cozyclay 3.0.3 → 3.1.1

package/dist/assets/task-board-ErQvfoaz.js

@@ -0,0 +1,14 @@
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A motion spec anchor { kind: "object", object, socket: <name>, grasp } takes a hand by one; a thin body (a bar, a can, a handle) is a socket of its own, named by its id`},{path:`object.effect`,type:`object`,persisted:!0,undoDomain:`objects`,normalizer:`normalizeSceneObject`,note:`renderer effect only (object.add kind "effect"). { preset: smoke|exhale|steam|fire|sparks|dust|rain|snow|trail, rate particles/s, life s, size m start diameter, grow end/start size, speed m/s along the record's local +Y (rotX 90 aims +Z), spread 0..1 cone, gravity m/s2 (+ falls, - rises), wind {x,y,z} m/s, color, opacity 0..1, additive (emissive: fire, sparks), seed int, area {x,y,z} m birth box (rain/snow/dust fall through it from its top), width m trail ribbon across local Y }. A new preset loads its defaults and fields in the same set override them, e.g. { preset: "fire", rate: 40 }; the record stores the merged numbers. 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r=n.map(([,e])=>e.half).reduce((e,t)=>t[0]*t[1]*t[2]>e[0]*e[1]*e[2]?t:e),i=[0,1,2].reduce((e,t)=>r[t]>r[e]?t:e,0);return[0,1,2].filter(e=>e!==i).every(e=>r[e]<yf)}var Vf=(e,t)=>e.length<=t?e:Array.from({length:t},(n,r)=>e[Math.round(r*(e.length-1)/(t-1))]);function Hf(e,t){let n=No(Ya(q(Y(e),t)));return`today's grip turned ${Math.round(2*G(n)*180/Math.PI)} deg, mostly about ${Mf[[0,1,2].reduce((e,t)=>Math.abs(n[t])>Math.abs(n[e])?t:e,0)]}`}function Uf({sk:e,o:t,side:n,grab:r,rest:i,plain:a,palmOf:o,map:s=e=>e}){let c=new Map,l=e=>{let t=Math.round(e);if(!c.has(t)){let e=a(t);c.set(t,{s:e,now:o(e)})}return c.get(t)},{s:u,now:d}=l(r),f=[...t.keys].sort((e,t)=>e.f-t.f),p=Vf(f,xf),m=e=>kh({pos:d.pos,R:e},i),h=(t,r,i)=>{let{s:a,now:o}=l(r);return Rf(e,a,n,Oh(i,Pf(t)),o)},g=t=>Rf(e,u,n,Oh(i,Pf(t)),d),_=t=>{let r=m(t);return g(r)+p.reduce((t,i)=>{let{s:a,now:o}=l(s(i.f));return t+zf(e,a,n,i,o,r,e=>h(r,s(i.f),e))},0)},v=r=>{let 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n.reduce((e,[t,n])=>e+t*n,0)/n.reduce((e,[,t])=>e+t,0)}function ep(e){let t=Array.from({length:Gf},(t,n)=>{let r=2*Math.PI*n/Gf-Math.PI;return[r,e(r)]}),n=Math.min(...t.map(e=>e[1])),r=t.reduce((e,[t,r])=>{let i=Math.exp(-(r-n)/Kf);return[e[0]+i*Math.cos(t),e[1]+i*Math.sin(t)]},[0,0]);return Math.atan2(r[1],r[0])}var tp=({d:e,l:t,n})=>[[e[0],t[0],n[0]],[e[1],t[1],n[1]],[e[2],t[2],n[2]]],np=(e,t)=>e.anchors?.[t]?.kind===`object`&&!!e.anchors[t].grasp,rp=(e,t)=>(e.keys??[]).some(e=>(!e.src||e.src.startsWith(`keys[`))&&(e.set?.[`wtwist_${t}`]!==void 0||e.set?.[`wflex_${t}`]!==void 0));function ip(e,t,n,r){let i=new Set(Cm(t,n));return(e.fits??[]).some(a=>{if(a.side!==r||!np(e,a.anchor))return!1;let o=e.anchors[a.anchor].object;return o===n||i.has(o)||Cm(t,o).some(e=>i.has(e))})}function ap(e,t,n){let{spec:r,scene:i}=e;if(!e.objectHand||!(r.fits??[]).some(e=>e.side===t&&np(r,e.anchor)))return null;for(let[a,o]of Object.entries(r.objects??{}))if(o?.prop&&e.objectHand(a,n)===t&&ip(r,i,a,t))return{id:a,grab:e.carrySpan(o)[0],keyed:!!o.keys?.length};return null}function op(e,t,n,r,i,a,o,s,c,l=null,u=void 0){let d=t.index,f=d[`${r}Arm`],p=d[`${r}ForeArm`],m=d[`${r}Hand`],h=n.R[p],g=l?.w??Ql(e,s.fit.anchor,n,o,a,i),_=c(n),v=K(H(n.P[m],n.P[p])),y=l?.type??e.spec.anchors[s.fit.anchor].grasp,b=zl(r,g,y,v,a.yaw),x=(e=>({pos:c(e),R:tp(yo(t,e,r))}))(n),S=e=>{let i=Rs(t,n,r,{pos:_,R:e},x,1,`palm`);return ks(t,n,r,i.goal,i.wristAt(i.goal),i.plane,ms).cost},C=(e,t)=>[e[0][t],e[1][t],e[2][t]],w=e=>q(Ka(C(b,1),e*Jf),b),{R:T,roll:E,tilt:D}=sp(e,s.fit.anchor,i,u,()=>{let e=g.axis&&!g.from&&y!==`palm`?ep(e=>S(w(e))+qf*(1-Math.cos(e))):0,t=w(e),n=e=>q(Ka(C(t,2),e),t),r=g.axis&&y!==`palm`?$f(Qf.map(e=>[e,S(n(e))+Xf*(e/Yf)**2])):0;return{R:n(r),roll:e,tilt:r}}),{goal:O,plane:k,wristAt:ee}=Rs(t,n,r,{pos:_,R:T},x,s.w,`palm`),te=ks(t,n,r,O,ee(O),k,ms,{w:s.w}),ne={twist:0,flex:0,dev:0};for(let e=0;e<Wf;e++)_o(t,n,f,p,m,ee(e?n.R[m]:O),te.pole,ms,`elbow`),ne=Is(t,n,r,m,p,O);o[`grip_${i}`]={w:s.w,socket:!0,...ne,roll:E*Jf,tilt:D},o[`socket_${i}`]={rel:q(Y(h),n.R[m])}}function sp(e,t,n,r,i){let a=`w_${t}_${n}`,o=t=>e.weightAt?.(a,t)??0;if(!e.weightAt||!Number.isInteger(r))return i();let s=r,c;for(;s>0&&o(s-1)>.001;)s--;for(c=s;c<e.frameCount-1&&o(c)<.999&&o(c+1)>.001;c++);let l=`${a}:${s}`;if(e.graspPlans??=new Map,r>=c){let t=i();return r===c&&e.graspPlans.set(l,t),t}return e.graspPlans.has(l)||(e.graspPlans.set(l,null),(e.hold?.plainFrame??e.solvedAt)(c)),e.graspPlans.get(l)??i()}function cp(e,t,n,r,i,a){let o=`${i}:${a.grab}`;e.socketTurns??=new Map,e.socketTurns.has(o)||(e.socketTurns.set(o,null),e.socketTurns.set(o,(e.hold?.plainFrame??e.solvedAt)(a.grab)?.diag?.[`socket_${i}`]?.rel??null));let s=e.socketTurns.get(o);if(!s)return;let c=t.index,l=c[`${r}ForeArm`],u=c[`${r}Hand`];Is(t,n,r,u,l,q(n.R[l],s))}var lp=12,up={m:.01,deg:5},dp=e=>e*e*(3-2*e),fp=(e,t)=>{let n=t=>e.timeMap?Math.round(e.timeMap(t)):t;return[n(t.grab??0),t.release===void 0?e.frameCount-1:n(t.release)]},pp=e=>{let t=Y(e.R);return{pos:U(J(t,e.pos),-1),R:t}};function mp(e,t,n,r,i=0){let a=[...e.keys].sort((e,t)=>e.f-t.f),o=a.map(e=>t(e.f)),s=[],c=Fu(a,e=>n(o[e]),r&&((e,t)=>r(o[e],ju(a[e],t,i),t,a[e].lean?{shoulder:!0}:void 0))),l=a.map((e,t)=>ju(e,Mo(c[t]),i).slice());for(let e of c){let t=Mo(e);s.push(s.length&&jo(s[s.length-1],t)<0?t.map(e=>-e):t)}let u=a.length-1,d=e=>U(No(ko(Ao(s[e]),s[e+1])),1/(o[e+1]-o[e])),f=(e,t)=>e===0||e===u?[0,0,0]:U(V(U(t(e),o[e]-o[e-1]),U(t(e-1),o[e+1]-o[e])),1/(o[e+1]-o[e-1]));return{t:o,p:l,q:s,m:l.map((e,t)=>f(t,e=>U(H(l[e+1],l[e]),1/(o[e+1]-o[e])))),w:s.map((e,t)=>f(t,d)),rots:c}}var hp=new WeakMap;function gp(e,t){hp.has(e)||hp.set(e,new Map);let n=hp.get(e),r=e.timeMap,i=e.baked,a=n.get(t);if(!a||a.map!==r||a.baked!==i){let a=e.ctx.hold,o=new Map,s=e=>{let t=Math.round(e);return o.has(t)||o.set(t,a.plainFrame(t).s),o.get(t)};n.set(t,{map:r,baked:i,curve:mp(e.ctx.spec.objects[t],e=>r?r(e):e,e=>Ya(a.carryOn(t,s(e)).R),(e,n,r,i)=>a.strainOn(t,s(e),{pos:n,R:Xa(r)},i),2*(e.ctx.scene?.objects?.[t]?.half?.[1]??0))})}return n.get(t).curve}function _p({t:e,p:t,q:n,m:r,w:i},a){let o=e.length;if(o===1||a<=e[0])return{pos:t[0].slice(),R:Xa(n[0])};if(a>=e[o-1])return{pos:t[o-1].slice(),R:Xa(n[o-1])};let s=0;for(;a>e[s+1];)s++;let c=e[s+1]-e[s],l=(a-e[s])/c,u=l*l,d=u*l,f=2*d-3*u+1,p=d-2*u+l,m=-2*d+3*u,h=d-u,g=V(V(U(t[s],f),U(r[s],c*p)),V(U(t[s+1],m),U(r[s+1],c*h))),_=ko(Ao(n[s]),n[s+1]),v=V(V(U(No(_),m),U(i[s],c*p)),U(Fo(_,i[s+1]),c*h));return{pos:g,R:Xa(ko(n[s],Po(v)))}}function vp(e,[t,n],r){let i=e.t[0],a=e.t[e.t.length-1];if(r<t||r>n)return 0;if(r>=i&&r<=a)return 1;let o=r<i?Math.min(8,i-t):8,s=r<i?i-r:r-a;return o>0&&s<o?dp(1-s/o):0}var yp=e=>Object.entries(e.objects??{}).filter(([,e])=>xh(e)&&e.keys?.length);function bp(e,t,n,r){let{sk:i,spec:a,scene:o}=e,s=yp(a);if(!s.length)return null;let c=new Set(s.map(([e])=>e).filter(e=>fc(a,a.objects[e],o,e)).map(e=>a.objects[e])),l=(e,t)=>Dh(i,a,t,{prop:e.prop},c.has(e)),u=new WeakMap,d=new Set,f=(t,n)=>e.restingAt?.(t,n)??o?.objects?.[t]??hl(o)[t],p=new WeakMap,m=e=>t.timeMap?Math.round(t.timeMap(e)):e,h=e=>{p.has(t)||p.set(t,new Map);let r=p.get(t),s=a.objects[e],c=a.props?.[s.prop]?.hand,u=fp(t,s)[0],h=t.baked??{};if(r.has(e))return r.get(e);if(r.set(e,null),!(c&&s.at===void 0&&s.along===void 0&&(s.grab!==void 0||!o?.objects?.[e])&&Bf(o,e)&&!(a.fits??[]).some(e=>e.side===c&&e.orient===!1)&&!ip(a,o,e,c)&&![`wtwist`,`wflex`].some(e=>Math.abs(h[`${e}_${c}`]?.[u]??0)>.001)&&m(Math.min(...s.keys.map(e=>e.f)))<=u))return null;d.add(e);try{r.set(e,Uf({sk:i,o:s,side:rh[c],grab:u,rest:f(e,u),plain:e=>n(e).s,palmOf:e=>l(s,e),map:m}))}finally{d.delete(e)}return r.get(e)},g=r=>{u.has(t.baked)||u.set(t.baked,new Map);let s=u.get(t.baked),f=a.objects[r];if(s.has(r))return s.get(r);let p=h(r);if(p&&p.name!==`today`){let e=c.has(f)?hc(i,a,o,r,f,p.offset):p.offset;return s.set(r,e),s.set(`${r}|taken`,p.offset),e}let m=o?.objects?.[r]??hl(o)[r],g=!o?.objects?.[r]&&!!m,_=f.at===void 0&&f.along===void 0&&(g||f.grab!==void 0);d.add(r);let v;try{v=_?n(fp(t,f)[0]).s:eo(i)}finally{d.delete(r)}let y=kh(l(f,v),_?e.restingAt?.(r,fp(t,f)[0])??{pos:m.pos,R:m.R}:Dh(i,a,v,f)),b=_&&c.has(f)?hc(i,a,o,r,f,y):y;return s.set(r,b),s.set(`${r}|taken`,y),b},_=(e,n)=>{let r=g(e),i=u.get(t.baked)?.get(`${e}|taken`);return i&&i!==r&&n!==void 0?vc(i,r,_c(fp(t,a.objects[e])[0],n)):r},v=(e,t)=>Oh(l(a.objects[e],t),g(e)),y=(e,t,n,r)=>{let o=a.objects[e];return Vs(i,t,rh[a.props[o.prop].hand],Oh(n,pp(g(e))),l(o,t),r)},b=(e,n,r)=>{let i=gp(t,e),a=vp(i,fp(t,n),r);return a>0?{w:a,palm:Oh(_p(i,r),pp(_(e,r))),measure:e=>l(n,e),comfort:n.keys.some(e=>e.lean>0)}:null},x=new WeakMap,S=(e,r)=>{x.has(t.baked)||x.set(t.baked,new Map);let o=x.get(t.baked),s=o.get(e);if(s&&s.map===t.timeMap)return s.plan;let[c,l]=fp(t,r),u=[];for(let n=Math.max(0,c);n<=Math.min(t.frameCount-1,l);n++)vp(gp(t,e),[c,l],n)>0&&u.push(n);let d=td(i,rh[a.props[r.prop].hand],u,t=>({s:n(t).s,held:b(e,r,t)}));return o.set(e,{map:t.timeMap,plan:d}),d},C=!1,w=(e,t,n)=>{let r=v(e,t).R;return gf(i,a,e,t,n,[r[0][1],r[1][1],r[2][1]])},T=new WeakMap,E=(e,n)=>{T.has(t.baked)||T.set(t.baked,new Map);let i=T.get(t.baked),a=i.get(e);if(a&&a.map===t.timeMap)return a.plan;let[o,s]=fp(t,n),c=new Map;C=!0;let l=[],u=()=>{let e=Xu((e,t)=>l[e].grip.cost(t),(e,t)=>l[e].grip.point(t),l.map(e=>e.grip.softmin())),t=ed(l.map((t,n)=>_f(t.grip,e[n]))),n=t=>l[t].grip.arm(e[t]),r=Xu((e,t)=>n(e).at(t).cost,(e,t)=>n(e).at(t).elbow,l.map((e,t)=>n(t).best.th));l.forEach((i,a)=>c.set(i.f,{roll:e[a],gate:t[a],pole:n(a).at(r[a]).pv})),l=[]};for(let n=Math.max(0,o);n<=Math.min(t.frameCount-1,s);n++){let 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om=e=>Math.max(...am(e).map(e=>e[1])),sm=(e,t)=>{let n=J(Y(e.R),H([t[0],e.pos[1]+e.half[1],t[2]],e.pos));return Math.abs(n[0])<=e.half[0]&&Math.abs(n[2])<=e.half[2]};function cm(e,t){let n=new Set;for(let[r,i]of Object.entries(t?.objects??{}))[r,...i.ancestors??[]].some(t=>wh(e.objects?.[t]))&&n.add(r);return n}function lm(e,t,n){let r=rm(e,t);return im(e,t).map(t=>({id:t,...Oh(n,kh(r,e.objects[t])),half:e.objects[t].half}))}function um(e,t,n,r,i=null){let a=lm(t,n,r),o=new Set(a.map(e=>e.id)),s=cm(e,t);if(!a.length)return{support:null,top:0,h:0};let c=Math.min(...a.flatMap(e=>am(e).map(e=>e[1]))),l=a.flatMap(am).reduce((e,t)=>V(e,t),[0,0,0]).map(e=>e/(a.length*8)),u=(i?im(t,i):Object.keys(t.objects)).filter(e=>!o.has(e)&&!s.has(e)),d=null;for(let e of u){let n=t.objects[e],r=om(n);sm(n,l)&&r<=c+.005&&(!d||r>d.top)&&(d={support:e,top:r})}if(!d&&i)for(let e of u){let n=om(t.objects[e]);n<=c+.005&&(!d||n>d.top)&&(d={support:e,top:n})}return 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fg={noise:.02,side:.03,first:.22,second:.08,last:.22,beforeLast:.08,turn:0},pg={noise:.025,side:.012,stride:.035,second:.05,beforeLast:.06,turn:.06},mg={noise:.1,first:.1,last:.25},hg=.1,gg=3,_g=60;function vg(e,{s0:t,turn:n,seed:r}){let i=e.steps,a=ug(e.vary??1,0,2),o=dg(r),s=Array.from({length:i},()=>({time:o(),length:o(),lift:o(),arm:o()})),c=o()<0?1:-1,l=e=>e%2==0?c:-c,u=Array.from({length:Math.ceil(i/2)},()=>o()),d=e=>u[Math.floor((e-1)/2)],f=Array.from({length:i},(t,n)=>n===i-1?0:n===0?e.firstStep:e.step),p=t,m=f.map(e=>{let t=Math.abs(n(p,p+e));return p+=e,Math.min(1,t/_g)}),h=i>=4,g=s.map((e,t)=>{if(i<2)return 1;let n=(t===0||t===i-1?.5:1)*(fg.noise*e.time+fg.side*l(t))+fg.turn*m[t];return t===0&&(n+=fg.first*(1-m[0])),t===1&&h&&(n+=fg.second),t===i-1&&(n+=fg.last),t===i-2&&h&&(n+=fg.beforeLast),1+a*n}),_=g.reduce((e,t)=>e+t,0),v=i*e.period,y=[];for(let e=0,t=0;e<i;e++)y.push(Math.round(t)),t+=v*g[e]/_;let b=e.period-e.swing,x=y.map((t,n)=>{if(a===0)return e.swing;let 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t=E[e],n=Math.min(...[E[e-1],E[e+1]].map(e=>e.y+zg*(t.f-e.f)**2/2));t.y>Math.max(E[e-1].y,E[e+1].y)&&(t.y=Math.min(t.y,n))}let D=[];for(let e=0;e<30;e++){let e=0,t=qg(E.map(e=>e.f),E.map(e=>e.y),0,0);for(let i=0;i+1<E.length;i++){let a=E[i],o=E[i+1],s=0;for(let e=a.f;e<=o.f;e++)D[e]=t(e),s=Math.max(s,D[e]-S[e]);if(s>3e-4){let t=a.y>o.y&&i>0||o.f===r?a:o;t.f!==n&&t.f!==r&&(t.y-=s,e=Math.max(e,s))}}if(!e)break}for(let e=n;e<=r;e++)D[e]=Math.min(D[e],S[e]);let O=t.filter(e=>/ step \d+$/.test(e.src??``)).sort((e,t)=>e.f-t.f),k=0,ee=s;for(let e=n+1;e<r;e++){for(;k<O.length&&O[k].f<=e;)ee=O[k++].src;t.push({f:e,set:{root:[b[e][0],D[e],b[e][1]]},src:ee})}}function Kg(e,t,{end:n,period:r,pace:i,ground:a}){let{reach:o,hipOff:s,trail:c}=Ug(e,r,i),l=Su(t,n+1),u=new Map(t.map(e=>[e.f,e.src]));for(let e of[`l`,`r`])for(let r of a[e]){if(r.free===void 0||!Number.isFinite(r.b)||r.b>n)continue;let i=[],a=[],d=0;for(let t=r.free;t<=r.b;t++){let n=Wg(l,t,s[e]),u=o(c((t-r.heel)/Math.max(1,r.b-r.heel))),f=e=>G(H(n,Hg(r.ball,r.yw,e,r.flat)))-u,p=d,m=Tg;if(f(p)<=0)m=p;else if(f(m)<=0)for(let e=0;e<24;e++){let e=(p+m)/2;f(e)>0?p=e:m=e}d=m,i.push(m),a.push({f:t,hip:n,want:u})}let f=i.map((e,t)=>Math.max(...i.slice(t).map((e,t)=>e-t*Eg)));for(let e=0;e<2;e++)f=f.map((e,t)=>Math.max(i[t],((f[t-1]??0)+e+(f[t+1]??e))/3));a.forEach(({f:n,hip:i,want:a},o)=>{let s=Hg(r.ball,r.yw,f[o],r.flat),c=G(H(i,s))-a;c>0&&(s=V(s,U(H(i,s),c/G(H(i,s))))),t.push({f:n,set:{[`foot_${e}`]:s,[`fpitch_${e}`]:f[o],[`fyaw_${e}`]:r.yw},src:u.get(n)})})}}function qg(e,t,n,r){let i=e.length-1,a=e.slice(1).map((t,n)=>t-e[n]),o=[],s=[],c=[],l=[];for(let e=0;e<=i;e++)e===0?(o[e]=0,s[e]=2*a[0],c[e]=a[0],l[e]=6*((t[1]-t[0])/a[0]-n)):e===i?(o[e]=a[i-1],s[e]=2*a[i-1],c[e]=0,l[e]=6*(r-(t[i]-t[i-1])/a[i-1])):(o[e]=a[e-1],s[e]=2*(a[e-1]+a[e]),c[e]=a[e],l[e]=6*((t[e+1]-t[e])/a[e]-(t[e]-t[e-1])/a[e-1]));for(let e=1;e<=i;e++){let t=o[e]/s[e-1];s[e]-=t*c[e-1],l[e]-=t*l[e-1]}let u=[];u[i]=l[i]/s[i];for(let e=i-1;e>=0;e--)u[e]=(l[e]-c[e]*u[e+1])/s[e];return n=>{let r=0;for(;r<i-1&&n>e[r+1];)r++;let o=n-e[r],s=a[r],c=(e[r+1]-n)/s,l=o/s;return c*t[r]+l*t[r+1]+((c**3-c)*u[r]+(l**3-l)*u[r+1])*s*s/6}}var Jg=3,Yg=.35,Xg=.2,Zg=.03,Qg=.04,$g=.025,e_=e=>e*180/Math.PI,t_=e=>{let t=Math.min(1,Math.max(0,e));return t*t*(3-2*t)};function n_(e,t,n,r,i){let a=H(t,e),o=Math.min(r+i-1e-6,Math.max(Math.abs(r-i)+1e-6,G(a))),s=U(a,1/G(a)),c=H(n,U(s,W(n,s)));c=U(c,1/(G(c)||1));let l=(r*r+o*o-i*i)/(2*r*o),u=H(t,V(e,V(U(s,r*l),U(c,r*Math.sqrt(Math.max(0,1-l*l))))));return e_(Math.atan2(-W(u,n),-u[1]))}function r_(e,{end:t,ground:n,sk:r}){let i=Su(e,t+2),a=new Map(e.map(e=>[e.f,e.src])),o=r?.index,s=r?.restWorldPos,c=r&&G(H(s[o.LeftLeg],s[o.LeftUpLeg])),l=r&&G(H(s[o.LeftFoot],s[o.LeftLeg]));for(let u of[`l`,`r`]){let d=n[u],f=u===`l`?`Left`:`Right`,p=r&&H(s[o[`${f}UpLeg`]],s[o.Hips]),m=r&&H(s[o[`${f}ToeBase`]],s[o[`${f}Foot`]]),h=r&&s[o[`${f}ToeBase`]][1],g=r&&[0,.005-s[o[`${f}Foot`]][1],-.045];for(let n=0;n+1<d.length;n++){let o=d[n],s=d[n+1];if(!Number.isFinite(o.b)||!s.strike||s.a>t||s.a-o.b<3)continue;let f=[...new Set(e.filter(e=>!Vg.has(e)&&e.f>o.b&&e.f<s.a&&e.set[`foot_${u}`]).map(e=>e.f))].sort((e,t)=>e-t),_=[o.b,...f,s.a],v=i[`foot_${u}`],y=e=>v[Math.max(0,Math.min(v.length-1,e))],b=H(y(o.b),y(o.b-1)),x=H(y(s.a+1),y(s.a)),S=[0,1,2].map(e=>qg(_,_.map(t=>y(t)[e]),b[e],x[e])),C=e=>i[`fyaw_${u}`]?.[e]??0,w=e=>i[`fpitch_${u}`]?.[e]??0,T=(e,t)=>n_(Wg(i,e,p),t,J(X(C(e)),[0,0,1]),c,l)-Jg,E=s.a-o.b,D=r&&w(o.b)-T(o.b,y(o.b)),O=r&&w(s.a)-T(s.a,y(s.a));for(let t=o.b+1;t<s.a;t++){let n=S.map(e=>e(t)),i={[`foot_${u}`]:n};if(r){let e=Math.min(Tg,T(t,n)+D*(1-t_((t-o.b)/(Yg*E)))+O*(1-t_((s.a-t)/(Xg*E)))),r=h+Zg*t_(Math.min(t-o.b,s.a-t)/3),a=e=>n[1]+J(Wa(e),m)[1];if(a(e)<r){let t=-30,n=e;for(let e=0;e<20;e++){let e=(t+n)/2;a(e)<r?n=e:t=e}e=t}let c=w(t),l=e=>n[1]+J(Wa(e),g)[1],d=Math.min(Qg,Math.max(l(c),$g));if(e<c&&l(e)<d){let t=e,n=c;for(let e=0;e<20;e++){let e=(t+n)/2;l(e)<d?t=e:n=e}e=n}i[`fpitch_${u}`]=e}let c={f:t,set:i,src:a.get(t)};Vg.add(c),e.push(c)}}}}var i_=[6,4],a_=50,o_=1.1,s_=[18,3],c_=[6,3],l_=8,u_=4.5,d_=5.5,f_=.015,p_=[.52,.64],m_=.3,h_=4,g_=6.4,__=.8,v_=e=>za(.66-.18*e,.2,.48),y_=e=>za(.32-.11*e,0,.45),b_=e=>za(2.8-.45*e,1.2,3),x_=.92,S_=e=>za(4.7-1.1*e,1.8,4),C_=[.2,.6],w_=.9,T_=.18,E_=.35,D_=.18,O_=.55,k_=10,A_=.22,j_=.03,M_=50,N_=e=>J(X(e),[0,0,1]),P_=e=>J(X(e),[1,0,0]),F_=e=>{let t=Math.min(1,Math.max(0,e));return t*t*(3-2*t)};function I_(e,t){let n={};for(let r of[...e].sort((e,t)=>e.f-t.f))r.f<=t&&Object.assign(n,r.set);return n}function L_(e,t,n,r=`walk`){let i=`${r} start`,a=[],o=(e,t)=>{let n={f:e,set:t,src:i};return a.push(n),n},s=I_(t,e.f0);if(!s.foot_l||!s.foot_r||!s.root)throw Error(`MOTION_SPEC_INVALID: walk needs foot_l, foot_r and root keyed before f0`);if(e.vary!==void 0&&!(Number.isFinite(e.vary)&&e.vary>=0&&e.vary<=2))throw Error(`MOTION_SPEC_INVALID: ${r} vary must be a number from 0 (every step the same) to 2, got ${JSON.stringify(e.vary)}`);let c=n.index,l=n.restWorldPos,u=l[c.LeftFoot][1],d=l[c.Hips][1],f={l:H(l[c.LeftToeBase],l[c.LeftFoot]),r:H(l[c.RightToeBase],l[c.RightFoot])},p=[0,.005-u,-.045],m={l:-1/0,r:-1/0},h=G(H(l[c.LeftLeg],l[c.LeftUpLeg]))+G(H(l[c.LeftFoot],l[c.LeftLeg])),g=l[c.Hips][1]-l[c.LeftUpLeg][1],_=e.step??.5,v=e.halfWidth??.08,y=e=>Math.sqrt(Math.max(0,(.98*h)**2-e**2))+u+g-d,b={steps:8,step:_,period:20,swing:14,halfWidth:v,lift:.08,turnDistance:.4,firstStep:.4,pelvisHigh:Math.min(-.005,y(Math.hypot(.03,v-.035))),pelvisLow:y(Math.hypot(_/2,v)),vary:1,...e},x=b.step/b.period/(.5/20);b.armSwing=e.armSwing??za(g_*x,4,22);let S=v_(x),C=y_(x),w=b_(x),T=S_(x),E=za(w_*x,0,3),D=s_[0]+s_[1]*Math.min(x,2.5),O=c_[0]+c_[1]*Math.min(x,2.5),[k,ee]=b.heading??[s.yaw??0,s.yaw??0],te=e=>k+(ee-k)*F_(e/b.turnDistance),ne=U(V(s.foot_l,s.foot_r),.5);ne[1]=0;let re=[ne];for(let e=0;e<4e3;e++)re.push(V(re[e],U(N_(te(e*.01)),.01)));let ie=e=>re[Math.max(0,Math.min(re.length-1,Math.round(e/.01)))],ae=(e,t)=>{let n=V(ie(e),U(P_(te(e)),(t===`l`?1:-1)*b.halfWidth));return n[1]=u,n},oe={l:-.07,r:.07},se={foot_l:s.foot_l,foot_r:s.foot_r,fyaw_l:s.fyaw_l??k,fyaw_r:s.fyaw_r??k},ce=[`root`,`yaw`,`roll`,`foot_l`,`foot_r`,`fyaw_l`,`fyaw_r`,`spine_yaw`,`spine_roll`,`spine_pitch`,`aswing_l`,`aswing_r`,`abend_l`,`abend_r`,`wflex_l`,`wflex_r`,`head_yaw`],le=s.roll??0,ue=s.spine_roll??0,de=s.spine_pitch??0,fe={l:[{a:e.f0,b:1/0,strike:!1}],r:[{a:e.f0,b:1/0,strike:!1}]};o(e.f0,Object.fromEntries(ce.map(e=>[e,s[e]??se[e]??(e===`yaw`?k:0)])));let pe=oe.r,me=null,he=vg(b,{s0:pe,turn:(e,t)=>te(t)-te(e),seed:[e.f0,b.steps,b.step,b.period,b.swing,b.firstStep,k,ee,ne[0].toFixed(3),ne[2].toFixed(3)].join(`|`)});for(let t=0;t<b.steps;t++){i=`${r} step ${t+1}`;let n=t%2==0?`l`:`r`,a=n===`l`?`r`:`l`,c=t===b.steps-1,l=c?pe:pe+he.inc[t],u=e.f0+16+he.lift[t],h=u+he.air[t],g=u+Math.floor(he.air[t]/2);if(t===0){let e=V(ie(oe[a]),U(P_(k),(a===`l`?1:-1)*b.halfWidth*.75));e[1]=s.root[1],o(u-4,{root:e,yaw:k}),o(u,{arm_hang:1})}let ee=za(Math.abs(l-oe[n])/o_,.3,1.15),ne=a_*(.55+.45*ee)*(c?.8:1),re=se[`foot_${n}`],ce=se[`fyaw_${n}`],ge=V(re,J(X(ce),f[n])),_e=Math.max(u-Math.max(h_,Math.round((t===0?.35:m_)*b.period)),m[n]+1,e.f0+1);Object.assign(fe[n].at(-1),{b:u,heel:_e,ball:ge,yw:ce,flat:re});for(let e=_e;e<=u;e++){let t=ne*((e-_e)/Math.max(1,u-_e))**1.8;o(e,{[`foot_${n}`]:Hg(ge,ce,t,re),[`fpitch_${n}`]:t,[`fyaw_${n}`]:ce})}let ve=Math.max(1,Math.round(A_*he.air[t])),ye=ae((oe[n]+l)/2,n);ye[1]+=he.height[t];let be=Hg(ge,ce,Math.min(ne,M_),re),xe=V(be,U(H(ye,be),E_));xe[1]=be[1]+D_*ee*Math.min(1,(he.air[t]/k_)**2)*(O_+.44999999999999996*jg(x))*(he.height[t]/b.lift);let Se=U(P_(te(oe[a])),n===`l`?1:-1),Ce=se[`foot_${a}`],we=e=>(e[0]-Ce[0])*Se[0]+(e[2]-Ce[2])*Se[2],Te=we(ye)-we(xe);Te>0&&(xe[0]+=Se[0]*Te,xe[2]+=Se[2]*Te);let Ee=u+Math.max(2,Math.round(T_*he.air[t]));!c&&Ee<g-1&&o(Ee,{[`foot_${n}`]:xe,[`fpitch_${n}`]:.7*Math.min(ne,M_)}),o(g,{[`foot_${n}`]:ye,[`fyaw_${n}`]:te((oe[n]+l)/2),[`fpitch_${n}`]:0});let De=oe[a]+(p_[0]+(p_[1]-p_[0])*jg(x))*(l-oe[a]),Oe=me?me.s+(De-me.s)*((g-me.f)/(h-me.f)):null,ke=Oe===null?oe[a]+.03:Oe-f_*Math.abs(l-oe[n])/2,Ae=t===0?.015:.032,je=V(ie(ke),U(P_(te(ke)),(a===`l`?1:-1)*Ae));je[1]=d+b.pelvisHigh;let Me=e.pelvisLow??(he.inc[t]>_?Math.min(b.pelvisLow,y(Math.hypot(he.inc[t]/2,v))):b.pelvisLow),Ne=ie(De).slice();Ne[1]=d+(c?b.pelvisHigh:Me),me={f:h,s:De};let Pe=ae(l,n),Fe=te(l),Ie=V(Pe,J(X(Fe),p)),Le=-(i_[0]+(i_[1]-i_[0])*jg(x))*(c?.5:1),Re=Math.max(2,Math.round(.2*b.period)),ze=V(Hg(Ie,Fe,Le,Pe),U(N_(Fe),-.12*Math.abs(l-oe[n])));ze[1]+=j_,!c&&ve>1&&h-ve>g+1&&o(h-ve,{[`foot_${n}`]:ze,[`fpitch_${n}`]:.6*Le});for(let e=0;e<=Re;e++){let t=Le*(1-F_(e/Re));o(h+e,{[`foot_${n}`]:Hg(Ie,Fe,t,Pe),[`fpitch_${n}`]:t,[`fyaw_${n}`]:Fe})}m[n]=h+Re,fe[n].push({a:h,b:1/0,strike:!0}),se[`foot_${n}`]=Pe,se[`fyaw_${n}`]=Fe,oe[n]=l;let Be=(c?0:t<3?[0,.3,.7][t]:1)*he.arm[t],Ve=n===`l`?1:-1,He=za(ee,.4,1.1),Ue=c?0:t===0?.5:1,We=u_*He*Ue*(a===`l`?1:-1),Ge=(h-g)/b.period,Ke=e=>{let t=[Math.cos(Math.PI*(e-Ge)),Math.cos(Math.PI*e)];return t.map(e=>e/Math.max(...t.map(Math.abs)))},qe=Ke(-C).map(e=>-4.5*He*Ve*Be*e),Je=Ke(S).map(e=>d_*He*Ve*Be*e),Ye=Ke(x_).map(e=>-Math.sign(We)*w*He*Ue*e),Xe=Ke(Ge).map((e,t)=>t?__*e:e),Ze=e=>({aswing_l:-.85*b.armSwing*Ve*Be*e,aswing_r:b.armSwing*Ve*Be*e,abend_l:Be*(D-Ve*O*e),abend_r:Be*(D+Ve*O*e)});o(g,{root:je,yaw:te(ke)+qe[0],roll:le+We,spine_roll:ue-We*1.26+Ye[0],spine_yaw:Je[0]-qe[0],...Ze(Xe[0]),wflex_l:l_*Be,wflex_r:l_*Be}),o(h,{root:Ne,yaw:te(De)+qe[1],roll:le,spine_roll:ue+Ye[1],spine_yaw:Je[1]-qe[1],...Ze(Xe[1]),head_yaw:0});let Qe=de+E*Ue,$e=T*He*Ue;o(Math.max(e.f0+1,h-Math.round(C_[1]*b.period)),{spine_pitch:Qe-.6*$e}),o(Math.max(e.f0+1,h-Math.round(C_[0]*b.period)),{spine_pitch:Qe+$e}),pe=l}let ge=e.f0+16+b.steps*b.period+18,_e=Math.max(...a.map(e=>e.f));return e.pelvisHigh===void 0&&e.pelvisLow===void 0&&(r_(a,{end:_e,ground:fe}),Gg(n,a,{f0:e.f0,end:_e,period:b.period,pace:x,ground:fe,start:`${r} start`}),Kg(n,a,{end:_e,period:b.period,pace:x,ground:fe}),r_(a,{end:_e,ground:fe,sk:n})),i=`${r} end`,o(ge,I_(a,ge)),a}function R_(e,t){let n=(e.keys??[]).map((e,t)=>e.src?e:{...e,src:`keys[${t}]`});return(e.generators??[]).forEach((e,r)=>{if(e.type!==`walk`)throw Error(`MOTION_SPEC_INVALID: generators[${r}] has unknown type "${e.type}" (only "walk")`);n=n.concat(L_(e,n,t,`generators[${r}] walk`))}),n}var z_={yaw:.5,pitch:.2,roll:.7},B_={yaw:4,pitch:6,roll:10},V_=33,H_=8,U_=[`yaw`,`pitch`,`roll`];function W_(e){let t=new Map;for(let n of e){let e=/ (start|step \d+)$/.exec(n.src??``),r=e&&n.src.slice(0,-e[0].length);if(!e||!/\bwalk(To)?$/.test(r))continue;let i=t.get(r)??[1/0,-1/0];t.set(r,[Math.min(i[0],n.f),Math.max(i[1],n.f)])}return[...t.values()].filter(([e,t])=>t>e)}var G_=(e,t)=>{let n=Math.floor(t/2),r=t=>e[Math.max(0,Math.min(e.length-1,t))];return e.map((e,t)=>{let i=0;for(let e=t-n;e<=t+n;e++)i+=r(e);return i/(2*n+1)})};function K_(e,t,n){let r=W_(t);if(!r.length)return;let i=t=>e[t]??Array(n).fill(0);for(let a of U_){let o=i(`spine_${a}`),s=i(a).map((e,t)=>e+o[t]),c=G_(s,V_),l=null;for(let[e,o]of r)if(!t.some(t=>t.f>=e&&t.f<=o&&t.set?.[`head_${a}`]!==void 0&&!/\bwalk(To)? 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s=[-2,-1,0,1,2].reduce((e,t,n)=>V(e,U(a[Math.min(r-1,Math.max(0,o+t))],[1,4,6,4,1][n]/16)),[0,0,0]);G(s)<1e-5&&!e.ctx.skinPush[t].has(e.f0+o)||(e.ctx.skinPush[t].set(e.f0+o,s),n.add(e.f0+o))})}}n.size&&t.solve([...n])}return!a.size&&!o.size&&!i.skipped?null:{elbowFrames:a.size,maxTurn:Math.round(s),handFrames:o.size,maxPush:J_(c),skipped:i.skipped,tooDeep:i.deep,how:`elbow turned about the shoulder-wrist line; a hand a little inside pushed out along the skin`}}var Xv=[`reach`,`slide`,`penetration`,`self`,`retime`,`stance`,`grasp`];function Zv(e){if(e===!1)return{reach:!1,slide:!1,penetration:0,self:!1,retime:!1,stance:!1,grasp:!1};let t=e??{},n=t.penetration===!0?.02:Math.min(.05,Math.max(0,Number(t.penetration)||0));return{reach:t.reach!==!1,slide:t.slide!==!1,penetration:n,self:t.self!==!1,retime:t.retime===!0,stance:t.stance!==!1,grasp:t.grasp!==!1}}var Qv=(e,t)=>e?{...t??{frames:0,how:`planted heel/ball held in place`},turns:e,how:`${t?.how??`planted heel/ball held in place`}; a 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cy=10,ly=9.81,uy=2,dy=.06,fy=.006,py=25,my=.5,hy=`load: what each hand carries, kg, and its most N m (mass x 9.81 x the shoulder-to-wrist distance across) at f; frames [first, last] held`,gy=e=>e?.fix!==!1&&e?.fix?.grasp!==!1,_y=e=>{let t=Math.min(1,Math.max(0,e));return t*t*(3-2*t)},vy=e=>Object.entries(e.objects??{}).filter(([,t])=>xh(t)&&e.props?.[t.prop]).map(([t,n])=>[t,n,e.props[n.prop].hand]);function yy(e,t,n,r,i,a){let{spec:o,scene:s,sk:c}=e;if(!gy(o)||!(a>.001))return null;for(let[l,u,d]of vy(o)){if(d!==t||u.keys?.length)continue;let f=sy(o,s,l),[p,m]=e.carrySpan(u);if(n<p||n>m||f*ly*Hl(c,t)<uy)continue;let h=_y((n-p)/4)*_y((m-n)/4)*a,g=Math.min(dy,fy*f)*h;if(!(g>0))return null;let _=H(r.P[c.index[`${rh[t]}Arm`]],i),v=G([_[0],0,_[2]])>1e-6?K([_[0],0,_[2]]):[0,0,0];return V([0,-g,0],U(v,g))}return null}var by=(e,t,n,r)=>{let i=H(t.P[e.index[`${rh[n]}Hand`]],t.P[e.index[`${rh[n]}Arm`]]);return r*ly*Math.hypot(i[0],i[2])};function xy(e,t,n){let{spec:r,scene:i}=t.ctx,a=t.f0??0;if(!gy(r))return;let o=vy(r).map(([e,t,n])=>({id:e,o:t,k:n,mass:sy(r,i,e)}));o.length&&t.frames.forEach(({s:r},i)=>{let s=i+a;for(let i of o)Bm(t,i.id,s)===i.k&&n({...i,f:s,Nm:by(e,r,i.k,i.mass)})})}function Sy(e,t){let n={};xy(e,t,({id:e,k:t,mass:r,f:i,Nm:a})=>{let o=n[`hand_${t}`]??={object:e,mass:Math.round(r*1e3)/1e3,maxNm:0,at:i,frames:[i,i]};a>o.maxNm&&(o.maxNm=a,o.at=i),o.frames[1]=i});for(let e of Object.values(n))e.maxNm=Math.round(e.maxNm*10)/10;return Object.keys(n).length?n:null}function Cy(e,t,n,r,i){let a=r===`r`?`l`:`r`,{spec:o,scene:s}=e.ctx,c=new Set([t,...Cm(s,t)]);return Object.entries(o.anchors??{}).some(([t,r])=>(e.baked?.[`w_${t}_${a}`]?.[i]??0)>my&&(r.kind===`object`&&c.has(r.object)||r.kind===`prop`&&r.prop===n.prop))}function wy(e,t){let n=[];return xy(e,t,({id:e,o:r,k:i,f:a,Nm:o})=>{o>py&&!Cy(t,e,r,i,a)&&n.push({kind:`LOAD`,msg:`${rh[i].toLowerCase()} holds ${e} at ${o.toFixed(0)} N 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a=[r,...i.ancestors??[]].find(t=>wh(e.objects?.[t])),l=e.objects?.[a];c[r]=l?xh(l)||Sh(l)?{...i,carried:a}:tm(l)?{...i,...Oh(ym({spec:e,scene:t,timeMap:o},a,s),kh(t.objects[a]??hl(t)[a],i))}:{...i,...Ah(l,i,n,s)}:i}return i.set(s,c),c};return{all:s,obstacles:e=>(r()!==o&&s(e),a.has(e)||a.set(e,Object.fromEntries(Object.entries(s(e)).filter(([,e])=>!e.carried))),a.get(e))}}function Ay(e,t,n,r){if(r.prop)return n.props?.[r.prop]?.[r.point];let i=r.joints??[`RightHandIndex2`,`RightHandMiddle2`];return U(i.map(n=>t.P[e.index[n]]).reduce((e,t)=>V(e,t),[0,0,0]),1/i.length)}function jy(e,t,n,r=!1,i=!0,a=null){let{sk:o}=e;return{softReach:e.softReach,foldFree:r,hold:i&&e.hold?(r,i)=>r===a?null:e.hold.lead(r,n,i,t):void 0,push:r?void 0:t=>e.push?.[t]?.get(n),swivel:t=>e.swivel?.[t]?.get(n),skinPush:r?void 0:t=>e.skinPush?.[t]?.get(n),handTarget(r,i,a){a.frame=n;let s=i.P[o.index[r===`l`?`LeftHand`:`RightHand`]],c=[];for(let[n,o]of Object.entries(t)){let 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0:(r,i,a)=>yy(e,r,n,i,a,(1-Hv(e.spec,t,r))*Math.min(1,Math.max(0,t[`armw_${r}`]??0))),heldShapes:r||!e.grasp?void 0:(r,i)=>$m(e,t,n,r,i)}}function My(e,t,n,r=!0){let i={...lg(t,e.idle,n)};for(let t of[`l`,`r`])e.busy?.[t]&&(i[`hangoff_${t}`]=e.busy[t][n]);for(let t of e.spec.fits??[]){let a=`w_${t.anchor}_${t.side}`;if(!(i[a]>1e-4))continue;let o={...i,[a]:1,[`armw_${t.side}`]:1};for(let e of Object.keys(o))e!==a&&RegExp(`^w_.+_${t.side}$`).test(e)&&(o[e]=0);let s=[0,0,0],c=null,l=null,u=np(e.spec,t.anchor),d=e.sk.index[`${rh[t.side]}Arm`],f=e.sk.index[`${rh[t.side]}Hand`];for(let i=0;i<6;i++){o[`fit_${t.anchor}_${t.side}`]=s;let{s:i,diag:a}=bh(e.sk,o,jy(e,o,n,!0,r,t.side)),p=Ay(e.sk,i,a,t.effector),m=V(Wl(e,t.anchor,i,a,o,t.side),t.offset??[0,0,0]);if(!p)break;let h=H(m,p),g=G(h);u&&(!c||g<c.err)&&(c={err:g,hand:H(i.P[f],p)}),l={goal:m,shoulder:i.P[d]},s=V(s,h)}u&&c&&l&&G(H(V(l.goal,s),l.shoulder))>Hl(e.sk,t.side)+Oy&&(s=c.hand),i[`fit_${t.anchor}_${t.side}`]=s}let{s:a,diag:o}=bh(e.sk,i,jy(e,i,n,!1,r));return o.frame=n,{s:a,diag:o,c:i}}function Ny(e,{sk:t,scene:n},r={}){if(e?.schema!==`cozyclay.motion-spec.v1`)throw Error(`MOTION_SPEC_INVALID: schema must be cozyclay.motion-spec.v1`);let i=Math.round(e.frames);if(!(i>=1&&i<=2e4))throw Error(`MOTION_SPEC_INVALID: frames must be 1..20000`);let a=Zv(e.fix),[o,s]=r.window?[Math.max(0,r.window[0]),Math.min(i-1,r.window[1])]:[0,i-1],c={sk:t,spec:e,scene:n,grasp:a.grasp,softReach:a.reach,push:{l:new Map,r:new Map},swivel:{l:new Map,r:new Map},skinPush:{l:new Map,r:new Map},keepOut:a.self?cs(t):null},l={ctx:c,fps:e.fps??30,frameCount:i,f0:o,frames:[]};c.objectPose=(e,t,n)=>Vm(l,e,t,n),c.objectHand=(e,t)=>Bm(l,e,t),c.restingAt=(e,t)=>Nm(l,e,t),c.carrySpan=e=>Dm(l,e),c.solvedAt=e=>Fm(l,e),c.weightAt=(e,t)=>l.baked?.[e]?.[t],c.frameCount=i;let u={rebake(r){l.keys=r,l.baked=Su(r,i,yu(e.flow)),c.socketTurns=new Map,c.graspPlans=new Map,K_(l.baked,r,i),c.idle=cg(l.baked,{spec:e,sk:t,frameCount:i}),c.busy=sg(l.baked,e,i,l.fps);let a=ky(e,n,l.baked,()=>l.timeMap);c.objectsAt=a.all,l.objectsAt=o?e=>a.obstacles(e+o):a.obstacles},solve(e){for(let t of e)t>=o&&t<=s&&(l.frames[t-o]=My(c,Cu(l.baked,t),t))},all:()=>Array.from({length:s-o+1},(e,t)=>o+t)};return c.hold=bp(c,l,e=>My(c,Cu(l.baked,e),e,!1),e=>My(c,Cu(l.baked,e),e)),u.rebake(r.keys??R_(e,t)),u.solve(u.all()),l.fixed=r.fixes===!1?{}:ey(l,a,u,{whole:!r.window}),c.hold&&l.timeMap&&u.solve(u.all()),l}var Py=`{ f, pos: [x, y, z], rot: [x, y, z, w] } or { f, pos, aim: [x, y, z], roll? }`,Fy=`{ at, onto?, bounce?, tumble?, v? }`,Iy=e=>Array.isArray(e)&&e.length===4&&e.every(Number.isFinite)&&Math.abs(Math.hypot(...e)-1)<=.01,Ly=e=>Qc(e)&&Math.hypot(...e)>1e-9;function Ry(e,t,n){if(n.rot!==void 0&&n.aim!==void 0)return e(`${t} gives both rot and aim; give one: rot [x, y, z, w], or aim [x, y, z] (the world direction its +Y points) with roll`);if(n.aim===void 0){n.roll!==void 0&&e(`${t}.roll turns the object about aim; give aim [x, y, z] with it, or leave roll out (rot fixes the roll)`),n.lean!==void 0&&e(`${t}.lean lets the compiler lean aim; give aim [x, y, z] with it (rot is used exactly)`),Iy(n.rot)||e(`${t}.rot must be a unit quaternion [x, y, z, w], got ${Z(n.rot)}${n.rot===void 0?`; or give aim [x, y, z], the world direction its +Y points`:``}`);return}Ly(n.aim)||e(`${t}.aim must be a non-zero world direction [x, y, z] for the object's +Y (a bat: knob to barrel), got ${Z(n.aim)}`),n.roll!==void 0&&!Number.isFinite(n.roll)&&e(`${t}.roll must be degrees about aim (a number), got 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must be "face", "up", a world direction [x, y, z] or a point ref (toward it), where the record's +Y points; got ${Z(a)}`);su(e,t,n,`${r}.aim`,a)&&By(e,t,n.scene,`${r}.aim`,a)}}function Hy(e,t,n,r){return n===void 0||Number.isInteger(n)&&n>=0&&(!Number.isInteger(r)||n<r)?!0:(e(`${t} must be a whole frame 0..${Number.isInteger(r)?r-1:`frames-1`}, got ${Z(n)}`),!1)}function Uy(e,t,n,r,{frames:i,scene:a,carry:o}){let s=Array.isArray(r.fall)?r.fall:[r.fall],c=new Set;s.length||e(`${n}.fall is an empty list; give ${Fy} or a list of them`),s.forEach((s,l)=>{let u=Array.isArray(r.fall)?`${n}.fall[${l}]`:`${n}.fall`;if(!s||typeof s!=`object`||Array.isArray(s))return e(`${u} must be ${Fy} (at: the frame it starts to fall), got ${Z(s)}`);for(let e of Object.keys(s))Ec.includes(e)||t(`${u} has unknown field "${e}"${el(e,Ec)}; a fall is ${Fy}`);if(s.at===void 0)e(`${u}.at must be the whole frame it starts to fall`);else if(Hy(e,`${u}.at`,s.at,i)){c.has(s.at)&&e(`${u}.at = ${s.at}: another fall 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t=String(e),n=Hc.reduce((e,n)=>Wy(n,t)>Wy(e,t)?n:e);return Wy(n,t)>=4?`; did you mean "${n}"?`:el(t,Hc)}function Ky(e,t,n){n.mass!==void 0&&!(Number.isFinite(n.mass)&&n.mass>=.01&&n.mass<=60)&&e(`${t}.mass must be kg in 0.01..60, got ${Z(n.mass)}`)}function qy(e,t,n){n.visible!==void 0&&(typeof n.visible!=`string`||!n.visible)&&e(`${t}.visible must name a channel (shown above 0.5)`),n.level!==void 0&&(typeof n.level!=`string`||!n.level)&&e(`${t}.level must name a channel (the record's level 0..4: 0 dark, 1 as authored; it scales its light, glow and effect rate)`)}function Jy(e,t,{sk:n,scene:r,frames:i=e.frames,unknown:a=t}){for(let[o,s]of Object.entries(e.objects??{})){let c=`objects.${o}`,l=s?.prop===void 0?Sh(s)?`follow`:tm(s)?`free`:Ch(s)?`switch`:`hinge`:`carry`,u=Tc[l];(l!==`switch`&&l!==`follow`||!r?.others?.[o])&&ll(t,r,c,o,{groups:!0});for(let e of Object.keys(s??{}))!u.includes(e)&&(l!==`hinge`||e!==`keys`&&e!==`fall`)&&a(`${c} (${l}) has unknown field "${e}"${el(e,u)}; 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lb(e,t,n,r,i){if(n===`near`)return au(e,r,t.near[0],t.near[1]);if(n===`above`){let n=iu(e,r,t.above[0]),i=iu(e,r,t.above[1]);return n&&i?n[1]-i[1]:null}if(n===`speed`)return cb(e,t.speed,r);let a=i&&iu(e,r,ib(ob(t)));return a?G(H(a,i)):null}var ub=(e,t,n)=>Qy.has(e)?t-n:n-t,db=e=>Math.max(1e-4,Math.round(e*1e4)/1e4);function fb(e,t,n,r,i){let a=nb(t,n),o=(n===`moved`||n===`still`)&&!ob(t).startsWith(`object:`),s=n===`moved`||n===`still`?sb(e.out,t,r):null,c=[];for(let o=Math.max(r,e.f0);o<=Math.min(i,e.last);o++){let r=lb(e.out,t,n,o,s);r!==null&&c.push({f:o,v:r,short:ub(n,r,a)})}return{rows:c,from:o?r:void 0}}function pb(e,t){if(e.events.has(t))return e.events.get(t);if(e.visiting.has(t))return null;e.visiting.add(t);let n=e.goals[t],r=eb(n)[0],i=r&&mb(e,t),a;if(i&&!i.wait){let{rows:t}=fb(e,n,r,i.a,i.b);a=t.length?t.find(e=>e.short<=0)?.f??null:void 0}else a=i?.wait?null:void 0;return e.visiting.delete(t),e.events.set(t,a),a}function mb(e,t){let n=e.goals[t],[r,i]=Array.isArray(n.at)?n.at:[n.at,n.at];for(let a of[`after`,`before`]){if(n[a]===void 0)continue;let o=e.names.get(n[a]);if(o===void 0||o===t)return{wait:`${a} "${n[a]}" names no other goal`};let s=pb(e,o);if(s===void 0)return{skip:!0};if(s===null)return{wait:`waits for "${n[a]}" (${a}), which never holds`};if(a===`after`?r=Math.max(r,s+1):i=Math.min(i,s-1),r>i)return{wait:`no frames left ${a} "${n[a]}" (it holds first at f${s}; at is f${Array.isArray(n.at)?`${n.at[0]}-f${n.at[1]}`:n.at})`}}return{a:r,b:i}}function hb(e,t,n,r,i,a){let o=i?`f${n.f}, the best of f${i[0]}-f${i[1]}`:`f${n.f}`;return t===`near`?`${e}: ${Q(n.v)} m at ${o} (needs <= ${r})`:t===`above`?`${e}: ${Q(n.v)} m above at ${o} (needs >= ${r})`:t===`speed`?`${e}: ${Q(n.v)} m/s at ${o} (needs >= ${r})`:t===`still`?`${e}: ${Q(n.v)} m from ${a===void 0?`its scene pose`:`f${a}`} at ${o} (needs <= ${r})`:`${e}: moved ${Q(n.v)} m${a===void 0?``:` from f${a}`} at ${o} (needs >= ${r})`}function gb(e,t,n){let r=e.f0??0;return mb({out:e,goals:t,names:new Map(t.map((e,t)=>[tb(e,t),t])),f0:r,last:r+(e.frames?.length??0)-1,events:new Map,visiting:new Set},n)}function _b(e,t){let n=[],r=[],i=e.f0??0,a={out:e,goals:t,names:new Map(t.map((e,t)=>[tb(e,t),t])),f0:i,last:i+(e.frames?.length??0)-1,events:new Map,visiting:new Set};return t.forEach((e,t)=>{let o=eb(e)[0];if(!o)return;let s=tb(e,t),c=nb(e,o),l=mb(a,t),u=Array.isArray(e.at)?e.at[0]:e.at;if(l.skip)return;if(l.wait){r.push({name:s,kind:o,ok:!1,value:null,at:null,need:c}),u>=i&&u<=a.last&&n.push({kind:`GOAL`,msg:`${s}: ${l.wait}`,frame:u-i,value:.01,limit:0});return}let{rows:d,from:f}=fb(a,e,o,l.a,l.b);if(!d.length)return;o===`moved`&&f!==void 0&&(d=[d.reduce((e,t)=>t.v>e.v?t:e)]);let p=rb(e,o)===`any`,m=Array.isArray(e.at)?l.a!==l.b:!1,h=d.reduce((e,t)=>(p?t.short<e.short:t.short>e.short)?t:e),g=h.short<=0;if(r.push({name:s,kind:o,ok:g,value:Q(h.v),at:h.f,need:c}),!g)for(let e of p?[h]:d.filter(e=>e.short>0))n.push({kind:`GOAL`,msg:hb(s,o,e,c,p&&m?[l.a,l.b]:null,f),frame:e.f-i,value:db(e.short),limit:0})}),{issues:n,results:r}}var vb=`{ name?, near | above | moved | still | speed, tol?, by?, at, mode?, after?, before? }`,yb=new Set([`near`,`still`]),bb=new Set([`above`,`moved`,`speed`]);function xb(e,t){let n=Number.isFinite(t)&&t!==0?Math.abs(t):.05;return e===`speed`?`speed takes by (the point reaches by m/s): use by: ${n} (m/s), not tol`:e===`above`?`above takes by (a.y - b.y >= by, default 0): use by: ${n} for a at least ${n} m above b, or by: -${n} to let a sit up to ${n} m below b, not tol`:`moved takes by (the object moves >= by, default 0.05): use by: ${n} (metres), not tol`}var Sb=e=>typeof e==`string`&&e!==``&&!/^[a-z]+:/.test(e),Cb=e=>[`moved`,`still`,`speed`].find(t=>Sb(e?.[t]));function wb(e){return Array.isArray(e)&&e.some(Cb)?e.map(e=>{let t=Cb(e);return t?{...e,[t]:`object:${e[t]}`}:e}):e}function Tb(e,t,n,r,i=``){let a=e=>Number.isInteger(e);if(n===void 0)return e(`${t} needs at: a frame or [f0, f1] (absolute frames within 0..${r-1})`);let o=Array.isArray(n)?n:[n,n];if(!(o.length===2&&o.every(a)&&o[0]<=o[1]))return e(`${t}.at must be an integer frame or [f0, f1] with f0 <= f1, got ${Z(n)}`);(o[0]<0||o[1]>r-1)&&e(`${t}.at = ${Z(n)} is outside 0..${r-1} (spec.frames ${r})${o[1]>r-1?i:``}`)}function Eb(e,t,n,r,i,a){let o=i[a];if(typeof o!=`string`)return t(`${r}.${a} must be an object id or a point ref (object:<id>[.center|.top|.base], prop:<prop>.<point>, joint:<Bone>, landmark:mouth, anchor:<name>), got ${Z(o)}`);su(e,t,n,`${r}.${a}`,o)&&a!==`speed`&&!o.startsWith(`object:`)&&(Number.isInteger(i.at)||Array.isArray(i.at)&&i.at[0]===i.at[1])&&t(`${r}.${a} "${o}" measures ${a===`moved`?`how far the point gets`:`how far the point strays`} from where it is at at[0], so at must be [f0, f1] with f0 < f1, got ${Z(i.at)}`)}function Db(e,t,n,r,i,a){let o=`goals[${i}]`,s={sk:n.sk,scene:n.scene},c=n.unknown??t;if(!r||typeof r!=`object`||Array.isArray(r))return t(`${o} must be ${vb}, got ${Z(r)}`);for(let e of Object.keys(r))jc.includes(e)||c(`${o} has unknown field "${e}"${el(e,jc)} (fields: ${jc.join(`, `)})`);r.name!==void 0&&(typeof r.name!=`string`||!r.name.trim()?t(`${o}.name must be a non-empty string, got ${Z(r.name)}`):a.has(r.name)?t(`${o}.name "${r.name}" is already used by goals[${a.get(r.name)}]; goal names must differ`):a.set(r.name,i));let l=eb(r),u=l[0];if(l.length||t(`${o} needs one predicate: ${Xy.join(`, `)}`),l.length>1&&t(`${o} names ${l.join(` and `)}; a goal takes exactly one of ${Xy.join(`, `)} (split it into ${l.length} goals)`),l.length===1&&$y.has(u))Eb(e,t,s,o,r,u);else if(l.length===1){let n=r[u];Array.isArray(n)&&n.length===2&&n.every(e=>typeof e==`string`)?n.forEach((n,r)=>su(e,t,s,`${o}.${u}[${r}]`,n)):t(`${o}.${u} must be [ref, ref] (two point refs), got ${Z(n)}`)}r.tol!==void 0&&(l.length===1&&!yb.has(u)?t(`${o}.tol applies to near and still; ${xb(u,r.tol)}`):Number.isFinite(r.tol)&&r.tol>=0||t(`${o}.tol must be a number >= 0 (metres), got ${Z(r.tol)}`)),r.by===void 0?u===`speed`&&l.length===1&&t(`${o}.speed needs by: the speed the point must reach, in m/s (e.g. by: 2)`):l.length===1&&!bb.has(u)?t(`${o}.by applies to above, moved and speed; ${u} takes tol`):(!Number.isFinite(r.by)||u===`moved`&&r.by<0||u===`speed`&&r.by<=0)&&t(`${o}.by must be a ${u===`moved`?`number >= 0 (metres)`:u===`speed`?`number > 0 (m/s)`:`finite number (metres)`}, got ${Z(r.by)}`),r.mode!==void 0&&r.mode!==`all`&&r.mode!==`any`&&t(`${o}.mode must be "all" or "any", got ${Z(r.mode)}`),Tb(t,o,r.at,n.frames,n.past)}function Ob(e,t){let n=new Map(e.map((e,t)=>[e&&typeof e==`object`?tb(e,t):`goals[${t}]`,t])),r=e.map((e,r)=>[`after`,`before`].flatMap(i=>{if(!e||typeof e!=`object`||e[i]===void 0)return[];let a=n.get(e[i]);return typeof e[i]!=`string`||a===void 0?(t(`goals[${r}].${i} must 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Nb(e,t,{sk:n,scene:r,unknown:i=t}){for(let[a,o]of Object.entries(e.anchors??{})){let s=`anchors.${a}`;if(/_[lr]$/.test(a)&&t(`${s}: an anchor name may not end in _l or _r (the weight channel w_${a}_l would read as anchor "${a.slice(0,-2)}"); the side goes on the weight channel, so name it "${a.slice(0,-2)}"`),!o||!Sc[o.kind]){t(`${s}.kind must be one of ${Object.keys(Sc).join(`, `)}, got ${Z(o?.kind)}`);continue}Mb(i,`${s} (${o.kind})`,o,[`kind`,...Sc[o.kind]]);for(let e of[`p`,`offset`,`local`])o[e]!==void 0&&!Qc(o[e])&&t(`${s}.${e} must be [x, y, z], got ${Z(o[e])}`);(o.kind===`world`||o.kind===`body`)&&o.p===void 0&&t(`${s} (${o.kind}) needs p: [x, y, z]${o.kind===`body`?`, ${qc.pole}`:``}`),o.kind===`bone`&&cl(t,n,s,o.bone),o.kind===`segment`&&(cl(t,n,`${s}.from`,o.from),cl(t,n,`${s}.to`,o.to),o.reach!==void 0&&!Ab.has(o.reach)&&t(`${s}.reach must be "l" or "r"`)),o.kind===`object`&&ll(t,r,s,o.object,{groups:!0})&&(o.grasp!==void 0&&!Hc.includes(o.grasp)&&t(`${s}.grasp must be one of ${Hc.join(`, `)}, got ${Z(o.grasp)}`),o.socket!==void 0&&r?.objects&&!Pl(r,o.object,o.socket)&&t(`${s}.socket: "${o.object}" has no socket ${Z(o.socket)} (sockets: ${Nl(r,o.object).map(e=>e.name).join(`, `)||`none`})`),o.socket!==void 0&&o.grasp===void 0&&t(`${s}.socket needs grasp (${Hc.join(`, `)}): the socket says how the hand takes it`)),o.kind===`person`&&!wl(r,o.person,o.bone??``,0)&&t(`${s} (person) needs person: the id of another character with an installed take (people: ${Tl(r)}) and bone: one of its joints, got ${Z(o.person)} ${Z(o.bone)}`),o.kind===`landmark`&&o.name!==`mouth`&&t(`${s}: the only landmark is "mouth", got ${Z(o.name)}`),o.kind===`prop`&&!e.props?.[o.prop]?.points?.[o.point]&&o.point!==`origin`&&t(`${s} needs prop point ${o.prop}.${o.point}, which spec.props does not define`)}}function Pb(e,t,{sk:n,unknown:r=t}){for(let[i,a]of Object.entries(e.props??{})){let e=`props.${i}`;Mb(r,e,a,Cc),Ab.has(a?.hand)||t(`${e}.hand must be "l" or "r", got ${Z(a?.hand)}`),!Array.isArray(a?.origin)||!a.origin.length?t(`${e}.origin must list one or more bones`):a.origin.forEach(r=>cl(t,n,`${e}.origin`,r));for(let[n,r]of Object.entries(a?.points??{}))Qc(r)||t(`${e}.points.${n} must be [d, l, n] along the palm axes, got ${Z(r)}`)}(e.fits??[]).forEach((i,a)=>{let o=`fits[${a}]`;Mb(r,o,i,wc),Ab.has(i?.side)||t(`${o}.side must be "l" or "r", got ${Z(i?.side)}`),e.anchors?.[i?.anchor]||t(`${o}.anchor "${i?.anchor}" is not in spec.anchors${el(String(i?.anchor),Object.keys(e.anchors??{}))}`);let s=i?.effector;s?.prop===void 0?Array.isArray(s?.joints)?s.joints.forEach(e=>cl(t,n,`${o}.effector`,e)):t(`${o}.effector must be { prop, point } or { joints: [bone, ...] }`):e.props?.[s.prop]?.points?.[s.point]||t(`${o}.effector ${s.prop}.${s.point} is not a point of spec.props`),i?.offset!==void 0&&!Qc(i.offset)&&t(`${o}.offset must be [x, y, z]`),i?.orient!==void 0&&typeof i.orient!=`boolean`&&t(`${o}.orient must be true or false (false: the hand takes no grip turn), got ${Z(i.orient)}`)})}function Fb(e,t,{frames:n,unknown:r=t,past:i=``}){(e.generators??[]).forEach((e,a)=>{let o=`generators[${a}]`;if(e?.type!==`walk`)return t(`${o}.type must be "walk", got ${Z(e?.type)}`);Mb(r,o,e,Oc),(!Number.isInteger(e.f0)||e.f0<0||e.f0>n-1)&&t(`${o}.f0 must be an integer frame within 0..${n-1}, got ${Z(e.f0)}${e.f0>n-1?i:``}`),e.heading!==void 0&&!(Array.isArray(e.heading)&&e.heading.length===2&&e.heading.every(Number.isFinite))&&t(`${o}.heading must be [h0, h1] in degrees (${qc.yaw}), got ${Z(e.heading)}`);for(let n of Oc.slice(2))n!==`heading`&&e[n]!==void 0&&!Number.isFinite(e[n])&&t(`${o}.${n} must be a finite number, got ${Z(e[n])}`);e.steps!==void 0&&!(Number.isInteger(e.steps)&&e.steps>=1)&&t(`${o}.steps must be an integer >= 1, got ${Z(e.steps)}`),e.turnDistance!==void 0&&!(e.turnDistance>0)&&t(`${o}.turnDistance must be > 0 m, got ${Z(e.turnDistance)}`)})}function Ib(e,t,{sk:n,scene:r,frames:i,unknown:a=t,past:o=``}){let s=e.checks??{};for(let e of Object.keys(s))kc.includes(e)||a(`checks.${e} is not a check${el(e,kc)} (checks: ${kc.join(`, `)})`);let c=(e,n=()=>{})=>{let r=s[e],i=`{ ${Ac[e].join(`, `)} }`;if(r!==void 0){if(!Array.isArray(r))return t(`checks.${e} must be an array of ${i}, got ${Z(r)}`);r.forEach((r,o)=>{if(!jb(r))return t(`checks.${e}[${o}] must be ${i}, got ${Z(r)}`);Mb(a,`checks.${e}[${o}]`,r,Ac[e]),n(r,o)})}},l=(e,n)=>{n!==void 0&&typeof n!=`string`&&(Array.isArray(n)&&n.length===2&&n.every(Number.isInteger)&&n[0]<=n[1]&&n[0]>=0&&n[1]<=i-1||t(`${e}.when must be a weight channel or [f0, f1] within 0..${i-1}, got ${Z(n)}${Array.isArray(n)&&n[1]>i-1?o:``}`))};c(`contacts`,(r,i)=>{ul(e,t,n,`checks.contacts[${i}].point`,r.point),ul(e,t,n,`checks.contacts[${i}].target`,r.target),l(`checks.contacts[${i}]`,r.when)}),c(`orient`,(r,i)=>{ul(e,t,n,`checks.orient[${i}].from`,r.from),ul(e,t,n,`checks.orient[${i}].to`,r.to),l(`checks.orient[${i}]`,r.when),r.along===`face`||r.along===`up`||Qc(r.along)||t(`checks.orient[${i}].along must be "face", "up" or [x, y, z]`)}),c(`below`,(e,r)=>{cl(t,n,`checks.below[${r}].joint`,e.joint),cl(t,n,`checks.below[${r}].ref`,e.ref),l(`checks.below[${r}]`,e.when)}),c(`clearance`,(e,n)=>{ll(t,r,`checks.clearance[${n}]`,e.object),l(`checks.clearance[${n}]`,e.frames)}),c(`appear`,(r,i)=>{cl(t,n,`checks.appear[${i}].joint`,r.joint),e.anchors?.[r.anchor]||t(`checks.appear[${i}].anchor "${r.anchor}" is not in spec.anchors`)}),c(`supports`,(e,n)=>ll(t,r,`checks.supports[${n}]`,e.object)),c(`allow`);for(let e of Object.keys(s.limits??{}))e in Yd||a(`checks.limits.${e} is not a QA limit${el(e,Object.keys(Yd))}`);let u=e.fix;if(u!==void 0&&u!==!1&&(typeof u!=`object`||!u))t(`spec.fix must be false or { ${Xv.join(`, `)} }`);else for(let e of Object.keys(u||{}))Xv.includes(e)||a(`spec.fix.${e} is not a fix${el(e,Xv)} (fixes: ${Xv.join(`, `)})`);u&&u.grasp!==void 0&&typeof u.grasp!=`boolean`&&t(`spec.fix.grasp must be true (fingers close on what a hand holds, the default) or false (the preset grip, the object at its grab-frame offset), got ${Z(u.grasp)}`)}function Lb(e,t,n){Nb(e,t,n),Pb(e,t,n),Jy(e,t,n),Fb(e,t,n),Ib(e,t,n),kb(e,t,n)}var Rb=12;function zb(e){let t=new Set(e.channels??[]);for(let n of Object.values(e.objects??{}))for(let e of[n?.channel,n?.visible,n?.level])typeof e==`string`&&e&&t.add(e);let n=e.checks??{},r=e=>Array.isArray(e)?e.filter(e=>e&&typeof e==`object`):[];for(let e of[n.contacts,n.orient,n.below,n.clearance].flatMap(r))typeof e.when==`string`&&t.add(e.when);for(let e of r(n.appear))typeof e.channel==`string`&&t.add(e.channel);return t}function Bb(e,t,n,r){if(Ic.has(n)){if(!Qc(r))return e(`${t} ${n} must be [x, y, z] (3 finite numbers), got ${Z(r)}`);if(Lc.has(n)){let i=Math.hypot(...r);if(i<1e-6)return e(`${t} ${n} = ${Z(r)} has no direction; a pole is a ${qc.pole}`);n.startsWith(`knee`)&&r[2]<-.7*i&&e(`${t} ${n} = ${Z(r)} points backward; knees bend toward +z. 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+`)}${i.length>=Rb?`
+(more problems not listed)`:``}`)}function qb(e,t,n){let{s:r,diag:i,c:a}=e.frames[t],[o,s]=n.split(/:(.*)/s);if(o===`joint`)return r.P[e.ctx.sk.index[s]];if(o===`prop`){let[e,t]=s.split(`.`);return i.props?.[e]?.[t]??null}if(o===`anchor`)return Wl(e.ctx,s,r,i,a);throw Error(`MOTION_SPEC_INVALID: check point "${n}"`)}function Jb(e,t,n){let r=/^prop:([^.]+)\./.exec(t)?.[1],i=e.ctx.spec.props?.[r]?.hand,{spec:a,scene:o}=e.ctx;return i?Object.keys(a.objects??{}).find(t=>fc(a,a.objects[t],o,t)&&Bm(e,t,n)===i)??null:null}function Yb(e,t){let[n,r]=t.split(/:(.*)/s),i=n===`anchor`?e.ctx.spec.anchors?.[r]:null;return i?.kind!==`object`||!i.grasp?null:e.ctx.sockets?.get(r)?.owner??i.object}var Xb=(e,t,n)=>Array.isArray(n)?t+(e.f0??0)>=n[0]&&t+(e.f0??0)<=n[1]:!n||(e.frames[t].c[n]??0)>.99;function Zb(e,t,n){return n===`up`?[0,1,0]:n===`face`?ao(e.ctx.sk,e.frames[t].s,e.ctx.sk.index.Head,[0,0,1]):K(n)}function Qb(e,t={}){let n=[],r=e.frames.length,i=e.ctx.sk.index,a=(e,t,r,i,a)=>n.push({kind:e,msg:t,frame:r,value:+i.toFixed(4),limit:a});for(let n=0;n<r;n++){for(let r of t.contacts??[])if(Xb(e,n,r.when)){let t=qb(e,n,r.point),i=qb(e,n,r.target);if(!t||!i)continue;let o=Yb(e,r.target)??Jb(e,r.point,n+(e.f0??0)),s=o?au(e,n,r.point,`object:${o}`)??G(H(t,i)):G(H(t,i));s>(r.tol??.01)&&a(`CONTACT`,`${r.name}: ${(s*100).toFixed(1)} cm apart`,n,s,r.tol??.01)}for(let r of t.orient??[])if(Xb(e,n,r.when)){let t=qb(e,n,r.from),i=qb(e,n,r.to);if(!t||!i)continue;let o=W(K(H(i,t)),Zb(e,n,r.along));o<(r.minCos??.64)&&a(`ORIENT`,`${r.name}: cos ${o.toFixed(2)}`,n,o,r.minCos??.64)}for(let r of t.below??[])if(Xb(e,n,r.when)){let{P:t}=e.frames[n].s,o=t[i[r.ref]][1]-t[i[r.joint]][1];o<(r.min??.08)&&a(`BELOW`,`${r.name}: ${r.joint} only ${(o*100).toFixed(1)} cm below ${r.ref}`,n,o,r.min??.08)}for(let r of t.clearance??[])if(Xb(e,n,r.frames)){let t=e.objectsAt(n)[r.object],o=Ws.find(e=>e[0]===r.part);if(!t||!o)continue;let{P:s}=e.frames[n].s,c=Math.min(...Gs(s[i[o[1]]],s[i[o[2]]]).map(e=>Ks(e,t)))-o[3];c<r.min&&a(`CLEARANCE`,`${r.name}: ${(c*100).toFixed(1)} cm`,n,c,r.min)}}for(let n of t.appear??[])for(let t=1;t<r;t++){if((e.frames[t-1].c[n.channel]??0)>.5==(e.frames[t].c[n.channel]??0)>.5)continue;let r=G(H(qb(e,t,`joint:${n.joint}`),qb(e,t,`anchor:${n.anchor}`)));r>(n.tol??.035)&&a(`APPEAR`,`${n.name}: switches with the hand ${(r*100).toFixed(1)} cm from ${n.anchor}`,t,r,n.tol??.035)}return n}var $b=/^(.+): [\d.]+ cm off its keys$/,ex={twist:`twist about the forearm`,flex:`flex`,dev:`deviation (+ toward the thumb)`};function tx(e,t){let n=e.objects[t]??hl(e)[t];return Cm(e,t).flatMap(t=>{let r=e.objects[t],i=kh(n,r),[a,o,s]=r.half;return[-a,a].flatMap(e=>[0,2*o].flatMap(t=>[-s,s].map(n=>V(i.pos,J(i.R,[e,t,n])))))})}function nx(e,t,n){let{scene:r}=e.ctx,i=e.f0??0;for(let[a]of yp(e.ctx.spec)){let o=gp(e,a),s=tx(r,a);if(s.length)for(let r=Math.max(i,Math.ceil(o.t[0]));r<=Math.min(i+e.frames.length-1,Math.floor(o.t[o.t.length-1]));r++){let c=_p(o,r),l=Rm(e,a,r),u=Math.max(...s.map(e=>Ra(V(c.pos,J(c.R,e)),V(l.pos,J(l.R,e)))));u>t.reach&&n(`REACH`,`${a}: ${(u*100).toFixed(1)} cm off its keys`,r-i,u,t.reach)}}}function rx(e,t){let n=$b.exec(t.subject)?.[1],r=e.spec?.objects?.[n];if(!r?.keys?.length)return null;let i=t.worstFrame,a=e.spec.props?.[r.prop]?.hand,o=e.fr(i).diag[`hold_${a}`]??{},s=r.keys.reduce((e,t,n)=>Math.abs(t.f-i)<Math.abs(r.keys[e].f-i)?n:e,0),c=Object.entries(ds).filter(([e,[t,n]])=>o[e]<t||o[e]>n).map(([e,[t,n]])=>`the wrist ${ex[e]} needs ${Math.round(o[e])}deg (limit ${t}..${n})`);c.length&&(c[c.length-1]+=` after the elbow swung ${Math.round(o.swivel??0)}deg and the forearm turned`);let l=o.miss>.005&&o.fold,u=l?`the grip is ${(o.miss*100).toFixed(1)} cm inside the forearm's reach (the elbow would fold ${Math.round(o.fold)}deg; it bends to 145deg and stops at 150deg)`:`the arm is ${(o.miss*100).toFixed(1)} cm short`,d=[...o.miss>.005?[u]:[],...c],f=r.keys[s].aim&&r.keys[s].roll===void 0?``:`; an aim key without roll takes the roll the arm holds most easily`;return{cause:`objects.${n}.keys[${s}] f${r.keys[s].f}`,hint:`${n} at f${i}: ${d.length?d.join(`, `):`the hand cannot hold it there`}; ${l?`key a pose farther from the shoulder, or turn or move the body away from it`:`key a pose nearer the hand, or bring the body to it`} (root, yaw, spine_yaw)${f}`}}var ix=e=>Math.round(e*10)/10,ax=e=>Math.round(e*100)/100,ox=`held: per key, deg = the drawn +Y off the asked one (aim, or rot's +Y), cm = the drawn base off pos, got = the drawn +Y (when 1 deg off or more), rot = what an aim key used`;function sx(e){let t=yp(e.ctx.spec);return t.length?Object.fromEntries(t.map(([t,n])=>{let r=gp(e,t);return[t,[...n.keys].sort((e,t)=>e.f-t.f).map((n,i)=>{let a=Rm(e,t,Math.round(r.t[i])),o=[a.R[0][1],a.R[1][1],a.R[2][1]],s=ix(Za(n.aim?K(n.aim):J(Xa(r.q[i]),[0,1,0]),o));return{f:n.f,deg:s,cm:ix(Ra(n.pos,a.pos)*100),...s>=1?{got:o.map(ax)}:{},...n.aim?{rot:r.rots[i]}:{}}})]})):null}var cx=3,lx=.03,ux=e=>V(e.pos,J(e.R,[0,e.half[1],0])),dx=(e,t)=>[e[0][t],e[1][t],e[2][t]];function fx(e,t,n=null){let r=H(ux(e),ux(t)),i=[0,1,2].map(t=>dx(e.R,t)),a=[0,1,2].map(e=>dx(t.R,e)),o=[...i,...a,...i.flatMap(e=>a.map(t=>La(e,t)))],s={depth:1/0,axis:[0,1,0]};for(let c of o){if(G(c)<1e-6)continue;let o=K(c),l=(e,t)=>t.reduce((t,n,r)=>t+Math.abs(W(n,o))*e.half[r],0),u=l(e,i)+l(t,a);if(u-Math.abs(W(r,o))<=0)return{depth:u-Math.abs(W(r,o)),axis:o};let d=W(n??r,o)<0?U(o,-1):o,f=u-W(r,d);f<s.depth&&(s={depth:f,axis:d})}return s}var px=(e,t,n,r)=>{let i=n===`l`?`Left`:`Right`,a=U(V(t.P[e.index[`${i}HandIndex2`]],t.P[e.index[`${i}HandMiddle2`]]),.5);return r.some(e=>Ks(a,e)<=0)},mx=(e,t,n)=>!t.visible||(e.baked?.[t.visible]?.[n]??0)>.5,hx=(e,t,n)=>Cm(e.ctx.scene,t).map(t=>({...e.ctx.scene.objects[t],...Nm(e,t,n)}));function gx(e,t,n){let{sk:r,spec:i}=e.ctx,a=e.frames[n-(e.f0??0)];if(!a)return null;let o=Th(r,i,a.s,i.objects[t]);return Math.max(0,Math.min(...hx(e,t,n).map(e=>Ks(o,e))))}function _x(e,t,n){let r=hx(e,t,n);if(!r.length)return null;let i=Math.min(...r.map(e=>e.pos[1]-Math.abs(e.R[1][0])*e.half[0]-Math.abs(e.R[1][2])*e.half[2])),a=U(r.map(ux).reduce((e,t)=>V(e,t),[0,0,0]),1/r.length),o=[a[0],i-.01,a[2]],s=null;for(let[t,r]of Object.entries(e.ctx.objectsAt(n))){if(r.carried||!r.half)continue;let e=Ks(o,r);e<=.02&&(!s||e<s[1])&&(s=[t,e])}return s?.[0]??null}function vx(e,t,n){let r=Object.entries(t.ctx.spec.objects??{}).filter(([,e])=>xh(e));if(!r.length)return[];let i=n.checks??{},a={...Yd,...i.limits},o=i.allow,s=[],c=t.f0??0,l=e.index,u=(e,t,n,r,i)=>s.push({kind:e,msg:t,frame:n,value:+r.toFixed(4),limit:i}),d=(e,t)=>e.reduce((e,n)=>t.reduce((e,t)=>e??Qd(o,n,t),e),null)??a.allow;for(let[i,o]of r){let[r,s]=Dm(t,o),f=n.props?.[o.prop]?.hand,p=new Set([`hand_${f}`,`farm_${f}`]);if(o.grab!==void 0&&r>0&&t.frames[r-c]&&mx(t,o,r-1)){let e=gx(t,i,r),n=[o.fall??[]].flat().some(e=>Array.isArray(e.v)&&e.at<r);n&&e>lx?u(`CATCH`,`${i} missed by ${(e*100).toFixed(1)} cm`,r-c,e,lx):!n&&e>a.grab&&u(`GRAB`,`${i}: hand ${(e*100).toFixed(1)} cm from it at grab`,r-c,e,a.grab)}let m=o.grab===void 0?null:_x(t,i,r),h=e=>Math.abs(e-r)<=cx||o.release!==void 0&&Math.abs(e-s)<=cx;for(let n=0;n<t.frames.length;n++){let a=n+c,s=zm(t,i,a);if(!s||!mx(t,o,a))continue;let f=s.map(e=>e.id),g=s.map(e=>[e,ux(e),G(e.half)]),{s:_}=t.frames[n],v=Object.entries(t.frames[n].diag).filter(([t,n])=>/^hold_[lr]$/.test(t)&&n?.second===i&&(n.w>=.5||px(e,_,t.slice(-1),s))).map(([e])=>`hand_${e.slice(-1)}`);for(let[e,t,r,a]of Ws){if(p.has(e)||v.includes(e))continue;let o=_.P[l[t]],s=_.P[l[r]],c=U(V(o,s),.5),m=a+Ra(o,s)/2,h=d([e],[i,...f]),y=null,b=-1/0;for(let[e,t,n]of g)m-(Ra(c,t)-n)<=h||(y??=Gs(o,s),b=Math.max(b,a-Math.min(...y.map(t=>Ks(t,e)))));b>h&&u(`COLLIDE`,`${e} x ${i}`,n,b,h)}if(!(a<r))for(let[e,r]of Object.entries(t.objectsAt(n))){if(!r.half||r.ignore||e===m&&h(a))continue;let t=d([i,...f],[e]),o=ux(r),s=G(r.half),c=-1/0;for(let[e,n,i]of g)Ra(n,o)<i+s+t&&(c=Math.max(c,fx(e,r).depth));c>t&&u(`COLLIDE`,`${i} x ${e}`,n,c,t)}}}return nx(t,a,u),s}var yx=.009,bx=.022,xx=.004,Sx=.995,Cx=.01,wx=120,Tx=150,Ex=-.3,Dx=[`Index`,`Middle`,`Ring`,`Pinky`],Ox={l:`Left`,r:`Right`};function kx(e,t){let n=Cm(e,t),r=n.length===1?ec(e.objects[n[0]]).kind:`box`;return r===`sphere`?`spherical`:r===`cylinder`?`power`:null}function Ax(e){let{spec:t,scene:n}=e.ctx,r=[],i=t.fix?.grasp===!1?{...t,fix:{...t.fix,grasp:!0}}:t;for(let[t,a]of Object.entries(i.objects??{})){if(!xh(a)||!fc(i,a,n,t))continue;let o=i.props?.[a.prop]?.hand,[s,c]=Dm(e,a);o&&r.push({id:t,k:o,grasp:a.grasp??kx(n,t),from:s+4+1,to:c})}for(let t of i.fits??[]){let n=i.anchors?.[t.anchor];if(n?.kind!==`object`||!n.grasp||e.ctx.sockets?.get(t.anchor)?.rim)continue;let a=`w_${t.anchor}_${t.side}`,o=e.f0??0,s=e.baked?.[`fingers_${t.side}`],c=e=>Object.entries(s?.[e]??{}).reduce((e,[t,n])=>e+(t===`relaxed`?0:n||0),0);r.push({id:n.object,k:t.side,grasp:n.grasp,from:o,to:o+e.frames.length-1,held:t=>(e.baked?.[a]?.[t]??0)>=Sx&&c(t)>=Sx,rests:!0})}return r}var jx=(e,t,n)=>Cm(e.ctx.scene,t).map(t=>({...e.ctx.scene.objects[t],...Vm(e,t,n)}));function Mx(e,t,n){let r=Ox[n],i=n=>t.P[e.index[`${r}Hand${n}`]],a=[{bone:`${r}Hand`,finger:`palm`,a:t.P[e.index[`${r}Hand`]],b:i(`Middle1`),r:bx}];for(let e of[...Dx,`Thumb`])for(let t=1;t<=3;t++)a.push({bone:`${r}Hand${e}${t}`,finger:e,tip:t===3,a:i(`${e}${t}`),b:i(`${e}${t+1}`),r:yx});return a}function Nx(e,t){return e.map(e=>{let n={depth:-1/0};for(let r of t){let t=oc(r,e.a,e.b,e.r);t>n.depth&&(n={depth:t,entry:r})}let r=U(V(e.a,e.b),.5),i=n.entry&&ac(n.entry,r);return{...e,depth:n.depth,at:i,normal:n.entry&&ic(n.entry,r)}})}function Px(e,t){if(!t.length)return 1/0;let n=[e[0],e[2]],r=t.map(e=>[e[0],e[2]]),i=(e,t)=>{let r=[t[0]-e[0],t[1]-e[1]],i=Math.max(0,Math.min(1,((n[0]-e[0])*r[0]+(n[1]-e[1])*r[1])/(r[0]**2+r[1]**2||1)));return Math.hypot(n[0]-e[0]-i*r[0],n[1]-e[1]-i*r[1])},a=Fx(r);return a.length>=3&&a.every((e,t)=>{let r=a[(t+1)%a.length];return(r[0]-e[0])*(n[1]-e[1])-(r[1]-e[1])*(n[0]-e[0])>=0})?0:Math.min(...a.map((e,t)=>i(e,a[(t+1)%a.length])))}function Fx(e){let t=[...e].sort((e,t)=>e[0]-t[0]||e[1]-t[1]),n=(e,t,n)=>(t[0]-e[0])*(n[1]-e[1])-(t[1]-e[1])*(n[0]-e[0]);if(t.length<3)return t;let r=[],i=[];for(let e of t){for(;r.length>=2&&n(r.at(-2),r.at(-1),e)<=0;)r.pop();r.push(e)}for(let e of t.reverse()){for(;i.length>=2&&n(i.at(-2),i.at(-1),e)<=0;)i.pop();i.push(e)}return[...r.slice(0,-1),...i.slice(0,-1)]}function Ix(e,t,n,r,i,a){let o=Nx(Mx(e,t,n.k),r),s=Ox[n.k].toLowerCase();if(n.rests&&o[0].depth<-.03)return;for(let e of o)e.finger!==`palm`&&e.depth>xx&&i(`FINGER_PEN`,`${e.bone} into ${n.id}`,a,e.depth,xx);let c=e=>o.some(t=>t.finger===e&&t.tip&&t.depth>=-.008),l=Dx.filter(c).length,u=c(`Thumb`);(n.grasp===`pinch`?u&&c(`Index`):l>=3||u&&l>=2)||i(`FINGER_GAP`,`${s} fingers off ${n.id}`,a,l+ +!!u,n.grasp===`pinch`?2:3);let d=o.filter(e=>e.depth>=-.008&&e.normal),f=U(r.reduce((e,t)=>V(e,V(t.pos,J(t.R,[0,t.half[1],0]))),[0,0,0]),1/r.length),p=d.filter(e=>e.normal[1]<=Ex).map(e=>e.at),m=d.filter(e=>e.finger===`Thumb`).map(e=>e.normal),h=d.filter(e=>Dx.includes(e.finger)).map(e=>e.normal),g=e=>e.length?K(e.reduce(V,[0,0,0])):null,_=g(m),v=g(h),y=_&&v&&Math.acos(Math.max(-1,Math.min(1,W(_,v))))*180/Math.PI>=wx,b=(e,t)=>Math.acos(Math.max(-1,Math.min(1,W(e,t))))*180/Math.PI,x=d.some((e,t)=>d.slice(t+1).some(t=>b(e.normal,t.normal)>=Tx));!n.rests&&!y&&!x&&Px(f,p)>Cx&&i(`SUPPORT`,`${n.id} not supported`,a,Math.min(1,Px(f,p)),Cx)}function Lx(e,t){if(t.ctx.spec.fix===!1)return[];let n=[],r=t.f0??0,i=(e,t,r,i,a)=>n.push({kind:e,msg:t,frame:r,value:+i.toFixed(4),limit:a});for(let n of Ax(t))for(let a=Math.max(n.from,r);a<=Math.min(n.to,r+t.frames.length-1);a++){if(n.held&&!n.held(a))continue;let o=jx(t,n.id,a);o.length&&Ix(e,t.frames[a-r].s,n,o,i,a-r)}return n}var Rx=.5,zx=1,Bx=90,Vx={twist:1-ps,flex:1,dev:1},Hx=(e,t)=>t[e].map(t=>t*Vx[e]),Ux=`wrist: deg on the frames a hand holds (a fit, a carry or a grip on); flex + toward the palm, dev + radial / - ulnar, twist at the wrist joint; [min, f, max, f], frames past the comfortable range and at the limit; grip: the grip a keyed carry of a thin body keeps (grip-choice.js), cost [it, today's] (comfort-priced wrist, reach and body over the keys); elevation [max deg, f] of the upper arm (90 level), raised: frames the elbow is over the shoulder`;function Wx(e,t,n,r){let{diag:i}=e.frames[n],a=e.baked??{};if((i[`hold_${t}`]?.w??0)>Rx||(i[`grip_${t}`]?.w??0)>Rx)return!0;for(let n of e.ctx.spec.fits??[])if(n.side===t&&(a[`w_${n.anchor}_${t}`]?.[r]??0)>Rx)return!0;return Object.keys(e.ctx.spec.objects??{}).some(n=>e.ctx.spec.objects[n]?.prop&&Bm(e,n,r)===t)}function Gx(e,t){let n=e.index,r=e.restWorldRot,i=t.f0??0,a={};for(let[o,s]of[[`Left`,`l`],[`Right`,`r`]]){let c=n[`${o}Hand`],l=n[`${o}ForeArm`],u=n[`${o}Arm`],d={frames:0,past:0,limit:0,raised:0};t.frames.forEach(({s:n},a)=>{let f=a+i;if(!Wx(t,s,a,f))return;let p=U(H(n.P[c],n.P[l]),1/Math.max(1e-9,G(H(n.P[c],n.P[l])))),m=q(n.R[l],q(Y(r[l]),r[c])),h=Es(m,n.R[c],p,J(q(m,Y(n.R[c])),yo(e,n,o).l));d.frames++;for(let e of[`flex`,`dev`,`twist`]){let t=Math.round(h[e]),n=d[e];d[e]=n?[Math.min(n[0],t),t<n[0]?f:n[1],Math.max(n[2],t),t>n[2]?f:n[3]]:[t,f,t,f]}let g=(e,t)=>[`flex`,`dev`,`twist`].some(n=>{let[r,i]=Hx(n,e);return h[n]<r+t||h[n]>i-t});g(fs,-1)&&d.past++,g(ds,zx)&&d.limit++;let _=H(n.P[l],n.P[u]),v=Math.round(Math.acos(Math.max(-1,Math.min(1,-_[1]/Math.max(1e-9,G(_)))))*180/Math.PI);(!d.elevation||v>d.elevation[0])&&(d.elevation=[v,f]),v>Bx&&d.raised++}),d.frames&&(a[`hand_${s}`]=d)}for(let e of t.ctx.hold?.grips?.()??[])a[`hand_${e.hand}`]&&(a[`hand_${e.hand}`].grip={object:e.id,chose:e.name,cost:[e.cost,e.today]});return Object.keys(a).length?a:null}var Kx=.5,qx=.5,Jx=[`flex`,`dev`,`twist`],Yx={l:`Left`,r:`Right`},Xx={flex:e=>e>=0?`flex`:`extension`,dev:e=>e>=0?`radial deviation`:`ulnar deviation`,twist:()=>`twist`};function Zx(e){let t=null;for(let n of Jx){let[r,i]=ds[n],a=e[n],o=a>=0?i:r,s=a>=0?a-i:r-a;(!t||s>t.past)&&(t={axis:n,value:a,edge:o,past:s})}return t}function Qx(e,t,n,r){let{s:i,diag:a}=t.frames[r],o=a[`hold_${n}`];if((o?.w??0)>qx)return o;let s=Yx[n],c=e.index,l=c[`${s}Hand`],u=c[`${s}ForeArm`],d=e.restWorldRot,f=U(H(i.P[l],i.P[u]),1/Math.max(1e-9,G(H(i.P[l],i.P[u])))),p=q(i.R[u],q(Y(d[u]),d[l]));return Es(p,i.R[l],f,J(q(p,Y(i.R[l])),yo(e,i,s).l))}function $x(e,t){let n=[],r=t.f0??0;for(let i of[`l`,`r`])t.frames.forEach((a,o)=>{if(!Wx(t,i,o,o+r))return;let s=Zx(Qx(e,t,i,o));if(s.past<=Kx)return;let c=Math.abs(s.edge);n.push({kind:`WRIST`,msg:`hand_${i} ${Xx[s.axis](s.value)} ${Math.round(Math.abs(s.value))}deg (limit ${Math.round(c)})`,frame:o,value:+Math.abs(s.value).toFixed(2),limit:c})});return n}function eS(e,t){let n=/^hand_([lr]) /.exec(t.subject)?.[1];if(!n)return null;let r=t.worstFrame,i=`at f${r}${t.count>1?` (f${t.first}-f${t.last}, ${t.count} frames)`:``}`,a=Math.round(e.out.ctx?.swivel?.[n]?.get(r)??0);if(Math.abs(a)>=1)return{cause:`fix.self elbow turn ${a}deg at f${r}`,hint:`${t.subject} ${i}: fix.self turned the elbow ${a} deg to keep the arm out of the body and the hand kept its turn, so the wrist took it; key elbow_${n} (the elbow pole) or the hand's target so the arm clears the body without the turn`};let o=(e.out.frames[e.rel(r)]?.diag[`hold_${n}`]?.w??0)>qx&&Object.keys(e.spec.objects??{}).find(t=>e.spec.props?.[e.spec.objects[t]?.prop]?.hand===n),s=e.fr(r).c.spine_pitch??0;return{cause:o?`objects.${o}.keys near f${r}`:e.cause(`armw_${n}`,r),hint:`${t.subject} ${i}: the arm cannot turn the hand that far from where the body stands; lean the upper body over the hand (spine_pitch ${Math.round(s)} at f${r}: try ${Math.round(s+20)}) or bring the body to it (root), ${o?`or 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a=e.spec.anchors?.[t],o=e=>`/anchors/${t}/${e}`;if(a?.kind===`world`)return{path:o(`p`),delta:r};if(a?.kind===`body`)return{path:o(`p`),delta:J(X(-(e.fr(n).c.yaw??0)),r)};if([`bone`,`segment`,`prop`,`person`].includes(a?.kind))return{path:o(`offset`),delta:r};if(a?.kind!==`object`)return;let s=e.fr(n),c=ql(e.out.ctx,a,t,{...s,diag:{...s.diag,frame:n}},i);return{path:o(`local`),delta:J(Y(c.R),r)}}function dS(e,t,n,r,i=``){let a=/^prop_(.+)$/.exec(t),o=a?e.spec.props?.[a[1]]?.hand:lS(t),s,c,l,u=r;if(/^(hand|farm|uarm)_/.test(t)||a){let t=e.hand(o,n);s=t.label,l=t.anchor?uS(e,t.anchor,n,r,o):t.ch===`hand_${o}`?{channel:t.ch,f:n,delta:r}:void 0;let i=t.anchor&&e.spec.anchors[t.anchor]?.kind===`object`?e.spec.anchors[t.anchor].object:null;i&&l&&(s=`anchors.${t.anchor}.local (a point on ${i}, in ${i}'s axes; ${i} stays)`,u=l.delta),c=t.anchor?`anchor ${t.anchor}${t.fit===null?``:` (fits[${t.fit}])`} via ${e.cause(t.ch,n)}`:e.cause(t.ch,n)}else/^(shin|foot|sole)_/.test(t)?(s=`foot_${o}`,c=e.cause(s,n),l={channel:s,f:n,delta:r}):(s=`root`,c=e.cause(`root`,n),l={channel:`root`,f:n,delta:r,.../^root held since /.test(c)?{hold:!0}:{}});return/ (walk|walkTo) /.test(` ${c}`)&&/step|start|end/.test(c)&&!/^anchor/.test(s)?{cause:c,hint:`walk path: ${s} needs ${Yy(r)} m at f${n}${i}; change that walk's heading/turnDistance/step (or give one a { range: [lo, hi] })`}:{cause:c,hint:`${s}: move ${Yy(u)} m at f${n}${i}`,fix:l}}var fS=e=>Ws.find(t=>t[0]===e);function pS(e,t,n,r){let[,i,a]=fS(n),{s:o}=e.fr(t),s=Gs(o.P[e.I[i]],o.P[e.I[a]]),c=s.map(e=>Ks(e,r)),l=Math.min(...c);return{p:s[c.indexOf(l)],n:Qs(s[c.indexOf(l)],r),d:l}}function mS(e,t,n,r,i){let a=t.worstFrame,o=e.out.objectsAt(e.rel(a))[r];if(!o||!fS(n))return null;let{n:s}=pS(e,a,n,o);return dS(e,n,a,U(s,i),` (out of ${r})`)}function hS(e,t,n,r){let i=t.worstFrame,a=e.out.objectsAt(e.rel(i))[r];if(!a)return null;let o=Kd(e.sk,e.fr(i).s,n.endsWith(`_l`)?`Left`:`Right`),s=qd(o,a),c=t.worst-t.limit+sS;if(!(s.side>0))return s.topAt?dS(e,n,i,U(Qs(s.topAt,a),c),` (out of ${r}'s top)`):null;let l=Math.max(...o.filter(e=>Ks(e,a)<0).map(e=>2*a.half[1]-J(Y(a.R),H(e,a.pos))[1]))+sS,u=U(Qs(s.sideAt,a),c);if(l>cS)return dS(e,n,i,u,` (out of ${r}'s side)`);let d=dS(e,n,i,J(a.R,[0,l,0]),` (over ${r}'s top; its ${t.worst.toFixed(3)} m is through a side)`);return d.hint+=/^walk path/.test(d.hint)?`; a higher lift raises the swing`:`; or move ${Yy(u)} m out of that side`,d}function gS(e,t,n,r,i,a){return dS(e,n,t.worstFrame,U(K(r),i),` (away from the ${a})`)}function _S(e,t,n){let{s:r,diag:i}=e.fr(t),a=e.I;if(n.startsWith(`hand_`)){let e=n.endsWith(`l`)?`Left`:`Right`;return Gs(r.P[a[`${e}Hand`]],r.P[a[`${e}HandMiddle3`]],5)}return Object.entries(i.props?.[n.slice(5)]??{}).filter(([e,t])=>Array.isArray(t)&&e!==`origin`).map(([,e])=>e)}var vS={COLLIDE(e,t){let[,n,r]=/^(\S+) x (.+)$/.exec(t.subject)??[];if(/^foot_[lr]$/.test(n??``))return hS(e,t,n,r);let i=mS(e,t,n,r,t.worst-t.limit+sS);return i&&/^(hand|farm)_/.test(n)&&!e.spec.fix?.penetration&&t.worst-t.limit<=.05&&(i.hint+=`; or fix.penetration: 0.02 pushes shallow hand hits out`,e.spec.fix!==!1&&(i.fix={path:`/fix/penetration`,value:.02})),i},PERSON(e,t){let[,n,r]=/^(\S+) x person:(.+)$/.exec(t.subject)??[],i=fS(n),a=e.out?.ctx?.scene?.people?.[r];if(!i||!a)return null;let o=t.worstFrame,{s}=e.fr(o),c=Gs(s.P[e.I[i[1]]],s.P[e.I[i[2]]]),l=rS(a,o).map(([e,t,n,r])=>{let a=H(n,t),o=Math.max(W(a,a),1e-12);return c.map(n=>{let s=V(t,U(a,za(W(H(n,t),a)/o,0,1)));return{other:e,p:n,q:s,depth:i[3]+r-G(H(n,s))}}).reduce((e,t)=>t.depth>e.depth?t:e)}).reduce((e,t)=>t.depth>e.depth?t:e),u=dS(e,n,o,U(G(H(l.p,l.q))>1e-6?K(H(l.p,l.q)):K([l.p[0]-l.q[0]||1,0,l.p[2]-l.q[2]]),t.worst-t.limit+sS),` (out of ${a.name}'s ${l.other})`);return{...u,hint:`${u.hint}; or, for a touch you mean, checks.allow [{ part: "${n}", object: "person:${r}", depth: ${Q(t.worst+sS)} }]`}},CLEARANCE(e,t){let n=(e.spec.checks?.clearance??[]).find(e=>t.subject.startsWith(`${e.name}:`));return n&&mS(e,t,n.part,n.object,n.min-t.worst+sS)},GROUND(e,t){let n=t.subject.startsWith(`Left`)?`l`:`r`,r=t.worstFrame,i=e.fr(r).c,a=e.fr(r).diag[`leg_fold_${n}`];if(a)return oS(e,n,r,aS(`the sole is in the floor because the knee is on its stop: `,a),i[`foot_${n}`]);let o=i[`fpitch_${n}`]?`, or less fpitch_${n} (now ${Q(i[`fpitch_${n}`])} deg; + lifts the heel)`:``;return{cause:e.cause(`foot_${n}`,r),hint:`foot_${n}: raise ${Q(t.worst+.001)} m at f${r} (foot_* is the ankle; it stands ${Ys(e.sk)} m above the floor)${o}`,fix:{channel:`foot_${n}`,f:r,delta:[0,t.worst+.001,0]}}},FACE(e,t){let n=t.subject.replace(/ into head$/,``),r=t.worstFrame,{s:i}=e.fr(r),a=io(i,e.I.Head,e.sk.landmarks.headCentre);return gS(e,t,n,H(_S(e,r,n).reduce((t,n)=>Js(e.sk,i,n)>Js(e.sk,i,t)?n:t),a),t.worst-t.limit+sS,`head`)},BODY(e,t){let[,n,r]=/^(\S+) into (\S+)$/.exec(t.subject)??[],i=fS(r),a=t.worstFrame,{s:o}=e.fr(a),s=/^(hand|farm|uarm)_([lr])$/.exec(n??``),c=s&&Jo(e.sk);if(c){let i=e.I[`${s[2]===`l`?`Left`:`Right`}${{hand:`Hand`,farm:`ForeArm`,uarm:`Arm`}[s[1]]}`],l=us(c,e.sk,o,i),u=l.p&&$o(c,o,l.p,c.skip.get(i));if(u){let i=dS(e,n,a,U(u,t.worst-t.limit+sS),` (out of the ${r})`);return s[1]!==`hand`&&(i.hint+=`; or turn elbow_${s[2]} away from the ${r}`),i}}if(!i)return null;let l=o.P[e.I[i[1]]],u=o.P[e.I[i[2]]],d=H(u,l),f=e=>V(l,U(d,za(W(H(e,l),d)/W(d,d),0,1))),p=_S(e,a,n).reduce((e,t)=>G(H(t,f(t)))<G(H(e,f(e)))?t:e);return gS(e,t,n,H(p,f(p)),t.worst-t.limit+sS,`torso`)},SELF(e,t){let n=t.worstFrame,{s:r}=e.fr(n),i=r.P,a=e.I;if(t.subject===`hands overlap`){let r=K(H(i[a.LeftHand],i[a.RightHand])),o=(t.worst-t.limit+sS)/2,s=dS(e,`hand_l`,n,U(r,o));return{cause:s.cause,hint:`${s.hint}; and ${dS(e,`hand_r`,n,U(r,-o)).hint}`,fix:dS(e,`hand_l`,n,U(r,2*o)).fix}}let o=t.subject===`shins touch`,s=o?.1:.135,[c,l]=o?[`Leg`,`Foot`]:[`UpLeg`,`Leg`],u=qs(i[a[`Left${c}`]],i[a[`Left${l}`]],i[a[`Right${c}`]],i[a[`Right${l}`]]),d=H(i[a[`Left${l}`]],i[a[`Right${l}`]]);d[1]=0;let f=(s-u+sS)/2,p=K(d);return{cause:e.cause(`foot_l`,n),hint:`foot_l: move ${Yy(U(p,f))} m and foot_r ${Yy(U(p,-f))} m at f${n} (${o?`shins`:`thighs`} ${Q(u)} m apart, need ${s}); or spread knee_l/knee_r`,fix:{channel:`foot_l`,f:n,delta:U(p,2*f)}}},OBJECT(e,t){let[,n,r]=/^(\S+) into (.+)$/.exec(t.subject)??[],i=e.spec.objects?.[n]?.channel;if(!i)return null;let a=t=>e.out.baked[i]?.[t]??0,o=t.first>0?a(t.first-1):a(0);return{cause:e.cause(i,t.worstFrame),hint:`${i}: keep it within ${Q(o)} deg (it reaches ${Q(a(t.worstFrame))} at f${t.worstFrame}, ${Q(t.worst)} m into ${r}), or move ${r}`,fix:{channel:i,f:t.worstFrame,value:o}}},BALANCE(e,t){let n=t.worstFrame,{s:r}=e.fr(n),i=r.P,a=e.I;if(t.subject===`no foot on the ground`)return{cause:e.cause(`root`,n),hint:`at f${n} lower foot_l or foot_r onto the ground, the floor or the top of an object under it (the ankle stands ${Ys(e.sk)} m above it), or declare checks.supports for the seat the hips rest on`};let o=U([`Hips`,`Spine1`,`Spine2`,`Head`].reduce((e,t)=>V(e,i[a[t]]),[0,0,0]),.25),s=[`Left`,`Right`].flatMap(t=>Object.values(Zs(e.sk,r,t))),c=s.map(e=>e[0]),l=s.map(e=>e[2]),u=.07,d=[za(o[0],Math.min(...c)-u,Math.max(...c)+u),o[1],za(o[2],Math.min(...l)-u,Math.max(...l)+u)];return{cause:e.cause(`root`,n),hint:`root: move ${Yy(H(d,o))} m at f${n} (centre of mass over the feet), or step a foot under it`,fix:{channel:`root`,f:n,delta:H(d,o)}}}},yS=.003,bS=.02,xS=.2;function SS(e,t,n,r,i=``){let a=t===`l`?`Left`:`Right`,{s:o}=e.fr(n),s=H(o.P[e.I[`${a}Hand`]],o.P[e.I[`${a}Arm`]]),c=Math.hypot(s[0],s[2])/Math.max(G(s),1e-9);if(c<.5)return null;let l=U(K([s[0],0,s[2]]),Math.min(xS,r/c));return{delta:l,hint:`body: move ${Yy(l)} m toward the target at f${n}, ${e.cause(`root`,n)} (arm ${t} is at full reach)${i}`,fix:{channel:`root`,f:n,delta:l,hold:!0}}}var CS=(e,t,n)=>(e.fr(n).diag[`reach_over_${t}`]??0)>.001||(e.fr(n).diag[`arm_miss_${t}`]??0)>.002&&!e.fr(n).diag[`arm_fold_${t}`];function wS(e,t,n,r){let i=null;for(let[a,o]of Object.entries(e.fr(n).c))a===r||!RegExp(`^w_.+_${t}$`).test(a)||!(o>bS)||i&&o<=i.w||(i={ch:a,w:o});return i}function TS(e,t,n,r,i){let a=n.slice(-1),o=e.hand(a,r),s=o.anchor?wS(e,a,r,o.ch):null;if(!s)return null;let c=Array.isArray(t.at)?t.at[1]:t.at,l=e.bracket(s.ch,r).prev,u=l&&Math.abs(e.out.baked[s.ch]?.[Math.round(l.f)]??1)<=bS&&c>=r&&!(e.bracket(s.ch,r).next?.f<=c)?c:r,d=s.w/Math.max(1,(e.fr(r).c[o.ch]??1)+s.w),f=s.ch.replace(/^w_/,``).replace(/_[lr]$/,``);return{cause:e.cause(s.ch,r),hint:`${s.ch} is ${Q(s.w)} at f${r}, so anchor ${f} takes ${Math.round(d*100)}% of the hand target from ${o.label}: key ${s.ch} 0 at f${u}${i}`,fix:{channel:s.ch,f:u,value:0}}}function ES(e,t){let n=null;return(e.spec?.goals??[]).forEach((e,r)=>{let i=tb(e,r);t.subject.startsWith(`${i}:`)&&(!n||i.length>n.name.length)&&(n={goal:e,name:i,i:r})}),n}function DS(e,t,n){let r=[t,...e.out.ctx.scene?.objects?.[t]?.ancestors??[]].find(t=>wm(e.spec.objects?.[t],n));return r?e.spec.objects[r]:null}function OS(e,t,n){let[,r,i]=/^([a-z]+):(.+)$/s.exec(t)??[];if(r===`prop`)return e.spec.props?.[i.split(`.`)[0]]?.hand?`hand_${e.spec.props[i.split(`.`)[0]].hand}`:null;if(r===`object`){let t=DS(e,i.replace(/\.(center|top|base)$/,``),n),r=t&&e.spec.props?.[t.prop]?.hand;return r?`hand_${r}`:null}if(r===`landmark`)return`root`;if(r!==`joint`&&r!==`bone`)return null;let a=sl(e.sk,i).bone??``,o=/^Left/.test(a)?`l`:/^Right/.test(a)?`r`:null;return o&&/^(Left|Right)(Hand|ForeArm)/.test(a)?`hand_${o}`:o&&/^(Left|Right)(Foot|Toe|Leg)/.test(a)?`foot_${o}`:`root`}function kS(e,t,n,r){let i=t.slice(-1);if(!t.startsWith(`hand_`))return{channel:t,f:n,delta:r};let a=e.hand(i,n);return a.ch===`hand_${i}`?{channel:a.ch,f:n,delta:r}:a.anchor&&e.spec.anchors?.[a.anchor]?.kind===`world`?{path:`/anchors/${a.anchor}/p`,delta:r}:null}function AS(e,t,n,r,i,a){if(n===`moved`||n===`still`){let o=t[n],s=OS(e,o,r),c=sb(e.out,t,a),l=iu(e.out,r,ib(o)),u=l&&c&&G(H(l,c))>.001?K(H(l,c)):[0,1,0];return s?[s,U(u,n===`still`?-i:i)]:null}let[o,s]=t[n],c=OS(e,o,r),l=OS(e,s,r),u=e=>e?.startsWith(`hand_`)?2:+!!e,d=u(c)>=u(l),f=d?c:l,p=d?1:-1;if(!f)return null;if(n===`above`)return[f,[0,p*i,0]];let m=iu(e.out,r,o),h=iu(e.out,r,s);return m&&h?[f,U(K(H(h,m)),p*i)]:null}var jS={GOAL(e,t){let n=e.spec&&ES(e,t),r=t.worstFrame;if(!n)return{cause:`goal ${t.subject.split(`:`)[0]}`,hint:`change the keys around f${r} until the goal holds`};let{goal:i,name:a,i:o}=n,s=eb(i)[0],c=t.worst+yS,l=gb(e.out,e.spec.goals,o);if(l.wait){let e=i.after??i.before;return{cause:`goal ${a}`,hint:`${a} ${l.wait}: make goal "${e}" hold${i.after!==void 0&&i.before!==void 0?` and "${i.before}"`:``} where this one needs it, or move at`}}let u=s===`speed`?`m/s`:`m`,d=s===`near`||s===`still`?`<=`:`>=`,f=` (goal "${a}" is ${Q(t.worst)} ${u} ${s===`still`?`off`:`short`}; needs ${d} ${nb(i,s)})`;if(s===`speed`){let t=OS(e,i.speed,r);return{cause:t?e.cause(t,r):`goal ${a}`,hint:`${i.speed} is too slow at f${r}: put its keys around f${r} closer in time, or farther apart in space${f}`}}let p=AS(e,i,s,r,c,l.a);if(!p){if(s===`still`&&i.still.startsWith(`object:`)){let e=i.still.slice(7).replace(/\.(center|top|base)$/,``);return{cause:`objects.${e}`,hint:`${e} moves at f${r}, where it should stay: hold its hinge channel or keys until then, or start them later${f}`}}if(s===`still`)return{cause:`goal ${a}`,hint:`${i.still} moves at f${r} and nothing that follows the body moves it; name a joint, prop point or held object${f}`};if(s===`moved`&&!i.moved.startsWith(`object:`))return{cause:`goal ${a}`,hint:`${i.moved} does not move with the body at f${r}; name a joint, prop point or held object`};if(s===`moved`){let e=i.moved.slice(7).replace(/\.(center|top|base)$/,``);return{cause:`objects.${e}`,hint:`${e} is not in a hand at f${r}, so nothing moves it: carry it (objects.${e} = { prop, grab }) or hinge it`}}return{cause:`goal ${a}`,hint:`neither ${i[s][0]} nor ${i[s][1]} moves with the body at f${r}; name a joint, prop point or held object`}}let[m,h]=p;if(m.startsWith(`hand_`)){let t=TS(e,i,m,r,f);if(t)return t;let n=CS(e,m.slice(-1),r)&&SS(e,m.slice(-1),r,c,f);if(n)return{cause:e.cause(`root`,r),hint:n.hint,fix:n.fix}}let g=dS(e,m,r,h,f),_=kS(e,m,r,h);return{cause:g.cause,hint:g.hint,..._?{fix:_}:{}}}},MS={Leg:[`UpLeg`,`Leg`,`Foot`,`knee`],ForeArm:[`Arm`,`ForeArm`,`Hand`,`elbow`]},NS=e=>e.startsWith(`Left`)?`l`:`r`,PS=e=>/^(w_|armw)/.test(e)?.5:/^(root|foot|hand)/.test(e)?1:/^(knee|elbow)/.test(e)?.2:.01;function FS(e,t,n){let r=NS(t),i=e.out.baked,a=[`root`,`yaw`,`pitch`];t===`Head`?a=[`head_yaw`,`head_pitch`,`spine_pitch`,`spine_yaw`,`root`,`yaw`]:/Hand|ForeArm/.test(t)?a=[`hand_${r}`,`armw_${r}`,`elbow_${r}`,`aswing_${r}`,`abend_${r}`,...Object.keys(i).filter(e=>RegExp(`^w_.+_${r}$`).test(e)),`spine_yaw`,`spine_pitch`,`root`,`yaw`]:/Foot|Leg/.test(t)&&(a=[`foot_${r}`,`knee_${r}`,`fpitch_${r}`,`root`]);let o=e=>{let t=i[e]?.[n-1],r=i[e]?.[n];return t===void 0||r===void 0||typeof t==`object`&&!Array.isArray(t)?0:(Array.isArray(t)?Ra(t,r):Math.abs(r-t))*PS(e)};return a.filter(e=>i[e]).sort((e,t)=>o(t)-o(e))}function IS(e,t,n){let r=t.subject.split(` `)[0],i=t.worstFrame,a=FS(e,r,i)[0]??`root`,{prev:o,next:s}=e.bracket(a,i),c=e.keys(a).find(e=>e.step&&Math.abs(e.f-i)<=1);if(c)return{cause:e.cause(a,i),hint:`${a}: a step key jumps at f${Math.round(c.f)}; ease it over 4+ frames (key the old value 4 frames earlier, drop the step)`};let l=Math.ceil((t.worst/t.limit)**+n*1.1*10)/10,u=Math.round(o?.f??i-4),d=Math.round(s?.f??i+4),f=Math.ceil((d-u)*(l-1)),p=/^w_(.+)_[lr]$/.exec(a);return{cause:e.cause(a,i),hint:`retime: stretch f${u}-f${d} by ${l}x (+${f} frames, move the keys from f${d} on later)${p?` - the hand switches to anchor ${p[1]} too fast`:``}; or fix.retime: true`,fix:e.spec.fix===!1?void 0:{path:`/fix/retime`,value:!0}}}function LS(e,t,n){let[r,i]=n.split(/:(.*)/s);if(r===`joint`)return t.s.P[e.I[i]];if(r===`prop`){let[e,n]=i.split(`.`);return t.diag.props?.[e]?.[n]}return Wl(e.out.ctx,i,t.s,t.diag,t.c)}function RS(e,t,n,r){let i=Cu(e.out.baked,t),a=r(e.fr(t)),o=null;for(let[s,c,l]of n){let n=r(My(e.out.ctx,{...i,[s]:c},t))-a;n>1e-6&&(!o||n/l>o.gain/o.unit)&&(o={ch:s,value:c,gain:n,unit:l})}return{best:o,base:a,c0:i}}var zS=(e,t,n,r)=>e.fr(n).s.P[e.I[`${t===`l`?`Left`:`Right`}${MS[r][0]}`]],BS={REACH(e,t){let[,n,r]=/^(leg|arm)_miss_([lr])$/.exec(t.subject)??[],i=t.worstFrame,a=t.worst+.002;if(n===`leg`){let n=e.fr(i).diag[`leg_fold_${r}`];if(n)return oS(e,r,i,aS(`the ankle target is ${Q(t.worst)} m inside the shin's reach: `,n),e.fr(i).c[`foot_${r}`]);let o=e.fr(i).c[`foot_${r}`]??[0,0,0],s=zS(e,r,i,`Leg`),c=H(o,s),l=Ra(s,o)-t.worst,u=c[1]*c[1]-W(c,c)+l*l,d=[c[0],0,c[2]],f=u>=0?`or root down ${Q(-c[1]-Math.sqrt(u)+.002)} m${t.worst<=.05?` (fix.reach does this when on)`:``}`:`or root ${Yy(U(K(d),G(d)-l*.95))} m toward the foot (the foot is ${Q(G(d))} m sideways of the hip: the root and foot keys disagree)`;return{cause:e.cause(`foot_${r}`,i),hint:`foot_${r}: move ${Yy(U(K(H(s,o)),a))} m toward the hip at f${i}, ${f}`,fix:{channel:`foot_${r}`,f:i,delta:U(K(H(s,o)),a)}}}let o=r===`l`?`Left`:`Right`,{s,diag:c}=e.fr(i),l=K(H(s.P[e.I[`${o}Hand`]],s.P[e.I[`${o}Arm`]])),u=c[`arm_fold_${r}`];if(u){let n=dS(e,`hand_${r}`,i,U(l,a),` (the hand target is ${Q(t.worst)} m inside the forearm's reach: the elbow would fold ${Math.round(u)}deg; it bends to 145deg and stops at 150deg)`);return{cause:n.cause,hint:`${n.hint}, or bring root ${Yy(U([-l[0],0,-l[2]],a))} m back from it`,fix:n.fix}}let d=dS(e,`hand_${r}`,i,U(l,-a),``),f=e.hand(r,i).anchor,p=JSON.stringify([e.spec.goals??[],e.spec.checks?.contacts??[]]),m=f&&(e.spec.anchors?.[f]?.kind===`object`||p.includes(`"anchor:${f}"`)),h=e.spec.fits?.[e.hand(r,i).fit??-1],g=h?.effector?.prop&&e.fr(i).diag.props?.[h.effector.prop]?.[h.effector.point],_=g?Ra(g,V(LS(e,e.fr(i),`anchor:${f}`),h.offset??[0,0,0]))+.01:a,v=m&&SS(e,r,i,Math.min(a,_));return v?{cause:d.cause,hint:`${v.hint} (out of reach by ${Q(t.worst)} m), or ${d.hint}`,fix:v.fix}:{cause:d.cause,hint:`${d.hint} (out of reach by ${Q(t.worst)} m), or bring root ${Yy(U([l[0],0,l[2]],a))} m closer`,fix:d.fix}},KNEE(e,t){let n=NS(t.subject),r=n===`l`?`Left`:`Right`,i=t.worstFrame,{s:a,c:o}=e.fr(i),s=a.P,c=e.I;if(/backward/.test(t.subject)){let t=H(s[c[`${r}ToeBase`]],s[c[`${r}Foot`]]);t[1]=0;let a=V(K(J(X(-(o.yaw??0)),t)),[0,.3,0]);return{cause:e.cause(`knee_${n}`,i),hint:`knee_${n}: key ${Yy(K(a))} (body frame, along the foot) at f${i}; a knee pole is +z forward, +x the character's left`,fix:{channel:`knee_${n}`,f:i,value:K(a)}}}if(/ folds /.test(t.subject))return oS(e,n,i,` (the knee folds ${Q(t.worst)}deg, past its ${t.limit}deg stop; it bends freely to 150deg)`,s[c[`${r}Foot`]]);let l=s[c[`${r}UpLeg`]],u=s[c[`${r}Leg`]],d=s[c[`${r}Foot`]],f=Ra(l,u),p=Ra(u,d),m=(180-(t.limit-5))*Math.PI/180,h=Math.sqrt(f*f+p*p-2*f*p*Math.cos(m));return{cause:e.cause(`foot_${n}`,i),hint:`foot_${n}: move ${Yy(U(K(H(d,l)),h-Ra(l,d)))} m away from the hip at f${i} (the knee folds ${Q(t.worst)} deg, limit ${t.limit})`,fix:{channel:`foot_${n}`,f:i,delta:U(K(H(d,l)),h-Ra(l,d))}}},ELBOW(e,t){let n=NS(t.subject),r=n===`l`?`Left`:`Right`,i=t.worstFrame,a=e.fr(i).s.P,o=e.I,s=a[o[`${r}Arm`]],c=a[o[`${r}ForeArm`]],l=a[o[`${r}Hand`]],u=U(K(H(l,s)),so(Ra(s,c),Ra(c,l),145)-Ra(s,l));return dS(e,`hand_${n}`,i,u,` (the elbow folds ${Q(t.worst)}deg, past its ${t.limit}deg stop; it bends freely to 145deg)`)},FLIP(e,t){let[,n,r]=/^(Left|Right)(Leg|ForeArm) /.exec(t.subject)??[],i=t.worstFrame;if(!r)return null;let a=NS(n),[o,s,c,l]=MS[r],u=e.I,d=+(/ over (\d+) frames$/.exec(t.subject)?.[1]??1),f=e.fr(i).diag,p=r===`ForeArm`&&(f[`arm_fold_${a}`]??f[`hold_${a}`]?.fold);if(p){let t=f[`hold_${a}`]?.fold&&Object.entries(e.spec.objects??{}).find(([,t])=>t.keys?.length&&e.spec.props?.[t.prop]?.hand===a)?.[0];return{cause:t?`objects.${t}.keys`:e.cause(e.hand(a,i).ch,i),hint:`the ${t?`keys of ${t} ask`:`hand target asks`} the elbow to fold ${Math.round(p)}deg at f${i}, past its 150deg stop, so the hand swings round the shoulder on the stop: move ${t?`the keyed pose`:`the target`} out from the shoulder (REACH says how far)`}}let m=t=>{let r=e.fr(t).s.P;return Za(H(r[u[`${n}${s}`]],r[u[`${n}${o}`]]),H(r[u[`${n}${c}`]],r[u[`${n}${s}`]]))},h=Array.from({length:Math.max(1,d-1)},(e,t)=>d>1?i-1-t:i).reduce((e,t)=>m(t)<m(e)?t:e),g=m(h),_=`${l}_${a}`,v=e.out.baked[_]?.[Math.max(0,i-1)];if(v&&G(v)<.5)return{cause:e.cause(_,i),hint:`${_}: the pole passes near zero (length ${Q(G(v))}) at f${i} while it turns between opposite keys; add an in-between pole key (e.g. the average direction, normalised) so it turns, not shrinks`};let y=g<12?`the limb is almost straight at f${h} (bend ${Q(g)} deg), so the pole cannot hold it: bring the ${r===`Leg`?`foot`:`hand`} target ~0.02 m toward the ${r===`Leg`?`hip`:`shoulder`}, or `:``;return{cause:e.cause(_,i),hint:`${_}: ${y}keep the pole on one side through f${i}${v?` (key ${Yy(v)} there)`:``}`,fix:v&&{channel:_,f:i,value:v}}},SLIDE(e,t){let n=NS(t.subject),r=n===`l`?`Left`:`Right`,i=t.subject.includes(`heel`)?`heel`:`ball`,a=Math.max(0,t.first-1),o=t=>Zs(e.sk,e.fr(t).s,r)[i],s=Math.hypot(o(t.last)[0]-o(a)[0],o(t.last)[2]-o(a)[2]),c=e.out.baked[`foot_${n}`]?.[a],l=e.out.baked[`fyaw_${n}`],u=e.out.baked[`foot_${n}`]?.[t.last];return l&&c&&u&&Math.hypot(u[0]-c[0],u[2]-c[2])<s/2&&Math.abs(l[t.last]-l[a])>1?{cause:e.cause(`fyaw_${n}`,t.worstFrame),hint:`fyaw_${n}: the flat foot turns ${Q(l[a])} -> ${Q(l[t.last])} deg over f${a}-f${t.last} and the ${i} slides ${Q(s)} m; key fyaw_${n} ${Q(l[a])} at f${t.last} so it turns once the foot is up, or lift the heel first (fpitch_${n} +) so it pivots on the ball`,fix:{channel:`fyaw_${n}`,f:t.last,value:l[a]}}:{cause:e.cause(`foot_${n}`,t.worstFrame),hint:`foot_${n}: hold it still over f${a}-f${t.last}${c?` (key ${Yy(c)} at both ends)`:``}; the ${i} slides ${Q(s)} m${s<.01?`; fix.slide locks this when on`:``}`,fix:c&&{channel:`foot_${n}`,f:t.last,value:c}}},SPEED:(e,t)=>IS(e,t,1),POP:(e,t)=>IS(e,t,.5),ACC:(e,t)=>IS(e,t,.5),FLOAT:(e,t)=>({cause:e.cause(`root`,t.worstFrame),hint:`over f${t.first}-f${t.last} lower the root or key foot_l/foot_r back onto the ground, the floor or the top of an object under the foot (the ankle stands ${Ys(e.sk)} m above it); a jump needs the hips to rise and fall; a seat or ledge the hips rest on goes in checks.supports (a foot on an object's top needs none)`}),LENGTH:()=>({cause:`compiler`,hint:`a bone changed length: report the spec, this is a compiler fault`}),CONTACT(e,t){let n=(e.spec.checks?.contacts??[]).find(e=>t.subject.startsWith(`${e.name}:`)),r=t.worstFrame,i=e.rel(r);if(!n)return null;let a=qb(e.out,i,n.point),o=qb(e.out,i,n.target),s=H(o,a),c=/^prop:([^.]+)/.exec(n.point),l=c?e.spec.props?.[c[1]]?.hand:NS(n.point.slice(6)),{diag:u}=e.fr(r),d=Math.max(u[`reach_over_${l}`]??0,u[`arm_miss_${l}`]??0),f=/^anchor:(.+)$/.exec(n.target)?.[1],p=(e.spec.fits??[]).findIndex(e=>e.side===l&&e.anchor===f),m=p>=0?`fits[${p}] (${l} -> anchor ${f})`:dS(e,`hand_${l}`,r,s).cause,h=U(K([s[0],0,s[2]]),d+.01),g=u[`arm_fold_${l}`];if(d>.002&&g){let t=e.fr(r).s.P[e.I[`${l===`l`?`Left`:`Right`}Arm`]],n=U(K([t[0]-o[0],0,t[2]-o[2]]),d+.01);return{cause:m,hint:`inside the forearm's reach by ${Q(d)} m at f${r} (the elbow would fold ${Math.round(g)}deg; it stops at 150deg): bring root ${Yy(n)} m back from ${f??`the target`}, or move the target out from the shoulder`,fix:{channel:`root`,f:r,delta:n}}}if(d>.002)return{cause:m,hint:`out of reach by ${Q(d)} m at f${r}: bring root ${Yy(h)} m toward ${f??`the target`}, or move the target`,fix:{channel:`root`,f:r,delta:h}};let _=dS(e,`hand_${l}`,r,s);return{cause:m,hint:`${_.hint}${p<0&&f?`; or add fits: [{ side: "${l}", anchor: "${f}", effector: ${c?`{ prop: "${c[1]}", point: "${n.point.split(`.`)[1]}" }`:`{ joints: [...] }`} }]`:``}`,fix:_.fix}},ORIENT(e,t){let n=(e.spec.checks?.orient??[]).find(e=>t.subject.startsWith(`${e.name}:`)),r=t.worstFrame;if(!n)return null;let i=/^prop:([^.]+)/.exec(n.from),a=i?e.spec.props?.[i[1]]?.hand:NS(n.from.slice(6)),o=n.minCos??.64,s=t=>n.along===`up`?[0,1,0]:n.along===`face`?ao(e.sk,t.s,e.I.Head,[0,0,1]):K(n.along),c=t=>W(K(H(LS(e,t,n.to),LS(e,t,n.from))),s(t)),l=Cu(e.out.baked,r),u=l[`wtwist_${a}`]??0,d=l[`wflex_${a}`]??0,{best:f,base:p}=RS(e,r,[[`wtwist_${a}`,za(u+15,-85,85),15],[`wtwist_${a}`,za(u-15,-85,85),15],[`wflex_${a}`,za(d+15,-70,70),15],[`wflex_${a}`,za(d-15,-70,70),15]],c);if(!f)return{cause:e.cause(`wtwist_${a}`,r),hint:`turn the prop another way: wrist twist/flex do not help at f${r} (cos ${Q(p)}, needs ${o}); change elbow_${a} or the prop points`};let m=f.ch.startsWith(`wtwist`)?u:d,h=f.ch.startsWith(`wtwist`)?85:70,g=za(m+(f.value-m)*Math.min(4,(o-p+.03)/f.gain),-h,h);return{cause:e.cause(f.ch,r),hint:`${f.ch}: key ${Q(g)} deg at f${r} (now ${Q(m)}; cos ${Q(p)}, needs ${o})`,fix:{channel:f.ch,f:r,value:g}}},BELOW(e,t){let n=(e.spec.checks?.below??[]).find(e=>t.subject.startsWith(`${e.name}:`)),r=t.worstFrame;if(!n)return null;let i=NS(n.joint),a=`${/Leg/.test(n.joint)?`knee`:`elbow`}_${i}`,o=Cu(e.out.baked,r)[a]??[0,-1,-.3],s=t=>t.s.P[e.I[n.ref]][1]-t.s.P[e.I[n.joint]][1],c=(n.min??.08)+.01,l=Cu(e.out.baked,r),u=s(e.fr(r)),d=[[0,-1,0],[.5,-1,0],[-.5,-1,0],[0,-1,-.4],[0,-1,.4],[.5,-1,.5],[-.5,-1,.5],[.5,-1,-.4],[-.5,-1,-.4]].map(t=>({p:t,d:s(My(e.out.ctx,{...l,[a]:t},r)),turn:Za(t,o)})),f=d.filter(e=>e.d>=c).sort((e,t)=>e.turn-t.turn)[0]??d.sort((e,t)=>t.d-e.d)[0];return f.d>u?{cause:e.cause(a,r),hint:`${a}: key ${Yy(f.p)} (body frame: +y up, +z forward) at f${r} (${n.joint} ${Q(u)} m below ${n.ref} -> ${Q(f.d)}, needs ${n.min??.08})`,fix:{channel:a,f:r,value:f.p}}:{cause:e.cause(a,r),hint:`${a}: no pole change lowers ${n.joint} at f${r}; lower the hand target instead`}},APPEAR(e,t){let n=(e.spec.checks?.appear??[]).find(e=>t.subject.startsWith(`${e.name}:`)),r=t.worstFrame;if(!n)return null;let i=null;for(let t=Math.max(e.out.f0??0,r-24);t<=Math.min((e.out.f0??0)+e.out.frames.length-1,r+24);t++){let r=G(H(qb(e.out,e.rel(t),`joint:${n.joint}`),qb(e.out,e.rel(t),`anchor:${n.anchor}`)));(!i||r<i.d)&&(i={q:t,d:r})}let a=n.tol??.035;return{cause:e.cause(n.channel,r),hint:i.d<=a?`${n.channel}: move the step from f${r} to f${i.q} (${n.joint} ${Q(i.d)} m from ${n.anchor} there)`:`${n.joint} never gets within ${a} m of ${n.anchor} near f${r} (closest ${Q(i.d)} m at f${i.q}): hold its weight w_${n.anchor}_${NS(n.joint)} at 1 around the switch`}}},VS=.003,HS=24;function US(e,t,n,r){let i=e.hand(t,n);if(i.ch===`hand_${t}`)return{channel:i.ch,f:n,delta:r};if(i.fit!==null&&i.fit!==void 0)return e.spec.fits[i.fit].offset?{path:`/fits/${i.fit}/offset`,delta:r}:{path:`/fits/${i.fit}/offset`,value:r};if(i.anchor&&e.spec.anchors?.[i.anchor]?.kind===`world`)return{path:`/anchors/${i.anchor}/p`,delta:r}}function WS(e,t,n,r,i){let a=dS(e,`hand_${t}`,n,r,i),o=US(e,t,n,r);return o?{...a,fix:o}:a}function GS(e,t,n,r){let i=e.spec.anchors?.[e.hand(t,n).anchor],a=e.out.ctx.scene;return i?.kind===`object`&&[a.objects?.[i.object]?.ancestors,hl(a)[i.object]?.ancestors,[i.object]].some(e=>e?.includes(r))}function KS(e,t){let n=J(Y(e.R),H(t,e.pos)),r=[0,e.half[1],0];return V(e.pos,J(e.R,n.map((t,n)=>za(t,r[n]-e.half[n],r[n]+e.half[n]))))}var qS={REACH:(e,t)=>rx(e,t)??BS.REACH(e,t),GRAB(e,t){let n=t.subject.split(`:`)[0],r=t.worstFrame,i=e.spec?.objects?.[n],a={cause:`objects.${n}.grab`,hint:`${n}: move the hand to it by f${r}, or set objects.${n}.grab to the frame the hand arrives`};if(!e.out||!xh(i))return a;let o=null;for(let i=r-HS;i<=r+HS;i++){let a=gx(e.out,n,i);a!==null&&a<=t.limit&&(!o||Math.abs(i-r)<Math.abs(o[0]-r))&&(o=[i,a])}if(o)return{cause:a.cause,hint:`${n}: set objects.${n}.grab to ${o[0]} (the hand is ${(o[1]*100).toFixed(1)} cm from it there, ${(t.worst*100).toFixed(1)} cm at f${r})`,fix:{path:`/objects/${n}/grab`,value:o[0]}};let{sk:s,spec:c,scene:l}=e.out.ctx,u=Th(s,c,e.fr(r).s,i),d=Cm(l,n).map(e=>KS(l.objects[e],u)).reduce((e,t)=>G(H(t,u))<G(H(e,u))?t:e),f=G(H(d,u)),p=U(H(d,u),f>1e-9?(f-t.limit/2)/f:0),m=WS(e,c.props[i.prop].hand,r,p,` (to ${n} at grab)`);return{...m,hint:`${m.hint}; or set objects.${n}.grab to the frame the hand arrives`}},COLLIDE(e,t){let[,n,r]=/^(\S+) x (.+)$/.exec(t.subject)??[],i=e.spec?.objects??{},a=xh(i[r])?r:xh(i[n])?n:null;if(!a||!e.out)return vS.COLLIDE(e,t);let o=i[a],s=e.spec.props[o.prop].hand,[c,l]=Dm(e.out,o),u=t.worst-t.limit+VS,d=t.worstFrame,f=d>=c&&d<=l,p=Math.min(d,l),m=zm(e.out,a,d)??[];if(a===r){let t=Ws.find(e=>e[0]===n),{s:r}=e.fr(d);if(!t||!m.length)return null;let i=Gs(r.P[e.I[t[1]]],r.P[e.I[t[2]]]),[o,c]=m.flatMap(e=>i.map(t=>[e,t])).reduce((e,t)=>Ks(t[1],t[0])<Ks(e[1],e[0])?t:e),l=Qs(c,o),p=/^(hand|farm|uarm)_([lr])$/.exec(n)?.[2];return f&&p&&p!==s&&GS(e,p,d,a)?dS(e,`hand_${p}`,d,U(l,u),` (out of ${a})`):f?WS(e,s,d,U(l,-u),` (${a} off ${n})`):dS(e,n,d,U(l,u),` (out of ${a})`)}let h=e.out.objectsAt(e.rel(d))[r];if(!h||!m.length)return null;let g=zm(e.out,a,Math.max(c,t.first-1))??m,_=m.map((e,t)=>fx(e,h,H(g[t].pos,h.pos))).reduce((e,t)=>t.depth>e.depth?t:e);return WS(e,s,p,U(_.axis,_.depth-t.limit+VS),f?` (${a} out of ${r})`:` (${a} is put down in ${r}; it stays where the hand lets go at f${l})`)}},JS=.005,YS=e=>e.spec?.fix?.grasp===!1,XS={cause:`spec.fix.grasp false: the fingers stopped at the preset curl`,hint:`turn grasp physics on (fix.grasp true): the fingers close until they touch and the thing rests in the hand`,fix:{path:`/fix/grasp`,value:!0}};function ZS(e,t,n){let{scene:r}=e.out.ctx,i=e.out.objectsAt?.(e.rel(n))??{};return Cm(r,t).map(t=>({...r.objects[t],...e.out.ctx.objectPose?.(t,n)??i[t]??{}}))}var QS={FINGER_GAP(e,t){if(YS(e))return XS;let[,n,r]=/^(left|right) fingers off (\S+)$/.exec(t.subject)??[];if(!r||!e.out)return null;let i=n===`left`?`l`:`r`,a=n===`left`?`Left`:`Right`,o=t.worstFrame,{s}=e.fr(o),c=U(V(s.P[e.I[`${a}Hand`]],s.P[e.I[`${a}HandMiddle1`]]),.5),l=ZS(e,r,o);if(!l.length)return null;let u=l.reduce((e,t)=>rc(t,c)<rc(e,c)?t:e),d=rc(u,c);return dS(e,`hand_${i}`,o,U(ic(u,c),-Math.max(0,d-.03)),` (onto ${r}: the fingers reach it from nearer)`)},FINGER_PEN(e,t){if(YS(e))return XS;let[,n,r]=/^(\S+) into (\S+)$/.exec(t.subject)??[];if(!r||!e.out||e.I[n]===void 0)return null;let i=n.startsWith(`Left`)?`l`:`r`,a=t.worstFrame,o=e.fr(a).s.P[e.I[n]],s=ZS(e,r,a);if(!s.length)return null;let c=s.reduce((e,t)=>rc(t,o)<rc(e,o)?t:e);return dS(e,`hand_${i}`,a,U(ic(c,o),t.worst-t.limit+JS),` (out of ${r})`)},SUPPORT(e,t){if(YS(e))return XS;let n=/^(\S+) not supported$/.exec(t.subject)?.[1],r=e.spec?.objects?.[n];if(!r||!e.out)return null;let i=e.out.ctx.scene.objects[Cm(e.out.ctx.scene,n)[0]],a=i?ec(i).kind:`box`,o=a===`sphere`?`spherical`:a===`cylinder`?`power`:`palm`;return r.grasp===o?{cause:`objects.${n}.grasp ${o}`,hint:`${n} rests on the fingers only: hold it nearer the palm (the hand lower under it) or with both hands`}:{cause:`objects.${n} (no grasp for a ${a})`,hint:`${n}: set objects.${n}.grasp to "${o}" (how a ${a} is held)`,fix:{path:`/objects/${n}/grasp`,value:o}}},CATCH(e,t){let[,n]=/^(\S+) missed by/.exec(t.subject)??[];if(!e.spec?.objects?.[n]||!e.out)return null;let r=t.worstFrame,i=e.spec.anchors?.[`${n}Catch0`]?.p;if(!i)return{cause:`objects.${n}.grab`,hint:`${n}: the hand is ${(t.worst*100).toFixed(1)} cm from it at f${r}; reach it earlier`};let a=null;for(let t=Math.max(0,r-30);t<r;t++){let r=Nm(e.out,n,t)?.pos;r&&(!a||G(H(r,i))<a.d)&&(a={f:t,d:G(H(r,i))})}let o=a?r-a.f:0,s=`${n}: the hand gets there ${o} frame(s) 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name`),effector:{oneOf:[{type:`object`,properties:{prop:$(),point:$()},required:[`prop`,`point`]},{type:`object`,properties:{joints:{type:`array`,items:{type:`string`}}},required:[`joints`]}],description:`the hand point fitted onto the anchor`},offset:UC(`vec3`,`world offset, m`),orient:{type:`boolean`,description:`false: no grip turn`}},nw={f:VC(),pos:UC(`vec3`),rot:{type:`array`,items:{type:`number`},minItems:4,maxItems:4,description:`quat x, y, z, w`},aim:UC(`vec3`,`or rot: +Y dir`),roll:BC(`deg about aim`),lean:BC(`aim tilt`,{minimum:0,maximum:45})},rw={type:`object`,properties:{at:VC(),onto:$(),bounce:BC(null,{default:.25,minimum:0,maximum:.6}),tumble:{type:`boolean`},v:{oneOf:[{$ref:`#/$defs/vec3`},{const:`hand`}],description:`m/s`}},required:[`at`],additionalProperties:!1},iw={description:`as carry; keys at any frame`},aw={keys:iw,fall:iw},ow={pivot:UC(`vec3`,`world hinge point`),axis:UC(`vec3`,`default +Y`),channel:$(`angle channel, deg`),prop:$(`spec.props name: it rides that hand`),at:UC(`vec3`,`palm offset [d, l, n]`),along:UC(`vec3`,`+Y on the palm, fixed`),visible:$(`channel: shown > 0.5`),level:$(`channel: strength 0..4`),grab:VC(`hand takes it`,{default:0}),release:VC(`let go (else end)`),keys:{type:`array`,items:{type:`object`,properties:Object.fromEntries(Dc.map(e=>[e,nw[e]])),required:[`f`,`pos`],additionalProperties:!1},description:`world pose at f; hand follows`},fall:{...rw,description:`or a list; topic objects`},grasp:{enum:Hc},mass:BC(`kg`,{minimum:.01,maximum:60}),follow:UC(`ref`),offset:UC(`vec3`),aim:{oneOf:[{enum:[`face`,`up`]},{$ref:`#/$defs/vec3`},{$ref:`#/$defs/ref`}],default:`up`}},sw={name:$(`the QA group's name`),point:UC(`checkRef`),target:UC(`checkRef`),tol:BC(`m; default contacts 0.01, appear 0.035, supports 0.04`),when:UC(`when`),from:UC(`checkRef`),to:UC(`checkRef`),along:{oneOf:[{enum:[`face`,`up`]},{$ref:`#/$defs/vec3`}]},minCos:BC(`default 0.64`),joint:$(`bone`),ref:$(`bone`),min:BC(`m; below default 0.08`),part:UC(`part`),object:$(`scene object id`),frames:UC(`frameSpan`),channel:$(`a visibility channel`),anchor:$(`an anchor name`),depth:BC(`allowed depth, m`)},cw={contacts:[`point`,`target`],orient:[`from`,`to`,`along`],below:[`joint`,`ref`],clearance:[`part`,`object`,`min`],appear:[`channel`,`joint`,`anchor`],supports:[`object`],allow:[`part`,`object`,`depth`]},lw={limits:{type:`object`,properties:Object.fromEntries(Object.entries(Yd).map(([e,t])=>[e,BC(null,{default:t})])),additionalProperties:!1},mouthPoints:{type:`array`,items:$(`prop.point`),description:`prop points allowed at the mouth`}},uw={name:$(),near:GC({$ref:`#/$defs/ref`},`distance <= tol`),above:GC({$ref:`#/$defs/ref`},`a.y - b.y >= by`),moved:$("a ref or an object id: an object's base moves at least `by` from the scene pose; any other point (prop:, joint:, landmark:, anchor:) at least `by` from where it is at at[0] (at: [f0, f1])"),still:$("a ref or an object id: stays within `tol` of where moved measures from (an object: its scene pose; a point: where it is at at[0], at: [f0, f1])"),speed:$("a point ref: its speed reaches `by` m/s (mode any by default)"),tol:BC(`m; near default 0.05, still 0.01`),by:BC(`above m, default 0; moved m, default 0.05; speed m/s, needed`),at:{oneOf:[VC(null,{minimum:0}),{$ref:`#/$defs/frameSpan`}],description:`absolute frame or span`},mode:{enum:[`all`,`any`],description:"every frame of `at`, or one; default all, speed any"},after:$(`a goal's name: at starts after the first frame that goal holds`),before:$(`a goal's name: at ends before the first frame that goal holds`)},dw={name:$(`the key of the answer`),distance:GC({$ref:`#/$defs/ref`},`min/max/mean/first/last m`),position:UC(`ref`,`world points`),frames:UC(`frameSpan`,`absolute, default the whole take`),every:VC(`position: every n frames (<= 16 rows)`,{minimum:1})},fw={reach:HC(`wrist targets past reach go onto it softly; hips lower for near-miss ankles`,{default:!0}),slide:HC(`lifts sunk soles; a planted heel or ball drifting under 1 cm stays put; a heel-up foot pivots on its ball`,{default:!0}),penetration:{oneOf:[{type:`boolean`},{type:`number`,minimum:0,maximum:.05}],default:0,description:`push hands out of boxes up to this depth, m (true = 0.02)`},self:HC(`arms kept out of the body's skin (wrists, elbows)`,{default:!0}),retime:HC(`speed spikes borrow frames from the neighbouring keys`,{default:!1}),stance:HC(`a standIdle stance in a scene body slides out of it (observations.placed)`,{default:!0}),grasp:HC(`fingers close on what the hand holds; it rests in the hand`,{default:!0})},pw={joint:`joint:<Bone>`,bone:`bone:<Bone> (= joint:)`,prop:`prop:<prop>.<point> (origin exists)`,anchor:`anchor:<name>`,landmark:`landmark:mouth`,object:`object:<id>[.center|.top|.base], a body or group; bare = its surface (distance)`,person:`person:<id>.<Bone>`},mw=e=>e.f0+16+(e.steps??8)*(e.period??20)+18,hw=e=>({type:`array`,items:{type:`number`},minItems:2,maxItems:2,description:e}),gw=e=>Object.fromEntries(e.map(e=>[e,$(e===`car`?`car prefix: fills <car>_Seat_Driver, _Seat_Driver_Back, _Door_L/R, _Door_Handle, _Steering_Wheel`:`scene object id (overrides the car default)`)])),_w=Object.fromEntries(Oc.filter(e=>e!==`type`&&e!==`f0`).map(e=>[e,YC[e]])),vw={standIdle:{args:{at:hw(`[x, z] world m; default the root keyed before f0, else within reach of the next reachGrip's anchor (output.observations.placed); a stance in a body slides out of it`),heading:BC(`degrees (yaw); default the keyed yaw`),until:VC(`hold the pose to this frame`)},needs:`args.at, or a root keyed before f0`,frames:`1 (to args.until when given)`,adds:[`keys: a standing pose, FK arms down`],example:{f0:0,args:{at:[0,0],heading:0}},place:{at:.03}},walkTo:{args:{to:hw(`[x, z] world m: the heading turns toward it and the steps cover the distance`),..._w,heading:{oneOf:[BC(),YC.heading],description:`degrees: h1, or [h0, h1]`},arrive:VC(`with to and no steps/period/step/swing: the frame to end by (feet together); the engine picks the cadence (observations.planned)`)},needs:`a standing pose keyed before f0`,frames:`16 + steps * period + 18`,adds:[`keys: a walk ending feet together`],example:{f0:10,args:{to:[.5,1.5]}},tune:{lift:.01,halfWidth:.01,firstStep:.01,step:.01},place:{firstStep:.03,step:.03}},reachGrip:{args:{anchor:$(`not ending in _l/_r`),side:WC(`the hand`),reach:VC(`frames to reach`,{default:20}),hold:VC(`frames held`,{default:22}),release:VC(`frames to let go`,{default:12}),elbow:UC(`vec3`,`pole`),fingers:{enum:Vc,default:`grip`},define:{type:`object`,description:`defines anchor args.anchor`},orient:{type:`boolean`,description:`false: no grip turn`}},required:[`anchor`,`side`],needs:`args.anchor in anchors or define`,frames:`reach + hold + release (54)`,adds:[`props.<anchor>Grip (fingers point)`,`fits: fingers on the anchor`,`checks.contacts "fingers on <anchor>"`,`checks.allow hand on its object`,`keys: w_<anchor>_<side>, fingers_<side>, armw_<side>`],example:{f0:10,args:{anchor:`bar`,side:`r`,define:{kind:`world`,p:[-.2,1.2,.33]}}},tune:{reach:2,release:2}},sitInSeat:{args:{...gw([`car`,`seat`,`seatBack`,`wheel`]),offset:{...UC(`vec3`,`hips from the seat top, seat frame`),default:[0,.17,.02]},floor:BC(`floor y under the feet, m`)},needs:`args.car or args.seat (a scene box)`,frames:`1`,adds:[`keys: seated, hands at the wheel`,`checks.supports seat`,`checks.allow seat, back, wheel`],example:{f0:0,args:{car:`Car`}}},exitCar:{args:{...gw([`car`,`seat`,`door`,`handle`]),side:WC(`driver door side, default l`),channel:$(`the door hinge channel`,{default:`door`})},needs:`seated in the car before f0 (sitInSeat); a car on the ground (seat base y 0.4)`,frames:`246`,adds:[`objects: door and handle hinges`,`anchors handle, lthigh, rthigh`,`props.grip`,`fits, checks.contacts, checks.allow`],example:{f0:0,args:{car:`Car`}}},flip:{args:{kind:{enum:[`back`,`front`,`cartwheel`],default:`back`,description:`a standing back or front tuck, or a cartwheel`},travel:BC(`back/front: m along the heading at landing (default back -0.25, front 0.4)`),side:WC(`cartwheel: toward the character's l (default) or r`),heading:BC(`degrees (yaw); default the keyed yaw`)},needs:`a standing pose keyed before f0`,frames:`back/front 58 (one turn, the hips 0.5 m up); cartwheel 68`,adds:[`keys every frame: back/front crouch, push-off, a ballistic tucked flight turning the whole body (pitch to -360 back, +360 front) and a landing that stands up`,`cartwheel: a side step, then the whole body rolls 360 like a wheel on the straddled legs and the arms overhead, the hands planted in turn`,`whole-body pitch and roll take full turns in any key (no range); past 60 deg the knee and elbow poles and the feet turn with the body`],example:{f0:10,args:{kind:`back`}}},smokeCigarette:{args:{until:VC(`hold to this frame; default the last frame; under f0+264 the beats are paced to fit`),kit:{type:`object`,properties:{cig:$(`the cigarette kit's rootId (object.createKit)`),lighter:$(`the lighter kit's rootId`),exhale:$(`the exhale kit's rootId (or an effect): it follows the mouth`)},required:[`cig`,`lighter`],additionalProperties:!1,description:`kits the skill carries and lights: it adds their spec.objects entries itself`}},needs:`a stand or squat keyed before f0`,frames:`265 nominal; fits 199..264 by pacing`,adds:[`anchors lpocket, rpocket, hold, mouth, flame`,`props cig, lighter`,`channels cig_vis, lit_vis, flame_vis, ember_vis, exhale, ember`,`checks contacts, orient, below, appear, mouthPoints`],example:{f0:0,args:{}}},hitReaction:{args:{dir:hw(`[x, z] the way the body is thrown`),from:$(`or what hits it: object:<id> | person:<id> (thrown away from it)`),speed:BC(`launch speed, m/s (a shove 2, a car at 30 km/h about 8)`,{default:4,exclusiveMinimum:0}),land:{enum:[`back`,`front`],description:`default: back when hit from the front`}},needs:`a pose; dir or from`,frames:`~40`,adds:[`keys: thrown to rest`],example:{f0:10,args:{dir:[0,-1],speed:3}}},throwObject:{args:{object:$(`the carried object's id (objects.<id>.prop on the hand's prop)`),side:WC(`the throwing hand (default r)`),to:{type:`array`,items:{type:`number`},minItems:3,maxItems:3,description:`[x, y, z] world m: where it lands`},arc:{enum:[`low`,`high`],description:`launch angle: low 20 deg, high 50 deg (default low)`}},required:[`object`,`to`],needs:`the object in that hand (its objects entry on the hand's prop)`,frames:`24 (wind-up, swing, release at f0+18, follow-through)`,adds:[`keys: wind-up, swing, follow-through`,`objects.<id>: release and fall { v: "hand" } when the entry leaves them out`,`goals: <id> lands at the target`],example:{f0:40,args:{object:`ball`,to:[0,0,5]}}},catchObject:{args:{object:$(`the flying object's id 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Map(iT.map(t=>Math.round(t*e)).filter(t=>t>0&&t<e).map(t=>[t,[cT(t/e,Yw),cT(t/e,Xw)]])).entries()].map(([e,[t,n]])=>[e,t,n]),uT=180/Math.PI,dT=(e,t,n)=>Math.max(t,Math.min(n,e));function fT(e,t){let n=pT(e,t),r=e.sk.index;return!!n&&n[1]>=e.sk.restWorldPos[r.LeftLeg][1]+$w}function pT(e,t){if(t?.kind===`world`&&Array.isArray(t.p))return t.p.map(Number);let n=t?.kind===`object`?e.scene?.objects?.[t.object]:null;return!n||[t.object,...n.ancestors??[]].some(t=>mT(e,t))?null:V(n.pos,J(n.R,t.local??[0,n.half?.[1]??0,0]))}function mT(e,t){let n=e.objects?.[t];return!n||typeof n!=`object`?!1:n.follow!==void 0||n.hinge!==void 0||Math.min(...(n.keys??[]).map(e=>e.f).filter(Number.isFinite),n.fall?.at??1/0)<(e.until??1/0)}var hT=new WeakMap;function gT(e){if(!hT.has(e)){let t=eo(e),n=e.index;Eo(e,t,`Right`,{}),hT.set(e,G(H(t.P[n.RightHandThumb4],t.P[n.RightHandIndex4])))}return hT.get(e)}function _T(e,t){let n=e.scene?.objects??{};if(t?.kind===`object`)return 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u=Math.atan2(c[0],c[2])*uT-(n.yaw??0)-(n.spine_yaw??0);for(;u>180;)u-=360;for(;u<-180;)u+=360;let d=Math.atan2(-c[1],l)*uT-(n.pitch??0)-(n.spine_pitch??0);return{head_yaw:dT(Zw*u,-60,60),head_pitch:dT(Zw*d,-30,50)}}var xT=(e,t,n)=>e.some(e=>e.f>=t&&e.f<=n&&(e.set?.head_yaw!==void 0||e.set?.head_pitch!==void 0)),ST=(e,t)=>Wc[e]?Wc[e].map((e,n)=>n===2&&t===`r`?-e:e):[0,0,0];function CT(e){let{sk:t,args:n,state:r}=e,i=t.index,a=t.restWorldPos,o=a[i.LeftFoot][1],s=n.heading??r.yaw??0,c=n.at??(r.root?[r.root[0],r.root[2]]:null),l=null;if(!c){let t=Jw(e);t||Mw(e.tag,`needs args.at: [x, z] (no root is keyed before f0), or a reachGrip after it to stand within reach of`),{at:c,heading:s}=t,l={at:c,heading:s,why:`within reach of anchor ${t.anchor}`}}else if(n.at&&e.place!==!1){let n=Kw(t,e.scene,[c[0],c[c.length-1]],s);n&&(c=n.at,l={at:c,heading:s,why:`moved ${n.moved} m out of a scene body`})}let u=[c[0],0,c[c.length-1]],d=X(s),f=e=>{let t=V(u,J(d,e));return t[1]=o,t},p={root:[u[0],a[i.Hips][1]-.01,u[2]],yaw:s,pitch:0,roll:0,spine_yaw:0,spine_pitch:0,spine_roll:0,head_yaw:0,head_pitch:0,foot_l:f([.09,0,-.03]),foot_r:f([-.09,0,.03]),fyaw_l:s,fyaw_r:s,fpitch_l:0,fpitch_r:0,knee_l:[.05,0,1],knee_r:[-.05,0,1],armw_l:0,armw_r:0,aswing_l:0,aswing_r:0,abend_l:0,abend_r:0,arm_hang:1},m=[{f:e.f0,set:p}];return n.until!==void 0&&m.push({f:n.until,set:structuredClone(p)}),{keys:m,end:n.until??e.f0,...l?{placed:l}:{}}}function wT(e){let{args:t,state:n}=e;(!n.foot_l||!n.foot_r||!n.root)&&Mw(e.tag,`needs a standing pose keyed before f0 (use standIdle or another skill first)`);let r={type:`walk`,f0:e.f0,...t};delete r.to,delete r.arrive;let i=n.yaw??0,a=t.step??.5,o=t.firstStep??.4;if(t.to){let e=[(n.foot_l[0]+n.foot_r[0])/2,(n.foot_l[2]+n.foot_r[2])/2],s=t.to[0]-e[0],c=t.to[t.to.length-1]-e[1],l=Math.hypot(s,c),u=Math.atan2(s,c)*180/Math.PI;for(;u-i>180;)u-=360;for(;u-i<-180;)u+=360;r.heading=t.heading??[i,u],r.steps=t.steps??Math.max(2,2+Math.round((l-o)/a))}typeof r.heading==`number`&&(r.heading=[i,r.heading]);let s=L_(r,e.keys,e.sk,e.tag),c=mw(r),l=e.frames-1;return c>l&&Math.max(...s.filter(e=>e.f<c).map(e=>e.f))<=l?{keys:s.filter(e=>e.f<=l),end:l,cut:`settle cut at f${l} (hold to the end)`}:{keys:s,end:c}}function TT(e={},t,n,r){let i=t=>e[t]&&JSON.stringify(e[t])!==JSON.stringify(r);if(!i(t))return t;let a=`${t}_${n}`;for(let e=2;i(a);e++)a=`${t}_${n}${e}`;return a}var ET=(e,t)=>{let n=e?.objects??{};if(!t||n[t]||t.startsWith(`person:`))return t?[t]:[];let r=Object.keys(n).filter(e=>n[e].ancestors?.includes(t));return r.length?r:[t]};function DT(e){let{args:t,state:n}=e,r=t.side,i=t.anchor;r!==`l`&&r!==`r`&&Mw(e.tag,`args.side must be "l" or "r", got ${JSON.stringify(r)}`),(typeof i!=`string`||/_[lr]$/.test(i))&&Mw(e.tag,`args.anchor must name an anchor (not ending in _l/_r)`);let a=t.reach??20,o=t.hold??22,s=t.release??12,c=(t.define??e.anchors?.[i])?.grasp,l=t.fingers??Uc[c]??`grip`,u=`w_${i}_${r}`,d=`fingers_${r}`,f=`armw_${r}`,p=`elbow_${r}`,m=!(n[f]>.5),h=e.frames-1,g=e.f0+a<=h&&e.f0+a+o+s>h,_=Math.min(a+o,h-e.f0);for(let[e,t]of[[u,0],[d,{[l]:0}],[f,0]])n[e]===void 0&&(n[e]=t);let v=a+o+s,y={...e,until:e.f0+a},b=!xT(e.keys??[],e.f0,e.f0+v)&&bT(y,t.define??e.anchors?.[i],n),x=b?{head_yaw:n.head_yaw??0,head_pitch:n.head_pitch??0}:null,S=jw(n,e.f0);S.hold(0,u,d,f,p,...b?[`head_yaw`,`head_pitch`]:[]);let C=t.define??e.anchors?.[i],w=n[u],T=n[f],E=(e,t,n)=>e+(t-e)*n;if(fT(y,C))for(let[e,t,n]of lT(a))S.at(e,{[u]:E(w,1,t),[f]:E(T,1,n)});let D=Math.round(nT*a);D>0&&D<a&&yT(y,C,n)&&S.hold(D,d),b&&S.at(Math.max(1,Math.round(rT*a)),b),S.at(a,{[u]:1,[d]:{...n[d],[l]:1},[f]:1,...t.elbow?{[p]:t.elbow}:{}}),S.hold(_,u,d,f,p,...b?[`head_yaw`,`head_pitch`]:[]),g||S.at(v,{[u]:0,[d]:{...n[d],[l]:0},...m?{[f]:0}:{},...x??{}});let O=r===`l`?`Left`:`Right`,k={hand:r,origin:[`${O}HandIndex2`,`${O}HandMiddle2`],points:{fingers:ST(c,r)}},ee=TT(e.props,`${i}Grip`,r,k),te=t.define?{[i]:t.define}:{},ne=t.define??e.anchors?.[i],re=ne?.kind===`object`?ne.object:ne?.kind===`person`?`person:${ne.person}`:null;return{keys:S.keys,end:g?h:e.f0+a+o+s,...g?{cut:`${_<a+o?`hold`:`release`} cut at f${h} (hold to the end)`}:{},anchors:te,props:{[ee]:k},fits:[{side:r,anchor:i,effector:{prop:ee,point:`fingers`},...t.orient===!1?{orient:!1}:{}}],checks:{contacts:[{name:`fingers on ${i}`,point:`prop:${ee}.fingers`,target:`anchor:${i}`,tol:.04,when:u}],allow:ET(e.scene,re).map(e=>({part:`hand`,object:e,depth:.04}))}}}var OT=[.54,.4,-.075],kT=.4,AT=1.0427487182617188,jT=new Set([`l`,`r`]);function MT(e,t=`l`){let n=e.car;return{seat:e.seat??(n&&`${n}_Seat_Driver`),seatBack:e.seatBack??(n&&`${n}_Seat_Driver_Back`),door:e.door??(n&&`${n}_Door_${t.toUpperCase()}`),handle:e.handle??(n&&`${n}_Door_Handle`),wheel:e.wheel??(n&&`${n}_Steering_Wheel`)}}function NT(e,t,n){let r=Nw(e,`seat`,t);Math.abs(r.pos[1]-kT)>.05&&Mw(e.tag,`seat "${t}" stands at y ${r.pos[1]}; the car skills are tuned for a seat base at y ${kT} (a car on the ground)`);let i=Ew();i.yaw=Pw(r.R),i.mirror=n===`r`;let a=H(r.pos,J(X(i.yaw),i.mirror?[-OT[0],OT[1],OT[2]]:OT));return i.origin=[a[0],0,a[2]],i.names={lthigh:`rthigh`,rthigh:`lthigh`},i}var PT=[[`hand`,`thigh*`,.07],[`farm`,`thigh*`,.07],[`hand`,`hips`,.07],[`farm`,`hips`,.07],[`hand_l`,`hand_r`,.035]].map(([e,t,n])=>({part:e,object:t,depth:n})),FT=e=>({A:e.restWorldPos[e.index.LeftFoot][1],H:t=>t+(e.restWorldPos[e.index.Hips][1]-AT)});function IT(e){let{args:t,sk:n}=e,r=MT(t),i=Nw(e,`seat`,r.seat),{A:a}=FT(n),o=Pw(i.R),s=e=>J(X(o),e),c=t.offset??[0,.17,.02],l=t.floor??i.pos[1],u=V(V(i.pos,J(i.R,[0,2*i.half[1],0])),s(c)),d=e=>{let t=V(u,s([e,0,.452]));return t[1]=l+a,t},f=e=>V(u,s([e,.348,.324])),p={root:u,yaw:o,pitch:0,spine_pitch:-12,spine_yaw:0,spine_roll:0,head_yaw:0,head_pitch:10,foot_l:d(.17),foot_r:d(-.17),fyaw_l:o,fyaw_r:o,fpitch_l:0,fpitch_r:0,knee_l:[.15,.2,1],knee_r:[-.15,.2,1],armw_l:1,armw_r:1,hand_l:f(.22),hand_r:f(-.22),elbow_l:[.6,-1,-.3],elbow_r:[-.6,-1,-.3],aswing_l:0,aswing_r:0,abend_l:0,abend_r:0,wtwist_l:0,wtwist_r:0,wflex_l:0,wflex_r:0},m=[{part:`torso_lo`,object:r.seat,depth:.04},{part:`hips`,object:r.seat,depth:.04},{part:`thigh`,object:r.seat,depth:.045}];return r.seatBack&&e.scene.objects[r.seatBack]&&m.push({part:`torso`,object:r.seatBack,depth:.03}),r.wheel&&e.scene.objects[r.wheel]&&m.push({part:`hand`,object:r.wheel,depth:.05}),{keys:[{f:e.f0,set:p}],checks:{supports:[{object:r.seat,part:`hips`,tol:.04}],allow:m},end:e.f0}}function LT(e){let t=e.args.side??`l`;jT.has(t)||Mw(e.tag,`args.side must be "l" or "r", got ${JSON.stringify(t)}`);let n=MT(e.args,t),r=NT(e,n.seat,t),i=e.args.channel??`door`;for(let[t,r]of[[`door`,n.door],[`handle`,n.handle]])Nw(e,t,r);r.negate.add(i);let a={[i]:0,w_handle_l:0,w_lthigh_l:0,w_rthigh_r:0,fingers_l:{grip:0,fist:0}},o=jw(e.state,e.f0,r),s={};for(let[t,n]of Object.entries(a))e.state[kw(r,t)]===void 0&&(s[t]=n);Object.keys(s).length&&o.at(0,s),RT(o,i,FT(e.sk));let c=e.scene.objects[n.door],l=(r.mirror?-1:1)*c.half[0],u={pivot:V(c.pos,J(c.R,[l,0,c.half[2]])),axis:[0,1,0],channel:i},d=e=>r.mirror?Tw(e):e,f=e=>r.mirror?{lthigh:`rthigh`,rthigh:`lthigh`}[e]??e:e,p=(e,t)=>({kind:`segment`,from:d(`${e}UpLeg`),to:d(`${e}Leg`),t:.45,tMin:.15,offset:[0,.07,0],reach:r.mirror?t===`l`?`r`:`l`:t}),m=r.mirror?`r`:`l`;return{keys:o.keys,objects:{[n.door]:u,[n.handle]:u},anchors:{handle:{kind:`object`,object:n.handle,local:Ow(r,[-.005,.015,0])},[f(`lthigh`)]:p(`Left`,`l`),[f(`rthigh`)]:p(`Right`,`r`)},props:{grip:{hand:m,origin:[d(`LeftHandIndex2`),d(`LeftHandMiddle2`)],points:{fingers:[0,0,0]}}},fits:[{side:m,anchor:`handle`,effector:{prop:`grip`,point:`fingers`}}],checks:{contacts:[{name:`fingers on the door handle`,point:`prop:grip.fingers`,target:`anchor:handle`,tol:.04,when:`w_handle_${m}`}],allow:[{part:`hand`,object:n.door,depth:.03},{part:`hand`,object:n.handle,depth:.04},...PT]},end:e.f0+246}}function RT(e,t,{A:n,H:r}){e.hold(12,`w_handle_l`,`fingers_l`,`head_yaw`,`spine_yaw`,`spine_roll`,`elbow_l`,`hand_l`),e.at(32,{w_handle_l:1,fingers_l:{grip:1,fist:0},head_yaw:35,spine_yaw:10,spine_roll:-8,elbow_l:[.3,-1,-.6],hand_l:[1,.96,.06]}),e.hold(32,t),e.at(38,{[t]:-3}),e.at(50,{[t]:-10,spine_roll:-16,spine_yaw:14}),e.hold(54,`w_handle_l`,`fingers_l`,`w_lthigh_l`,`elbow_l`,t),e.at(66,{w_handle_l:0,fingers_l:{grip:0,fist:0},[t]:-10}),e.at(70,{w_lthigh_l:1,elbow_l:[.5,-.3,-1],spine_roll:-3,spine_yaw:6}),e.at(84,{[t]:-68,head_yaw:40}),e.hold(64,`w_rthigh_r`,`elbow_r`,`spine_pitch`),e.at(80,{w_rthigh_r:1,elbow_r:[-.5,-.3,-1],spine_roll:0,spine_yaw:0,spine_pitch:0}),e.hold(84,`yaw`,`root`,`foot_l`,`foot_r`,`fyaw_l`,`fyaw_r`,`knee_l`,`knee_r`),e.at(92,{foot_r:[.4,kT+n+.03,.36],fyaw_r:15}),e.at(97,{foot_l:[.96,.62,.32],fyaw_l:40,knee_l:[.5,.4,1],yaw:30,root:[.64,.915,-.06]}),e.at(101,{foot_r:[.56,kT+n,.34],fyaw_r:35}),e.at(105,{foot_l:[1.18,.5,.1],fyaw_l:60}),e.at(116,{foot_l:[1.28,n,-.12],fyaw_l:75,knee_l:[.4,.5,1],yaw:62,root:[.82,.9,-.06],head_yaw:20,knee_r:[.1,.6,1],spine_pitch:10}),e.hold(120,`foot_r`,`fyaw_r`),e.at(129,{foot_r:[.94,.64,.36],fyaw_r:65,knee_r:[0,.5,1],yaw:80,root:[.86,.9,-.03]}),e.at(135,{foot_r:[1.18,.5,.26],fyaw_r:85}),e.hold(142,`foot_l`,`fyaw_l`),e.at(144,{foot_r:[1.29,n,.22],fyaw_r:90,knee_r:[-.1,.4,1],yaw:90,root:[.88,.9,.02],head_yaw:0,knee_l:[.1,.4,1],spine_pitch:16}),e.hold(144,`head_pitch`,`pitch`,`elbow_l`,`elbow_r`),e.at(152,{spine_pitch:28,head_pitch:-8,root:[.91,.9,.02],elbow_l:[.6,-.2,-1],elbow_r:[-.6,-.2,-1]}),e.at(162,{spine_pitch:50,pitch:22,head_pitch:-36,root:[.99,.91,.02]}),e.at(174,{root:[1.09,.96,.02],spine_pitch:36,pitch:12,head_pitch:-24}),e.hold(166,`armw_l`,`armw_r`),e.at(186,{root:[1.19,r(1),.02],spine_pitch:12,pitch:3,head_pitch:-8,armw_l:0,armw_r:0}),e.hold(187,`w_lthigh_l`,`w_rthigh_r`),e.at(190,{w_lthigh_l:0,w_rthigh_r:0}),e.at(196,{root:[1.21,r(1.005),.02],spine_pitch:0,pitch:0,head_pitch:0}),e.at(205,{root:[1.26,r(.985),.165]}),e.hold(208,`foot_l`,`fyaw_l`),e.at(212,{root:[1.3,r(.985),.16]}),e.at(214,{foot_l:[1.4,n+.06,-.12]}),e.at(220,{foot_l:[1.535,n,-.132],fyaw_l:110,root:[1.38,r(.98),.05]}),e.at(230,{root:[1.5,r(.975),-.08]}),e.hold(232,`foot_r`,`fyaw_r`),e.at(236,{root:[1.52,r(.975),-.085]}),e.at(239,{foot_r:[1.53,n+.07,.09]}),e.at(246,{foot_r:[1.765,n,-.048],fyaw_r:125,yaw:110,root:[1.62,r(.98),-.08]})}var zT=[`cig`,`lighter`,`exhale`],BT={follow:`landmark:mouth`,aim:`face`,visible:`exhale`},VT={cig:`cigarette`,lighter:`lighter`},HT=.7,UT=[-.05,.07,.1],WT=.88,GT=.2,KT=[.245,.08,.02],qT={l:[.13,-.035,.08],r:[-.13,-.035,.08]};function JT(e,t){return Object.entries(e?.objects??{}).map(([e,t])=>[e,t,!0]).concat(Object.entries(e?.others??{}).map(([e,t])=>[e,t,!1])).filter(([,e])=>e.ancestors?.includes(t))}function YT(e,t,n){let r=t[n];return(typeof r!=`string`||!hl(e.scene)[r])&&Mw(e.tag,`args.kit.${n} ${JSON.stringify(r)} is not a group in the scene; object.createKit { kit: "${VT[n]}" } answers its rootId`),r}var XT={cig:.03,lighter:.045},ZT=.07,QT=.04;function $T(e,t){let n=e.args.kit;if(n===void 0)return null;(!n||typeof n!=`object`||Array.isArray(n))&&Mw(e.tag,`args.kit must be { cig, lighter, exhale? } (kit root ids), got ${JSON.stringify(n)}`);for(let t of Object.keys(n))zT.includes(t)||Mw(e.tag,`args.kit has unknown field "${t}"; fields: ${zT.join(`, `)}`);let r=YT(e,n,`cig`),i=YT(e,n,`lighter`),a={[r]:{prop:`cig`,grab:t.cig,at:[0,0,0],along:[0,0,1],visible:`cig_vis`},[i]:{prop:`lighter`,grab:t.lit,release:t.unlit,at:[0,0,0],along:[0,1,0],visible:`lit_vis`}};for(let[t,n,i]of JT(e.scene,r))i&&n.glow||!i&&n.renderer===`light`?a[t]={visible:`ember_vis`,level:`ember`}:!i&&n.renderer===`effect`&&(a[t]={visible:`ember_vis`});for(let[t,n,r]of JT(e.scene,i))(r&&n.glow||!r&&n.renderer===`light`)&&(a[t]={visible:`flame_vis`});n.exhale!==void 0&&((typeof n.exhale!=`string`||!(e.scene?.others?.[n.exhale]||e.scene?.objects?.[n.exhale]||hl(e.scene)[n.exhale]))&&Mw(e.tag,`args.kit.exhale ${JSON.stringify(n.exhale)} is not a scene object; object.createKit { kit: "exhale" } answers its rootId (it follows the mouth)`),a[n.exhale]={...BT});let o=e=>t.squat?ZT:e;return{objects:a,allow:[[`thigh_r`,r,o(XT.cig)],[`thigh_l`,i,o(XT.lighter)],[`hips`,r,o(XT.cig)],[`hips`,i,o(XT.lighter)],...t.squat?[[`shin`,r,ZT],[`shin`,i,ZT],[`hand_l`,`thigh_l`,QT],[`hand_r`,`thigh_r`,QT],[`hand`,`hips`,QT]]:[]].map(([e,t,n])=>({part:e,object:t,depth:n}))}}function eE(e){let{sk:t,state:n}=e,r=t.index,i=t.restWorldPos;if(!(n.root[1]<HT*i[r.Hips][1]))return null;let{s:a}=bh(t,n),o=n.yaw??0,s=a.P[r.RightArm],c=e=>J(X(-o),H(e,n.root)),l=G(H(i[r.RightForeArm],i[r.RightArm]))+G(H(i[r.RightHand],i[r.RightForeArm])),u=V(a.P[r.RightLeg],J(X(o),UT)),d=G(H(u,s)),f=c(d>WT*l?V(s,U(H(u,s),WT*l/d)):u),p=V(c(io(a,r.Head,t.landmarks.mouth)),[0,0,GT]),m=cs(t),h=(e,r)=>{let i=V(n.root,J(X(o),[r*KT[0],KT[1],KT[2]]));return c(m?os(m.body,t,a,i,ss,m.skip):i)},g=e=>e.map(e=>Math.round(e*1e3)/1e3);return{hold:g(f),mouthOut:g(p),lpocket:g(h(`Left`,1)),rpocket:g(h(`Right`,-1))}}var tE={TW_M:40,FX_M:0,TW_H:0,FX_H:10,TW_L:-80,FX_L:-50},nE=15,rE=20,iE=[[`hand_l`,`hand_r`,.045],[`hand_r`,`hand_l`,.045],[`farm_r`,`hand_l`,.02],[`hand_l`,`farm_r`,.02]].map(([e,t,n])=>({part:e,object:t,depth:n})),aE=[.4,-1,.6],oE=[-.4,-1,-.3],sE=[.9,-.6,.3],cE=[`armw_r`,`armw_l`,`w_rpocket_r`,`w_lpocket_l`,`w_hold_r`,`w_mouth_r`,`w_flame_l`,`elbow_r`,`elbow_l`,`wtwist_r`,`wflex_r`,`wtwist_l`,`wflex_l`,`head_pitch`,`head_yaw`,`spine_pitch`,`root`,`fingers_l`,`fingers_r`,`cig_vis`,`lit_vis`,`flame_vis`,`ember_vis`,`exhale`,`ember`],lE=264,uE=.75,dE=Math.ceil(lE*uE),fE=e=>(e/24).toFixed(1),pE={armw_r:0,armw_l:0,w_rpocket_r:0,w_lpocket_l:0,w_hold_r:0,w_mouth_r:0,w_flame_l:0,elbow_r:[-.5,-.4,-1],elbow_l:[.5,-.4,-1],wtwist_r:0,wflex_r:0,wtwist_l:0,wflex_l:0,head_pitch:0,head_yaw:0,spine_pitch:0,fingers_l:{grip:0,fist:0},fingers_r:{cigarette:0},cig_vis:0,lit_vis:0,flame_vis:0,ember_vis:0,exhale:0,ember:0};function mE(e){let t=e.args.until??(e.auto?e.f0+lE:e.frames-1),n=t-e.f0;n<dE&&Mw(e.tag,`needs frames f${e.f0}..f${e.f0+dE} at least: 199 frames, ${fE(199)} s at 24 fps, paced ${uE} (265 frames, ${fE(265)} s, at its own pace); it has f${e.f0}..f${t}, `+(e.args.until===void 0?`so set frames >= ${e.f0+dE+1} or frames: "auto"`:`so set args.until >= ${e.f0+dE}`)),Array.isArray(e.state.root)||Mw(e.tag,`needs a pose keyed before f0 (root): standing or squatting`);let r=Object.fromEntries(Object.entries(pE).filter(([t])=>e.state[t]===void 0));Object.keys(r).length&&Object.assign(e.state,structuredClone(r)),e.state.head_yaw=0;let i=e.state.head_pitch,a=(e.state.pitch??0)+e.state.spine_pitch,o=e=>e+i,s=a?J(Wa(a),aE):aE,c=a?J(Wa(a),oE):oE,l=eE(e),u=e.self?l?rE:nE:tE.FX_M;l&&(e.state.w_mouthOut_r=0);let 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y=l&&e.self?8:0;m.at(y?96+y:l?100:96,{w_flame_l:0,w_lpocket_l:1,wtwist_l:0,wflex_l:0,elbow_l:[.5,-.4,-1]}),m.hold(101+y,`fingers_l`),m.step(102+y,`lit_vis`,0),m.hold(104+y,`armw_l`,`w_lpocket_l`),m.at(112,{fingers_l:{grip:0,fist:0}}),m.at(120,{armw_l:0,w_lpocket_l:1}),m.at(123,{w_lpocket_l:0}),v(92,114),m.at(124,{head_pitch:o(-14)}),m.at(140,{head_pitch:o(0)});let b=[Math.cos(g*Math.PI/180),0,-Math.sin(g*Math.PI/180)];m.hold(120,`root`,`head_yaw`),m.at(146,{root:h.map((e,t)=>e+.03*b[t]-(t===1?.005:0)),head_yaw:-22}),m.at(168,{head_yaw:0}),_(170,194),v(212,236),m.at(246,{head_pitch:o(-14)}),m.at(264,{head_pitch:o(0)}),p.hold(n,...cE,...l?[`w_mouthOut_r`]:[]);let x=!!l&&e.self,S=$T(e,{cig:e.f0+f(28),lit:e.f0+f(35),unlit:e.f0+f(x?110:102),squat:x});return{keys:p.keys,end:t,...d<1?{paced:Math.floor(d*100)/100}:{},channels:[`exhale`,`ember`],...S?{objects:S.objects}:{},anchors:{lpocket:{kind:`body`,p:e.self&&l?.lpocket||qT.l},rpocket:{kind:`body`,p:e.self&&l?.rpocket||qT.r},hold:{kind:`body`,p:l?.hold??[-.24,.03,.06]},...l?{mouthOut:{kind:`body`,p:l.mouthOut}}:{},mouth:{kind:`landmark`,name:`mouth`},flame:{kind:`prop`,prop:`cig`,point:`tip`,offset:[0,-.02,0]}},props:{cig:{hand:`r`,origin:[`RightHandIndex2`,`RightHandMiddle2`],points:{filter:[0,0,-.026],tip:[0,0,.058]}},lighter:{hand:`l`,origin:[`LeftHand`,`LeftHandMiddle1`],points:{body:[.01,0,0],flame:[.01,.036,0]}}},fits:[{side:`r`,anchor:`mouth`,effector:{prop:`cig`,point:`filter`}},{side:`l`,anchor:`flame`,effector:{prop:`lighter`,point:`flame`}}],checks:{contacts:[{name:`filter on the lips`,point:`prop:cig.filter`,target:`anchor:mouth`,tol:.01,when:`w_mouth_r`},{name:`flame under the 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t*t*t*(t*(6*t-15)+10)},qE=e=>(e+540)%360-180,JE=e=>e.map(e=>Math.round(e*1e3)/1e3),YE=e=>Math.round(e*10)/10;function XE(e,t,n){let r=null,i=null;for(let a of e){let e=a.set?.[t];Array.isArray(e)&&(a.f<=n&&(!r||a.f>=r.f)&&(r={f:a.f,v:e}),a.f>n&&(!i||a.f<i.f)&&(i={f:a.f,v:e}))}if(!r||!i)return r?.v;let a=(n-r.f)/(i.f-r.f);return r.v.map((e,t)=>e+(i.v[t]-e)*a)}function ZE(e,t){let{args:n,scene:r}=e,i=n.dir;if(!i&&typeof n.from==`string`){let[a,o]=n.from.split(/:(.*)/s),s=a===`object`?r?.objects?.[o]?.pos:a===`person`?wl(r,o,`Hips`,e.f0):null;s||Mw(e.tag,`args.from "${n.from}" must be object:<id> of a scene body or person:<id> of a character with an installed take`),i=[t[0]-s[0],t[2]-s[2]]}(!Array.isArray(i)||i.length!==2||!(Math.hypot(i[0],i[1])>1e-6))&&Mw(e.tag,`needs args.dir: [x, z] (the way the body is thrown) or args.from: object:<id> | person:<id> (what hits it)`);let a=Math.hypot(i[0],i[1]);return[i[0]/a,i[1]/a]}function QE(e){let{sk:t,args:n,state:r}=e,i=t.index,a=t.restWorldPos;r.root||Mw(e.tag,`needs a pose keyed before f0 (standIdle, a walk, ...)`);let o=XE(e.keys,`root`,e.f0)??r.root.slice(),s={};for(let t of[`l`,`r`]){let n=XE(e.keys,`foot_${t}`,e.f0),r=XE(e.keys,`foot_${t}`,e.f0-1);n&&(s[t]={at:n,v:r?n.map((e,t)=>e-r[t]):[0,0,0]})}let c=r.yaw??0,[l,u]=ZE(e,o),d=n.speed??4;Number.isFinite(d)&&d>0||Mw(e.tag,`args.speed must be a launch speed above 0 m/s, got ${JSON.stringify(n.speed)}`);let f=Math.min(2.5,Math.max(.8,.3*d)),p=J(X(c),[0,0,1]),m=(n.land??(l*p[0]+u*p[2]<=0?`back`:`front`))===`back`,h=Math.atan2(l,u)*180/Math.PI,g=qE((m?h+180:h)-c),_=m?-90:90,v=m?LE.back:LE.front,y=o[1],b=e=>y+f*VE(e)-.5*PE*e*e,x=e=>f*(1-Math.exp(-e/zE))-PE*e,S=0,C=(f+Math.sqrt(f*f+2*PE*Math.max(0,y-v)))/PE+1;for(let e=0;e<60;e++){let e=(S+C)/2;b(e)+x(e)*UE/2>v-WE||x(e)>0?S=e:C=e}let w=S,T=Math.min(0,x(w)),E=b(w),D=w+UE,O=d/(IE*PE),k=D+O,ee=e=>e<w?b(e):e<D?E+T*(e-w)-T/(2*UE)*(e-w)**2:v-WE*(1-KE((e-D)/GE)),te=a[i.LeftFoot][1],ne=a[i.Hips][1],re=m?1:-1,ie=.9*Math.hypot(...[0,1,2].map(e=>a[i.LeftFoot][e]-a[i.Hips][e])),ae=e.f0+Math.ceil((k+.6)*FE),oe=[];for(let t=e.f0;t<=ae;t++){let n=(t-e.f0)/FE,r=n<D,i=Math.min(Math.max(0,n-D),O),a=r?d*VE(n):d*VE(D)+d*i-.5*IE*PE*i*i,f=ee(n),p=[o[0]+l*a,f,o[2]+u*a],h=Math.max(.35,.9*D),v=c+g*KE(n/Math.max(RE,h)),y=_*KE(n/h),b=(e=>J(X(v),J(Wa(y),e))),x=KE(n/zE)*Math.exp(-n/.18)*Math.sin(2*Math.PI*n/.55),S=KE(n/.3)*Math.exp(-n/.45)*Math.sin(2*Math.PI*n/.6),C=KE((n-D)/.3),w=-(ne-te)+.06*(1-C)+(m?.03:.01)*C,T=KE(n/BE),E=te+.01+(!m&&!r&&i<O?.04:0),k=(n,r,i)=>{let a=V(p,b([r,w,i])),o=p[1]-.05;m&&(a[1]=o-.05*Math.log1p(Math.exp((o-a[1])/.05))),a[1]=HE(a[1],E,.03);let c=s[n];if(!c)return a;let l=c.at.map((n,r)=>n+c.v[r]*(t-e.f0)*(1-T));return l[1]=Math.max(c.at[1],l[1]),ae(a.map((e,t)=>l[t]+(e-l[t])*T))},ae=e=>{let t=e.map((e,t)=>e-p[t]),n=Math.hypot(...t),r=ie-.02*Math.log1p(Math.exp((ie-n)/.02));return n>1e-9?p.map((e,i)=>e+t[i]*(1+(r/n-1)*T)):e},se=yh(0,y,0),ce=se?J(se.R,[0,1,0]):[0,1,0],le=Math.atan2(ce[2],ce[1])*180/Math.PI,ue=J(Wa(-le),[0,-Math.sin(y*Math.PI/180),Math.max(.05,Math.cos(y*Math.PI/180))]),de={root:JE(p),yaw:YE(v),pitch:YE(y),roll:0,foot_l:JE(k(`l`,.11,.04+.1*S*T-(m?.1:0)*C)),foot_r:JE(k(`r`,-.11,.04-.1*S*T-(m?.1:0)*C)),fyaw_l:YE(v),fyaw_r:YE(v),fpitch_l:YE(m?-50*C:-.5*le),fpitch_r:YE(m?-50*C:-.5*le),knee_l:JE([.05,ue[1],ue[2]]),knee_r:JE([-.05,ue[1],ue[2]]),spine_pitch:YE(re*22*x*Math.min(1,d/4)),spine_yaw:0,spine_roll:YE(10*S*(1-C)),head_pitch:YE(re*30*x*Math.min(1,d/4)+(m?-8:8)*C),head_roll:YE(12*C),arm_rest:YE(72-22*C),aswing_l:YE(re*45*S+8*C),aswing_r:YE(-re*35*S-8*C),abend_l:YE(25+30*S*S),abend_r:YE(30+25*S*S)};t===e.f0&&Object.assign(de,{armw_l:0,armw_r:0,fingers_l:{relaxed:1},fingers_r:{relaxed:1}}),oe.push({f:t,set:de})}return{keys:oe,end:ae}}var $E=20,eD=50,tD=10,nD=8,rD=10,iD=8,aD=.25,oD=.42,sD=.22,cD=.09,lD=.25,uD=e=>e.map(e=>Math.round(e*1e3)/1e3);function dD(e,t){let n=Object.entries(e?.objects??{}).filter(([e,n])=>e===t||n.ancestors?.includes(t)).map(([,e])=>e),r=e?.objects?.[t]?.pos??n[0]?.ancestorPoses?.[0]?.pos;return!r||!n.length?0:r[1]-Math.min(...n.map(e=>e.pos[1]))}function fD(e){let{args:t,state:n,sk:r,scene:i,tag:a}=e,o=t.object,s=t.side??`r`,c=e.objects?.[o];s!==`l`&&s!==`r`&&Mw(a,`args.side must be "l" or "r", got ${JSON.stringify(s)}`),(!c?.prop||e.props?.[c.prop]?.hand!==s)&&Mw(a,`args.object "${o}" must be carried by the ${s===`r`?`right`:`left`} hand (objects.${o}.prop on a prop with hand "${s}")`),(!Array.isArray(t.to)||t.to.length!==3)&&Mw(a,`args.to must be [x, y, z] world m (where it lands)`);let l=(t.arc===`high`?eD:$E)*Math.PI/180,u=e.fps??24,d=s===`l`?`Left`:`Right`,f=r.restWorldPos,p=V(n.root??f[r.index.Hips],J(X(n.yaw??0),H(f[r.index[`${d}Arm`]],f[r.index.Hips]))),m=[t.to[0]-p[0],0,t.to[2]-p[2]],h=G(m);h<.5&&Mw(a,`args.to is ${h.toFixed(2)} m from the shoulder; throw it at least 0.5 m`);let g=U(m,1/h),_=V(p,V(U(g,oD),[0,sD,0])),v=V(_,U(g,cD)),y=t.to[1]+dD(i,o),b=G([t.to[0]-v[0],0,t.to[2]-v[2]]),x=y-v[1],S=2*Math.cos(l)**2*(b*Math.tan(l)-x);S>0||Mw(a,`args.to is too high for a ${t.arc??`low`} arc from the hand; use arc "high" or a lower point`);let C=Math.sqrt(Zp*b*b/S),w=V(U(g,C*Math.cos(l)),[0,C*Math.sin(l),0]),T=(w[1]+Math.sqrt(w[1]**2+2*Zp*Math.max(0,v[1]-y)))/Zp,E=e.f0+tD+nD,D=Math.min(e.frames-1,E+Math.ceil(T*u)+iD),O=U([g[2],0,-g[0]],s===`r`?-1:1),k=`hand_${s}`,ee=`armw_${s}`,te=V(p,V(V(U(g,-.12),U(O,lD)),[0,-.05,0])),ne=V(p,V(V(U(O,.32),U(g,.12)),[0,.08,0])),re=V(_,U(w,.45/u)),ie=V(p,V(U(g,.46),[0,-.1,0])),ae=V(p,V(V(U(g,.3),U(O,-.15)),[0,-.4,0])),oe=`fingers_${s}`,se=Uc[c.grasp]??`grip`,ce={...n[oe],[se]:1},le={...n[oe],[se]:0},ue=[{f:e.f0,set:{[ee]:n[ee]??0,[oe]:ce,...n[k]?{[k]:n[k]}:{}}},{f:E,set:{[oe]:ce}},{f:E+3,set:{[oe]:le}},{f:e.f0+tD,set:{[ee]:1,[k]:uD(te)}},{f:e.f0+tD+Math.round(nD/2),set:{[ee]:1,[k]:uD(ne)}},{f:E-1,set:{[ee]:1,[k]:uD(H(_,U(w,1/u)))}},{f:E,set:{[ee]:1,[k]:uD(_)}},{f:E+1,set:{[ee]:1,[k]:uD(re)}},{f:E+3,set:{[ee]:1,[k]:uD(ie)}},{f:E+rD,set:{[ee]:1,[k]:uD(ae)}}],de=`${o}Target`;return{keys:ue,end:E+rD,anchors:{[de]:{kind:`world`,p:uD([t.to[0],y,t.to[2]])}},fills:{[o]:{release:E,fall:{at:E,v:uD(w)}}},goals:[{name:`${o} lands at the target`,near:[`object:${o}`,`anchor:${de}`],at:D,tol:aD}],throw:{release:E,speed:Math.round(C*100)/100,v:uD(w),flight:Math.round(T*100)/100}}}var pD=[.35,.65],mD=.15,hD=10,gD=20,_D=2,vD=6,yD=8,bD=1,xD=e=>e.map(e=>Math.round(e*1e3)/1e3),SD=(e,t,n)=>Math.min(n,Math.max(t,e));function CD(e,t,n){let r=e.restWorldPos,i=t.root??r[e.index.Hips],a=X(t.yaw??0);return{hips:i,shoulder:V(i,J(a,H(r[e.index[`${n}Arm`]],r[e.index.Hips]))),head:V(i,J(a,H(r[e.index.Head],r[e.index.Hips]))),fwd:J(a,[0,0,1])}}function wD(e){let{args:t,state:n,sk:r,scene:i,tag:a}=e,o=t.object,s=t.side??`r`,c=e.objects?.[o],l=e.fps??24;s!==`r`&&s!==`both`&&Mw(a,`args.side must be "r" or "both", got ${JSON.stringify(s)}`);let u=Array.isArray(c?.fall)?c.fall[0]:c?.fall;Array.isArray(u?.v)||Mw(a,`args.object "${o}" must fly: objects.${o}.fall { at, v: [vx, vy, vz] }`);let d=CD(r,n,`Right`),f={spec:{objects:{[o]:{fall:c.fall}},fps:l},scene:i,timeMap:null},p=e=>ym(f,o,e)?.pos,m=null,h=null;for(let t=u.at+1;t<e.frames;t++){let e=p(t),n=G(H(e,d.shoulder)),r=W(H(e,d.hips),d.fwd),i=Math.max(0,pD[0]-n,n-pD[1],mD-r,d.hips[1]-.1-e[1],e[1]-d.head[1]);if((!h||i<h.off)&&(h={f:t,p:e,off:i}),i===0){m={f:t,p:e};break}}m||Mw(a,`${o} never comes within reach of the right hand (in front of the chest, ${pD[0]}-${pD[1]} m from the shoulder): nearest at f${h.f}, [${xD(h.p).join(`, `)}], ${h.off.toFixed(2)} m out; move the body (standIdle at) or the throw`);let g=Math.max(m.f,e.f0+hD+_D),_=m.p,v=U(H(p(m.f),p(m.f-1)),l),y=G(v),b=sy({objects:e.objects},i,o),x=SD(.08+.02*b*y,.08,.15),S=K(v),C=e=>1-(1-e)**3,w=[_,...Array.from({length:vD},(e,t)=>V(_,U(S,x*C((t+1)/vD)))),V(_,U(S,x*.4))],T=Math.max(e.f0,g-_D-gD),E=s===`both`||b>bD,D=Math.max(0,...Object.values(i.objects).filter(e=>e===i.objects[o]||e.ancestors?.includes(o)).map(e=>Math.max(...e.half))),O=J(X(n.yaw??0),[1,0,0]),k={keys:[],end:g+vD+yD,props:{},anchors:{},fits:[],channels:[],fills:{[o]:{prop:`${o}Catch`,grab:g,grasp:`spherical`}},catch:{contact:g,point:xD(_),speed:Math.round(y*100)/100,give:Math.round(x*1e3)/1e3,hands:E?2:1}};for(let e of E?[`r`,`l`]:[`r`]){let t=e===`l`?`Left`:`Right`,r=e===`r`?`${o}Catch`:`${o}CatchL`,i=e===`r`?[0,0,0]:U(O,2*D+.04),a=`armw_${e}`,s=`fingers_${e}`,c={...n[s],spherical:0},l={...n[s],spherical:1},u=w.map((e,t)=>`${r}${t}`),d=t=>`w_${u[t]}_${e}`;k.keys.push({f:T,set:{[a]:n[a]??0,[d(0)]:0,[s]:c,[`elbow_${e}`]:e===`r`?[-1,-.5,-.5]:[1,-.5,-.5]}},...lT(g-_D-T).map(([e,t,r])=>({f:T+e,set:{[d(0)]:t,[a]:(n[a]??0)+(1-(n[a]??0))*r}})),{f:g-_D,set:{[a]:1,[d(0)]:1,[s]:c}},{f:g,set:{[d(0)]:1,[s]:l}},...w.slice(1).flatMap((e,t)=>{let n=t+1,r=n<=vD?g+n:g+vD+yD;return[{f:n<=vD?r-1:g+vD,set:{[d(n-1)]:1,[d(n)]:0}},{f:r,set:{[d(n-1)]:0,[d(n)]:1}}]})),k.props[r]={hand:e,origin:[`${t}HandIndex2`,`${t}HandMiddle2`],points:{fingers:[0,0,0]}},u.forEach((t,n)=>{k.anchors[t]={kind:`world`,p:xD(V(w[n],i))},k.fits.push({side:e,anchor:t,effector:{prop:r,point:`fingers`}}),k.channels.push(d(n))})}return k}var TD={standIdle:CT,sitInSeat:IT,exitCar:LT,walkTo:wT,reachGrip:DT,smokeCigarette:mE,flip:NE,hitReaction:QE,throwObject:fD,catchObject:wD},ED=Object.keys(TD),DD=e=>{throw Error(`MOTION_SPEC_INVALID: ${e}`)},OD=(e,t)=>JSON.stringify(e)===JSON.stringify(t);function kD(e,t,n,r){for(let[i,a]of Object.entries(t??{}))e[i]&&!OD(e[i],a)&&DD(`${r} defines ${n}.${i} differently from an earlier skill; rename one or define it yourself in spec.${n}`),e[i]=a}function AD(e,t){for(let[n,r]of Object.entries(t??{})){if(n===`limits`&&r&&typeof r==`object`&&!Array.isArray(r)){e.limits={...e.limits,...r};continue}if(!Array.isArray(r)||e[n]!==void 0&&!Array.isArray(e[n])){e[n]=r;continue}let t=e[n]??(e[n]=[]);for(let e of r)t.some(t=>OD(t,e))||t.push(e)}}function jD(e,t,n){e.args!==void 0&&(!e.args||typeof e.args!=`object`||Array.isArray(e.args))&&DD(`use[${t}].args must be an object, got ${JSON.stringify(e.args)}`);let r=Object.keys(vw[e.skill].args);if(!n)for(let n of Object.keys(e.args??{}))r.includes(n)||DD(`use[${t}].args.${n} is not an arg of ${e.skill}${Zc(n,r)} (args: ${r.join(`, `)})`)}function MD(e,{sk:t,scene:n,lenient:r=!1,auto:i=!1}){if(!e.use?.length)return{spec:e,used:[]};Array.isArray(e.use)||DD(`spec.use must be an array of { skill, args, f0 }`);let a=(e.keys??[]).map((e,t)=>({...e,src:`keys[${t}]`})),o={anchors:{},props:{},objects:{},fits:[],checks:{},channels:[],fills:{},goals:[]},s=[],c=[];e.use.forEach((l,u)=>{let d=`use[${u}] ${l?.skill}`;TD[l?.skill]||DD(`use[${u}].skill "${l?.skill}" is not a skill${el(String(l?.skill),ED)} (skills: ${ED.join(`, `)})`);for(let e of Object.keys(l))!xc.includes(e)&&!r&&DD(`use[${u}] has unknown field "${e}"${Zc(e,xc)}; an entry is { skill, args, f0 }`);jD(l,u,r),(!Number.isInteger(l.f0)||l.f0<0||l.f0>e.frames-1)&&DD(`use[${u}].f0 must be an integer frame within 0..${e.frames-1}, got ${JSON.stringify(l.f0)}`);let f=[...s,...a],p={sk:t,scene:n,frames:e.frames,fps:e.fps??24,auto:i,props:{...o.props,...e.props},self:e.fix!==!1&&e.fix?.self!==!1,f0:l.f0,args:structuredClone(l.args??{}),tag:d,keys:f,use:e.use,index:u,place:Zv(e.fix).stance,state:structuredClone(I_(f,l.f0)),anchors:{...o.anchors,...e.anchors},objects:{...o.objects,...e.objects}},m=TD[l.skill](p),h=Math.max(m.end??l.f0,...m.keys.map(e=>e.f));h>e.frames-1&&DD(`${d} needs ${h-l.f0} frames from f${l.f0} (to f${h}), past the last frame f${e.frames-1}; set frames >= ${h+1} or frames: "auto"`),s.push(...m.keys.map(e=>({...e,src:e.src??d}))),kD(o.anchors,m.anchors,`anchors`,d),kD(o.props,m.props,`props`,d),kD(o.objects,m.objects,`objects`,d);for(let e of m.fits??[])o.fits.some(t=>OD(t,e))||o.fits.push(e);for(let e of m.channels??[])o.channels.includes(e)||o.channels.push(e);AD(o.checks,m.checks);for(let[e,t]of Object.entries(m.fills??{}))o.fills[e]={...o.fills[e],...t};o.goals.push(...m.goals??[]),c.push({skill:l.skill,f0:l.f0,end:m.end,...m.paced?{paced:m.paced}:{},...m.cut?{cut:m.cut}:{},...m.placed?{placed:m.placed}:{}})});let l={...e,keys:[...s,...a],anchors:{...o.anchors,...e.anchors},props:{...o.props,...e.props},objects:{...o.objects,...e.objects}},u=[...new Set([...o.channels,...Array.isArray(e.channels)?e.channels:[]])];u.length&&(l.channels=u);let d=e.fits??[];l.fits=[...o.fits.filter(e=>!d.some(t=>t.side===e.side&&t.anchor===e.anchor)),...d],AD(o.checks,e.checks),l.checks=o.checks;for(let[e,t]of Object.entries(o.fills))l.objects[e]&&(l.objects[e]={...t,...l.objects[e]});return o.goals.length&&(l.goals=[...o.goals,...e.goals??[]]),delete l.use,{spec:l,used:c}}var ND=new Set([`f`,`f0`,`steps`,`period`,`swing`,`until`,`reach`,`hold`,`release`]),PD=e=>e&&typeof e==`object`&&!Array.isArray(e)&&(e.range??e.search)!==void 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Set([...s.affectedIds,...o.affectedIds])],o.undo?.historyEntryId&&i.set(o.undo.historyEntryId,s.taskId);for(let e of n.values())for(let n of r.keys)e!==s&&e.reads.has(n)&&(e.notices.push({code:`DEPENDENCY_CHANGED`,message:`${n}, which this task reads, was changed by task ${s.taskId}.`}),t?.({type:`task.dependencyChanged`,taskId:e.taskId,key:n,by:s.taskId}))}let d=s.notices.splice(0);return d.length||l.length?{...o,warnings:[...o.warnings,...l,...d].slice(0,12)}:o},traversal(e,t,r,a,o){let c=r.taskId?n.get(r.taskId):null;if(c&&e===`edit.undo`){let n=c.edits.findIndex(e=>e.receiptId===t.receiptId);n<0&&nA(`TARGET_BUSY`,`Inside a task, undo_edit takes the receiptId of the task's own newest edit${c.edits.length?` (now ${c.edits.at(-1).receiptId})`:``}.`),n<c.edits.length-1&&nA(`UNDO_CONFLICT`,`Later edits of this task come after it; undo them first, newest first: ${c.edits.slice(n+1).reverse().map(e=>e.receiptId).join(`, `)}.`);let i=c.edits.pop();return 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Pn({ok:!0,status:e?`applied`:`undone`,commandId:o.commandId,receiptId:crypto.randomUUID(),host:c.host,authored:!0,revision:{before:c.revision,after:l.revision},affectedIds:u,delta:u.slice(0,8).map(e=>({id:e,after:{token:d.find(t=>t.targetId===e).token}})),checks:{coverage:`native-history-restoration`},undo:{...i.undo,canUndoDirect:e},warnings:[],...e?{action:n,mutated:!0}:{undoneReceiptId:i.receiptId,restoredTargets:d},...u.length>8?{detailCursor:o.commandId}:{}})}if(n.startsWith(`job.`)){let e=i.get(a.jobId);(!e||!sA(e.host,c.host))&&cA(`STALE_TARGET`,`Job is not in this document.`),n===`job.cancel`&&!e.outcome&&e.controller.abort(new et(`CANCELLED`,`Job was cancelled.`));let r;return(n===`job.await`&&!e.outcome?Promise.race([e.completion,new Promise((e,n)=>{r=(t.setTimeout??setTimeout)(()=>n(new et(`TIMEOUT`,`Job is still running.`)),a.timeoutMs)})]):e.completion).then(t=>Pn({...t,commandId:o.commandId,...t.ok?{receiptId:crypto.randomUUID()}:{},jobId:e.id})).finally(()=>{r!==void 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