cozyclay 3.1.0 → 3.1.2

package/dist/assets/task-board-BKaM7d-9.js

@@ -1,14 +0,0 @@
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s=o(t.from??U(r,-1)),c=ss(r,s);return cs(c,ir(s,c),s)}function ss(e,t){let n=Xo(e,t);return K(G(n)>.001?n:Xo(Math.abs(t[1])<.9?[0,1,0]:[1,0,0],t))}var cs=(e,t,n)=>[[e[0],t[0],n[0]],[e[1],t[1],n[1]],[e[2],t[2],n[2]]];function ls(e,t){let n=wf[t],r=e.restWorldPos,i=e.index;return G(H(r[i[`${n}ForeArm`]],r[i[`${n}Arm`]]))+G(H(r[i[`${n}Hand`]],r[i[`${n}ForeArm`]]))}var us=new Set([`body`]);function ds(e,t,n,r,i,a){let o=e.spec.anchors?.[t];if(!o)throw Error(`MOTION_SPEC_INVALID: unknown anchor "${t}"`);let s=_s(e,o,t,n,r,i,a),c=us.has(o.kind)&&e.keepOut;return c?Ei(c.body,e.sk,n,Ei(c.body,e.sk,n,s,Di,c.skip),Di,c.skip):s}var fs=[`r`,`l`],ps={l:`left`,r:`right`};function ms(e,t,n,{s:r,diag:i,c:a},o){let s=i.frame,c=()=>e.restingAt?.(t.object,s)??e.objectsAt(s)[t.object]??Io(e.scene)[t.object],l=e.objectPose&&s!==void 0?e.objectHand(t.object,s):null;if(o&&l&&fs.indexOf(l)>fs.indexOf(o))throw Error(`MOTION_SPEC_INVALID: anchor "${n}" is on "${t.object}", which the ${ps[l]} hand holds at 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u=e.sockets.get(t),d=u?ns(u,c(u.owner)):{p:l??c(o.object).pos};if(u?.rim)d=bs(e,t,a,u,c(u.owner),d,l??n.P[e.sk.index[a?`${wf[a]}Arm`:`Hips`]]);else if(l)d.p=l;else if(d.axis&&d.radius>0){let t=Math.abs(uo[o.grasp]?.[2]??0),r=d.radius-t,i=n.P[e.sk.index[`${wf[a]??`Right`}Arm`]],s=H(i,d.p),c=H(s,U(d.axis,W(s,d.axis)));r>1e-4&&G(c)>1e-6&&(d.p=V(d.p,U(K(c),r)))}return!d.axis&&!d.from&&(d.from=is(Ud(e.scene,o.object).map(t=>({...c(t),half:e.scene.objects[t].half})),d.p)),d}function bs(e,t,n,r,i,a,o){e.rims??=new Map;let s=(n?null:[...e.rims.keys()].find(e=>e.startsWith(`${t}|`)&&!e.endsWith(`|`)))??`${t}|${n??``}`;if(!e.rims.has(s)){let t=rs(a,o),n=e=>J(Y(i.R),e);e.rims.set(s,{at:n(H(t.p,i.pos)),axis:n(t.axis)})}return ns(e.rims.get(s),i)}function xs(e,t,n,r){let{sk:i}=e;for(let[a,o]of Object.entries(e.spec.props??{})){if(o.hand!==t)continue;let e=zr(i,n,wf[t]),s=U(o.origin.map(e=>n.P[i.index[e]]).reduce((e,t)=>V(e,t),[0,0,0]),1/o.origin.length),c={};for(let[t,[n,r,i]]of 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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]<zl)}var su=(e,t)=>e.length<=t?e:Array.from({length:t},(n,r)=>e[Math.round(r*(e.length-1)/(t-1))]);function cu(e,t){let n=$r(gr(q(Y(e),t)));return`today's grip turned ${Math.round(2*G(n)*180/Math.PI)} deg, mostly about ${Ql[[0,1,2].reduce((e,t)=>Math.abs(n[t])>Math.abs(n[e])?t:e,0)]}`}function lu({sk:e,o:t,side:n,grab:r,rest:i,plain:a,palmOf:o,map:s=e=>e}){let c=new Map,l=e=>{let t=Math.round(e);if(!c.has(t)){let e=a(t);c.set(t,{s:e,now:o(e)})}return c.get(t)},{s:u,now:d}=l(r),f=[...t.keys].sort((e,t)=>e.f-t.f),p=su(f,Vl),m=e=>Xf({pos:d.pos,R:e},i),h=(t,r,i)=>{let{s:a,now:o}=l(r);return iu(e,a,n,Yf(i,eu(t)),o)},g=t=>iu(e,u,n,Yf(i,eu(t)),d),_=t=>{let r=m(t);return g(r)+p.reduce((t,i)=>{let{s:a,now:o}=l(s(i.f));return t+au(e,a,n,i,o,r,e=>h(r,s(i.f),e))},0)},v=r=>{let 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s=u.get(t.baked),f=a.objects[r];if(s.has(r))return s.get(r);let p=h(r);if(p&&p.name!==`today`){let e=c.has(f)?Fa(i,a,o,r,f,p.offset):p.offset;return s.set(r,e),s.set(`${r}|taken`,p.offset),e}let m=o?.objects?.[r]??Io(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(Mu(t,f)[0]).s:xr(i)}finally{d.delete(r)}let y=Xf(l(f,v),_?e.restingAt?.(r,Mu(t,f)[0])??{pos:m.pos,R:m.R}:Jf(i,a,v,f)),b=_&&c.has(f)?Fa(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?Ra(i,r,La(Mu(t,a.objects[e])[0],n)):r},v=(e,t)=>Yf(l(a.objects[e],t),g(e)),y=(e,t,n,r)=>{let o=a.objects[e];return sa(i,t,wf[a.props[o.prop].hand],Yf(n,Nu(g(e))),l(o,t),r)},b=(e,n,r)=>{let i=Iu(t,e),a=Ru(i,Mu(t,n),r);return a>0?{w:a,palm:Yf(Lu(i,r),Nu(_(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 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i=Array(n).fill(!1),a=Object.keys(e);i[0]=!0;for(let t=1;t<n;t++)a.some(n=>Tp(e[n][t],e[n][t-1]))&&(i[t]=i[t-1]=!0);let o=a.filter(e=>/^(armw_[lr]|w_.+_[lr])$/.test(e));for(let t=0;t<n;t++)o.some(n=>e[n][t]>.001)&&(i[t]=!0);for(let e of Object.values(t.objects??{}))if(Number.isFinite(e?.grab))for(let t=Math.max(0,e.grab);t<Math.min(n,Number.isFinite(e.release)?e.release:n);t++)i[t]=!0;for(let e of t.goals??[]){let t=Array.isArray(e?.at)?e.at:null;if(!(e?.still===void 0||!t?.length))for(let e=Math.max(0,Math.round(t[0]));e<=Math.min(n-1,Math.round(t[t.length-1]));e++)i[e]=!0}let s=Math.max(1,Math.round(xp*r)),c=Array(n).fill(1/0);for(let e=0,t=-1/0;e<n;e++)i[e]&&(t=e),c[e]=e-t;for(let e=n-1,t=1/0;e>=0;e--)i[e]&&(t=e),c[e]=Math.min(c[e],t-e);return c.map(e=>wp(Math.min(1,e/s)))}function Op(e,t,n,r){let i={},a=Math.max(1,Math.round(xp*r));for(let r of[`l`,`r`]){let 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Np={noise:.02,side:.03,first:.22,second:.08,last:.22,beforeLast:.08,turn:0},Pp={noise:.025,side:.012,stride:.035,second:.05,beforeLast:.06,turn:.06},Fp={noise:.1,first:.1,last:.25},Ip=.1,Lp=3,Rp=60;function zp(e,{s0:t,turn:n,seed:r}){let i=e.steps,a=jp(e.vary??1,0,2),o=Mp(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/Rp)}),h=i>=4,g=s.map((e,t)=>{if(i<2)return 1;let n=(t===0||t===i-1?.5:1)*(Np.noise*e.time+Np.side*l(t))+Np.turn*m[t];return t===0&&(n+=Np.first*(1-m[0])),t===1&&h&&(n+=Np.second),t===i-1&&(n+=Np.last),t===i-2&&h&&(n+=Np.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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e=J(X(t.yw),[0,0,1]),r=Math.max(n+1,t.a);for(;r<t.heel&&(b[r][0]-t.flat[0])*e[0]+(b[r][1]-t.flat[2])*e[2]<0;)r++;t.free=r}let S=[];for(let e=n;e<=r;e++)S[e]=x(e);let C=Math.max(2,Math.round(im*i)),w=(e,t)=>{let n=e;for(let r=e;r<=t;r++)S[r]<S[n]&&(n=r);return n},T=[...new Set([`l`,`r`].flatMap(e=>o[e].filter(e=>e.strike&&e.a>n+2&&e.a<r-2).map(e=>e.a)))].sort((e,t)=>e-t),E=[{f:n,y:S[n]}];T.forEach((e,t)=>{let n=w(Math.max(E.at(-1).f+2,e-2),Math.min(r-2,e+C));if(t>0){let e=E.at(-1),t={f:n,y:S[n]},r=t.f-e.f,i=null;for(let n=Math.ceil(e.f+am[0]*r);n<=Math.floor(e.f+am[1]*r);n++){let r=S[n];for(let t=e.f+1;t<n;t++){let i=sm((t-e.f)/(n-e.f));i>1e-6&&(r=Math.min(r,e.y+(S[t]-e.y)/i))}for(let e=n+1;e<t.f;e++){let i=sm((e-n)/(t.f-n));i<1-1e-6&&(r=Math.min(r,(S[e]-t.y*i)/(1-i)))}(!i||r>i.y)&&(i={f:n,y:r})}i&&i.y>Math.max(e.y,t.y)&&E.push(i)}n>E.at(-1).f&&E.push({f:n,y:S[n]})}),E.push({f:r,y:S[r]});for(let e=1;e+1<E.length;e++){let t=E[e],n=Math.min(...[E[e-1],E[e+1]].map(e=>e.y+om*(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=mm(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 pm(e,t,{end:n,period:r,pace:i,ground:a}){let{reach:o,hipOff:s,trail:c}=um(e,r,i),l=Us(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=dm(l,t,s[e]),u=o(c((t-r.heel)/Math.max(1,r.b-r.heel))),f=e=>G(H(n,lm(r.ball,r.yw,e,r.flat)))-u,p=d,m=Kp;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*qp)));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=lm(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_${e}`]:r.yw},src:u.get(n)})})}}function mm(e,t,n,r){let i=e.length-1,a=e.slice(1).map((t,n)=>t-e[n]),o=[],s=[],c=[],l=[];for(let e=0;e<=i;e++)e===0?(o[e]=0,s[e]=2*a[0],c[e]=a[0],l[e]=6*((t[1]-t[0])/a[0]-n)):e===i?(o[e]=a[i-1],s[e]=2*a[i-1],c[e]=0,l[e]=6*(r-(t[i]-t[i-1])/a[i-1])):(o[e]=a[e-1],s[e]=2*(a[e-1]+a[e]),c[e]=a[e],l[e]=6*((t[e+1]-t[e])/a[e]-(t[e]-t[e-1])/a[e-1]));for(let e=1;e<=i;e++){let t=o[e]/s[e-1];s[e]-=t*c[e-1],l[e]-=t*l[e-1]}let u=[];u[i]=l[i]/s[i];for(let e=i-1;e>=0;e--)u[e]=(l[e]-c[e]*u[e+1])/s[e];return n=>{let r=0;for(;r<i-1&&n>e[r+1];)r++;let o=n-e[r],s=a[r],c=(e[r+1]-n)/s,l=o/s;return c*t[r]+l*t[r+1]+((c**3-c)*u[r]+(l**3-l)*u[r+1])*s*s/6}}var hm=3,gm=.35,_m=.2,vm=.03,ym=.04,bm=.025,xm=e=>e*180/Math.PI,Sm=e=>{let t=Math.min(1,Math.max(0,e));return t*t*(3-2*t)};function Cm(e,t,n,r,i){let a=H(t,e),o=Math.min(r+i-1e-6,Math.max(Math.abs(r-i)+1e-6,G(a))),s=U(a,1/G(a)),c=H(n,U(s,W(n,s)));c=U(c,1/(G(c)||1));let l=(r*r+o*o-i*i)/(2*r*o),u=H(t,V(e,V(U(s,r*l),U(c,r*Math.sqrt(Math.max(0,1-l*l))))));return xm(Math.atan2(-W(u,n),-u[1]))}function wm(e,{end:t,ground:n,sk:r}){let i=Us(e,t+2),a=new Map(e.map(e=>[e.f,e.src])),o=r?.index,s=r?.restWorldPos,c=r&&G(H(s[o.LeftLeg],s[o.LeftUpLeg])),l=r&&G(H(s[o.LeftFoot],s[o.LeftLeg]));for(let u of[`l`,`r`]){let d=n[u],f=u===`l`?`Left`:`Right`,p=r&&H(s[o[`${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=>!cm.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=>mm(_,_.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)=>Cm(dm(i,e,p),t,J(X(C(e)),[0,0,1]),c,l)-hm,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_${u}`]:n};if(r){let e=Math.min(Kp,T(t,n)+D*(1-Sm((t-o.b)/(gm*E)))+O*(1-Sm((s.a-t)/(_m*E)))),r=h+vm*Sm(Math.min(t-o.b,s.a-t)/3),a=e=>n[1]+J(dr(e),m)[1];if(a(e)<r){let t=-30,n=e;for(let e=0;e<20;e++){let e=(t+n)/2;a(e)<r?n=e:t=e}e=t}let c=w(t),l=e=>n[1]+J(dr(e),g)[1],d=Math.min(ym,Math.max(l(c),bm));if(e<c&&l(e)<d){let t=e,n=c;for(let e=0;e<20;e++){let e=(t+n)/2;l(e)<d?t=e:n=e}e=n}i[`fpitch_${u}`]=e}let c={f:t,set:i,src:a.get(t)};cm.add(c),e.push(c)}}}}var Tm=[6,4],Em=50,Dm=1.1,Om=[18,3],km=[6,3],Am=8,jm=4.5,Mm=5.5,Nm=.015,Pm=[.52,.64],Fm=.3,Im=4,Lm=6.4,Rm=.8,zm=e=>or(.66-.18*e,.2,.48),Bm=e=>or(.32-.11*e,0,.45),Vm=e=>or(2.8-.45*e,1.2,3),Hm=.92,Um=e=>or(4.7-1.1*e,1.8,4),Wm=[.2,.6],Gm=.9,Km=.18,qm=.35,Jm=.18,Ym=.55,Xm=10,Zm=.22,Qm=.03,$m=50,eh=e=>J(X(e),[0,0,1]),th=e=>J(X(e),[1,0,0]),nh=e=>{let t=Math.min(1,Math.max(0,e));return t*t*(3-2*t)};function rh(e,t){let n={};for(let r of[...e].sort((e,t)=>e.f-t.f))r.f<=t&&Object.assign(n,r.set);return n}function ih(e,t,n,r=`walk`){let i=`${r} start`,a=[],o=(e,t)=>{let n={f:e,set:t,src:i};return a.push(n),n},s=rh(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 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S=zm(x),C=Bm(x),w=Vm(x),T=Um(x),E=or(Gm*x,0,3),D=Om[0]+Om[1]*Math.min(x,2.5),O=km[0]+km[1]*Math.min(x,2.5),[k,ee]=b.heading??[s.yaw??0,s.yaw??0],te=e=>k+(ee-k)*nh(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(eh(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(th(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=zp(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 ${t+1}`;let n=t%2==0?`l`:`r`,a=n===`l`?`r`:`l`,c=t===b.steps-1,l=c?pe:pe+he.inc[t],u=e.f0+16+he.lift[t],h=u+he.air[t],g=u+Math.floor(he.air[t]/2);if(t===0){let e=V(ie(oe[a]),U(th(k),(a===`l`?1:-1)*b.halfWidth*.75));e[1]=s.root[1],o(u-4,{root:e,yaw:k}),o(u,{arm_hang:1})}let ee=or(Math.abs(l-oe[n])/Dm,.3,1.15),ne=Em*(.55+.45*ee)*(c?.8:1),re=se[`foot_${n}`],ce=se[`fyaw_${n}`],ge=V(re,J(X(ce),f[n])),_e=Math.max(u-Math.max(Im,Math.round((t===0?.35:Fm)*b.period)),m[n]+1,e.f0+1);Object.assign(fe[n].at(-1),{b:u,heel:_e,ball:ge,yw:ce,flat:re});for(let e=_e;e<=u;e++){let t=ne*((e-_e)/Math.max(1,u-_e))**1.8;o(e,{[`foot_${n}`]:lm(ge,ce,t,re),[`fpitch_${n}`]:t,[`fyaw_${n}`]:ce})}let ve=Math.max(1,Math.round(Zm*he.air[t])),ye=ae((oe[n]+l)/2,n);ye[1]+=he.height[t];let be=lm(ge,ce,Math.min(ne,$m),re),xe=V(be,U(H(ye,be),qm));xe[1]=be[1]+Jm*ee*Math.min(1,(he.air[t]/Xm)**2)*(Ym+.44999999999999996*Qp(x))*(he.height[t]/b.lift);let Se=U(th(te(oe[a])),n===`l`?1:-1),Ce=se[`foot_${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(Km*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]+(Pm[0]+(Pm[1]-Pm[0])*Qp(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-Nm*Math.abs(l-oe[n])/2,Ae=t===0?.015:.032,je=V(ie(ke),U(th(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=-(Tm[0]+(Tm[1]-Tm[0])*Qp(x))*(c?.5:1),Re=Math.max(2,Math.round(.2*b.period)),ze=V(lm(Ie,Fe,Le,Pe),U(eh(Fe),-.12*Math.abs(l-oe[n])));ze[1]+=Qm,!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-nh(e/Re));o(h+e,{[`foot_${n}`]:lm(Ie,Fe,t,Pe),[`fpitch_${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_${n}`]=Fe,oe[n]=l;let Be=(c?0:t<3?[0,.3,.7][t]:1)*he.arm[t],Ve=n===`l`?1:-1,He=or(ee,.4,1.1),Ue=c?0:t===0?.5:1,We=jm*He*Ue*(a===`l`?1:-1),Ge=(h-g)/b.period,Ke=e=>{let t=[Math.cos(Math.PI*(e-Ge)),Math.cos(Math.PI*e)];return t.map(e=>e/Math.max(...t.map(Math.abs)))},qe=Ke(-C).map(e=>-4.5*He*Ve*Be*e),Je=Ke(S).map(e=>Mm*He*Ve*Be*e),Ye=Ke(Hm).map(e=>-Math.sign(We)*w*He*Ue*e),Xe=Ke(Ge).map((e,t)=>t?Rm*e:e),Ze=e=>({aswing_l:-.85*b.armSwing*Ve*Be*e,aswing_r:b.armSwing*Ve*Be*e,abend_l:Be*(D-Ve*O*e),abend_r:Be*(D+Ve*O*e)});o(g,{root:je,yaw:te(ke)+qe[0],roll:le+We,spine_roll:ue-We*1.26+Ye[0],spine_yaw:Je[0]-qe[0],...Ze(Xe[0]),wflex_l:Am*Be,wflex_r:Am*Be}),o(h,{root:Ne,yaw:te(De)+qe[1],roll:le,spine_roll:ue+Ye[1],spine_yaw:Je[1]-qe[1],...Ze(Xe[1]),head_yaw:0});let Qe=de+E*Ue,$e=T*He*Ue;o(Math.max(e.f0+1,h-Math.round(Wm[1]*b.period)),{spine_pitch:Qe-.6*$e}),o(Math.max(e.f0+1,h-Math.round(Wm[0]*b.period)),{spine_pitch:Qe+$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&&(wm(a,{end:_e,ground:fe}),fm(n,a,{f0:e.f0,end:_e,period:b.period,pace:x,ground:fe,start:`${r} start`}),pm(n,a,{end:_e,period:b.period,pace:x,ground:fe}),wm(a,{end:_e,ground:fe,sk:n})),i=`${r} end`,o(ge,rh(a,ge)),a}function ah(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 "${e.type}" (only "walk")`);n=n.concat(ih(e,n,t,`generators[${r}] walk`))}),n}var oh={yaw:.5,pitch:.2,roll:.7},sh={yaw:4,pitch:6,roll:10},ch=33,lh=8,uh=[`yaw`,`pitch`,`roll`];function dh(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 fh=(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 ph(e,t,n){let r=dh(t);if(!r.length)return;let i=t=>e[t]??Array(n).fill(0);for(let a of uh){let o=i(`spine_${a}`),s=i(a).map((e,t)=>e+o[t]),c=fh(s,ch),l=null;for(let[e,o]of r)if(!t.some(t=>t.f>=e&&t.f<=o&&t.set?.[`head_${a}`]!==void 0&&!/\bwalk(To)? 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Object.entries(u)){if(!a.half||a.ignore)continue;let c=null;for(let[l,u,d,f]of Ih[t]){let t=yl(r,l,e)??gl.allow,p=da(s.P[o[u]],s.P[o[d]]),m=p.map(e=>fa(e,a)),h=Math.min(...m),g=f-h-t;if(!(g<=0)){if(g>n){i.deep++;continue}(!c||g>c[0])&&(c=[g,p[m.indexOf(h)]])}}c&&(d=V(d??[0,0,0],U(va(c[1],a),c[0]+Ph)))}if(d){if(!(l[`armw_${t}`]>1e-4)){i.skipped++;continue}c[a]=d}}return c}function Rh(e,t,n){let r=e.ctx.spec.checks?.allow,i=e.frames.length,a={deep:0,skipped:0},o=new Set,s=0;for(let c=0;c<Fh;c++){a.deep=0,a.skipped=0;let c=new Set;for(let t of[`l`,`r`]){let l=Lh(e,t,n,r,a),u=e.ctx.push[t],d=Array.from({length:i},()=>null);for(let e=0;e<i;e++)if(l[e]){o.add(`${t}${e}`);for(let t=Math.max(0,e-Nh-1);t<=Math.min(i-1,e+Nh+1);t++){let n=1-Math.abs(e-t)/5,r=U(l[e],n*n*(3-2*n));(!d[t]||G(r)>G(d[t]))&&(d[t]=r)}}for(let t=0;t<i;t++){if(!d[t])continue;let 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s=r.map(e=>e.len*Math.max(e.need,a)),c=n/s.reduce((e,t)=>e+t,0),l=[t[0]];return s.forEach((e,t)=>l.push(l[t]+e*c)),l[l.length-1]=t[t.length-1],{T:l,stretch:Math.max(...s.map((e,t)=>e*c/r[t].len))}}function Gh(e,t){let n=e.frames.length,r=[],i=0,a=1;for(let o=0;o<Vh;o++){let o=Hh(e),s=[...new Set(e.keys.map(e=>e.f))].sort((e,t)=>e-t),c=Uh(o,s,n);if(!c.length)break;let l=c.map(([e,t])=>{let n=[...new Set([e,...s.filter(n=>n>e&&n<t),t])].sort((e,t)=>e-t),r=Wh(o,n);return a=Math.max(a,r.stretch),{cuts:n,T:r.T}});i+=c.length;let u=e=>{for(let{cuts:t,T:n}of l){if(e<t[0]||e>t[t.length-1])continue;let r=0;for(;r<t.length-2&&e>t[r+1];)r++;return n[r]+(n[r+1]-n[r])*(e-t[r])/(t[r+1]-t[r])}return e};r.push(u),t.rebake(e.keys.map(e=>({...e,f:u(e.f)}))),t.solve(t.all())}if(!r.length)return null;e.timeMap=e=>r.reduce((e,t)=>t(e),e);let o=Hh(e).filter(e=>e>1).length;return{windows:i,maxStretch:Math.round(a*100)/100,stillFast:o,how:`key intervals around speed spikes stretched`}}var Kh=Array.from({length:19},(e,t)=>-90+t*10),qh=3,Jh=5,Yh=.003,Xh=.003,Zh=.03,Qh=.08,$h=.03,eg=40,tg=.05,ng=4,rg=2,ig=.09,ag=400;function og(e,t,n){let r=null;for(let i of e.ctx.spec.checks?.below??[]){let a=String(i.joint).replace(/^joint:/,``),o=String(i.ref).replace(/^joint:/,``),s=e.f0+t;(Array.isArray(i.when)?s>=i.when[0]&&s<=i.when[1]:!i.when||(e.frames[t].c[i.when]??0)>.5)&&a===`${n}ForeArm`&&o===`${n}Arm`&&Number.isFinite(i.min)&&(r=Math.max(r??0,i.min))}return r}var sg=10,cg={l:`Left`,r:`Right`};function lg(e,t,n){let r=0;for(let i of e.fits??[]){let a=e.anchors?.[i.anchor],o=t[`w_${i.anchor}_${i.side}`]??0;(i.side===n||a?.kind===`prop`&&e.props?.[a.prop]?.hand===n)&&(r=Math.max(r,o))}return Math.min(1,r)}var ug=Object.fromEntries(ua.map(e=>[e[0],e[3]]));function dg(e,t,n,r){let i=0;for(let a of e)i=Math.max(i,r-Math.min(...da(t,n,5).map(e=>fa(e,a))));return i}function fg(e,t,n,r,i,a=[]){let 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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:hh(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 _g=[`reach`,`slide`,`penetration`,`self`,`retime`,`stance`,`grasp`];function vg(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 yg=(e,t)=>e?{...t??{frames:0,how:`planted heel/ball held in place`},turns:e,how:`${t?.how??`planted heel/ball held in place`}; a flat planted foot keeps its heading until it lifts`}:t,bg=(e,t)=>e&&t?{frames:Math.max(e.frames,t.frames),eased:Math.max(e.eased,t.eased),max:Math.max(e.max,t.max),how:e.how}:e??t;function xg(e,t,n,{whole:r=!0}={}){let i={},a=(e,t)=>{t&&(i[e]=t)};return t.retime&&r&&a(`retime`,Gh(e,n)),t.slide&&a(`ground`,Mh(e,n)),t.reach&&a(`reachLegs`,_h(e,n)),t.slide&&a(`slide`,yg(Oh(e,n),Ch(e,n))),t.reach&&i.slide?.pivots&&a(`reachLegs`,bg(i.reachLegs,_h(e,n))),t.penetration>0&&a(`penetration`,Rh(e,n,t.penetration)),t.self&&a(`self`,gg(e,n)),t.reach&&a(`reachArms`,vh(e)),i}var Sg=.15,Cg=.12,wg=400,Tg=.02,Eg=60;function Dg(e){let t=ba(e),n=e.half;return t.kind===`sphere`?4/3*Math.PI*t.r**3:t.kind===`cylinder`?Math.PI*t.r*t.r*t.h:8*n[0]*n[1]*n[2]}function Og(e,t,n){let r=e?.objects?.[n]?.mass;if(Number.isFinite(r))return r;let i=Ud(t,n).map(e=>t.objects[e]);if(i.length===1&&ba(i[0]).kind===`sphere`&&2*ba(i[0]).r<Cg)return Sg;let a=i.reduce((e,t)=>e+Dg(t)*wg,0);return Math.min(Eg,Math.max(Tg,a))}var kg=10,Ag=9.81,jg=2,Mg=.06,Ng=.006,Pg=25,Fg=.5,Ig=`load: what each hand carries, kg, and its most N m (mass x 9.81 x the shoulder-to-wrist distance across) at f; frames [first, last] held`,Lg=e=>e?.fix!==!1&&e?.fix?.grasp!==!1,Rg=e=>{let t=Math.min(1,Math.max(0,e));return t*t*(3-2*t)},zg=e=>Object.entries(e.objects??{}).filter(([,t])=>Hf(t)&&e.props?.[t.prop]).map(([t,n])=>[t,n,e.props[n.prop].hand]);function Bg(e,t,n,r,i,a){let{spec:o,scene:s,sk:c}=e;if(!Lg(o)||!(a>.001))return null;for(let[l,u,d]of zg(o)){if(d!==t||u.keys?.length)continue;let f=Og(o,s,l),[p,m]=e.carrySpan(u);if(n<p||n>m||f*Ag*ls(c,t)<jg)continue;let h=Rg((n-p)/4)*Rg((m-n)/4)*a,g=Math.min(Mg,Ng*f)*h;if(!(g>0))return null;let _=H(r.P[c.index[`${wf[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 Vg=(e,t,n,r)=>{let i=H(t.P[e.index[`${wf[n]}Hand`]],t.P[e.index[`${wf[n]}Arm`]]);return r*Ag*Math.hypot(i[0],i[2])};function Hg(e,t,n){let{spec:r,scene:i}=t.ctx,a=t.f0??0;if(!Lg(r))return;let o=zg(r).map(([e,t,n])=>({id:e,o:t,k:n,mass:Og(r,i,e)}));o.length&&t.frames.forEach(({s:r},i)=>{let s=i+a;for(let i of o)sf(t,i.id,s)===i.k&&n({...i,f:s,Nm:Vg(e,r,i.k,i.mass)})})}function Ug(e,t){let n={};Hg(e,t,({id:e,k:t,mass:r,f:i,Nm:a})=>{let o=n[`hand_${t}`]??={object:e,mass:Math.round(r*1e3)/1e3,maxNm:0,at:i,frames:[i,i]};a>o.maxNm&&(o.maxNm=a,o.at=i),o.frames[1]=i});for(let e of Object.values(n))e.maxNm=Math.round(e.maxNm*10)/10;return Object.keys(n).length?n:null}function Wg(e,t,n,r,i){let a=r===`r`?`l`:`r`,{spec:o,scene:s}=e.ctx,c=new Set([t,...Ud(s,t)]);return Object.entries(o.anchors??{}).some(([t,r])=>(e.baked?.[`w_${t}_${a}`]?.[i]??0)>Fg&&(r.kind===`object`&&c.has(r.object)||r.kind===`prop`&&r.prop===n.prop))}function Gg(e,t){let n=[];return Hg(e,t,({id:e,o:r,k:i,f:a,Nm:o})=>{o>Pg&&!Wg(t,e,r,i,a)&&n.push({kind:`LOAD`,msg:`${wf[i].toLowerCase()} holds ${e} at ${o.toFixed(0)} N m`,frame:a,value:Math.round(o*10)/10,limit:Pg})}),n}function Kg(e,t,n){let{sk:r,scene:i}=e.ctx,a=e.frames[n-(e.f0??0)]?.s,o=cf(e,t,n),s=Ia(i,t),c=i.objects[Ud(i,t)[0]]??i.objects[t];if(!a||!o||!c?.half)return null;let l=e=>J(Y(o.R),H(e,o.pos)),u=J(Y(s.R),H(V(c.pos,J(c.R,[0,c.half[1],0])),s.pos)),d=l(U(V(a.P[r.index.RightHand],a.P[r.index.RightHandMiddle1]),.5)),f=l(a.P[r.index.LeftArm]),p=[0,1,2].flatMap(e=>[-1,1].map(t=>{let n=u.slice();return n[e]+=t*c.half[e],{p:n,i:e,sg:t}})).filter(e=>!(e.i===1&&e.sg<0)),m=p.reduce((e,t)=>Math.abs(d[t.i]-t.p[t.i])<Math.abs(d[e.i]-e.p[e.i])?t:e);return p.filter(e=>e!==m).reduce((e,t)=>G(H(t.p,f))<G(H(e.p,f))?t:e).p.map(e=>Math.round(e*1e3)/1e3)}var qg={LOAD(e,t){let[,n,r]=/^(left|right) holds (\S+) at/.exec(t.subject)??[],i=e.spec?.objects?.[r];if(!i||!e.out)return null;let a=n===`left`?`l`:`r`,o=a===`r`?`left`:`right`,[s]=qd(e.out,i),c=Og(e.spec,e.out.ctx.scene,r),l={cause:`objects.${r} (${c.toFixed(1)} kg)`,hint:`${r} weighs ${c.toFixed(1)} kg: ${t.worst.toFixed(0)} N m on the ${n} arm at f${t.worstFrame} (one hand holds ${Pg}); put the ${o} hand on it too (a reachGrip on an object anchor on ${r} from f${s}), or carry it closer to the body`};if(a!==`r`)return l;let u=Kg(e.out,r,Math.max(s,Math.min(t.worstFrame,qd(e.out,i)[1])));if(!u)return l;let d=`${r}Other`,f={kind:`object`,object:r,local:u,grasp:`palm`};return{...l,fix:{ops:t=>[t.anchors?{op:`add`,path:`/anchors/${d}`,value:f}:{op:`add`,path:`/anchors`,value:{[d]:f}},{op:`add`,path:`/use/-`,value:{skill:`reachGrip`,f0:Math.max(0,s-kg),args:{anchor:d,side:`l`,reach:Math.min(kg,s)||1,hold:Math.max(1,qd(e.out,i)[1]-s),release:1}}}]}}}},Jg=e=>e*e*(3-2*e),Yg=.02;function Xg(e,t,n,r=()=>void 0){let i=new Map,a=new Map,o=r(),s=s=>{if(r()!==o&&(o=r(),i.clear(),a.clear()),i.has(s))return i.get(s);let c={};for(let[r,i]of Object.entries(t?.objects??{})){let a=[r,...i.ancestors??[]].find(t=>Gf(e.objects?.[t])),l=e.objects?.[a];c[r]=l?Hf(l)||Uf(l)?{...i,carried:a}:xd(l)?{...i,...Yf(zd({spec:e,scene:t,timeMap:o},a,s),Xf(t.objects[a]??Io(t)[a],i))}:{...i,...Zf(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 Zg(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 Qg(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 s=/^w_(.+)_([lr])$/.exec(n);!s||s[2]!==r||!(o>1e-6)||c.push([o,V(ds(e,s[1],i,a,t,r),t[`fit_${s[1]}_${r}`]??[0,0,0])])}let l=c.reduce((e,[t])=>e+t,0);if(l>1){for(let e of c)e[0]/=l;l=1}let u=U(t[`hand_${r}`]??s,1-l);for(let[e,t]of c)u=V(u,U(t,e));let d=Math.max(0,...c.map(([e])=>Jg(Math.min(1,Math.min(e,1-e)*3))));if(d>0){let n=i.P[o.index.Spine],r=i.P[o.index.Neck],a=H(r,n),s=V(n,U(a,Math.min(1,Math.max(0,W(H(u,n),a)/W(a,a))))),c=e.spec.detourRadius??.25,l=H(u,s),f=G(l);if(f<c){let e=J(pr([0,1,0],t.yaw??0),[0,0,1]),n=K(V(f>1e-6?U(l,1/f):e,U(e,.6)));u=V(u,U(H(V(s,U(n,c)),u),d))}}return u},keepOut:e.keepOut&&!r?(n,r,i)=>{let a=(1-lg(e.spec,t,n))*Math.min(1,Math.max(0,t[`armw_${n}`]??0));for(let t=0;t<2&&a>.001;t++){let t=Ei(e.keepOut.body,o,r,i,Di,e.keepOut.skip);if(t===i)break;i=V(i,U(H(t,i),a))}return i}:void 0,afterArm:(t,n,r)=>xs(e,t,n,r),grip:r?void 0:(r,i,a)=>_p(e,o,i,wf[r],r,t,n,a),sag:r?void 0:(r,i,a)=>Bg(e,r,n,i,a,(1-lg(e.spec,t,r))*Math.min(1,Math.max(0,t[`armw_${r}`]??0))),heldShapes:r||!e.grasp?void 0:(r,i)=>bf(e,t,n,r,i)}}function $g(e,t,n,r=!0){let i={...Ap(t,e.idle,n)};for(let t of[`l`,`r`])e.busy?.[t]&&(i[`hangoff_${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}$`).test(e)&&(o[e]=0);let s=[0,0,0],c=null,l=null,u=Su(e.spec,t.anchor),d=e.sk.index[`${wf[t.side]}Arm`],f=e.sk.index[`${wf[t.side]}Hand`];for(let i=0;i<6;i++){o[`fit_${t.anchor}_${t.side}`]=s;let{s:i,diag:a}=Vf(e.sk,o,Qg(e,o,n,!0,r,t.side)),p=Zg(e.sk,i,a,t.effector),m=V(ds(e,t.anchor,i,a,o,t.side),t.offset??[0,0,0]);if(!p)break;let h=H(m,p),g=G(h);u&&(!c||g<c.err)&&(c={err:g,hand:H(i.P[f],p)}),l={goal:m,shoulder:i.P[d]},s=V(s,h)}u&&c&&l&&G(H(V(l.goal,s),l.shoulder))>ls(e.sk,t.side)+Yg&&(s=c.hand),i[`fit_${t.anchor}_${t.side}`]=s}let{s:a,diag:o}=Vf(e.sk,i,Qg(e,i,n,!1,r));return o.frame=n,{s:a,diag:o,c:i}}function e_(e,{sk:t,scene:n},r={}){if(e?.schema!==`cozyclay.motion-spec.v1`)throw Error(`MOTION_SPEC_INVALID: schema must be cozyclay.motion-spec.v1`);let i=Math.round(e.frames);if(!(i>=1&&i<=2e4))throw Error(`MOTION_SPEC_INVALID: frames must be 1..20000`);let a=vg(e.fix),[o,s]=r.window?[Math.max(0,r.window[0]),Math.min(i-1,r.window[1])]:[0,i-1],c={sk:t,spec:e,scene:n,grasp:a.grasp,softReach:a.reach,push:{l:new Map,r:new Map},swivel:{l:new Map,r:new Map},skinPush:{l:new Map,r:new Map},keepOut:a.self?Oi(t):null},l={ctx:c,fps:e.fps??30,frameCount:i,f0:o,frames:[]};c.objectPose=(e,t,n)=>cf(l,e,t,n),c.objectHand=(e,t)=>sf(l,e,t),c.restingAt=(e,t)=>$d(l,e,t),c.carrySpan=e=>qd(l,e),c.solvedAt=e=>tf(l,e),c.weightAt=(e,t)=>l.baked?.[e]?.[t],c.frameCount=i;let u={rebake(r){l.keys=r,l.baked=Us(r,i,Bs(e.flow)),c.socketTurns=new Map,c.graspPlans=new Map,ph(l.baked,r,i),c.idle=kp(l.baked,{spec:e,sk:t,frameCount:i}),c.busy=Op(l.baked,e,i,l.fps);let a=Xg(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]=$g(c,Ws(l.baked,t),t))},all:()=>Array.from({length:s-o+1},(e,t)=>o+t)};return c.hold=Bu(c,l,e=>$g(c,Ws(l.baked,e),e,!1),e=>$g(c,Ws(l.baked,e),e)),u.rebake(r.keys??ah(e,t)),u.solve(u.all()),l.fixed=r.fixes===!1?{}:xg(l,a,u,{whole:!r.window}),c.hold&&l.timeMap&&u.solve(u.all()),l}var t_=`{ f, pos: [x, y, z], rot: [x, y, z, w] } or { f, pos, aim: [x, y, z], roll? }`,n_=`{ at, onto?, bounce?, tumble?, v? }`,r_=e=>Array.isArray(e)&&e.length===4&&e.every(Number.isFinite)&&Math.abs(Math.hypot(...e)-1)<=.01,i_=e=>yo(e)&&Math.hypot(...e)>1e-9;function a_(e,t,n){if(n.rot!==void 0&&n.aim!==void 0)return e(`${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)`),r_(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}i_(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 ${Z(n.roll)}`),n.lean!==void 0&&!(Number.isFinite(n.lean)&&n.lean>=0&&n.lean<=45)&&e(`${t}.lean must be the most degrees the compiler may lean aim (0..45), got ${Z(n.lean)}`)}function o_(e,t,n,r,i,a=!1){if(!Array.isArray(r.keys))return e(`${n}.keys must be an array of ${t_}`);let o=Number.isInteger(i)?i-1:1/0,s=a?0:r.grab??0,c=a?o:r.release??o,l=new Map;r.keys.forEach((r,i)=>{let o=`${n}.keys[${i}]`;if(!r||typeof r!=`object`||Array.isArray(r))return e(`${o} must be ${t_}, got ${Z(r)}`);for(let e of Object.keys(r))qa.includes(e)||t(`${o} has unknown field "${e}"${xo(e,qa)}; a key is ${t_}`);Number.isInteger(r.f)?r.f<s||r.f>c?e(a?`${o}.f = ${r.f} is outside the take (0..${c})`:`${o}.f = ${r.f} is outside grab..release (${s}..${c}); keys pose a carried object only while it is in hand (drop its prop to move it on its own, C17)`):l.has(r.f)?e(`${o}.f = ${r.f}: keys[${l.get(r.f)}] is at that frame already; one key per frame`):l.set(r.f,i):e(`${o}.f must be a whole frame, got ${Z(r.f)}`),yo(r.pos)||e(`${o}.pos must be [x, y, z], the world position of the object's base (a group: its root), got ${Z(r.pos)}`),a_(e,o,r)})}function s_(e,t,n,r,i){let a=/^object:(.+?)(?:\.(?:center|top|base))?$/s.exec(i)?.[1];if(a===void 0)return;let o=Ud(n,a).flatMap(t=>[t,...n.objects[t].ancestors??[]].find(t=>Gf(e.objects?.[t]))??[]).find(t=>Uf(e.objects[t]));o&&t(`${r} "${i}": "${a}" moves with the follow entry objects.${o}; a follow entry rides a joint, landmark, prop or anchor point, or an object no follow entry moves`)}function c_(e,t,n,r,i){Os(e,t,n,`${r}.follow`,i.follow)&&s_(e,t,n.scene,`${r}.follow`,i.follow),i.offset!==void 0&&!yo(i.offset)&&t(`${r}.offset must be [x, y, z], metres along the record's own axes after aim (+Y along aim), got ${Z(i.offset)}`);let a=i.aim;if(a!==void 0&&a!==`face`&&a!==`up`){if(Array.isArray(a)){i_(a)||t(`${r}.aim must be a non-zero world direction [x, y, z], got ${Z(a)}`);return}if(typeof a!=`string`||!/^[a-z]+:/.test(a))return t(`${r}.aim must be "face", "up", a world direction [x, y, z] or a point ref (toward it), where the record's +Y points; got ${Z(a)}`);Os(e,t,n,`${r}.aim`,a)&&s_(e,t,n.scene,`${r}.aim`,a)}}function l_(e,t,n,r){return n===void 0||Number.isInteger(n)&&n>=0&&(!Number.isInteger(r)||n<r)?!0:(e(`${t} must be a whole frame 0..${Number.isInteger(r)?r-1:`frames-1`}, got ${Z(n)}`),!1)}function u_(e,t,n,r,{frames:i,scene:a,carry:o}){let s=Array.isArray(r.fall)?r.fall:[r.fall],c=new Set;s.length||e(`${n}.fall is an empty list; give ${n_} or a list of them`),s.forEach((s,l)=>{let u=Array.isArray(r.fall)?`${n}.fall[${l}]`:`${n}.fall`;if(!s||typeof s!=`object`||Array.isArray(s))return e(`${u} must be ${n_} (at: the frame it starts to fall), got ${Z(s)}`);for(let e of Object.keys(s))Ka.includes(e)||t(`${u} has unknown field "${e}"${xo(e,Ka)}; a fall is ${n_}`);if(s.at===void 0)e(`${u}.at must be the whole frame it starts to fall`);else if(l_(e,`${u}.at`,s.at,i)){c.has(s.at)&&e(`${u}.at = ${s.at}: another fall 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t=String(e),n=co.reduce((e,n)=>d_(n,t)>d_(e,t)?n:e);return d_(n,t)>=4?`; did you mean "${n}"?`:xo(t,co)}function p_(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 ${Z(n.mass)}`)}function m_(e,t,n){n.visible!==void 0&&(typeof n.visible!=`string`||!n.visible)&&e(`${t}.visible must name a channel (shown above 0.5)`),n.level!==void 0&&(typeof n.level!=`string`||!n.level)&&e(`${t}.level must name a channel (the record's level 0..4: 0 dark, 1 as authored; it scales its light, glow and effect rate)`)}function h_(e,t,{sk:n,scene:r,frames:i=e.frames,unknown:a=t}){for(let[o,s]of Object.entries(e.objects??{})){let c=`objects.${o}`,l=s?.prop===void 0?Uf(s)?`follow`:xd(s)?`free`:Wf(s)?`switch`:`hinge`:`carry`,u=Ga[l];(l!==`switch`&&l!==`follow`||!r?.others?.[o])&&Ao(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 "${e}"${xo(e,u)}; 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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=P_(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 I_(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 >= ${r})`}function L_(e,t,n){let r=e.f0??0;return F_({out:e,goals:t,names:new Map(t.map((e,t)=>[S_(e,t),t])),f0:r,last:r+(e.frames?.length??0)-1,events:new Map,visiting:new Set},n)}function R_(e,t){let n=[],r=[],i=e.f0??0,a={out:e,goals:t,names:new Map(t.map((e,t)=>[S_(e,t),t])),f0:i,last:i+(e.frames?.length??0)-1,events:new Map,visiting:new Set};return t.forEach((e,t)=>{let o=x_(e)[0];if(!o)return;let s=S_(e,t),c=C_(e,o),l=F_(a,t),u=Array.isArray(e.at)?e.at[0]:e.at;if(l.skip)return;if(l.wait){r.push({name:s,kind:o,ok:!1,value:null,at:null,need:c}),u>=i&&u<=a.last&&n.push({kind:`GOAL`,msg:`${s}: ${l.wait}`,frame:u-i,value:.01,limit:0});return}let{rows:d,from:f}=N_(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=w_(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:I_(s,o,e,c,p&&m?[l.a,l.b]:null,f),frame:e.f-i,value:M_(e.short),limit:0})}),{issues:n,results:r}}var z_=`{ name?, near | above | moved | still | speed, tol?, by?, at, mode?, after?, before? }`,B_=new Set([`near`,`still`]),V_=new Set([`above`,`moved`,`speed`]);function H_(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: ${n} (metres), not tol`}var U_=e=>typeof e==`string`&&e!==``&&!/^[a-z]+:/.test(e),W_=e=>[`moved`,`still`,`speed`].find(t=>U_(e?.[t]));function G_(e){return Array.isArray(e)&&e.some(W_)?e.map(e=>{let t=W_(e);return t?{...e,[t]:`object:${e[t]}`}:e}):e}function K_(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 q_(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 ${Z(o)}`);Os(e,t,n,`${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 J_(e,t,n,r,i,a){let 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of ${co.join(`, `)}, got ${Z(o.grasp)}`),o.socket!==void 0&&r?.objects&&!ts(r,o.object,o.socket)&&t(`${s}.socket: "${o.object}" has no socket ${Z(o.socket)} (sockets: ${es(r,o.object).map(e=>e.name).join(`, `)||`none`})`),o.socket!==void 0&&o.grasp===void 0&&t(`${s}.socket needs grasp (${co.join(`, `)}): the socket says how the hand takes it`)),o.kind===`person`&&!Go(r,o.person,o.bone??``,0)&&t(`${s} (person) needs person: the id of another character with an installed take (people: ${Ko(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 tv(e,t,{sk:n,unknown:r=t}){for(let[i,a]of Object.entries(e.props??{})){let e=`props.${i}`;$_(r,e,a,Ua),Z_.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=>ko(t,n,`${e}.origin`,r));for(let[n,r]of Object.entries(a?.points??{}))yo(r)||t(`${e}.points.${n} must be [d, l, n] along the palm axes, got ${Z(r)}`)}(e.fits??[]).forEach((i,a)=>{let o=`fits[${a}]`;$_(r,o,i,Wa),Z_.has(i?.side)||t(`${o}.side must be "l" or "r", got ${Z(i?.side)}`),e.anchors?.[i?.anchor]||t(`${o}.anchor "${i?.anchor}" is not in spec.anchors${xo(String(i?.anchor),Object.keys(e.anchors??{}))}`);let s=i?.effector;s?.prop===void 0?Array.isArray(s?.joints)?s.joints.forEach(e=>ko(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&&!yo(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 ${Z(i.orient)}`)})}function nv(e,t,{frames:n,unknown:r=t,past:i=``}){(e.generators??[]).forEach((e,a)=>{let o=`generators[${a}]`;if(e?.type!==`walk`)return t(`${o}.type must be "walk", got ${Z(e?.type)}`);$_(r,o,e,Ja),(!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(`${o}.heading must be [h0, h1] in degrees (${mo.yaw}), got ${Z(e.heading)}`);for(let n of Ja.slice(2))n!==`heading`&&e[n]!==void 0&&!Number.isFinite(e[n])&&t(`${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 ${Z(e.turnDistance)}`)})}function rv(e,t,{sk:n,scene:r,frames:i,unknown:a=t,past:o=``}){let s=e.checks??{};for(let e of Object.keys(s))Ya.includes(e)||a(`checks.${e} is not a check${xo(e,Ya)} (checks: ${Ya.join(`, `)})`);let c=(e,n=()=>{})=>{let r=s[e],i=`{ ${Xa[e].join(`, `)} }`;if(r!==void 0){if(!Array.isArray(r))return t(`checks.${e} must be an array of ${i}, got ${Z(r)}`);r.forEach((r,o)=>{if(!Q_(r))return t(`checks.${e}[${o}] must be ${i}, got ${Z(r)}`);$_(a,`checks.${e}[${o}]`,r,Xa[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)=>{jo(e,t,n,`checks.contacts[${i}].point`,r.point),jo(e,t,n,`checks.contacts[${i}].target`,r.target),l(`checks.contacts[${i}]`,r.when)}),c(`orient`,(r,i)=>{jo(e,t,n,`checks.orient[${i}].from`,r.from),jo(e,t,n,`checks.orient[${i}].to`,r.to),l(`checks.orient[${i}]`,r.when),r.along===`face`||r.along===`up`||yo(r.along)||t(`checks.orient[${i}].along must be "face", "up" or [x, y, z]`)}),c(`below`,(e,r)=>{ko(t,n,`checks.below[${r}].joint`,e.joint),ko(t,n,`checks.below[${r}].ref`,e.ref),l(`checks.below[${r}]`,e.when)}),c(`clearance`,(e,n)=>{Ao(t,r,`checks.clearance[${n}]`,e.object),l(`checks.clearance[${n}]`,e.frames)}),c(`appear`,(r,i)=>{ko(t,n,`checks.appear[${i}].joint`,r.joint),e.anchors?.[r.anchor]||t(`checks.appear[${i}].anchor "${r.anchor}" is not in spec.anchors`)}),c(`supports`,(e,n)=>Ao(t,r,`checks.supports[${n}]`,e.object)),c(`allow`);for(let e of Object.keys(s.limits??{}))e in gl||a(`checks.limits.${e} is not a QA limit${xo(e,Object.keys(gl))}`);let u=e.fix;if(u!==void 0&&u!==!1&&(typeof u!=`object`||!u))t(`spec.fix must be false or { ${_g.join(`, `)} }`);else for(let e of Object.keys(u||{}))_g.includes(e)||a(`spec.fix.${e} is not a fix${xo(e,_g)} (fixes: ${_g.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 ${Z(u.grasp)}`)}function iv(e,t,n){ev(e,t,n),tv(e,t,n),h_(e,t,n),nv(e,t,n),rv(e,t,n),X_(e,t,n)}var av=12;function ov(e){let t=new Set(e.channels??[]);for(let n of Object.values(e.objects??{}))for(let e of[n?.channel,n?.visible,n?.level])typeof e==`string`&&e&&t.add(e);let n=e.checks??{},r=e=>Array.isArray(e)?e.filter(e=>e&&typeof e==`object`):[];for(let e of[n.contacts,n.orient,n.below,n.clearance].flatMap(r))typeof e.when==`string`&&t.add(e.when);for(let e of r(n.appear))typeof e.channel==`string`&&t.add(e.channel);return t}function sv(e,t,n,r){if(no.has(n)){if(!yo(r))return e(`${t} ${n} must be [x, y, z] (3 finite numbers), got ${Z(r)}`);if(ro.has(n)){let i=Math.hypot(...r);if(i<1e-6)return e(`${t} ${n} = ${Z(r)} has no direction; a pole is a ${mo.pole}`);n.startsWith(`knee`)&&r[2]<-.7*i&&e(`${t} ${n} = ${Z(r)} points backward; knees bend toward +z. 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-(more problems not listed)`:``}`)}function mv(e,t,n){let{s:r,diag:i,c:a}=e.frames[t],[o,s]=n.split(/:(.*)/s);if(o===`joint`)return r.P[e.ctx.sk.index[s]];if(o===`prop`){let[e,t]=s.split(`.`);return i.props?.[e]?.[t]??null}if(o===`anchor`)return ds(e.ctx,s,r,i,a);throw Error(`MOTION_SPEC_INVALID: check point "${n}"`)}function hv(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=>Ma(a,a.objects[t],o,t)&&sf(e,t,n)===i)??null:null}function gv(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 _v=(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 vv(e,t,n){return n===`up`?[0,1,0]:n===`face`?Er(e.ctx.sk,e.frames[t].s,e.ctx.sk.index.Head,[0,0,1]):K(n)}function yv(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(_v(e,n,r.when)){let t=mv(e,n,r.point),i=mv(e,n,r.target);if(!t||!i)continue;let o=gv(e,r.target)??hv(e,r.point,n+(e.f0??0)),s=o?Es(e,n,r.point,`object:${o}`)??G(H(t,i)):G(H(t,i));s>(r.tol??.01)&&a(`CONTACT`,`${r.name}: ${(s*100).toFixed(1)} cm apart`,n,s,r.tol??.01)}for(let r of t.orient??[])if(_v(e,n,r.when)){let t=mv(e,n,r.from),i=mv(e,n,r.to);if(!t||!i)continue;let o=W(K(H(i,t)),vv(e,n,r.along));o<(r.minCos??.64)&&a(`ORIENT`,`${r.name}: cos ${o.toFixed(2)}`,n,o,r.minCos??.64)}for(let r of t.below??[])if(_v(e,n,r.when)){let{P:t}=e.frames[n].s,o=t[i[r.ref]][1]-t[i[r.joint]][1];o<(r.min??.08)&&a(`BELOW`,`${r.name}: ${r.joint} only ${(o*100).toFixed(1)} cm below ${r.ref}`,n,o,r.min??.08)}for(let r of t.clearance??[])if(_v(e,n,r.frames)){let t=e.objectsAt(n)[r.object],o=ua.find(e=>e[0]===r.part);if(!t||!o)continue;let{P:s}=e.frames[n].s,c=Math.min(...da(s[i[o[1]]],s[i[o[2]]]).map(e=>fa(e,t)))-o[3];c<r.min&&a(`CLEARANCE`,`${r.name}: ${(c*100).toFixed(1)} cm`,n,c,r.min)}}for(let n of t.appear??[])for(let t=1;t<r;t++){if((e.frames[t-1].c[n.channel]??0)>.5==(e.frames[t].c[n.channel]??0)>.5)continue;let r=G(H(mv(e,t,`joint:${n.joint}`),mv(e,t,`anchor:${n.anchor}`)));r>(n.tol??.035)&&a(`APPEAR`,`${n.name}: switches with the hand ${(r*100).toFixed(1)} cm from ${n.anchor}`,t,r,n.tol??.035)}return n}var bv=/^(.+): [\d.]+ cm off its keys$/,xv={twist:`twist about the forearm`,flex:`flex`,dev:`deviation (+ toward the thumb)`};function Sv(e,t){let n=e.objects[t]??Io(e)[t];return Ud(e,t).flatMap(t=>{let r=e.objects[t],i=Xf(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 Cv(e,t,n){let{scene:r}=e.ctx,i=e.f0??0;for(let[a]of zu(e.ctx.spec)){let o=Iu(e,a),s=Sv(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=Lu(o,r),l=af(e,a,r),u=Math.max(...s.map(e=>ar(V(c.pos,J(c.R,e)),V(l.pos,J(l.R,e)))));u>t.reach&&n(`REACH`,`${a}: ${(u*100).toFixed(1)} cm off its keys`,r-i,u,t.reach)}}}function wv(e,t){let n=bv.exec(t.subject)?.[1],r=e.spec?.objects?.[n];if(!r?.keys?.length)return null;let i=t.worstFrame,a=e.spec.props?.[r.prop]?.hand,o=e.fr(i).diag[`hold_${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(ji).filter(([e,[t,n]])=>o[e]<t||o[e]>n).map(([e,[t,n]])=>`the wrist ${xv[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 ${Math.round(o.fold)}deg; it bends to 145deg and stops at 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i=n.checks??{},a={...gl,...i.limits},o=i.allow,s=[],c=t.f0??0,l=e.index,u=(e,t,n,r,i)=>s.push({kind:e,msg:t,frame:n,value:+r.toFixed(4),limit:i}),d=(e,t)=>e.reduce((e,n)=>t.reduce((e,t)=>e??yl(o,n,t),e),null)??a.allow;for(let[i,o]of r){let[r,s]=qd(t,o),f=n.props?.[o.prop]?.hand,p=new Set([`hand_${f}`,`farm_${f}`]);if(o.grab!==void 0&&r>0&&t.frames[r-c]&&Fv(t,o,r-1)){let e=Lv(t,i,r),n=[o.fall??[]].flat().some(e=>Array.isArray(e.v)&&e.at<r);n&&e>Av?u(`CATCH`,`${i} missed by ${(e*100).toFixed(1)} cm`,r-c,e,Av):!n&&e>a.grab&&u(`GRAB`,`${i}: hand ${(e*100).toFixed(1)} cm from it at grab`,r-c,e,a.grab)}let m=o.grab===void 0?null:Rv(t,i,r),h=e=>Math.abs(e-r)<=kv||o.release!==void 0&&Math.abs(e-s)<=kv;for(let n=0;n<t.frames.length;n++){let a=n+c,s=of(t,i,a);if(!s||!Fv(t,o,a))continue;let f=s.map(e=>e.id),g=s.map(e=>[e,jv(e),G(e.half)]),{s:_}=t.frames[n],v=Object.entries(t.frames[n].diag).filter(([t,n])=>/^hold_[lr]$/.test(t)&&n?.second===i&&(n.w>=.5||Pv(e,_,t.slice(-1),s))).map(([e])=>`hand_${e.slice(-1)}`);for(let[e,t,r,a]of ua){if(p.has(e)||v.includes(e))continue;let o=_.P[l[t]],s=_.P[l[r]],c=U(V(o,s),.5),m=a+ar(o,s)/2,h=d([e],[i,...f]),y=null,b=-1/0;for(let[e,t,n]of g)m-(ar(c,t)-n)<=h||(y??=da(o,s),b=Math.max(b,a-Math.min(...y.map(t=>fa(t,e)))));b>h&&u(`COLLIDE`,`${e} x ${i}`,n,b,h)}if(!(a<r))for(let[e,r]of Object.entries(t.objectsAt(n))){if(!r.half||r.ignore||e===m&&h(a))continue;let t=d([i,...f],[e]),o=jv(r),s=G(r.half),c=-1/0;for(let[e,n,i]of g)ar(n,o)<i+s+t&&(c=Math.max(c,Nv(e,r).depth));c>t&&u(`COLLIDE`,`${i} x ${e}`,n,c,t)}}}return Cv(t,a,u),s}var Bv=.009,Vv=.022,Hv=.004,Uv=.995,Wv=.01,Gv=120,Kv=150,qv=-.3,Jv=[`Index`,`Middle`,`Ring`,`Pinky`],Yv={l:`Left`,r:`Right`};function Xv(e,t){let n=Ud(e,t),r=n.length===1?ba(e.objects[n[0]]).kind:`box`;return r===`sphere`?`spherical`:r===`cylinder`?`power`:null}function Zv(e){let{spec:t,scene:n}=e.ctx,r=[],i=t.fix?.grasp===!1?{...t,fix:{...t.fix,grasp:!0}}:t;for(let[t,a]of Object.entries(i.objects??{})){if(!Hf(a)||!Ma(i,a,n,t))continue;let o=i.props?.[a.prop]?.hand,[s,c]=qd(e,a);o&&r.push({id:t,k:o,grasp:a.grasp??Xv(n,t),from:s+4+1,to:c})}for(let t of i.fits??[]){let n=i.anchors?.[t.anchor];if(n?.kind!==`object`||!n.grasp||e.ctx.sockets?.get(t.anchor)?.rim)continue;let a=`w_${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)>=Uv&&c(t)>=Uv,rests:!0})}return r}var Qv=(e,t,n)=>Ud(e.ctx.scene,t).map(t=>({...e.ctx.scene.objects[t],...cf(e,t,n)}));function $v(e,t,n){let r=Yv[n],i=n=>t.P[e.index[`${r}Hand${n}`]],a=[{bone:`${r}Hand`,finger:`palm`,a:t.P[e.index[`${r}Hand`]],b:i(`Middle1`),r:Vv}];for(let e 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t){for(;r.length>=2&&n(r.at(-2),r.at(-1),e)<=0;)r.pop();r.push(e)}for(let e of t.reverse()){for(;i.length>=2&&n(i.at(-2),i.at(-1),e)<=0;)i.pop();i.push(e)}return[...r.slice(0,-1),...i.slice(0,-1)]}function ry(e,t,n,r,i,a){let o=ey($v(e,t,n.k),r),s=Yv[n.k].toLowerCase();if(n.rests&&o[0].depth<-.03)return;for(let e of o)e.finger!==`palm`&&e.depth>Hv&&i(`FINGER_PEN`,`${e.bone} into ${n.id}`,a,e.depth,Hv);let c=e=>o.some(t=>t.finger===e&&t.tip&&t.depth>=-.008),l=Jv.filter(c).length,u=c(`Thumb`);(n.grasp===`pinch`?u&&c(`Index`):l>=3||u&&l>=2)||i(`FINGER_GAP`,`${s} fingers off ${n.id}`,a,l+ +!!u,n.grasp===`pinch`?2:3);let d=o.filter(e=>e.depth>=-.008&&e.normal),f=U(r.reduce((e,t)=>V(e,V(t.pos,J(t.R,[0,t.half[1],0]))),[0,0,0]),1/r.length),p=d.filter(e=>e.normal[1]<=qv).map(e=>e.at),m=d.filter(e=>e.finger===`Thumb`).map(e=>e.normal),h=d.filter(e=>Jv.includes(e.finger)).map(e=>e.normal),g=e=>e.length?K(e.reduce(V,[0,0,0])):null,_=g(m),v=g(h),y=_&&v&&Math.acos(Math.max(-1,Math.min(1,W(_,v))))*180/Math.PI>=Gv,b=(e,t)=>Math.acos(Math.max(-1,Math.min(1,W(e,t))))*180/Math.PI,x=d.some((e,t)=>d.slice(t+1).some(t=>b(e.normal,t.normal)>=Kv));!n.rests&&!y&&!x&&ty(f,p)>Wv&&i(`SUPPORT`,`${n.id} not supported`,a,Math.min(1,ty(f,p)),Wv)}function iy(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 Zv(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=Qv(t,n.id,a);o.length&&ry(e,t.frames[a-r].s,n,o,i,a-r)}return n}var ay=.5,oy=1,sy=90,cy={twist:1-Ni,flex:1,dev:1},ly=(e,t)=>t[e].map(t=>t*cy[e]),uy=`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 dy(e,t,n,r){let{diag:i}=e.frames[n],a=e.baked??{};if((i[`hold_${t}`]?.w??0)>ay||(i[`grip_${t}`]?.w??0)>ay)return!0;for(let n of e.ctx.spec.fits??[])if(n.side===t&&(a[`w_${n.anchor}_${t}`]?.[r]??0)>ay)return!0;return Object.keys(e.ctx.spec.objects??{}).some(n=>e.ctx.spec.objects[n]?.prop&&sf(e,n,r)===t)}function fy(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[`${o}Arm`],d={frames:0,past:0,limit:0,raised:0};t.frames.forEach(({s:n},a)=>{let f=a+i;if(!dy(t,s,a,f))return;let p=U(H(n.P[c],n.P[l]),1/Math.max(1e-9,G(H(n.P[c],n.P[l])))),m=q(n.R[l],q(Y(r[l]),r[c])),h=Ki(m,n.R[c],p,J(q(m,Y(n.R[c])),zr(e,n,o).l));d.frames++;for(let e of[`flex`,`dev`,`twist`]){let t=Math.round(h[e]),n=d[e];d[e]=n?[Math.min(n[0],t),t<n[0]?f:n[1],Math.max(n[2],t),t>n[2]?f:n[3]]:[t,f,t,f]}let g=(e,t)=>[`flex`,`dev`,`twist`].some(n=>{let[r,i]=ly(n,e);return h[n]<r+t||h[n]>i-t});g(Mi,-1)&&d.past++,g(ji,oy)&&d.limit++;let _=H(n.P[l],n.P[u]),v=Math.round(Math.acos(Math.max(-1,Math.min(1,-_[1]/Math.max(1e-9,G(_)))))*180/Math.PI);(!d.elevation||v>d.elevation[0])&&(d.elevation=[v,f]),v>sy&&d.raised++}),d.frames&&(a[`hand_${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 py=.5,my=.5,hy=[`flex`,`dev`,`twist`],gy={l:`Left`,r:`Right`},_y={flex:e=>e>=0?`flex`:`extension`,dev:e=>e>=0?`radial deviation`:`ulnar deviation`,twist:()=>`twist`};function vy(e){let t=null;for(let n of hy){let[r,i]=ji[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 yy(e,t,n,r){let{s:i,diag:a}=t.frames[r],o=a[`hold_${n}`];if((o?.w??0)>my)return o;let s=gy[n],c=e.index,l=c[`${s}Hand`],u=c[`${s}ForeArm`],d=e.restWorldRot,f=U(H(i.P[l],i.P[u]),1/Math.max(1e-9,G(H(i.P[l],i.P[u])))),p=q(i.R[u],q(Y(d[u]),d[l]));return Ki(p,i.R[l],f,J(q(p,Y(i.R[l])),zr(e,i,s).l))}function by(e,t){let n=[],r=t.f0??0;for(let i of[`l`,`r`])t.frames.forEach((a,o)=>{if(!dy(t,i,o,o+r))return;let s=vy(yy(e,t,i,o));if(s.past<=py)return;let c=Math.abs(s.edge);n.push({kind:`WRIST`,msg:`hand_${i} ${_y[s.axis](s.value)} ${Math.round(Math.abs(s.value))}deg (limit ${Math.round(c)})`,frame:o,value:+Math.abs(s.value).toFixed(2),limit:c})});return n}function xy(e,t){let n=/^hand_([lr]) /.exec(t.subject)?.[1];if(!n)return null;let r=t.worstFrame,i=`at f${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_${n}`]?.w??0)>my&&Object.keys(e.spec.objects??{}).find(t=>e.spec.props?.[e.spec.objects[t]?.prop]?.hand===n),s=e.fr(r).c.spine_pitch??0;return{cause:o?`objects.${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}/${e}`;if(a?.kind===`world`)return{path:o(`p`),delta:r};if(a?.kind===`body`)return{path:o(`p`),delta:J(X(-(e.fr(n).c.yaw??0)),r)};if([`bone`,`segment`,`prop`,`person`].includes(a?.kind))return{path:o(`offset`),delta:r};if(a?.kind!==`object`)return;let s=e.fr(n),c=ms(e.out.ctx,a,t,{...s,diag:{...s.diag,frame:n}},i);return{path:o(`local`),delta:J(Y(c.R),r)}}function My(e,t,n,r,i=``){let a=/^prop_(.+)$/.exec(t),o=a?e.spec.props?.[a[1]]?.hand:Ay(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?jy(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 ${g_(r)} m at f${n}${i}; change that walk's heading/turnDistance/step (or give one a { range: [lo, hi] })`}:{cause:c,hint:`${s}: move ${g_(u)} m at f${n}${i}`,fix:l}}var Ny=e=>ua.find(t=>t[0]===e);function Py(e,t,n,r){let[,i,a]=Ny(n),{s:o}=e.fr(t),s=da(o.P[e.I[i]],o.P[e.I[a]]),c=s.map(e=>fa(e,r)),l=Math.min(...c);return{p:s[c.indexOf(l)],n:va(s[c.indexOf(l)],r),d:l}}function Fy(e,t,n,r,i){let a=t.worstFrame,o=e.out.objectsAt(e.rel(a))[r];if(!o||!Ny(n))return null;let{n:s}=Py(e,a,n,o);return My(e,n,a,U(s,i),` (out of ${r})`)}function Iy(e,t,n,r){let i=t.worstFrame,a=e.out.objectsAt(e.rel(i))[r];if(!a)return null;let o=pl(e.sk,e.fr(i).s,n.endsWith(`_l`)?`Left`:`Right`),s=ml(o,a),c=t.worst-t.limit+Oy;if(!(s.side>0))return s.topAt?My(e,n,i,U(va(s.topAt,a),c),` (out of ${r}'s top)`):null;let l=Math.max(...o.filter(e=>fa(e,a)<0).map(e=>2*a.half[1]-J(Y(a.R),H(e,a.pos))[1]))+Oy,u=U(va(s.sideAt,a),c);if(l>ky)return My(e,n,i,u,` (out of ${r}'s side)`);let d=My(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 ${g_(u)} m out of that side`,d}function Ly(e,t,n,r,i,a){return My(e,n,t.worstFrame,U(K(r),i),` (away from the ${a})`)}function Ry(e,t,n){let{s:r,diag:i}=e.fr(t),a=e.I;if(n.startsWith(`hand_`)){let e=n.endsWith(`l`)?`Left`:`Right`;return da(r.P[a[`${e}Hand`]],r.P[a[`${e}HandMiddle3`]],5)}return Object.entries(i.props?.[n.slice(5)]??{}).filter(([e,t])=>Array.isArray(t)&&e!==`origin`).map(([,e])=>e)}var zy={COLLIDE(e,t){let[,n,r]=/^(\S+) x (.+)$/.exec(t.subject)??[];if(/^foot_[lr]$/.test(n??``))return Iy(e,t,n,r);let i=Fy(e,t,n,r,t.worst-t.limit+Oy);return i&&/^(hand|farm)_/.test(n)&&!e.spec.fix?.penetration&&t.worst-t.limit<=.05&&(i.hint+=`; or fix.penetration: 0.02 pushes shallow hand hits out`,e.spec.fix!==!1&&(i.fix={path:`/fix/penetration`,value:.02})),i},PERSON(e,t){let[,n,r]=/^(\S+) x person:(.+)$/.exec(t.subject)??[],i=Ny(n),a=e.out?.ctx?.scene?.people?.[r];if(!i||!a)return null;let o=t.worstFrame,{s}=e.fr(o),c=da(s.P[e.I[i[1]]],s.P[e.I[i[2]]]),l=wy(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,or(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=My(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+Oy),` (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: ${Q(t.worst+Oy)} }]`}},CLEARANCE(e,t){let n=(e.spec.checks?.clearance??[]).find(e=>t.subject.startsWith(`${e.name}:`));return n&&Fy(e,t,n.part,n.object,n.min-t.worst+Oy)},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_${n}`];if(a)return Dy(e,n,r,Ey(`the sole is in the floor because the knee is on its stop: `,a),i[`foot_${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 ${ha(e.sk)} m above the floor)${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=Tr(i,e.I.Head,e.sk.landmarks.headCentre);return Ly(e,t,n,H(Ry(e,r,n).reduce((t,n)=>ma(e.sk,i,n)>ma(e.sk,i,t)?n:t),a),t.worst-t.limit+Oy,`head`)},BODY(e,t){let[,n,r]=/^(\S+) into (\S+)$/.exec(t.subject)??[],i=Ny(r),a=t.worstFrame,{s:o}=e.fr(a),s=/^(hand|farm|uarm)_([lr])$/.exec(n??``),c=s&&mi(e.sk);if(c){let i=e.I[`${s[2]===`l`?`Left`:`Right`}${{hand:`Hand`,farm:`ForeArm`,uarm:`Arm`}[s[1]]}`],l=Ai(c,e.sk,o,i),u=l.p&&yi(c,o,l.p,c.skip.get(i));if(u){let i=My(e,n,a,U(u,t.worst-t.limit+Oy),` (out of the ${r})`);return s[1]!==`hand`&&(i.hint+=`; or turn elbow_${s[2]} away from the ${r}`),i}}if(!i)return null;let l=o.P[e.I[i[1]]],u=o.P[e.I[i[2]]],d=H(u,l),f=e=>V(l,U(d,or(W(H(e,l),d)/W(d,d),0,1))),p=Ry(e,a,n).reduce((e,t)=>G(H(t,f(t)))<G(H(e,f(e)))?t:e);return Ly(e,t,n,H(p,f(p)),t.worst-t.limit+Oy,`torso`)},SELF(e,t){let n=t.worstFrame,{s:r}=e.fr(n),i=r.P,a=e.I;if(t.subject===`hands overlap`){let r=K(H(i[a.LeftHand],i[a.RightHand])),o=(t.worst-t.limit+Oy)/2,s=My(e,`hand_l`,n,U(r,o));return{cause:s.cause,hint:`${s.hint}; and ${My(e,`hand_r`,n,U(r,-o)).hint}`,fix:My(e,`hand_l`,n,U(r,2*o)).fix}}let o=t.subject===`shins touch`,s=o?.1:.135,[c,l]=o?[`Leg`,`Foot`]:[`UpLeg`,`Leg`],u=pa(i[a[`Left${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+Oy)/2,p=K(d);return{cause:e.cause(`foot_l`,n),hint:`foot_l: move ${g_(U(p,f))} m and foot_r ${g_(U(p,-f))} m at f${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 ${ha(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(_a(e.sk,r,t))),c=s.map(e=>e[0]),l=s.map(e=>e[2]),u=.07,d=[or(o[0],Math.min(...c)-u,Math.max(...c)+u),o[1],or(o[2],Math.min(...l)-u,Math.max(...l)+u)];return{cause:e.cause(`root`,n),hint:`root: move ${g_(H(d,o))} m at f${n} (centre of mass over the feet), or step a foot under it`,fix:{channel:`root`,f:n,delta:H(d,o)}}}},By=.003,Vy=.02,Hy=.2;function Uy(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(Hy,r/c));return{delta:l,hint:`body: move ${g_(l)} m toward the target at f${n}, ${e.cause(`root`,n)} (arm ${t} is at full reach)${i}`,fix:{channel:`root`,f:n,delta:l,hold:!0}}}var Wy=(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_${t}`];function Gy(e,t,n,r){let i=null;for(let[a,o]of Object.entries(e.fr(n).c))a===r||!RegExp(`^w_.+_${t}$`).test(a)||!(o>Vy)||i&&o<=i.w||(i={ch:a,w:o});return i}function Ky(e,t,n,r,i){let a=n.slice(-1),o=e.hand(a,r),s=o.anchor?Gy(e,a,r,o.ch):null;if(!s)return null;let c=Array.isArray(t.at)?t.at[1]:t.at,l=e.bracket(s.ch,r).prev,u=l&&Math.abs(e.out.baked[s.ch]?.[Math.round(l.f)]??1)<=Vy&&c>=r&&!(e.bracket(s.ch,r).next?.f<=c)?c:r,d=s.w/Math.max(1,(e.fr(r).c[o.ch]??1)+s.w),f=s.ch.replace(/^w_/,``).replace(/_[lr]$/,``);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}${i}`,fix:{channel:s.ch,f:u,value:0}}}function qy(e,t){let n=null;return(e.spec?.goals??[]).forEach((e,r)=>{let i=S_(e,r);t.subject.startsWith(`${i}:`)&&(!n||i.length>n.name.length)&&(n={goal:e,name:i,i:r})}),n}function Jy(e,t,n){let r=[t,...e.out.ctx.scene?.objects?.[t]?.ancestors??[]].find(t=>Wd(e.spec.objects?.[t],n));return r?e.spec.objects[r]:null}function Yy(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=Jy(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=Oo(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 Xy(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 Zy(e,t,n,r,i,a){if(n===`moved`||n===`still`){let o=t[n],s=Yy(e,o,r),c=O_(e.out,t,a),l=Ts(e.out,r,T_(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=Yy(e,o,r),l=Yy(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=Ts(e.out,r,o),h=Ts(e.out,r,s);return m&&h?[f,U(K(H(h,m)),p*i)]:null}var Qy={GOAL(e,t){let n=e.spec&&qy(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=x_(i)[0],c=t.worst+By,l=L_(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} ${C_(i,s)})`;if(s===`speed`){let t=Yy(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${f}`}}let p=Zy(e,i,s,r,c,l.a);if(!p){if(s===`still`&&i.still.startsWith(`object:`)){let e=i.still.slice(7).replace(/\.(center|top|base)$/,``);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=Ky(e,i,m,r,f);if(t)return t;let n=Wy(e,m.slice(-1),r)&&Uy(e,m.slice(-1),r,c,f);if(n)return{cause:e.cause(`root`,r),hint:n.hint,fix:n.fix}}let g=My(e,m,r,h,f),_=Xy(e,m,r,h);return{cause:g.cause,hint:g.hint,..._?{fix:_}:{}}}},$y={Leg:[`UpLeg`,`Leg`,`Foot`,`knee`],ForeArm:[`Arm`,`ForeArm`,`Hand`,`elbow`]},eb=e=>e.startsWith(`Left`)?`l`:`r`,tb=e=>/^(w_|armw)/.test(e)?.5:/^(root|foot|hand)/.test(e)?1:/^(knee|elbow)/.test(e)?.2:.01;function nb(e,t,n){let r=eb(t),i=e.out.baked,a=[`root`,`yaw`,`pitch`];t===`Head`?a=[`head_yaw`,`head_pitch`,`spine_pitch`,`spine_yaw`,`root`,`yaw`]:/Hand|ForeArm/.test(t)?a=[`hand_${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_${r}`,`root`]);let o=e=>{let t=i[e]?.[n-1],r=i[e]?.[n];return t===void 0||r===void 0||typeof t==`object`&&!Array.isArray(t)?0:(Array.isArray(t)?ar(t,r):Math.abs(r-t))*tb(e)};return a.filter(e=>i[e]).sort((e,t)=>o(t)-o(e))}function rb(e,t,n){let r=t.subject.split(` `)[0],i=t.worstFrame,a=nb(e,r,i)[0]??`root`,{prev:o,next:s}=e.bracket(a,i),c=e.keys(a).find(e=>e.step&&Math.abs(e.f-i)<=1);if(c)return{cause:e.cause(a,i),hint:`${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 ${p[1]} too fast`:``}; or fix.retime: true`,fix:e.spec.fix===!1?void 0:{path:`/fix/retime`,value:!0}}}function ib(e,t,n){let[r,i]=n.split(/:(.*)/s);if(r===`joint`)return t.s.P[e.I[i]];if(r===`prop`){let[e,n]=i.split(`.`);return t.diag.props?.[e]?.[n]}return ds(e.out.ctx,i,t.s,t.diag,t.c)}function ab(e,t,n,r){let i=Ws(e.out.baked,t),a=r(e.fr(t)),o=null;for(let[s,c,l]of n){let n=r($g(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 ob=(e,t,n,r)=>e.fr(n).s.P[e.I[`${t===`l`?`Left`:`Right`}${$y[r][0]}`]],sb={REACH(e,t){let[,n,r]=/^(leg|arm)_miss_([lr])$/.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 Dy(e,r,i,Ey(`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=ob(e,r,i,`Leg`),c=H(o,s),l=ar(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 ${g_(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 ${g_(U(K(H(s,o)),a))} m toward the hip at f${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_${r}`];if(u){let n=My(e,`hand_${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 ${g_(U([-l[0],0,-l[2]],a))} m back from it`,fix:n.fix}}let d=My(e,`hand_${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:${f}"`)),h=e.spec.fits?.[e.hand(r,i).fit??-1],g=h?.effector?.prop&&e.fr(i).diag.props?.[h.effector.prop]?.[h.effector.point],_=g?ar(g,V(ib(e,e.fr(i),`anchor:${f}`),h.offset??[0,0,0]))+.01:a,v=m&&Uy(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 ${g_(U([l[0],0,l[2]],a))} m closer`,fix:d.fix}},KNEE(e,t){let n=eb(t.subject),r=n===`l`?`Left`:`Right`,i=t.worstFrame,{s:a,c:o}=e.fr(i),s=a.P,c=e.I;if(/backward/.test(t.subject)){let t=H(s[c[`${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 ${g_(K(a))} (body frame, along the foot) at f${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 Dy(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[`${r}Foot`]],f=ar(l,u),p=ar(u,d),m=(180-(t.limit-5))*Math.PI/180,h=Math.sqrt(f*f+p*p-2*f*p*Math.cos(m));return{cause:e.cause(`foot_${n}`,i),hint:`foot_${n}: move ${g_(U(K(H(d,l)),h-ar(l,d)))} m away from the hip at f${i} (the knee folds ${Q(t.worst)} deg, limit ${t.limit})`,fix:{channel:`foot_${n}`,f:i,delta:U(K(H(d,l)),h-ar(l,d))}}},ELBOW(e,t){let n=eb(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[`${r}Hand`]],u=U(K(H(l,s)),Or(ar(s,c),ar(c,l),145)-ar(s,l));return My(e,`hand_${n}`,i,u,` (the elbow folds ${Q(t.worst)}deg, past its ${t.limit}deg stop; it bends freely to 145deg)`)},FLIP(e,t){let[,n,r]=/^(Left|Right)(Leg|ForeArm) /.exec(t.subject)??[],i=t.worstFrame;if(!r)return null;let a=eb(n),[o,s,c,l]=$y[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 ${t?`the keyed pose`:`the target`} out from the shoulder (REACH says how far)`}}let m=t=>{let r=e.fr(t).s.P;return vr(H(r[u[`${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 ${g_(v)} there)`:``}`,fix:v&&{channel:_,f:i,value:v}}},SLIDE(e,t){let n=eb(t.subject),r=n===`l`?`Left`:`Right`,i=t.subject.includes(`heel`)?`heel`:`ball`,a=Math.max(0,t.first-1),o=t=>_a(e.sk,e.fr(t).s,r)[i],s=Math.hypot(o(t.last)[0]-o(a)[0],o(t.last)[2]-o(a)[2]),c=e.out.baked[`foot_${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 ${g_(c)} at both ends)`:``}; the ${i} slides ${Q(s)} m${s<.01?`; fix.slide locks this when on`:``}`,fix:c&&{channel:`foot_${n}`,f:t.last,value:c}}},SPEED:(e,t)=>rb(e,t,1),POP:(e,t)=>rb(e,t,.5),ACC:(e,t)=>rb(e,t,.5),FLOAT:(e,t)=>({cause:e.cause(`root`,t.worstFrame),hint:`over f${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 ${ha(e.sk)} m above it); a jump needs the hips to rise and fall; a seat or ledge the hips rest on goes in checks.supports (a foot on an object's top needs none)`}),LENGTH:()=>({cause:`compiler`,hint:`a bone changed length: report the spec, this is a compiler fault`}),CONTACT(e,t){let n=(e.spec.checks?.contacts??[]).find(e=>t.subject.startsWith(`${e.name}:`)),r=t.worstFrame,i=e.rel(r);if(!n)return null;let a=mv(e.out,i,n.point),o=mv(e.out,i,n.target),s=H(o,a),c=/^prop:([^.]+)/.exec(n.point),l=c?e.spec.props?.[c[1]]?.hand:eb(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 ${f})`:My(e,`hand_${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 ${g_(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 ${g_(h)} m toward ${f??`the target`}, or move the target`,fix:{channel:`root`,f:r,delta:h}};let _=My(e,`hand_${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:eb(n.from.slice(6)),o=n.minCos??.64,s=t=>n.along===`up`?[0,1,0]:n.along===`face`?Er(e.sk,t.s,e.I.Head,[0,0,1]):K(n.along),c=t=>W(K(H(ib(e,t,n.to),ib(e,t,n.from))),s(t)),l=Ws(e.out.baked,r),u=l[`wtwist_${a}`]??0,d=l[`wflex_${a}`]??0,{best:f,base:p}=ab(e,r,[[`wtwist_${a}`,or(u+15,-85,85),15],[`wtwist_${a}`,or(u-15,-85,85),15],[`wflex_${a}`,or(d+15,-70,70),15],[`wflex_${a}`,or(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=or(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=eb(n.joint),a=`${/Leg/.test(n.joint)?`knee`:`elbow`}_${i}`,o=Ws(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=Ws(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($g(e.out.ctx,{...l,[a]:t},r)),turn:vr(t,o)})),f=d.filter(e=>e.d>=c).sort((e,t)=>e.turn-t.turn)[0]??d.sort((e,t)=>t.d-e.d)[0];return f.d>u?{cause:e.cause(a,r),hint:`${a}: key ${g_(f.p)} (body frame: +y up, +z forward) at f${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(`${e.name}:`)),r=t.worstFrame;if(!n)return null;let i=null;for(let t=Math.max(e.out.f0??0,r-24);t<=Math.min((e.out.f0??0)+e.out.frames.length-1,r+24);t++){let r=G(H(mv(e.out,e.rel(t),`joint:${n.joint}`),mv(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_${n.anchor}_${eb(n.joint)} at 1 around the switch`}}},cb=.003,lb=24;function ub(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 db(e,t,n,r,i){let a=My(e,`hand_${t}`,n,r,i),o=ub(e,t,n,r);return o?{...a,fix:o}:a}function fb(e,t,n,r){let i=e.spec.anchors?.[e.hand(t,n).anchor],a=e.out.ctx.scene;return i?.kind===`object`&&[a.objects?.[i.object]?.ancestors,Io(a)[i.object]?.ancestors,[i.object]].some(e=>e?.includes(r))}function pb(e,t){let n=J(Y(e.R),H(t,e.pos)),r=[0,e.half[1],0];return V(e.pos,J(e.R,n.map((t,n)=>or(t,r[n]-e.half[n],r[n]+e.half[n]))))}var mb={REACH:(e,t)=>wv(e,t)??sb.REACH(e,t),GRAB(e,t){let n=t.subject.split(`:`)[0],r=t.worstFrame,i=e.spec?.objects?.[n],a={cause:`objects.${n}.grab`,hint:`${n}: move the hand to it by f${r}, or set objects.${n}.grab to the frame the hand arrives`};if(!e.out||!Hf(i))return a;let o=null;for(let i=r-lb;i<=r+lb;i++){let a=Lv(e.out,n,i);a!==null&&a<=t.limit&&(!o||Math.abs(i-r)<Math.abs(o[0]-r))&&(o=[i,a])}if(o)return{cause:a.cause,hint:`${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=Kf(s,c,e.fr(r).s,i),d=Ud(l,n).map(e=>pb(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=db(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=Hf(i[r])?r:Hf(i[n])?n:null;if(!a||!e.out)return zy.COLLIDE(e,t);let o=i[a],s=e.spec.props[o.prop].hand,[c,l]=qd(e.out,o),u=t.worst-t.limit+cb,d=t.worstFrame,f=d>=c&&d<=l,p=Math.min(d,l),m=of(e.out,a,d)??[];if(a===r){let t=ua.find(e=>e[0]===n),{s:r}=e.fr(d);if(!t||!m.length)return null;let i=da(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)=>fa(t[1],t[0])<fa(e[1],e[0])?t:e),l=va(c,o),p=/^(hand|farm|uarm)_([lr])$/.exec(n)?.[2];return f&&p&&p!==s&&fb(e,p,d,a)?My(e,`hand_${p}`,d,U(l,u),` (out of ${a})`):f?db(e,s,d,U(l,-u),` (${a} off ${n})`):My(e,n,d,U(l,u),` (out of ${a})`)}let h=e.out.objectsAt(e.rel(d))[r];if(!h||!m.length)return null;let g=of(e.out,a,Math.max(c,t.first-1))??m,_=m.map((e,t)=>Nv(e,h,H(g[t].pos,h.pos))).reduce((e,t)=>t.depth>e.depth?t:e);return db(e,s,p,U(_.axis,_.depth-t.limit+cb),f?` (${a} out of ${r})`:` (${a} is put down in ${r}; it stays where the hand lets go at f${l})`)}},hb=.005,gb=e=>e.spec?.fix?.grasp===!1,_b={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 vb(e,t,n){let{scene:r}=e.out.ctx,i=e.out.objectsAt?.(e.rel(n))??{};return Ud(r,t).map(t=>({...r.objects[t],...e.out.ctx.objectPose?.(t,n)??i[t]??{}}))}var yb={FINGER_GAP(e,t){if(gb(e))return _b;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[`${a}HandMiddle1`]]),.5),l=vb(e,r,o);if(!l.length)return null;let u=l.reduce((e,t)=>Ca(t,c)<Ca(e,c)?t:e),d=Ca(u,c);return My(e,`hand_${i}`,o,U(wa(u,c),-Math.max(0,d-.03)),` (onto ${r}: the fingers reach it from nearer)`)},FINGER_PEN(e,t){if(gb(e))return _b;let[,n,r]=/^(\S+) into (\S+)$/.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=vb(e,r,a);if(!s.length)return null;let c=s.reduce((e,t)=>Ca(t,o)<Ca(e,o)?t:e);return My(e,`hand_${i}`,a,U(wa(c,o),t.worst-t.limit+hb),` (out of ${r})`)},SUPPORT(e,t){if(gb(e))return _b;let n=/^(\S+) not supported$/.exec(t.subject)?.[1],r=e.spec?.objects?.[n];if(!r||!e.out)return null;let i=e.out.ctx.scene.objects[Ud(e.out.ctx.scene,n)[0]],a=i?ba(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=$d(e.out,n,t)?.pos;r&&(!a||G(H(r,i))<a.d)&&(a={f:t,d:G(H(r,i))})}let o=a?r-a.f:0,s=`${n}: the hand gets there ${o} frame(s) 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name`),effector:{oneOf:[{type:`object`,properties:{prop:$(),point:$()},required:[`prop`,`point`]},{type:`object`,properties:{joints:{type:`array`,items:{type:`string`}}},required:[`joints`]}],description:`the hand point fitted onto the anchor`},offset:ux(`vec3`,`world offset, m`),orient:{type:`boolean`,description:`false: no grip turn`}},Cx={f:cx(),pos:ux(`vec3`),rot:{type:`array`,items:{type:`number`},minItems:4,maxItems:4,description:`quat x, y, z, w`},aim:ux(`vec3`,`or rot: +Y dir`),roll:sx(`deg about aim`),lean:sx(`aim tilt`,{minimum:0,maximum:45})},wx={type:`object`,properties:{at:cx(),onto:$(),bounce:sx(null,{default:.25,minimum:0,maximum:.6}),tumble:{type:`boolean`},v:{oneOf:[{$ref:`#/$defs/vec3`},{const:`hand`}],description:`m/s`}},required:[`at`],additionalProperties:!1},Tx={description:`as carry; keys at any frame`},Ex={keys:Tx,fall:Tx},Dx={pivot:ux(`vec3`,`world hinge point`),axis:ux(`vec3`,`default +Y`),channel:$(`angle channel, deg`),prop:$(`spec.props name: it rides that hand`),at:ux(`vec3`,`palm offset [d, l, n]`),along:ux(`vec3`,`+Y on the palm, fixed`),visible:$(`channel: shown > 0.5`),level:$(`channel: strength 0..4`),grab:cx(`hand takes it`,{default:0}),release:cx(`let go (else end)`),keys:{type:`array`,items:{type:`object`,properties:Object.fromEntries(qa.map(e=>[e,Cx[e]])),required:[`f`,`pos`],additionalProperties:!1},description:`world pose at f; hand follows`},fall:{...wx,description:`or a list; topic objects`},grasp:{enum:co},mass:sx(`kg`,{minimum:.01,maximum:60}),follow:ux(`ref`),offset:ux(`vec3`),aim:{oneOf:[{enum:[`face`,`up`]},{$ref:`#/$defs/vec3`},{$ref:`#/$defs/ref`}],default:`up`}},Ox={name:$(`the QA group's name`),point:ux(`checkRef`),target:ux(`checkRef`),tol:sx(`m; default contacts 0.01, appear 0.035, supports 0.04`),when:ux(`when`),from:ux(`checkRef`),to:ux(`checkRef`),along:{oneOf:[{enum:[`face`,`up`]},{$ref:`#/$defs/vec3`}]},minCos:sx(`default 0.64`),joint:$(`bone`),ref:$(`bone`),min:sx(`m; below default 0.08`),part:ux(`part`),object:$(`scene object id`),frames:ux(`frameSpan`),channel:$(`a visibility channel`),anchor:$(`an anchor name`),depth:sx(`allowed depth, m`)},kx={contacts:[`point`,`target`],orient:[`from`,`to`,`along`],below:[`joint`,`ref`],clearance:[`part`,`object`,`min`],appear:[`channel`,`joint`,`anchor`],supports:[`object`],allow:[`part`,`object`,`depth`]},Ax={limits:{type:`object`,properties:Object.fromEntries(Object.entries(gl).map(([e,t])=>[e,sx(null,{default:t})])),additionalProperties:!1},mouthPoints:{type:`array`,items:$(`prop.point`),description:`prop points allowed at the mouth`}},jx={name:$(),near:fx({$ref:`#/$defs/ref`},`distance <= tol`),above:fx({$ref:`#/$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:$("a point ref: its speed reaches `by` m/s (mode any by default)"),tol:sx(`m; near default 0.05, still 0.01`),by:sx(`above m, default 0; moved m, default 0.05; speed m/s, needed`),at:{oneOf:[cx(null,{minimum:0}),{$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:$(`a goal's name: at ends before the first frame that goal holds`)},Mx={name:$(`the key of the answer`),distance:fx({$ref:`#/$defs/ref`},`min/max/mean/first/last m`),position:ux(`ref`,`world points`),frames:ux(`frameSpan`,`absolute, default the whole take`),every:cx(`position: every n frames (<= 16 rows)`,{minimum:1})},Nx={reach:lx(`wrist targets past reach go onto it softly; hips lower for near-miss ankles`,{default:!0}),slide:lx(`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:lx(`arms kept out of the body's skin (wrists, elbows)`,{default:!0}),retime:lx(`speed spikes borrow frames from the neighbouring keys`,{default:!1}),stance:lx(`a standIdle stance in a scene body slides out of it (observations.placed)`,{default:!0}),grasp:lx(`fingers close on what the hand holds; it rests in the hand`,{default:!0})},Px={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>`},Fx=e=>e.f0+16+(e.steps??8)*(e.period??20)+18,Ix=e=>({type:`array`,items:{type:`number`},minItems:2,maxItems:2,description:e}),Lx=e=>Object.fromEntries(e.map(e=>[e,$(e===`car`?`car prefix: fills <car>_Seat_Driver, _Seat_Driver_Back, _Door_L/R, _Door_Handle, _Steering_Wheel`:`scene object id (overrides the car default)`)])),Rx=Object.fromEntries(Ja.filter(e=>e!==`type`&&e!==`f0`).map(e=>[e,gx[e]])),zx={standIdle:{args:{at:Ix(`[x, z] world m; default the root keyed before f0, else within reach of the next reachGrip's anchor (output.observations.placed); a stance in a body slides out of it`),heading:sx(`degrees (yaw); default the keyed yaw`),until:cx(`hold the pose to this frame`)},needs:`args.at, or a root keyed before f0`,frames:`1 (to args.until when given)`,adds:[`keys: a standing pose, FK arms down`],example:{f0:0,args:{at:[0,0],heading:0}},place:{at:.03}},walkTo:{args:{to:Ix(`[x, z] world m: the heading turns toward it and the steps cover the distance`),...Rx,heading:{oneOf:[sx(),gx.heading],description:`degrees: h1, or [h0, h1]`},arrive:cx(`with to and no steps/period/step/swing: the frame to end by (feet together); the engine picks the cadence (observations.planned)`)},needs:`a standing pose keyed before f0`,frames:`16 + steps * period + 18`,adds:[`keys: a walk ending feet together`],example:{f0:10,args:{to:[.5,1.5]}},tune:{lift:.01,halfWidth:.01,firstStep:.01,step:.01},place:{firstStep:.03,step:.03}},reachGrip:{args:{anchor:$(`not ending in _l/_r`),side:dx(`the hand`),reach:cx(`frames to reach`,{default:20}),hold:cx(`frames held`,{default:22}),release:cx(`frames to let go`,{default:12}),elbow:ux(`vec3`,`pole`),fingers:{enum:so,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:{...Lx([`car`,`seat`,`seatBack`,`wheel`]),offset:{...ux(`vec3`,`hips from the seat top, seat frame`),default:[0,.17,.02]},floor:sx(`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:{...Lx([`car`,`seat`,`door`,`handle`]),side:dx(`driver door side, default l`),channel:$(`the door hinge channel`,{default:`door`})},needs:`seated in the car before f0 (sitInSeat); a car on the ground (seat base y 0.4)`,frames:`246`,adds:[`objects: door and handle hinges`,`anchors handle, lthigh, rthigh`,`props.grip`,`fits, checks.contacts, checks.allow`],example:{f0:0,args:{car:`Car`}}},flip:{args:{kind:{enum:[`back`,`front`,`cartwheel`],default:`back`,description:`a standing back or front tuck, or a cartwheel`},travel:sx(`back/front: m along the heading at landing (default back -0.25, front 0.4)`),side:dx(`cartwheel: toward the character's l (default) or r`),heading:sx(`degrees (yaw); default the keyed yaw`)},needs:`a standing pose keyed before f0`,frames:`back/front 58 (one turn, the hips 0.5 m up); cartwheel 68`,adds:[`keys every frame: back/front crouch, push-off, a ballistic tucked flight turning the whole body (pitch to -360 back, +360 front) and a landing that stands up`,`cartwheel: a side step, then the whole body rolls 360 like a wheel on the straddled legs and the arms overhead, the hands planted in turn`,`whole-body pitch and roll take full turns in any key (no range); past 60 deg the knee and elbow poles and the feet turn with the body`],example:{f0:10,args:{kind:`back`}}},smokeCigarette:{args:{until:cx(`hold to this frame; default the last frame; under f0+264 the beats are paced to fit`),kit:{type:`object`,properties:{cig:$(`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:Ix(`[x, z] the way the body is thrown`),from:$(`or what hits it: object:<id> | person:<id> (thrown away from it)`),speed:sx(`launch speed, m/s (a shove 2, a car at 30 km/h about 8)`,{default:4,exclusiveMinimum:0}),land:{enum:[`back`,`front`],description:`default: back when hit from the front`}},needs:`a pose; dir or from`,frames:`~40`,adds:[`keys: thrown to rest`],example:{f0:10,args:{dir:[0,-1],speed:3}}},throwObject:{args:{object:$(`the carried object's id (objects.<id>.prop on the hand's prop)`),side:dx(`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:$(`the flying object's id (objects.<id>.fall { at, v })`),side:{enum:[`r`,`both`],description:`the right hand, or both (a thing over 1 kg takes both)`}},required:[`object`],needs:`the object flying: objects.<id>.fall { at, v }`,frames:`to the catch (the first frame in reach, at least 10 from f0) + 14`,adds:[`keys: reach, close, give with it`,`objects.<id>: prop, grab, grasp when the entry leaves them out`,`props.<id>Catch`],example:{f0:0,args:{object:`ball`}}}},Bx={_l:`_r`,_r:`_l`},Vx=/^(yaw|roll|spine_yaw|spine_roll|head_yaw|head_roll|fyaw_[lr]|wtwist_[lr]|wflex_[lr])$/,Hx=/^(root|foot_[lr]|hand_[lr])$/,Ux=/^(knee|elbow)_[lr]$/,Wx=/^(yaw|fyaw_[lr])$/,Gx=e=>e&&typeof e==`object`?structuredClone(e):e,Kx=e=>e.replace(/_(l|r)$/,e=>Bx[e]).replace(/^(Left|Right)/,e=>e===`Left`?`Right`:`Left`),qx=()=>({origin:[0,0,0],yaw:0,mirror:!1,negate:new Set,names:{}}),Jx=(e,t)=>V(e.origin,J(X(e.yaw),e.mirror?[-t[0],t[1],t[2]]:t)),Yx=(e,t)=>e.mirror?[-t[0],t[1],t[2]]:t.slice();function Xx(e,t){if(!e.mirror)return t;let n=/^w_(.+)_([lr])$/.exec(t);return n?`w_${e.names[n[1]]??n[1]}_${n[2]===`l`?`r`:`l`}`:/_[lr]$/.test(t)?Kx(t):t}function Zx(e,t){let n={};for(let[r,i]of Object.entries(t)){let t=Gx(i);Hx.test(r)?t=Jx(e,t):Ux.test(r)?t=Yx(e,t):typeof t==`number`&&(e.mirror&&(Vx.test(r)||e.negate.has(r))&&(t=-t),Wx.test(r)&&(t+=e.yaw)),n[Xx(e,r)]=t}return n}function Qx(e,t=0,n=qx()){let r=[],i=e=>Xx(n,e);return{state:e,keys:r,frame:n,at(i,a){let o=Zx(n,a);Object.assign(e,Gx(o)),r.push({f:t+i,set:o})},hold(n,...a){r.push({f:t+n,set:Object.fromEntries(a.filter(t=>e[i(t)]!==void 0).map(t=>[i(t),Gx(e[i(t)])]))})},step(n,a,o){let s=i(a);r.push({f:t+n-1,set:{[s]:e[s]}}),e[s]=o,r.push({f:t+n,set:{[s]:o},step:[s]})}}}var $x=(e,t)=>{throw Error(`MOTION_SPEC_INVALID: ${e}: ${t}`)};function eS(e,t,n){let r=e.scene?.objects?.[n];return r||$x(e.tag,`args.${t} "${n}" is not a scene object`),r}var 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s=t.index,c=t.restWorldPos,l=a.args.side===`l`?`Left`:`Right`,u=c[s.Hips],d=c[s[`${l}Arm`]],f=G(H(c[s[`${l}ForeArm`]],d))+G(H(c[s[`${l}Hand`]],c[s[`${l}ForeArm`]]))+G(H(c[s[`${l}HandMiddle2`]],c[s[`${l}Hand`]])),p=d[1]-o[1],m=Math.max(oS,Math.sqrt(Math.max(0,(iS*f)**2-p*p))),h=e.args.heading??e.state?.yaw??0,g=X(h),_=dS(n),v=J(g,[d[0]-u[0],0,d[2]-u[2]+m]),y=[o[0]-v[0],o[2]-v[2]],b=0,x=y;for(;b<=.600000001&&fS(t,_,x,h)<0;b+=aS){let e=J(g,[0,0,-(b+aS)]);x=[y[0]+e[0],y[1]+e[2]]}return{at:x.map(e=>+e.toFixed(4)),heading:h,anchor:a.args.anchor,moved:+b.toFixed(2)}}var gS=.65,_S=.75,vS=.75,yS=.025,bS=.1,xS=.08,SS=.12,CS=.4,wS=.3,TS=[.15,.3,.45,.6,.7,.8,.9],ES=e=>e*e*e*(10-15*e+6*e*e),DS=.9,OS=.7,kS=(e,t)=>{let n=Math.min(1,Math.max(0,e));return n<OS?DS*ES((n/OS)**+t):DS+.09999999999999998*ES((n-OS)/.30000000000000004)},AS=e=>[...new Map(TS.map(t=>Math.round(t*e)).filter(t=>t>0&&t<e).map(t=>[t,[kS(t/e,gS),kS(t/e,_S)]])).entries()].map(([e,[t,n]])=>[e,t,n]),jS=180/Math.PI,MS=(e,t,n)=>Math.max(t,Math.min(n,e));function NS(e,t){let n=PS(e,t),r=e.sk.index;return!!n&&n[1]>=e.sk.restWorldPos[r.LeftLeg][1]+bS}function PS(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=>FS(e,t))?null:V(n.pos,J(n.R,t.local??[0,n.half?.[1]??0,0]))}function FS(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 IS=new WeakMap;function LS(e){if(!IS.has(e)){let t=xr(e),n=e.index;Kr(e,t,`Right`,{}),IS.set(e,G(H(t.P[n.RightHandThumb4],t.P[n.RightHandIndex4])))}return IS.get(e)}function RS(e,t){let n=e.scene?.objects??{};if(t?.kind===`object`)return 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u=Math.atan2(c[0],c[2])*jS-(n.yaw??0)-(n.spine_yaw??0);for(;u>180;)u-=360;for(;u<-180;)u+=360;let d=Math.atan2(-c[1],l)*jS-(n.pitch??0)-(n.spine_pitch??0);return{head_yaw:MS(vS*u,-60,60),head_pitch:MS(vS*d,-30,50)}}var HS=(e,t,n)=>e.some(e=>e.f>=t&&e.f<=n&&(e.set?.head_yaw!==void 0||e.set?.head_pitch!==void 0)),US=(e,t)=>uo[e]?uo[e].map((e,n)=>n===2&&t===`r`?-e:e):[0,0,0];function WS(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=hS(e);t||$x(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=pS(t,e.scene,[c[0],c[c.length-1]],s);n&&(c=n.at,l={at:c,heading:s,why:`moved ${n.moved} m out of a scene body`})}let u=[c[0],0,c[c.length-1]],d=X(s),f=e=>{let t=V(u,J(d,e));return 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e=[(n.foot_l[0]+n.foot_r[0])/2,(n.foot_l[2]+n.foot_r[2])/2],s=t.to[0]-e[0],c=t.to[t.to.length-1]-e[1],l=Math.hypot(s,c),u=Math.atan2(s,c)*180/Math.PI;for(;u-i>180;)u-=360;for(;u-i<-180;)u+=360;r.heading=t.heading??[i,u],r.steps=t.steps??Math.max(2,2+Math.round((l-o)/a))}typeof r.heading==`number`&&(r.heading=[i,r.heading]);let s=ih(r,e.keys,e.sk,e.tag),c=Fx(r),l=e.frames-1;return c>l&&Math.max(...s.filter(e=>e.f<c).map(e=>e.f))<=l?{keys:s.filter(e=>e.f<=l),end:l,cut:`settle cut at f${l} (hold to the end)`}:{keys:s,end:c}}function KS(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}${e}`;return a}var qS=(e,t)=>{let n=e?.objects??{};if(!t||n[t]||t.startsWith(`person:`))return t?[t]:[];let r=Object.keys(n).filter(e=>n[e].ancestors?.includes(t));return r.length?r:[t]};function JS(e){let{args:t,state:n}=e,r=t.side,i=t.anchor;r!==`l`&&r!==`r`&&$x(e.tag,`args.side must be "l" or "r", got ${JSON.stringify(r)}`),(typeof i!=`string`||/_[lr]$/.test(i))&&$x(e.tag,`args.anchor must name an anchor (not ending in _l/_r)`);let a=t.reach??20,o=t.hold??22,s=t.release??12,c=(t.define??e.anchors?.[i])?.grasp,l=t.fingers??lo[c]??`grip`,u=`w_${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=!HS(e.keys??[],e.f0,e.f0+v)&&VS(y,t.define??e.anchors?.[i],n),x=b?{head_yaw:n.head_yaw??0,head_pitch:n.head_pitch??0}:null,S=Qx(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(NS(y,C))for(let[e,t,n]of AS(a))S.at(e,{[u]:E(w,1,t),[f]:E(T,1,n)});let D=Math.round(CS*a);D>0&&D<a&&BS(y,C,n)&&S.hold(D,d),b&&S.at(Math.max(1,Math.round(wS*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:US(c,r)}},ee=KS(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:qS(e.scene,re).map(e=>({part:`hand`,object:e,depth:.04}))}}}var YS=[.54,.4,-.075],XS=.4,ZS=1.0427487182617188,QS=new Set([`l`,`r`]);function $S(e,t=`l`){let n=e.car;return{seat:e.seat??(n&&`${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&&`${n}_Steering_Wheel`)}}function eC(e,t,n){let r=eS(e,`seat`,t);Math.abs(r.pos[1]-XS)>.05&&$x(e.tag,`seat "${t}" stands at y ${r.pos[1]}; the car skills are tuned for a seat base at y ${XS} (a car on the ground)`);let i=qx();i.yaw=tS(r.R),i.mirror=n===`r`;let a=H(r.pos,J(X(i.yaw),i.mirror?[-YS[0],YS[1],YS[2]]:YS));return i.origin=[a[0],0,a[2]],i.names={lthigh:`rthigh`,rthigh:`lthigh`},i}var tC=[[`hand`,`thigh*`,.07],[`farm`,`thigh*`,.07],[`hand`,`hips`,.07],[`farm`,`hips`,.07],[`hand_l`,`hand_r`,.035]].map(([e,t,n])=>({part:e,object:t,depth:n})),nC=e=>({A:e.restWorldPos[e.index.LeftFoot][1],H:t=>t+(e.restWorldPos[e.index.Hips][1]-ZS)});function rC(e){let{args:t,sk:n}=e,r=$S(t),i=eS(e,`seat`,r.seat),{A:a}=nC(n),o=tS(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 iC(e){let t=e.args.side??`l`;QS.has(t)||$x(e.tag,`args.side must be "l" or "r", got ${JSON.stringify(t)}`);let n=$S(e.args,t),r=eC(e,n.seat,t),i=e.args.channel??`door`;for(let[t,r]of[[`door`,n.door],[`handle`,n.handle]])eS(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=Qx(e.state,e.f0,r),s={};for(let[t,n]of Object.entries(a))e.state[Xx(r,t)]===void 0&&(s[t]=n);Object.keys(s).length&&o.at(0,s),aC(o,i,nC(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?Kx(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:Yx(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},...tC]},end:e.f0+246}}function aC(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,XS+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,XS+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 oC=[`cig`,`lighter`,`exhale`],sC={follow:`landmark:mouth`,aim:`face`,visible:`exhale`},cC={cig:`cigarette`,lighter:`lighter`},lC=.7,uC=[-.05,.07,.1],dC=.88,fC=.2,pC=[.245,.08,.02],mC={l:[.13,-.035,.08],r:[-.13,-.035,.08]};function hC(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 gC(e,t,n){let r=t[n];return(typeof r!=`string`||!Io(e.scene)[r])&&$x(e.tag,`args.kit.${n} ${JSON.stringify(r)} is not a group in the scene; object.createKit { kit: "${cC[n]}" } answers its rootId`),r}var _C={cig:.03,lighter:.045},vC=.07,yC=.04;function bC(e,t){let n=e.args.kit;if(n===void 0)return null;(!n||typeof n!=`object`||Array.isArray(n))&&$x(e.tag,`args.kit must be { cig, lighter, exhale? } (kit root ids), got ${JSON.stringify(n)}`);for(let t of Object.keys(n))oC.includes(t)||$x(e.tag,`args.kit has unknown field "${t}"; fields: ${oC.join(`, `)}`);let r=gC(e,n,`cig`),i=gC(e,n,`lighter`),a={[r]:{prop:`cig`,grab:t.cig,at:[0,0,0],along:[0,0,1],visible:`cig_vis`},[i]:{prop:`lighter`,grab:t.lit,release:t.unlit,at:[0,0,0],along:[0,1,0],visible:`lit_vis`}};for(let[t,n,i]of hC(e.scene,r))i&&n.glow||!i&&n.renderer===`light`?a[t]={visible:`ember_vis`,level:`ember`}:!i&&n.renderer===`effect`&&(a[t]={visible:`ember_vis`});for(let[t,n,r]of hC(e.scene,i))(r&&n.glow||!r&&n.renderer===`light`)&&(a[t]={visible:`flame_vis`});n.exhale!==void 0&&((typeof n.exhale!=`string`||!(e.scene?.others?.[n.exhale]||e.scene?.objects?.[n.exhale]||Io(e.scene)[n.exhale]))&&$x(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]={...sC});let o=e=>t.squat?vC:e;return{objects:a,allow:[[`thigh_r`,r,o(_C.cig)],[`thigh_l`,i,o(_C.lighter)],[`hips`,r,o(_C.cig)],[`hips`,i,o(_C.lighter)],...t.squat?[[`shin`,r,vC],[`shin`,i,vC],[`hand_l`,`thigh_l`,yC],[`hand_r`,`thigh_r`,yC],[`hand`,`hips`,yC]]:[]].map(([e,t,n])=>({part:e,object:t,depth:n}))}}function xC(e){let{sk:t,state:n}=e,r=t.index,i=t.restWorldPos;if(!(n.root[1]<lC*i[r.Hips][1]))return null;let{s:a}=Vf(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),uC)),d=G(H(u,s)),f=c(d>dC*l?V(s,U(H(u,s),dC*l/d)):u),p=V(c(Tr(a,r.Head,t.landmarks.mouth)),[0,0,fC]),m=Oi(t),h=(e,r)=>{let i=V(n.root,J(X(o),[r*pC[0],pC[1],pC[2]]));return c(m?Ei(m.body,t,a,i,Di,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 SC={TW_M:40,FX_M:0,TW_H:0,FX_H:10,TW_L:-80,FX_L:-50},CC=15,wC=20,TC=[[`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})),EC=[.4,-1,.6],DC=[-.4,-1,-.3],OC=[.9,-.6,.3],kC=[`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`],AC=264,jC=.75,MC=Math.ceil(AC*jC),NC=e=>(e/24).toFixed(1),PC={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 FC(e){let t=e.args.until??(e.auto?e.f0+AC:e.frames-1),n=t-e.f0;n<MC&&$x(e.tag,`needs frames f${e.f0}..f${e.f0+MC} at least: 199 frames, ${NC(199)} s at 24 fps, paced ${jC} (265 frames, ${NC(265)} s, at its own pace); it has f${e.f0}..f${t}, `+(e.args.until===void 0?`so set frames >= ${e.f0+MC+1} or frames: "auto"`:`so set args.until >= ${e.f0+MC}`)),Array.isArray(e.state.root)||$x(e.tag,`needs a pose keyed before f0 (root): standing or squatting`);let r=Object.fromEntries(Object.entries(PC).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(dr(a),EC):EC,c=a?J(dr(a),DC):DC,l=xC(e),u=e.self?l?wC:CC:SC.FX_M;l&&(e.state.w_mouthOut_r=0);let d=n<AC?n/AC:1,f=e=>Math.round(e*d),p=Qx(e.state,e.f0),m=d===1?p:{...p,at:(e,t)=>p.at(f(e),t),hold:(e,...t)=>p.hold(f(e),...t),step:(e,t,n)=>p.step(f(e),t,n)},h=e.state.root.slice(),g=e.state.yaw??0,_=(e,t)=>{m.hold(e,`w_mouth_r`,`w_hold_r`,`wtwist_r`,`wflex_r`,`elbow_r`,`head_pitch`,`root`,...l?[`w_mouthOut_r`]:[]),l&&m.at(Math.round((e+t)/2),{w_hold_r:0,w_mouthOut_r:1,w_mouth_r:0}),m.at(t,{w_mouth_r:1,w_hold_r:0,...l?{w_mouthOut_r:0}:{},wtwist_r:SC.TW_M,wflex_r:u,elbow_r:s,head_pitch:o(6),root:h})},v=(e,t)=>{m.hold(e,`w_mouth_r`,`w_hold_r`,`wtwist_r`,`wflex_r`,`elbow_r`,`head_pitch`,...l?[`w_mouthOut_r`]:[]),l&&m.at(Math.round((e+t)/2),{w_mouth_r:0,w_mouthOut_r:1,w_hold_r:0}),m.at(t,{w_mouth_r:0,w_hold_r:1,...l?{w_mouthOut_r:0}:{},wtwist_r:SC.TW_H,wflex_r:SC.FX_H,elbow_r:c,head_pitch:o(0)})};m.hold(0,...kC),m.at(2,{w_rpocket_r:1,elbow_r:[-.5,-.4,-1]}),m.hold(6,`armw_r`,`w_rpocket_r`,`elbow_r`,`fingers_r`),m.at(20,{armw_r:1}),m.at(28,{fingers_r:{cigarette:1}}),m.step(28,`cig_vis`,1),m.hold(36,`w_rpocket_r`,`w_mouth_r`,`wtwist_r`,`wflex_r`,`elbow_r`,`head_pitch`),m.at(58,{w_rpocket_r:0,w_mouth_r:1,wtwist_r:SC.TW_M,wflex_r:u,elbow_r:s,head_pitch:o(6)}),m.at(2,{w_lpocket_l:1,elbow_l:[.5,-.4,-1]}),m.hold(12,`armw_l`,`w_lpocket_l`,`elbow_l`,`fingers_l`),m.at(26,{armw_l:1}),m.at(34,{fingers_l:{grip:0,fist:1}}),m.step(35,`lit_vis`,1),m.hold(44,`w_lpocket_l`,`w_flame_l`,`wtwist_l`,`wflex_l`,`elbow_l`),m.at(60,{w_lpocket_l:0,w_flame_l:1,wtwist_l:SC.TW_L,wflex_l:SC.FX_L,elbow_l:OC}),m.step(63,`flame_vis`,1),m.step(73,`ember_vis`,1),m.step(79,`flame_vis`,0),m.step(73,`ember`,1),m.at(80,{ember:2}),m.hold(90,`ember`),m.at(104,{ember:.6}),m.hold(194,`ember`),m.at(200,{ember:2}),m.hold(212,`ember`),m.at(224,{ember:.6}),m.step(116,`exhale`,1),m.step(138,`exhale`,0),m.step(238,`exhale`,1),m.step(260,`exhale`,0),m.hold(80,`w_flame_l`,`w_lpocket_l`,`wtwist_l`,`wflex_l`,`elbow_l`);let 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,...kC,...l?[`w_mouthOut_r`]:[]);let x=!!l&&e.self,S=bC(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||mC.l},rpocket:{kind:`body`,p:e.self&&l?.rpocket||mC.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*(3-2*t)},WC=(e,t,n)=>e+(t-e)*n,GC=(e,t,n)=>e.map((e,r)=>e+(t[r]-e)*n),KC=(e,t,n,r,i)=>UC((e-t)/(n-t))-UC((e-r)/(i-r)),qC={l:1,r:-1},JC=(e,t,n)=>q(X(e),q(dr(t),fr(n))),YC=(e,t,n,r,i)=>J(Y(Bf(e,t,n)?.R??X(e)),J(r,i));function XC(e,t,n,r,i,a){let o=Bf(e.h,n,r);if(!o)return{fyaw:e.h,fpitch:a};let s=e.toe[t],c=J(i,J(dr(a),s)),l=J(Y(o.R),c),u=Math.atan2(-s[1],s[2]),d=180/Math.PI,f=Math.asin(Math.max(-1,Math.min(1,-l[1]/Math.hypot(...l))))-u;return{fyaw:e.h+Math.atan2(l[0],l[2])*d,fpitch:Math.max(-60,Math.min(90,f*d))}}function ZC(e){let{sk:t,args:n,state:r}=e,i=t.index,a=t.restWorldPos;(!r.foot_l||!r.foot_r||!r.root)&&$x(e.tag,`needs a standing pose keyed before f0 (use standIdle or another skill first)`);let 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GC(i,a.p,UC((r-a.a+6)/6));if(r>a.b&&r<=a.b+10){let i=J(Y(JC(t.h,0,m(a.b))),H(a.p,E(a.b))),o=V(E(r),J(JC(t.h,0,m(r)),GC(i,d[e](n),UC((r-a.b-1)/9))));return GC(a.p,o,UC((r-a.b)/8))}}return i},k=(e,t,n)=>b[e][t].some(e=>n>=e.a&&n<=e.b),ee=Object.fromEntries([`l`,`r`].map(e=>{let n=k(`foot`,e,s)?b.foot[e].at(-1).p.slice():h(s,E(s),`foot`,e);return n[1]=t.ank,[e,n]})),te=[];for(let e=a;e<=c+1;e++){let n=e===c+1?0:m(e),r=JC(t.h,0,m(e)),i=E(e),u={root:i,yaw:t.h,pitch:0,roll:n};for(let c of[`l`,`r`]){let d;if(e<=o&&c===l){let n=UC((e-a-1)/8);d=V(GC(t.feet[c],v,n),[0,.07*Math.sin(Math.PI*n),0])}else if(e>s)d=ee[c];else{let n=UC((e-s+4)/4);d=D(GC(O(`foot`,c,e,h(e,i,`foot`,c)),ee[c],n),V(i,J(r,t.hipOff[c])),t.leg*.995)}let f=e>o&&e<=s?XC(t,c,0,m(e),r,0):{fyaw:t.h,fpitch:0};Object.assign(u,{[`foot_${c}`]:d,[`fyaw_${c}`]:f.fyaw,[`fpitch_${c}`]:f.fpitch,[`knee_${c}`]:YC(t.h,0,n,r,[qC[c]*.05,0,1]),[`hand_${c}`]:D(e>o&&e<=s?O(`hand`,c,e,h(e,i,`hand`,c)):h(e,i,`hand`,c),V(i,J(r,t.shoulder[c])),t.arm*.995),[`elbow_${c}`]:YC(t.h,0,n,r,[qC[c]*.4,0,-1]),[`armw_${c}`]:e<=o?0:e<=s?UC((e-o)/6):1-UC((e-s)/8)})}u.arm_rest=e<=o?WC(72,-56,UC((e-a)/12)):e<=s?-56:WC(-56,72,UC((e-s)/14)),te.push({f:e,set:u})}return{keys:te,end:c+1}}function ew(e){let t=e.args.kind??`back`;[`back`,`front`,`cartwheel`].includes(t)||$x(e.tag,`kind must be "back", "front" or "cartwheel", got ${JSON.stringify(t)}`);let n=ZC(e);return t===`cartwheel`?$C(e,n):QC(e,n,t)}var tw=9.81,nw=24,rw=.75,iw={back:.16,front:.11},aw=.25,ow=.12,sw=.25,cw=e=>e-ow*(1-Math.exp(-e/ow)),lw=(e,t,n)=>t+n*Math.log1p(Math.exp((e-t)/n)),uw=3/nw,dw=.03,fw=.25,pw=e=>{let t=Math.min(1,Math.max(0,e));return t*t*t*(t*(6*t-15)+10)},mw=e=>(e+540)%360-180,hw=e=>e.map(e=>Math.round(e*1e3)/1e3),gw=e=>Math.round(e*10)/10;function _w(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 vw(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`?Go(r,o,`Hips`,e.f0):null;s||$x(e.tag,`args.from "${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))&&$x(e.tag,`needs args.dir: [x, z] (the way the body is thrown) or args.from: object:<id> | person:<id> (what hits it)`);let a=Math.hypot(i[0],i[1]);return[i[0]/a,i[1]/a]}function yw(e){let{sk:t,args:n,state:r}=e,i=t.index,a=t.restWorldPos;r.root||$x(e.tag,`needs a pose keyed before f0 (standIdle, a walk, ...)`);let o=_w(e.keys,`root`,e.f0)??r.root.slice(),s={};for(let t of[`l`,`r`]){let n=_w(e.keys,`foot_${t}`,e.f0),r=_w(e.keys,`foot_${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]=vw(e,o),d=n.speed??4;Number.isFinite(d)&&d>0||$x(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=mw((m?h+180:h)-c),_=m?-90:90,v=m?iw.back:iw.front,y=o[1],b=e=>y+f*cw(e)-.5*tw*e*e,x=e=>f*(1-Math.exp(-e/ow))-tw*e,S=0,C=(f+Math.sqrt(f*f+2*tw*Math.max(0,y-v)))/tw+1;for(let e=0;e<60;e++){let e=(S+C)/2;b(e)+x(e)*uw/2>v-dw||x(e)>0?S=e:C=e}let w=S,T=Math.min(0,x(w)),E=b(w),D=w+uw,O=d/(rw*tw),k=D+O,ee=e=>e<w?b(e):e<D?E+T*(e-w)-T/(2*uw)*(e-w)**2:v-dw*(1-pw((e-D)/fw)),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)*nw),oe=[];for(let t=e.f0;t<=ae;t++){let n=(t-e.f0)/nw,r=n<D,i=Math.min(Math.max(0,n-D),O),a=r?d*cw(n):d*cw(D)+d*i-.5*rw*tw*i*i,f=ee(n),p=[o[0]+l*a,f,o[2]+u*a],h=Math.max(.35,.9*D),v=c+g*pw(n/Math.max(aw,h)),y=_*pw(n/h),b=(e=>J(X(v),J(dr(y),e))),x=pw(n/ow)*Math.exp(-n/.18)*Math.sin(2*Math.PI*n/.55),S=pw(n/.3)*Math.exp(-n/.45)*Math.sin(2*Math.PI*n/.6),C=pw((n-D)/.3),w=-(ne-te)+.06*(1-C)+(m?.03:.01)*C,T=pw(n/sw),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]=lw(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=Bf(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(dr(-le),[0,-Math.sin(y*Math.PI/180),Math.max(.05,Math.cos(y*Math.PI/180))]),de={root:hw(p),yaw:gw(v),pitch:gw(y),roll:0,foot_l:hw(k(`l`,.11,.04+.1*S*T-(m?.1:0)*C)),foot_r:hw(k(`r`,-.11,.04-.1*S*T-(m?.1:0)*C)),fyaw_l:gw(v),fyaw_r:gw(v),fpitch_l:gw(m?-50*C:-.5*le),fpitch_r:gw(m?-50*C:-.5*le),knee_l:hw([.05,ue[1],ue[2]]),knee_r:hw([-.05,ue[1],ue[2]]),spine_pitch:gw(re*22*x*Math.min(1,d/4)),spine_yaw:0,spine_roll:gw(10*S*(1-C)),head_pitch:gw(re*30*x*Math.min(1,d/4)+(m?-8:8)*C),head_roll:gw(12*C),arm_rest:gw(72-22*C),aswing_l:gw(re*45*S+8*C),aswing_r:gw(-re*35*S-8*C),abend_l:gw(25+30*S*S),abend_r:gw(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 bw=20,xw=50,Sw=10,Cw=8,ww=10,Tw=8,Ew=.25,Dw=.42,Ow=.22,kw=.09,Aw=.25,jw=e=>e.map(e=>Math.round(e*1e3)/1e3);function Mw(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 Nw(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`&&$x(a,`args.side must be "l" or "r", got ${JSON.stringify(s)}`),(!c?.prop||e.props?.[c.prop]?.hand!==s)&&$x(a,`args.object "${o}" must be carried by the ${s===`r`?`right`:`left`} hand (objects.${o}.prop on a prop with hand "${s}")`),(!Array.isArray(t.to)||t.to.length!==3)&&$x(a,`args.to must be [x, y, z] world m (where it lands)`);let l=(t.arc===`high`?xw:bw)*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[`${d}Arm`]],f[r.index.Hips]))),m=[t.to[0]-p[0],0,t.to[2]-p[2]],h=G(m);h<.5&&$x(a,`args.to is ${h.toFixed(2)} m from the shoulder; throw it at least 0.5 m`);let g=U(m,1/h),_=V(p,V(U(g,Dw),[0,Ow,0])),v=V(_,U(g,kw)),y=t.to[1]+Mw(i,o),b=G([t.to[0]-v[0],0,t.to[2]-v[2]]),x=y-v[1],S=2*Math.cos(l)**2*(b*Math.tan(l)-x);S>0||$x(a,`args.to is too high for a ${t.arc??`low`} arc from the hand; use arc "high" or a lower point`);let C=Math.sqrt(_d*b*b/S),w=V(U(g,C*Math.cos(l)),[0,C*Math.sin(l),0]),T=(w[1]+Math.sqrt(w[1]**2+2*_d*Math.max(0,v[1]-y)))/_d,E=e.f0+Sw+Cw,D=Math.min(e.frames-1,E+Math.ceil(T*u)+Tw),O=U([g[2],0,-g[0]],s===`r`?-1:1),k=`hand_${s}`,ee=`armw_${s}`,te=V(p,V(V(U(g,-.12),U(O,Aw)),[0,-.05,0])),ne=V(p,V(V(U(O,.32),U(g,.12)),[0,.08,0])),re=V(_,U(w,.45/u)),ie=V(p,V(U(g,.46),[0,-.1,0])),ae=V(p,V(V(U(g,.3),U(O,-.15)),[0,-.4,0])),oe=`fingers_${s}`,se=lo[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+Sw,set:{[ee]:1,[k]:jw(te)}},{f:e.f0+Sw+Math.round(Cw/2),set:{[ee]:1,[k]:jw(ne)}},{f:E-1,set:{[ee]:1,[k]:jw(H(_,U(w,1/u)))}},{f:E,set:{[ee]:1,[k]:jw(_)}},{f:E+1,set:{[ee]:1,[k]:jw(re)}},{f:E+3,set:{[ee]:1,[k]:jw(ie)}},{f:E+ww,set:{[ee]:1,[k]:jw(ae)}}],de=`${o}Target`;return{keys:ue,end:E+ww,anchors:{[de]:{kind:`world`,p:jw([t.to[0],y,t.to[2]])}},fills:{[o]:{release:E,fall:{at:E,v:jw(w)}}},goals:[{name:`${o} lands at the target`,near:[`object:${o}`,`anchor:${de}`],at:D,tol:Ew}],throw:{release:E,speed:Math.round(C*100)/100,v:jw(w),flight:Math.round(T*100)/100}}}var Pw=[.35,.65],Fw=.15,Iw=10,Lw=20,Rw=2,zw=6,Bw=8,Vw=1,Hw=e=>e.map(e=>Math.round(e*1e3)/1e3),Uw=(e,t,n)=>Math.min(n,Math.max(t,e));function Ww(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[`${n}Arm`]],r[e.index.Hips]))),head:V(i,J(a,H(r[e.index.Head],r[e.index.Hips]))),fwd:J(a,[0,0,1])}}function Gw(e){let{args:t,state:n,sk:r,scene:i,tag:a}=e,o=t.object,s=t.side??`r`,c=e.objects?.[o],l=e.fps??24;s!==`r`&&s!==`both`&&$x(a,`args.side must be "r" or "both", got ${JSON.stringify(s)}`);let u=Array.isArray(c?.fall)?c.fall[0]:c?.fall;Array.isArray(u?.v)||$x(a,`args.object "${o}" must fly: objects.${o}.fall { at, v: [vx, vy, vz] }`);let d=Ww(r,n,`Right`),f={spec:{objects:{[o]:{fall:c.fall}},fps:l},scene:i,timeMap:null},p=e=>zd(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,Pw[0]-n,n-Pw[1],Fw-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||$x(a,`${o} never comes within reach of the right hand (in front of the chest, ${Pw[0]}-${Pw[1]} m from the shoulder): nearest at f${h.f}, [${Hw(h.p).join(`, `)}], ${h.off.toFixed(2)} m out; move the body (standIdle at) or the throw`);let g=Math.max(m.f,e.f0+Iw+Rw),_=m.p,v=U(H(p(m.f),p(m.f-1)),l),y=G(v),b=Og({objects:e.objects},i,o),x=Uw(.08+.02*b*y,.08,.15),S=K(v),C=e=>1-(1-e)**3,w=[_,...Array.from({length:zw},(e,t)=>V(_,U(S,x*C((t+1)/zw)))),V(_,U(S,x*.4))],T=Math.max(e.f0,g-Rw-Lw),E=s===`both`||b>Vw,D=Math.max(0,...Object.values(i.objects).filter(e=>e===i.objects[o]||e.ancestors?.includes(o)).map(e=>Math.max(...e.half))),O=J(X(n.yaw??0),[1,0,0]),k={keys:[],end:g+zw+Bw,props:{},anchors:{},fits:[],channels:[],fills:{[o]:{prop:`${o}Catch`,grab:g,grasp:`spherical`}},catch:{contact:g,point:Hw(_),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_${e}`]:e===`r`?[-1,-.5,-.5]:[1,-.5,-.5]}},...AS(g-Rw-T).map(([e,t,r])=>({f:T+e,set:{[d(0)]:t,[a]:(n[a]??0)+(1-(n[a]??0))*r}})),{f:g-Rw,set:{[a]:1,[d(0)]:1,[s]:c}},{f:g,set:{[d(0)]:1,[s]:l}},...w.slice(1).flatMap((e,t)=>{let n=t+1,r=n<=zw?g+n:g+zw+Bw;return[{f:n<=zw?r-1:g+zw,set:{[d(n-1)]:1,[d(n)]:0}},{f:r,set:{[d(n-1)]:0,[d(n)]:1}}]})),k.props[r]={hand:e,origin:[`${t}HandIndex2`,`${t}HandMiddle2`],points:{fingers:[0,0,0]}},u.forEach((t,n)=>{k.anchors[t]={kind:`world`,p:Hw(V(w[n],i))},k.fits.push({side:e,anchor:t,effector:{prop:r,point:`fingers`}}),k.channels.push(d(n))})}return k}var Kw={standIdle:WS,sitInSeat:rC,exitCar:iC,walkTo:GS,reachGrip:JS,smokeCigarette:FC,flip:ew,hitReaction:yw,throwObject:Nw,catchObject:Gw},qw=Object.keys(Kw),Jw=e=>{throw Error(`MOTION_SPEC_INVALID: ${e}`)},Yw=(e,t)=>JSON.stringify(e)===JSON.stringify(t);function Xw(e,t,n,r){for(let[i,a]of Object.entries(t??{}))e[i]&&!Yw(e[i],a)&&Jw(`${r} defines ${n}.${i} differently from an earlier skill; rename one or define it yourself in spec.${n}`),e[i]=a}function Zw(e,t){for(let[n,r]of Object.entries(t??{})){if(n===`limits`&&r&&typeof r==`object`&&!Array.isArray(r)){e.limits={...e.limits,...r};continue}if(!Array.isArray(r)||e[n]!==void 0&&!Array.isArray(e[n])){e[n]=r;continue}let t=e[n]??(e[n]=[]);for(let e of r)t.some(t=>Yw(t,e))||t.push(e)}}function Qw(e,t,n){e.args!==void 0&&(!e.args||typeof e.args!=`object`||Array.isArray(e.args))&&Jw(`use[${t}].args must be an object, got ${JSON.stringify(e.args)}`);let r=Object.keys(zx[e.skill].args);if(!n)for(let n of Object.keys(e.args??{}))r.includes(n)||Jw(`use[${t}].args.${n} is not an arg of ${e.skill}${vo(n,r)} (args: ${r.join(`, `)})`)}function $w(e,{sk:t,scene:n,lenient:r=!1,auto:i=!1}){if(!e.use?.length)return{spec:e,used:[]};Array.isArray(e.use)||Jw(`spec.use must be an array of { skill, args, f0 }`);let a=(e.keys??[]).map((e,t)=>({...e,src:`keys[${t}]`})),o={anchors:{},props:{},objects:{},fits:[],checks:{},channels:[],fills:{},goals:[]},s=[],c=[];e.use.forEach((l,u)=>{let d=`use[${u}] ${l?.skill}`;Kw[l?.skill]||Jw(`use[${u}].skill "${l?.skill}" is not a skill${xo(String(l?.skill),qw)} (skills: ${qw.join(`, `)})`);for(let e of Object.keys(l))!Va.includes(e)&&!r&&Jw(`use[${u}] has unknown field "${e}"${vo(e,Va)}; an entry is { skill, args, f0 }`);Qw(l,u,r),(!Number.isInteger(l.f0)||l.f0<0||l.f0>e.frames-1)&&Jw(`use[${u}].f0 must be an integer frame within 0..${e.frames-1}, got ${JSON.stringify(l.f0)}`);let 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Inside the turn, undo_edit with the receiptId of this message's newest edit reverts it${a.length?` (now ${a.at(-1).receiptId})`:``}; an earlier message's edit is undone after this one ends.`);let s=a[o];if(o<a.length-1)throw new et(`UNDO_CONFLICT`,`Later edits of this message come after it; undo them first, newest first: ${a.slice(o+1).reverse().map(e=>e.receiptId).join(`, `)}.`);return e.session.rollback(s.point??void 0),a.pop(),e.affectedIds=s.affectedIds,e.mark&&s.mark!==e.mark?e.mark={point:e.session.savepoint(),affectedIds:new Set(e.affectedIds),since:new Set}:e.mark&&(e.mark.since=s.since),{ok:!0,status:`completed`,kind:`transaction`,action:`edit.undo`,txId:e.txId,commandId:n.commandId,receiptId:crypto.randomUUID(),host:r.host,summary:`Undid ${s.receiptId} inside this message.`,authored:!1,revision:{before:r.revision,after:i().revision},affectedIds:s.ids,delta:[],checks:{coverage:`agent-turn-savepoint`},undo:null,warnings:[],output:{undoneReceiptId:s.receiptId}}}var dD=new Set([`timeline`,`scene`]),fD=/^(?:(?:object|character|shot):[A-Za-z0-9][A-Za-z0-9._:-]*|stage|timeline|scene)$/,pD=e=>typeof e==`string`&&e.length<=140&&fD.test(e),mD=[`cast.replace`,`cast.setCustomPoses`,`cast.showExtras`,`cast.removePose`,`objects.replace`,`shot.replace`,`ai.prepareShot`],hD=[`shot.create`,`shot.createStill`,`shot.split`,`shot.duplicate`,`shot.remove`,`shot.reorder`,`shot.setRange`,`shot.setTimeline`],gD=[`object.add`,`object.createKit`,`asset.import`,`character.add`],_D=/^(character\.|characters?\b|cast\.(savePose|setLayer)$|ik\.|motion\.)/;function vD(e,t){let n=t?.objects??[],r=new Set,i=e=>{if(!(!e||r.has(`object:${e}`))){r.add(`object:${e}`);for(let t of n)t.parent===e&&i(t.id)}};for(let t of e)i(t);return[...r]}var yD=(e,t)=>e.flatMap(e=>e.op===`create`?[]:e.op===`group`?vD([e.parentId,...e.childIds],t):e.op===`ungroup`?vD(e.childIds,t):vD([e.id],t));function bD(e,t={},n={},r={}){if(r.kind===`document`||/^(scene|project)\./.test(e)||e===`load_scenes`||mD.includes(e))return[`scene`];if(r.readOnly||r.kind===`transient`||/^(view|timeline)\./.test(e)||[`motion.qa`,`motion.sample`,`motion.describe`,`motion.report`,`sculpt.compare`,`export.shotVideo`].includes(e)||gD.includes(e))return[];if(e===`objects.batch`)return[...new Set(t.ops.flatMap(e=>bD(e.name,e.args,n)))];if(e===`objects.arrange`)return[...new Set(yD(t.ops,n))];if(e===`characters.arrange`)return t.ops.flatMap(e=>e.op===`create`?[]:[`character:${e.characterId}`]);if(e.startsWith(`stage.`)||e===`shot.setLens`)return[`stage`];if(hD.includes(e))return[`timeline`];if(e.startsWith(`shot.`)){let e=t.shotId??t.id??n.selectedShotId;return e?[`shot:${e}`]:[`timeline`]}return e===`object.group`?vD([t.parent,...t.children],n):e===`object.ungroup`?vD(t.children,n):e===`object.remove`?vD(t.ids,n):e===`object.attach`||e===`motion.keyObject`?[`character:${t.characterId}`,...vD([t.objectId],n)]:e.startsWith(`object.`)?vD([t.id??t.objectId],n):_D.test(e)&&(t.characterId??t.id)?[`character:${t.characterId??t.id}`]:[`scene`]}function xD(e,t={}){return(t.objects??[]).some(t=>t.id===e)?`object:${e}`:(t.characters??[]).some(t=>t.id===e)?`character:${e}`:(t.shots??[]).some(t=>t.id===e)?`shot:${e}`:null}function SD(e,t,n){for(let r of n.values()){if(r.taskId===e)continue;let n=t.find(e=>r.keys.has(e)||dD.has(e)||[...r.keys].some(e=>dD.has(e)));if(n)return`${n} is held by task ${r.taskId}${r.title?` (${r.title})`:``}`}return null}var CD=(e,t)=>{throw new et(e,t)},wD=[`begin`,`requestScope`,`mark`,`rollback`,`finish`,`cancel`,`undo`],TD=32,ED=e=>[...e].slice(0,6).join(`, `)+(e.length>6?` and ${e.length-6} more`:``);function DD({ports:e,emit:t}){let n=new Map,r=new Map,i=new Map,a=t=>{let[n,r]=t.split(/:(.*)/s);if(r!==void 0)return e.readTarget?.(r)??`absent`;let i=e.read();return n===`scene`?`r${i.revision}`:`${n}:${i.domainRevisions?.[n===`timeline`?`shot`:n]??0}`},o=t=>({key:t,value:e.snapshotTarget?e.snapshotTarget(t):CD(`CAPABILITY_MISSING`,`This editor cannot snapshot task targets.`)});function s(n,r,o){if(n.skipped=r.filter(e=>e.value===null).map(e=>e.key),r=r.filter(e=>e.value!==null),!r.length)return null;e.restoreTargets||CD(`CAPABILITY_MISSING`,`This editor cannot restore task targets.`);let{historyEntryId:s=null}=e.restoreTargets(r)??{};s&&i.set(s,n.taskId),n.restored=[...new Set(r.map(({key:t})=>t.includes(`:`)?t.slice(t.indexOf(`:`)+1):e.read().host.sceneId))];for(let{key:e}of r)n.tokens.set(e,a(e));return t?.({type:`task.${o}`,taskId:n.taskId,keys:r.map(e=>e.key)}),s}function c(e,t){let r=t.find(e=>!pD(e));r!==void 0&&CD(`INVALID_ARGUMENT`,`"${r}" is not a scope key: object:<id>, character:<id>, shot:<id>, stage, timeline or scene.`);let i=SD(e.taskId,t,n);i&&CD(`SCOPE_BUSY`,`${i}; wait for it, or ask for what is free.`);for(let n of t)e.keys.has(n)||(e.keys.add(n),e.tokens.set(n,a(n)))}function l(t,n,r,i,{historyEntryId:a=null,affectedIds:o=[],output:s,warnings:c=[]}={}){let l=e.read();return n.skipped?.length&&(c=[...c,{code:`SCOPE_NOT_RESTORED`,message:`Left as they are (a document change has no undo): ${ED(n.skipped)}.`}]),n.skipped=null,Nn({ok:!0,status:`completed`,kind:`transaction`,commandId:r.commandId,receiptId:crypto.randomUUID(),host:i.host,action:t,txId:n.taskId,authored:!!a,revision:{before:i.revision,after:l.revision},affectedIds:a&&!o.length?n.restored:o,delta:[],checks:{coverage:`task-scope`},warnings:c,undo:a?{historyEntryId:a,entries:1,canUndoDirect:!1}:null,output:{scope:[...n.keys],...s}})}let u=(e,t)=>{(e.origin!==`agent`||e.taskId!==t)&&CD(`CAPABILITY_MISSING`,`Only the owning task can control it.`)};return{get size(){return n.size},controls:(e,t)=>Object.fromEntries(wD.map(n=>[`task.${n}`,n===`begin`||n===`requestScope`?{...e({taskId:t,scope:{type:`array`,items:{type:`string`},maxItems:64}}),properties:{taskId:t,scope:{type:`array`,items:{type:`string`},maxItems:64},reads:{type:`array`,items:{type:`string`},maxItems:64},title:{type:`string`,maxLength:120}}}:e({taskId:t})])),of(e,t){if(!e.taskId)return null;let r=n.get(e.taskId);return!r&&!t.startsWith(`task.`)&&CD(`STALE_TARGET`,`Task ${e.taskId} is not open.`),r??null},control(e,i,d,f,p){if(e===`task.undo`){let t=r.get(i.taskId)??CD(`UNDO_EXPIRED`,`Task ${i.taskId} is not a finished task this editor still holds.`),n=[...t.final].filter(([e,{token:t,value:n}])=>a(e)!==t&&JSON.stringify(o(e).value)!==n).map(([e])=>e);n.length&&CD(`UNDO_CONFLICT`,`Changed since the task finished: ${ED(n)}; undo those first or edit by hand.`);let c=s(t,[...t.pre.values()],`undone`);return r.delete(i.taskId),l(e,t,d,f,{historyEntryId:c,affectedIds:t.affectedIds})}if(u(d,i.taskId),e===`task.begin`){p&&CD(`TARGET_BUSY`,p),(n.has(i.taskId)||r.has(i.taskId))&&CD(`INVALID_ARGUMENT`,`Task ${i.taskId} already exists.`);let a={taskId:i.taskId,title:i.title??``,keys:new Set,reads:new Set(i.reads??[]),tokens:new Map,pre:new Map,edits:[],notices:[],affectedIds:[]};return c(a,i.scope),n.set(a.taskId,a),t?.({type:`task.begun`,taskId:a.taskId,scope:[...a.keys]}),l(e,a,d,f)}let m=n.get(i.taskId)??CD(`STALE_TARGET`,`Task ${i.taskId} is not open.`);if(e===`task.requestScope`)return c(m,i.scope),t?.({type:`task.scope`,taskId:m.taskId,scope:[...m.keys]}),l(e,m,d,f);if(e===`task.mark`)return m.mark={values:[...m.keys].map(o),keys:new Set(m.keys)},l(e,m,d,f);if(e===`task.rollback`){let t=m.mark??CD(`STALE_TARGET`,`The task has no mark to roll back to.`);m.mark=null;let n=[...m.keys].filter(e=>!t.keys.has(e)).map(e=>m.pre.get(e)??o(e)),r=s(m,[...t.values,...n],`rolledBack`);return m.edits=m.edits.filter(e=>e.mark!==t),l(e,m,d,f,{historyEntryId:r})}if(n.delete(m.taskId),e===`task.cancel`)return l(e,m,d,f,{historyEntryId:s(m,[...m.pre.values()],`cancelled`),affectedIds:m.affectedIds});for(m.final=new Map([...m.pre.keys()].map(e=>[e,{token:a(e),value:JSON.stringify(o(e).value)}])),r.set(m.taskId,m);r.size>TD;)r.delete(r.keys().next().value);return t?.({type:`task.finished`,taskId:m.taskId}),l(e,m,d,f,{affectedIds:m.affectedIds,output:{edits:m.edits.length}})},admit(e,r,i,s,c){if(!e&&!n.size)return null;let l=r?.id?bD(r.id,i,c,r):[];if(!e&&s.origin===`ui`){for(let e of n.values()){let n=l.filter(t=>e.keys.has(t));n.length&&t?.({type:`task.userEdit`,taskId:e.taskId,keys:n})}return null}if(!e){let e=l.find(e=>SD(null,[e],n));return e&&CD(`SCOPE_BUSY`,`${SD(null,[e],n)}; this command waits for that task.`),null}let u=l.filter(t=>!e.keys.has(t));u.length&&CD(`SCOPE_DENIED`,`Outside this task's scope: ${ED(u)}. Ask for it with task.requestScope, or leave it to the task that holds it.`);let d=l.filter(t=>e.tokens.has(t)&&a(t)!==e.tokens.get(t));if(d.length){for(let t of d)e.tokens.set(t,a(t));CD(`STALE_TARGET`,`${ED(d)} changed outside this task (the user, or an undo) since it last looked; read it again, then retry.`)}for(let t of l)e.pre.has(t)||e.pre.set(t,o(t));return{task:e,keys:l,values:l.map(o),mark:e.mark}},record(r,o){if(!r||!o?.ok)return o;let{task:s}=r,c=e.read(),l=[],u=!1;for(let e of o.affectedIds??[]){let t=xD(e,c);!t||s.keys.has(t)||(SD(s.taskId,[t],n)?l.push({code:`SCOPE_DENIED`,message:`${t} changed outside the task's scope.`}):(s.keys.add(t),u=!0,r.keys.includes(t)||(s.pre.set(t,{key:t,value:void 0}),r.values.push({key:t,value:void 0}))))}u&&t?.({type:`task.scope`,taskId:s.taskId,scope:[...s.keys]});for(let e of s.keys)s.tokens.set(e,a(e));if(o.authored){s.edits.push({receiptId:o.receiptId,values:r.values,keys:r.keys,mark:r.mark}),s.affectedIds=[...new Set([...s.affectedIds,...o.affectedIds])],o.undo?.historyEntryId&&i.set(o.undo.historyEntryId,s.taskId);for(let e of n.values())for(let n of r.keys)e!==s&&e.reads.has(n)&&(e.notices.push({code:`DEPENDENCY_CHANGED`,message:`${n}, which this task reads, was changed by task ${s.taskId}.`}),t?.({type:`task.dependencyChanged`,taskId:e.taskId,key:n,by:s.taskId}))}let d=s.notices.splice(0);return d.length||l.length?{...o,warnings:[...o.warnings,...l,...d].slice(0,12)}:o},traversal(e,t,r,a,o){let c=r.taskId?n.get(r.taskId):null;if(c&&e===`edit.undo`){let n=c.edits.findIndex(e=>e.receiptId===t.receiptId);n<0&&CD(`TARGET_BUSY`,`Inside a task, undo_edit takes the receiptId of the task's own newest edit${c.edits.length?` (now ${c.edits.at(-1).receiptId})`:``}.`),n<c.edits.length-1&&CD(`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 l(e,c,r,a,{historyEntryId:s(c,i.values,`editUndone`),output:{undoneReceiptId:i.receiptId}})}let u=n.get(i.get(o));return!c&&u&&CD(`TARGET_BUSY`,`The last edit belongs to running task ${u.taskId}${u.title?` (${u.title})`:``}; cancel or undo it from that task.`),null},dispose(){n.clear(),r.clear(),i.clear()}}}var OD=(e,t)=>JSON.stringify(e)===JSON.stringify(t),kD=(e,t)=>{throw new et(e,t)},AD=(e,t,n)=>e?.then?e.then(t,n):t(e),jD=e=>e.slice(-12).map(e=>({code:`STUDIO_TOAST`,message:[...e.message].slice(0,120).join(``)})),MD=0;function ND({registry:e,ports:t}){let n=new Map,r=new Map,i=new Map,a=new Set,o=new Map,s=new Map,l=null,u=DD({ports:t,emit:e=>f(e)});function d(n,r,i){if(i.origin===`ui`)return;if(n.exposure===`ui-only`&&kD(`CAPABILITY_MISSING`,n.uiOnlyHint??`This command is available only from the Studio UI.`),n.id===`load_scenes`){let t=e=>[...new Set(e.map(e=>e.id))].sort();if(OD(t(r.document.scenes),t(e.state().scenes)))return}else if(n.exposure!==`confirm`||n.requiresConfirmation?.(e.state(),r)===!1)return;let a=o.get(i.confirmationToken);(!a||a.id!==n.id||!OD(a.args,r)||!OD(a.host,t.read().host)||a.expires<(t.now??Date.now)())&&kD(`CONFIRMATION_REQUIRED`,n.confirmationReason??`This command needs user confirmation.`),o.delete(i.confirmationToken)}let f=e=>{for(let t of a)t(e);t.emit?.(e)},p=En.TargetGuard.properties.targetId,m=e=>({type:`object`,properties:e,required:Object.keys(e),additionalProperties:!1}),h={type:`object`,properties:{},required:[],additionalProperties:!0},g={...oD(m,p),...u.controls(m,p),"run.begin":m({id:p,args:h}),"run.update":m({txId:p,args:h}),"run.commit":m({txId:p}),"run.cancel":m({txId:p}),"job.await":{...m({jobId:p}),properties:{jobId:p,timeoutMs:{type:`integer`,minimum:1,maximum:3e5,default:3e4}}},"job.cancel":m({jobId:p}),"edit.undo":{...m({receiptId:p}),required:[]},"edit.redo":{...m({receiptId:p}),required:[]}},_=e=>(t.clearTimeout??clearTimeout)(e);function v(e,n=!1,i=new et(`CANCELLED`,`Transaction was cancelled.`)){r.delete(e.txId),_(e.timer),e.workTimer!==void 0&&_(e.workTimer),e.controller.abort(i),e.session.cancel({restore:OD(e.before.host,t.read().host)}),f({type:`transaction.cancelled`,txId:e.txId,expired:n})}function y(e){e.timer!==void 0&&_(e.timer),e.timer=(t.setTimeout??setTimeout)(()=>v(e,!0),t.transactionIdleMs??3e4)}function b(n,a,o,c){if(n.startsWith(`task.`))return u.control(n,a,o,c,l?`Finish the agent turn first.`:r.size?`Finish the open command transaction first.`:null);if(n.startsWith(`agent.turn.`)){if((o.origin!==`agent`||o.turnId!==a.turnId)&&kD(`CAPABILITY_MISSING`,`Only the owning agent turn can control this transaction.`),n===`agent.turn.begin`)return(l||r.size||u.size)&&kD(`TARGET_BUSY`,`Finish the open transaction first.`),l={txId:a.turnId,before:c,affectedIds:new Set,toasts:[],session:null},x(n,l,o,c);l?.txId!==a.turnId&&kD(`STALE_TARGET`,`The agent turn is no longer open.`);let e=l;if(n===`agent.turn.mark`||n===`agent.turn.rollback`)return x(n,sD(n,e),o,c);if(n===`agent.turn.cancel`)return l=null,e.session?.cancel(),x(n,e,o,c);try{e.historyEntryId=e.session?.commit().historyEntryId}catch(t){throw e.session?.cancel(),t}finally{l=null}return x(n,e,o,e.before)}let f=n===`edit.undo`||n===`edit.redo`,p=f&&u.traversal(n,a,o,c,n===`edit.undo`?t.history?.(!1):null);if(p)return p;if(l&&!n.startsWith(`job.`)&&!(f&&!l.session)){if(n===`edit.undo`&&o.turnId===l.txId)return Nn(uD(l,a,o,c,()=>t.read()));kD(`TARGET_BUSY`,`Finish the agent turn before traversing history or opening another transaction.`)}if(f){let e=n===`edit.redo`,r=t.history?.(e),i=a.receiptId?t.receipt(a.receiptId):s.get(r)??(r?{receiptId:r,host:c.host,affectedIds:[c.host.sceneId],undo:{historyEntryId:r,entries:1,canUndoDirect:!0}}:null);if(!a.receiptId&&!i)return Nn({ok:!0,status:`noop`,action:n,commandId:o.commandId,receiptId:crypto.randomUUID(),host:c.host,authored:!1,mutated:!1,revision:{before:c.revision,after:c.revision},affectedIds:[],delta:[],checks:{coverage:`native-history-restoration`},undo:null,warnings:[]});(!i?.undo||!t.isRetained(i))&&kD(`UNDO_EXPIRED`,`The receipt no longer has a retained history entry.`),OD(i.host,c.host)||kD(`STALE_SCENE`,`The receipt belongs to another document.`),(e?r!==i.undo.historyEntryId:!t.canUndo(i))&&kD(`UNDO_CONFLICT`,`Another edit owns the history boundary.`),(e?t.redo:t.undo)();let l=t.read(),u=i.affectedIds,d=u.map(e=>({...c.host,targetId:e,token:t.readTarget?.(e)??`removed-${crypto.randomUUID()}`}));return Nn({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||!OD(e.host,c.host))&&kD(`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=>Nn({...t,commandId:o.commandId,...t.ok?{receiptId:crypto.randomUUID()}:{},jobId:e.id})).finally(()=>{r!==void 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