clone(),
-            directionPreviousTransform: rot.clone(),
-            worldToLocal: Matrix4x4.identity(),
-            localBoundsMin: Vector3.zero(),
-            localBoundsMax: Vector3.zero(),
-            radius: 0,
-            enabled: 1
-        };
-    }
-}
-
-export { SpringSystemController };
-//# sourceMappingURL=controller.js.map

package/dist/animation/spring2/controller.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"controller.js","sources":["../../../src/animation/spring2/controller.ts"],"sourcesContent":["// High-level orchestrator — SPCRJointDynamicsController API\n\nimport { clamp01 } from './math';\nimport {\n  EPSILON,\n  type PointR,\n  type PointRW,\n  type Constraint,\n  type ColliderR,\n  type ColliderRW,\n  type GrabberR,\n  type GrabberRW,\n  type AngleLimitConfig,\n  type FlatPlane,\n  type TransformAccess,\n  type BoneNode\n} from './types';\nimport { buildConstraints, buildSurfaceFaces, type ConstraintBuildOptions } from './constraints';\nimport { simulate, applyResult, applyAngleLimits, type SimulationParams } from './solver';\nimport type { InterpolatorScalar } from '@zephyr3d/base';\nimport { Vector3, Quaternion, Matrix4x4 } from '@zephyr3d/base';\n\n/**\n * Depth-based physics parameter curves.\n * Each curve is evaluated with t = pointDepth / maxDepth (0 at root, 1 at tip).\n * This allows parameters to vary smoothly along the bone chain.\n */\nexport interface PhysicsCurves {\n  /** Scales point mass by depth */\n  massScale: InterpolatorScalar;\n  /** Scales gravity strength by depth */\n  gravityScale: InterpolatorScalar;\n  /** Scales wind force effect by depth (also multiplied by depth rate) */\n  windForceScale: InterpolatorScalar;\n  /** Velocity damping [0-1]. Higher = less damping. Controls how much velocity is preserved */\n  resistance: InterpolatorScalar;\n  /** Restore-to-animation stiffness [0-1]. Higher = bone stays closer to animated pose */\n  hardness: InterpolatorScalar;\n  /** Friction multiplier by depth. Scales collision friction accumulation */\n  friction: InterpolatorScalar;\n  /** Extra slack length for horizontal/shear constraints (allows stretching) */\n  sliderJointLength: InterpolatorScalar;\n  /** Global shrink stiffness multiplier (applied to all constraint types) */\n  allShrinkScale: InterpolatorScalar;\n  /** Global stretch stiffness multiplier (applied to all constraint types) */\n  allStretchScale: InterpolatorScalar;\n  /** Structural vertical constraint shrink stiffness by depth */\n  structuralShrinkVertical: InterpolatorScalar;\n  /** Structural vertical constraint stretch stiffness by depth */\n  structuralStretchVertical: InterpolatorScalar;\n  /** Structural horizontal constraint shrink stiffness by depth */\n  structuralShrinkHorizontal: InterpolatorScalar;\n  /** Structural horizontal constraint stretch stiffness by depth */\n  structuralStretchHorizontal: InterpolatorScalar;\n  /** Shear constraint shrink stiffness by depth */\n  shearShrink: InterpolatorScalar;\n  /** Shear constraint stretch stiffness by depth */\n  shearStretch: InterpolatorScalar;\n  /** Bending vertical constraint shrink stiffness by depth */\n  bendingShrinkVertical: InterpolatorScalar;\n  /** Bending vertical constraint stretch stiffness by depth */\n  bendingStretchVertical: InterpolatorScalar;\n  /** Bending horizontal constraint shrink stiffness by depth */\n  bendingShrinkHorizontal: InterpolatorScalar;\n  /** Bending horizontal constraint stretch stiffness by depth */\n  bendingStretchHorizontal: InterpolatorScalar;\n  /** Fake wave amplitude by depth (sinusoidal pseudo-wind on leaf bones) */\n  fakeWavePower: InterpolatorScalar;\n  /** Fake wave frequency offset by depth */\n  fakeWaveFreq: InterpolatorScalar;\n}\n\n/** Top-level configuration for the physics controller */\nexport interface ControllerConfig {\n  /** Global gravity vector (e.g. {x:0, y:-9.8, z:0}) */\n  gravity: Vector3;\n  /** Global wind force vector applied to all dynamic points */\n  windForce: Vector3;\n  /** Number of constraint relaxation iterations per substep. Higher = more stable but slower */\n  relaxation: number;\n  /** Number of simulation substeps per frame. Higher = more stable at cost of performance */\n  subSteps: number;\n  /** Max root bone slide distance per substep. Excess is distributed as offset. -1 = unlimited */\n  rootSlideLimit: number;\n  /** Max root bone rotation angle (degrees) per substep. Excess is distributed. -1 = unlimited */\n  rootRotateLimit: number;\n  /** Upper limit for horizontal/shear constraint shrink power. Prevents over-compression */\n  constraintShrinkLimit: number;\n  /** Global blend ratio between physics and animation [0-1]. 0 = full physics, 1 = full animation */\n  blendRatio: number;\n  /** Target frame rate for stabilization (currently unused, reserved) */\n  stabilizationFrameRate: number;\n  /** Enable sinusoidal fake wave effect on leaf bones */\n  isFakeWave: boolean;\n  /** Fake wave global speed (accumulates over time) */\n  fakeWaveSpeed: number;\n  /** Fake wave global amplitude multiplier */\n  fakeWavePower: number;\n  /** Enable triangle-based surface collision (cloth vs colliders) */\n  enableSurfaceCollision: boolean;\n  /** Enable broad-phase pruning before precise collider tests */\n  enableBroadPhase: boolean;\n  /** Post-simulation angle limiting between parent-child bones */\n  angleLimitConfig: AngleLimitConfig;\n  /** Depth-based physics parameter curves */\n  curves: PhysicsCurves;\n  /** Which constraint types to generate and their collision flags */\n  constraintOptions: ConstraintBuildOptions;\n}\n\nexport class SpringSystemController {\n  private _config: ControllerConfig;\n  private _pointsR: PointR[] = [];\n  private _pointsRW: PointRW[] = [];\n  private _constraints: Constraint[] = [];\n  private _collidersR: ColliderR[] = [];\n  private _collidersRW: ColliderRW[] = [];\n  private _grabbersR: GrabberR[] = [];\n  private _grabbersRW: GrabberRW[] = [];\n  private _movableLimitTargets: Vector3[] = [];\n  private _flatPlanes: FlatPlane[] = [];\n  private _surfaceConstraints: number[] = [];\n  private _positionsToTransform: Vector3[] = [];\n  private _fakeWaveCounter = 0;\n  private _previousRootPosition = Vector3.zero();\n  private _previousRootRotation = Quaternion.identity();\n  private _rootTransform: TransformAccess | null = null;\n  private _pointTransforms: TransformAccess[] = [];\n  private _colliderTransforms: TransformAccess[] = [];\n  private _grabberTransforms: TransformAccess[] = [];\n  private _initialized = false;\n  private _isPaused = false;\n  private _fadeState: 'none' | 'in' | 'out' = 'none';\n  private _fadeTimer = 0;\n  private _fadeDuration = 0;\n\n  constructor(config: ControllerConfig) {\n    this._config = config;\n  }\n\n  /**\n   * 初始化物理系统\n   * @param rootTransform 根骨骼的 transform（用于检测根运动）\n   * @param rootPoints 骨骼层级的根节点数组（可以有多个根，如裙子的多条链）\n   * @param pointTransforms 所有物理点的 transform 数组（顺序必须与 BoneNode.index 对应）\n   * @param colliders 碰撞器数组（球体/胶囊体）\n   * @param grabbers 抓取器数组（用于鼠标交互等）\n   * @param flatPlanes 平面限制器数组（如地板，防止穿透）\n   */\n  initialize(\n    rootTransform: TransformAccess,\n    rootPoints: BoneNode[],\n    pointTransforms: TransformAccess[],\n    colliders: Array<{ r: ColliderR; transform: TransformAccess }>,\n    grabbers: Array<{\n      r: GrabberR;\n      transform: TransformAccess;\n      enabled: boolean;\n    }>,\n    flatPlanes: Array<{ up: Vector3; position: Vector3 }>\n  ): void {\n    this._rootTransform = rootTransform;\n    this._pointTransforms = pointTransforms;\n    this._colliderTransforms = colliders.map((c) => c.transform);\n    this._grabberTransforms = grabbers.map((g) => g.transform);\n\n    // Build constraints\n    this._constraints = buildConstraints(rootPoints, this._config.constraintOptions);\n    this._surfaceConstraints = buildSurfaceFaces(rootPoints, this._config.constraintOptions.isLoop);\n\n    // Flatten bone hierarchy to point list, build parent map\n    const allPoints: BoneNode[] = [];\n    const parentMap = new Map<number, number>(); // child index → parent index\n    function walk(node: BoneNode) {\n      allPoints.push(node);\n      for (const c of node.children) {\n        parentMap.set(c.index, node.index);\n        walk(c);\n      }\n    }\n    for (const r of rootPoints) {\n      walk(r);\n    }\n\n    const maxDepth = Math.max(...allPoints.map((p) => p.depth));\n\n    // Compute boneAxis from transforms: local-space direction to first child\n    // This is critical for correct bone rotation in skinned meshes\n    const indexToNode = new Map<number, BoneNode>();\n    for (const p of allPoints) {\n      indexToNode.set(p.index, p);\n    }\n\n    for (const p of allPoints) {\n      if (!p.boneAxis && p.children.length > 0) {\n        const childPos = pointTransforms[p.children[0].index].getWorldPosition();\n        const parentPos = pointTransforms[p.index].getWorldPosition();\n        // InverseTransformPoint: convert child world pos to parent local space\n        const parentRot = pointTransforms[p.index].getWorldRotation();\n        const parentScale = pointTransforms[p.index].getLocalScale();\n        const diff = Vector3.sub(childPos, parentPos);\n        const invRot = Quaternion.inverse(parentRot);\n        const localDir = invRot.transform(diff);\n        // Apply inverse scale\n        const unscaled = new Vector3(\n          parentScale.x !== 0 ? localDir.x / parentScale.x : 0,\n          parentScale.y !== 0 ? localDir.y / parentScale.y : 0,\n          parentScale.z !== 0 ? localDir.z / parentScale.z : 0\n        );\n        p.boneAxis = Vector3.normalize(unscaled);\n      }\n    }\n\n    // Build PointR/RW arrays\n    this._pointsR = allPoints.map((p) => this._createPointR(p, maxDepth, parentMap, pointTransforms));\n    this._pointsRW = allPoints.map(() => this._createPointRW());\n    this._positionsToTransform = new Array(allPoints.length).fill(Vector3.zero());\n\n    // Initialize colliders\n    this._collidersR = colliders.map((c) => c.r);\n    this._collidersRW = colliders.map((c) => this._createColliderRW(c.transform));\n\n    // Initialize grabbers\n    this._grabbersR = grabbers.map((g) => g.r);\n    this._grabbersRW = grabbers.map((g) => ({\n      enabled: g.enabled ? 1 : 0,\n      position: g.transform.getWorldPosition()\n    }));\n\n    // Flat planes\n    this._flatPlanes = flatPlanes.map((fp) => ({\n      normal: Vector3.normalize(fp.up),\n      distance: -Vector3.dot(Vector3.normalize(fp.up), fp.position)\n    }));\n\n    // Capture initial state\n    this._previousRootPosition = rootTransform.getWorldPosition();\n    this._previousRootRotation = rootTransform.getWorldRotation();\n\n    for (let i = 0; i < this._pointsRW.length; i++) {\n      const pos = pointTransforms[i].getWorldPosition();\n      this._pointsRW[i].positionCurrent = pos.clone();\n      this._pointsRW[i].positionPrevious = pos.clone();\n      this._pointsRW[i].positionCurrentTransform = pos.clone();\n      this._pointsRW[i].positionPreviousTransform = pos.clone();\n      this._pointsRW[i].positionToTransform = pos.clone();\n      this._pointsRW[i].directionPrevious = Vector3.axisPZ();\n      this._pointsRW[i].fakeWindDirection = Vector3.axisPZ();\n      this._pointsRW[i].grabberIndex = -1;\n      this._pointsRW[i].grabberDistance = 0;\n      this._pointsRW[i].friction = 0;\n    }\n\n    this._initialized = true;\n  }\n\n  /**\n   * 执行一帧物理模拟\n   * 内部流程：读取当前 transform → 运行 Verlet 积分和约束求解 → 写回 transform\n   * @param deltaTime 帧间隔时间（秒）。内部会被 subSteps 细分\n   */\n  step(deltaTime: number): void {\n    if (!this._initialized || !this._rootTransform) {\n      return;\n    }\n\n    // Update fade\n    if (this._fadeState !== 'none') {\n      this._fadeTimer += deltaTime;\n      if (this._fadeTimer >= this._fadeDuration) {\n        this._fadeState = 'none';\n        this._fadeTimer = 0;\n      }\n    }\n\n    const blendRatio = this._computeBlendRatio();\n\n    // Capture current transforms\n    const rootPos = this._rootTransform.getWorldPosition();\n    const rootRot = this._rootTransform.getWorldRotation();\n\n    for (let i = 0; i < this._pointsRW.length; i++) {\n      this._pointsRW[i].positionPreviousTransform = this._pointsRW[i].positionCurrentTransform.clone();\n      this._pointsRW[i].positionCurrentTransform = this._pointTransforms[i].getWorldPosition();\n    }\n\n    for (let i = 0; i < this._collidersRW.length; i++) {\n      const t = this._colliderTransforms[i];\n      this._collidersRW[i].positionPreviousTransform = this._collidersRW[i].positionCurrentTransform.clone();\n      this._collidersRW[i].directionPreviousTransform =\n        this._collidersRW[i].directionCurrentTransform.clone();\n      this._collidersRW[i].positionCurrentTransform = t.getWorldPosition();\n      this._collidersRW[i].directionCurrentTransform = t.getWorldRotation();\n      this._collidersRW[i].worldToLocal = Matrix4x4.compose(\n        t.getLocalScale(),\n        this._collidersRW[i].directionCurrentTransform,\n        this._collidersRW[i].positionCurrentTransform\n      ).inplaceInvertAffine();\n    }\n\n    for (let i = 0; i < this._grabbersRW.length; i++) {\n      this._grabbersRW[i].position = this._grabberTransforms[i].getWorldPosition();\n    }\n\n    // Run simulation\n    const params: SimulationParams = {\n      isPaused: this._isPaused,\n      stepTime: deltaTime,\n      subSteps: this._config.subSteps,\n      rootPosition: rootPos,\n      previousRootPosition: this._previousRootPosition,\n      rootSlideLimit: this._config.rootSlideLimit,\n      rootRotation: rootRot,\n      previousRootRotation: this._previousRootRotation,\n      rootRotateLimit: this._config.rootRotateLimit,\n      windForce: this._config.windForce,\n      enableSurfaceCollision: this._config.enableSurfaceCollision,\n      surfaceConstraints: this._surfaceConstraints,\n      relaxation: this._config.relaxation,\n      constraintShrinkLimit: this._config.constraintShrinkLimit,\n      blendRatio,\n      isFakeWave: this._config.isFakeWave,\n      fakeWaveSpeed: this._config.fakeWaveSpeed,\n      fakeWavePower: this._config.fakeWavePower,\n      fakeWaveCounter: this._fakeWaveCounter,\n      collisionScale: 1.0,\n      enableBroadPhase: this._config.enableBroadPhase\n    };\n\n    const result = simulate(\n      params,\n      this._pointsR,\n      this._pointsRW,\n      this._constraints,\n      this._collidersR,\n      this._collidersRW,\n      this._grabbersR,\n      this._grabbersRW,\n      this._movableLimitTargets,\n      this._flatPlanes\n    );\n\n    this._positionsToTransform = result.positionsToTransform;\n    this._fakeWaveCounter = result.fakeWaveCounter;\n\n    // Angle limits\n    if (this._config.angleLimitConfig.angleLimit >= 0) {\n      applyAngleLimits(this._pointsR, this._pointsRW, this._config.angleLimitConfig);\n    }\n\n    // Apply results\n    const transformRots = this._pointTransforms.map((t) => t.getWorldRotation());\n    const transformLocalRots = this._pointTransforms.map((t) => t.getLocalRotation());\n    const outputs = applyResult(\n      this._pointsR,\n      this._pointsRW,\n      this._positionsToTransform,\n      blendRatio,\n      transformRots,\n      transformLocalRots\n    );\n\n    for (let i = 0; i < outputs.length; i++) {\n      this._pointTransforms[i].setWorldPosition(outputs[i].position);\n      this._pointTransforms[i].setWorldRotation(outputs[i].rotation);\n    }\n\n    this._previousRootPosition = rootPos;\n    this._previousRootRotation = rootRot;\n  }\n\n  /**\n   * 获取所有点的模拟结果（世界坐标位置和旋转）\n   * 通常不需要手动调用——step() 已经自动写回 transform。\n   * 适用于需要在不写回 transform 的情况下读取物理结果的场景。\n   */\n  getResults(): Array<{ position: Vector3; rotation: Quaternion }> {\n    const transformRots = this._pointTransforms.map((t) => t.getWorldRotation());\n    const transformLocalRots = this._pointTransforms.map((t) => t.getLocalRotation());\n    const outputs = applyResult(\n      this._pointsR,\n      this._pointsRW,\n      this._positionsToTransform,\n      this._config.blendRatio,\n      transformRots,\n      transformLocalRots\n    );\n    return outputs.map((o) => ({ position: o.position, rotation: o.rotation }));\n  }\n\n  /**\n   * 瞬移补偿——在角色传送/瞬移后调用\n   * 将上一帧的根骨骼位置和旋转设为当前值，\n   * 使下一帧的根运动增量为零，避免物理点因巨大位移而弹射。\n   */\n  warp(): void {\n    if (!this._rootTransform) {\n      return;\n    }\n    this._previousRootPosition = this._rootTransform.getWorldPosition();\n    this._previousRootRotation = this._rootTransform.getWorldRotation();\n  }\n\n  /**\n   * 重置所有物理状态\n   * 将所有点的模拟位置重置为当前 transform 位置，清除速度和抓取状态。\n   * 适用于场景切换或需要消除所有物理运动的场景。\n   */\n  reset(): void {\n    for (let i = 0; i < this._pointsRW.length; i++) {\n      const pos = this._pointTransforms[i].getWorldPosition();\n      this._pointsRW[i].positionCurrent = pos.clone();\n      this._pointsRW[i].positionPrevious = pos.clone();\n      this._pointsRW[i].grabberIndex = -1;\n    }\n    this._fakeWaveCounter = 0;\n  }\n\n  /**\n   * 释放固定点为动态点（如脱衣、布料脱落）\n   * 将 weight 从 0 改为 1，同时重置该点的模拟状态避免瞬间弹射。\n   * @param index 点的索引\n   */\n  releasePoint(index: number): void {\n    if (index < 0 || index >= this._pointsR.length) {\n      return;\n    }\n    (this._pointsR[index] as any).weight = 1;\n    const pos = this._pointTransforms[index].getWorldPosition();\n    this._pointsRW[index].positionCurrent = pos.clone();\n    this._pointsRW[index].positionPrevious = pos.clone();\n    this._pointsRW[index].grabberIndex = -1;\n  }\n\n  /**\n   * 将动态点重新固定为跟随动画（如重新穿戴）\n   * 将 weight 从 1 改为 0，清除抓取状态。\n   * @param index 点的索引\n   */\n  fixPoint(index: number): void {\n    if (index < 0 || index >= this._pointsR.length) {\n      return;\n    }\n    (this._pointsR[index] as any).weight = 0;\n    this._pointsRW[index].grabberIndex = -1;\n  }\n\n  /**\n   * 查询某个点是否为固定状态（weight=0，跟随动画）\n   * @param index 点的索引\n   */\n  isPointFixed(index: number): boolean {\n    if (index < 0 || index >= this._pointsR.length) {\n      return false;\n    }\n    return this._pointsR[index].weight <= EPSILON;\n  }\n\n  /** 获取物理点总数 */\n  get pointCount(): number {\n    return this._pointsR.length;\n  }\n\n  /**\n   * 渐入物理——从动画姿态平滑过渡到物理模拟\n   * blendRatio 从 1（纯动画）渐变到 0（纯物理）\n   * @param seconds 过渡时长（秒）\n   */\n  fadeIn(seconds: number): void {\n    this._fadeState = 'in';\n    this._fadeTimer = 0;\n    this._fadeDuration = seconds;\n  }\n\n  /**\n   * 渐出物理——从物理模拟平滑过渡回动画姿态\n   * blendRatio 从 0（纯物理）渐变到 1（纯动画）\n   * @param seconds 过渡时长（秒）\n   */\n  fadeOut(seconds: number): void {\n    this._fadeState = 'out';\n    this._fadeTimer = 0;\n    this._fadeDuration = seconds;\n  }\n\n  /**\n   * 设置全局风力向量\n   * 风力会按每个点的 windForceScale 和质量进行缩放\n   * @param wind 风力向量（世界坐标）\n   */\n  setWindForce(wind: Vector3): void {\n    this._config.windForce = wind;\n  }\n\n  /** Enable/disable broad-phase pruning for runtime performance comparison */\n  setBroadPhaseEnabled(enabled: boolean): void {\n    this._config.enableBroadPhase = enabled;\n  }\n\n  /**\n   * 暂停/恢复物理模拟\n   * 暂停时仍会跟随根骨骼运动，但不进行力学积分和约束求解\n   * @param paused true=暂停, false=恢复\n   */\n  setPaused(paused: boolean): void {\n    this._isPaused = paused;\n  }\n\n  /**\n   * 运行时更新碰撞器状态\n   * 用于外部直接控制碰撞器的启用/禁用和位置，而不通过 TransformAccess 读取\n   * @param index 碰撞器索引\n   * @param enabled 是否启用\n   * @param position 世界坐标位置\n   * @param rotation 世界旋转\n   */\n  updateColliderState(index: number, enabled: boolean, position: Vector3, rotation: Quaternion): void {\n    if (index >= 0 && index < this._collidersRW.length) {\n      this._collidersRW[index].enabled = enabled ? 1 : 0;\n      this._collidersRW[index].positionCurrentTransform = position;\n      this._collidersRW[index].directionCurrentTransform = rotation;\n    }\n  }\n\n  /**\n   * 运行时更新抓取器状态\n   * 用于鼠标拖拽等交互场景，控制抓取器的启用和位置\n   * @param index 抓取器索引\n   * @param enabled 是否启用（鼠标按下=true，松开=false）\n   * @param position 抓取器世界坐标位置\n   */\n  updateGrabberState(index: number, enabled: boolean, position: Vector3): void {\n    if (index >= 0 && index < this._grabbersRW.length) {\n      this._grabbersRW[index].enabled = enabled ? 1 : 0;\n      this._grabbersRW[index].position = position;\n    }\n  }\n\n  private _computeBlendRatio(): number {\n    if (this._fadeState === 'in') {\n      return 1.0 - clamp01(this._fadeTimer / this._fadeDuration);\n    }\n    if (this._fadeState === 'out') {\n      return clamp01(this._fadeTimer / this._fadeDuration);\n    }\n    return this._config.blendRatio;\n  }\n\n  private _createPointR(\n    node: BoneNode,\n    maxDepth: number,\n    parentMap: Map<number, number>,\n    transforms: TransformAccess[]\n  ): PointR {\n    const rate = maxDepth > 0 ? node.depth / maxDepth : 0;\n    const c = this._config.curves;\n\n    const parentIdx = parentMap.get(node.index) ?? -1;\n    const childIdx = node.children.length > 0 ? node.children[0].index : -1;\n\n    // Capture initial local transform for rotation blending\n    const t = transforms[node.index];\n    const initLocalPos = t.getLocalPosition();\n    const initLocalRot = t.getLocalRotation();\n    const initLocalScale = t.getLocalScale();\n\n    // BoneAxis: local-space direction to first child (computed in initialize)\n    const boneAxis = node.boneAxis ?? new Vector3(0, -1, 0);\n\n    // ParentLength: distance to parent\n    let parentLength = 0;\n    if (parentIdx !== -1) {\n      const pPos = transforms[parentIdx].getWorldPosition();\n      const cPos = transforms[node.index].getWorldPosition();\n      parentLength = Vector3.distance(pPos, cPos);\n    }\n\n    return {\n      parent: parentIdx,\n      child: childIdx,\n      applyInvertCollision: 0,\n      movableLimitIndex: -1,\n      movableLimitRadius: 0,\n      weight: node.isFixed ? 0 : 1,\n      mass: c.massScale.evaluate(rate),\n      resistance: clamp01(c.resistance.evaluate(rate)),\n      hardness: clamp01(c.hardness.evaluate(rate)),\n      frictionScale: c.friction.evaluate(rate),\n      sliderJointLength: c.sliderJointLength.evaluate(rate),\n      parentLength,\n      structuralShrinkVertical: c.structuralShrinkVertical.evaluate(rate) * 0.5,\n      structuralStretchVertical: c.structuralStretchVertical.evaluate(rate) * 0.5,\n      structuralShrinkHorizontal: c.structuralShrinkHorizontal.evaluate(rate) * 0.5,\n      structuralStretchHorizontal: c.structuralStretchHorizontal.evaluate(rate) * 0.5,\n      shearShrink: c.shearShrink.evaluate(rate) * 0.5,\n      shearStretch: c.shearStretch.evaluate(rate) * 0.5,\n      bendingShrinkVertical: c.bendingShrinkVertical.evaluate(rate) * 0.5,\n      bendingStretchVertical: c.bendingStretchVertical.evaluate(rate) * 0.5,\n      bendingShrinkHorizontal: c.bendingShrinkHorizontal.evaluate(rate) * 0.5,\n      bendingStretchHorizontal: c.bendingStretchHorizontal.evaluate(rate) * 0.5,\n      windForceScale: c.windForceScale.evaluate(rate) * rate,\n      fakeWavePower: c.fakeWavePower.evaluate(rate),\n      fakeWaveFreq: c.fakeWaveFreq.evaluate(rate),\n      forceFadeRatio: 0,\n      pointRadius: 0.05,\n      gravity: Vector3.scale(this._config.gravity, c.gravityScale.evaluate(rate)),\n      boneAxis,\n      initialLocalScale: initLocalScale,\n      initialLocalRotation: initLocalRot,\n      initialLocalPosition: initLocalPos\n    };\n  }\n\n  private _createPointRW(): PointRW {\n    return {\n      positionToTransform: Vector3.zero(),\n      positionCurrentTransform: Vector3.zero(),\n      positionPreviousTransform: Vector3.zero(),\n      positionCurrent: Vector3.zero(),\n      positionPrevious: Vector3.zero(),\n      directionPrevious: Vector3.axisPZ(),\n      fakeWindDirection: Vector3.axisPZ(),\n      grabberIndex: -1,\n      grabberDistance: 0,\n      friction: 0\n    };\n  }\n\n  private _createColliderRW(transform: TransformAccess): ColliderRW {\n    const pos = transform.getWorldPosition();\n    const rot = transform.getWorldRotation();\n    return {\n      positionCurrent: pos.clone(),\n      directionCurrent: Vector3.zero(),\n      boundsCenter: pos.clone(),\n      boundsRadius: 0,\n      positionCurrentTransform: pos.clone(),\n      positionPreviousTransform: pos.clone(),\n      directionCurrentTransform: rot.clone(),\n      directionPreviousTransform: rot.clone(),\n      worldToLocal: Matrix4x4.identity(),\n      localBoundsMin: Vector3.zero(),\n      localBoundsMax: Vector3.zero(),\n      radius: 0,\n      enabled: 1\n    };\n  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package/dist/animation/spring2/math.js

@@ -1,16 +0,0 @@
-// spcr-joint-dynamics — math adapter layer
-// Wraps base/vector.ts (class-based) with plain-object API for backward compatibility
-// ── Utility ──
-function clamp(v, min, max) {
-    return v < min ? min : v > max ? max : v;
-}
-function clamp01(v) {
-    return v < 0 ? 0 : v > 1 ? 1 : v;
-}
-function smoothStep(from, to, t) {
-    const c = clamp01((t - from) / (to - from));
-    return c * c * (3 - 2 * c);
-}
-
-export { clamp, clamp01, smoothStep };
-//# sourceMappingURL=math.js.map

package/dist/animation/spring2/math.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"math.js","sources":["../../../src/animation/spring2/math.ts"],"sourcesContent":["// spcr-joint-dynamics — math adapter layer\r\n// Wraps base/vector.ts (class-based) with plain-object API for backward compatibility\r\n\r\n// ── Utility ──\r\n\r\nexport function clamp(v: number, min: number, max: number): number {\r\n  return v < min ? min : v > max ? max : v;\r\n}\r\n\r\nexport function clamp01(v: number): number {\r\n  return v < 0 ? 0 : v > 1 ? 1 : v;\r\n}\r\n\r\nexport function smoothStep(from: number, to: number, t: number): number {\r\n  const c = clamp01((t - from) / (to - from));\r\n  return c * c * (3 - 2 * c);\r\n}\r\n"],"names":["clamp","v","min","max","clamp01","smoothStep","from","to","t","c"],"mappings":"AAAA;AACA;AAEA;AAEO,SAASA,KAAMC,CAAAA,CAAS,EAAEC,GAAW,EAAEC,GAAW,EAAA;AACvD,IAAA,OAAOF,CAAIC,GAAAA,GAAAA,GAAMA,GAAMD,GAAAA,CAAAA,GAAIE,MAAMA,GAAMF,GAAAA,CAAAA;AACzC;AAEO,SAASG,QAAQH,CAAS,EAAA;AAC/B,IAAA,OAAOA,CAAI,GAAA,CAAA,GAAI,CAAIA,GAAAA,CAAAA,GAAI,IAAI,CAAIA,GAAAA,CAAAA;AACjC;AAEO,SAASI,UAAWC,CAAAA,IAAY,EAAEC,EAAU,EAAEC,CAAS,EAAA;IAC5D,MAAMC,CAAAA,GAAIL,QAAQ,CAACI,IAAIF,IAAG,KAAMC,EAAAA,GAAKD,IAAG,CAAA,CAAA;AACxC,IAAA,OAAOG,CAAIA,GAAAA,CAAAA,IAAK,CAAA,GAAI,IAAIA,CAAAA,CAAAA;AAC1B;;;;"}