cozyclay 3.1.1 → 3.1.2

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

@@ -0,0 +1,15 @@
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A motion spec anchor { kind: "object", object, socket: <name>, grasp } takes a hand by one; a thin body (a bar, a can, a handle) is a socket of its own, named by its id`},{path:`object.effect`,type:`object`,persisted:!0,undoDomain:`objects`,normalizer:`normalizeSceneObject`,note:`renderer effect only (object.add kind "effect"). { preset: smoke|exhale|steam|fire|sparks|dust|rain|snow|trail, rate particles/s, life s, size m start diameter, grow end/start size, speed m/s along the record's local +Y (rotX 90 aims +Z), spread 0..1 cone, gravity m/s2 (+ falls, - rises), wind {x,y,z} m/s, color, opacity 0..1, additive (emissive: fire, sparks), seed int, area {x,y,z} m birth box (rain/snow/dust fall through it from its top), width m trail ribbon across local Y }. A new preset loads its defaults and fields in the same set override them, e.g. { preset: "fire", rate: 40 }; the record stores the merged numbers. Particles are born where the record is at each frame (route, parent, take carry), only while it and its parents are shown, at rate x the take level. To emit from the body (a breath at the mouth), a motion spec entry objects.<id> = { follow: "landmark:mouth", aim: "face" } moves it there every frame. 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0&&t<=e.exclusiveMinimum)&&j(n,ze(r,e,t),r),(e.minimum!==void 0&&t<e.minimum||e.maximum!==void 0&&t>e.maximum)&&j(n,`${r}: Expected a number within [${[e.minimum,e.maximum].filter(e=>e!==void 0).join(`, `)}], got ${t}.`,r),t;throw Error(`Unsupported internal Studio schema.`)}var On=e=>Dn(gt,e,`INVALID_IDENTITY`);function kn(e){return[...new Set([...[`object`,`character`,`rig`].includes(e.selection?.kind)?[e.selection.id]:[],...e.activeCharacterId?[e.activeCharacterId]:[],...e.shot?.subjectIds??[],...e.jobs.flatMap(e=>[e.characterId,...e.targetIds??[]])])]}function An(e){let t=et(JSON.stringify(e)??``);t>65536&&j(`CONTEXT_TOO_LARGE`,`Studio context exceeds ${Ke/1024} KiB.`,`$`,{bytes:t,maxBytes:Ke});let n=Dn(tn,e,`INVALID_CONTEXT`),r=new Set(n.entities.map(e=>e.id));r.size!==n.entities.length&&j(`INVALID_CONTEXT`,`Duplicate entity ID.`);for(let e of kn(n))r.has(e)||j(`TARGET_NOT_READY`,`Mandatory target is absent from context.`);n.activeCharacterId&&!n.entities.some(e=>e.id===n.activeCharacterId&&e.kind===`character`)&&j(`INVALID_CONTEXT`,`Active target is not a character.`),[`object`,`character`,`rig`].includes(n.selection?.kind)&&!n.entities.some(e=>e.id===n.selection.id&&e.kind===n.selection.kind)&&j(`INVALID_CONTEXT`,`Selection kind disagrees with the selected entity.`),n.selection?.kind===`scene`&&n.selection.id!==n.host.sceneId&&j(`INVALID_CONTEXT`,`Selected scene is not the bound scene.`);for(let e of n.entities)e.bounds&&[`x`,`y`,`z`].some(t=>e.bounds.min[t]>e.bounds.max[t])&&j(`INVALID_CONTEXT`,`Inverted entity bounds.`),e.kind===`object`&&typeof e.scale==`number`&&j(`INVALID_CONTEXT`,`Objects use three-axis scale.`),e.kind!==`object`&&nt(e.scale)&&j(`INVALID_CONTEXT`,`Cast uses scalar scale.`);let i=n.entityPage;if((i.returned!==n.entities.length||i.total<i.returned||i.truncated!==i.total>i.returned||(i.truncated?i.nextCursor===null:i.nextCursor!==null))&&j(`INVALID_CONTEXT`,`Entity pagination is inconsistent.`),n.entityIndex){let e=new Set(n.entityIndex.map(e=>e.id));e.size!==n.entityIndex.length&&j(`INVALID_CONTEXT`,`Duplicate entity index ID.`),(n.entityIndex.length>i.total||n.entities.some(t=>!e.has(t.id)))&&j(`INVALID_CONTEXT`,`Entity index must cover every detailed entity and no more than the total.`)}n.view.frame>=Math.max(1,n.scene.frameCount)&&j(`INVALID_CONTEXT`,`Playhead is outside the scene.`),new Set(n.shots.map(e=>e.id)).size!==n.shots.length&&j(`INVALID_CONTEXT`,`Duplicate shot ID.`);for(let e of[...n.shots,...n.shot?[n.shot]:[]])e.range.endFrameExclusive>n.scene.frameCount&&j(`INVALID_CONTEXT`,`Shot is outside the scene.`);return n.shot&&!n.shots.some(e=>e.id===n.shot.id&&e.range.startFrame===n.shot.range.startFrame&&e.range.endFrameExclusive===n.shot.range.endFrameExclusive)&&j(`INVALID_CONTEXT`,`Current shot and range must survive projection.`),n}function jn(e){let t=new Set;for(let n of Array.isArray(e?.ops)?e.ops:[]){let e=nt(n)?n.target?.kind:void 0;if(Ze.includes(e)){t.add(e);for(let t of nt(n.set)?Object.keys(n.set):[])Object.hasOwn(zt[e].properties,t)||j(`INVALID_ARGUMENT`,`Unknown ${e} path "${e}.${t}". Valid ${e} paths: ${Bt[e].join(`, `)}.`)}}t.size>1&&j(`INVALID_ARGUMENT`,`One domain per patch: split character, object, shot and stage edits into separate commands.`)}function Mn(e){(!nt(e)||!Xe.includes(e.name))&&j(`UNKNOWN_TOOL`,`Unsupported Studio tool.`),e.name===`patch_elements`&&jn(e.args);let{args:t}=Dn(R({name:I(Xe),args:Ht[e.name]}),e);if(e.name===`inspect_studio`&&t.ids&&t.query!==void 0&&j(`INVALID_ARGUMENT`,`IDs and query are exclusive.`),e.name===`operate_studio`&&(!Object.keys(t).length||t.view&&!Object.keys(t.view).length)&&j(`INVALID_ARGUMENT`,`Transient operation must specify an action.`),t.ops){let e=t.ops.filter(e=>e.op===`create`&&e.name!==void 0).map(e=>e.name.normalize(`NFC`).trim());new Set(e).size!==e.length&&j(`DUPLICATE_NAME`,`Create names must be unique; resolve existing targets by ID.`);for(let e of t.ops)e.op===`update`&&Object.keys(e).length===2&&j(`INVALID_ARGUMENT`,`Update has no fields.`),e.facing&&e.rotationDeg&&j(`INVALID_ARGUMENT`,`Facing and rotationDeg are exclusive: facing sets yaw only (toward/away/same-as/yawDeg); rotationDeg {x,y,z} sets the full rotation, with y as the yaw.`),e.op===`group`&&e.childIds.includes(e.parentId)&&j(`INVALID_ARGUMENT`,`Cannot group an object under itself.`),e.op===`create`&&e.parent!==void 0&&e.name!==void 0&&e.parent.normalize(`NFC`).trim()===e.name.normalize(`NFC`).trim()&&j(`INVALID_ARGUMENT`,`Cannot group an object under itself.`);t.collisionPolicy===`avoid`&&!t.ops.some(e=>[`create`,`update`].includes(e.op)&&e.position?.relativeTo)&&j(`INVALID_ARGUMENT`,`collisionPolicy avoid needs at least one op with position.relativeTo (it nudges outward from that reference); other ops are placed as given.`)}if(e.name===`frame_shot`&&t.framing.exact&&JSON.stringify(t.framing.exact.position)===JSON.stringify(t.framing.exact.lookAt)&&j(`INVALID_ARGUMENT`,`Camera position and aim cannot coincide.`),e.name===`patch_elements`)for(let e of t.ops)Object.keys(e.set).length||j(`INVALID_ARGUMENT`,`Patch has no fields.`);return e.name===`verify_result`&&(!!t.receiptId==!!t.targets&&j(`INVALID_ARGUMENT`,`Exactly one of receiptId or targets is required.`),t.checks.includes(`motion`)&&t.range===void 0&&(t.range=`whole_clip`,Object.defineProperty(t,"rangeWasDefaulted",{value:!0,enumerable:!1}))),{name:e.name,args:t}}function Nn(e){if(e?.ok===!1){let t=Dn(Tn,e,`INVALID_RECEIPT`);return et(JSON.stringify(t))>8192&&j(`INVALID_RECEIPT`,`Failure receipt exceeds 8 KiB.`),(t.mutated===!1&&t.preserved.authoredState!==`unchanged`||t.mutated===!0&&t.preserved.authoredState!==`changed`||t.mutated===`unknown`&&(t.preserved.authoredState!==`unknown`||t.recovery.action!==`reconcile`||t.recovery.retryAllowed===!0))&&j(`INVALID_RECEIPT`,`Failure must preserve uncertainty and actual state evidence.`),tt(t)}let t=Dn(wn,e,`INVALID_RECEIPT`);if(et(JSON.stringify(t))>8192&&j(`INVALID_RECEIPT`,`Receipt exceeds 8 KiB; use a detail cursor.`),t.delta.some(e=>!t.affectedIds.includes(e.id)||!Object.keys(e.after).length)&&j(`INVALID_RECEIPT`,`Readback must identify affected targets and actual state.`),t.ops){let e=t.ops.some(e=>e.status===`partial`);t.ops.some((e,t)=>e.index!==t)&&j(`INVALID_RECEIPT`,`Operation results must report every operation in order.`),t.ops.some(e=>e.status===`partial`!=!!e.droppedPaths?.length)&&j(`INVALID_RECEIPT`,`A partial operation must name the paths the domain dropped, and only a partial one may.`),t.status===`applied`&&e&&j(`INVALID_RECEIPT`,`Applied status cannot hide a dropped path.`),t.status===`partial`&&!e&&j(`INVALID_RECEIPT`,`Partial status requires at least one dropped path.`),t.status===`noop`&&t.ops.some(e=>e.status===`applied`)&&j(`INVALID_RECEIPT`,`A noop cannot report an applied operation.`)}if(t.status===`started`||t.status===`completed`?(t.revision.after<t.revision.before&&!t.nextHost&&j(`INVALID_RECEIPT`,`Completion revisions must not move backwards in one document.`),t.status===`started`&&(t.authored||t.undo||t.revision.before!==t.revision.after)&&j(`INVALID_RECEIPT`,`Started jobs cannot claim an authored commit.`),t.kind===`mutation`&&(!t.authored||!t.undo||t.revision.after<=t.revision.before||!t.delta.length)&&j(`INVALID_RECEIPT`,`A completed composite mutation needs retained undo and advancing revision evidence.`),t.undo&&(!t.authored||!t.affectedIds.length)&&j(`INVALID_RECEIPT`,`An undo entry requires an authored result and affected targets.`)):t.status===`noop`||t.status===`transient`?((t.authored||t.undo!==null||t.revision.before!==t.revision.after)&&j(`INVALID_RECEIPT`,`Non-authored operations cannot create history or advance authored revision.`),t.status===`noop`&&(t.mutated!==!1||t.delta.length)&&j(`INVALID_RECEIPT`,`Noop must prove no mutation.`),t.status===`transient`&&(!t.view||t.view.after<t.view.before||!t.delta.length)&&j(`INVALID_RECEIPT`,`Transient receipt requires view revisions and actual readback.`)):((!t.authored||!t.undo||t.revision.after!==t.revision.before+1||!t.affectedIds.length||!t.delta.length||t.mutated===!1)&&j(`INVALID_RECEIPT`,`Authored mutation requires one revision and one undo entry with actual readback.`),t.delta.length<t.affectedIds.length&&!t.detailCursor&&j(`INVALID_RECEIPT`,`Omitted batch readback requires a detail cursor.`)),t.status===`undone`&&(new Set(t.restoredTargets.map(e=>e.targetId)).size!==t.affectedIds.length||t.restoredTargets.some(e=>!t.affectedIds.includes(e.targetId)||Object.keys(ht).some(n=>e[n]!==t.host[n])))&&j(`INVALID_RECEIPT`,`Undo must identify every restored target and its new token in the bound host.`),t.status===`installed`){(!t.jobId||!t.artifactId||!t.installed||!t.verification||!t.affectedIds.includes(t.installed.characterId))&&j(`INVALID_RECEIPT`,`Installation requires correlated target, artifact and verification evidence.`);let{frameCount:e,blocks:n}=t.installed,r=0;for(let e of n)(e.startFrame!==r||e.endFrameExclusive<=r||e.endFrameExclusive-r>120)&&j(`INVALID_RECEIPT`,`Installed schedule is not contiguous or bounded.`),r=e.endFrameExclusive;(r!==e||t.installed.durationSeconds!==e/24||t.verification.range.startFrame!==0||t.verification.range.endFrameExclusive!==e||t.verification.evaluatedFrames>e)&&j(`INVALID_RECEIPT`,`Installed schedule and verification coverage disagree.`),t.verification.status===`verified`&&t.verification.evaluatedFrames!==e&&j(`INVALID_RECEIPT`,`Verified motion requires whole-clip coverage.`),t.verification.status===`unverified`&&t.explicitUnverifiedAcceptance!==!0&&t.acceptance!==`advisory-policy`&&j(`INVALID_RECEIPT`,`Unverified installation requires explicit user or advisory-policy acceptance.`)}else(t.installed||t.verification||t.jobId&&![`started`,`completed`].includes(t.status)||t.artifactId||t.explicitUnverifiedAcceptance!==void 0)&&j(`INVALID_RECEIPT`,`Installation evidence is exclusive to installed receipts.`);return tt(t)}var Pn=`cozyclay.locale`;function Fn(){try{let e=localStorage.getItem(Pn);return e===`ko`||e===`en`?e:null}catch{return null}}var In=Fn()??`en`,Ln=In===`ko`,Rn=Fn()!==null;function B(e,t){return Ln?t:e}function zn(e){if(e===`ko`||e===`en`){try{localStorage.setItem(Pn,e)}catch{}window.location.reload()}}var Bn=1.8,Vn=1.3,Hn=Object.freeze({super16:Object.freeze({id:`super16`,label:`Super 16`,widthMm:12.52,heightMm:7.41}),super35:Object.freeze({id:`super35`,label:`Super 35`,widthMm:24.89,heightMm:18.66}),fullFrame:Object.freeze({id:`fullFrame`,label:`Full Frame`,widthMm:36,heightMm:24}),"65mm":Object.freeze({id:`65mm`,label:`65mm`,widthMm:52.63,heightMm:23.01})}),Un=`fullFrame`,Wn=16/9,Gn=Object.freeze({"16:9":16/9,"2.39:1":2.39,"9:16":9/16,"1:1":1,"4:3":4/3,"12:7":12/7,"fal 480P":832/480});function Kn(e){return Gn[e]??1.7777777777777777}function qn(e=Un,t=Wn){let n=Hn[e]??Hn.fullFrame,r=Number.isFinite(t)&&t>0?t:Wn;return Math.min(n.heightMm,n.widthMm/r)}function Jn(e,t=Un,n=Wn){return qn(t,n)/(2*Math.tan(e/2))}function Yn(e,t=Un,n=Wn){return 2*Math.atan(qn(t,n)/(2*e))}var Xn=[14,18,24,28,35,50,85,100,135];function Zn(e,t=Un,n=Wn){let r=Jn(e,t,n);return Xn.reduce((e,t)=>Math.abs(t-r)<Math.abs(e-r)?t:e)}var Qn=[[2.8,`extreme close-up`,`ultra-realistic skin texture with visible pores and micro-detail, tack-sharp eyes, shallow depth of field`],[1.6,`close-up`,`ultra-realistic skin texture and fine facial detail, soft background blur, shallow depth of field`],[1.15,`medium close-up`,`natural skin and fabric texture, clear facial detail, shallow depth of field`],[.8,`medium shot`,`balanced detail on the subject and the surrounding space, moderate depth of field`],[.52,`medium-wide shot`,`the full figure with the environment clearly visible, deep focus`],[.3,`wide shot`,`full body in a richly detailed environment, deep focus`],[0,`extreme wide shot`,`a small figure within a vast, highly detailed environment, epic sense of scale, deep focus`]],$n=[[2.5,`overhead`,`a 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Kl=.045,ql=[[1,0,0],[0,1,0],[0,0,1]],Jl=(e,t)=>U(e,W(t,G(e,t)));function Yl(e){if(!e)return-1;let t=[0,1,2].reduce((t,n)=>e[n]>e[t]?n:t,0);return[0,1,2].filter(e=>e!==t).every(t=>e[t]<Kl)?t:-1}var Xl=(e,t)=>e===`cylinder`&&!!t&&t[1]<Kl&&Math.min(t[0],t[2])>=Kl&&Math.abs(t[0]-t[2])<.1*t[0],Zl=(e,t)=>e?.objects?.[t]?.grasp??e?.others?.[t]?.grasp??null;function Ql(e,t){let n=[],r=(t,r)=>Object.entries(Zl(e,t)??{}).forEach(([e,i])=>n.push({...i,name:r+e,owner:t}));r(t,``);for(let i of _h(e,t)){i!==t&&r(i,`${i}.`);let{half:a,renderer:o}=e.objects[i],s=Yl(a);s>=0?n.push({name:i,owner:i,at:[0,a[1],0],axis:ql[s],radius:Math.min(...a.filter((e,t)=>t!==s))}):Xl(o,a)&&n.push({name:i,owner:i,at:[0,a[1],0],rim:a[0],normal:ql[1]})}return n}var $l=(e,t,n)=>Ql(e,t).find(e=>e.name===n);function eu(e,t){let n=e=>e?q(Y(t.R,e)):void 0;return{p:H(t.pos,Y(t.R,e.at??[0,0,0])),axis:n(e.axis),from:n(e.from),thumb:n(e.thumb),radius:e.radius,...e.rim?{rim:e.rim,normal:n(e.normal)}:{}}}function tu(e,t){let n=Jl(U(t,e.p),e.normal),r=K(n)>1e-6?q(n):q(Jl(Math.abs(e.normal[1])<.9?[0,1,0]:[1,0,0],e.normal));return{p:H(e.p,W(r,e.rim)),axis:q(no(e.normal,r))}}function nu(e,t){let n;for(let r of e){let e=Y(X(r.R),U(t,H(r.pos,Y(r.R,[0,r.half[1],0])))),i=[0,1,2].map(t=>Math.abs(e[t])-r.half[t]),a=[0,1,2].reduce((e,t)=>i[t]>i[e]?t:e,0),o=Math.max(...i);(!n||o<n.gap)&&(n={gap:o,n:W([r.R[0][a],r.R[1][a],r.R[2][a]],e[a]<0?-1:1)})}return n?.n}function ru(e,t){let n=U(t,e.p);return e.rim?Math.hypot(G(n,e.normal),K(Jl(n,e.normal))-e.rim):K(e.axis?Jl(n,e.axis):n)}function iu(e,t,n,r,i=0){let a=e===`Right`,o=e=>a?e:W(e,-1);if(t.axis&&n!==`palm`&&!(t.from&&K(Jl(t.axis,t.from))<.001)){if(t.from){let e=o(t.from),n=q(Jl(t.axis,e)),i=n=>t.thumb?G(n,t.thumb):G(no(n,e),r),a=i(n)>=i(W(n,-1))?n:W(n,-1);return ou(no(a,e),a,e)}let e=au(r,t.axis),n=Y(Z(i),[a?1:-1,0,0]),s=Math.abs(e[1]),c=t.thumb??Jl(H(W([0,1,0],1-s),W(n,s)),e),l=q(Jl(t.axis,e)),u=G(l,c)>=0?l:W(l,-1);return ou(e,u,no(e,u))}let s=o(t.from??W(r,-1)),c=au(r,s);return ou(c,no(s,c),s)}function au(e,t){let n=Jl(e,t);return q(K(n)>.001?n:Jl(Math.abs(t[1])<.9?[0,1,0]:[1,0,0],t))}var ou=(e,t,n)=>[[e[0],t[0],n[0]],[e[1],t[1],n[1]],[e[2],t[2],n[2]]];function su(e,t){let n=Zh[t],r=e.restWorldPos,i=e.index;return K(U(r[i[`${n}ForeArm`]],r[i[`${n}Arm`]]))+K(U(r[i[`${n}Hand`]],r[i[`${n}ForeArm`]]))}var cu=new Set([`body`]);function lu(e,t,n,r,i,a){let o=e.spec.anchors?.[t];if(!o)throw Error(`MOTION_SPEC_INVALID: unknown anchor "${t}"`);let s=hu(e,o,t,n,r,i,a),c=cu.has(o.kind)&&e.keepOut;return c?Ts(c.body,e.sk,n,Ts(c.body,e.sk,n,s,Es,c.skip),Es,c.skip):s}var uu=[`r`,`l`],du={l:`left`,r:`right`};function fu(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]??Pl(e.scene)[t.object],l=e.objectPose&&s!==void 0?e.objectHand(t.object,s):null;if(o&&l&&uu.indexOf(l)>uu.indexOf(o))throw Error(`MOTION_SPEC_INVALID: anchor "${n}" is on "${t.object}", which the ${du[l]} hand holds at 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Carry "${t.object}" in the right hand (a right-hand prop) and put the left hand on it, or give the right hand another anchor`);let u=!e.objectPose||s===void 0||l===o?c():mu(e,n,t.object,s,()=>e.objectPose(t.object,s,{s:r,diag:i,c:a}));if(!u)throw Error(`MOTION_SPEC_INVALID: anchor "${n}" names unknown object "${t.object}"`);return u}var pu=16;function mu(e,t,n,r,i){if((e.nest??0)>=pu)throw Error(`MOTION_SPEC_INVALID: anchor "${t}" on "${n}" at f${r} reads a pose that needs this frame solved again (an anchor and carry loop); anchor the hand on a point that does not ride on the hand it moves`);e.nest=(e.nest??0)+1;try{return i()}finally{e.nest--}}function hu(e,t,n,r,i,a,o){let{sk:s}=e,c=s.index;switch(t.kind){case`world`:return t.p.slice();case`body`:return H(a.root??r.P[c.Hips],Y(Z(a.yaw??0),t.p));case`bone`:return H(r.P[c[t.bone]],t.offset??[0,0,0]);case`segment`:{let e=r.P[c[t.from]],n=r.P[c[t.to]],i=t.offset??[0,0,0],a=t=>H(H(e,W(U(n,e),t)),i);if(!t.reach)return a(t.t??.5);let o=r.P[c[`${Zh[t.reach]}Arm`]],l=.95*su(s,t.reach);for(let e=t.t??.45;e>=(t.tMin??.15);e-=.01)if(K(U(a(e),o))<=l)return a(e);return a(t.tMin??.15)}case`object`:{if(t.grasp&&t.local===void 0)return _u(e,n,r,i,a,o).p;let s=fu(e,t,n,{s:r,diag:i,c:a},o);return H(s.pos,Y(s.R,t.local??[0,0,0]))}case`landmark`:return wo(r,c.Head,s.landmarks[t.name]??(()=>{throw Error(`MOTION_SPEC_INVALID: unknown landmark "${t.name}"`)})());case`prop`:{let r=gu(e,t,n,i?.frame)??i.props?.[t.prop]?.[t.point];if(!r)throw Error(`MOTION_SPEC_INVALID: anchor "${n}" needs prop ${t.prop}.${t.point}, which is held by an arm solved later`);return H(r,t.offset??[0,0,0])}case`person`:{let r=Ul(e.scene,t.person,t.bone,i?.frame??0);if(!r)throw Error(`MOTION_SPEC_INVALID: anchor "${n}" names person "${t.person}" bone "${t.bone}", which the scene does not have (people: ${Wl(e.scene)})`);return H(r,t.offset??[0,0,0])}default:throw Error(`MOTION_SPEC_INVALID: anchor "${n}" has unknown kind "${t.kind}"`)}}function gu(e,t,n,r){let i=e.spec.props?.[t.prop]?.hand;if(!i||r===void 0||!e.solvedAt||!e.carrySpan)return null;let a=null;for(let[t,n]of Object.entries(e.spec.objects??{})){if(!hg(n)||e.spec.props?.[n.prop]?.hand!==i)continue;let[o,s]=e.carrySpan(n);if(r>=o&&r<=s)return null;let c=r<o?o:s;(!a||Math.abs(r-c)<Math.abs(r-a.at))&&(a={id:t,at:c})}if(!a)return null;let o=mu(e,n,a.id,a.at,()=>e.solvedAt(a.at).diag.props?.[t.prop]?.[t.point]),s=e.objectPose(a.id,a.at),c=e.objectPose(a.id,r);return o&&s&&c?H(c.pos,Y(c.R,Y(X(s.R),U(o,s.pos)))):null}function _u(e,t,n,r,i,a){let o=e.spec.anchors[t],s={s:n,diag:r,c:i},c=n=>fu(e,{...o,object:n},t,s,a),l=o.local&&(e=>H(e.pos,Y(e.R,o.local)))(c(o.object));if(e.sockets??=new Map,!e.sockets.has(t)){let r=Ql(e.scene,o.object),i=e.sk.index,s=l??n.P[i[a?`${Zh[a]}Arm`:`Hips`]],u=o.socket?$l(e.scene,o.object,o.socket):r.map(e=>({k:e,d:ru(eu(e,c(e.owner)),s)})).sort((e,t)=>e.d-t.d)[0]?.k;e.sockets.set(t,u??null)}let u=e.sockets.get(t),d=u?eu(u,c(u.owner)):{p:l??c(o.object).pos};if(u?.rim)d=vu(e,t,a,u,c(u.owner),d,l??n.P[e.sk.index[a?`${Zh[a]}Arm`:`Hips`]]);else if(l)d.p=l;else if(d.axis&&d.radius>0){let t=Math.abs(ll[o.grasp]?.[2]??0),r=d.radius-t,i=n.P[e.sk.index[`${Zh[a]??`Right`}Arm`]],s=U(i,d.p),c=U(s,W(d.axis,G(s,d.axis)));r>1e-4&&K(c)>1e-6&&(d.p=H(d.p,W(q(c),r)))}return!d.axis&&!d.from&&(d.from=nu(_h(e.scene,o.object).map(t=>({...c(t),half:e.scene.objects[t].half})),d.p)),d}function vu(e,t,n,r,i,a,o){e.rims??=new Map;let s=(n?null:[...e.rims.keys()].find(e=>e.startsWith(`${t}|`)&&!e.endsWith(`|`)))??`${t}|${n??``}`;if(!e.rims.has(s)){let t=tu(a,o),n=e=>Y(X(i.R),e);e.rims.set(s,{at:n(U(t.p,i.pos)),axis:n(t.axis)})}return eu(e.rims.get(s),i)}function yu(e,t,n,r){let{sk:i}=e;for(let[a,o]of Object.entries(e.spec.props??{})){if(o.hand!==t)continue;let e=Ro(i,n,Zh[t]),s=W(o.origin.map(e=>n.P[i.index[e]]).reduce((e,t)=>H(e,t),[0,0,0]),1/o.origin.length),c={};for(let[t,[n,r,i]]of Object.entries(o.points??{}))c[t]=H(s,H(W(e.d,n),H(W(e.l,r),W(e.n,i))));c.origin=s,c.axes=e,(r.props??={})[a]=c}}var bu={joint:`joint:<Bone>`,bone:`bone:<Bone>`,prop:`prop:<prop>.<point>`,anchor:`anchor:<name>`,landmark:`landmark:mouth`,object:`object:<id>[.center|.top|.base|.rim]`,person:`person:<id>.<Bone>`};function xu(e){let t=/^([a-z]+):(.+)$/s.exec(String(e));if(!t)return null;let[,n,r]=t;if(n===`prop`){let[e,t]=r.split(`.`);return{kind:n,name:e,point:t??``}}if(n===`object`){let e=/^(.+)\.(center|top|base|rim)$/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 Su(e,t){let n=[1/0,1/0,1/0],r=[-1/0,-1/0,-1/0];for(let t of e)for(let e of[-1,1])for(let i of[0,2])for(let a of[-1,1]){let o=H(t.pos,Y(t.R,[e*t.half[0],i*t.half[1],a*t.half[2]]));for(let e=0;e<3;e++)n[e]=Math.min(n[e],o[e]),r[e]=Math.max(r[e],o[e])}let i=[(n[0]+r[0])/2,(n[1]+r[1])/2,(n[2]+r[2])/2];return t===`top`?[i[0],r[1],i[2]]:t===`base`?[i[0],n[1],i[2]]:i}function Cu(e){let t=(e??[]).map(e=>({o:H(e.pos,Y(e.R,[0,2*e.half[1],0])),n:[e.R[0][1],e.R[1][1],e.R[2][1]],r:Math.min(e.half[0],e.half[2])}));return t.length?t.reduce((e,t)=>t.o[1]>e.o[1]?t:e):null}function wu(e,t){let n=U(t,e.o),r=n[0]*e.n[0]+n[1]*e.n[1]+n[2]*e.n[2],i=U(n,e.n.map(e=>e*r)),a=K(i);return a>1e-6?H(e.o,i.map(t=>t*e.r/a)):e.o}function Tu(e,t,n){let r=e.frames?.[t-(e.f0??0)],i=xu(n);if(!r||!i)return null;let{s:a,diag:o,c:s}=r,c=e.ctx.sk;switch(i.kind){case`joint`:case`bone`:{let{bone:e}=El(c,i.name);return e?a.P[c.index[e]].slice():null}case`prop`:{let e=o.props?.[i.name]?.[i.point];return Array.isArray(e)?e.slice():null}case`anchor`:return e.ctx.spec.anchors?.[i.name]?lu(e.ctx,i.name,a,{...o,frame:t},s):null;case`landmark`:return c.landmarks?.[i.name]?wo(a,c.index.Head,c.landmarks[i.name]):null;case`object`:{let n=Nh(e,i.name,t);return n?i.point===`rim`?Cu(n).o.slice():Su(n,i.point):null}case`person`:return Ul(e.ctx.scene,i.name,i.point,t);default:return null}}function Eu(e,t,n,r){let i=e=>{let t=xu(e);return t?.kind===`object`&&t.point===null?t:null},a=i(r)?[n,i(r)]:i(n)?[r,i(n)]:null;if(a){let n=Tu(e,t,a[0]),r=Nh(e,a[1].name,t);return n&&r?Math.max(0,Math.min(...r.map(e=>dc(n,e)))):null}let o=[n,r].map(e=>{let t=xu(e);return t?.kind===`object`&&t.point===`rim`?t:null});if(o[0]||o[1]){let[i,a]=o[0]?[o[0],r]:[o[1],n],s=Tu(e,t,a),c=Cu(Nh(e,i.name,t));return s&&c?K(U(s,wu(c,s))):null}let s=Tu(e,t,n),c=Tu(e,t,r);return s&&c?K(U(s,c)):null}function Du(e,{sk:t,scene:n},r,i=Qc){if(typeof r!=`string`||!r)return[];let a=r.replace(/\.(center|top|base|rim)$/,``),[o,s]=r.split(`.`),c=t&&(i.includes(`joint`)||i.includes(`bone`))?El(t,r).bone:null;return[i.includes(`object`)&&(n?.objects?.[a]||_h(n,a).length)&&`object:${r}`,c&&`${i.includes(`joint`)?`joint`:`bone`}:${c}`,i.includes(`anchor`)&&e.anchors?.[r]&&`anchor:${r}`,i.includes(`prop`)&&e.props?.[o]&&(s===`origin`||e.props[o].points?.[s])&&`prop:${r}`,i.includes(`landmark`)&&r===`mouth`&&`landmark:mouth`].filter(Boolean)}function Ou(e,t,n,r){let i=Du(e,t,n,r);return i.length?`; did you mean ${i.map(e=>`"${e}"`).join(` or `)}?`:``}function ku(e,t,{sk:n,scene:r},i,a,o=Qc){let s=xu(a),c=`${i} "${a}"`;if(!s||!o.includes(s.kind))return t(`${c} must be ${o.map(e=>bu[e]).join(`, `)}${s?``:Ou(e,{sk:n,scene:r},a,o)}`),!1;if(s.kind===`joint`||s.kind===`bone`){let{bone:e,hint:r}=n?El(n,s.name):{bone:s.name};return e||t(`${c}: unknown bone${r}`),!!e}if(s.kind===`prop`){let 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${yl(s.name,Object.keys(e.anchors??{}))}`),!!e.anchors?.[s.name];if(s.kind===`landmark`)return s.name!==`mouth`&&t(`${c}: the only landmark is "mouth"`),s.name===`mouth`;if(s.kind===`person`){let e=!!Ul(r,s.name,s.point,0);return e||t(`${c}: no person "${s.name}" with joint "${s.point}" (people with an installed take: ${Wl(r)})`),e}return Ol(t,r,c,s.name,{groups:!0})}var Au=[0,1,0];function ju(e,t,n=`up`,r){if(Array.isArray(n))return q(n);if(n===`face`){let{sk:n}=e.ctx;return q(To(n,e.frames[t-(e.f0??0)].s,n.index.Head,[0,0,1]))}let i=n===`up`?null:Tu(e,t,n),a=i?U(i,r):Au;return K(a)>1e-9?q(a):Au}function Mu(e,t,n){let r=e.f0??0,i=Math.max(r,Math.min(r+e.frames.length-1,n)),a=Tu(e,i,t.follow);if(!a)return null;let o=go(ts(Au,ju(e,i,t.aim,a)));return{pos:H(a,Y(o,t.offset??[0,0,0])),R:o}}var 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l=Vf(e,t,s),u=`foot_${c}`;for(let[e,t,s,c]of r){if(l.every(e=>ro(e,s)>c))continue;let r=Hf(l,t),d=a(u,e),f=d??i.allow,p=d??i.groundAllow;r.side>f?o(`COLLIDE`,`${u} x ${e}`,n,r.side,f):r.top>p&&o(`COLLIDE`,`${u} x ${e}`,n,r.top,p)}}}var Wf={allow:.005,groundAllow:.01,reach:.01,slide:.0015,plantH:.012,speedCore:.04,speedLimb:.16,accCore:.015,accLimb:.05,flip:60,knee:150,headAllow:.003,self:0,body:.005,skin:.015,hands:.01,object:.005,grab:.03,balance:.08},Gf=20,Kf=.01,qf=(e,t,n)=>{for(let r of e??[])if(t.startsWith(r.part)&&(r.object===n||r.object.endsWith(`*`)&&n.startsWith(r.object.slice(0,-1))))return r.depth;return null};function Jf(e,t,n={}){let r={...Wf,...n.limits},i=[],a=e.index,o=t.frames,s=o.length,c=(e,t,n,r,a)=>i.push({kind:e,msg:t,frame:n,value:+r.toFixed(4),limit:a});for(let i=0;i<s;i++){let{s,diag:l}=o[i],u=t.objectsAt(i),d=Object.entries(u).filter(([,e])=>e.half&&!e.ignore).map(([e,t])=>[e,t,H(t.pos,Y(t.R,[0,t.half[1],0])),K(t.half)]);for(let[e,t,o,l]of lc){let 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i=n[t-1],a=n[t];for(let n of[`heel`,`ball`]){let o=a[n][1]<r.plantH&&i[n][1]<r.plantH&&Math.abs(a[n][1]-i[n][1])<5e-4,s=Math.hypot(a[n][0]-i[n][0],a[n][2]-i[n][2]);o&&s>r.slide&&c(`SLIDE`,`${e} ${n} slides`,t,s,r.slide)}}}for(let t=0;t<e.names.length;t++){let n=e.parent[t];if(n<0)continue;let r=ro(e.restWorldPos[t],e.restWorldPos[n]),i=Math.max(...o.map(e=>Math.abs(ro(e.s.P[t],e.s.P[n])-r)));i>.001&&c(`LENGTH`,`${e.names[n]}-${e.names[t]}`,0,i,.001)}return Cf(e,t,r,c),Yf(e,o,r,c),i}function Yf(e,t,n,r){let i=e.index,a=Math.sin(Gf*Math.PI/180);for(let e of[`Left`,`Right`])for(let[o,s,c]of[[`${e}UpLeg`,`${e}Leg`,`${e}Foot`],[`${e}Arm`,`${e}ForeArm`,`${e}Hand`]]){let e=null,l=0;for(let u=0;u<t.length;u++){let d=t[u].s.P,f=U(d[i[s]],d[i[o]]),p=U(d[i[c]],d[i[s]]),m=no(f,p);if(K(m)<a*K(f)*K(p))continue;let h=q(m),g=e?_o(h,e):0,_=u-l;g/_>n.flip&&r(`FLIP`,`${s} bend plane jumps ${g.toFixed(0)}deg${_>1?` over ${_} frames`:``}`,u,g/_,n.flip),e=h,l=u}}}var Xf=36,Zf=.05,Qf=.3,$f=3,ep=10,tp=36,np=1,rp=100,ip=lc.filter(e=>e[0].startsWith(`torso`)),ap=Object.fromEntries(lc.map(e=>[e[0],e[3]])),op=(e,t,n)=>[[e[0],t[0],n[0]],[e[1],t[1],n[1]],[e[2],t[2],n[2]]],sp=(e,t)=>[e[0][t],e[1][t],e[2][t]];function cp(e,t,n,r){let i=U(t,e),a=U(r,n),o=U(e,n),s=G(i,i),c=G(a,a),l=G(a,o);if(s<1e-12||c<1e-12)return K(o);let u=G(i,o),d=G(i,a),f=s*c-d*d,p=f>1e-12?io((d*l-u*c)/f,0,1):0,m=(d*p+l)/c;return m<0?(m=0,p=io(-u/s,0,1)):m>1&&(m=1,p=io((d-u)/s,0,1)),K(U(H(e,W(i,p)),H(n,W(a,m))))}function lp(e,t,n){let r=e.index,i=Ro(e,t,n);return{pos:W(H(t.P[r[`${n}HandIndex2`]],t.P[r[`${n}HandMiddle2`]]),.5),R:op(i.d,i.l,i.n)}}function up(e,t,n,r,i,a){let o=t.objects[n];if(t.props[o.prop].hand!==`r`)return null;let s=Object.entries(t.anchors??{}).reduce((e,[t,n])=>e+(n.kind===`prop`&&n.prop===o.prop?Math.max(0,i[`w_${t}_l`]??0):0),0);if(!(s>1e-4))return null;let c=lp(e,r,Zh.r).R,l=sp(c,0),u=q(no(a,U(l,W(a,G(l,a))))),d=e=>U(e,W(u,2*G(e,u))),f=op(d(l),d(sp(c,1)),W(d(sp(c,2)),-1)),p=lp(e,r,Zh.l),m=e.index,h=m.LeftHand,g=r.P[h],_=J(X(r.R[h]),p.R),v=Y(X(r.R[h]),U(p.pos,g)),y=(t.fits??[]).some(e=>e.side===`l`&&t.anchors?.[e.anchor]?.kind===`prop`&&t.anchors[e.anchor].prop===o.prop&&i[`w_${e.anchor}_l`]>1e-4)?`palm`:`wrist`,b=e=>J(fo(a,e*180/Math.PI),f),x=e=>J(b(e),X(_)),S=e=>y===`wrist`?H(g,Y(x(e),v)):U(p.pos,Y(x(e),v)),C=e=>y===`wrist`?g:S(e),w=Y(X(r.R[h]),U(r.P[m.LeftHandMiddle3],g)),T=r.P[m.LeftArm],E=nc(e,r,Zh.l),D=t.fix===!1||t.fix?.self===!1?null:ps(e),O={uarm_l:m.LeftArm,farm_l:m.LeftForeArm,hand_l:m.LeftHand},k=(t,n,i)=>D?Os(D,e,r,O[i],t,n):Math.max(0,...ip.map(([,e,a,o])=>ap[i]+o-cp(t,n,r.P[m[e]],r.P[m[a]]))),ee=new Map,A=t=>{if(ee.has(t))return ee.get(t);let n=C(t),i=qs(e,r,Zh.l,x(t),n,E,Ns),a=e=>{let t=i.at(e);return{pv:t.pv,elbow:t.elbow,cost:t.cost+np*((100*k(T,t.elbow,`uarm_l`))**2+(100*k(t.elbow,n,`farm_l`))**2)}},o={th:0,cost:1/0};for(let e=0;e<tp;e++){let t=2*Math.PI*e/tp-Math.PI,n=a(t).cost;n<o.cost&&(o={th:t,cost:n})}let s=H(n,Y(x(t),w)),c=k(n,s,`hand_l`),l=Math.max(0,c-Wf.body),u=2*ap.hand_l-cp(n,s,r.P[m.RightHand],r.P[m.RightHandMiddle3]),d=Math.max(0,u-Wf.hands),f=np*((100*c)**2+(100*i.miss)**2)+(l>0?rp*(100*l)**2:0)+(d>0?rp*(100*d)**2:0),p={at:a,best:{th:o.th,pole:a(o.th).pv,cost:o.cost+f}};return ee.set(t,p),p},te=e=>A(e).best.cost+Qf*(1-Math.cos(e));return{id:n,weight:s,pin:y,at:p.pos,rolled:b,arm:A,cost:te,point:S,softmin:()=>{let e=Array.from({length:Xf},(e,t)=>{let n=2*Math.PI*t/Xf-Math.PI;return[n,te(n)]}),t=Math.min(...e.map(e=>e[1])),n=e.reduce((e,[n,r])=>{let i=Math.exp(-(r-t)/Zf);return[e[0]+i*Math.cos(n),e[1]+i*Math.sin(n)]},[0,0]);return Math.atan2(n[1],n[0])},measure:t=>lp(e,t,Zh.l)}}var dp=(e,t)=>Math.exp(-Math.max(0,e.cost(t)-$f)/ep),fp=(e,t,n,r,i)=>({w:t*Math.min(1,e.weight)*r,second:e.id,pin:e.pin,pole:i,palm:{pos:e.at,R:e.rolled(n)},measure:e.measure}),pp=.045,mp=4,hp=8,gp=[30,10],_p=2,vp=4,yp=2,bp=.1,xp=1.5,Sp=20,Cp=4,wp=8,Tp=400,Ep=[`the fingers' line`,`the palm normal`,`the knuckle line`],Dp=(e,t)=>[e[0][t],e[1][t],e[2][t]],Op=e=>{let t=X(e.R);return{pos:W(Y(t,e.pos),-1),R:t}},kp=e=>Math.round(e*100)/100;function Ap(e,t,n){let r=ho(e),i=ho(t);return Xo(r,i)<0&&(i=i.map(e=>-e)),go(rs(r,i,n))}function jp(e,[t,n],[r,i]){let a=e>=0?n:-t,o=e>=0?i:-r,s=Math.abs(e);if(s<=a)return(s/a)**2;let c=(Math.min(s,o)-a)/Math.max(1e-6,o-a);return 1+wp*c*c+(s>o?Tp*((s-o)/o)**2:0)}function 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r=n.map(([,e])=>e.half).reduce((e,t)=>t[0]*t[1]*t[2]>e[0]*e[1]*e[2]?t:e),i=[0,1,2].reduce((e,t)=>r[t]>r[e]?t:e,0);return[0,1,2].filter(e=>e!==i).every(e=>r[e]<pp)}var Fp=(e,t)=>e.length<=t?e:Array.from({length:t},(n,r)=>e[Math.round(r*(e.length-1)/(t-1))]);function Ip(e,t){let n=Qo(ho(J(X(e),t)));return`today's grip turned ${Math.round(2*K(n)*180/Math.PI)} deg, mostly about ${Ep[[0,1,2].reduce((e,t)=>Math.abs(n[t])>Math.abs(n[e])?t:e,0)]}`}function Lp({sk:e,o:t,side:n,grab:r,rest:i,plain:a,palmOf:o,map:s=e=>e}){let c=new Map,l=e=>{let t=Math.round(e);if(!c.has(t)){let e=a(t);c.set(t,{s:e,now:o(e)})}return c.get(t)},{s:u,now:d}=l(r),f=[...t.keys].sort((e,t)=>e.f-t.f),p=Fp(f,hp),m=e=>Cg({pos:d.pos,R:e},i),h=(t,r,i)=>{let{s:a,now:o}=l(r);return Mp(e,a,n,Sg(i,Op(t)),o)},g=t=>Mp(e,u,n,Sg(i,Op(t)),d),_=t=>{let r=m(t);return g(r)+p.reduce((t,i)=>{let{s:a,now:o}=l(s(i.f));return t+Np(e,a,n,i,o,r,e=>h(r,s(i.f),e))},0)},v=r=>{let 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o=tg(t[`foot_${n}`]);i[`leg_miss_${n}`]=Io(e,r,e.index[`${a}UpLeg`],e.index[`${a}Leg`],e.index[`${a}Foot`],o,Y(m,tg(t[`knee_${n}`],$h)),$h,`knee`);let s=No(e,r,a,o,eg);s>150&&(i[`leg_fold_${n}`]=s),Lo(e,r,a,ng(t[`fyaw_${n}`],d),ng(t[`fpitch_${n}`]),p)}for(let a of n.armOrder??[`r`,`l`]){let o=Zh[a],s=ng(t[`armw_${a}`]),c=e.index[`${o}Arm`],l=e.index[`${o}ForeArm`],u=e.index[`${o}Hand`],d=q(Y(m,tg(t[`elbow_${a}`],[0,-1,-.3])));if(i[`arm_miss_${a}`]=0,s>1e-4&&n.handTarget){let t=r.P[u].slice(),f=H(t,W(U(n.handTarget(a,r,i)??t,t),s));n.keepOut&&(f=n.keepOut(a,r,f));let p=n.push?.(a);p&&(f=H(f,p));let m=n.sag?.(a,r,f);m&&(f=H(f,m));let h=n.skinPush?.(a);h&&(f=H(f,W(h,Qh(s)))),n.softReach&&(f=og(e,r,c,l,u,f,i,a));let g=H(W(q(U(r.P[l],W(H(r.P[c],t),.5))),1-s),W(d,s));i[`arm_miss_${a}`]=Io(e,r,c,l,u,f,g,Ns,n.foldFree?null:`elbow`);let _=No(e,r,o,f);_>145&&!n.foldFree&&(i[`arm_fold_${a}`]=_)}Bo(e,r,o,ng(t[`wtwist_${a}`]),ng(t[`wflex_${a}`])),Go(e,r,o,t[`fingers_${a}`]);let 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a=Ro(e,n,Zh[t.props[r.prop].hand]),o=i?bg(e,t.props[r.prop],n):yg(e,t,n,r),s=e=>H(W(a.d,e[0]),H(W(a.l,e[1]),W(a.n,e[2]))),c=q(s(r.along??[0,0,1])),l=U(a.d,W(c,G(a.d,c)));Math.hypot(...l)<1e-6&&(l=U(a.l,W(c,G(a.l,c)))),l=q(l);let u=no(l,c);return{pos:H(o,s(r.at??[0,0,0])),R:[[l[0],c[0],u[0]],[l[1],c[1],u[1]],[l[2],c[2],u[2]]]}}var Sg=(e,t)=>({pos:H(e.pos,Y(e.R,t.pos)),R:J(e.R,t.R)}),Cg=(e,t)=>({pos:Y(X(e.R),U(t.pos,e.pos)),R:J(X(e.R),t.R)});function wg(e,t,n,r){let i=n[e.channel]?.[r]??0,a=fo(e.axis??[0,1,0],i);return{pos:H(e.pivot,Y(a,U(t.pos,e.pivot))),R:J(a,t.R??so()),angle:i}}var Tg=.06,Eg=.8,Dg=.045,Og=.3,kg=30,Ag=180/Math.PI,jg=2,Mg=[0,1,0],Ng=(e,t,n)=>[[e[0],t[0],n[0]],[e[1],t[1],n[1]],[e[2],t[2],n[2]]],Pg=(e,t)=>U(e,W(t,G(e,t)));function Fg(e,t,n){let r=null;for(let i of e.fits??[]){let e=t[`w_${i.anchor}_${i.side}`]??0;i.side===n&&i.orient!==!1&&e>1e-4&&(!r||e>r.w)&&(r={fit:i,w:e})}return r&&{...r,w:r.w*Math.min(1,Math.max(0,t[`armw_${n}`]??0))}}function Ig(e,t,n,r,i){if(i.prop){let a=t.props?.[i.prop];if(!a)return null;let o=Ro(e,n,r),s=W(a.origin.map(t=>n.P[e.index[t]]).reduce(H,[0,0,0]),1/a.origin.length),[c,l,u]=i.point===`origin`?[0,0,0]:a.points?.[i.point]??[0,0,0];return H(s,H(W(o.d,c),H(W(o.l,l),W(o.n,u))))}let a=i.joints??[`${r}HandIndex2`,`${r}HandMiddle2`];return W(a.map(t=>n.P[e.index[t]]).reduce(H,[0,0,0]),1/a.length)}function Lg(e,t){let{spec:n}=e,r=e.scene?.objects?.[t];for(let e of[t,...r?.ancestors??[]]){let t=n.objects?.[e];if(t?.prop)return{key:e,entry:t,side:n.props?.[t.prop]?.hand??null}}return null}function Rg(e,t,n,r){let i=e.spec.objects?.[t],a=e.scene?.objects?.[t]?.half;if(!e.hold?.span||!i?.prop||e.spec.props?.[i.prop]?.hand!==n||!i.keys?.length||i.grab===void 0||i.at!==void 0||i.along!==void 0||a&&Vg(a)>=0)return null;let[o]=e.hold.span(t);return o>=1&&r<=Math.max(o,e.hold.firstKey(t)-1)?Math.min(r,o-1):null}function zg(e,t,n,r,i,a){let o=e.scene?.objects??{},s=i?.kind===`object`?_h(e.scene,i.object):Object.keys(o),c=null;for(let i of s){let s=o[i]?.half;if(!s)continue;let l=Rg(e,Lg(e,i)?.key,n,t),u=e.objectPose?.(i,l??t,l===null?a:null)??o[i];if(!u?.R)continue;let d={pos:u.pos,R:u.R,half:s},f=dc(r,d);(!c||f<c.d)&&(c={box:d,d:f,id:i})}let l=c&&Lg(e,c.id);return!c||l?.side===n&&Rg(e,l.key,n,t)===null?null:i?.kind===`object`||c.d<=Tg?{...c.box,id:c.id}:null}var Bg=[0,1,2];function Vg(e){let t=Bg.reduce((t,n)=>e[n]>e[t]?n:t,0);return Bg.filter(e=>e!==t).every(t=>e[t]<Dg)?t:-1}function Hg(e,t,n,r,i){let a=e===`Right`,o=Y(Z(r??0),[a?1:-1,0,0]),s=Math.abs(t[1]),c=Pg(H(W(Mg,1-s),W(o,s)),t),l=q(K(c)>.001?c:Pg(o,t)),u=i?Pg(i,t):null;if(!u||K(u)<=Og)return Ng(t,l,no(t,l));let d=e=>Math.acos(Math.max(-1,Math.min(1,G(e,n))))*Ag-(G(e,l)>0?kg:0),f=q(u),p=d(f)<=d(W(f,-1))?f:W(f,-1);return Ng(t,p,no(t,p))}function Ug(e,t,n){let r=[e[0][0],e[1][0],e[2][0]],i=[e[0][1],e[1][1],e[2][1]],a=Math.atan2(G(no(t,i),r),G(t,i))*Ag,[o,s]=js.twist,c=Math.min(s,Math.max(o,n+a))-n;if(Math.abs(c-a)<1e-6)return e;let l=Y(fo(r,c),t);return Ng(r,l,no(r,l))}function Wg(e,t,n,r,i,a,o,s){let c=Fg(e.spec,a,i),l=$p(e,i,o),u=c&&c.w>=.001&&Xp(e.spec,c.fit.anchor);if(l||u?Zp(e.spec,i):Math.abs(a[`wtwist_${i}`]??0)>.001||Math.abs(a[`wflex_${i}`]??0)>.001)return;if(l&&o>l.grab)return l.keyed?void 0:nm(e,t,n,r,i,l);if(!c||c.w<.001)return;if(u)return em(e,t,n,r,i,a,s,c,n=>Ig(t,e.spec,n,r,c.fit.effector??{}),null,o);if(Object.keys(e.spec.objects??{}).some(t=>e.spec.objects[t]?.prop&&e.objectHand?.(t,o)===i&&Rg(e,t,i,o)===null))return;let d={s:n,diag:s,c:a},f=e.spec.anchors?.[c.fit.anchor];if(f?.kind===`prop`)return;let p=H(lu(e,c.fit.anchor,n,s,a,i),c.fit.offset??[0,0,0]),m=zg(e,o,i,p,f,d),h=m&&Ig(t,e.spec,n,r,c.fit.effector??{});if(!h)return;let g=n=>({pos:Ig(t,e.spec,n,r,c.fit.effector??{}),R:(({d:e,l:t,n})=>Ng(e,t,n))(Ro(t,n,r))}),_=t.index,v=_[`${r}Arm`],y=_[`${r}ForeArm`],b=_[`${r}Hand`],x=Vg(m.half),S=x>=0?Y(m.R,Bg.map(e=>+(e===x))):null;if(S&&Math.abs(S[1])>Eg&&!Lg(e,m.id))return em(e,t,n,r,i,a,s,c,n=>Ig(t,e.spec,n,r,c.fit.effector??{}),{w:{p,axis:S},type:`power`},o);let C=Ro(t,n,r),w=q(Pg(C.l,C.d)),T=q(U(n.P[b],n.P[y])),E=J(n.R[y],J(X(t.restWorldRot[y]),t.restWorldRot[b])),D=Gs(E,n.R[b],T,Y(J(E,X(n.R[b])),C.l)).twist,{goal:O,plane:k,wristAt:ee}=rc(t,n,r,{pos:h,R:Ug(Hg(r,C.d,w,a.yaw,S),w,D)},g(n),c.w,`palm`),A={twist:0,flex:0,dev:0};for(let e=0;e<jg;e++)Io(t,n,v,y,b,ee(e?n.R[b]:O),k,Ns,`elbow`),A=tc(t,n,r,b,y,O);s[`grip_${i}`]={w:c.w,...A}}var Gg={period:3.8,deg:.8},Kg={yaw:.9,pitch:.6},qg={period:5.6,m:.012,list:1.4},Jg=.5,Yg=1e-4,Xg=2*Math.PI,Zg=e=>e*e*(3-2*e),Qg=(e,t)=>Array.isArray(e)?e.some((e,n)=>Math.abs(e-t[n])>Yg):e&&typeof 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Q_=[6,4],$_=50,ev=1.1,tv=[18,3],nv=[6,3],rv=8,iv=4.5,av=5.5,ov=.015,sv=[.52,.64],cv=.3,lv=4,uv=6.4,dv=.8,fv=e=>io(.66-.18*e,.2,.48),pv=e=>io(.32-.11*e,0,.45),mv=e=>io(2.8-.45*e,1.2,3),hv=.92,gv=e=>io(4.7-1.1*e,1.8,4),_v=[.2,.6],vv=.9,yv=.18,bv=.35,xv=.18,Sv=.55,Cv=10,wv=.22,Tv=.03,Ev=50,Dv=e=>Y(Z(e),[0,0,1]),Ov=e=>Y(Z(e),[1,0,0]),kv=e=>{let t=Math.min(1,Math.max(0,e));return t*t*(3-2*t)};function Av(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 jv(e,t,n,r=`walk`){let i=`${r} start`,a=[],o=(e,t)=>{let n={f:e,set:t,src:i};return a.push(n),n},s=Av(t,e.f0);if(!s.foot_l||!s.foot_r||!s.root)throw Error(`MOTION_SPEC_INVALID: walk needs foot_l, foot_r and root keyed before f0`);if(e.vary!==void 0&&!(Number.isFinite(e.vary)&&e.vary>=0&&e.vary<=2))throw Error(`MOTION_SPEC_INVALID: ${r} vary must be a number from 0 (every step the same) to 2, got ${JSON.stringify(e.vary)}`);let c=n.index,l=n.restWorldPos,u=l[c.LeftFoot][1],d=l[c.Hips][1],f={l:U(l[c.LeftToeBase],l[c.LeftFoot]),r:U(l[c.RightToeBase],l[c.RightFoot])},p=[0,.005-u,-.045],m={l:-1/0,r:-1/0},h=K(U(l[c.LeftLeg],l[c.LeftUpLeg]))+K(U(l[c.LeftFoot],l[c.LeftLeg])),g=l[c.Hips][1]-l[c.LeftUpLeg][1],_=e.step??.5,v=e.halfWidth??.08,y=e=>Math.sqrt(Math.max(0,(.98*h)**2-e**2))+u+g-d,b={steps:8,step:_,period:20,swing:14,halfWidth:v,lift:.08,turnDistance:.4,firstStep:.4,pelvisHigh:Math.min(-.005,y(Math.hypot(.03,v-.035))),pelvisLow:y(Math.hypot(_/2,v)),vary:1,...e},x=b.step/b.period/(.5/20);b.armSwing=e.armSwing??io(uv*x,4,22);let S=fv(x),C=pv(x),w=mv(x),T=gv(x),E=io(vv*x,0,3),D=tv[0]+tv[1]*Math.min(x,2.5),O=nv[0]+nv[1]*Math.min(x,2.5),[k,ee]=b.heading??[s.yaw??0,s.yaw??0],A=e=>k+(ee-k)*kv(e/b.turnDistance),te=W(H(s.foot_l,s.foot_r),.5);te[1]=0;let ne=[te];for(let e=0;e<4e3;e++)ne.push(H(ne[e],W(Dv(A(e*.01)),.01)));let re=e=>ne[Math.max(0,Math.min(ne.length-1,Math.round(e/.01)))],ie=(e,t)=>{let n=H(re(e),W(Ov(A(e)),(t===`l`?1:-1)*b.halfWidth));return n[1]=u,n},ae={l:-.07,r:.07},oe={foot_l:s.foot_l,foot_r:s.foot_r,fyaw_l:s.fyaw_l??k,fyaw_r:s.fyaw_r??k},se=[`root`,`yaw`,`roll`,`foot_l`,`foot_r`,`fyaw_l`,`fyaw_r`,`spine_yaw`,`spine_roll`,`spine_pitch`,`aswing_l`,`aswing_r`,`abend_l`,`abend_r`,`wflex_l`,`wflex_r`,`head_yaw`],ce=s.roll??0,le=s.spine_roll??0,ue=s.spine_pitch??0,de={l:[{a:e.f0,b:1/0,strike:!1}],r:[{a:e.f0,b:1/0,strike:!1}]};o(e.f0,Object.fromEntries(se.map(e=>[e,s[e]??oe[e]??(e===`yaw`?k:0)])));let fe=ae.r,pe=null,me=f_(b,{s0:fe,turn:(e,t)=>A(t)-A(e),seed:[e.f0,b.steps,b.step,b.period,b.swing,b.firstStep,k,ee,te[0].toFixed(3),te[2].toFixed(3)].join(`|`)});for(let t=0;t<b.steps;t++){i=`${r} step ${t+1}`;let n=t%2==0?`l`:`r`,a=n===`l`?`r`:`l`,c=t===b.steps-1,l=c?fe:fe+me.inc[t],u=e.f0+16+me.lift[t],h=u+me.air[t],g=u+Math.floor(me.air[t]/2);if(t===0){let e=H(re(ae[a]),W(Ov(k),(a===`l`?1:-1)*b.halfWidth*.75));e[1]=s.root[1],o(u-4,{root:e,yaw:k}),o(u,{arm_hang:1})}let ee=io(Math.abs(l-ae[n])/ev,.3,1.15),te=$_*(.55+.45*ee)*(c?.8:1),ne=oe[`foot_${n}`],se=oe[`fyaw_${n}`],he=H(ne,Y(Z(se),f[n])),ge=Math.max(u-Math.max(lv,Math.round((t===0?.35:cv)*b.period)),m[n]+1,e.f0+1);Object.assign(de[n].at(-1),{b:u,heel:ge,ball:he,yw:se,flat:ne});for(let e=ge;e<=u;e++){let t=te*((e-ge)/Math.max(1,u-ge))**1.8;o(e,{[`foot_${n}`]:I_(he,se,t,ne),[`fpitch_${n}`]:t,[`fyaw_${n}`]:se})}let _e=Math.max(1,Math.round(wv*me.air[t])),ve=ie((ae[n]+l)/2,n);ve[1]+=me.height[t];let ye=I_(he,se,Math.min(te,Ev),ne),be=H(ye,W(U(ve,ye),bv));be[1]=ye[1]+xv*ee*Math.min(1,(me.air[t]/Cv)**2)*(Sv+.44999999999999996*T_(x))*(me.height[t]/b.lift);let xe=W(Ov(A(ae[a])),n===`l`?1:-1),Se=oe[`foot_${a}`],Ce=e=>(e[0]-Se[0])*xe[0]+(e[2]-Se[2])*xe[2],we=Ce(ve)-Ce(be);we>0&&(be[0]+=xe[0]*we,be[2]+=xe[2]*we);let Te=u+Math.max(2,Math.round(yv*me.air[t]));!c&&Te<g-1&&o(Te,{[`foot_${n}`]:be,[`fpitch_${n}`]:.7*Math.min(te,Ev)}),o(g,{[`foot_${n}`]:ve,[`fyaw_${n}`]:A((ae[n]+l)/2),[`fpitch_${n}`]:0});let Ee=ae[a]+(sv[0]+(sv[1]-sv[0])*T_(x))*(l-ae[a]),De=pe?pe.s+(Ee-pe.s)*((g-pe.f)/(h-pe.f)):null,Oe=De===null?ae[a]+.03:De-ov*Math.abs(l-ae[n])/2,ke=t===0?.015:.032,Ae=H(re(Oe),W(Ov(A(Oe)),(a===`l`?1:-1)*ke));Ae[1]=d+b.pelvisHigh;let je=e.pelvisLow??(me.inc[t]>_?Math.min(b.pelvisLow,y(Math.hypot(me.inc[t]/2,v))):b.pelvisLow),Me=re(Ee).slice();Me[1]=d+(c?b.pelvisHigh:je),pe={f:h,s:Ee};let Ne=ie(l,n),Pe=A(l),Fe=H(Ne,Y(Z(Pe),p)),Ie=-(Q_[0]+(Q_[1]-Q_[0])*T_(x))*(c?.5:1),Le=Math.max(2,Math.round(.2*b.period)),Re=H(I_(Fe,Pe,Ie,Ne),W(Dv(Pe),-.12*Math.abs(l-ae[n])));Re[1]+=Tv,!c&&_e>1&&h-_e>g+1&&o(h-_e,{[`foot_${n}`]:Re,[`fpitch_${n}`]:.6*Ie});for(let e=0;e<=Le;e++){let t=Ie*(1-kv(e/Le));o(h+e,{[`foot_${n}`]:I_(Fe,Pe,t,Ne),[`fpitch_${n}`]:t,[`fyaw_${n}`]:Pe})}m[n]=h+Le,de[n].push({a:h,b:1/0,strike:!0}),oe[`foot_${n}`]=Ne,oe[`fyaw_${n}`]=Pe,ae[n]=l;let ze=(c?0:t<3?[0,.3,.7][t]:1)*me.arm[t],Be=n===`l`?1:-1,Ve=io(ee,.4,1.1),He=c?0:t===0?.5:1,Ue=iv*Ve*He*(a===`l`?1:-1),We=(h-g)/b.period,Ge=e=>{let t=[Math.cos(Math.PI*(e-We)),Math.cos(Math.PI*e)];return t.map(e=>e/Math.max(...t.map(Math.abs)))},Ke=Ge(-C).map(e=>-4.5*Ve*Be*ze*e),qe=Ge(S).map(e=>av*Ve*Be*ze*e),Je=Ge(hv).map(e=>-Math.sign(Ue)*w*Ve*He*e),Ye=Ge(We).map((e,t)=>t?dv*e:e),Xe=e=>({aswing_l:-.85*b.armSwing*Be*ze*e,aswing_r:b.armSwing*Be*ze*e,abend_l:ze*(D-Be*O*e),abend_r:ze*(D+Be*O*e)});o(g,{root:Ae,yaw:A(Oe)+Ke[0],roll:ce+Ue,spine_roll:le-Ue*1.26+Je[0],spine_yaw:qe[0]-Ke[0],...Xe(Ye[0]),wflex_l:rv*ze,wflex_r:rv*ze}),o(h,{root:Me,yaw:A(Ee)+Ke[1],roll:ce,spine_roll:le+Je[1],spine_yaw:qe[1]-Ke[1],...Xe(Ye[1]),head_yaw:0});let Ze=ue+E*He,Qe=T*Ve*He;o(Math.max(e.f0+1,h-Math.round(_v[1]*b.period)),{spine_pitch:Ze-.6*Qe}),o(Math.max(e.f0+1,h-Math.round(_v[0]*b.period)),{spine_pitch:Ze+Qe}),fe=l}let he=e.f0+16+b.steps*b.period+18,ge=Math.max(...a.map(e=>e.f));return e.pelvisHigh===void 0&&e.pelvisLow===void 0&&(Z_(a,{end:ge,ground:de}),z_(n,a,{f0:e.f0,end:ge,period:b.period,pace:x,ground:de,start:`${r} 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i=t=>e[t]??Array(n).fill(0);for(let a of Lv){let o=i(`spine_${a}`),s=i(a).map((e,t)=>e+o[t]),c=zv(s,Fv),l=null;for(let[e,o]of r)if(!t.some(t=>t.f>=e&&t.f<=o&&t.set?.[`head_${a}`]!==void 0&&!/\bwalk(To)? 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l=.999*(K(U(i[r[`${c}Leg`]],i[r[`${c}UpLeg`]]))+K(U(i[r[`${c}Foot`]],i[r[`${c}Leg`]]))),u=U(o[`foot_${e}`],n.P[r[`${c}UpLeg`]]),d=u[1]*u[1]-G(u,u)+l*l,f=d>=0?-u[1]-Math.sqrt(d):-u[1];f>0&&f<=.05&&(s[t]=Math.max(s[t],f+5e-4))}}let c=s.filter(e=>e>0).length;if(!c)return null;let l=Vv(s,Uv),u=[];for(let t=0;t<o;t++){if(!(l[t]>0))continue;let n=e.f0+t,r=a[n];a[n]=[r[0],r[1]-l[t],r[2]],u.push(n)}return t.solve(u),{frames:c,eased:u.length,max:Hv(Math.max(...s)),how:`hips lowered`}}function Gv(e){let t=0,n=0;for(let r of e.frames)for(let e of[`l`,`r`]){let i=r.diag[`reach_over_${e}`]??0;i>.001&&(t++,n=Math.max(n,i))}return t?{frames:t,max:Hv(n),how:`wrist target clamped to reach`}:null}var Kv=.01,qv=.97,Jv=25,Yv=.08,Xv=.15,Zv=10,Qv=.002,$v=[.25,.5,.75,1],ey=e=>e*e*(3-2*e);function ty(e,t,n,r){if(!(t[`armw_${n}`]>=.5))return null;let i=null;for(let[e,r]of Object.entries(t)){let t=/^w_(.+)_([lr])$/.exec(e);t&&t[2]===n&&r>=.5&&(!i||r>i.w)&&(i={w:r,name:t[1]})}let a=i&&e.spec.anchors?.[i.name];return a&&(a.kind===`world`||a.kind===`object`&&!e.objectHand?.(a.object,r))?i.name:null}function ny(e,t,n,r){let{s:i}=e.frames[t-e.f0],a=e.ctx.sk.index,o=e.ctx.scene?.objects??{},s=Object.entries(e.objectsAt(t-e.f0)??{}).filter(([,e])=>e.half&&!e.ignore),c=e=>r!==void 0&&(e===r||o[e]?.ancestors?.includes(r)),l=0;for(let[e,t,r,o]of lc){if(a[t]===void 0||a[r]===void 0)continue;let u=uc(i.P[a[t]],i.P[a[r]],5);for(let[t,r]of s)e===`hand_${n}`&&c(t)||(l+=Math.max(0,o-Math.min(...u.map(e=>dc(e,r)))))}return l}function ry(e,t,n){let r=0;return Cf(e,{frames:t},n,(e,t,n,i,a)=>{r+=i-a}),r}function iy(e,t,n,r){if(r?.prop)return n.props?.[r.prop]?.[r.point]??null;let i=(r?.joints??[`RightHandIndex2`,`RightHandMiddle2`]).map(n=>t.P[e.index[n]]).filter(Boolean);return i.length?i.reduce((e,t)=>e.map((e,n)=>e+t[n]/i.length),[0,0,0]):null}function ay(e,t,n){let r=[];e.frames.forEach((i,a)=>{let o=e.f0+a;if(!(i.diag[`arm_miss_${t}`]>n)||i.diag[`arm_fold_${t}`]||!ty(e.ctx,i.c,t,o))return;let s=r.at(-1);s&&o-s[1]<=3?s[1]=o:r.push([o,o])});let i=r=>r>=e.f0&&r<e.f0+e.frames.length&&e.frames[r-e.f0].diag[`arm_miss_${t}`]>n&&!e.frames[r-e.f0].diag[`arm_fold_${t}`];for(let e of r)for(let t=0;t<Zv&&i(e[1]+1);t++)e[1]+=1;return r}function oy(e,t){let{ctx:n}=e,{sk:r}=n,i=r.index,a=e.frameCount,o=e.baked,s=n.spec.checks?.limits?.reach??.01,c=t=>e.frames[t-e.f0],l=e.f0,u=e.f0+e.frames.length-1,d=[],f={pitch:new Float64Array(a),move:new Float64Array(a)},p=[];for(let m of[`r`,`l`])for(let[h,g]of ay(e,m,s)){let s=e=>c(e).s.P[i[`${Zh[m]}Arm`]],_=e=>{let{s:t,diag:r,c:i}=c(e),a=ty(n,i,m,e);return a?lu(n,a,t,{...r,frame:e},i):null},v=e=>c(e).c[`armw_${m}`]>=.99&&c(e).c[`w_${ty(n,c(e).c,m,e)}_${m}`]>=.99,y=Array.from({length:g-h+1},(e,t)=>h+t),b=y.some(v)?y.filter(v):y,x=-1,S=null;for(let e of b){let t=_(e);t&&(!S||K(U(t,s(e)))>K(U(S,s(x))))&&(x=e,S=t)}if(!S)continue;let{s:C,diag:w,c:T}=c(x),E=m===`l`?`r`:`l`,D=(n.spec.fits??[]).find(e=>e.side===m&&e.anchor===ty(n,T,m,x)),O=D&&iy(r,C,w,D.effector),k=Math.max(O?K(U(O,S)):0,w[`arm_miss_${m}`]??0),ee=su(r,m)+(O?K(U(O,C.P[i[`${Zh[m]}Hand`]])):0),A=s(x),te=(T.yaw??0)*Math.PI/180,ne=[Math.sin(te),0,Math.cos(te)],re=[S[0]-A[0],0,S[2]-A[2]],ie=K(re)>.001?q(re):ne,ae=G(ie,ne)>.3&&S[1]<A[1]+.1?Jv:0,oe=Xv*Math.min(1,Math.max(0,(A[1]-S[1]-.2)/.4)),se=Math.max(0,1-Math.max(f.pitch[x]/Jv,f.move[x]/Yv));if(!se)continue;o.root||(o.root=Array.from({length:a},()=>r.restWorldPos[i.Hips].slice()),p.push(`root`)),o.spine_pitch||(o.spine_pitch=Array(a).fill(0),p.push(`spine_pitch`));let ce=o.root.map(e=>e.slice()),le=o.spine_pitch.slice(),ue=(e,t)=>{o.root[e]=[ce[e][0]+ie[0]*Yv*t,ce[e][1]-oe*t,ce[e][2]+ie[2]*Yv*t],o.spine_pitch[e]=le[e]+ae*t},de=(e,t)=>[`l`,`r`].every(n=>!((e[`leg_miss_${n}`]??0)>Math.max(t[`leg_miss_${n}`]??0,5e-4)+Qv)),fe=(e,t)=>!(c(x).c[`armw_${E}`]>.5)||(e[`arm_miss_${E}`]??0)<=(t[`arm_miss_${E}`]??0)+Qv,pe=n.spec.anchors[ty(n,T,m,x)]?.object,me=c(x),he=ny(e,x,m,pe),ge=n=>{ue(x,n),t.solve([x]);let{s:i,diag:a}=c(x),l=D&&iy(r,i,a,D.effector),u={t:n,miss:Math.max(l?K(U(l,S)):0,a[`arm_miss_${m}`]??0),ok:de(a,w)&&fe(a,w)&&ny(e,x,m,pe)<=he+Qv,bent:K(U(S,s(x)))<=qv*ee};return o.root[x]=ce[x],o.spine_pitch[x]=le[x],e.frames[x-e.f0]=me,u},_e=null,ve=0;for(let e of $v.map(e=>e*se)){let t=ge(e);if(!t.ok)break;if((!_e||t.miss<_e.miss)&&(_e=t),t.miss<=Kv&&t.bent){let t=ve,n=e;for(let e=0;e<4;e++){let e=ge((t+n)/2);e.ok&&e.miss<=Kv&&e.bent?(n=e.t,_e=e):t=e.t}break}ve=e}if(!_e||!(_e.miss<k-Kv))continue;let ye=(e,t)=>Math.min(1,Math.max(0,o[e]?.[t]??1)),be=ty(n,T,m,x),xe=[],Se=e=>ye(`armw_${m}`,e)*ye(`w_${be}_${m}`,e)*(e>=h&&e<=g?1:ey(1-(e<h?h-e:e-g)/11));for(let e=Math.max(l,h-Zv);e<=Math.min(u,g+Zv);e++)ue(e,_e.t*Se(e)),xe.push(e);let Ce=xe.map(e=>c(e)),we=xe.map(t=>ny(e,t,m,pe));t.solve(xe);let Te=e=>Ce[e-xe[0]],Ee=(e,t)=>{let n=_(t),i=D&&n&&iy(r,e.s,e.diag,D.effector);return Math.max(i?K(U(i,n)):0,e.diag[`arm_miss_${m}`]??0)},De=e=>y.reduce((t,n)=>t+(e(n).diag[`arm_miss_${m}`]??0),0),Oe=e=>Math.max(...b.map(t=>Ee(e(t),t))),ke=xe.map(t=>ny(e,t,m,pe)),Ae={...Wf,...n.spec.checks?.limits},je=Array.from({length:Math.min(u,xe.at(-1)+3)-Math.max(l,xe[0]-3)+1},(e,t)=>Math.max(l,xe[0]-3)+t),Me=ry(r,je.map(e=>c(e)),Ae)>ry(r,je.map(e=>e>=xe[0]&&e<=xe.at(-1)?Ce[e-xe[0]]:c(e)),Ae)+1e-4,Ne=xe.every((e,t)=>de(c(e).diag,Ce[t].diag)&&fe(c(e).diag,Ce[t].diag)&&ke[t]<=we[t]+Qv),Pe=Oe(Te),Fe=Oe(c);if(!Ne||Me||!(De(c)<De(Te)-1e-6)||!(Fe<Pe-Kv/2)){for(let e of xe)o.root[e]=ce[e],o.spine_pitch[e]=le[e];xe.forEach((t,n)=>{e.frames[t-e.f0]=Ce[n]});continue}for(let e of xe)f.pitch[e]+=ae*_e.t*Se(e),f.move[e]+=Yv*_e.t*Se(e);d.push({side:m,frames:[h,g],lean:Hv(ae*_e.t),shift:[Hv(ie[0]*Yv*_e.t),Hv(ie[2]*Yv*_e.t)],drop:Hv(oe*_e.t),miss:[Hv(Pe),Hv(Fe)]})}if(!d.length)for(let e of p)delete o[e];return d.length?{runs:d,how:`an out-of-reach hand on a pinned target: the body leaned (spine_pitch deg), shifted its hips (x, z m) and lowered them (m) toward it, eased in and out; the feet kept their targets`}:null}var sy=.01,cy=4,ly=.03,uy=.02;function dy(e,t){let n=e.frames.length,r=Wf.plantH,i=0,a=0,o=0,s=new Set;for(let[t,c]of[[`l`,`Left`],[`r`,`Right`]]){let l=e.baked[`foot_${t}`];if(!l)continue;let u=e.frames.map((t,n)=>ff(e,n,c)),d=(e,t)=>u[e][t][1]<r&&u[e-1][t][1]<r&&Math.abs(u[e][t][1]-u[e-1][t][1])<5e-4,f=Array.from({length:n},()=>null);for(let e=1;e<n;){if(!d(e,`ball`)&&!d(e,`heel`)){e++;continue}let t=null,s=null,c=e,l=0,p=[0,0,0],m=!1,h=[],g=e=>{let n=U(s,u[e][t]);n[1]=0,p=n,h.push([e,n]),l=Math.max(l,Math.hypot(n[0],n[2]))};for(;c<n&&(d(c,`ball`)||d(c,`heel`));c++){let e=d(c,`ball`)?`ball`:`heel`;m||=u[c][e===`ball`?`heel`:`ball`][1]>=r,e!==t&&(t=e,s=H(u[c-1][t],p)),g(c)}if(m&&l>=sy)for(;c<n&&u[c][t][1]<ly;c++)g(c);if(l>2e-4&&(l<sy||m)){i++,o=Math.max(o,l),l>=sy&&a++;for(let[e,t]of h)f[e]=t;let e=Math.max(cy,Math.ceil(Math.hypot(p[0],p[2])/uy));for(let t=1;t<=e&&c-1+t<n&&!f[c-1+t];t++){let n=t/(e+1),r=1-n*n*(3-2*n);f[c-1+t]=[p[0]*r,0,p[2]*r]}}e=c}for(let t=0;t<n;t++){if(!f[t])continue;let n=e.f0+t;l[n]=H(l[n],f[t]),s.add(n)}}return i?(t.solve([...s]),{plants:i,...a?{pivots:a}:{},frames:s.size,max:Hv(o),how:a?`planted heel/ball held in place; turning feet pivot on it`:`planted heel/ball held in place`}):null}var fy=6,py=4,my=1,hy=e=>e*e*(3-2*e);function gy(e,t){let n=e.frames.length,r=Wf.plantH,i=new Set,a=0;for(let[t,o]of[[`l`,`Left`],[`r`,`Right`]]){let s=e.baked[`fyaw_${t}`]??e.baked.yaw;if(!e.baked[`foot_${t}`]||!s)continue;let c=e.frames.map((t,n)=>ff(e,n,o)),l=(e,t)=>c[e][t][1]<r&&c[e-1][t][1]<r&&Math.abs(c[e][t][1]-c[e-1][t][1])<5e-4,u=e=>e>0&&e<n&&l(e,`heel`)&&l(e,`ball`),d=Array.from({length:n},(t,n)=>s[e.f0+n]),f=d.slice();for(let e=1;e<n;e++){if(!u(e))continue;let t=f[e-1],r=e,i=0;for(;u(r);r++)i=Math.max(i,Math.abs(f[r]-t));if(i<=my){e=r;continue}a=Math.max(a,i);for(let n=e;n<r;n++)f[n]=t;let o=r<n?d[r]-t:0,s=Math.max(py,Math.ceil(Math.abs(o)/fy));for(let e=0;o&&e<s&&r+e<n&&!u(r+e);e++)f[r+e]=d[r+e]-o*(1-hy((e+1)/(s+1)));e=r}let p=f.map((e,t)=>e!==d[t]);if(!p.some(Boolean))continue;let m=e.baked[`fyaw_${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:Hv(a)}):null}var _y=.001,vy=.15,yy=2;function by(e,t){let{sk:n}=e.ctx,r=e.frames.length,i=new Set,a=0;for(let[t,o]of Object.entries(Zh)){let s=e.baked[`foot_${t}`],c=n.index[`${o}Foot`];if(!s)continue;let l=e.frames.map(({s:t},r)=>{let i=gc(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(vy,-a-_y)});if(!l.some(e=>e>0))continue;let u=Vv(l,yy);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:Hv(a),how:`soles lifted onto the floor`}):null}var xy=4,Sy=.002,Cy=3,wy={l:lc.filter(e=>e[0]===`hand_l`||e[0]===`farm_l`),r:lc.filter(e=>e[0]===`hand_r`||e[0]===`farm_r`)};function Ty(e,t,n,r,i){let{sk:a}=e.ctx,o=a.index,s=e.frames.length,c=Array.from({length:s},()=>null);for(let a=0;a<s;a++){let{s,c:l}=e.frames[a],u=e.objectsAt(a),d=null;for(let[e,a]of Object.entries(u)){if(!a.half||a.ignore)continue;let c=null;for(let[l,u,d,f]of wy[t]){let t=qf(r,l,e)??Wf.allow,p=uc(s.P[o[u]],s.P[o[d]]),m=p.map(e=>dc(e,a)),h=Math.min(...m),g=f-h-t;if(!(g<=0)){if(g>n){i.deep++;continue}(!c||g>c[0])&&(c=[g,p[m.indexOf(h)]])}}c&&(d=H(d??[0,0,0],W(_c(c[1],a),c[0]+Sy)))}if(d){if(!(l[`armw_${t}`]>1e-4)){i.skipped++;continue}c[a]=d}}return c}function Ey(e,t,n){let r=e.ctx.spec.checks?.allow,i=e.frames.length,a={deep:0,skipped:0},o=new Set,s=0;for(let c=0;c<Cy;c++){a.deep=0,a.skipped=0;let c=new Set;for(let t of[`l`,`r`]){let l=Ty(e,t,n,r,a),u=e.ctx.push[t],d=Array.from({length:i},()=>null);for(let e=0;e<i;e++)if(l[e]){o.add(`${t}${e}`);for(let t=Math.max(0,e-xy-1);t<=Math.min(i-1,e+xy+1);t++){let n=1-Math.abs(e-t)/5,r=W(l[e],n*n*(3-2*n));(!d[t]||K(r)>K(d[t]))&&(d[t]=r)}}for(let t=0;t<i;t++){if(!d[t])continue;let n=e.f0+t,r=H(u.get(n)??[0,0,0],d[t]);u.set(n,r),s=Math.max(s,K(r)),c.add(n)}}if(!c.size)break;t.solve([...c])}return!o.size&&!a.skipped?null:{frames:o.size,max:Hv(s),skipped:a.skipped,tooDeep:a.deep,how:`hand pushed out along the box 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a=String(i.joint).replace(/^joint:/,``),o=String(i.ref).replace(/^joint:/,``),s=e.f0+t;(Array.isArray(i.when)?s>=i.when[0]&&s<=i.when[1]:!i.when||(e.frames[t].c[i.when]??0)>.5)&&a===`${n}ForeArm`&&o===`${n}Arm`&&Number.isFinite(i.min)&&(r=Math.max(r??0,i.min))}return r}var Yy=10,Xy={l:`Left`,r:`Right`};function Zy(e,t,n){let r=0;for(let i of e.fits??[]){let a=e.anchors?.[i.anchor],o=t[`w_${i.anchor}_${i.side}`]??0;(i.side===n||a?.kind===`prop`&&e.props?.[a.prop]?.hand===n)&&(r=Math.max(r,o))}return Math.min(1,r)}var Qy=Object.fromEntries(lc.map(e=>[e[0],e[3]]));function $y(e,t,n,r){let i=0;for(let a of e)i=Math.max(i,r-Math.min(...uc(t,n,5).map(e=>dc(e,a))));return i}function eb(e,t,n,r,i,a=[]){let 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o=e.f0+i,c=e.ctx.swivel[t].get(o)??0,l=Math.abs(n)<.5?0:n;Math.abs(l-c)<.5||(l?e.ctx.swivel[t].set(o,l):e.ctx.swivel[t].delete(o),s=Math.max(s,Math.abs(l)),l&&a.add(`${t}${i}`),r.add(o))})}r.size&&t.solve([...r]),r=new Set,i.skipped=0,i.deep=0;for(let t of[`r`,`l`])rb(e,n,t,i).forEach((n,i)=>{if(!n)return;let a=e.f0+i,s=H(e.ctx.skinPush[t].get(a)??[0,0,0],n);e.ctx.skinPush[t].set(a,s),c=Math.max(c,K(s)),o.add(`${t}${i}`),r.add(a)});if(!r.size)break;t.solve([...r])}if(o.size){let n=new Set;for(let t of[`r`,`l`]){let i=n=>e.ctx.skinPush[t].get(e.f0+n)??[0,0,0];for(let a=0;a<2;a++){let a=Array.from({length:r},(e,t)=>i(t));a.forEach((i,o)=>{let s=[-2,-1,0,1,2].reduce((e,t,n)=>H(e,W(a[Math.min(r-1,Math.max(0,o+t))],[1,4,6,4,1][n]/16)),[0,0,0]);K(s)<1e-5&&!e.ctx.skinPush[t].has(e.f0+o)||(e.ctx.skinPush[t].set(e.f0+o,s),n.add(e.f0+o))})}}n.size&&t.solve([...n])}return!a.size&&!o.size&&!i.skipped?null:{elbowFrames:a.size,maxTurn:Math.round(s),handFrames:o.size,maxPush:Hv(c),skipped:i.skipped,tooDeep:i.deep,how:`elbow turned about the shoulder-wrist line; a hand a little inside pushed out along the skin`}}var ab=[`reach`,`slide`,`penetration`,`self`,`retime`,`stance`,`grasp`];function ob(e){if(e===!1)return{reach:!1,slide:!1,penetration:0,self:!1,retime:!1,stance:!1,grasp:!1};let t=e??{},n=t.penetration===!0?.02:Math.min(.05,Math.max(0,Number(t.penetration)||0));return{reach:t.reach!==!1,slide:t.slide!==!1,penetration:n,self:t.self!==!1,retime:t.retime===!0,stance:t.stance!==!1,grasp:t.grasp!==!1}}var sb=(e,t)=>e?{...t??{frames:0,how:`planted heel/ball held in place`},turns:e,how:`${t?.how??`planted heel/ball held in place`}; a flat planted foot keeps its heading until it lifts`}:t,cb=(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 lb(e,t,n,{whole:r=!0}={}){let i={},a=(e,t)=>{t&&(i[e]=t)};return t.retime&&r&&a(`retime`,Ny(e,n)),t.slide&&a(`ground`,by(e,n)),t.reach&&a(`reachLegs`,Wv(e,n)),t.reach&&a(`reachBody`,oy(e,n)),t.slide&&a(`slide`,sb(gy(e,n),dy(e,n))),t.reach&&i.slide?.pivots&&a(`reachLegs`,cb(i.reachLegs,Wv(e,n))),t.penetration>0&&a(`penetration`,Ey(e,n,t.penetration)),t.self&&a(`self`,ib(e,n)),t.reach&&a(`reachArms`,Gv(e)),i}var ub=.15,db=.12,fb=400,pb=.02,mb=60;function hb(e){let t=yc(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 gb(e,t,n){let r=e?.objects?.[n]?.mass;if(Number.isFinite(r))return r;let i=_h(t,n).map(e=>t.objects[e]);if(i.length===1&&yc(i[0]).kind===`sphere`&&2*yc(i[0]).r<db)return ub;let a=i.reduce((e,t)=>e+hb(t)*fb,0);return 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Ab(e,t,n){let{spec:r,scene:i}=t.ctx,a=t.f0??0;if(!Tb(r))return;let o=Db(r).map(([e,t,n])=>({id:e,o:t,k:n,mass:gb(r,i,e)}));o.length&&t.frames.forEach(({s:r},i)=>{let s=i+a;for(let i of o)Ph(t,i.id,s)===i.k&&n({...i,f:s,Nm:kb(e,r,i.k,i.mass)})})}function jb(e,t){let n={};Ab(e,t,({id:e,k:t,mass:r,f:i,Nm:a})=>{let o=n[`hand_${t}`]??={object:e,mass:Math.round(r*1e3)/1e3,maxNm:0,at:i,frames:[i,i]};a>o.maxNm&&(o.maxNm=a,o.at=i),o.frames[1]=i});for(let e of Object.values(n))e.maxNm=Math.round(e.maxNm*10)/10;return Object.keys(n).length?n:null}function Mb(e,t,n,r,i){let a=r===`r`?`l`:`r`,{spec:o,scene:s}=e.ctx,c=new Set([t,..._h(s,t)]);return Object.entries(o.anchors??{}).some(([t,r])=>(e.baked?.[`w_${t}_${a}`]?.[i]??0)>Cb&&(r.kind===`object`&&c.has(r.object)||r.kind===`prop`&&r.prop===n.prop))}function Nb(e,t){let n=[];return Ab(e,t,({id:e,o:r,k:i,f:a,Nm:o})=>{o>Sb&&!Mb(t,e,r,i,a)&&n.push({kind:`LOAD`,msg:`${Zh[i].toLowerCase()} holds ${e} at ${o.toFixed(0)} N 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a=[r,...i.ancestors??[]].find(t=>vg(e.objects?.[t])),l=e.objects?.[a];c[r]=l?hg(l)||gg(l)?{...i,carried:a}:Ym(l)?{...i,...Sg(ph({spec:e,scene:t,timeMap:o},a,s),Cg(t.objects[a]??Pl(t)[a],i))}:{...i,...wg(l,i,n,s)}:i}return i.set(s,c),c};return{all:s,obstacles:e=>(r()!==o&&s(e),a.has(e)||a.set(e,Object.fromEntries(Object.entries(s(e)).filter(([,e])=>!e.carried))),a.get(e))}}function zb(e,t,n,r){if(r.prop)return n.props?.[r.prop]?.[r.point];let i=r.joints??[`RightHandIndex2`,`RightHandMiddle2`];return W(i.map(n=>t.P[e.index[n]]).reduce((e,t)=>H(e,t),[0,0,0]),1/i.length)}function Bb(e,t,n,r=!1,i=!0,a=null){let{sk:o}=e;return{softReach:e.softReach,foldFree:r,hold:i&&e.hold?(r,i)=>r===a?null:e.hold.lead(r,n,i,t):void 0,push:r?void 0:t=>e.push?.[t]?.get(n),swivel:t=>e.swivel?.[t]?.get(n),skinPush:r?void 0:t=>e.skinPush?.[t]?.get(n),handTarget(r,i,a){a.frame=n;let s=i.P[o.index[r===`l`?`LeftHand`:`RightHand`]],c=[];for(let[n,o]of Object.entries(t)){let s=/^w_(.+)_([lr])$/.exec(n);!s||s[2]!==r||!(o>1e-6)||c.push([o,H(lu(e,s[1],i,a,t,r),t[`fit_${s[1]}_${r}`]??[0,0,0])])}let l=c.reduce((e,[t])=>e+t,0);if(l>1){for(let e of c)e[0]/=l;l=1}let u=W(t[`hand_${r}`]??s,1-l);for(let[e,t]of c)u=H(u,W(t,e));let d=Math.max(0,...c.map(([e])=>Ib(Math.min(1,Math.min(e,1-e)*3))));if(d>0){let n=i.P[o.index.Spine],r=i.P[o.index.Neck],a=U(r,n),s=H(n,W(a,Math.min(1,Math.max(0,G(U(u,n),a)/G(a,a))))),c=e.spec.detourRadius??.25,l=U(u,s),f=K(l);if(f<c){let e=Y(fo([0,1,0],t.yaw??0),[0,0,1]),n=q(H(f>1e-6?W(l,1/f):e,W(e,.6)));u=H(u,W(U(H(s,W(n,c)),u),d))}}return u},keepOut:e.keepOut&&!r?(n,r,i)=>{let a=(1-Zy(e.spec,t,n))*Math.min(1,Math.max(0,t[`armw_${n}`]??0));for(let t=0;t<2&&a>.001;t++){let t=Ts(e.keepOut.body,o,r,i,Es,e.keepOut.skip);if(t===i)break;i=H(i,W(U(t,i),a))}return i}:void 0,afterArm:(t,n,r)=>yu(e,t,n,r),grip:r?void 0:(r,i,a)=>Wg(e,o,i,Zh[r],r,t,n,a),sag:r?void 0:(r,i,a)=>Ob(e,r,n,i,a,(1-Zy(e.spec,t,r))*Math.min(1,Math.max(0,t[`armw_${r}`]??0))),heldShapes:r||!e.grasp?void 0:(r,i)=>qh(e,t,n,r,i)}}function Vb(e,t,n,r=!0){let i={...r_(t,e.idle,n)};for(let t of[`l`,`r`])e.busy?.[t]&&(i[`hangoff_${t}`]=e.busy[t][n]);for(let t of e.spec.fits??[]){let a=`w_${t.anchor}_${t.side}`;if(!(i[a]>1e-4))continue;let o={...i,[a]:1,[`armw_${t.side}`]:1};for(let e of Object.keys(o))e!==a&&RegExp(`^w_.+_${t.side}$`).test(e)&&(o[e]=0);let s=[0,0,0],c=null,l=null,u=Xp(e.spec,t.anchor),d=e.sk.index[`${Zh[t.side]}Arm`],f=e.sk.index[`${Zh[t.side]}Hand`];for(let i=0;i<6;i++){o[`fit_${t.anchor}_${t.side}`]=s;let{s:i,diag:a}=mg(e.sk,o,Bb(e,o,n,!0,r,t.side)),p=zb(e.sk,i,a,t.effector),m=H(lu(e,t.anchor,i,a,o,t.side),t.offset??[0,0,0]);if(!p)break;let h=U(m,p),g=K(h);u&&(!c||g<c.err)&&(c={err:g,hand:U(i.P[f],p)}),l={goal:m,shoulder:i.P[d]},s=H(s,h)}u&&c&&l&&K(U(H(l.goal,s),l.shoulder))>su(e.sk,t.side)+Lb&&(s=c.hand),i[`fit_${t.anchor}_${t.side}`]=s}let{s:a,diag:o}=mg(e.sk,i,Bb(e,i,n,!1,r));return o.frame=n,{s:a,diag:o,c:i}}function Hb(e,{sk:t,scene:n},r={}){if(e?.schema!==`cozyclay.motion-spec.v1`)throw Error(`MOTION_SPEC_INVALID: schema must be cozyclay.motion-spec.v1`);let i=Math.round(e.frames);if(!(i>=1&&i<=2e4))throw Error(`MOTION_SPEC_INVALID: frames must be 1..20000`);let a=ob(e.fix),[o,s]=r.window?[Math.max(0,r.window[0]),Math.min(i-1,r.window[1])]:[0,i-1],c={sk:t,spec:e,scene:n,grasp:a.grasp,softReach:a.reach,push:{l:new Map,r:new Map},swivel:{l:new Map,r:new Map},skinPush:{l:new Map,r:new 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}`,Wb=`{ at, onto?, bounce?, tumble?, v? }`,Gb=e=>Array.isArray(e)&&e.length===4&&e.every(Number.isFinite)&&Math.abs(Math.hypot(...e)-1)<=.01,Kb=e=>_l(e)&&Math.hypot(...e)>1e-9;function qb(e,t,n){if(n.rot!==void 0&&n.aim!==void 0)return e(`${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)`),Gb(n.rot)||e(`${t}.rot must be a unit quaternion [x, y, z, w], got ${Q(n.rot)}${n.rot===void 0?`; or give aim [x, y, z], the world direction its +Y points`:``}`);return}Kb(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 ${Q(n.aim)}`),n.roll!==void 0&&!Number.isFinite(n.roll)&&e(`${t}.roll must be degrees about aim 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for`),[]):[a]})),i=e.map(()=>0),a=[],o=n=>{if(i[n]!==2){if(i[n]===1){let r=a.slice(a.indexOf(n)).map(t=>`"${ux(e[t],t)}"`);return t(`goals wait on each other through after/before: ${[...r,r[0]].join(` -> `)}; one of them must not wait`)}i[n]=1,a.push(n);for(let e of r[n])o(e);a.pop(),i[n]=2}};e.forEach((e,t)=>o(t))}function Hx(e,t,n){if(e.goals===void 0)return;if(!Array.isArray(e.goals))return t(`spec.goals must be an array of goals ${jx}, got ${Q(e.goals)}`);let r=new Map;e.goals.forEach((i,a)=>Bx(e,t,n,i,a,r)),Vx(e.goals,t)}var Ux=new Set([`l`,`r`]),Wx=e=>!!e&&typeof e==`object`&&!Array.isArray(e);function Gx(e,t,n,r){if(Wx(n))for(let i of Object.keys(n))r.includes(i)||e(`${t} has unknown field "${i}"${gl(i,r)} (fields: ${r.join(`, `)})`)}function Kx(e,t,{sk:n,scene:r,unknown:i=t}){for(let[a,o]of Object.entries(e.anchors??{})){let s=`anchors.${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 "${a.slice(0,-2)}"`),!o||!Vc[o.kind]){t(`${s}.kind must be one of ${Object.keys(Vc).join(`, `)}, got ${Q(o?.kind)}`);continue}Gx(i,`${s} (${o.kind})`,o,[`kind`,...Vc[o.kind]]);for(let e of[`p`,`offset`,`local`])o[e]!==void 0&&!_l(o[e])&&t(`${s}.${e} must be [x, y, z], got ${Q(o[e])}`);(o.kind===`world`||o.kind===`body`)&&o.p===void 0&&t(`${s} (${o.kind}) needs p: [x, y, z]${o.kind===`body`?`, ${fl.pole}`:``}`),o.kind===`bone`&&Dl(t,n,s,o.bone),o.kind===`segment`&&(Dl(t,n,`${s}.from`,o.from),Dl(t,n,`${s}.to`,o.to),o.reach!==void 0&&!Ux.has(o.reach)&&t(`${s}.reach must be "l" or "r"`)),o.kind===`object`&&Ol(t,r,s,o.object,{groups:!0})&&(o.grasp!==void 0&&!sl.includes(o.grasp)&&t(`${s}.grasp must be one of ${sl.join(`, `)}, got ${Q(o.grasp)}`),o.socket!==void 0&&r?.objects&&!$l(r,o.object,o.socket)&&t(`${s}.socket: "${o.object}" has no socket ${Q(o.socket)} (sockets: ${Ql(r,o.object).map(e=>e.name).join(`, `)||`none`})`),o.socket!==void 0&&o.grasp===void 0&&t(`${s}.socket needs grasp (${sl.join(`, `)}): the socket says how the hand takes it`)),o.kind===`person`&&!Ul(r,o.person,o.bone??``,0)&&t(`${s} (person) needs person: the id of another character with an installed take (people: ${Wl(r)}) and bone: one of its joints, got ${Q(o.person)} ${Q(o.bone)}`),o.kind===`landmark`&&o.name!==`mouth`&&t(`${s}: the only landmark is "mouth", got ${Q(o.name)}`),o.kind===`prop`&&!e.props?.[o.prop]?.points?.[o.point]&&o.point!==`origin`&&t(`${s} needs prop point ${o.prop}.${o.point}, which spec.props does not define`)}}function qx(e,t,{sk:n,unknown:r=t}){for(let[i,a]of Object.entries(e.props??{})){let e=`props.${i}`;Gx(r,e,a,Hc),Ux.has(a?.hand)||t(`${e}.hand must be "l" or "r", got ${Q(a?.hand)}`),!Array.isArray(a?.origin)||!a.origin.length?t(`${e}.origin must list one or more bones`):a.origin.forEach(r=>Dl(t,n,`${e}.origin`,r));for(let[n,r]of Object.entries(a?.points??{}))_l(r)||t(`${e}.points.${n} must be [d, l, n] along the palm axes, got ${Q(r)}`)}(e.fits??[]).forEach((i,a)=>{let o=`fits[${a}]`;Gx(r,o,i,Uc),Ux.has(i?.side)||t(`${o}.side must be "l" or "r", got ${Q(i?.side)}`),e.anchors?.[i?.anchor]||t(`${o}.anchor "${i?.anchor}" is not in spec.anchors${yl(String(i?.anchor),Object.keys(e.anchors??{}))}`);let s=i?.effector;if(s?.prop!==void 0){let n=e.props?.[s.prop];n?s.point!==`origin`&&!n.points?.[s.point]&&t(`${o}.effector ${s.prop}.${s.point} is not a point of spec.props.${s.prop} (points: ${[...Object.keys(n.points??{}),`origin`].join(`, `)})`):t(`${o}.effector.prop "${s.prop}" is not in spec.props${yl(String(s.prop),Object.keys(e.props??{}))}`)}else Array.isArray(s?.joints)?s.joints.forEach(e=>Dl(t,n,`${o}.effector`,e)):t(`${o}.effector must be { prop, point } or { joints: [bone, ...] }`);i?.offset!==void 0&&!_l(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 ${Q(i.orient)}`)})}function Jx(e,t,{frames:n,unknown:r=t,past:i=``}){(e.generators??[]).forEach((e,a)=>{let o=`generators[${a}]`;if(e?.type!==`walk`)return t(`${o}.type must be "walk", got ${Q(e?.type)}`);Gx(r,o,e,qc),(!Number.isInteger(e.f0)||e.f0<0||e.f0>n-1)&&t(`${o}.f0 must be an integer frame within 0..${n-1}, got ${Q(e.f0)}${e.f0>n-1?i:``}`),e.heading!==void 0&&!(Array.isArray(e.heading)&&e.heading.length===2&&e.heading.every(Number.isFinite))&&t(`${o}.heading must be [h0, h1] in degrees (${fl.yaw}), got ${Q(e.heading)}`);for(let n of qc.slice(2))n!==`heading`&&e[n]!==void 0&&!Number.isFinite(e[n])&&t(`${o}.${n} must be a finite number, got ${Q(e[n])}`);e.steps!==void 0&&!(Number.isInteger(e.steps)&&e.steps>=1)&&t(`${o}.steps must be an integer >= 1, got ${Q(e.steps)}`),e.turnDistance!==void 0&&!(e.turnDistance>0)&&t(`${o}.turnDistance must be > 0 m, got ${Q(e.turnDistance)}`)})}function Yx(e,t,{sk:n,scene:r,frames:i,unknown:a=t,past:o=``}){let s=e.checks??{};for(let e of Object.keys(s))Jc.includes(e)||a(`checks.${e} is not a check${yl(e,Jc)} (checks: ${Jc.join(`, `)})`);let c=(e,n=()=>{})=>{let r=s[e],i=`{ ${Yc[e].join(`, `)} }`;if(r!==void 0){if(!Array.isArray(r))return t(`checks.${e} must be an array of ${i}, got ${Q(r)}`);r.forEach((r,o)=>{if(!Wx(r))return t(`checks.${e}[${o}] must be ${i}, got ${Q(r)}`);Gx(a,`checks.${e}[${o}]`,r,Yc[e]),n(r,o)})}},l=(e,n)=>{n!==void 0&&typeof n!=`string`&&(Array.isArray(n)&&n.length===2&&n.every(Number.isInteger)&&n[0]<=n[1]&&n[0]>=0&&n[1]<=i-1||t(`${e}.when must be a weight channel or [f0, f1] within 0..${i-1}, got ${Q(n)}${Array.isArray(n)&&n[1]>i-1?o:``}`))};c(`contacts`,(r,i)=>{kl(e,t,n,`checks.contacts[${i}].point`,r.point),kl(e,t,n,`checks.contacts[${i}].target`,r.target),l(`checks.contacts[${i}]`,r.when)}),c(`orient`,(r,i)=>{kl(e,t,n,`checks.orient[${i}].from`,r.from),kl(e,t,n,`checks.orient[${i}].to`,r.to),l(`checks.orient[${i}]`,r.when),r.along===`face`||r.along===`up`||_l(r.along)||t(`checks.orient[${i}].along must be "face", "up" or [x, y, z]`)}),c(`below`,(e,r)=>{Dl(t,n,`checks.below[${r}].joint`,e.joint),Dl(t,n,`checks.below[${r}].ref`,e.ref),l(`checks.below[${r}]`,e.when)}),c(`clearance`,(e,n)=>{Ol(t,r,`checks.clearance[${n}]`,e.object),l(`checks.clearance[${n}]`,e.frames)}),c(`appear`,(r,i)=>{Dl(t,n,`checks.appear[${i}].joint`,r.joint),e.anchors?.[r.anchor]||t(`checks.appear[${i}].anchor "${r.anchor}" is not in spec.anchors`)}),c(`supports`,(e,n)=>Ol(t,r,`checks.supports[${n}]`,e.object)),c(`allow`);for(let e of Object.keys(s.limits??{}))e in Wf||a(`checks.limits.${e} is not a QA limit${yl(e,Object.keys(Wf))}`);let u=e.fix;if(u!==void 0&&u!==!1&&(typeof u!=`object`||!u))t(`spec.fix must be false or { ${ab.join(`, `)} }`);else for(let e of Object.keys(u||{}))ab.includes(e)||a(`spec.fix.${e} is not a fix${yl(e,ab)} (fixes: ${ab.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 ${Q(u.grasp)}`)}function Xx(e,t,n){Kx(e,t,n),qx(e,t,n),rx(e,t,n),Jx(e,t,n),Yx(e,t,n),Hx(e,t,n)}var Zx=12,Qx=60;function $x(e){let t=new Map;for(let n of e){let e=/\[(\d+)\]( \(f(\d+)\))?/.exec(n),r=e?`${n.slice(0,e.index)}[#]${e[2]?` (f#)`:``}${n.slice(e.index+e[0].length)}`:n;t.has(r)||t.set(r,{line:n,idx:[],fs:[]}),e&&(t.get(r).idx.push(e[1]),e[3]&&t.get(r).fs.push(`f${e[3]}`))}return[...t.entries()].map(([e,t])=>t.idx.length>1?e.replace(`[#]`,`[${t.idx.join(`,`)}]`).replace(` (f#)`,` (${t.fs.join(`, `)})`):t.line)}function eS(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 tS(e,t,n,r){if(tl.has(n)){if(!_l(r))return e(`${t} ${n} must be [x, y, z] (3 finite numbers), got ${Q(r)}`);if(nl.has(n)){let i=Math.hypot(...r);if(i<1e-6)return e(`${t} ${n} = ${Q(r)} has no direction; a pole is a ${fl.pole}`);n.startsWith(`knee`)&&r[2]<-.7*i&&e(`${t} ${n} = ${Q(r)} points backward; knees bend toward +z. A pole is a ${fl.pole}`)}n.startsWith(`foot`)&&r[1]<.04&&e(`${t} ${n} y = ${r[1]} puts the ankle into the floor; foot_* is the ${fl.foot}`);return}if(il.has(n)){if(!r||typeof r!=`object`||Array.isArray(r))return e(`${t} ${n} must be { preset: weight }, presets ${ol.join(`, `)}; got ${Q(r)}`);for(let[i,a]of Object.entries(r))ol.includes(i)?Number.isFinite(a)&&a>=0&&a<=1||e(`${t} ${n}.${i} must be a weight within 0..1, got ${Q(a)}`):e(`${t} ${n} preset "${i}" is unknown${yl(i,ol)} (presets: ${ol.join(`, `)})`);return}if(!Number.isFinite(r))return e(`${t} ${n} must be a finite number${n===`yaw`?` (degrees; ${fl.yaw})`:n.startsWith(`fyaw`)?` (${fl.fyaw})`:``}, got ${Q(r)}`);let i=dl(n);i&&(r<i[1]||r>i[2])&&e(`${t} ${n} = ${r} is outside ${i[1]}..${i[2]} (${i[3]})`)}var nS=e=>Array.isArray(e)?e:[],rS=e=>Array.isArray(e)?e[1]:e;function iS(e,t){let n=[...nS(e.keys).map(e=>e?.f),...nS(e.generators).map(e=>e?.f0)].filter(Number.isInteger),r=e.checks??{},i=[...[`contacts`,`orient`,`below`].flatMap(e=>nS(r[e]).map(e=>rS(e?.when))),...nS(r.clearance).map(e=>rS(e?.frames)),...nS(e.goals).map(e=>rS(e?.at))].filter(Number.isInteger),a=Math.max(t-1,...n,...i)+1;return`; set frames >= ${a}${Math.max(0,...n)+1>=a?` or frames: "auto"`:``}`}function aS(e,t,n,r,i=``){if(e.keys!==void 0&&!Array.isArray(e.keys))return t(`spec.keys must be an array of { f, set, step? }`);let a=Object.keys(e.anchors??{}),o=eS(e),s=[...tl,...rl,...il,...o,...a.flatMap(e=>[`w_${e}_l`,`w_${e}_r`])];(e.keys??[]).forEach((e,c)=>{let l=e?.src?e.src.startsWith(`keys[`)?e.src:`${e.src} key`:`keys[${c}]`;if(!e||typeof e!=`object`)return t(`${l} must be { f, set, step? }`);for(let t of Object.keys(e))zc.includes(t)||r(`${l} has unknown field "${t}"${gl(t,zc)}; a key is { f, set, step? }`);if(!Number.isInteger(e.f))return t(`${l}.f must be an integer frame, got ${Q(e.f)}`);(e.f<0||e.f>n-1)&&t(`${l}.f = ${e.f} is outside 0..${n-1} (spec.frames ${n})${e.f>0?i:``}`);let u=`${l} (f${e.f})`;if(!e.set||typeof e.set!=`object`||Array.isArray(e.set))return t(`${u} needs set: { channel: value }`);for(let[n,r]of Object.entries(e.set)){let e=/^w_(.+)_([lr])$/.exec(n);e&&!a.includes(e[1])?t(`${u} sets ${n}, but there is no anchor "${e[1]}"${yl(n,s)}`):e||tl.has(n)||rl.has(n)||il.has(n)?tS(t,u,n,r):o.has(n)||n.endsWith(`_vis`)?Number.isFinite(r)||t(`${u} ${n} must be a finite number, got ${Q(r)}`):t(`${u} sets unknown channel "${n}"${yl(n,s)}`)}for(let n of e.step??[])n in e.set||t(`${u} step names "${n}", which this key does not set`);e.step!==void 0&&!Array.isArray(e.step)&&t(`${u} step must be an array of channel names`)})}function oS(e,t,n){if(e===void 0||e===!1)return;if(!e||typeof e!=`object`||Array.isArray(e))return t(`spec.flow must be false or { smooth?, lag?, overlap? }, got ${Q(e)}`);for(let t of Object.keys(e))[`smooth`,`lag`,`overlap`].includes(t)||n(`spec.flow has unknown field "${t}" (fields: smooth, lag, overlap)`);e.smooth!==void 0&&typeof e.smooth!=`boolean`&&t(`spec.flow.smooth must be true or false, got ${Q(e.smooth)}`);let r=e.overlap;r!==void 0&&typeof r!=`boolean`&&!(Number.isFinite(r)&&r>=0&&r<=2)&&t(`spec.flow.overlap must be true, false or a scale 0..2, got ${Q(r)}`);let i=e=>Number.isFinite(e)&&e>=0&&e<=6,a=e.lag;if(!(a===void 0||a===!1||i(a))){if(!a||typeof a!=`object`||Array.isArray(a))return t(`spec.flow.lag must be false, 0..6 frames or { spine?, head?, arms? }, got ${Q(a)}`);for(let[e,r]of Object.entries(a))[`spine`,`head`,`arms`].includes(e)?i(r)||t(`spec.flow.lag.${e} must be 0..6 frames, got ${Q(r)}`):n(`spec.flow.lag has unknown field "${e}" (fields: spine, head, arms)`)}}function sS(e,{sk:t,scene:n,lenient:r=!1,problems:i=[]}={}){let a=[...i],o=e=>{a.length<Qx&&a.push(e)},s=r?()=>{}:o;if(!e||typeof e!=`object`)throw Error(`MOTION_SPEC_INVALID: spec must be an object`);e.schema!==`cozyclay.motion-spec.v1`&&o(`spec.schema must be "cozyclay.motion-spec.v1", got ${Q(e.schema)}`);for(let t of Object.keys(e))Rc.includes(t)||s(`spec.${t} is not a spec field${yl(t,Rc)} (fields: ${Rc.join(`, `)})`);e.fps!==void 0&&e.fps!==24&&o(`spec.fps must be 24, the timeline rate, got ${Q(e.fps)}`),oS(e.flow,o,s);let c=e.frames;(!Number.isInteger(c)||c<1||c>2e4)&&o(`spec.frames must be an integer 1..20000 or "auto", got ${Q(c)}`);let l=Number.isInteger(c)?iS(e,c):``;if(aS(e,o,Number.isInteger(c)?c:2e4,s,l),Xx(e,o,{sk:t,scene:n,frames:Number.isInteger(c)?c:2e4,lenient:r,unknown:s,past:l}),!a.length)return;let u=$x(a),d=u.length>Zx||a.length>=Qx;throw Error(`MOTION_SPEC_INVALID: ${u.slice(0,Zx).join(`
+`)}${d?`\n(${u.length>Zx?`${u.length-Zx}`:`more`}${a.length>=Qx?`+`:``} more problems not listed)`:``}`)}function cS(e,t,n){let{s:r,diag:i,c:a}=e.frames[t],[o,s]=n.split(/:(.*)/s);if(o===`joint`)return r.P[e.ctx.sk.index[s]];if(o===`prop`){let[e,t]=s.split(`.`);return i.props?.[e]?.[t]??null}if(o===`anchor`)return lu(e.ctx,s,r,i,a);throw Error(`MOTION_SPEC_INVALID: check point "${n}"`)}function lS(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=>jc(a,a.objects[t],o,t)&&Ph(e,t,n)===i)??null:null}function uS(e,t){let[n,r]=t.split(/:(.*)/s),i=n===`anchor`?e.ctx.spec.anchors?.[r]:null;return i?.kind!==`object`||!i.grasp?null:e.ctx.sockets?.get(r)?.owner??i.object}var dS=(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 fS(e,t,n){return n===`up`?[0,1,0]:n===`face`?To(e.ctx.sk,e.frames[t].s,e.ctx.sk.index.Head,[0,0,1]):q(n)}function pS(e,t,n){let r=cS(e,t,n.point),i=cS(e,t,n.target);if(!r||!i)return null;let a=uS(e,n.target)??lS(e,n.point,t+(e.f0??0));return a?Eu(e,t,n.point,`object:${a}`)??K(U(r,i)):K(U(r,i))}function mS(e,t={}){let n=[],r=e.frames.length,i=e.ctx.sk.index,a=(e,t,r,i,a)=>n.push({kind:e,msg:t,frame:r,value:+i.toFixed(4),limit:a});for(let n=0;n<r;n++){for(let r of t.contacts??[])if(dS(e,n,r.when)){let t=pS(e,n,r);t!==null&&t>(r.tol??.01)&&a(`CONTACT`,`${r.name}: ${(t*100).toFixed(1)} cm apart`,n,t,r.tol??.01)}for(let r of t.orient??[])if(dS(e,n,r.when)){let t=cS(e,n,r.from),i=cS(e,n,r.to);if(!t||!i)continue;let o=G(q(U(i,t)),fS(e,n,r.along));o<(r.minCos??.64)&&a(`ORIENT`,`${r.name}: cos ${o.toFixed(2)}`,n,o,r.minCos??.64)}for(let r of t.below??[])if(dS(e,n,r.when)){let{P:t}=e.frames[n].s,o=t[i[r.ref]][1]-t[i[r.joint]][1];o<(r.min??.08)&&a(`BELOW`,`${r.name}: ${r.joint} only ${(o*100).toFixed(1)} cm below ${r.ref}`,n,o,r.min??.08)}for(let r of t.clearance??[])if(dS(e,n,r.frames)){let t=e.objectsAt(n)[r.object],o=lc.find(e=>e[0]===r.part);if(!t||!o)continue;let{P:s}=e.frames[n].s,c=Math.min(...uc(s[i[o[1]]],s[i[o[2]]]).map(e=>dc(e,t)))-o[3];c<r.min&&a(`CLEARANCE`,`${r.name}: ${(c*100).toFixed(1)} cm`,n,c,r.min)}}for(let n of t.appear??[])for(let t=1;t<r;t++){if((e.frames[t-1].c[n.channel]??0)>.5==(e.frames[t].c[n.channel]??0)>.5)continue;let r=K(U(cS(e,t,`joint:${n.joint}`),cS(e,t,`anchor:${n.anchor}`)));r>(n.tol??.035)&&a(`APPEAR`,`${n.name}: switches with the hand ${(r*100).toFixed(1)} cm from ${n.anchor}`,t,r,n.tol??.035)}return n}var hS=/^(.+): [\d.]+ cm off its keys$/,gS={twist:`twist about the forearm`,flex:`flex`,dev:`deviation (+ toward the thumb)`};function _S(e,t){let n=e.objects[t]??Pl(e)[t];return _h(e,t).flatMap(t=>{let r=e.objects[t],i=Cg(n,r),[a,o,s]=r.half;return[-a,a].flatMap(e=>[0,2*o].flatMap(t=>[-s,s].map(n=>H(i.pos,Y(i.R,[e,t,n])))))})}function vS(e,t,n){let{scene:r}=e.ctx,i=e.f0??0;for(let[a]of pm(e.ctx.spec)){let o=um(e,a),s=_S(r,a);if(s.length)for(let r=Math.max(i,Math.ceil(o.t[0]));r<=Math.min(i+e.frames.length-1,Math.floor(o.t[o.t.length-1]));r++){let c=dm(o,r),l=Mh(e,a,r),u=Math.max(...s.map(e=>ro(H(c.pos,Y(c.R,e)),H(l.pos,Y(l.R,e)))));u>t.reach&&n(`REACH`,`${a}: ${(u*100).toFixed(1)} cm off its keys`,r-i,u,t.reach)}}}function yS(e,t){let n=hS.exec(t.subject)?.[1],r=e.spec?.objects?.[n];if(!r?.keys?.length)return null;let i=t.worstFrame,a=e.spec.props?.[r.prop]?.hand,o=e.fr(i).diag[`hold_${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(As).filter(([e,[t,n]])=>o[e]<t||o[e]>n).map(([e,[t,n]])=>`the wrist ${gS[e]} needs ${Math.round(o[e])}deg (limit ${t}..${n})`);c.length&&(c[c.length-1]+=` after the elbow swung ${Math.round(o.swivel??0)}deg and the forearm turned`);let l=o.miss>.005&&o.fold,u=l?`the grip is ${(o.miss*100).toFixed(1)} cm inside the forearm's reach (the elbow would fold ${Math.round(o.fold)}deg; it bends to 145deg and stops at 150deg)`:`the arm is ${(o.miss*100).toFixed(1)} cm short`,d=[...o.miss>.005?[u]:[],...c],f=r.keys[s].aim&&r.keys[s].roll===void 0?``:`; an aim key without roll takes the roll the arm holds most easily`;return{cause:`objects.${n}.keys[${s}] f${r.keys[s].f}`,hint:`${n} at f${i}: ${d.length?d.join(`, `):`the hand cannot hold it there`}; ${l?`key a pose farther from the shoulder, or turn or move the body away from it`:`key a pose nearer the hand, or bring the body to it`} (root, yaw, spine_yaw)${f}`}}var bS=e=>Math.round(e*10)/10,xS=e=>Math.round(e*100)/100,SS=`held: per key, deg = the drawn +Y off the asked one (aim, or rot's +Y), cm = the drawn base off pos, got = the drawn +Y (when 1 deg off or more), rot = what an aim key used, lean = the lean a mouth key took by default (give lean 0 to hold aim exactly)`;function CS(e){let t=pm(e.ctx.spec);return t.length?Object.fromEntries(t.map(([t,n])=>{let r=um(e,t);return[t,[...(e.ctx.hold?.entry?.(t)??n).keys].sort((e,t)=>e.f-t.f).map((n,i)=>{let a=Mh(e,t,Math.round(r.t[i])),o=[a.R[0][1],a.R[1][1],a.R[2][1]],s=bS(_o(n.aim?q(n.aim):Y(go(r.q[i]),[0,1,0]),o));return{f:n.f,deg:s,cm:bS(ro(n.pos,a.pos)*100),...s>=1?{got:o.map(xS)}:{},...n.aim?{rot:r.rots[i]}:{},...n.leaned?{lean:n.lean}:{}}})]})):null}var wS=3,TS=.03,ES=e=>H(e.pos,Y(e.R,[0,e.half[1],0])),DS=(e,t)=>[e[0][t],e[1][t],e[2][t]];function OS(e,t,n=null){let r=U(ES(e),ES(t)),i=[0,1,2].map(t=>DS(e.R,t)),a=[0,1,2].map(e=>DS(t.R,e)),o=[...i,...a,...i.flatMap(e=>a.map(t=>no(e,t)))],s={depth:1/0,axis:[0,1,0]};for(let c of o){if(K(c)<1e-6)continue;let o=q(c),l=(e,t)=>t.reduce((t,n,r)=>t+Math.abs(G(n,o))*e.half[r],0),u=l(e,i)+l(t,a);if(u-Math.abs(G(r,o))<=0)return{depth:u-Math.abs(G(r,o)),axis:o};let d=G(n??r,o)<0?W(o,-1):o,f=u-G(r,d);f<s.depth&&(s={depth:f,axis:d})}return s}var kS=(e,t,n,r)=>{let i=n===`l`?`Left`:`Right`,a=W(H(t.P[e.index[`${i}HandIndex2`]],t.P[e.index[`${i}HandMiddle2`]]),.5);return r.some(e=>dc(a,e)<=0)},AS=(e,t,n)=>!t.visible||(e.baked?.[t.visible]?.[n]??0)>.5,jS=(e,t,n)=>_h(e.ctx.scene,t).map(t=>({...e.ctx.scene.objects[t],...Dh(e,t,n)}));function MS(e,t,n){let{sk:r,spec:i}=e.ctx,a=e.frames[n-(e.f0??0)];if(!a)return null;let o=yg(r,i,a.s,i.objects[t]);return Math.max(0,Math.min(...jS(e,t,n).map(e=>dc(o,e))))}function NS(e,t,n){let r=jS(e,t,n);if(!r.length)return null;let i=Math.min(...r.map(e=>e.pos[1]-Math.abs(e.R[1][0])*e.half[0]-Math.abs(e.R[1][2])*e.half[2])),a=W(r.map(ES).reduce((e,t)=>H(e,t),[0,0,0]),1/r.length),o=[a[0],i-.01,a[2]],s=null;for(let[t,r]of Object.entries(e.ctx.objectsAt(n))){if(r.carried||!r.half)continue;let e=dc(o,r);e<=.02&&(!s||e<s[1])&&(s=[t,e])}return s?.[0]??null}function PS(e,t,n){let r=Object.entries(t.ctx.spec.objects??{}).filter(([,e])=>hg(e));if(!r.length)return[];let i=n.checks??{},a={...Wf,...i.limits},o=i.allow,s=[],c=t.f0??0,l=e.index,u=(e,t,n,r,i)=>s.push({kind:e,msg:t,frame:n,value:+r.toFixed(4),limit:i}),d=(e,t)=>e.reduce((e,n)=>t.reduce((e,t)=>e??qf(o,n,t),e),null)??a.allow;for(let[i,o]of r){let[r,s]=xh(t,o),f=n.props?.[o.prop]?.hand,p=new Set([`hand_${f}`,`farm_${f}`]);if(o.grab!==void 0&&r>0&&t.frames[r-c]&&AS(t,o,r-1)){let e=MS(t,i,r),n=[o.fall??[]].flat().some(e=>Array.isArray(e.v)&&e.at<r);n&&e>TS?u(`CATCH`,`${i} missed by ${(e*100).toFixed(1)} cm`,r-c,e,TS):!n&&e>a.grab&&u(`GRAB`,`${i}: hand ${(e*100).toFixed(1)} cm from it at grab`,r-c,e,a.grab)}let m=o.grab===void 0?null:NS(t,i,r),h=e=>Math.abs(e-r)<=wS||o.release!==void 0&&Math.abs(e-s)<=wS;for(let n=0;n<t.frames.length;n++){let a=n+c,s=Nh(t,i,a);if(!s||!AS(t,o,a))continue;let f=s.map(e=>e.id),g=s.map(e=>[e,ES(e),K(e.half)]),{s:_}=t.frames[n],v=Object.entries(t.frames[n].diag).filter(([t,n])=>/^hold_[lr]$/.test(t)&&n?.second===i&&(n.w>=.5||kS(e,_,t.slice(-1),s))).map(([e])=>`hand_${e.slice(-1)}`);for(let[e,t,r,a]of lc){if(p.has(e)||v.includes(e))continue;let o=_.P[l[t]],s=_.P[l[r]],c=W(H(o,s),.5),m=a+ro(o,s)/2,h=d([e],[i,...f]),y=null,b=-1/0;for(let[e,t,n]of g)m-(ro(c,t)-n)<=h||(y??=uc(o,s),b=Math.max(b,a-Math.min(...y.map(t=>dc(t,e)))));b>h&&u(`COLLIDE`,`${e} x ${i}`,n,b,h)}if(!(a<r))for(let[e,r]of Object.entries(t.objectsAt(n))){if(!r.half||r.ignore||e===m&&h(a))continue;let t=d([i,...f],[e]),o=ES(r),s=K(r.half),c=-1/0;for(let[e,n,i]of g)ro(n,o)<i+s+t&&(c=Math.max(c,OS(e,r).depth));c>t&&u(`COLLIDE`,`${i} x ${e}`,n,c,t)}}}return vS(t,a,u),s}var FS=.009,IS=.022,LS=.004,RS=.995,zS=.01,BS=120,VS=150,HS=-.3,US=[`Index`,`Middle`,`Ring`,`Pinky`],WS={l:`Left`,r:`Right`};function GS(e,t){let n=_h(e,t),r=n.length===1?yc(e.objects[n[0]]).kind:`box`;return r===`sphere`?`spherical`:r===`cylinder`?`power`:null}function KS(e){let{spec:t,scene:n}=e.ctx,r=[],i=t.fix?.grasp===!1?{...t,fix:{...t.fix,grasp:!0}}:t;for(let[t,a]of Object.entries(i.objects??{})){if(!hg(a)||!jc(i,a,n,t))continue;let o=i.props?.[a.prop]?.hand,[s,c]=xh(e,a);o&&r.push({id:t,k:o,grasp:a.grasp??GS(n,t),from:s+4+1,to:c})}for(let t of i.fits??[]){let n=i.anchors?.[t.anchor];if(n?.kind!==`object`||!n.grasp||e.ctx.sockets?.get(t.anchor)?.rim)continue;let a=`w_${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)>=RS&&c(t)>=RS,rests:!0})}return r}var qS=(e,t,n)=>_h(e.ctx.scene,t).map(t=>({...e.ctx.scene.objects[t],...Fh(e,t,n)}));function JS(e,t,n){let r=WS[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:IS}];for(let e of[...US,`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}${t+1}`),r:FS});return a}function YS(e,t){return e.map(e=>{let n={depth:-1/0};for(let r of t){let t=Tc(r,e.a,e.b,e.r);t>n.depth&&(n={depth:t,entry:r})}let r=W(H(e.a,e.b),.5),i=n.entry&&wc(n.entry,r);return{...e,depth:n.depth,at:i,normal:n.entry&&Cc(n.entry,r)}})}function XS(e,t){if(!t.length)return 1/0;let n=[e[0],e[2]],r=t.map(e=>[e[0],e[2]]),i=(e,t)=>{let r=[t[0]-e[0],t[1]-e[1]],i=Math.max(0,Math.min(1,((n[0]-e[0])*r[0]+(n[1]-e[1])*r[1])/(r[0]**2+r[1]**2||1)));return Math.hypot(n[0]-e[0]-i*r[0],n[1]-e[1]-i*r[1])},a=ZS(r);return a.length>=3&&a.every((e,t)=>{let r=a[(t+1)%a.length];return(r[0]-e[0])*(n[1]-e[1])-(r[1]-e[1])*(n[0]-e[0])>=0})?0:Math.min(...a.map((e,t)=>i(e,a[(t+1)%a.length])))}function ZS(e){let t=[...e].sort((e,t)=>e[0]-t[0]||e[1]-t[1]),n=(e,t,n)=>(t[0]-e[0])*(n[1]-e[1])-(t[1]-e[1])*(n[0]-e[0]);if(t.length<3)return t;let r=[],i=[];for(let e of t){for(;r.length>=2&&n(r.at(-2),r.at(-1),e)<=0;)r.pop();r.push(e)}for(let e of t.reverse()){for(;i.length>=2&&n(i.at(-2),i.at(-1),e)<=0;)i.pop();i.push(e)}return[...r.slice(0,-1),...i.slice(0,-1)]}function QS(e,t,n,r,i,a){let o=YS(JS(e,t,n.k),r),s=WS[n.k].toLowerCase();if(n.rests&&o[0].depth<-.03)return;for(let e of o)e.finger!==`palm`&&e.depth>LS&&i(`FINGER_PEN`,`${e.bone} into ${n.id}`,a,e.depth,LS);let c=e=>o.some(t=>t.finger===e&&t.tip&&t.depth>=-.008),l=US.filter(c).length,u=c(`Thumb`);(n.grasp===`pinch`?u&&c(`Index`):l>=3||u&&l>=2)||i(`FINGER_GAP`,`${s} fingers off ${n.id}`,a,l+ +!!u,n.grasp===`pinch`?2:3);let d=o.filter(e=>e.depth>=-.008&&e.normal),f=W(r.reduce((e,t)=>H(e,H(t.pos,Y(t.R,[0,t.half[1],0]))),[0,0,0]),1/r.length),p=d.filter(e=>e.normal[1]<=HS).map(e=>e.at),m=d.filter(e=>e.finger===`Thumb`).map(e=>e.normal),h=d.filter(e=>US.includes(e.finger)).map(e=>e.normal),g=e=>e.length?q(e.reduce(H,[0,0,0])):null,_=g(m),v=g(h),y=_&&v&&Math.acos(Math.max(-1,Math.min(1,G(_,v))))*180/Math.PI>=BS,b=(e,t)=>Math.acos(Math.max(-1,Math.min(1,G(e,t))))*180/Math.PI,x=d.some((e,t)=>d.slice(t+1).some(t=>b(e.normal,t.normal)>=VS));!n.rests&&!y&&!x&&XS(f,p)>zS&&i(`SUPPORT`,`${n.id} not supported`,a,Math.min(1,XS(f,p)),zS)}function $S(e,t){if(t.ctx.spec.fix===!1)return[];let n=[],r=t.f0??0,i=(e,t,r,i,a)=>n.push({kind:e,msg:t,frame:r,value:+i.toFixed(4),limit:a});for(let n of KS(t))for(let a=Math.max(n.from,r);a<=Math.min(n.to,r+t.frames.length-1);a++){if(n.held&&!n.held(a))continue;let o=qS(t,n.id,a);o.length&&QS(e,t.frames[a-r].s,n,o,i,a-r)}return n}var eC=.5,tC=1,nC=90,rC={twist:1-Ms,flex:1,dev:1},iC=(e,t)=>t[e].map(t=>t*rC[e]),aC=`wrist: deg on the frames a hand holds (a fit, a carry or a grip on); flex + toward the palm, dev + radial / - ulnar, twist at the wrist joint; [min, f, max, f], frames past the comfortable range and at the limit; grip: the grip a keyed carry of a thin body keeps (grip-choice.js), cost [it, today's] (comfort-priced wrist, reach and body over the keys); elevation [max deg, f] of the upper arm (90 level), raised: frames the elbow is over the shoulder`;function oC(e,t,n,r){let{diag:i}=e.frames[n],a=e.baked??{};if((i[`hold_${t}`]?.w??0)>eC||(i[`grip_${t}`]?.w??0)>eC)return!0;for(let n of e.ctx.spec.fits??[])if(n.side===t&&(a[`w_${n.anchor}_${t}`]?.[r]??0)>eC)return!0;return Object.keys(e.ctx.spec.objects??{}).some(n=>e.ctx.spec.objects[n]?.prop&&Ph(e,n,r)===t)}function sC(e,t){let n=e.index,r=e.restWorldRot,i=t.f0??0,a={};for(let[o,s]of[[`Left`,`l`],[`Right`,`r`]]){let c=n[`${o}Hand`],l=n[`${o}ForeArm`],u=n[`${o}Arm`],d={frames:0,past:0,limit:0,raised:0};t.frames.forEach(({s:n},a)=>{let f=a+i;if(!oC(t,s,a,f))return;let p=W(U(n.P[c],n.P[l]),1/Math.max(1e-9,K(U(n.P[c],n.P[l])))),m=J(n.R[l],J(X(r[l]),r[c])),h=Gs(m,n.R[c],p,Y(J(m,X(n.R[c])),Ro(e,n,o).l));d.frames++;for(let e of[`flex`,`dev`,`twist`]){let t=Math.round(h[e]),n=d[e];d[e]=n?[Math.min(n[0],t),t<n[0]?f:n[1],Math.max(n[2],t),t>n[2]?f:n[3]]:[t,f,t,f]}let g=(e,t)=>[`flex`,`dev`,`twist`].some(n=>{let[r,i]=iC(n,e);return h[n]<r+t||h[n]>i-t});g(js,-1)&&d.past++,g(As,tC)&&d.limit++;let _=U(n.P[l],n.P[u]),v=Math.round(Math.acos(Math.max(-1,Math.min(1,-_[1]/Math.max(1e-9,K(_)))))*180/Math.PI);(!d.elevation||v>d.elevation[0])&&(d.elevation=[v,f]),v>nC&&d.raised++}),d.frames&&(a[`hand_${s}`]=d)}for(let e of t.ctx.hold?.grips?.()??[])a[`hand_${e.hand}`]&&(a[`hand_${e.hand}`].grip={object:e.id,chose:e.name,cost:[e.cost,e.today]});return Object.keys(a).length?a:null}var cC=.5,lC=.5,uC=[`flex`,`dev`,`twist`],dC={l:`Left`,r:`Right`},fC={flex:e=>e>=0?`flex`:`extension`,dev:e=>e>=0?`radial deviation`:`ulnar deviation`,twist:()=>`twist`};function pC(e){let t=null;for(let n of uC){let[r,i]=As[n],a=e[n],o=a>=0?i:r,s=a>=0?a-i:r-a;(!t||s>t.past)&&(t={axis:n,value:a,edge:o,past:s})}return t}function mC(e,t,n,r){let{s:i,diag:a}=t.frames[r],o=a[`hold_${n}`];if((o?.w??0)>lC)return o;let s=dC[n],c=e.index,l=c[`${s}Hand`],u=c[`${s}ForeArm`],d=e.restWorldRot,f=W(U(i.P[l],i.P[u]),1/Math.max(1e-9,K(U(i.P[l],i.P[u])))),p=J(i.R[u],J(X(d[u]),d[l]));return Gs(p,i.R[l],f,Y(J(p,X(i.R[l])),Ro(e,i,s).l))}function hC(e,t){let n=[],r=t.f0??0;for(let i of[`l`,`r`])t.frames.forEach((a,o)=>{if(!oC(t,i,o,o+r))return;let s=pC(mC(e,t,i,o));if(s.past<=cC)return;let c=Math.abs(s.edge);n.push({kind:`WRIST`,msg:`hand_${i} ${fC[s.axis](s.value)} ${Math.round(Math.abs(s.value))}deg (limit ${Math.round(c)})`,frame:o,value:+Math.abs(s.value).toFixed(2),limit:c})});return n}function gC(e,t){let n=/^hand_([lr]) /.exec(t.subject)?.[1];if(!n)return null;let r=t.worstFrame,i=`at f${r}${t.count>1?` (f${t.first}-f${t.last}, ${t.count} frames)`:``}`,a=Math.round(e.out.ctx?.swivel?.[n]?.get(r)??0);if(Math.abs(a)>=1)return{cause:`fix.self elbow turn ${a}deg at f${r}`,hint:`${t.subject} ${i}: fix.self turned the elbow ${a} deg to keep the arm out of the body and the hand kept its turn, so the wrist took it; key elbow_${n} (the elbow pole) or the hand's target so the arm clears the body without the turn`};let o=(e.out.frames[e.rel(r)]?.diag[`hold_${n}`]?.w??0)>lC&&Object.keys(e.spec.objects??{}).find(t=>e.spec.props?.[e.spec.objects[t]?.prop]?.hand===n),s=e.fr(r).c.spine_pitch??0;return{cause:o?`objects.${o}.keys near f${r}`:e.cause(`armw_${n}`,r),hint:`${t.subject} ${i}: the arm cannot turn the hand that far from where the body stands; lean the upper body over the hand (spine_pitch ${Math.round(s)} at f${r}: try ${Math.round(s+20)}) or bring the body to it (root), ${o?`or key ${o} so the hand need not bend that far (its aim or pos)`:`or move what the hand reaches`}; repair: { rounds } tries leans of 10-30 deg here and keeps one that helps`}}var _C={WRIST:gC},vC=2.2;function yC(e,t){let n=Math.max(0,Math.min(e.frames-1,t))*e.names.length,r=t=>{let r=e.names.indexOf(t),i=(n+r)*3;return[e.P[i],e.P[i+1],e.P[i+2]]};return lc.map(([e,t,n,i])=>[e,r(t),r(n),i])}function bC(e,t,n={}){let r=Object.entries(t.ctx?.scene?.people??{}),i=[];if(!r.length)return i;let a=e.index,o=t.f0??0,s={...Wf,...n.limits}.allow;return t.frames.forEach(({s:e},t)=>{let c=t+o,l=lc.map(([t,n,r,i])=>[t,e.P[a[n]],e.P[a[r]],i]);for(let[o,u]of r){if(!lc.every(([,e,t])=>u.names.includes(e)&&u.names.includes(t)))continue;let r=yC(u,c),d=r.find(e=>e[0]===`hips`)[1];if(!(ro(e.P[a.Hips],d)>vC))for(let[e,a,c,u]of l){let l=Math.max(...r.map(([,e,t,n])=>u+n-fc(a,c,e,t))),d=qf(n.allow,e,`person:${o}`)??s;l>d&&i.push({kind:`PERSON`,msg:`${e} x person:${o}`,frame:t,value:+l.toFixed(4),limit:d})}}}),i}var xC=105,SC=75,CC=.3,wC=.1,TC=4,EC=6,DC=2,OC=.5,kC=180/Math.PI,AC={l:`Left`,r:`Right`},jC={"over the head":0,high:1,wing:2};function MC(e,{s:t,diag:n,c:r},i){let a=(n[`hold_${i}`]?.w??0)>OC&&!n[`hold_${i}`].second;if(!a&&!((r[`armw_${i}`]??0)>OC))return null;let o=e.index,s=t.P[o[`${AC[i]}Arm`]],c=t.P[o[`${AC[i]}ForeArm`]],l=t.P[o[`${AC[i]}Hand`]],u=o.Spine2??o.Hips,d=To(e,t,u,[0,1,0]),f=W(To(e,t,u,[1,0,0]),i===`l`?1:-1),p=wo(t,o.Head,e.landmarks.headCentre);if(G(U(l,p),d)>e.landmarks.headRadii[1]+wC)return null;let m=U(c,s),h=Math.acos(io(-G(m,d)/K(m),-1,1))*kC,g=Math.atan2(G(m,f),-G(m,d))*kC;if(G(U(c,p),d)>0)return{kind:`over the head`,deg:h,held:a};if(h>xC)return{kind:`high`,deg:h,held:a};let _=U(l,t.P[o.Spine]),v=K(U(_,W(d,G(_,d))));return g>SC&&v<CC?{kind:`wing`,deg:g,held:a}:null}function NC(e,t,n,r,i){let a=e.ctx.spec,o=t=>e.timeMap?e.timeMap(t):t;for(let[s,c]of pm(a)){if(a.props?.[c.prop]?.hand!==t)continue;let l=(e.ctx.hold?.entry?.(s)??c).keys,u=l.map((e,t)=>[t,e]).filter(([,e])=>o(e.f)>=n&&o(e.f)<=r),d=l.reduce((e,t,n)=>Math.abs(o(t.f)-i)<Math.abs(o(l[e].f)-i)?n:e,0);return{id:s,picks:u.length?u:[[d,l[d]]]}}return null}var PC=e=>Math.round(e*100)/100,FC=(e,t)=>t.map(([t,n])=>`objects.${e}.keys[${t}] (f${n.f})`).join(`, `);function IC(e,t,n){let r=n.k,i=r===`l`?1:-1,a=n.held&&NC(t,r,n.first,n.last,n.worst);if(a){let r=a.picks.filter(([,e])=>e.aim&&!(e.lean>=45));if(r.length)return`give ${FC(a.id,r)} lean 45 (tips the aim to the hand's side, the elbow stays down)`;let i=t.frames[Math.max(0,Math.min(t.frames.length-1,Math.round(n.worst-(t.f0??0))))],o=a.picks[0][1].pos,s=U(i.s.P[e.index.Spine2??e.index.Hips],o),c=Math.hypot(s[0],s[2])||1;return`move ${FC(a.id,a.picks)} pos by [${PC(.05*s[0]/c)}, -0.08, ${PC(.05*s[2]/c)}] (lower, nearer the chest)`}return`key elbow_${r} [${(n.kind===`wing`?[PC(.1*i),-1,.2]:[PC(.3*i),-1,n.mouth?.35:-.2]).join(`, `)}] from f${n.first} to f${n.last} (down${n.kind===`wing`?` and in`:` and a little out`}${n.mouth?`, in front of the chest`:``})`}var LC={"over the head":`upper arm wraps over the head`,high:`elbow over the shoulder`,wing:`elbow flared out to the side`};function RC(e,t){let n=[],r=t.f0??0,i=t=>wo(t,e.index.Head,e.landmarks.mouth);for(let a of[`l`,`r`]){let o=null,s=()=>{o&&o.n>=TC&&n.push(o),o=null};t.frames.forEach((t,n)=>{let c=MC(e,t,a),l=n+r;if(o&&(l-o.last>EC||c&&c.held!==o.held)&&s(),!c)return;let u=K(U(t.s.P[e.index[`${AC[a]}Hand`]],i(t.s)))<.25;o??={k:a,kind:c.kind,held:c.held,first:l,worst:l,deg:c.deg,n:0,mouth:!1},o.last=l,o.n++,o.mouth||=u,(jC[c.kind]<jC[o.kind]||c.kind===o.kind&&c.deg>o.deg)&&Object.assign(o,{kind:c.kind,deg:c.deg,worst:l})}),s()}return n.sort((e,t)=>jC[e.kind]-jC[t.kind]||t.n-e.n),n.slice(0,DC).map(n=>`ARM arm_${n.k} ${LC[n.kind]} f${n.first}-f${n.last} (worst f${n.worst}, upper arm ${Math.round(n.deg)}deg ${n.kind===`wing`?`out`:`up`}): ${IC(e,t,n)}`)}var zC=(e,t)=>` (${e}the knee would fold ${Math.round(t)}deg; it bends to 150deg and stops at 160deg)`;function BC(e,t,n,r,i){let a=t===`l`?`Left`:`Right`,o=e.fr(n).s.P,s=o[e.I[`${a}UpLeg`]],c=o[e.I[`${a}Leg`]],l=o[e.I[`${a}Foot`]],u=U(i,s),d=Do(ro(s,c),ro(c,l),150)+.002,f=W(q(u),Math.max(0,d-K(u))),p=u[1]+Math.sqrt(Math.max(0,u[1]*u[1]-G(u,u)+d*d));return u[1]<0?{cause:e.cause(`root`,n),hint:`root: raise ${$(p)} m at f${n}${r}, or key foot_${t} farther from the hip (wider or more forward)`,fix:{channel:`root`,f:n,delta:[0,p,0]}}:{cause:e.cause(`foot_${t}`,n),hint:`foot_${t}: move ${ix(f)} m out from the hip at f${n}${r}, or raise root ${$(p)} m`,fix:{channel:`foot_${t}`,f:n,delta:f}}}var VC=.003,HC=.25,UC=e=>/(^|_)l$|^Left/.test(e)?`l`:/(^|_)r$|^Right/.test(e)?`r`:null;function WC(e,t,n,r,i){let a=e.spec.anchors?.[t],o=e=>`/anchors/${t}/${e}`;if(a?.kind===`world`)return{path:o(`p`),delta:r};if(a?.kind===`body`)return{path:o(`p`),delta:Y(Z(-(e.fr(n).c.yaw??0)),r)};if([`bone`,`segment`,`prop`,`person`].includes(a?.kind))return{path:o(`offset`),delta:r};if(a?.kind!==`object`)return;let s=e.fr(n),c=fu(e.out.ctx,a,t,{...s,diag:{...s.diag,frame:n}},i);return{path:o(`local`),delta:Y(X(c.R),r)}}function GC(e,t,n,r,i=``){let a=/^prop_(.+)$/.exec(t),o=a?e.spec.props?.[a[1]]?.hand:UC(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?WC(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 ${ix(r)} m at f${n}${i}; change that walk's heading/turnDistance/step (or give one a { range: [lo, hi] })`}:{cause:c,hint:`${s}: move ${ix(u)} m at f${n}${i}`,fix:l}}var KC=e=>lc.find(t=>t[0]===e);function qC(e,t,n,r){let[,i,a]=KC(n),{s:o}=e.fr(t),s=uc(o.P[e.I[i]],o.P[e.I[a]]),c=s.map(e=>dc(e,r)),l=Math.min(...c);return{p:s[c.indexOf(l)],n:_c(s[c.indexOf(l)],r),d:l}}function JC(e,t,n,r,i){let a=t.worstFrame,o=e.out.objectsAt(e.rel(a))[r];if(!o||!KC(n))return null;let{n:s}=qC(e,a,n,o);return GC(e,n,a,W(s,i),` (out of ${r})`)}function YC(e,t,n,r){let i=t.worstFrame,a=e.out.objectsAt(e.rel(i))[r];if(!a)return null;let o=Vf(e.sk,e.fr(i).s,n.endsWith(`_l`)?`Left`:`Right`),s=Hf(o,a),c=t.worst-t.limit+VC;if(!(s.side>0))return s.topAt?GC(e,n,i,W(_c(s.topAt,a),c),` (out of ${r}'s top)`):null;let l=Math.max(...o.filter(e=>dc(e,a)<0).map(e=>2*a.half[1]-Y(X(a.R),U(e,a.pos))[1]))+VC,u=W(_c(s.sideAt,a),c);if(l>HC)return GC(e,n,i,u,` (out of ${r}'s side)`);let d=GC(e,n,i,Y(a.R,[0,l,0]),` (over ${r}'s top; its ${t.worst.toFixed(3)} m is through a side)`);return d.hint+=/^walk path/.test(d.hint)?`; a higher lift raises the swing`:`; or move ${ix(u)} m out of that side`,d}function XC(e,t,n,r,i,a){return GC(e,n,t.worstFrame,W(q(r),i),` (away from the ${a})`)}function ZC(e,t,n){let{s:r,diag:i}=e.fr(t),a=e.I;if(n.startsWith(`hand_`)){let e=n.endsWith(`l`)?`Left`:`Right`;return uc(r.P[a[`${e}Hand`]],r.P[a[`${e}HandMiddle3`]],5)}return Object.entries(i.props?.[n.slice(5)]??{}).filter(([e,t])=>Array.isArray(t)&&e!==`origin`).map(([,e])=>e)}var QC={COLLIDE(e,t){let[,n,r]=/^(\S+) x (.+)$/.exec(t.subject)??[];if(/^foot_[lr]$/.test(n??``))return YC(e,t,n,r);let i=JC(e,t,n,r,t.worst-t.limit+VC);return i&&/^(hand|farm)_/.test(n)&&!e.spec.fix?.penetration&&t.worst-t.limit<=.05&&(i.hint+=`; or fix.penetration: 0.02 pushes shallow hand hits out`,e.spec.fix!==!1&&(i.fix={path:`/fix/penetration`,value:.02})),i},PERSON(e,t){let[,n,r]=/^(\S+) x person:(.+)$/.exec(t.subject)??[],i=KC(n),a=e.out?.ctx?.scene?.people?.[r];if(!i||!a)return null;let o=t.worstFrame,{s}=e.fr(o),c=uc(s.P[e.I[i[1]]],s.P[e.I[i[2]]]),l=yC(a,o).map(([e,t,n,r])=>{let a=U(n,t),o=Math.max(G(a,a),1e-12);return c.map(n=>{let s=H(t,W(a,io(G(U(n,t),a)/o,0,1)));return{other:e,p:n,q:s,depth:i[3]+r-K(U(n,s))}}).reduce((e,t)=>t.depth>e.depth?t:e)}).reduce((e,t)=>t.depth>e.depth?t:e),u=GC(e,n,o,W(K(U(l.p,l.q))>1e-6?q(U(l.p,l.q)):q([l.p[0]-l.q[0]||1,0,l.p[2]-l.q[2]]),t.worst-t.limit+VC),` (out of ${a.name}'s ${l.other})`);return{...u,hint:`${u.hint}; or, for a touch you mean, checks.allow [{ part: "${n}", object: "person:${r}", depth: ${$(t.worst+VC)} }]`}},CLEARANCE(e,t){let n=(e.spec.checks?.clearance??[]).find(e=>t.subject.startsWith(`${e.name}:`));return n&&JC(e,t,n.part,n.object,n.min-t.worst+VC)},GROUND(e,t){let n=t.subject.startsWith(`Left`)?`l`:`r`,r=t.worstFrame,i=e.fr(r).c,a=e.fr(r).diag[`leg_fold_${n}`];if(a)return BC(e,n,r,zC(`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 ${$(i[`fpitch_${n}`])} deg; + lifts the heel)`:``;return{cause:e.cause(`foot_${n}`,r),hint:`foot_${n}: raise ${$(t.worst+.001)} m at f${r} (foot_* is the ankle; it stands ${mc(e.sk)} m above the floor)${o}`,fix:{channel:`foot_${n}`,f:r,delta:[0,t.worst+.001,0]}}},FACE(e,t){let n=t.subject.replace(/ into head$/,``),r=t.worstFrame,{s:i}=e.fr(r),a=wo(i,e.I.Head,e.sk.landmarks.headCentre);return XC(e,t,n,U(ZC(e,r,n).reduce((t,n)=>pc(e.sk,i,n)>pc(e.sk,i,t)?n:t),a),t.worst-t.limit+VC,`head`)},BODY(e,t){let[,n,r]=/^(\S+) into (\S+)$/.exec(t.subject)??[],i=KC(r),a=t.worstFrame,{s:o}=e.fr(a),s=/^(hand|farm|uarm)_([lr])$/.exec(n??``),c=s&&ps(e.sk);if(c){let i=e.I[`${s[2]===`l`?`Left`:`Right`}${{hand:`Hand`,farm:`ForeArm`,uarm:`Arm`}[s[1]]}`],l=ks(c,e.sk,o,i),u=l.p&&vs(c,o,l.p,c.skip.get(i));if(u){let i=GC(e,n,a,W(u,t.worst-t.limit+VC),` (out of the ${r})`);return s[1]!==`hand`&&(i.hint+=`; or turn elbow_${s[2]} away from the ${r}`),i}}if(!i)return null;let l=o.P[e.I[i[1]]],u=o.P[e.I[i[2]]],d=U(u,l),f=e=>H(l,W(d,io(G(U(e,l),d)/G(d,d),0,1))),p=ZC(e,a,n).reduce((e,t)=>K(U(t,f(t)))<K(U(e,f(e)))?t:e);return XC(e,t,n,U(p,f(p)),t.worst-t.limit+VC,`torso`)},SELF(e,t){let n=t.worstFrame,{s:r}=e.fr(n),i=r.P,a=e.I;if(t.subject===`hands overlap`){let r=q(U(i[a.LeftHand],i[a.RightHand])),o=(t.worst-t.limit+VC)/2,s=GC(e,`hand_l`,n,W(r,o));return{cause:s.cause,hint:`${s.hint}; and ${GC(e,`hand_r`,n,W(r,-o)).hint}`,fix:GC(e,`hand_l`,n,W(r,2*o)).fix}}let o=t.subject===`shins touch`,s=o?.1:.135,[c,l]=o?[`Leg`,`Foot`]:[`UpLeg`,`Leg`],u=fc(i[a[`Left${c}`]],i[a[`Left${l}`]],i[a[`Right${c}`]],i[a[`Right${l}`]]),d=U(i[a[`Left${l}`]],i[a[`Right${l}`]]);d[1]=0;let f=(s-u+VC)/2,p=q(d);return{cause:e.cause(`foot_l`,n),hint:`foot_l: move ${ix(W(p,f))} m and foot_r ${ix(W(p,-f))} m at f${n} (${o?`shins`:`thighs`} ${$(u)} m apart, need ${s}); or spread knee_l/knee_r`,fix:{channel:`foot_l`,f:n,delta:W(p,2*f)}}},OBJECT(e,t){let[,n,r]=/^(\S+) into (.+)$/.exec(t.subject)??[],i=e.spec.objects?.[n]?.channel;if(!i)return null;let a=t=>e.out.baked[i]?.[t]??0,o=t.first>0?a(t.first-1):a(0);return{cause:e.cause(i,t.worstFrame),hint:`${i}: keep it within ${$(o)} deg (it reaches ${$(a(t.worstFrame))} at f${t.worstFrame}, ${$(t.worst)} m into ${r}), or move ${r}`,fix:{channel:i,f:t.worstFrame,value:o}}},BALANCE(e,t){let n=t.worstFrame,{s:r}=e.fr(n),i=r.P,a=e.I;if(t.subject===`no foot on the ground`)return{cause:e.cause(`root`,n),hint:`at f${n} lower foot_l or foot_r onto the ground, the floor or the top of an object under it (the ankle stands ${mc(e.sk)} m above it), or declare checks.supports for the seat the hips rest on`};let o=W([`Hips`,`Spine1`,`Spine2`,`Head`].reduce((e,t)=>H(e,i[a[t]]),[0,0,0]),.25),s=[`Left`,`Right`].flatMap(t=>Object.values(gc(e.sk,r,t))),c=s.map(e=>e[0]),l=s.map(e=>e[2]),u=.07,d=[io(o[0],Math.min(...c)-u,Math.max(...c)+u),o[1],io(o[2],Math.min(...l)-u,Math.max(...l)+u)];return{cause:e.cause(`root`,n),hint:`root: move ${ix(U(d,o))} m at f${n} (centre of mass over the feet), or step a foot under it`,fix:{channel:`root`,f:n,delta:U(d,o)}}}},$C=.003,ew=.02,tw=.2;function nw(e,t,n,r,i=``){let a=t===`l`?`Left`:`Right`,{s:o}=e.fr(n),s=U(o.P[e.I[`${a}Hand`]],o.P[e.I[`${a}Arm`]]),c=Math.hypot(s[0],s[2])/Math.max(K(s),1e-9);if(c<.5)return null;let l=W(q([s[0],0,s[2]]),Math.min(tw,r/c));return{delta:l,hint:`body: move ${ix(l)} m toward the target at f${n}, ${e.cause(`root`,n)} (arm ${t} is at full reach)${i}`,fix:{channel:`root`,f:n,delta:l,hold:!0}}}var rw=(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_${t}`];function iw(e,t,n,r){let i=null;for(let[a,o]of Object.entries(e.fr(n).c))a===r||!RegExp(`^w_.+_${t}$`).test(a)||!(o>ew)||i&&o<=i.w||(i={ch:a,w:o});return i}function aw(e,t,n,r,i){let a=n.slice(-1),o=e.hand(a,r),s=o.anchor?iw(e,a,r,o.ch):null;if(!s)return null;let c=Array.isArray(t.at)?t.at[1]:t.at,l=e.bracket(s.ch,r).prev,u=l&&Math.abs(e.out.baked[s.ch]?.[Math.round(l.f)]??1)<=ew&&c>=r&&!(e.bracket(s.ch,r).next?.f<=c)?c:r,d=s.w/Math.max(1,(e.fr(r).c[o.ch]??1)+s.w),f=s.ch.replace(/^w_/,``).replace(/_[lr]$/,``);return{cause:e.cause(s.ch,r),hint:`${s.ch} is ${$(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}${i}`,fix:{channel:s.ch,f:u,value:0}}}function ow(e,t){let n=null;return(e.spec?.goals??[]).forEach((e,r)=>{let i=ux(e,r);t.subject.startsWith(`${i}:`)&&(!n||i.length>n.name.length)&&(n={goal:e,name:i,i:r})}),n}function sw(e,t,n){let r=[t,...e.out.ctx.scene?.objects?.[t]?.ancestors??[]].find(t=>vh(e.spec.objects?.[t],n));return r?e.spec.objects[r]:null}function cw(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=sw(e,i.replace(/\.(center|top|base|rim)$/,``),n),r=t&&e.spec.props?.[t.prop]?.hand;return r?`hand_${r}`:null}if(r===`landmark`)return`root`;if(r!==`joint`&&r!==`bone`)return null;let a=El(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 lw(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 uw(e,t,n,r,i,a){if(n===`moved`||n===`still`){let o=t[n],s=cw(e,o,r),c=gx(e.out,t,a),l=Tu(e.out,r,px(o)),u=l&&c&&K(U(l,c))>.001?q(U(l,c)):[0,1,0];return s?[s,W(u,n===`still`?-i:i)]:null}let[o,s]=n===`near`?bx(e.out.ctx.scene,t):t[n],c=cw(e,o,r),l=cw(e,s,r),u=e=>e?.startsWith(`hand_`)?2:+!!e,d=u(c)>=u(l),f=d?c:l,p=d?1:-1;if(!f)return null;if(n===`above`)return[f,[0,p*i,0]];let m=Tu(e.out,r,o),h=Tu(e.out,r,s);return m&&h?[f,W(q(U(h,m)),p*i)]:null}var dw={GOAL(e,t){let n=e.spec&&ow(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=lx(i)[0],c=t.worst+$C,l=kx(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 ${$(t.worst)} ${u} ${s===`still`?`off`:`short`}; needs ${d} ${dx(i,s)})`;if(s===`speed`){let t=cw(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${f}`}}let p=uw(e,i,s,r,c,l.a);if(!p){if(s===`still`&&i.still.startsWith(`object:`)){let e=i.still.slice(7).replace(/\.(center|top|base|rim)$/,``);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${r}; name a joint, prop point or held object`};if(s===`moved`){let e=i.moved.slice(7).replace(/\.(center|top|base|rim)$/,``);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=aw(e,i,m,r,f);if(t)return t;let n=rw(e,m.slice(-1),r)&&nw(e,m.slice(-1),r,c,f);if(n)return{cause:e.cause(`root`,r),hint:n.hint,fix:n.fix}}let g=GC(e,m,r,h,f),_=lw(e,m,r,h);return{cause:g.cause,hint:g.hint,..._?{fix:_}:{}}}},fw={Leg:[`UpLeg`,`Leg`,`Foot`,`knee`],ForeArm:[`Arm`,`ForeArm`,`Hand`,`elbow`]},pw=e=>e.startsWith(`Left`)?`l`:`r`,mw=e=>/^(w_|armw)/.test(e)?.5:/^(root|foot|hand)/.test(e)?1:/^(knee|elbow)/.test(e)?.2:.01;function hw(e,t,n){let r=pw(t),i=e.out.baked,a=[`root`,`yaw`,`pitch`];t===`Head`?a=[`head_yaw`,`head_pitch`,`spine_pitch`,`spine_yaw`,`root`,`yaw`]:/Hand|ForeArm/.test(t)?a=[`hand_${r}`,`armw_${r}`,`elbow_${r}`,`aswing_${r}`,`abend_${r}`,...Object.keys(i).filter(e=>RegExp(`^w_.+_${r}$`).test(e)),`spine_yaw`,`spine_pitch`,`root`,`yaw`]:/Foot|Leg/.test(t)&&(a=[`foot_${r}`,`knee_${r}`,`fpitch_${r}`,`root`]);let o=e=>{let t=i[e]?.[n-1],r=i[e]?.[n];return t===void 0||r===void 0||typeof t==`object`&&!Array.isArray(t)?0:(Array.isArray(t)?ro(t,r):Math.abs(r-t))*mw(e)};return a.filter(e=>i[e]).sort((e,t)=>o(t)-o(e))}function gw(e,t,n){let r=t.subject.split(` `)[0],i=t.worstFrame,a=hw(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 ${p[1]} too fast`:``}; or fix.retime: true`,fix:e.spec.fix===!1?void 0:{path:`/fix/retime`,value:!0}}}function _w(e,t,n){let[r,i]=n.split(/:(.*)/s);if(r===`joint`)return t.s.P[e.I[i]];if(r===`prop`){let[e,n]=i.split(`.`);return t.diag.props?.[e]?.[n]}return lu(e.out.ctx,i,t.s,t.diag,t.c)}function vw(e,t,n,r){let i=md(e.out.baked,t),a=r(e.fr(t)),o=null;for(let[s,c,l]of n){let n=r(Vb(e.out.ctx,{...i,[s]:c},t))-a;n>1e-6&&(!o||n/l>o.gain/o.unit)&&(o={ch:s,value:c,gain:n,unit:l})}return{best:o,base:a,c0:i}}var yw=(e,t,n,r)=>e.fr(n).s.P[e.I[`${t===`l`?`Left`:`Right`}${fw[r][0]}`]],bw={REACH(e,t){let[,n,r]=/^(leg|arm)_miss_([lr])$/.exec(t.subject)??[],i=t.worstFrame,a=t.worst+.002;if(n===`leg`){let n=e.fr(i).diag[`leg_fold_${r}`];if(n)return BC(e,r,i,zC(`the ankle target is ${$(t.worst)} m inside the shin's reach: `,n),e.fr(i).c[`foot_${r}`]);let o=e.fr(i).c[`foot_${r}`]??[0,0,0],s=yw(e,r,i,`Leg`),c=U(o,s),l=ro(s,o)-t.worst,u=c[1]*c[1]-G(c,c)+l*l,d=[c[0],0,c[2]],f=u>=0?`or root down ${$(-c[1]-Math.sqrt(u)+.002)} m${t.worst<=.05?` (fix.reach does this when on)`:``}`:`or root ${ix(W(q(d),K(d)-l*.95))} m toward the foot (the foot is ${$(K(d))} m sideways of the hip: the root and foot keys disagree)`;return{cause:e.cause(`foot_${r}`,i),hint:`foot_${r}: move ${ix(W(q(U(s,o)),a))} m toward the hip at f${i}, ${f}`,fix:{channel:`foot_${r}`,f:i,delta:W(q(U(s,o)),a)}}}let o=r===`l`?`Left`:`Right`,{s,diag:c}=e.fr(i),l=q(U(s.P[e.I[`${o}Hand`]],s.P[e.I[`${o}Arm`]])),u=c[`arm_fold_${r}`];if(u){let n=GC(e,`hand_${r}`,i,W(l,a),` (the hand target is ${$(t.worst)} m inside the forearm's reach: the elbow would fold ${Math.round(u)}deg; it bends to 145deg and stops at 150deg)`);return{cause:n.cause,hint:`${n.hint}, or bring root ${ix(W([-l[0],0,-l[2]],a))} m back from it`,fix:n.fix}}let d=GC(e,`hand_${r}`,i,W(l,-a),``),f=e.hand(r,i).anchor,p=JSON.stringify([e.spec.goals??[],e.spec.checks?.contacts??[]]),m=f&&(e.spec.anchors?.[f]?.kind===`object`||p.includes(`"anchor:${f}"`)),h=e.spec.fits?.[e.hand(r,i).fit??-1],g=h?.effector?.prop&&e.fr(i).diag.props?.[h.effector.prop]?.[h.effector.point],_=g?ro(g,H(_w(e,e.fr(i),`anchor:${f}`),h.offset??[0,0,0]))+.01:a,v=m&&nw(e,r,i,Math.min(a,_));return v?{cause:d.cause,hint:`${v.hint} (out of reach by ${$(t.worst)} m), or ${d.hint}`,fix:v.fix}:{cause:d.cause,hint:`${d.hint} (out of reach by ${$(t.worst)} m), or bring root ${ix(W([l[0],0,l[2]],a))} m closer`,fix:d.fix}},KNEE(e,t){let n=pw(t.subject),r=n===`l`?`Left`:`Right`,i=t.worstFrame,{s:a,c:o}=e.fr(i),s=a.P,c=e.I;if(/backward/.test(t.subject)){let t=U(s[c[`${r}ToeBase`]],s[c[`${r}Foot`]]);t[1]=0;let a=H(q(Y(Z(-(o.yaw??0)),t)),[0,.3,0]);return{cause:e.cause(`knee_${n}`,i),hint:`knee_${n}: key ${ix(q(a))} (body frame, along the foot) at f${i}; a knee pole is +z forward, +x the character's left`,fix:{channel:`knee_${n}`,f:i,value:q(a)}}}if(/ folds /.test(t.subject))return BC(e,n,i,` (the knee folds ${$(t.worst)}deg, past its ${t.limit}deg stop; it bends freely to 150deg)`,s[c[`${r}Foot`]]);let l=s[c[`${r}UpLeg`]],u=s[c[`${r}Leg`]],d=s[c[`${r}Foot`]],f=ro(l,u),p=ro(u,d),m=(180-(t.limit-5))*Math.PI/180,h=Math.sqrt(f*f+p*p-2*f*p*Math.cos(m));return{cause:e.cause(`foot_${n}`,i),hint:`foot_${n}: move ${ix(W(q(U(d,l)),h-ro(l,d)))} m away from the hip at f${i} (the knee folds ${$(t.worst)} deg, limit ${t.limit})`,fix:{channel:`foot_${n}`,f:i,delta:W(q(U(d,l)),h-ro(l,d))}}},ELBOW(e,t){let n=pw(t.subject),r=n===`l`?`Left`:`Right`,i=t.worstFrame,a=e.fr(i).s.P,o=e.I,s=a[o[`${r}Arm`]],c=a[o[`${r}ForeArm`]],l=a[o[`${r}Hand`]],u=W(q(U(l,s)),Do(ro(s,c),ro(c,l),145)-ro(s,l));return GC(e,`hand_${n}`,i,u,` (the elbow folds ${$(t.worst)}deg, past its ${t.limit}deg stop; it bends freely to 145deg)`)},FLIP(e,t){let[,n,r]=/^(Left|Right)(Leg|ForeArm) /.exec(t.subject)??[],i=t.worstFrame;if(!r)return null;let a=pw(n),[o,s,c,l]=fw[r],u=e.I,d=+(/ over (\d+) frames$/.exec(t.subject)?.[1]??1),f=e.fr(i).diag,p=r===`ForeArm`&&(f[`arm_fold_${a}`]??f[`hold_${a}`]?.fold);if(p){let t=f[`hold_${a}`]?.fold&&Object.entries(e.spec.objects??{}).find(([,t])=>t.keys?.length&&e.spec.props?.[t.prop]?.hand===a)?.[0];return{cause:t?`objects.${t}.keys`:e.cause(e.hand(a,i).ch,i),hint:`the ${t?`keys of ${t} ask`:`hand target asks`} the elbow to fold ${Math.round(p)}deg at f${i}, past its 150deg stop, so the hand swings round the shoulder on the stop: move ${t?`the keyed pose`:`the target`} out from the shoulder (REACH says how far)`}}let m=t=>{let r=e.fr(t).s.P;return _o(U(r[u[`${n}${s}`]],r[u[`${n}${o}`]]),U(r[u[`${n}${c}`]],r[u[`${n}${s}`]]))},h=Array.from({length:Math.max(1,d-1)},(e,t)=>d>1?i-1-t:i).reduce((e,t)=>m(t)<m(e)?t:e),g=m(h),_=`${l}_${a}`,v=e.out.baked[_]?.[Math.max(0,i-1)];if(v&&K(v)<.5)return{cause:e.cause(_,i),hint:`${_}: the pole passes near zero (length ${$(K(v))}) at f${i} while it turns between opposite keys; add an in-between pole key (e.g. the average direction, normalised) so it turns, not shrinks`};let y=g<12?`the limb is almost straight at f${h} (bend ${$(g)} deg), so the pole cannot hold it: bring the ${r===`Leg`?`foot`:`hand`} target ~0.02 m toward the ${r===`Leg`?`hip`:`shoulder`}, or `:``;return{cause:e.cause(_,i),hint:`${_}: ${y}keep the pole on one side through f${i}${v?` (key ${ix(v)} there)`:``}`,fix:v&&{channel:_,f:i,value:v}}},SLIDE(e,t){let n=pw(t.subject),r=n===`l`?`Left`:`Right`,i=t.subject.includes(`heel`)?`heel`:`ball`,a=Math.max(0,t.first-1),o=t=>gc(e.sk,e.fr(t).s,r)[i],s=Math.hypot(o(t.last)[0]-o(a)[0],o(t.last)[2]-o(a)[2]),c=e.out.baked[`foot_${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 ${$(l[a])} -> ${$(l[t.last])} deg over f${a}-f${t.last} and the ${i} slides ${$(s)} m; key fyaw_${n} ${$(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 ${ix(c)} at both ends)`:``}; the ${i} slides ${$(s)} m${s<.01?`; fix.slide locks this when on`:``}`,fix:c&&{channel:`foot_${n}`,f:t.last,value:c}}},SPEED:(e,t)=>gw(e,t,1),POP:(e,t)=>gw(e,t,.5),ACC:(e,t)=>gw(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 ${mc(e.sk)} m above it); a jump needs the hips to rise and fall; a seat or ledge the hips rest on goes in checks.supports (a foot on an object's top needs none)`}),LENGTH:()=>({cause:`compiler`,hint:`a bone changed length: report the spec, this is a compiler fault`}),CONTACT(e,t){let n=(e.spec.checks?.contacts??[]).find(e=>t.subject.startsWith(`${e.name}:`)),r=t.worstFrame,i=e.rel(r);if(!n)return null;let a=cS(e.out,i,n.point),o=cS(e.out,i,n.target),s=U(o,a),c=/^prop:([^.]+)/.exec(n.point),l=c?e.spec.props?.[c[1]]?.hand:pw(n.point.slice(6)),{diag:u}=e.fr(r),d=Math.max(u[`reach_over_${l}`]??0,u[`arm_miss_${l}`]??0),f=/^anchor:(.+)$/.exec(n.target)?.[1],p=(e.spec.fits??[]).findIndex(e=>e.side===l&&e.anchor===f),m=p>=0?`fits[${p}] (${l} -> anchor ${f})`:GC(e,`hand_${l}`,r,s).cause,h=W(q([s[0],0,s[2]]),d+.01),g=u[`arm_fold_${l}`];if(d>.002&&g){let t=e.fr(r).s.P[e.I[`${l===`l`?`Left`:`Right`}Arm`]],n=W(q([t[0]-o[0],0,t[2]-o[2]]),d+.01);return{cause:m,hint:`inside the forearm's reach by ${$(d)} m at f${r} (the elbow would fold ${Math.round(g)}deg; it stops at 150deg): bring root ${ix(n)} m back from ${f??`the target`}, or move the target out from the shoulder`,fix:{channel:`root`,f:r,delta:n}}}if(d>.002)return{cause:m,hint:`out of reach by ${$(d)} m at f${r}: bring root ${ix(h)} m toward ${f??`the target`}, or move the target`,fix:{channel:`root`,f:r,delta:h}};let _=GC(e,`hand_${l}`,r,s);return{cause:m,hint:`${_.hint}${p<0&&f?`; or add fits: [{ side: "${l}", anchor: "${f}", effector: ${c?`{ prop: "${c[1]}", point: "${n.point.split(`.`)[1]}" }`:`{ joints: [...] }`} }]`:``}`,fix:_.fix}},ORIENT(e,t){let n=(e.spec.checks?.orient??[]).find(e=>t.subject.startsWith(`${e.name}:`)),r=t.worstFrame;if(!n)return null;let i=/^prop:([^.]+)/.exec(n.from),a=i?e.spec.props?.[i[1]]?.hand:pw(n.from.slice(6)),o=n.minCos??.64,s=t=>n.along===`up`?[0,1,0]:n.along===`face`?To(e.sk,t.s,e.I.Head,[0,0,1]):q(n.along),c=t=>G(q(U(_w(e,t,n.to),_w(e,t,n.from))),s(t)),l=md(e.out.baked,r),u=l[`wtwist_${a}`]??0,d=l[`wflex_${a}`]??0,{best:f,base:p}=vw(e,r,[[`wtwist_${a}`,io(u+15,-85,85),15],[`wtwist_${a}`,io(u-15,-85,85),15],[`wflex_${a}`,io(d+15,-70,70),15],[`wflex_${a}`,io(d-15,-70,70),15]],c);if(!f)return{cause:e.cause(`wtwist_${a}`,r),hint:`turn the prop another way: wrist twist/flex do not help at f${r} (cos ${$(p)}, needs ${o}); change elbow_${a} or the prop points`};let m=f.ch.startsWith(`wtwist`)?u:d,h=f.ch.startsWith(`wtwist`)?85:70,g=io(m+(f.value-m)*Math.min(4,(o-p+.03)/f.gain),-h,h);return{cause:e.cause(f.ch,r),hint:`${f.ch}: key ${$(g)} deg at f${r} (now ${$(m)}; cos ${$(p)}, needs ${o})`,fix:{channel:f.ch,f:r,value:g}}},BELOW(e,t){let n=(e.spec.checks?.below??[]).find(e=>t.subject.startsWith(`${e.name}:`)),r=t.worstFrame;if(!n)return null;let i=pw(n.joint),a=`${/Leg/.test(n.joint)?`knee`:`elbow`}_${i}`,o=md(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=md(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(Vb(e.out.ctx,{...l,[a]:t},r)),turn:_o(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 ${ix(f.p)} (body frame: +y up, +z forward) at f${r} (${n.joint} ${$(u)} m below ${n.ref} -> ${$(f.d)}, needs ${n.min??.08})`,fix:{channel:a,f:r,value:f.p}}:{cause:e.cause(a,r),hint:`${a}: no pole change lowers ${n.joint} at f${r}; lower the hand target instead`}},APPEAR(e,t){let n=(e.spec.checks?.appear??[]).find(e=>t.subject.startsWith(`${e.name}:`)),r=t.worstFrame;if(!n)return null;let i=null;for(let t=Math.max(e.out.f0??0,r-24);t<=Math.min((e.out.f0??0)+e.out.frames.length-1,r+24);t++){let r=K(U(cS(e.out,e.rel(t),`joint:${n.joint}`),cS(e.out,e.rel(t),`anchor:${n.anchor}`)));(!i||r<i.d)&&(i={q:t,d:r})}let a=n.tol??.035;return{cause:e.cause(n.channel,r),hint:i.d<=a?`${n.channel}: move the step from f${r} to f${i.q} (${n.joint} ${$(i.d)} m from ${n.anchor} there)`:`${n.joint} never gets within ${a} m of ${n.anchor} near f${r} (closest ${$(i.d)} m at f${i.q}): hold its weight w_${n.anchor}_${pw(n.joint)} at 1 around the switch`}}},xw=.003,Sw=24;function Cw(e,t,n,r){let i=e.hand(t,n);if(i.ch===`hand_${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/${i.anchor}/p`,delta:r}}function ww(e,t,n,r,i){let a=GC(e,`hand_${t}`,n,r,i),o=Cw(e,t,n,r);return o?{...a,fix:o}:a}function Tw(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,Pl(a)[i.object]?.ancestors,[i.object]].some(e=>e?.includes(r))}function Ew(e,t){let n=Y(X(e.R),U(t,e.pos)),r=[0,e.half[1],0];return H(e.pos,Y(e.R,n.map((t,n)=>io(t,r[n]-e.half[n],r[n]+e.half[n]))))}var Dw={REACH:(e,t)=>yS(e,t)??bw.REACH(e,t),GRAB(e,t){let n=t.subject.split(`:`)[0],r=t.worstFrame,i=e.spec?.objects?.[n],a={cause:`objects.${n}.grab`,hint:`${n}: move the hand to it by f${r}, or set objects.${n}.grab to the frame the hand arrives`};if(!e.out||!hg(i))return a;let o=null;for(let i=r-Sw;i<=r+Sw;i++){let a=MS(e.out,n,i);a!==null&&a<=t.limit&&(!o||Math.abs(i-r)<Math.abs(o[0]-r))&&(o=[i,a])}if(o)return{cause:a.cause,hint:`${n}: set objects.${n}.grab to ${o[0]} (the hand is ${(o[1]*100).toFixed(1)} cm from it there, ${(t.worst*100).toFixed(1)} cm at f${r})`,fix:{path:`/objects/${n}/grab`,value:o[0]}};let{sk:s,spec:c,scene:l}=e.out.ctx,u=yg(s,c,e.fr(r).s,i),d=_h(l,n).map(e=>Ew(l.objects[e],u)).reduce((e,t)=>K(U(t,u))<K(U(e,u))?t:e),f=K(U(d,u)),p=W(U(d,u),f>1e-9?(f-t.limit/2)/f:0),m=ww(e,c.props[i.prop].hand,r,p,` (to ${n} at grab)`);return{...m,hint:`${m.hint}; or set objects.${n}.grab to the frame the hand arrives`}},COLLIDE(e,t){let[,n,r]=/^(\S+) x (.+)$/.exec(t.subject)??[],i=e.spec?.objects??{},a=hg(i[r])?r:hg(i[n])?n:null;if(!a||!e.out)return QC.COLLIDE(e,t);let o=i[a],s=e.spec.props[o.prop].hand,[c,l]=xh(e.out,o),u=t.worst-t.limit+xw,d=t.worstFrame,f=d>=c&&d<=l,p=Math.min(d,l),m=Nh(e.out,a,d)??[];if(a===r){let t=lc.find(e=>e[0]===n),{s:r}=e.fr(d);if(!t||!m.length)return null;let i=uc(r.P[e.I[t[1]]],r.P[e.I[t[2]]]),[o,c]=m.flatMap(e=>i.map(t=>[e,t])).reduce((e,t)=>dc(t[1],t[0])<dc(e[1],e[0])?t:e),l=_c(c,o),p=/^(hand|farm|uarm)_([lr])$/.exec(n)?.[2];return f&&p&&p!==s&&Tw(e,p,d,a)?GC(e,`hand_${p}`,d,W(l,u),` (out of ${a})`):f?ww(e,s,d,W(l,-u),` (${a} off ${n})`):GC(e,n,d,W(l,u),` (out of ${a})`)}let h=e.out.objectsAt(e.rel(d))[r];if(!h||!m.length)return null;let g=Nh(e.out,a,Math.max(c,t.first-1))??m,_=m.map((e,t)=>OS(e,h,U(g[t].pos,h.pos))).reduce((e,t)=>t.depth>e.depth?t:e);return ww(e,s,p,W(_.axis,_.depth-t.limit+xw),f?` (${a} out of ${r})`:` (${a} is put down in ${r}; it stays where the hand lets go at f${l})`)}},Ow=.005,kw=e=>e.spec?.fix?.grasp===!1,Aw={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 jw(e,t,n){let{scene:r}=e.out.ctx,i=e.out.objectsAt?.(e.rel(n))??{};return _h(r,t).map(t=>({...r.objects[t],...e.out.ctx.objectPose?.(t,n)??i[t]??{}}))}var Mw={FINGER_GAP(e,t){if(kw(e))return Aw;let[,n,r]=/^(left|right) fingers off (\S+)$/.exec(t.subject)??[];if(!r||!e.out)return null;let i=n===`left`?`l`:`r`,a=n===`left`?`Left`:`Right`,o=t.worstFrame,{s}=e.fr(o),c=W(H(s.P[e.I[`${a}Hand`]],s.P[e.I[`${a}HandMiddle1`]]),.5),l=jw(e,r,o);if(!l.length)return null;let u=l.reduce((e,t)=>Sc(t,c)<Sc(e,c)?t:e),d=Sc(u,c);return GC(e,`hand_${i}`,o,W(Cc(u,c),-Math.max(0,d-.03)),` (onto ${r}: the fingers reach it from nearer)`)},FINGER_PEN(e,t){if(kw(e))return Aw;let[,n,r]=/^(\S+) into (\S+)$/.exec(t.subject)??[];if(!r||!e.out||e.I[n]===void 0)return null;let i=n.startsWith(`Left`)?`l`:`r`,a=t.worstFrame,o=e.fr(a).s.P[e.I[n]],s=jw(e,r,a);if(!s.length)return null;let c=s.reduce((e,t)=>Sc(t,o)<Sc(e,o)?t:e);return GC(e,`hand_${i}`,a,W(Cc(c,o),t.worst-t.limit+Ow),` (out of ${r})`)},SUPPORT(e,t){if(kw(e))return Aw;let n=/^(\S+) not supported$/.exec(t.subject)?.[1],r=e.spec?.objects?.[n];if(!r||!e.out)return null;let i=e.out.ctx.scene.objects[_h(e.out.ctx.scene,n)[0]],a=i?yc(i).kind:`box`,o=a===`sphere`?`spherical`:a===`cylinder`?`power`:`palm`;return r.grasp===o?{cause:`objects.${n}.grasp ${o}`,hint:`${n} rests on the fingers only: hold it nearer the palm (the hand lower under it) or with both hands`}:{cause:`objects.${n} (no grasp for a ${a})`,hint:`${n}: set objects.${n}.grasp to "${o}" (how a ${a} is held)`,fix:{path:`/objects/${n}/grasp`,value:o}}},CATCH(e,t){let[,n]=/^(\S+) missed by/.exec(t.subject)??[];if(!e.spec?.objects?.[n]||!e.out)return null;let r=t.worstFrame,i=e.spec.anchors?.[`${n}Catch0`]?.p;if(!i)return{cause:`objects.${n}.grab`,hint:`${n}: the hand is ${(t.worst*100).toFixed(1)} cm from it at f${r}; reach it earlier`};let a=null;for(let t=Math.max(0,r-30);t<r;t++){let r=Dh(e.out,n,t)?.pos;r&&(!a||K(U(r,i))<a.d)&&(a={f:t,d:K(U(r,i))})}let o=a?r-a.f:0,s=`${n}: the hand gets there ${o} frame(s) after it passed (${(t.worst*100).toFixed(1)} cm off at f${r}); start catchObject ${o} frame(s) earlier`;return o>0?{cause:`use catchObject ${n} f0`,hint:s,fix:{ops:e=>{let t=(e.use??[]).findIndex(e=>e.skill===`catchObject`&&e.args?.object===n);return t<0?null:[{op:`replace`,path:`/use/${t}/f0`,value:Math.max(0,e.use[t].f0-o)}]}}}:{cause:`use catchObject ${n}`,hint:s}}},Nw=[`add`,`remove`,`replace`,`move`,`test`],Pw=e=>{throw Error(`MOTION_SPEC_INVALID: ${e}`)},Fw=(e,t)=>JSON.stringify(e)===JSON.stringify(t),Iw=e=>e.split(`/`).slice(1).map(e=>e.replaceAll(`~1`,`/`).replaceAll(`~0`,`~`)),Lw=e=>e.map(e=>`/${String(e).replaceAll(`~`,`~0`).replaceAll(`/`,`~1`)}`).join(``),Rw=/^@[A-Za-z_]\w*=[^&]*(&[A-Za-z_]\w*=[^&]*)*$/,zw=e=>Rw.test(e)?e.slice(1).split(`&`).map(e=>[e.slice(0,e.indexOf(`=`)),e.slice(e.indexOf(`=`)+1)]):null,Bw=(e,t)=>typeof e==`object`&&!!e&&t.every(([t,n])=>Object.hasOwn(e,t)&&String(e[t])===n),Vw=e=>typeof e==`object`&&!!e&&!Array.isArray(e),Hw=e=>/^-?\d+(\.\d+)?$/.test(e)?Number(e):e,Uw=[`name`,`skill`,`anchor`,`f`,`f0`,`side`,`type`];function Ww(e,t,n){if(!Array.isArray(e)){let n=Object.keys(e);return n.length?`${t} has ${n.slice(0,8).join(`, `)}${n.length>8?`, ...`:``}`:`${t} is empty`}let r=n?.[0]??Uw.find(t=>e.some(e=>e&&typeof e==`object`&&Object.hasOwn(e,t)));if(!r)return`${t} has ${e.length} entries`;let i=[...new Set(e.filter(e=>e&&Object.hasOwn(e,r)).map(e=>e[r]))],a=Number(n?.[1]),o=i.every(e=>typeof e==`number`)?(Number.isFinite(a)?[...i].sort((e,t)=>Math.abs(e-a)-Math.abs(t-a)):i).slice(0,8).sort((e,t)=>e-t):i.slice(0,8);return`${t} has ${e.length} entries; by ${r}: /${t}/@${r}=<${r}>, ${r} ${o.join(`, `)}${i.length>o.length?`, ...`:``}`}function Gw(e,t,n,r,i,a){let o=zw(t),s=[];e.forEach((e,t)=>Bw(e,o)&&s.push(t));let c=o.length===1&&o[0][0]===`f`;if(s.length>1&&!c){let n=Uw.find(t=>!o.some(e=>e[0]===t)&&new Set(s.map(n=>e[n]?.[t])).size===s.length);Pw(`${r}: ${s.length} 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i=t[e],a=e?t[e-1]:`the spec`;(typeof r!=`object`||!r||!Object.hasOwn(r,Array.isArray(r)?Number(i):i)||Array.isArray(r)&&!/^\d+$/.test(i))&&Pw(`${n}: ${Lw(t.slice(0,e+1))} does not exist${r&&typeof r==`object`?` (${Ww(r,a)})`:``}`),r=r[Array.isArray(r)?Number(i):i]}return(typeof r!=`object`||!r)&&Pw(`${n}: ${Lw(t.slice(0,-1))} is not an object or array`),r}function Jw(e,t,n,r,i,a){let o=zw(t),s=e.flatMap((e,t)=>Bw(e,o)?[t]:[]);if(n===`add`)return s.length&&Pw(`${i}: ${a} already has an entry with ${t.slice(1)}; replace its fields or remove it first`),(typeof r!=`object`||!r||Array.isArray(r))&&Pw(`${i}: add through a selector takes an object value`),e.push({...structuredClone(r),...Object.fromEntries(o.map(([e,t])=>[e,Hw(t)]))}),null;if(s.length||Pw(`${i}: ${a} has no entry with ${t.slice(1)} (${Ww(e,a,o[0])})`),n===`remove`){for(let t of s.reverse())e.splice(t,1);return null}return Gw(e,t,[],i,a,!1)}function Yw(e,t,n,r){(!t||typeof t!=`object`||!Nw.includes(t.op))&&Pw(`patch[${n}]: op 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distance (given steps, the stride or the step count and cadence is fitted to it in a natural gait, or the walk is refused)`),...sE,heading:{oneOf:[kT(),zT.heading],description:`degrees: h1, or [h0, h1]`},arrive:AT(`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:jT(`not ending in _l/_r`),side:PT(`the hand`),reach:AT(`frames to reach`,{default:20}),hold:AT(`frames held`,{default:22}),release:AT(`frames to let go`,{default:12}),elbow:NT(`vec3`,`pole`),fingers:{enum:ol,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:{...oE([`car`,`seat`,`seatBack`,`wheel`]),offset:{...NT(`vec3`,`hips from the seat top, seat frame`),default:[0,.17,.02]},floor:kT(`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:{...oE([`car`,`seat`,`door`,`handle`]),side:PT(`driver door side, default l`),channel:jT(`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:kT(`back/front: m along the heading at landing (default back -0.25, front 0.4)`),side:PT(`cartwheel: toward the character's l (default) or r`),heading:kT(`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:AT(`hold to this frame; default the last frame; under f0+264 the beats are paced to fit`),kit:{type:`object`,properties:{cig:jT(`the cigarette kit's rootId (object.createKit)`),lighter:jT(`the lighter kit's rootId`),exhale:jT(`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:aE(`[x, z] the way the body is thrown`),from:jT(`or what hits it: object:<id> | person:<id> (thrown away from it)`),speed:kT(`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:jT(`the carried object's id (objects.<id>.prop on the hand's prop)`),side:PT(`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:jT(`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`}}}},lE={_l:`_r`,_r:`_l`},uE=/^(yaw|roll|spine_yaw|spine_roll|head_yaw|head_roll|fyaw_[lr]|wtwist_[lr]|wflex_[lr])$/,dE=/^(root|foot_[lr]|hand_[lr])$/,fE=/^(knee|elbow)_[lr]$/,pE=/^(yaw|fyaw_[lr])$/,mE=e=>e&&typeof e==`object`?structuredClone(e):e,hE=e=>e.replace(/_(l|r)$/,e=>lE[e]).replace(/^(Left|Right)/,e=>e===`Left`?`Right`:`Left`),gE=()=>({origin:[0,0,0],yaw:0,mirror:!1,negate:new Set,names:{}}),_E=(e,t)=>H(e.origin,Y(Z(e.yaw),e.mirror?[-t[0],t[1],t[2]]:t)),vE=(e,t)=>e.mirror?[-t[0],t[1],t[2]]:t.slice();function yE(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)?hE(t):t}function bE(e,t){let n={};for(let[r,i]of Object.entries(t)){let t=mE(i);dE.test(r)?t=_E(e,t):fE.test(r)?t=vE(e,t):typeof t==`number`&&(e.mirror&&(uE.test(r)||e.negate.has(r))&&(t=-t),pE.test(r)&&(t+=e.yaw)),n[yE(e,r)]=t}return n}function xE(e,t=0,n=gE()){let r=[],i=e=>yE(n,e);return{state:e,keys:r,frame:n,at(i,a){let o=bE(n,a);Object.assign(e,mE(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),mE(e[i(t)])]))})},step(n,a,o){let s=i(a);r.push({f:t+n-1,set:{[s]:e[s]}}),e[s]=o,r.push({f:t+n,set:{[s]:o},step:[s]})}}}var SE=(e,t)=>{throw Error(`MOTION_SPEC_INVALID: ${e}: ${t}`)};function CE(e,t,n){let r=e.scene?.objects?.[n];return r||SE(e.tag,`args.${t} "${n}" is not a scene object`),r}var wE=e=>Math.atan2(e[0][2],e[2][2])*180/Math.PI,TE=.01,EE=.12,DE=.8,OE=.01,kE=.15,AE=.62,jE=[`Left`,`Right`].flatMap(e=>[[`${e}UpLeg`,`${e}Leg`,.07],[`${e}Leg`,`${e}Foot`,.05],[`${e}Foot`,`${e}ToeBase`,.045],[`${e}ToeBase`,`${e}Toe_End`,.04]]).concat([[`LeftUpLeg`,`RightUpLeg`,.095],[`Hips`,`Spine2`,.12]]),ME=[[0,-1],[1,0],[-1,0],[Math.SQRT1_2,-Math.SQRT1_2],[-Math.SQRT1_2,-Math.SQRT1_2]];function NE(e,t,n){let r=e.index,i=e.restWorldPos,a=i[r.Hips],o=Z(n),s=e=>H([t[0],0,t[1]],Y(o,[e[0]-a[0],e[1],e[2]-a[2]])),c=(e,t,n)=>[0,.25,.5,.75,1].map(r=>[H(e,U(t,e).map(e=>e*r)),n]),l=[`Left`,`Right`].flatMap(e=>{let t=i[r[`${e}Arm`]],n=Math.sign(t[0]-a[0])*.04;return c(s(t),s([t[0]+n,t[1]-AE,t[2]]),.045)});return jE.filter(([e,t])=>r[e]!==void 0&&r[t]!==void 0).flatMap(([e,t,n])=>c(s(i[r[e]]),s(i[r[t]]),n)).concat(l)}var PE=e=>Object.values(e?.objects??{}).filter(e=>e.half&&e.pos&&e.R&&e.pos[1]+2*e.half[1]*e.R[1][1]>EE);function FE(e,t,n,r){let i=1/0;for(let[a,o]of NE(e,n,r))for(let e of 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zE(e){let{sk:t,scene:n,use:r=[],index:i=-1}=e,a=r.slice(i+1).find(e=>e?.skill===`reachGrip`),o=RE(n,a&&(a.args?.define??e.anchors?.[a.args?.anchor]));if(!o)return null;let s=t.index,c=t.restWorldPos,l=a.args.side===`l`?`Left`:`Right`,u=c[s.Hips],d=c[s[`${l}Arm`]],f=K(U(c[s[`${l}ForeArm`]],d))+K(U(c[s[`${l}Hand`]],c[s[`${l}ForeArm`]]))+K(U(c[s[`${l}HandMiddle2`]],c[s[`${l}Hand`]])),p=d[1]-o[1],m=Math.max(kE,Math.sqrt(Math.max(0,(DE*f)**2-p*p))),h=e.args.heading??e.state?.yaw??0,g=Z(h),_=PE(n),v=Y(g,[d[0]-u[0],0,d[2]-u[2]+m]),y=[o[0]-v[0],o[2]-v[2]],b=0,x=y;for(;b<=.600000001&&FE(t,_,x,h)<0;b+=OE){let e=Y(g,[0,0,-(b+OE)]);x=[y[0]+e[0],y[1]+e[2]]}return{at:x.map(e=>+e.toFixed(4)),heading:h,anchor:a.args.anchor,moved:+b.toFixed(2)}}function BE(e){let t=Av(e,1/0);return[(t.foot_l[0]+t.foot_r[0])/2,(t.foot_l[2]+t.foot_r[2])/2]}var VE=e=>Math.round(e*100)/100,HE=e=>`[${e.map(VE).join(`, 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aD(e,t,n,r,i,a,o){let s=[t[0]+n[0]*r,t[1]+n[1]*r],c=nD(e.sk),l=Object.entries(e.scene?.objects??{}).filter(([e,t])=>!i.has(e)&&t.half&&t.pos&&t.R&&t.pos[1]<QE&&t.pos[1]+2*t.half[1]*t.R[1][1]>ZE).map(([e,t])=>{let[n,r]=iD(t,s);return{id:e,o:t,dist:n,q:r,low:t.pos[1]+2*t.half[1]*t.R[1][1]<eD*c}}).filter(e=>e.dist<a&&(e.dist<1e-6||(e.q[0]-s[0])*n[0]+(e.q[1]-s[1])*n[1]>=$E*e.dist)).sort((e,t)=>e.dist-t.dist);if(!l.length)return null;let u=e=>[t[0]+n[0]*e,t[1]+n[1]*e],d=new Set(Object.keys(e.scene.objects).filter(e=>!l.some(t=>t.id===e&&!t.low))),f=t=>l.some(e=>e.low&&iD(e.o,u(t))[0]<a)||l.some(e=>!e.low)&&LE(e.sk,e.scene,u(t),o,d)<tD;if(!f(r))return null;let p=r;for(;p>0&&f(p);)p-=.01;return p>.1?{t:p,at:u(p),near:l[0].id,gap:iD(l[0].o,u(p))[0]}:null}var oD=(e,t)=>Math.min(e.fit.last??1/0,...(e.use??[]).filter((t,n)=>n!==e.index&&t?.f0>e.f0).map(e=>e.f0),...e.keys.filter(e=>e.f>t&&/^keys\[/.test(e.src??``)).map(e=>e.f),...(e.fit.busy??[]).filter(e=>e>t));function sD(e,t,n,r,i){let{args:a,tag:o,sk:s}=e,c=t.steps,l=Array.isArray(a.heading)?a.heading[1]:a.heading,u=l===void 0?0:Math.abs(((l-i)%360+540)%360-180);if(u>YE)return e.fit.refusals.push(`${o}: heading ${l} points ${Math.round(u)} deg away from to ${HE(a.to)} (it lies at heading ${Math.round(i)}), so the walk would not go there; with to the walk turns toward it by itself: leave heading out, or give heading without to to walk that way`),{gen:t};let d=t.period??20,f=t.swing??14,p=t.step??.5,m=t.firstStep??.4;if(a.steps===void 0||a.arrive!==void 0||!(c>=2)||![c,d,f,p,m].every(Number.isFinite))return{gen:t};let h=[Math.sin(i*Math.PI/180),Math.cos(i*Math.PI/180)],g=!e.fit.noStop?.has(e.index)&&aD(e,n,h,r,rD(e,e.f0+16+c*d+18),XE*nD(s),i),_=g&&cD(e,t,n,h,g.t,g);return _&&!_.refuse&&e.fit.stopped?.add(e.index),(!_||_.refuse)&&(_=cD(e,t,n,h,r,null)),_.refuse&&e.fit.refusals.push(_.refuse),{gen:_.gen,..._.adjust?{adjust:_.adjust}:{}}}function cD(e,t,n,r,i,a){let{args:o,tag:s,sk:c}=e,l=t.steps,u=t.period??20,d=t.swing??14,f=t.step??.5,p=t.firstStep??.4,m=a?`${HE(a.at)}, ${VE(a.gap)} m before ${a.near} (to ${HE(o.to)} is against it)`:`to ${HE(o.to)}`,h=t=>{let i=BE(jv(t,e.keys,c,s));return{end:i,along:(i[0]-n[0])*r[0]+(i[1]-n[1])*r[1]}},{end:g,along:_}=h(t);if(Math.abs(i-_)<=.1)return{gen:t};let v=e.fps??24,y=nD(c),b=KE*y,x=l*u,S=e=>(e>=3?UE:WE).map(e=>VE(e*y)),C=Math.ceil(v/GE[1]),w=Math.floor(v/GE[0]),T=e.fit.stretch===!0&&!(e.use??[]).some((t,n)=>n!==e.index&&t?.f0>e.f0)&&!e.keys.some(t=>t.f>e.f0&&/^keys\[/.test(t.src??``)),E=_-p-(l-2)*f,D=o.firstStep===void 0?p/f:0,O=(e,t)=>{let n=t??(T||e===l?u:Math.min(Math.max(w,u),Math.floor(x/e))),r=e>=3?`step`:`firstStep`,a=e>=3?(i-E-(D?0:p))/(D+e-2):i-E,o=e>=3&&D?D*a:p,[s,c]=S(e),d=a*n/v/b,f=(e,[t,n])=>e>=t&&e<=n;return{n:e,p:n,name:r,value:a,ratio:d,ok:f(a,[s,c])&&f(o,S(2))&&(n===u||f(n,[C,w]))}},k=O(l),ee=Math.min(60,Math.ceil(i/S(3)[0])+2),A=k.ok&&k.ratio>=qE[0]&&k.ratio<=qE[1]?k:null,te,ne,re=e=>Math.abs(Math.log(e.ratio))+JE*Math.abs(e.n-l),ie=e=>e.filter(e=>e.ok).sort((e,t)=>re(e)-re(t)||e.n-t.n)[0],ae=Array.from({length:ee-1},(e,t)=>t+2);if(A||=ie(ae.map(e=>O(e))),!A&&!T&&(te=oD(e,e.f0+16+x),A=ie(ae.filter(e=>e>l).map(t=>O(t,Math.min(u,Math.floor((te-e.f0-34)/t)))).filter(e=>e.p>=C&&e.n*e.p>x))),!A){let[e,n]=S(l),r=Math.min(n,Math.max(e,k.value)),a=r*u/v/b,o=l>=3&&D?D*r:p,s={...t,[k.name]:VE(r),...l>=3&&D?{firstStep:VE(o)}:{}},c=a>=qE[0]&&a<=qE[1]&&o>=S(2)[0]&&o<=S(2)[1]?i-h(s).along:1/0;Math.abs(c)<=.1&&({pick:A,short:ne}={pick:{...k,value:VE(r),ratio:a},short:c})}let[oe,se]=S(3),ce=`a natural gait (step ${oe}..${se} m, ${GE[0]}..${GE[1]} steps a second: period ${C}..${w} at ${v} fps`,le=`${VE(Math.abs(i-_))} m ${_<i?`short of`:`past`} ${a?`the point ${HE(a.at)} clear of ${a.near} before to ${HE(o.to)}`:`to ${HE(o.to)}`} (${VE(i)} m away)`;if(!A){let n=2+Math.ceil((i-E-p)/se-1e-9),r=e.f0+16+n*C+18;return{gen:t,refuse:`${s}: steps ${l} at period ${u} (${x} frames of stepping) walk ${VE(_)} m and end at ${HE(g)}, ${le}; ${_<i?`in ${ce}) that takes ${n} steps and ${n*C} frames of stepping or more (the walk would end at f${r} or later, not f${e.f0+16+x+18}): leave steps${o.step===void 0?``:` and step`} out (walkTo picks the count), or give steps: ${n} and room for the walk before what follows`:`no natural step count ends there: leave steps out (walkTo picks the count)`}`}}let ue=A.p===u?{}:{period:A.p,swing:Math.max(2,Math.min(A.p-1,Math.round(d*A.p/u)))},de=A.n>=3&&D>0,fe=e=>({[A.name]:VE(e),...de?{firstStep:VE(D*e)}:{}}),pe={...t,steps:A.n,...ue,...fe(A.value)},me=ne??i-h(pe).along;ne===void 0&&Math.abs(me)>.02&&(pe={...pe,...fe(A.value+me/(A.n>=3?D+A.n-2:1))});let he=pe[A.name],ge=A.name===`step`?f:p,_e=e.f0+16+x+18,ve=e.f0+16+A.n*A.p+18,ye=[A.n!==l&&`steps ${l} -> ${A.n}`,ue.period&&`period ${u} -> ${ue.period} (swing ${d} -> ${ue.swing})`,`${A.name} ${ge} -> ${he} m`,de&&pe.firstStep!==p&&`firstStep ${p} -> ${pe.firstStep} m`].filter(Boolean).join(`, `),be=ve===_e?``:`; it ends f${ve}, not f${_e} (${T?`nothing follows it`:ve>_e?`nothing uses f${_e+1}-f${ve}`:`the pose holds to f${_e}`})`,xe=`steps ${l} would need a ${k.name} of ${VE(k.value)} m at ${VE(v/u)} steps a second`,Se=ne===void 0?A.n===l&&!ue.period?` (at ${A.name} ${ge} they walk ${VE(_)} of ${VE(i)} m)`:` in ${ce}; ${xe})${be}`:` (${ce}; ${xe})`,Ce=ne===void 0?`end at ${m}`:`end ${VE(Math.abs(ne))} m ${ne>0?`short of`:`past`} ${m}, the ${ne>0?`longest`:`shortest`} natural step`,we={args:{...A.n===l?{}:{steps:A.n},...ue,[A.name]:he,...de&&pe.firstStep!==p?{firstStep:pe.firstStep}:{}},note:`${s}: ${ye}, so steps ${A.n} ${Ce}${Se}`};return{gen:pe,adjust:we}}var lD=.65,uD=.75,dD=.75,fD=.025,pD=.1,mD=.08,hD=.12,gD=.4,_D=.3,vD=[.15,.3,.45,.6,.7,.8,.9],yD=e=>e*e*e*(10-15*e+6*e*e),bD=.9,xD=.7,SD=(e,t)=>{let n=Math.min(1,Math.max(0,e));return n<xD?bD*yD((n/xD)**+t):bD+.09999999999999998*yD((n-xD)/.30000000000000004)},CD=e=>[...new Map(vD.map(t=>Math.round(t*e)).filter(t=>t>0&&t<e).map(t=>[t,[SD(t/e,lD),SD(t/e,uD)]])).entries()].map(([e,[t,n]])=>[e,t,n]),wD=180/Math.PI,TD=(e,t,n)=>Math.max(t,Math.min(n,e));function ED(e,t){let n=DD(e,t),r=e.sk.index;return!!n&&n[1]>=e.sk.restWorldPos[r.LeftLeg][1]+pD}function DD(e,t){if(t?.kind===`world`&&Array.isArray(t.p))return t.p.map(Number);let n=t?.kind===`object`?e.scene?.objects?.[t.object]:null;return!n||[t.object,...n.ancestors??[]].some(t=>OD(e,t))?null:H(n.pos,Y(n.R,t.local??[0,n.half?.[1]??0,0]))}function OD(e,t){let n=e.objects?.[t];return!n||typeof n!=`object`?!1:n.follow!==void 0||n.hinge!==void 0||Math.min(...(n.keys??[]).map(e=>e.f).filter(Number.isFinite),n.fall?.at??1/0)<(e.until??1/0)}var kD=new WeakMap;function AD(e){if(!kD.has(e)){let t=bo(e),n=e.index;Go(e,t,`Right`,{}),kD.set(e,K(U(t.P[n.RightHandThumb4],t.P[n.RightHandIndex4])))}return kD.get(e)}function jD(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&&dc(r,e)<=.01).sort((e,t)=>dc(r,e)-dc(r,t))[0]??null}function MD(e,t,n,r){let i=n[0]-t[0],a=n[2]-t[2],o=Math.hypot(i,a);if(o<1e-6)return!1;let s=[t[0]+i/o*mD,t[1],t[2]+a/o*mD];return Object.entries(e.scene?.objects??{}).some(([e,t])=>{if(!t.half||r.has(e)||r.has(t.parent))return!1;let n=U(s,[0,hD,0]);return dc(s,t)>0&&dc(n,t)<=0})}function ND(e,t,n){let r=jD(e,t),i=DD(e,t)??(r&&H(r.pos,Y(r.R,[0,r.half[1],0])));if(!r||!i||2*Math.min(...r.half)+fD>AD(e.sk))return!1;let a=new Set(Object.entries(e.scene.objects).filter(([,e])=>e===r).map(([e])=>e));return!(Array.isArray(n.root)&&MD(e,i,n.root,a))}function PD(e,t,n){let r=DD(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])*wD-(n.yaw??0)-(n.spine_yaw??0);for(;u>180;)u-=360;for(;u<-180;)u+=360;let d=Math.atan2(-c[1],l)*wD-(n.pitch??0)-(n.spine_pitch??0);return{head_yaw:TD(dD*u,-60,60),head_pitch:TD(dD*d,-30,50)}}var FD=(e,t,n)=>e.some(e=>e.f>=t&&e.f<=n&&(e.set?.head_yaw!==void 0||e.set?.head_pitch!==void 0)),ID=(e,t)=>ll[e]?ll[e].map((e,n)=>n===2&&t===`r`?-e:e):[0,0,0];function LD(e){let{sk:t,args:n,state:r}=e,i=t.index,a=t.restWorldPos,o=a[i.LeftFoot][1],s=n.heading??r.yaw??0,c=n.at??(r.root?[r.root[0],r.root[2]]:null),l=null;if(!c){let t=zE(e);t||SE(e.tag,`needs args.at: [x, z] (no root is keyed before f0), or a reachGrip after it to stand within reach of`),{at:c,heading:s}=t,l={at:c,heading:s,why:`within reach of anchor ${t.anchor}`}}else if(n.at&&e.place!==!1){let n=IE(t,e.scene,[c[0],c[c.length-1]],s);n&&(c=n.at,l={at:c,heading:s,why:`moved ${n.moved} m out of a scene body`})}let u=[c[0],0,c[c.length-1]],d=Z(s),f=e=>{let t=H(u,Y(d,e));return t[1]=o,t},p={root:[u[0],a[i.Hips][1]-.01,u[2]],yaw:s,pitch:0,roll:0,spine_yaw:0,spine_pitch:0,spine_roll:0,head_yaw:0,head_pitch:0,foot_l:f([.09,0,-.03]),foot_r:f([-.09,0,.03]),fyaw_l:s,fyaw_r:s,fpitch_l:0,fpitch_r:0,knee_l:[.05,0,1],knee_r:[-.05,0,1],armw_l:0,armw_r:0,aswing_l:0,aswing_r:0,abend_l:0,abend_r:0,arm_hang:1},m=[{f:e.f0,set:p}];return n.until!==void 0&&m.push({f:n.until,set:structuredClone(p)}),{keys:m,end:n.until??e.f0,...l?{placed:l}:{}}}function RD(e){let{args:t,state:n}=e;(!n.foot_l||!n.foot_r||!n.root)&&SE(e.tag,`needs a standing pose keyed before f0 (use standIdle or another skill first)`);let r={type:`walk`,f0:e.f0,...t},i,a,o;delete r.to,delete r.arrive;let s=n.yaw??0,c=t.step??.5,l=t.firstStep??.4;if(t.to){a=[(n.foot_l[0]+n.foot_r[0])/2,(n.foot_l[2]+n.foot_r[2])/2];let u=t.to[0]-a[0],d=t.to[t.to.length-1]-a[1],f=Math.hypot(u,d);for(o=Math.atan2(u,d)*180/Math.PI;o-s>180;)o-=360;for(;o-s<-180;)o+=360;r.heading=t.heading??[s,o],r.steps=t.steps??Math.max(2,2+Math.round((f-l)/c)),typeof r.heading==`number`&&(r.heading=[s,r.heading]),e.fit&&f>.1&&({gen:r,adjust:i}=sD(e,r,a,f,o))}typeof r.heading==`number`&&(r.heading=[s,r.heading]);let u=jv(r,e.keys,e.sk,e.tag),d=iE(r),f=e.frames-1,p=t.to&&BE(u),m=p?Math.hypot(p[0]-t.to[0],p[1]-t.to[t.to.length-1]):0,h={...m>.1?{placed:{at:p.map(VE),heading:Math.round(r.heading?.[1]??s),why:`ends ${VE(m)} m from to ${HE(t.to)}`}}:{},...i?{adjust:i}:{}};return d>f&&Math.max(...u.filter(e=>e.f<d).map(e=>e.f))<=f?{keys:u.filter(e=>e.f<=f),end:f,cut:`settle cut at f${f} (hold to the end)`,...h}:{keys:u,end:d,...h}}function zD(e={},t,n,r){let i=t=>e[t]&&JSON.stringify(e[t])!==JSON.stringify(r);if(!i(t))return t;let a=`${t}_${n}`;for(let e=2;i(a);e++)a=`${t}_${n}${e}`;return a}var BD=(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 VD(e){let{args:t,state:n}=e,r=t.side,i=t.anchor;r!==`l`&&r!==`r`&&SE(e.tag,`args.side must be "l" or "r", got ${JSON.stringify(r)}`),(typeof i!=`string`||/_[lr]$/.test(i))&&SE(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??cl[c]??`grip`,u=`w_${i}_${r}`,d=`fingers_${r}`,f=`armw_${r}`,p=`elbow_${r}`,m=!(n[f]>.5),h=e.frames-1,g=e.f0+a<=h&&e.f0+a+o+s>h,_=Math.min(a+o,h-e.f0);for(let[e,t]of[[u,0],[d,{[l]:0}],[f,0]])n[e]===void 0&&(n[e]=t);let v=a+o+s,y={...e,until:e.f0+a},b=!FD(e.keys??[],e.f0,e.f0+v)&&PD(y,t.define??e.anchors?.[i],n),x=b?{head_yaw:n.head_yaw??0,head_pitch:n.head_pitch??0}:null,S=xE(n,e.f0);S.hold(0,u,d,f,p,...b?[`head_yaw`,`head_pitch`]:[]);let C=t.define??e.anchors?.[i],w=n[u],T=n[f],E=(e,t,n)=>e+(t-e)*n;if(ED(y,C))for(let[e,t,n]of CD(a))S.at(e,{[u]:E(w,1,t),[f]:E(T,1,n)});let D=Math.round(gD*a);D>0&&D<a&&ND(y,C,n)&&S.hold(D,d),b&&S.at(Math.max(1,Math.round(_D*a)),b),S.at(a,{[u]:1,[d]:{...n[d],[l]:1},[f]:1,...t.elbow?{[p]:t.elbow}:{}}),S.hold(_,u,d,f,p,...b?[`head_yaw`,`head_pitch`]:[]),g||S.at(v,{[u]:0,[d]:{...n[d],[l]:0},...m?{[f]:0}:{},...x??{}});let O=r===`l`?`Left`:`Right`,k={hand:r,origin:[`${O}HandIndex2`,`${O}HandMiddle2`],points:{fingers:ID(c,r)}},ee=zD(e.props,`${i}Grip`,r,k),A=t.define?{[i]:t.define}:{},te=t.define??e.anchors?.[i],ne=te?.kind===`object`?te.object:te?.kind===`person`?`person:${te.person}`:null;return{keys:S.keys,end:g?h:e.f0+a+o+s,...g?{cut:`${_<a+o?`hold`:`release`} cut at f${h} (hold to the end)`}:{},anchors:A,props:{[ee]:k},fits:[{side:r,anchor:i,effector:{prop:ee,point:`fingers`},...t.orient===!1?{orient:!1}:{}}],checks:{contacts:[{name:`fingers on ${i}`,point:`prop:${ee}.fingers`,target:`anchor:${i}`,tol:.04,when:u}],allow:BD(e.scene,ne).map(e=>({part:`hand`,object:e,depth:.04}))}}}var HD=[.54,.4,-.075],UD=.4,WD=1.0427487182617188,GD=new Set([`l`,`r`]);function KD(e,t=`l`){let n=e.car;return{seat:e.seat??(n&&`${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&&`${n}_Steering_Wheel`)}}function qD(e,t,n){let r=CE(e,`seat`,t);Math.abs(r.pos[1]-UD)>.05&&SE(e.tag,`seat "${t}" stands at y ${r.pos[1]}; the car skills are tuned for a seat base at y ${UD} (a car on the ground)`);let i=gE();i.yaw=wE(r.R),i.mirror=n===`r`;let a=U(r.pos,Y(Z(i.yaw),i.mirror?[-HD[0],HD[1],HD[2]]:HD));return i.origin=[a[0],0,a[2]],i.names={lthigh:`rthigh`,rthigh:`lthigh`},i}var JD=[[`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})),YD=e=>({A:e.restWorldPos[e.index.LeftFoot][1],H:t=>t+(e.restWorldPos[e.index.Hips][1]-WD)});function XD(e){let{args:t,sk:n}=e,r=KD(t),i=CE(e,`seat`,r.seat),{A:a}=YD(n),o=wE(i.R),s=e=>Y(Z(o),e),c=t.offset??[0,.17,.02],l=t.floor??i.pos[1],u=H(H(i.pos,Y(i.R,[0,2*i.half[1],0])),s(c)),d=e=>{let t=H(u,s([e,0,.452]));return t[1]=l+a,t},f=e=>H(u,s([e,.348,.324])),p={root:u,yaw:o,pitch:0,spine_pitch:-12,spine_yaw:0,spine_roll:0,head_yaw:0,head_pitch:10,foot_l:d(.17),foot_r:d(-.17),fyaw_l:o,fyaw_r:o,fpitch_l:0,fpitch_r:0,knee_l:[.15,.2,1],knee_r:[-.15,.2,1],armw_l:1,armw_r:1,hand_l:f(.22),hand_r:f(-.22),elbow_l:[.6,-1,-.3],elbow_r:[-.6,-1,-.3],aswing_l:0,aswing_r:0,abend_l:0,abend_r:0,wtwist_l:0,wtwist_r:0,wflex_l:0,wflex_r:0},m=[{part:`torso_lo`,object:r.seat,depth:.04},{part:`hips`,object:r.seat,depth:.04},{part:`thigh`,object:r.seat,depth:.045}];return r.seatBack&&e.scene.objects[r.seatBack]&&m.push({part:`torso`,object:r.seatBack,depth:.03}),r.wheel&&e.scene.objects[r.wheel]&&m.push({part:`hand`,object:r.wheel,depth:.05}),{keys:[{f:e.f0,set:p}],checks:{supports:[{object:r.seat,part:`hips`,tol:.04}],allow:m},end:e.f0}}function ZD(e){let t=e.args.side??`l`;GD.has(t)||SE(e.tag,`args.side must be "l" or "r", got ${JSON.stringify(t)}`);let n=KD(e.args,t),r=qD(e,n.seat,t),i=e.args.channel??`door`;for(let[t,r]of[[`door`,n.door],[`handle`,n.handle]])CE(e,t,r);r.negate.add(i);let a={[i]:0,w_handle_l:0,w_lthigh_l:0,w_rthigh_r:0,fingers_l:{grip:0,fist:0}},o=xE(e.state,e.f0,r),s={};for(let[t,n]of Object.entries(a))e.state[yE(r,t)]===void 0&&(s[t]=n);Object.keys(s).length&&o.at(0,s),QD(o,i,YD(e.sk));let c=e.scene.objects[n.door],l=(r.mirror?-1:1)*c.half[0],u={pivot:H(c.pos,Y(c.R,[l,0,c.half[2]])),axis:[0,1,0],channel:i},d=e=>r.mirror?hE(e):e,f=e=>r.mirror?{lthigh:`rthigh`,rthigh:`lthigh`}[e]??e:e,p=(e,t)=>({kind:`segment`,from:d(`${e}UpLeg`),to:d(`${e}Leg`),t:.45,tMin:.15,offset:[0,.07,0],reach:r.mirror?t===`l`?`r`:`l`:t}),m=r.mirror?`r`:`l`;return{keys:o.keys,objects:{[n.door]:u,[n.handle]:u},anchors:{handle:{kind:`object`,object:n.handle,local:vE(r,[-.005,.015,0])},[f(`lthigh`)]:p(`Left`,`l`),[f(`rthigh`)]:p(`Right`,`r`)},props:{grip:{hand:m,origin:[d(`LeftHandIndex2`),d(`LeftHandMiddle2`)],points:{fingers:[0,0,0]}}},fits:[{side:m,anchor:`handle`,effector:{prop:`grip`,point:`fingers`}}],checks:{contacts:[{name:`fingers on the door handle`,point:`prop:grip.fingers`,target:`anchor:handle`,tol:.04,when:`w_handle_${m}`}],allow:[{part:`hand`,object:n.door,depth:.03},{part:`hand`,object:n.handle,depth:.04},...JD]},end:e.f0+246}}function QD(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,UD+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,UD+n,.34],fyaw_r:35}),e.at(105,{foot_l:[1.18,.5,.1],fyaw_l:60}),e.at(116,{foot_l:[1.28,n,-.12],fyaw_l:75,knee_l:[.4,.5,1],yaw:62,root:[.82,.9,-.06],head_yaw:20,knee_r:[.1,.6,1],spine_pitch:10}),e.hold(120,`foot_r`,`fyaw_r`),e.at(129,{foot_r:[.94,.64,.36],fyaw_r:65,knee_r:[0,.5,1],yaw:80,root:[.86,.9,-.03]}),e.at(135,{foot_r:[1.18,.5,.26],fyaw_r:85}),e.hold(142,`foot_l`,`fyaw_l`),e.at(144,{foot_r:[1.29,n,.22],fyaw_r:90,knee_r:[-.1,.4,1],yaw:90,root:[.88,.9,.02],head_yaw:0,knee_l:[.1,.4,1],spine_pitch:16}),e.hold(144,`head_pitch`,`pitch`,`elbow_l`,`elbow_r`),e.at(152,{spine_pitch:28,head_pitch:-8,root:[.91,.9,.02],elbow_l:[.6,-.2,-1],elbow_r:[-.6,-.2,-1]}),e.at(162,{spine_pitch:50,pitch:22,head_pitch:-36,root:[.99,.91,.02]}),e.at(174,{root:[1.09,.96,.02],spine_pitch:36,pitch:12,head_pitch:-24}),e.hold(166,`armw_l`,`armw_r`),e.at(186,{root:[1.19,r(1),.02],spine_pitch:12,pitch:3,head_pitch:-8,armw_l:0,armw_r:0}),e.hold(187,`w_lthigh_l`,`w_rthigh_r`),e.at(190,{w_lthigh_l:0,w_rthigh_r:0}),e.at(196,{root:[1.21,r(1.005),.02],spine_pitch:0,pitch:0,head_pitch:0}),e.at(205,{root:[1.26,r(.985),.165]}),e.hold(208,`foot_l`,`fyaw_l`),e.at(212,{root:[1.3,r(.985),.16]}),e.at(214,{foot_l:[1.4,n+.06,-.12]}),e.at(220,{foot_l:[1.535,n,-.132],fyaw_l:110,root:[1.38,r(.98),.05]}),e.at(230,{root:[1.5,r(.975),-.08]}),e.hold(232,`foot_r`,`fyaw_r`),e.at(236,{root:[1.52,r(.975),-.085]}),e.at(239,{foot_r:[1.53,n+.07,.09]}),e.at(246,{foot_r:[1.765,n,-.048],fyaw_r:125,yaw:110,root:[1.62,r(.98),-.08]})}var $D=[`cig`,`lighter`,`exhale`],eO={follow:`landmark:mouth`,aim:`face`,visible:`exhale`},tO={cig:`cigarette`,lighter:`lighter`},nO=.7,rO=[-.05,.07,.1],iO=.88,aO=.2,oO=[.245,.08,.02],sO={l:[.13,-.035,.08],r:[-.13,-.035,.08]};function cO(e,t){return Object.entries(e?.objects??{}).map(([e,t])=>[e,t,!0]).concat(Object.entries(e?.others??{}).map(([e,t])=>[e,t,!1])).filter(([,e])=>e.ancestors?.includes(t))}function lO(e,t,n){let r=t[n];return(typeof r!=`string`||!Pl(e.scene)[r])&&SE(e.tag,`args.kit.${n} ${JSON.stringify(r)} is not a group in the scene; object.createKit { kit: "${tO[n]}" } answers its rootId`),r}var uO={cig:.03,lighter:.045},dO=.07,fO=.04;function pO(e,t){let n=e.args.kit;if(n===void 0)return null;(!n||typeof n!=`object`||Array.isArray(n))&&SE(e.tag,`args.kit must be { cig, lighter, exhale? } (kit root ids), got ${JSON.stringify(n)}`);for(let t of Object.keys(n))$D.includes(t)||SE(e.tag,`args.kit has unknown field "${t}"; fields: ${$D.join(`, `)}`);let r=lO(e,n,`cig`),i=lO(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 cO(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 cO(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]||Pl(e.scene)[n.exhale]))&&SE(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]={...eO});let o=e=>t.squat?dO:e;return{objects:a,allow:[[`thigh_r`,r,o(uO.cig)],[`thigh_l`,i,o(uO.lighter)],[`hips`,r,o(uO.cig)],[`hips`,i,o(uO.lighter)],...t.squat?[[`shin`,r,dO],[`shin`,i,dO],[`hand_l`,`thigh_l`,fO],[`hand_r`,`thigh_r`,fO],[`hand`,`hips`,fO]]:[]].map(([e,t,n])=>({part:e,object:t,depth:n}))}}function mO(e){let{sk:t,state:n}=e,r=t.index,i=t.restWorldPos;if(!(n.root[1]<nO*i[r.Hips][1]))return null;let{s:a}=mg(t,n),o=n.yaw??0,s=a.P[r.RightArm],c=e=>Y(Z(-o),U(e,n.root)),l=K(U(i[r.RightForeArm],i[r.RightArm]))+K(U(i[r.RightHand],i[r.RightForeArm])),u=H(a.P[r.RightLeg],Y(Z(o),rO)),d=K(U(u,s)),f=c(d>iO*l?H(s,W(U(u,s),iO*l/d)):u),p=H(c(wo(a,r.Head,t.landmarks.mouth)),[0,0,aO]),m=Ds(t),h=(e,r)=>{let i=H(n.root,Y(Z(o),[r*oO[0],oO[1],oO[2]]));return c(m?Ts(m.body,t,a,i,Es,m.skip):i)},g=e=>e.map(e=>Math.round(e*1e3)/1e3);return{hold:g(f),mouthOut:g(p),lpocket:g(h(`Left`,1)),rpocket:g(h(`Right`,-1))}}var hO={TW_M:40,FX_M:0,TW_H:0,FX_H:10,TW_L:-80,FX_L:-50},gO=15,_O=20,vO=[[`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})),yO=[.4,-1,.6],bO=[-.4,-1,-.3],xO=[.9,-.6,.3],SO=[`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`],CO=264,wO=.75,TO=Math.ceil(CO*wO),EO=e=>(e/24).toFixed(1),DO={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 OO(e){let t=e.args.until??(e.auto?e.f0+CO:e.frames-1),n=t-e.f0;n<TO&&SE(e.tag,`needs frames f${e.f0}..f${e.f0+TO} at least: 199 frames, ${EO(199)} s at 24 fps, paced ${wO} (265 frames, ${EO(265)} s, at its own pace); it has f${e.f0}..f${t}, `+(e.args.until===void 0?`so set frames >= ${e.f0+TO+1} or frames: "auto"`:`so set args.until >= ${e.f0+TO}`)),Array.isArray(e.state.root)||SE(e.tag,`needs a pose keyed before f0 (root): standing or squatting`);let r=Object.fromEntries(Object.entries(DO).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?Y(lo(a),yO):yO,c=a?Y(lo(a),bO):bO,l=mO(e),u=e.self?l?_O:gO:hO.FX_M;l&&(e.state.w_mouthOut_r=0);let d=n<CO?n/CO:1,f=e=>Math.round(e*d),p=xE(e.state,e.f0),m=d===1?p:{...p,at:(e,t)=>p.at(f(e),t),hold:(e,...t)=>p.hold(f(e),...t),step:(e,t,n)=>p.step(f(e),t,n)},h=e.state.root.slice(),g=e.state.yaw??0,_=(e,t)=>{m.hold(e,`w_mouth_r`,`w_hold_r`,`wtwist_r`,`wflex_r`,`elbow_r`,`head_pitch`,`root`,...l?[`w_mouthOut_r`]:[]),l&&m.at(Math.round((e+t)/2),{w_hold_r:0,w_mouthOut_r:1,w_mouth_r:0}),m.at(t,{w_mouth_r:1,w_hold_r:0,...l?{w_mouthOut_r:0}:{},wtwist_r:hO.TW_M,wflex_r:u,elbow_r:s,head_pitch:o(6),root:h})},v=(e,t)=>{m.hold(e,`w_mouth_r`,`w_hold_r`,`wtwist_r`,`wflex_r`,`elbow_r`,`head_pitch`,...l?[`w_mouthOut_r`]:[]),l&&m.at(Math.round((e+t)/2),{w_mouth_r:0,w_mouthOut_r:1,w_hold_r:0}),m.at(t,{w_mouth_r:0,w_hold_r:1,...l?{w_mouthOut_r:0}:{},wtwist_r:hO.TW_H,wflex_r:hO.FX_H,elbow_r:c,head_pitch:o(0)})};m.hold(0,...SO),m.at(2,{w_rpocket_r:1,elbow_r:[-.5,-.4,-1]}),m.hold(6,`armw_r`,`w_rpocket_r`,`elbow_r`,`fingers_r`),m.at(20,{armw_r:1}),m.at(28,{fingers_r:{cigarette:1}}),m.step(28,`cig_vis`,1),m.hold(36,`w_rpocket_r`,`w_mouth_r`,`wtwist_r`,`wflex_r`,`elbow_r`,`head_pitch`),m.at(58,{w_rpocket_r:0,w_mouth_r:1,wtwist_r:hO.TW_M,wflex_r:u,elbow_r:s,head_pitch:o(6)}),m.at(2,{w_lpocket_l:1,elbow_l:[.5,-.4,-1]}),m.hold(12,`armw_l`,`w_lpocket_l`,`elbow_l`,`fingers_l`),m.at(26,{armw_l:1}),m.at(34,{fingers_l:{grip:0,fist:1}}),m.step(35,`lit_vis`,1),m.hold(44,`w_lpocket_l`,`w_flame_l`,`wtwist_l`,`wflex_l`,`elbow_l`),m.at(60,{w_lpocket_l:0,w_flame_l:1,wtwist_l:hO.TW_L,wflex_l:hO.FX_L,elbow_l:xO}),m.step(63,`flame_vis`,1),m.step(73,`ember_vis`,1),m.step(79,`flame_vis`,0),m.step(73,`ember`,1),m.at(80,{ember:2}),m.hold(90,`ember`),m.at(104,{ember:.6}),m.hold(194,`ember`),m.at(200,{ember:2}),m.hold(212,`ember`),m.at(224,{ember:.6}),m.step(116,`exhale`,1),m.step(138,`exhale`,0),m.step(238,`exhale`,1),m.step(260,`exhale`,0),m.hold(80,`w_flame_l`,`w_lpocket_l`,`wtwist_l`,`wflex_l`,`elbow_l`);let y=l&&e.self?8:0;m.at(y?96+y:l?100:96,{w_flame_l:0,w_lpocket_l:1,wtwist_l:0,wflex_l:0,elbow_l:[.5,-.4,-1]}),m.hold(101+y,`fingers_l`),m.step(102+y,`lit_vis`,0),m.hold(104+y,`armw_l`,`w_lpocket_l`),m.at(112,{fingers_l:{grip:0,fist:0}}),m.at(120,{armw_l:0,w_lpocket_l:1}),m.at(123,{w_lpocket_l:0}),v(92,114),m.at(124,{head_pitch:o(-14)}),m.at(140,{head_pitch:o(0)});let b=[Math.cos(g*Math.PI/180),0,-Math.sin(g*Math.PI/180)];m.hold(120,`root`,`head_yaw`),m.at(146,{root:h.map((e,t)=>e+.03*b[t]-(t===1?.005:0)),head_yaw:-22}),m.at(168,{head_yaw:0}),_(170,194),v(212,236),m.at(246,{head_pitch:o(-14)}),m.at(264,{head_pitch:o(0)}),p.hold(n,...SO,...l?[`w_mouthOut_r`]:[]);let x=!!l&&e.self,S=pO(e,{cig:e.f0+f(28),lit:e.f0+f(35),unlit:e.f0+f(x?110:102),squat:x});return{keys:p.keys,end:t,...d<1?{paced:Math.floor(d*100)/100}:{},channels:[`exhale`,`ember`],...S?{objects:S.objects}:{},anchors:{lpocket:{kind:`body`,p:e.self&&l?.lpocket||sO.l},rpocket:{kind:`body`,p:e.self&&l?.rpocket||sO.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)},LO=(e,t,n)=>e+(t-e)*n,RO=(e,t,n)=>e.map((e,r)=>e+(t[r]-e)*n),zO=(e,t,n,r,i)=>IO((e-t)/(n-t))-IO((e-r)/(i-r)),BO={l:1,r:-1},VO=(e,t,n)=>J(Z(e),J(lo(t),uo(n))),HO=(e,t,n,r,i)=>Y(X(pg(e,t,n)?.R??Z(e)),Y(r,i));function UO(e,t,n,r,i,a){let o=pg(e.h,n,r);if(!o)return{fyaw:e.h,fpitch:a};let s=e.toe[t],c=Y(i,Y(lo(a),s)),l=Y(X(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 WO(e){let{sk:t,args:n,state:r}=e,i=t.index,a=t.restWorldPos;(!r.foot_l||!r.foot_r||!r.root)&&SE(e.tag,`needs a standing pose keyed before f0 (use standIdle or another skill first)`);let 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t=e-g;n=o+l*t-kO*t*t/2,r=p*jO/2+p*t}else if(e<=v){let t=e-_;n=s+u*t-u/MO*t*t/2,r=p*jO/2+p*c+p*t-p/MO*t*t/2}else n=LO(f,t.y0,IO((e-v)/NO)),r=a;return H([t.root[0],n,t.root[2]],W(t.F,r))},C=e=>i*IO((e-g+2)/(c+5)),w=e=>VO(t.h,C(e),0),T=(e,t)=>Y(X(w(e)),U(t,S(e))),E={l:T(g,I_(x(`l`),t.h,PO,t.feet.l)),r:T(g,I_(x(`r`),t.h,PO,t.feet.r))},D={l:T(_,b(`l`)),r:T(_,b(`r`))},O=[];for(let e=m;e<=y+1;e++){let n=e>y?0:C(e),r=VO(t.h,n,0),i=S(e),a=(e-g)/c,o=e>g&&e<_?zO(a,.12,.34,.6,.82):0,s={root:i,yaw:t.h,pitch:n,roll:0,armw_l:0,armw_r:0,fyaw_l:t.h,fyaw_r:t.h};for(let c of[`l`,`r`]){let l,u;if(e<=h)l=t.feet[c],u=0;else if(e<=g)u=PO*IO((e-h)/jO),l=I_(x(c),t.h,u,t.feet[c]);else if(e<_){let e=1-IO(a/.2),n=IO((a-.72)/.28),s=H(t.hipOff[c],RO([0,-t.leg*.97,0],[BO[c]*.02,-.24,.16],o));l=H(i,Y(r,H(H(W(E[c],e),W(D[c],n)),W(s,1-e-n)))),u=LO(LO(PO,30,IO(a/.2)),0,IO((a-.7)/.3))}else l=b(c),u=0;let d=e>g&&e<_?UO(t,c,n,0,r,u):{fyaw:t.h,fpitch:u};Object.assign(s,{[`foot_${c}`]:l,[`fpitch_${c}`]:d.fpitch,[`fyaw_${c}`]:d.fyaw,[`knee_${c}`]:HO(t.h,n,0,r,[BO[c]*.05,.5*o,1])})}O.push({f:e,set:s})}let k=n===`back`?[-12,18]:[10,25];for(let[e,t,n,r,i]of[[m,0,0,0,0],[h,-45,15,20,0],[g,160,5,-8,k[0]],[Math.round(g+.3*c),55,85,32,k[1]],[Math.round(g+.62*c),55,85,32,k[1]],[_,75,25,22,0],[v,70,25,28,0],[y,0,0,0,0]])O.push({f:e,set:{aswing_l:t,aswing_r:t,abend_l:n,abend_r:n,spine_pitch:r,head_pitch:i}});return{keys:O,end:y+1}}function KO(e,t){let{args:n}=e,r=n.side===`r`?-1:1,i=-r,a=e.f0,o=a+12,s=o+34,c=s+14,l=r>0?`l`:`r`,u=l===`l`?`r`:`l`,d={foot:e=>H(t.hipOff[e],[BO[e]*.3,-t.leg*.93,0]),hand:e=>H(t.shoulder[e],[BO[e]*.32,t.arm*.88,0])},f={foot:t.ank,hand:.1},p=[[`foot`,l],[`hand`,l],[`hand`,u],[`foot`,u],[`foot`,l]],m=e=>e<=o?0:e<=s?i*360*IO((e-o)/34):i*360,h=(e,n,r,i)=>H(n,Y(VO(t.h,0,m(e)),d[r](i))),g=VO(t.h,0,0),_=U(t.feet[u],Y(g,d.foot(u))),v=h(o,_,`foot`,l);v[1]=t.ank;let y=[],b={foot:{l:[],r:[]},hand:{l:[],r:[]}},x=0,S=t.feet[l].slice(),C=o;b.foot[u].push({a,b:o,p:t.feet[u]});for(let e=a;e<=c+1;e++){if(e<=o){y.push(RO(t.root,_,IO((e-a)/12)));continue}e===o+1&&(S=v.slice());let n=U(S,Y(VO(t.h,0,m(e)),d[p[x][0]](p[x][1]))),r=p[x+1];if(r&&e<=s){let i=h(e,n,...r);if(i[1]<=f[r[0]]){let a=h(e-1,y.at(-1),...r),o=a[1]-f[r[0]],s=i[1]-f[r[0]],c=RO(a,i,o>0?o/(o-s):1);b[p[x][0]][p[x][1]].push({a:C,b:e,p:S}),x++,C=e,S=[c[0],f[r[0]],c[2]],n=U(S,Y(VO(t.h,0,m(e)),d[r[0]](r[1])))}}y.push(n)}b[p[x][0]][p[x][1]].push({a:C,b:c+1,p:S});let w=p[p.length-2];x>=p.length-1&&(b[w[0]][w[1]].at(-1).b=c+1);let T=y.map((e,t)=>{let n=[0,0,0],r=0;for(let e=-3;e<=3;e++){let i=Math.min(y.length-1,Math.max(0,t+e)),a=Math.exp(-(e*e)/4);n=H(n,W(y[i],a)),r+=a}return W(n,1/r)}),E=e=>e<=s?T[e-a]:H(T[s-a],[0,(t.y0-T[s-a][1])*IO((e-s)/14),0]),D=(e,t,n)=>{let r=U(e,t),i=Math.hypot(...r);return i>n?H(t,W(r,n/i)):e},O=(e,n,r,i)=>{for(let a of b[e][n]){if(r>=a.a-6&&r<=a.b)return 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f=e>o&&e<=s?UO(t,c,0,m(e),r,0):{fyaw:t.h,fpitch:0};Object.assign(u,{[`foot_${c}`]:d,[`fyaw_${c}`]:f.fyaw,[`fpitch_${c}`]:f.fpitch,[`knee_${c}`]:HO(t.h,0,n,r,[BO[c]*.05,0,1]),[`hand_${c}`]:D(e>o&&e<=s?O(`hand`,c,e,h(e,i,`hand`,c)):h(e,i,`hand`,c),H(i,Y(r,t.shoulder[c])),t.arm*.995),[`elbow_${c}`]:HO(t.h,0,n,r,[BO[c]*.4,0,-1]),[`armw_${c}`]:e<=o?0:e<=s?IO((e-o)/6):1-IO((e-s)/8)})}u.arm_rest=e<=o?LO(72,-56,IO((e-a)/12)):e<=s?-56:LO(-56,72,IO((e-s)/14)),A.push({f:e,set:u})}return{keys:A,end:c+1}}function qO(e){let t=e.args.kind??`back`;[`back`,`front`,`cartwheel`].includes(t)||SE(e.tag,`kind must be "back", "front" or "cartwheel", got ${JSON.stringify(t)}`);let n=WO(e);return t===`cartwheel`?KO(e,n):GO(e,n,t)}var JO=9.81,YO=24,XO=.75,ZO={back:.16,front:.11},QO=.25,$O=.12,ek=.25,tk=e=>e-$O*(1-Math.exp(-e/$O)),nk=(e,t,n)=>t+n*Math.log1p(Math.exp((e-t)/n)),rk=3/YO,ik=.03,ak=.25,ok=e=>{let t=Math.min(1,Math.max(0,e));return t*t*t*(t*(6*t-15)+10)},sk=e=>(e+540)%360-180,ck=e=>e.map(e=>Math.round(e*1e3)/1e3),lk=e=>Math.round(e*10)/10;function uk(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 dk(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`?Ul(r,o,`Hips`,e.f0):null;s||SE(e.tag,`args.from "${n.from}" must be object:<id> of a scene body or person:<id> of a character with an installed take`),i=[t[0]-s[0],t[2]-s[2]]}(!Array.isArray(i)||i.length!==2||!(Math.hypot(i[0],i[1])>1e-6))&&SE(e.tag,`needs args.dir: [x, z] (the way the body is thrown) or args.from: object:<id> | person:<id> (what hits it)`);let a=Math.hypot(i[0],i[1]);return[i[0]/a,i[1]/a]}function fk(e){let{sk:t,args:n,state:r}=e,i=t.index,a=t.restWorldPos;r.root||SE(e.tag,`needs a pose keyed before f0 (standIdle, a walk, ...)`);let o=uk(e.keys,`root`,e.f0)??r.root.slice(),s={};for(let t of[`l`,`r`]){let n=uk(e.keys,`foot_${t}`,e.f0),r=uk(e.keys,`foot_${t}`,e.f0-1);n&&(s[t]={at:n,v:r?n.map((e,t)=>e-r[t]):[0,0,0]})}let c=r.yaw??0,[l,u]=dk(e,o),d=n.speed??4;Number.isFinite(d)&&d>0||SE(e.tag,`args.speed must be a launch speed above 0 m/s, got ${JSON.stringify(n.speed)}`);let f=Math.min(2.5,Math.max(.8,.3*d)),p=Y(Z(c),[0,0,1]),m=(n.land??(l*p[0]+u*p[2]<=0?`back`:`front`))===`back`,h=Math.atan2(l,u)*180/Math.PI,g=sk((m?h+180:h)-c),_=m?-90:90,v=m?ZO.back:ZO.front,y=o[1],b=e=>y+f*tk(e)-.5*JO*e*e,x=e=>f*(1-Math.exp(-e/$O))-JO*e,S=0,C=(f+Math.sqrt(f*f+2*JO*Math.max(0,y-v)))/JO+1;for(let e=0;e<60;e++){let e=(S+C)/2;b(e)+x(e)*rk/2>v-ik||x(e)>0?S=e:C=e}let w=S,T=Math.min(0,x(w)),E=b(w),D=w+rk,O=d/(XO*JO),k=D+O,ee=e=>e<w?b(e):e<D?E+T*(e-w)-T/(2*rk)*(e-w)**2:v-ik*(1-ok((e-D)/ak)),A=a[i.LeftFoot][1],te=a[i.Hips][1],ne=m?1:-1,re=.9*Math.hypot(...[0,1,2].map(e=>a[i.LeftFoot][e]-a[i.Hips][e])),ie=e.f0+Math.ceil((k+.6)*YO),ae=[];for(let t=e.f0;t<=ie;t++){let n=(t-e.f0)/YO,r=n<D,i=Math.min(Math.max(0,n-D),O),a=r?d*tk(n):d*tk(D)+d*i-.5*XO*JO*i*i,f=ee(n),p=[o[0]+l*a,f,o[2]+u*a],h=Math.max(.35,.9*D),v=c+g*ok(n/Math.max(QO,h)),y=_*ok(n/h),b=(e=>Y(Z(v),Y(lo(y),e))),x=ok(n/$O)*Math.exp(-n/.18)*Math.sin(2*Math.PI*n/.55),S=ok(n/.3)*Math.exp(-n/.45)*Math.sin(2*Math.PI*n/.6),C=ok((n-D)/.3),w=-(te-A)+.06*(1-C)+(m?.03:.01)*C,T=ok(n/ek),E=A+.01+(!m&&!r&&i<O?.04:0),k=(n,r,i)=>{let a=H(p,b([r,w,i])),o=p[1]-.05;m&&(a[1]=o-.05*Math.log1p(Math.exp((o-a[1])/.05))),a[1]=nk(a[1],E,.03);let c=s[n];if(!c)return a;let l=c.at.map((n,r)=>n+c.v[r]*(t-e.f0)*(1-T));return l[1]=Math.max(c.at[1],l[1]),ie(a.map((e,t)=>l[t]+(e-l[t])*T))},ie=e=>{let t=e.map((e,t)=>e-p[t]),n=Math.hypot(...t),r=re-.02*Math.log1p(Math.exp((re-n)/.02));return n>1e-9?p.map((e,i)=>e+t[i]*(1+(r/n-1)*T)):e},oe=pg(0,y,0),se=oe?Y(oe.R,[0,1,0]):[0,1,0],ce=Math.atan2(se[2],se[1])*180/Math.PI,le=Y(lo(-ce),[0,-Math.sin(y*Math.PI/180),Math.max(.05,Math.cos(y*Math.PI/180))]),ue={root:ck(p),yaw:lk(v),pitch:lk(y),roll:0,foot_l:ck(k(`l`,.11,.04+.1*S*T-(m?.1:0)*C)),foot_r:ck(k(`r`,-.11,.04-.1*S*T-(m?.1:0)*C)),fyaw_l:lk(v),fyaw_r:lk(v),fpitch_l:lk(m?-50*C:-.5*ce),fpitch_r:lk(m?-50*C:-.5*ce),knee_l:ck([.05,le[1],le[2]]),knee_r:ck([-.05,le[1],le[2]]),spine_pitch:lk(ne*22*x*Math.min(1,d/4)),spine_yaw:0,spine_roll:lk(10*S*(1-C)),head_pitch:lk(ne*30*x*Math.min(1,d/4)+(m?-8:8)*C),head_roll:lk(12*C),arm_rest:lk(72-22*C),aswing_l:lk(ne*45*S+8*C),aswing_r:lk(-ne*35*S-8*C),abend_l:lk(25+30*S*S),abend_r:lk(30+25*S*S)};t===e.f0&&Object.assign(ue,{armw_l:0,armw_r:0,fingers_l:{relaxed:1},fingers_r:{relaxed:1}}),ae.push({f:t,set:ue})}return{keys:ae,end:ie}}var pk=20,mk=50,hk=10,gk=8,_k=10,vk=8,yk=.25,bk=.42,xk=.22,Sk=.09,Ck=.25,wk=e=>e.map(e=>Math.round(e*1e3)/1e3);function Tk(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 Ek(e){let{args:t,state:n,sk:r,scene:i,tag:a}=e,o=t.object,s=t.side??`r`,c=e.objects?.[o];s!==`l`&&s!==`r`&&SE(a,`args.side must be "l" or "r", got ${JSON.stringify(s)}`),(!c?.prop||e.props?.[c.prop]?.hand!==s)&&SE(a,`args.object "${o}" must be carried by the ${s===`r`?`right`:`left`} hand (objects.${o}.prop on a prop with hand "${s}")`),(!Array.isArray(t.to)||t.to.length!==3)&&SE(a,`args.to must be [x, y, z] world m (where it lands)`);let l=(t.arc===`high`?mk:pk)*Math.PI/180,u=e.fps??24,d=s===`l`?`Left`:`Right`,f=r.restWorldPos,p=H(n.root??f[r.index.Hips],Y(Z(n.yaw??0),U(f[r.index[`${d}Arm`]],f[r.index.Hips]))),m=[t.to[0]-p[0],0,t.to[2]-p[2]],h=K(m);h<.5&&SE(a,`args.to is ${h.toFixed(2)} m from the shoulder; throw it at least 0.5 m`);let g=W(m,1/h),_=H(p,H(W(g,bk),[0,xk,0])),v=H(_,W(g,Sk)),y=t.to[1]+Tk(i,o),b=K([t.to[0]-v[0],0,t.to[2]-v[2]]),x=y-v[1],S=2*Math.cos(l)**2*(b*Math.tan(l)-x);S>0||SE(a,`args.to is too high for a ${t.arc??`low`} arc from the hand; use arc "high" or a lower point`);let C=Math.sqrt(Gm*b*b/S),w=H(W(g,C*Math.cos(l)),[0,C*Math.sin(l),0]),T=(w[1]+Math.sqrt(w[1]**2+2*Gm*Math.max(0,v[1]-y)))/Gm,E=e.f0+hk+gk,D=Math.min(e.frames-1,E+Math.ceil(T*u)+vk),O=W([g[2],0,-g[0]],s===`r`?-1:1),k=`hand_${s}`,ee=`armw_${s}`,A=H(p,H(H(W(g,-.12),W(O,Ck)),[0,-.05,0])),te=H(p,H(H(W(O,.32),W(g,.12)),[0,.08,0])),ne=H(_,W(w,.45/u)),re=H(p,H(W(g,.46),[0,-.1,0])),ie=H(p,H(H(W(g,.3),W(O,-.15)),[0,-.4,0])),ae=`fingers_${s}`,oe=cl[c.grasp]??`grip`,se={...n[ae],[oe]:1},ce={...n[ae],[oe]:0},le=[{f:e.f0,set:{[ee]:n[ee]??0,[ae]:se,...n[k]?{[k]:n[k]}:{}}},{f:E,set:{[ae]:se}},{f:E+3,set:{[ae]:ce}},{f:e.f0+hk,set:{[ee]:1,[k]:wk(A)}},{f:e.f0+hk+Math.round(gk/2),set:{[ee]:1,[k]:wk(te)}},{f:E-1,set:{[ee]:1,[k]:wk(U(_,W(w,1/u)))}},{f:E,set:{[ee]:1,[k]:wk(_)}},{f:E+1,set:{[ee]:1,[k]:wk(ne)}},{f:E+3,set:{[ee]:1,[k]:wk(re)}},{f:E+_k,set:{[ee]:1,[k]:wk(ie)}}],ue=`${o}Target`;return{keys:le,end:E+_k,anchors:{[ue]:{kind:`world`,p:wk([t.to[0],y,t.to[2]])}},fills:{[o]:{release:E,fall:{at:E,v:wk(w)}}},goals:[{name:`${o} 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t=u.at+1;t<e.frames;t++){let e=p(t),n=K(U(e,d.shoulder)),r=G(U(e,d.hips),d.fwd),i=Math.max(0,Dk[0]-n,n-Dk[1],Ok-r,d.hips[1]-.1-e[1],e[1]-d.head[1]);if((!h||i<h.off)&&(h={f:t,p:e,off:i}),i===0){m={f:t,p:e};break}}m||SE(a,`${o} never comes within reach of the right hand (in front of the chest, ${Dk[0]}-${Dk[1]} m from the shoulder): nearest at f${h.f}, [${Fk(h.p).join(`, `)}], ${h.off.toFixed(2)} m out; move the body (standIdle at) or the throw`);let g=Math.max(m.f,e.f0+kk+jk),_=m.p,v=W(U(p(m.f),p(m.f-1)),l),y=K(v),b=gb({objects:e.objects},i,o),x=Ik(.08+.02*b*y,.08,.15),S=q(v),C=e=>1-(1-e)**3,w=[_,...Array.from({length:Mk},(e,t)=>H(_,W(S,x*C((t+1)/Mk)))),H(_,W(S,x*.4))],T=Math.max(e.f0,g-jk-Ak),E=s===`both`||b>Pk,D=Math.max(0,...Object.values(i.objects).filter(e=>e===i.objects[o]||e.ancestors?.includes(o)).map(e=>Math.max(...e.half))),O=Y(Z(n.yaw??0),[1,0,0]),k={keys:[],end:g+Mk+Nk,props:{},anchors:{},fits:[],channels:[],fills:{[o]:{prop:`${o}Catch`,grab:g,grasp:`spherical`}},catch:{contact:g,point:Fk(_),speed:Math.round(y*100)/100,give:Math.round(x*1e3)/1e3,hands:E?2:1}};for(let e of E?[`r`,`l`]:[`r`]){let t=e===`l`?`Left`:`Right`,r=e===`r`?`${o}Catch`:`${o}CatchL`,i=e===`r`?[0,0,0]:W(O,2*D+.04),a=`armw_${e}`,s=`fingers_${e}`,c={...n[s],spherical:0},l={...n[s],spherical:1},u=w.map((e,t)=>`${r}${t}`),d=t=>`w_${u[t]}_${e}`;k.keys.push({f:T,set:{[a]:n[a]??0,[d(0)]:0,[s]:c,[`elbow_${e}`]:e===`r`?[-1,-.5,-.5]:[1,-.5,-.5]}},...CD(g-jk-T).map(([e,t,r])=>({f:T+e,set:{[d(0)]:t,[a]:(n[a]??0)+(1-(n[a]??0))*r}})),{f:g-jk,set:{[a]:1,[d(0)]:1,[s]:c}},{f:g,set:{[d(0)]:1,[s]:l}},...w.slice(1).flatMap((e,t)=>{let n=t+1,r=n<=Mk?g+n:g+Mk+Nk;return[{f:n<=Mk?r-1:g+Mk,set:{[d(n-1)]:1,[d(n)]:0}},{f:r,set:{[d(n-1)]:0,[d(n)]:1}}]})),k.props[r]={hand:e,origin:[`${t}HandIndex2`,`${t}HandMiddle2`],points:{fingers:[0,0,0]}},u.forEach((t,n)=>{k.anchors[t]={kind:`world`,p:Fk(H(w[n],i))},k.fits.push({side:e,anchor:t,effector:{prop:r,point:`fingers`}}),k.channels.push(d(n))})}return k}var zk={standIdle:LD,sitInSeat:XD,exitCar:ZD,walkTo:RD,reachGrip:VD,smokeCigarette:OO,flip:qO,hitReaction:fk,throwObject:Ek,catchObject:Rk},Bk=Object.keys(zk),Vk=e=>{throw Error(`MOTION_SPEC_INVALID: ${e}`)},Hk=(e,t)=>JSON.stringify(e)===JSON.stringify(t);function Uk(e,t,n,r){for(let[i,a]of Object.entries(t??{}))e[i]&&!Hk(e[i],a)&&Vk(`${r} defines ${n}.${i} differently from an earlier skill; rename one or define it yourself in spec.${n}`),e[i]=a}function Wk(e,t){for(let[n,r]of Object.entries(t??{})){if(n===`limits`&&r&&typeof r==`object`&&!Array.isArray(r)){e.limits={...e.limits,...r};continue}if(!Array.isArray(r)||e[n]!==void 0&&!Array.isArray(e[n])){e[n]=r;continue}let t=e[n]??(e[n]=[]);for(let e of r)t.some(t=>Hk(t,e))||t.push(e)}}var Gk=e=>!!e&&typeof e==`object`&&!Array.isArray(e)&&(e.range??e.search)!==void 0,Kk=e=>e.description?` (${e.description})`:``;function qk(e,t,n){return!n||t===void 0||Gk(t)?null:n.enum&&!n.enum.includes(t)?`${e} must be one of 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i=e.index,a=t.P,o=U(a[i.Spine2],a[i.Hips]),s=(e,t)=>Math.acos(Math.max(-1,Math.min(1,(e[0]*t[0]+e[1]*t[1]+e[2]*t[2])/Math.max(1e-9,K(e)*K(t)))))*180/Math.PI,[c,l,u]=r?[`${n}Arm`,`${n}ForeArm`,`${n}Hand`]:[`${n}UpLeg`,`${n}Leg`,`${n}Foot`],d=U(a[i[l]],a[i[c]]);return[s(d,U(a[i[u]],a[i[l]])),s(d,r?o:[-o[0],-o[1],-o[2]])]}function Kj(e,t,n){let r={};for(let[i,a]of[[`arms`,!0],[`legs`,!1]]){let o=t.map(({s:t})=>Gj(e,t,`Left`,a)),s=t.map(({s:t})=>Gj(e,t,`Right`,a)),c=0,l=0,u=null;for(let e=1;e+jj<=t.length;e+=jj/4){if(n.slice(e,e+jj).some(Boolean))continue;let t=[],r=[];for(let n=e;n<e+jj;n++)for(let e=0;e<2;e++)t.push(o[n][e]-o[n-1][e]),r.push(s[n][e]-s[n-1][e]);let i=e=>e.reduce((e,t)=>e+Math.abs(t),0);if(i(t)<Nj||i(r)<Nj)continue;let a=zj(t,r);c++,a>Mj&&l++,(!u||a>u.c)&&(u={c:a,at:[e,e+jj-1]})}r[i]={score:c?Fj(l/c):0,windows:c,worst:u}}return r}function qj(e,t,n,r){let i=new Uint8Array(t.length);for(let e of n.goals??[]){let n=Array.isArray(e?.at)?e.at:null;if(e?.still!==void 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d(n,r,i){if(i.origin===`ui`)return;if(n.exposure===`ui-only`&&fP(`CAPABILITY_MISSING`,n.uiOnlyHint??`This command is available only from the Studio UI.`),n.id===`load_scenes`){let t=e=>[...new Set(e.map(e=>e.id))].sort();if(dP(t(r.document.scenes),t(e.state().scenes)))return}else if(n.exposure!==`confirm`||n.requiresConfirmation?.(e.state(),r)===!1)return;let a=o.get(i.confirmationToken);(!a||a.id!==n.id||!dP(a.args,r)||!dP(a.host,t.read().host)||a.expires<(t.now??Date.now)())&&fP(`CONFIRMATION_REQUIRED`,n.confirmationReason??`This command needs user confirmation.`),o.delete(i.confirmationToken)}let f=e=>{for(let t of a)t(e);t.emit?.(e)},p=En.TargetGuard.properties.targetId,m=e=>({type:`object`,properties:e,required:Object.keys(e),additionalProperties:!1}),h={type:`object`,properties:{},required:[],additionalProperties:!0},g={...MN(m,p),...u.controls(m,p),"run.begin":m({id:p,args:h}),"run.update":m({txId:p,args:h}),"run.commit":m({txId:p}),"run.cancel":m({txId:p}),"job.await":{...m({jobId:p}),properties:{jobId:p,timeoutMs:{type:`integer`,minimum:1,maximum:3e5,default:3e4}}},"job.cancel":m({jobId:p}),"edit.undo":{...m({receiptId:p}),required:[]},"edit.redo":{...m({receiptId:p}),required:[]}},_=e=>(t.clearTimeout??clearTimeout)(e);function v(e,n=!1,i=new $e(`CANCELLED`,`Transaction was cancelled.`)){r.delete(e.txId),_(e.timer),e.workTimer!==void 0&&_(e.workTimer),e.controller.abort(i),e.session.cancel({restore:dP(e.before.host,t.read().host)}),f({type:`transaction.cancelled`,txId:e.txId,expired:n})}function y(e){e.timer!==void 0&&_(e.timer),e.timer=(t.setTimeout??setTimeout)(()=>v(e,!0),t.transactionIdleMs??3e4)}function b(n,a,o,c){if(n.startsWith(`task.`))return u.control(n,a,o,c,l?`Finish the agent turn first.`:r.size?`Finish the open command transaction first.`:null);if(n.startsWith(`agent.turn.`)){if((o.origin!==`agent`||o.turnId!==a.turnId)&&fP(`CAPABILITY_MISSING`,`Only the owning agent turn can control this transaction.`),n===`agent.turn.begin`)return(l||r.size||u.size)&&fP(`TARGET_BUSY`,`Finish the open transaction first.`),l={txId:a.turnId,before:c,affectedIds:new Set,toasts:[],session:null},x(n,l,o,c);l?.txId!==a.turnId&&fP(`STALE_TARGET`,`The agent turn is no longer open.`);let e=l;if(n===`agent.turn.mark`||n===`agent.turn.rollback`)return x(n,NN(n,e),o,c);if(n===`agent.turn.cancel`)return l=null,e.session?.cancel(),x(n,e,o,c);try{e.historyEntryId=e.session?.commit().historyEntryId}catch(t){throw e.session?.cancel(),t}finally{l=null}return x(n,e,o,e.before)}let f=n===`edit.undo`||n===`edit.redo`,p=f&&u.traversal(n,a,o,c,n===`edit.undo`?t.history?.(!1):null);if(p)return p;if(l&&!n.startsWith(`job.`)&&!(f&&!l.session)){if(n===`edit.undo`&&o.turnId===l.txId)return Nn(IN(l,a,o,c,()=>t.read()));fP(`TARGET_BUSY`,`Finish the agent turn before traversing history or opening another transaction.`)}if(f){let e=n===`edit.redo`,r=t.history?.(e),i=a.receiptId?t.receipt(a.receiptId):s.get(r)??(r?{receiptId:r,host:c.host,affectedIds:[c.host.sceneId],undo:{historyEntryId:r,entries:1,canUndoDirect:!0}}:null);if(!a.receiptId&&!i)return Nn({ok:!0,status:`noop`,action:n,commandId:o.commandId,receiptId:crypto.randomUUID(),host:c.host,authored:!1,mutated:!1,revision:{before:c.revision,after:c.revision},affectedIds:[],delta:[],checks:{coverage:`native-history-restoration`},undo:null,warnings:[]});(!i?.undo||!t.isRetained(i))&&fP(`UNDO_EXPIRED`,`The receipt no longer has a retained history entry.`),dP(i.host,c.host)||fP(`STALE_SCENE`,`The receipt belongs to another document.`),(e?r!==i.undo.historyEntryId:!t.canUndo(i))&&fP(`UNDO_CONFLICT`,`Another edit owns the history boundary.`),(e?t.redo:t.undo)();let l=t.read(),u=i.affectedIds,d=u.map(e=>({...c.host,targetId:e,token:t.readTarget?.(e)??`removed-${crypto.randomUUID()}`}));return Nn({ok:!0,status:e?`applied`:`undone`,commandId:o.commandId,receiptId:crypto.randomUUID(),host:c.host,authored:!0,revision:{before:c.revision,after:l.revision},affectedIds:u,delta:u.slice(0,8).map(e=>({id:e,after:{token:d.find(t=>t.targetId===e).token}})),checks:{coverage:`native-history-restoration`},undo:{...i.undo,canUndoDirect:e},warnings:[],...e?{action:n,mutated:!0}:{undoneReceiptId:i.receiptId,restoredTargets:d},...u.length>8?{detailCursor:o.commandId}:{}})}if(n.startsWith(`job.`)){let e=i.get(a.jobId);(!e||!dP(e.host,c.host))&&fP(`STALE_TARGET`,`Job is not in this document.`),n===`job.cancel`&&!e.outcome&&e.controller.abort(new $e(`CANCELLED`,`Job was cancelled.`));let r;return(n===`job.await`&&!e.outcome?Promise.race([e.completion,new Promise((e,n)=>{r=(t.setTimeout??setTimeout)(()=>n(new $e(`TIMEOUT`,`Job is still running.`)),a.timeoutMs)})]):e.completion).then(t=>Nn({...t,commandId:o.commandId,...t.ok?{receiptId:crypto.randomUUID()}:{},jobId:e.id})).finally(()=>{r!==void 0&&_(r)})}let m;if(n===`run.begin`){r.size&&fP(`TARGET_BUSY`,`Finish or cancel the open command transaction first.`);let n=e.prepare(a.id,a.args);d(n.entry,n.args,o),n.entry.kind!==`mutation`&&fP(`INVALID_ARGUMENT`,`Only mutations can open a transaction.`),m={txId:crypto.randomUUID(),entry:n.entry,before:c,origin:o.origin,targetId:n.args.characterId??null,controller:new AbortController,session:t.beginAction(n.entry.undoDomain,n.args.characterId??null),affectedIds:new Set,toasts:[]},r.set(m.txId,m),y(m)}else{if(m=r.get(a.txId),(!m||!dP(m.before.host,c.host))&&fP(`STALE_TARGET`,`Transaction is no longer open in this document.`),o.origin!==m.origin&&fP(`TARGET_BUSY`,`This transaction 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Nn({ok:!0,status:`completed`,kind:`transaction`,commandId:r.commandId,receiptId:crypto.randomUUID(),host:i.host,action:e,txId:n.txId,authored:!!n.historyEntryId,revision:{before:i.revision,after:a.revision},affectedIds:[...n.affectedIds],delta:[],checks:{coverage:`wire-transaction`},warnings:mP(n.toasts),undo:n.historyEntryId?{historyEntryId:n.historyEntryId,entries:1,canUndoDirect:!0}:null})}function S(e,n,r,i){let a=i??t.read().revision!==n.revision;return Nn({ok:!1,commandId:e.commandId,host:n.host,code:c(r),phase:a?`commit`:`admission`,affectedIds:[],expectedTargets:[],currentTargets:[],mutated:a,preserved:{authoredState:a?`changed`:`unchanged`},recovery:{action:`inspect`,retryAllowed:!1},message:[...String(r.message||r)].slice(0,2e3).join(``)})}let C=(e=[],t=[],n=0,r=12)=>{let i=[...n?[{code:`READBACK_TRUNCATED`,count:n,message:`Readback lists 8 of ${8+n} affected ids; inspect_studio scope entities with ids for the rest.`}]:[],...e,...mP(t)];return 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v=p.origin===`agent`&&p.turnId===l?.txId?l:null,y=u.of(p,a),x=(e,n,r,i=!1)=>v?(v.session??=t.beginAction(e,r),{result:v.session.run(()=>t.beginAction(e,r).run(n)),historyEntryId:null}):t.recordAction(e,n,r,i),C=!1,T,E,D,O,k=!1,ee,A=new AbortController,te=()=>{E!==void 0&&_(E),D!==void 0&&_(D)},ne=[],re=()=>ne.length&&t.read().revision===m.revision?new $e(`TARGET_NOT_READY`,ne.at(-1).message):null,ie=e=>{if(O?.background){let t=O.completionCommandId??=crypto.randomUUID();h.begin(t),e=Nn({...e,commandId:t,jobId:O.id})}let n=h.record(e);n.undo?.canUndoDirect&&!a.startsWith(`edit.`)&&s.set(n.undo.historyEntryId,n);for(let[e,n]of s)t.isRetained?.(n)===!1&&s.delete(e);return t.remember?.(n),n},ae=e=>{te(),T?.(),T=null,e instanceof $e||(e=re()??e),p.origin===`ui`&&e.uiMessage&&t.showRefusal?.(e.uiMessage);let n=S(p,m,e,O?k:void 0),r=C?ie(n):n;return O&&!O.completion&&(O.outcome=r,O.completion=Promise.resolve(r),f({type:`job.completed`,jobId:O.id,receipt:r})),r};try{p.origin!==`ui`&&!dP(On(p.host),m.host)&&fP(`STALE_SCENE`,`The live document changed.`),p.turnId&&!v&&a!==`agent.turn.begin`&&fP(`STALE_TARGET`,`The agent turn is no longer open.`);let s=JSON.stringify({id:a,args:o,...p});if(!h.begin(p.commandId,s))return h.get(p.commandId)??n.get(p.commandId)??S(p,m,new $e(`UNCERTAIN_APPLY`,`Command is still executing.`));C=!0;let{entry:c,args:l}=g[a]?{args:Dn(g[a],o)}:e.prepare(a,o);if(p.origin!==`ui`&&(!y&&!a.startsWith(`task.`)&&!c?.readOnly&&![`job.await`,`job.cancel`,`agent.turn.mark`,`agent.turn.rollback`,`agent.turn.finish`,`agent.turn.cancel`].includes(a)&&p.expectedRevision!==m.revision&&fP(`STALE_SCENE`,`Authored state changed; obtain fresh intent.`),!c?.readOnly&&m.busy&&!v&&!r.has(l.txId)&&!a.startsWith(`job.`)&&fP(`TARGET_BUSY`,`Finish the current editor gesture first.`)),g[a])return pP(b(a,l,p,m),ie,ae);r.size&&fP(`TARGET_BUSY`,`Finish or cancel the open command transaction first.`),v&&c.kind===`document`&&fP(`TARGET_BUSY`,`Finish the agent turn before changing documents.`),d(c,l,p);let _=u.admit(y,c,l,p,m);T=t.captureToasts?.(e=>ne.push(typeof e==`string`?{message:e}:e));let oe=c.domain??c.undoDomain,se=c.target?.(l,m)??l.characterId??l.shotId??l.objectId,ce=se?t.readTarget?.(se):null,le=oe?m.domainRevisions?.[oe]:null,ue=()=>{let e=t.read();ce=se?t.readTarget?.(se):null,le=oe?e.domainRevisions?.[oe]:null,_?.keys.length&&u.rebase(_)},de=new Set,fe={origin:p.origin,signal:A.signal,taskId:p.taskId??null,turnId:p.turnId??null,callId:typeof p.callId==`string`?p.callId:null,check(){A.signal.throwIfAborted();let e=t.read();dP(e.host,m.host)||fP(`STALE_TARGET`,`The open document or scene changed while the job was running.`),oe&&!y&&e.domainRevisions?.[oe]!==le&&fP(`STALE_TARGET`,`The ${oe} data changed while the job was running (revision ${le} to 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$e(`TIMEOUT`,`${c.id} exceeded its deadline.`);A.abort(e)},O&&c.background===!0?3e5:c.timeoutMs??3e4);let pe=()=>{let t=e.invoke(c,l,fe);if(!t?.then)return t;let n=new Promise((e,t)=>A.signal.addEventListener(`abort`,()=>t(A.signal.reason),{once:!0}));return Promise.race([t,n])},me=PN(v),he=c.kind===`mutation`?x(c.undoDomain,pe,l.characterId??null):{result:pe(),historyEntryId:null},ge=({result:e,historyEntryId:t})=>pP(e,e=>{te(),T?.(),T=null;let n=e?.output===void 0?re():null;if(n)throw n;return u.record(_,FN(v,me,ie(w(c,p,m,{...e,affectedIds:[...new Set([...e.affectedIds,...de])]},t??ee,ne,v))))}),_e=he?.then?he.then(ge):ge(he),ve=_e?.then?_e.catch(ae):_e;if(O){O.completion=Promise.resolve(ve).then(e=>(O.outcome=e,f({type:`job.completed`,jobId:O.id,receipt:e}),e));let e=()=>{O.background=!0;let e=t.read();return h.record(Nn({ok:!0,commandId:p.commandId,receiptId:crypto.randomUUID(),host:m.host,action:c.id,status:`started`,kind:`job`,jobId:O.id,authored:!1,revision:{before:e.revision,after:e.revision},affectedIds:[],delta:[],checks:{coverage:`studio-action:${c.id}`},warnings:[],undo:null}))};if(ve?.then&&p.wait===!1)return e();if(ve?.then&&c.background===!0){let r=Promise.race([O.completion,new Promise(n=>{D=(t.setTimeout??setTimeout)(()=>n(e()),c.timeoutMs??3e4)})]).finally(()=>n.delete(p.commandId));return n.set(p.commandId,r),r}}if(ve?.then){let e=(O?.completion??ve).finally(()=>n.delete(p.commandId));return n.set(p.commandId,e),e}return ve}catch(e){return ae(e)}}function E(...e){hP++;try{let t=T(...e);return t?.then?t.finally(()=>{hP--}):(hP--,t)}catch(e){throw hP--,e}}return{run:E,confirm(n,r={}){let i=e.prepare(n,r),a=crypto.randomUUID();return o.set(a,{id:n,args:i.args,host:t.read().host,expires:(t.now??Date.now)()+3e5}),a},subscribe(e){return a.add(e),()=>a.delete(e)},dispose(){l?.session?.cancel(),l=null,u.dispose();for(let e of r.values())v(e);for(let e of i.values())e.outcome||e.controller.abort(new $e(`CANCELLED`,`Studio closed.`));a.clear()}}}var _P=Object.freeze([`pose_edit`,`object_insert`,`cutout_insert`,`object_transform`,`shot_add`,`shot_edit`,`camera_key_record`,`rail_edit`,`prompt_block_add`,`prompt_block_edit`]);function vP(e,t){if(e===t)return!0;if(typeof e==`number`&&typeof t==`number`)return Math.abs(e-t)<1e-8;if(!e||!t||typeof e!=`object`||typeof t!=`object`)return!1;if(e instanceof Map||t instanceof Map)return e instanceof Map&&t instanceof Map&&e.size===t.size&&[...e].every(([e,n])=>t.has(e)&&vP(n,t.get(e)));let n=Object.keys(e);return n.length===Object.keys(t).length&&n.every(n=>Object.hasOwn(t,n)&&vP(e[n],t[n]))}var yP=e=>({bones:e?.bones??{},rootY:e?.rootY??0}),bP=(e=[])=>e.map(({frame:e,framing:t})=>({frame:e,framing:t})),xP=e=>({...e,camera:DN(e.camera),cameraKeys:bP(e.cameraKeys)});function SP(e,t,n){if(t===n)return null;if(e===`pose`)return vP(t,n)?null:`pose_edit`;if(e===`objects`){let e=n.find(e=>!t.some(t=>t.id===e.id));return e?e.renderer===`cutout`?`cutout_insert`:`object_insert`:vP(t,n)?null:`object_transform`}if(e===`characters`){if(n.some(e=>!t.some(t=>t.id===e.id)))return`object_insert`;for(let e of n){let n=t.find(t=>t.id===e.id);if(n&&!vP(yP(n.pose),yP(e.pose)))return`pose_edit`}let e=e=>e.map(({id:e,x:t,y:n=0,z:r,rot:i,scale:a=1,hidden:o=!1,model:s,tint:c,subject:l,identityImage:u})=>({id:e,x:t,y:n,z:r,rot:i,scale:a,hidden:o,model:s,tint:c,subject:l,identityImage:u}));return vP(e(t),e(n))?null:`object_transform`}if(e===`shots`){if(n.some(e=>!t.some(t=>t.id===e.id)))return`shot_add`;for(let e of n){let n=t.find(t=>t.id===e.id);if(!n)continue;let r=DN(e.camera),i=DN(n.camera);if([`cameraRail`,`craneHeight`,`railFollow`,`dollyTiming`].some(e=>!vP(r[e],i[e])))return`rail_edit`;let a=e.cameraKeys??[],o=n.cameraKeys??[];if(a.length>o.length||a.some(e=>{let 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F,tt as Fi,gg as Fn,Wa as Fr,aI as Ft,uz as G,ie as Gi,Fl as Gn,na as Gr,ON as Gt,iz as H,On as Hi,Hl as Hn,Oa as Hr,SP as Ht,nz as I,kn as Ii,vg as In,Ga as Ir,_I as It,sR as J,Ce as Ji,fl as Jn,Hi as Jr,AN as Jt,cR as K,we as Ki,El as Kn,ua as Kr,DN as Kt,qR as L,Ft as Li,Nh as Ln,eo as Lr,XF as Lt,hz as M,Ut as Mi,Xw as Mn,to as Mr,vI as Mt,IR as N,$e as Ni,ab as Nn,Ia as Nr,MF as Nt,_z as O,Ke as Oi,zT as On,ho as Or,YF as Ot,LR as P,En as Pi,hg as Pn,Za as Pr,mI as Pt,gR as Q,ee as Qi,al as Qn,Qr,hN as Qt,QR as R,et as Ri,ku as Rn,Ca as Rr,pI as Rt,jR as S,In as Si,XT as Sn,Y as Sr,EP as St,Jz as T,Rn as Ti,rE as Tn,go as Tr,NF as Tt,$R as U,Dn as Ui,Rl as Un,Aa as Ur,gP as Ut,rz as V,An as Vi,Gl as Vn,ka as Vr,CP as Vt,XR as W,ge as Wi,Pl as Wn,ga as Wr,HN as Wt,yR as X,b as Xi,il as Xn,wi as Xr,yN as Xt,_R as Y,Te as Yi,ol as Yn,Ui as Yr,kN as Yt,lR as Z,y as Zi,rl as Zn,yi as Zr,mN as Zt,iB as _,tr as _i,GT as _n,As as _r,QI as _t,fB as a,g as aa,hr as ai,KA as an,Jc as ar,IL as at,dz as b,Kn as bi,eE as bn,X as br,OI as bt,eB as c,i as ca,rr as ci,Bk as cn,Xc as cr,BL as ct,tB as d,n as da,nr as di,UT as dn,Zc as dr,YI as dt,k as ea,gr as ei,uN as en,ml as er,JL as et,mB as f,Xn as fi,VT as fn,Hc as fr,JI as ft,aB as g,ar as gi,IT as gn,qc as gr,uL as gt,Zz as h,Bn as hi,QT as hn,Bc as hr,$I as ht,pB as i,_ as ia,Sr as ii,WA as in,Yc as ir,RL as it,az as j,Je as ji,bT as jn,U as jr,qF as jt,BR as k,Lt as ki,vT as kn,Z as kr,nI as kt,rB as l,a as la,Un as li,Yk as ln,zc as lr,jL as lt,nB as m,Gn as mi,ZT as mn,Rc as mr,qI as mt,Qz as n,u as na,mr as ni,oN as nn,dl as nr,QL as nt,hB as o,v as oa,yr as oi,mA as on,$c as or,PL as ot,sB as p,Hn as pi,$T as pn,Qc as pr,KI as pt,aR as q,Se as qi,pl as qn,Ri as qr,EN as qt,cB as r,h as ra,xr as ri,XM as rn,Vc as rr,XL as rt,lB as s,c as sa,ir as si,pA as sn,Uc as sr,zL as st,$z as t,l as ta,_r as ti,iN as tn,yl as tr,ZL as tt,Xz as u,o as ua,Vn as ui,cE as un,Wc as ur,_L as ut,dB as v,Yn as vi,nE as vn,cs as vr,jI as vt,JR as w,B as wi,WT as wn,G as wr,gI as wt,PR as x,qn as xi,LT as xn,H as xr,AI as xt,AR as y,Jn as yi,YT as yn,Co as yr,kI as yt,YR as z,Nn as zi,Eu as zn,xa as zr,DI as zt};