npm - mjswan - Versions diffs - 0.8.1-beta.0 → 0.8.1 - Mend

mjswan 0.8.1-beta.0 → 0.8.1

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (6) hide show

package/dist/assets/{index-gYT_EbJW.js → index-B7_87iWG.js} +2 -2
package/dist/index.html +1 -1
package/dist/manifest.js +7 -4
package/package.json +1 -1
package/src/manifest/index.test.ts +15 -6
package/src/manifest/index.ts +16 -7

package/dist/assets/{index-gYT_EbJW.js → index-B7_87iWG.js} RENAMED Viewed

@@ -58,7 +58,7 @@ ${o?`${s(`light`)}{${o}}`:``}`}function Qn({color:e,theme:t,autoContrast:n}){ret
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eb().set(.4123908,.3575843,.1804808,.212639,.7151687,.0721923,.0193308,.1191948,.9505322),rb=new eb().set(3.2409699,-1.5373832,-.4986108,-.9692436,1.8759675,.0415551,.0556301,-.203977,1.0569715);function ib(){let e={enabled:!0,workingColorSpace:Rv,spaces:{},convert:function(e,t,n){return this.enabled===!1||t===n||!t||!n?e:(this.spaces[t].transfer===`srgb`&&(e.r=ob(e.r),e.g=ob(e.g),e.b=ob(e.b)),this.spaces[t].primaries!==this.spaces[n].primaries&&(e.applyMatrix3(this.spaces[t].toXYZ),e.applyMatrix3(this.spaces[n].fromXYZ)),this.spaces[n].transfer===`srgb`&&(e.r=sb(e.r),e.g=sb(e.g),e.b=sb(e.b)),e)},workingToColorSpace:function(e,t){return this.convert(e,this.workingColorSpace,t)},colorSpaceToWorking:function(e,t){return this.convert(e,t,this.workingColorSpace)},getPrimaries:function(e){return this.spaces[e].primaries},getTransfer:function(e){return e===``?zv:this.spaces[e].transfer},getToneMappingMode:function(e){return this.spaces[e].outputColorSpaceConfig.toneMappingMode||`standard`},getLuminanceCoefficients:function(e,t=this.workingColorSpace){return e.fromArray(this.spaces[t].luminanceCoefficients)},define:function(e){Object.assign(this.spaces,e)},_getMatrix:function(e,t,n){return e.copy(this.spaces[t].toXYZ).multiply(this.spaces[n].fromXYZ)},_getDrawingBufferColorSpace:function(e){return this.spaces[e].outputColorSpaceConfig.drawingBufferColorSpace},_getUnpackColorSpace:function(e=this.workingColorSpace){return this.spaces[e].workingColorSpaceConfig.unpackColorSpace},fromWorkingColorSpace:function(t,n){return xy(`ColorManagement: .fromWorkingColorSpace() has been renamed to .workingToColorSpace().`),e.workingToColorSpace(t,n)},toWorkingColorSpace:function(t,n){return xy(`ColorManagement: .toWorkingColorSpace() has been renamed to .colorSpaceToWorking().`),e.colorSpaceToWorking(t,n)}},t=[.64,.33,.3,.6,.15,.06],n=[.2126,.7152,.0722],r=[.3127,.329];return e.define({[Rv]:{primaries:t,whitePoint:r,transfer:zv,toXYZ:nb,fromXYZ:rb,luminanceCoefficients:n,workingColorSpaceConfig:{unpackColorSpace:Lv},outputColorSpaceConfig:{drawingBufferColorSpace:Lv}},[Lv]:{primaries:t,whitePoint:r,transfer:Bv,toXYZ:nb,fromXYZ:rb,luminanceCoefficients:n,outputColorSpaceConfig:{drawingBufferColorSpace:Lv}}}),e}var ab=ib();function ob(e){return e<.04045?e*.0773993808:(e*.9478672986+.0521327014)**2.4}function sb(e){return e<.0031308?e*12.92:1.055*e**.41666-.055}var cb,lb=class{static getDataURL(e,t=`image/png`){if(/^data:/i.test(e.src)||typeof HTMLCanvasElement>`u`)return e.src;let n;if(e instanceof HTMLCanvasElement)n=e;else{cb===void 0&&(cb=fy(`canvas`)),cb.width=e.width,cb.height=e.height;let t=cb.getContext(`2d`);e instanceof ImageData?t.putImageData(e,0,0):t.drawImage(e,0,0,e.width,e.height),n=cb}return n.toDataURL(t)}static sRGBToLinear(e){if(typeof HTMLImageElement<`u`&&e instanceof HTMLImageElement||typeof HTMLCanvasElement<`u`&&e instanceof HTMLCanvasElement||typeof ImageBitmap<`u`&&e instanceof ImageBitmap){let t=fy(`canvas`);t.width=e.width,t.height=e.height;let n=t.getContext(`2d`);n.drawImage(e,0,0,e.width,e.height);let r=n.getImageData(0,0,e.width,e.height),i=r.data;for(let e=0;e<i.length;e++)i[e]=ob(i[e]/255)*255;return n.putImageData(r,0,0),t}else if(e.data){let t=e.data.slice(0);for(let e=0;e<t.length;e++)t instanceof Uint8Array||t instanceof Uint8ClampedArray?t[e]=Math.floor(ob(t[e]/255)*255):t[e]=ob(t[e]);return{data:t,width:e.width,height:e.height}}else return yy(`ImageUtils.sRGBToLinear(): Unsupported image type. No color space conversion applied.`),e}},ub=0,db=class{constructor(e=null){this.isSource=!0,Object.defineProperty(this,"id",{value:ub++}),this.uuid=Oy(),this.data=e,this.dataReady=!0,this.version=0}getSize(e){let t=this.data;return typeof HTMLVideoElement<`u`&&t instanceof HTMLVideoElement?e.set(t.videoWidth,t.videoHeight,0):t instanceof VideoFrame?e.set(t.displayHeight,t.displayWidth,0):t===null?e.set(0,0,0):e.set(t.width,t.height,t.depth||0),e}set needsUpdate(e){e===!0&&this.version++}toJSON(e){let t=e===void 0||typeof e==`string`;if(!t&&e.images[this.uuid]!==void 0)return e.images[this.uuid];let n={uuid:this.uuid,url:``},r=this.data;if(r!==null){let e;if(Array.isArray(r)){e=[];for(let t=0,n=r.length;t<n;t++)r[t].isDataTexture?e.push(fb(r[t].image)):e.push(fb(r[t]))}else e=fb(r);n.url=e}return t||(e.images[this.uuid]=n),n}};function fb(e){return typeof HTMLImageElement<`u`&&e instanceof HTMLImageElement||typeof HTMLCanvasElement<`u`&&e instanceof HTMLCanvasElement||typeof ImageBitmap<`u`&&e instanceof ImageBitmap?lb.getDataURL(e):e.data?{data:Array.from(e.data),width:e.width,height:e.height,type:e.data.constructor.name}:(yy(`Texture: Unable to serialize Texture.`),{})}var pb=0,mb=new Y,hb=class e extends Cy{constructor(t=e.DEFAULT_IMAGE,n=e.DEFAULT_MAPPING,r=c_,i=c_,a=h_,o=v_,s=F_,c=b_,l=e.DEFAULT_ANISOTROPY,u=``){super(),this.isTexture=!0,Object.defineProperty(this,"id",{value:pb++}),this.uuid=Oy(),this.name=``,this.source=new db(t),this.mipmaps=[],this.mapping=n,this.channel=0,this.wrapS=r,this.wrapT=i,this.magFilter=a,this.minFilter=o,this.anisotropy=l,this.format=s,this.internalFormat=null,this.type=c,this.offset=new J(0,0),this.repeat=new J(1,1),this.center=new J(0,0),this.rotation=0,this.matrixAutoUpdate=!0,this.matrix=new eb,this.generateMipmaps=!0,this.premultiplyAlpha=!1,this.flipY=!0,this.unpackAlignment=4,this.colorSpace=u,this.userData={},this.updateRanges=[],this.version=0,this.onUpdate=null,this.renderTarget=null,this.isRenderTargetTexture=!1,this.isArrayTexture=!!(t&&t.depth&&t.depth>1),this.pmremVersion=0}get width(){return this.source.getSize(mb).x}get height(){return this.source.getSize(mb).y}get depth(){return this.source.getSize(mb).z}get image(){return this.source.data}set image(e=null){this.source.data=e}updateMatrix(){this.matrix.setUvTransform(this.offset.x,this.offset.y,this.repeat.x,this.repeat.y,this.rotation,this.center.x,this.center.y)}addUpdateRange(e,t){this.updateRanges.push({start:e,count:t})}clearUpdateRanges(){this.updateRanges.length=0}clone(){return new this.constructor().copy(this)}copy(e){return this.name=e.name,this.source=e.source,this.mipmaps=e.mipmaps.slice(0),this.mapping=e.mapping,this.channel=e.channel,this.wrapS=e.wrapS,this.wrapT=e.wrapT,this.magFilter=e.magFilter,this.minFilter=e.minFilter,this.anisotropy=e.anisotropy,this.format=e.format,this.internalFormat=e.internalFormat,this.type=e.type,this.offset.copy(e.offset),this.repeat.copy(e.repeat),this.center.copy(e.center),this.rotation=e.rotation,this.matrixAutoUpdate=e.matrixAutoUpdate,this.matrix.copy(e.matrix),this.generateMipmaps=e.generateMipmaps,this.premultiplyAlpha=e.premultiplyAlpha,this.flipY=e.flipY,this.unpackAlignment=e.unpackAlignment,this.colorSpace=e.colorSpace,this.renderTarget=e.renderTarget,this.isRenderTargetTexture=e.isRenderTargetTexture,this.isArrayTexture=e.isArrayTexture,this.userData=JSON.parse(JSON.stringify(e.userData)),this.needsUpdate=!0,this}setValues(e){for(let t in e){let n=e[t];if(n===void 0){yy(`Texture.setValues(): parameter '${t}' has value of undefined.`);continue}let r=this[t];if(r===void 0){yy(`Texture.setValues(): property '${t}' does not exist.`);continue}r&&n&&r.isVector2&&n.isVector2||r&&n&&r.isVector3&&n.isVector3||r&&n&&r.isMatrix3&&n.isMatrix3?r.copy(n):this[t]=n}}toJSON(e){let t=e===void 0||typeof e==`string`;if(!t&&e.textures[this.uuid]!==void 0)return e.textures[this.uuid];let n={metadata:{version:4.7,type:`Texture`,generator:`Texture.toJSON`},uuid:this.uuid,name:this.name,image:this.source.toJSON(e).uuid,mapping:this.mapping,channel:this.channel,repeat:[this.repeat.x,this.repeat.y],offset:[this.offset.x,this.offset.y],center:[this.center.x,this.center.y],rotation:this.rotation,wrap:[this.wrapS,this.wrapT],format:this.format,internalFormat:this.internalFormat,type:this.type,colorSpace:this.colorSpace,minFilter:this.minFilter,magFilter:this.magFilter,anisotropy:this.anisotropy,flipY:this.flipY,generateMipmaps:this.generateMipmaps,premultiplyAlpha:this.premultiplyAlpha,unpackAlignment:this.unpackAlignment};return Object.keys(this.userData).length>0&&(n.userData=this.userData),t||(e.textures[this.uuid]=n),n}dispose(){this.dispatchEvent({type:`dispose`})}transformUv(e){if(this.mapping!==300)return e;if(e.applyMatrix3(this.matrix),e.x<0||e.x>1)switch(this.wrapS){case s_:e.x-=Math.floor(e.x);break;case c_:e.x=e.x<0?0:1;break;case l_:Math.abs(Math.floor(e.x)%2)===1?e.x=Math.ceil(e.x)-e.x:e.x-=Math.floor(e.x);break}if(e.y<0||e.y>1)switch(this.wrapT){case s_:e.y-=Math.floor(e.y);break;case c_:e.y=e.y<0?0:1;break;case l_:Math.abs(Math.floor(e.y)%2)===1?e.y=Math.ceil(e.y)-e.y:e.y-=Math.floor(e.y);break}return this.flipY&&(e.y=1-e.y),e}set needsUpdate(e){e===!0&&(this.version++,this.source.needsUpdate=!0)}set needsPMREMUpdate(e){e===!0&&this.pmremVersion++}};hb.DEFAULT_IMAGE=null,hb.DEFAULT_MAPPING=300,hb.DEFAULT_ANISOTROPY=1;var gb=class e{constructor(t=0,n=0,r=0,i=1){e.prototype.isVector4=!0,this.x=t,this.y=n,this.z=r,this.w=i}get width(){return this.z}set width(e){this.z=e}get height(){return 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t,n,r,i,a=.01,o=.1,s=e.elements,c=s[0],l=s[4],u=s[8],d=s[1],f=s[5],p=s[9],m=s[2],h=s[6],g=s[10];if(Math.abs(l-d)<a&&Math.abs(u-m)<a&&Math.abs(p-h)<a){if(Math.abs(l+d)<o&&Math.abs(u+m)<o&&Math.abs(p+h)<o&&Math.abs(c+f+g-3)<o)return this.set(1,0,0,0),this;t=Math.PI;let e=(c+1)/2,s=(f+1)/2,_=(g+1)/2,v=(l+d)/4,y=(u+m)/4,b=(p+h)/4;return e>s&&e>_?e<a?(n=0,r=.707106781,i=.707106781):(n=Math.sqrt(e),r=v/n,i=y/n):s>_?s<a?(n=.707106781,r=0,i=.707106781):(r=Math.sqrt(s),n=v/r,i=b/r):_<a?(n=.707106781,r=.707106781,i=0):(i=Math.sqrt(_),n=y/i,r=b/i),this.set(n,r,i,t),this}let _=Math.sqrt((h-p)*(h-p)+(u-m)*(u-m)+(d-l)*(d-l));return Math.abs(_)<.001&&(_=1),this.x=(h-p)/_,this.y=(u-m)/_,this.z=(d-l)/_,this.w=Math.acos((c+f+g-1)/2),this}setFromMatrixPosition(e){let t=e.elements;return this.x=t[12],this.y=t[13],this.z=t[14],this.w=t[15],this}min(e){return this.x=Math.min(this.x,e.x),this.y=Math.min(this.y,e.y),this.z=Math.min(this.z,e.z),this.w=Math.min(this.w,e.w),this}max(e){return this.x=Math.max(this.x,e.x),this.y=Math.max(this.y,e.y),this.z=Math.max(this.z,e.z),this.w=Math.max(this.w,e.w),this}clamp(e,t){return this.x=ky(this.x,e.x,t.x),this.y=ky(this.y,e.y,t.y),this.z=ky(this.z,e.z,t.z),this.w=ky(this.w,e.w,t.w),this}clampScalar(e,t){return this.x=ky(this.x,e,t),this.y=ky(this.y,e,t),this.z=ky(this.z,e,t),this.w=ky(this.w,e,t),this}clampLength(e,t){let n=this.length();return this.divideScalar(n||1).multiplyScalar(ky(n,e,t))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this.w=Math.floor(this.w),this}ceil(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this.w=Math.ceil(this.w),this}round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this.w=Math.round(this.w),this}roundToZero(){return this.x=Math.trunc(this.x),this.y=Math.trunc(this.y),this.z=Math.trunc(this.z),this.w=Math.trunc(this.w),this}negate(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this.w=-this.w,this}dot(e){return this.x*e.x+this.y*e.y+this.z*e.z+this.w*e.w}lengthSq(){return this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w}length(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)}manhattanLength(){return Math.abs(this.x)+Math.abs(this.y)+Math.abs(this.z)+Math.abs(this.w)}normalize(){return this.divideScalar(this.length()||1)}setLength(e){return this.normalize().multiplyScalar(e)}lerp(e,t){return this.x+=(e.x-this.x)*t,this.y+=(e.y-this.y)*t,this.z+=(e.z-this.z)*t,this.w+=(e.w-this.w)*t,this}lerpVectors(e,t,n){return this.x=e.x+(t.x-e.x)*n,this.y=e.y+(t.y-e.y)*n,this.z=e.z+(t.z-e.z)*n,this.w=e.w+(t.w-e.w)*n,this}equals(e){return e.x===this.x&&e.y===this.y&&e.z===this.z&&e.w===this.w}fromArray(e,t=0){return this.x=e[t],this.y=e[t+1],this.z=e[t+2],this.w=e[t+3],this}toArray(e=[],t=0){return e[t]=this.x,e[t+1]=this.y,e[t+2]=this.z,e[t+3]=this.w,e}fromBufferAttribute(e,t){return this.x=e.getX(t),this.y=e.getY(t),this.z=e.getZ(t),this.w=e.getW(t),this}random(){return this.x=Math.random(),this.y=Math.random(),this.z=Math.random(),this.w=Math.random(),this}*[Symbol.iterator](){yield this.x,yield this.y,yield this.z,yield this.w}},_b=class extends Cy{constructor(e=1,t=1,n={}){super(),n=Object.assign({generateMipmaps:!1,internalFormat:null,minFilter:h_,depthBuffer:!0,stencilBuffer:!1,resolveDepthBuffer:!0,resolveStencilBuffer:!0,depthTexture:null,samples:0,count:1,depth:1,multiview:!1},n),this.isRenderTarget=!0,this.width=e,this.height=t,this.depth=n.depth,this.scissor=new gb(0,0,e,t),this.scissorTest=!1,this.viewport=new gb(0,0,e,t);let r=new hb({width:e,height:t,depth:n.depth});this.textures=[];let i=n.count;for(let e=0;e<i;e++)this.textures[e]=r.clone(),this.textures[e].isRenderTargetTexture=!0,this.textures[e].renderTarget=this;this._setTextureOptions(n),this.depthBuffer=n.depthBuffer,this.stencilBuffer=n.stencilBuffer,this.resolveDepthBuffer=n.resolveDepthBuffer,this.resolveStencilBuffer=n.resolveStencilBuffer,this._depthTexture=null,this.depthTexture=n.depthTexture,this.samples=n.samples,this.multiview=n.multiview}_setTextureOptions(e={}){let t={minFilter:h_,generateMipmaps:!1,flipY:!1,internalFormat:null};e.mapping!==void 0&&(t.mapping=e.mapping),e.wrapS!==void 0&&(t.wrapS=e.wrapS),e.wrapT!==void 0&&(t.wrapT=e.wrapT),e.wrapR!==void 0&&(t.wrapR=e.wrapR),e.magFilter!==void 0&&(t.magFilter=e.magFilter),e.minFilter!==void 0&&(t.minFilter=e.minFilter),e.format!==void 0&&(t.format=e.format),e.type!==void 0&&(t.type=e.type),e.anisotropy!==void 0&&(t.anisotropy=e.anisotropy),e.colorSpace!==void 0&&(t.colorSpace=e.colorSpace),e.flipY!==void 0&&(t.flipY=e.flipY),e.generateMipmaps!==void 0&&(t.generateMipmaps=e.generateMipmaps),e.internalFormat!==void 0&&(t.internalFormat=e.internalFormat);for(let e=0;e<this.textures.length;e++)this.textures[e].setValues(t)}get texture(){return this.textures[0]}set texture(e){this.textures[0]=e}set depthTexture(e){this._depthTexture!==null&&(this._depthTexture.renderTarget=null),e!==null&&(e.renderTarget=this),this._depthTexture=e}get depthTexture(){return this._depthTexture}setSize(e,t,n=1){if(this.width!==e||this.height!==t||this.depth!==n){this.width=e,this.height=t,this.depth=n;for(let r=0,i=this.textures.length;r<i;r++)this.textures[r].image.width=e,this.textures[r].image.height=t,this.textures[r].image.depth=n,this.textures[r].isData3DTexture!==!0&&(this.textures[r].isArrayTexture=this.textures[r].image.depth>1);this.dispose()}this.viewport.set(0,0,e,t),this.scissor.set(0,0,e,t)}clone(){return new this.constructor().copy(this)}copy(e){this.width=e.width,this.height=e.height,this.depth=e.depth,this.scissor.copy(e.scissor),this.scissorTest=e.scissorTest,this.viewport.copy(e.viewport),this.textures.length=0;for(let t=0,n=e.textures.length;t<n;t++){this.textures[t]=e.textures[t].clone(),this.textures[t].isRenderTargetTexture=!0,this.textures[t].renderTarget=this;let n=Object.assign({},e.textures[t].image);this.textures[t].source=new db(n)}return this.depthBuffer=e.depthBuffer,this.stencilBuffer=e.stencilBuffer,this.resolveDepthBuffer=e.resolveDepthBuffer,this.resolveStencilBuffer=e.resolveStencilBuffer,e.depthTexture!==null&&(this.depthTexture=e.depthTexture.clone()),this.samples=e.samples,this}dispose(){this.dispatchEvent({type:`dispose`})}},vb=class extends _b{constructor(e=1,t=1,n={}){super(e,t,n),this.isWebGLRenderTarget=!0}},yb=class extends hb{constructor(e=null,t=1,n=1,r=1){super(null),this.isDataArrayTexture=!0,this.image={data:e,width:t,height:n,depth:r},this.magFilter=u_,this.minFilter=u_,this.wrapR=c_,this.generateMipmaps=!1,this.flipY=!1,this.unpackAlignment=1,this.layerUpdates=new Set}addLayerUpdate(e){this.layerUpdates.add(e)}clearLayerUpdates(){this.layerUpdates.clear()}},bb=class extends vb{constructor(e=1,t=1,n=1,r={}){super(e,t,r),this.isWebGLArrayRenderTarget=!0,this.depth=n,this.texture=new yb(null,e,t,n),this._setTextureOptions(r),this.texture.isRenderTargetTexture=!0}},xb=class extends hb{constructor(e=null,t=1,n=1,r=1){super(null),this.isData3DTexture=!0,this.image={data:e,width:t,height:n,depth:r},this.magFilter=u_,this.minFilter=u_,this.wrapR=c_,this.generateMipmaps=!1,this.flipY=!1,this.unpackAlignment=1}},Sb=class extends vb{constructor(e=1,t=1,n=1,r={}){super(e,t,r),this.isWebGL3DRenderTarget=!0,this.depth=n,this.texture=new xb(null,e,t,n),this._setTextureOptions(r),this.texture.isRenderTargetTexture=!0}},Cb=class{constructor(e=new Y(1/0,1/0,1/0),t=new Y(-1/0,-1/0,-1/0)){this.isBox3=!0,this.min=e,this.max=t}set(e,t){return this.min.copy(e),this.max.copy(t),this}setFromArray(e){this.makeEmpty();for(let t=0,n=e.length;t<n;t+=3)this.expandByPoint(Tb.fromArray(e,t));return this}setFromBufferAttribute(e){this.makeEmpty();for(let t=0,n=e.count;t<n;t++)this.expandByPoint(Tb.fromBufferAttribute(e,t));return this}setFromPoints(e){this.makeEmpty();for(let t=0,n=e.length;t<n;t++)this.expandByPoint(e[t]);return this}setFromCenterAndSize(e,t){let n=Tb.copy(t).multiplyScalar(.5);return this.min.copy(e).sub(n),this.max.copy(e).add(n),this}setFromObject(e,t=!1){return this.makeEmpty(),this.expandByObject(e,t)}clone(){return new this.constructor().copy(this)}copy(e){return this.min.copy(e.min),this.max.copy(e.max),this}makeEmpty(){return this.min.x=this.min.y=this.min.z=1/0,this.max.x=this.max.y=this.max.z=-1/0,this}isEmpty(){return this.max.x<this.min.x||this.max.y<this.min.y||this.max.z<this.min.z}getCenter(e){return this.isEmpty()?e.set(0,0,0):e.addVectors(this.min,this.max).multiplyScalar(.5)}getSize(e){return this.isEmpty()?e.set(0,0,0):e.subVectors(this.max,this.min)}expandByPoint(e){return this.min.min(e),this.max.max(e),this}expandByVector(e){return this.min.sub(e),this.max.add(e),this}expandByScalar(e){return this.min.addScalar(-e),this.max.addScalar(e),this}expandByObject(e,t=!1){e.updateWorldMatrix(!1,!1);let n=e.geometry;if(n!==void 0){let r=n.getAttribute(`position`);if(t===!0&&r!==void 0&&e.isInstancedMesh!==!0)for(let t=0,n=r.count;t<n;t++)e.isMesh===!0?e.getVertexPosition(t,Tb):Tb.fromBufferAttribute(r,t),Tb.applyMatrix4(e.matrixWorld),this.expandByPoint(Tb);else e.boundingBox===void 0?(n.boundingBox===null&&n.computeBoundingBox(),Eb.copy(n.boundingBox)):(e.boundingBox===null&&e.computeBoundingBox(),Eb.copy(e.boundingBox)),Eb.applyMatrix4(e.matrixWorld),this.union(Eb)}let r=e.children;for(let e=0,n=r.length;e<n;e++)this.expandByObject(r[e],t);return this}containsPoint(e){return e.x>=this.min.x&&e.x<=this.max.x&&e.y>=this.min.y&&e.y<=this.max.y&&e.z>=this.min.z&&e.z<=this.max.z}containsBox(e){return this.min.x<=e.min.x&&e.max.x<=this.max.x&&this.min.y<=e.min.y&&e.max.y<=this.max.y&&this.min.z<=e.min.z&&e.max.z<=this.max.z}getParameter(e,t){return t.set((e.x-this.min.x)/(this.max.x-this.min.x),(e.y-this.min.y)/(this.max.y-this.min.y),(e.z-this.min.z)/(this.max.z-this.min.z))}intersectsBox(e){return e.max.x>=this.min.x&&e.min.x<=this.max.x&&e.max.y>=this.min.y&&e.min.y<=this.max.y&&e.max.z>=this.min.z&&e.min.z<=this.max.z}intersectsSphere(e){return this.clampPoint(e.center,Tb),Tb.distanceToSquared(e.center)<=e.radius*e.radius}intersectsPlane(e){let t,n;return e.normal.x>0?(t=e.normal.x*this.min.x,n=e.normal.x*this.max.x):(t=e.normal.x*this.max.x,n=e.normal.x*this.min.x),e.normal.y>0?(t+=e.normal.y*this.min.y,n+=e.normal.y*this.max.y):(t+=e.normal.y*this.max.y,n+=e.normal.y*this.min.y),e.normal.z>0?(t+=e.normal.z*this.min.z,n+=e.normal.z*this.max.z):(t+=e.normal.z*this.max.z,n+=e.normal.z*this.min.z),t<=-e.constant&&n>=-e.constant}intersectsTriangle(e){if(this.isEmpty())return!1;this.getCenter(Nb),Pb.subVectors(this.max,Nb),Db.subVectors(e.a,Nb),Ob.subVectors(e.b,Nb),kb.subVectors(e.c,Nb),Ab.subVectors(Ob,Db),jb.subVectors(kb,Ob),Mb.subVectors(Db,kb);let t=[0,-Ab.z,Ab.y,0,-jb.z,jb.y,0,-Mb.z,Mb.y,Ab.z,0,-Ab.x,jb.z,0,-jb.x,Mb.z,0,-Mb.x,-Ab.y,Ab.x,0,-jb.y,jb.x,0,-Mb.y,Mb.x,0];return!Lb(t,Db,Ob,kb,Pb)||(t=[1,0,0,0,1,0,0,0,1],!Lb(t,Db,Ob,kb,Pb))?!1:(Fb.crossVectors(Ab,jb),t=[Fb.x,Fb.y,Fb.z],Lb(t,Db,Ob,kb,Pb))}clampPoint(e,t){return t.copy(e).clamp(this.min,this.max)}distanceToPoint(e){return this.clampPoint(e,Tb).distanceTo(e)}getBoundingSphere(e){return this.isEmpty()?e.makeEmpty():(this.getCenter(e.center),e.radius=this.getSize(Tb).length()*.5),e}intersect(e){return this.min.max(e.min),this.max.min(e.max),this.isEmpty()&&this.makeEmpty(),this}union(e){return this.min.min(e.min),this.max.max(e.max),this}applyMatrix4(e){return this.isEmpty()?this:(wb[0].set(this.min.x,this.min.y,this.min.z).applyMatrix4(e),wb[1].set(this.min.x,this.min.y,this.max.z).applyMatrix4(e),wb[2].set(this.min.x,this.max.y,this.min.z).applyMatrix4(e),wb[3].set(this.min.x,this.max.y,this.max.z).applyMatrix4(e),wb[4].set(this.max.x,this.min.y,this.min.z).applyMatrix4(e),wb[5].set(this.max.x,this.min.y,this.max.z).applyMatrix4(e),wb[6].set(this.max.x,this.max.y,this.min.z).applyMatrix4(e),wb[7].set(this.max.x,this.max.y,this.max.z).applyMatrix4(e),this.setFromPoints(wb),this)}translate(e){return this.min.add(e),this.max.add(e),this}equals(e){return e.min.equals(this.min)&&e.max.equals(this.max)}toJSON(){return{min:this.min.toArray(),max:this.max.toArray()}}fromJSON(e){return this.min.fromArray(e.min),this.max.fromArray(e.max),this}},wb=[new Y,new Y,new Y,new Y,new Y,new Y,new Y,new Y],Tb=new Y,Eb=new Cb,Db=new Y,Ob=new Y,kb=new Y,Ab=new Y,jb=new Y,Mb=new Y,Nb=new Y,Pb=new Y,Fb=new Y,Ib=new Y;function Lb(e,t,n,r,i){for(let a=0,o=e.length-3;a<=o;a+=3){Ib.fromArray(e,a);let o=i.x*Math.abs(Ib.x)+i.y*Math.abs(Ib.y)+i.z*Math.abs(Ib.z),s=t.dot(Ib),c=n.dot(Ib),l=r.dot(Ib);if(Math.max(-Math.max(s,c,l),Math.min(s,c,l))>o)return!1}return!0}var Rb=new Cb,zb=new Y,Bb=new Y,Vb=class{constructor(e=new Y,t=-1){this.isSphere=!0,this.center=e,this.radius=t}set(e,t){return this.center.copy(e),this.radius=t,this}setFromPoints(e,t){let n=this.center;t===void 0?Rb.setFromPoints(e).getCenter(n):n.copy(t);let r=0;for(let t=0,i=e.length;t<i;t++)r=Math.max(r,n.distanceToSquared(e[t]));return this.radius=Math.sqrt(r),this}copy(e){return this.center.copy(e.center),this.radius=e.radius,this}isEmpty(){return this.radius<0}makeEmpty(){return this.center.set(0,0,0),this.radius=-1,this}containsPoint(e){return e.distanceToSquared(this.center)<=this.radius*this.radius}distanceToPoint(e){return e.distanceTo(this.center)-this.radius}intersectsSphere(e){let t=this.radius+e.radius;return e.center.distanceToSquared(this.center)<=t*t}intersectsBox(e){return e.intersectsSphere(this)}intersectsPlane(e){return Math.abs(e.distanceToPoint(this.center))<=this.radius}clampPoint(e,t){let n=this.center.distanceToSquared(e);return t.copy(e),n>this.radius*this.radius&&(t.sub(this.center).normalize(),t.multiplyScalar(this.radius).add(this.center)),t}getBoundingBox(e){return this.isEmpty()?(e.makeEmpty(),e):(e.set(this.center,this.center),e.expandByScalar(this.radius),e)}applyMatrix4(e){return this.center.applyMatrix4(e),this.radius*=e.getMaxScaleOnAxis(),this}translate(e){return this.center.add(e),this}expandByPoint(e){if(this.isEmpty())return this.center.copy(e),this.radius=0,this;zb.subVectors(e,this.center);let t=zb.lengthSq();if(t>this.radius*this.radius){let e=Math.sqrt(t),n=(e-this.radius)*.5;this.center.addScaledVector(zb,n/e),this.radius+=n}return this}union(e){return e.isEmpty()?this:this.isEmpty()?(this.copy(e),this):(this.center.equals(e.center)===!0?this.radius=Math.max(this.radius,e.radius):(Bb.subVectors(e.center,this.center).setLength(e.radius),this.expandByPoint(zb.copy(e.center).add(Bb)),this.expandByPoint(zb.copy(e.center).sub(Bb))),this)}equals(e){return e.center.equals(this.center)&&e.radius===this.radius}clone(){return new this.constructor().copy(this)}toJSON(){return{radius:this.radius,center:this.center.toArray()}}fromJSON(e){return this.radius=e.radius,this.center.fromArray(e.center),this}},Hb=new Y,Ub=new Y,Wb=new Y,Gb=new Y,Kb=new Y,qb=new Y,Jb=new Y,Yb=class{constructor(e=new Y,t=new Y(0,0,-1)){this.origin=e,this.direction=t}set(e,t){return this.origin.copy(e),this.direction.copy(t),this}copy(e){return this.origin.copy(e.origin),this.direction.copy(e.direction),this}at(e,t){return t.copy(this.origin).addScaledVector(this.direction,e)}lookAt(e){return this.direction.copy(e).sub(this.origin).normalize(),this}recast(e){return this.origin.copy(this.at(e,Hb)),this}closestPointToPoint(e,t){t.subVectors(e,this.origin);let n=t.dot(this.direction);return n<0?t.copy(this.origin):t.copy(this.origin).addScaledVector(this.direction,n)}distanceToPoint(e){return Math.sqrt(this.distanceSqToPoint(e))}distanceSqToPoint(e){let t=Hb.subVectors(e,this.origin).dot(this.direction);return t<0?this.origin.distanceToSquared(e):(Hb.copy(this.origin).addScaledVector(this.direction,t),Hb.distanceToSquared(e))}distanceSqToSegment(e,t,n,r){Ub.copy(e).add(t).multiplyScalar(.5),Wb.copy(t).sub(e).normalize(),Gb.copy(this.origin).sub(Ub);let i=e.distanceTo(t)*.5,a=-this.direction.dot(Wb),o=Gb.dot(this.direction),s=-Gb.dot(Wb),c=Gb.lengthSq(),l=Math.abs(1-a*a),u,d,f,p;if(l>0)if(u=a*s-o,d=a*o-s,p=i*l,u>=0)if(d>=-p)if(d<=p){let e=1/l;u*=e,d*=e,f=u*(u+a*d+2*o)+d*(a*u+d+2*s)+c}else d=i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;else d=-i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;else d<=-p?(u=Math.max(0,-(-a*i+o)),d=u>0?-i:Math.min(Math.max(-i,-s),i),f=-u*u+d*(d+2*s)+c):d<=p?(u=0,d=Math.min(Math.max(-i,-s),i),f=d*(d+2*s)+c):(u=Math.max(0,-(a*i+o)),d=u>0?i:Math.min(Math.max(-i,-s),i),f=-u*u+d*(d+2*s)+c);else d=a>0?-i:i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;return n&&n.copy(this.origin).addScaledVector(this.direction,u),r&&r.copy(Ub).addScaledVector(Wb,d),f}intersectSphere(e,t){Hb.subVectors(e.center,this.origin);let n=Hb.dot(this.direction),r=Hb.dot(Hb)-n*n,i=e.radius*e.radius;if(r>i)return null;let a=Math.sqrt(i-r),o=n-a,s=n+a;return s<0?null:o<0?this.at(s,t):this.at(o,t)}intersectsSphere(e){return e.radius<0?!1:this.distanceSqToPoint(e.center)<=e.radius*e.radius}distanceToPlane(e){let t=e.normal.dot(this.direction);if(t===0)return e.distanceToPoint(this.origin)===0?0:null;let n=-(this.origin.dot(e.normal)+e.constant)/t;return n>=0?n:null}intersectPlane(e,t){let n=this.distanceToPlane(e);return n===null?null:this.at(n,t)}intersectsPlane(e){let t=e.distanceToPoint(this.origin);return t===0||e.normal.dot(this.direction)*t<0}intersectBox(e,t){let n,r,i,a,o,s,c=1/this.direction.x,l=1/this.direction.y,u=1/this.direction.z,d=this.origin;return c>=0?(n=(e.min.x-d.x)*c,r=(e.max.x-d.x)*c):(n=(e.max.x-d.x)*c,r=(e.min.x-d.x)*c),l>=0?(i=(e.min.y-d.y)*l,a=(e.max.y-d.y)*l):(i=(e.max.y-d.y)*l,a=(e.min.y-d.y)*l),n>a||i>r||((i>n||isNaN(n))&&(n=i),(a<r||isNaN(r))&&(r=a),u>=0?(o=(e.min.z-d.z)*u,s=(e.max.z-d.z)*u):(o=(e.max.z-d.z)*u,s=(e.min.z-d.z)*u),n>s||o>r)||((o>n||n!==n)&&(n=o),(s<r||r!==r)&&(r=s),r<0)?null:this.at(n>=0?n:r,t)}intersectsBox(e){return this.intersectBox(e,Hb)!==null}intersectTriangle(e,t,n,r,i){Kb.subVectors(t,e),qb.subVectors(n,e),Jb.crossVectors(Kb,qb);let a=this.direction.dot(Jb),o;if(a>0){if(r)return null;o=1}else if(a<0)o=-1,a=-a;else return null;Gb.subVectors(this.origin,e);let s=o*this.direction.dot(qb.crossVectors(Gb,qb));if(s<0)return null;let c=o*this.direction.dot(Kb.cross(Gb));if(c<0||s+c>a)return null;let l=-o*Gb.dot(Jb);return l<0?null:this.at(l/a,i)}applyMatrix4(e){return this.origin.applyMatrix4(e),this.direction.transformDirection(e),this}equals(e){return e.origin.equals(this.origin)&&e.direction.equals(this.direction)}clone(){return new this.constructor().copy(this)}},Xb=class e{constructor(t,n,r,i,a,o,s,c,l,u,d,f,p,m,h,g){e.prototype.isMatrix4=!0,this.elements=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1],t!==void 0&&this.set(t,n,r,i,a,o,s,c,l,u,d,f,p,m,h,g)}set(e,t,n,r,i,a,o,s,c,l,u,d,f,p,m,h){let g=this.elements;return g[0]=e,g[4]=t,g[8]=n,g[12]=r,g[1]=i,g[5]=a,g[9]=o,g[13]=s,g[2]=c,g[6]=l,g[10]=u,g[14]=d,g[3]=f,g[7]=p,g[11]=m,g[15]=h,this}identity(){return this.set(1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1),this}clone(){return new e().fromArray(this.elements)}copy(e){let t=this.elements,n=e.elements;return t[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=n[3],t[4]=n[4],t[5]=n[5],t[6]=n[6],t[7]=n[7],t[8]=n[8],t[9]=n[9],t[10]=n[10],t[11]=n[11],t[12]=n[12],t[13]=n[13],t[14]=n[14],t[15]=n[15],this}copyPosition(e){let t=this.elements,n=e.elements;return t[12]=n[12],t[13]=n[13],t[14]=n[14],this}setFromMatrix3(e){let t=e.elements;return this.set(t[0],t[3],t[6],0,t[1],t[4],t[7],0,t[2],t[5],t[8],0,0,0,0,1),this}extractBasis(e,t,n){return e.setFromMatrixColumn(this,0),t.setFromMatrixColumn(this,1),n.setFromMatrixColumn(this,2),this}makeBasis(e,t,n){return this.set(e.x,t.x,n.x,0,e.y,t.y,n.y,0,e.z,t.z,n.z,0,0,0,0,1),this}extractRotation(e){let t=this.elements,n=e.elements,r=1/Zb.setFromMatrixColumn(e,0).length(),i=1/Zb.setFromMatrixColumn(e,1).length(),a=1/Zb.setFromMatrixColumn(e,2).length();return t[0]=n[0]*r,t[1]=n[1]*r,t[2]=n[2]*r,t[3]=0,t[4]=n[4]*i,t[5]=n[5]*i,t[6]=n[6]*i,t[7]=0,t[8]=n[8]*a,t[9]=n[9]*a,t[10]=n[10]*a,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this}makeRotationFromEuler(e){let t=this.elements,n=e.x,r=e.y,i=e.z,a=Math.cos(n),o=Math.sin(n),s=Math.cos(r),c=Math.sin(r),l=Math.cos(i),u=Math.sin(i);if(e.order===`XYZ`){let e=a*l,n=a*u,r=o*l,i=o*u;t[0]=s*l,t[4]=-s*u,t[8]=c,t[1]=n+r*c,t[5]=e-i*c,t[9]=-o*s,t[2]=i-e*c,t[6]=r+n*c,t[10]=a*s}else if(e.order===`YXZ`){let e=s*l,n=s*u,r=c*l,i=c*u;t[0]=e+i*o,t[4]=r*o-n,t[8]=a*c,t[1]=a*u,t[5]=a*l,t[9]=-o,t[2]=n*o-r,t[6]=i+e*o,t[10]=a*s}else if(e.order===`ZXY`){let e=s*l,n=s*u,r=c*l,i=c*u;t[0]=e-i*o,t[4]=-a*u,t[8]=r+n*o,t[1]=n+r*o,t[5]=a*l,t[9]=i-e*o,t[2]=-a*c,t[6]=o,t[10]=a*s}else if(e.order===`ZYX`){let e=a*l,n=a*u,r=o*l,i=o*u;t[0]=s*l,t[4]=r*c-n,t[8]=e*c+i,t[1]=s*u,t[5]=i*c+e,t[9]=n*c-r,t[2]=-c,t[6]=o*s,t[10]=a*s}else if(e.order===`YZX`){let e=a*s,n=a*c,r=o*s,i=o*c;t[0]=s*l,t[4]=i-e*u,t[8]=r*u+n,t[1]=u,t[5]=a*l,t[9]=-o*l,t[2]=-c*l,t[6]=n*u+r,t[10]=e-i*u}else if(e.order===`XZY`){let e=a*s,n=a*c,r=o*s,i=o*c;t[0]=s*l,t[4]=-u,t[8]=c*l,t[1]=e*u+i,t[5]=a*l,t[9]=n*u-r,t[2]=r*u-n,t[6]=o*l,t[10]=i*u+e}return t[3]=0,t[7]=0,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this}makeRotationFromQuaternion(e){return this.compose($b,e,ex)}lookAt(e,t,n){let r=this.elements;return rx.subVectors(e,t),rx.lengthSq()===0&&(rx.z=1),rx.normalize(),tx.crossVectors(n,rx),tx.lengthSq()===0&&(Math.abs(n.z)===1?rx.x+=1e-4:rx.z+=1e-4,rx.normalize(),tx.crossVectors(n,rx)),tx.normalize(),nx.crossVectors(rx,tx),r[0]=tx.x,r[4]=nx.x,r[8]=rx.x,r[1]=tx.y,r[5]=nx.y,r[9]=rx.y,r[2]=tx.z,r[6]=nx.z,r[10]=rx.z,this}multiply(e){return this.multiplyMatrices(this,e)}premultiply(e){return this.multiplyMatrices(e,this)}multiplyMatrices(e,t){let n=e.elements,r=t.elements,i=this.elements,a=n[0],o=n[4],s=n[8],c=n[12],l=n[1],u=n[5],d=n[9],f=n[13],p=n[2],m=n[6],h=n[10],g=n[14],_=n[3],v=n[7],y=n[11],b=n[15],x=r[0],S=r[4],C=r[8],w=r[12],T=r[1],E=r[5],D=r[9],O=r[13],k=r[2],A=r[6],j=r[10],M=r[14],N=r[3],P=r[7],F=r[11],I=r[15];return i[0]=a*x+o*T+s*k+c*N,i[4]=a*S+o*E+s*A+c*P,i[8]=a*C+o*D+s*j+c*F,i[12]=a*w+o*O+s*M+c*I,i[1]=l*x+u*T+d*k+f*N,i[5]=l*S+u*E+d*A+f*P,i[9]=l*C+u*D+d*j+f*F,i[13]=l*w+u*O+d*M+f*I,i[2]=p*x+m*T+h*k+g*N,i[6]=p*S+m*E+h*A+g*P,i[10]=p*C+m*D+h*j+g*F,i[14]=p*w+m*O+h*M+g*I,i[3]=_*x+v*T+y*k+b*N,i[7]=_*S+v*E+y*A+b*P,i[11]=_*C+v*D+y*j+b*F,i[15]=_*w+v*O+y*M+b*I,this}multiplyScalar(e){let t=this.elements;return t[0]*=e,t[4]*=e,t[8]*=e,t[12]*=e,t[1]*=e,t[5]*=e,t[9]*=e,t[13]*=e,t[2]*=e,t[6]*=e,t[10]*=e,t[14]*=e,t[3]*=e,t[7]*=e,t[11]*=e,t[15]*=e,this}determinant(){let e=this.elements,t=e[0],n=e[4],r=e[8],i=e[12],a=e[1],o=e[5],s=e[9],c=e[13],l=e[2],u=e[6],d=e[10],f=e[14],p=e[3],m=e[7],h=e[11],g=e[15];return p*(+i*s*u-r*c*u-i*o*d+n*c*d+r*o*f-n*s*f)+m*(+t*s*f-t*c*d+i*a*d-r*a*f+r*c*l-i*s*l)+h*(+t*c*u-t*o*f-i*a*u+n*a*f+i*o*l-n*c*l)+g*(-r*o*l-t*s*u+t*o*d+r*a*u-n*a*d+n*s*l)}transpose(){let e=this.elements,t;return t=e[1],e[1]=e[4],e[4]=t,t=e[2],e[2]=e[8],e[8]=t,t=e[6],e[6]=e[9],e[9]=t,t=e[3],e[3]=e[12],e[12]=t,t=e[7],e[7]=e[13],e[13]=t,t=e[11],e[11]=e[14],e[14]=t,this}setPosition(e,t,n){let r=this.elements;return e.isVector3?(r[12]=e.x,r[13]=e.y,r[14]=e.z):(r[12]=e,r[13]=t,r[14]=n),this}invert(){let e=this.elements,t=e[0],n=e[1],r=e[2],i=e[3],a=e[4],o=e[5],s=e[6],c=e[7],l=e[8],u=e[9],d=e[10],f=e[11],p=e[12],m=e[13],h=e[14],g=e[15],_=u*h*c-m*d*c+m*s*f-o*h*f-u*s*g+o*d*g,v=p*d*c-l*h*c-p*s*f+a*h*f+l*s*g-a*d*g,y=l*m*c-p*u*c+p*o*f-a*m*f-l*o*g+a*u*g,b=p*u*s-l*m*s-p*o*d+a*m*d+l*o*h-a*u*h,x=t*_+n*v+r*y+i*b;if(x===0)return this.set(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0);let S=1/x;return e[0]=_*S,e[1]=(m*d*i-u*h*i-m*r*f+n*h*f+u*r*g-n*d*g)*S,e[2]=(o*h*i-m*s*i+m*r*c-n*h*c-o*r*g+n*s*g)*S,e[3]=(u*s*i-o*d*i-u*r*c+n*d*c+o*r*f-n*s*f)*S,e[4]=v*S,e[5]=(l*h*i-p*d*i+p*r*f-t*h*f-l*r*g+t*d*g)*S,e[6]=(p*s*i-a*h*i-p*r*c+t*h*c+a*r*g-t*s*g)*S,e[7]=(a*d*i-l*s*i+l*r*c-t*d*c-a*r*f+t*s*f)*S,e[8]=y*S,e[9]=(p*u*i-l*m*i-p*n*f+t*m*f+l*n*g-t*u*g)*S,e[10]=(a*m*i-p*o*i+p*n*c-t*m*c-a*n*g+t*o*g)*S,e[11]=(l*o*i-a*u*i-l*n*c+t*u*c+a*n*f-t*o*f)*S,e[12]=b*S,e[13]=(l*m*r-p*u*r+p*n*d-t*m*d-l*n*h+t*u*h)*S,e[14]=(p*o*r-a*m*r-p*n*s+t*m*s+a*n*h-t*o*h)*S,e[15]=(a*u*r-l*o*r+l*n*s-t*u*s-a*n*d+t*o*d)*S,this}scale(e){let t=this.elements,n=e.x,r=e.y,i=e.z;return t[0]*=n,t[4]*=r,t[8]*=i,t[1]*=n,t[5]*=r,t[9]*=i,t[2]*=n,t[6]*=r,t[10]*=i,t[3]*=n,t[7]*=r,t[11]*=i,this}getMaxScaleOnAxis(){let e=this.elements,t=e[0]*e[0]+e[1]*e[1]+e[2]*e[2],n=e[4]*e[4]+e[5]*e[5]+e[6]*e[6],r=e[8]*e[8]+e[9]*e[9]+e[10]*e[10];return Math.sqrt(Math.max(t,n,r))}makeTranslation(e,t,n){return e.isVector3?this.set(1,0,0,e.x,0,1,0,e.y,0,0,1,e.z,0,0,0,1):this.set(1,0,0,e,0,1,0,t,0,0,1,n,0,0,0,1),this}makeRotationX(e){let t=Math.cos(e),n=Math.sin(e);return this.set(1,0,0,0,0,t,-n,0,0,n,t,0,0,0,0,1),this}makeRotationY(e){let t=Math.cos(e),n=Math.sin(e);return this.set(t,0,n,0,0,1,0,0,-n,0,t,0,0,0,0,1),this}makeRotationZ(e){let t=Math.cos(e),n=Math.sin(e);return this.set(t,-n,0,0,n,t,0,0,0,0,1,0,0,0,0,1),this}makeRotationAxis(e,t){let n=Math.cos(t),r=Math.sin(t),i=1-n,a=e.x,o=e.y,s=e.z,c=i*a,l=i*o;return this.set(c*a+n,c*o-r*s,c*s+r*o,0,c*o+r*s,l*o+n,l*s-r*a,0,c*s-r*o,l*s+r*a,i*s*s+n,0,0,0,0,1),this}makeScale(e,t,n){return this.set(e,0,0,0,0,t,0,0,0,0,n,0,0,0,0,1),this}makeShear(e,t,n,r,i,a){return this.set(1,n,i,0,e,1,a,0,t,r,1,0,0,0,0,1),this}compose(e,t,n){let r=this.elements,i=t._x,a=t._y,o=t._z,s=t._w,c=i+i,l=a+a,u=o+o,d=i*c,f=i*l,p=i*u,m=a*l,h=a*u,g=o*u,_=s*c,v=s*l,y=s*u,b=n.x,x=n.y,S=n.z;return r[0]=(1-(m+g))*b,r[1]=(f+y)*b,r[2]=(p-v)*b,r[3]=0,r[4]=(f-y)*x,r[5]=(1-(d+g))*x,r[6]=(h+_)*x,r[7]=0,r[8]=(p+v)*S,r[9]=(h-_)*S,r[10]=(1-(d+m))*S,r[11]=0,r[12]=e.x,r[13]=e.y,r[14]=e.z,r[15]=1,this}decompose(e,t,n){let r=this.elements,i=Zb.set(r[0],r[1],r[2]).length(),a=Zb.set(r[4],r[5],r[6]).length(),o=Zb.set(r[8],r[9],r[10]).length();this.determinant()<0&&(i=-i),e.x=r[12],e.y=r[13],e.z=r[14],Qb.copy(this);let s=1/i,c=1/a,l=1/o;return Qb.elements[0]*=s,Qb.elements[1]*=s,Qb.elements[2]*=s,Qb.elements[4]*=c,Qb.elements[5]*=c,Qb.elements[6]*=c,Qb.elements[8]*=l,Qb.elements[9]*=l,Qb.elements[10]*=l,t.setFromRotationMatrix(Qb),n.x=i,n.y=a,n.z=o,this}makePerspective(e,t,n,r,i,a,o=iy,s=!1){let c=this.elements,l=2*i/(t-e),u=2*i/(n-r),d=(t+e)/(t-e),f=(n+r)/(n-r),p,m;if(s)p=i/(a-i),m=a*i/(a-i);else if(o===2e3)p=-(a+i)/(a-i),m=-2*a*i/(a-i);else if(o===2001)p=-a/(a-i),m=-a*i/(a-i);else throw Error(`THREE.Matrix4.makePerspective(): Invalid coordinate system: `+o);return c[0]=l,c[4]=0,c[8]=d,c[12]=0,c[1]=0,c[5]=u,c[9]=f,c[13]=0,c[2]=0,c[6]=0,c[10]=p,c[14]=m,c[3]=0,c[7]=0,c[11]=-1,c[15]=0,this}makeOrthographic(e,t,n,r,i,a,o=iy,s=!1){let c=this.elements,l=2/(t-e),u=2/(n-r),d=-(t+e)/(t-e),f=-(n+r)/(n-r),p,m;if(s)p=1/(a-i),m=a/(a-i);else if(o===2e3)p=-2/(a-i),m=-(a+i)/(a-i);else if(o===2001)p=-1/(a-i),m=-i/(a-i);else throw Error(`THREE.Matrix4.makeOrthographic(): Invalid coordinate system: `+o);return c[0]=l,c[4]=0,c[8]=0,c[12]=d,c[1]=0,c[5]=u,c[9]=0,c[13]=f,c[2]=0,c[6]=0,c[10]=p,c[14]=m,c[3]=0,c[7]=0,c[11]=0,c[15]=1,this}equals(e){let t=this.elements,n=e.elements;for(let e=0;e<16;e++)if(t[e]!==n[e])return!1;return!0}fromArray(e,t=0){for(let n=0;n<16;n++)this.elements[n]=e[n+t];return this}toArray(e=[],t=0){let n=this.elements;return e[t]=n[0],e[t+1]=n[1],e[t+2]=n[2],e[t+3]=n[3],e[t+4]=n[4],e[t+5]=n[5],e[t+6]=n[6],e[t+7]=n[7],e[t+8]=n[8],e[t+9]=n[9],e[t+10]=n[10],e[t+11]=n[11],e[t+12]=n[12],e[t+13]=n[13],e[t+14]=n[14],e[t+15]=n[15],e}},Zb=new Y,Qb=new Xb,$b=new Y(0,0,0),ex=new Y(1,1,1),tx=new Y,nx=new Y,rx=new Y,ix=new Xb,ax=new Zy,ox=class e{constructor(t=0,n=0,r=0,i=e.DEFAULT_ORDER){this.isEuler=!0,this._x=t,this._y=n,this._z=r,this._order=i}get x(){return this._x}set x(e){this._x=e,this._onChangeCallback()}get y(){return this._y}set y(e){this._y=e,this._onChangeCallback()}get z(){return this._z}set z(e){this._z=e,this._onChangeCallback()}get order(){return this._order}set order(e){this._order=e,this._onChangeCallback()}set(e,t,n,r=this._order){return this._x=e,this._y=t,this._z=n,this._order=r,this._onChangeCallback(),this}clone(){return new this.constructor(this._x,this._y,this._z,this._order)}copy(e){return this._x=e._x,this._y=e._y,this._z=e._z,this._order=e._order,this._onChangeCallback(),this}setFromRotationMatrix(e,t=this._order,n=!0){let r=e.elements,i=r[0],a=r[4],o=r[8],s=r[1],c=r[5],l=r[9],u=r[2],d=r[6],f=r[10];switch(t){case`XYZ`:this._y=Math.asin(ky(o,-1,1)),Math.abs(o)<.9999999?(this._x=Math.atan2(-l,f),this._z=Math.atan2(-a,i)):(this._x=Math.atan2(d,c),this._z=0);break;case`YXZ`:this._x=Math.asin(-ky(l,-1,1)),Math.abs(l)<.9999999?(this._y=Math.atan2(o,f),this._z=Math.atan2(s,c)):(this._y=Math.atan2(-u,i),this._z=0);break;case`ZXY`:this._x=Math.asin(ky(d,-1,1)),Math.abs(d)<.9999999?(this._y=Math.atan2(-u,f),this._z=Math.atan2(-a,c)):(this._y=0,this._z=Math.atan2(s,i));break;case`ZYX`:this._y=Math.asin(-ky(u,-1,1)),Math.abs(u)<.9999999?(this._x=Math.atan2(d,f),this._z=Math.atan2(s,i)):(this._x=0,this._z=Math.atan2(-a,c));break;case`YZX`:this._z=Math.asin(ky(s,-1,1)),Math.abs(s)<.9999999?(this._x=Math.atan2(-l,c),this._y=Math.atan2(-u,i)):(this._x=0,this._y=Math.atan2(o,f));break;case`XZY`:this._z=Math.asin(-ky(a,-1,1)),Math.abs(a)<.9999999?(this._x=Math.atan2(d,c),this._y=Math.atan2(o,i)):(this._x=Math.atan2(-l,f),this._y=0);break;default:yy(`Euler: .setFromRotationMatrix() encountered an unknown order: `+t)}return this._order=t,n===!0&&this._onChangeCallback(),this}setFromQuaternion(e,t,n){return ix.makeRotationFromQuaternion(e),this.setFromRotationMatrix(ix,t,n)}setFromVector3(e,t=this._order){return this.set(e.x,e.y,e.z,t)}reorder(e){return ax.setFromEuler(this),this.setFromQuaternion(ax,e)}equals(e){return e._x===this._x&&e._y===this._y&&e._z===this._z&&e._order===this._order}fromArray(e){return this._x=e[0],this._y=e[1],this._z=e[2],e[3]!==void 0&&(this._order=e[3]),this._onChangeCallback(),this}toArray(e=[],t=0){return e[t]=this._x,e[t+1]=this._y,e[t+2]=this._z,e[t+3]=this._order,e}_onChange(e){return this._onChangeCallback=e,this}_onChangeCallback(){}*[Symbol.iterator](){yield this._x,yield this._y,yield this._z,yield this._order}};ox.DEFAULT_ORDER=`XYZ`;var sx=class{constructor(){this.mask=1}set(e){this.mask=(1<<e|0)>>>0}enable(e){this.mask|=1<<e|0}enableAll(){this.mask=-1}toggle(e){this.mask^=1<<e|0}disable(e){this.mask&=~(1<<e|0)}disableAll(){this.mask=0}test(e){return(this.mask&e.mask)!==0}isEnabled(e){return(this.mask&(1<<e|0))!=0}},cx=0,lx=new Y,ux=new Zy,dx=new Xb,fx=new Y,px=new Y,mx=new Y,hx=new Zy,gx=new Y(1,0,0),_x=new Y(0,1,0),vx=new Y(0,0,1),yx={type:`added`},bx={type:`removed`},xx={type:`childadded`,child:null},Sx={type:`childremoved`,child:null},Cx=class e extends Cy{constructor(){super(),this.isObject3D=!0,Object.defineProperty(this,"id",{value:cx++}),this.uuid=Oy(),this.name=``,this.type=`Object3D`,this.parent=null,this.children=[],this.up=e.DEFAULT_UP.clone();let t=new Y,n=new ox,r=new Zy,i=new Y(1,1,1);function a(){r.setFromEuler(n,!1)}function o(){n.setFromQuaternion(r,void 0,!1)}n._onChange(a),r._onChange(o),Object.defineProperties(this,{position:{configurable:!0,enumerable:!0,value:t},rotation:{configurable:!0,enumerable:!0,value:n},quaternion:{configurable:!0,enumerable:!0,value:r},scale:{configurable:!0,enumerable:!0,value:i},modelViewMatrix:{value:new Xb},normalMatrix:{value:new eb}}),this.matrix=new Xb,this.matrixWorld=new Xb,this.matrixAutoUpdate=e.DEFAULT_MATRIX_AUTO_UPDATE,this.matrixWorldAutoUpdate=e.DEFAULT_MATRIX_WORLD_AUTO_UPDATE,this.matrixWorldNeedsUpdate=!1,this.layers=new sx,this.visible=!0,this.castShadow=!1,this.receiveShadow=!1,this.frustumCulled=!0,this.renderOrder=0,this.animations=[],this.customDepthMaterial=void 0,this.customDistanceMaterial=void 0,this.userData={}}onBeforeShadow(){}onAfterShadow(){}onBeforeRender(){}onAfterRender(){}applyMatrix4(e){this.matrixAutoUpdate&&this.updateMatrix(),this.matrix.premultiply(e),this.matrix.decompose(this.position,this.quaternion,this.scale)}applyQuaternion(e){return 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this.setRGB(parseInt(n.charAt(0),16)/15,parseInt(n.charAt(1),16)/15,parseInt(n.charAt(2),16)/15,t);if(i===6)return this.setHex(parseInt(n,16),t);yy(`Color: Invalid hex color `+e)}else if(e&&e.length>0)return this.setColorName(e,t);return this}setColorName(e,t=Lv){let n=Rx[e.toLowerCase()];return n===void 0?yy(`Color: Unknown color `+e):this.setHex(n,t),this}clone(){return new this.constructor(this.r,this.g,this.b)}copy(e){return this.r=e.r,this.g=e.g,this.b=e.b,this}copySRGBToLinear(e){return this.r=ob(e.r),this.g=ob(e.g),this.b=ob(e.b),this}copyLinearToSRGB(e){return this.r=sb(e.r),this.g=sb(e.g),this.b=sb(e.b),this}convertSRGBToLinear(){return this.copySRGBToLinear(this),this}convertLinearToSRGB(){return this.copyLinearToSRGB(this),this}getHex(e=Lv){return ab.workingToColorSpace(Hx.copy(this),e),Math.round(ky(Hx.r*255,0,255))*65536+Math.round(ky(Hx.g*255,0,255))*256+Math.round(ky(Hx.b*255,0,255))}getHexString(e=Lv){return(`000000`+this.getHex(e).toString(16)).slice(-6)}getHSL(e,t=ab.workingColorSpace){ab.workingToColorSpace(Hx.copy(this),t);let n=Hx.r,r=Hx.g,i=Hx.b,a=Math.max(n,r,i),o=Math.min(n,r,i),s,c,l=(o+a)/2;if(o===a)s=0,c=0;else{let e=a-o;switch(c=l<=.5?e/(a+o):e/(2-a-o),a){case n:s=(r-i)/e+(r<i?6:0);break;case r:s=(i-n)/e+2;break;case i:s=(n-r)/e+4;break}s/=6}return e.h=s,e.s=c,e.l=l,e}getRGB(e,t=ab.workingColorSpace){return ab.workingToColorSpace(Hx.copy(this),t),e.r=Hx.r,e.g=Hx.g,e.b=Hx.b,e}getStyle(e=Lv){ab.workingToColorSpace(Hx.copy(this),e);let t=Hx.r,n=Hx.g,r=Hx.b;return e===`srgb`?`rgb(${Math.round(t*255)},${Math.round(n*255)},${Math.round(r*255)})`:`color(${e} ${t.toFixed(3)} ${n.toFixed(3)} ${r.toFixed(3)})`}offsetHSL(e,t,n){return this.getHSL(zx),this.setHSL(zx.h+e,zx.s+t,zx.l+n)}add(e){return this.r+=e.r,this.g+=e.g,this.b+=e.b,this}addColors(e,t){return this.r=e.r+t.r,this.g=e.g+t.g,this.b=e.b+t.b,this}addScalar(e){return this.r+=e,this.g+=e,this.b+=e,this}sub(e){return this.r=Math.max(0,this.r-e.r),this.g=Math.max(0,this.g-e.g),this.b=Math.max(0,this.b-e.b),this}multiply(e){return this.r*=e.r,this.g*=e.g,this.b*=e.b,this}multiplyScalar(e){return this.r*=e,this.g*=e,this.b*=e,this}lerp(e,t){return this.r+=(e.r-this.r)*t,this.g+=(e.g-this.g)*t,this.b+=(e.b-this.b)*t,this}lerpColors(e,t,n){return this.r=e.r+(t.r-e.r)*n,this.g=e.g+(t.g-e.g)*n,this.b=e.b+(t.b-e.b)*n,this}lerpHSL(e,t){this.getHSL(zx),e.getHSL(Bx);let n=Ny(zx.h,Bx.h,t),r=Ny(zx.s,Bx.s,t),i=Ny(zx.l,Bx.l,t);return this.setHSL(n,r,i),this}setFromVector3(e){return this.r=e.x,this.g=e.y,this.b=e.z,this}applyMatrix3(e){let t=this.r,n=this.g,r=this.b,i=e.elements;return this.r=i[0]*t+i[3]*n+i[6]*r,this.g=i[1]*t+i[4]*n+i[7]*r,this.b=i[2]*t+i[5]*n+i[8]*r,this}equals(e){return e.r===this.r&&e.g===this.g&&e.b===this.b}fromArray(e,t=0){return this.r=e[t],this.g=e[t+1],this.b=e[t+2],this}toArray(e=[],t=0){return e[t]=this.r,e[t+1]=this.g,e[t+2]=this.b,e}fromBufferAttribute(e,t){return this.r=e.getX(t),this.g=e.getY(t),this.b=e.getZ(t),this}toJSON(){return this.getHex()}*[Symbol.iterator](){yield this.r,yield this.g,yield this.b}},Hx=new X;X.NAMES=Rx;var Ux=0,Wx=class extends Cy{constructor(){super(),this.isMaterial=!0,Object.defineProperty(this,"id",{value:Ux++}),this.uuid=Oy(),this.name=``,this.type=`Material`,this.blending=1,this.side=0,this.vertexColors=!1,this.opacity=1,this.transparent=!1,this.alphaHash=!1,this.blendSrc=204,this.blendDst=205,this.blendEquation=100,this.blendSrcAlpha=null,this.blendDstAlpha=null,this.blendEquationAlpha=null,this.blendColor=new X(0,0,0),this.blendAlpha=0,this.depthFunc=3,this.depthTest=!0,this.depthWrite=!0,this.stencilWriteMask=255,this.stencilFunc=519,this.stencilRef=0,this.stencilFuncMask=255,this.stencilFail=Vv,this.stencilZFail=Vv,this.stencilZPass=Vv,this.stencilWrite=!1,this.clippingPlanes=null,this.clipIntersection=!1,this.clipShadows=!1,this.shadowSide=null,this.colorWrite=!0,this.precision=null,this.polygonOffset=!1,this.polygonOffsetFactor=0,this.polygonOffsetUnits=0,this.dithering=!1,this.alphaToCoverage=!1,this.premultipliedAlpha=!1,this.forceSinglePass=!1,this.allowOverride=!0,this.visible=!0,this.toneMapped=!0,this.userData={},this.version=0,this._alphaTest=0}get alphaTest(){return this._alphaTest}set alphaTest(e){this._alphaTest>0!=e>0&&this.version++,this._alphaTest=e}onBeforeRender(){}onBeforeCompile(){}customProgramCacheKey(){return this.onBeforeCompile.toString()}setValues(e){if(e!==void 0)for(let t in e){let n=e[t];if(n===void 0){yy(`Material: parameter '${t}' has value of undefined.`);continue}let r=this[t];if(r===void 0){yy(`Material: '${t}' is not a property of THREE.${this.type}.`);continue}r&&r.isColor?r.set(n):r&&r.isVector3&&n&&n.isVector3?r.copy(n):this[t]=n}}toJSON(e){let t=e===void 0||typeof e==`string`;t&&(e={textures:{},images:{}});let n={metadata:{version:4.7,type:`Material`,generator:`Material.toJSON`}};n.uuid=this.uuid,n.type=this.type,this.name!==``&&(n.name=this.name),this.color&&this.color.isColor&&(n.color=this.color.getHex()),this.roughness!==void 0&&(n.roughness=this.roughness),this.metalness!==void 0&&(n.metalness=this.metalness),this.sheen!==void 0&&(n.sheen=this.sheen),this.sheenColor&&this.sheenColor.isColor&&(n.sheenColor=this.sheenColor.getHex()),this.sheenRoughness!==void 0&&(n.sheenRoughness=this.sheenRoughness),this.emissive&&this.emissive.isColor&&(n.emissive=this.emissive.getHex()),this.emissiveIntensity!==void 0&&this.emissiveIntensity!==1&&(n.emissiveIntensity=this.emissiveIntensity),this.specular&&this.specular.isColor&&(n.specular=this.specular.getHex()),this.specularIntensity!==void 0&&(n.specularIntensity=this.specularIntensity),this.specularColor&&this.specularColor.isColor&&(n.specularColor=this.specularColor.getHex()),this.shininess!==void 0&&(n.shininess=this.shininess),this.clearcoat!==void 0&&(n.clearcoat=this.clearcoat),this.clearcoatRoughness!==void 0&&(n.clearcoatRoughness=this.clearcoatRoughness),this.clearcoatMap&&this.clearcoatMap.isTexture&&(n.clearcoatMap=this.clearcoatMap.toJSON(e).uuid),this.clearcoatRoughnessMap&&this.clearcoatRoughnessMap.isTexture&&(n.clearcoatRoughnessMap=this.clearcoatRoughnessMap.toJSON(e).uuid),this.clearcoatNormalMap&&this.clearcoatNormalMap.isTexture&&(n.clearcoatNormalMap=this.clearcoatNormalMap.toJSON(e).uuid,n.clearcoatNormalScale=this.clearcoatNormalScale.toArray()),this.sheenColorMap&&this.sheenColorMap.isTexture&&(n.sheenColorMap=this.sheenColorMap.toJSON(e).uuid),this.sheenRoughnessMap&&this.sheenRoughnessMap.isTexture&&(n.sheenRoughnessMap=this.sheenRoughnessMap.toJSON(e).uuid),this.dispersion!==void 0&&(n.dispersion=this.dispersion),this.iridescence!==void 0&&(n.iridescence=this.iridescence),this.iridescenceIOR!==void 0&&(n.iridescenceIOR=this.iridescenceIOR),this.iridescenceThicknessRange!==void 0&&(n.iridescenceThicknessRange=this.iridescenceThicknessRange),this.iridescenceMap&&this.iridescenceMap.isTexture&&(n.iridescenceMap=this.iridescenceMap.toJSON(e).uuid),this.iridescenceThicknessMap&&this.iridescenceThicknessMap.isTexture&&(n.iridescenceThicknessMap=this.iridescenceThicknessMap.toJSON(e).uuid),this.anisotropy!==void 0&&(n.anisotropy=this.anisotropy),this.anisotropyRotation!==void 0&&(n.anisotropyRotation=this.anisotropyRotation),this.anisotropyMap&&this.anisotropyMap.isTexture&&(n.anisotropyMap=this.anisotropyMap.toJSON(e).uuid),this.map&&this.map.isTexture&&(n.map=this.map.toJSON(e).uuid),this.matcap&&this.matcap.isTexture&&(n.matcap=this.matcap.toJSON(e).uuid),this.alphaMap&&this.alphaMap.isTexture&&(n.alphaMap=this.alphaMap.toJSON(e).uuid),this.lightMap&&this.lightMap.isTexture&&(n.lightMap=this.lightMap.toJSON(e).uuid,n.lightMapIntensity=this.lightMapIntensity),this.aoMap&&this.aoMap.isTexture&&(n.aoMap=this.aoMap.toJSON(e).uuid,n.aoMapIntensity=this.aoMapIntensity),this.bumpMap&&this.bumpMap.isTexture&&(n.bumpMap=this.bumpMap.toJSON(e).uuid,n.bumpScale=this.bumpScale),this.normalMap&&this.normalMap.isTexture&&(n.normalMap=this.normalMap.toJSON(e).uuid,n.normalMapType=this.normalMapType,n.normalScale=this.normalScale.toArray()),this.displacementMap&&this.displacementMap.isTexture&&(n.displacementMap=this.displacementMap.toJSON(e).uuid,n.displacementScale=this.displacementScale,n.displacementBias=this.displacementBias),this.roughnessMap&&this.roughnessMap.isTexture&&(n.roughnessMap=this.roughnessMap.toJSON(e).uuid),this.metalnessMap&&this.metalnessMap.isTexture&&(n.metalnessMap=this.metalnessMap.toJSON(e).uuid),this.emissiveMap&&this.emissiveMap.isTexture&&(n.emissiveMap=this.emissiveMap.toJSON(e).uuid),this.specularMap&&this.specularMap.isTexture&&(n.specularMap=this.specularMap.toJSON(e).uuid),this.specularIntensityMap&&this.specularIntensityMap.isTexture&&(n.specularIntensityMap=this.specularIntensityMap.toJSON(e).uuid),this.specularColorMap&&this.specularColorMap.isTexture&&(n.specularColorMap=this.specularColorMap.toJSON(e).uuid),this.envMap&&this.envMap.isTexture&&(n.envMap=this.envMap.toJSON(e).uuid,this.combine!==void 0&&(n.combine=this.combine)),this.envMapRotation!==void 0&&(n.envMapRotation=this.envMapRotation.toArray()),this.envMapIntensity!==void 0&&(n.envMapIntensity=this.envMapIntensity),this.reflectivity!==void 0&&(n.reflectivity=this.reflectivity),this.refractionRatio!==void 0&&(n.refractionRatio=this.refractionRatio),this.gradientMap&&this.gradientMap.isTexture&&(n.gradientMap=this.gradientMap.toJSON(e).uuid),this.transmission!==void 0&&(n.transmission=this.transmission),this.transmissionMap&&this.transmissionMap.isTexture&&(n.transmissionMap=this.transmissionMap.toJSON(e).uuid),this.thickness!==void 0&&(n.thickness=this.thickness),this.thicknessMap&&this.thicknessMap.isTexture&&(n.thicknessMap=this.thicknessMap.toJSON(e).uuid),this.attenuationDistance!==void 0&&this.attenuationDistance!==1/0&&(n.attenuationDistance=this.attenuationDistance),this.attenuationColor!==void 0&&(n.attenuationColor=this.attenuationColor.getHex()),this.size!==void 0&&(n.size=this.size),this.shadowSide!==null&&(n.shadowSide=this.shadowSide),this.sizeAttenuation!==void 0&&(n.sizeAttenuation=this.sizeAttenuation),this.blending!==1&&(n.blending=this.blending),this.side!==0&&(n.side=this.side),this.vertexColors===!0&&(n.vertexColors=!0),this.opacity<1&&(n.opacity=this.opacity),this.transparent===!0&&(n.transparent=!0),this.blendSrc!==204&&(n.blendSrc=this.blendSrc),this.blendDst!==205&&(n.blendDst=this.blendDst),this.blendEquation!==100&&(n.blendEquation=this.blendEquation),this.blendSrcAlpha!==null&&(n.blendSrcAlpha=this.blendSrcAlpha),this.blendDstAlpha!==null&&(n.blendDstAlpha=this.blendDstAlpha),this.blendEquationAlpha!==null&&(n.blendEquationAlpha=this.blendEquationAlpha),this.blendColor&&this.blendColor.isColor&&(n.blendColor=this.blendColor.getHex()),this.blendAlpha!==0&&(n.blendAlpha=this.blendAlpha),this.depthFunc!==3&&(n.depthFunc=this.depthFunc),this.depthTest===!1&&(n.depthTest=this.depthTest),this.depthWrite===!1&&(n.depthWrite=this.depthWrite),this.colorWrite===!1&&(n.colorWrite=this.colorWrite),this.stencilWriteMask!==255&&(n.stencilWriteMask=this.stencilWriteMask),this.stencilFunc!==519&&(n.stencilFunc=this.stencilFunc),this.stencilRef!==0&&(n.stencilRef=this.stencilRef),this.stencilFuncMask!==255&&(n.stencilFuncMask=this.stencilFuncMask),this.stencilFail!==7680&&(n.stencilFail=this.stencilFail),this.stencilZFail!==7680&&(n.stencilZFail=this.stencilZFail),this.stencilZPass!==7680&&(n.stencilZPass=this.stencilZPass),this.stencilWrite===!0&&(n.stencilWrite=this.stencilWrite),this.rotation!==void 0&&this.rotation!==0&&(n.rotation=this.rotation),this.polygonOffset===!0&&(n.polygonOffset=!0),this.polygonOffsetFactor!==0&&(n.polygonOffsetFactor=this.polygonOffsetFactor),this.polygonOffsetUnits!==0&&(n.polygonOffsetUnits=this.polygonOffsetUnits),this.linewidth!==void 0&&this.linewidth!==1&&(n.linewidth=this.linewidth),this.dashSize!==void 0&&(n.dashSize=this.dashSize),this.gapSize!==void 0&&(n.gapSize=this.gapSize),this.scale!==void 0&&(n.scale=this.scale),this.dithering===!0&&(n.dithering=!0),this.alphaTest>0&&(n.alphaTest=this.alphaTest),this.alphaHash===!0&&(n.alphaHash=!0),this.alphaToCoverage===!0&&(n.alphaToCoverage=!0),this.premultipliedAlpha===!0&&(n.premultipliedAlpha=!0),this.forceSinglePass===!0&&(n.forceSinglePass=!0),this.wireframe===!0&&(n.wireframe=!0),this.wireframeLinewidth>1&&(n.wireframeLinewidth=this.wireframeLinewidth),this.wireframeLinecap!==`round`&&(n.wireframeLinecap=this.wireframeLinecap),this.wireframeLinejoin!==`round`&&(n.wireframeLinejoin=this.wireframeLinejoin),this.flatShading===!0&&(n.flatShading=!0),this.visible===!1&&(n.visible=!1),this.toneMapped===!1&&(n.toneMapped=!1),this.fog===!1&&(n.fog=!1),Object.keys(this.userData).length>0&&(n.userData=this.userData);function r(e){let t=[];for(let n in e){let r=e[n];delete r.metadata,t.push(r)}return t}if(t){let t=r(e.textures),i=r(e.images);t.length>0&&(n.textures=t),i.length>0&&(n.images=i)}return n}clone(){return new this.constructor().copy(this)}copy(e){this.name=e.name,this.blending=e.blending,this.side=e.side,this.vertexColors=e.vertexColors,this.opacity=e.opacity,this.transparent=e.transparent,this.blendSrc=e.blendSrc,this.blendDst=e.blendDst,this.blendEquation=e.blendEquation,this.blendSrcAlpha=e.blendSrcAlpha,this.blendDstAlpha=e.blendDstAlpha,this.blendEquationAlpha=e.blendEquationAlpha,this.blendColor.copy(e.blendColor),this.blendAlpha=e.blendAlpha,this.depthFunc=e.depthFunc,this.depthTest=e.depthTest,this.depthWrite=e.depthWrite,this.stencilWriteMask=e.stencilWriteMask,this.stencilFunc=e.stencilFunc,this.stencilRef=e.stencilRef,this.stencilFuncMask=e.stencilFuncMask,this.stencilFail=e.stencilFail,this.stencilZFail=e.stencilZFail,this.stencilZPass=e.stencilZPass,this.stencilWrite=e.stencilWrite;let t=e.clippingPlanes,n=null;if(t!==null){let e=t.length;n=Array(e);for(let r=0;r!==e;++r)n[r]=t[r].clone()}return this.clippingPlanes=n,this.clipIntersection=e.clipIntersection,this.clipShadows=e.clipShadows,this.shadowSide=e.shadowSide,this.colorWrite=e.colorWrite,this.precision=e.precision,this.polygonOffset=e.polygonOffset,this.polygonOffsetFactor=e.polygonOffsetFactor,this.polygonOffsetUnits=e.polygonOffsetUnits,this.dithering=e.dithering,this.alphaTest=e.alphaTest,this.alphaHash=e.alphaHash,this.alphaToCoverage=e.alphaToCoverage,this.premultipliedAlpha=e.premultipliedAlpha,this.forceSinglePass=e.forceSinglePass,this.visible=e.visible,this.toneMapped=e.toneMapped,this.userData=JSON.parse(JSON.stringify(e.userData)),this}dispose(){this.dispatchEvent({type:`dispose`})}set needsUpdate(e){e===!0&&this.version++}},Gx=class extends Wx{constructor(e){super(),this.isMeshBasicMaterial=!0,this.type=`MeshBasicMaterial`,this.color=new X(16777215),this.map=null,this.lightMap=null,this.lightMapIntensity=1,this.aoMap=null,this.aoMapIntensity=1,this.specularMap=null,this.alphaMap=null,this.envMap=null,this.envMapRotation=new ox,this.combine=0,this.reflectivity=1,this.refractionRatio=.98,this.wireframe=!1,this.wireframeLinewidth=1,this.wireframeLinecap=`round`,this.wireframeLinejoin=`round`,this.fog=!0,this.setValues(e)}copy(e){return super.copy(e),this.color.copy(e.color),this.map=e.map,this.lightMap=e.lightMap,this.lightMapIntensity=e.lightMapIntensity,this.aoMap=e.aoMap,this.aoMapIntensity=e.aoMapIntensity,this.specularMap=e.specularMap,this.alphaMap=e.alphaMap,this.envMap=e.envMap,this.envMapRotation.copy(e.envMapRotation),this.combine=e.combine,this.reflectivity=e.reflectivity,this.refractionRatio=e.refractionRatio,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this.wireframeLinecap=e.wireframeLinecap,this.wireframeLinejoin=e.wireframeLinejoin,this.fog=e.fog,this}},Kx=qx();function qx(){let e=new ArrayBuffer(4),t=new Float32Array(e),n=new Uint32Array(e),r=new Uint32Array(512),i=new Uint32Array(512);for(let e=0;e<256;++e){let t=e-127;t<-27?(r[e]=0,r[e|256]=32768,i[e]=24,i[e|256]=24):t<-14?(r[e]=1024>>-t-14,r[e|256]=1024>>-t-14|32768,i[e]=-t-1,i[e|256]=-t-1):t<=15?(r[e]=t+15<<10,r[e|256]=t+15<<10|32768,i[e]=13,i[e|256]=13):t<128?(r[e]=31744,r[e|256]=64512,i[e]=24,i[e|256]=24):(r[e]=31744,r[e|256]=64512,i[e]=13,i[e|256]=13)}let a=new Uint32Array(2048),o=new Uint32Array(64),s=new Uint32Array(64);for(let e=1;e<1024;++e){let t=e<<13,n=0;for(;!(t&8388608);)t<<=1,n-=8388608;t&=-8388609,n+=947912704,a[e]=t|n}for(let e=1024;e<2048;++e)a[e]=939524096+(e-1024<<13);for(let e=1;e<31;++e)o[e]=e<<23;o[31]=1199570944,o[32]=2147483648;for(let e=33;e<63;++e)o[e]=2147483648+(e-32<<23);o[63]=3347054592;for(let e=1;e<64;++e)e!==32&&(s[e]=1024);return{floatView:t,uint32View:n,baseTable:r,shiftTable:i,mantissaTable:a,exponentTable:o,offsetTable:s}}function Jx(e){Math.abs(e)>65504&&yy(`DataUtils.toHalfFloat(): Value out of range.`),e=ky(e,-65504,65504),Kx.floatView[0]=e;let t=Kx.uint32View[0],n=t>>23&511;return Kx.baseTable[n]+((t&8388607)>>Kx.shiftTable[n])}function Yx(e){let t=e>>10;return Kx.uint32View[0]=Kx.mantissaTable[Kx.offsetTable[t]+(e&1023)]+Kx.exponentTable[t],Kx.floatView[0]}var Xx=class{static toHalfFloat(e){return Jx(e)}static fromHalfFloat(e){return Yx(e)}},Zx=new Y,Qx=new J,$x=0,eS=class{constructor(e,t,n=!1){if(Array.isArray(e))throw TypeError(`THREE.BufferAttribute: array should be a Typed Array.`);this.isBufferAttribute=!0,Object.defineProperty(this,"id",{value:$x++}),this.name=``,this.array=e,this.itemSize=t,this.count=e===void 0?0:e.length/t,this.normalized=n,this.usage=Jv,this.updateRanges=[],this.gpuType=E_,this.version=0}onUploadCallback(){}set needsUpdate(e){e===!0&&this.version++}setUsage(e){return this.usage=e,this}addUpdateRange(e,t){this.updateRanges.push({start:e,count:t})}clearUpdateRanges(){this.updateRanges.length=0}copy(e){return this.name=e.name,this.array=new e.array.constructor(e.array),this.itemSize=e.itemSize,this.count=e.count,this.normalized=e.normalized,this.usage=e.usage,this.gpuType=e.gpuType,this}copyAt(e,t,n){e*=this.itemSize,n*=t.itemSize;for(let r=0,i=this.itemSize;r<i;r++)this.array[e+r]=t.array[n+r];return this}copyArray(e){return this.array.set(e),this}applyMatrix3(e){if(this.itemSize===2)for(let t=0,n=this.count;t<n;t++)Qx.fromBufferAttribute(this,t),Qx.applyMatrix3(e),this.setXY(t,Qx.x,Qx.y);else if(this.itemSize===3)for(let t=0,n=this.count;t<n;t++)Zx.fromBufferAttribute(this,t),Zx.applyMatrix3(e),this.setXYZ(t,Zx.x,Zx.y,Zx.z);return this}applyMatrix4(e){for(let t=0,n=this.count;t<n;t++)Zx.fromBufferAttribute(this,t),Zx.applyMatrix4(e),this.setXYZ(t,Zx.x,Zx.y,Zx.z);return this}applyNormalMatrix(e){for(let t=0,n=this.count;t<n;t++)Zx.fromBufferAttribute(this,t),Zx.applyNormalMatrix(e),this.setXYZ(t,Zx.x,Zx.y,Zx.z);return this}transformDirection(e){for(let t=0,n=this.count;t<n;t++)Zx.fromBufferAttribute(this,t),Zx.transformDirection(e),this.setXYZ(t,Zx.x,Zx.y,Zx.z);return this}set(e,t=0){return this.array.set(e,t),this}getComponent(e,t){let n=this.array[e*this.itemSize+t];return this.normalized&&(n=Jy(n,this.array)),n}setComponent(e,t,n){return this.normalized&&(n=Yy(n,this.array)),this.array[e*this.itemSize+t]=n,this}getX(e){let t=this.array[e*this.itemSize];return this.normalized&&(t=Jy(t,this.array)),t}setX(e,t){return this.normalized&&(t=Yy(t,this.array)),this.array[e*this.itemSize]=t,this}getY(e){let t=this.array[e*this.itemSize+1];return this.normalized&&(t=Jy(t,this.array)),t}setY(e,t){return this.normalized&&(t=Yy(t,this.array)),this.array[e*this.itemSize+1]=t,this}getZ(e){let t=this.array[e*this.itemSize+2];return this.normalized&&(t=Jy(t,this.array)),t}setZ(e,t){return 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e={itemSize:this.itemSize,type:this.array.constructor.name,array:Array.from(this.array),normalized:this.normalized};return this.name!==``&&(e.name=this.name),this.usage!==35044&&(e.usage=this.usage),e}},tS=class extends eS{constructor(e,t,n){super(new Int8Array(e),t,n)}},nS=class extends eS{constructor(e,t,n){super(new Uint8Array(e),t,n)}},rS=class extends eS{constructor(e,t,n){super(new Uint8ClampedArray(e),t,n)}},iS=class extends eS{constructor(e,t,n){super(new Int16Array(e),t,n)}},aS=class extends eS{constructor(e,t,n){super(new Uint16Array(e),t,n)}},oS=class extends eS{constructor(e,t,n){super(new Int32Array(e),t,n)}},sS=class extends eS{constructor(e,t,n){super(new Uint32Array(e),t,n)}},cS=class extends eS{constructor(e,t,n){super(new Uint16Array(e),t,n),this.isFloat16BufferAttribute=!0}getX(e){let t=Yx(this.array[e*this.itemSize]);return this.normalized&&(t=Jy(t,this.array)),t}setX(e,t){return this.normalized&&(t=Yy(t,this.array)),this.array[e*this.itemSize]=Jx(t),this}getY(e){let t=Yx(this.array[e*this.itemSize+1]);return this.normalized&&(t=Jy(t,this.array)),t}setY(e,t){return this.normalized&&(t=Yy(t,this.array)),this.array[e*this.itemSize+1]=Jx(t),this}getZ(e){let t=Yx(this.array[e*this.itemSize+2]);return this.normalized&&(t=Jy(t,this.array)),t}setZ(e,t){return this.normalized&&(t=Yy(t,this.array)),this.array[e*this.itemSize+2]=Jx(t),this}getW(e){let t=Yx(this.array[e*this.itemSize+3]);return this.normalized&&(t=Jy(t,this.array)),t}setW(e,t){return this.normalized&&(t=Yy(t,this.array)),this.array[e*this.itemSize+3]=Jx(t),this}setXY(e,t,n){return e*=this.itemSize,this.normalized&&(t=Yy(t,this.array),n=Yy(n,this.array)),this.array[e+0]=Jx(t),this.array[e+1]=Jx(n),this}setXYZ(e,t,n,r){return e*=this.itemSize,this.normalized&&(t=Yy(t,this.array),n=Yy(n,this.array),r=Yy(r,this.array)),this.array[e+0]=Jx(t),this.array[e+1]=Jx(n),this.array[e+2]=Jx(r),this}setXYZW(e,t,n,r,i){return e*=this.itemSize,this.normalized&&(t=Yy(t,this.array),n=Yy(n,this.array),r=Yy(r,this.array),i=Yy(i,this.array)),this.array[e+0]=Jx(t),this.array[e+1]=Jx(n),this.array[e+2]=Jx(r),this.array[e+3]=Jx(i),this}},lS=class extends eS{constructor(e,t,n){super(new Float32Array(e),t,n)}},uS=0,dS=new Xb,fS=new Cx,pS=new Y,mS=new Cb,hS=new Cb,gS=new Y,_S=class e extends Cy{constructor(){super(),this.isBufferGeometry=!0,Object.defineProperty(this,"id",{value:uS++}),this.uuid=Oy(),this.name=``,this.type=`BufferGeometry`,this.index=null,this.indirect=null,this.attributes={},this.morphAttributes={},this.morphTargetsRelative=!1,this.groups=[],this.boundingBox=null,this.boundingSphere=null,this.drawRange={start:0,count:1/0},this.userData={}}getIndex(){return this.index}setIndex(e){return Array.isArray(e)?this.index=new(ly(e)?sS:aS)(e,1):this.index=e,this}setIndirect(e){return this.indirect=e,this}getIndirect(){return this.indirect}getAttribute(e){return this.attributes[e]}setAttribute(e,t){return this.attributes[e]=t,this}deleteAttribute(e){return delete this.attributes[e],this}hasAttribute(e){return this.attributes[e]!==void 0}addGroup(e,t,n=0){this.groups.push({start:e,count:t,materialIndex:n})}clearGroups(){this.groups=[]}setDrawRange(e,t){this.drawRange.start=e,this.drawRange.count=t}applyMatrix4(e){let t=this.attributes.position;t!==void 0&&(t.applyMatrix4(e),t.needsUpdate=!0);let n=this.attributes.normal;if(n!==void 0){let t=new eb().getNormalMatrix(e);n.applyNormalMatrix(t),n.needsUpdate=!0}let r=this.attributes.tangent;return r!==void 0&&(r.transformDirection(e),r.needsUpdate=!0),this.boundingBox!==null&&this.computeBoundingBox(),this.boundingSphere!==null&&this.computeBoundingSphere(),this}applyQuaternion(e){return dS.makeRotationFromQuaternion(e),this.applyMatrix4(dS),this}rotateX(e){return dS.makeRotationX(e),this.applyMatrix4(dS),this}rotateY(e){return dS.makeRotationY(e),this.applyMatrix4(dS),this}rotateZ(e){return dS.makeRotationZ(e),this.applyMatrix4(dS),this}translate(e,t,n){return dS.makeTranslation(e,t,n),this.applyMatrix4(dS),this}scale(e,t,n){return dS.makeScale(e,t,n),this.applyMatrix4(dS),this}lookAt(e){return fS.lookAt(e),fS.updateMatrix(),this.applyMatrix4(fS.matrix),this}center(){return this.computeBoundingBox(),this.boundingBox.getCenter(pS).negate(),this.translate(pS.x,pS.y,pS.z),this}setFromPoints(e){let t=this.getAttribute(`position`);if(t===void 0){let t=[];for(let n=0,r=e.length;n<r;n++){let r=e[n];t.push(r.x,r.y,r.z||0)}this.setAttribute(`position`,new lS(t,3))}else{let n=Math.min(e.length,t.count);for(let r=0;r<n;r++){let n=e[r];t.setXYZ(r,n.x,n.y,n.z||0)}e.length>t.count&&yy(`BufferGeometry: Buffer size too small for points data. 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t=r,n=r+i;t<n;t+=3)g(e.getX(t+0),e.getX(t+1),e.getX(t+2))}let v=new Y,y=new Y,b=new Y,x=new Y;function S(e){b.fromBufferAttribute(r,e),x.copy(b);let t=o[e];v.copy(t),v.sub(b.multiplyScalar(b.dot(t))).normalize(),y.crossVectors(x,t);let n=y.dot(s[e])<0?-1:1;a.setXYZW(e,v.x,v.y,v.z,n)}for(let t=0,n=_.length;t<n;++t){let n=_[t],r=n.start,i=n.count;for(let t=r,n=r+i;t<n;t+=3)S(e.getX(t+0)),S(e.getX(t+1)),S(e.getX(t+2))}}computeVertexNormals(){let e=this.index,t=this.getAttribute(`position`);if(t!==void 0){let n=this.getAttribute(`normal`);if(n===void 0)n=new eS(new Float32Array(t.count*3),3),this.setAttribute(`normal`,n);else for(let e=0,t=n.count;e<t;e++)n.setXYZ(e,0,0,0);let r=new Y,i=new Y,a=new Y,o=new Y,s=new Y,c=new Y,l=new Y,u=new Y;if(e)for(let d=0,f=e.count;d<f;d+=3){let f=e.getX(d+0),p=e.getX(d+1),m=e.getX(d+2);r.fromBufferAttribute(t,f),i.fromBufferAttribute(t,p),a.fromBufferAttribute(t,m),l.subVectors(a,i),u.subVectors(r,i),l.cross(u),o.fromBufferAttribute(n,f),s.fromBufferAttribute(n,p),c.fromBufferAttribute(n,m),o.add(l),s.add(l),c.add(l),n.setXYZ(f,o.x,o.y,o.z),n.setXYZ(p,s.x,s.y,s.z),n.setXYZ(m,c.x,c.y,c.z)}else for(let e=0,o=t.count;e<o;e+=3)r.fromBufferAttribute(t,e+0),i.fromBufferAttribute(t,e+1),a.fromBufferAttribute(t,e+2),l.subVectors(a,i),u.subVectors(r,i),l.cross(u),n.setXYZ(e+0,l.x,l.y,l.z),n.setXYZ(e+1,l.x,l.y,l.z),n.setXYZ(e+2,l.x,l.y,l.z);this.normalizeNormals(),n.needsUpdate=!0}}normalizeNormals(){let e=this.attributes.normal;for(let t=0,n=e.count;t<n;t++)gS.fromBufferAttribute(e,t),gS.normalize(),e.setXYZ(t,gS.x,gS.y,gS.z)}toNonIndexed(){function t(e,t){let n=e.array,r=e.itemSize,i=e.normalized,a=new n.constructor(t.length*r),o=0,s=0;for(let i=0,c=t.length;i<c;i++){o=e.isInterleavedBufferAttribute?t[i]*e.data.stride+e.offset:t[i]*r;for(let e=0;e<r;e++)a[s++]=n[o++]}return new eS(a,r,i)}if(this.index===null)return yy(`BufferGeometry.toNonIndexed(): BufferGeometry is already non-indexed.`),this;let n=new e,r=this.index.array,i=this.attributes;for(let e in i){let a=i[e],o=t(a,r);n.setAttribute(e,o)}let a=this.morphAttributes;for(let e in a){let i=[],o=a[e];for(let e=0,n=o.length;e<n;e++){let n=o[e],a=t(n,r);i.push(a)}n.morphAttributes[e]=i}n.morphTargetsRelative=this.morphTargetsRelative;let o=this.groups;for(let e=0,t=o.length;e<t;e++){let t=o[e];n.addGroup(t.start,t.count,t.materialIndex)}return n}toJSON(){let e={metadata:{version:4.7,type:`BufferGeometry`,generator:`BufferGeometry.toJSON`}};if(e.uuid=this.uuid,e.type=this.type,this.name!==``&&(e.name=this.name),Object.keys(this.userData).length>0&&(e.userData=this.userData),this.parameters!==void 0){let t=this.parameters;for(let n in t)t[n]!==void 0&&(e[n]=t[n]);return 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this.x=Math.max(this.x,e.x),this.y=Math.max(this.y,e.y),this.z=Math.max(this.z,e.z),this.w=Math.max(this.w,e.w),this}clamp(e,t){return this.x=ky(this.x,e.x,t.x),this.y=ky(this.y,e.y,t.y),this.z=ky(this.z,e.z,t.z),this.w=ky(this.w,e.w,t.w),this}clampScalar(e,t){return this.x=ky(this.x,e,t),this.y=ky(this.y,e,t),this.z=ky(this.z,e,t),this.w=ky(this.w,e,t),this}clampLength(e,t){let n=this.length();return this.divideScalar(n||1).multiplyScalar(ky(n,e,t))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this.w=Math.floor(this.w),this}ceil(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this.w=Math.ceil(this.w),this}round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this.w=Math.round(this.w),this}roundToZero(){return this.x=Math.trunc(this.x),this.y=Math.trunc(this.y),this.z=Math.trunc(this.z),this.w=Math.trunc(this.w),this}negate(){return 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e=0;e<i;e++)this.textures[e]=r.clone(),this.textures[e].isRenderTargetTexture=!0,this.textures[e].renderTarget=this;this._setTextureOptions(n),this.depthBuffer=n.depthBuffer,this.stencilBuffer=n.stencilBuffer,this.resolveDepthBuffer=n.resolveDepthBuffer,this.resolveStencilBuffer=n.resolveStencilBuffer,this._depthTexture=null,this.depthTexture=n.depthTexture,this.samples=n.samples,this.multiview=n.multiview}_setTextureOptions(e={}){let t={minFilter:h_,generateMipmaps:!1,flipY:!1,internalFormat:null};e.mapping!==void 0&&(t.mapping=e.mapping),e.wrapS!==void 0&&(t.wrapS=e.wrapS),e.wrapT!==void 0&&(t.wrapT=e.wrapT),e.wrapR!==void 0&&(t.wrapR=e.wrapR),e.magFilter!==void 0&&(t.magFilter=e.magFilter),e.minFilter!==void 0&&(t.minFilter=e.minFilter),e.format!==void 0&&(t.format=e.format),e.type!==void 0&&(t.type=e.type),e.anisotropy!==void 0&&(t.anisotropy=e.anisotropy),e.colorSpace!==void 0&&(t.colorSpace=e.colorSpace),e.flipY!==void 0&&(t.flipY=e.flipY),e.generateMipmaps!==void 0&&(t.generateMipmaps=e.generateMipmaps),e.internalFormat!==void 0&&(t.internalFormat=e.internalFormat);for(let e=0;e<this.textures.length;e++)this.textures[e].setValues(t)}get texture(){return this.textures[0]}set texture(e){this.textures[0]=e}set depthTexture(e){this._depthTexture!==null&&(this._depthTexture.renderTarget=null),e!==null&&(e.renderTarget=this),this._depthTexture=e}get depthTexture(){return this._depthTexture}setSize(e,t,n=1){if(this.width!==e||this.height!==t||this.depth!==n){this.width=e,this.height=t,this.depth=n;for(let r=0,i=this.textures.length;r<i;r++)this.textures[r].image.width=e,this.textures[r].image.height=t,this.textures[r].image.depth=n,this.textures[r].isData3DTexture!==!0&&(this.textures[r].isArrayTexture=this.textures[r].image.depth>1);this.dispose()}this.viewport.set(0,0,e,t),this.scissor.set(0,0,e,t)}clone(){return new this.constructor().copy(this)}copy(e){this.width=e.width,this.height=e.height,this.depth=e.depth,this.scissor.copy(e.scissor),this.scissorTest=e.scissorTest,this.viewport.copy(e.viewport),this.textures.length=0;for(let t=0,n=e.textures.length;t<n;t++){this.textures[t]=e.textures[t].clone(),this.textures[t].isRenderTargetTexture=!0,this.textures[t].renderTarget=this;let n=Object.assign({},e.textures[t].image);this.textures[t].source=new db(n)}return this.depthBuffer=e.depthBuffer,this.stencilBuffer=e.stencilBuffer,this.resolveDepthBuffer=e.resolveDepthBuffer,this.resolveStencilBuffer=e.resolveStencilBuffer,e.depthTexture!==null&&(this.depthTexture=e.depthTexture.clone()),this.samples=e.samples,this}dispose(){this.dispatchEvent({type:`dispose`})}},vb=class extends _b{constructor(e=1,t=1,n={}){super(e,t,n),this.isWebGLRenderTarget=!0}},yb=class extends hb{constructor(e=null,t=1,n=1,r=1){super(null),this.isDataArrayTexture=!0,this.image={data:e,width:t,height:n,depth:r},this.magFilter=u_,this.minFilter=u_,this.wrapR=c_,this.generateMipmaps=!1,this.flipY=!1,this.unpackAlignment=1,this.layerUpdates=new Set}addLayerUpdate(e){this.layerUpdates.add(e)}clearLayerUpdates(){this.layerUpdates.clear()}},bb=class extends vb{constructor(e=1,t=1,n=1,r={}){super(e,t,r),this.isWebGLArrayRenderTarget=!0,this.depth=n,this.texture=new yb(null,e,t,n),this._setTextureOptions(r),this.texture.isRenderTargetTexture=!0}},xb=class extends hb{constructor(e=null,t=1,n=1,r=1){super(null),this.isData3DTexture=!0,this.image={data:e,width:t,height:n,depth:r},this.magFilter=u_,this.minFilter=u_,this.wrapR=c_,this.generateMipmaps=!1,this.flipY=!1,this.unpackAlignment=1}},Sb=class extends vb{constructor(e=1,t=1,n=1,r={}){super(e,t,r),this.isWebGL3DRenderTarget=!0,this.depth=n,this.texture=new xb(null,e,t,n),this._setTextureOptions(r),this.texture.isRenderTargetTexture=!0}},Cb=class{constructor(e=new Y(1/0,1/0,1/0),t=new Y(-1/0,-1/0,-1/0)){this.isBox3=!0,this.min=e,this.max=t}set(e,t){return this.min.copy(e),this.max.copy(t),this}setFromArray(e){this.makeEmpty();for(let t=0,n=e.length;t<n;t+=3)this.expandByPoint(Tb.fromArray(e,t));return this}setFromBufferAttribute(e){this.makeEmpty();for(let t=0,n=e.count;t<n;t++)this.expandByPoint(Tb.fromBufferAttribute(e,t));return this}setFromPoints(e){this.makeEmpty();for(let t=0,n=e.length;t<n;t++)this.expandByPoint(e[t]);return this}setFromCenterAndSize(e,t){let n=Tb.copy(t).multiplyScalar(.5);return this.min.copy(e).sub(n),this.max.copy(e).add(n),this}setFromObject(e,t=!1){return this.makeEmpty(),this.expandByObject(e,t)}clone(){return new this.constructor().copy(this)}copy(e){return this.min.copy(e.min),this.max.copy(e.max),this}makeEmpty(){return 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0?(n.boundingBox===null&&n.computeBoundingBox(),Eb.copy(n.boundingBox)):(e.boundingBox===null&&e.computeBoundingBox(),Eb.copy(e.boundingBox)),Eb.applyMatrix4(e.matrixWorld),this.union(Eb)}let r=e.children;for(let e=0,n=r.length;e<n;e++)this.expandByObject(r[e],t);return this}containsPoint(e){return e.x>=this.min.x&&e.x<=this.max.x&&e.y>=this.min.y&&e.y<=this.max.y&&e.z>=this.min.z&&e.z<=this.max.z}containsBox(e){return this.min.x<=e.min.x&&e.max.x<=this.max.x&&this.min.y<=e.min.y&&e.max.y<=this.max.y&&this.min.z<=e.min.z&&e.max.z<=this.max.z}getParameter(e,t){return t.set((e.x-this.min.x)/(this.max.x-this.min.x),(e.y-this.min.y)/(this.max.y-this.min.y),(e.z-this.min.z)/(this.max.z-this.min.z))}intersectsBox(e){return e.max.x>=this.min.x&&e.min.x<=this.max.x&&e.max.y>=this.min.y&&e.min.y<=this.max.y&&e.max.z>=this.min.z&&e.min.z<=this.max.z}intersectsSphere(e){return this.clampPoint(e.center,Tb),Tb.distanceToSquared(e.center)<=e.radius*e.radius}intersectsPlane(e){let t,n;return e.normal.x>0?(t=e.normal.x*this.min.x,n=e.normal.x*this.max.x):(t=e.normal.x*this.max.x,n=e.normal.x*this.min.x),e.normal.y>0?(t+=e.normal.y*this.min.y,n+=e.normal.y*this.max.y):(t+=e.normal.y*this.max.y,n+=e.normal.y*this.min.y),e.normal.z>0?(t+=e.normal.z*this.min.z,n+=e.normal.z*this.max.z):(t+=e.normal.z*this.max.z,n+=e.normal.z*this.min.z),t<=-e.constant&&n>=-e.constant}intersectsTriangle(e){if(this.isEmpty())return!1;this.getCenter(Nb),Pb.subVectors(this.max,Nb),Db.subVectors(e.a,Nb),Ob.subVectors(e.b,Nb),kb.subVectors(e.c,Nb),Ab.subVectors(Ob,Db),jb.subVectors(kb,Ob),Mb.subVectors(Db,kb);let t=[0,-Ab.z,Ab.y,0,-jb.z,jb.y,0,-Mb.z,Mb.y,Ab.z,0,-Ab.x,jb.z,0,-jb.x,Mb.z,0,-Mb.x,-Ab.y,Ab.x,0,-jb.y,jb.x,0,-Mb.y,Mb.x,0];return!Lb(t,Db,Ob,kb,Pb)||(t=[1,0,0,0,1,0,0,0,1],!Lb(t,Db,Ob,kb,Pb))?!1:(Fb.crossVectors(Ab,jb),t=[Fb.x,Fb.y,Fb.z],Lb(t,Db,Ob,kb,Pb))}clampPoint(e,t){return t.copy(e).clamp(this.min,this.max)}distanceToPoint(e){return 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e.min.equals(this.min)&&e.max.equals(this.max)}toJSON(){return{min:this.min.toArray(),max:this.max.toArray()}}fromJSON(e){return this.min.fromArray(e.min),this.max.fromArray(e.max),this}},wb=[new Y,new Y,new Y,new Y,new Y,new Y,new Y,new Y],Tb=new Y,Eb=new Cb,Db=new Y,Ob=new Y,kb=new Y,Ab=new Y,jb=new Y,Mb=new Y,Nb=new Y,Pb=new Y,Fb=new Y,Ib=new Y;function Lb(e,t,n,r,i){for(let a=0,o=e.length-3;a<=o;a+=3){Ib.fromArray(e,a);let o=i.x*Math.abs(Ib.x)+i.y*Math.abs(Ib.y)+i.z*Math.abs(Ib.z),s=t.dot(Ib),c=n.dot(Ib),l=r.dot(Ib);if(Math.max(-Math.max(s,c,l),Math.min(s,c,l))>o)return!1}return!0}var Rb=new Cb,zb=new Y,Bb=new Y,Vb=class{constructor(e=new Y,t=-1){this.isSphere=!0,this.center=e,this.radius=t}set(e,t){return this.center.copy(e),this.radius=t,this}setFromPoints(e,t){let n=this.center;t===void 0?Rb.setFromPoints(e).getCenter(n):n.copy(t);let r=0;for(let t=0,i=e.length;t<i;t++)r=Math.max(r,n.distanceToSquared(e[t]));return this.radius=Math.sqrt(r),this}copy(e){return this.center.copy(e.center),this.radius=e.radius,this}isEmpty(){return this.radius<0}makeEmpty(){return this.center.set(0,0,0),this.radius=-1,this}containsPoint(e){return e.distanceToSquared(this.center)<=this.radius*this.radius}distanceToPoint(e){return e.distanceTo(this.center)-this.radius}intersectsSphere(e){let t=this.radius+e.radius;return e.center.distanceToSquared(this.center)<=t*t}intersectsBox(e){return e.intersectsSphere(this)}intersectsPlane(e){return Math.abs(e.distanceToPoint(this.center))<=this.radius}clampPoint(e,t){let n=this.center.distanceToSquared(e);return t.copy(e),n>this.radius*this.radius&&(t.sub(this.center).normalize(),t.multiplyScalar(this.radius).add(this.center)),t}getBoundingBox(e){return this.isEmpty()?(e.makeEmpty(),e):(e.set(this.center,this.center),e.expandByScalar(this.radius),e)}applyMatrix4(e){return this.center.applyMatrix4(e),this.radius*=e.getMaxScaleOnAxis(),this}translate(e){return this.center.add(e),this}expandByPoint(e){if(this.isEmpty())return this.center.copy(e),this.radius=0,this;zb.subVectors(e,this.center);let t=zb.lengthSq();if(t>this.radius*this.radius){let e=Math.sqrt(t),n=(e-this.radius)*.5;this.center.addScaledVector(zb,n/e),this.radius+=n}return this}union(e){return e.isEmpty()?this:this.isEmpty()?(this.copy(e),this):(this.center.equals(e.center)===!0?this.radius=Math.max(this.radius,e.radius):(Bb.subVectors(e.center,this.center).setLength(e.radius),this.expandByPoint(zb.copy(e.center).add(Bb)),this.expandByPoint(zb.copy(e.center).sub(Bb))),this)}equals(e){return e.center.equals(this.center)&&e.radius===this.radius}clone(){return new this.constructor().copy(this)}toJSON(){return{radius:this.radius,center:this.center.toArray()}}fromJSON(e){return this.radius=e.radius,this.center.fromArray(e.center),this}},Hb=new Y,Ub=new Y,Wb=new Y,Gb=new Y,Kb=new Y,qb=new Y,Jb=new Y,Yb=class{constructor(e=new Y,t=new Y(0,0,-1)){this.origin=e,this.direction=t}set(e,t){return this.origin.copy(e),this.direction.copy(t),this}copy(e){return this.origin.copy(e.origin),this.direction.copy(e.direction),this}at(e,t){return t.copy(this.origin).addScaledVector(this.direction,e)}lookAt(e){return this.direction.copy(e).sub(this.origin).normalize(),this}recast(e){return this.origin.copy(this.at(e,Hb)),this}closestPointToPoint(e,t){t.subVectors(e,this.origin);let n=t.dot(this.direction);return n<0?t.copy(this.origin):t.copy(this.origin).addScaledVector(this.direction,n)}distanceToPoint(e){return Math.sqrt(this.distanceSqToPoint(e))}distanceSqToPoint(e){let t=Hb.subVectors(e,this.origin).dot(this.direction);return t<0?this.origin.distanceToSquared(e):(Hb.copy(this.origin).addScaledVector(this.direction,t),Hb.distanceToSquared(e))}distanceSqToSegment(e,t,n,r){Ub.copy(e).add(t).multiplyScalar(.5),Wb.copy(t).sub(e).normalize(),Gb.copy(this.origin).sub(Ub);let i=e.distanceTo(t)*.5,a=-this.direction.dot(Wb),o=Gb.dot(this.direction),s=-Gb.dot(Wb),c=Gb.lengthSq(),l=Math.abs(1-a*a),u,d,f,p;if(l>0)if(u=a*s-o,d=a*o-s,p=i*l,u>=0)if(d>=-p)if(d<=p){let e=1/l;u*=e,d*=e,f=u*(u+a*d+2*o)+d*(a*u+d+2*s)+c}else d=i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;else d=-i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;else d<=-p?(u=Math.max(0,-(-a*i+o)),d=u>0?-i:Math.min(Math.max(-i,-s),i),f=-u*u+d*(d+2*s)+c):d<=p?(u=0,d=Math.min(Math.max(-i,-s),i),f=d*(d+2*s)+c):(u=Math.max(0,-(a*i+o)),d=u>0?i:Math.min(Math.max(-i,-s),i),f=-u*u+d*(d+2*s)+c);else d=a>0?-i:i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;return n&&n.copy(this.origin).addScaledVector(this.direction,u),r&&r.copy(Ub).addScaledVector(Wb,d),f}intersectSphere(e,t){Hb.subVectors(e.center,this.origin);let n=Hb.dot(this.direction),r=Hb.dot(Hb)-n*n,i=e.radius*e.radius;if(r>i)return null;let a=Math.sqrt(i-r),o=n-a,s=n+a;return s<0?null:o<0?this.at(s,t):this.at(o,t)}intersectsSphere(e){return e.radius<0?!1:this.distanceSqToPoint(e.center)<=e.radius*e.radius}distanceToPlane(e){let t=e.normal.dot(this.direction);if(t===0)return e.distanceToPoint(this.origin)===0?0:null;let n=-(this.origin.dot(e.normal)+e.constant)/t;return n>=0?n:null}intersectPlane(e,t){let n=this.distanceToPlane(e);return n===null?null:this.at(n,t)}intersectsPlane(e){let t=e.distanceToPoint(this.origin);return t===0||e.normal.dot(this.direction)*t<0}intersectBox(e,t){let n,r,i,a,o,s,c=1/this.direction.x,l=1/this.direction.y,u=1/this.direction.z,d=this.origin;return c>=0?(n=(e.min.x-d.x)*c,r=(e.max.x-d.x)*c):(n=(e.max.x-d.x)*c,r=(e.min.x-d.x)*c),l>=0?(i=(e.min.y-d.y)*l,a=(e.max.y-d.y)*l):(i=(e.max.y-d.y)*l,a=(e.min.y-d.y)*l),n>a||i>r||((i>n||isNaN(n))&&(n=i),(a<r||isNaN(r))&&(r=a),u>=0?(o=(e.min.z-d.z)*u,s=(e.max.z-d.z)*u):(o=(e.max.z-d.z)*u,s=(e.min.z-d.z)*u),n>s||o>r)||((o>n||n!==n)&&(n=o),(s<r||r!==r)&&(r=s),r<0)?null:this.at(n>=0?n:r,t)}intersectsBox(e){return this.intersectBox(e,Hb)!==null}intersectTriangle(e,t,n,r,i){Kb.subVectors(t,e),qb.subVectors(n,e),Jb.crossVectors(Kb,qb);let a=this.direction.dot(Jb),o;if(a>0){if(r)return null;o=1}else if(a<0)o=-1,a=-a;else return null;Gb.subVectors(this.origin,e);let s=o*this.direction.dot(qb.crossVectors(Gb,qb));if(s<0)return null;let c=o*this.direction.dot(Kb.cross(Gb));if(c<0||s+c>a)return null;let l=-o*Gb.dot(Jb);return l<0?null:this.at(l/a,i)}applyMatrix4(e){return this.origin.applyMatrix4(e),this.direction.transformDirection(e),this}equals(e){return e.origin.equals(this.origin)&&e.direction.equals(this.direction)}clone(){return new this.constructor().copy(this)}},Xb=class e{constructor(t,n,r,i,a,o,s,c,l,u,d,f,p,m,h,g){e.prototype.isMatrix4=!0,this.elements=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1],t!==void 0&&this.set(t,n,r,i,a,o,s,c,l,u,d,f,p,m,h,g)}set(e,t,n,r,i,a,o,s,c,l,u,d,f,p,m,h){let g=this.elements;return g[0]=e,g[4]=t,g[8]=n,g[12]=r,g[1]=i,g[5]=a,g[9]=o,g[13]=s,g[2]=c,g[6]=l,g[10]=u,g[14]=d,g[3]=f,g[7]=p,g[11]=m,g[15]=h,this}identity(){return this.set(1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1),this}clone(){return new e().fromArray(this.elements)}copy(e){let t=this.elements,n=e.elements;return t[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=n[3],t[4]=n[4],t[5]=n[5],t[6]=n[6],t[7]=n[7],t[8]=n[8],t[9]=n[9],t[10]=n[10],t[11]=n[11],t[12]=n[12],t[13]=n[13],t[14]=n[14],t[15]=n[15],this}copyPosition(e){let t=this.elements,n=e.elements;return t[12]=n[12],t[13]=n[13],t[14]=n[14],this}setFromMatrix3(e){let t=e.elements;return this.set(t[0],t[3],t[6],0,t[1],t[4],t[7],0,t[2],t[5],t[8],0,0,0,0,1),this}extractBasis(e,t,n){return e.setFromMatrixColumn(this,0),t.setFromMatrixColumn(this,1),n.setFromMatrixColumn(this,2),this}makeBasis(e,t,n){return this.set(e.x,t.x,n.x,0,e.y,t.y,n.y,0,e.z,t.z,n.z,0,0,0,0,1),this}extractRotation(e){let t=this.elements,n=e.elements,r=1/Zb.setFromMatrixColumn(e,0).length(),i=1/Zb.setFromMatrixColumn(e,1).length(),a=1/Zb.setFromMatrixColumn(e,2).length();return t[0]=n[0]*r,t[1]=n[1]*r,t[2]=n[2]*r,t[3]=0,t[4]=n[4]*i,t[5]=n[5]*i,t[6]=n[6]*i,t[7]=0,t[8]=n[8]*a,t[9]=n[9]*a,t[10]=n[10]*a,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this}makeRotationFromEuler(e){let t=this.elements,n=e.x,r=e.y,i=e.z,a=Math.cos(n),o=Math.sin(n),s=Math.cos(r),c=Math.sin(r),l=Math.cos(i),u=Math.sin(i);if(e.order===`XYZ`){let e=a*l,n=a*u,r=o*l,i=o*u;t[0]=s*l,t[4]=-s*u,t[8]=c,t[1]=n+r*c,t[5]=e-i*c,t[9]=-o*s,t[2]=i-e*c,t[6]=r+n*c,t[10]=a*s}else if(e.order===`YXZ`){let e=s*l,n=s*u,r=c*l,i=c*u;t[0]=e+i*o,t[4]=r*o-n,t[8]=a*c,t[1]=a*u,t[5]=a*l,t[9]=-o,t[2]=n*o-r,t[6]=i+e*o,t[10]=a*s}else if(e.order===`ZXY`){let e=s*l,n=s*u,r=c*l,i=c*u;t[0]=e-i*o,t[4]=-a*u,t[8]=r+n*o,t[1]=n+r*o,t[5]=a*l,t[9]=i-e*o,t[2]=-a*c,t[6]=o,t[10]=a*s}else if(e.order===`ZYX`){let e=a*l,n=a*u,r=o*l,i=o*u;t[0]=s*l,t[4]=r*c-n,t[8]=e*c+i,t[1]=s*u,t[5]=i*c+e,t[9]=n*c-r,t[2]=-c,t[6]=o*s,t[10]=a*s}else if(e.order===`YZX`){let e=a*s,n=a*c,r=o*s,i=o*c;t[0]=s*l,t[4]=i-e*u,t[8]=r*u+n,t[1]=u,t[5]=a*l,t[9]=-o*l,t[2]=-c*l,t[6]=n*u+r,t[10]=e-i*u}else if(e.order===`XZY`){let e=a*s,n=a*c,r=o*s,i=o*c;t[0]=s*l,t[4]=-u,t[8]=c*l,t[1]=e*u+i,t[5]=a*l,t[9]=n*u-r,t[2]=r*u-n,t[6]=o*l,t[10]=i*u+e}return t[3]=0,t[7]=0,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this}makeRotationFromQuaternion(e){return this.compose($b,e,ex)}lookAt(e,t,n){let r=this.elements;return rx.subVectors(e,t),rx.lengthSq()===0&&(rx.z=1),rx.normalize(),tx.crossVectors(n,rx),tx.lengthSq()===0&&(Math.abs(n.z)===1?rx.x+=1e-4:rx.z+=1e-4,rx.normalize(),tx.crossVectors(n,rx)),tx.normalize(),nx.crossVectors(rx,tx),r[0]=tx.x,r[4]=nx.x,r[8]=rx.x,r[1]=tx.y,r[5]=nx.y,r[9]=rx.y,r[2]=tx.z,r[6]=nx.z,r[10]=rx.z,this}multiply(e){return this.multiplyMatrices(this,e)}premultiply(e){return this.multiplyMatrices(e,this)}multiplyMatrices(e,t){let n=e.elements,r=t.elements,i=this.elements,a=n[0],o=n[4],s=n[8],c=n[12],l=n[1],u=n[5],d=n[9],f=n[13],p=n[2],m=n[6],h=n[10],g=n[14],_=n[3],v=n[7],y=n[11],b=n[15],x=r[0],S=r[4],C=r[8],w=r[12],T=r[1],E=r[5],D=r[9],O=r[13],k=r[2],A=r[6],j=r[10],M=r[14],N=r[3],P=r[7],F=r[11],I=r[15];return i[0]=a*x+o*T+s*k+c*N,i[4]=a*S+o*E+s*A+c*P,i[8]=a*C+o*D+s*j+c*F,i[12]=a*w+o*O+s*M+c*I,i[1]=l*x+u*T+d*k+f*N,i[5]=l*S+u*E+d*A+f*P,i[9]=l*C+u*D+d*j+f*F,i[13]=l*w+u*O+d*M+f*I,i[2]=p*x+m*T+h*k+g*N,i[6]=p*S+m*E+h*A+g*P,i[10]=p*C+m*D+h*j+g*F,i[14]=p*w+m*O+h*M+g*I,i[3]=_*x+v*T+y*k+b*N,i[7]=_*S+v*E+y*A+b*P,i[11]=_*C+v*D+y*j+b*F,i[15]=_*w+v*O+y*M+b*I,this}multiplyScalar(e){let t=this.elements;return t[0]*=e,t[4]*=e,t[8]*=e,t[12]*=e,t[1]*=e,t[5]*=e,t[9]*=e,t[13]*=e,t[2]*=e,t[6]*=e,t[10]*=e,t[14]*=e,t[3]*=e,t[7]*=e,t[11]*=e,t[15]*=e,this}determinant(){let e=this.elements,t=e[0],n=e[4],r=e[8],i=e[12],a=e[1],o=e[5],s=e[9],c=e[13],l=e[2],u=e[6],d=e[10],f=e[14],p=e[3],m=e[7],h=e[11],g=e[15];return p*(+i*s*u-r*c*u-i*o*d+n*c*d+r*o*f-n*s*f)+m*(+t*s*f-t*c*d+i*a*d-r*a*f+r*c*l-i*s*l)+h*(+t*c*u-t*o*f-i*a*u+n*a*f+i*o*l-n*c*l)+g*(-r*o*l-t*s*u+t*o*d+r*a*u-n*a*d+n*s*l)}transpose(){let e=this.elements,t;return t=e[1],e[1]=e[4],e[4]=t,t=e[2],e[2]=e[8],e[8]=t,t=e[6],e[6]=e[9],e[9]=t,t=e[3],e[3]=e[12],e[12]=t,t=e[7],e[7]=e[13],e[13]=t,t=e[11],e[11]=e[14],e[14]=t,this}setPosition(e,t,n){let r=this.elements;return e.isVector3?(r[12]=e.x,r[13]=e.y,r[14]=e.z):(r[12]=e,r[13]=t,r[14]=n),this}invert(){let e=this.elements,t=e[0],n=e[1],r=e[2],i=e[3],a=e[4],o=e[5],s=e[6],c=e[7],l=e[8],u=e[9],d=e[10],f=e[11],p=e[12],m=e[13],h=e[14],g=e[15],_=u*h*c-m*d*c+m*s*f-o*h*f-u*s*g+o*d*g,v=p*d*c-l*h*c-p*s*f+a*h*f+l*s*g-a*d*g,y=l*m*c-p*u*c+p*o*f-a*m*f-l*o*g+a*u*g,b=p*u*s-l*m*s-p*o*d+a*m*d+l*o*h-a*u*h,x=t*_+n*v+r*y+i*b;if(x===0)return this.set(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0);let S=1/x;return e[0]=_*S,e[1]=(m*d*i-u*h*i-m*r*f+n*h*f+u*r*g-n*d*g)*S,e[2]=(o*h*i-m*s*i+m*r*c-n*h*c-o*r*g+n*s*g)*S,e[3]=(u*s*i-o*d*i-u*r*c+n*d*c+o*r*f-n*s*f)*S,e[4]=v*S,e[5]=(l*h*i-p*d*i+p*r*f-t*h*f-l*r*g+t*d*g)*S,e[6]=(p*s*i-a*h*i-p*r*c+t*h*c+a*r*g-t*s*g)*S,e[7]=(a*d*i-l*s*i+l*r*c-t*d*c-a*r*f+t*s*f)*S,e[8]=y*S,e[9]=(p*u*i-l*m*i-p*n*f+t*m*f+l*n*g-t*u*g)*S,e[10]=(a*m*i-p*o*i+p*n*c-t*m*c-a*n*g+t*o*g)*S,e[11]=(l*o*i-a*u*i-l*n*c+t*u*c+a*n*f-t*o*f)*S,e[12]=b*S,e[13]=(l*m*r-p*u*r+p*n*d-t*m*d-l*n*h+t*u*h)*S,e[14]=(p*o*r-a*m*r-p*n*s+t*m*s+a*n*h-t*o*h)*S,e[15]=(a*u*r-l*o*r+l*n*s-t*u*s-a*n*d+t*o*d)*S,this}scale(e){let t=this.elements,n=e.x,r=e.y,i=e.z;return t[0]*=n,t[4]*=r,t[8]*=i,t[1]*=n,t[5]*=r,t[9]*=i,t[2]*=n,t[6]*=r,t[10]*=i,t[3]*=n,t[7]*=r,t[11]*=i,this}getMaxScaleOnAxis(){let e=this.elements,t=e[0]*e[0]+e[1]*e[1]+e[2]*e[2],n=e[4]*e[4]+e[5]*e[5]+e[6]*e[6],r=e[8]*e[8]+e[9]*e[9]+e[10]*e[10];return Math.sqrt(Math.max(t,n,r))}makeTranslation(e,t,n){return e.isVector3?this.set(1,0,0,e.x,0,1,0,e.y,0,0,1,e.z,0,0,0,1):this.set(1,0,0,e,0,1,0,t,0,0,1,n,0,0,0,1),this}makeRotationX(e){let t=Math.cos(e),n=Math.sin(e);return this.set(1,0,0,0,0,t,-n,0,0,n,t,0,0,0,0,1),this}makeRotationY(e){let t=Math.cos(e),n=Math.sin(e);return this.set(t,0,n,0,0,1,0,0,-n,0,t,0,0,0,0,1),this}makeRotationZ(e){let t=Math.cos(e),n=Math.sin(e);return this.set(t,-n,0,0,n,t,0,0,0,0,1,0,0,0,0,1),this}makeRotationAxis(e,t){let n=Math.cos(t),r=Math.sin(t),i=1-n,a=e.x,o=e.y,s=e.z,c=i*a,l=i*o;return this.set(c*a+n,c*o-r*s,c*s+r*o,0,c*o+r*s,l*o+n,l*s-r*a,0,c*s-r*o,l*s+r*a,i*s*s+n,0,0,0,0,1),this}makeScale(e,t,n){return this.set(e,0,0,0,0,t,0,0,0,0,n,0,0,0,0,1),this}makeShear(e,t,n,r,i,a){return this.set(1,n,i,0,e,1,a,0,t,r,1,0,0,0,0,1),this}compose(e,t,n){let r=this.elements,i=t._x,a=t._y,o=t._z,s=t._w,c=i+i,l=a+a,u=o+o,d=i*c,f=i*l,p=i*u,m=a*l,h=a*u,g=o*u,_=s*c,v=s*l,y=s*u,b=n.x,x=n.y,S=n.z;return 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this.constructor().copy(this,e)}copy(e,t=!0){if(this.name=e.name,this.up.copy(e.up),this.position.copy(e.position),this.rotation.order=e.rotation.order,this.quaternion.copy(e.quaternion),this.scale.copy(e.scale),this.matrix.copy(e.matrix),this.matrixWorld.copy(e.matrixWorld),this.matrixAutoUpdate=e.matrixAutoUpdate,this.matrixWorldAutoUpdate=e.matrixWorldAutoUpdate,this.matrixWorldNeedsUpdate=e.matrixWorldNeedsUpdate,this.layers.mask=e.layers.mask,this.visible=e.visible,this.castShadow=e.castShadow,this.receiveShadow=e.receiveShadow,this.frustumCulled=e.frustumCulled,this.renderOrder=e.renderOrder,this.animations=e.animations.slice(),this.userData=JSON.parse(JSON.stringify(e.userData)),t===!0)for(let t=0;t<e.children.length;t++){let n=e.children[t];this.add(n.clone())}return this}};Cx.DEFAULT_UP=new Y(0,1,0),Cx.DEFAULT_MATRIX_AUTO_UPDATE=!0,Cx.DEFAULT_MATRIX_WORLD_AUTO_UPDATE=!0;var wx=new Y,Tx=new Y,Ex=new Y,Dx=new Y,Ox=new Y,kx=new Y,Ax=new Y,jx=new Y,Mx=new Y,Nx=new Y,Px=new 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0&&(n.clearcoatRoughness=this.clearcoatRoughness),this.clearcoatMap&&this.clearcoatMap.isTexture&&(n.clearcoatMap=this.clearcoatMap.toJSON(e).uuid),this.clearcoatRoughnessMap&&this.clearcoatRoughnessMap.isTexture&&(n.clearcoatRoughnessMap=this.clearcoatRoughnessMap.toJSON(e).uuid),this.clearcoatNormalMap&&this.clearcoatNormalMap.isTexture&&(n.clearcoatNormalMap=this.clearcoatNormalMap.toJSON(e).uuid,n.clearcoatNormalScale=this.clearcoatNormalScale.toArray()),this.sheenColorMap&&this.sheenColorMap.isTexture&&(n.sheenColorMap=this.sheenColorMap.toJSON(e).uuid),this.sheenRoughnessMap&&this.sheenRoughnessMap.isTexture&&(n.sheenRoughnessMap=this.sheenRoughnessMap.toJSON(e).uuid),this.dispersion!==void 0&&(n.dispersion=this.dispersion),this.iridescence!==void 0&&(n.iridescence=this.iridescence),this.iridescenceIOR!==void 0&&(n.iridescenceIOR=this.iridescenceIOR),this.iridescenceThicknessRange!==void 0&&(n.iridescenceThicknessRange=this.iridescenceThicknessRange),this.iridescenceMap&&this.iridescenceMap.isTexture&&(n.iridescenceMap=this.iridescenceMap.toJSON(e).uuid),this.iridescenceThicknessMap&&this.iridescenceThicknessMap.isTexture&&(n.iridescenceThicknessMap=this.iridescenceThicknessMap.toJSON(e).uuid),this.anisotropy!==void 0&&(n.anisotropy=this.anisotropy),this.anisotropyRotation!==void 0&&(n.anisotropyRotation=this.anisotropyRotation),this.anisotropyMap&&this.anisotropyMap.isTexture&&(n.anisotropyMap=this.anisotropyMap.toJSON(e).uuid),this.map&&this.map.isTexture&&(n.map=this.map.toJSON(e).uuid),this.matcap&&this.matcap.isTexture&&(n.matcap=this.matcap.toJSON(e).uuid),this.alphaMap&&this.alphaMap.isTexture&&(n.alphaMap=this.alphaMap.toJSON(e).uuid),this.lightMap&&this.lightMap.isTexture&&(n.lightMap=this.lightMap.toJSON(e).uuid,n.lightMapIntensity=this.lightMapIntensity),this.aoMap&&this.aoMap.isTexture&&(n.aoMap=this.aoMap.toJSON(e).uuid,n.aoMapIntensity=this.aoMapIntensity),this.bumpMap&&this.bumpMap.isTexture&&(n.bumpMap=this.bumpMap.toJSON(e).uuid,n.bumpScale=this.bumpScale),this.normalMap&&this.normalMap.isTexture&&(n.normalMap=this.normalMap.toJSON(e).uuid,n.normalMapType=this.normalMapType,n.normalScale=this.normalScale.toArray()),this.displacementMap&&this.displacementMap.isTexture&&(n.displacementMap=this.displacementMap.toJSON(e).uuid,n.displacementScale=this.displacementScale,n.displacementBias=this.displacementBias),this.roughnessMap&&this.roughnessMap.isTexture&&(n.roughnessMap=this.roughnessMap.toJSON(e).uuid),this.metalnessMap&&this.metalnessMap.isTexture&&(n.metalnessMap=this.metalnessMap.toJSON(e).uuid),this.emissiveMap&&this.emissiveMap.isTexture&&(n.emissiveMap=this.emissiveMap.toJSON(e).uuid),this.specularMap&&this.specularMap.isTexture&&(n.specularMap=this.specularMap.toJSON(e).uuid),this.specularIntensityMap&&this.specularIntensityMap.isTexture&&(n.specularIntensityMap=this.specularIntensityMap.toJSON(e).uuid),this.specularColorMap&&this.specularColorMap.isTexture&&(n.specularColorMap=this.specularColorMap.toJSON(e).uuid),this.envMap&&this.envMap.isTexture&&(n.envMap=this.envMap.toJSON(e).uuid,this.combine!==void 0&&(n.combine=this.combine)),this.envMapRotation!==void 0&&(n.envMapRotation=this.envMapRotation.toArray()),this.envMapIntensity!==void 0&&(n.envMapIntensity=this.envMapIntensity),this.reflectivity!==void 0&&(n.reflectivity=this.reflectivity),this.refractionRatio!==void 0&&(n.refractionRatio=this.refractionRatio),this.gradientMap&&this.gradientMap.isTexture&&(n.gradientMap=this.gradientMap.toJSON(e).uuid),this.transmission!==void 0&&(n.transmission=this.transmission),this.transmissionMap&&this.transmissionMap.isTexture&&(n.transmissionMap=this.transmissionMap.toJSON(e).uuid),this.thickness!==void 0&&(n.thickness=this.thickness),this.thicknessMap&&this.thicknessMap.isTexture&&(n.thicknessMap=this.thicknessMap.toJSON(e).uuid),this.attenuationDistance!==void 0&&this.attenuationDistance!==1/0&&(n.attenuationDistance=this.attenuationDistance),this.attenuationColor!==void 0&&(n.attenuationColor=this.attenuationColor.getHex()),this.size!==void 0&&(n.size=this.size),this.shadowSide!==null&&(n.shadowSide=this.shadowSide),this.sizeAttenuation!==void 0&&(n.sizeAttenuation=this.sizeAttenuation),this.blending!==1&&(n.blending=this.blending),this.side!==0&&(n.side=this.side),this.vertexColors===!0&&(n.vertexColors=!0),this.opacity<1&&(n.opacity=this.opacity),this.transparent===!0&&(n.transparent=!0),this.blendSrc!==204&&(n.blendSrc=this.blendSrc),this.blendDst!==205&&(n.blendDst=this.blendDst),this.blendEquation!==100&&(n.blendEquation=this.blendEquation),this.blendSrcAlpha!==null&&(n.blendSrcAlpha=this.blendSrcAlpha),this.blendDstAlpha!==null&&(n.blendDstAlpha=this.blendDstAlpha),this.blendEquationAlpha!==null&&(n.blendEquationAlpha=this.blendEquationAlpha),this.blendColor&&this.blendColor.isColor&&(n.blendColor=this.blendColor.getHex()),this.blendAlpha!==0&&(n.blendAlpha=this.blendAlpha),this.depthFunc!==3&&(n.depthFunc=this.depthFunc),this.depthTest===!1&&(n.depthTest=this.depthTest),this.depthWrite===!1&&(n.depthWrite=this.depthWrite),this.colorWrite===!1&&(n.colorWrite=this.colorWrite),this.stencilWriteMask!==255&&(n.stencilWriteMask=this.stencilWriteMask),this.stencilFunc!==519&&(n.stencilFunc=this.stencilFunc),this.stencilRef!==0&&(n.stencilRef=this.stencilRef),this.stencilFuncMask!==255&&(n.stencilFuncMask=this.stencilFuncMask),this.stencilFail!==7680&&(n.stencilFail=this.stencilFail),this.stencilZFail!==7680&&(n.stencilZFail=this.stencilZFail),this.stencilZPass!==7680&&(n.stencilZPass=this.stencilZPass),this.stencilWrite===!0&&(n.stencilWrite=this.stencilWrite),this.rotation!==void 0&&this.rotation!==0&&(n.rotation=this.rotation),this.polygonOffset===!0&&(n.polygonOffset=!0),this.polygonOffsetFactor!==0&&(n.polygonOffsetFactor=this.polygonOffsetFactor),this.polygonOffsetUnits!==0&&(n.polygonOffsetUnits=this.polygonOffsetUnits),this.linewidth!==void 0&&this.linewidth!==1&&(n.linewidth=this.linewidth),this.dashSize!==void 0&&(n.dashSize=this.dashSize),this.gapSize!==void 0&&(n.gapSize=this.gapSize),this.scale!==void 0&&(n.scale=this.scale),this.dithering===!0&&(n.dithering=!0),this.alphaTest>0&&(n.alphaTest=this.alphaTest),this.alphaHash===!0&&(n.alphaHash=!0),this.alphaToCoverage===!0&&(n.alphaToCoverage=!0),this.premultipliedAlpha===!0&&(n.premultipliedAlpha=!0),this.forceSinglePass===!0&&(n.forceSinglePass=!0),this.wireframe===!0&&(n.wireframe=!0),this.wireframeLinewidth>1&&(n.wireframeLinewidth=this.wireframeLinewidth),this.wireframeLinecap!==`round`&&(n.wireframeLinecap=this.wireframeLinecap),this.wireframeLinejoin!==`round`&&(n.wireframeLinejoin=this.wireframeLinejoin),this.flatShading===!0&&(n.flatShading=!0),this.visible===!1&&(n.visible=!1),this.toneMapped===!1&&(n.toneMapped=!1),this.fog===!1&&(n.fog=!1),Object.keys(this.userData).length>0&&(n.userData=this.userData);function r(e){let t=[];for(let n in e){let r=e[n];delete r.metadata,t.push(r)}return t}if(t){let t=r(e.textures),i=r(e.images);t.length>0&&(n.textures=t),i.length>0&&(n.images=i)}return n}clone(){return new 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X(16777215),this.map=null,this.lightMap=null,this.lightMapIntensity=1,this.aoMap=null,this.aoMapIntensity=1,this.specularMap=null,this.alphaMap=null,this.envMap=null,this.envMapRotation=new ox,this.combine=0,this.reflectivity=1,this.refractionRatio=.98,this.wireframe=!1,this.wireframeLinewidth=1,this.wireframeLinecap=`round`,this.wireframeLinejoin=`round`,this.fog=!0,this.setValues(e)}copy(e){return super.copy(e),this.color.copy(e.color),this.map=e.map,this.lightMap=e.lightMap,this.lightMapIntensity=e.lightMapIntensity,this.aoMap=e.aoMap,this.aoMapIntensity=e.aoMapIntensity,this.specularMap=e.specularMap,this.alphaMap=e.alphaMap,this.envMap=e.envMap,this.envMapRotation.copy(e.envMapRotation),this.combine=e.combine,this.reflectivity=e.reflectivity,this.refractionRatio=e.refractionRatio,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this.wireframeLinecap=e.wireframeLinecap,this.wireframeLinejoin=e.wireframeLinejoin,this.fog=e.fog,this}},Kx=qx();function qx(){let e=new ArrayBuffer(4),t=new Float32Array(e),n=new Uint32Array(e),r=new Uint32Array(512),i=new Uint32Array(512);for(let e=0;e<256;++e){let t=e-127;t<-27?(r[e]=0,r[e|256]=32768,i[e]=24,i[e|256]=24):t<-14?(r[e]=1024>>-t-14,r[e|256]=1024>>-t-14|32768,i[e]=-t-1,i[e|256]=-t-1):t<=15?(r[e]=t+15<<10,r[e|256]=t+15<<10|32768,i[e]=13,i[e|256]=13):t<128?(r[e]=31744,r[e|256]=64512,i[e]=24,i[e|256]=24):(r[e]=31744,r[e|256]=64512,i[e]=13,i[e|256]=13)}let a=new Uint32Array(2048),o=new Uint32Array(64),s=new Uint32Array(64);for(let e=1;e<1024;++e){let t=e<<13,n=0;for(;!(t&8388608);)t<<=1,n-=8388608;t&=-8388609,n+=947912704,a[e]=t|n}for(let e=1024;e<2048;++e)a[e]=939524096+(e-1024<<13);for(let e=1;e<31;++e)o[e]=e<<23;o[31]=1199570944,o[32]=2147483648;for(let e=33;e<63;++e)o[e]=2147483648+(e-32<<23);o[63]=3347054592;for(let e=1;e<64;++e)e!==32&&(s[e]=1024);return{floatView:t,uint32View:n,baseTable:r,shiftTable:i,mantissaTable:a,exponentTable:o,offsetTable:s}}function Jx(e){Math.abs(e)>65504&&yy(`DataUtils.toHalfFloat(): Value out of range.`),e=ky(e,-65504,65504),Kx.floatView[0]=e;let t=Kx.uint32View[0],n=t>>23&511;return Kx.baseTable[n]+((t&8388607)>>Kx.shiftTable[n])}function Yx(e){let t=e>>10;return Kx.uint32View[0]=Kx.mantissaTable[Kx.offsetTable[t]+(e&1023)]+Kx.exponentTable[t],Kx.floatView[0]}var Xx=class{static toHalfFloat(e){return Jx(e)}static fromHalfFloat(e){return Yx(e)}},Zx=new Y,Qx=new J,$x=0,eS=class{constructor(e,t,n=!1){if(Array.isArray(e))throw TypeError(`THREE.BufferAttribute: array should be a Typed Array.`);this.isBufferAttribute=!0,Object.defineProperty(this,"id",{value:$x++}),this.name=``,this.array=e,this.itemSize=t,this.count=e===void 0?0:e.length/t,this.normalized=n,this.usage=Jv,this.updateRanges=[],this.gpuType=E_,this.version=0}onUploadCallback(){}set needsUpdate(e){e===!0&&this.version++}setUsage(e){return this.usage=e,this}addUpdateRange(e,t){this.updateRanges.push({start:e,count:t})}clearUpdateRanges(){this.updateRanges.length=0}copy(e){return this.name=e.name,this.array=new e.array.constructor(e.array),this.itemSize=e.itemSize,this.count=e.count,this.normalized=e.normalized,this.usage=e.usage,this.gpuType=e.gpuType,this}copyAt(e,t,n){e*=this.itemSize,n*=t.itemSize;for(let r=0,i=this.itemSize;r<i;r++)this.array[e+r]=t.array[n+r];return this}copyArray(e){return this.array.set(e),this}applyMatrix3(e){if(this.itemSize===2)for(let t=0,n=this.count;t<n;t++)Qx.fromBufferAttribute(this,t),Qx.applyMatrix3(e),this.setXY(t,Qx.x,Qx.y);else if(this.itemSize===3)for(let t=0,n=this.count;t<n;t++)Zx.fromBufferAttribute(this,t),Zx.applyMatrix3(e),this.setXYZ(t,Zx.x,Zx.y,Zx.z);return this}applyMatrix4(e){for(let t=0,n=this.count;t<n;t++)Zx.fromBufferAttribute(this,t),Zx.applyMatrix4(e),this.setXYZ(t,Zx.x,Zx.y,Zx.z);return this}applyNormalMatrix(e){for(let 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this.normalized&&(t=Yy(t,this.array)),this.array[e*this.itemSize+2]=t,this}getW(e){let t=this.array[e*this.itemSize+3];return this.normalized&&(t=Jy(t,this.array)),t}setW(e,t){return this.normalized&&(t=Yy(t,this.array)),this.array[e*this.itemSize+3]=t,this}setXY(e,t,n){return e*=this.itemSize,this.normalized&&(t=Yy(t,this.array),n=Yy(n,this.array)),this.array[e+0]=t,this.array[e+1]=n,this}setXYZ(e,t,n,r){return e*=this.itemSize,this.normalized&&(t=Yy(t,this.array),n=Yy(n,this.array),r=Yy(r,this.array)),this.array[e+0]=t,this.array[e+1]=n,this.array[e+2]=r,this}setXYZW(e,t,n,r,i){return e*=this.itemSize,this.normalized&&(t=Yy(t,this.array),n=Yy(n,this.array),r=Yy(r,this.array),i=Yy(i,this.array)),this.array[e+0]=t,this.array[e+1]=n,this.array[e+2]=r,this.array[e+3]=i,this}onUpload(e){return this.onUploadCallback=e,this}clone(){return new this.constructor(this.array,this.itemSize).copy(this)}toJSON(){let e={itemSize:this.itemSize,type:this.array.constructor.name,array:Array.from(this.array),normalized:this.normalized};return this.name!==``&&(e.name=this.name),this.usage!==35044&&(e.usage=this.usage),e}},tS=class extends eS{constructor(e,t,n){super(new Int8Array(e),t,n)}},nS=class extends eS{constructor(e,t,n){super(new Uint8Array(e),t,n)}},rS=class extends eS{constructor(e,t,n){super(new Uint8ClampedArray(e),t,n)}},iS=class extends eS{constructor(e,t,n){super(new Int16Array(e),t,n)}},aS=class extends eS{constructor(e,t,n){super(new Uint16Array(e),t,n)}},oS=class extends eS{constructor(e,t,n){super(new Int32Array(e),t,n)}},sS=class extends eS{constructor(e,t,n){super(new Uint32Array(e),t,n)}},cS=class extends eS{constructor(e,t,n){super(new Uint16Array(e),t,n),this.isFloat16BufferAttribute=!0}getX(e){let t=Yx(this.array[e*this.itemSize]);return this.normalized&&(t=Jy(t,this.array)),t}setX(e,t){return 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e*=this.itemSize,this.normalized&&(t=Yy(t,this.array),n=Yy(n,this.array),r=Yy(r,this.array)),this.array[e+0]=Jx(t),this.array[e+1]=Jx(n),this.array[e+2]=Jx(r),this}setXYZW(e,t,n,r,i){return e*=this.itemSize,this.normalized&&(t=Yy(t,this.array),n=Yy(n,this.array),r=Yy(r,this.array),i=Yy(i,this.array)),this.array[e+0]=Jx(t),this.array[e+1]=Jx(n),this.array[e+2]=Jx(r),this.array[e+3]=Jx(i),this}},lS=class extends eS{constructor(e,t,n){super(new Float32Array(e),t,n)}},uS=0,dS=new Xb,fS=new Cx,pS=new Y,mS=new Cb,hS=new Cb,gS=new Y,_S=class e extends Cy{constructor(){super(),this.isBufferGeometry=!0,Object.defineProperty(this,"id",{value:uS++}),this.uuid=Oy(),this.name=``,this.type=`BufferGeometry`,this.index=null,this.indirect=null,this.attributes={},this.morphAttributes={},this.morphTargetsRelative=!1,this.groups=[],this.boundingBox=null,this.boundingSphere=null,this.drawRange={start:0,count:1/0},this.userData={}}getIndex(){return this.index}setIndex(e){return Array.isArray(e)?this.index=new(ly(e)?sS:aS)(e,1):this.index=e,this}setIndirect(e){return this.indirect=e,this}getIndirect(){return this.indirect}getAttribute(e){return this.attributes[e]}setAttribute(e,t){return this.attributes[e]=t,this}deleteAttribute(e){return delete this.attributes[e],this}hasAttribute(e){return this.attributes[e]!==void 0}addGroup(e,t,n=0){this.groups.push({start:e,count:t,materialIndex:n})}clearGroups(){this.groups=[]}setDrawRange(e,t){this.drawRange.start=e,this.drawRange.count=t}applyMatrix4(e){let t=this.attributes.position;t!==void 0&&(t.applyMatrix4(e),t.needsUpdate=!0);let n=this.attributes.normal;if(n!==void 0){let t=new eb().getNormalMatrix(e);n.applyNormalMatrix(t),n.needsUpdate=!0}let r=this.attributes.tangent;return r!==void 0&&(r.transformDirection(e),r.needsUpdate=!0),this.boundingBox!==null&&this.computeBoundingBox(),this.boundingSphere!==null&&this.computeBoundingSphere(),this}applyQuaternion(e){return dS.makeRotationFromQuaternion(e),this.applyMatrix4(dS),this}rotateX(e){return dS.makeRotationX(e),this.applyMatrix4(dS),this}rotateY(e){return dS.makeRotationY(e),this.applyMatrix4(dS),this}rotateZ(e){return dS.makeRotationZ(e),this.applyMatrix4(dS),this}translate(e,t,n){return dS.makeTranslation(e,t,n),this.applyMatrix4(dS),this}scale(e,t,n){return dS.makeScale(e,t,n),this.applyMatrix4(dS),this}lookAt(e){return fS.lookAt(e),fS.updateMatrix(),this.applyMatrix4(fS.matrix),this}center(){return this.computeBoundingBox(),this.boundingBox.getCenter(pS).negate(),this.translate(pS.x,pS.y,pS.z),this}setFromPoints(e){let t=this.getAttribute(`position`);if(t===void 0){let t=[];for(let n=0,r=e.length;n<r;n++){let r=e[n];t.push(r.x,r.y,r.z||0)}this.setAttribute(`position`,new lS(t,3))}else{let n=Math.min(e.length,t.count);for(let r=0;r<n;r++){let n=e[r];t.setXYZ(r,n.x,n.y,n.z||0)}e.length>t.count&&yy(`BufferGeometry: Buffer size too small for points data. Use .dispose() and create a new geometry.`),t.needsUpdate=!0}return this}computeBoundingBox(){this.boundingBox===null&&(this.boundingBox=new Cb);let e=this.attributes.position,t=this.morphAttributes.position;if(e&&e.isGLBufferAttribute){by(`BufferGeometry.computeBoundingBox(): GLBufferAttribute requires a manual bounding box.`,this),this.boundingBox.set(new Y(-1/0,-1/0,-1/0),new Y(1/0,1/0,1/0));return}if(e!==void 0){if(this.boundingBox.setFromBufferAttribute(e),t)for(let e=0,n=t.length;e<n;e++){let n=t[e];mS.setFromBufferAttribute(n),this.morphTargetsRelative?(gS.addVectors(this.boundingBox.min,mS.min),this.boundingBox.expandByPoint(gS),gS.addVectors(this.boundingBox.max,mS.max),this.boundingBox.expandByPoint(gS)):(this.boundingBox.expandByPoint(mS.min),this.boundingBox.expandByPoint(mS.max))}}else this.boundingBox.makeEmpty();(isNaN(this.boundingBox.min.x)||isNaN(this.boundingBox.min.y)||isNaN(this.boundingBox.min.z))&&by(`BufferGeometry.computeBoundingBox(): Computed min/max have NaN values. The "position" attribute is likely to have NaN values.`,this)}computeBoundingSphere(){this.boundingSphere===null&&(this.boundingSphere=new Vb);let e=this.attributes.position,t=this.morphAttributes.position;if(e&&e.isGLBufferAttribute){by(`BufferGeometry.computeBoundingSphere(): GLBufferAttribute requires a manual bounding sphere.`,this),this.boundingSphere.set(new Y,1/0);return}if(e){let n=this.boundingSphere.center;if(mS.setFromBufferAttribute(e),t)for(let e=0,n=t.length;e<n;e++){let n=t[e];hS.setFromBufferAttribute(n),this.morphTargetsRelative?(gS.addVectors(mS.min,hS.min),mS.expandByPoint(gS),gS.addVectors(mS.max,hS.max),mS.expandByPoint(gS)):(mS.expandByPoint(hS.min),mS.expandByPoint(hS.max))}mS.getCenter(n);let r=0;for(let t=0,i=e.count;t<i;t++)gS.fromBufferAttribute(e,t),r=Math.max(r,n.distanceToSquared(gS));if(t)for(let i=0,a=t.length;i<a;i++){let a=t[i],o=this.morphTargetsRelative;for(let t=0,i=a.count;t<i;t++)gS.fromBufferAttribute(a,t),o&&(pS.fromBufferAttribute(e,t),gS.add(pS)),r=Math.max(r,n.distanceToSquared(gS))}this.boundingSphere.radius=Math.sqrt(r),isNaN(this.boundingSphere.radius)&&by(`BufferGeometry.computeBoundingSphere(): Computed radius is NaN. The "position" attribute is likely to have NaN values.`,this)}}computeTangents(){let e=this.index,t=this.attributes;if(e===null||t.position===void 0||t.normal===void 0||t.uv===void 0){by(`BufferGeometry: .computeTangents() failed. Missing required attributes (index, position, normal or uv)`);return}let n=t.position,r=t.normal,i=t.uv;this.hasAttribute(`tangent`)===!1&&this.setAttribute(`tangent`,new eS(new Float32Array(4*n.count),4));let a=this.getAttribute(`tangent`),o=[],s=[];for(let e=0;e<n.count;e++)o[e]=new Y,s[e]=new Y;let c=new Y,l=new Y,u=new Y,d=new J,f=new J,p=new J,m=new Y,h=new Y;function g(e,t,r){c.fromBufferAttribute(n,e),l.fromBufferAttribute(n,t),u.fromBufferAttribute(n,r),d.fromBufferAttribute(i,e),f.fromBufferAttribute(i,t),p.fromBufferAttribute(i,r),l.sub(c),u.sub(c),f.sub(d),p.sub(d);let a=1/(f.x*p.y-p.x*f.y);isFinite(a)&&(m.copy(l).multiplyScalar(p.y).addScaledVector(u,-f.y).multiplyScalar(a),h.copy(u).multiplyScalar(f.x).addScaledVector(l,-p.x).multiplyScalar(a),o[e].add(m),o[t].add(m),o[r].add(m),s[e].add(h),s[t].add(h),s[r].add(h))}let _=this.groups;_.length===0&&(_=[{start:0,count:e.count}]);for(let t=0,n=_.length;t<n;++t){let n=_[t],r=n.start,i=n.count;for(let t=r,n=r+i;t<n;t+=3)g(e.getX(t+0),e.getX(t+1),e.getX(t+2))}let v=new Y,y=new Y,b=new Y,x=new Y;function S(e){b.fromBufferAttribute(r,e),x.copy(b);let t=o[e];v.copy(t),v.sub(b.multiplyScalar(b.dot(t))).normalize(),y.crossVectors(x,t);let n=y.dot(s[e])<0?-1:1;a.setXYZW(e,v.x,v.y,v.z,n)}for(let t=0,n=_.length;t<n;++t){let n=_[t],r=n.start,i=n.count;for(let t=r,n=r+i;t<n;t+=3)S(e.getX(t+0)),S(e.getX(t+1)),S(e.getX(t+2))}}computeVertexNormals(){let e=this.index,t=this.getAttribute(`position`);if(t!==void 0){let n=this.getAttribute(`normal`);if(n===void 0)n=new eS(new Float32Array(t.count*3),3),this.setAttribute(`normal`,n);else for(let e=0,t=n.count;e<t;e++)n.setXYZ(e,0,0,0);let r=new Y,i=new Y,a=new Y,o=new Y,s=new Y,c=new Y,l=new Y,u=new Y;if(e)for(let d=0,f=e.count;d<f;d+=3){let f=e.getX(d+0),p=e.getX(d+1),m=e.getX(d+2);r.fromBufferAttribute(t,f),i.fromBufferAttribute(t,p),a.fromBufferAttribute(t,m),l.subVectors(a,i),u.subVectors(r,i),l.cross(u),o.fromBufferAttribute(n,f),s.fromBufferAttribute(n,p),c.fromBufferAttribute(n,m),o.add(l),s.add(l),c.add(l),n.setXYZ(f,o.x,o.y,o.z),n.setXYZ(p,s.x,s.y,s.z),n.setXYZ(m,c.x,c.y,c.z)}else for(let e=0,o=t.count;e<o;e+=3)r.fromBufferAttribute(t,e+0),i.fromBufferAttribute(t,e+1),a.fromBufferAttribute(t,e+2),l.subVectors(a,i),u.subVectors(r,i),l.cross(u),n.setXYZ(e+0,l.x,l.y,l.z),n.setXYZ(e+1,l.x,l.y,l.z),n.setXYZ(e+2,l.x,l.y,l.z);this.normalizeNormals(),n.needsUpdate=!0}}normalizeNormals(){let e=this.attributes.normal;for(let t=0,n=e.count;t<n;t++)gS.fromBufferAttribute(e,t),gS.normalize(),e.setXYZ(t,gS.x,gS.y,gS.z)}toNonIndexed(){function t(e,t){let n=e.array,r=e.itemSize,i=e.normalized,a=new n.constructor(t.length*r),o=0,s=0;for(let i=0,c=t.length;i<c;i++){o=e.isInterleavedBufferAttribute?t[i]*e.data.stride+e.offset:t[i]*r;for(let e=0;e<r;e++)a[s++]=n[o++]}return new eS(a,r,i)}if(this.index===null)return yy(`BufferGeometry.toNonIndexed(): BufferGeometry is already non-indexed.`),this;let n=new e,r=this.index.array,i=this.attributes;for(let e in i){let a=i[e],o=t(a,r);n.setAttribute(e,o)}let a=this.morphAttributes;for(let e in a){let i=[],o=a[e];for(let e=0,n=o.length;e<n;e++){let n=o[e],a=t(n,r);i.push(a)}n.morphAttributes[e]=i}n.morphTargetsRelative=this.morphTargetsRelative;let o=this.groups;for(let e=0,t=o.length;e<t;e++){let t=o[e];n.addGroup(t.start,t.count,t.materialIndex)}return n}toJSON(){let e={metadata:{version:4.7,type:`BufferGeometry`,generator:`BufferGeometry.toJSON`}};if(e.uuid=this.uuid,e.type=this.type,this.name!==``&&(e.name=this.name),Object.keys(this.userData).length>0&&(e.userData=this.userData),this.parameters!==void 0){let t=this.parameters;for(let n in t)t[n]!==void 0&&(e[n]=t[n]);return e}e.data={attributes:{}};let t=this.index;t!==null&&(e.data.index={type:t.array.constructor.name,array:Array.prototype.slice.call(t.array)});let n=this.attributes;for(let t in n){let r=n[t];e.data.attributes[t]=r.toJSON(e.data)}let r={},i=!1;for(let t in this.morphAttributes){let n=this.morphAttributes[t],a=[];for(let t=0,r=n.length;t<r;t++){let r=n[t];a.push(r.toJSON(e.data))}a.length>0&&(r[t]=a,i=!0)}i&&(e.data.morphAttributes=r,e.data.morphTargetsRelative=this.morphTargetsRelative);let a=this.groups;a.length>0&&(e.data.groups=JSON.parse(JSON.stringify(a)));let o=this.boundingSphere;return o!==null&&(e.data.boundingSphere=o.toJSON()),e}clone(){return new this.constructor().copy(this)}copy(e){this.index=null,this.attributes={},this.morphAttributes={},this.groups=[],this.boundingBox=null,this.boundingSphere=null;let t={};this.name=e.name;let n=e.index;n!==null&&this.setIndex(n.clone());let r=e.attributes;for(let e in r){let n=r[e];this.setAttribute(e,n.clone(t))}let i=e.morphAttributes;for(let e in i){let n=[],r=i[e];for(let e=0,i=r.length;e<i;e++)n.push(r[e].clone(t));this.morphAttributes[e]=n}this.morphTargetsRelative=e.morphTargetsRelative;let a=e.groups;for(let e=0,t=a.length;e<t;e++){let t=a[e];this.addGroup(t.start,t.count,t.materialIndex)}let o=e.boundingBox;o!==null&&(this.boundingBox=o.clone());let s=e.boundingSphere;return s!==null&&(this.boundingSphere=s.clone()),this.drawRange.start=e.drawRange.start,this.drawRange.count=e.drawRange.count,this.userData=e.userData,this}dispose(){this.dispatchEvent({type:`dispose`})}},vS=new Xb,yS=new Yb,bS=new Vb,xS=new Y,SS=new Y,CS=new Y,wS=new Y,TS=new Y,ES=new Y,DS=new Y,OS=new Y,kS=class extends Cx{constructor(e=new _S,t=new Gx){super(),this.isMesh=!0,this.type=`Mesh`,this.geometry=e,this.material=t,this.morphTargetDictionary=void 0,this.morphTargetInfluences=void 0,this.count=1,this.updateMorphTargets()}copy(e,t){return super.copy(e,t),e.morphTargetInfluences!==void 0&&(this.morphTargetInfluences=e.morphTargetInfluences.slice()),e.morphTargetDictionary!==void 0&&(this.morphTargetDictionary=Object.assign({},e.morphTargetDictionary)),this.material=Array.isArray(e.material)?e.material.slice():e.material,this.geometry=e.geometry,this}updateMorphTargets(){let e=this.geometry.morphAttributes,t=Object.keys(e);if(t.length>0){let n=e[t[0]];if(n!==void 0){this.morphTargetInfluences=[],this.morphTargetDictionary={};for(let e=0,t=n.length;e<t;e++){let t=n[e].name||String(e);this.morphTargetInfluences.push(0),this.morphTargetDictionary[t]=e}}}}getVertexPosition(e,t){let n=this.geometry,r=n.attributes.position,i=n.morphAttributes.position,a=n.morphTargetsRelative;t.fromBufferAttribute(r,e);let o=this.morphTargetInfluences;if(i&&o){ES.set(0,0,0);for(let n=0,r=i.length;n<r;n++){let r=o[n],s=i[n];r!==0&&(TS.fromBufferAttribute(s,e),a?ES.addScaledVector(TS,r):ES.addScaledVector(TS.sub(t),r))}t.add(ES)}return t}raycast(e,t){let n=this.geometry,r=this.material,i=this.matrixWorld;r!==void 0&&(n.boundingSphere===null&&n.computeBoundingSphere(),bS.copy(n.boundingSphere),bS.applyMatrix4(i),yS.copy(e.ray).recast(e.near),!(bS.containsPoint(yS.origin)===!1&&(yS.intersectSphere(bS,xS)===null||yS.origin.distanceToSquared(xS)>(e.far-e.near)**2))&&(vS.copy(i).invert(),yS.copy(e.ray).applyMatrix4(vS),!(n.boundingBox!==null&&yS.intersectsBox(n.boundingBox)===!1)&&this._computeIntersections(e,t,yS)))}_computeIntersections(e,t,n){let r,i=this.geometry,a=this.material,o=i.index,s=i.attributes.position,c=i.attributes.uv,l=i.attributes.uv1,u=i.attributes.normal,d=i.groups,f=i.drawRange;if(o!==null)if(Array.isArray(a))for(let i=0,s=d.length;i<s;i++){let s=d[i],p=a[s.materialIndex],m=Math.max(s.start,f.start),h=Math.min(o.count,Math.min(s.start+s.count,f.start+f.count));for(let i=m,a=h;i<a;i+=3){let a=o.getX(i),d=o.getX(i+1),f=o.getX(i+2);r=jS(this,p,e,n,c,l,u,a,d,f),r&&(r.faceIndex=Math.floor(i/3),r.face.materialIndex=s.materialIndex,t.push(r))}}else{let i=Math.max(0,f.start),s=Math.min(o.count,f.start+f.count);for(let d=i,f=s;d<f;d+=3){let i=o.getX(d),s=o.getX(d+1),f=o.getX(d+2);r=jS(this,a,e,n,c,l,u,i,s,f),r&&(r.faceIndex=Math.floor(d/3),t.push(r))}}else if(s!==void 0)if(Array.isArray(a))for(let i=0,o=d.length;i<o;i++){let o=d[i],p=a[o.materialIndex],m=Math.max(o.start,f.start),h=Math.min(s.count,Math.min(o.start+o.count,f.start+f.count));for(let i=m,a=h;i<a;i+=3){let a=i,s=i+1,d=i+2;r=jS(this,p,e,n,c,l,u,a,s,d),r&&(r.faceIndex=Math.floor(i/3),r.face.materialIndex=o.materialIndex,t.push(r))}}else{let i=Math.max(0,f.start),o=Math.min(s.count,f.start+f.count);for(let s=i,d=o;s<d;s+=3){let i=s,o=s+1,d=s+2;r=jS(this,a,e,n,c,l,u,i,o,d),r&&(r.faceIndex=Math.floor(s/3),t.push(r))}}}};function AS(e,t,n,r,i,a,o,s){let c;if(c=t.side===1?r.intersectTriangle(o,a,i,!0,s):r.intersectTriangle(i,a,o,t.side===0,s),c===null)return null;OS.copy(s),OS.applyMatrix4(e.matrixWorld);let l=n.ray.origin.distanceTo(OS);return l<n.near||l>n.far?null:{distance:l,point:OS.clone(),object:e}}function jS(e,t,n,r,i,a,o,s,c,l){e.getVertexPosition(s,SS),e.getVertexPosition(c,CS),e.getVertexPosition(l,wS);let u=AS(e,t,n,r,SS,CS,wS,DS);if(u){let e=new Y;Lx.getBarycoord(DS,SS,CS,wS,e),i&&(u.uv=Lx.getInterpolatedAttribute(i,s,c,l,e,new J)),a&&(u.uv1=Lx.getInterpolatedAttribute(a,s,c,l,e,new J)),o&&(u.normal=Lx.getInterpolatedAttribute(o,s,c,l,e,new Y),u.normal.dot(r.direction)>0&&u.normal.multiplyScalar(-1));let t={a:s,b:c,c:l,normal:new Y,materialIndex:0};Lx.getNormal(SS,CS,wS,t.normal),u.face=t,u.barycoord=e}return u}var MS=class e extends _S{constructor(e=1,t=1,n=1,r=1,i=1,a=1){super(),this.type=`BoxGeometry`,this.parameters={width:e,height:t,depth:n,widthSegments:r,heightSegments:i,depthSegments:a};let o=this;r=Math.floor(r),i=Math.floor(i),a=Math.floor(a);let s=[],c=[],l=[],u=[],d=0,f=0;p(`z`,`y`,`x`,-1,-1,n,t,e,a,i,0),p(`z`,`y`,`x`,1,-1,n,t,-e,a,i,1),p(`x`,`z`,`y`,1,1,e,n,t,r,a,2),p(`x`,`z`,`y`,1,-1,e,n,-t,r,a,3),p(`x`,`y`,`z`,1,-1,e,t,n,r,i,4),p(`x`,`y`,`z`,-1,-1,e,t,-n,r,i,5),this.setIndex(s),this.setAttribute(`position`,new lS(c,3)),this.setAttribute(`normal`,new lS(l,3)),this.setAttribute(`uv`,new lS(u,2));function p(e,t,n,r,i,a,p,m,h,g,_){let v=a/h,y=p/g,b=a/2,x=p/2,S=m/2,C=h+1,w=g+1,T=0,E=0,D=new Y;for(let a=0;a<w;a++){let o=a*y-x;for(let s=0;s<C;s++)D[e]=(s*v-b)*r,D[t]=o*i,D[n]=S,c.push(D.x,D.y,D.z),D[e]=0,D[t]=0,D[n]=m>0?1:-1,l.push(D.x,D.y,D.z),u.push(s/h),u.push(1-a/g),T+=1}for(let e=0;e<g;e++)for(let t=0;t<h;t++){let n=d+t+C*e,r=d+t+C*(e+1),i=d+(t+1)+C*(e+1),a=d+(t+1)+C*e;s.push(n,r,a),s.push(r,i,a),E+=6}o.addGroup(f,E,_),f+=E,d+=T}}copy(e){return super.copy(e),this.parameters=Object.assign({},e.parameters),this}static fromJSON(t){return new e(t.width,t.height,t.depth,t.widthSegments,t.heightSegments,t.depthSegments)}};function NS(e){let t={};for(let n in e){t[n]={};for(let r in e[n]){let i=e[n][r];i&&(i.isColor||i.isMatrix3||i.isMatrix4||i.isVector2||i.isVector3||i.isVector4||i.isTexture||i.isQuaternion)?i.isRenderTargetTexture?(yy(`UniformsUtils: Textures of render targets cannot be cloned via cloneUniforms() or mergeUniforms().`),t[n][r]=null):t[n][r]=i.clone():Array.isArray(i)?t[n][r]=i.slice():t[n][r]=i}}return t}function PS(e){let t={};for(let n=0;n<e.length;n++){let r=NS(e[n]);for(let e in r)t[e]=r[e]}return t}function FS(e){let t=[];for(let n=0;n<e.length;n++)t.push(e[n].clone());return t}function IS(e){let t=e.getRenderTarget();return t===null?e.outputColorSpace:t.isXRRenderTarget===!0?t.texture.colorSpace:ab.workingColorSpace}var LS={clone:NS,merge:PS},RS=`void main() {
 	gl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );
 }`,zS=`void main() {
 	gl_FragColor = vec4( 1.0, 0.0, 0.0, 1.0 );
@@ -15594,4 +15594,4 @@ fn calculateOutputIndex(index: u32) -> u32 {
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Float32Array([1,0,0,0]);this.refJointPos=[Float32Array.from(t)],this.refRootPos=[Float32Array.from(n)],this.refRootQuat=[Float32Array.from(r)],this.refIdx=0,this.refLen=1,this.currentDone=!0,this.currentName=`default`}advance(){this.refLen<=1||this.refIdx<this.refLen-1&&(this.refIdx+=1,this.refIdx===this.refLen-1&&(this.currentDone=!0))}isReady(){return this.refLen>0}},e1=class extends X${constructor(e){super(e),this.locomotion=null}async init(e){await super.init(e);let t=this.config.policy_joint_names??[],n={...this.config.tracking,policy_joint_names:t};this.locomotion=new $$(n)}reset(e){this.locomotion?.reset(e)}update(){this.locomotion?.advance()}getContext(){return{tracking:this.locomotion}}},t1=class{constructor(e){this.config=e}};function n1(e,t){return e+Math.random()*(t-e)}function r1(e){let t=new Uint8Array(e.names),n=new TextDecoder,r=[];for(let i=0;i<e.njnt;i++){let a=e.name_jntadr[i],o=a;for(;o<t.length&&t[o]!==0;)o++;r.push(n.decode(t.subarray(a,o)))}return r}function i1(e){for(let t=0;t<e.njnt;t++)if(e.jnt_type[t]===0)return t;return-1}var a1=class extends t1{constructor(e){super(e),this.mutations=e.mutations??[]}onReset(e){let{mjModel:t,mjData:n}=e;if(!(!t||!n))for(let e of this.mutations)switch(e.target){case`joint_qpos`:this.applyJointOffset(t,n,e,`qpos`);break;case`joint_qvel`:this.applyJointOffset(t,n,e,`qvel`);break;case`freejoint_pos`:this.applyFreejointPos(t,n,e);break;case`freejoint_yaw`:this.applyFreejointYaw(t,n,e);break}}resolveJointIndices(e,t){let n=t.select??{};if(n.joint_ids&&n.joint_ids.length>0)return n.joint_ids.filter(t=>t>=0&&t<e.njnt);let r=r1(e);return n.joint_names&&n.joint_names.length>0?n.joint_names.map(e=>this.findJointIndex(r,e,n.entity_name)).filter(e=>e!==null):r.map((e,t)=>({name:e,idx:t})).filter(({name:t,idx:r})=>e.jnt_type[r]===0?!1:n.entity_name?t===n.entity_name||t.startsWith(`${n.entity_name}/`):!0).map(({idx:e})=>e)}findJointIndex(e,t,n){let r=e.indexOf(t);if(r>=0)return r;if(n){let r=e.indexOf(`${n}/${t}`);if(r>=0)return r}let i=e.map((e,t)=>({name:e,idx:t})).filter(({name:e})=>e===t||e.endsWith(`/${t}`));if(i.length===1)return i[0].idx;if(n){let e=i.find(({name:e})=>e===n||e.startsWith(`${n}/`));if(e)return e.idx}return null}applyJointOffset(e,t,n,r){if(n.sample.dist!==`uniform`)return;let{low:i,high:a}=n.sample;for(let o of this.resolveJointIndices(e,n)){let s=e.jnt_type[o];if(!(s!==2&&s!==3))if(r===`qpos`){let r=e.jnt_qposadr[o];if(t.qpos[r]+=n1(i,a),n.clip_to_limits&&e.jnt_limited[o]){let n=e.jnt_range[o*2],i=e.jnt_range[o*2+1];t.qpos[r]=Math.min(Math.max(t.qpos[r],n),i)}}else t.qvel[e.jnt_dofadr[o]]+=n1(i,a)}}applyFreejointPos(e,t,n){if(n.sample.dist!==`uniform_xyz`)return;let r=i1(e);if(r<0)return;let i=e.jnt_qposadr[r];t.qpos[i]+=n1(n.sample.x[0],n.sample.x[1]),t.qpos[i+1]+=n1(n.sample.y[0],n.sample.y[1]),t.qpos[i+2]+=n1(n.sample.z[0],n.sample.z[1])}applyFreejointYaw(e,t,n){if(n.sample.dist!==`uniform`)return;let r=i1(e);if(r<0)return;let i=e.jnt_qposadr[r]+3,a=n1(n.sample.low,n.sample.high),o=Math.cos(a/2),s=Math.sin(a/2),c=t.qpos[i],l=t.qpos[i+1],u=t.qpos[i+2],d=t.qpos[i+3];t.qpos[i]=o*c-s*d,t.qpos[i+1]=o*l+s*u,t.qpos[i+2]=o*u-s*l,t.qpos[i+3]=o*d+s*c}};function o1(e){return`kind`in e&&e.kind===`event`&&Array.isArray(e.mutations)}var s1=class{constructor(e,t){this.terms=[];for(let n of e){if(o1(n)){this.terms.push(new a1(n));continue}let e=t[n.name];if(!e){console.warn(`[EventManager] Unknown event type: ${n.name}`);continue}this.terms.push(new e(n))}}onReset(e){for(let t of this.terms)t.onReset(e)}get size(){return this.terms.length}},c1={};function l1(e){return typeof e==`object`&&!!e&&typeof e.setSelectedMotion==`function`}var u1=class extends Error{constructor(){super(`This scene cannot be loaded because it exceeds the browser's WebAssembly 2 GB memory limit. Try closing other browser tabs or reloading the page to free memory.`),this.name=`WasmMemoryLimitError`}};function d1(e){let t=e instanceof Error?e.message:String(e);return t.includes(`MjModel loading returned null`)||t.includes(`Could not allocate memory`)||t.includes(`memory allocation failed`)||t.includes(`bad_alloc`)}var f1=class{constructor(e,t){this.render=()=>{if(this.commandManager.updateDebugVisuals(),this.mjData&&AB(this.mjData,this.camera,this.controls,this.cameraState),this.controls.update(),this.mjModel&&this.mjData&&this.bodies){WN(this.camera,this.lights);for(let[e,t]of this.lastSimState.bodies){let n=this.bodies[e];n&&(n.position.copy(t.position),n.quaternion.copy(t.quaternion))}UN(this.mujoco,this.mjData,this.lights),this.mujocoRoot&&this.mujocoRoot.cylinders&&QN({cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}this.renderer.render(this.scene,this.camera)},this.onWindowResize=()=>{let{width:e,height:t}=this.getSize();this.camera.aspect=e/t,this.camera.updateProjectionMatrix(),this.renderer.setSize(e,t)},this.mujoco=e,this.container=t,this.commandManager=new rV,this.scenePlugins={},this.policyPlugins={};let n=`/working`;try{this.mujoco.FS.mkdir(n)}catch(e){e&&typeof e==`object`&&`code`in e&&e.code!==`EEXIST`&&console.warn(`Failed to create /working directory:`,e)}try{this.mujoco.FS.mount(this.mujoco.MEMFS,{root:`.`},n)}catch(e){e&&typeof e==`object`&&`code`in e&&e.code!==`EEXIST`&&e.code!==`EBUSY`&&console.warn(`Failed to mount MEMFS at /working:`,e)}let{width:r,height:i}=this.getSize();this.scene=new nC,this.scene.name=`scene`,this.camera=new GS(45,r/i,.001,1e3),this.camera.name=`PerspectiveCamera`,this.camera.position.set(2,1.7,1.7),this.scene.add(this.camera),this.renderer=new hN({antialias:!0}),this.renderer.xr.enabled=!0,this.renderer.setPixelRatio(window.devicePixelRatio),this.renderer.setSize(r,i),this.renderer.shadowMap.enabled=!0,this.renderer.shadowMap.type=2,this.renderer.outputColorSpace=Rv,this.renderer.toneMapping=4,this.renderer.toneMappingExposure=1,this.container.appendChild(this.renderer.domElement),this.vrButton=null,navigator.xr?.isSessionSupported(`immersive-vr`).then(e=>{e&&(this.vrButton=zN.createButton(this.renderer),document.body.appendChild(this.vrButton))}),this.controls=new EN(this.camera,this.renderer.domElement),this.controls.target.set(0,.2,0),this.controls.panSpeed=2,this.controls.zoomSpeed=1,this.controls.enableDamping=!0,this.controls.dampingFactor=.1,this.controls.screenSpacePanning=!0,this.controls.update(),this.renderer.setAnimationLoop(this.render),window.addEventListener(`resize`,this.onWindowResize),`ResizeObserver`in window?(this.resizeObserver=new ResizeObserver(()=>this.onWindowResize()),this.resizeObserver.observe(this.container)):this.resizeObserver=null,this.lastSimState={bodies:new Map,tendons:$N()},this.dynamicBodyIds=null,this.mjModel=null,this.mjData=null,this.bodies=null,this.lights=[],this.mujocoRoot=null,this.loopPromise=null,this.running=!1,this.timestep=.001,this.decimation=1,this.policyCtrlDt=null,this.loadingScene=null,this.dragStateManager=null,this.dragForceScale=100,this.policyRunner=null,this.policyStateBuilder=null,this.initialQpos=null,this.initialQvel=null,this.policyControl=null,this.onnxModule=null,this.onnxInputDict=null,this.onnxInferencing=!1,this.onnxTimeStep=0,this.terminationManager=null,this.eventManager=null,this.terrainData=null,this.splatMesh=null,this.colliderMesh=null,this.currentSplatTransform={},this.cameraState={trackBodyId:null,prevBodyPos:null}}async loadEnvironment(e){this.scenePlugins=e.plugins??{},this.terrainData=e.terrainData??null,e.events&&e.events.length>0?(this.eventManager=new s1(e.events,{...c1,...this.scenePlugins.events}),console.log(`[EventManager] ${this.eventManager.size} reset event(s) loaded`)):this.eventManager=null,await this.stop(),this.splatMesh&&=(Cz(this.splatMesh,this.scene),null),this.colliderMesh&&=(TB(this.colliderMesh,this.scene),null),this.initializeCommands(),this.mjModel=null,this.mjData=null,this.bodies=null,this.lights=[],this.mujocoRoot=null,this.dynamicBodyIds=null,await this.buildSceneFromMjz(e.model),e.splat&&await this.applySplat(e.splat),await this.loadPolicyConfig(e.policy??null),this.applyViewerConfig(e.viewer??null),this.running=!0,this.startLoop()}initializeCommands(){this.commandManager.clear()}initializeCommandsFromConfig(e,t){this.commandManager.initialize(e,t,this.policyPlugins.commands),console.log(`[mjswanRuntime] Commands loaded from policy config:`,Object.keys(e))}resetSimulation(){if(this.resetSimulationState(),this.policyRunner&&this.policyStateBuilder){let e=this.policyStateBuilder.build();this.policyRunner.reset(e)}console.log(`[mjswanRuntime] Simulation reset`)}async setSelectedMotion(e){let t=this.commandManager.getTerm(`motion`);if(!l1(t))return!1;let n=await t.setSelectedMotion(e);return n&&this.resetSimulation(),n}getSelectedMotionName(){let e=this.commandManager.getTerm(`motion`);return l1(e)?e.getSelectedMotionName?.()??null:null}setReferenceVisible(e){let t=this.commandManager.getTerm(`motion`);!l1(t)||typeof t.setReferenceVisible!=`function`||t.setReferenceVisible(e)}async buildScene(e){this.loadingScene&&await this.loadingScene,this.loadingScene=(async()=>{let t=this.scene.getObjectByName(`MuJoCo Root`);t&&this.scene.remove(t);let n={mjModel:this.mjModel,mjData:this.mjData,scene:this.scene};if([this.mjModel,this.mjData,this.bodies,this.lights]=await rP(this.mujoco,e,n),!this.mjModel||!this.mjData)throw Error(`Failed to load MuJoCo model.`);this.mujocoRoot=this.scene.getObjectByName(`MuJoCo Root`),this.mujoco.mj_forward(this.mjModel,this.mjData),UN(this.mujoco,this.mjData,this.lights),WN(this.camera,this.lights),this.dynamicBodyIds=this.computeDynamicBodyIds(this.mjModel),this.syncStaticBodiesFromData(),this.timestep=this.mjModel.opt.timestep||.001;let r=this.policyCtrlDt??.02;this.decimation=Math.max(1,Math.round(r/this.timestep)),this.lastSimState.bodies.clear(),this.updateCachedState(),this.dragStateManager?this.dragStateManager.setDraggableBodyIds(this.dynamicBodyIds):this.dragStateManager=new EB({scene:this.scene,renderer:this.renderer,camera:this.camera,container:this.container,controls:this.controls,draggableBodyIds:this.dynamicBodyIds}),this.loadingScene=null})(),await this.loadingScene}async buildSceneFromMjz(e){try{let t=await cP(this.mujoco,e);await this.buildScene(t)}catch(e){throw this.loadingScene=null,d1(e)?new u1:e}}async startLoop(){return this.loopPromise?this.loopPromise:(this.running=!0,this.loopPromise=this.mainLoop(),this.loopPromise)}async setSplat(e){this.splatMesh&&=(Cz(this.splatMesh,this.scene),null),this.colliderMesh&&=(TB(this.colliderMesh,this.scene),null),e&&await this.applySplat(e)}async applySplat(e){this.currentSplatTransform=e.transform??{},this.splatMesh=Sz(e.data,this.currentSplatTransform,this.scene),e.collider&&(this.colliderMesh=await wB(e.collider,this.scene))}calibrateSplat(e){this.currentSplatTransform=e,this.splatMesh&&xz(this.splatMesh,e)}setSplatVisible(e){this.splatMesh&&(this.splatMesh.visible=e)}get commands(){return this.commandManager}play(){this.running=!0,this.startLoop()}pause(){this.stop()}get isRunning(){return this.running}getCameraView(){let e=this.camera.position.clone().sub(this.controls.target),t=e.length(),n=VN(e),r=VN(this.controls.target.clone()),i=180/Math.PI,a=t>1e-9?Math.asin(-n.z/t)*i:0,o=Math.atan2(n.y,n.x)*i;return{lookat:[r.x,r.y,r.z],distance:t,azimuth:o,elevation:a,fovy:this.camera.fov}}setCameraView(e){let t=this.getCameraView(),n=e.lookat??t.lookat,r=e.distance??t.distance,i=e.elevation??t.elevation,a=e.azimuth??t.azimuth;this.camera.fov=e.fovy??t.fovy,this.camera.updateProjectionMatrix(),this.camera.position.copy(OB(n,r,i,a)),this.controls.target.copy(BN(n)),this.controls.update()}frameCamera(){if(!this.mujocoRoot)return;let e=new Cb().setFromObject(this.mujocoRoot);if(e.isEmpty())return;let t=e.getCenter(new Y),n=e.getSize(new Y).length(),r=this.camera.fov*Math.PI/180,i=n/(2*Math.tan(r/2)),a=this.getCameraView(),o=VN(t);this.setCameraView({lookat:[o.x,o.y,o.z],distance:i>0?i:a.distance})}async stop(){this.running=!1;let e=this.loopPromise;e&&await e,this.loopPromise=null}async mainLoop(){for(;this.running;){let e=performance.now(),t=this.timestep*this.decimation;if(this.mjModel&&this.mjData){if(this.mujoco.mj_forward(this.mjModel,this.mjData),this.policyRunner&&this.policyStateBuilder){let e=this.policyStateBuilder.build(),t=this.policyRunner.collectObservationsByKey(e);await this.runOnnxInference(t)}if(this.executeSimulationSteps(),this.updateCachedState(),this.terminationManager&&this.policyStateBuilder){let e=this.policyStateBuilder.build();if(this.terminationManager.evaluate(e).done&&(this.resetSimulationState(),this.terminationManager.reset(),this.policyRunner)){let e=this.policyStateBuilder.build();this.policyRunner.reset(e)}}this.commandManager.update(t),this.commandManager.updateDebugVisuals()}let n=(performance.now()-e)/1e3,r=Math.max(0,t-n);r>0&&await new Promise(e=>setTimeout(e,r*1e3))}this.loopPromise=null}async loadPolicyConfig(e){if(this.policyPlugins=e?.plugins??{},this.policyRunner=null,this.policyStateBuilder=null,this.policyControl=null,this.onnxModule=null,this.onnxInputDict=null,this.onnxInferencing=!1,this.onnxTimeStep=0,this.terminationManager=null,this.commandManager.clear(),e){if(!this.mjModel||!this.mjData){console.warn(`Policy config loaded before MuJoCo model is ready.`);return}this.resetSimulationState();try{let t=e.config;if(Array.isArray(t.motions)){let n=new Map(e.motions.map(e=>[e.name,e.data]));t.motions=t.motions.map(e=>({...e,data:n.get(e.name)}))}if(t.commands?.motion&&Array.isArray(t.motions)&&(t.commands.motion={...t.commands.motion,motions:t.motions}),this.initialQpos=Array.isArray(t.initial_qpos)?t.initial_qpos:null,this.initialQvel=Array.isArray(t.initial_qvel)?t.initial_qvel:null,this.resetSimulationState(),this.mujoco.mj_forward(this.mjModel,this.mjData),this.updateCachedState(),t.commands&&typeof t.commands==`object`){this.initializeCommandsFromConfig(t.commands,{mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene,bodies:this.bodies,mujocoRoot:this.mujocoRoot,requestReset:()=>this.resetSimulation()}),this.commandManager.resetTerms();let e=this.commandManager.getTerm(`motion`);l1(e)&&(await e.setSelectedMotion(t.motions?.find(e=>e.default)?.name??t.motions?.[0]?.name??null),e.setReferenceVisible?.(!0)),this.mujoco.mj_forward(this.mjModel,this.mjData),this.updateCachedState()}if(!t.policy_num_actions&&(!t.policy_joint_names||t.policy_joint_names.length===0))throw Error(`Policy config missing policy_joint_names.`);let n=new q$(t,{policyModules:{tracking:Q$,locomotion:e1},observations:{...jB,...this.policyPlugins.observations},motions:e.motions});await n.init({mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene,commandManager:this.commandManager}),await n.preloadAll(),this.policyRunner=n,this.policyStateBuilder=new Y$(this.mujoco,this.mjModel,this.mjData,n.getPolicyJointNames());let r=this.policyStateBuilder.build();this.policyRunner.reset(r),this.policyControl=this.buildPolicyControl(t,n,this.policyStateBuilder);{let e=t.observations,n=[];if(Array.isArray(e))n.push(...e);else if(e&&typeof e==`object`)for(let t of Object.values(e))Array.isArray(t)&&n.push(...t);for(let e of n)if(!(!e||this.timestep<=0)&&typeof e.fps==`number`&&e.fps>0){this.policyCtrlDt=1/e.fps;let t=Math.max(1,Math.round(this.policyCtrlDt/this.timestep));t!==this.decimation&&(console.log(`[PolicyRunner] Decimation updated: ${this.decimation} → ${t} (fps=${e.fps}, sim_dt=${this.timestep})`),this.decimation=t);break}}t.terminations&&Object.keys(t.terminations).length>0&&(this.terminationManager=new AV(t.terminations,{...jV,...this.policyPlugins.terminations},n),console.log(`[TerminationManager] ${this.terminationManager.size} termination term(s) loaded`));let i=new J$(e.onnx,t.onnx?.meta);await i.init(),this.onnxModule=i,this.onnxInputDict=i.initInput(),console.log(`[PolicyRunner] config loaded`,{obsSize:n.getObservationSize(),obsLayout:n.getObservationLayout(),pdEnabled:this.policyControl!==null})}catch(e){console.warn(`Failed to load policy config:`,e)}}}buildPolicyControl(e,t,n){let r=t.getPolicyJointNames(),i=this.mujoco.mjtBias?.mjBIAS_AFFINE?.value??1,a=(n,a,o,s,c,l,u,d)=>{let f=o.qposAdr.length,p=o.actionIndices.map(e=>r[e]),m=this.normalizeControlArray(s,f,1,p),h=this.normalizeControlArray(c,f,0,p),g=d?t.getDefaultJointPos():new Float32Array(r.length),_=new Float32Array(f);for(let e=0;e<f;e++)_[e]=g[o.actionIndices[e]];let v=Array.isArray(e.encoder_bias)?Float32Array.from(e.encoder_bias):new Float32Array(r.length),y=new Float32Array(f);for(let e=0;e<f;e++)y[e]=v[o.actionIndices[e]]??0;let b=this.normalizeControlArray(l,f,0,p),x=this.normalizeControlArray(u,f,0,p),S=o.ctrlAdr.map(e=>e<0||!this.mjModel?!1:this.mjModel.actuator_biastype[e]===i),C=S.some(Boolean),w=S.some(e=>!e);return C&&w&&console.warn(`[PolicyRunner] Action term "${n}": mixed actuator types detected.`),console.log(`[PolicyRunner] Action term "${n}" (${a}): ${f} joint(s), mode: ${C?`position (ctrl=target_pos)`:`motor (ctrl=torque, external PD)`}`),{controlType:a,ctrlAdr:o.ctrlAdr,qposAdr:o.qposAdr,qvelAdr:o.qvelAdr,actionIndices:o.actionIndices,actionScale:m,actionOffset:h,defaultJointPos:_,encoderBias:y,positionActuator:S,kp:b,kd:x,muscleNormalize:!1}},o=e.actions;if(!o||Object.keys(o).length===0){let t=e.control_type??`joint_position`;if(t!==`joint_position`&&t!==`torque`)return console.warn(`[PolicyRunner] Unsupported control_type: ${t}`),null;let r=n.getControlMapping();return r?[a(`legacy`,t,{...r,actionIndices:Array.from({length:r.qposAdr.length},(e,t)=>t)},e.action_scale,void 0,e.stiffness,e.damping,!0)]:(console.warn(`[PolicyRunner] Failed to build control mapping.`),null)}let s=[];for(let[e,t]of Object.entries(o)){let i=t.type??`joint_position`;if(i!==`joint_position`&&i!==`torque`&&i!==`muscle_activation`){console.warn(`[PolicyRunner] Action term "${e}": unsupported type "${i}", skipping.`);continue}let o=t.actuator_names??[`.*`];if(i===`muscle_activation`){let r=n.getCtrlMappingByActuatorNames(o);if(!r){console.warn(`[PolicyRunner] Action term "${e}": no actuators matched patterns [${o.join(`, `)}], skipping.`);continue}let a=r.ctrlAdr.length,c=this.normalizeControlArray(t.scale,a,1),l=this.normalizeControlArray(t.offset,a,0),u=t.normalize??!0;console.log(`[PolicyRunner] Action term "${e}" (muscle_activation): ${a} actuator(s), normalize=${u}`),s.push({controlType:i,ctrlAdr:r.ctrlAdr,qposAdr:[],qvelAdr:[],actionIndices:r.actionIndices,actionScale:c,actionOffset:l,defaultJointPos:new Float32Array(a),encoderBias:new Float32Array(a),positionActuator:Array(a).fill(!1),kp:new Float32Array(a),kd:new Float32Array(a),muscleNormalize:u});continue}let c=o.length===1&&o[0]===`.*`,l;if(c){let t=n.getControlMapping();if(!t){console.warn(`[PolicyRunner] Action term "${e}": failed to build control mapping, skipping.`);continue}l={...t,actionIndices:Array.from({length:t.qposAdr.length},(e,t)=>t)}}else if(l=n.getControlMappingFor(o,r),!l){console.warn(`[PolicyRunner] Action term "${e}": no joints matched patterns [${o.join(`, `)}], skipping.`);continue}let u=t.use_default_offset===void 0?i===`joint_position`:t.use_default_offset;s.push(a(e,i,l,t.scale,t.offset,t.stiffness,t.damping,u))}return s.length===0?(console.warn(`[PolicyRunner] No valid action terms found in config.actions.`),null):s}normalizeControlArray(e,t,n,r){let i=new Float32Array(t);if(i.fill(n),typeof e==`number`)return i.fill(e),i;if(Array.isArray(e)){for(let r=0;r<t;r++)i[r]=typeof e[r]==`number`?e[r]:n;return i}if(typeof e==`object`&&e&&r){for(let[n,a]of Object.entries(e)){let e=r.indexOf(n);e>=0&&e<t?i[e]=a:console.warn(`[PolicyRunner] Joint name "${n}" not found in policy_joint_names; skipping.`)}return i}return i}resetSimulationState(){if(!(!this.mjModel||!this.mjData)){if(this.mjModel.nkey>0?this.mujoco.mj_resetDataKeyframe(this.mjModel,this.mjData,0):this.mujoco.mj_resetData(this.mjModel,this.mjData),this.initialQpos){let e=this.mjData.qpos;for(let t=0;t<Math.min(this.initialQpos.length,this.mjModel.nq);t++)e[t]=this.initialQpos[t]}if(this.initialQvel){let e=this.mjData.qvel;for(let t=0;t<Math.min(this.initialQvel.length,this.mjModel.nv);t++)e[t]=this.initialQvel[t]}this.eventManager&&this.eventManager.onReset({mjModel:this.mjModel,mjData:this.mjData,terrainData:this.terrainData}),this.commandManager.resetTerms(),this.onnxModule&&(this.onnxInputDict=this.onnxModule.initInput()),this.onnxTimeStep=0,this.mujoco.mj_forward(this.mjModel,this.mjData),this.lastSimState.bodies.clear(),this.updateCachedState()}}executeSimulationSteps(){if(!(!this.mjModel||!this.mjData)){this.applyDragForces();for(let e=0;e<this.decimation;e++)this.applyPolicyControl(),this.mujoco.mj_step(this.mjModel,this.mjData)}}applyPolicyControl(){if(!this.policyControl||!this.mjData)return;let e=this.mjData.ctrl;e.fill(0);let t=this.policyRunner?.getLastActions()??new Float32Array;for(let n of this.policyControl){let{controlType:r,ctrlAdr:i,qposAdr:a,qvelAdr:o,actionIndices:s,actionScale:c,actionOffset:l,defaultJointPos:u,encoderBias:d,positionActuator:f,kp:p,kd:m,muscleNormalize:h}=n,g=i.length;if(r===`joint_position`)for(let n=0;n<g;n++){let r=i[n];if(r<0)continue;let h=t[s[n]]??0,g=u[n]+l[n]+c[n]*h-d[n];if(f[n])e[r]=g;else{let t=this.mjData.qpos[a[n]],i=this.mjData.qvel[o[n]];e[r]=p[n]*(g-t)+m[n]*(0-i)}}else if(r===`torque`)for(let n=0;n<g;n++){let r=i[n];r>=0&&(e[r]=c[n]*(t[s[n]]??0))}else if(r===`muscle_activation`)for(let n=0;n<g;n++){let r=i[n];if(r<0)continue;let a=(t[s[n]]??0)*c[n]+l[n];h?e[r]=1/(1+Math.exp(-5*(a-.5))):e[r]=a<0?0:a>1?1:a}}}async runOnnxInference(e){if(!(!this.onnxModule||!this.policyRunner||this.onnxInferencing)){this.onnxInferencing=!0;try{this.onnxInputDict||=this.onnxModule.initInput();let t={...this.onnxInputDict};this.onnxModule.inKeys.includes(`time_step`)&&(t.time_step=new bH(`float32`,new Float32Array([this.onnxTimeStep]),[1,1]));for(let[n,r]of Object.entries(e))t[n]=new bH(`float32`,r,[1,r.length]);for(let e of this.onnxModule.inKeys)if(!t[e]){console.warn(`[PolicyRunner] Missing ONNX input:`,{key:e,available:Object.keys(t)});return}let[n,r]=await this.onnxModule.runInference(t);Object.keys(r).length>0&&(this.onnxInputDict={...this.onnxInputDict,...r}),this.onnxModule.inKeys.includes(`time_step`)&&(this.onnxTimeStep+=1);let i=this.onnxModule.outKeys[0],a=n.action??(i?n[i]:null)??n.policy??null;if(!a)return;let o=a.data,s=ArrayBuffer.isView(o)?new Float32Array(o):Float32Array.from(o),c=this.policyRunner?.getNumActions()??0;if(this.policyControl&&s.length!==c){console.warn(`[PolicyRunner] Action size mismatch:`,{expected:c,got:s.length});return}this.policyRunner.setLastActions(s)}catch(e){console.warn(`[PolicyRunner] ONNX inference failed:`,e)}finally{this.onnxInferencing=!1}}}applyDragForces(){if(!this.dragStateManager||!this.mjModel||!this.mjData||!this.bodies)return;for(let e=0;e<this.mjData.xfrc_applied.length;e++)this.mjData.xfrc_applied[e]=0;let e=this.dragStateManager.physicsObject;if(!e||!(`bodyID`in e)||typeof e.bodyID!=`number`||e.bodyID<=0)return;let t=e.bodyID;if(this.dynamicBodyIds&&!this.dynamicBodyIds.has(t))return;for(let e=0;e<this.mjModel.nbody;e++)this.bodies[e]&&(aP(this.mjData.xpos,e,this.bodies[e].position),oP(this.mjData.xquat,e,this.bodies[e].quaternion),this.bodies[e].updateWorldMatrix(!0,!1));this.dragStateManager.update();let n=VN(this.dragStateManager.offset.clone().multiplyScalar(this.dragForceScale)),r=VN(this.dragStateManager.worldHit.clone()),i=new Y(this.mjData.xpos[t*3+0],this.mjData.xpos[t*3+1],this.mjData.xpos[t*3+2]),a=new Y(r.x-i.x,r.y-i.y,r.z-i.z),o=new Y(n.x,n.y,n.z),s=new Y().crossVectors(a,o),c=t*6;this.mjData.xfrc_applied[c+0]=n.x,this.mjData.xfrc_applied[c+1]=n.y,this.mjData.xfrc_applied[c+2]=n.z,this.mjData.xfrc_applied[c+3]=s.x,this.mjData.xfrc_applied[c+4]=s.y,this.mjData.xfrc_applied[c+5]=s.z}updateCachedState(){if(!this.mjModel||!this.mjData||!this.bodies)return;let e=this.dynamicBodyIds;for(let t=0;t<this.mjModel.nbody;t++)if(!(e&&!e.has(t))&&this.bodies[t]){this.lastSimState.bodies.has(t)||this.lastSimState.bodies.set(t,{position:new Y,quaternion:new Zy});let e=this.lastSimState.bodies.get(t);aP(this.mjData.xpos,t,e.position),oP(this.mjData.xquat,t,e.quaternion)}this.mujocoRoot&&this.mujocoRoot.cylinders&&ZN(this.mjModel,this.mjData,{cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}applyViewerConfig(e){this.cameraState=kB(e,this.camera,this.controls,this.mjModel,this.mjData)}computeDynamicBodyIds(e){let t=new Set;for(let n=1;n<e.nbody;n++){let r=n;for(;r>0;){if(e.body_jntnum[r]>0){t.add(n);break}r=e.body_parentid[r]}}return t}syncStaticBodiesFromData(){if(!this.mjModel||!this.mjData||!this.bodies)return;let e=this.dynamicBodyIds;for(let t=0;t<this.mjModel.nbody;t++){if(e?.has(t))continue;let n=this.bodies[t];n&&(aP(this.mjData.xpos,t,n.position),oP(this.mjData.xquat,t,n.quaternion))}}async captureThumbnail(e={}){let{maxDim:t=1280,quality:n=.85}=e,r=this.renderer.domElement;this.renderer.render(this.scene,this.camera);let i=r.width,a=r.height;if(!i||!a)throw Error(`mjswan: canvas has zero size; nothing to capture.`);let o=Math.min(1,t/Math.max(i,a)),s=Math.max(1,Math.round(i*o)),c=Math.max(1,Math.round(a*o)),l=document.createElement(`canvas`);l.width=s,l.height=c;let u=l.getContext(`2d`);if(!u)throw Error(`mjswan: failed to get a 2D context for thumbnail capture.`);return u.drawImage(r,0,0,s,c),await new Promise((e,t)=>{l.toBlob(n=>n?e(n):t(Error(`mjswan: toBlob returned null.`)),`image/jpeg`,n)})}async dispose(){await this.stop(),this.policyRunner=null,this.policyStateBuilder=null,this.onnxModule&&=(this.onnxModule.dispose(),null),this.onnxInputDict=null,this.onnxInferencing=!1,this.splatMesh&&=(Cz(this.splatMesh,this.scene),null),this.colliderMesh&&=(TB(this.colliderMesh,this.scene),null),this.dragStateManager&&=(this.dragStateManager.dispose(),null),this.mjData=null,this.mjModel=null,window.removeEventListener(`resize`,this.onWindowResize),this.resizeObserver?.disconnect(),this.resizeObserver=null,this.controls.dispose(),this.renderer.setAnimationLoop(null),this.renderer.dispose(),this.renderer.domElement.parentElement&&this.renderer.domElement.parentElement.removeChild(this.renderer.domElement),this.vrButton?.parentElement&&(this.vrButton.parentElement.removeChild(this.vrButton),this.vrButton=null),this.bodies=null,this.lights=[],this.mujocoRoot=null,this.dynamicBodyIds=null,this.lastSimState.bodies.clear(),this.commandManager.dispose()}disposeThreeJSResources(){if(this.scene)for(this.scene.traverse(e=>{`geometry`in e&&e.geometry&&e.geometry.dispose(),`material`in e&&e.material&&(Array.isArray(e.material)?e.material.forEach(e=>this.disposeMaterial(e)):this.disposeMaterial(e.material))});this.scene.children.length>0;)this.scene.remove(this.scene.children[0])}disposeMaterial(e){let t=e;t.map&&t.map.dispose(),t.aoMap&&t.aoMap.dispose(),t.emissiveMap&&t.emissiveMap.dispose(),t.metalnessMap&&t.metalnessMap.dispose(),t.normalMap&&t.normalMap.dispose(),t.roughnessMap&&t.roughnessMap.dispose(),e.dispose()}getSize(){let e=this.container.clientWidth||window.innerWidth,t=this.container.clientHeight||window.innerHeight;return{width:Math.max(1,e),height:Math.max(1,t)}}};function p1(e){let t=e.config,n={id:e.id,group:e.groupName,type:t.type,label:t.label};return t.type===`slider`?{...n,min:t.min,max:t.max,step:t.step,enabledWhen:t.enabled_when}:n}async function m1(e){return{config:e.config,onnx:await UB(e.onnx),motions:(e.motions??[]).map(e=>({name:e.name,data:e.data,default:e.default})),plugins:e.plugins}}async function h1(e){return{data:await UB(e.data),collider:e.collider?await UB(e.collider):null,transform:e.transform}}var g1=class{constructor(e){this.phase=`paused`,this.loading=!1,this.loadingMessage=null,this.error=null,this.listeners=new Set,this.onCommandEvent=()=>this.refresh(),this.runtime=e,this.state=this.buildState(),this.runtime.commands.addEventListener(this.onCommandEvent),this.camera={set:e=>this.runtime.setCameraView(e),get:()=>this.runtime.getCameraView(),frame:()=>this.runtime.frameCamera()},this.commands={set:(e,t)=>this.runtime.commands.setValue(e,t),trigger:e=>this.runtime.commands.triggerButton(e)}}buildState(){let e=this.runtime.commands;return{phase:this.phase,loading:this.loading,loadingMessage:this.loadingMessage,error:this.error,commands:e.getCommands().map(p1),commandValues:e.getValues()}}refresh(){this.state=this.buildState();for(let e of this.listeners)try{e(this.state)}catch(e){console.warn(`[mjswan] subscribe listener error:`,e)}}async loadScene(e){this.loading=!0,this.loadingMessage=`Loading scene…`,this.error=null,this.refresh();try{let t={model:await UB(e.model),policy:e.policy?await m1(e.policy):null,splat:e.splat?await h1(e.splat):null,viewer:e.viewer??null,events:e.events??null,terrainData:e.terrainData??null,plugins:e.plugins};await this.runtime.loadEnvironment(t),this.phase=this.runtime.isRunning?`running`:`paused`}catch(e){throw this.error=e instanceof Error?e:Error(String(e)),e}finally{this.loading=!1,this.loadingMessage=null,this.refresh()}}async setPolicy(e){await this.runtime.loadPolicyConfig(e?await m1(e):null),this.refresh()}async setSplat(e){await this.runtime.setSplat(e?await h1(e):null)}setMotion(e){return this.runtime.setSelectedMotion(e)}setReferenceVisible(e){this.runtime.setReferenceVisible(e)}calibrateSplat(e){this.runtime.calibrateSplat(e)}play(){this.runtime.play(),this.phase=`running`,this.refresh()}pause(){this.runtime.pause(),this.phase=`paused`,this.refresh()}reset(){this.runtime.resetSimulation()}getState(){return this.state}subscribe(e){return this.listeners.add(e),()=>{this.listeners.delete(e)}}captureThumbnail(e){return this.runtime.captureThumbnail(e)}dispose(){this.runtime.commands.removeEventListener(this.onCommandEvent),this.listeners.clear(),this.runtime.dispose()}};async function _1(e,t={}){return new g1(new f1(await(t.multithreaded?await i(()=>import(`./mujoco-Bacjb_-g.js`),__vite__mapDeps([0,1,2])):await i(()=>import(`./mujoco-CKOf6FiF.js`),__vite__mapDeps([3,1,2]))).default(),e))}globalThis.__mjswanThree=lA;function v1(e){return e.toLowerCase().replace(/ /g,`_`).replace(/-/g,`_`)}function y1(e){return e.id?e.id:`main`}function b1(e,t){let n=t.path?t.path:`scene/${v1(t.name)}/scene.mjz`;return`${y1(e)}/assets/${n}`.replace(/\/+/g,`/`)}function x1(e,t){return`${y1(e)}/assets/${t}`.replace(/\/+/g,`/`)}function S1(e,t){let n=e.lastIndexOf(`/`);return`${n>=0?e.slice(0,n+1):``}${t}`.replace(/\/+/g,`/`)}function C1(e){return async()=>{let t=await fetch(e);if(!t.ok)throw Error(`mjswan/manifest: failed to fetch ${e}: ${t.status}`);return t.arrayBuffer()}}async function w1(e){let t=typeof e==`function`?await e():e;return JSON.parse(new TextDecoder().decode(t))}function T1(e){return{scale:e.scale,xOffset:e.xOffset,yOffset:e.yOffset,zOffset:e.zOffset,roll:e.roll,pitch:e.pitch,yaw:e.yaw}}function E1(e,t,n){return{data:t.path?n(x1(e,t.path)):C1(t.url),collider:t.colliderUrl?/^[a-z]+:\/\//i.test(t.colliderUrl)?C1(t.colliderUrl):n(x1(e,t.colliderUrl)):void 0,transform:T1(t)}}async function D1(e,t,n){if(!t.config)throw Error(`mjswan/manifest: policy "${t.name}" has no config path.`);let r=x1(e,t.config),i=await w1(n(r)),a=i.onnx?.path;if(!a)throw Error(`mjswan/manifest: policy "${t.name}" config missing onnx.path.`);return{config:i,onnx:n(S1(r,a)),motions:Array.isArray(i.motions)?i.motions.map(e=>({name:e.name,data:n(S1(r,e.path)),default:e.default})):[]}}function O1(e,t,n){let r=t.policies.map(t=>({name:t.name,default:t.default??!1,motions:(t.motions??[]).map(e=>({name:e.name,default:e.default??!1})),build:()=>D1(e,t,n)})),i=(t.splats??[]).map(t=>({name:t.name,control:t.control??!1,transform:T1(t),build:async()=>E1(e,t,n)}));return{name:t.name,camera:t.camera,splatSection:t.splatSection??!1,policies:r,splats:i,buildScene:async r=>{let i=r?.policy,a=i==null?t.policies.find(e=>e.default)??t.policies[0]:t.policies.find(e=>e.name===i),o=r?.splat,s=o==null?void 0:t.splats?.find(e=>e.name===o);return{model:n(b1(e,t)),policy:a?await D1(e,a,n):null,splat:s?E1(e,s,n):null,viewer:t.camera,events:t.events,terrainData:t.terrainData}}}}function k1(e,t){let n=typeof e==`string`?JSON.parse(e):e,r=n.projects.find(e=>e.id===null)??n.projects[0];if(!r)throw Error(`mjswan/manifest: config.json has no projects.`);return{name:r.name,scenes:r.scenes.map(e=>O1(r,e,t)),pluginsPath:n.plugins}}var A1=`panel`,j1=`ref`;function M1(e){return new URLSearchParams(window.location.search).get(e)!==`0`}function N1(e){return t=>async()=>{let n=`${e}${t}`.replace(/([^:])\/{2,}/g,`$1/`),r=await fetch(n);if(!r.ok)throw Error(`Failed to fetch ${n}: ${r.status}`);return r.arrayBuffer()}}async function P1(e){let t=new URLSearchParams(window.location.search).get(`config`),n=t?new URL(t,window.location.href).toString():`${e}assets/config.json`.replace(/([^:])\/{2,}/g,`$1/`),r=await fetch(n,{cache:`no-store`});if(!r.ok)throw Error(`Failed to fetch ${n}: ${r.status}`);return k1(await r.text(),N1(e))}function F1(e,t,n){if(!t)return n;let r=t.trim().toLowerCase();return e.find(e=>e.name.toLowerCase()===r)??e.find(e=>v1(e.name)===r)??n}function I1(){let[e,t]=(0,b.useState)(null),[n,r]=(0,b.useState)(null),[a,o]=(0,b.useState)(null),[s,c]=(0,b.useState)(null),[l,u]=(0,b.useState)(null),[d,f]=(0,b.useState)(null),[p,m]=(0,b.useState)(()=>M1(j1)),[h,g]=(0,b.useState)(()=>M1(A1)),[_,v]=(0,b.useState)(null),y=(0,b.useRef)(null),x=(0,b.useRef)(null),S=(0,b.useRef)(null),{showLoading:C,hideLoading:w,setLoadingMessage:T}=Zg(),E=(0,b.useCallback)(e=>{let t=S.current;return t?(e.plugins=t,e.policy&&(e.policy.plugins=t),e):e},[]);(0,b.useEffect)(()=>{C(`Loading…`),P1(`/`).then(async e=>{if(e.pluginsPath){let t=`/${e.pluginsPath}`.replace(/([^:])\/{2,}/g,`$1/`);S.current=await i(()=>import(t),[])}let n=new URLSearchParams(window.location.search),r=F1(e.scenes,n.get(`scene`),e.scenes[0]),a=r?F1(r.policies,n.get(`policy`),r.policies.find(e=>e.default)??r.policies[0]):void 0,s=a?.motions.find(e=>e.default)??a?.motions[0];t(e),o(r?.name??null),c(a?.name??null),u(s?.name??null),f(r?.splats[0]?.name??null)}).catch(e=>{r(e instanceof 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r=t.toString();window.history.replaceState({},``,`${window.location.pathname}${r?`?${r}`:``}${window.location.hash}`)},[a,s,h,p]),k=(0,b.useCallback)(async t=>{let n=x.current,r=e?.scenes.find(e=>e.name===t);if(!n||!r)return;let i=r.policies.find(e=>e.default)??r.policies[0],a=i?.motions.find(e=>e.default)??i?.motions[0],s=r.splats[0]?.name??null;o(r.name),c(i?.name??null),u(a?.name??null),f(s),O({scene:r.name,policy:i?.name??null}),C(`Loading scene "${r.name}"…`);try{await n.loadScene(E(await r.buildScene({policy:i?.name,splat:s}))),a&&await n.setMotion(a.name),n.setReferenceVisible(p)}catch(e){console.error(`Failed to load scene:`,e)}finally{w()}},[e,p,O,C,w]),A=(0,b.useCallback)(async e=>{let t=x.current,n=D?.policies.find(t=>t.name===e)??null;c(e);let r=n?.motions.find(e=>e.default)??n?.motions[0];if(u(r?.name??null),O({policy:e}),t){C(e?`Loading policy "${e}"…`:`Clearing policy…`);try{let e=n?await n.build():null;e&&S.current&&(e.plugins=S.current),await t.setPolicy(e),r&&await 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e=Object.keys(this.obsSizes)[0];return e?this.obsSizes[e]:0}getObservationLayout(){if(this.defaultObsKey&&this.obsLayouts[this.defaultObsKey])return this.obsLayouts[this.defaultObsKey].map(e=>({...e}));let e=Object.keys(this.obsLayouts)[0];return e?this.obsLayouts[e].map(e=>({...e})):[]}getPolicyModuleContext(){return this.policyModule?.getContext()??{}}getPolicyModule(){return this.policyModule}getContext(){return this.context}getPolicyJointNames(){return this.policyJointNames.slice()}getNumActions(){return this.numActions}getDefaultJointPos(){return new Float32Array(this.defaultJointPos)}getEncoderBias(){return new Float32Array(this.encoderBias)}getLastActions(){return new Float32Array(this.lastActions)}getConfig(){return this.config}getMotionData(e){let t=this.motionCache.get(e);if(t)return t;let n=this.options.motions?.find(t=>t.name===e),r=n?UB(n.data):Promise.resolve(null);return 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r}},X$=class{constructor(e){this.config=e,this.context=null}init(e){this.context=e}reset(){}update(){}getContext(){return{}}},Z$=class{constructor(e){this.policyJointNames=(e.policy_joint_names??[]).slice(),this.datasetJointNames=(e.dataset_joint_names??[]).slice(),this.nJoints=this.datasetJointNames.length||this.policyJointNames.length||0,this.refJointPos=[],this.refRootPos=[],this.refRootQuat=[],this.refIdx=0,this.refLen=0,this.currentName=`default`,this.currentDone=!0}reset(e){let t=e?.jointPos??new Float32Array(this.nJoints),n=e?.rootPos??new Float32Array([0,0,0]),r=e?.rootQuat??new Float32Array([1,0,0,0]);this.refJointPos=[Float32Array.from(t)],this.refRootPos=[Float32Array.from(n)],this.refRootQuat=[Float32Array.from(r)],this.refIdx=0,this.refLen=1,this.currentDone=!0,this.currentName=`default`}advance(){this.refLen<=1||this.refIdx<this.refLen-1&&(this.refIdx+=1,this.refIdx===this.refLen-1&&(this.currentDone=!0))}isReady(){return this.refLen>0}},Q$=class extends X${constructor(e){super(e),this.tracking=null}async init(e){await super.init(e);let t=this.config.policy_joint_names??[],n={...this.config.tracking,policy_joint_names:t};this.tracking=new Z$(n)}reset(e){this.tracking?.reset(e)}update(){this.tracking?.advance()}getContext(){return{tracking:this.tracking}}},$$=class{constructor(e){this.policyJointNames=(e.policy_joint_names??[]).slice(),this.datasetJointNames=(e.dataset_joint_names??[]).slice(),this.nJoints=this.datasetJointNames.length||this.policyJointNames.length||0,this.refJointPos=[],this.refRootPos=[],this.refRootQuat=[],this.refIdx=0,this.refLen=0,this.currentName=`default`,this.currentDone=!0}reset(e){let t=e?.jointPos??new Float32Array(this.nJoints),n=e?.rootPos??new Float32Array([0,0,0]),r=e?.rootQuat??new 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i1(e){for(let t=0;t<e.njnt;t++)if(e.jnt_type[t]===0)return t;return-1}var a1=class extends t1{constructor(e){super(e),this.mutations=e.mutations??[]}onReset(e){let{mjModel:t,mjData:n}=e;if(!(!t||!n))for(let e of this.mutations)switch(e.target){case`joint_qpos`:this.applyJointOffset(t,n,e,`qpos`);break;case`joint_qvel`:this.applyJointOffset(t,n,e,`qvel`);break;case`freejoint_pos`:this.applyFreejointPos(t,n,e);break;case`freejoint_yaw`:this.applyFreejointYaw(t,n,e);break}}resolveJointIndices(e,t){let n=t.select??{};if(n.joint_ids&&n.joint_ids.length>0)return n.joint_ids.filter(t=>t>=0&&t<e.njnt);let r=r1(e);return n.joint_names&&n.joint_names.length>0?n.joint_names.map(e=>this.findJointIndex(r,e,n.entity_name)).filter(e=>e!==null):r.map((e,t)=>({name:e,idx:t})).filter(({name:t,idx:r})=>e.jnt_type[r]===0?!1:n.entity_name?t===n.entity_name||t.startsWith(`${n.entity_name}/`):!0).map(({idx:e})=>e)}findJointIndex(e,t,n){let r=e.indexOf(t);if(r>=0)return r;if(n){let r=e.indexOf(`${n}/${t}`);if(r>=0)return r}let i=e.map((e,t)=>({name:e,idx:t})).filter(({name:e})=>e===t||e.endsWith(`/${t}`));if(i.length===1)return i[0].idx;if(n){let e=i.find(({name:e})=>e===n||e.startsWith(`${n}/`));if(e)return e.idx}return null}applyJointOffset(e,t,n,r){if(n.sample.dist!==`uniform`)return;let{low:i,high:a}=n.sample;for(let o of this.resolveJointIndices(e,n)){let s=e.jnt_type[o];if(!(s!==2&&s!==3))if(r===`qpos`){let r=e.jnt_qposadr[o];if(t.qpos[r]+=n1(i,a),n.clip_to_limits&&e.jnt_limited[o]){let n=e.jnt_range[o*2],i=e.jnt_range[o*2+1];t.qpos[r]=Math.min(Math.max(t.qpos[r],n),i)}}else t.qvel[e.jnt_dofadr[o]]+=n1(i,a)}}applyFreejointPos(e,t,n){if(n.sample.dist!==`uniform_xyz`)return;let r=i1(e);if(r<0)return;let i=e.jnt_qposadr[r];t.qpos[i]+=n1(n.sample.x[0],n.sample.x[1]),t.qpos[i+1]+=n1(n.sample.y[0],n.sample.y[1]),t.qpos[i+2]+=n1(n.sample.z[0],n.sample.z[1])}applyFreejointYaw(e,t,n){if(n.sample.dist!==`uniform`)return;let r=i1(e);if(r<0)return;let i=e.jnt_qposadr[r]+3,a=n1(n.sample.low,n.sample.high),o=Math.cos(a/2),s=Math.sin(a/2),c=t.qpos[i],l=t.qpos[i+1],u=t.qpos[i+2],d=t.qpos[i+3];t.qpos[i]=o*c-s*d,t.qpos[i+1]=o*l+s*u,t.qpos[i+2]=o*u-s*l,t.qpos[i+3]=o*d+s*c}};function o1(e){return`kind`in e&&e.kind===`event`&&Array.isArray(e.mutations)}var s1=class{constructor(e,t){this.terms=[];for(let n of e){if(o1(n)){this.terms.push(new a1(n));continue}let e=t[n.name];if(!e){console.warn(`[EventManager] Unknown event type: ${n.name}`);continue}this.terms.push(new e(n))}}onReset(e){for(let t of this.terms)t.onReset(e)}get size(){return this.terms.length}},c1={};function l1(e){return typeof e==`object`&&!!e&&typeof e.setSelectedMotion==`function`}var u1=class extends Error{constructor(){super(`This scene cannot be loaded because it exceeds the browser's WebAssembly 2 GB memory limit. Try closing other browser tabs or reloading the page to free memory.`),this.name=`WasmMemoryLimitError`}};function d1(e){let t=e instanceof Error?e.message:String(e);return t.includes(`MjModel loading returned null`)||t.includes(`Could not allocate memory`)||t.includes(`memory allocation failed`)||t.includes(`bad_alloc`)}var f1=class{constructor(e,t){this.render=()=>{if(this.commandManager.updateDebugVisuals(),this.mjData&&AB(this.mjData,this.camera,this.controls,this.cameraState),this.controls.update(),this.mjModel&&this.mjData&&this.bodies){WN(this.camera,this.lights);for(let[e,t]of this.lastSimState.bodies){let n=this.bodies[e];n&&(n.position.copy(t.position),n.quaternion.copy(t.quaternion))}UN(this.mujoco,this.mjData,this.lights),this.mujocoRoot&&this.mujocoRoot.cylinders&&QN({cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}this.renderer.render(this.scene,this.camera)},this.onWindowResize=()=>{let{width:e,height:t}=this.getSize();this.camera.aspect=e/t,this.camera.updateProjectionMatrix(),this.renderer.setSize(e,t)},this.mujoco=e,this.container=t,this.commandManager=new rV,this.scenePlugins={},this.policyPlugins={};let n=`/working`;try{this.mujoco.FS.mkdir(n)}catch(e){e&&typeof e==`object`&&`code`in e&&e.code!==`EEXIST`&&console.warn(`Failed to create /working directory:`,e)}try{this.mujoco.FS.mount(this.mujoco.MEMFS,{root:`.`},n)}catch(e){e&&typeof e==`object`&&`code`in e&&e.code!==`EEXIST`&&e.code!==`EBUSY`&&console.warn(`Failed to mount MEMFS at /working:`,e)}let{width:r,height:i}=this.getSize();this.scene=new nC,this.scene.name=`scene`,this.camera=new GS(45,r/i,.001,1e3),this.camera.name=`PerspectiveCamera`,this.camera.position.set(2,1.7,1.7),this.scene.add(this.camera),this.renderer=new hN({antialias:!0}),this.renderer.xr.enabled=!0,this.renderer.setPixelRatio(window.devicePixelRatio),this.renderer.setSize(r,i),this.renderer.shadowMap.enabled=!0,this.renderer.shadowMap.type=2,this.renderer.outputColorSpace=Rv,this.renderer.toneMapping=4,this.renderer.toneMappingExposure=1,this.container.appendChild(this.renderer.domElement),this.vrButton=null,navigator.xr?.isSessionSupported(`immersive-vr`).then(e=>{e&&(this.vrButton=zN.createButton(this.renderer),document.body.appendChild(this.vrButton))}),this.controls=new EN(this.camera,this.renderer.domElement),this.controls.target.set(0,.2,0),this.controls.panSpeed=2,this.controls.zoomSpeed=1,this.controls.enableDamping=!0,this.controls.dampingFactor=.1,this.controls.screenSpacePanning=!0,this.controls.update(),this.renderer.setAnimationLoop(this.render),window.addEventListener(`resize`,this.onWindowResize),`ResizeObserver`in window?(this.resizeObserver=new ResizeObserver(()=>this.onWindowResize()),this.resizeObserver.observe(this.container)):this.resizeObserver=null,this.lastSimState={bodies:new Map,tendons:$N()},this.dynamicBodyIds=null,this.mjModel=null,this.mjData=null,this.bodies=null,this.lights=[],this.mujocoRoot=null,this.loopPromise=null,this.running=!1,this.timestep=.001,this.decimation=1,this.policyCtrlDt=null,this.loadingScene=null,this.dragStateManager=null,this.dragForceScale=100,this.policyRunner=null,this.policyStateBuilder=null,this.initialQpos=null,this.initialQvel=null,this.policyControl=null,this.onnxModule=null,this.onnxInputDict=null,this.onnxInferencing=!1,this.onnxTimeStep=0,this.terminationManager=null,this.eventManager=null,this.terrainData=null,this.splatMesh=null,this.colliderMesh=null,this.currentSplatTransform={},this.cameraState={trackBodyId:null,prevBodyPos:null}}async loadEnvironment(e){this.scenePlugins=e.plugins??{},this.terrainData=e.terrainData??null,e.events&&e.events.length>0?(this.eventManager=new s1(e.events,{...c1,...this.scenePlugins.events}),console.log(`[EventManager] ${this.eventManager.size} reset event(s) loaded`)):this.eventManager=null,await this.stop(),this.splatMesh&&=(Cz(this.splatMesh,this.scene),null),this.colliderMesh&&=(TB(this.colliderMesh,this.scene),null),this.initializeCommands(),this.mjModel=null,this.mjData=null,this.bodies=null,this.lights=[],this.mujocoRoot=null,this.dynamicBodyIds=null,await this.buildSceneFromMjz(e.model),e.splat&&await this.applySplat(e.splat),await this.loadPolicyConfig(e.policy??null),this.applyViewerConfig(e.viewer??null),this.running=!0,this.startLoop()}initializeCommands(){this.commandManager.clear()}initializeCommandsFromConfig(e,t){this.commandManager.initialize(e,t,this.policyPlugins.commands),console.log(`[mjswanRuntime] Commands loaded from policy config:`,Object.keys(e))}resetSimulation(){if(this.resetSimulationState(),this.policyRunner&&this.policyStateBuilder){let e=this.policyStateBuilder.build();this.policyRunner.reset(e)}console.log(`[mjswanRuntime] Simulation reset`)}async setSelectedMotion(e){let t=this.commandManager.getTerm(`motion`);if(!l1(t))return!1;let n=await t.setSelectedMotion(e);return n&&this.resetSimulation(),n}getSelectedMotionName(){let e=this.commandManager.getTerm(`motion`);return l1(e)?e.getSelectedMotionName?.()??null:null}setReferenceVisible(e){let t=this.commandManager.getTerm(`motion`);!l1(t)||typeof t.setReferenceVisible!=`function`||t.setReferenceVisible(e)}async buildScene(e){this.loadingScene&&await this.loadingScene,this.loadingScene=(async()=>{let t=this.scene.getObjectByName(`MuJoCo Root`);t&&this.scene.remove(t);let n={mjModel:this.mjModel,mjData:this.mjData,scene:this.scene};if([this.mjModel,this.mjData,this.bodies,this.lights]=await rP(this.mujoco,e,n),!this.mjModel||!this.mjData)throw Error(`Failed to load MuJoCo model.`);this.mujocoRoot=this.scene.getObjectByName(`MuJoCo Root`),this.mujoco.mj_forward(this.mjModel,this.mjData),UN(this.mujoco,this.mjData,this.lights),WN(this.camera,this.lights),this.dynamicBodyIds=this.computeDynamicBodyIds(this.mjModel),this.syncStaticBodiesFromData(),this.timestep=this.mjModel.opt.timestep||.001;let r=this.policyCtrlDt??.02;this.decimation=Math.max(1,Math.round(r/this.timestep)),this.lastSimState.bodies.clear(),this.updateCachedState(),this.dragStateManager?this.dragStateManager.setDraggableBodyIds(this.dynamicBodyIds):this.dragStateManager=new EB({scene:this.scene,renderer:this.renderer,camera:this.camera,container:this.container,controls:this.controls,draggableBodyIds:this.dynamicBodyIds}),this.loadingScene=null})(),await this.loadingScene}async buildSceneFromMjz(e){try{let t=await cP(this.mujoco,e);await this.buildScene(t)}catch(e){throw this.loadingScene=null,d1(e)?new u1:e}}async startLoop(){return this.loopPromise?this.loopPromise:(this.running=!0,this.loopPromise=this.mainLoop(),this.loopPromise)}async setSplat(e){this.splatMesh&&=(Cz(this.splatMesh,this.scene),null),this.colliderMesh&&=(TB(this.colliderMesh,this.scene),null),e&&await this.applySplat(e)}async applySplat(e){this.currentSplatTransform=e.transform??{},this.splatMesh=Sz(e.data,this.currentSplatTransform,this.scene),e.collider&&(this.colliderMesh=await wB(e.collider,this.scene))}calibrateSplat(e){this.currentSplatTransform=e,this.splatMesh&&xz(this.splatMesh,e)}setSplatVisible(e){this.splatMesh&&(this.splatMesh.visible=e)}get commands(){return this.commandManager}play(){this.running=!0,this.startLoop()}pause(){this.stop()}get isRunning(){return this.running}getCameraView(){let e=this.camera.position.clone().sub(this.controls.target),t=e.length(),n=VN(e),r=VN(this.controls.target.clone()),i=180/Math.PI,a=t>1e-9?Math.asin(-n.z/t)*i:0,o=Math.atan2(n.y,n.x)*i;return{lookat:[r.x,r.y,r.z],distance:t,azimuth:o,elevation:a,fovy:this.camera.fov}}setCameraView(e){let t=this.getCameraView(),n=e.lookat??t.lookat,r=e.distance??t.distance,i=e.elevation??t.elevation,a=e.azimuth??t.azimuth;this.camera.fov=e.fovy??t.fovy,this.camera.updateProjectionMatrix(),this.camera.position.copy(OB(n,r,i,a)),this.controls.target.copy(BN(n)),this.controls.update()}frameCamera(){if(!this.mujocoRoot)return;let e=new Cb().setFromObject(this.mujocoRoot);if(e.isEmpty())return;let t=e.getCenter(new Y),n=e.getSize(new Y).length(),r=this.camera.fov*Math.PI/180,i=n/(2*Math.tan(r/2)),a=this.getCameraView(),o=VN(t);this.setCameraView({lookat:[o.x,o.y,o.z],distance:i>0?i:a.distance})}async stop(){this.running=!1;let e=this.loopPromise;e&&await e,this.loopPromise=null}async mainLoop(){for(;this.running;){let e=performance.now(),t=this.timestep*this.decimation;if(this.mjModel&&this.mjData){if(this.mujoco.mj_forward(this.mjModel,this.mjData),this.policyRunner&&this.policyStateBuilder){let e=this.policyStateBuilder.build(),t=this.policyRunner.collectObservationsByKey(e);await this.runOnnxInference(t)}if(this.executeSimulationSteps(),this.updateCachedState(),this.terminationManager&&this.policyStateBuilder){let e=this.policyStateBuilder.build();if(this.terminationManager.evaluate(e).done&&(this.resetSimulationState(),this.terminationManager.reset(),this.policyRunner)){let e=this.policyStateBuilder.build();this.policyRunner.reset(e)}}this.commandManager.update(t),this.commandManager.updateDebugVisuals()}let n=(performance.now()-e)/1e3,r=Math.max(0,t-n);r>0&&await new Promise(e=>setTimeout(e,r*1e3))}this.loopPromise=null}async loadPolicyConfig(e){if(this.policyPlugins=e?.plugins??{},this.policyRunner=null,this.policyStateBuilder=null,this.policyControl=null,this.onnxModule=null,this.onnxInputDict=null,this.onnxInferencing=!1,this.onnxTimeStep=0,this.terminationManager=null,this.commandManager.clear(),e){if(!this.mjModel||!this.mjData){console.warn(`Policy config loaded before MuJoCo model is ready.`);return}this.resetSimulationState();try{let t=e.config;if(Array.isArray(t.motions)){let n=new Map(e.motions.map(e=>[e.name,e.data]));t.motions=t.motions.map(e=>({...e,data:n.get(e.name)}))}if(t.commands?.motion&&Array.isArray(t.motions)&&(t.commands.motion={...t.commands.motion,motions:t.motions}),this.initialQpos=Array.isArray(t.initial_qpos)?t.initial_qpos:null,this.initialQvel=Array.isArray(t.initial_qvel)?t.initial_qvel:null,this.resetSimulationState(),this.mujoco.mj_forward(this.mjModel,this.mjData),this.updateCachedState(),t.commands&&typeof t.commands==`object`){this.initializeCommandsFromConfig(t.commands,{mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene,bodies:this.bodies,mujocoRoot:this.mujocoRoot,requestReset:()=>this.resetSimulation()}),this.commandManager.resetTerms();let e=this.commandManager.getTerm(`motion`);l1(e)&&(await e.setSelectedMotion(t.motions?.find(e=>e.default)?.name??t.motions?.[0]?.name??null),e.setReferenceVisible?.(!0)),this.mujoco.mj_forward(this.mjModel,this.mjData),this.updateCachedState()}if(!t.policy_num_actions&&(!t.policy_joint_names||t.policy_joint_names.length===0))throw Error(`Policy config missing policy_joint_names.`);let n=new q$(t,{policyModules:{tracking:Q$,locomotion:e1},observations:{...jB,...this.policyPlugins.observations},motions:e.motions});await n.init({mujoco:this.mujoco,mjModel:this.mjModel,mjData:this.mjData,scene:this.scene,commandManager:this.commandManager}),await n.preloadAll(),this.policyRunner=n,this.policyStateBuilder=new Y$(this.mujoco,this.mjModel,this.mjData,n.getPolicyJointNames());let r=this.policyStateBuilder.build();this.policyRunner.reset(r),this.policyControl=this.buildPolicyControl(t,n,this.policyStateBuilder);{let e=t.observations,n=[];if(Array.isArray(e))n.push(...e);else if(e&&typeof e==`object`)for(let t of Object.values(e))Array.isArray(t)&&n.push(...t);for(let e of n)if(!(!e||this.timestep<=0)&&typeof e.fps==`number`&&e.fps>0){this.policyCtrlDt=1/e.fps;let t=Math.max(1,Math.round(this.policyCtrlDt/this.timestep));t!==this.decimation&&(console.log(`[PolicyRunner] Decimation updated: ${this.decimation} → ${t} (fps=${e.fps}, sim_dt=${this.timestep})`),this.decimation=t);break}}t.terminations&&Object.keys(t.terminations).length>0&&(this.terminationManager=new AV(t.terminations,{...jV,...this.policyPlugins.terminations},n),console.log(`[TerminationManager] ${this.terminationManager.size} termination term(s) loaded`));let i=new J$(e.onnx,t.onnx?.meta);await i.init(),this.onnxModule=i,this.onnxInputDict=i.initInput(),console.log(`[PolicyRunner] config loaded`,{obsSize:n.getObservationSize(),obsLayout:n.getObservationLayout(),pdEnabled:this.policyControl!==null})}catch(e){console.warn(`Failed to load policy config:`,e)}}}buildPolicyControl(e,t,n){let r=t.getPolicyJointNames(),i=this.mujoco.mjtBias?.mjBIAS_AFFINE?.value??1,a=(n,a,o,s,c,l,u,d)=>{let f=o.qposAdr.length,p=o.actionIndices.map(e=>r[e]),m=this.normalizeControlArray(s,f,1,p),h=this.normalizeControlArray(c,f,0,p),g=d?t.getDefaultJointPos():new Float32Array(r.length),_=new Float32Array(f);for(let e=0;e<f;e++)_[e]=g[o.actionIndices[e]];let v=Array.isArray(e.encoder_bias)?Float32Array.from(e.encoder_bias):new Float32Array(r.length),y=new Float32Array(f);for(let e=0;e<f;e++)y[e]=v[o.actionIndices[e]]??0;let b=this.normalizeControlArray(l,f,0,p),x=this.normalizeControlArray(u,f,0,p),S=o.ctrlAdr.map(e=>e<0||!this.mjModel?!1:this.mjModel.actuator_biastype[e]===i),C=S.some(Boolean),w=S.some(e=>!e);return C&&w&&console.warn(`[PolicyRunner] Action term "${n}": mixed actuator types detected.`),console.log(`[PolicyRunner] Action term "${n}" (${a}): ${f} joint(s), mode: ${C?`position (ctrl=target_pos)`:`motor (ctrl=torque, external PD)`}`),{controlType:a,ctrlAdr:o.ctrlAdr,qposAdr:o.qposAdr,qvelAdr:o.qvelAdr,actionIndices:o.actionIndices,actionScale:m,actionOffset:h,defaultJointPos:_,encoderBias:y,positionActuator:S,kp:b,kd:x,muscleNormalize:!1}},o=e.actions;if(!o||Object.keys(o).length===0){let t=e.control_type??`joint_position`;if(t!==`joint_position`&&t!==`torque`)return console.warn(`[PolicyRunner] Unsupported control_type: ${t}`),null;let r=n.getControlMapping();return r?[a(`legacy`,t,{...r,actionIndices:Array.from({length:r.qposAdr.length},(e,t)=>t)},e.action_scale,void 0,e.stiffness,e.damping,!0)]:(console.warn(`[PolicyRunner] Failed to build control mapping.`),null)}let s=[];for(let[e,t]of Object.entries(o)){let i=t.type??`joint_position`;if(i!==`joint_position`&&i!==`torque`&&i!==`muscle_activation`){console.warn(`[PolicyRunner] Action term "${e}": unsupported type "${i}", skipping.`);continue}let o=t.actuator_names??[`.*`];if(i===`muscle_activation`){let r=n.getCtrlMappingByActuatorNames(o);if(!r){console.warn(`[PolicyRunner] Action term "${e}": no actuators matched patterns [${o.join(`, `)}], skipping.`);continue}let a=r.ctrlAdr.length,c=this.normalizeControlArray(t.scale,a,1),l=this.normalizeControlArray(t.offset,a,0),u=t.normalize??!0;console.log(`[PolicyRunner] Action term "${e}" (muscle_activation): ${a} actuator(s), normalize=${u}`),s.push({controlType:i,ctrlAdr:r.ctrlAdr,qposAdr:[],qvelAdr:[],actionIndices:r.actionIndices,actionScale:c,actionOffset:l,defaultJointPos:new Float32Array(a),encoderBias:new Float32Array(a),positionActuator:Array(a).fill(!1),kp:new Float32Array(a),kd:new Float32Array(a),muscleNormalize:u});continue}let c=o.length===1&&o[0]===`.*`,l;if(c){let t=n.getControlMapping();if(!t){console.warn(`[PolicyRunner] Action term "${e}": failed to build control mapping, skipping.`);continue}l={...t,actionIndices:Array.from({length:t.qposAdr.length},(e,t)=>t)}}else if(l=n.getControlMappingFor(o,r),!l){console.warn(`[PolicyRunner] Action term "${e}": no joints matched patterns [${o.join(`, `)}], skipping.`);continue}let u=t.use_default_offset===void 0?i===`joint_position`:t.use_default_offset;s.push(a(e,i,l,t.scale,t.offset,t.stiffness,t.damping,u))}return s.length===0?(console.warn(`[PolicyRunner] No valid action terms found in config.actions.`),null):s}normalizeControlArray(e,t,n,r){let i=new Float32Array(t);if(i.fill(n),typeof e==`number`)return i.fill(e),i;if(Array.isArray(e)){for(let r=0;r<t;r++)i[r]=typeof e[r]==`number`?e[r]:n;return i}if(typeof e==`object`&&e&&r){for(let[n,a]of Object.entries(e)){let e=r.indexOf(n);e>=0&&e<t?i[e]=a:console.warn(`[PolicyRunner] Joint name "${n}" not found in policy_joint_names; skipping.`)}return i}return i}resetSimulationState(){if(!(!this.mjModel||!this.mjData)){if(this.mjModel.nkey>0?this.mujoco.mj_resetDataKeyframe(this.mjModel,this.mjData,0):this.mujoco.mj_resetData(this.mjModel,this.mjData),this.initialQpos){let e=this.mjData.qpos;for(let t=0;t<Math.min(this.initialQpos.length,this.mjModel.nq);t++)e[t]=this.initialQpos[t]}if(this.initialQvel){let e=this.mjData.qvel;for(let t=0;t<Math.min(this.initialQvel.length,this.mjModel.nv);t++)e[t]=this.initialQvel[t]}this.eventManager&&this.eventManager.onReset({mjModel:this.mjModel,mjData:this.mjData,terrainData:this.terrainData}),this.commandManager.resetTerms(),this.onnxModule&&(this.onnxInputDict=this.onnxModule.initInput()),this.onnxTimeStep=0,this.mujoco.mj_forward(this.mjModel,this.mjData),this.lastSimState.bodies.clear(),this.updateCachedState()}}executeSimulationSteps(){if(!(!this.mjModel||!this.mjData)){this.applyDragForces();for(let e=0;e<this.decimation;e++)this.applyPolicyControl(),this.mujoco.mj_step(this.mjModel,this.mjData)}}applyPolicyControl(){if(!this.policyControl||!this.mjData)return;let e=this.mjData.ctrl;e.fill(0);let t=this.policyRunner?.getLastActions()??new Float32Array;for(let n of this.policyControl){let{controlType:r,ctrlAdr:i,qposAdr:a,qvelAdr:o,actionIndices:s,actionScale:c,actionOffset:l,defaultJointPos:u,encoderBias:d,positionActuator:f,kp:p,kd:m,muscleNormalize:h}=n,g=i.length;if(r===`joint_position`)for(let n=0;n<g;n++){let r=i[n];if(r<0)continue;let h=t[s[n]]??0,g=u[n]+l[n]+c[n]*h-d[n];if(f[n])e[r]=g;else{let t=this.mjData.qpos[a[n]],i=this.mjData.qvel[o[n]];e[r]=p[n]*(g-t)+m[n]*(0-i)}}else if(r===`torque`)for(let n=0;n<g;n++){let r=i[n];r>=0&&(e[r]=c[n]*(t[s[n]]??0))}else if(r===`muscle_activation`)for(let n=0;n<g;n++){let r=i[n];if(r<0)continue;let a=(t[s[n]]??0)*c[n]+l[n];h?e[r]=1/(1+Math.exp(-5*(a-.5))):e[r]=a<0?0:a>1?1:a}}}async runOnnxInference(e){if(!(!this.onnxModule||!this.policyRunner||this.onnxInferencing)){this.onnxInferencing=!0;try{this.onnxInputDict||=this.onnxModule.initInput();let t={...this.onnxInputDict};this.onnxModule.inKeys.includes(`time_step`)&&(t.time_step=new bH(`float32`,new Float32Array([this.onnxTimeStep]),[1,1]));for(let[n,r]of Object.entries(e))t[n]=new bH(`float32`,r,[1,r.length]);for(let e of this.onnxModule.inKeys)if(!t[e]){console.warn(`[PolicyRunner] Missing ONNX input:`,{key:e,available:Object.keys(t)});return}let[n,r]=await this.onnxModule.runInference(t);Object.keys(r).length>0&&(this.onnxInputDict={...this.onnxInputDict,...r}),this.onnxModule.inKeys.includes(`time_step`)&&(this.onnxTimeStep+=1);let i=this.onnxModule.outKeys[0],a=n.action??(i?n[i]:null)??n.policy??null;if(!a)return;let o=a.data,s=ArrayBuffer.isView(o)?new Float32Array(o):Float32Array.from(o),c=this.policyRunner?.getNumActions()??0;if(this.policyControl&&s.length!==c){console.warn(`[PolicyRunner] Action size mismatch:`,{expected:c,got:s.length});return}this.policyRunner.setLastActions(s)}catch(e){console.warn(`[PolicyRunner] ONNX inference failed:`,e)}finally{this.onnxInferencing=!1}}}applyDragForces(){if(!this.dragStateManager||!this.mjModel||!this.mjData||!this.bodies)return;for(let e=0;e<this.mjData.xfrc_applied.length;e++)this.mjData.xfrc_applied[e]=0;let e=this.dragStateManager.physicsObject;if(!e||!(`bodyID`in e)||typeof e.bodyID!=`number`||e.bodyID<=0)return;let t=e.bodyID;if(this.dynamicBodyIds&&!this.dynamicBodyIds.has(t))return;for(let e=0;e<this.mjModel.nbody;e++)this.bodies[e]&&(aP(this.mjData.xpos,e,this.bodies[e].position),oP(this.mjData.xquat,e,this.bodies[e].quaternion),this.bodies[e].updateWorldMatrix(!0,!1));this.dragStateManager.update();let n=VN(this.dragStateManager.offset.clone().multiplyScalar(this.dragForceScale)),r=VN(this.dragStateManager.worldHit.clone()),i=new Y(this.mjData.xpos[t*3+0],this.mjData.xpos[t*3+1],this.mjData.xpos[t*3+2]),a=new Y(r.x-i.x,r.y-i.y,r.z-i.z),o=new Y(n.x,n.y,n.z),s=new Y().crossVectors(a,o),c=t*6;this.mjData.xfrc_applied[c+0]=n.x,this.mjData.xfrc_applied[c+1]=n.y,this.mjData.xfrc_applied[c+2]=n.z,this.mjData.xfrc_applied[c+3]=s.x,this.mjData.xfrc_applied[c+4]=s.y,this.mjData.xfrc_applied[c+5]=s.z}updateCachedState(){if(!this.mjModel||!this.mjData||!this.bodies)return;let e=this.dynamicBodyIds;for(let t=0;t<this.mjModel.nbody;t++)if(!(e&&!e.has(t))&&this.bodies[t]){this.lastSimState.bodies.has(t)||this.lastSimState.bodies.set(t,{position:new Y,quaternion:new Zy});let e=this.lastSimState.bodies.get(t);aP(this.mjData.xpos,t,e.position),oP(this.mjData.xquat,t,e.quaternion)}this.mujocoRoot&&this.mujocoRoot.cylinders&&ZN(this.mjModel,this.mjData,{cylinders:this.mujocoRoot.cylinders,spheres:this.mujocoRoot.spheres},this.lastSimState.tendons)}applyViewerConfig(e){this.cameraState=kB(e,this.camera,this.controls,this.mjModel,this.mjData)}computeDynamicBodyIds(e){let t=new Set;for(let n=1;n<e.nbody;n++){let r=n;for(;r>0;){if(e.body_jntnum[r]>0){t.add(n);break}r=e.body_parentid[r]}}return t}syncStaticBodiesFromData(){if(!this.mjModel||!this.mjData||!this.bodies)return;let e=this.dynamicBodyIds;for(let t=0;t<this.mjModel.nbody;t++){if(e?.has(t))continue;let n=this.bodies[t];n&&(aP(this.mjData.xpos,t,n.position),oP(this.mjData.xquat,t,n.quaternion))}}async captureThumbnail(e={}){let{maxDim:t=1280,quality:n=.85}=e,r=this.renderer.domElement;this.renderer.render(this.scene,this.camera);let i=r.width,a=r.height;if(!i||!a)throw Error(`mjswan: canvas has zero size; nothing to capture.`);let o=Math.min(1,t/Math.max(i,a)),s=Math.max(1,Math.round(i*o)),c=Math.max(1,Math.round(a*o)),l=document.createElement(`canvas`);l.width=s,l.height=c;let u=l.getContext(`2d`);if(!u)throw Error(`mjswan: failed to get a 2D context for thumbnail capture.`);return u.drawImage(r,0,0,s,c),await new Promise((e,t)=>{l.toBlob(n=>n?e(n):t(Error(`mjswan: toBlob returned null.`)),`image/jpeg`,n)})}async dispose(){await this.stop(),this.policyRunner=null,this.policyStateBuilder=null,this.onnxModule&&=(this.onnxModule.dispose(),null),this.onnxInputDict=null,this.onnxInferencing=!1,this.splatMesh&&=(Cz(this.splatMesh,this.scene),null),this.colliderMesh&&=(TB(this.colliderMesh,this.scene),null),this.dragStateManager&&=(this.dragStateManager.dispose(),null),this.mjData=null,this.mjModel=null,window.removeEventListener(`resize`,this.onWindowResize),this.resizeObserver?.disconnect(),this.resizeObserver=null,this.controls.dispose(),this.renderer.setAnimationLoop(null),this.renderer.dispose(),this.renderer.domElement.parentElement&&this.renderer.domElement.parentElement.removeChild(this.renderer.domElement),this.vrButton?.parentElement&&(this.vrButton.parentElement.removeChild(this.vrButton),this.vrButton=null),this.bodies=null,this.lights=[],this.mujocoRoot=null,this.dynamicBodyIds=null,this.lastSimState.bodies.clear(),this.commandManager.dispose()}disposeThreeJSResources(){if(this.scene)for(this.scene.traverse(e=>{`geometry`in e&&e.geometry&&e.geometry.dispose(),`material`in e&&e.material&&(Array.isArray(e.material)?e.material.forEach(e=>this.disposeMaterial(e)):this.disposeMaterial(e.material))});this.scene.children.length>0;)this.scene.remove(this.scene.children[0])}disposeMaterial(e){let t=e;t.map&&t.map.dispose(),t.aoMap&&t.aoMap.dispose(),t.emissiveMap&&t.emissiveMap.dispose(),t.metalnessMap&&t.metalnessMap.dispose(),t.normalMap&&t.normalMap.dispose(),t.roughnessMap&&t.roughnessMap.dispose(),e.dispose()}getSize(){let e=this.container.clientWidth||window.innerWidth,t=this.container.clientHeight||window.innerHeight;return{width:Math.max(1,e),height:Math.max(1,t)}}};function p1(e){let t=e.config,n={id:e.id,group:e.groupName,type:t.type,label:t.label};return t.type===`slider`?{...n,min:t.min,max:t.max,step:t.step,enabledWhen:t.enabled_when}:n}async function m1(e){return{config:e.config,onnx:await UB(e.onnx),motions:(e.motions??[]).map(e=>({name:e.name,data:e.data,default:e.default})),plugins:e.plugins}}async function h1(e){return{data:await UB(e.data),collider:e.collider?await UB(e.collider):null,transform:e.transform}}var g1=class{constructor(e){this.phase=`paused`,this.loading=!1,this.loadingMessage=null,this.error=null,this.listeners=new Set,this.onCommandEvent=()=>this.refresh(),this.runtime=e,this.state=this.buildState(),this.runtime.commands.addEventListener(this.onCommandEvent),this.camera={set:e=>this.runtime.setCameraView(e),get:()=>this.runtime.getCameraView(),frame:()=>this.runtime.frameCamera()},this.commands={set:(e,t)=>this.runtime.commands.setValue(e,t),trigger:e=>this.runtime.commands.triggerButton(e)}}buildState(){let e=this.runtime.commands;return{phase:this.phase,loading:this.loading,loadingMessage:this.loadingMessage,error:this.error,commands:e.getCommands().map(p1),commandValues:e.getValues()}}refresh(){this.state=this.buildState();for(let e of this.listeners)try{e(this.state)}catch(e){console.warn(`[mjswan] subscribe listener error:`,e)}}async loadScene(e){this.loading=!0,this.loadingMessage=`Loading scene…`,this.error=null,this.refresh();try{let t={model:await UB(e.model),policy:e.policy?await m1(e.policy):null,splat:e.splat?await h1(e.splat):null,viewer:e.viewer??null,events:e.events??null,terrainData:e.terrainData??null,plugins:e.plugins};await this.runtime.loadEnvironment(t),this.phase=this.runtime.isRunning?`running`:`paused`}catch(e){throw this.error=e instanceof Error?e:Error(String(e)),e}finally{this.loading=!1,this.loadingMessage=null,this.refresh()}}async setPolicy(e){await this.runtime.loadPolicyConfig(e?await m1(e):null),this.refresh()}async setSplat(e){await this.runtime.setSplat(e?await h1(e):null)}setMotion(e){return 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n=t.path?t.path:`scene/${v1(t.name)}/scene.mjz`;return`${y1(e)}/assets/${n}`.replace(/\/+/g,`/`)}function x1(e,t){return`${y1(e)}/assets/${t}`.replace(/\/+/g,`/`)}function S1(e,t){let n=e.lastIndexOf(`/`);return`${n>=0?e.slice(0,n+1):``}${t}`.replace(/\/+/g,`/`)}function C1(e){return async()=>{let t=await fetch(e);if(!t.ok)throw Error(`mjswan/manifest: failed to fetch ${e}: ${t.status}`);return t.arrayBuffer()}}async function w1(e){let t=typeof e==`function`?await e():e;return JSON.parse(new TextDecoder().decode(t))}function T1(e){return{scale:e.scale,xOffset:e.xOffset,yOffset:e.yOffset,zOffset:e.zOffset,roll:e.roll,pitch:e.pitch,yaw:e.yaw}}function E1(e,t,n){return{data:t.path?n(x1(e,t.path)):C1(t.url),collider:t.colliderUrl?/^[a-z]+:\/\//i.test(t.colliderUrl)?C1(t.colliderUrl):n(x1(e,t.colliderUrl)):void 0,transform:T1(t)}}async function D1(e,t,n){if(!t.config)throw Error(`mjswan/manifest: policy "${t.name}" has no config path.`);let r=x1(e,t.config),i=await w1(n(r)),a=i.onnx?.path;if(!a)throw Error(`mjswan/manifest: policy "${t.name}" config missing onnx.path.`);return{config:i,onnx:n(S1(r,a)),motions:Array.isArray(i.motions)?i.motions.map(e=>({name:e.name,data:n(S1(r,e.path)),default:e.default})):[]}}function O1(e,t,n){let r=t.policies.map(t=>({name:t.name,default:t.default??!1,motions:(t.motions??[]).map(e=>({name:e.name,default:e.default??!1})),build:()=>D1(e,t,n)})),i=(t.splats??[]).map(t=>({name:t.name,control:t.control??!1,transform:T1(t),build:async()=>E1(e,t,n)}));return{name:t.name,camera:t.camera,splatSection:t.splatSection??!1,policies:r,splats:i,buildScene:async r=>{let i=r?.policy,a=i==null?t.policies.find(e=>e.default)??t.policies[0]:t.policies.find(e=>e.name===i),o=r?.splat,s=o==null?void 0:t.splats?.find(e=>e.name===o);return{model:n(b1(e,t)),policy:a?await D1(e,a,n):null,splat:s?E1(e,s,n):null,viewer:t.camera,events:t.events,terrainData:t.terrainData}}}}function k1(e,t){let n=typeof e==`string`?JSON.parse(e):e;if(!n.projects?.length)throw Error(`mjswan/manifest: config.json has no projects.`);return{projects:[...n.projects.filter(e=>e.id===null),...n.projects.filter(e=>e.id!==null)].map(e=>({name:e.name,id:e.id,scenes:e.scenes.map(n=>O1(e,n,t))})),pluginsPath:n.plugins}}var A1=`panel`,j1=`ref`;function M1(e){return new URLSearchParams(window.location.search).get(e)!==`0`}function N1(e){return t=>async()=>{let n=`${e}${t}`.replace(/([^:])\/{2,}/g,`$1/`),r=await fetch(n);if(!r.ok)throw Error(`Failed to fetch ${n}: ${r.status}`);return r.arrayBuffer()}}async function P1(e){let t=new URLSearchParams(window.location.search).get(`config`),n=t?new URL(t,window.location.href).toString():`${e}assets/config.json`.replace(/([^:])\/{2,}/g,`$1/`),r=await fetch(n,{cache:`no-store`});if(!r.ok)throw Error(`Failed to fetch ${n}: ${r.status}`);return k1(await r.text(),N1(e))}function F1(e,t,n){if(!t)return n;let r=t.trim().toLowerCase();return 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