gps-plus-slam-app-framework 1.0.6 → 1.0.7

package/dist/ar/frame-loop.js

@@ -0,0 +1,40 @@
+//#region ../src/ar/frame-loop.ts
+const updates = /* @__PURE__ */ new Set();
+/**
+* Register a per-frame callback. Returns an unregister function.
+*
+* Registration is idempotent — calling with the same `fn` twice is a no-op
+* (it remains a single entry in the underlying `Set`).
+*/
+function registerFrameUpdate(fn) {
+	updates.add(fn);
+	return () => {
+		updates.delete(fn);
+	};
+}
+/**
+* Invoke all registered callbacks. Called by the WebXR session's
+* `onXRFrame` once per frame with the XR-derived `dt` (seconds since the
+* previous frame; 0 on the first frame after a reset) and `elapsed`
+* (seconds since the session started).
+*
+* The set is snapshotted before iterating so that
+* `registerFrameUpdate` / unregister calls made by a handler during the
+* same frame are deferred to the next tick. Iterating the live `Set`
+* would otherwise skip a not-yet-visited entry that an earlier handler
+* unregistered — a hard-to-debug source of non-determinism.
+*/
+function runFrameUpdates(dt, elapsed) {
+	const snapshot = Array.from(updates);
+	for (const fn of snapshot) fn(dt, elapsed);
+}
+/**
+* Clear all registrations. Called from `resetWebXRState()` so a fresh
+* session starts with an empty registry (any callbacks from the previous
+* session are dropped along with their owning components).
+*/
+function clearFrameUpdates() {
+	updates.clear();
+}
+//#endregion
+export { clearFrameUpdates, registerFrameUpdate, runFrameUpdates };

package/dist/ar/image-capture.d.ts

@@ -1,2 +1,2 @@
-import { a as ImageCaptureManager, i as ImageCaptureConfig, n as DEFAULT_CAPTURE_CONFIG, o as MIN_VALID_IMAGE_BYTES, r as ImageCaptureCallbacks, t as CapturedImage } from "../image-capture-2pKjYUS6.js";
+import { a as ImageCaptureManager, i as ImageCaptureConfig, n as DEFAULT_CAPTURE_CONFIG, o as MIN_VALID_IMAGE_BYTES, r as ImageCaptureCallbacks, t as CapturedImage } from "../image-capture-DZLxHDN9.js";
 export { CapturedImage, DEFAULT_CAPTURE_CONFIG, ImageCaptureCallbacks, ImageCaptureConfig, ImageCaptureManager, MIN_VALID_IMAGE_BYTES };

package/dist/ar/image-capture.js

@@ -92,7 +92,7 @@ var ImageCaptureManager = class {
 		if (!pose) return;
 		this.captureInProgress = true;
 		this.lastCaptureTime = time;
-		const timestamp = Date.now();
+		const timestamp = performance.timeOrigin + time;
 		const screenRotation = this.callbacks.getScreenRotation();
 		const frameIndex = ++this.frameCount;
 		this.captureTimeoutId = setTimeout(() => {

package/dist/ar/index.d.ts

@@ -1,12 +1,12 @@
-import { i as computeCaptureSize, n as CameraBlitCaptureConfig, r as DEFAULT_BLIT_CONFIG, t as CameraBlitCapture } from "../camera-blit-capture-DHuyrrxr.js";
-import { a as createCaptureFailureTracker, i as DEFAULT_CAPTURE_TRACKER_CONFIG, n as CaptureFailureTracker, r as CaptureFailureTrackerConfig, t as CAPTURE_FAILURE_WARNING } from "../capture-failure-tracker-2Q6oI2uQ.js";
-import { n as applyChromiumProjectionLayerWorkaround, t as ChromiumProjectionLayerWorkaroundResult } from "../chromium-camera-access-workaround-CU5zSKNr.js";
-import { i as DepthSamplerConfig, n as DepthSampler, r as DepthSamplerCallbacks, t as DepthInfo } from "../depth-sampler-BNCtnEoP.js";
-import { a as ImageCaptureManager, i as ImageCaptureConfig, n as DEFAULT_CAPTURE_CONFIG, o as MIN_VALID_IMAGE_BYTES, r as ImageCaptureCallbacks, t as CapturedImage } from "../image-capture-2pKjYUS6.js";
-import { a as getCameraFollower, c as getReplayState, d as updateOrbitTarget, i as getAlignmentLerper, l as initReplayScene, n as ReplaySceneState, o as getCameraMode, r as disposeReplayScene, t as CameraMode, u as toggleCameraMode } from "../replay-scene-DtUm6bsr.js";
-import { t as SCENE_NODE } from "../scene-node-names-DPsaE2z3.js";
-import { a as TrackingStateManager, i as TrackingStateCallbacks, r as TrackingState, t as DeviceOrientation } from "../tracking-state-B9QfuZCg.js";
-import { i as acquireCameraTexture, n as RendererLike, r as XRCameraLike, t as CameraTextureResult } from "../xr-camera-texture-BbukNE79.js";
-import { A as setTrackingLostCallback, D as setImageCaptureCallback, E as setFrameCallback, F as stopDepthCapture, I as stopImageCapture, N as startDepthCapture, P as startImageCapture, T as setDepthCaptureCallback, d as getDepthSampleCount, f as getImageCaptureFrameCount, g as initAR, i as endARSession, k as setTrackingCallbacks, p as getLiveCss3dManager } from "../webxr-session-COlSrXdL.js";
-import { n as XR_ERROR_MESSAGE_UNKNOWN, r as getXrErrorMessage, t as XR_ERROR_MESSAGES } from "../xr-error-handler-DTHfmvrl.js";
-export { CAPTURE_FAILURE_WARNING, CameraBlitCapture, type CameraBlitCaptureConfig, type CameraMode, type CameraTextureResult, type CaptureFailureTracker, type CaptureFailureTrackerConfig, type CapturedImage, type ChromiumProjectionLayerWorkaroundResult, DEFAULT_BLIT_CONFIG, DEFAULT_CAPTURE_CONFIG, DEFAULT_CAPTURE_TRACKER_CONFIG, type DepthInfo, DepthSampler, type DepthSamplerCallbacks, type DepthSamplerConfig, type DeviceOrientation, type ImageCaptureCallbacks, type ImageCaptureConfig, ImageCaptureManager, MIN_VALID_IMAGE_BYTES, type RendererLike, type ReplaySceneState, SCENE_NODE, TrackingState, type TrackingStateCallbacks, TrackingStateManager, type XRCameraLike, XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, acquireCameraTexture, applyChromiumProjectionLayerWorkaround, computeCaptureSize, createCaptureFailureTracker, disposeReplayScene, endARSession, getAlignmentLerper, getCameraFollower, getCameraMode, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getReplayState, getXrErrorMessage, initAR, initReplayScene, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, startDepthCapture, startImageCapture, stopDepthCapture, stopImageCapture, toggleCameraMode, updateOrbitTarget };
+import { i as computeCaptureSize, n as CameraBlitCaptureConfig, r as DEFAULT_BLIT_CONFIG, t as CameraBlitCapture } from "../camera-blit-capture-C1V9I1Z6.js";
+import { a as createCaptureFailureTracker, i as DEFAULT_CAPTURE_TRACKER_CONFIG, n as CaptureFailureTracker, r as CaptureFailureTrackerConfig, t as CAPTURE_FAILURE_WARNING } from "../capture-failure-tracker-JKb1ST8E.js";
+import { n as applyChromiumProjectionLayerWorkaround, t as ChromiumProjectionLayerWorkaroundResult } from "../chromium-camera-access-workaround-NvChXsi8.js";
+import { i as DepthSamplerConfig, n as DepthSampler, r as DepthSamplerCallbacks, t as DepthInfo } from "../depth-sampler-xg8vna6c.js";
+import { r as registerFrameUpdate, t as FrameUpdate } from "../frame-loop-QJIxLin0.js";
+import { a as ImageCaptureManager, i as ImageCaptureConfig, n as DEFAULT_CAPTURE_CONFIG, o as MIN_VALID_IMAGE_BYTES, r as ImageCaptureCallbacks, t as CapturedImage } from "../image-capture-DZLxHDN9.js";
+import { a as getCameraFollower, c as getReplayState, d as updateOrbitTarget, i as getAlignmentLerper, l as initReplayScene, n as ReplaySceneState, o as getCameraMode, r as disposeReplayScene, t as CameraMode, u as toggleCameraMode } from "../replay-scene-DpAGcAKY.js";
+import { t as SCENE_NODE } from "../scene-node-names-6LBjPmwz.js";
+import { i as acquireCameraTexture, n as RendererLike, r as XRCameraLike, t as CameraTextureResult } from "../xr-camera-texture-BU5YvKAM.js";
+import { A as setTrackingCallbacks, D as setFrameCallback, E as setDepthCaptureCallback, F as startDepthCapture, I as startImageCapture, L as stopDepthCapture, N as setTrackingStore, O as setImageCaptureCallback, R as stopImageCapture, _ as initAR, a as endARSession, f as getDepthSampleCount, j as setTrackingLostCallback, m as getLiveCss3dManager, p as getImageCaptureFrameCount } from "../webxr-session-DB5cIZnN.js";
+import { n as XR_ERROR_MESSAGE_UNKNOWN, r as getXrErrorMessage, t as XR_ERROR_MESSAGES } from "../xr-error-handler-CDY5QxGb.js";
+export { CAPTURE_FAILURE_WARNING, CameraBlitCapture, type CameraBlitCaptureConfig, type CameraMode, type CameraTextureResult, type CaptureFailureTracker, type CaptureFailureTrackerConfig, type CapturedImage, type ChromiumProjectionLayerWorkaroundResult, DEFAULT_BLIT_CONFIG, DEFAULT_CAPTURE_CONFIG, DEFAULT_CAPTURE_TRACKER_CONFIG, type DepthInfo, DepthSampler, type DepthSamplerCallbacks, type DepthSamplerConfig, type FrameUpdate, type ImageCaptureCallbacks, type ImageCaptureConfig, ImageCaptureManager, MIN_VALID_IMAGE_BYTES, type RendererLike, type ReplaySceneState, SCENE_NODE, type XRCameraLike, XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, acquireCameraTexture, applyChromiumProjectionLayerWorkaround, computeCaptureSize, createCaptureFailureTracker, disposeReplayScene, endARSession, getAlignmentLerper, getCameraFollower, getCameraMode, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getReplayState, getXrErrorMessage, initAR, initReplayScene, registerFrameUpdate, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, startDepthCapture, startImageCapture, stopDepthCapture, stopImageCapture, toggleCameraMode, updateOrbitTarget };

package/dist/ar/index.js

@@ -2,11 +2,11 @@ import { CameraBlitCapture, DEFAULT_BLIT_CONFIG, computeCaptureSize } from "./ca
 import { applyChromiumProjectionLayerWorkaround } from "./chromium-camera-access-workaround.js";
 import { CAPTURE_FAILURE_WARNING, DEFAULT_CAPTURE_TRACKER_CONFIG, createCaptureFailureTracker } from "./capture-failure-tracker.js";
 import { DepthSampler } from "./depth-sampler.js";
+import { registerFrameUpdate } from "./frame-loop.js";
 import { DEFAULT_CAPTURE_CONFIG, ImageCaptureManager, MIN_VALID_IMAGE_BYTES } from "./image-capture.js";
-import { TrackingState, TrackingStateManager } from "./tracking-state.js";
 import { acquireCameraTexture } from "./xr-camera-texture.js";
 import { SCENE_NODE } from "./scene-node-names.js";
-import { endARSession, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, initAR, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, startDepthCapture, startImageCapture, stopDepthCapture, stopImageCapture } from "./webxr-session.js";
+import { endARSession, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, initAR, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, startDepthCapture, startImageCapture, stopDepthCapture, stopImageCapture } from "./webxr-session.js";
 import { disposeReplayScene, getAlignmentLerper, getCameraFollower, getCameraMode, getReplayState, initReplayScene, toggleCameraMode, updateOrbitTarget } from "./replay-scene.js";
 import { XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, getXrErrorMessage } from "./xr-error-handler.js";
-export { CAPTURE_FAILURE_WARNING, CameraBlitCapture, DEFAULT_BLIT_CONFIG, DEFAULT_CAPTURE_CONFIG, DEFAULT_CAPTURE_TRACKER_CONFIG, DepthSampler, ImageCaptureManager, MIN_VALID_IMAGE_BYTES, SCENE_NODE, TrackingState, TrackingStateManager, XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, acquireCameraTexture, applyChromiumProjectionLayerWorkaround, computeCaptureSize, createCaptureFailureTracker, disposeReplayScene, endARSession, getAlignmentLerper, getCameraFollower, getCameraMode, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getReplayState, getXrErrorMessage, initAR, initReplayScene, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, startDepthCapture, startImageCapture, stopDepthCapture, stopImageCapture, toggleCameraMode, updateOrbitTarget };
+export { CAPTURE_FAILURE_WARNING, CameraBlitCapture, DEFAULT_BLIT_CONFIG, DEFAULT_CAPTURE_CONFIG, DEFAULT_CAPTURE_TRACKER_CONFIG, DepthSampler, ImageCaptureManager, MIN_VALID_IMAGE_BYTES, SCENE_NODE, XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, acquireCameraTexture, applyChromiumProjectionLayerWorkaround, computeCaptureSize, createCaptureFailureTracker, disposeReplayScene, endARSession, getAlignmentLerper, getCameraFollower, getCameraMode, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getReplayState, getXrErrorMessage, initAR, initReplayScene, registerFrameUpdate, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setTrackingCallbacks, setTrackingLostCallback, setTrackingStore, startDepthCapture, startImageCapture, stopDepthCapture, stopImageCapture, toggleCameraMode, updateOrbitTarget };

package/dist/ar/replay-scene.d.ts

@@ -1,2 +1,2 @@
-import { a as getCameraFollower, c as getReplayState, d as updateOrbitTarget, i as getAlignmentLerper, l as initReplayScene, n as ReplaySceneState, o as getCameraMode, r as disposeReplayScene, s as getCss3dManager, t as CameraMode, u as toggleCameraMode } from "../replay-scene-DtUm6bsr.js";
+import { a as getCameraFollower, c as getReplayState, d as updateOrbitTarget, i as getAlignmentLerper, l as initReplayScene, n as ReplaySceneState, o as getCameraMode, r as disposeReplayScene, s as getCss3dManager, t as CameraMode, u as toggleCameraMode } from "../replay-scene-DpAGcAKY.js";
 export { CameraMode, ReplaySceneState, disposeReplayScene, getAlignmentLerper, getCameraFollower, getCameraMode, getCss3dManager, getReplayState, initReplayScene, toggleCameraMode, updateOrbitTarget };

package/dist/ar/scene-node-names.d.ts

@@ -1,2 +1,2 @@
-import { t as SCENE_NODE } from "../scene-node-names-DPsaE2z3.js";
+import { t as SCENE_NODE } from "../scene-node-names-6LBjPmwz.js";
 export { SCENE_NODE };

package/dist/ar/webxr-session.d.ts

@@ -1,4 +1,4 @@
-import { i as DepthSample, t as ARPose } from "../ar-types-B-ORgk6Z.js";
-import { t as CapturedImage } from "../image-capture-2pKjYUS6.js";
-import { A as setTrackingLostCallback, C as setArWorldGroup, D as setImageCaptureCallback, E as setFrameCallback, F as stopDepthCapture, I as stopImageCapture, M as shouldLogCameraAccessDiagnostic, N as startDepthCapture, O as setScene, P as startImageCapture, S as setArPose, T as setDepthCaptureCallback, _ as isWebXRSupported, a as extractPoseFromViewer, b as nueQuaternionToWebXR, c as getArWorldGroup, d as getDepthSampleCount, f as getImageCaptureFrameCount, g as initAR, h as getXrCameraFromPose, i as endARSession, j as setTrackingRecoveredCallback, k as setTrackingCallbacks, l as getCamera, m as getScene, n as buildSessionOptions, o as extractResetTransformData, p as getLiveCss3dManager, r as createSceneHierarchy, s as getArPose, t as applyAlignmentMatrix, u as getCurrentArPose, v as isXRCameraLike, w as setCamera, x as resetWebXRState, y as nuePositionToWebXR } from "../webxr-session-COlSrXdL.js";
-export { ARPose, CapturedImage, DepthSample, applyAlignmentMatrix, buildSessionOptions, createSceneHierarchy, endARSession, extractPoseFromViewer, extractResetTransformData, getArPose, getArWorldGroup, getCamera, getCurrentArPose, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getScene, getXrCameraFromPose, initAR, isWebXRSupported, isXRCameraLike, nuePositionToWebXR, nueQuaternionToWebXR, resetWebXRState, setArPose, setArWorldGroup, setCamera, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setScene, setTrackingCallbacks, setTrackingLostCallback, setTrackingRecoveredCallback, shouldLogCameraAccessDiagnostic, startDepthCapture, startImageCapture, stopDepthCapture, stopImageCapture };
+import { i as DepthSample, t as ARPose } from "../ar-types-Ck8LEq8k.js";
+import { t as CapturedImage } from "../image-capture-DZLxHDN9.js";
+import { A as setTrackingCallbacks, C as setArPose, D as setFrameCallback, E as setDepthCaptureCallback, F as startDepthCapture, I as startImageCapture, L as stopDepthCapture, M as setTrackingRecoveredCallback, N as setTrackingStore, O as setImageCaptureCallback, P as shouldLogCameraAccessDiagnostic, R as stopImageCapture, S as resetWebXRState, T as setCamera, _ as initAR, a as endARSession, b as nuePositionToWebXR, c as getArPose, d as getCurrentArPose, f as getDepthSampleCount, g as getXrCameraFromPose, h as getScene, i as createSceneHierarchy, j as setTrackingLostCallback, k as setScene, l as getArWorldGroup, m as getLiveCss3dManager, n as applyAlignmentMatrix, o as extractPoseFromViewer, p as getImageCaptureFrameCount, r as buildSessionOptions, s as extractResetTransformData, t as TrackingSubscribableStore, u as getCamera, v as isWebXRSupported, w as setArWorldGroup, x as nueQuaternionToWebXR, y as isXRCameraLike } from "../webxr-session-DB5cIZnN.js";
+export { ARPose, CapturedImage, DepthSample, TrackingSubscribableStore, applyAlignmentMatrix, buildSessionOptions, createSceneHierarchy, endARSession, extractPoseFromViewer, extractResetTransformData, getArPose, getArWorldGroup, getCamera, getCurrentArPose, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getScene, getXrCameraFromPose, initAR, isWebXRSupported, isXRCameraLike, nuePositionToWebXR, nueQuaternionToWebXR, resetWebXRState, setArPose, setArWorldGroup, setCamera, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setScene, setTrackingCallbacks, setTrackingLostCallback, setTrackingRecoveredCallback, setTrackingStore, shouldLogCameraAccessDiagnostic, startDepthCapture, startImageCapture, stopDepthCapture, stopImageCapture };

package/dist/ar/webxr-session.js

@@ -2,8 +2,9 @@ import { createLogger } from "../utils/logger.js";
 import { CameraBlitCapture, computeCaptureSize } from "./camera-blit-capture.js";
 import { getLastDeviceOrientation } from "../state/gps-event-coordinator.js";
 import { DepthSampler } from "./depth-sampler.js";
+import { clearFrameUpdates, runFrameUpdates } from "./frame-loop.js";
 import { DEFAULT_CAPTURE_CONFIG, ImageCaptureManager } from "./image-capture.js";
-import { TrackingStateManager } from "./tracking-state.js";
+import { clearLastRestartedPayload, originReset, poseLost, poseReceived, resetTracking, selectLastRestartedPayload, selectTrackingPhase } from "../state/tracking-slice.js";
 import { acquireCameraTexture } from "./xr-camera-texture.js";
 import { DEFAULT_RECORDING_OPTIONS, validateArCrashIsolationOptions } from "../state/recording-options.js";
 import { SCENE_NODE } from "./scene-node-names.js";
@@ -84,6 +85,13 @@ let scene = null;
 let camera = null;
 let xrSession = null;
 /**
+* Monotonic time of the previous XR frame, in milliseconds (XR `time`
+* argument). Reset to 0 by `resetWebXRState()` so the first frame of a
+* new session sees `dt = 0` rather than a stale delta from the prior
+* session.
+*/
+let lastFrameTime = 0;
+/**
 * Reset WebXR module state - exported for testing only.
 * @internal
 */
@@ -100,12 +108,18 @@ function resetWebXRState() {
 	arWorldGroup = null;
 	arPoseNode = null;
 	latestArPose = null;
+	lastFrameTime = 0;
+	clearFrameUpdates();
 	imageCaptureManager = null;
 	onImageCaptured = null;
 	getScreenRotation = null;
 	onCaptureFailed = null;
 	onSuspiciousImage = null;
-	trackingStateManager = null;
+	if (trackingPhaseUnsubscribe) {
+		trackingPhaseUnsubscribe();
+		trackingPhaseUnsubscribe = null;
+	}
+	trackingStore = null;
 	onTrackingRestarted = null;
 	onTrackingLost = null;
 	onTrackingRecovered = null;
@@ -163,9 +177,22 @@ let onSuspiciousImage = null;
 */
 let getScreenRotation = null;
 /**
-* Tracking state manager (created when AR session starts with tracking callbacks)
+* Redux store injected by the host (`setTrackingStore`). When present
+* together with `onTrackingRestarted`, `onXRFrame` dispatches
+* `poseReceived`/`poseLost`, the XR reference-space reset listener
+* dispatches `originReset`, and a `subscribeToSelector` translation
+* surface translates phase transitions back into the existing
+* `onTrackingLost` / `onTrackingRestarted` / `onTrackingRecovered`
+* callbacks. When the store is absent the tracking pipeline simply
+* no-ops.
 */
-let trackingStateManager = null;
+let trackingStore = null;
+/**
+* Unsubscribe handle returned by the phase subscription set up in
+* `initAR`. Cleared in `resetWebXRState` and on session-end so we never
+* leave dangling listeners on a stale store.
+*/
+let trackingPhaseUnsubscribe = null;
 /**
 * Callback for when tracking restarts (set via setTrackingCallbacks)
 */
@@ -373,8 +400,18 @@ async function isWebXRSupported() {
 * basisChangeNode is a static scene-graph node that holds the WEBXR_TO_NUE
 * basis-change matrix permanently (matrixAutoUpdate=false). Moving it here
 * instead of composing it in applyAlignmentMatrix() keeps arWorldGroup's
-* local space as NUE: objects added directly to arWorldGroup can be placed
-* at [1,0,0]=North, [0,0,1]=East without any WebXR↔NUE conversion.
+* local space in the **NUE axis convention** (X=North, Y=Up, Z=East), so no
+* WebXR↔NUE swizzle is needed for children.
+*
+* CAUTION — two NUE frames: arWorldGroup's local space is the *AR-odometry*
+* NUE frame, i.e. the **domain** of the alignment matrix, NOT the GPS-world
+* NUE frame of the scene root. Only content authored in AR-odometry
+* coordinates (e.g. the camera subtree) may be placed with raw local values.
+* GPS-world content (a lat/lon → NUE point) is expressed in the scene-root
+* frame and must be pre-multiplied by alignment⁻¹ before being used as a
+* local position under arWorldGroup — see createGpsAnchor and the
+* alignment-frame bug doc
+* (GpsPlusSlamJs_Docs/docs/2026-05-31-gps-anchor-alignment-frame-bug.md).
 *
 * - Recording: arpose stays at identity; WebXRManager writes to camera.
 * - Replay: arpose receives recorded odomPosition/odomRotation;
@@ -415,6 +452,7 @@ function createSceneHierarchy() {
 */
 async function initAR(container, isolationOptions = {}) {
 	if (!navigator.xr) throw new Error("WebXR not available");
+	if (renderer || xrSession) throw new Error("AR session already initialized — call endARSession() before initAR() again");
 	currentArCrashIsolationOptions = validateArCrashIsolationOptions(isolationOptions);
 	renderer = new THREE.WebGLRenderer({
 		antialias: true,
@@ -434,40 +472,19 @@ async function initAR(container, isolationOptions = {}) {
 	xrSession = await navigator.xr.requestSession("immersive-ar", sessionOptions);
 	xrSession.addEventListener("end", () => {
 		log.info("Session ended");
-		if (trackingStateManager) trackingStateManager.reset();
+		if (trackingStore) trackingStore.dispatch(resetTracking());
 		xrSession = null;
 		latestArPose = null;
 	});
 	await renderer.xr.setSession(xrSession);
-	if (onTrackingRestarted) {
-		trackingStateManager = new TrackingStateManager({
-			onTrackingLost: () => {
-				log.warn("Tracking lost");
-				latestArPose = null;
-				onTrackingLost?.();
-			},
-			onTrackingRestarted: (payload) => {
-				log.info("Tracking restarted (origin reset)");
-				onTrackingRestarted?.(payload);
-			},
-			onTrackingRecovered: () => {
-				log.info("Tracking recovered (same coordinate frame)");
-				onTrackingRecovered?.();
-			},
-			getDeviceOrientation: () => {
-				const orientation = getLastDeviceOrientation();
-				return {
-					alpha: orientation?.alpha ?? 0,
-					beta: orientation?.beta ?? 0,
-					gamma: orientation?.gamma ?? 0,
-					absolute: orientation?.absolute ?? false
-				};
-			}
-		});
+	if (onTrackingRestarted && trackingStore) {
+		const store = trackingStore;
+		store.dispatch(resetTracking());
+		trackingPhaseUnsubscribe = subscribeToTrackingPhase(store);
 		const referenceSpace = renderer.xr.getReferenceSpace();
 		if (referenceSpace) referenceSpace.addEventListener("reset", (event) => {
 			const transformData = extractResetTransformData(event);
-			trackingStateManager?.markOriginReset(transformData);
+			store.dispatch(originReset(transformData));
 			log.warn("XR reference space reset detected", transformData ? "(transform available)" : "(no transform)");
 		});
 	}
@@ -480,12 +497,72 @@ async function initAR(container, isolationOptions = {}) {
 	log.info("AR session started");
 }
 /**
-* Update tracking state manager with current pose state.
+* Snapshot the current `DeviceOrientation` (with documented fallback
+* defaults) for inclusion in `poseReceived` payloads.
+*/
+function snapshotDeviceOrientation() {
+	const orientation = getLastDeviceOrientation();
+	return {
+		alpha: orientation?.alpha ?? 0,
+		beta: orientation?.beta ?? 0,
+		gamma: orientation?.gamma ?? 0,
+		absolute: orientation?.absolute ?? false
+	};
+}
+/**
+* Wire the tracking-slice → host-callbacks translation. The subscriber
+* runs synchronously inside each `dispatch`, so the host callbacks fire
+* in the same order as a direct invocation would.
+*
+* Translation rules (locked in by tracking-slice tests):
+*   - `tracking → lost`: clear `latestArPose` (drops in-flight GPS events)
+*     and call `onTrackingLost?.()`.
+*   - `lost → tracking` with `lastRestartedPayload !== null` (Case 2):
+*     call `onTrackingRestarted?.(payload)` then dispatch
+*     `clearLastRestartedPayload` so a subsequent loss cycle starts clean.
+*   - `lost → tracking` with payload null (Case 1: seamless recovery):
+*     call `onTrackingRecovered?.()`.
+*   - `initializing → tracking`: no callback (initial acquisition is not
+*     a restart — same behaviour as the manager).
+*/
+function subscribeToTrackingPhase(store) {
+	let prev = "initializing";
+	return store.subscribe(() => {
+		const next = selectTrackingPhase(store.getState());
+		if (next === prev) return;
+		const previous = prev;
+		prev = next;
+		if (previous === "tracking" && next === "lost") {
+			log.warn("Tracking lost");
+			latestArPose = null;
+			onTrackingLost?.();
+			return;
+		}
+		if (previous === "lost" && next === "tracking") {
+			const payload = selectLastRestartedPayload(store.getState());
+			if (payload !== null) {
+				log.info("Tracking restarted (origin reset)");
+				onTrackingRestarted?.(payload);
+				store.dispatch(clearLastRestartedPayload());
+			} else {
+				log.info("Tracking recovered (same coordinate frame)");
+				onTrackingRecovered?.();
+			}
+		}
+	});
+}
+/**
+* Dispatch the per-frame `poseReceived` / `poseLost` action into the
+* tracking slice. No-op when no store is bound or when tracking wiring
+* was not requested.
 */
 function updateTrackingState(arPose) {
-	if (!trackingStateManager) return;
-	if (arPose) trackingStateManager.onPoseReceived(arPose);
-	else trackingStateManager.onPoseLost();
+	if (!trackingStore || !onTrackingRestarted) return;
+	if (arPose) trackingStore.dispatch(poseReceived({
+		pose: arPose,
+		sensorOrientation: snapshotDeviceOrientation()
+	}));
+	else trackingStore.dispatch(poseLost());
 }
 /**
 * Called each XR frame
@@ -497,6 +574,10 @@ function onXRFrame(time, frame) {
 	const pose = frame.getViewerPose(referenceSpace);
 	const arPose = extractPoseFromViewer(pose);
 	updateTrackingState(arPose);
+	const dt = lastFrameTime === 0 ? 0 : (time - lastFrameTime) / 1e3;
+	const elapsed = time / 1e3;
+	lastFrameTime = time;
+	runFrameUpdates(dt, elapsed);
 	if (arPose) latestArPose = arPose;
 	latestCameraTexture = null;
 	if (currentArCrashIsolationOptions.enableCameraTextureAcquisition) {
@@ -703,27 +784,20 @@ function nueQuaternionToWebXR(nue) {
 /**
 * End the current XR session and clean up all resources.
 *
-* Stops the animation loop, disposes the WebGL renderer, removes the
-* canvas from the DOM, and tears down the CSS3D overlay. This is the
-* production cleanup path — call it when the AR experience is finished.
+* Stops the animation loop, ends the XR session, then delegates the full
+* teardown to {@link resetWebXRState} so every module-level reference is
+* cleared (renderer/scene/camera, image-capture, depth, the tracking-phase
+* subscription, the frame-update registry, diagnostics, blit resources).
+* This is the production cleanup path — call it when the AR experience is
+* finished.
 */
 async function endARSession() {
 	if (renderer) renderer.setAnimationLoop(null);
-	if (xrSession) {
-		await xrSession.end();
-		xrSession = null;
-	}
-	latestArPose = null;
-	if (css3dManager) {
-		css3dManager.dispose();
-		css3dManager = null;
-	}
-	if (renderer) {
-		if (renderer.domElement.parentElement) renderer.domElement.parentElement.removeChild(renderer.domElement);
-		renderer.dispose();
-		renderer = null;
+	try {
+		if (xrSession) await xrSession.end();
+	} finally {
+		resetWebXRState();
 	}
-	cleanupBlitResources();
 }
 /**
 * Set up image capture callbacks.
@@ -755,6 +829,10 @@ function startImageCapture(config, resolutionDivisor = 1) {
 		log.warn("Cannot start image capture - callbacks not set");
 		return;
 	}
+	if (imageCaptureManager || blitCapture) {
+		log.warn("Image capture already running - stopping previous session");
+		stopImageCapture();
+	}
 	const callbacks = {
 		getCurrentPose: getCurrentArPose,
 		getScreenRotation,
@@ -802,6 +880,23 @@ function getImageCaptureFrameCount() {
 	return imageCaptureManager?.getFrameCount() ?? 0;
 }
 /**
+* Inject the Redux store used by the tracking-state slice pipeline.
+*
+* MUST be called before `initAR()` whenever the host also wires tracking
+* callbacks via `setTrackingCallbacks`. Without a store the tracking
+* pipeline silently no-ops.
+*
+* @param store — any store satisfying {@link TrackingSubscribableStore}.
+*   `null` clears the binding (useful for teardown in tests).
+*/
+function setTrackingStore(store) {
+	if (trackingPhaseUnsubscribe) {
+		trackingPhaseUnsubscribe();
+		trackingPhaseUnsubscribe = null;
+	}
+	trackingStore = store;
+}
+/**
 * Set up tracking state callbacks.
 * Call this BEFORE initAR() to enable tracking restart detection.
 *
@@ -887,4 +982,4 @@ function getLiveCss3dManager() {
 	return css3dManager;
 }
 //#endregion
-export { applyAlignmentMatrix, buildSessionOptions, createSceneHierarchy, endARSession, extractPoseFromViewer, extractResetTransformData, getArPose, getArWorldGroup, getCamera, getCurrentArPose, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getScene, getXrCameraFromPose, initAR, isWebXRSupported, isXRCameraLike, nuePositionToWebXR, nueQuaternionToWebXR, resetWebXRState, setArPose, setArWorldGroup, setCamera, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setScene, setTrackingCallbacks, setTrackingLostCallback, setTrackingRecoveredCallback, shouldLogCameraAccessDiagnostic, startDepthCapture, startImageCapture, stopDepthCapture, stopImageCapture };
+export { applyAlignmentMatrix, buildSessionOptions, createSceneHierarchy, endARSession, extractPoseFromViewer, extractResetTransformData, getArPose, getArWorldGroup, getCamera, getCurrentArPose, getDepthSampleCount, getImageCaptureFrameCount, getLiveCss3dManager, getScene, getXrCameraFromPose, initAR, isWebXRSupported, isXRCameraLike, nuePositionToWebXR, nueQuaternionToWebXR, resetWebXRState, setArPose, setArWorldGroup, setCamera, setDepthCaptureCallback, setFrameCallback, setImageCaptureCallback, setScene, setTrackingCallbacks, setTrackingLostCallback, setTrackingRecoveredCallback, setTrackingStore, shouldLogCameraAccessDiagnostic, startDepthCapture, startImageCapture, stopDepthCapture, stopImageCapture };

package/dist/ar/xr-camera-texture.d.ts

@@ -1,2 +1,2 @@
-import { i as acquireCameraTexture, n as RendererLike, r as XRCameraLike, t as CameraTextureResult } from "../xr-camera-texture-BbukNE79.js";
+import { i as acquireCameraTexture, n as RendererLike, r as XRCameraLike, t as CameraTextureResult } from "../xr-camera-texture-BU5YvKAM.js";
 export { CameraTextureResult, RendererLike, XRCameraLike, acquireCameraTexture };

package/dist/ar/xr-error-handler.d.ts

@@ -1,2 +1,2 @@
-import { n as XR_ERROR_MESSAGE_UNKNOWN, r as getXrErrorMessage, t as XR_ERROR_MESSAGES } from "../xr-error-handler-DTHfmvrl.js";
+import { n as XR_ERROR_MESSAGE_UNKNOWN, r as getXrErrorMessage, t as XR_ERROR_MESSAGES } from "../xr-error-handler-CDY5QxGb.js";
 export { XR_ERROR_MESSAGES, XR_ERROR_MESSAGE_UNKNOWN, getXrErrorMessage };

package/dist/core/index.d.ts

@@ -1,2 +1,2 @@
-import { GpsPoint, LatLong, LatLongAlt, Matrix4, Quaternion, RootState, RootState as LibraryRootState, Vector3, calcGpsCoords, createGpsSlamStore, isIdentityMatrix4, odometryTrackingRestarted, validateLicenseKey, webxrToNUE } from "gps-plus-slam-js";
-export { type GpsPoint, type LatLong, type LatLongAlt, type LibraryRootState, type Matrix4, type Quaternion, type RootState, type Vector3, calcGpsCoords, createGpsSlamStore, isIdentityMatrix4, odometryTrackingRestarted, validateLicenseKey, webxrToNUE };
+import { a as LibraryRootState, c as RootState, d as calcRelativeCoordsInMeters, f as createGpsSlamStore, g as webxrToNUE, h as validateLicenseKey, i as LatLongAlt, l as Vector3, m as odometryTrackingRestarted, n as GpsPoint, o as Matrix4, p as isIdentityMatrix4, r as LatLong, s as Quaternion, t as ArImageCapture, u as calcGpsCoords } from "../index-gzWJMVpo.js";
+export { ArImageCapture, GpsPoint, LatLong, LatLongAlt, LibraryRootState, Matrix4, Quaternion, RootState, Vector3, calcGpsCoords, calcRelativeCoordsInMeters, createGpsSlamStore, isIdentityMatrix4, odometryTrackingRestarted, validateLicenseKey, webxrToNUE };

package/dist/core/index.js

@@ -1,2 +1,2 @@
-import { calcGpsCoords, createGpsSlamStore, isIdentityMatrix4, odometryTrackingRestarted, validateLicenseKey, webxrToNUE } from "gps-plus-slam-js";
-export { calcGpsCoords, createGpsSlamStore, isIdentityMatrix4, odometryTrackingRestarted, validateLicenseKey, webxrToNUE };
+import { calcGpsCoords, calcRelativeCoordsInMeters, createGpsSlamStore, isIdentityMatrix4, odometryTrackingRestarted, validateLicenseKey, webxrToNUE } from "gps-plus-slam-js";
+export { calcGpsCoords, calcRelativeCoordsInMeters, createGpsSlamStore, isIdentityMatrix4, odometryTrackingRestarted, validateLicenseKey, webxrToNUE };