cozyclay 3.1.1 → 3.1.2

package/dist/assets/compile-worker-D0pKioa0.js

@@ -1,5 +0,0 @@
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u=n(t(i.P[s],i.P[c]),1/a(t(i.P[s],i.P[c]))),d=f(i.R[c],f(m(r.restWorldRot[c]),r.restWorldRot[s])),{axF:h,axD:g,..._}=nt(d,l,u,p(f(d,m(i.R[s])),z(r,i,o).l)),v=Object.fromEntries(Object.entries(_).map(([e,t])=>[e,ot(t,Ye[e])])),b=f(f(y(e(n(h,v.flex),n(g,v.dev)),Math.hypot(v.flex,v.dev)),y(u,v.twist)),d);return O(r,i,c,i.P[c].slice(),y(u,.5*v.twist)),O(r,i,s,i.P[s].slice(),f(b,m(i.R[s]))),_}function ct(r,i,o){let s=r.index,c=s[`${o}Arm`],l=t(i.P[s[`${o}ForeArm`]],n(e(i.P[c],i.P[s[`${o}Hand`]]),.5));return a(l)>.005?l:j(r,i,c,Ze)}function lt(r,i,a,o,s,c,l){let u=r.index[`${a}Hand`],d=f(m(i.R[u]),s.R),h=p(m(i.R[u]),t(s.pos,i.P[u])),g=C(Ce(S(i.R[u]),S(f(o.R,m(d))),c)),_=i.P[u].slice(),v=e=>t(o.pos,p(e,h));return{goal:g,plane:ct(r,i,a),wristAt:l===`wrist`?()=>_:l===`palm`?v:r=>e(_,n(t(v(r),_),c))}}function ut(e,t,n,r,i,a,o){let 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ft(e,n,r,i,o,{shoulder:s=!1}={}){let{goal:c,plane:l,wristAt:u}=lt(e,n,r,i,o,1),d=u(c),f=at(e,n,r,c,d,l,Ze,{margin:.15}),p=e.index,m=n.P[p[`${r}Arm`]],h=a(t(n.P[p[`${r}ForeArm`]],m)),g=a(t(n.P[p[`${r}Hand`]],n.P[p[`${r}ForeArm`]])),_=Math.max(0,N(h,g,145)-a(t(d,m))),v=s?at(e,n,r,c,d,l,Ze,{comfort:!0}):f;return(s?et(v.need)+tt(m,v.elbow)+pt(e,n,r,m,v.elbow,d):f.cost)+1*((f.miss*100)**2+(_*100)**2)}function pt(e,t,n,r,i,a){let o=Me(e),s=e.index;return o?4*(Math.max(qe(o,e,t,s[`${n}Arm`],r,i),qe(o,e,t,s[`${n}ForeArm`],i,a))*100)**2:0}function mt(e,i,a,o,c){let l=s(t(e.P[o],e.P[i])),u=e=>t(e,n(l,r(e,l)));return w(u(t(e.P[a],e.P[i])),u(c))}let ht=[[`torso_lo`,`Spine`,`Spine2`,.12],[`torso_hi`,`Spine2`,`Neck`,.105],[`hips`,`LeftUpLeg`,`RightUpLeg`,.095],[`neck`,`Neck`,`Head`,.055],...[`Left`,`Right`].flatMap(e=>{let t=e===`Left`?`l`:`r`;return[[`thigh_${t}`,`${e}UpLeg`,`${e}Leg`,.07],[`shin_${t}`,`${e}Leg`,`${e}Foot`,.05],[`uarm_${t}`,`${e}Arm`,`${e}ForeArm`,.042],[`farm_${t}`,`${e}ForeArm`,`${e}Hand`,.033],[`hand_${t}`,`${e}Hand`,`${e}HandMiddle3`,.022]]})],gt=(r,i,a=9)=>Array.from({length:a},(o,s)=>e(r,n(t(i,r),s/(a-1))));function B(e,n){let r=p(m(n.R),t(e,n.pos)),i=[0,n.half[1],0],o=[Math.abs(r[0]-i[0])-n.half[0],Math.abs(r[1]-i[1])-n.half[1],Math.abs(r[2]-i[2])-n.half[2]];return a([Math.max(o[0],0),Math.max(o[1],0),Math.max(o[2],0)])+Math.min(Math.max(o[0],o[1],o[2]),0)}function _t(i,o,s,l){let u=1/0,d=t(l,s),f=r(d,d);for(let l of gt(i,o)){let i=f<1e-12?0:c(r(t(l,s),d)/f,0,1);u=Math.min(u,a(t(l,e(s,n(d,i)))))}return u}function vt(e,n,r){let i=A(n,e.index.Head,e.landmarks.headCentre),o=n.R[e.index.Head],s=p(m(o),t(r,i)),c=e.landmarks.headRadii;return(1-a([s[0]/c[0],s[1]/c[1],s[2]/c[2]]))*Math.min(...c)}let yt=e=>Math.round(e.restWorldPos[e.index.LeftFoot][1]*1e3)/1e3,bt=(e,t,n,r)=>r?A(t,n,p(m(e.restWorldRot[n]),[0,-r,0])):t.P[n];function xt(e,n,r){let i=e.index,a=e.restWorldPos,o=e.landmarks.sole??{},s=i[`${r}Foot`],c=i[`${r}ToeBase`],l=i[`${r}Toe_End`]??c,u=[a[s][0],.005,a[s][2]-.045],d=p(m(e.restWorldRot[s]),t(u,a[s]));return{heel:A(n,s,d),ball:bt(e,n,c,o.ball),tip:bt(e,n,l,o.tip)}}function St(e,r){let i=p(m(r.R),t(e,r.pos));i[1]-=r.half[1];let o=i.map((e,t)=>Math.abs(e)-r.half[t]),s;if(Math.max(...o)<0){let e=o.indexOf(Math.max(...o));s=[0,0,0],s[e]=Math.sign(i[e])||1}else s=i.map((e,t)=>o[t]>0?Math.sign(e)*o[t]:0);let c=a(s);return p(r.R,c>1e-12?n(s,1/c):[0,1,0])}function Ct(e){let t=e?.half;if(!t)return{kind:`box`};if(e.renderer===`sphere`){let e=(t[0]+t[1]+t[2])/3;return Math.max(...t)-Math.min(...t)<=.05*e?{kind:`sphere`,r:e}:{kind:`box`}}return e.renderer===`cylinder`?{kind:`cylinder`,r:Math.min(t[0],t[2]),h:2*t[1]}:{kind:`box`}}let wt=(e,n)=>{let r=p(m(e.R),t(n,e.pos));return 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n=e.objects[t];return n?{pos:n.pos,R:n.R}:Object.values(e.objects).find(e=>e.ancestors?.[0]===t)?.ancestorPoses?.[0]??{pos:[0,0,0],R:[[1,0,0],[0,1,0],[0,0,1]]}}function Ft(e,t){let n=Math.min(1,Math.max(0,(t-e)/4));return n*n*(3-2*n)}let 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Set([`root`,...Qt([`foot`,`knee`,`hand`,`elbow`])]),en=new Set(Qt([`knee`,`elbow`])),tn=new Set([`yaw`,`pitch`,`roll`,`spine_yaw`,`spine_pitch`,`spine_roll`,`head_yaw`,`head_pitch`,`head_roll`,`arm_rest`,`arm_hang`,...Qt([`fyaw`,`fpitch`,`armw`,`wtwist`,`wflex`,`aswing`,`abend`])]),nn=new Set(Qt([`fingers`])),rn=[`relaxed`,`fist`,`grip`,`cigarette`,`point`,`spherical`],an=[`power`,`pinch`,`hook`,`palm`,`spherical`],on={power:`grip`,pinch:`cigarette`,hook:`grip`,palm:`relaxed`,spherical:`spherical`},sn={power:[0,0,.02],hook:[0,0,.02],pinch:[.025,0,.01],palm:[-.045,0,.015],spherical:[-.015,0,.035]},cn=[[/^(armw)_[lr]$/,0,1,`0 FK, 1 IK to the hand target`],[/^arm_hang$/,0,1,`1 = a free FK forearm hangs plumb`],[/^w_.+_[lr]$/,0,1,`hand-target weight; a hand's sum <= 1`],[/^wtwist_[lr]$/,-85,85,`twist about the forearm, deg`],[/^wflex_[lr]$/,-70,70,`flex about the knuckle line, deg`],[/^fpitch_[lr]$/,-60,90,`toe-down pitch, deg: + lifts the heel (toes flat), - lifts the toes`],[/^(spine_pitch|head_pitch)$/,-120,120,`degrees, + bends forward`],[/^(spine_roll|head_roll)$/,-90,90,`degrees`]],ln=e=>cn.find(([t])=>t.test(e))??null,un={yaw:`yaw 0 faces +Z and + turns toward +X`,fyaw:`foot heading, as yaw`,pole:`body-frame direction (root yaw): +z forward, +x its left, +y up`,foot:`ANKLE target, world m (standing 0.087 X Bot, 0.105 Y Bot)`,hand:`WRIST target, world m`,root:`hips joint, world m (standing 1.03 X Bot, 0.99 Y Bot)`};un.root,`${un.yaw}`,un.foot,un.fyaw,`${un.pole}`,un.hand,`${un.pole}`;let dn=[[[`frames`,`when`,`range`,`f`,`from`,`within`,`during`,`at`],[`when`,`frames`,`at`,`f`]],[[`max`,`maxDist`,`distance`,`tolerance`,`limit`],[`tol`,`min`]]];function fn(e,t){for(let[n,r]of dn){let i=n.includes(e)&&r.find(n=>t.includes(n)&&n!==e);if(i)return`; did you mean "${i}"?`}return H(e,t,Math.max(2,Math.floor(e.length/3)))}let pn=e=>Array.isArray(e)&&e.length===3&&e.every(Number.isFinite),V=e=>JSON.stringify(e)?.slice(0,60);function mn(e,t){let n=Array.from({length:e.length+1},(e,n)=>[n,...Array(t.length).fill(0)]);for(let e=1;e<=t.length;e++)n[0][e]=e;for(let r=1;r<=e.length;r++)for(let i=1;i<=t.length;i++)n[r][i]=Math.min(n[r-1][i]+1,n[r][i-1]+1,n[r-1][i-1]+(e[r-1]===t[i-1]?0:1));return n[e.length][t.length]}function H(e,t,n=Math.max(3,Math.floor(e.length/3))){let r=null,i=1/0;for(let n of t){let t=mn(e,n);t<i&&(r=n,i=t)}return r&&i<=n?`; did you mean "${r}"?`:``}let hn={pelvis:`Hips`,hip:`Hips`,hips:`Hips`,root:`Hips`,chest:`Spine2`,upperchest:`Spine2`,torso:`Spine1`,belly:`Spine`,abdomen:`Spine`,neck:`Neck`,head:`Head`},gn={hand:`Hand`,wrist:`Hand`,foot:`Foot`,ankle:`Foot`,toe:`ToeBase`,toes:`ToeBase`,ball:`ToeBase`,arm:`Arm`,upperarm:`Arm`,forearm:`ForeArm`,lowerarm:`ForeArm`,elbow:`ForeArm`,shoulder:`Shoulder`,clavicle:`Shoulder`,thigh:`UpLeg`,upleg:`UpLeg`,upperleg:`UpLeg`,leg:`Leg`,lowerleg:`Leg`,shin:`Leg`,calf:`Leg`,knee:`Leg`},_n={l:`Left`,left:`Left`,r:`Right`,right:`Right`},vn=e=>e.toLowerCase().replace(/[\s_.-]+/g,``);function yn(e,t){let n=t.toLowerCase();return e.names.find(e=>e.toLowerCase()===n)??null}function bn(e,t){let n=vn(t);if(hn[n])return yn(e,hn[n]);let r=t.toLowerCase().trim(),i=/^(l|r|left|right)[\s_.-]+(.+)$/.exec(r)??/^(left|right)(.+)$/.exec(r),a=/^(.+?)[\s_.-]+(l|r|left|right)$/.exec(r)??/^(.+?)(left|right)$/.exec(r),[o,s]=i?[i[1],i[2]]:a?[a[2],a[1]]:[];return o?yn(e,`${_n[o]}${gn[vn(s)]??vn(s)}`):null}function 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t=Kn(l,o.axis),a=p(_(u),[d?1:-1,0,0]),c=Math.abs(t[1]),m=o.thumb??Fn(e(n([0,1,0],1-c),n(a,c)),t),h=s(Fn(o.axis,t)),g=r(h,m)>=0?h:n(h,-1);return qn(t,g,i(t,g))}let m=f(o.from??n(l,-1)),h=Kn(l,m);return qn(h,i(m,h),m)}function Kn(e,t){let n=Fn(e,t);return s(a(n)>.001?n:Fn(Math.abs(t[1])<.9?[0,1,0]:[1,0,0],t))}let qn=(e,t,n)=>[[e[0],t[0],n[0]],[e[1],t[1],n[1]],[e[2],t[2],n[2]]];function Jn(e,n){let r=W[n],i=e.restWorldPos,o=e.index;return a(t(i[o[`${r}ForeArm`]],i[o[`${r}Arm`]]))+a(t(i[o[`${r}Hand`]],i[o[`${r}ForeArm`]]))}let Yn=new Set([`body`]);function Xn(e,t,n,r,i,a){let o=e.spec.anchors?.[t];if(!o)throw Error(`MOTION_SPEC_INVALID: unknown anchor "${t}"`);let s=tr(e,o,t,n,r,i,a),c=Yn.has(o.kind)&&e.keepOut;return c?We(c.body,e.sk,n,We(c.body,e.sk,n,s,Ge,c.skip),Ge,c.skip):s}let Zn=[`r`,`l`],Qn={l:`left`,r:`right`};function $n(e,t,n,{s:r,diag:i,c:a},o){let s=i.frame,c=()=>e.restingAt?.(t.object,s)??e.objectsAt(s)[t.object]??En(e.scene)[t.object],l=e.objectPose&&s!==void 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u=s.P[f[`${W[i.reach]}Arm`]],p=.95*Jn(d,i.reach);for(let e=i.t??.45;e>=(i.tMin??.15);e-=.01)if(a(t(l(e),u))<=p)return l(e);return l(i.tMin??.15)}case`object`:{if(i.grasp&&i.local===void 0)return rr(r,o,s,c,l,u).p;let t=$n(r,i,o,{s,diag:c,c:l},u);return e(t.pos,p(t.R,i.local??[0,0,0]))}case`landmark`:return A(s,f.Head,d.landmarks[i.name]??(()=>{throw Error(`MOTION_SPEC_INVALID: unknown landmark "${i.name}"`)})());case`prop`:{let t=nr(r,i,o,c?.frame)??c.props?.[i.prop]?.[i.point];if(!t)throw Error(`MOTION_SPEC_INVALID: anchor "${o}" needs prop ${i.prop}.${i.point}, which is held by an arm solved later`);return e(t,i.offset??[0,0,0])}case`person`:{let t=An(r.scene,i.person,i.bone,c?.frame??0);if(!t)throw Error(`MOTION_SPEC_INVALID: anchor "${o}" names person "${i.person}" bone "${i.bone}", which the scene does not have (people: ${jn(r.scene)})`);return e(t,i.offset??[0,0,0])}default:throw Error(`MOTION_SPEC_INVALID: anchor "${o}" has unknown kind "${i.kind}"`)}}function nr(n,r,i,a){let o=n.spec.props?.[r.prop]?.hand;if(!o||a===void 0||!n.solvedAt||!n.carrySpan)return null;let s=null;for(let[e,t]of Object.entries(n.spec.objects??{})){if(!K(t)||n.spec.props?.[t.prop]?.hand!==o)continue;let[r,i]=n.carrySpan(t);if(a>=r&&a<=i)return null;let c=a<r?r:i;(!s||Math.abs(a-c)<Math.abs(a-s.at))&&(s={id:e,at:c})}if(!s)return null;let c=er(n,i,s.id,s.at,()=>n.solvedAt(s.at).diag.props?.[r.prop]?.[r.point]),l=n.objectPose(s.id,s.at),u=n.objectPose(s.id,a);return c&&l&&u?e(u.pos,p(u.R,p(m(l.R),t(c,l.pos)))):null}function rr(i,o,c,l,u,d){let f=i.spec.anchors[o],m={s:c,diag:l,c:u},h=e=>$n(i,{...f,object:e},o,m,d),g=f.local&&(t=>e(t.pos,p(t.R,f.local)))(h(f.object));if(i.sockets??=new Map,!i.sockets.has(o)){let e=zn(i.scene,f.object),t=i.sk.index,n=g??c.P[t[d?`${W[d]}Arm`:`Hips`]],r=f.socket?Bn(i.scene,f.object,f.socket):e.map(e=>({k:e,d:Wn(Vn(e,h(e.owner)),n)})).sort((e,t)=>e.d-t.d)[0]?.k;i.sockets.set(o,r??null)}let _=i.sockets.get(o),v=_?Vn(_,h(_.owner)):{p:g??h(f.object).pos};if(_?.rim)v=ir(i,o,d,_,h(_.owner),v,g??c.P[i.sk.index[d?`${W[d]}Arm`:`Hips`]]);else if(g)v.p=g;else if(v.axis&&v.radius>0){let o=Math.abs(sn[f.grasp]?.[2]??0),l=v.radius-o,u=c.P[i.sk.index[`${W[d]??`Right`}Arm`]],p=t(u,v.p),m=t(p,n(v.axis,r(p,v.axis)));l>1e-4&&a(m)>1e-6&&(v.p=e(v.p,n(s(m),l)))}return!v.axis&&!v.from&&(v.from=Un(U(i.scene,f.object).map(e=>({...h(e),half:i.scene.objects[e].half})),v.p)),v}function ir(e,n,r,i,a,o,s){e.rims??=new Map;let c=(r?null:[...e.rims.keys()].find(e=>e.startsWith(`${n}|`)&&!e.endsWith(`|`)))??`${n}|${r??``}`;if(!e.rims.has(c)){let n=Hn(o,s),r=e=>p(m(a.R),e);e.rims.set(c,{at:r(t(n.p,a.pos)),axis:r(n.axis)})}return Vn(e.rims.get(c),a)}function ar(t,r,i,a){let{sk:o}=t;for(let[s,c]of Object.entries(t.spec.props??{})){if(c.hand!==r)continue;let t=z(o,i,W[r]),l=n(c.origin.map(e=>i.P[o.index[e]]).reduce((t,n)=>e(t,n),[0,0,0]),1/c.origin.length),u={};for(let[r,[i,a,o]]of Object.entries(c.points??{}))u[r]=e(l,e(n(t.d,i),e(n(t.l,a),n(t.n,o))));u.origin=l,u.axes=t,(a.props??={})[s]=u}}let or={joint:`joint:<Bone>`,bone:`bone:<Bone>`,prop:`prop:<prop>.<point>`,anchor:`anchor:<name>`,landmark:`landmark:mouth`,object:`object:<id>[.center|.top|.base]`,person:`person:<id>.<Bone>`};function sr(e){let t=/^([a-z]+):(.+)$/s.exec(String(e));if(!t)return null;let[,n,r]=t;if(n===`prop`){let[e,t]=r.split(`.`);return{kind:n,name:e,point:t??``}}if(n===`object`){let e=/^(.+)\.(center|top|base)$/s.exec(r);return{kind:n,name:e?e[1]:r,point:e?e[2]:null}}if(n===`person`){let e=r.lastIndexOf(`.`);return{kind:n,name:e>0?r.slice(0,e):r,point:e>0?r.slice(e+1):``}}return{kind:n,name:r,point:null}}function cr(t,n){let r=[1/0,1/0,1/0],i=[-1/0,-1/0,-1/0];for(let n of t)for(let t of[-1,1])for(let a of[0,2])for(let o of[-1,1]){let s=e(n.pos,p(n.R,[t*n.half[0],a*n.half[1],o*n.half[2]]));for(let e=0;e<3;e++)r[e]=Math.min(r[e],s[e]),i[e]=Math.max(i[e],s[e])}let 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n=!!(e.props?.[s.name]&&(s.point===`origin`||e.props[s.name].points?.[s.point]));return n||t(`${c}: spec.props has no point ${s.name}.${s.point}`),n}if(s.kind===`anchor`)return e.anchors?.[s.name]||t(`${c}: no anchor "${s.name}" in spec.anchors${H(s.name,Object.keys(e.anchors??{}))}`),!!e.anchors?.[s.name];if(s.kind===`landmark`)return s.name!==`mouth`&&t(`${c}: the only landmark is "mouth"`),s.name===`mouth`;if(s.kind===`person`){let e=!!An(r,s.name,s.point,0);return e||t(`${c}: no person "${s.name}" with joint "${s.point}" (people with an installed take: ${jn(r)})`),e}return Cn(t,r,c,s.name,{groups:!0})}let pr=[0,1,0];function mr(e,n,r=`up`,i){if(Array.isArray(r))return s(r);if(r===`face`){let{sk:t}=e.ctx;return s(j(t,e.frames[n-(e.f0??0)].s,t.index.Head,[0,0,1]))}let o=r===`up`?null:lr(e,n,r),c=o?t(o,i):pr;return a(c)>1e-9?s(c):pr}function hr(t,n,r){let i=t.f0??0,a=Math.max(i,Math.min(i+t.frames.length-1,r)),o=lr(t,a,n.follow);if(!o)return null;let 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k=z(r,i,a),A=s(bs(k.l,k.d)),j=s(t(i.P[E],i.P[T])),M=f(i.R[T],f(m(r.restWorldRot[T]),r.restWorldRot[E])),N=nt(M,i.R[E],j,p(f(M,m(i.R[E])),k.l)).twist,{goal:P,plane:ee,wristAt:F}=lt(r,i,a,{pos:x,R:ks(Os(a,k.d,A,c.yaw,O),A,N)},S(i),d.w,`palm`),I={twist:0,flex:0,dev:0};for(let e=0;e<2;e++)re(r,i,w,T,E,F(e?i.R[E]:P),ee,Ze,`elbow`),I=st(r,i,a,E,T,P);u[`grip_${o}`]={w:d.w,...I}}let js={period:3.8,deg:.8},Ms={yaw:.9,pitch:.6},Ns={period:5.6,m:.012,list:1.4},Ps=.5,Fs=2*Math.PI,Is=e=>e*e*(3-2*e),Ls=(e,t)=>Array.isArray(e)?e.some((e,n)=>Math.abs(e-t[n])>1e-4):e&&typeof e==`object`?Object.keys({...e,...t}).some(n=>Math.abs((e[n]??0)-(t?.[n]??0))>.001):Math.abs((e??0)-(t??0))>.01;function Rs(e,t){let n=2166136261;for(let t=0;t<e.length;t++)n=Math.imul(n^e.charCodeAt(t),16777619);let r=n>>>0;return Array.from({length:t},()=>{r=r+1831565813>>>0;let e=Math.imul(r^r>>>15,r|1);return e^=e+Math.imul(e^e>>>7,e|61),((e^e>>>14)>>>0)/4294967296*Fs})}function zs(e,t,n,r){let i=Array(n).fill(!1),a=Object.keys(e);i[0]=!0;for(let t=1;t<n;t++)a.some(n=>Ls(e[n][t],e[n][t-1]))&&(i[t]=i[t-1]=!0);let o=a.filter(e=>/^(armw_[lr]|w_.+_[lr])$/.test(e));for(let t=0;t<n;t++)o.some(n=>e[n][t]>.001)&&(i[t]=!0);for(let e of Object.values(t.objects??{}))if(Number.isFinite(e?.grab))for(let t=Math.max(0,e.grab);t<Math.min(n,Number.isFinite(e.release)?e.release:n);t++)i[t]=!0;for(let e of t.goals??[]){let t=Array.isArray(e?.at)?e.at:null;if(!(e?.still===void 0||!t?.length))for(let e=Math.max(0,Math.round(t[0]));e<=Math.min(n-1,Math.round(t[t.length-1]));e++)i[e]=!0}let s=Math.max(1,Math.round(Ps*r)),c=Array(n).fill(1/0);for(let e=0,t=-1/0;e<n;e++)i[e]&&(t=e),c[e]=e-t;for(let e=n-1,t=1/0;e>=0;e--)i[e]&&(t=e),c[e]=Math.min(c[e],t-e);return c.map(e=>Is(Math.min(1,e/s)))}function Bs(e,t,n,r){let i={},a=Math.max(1,Math.round(Ps*r));for(let r of[`l`,`r`]){let o=Object.keys(e).filter(e=>e===`armw_${r}`||RegExp(`^w_.+_${r}$`).test(e)),s=Array.from({length:n},(t,n)=>o.some(t=>e[t][n]>.001));for(let e of Object.values(t.objects??{}))if(!(!Number.isFinite(e?.grab)||t.props?.[e.prop]?.hand!==r))for(let t=Math.max(0,e.grab);t<Math.min(n,Number.isFinite(e.release)?e.release:n);t++)s[t]=!0;if(!s.some(Boolean)){i[r]=null;continue}let c=Array(n).fill(1/0);for(let e=0,t=-1/0;e<n;e++)s[e]&&(t=e),c[e]=e-t;for(let e=n-1,t=1/0;e>=0;e--)s[e]&&(t=e),c[e]=Math.min(c[e],t-e);i[r]=c.map(e=>1-Is(Math.min(1,e/a)))}return i}function Vs(e,{spec:t,sk:n,frameCount:r}){if(t.idle===!1||!e.root||!e.foot_l||!e.foot_r)return null;let i=t.fps??30,a=zs(e,t,r,i);if(!a.some(e=>e>0))return null;let o=n.restWorldPos,s=o[n.index.Hips][1],c=o[n.index.LeftFoot][1],[l,u,d,f,p]=Rs(JSON.stringify([e.root[0].map(e=>e.toFixed(3)),(e.yaw?.[0]??0).toFixed(1)]),5),m=Array(r).fill(null);for(let t=0;t<r;t++){if(!(a[t]>0))continue;let n=t/i,r=a[t],o=m[t]={spine_pitch:-r*js.deg*Math.sin(Fs*n/js.period+l),head_yaw:r*Ms.yaw*(.6*Math.sin(Fs*n/7.3+u)+.4*Math.sin(Fs*n/11.9+p)),head_pitch:r*Ms.pitch*Math.sin(Fs*n/9.1+d)};if(![`l`,`r`].every(n=>e[`foot_${n}`][t][1]<c+.03&&Math.abs(e[`fpitch_${n}`]?.[t]??0)<2)||e.root[t][1]<s-.15)continue;let h=r*Math.sin(Fs*n/Ns.period+f),g=(e.yaw?.[t]??0)*Math.PI/180;o.root=[Math.cos(g)*Ns.m*h,0,-Math.sin(g)*Ns.m*h],o.roll=Ns.list*h,o.spine_roll=-Ns.list*h}return m}function Hs(e,t,n){let r=t?.[n];if(!r)return e;let i={...e};for(let[t,n]of Object.entries(r))i[t]=Array.isArray(n)?Array.isArray(e[t])?e[t].map((e,t)=>e+n[t]):e[t]:(Number(e[t])||0)+n;return i}let Us=(e,t,n)=>Math.min(n,Math.max(t,e));function Ws(e){let t=2166136261;for(let n=0;n<e.length;n++)t=Math.imul(t^e.charCodeAt(n),16777619);let n=t>>>0;return()=>{n=n+1831565813>>>0;let e=Math.imul(n^n>>>15,n|1);return e^=e+Math.imul(e^e>>>7,e|61),((e^e>>>14)>>>0)/4294967296*2-1}}let Gs={noise:.02,side:.03,first:.22,second:.08,last:.22,beforeLast:.08,turn:0},Ks={noise:.025,side:.012,stride:.035,second:.05,beforeLast:.06,turn:.06},qs={noise:.1,first:.1,last:.25};function Js(e,{s0:t,turn:n,seed:r}){let i=e.steps,a=Us(e.vary??1,0,2),o=Ws(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/60)}),h=i>=4,g=s.map((e,t)=>{if(i<2)return 1;let n=(t===0||t===i-1?.5:1)*(Gs.noise*e.time+Gs.side*l(t))+Gs.turn*m[t];return t===0&&(n+=Gs.first*(1-m[0])),t===1&&h&&(n+=Gs.second),t===i-1&&(n+=Gs.last),t===i-2&&h&&(n+=Gs.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 r=(n<i-1?y[n+1]:v)-t;return Math.min(r-2,Math.max(e.swing,r-b),n===i-1?e.swing+3:1/0)}),S=f.map((e,t)=>t>0&&t<i-1),C=s.map((e,t)=>{if(!S[t])return 1;let n=Ks.noise*(.7*e.length+.3*e.time)+Ks.side*l(t)+Ks.stride*d(t)-Ks.turn*m[t];return t===1&&h&&(n-=Ks.second),t===i-2&&h&&(n-=Ks.beforeLast),1+a*n}),w=S.filter(Boolean).length,T=C.reduce((e,t,n)=>e+(S[n]?t:0),0);return{lift:y,air:x,inc:f.map((e,t)=>S[t]&&a>0?e*C[t]*w/T:e),height:s.map((t,n)=>e.lift*(1+a*(qs.noise*t.lift-(n===0?qs.first:0)-(n===i-1&&i>1?qs.last:0)))),arm:s.map(e=>1+a*.1*e.arm)}}let Ys={strike:4,load:4,mid:3,toeOff:5},Xs={strike:2,load:14,mid:7,toeOff:48,pow:1.8},Zs=[1,2.2],Qs=e=>{let t=Math.min(1,Math.max(0,((e??Zs[1])-Zs[0])/(Zs[1]-Zs[0])));return t*t*(3-2*t)},$s=.004,ec=[.25,.5],tc=e=>e*e*e*(e*(6*e-15)+10),nc=new WeakSet,rc=(n,r,i,a)=>e(n,p(_(r),p(g(i),p(_(-r),t(a,n)))));function ic(e,n,r){let i=e.index,o=e.restWorldPos,s=a(t(o[i.LeftLeg],o[i.LeftUpLeg])),c=a(t(o[i.LeftFoot],o[i.LeftLeg])),l=Math.min(1,Math.max(0,(13-n)/4)),u=Qs(r),d=(e,t)=>e+(t-e)*u,f=d(Xs.strike,18)+l*Ys.strike,p=d(Xs.load,22)+l*Ys.load,m=d(Xs.mid,7)+l*Ys.mid,h=d(Xs.toeOff,45)+l*Ys.toeOff;return{reach:e=>Math.sqrt(s*s+c*c+2*s*c*Math.cos(e*Math.PI/180)),hipOff:{l:t(o[i.LeftUpLeg],o[i.Hips]),r:t(o[i.RightUpLeg],o[i.Hips])},strike:f,load:p,mid:m,trail:e=>m+(h-m)*Math.min(1,Math.max(0,e))**d(Xs.pow,1)}}let ac=(t,n,r)=>e(t.root[n],p(_(t.yaw?.[n]??0),p(v(t.roll?.[n]??0),r)));function oc(e,t,{f0:n,end:r,period:i,pace:a,ground:o,start:s}){let c=e.index,l=e.restWorldPos,{reach:u,hipOff:d,strike:f,load:m,mid:h,trail:g}=ic(e,i,a),y=Math.max(2,Math.round(.35*i)),b=(e,t)=>{if(t<e.a)return f;if(e.heel!==void 0&&t>=e.heel)return g((t-e.heel)/Math.max(1,e.b-e.heel));let n=(t-e.a)/i/.4;return e.strike&&n<1?(n<.5?f:h)+(m-(n<.5?f:h))*Math.sin(Math.PI*n):h},x=Tr(t,r+1),S=l[c.Hips][1]-.008,C=x.root.map(e=>[e[0],e[2]]);for(let e=0;e<2;e++)C=C.map((e,t)=>{if(t<=n||t>=r)return e;let i=0,a=0,o=0;for(let e=-6;e<=6;e++){let s=Math.min(r,Math.max(n,t+e)),c=Math.exp(-(e*e)/8);i+=c*C[s][0],a+=c*C[s][1],o+=c}let s=Math.min(1,(t-n)/8,(r-t)/8),c=s*s*(3-2*s);return[e[0]+(i/o-e[0])*c,e[1]+(a/o-e[1])*c]});let w=e=>{let t=[C[e][0],x.root[e][1],C[e][1]],i=x.yaw?.[e]??0,a=x.roll?.[e]??0,s=[];for(let n of[`l`,`r`]){let r=o[n].find(t=>e>=t.a-(t.strike?y:0)&&e<=t.b);if(!r||r.free!==void 0&&e>=r.free)continue;let c=x[`foot_${n}`][e],l=p(_(i),p(v(a),d[n])),f=u(b(r,e)),m=Math.hypot(t[0]+l[0]-c[0],t[2]+l[2]-c[2]);m<f&&s.push(c[1]+Math.sqrt(f*f-m*m)-l[1])}if(!s.length)return S;let c=Math.min(...s),l=Math.min(S,c-$s*Math.log(s.reduce((e,t)=>e+Math.exp(-(t-c)/$s),0)))-.001,f=Math.min(1,(e-n)/8,(r-e)/8),m=f*f*(3-2*f);return t[1]+(l-t[1])*m};for(let e of[`l`,`r`])for(let t of o[e]){if(t.heel===void 0||!t.flat)continue;let 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n=ac(p,e,d[r]),i=u(f((e-s.heel)/Math.max(1,s.b-s.heel))),o=e=>a(t(n,rc(s.ball,s.yw,e,s.flat)))-i,m=h,g=50;if(o(m)<=0)g=m;else if(o(g)<=0)for(let e=0;e<24;e++){let e=(m+g)/2;o(e)>0?m=e:g=e}h=g,c.push(g),l.push({f:e,hip:n,want:i})}let g=c.map((e,t)=>Math.max(...c.slice(t).map((e,t)=>e-t*15)));for(let e=0;e<2;e++)g=g.map((e,t)=>Math.max(c[t],((g[t-1]??0)+e+(g[t+1]??e))/3));l.forEach(({f:o,hip:c,want:l},u)=>{let d=rc(s.ball,s.yw,g[u],s.flat),f=a(t(c,d))-l;f>0&&(d=e(d,n(t(c,d),f/a(t(c,d))))),i.push({f:o,set:{[`foot_${r}`]:d,[`fpitch_${r}`]:g[u],[`fyaw_${r}`]:s.yw},src:m.get(o)})})}}function cc(e,t,n,r){let i=e.length-1,a=e.slice(1).map((t,n)=>t-e[n]),o=[],s=[],c=[],l=[];for(let e=0;e<=i;e++)e===0?(o[e]=0,s[e]=2*a[0],c[e]=a[0],l[e]=6*((t[1]-t[0])/a[0]-n)):e===i?(o[e]=a[i-1],s[e]=2*a[i-1],c[e]=0,l[e]=6*(r-(t[i]-t[i-1])/a[i-1])):(o[e]=a[e-1],s[e]=2*(a[e-1]+a[e]),c[e]=a[e],l[e]=6*((t[e+1]-t[e])/a[e]-(t[e]-t[e-1])/a[e-1]));for(let e=1;e<=i;e++){let t=o[e]/s[e-1];s[e]-=t*c[e-1],l[e]-=t*l[e-1]}let u=[];u[i]=l[i]/s[i];for(let e=i-1;e>=0;e--)u[e]=(l[e]-c[e]*u[e+1])/s[e];return n=>{let r=0;for(;r<i-1&&n>e[r+1];)r++;let o=n-e[r],s=a[r],c=(e[r+1]-n)/s,l=o/s;return c*t[r]+l*t[r+1]+((c**3-c)*u[r]+(l**3-l)*u[r+1])*s*s/6}}let lc=e=>e*180/Math.PI,uc=e=>{let t=Math.min(1,Math.max(0,e));return t*t*(3-2*t)};function dc(i,o,s,c,l){let u=t(o,i),d=Math.min(c+l-1e-6,Math.max(Math.abs(c-l)+1e-6,a(u))),f=n(u,1/a(u)),p=t(s,n(f,r(s,f)));p=n(p,1/(a(p)||1));let m=(c*c+d*d-l*l)/(2*c*d),h=e(i,e(n(f,c*m),n(p,c*Math.sqrt(Math.max(0,1-m*m))))),g=t(o,h);return lc(Math.atan2(-r(g,s),-g[1]))}function fc(e,{end:n,ground:r,sk:i}){let o=Tr(e,n+2),s=new Map(e.map(e=>[e.f,e.src])),c=i?.index,l=i?.restWorldPos,u=i&&a(t(l[c.LeftLeg],l[c.LeftUpLeg])),d=i&&a(t(l[c.LeftFoot],l[c.LeftLeg]));for(let a of[`l`,`r`]){let f=r[a],m=a===`l`?`Left`:`Right`,h=i&&t(l[c[`${m}UpLeg`]],l[c.Hips]),v=i&&t(l[c[`${m}ToeBase`]],l[c[`${m}Foot`]]),y=i&&l[c[`${m}ToeBase`]][1],b=i&&[0,.005-l[c[`${m}Foot`]][1],-.045];for(let r=0;r+1<f.length;r++){let c=f[r],l=f[r+1];if(!Number.isFinite(c.b)||!l.strike||l.a>n||l.a-c.b<3)continue;let m=[...new Set(e.filter(e=>!nc.has(e)&&e.f>c.b&&e.f<l.a&&e.set[`foot_${a}`]).map(e=>e.f))].sort((e,t)=>e-t),x=[c.b,...m,l.a],S=o[`foot_${a}`],C=e=>S[Math.max(0,Math.min(S.length-1,e))],w=t(C(c.b),C(c.b-1)),T=t(C(l.a+1),C(l.a)),E=[0,1,2].map(e=>cc(x,x.map(t=>C(t)[e]),w[e],T[e])),D=e=>o[`fyaw_${a}`]?.[e]??0,O=e=>o[`fpitch_${a}`]?.[e]??0,k=(e,t)=>dc(ac(o,e,h),t,p(_(D(e)),[0,0,1]),u,d)-3,A=l.a-c.b,j=i&&O(c.b)-k(c.b,C(c.b)),M=i&&O(l.a)-k(l.a,C(l.a));for(let t=c.b+1;t<l.a;t++){let n=E.map(e=>e(t)),r={[`foot_${a}`]:n};if(i){let e=Math.min(50,k(t,n)+j*(1-uc((t-c.b)/(.35*A)))+M*(1-uc((l.a-t)/(.2*A)))),i=y+.03*uc(Math.min(t-c.b,l.a-t)/3),o=e=>n[1]+p(g(e),v)[1];if(o(e)<i){let t=-30,n=e;for(let e=0;e<20;e++){let e=(t+n)/2;o(e)<i?n=e:t=e}e=t}let s=O(t),u=e=>n[1]+p(g(e),b)[1],d=Math.min(.04,Math.max(u(s),.025));if(e<s&&u(e)<d){let t=e,n=s;for(let e=0;e<20;e++){let e=(t+n)/2;u(e)<d?t=e:n=e}e=n}r[`fpitch_${a}`]=e}let o={f:t,set:r,src:s.get(t)};nc.add(o),e.push(o)}}}}let pc=[6,4],mc=[18,3],hc=[6,3],gc=[.52,.64],_c=e=>c(.66-.18*e,.2,.48),vc=e=>c(.32-.11*e,0,.45),yc=e=>c(2.8-.45*e,1.2,3),bc=e=>c(4.7-1.1*e,1.8,4),xc=[.2,.6],Sc=e=>p(_(e),[0,0,1]),Cc=e=>p(_(e),[1,0,0]),wc=e=>{let t=Math.min(1,Math.max(0,e));return t*t*(3-2*t)};function Tc(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 Ec(r,i,o,s=`walk`){let l=`${s} start`,u=[],d=(e,t)=>{let n={f:e,set:t,src:l};return u.push(n),n},f=Tc(i,r.f0);if(!f.foot_l||!f.foot_r||!f.root)throw Error(`MOTION_SPEC_INVALID: walk needs foot_l, foot_r and root keyed before f0`);if(r.vary!==void 0&&!(Number.isFinite(r.vary)&&r.vary>=0&&r.vary<=2))throw Error(`MOTION_SPEC_INVALID: ${s} vary must be a number from 0 (every step the same) to 2, got ${JSON.stringify(r.vary)}`);let m=o.index,h=o.restWorldPos,g=h[m.LeftFoot][1],v=h[m.Hips][1],y={l:t(h[m.LeftToeBase],h[m.LeftFoot]),r:t(h[m.RightToeBase],h[m.RightFoot])},b=[0,.005-g,-.045],x={l:-1/0,r:-1/0},S=a(t(h[m.LeftLeg],h[m.LeftUpLeg]))+a(t(h[m.LeftFoot],h[m.LeftLeg])),C=h[m.Hips][1]-h[m.LeftUpLeg][1],w=r.step??.5,T=r.halfWidth??.08,E=e=>Math.sqrt(Math.max(0,(.98*S)**2-e**2))+g+C-v,D={steps:8,step:w,period:20,swing:14,halfWidth:T,lift:.08,turnDistance:.4,firstStep:.4,pelvisHigh:Math.min(-.005,E(Math.hypot(.03,T-.035))),pelvisLow:E(Math.hypot(w/2,T)),vary:1,...r},O=D.step/D.period/(.5/20);D.armSwing=r.armSwing??c(6.4*O,4,22);let k=_c(O),A=vc(O),j=yc(O),M=bc(O),N=c(.9*O,0,3),P=mc[0]+mc[1]*Math.min(O,2.5),ee=hc[0]+hc[1]*Math.min(O,2.5),[F,I]=D.heading??[f.yaw??0,f.yaw??0],L=e=>F+(I-F)*wc(e/D.turnDistance),te=n(e(f.foot_l,f.foot_r),.5);te[1]=0;let R=[te];for(let t=0;t<4e3;t++)R.push(e(R[t],n(Sc(L(t*.01)),.01)));let ne=e=>R[Math.max(0,Math.min(R.length-1,Math.round(e/.01)))],re=(t,r)=>{let i=e(ne(t),n(Cc(L(t)),(r===`l`?1:-1)*D.halfWidth));return i[1]=g,i},ie={l:-.07,r:.07},z={foot_l:f.foot_l,foot_r:f.foot_r,fyaw_l:f.fyaw_l??F,fyaw_r:f.fyaw_r??F},ae=[`root`,`yaw`,`roll`,`foot_l`,`foot_r`,`fyaw_l`,`fyaw_r`,`spine_yaw`,`spine_roll`,`spine_pitch`,`aswing_l`,`aswing_r`,`abend_l`,`abend_r`,`wflex_l`,`wflex_r`,`head_yaw`],oe=f.roll??0,se=f.spine_roll??0,ce=f.spine_pitch??0,le={l:[{a:r.f0,b:1/0,strike:!1}],r:[{a:r.f0,b:1/0,strike:!1}]};d(r.f0,Object.fromEntries(ae.map(e=>[e,f[e]??z[e]??(e===`yaw`?F:0)])));let ue=ie.r,de=null,fe=Js(D,{s0:ue,turn:(e,t)=>L(t)-L(e),seed:[r.f0,D.steps,D.step,D.period,D.swing,D.firstStep,F,I,te[0].toFixed(3),te[2].toFixed(3)].join(`|`)});for(let i=0;i<D.steps;i++){l=`${s} step ${i+1}`;let a=i%2==0?`l`:`r`,o=a===`l`?`r`:`l`,u=i===D.steps-1,m=u?ue:ue+fe.inc[i],h=r.f0+16+fe.lift[i],g=h+fe.air[i],S=h+Math.floor(fe.air[i]/2);if(i===0){let t=e(ne(ie[o]),n(Cc(F),(o===`l`?1:-1)*D.halfWidth*.75));t[1]=f.root[1],d(h-4,{root:t,yaw:F}),d(h,{arm_hang:1})}let C=c(Math.abs(m-ie[a])/1.1,.3,1.15),I=50*(.55+.45*C)*(u?.8:1),te=z[`foot_${a}`],R=z[`fyaw_${a}`],ae=e(te,p(_(R),y[a])),pe=Math.max(h-Math.max(4,Math.round((i===0?.35:.3)*D.period)),x[a]+1,r.f0+1);Object.assign(le[a].at(-1),{b:h,heel:pe,ball:ae,yw:R,flat:te});for(let e=pe;e<=h;e++){let t=I*((e-pe)/Math.max(1,h-pe))**1.8;d(e,{[`foot_${a}`]:rc(ae,R,t,te),[`fpitch_${a}`]:t,[`fyaw_${a}`]:R})}let me=Math.max(1,Math.round(.22*fe.air[i])),he=re((ie[a]+m)/2,a);he[1]+=fe.height[i];let ge=rc(ae,R,Math.min(I,50),te),_e=e(ge,n(t(he,ge),.35));_e[1]=ge[1]+.18*C*Math.min(1,(fe.air[i]/10)**2)*(.55+.44999999999999996*Qs(O))*(fe.height[i]/D.lift);let ve=n(Cc(L(ie[o])),a===`l`?1:-1),ye=z[`foot_${o}`],be=e=>(e[0]-ye[0])*ve[0]+(e[2]-ye[2])*ve[2],xe=be(he)-be(_e);xe>0&&(_e[0]+=ve[0]*xe,_e[2]+=ve[2]*xe);let Se=h+Math.max(2,Math.round(.18*fe.air[i]));!u&&Se<S-1&&d(Se,{[`foot_${a}`]:_e,[`fpitch_${a}`]:.7*Math.min(I,50)}),d(S,{[`foot_${a}`]:he,[`fyaw_${a}`]:L((ie[a]+m)/2),[`fpitch_${a}`]:0});let Ce=ie[o]+(gc[0]+(gc[1]-gc[0])*Qs(O))*(m-ie[o]),we=de?de.s+(Ce-de.s)*((S-de.f)/(g-de.f)):null,Te=we===null?ie[o]+.03:we-.015*Math.abs(m-ie[a])/2,Ee=i===0?.015:.032,De=e(ne(Te),n(Cc(L(Te)),(o===`l`?1:-1)*Ee));De[1]=v+D.pelvisHigh;let Oe=r.pelvisLow??(fe.inc[i]>w?Math.min(D.pelvisLow,E(Math.hypot(fe.inc[i]/2,T))):D.pelvisLow),ke=ne(Ce).slice();ke[1]=v+(u?D.pelvisHigh:Oe),de={f:g,s:Ce};let Ae=re(m,a),je=L(m),Me=e(Ae,p(_(je),b)),Ne=-(pc[0]+(pc[1]-pc[0])*Qs(O))*(u?.5:1),Pe=Math.max(2,Math.round(.2*D.period)),Fe=rc(Me,je,Ne,Ae),Ie=e(Fe,n(Sc(je),-.12*Math.abs(m-ie[a])));Ie[1]+=.03,!u&&me>1&&g-me>S+1&&d(g-me,{[`foot_${a}`]:Ie,[`fpitch_${a}`]:.6*Ne});for(let e=0;e<=Pe;e++){let t=Ne*(1-wc(e/Pe));d(g+e,{[`foot_${a}`]:rc(Me,je,t,Ae),[`fpitch_${a}`]:t,[`fyaw_${a}`]:je})}x[a]=g+Pe,le[a].push({a:g,b:1/0,strike:!0}),z[`foot_${a}`]=Ae,z[`fyaw_${a}`]=je,ie[a]=m;let Le=(u?0:i<3?[0,.3,.7][i]:1)*fe.arm[i],Re=a===`l`?1:-1,ze=c(C,.4,1.1),Be=u?0:i===0?.5:1,Ve=4.5*ze*Be*(o===`l`?1:-1),He=(g-S)/D.period,Ue=e=>{let t=[Math.cos(Math.PI*(e-He)),Math.cos(Math.PI*e)];return t.map(e=>e/Math.max(...t.map(Math.abs)))},We=Ue(-A).map(e=>-4.5*ze*Re*Le*e),Ge=Ue(k).map(e=>5.5*ze*Re*Le*e),Ke=Ue(.92).map(e=>-Math.sign(Ve)*j*ze*Be*e),qe=Ue(He).map((e,t)=>t?.8*e:e),Je=e=>({aswing_l:-.85*D.armSwing*Re*Le*e,aswing_r:D.armSwing*Re*Le*e,abend_l:Le*(P-Re*ee*e),abend_r:Le*(P+Re*ee*e)});d(S,{root:De,yaw:L(Te)+We[0],roll:oe+Ve,spine_roll:se-Ve*1.26+Ke[0],spine_yaw:Ge[0]-We[0],...Je(qe[0]),wflex_l:8*Le,wflex_r:8*Le}),d(g,{root:ke,yaw:L(Ce)+We[1],roll:oe,spine_roll:se+Ke[1],spine_yaw:Ge[1]-We[1],...Je(qe[1]),head_yaw:0});let Ye=ce+N*Be,Xe=M*ze*Be;d(Math.max(r.f0+1,g-Math.round(xc[1]*D.period)),{spine_pitch:Ye-.6*Xe}),d(Math.max(r.f0+1,g-Math.round(xc[0]*D.period)),{spine_pitch:Ye+Xe}),ue=m}let pe=r.f0+16+D.steps*D.period+18,me=Math.max(...u.map(e=>e.f));return r.pelvisHigh===void 0&&r.pelvisLow===void 0&&(fc(u,{end:me,ground:le}),oc(o,u,{f0:r.f0,end:me,period:D.period,pace:O,ground:le,start:`${s} start`}),sc(o,u,{end:me,period:D.period,pace:O,ground:le}),fc(u,{end:me,ground:le,sk:o})),l=`${s} end`,d(pe,Tc(u,pe)),u}function Dc(e,t){let n=(e.keys??[]).map((e,t)=>e.src?e:{...e,src:`keys[${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(Ec(e,n,t,`generators[${r}] walk`))}),n}let Oc={yaw:.5,pitch:.2,roll:.7},kc={yaw:4,pitch:6,roll:10},Ac=[`yaw`,`pitch`,`roll`];function jc(e){let t=new Map;for(let n of e){let e=/ (start|step \d+)$/.exec(n.src??``),r=e&&n.src.slice(0,-e[0].length);if(!e||!/\bwalk(To)?$/.test(r))continue;let i=t.get(r)??[1/0,-1/0];t.set(r,[Math.min(i[0],n.f),Math.max(i[1],n.f)])}return[...t.values()].filter(([e,t])=>t>e)}let Mc=(e,t)=>{let n=Math.floor(t/2),r=t=>e[Math.max(0,Math.min(e.length-1,t))];return e.map((e,t)=>{let i=0;for(let e=t-n;e<=t+n;e++)i+=r(e);return i/(2*n+1)})};function Nc(e,t,n){let r=jc(t);if(!r.length)return;let i=t=>e[t]??Array(n).fill(0);for(let a of Ac){let o=i(`spine_${a}`),s=i(a).map((e,t)=>e+o[t]),c=Mc(s,33),l=null;for(let[e,o]of r)if(!t.some(t=>t.f>=e&&t.f<=o&&t.set?.[`head_${a}`]!==void 0&&!/\bwalk(To)? (start|step \d+|end)$/.test(t.src??``))){l??=i(`head_${a}`).slice();for(let t=Math.max(0,e);t<=Math.min(n-1,o);t++){let n=Math.min(1,(t-e)/8,(o-t)/8),r=Math.max(-kc[a],Math.min(kc[a],s[t]-c[t]));l[t]-=Oc[a]*r*n*n*(3-2*n)}}l&&(e[`head_${a}`]=l)}}function Pc(e,t){let n=e.length,r=new Float64Array(n);for(let i=0;i<n;i++)if(e[i]>0)for(let a=Math.max(0,i-t-1);a<=Math.min(n-1,i+t+1);a++){let n=1-Math.abs(i-a)/(t+1),o=n*n*(3-2*n);r[a]=Math.max(r[a],e[i]*o)}return r}let Fc=e=>Math.round(e*1e4)/1e4;function Ic(e,n){let{sk:i}=e.ctx,o=i.index,s=i.restWorldPos,c=e.baked.root;if(!c)return null;let l=e.frames.length,u=new Float64Array(l);for(let n=0;n<l;n++){let{s:i,diag:c,c:l}=e.frames[n];for(let[e,d]of Object.entries(W)){if(!(c[`leg_miss_${e}`]>5e-4)||!Array.isArray(l[`foot_${e}`]))continue;let f=.999*(a(t(s[o[`${d}Leg`]],s[o[`${d}UpLeg`]]))+a(t(s[o[`${d}Foot`]],s[o[`${d}Leg`]]))),p=t(l[`foot_${e}`],i.P[o[`${d}UpLeg`]]),m=p[1]*p[1]-r(p,p)+f*f,h=m>=0?-p[1]-Math.sqrt(m):-p[1];h>0&&h<=.05&&(u[n]=Math.max(u[n],h+5e-4))}}let d=u.filter(e=>e>0).length;if(!d)return null;let f=Pc(u,6),p=[];for(let t=0;t<l;t++){if(!(f[t]>0))continue;let n=e.f0+t,r=c[n];c[n]=[r[0],r[1]-f[t],r[2]],p.push(n)}return n.solve(p),{frames:d,eased:p.length,max:Fc(Math.max(...u)),how:`hips lowered`}}function Lc(e){let t=0,n=0;for(let r of e.frames)for(let e of[`l`,`r`]){let i=r.diag[`reach_over_${e}`]??0;i>.001&&(t++,n=Math.max(n,i))}return t?{frames:t,max:Fc(n),how:`wrist target clamped to reach`}:null}let Rc=.01;function zc(n,r){let i=n.frames.length,a=Ai.plantH,o=0,s=0,c=0,l=new Set;for(let[r,u]of[[`l`,`Left`],[`r`,`Right`]]){let d=n.baked[`foot_${r}`];if(!d)continue;let f=n.frames.map((e,t)=>ii(n,t,u)),p=(e,t)=>f[e][t][1]<a&&f[e-1][t][1]<a&&Math.abs(f[e][t][1]-f[e-1][t][1])<5e-4,m=Array.from({length:i},()=>null);for(let n=1;n<i;){if(!p(n,`ball`)&&!p(n,`heel`)){n++;continue}let r=null,l=null,u=n,d=0,h=[0,0,0],g=!1,_=[],v=e=>{let n=t(l,f[e][r]);n[1]=0,h=n,_.push([e,n]),d=Math.max(d,Math.hypot(n[0],n[2]))};for(;u<i&&(p(u,`ball`)||p(u,`heel`));u++){let t=p(u,`ball`)?`ball`:`heel`;g||=f[u][t===`ball`?`heel`:`ball`][1]>=a,t!==r&&(r=t,l=e(f[u-1][r],h)),v(u)}if(g&&d>=Rc)for(;u<i&&f[u][r][1]<.03;u++)v(u);if(d>2e-4&&(d<Rc||g)){o++,c=Math.max(c,d),d>=Rc&&s++;for(let[e,t]of _)m[e]=t;let e=Math.max(4,Math.ceil(Math.hypot(h[0],h[2])/.02));for(let t=1;t<=e&&u-1+t<i&&!m[u-1+t];t++){let n=t/(e+1),r=1-n*n*(3-2*n);m[u-1+t]=[h[0]*r,0,h[2]*r]}}n=u}for(let t=0;t<i;t++){if(!m[t])continue;let r=n.f0+t;d[r]=e(d[r],m[t]),l.add(r)}}return o?(r.solve([...l]),{plants:o,...s?{pivots:s}:{},frames:l.size,max:Fc(c),how:s?`planted heel/ball held in place; turning feet pivot on it`:`planted heel/ball held in place`}):null}let Bc=e=>e*e*(3-2*e);function Vc(e,t){let n=e.frames.length,r=Ai.plantH,i=new Set,a=0;for(let[t,o]of[[`l`,`Left`],[`r`,`Right`]]){let s=e.baked[`fyaw_${t}`]??e.baked.yaw;if(!e.baked[`foot_${t}`]||!s)continue;let c=e.frames.map((t,n)=>ii(e,n,o)),l=(e,t)=>c[e][t][1]<r&&c[e-1][t][1]<r&&Math.abs(c[e][t][1]-c[e-1][t][1])<5e-4,u=e=>e>0&&e<n&&l(e,`heel`)&&l(e,`ball`),d=Array.from({length:n},(t,n)=>s[e.f0+n]),f=d.slice();for(let e=1;e<n;e++){if(!u(e))continue;let t=f[e-1],r=e,i=0;for(;u(r);r++)i=Math.max(i,Math.abs(f[r]-t));if(i<=1){e=r;continue}a=Math.max(a,i);for(let n=e;n<r;n++)f[n]=t;let o=r<n?d[r]-t:0,s=Math.max(4,Math.ceil(Math.abs(o)/6));for(let e=0;o&&e<s&&r+e<n&&!u(r+e);e++)f[r+e]=d[r+e]-o*(1-Bc((e+1)/(s+1)));e=r}let p=f.map((e,t)=>e!==d[t]);if(!p.some(Boolean))continue;let m=e.baked[`fyaw_${t}`]=s.slice();p.forEach((t,n)=>{t&&(m[e.f0+n]=f[n],i.add(e.f0+n))})}return i.size?(t.solve([...i]),{frames:i.size,max:Fc(a)}):null}function Hc(e,t){let{sk:n}=e.ctx,r=e.frames.length,i=new Set,a=0;for(let[t,o]of Object.entries(W)){let s=e.baked[`foot_${t}`],c=n.index[`${o}Foot`];if(!s)continue;let l=e.frames.map(({s:t},r)=>{let i=xt(n,t,o),a=Math.min(i.heel[1],i.ball[1],i.tip[1])-t.P[c][1]+s[e.f0+r][1];return Math.min(.15,-a-.001)});if(!l.some(e=>e>0))continue;let u=Pc(l,2);for(let t=0;t<r;t++){if(!(u[t]>0))continue;let n=e.f0+t;s[n]=[s[n][0],s[n][1]+u[t],s[n][2]],a=Math.max(a,l[t]),i.add(n)}}return i.size?(t.solve([...i]),{frames:i.size,max:Fc(a),how:`soles lifted onto the floor`}):null}let Uc={l:ht.filter(e=>e[0]===`hand_l`||e[0]===`farm_l`),r:ht.filter(e=>e[0]===`hand_r`||e[0]===`farm_r`)};function Wc(t,r,i,a,o){let{sk:s}=t.ctx,c=s.index,l=t.frames.length,u=Array.from({length:l},()=>null);for(let s=0;s<l;s++){let{s:l,c:d}=t.frames[s],f=t.objectsAt(s),p=null;for(let[t,s]of Object.entries(f)){if(!s.half||s.ignore)continue;let u=null;for(let[e,n,d,f]of Uc[r]){let r=ji(a,e,t)??Ai.allow,p=gt(l.P[c[n]],l.P[c[d]]),m=p.map(e=>B(e,s)),h=Math.min(...m),g=f-h-r;if(!(g<=0)){if(g>i){o.deep++;continue}(!u||g>u[0])&&(u=[g,p[m.indexOf(h)]])}}u&&(p=e(p??[0,0,0],n(St(u[1],s),u[0]+.002)))}if(p){if(!(d[`armw_${r}`]>1e-4)){o.skipped++;continue}u[s]=p}}return u}function Gc(t,r,i){let o=t.ctx.spec.checks?.allow,s=t.frames.length,c={deep:0,skipped:0},l=new Set,u=0;for(let d=0;d<3;d++){c.deep=0,c.skipped=0;let d=new Set;for(let r of[`l`,`r`]){let f=Wc(t,r,i,o,c),p=t.ctx.push[r],m=Array.from({length:s},()=>null);for(let e=0;e<s;e++)if(f[e]){l.add(`${r}${e}`);for(let t=Math.max(0,e-4-1);t<=Math.min(s-1,e+4+1);t++){let r=1-Math.abs(e-t)/5,i=n(f[e],r*r*(3-2*r));(!m[t]||a(i)>a(m[t]))&&(m[t]=i)}}for(let n=0;n<s;n++){if(!m[n])continue;let r=t.f0+n,i=e(p.get(r)??[0,0,0],m[n]);p.set(r,i),u=Math.max(u,a(i)),d.add(r)}}if(!d.size)break;r.solve([...d])}return!l.size&&!c.skipped?null:{frames:l.size,max:Fc(u),skipped:c.skipped,tooDeep:c.deep,how:`hand pushed out along the box 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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}let el={l:`Left`,r:`Right`};function tl(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)}let nl=Object.fromEntries(ht.map(e=>[e[0],e[3]]));function rl(e,t,n,r){let i=0;for(let a of e)i=Math.max(i,r-Math.min(...gt(t,n,5).map(e=>B(e,a))));return i}function il(n,r,i,a,o,s=[]){let c=r.index,l=c[`${a}Arm`],u=c[`${a}ForeArm`],d=i.P[l],f=i.P[c[`${a}Hand`]],m=o?e(d,p(y(t(f,d),o),t(i.P[u],d))):i.P[u],h=Math.max(qe(n,r,i,l,d,m),qe(n,r,i,u,m,f)),g=a===`Left`?`l`:`r`;return{depth:h,scene:s.length?Math.max(rl(s,d,m,nl[`uarm_${g}`]),rl(s,m,f,nl[`farm_${g}`])):0,rise:Math.max(0,m[1]-(d[1]-.09)),under:d[1]-m[1]}}let al=(e,n)=>{let r=e.index,i=e.restWorldPos;return a(t(i[r[`${n}ForeArm`]],i[r[`${n}Arm`]]))+a(t(i[r[`${n}Hand`]],i[r[`${n}ForeArm`]]))};function ol(n,r,i){let{sk:o}=n.ctx,s=el[i],c=n.frames.length,l=n.ctx.swivel[i],u=n.frames.map(({s:c,c:u},d)=>{let f=Zo(u[`armw_${i}`]??0),m=(l.get(n.f0+d)??0)*f;if(!m&&il(r,o,c,s,0).depth<=Zc)return null;let h=c.P[o.index[`${s}Arm`]],g=al(o,s)+.15,_=Object.values(n.objectsAt(d)).filter(n=>n.half&&!n.ignore&&a(t(e(n.pos,p(n.R,[0,n.half[1],0])),h))-a(n.half)<g),v=il(r,o,c,s,-m,_).scene,y=$c(n,d,s);return Xc.map(e=>{let{depth:t,scene:n,rise:i,under:a}=il(r,o,c,s,e*f-m,_),l=Math.max(0,t-Zc)*100,u=y===null?0:Math.max(0,y-a),d=Math.max(0,n-Math.max(v,Zc))*100;return 40*(l*l+d*d)+.05*(e/10)**2+4*(i*100)**2+400*(u*100)**2})});if(u.every(e=>!e))return null;let d=Xc.indexOf(0),f=Xc.map((e,t)=>t===d?0:1/0),m=Xc.map(()=>0),h=[];for(let e=0;e<c;e++){let t=u[e]??f,n=m,r=[];m=t.map((e,t)=>{let i=1/0,a=d;for(let e=0;e<Xc.length;e++){if(Math.abs(Xc[t]-Xc[e])>10)continue;let r=n[e]+2*((Xc[t]-Xc[e])/10)**2;r<i&&(i=r,a=e)}return r.push(a),i+e}),h.push(r)}let g=Array(c),_=m.indexOf(Math.min(...m));for(let e=c-1;e>=0;e--)g[e]=Xc[_],_=h[e][_];return g.map((e,t)=>(g[Math.max(0,t-1)]+2*g[t]+g[Math.min(c-1,t+1)])/4)}function sl(e,t,r,i){let{sk:o}=e.ctx,s=el[r],c=o.index,l=e.frames.length,u=Array(l).fill(null),d=[c.Head,c.Neck,c.HeadTop_End].filter(e=>e!==void 0);for(let f=0;f<l;f++){let{s:l,c:p}=e.frames[f],m=e.f0+f,h=1-tl(e.ctx.spec,p,r);if(h<.05)continue;let g=null;for(let n of[c[`${s}Hand`],c[`${s}ForeArm`]]){let r=Je(t,o,l,n);if(r.into<0||d.includes(r.into))continue;let i=Math.min(.03,ji(e.ctx.spec.checks?.allow,Zr(o,n),Zr(o,r.into))??0),a=r.depth-Math.max(i,Zc);a>0&&(!g||a>g.past)&&(g={...r,b:n,past:a})}if(!g)continue;if(!(p[`armw_${r}`]>1e-4)){i.skipped++;continue}let _=a(e.ctx.skinPush[r].get(m)??[0,0,0]);if(_>=Qc){i.deep++;continue}let v=Le(t,l,g.p,new Set([...t.skip.get(g.b),...d]));v&&(u[f]=n(v,h*Math.min(.03,Qc-_,g.past+.003)))}let f=Array(l).fill(null);return u.forEach((e,t)=>{if(e)for(let r=Math.max(0,t-5-1);r<=Math.min(l-1,t+5+1);r++){let i=1-Math.abs(t-r)/6,o=n(e,i*i*(3-2*i));(!f[r]||a(o)>a(f[r]))&&(f[r]=o)}}),f}function cl(t,r){let i=Me(t.ctx.sk);if(!i)return null;let o=t.frames.length,s={skipped:0,deep:0},c=new Set,l=new Set,u=0,d=0;for(let n=0;n<3;n++){let n=new Set;for(let e of[`r`,`l`]){let r=ol(t,i,e);r&&r.forEach((r,i)=>{let a=t.f0+i,o=t.ctx.swivel[e].get(a)??0,s=Math.abs(r)<.5?0:r;Math.abs(s-o)<.5||(s?t.ctx.swivel[e].set(a,s):t.ctx.swivel[e].delete(a),u=Math.max(u,Math.abs(s)),s&&c.add(`${e}${i}`),n.add(a))})}n.size&&r.solve([...n]),n=new Set,s.skipped=0,s.deep=0;for(let r of[`r`,`l`])sl(t,i,r,s).forEach((i,o)=>{if(!i)return;let s=t.f0+o,c=e(t.ctx.skinPush[r].get(s)??[0,0,0],i);t.ctx.skinPush[r].set(s,c),d=Math.max(d,a(c)),l.add(`${r}${o}`),n.add(s)});if(!n.size)break;r.solve([...n])}if(l.size){let i=new Set;for(let r of[`r`,`l`]){let s=e=>t.ctx.skinPush[r].get(t.f0+e)??[0,0,0];for(let c=0;c<2;c++){let c=Array.from({length:o},(e,t)=>s(t));c.forEach((s,l)=>{let u=[-2,-1,0,1,2].reduce((t,r,i)=>e(t,n(c[Math.min(o-1,Math.max(0,l+r))],[1,4,6,4,1][i]/16)),[0,0,0]);a(u)<1e-5&&!t.ctx.skinPush[r].has(t.f0+l)||(t.ctx.skinPush[r].set(t.f0+l,u),i.add(t.f0+l))})}}i.size&&r.solve([...i])}return!c.size&&!l.size&&!s.skipped?null:{elbowFrames:c.size,maxTurn:Math.round(u),handFrames:l.size,maxPush:Fc(d),skipped:s.skipped,tooDeep:s.deep,how:`elbow turned about the shoulder-wrist line; a hand a little inside pushed out along the skin`}}let ll=[`reach`,`slide`,`penetration`,`self`,`retime`,`stance`,`grasp`];function ul(e){if(e===!1)return{reach:!1,slide:!1,penetration:0,self:!1,retime:!1,stance:!1,grasp:!1};let t=e??{},n=t.penetration===!0?.02:Math.min(.05,Math.max(0,Number(t.penetration)||0));return{reach:t.reach!==!1,slide:t.slide!==!1,penetration:n,self:t.self!==!1,retime:t.retime===!0,stance:t.stance!==!1,grasp:t.grasp!==!1}}let dl=(e,t)=>e?{...t??{frames:0,how:`planted heel/ball held in place`},turns:e,how:`${t?.how??`planted heel/ball held in place`}; a flat planted foot keeps its heading until it lifts`}:t,fl=(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 pl(e,t,n,{whole:r=!0}={}){let i={},a=(e,t)=>{t&&(i[e]=t)};return t.retime&&r&&a(`retime`,Yc(e,n)),t.slide&&a(`ground`,Hc(e,n)),t.reach&&a(`reachLegs`,Ic(e,n)),t.slide&&a(`slide`,dl(Vc(e,n),zc(e,n))),t.reach&&i.slide?.pivots&&a(`reachLegs`,fl(i.reachLegs,Ic(e,n))),t.penetration>0&&a(`penetration`,Gc(e,n,t.penetration)),t.self&&a(`self`,cl(e,n)),t.reach&&a(`reachArms`,Lc(e)),i}function ml(e){let t=Ct(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 hl(e,t,n){let r=e?.objects?.[n]?.mass;if(Number.isFinite(r))return r;let i=U(t,n).map(e=>t.objects[e]);if(i.length===1&&Ct(i[0]).kind===`sphere`&&2*Ct(i[0]).r<.12)return .15;let a=i.reduce((e,t)=>e+ml(t)*400,0);return Math.min(60,Math.max(.02,a))}let gl=9.81,_l=e=>e?.fix!==!1&&e?.fix?.grasp!==!1,vl=e=>{let t=Math.min(1,Math.max(0,e));return t*t*(3-2*t)},yl=e=>Object.entries(e.objects??{}).filter(([,t])=>K(t)&&e.props?.[t.prop]).map(([t,n])=>[t,n,e.props[n.prop].hand]);function bl(r,i,o,c,l,u){let{spec:d,scene:f,sk:p}=r;if(!_l(d)||!(u>.001))return null;for(let[m,h,g]of yl(d)){if(g!==i||h.keys?.length)continue;let _=hl(d,f,m),[v,y]=r.carrySpan(h);if(o<v||o>y||_*gl*Jn(p,i)<2)continue;let b=vl((o-v)/4)*vl((y-o)/4)*u,x=Math.min(.06,.006*_)*b;if(!(x>0))return null;let S=t(c.P[p.index[`${W[i]}Arm`]],l),C=a([S[0],0,S[2]])>1e-6?s([S[0],0,S[2]]):[0,0,0];return e([0,-x,0],n(C,x))}return null}let xl=(e,n,r,i)=>{let a=t(n.P[e.index[`${W[r]}Hand`]],n.P[e.index[`${W[r]}Arm`]]);return i*gl*Math.hypot(a[0],a[2])};function Sl(e,t,n){let{spec:r,scene:i}=t.ctx,a=t.f0??0;if(!_l(r))return;let o=yl(r).map(([e,t,n])=>({id:e,o:t,k:n,mass:hl(r,i,e)}));o.length&&t.frames.forEach(({s:r},i)=>{let s=i+a;for(let i of o)Ro(t,i.id,s)===i.k&&n({...i,f:s,Nm:xl(e,r,i.k,i.mass)})})}function Cl(e,t){let n={};Sl(e,t,({id:e,k:t,mass:r,f:i,Nm:a})=>{let o=n[`hand_${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 wl(e,t,n,r,i){let a=r===`r`?`l`:`r`,{spec:o,scene:s}=e.ctx,c=new Set([t,...U(s,t)]);return Object.entries(o.anchors??{}).some(([t,r])=>(e.baked?.[`w_${t}_${a}`]?.[i]??0)>.5&&(r.kind===`object`&&c.has(r.object)||r.kind===`prop`&&r.prop===n.prop))}function Tl(e,t){let n=[];return Sl(e,t,({id:e,o:r,k:i,f:a,Nm:o})=>{o>25&&!wl(t,e,r,i,a)&&n.push({kind:`LOAD`,msg:`${W[i].toLowerCase()} holds ${e} at ${o.toFixed(0)} N m`,frame:a,value:Math.round(o*10)/10,limit:25})}),n}function El(r,i,o){let{sk:s,scene:c}=r.ctx,l=r.frames[o-(r.f0??0)]?.s,u=zo(r,i,o),d=Pt(c,i),f=c.objects[U(c,i)[0]]??c.objects[i];if(!l||!u||!f?.half)return null;let h=e=>p(m(u.R),t(e,u.pos)),g=p(m(d.R),t(e(f.pos,p(f.R,[0,f.half[1],0])),d.pos)),_=h(n(e(l.P[s.index.RightHand],l.P[s.index.RightHandMiddle1]),.5)),v=h(l.P[s.index.LeftArm]),y=[0,1,2].flatMap(e=>[-1,1].map(t=>{let n=g.slice();return n[e]+=t*f.half[e],{p:n,i:e,sg:t}})).filter(e=>!(e.i===1&&e.sg<0)),b=y.reduce((e,t)=>Math.abs(_[t.i]-t.p[t.i])<Math.abs(_[e.i]-e.p[e.i])?t:e);return y.filter(e=>e!==b).reduce((e,n)=>a(t(n.p,v))<a(t(e.p,v))?n:e).p.map(e=>Math.round(e*1e3)/1e3)}let Dl={LOAD(e,t){let[,n,r]=/^(left|right) holds (\S+) at/.exec(t.subject)??[],i=e.spec?.objects?.[r];if(!i||!e.out)return null;let a=n===`left`?`l`:`r`,o=a===`r`?`left`:`right`,[s]=To(e.out,i),c=hl(e.spec,e.out.ctx.scene,r),l={cause:`objects.${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 25); 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=El(e.out,r,Math.max(s,Math.min(t.worstFrame,To(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-10),args:{anchor:d,side:`l`,reach:Math.min(10,s)||1,hold:Math.max(1,To(e.out,i)[1]-s),release:1}}}]}}}},Ol=e=>e*e*(3-2*e);function kl(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=>ds(e.objects?.[t])),l=e.objects?.[a];c[r]=l?K(l)||ls(l)?{...i,carried:a}:$a(l)?{...i,...q(vo({spec:e,scene:t,timeMap:o},a,s),hs(t.objects[a]??En(t)[a],i))}:{...i,...gs(l,i,n,s)}:i}return i.set(s,c),c};return{all:s,obstacles:e=>(r()!==o&&s(e),a.has(e)||a.set(e,Object.fromEntries(Object.entries(s(e)).filter(([,e])=>!e.carried))),a.get(e))}}function Al(t,r,i,a){if(a.prop)return i.props?.[a.prop]?.[a.point];let o=a.joints??[`RightHandIndex2`,`RightHandMiddle2`];return n(o.map(e=>r.P[t.index[e]]).reduce((t,n)=>e(t,n),[0,0,0]),1/o.length)}function jl(i,o,c,l=!1,u=!0,d=null){let{sk:f}=i;return{softReach:i.softReach,foldFree:l,hold:u&&i.hold?(e,t)=>e===d?null:i.hold.lead(e,c,t,o):void 0,push:l?void 0:e=>i.push?.[e]?.get(c),swivel:e=>i.swivel?.[e]?.get(c),skinPush:l?void 0:e=>i.skinPush?.[e]?.get(c),handTarget(l,u,d){d.frame=c;let m=u.P[f.index[l===`l`?`LeftHand`:`RightHand`]],h=[];for(let[t,n]of Object.entries(o)){let r=/^w_(.+)_([lr])$/.exec(t);!r||r[2]!==l||!(n>1e-6)||h.push([n,e(Xn(i,r[1],u,d,o,l),o[`fit_${r[1]}_${l}`]??[0,0,0])])}let g=h.reduce((e,[t])=>e+t,0);if(g>1){for(let e of h)e[0]/=g;g=1}let _=n(o[`hand_${l}`]??m,1-g);for(let[t,r]of h)_=e(_,n(r,t));let v=Math.max(0,...h.map(([e])=>Ol(Math.min(1,Math.min(e,1-e)*3))));if(v>0){let c=u.P[f.index.Spine],l=u.P[f.index.Neck],d=t(l,c),m=Math.min(1,Math.max(0,r(t(_,c),d)/r(d,d))),h=e(c,n(d,m)),g=i.spec.detourRadius??.25,b=t(_,h),x=a(b);if(x<g){let r=p(y([0,1,0],o.yaw??0),[0,0,1]),i=s(e(x>1e-6?n(b,1/x):r,n(r,.6)));_=e(_,n(t(e(h,n(i,g)),_),v))}}return _},keepOut:i.keepOut&&!l?(r,a,s)=>{let c=(1-tl(i.spec,o,r))*Math.min(1,Math.max(0,o[`armw_${r}`]??0));for(let r=0;r<2&&c>.001;r++){let r=We(i.keepOut.body,f,a,s,Ge,i.keepOut.skip);if(r===s)break;s=e(s,n(t(r,s),c))}return s}:void 0,afterArm:(e,t,n)=>ar(i,e,t,n),grip:l?void 0:(e,t,n)=>As(i,f,t,W[e],e,o,c,n),sag:l?void 0:(e,t,n)=>bl(i,e,c,t,n,(1-tl(i.spec,o,e))*Math.min(1,Math.max(0,o[`armw_${e}`]??0))),heldShapes:l||!i.grasp?void 0:(e,t)=>qo(i,o,c,e,t)}}function Ml(n,r,i,o=!0){let s={...Hs(r,n.idle,i)};for(let e of[`l`,`r`])n.busy?.[e]&&(s[`hangoff_${e}`]=n.busy[e][i]);for(let r of n.spec.fits??[]){let c=`w_${r.anchor}_${r.side}`;if(!(s[c]>1e-4))continue;let l={...s,[c]:1,[`armw_${r.side}`]:1};for(let e of Object.keys(l))e!==c&&RegExp(`^w_.+_${r.side}$`).test(e)&&(l[e]=0);let u=[0,0,0],d=null,f=null,p=sa(n.spec,r.anchor),m=n.sk.index[`${W[r.side]}Arm`],h=n.sk.index[`${W[r.side]}Hand`];for(let s=0;s<6;s++){l[`fit_${r.anchor}_${r.side}`]=u;let{s,diag:c}=cs(n.sk,l,jl(n,l,i,!0,o,r.side)),g=Al(n.sk,s,c,r.effector),_=e(Xn(n,r.anchor,s,c,l,r.side),r.offset??[0,0,0]);if(!g)break;let v=t(_,g),y=a(v);p&&(!d||y<d.err)&&(d={err:y,hand:t(s.P[h],g)}),f={goal:_,shoulder:s.P[m]},u=e(u,v)}p&&d&&f&&a(t(e(f.goal,u),f.shoulder))>Jn(n.sk,r.side)+.02&&(u=d.hand),s[`fit_${r.anchor}_${r.side}`]=u}let{s:c,diag:l}=cs(n.sk,s,jl(n,s,i,!1,o));return l.frame=i,{s:c,diag:l,c:s}}function Nl(e,{sk:t,scene:n},r={}){if(e?.schema!==`cozyclay.motion-spec.v1`)throw Error(`MOTION_SPEC_INVALID: schema must be cozyclay.motion-spec.v1`);let i=Math.round(e.frames);if(!(i>=1&&i<=2e4))throw Error(`MOTION_SPEC_INVALID: frames must be 1..20000`);let a=ul(e.fix),[o,s]=r.window?[Math.max(0,r.window[0]),Math.min(i-1,r.window[1])]:[0,i-1],c={sk:t,spec:e,scene:n,grasp:a.grasp,softReach:a.reach,push:{l:new Map,r:new Map},swivel:{l:new Map,r:new Map},skinPush:{l:new Map,r:new Map},keepOut:a.self?Ke(t):null},l={ctx:c,fps:e.fps??30,frameCount:i,f0:o,frames:[]};c.objectPose=(e,t,n)=>zo(l,e,t,n),c.objectHand=(e,t)=>Ro(l,e,t),c.restingAt=(e,t)=>jo(l,e,t),c.carrySpan=e=>To(l,e),c.solvedAt=e=>No(l,e),c.weightAt=(e,t)=>l.baked?.[e]?.[t],c.frameCount=i;let u={rebake(r){l.keys=r,l.baked=Tr(r,i,Sr(e.flow)),c.socketTurns=new Map,c.graspPlans=new Map,Nc(l.baked,r,i),c.idle=Vs(l.baked,{spec:e,sk:t,frameCount:i}),c.busy=Bs(l.baked,e,i,l.fps);let a=kl(e,n,l.baked,()=>l.timeMap);c.objectsAt=a.all,l.objectsAt=o?e=>a.obstacles(e+o):a.obstacles},solve(e){for(let t of e)t>=o&&t<=s&&(l.frames[t-o]=Ml(c,Er(l.baked,t),t))},all:()=>Array.from({length:s-o+1},(e,t)=>o+t)};return c.hold=wa(c,l,e=>Ml(c,Er(l.baked,e),e,!1),e=>Ml(c,Er(l.baked,e),e)),u.rebake(r.keys??Dc(e,t)),u.solve(u.all()),l.fixed=r.fixes===!1?{}:pl(l,a,u,{whole:!r.window}),c.hold&&l.timeMap&&u.solve(u.all()),l}let Pl=`{ f, pos: [x, y, z], rot: [x, y, z, w] } or { f, pos, aim: [x, y, z], roll? }`,Fl=`{ at, onto?, bounce?, tumble?, v? }`,Il=e=>Array.isArray(e)&&e.length===4&&e.every(Number.isFinite)&&Math.abs(Math.hypot(...e)-1)<=.01,Ll=e=>pn(e)&&Math.hypot(...e)>1e-9;function Rl(e,t,n){if(n.rot!==void 0&&n.aim!==void 0)return e(`${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)`),Il(n.rot)||e(`${t}.rot must be a unit quaternion [x, y, z, w], got ${V(n.rot)}${n.rot===void 0?`; or give aim [x, y, z], the world direction its +Y points`:``}`);return}Ll(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 ${V(n.aim)}`),n.roll!==void 0&&!Number.isFinite(n.roll)&&e(`${t}.roll must be degrees about aim (a number), got ${V(n.roll)}`),n.lean!==void 0&&!(Number.isFinite(n.lean)&&n.lean>=0&&n.lean<=45)&&e(`${t}.lean must be the most degrees the compiler may lean aim (0..45), got ${V(n.lean)}`)}function zl(e,t,n,r,i,a=!1){if(!Array.isArray(r.keys))return e(`${n}.keys must be an array of ${Pl}`);let o=Number.isInteger(i)?i-1:1/0,s=a?0:r.grab??0,c=a?o:r.release??o,l=new Map;r.keys.forEach((r,i)=>{let o=`${n}.keys[${i}]`;if(!r||typeof r!=`object`||Array.isArray(r))return e(`${o} must be ${Pl}, got ${V(r)}`);for(let e of Object.keys(r))Gt.includes(e)||t(`${o} has unknown field "${e}"${H(e,Gt)}; a key is ${Pl}`);Number.isInteger(r.f)?r.f<s||r.f>c?e(a?`${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 ${V(r.f)}`),pn(r.pos)||e(`${o}.pos must be [x, y, z], the world position of the object's base (a group: its root), got ${V(r.pos)}`),Rl(e,o,r)})}function Bl(e,t,n,r,i){let a=/^object:(.+?)(?:\.(?:center|top|base))?$/s.exec(i)?.[1];if(a===void 0)return;let o=U(n,a).flatMap(t=>[t,...n.objects[t].ancestors??[]].find(t=>ds(e.objects?.[t]))??[]).find(t=>ls(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 Vl(e,t,n,r,i){fr(e,t,n,`${r}.follow`,i.follow)&&Bl(e,t,n.scene,`${r}.follow`,i.follow),i.offset!==void 0&&!pn(i.offset)&&t(`${r}.offset must be [x, y, z], metres along the record's own axes after aim (+Y along aim), got ${V(i.offset)}`);let a=i.aim;if(a!==void 0&&a!==`face`&&a!==`up`){if(Array.isArray(a)){Ll(a)||t(`${r}.aim must be a non-zero world direction [x, y, z], got ${V(a)}`);return}if(typeof a!=`string`||!/^[a-z]+:/.test(a))return t(`${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 ${V(a)}`);fr(e,t,n,`${r}.aim`,a)&&Bl(e,t,n.scene,`${r}.aim`,a)}}function Hl(e,t,n,r){return n===void 0||Number.isInteger(n)&&n>=0&&(!Number.isInteger(r)||n<r)?!0:(e(`${t} must be a whole frame 0..${Number.isInteger(r)?r-1:`frames-1`}, got ${V(n)}`),!1)}function Ul(e,t,n,r,{frames:i,scene:a,carry:o}){let s=Array.isArray(r.fall)?r.fall:[r.fall],c=new Set;s.length||e(`${n}.fall is an empty list; give ${Fl} or a list of them`),s.forEach((s,l)=>{let u=Array.isArray(r.fall)?`${n}.fall[${l}]`:`${n}.fall`;if(!s||typeof s!=`object`||Array.isArray(s))return e(`${u} must be ${Fl} (at: the frame it starts to fall), got ${V(s)}`);for(let e of Object.keys(s))Wt.includes(e)||t(`${u} has unknown field "${e}"${H(e,Wt)}; a fall is ${Fl}`);if(s.at===void 0)e(`${u}.at must be the whole frame it starts to fall`);else if(Hl(e,`${u}.at`,s.at,i)){c.has(s.at)&&e(`${u}.at = ${s.at}: another fall starts on that frame`),c.add(s.at);let t=r.grab??0,n=r.release;o&&s.at>=t&&(n===void 0||s.at<n)&&e(`${u}.at = ${s.at} is while it is in hand (grab ${t}..release ${n??`end`}); a carried object falls before its grab or from its release on`)}s.onto!==void 0&&Cn(e,a,`${u}.onto`,s.onto,{groups:!0}),s.bounce!==void 0&&!(Number.isFinite(s.bounce)&&s.bounce>=0&&s.bounce<=.6)&&e(`${u}.bounce must be 0..0.6 (the share of its landing speed it bounces back with; 0 lands dead), got ${V(s.bounce)}`),s.v!==void 0&&!(o&&s.v===`hand`||pn(s.v))&&e(`${u}.v must be [vx, vy, vz] m/s (the velocity it leaves with)${o?` or "hand" (the velocity the hand gives it at the release)`:``}, got ${V(s.v)}`),s.tumble!==void 0&&typeof s.tumble!=`boolean`&&e(`${u}.tumble must be true (it rolls to rest on a stable face, the default) or false (it drops straight down as it was), got ${V(s.tumble)}`)})}let Wl=(e,t)=>{let n=0;for(;n<e.length&&e[n]===t[n];)n+=1;return n};function Gl(e){let t=String(e),n=an.reduce((e,n)=>Wl(n,t)>Wl(e,t)?n:e);return Wl(n,t)>=4?`; did you mean "${n}"?`:H(t,an)}function Kl(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 ${V(n.mass)}`)}function ql(e,t,n){n.visible!==void 0&&(typeof n.visible!=`string`||!n.visible)&&e(`${t}.visible must name a channel (shown above 0.5)`),n.level!==void 0&&(typeof n.level!=`string`||!n.level)&&e(`${t}.level must name a channel (the record's level 0..4: 0 dark, 1 as authored; it scales its light, glow and effect rate)`)}function Jl(e,t,{sk:n,scene:r,frames:i=e.frames,unknown:a=t}){for(let[o,s]of Object.entries(e.objects??{})){let c=`objects.${o}`,l=s?.prop===void 0?ls(s)?`follow`:$a(s)?`free`:us(s)?`switch`:`hinge`:`carry`,u=Ut[l];(l!==`switch`&&l!==`follow`||!r?.others?.[o])&&Cn(t,r,c,o,{groups:!0});for(let e of Object.keys(s??{}))!u.includes(e)&&(l!==`hinge`||e!==`keys`&&e!==`fall`)&&a(`${c} (${l}) has unknown field "${e}"${H(e,u)}; fields: ${u.join(`, `)}`);if(Kl(t,c,s),l===`follow`){Vl(e,t,{sk:n,scene:r},c,s),ql(t,c,s);continue}if(l===`switch`){s.visible===void 0&&s.level===void 0&&t(`${c} needs visible or level (a channel): a switch shows, hides or dims "${o}" without moving it; a carry needs prop, a hinge pivot and channel`),ql(t,c,s);continue}if(l===`free`){s.keys!==void 0&&zl(t,a,c,s,i,!0),s.fall!==void 0&&Ul(t,a,c,s,{frames:i,scene:r,carry:!1}),ql(t,c,s);continue}if(l===`carry`){e.props?.[s.prop]||t(`${c}.prop "${s.prop}" is not in spec.props`);for(let e of[`at`,`along`])s[e]!==void 0&&!pn(s[e])&&t(`${c}.${e} must be [d, l, n] along the palm axes, got ${V(s[e])}`);s.grasp!==void 0&&!an.includes(s.grasp)&&t(`${c}.grasp must be one of 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Set([`l`,`r`]),ju=e=>!!e&&typeof e==`object`&&!Array.isArray(e);function Mu(e,t,n,r){if(ju(n))for(let i of Object.keys(n))r.includes(i)||e(`${t} has unknown field "${i}"${fn(i,r)} (fields: ${r.join(`, `)})`)}function Nu(e,t,{sk:n,scene:r,unknown:i=t}){for(let[a,o]of Object.entries(e.anchors??{})){let s=`anchors.${a}`;if(/_[lr]$/.test(a)&&t(`${s}: an anchor name may not end in _l or _r (the weight channel w_${a}_l would read as anchor "${a.slice(0,-2)}"); the side goes on the weight channel, so name it "${a.slice(0,-2)}"`),!o||!Bt[o.kind]){t(`${s}.kind must be one of ${Object.keys(Bt).join(`, `)}, got ${V(o?.kind)}`);continue}Mu(i,`${s} (${o.kind})`,o,[`kind`,...Bt[o.kind]]);for(let e of[`p`,`offset`,`local`])o[e]!==void 0&&!pn(o[e])&&t(`${s}.${e} must be [x, y, z], got ${V(o[e])}`);(o.kind===`world`||o.kind===`body`)&&o.p===void 0&&t(`${s} (${o.kind}) needs p: [x, y, z]${o.kind===`body`?`, 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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&&!pn(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 ${V(i.orient)}`)})}function Fu(e,t,{frames:n,unknown:r=t,past:i=``}){(e.generators??[]).forEach((e,a)=>{let o=`generators[${a}]`;if(e?.type!==`walk`)return t(`${o}.type must be "walk", got ${V(e?.type)}`);Mu(r,o,e,Kt),(!Number.isInteger(e.f0)||e.f0<0||e.f0>n-1)&&t(`${o}.f0 must be an integer frame within 0..${n-1}, got ${V(e.f0)}${e.f0>n-1?i:``}`),e.heading!==void 0&&!(Array.isArray(e.heading)&&e.heading.length===2&&e.heading.every(Number.isFinite))&&t(`${o}.heading must be [h0, h1] in degrees (${un.yaw}), got ${V(e.heading)}`);for(let n of Kt.slice(2))n!==`heading`&&e[n]!==void 0&&!Number.isFinite(e[n])&&t(`${o}.${n} must be a finite number, got ${V(e[n])}`);e.steps!==void 0&&!(Number.isInteger(e.steps)&&e.steps>=1)&&t(`${o}.steps must be an integer >= 1, got ${V(e.steps)}`),e.turnDistance!==void 0&&!(e.turnDistance>0)&&t(`${o}.turnDistance must be > 0 m, got ${V(e.turnDistance)}`)})}function Iu(e,t,{sk:n,scene:r,frames:i,unknown:a=t,past:o=``}){let s=e.checks??{};for(let e of Object.keys(s))qt.includes(e)||a(`checks.${e} is not a check${H(e,qt)} (checks: ${qt.join(`, `)})`);let c=(e,n=()=>{})=>{let r=s[e],i=`{ ${Jt[e].join(`, `)} }`;if(r!==void 0){if(!Array.isArray(r))return t(`checks.${e} must be an array of ${i}, got ${V(r)}`);r.forEach((r,o)=>{if(!ju(r))return t(`checks.${e}[${o}] must be ${i}, got ${V(r)}`);Mu(a,`checks.${e}[${o}]`,r,Jt[e]),n(r,o)})}},l=(e,n)=>{n!==void 0&&typeof n!=`string`&&(Array.isArray(n)&&n.length===2&&n.every(Number.isInteger)&&n[0]<=n[1]&&n[0]>=0&&n[1]<=i-1||t(`${e}.when must be a weight channel or [f0, f1] within 0..${i-1}, got ${V(n)}${Array.isArray(n)&&n[1]>i-1?o:``}`))};c(`contacts`,(r,i)=>{wn(e,t,n,`checks.contacts[${i}].point`,r.point),wn(e,t,n,`checks.contacts[${i}].target`,r.target),l(`checks.contacts[${i}]`,r.when)}),c(`orient`,(r,i)=>{wn(e,t,n,`checks.orient[${i}].from`,r.from),wn(e,t,n,`checks.orient[${i}].to`,r.to),l(`checks.orient[${i}]`,r.when),r.along===`face`||r.along===`up`||pn(r.along)||t(`checks.orient[${i}].along must be "face", "up" or [x, y, z]`)}),c(`below`,(e,r)=>{Sn(t,n,`checks.below[${r}].joint`,e.joint),Sn(t,n,`checks.below[${r}].ref`,e.ref),l(`checks.below[${r}]`,e.when)}),c(`clearance`,(e,n)=>{Cn(t,r,`checks.clearance[${n}]`,e.object),l(`checks.clearance[${n}]`,e.frames)}),c(`appear`,(r,i)=>{Sn(t,n,`checks.appear[${i}].joint`,r.joint),e.anchors?.[r.anchor]||t(`checks.appear[${i}].anchor "${r.anchor}" is not in spec.anchors`)}),c(`supports`,(e,n)=>Cn(t,r,`checks.supports[${n}]`,e.object)),c(`allow`);for(let e of Object.keys(s.limits??{}))e in Ai||a(`checks.limits.${e} is not a QA limit${H(e,Object.keys(Ai))}`);let u=e.fix;if(u!==void 0&&u!==!1&&(typeof u!=`object`||!u))t(`spec.fix must be false or { ${ll.join(`, `)} }`);else for(let e of Object.keys(u||{}))ll.includes(e)||a(`spec.fix.${e} is not a fix${H(e,ll)} (fixes: ${ll.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 ${V(u.grasp)}`)}function Lu(e,t,n){Nu(e,t,n),Pu(e,t,n),Jl(e,t,n),Fu(e,t,n),Iu(e,t,n),ku(e,t,n)}function Ru(e){let t=new Set(e.channels??[]);for(let n of Object.values(e.objects??{}))for(let e of[n?.channel,n?.visible,n?.level])typeof e==`string`&&e&&t.add(e);let n=e.checks??{},r=e=>Array.isArray(e)?e.filter(e=>e&&typeof e==`object`):[];for(let e of[n.contacts,n.orient,n.below,n.clearance].flatMap(r))typeof e.when==`string`&&t.add(e.when);for(let e of r(n.appear))typeof e.channel==`string`&&t.add(e.channel);return t}function zu(e,t,n,r){if($t.has(n)){if(!pn(r))return e(`${t} ${n} must be [x, y, z] (3 finite numbers), got ${V(r)}`);if(en.has(n)){let i=Math.hypot(...r);if(i<1e-6)return e(`${t} ${n} = ${V(r)} has no direction; a pole is a ${un.pole}`);n.startsWith(`knee`)&&r[2]<-.7*i&&e(`${t} ${n} = ${V(r)} points backward; knees bend toward +z. 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-(more problems not listed)`:``}`)}function Ku(e,t,n){let{s:r,diag:i,c:a}=e.frames[t],[o,s]=n.split(/:(.*)/s);if(o===`joint`)return r.P[e.ctx.sk.index[s]];if(o===`prop`){let[e,t]=s.split(`.`);return i.props?.[e]?.[t]??null}if(o===`anchor`)return Xn(e.ctx,s,r,i,a);throw Error(`MOTION_SPEC_INVALID: check point "${n}"`)}function qu(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=>At(a,a.objects[t],o,t)&&Ro(e,t,n)===i)??null:null}function Ju(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}let Yu=(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 Xu(e,t,n){return n===`up`?[0,1,0]:n===`face`?j(e.ctx.sk,e.frames[t].s,e.ctx.sk.index.Head,[0,0,1]):s(n)}function Zu(e,n={}){let i=[],o=e.frames.length,c=e.ctx.sk.index,l=(e,t,n,r,a)=>i.push({kind:e,msg:t,frame:n,value:+r.toFixed(4),limit:a});for(let i=0;i<o;i++){for(let r of n.contacts??[])if(Yu(e,i,r.when)){let n=Ku(e,i,r.point),o=Ku(e,i,r.target);if(!n||!o)continue;let s=Ju(e,r.target)??qu(e,r.point,i+(e.f0??0)),c=s?ur(e,i,r.point,`object:${s}`)??a(t(n,o)):a(t(n,o));c>(r.tol??.01)&&l(`CONTACT`,`${r.name}: ${(c*100).toFixed(1)} cm apart`,i,c,r.tol??.01)}for(let a of n.orient??[])if(Yu(e,i,a.when)){let n=Ku(e,i,a.from),o=Ku(e,i,a.to);if(!n||!o)continue;let c=r(s(t(o,n)),Xu(e,i,a.along));c<(a.minCos??.64)&&l(`ORIENT`,`${a.name}: cos ${c.toFixed(2)}`,i,c,a.minCos??.64)}for(let t of n.below??[])if(Yu(e,i,t.when)){let{P:n}=e.frames[i].s,r=n[c[t.ref]][1]-n[c[t.joint]][1];r<(t.min??.08)&&l(`BELOW`,`${t.name}: ${t.joint} only ${(r*100).toFixed(1)} cm below ${t.ref}`,i,r,t.min??.08)}for(let t of n.clearance??[])if(Yu(e,i,t.frames)){let n=e.objectsAt(i)[t.object],r=ht.find(e=>e[0]===t.part);if(!n||!r)continue;let{P:a}=e.frames[i].s,o=Math.min(...gt(a[c[r[1]]],a[c[r[2]]]).map(e=>B(e,n)))-r[3];o<t.min&&l(`CLEARANCE`,`${t.name}: ${(o*100).toFixed(1)} cm`,i,o,t.min)}}for(let r of n.appear??[])for(let n=1;n<o;n++){if((e.frames[n-1].c[r.channel]??0)>.5==(e.frames[n].c[r.channel]??0)>.5)continue;let i=a(t(Ku(e,n,`joint:${r.joint}`),Ku(e,n,`anchor:${r.anchor}`)));i>(r.tol??.035)&&l(`APPEAR`,`${r.name}: switches with the hand ${(i*100).toFixed(1)} cm from ${r.anchor}`,n,i,r.tol??.035)}return i}let Qu=/^(.+): [\d.]+ cm off its keys$/,$u={twist:`twist about the forearm`,flex:`flex`,dev:`deviation (+ toward the thumb)`};function ed(t,n){let r=t.objects[n]??En(t)[n];return U(t,n).flatMap(n=>{let i=t.objects[n],a=hs(r,i),[o,s,c]=i.half;return[-o,o].flatMap(t=>[0,2*s].flatMap(n=>[-c,c].map(r=>e(a.pos,p(a.R,[t,n,r])))))})}function td(t,n,r){let{scene:i}=t.ctx,a=t.f0??0;for(let[s]of Ca(t.ctx.spec)){let c=ba(t,s),l=ed(i,s);if(l.length)for(let i=Math.max(a,Math.ceil(c.t[0]));i<=Math.min(a+t.frames.length-1,Math.floor(c.t[c.t.length-1]));i++){let u=xa(c,i),d=Io(t,s,i),f=Math.max(...l.map(t=>o(e(u.pos,p(u.R,t)),e(d.pos,p(d.R,t)))));f>n.reach&&r(`REACH`,`${s}: ${(f*100).toFixed(1)} cm off its keys`,i-a,f,n.reach)}}}function nd(e,t){let n=Qu.exec(t.subject)?.[1],r=e.spec?.objects?.[n];if(!r?.keys?.length)return null;let i=t.worstFrame,a=e.spec.props?.[r.prop]?.hand,o=e.fr(i).diag[`hold_${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(Ye).filter(([e,[t,n]])=>o[e]<t||o[e]>n).map(([e,[t,n]])=>`the wrist ${$u[e]} needs ${Math.round(o[e])}deg (limit ${t}..${n})`);c.length&&(c[c.length-1]+=` after the elbow swung ${Math.round(o.swivel??0)}deg and the forearm turned`);let l=o.miss>.005&&o.fold,u=l?`the grip is ${(o.miss*100).toFixed(1)} cm inside the forearm's reach (the elbow would fold ${Math.round(o.fold)}deg; it bends to 145deg and stops at 150deg)`:`the arm is ${(o.miss*100).toFixed(1)} cm short`,d=[...o.miss>.005?[u]:[],...c],f=r.keys[s].aim&&r.keys[s].roll===void 0?``:`; an aim key without roll takes the roll the arm holds most easily`;return{cause:`objects.${n}.keys[${s}] f${r.keys[s].f}`,hint:`${n} at f${i}: ${d.length?d.join(`, `):`the hand cannot hold it there`}; ${l?`key a pose farther from the shoulder, or turn or move the body away from it`:`key a pose nearer the hand, or bring the body to it`} (root, yaw, spine_yaw)${f}`}}let rd=e=>Math.round(e*10)/10,id=e=>Math.round(e*100)/100;function ad(e){let t=Ca(e.ctx.spec);return t.length?Object.fromEntries(t.map(([t,n])=>{let r=ba(e,t);return[t,[...n.keys].sort((e,t)=>e.f-t.f).map((n,i)=>{let a=Io(e,t,Math.round(r.t[i])),c=[a.R[0][1],a.R[1][1],a.R[2][1]],l=n.aim?s(n.aim):p(C(r.q[i]),[0,1,0]),u=rd(w(l,c));return{f:n.f,deg:u,cm:rd(o(n.pos,a.pos)*100),...u>=1?{got:c.map(id)}:{},...n.aim?{rot:r.rots[i]}:{}}})]})):null}let od=.03,sd=t=>e(t.pos,p(t.R,[0,t.half[1],0])),cd=(e,t)=>[e[0][t],e[1][t],e[2][t]];function ld(e,o,c=null){let l=sd(e),u=sd(o),d=t(l,u),f=[0,1,2].map(t=>cd(e.R,t)),p=[0,1,2].map(e=>cd(o.R,e)),m=[...f,...p,...f.flatMap(e=>p.map(t=>i(e,t)))],h={depth:1/0,axis:[0,1,0]};for(let t of m){if(a(t)<1e-6)continue;let i=s(t),l=(e,t)=>t.reduce((t,n,a)=>t+Math.abs(r(n,i))*e.half[a],0),u=l(e,f)+l(o,p);if(u-Math.abs(r(d,i))<=0)return{depth:u-Math.abs(r(d,i)),axis:i};let m=r(c??d,i)<0?n(i,-1):i,g=u-r(d,m);g<h.depth&&(h={depth:g,axis:m})}return h}let ud=(t,r,i,a)=>{let o=i===`l`?`Left`:`Right`,s=n(e(r.P[t.index[`${o}HandIndex2`]],r.P[t.index[`${o}HandMiddle2`]]),.5);return a.some(e=>B(s,e)<=0)},dd=(e,t,n)=>!t.visible||(e.baked?.[t.visible]?.[n]??0)>.5,fd=(e,t,n)=>U(e.ctx.scene,t).map(t=>({...e.ctx.scene.objects[t],...jo(e,t,n)}));function pd(e,t,n){let{sk:r,spec:i}=e.ctx,a=e.frames[n-(e.f0??0)];if(!a)return null;let o=fs(r,i,a.s,i.objects[t]);return Math.max(0,Math.min(...fd(e,t,n).map(e=>B(o,e))))}function md(t,r,i){let a=fd(t,r,i);if(!a.length)return null;let o=Math.min(...a.map(e=>e.pos[1]-Math.abs(e.R[1][0])*e.half[0]-Math.abs(e.R[1][2])*e.half[2])),s=n(a.map(sd).reduce((t,n)=>e(t,n),[0,0,0]),1/a.length),c=[s[0],o-.01,s[2]],l=null;for(let[e,n]of Object.entries(t.ctx.objectsAt(i))){if(n.carried||!n.half)continue;let t=B(c,n);t<=.02&&(!l||t<l[1])&&(l=[e,t])}return l?.[0]??null}function hd(t,r,i){let s=Object.entries(r.ctx.spec.objects??{}).filter(([,e])=>K(e));if(!s.length)return[];let c=i.checks??{},l={...Ai,...c.limits},u=c.allow,d=[],f=r.f0??0,p=t.index,m=(e,t,n,r,i)=>d.push({kind:e,msg:t,frame:n,value:+r.toFixed(4),limit:i}),h=(e,t)=>e.reduce((e,n)=>t.reduce((e,t)=>e??ji(u,n,t),e),null)??l.allow;for(let[c,u]of s){let[s,d]=To(r,u),g=i.props?.[u.prop]?.hand,_=new Set([`hand_${g}`,`farm_${g}`]);if(u.grab!==void 0&&s>0&&r.frames[s-f]&&dd(r,u,s-1)){let e=pd(r,c,s),t=[u.fall??[]].flat().some(e=>Array.isArray(e.v)&&e.at<s);t&&e>od?m(`CATCH`,`${c} missed by ${(e*100).toFixed(1)} cm`,s-f,e,od):!t&&e>l.grab&&m(`GRAB`,`${c}: hand ${(e*100).toFixed(1)} cm from it at grab`,s-f,e,l.grab)}let v=u.grab===void 0?null:md(r,c,s),y=e=>Math.abs(e-s)<=3||u.release!==void 0&&Math.abs(e-d)<=3;for(let i=0;i<r.frames.length;i++){let l=i+f,d=Lo(r,c,l);if(!d||!dd(r,u,l))continue;let g=d.map(e=>e.id),b=d.map(e=>[e,sd(e),a(e.half)]),{s:x}=r.frames[i],S=Object.entries(r.frames[i].diag).filter(([e,n])=>/^hold_[lr]$/.test(e)&&n?.second===c&&(n.w>=.5||ud(t,x,e.slice(-1),d))).map(([e])=>`hand_${e.slice(-1)}`);for(let[t,r,a,s]of ht){if(_.has(t)||S.includes(t))continue;let l=x.P[p[r]],u=x.P[p[a]],d=n(e(l,u),.5),f=s+o(l,u)/2,v=h([t],[c,...g]),y=null,C=-1/0;for(let[e,t,n]of b)f-(o(d,t)-n)<=v||(y??=gt(l,u),C=Math.max(C,s-Math.min(...y.map(t=>B(t,e)))));C>v&&m(`COLLIDE`,`${t} x ${c}`,i,C,v)}if(!(l<s))for(let[e,t]of Object.entries(r.objectsAt(i))){if(!t.half||t.ignore||e===v&&y(l))continue;let n=h([c,...g],[e]),r=sd(t),s=a(t.half),u=-1/0;for(let[e,i,a]of b)o(i,r)<a+s+n&&(u=Math.max(u,ld(e,t).depth));u>n&&m(`COLLIDE`,`${c} x ${e}`,i,u,n)}}}return td(r,l,m),d}let gd=.004,_d=.995,vd=.01,yd=[`Index`,`Middle`,`Ring`,`Pinky`],bd={l:`Left`,r:`Right`};function xd(e,t){let n=U(e,t),r=n.length===1?Ct(e.objects[n[0]]).kind:`box`;return r===`sphere`?`spherical`:r===`cylinder`?`power`:null}function Sd(e){let{spec:t,scene:n}=e.ctx,r=[],i=t.fix?.grasp===!1?{...t,fix:{...t.fix,grasp:!0}}:t;for(let[t,a]of Object.entries(i.objects??{})){if(!K(a)||!At(i,a,n,t))continue;let o=i.props?.[a.prop]?.hand,[s,c]=To(e,a);o&&r.push({id:t,k:o,grasp:a.grasp??xd(n,t),from:s+4+1,to:c})}for(let t of i.fits??[]){let n=i.anchors?.[t.anchor];if(n?.kind!==`object`||!n.grasp||e.ctx.sockets?.get(t.anchor)?.rim)continue;let a=`w_${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)>=_d&&c(t)>=_d,rests:!0})}return r}let Cd=(e,t,n)=>U(e.ctx.scene,t).map(t=>({...e.ctx.scene.objects[t],...zo(e,t,n)}));function wd(e,t,n){let r=bd[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:.022}];for(let e of[...yd,`Thumb`])for(let t=1;t<=3;t++)a.push({bone:`${r}Hand${e}${t}`,finger:e,tip:t===3,a:i(`${e}${t}`),b:i(`${e}${t+1}`),r:.009});return a}function Td(t,r){return t.map(t=>{let i={depth:-1/0};for(let e of r){let n=kt(e,t.a,t.b,t.r);n>i.depth&&(i={depth:n,entry:e})}let a=n(e(t.a,t.b),.5),o=i.entry&&Ot(i.entry,a);return{...t,depth:i.depth,at:o,normal:i.entry&&Dt(i.entry,a)}})}function Ed(e,t){if(!t.length)return 1/0;let n=[e[0],e[2]],r=t.map(e=>[e[0],e[2]]),i=(e,t)=>{let r=[t[0]-e[0],t[1]-e[1]],i=Math.max(0,Math.min(1,((n[0]-e[0])*r[0]+(n[1]-e[1])*r[1])/(r[0]**2+r[1]**2||1)));return Math.hypot(n[0]-e[0]-i*r[0],n[1]-e[1]-i*r[1])},a=Dd(r);return a.length>=3&&a.every((e,t)=>{let r=a[(t+1)%a.length];return(r[0]-e[0])*(n[1]-e[1])-(r[1]-e[1])*(n[0]-e[0])>=0})?0:Math.min(...a.map((e,t)=>i(e,a[(t+1)%a.length])))}function Dd(e){let t=[...e].sort((e,t)=>e[0]-t[0]||e[1]-t[1]),n=(e,t,n)=>(t[0]-e[0])*(n[1]-e[1])-(t[1]-e[1])*(n[0]-e[0]);if(t.length<3)return t;let r=[],i=[];for(let e of t){for(;r.length>=2&&n(r.at(-2),r.at(-1),e)<=0;)r.pop();r.push(e)}for(let e of t.reverse()){for(;i.length>=2&&n(i.at(-2),i.at(-1),e)<=0;)i.pop();i.push(e)}return[...r.slice(0,-1),...i.slice(0,-1)]}function Od(t,i,a,o,c,l){let u=Td(wd(t,i,a.k),o),d=bd[a.k].toLowerCase();if(a.rests&&u[0].depth<-.03)return;for(let e of u)e.finger!==`palm`&&e.depth>gd&&c(`FINGER_PEN`,`${e.bone} into ${a.id}`,l,e.depth,gd);let f=e=>u.some(t=>t.finger===e&&t.tip&&t.depth>=-.008),m=yd.filter(f).length,h=f(`Thumb`);(a.grasp===`pinch`?h&&f(`Index`):m>=3||h&&m>=2)||c(`FINGER_GAP`,`${d} fingers off ${a.id}`,l,m+ +!!h,a.grasp===`pinch`?2:3);let g=u.filter(e=>e.depth>=-.008&&e.normal),_=n(o.reduce((t,n)=>e(t,e(n.pos,p(n.R,[0,n.half[1],0]))),[0,0,0]),1/o.length),v=g.filter(e=>e.normal[1]<=-.3).map(e=>e.at),y=g.filter(e=>e.finger===`Thumb`).map(e=>e.normal),b=g.filter(e=>yd.includes(e.finger)).map(e=>e.normal),x=t=>t.length?s(t.reduce(e,[0,0,0])):null,S=x(y),C=x(b),w=S&&C&&Math.acos(Math.max(-1,Math.min(1,r(S,C))))*180/Math.PI>=120,T=(e,t)=>Math.acos(Math.max(-1,Math.min(1,r(e,t))))*180/Math.PI,E=g.some((e,t)=>g.slice(t+1).some(t=>T(e.normal,t.normal)>=150));!a.rests&&!w&&!E&&Ed(_,v)>vd&&c(`SUPPORT`,`${a.id} not supported`,l,Math.min(1,Ed(_,v)),vd)}function kd(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 Sd(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=Cd(t,n.id,a);o.length&&Od(e,t.frames[a-r].s,n,o,i,a-r)}return n}let Ad=.5,jd={twist:.5,flex:1,dev:1},Md=(e,t)=>t[e].map(t=>t*jd[e]);function Nd(e,t,n,r){let{diag:i}=e.frames[n],a=e.baked??{};if((i[`hold_${t}`]?.w??0)>Ad||(i[`grip_${t}`]?.w??0)>Ad)return!0;for(let n of e.ctx.spec.fits??[])if(n.side===t&&(a[`w_${n.anchor}_${t}`]?.[r]??0)>Ad)return!0;return Object.keys(e.ctx.spec.objects??{}).some(n=>e.ctx.spec.objects[n]?.prop&&Ro(e,n,r)===t)}function Pd(e,r){let i=e.index,o=e.restWorldRot,s=r.f0??0,c={};for(let[l,u]of[[`Left`,`l`],[`Right`,`r`]]){let d=i[`${l}Hand`],h=i[`${l}ForeArm`],g=i[`${l}Arm`],_={frames:0,past:0,limit:0,raised:0};r.frames.forEach(({s:i},c)=>{let v=c+s;if(!Nd(r,u,c,v))return;let y=n(t(i.P[d],i.P[h]),1/Math.max(1e-9,a(t(i.P[d],i.P[h])))),b=f(i.R[h],f(m(o[h]),o[d])),x=nt(b,i.R[d],y,p(f(b,m(i.R[d])),z(e,i,l).l));_.frames++;for(let e of[`flex`,`dev`,`twist`]){let t=Math.round(x[e]),n=_[e];_[e]=n?[Math.min(n[0],t),t<n[0]?v:n[1],Math.max(n[2],t),t>n[2]?v:n[3]]:[t,v,t,v]}let S=(e,t)=>[`flex`,`dev`,`twist`].some(n=>{let[r,i]=Md(n,e);return x[n]<r+t||x[n]>i-t});S(Xe,-1)&&_.past++,S(Ye,1)&&_.limit++;let C=t(i.P[h],i.P[g]),w=Math.round(Math.acos(Math.max(-1,Math.min(1,-C[1]/Math.max(1e-9,a(C)))))*180/Math.PI);(!_.elevation||w>_.elevation[0])&&(_.elevation=[w,v]),w>90&&_.raised++}),_.frames&&(c[`hand_${u}`]=_)}for(let e of r.ctx.hold?.grips?.()??[])c[`hand_${e.hand}`]&&(c[`hand_${e.hand}`].grip={object:e.id,chose:e.name,cost:[e.cost,e.today]});return Object.keys(c).length?c:null}let Fd=.5,Id=[`flex`,`dev`,`twist`],Ld={l:`Left`,r:`Right`},Rd={flex:e=>e>=0?`flex`:`extension`,dev:e=>e>=0?`radial deviation`:`ulnar deviation`,twist:()=>`twist`};function zd(e){let t=null;for(let n of Id){let[r,i]=Ye[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 Bd(e,r,i,o){let{s,diag:c}=r.frames[o],l=c[`hold_${i}`];if((l?.w??0)>Fd)return l;let u=Ld[i],d=e.index,h=d[`${u}Hand`],g=d[`${u}ForeArm`],_=e.restWorldRot,v=n(t(s.P[h],s.P[g]),1/Math.max(1e-9,a(t(s.P[h],s.P[g])))),y=f(s.R[g],f(m(_[g]),_[h]));return nt(y,s.R[h],v,p(f(y,m(s.R[h])),z(e,s,u).l))}function Vd(e,t){let n=[],r=t.f0??0;for(let i of[`l`,`r`])t.frames.forEach((a,o)=>{if(!Nd(t,i,o,o+r))return;let s=zd(Bd(e,t,i,o));if(s.past<=.5)return;let c=Math.abs(s.edge);n.push({kind:`WRIST`,msg:`hand_${i} ${Rd[s.axis](s.value)} ${Math.round(Math.abs(s.value))}deg (limit ${Math.round(c)})`,frame:o,value:+Math.abs(s.value).toFixed(2),limit:c})});return n}function Hd(e,t){let n=/^hand_([lr]) /.exec(t.subject)?.[1];if(!n)return null;let r=t.worstFrame,i=`at f${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 ${a} 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r=e.names.indexOf(t),i=(n+r)*3;return[e.P[i],e.P[i+1],e.P[i+2]]};return ht.map(([e,t,n,i])=>[e,r(t),r(n),i])}function Gd(e,t,n={}){let r=Object.entries(t.ctx?.scene?.people??{}),i=[];if(!r.length)return i;let a=e.index,s=t.f0??0,c={...Ai,...n.limits}.allow;return t.frames.forEach(({s:e},t)=>{let l=t+s,u=ht.map(([t,n,r,i])=>[t,e.P[a[n]],e.P[a[r]],i]);for(let[s,d]of r){if(!ht.every(([,e,t])=>d.names.includes(e)&&d.names.includes(t)))continue;let r=Wd(d,l),f=r.find(e=>e[0]===`hips`)[1];if(!(o(e.P[a.Hips],f)>2.2))for(let[e,a,o,l]of u){let u=Math.max(...r.map(([,e,t,n])=>l+n-_t(a,o,e,t))),d=ji(n.allow,e,`person:${s}`)??c;u>d&&i.push({kind:`PERSON`,msg:`${e} x person:${s}`,frame:t,value:+u.toFixed(4),limit:d})}}}),i}let Kd=(e,t)=>` (${e}the knee would fold ${Math.round(t)}deg; it bends to 150deg and stops at 160deg)`;function qd(e,i,c,l,u){let d=i===`l`?`Left`:`Right`,f=e.fr(c).s.P,p=f[e.I[`${d}UpLeg`]],m=f[e.I[`${d}Leg`]],h=f[e.I[`${d}Foot`]],g=t(u,p),_=N(o(p,m),o(m,h),150)+.002,v=n(s(g),Math.max(0,_-a(g))),y=g[1]+Math.sqrt(Math.max(0,g[1]*g[1]-r(g,g)+_*_));return g[1]<0?{cause:e.cause(`root`,c),hint:`root: raise ${J(y)} m at f${c}${l}, or key foot_${i} farther from the hip (wider or more forward)`,fix:{channel:`root`,f:c,delta:[0,y,0]}}:{cause:e.cause(`foot_${i}`,c),hint:`foot_${i}: move ${Yl(v)} m out from the hip at f${c}${l}, or raise root ${J(y)} m`,fix:{channel:`foot_${i}`,f:c,delta:v}}}let Jd=.003,Yd=e=>/(^|_)l$|^Left/.test(e)?`l`:/(^|_)r$|^Right/.test(e)?`r`:null;function Xd(e,t,n,r,i){let 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:p(_(-(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=$n(e.out.ctx,a,t,{...s,diag:{...s.diag,frame:n}},i);return{path:o(`local`),delta:p(m(c.R),r)}}function Zd(e,t,n,r,i=``){let a=/^prop_(.+)$/.exec(t),o=a?e.spec.props?.[a[1]]?.hand:Yd(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?Xd(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 ${Yl(r)} m at f${n}${i}; change that walk's heading/turnDistance/step (or give one a { range: [lo, hi] })`}:{cause:c,hint:`${s}: move ${Yl(u)} m at f${n}${i}`,fix:l}}let Qd=e=>ht.find(t=>t[0]===e);function $d(e,t,n,r){let[,i,a]=Qd(n),{s:o}=e.fr(t),s=gt(o.P[e.I[i]],o.P[e.I[a]]),c=s.map(e=>B(e,r)),l=Math.min(...c);return{p:s[c.indexOf(l)],n:St(s[c.indexOf(l)],r),d:l}}function ef(e,t,r,i,a){let o=t.worstFrame,s=e.out.objectsAt(e.rel(o))[i];if(!s||!Qd(r))return null;let{n:c}=$d(e,o,r,s);return Zd(e,r,o,n(c,a),` (out of ${i})`)}function tf(e,r,i,a){let o=r.worstFrame,s=e.out.objectsAt(e.rel(o))[a];if(!s)return null;let c=Di(e.sk,e.fr(o).s,i.endsWith(`_l`)?`Left`:`Right`),l=Oi(c,s),u=r.worst-r.limit+Jd;if(!(l.side>0))return l.topAt?Zd(e,i,o,n(St(l.topAt,s),u),` (out of ${a}'s top)`):null;let d=Math.max(...c.filter(e=>B(e,s)<0).map(e=>2*s.half[1]-p(m(s.R),t(e,s.pos))[1]))+Jd,f=n(St(l.sideAt,s),u);if(d>.25)return Zd(e,i,o,f,` (out of ${a}'s side)`);let h=Zd(e,i,o,p(s.R,[0,d,0]),` (over ${a}'s top; its ${r.worst.toFixed(3)} m is through a side)`);return h.hint+=/^walk path/.test(h.hint)?`; a higher lift raises the swing`:`; or move ${Yl(f)} m out of that side`,h}function nf(e,t,r,i,a,o){return Zd(e,r,t.worstFrame,n(s(i),a),` (away from the ${o})`)}function rf(e,t,n){let{s:r,diag:i}=e.fr(t),a=e.I;if(n.startsWith(`hand_`)){let e=n.endsWith(`l`)?`Left`:`Right`;return gt(r.P[a[`${e}Hand`]],r.P[a[`${e}HandMiddle3`]],5)}return Object.entries(i.props?.[n.slice(5)]??{}).filter(([e,t])=>Array.isArray(t)&&e!==`origin`).map(([,e])=>e)}let af={COLLIDE(e,t){let[,n,r]=/^(\S+) x (.+)$/.exec(t.subject)??[];if(/^foot_[lr]$/.test(n??``))return tf(e,t,n,r);let i=ef(e,t,n,r,t.worst-t.limit+Jd);return i&&/^(hand|farm)_/.test(n)&&!e.spec.fix?.penetration&&t.worst-t.limit<=.05&&(i.hint+=`; or fix.penetration: 0.02 pushes shallow hand hits out`,e.spec.fix!==!1&&(i.fix={path:`/fix/penetration`,value:.02})),i},PERSON(i,o){let[,l,u]=/^(\S+) x person:(.+)$/.exec(o.subject)??[],d=Qd(l),f=i.out?.ctx?.scene?.people?.[u];if(!d||!f)return null;let p=o.worstFrame,{s:m}=i.fr(p),h=gt(m.P[i.I[d[1]]],m.P[i.I[d[2]]]),g=Wd(f,p).map(([i,o,s,l])=>{let u=t(s,o),f=Math.max(r(u,u),1e-12);return h.map(s=>{let p=e(o,n(u,c(r(t(s,o),u)/f,0,1)));return{other:i,p:s,q:p,depth:d[3]+l-a(t(s,p))}}).reduce((e,t)=>t.depth>e.depth?t:e)}).reduce((e,t)=>t.depth>e.depth?t:e),_=a(t(g.p,g.q))>1e-6?s(t(g.p,g.q)):s([g.p[0]-g.q[0]||1,0,g.p[2]-g.q[2]]),v=Zd(i,l,p,n(_,o.worst-o.limit+Jd),` (out of ${f.name}'s ${g.other})`);return{...v,hint:`${v.hint}; or, for a touch you mean, checks.allow [{ part: "${l}", object: "person:${u}", depth: ${J(o.worst+Jd)} }]`}},CLEARANCE(e,t){let n=(e.spec.checks?.clearance??[]).find(e=>t.subject.startsWith(`${e.name}:`));return n&&ef(e,t,n.part,n.object,n.min-t.worst+Jd)},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_${n}`];if(a)return qd(e,n,r,Kd(`the sole is in the floor because the knee is on its stop: `,a),i[`foot_${n}`]);let o=i[`fpitch_${n}`]?`, or less fpitch_${n} (now ${J(i[`fpitch_${n}`])} deg; + lifts the heel)`:``;return{cause:e.cause(`foot_${n}`,r),hint:`foot_${n}: raise ${J(t.worst+.001)} m at f${r} (foot_* is the ankle; it stands ${yt(e.sk)} m above the floor)${o}`,fix:{channel:`foot_${n}`,f:r,delta:[0,t.worst+.001,0]}}},FACE(e,n){let r=n.subject.replace(/ into head$/,``),i=n.worstFrame,{s:a}=e.fr(i),o=A(a,e.I.Head,e.sk.landmarks.headCentre),s=rf(e,i,r).reduce((t,n)=>vt(e.sk,a,n)>vt(e.sk,a,t)?n:t);return nf(e,n,r,t(s,o),n.worst-n.limit+Jd,`head`)},BODY(i,o){let[,s,l]=/^(\S+) into (\S+)$/.exec(o.subject)??[],u=Qd(l),d=o.worstFrame,{s:f}=i.fr(d),p=/^(hand|farm|uarm)_([lr])$/.exec(s??``),m=p&&Me(i.sk);if(m){let e=i.I[`${p[2]===`l`?`Left`:`Right`}${{hand:`Hand`,farm:`ForeArm`,uarm:`Arm`}[p[1]]}`],t=Je(m,i.sk,f,e),r=t.p&&Le(m,f,t.p,m.skip.get(e));if(r){let e=Zd(i,s,d,n(r,o.worst-o.limit+Jd),` (out of the ${l})`);return p[1]!==`hand`&&(e.hint+=`; or turn elbow_${p[2]} away from the ${l}`),e}}if(!u)return null;let h=f.P[i.I[u[1]]],g=f.P[i.I[u[2]]],_=t(g,h),v=i=>e(h,n(_,c(r(t(i,h),_)/r(_,_),0,1))),y=rf(i,d,s).reduce((e,n)=>a(t(n,v(n)))<a(t(e,v(e)))?n:e);return nf(i,o,s,t(y,v(y)),o.worst-o.limit+Jd,`torso`)},SELF(e,r){let i=r.worstFrame,{s:a}=e.fr(i),o=a.P,c=e.I;if(r.subject===`hands overlap`){let a=s(t(o[c.LeftHand],o[c.RightHand])),l=(r.worst-r.limit+Jd)/2,u=Zd(e,`hand_l`,i,n(a,l));return{cause:u.cause,hint:`${u.hint}; and ${Zd(e,`hand_r`,i,n(a,-l)).hint}`,fix:Zd(e,`hand_l`,i,n(a,2*l)).fix}}let l=r.subject===`shins touch`,u=l?.1:.135,[d,f]=l?[`Leg`,`Foot`]:[`UpLeg`,`Leg`],p=_t(o[c[`Left${d}`]],o[c[`Left${f}`]],o[c[`Right${d}`]],o[c[`Right${f}`]]),m=t(o[c[`Left${f}`]],o[c[`Right${f}`]]);m[1]=0;let h=(u-p+Jd)/2,g=s(m);return{cause:e.cause(`foot_l`,i),hint:`foot_l: move ${Yl(n(g,h))} m and foot_r ${Yl(n(g,-h))} m at f${i} (${l?`shins`:`thighs`} ${J(p)} m apart, need ${u}); or spread knee_l/knee_r`,fix:{channel:`foot_l`,f:i,delta:n(g,2*h)}}},OBJECT(e,t){let[,n,r]=/^(\S+) into (.+)$/.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 ${J(o)} deg (it reaches ${J(a(t.worstFrame))} at f${t.worstFrame}, ${J(t.worst)} m into ${r}), or move ${r}`,fix:{channel:i,f:t.worstFrame,value:o}}},BALANCE(r,i){let a=i.worstFrame,{s:o}=r.fr(a),s=o.P,l=r.I;if(i.subject===`no foot on the ground`)return{cause:r.cause(`root`,a),hint:`at f${a} lower foot_l or foot_r onto the ground, the floor or the top of an object under it (the ankle stands ${yt(r.sk)} m above it), or declare checks.supports for the seat the hips rest on`};let u=n([`Hips`,`Spine1`,`Spine2`,`Head`].reduce((t,n)=>e(t,s[l[n]]),[0,0,0]),.25),d=[`Left`,`Right`].flatMap(e=>Object.values(xt(r.sk,o,e))),f=d.map(e=>e[0]),p=d.map(e=>e[2]),m=.07,h=[c(u[0],Math.min(...f)-m,Math.max(...f)+m),u[1],c(u[2],Math.min(...p)-m,Math.max(...p)+m)];return{cause:r.cause(`root`,a),hint:`root: move ${Yl(t(h,u))} m at f${a} (centre of mass over the feet), or step a foot under it`,fix:{channel:`root`,f:a,delta:t(h,u)}}}},of=.02;function sf(e,r,i,o,c=``){let l=r===`l`?`Left`:`Right`,{s:u}=e.fr(i),d=t(u.P[e.I[`${l}Hand`]],u.P[e.I[`${l}Arm`]]),f=Math.hypot(d[0],d[2])/Math.max(a(d),1e-9);if(f<.5)return null;let p=n(s([d[0],0,d[2]]),Math.min(.2,o/f));return{delta:p,hint:`body: move ${Yl(p)} m toward the target at f${i}, ${e.cause(`root`,i)} (arm ${r} is at full reach)${c}`,fix:{channel:`root`,f:i,delta:p,hold:!0}}}let cf=(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_${t}`];function lf(e,t,n,r){let i=null;for(let[a,o]of Object.entries(e.fr(n).c))a===r||!RegExp(`^w_.+_${t}$`).test(a)||!(o>of)||i&&o<=i.w||(i={ch:a,w:o});return i}function uf(e,t,n,r,i){let a=n.slice(-1),o=e.hand(a,r),s=o.anchor?lf(e,a,r,o.ch):null;if(!s)return null;let c=Array.isArray(t.at)?t.at[1]:t.at,l=e.bracket(s.ch,r).prev,u=l&&Math.abs(e.out.baked[s.ch]?.[Math.round(l.f)]??1)<=of&&c>=r&&!(e.bracket(s.ch,r).next?.f<=c)?c:r,d=s.w/Math.max(1,(e.fr(r).c[o.ch]??1)+s.w),f=s.ch.replace(/^w_/,``).replace(/_[lr]$/,``);return{cause:e.cause(s.ch,r),hint:`${s.ch} is ${J(s.w)} at f${r}, so anchor ${f} takes ${Math.round(d*100)}% of the hand target from ${o.label}: key ${s.ch} 0 at f${u}${i}`,fix:{channel:s.ch,f:u,value:0}}}function df(e,t){let n=null;return(e.spec?.goals??[]).forEach((e,r)=>{let i=tu(e,r);t.subject.startsWith(`${i}:`)&&(!n||i.length>n.name.length)&&(n={goal:e,name:i,i:r})}),n}function ff(e,t,n){let r=[t,...e.out.ctx.scene?.objects?.[t]?.ancestors??[]].find(t=>So(e.spec.objects?.[t],n));return r?e.spec.objects[r]:null}function pf(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=ff(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=xn(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 mf(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 hf(e,r,i,o,c,l){if(i===`moved`||i===`still`){let u=r[i],d=pf(e,u,o),f=su(e.out,r,l),p=lr(e.out,o,iu(u)),m=p&&f&&a(t(p,f))>.001?s(t(p,f)):[0,1,0];return d?[d,n(m,i===`still`?-c:c)]:null}let[u,d]=r[i],f=pf(e,u,o),p=pf(e,d,o),m=e=>e?.startsWith(`hand_`)?2:+!!e,h=m(f)>=m(p),g=h?f:p,_=h?1:-1;if(!g)return null;if(i===`above`)return[g,[0,_*c,0]];let v=lr(e.out,o,u),y=lr(e.out,o,d);return v&&y?[g,n(s(t(y,v)),_*c)]:null}let gf={GOAL(e,t){let n=e.spec&&df(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=eu(i)[0],c=t.worst+.003,l=gu(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 ${J(t.worst)} ${u} ${s===`still`?`off`:`short`}; needs ${d} ${nu(i,s)})`;if(s===`speed`){let t=pf(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${f}`}}let p=hf(e,i,s,r,c,l.a);if(!p){if(s===`still`&&i.still.startsWith(`object:`)){let e=i.still.slice(7).replace(/\.(center|top|base)$/,``);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=uf(e,i,m,r,f);if(t)return t;let n=cf(e,m.slice(-1),r)&&sf(e,m.slice(-1),r,c,f);if(n)return{cause:e.cause(`root`,r),hint:n.hint,fix:n.fix}}let g=Zd(e,m,r,h,f),_=mf(e,m,r,h);return{cause:g.cause,hint:g.hint,..._?{fix:_}:{}}}},_f={Leg:[`UpLeg`,`Leg`,`Foot`,`knee`],ForeArm:[`Arm`,`ForeArm`,`Hand`,`elbow`]},vf=e=>e.startsWith(`Left`)?`l`:`r`,yf=e=>/^(w_|armw)/.test(e)?.5:/^(root|foot|hand)/.test(e)?1:/^(knee|elbow)/.test(e)?.2:.01;function bf(e,t,n){let r=vf(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 s=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)?o(t,r):Math.abs(r-t))*yf(e)};return a.filter(e=>i[e]).sort((e,t)=>s(t)-s(e))}function xf(e,t,n){let r=t.subject.split(` `)[0],i=t.worstFrame,a=bf(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 ${p[1]} too fast`:``}; or fix.retime: true`,fix:e.spec.fix===!1?void 0:{path:`/fix/retime`,value:!0}}}function Sf(e,t,n){let[r,i]=n.split(/:(.*)/s);if(r===`joint`)return t.s.P[e.I[i]];if(r===`prop`){let[e,n]=i.split(`.`);return t.diag.props?.[e]?.[n]}return Xn(e.out.ctx,i,t.s,t.diag,t.c)}function Cf(e,t,n,r){let i=Er(e.out.baked,t),a=r(e.fr(t)),o=null;for(let[s,c,l]of n){let n=r(Ml(e.out.ctx,{...i,[s]:c},t))-a;n>1e-6&&(!o||n/l>o.gain/o.unit)&&(o={ch:s,value:c,gain:n,unit:l})}return{best:o,base:a,c0:i}}let wf=(e,t,n,r)=>e.fr(n).s.P[e.I[`${t===`l`?`Left`:`Right`}${_f[r][0]}`]],Tf={REACH(i,c){let[,l,u]=/^(leg|arm)_miss_([lr])$/.exec(c.subject)??[],d=c.worstFrame,f=c.worst+.002;if(l===`leg`){let e=i.fr(d).diag[`leg_fold_${u}`];if(e)return qd(i,u,d,Kd(`the ankle target is ${J(c.worst)} m inside the shin's reach: `,e),i.fr(d).c[`foot_${u}`]);let l=i.fr(d).c[`foot_${u}`]??[0,0,0],p=wf(i,u,d,`Leg`),m=t(l,p),h=o(p,l)-c.worst,g=m[1]*m[1]-r(m,m)+h*h,_=[m[0],0,m[2]],v=g>=0?`or root down ${J(-m[1]-Math.sqrt(g)+.002)} m${c.worst<=.05?` (fix.reach does this when on)`:``}`:`or root ${Yl(n(s(_),a(_)-h*.95))} m toward the foot (the foot is ${J(a(_))} m sideways of the hip: the root and foot keys disagree)`;return{cause:i.cause(`foot_${u}`,d),hint:`foot_${u}: move ${Yl(n(s(t(p,l)),f))} m toward the hip at f${d}, ${v}`,fix:{channel:`foot_${u}`,f:d,delta:n(s(t(p,l)),f)}}}let p=u===`l`?`Left`:`Right`,{s:m,diag:h}=i.fr(d),g=s(t(m.P[i.I[`${p}Hand`]],m.P[i.I[`${p}Arm`]])),_=h[`arm_fold_${u}`];if(_){let e=Zd(i,`hand_${u}`,d,n(g,f),` (the hand target is ${J(c.worst)} m inside the forearm's reach: the elbow would fold ${Math.round(_)}deg; it bends to 145deg and stops at 150deg)`);return{cause:e.cause,hint:`${e.hint}, or bring root ${Yl(n([-g[0],0,-g[2]],f))} m back from it`,fix:e.fix}}let v=Zd(i,`hand_${u}`,d,n(g,-f),``),y=i.hand(u,d).anchor,b=JSON.stringify([i.spec.goals??[],i.spec.checks?.contacts??[]]),x=y&&(i.spec.anchors?.[y]?.kind===`object`||b.includes(`"anchor:${y}"`)),S=i.spec.fits?.[i.hand(u,d).fit??-1],C=S?.effector?.prop&&i.fr(d).diag.props?.[S.effector.prop]?.[S.effector.point],w=C?o(C,e(Sf(i,i.fr(d),`anchor:${y}`),S.offset??[0,0,0]))+.01:f,T=x&&sf(i,u,d,Math.min(f,w));return T?{cause:v.cause,hint:`${T.hint} (out of reach by ${J(c.worst)} m), or ${v.hint}`,fix:T.fix}:{cause:v.cause,hint:`${v.hint} (out of reach by ${J(c.worst)} m), or bring root ${Yl(n([g[0],0,g[2]],f))} m closer`,fix:v.fix}},KNEE(r,i){let a=vf(i.subject),c=a===`l`?`Left`:`Right`,l=i.worstFrame,{s:u,c:d}=r.fr(l),f=u.P,m=r.I;if(/backward/.test(i.subject)){let n=t(f[m[`${c}ToeBase`]],f[m[`${c}Foot`]]);n[1]=0;let i=e(s(p(_(-(d.yaw??0)),n)),[0,.3,0]);return{cause:r.cause(`knee_${a}`,l),hint:`knee_${a}: key ${Yl(s(i))} (body frame, along the foot) at f${l}; a knee pole is +z forward, +x the character's left`,fix:{channel:`knee_${a}`,f:l,value:s(i)}}}if(/ folds /.test(i.subject))return qd(r,a,l,` (the knee folds ${J(i.worst)}deg, past its ${i.limit}deg stop; it bends freely to 150deg)`,f[m[`${c}Foot`]]);let h=f[m[`${c}UpLeg`]],g=f[m[`${c}Leg`]],v=f[m[`${c}Foot`]],y=o(h,g),b=o(g,v),x=(180-(i.limit-5))*Math.PI/180,S=Math.sqrt(y*y+b*b-2*y*b*Math.cos(x));return{cause:r.cause(`foot_${a}`,l),hint:`foot_${a}: move ${Yl(n(s(t(v,h)),S-o(h,v)))} m away from the hip at f${l} (the knee folds ${J(i.worst)} deg, limit ${i.limit})`,fix:{channel:`foot_${a}`,f:l,delta:n(s(t(v,h)),S-o(h,v))}}},ELBOW(e,r){let i=vf(r.subject),a=i===`l`?`Left`:`Right`,c=r.worstFrame,l=e.fr(c).s.P,u=e.I,d=l[u[`${a}Arm`]],f=l[u[`${a}ForeArm`]],p=l[u[`${a}Hand`]],m=n(s(t(p,d)),N(o(d,f),o(f,p),145)-o(d,p));return Zd(e,`hand_${i}`,c,m,` (the elbow folds ${J(r.worst)}deg, past its ${r.limit}deg stop; it bends freely to 145deg)`)},FLIP(e,n){let[,r,i]=/^(Left|Right)(Leg|ForeArm) /.exec(n.subject)??[],o=n.worstFrame;if(!i)return null;let s=vf(r),[c,l,u,d]=_f[i],f=e.I,p=+(/ over (\d+) frames$/.exec(n.subject)?.[1]??1),m=e.fr(o).diag,h=i===`ForeArm`&&(m[`arm_fold_${s}`]??m[`hold_${s}`]?.fold);if(h){let t=m[`hold_${s}`]?.fold&&Object.entries(e.spec.objects??{}).find(([,t])=>t.keys?.length&&e.spec.props?.[t.prop]?.hand===s)?.[0];return{cause:t?`objects.${t}.keys`:e.cause(e.hand(s,o).ch,o),hint:`the ${t?`keys of ${t} ask`:`hand target asks`} the elbow to fold ${Math.round(h)}deg at f${o}, past its 150deg stop, so the hand swings round the shoulder on the stop: move ${t?`the keyed pose`:`the target`} out from the shoulder (REACH says how far)`}}let g=n=>{let i=e.fr(n).s.P;return w(t(i[f[`${r}${l}`]],i[f[`${r}${c}`]]),t(i[f[`${r}${u}`]],i[f[`${r}${l}`]]))},_=Array.from({length:Math.max(1,p-1)},(e,t)=>p>1?o-1-t:o).reduce((e,t)=>g(t)<g(e)?t:e),v=g(_),y=`${d}_${s}`,b=e.out.baked[y]?.[Math.max(0,o-1)];if(b&&a(b)<.5)return{cause:e.cause(y,o),hint:`${y}: the pole passes near zero (length ${J(a(b))}) at f${o} while it turns between opposite keys; add an in-between pole key (e.g. the average direction, normalised) so it turns, not shrinks`};let x=v<12?`the limb is almost straight at f${_} (bend ${J(v)} deg), so the pole cannot hold it: bring the ${i===`Leg`?`foot`:`hand`} target ~0.02 m toward the ${i===`Leg`?`hip`:`shoulder`}, or `:``;return{cause:e.cause(y,o),hint:`${y}: ${x}keep the pole on one side through f${o}${b?` (key ${Yl(b)} there)`:``}`,fix:b&&{channel:y,f:o,value:b}}},SLIDE(e,t){let n=vf(t.subject),r=n===`l`?`Left`:`Right`,i=t.subject.includes(`heel`)?`heel`:`ball`,a=Math.max(0,t.first-1),o=t=>xt(e.sk,e.fr(t).s,r)[i],s=Math.hypot(o(t.last)[0]-o(a)[0],o(t.last)[2]-o(a)[2]),c=e.out.baked[`foot_${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 ${J(l[a])} -> ${J(l[t.last])} deg over f${a}-f${t.last} and the ${i} slides ${J(s)} m; key fyaw_${n} ${J(l[a])} at f${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 ${Yl(c)} at both ends)`:``}; the ${i} slides ${J(s)} m${s<.01?`; fix.slide locks this when on`:``}`,fix:c&&{channel:`foot_${n}`,f:t.last,value:c}}},SPEED:(e,t)=>xf(e,t,1),POP:(e,t)=>xf(e,t,.5),ACC:(e,t)=>xf(e,t,.5),FLOAT:(e,t)=>({cause:e.cause(`root`,t.worstFrame),hint:`over f${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 ${yt(e.sk)} m above it); a jump needs the hips to rise and fall; a seat or ledge the hips rest on goes in checks.supports (a foot on an object's top needs none)`}),LENGTH:()=>({cause:`compiler`,hint:`a bone changed length: report the spec, this is a compiler fault`}),CONTACT(e,r){let i=(e.spec.checks?.contacts??[]).find(e=>r.subject.startsWith(`${e.name}:`)),a=r.worstFrame,o=e.rel(a);if(!i)return null;let c=Ku(e.out,o,i.point),l=Ku(e.out,o,i.target),u=t(l,c),d=/^prop:([^.]+)/.exec(i.point),f=d?e.spec.props?.[d[1]]?.hand:vf(i.point.slice(6)),{diag:p}=e.fr(a),m=Math.max(p[`reach_over_${f}`]??0,p[`arm_miss_${f}`]??0),h=/^anchor:(.+)$/.exec(i.target)?.[1],g=(e.spec.fits??[]).findIndex(e=>e.side===f&&e.anchor===h),_=g>=0?`fits[${g}] (${f} -> anchor ${h})`:Zd(e,`hand_${f}`,a,u).cause,v=n(s([u[0],0,u[2]]),m+.01),y=p[`arm_fold_${f}`];if(m>.002&&y){let t=e.fr(a).s.P[e.I[`${f===`l`?`Left`:`Right`}Arm`]],r=n(s([t[0]-l[0],0,t[2]-l[2]]),m+.01);return{cause:_,hint:`inside the forearm's reach by ${J(m)} m at f${a} (the elbow would fold ${Math.round(y)}deg; it stops at 150deg): bring root ${Yl(r)} m back from ${h??`the target`}, or move the target out from the shoulder`,fix:{channel:`root`,f:a,delta:r}}}if(m>.002)return{cause:_,hint:`out of reach by ${J(m)} m at f${a}: bring root ${Yl(v)} m toward ${h??`the target`}, or move the target`,fix:{channel:`root`,f:a,delta:v}};let b=Zd(e,`hand_${f}`,a,u);return{cause:_,hint:`${b.hint}${g<0&&h?`; or add fits: [{ side: "${f}", anchor: "${h}", effector: ${d?`{ prop: "${d[1]}", point: "${i.point.split(`.`)[1]}" }`:`{ joints: [...] }`} }]`:``}`,fix:b.fix}},ORIENT(e,n){let i=(e.spec.checks?.orient??[]).find(e=>n.subject.startsWith(`${e.name}:`)),a=n.worstFrame;if(!i)return null;let o=/^prop:([^.]+)/.exec(i.from),l=o?e.spec.props?.[o[1]]?.hand:vf(i.from.slice(6)),u=i.minCos??.64,d=t=>i.along===`up`?[0,1,0]:i.along===`face`?j(e.sk,t.s,e.I.Head,[0,0,1]):s(i.along),f=n=>r(s(t(Sf(e,n,i.to),Sf(e,n,i.from))),d(n)),p=Er(e.out.baked,a),m=p[`wtwist_${l}`]??0,h=p[`wflex_${l}`]??0,{best:g,base:_}=Cf(e,a,[[`wtwist_${l}`,c(m+15,-85,85),15],[`wtwist_${l}`,c(m-15,-85,85),15],[`wflex_${l}`,c(h+15,-70,70),15],[`wflex_${l}`,c(h-15,-70,70),15]],f);if(!g)return{cause:e.cause(`wtwist_${l}`,a),hint:`turn the prop another way: wrist twist/flex do not help at f${a} (cos ${J(_)}, needs ${u}); change elbow_${l} or the prop points`};let v=g.ch.startsWith(`wtwist`)?m:h,y=g.ch.startsWith(`wtwist`)?85:70,b=c(v+(g.value-v)*Math.min(4,(u-_+.03)/g.gain),-y,y);return{cause:e.cause(g.ch,a),hint:`${g.ch}: key ${J(b)} deg at f${a} (now ${J(v)}; cos ${J(_)}, needs ${u})`,fix:{channel:g.ch,f:a,value:b}}},BELOW(e,t){let n=(e.spec.checks?.below??[]).find(e=>t.subject.startsWith(`${e.name}:`)),r=t.worstFrame;if(!n)return null;let i=vf(n.joint),a=`${/Leg/.test(n.joint)?`knee`:`elbow`}_${i}`,o=Er(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=Er(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(Ml(e.out.ctx,{...l,[a]:t},r)),turn:w(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 ${Yl(f.p)} (body frame: +y up, +z forward) at f${r} (${n.joint} ${J(u)} m below ${n.ref} -> ${J(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,n){let r=(e.spec.checks?.appear??[]).find(e=>n.subject.startsWith(`${e.name}:`)),i=n.worstFrame;if(!r)return null;let o=null;for(let n=Math.max(e.out.f0??0,i-24);n<=Math.min((e.out.f0??0)+e.out.frames.length-1,i+24);n++){let i=a(t(Ku(e.out,e.rel(n),`joint:${r.joint}`),Ku(e.out,e.rel(n),`anchor:${r.anchor}`)));(!o||i<o.d)&&(o={q:n,d:i})}let s=r.tol??.035;return{cause:e.cause(r.channel,i),hint:o.d<=s?`${r.channel}: move the step from f${i} to f${o.q} (${r.joint} ${J(o.d)} m from ${r.anchor} there)`:`${r.joint} never gets within ${s} m of ${r.anchor} near f${i} (closest ${J(o.d)} m at f${o.q}): hold its weight w_${r.anchor}_${vf(r.joint)} at 1 around the switch`}}},Ef=.003;function Df(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 Of(e,t,n,r,i){let a=Zd(e,`hand_${t}`,n,r,i),o=Df(e,t,n,r);return o?{...a,fix:o}:a}function kf(e,t,n,r){let i=e.spec.anchors?.[e.hand(t,n).anchor],a=e.out.ctx.scene;return i?.kind===`object`&&[a.objects?.[i.object]?.ancestors,En(a)[i.object]?.ancestors,[i.object]].some(e=>e?.includes(r))}function Af(n,r){let i=p(m(n.R),t(r,n.pos)),a=[0,n.half[1],0];return e(n.pos,p(n.R,i.map((e,t)=>c(e,a[t]-n.half[t],a[t]+n.half[t]))))}let jf={REACH:(e,t)=>nd(e,t)??Tf.REACH(e,t),GRAB(e,r){let i=r.subject.split(`:`)[0],o=r.worstFrame,s=e.spec?.objects?.[i],c={cause:`objects.${i}.grab`,hint:`${i}: move the hand to it by f${o}, or set objects.${i}.grab to the frame the hand arrives`};if(!e.out||!K(s))return c;let l=null;for(let t=o-24;t<=o+24;t++){let n=pd(e.out,i,t);n!==null&&n<=r.limit&&(!l||Math.abs(t-o)<Math.abs(l[0]-o))&&(l=[t,n])}if(l)return{cause:c.cause,hint:`${i}: set objects.${i}.grab to ${l[0]} (the hand is ${(l[1]*100).toFixed(1)} cm from it there, ${(r.worst*100).toFixed(1)} cm at f${o})`,fix:{path:`/objects/${i}/grab`,value:l[0]}};let{sk:u,spec:d,scene:f}=e.out.ctx,p=fs(u,d,e.fr(o).s,s),m=U(f,i).map(e=>Af(f.objects[e],p)).reduce((e,n)=>a(t(n,p))<a(t(e,p))?n:e),h=a(t(m,p)),g=n(t(m,p),h>1e-9?(h-r.limit/2)/h:0),_=Of(e,d.props[s.prop].hand,o,g,` (to ${i} at grab)`);return{..._,hint:`${_.hint}; or set objects.${i}.grab to the frame the hand arrives`}},COLLIDE(e,r){let[,i,a]=/^(\S+) x (.+)$/.exec(r.subject)??[],o=e.spec?.objects??{},s=K(o[a])?a:K(o[i])?i:null;if(!s||!e.out)return af.COLLIDE(e,r);let c=o[s],l=e.spec.props[c.prop].hand,[u,d]=To(e.out,c),f=r.worst-r.limit+Ef,p=r.worstFrame,m=p>=u&&p<=d,h=Math.min(p,d),g=Lo(e.out,s,p)??[];if(s===a){let t=ht.find(e=>e[0]===i),{s:r}=e.fr(p);if(!t||!g.length)return null;let a=gt(r.P[e.I[t[1]]],r.P[e.I[t[2]]]),[o,c]=g.flatMap(e=>a.map(t=>[e,t])).reduce((e,t)=>B(t[1],t[0])<B(e[1],e[0])?t:e),u=St(c,o),d=/^(hand|farm|uarm)_([lr])$/.exec(i)?.[2];return m&&d&&d!==l&&kf(e,d,p,s)?Zd(e,`hand_${d}`,p,n(u,f),` (out of ${s})`):m?Of(e,l,p,n(u,-f),` (${s} off ${i})`):Zd(e,i,p,n(u,f),` (out of ${s})`)}let _=e.out.objectsAt(e.rel(p))[a];if(!_||!g.length)return null;let v=Lo(e.out,s,Math.max(u,r.first-1))??g,y=g.map((e,n)=>ld(e,_,t(v[n].pos,_.pos))).reduce((e,t)=>t.depth>e.depth?t:e);return Of(e,l,h,n(y.axis,y.depth-r.limit+Ef),m?` (${s} out of ${a})`:` (${s} is put down in ${a}; it stays where the hand lets go at f${d})`)}},Mf=e=>e.spec?.fix?.grasp===!1,Nf={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 Pf(e,t,n){let{scene:r}=e.out.ctx,i=e.out.objectsAt?.(e.rel(n))??{};return U(r,t).map(t=>({...r.objects[t],...e.out.ctx.objectPose?.(t,n)??i[t]??{}}))}let Ff={FINGER_GAP(t,r){if(Mf(t))return Nf;let[,i,a]=/^(left|right) fingers off (\S+)$/.exec(r.subject)??[];if(!a||!t.out)return null;let o=i===`left`?`l`:`r`,s=i===`left`?`Left`:`Right`,c=r.worstFrame,{s:l}=t.fr(c),u=n(e(l.P[t.I[`${s}Hand`]],l.P[t.I[`${s}HandMiddle1`]]),.5),d=Pf(t,a,c);if(!d.length)return null;let f=d.reduce((e,t)=>Et(t,u)<Et(e,u)?t:e),p=Et(f,u);return Zd(t,`hand_${o}`,c,n(Dt(f,u),-Math.max(0,p-.03)),` (onto ${a}: the fingers reach it from nearer)`)},FINGER_PEN(e,t){if(Mf(e))return Nf;let[,r,i]=/^(\S+) into (\S+)$/.exec(t.subject)??[];if(!i||!e.out||e.I[r]===void 0)return null;let a=r.startsWith(`Left`)?`l`:`r`,o=t.worstFrame,s=e.fr(o).s.P[e.I[r]],c=Pf(e,i,o);if(!c.length)return null;let l=c.reduce((e,t)=>Et(t,s)<Et(e,s)?t:e);return Zd(e,`hand_${a}`,o,n(Dt(l,s),t.worst-t.limit+.005),` (out of ${i})`)},SUPPORT(e,t){if(Mf(e))return Nf;let n=/^(\S+) not supported$/.exec(t.subject)?.[1],r=e.spec?.objects?.[n];if(!r||!e.out)return null;let i=e.out.ctx.scene.objects[U(e.out.ctx.scene,n)[0]],a=i?Ct(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,n){let[,r]=/^(\S+) missed by/.exec(n.subject)??[];if(!e.spec?.objects?.[r]||!e.out)return null;let i=n.worstFrame,o=e.spec.anchors?.[`${r}Catch0`]?.p;if(!o)return{cause:`objects.${r}.grab`,hint:`${r}: the hand is ${(n.worst*100).toFixed(1)} cm from it at f${i}; reach it earlier`};let s=null;for(let n=Math.max(0,i-30);n<i;n++){let i=jo(e.out,r,n)?.pos;i&&(!s||a(t(i,o))<s.d)&&(s={f:n,d:a(t(i,o))})}let c=s?i-s.f:0,l=`${r}: the hand gets there ${c} frame(s) after it passed (${(n.worst*100).toFixed(1)} cm off at f${i}); start catchObject ${c} frame(s) earlier`;return c>0?{cause:`use catchObject ${r} f0`,hint:l,fix:{ops:e=>{let t=(e.use??[]).findIndex(e=>e.skill===`catchObject`&&e.args?.object===r);return t<0?null:[{op:`replace`,path:`/use/${t}/f0`,value:Math.max(0,e.use[t].f0-c)}]}}}:{cause:`use catchObject ${r}`,hint:l}}},If=[`add`,`remove`,`replace`,`test`],Lf=e=>{throw Error(`MOTION_SPEC_INVALID: ${e}`)},Rf=(e,t)=>JSON.stringify(e)===JSON.stringify(t),zf=e=>e.split(`/`).slice(1).map(e=>e.replaceAll(`~1`,`/`).replaceAll(`~0`,`~`)),Bf=e=>e.map(e=>`/${String(e).replaceAll(`~`,`~0`).replaceAll(`/`,`~1`)}`).join(``);function Vf(e,t){if(Array.isArray(e))return`${t} has ${e.length} entries`;let n=Object.keys(e);return n.length?`${t} has ${n.slice(0,8).join(`, `)}${n.length>8?`, ...`:``}`:`${t} is empty`}function Hf(e,t,n){let r=e;for(let e=0;e<t.length-1;e++){let i=t[e],a=e?t[e-1]:`the spec`;(typeof 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m/s (mode any by default)"),Y(`m; near default 0.05, still 0.01`),Y(`above m, default 0; moved m, default 0.05; speed m/s, needed`),Sp(null,{minimum:0}),X(`a goal's name: at starts after the first frame that goal holds`),X(`a goal's name: at ends before the first frame that goal holds`),X(`the key of the answer`),Tp({$ref:`#/$defs/ref`},`min/max/mean/first/last m`),Z(`ref`,`world points`),Z(`frameSpan`,`absolute, default the whole take`),Sp(`position: every n frames (<= 16 rows)`,{minimum:1}),Cp(`wrist targets past reach go onto it softly; hips lower for near-miss ankles`,{default:!0}),Cp(`lifts sunk soles; a planted heel or ball drifting under 1 cm stays put; a heel-up foot pivots on its ball`,{default:!0}),Cp(`arms kept out of the body's skin (wrists, elbows)`,{default:!0}),Cp(`speed spikes borrow frames from the neighbouring keys`,{default:!1}),Cp(`a standIdle stance in a scene body slides out of it (observations.placed)`,{default:!0}),Cp(`fingers close on what the hand holds; it rests in the hand`,{default:!0});let kp=e=>e.f0+16+(e.steps??8)*(e.period??20)+18,Ap=e=>({type:`array`,items:{type:`number`},minItems:2,maxItems:2,description:e}),jp=e=>Object.fromEntries(e.map(e=>[e,X(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)`)])),Mp=Object.fromEntries(Kt.filter(e=>e!==`type`&&e!==`f0`).map(e=>[e,Ep[e]])),Np={standIdle:{args:{at:Ap(`[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:Y(`degrees (yaw); default the keyed yaw`),until:Sp(`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:Ap(`[x, z] world m: the heading turns toward it and the steps cover the distance`),...Mp,heading:{oneOf:[Y(),Ep.heading],description:`degrees: h1, or [h0, h1]`},arrive:Sp(`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:X(`not ending in _l/_r`),side:wp(`the hand`),reach:Sp(`frames to reach`,{default:20}),hold:Sp(`frames held`,{default:22}),release:Sp(`frames to let go`,{default:12}),elbow:Z(`vec3`,`pole`),fingers:{enum:rn,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:{...jp([`car`,`seat`,`seatBack`,`wheel`]),offset:{...Z(`vec3`,`hips from the seat top, seat frame`),default:[0,.17,.02]},floor:Y(`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:{...jp([`car`,`seat`,`door`,`handle`]),side:wp(`driver door side, default l`),channel:X(`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:Y(`back/front: m along the heading at landing (default back -0.25, front 0.4)`),side:wp(`cartwheel: toward the character's l (default) or r`),heading:Y(`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:Sp(`hold to this frame; default the last frame; under f0+264 the beats are paced to fit`),kit:{type:`object`,properties:{cig:X(`the cigarette kit's rootId (object.createKit)`),lighter:X(`the lighter kit's rootId`),exhale:X(`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:Ap(`[x, z] the way the body is thrown`),from:X(`or what hits it: object:<id> | person:<id> (thrown away from it)`),speed:Y(`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:X(`the carried object's id (objects.<id>.prop on the hand's prop)`),side:wp(`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:X(`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`}}}},Pp={_l:`_r`,_r:`_l`},Fp=/^(yaw|roll|spine_yaw|spine_roll|head_yaw|head_roll|fyaw_[lr]|wtwist_[lr]|wflex_[lr])$/,Ip=/^(root|foot_[lr]|hand_[lr])$/,Lp=/^(knee|elbow)_[lr]$/,Rp=/^(yaw|fyaw_[lr])$/,zp=e=>e&&typeof e==`object`?structuredClone(e):e,Bp=e=>e.replace(/_(l|r)$/,e=>Pp[e]).replace(/^(Left|Right)/,e=>e===`Left`?`Right`:`Left`),Vp=()=>({origin:[0,0,0],yaw:0,mirror:!1,negate:new Set,names:{}}),Hp=(t,n)=>e(t.origin,p(_(t.yaw),t.mirror?[-n[0],n[1],n[2]]:n)),Up=(e,t)=>e.mirror?[-t[0],t[1],t[2]]:t.slice();function Wp(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)?Bp(t):t}function Gp(e,t){let n={};for(let[r,i]of Object.entries(t)){let t=zp(i);Ip.test(r)?t=Hp(e,t):Lp.test(r)?t=Up(e,t):typeof t==`number`&&(e.mirror&&(Fp.test(r)||e.negate.has(r))&&(t=-t),Rp.test(r)&&(t+=e.yaw)),n[Wp(e,r)]=t}return n}function Kp(e,t=0,n=Vp()){let r=[],i=e=>Wp(n,e);return{state:e,keys:r,frame:n,at(i,a){let o=Gp(n,a);Object.assign(e,zp(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),zp(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]})}}}let Q=(e,t)=>{throw Error(`MOTION_SPEC_INVALID: ${e}: ${t}`)};function qp(e,t,n){let r=e.scene?.objects?.[n];return r||Q(e.tag,`args.${t} "${n}" is not a scene object`),r}let Jp=e=>Math.atan2(e[0][2],e[2][2])*180/Math.PI,Yp=.01,Xp=[`Left`,`Right`].flatMap(e=>[[`${e}UpLeg`,`${e}Leg`,.07],[`${e}Leg`,`${e}Foot`,.05],[`${e}Foot`,`${e}ToeBase`,.045],[`${e}ToeBase`,`${e}Toe_End`,.04]]).concat([[`LeftUpLeg`,`RightUpLeg`,.095],[`Hips`,`Spine2`,.12]]),Zp=[[0,-1],[1,0],[-1,0],[Math.SQRT1_2,-Math.SQRT1_2],[-Math.SQRT1_2,-Math.SQRT1_2]];function Qp(n,r,i){let a=n.index,o=n.restWorldPos,s=o[a.Hips],c=_(i),l=t=>e([r[0],0,r[1]],p(c,[t[0]-s[0],t[1],t[2]-s[2]])),u=(n,r,i)=>[0,.25,.5,.75,1].map(a=>[e(n,t(r,n).map(e=>e*a)),i]),d=[`Left`,`Right`].flatMap(e=>{let t=o[a[`${e}Arm`]],n=Math.sign(t[0]-s[0])*.04;return u(l(t),l([t[0]+n,t[1]-.62,t[2]]),.045)});return Xp.filter(([e,t])=>a[e]!==void 0&&a[t]!==void 0).flatMap(([e,t,n])=>u(l(o[a[e]]),l(o[a[t]]),n)).concat(d)}let $p=e=>Object.values(e?.objects??{}).filter(e=>e.half&&e.pos&&e.R&&e.pos[1]+2*e.half[1]*e.R[1][1]>.12);function em(e,t,n,r){let i=1/0;for(let[a,o]of Qp(e,n,r))for(let e of t)i=Math.min(i,B(a,e)-o-.01);return i}function tm(e,t,n,r){let i=$p(t);if(!i.length||em(e,i,n,r)>=0)return null;let a=_(r);for(let t=Yp;t<=.600000001;t+=Yp)for(let[o,s]of Zp){let c=p(a,[o*t,0,s*t]),l=[n[0]+c[0],n[1]+c[2]];if(em(e,i,l,r)>=0)return{at:l.map(e=>+e.toFixed(4)),moved:+t.toFixed(2)}}return null}function nm(t,n){if(n?.kind===`world`&&Array.isArray(n.p))return n.p;if(n?.kind!==`object`||!t)return null;let r=t.objects?.[n.object]??t.groups?.[n.object];if(!r)return null;if(!n.grasp||n.local)return e(r.pos,p(r.R,n.local??[0,0,0]));let i=U(t,n.object).map(e=>t.objects[e]).filter(e=>e?.half).map(t=>e(t.pos,p(t.R,[0,t.half[1],0])));return i.reduce((t,n)=>e(t,n.map(e=>e/i.length)),[0,0,0])}function rm(e){let{sk:n,scene:r,use:i=[],index:o=-1}=e,s=i.slice(o+1).find(e=>e?.skill===`reachGrip`),c=nm(r,s&&(s.args?.define??e.anchors?.[s.args?.anchor]));if(!c)return null;let l=n.index,u=n.restWorldPos,d=s.args.side===`l`?`Left`:`Right`,f=u[l.Hips],m=u[l[`${d}Arm`]],h=a(t(u[l[`${d}ForeArm`]],m))+a(t(u[l[`${d}Hand`]],u[l[`${d}ForeArm`]]))+a(t(u[l[`${d}HandMiddle2`]],u[l[`${d}Hand`]])),g=m[1]-c[1],v=Math.max(.15,Math.sqrt(Math.max(0,(.8*h)**2-g*g))),y=e.args.heading??e.state?.yaw??0,b=_(y),x=$p(r),S=p(b,[m[0]-f[0],0,m[2]-f[2]+v]),C=[c[0]-S[0],c[2]-S[2]],w=0,T=C;for(;w<=.600000001&&em(n,x,T,y)<0;w+=Yp){let e=p(b,[0,0,-(w+Yp)]);T=[C[0]+e[0],C[1]+e[2]]}return{at:T.map(e=>+e.toFixed(4)),heading:y,anchor:s.args.anchor,moved:+w.toFixed(2)}}let im=.75,am=.08,om=[.15,.3,.45,.6,.7,.8,.9],sm=e=>e*e*e*(10-15*e+6*e*e),cm=.9,lm=.7,um=(e,t)=>{let n=Math.min(1,Math.max(0,e));return n<lm?cm*sm((n/lm)**t):cm+.09999999999999998*sm((n-lm)/.30000000000000004)},dm=e=>[...new Map(om.map(t=>Math.round(t*e)).filter(t=>t>0&&t<e).map(t=>[t,[um(t/e,.65),um(t/e,.75)]])).entries()].map(([e,[t,n]])=>[e,t,n]),fm=180/Math.PI,pm=(e,t,n)=>Math.max(t,Math.min(n,e));function mm(e,t){let n=hm(e,t),r=e.sk.index;return!!n&&n[1]>=e.sk.restWorldPos[r.LeftLeg][1]+.1}function hm(t,n){if(n?.kind===`world`&&Array.isArray(n.p))return n.p.map(Number);let r=n?.kind===`object`?t.scene?.objects?.[n.object]:null;return!r||[n.object,...r.ancestors??[]].some(e=>gm(t,e))?null:e(r.pos,p(r.R,n.local??[0,r.half?.[1]??0,0]))}function gm(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)}let _m=new WeakMap;function vm(e){if(!_m.has(e)){let n=D(e),r=e.index;de(e,n,`Right`,{}),_m.set(e,a(t(n.P[r.RightHandThumb4],n.P[r.RightHandIndex4])))}return _m.get(e)}function ym(e,t){let n=e.scene?.objects??{};if(t?.kind===`object`)return n[t.object]?.half?n[t.object]:null;if(t?.kind!==`world`||!Array.isArray(t.p))return null;let r=t.p.map(Number);return Object.values(n).filter(e=>e.half&&B(r,e)<=.01).sort((e,t)=>B(r,e)-B(r,t))[0]??null}function bm(e,n,r,i){let a=r[0]-n[0],o=r[2]-n[2],s=Math.hypot(a,o);if(s<1e-6)return!1;let c=[n[0]+a/s*am,n[1],n[2]+o/s*am];return Object.entries(e.scene?.objects??{}).some(([e,n])=>{if(!n.half||i.has(e)||i.has(n.parent))return!1;let r=t(c,[0,.12,0]);return B(c,n)>0&&B(r,n)<=0})}function xm(t,n,r){let i=ym(t,n),a=hm(t,n)??(i&&e(i.pos,p(i.R,[0,i.half[1],0])));if(!i||!a||2*Math.min(...i.half)+.025>vm(t.sk))return!1;let o=new Set(Object.entries(t.scene.objects).filter(([,e])=>e===i).map(([e])=>e));return!(Array.isArray(r.root)&&bm(t,a,r.root,o))}function Sm(e,t,n){let r=hm(e,t),i=n.root;if(!r||!Array.isArray(i))return null;let a=e.sk.restWorldPos,o=e.sk.index,s=[i[0],i[1]+a[o.Head][1]-a[o.Hips][1],i[2]],c=[r[0]-s[0],r[1]-s[1],r[2]-s[2]],l=Math.hypot(c[0],c[2]);if(l<.05)return null;let u=Math.atan2(c[0],c[2])*fm-(n.yaw??0)-(n.spine_yaw??0);for(;u>180;)u-=360;for(;u<-180;)u+=360;let d=Math.atan2(-c[1],l)*fm-(n.pitch??0)-(n.spine_pitch??0);return{head_yaw:pm(im*u,-60,60),head_pitch:pm(im*d,-30,50)}}let Cm=(e,t,n)=>e.some(e=>e.f>=t&&e.f<=n&&(e.set?.head_yaw!==void 0||e.set?.head_pitch!==void 0)),wm=(e,t)=>sn[e]?sn[e].map((e,n)=>n===2&&t===`r`?-e:e):[0,0,0];function Tm(t){let{sk:n,args:r,state:i}=t,a=n.index,o=n.restWorldPos,s=o[a.LeftFoot][1],c=r.heading??i.yaw??0,l=r.at??(i.root?[i.root[0],i.root[2]]:null),u=null;if(!l){let e=rm(t);e||Q(t.tag,`needs args.at: [x, z] (no root is keyed before f0), or a reachGrip after it to stand within reach of`),{at:l,heading:c}=e,u={at:l,heading:c,why:`within reach of anchor ${e.anchor}`}}else if(r.at&&t.place!==!1){let e=tm(n,t.scene,[l[0],l[l.length-1]],c);e&&(l=e.at,u={at:l,heading:c,why:`moved ${e.moved} m out of a scene body`})}let d=[l[0],0,l[l.length-1]],f=_(c),m=t=>{let n=e(d,p(f,t));return n[1]=s,n},h={root:[d[0],o[a.Hips][1]-.01,d[2]],yaw:c,pitch:0,roll:0,spine_yaw:0,spine_pitch:0,spine_roll:0,head_yaw:0,head_pitch:0,foot_l:m([.09,0,-.03]),foot_r:m([-.09,0,.03]),fyaw_l:c,fyaw_r:c,fpitch_l:0,fpitch_r:0,knee_l:[.05,0,1],knee_r:[-.05,0,1],armw_l:0,armw_r:0,aswing_l:0,aswing_r:0,abend_l:0,abend_r:0,arm_hang:1},g=[{f:t.f0,set:h}];return r.until!==void 0&&g.push({f:r.until,set:structuredClone(h)}),{keys:g,end:r.until??t.f0,...u?{placed:u}:{}}}function Em(e){let{args:t,state:n}=e;(!n.foot_l||!n.foot_r||!n.root)&&Q(e.tag,`needs a standing pose keyed before f0 (use standIdle or another skill first)`);let r={type:`walk`,f0:e.f0,...t};delete r.to,delete r.arrive;let i=n.yaw??0,a=t.step??.5,o=t.firstStep??.4;if(t.to){let e=[(n.foot_l[0]+n.foot_r[0])/2,(n.foot_l[2]+n.foot_r[2])/2],s=t.to[0]-e[0],c=t.to[t.to.length-1]-e[1],l=Math.hypot(s,c),u=Math.atan2(s,c)*180/Math.PI;for(;u-i>180;)u-=360;for(;u-i<-180;)u+=360;r.heading=t.heading??[i,u],r.steps=t.steps??Math.max(2,2+Math.round((l-o)/a))}typeof r.heading==`number`&&(r.heading=[i,r.heading]);let s=Ec(r,e.keys,e.sk,e.tag),c=kp(r),l=e.frames-1;return c>l&&Math.max(...s.filter(e=>e.f<c).map(e=>e.f))<=l?{keys:s.filter(e=>e.f<=l),end:l,cut:`settle cut at f${l} (hold to the end)`}:{keys:s,end:c}}function Dm(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}let Om=(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 km(e){let{args:t,state:n}=e,r=t.side,i=t.anchor;r!==`l`&&r!==`r`&&Q(e.tag,`args.side must be "l" or "r", got ${JSON.stringify(r)}`),(typeof i!=`string`||/_[lr]$/.test(i))&&Q(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??on[c]??`grip`,u=`w_${i}_${r}`,d=`fingers_${r}`,f=`armw_${r}`,p=`elbow_${r}`,m=!(n[f]>.5),h=e.frames-1,g=e.f0+a<=h&&e.f0+a+o+s>h,_=Math.min(a+o,h-e.f0);for(let[e,t]of[[u,0],[d,{[l]:0}],[f,0]])n[e]===void 0&&(n[e]=t);let v=a+o+s,y={...e,until:e.f0+a},b=!Cm(e.keys??[],e.f0,e.f0+v)&&Sm(y,t.define??e.anchors?.[i],n),x=b?{head_yaw:n.head_yaw??0,head_pitch:n.head_pitch??0}:null,S=Kp(n,e.f0);S.hold(0,u,d,f,p,...b?[`head_yaw`,`head_pitch`]:[]);let C=t.define??e.anchors?.[i],w=n[u],T=n[f],E=(e,t,n)=>e+(t-e)*n;if(mm(y,C))for(let[e,t,n]of dm(a))S.at(e,{[u]:E(w,1,t),[f]:E(T,1,n)});let D=Math.round(.4*a);D>0&&D<a&&xm(y,C,n)&&S.hold(D,d),b&&S.at(Math.max(1,Math.round(.3*a)),b),S.at(a,{[u]:1,[d]:{...n[d],[l]:1},[f]:1,...t.elbow?{[p]:t.elbow}:{}}),S.hold(_,u,d,f,p,...b?[`head_yaw`,`head_pitch`]:[]),g||S.at(v,{[u]:0,[d]:{...n[d],[l]:0},...m?{[f]:0}:{},...x??{}});let O=r===`l`?`Left`:`Right`,k={hand:r,origin:[`${O}HandIndex2`,`${O}HandMiddle2`],points:{fingers:wm(c,r)}},A=Dm(e.props,`${i}Grip`,r,k),j=t.define?{[i]:t.define}:{},M=t.define??e.anchors?.[i],N=M?.kind===`object`?M.object:M?.kind===`person`?`person:${M.person}`:null;return{keys:S.keys,end:g?h:e.f0+a+o+s,...g?{cut:`${_<a+o?`hold`:`release`} cut at f${h} (hold to the end)`}:{},anchors:j,props:{[A]:k},fits:[{side:r,anchor:i,effector:{prop:A,point:`fingers`},...t.orient===!1?{orient:!1}:{}}],checks:{contacts:[{name:`fingers on ${i}`,point:`prop:${A}.fingers`,target:`anchor:${i}`,tol:.04,when:u}],allow:Om(e.scene,N).map(e=>({part:`hand`,object:e,depth:.04}))}}}let Am=[.54,.4,-.075],jm=.4,Mm=new Set([`l`,`r`]);function Nm(e,t=`l`){let n=e.car;return{seat:e.seat??(n&&`${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&&`${n}_Steering_Wheel`)}}function Pm(e,n,r){let i=qp(e,`seat`,n);Math.abs(i.pos[1]-jm)>.05&&Q(e.tag,`seat "${n}" stands at y ${i.pos[1]}; the car skills are tuned for a seat base at y ${jm} (a car on the ground)`);let a=Vp();a.yaw=Jp(i.R),a.mirror=r===`r`;let o=t(i.pos,p(_(a.yaw),a.mirror?[-Am[0],Am[1],Am[2]]:Am));return a.origin=[o[0],0,o[2]],a.names={lthigh:`rthigh`,rthigh:`lthigh`},a}let Fm=[[`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})),Im=e=>({A:e.restWorldPos[e.index.LeftFoot][1],H:t=>t+(e.restWorldPos[e.index.Hips][1]-1.0427487182617188)});function Lm(t){let{args:n,sk:r}=t,i=Nm(n),a=qp(t,`seat`,i.seat),{A:o}=Im(r),s=Jp(a.R),c=e=>p(_(s),e),l=n.offset??[0,.17,.02],u=n.floor??a.pos[1],d=e(e(a.pos,p(a.R,[0,2*a.half[1],0])),c(l)),f=t=>{let n=e(d,c([t,0,.452]));return n[1]=u+o,n},m=t=>e(d,c([t,.348,.324])),h={root:d,yaw:s,pitch:0,spine_pitch:-12,spine_yaw:0,spine_roll:0,head_yaw:0,head_pitch:10,foot_l:f(.17),foot_r:f(-.17),fyaw_l:s,fyaw_r:s,fpitch_l:0,fpitch_r:0,knee_l:[.15,.2,1],knee_r:[-.15,.2,1],armw_l:1,armw_r:1,hand_l:m(.22),hand_r:m(-.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},g=[{part:`torso_lo`,object:i.seat,depth:.04},{part:`hips`,object:i.seat,depth:.04},{part:`thigh`,object:i.seat,depth:.045}];return i.seatBack&&t.scene.objects[i.seatBack]&&g.push({part:`torso`,object:i.seatBack,depth:.03}),i.wheel&&t.scene.objects[i.wheel]&&g.push({part:`hand`,object:i.wheel,depth:.05}),{keys:[{f:t.f0,set:h}],checks:{supports:[{object:i.seat,part:`hips`,tol:.04}],allow:g},end:t.f0}}function Rm(t){let n=t.args.side??`l`;Mm.has(n)||Q(t.tag,`args.side must be "l" or "r", got ${JSON.stringify(n)}`);let r=Nm(t.args,n),i=Pm(t,r.seat,n),a=t.args.channel??`door`;for(let[e,n]of[[`door`,r.door],[`handle`,r.handle]])qp(t,e,n);i.negate.add(a);let o={[a]:0,w_handle_l:0,w_lthigh_l:0,w_rthigh_r:0,fingers_l:{grip:0,fist:0}},s=Kp(t.state,t.f0,i),c={};for(let[e,n]of Object.entries(o))t.state[Wp(i,e)]===void 0&&(c[e]=n);Object.keys(c).length&&s.at(0,c),zm(s,a,Im(t.sk));let l=t.scene.objects[r.door],u=(i.mirror?-1:1)*l.half[0],d={pivot:e(l.pos,p(l.R,[u,0,l.half[2]])),axis:[0,1,0],channel:a},f=e=>i.mirror?Bp(e):e,m=e=>i.mirror?{lthigh:`rthigh`,rthigh:`lthigh`}[e]??e:e,h=(e,t)=>({kind:`segment`,from:f(`${e}UpLeg`),to:f(`${e}Leg`),t:.45,tMin:.15,offset:[0,.07,0],reach:i.mirror?t===`l`?`r`:`l`:t}),g=i.mirror?`r`:`l`;return{keys:s.keys,objects:{[r.door]:d,[r.handle]:d},anchors:{handle:{kind:`object`,object:r.handle,local:Up(i,[-.005,.015,0])},[m(`lthigh`)]:h(`Left`,`l`),[m(`rthigh`)]:h(`Right`,`r`)},props:{grip:{hand:g,origin:[f(`LeftHandIndex2`),f(`LeftHandMiddle2`)],points:{fingers:[0,0,0]}}},fits:[{side:g,anchor:`handle`,effector:{prop:`grip`,point:`fingers`}}],checks:{contacts:[{name:`fingers on the door handle`,point:`prop:grip.fingers`,target:`anchor:handle`,tol:.04,when:`w_handle_${g}`}],allow:[{part:`hand`,object:r.door,depth:.03},{part:`hand`,object:r.handle,depth:.04},...Fm]},end:t.f0+246}}function zm(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,jm+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,jm+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]})}let Bm=[`cig`,`lighter`,`exhale`],Vm={follow:`landmark:mouth`,aim:`face`,visible:`exhale`},Hm={cig:`cigarette`,lighter:`lighter`},Um=[-.05,.07,.1],Wm=.88,Gm=[.245,.08,.02],Km={l:[.13,-.035,.08],r:[-.13,-.035,.08]};function qm(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 Jm(e,t,n){let r=t[n];return(typeof r!=`string`||!En(e.scene)[r])&&Q(e.tag,`args.kit.${n} ${JSON.stringify(r)} is not a group in the scene; object.createKit { kit: "${Hm[n]}" } answers its rootId`),r}let Ym={cig:.03,lighter:.045},Xm=.07,Zm=.04;function Qm(e,t){let n=e.args.kit;if(n===void 0)return null;(!n||typeof n!=`object`||Array.isArray(n))&&Q(e.tag,`args.kit must be { cig, lighter, exhale? } (kit root ids), got ${JSON.stringify(n)}`);for(let t of Object.keys(n))Bm.includes(t)||Q(e.tag,`args.kit has unknown field "${t}"; fields: ${Bm.join(`, `)}`);let r=Jm(e,n,`cig`),i=Jm(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 qm(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 qm(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]||En(e.scene)[n.exhale]))&&Q(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]={...Vm});let o=e=>t.squat?Xm:e;return{objects:a,allow:[[`thigh_r`,r,o(Ym.cig)],[`thigh_l`,i,o(Ym.lighter)],[`hips`,r,o(Ym.cig)],[`hips`,i,o(Ym.lighter)],...t.squat?[[`shin`,r,Xm],[`shin`,i,Xm],[`hand_l`,`thigh_l`,Zm],[`hand_r`,`thigh_r`,Zm],[`hand`,`hips`,Zm]]:[]].map(([e,t,n])=>({part:e,object:t,depth:n}))}}function $m(r){let{sk:i,state:o}=r,s=i.index,c=i.restWorldPos;if(!(o.root[1]<.7*c[s.Hips][1]))return null;let{s:l}=cs(i,o),u=o.yaw??0,d=l.P[s.RightArm],f=e=>p(_(-u),t(e,o.root)),m=a(t(c[s.RightForeArm],c[s.RightArm]))+a(t(c[s.RightHand],c[s.RightForeArm])),h=e(l.P[s.RightLeg],p(_(u),Um)),g=a(t(h,d)),v=f(g>Wm*m?e(d,n(t(h,d),Wm*m/g)):h),y=e(f(A(l,s.Head,i.landmarks.mouth)),[0,0,.2]),b=Ke(i),x=(t,n)=>{let r=e(o.root,p(_(u),[n*Gm[0],Gm[1],Gm[2]]));return f(b?We(b.body,i,l,r,Ge,b.skip):r)},S=e=>e.map(e=>Math.round(e*1e3)/1e3);return{hold:S(v),mouthOut:S(y),lpocket:S(x(`Left`,1)),rpocket:S(x(`Right`,-1))}}let eh={TW_M:40,FX_M:0,TW_H:0,FX_H:10,TW_L:-80,FX_L:-50},th=[[`hand_l`,`hand_r`,.045],[`hand_r`,`hand_l`,.045],[`farm_r`,`hand_l`,.02],[`hand_l`,`farm_r`,.02]].map(([e,t,n])=>({part:e,object:t,depth:n})),nh=[.4,-1,.6],rh=[-.4,-1,-.3],ih=[.9,-.6,.3],ah=[`armw_r`,`armw_l`,`w_rpocket_r`,`w_lpocket_l`,`w_hold_r`,`w_mouth_r`,`w_flame_l`,`elbow_r`,`elbow_l`,`wtwist_r`,`wflex_r`,`wtwist_l`,`wflex_l`,`head_pitch`,`head_yaw`,`spine_pitch`,`root`,`fingers_l`,`fingers_r`,`cig_vis`,`lit_vis`,`flame_vis`,`ember_vis`,`exhale`,`ember`],oh=e=>(e/24).toFixed(1),sh={armw_r:0,armw_l:0,w_rpocket_r:0,w_lpocket_l:0,w_hold_r:0,w_mouth_r:0,w_flame_l:0,elbow_r:[-.5,-.4,-1],elbow_l:[.5,-.4,-1],wtwist_r:0,wflex_r:0,wtwist_l:0,wflex_l:0,head_pitch:0,head_yaw:0,spine_pitch:0,fingers_l:{grip:0,fist:0},fingers_r:{cigarette:0},cig_vis:0,lit_vis:0,flame_vis:0,ember_vis:0,exhale:0,ember:0};function ch(e){let t=e.args.until??(e.auto?e.f0+264:e.frames-1),n=t-e.f0;n<198&&Q(e.tag,`needs frames f${e.f0}..f${e.f0+198} at least: 199 frames, ${oh(199)} s at 24 fps, paced 0.75 (265 frames, ${oh(265)} s, at its own pace); it has f${e.f0}..f${t}, `+(e.args.until===void 0?`so set frames >= ${e.f0+198+1} or frames: "auto"`:`so set args.until >= ${e.f0+198}`)),Array.isArray(e.state.root)||Q(e.tag,`needs a pose keyed before f0 (root): standing or squatting`);let r=Object.fromEntries(Object.entries(sh).filter(([t])=>e.state[t]===void 0));Object.keys(r).length&&Object.assign(e.state,structuredClone(r)),e.state.head_yaw=0;let i=e.state.head_pitch,a=(e.state.pitch??0)+e.state.spine_pitch,o=e=>e+i,s=a?p(g(a),nh):nh,c=a?p(g(a),rh):rh,l=$m(e),u=e.self?l?20:15:eh.FX_M;l&&(e.state.w_mouthOut_r=0);let d=n<264?n/264:1,f=e=>Math.round(e*d),m=Kp(e.state,e.f0),h=d===1?m:{...m,at:(e,t)=>m.at(f(e),t),hold:(e,...t)=>m.hold(f(e),...t),step:(e,t,n)=>m.step(f(e),t,n)},_=e.state.root.slice(),v=e.state.yaw??0,y=(e,t)=>{h.hold(e,`w_mouth_r`,`w_hold_r`,`wtwist_r`,`wflex_r`,`elbow_r`,`head_pitch`,`root`,...l?[`w_mouthOut_r`]:[]),l&&h.at(Math.round((e+t)/2),{w_hold_r:0,w_mouthOut_r:1,w_mouth_r:0}),h.at(t,{w_mouth_r:1,w_hold_r:0,...l?{w_mouthOut_r:0}:{},wtwist_r:eh.TW_M,wflex_r:u,elbow_r:s,head_pitch:o(6),root:_})},b=(e,t)=>{h.hold(e,`w_mouth_r`,`w_hold_r`,`wtwist_r`,`wflex_r`,`elbow_r`,`head_pitch`,...l?[`w_mouthOut_r`]:[]),l&&h.at(Math.round((e+t)/2),{w_mouth_r:0,w_mouthOut_r:1,w_hold_r:0}),h.at(t,{w_mouth_r:0,w_hold_r:1,...l?{w_mouthOut_r:0}:{},wtwist_r:eh.TW_H,wflex_r:eh.FX_H,elbow_r:c,head_pitch:o(0)})};h.hold(0,...ah),h.at(2,{w_rpocket_r:1,elbow_r:[-.5,-.4,-1]}),h.hold(6,`armw_r`,`w_rpocket_r`,`elbow_r`,`fingers_r`),h.at(20,{armw_r:1}),h.at(28,{fingers_r:{cigarette:1}}),h.step(28,`cig_vis`,1),h.hold(36,`w_rpocket_r`,`w_mouth_r`,`wtwist_r`,`wflex_r`,`elbow_r`,`head_pitch`),h.at(58,{w_rpocket_r:0,w_mouth_r:1,wtwist_r:eh.TW_M,wflex_r:u,elbow_r:s,head_pitch:o(6)}),h.at(2,{w_lpocket_l:1,elbow_l:[.5,-.4,-1]}),h.hold(12,`armw_l`,`w_lpocket_l`,`elbow_l`,`fingers_l`),h.at(26,{armw_l:1}),h.at(34,{fingers_l:{grip:0,fist:1}}),h.step(35,`lit_vis`,1),h.hold(44,`w_lpocket_l`,`w_flame_l`,`wtwist_l`,`wflex_l`,`elbow_l`),h.at(60,{w_lpocket_l:0,w_flame_l:1,wtwist_l:eh.TW_L,wflex_l:eh.FX_L,elbow_l:ih}),h.step(63,`flame_vis`,1),h.step(73,`ember_vis`,1),h.step(79,`flame_vis`,0),h.step(73,`ember`,1),h.at(80,{ember:2}),h.hold(90,`ember`),h.at(104,{ember:.6}),h.hold(194,`ember`),h.at(200,{ember:2}),h.hold(212,`ember`),h.at(224,{ember:.6}),h.step(116,`exhale`,1),h.step(138,`exhale`,0),h.step(238,`exhale`,1),h.step(260,`exhale`,0),h.hold(80,`w_flame_l`,`w_lpocket_l`,`wtwist_l`,`wflex_l`,`elbow_l`);let x=l&&e.self?8:0;h.at(x?96+x:l?100:96,{w_flame_l:0,w_lpocket_l:1,wtwist_l:0,wflex_l:0,elbow_l:[.5,-.4,-1]}),h.hold(101+x,`fingers_l`),h.step(102+x,`lit_vis`,0),h.hold(104+x,`armw_l`,`w_lpocket_l`),h.at(112,{fingers_l:{grip:0,fist:0}}),h.at(120,{armw_l:0,w_lpocket_l:1}),h.at(123,{w_lpocket_l:0}),b(92,114),h.at(124,{head_pitch:o(-14)}),h.at(140,{head_pitch:o(0)});let S=[Math.cos(v*Math.PI/180),0,-Math.sin(v*Math.PI/180)];h.hold(120,`root`,`head_yaw`),h.at(146,{root:_.map((e,t)=>e+.03*S[t]-(t===1?.005:0)),head_yaw:-22}),h.at(168,{head_yaw:0}),y(170,194),b(212,236),h.at(246,{head_pitch:o(-14)}),h.at(264,{head_pitch:o(0)}),m.hold(n,...ah,...l?[`w_mouthOut_r`]:[]);let C=!!l&&e.self,w=Qm(e,{cig:e.f0+f(28),lit:e.f0+f(35),unlit:e.f0+f(C?110:102),squat:C});return{keys:m.keys,end:t,...d<1?{paced:Math.floor(d*100)/100}:{},channels:[`exhale`,`ember`],...w?{objects:w.objects}:{},anchors:{lpocket:{kind:`body`,p:e.self&&l?.lpocket||Km.l},rpocket:{kind:`body`,p:e.self&&l?.rpocket||Km.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)},dh=(e,t,n)=>e+(t-e)*n,fh=(e,t,n)=>e.map((e,r)=>e+(t[r]-e)*n),ph=(e,t,n,r,i)=>$((e-t)/(n-t))-$((e-r)/(i-r)),mh={l:1,r:-1},hh=(e,t,n)=>f(_(e),f(g(t),v(n))),gh=(e,t,n,r,i)=>p(m(ss(e,t,n)?.R??_(e)),p(r,i));function _h(e,t,n,r,i,a){let o=ss(e.h,n,r);if(!o)return{fyaw:e.h,fpitch:a};let s=e.toe[t],c=p(i,p(g(a),s)),l=p(m(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 vh(e){let{sk:n,args:r,state:i}=e,a=n.index,s=n.restWorldPos;(!i.foot_l||!i.foot_r||!i.root)&&Q(e.tag,`needs a standing pose keyed before f0 (use standIdle or another skill first)`);let c=r.heading??i.yaw??0,l=_(c),u=s[a.Hips],d=o(s[a.LeftUpLeg],s[a.LeftLeg])+o(s[a.LeftLeg],s[a.LeftFoot]),f=o(s[a.LeftArm],s[a.LeftForeArm])+o(s[a.LeftForeArm],s[a.LeftHand]);return{h:c,R:l,F:p(l,[0,0,1]),L:p(l,[1,0,0]),ank:s[a.LeftFoot][1],y0:u[1]-.01,leg:d,arm:f,feet:{l:i.foot_l.slice(),r:i.foot_r.slice()},root:i.root.slice(),hipOff:{l:t(s[a.LeftUpLeg],u),r:t(s[a.RightUpLeg],u)},shoulder:{l:t(s[a.LeftArm],u),r:t(s[a.RightArm],u)},toe:{l:t(s[a.LeftToeBase],s[a.LeftFoot]),r:t(s[a.RightToeBase],s[a.RightFoot])}}}function yh(r,i,a){let{args:o}=r,s=(a===`back`?-1:1)*360,c=o.travel??(a===`back`?-.25:.4),l=i.y0+.05,u=i.y0-.02,d=Math.max(10,Math.round(Math.sqrt(.9/lh)+Math.sqrt(2*(l+.5-.05-u)/lh))),f=(u-l+lh*d*d/2)/d,h=f-lh*d,g=l-f*5/2,_=u+h*6/2,v=c/(5/2+d+6/2),y=r.f0,b=y+10,x=b+5,S=x+d,C=S+6,w=C+14,T=t=>e(i.feet[t],n(i.F,c)),E=t=>e(i.feet[t],p(i.R,i.toe[t])),D=t=>{let r,a;if(t<=b)r=dh(i.root[1],g,$((t-y)/10)),a=0;else if(t<=x){let e=t-b;r=g+f/5*e*e/2,a=v/5*e*e/2}else if(t<=S){let 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m=t>x&&t<S?_h(i,u,r,0,a,f):{fyaw:i.h,fpitch:f};Object.assign(l,{[`foot_${u}`]:d,[`fpitch_${u}`]:m.fpitch,[`fyaw_${u}`]:m.fyaw,[`knee_${u}`]:gh(i.h,r,0,a,[mh[u]*.05,.5*c,1])})}N.push({f:t,set:l})}let P=a===`back`?[-12,18]:[10,25];for(let[e,t,n,r,i]of[[y,0,0,0,0],[b,-45,15,20,0],[x,160,5,-8,P[0]],[Math.round(x+.3*d),55,85,32,P[1]],[Math.round(x+.62*d),55,85,32,P[1]],[S,75,25,22,0],[C,70,25,28,0],[w,0,0,0,0]])N.push({f:e,set:{aswing_l:t,aswing_r:t,abend_l:n,abend_r:n,spine_pitch:r,head_pitch:i}});return{keys:N,end:w+1}}function bh(r,i){let{args:a}=r,o=a.side===`r`?-1:1,s=-o,c=r.f0,l=c+12,u=l+34,d=u+14,f=o>0?`l`:`r`,h=f===`l`?`r`:`l`,g={foot:t=>e(i.hipOff[t],[mh[t]*.3,-i.leg*.93,0]),hand:t=>e(i.shoulder[t],[mh[t]*.32,i.arm*.88,0])},_={foot:i.ank,hand:.1},v=[[`foot`,f],[`hand`,f],[`hand`,h],[`foot`,h],[`foot`,f]],y=e=>e<=l?0:e<=u?s*360*$((e-l)/34):s*360,b=(t,n,r,a)=>e(n,p(hh(i.h,0,y(t)),g[r](a))),x=hh(i.h,0,0),S=t(i.feet[h],p(x,g.foot(h))),C=b(l,S,`foot`,f);C[1]=i.ank;let w=[],T={foot:{l:[],r:[]},hand:{l:[],r:[]}},E=0,D=i.feet[f].slice(),O=l;T.foot[h].push({a:c,b:l,p:i.feet[h]});for(let e=c;e<=d+1;e++){if(e<=l){w.push(fh(i.root,S,$((e-c)/12)));continue}e===l+1&&(D=C.slice());let n=t(D,p(hh(i.h,0,y(e)),g[v[E][0]](v[E][1]))),r=v[E+1];if(r&&e<=u){let a=b(e,n,...r);if(a[1]<=_[r[0]]){let o=b(e-1,w.at(-1),...r),s=o[1]-_[r[0]],c=a[1]-_[r[0]],l=fh(o,a,s>0?s/(s-c):1);T[v[E][0]][v[E][1]].push({a:O,b:e,p:D}),E++,O=e,D=[l[0],_[r[0]],l[2]],n=t(D,p(hh(i.h,0,y(e)),g[r[0]](r[1])))}}w.push(n)}T[v[E][0]][v[E][1]].push({a:O,b:d+1,p:D});let k=v[v.length-2];E>=v.length-1&&(T[k[0]][k[1]].at(-1).b=d+1);let A=w.map((t,r)=>{let i=[0,0,0],a=0;for(let t=-3;t<=3;t++){let o=Math.min(w.length-1,Math.max(0,r+t)),s=Math.exp(-(t*t)/4);i=e(i,n(w[o],s)),a+=s}return n(i,1/a)}),j=t=>t<=u?A[t-c]:e(A[u-c],[0,(i.y0-A[u-c][1])*$((t-u)/14),0]),M=(r,i,a)=>{let o=t(r,i),s=Math.hypot(...o);return s>a?e(i,n(o,a/s)):r},N=(n,r,a,o)=>{for(let s of T[n][r]){if(a>=s.a-6&&a<=s.b)return 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m=t>l&&t<=u?_h(i,s,0,y(t),r,0):{fyaw:i.h,fpitch:0};Object.assign(o,{[`foot_${s}`]:d,[`fyaw_${s}`]:m.fyaw,[`fpitch_${s}`]:m.fpitch,[`knee_${s}`]:gh(i.h,0,n,r,[mh[s]*.05,0,1]),[`hand_${s}`]:M(t>l&&t<=u?N(`hand`,s,t,b(t,a,`hand`,s)):b(t,a,`hand`,s),e(a,p(r,i.shoulder[s])),i.arm*.995),[`elbow_${s}`]:gh(i.h,0,n,r,[mh[s]*.4,0,-1]),[`armw_${s}`]:t<=l?0:t<=u?$((t-l)/6):1-$((t-u)/8)})}o.arm_rest=t<=l?dh(72,-56,$((t-c)/12)):t<=u?-56:dh(-56,72,$((t-u)/14)),F.push({f:t,set:o})}return{keys:F,end:d+1}}function xh(e){let t=e.args.kind??`back`;[`back`,`front`,`cartwheel`].includes(t)||Q(e.tag,`kind must be "back", "front" or "cartwheel", got ${JSON.stringify(t)}`);let n=vh(e);return t===`cartwheel`?bh(e,n):yh(e,n,t)}let Sh=9.81,Ch=.75,wh={back:.16,front:.11},Th=.12,Eh=e=>e-Th*(1-Math.exp(-e/Th)),Dh=(e,t,n)=>t+n*Math.log1p(Math.exp((e-t)/n)),Oh=3/24,kh=.03,Ah=e=>{let t=Math.min(1,Math.max(0,e));return t*t*t*(t*(6*t-15)+10)},jh=e=>(e+540)%360-180,Mh=e=>e.map(e=>Math.round(e*1e3)/1e3),Nh=e=>Math.round(e*10)/10;function Ph(e,t,n){let r=null,i=null;for(let a of e){let e=a.set?.[t];Array.isArray(e)&&(a.f<=n&&(!r||a.f>=r.f)&&(r={f:a.f,v:e}),a.f>n&&(!i||a.f<i.f)&&(i={f:a.f,v:e}))}if(!r||!i)return r?.v;let a=(n-r.f)/(i.f-r.f);return r.v.map((e,t)=>e+(i.v[t]-e)*a)}function Fh(e,t){let{args:n,scene:r}=e,i=n.dir;if(!i&&typeof n.from==`string`){let[a,o]=n.from.split(/:(.*)/s),s=a===`object`?r?.objects?.[o]?.pos:a===`person`?An(r,o,`Hips`,e.f0):null;s||Q(e.tag,`args.from "${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))&&Q(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 Ih(t){let{sk:n,args:r,state:i}=t,a=n.index,o=n.restWorldPos;i.root||Q(t.tag,`needs a pose keyed before f0 (standIdle, a walk, ...)`);let s=Ph(t.keys,`root`,t.f0)??i.root.slice(),c={};for(let e of[`l`,`r`]){let n=Ph(t.keys,`foot_${e}`,t.f0),r=Ph(t.keys,`foot_${e}`,t.f0-1);n&&(c[e]={at:n,v:r?n.map((e,t)=>e-r[t]):[0,0,0]})}let l=i.yaw??0,[u,d]=Fh(t,s),f=r.speed??4;Number.isFinite(f)&&f>0||Q(t.tag,`args.speed must be a launch speed above 0 m/s, got ${JSON.stringify(r.speed)}`);let m=Math.min(2.5,Math.max(.8,.3*f)),h=p(_(l),[0,0,1]),v=(r.land??(u*h[0]+d*h[2]<=0?`back`:`front`))===`back`,y=Math.atan2(u,d)*180/Math.PI,b=v?y+180:y,x=jh(b-l),S=v?-90:90,C=v?wh.back:wh.front,w=s[1],T=e=>w+m*Eh(e)-.5*Sh*e*e,E=e=>m*(1-Math.exp(-e/Th))-Sh*e,D=0,O=(m+Math.sqrt(m*m+2*Sh*Math.max(0,w-C)))/Sh+1;for(let e=0;e<60;e++){let e=(D+O)/2;T(e)+E(e)*Oh/2>C-kh||E(e)>0?D=e:O=e}let k=D,A=Math.min(0,E(k)),j=T(k),M=k+Oh,N=f/(Ch*Sh),P=M+N,ee=e=>e<k?T(e):e<M?j+A*(e-k)-A/(2*Oh)*(e-k)**2:C-kh*(1-Ah((e-M)/.25)),F=o[a.LeftFoot][1],I=o[a.Hips][1],L=v?1:-1,te=.9*Math.hypot(...[0,1,2].map(e=>o[a.LeftFoot][e]-o[a.Hips][e])),R=t.f0+Math.ceil((P+.6)*24),ne=[];for(let n=t.f0;n<=R;n++){let r=(n-t.f0)/24,i=r<M,a=Math.min(Math.max(0,r-M),N),o=i?f*Eh(r):f*Eh(M)+f*a-.5*Ch*Sh*a*a,m=ee(r),h=[s[0]+u*o,m,s[2]+d*o],y=Math.max(.35,.9*M),b=l+x*Ah(r/Math.max(.25,y)),C=S*Ah(r/y),w=(e=>p(_(b),p(g(C),e))),T=Ah(r/Th)*Math.exp(-r/.18)*Math.sin(2*Math.PI*r/.55),E=Ah(r/.3)*Math.exp(-r/.45)*Math.sin(2*Math.PI*r/.6),D=Ah((r-M)/.3),O=-(I-F)+.06*(1-D)+(v?.03:.01)*D,k=Ah(r/.25),A=F+.01+(!v&&!i&&a<N?.04:0),j=(r,i,a)=>{let o=e(h,w([i,O,a])),s=h[1]-.05;v&&(o[1]=s-.05*Math.log1p(Math.exp((s-o[1])/.05))),o[1]=Dh(o[1],A,.03);let l=c[r];if(!l)return o;let u=l.at.map((e,r)=>e+l.v[r]*(n-t.f0)*(1-k));return u[1]=Math.max(l.at[1],u[1]),P(o.map((e,t)=>u[t]+(e-u[t])*k))},P=e=>{let t=e.map((e,t)=>e-h[t]),n=Math.hypot(...t),r=te-.02*Math.log1p(Math.exp((te-n)/.02));return n>1e-9?h.map((e,i)=>e+t[i]*(1+(r/n-1)*k)):e},R=ss(0,C,0),re=R?p(R.R,[0,1,0]):[0,1,0],ie=Math.atan2(re[2],re[1])*180/Math.PI,z=p(g(-ie),[0,-Math.sin(C*Math.PI/180),Math.max(.05,Math.cos(C*Math.PI/180))]),ae={root:Mh(h),yaw:Nh(b),pitch:Nh(C),roll:0,foot_l:Mh(j(`l`,.11,.04+.1*E*k-(v?.1:0)*D)),foot_r:Mh(j(`r`,-.11,.04-.1*E*k-(v?.1:0)*D)),fyaw_l:Nh(b),fyaw_r:Nh(b),fpitch_l:Nh(v?-50*D:-.5*ie),fpitch_r:Nh(v?-50*D:-.5*ie),knee_l:Mh([.05,z[1],z[2]]),knee_r:Mh([-.05,z[1],z[2]]),spine_pitch:Nh(L*22*T*Math.min(1,f/4)),spine_yaw:0,spine_roll:Nh(10*E*(1-D)),head_pitch:Nh(L*30*T*Math.min(1,f/4)+(v?-8:8)*D),head_roll:Nh(12*D),arm_rest:Nh(72-22*D),aswing_l:Nh(L*45*E+8*D),aswing_r:Nh(-L*35*E-8*D),abend_l:Nh(25+30*E*E),abend_r:Nh(30+25*E*E)};n===t.f0&&Object.assign(ae,{armw_l:0,armw_r:0,fingers_l:{relaxed:1},fingers_r:{relaxed:1}}),ne.push({f:n,set:ae})}return{keys:ne,end:R}}let Lh=e=>e.map(e=>Math.round(e*1e3)/1e3);function Rh(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 zh(r){let{args:i,state:o,sk:s,scene:c,tag:l}=r,u=i.object,d=i.side??`r`,f=r.objects?.[u];d!==`l`&&d!==`r`&&Q(l,`args.side must be "l" or "r", got ${JSON.stringify(d)}`),(!f?.prop||r.props?.[f.prop]?.hand!==d)&&Q(l,`args.object "${u}" must be carried by the ${d===`r`?`right`:`left`} hand (objects.${u}.prop on a prop with hand "${d}")`),(!Array.isArray(i.to)||i.to.length!==3)&&Q(l,`args.to must be [x, y, z] world m (where it lands)`);let m=(i.arc===`high`?50:20)*Math.PI/180,h=r.fps??24,g=d===`l`?`Left`:`Right`,v=s.restWorldPos,y=o.root??v[s.index.Hips],b=_(o.yaw??0),x=e(y,p(b,t(v[s.index[`${g}Arm`]],v[s.index.Hips]))),S=[i.to[0]-x[0],0,i.to[2]-x[2]],C=a(S);C<.5&&Q(l,`args.to is ${C.toFixed(2)} m from the shoulder; throw it at least 0.5 m`);let w=n(S,1/C),T=e(x,e(n(w,.42),[0,.22,0])),E=e(T,n(w,.09)),D=i.to[1]+Rh(c,u),O=a([i.to[0]-E[0],0,i.to[2]-E[2]]),k=D-E[1],A=2*Math.cos(m)**2*(O*Math.tan(m)-k);A>0||Q(l,`args.to is too high for a ${i.arc??`low`} arc from the hand; use arc "high" or a lower point`);let j=Math.sqrt(Za*O*O/A),M=e(n(w,j*Math.cos(m)),[0,j*Math.sin(m),0]),N=(M[1]+Math.sqrt(M[1]**2+2*Za*Math.max(0,E[1]-D)))/Za,P=r.f0+10+8,ee=Math.min(r.frames-1,P+Math.ceil(N*h)+8),F=n([w[2],0,-w[0]],d===`r`?-1:1),I=`hand_${d}`,L=`armw_${d}`,te=e(x,e(e(n(w,-.12),n(F,.25)),[0,-.05,0])),R=e(x,e(e(n(F,.32),n(w,.12)),[0,.08,0])),ne=e(T,n(M,.45/h)),re=e(x,e(n(w,.46),[0,-.1,0])),ie=e(x,e(e(n(w,.3),n(F,-.15)),[0,-.4,0])),z=`fingers_${d}`,ae=on[f.grasp]??`grip`,oe={...o[z],[ae]:1},se={...o[z],[ae]:0},ce=[{f:r.f0,set:{[L]:o[L]??0,[z]:oe,...o[I]?{[I]:o[I]}:{}}},{f:P,set:{[z]:oe}},{f:P+3,set:{[z]:se}},{f:r.f0+10,set:{[L]:1,[I]:Lh(te)}},{f:r.f0+10+4,set:{[L]:1,[I]:Lh(R)}},{f:P-1,set:{[L]:1,[I]:Lh(t(T,n(M,1/h)))}},{f:P,set:{[L]:1,[I]:Lh(T)}},{f:P+1,set:{[L]:1,[I]:Lh(ne)}},{f:P+3,set:{[L]:1,[I]:Lh(re)}},{f:P+10,set:{[L]:1,[I]:Lh(ie)}}],le=`${u}Target`;return{keys:ce,end:P+10,anchors:{[le]:{kind:`world`,p:Lh([i.to[0],D,i.to[2]])}},fills:{[u]:{release:P,fall:{at:P,v:Lh(M)}}},goals:[{name:`${u} lands at the target`,near:[`object:${u}`,`anchor:${le}`],at:ee,tol:.25}],throw:{release:P,speed:Math.round(j*100)/100,v:Lh(M),flight:Math.round(N*100)/100}}}let Bh=[.35,.65],Vh=e=>e.map(e=>Math.round(e*1e3)/1e3),Hh=(e,t,n)=>Math.min(n,Math.max(t,e));function Uh(n,r,i){let a=n.restWorldPos,o=r.root??a[n.index.Hips],s=_(r.yaw??0);return{hips:o,shoulder:e(o,p(s,t(a[n.index[`${i}Arm`]],a[n.index.Hips]))),head:e(o,p(s,t(a[n.index.Head],a[n.index.Hips]))),fwd:p(s,[0,0,1])}}function Wh(i){let{args:o,state:c,sk:l,scene:u,tag:d}=i,f=o.object,m=o.side??`r`,h=i.objects?.[f],g=i.fps??24;m!==`r`&&m!==`both`&&Q(d,`args.side must be "r" or "both", got ${JSON.stringify(m)}`);let v=Array.isArray(h?.fall)?h.fall[0]:h?.fall;Array.isArray(v?.v)||Q(d,`args.object "${f}" must fly: objects.${f}.fall { at, v: [vx, vy, vz] }`);let y=Uh(l,c,`Right`),b={spec:{objects:{[f]:{fall:h.fall}},fps:g},scene:u,timeMap:null},x=e=>vo(b,f,e)?.pos,S=null,C=null;for(let e=v.at+1;e<i.frames;e++){let n=x(e),i=a(t(n,y.shoulder)),o=r(t(n,y.hips),y.fwd),s=Math.max(0,Bh[0]-i,i-Bh[1],.15-o,y.hips[1]-.1-n[1],n[1]-y.head[1]);if((!C||s<C.off)&&(C={f:e,p:n,off:s}),s===0){S={f:e,p:n};break}}S||Q(d,`${f} never comes within reach of the right hand (in front of the chest, ${Bh[0]}-${Bh[1]} m from the shoulder): nearest at f${C.f}, [${Vh(C.p).join(`, `)}], ${C.off.toFixed(2)} m out; move the body (standIdle at) or the throw`);let w=Math.max(S.f,i.f0+10+2),T=S.p,E=n(t(x(S.f),x(S.f-1)),g),D=a(E),O=hl({objects:i.objects},u,f),k=Hh(.08+.02*O*D,.08,.15),A=s(E),j=e=>1-(1-e)**3,M=[T,...Array.from({length:6},(t,r)=>e(T,n(A,k*j((r+1)/6)))),e(T,n(A,k*.4))],N=Math.max(i.f0,w-2-20),P=m===`both`||O>1,ee=Math.max(0,...Object.values(u.objects).filter(e=>e===u.objects[f]||e.ancestors?.includes(f)).map(e=>Math.max(...e.half))),F=p(_(c.yaw??0),[1,0,0]),I={keys:[],end:w+6+8,props:{},anchors:{},fits:[],channels:[],fills:{[f]:{prop:`${f}Catch`,grab:w,grasp:`spherical`}},catch:{contact:w,point:Vh(T),speed:Math.round(D*100)/100,give:Math.round(k*1e3)/1e3,hands:P?2:1}};for(let t of P?[`r`,`l`]:[`r`]){let r=t===`l`?`Left`:`Right`,i=t===`r`?`${f}Catch`:`${f}CatchL`,a=t===`r`?[0,0,0]:n(F,2*ee+.04),o=`armw_${t}`,s=`fingers_${t}`,l={...c[s],spherical:0},u={...c[s],spherical:1},d=M.map((e,t)=>`${i}${t}`),p=e=>`w_${d[e]}_${t}`;I.keys.push({f:N,set:{[o]:c[o]??0,[p(0)]:0,[s]:l,[`elbow_${t}`]:t===`r`?[-1,-.5,-.5]:[1,-.5,-.5]}},...dm(w-2-N).map(([e,t,n])=>({f:N+e,set:{[p(0)]:t,[o]:(c[o]??0)+(1-(c[o]??0))*n}})),{f:w-2,set:{[o]:1,[p(0)]:1,[s]:l}},{f:w,set:{[p(0)]:1,[s]:u}},...M.slice(1).flatMap((e,t)=>{let n=t+1,r=n<=6?w+n:w+6+8;return[{f:n<=6?r-1:w+6,set:{[p(n-1)]:1,[p(n)]:0}},{f:r,set:{[p(n-1)]:0,[p(n)]:1}}]})),I.props[i]={hand:t,origin:[`${r}HandIndex2`,`${r}HandMiddle2`],points:{fingers:[0,0,0]}},d.forEach((n,r)=>{I.anchors[n]={kind:`world`,p:Vh(e(M[r],a))},I.fits.push({side:t,anchor:n,effector:{prop:i,point:`fingers`}}),I.channels.push(p(r))})}return I}let Gh={standIdle:Tm,sitInSeat:Lm,exitCar:Rm,walkTo:Em,reachGrip:km,smokeCigarette:ch,flip:xh,hitReaction:Ih,throwObject:zh,catchObject:Wh},Kh=Object.keys(Gh),qh=e=>{throw Error(`MOTION_SPEC_INVALID: ${e}`)},Jh=(e,t)=>JSON.stringify(e)===JSON.stringify(t);function Yh(e,t,n,r){for(let[i,a]of Object.entries(t??{}))e[i]&&!Jh(e[i],a)&&qh(`${r} defines ${n}.${i} differently from an earlier skill; rename one or define it yourself in spec.${n}`),e[i]=a}function Xh(e,t){for(let[n,r]of Object.entries(t??{})){if(n===`limits`&&r&&typeof r==`object`&&!Array.isArray(r)){e.limits={...e.limits,...r};continue}if(!Array.isArray(r)||e[n]!==void 0&&!Array.isArray(e[n])){e[n]=r;continue}let t=e[n]??(e[n]=[]);for(let e of r)t.some(t=>Jh(t,e))||t.push(e)}}function Zh(e,t,n){e.args!==void 0&&(!e.args||typeof e.args!=`object`||Array.isArray(e.args))&&qh(`use[${t}].args must be an object, got ${JSON.stringify(e.args)}`);let r=Object.keys(Np[e.skill].args);if(!n)for(let n of Object.keys(e.args??{}))r.includes(n)||qh(`use[${t}].args.${n} is not an arg of ${e.skill}${fn(n,r)} (args: ${r.join(`, `)})`)}function Qh(e,{sk:t,scene:n,lenient:r=!1,auto:i=!1}){if(!e.use?.length)return{spec:e,used:[]};Array.isArray(e.use)||qh(`spec.use must be an array of { skill, args, f0 }`);let a=(e.keys??[]).map((e,t)=>({...e,src:`keys[${t}]`})),o={anchors:{},props:{},objects:{},fits:[],checks:{},channels:[],fills:{},goals:[]},s=[],c=[];e.use.forEach((l,u)=>{let d=`use[${u}] ${l?.skill}`;Gh[l?.skill]||qh(`use[${u}].skill "${l?.skill}" is not a skill${H(String(l?.skill),Kh)} (skills: ${Kh.join(`, `)})`);for(let e of Object.keys(l))!zt.includes(e)&&!r&&qh(`use[${u}] has unknown field "${e}"${fn(e,zt)}; an entry is { skill, args, f0 }`);Zh(l,u,r),(!Number.isInteger(l.f0)||l.f0<0||l.f0>e.frames-1)&&qh(`use[${u}].f0 must be an integer frame within 0..${e.frames-1}, got ${JSON.stringify(l.f0)}`);let f=[...s,...a],p={sk:t,scene:n,frames:e.frames,fps:e.fps??24,auto:i,props:{...o.props,...e.props},self:e.fix!==!1&&e.fix?.self!==!1,f0:l.f0,args:structuredClone(l.args??{}),tag:d,keys:f,use:e.use,index:u,place:ul(e.fix).stance,state:structuredClone(Tc(f,l.f0)),anchors:{...o.anchors,...e.anchors},objects:{...o.objects,...e.objects}},m=Gh[l.skill](p),h=Math.max(m.end??l.f0,...m.keys.map(e=>e.f));h>e.frames-1&&qh(`${d} needs ${h-l.f0} frames from f${l.f0} (to f${h}), past the last frame f${e.frames-1}; set frames >= ${h+1} or frames: "auto"`),s.push(...m.keys.map(e=>({...e,src:e.src??d}))),Yh(o.anchors,m.anchors,`anchors`,d),Yh(o.props,m.props,`props`,d),Yh(o.objects,m.objects,`objects`,d);for(let e of m.fits??[])o.fits.some(t=>Jh(t,e))||o.fits.push(e);for(let e of m.channels??[])o.channels.includes(e)||o.channels.push(e);Xh(o.checks,m.checks);for(let[e,t]of Object.entries(m.fills??{}))o.fills[e]={...o.fills[e],...t};o.goals.push(...m.goals??[]),c.push({skill:l.skill,f0:l.f0,end:m.end,...m.paced?{paced:m.paced}:{},...m.cut?{cut:m.cut}:{},...m.placed?{placed:m.placed}:{}})});let l={...e,keys:[...s,...a],anchors:{...o.anchors,...e.anchors},props:{...o.props,...e.props},objects:{...o.objects,...e.objects}},u=[...new Set([...o.channels,...Array.isArray(e.channels)?e.channels:[]])];u.length&&(l.channels=u);let d=e.fits??[];l.fits=[...o.fits.filter(e=>!d.some(t=>t.side===e.side&&t.anchor===e.anchor)),...d],Xh(o.checks,e.checks),l.checks=o.checks;for(let[e,t]of Object.entries(o.fills))l.objects[e]&&(l.objects[e]={...t,...l.objects[e]});return o.goals.length&&(l.goals=[...o.goals,...e.goals??[]]),delete l.use,{spec:l,used:c}}let $h=new Set([`f`,`f0`,`steps`,`period`,`swing`,`until`,`reach`,`hold`,`release`]),eg=e=>e&&typeof e==`object`&&!Array.isArray(e)&&(e.range??e.search)!==void 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ng(e)){let e=t;for(let t of n.path.slice(0,-1))e=e[t];e[n.path[n.path.length-1]]=n.hi}return t}function dg(e,{sk:t,scene:n,lenient:r=!1}={}){if(e?.frames!==`auto`)return e;let{spec:i,used:a}=Qh({...ug(e),frames:2e4},{sk:t,scene:n,lenient:r,auto:!0}),o=[...Array.isArray(i.keys)?i.keys.map(e=>e?.f):[],...a.map(e=>e.end),...Array.isArray(i.generators)?i.generators.map(e=>e&&Number.isFinite(e.f0)?kp(e):null):[]];return{...e,frames:Math.max(0,...o.filter(Number.isFinite))+1}}let fg=new WeakSet;function pg(e){return fg.add(e),e}let mg=e=>Math.round(e*1e3)/1e3,hg=e=>Math.round(e*10)/10,gg=e=>e.map(mg);function _g(e,t,n){let r=e.frameCount-1,i=e.timeMap??(e=>e),a=t.map((e,t)=>({beat:e.skill,src:`use[${t}]`,f:[e.f0,e.end??e.f0]}));(n.generators??[]).forEach((e,t)=>a.push({beat:e.type,src:`generators[${t}]`,f:[e.f0,e.f0+16+(e.steps??8)*(e.period??20)+18]}));let o=e=>a.some(t=>e>=t.f[0]&&e<=t.f[1]),s=[...new 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Sg(e,t,n){let r=e.frames[n-(e.f0??0)];if(!r)return null;let{s:i,c:a}=r,o=e.ctx.sk.index;return{root:gg(i.P[o.Hips]),yaw:hg(a.yaw??0),hand_l:gg(i.P[o.LeftHand]),hand_r:gg(i.P[o.RightHand]),on_l:xg(t,a,`l`,n),on_r:xg(t,a,`r`,n)}}function Cg(e,{used:t,spec:n}){let r=_g(e,t??[],n);if(!r.length)return[];let i=vg(e),a=bg(e,n);return r.map(t=>({...t,end:Sg(e,n,t.f[1]),planted:{l:yg(i.l,t.f),r:yg(i.r,t.f)},events:a.filter(e=>e.f>=t.f[0]&&e.f<=t.f[1])}))}let wg=e=>`[${e[0]},${e[1]}]`,Tg=(e,t)=>{e&&!e.includes(t)&&e.push(t)};function Eg(e,t){if(!(Array.isArray(e)&&e.length===2&&e.every(Number.isInteger)&&e[0]<=e[1]))return null;let n=Math.max(0,e[0]),r=Math.min(t,e[1]);return n<=r?[n,r]:null}function Dg(e,t){if(!Array.isArray(e.goals)||!Number.isInteger(e.frames))return;let n=e.frames-1;e.goals.forEach((e,r)=>{if(!e||typeof e!=`object`||!Array.isArray(e.at))return;let i=Eg(e.at,n);!i||i[0]===e.at[0]&&i[1]===e.at[1]||(Tg(t,`goals[${r}]${e.name?` "${e.name}"`:``} at ${wg(e.at)} -> ${wg(i)}: the 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e.forEach((e,r)=>{let i=n[n.length-1];if(!e)return;let[a,o,s]=e,c=r+t;i&&i.object===a&&i.frames[1]===c-1?(i.frames[1]=c,s<i.gap[0]&&(i.gap[0]=s,i.gap[1]=c,i.part=o),s>i.gap[2]&&(i.gap[2]=s,i.gap[3]=c)):n.push({object:a,part:o,frames:[c,c],gap:[s,c,s,c]})}),n.sort((e,t)=>e.gap[0]-t.gap[0]).slice(0,2).sort((e,t)=>e.frames[0]-t.frames[0]).map(({object:e,part:t,frames:n,gap:r})=>({object:e,...t===e?{}:{part:t},frames:n,gap:[Jg(r[0]),r[1],Jg(r[2]),r[3]]}))}function e_(e,t){if(!Object.keys(t.ctx.scene?.objects??{}).length)return null;let n=t.f0??0,r={hand_l:[],hand_r:[],foot_l:[],foot_r:[]};t.frames.forEach(({s:i},a)=>{let o=Zg(t,a+n),s=Yg(e,i);for(let e of Object.keys(r))r[e].push(Qg(s[e],o,e.startsWith(`hand_`)?e.slice(-1):null))});let i=Object.fromEntries(Object.entries(r).map(([e,t])=>[e,$g(t,n)]).filter(([,e])=>e.length));return Object.keys(i).length?i:null}let t_=.25,n_=.75,r_=Array.from({length:16},(e,t)=>9+t),i_=[`steps`,`period`,`step`,`swing`],a_=new 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