rayzee 4.8.15 → 5.0.1

package/README.md

@@ -63,10 +63,10 @@ npm install rayzee three
    engine.set('bounces', 8);
    engine.set('exposure', 1.2);
 
-   // Use namespaced sub-APIs
-   engine.camera.switch(0);
-   engine.lights.add('PointLight');
-   engine.output.screenshot();
+   // Use namespaced APIs and direct methods
+   engine.cameraManager.switch(0);
+   engine.lightManager.add('PointLight');
+   engine.screenshot();
    ```
 
 4. **Run**
@@ -116,7 +116,7 @@ A single HTML file — no Node.js, no build step. Uses [ES module import maps](h
     window.addEventListener('resize', () => {
       canvas.width = window.innerWidth;
       canvas.height = window.innerHeight;
-      engine.output.resize();
+      engine.onResize();
     });
   </script>
 </body>
@@ -168,7 +168,7 @@ No special build config is needed — models and HDRs are loaded via URL at runt
 
 ### PathTracerApp
 
-The main engine class. Extends Three.js `EventDispatcher`. Related functionality is grouped into **namespaced sub-APIs** accessed via `engine.camera`, `engine.lights`, etc.
+The main engine class. Extends Three.js `EventDispatcher`. Related functionality is grouped into **namespaced managers** accessed via `engine.cameraManager`, `engine.lightManager`, etc., or as direct methods on the engine instance.
 
 ```js
 const engine = new PathTracerApp(canvas, options?)
@@ -250,137 +250,137 @@ engine.configureForMode('results')       // Paused rendering for image viewing
 
 ---
 
-### engine.camera
+### engine.cameraManager
 
 Camera switching, auto-focus, DOF, and direct Three.js access.
 
 ```js
-engine.camera.active                  // The active PerspectiveCamera
-engine.camera.controls                // The OrbitControls instance
-engine.camera.switch(index)           // Switch between scene cameras
-engine.camera.getNames()              // List available cameras
-engine.camera.focusOn(center)         // Focus orbit camera on a world-space point
-engine.camera.setAutoFocusMode(mode)  // 'auto' | 'manual'
-engine.camera.setAFScreenPoint(x, y)  // Set normalized AF screen point (0-1)
+engine.cameraManager.active                  // The active PerspectiveCamera
+engine.cameraManager.controls                // The OrbitControls instance
+engine.cameraManager.switch(index)           // Switch between scene cameras
+engine.cameraManager.getNames()              // List available cameras
+engine.cameraManager.focusOn(center)         // Focus orbit camera on a world-space point
+engine.cameraManager.setAutoFocusMode(mode)  // 'auto' | 'manual'
+engine.cameraManager.setAFScreenPoint(x, y)  // Set normalized AF screen point (0-1)
 ```
 
-### engine.lights
+### engine.lightManager
 
 Light CRUD, visual helpers, and GPU sync.
 
 ```js
-engine.lights.add('PointLight')       // Add a light (PointLight, SpotLight, DirectionalLight, RectAreaLight)
-engine.lights.remove(uuid)            // Remove by UUID
-engine.lights.clear()                 // Remove all lights
-engine.lights.getAll()                // Get all light descriptors
-engine.lights.sync()                  // Re-upload light data to GPU
-engine.lights.showHelpers(true)       // Toggle visual helpers
+engine.lightManager.add('PointLight')       // Add a light (PointLight, SpotLight, DirectionalLight, RectAreaLight)
+engine.lightManager.remove(uuid)            // Remove by UUID
+engine.lightManager.clear()                 // Remove all lights
+engine.lightManager.getAll()                // Get all light descriptors
+engine.lightManager.sync()                  // Re-upload light data to GPU
+engine.lightManager.showHelpers(true)       // Toggle visual helpers
 ```
 
-### engine.animation
+### engine.animationManager
 
 GLTF animation playback controls.
 
 ```js
-engine.animation.play(clipIndex)      // Play an animation clip
-engine.animation.pause()              // Pause playback
-engine.animation.resume()             // Resume playback
-engine.animation.stop()               // Stop and reset
-engine.animation.setSpeed(2)          // Set playback speed multiplier
-engine.animation.setLoop(true)        // Enable/disable looping
-engine.animation.clips                // Get available animation clips
+engine.animationManager.play(clipIndex)      // Play an animation clip
+engine.animationManager.pause()              // Pause playback
+engine.animationManager.resume()             // Resume playback
+engine.animationManager.stop()               // Stop and reset
+engine.animationManager.setSpeed(2)          // Set playback speed multiplier
+engine.animationManager.setLoop(true)        // Enable/disable looping
+engine.animationManager.clips                // Get available animation clips
 ```
 
-### engine.materials
+### Materials
 
-Material property updates and texture transforms.
+Material property updates and texture transforms — accessed as direct methods on the engine.
 
 ```js
-engine.materials.setProperty(index, property, value)  // Update a material property
-engine.materials.setTextureTransform(index, name, transform)
-engine.materials.refresh()            // Re-upload all material data to GPU
-engine.materials.replace(index, mat)  // Replace a material entirely
-await engine.materials.rebuild(scene) // Full rebuild (after texture changes)
+engine.setMaterialProperty(index, property, value)  // Update a material property
+engine.setTextureTransform(index, name, transform)   // Update texture transform
+engine.reset()                        // Re-upload all material data to GPU
+engine.stages.pathTracer.materialData.updateMaterial(index, mat)  // Replace a material
+await engine.rebuildMaterials(scene)  // Full rebuild (after texture changes)
 ```
 
-### engine.environment
+### engine.environmentManager
 
 Environment maps, sky modes, and procedural generation.
 
 ```js
-engine.environment.params             // Current environment parameters
-engine.environment.texture            // The loaded environment texture
-await engine.environment.load(url)    // Load HDR/EXR environment map
-await engine.environment.setTexture(tex) // Set a custom environment texture
-await engine.environment.setMode(mode)   // 'hdri' | 'procedural' | 'gradient' | 'color'
-await engine.environment.generateProcedural() // Preetham-model sky
-await engine.environment.generateGradient()   // Gradient sky
-await engine.environment.generateSolid()      // Solid color sky
-engine.environment.markDirty()        // Flag environment for GPU re-upload
+engine.environmentManager.params             // Current environment parameters
+engine.environmentManager.texture            // The loaded environment texture
+await engine.environmentManager.load(url)    // Load HDR/EXR environment map
+await engine.environmentManager.setTexture(tex) // Set a custom environment texture
+await engine.environmentManager.setMode(mode)   // 'hdri' | 'procedural' | 'gradient' | 'color'
+await engine.environmentManager.generateProcedural() // Preetham-model sky
+await engine.environmentManager.generateGradient()   // Gradient sky
+await engine.environmentManager.generateSolid()      // Solid color sky
+engine.environmentManager.markDirty()        // Flag environment for GPU re-upload
 ```
 
-### engine.denoising
+### engine.denoisingManager
 
 Denoiser strategy, ASVGF, OIDN, upscaler, adaptive sampling, and auto-exposure.
 
 ```js
 // Strategy
-engine.denoising.setStrategy('asvgf', 'medium')  // 'none' | 'asvgf' | 'ssrc' | 'edgeaware'
-engine.denoising.setASVGFEnabled(true, 'medium')
-engine.denoising.applyASVGFPreset('high')         // 'low' | 'medium' | 'high'
-engine.denoising.setAutoExposure(true)
-engine.denoising.setAdaptiveSampling(true)
+engine.denoisingManager.setStrategy('asvgf', 'medium')  // 'none' | 'asvgf' | 'ssrc' | 'edgeaware'
+engine.denoisingManager.setASVGFEnabled(true, 'medium')
+engine.denoisingManager.applyASVGFPreset('high')         // 'low' | 'medium' | 'high'
+engine.denoisingManager.setAutoExposure(true)
+engine.denoisingManager.setAdaptiveSampling(true)
 
 // Fine-grained parameters
-engine.denoising.setASVGFParams({ temporalAlpha: 0.1, phiColor: 10 })
-engine.denoising.setSSRCParams({ temporalAlpha: 0.1, spatialRadius: 3 })
-engine.denoising.setEdgeAwareParams({ pixelEdgeSharpness: 1.0 })
-engine.denoising.setAutoExposureParams({ keyValue: 0.18 })
-engine.denoising.setAdaptiveSamplingParams({ varianceThreshold: 0.01 })
+engine.denoisingManager.setASVGFParams({ temporalAlpha: 0.1, phiColor: 10 })
+engine.denoisingManager.setSSRCParams({ temporalAlpha: 0.1, spatialRadius: 3 })
+engine.denoisingManager.setEdgeAwareParams({ pixelEdgeSharpness: 1.0 })
+engine.denoisingManager.setAutoExposureParams({ keyValue: 0.18 })
+engine.denoisingManager.setAdaptiveSamplingParams({ varianceThreshold: 0.01 })
 
 // OIDN & Upscaler
-engine.denoising.setOIDNEnabled(true)
-engine.denoising.setOIDNQuality('high')
-engine.denoising.setUpscalerEnabled(true)
-engine.denoising.setUpscalerScaleFactor(2)
-engine.denoising.setUpscalerQuality('high')
+engine.denoisingManager.setOIDNEnabled(true)
+engine.denoisingManager.setOIDNQuality('high')
+engine.denoisingManager.setUpscalerEnabled(true)
+engine.denoisingManager.setUpscalerScaleFactor(2)
+engine.denoisingManager.setUpscalerQuality('high')
 ```
 
-### engine.selection
+### engine.interactionManager
 
 Object picking and interaction modes.
 
 ```js
-engine.selection.select(object)       // Programmatically select an object
-engine.selection.deselect()           // Deselect the current object
-engine.selection.toggleMode()         // Toggle object selection mode
-engine.selection.disableMode()        // Disable selection mode
-engine.selection.toggleFocusMode()    // Toggle click-to-focus DOF
-engine.selection.on(type, handler)    // Subscribe to interaction events
+engine.interactionManager.select(object)       // Programmatically select an object
+engine.interactionManager.deselect()           // Deselect the current object
+engine.interactionManager.toggleSelectMode()   // Toggle object selection mode
+engine.interactionManager.disableMode()        // Disable selection mode and detach gizmo
+engine.interactionManager.toggleFocusMode()    // Toggle click-to-focus DOF
+engine.interactionManager.on(type, handler)    // Subscribe (returns unsubscribe function)
 ```
 
-### engine.transform
+### engine.transformManager
 
 Transform gizmo controls.
 
 ```js
-engine.transform.setMode('translate') // 'translate' | 'rotate' | 'scale'
-engine.transform.setSpace('world')    // 'world' | 'local'
-engine.transform.manager              // Access the underlying TransformManager
+engine.transformManager.setMode('translate') // 'translate' | 'rotate' | 'scale'
+engine.transformManager.setSpace('world')    // 'world' | 'local'
+engine.transformManager.manager              // Access the underlying TransformManager
 ```
 
-### engine.output
+### Output Methods
 
-Canvas output, screenshots, and scene statistics.
+Canvas output, screenshots, and scene statistics — accessed as direct methods on the engine.
 
 ```js
-engine.output.getCanvas()             // Get the canvas with the final rendered image
-engine.output.screenshot()            // Download a PNG screenshot
-engine.output.getStatistics()         // Triangle count, mesh count, etc.
-engine.output.setSize(1920, 1080)     // Set explicit canvas dimensions
-engine.output.resize()                // Trigger manual resize recalculation
-engine.output.isComplete()            // Check if rendering has converged
-engine.output.getFrameCount()         // Get the current accumulated frame count
+engine.getCanvas()             // Get the canvas with the final rendered image
+engine.screenshot()            // Download a PNG screenshot
+engine.getStatistics()         // Triangle count, mesh count, etc.
+engine.setCanvasSize(1920, 1080)  // Set explicit canvas dimensions
+engine.onResize()              // Trigger manual resize recalculation
+engine.isComplete()            // Check if rendering has converged
+engine.getFrameCount()         // Get the current accumulated frame count
 ```
 
 ---
@@ -443,19 +443,6 @@ class MyCustomStage extends RenderStage {
 // Core
 import { PathTracerApp, EngineEvents } from 'rayzee';
 
-// Sub-API facades (also accessible as engine.camera, engine.lights, etc.)
-import {
-  CameraAPI,
-  LightsAPI,
-  AnimationAPI,
-  MaterialsAPI,
-  EnvironmentAPI,
-  DenoisingAPI,
-  SelectionAPI,
-  TransformAPI,
-  OutputAPI,
-} from 'rayzee';
-
 // Configuration & presets
 import {
   ENGINE_DEFAULTS,
@@ -517,8 +504,8 @@ OIDN provides high-quality AI denoising for final renders. It runs automatically
 
    ```js
    // After engine.init() completes
-   engine.denoising.setOIDNEnabled(true);
-   engine.denoising.setOIDNQuality('balance'); // 'fast' | 'balance' | 'high'
+   engine.denoisingManager.setOIDNEnabled(true);
+   engine.denoisingManager.setOIDNQuality('balance'); // 'fast' | 'balance' | 'high'
    ```
 
 3. **Listen for progress** (optional)

package/dist/assets/{BVHSubtreeWorker-C02ZWVeG.js → BVHSubtreeWorker-BoG4D6dP.js}

@@ -1,2 +1,2 @@
-(function(){var e=class{constructor(e,t){this.traversalCost=e,this.intersectionCost=t,this.maxTreeletLeaves=7,this.minImprovement=.02,this.topologyCache=new Map;for(let e=3;e<=this.maxTreeletLeaves;e++)this.topologyCache.set(e,this.generateTopologies(e));this.stats={treeletsProcessed:0,treeletsImproved:0,totalSAHImprovement:0,averageSAHImprovement:0,optimizationTime:0}}generateTopologies(e){if(e===1)return[0];if(e===2)return[[0,1]];let t=[];for(let n=1;n<e;n++){let r=this.generateTopologies(n),i=this.generateTopologies(e-n);for(let e of r)for(let r of i)t.push([e,this.offsetTopology(r,n)])}return t}offsetTopology(e,t){return typeof e==`number`?e+t:[this.offsetTopology(e[0],t),this.offsetTopology(e[1],t)]}optimizeBVH(e){let t=performance.now();this.stats={treeletsProcessed:0,treeletsImproved:0,totalSAHImprovement:0,averageSAHImprovement:0,optimizationTime:0};let n=this.identifyTreeletRoots(e);for(let e=0;e<n.length;e++){if(performance.now()-t>3e4){console.warn(`TreeletOptimizer: timeout after ${e}/${n.length} treelets`);break}this.optimizeTreelet(n[e])}return this.stats.optimizationTime=performance.now()-t,this.stats.averageSAHImprovement=this.stats.treeletsProcessed>0?this.stats.totalSAHImprovement/this.stats.treeletsProcessed:0,e}identifyTreeletRoots(e){let t=[],n=new Set,r=[{node:e,visited:!1}];for(;r.length>0;){let e=r[r.length-1];if(e.visited){r.pop();let i=e.node;if(i.triangleCount>0||n.has(i))continue;let a=this.countLeaves(i);a>=3&&a<=this.maxTreeletLeaves&&(t.push(i),this.markSubtree(i,n))}else{e.visited=!0;let t=e.node;if(t.triangleCount>0)continue;t.rightChild&&r.push({node:t.rightChild,visited:!1}),t.leftChild&&r.push({node:t.leftChild,visited:!1})}}return t}countLeaves(e){return e?e.triangleCount>0?1:this.countLeaves(e.leftChild)+this.countLeaves(e.rightChild):0}markSubtree(e,t){e&&(t.add(e),!(e.triangleCount>0)&&(this.markSubtree(e.leftChild,t),this.markSubtree(e.rightChild,t)))}optimizeTreelet(e){let t=[];this.extractLeaves(e,t);let n=t.length;if(n<3||n>this.maxTreeletLeaves)return;this.stats.treeletsProcessed++;let r=this.evaluateSubtreeSAH(e),i=this.topologyCache.get(n);if(!i||i.length===0)return;let a=r,o=null,s=null;if(n<=5){let e=this.generatePermutations(n);for(let n of i)for(let r of e){let e=this.evaluateTopology(n,t,r);e<a&&(a=e,o=n,s=r)}}else{let e=Array.from({length:n},(e,t)=>t);for(let n of i){let r=this.evaluateTopology(n,t,e);r<a&&(a=r,o=n,s=e);let i=this.greedySwapOptimize(n,t,e,r);i.cost<a&&(a=i.cost,o=n,s=i.perm)}}let c=(r-a)/r;o&&c>this.minImprovement&&(this.reconstructTreelet(e,o,t,s),this.stats.treeletsImproved++,this.stats.totalSAHImprovement+=c)}extractLeaves(e,t){if(e){if(e.triangleCount>0){t.push({minX:e.minX,minY:e.minY,minZ:e.minZ,maxX:e.maxX,maxY:e.maxY,maxZ:e.maxZ,triangleOffset:e.triangleOffset,triangleCount:e.triangleCount});return}this.extractLeaves(e.leftChild,t),this.extractLeaves(e.rightChild,t)}}evaluateSubtreeSAH(e){if(!e)return 0;if(e.triangleCount>0)return this.surfaceAreaFlat(e.minX,e.minY,e.minZ,e.maxX,e.maxY,e.maxZ)*e.triangleCount*this.intersectionCost;let t=this.evaluateSubtreeSAH(e.leftChild),n=this.evaluateSubtreeSAH(e.rightChild);return this.surfaceAreaFlat(e.minX,e.minY,e.minZ,e.maxX,e.maxY,e.maxZ)*this.traversalCost+t+n}evaluateTopology(e,t,n){return this.evalTopoRecursive(e,t,n).cost}evalTopoRecursive(e,t,n){if(typeof e==`number`){let r=t[n[e]];return{cost:this.surfaceAreaFlat(r.minX,r.minY,r.minZ,r.maxX,r.maxY,r.maxZ)*r.triangleCount*this.intersectionCost,minX:r.minX,minY:r.minY,minZ:r.minZ,maxX:r.maxX,maxY:r.maxY,maxZ:r.maxZ}}let r=this.evalTopoRecursive(e[0],t,n),i=this.evalTopoRecursive(e[1],t,n),a=Math.min(r.minX,i.minX),o=Math.min(r.minY,i.minY),s=Math.min(r.minZ,i.minZ),c=Math.max(r.maxX,i.maxX),l=Math.max(r.maxY,i.maxY),u=Math.max(r.maxZ,i.maxZ);return{cost:this.surfaceAreaFlat(a,o,s,c,l,u)*this.traversalCost+r.cost+i.cost,minX:a,minY:o,minZ:s,maxX:c,maxY:l,maxZ:u}}surfaceAreaFlat(e,t,n,r,i,a){let o=r-e,s=i-t,c=a-n;return 2*(o*s+s*c+c*o)}generatePermutations(e){let t=[],n=Array.from({length:e},(e,t)=>t),r=i=>{if(i===e){t.push([...n]);return}for(let t=i;t<e;t++)[n[i],n[t]]=[n[t],n[i]],r(i+1),[n[i],n[t]]=[n[t],n[i]]};return r(0),t}greedySwapOptimize(e,t,n,r){let i=[...n],a=r,o=!0;for(;o;){o=!1;for(let n=0;n<i.length-1;n++)for(let r=n+1;r<i.length;r++){[i[n],i[r]]=[i[r],i[n]];let s=this.evaluateTopology(e,t,i);s<a?(a=s,o=!0):[i[n],i[r]]=[i[r],i[n]]}}return{perm:i,cost:a}}reconstructTreelet(e,t,n,r){let i=this.buildSubtree(t,n,r);e.minX=i.minX,e.minY=i.minY,e.minZ=i.minZ,e.maxX=i.maxX,e.maxY=i.maxY,e.maxZ=i.maxZ,e.leftChild=i.leftChild,e.rightChild=i.rightChild,e.triangleOffset=i.triangleOffset,e.triangleCount=i.triangleCount}buildSubtree(e,n,r){if(typeof e==`number`){let i=n[r[e]],a=new t;return a.minX=i.minX,a.minY=i.minY,a.minZ=i.minZ,a.maxX=i.maxX,a.maxY=i.maxY,a.maxZ=i.maxZ,a.triangleOffset=i.triangleOffset,a.triangleCount=i.triangleCount,a}let i=this.buildSubtree(e[0],n,r),a=this.buildSubtree(e[1],n,r),o=new t;return o.leftChild=i,o.rightChild=a,o.minX=Math.min(i.minX,a.minX),o.minY=Math.min(i.minY,a.minY),o.minZ=Math.min(i.minZ,a.minZ),o.maxX=Math.max(i.maxX,a.maxX),o.maxY=Math.max(i.maxY,a.maxY),o.maxZ=Math.max(i.maxZ,a.maxZ),o}setTreeletSize(e){this.maxTreeletLeaves=Math.max(3,Math.min(7,e));for(let e=3;e<=this.maxTreeletLeaves;e++)this.topologyCache.has(e)||this.topologyCache.set(e,this.generateTopologies(e))}setMinImprovement(e){this.minImprovement=Math.max(.001,e)}setMaxTreelets(){}getStatistics(){return{...this.stats}}},t=class{constructor(){this.minX=0,this.minY=0,this.minZ=0,this.maxX=0,this.maxY=0,this.maxZ=0,this.leftChild=null,this.rightChild=null,this.triangleOffset=0,this.triangleCount=0}},n=class{constructor(e,t){this.traversalCost=e,this.intersectionCost=t,this.batchSizeRatio=.02,this.maxIterations=2,this.timeBudgetMs=15e3,this.stats={reinsertionsApplied:0,iterations:0,timeMs:0}}setBatchSizeRatio(e){this.batchSizeRatio=Math.max(.005,Math.min(.1,e))}setMaxIterations(e){this.maxIterations=Math.max(1,Math.min(5,e))}getStatistics(){return{...this.stats}}surfaceArea(e){let t=e.maxX-e.minX,n=e.maxY-e.minY,r=e.maxZ-e.minZ;return t*n+n*r+r*t}buildParentMap(e){let t=new Map;t.set(e,{parent:null,isLeft:!1});let n=[e];for(;n.length>0;){let e=n.pop();e.triangleCount>0||(e.leftChild&&(t.set(e.leftChild,{parent:e,isLeft:!0}),n.push(e.leftChild)),e.rightChild&&(t.set(e.rightChild,{parent:e,isLeft:!1}),n.push(e.rightChild)))}return t}findCandidates(e,t,n){let r=[],i=[e];for(;i.length>0;){let a=i.pop();if(a!==e&&n.get(a).parent!==e){let e=this.surfaceArea(a);r.length<t?(r.push({node:a,cost:e}),r.length===t&&this._heapify(r)):e>r[0].cost&&(r[0]={node:a,cost:e},this._siftDown(r,0))}a.triangleCount===0&&(a.leftChild&&i.push(a.leftChild),a.rightChild&&i.push(a.rightChild))}return r}_heapify(e){for(let t=(e.length>>1)-1;t>=0;t--)this._siftDown(e,t)}_siftDown(e,t){let n=e.length;for(;;){let r=t,i=2*t+1,a=2*t+2;if(i<n&&e[i].cost<e[r].cost&&(r=i),a<n&&e[a].cost<e[r].cost&&(r=a),r===t)break;let o=e[t];e[t]=e[r],e[r]=o,t=r}}findReinsertion(e,t,n){let r=n.get(e),i=r.parent;if(!i)return null;let a=r.isLeft?i.rightChild:i.leftChild,o=this.surfaceArea(e),s=this.surfaceArea(i),c=null,l=0,u=s,d=a.minX,f=a.minY,p=a.minZ,m=a.maxX,h=a.maxY,g=a.maxZ,_=a,v=i,y=[];do{for(y.length=0,y.push(u,_);y.length>0;){let t=y.pop(),n=y.pop();if(n-o<=l)continue;let r=Math.min(t.minX,e.minX),i=Math.min(t.minY,e.minY),a=Math.min(t.minZ,e.minZ),s=Math.max(t.maxX,e.maxX),u=Math.max(t.maxY,e.maxY),d=Math.max(t.maxZ,e.maxZ),f=s-r,p=u-i,m=d-a,h=n-(f*p+p*m+m*f);if(h>l&&(c=t,l=h),t.triangleCount===0&&t.leftChild&&t.rightChild){let e=h+this.surfaceArea(t);y.push(e,t.leftChild),y.push(e,t.rightChild)}}let t=n.get(v);if(!t||t.parent===null)break;if(v!==i){d=Math.min(d,_.minX),f=Math.min(f,_.minY),p=Math.min(p,_.minZ),m=Math.max(m,_.maxX),h=Math.max(h,_.maxY),g=Math.max(g,_.maxZ);let e=m-d,t=h-f,n=g-p,r=e*t+t*n+n*e;u+=this.surfaceArea(v)-r}let r=t.parent;_=t.isLeft?r.rightChild:r.leftChild,v=r}while(n.get(v).parent!==null);return c===a||c===i?null:c?{from:e,to:c,areaDiff:l}:null}getConflicts(e,t,n){let r=n.get(e);return[t,e,r.isLeft?r.parent.rightChild:r.parent.leftChild,n.get(t).parent,r.parent]}reinsertNode(e,t,n){let r=n.get(e),i=r.parent,a=r.isLeft?i.rightChild:i.leftChild,o=n.get(i),s=o.parent,c=n.get(t),l=c.parent;o.isLeft?s.leftChild=a:s.rightChild=a,i.leftChild=e,i.rightChild=t,i.triangleOffset=0,i.triangleCount=0,i.minX=Math.min(e.minX,t.minX),i.minY=Math.min(e.minY,t.minY),i.minZ=Math.min(e.minZ,t.minZ),i.maxX=Math.max(e.maxX,t.maxX),i.maxY=Math.max(e.maxY,t.maxY),i.maxZ=Math.max(e.maxZ,t.maxZ),c.isLeft?l.leftChild=i:l.rightChild=i,n.set(a,{parent:s,isLeft:o.isLeft}),n.set(i,{parent:l,isLeft:c.isLeft}),n.set(e,{parent:i,isLeft:!0}),n.set(t,{parent:i,isLeft:!1}),this.refitFrom(s,n),this.refitFrom(l,n)}refitFrom(e,t){let n=e;for(;n;){if(n.triangleCount===0&&n.leftChild&&n.rightChild){let e=n.leftChild,t=n.rightChild;n.minX=Math.min(e.minX,t.minX),n.minY=Math.min(e.minY,t.minY),n.minZ=Math.min(e.minZ,t.minZ),n.maxX=Math.max(e.maxX,t.maxX),n.maxY=Math.max(e.maxY,t.maxY),n.maxZ=Math.max(e.maxZ,t.maxZ)}let e=t.get(n);n=e?e.parent:null}}optimizeBVH(e,t){let n=performance.now();this.stats={reinsertionsApplied:0,iterations:0,timeMs:0};for(let r=0;r<this.maxIterations&&!(performance.now()-n>this.timeBudgetMs);r++){let i=this.buildParentMap(e),a=i.size,o=Math.max(1,Math.floor(a*this.batchSizeRatio));t&&t(`Reinsertion iter ${r+1}/${this.maxIterations}: selecting ${o} candidates`);let s=this.findCandidates(e,o,i),c=[];for(let t=0;t<s.length&&!(performance.now()-n>this.timeBudgetMs);t++){let n=this.findReinsertion(s[t].node,e,i);n&&n.areaDiff>0&&c.push(n)}c.sort((e,t)=>t.areaDiff-e.areaDiff);let l=new Set,u=0;for(let e of c){let t=this.getConflicts(e.from,e.to,i);if(!t.some(e=>l.has(e))){for(let e of t)l.add(e);this.reinsertNode(e.from,e.to,i),u++}}if(this.stats.reinsertionsApplied+=u,this.stats.iterations=r+1,t&&t(`Reinsertion iter ${r+1}: applied ${u} reinsertions`),u===0)break}return this.stats.timeMs=performance.now()-n,this.stats}};let r={FLOATS_PER_TRIANGLE:32,POSITION_A_OFFSET:0,POSITION_B_OFFSET:4,POSITION_C_OFFSET:8,NORMAL_A_OFFSET:12,NORMAL_B_OFFSET:16,NORMAL_C_OFFSET:20,UV_AB_OFFSET:24,UV_C_MAT_OFFSET:28},i=r.FLOATS_PER_TRIANGLE;var a=class{constructor(){this.minX=0,this.minY=0,this.minZ=0,this.maxX=0,this.maxY=0,this.maxZ=0,this.leftChild=null,this.rightChild=null,this.triangleOffset=0,this.triangleCount=0}},o=class{constructor(){this.useWorker=!0,this.maxLeafSize=8,this.numBins=32,this.minBins=8,this.maxBins=64,this.totalNodes=0,this.processedTriangles=0,this.totalTriangles=0,this.lastProgressUpdate=0,this.progressUpdateInterval=100,this.traversalCost=1,this.intersectionCost=2.5,this.useMortonCodes=!0,this.mortonBits=10,this.mortonClusterThreshold=128,this.enableObjectMedianFallback=!0,this.enableSpatialMedianFallback=!0,this.splitStats={sahSplits:0,objectMedianSplits:0,spatialMedianSplits:0,failedSplits:0,avgBinsUsed:0,totalSplitAttempts:0,mortonSortTime:0,totalBuildTime:0,treeletOptimizationTime:0,treeletsProcessed:0,treeletsImproved:0,averageSAHImprovement:0,reinsertionOptimizationTime:0,reinsertionsApplied:0,reinsertionIterations:0},this.enableTreeletOptimization=!0,this.treeletSize=5,this.treeletOptimizationPasses=1,this.treeletMinImprovement=.02,this.maxTreeletDepth=3,this.maxTreeletsPerScene=20,this.treeletComplexityThreshold=5e4,this.enableReinsertionOptimization=!0,this.reinsertionBatchSizeRatio=.02,this.reinsertionMaxIterations=2,this.initializeBinArrays(),this._partResult={mid:0,lMinX:0,lMinY:0,lMinZ:0,lMaxX:0,lMaxY:0,lMaxZ:0,rMinX:0,rMinY:0,rMinZ:0,rMaxX:0,rMaxY:0,rMaxZ:0},this.centroids=null,this.bMin=null,this.bMax=null,this.indices=null,this.mortonCodes=null,this.triangles=null,this.reorderedTriangleData=null}initializeBinArrays(){let e=this.maxBins;this.binBoundsMin=new Float32Array(e*3),this.binBoundsMax=new Float32Array(e*3),this.binCounts=new Uint32Array(e),this.leftPrefixMin=new Float32Array(e*3),this.leftPrefixMax=new Float32Array(e*3),this.leftPrefixCount=new Uint32Array(e),this.rightPrefixMin=new Float32Array(e*3),this.rightPrefixMax=new Float32Array(e*3),this.rightPrefixCount=new Uint32Array(e)}getOptimalBinCount(e){return e<=16?this.minBins:e<=64?16:e<=256?32:e<=1024?48:this.maxBins}setAdaptiveBinConfig(e){e.minBins!==void 0&&(this.minBins=Math.max(4,e.minBins)),e.maxBins!==void 0&&(this.maxBins=Math.min(128,e.maxBins)),e.baseBins!==void 0&&(this.numBins=e.baseBins),e.maxBins!==void 0&&this.initializeBinArrays()}setMortonConfig(e){e.enabled!==void 0&&(this.useMortonCodes=e.enabled),e.bits!==void 0&&(this.mortonBits=Math.max(6,Math.min(10,e.bits))),e.threshold!==void 0&&(this.mortonClusterThreshold=Math.max(16,e.threshold))}setFallbackConfig(e){e.objectMedian!==void 0&&(this.enableObjectMedianFallback=e.objectMedian),e.spatialMedian!==void 0&&(this.enableSpatialMedianFallback=e.spatialMedian)}setTreeletConfig(e){e.enabled!==void 0&&(this.enableTreeletOptimization=e.enabled),e.size!==void 0&&(this.treeletSize=Math.max(3,Math.min(12,e.size))),e.passes!==void 0&&(this.treeletOptimizationPasses=Math.max(1,Math.min(3,e.passes))),e.minImprovement!==void 0&&(this.treeletMinImprovement=Math.max(.001,e.minImprovement))}disableTreeletOptimization(){this.enableTreeletOptimization=!1}setReinsertionConfig(e){e.enabled!==void 0&&(this.enableReinsertionOptimization=e.enabled),e.batchSizeRatio!==void 0&&(this.reinsertionBatchSizeRatio=Math.max(.005,Math.min(.1,e.batchSizeRatio))),e.maxIterations!==void 0&&(this.reinsertionMaxIterations=Math.max(1,Math.min(5,e.maxIterations)))}initializeTriangleArrays(){let e=this.totalTriangles,t=this.triangles,n=r.POSITION_A_OFFSET,a=r.POSITION_B_OFFSET,o=r.POSITION_C_OFFSET;for(let r=0;r<e;r++){let e=r*i,s=t[e+n],c=t[e+n+1],l=t[e+n+2],u=t[e+a],d=t[e+a+1],f=t[e+a+2],p=t[e+o],m=t[e+o+1],h=t[e+o+2],g=r*3;this.centroids[g]=(s+u+p)/3,this.centroids[g+1]=(c+d+m)/3,this.centroids[g+2]=(l+f+h)/3,this.bMin[g]=s<u?s<p?s:p:u<p?u:p,this.bMin[g+1]=c<d?c<m?c:m:d<m?d:m,this.bMin[g+2]=l<f?l<h?l:h:f<h?f:h,this.bMax[g]=s>u?s>p?s:p:u>p?u:p,this.bMax[g+1]=c>d?c>m?c:m:d>m?d:m,this.bMax[g+2]=l>f?l>h?l:h:f>h?f:h,this.indices[r]=r}}expandBits(e){return e=e*65537&4278190335,e=e*257&251719695,e=e*17&3272356035,e=e*5&1227133513,e}morton3D(e,t,n){return(this.expandBits(n)<<2)+(this.expandBits(t)<<1)+this.expandBits(e)}computeMortonCodeForIndex(e,t,n,r,i,a,o){let s=this.centroids,c=e*3,l=(1<<this.mortonBits)-1,u=i>0?(s[c]-t)/i:0,d=a>0?(s[c+1]-n)/a:0,f=o>0?(s[c+2]-r)/o:0,p=Math.max(0,Math.min(l,Math.floor(u*l))),m=Math.max(0,Math.min(l,Math.floor(d*l))),h=Math.max(0,Math.min(l,Math.floor(f*l)));return this.morton3D(p,m,h)}sortTrianglesByMortonCode(){let e=this.totalTriangles;if(!this.useMortonCodes||e<this.mortonClusterThreshold)return;let t=performance.now(),n=this.centroids,r=this.indices,i=1/0,a=1/0,o=1/0,s=-1/0,c=-1/0,l=-1/0;for(let t=0;t<e;t++){let e=r[t]*3,u=n[e],d=n[e+1],f=n[e+2];u<i&&(i=u),d<a&&(a=d),f<o&&(o=f),u>s&&(s=u),d>c&&(c=d),f>l&&(l=f)}let u=s-i,d=c-a,f=l-o,p=this.mortonCodes,m=(1<<this.mortonBits)-1,h=u>0?m/u:0,g=d>0?m/d:0,_=f>0?m/f:0;for(let t=0;t<e;t++){let e=r[t],s=e*3,c=(n[s]-i)*h,l=(n[s+1]-a)*g,u=(n[s+2]-o)*_;c=c<0?0:(c>m?m:c)|0,l=l<0?0:(l>m?m:l)|0,u=u<0?0:(u>m?m:u)|0,c=c*65537&4278190335,c=c*257&251719695,c=c*17&3272356035,c=c*5&1227133513,l=l*65537&4278190335,l=l*257&251719695,l=l*17&3272356035,l=l*5&1227133513,u=u*65537&4278190335,u=u*257&251719695,u=u*17&3272356035,u=u*5&1227133513,p[e]=(u<<2)+(l<<1)+c}let v=new Uint32Array(e),y=new Uint32Array(256);for(let t=0;t<32;t+=8){y.fill(0);for(let n=0;n<e;n++)y[p[r[n]]>>>t&255]++;let n=0;for(let e=0;e<256;e++){let t=y[e];y[e]=n,n+=t}for(let n=0;n<e;n++){let e=p[r[n]]>>>t&255;v[y[e]++]=r[n]}r.set(v)}this.splitStats.mortonSortTime+=performance.now()-t}build(e,t=30,n=null){return this.totalTriangles=e.byteLength/(i*4),this.processedTriangles=0,this.lastProgressUpdate=performance.now(),this.useWorker&&typeof Worker<`u`?new Promise((r,a)=>{try{let o=new Worker(new URL(``+new URL(`BVHWorker-DobVXMda.js`,self.location.href).href,``+self.location.href),{type:`module`}),s=this.totalTriangles,c=typeof SharedArrayBuffer<`u`;console.log(`[BVHBuilder] SharedArrayBuffer: ${c?`enabled`:`unavailable (using transfer fallback)`}`);let l=c?new SharedArrayBuffer(s*i*4):null;o.onmessage=e=>{let{bvhData:t,triangles:i,originalToBvh:s,error:c,progress:u,treeletStats:d}=e.data;if(c){o.terminate(),a(Error(c));return}if(u!==void 0&&n){n(u);return}d&&(this.splitStats=d),o.terminate(),r({bvhData:t,bvhRoot:!0,reorderedTriangles:l?new Float32Array(l):i,originalToBvh:s||null})},o.onerror=e=>{o.terminate(),a(e)};let u=e.buffer,d={triangleData:u,triangleByteOffset:e.byteOffset,triangleByteLength:e.byteLength,triangleCount:s,depth:t,reportProgress:!!n,sharedReorderBuffer:l,treeletOptimization:{enabled:this.enableTreeletOptimization,size:this.treeletSize,passes:this.treeletOptimizationPasses,minImprovement:this.treeletMinImprovement},reinsertionOptimization:{enabled:this.enableReinsertionOptimization,batchSizeRatio:this.reinsertionBatchSizeRatio,maxIterations:this.reinsertionMaxIterations}};o.postMessage(d,[u])}catch(i){console.warn(`Worker creation failed, falling back to synchronous build:`,i),r(this._buildSyncAndFlatten(e,t,n))}}):new Promise(r=>{r(this._buildSyncAndFlatten(e,t,n))})}_buildSyncAndFlatten(e,t,n){let r=this.buildSync(e,t,n);return{bvhData:this.flattenBVH(r),bvhRoot:!0,reorderedTriangles:this.reorderedTriangleData||null,originalToBvh:this.originalToBvhMap||null}}buildSync(t,r=30,a=null,o=null){let s=performance.now();this.totalNodes=0,this.processedTriangles=0,this.triangles=t,this.totalTriangles=t.byteLength/(i*4),this.lastProgressUpdate=performance.now(),this.splitStats={sahSplits:0,objectMedianSplits:0,spatialMedianSplits:0,failedSplits:0,avgBinsUsed:0,totalSplitAttempts:0,mortonSortTime:0,totalBuildTime:0,treeletOptimizationTime:0,treeletsProcessed:0,treeletsImproved:0,averageSAHImprovement:0,reinsertionOptimizationTime:0,reinsertionsApplied:0,reinsertionIterations:0,saOrderTime:0,initTime:0,sahBuildTime:0,reorderTime:0};let c=this.totalTriangles,l=performance.now();this.centroids=new Float32Array(c*3),this.bMin=new Float32Array(c*3),this.bMax=new Float32Array(c*3),this.indices=new Uint32Array(c),this.mortonCodes=new Uint32Array(c),this.initializeTriangleArrays(),this.splitStats.initTime=performance.now()-l,this.sortTrianglesByMortonCode();let u=performance.now(),d=this.buildNodeRecursive(0,c,r,a);if(this.splitStats.sahBuildTime=performance.now()-u,this.enableTreeletOptimization&&this.totalTriangles>1e3){let t=this.totalTriangles>this.treeletComplexityThreshold,n=t?3:this.treeletSize,r=t?10:this.maxTreeletsPerScene,i=new e(this.traversalCost,this.intersectionCost);i.setTreeletSize(n),i.setMinImprovement(this.treeletMinImprovement),i.setMaxTreelets(r);let o=performance.now();for(let e=0;e<this.treeletOptimizationPasses;e++){let t=a?t=>{a(`Treelet optimization pass ${e+1}/${this.treeletOptimizationPasses}: ${t}`)}:null;try{i.optimizeBVH(d,t)}catch(t){console.error(`TreeletOptimizer: Error in pass ${e+1}:`,t);break}let n=i.getStatistics(),r=performance.now()-o;if(n.treeletsImproved===0&&e>0||r>15e3)break}let s=performance.now()-o;this.splitStats.treeletOptimizationTime=s;let c=i.getStatistics();this.splitStats.treeletsProcessed=c.treeletsProcessed,this.splitStats.treeletsImproved=c.treeletsImproved,this.splitStats.averageSAHImprovement=c.averageSAHImprovement}if(this.enableReinsertionOptimization&&this.totalTriangles>1e3){let e=new n(this.traversalCost,this.intersectionCost);e.setBatchSizeRatio(this.reinsertionBatchSizeRatio),e.setMaxIterations(this.reinsertionMaxIterations);let t=a?e=>{a(e)}:null;try{e.optimizeBVH(d,t)}catch(e){console.error(`ReinsertionOptimizer: Error:`,e)}let r=e.getStatistics();this.splitStats.reinsertionOptimizationTime=r.timeMs,this.splitStats.reinsertionsApplied=r.reinsertionsApplied,this.splitStats.reinsertionIterations=r.iterations}let f=performance.now();this.applySAOrdering(d),this.splitStats.saOrderTime=performance.now()-f;let p=performance.now(),m=this.triangles,h=o||new Float32Array(c*i);for(let e=0;e<c;e++){let t=this.indices[e]*i,n=e*i;h.set(m.subarray(t,t+i),n)}this.reorderedTriangleData=h;let g=new Uint32Array(c);for(let e=0;e<c;e++)g[this.indices[e]]=e;this.originalToBvhMap=g,this.splitStats.reorderTime=performance.now()-p,this.splitStats.totalBuildTime=performance.now()-s;let _=this.splitStats.totalBuildTime,v=e=>_>0?(e/_*100).toFixed(1)+`%`:`0%`,y=[{Phase:`Init + bounds`,"Time (ms)":Math.round(this.splitStats.initTime),"%":v(this.splitStats.initTime)},{Phase:`Morton sort`,"Time (ms)":Math.round(this.splitStats.mortonSortTime),"%":v(this.splitStats.mortonSortTime)},{Phase:`SAH recursive build`,"Time (ms)":Math.round(this.splitStats.sahBuildTime),"%":v(this.splitStats.sahBuildTime)},{Phase:`Treelet optimization`,"Time (ms)":Math.round(this.splitStats.treeletOptimizationTime),"%":v(this.splitStats.treeletOptimizationTime)},{Phase:`Reinsertion optimization`,"Time (ms)":Math.round(this.splitStats.reinsertionOptimizationTime),"%":v(this.splitStats.reinsertionOptimizationTime)},{Phase:`SA ordering`,"Time (ms)":Math.round(this.splitStats.saOrderTime),"%":v(this.splitStats.saOrderTime)},{Phase:`Triangle reorder`,"Time (ms)":Math.round(this.splitStats.reorderTime),"%":v(this.splitStats.reorderTime)},{Phase:`TOTAL`,"Time (ms)":Math.round(_),"%":`100%`}];return console.groupCollapsed(`⏱ BVH Build (${c.toLocaleString()} triangles, ${Math.round(_)}ms)`),console.table(y),console.table({"Total Nodes":this.totalNodes,"Max Leaf Size":this.maxLeafSize,"SAH Splits":this.splitStats.sahSplits,"Object Median Splits":this.splitStats.objectMedianSplits,"Spatial Median Splits":this.splitStats.spatialMedianSplits,"Failed Splits":this.splitStats.failedSplits,"Treelets Processed":this.splitStats.treeletsProcessed,"Treelets Improved":this.splitStats.treeletsImproved,"Avg SAH Improvement":(this.splitStats.averageSAHImprovement*100).toFixed(2)+`%`,"Reinsertions Applied":this.splitStats.reinsertionsApplied,"Reinsertion Iterations":this.splitStats.reinsertionIterations}),console.groupEnd(),a&&a(100),this.centroids=null,this.bMin=null,this.bMax=null,this.mortonCodes=null,d}updateProgress(e,t){if(!t)return;this.processedTriangles+=e;let n=performance.now();n-this.lastProgressUpdate<this.progressUpdateInterval||(this.lastProgressUpdate=n,t(Math.min(Math.floor(this.processedTriangles/this.totalTriangles*100),99)))}buildNodeRecursiveToDepth(e,t,n,r,i,o,s,c,l,u,d){let f=new a;this.totalNodes++;let p=t-e;if(o===void 0?this.updateNodeBounds(f,e,t):(f.minX=o,f.minY=s,f.minZ=c,f.maxX=l,f.maxY=u,f.maxZ=d),p<=this.maxLeafSize||n<=0)return f.triangleOffset=e,f.triangleCount=p,this.updateProgress(p,i),f;if(r<=0&&p>this.maxLeafSize*16){let r=this.frontierTasks.length;return f.triangleOffset=e,f.triangleCount=p,f.isFrontier=!0,f.frontierTaskId=r,this.frontierTasks.push({taskId:r,start:e,end:t,depth:n,preMinX:f.minX,preMinY:f.minY,preMinZ:f.minZ,preMaxX:f.maxX,preMaxY:f.maxY,preMaxZ:f.maxZ}),f}let m=this.findBestSplitPositionSAH(e,t,f);if(!m.success){if(this.splitStats.failedSplits++,r>0||p<=this.maxLeafSize*16)return f.triangleOffset=e,f.triangleCount=p,this.updateProgress(p,i),f;let a=this.frontierTasks.length;return f.triangleOffset=e,f.triangleCount=p,f.isFrontier=!0,f.frontierTaskId=a,this.frontierTasks.push({taskId:a,start:e,end:t,depth:n,preMinX:f.minX,preMinY:f.minY,preMinZ:f.minZ,preMaxX:f.maxX,preMaxY:f.maxY,preMaxZ:f.maxZ}),f}m.method===`SAH`?this.splitStats.sahSplits++:m.method===`object_median`?this.splitStats.objectMedianSplits++:m.method===`spatial_median`&&this.splitStats.spatialMedianSplits++,this.partitionWithBounds(e,t,m.axis,m.pos);let h=this._partResult,g=h.mid,_=h.lMinX,v=h.lMinY,y=h.lMinZ,b=h.lMaxX,x=h.lMaxY,S=h.lMaxZ,C=h.rMinX,w=h.rMinY,T=h.rMinZ,E=h.rMaxX,D=h.rMaxY,O=h.rMaxZ;return g===e||g===t?(f.triangleOffset=e,f.triangleCount=p,this.updateProgress(p,i),f):(f.leftChild=this.buildNodeRecursiveToDepth(e,g,n-1,r-1,i,_,v,y,b,x,S),f.rightChild=this.buildNodeRecursiveToDepth(g,t,n-1,r-1,i,C,w,T,E,D,O),f)}buildNodeRecursive(e,t,n,r,i,o,s,c,l,u){let d=new a;this.totalNodes++;let f=t-e;if(i===void 0?this.updateNodeBounds(d,e,t):(d.minX=i,d.minY=o,d.minZ=s,d.maxX=c,d.maxY=l,d.maxZ=u),f<=this.maxLeafSize||n<=0)return d.triangleOffset=e,d.triangleCount=f,this.updateProgress(f,r),d;let p=this.findBestSplitPositionSAH(e,t,d);if(!p.success)return this.splitStats.failedSplits++,d.triangleOffset=e,d.triangleCount=f,this.updateProgress(f,r),d;p.method===`SAH`?this.splitStats.sahSplits++:p.method===`object_median`?this.splitStats.objectMedianSplits++:p.method===`spatial_median`&&this.splitStats.spatialMedianSplits++,this.partitionWithBounds(e,t,p.axis,p.pos);let m=this._partResult,h=m.mid,g=m.lMinX,_=m.lMinY,v=m.lMinZ,y=m.lMaxX,b=m.lMaxY,x=m.lMaxZ,S=m.rMinX,C=m.rMinY,w=m.rMinZ,T=m.rMaxX,E=m.rMaxY,D=m.rMaxZ;return h===e||h===t?(d.triangleOffset=e,d.triangleCount=f,this.updateProgress(f,r),d):(d.leftChild=this.buildNodeRecursive(e,h,n-1,r,g,_,v,y,b,x),d.rightChild=this.buildNodeRecursive(h,t,n-1,r,S,C,w,T,E,D),d)}partitionWithBounds(e,t,n,r){let i=this.indices,a=this.centroids,o=this.bMin,s=this.bMax,c=e,l=t-1,u=1/0,d=1/0,f=1/0,p=-1/0,m=-1/0,h=-1/0,g=1/0,_=1/0,v=1/0,y=-1/0,b=-1/0,x=-1/0;for(;c<=l;){let e=i[c],t=e*3;a[t+n]<=r?(o[t]<u&&(u=o[t]),o[t+1]<d&&(d=o[t+1]),o[t+2]<f&&(f=o[t+2]),s[t]>p&&(p=s[t]),s[t+1]>m&&(m=s[t+1]),s[t+2]>h&&(h=s[t+2]),c++):(o[t]<g&&(g=o[t]),o[t+1]<_&&(_=o[t+1]),o[t+2]<v&&(v=o[t+2]),s[t]>y&&(y=s[t]),s[t+1]>b&&(b=s[t+1]),s[t+2]>x&&(x=s[t+2]),i[c]=i[l],i[l]=e,l--)}let S=this._partResult;return S.mid=c,S.lMinX=u,S.lMinY=d,S.lMinZ=f,S.lMaxX=p,S.lMaxY=m,S.lMaxZ=h,S.rMinX=g,S.rMinY=_,S.rMinZ=v,S.rMaxX=y,S.rMaxY=b,S.rMaxZ=x,S}updateNodeBounds(e,t,n){let r=1/0,i=1/0,a=1/0,o=-1/0,s=-1/0,c=-1/0,l=this.indices,u=this.bMin,d=this.bMax;for(let e=t;e<n;e++){let t=l[e]*3;u[t]<r&&(r=u[t]),u[t+1]<i&&(i=u[t+1]),u[t+2]<a&&(a=u[t+2]),d[t]>o&&(o=d[t]),d[t+1]>s&&(s=d[t+1]),d[t+2]>c&&(c=d[t+2])}e.minX=r,e.minY=i,e.minZ=a,e.maxX=o,e.maxY=s,e.maxZ=c}findBestSplitPositionSAH(e,t,n){let r=1/0,i=-1,a=0,o=this.computeSurfaceAreaFlat(n.minX,n.minY,n.minZ,n.maxX,n.maxY,n.maxZ),s=t-e,c=this.intersectionCost*s,l=this.getOptimalBinCount(s);this.splitStats.totalSplitAttempts++,this.splitStats.avgBinsUsed=(this.splitStats.avgBinsUsed*(this.splitStats.totalSplitAttempts-1)+l)/this.splitStats.totalSplitAttempts;let u=this.indices,d=this.centroids,f=this.bMin,p=this.bMax,m=this.binBoundsMin,h=this.binBoundsMax,g=this.binCounts,_=this.leftPrefixMin,v=this.leftPrefixMax,y=this.leftPrefixCount,b=this.rightPrefixMin,x=this.rightPrefixMax,S=this.rightPrefixCount,C=1/0,w=-1/0,T=1/0,E=-1/0,D=1/0,O=-1/0;for(let n=e;n<t;n++){let e=u[n]*3,t=d[e],r=d[e+1],i=d[e+2];t<C&&(C=t),t>w&&(w=t),r<T&&(T=r),r>E&&(E=r),i<D&&(D=i),i>O&&(O=i)}let k=[C,T,D],A=[w,E,O];for(let n=0;n<3;n++){let s=k[n],C=A[n];if(C-s<1e-6)continue;for(let e=0;e<l;e++){g[e]=0;let t=e*3;m[t]=1/0,m[t+1]=1/0,m[t+2]=1/0,h[t]=-1/0,h[t+1]=-1/0,h[t+2]=-1/0}let w=l/(C-s);for(let r=e;r<t;r++){let e=u[r],t=d[e*3+n],i=Math.floor((t-s)*w);i>=l&&(i=l-1),g[i]++;let a=i*3,o=e*3;f[o]<m[a]&&(m[a]=f[o]),f[o+1]<m[a+1]&&(m[a+1]=f[o+1]),f[o+2]<m[a+2]&&(m[a+2]=f[o+2]),p[o]>h[a]&&(h[a]=p[o]),p[o+1]>h[a+1]&&(h[a+1]=p[o+1]),p[o+2]>h[a+2]&&(h[a+2]=p[o+2])}y[0]=g[0],_[0]=m[0],_[1]=m[1],_[2]=m[2],v[0]=h[0],v[1]=h[1],v[2]=h[2];for(let e=1;e<l;e++){let t=e*3,n=(e-1)*3;y[e]=y[e-1]+g[e];let r=_[n],i=m[t],a=_[n+1],o=m[t+1],s=_[n+2],c=m[t+2];_[t]=r<i?r:i,_[t+1]=a<o?a:o,_[t+2]=s<c?s:c;let l=v[n],u=h[t],d=v[n+1],f=h[t+1],p=v[n+2],b=h[t+2];v[t]=l>u?l:u,v[t+1]=d>f?d:f,v[t+2]=p>b?p:b}let T=l-1,E=T*3;S[T]=g[T],b[E]=m[E],b[E+1]=m[E+1],b[E+2]=m[E+2],x[E]=h[E],x[E+1]=h[E+1],x[E+2]=h[E+2];for(let e=T-1;e>=0;e--){let t=e*3,n=(e+1)*3;S[e]=S[e+1]+g[e];let r=b[n],i=m[t],a=b[n+1],o=m[t+1],s=b[n+2],c=m[t+2];b[t]=r<i?r:i,b[t+1]=a<o?a:o,b[t+2]=s<c?s:c;let l=x[n],u=h[t],d=x[n+1],f=h[t+1],p=x[n+2],_=h[t+2];x[t]=l>u?l:u,x[t+1]=d>f?d:f,x[t+2]=p>_?p:_}for(let e=1;e<l;e++){let t=(e-1)*3,u=e*3,d=y[e-1],f=S[e];if(d===0||f===0)continue;let p=v[t]-_[t],m=v[t+1]-_[t+1],h=v[t+2]-_[t+2],g=2*(p*m+m*h+h*p),w=x[u]-b[u],T=x[u+1]-b[u+1],E=x[u+2]-b[u+2],D=2*(w*T+T*E+E*w),O=this.traversalCost+g/o*d*this.intersectionCost+D/o*f*this.intersectionCost;O<r&&O<c&&(r=O,i=n,a=s+(C-s)*e/l)}}return i===-1?this.enableObjectMedianFallback?this.findObjectMedianSplit(e,t):this.enableSpatialMedianFallback?this.findSpatialMedianSplit(e,t):{success:!1,method:`fallbacks_disabled`}:{success:!0,axis:i,pos:a,method:`SAH`,binsUsed:l}}findObjectMedianSplit(e,t){let n=this.indices,r=this.centroids,i=-1,a=-1;for(let o=0;o<3;o++){let s=1/0,c=-1/0;for(let i=e;i<t;i++){let e=r[n[i]*3+o];e<s&&(s=e),e>c&&(c=e)}let l=c-s;l>a&&(a=l,i=o)}if(i===-1||a<1e-10)return this.enableSpatialMedianFallback?this.findSpatialMedianSplit(e,t):{success:!1,method:`object_median_failed`};let o=t-e,s=e+Math.floor(o/2);this.quickselect(e,t,s,i);let c=r[n[s]*3+i],l=!0;for(let e=s+1;e<t;e++)if(r[n[e]*3+i]>c){l=!1;break}if(l){let a=-1/0;for(let t=e;t<s;t++){let e=r[n[t]*3+i];e>a&&(a=e)}if(a<c)c=(a+c)*.5;else return this.enableSpatialMedianFallback?this.findSpatialMedianSplit(e,t):{success:!1,method:`object_median_degenerate`}}return{success:!0,axis:i,pos:c,method:`object_median`}}findSpatialMedianSplit(e,t){let n=this.indices,r=this.centroids,i=this.bMin,a=this.bMax,o=-1,s=-1,c=0,l=0;for(let r=0;r<3;r++){let u=1/0,d=-1/0;for(let o=e;o<t;o++){let e=n[o]*3+r;i[e]<u&&(u=i[e]),a[e]>d&&(d=a[e])}let f=d-u;f>s&&(s=f,o=r,c=u,l=d)}if(o===-1||s<1e-12)return{success:!1,method:`spatial_median_failed`};let u=(c+l)*.5,d=t-e,f=0;for(let i=e;i<t;i++)r[n[i]*3+o]<=u&&f++;if(f===0||f===d){let i=e+Math.floor(d/2);this.quickselect(e,t,i,o);let a=r[n[i]*3+o],s=!0;for(let i=e;i<t;i++)if(r[n[i]*3+o]!==a){s=!1;break}if(s)return{success:!1,method:`spatial_median_degenerate`};let c=-1/0;for(let t=e;t<i;t++){let e=r[n[t]*3+o];e>c&&(c=e)}if(c<a)u=(c+a)*.5;else{let e=1/0;for(let a=i+1;a<t;a++){let t=r[n[a]*3+o];t<e&&(e=t)}u=(a+e)*.5}}return{success:!0,axis:o,pos:u,method:`spatial_median`}}quickselect(e,t,n,r){let i=this.indices,a=this.centroids,o=e,s=t-1;for(;o<s;){let e=o+s>>>1,t=a[i[o]*3+r],c=a[i[e]*3+r],l=a[i[s]*3+r];if(t>c){let t=i[o];i[o]=i[e],i[e]=t}if(t>l){let e=i[o];i[o]=i[s],i[s]=e}if(c>l){let t=i[e];i[e]=i[s],i[s]=t}let u=a[i[e]*3+r],d=o,f=s;for(;d<=f;){for(;a[i[d]*3+r]<u;)d++;for(;a[i[f]*3+r]>u;)f--;if(d<=f){let e=i[d];i[d]=i[f],i[f]=e,d++,f--}}f<n&&(o=d),d>n&&(s=f)}}applySAOrdering(e){if(!e||!e.leftChild)return;let t=[e],n=[];for(;t.length>0;){let e=t.pop();!e.leftChild||!e.rightChild||(n.push(e),t.push(e.leftChild),t.push(e.rightChild))}for(let e=n.length-1;e>=0;e--){let t=n[e],r=t.leftChild,i=t.rightChild,a=r.maxX-r.minX,o=r.maxY-r.minY,s=r.maxZ-r.minZ,c=i.maxX-i.minX,l=i.maxY-i.minY,u=i.maxZ-i.minZ;c*l+l*u+u*c>a*o+o*s+s*a&&(t.leftChild=i,t.rightChild=r)}}flattenBVH(e){let t=[],n=[e];for(;n.length>0;){let e=n.pop();e._flatIndex=t.length,t.push(e),e.rightChild&&n.push(e.rightChild),e.leftChild&&n.push(e.leftChild)}let r=new Float32Array(t.length*16);for(let e=0;e<t.length;e++){let n=t[e],i=e*16;if(n.leftChild){let e=n.leftChild,t=n.rightChild;r[i]=e.minX,r[i+1]=e.minY,r[i+2]=e.minZ,r[i+3]=e._flatIndex,r[i+4]=e.maxX,r[i+5]=e.maxY,r[i+6]=e.maxZ,r[i+7]=t._flatIndex,r[i+8]=t.minX,r[i+9]=t.minY,r[i+10]=t.minZ,r[i+12]=t.maxX,r[i+13]=t.maxY,r[i+14]=t.maxZ}else r[i]=n.triangleOffset,r[i+1]=n.triangleCount,r[i+3]=-1}return r}flattenBVHWithFrontier(e){let t=[],n=[e];for(;n.length>0;){let e=n.pop();e._flatIndex=t.length,t.push(e),e.rightChild&&n.push(e.rightChild),e.leftChild&&n.push(e.leftChild)}let r=new Float32Array(t.length*16),i=[];for(let e=0;e<t.length;e++){let n=t[e],a=e*16;if(n.leftChild){let e=n.leftChild,t=n.rightChild;r[a]=e.minX,r[a+1]=e.minY,r[a+2]=e.minZ,r[a+3]=e._flatIndex,r[a+4]=e.maxX,r[a+5]=e.maxY,r[a+6]=e.maxZ,r[a+7]=t._flatIndex,r[a+8]=t.minX,r[a+9]=t.minY,r[a+10]=t.minZ,r[a+12]=t.maxX,r[a+13]=t.maxY,r[a+14]=t.maxZ}else if(n.isFrontier){let t=n.frontierTaskId;r[a]=n.triangleOffset,r[a+1]=n.triangleCount,r[a+2]=t,r[a+3]=-2,i.push({taskId:t,flatIndex:e})}else r[a]=n.triangleOffset,r[a+1]=n.triangleCount,r[a+3]=-1}return{flatData:r,frontierMap:i,nodeCount:t.length}}assembleParallelBVH(e,t,n,r){let i=[...r].sort((e,t)=>e.taskId-t.taskId),a=t;for(let e=0;e<i.length;e++)a+=i[e].nodeCount;let o=new Float32Array(a*16);o.set(e);let s=new Map;for(let e of n)s.set(e.taskId,e.flatIndex);let c=t;for(let e=0;e<i.length;e++){let t=i[e],n=t.flatData,r=t.nodeCount,a=c*16;o.set(n,a);for(let e=0;e<r;e++){let t=a+e*16;o[t+3]!==-1&&(o[t+3]+=c,o[t+7]+=c)}let l=s.get(t.taskId);if(l!==void 0){let e=l*16,t=a;for(let n=0;n<16;n++)o[e+n]=o[t+n]}c+=r}return o}computeSurfaceAreaFlat(e,t,n,r,i,a){let o=r-e,s=i-t,c=a-n;return 2*(o*s+s*c+c*o)}};self.onmessage=function(t){let{tasks:r,sharedTriangleData:i,sharedCentroids:a,sharedBMin:s,sharedBMax:c,sharedIndices:l,triangleCount:u,maxLeafSize:d,numBins:f,maxBins:p,minBins:m,treeletConfig:h,reinsertionConfig:g,reportProgress:_}=t.data;for(let t=0;t<r.length;t++){let v=r[t];try{let t=new o;t.maxLeafSize=d,t.numBins=f,t.maxBins=p,t.minBins=m,t.triangles=new Float32Array(i),t.centroids=new Float32Array(a),t.bMin=new Float32Array(s),t.bMax=new Float32Array(c),t.indices=new Uint32Array(l),t.totalTriangles=u,t.totalNodes=0,t.processedTriangles=0,t.lastProgressUpdate=performance.now(),t.splitStats={sahSplits:0,objectMedianSplits:0,spatialMedianSplits:0,failedSplits:0,avgBinsUsed:0,totalSplitAttempts:0,mortonSortTime:0,totalBuildTime:0,treeletOptimizationTime:0,treeletsProcessed:0,treeletsImproved:0,averageSAHImprovement:0,initTime:0,sahBuildTime:0,reorderTime:0};let r=_?e=>{self.postMessage({type:`progress`,taskId:v.taskId,progress:e})}:null,y=performance.now(),b=t.buildNodeRecursive(v.start,v.end,v.depth,r,v.preMinX,v.preMinY,v.preMinZ,v.preMaxX,v.preMaxY,v.preMaxZ);if(h&&h.enabled&&v.end-v.start>1e3){let n=v.end-v.start>5e4,r=n?3:h.size||5,i=n?10:20,a=new e(t.traversalCost,t.intersectionCost);a.setTreeletSize(r),a.setMinImprovement(h.minImprovement||.02),a.setMaxTreelets(i);let o=h.passes||1;for(let e=0;e<o;e++)try{a.optimizeBVH(b,null)}catch(t){console.error(`[BVHSubtreeWorker] Treelet pass ${e+1} error:`,t);break}}if(g&&g.enabled&&v.end-v.start>1e3){let e=new n(t.traversalCost,t.intersectionCost);g.batchSizeRatio&&e.setBatchSizeRatio(g.batchSizeRatio),g.maxIterations&&e.setMaxIterations(g.maxIterations);try{e.optimizeBVH(b,null)}catch(e){console.error(`[BVHSubtreeWorker] Reinsertion error:`,e)}}t.applySAOrdering(b);let x=t.flattenBVH(b),S=x.length/16,C=performance.now()-y;console.log(`[BVHSubtreeWorker] Task ${v.taskId}: ${(v.end-v.start).toLocaleString()} triangles, ${S} nodes, ${Math.round(C)}ms`),self.postMessage({type:`subtreeResult`,taskId:v.taskId,flatData:x,nodeCount:S},[x.buffer])}catch(e){console.error(`[BVHSubtreeWorker] Task ${v.taskId} error:`,e),self.postMessage({type:`error`,taskId:v.taskId,error:e.message})}}}})();
-//# sourceMappingURL=BVHSubtreeWorker-C02ZWVeG.js.map
+(function(){var e=class{constructor(e,t){this.traversalCost=e,this.intersectionCost=t,this.maxTreeletLeaves=7,this.minImprovement=.02,this.topologyCache=new Map;for(let e=3;e<=this.maxTreeletLeaves;e++)this.topologyCache.set(e,this.generateTopologies(e));this.stats={treeletsProcessed:0,treeletsImproved:0,totalSAHImprovement:0,averageSAHImprovement:0,optimizationTime:0}}generateTopologies(e){if(e===1)return[0];if(e===2)return[[0,1]];let t=[];for(let n=1;n<e;n++){let r=this.generateTopologies(n),i=this.generateTopologies(e-n);for(let e of r)for(let r of i)t.push([e,this.offsetTopology(r,n)])}return t}offsetTopology(e,t){return typeof e==`number`?e+t:[this.offsetTopology(e[0],t),this.offsetTopology(e[1],t)]}optimizeBVH(e){let t=performance.now();this.stats={treeletsProcessed:0,treeletsImproved:0,totalSAHImprovement:0,averageSAHImprovement:0,optimizationTime:0};let n=this.identifyTreeletRoots(e);for(let e=0;e<n.length;e++){if(performance.now()-t>3e4){console.warn(`TreeletOptimizer: timeout after ${e}/${n.length} treelets`);break}this.optimizeTreelet(n[e])}return this.stats.optimizationTime=performance.now()-t,this.stats.averageSAHImprovement=this.stats.treeletsProcessed>0?this.stats.totalSAHImprovement/this.stats.treeletsProcessed:0,e}identifyTreeletRoots(e){let t=[],n=new Set,r=[{node:e,visited:!1}];for(;r.length>0;){let e=r[r.length-1];if(e.visited){r.pop();let i=e.node;if(i.triangleCount>0||n.has(i))continue;let a=this.countLeaves(i);a>=3&&a<=this.maxTreeletLeaves&&(t.push(i),this.markSubtree(i,n))}else{e.visited=!0;let t=e.node;if(t.triangleCount>0)continue;t.rightChild&&r.push({node:t.rightChild,visited:!1}),t.leftChild&&r.push({node:t.leftChild,visited:!1})}}return t}countLeaves(e){return e?e.triangleCount>0?1:this.countLeaves(e.leftChild)+this.countLeaves(e.rightChild):0}markSubtree(e,t){e&&(t.add(e),!(e.triangleCount>0)&&(this.markSubtree(e.leftChild,t),this.markSubtree(e.rightChild,t)))}optimizeTreelet(e){let t=[];this.extractLeaves(e,t);let n=t.length;if(n<3||n>this.maxTreeletLeaves)return;this.stats.treeletsProcessed++;let r=this.evaluateSubtreeSAH(e),i=this.topologyCache.get(n);if(!i||i.length===0)return;let a=r,o=null,s=null;if(n<=5){let e=this.generatePermutations(n);for(let n of i)for(let r of e){let e=this.evaluateTopology(n,t,r);e<a&&(a=e,o=n,s=r)}}else{let e=Array.from({length:n},(e,t)=>t);for(let n of i){let r=this.evaluateTopology(n,t,e);r<a&&(a=r,o=n,s=e);let i=this.greedySwapOptimize(n,t,e,r);i.cost<a&&(a=i.cost,o=n,s=i.perm)}}let c=(r-a)/r;o&&c>this.minImprovement&&(this.reconstructTreelet(e,o,t,s),this.stats.treeletsImproved++,this.stats.totalSAHImprovement+=c)}extractLeaves(e,t){if(e){if(e.triangleCount>0){t.push({minX:e.minX,minY:e.minY,minZ:e.minZ,maxX:e.maxX,maxY:e.maxY,maxZ:e.maxZ,triangleOffset:e.triangleOffset,triangleCount:e.triangleCount});return}this.extractLeaves(e.leftChild,t),this.extractLeaves(e.rightChild,t)}}evaluateSubtreeSAH(e){if(!e)return 0;if(e.triangleCount>0)return this.surfaceAreaFlat(e.minX,e.minY,e.minZ,e.maxX,e.maxY,e.maxZ)*e.triangleCount*this.intersectionCost;let t=this.evaluateSubtreeSAH(e.leftChild),n=this.evaluateSubtreeSAH(e.rightChild);return this.surfaceAreaFlat(e.minX,e.minY,e.minZ,e.maxX,e.maxY,e.maxZ)*this.traversalCost+t+n}evaluateTopology(e,t,n){return this.evalTopoRecursive(e,t,n).cost}evalTopoRecursive(e,t,n){if(typeof e==`number`){let r=t[n[e]];return{cost:this.surfaceAreaFlat(r.minX,r.minY,r.minZ,r.maxX,r.maxY,r.maxZ)*r.triangleCount*this.intersectionCost,minX:r.minX,minY:r.minY,minZ:r.minZ,maxX:r.maxX,maxY:r.maxY,maxZ:r.maxZ}}let r=this.evalTopoRecursive(e[0],t,n),i=this.evalTopoRecursive(e[1],t,n),a=Math.min(r.minX,i.minX),o=Math.min(r.minY,i.minY),s=Math.min(r.minZ,i.minZ),c=Math.max(r.maxX,i.maxX),l=Math.max(r.maxY,i.maxY),u=Math.max(r.maxZ,i.maxZ);return{cost:this.surfaceAreaFlat(a,o,s,c,l,u)*this.traversalCost+r.cost+i.cost,minX:a,minY:o,minZ:s,maxX:c,maxY:l,maxZ:u}}surfaceAreaFlat(e,t,n,r,i,a){let o=r-e,s=i-t,c=a-n;return 2*(o*s+s*c+c*o)}generatePermutations(e){let t=[],n=Array.from({length:e},(e,t)=>t),r=i=>{if(i===e){t.push([...n]);return}for(let t=i;t<e;t++)[n[i],n[t]]=[n[t],n[i]],r(i+1),[n[i],n[t]]=[n[t],n[i]]};return r(0),t}greedySwapOptimize(e,t,n,r){let i=[...n],a=r,o=!0;for(;o;){o=!1;for(let n=0;n<i.length-1;n++)for(let r=n+1;r<i.length;r++){[i[n],i[r]]=[i[r],i[n]];let s=this.evaluateTopology(e,t,i);s<a?(a=s,o=!0):[i[n],i[r]]=[i[r],i[n]]}}return{perm:i,cost:a}}reconstructTreelet(e,t,n,r){let i=this.buildSubtree(t,n,r);e.minX=i.minX,e.minY=i.minY,e.minZ=i.minZ,e.maxX=i.maxX,e.maxY=i.maxY,e.maxZ=i.maxZ,e.leftChild=i.leftChild,e.rightChild=i.rightChild,e.triangleOffset=i.triangleOffset,e.triangleCount=i.triangleCount}buildSubtree(e,n,r){if(typeof e==`number`){let i=n[r[e]],a=new t;return a.minX=i.minX,a.minY=i.minY,a.minZ=i.minZ,a.maxX=i.maxX,a.maxY=i.maxY,a.maxZ=i.maxZ,a.triangleOffset=i.triangleOffset,a.triangleCount=i.triangleCount,a}let i=this.buildSubtree(e[0],n,r),a=this.buildSubtree(e[1],n,r),o=new t;return o.leftChild=i,o.rightChild=a,o.minX=Math.min(i.minX,a.minX),o.minY=Math.min(i.minY,a.minY),o.minZ=Math.min(i.minZ,a.minZ),o.maxX=Math.max(i.maxX,a.maxX),o.maxY=Math.max(i.maxY,a.maxY),o.maxZ=Math.max(i.maxZ,a.maxZ),o}setTreeletSize(e){this.maxTreeletLeaves=Math.max(3,Math.min(7,e));for(let e=3;e<=this.maxTreeletLeaves;e++)this.topologyCache.has(e)||this.topologyCache.set(e,this.generateTopologies(e))}setMinImprovement(e){this.minImprovement=Math.max(.001,e)}setMaxTreelets(){}getStatistics(){return{...this.stats}}},t=class{constructor(){this.minX=0,this.minY=0,this.minZ=0,this.maxX=0,this.maxY=0,this.maxZ=0,this.leftChild=null,this.rightChild=null,this.triangleOffset=0,this.triangleCount=0}},n=class{constructor(e,t){this.traversalCost=e,this.intersectionCost=t,this.batchSizeRatio=.02,this.maxIterations=2,this.timeBudgetMs=15e3,this.stats={reinsertionsApplied:0,iterations:0,timeMs:0}}setBatchSizeRatio(e){this.batchSizeRatio=Math.max(.005,Math.min(.1,e))}setMaxIterations(e){this.maxIterations=Math.max(1,Math.min(5,e))}getStatistics(){return{...this.stats}}surfaceArea(e){let t=e.maxX-e.minX,n=e.maxY-e.minY,r=e.maxZ-e.minZ;return t*n+n*r+r*t}buildParentMap(e){let t=new Map;t.set(e,{parent:null,isLeft:!1});let n=[e];for(;n.length>0;){let e=n.pop();e.triangleCount>0||(e.leftChild&&(t.set(e.leftChild,{parent:e,isLeft:!0}),n.push(e.leftChild)),e.rightChild&&(t.set(e.rightChild,{parent:e,isLeft:!1}),n.push(e.rightChild)))}return t}findCandidates(e,t,n){let r=[],i=[e];for(;i.length>0;){let a=i.pop();if(a!==e&&n.get(a).parent!==e){let e=this.surfaceArea(a);r.length<t?(r.push({node:a,cost:e}),r.length===t&&this._heapify(r)):e>r[0].cost&&(r[0]={node:a,cost:e},this._siftDown(r,0))}a.triangleCount===0&&(a.leftChild&&i.push(a.leftChild),a.rightChild&&i.push(a.rightChild))}return r}_heapify(e){for(let t=(e.length>>1)-1;t>=0;t--)this._siftDown(e,t)}_siftDown(e,t){let n=e.length;for(;;){let r=t,i=2*t+1,a=2*t+2;if(i<n&&e[i].cost<e[r].cost&&(r=i),a<n&&e[a].cost<e[r].cost&&(r=a),r===t)break;let o=e[t];e[t]=e[r],e[r]=o,t=r}}findReinsertion(e,t,n){let r=n.get(e),i=r.parent;if(!i)return null;let a=r.isLeft?i.rightChild:i.leftChild,o=this.surfaceArea(e),s=this.surfaceArea(i),c=null,l=0,u=s,d=a.minX,f=a.minY,p=a.minZ,m=a.maxX,h=a.maxY,g=a.maxZ,_=a,v=i,y=[];do{for(y.length=0,y.push(u,_);y.length>0;){let t=y.pop(),n=y.pop();if(n-o<=l)continue;let r=Math.min(t.minX,e.minX),i=Math.min(t.minY,e.minY),a=Math.min(t.minZ,e.minZ),s=Math.max(t.maxX,e.maxX),u=Math.max(t.maxY,e.maxY),d=Math.max(t.maxZ,e.maxZ),f=s-r,p=u-i,m=d-a,h=n-(f*p+p*m+m*f);if(h>l&&(c=t,l=h),t.triangleCount===0&&t.leftChild&&t.rightChild){let e=h+this.surfaceArea(t);y.push(e,t.leftChild),y.push(e,t.rightChild)}}let t=n.get(v);if(!t||t.parent===null)break;if(v!==i){d=Math.min(d,_.minX),f=Math.min(f,_.minY),p=Math.min(p,_.minZ),m=Math.max(m,_.maxX),h=Math.max(h,_.maxY),g=Math.max(g,_.maxZ);let e=m-d,t=h-f,n=g-p,r=e*t+t*n+n*e;u+=this.surfaceArea(v)-r}let r=t.parent;_=t.isLeft?r.rightChild:r.leftChild,v=r}while(n.get(v).parent!==null);return c===a||c===i?null:c?{from:e,to:c,areaDiff:l}:null}getConflicts(e,t,n){let r=n.get(e);return[t,e,r.isLeft?r.parent.rightChild:r.parent.leftChild,n.get(t).parent,r.parent]}reinsertNode(e,t,n){let r=n.get(e),i=r.parent,a=r.isLeft?i.rightChild:i.leftChild,o=n.get(i),s=o.parent,c=n.get(t),l=c.parent;o.isLeft?s.leftChild=a:s.rightChild=a,i.leftChild=e,i.rightChild=t,i.triangleOffset=0,i.triangleCount=0,i.minX=Math.min(e.minX,t.minX),i.minY=Math.min(e.minY,t.minY),i.minZ=Math.min(e.minZ,t.minZ),i.maxX=Math.max(e.maxX,t.maxX),i.maxY=Math.max(e.maxY,t.maxY),i.maxZ=Math.max(e.maxZ,t.maxZ),c.isLeft?l.leftChild=i:l.rightChild=i,n.set(a,{parent:s,isLeft:o.isLeft}),n.set(i,{parent:l,isLeft:c.isLeft}),n.set(e,{parent:i,isLeft:!0}),n.set(t,{parent:i,isLeft:!1}),this.refitFrom(s,n),this.refitFrom(l,n)}refitFrom(e,t){let n=e;for(;n;){if(n.triangleCount===0&&n.leftChild&&n.rightChild){let e=n.leftChild,t=n.rightChild;n.minX=Math.min(e.minX,t.minX),n.minY=Math.min(e.minY,t.minY),n.minZ=Math.min(e.minZ,t.minZ),n.maxX=Math.max(e.maxX,t.maxX),n.maxY=Math.max(e.maxY,t.maxY),n.maxZ=Math.max(e.maxZ,t.maxZ)}let e=t.get(n);n=e?e.parent:null}}optimizeBVH(e,t){let n=performance.now();this.stats={reinsertionsApplied:0,iterations:0,timeMs:0};for(let r=0;r<this.maxIterations&&!(performance.now()-n>this.timeBudgetMs);r++){let i=this.buildParentMap(e),a=i.size,o=Math.max(1,Math.floor(a*this.batchSizeRatio));t&&t(`Reinsertion iter ${r+1}/${this.maxIterations}: selecting ${o} candidates`);let s=this.findCandidates(e,o,i),c=[];for(let t=0;t<s.length&&!(performance.now()-n>this.timeBudgetMs);t++){let n=this.findReinsertion(s[t].node,e,i);n&&n.areaDiff>0&&c.push(n)}c.sort((e,t)=>t.areaDiff-e.areaDiff);let l=new Set,u=0;for(let e of c){let t=this.getConflicts(e.from,e.to,i);if(!t.some(e=>l.has(e))){for(let e of t)l.add(e);this.reinsertNode(e.from,e.to,i),u++}}if(this.stats.reinsertionsApplied+=u,this.stats.iterations=r+1,t&&t(`Reinsertion iter ${r+1}: applied ${u} reinsertions`),u===0)break}return this.stats.timeMs=performance.now()-n,this.stats}};let r={FLOATS_PER_TRIANGLE:32,POSITION_A_OFFSET:0,POSITION_B_OFFSET:4,POSITION_C_OFFSET:8,NORMAL_A_OFFSET:12,NORMAL_B_OFFSET:16,NORMAL_C_OFFSET:20,UV_AB_OFFSET:24,UV_C_MAT_OFFSET:28},i=r.FLOATS_PER_TRIANGLE;var a=class{constructor(){this.minX=0,this.minY=0,this.minZ=0,this.maxX=0,this.maxY=0,this.maxZ=0,this.leftChild=null,this.rightChild=null,this.triangleOffset=0,this.triangleCount=0}},o=class{constructor(){this.useWorker=!0,this.maxLeafSize=8,this.numBins=32,this.minBins=8,this.maxBins=64,this.totalNodes=0,this.processedTriangles=0,this.totalTriangles=0,this.lastProgressUpdate=0,this.progressUpdateInterval=100,this.traversalCost=1,this.intersectionCost=2.5,this.useMortonCodes=!0,this.mortonBits=10,this.mortonClusterThreshold=128,this.enableObjectMedianFallback=!0,this.enableSpatialMedianFallback=!0,this.splitStats={sahSplits:0,objectMedianSplits:0,spatialMedianSplits:0,failedSplits:0,avgBinsUsed:0,totalSplitAttempts:0,mortonSortTime:0,totalBuildTime:0,treeletOptimizationTime:0,treeletsProcessed:0,treeletsImproved:0,averageSAHImprovement:0,reinsertionOptimizationTime:0,reinsertionsApplied:0,reinsertionIterations:0},this.enableTreeletOptimization=!0,this.treeletSize=5,this.treeletOptimizationPasses=1,this.treeletMinImprovement=.02,this.maxTreeletDepth=3,this.maxTreeletsPerScene=20,this.treeletComplexityThreshold=5e4,this.enableReinsertionOptimization=!0,this.reinsertionBatchSizeRatio=.02,this.reinsertionMaxIterations=2,this.initializeBinArrays(),this._partResult={mid:0,lMinX:0,lMinY:0,lMinZ:0,lMaxX:0,lMaxY:0,lMaxZ:0,rMinX:0,rMinY:0,rMinZ:0,rMaxX:0,rMaxY:0,rMaxZ:0},this.centroids=null,this.bMin=null,this.bMax=null,this.indices=null,this.mortonCodes=null,this.triangles=null,this.reorderedTriangleData=null}initializeBinArrays(){let e=this.maxBins;this.binBoundsMin=new Float32Array(e*3),this.binBoundsMax=new Float32Array(e*3),this.binCounts=new Uint32Array(e),this.leftPrefixMin=new Float32Array(e*3),this.leftPrefixMax=new Float32Array(e*3),this.leftPrefixCount=new Uint32Array(e),this.rightPrefixMin=new Float32Array(e*3),this.rightPrefixMax=new Float32Array(e*3),this.rightPrefixCount=new Uint32Array(e)}getOptimalBinCount(e){return e<=16?this.minBins:e<=64?16:e<=256?32:e<=1024?48:this.maxBins}setAdaptiveBinConfig(e){e.minBins!==void 0&&(this.minBins=Math.max(4,e.minBins)),e.maxBins!==void 0&&(this.maxBins=Math.min(128,e.maxBins)),e.baseBins!==void 0&&(this.numBins=e.baseBins),e.maxBins!==void 0&&this.initializeBinArrays()}setMortonConfig(e){e.enabled!==void 0&&(this.useMortonCodes=e.enabled),e.bits!==void 0&&(this.mortonBits=Math.max(6,Math.min(10,e.bits))),e.threshold!==void 0&&(this.mortonClusterThreshold=Math.max(16,e.threshold))}setFallbackConfig(e){e.objectMedian!==void 0&&(this.enableObjectMedianFallback=e.objectMedian),e.spatialMedian!==void 0&&(this.enableSpatialMedianFallback=e.spatialMedian)}setTreeletConfig(e){e.enabled!==void 0&&(this.enableTreeletOptimization=e.enabled),e.size!==void 0&&(this.treeletSize=Math.max(3,Math.min(12,e.size))),e.passes!==void 0&&(this.treeletOptimizationPasses=Math.max(1,Math.min(3,e.passes))),e.minImprovement!==void 0&&(this.treeletMinImprovement=Math.max(.001,e.minImprovement))}disableTreeletOptimization(){this.enableTreeletOptimization=!1}setReinsertionConfig(e){e.enabled!==void 0&&(this.enableReinsertionOptimization=e.enabled),e.batchSizeRatio!==void 0&&(this.reinsertionBatchSizeRatio=Math.max(.005,Math.min(.1,e.batchSizeRatio))),e.maxIterations!==void 0&&(this.reinsertionMaxIterations=Math.max(1,Math.min(5,e.maxIterations)))}initializeTriangleArrays(){let e=this.totalTriangles,t=this.triangles,n=r.POSITION_A_OFFSET,a=r.POSITION_B_OFFSET,o=r.POSITION_C_OFFSET;for(let r=0;r<e;r++){let e=r*i,s=t[e+n],c=t[e+n+1],l=t[e+n+2],u=t[e+a],d=t[e+a+1],f=t[e+a+2],p=t[e+o],m=t[e+o+1],h=t[e+o+2],g=r*3;this.centroids[g]=(s+u+p)/3,this.centroids[g+1]=(c+d+m)/3,this.centroids[g+2]=(l+f+h)/3,this.bMin[g]=s<u?s<p?s:p:u<p?u:p,this.bMin[g+1]=c<d?c<m?c:m:d<m?d:m,this.bMin[g+2]=l<f?l<h?l:h:f<h?f:h,this.bMax[g]=s>u?s>p?s:p:u>p?u:p,this.bMax[g+1]=c>d?c>m?c:m:d>m?d:m,this.bMax[g+2]=l>f?l>h?l:h:f>h?f:h,this.indices[r]=r}}expandBits(e){return e=e*65537&4278190335,e=e*257&251719695,e=e*17&3272356035,e=e*5&1227133513,e}morton3D(e,t,n){return(this.expandBits(n)<<2)+(this.expandBits(t)<<1)+this.expandBits(e)}computeMortonCodeForIndex(e,t,n,r,i,a,o){let s=this.centroids,c=e*3,l=(1<<this.mortonBits)-1,u=i>0?(s[c]-t)/i:0,d=a>0?(s[c+1]-n)/a:0,f=o>0?(s[c+2]-r)/o:0,p=Math.max(0,Math.min(l,Math.floor(u*l))),m=Math.max(0,Math.min(l,Math.floor(d*l))),h=Math.max(0,Math.min(l,Math.floor(f*l)));return this.morton3D(p,m,h)}sortTrianglesByMortonCode(){let e=this.totalTriangles;if(!this.useMortonCodes||e<this.mortonClusterThreshold)return;let t=performance.now(),n=this.centroids,r=this.indices,i=1/0,a=1/0,o=1/0,s=-1/0,c=-1/0,l=-1/0;for(let t=0;t<e;t++){let e=r[t]*3,u=n[e],d=n[e+1],f=n[e+2];u<i&&(i=u),d<a&&(a=d),f<o&&(o=f),u>s&&(s=u),d>c&&(c=d),f>l&&(l=f)}let u=s-i,d=c-a,f=l-o,p=this.mortonCodes,m=(1<<this.mortonBits)-1,h=u>0?m/u:0,g=d>0?m/d:0,_=f>0?m/f:0;for(let t=0;t<e;t++){let e=r[t],s=e*3,c=(n[s]-i)*h,l=(n[s+1]-a)*g,u=(n[s+2]-o)*_;c=c<0?0:(c>m?m:c)|0,l=l<0?0:(l>m?m:l)|0,u=u<0?0:(u>m?m:u)|0,c=c*65537&4278190335,c=c*257&251719695,c=c*17&3272356035,c=c*5&1227133513,l=l*65537&4278190335,l=l*257&251719695,l=l*17&3272356035,l=l*5&1227133513,u=u*65537&4278190335,u=u*257&251719695,u=u*17&3272356035,u=u*5&1227133513,p[e]=(u<<2)+(l<<1)+c}let v=new Uint32Array(e),y=new Uint32Array(256);for(let t=0;t<32;t+=8){y.fill(0);for(let n=0;n<e;n++)y[p[r[n]]>>>t&255]++;let n=0;for(let e=0;e<256;e++){let t=y[e];y[e]=n,n+=t}for(let n=0;n<e;n++){let e=p[r[n]]>>>t&255;v[y[e]++]=r[n]}r.set(v)}this.splitStats.mortonSortTime+=performance.now()-t}build(e,t=30,n=null){return this.totalTriangles=e.byteLength/(i*4),this.processedTriangles=0,this.lastProgressUpdate=performance.now(),this.useWorker&&typeof Worker<`u`?new Promise((r,a)=>{try{let o=new Worker(new URL(``+new URL(`BVHWorker-BqQTDljT.js`,self.location.href).href,``+self.location.href),{type:`module`}),s=this.totalTriangles,c=typeof SharedArrayBuffer<`u`;console.log(`[BVHBuilder] SharedArrayBuffer: ${c?`enabled`:`unavailable (using transfer fallback)`}`);let l=c?new SharedArrayBuffer(s*i*4):null;o.onmessage=e=>{let{bvhData:t,triangles:i,originalToBvh:s,error:c,progress:u,treeletStats:d}=e.data;if(c){o.terminate(),a(Error(c));return}if(u!==void 0&&n){n(u);return}d&&(this.splitStats=d),o.terminate(),r({bvhData:t,bvhRoot:!0,reorderedTriangles:l?new Float32Array(l):i,originalToBvh:s||null})},o.onerror=e=>{o.terminate(),a(e)};let u=e.buffer,d={triangleData:u,triangleByteOffset:e.byteOffset,triangleByteLength:e.byteLength,triangleCount:s,depth:t,reportProgress:!!n,sharedReorderBuffer:l,treeletOptimization:{enabled:this.enableTreeletOptimization,size:this.treeletSize,passes:this.treeletOptimizationPasses,minImprovement:this.treeletMinImprovement},reinsertionOptimization:{enabled:this.enableReinsertionOptimization,batchSizeRatio:this.reinsertionBatchSizeRatio,maxIterations:this.reinsertionMaxIterations}};o.postMessage(d,[u])}catch(i){console.warn(`Worker creation failed, falling back to synchronous build:`,i),r(this._buildSyncAndFlatten(e,t,n))}}):new Promise(r=>{r(this._buildSyncAndFlatten(e,t,n))})}_buildSyncAndFlatten(e,t,n){let r=this.buildSync(e,t,n);return{bvhData:this.flattenBVH(r),bvhRoot:!0,reorderedTriangles:this.reorderedTriangleData||null,originalToBvh:this.originalToBvhMap||null}}buildSync(t,r=30,a=null,o=null){let s=performance.now();this.totalNodes=0,this.processedTriangles=0,this.triangles=t,this.totalTriangles=t.byteLength/(i*4),this.lastProgressUpdate=performance.now(),this.splitStats={sahSplits:0,objectMedianSplits:0,spatialMedianSplits:0,failedSplits:0,avgBinsUsed:0,totalSplitAttempts:0,mortonSortTime:0,totalBuildTime:0,treeletOptimizationTime:0,treeletsProcessed:0,treeletsImproved:0,averageSAHImprovement:0,reinsertionOptimizationTime:0,reinsertionsApplied:0,reinsertionIterations:0,saOrderTime:0,initTime:0,sahBuildTime:0,reorderTime:0};let c=this.totalTriangles,l=performance.now();this.centroids=new Float32Array(c*3),this.bMin=new Float32Array(c*3),this.bMax=new Float32Array(c*3),this.indices=new Uint32Array(c),this.mortonCodes=new Uint32Array(c),this.initializeTriangleArrays(),this.splitStats.initTime=performance.now()-l,this.sortTrianglesByMortonCode();let u=performance.now(),d=this.buildNodeRecursive(0,c,r,a);if(this.splitStats.sahBuildTime=performance.now()-u,this.enableTreeletOptimization&&this.totalTriangles>1e3){let t=this.totalTriangles>this.treeletComplexityThreshold,n=t?3:this.treeletSize,r=t?10:this.maxTreeletsPerScene,i=new e(this.traversalCost,this.intersectionCost);i.setTreeletSize(n),i.setMinImprovement(this.treeletMinImprovement),i.setMaxTreelets(r);let o=performance.now();for(let e=0;e<this.treeletOptimizationPasses;e++){let t=a?t=>{a(`Treelet optimization pass ${e+1}/${this.treeletOptimizationPasses}: ${t}`)}:null;try{i.optimizeBVH(d,t)}catch(t){console.error(`TreeletOptimizer: Error in pass ${e+1}:`,t);break}let n=i.getStatistics(),r=performance.now()-o;if(n.treeletsImproved===0&&e>0||r>15e3)break}let s=performance.now()-o;this.splitStats.treeletOptimizationTime=s;let c=i.getStatistics();this.splitStats.treeletsProcessed=c.treeletsProcessed,this.splitStats.treeletsImproved=c.treeletsImproved,this.splitStats.averageSAHImprovement=c.averageSAHImprovement}if(this.enableReinsertionOptimization&&this.totalTriangles>1e3){let e=new n(this.traversalCost,this.intersectionCost);e.setBatchSizeRatio(this.reinsertionBatchSizeRatio),e.setMaxIterations(this.reinsertionMaxIterations);let t=a?e=>{a(e)}:null;try{e.optimizeBVH(d,t)}catch(e){console.error(`ReinsertionOptimizer: Error:`,e)}let r=e.getStatistics();this.splitStats.reinsertionOptimizationTime=r.timeMs,this.splitStats.reinsertionsApplied=r.reinsertionsApplied,this.splitStats.reinsertionIterations=r.iterations}let f=performance.now();this.applySAOrdering(d),this.splitStats.saOrderTime=performance.now()-f;let p=performance.now(),m=this.triangles,h=o||new Float32Array(c*i);for(let e=0;e<c;e++){let t=this.indices[e]*i,n=e*i;h.set(m.subarray(t,t+i),n)}this.reorderedTriangleData=h;let g=new Uint32Array(c);for(let e=0;e<c;e++)g[this.indices[e]]=e;this.originalToBvhMap=g,this.splitStats.reorderTime=performance.now()-p,this.splitStats.totalBuildTime=performance.now()-s;let _=this.splitStats.totalBuildTime,v=this.splitStats;return console.log(`[BVH] ${c.toLocaleString()} tris → ${this.totalNodes} nodes in ${Math.round(_)}ms | SAH ${v.sahSplits} objMed ${v.objectMedianSplits} spatMed ${v.spatialMedianSplits} failed ${v.failedSplits}`+(v.treeletsProcessed?` | treelets ${v.treeletsImproved}/${v.treeletsProcessed} improved`:``)+(v.reinsertionsApplied?` | reinsertions ${v.reinsertionsApplied}`:``)),a&&a(100),this.centroids=null,this.bMin=null,this.bMax=null,this.mortonCodes=null,d}updateProgress(e,t){if(!t)return;this.processedTriangles+=e;let n=performance.now();n-this.lastProgressUpdate<this.progressUpdateInterval||(this.lastProgressUpdate=n,t(Math.min(Math.floor(this.processedTriangles/this.totalTriangles*100),99)))}buildNodeRecursiveToDepth(e,t,n,r,i,o,s,c,l,u,d){let f=new a;this.totalNodes++;let p=t-e;if(o===void 0?this.updateNodeBounds(f,e,t):(f.minX=o,f.minY=s,f.minZ=c,f.maxX=l,f.maxY=u,f.maxZ=d),p<=this.maxLeafSize||n<=0)return f.triangleOffset=e,f.triangleCount=p,this.updateProgress(p,i),f;if(r<=0&&p>this.maxLeafSize*16){let r=this.frontierTasks.length;return f.triangleOffset=e,f.triangleCount=p,f.isFrontier=!0,f.frontierTaskId=r,this.frontierTasks.push({taskId:r,start:e,end:t,depth:n,preMinX:f.minX,preMinY:f.minY,preMinZ:f.minZ,preMaxX:f.maxX,preMaxY:f.maxY,preMaxZ:f.maxZ}),f}let m=this.findBestSplitPositionSAH(e,t,f);if(!m.success){if(this.splitStats.failedSplits++,r>0||p<=this.maxLeafSize*16)return f.triangleOffset=e,f.triangleCount=p,this.updateProgress(p,i),f;let a=this.frontierTasks.length;return f.triangleOffset=e,f.triangleCount=p,f.isFrontier=!0,f.frontierTaskId=a,this.frontierTasks.push({taskId:a,start:e,end:t,depth:n,preMinX:f.minX,preMinY:f.minY,preMinZ:f.minZ,preMaxX:f.maxX,preMaxY:f.maxY,preMaxZ:f.maxZ}),f}m.method===`SAH`?this.splitStats.sahSplits++:m.method===`object_median`?this.splitStats.objectMedianSplits++:m.method===`spatial_median`&&this.splitStats.spatialMedianSplits++,this.partitionWithBounds(e,t,m.axis,m.pos);let h=this._partResult,g=h.mid,_=h.lMinX,v=h.lMinY,y=h.lMinZ,b=h.lMaxX,x=h.lMaxY,S=h.lMaxZ,C=h.rMinX,w=h.rMinY,T=h.rMinZ,E=h.rMaxX,D=h.rMaxY,O=h.rMaxZ;return g===e||g===t?(f.triangleOffset=e,f.triangleCount=p,this.updateProgress(p,i),f):(f.leftChild=this.buildNodeRecursiveToDepth(e,g,n-1,r-1,i,_,v,y,b,x,S),f.rightChild=this.buildNodeRecursiveToDepth(g,t,n-1,r-1,i,C,w,T,E,D,O),f)}buildNodeRecursive(e,t,n,r,i,o,s,c,l,u){let d=new a;this.totalNodes++;let f=t-e;if(i===void 0?this.updateNodeBounds(d,e,t):(d.minX=i,d.minY=o,d.minZ=s,d.maxX=c,d.maxY=l,d.maxZ=u),f<=this.maxLeafSize||n<=0)return d.triangleOffset=e,d.triangleCount=f,this.updateProgress(f,r),d;let p=this.findBestSplitPositionSAH(e,t,d);if(!p.success)return this.splitStats.failedSplits++,d.triangleOffset=e,d.triangleCount=f,this.updateProgress(f,r),d;p.method===`SAH`?this.splitStats.sahSplits++:p.method===`object_median`?this.splitStats.objectMedianSplits++:p.method===`spatial_median`&&this.splitStats.spatialMedianSplits++,this.partitionWithBounds(e,t,p.axis,p.pos);let m=this._partResult,h=m.mid,g=m.lMinX,_=m.lMinY,v=m.lMinZ,y=m.lMaxX,b=m.lMaxY,x=m.lMaxZ,S=m.rMinX,C=m.rMinY,w=m.rMinZ,T=m.rMaxX,E=m.rMaxY,D=m.rMaxZ;return h===e||h===t?(d.triangleOffset=e,d.triangleCount=f,this.updateProgress(f,r),d):(d.leftChild=this.buildNodeRecursive(e,h,n-1,r,g,_,v,y,b,x),d.rightChild=this.buildNodeRecursive(h,t,n-1,r,S,C,w,T,E,D),d)}partitionWithBounds(e,t,n,r){let i=this.indices,a=this.centroids,o=this.bMin,s=this.bMax,c=e,l=t-1,u=1/0,d=1/0,f=1/0,p=-1/0,m=-1/0,h=-1/0,g=1/0,_=1/0,v=1/0,y=-1/0,b=-1/0,x=-1/0;for(;c<=l;){let e=i[c],t=e*3;a[t+n]<=r?(o[t]<u&&(u=o[t]),o[t+1]<d&&(d=o[t+1]),o[t+2]<f&&(f=o[t+2]),s[t]>p&&(p=s[t]),s[t+1]>m&&(m=s[t+1]),s[t+2]>h&&(h=s[t+2]),c++):(o[t]<g&&(g=o[t]),o[t+1]<_&&(_=o[t+1]),o[t+2]<v&&(v=o[t+2]),s[t]>y&&(y=s[t]),s[t+1]>b&&(b=s[t+1]),s[t+2]>x&&(x=s[t+2]),i[c]=i[l],i[l]=e,l--)}let S=this._partResult;return S.mid=c,S.lMinX=u,S.lMinY=d,S.lMinZ=f,S.lMaxX=p,S.lMaxY=m,S.lMaxZ=h,S.rMinX=g,S.rMinY=_,S.rMinZ=v,S.rMaxX=y,S.rMaxY=b,S.rMaxZ=x,S}updateNodeBounds(e,t,n){let r=1/0,i=1/0,a=1/0,o=-1/0,s=-1/0,c=-1/0,l=this.indices,u=this.bMin,d=this.bMax;for(let e=t;e<n;e++){let t=l[e]*3;u[t]<r&&(r=u[t]),u[t+1]<i&&(i=u[t+1]),u[t+2]<a&&(a=u[t+2]),d[t]>o&&(o=d[t]),d[t+1]>s&&(s=d[t+1]),d[t+2]>c&&(c=d[t+2])}e.minX=r,e.minY=i,e.minZ=a,e.maxX=o,e.maxY=s,e.maxZ=c}findBestSplitPositionSAH(e,t,n){let r=1/0,i=-1,a=0,o=this.computeSurfaceAreaFlat(n.minX,n.minY,n.minZ,n.maxX,n.maxY,n.maxZ),s=t-e,c=this.intersectionCost*s,l=this.getOptimalBinCount(s);this.splitStats.totalSplitAttempts++,this.splitStats.avgBinsUsed=(this.splitStats.avgBinsUsed*(this.splitStats.totalSplitAttempts-1)+l)/this.splitStats.totalSplitAttempts;let u=this.indices,d=this.centroids,f=this.bMin,p=this.bMax,m=this.binBoundsMin,h=this.binBoundsMax,g=this.binCounts,_=this.leftPrefixMin,v=this.leftPrefixMax,y=this.leftPrefixCount,b=this.rightPrefixMin,x=this.rightPrefixMax,S=this.rightPrefixCount,C=1/0,w=-1/0,T=1/0,E=-1/0,D=1/0,O=-1/0;for(let n=e;n<t;n++){let e=u[n]*3,t=d[e],r=d[e+1],i=d[e+2];t<C&&(C=t),t>w&&(w=t),r<T&&(T=r),r>E&&(E=r),i<D&&(D=i),i>O&&(O=i)}let k=[C,T,D],A=[w,E,O];for(let n=0;n<3;n++){let s=k[n],C=A[n];if(C-s<1e-6)continue;for(let e=0;e<l;e++){g[e]=0;let t=e*3;m[t]=1/0,m[t+1]=1/0,m[t+2]=1/0,h[t]=-1/0,h[t+1]=-1/0,h[t+2]=-1/0}let w=l/(C-s);for(let r=e;r<t;r++){let e=u[r],t=d[e*3+n],i=Math.floor((t-s)*w);i>=l&&(i=l-1),g[i]++;let a=i*3,o=e*3;f[o]<m[a]&&(m[a]=f[o]),f[o+1]<m[a+1]&&(m[a+1]=f[o+1]),f[o+2]<m[a+2]&&(m[a+2]=f[o+2]),p[o]>h[a]&&(h[a]=p[o]),p[o+1]>h[a+1]&&(h[a+1]=p[o+1]),p[o+2]>h[a+2]&&(h[a+2]=p[o+2])}y[0]=g[0],_[0]=m[0],_[1]=m[1],_[2]=m[2],v[0]=h[0],v[1]=h[1],v[2]=h[2];for(let e=1;e<l;e++){let t=e*3,n=(e-1)*3;y[e]=y[e-1]+g[e];let r=_[n],i=m[t],a=_[n+1],o=m[t+1],s=_[n+2],c=m[t+2];_[t]=r<i?r:i,_[t+1]=a<o?a:o,_[t+2]=s<c?s:c;let l=v[n],u=h[t],d=v[n+1],f=h[t+1],p=v[n+2],b=h[t+2];v[t]=l>u?l:u,v[t+1]=d>f?d:f,v[t+2]=p>b?p:b}let T=l-1,E=T*3;S[T]=g[T],b[E]=m[E],b[E+1]=m[E+1],b[E+2]=m[E+2],x[E]=h[E],x[E+1]=h[E+1],x[E+2]=h[E+2];for(let e=T-1;e>=0;e--){let t=e*3,n=(e+1)*3;S[e]=S[e+1]+g[e];let r=b[n],i=m[t],a=b[n+1],o=m[t+1],s=b[n+2],c=m[t+2];b[t]=r<i?r:i,b[t+1]=a<o?a:o,b[t+2]=s<c?s:c;let l=x[n],u=h[t],d=x[n+1],f=h[t+1],p=x[n+2],_=h[t+2];x[t]=l>u?l:u,x[t+1]=d>f?d:f,x[t+2]=p>_?p:_}for(let e=1;e<l;e++){let t=(e-1)*3,u=e*3,d=y[e-1],f=S[e];if(d===0||f===0)continue;let p=v[t]-_[t],m=v[t+1]-_[t+1],h=v[t+2]-_[t+2],g=2*(p*m+m*h+h*p),w=x[u]-b[u],T=x[u+1]-b[u+1],E=x[u+2]-b[u+2],D=2*(w*T+T*E+E*w),O=this.traversalCost+g/o*d*this.intersectionCost+D/o*f*this.intersectionCost;O<r&&O<c&&(r=O,i=n,a=s+(C-s)*e/l)}}return i===-1?this.enableObjectMedianFallback?this.findObjectMedianSplit(e,t):this.enableSpatialMedianFallback?this.findSpatialMedianSplit(e,t):{success:!1,method:`fallbacks_disabled`}:{success:!0,axis:i,pos:a,method:`SAH`,binsUsed:l}}findObjectMedianSplit(e,t){let n=this.indices,r=this.centroids,i=-1,a=-1;for(let o=0;o<3;o++){let s=1/0,c=-1/0;for(let i=e;i<t;i++){let e=r[n[i]*3+o];e<s&&(s=e),e>c&&(c=e)}let l=c-s;l>a&&(a=l,i=o)}if(i===-1||a<1e-10)return this.enableSpatialMedianFallback?this.findSpatialMedianSplit(e,t):{success:!1,method:`object_median_failed`};let o=t-e,s=e+Math.floor(o/2);this.quickselect(e,t,s,i);let c=r[n[s]*3+i],l=!0;for(let e=s+1;e<t;e++)if(r[n[e]*3+i]>c){l=!1;break}if(l){let a=-1/0;for(let t=e;t<s;t++){let e=r[n[t]*3+i];e>a&&(a=e)}if(a<c)c=(a+c)*.5;else return this.enableSpatialMedianFallback?this.findSpatialMedianSplit(e,t):{success:!1,method:`object_median_degenerate`}}return{success:!0,axis:i,pos:c,method:`object_median`}}findSpatialMedianSplit(e,t){let n=this.indices,r=this.centroids,i=this.bMin,a=this.bMax,o=-1,s=-1,c=0,l=0;for(let r=0;r<3;r++){let u=1/0,d=-1/0;for(let o=e;o<t;o++){let e=n[o]*3+r;i[e]<u&&(u=i[e]),a[e]>d&&(d=a[e])}let f=d-u;f>s&&(s=f,o=r,c=u,l=d)}if(o===-1||s<1e-12)return{success:!1,method:`spatial_median_failed`};let u=(c+l)*.5,d=t-e,f=0;for(let i=e;i<t;i++)r[n[i]*3+o]<=u&&f++;if(f===0||f===d){let i=e+Math.floor(d/2);this.quickselect(e,t,i,o);let a=r[n[i]*3+o],s=!0;for(let i=e;i<t;i++)if(r[n[i]*3+o]!==a){s=!1;break}if(s)return{success:!1,method:`spatial_median_degenerate`};let c=-1/0;for(let t=e;t<i;t++){let e=r[n[t]*3+o];e>c&&(c=e)}if(c<a)u=(c+a)*.5;else{let e=1/0;for(let a=i+1;a<t;a++){let t=r[n[a]*3+o];t<e&&(e=t)}u=(a+e)*.5}}return{success:!0,axis:o,pos:u,method:`spatial_median`}}quickselect(e,t,n,r){let i=this.indices,a=this.centroids,o=e,s=t-1;for(;o<s;){let e=o+s>>>1,t=a[i[o]*3+r],c=a[i[e]*3+r],l=a[i[s]*3+r];if(t>c){let t=i[o];i[o]=i[e],i[e]=t}if(t>l){let e=i[o];i[o]=i[s],i[s]=e}if(c>l){let t=i[e];i[e]=i[s],i[s]=t}let u=a[i[e]*3+r],d=o,f=s;for(;d<=f;){for(;a[i[d]*3+r]<u;)d++;for(;a[i[f]*3+r]>u;)f--;if(d<=f){let e=i[d];i[d]=i[f],i[f]=e,d++,f--}}f<n&&(o=d),d>n&&(s=f)}}applySAOrdering(e){if(!e||!e.leftChild)return;let t=[e],n=[];for(;t.length>0;){let e=t.pop();!e.leftChild||!e.rightChild||(n.push(e),t.push(e.leftChild),t.push(e.rightChild))}for(let e=n.length-1;e>=0;e--){let t=n[e],r=t.leftChild,i=t.rightChild,a=r.maxX-r.minX,o=r.maxY-r.minY,s=r.maxZ-r.minZ,c=i.maxX-i.minX,l=i.maxY-i.minY,u=i.maxZ-i.minZ;c*l+l*u+u*c>a*o+o*s+s*a&&(t.leftChild=i,t.rightChild=r)}}flattenBVH(e){let t=[],n=[e];for(;n.length>0;){let e=n.pop();e._flatIndex=t.length,t.push(e),e.rightChild&&n.push(e.rightChild),e.leftChild&&n.push(e.leftChild)}let r=new Float32Array(t.length*16);for(let e=0;e<t.length;e++){let n=t[e],i=e*16;if(n.leftChild){let e=n.leftChild,t=n.rightChild;r[i]=e.minX,r[i+1]=e.minY,r[i+2]=e.minZ,r[i+3]=e._flatIndex,r[i+4]=e.maxX,r[i+5]=e.maxY,r[i+6]=e.maxZ,r[i+7]=t._flatIndex,r[i+8]=t.minX,r[i+9]=t.minY,r[i+10]=t.minZ,r[i+12]=t.maxX,r[i+13]=t.maxY,r[i+14]=t.maxZ}else r[i]=n.triangleOffset,r[i+1]=n.triangleCount,r[i+3]=-1}return r}flattenBVHWithFrontier(e){let t=[],n=[e];for(;n.length>0;){let e=n.pop();e._flatIndex=t.length,t.push(e),e.rightChild&&n.push(e.rightChild),e.leftChild&&n.push(e.leftChild)}let r=new Float32Array(t.length*16),i=[];for(let e=0;e<t.length;e++){let n=t[e],a=e*16;if(n.leftChild){let e=n.leftChild,t=n.rightChild;r[a]=e.minX,r[a+1]=e.minY,r[a+2]=e.minZ,r[a+3]=e._flatIndex,r[a+4]=e.maxX,r[a+5]=e.maxY,r[a+6]=e.maxZ,r[a+7]=t._flatIndex,r[a+8]=t.minX,r[a+9]=t.minY,r[a+10]=t.minZ,r[a+12]=t.maxX,r[a+13]=t.maxY,r[a+14]=t.maxZ}else if(n.isFrontier){let t=n.frontierTaskId;r[a]=n.triangleOffset,r[a+1]=n.triangleCount,r[a+2]=t,r[a+3]=-2,i.push({taskId:t,flatIndex:e})}else r[a]=n.triangleOffset,r[a+1]=n.triangleCount,r[a+3]=-1}return{flatData:r,frontierMap:i,nodeCount:t.length}}assembleParallelBVH(e,t,n,r){let i=[...r].sort((e,t)=>e.taskId-t.taskId),a=t;for(let e=0;e<i.length;e++)a+=i[e].nodeCount;let o=new Float32Array(a*16);o.set(e);let s=new Map;for(let e of n)s.set(e.taskId,e.flatIndex);let c=t;for(let e=0;e<i.length;e++){let t=i[e],n=t.flatData,r=t.nodeCount,a=c*16;o.set(n,a);for(let e=0;e<r;e++){let t=a+e*16;o[t+3]!==-1&&(o[t+3]+=c,o[t+7]+=c)}let l=s.get(t.taskId);if(l!==void 0){let e=l*16,t=a;for(let n=0;n<16;n++)o[e+n]=o[t+n]}c+=r}return o}computeSurfaceAreaFlat(e,t,n,r,i,a){let o=r-e,s=i-t,c=a-n;return 2*(o*s+s*c+c*o)}};self.onmessage=function(t){let{tasks:r,sharedTriangleData:i,sharedCentroids:a,sharedBMin:s,sharedBMax:c,sharedIndices:l,triangleCount:u,maxLeafSize:d,numBins:f,maxBins:p,minBins:m,treeletConfig:h,reinsertionConfig:g,reportProgress:_}=t.data;for(let t=0;t<r.length;t++){let v=r[t];try{let t=new o;t.maxLeafSize=d,t.numBins=f,t.maxBins=p,t.minBins=m,t.triangles=new Float32Array(i),t.centroids=new Float32Array(a),t.bMin=new Float32Array(s),t.bMax=new Float32Array(c),t.indices=new Uint32Array(l),t.totalTriangles=u,t.totalNodes=0,t.processedTriangles=0,t.lastProgressUpdate=performance.now(),t.splitStats={sahSplits:0,objectMedianSplits:0,spatialMedianSplits:0,failedSplits:0,avgBinsUsed:0,totalSplitAttempts:0,mortonSortTime:0,totalBuildTime:0,treeletOptimizationTime:0,treeletsProcessed:0,treeletsImproved:0,averageSAHImprovement:0,initTime:0,sahBuildTime:0,reorderTime:0};let r=_?e=>{self.postMessage({type:`progress`,taskId:v.taskId,progress:e})}:null,y=performance.now(),b=t.buildNodeRecursive(v.start,v.end,v.depth,r,v.preMinX,v.preMinY,v.preMinZ,v.preMaxX,v.preMaxY,v.preMaxZ);if(h&&h.enabled&&v.end-v.start>1e3){let n=v.end-v.start>5e4,r=n?3:h.size||5,i=n?10:20,a=new e(t.traversalCost,t.intersectionCost);a.setTreeletSize(r),a.setMinImprovement(h.minImprovement||.02),a.setMaxTreelets(i);let o=h.passes||1;for(let e=0;e<o;e++)try{a.optimizeBVH(b,null)}catch(t){console.error(`[BVHSubtreeWorker] Treelet pass ${e+1} error:`,t);break}}if(g&&g.enabled&&v.end-v.start>1e3){let e=new n(t.traversalCost,t.intersectionCost);g.batchSizeRatio&&e.setBatchSizeRatio(g.batchSizeRatio),g.maxIterations&&e.setMaxIterations(g.maxIterations);try{e.optimizeBVH(b,null)}catch(e){console.error(`[BVHSubtreeWorker] Reinsertion error:`,e)}}t.applySAOrdering(b);let x=t.flattenBVH(b),S=x.length/16,C=performance.now()-y;console.log(`[BVHSubtreeWorker] Task ${v.taskId}: ${(v.end-v.start).toLocaleString()} triangles, ${S} nodes, ${Math.round(C)}ms`),self.postMessage({type:`subtreeResult`,taskId:v.taskId,flatData:x,nodeCount:S},[x.buffer])}catch(e){console.error(`[BVHSubtreeWorker] Task ${v.taskId} error:`,e),self.postMessage({type:`error`,taskId:v.taskId,error:e.message})}}}})();
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