rayzee 4.8.3 → 4.8.6

package/dist/assets/BVHWorker-DobVXMda.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"BVHWorker-DobVXMda.js","names":[],"sources":["../../src/Processor/TreeletOptimizer.js","../../src/Processor/ReinsertionOptimizer.js","../../src/Processor/BVHBuilder.js","../../src/Processor/Workers/BVHWorker.js"],"sourcesContent":["// No external dependencies — uses inline float fields for bounds (no Vector3)\n\n/**\n * Treelet optimization for BVH trees (Bittner et al. 2013).\n *\n * For each small subtree (\"treelet\") of N leaves, enumerates all\n * Catalan(N-1) distinct binary tree topologies, tries all leaf\n * permutations (or greedy assignment for N > 5), and replaces the\n * subtree with the arrangement that minimises SAH cost.\n */\nexport class TreeletOptimizer {\n\n\tconstructor( traversalCost, intersectionCost ) {\n\n\t\tthis.traversalCost = traversalCost;\n\t\tthis.intersectionCost = intersectionCost;\n\t\tthis.maxTreeletLeaves = 7;\n\t\tthis.minImprovement = 0.02; // relative improvement threshold\n\n\t\t// Precompute topologies for leaf counts 3..maxTreeletLeaves\n\t\tthis.topologyCache = new Map();\n\t\tfor ( let n = 3; n <= this.maxTreeletLeaves; n ++ ) {\n\n\t\t\tthis.topologyCache.set( n, this.generateTopologies( n ) );\n\n\t\t}\n\n\t\t// Stats\n\t\tthis.stats = {\n\t\t\ttreeletsProcessed: 0,\n\t\t\ttreeletsImproved: 0,\n\t\t\ttotalSAHImprovement: 0,\n\t\t\taverageSAHImprovement: 0,\n\t\t\toptimizationTime: 0\n\t\t};\n\n\t}\n\n\t// ------------------------------------------------------------------\n\t// Topology generation — nested binary trees via Catalan decomposition\n\t// ------------------------------------------------------------------\n\n\t/**\n\t * Generate all distinct binary tree topologies for `n` leaves.\n\t * Leaves are represented as integers 0..n-1 (slot indices).\n\t * Internal nodes are 2-element arrays [left, right].\n\t *\n\t * Examples for n=3 (Catalan(2)=2):\n\t *   [[0,1],2]   and   [0,[1,2]]\n\t */\n\tgenerateTopologies( n ) {\n\n\t\tif ( n === 1 ) return [ 0 ];\n\t\tif ( n === 2 ) return [[ 0, 1 ]];\n\n\t\tconst results = [];\n\n\t\t// Split n leaves into left (k) and right (n-k) groups.\n\t\t// Base cases return arrays of topologies:\n\t\t//   n=1 → [0]        (one topology: leaf 0)\n\t\t//   n=2 → [[0,1]]    (one topology: pair [0,1])\n\t\t// So `for (const t of topos)` yields individual topologies in all cases.\n\t\tfor ( let k = 1; k < n; k ++ ) {\n\n\t\t\tconst leftTopos = this.generateTopologies( k );\n\t\t\tconst rightTopos = this.generateTopologies( n - k );\n\n\t\t\tfor ( const lt of leftTopos ) {\n\n\t\t\t\tfor ( const rt of rightTopos ) {\n\n\t\t\t\t\tresults.push( [ lt, this.offsetTopology( rt, k ) ] );\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t}\n\n\t\treturn results;\n\n\t}\n\n\t/**\n\t * Offset all leaf indices in a topology by `offset`.\n\t */\n\toffsetTopology( topo, offset ) {\n\n\t\tif ( typeof topo === 'number' ) return topo + offset;\n\t\treturn [ this.offsetTopology( topo[ 0 ], offset ), this.offsetTopology( topo[ 1 ], offset ) ];\n\n\t}\n\n\t// ------------------------------------------------------------------\n\t// Main entry point\n\t// ------------------------------------------------------------------\n\n\toptimizeBVH( bvhRoot ) {\n\n\t\tconst startTime = performance.now();\n\t\tconst maxTime = 30000; // 30s safety timeout\n\n\t\tthis.stats = {\n\t\t\ttreeletsProcessed: 0,\n\t\t\ttreeletsImproved: 0,\n\t\t\ttotalSAHImprovement: 0,\n\t\t\taverageSAHImprovement: 0,\n\t\t\toptimizationTime: 0\n\t\t};\n\n\t\t// Identify all treelet roots (bottom-up, non-overlapping)\n\t\tconst treeletRoots = this.identifyTreeletRoots( bvhRoot );\n\n\t\tfor ( let i = 0; i < treeletRoots.length; i ++ ) {\n\n\t\t\tif ( performance.now() - startTime > maxTime ) {\n\n\t\t\t\tconsole.warn( `TreeletOptimizer: timeout after ${i}/${treeletRoots.length} treelets` );\n\t\t\t\tbreak;\n\n\t\t\t}\n\n\t\t\tthis.optimizeTreelet( treeletRoots[ i ] );\n\n\t\t}\n\n\t\tthis.stats.optimizationTime = performance.now() - startTime;\n\t\tthis.stats.averageSAHImprovement = this.stats.treeletsProcessed > 0\n\t\t\t? this.stats.totalSAHImprovement / this.stats.treeletsProcessed\n\t\t\t: 0;\n\n\t\treturn bvhRoot;\n\n\t}\n\n\t// ------------------------------------------------------------------\n\t// Treelet identification — bottom-up, non-overlapping\n\t// ------------------------------------------------------------------\n\n\tidentifyTreeletRoots( bvhRoot ) {\n\n\t\tconst roots = [];\n\t\tconst processed = new Set();\n\n\t\t// Post-order traversal: children before parents so we process\n\t\t// bottom-up and skip subtrees already covered by a deeper treelet.\n\t\tconst stack = [ { node: bvhRoot, visited: false } ];\n\n\t\twhile ( stack.length > 0 ) {\n\n\t\t\tconst top = stack[ stack.length - 1 ];\n\n\t\t\tif ( top.visited ) {\n\n\t\t\t\tstack.pop();\n\t\t\t\tconst node = top.node;\n\n\t\t\t\t// Skip leaves\n\t\t\t\tif ( node.triangleCount > 0 ) continue;\n\t\t\t\t// Skip if already inside a processed treelet\n\t\t\t\tif ( processed.has( node ) ) continue;\n\n\t\t\t\tconst leafCount = this.countLeaves( node );\n\t\t\t\tif ( leafCount >= 3 && leafCount <= this.maxTreeletLeaves ) {\n\n\t\t\t\t\troots.push( node );\n\t\t\t\t\tthis.markSubtree( node, processed );\n\n\t\t\t\t}\n\n\t\t\t} else {\n\n\t\t\t\ttop.visited = true;\n\t\t\t\tconst node = top.node;\n\t\t\t\tif ( node.triangleCount > 0 ) continue;\n\t\t\t\tif ( node.rightChild ) stack.push( { node: node.rightChild, visited: false } );\n\t\t\t\tif ( node.leftChild ) stack.push( { node: node.leftChild, visited: false } );\n\n\t\t\t}\n\n\t\t}\n\n\t\treturn roots;\n\n\t}\n\n\tcountLeaves( node ) {\n\n\t\tif ( ! node ) return 0;\n\t\tif ( node.triangleCount > 0 ) return 1;\n\t\treturn this.countLeaves( node.leftChild ) + this.countLeaves( node.rightChild );\n\n\t}\n\n\tmarkSubtree( node, set ) {\n\n\t\tif ( ! node ) return;\n\t\tset.add( node );\n\t\tif ( node.triangleCount > 0 ) return;\n\t\tthis.markSubtree( node.leftChild, set );\n\t\tthis.markSubtree( node.rightChild, set );\n\n\t}\n\n\t// ------------------------------------------------------------------\n\t// Single treelet optimization\n\t// ------------------------------------------------------------------\n\n\toptimizeTreelet( treeletRoot ) {\n\n\t\t// Extract leaves\n\t\tconst leaves = [];\n\t\tthis.extractLeaves( treeletRoot, leaves );\n\t\tconst n = leaves.length;\n\n\t\tif ( n < 3 || n > this.maxTreeletLeaves ) return;\n\n\t\tthis.stats.treeletsProcessed ++;\n\n\t\tconst originalCost = this.evaluateSubtreeSAH( treeletRoot );\n\t\tconst topologies = this.topologyCache.get( n );\n\t\tif ( ! topologies || topologies.length === 0 ) return;\n\n\t\tlet bestCost = originalCost;\n\t\tlet bestTopo = null;\n\t\tlet bestPerm = null;\n\n\t\tif ( n <= 5 ) {\n\n\t\t\t// Full permutation search — feasible for n<=5 (max 120 perms × 14 topos)\n\t\t\tconst perms = this.generatePermutations( n );\n\n\t\t\tfor ( const topo of topologies ) {\n\n\t\t\t\tfor ( const perm of perms ) {\n\n\t\t\t\t\tconst cost = this.evaluateTopology( topo, leaves, perm );\n\t\t\t\t\tif ( cost < bestCost ) {\n\n\t\t\t\t\t\tbestCost = cost;\n\t\t\t\t\t\tbestTopo = topo;\n\t\t\t\t\t\tbestPerm = perm;\n\n\t\t\t\t\t}\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t} else {\n\n\t\t\t// Greedy assignment for n>5: for each topology, use identity perm\n\t\t\t// plus a few SAH-guided swaps\n\t\t\tconst identityPerm = Array.from( { length: n }, ( _, i ) => i );\n\n\t\t\tfor ( const topo of topologies ) {\n\n\t\t\t\t// Try identity permutation\n\t\t\t\tconst cost = this.evaluateTopology( topo, leaves, identityPerm );\n\t\t\t\tif ( cost < bestCost ) {\n\n\t\t\t\t\tbestCost = cost;\n\t\t\t\t\tbestTopo = topo;\n\t\t\t\t\tbestPerm = identityPerm;\n\n\t\t\t\t}\n\n\t\t\t\t// Try greedy swap improvements\n\t\t\t\tconst result = this.greedySwapOptimize( topo, leaves, identityPerm, cost );\n\t\t\t\tif ( result.cost < bestCost ) {\n\n\t\t\t\t\tbestCost = result.cost;\n\t\t\t\t\tbestTopo = topo;\n\t\t\t\t\tbestPerm = result.perm;\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t}\n\n\t\t// Apply if relative improvement exceeds threshold\n\t\tconst relativeImprovement = ( originalCost - bestCost ) / originalCost;\n\t\tif ( bestTopo && relativeImprovement > this.minImprovement ) {\n\n\t\t\tthis.reconstructTreelet( treeletRoot, bestTopo, leaves, bestPerm );\n\t\t\tthis.stats.treeletsImproved ++;\n\t\t\tthis.stats.totalSAHImprovement += relativeImprovement;\n\n\t\t}\n\n\t}\n\n\textractLeaves( node, leaves ) {\n\n\t\tif ( ! node ) return;\n\n\t\tif ( node.triangleCount > 0 ) {\n\n\t\t\t// BVHNode uses inline floats (minX/maxX etc.)\n\t\t\tleaves.push( {\n\t\t\t\tminX: node.minX, minY: node.minY, minZ: node.minZ,\n\t\t\t\tmaxX: node.maxX, maxY: node.maxY, maxZ: node.maxZ,\n\t\t\t\ttriangleOffset: node.triangleOffset,\n\t\t\t\ttriangleCount: node.triangleCount\n\t\t\t} );\n\t\t\treturn;\n\n\t\t}\n\n\t\tthis.extractLeaves( node.leftChild, leaves );\n\t\tthis.extractLeaves( node.rightChild, leaves );\n\n\t}\n\n\t// ------------------------------------------------------------------\n\t// SAH evaluation\n\t// ------------------------------------------------------------------\n\n\tevaluateSubtreeSAH( node ) {\n\n\t\tif ( ! node ) return 0;\n\n\t\tif ( node.triangleCount > 0 ) {\n\n\t\t\treturn this.surfaceAreaFlat( node.minX, node.minY, node.minZ, node.maxX, node.maxY, node.maxZ ) * node.triangleCount * this.intersectionCost;\n\n\t\t}\n\n\t\tconst leftCost = this.evaluateSubtreeSAH( node.leftChild );\n\t\tconst rightCost = this.evaluateSubtreeSAH( node.rightChild );\n\t\tconst sa = this.surfaceAreaFlat( node.minX, node.minY, node.minZ, node.maxX, node.maxY, node.maxZ );\n\t\treturn sa * this.traversalCost + leftCost + rightCost;\n\n\t}\n\n\t/**\n\t * Evaluate SAH cost for a topology with a given leaf permutation.\n\t * Returns { cost, boundsMin, boundsMax } for internal use, or just cost number.\n\t */\n\tevaluateTopology( topo, leaves, perm ) {\n\n\t\tconst result = this.evalTopoRecursive( topo, leaves, perm );\n\t\treturn result.cost;\n\n\t}\n\n\tevalTopoRecursive( topo, leaves, perm ) {\n\n\t\tif ( typeof topo === 'number' ) {\n\n\t\t\t// Leaf slot — look up actual leaf via permutation\n\t\t\tconst leaf = leaves[ perm[ topo ] ];\n\t\t\treturn {\n\t\t\t\tcost: this.surfaceAreaFlat( leaf.minX, leaf.minY, leaf.minZ, leaf.maxX, leaf.maxY, leaf.maxZ ) * leaf.triangleCount * this.intersectionCost,\n\t\t\t\tminX: leaf.minX, minY: leaf.minY, minZ: leaf.minZ,\n\t\t\t\tmaxX: leaf.maxX, maxY: leaf.maxY, maxZ: leaf.maxZ\n\t\t\t};\n\n\t\t}\n\n\t\tconst left = this.evalTopoRecursive( topo[ 0 ], leaves, perm );\n\t\tconst right = this.evalTopoRecursive( topo[ 1 ], leaves, perm );\n\n\t\tconst mnX = Math.min( left.minX, right.minX );\n\t\tconst mnY = Math.min( left.minY, right.minY );\n\t\tconst mnZ = Math.min( left.minZ, right.minZ );\n\t\tconst mxX = Math.max( left.maxX, right.maxX );\n\t\tconst mxY = Math.max( left.maxY, right.maxY );\n\t\tconst mxZ = Math.max( left.maxZ, right.maxZ );\n\n\t\tconst sa = this.surfaceAreaFlat( mnX, mnY, mnZ, mxX, mxY, mxZ );\n\t\treturn {\n\t\t\tcost: sa * this.traversalCost + left.cost + right.cost,\n\t\t\tminX: mnX, minY: mnY, minZ: mnZ,\n\t\t\tmaxX: mxX, maxY: mxY, maxZ: mxZ\n\t\t};\n\n\t}\n\n\tsurfaceAreaFlat( minX, minY, minZ, maxX, maxY, maxZ ) {\n\n\t\tconst dx = maxX - minX;\n\t\tconst dy = maxY - minY;\n\t\tconst dz = maxZ - minZ;\n\t\treturn 2 * ( dx * dy + dy * dz + dz * dx );\n\n\t}\n\n\t// ------------------------------------------------------------------\n\t// Permutation helpers\n\t// ------------------------------------------------------------------\n\n\tgeneratePermutations( n ) {\n\n\t\tconst result = [];\n\t\tconst arr = Array.from( { length: n }, ( _, i ) => i );\n\n\t\tconst permute = ( start ) => {\n\n\t\t\tif ( start === n ) {\n\n\t\t\t\tresult.push( [ ...arr ] );\n\t\t\t\treturn;\n\n\t\t\t}\n\n\t\t\tfor ( let i = start; i < n; i ++ ) {\n\n\t\t\t\t[ arr[ start ], arr[ i ] ] = [ arr[ i ], arr[ start ] ];\n\t\t\t\tpermute( start + 1 );\n\t\t\t\t[ arr[ start ], arr[ i ] ] = [ arr[ i ], arr[ start ] ];\n\n\t\t\t}\n\n\t\t};\n\n\t\tpermute( 0 );\n\t\treturn result;\n\n\t}\n\n\t/**\n\t * Greedy pairwise swap optimization for large treelet sizes.\n\t * Starting from an initial permutation, try all pairwise swaps\n\t * and accept any that improve cost. Repeat until no improvement.\n\t */\n\tgreedySwapOptimize( topo, leaves, initialPerm, initialCost ) {\n\n\t\tconst perm = [ ...initialPerm ];\n\t\tlet cost = initialCost;\n\t\tlet improved = true;\n\n\t\twhile ( improved ) {\n\n\t\t\timproved = false;\n\n\t\t\tfor ( let i = 0; i < perm.length - 1; i ++ ) {\n\n\t\t\t\tfor ( let j = i + 1; j < perm.length; j ++ ) {\n\n\t\t\t\t\t// Swap\n\t\t\t\t\t[ perm[ i ], perm[ j ] ] = [ perm[ j ], perm[ i ] ];\n\t\t\t\t\tconst newCost = this.evaluateTopology( topo, leaves, perm );\n\n\t\t\t\t\tif ( newCost < cost ) {\n\n\t\t\t\t\t\tcost = newCost;\n\t\t\t\t\t\timproved = true;\n\n\t\t\t\t\t} else {\n\n\t\t\t\t\t\t// Swap back\n\t\t\t\t\t\t[ perm[ i ], perm[ j ] ] = [ perm[ j ], perm[ i ] ];\n\n\t\t\t\t\t}\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t}\n\n\t\treturn { perm, cost };\n\n\t}\n\n\t// ------------------------------------------------------------------\n\t// Reconstruction — builds proper BVHNode instances\n\t// ------------------------------------------------------------------\n\n\treconstructTreelet( treeletRoot, topo, leaves, perm ) {\n\n\t\tconst built = this.buildSubtree( topo, leaves, perm );\n\n\t\t// Copy built structure into the existing treelet root node (inline floats)\n\t\ttreeletRoot.minX = built.minX; treeletRoot.minY = built.minY; treeletRoot.minZ = built.minZ;\n\t\ttreeletRoot.maxX = built.maxX; treeletRoot.maxY = built.maxY; treeletRoot.maxZ = built.maxZ;\n\t\ttreeletRoot.leftChild = built.leftChild;\n\t\ttreeletRoot.rightChild = built.rightChild;\n\t\ttreeletRoot.triangleOffset = built.triangleOffset;\n\t\ttreeletRoot.triangleCount = built.triangleCount;\n\n\t}\n\n\t/**\n\t * Recursively build a BVHNode subtree from a topology + leaf permutation.\n\t */\n\tbuildSubtree( topo, leaves, perm ) {\n\n\t\tif ( typeof topo === 'number' ) {\n\n\t\t\t// Leaf — create a lightweight node with inline bounds\n\t\t\tconst leaf = leaves[ perm[ topo ] ];\n\t\t\tconst node = new TreeletBVHNode();\n\t\t\tnode.minX = leaf.minX; node.minY = leaf.minY; node.minZ = leaf.minZ;\n\t\t\tnode.maxX = leaf.maxX; node.maxY = leaf.maxY; node.maxZ = leaf.maxZ;\n\t\t\tnode.triangleOffset = leaf.triangleOffset;\n\t\t\tnode.triangleCount = leaf.triangleCount;\n\t\t\treturn node;\n\n\t\t}\n\n\t\tconst left = this.buildSubtree( topo[ 0 ], leaves, perm );\n\t\tconst right = this.buildSubtree( topo[ 1 ], leaves, perm );\n\n\t\tconst node = new TreeletBVHNode();\n\t\tnode.leftChild = left;\n\t\tnode.rightChild = right;\n\t\tnode.minX = Math.min( left.minX, right.minX );\n\t\tnode.minY = Math.min( left.minY, right.minY );\n\t\tnode.minZ = Math.min( left.minZ, right.minZ );\n\t\tnode.maxX = Math.max( left.maxX, right.maxX );\n\t\tnode.maxY = Math.max( left.maxY, right.maxY );\n\t\tnode.maxZ = Math.max( left.maxZ, right.maxZ );\n\n\t\treturn node;\n\n\t}\n\n\t// ------------------------------------------------------------------\n\t// Configuration\n\t// ------------------------------------------------------------------\n\n\tsetTreeletSize( size ) {\n\n\t\tthis.maxTreeletLeaves = Math.max( 3, Math.min( 7, size ) );\n\n\t\t// Regenerate topology cache if needed\n\t\tfor ( let n = 3; n <= this.maxTreeletLeaves; n ++ ) {\n\n\t\t\tif ( ! this.topologyCache.has( n ) ) {\n\n\t\t\t\tthis.topologyCache.set( n, this.generateTopologies( n ) );\n\n\t\t\t}\n\n\t\t}\n\n\t}\n\n\tsetMinImprovement( threshold ) {\n\n\t\tthis.minImprovement = Math.max( 0.001, threshold );\n\n\t}\n\n\tsetMaxTreelets() {\n\n\t\t// No-op — we process all valid treelets now.\n\t\t// Kept for API compatibility with BVHBuilder.\n\n\t}\n\n\tgetStatistics() {\n\n\t\treturn { ...this.stats };\n\n\t}\n\n}\n\n/**\n * Lightweight BVH node used during reconstruction.\n * Duck-type compatible with the main BVHNode class —\n * uses inline float fields (minX/maxX etc.).\n */\nclass TreeletBVHNode {\n\n\tconstructor() {\n\n\t\tthis.minX = 0; this.minY = 0; this.minZ = 0;\n\t\tthis.maxX = 0; this.maxY = 0; this.maxZ = 0;\n\t\tthis.leftChild = null;\n\t\tthis.rightChild = null;\n\t\tthis.triangleOffset = 0;\n\t\tthis.triangleCount = 0;\n\n\t}\n\n}\n","/**\n * ReinsertionOptimizer — BVH quality improvement via node reinsertion.\n *\n * Based on \"Parallel Reinsertion for Bounding Volume Hierarchy Optimization\"\n * by Meister & Bittner, adapted from madmann91/bvh (MIT).\n *\n * Algorithm:\n *   1. Find the top N nodes by surface area (highest traversal cost).\n *   2. For each candidate, search the tree for the optimal reinsertion target\n *      using branch-and-bound pruning.\n *   3. Sort reinsertions by area improvement, apply non-conflicting ones greedily.\n *   4. Repeat for a configurable number of iterations.\n *\n * Typically yields 10-20% SAH cost reduction on top of treelet optimization.\n */\nexport class ReinsertionOptimizer {\n\n\tconstructor( traversalCost, intersectionCost ) {\n\n\t\tthis.traversalCost = traversalCost;\n\t\tthis.intersectionCost = intersectionCost;\n\n\t\t// Fraction of total nodes to consider per iteration\n\t\tthis.batchSizeRatio = 0.02;\n\n\t\t// Maximum optimization iterations\n\t\tthis.maxIterations = 2;\n\n\t\t// Time budget (ms) — abort if exceeded\n\t\tthis.timeBudgetMs = 15000;\n\n\t\t// Statistics\n\t\tthis.stats = { reinsertionsApplied: 0, iterations: 0, timeMs: 0 };\n\n\t}\n\n\tsetBatchSizeRatio( ratio ) {\n\n\t\tthis.batchSizeRatio = Math.max( 0.005, Math.min( 0.1, ratio ) );\n\n\t}\n\n\tsetMaxIterations( n ) {\n\n\t\tthis.maxIterations = Math.max( 1, Math.min( 5, n ) );\n\n\t}\n\n\tgetStatistics() {\n\n\t\treturn { ...this.stats };\n\n\t}\n\n\t// --- Surface area (half SA, consistent with TreeletOptimizer) ---\n\n\tsurfaceArea( node ) {\n\n\t\tconst dx = node.maxX - node.minX;\n\t\tconst dy = node.maxY - node.minY;\n\t\tconst dz = node.maxZ - node.minZ;\n\t\treturn dx * dy + dy * dz + dz * dx;\n\n\t}\n\n\t// --- Parent map: node → { parent, isLeft } ---\n\n\tbuildParentMap( root ) {\n\n\t\tconst map = new Map();\n\t\tmap.set( root, { parent: null, isLeft: false } );\n\n\t\tconst stack = [ root ];\n\t\twhile ( stack.length > 0 ) {\n\n\t\t\tconst node = stack.pop();\n\t\t\tif ( node.triangleCount > 0 ) continue;\n\n\t\t\tif ( node.leftChild ) {\n\n\t\t\t\tmap.set( node.leftChild, { parent: node, isLeft: true } );\n\t\t\t\tstack.push( node.leftChild );\n\n\t\t\t}\n\n\t\t\tif ( node.rightChild ) {\n\n\t\t\t\tmap.set( node.rightChild, { parent: node, isLeft: false } );\n\t\t\t\tstack.push( node.rightChild );\n\n\t\t\t}\n\n\t\t}\n\n\t\treturn map;\n\n\t}\n\n\t// --- Candidate selection: top N nodes by surface area (min-heap) ---\n\n\tfindCandidates( root, targetCount, parentMap ) {\n\n\t\t// Collect all non-root nodes (skip root itself and its direct children\n\t\t// whose reinsertion would require mutating root identity)\n\t\tconst heap = []; // min-heap by cost (surface area)\n\n\t\tconst stack = [ root ];\n\t\twhile ( stack.length > 0 ) {\n\n\t\t\tconst node = stack.pop();\n\n\t\t\tif ( node !== root ) {\n\n\t\t\t\tconst info = parentMap.get( node );\n\t\t\t\t// Skip direct children of root to avoid root mutation complexity\n\t\t\t\tif ( info.parent !== root ) {\n\n\t\t\t\t\tconst cost = this.surfaceArea( node );\n\n\t\t\t\t\tif ( heap.length < targetCount ) {\n\n\t\t\t\t\t\theap.push( { node, cost } );\n\t\t\t\t\t\tif ( heap.length === targetCount ) this._heapify( heap );\n\n\t\t\t\t\t} else if ( cost > heap[ 0 ].cost ) {\n\n\t\t\t\t\t\theap[ 0 ] = { node, cost };\n\t\t\t\t\t\tthis._siftDown( heap, 0 );\n\n\t\t\t\t\t}\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\tif ( node.triangleCount === 0 ) {\n\n\t\t\t\tif ( node.leftChild ) stack.push( node.leftChild );\n\t\t\t\tif ( node.rightChild ) stack.push( node.rightChild );\n\n\t\t\t}\n\n\t\t}\n\n\t\treturn heap;\n\n\t}\n\n\t// Min-heap helpers (smallest cost at index 0)\n\t_heapify( heap ) {\n\n\t\tfor ( let i = ( heap.length >> 1 ) - 1; i >= 0; i -- ) this._siftDown( heap, i );\n\n\t}\n\n\t_siftDown( heap, i ) {\n\n\t\tconst n = heap.length;\n\t\twhile ( true ) {\n\n\t\t\tlet smallest = i;\n\t\t\tconst l = 2 * i + 1;\n\t\t\tconst r = 2 * i + 2;\n\t\t\tif ( l < n && heap[ l ].cost < heap[ smallest ].cost ) smallest = l;\n\t\t\tif ( r < n && heap[ r ].cost < heap[ smallest ].cost ) smallest = r;\n\t\t\tif ( smallest === i ) break;\n\t\t\tconst tmp = heap[ i ];\n\t\t\theap[ i ] = heap[ smallest ];\n\t\t\theap[ smallest ] = tmp;\n\t\t\ti = smallest;\n\n\t\t}\n\n\t}\n\n\t// --- Find best reinsertion target for a candidate node ---\n\n\tfindReinsertion( nodeA, root, parentMap ) {\n\n\t\tconst aInfo = parentMap.get( nodeA );\n\t\tconst parentA = aInfo.parent;\n\t\tif ( ! parentA ) return null;\n\n\t\tconst siblingA = aInfo.isLeft ? parentA.rightChild : parentA.leftChild;\n\n\t\tconst nodeArea = this.surfaceArea( nodeA );\n\t\tconst parentArea = this.surfaceArea( parentA );\n\n\t\tlet bestTo = null;\n\t\tlet bestAreaDiff = 0;\n\n\t\t// areaDiff accumulates the net area savings from removing nodeA\n\t\t// along the path from its parent to the current pivot level\n\t\tlet areaDiff = parentArea;\n\n\t\t// pivotBbox tracks the combined bounds of everything except nodeA\n\t\t// along the path from siblingA upward\n\t\tlet pbMinX = siblingA.minX, pbMinY = siblingA.minY, pbMinZ = siblingA.minZ;\n\t\tlet pbMaxX = siblingA.maxX, pbMaxY = siblingA.maxY, pbMaxZ = siblingA.maxZ;\n\n\t\tlet siblingNode = siblingA;\n\t\tlet pivotNode = parentA;\n\n\t\tconst searchStack = [];\n\n\t\tdo {\n\n\t\t\t// Search sibling subtree at current level\n\t\t\tsearchStack.length = 0;\n\t\t\tsearchStack.push( areaDiff, siblingNode );\n\n\t\t\twhile ( searchStack.length > 0 ) {\n\n\t\t\t\t// Pop node and areaDiff (stored as pairs: [areaDiff, node, areaDiff, node, ...])\n\t\t\t\tconst topNode = searchStack.pop();\n\t\t\t\tconst topAreaDiff = searchStack.pop();\n\n\t\t\t\t// Prune: upper bound on improvement can't beat current best\n\t\t\t\tif ( topAreaDiff - nodeArea <= bestAreaDiff ) continue;\n\n\t\t\t\t// Compute merged area if we insert nodeA next to this target\n\t\t\t\tconst mMinX = Math.min( topNode.minX, nodeA.minX );\n\t\t\t\tconst mMinY = Math.min( topNode.minY, nodeA.minY );\n\t\t\t\tconst mMinZ = Math.min( topNode.minZ, nodeA.minZ );\n\t\t\t\tconst mMaxX = Math.max( topNode.maxX, nodeA.maxX );\n\t\t\t\tconst mMaxY = Math.max( topNode.maxY, nodeA.maxY );\n\t\t\t\tconst mMaxZ = Math.max( topNode.maxZ, nodeA.maxZ );\n\t\t\t\tconst mdx = mMaxX - mMinX, mdy = mMaxY - mMinY, mdz = mMaxZ - mMinZ;\n\t\t\t\tconst mergedArea = mdx * mdy + mdy * mdz + mdz * mdx;\n\n\t\t\t\tconst reinsertArea = topAreaDiff - mergedArea;\n\n\t\t\t\tif ( reinsertArea > bestAreaDiff ) {\n\n\t\t\t\t\tbestTo = topNode;\n\t\t\t\t\tbestAreaDiff = reinsertArea;\n\n\t\t\t\t}\n\n\t\t\t\t// Descend into children if inner node\n\t\t\t\tif ( topNode.triangleCount === 0 && topNode.leftChild && topNode.rightChild ) {\n\n\t\t\t\t\tconst childArea = reinsertArea + this.surfaceArea( topNode );\n\t\t\t\t\tsearchStack.push( childArea, topNode.leftChild );\n\t\t\t\t\tsearchStack.push( childArea, topNode.rightChild );\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\t// Move up one level\n\t\t\tconst pivotInfo = parentMap.get( pivotNode );\n\t\t\tif ( ! pivotInfo || pivotInfo.parent === null ) break;\n\n\t\t\t// Update pivot bbox: accumulate sibling bounds at each level above parentA\n\t\t\tif ( pivotNode !== parentA ) {\n\n\t\t\t\tpbMinX = Math.min( pbMinX, siblingNode.minX );\n\t\t\t\tpbMinY = Math.min( pbMinY, siblingNode.minY );\n\t\t\t\tpbMinZ = Math.min( pbMinZ, siblingNode.minZ );\n\t\t\t\tpbMaxX = Math.max( pbMaxX, siblingNode.maxX );\n\t\t\t\tpbMaxY = Math.max( pbMaxY, siblingNode.maxY );\n\t\t\t\tpbMaxZ = Math.max( pbMaxZ, siblingNode.maxZ );\n\n\t\t\t\tconst pdx = pbMaxX - pbMinX, pdy = pbMaxY - pbMinY, pdz = pbMaxZ - pbMinZ;\n\t\t\t\tconst pivotBboxArea = pdx * pdy + pdy * pdz + pdz * pdx;\n\t\t\t\tareaDiff += this.surfaceArea( pivotNode ) - pivotBboxArea;\n\n\t\t\t}\n\n\t\t\t// Get sibling of pivot at next ancestor level\n\t\t\tconst pivotParent = pivotInfo.parent;\n\t\t\tsiblingNode = pivotInfo.isLeft ? pivotParent.rightChild : pivotParent.leftChild;\n\t\t\tpivotNode = pivotParent;\n\n\t\t} while ( parentMap.get( pivotNode ).parent !== null );\n\n\t\t// Reject trivial reinsertions (same position)\n\t\tif ( bestTo === siblingA || bestTo === parentA ) return null;\n\n\t\treturn bestTo ? { from: nodeA, to: bestTo, areaDiff: bestAreaDiff } : null;\n\n\t}\n\n\t// --- Conflict detection: nodes involved in a reinsertion ---\n\n\tgetConflicts( from, to, parentMap ) {\n\n\t\tconst aInfo = parentMap.get( from );\n\t\tconst siblingA = aInfo.isLeft ? aInfo.parent.rightChild : aInfo.parent.leftChild;\n\n\t\treturn [\n\t\t\tto,\n\t\t\tfrom,\n\t\t\tsiblingA,\n\t\t\tparentMap.get( to ).parent,\n\t\t\taInfo.parent\n\t\t];\n\n\t}\n\n\t// --- Perform the actual tree surgery ---\n\n\treinsertNode( nodeA, targetC, parentMap ) {\n\n\t\tconst aInfo = parentMap.get( nodeA );\n\t\tconst parentA = aInfo.parent;\n\t\tconst siblingA = aInfo.isLeft ? parentA.rightChild : parentA.leftChild;\n\n\t\tconst parentAInfo = parentMap.get( parentA );\n\t\tconst grandparent = parentAInfo.parent;\n\n\t\tconst cInfo = parentMap.get( targetC );\n\t\tconst targetParent = cInfo.parent;\n\n\t\t// Step 1: Remove parentA from grandparent, replace with siblingA\n\t\tif ( parentAInfo.isLeft ) {\n\n\t\t\tgrandparent.leftChild = siblingA;\n\n\t\t} else {\n\n\t\t\tgrandparent.rightChild = siblingA;\n\n\t\t}\n\n\t\t// Step 2: Reuse parentA as new parent of (nodeA, targetC)\n\t\tparentA.leftChild = nodeA;\n\t\tparentA.rightChild = targetC;\n\t\tparentA.triangleOffset = 0;\n\t\tparentA.triangleCount = 0;\n\t\tparentA.minX = Math.min( nodeA.minX, targetC.minX );\n\t\tparentA.minY = Math.min( nodeA.minY, targetC.minY );\n\t\tparentA.minZ = Math.min( nodeA.minZ, targetC.minZ );\n\t\tparentA.maxX = Math.max( nodeA.maxX, targetC.maxX );\n\t\tparentA.maxY = Math.max( nodeA.maxY, targetC.maxY );\n\t\tparentA.maxZ = Math.max( nodeA.maxZ, targetC.maxZ );\n\n\t\t// Step 3: Place parentA where targetC was\n\t\tif ( cInfo.isLeft ) {\n\n\t\t\ttargetParent.leftChild = parentA;\n\n\t\t} else {\n\n\t\t\ttargetParent.rightChild = parentA;\n\n\t\t}\n\n\t\t// Step 4: Update parent map\n\t\tparentMap.set( siblingA, { parent: grandparent, isLeft: parentAInfo.isLeft } );\n\t\tparentMap.set( parentA, { parent: targetParent, isLeft: cInfo.isLeft } );\n\t\tparentMap.set( nodeA, { parent: parentA, isLeft: true } );\n\t\tparentMap.set( targetC, { parent: parentA, isLeft: false } );\n\n\t\t// Step 5: Refit bounds from removal point (grandparent) up to root\n\t\tthis.refitFrom( grandparent, parentMap );\n\n\t\t// Step 6: Refit bounds from insertion point (targetParent) up to root\n\t\tthis.refitFrom( targetParent, parentMap );\n\n\t}\n\n\t// --- Refit bounding boxes from a node up to root ---\n\n\trefitFrom( node, parentMap ) {\n\n\t\tlet current = node;\n\t\twhile ( current ) {\n\n\t\t\tif ( current.triangleCount === 0 && current.leftChild && current.rightChild ) {\n\n\t\t\t\tconst L = current.leftChild;\n\t\t\t\tconst R = current.rightChild;\n\t\t\t\tcurrent.minX = Math.min( L.minX, R.minX );\n\t\t\t\tcurrent.minY = Math.min( L.minY, R.minY );\n\t\t\t\tcurrent.minZ = Math.min( L.minZ, R.minZ );\n\t\t\t\tcurrent.maxX = Math.max( L.maxX, R.maxX );\n\t\t\t\tcurrent.maxY = Math.max( L.maxY, R.maxY );\n\t\t\t\tcurrent.maxZ = Math.max( L.maxZ, R.maxZ );\n\n\t\t\t}\n\n\t\t\tconst info = parentMap.get( current );\n\t\t\tcurrent = info ? info.parent : null;\n\n\t\t}\n\n\t}\n\n\t// --- Main entry point ---\n\n\toptimizeBVH( root, progressCallback ) {\n\n\t\tconst startTime = performance.now();\n\t\tthis.stats = { reinsertionsApplied: 0, iterations: 0, timeMs: 0 };\n\n\t\tfor ( let iter = 0; iter < this.maxIterations; iter ++ ) {\n\n\t\t\tif ( performance.now() - startTime > this.timeBudgetMs ) break;\n\n\t\t\t// Rebuild parent map each iteration (tree structure changes)\n\t\t\tconst parentMap = this.buildParentMap( root );\n\t\t\tconst nodeCount = parentMap.size;\n\t\t\tconst targetCount = Math.max( 1, Math.floor( nodeCount * this.batchSizeRatio ) );\n\n\t\t\tif ( progressCallback ) {\n\n\t\t\t\tprogressCallback( `Reinsertion iter ${iter + 1}/${this.maxIterations}: selecting ${targetCount} candidates` );\n\n\t\t\t}\n\n\t\t\t// Find highest-cost candidates\n\t\t\tconst candidates = this.findCandidates( root, targetCount, parentMap );\n\n\t\t\t// Find best reinsertion for each candidate\n\t\t\tconst reinsertions = [];\n\t\t\tfor ( let i = 0; i < candidates.length; i ++ ) {\n\n\t\t\t\tif ( performance.now() - startTime > this.timeBudgetMs ) break;\n\n\t\t\t\tconst r = this.findReinsertion( candidates[ i ].node, root, parentMap );\n\t\t\t\tif ( r && r.areaDiff > 0 ) {\n\n\t\t\t\t\treinsertions.push( r );\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\t// Sort by improvement (largest first) and apply greedily\n\t\t\treinsertions.sort( ( a, b ) => b.areaDiff - a.areaDiff );\n\n\t\t\tconst touched = new Set();\n\t\t\tlet applied = 0;\n\n\t\t\tfor ( const r of reinsertions ) {\n\n\t\t\t\tconst conflicts = this.getConflicts( r.from, r.to, parentMap );\n\t\t\t\tif ( conflicts.some( n => touched.has( n ) ) ) continue;\n\n\t\t\t\tfor ( const n of conflicts ) touched.add( n );\n\n\t\t\t\tthis.reinsertNode( r.from, r.to, parentMap );\n\t\t\t\tapplied ++;\n\n\t\t\t}\n\n\t\t\tthis.stats.reinsertionsApplied += applied;\n\t\t\tthis.stats.iterations = iter + 1;\n\n\t\t\tif ( progressCallback ) {\n\n\t\t\t\tprogressCallback( `Reinsertion iter ${iter + 1}: applied ${applied} reinsertions` );\n\n\t\t\t}\n\n\t\t\t// No improvements found — tree is already optimal\n\t\t\tif ( applied === 0 ) break;\n\n\t\t}\n\n\t\tthis.stats.timeMs = performance.now() - startTime;\n\t\treturn this.stats;\n\n\t}\n\n}\n","import { TreeletOptimizer } from './TreeletOptimizer.js';\nimport { ReinsertionOptimizer } from './ReinsertionOptimizer.js';\n\n// Inline copy of TRIANGLE_DATA_LAYOUT (mirrors Constants.js).\n// Cannot import Constants.js because BVHBuilder runs inside BVHWorker\n// where `window` (used elsewhere in Constants.js) is not defined.\nconst TRIANGLE_DATA_LAYOUT = {\n\tFLOATS_PER_TRIANGLE: 32,\n\tPOSITION_A_OFFSET: 0,\n\tPOSITION_B_OFFSET: 4,\n\tPOSITION_C_OFFSET: 8,\n\tNORMAL_A_OFFSET: 12,\n\tNORMAL_B_OFFSET: 16,\n\tNORMAL_C_OFFSET: 20,\n\tUV_AB_OFFSET: 24,\n\tUV_C_MAT_OFFSET: 28 // vec4: uvC.x, uvC.y, materialIndex, meshIndex\n};\n\nconst FPT = TRIANGLE_DATA_LAYOUT.FLOATS_PER_TRIANGLE;\n\nclass BVHNode {\n\n\tconstructor() {\n\n\t\t// Inline floats instead of Vector3 to avoid 2M+ object allocations\n\t\tthis.minX = 0; this.minY = 0; this.minZ = 0;\n\t\tthis.maxX = 0; this.maxY = 0; this.maxZ = 0;\n\t\tthis.leftChild = null;\n\t\tthis.rightChild = null;\n\t\tthis.triangleOffset = 0;\n\t\tthis.triangleCount = 0;\n\n\t}\n\n}\n\nexport class BVHBuilder {\n\n\tconstructor() {\n\n\t\tthis.useWorker = true;\n\t\tthis.maxLeafSize = 8;\n\t\tthis.numBins = 32;\n\t\tthis.minBins = 8;\n\t\tthis.maxBins = 64;\n\t\tthis.totalNodes = 0;\n\t\tthis.processedTriangles = 0;\n\t\tthis.totalTriangles = 0;\n\t\tthis.lastProgressUpdate = 0;\n\t\tthis.progressUpdateInterval = 100;\n\n\t\t// SAH constants — GPU intersection is ~2.5x more expensive than traversal\n\t\t// (8 storage buffer fetches + Möller-Trumbore vs 4 vec4 reads + slab test)\n\t\tthis.traversalCost = 1.0;\n\t\tthis.intersectionCost = 2.5;\n\n\t\t// Morton code clustering settings\n\t\tthis.useMortonCodes = true;\n\t\tthis.mortonBits = 10;\n\t\tthis.mortonClusterThreshold = 128;\n\n\t\t// Fallback method configuration\n\t\tthis.enableObjectMedianFallback = true;\n\t\tthis.enableSpatialMedianFallback = true;\n\n\t\t// Split statistics\n\t\tthis.splitStats = {\n\t\t\tsahSplits: 0,\n\t\t\tobjectMedianSplits: 0,\n\t\t\tspatialMedianSplits: 0,\n\t\t\tfailedSplits: 0,\n\t\t\tavgBinsUsed: 0,\n\t\t\ttotalSplitAttempts: 0,\n\t\t\tmortonSortTime: 0,\n\t\t\ttotalBuildTime: 0,\n\t\t\ttreeletOptimizationTime: 0,\n\t\t\ttreeletsProcessed: 0,\n\t\t\ttreeletsImproved: 0,\n\t\t\taverageSAHImprovement: 0,\n\t\t\treinsertionOptimizationTime: 0,\n\t\t\treinsertionsApplied: 0,\n\t\t\treinsertionIterations: 0\n\t\t};\n\n\t\t// Treelet optimization configuration\n\t\tthis.enableTreeletOptimization = true;\n\t\tthis.treeletSize = 5;\n\t\tthis.treeletOptimizationPasses = 1;\n\t\tthis.treeletMinImprovement = 0.02;\n\t\tthis.maxTreeletDepth = 3;\n\t\tthis.maxTreeletsPerScene = 20;\n\t\tthis.treeletComplexityThreshold = 50000;\n\n\t\t// Reinsertion optimization configuration\n\t\tthis.enableReinsertionOptimization = true;\n\t\tthis.reinsertionBatchSizeRatio = 0.02;\n\t\tthis.reinsertionMaxIterations = 2;\n\n\t\t// Pre-allocate bin arrays\n\t\tthis.initializeBinArrays();\n\n\t\t// Reusable partition result (avoids per-node object allocation)\n\t\tthis._partResult = {\n\t\t\tmid: 0,\n\t\t\tlMinX: 0, lMinY: 0, lMinZ: 0, lMaxX: 0, lMaxY: 0, lMaxZ: 0,\n\t\t\trMinX: 0, rMinY: 0, rMinZ: 0, rMaxX: 0, rMaxY: 0, rMaxZ: 0\n\t\t};\n\n\t\t// Flat per-triangle arrays (allocated in buildSync)\n\t\tthis.centroids = null;\n\t\tthis.bMin = null;\n\t\tthis.bMax = null;\n\t\tthis.indices = null;\n\t\tthis.mortonCodes = null;\n\t\tthis.triangles = null;\n\n\t\t// Reordered output (produced by buildSync)\n\t\tthis.reorderedTriangleData = null;\n\n\t}\n\n\tinitializeBinArrays() {\n\n\t\tconst mb = this.maxBins;\n\t\t// Flat bin bounds: 3 floats per bin (x, y, z)\n\t\tthis.binBoundsMin = new Float32Array( mb * 3 );\n\t\tthis.binBoundsMax = new Float32Array( mb * 3 );\n\t\tthis.binCounts = new Uint32Array( mb );\n\n\t\t// Prefix-sum arrays for SAH evaluation\n\t\tthis.leftPrefixMin = new Float32Array( mb * 3 );\n\t\tthis.leftPrefixMax = new Float32Array( mb * 3 );\n\t\tthis.leftPrefixCount = new Uint32Array( mb );\n\t\tthis.rightPrefixMin = new Float32Array( mb * 3 );\n\t\tthis.rightPrefixMax = new Float32Array( mb * 3 );\n\t\tthis.rightPrefixCount = new Uint32Array( mb );\n\n\t}\n\n\tgetOptimalBinCount( triangleCount ) {\n\n\t\tif ( triangleCount <= 16 ) return this.minBins;\n\t\tif ( triangleCount <= 64 ) return 16;\n\t\tif ( triangleCount <= 256 ) return 32;\n\t\tif ( triangleCount <= 1024 ) return 48;\n\t\treturn this.maxBins;\n\n\t}\n\n\tsetAdaptiveBinConfig( config ) {\n\n\t\tif ( config.minBins !== undefined ) this.minBins = Math.max( 4, config.minBins );\n\t\tif ( config.maxBins !== undefined ) this.maxBins = Math.min( 128, config.maxBins );\n\t\tif ( config.baseBins !== undefined ) this.numBins = config.baseBins;\n\t\tif ( config.maxBins !== undefined ) this.initializeBinArrays();\n\n\t}\n\n\tsetMortonConfig( config ) {\n\n\t\tif ( config.enabled !== undefined ) this.useMortonCodes = config.enabled;\n\t\tif ( config.bits !== undefined ) this.mortonBits = Math.max( 6, Math.min( 10, config.bits ) );\n\t\tif ( config.threshold !== undefined ) this.mortonClusterThreshold = Math.max( 16, config.threshold );\n\n\t}\n\n\tsetFallbackConfig( config ) {\n\n\t\tif ( config.objectMedian !== undefined ) this.enableObjectMedianFallback = config.objectMedian;\n\t\tif ( config.spatialMedian !== undefined ) this.enableSpatialMedianFallback = config.spatialMedian;\n\n\t}\n\n\tsetTreeletConfig( config ) {\n\n\t\tif ( config.enabled !== undefined ) this.enableTreeletOptimization = config.enabled;\n\t\tif ( config.size !== undefined ) this.treeletSize = Math.max( 3, Math.min( 12, config.size ) );\n\t\tif ( config.passes !== undefined ) this.treeletOptimizationPasses = Math.max( 1, Math.min( 3, config.passes ) );\n\t\tif ( config.minImprovement !== undefined ) this.treeletMinImprovement = Math.max( 0.001, config.minImprovement );\n\n\t}\n\n\tdisableTreeletOptimization() {\n\n\t\tthis.enableTreeletOptimization = false;\n\n\t}\n\n\tsetReinsertionConfig( config ) {\n\n\t\tif ( config.enabled !== undefined ) this.enableReinsertionOptimization = config.enabled;\n\t\tif ( config.batchSizeRatio !== undefined ) this.reinsertionBatchSizeRatio = Math.max( 0.005, Math.min( 0.1, config.batchSizeRatio ) );\n\t\tif ( config.maxIterations !== undefined ) this.reinsertionMaxIterations = Math.max( 1, Math.min( 5, config.maxIterations ) );\n\n\t}\n\n\t/**\n\t * Fill per-triangle arrays (centroids, bMin, bMax, indices) from triangle data.\n\t * Arrays must already be allocated on `this` before calling.\n\t */\n\tinitializeTriangleArrays() {\n\n\t\tconst n = this.totalTriangles;\n\t\tconst src = this.triangles;\n\t\tconst PA = TRIANGLE_DATA_LAYOUT.POSITION_A_OFFSET;\n\t\tconst PB = TRIANGLE_DATA_LAYOUT.POSITION_B_OFFSET;\n\t\tconst PC = TRIANGLE_DATA_LAYOUT.POSITION_C_OFFSET;\n\n\t\tfor ( let i = 0; i < n; i ++ ) {\n\n\t\t\tconst base = i * FPT;\n\t\t\tconst ax = src[ base + PA ], ay = src[ base + PA + 1 ], az = src[ base + PA + 2 ];\n\t\t\tconst bx = src[ base + PB ], by = src[ base + PB + 1 ], bz = src[ base + PB + 2 ];\n\t\t\tconst cx = src[ base + PC ], cy = src[ base + PC + 1 ], cz = src[ base + PC + 2 ];\n\n\t\t\tconst o3 = i * 3;\n\t\t\tthis.centroids[ o3 ] = ( ax + bx + cx ) / 3;\n\t\t\tthis.centroids[ o3 + 1 ] = ( ay + by + cy ) / 3;\n\t\t\tthis.centroids[ o3 + 2 ] = ( az + bz + cz ) / 3;\n\n\t\t\tthis.bMin[ o3 ] = ax < bx ? ( ax < cx ? ax : cx ) : ( bx < cx ? bx : cx );\n\t\t\tthis.bMin[ o3 + 1 ] = ay < by ? ( ay < cy ? ay : cy ) : ( by < cy ? by : cy );\n\t\t\tthis.bMin[ o3 + 2 ] = az < bz ? ( az < cz ? az : cz ) : ( bz < cz ? bz : cz );\n\n\t\t\tthis.bMax[ o3 ] = ax > bx ? ( ax > cx ? ax : cx ) : ( bx > cx ? bx : cx );\n\t\t\tthis.bMax[ o3 + 1 ] = ay > by ? ( ay > cy ? ay : cy ) : ( by > cy ? by : cy );\n\t\t\tthis.bMax[ o3 + 2 ] = az > bz ? ( az > cz ? az : cz ) : ( bz > cz ? bz : cz );\n\n\t\t\tthis.indices[ i ] = i;\n\n\t\t}\n\n\t}\n\n\t// --- Morton code helpers ---\n\n\texpandBits( value ) {\n\n\t\tvalue = ( value * 0x00010001 ) & 0xFF0000FF;\n\t\tvalue = ( value * 0x00000101 ) & 0x0F00F00F;\n\t\tvalue = ( value * 0x00000011 ) & 0xC30C30C3;\n\t\tvalue = ( value * 0x00000005 ) & 0x49249249;\n\t\treturn value;\n\n\t}\n\n\tmorton3D( x, y, z ) {\n\n\t\treturn ( this.expandBits( z ) << 2 ) + ( this.expandBits( y ) << 1 ) + this.expandBits( x );\n\n\t}\n\n\tcomputeMortonCodeForIndex( idx, sceneMinX, sceneMinY, sceneMinZ, rangeX, rangeY, rangeZ ) {\n\n\t\tconst c = this.centroids;\n\t\tconst o = idx * 3;\n\t\tconst mortonScale = ( 1 << this.mortonBits ) - 1;\n\n\t\tlet nx = rangeX > 0 ? ( c[ o ] - sceneMinX ) / rangeX : 0;\n\t\tlet ny = rangeY > 0 ? ( c[ o + 1 ] - sceneMinY ) / rangeY : 0;\n\t\tlet nz = rangeZ > 0 ? ( c[ o + 2 ] - sceneMinZ ) / rangeZ : 0;\n\n\t\tconst x = Math.max( 0, Math.min( mortonScale, Math.floor( nx * mortonScale ) ) );\n\t\tconst y = Math.max( 0, Math.min( mortonScale, Math.floor( ny * mortonScale ) ) );\n\t\tconst z = Math.max( 0, Math.min( mortonScale, Math.floor( nz * mortonScale ) ) );\n\n\t\treturn this.morton3D( x, y, z );\n\n\t}\n\n\tsortTrianglesByMortonCode() {\n\n\t\tconst n = this.totalTriangles;\n\t\tif ( ! this.useMortonCodes || n < this.mortonClusterThreshold ) return;\n\n\t\tconst startTime = performance.now();\n\t\tconst c = this.centroids;\n\t\tconst indices = this.indices;\n\n\t\t// Compute scene bounds from centroids\n\t\tlet sMinX = Infinity, sMinY = Infinity, sMinZ = Infinity;\n\t\tlet sMaxX = - Infinity, sMaxY = - Infinity, sMaxZ = - Infinity;\n\t\tfor ( let i = 0; i < n; i ++ ) {\n\n\t\t\tconst idx = indices[ i ];\n\t\t\tconst o = idx * 3;\n\t\t\tconst cx = c[ o ], cy = c[ o + 1 ], cz = c[ o + 2 ];\n\t\t\tif ( cx < sMinX ) sMinX = cx;\n\t\t\tif ( cy < sMinY ) sMinY = cy;\n\t\t\tif ( cz < sMinZ ) sMinZ = cz;\n\t\t\tif ( cx > sMaxX ) sMaxX = cx;\n\t\t\tif ( cy > sMaxY ) sMaxY = cy;\n\t\t\tif ( cz > sMaxZ ) sMaxZ = cz;\n\n\t\t}\n\n\t\tconst rX = sMaxX - sMinX, rY = sMaxY - sMinY, rZ = sMaxZ - sMinZ;\n\n\t\t// Compute morton codes (inlined to avoid per-triangle method dispatch)\n\t\tconst mc = this.mortonCodes;\n\t\tconst mortonScale = ( 1 << this.mortonBits ) - 1;\n\t\tconst invRX = rX > 0 ? mortonScale / rX : 0;\n\t\tconst invRY = rY > 0 ? mortonScale / rY : 0;\n\t\tconst invRZ = rZ > 0 ? mortonScale / rZ : 0;\n\n\t\tfor ( let i = 0; i < n; i ++ ) {\n\n\t\t\tconst triIdx = indices[ i ];\n\t\t\tconst o = triIdx * 3;\n\n\t\t\tlet mx = ( c[ o ] - sMinX ) * invRX;\n\t\t\tlet my = ( c[ o + 1 ] - sMinY ) * invRY;\n\t\t\tlet mz = ( c[ o + 2 ] - sMinZ ) * invRZ;\n\n\t\t\t// Clamp and truncate to integer\n\t\t\tmx = mx < 0 ? 0 : ( mx > mortonScale ? mortonScale : mx ) | 0;\n\t\t\tmy = my < 0 ? 0 : ( my > mortonScale ? mortonScale : my ) | 0;\n\t\t\tmz = mz < 0 ? 0 : ( mz > mortonScale ? mortonScale : mz ) | 0;\n\n\t\t\t// Inline expandBits + morton3D\n\t\t\tmx = ( mx * 0x00010001 ) & 0xFF0000FF;\n\t\t\tmx = ( mx * 0x00000101 ) & 0x0F00F00F;\n\t\t\tmx = ( mx * 0x00000011 ) & 0xC30C30C3;\n\t\t\tmx = ( mx * 0x00000005 ) & 0x49249249;\n\n\t\t\tmy = ( my * 0x00010001 ) & 0xFF0000FF;\n\t\t\tmy = ( my * 0x00000101 ) & 0x0F00F00F;\n\t\t\tmy = ( my * 0x00000011 ) & 0xC30C30C3;\n\t\t\tmy = ( my * 0x00000005 ) & 0x49249249;\n\n\t\t\tmz = ( mz * 0x00010001 ) & 0xFF0000FF;\n\t\t\tmz = ( mz * 0x00000101 ) & 0x0F00F00F;\n\t\t\tmz = ( mz * 0x00000011 ) & 0xC30C30C3;\n\t\t\tmz = ( mz * 0x00000005 ) & 0x49249249;\n\n\t\t\tmc[ triIdx ] = ( mz << 2 ) + ( my << 1 ) + mx;\n\n\t\t}\n\n\t\t// Radix sort indices by morton code (O(N), 4 passes of 8-bit digits)\n\t\tconst temp = new Uint32Array( n );\n\t\tconst counts = new Uint32Array( 256 );\n\n\t\tfor ( let shift = 0; shift < 32; shift += 8 ) {\n\n\t\t\tcounts.fill( 0 );\n\n\t\t\t// Count digit occurrences\n\t\t\tfor ( let i = 0; i < n; i ++ ) {\n\n\t\t\t\tcounts[ ( mc[ indices[ i ] ] >>> shift ) & 0xFF ] ++;\n\n\t\t\t}\n\n\t\t\t// Prefix sum\n\t\t\tlet total = 0;\n\t\t\tfor ( let i = 0; i < 256; i ++ ) {\n\n\t\t\t\tconst c = counts[ i ];\n\t\t\t\tcounts[ i ] = total;\n\t\t\t\ttotal += c;\n\n\t\t\t}\n\n\t\t\t// Scatter to temp\n\t\t\tfor ( let i = 0; i < n; i ++ ) {\n\n\t\t\t\tconst digit = ( mc[ indices[ i ] ] >>> shift ) & 0xFF;\n\t\t\t\ttemp[ counts[ digit ] ++ ] = indices[ i ];\n\n\t\t\t}\n\n\t\t\tindices.set( temp );\n\n\t\t}\n\n\t\tthis.splitStats.mortonSortTime += performance.now() - startTime;\n\n\t}\n\n\t// --- Build entry points ---\n\n\t/**\n\t * Build BVH from triangle data.\n\t * Returns { bvhData: Float32Array, bvhRoot: true, reorderedTriangles: Float32Array }\n\t * where bvhData is the GPU-ready flat array (12 floats/node) and reorderedTriangles\n\t * is the BVH-ordered triangle data. Caller must use reorderedTriangles instead of\n\t * the original input (which is neutered after transfer to the worker).\n\t */\n\tbuild( triangles, depth = 30, progressCallback = null ) {\n\n\t\tthis.totalTriangles = triangles.byteLength / ( FPT * 4 );\n\t\tthis.processedTriangles = 0;\n\t\tthis.lastProgressUpdate = performance.now();\n\n\t\tif ( this.useWorker && typeof Worker !== 'undefined' ) {\n\n\t\t\treturn new Promise( ( resolve, reject ) => {\n\n\t\t\t\ttry {\n\n\t\t\t\t\tconst worker = new Worker(\n\t\t\t\t\t\tnew URL( './Workers/BVHWorker.js', import.meta.url ),\n\t\t\t\t\t\t{ type: 'module' }\n\t\t\t\t\t);\n\n\t\t\t\t\tconst triangleCount = this.totalTriangles;\n\t\t\t\t\tconst useShared = typeof SharedArrayBuffer !== 'undefined';\n\t\t\t\t\tconsole.log( `[BVHBuilder] SharedArrayBuffer: ${useShared ? 'enabled' : 'unavailable (using transfer fallback)'}` );\n\n\t\t\t\t\t// Pre-allocate SharedArrayBuffer for reordered output so worker\n\t\t\t\t\t// writes directly to shared memory (no transfer needed on return).\n\t\t\t\t\tconst sharedReorderBuffer = useShared\n\t\t\t\t\t\t? new SharedArrayBuffer( triangleCount * FPT * 4 )\n\t\t\t\t\t\t: null;\n\n\t\t\t\t\tworker.onmessage = ( e ) => {\n\n\t\t\t\t\t\tconst { bvhData, triangles: transferredTriangles, originalToBvh, error, progress, treeletStats } = e.data;\n\n\t\t\t\t\t\tif ( error ) {\n\n\t\t\t\t\t\t\tworker.terminate();\n\t\t\t\t\t\t\treject( new Error( error ) );\n\t\t\t\t\t\t\treturn;\n\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tif ( progress !== undefined && progressCallback ) {\n\n\t\t\t\t\t\t\tprogressCallback( progress );\n\t\t\t\t\t\t\treturn;\n\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tif ( treeletStats ) {\n\n\t\t\t\t\t\t\tthis.splitStats = treeletStats;\n\n\t\t\t\t\t\t}\n\n\t\t\t\t\t\tworker.terminate();\n\n\t\t\t\t\t\t// Reordered triangles: from shared memory or fallback transfer\n\t\t\t\t\t\tconst reorderedTriangles = sharedReorderBuffer\n\t\t\t\t\t\t\t? new Float32Array( sharedReorderBuffer )\n\t\t\t\t\t\t\t: transferredTriangles;\n\n\t\t\t\t\t\tresolve( { bvhData, bvhRoot: true, reorderedTriangles, originalToBvh: originalToBvh || null } );\n\n\t\t\t\t\t};\n\n\t\t\t\t\tworker.onerror = ( error ) => {\n\n\t\t\t\t\t\tworker.terminate();\n\t\t\t\t\t\treject( error );\n\n\t\t\t\t\t};\n\n\t\t\t\t\t// Transfer the original buffer directly — avoids 362MB copy.\n\t\t\t\t\tconst transferBuffer = triangles.buffer;\n\t\t\t\t\tconst workerData = {\n\t\t\t\t\t\ttriangleData: transferBuffer,\n\t\t\t\t\t\ttriangleByteOffset: triangles.byteOffset,\n\t\t\t\t\t\ttriangleByteLength: triangles.byteLength,\n\t\t\t\t\t\ttriangleCount,\n\t\t\t\t\t\tdepth,\n\t\t\t\t\t\treportProgress: !! progressCallback,\n\t\t\t\t\t\tsharedReorderBuffer,\n\t\t\t\t\t\ttreeletOptimization: {\n\t\t\t\t\t\t\tenabled: this.enableTreeletOptimization,\n\t\t\t\t\t\t\tsize: this.treeletSize,\n\t\t\t\t\t\t\tpasses: this.treeletOptimizationPasses,\n\t\t\t\t\t\t\tminImprovement: this.treeletMinImprovement\n\t\t\t\t\t\t},\n\t\t\t\t\t\treinsertionOptimization: {\n\t\t\t\t\t\t\tenabled: this.enableReinsertionOptimization,\n\t\t\t\t\t\t\tbatchSizeRatio: this.reinsertionBatchSizeRatio,\n\t\t\t\t\t\t\tmaxIterations: this.reinsertionMaxIterations\n\t\t\t\t\t\t}\n\t\t\t\t\t};\n\n\t\t\t\t\tworker.postMessage( workerData, [ transferBuffer ] );\n\n\t\t\t\t} catch ( error ) {\n\n\t\t\t\t\tconsole.warn( 'Worker creation failed, falling back to synchronous build:', error );\n\t\t\t\t\tresolve( this._buildSyncAndFlatten( triangles, depth, progressCallback ) );\n\n\t\t\t\t}\n\n\t\t\t} );\n\n\t\t} else {\n\n\t\t\treturn new Promise( ( resolve ) => {\n\n\t\t\t\tresolve( this._buildSyncAndFlatten( triangles, depth, progressCallback ) );\n\n\t\t\t} );\n\n\t\t}\n\n\t}\n\n\t/**\n\t * Synchronous build + flatten helper for non-worker path.\n\t * @private\n\t */\n\t_buildSyncAndFlatten( triangles, depth, progressCallback ) {\n\n\t\tconst root = this.buildSync( triangles, depth, progressCallback );\n\t\tconst bvhData = this.flattenBVH( root );\n\t\t// Return reordered triangles if available (avoids 362MB copy)\n\t\tconst reorderedTriangles = this.reorderedTriangleData || null;\n\t\tconst originalToBvh = this.originalToBvhMap || null;\n\t\treturn { bvhData, bvhRoot: true, reorderedTriangles, originalToBvh };\n\n\t}\n\n\tbuildSync( triangles, depth = 30, progressCallback = null, reorderTarget = null ) {\n\n\t\tconst buildStartTime = performance.now();\n\n\t\t// Reset state\n\t\tthis.totalNodes = 0;\n\t\tthis.processedTriangles = 0;\n\t\tthis.triangles = triangles;\n\t\tthis.totalTriangles = triangles.byteLength / ( FPT * 4 );\n\t\tthis.lastProgressUpdate = performance.now();\n\n\t\tthis.splitStats = {\n\t\t\tsahSplits: 0,\n\t\t\tobjectMedianSplits: 0,\n\t\t\tspatialMedianSplits: 0,\n\t\t\tfailedSplits: 0,\n\t\t\tavgBinsUsed: 0,\n\t\t\ttotalSplitAttempts: 0,\n\t\t\tmortonSortTime: 0,\n\t\t\ttotalBuildTime: 0,\n\t\t\ttreeletOptimizationTime: 0,\n\t\t\ttreeletsProcessed: 0,\n\t\t\ttreeletsImproved: 0,\n\t\t\taverageSAHImprovement: 0,\n\t\t\treinsertionOptimizationTime: 0,\n\t\t\treinsertionsApplied: 0,\n\t\t\treinsertionIterations: 0,\n\t\t\tsaOrderTime: 0,\n\t\t\t// Granular phase timings\n\t\t\tinitTime: 0,\n\t\t\tsahBuildTime: 0,\n\t\t\treorderTime: 0\n\t\t};\n\n\t\tconst n = this.totalTriangles;\n\n\t\t// Phase 1: Allocate and initialize per-triangle arrays\n\t\tconst initStart = performance.now();\n\n\t\tthis.centroids = new Float32Array( n * 3 );\n\t\tthis.bMin = new Float32Array( n * 3 );\n\t\tthis.bMax = new Float32Array( n * 3 );\n\t\tthis.indices = new Uint32Array( n );\n\t\tthis.mortonCodes = new Uint32Array( n );\n\n\t\tthis.initializeTriangleArrays();\n\n\t\tthis.splitStats.initTime = performance.now() - initStart;\n\n\t\t// Phase 2: Morton code spatial clustering\n\t\tthis.sortTrianglesByMortonCode();\n\n\t\t// Phase 3: Recursive SAH build\n\t\tconst sahStart = performance.now();\n\t\tconst root = this.buildNodeRecursive( 0, n, depth, progressCallback );\n\t\tthis.splitStats.sahBuildTime = performance.now() - sahStart;\n\n\t\t// Phase 4: Treelet optimization\n\t\tif ( this.enableTreeletOptimization && this.totalTriangles > 1000 ) {\n\n\t\t\tconst isLargeScene = this.totalTriangles > this.treeletComplexityThreshold;\n\t\t\tconst adaptiveTreeletSize = isLargeScene ? 3 : this.treeletSize;\n\t\t\tconst adaptiveMaxTreelets = isLargeScene ? 10 : this.maxTreeletsPerScene;\n\n\t\t\tconst optimizer = new TreeletOptimizer( this.traversalCost, this.intersectionCost );\n\t\t\toptimizer.setTreeletSize( adaptiveTreeletSize );\n\t\t\toptimizer.setMinImprovement( this.treeletMinImprovement );\n\t\t\toptimizer.setMaxTreelets( adaptiveMaxTreelets );\n\n\t\t\tconst optimizationStartTime = performance.now();\n\n\t\t\tfor ( let pass = 0; pass < this.treeletOptimizationPasses; pass ++ ) {\n\n\t\t\t\tconst passCallback = progressCallback ? ( status ) => {\n\n\t\t\t\t\tprogressCallback( `Treelet optimization pass ${pass + 1}/${this.treeletOptimizationPasses}: ${status}` );\n\n\t\t\t\t} : null;\n\n\t\t\t\ttry {\n\n\t\t\t\t\toptimizer.optimizeBVH( root, passCallback );\n\n\t\t\t\t} catch ( error ) {\n\n\t\t\t\t\tconsole.error( `TreeletOptimizer: Error in pass ${pass + 1}:`, error );\n\t\t\t\t\tbreak;\n\n\t\t\t\t}\n\n\t\t\t\t// optimizeBVH resets stats internally, so afterStats reflects this pass only\n\t\t\t\tconst afterStats = optimizer.getStatistics();\n\t\t\t\tconst passTime = performance.now() - optimizationStartTime;\n\t\t\t\tif ( ( afterStats.treeletsImproved === 0 && pass > 0 ) || passTime > 15000 ) {\n\n\t\t\t\t\tbreak;\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\tconst treeletTime = performance.now() - optimizationStartTime;\n\t\t\tthis.splitStats.treeletOptimizationTime = treeletTime;\n\t\t\tconst treeletStats = optimizer.getStatistics();\n\t\t\tthis.splitStats.treeletsProcessed = treeletStats.treeletsProcessed;\n\t\t\tthis.splitStats.treeletsImproved = treeletStats.treeletsImproved;\n\t\t\tthis.splitStats.averageSAHImprovement = treeletStats.averageSAHImprovement;\n\n\t\t}\n\n\t\t// Phase 4b: Reinsertion optimization (Meister & Bittner)\n\t\tif ( this.enableReinsertionOptimization && this.totalTriangles > 1000 ) {\n\n\t\t\tconst reinsertionOptimizer = new ReinsertionOptimizer( this.traversalCost, this.intersectionCost );\n\t\t\treinsertionOptimizer.setBatchSizeRatio( this.reinsertionBatchSizeRatio );\n\t\t\treinsertionOptimizer.setMaxIterations( this.reinsertionMaxIterations );\n\n\t\t\tconst reinsertCallback = progressCallback ? ( status ) => {\n\n\t\t\t\tprogressCallback( status );\n\n\t\t\t} : null;\n\n\t\t\ttry {\n\n\t\t\t\treinsertionOptimizer.optimizeBVH( root, reinsertCallback );\n\n\t\t\t} catch ( error ) {\n\n\t\t\t\tconsole.error( 'ReinsertionOptimizer: Error:', error );\n\n\t\t\t}\n\n\t\t\tconst reinsertStats = reinsertionOptimizer.getStatistics();\n\t\t\tthis.splitStats.reinsertionOptimizationTime = reinsertStats.timeMs;\n\t\t\tthis.splitStats.reinsertionsApplied = reinsertStats.reinsertionsApplied;\n\t\t\tthis.splitStats.reinsertionIterations = reinsertStats.iterations;\n\n\t\t}\n\n\t\t// Phase 5: Surface-area child ordering (DFS cache locality)\n\t\tconst saOrderStart = performance.now();\n\t\tthis.applySAOrdering( root );\n\t\tthis.splitStats.saOrderTime = performance.now() - saOrderStart;\n\n\t\t// Phase 6: Create reordered triangle data from final index order\n\t\tconst reorderStart = performance.now();\n\t\tconst triSrc = this.triangles;\n\t\tconst reordered = reorderTarget || new Float32Array( n * FPT );\n\t\tfor ( let i = 0; i < n; i ++ ) {\n\n\t\t\tconst srcOff = this.indices[ i ] * FPT;\n\t\t\tconst dstOff = i * FPT;\n\t\t\treordered.set( triSrc.subarray( srcOff, srcOff + FPT ), dstOff );\n\n\t\t}\n\n\t\tthis.reorderedTriangleData = reordered;\n\n\t\t// Phase 6b: Build inverse index map for BVH refit\n\t\t// originalToBvh[originalTriIdx] = bvhOrderIdx\n\t\tconst originalToBvh = new Uint32Array( n );\n\t\tfor ( let i = 0; i < n; i ++ ) {\n\n\t\t\toriginalToBvh[ this.indices[ i ] ] = i;\n\n\t\t}\n\n\t\tthis.originalToBvhMap = originalToBvh;\n\n\t\tthis.splitStats.reorderTime = performance.now() - reorderStart;\n\n\t\tthis.splitStats.totalBuildTime = performance.now() - buildStartTime;\n\n\t\t// Print phase-level timing breakdown\n\t\tconst total = this.splitStats.totalBuildTime;\n\t\tconst phasePct = ( ms ) => total > 0 ? ( ms / total * 100 ).toFixed( 1 ) + '%' : '0%';\n\n\t\tconst timingRows = [\n\t\t\t{ Phase: 'Init + bounds', 'Time (ms)': Math.round( this.splitStats.initTime ), '%': phasePct( this.splitStats.initTime ) },\n\t\t\t{ Phase: 'Morton sort', 'Time (ms)': Math.round( this.splitStats.mortonSortTime ), '%': phasePct( this.splitStats.mortonSortTime ) },\n\t\t\t{ Phase: 'SAH recursive build', 'Time (ms)': Math.round( this.splitStats.sahBuildTime ), '%': phasePct( this.splitStats.sahBuildTime ) },\n\t\t\t{ Phase: 'Treelet optimization', 'Time (ms)': Math.round( this.splitStats.treeletOptimizationTime ), '%': phasePct( this.splitStats.treeletOptimizationTime ) },\n\t\t\t{ Phase: 'Reinsertion optimization', 'Time (ms)': Math.round( this.splitStats.reinsertionOptimizationTime ), '%': phasePct( this.splitStats.reinsertionOptimizationTime ) },\n\t\t\t{ Phase: 'SA ordering', 'Time (ms)': Math.round( this.splitStats.saOrderTime ), '%': phasePct( this.splitStats.saOrderTime ) },\n\t\t\t{ Phase: 'Triangle reorder', 'Time (ms)': Math.round( this.splitStats.reorderTime ), '%': phasePct( this.splitStats.reorderTime ) },\n\t\t\t{ Phase: 'TOTAL', 'Time (ms)': Math.round( total ), '%': '100%' }\n\t\t];\n\n\t\tconsole.groupCollapsed( `⏱ BVH Build (${n.toLocaleString()} triangles, ${Math.round( total )}ms)` );\n\t\tconsole.table( timingRows );\n\t\tconsole.table( {\n\t\t\t'Total Nodes': this.totalNodes,\n\t\t\t'Max Leaf Size': this.maxLeafSize,\n\t\t\t'SAH Splits': this.splitStats.sahSplits,\n\t\t\t'Object Median Splits': this.splitStats.objectMedianSplits,\n\t\t\t'Spatial Median Splits': this.splitStats.spatialMedianSplits,\n\t\t\t'Failed Splits': this.splitStats.failedSplits,\n\t\t\t'Treelets Processed': this.splitStats.treeletsProcessed,\n\t\t\t'Treelets Improved': this.splitStats.treeletsImproved,\n\t\t\t'Avg SAH Improvement': ( this.splitStats.averageSAHImprovement * 100 ).toFixed( 2 ) + '%',\n\t\t\t'Reinsertions Applied': this.splitStats.reinsertionsApplied,\n\t\t\t'Reinsertion Iterations': this.splitStats.reinsertionIterations,\n\t\t} );\n\t\tconsole.groupEnd();\n\n\t\tprogressCallback && progressCallback( 100 );\n\n\t\t// Free flat arrays (no longer needed)\n\t\tthis.centroids = null;\n\t\tthis.bMin = null;\n\t\tthis.bMax = null;\n\t\tthis.mortonCodes = null;\n\n\t\treturn root;\n\n\t}\n\n\tupdateProgress( trianglesProcessed, progressCallback ) {\n\n\t\tif ( ! progressCallback ) return;\n\n\t\tthis.processedTriangles += trianglesProcessed;\n\t\tconst now = performance.now();\n\t\tif ( now - this.lastProgressUpdate < this.progressUpdateInterval ) return;\n\n\t\tthis.lastProgressUpdate = now;\n\t\tconst progress = Math.min( Math.floor( ( this.processedTriangles / this.totalTriangles ) * 100 ), 99 );\n\t\tprogressCallback( progress );\n\n\t}\n\n\t// --- Top-level BVH build for parallel construction ---\n\n\t/**\n\t * Build top levels of BVH, creating frontier leaves for parallel subtree construction.\n\t * Frontier leaves are marked with `isFrontier = true` and recorded in `this.frontierTasks`.\n\t * @param {number} start - Start index in indices array\n\t * @param {number} end - End index in indices array\n\t * @param {number} depth - Remaining depth budget for full tree\n\t * @param {number} frontierDepthRemaining - Levels still to build before creating frontier leaves\n\t * @param {Function} progressCallback - Optional progress callback\n\t * @param {number} preMinX - Precomputed bounds (optional)\n\t */\n\tbuildNodeRecursiveToDepth( start, end, depth, frontierDepthRemaining, progressCallback, preMinX, preMinY, preMinZ, preMaxX, preMaxY, preMaxZ ) {\n\n\t\tconst node = new BVHNode();\n\t\tthis.totalNodes ++;\n\n\t\tconst count = end - start;\n\n\t\t// Use precomputed bounds from parent's partition, or compute for root\n\t\tif ( preMinX !== undefined ) {\n\n\t\t\tnode.minX = preMinX; node.minY = preMinY; node.minZ = preMinZ;\n\t\t\tnode.maxX = preMaxX; node.maxY = preMaxY; node.maxZ = preMaxZ;\n\n\t\t} else {\n\n\t\t\tthis.updateNodeBounds( node, start, end );\n\n\t\t}\n\n\t\t// Normal leaf condition (small enough to not need a subtree)\n\t\tif ( count <= this.maxLeafSize || depth <= 0 ) {\n\n\t\t\tnode.triangleOffset = start;\n\t\t\tnode.triangleCount = count;\n\t\t\tthis.updateProgress( count, progressCallback );\n\t\t\treturn node;\n\n\t\t}\n\n\t\t// Frontier condition: stop recursion and record as parallel task\n\t\tif ( frontierDepthRemaining <= 0 && count > this.maxLeafSize * 16 ) {\n\n\t\t\tconst taskId = this.frontierTasks.length;\n\t\t\tnode.triangleOffset = start;\n\t\t\tnode.triangleCount = count;\n\t\t\tnode.isFrontier = true;\n\t\t\tnode.frontierTaskId = taskId;\n\t\t\tthis.frontierTasks.push( {\n\t\t\t\ttaskId,\n\t\t\t\tstart,\n\t\t\t\tend,\n\t\t\t\tdepth,\n\t\t\t\tpreMinX: node.minX, preMinY: node.minY, preMinZ: node.minZ,\n\t\t\t\tpreMaxX: node.maxX, preMaxY: node.maxY, preMaxZ: node.maxZ\n\t\t\t} );\n\t\t\treturn node;\n\n\t\t}\n\n\t\t// Find best split using SAH\n\t\tconst splitInfo = this.findBestSplitPositionSAH( start, end, node );\n\n\t\tif ( ! splitInfo.success ) {\n\n\t\t\tthis.splitStats.failedSplits ++;\n\n\t\t\t// If we haven't reached frontier depth yet, make it a frontier task anyway\n\t\t\tif ( frontierDepthRemaining > 0 || count <= this.maxLeafSize * 16 ) {\n\n\t\t\t\tnode.triangleOffset = start;\n\t\t\t\tnode.triangleCount = count;\n\t\t\t\tthis.updateProgress( count, progressCallback );\n\t\t\t\treturn node;\n\n\t\t\t}\n\n\t\t\tconst taskId = this.frontierTasks.length;\n\t\t\tnode.triangleOffset = start;\n\t\t\tnode.triangleCount = count;\n\t\t\tnode.isFrontier = true;\n\t\t\tnode.frontierTaskId = taskId;\n\t\t\tthis.frontierTasks.push( {\n\t\t\t\ttaskId,\n\t\t\t\tstart,\n\t\t\t\tend,\n\t\t\t\tdepth,\n\t\t\t\tpreMinX: node.minX, preMinY: node.minY, preMinZ: node.minZ,\n\t\t\t\tpreMaxX: node.maxX, preMaxY: node.maxY, preMaxZ: node.maxZ\n\t\t\t} );\n\t\t\treturn node;\n\n\t\t}\n\n\t\t// Track split method\n\t\tif ( splitInfo.method === 'SAH' ) this.splitStats.sahSplits ++;\n\t\telse if ( splitInfo.method === 'object_median' ) this.splitStats.objectMedianSplits ++;\n\t\telse if ( splitInfo.method === 'spatial_median' ) this.splitStats.spatialMedianSplits ++;\n\n\t\t// Partition and compute child bounds in one pass\n\t\tthis.partitionWithBounds( start, end, splitInfo.axis, splitInfo.pos );\n\n\t\tconst p = this._partResult;\n\t\tconst mid = p.mid;\n\t\tconst lMnX = p.lMinX, lMnY = p.lMinY, lMnZ = p.lMinZ;\n\t\tconst lMxX = p.lMaxX, lMxY = p.lMaxY, lMxZ = p.lMaxZ;\n\t\tconst rMnX = p.rMinX, rMnY = p.rMinY, rMnZ = p.rMinZ;\n\t\tconst rMxX = p.rMaxX, rMxY = p.rMaxY, rMxZ = p.rMaxZ;\n\n\t\t// Degenerate partition fallback\n\t\tif ( mid === start || mid === end ) {\n\n\t\t\tnode.triangleOffset = start;\n\t\t\tnode.triangleCount = count;\n\t\t\tthis.updateProgress( count, progressCallback );\n\t\t\treturn node;\n\n\t\t}\n\n\t\tnode.leftChild = this.buildNodeRecursiveToDepth(\n\t\t\tstart, mid, depth - 1, frontierDepthRemaining - 1, progressCallback,\n\t\t\tlMnX, lMnY, lMnZ, lMxX, lMxY, lMxZ\n\t\t);\n\t\tnode.rightChild = this.buildNodeRecursiveToDepth(\n\t\t\tmid, end, depth - 1, frontierDepthRemaining - 1, progressCallback,\n\t\t\trMnX, rMnY, rMnZ, rMxX, rMxY, rMxZ\n\t\t);\n\n\t\treturn node;\n\n\t}\n\n\t// --- Recursive BVH build (operates on index range) ---\n\n\tbuildNodeRecursive( start, end, depth, progressCallback, preMinX, preMinY, preMinZ, preMaxX, preMaxY, preMaxZ ) {\n\n\t\tconst node = new BVHNode();\n\t\tthis.totalNodes ++;\n\n\t\tconst count = end - start;\n\n\t\t// Use precomputed bounds from parent's partition, or compute for root\n\t\tif ( preMinX !== undefined ) {\n\n\t\t\tnode.minX = preMinX; node.minY = preMinY; node.minZ = preMinZ;\n\t\t\tnode.maxX = preMaxX; node.maxY = preMaxY; node.maxZ = preMaxZ;\n\n\t\t} else {\n\n\t\t\tthis.updateNodeBounds( node, start, end );\n\n\t\t}\n\n\t\t// Leaf condition\n\t\tif ( count <= this.maxLeafSize || depth <= 0 ) {\n\n\t\t\tnode.triangleOffset = start;\n\t\t\tnode.triangleCount = count;\n\t\t\tthis.updateProgress( count, progressCallback );\n\t\t\treturn node;\n\n\t\t}\n\n\t\t// Find best split using SAH\n\t\tconst splitInfo = this.findBestSplitPositionSAH( start, end, node );\n\n\t\tif ( ! splitInfo.success ) {\n\n\t\t\tthis.splitStats.failedSplits ++;\n\t\t\tnode.triangleOffset = start;\n\t\t\tnode.triangleCount = count;\n\t\t\tthis.updateProgress( count, progressCallback );\n\t\t\treturn node;\n\n\t\t}\n\n\t\t// Track split method\n\t\tif ( splitInfo.method === 'SAH' ) this.splitStats.sahSplits ++;\n\t\telse if ( splitInfo.method === 'object_median' ) this.splitStats.objectMedianSplits ++;\n\t\telse if ( splitInfo.method === 'spatial_median' ) this.splitStats.spatialMedianSplits ++;\n\n\t\t// Partition and compute child bounds in one pass\n\t\tthis.partitionWithBounds( start, end, splitInfo.axis, splitInfo.pos );\n\n\t\t// Snapshot into locals — _partResult is reused and will be overwritten by child recursion\n\t\tconst p = this._partResult;\n\t\tconst mid = p.mid;\n\t\tconst lMnX = p.lMinX, lMnY = p.lMinY, lMnZ = p.lMinZ;\n\t\tconst lMxX = p.lMaxX, lMxY = p.lMaxY, lMxZ = p.lMaxZ;\n\t\tconst rMnX = p.rMinX, rMnY = p.rMinY, rMnZ = p.rMinZ;\n\t\tconst rMxX = p.rMaxX, rMxY = p.rMaxY, rMxZ = p.rMaxZ;\n\n\t\t// Degenerate partition fallback\n\t\tif ( mid === start || mid === end ) {\n\n\t\t\tnode.triangleOffset = start;\n\t\t\tnode.triangleCount = count;\n\t\t\tthis.updateProgress( count, progressCallback );\n\t\t\treturn node;\n\n\t\t}\n\n\t\tnode.leftChild = this.buildNodeRecursive(\n\t\t\tstart, mid, depth - 1, progressCallback,\n\t\t\tlMnX, lMnY, lMnZ, lMxX, lMxY, lMxZ\n\t\t);\n\t\tnode.rightChild = this.buildNodeRecursive(\n\t\t\tmid, end, depth - 1, progressCallback,\n\t\t\trMnX, rMnY, rMnZ, rMxX, rMxY, rMxZ\n\t\t);\n\n\t\treturn node;\n\n\t}\n\n\t// Partition indices and accumulate child bounds in a single pass\n\tpartitionWithBounds( start, end, axis, splitPos ) {\n\n\t\tconst idx = this.indices;\n\t\tconst c = this.centroids;\n\t\tconst bMn = this.bMin;\n\t\tconst bMx = this.bMax;\n\n\t\tlet lo = start;\n\t\tlet hi = end - 1;\n\n\t\tlet lMinX = Infinity, lMinY = Infinity, lMinZ = Infinity;\n\t\tlet lMaxX = - Infinity, lMaxY = - Infinity, lMaxZ = - Infinity;\n\t\tlet rMinX = Infinity, rMinY = Infinity, rMinZ = Infinity;\n\t\tlet rMaxX = - Infinity, rMaxY = - Infinity, rMaxZ = - Infinity;\n\n\t\twhile ( lo <= hi ) {\n\n\t\t\tconst triIdx = idx[ lo ];\n\t\t\tconst o = triIdx * 3;\n\n\t\t\tif ( c[ o + axis ] <= splitPos ) {\n\n\t\t\t\t// Left partition — accumulate bounds\n\t\t\t\tif ( bMn[ o ] < lMinX ) lMinX = bMn[ o ];\n\t\t\t\tif ( bMn[ o + 1 ] < lMinY ) lMinY = bMn[ o + 1 ];\n\t\t\t\tif ( bMn[ o + 2 ] < lMinZ ) lMinZ = bMn[ o + 2 ];\n\t\t\t\tif ( bMx[ o ] > lMaxX ) lMaxX = bMx[ o ];\n\t\t\t\tif ( bMx[ o + 1 ] > lMaxY ) lMaxY = bMx[ o + 1 ];\n\t\t\t\tif ( bMx[ o + 2 ] > lMaxZ ) lMaxZ = bMx[ o + 2 ];\n\t\t\t\tlo ++;\n\n\t\t\t} else {\n\n\t\t\t\t// Right partition — accumulate bounds\n\t\t\t\tif ( bMn[ o ] < rMinX ) rMinX = bMn[ o ];\n\t\t\t\tif ( bMn[ o + 1 ] < rMinY ) rMinY = bMn[ o + 1 ];\n\t\t\t\tif ( bMn[ o + 2 ] < rMinZ ) rMinZ = bMn[ o + 2 ];\n\t\t\t\tif ( bMx[ o ] > rMaxX ) rMaxX = bMx[ o ];\n\t\t\t\tif ( bMx[ o + 1 ] > rMaxY ) rMaxY = bMx[ o + 1 ];\n\t\t\t\tif ( bMx[ o + 2 ] > rMaxZ ) rMaxZ = bMx[ o + 2 ];\n\n\t\t\t\t// Swap indices[lo] and indices[hi]\n\t\t\t\tidx[ lo ] = idx[ hi ];\n\t\t\t\tidx[ hi ] = triIdx;\n\t\t\t\thi --;\n\n\t\t\t}\n\n\t\t}\n\n\t\tconst r = this._partResult;\n\t\tr.mid = lo;\n\t\tr.lMinX = lMinX; r.lMinY = lMinY; r.lMinZ = lMinZ;\n\t\tr.lMaxX = lMaxX; r.lMaxY = lMaxY; r.lMaxZ = lMaxZ;\n\t\tr.rMinX = rMinX; r.rMinY = rMinY; r.rMinZ = rMinZ;\n\t\tr.rMaxX = rMaxX; r.rMaxY = rMaxY; r.rMaxZ = rMaxZ;\n\t\treturn r;\n\n\t}\n\n\tupdateNodeBounds( node, start, end ) {\n\n\t\tlet minX = Infinity, minY = Infinity, minZ = Infinity;\n\t\tlet maxX = - Infinity, maxY = - Infinity, maxZ = - Infinity;\n\n\t\tconst idx = this.indices;\n\t\tconst bMin = this.bMin;\n\t\tconst bMax = this.bMax;\n\n\t\tfor ( let i = start; i < end; i ++ ) {\n\n\t\t\tconst o = idx[ i ] * 3;\n\t\t\tif ( bMin[ o ] < minX ) minX = bMin[ o ];\n\t\t\tif ( bMin[ o + 1 ] < minY ) minY = bMin[ o + 1 ];\n\t\t\tif ( bMin[ o + 2 ] < minZ ) minZ = bMin[ o + 2 ];\n\t\t\tif ( bMax[ o ] > maxX ) maxX = bMax[ o ];\n\t\t\tif ( bMax[ o + 1 ] > maxY ) maxY = bMax[ o + 1 ];\n\t\t\tif ( bMax[ o + 2 ] > maxZ ) maxZ = bMax[ o + 2 ];\n\n\t\t}\n\n\t\tnode.minX = minX; node.minY = minY; node.minZ = minZ;\n\t\tnode.maxX = maxX; node.maxY = maxY; node.maxZ = maxZ;\n\n\t}\n\n\t// --- SAH with prefix-sum (O(bins) per axis instead of O(bins²)) ---\n\n\tfindBestSplitPositionSAH( start, end, parentNode ) {\n\n\t\tlet bestCost = Infinity;\n\t\tlet bestAxis = - 1;\n\t\tlet bestPos = 0;\n\n\t\tconst parentSA = this.computeSurfaceAreaFlat( parentNode.minX, parentNode.minY, parentNode.minZ, parentNode.maxX, parentNode.maxY, parentNode.maxZ );\n\t\tconst count = end - start;\n\t\tconst leafCost = this.intersectionCost * count;\n\t\tconst currentBinCount = this.getOptimalBinCount( count );\n\n\t\tthis.splitStats.totalSplitAttempts ++;\n\t\tthis.splitStats.avgBinsUsed = ( ( this.splitStats.avgBinsUsed * ( this.splitStats.totalSplitAttempts - 1 ) ) + currentBinCount ) / this.splitStats.totalSplitAttempts;\n\n\t\tconst idx = this.indices;\n\t\tconst c = this.centroids;\n\t\tconst bMn = this.bMin;\n\t\tconst bMx = this.bMax;\n\t\tconst bbMin = this.binBoundsMin;\n\t\tconst bbMax = this.binBoundsMax;\n\t\tconst bc = this.binCounts;\n\t\tconst lpMin = this.leftPrefixMin;\n\t\tconst lpMax = this.leftPrefixMax;\n\t\tconst lpc = this.leftPrefixCount;\n\t\tconst rpMin = this.rightPrefixMin;\n\t\tconst rpMax = this.rightPrefixMax;\n\t\tconst rpc = this.rightPrefixCount;\n\n\t\t// Single pass: find centroid bounds for all 3 axes\n\t\tlet cMin0 = Infinity, cMax0 = - Infinity;\n\t\tlet cMin1 = Infinity, cMax1 = - Infinity;\n\t\tlet cMin2 = Infinity, cMax2 = - Infinity;\n\n\t\tfor ( let i = start; i < end; i ++ ) {\n\n\t\t\tconst o = idx[ i ] * 3;\n\t\t\tconst c0 = c[ o ], c1 = c[ o + 1 ], c2 = c[ o + 2 ];\n\t\t\tif ( c0 < cMin0 ) cMin0 = c0; if ( c0 > cMax0 ) cMax0 = c0;\n\t\t\tif ( c1 < cMin1 ) cMin1 = c1; if ( c1 > cMax1 ) cMax1 = c1;\n\t\t\tif ( c2 < cMin2 ) cMin2 = c2; if ( c2 > cMax2 ) cMax2 = c2;\n\n\t\t}\n\n\t\tconst centroidMin = [ cMin0, cMin1, cMin2 ];\n\t\tconst centroidMax = [ cMax0, cMax1, cMax2 ];\n\n\t\tfor ( let axis = 0; axis < 3; axis ++ ) {\n\n\t\t\tconst minCentroid = centroidMin[ axis ];\n\t\t\tconst maxCentroid = centroidMax[ axis ];\n\n\t\t\tif ( maxCentroid - minCentroid < 1e-6 ) continue;\n\n\t\t\t// Reset bins\n\t\t\tfor ( let b = 0; b < currentBinCount; b ++ ) {\n\n\t\t\t\tbc[ b ] = 0;\n\t\t\t\tconst b3 = b * 3;\n\t\t\t\tbbMin[ b3 ] = Infinity; bbMin[ b3 + 1 ] = Infinity; bbMin[ b3 + 2 ] = Infinity;\n\t\t\t\tbbMax[ b3 ] = - Infinity; bbMax[ b3 + 1 ] = - Infinity; bbMax[ b3 + 2 ] = - Infinity;\n\n\t\t\t}\n\n\t\t\t// Place triangles into bins\n\t\t\tconst binScale = currentBinCount / ( maxCentroid - minCentroid );\n\t\t\tfor ( let i = start; i < end; i ++ ) {\n\n\t\t\t\tconst triIdx = idx[ i ];\n\t\t\t\tconst cv = c[ triIdx * 3 + axis ];\n\t\t\t\tlet bi = Math.floor( ( cv - minCentroid ) * binScale );\n\t\t\t\tif ( bi >= currentBinCount ) bi = currentBinCount - 1;\n\n\t\t\t\tbc[ bi ] ++;\n\t\t\t\tconst b3 = bi * 3;\n\t\t\t\tconst t3 = triIdx * 3;\n\n\t\t\t\tif ( bMn[ t3 ] < bbMin[ b3 ] ) bbMin[ b3 ] = bMn[ t3 ];\n\t\t\t\tif ( bMn[ t3 + 1 ] < bbMin[ b3 + 1 ] ) bbMin[ b3 + 1 ] = bMn[ t3 + 1 ];\n\t\t\t\tif ( bMn[ t3 + 2 ] < bbMin[ b3 + 2 ] ) bbMin[ b3 + 2 ] = bMn[ t3 + 2 ];\n\t\t\t\tif ( bMx[ t3 ] > bbMax[ b3 ] ) bbMax[ b3 ] = bMx[ t3 ];\n\t\t\t\tif ( bMx[ t3 + 1 ] > bbMax[ b3 + 1 ] ) bbMax[ b3 + 1 ] = bMx[ t3 + 1 ];\n\t\t\t\tif ( bMx[ t3 + 2 ] > bbMax[ b3 + 2 ] ) bbMax[ b3 + 2 ] = bMx[ t3 + 2 ];\n\n\t\t\t}\n\n\t\t\t// Build left prefix sums\n\t\t\tlpc[ 0 ] = bc[ 0 ];\n\t\t\tlpMin[ 0 ] = bbMin[ 0 ]; lpMin[ 1 ] = bbMin[ 1 ]; lpMin[ 2 ] = bbMin[ 2 ];\n\t\t\tlpMax[ 0 ] = bbMax[ 0 ]; lpMax[ 1 ] = bbMax[ 1 ]; lpMax[ 2 ] = bbMax[ 2 ];\n\n\t\t\tfor ( let b = 1; b < currentBinCount; b ++ ) {\n\n\t\t\t\tconst b3 = b * 3;\n\t\t\t\tconst p3 = ( b - 1 ) * 3;\n\t\t\t\tlpc[ b ] = lpc[ b - 1 ] + bc[ b ];\n\t\t\t\tconst lp0 = lpMin[ p3 ], lb0 = bbMin[ b3 ];\n\t\t\t\tconst lp1 = lpMin[ p3 + 1 ], lb1 = bbMin[ b3 + 1 ];\n\t\t\t\tconst lp2 = lpMin[ p3 + 2 ], lb2 = bbMin[ b3 + 2 ];\n\t\t\t\tlpMin[ b3 ] = lp0 < lb0 ? lp0 : lb0;\n\t\t\t\tlpMin[ b3 + 1 ] = lp1 < lb1 ? lp1 : lb1;\n\t\t\t\tlpMin[ b3 + 2 ] = lp2 < lb2 ? lp2 : lb2;\n\t\t\t\tconst lxp0 = lpMax[ p3 ], lxb0 = bbMax[ b3 ];\n\t\t\t\tconst lxp1 = lpMax[ p3 + 1 ], lxb1 = bbMax[ b3 + 1 ];\n\t\t\t\tconst lxp2 = lpMax[ p3 + 2 ], lxb2 = bbMax[ b3 + 2 ];\n\t\t\t\tlpMax[ b3 ] = lxp0 > lxb0 ? lxp0 : lxb0;\n\t\t\t\tlpMax[ b3 + 1 ] = lxp1 > lxb1 ? lxp1 : lxb1;\n\t\t\t\tlpMax[ b3 + 2 ] = lxp2 > lxb2 ? lxp2 : lxb2;\n\n\t\t\t}\n\n\t\t\t// Build right prefix sums\n\t\t\tconst last = currentBinCount - 1;\n\t\t\tconst l3 = last * 3;\n\t\t\trpc[ last ] = bc[ last ];\n\t\t\trpMin[ l3 ] = bbMin[ l3 ]; rpMin[ l3 + 1 ] = bbMin[ l3 + 1 ]; rpMin[ l3 + 2 ] = bbMin[ l3 + 2 ];\n\t\t\trpMax[ l3 ] = bbMax[ l3 ]; rpMax[ l3 + 1 ] = bbMax[ l3 + 1 ]; rpMax[ l3 + 2 ] = bbMax[ l3 + 2 ];\n\n\t\t\tfor ( let b = last - 1; b >= 0; b -- ) {\n\n\t\t\t\tconst b3 = b * 3;\n\t\t\t\tconst n3 = ( b + 1 ) * 3;\n\t\t\t\trpc[ b ] = rpc[ b + 1 ] + bc[ b ];\n\t\t\t\tconst rn0 = rpMin[ n3 ], rb0 = bbMin[ b3 ];\n\t\t\t\tconst rn1 = rpMin[ n3 + 1 ], rb1 = bbMin[ b3 + 1 ];\n\t\t\t\tconst rn2 = rpMin[ n3 + 2 ], rb2 = bbMin[ b3 + 2 ];\n\t\t\t\trpMin[ b3 ] = rn0 < rb0 ? rn0 : rb0;\n\t\t\t\trpMin[ b3 + 1 ] = rn1 < rb1 ? rn1 : rb1;\n\t\t\t\trpMin[ b3 + 2 ] = rn2 < rb2 ? rn2 : rb2;\n\t\t\t\tconst rxn0 = rpMax[ n3 ], rxb0 = bbMax[ b3 ];\n\t\t\t\tconst rxn1 = rpMax[ n3 + 1 ], rxb1 = bbMax[ b3 + 1 ];\n\t\t\t\tconst rxn2 = rpMax[ n3 + 2 ], rxb2 = bbMax[ b3 + 2 ];\n\t\t\t\trpMax[ b3 ] = rxn0 > rxb0 ? rxn0 : rxb0;\n\t\t\t\trpMax[ b3 + 1 ] = rxn1 > rxb1 ? rxn1 : rxb1;\n\t\t\t\trpMax[ b3 + 2 ] = rxn2 > rxb2 ? rxn2 : rxb2;\n\n\t\t\t}\n\n\t\t\t// Evaluate splits using prefix sums (O(bins) instead of O(bins²))\n\t\t\tfor ( let i = 1; i < currentBinCount; i ++ ) {\n\n\t\t\t\tconst leftIdx = ( i - 1 ) * 3;\n\t\t\t\tconst rightIdx = i * 3;\n\t\t\t\tconst leftCount = lpc[ i - 1 ];\n\t\t\t\tconst rightCount = rpc[ i ];\n\n\t\t\t\tif ( leftCount === 0 || rightCount === 0 ) continue;\n\n\t\t\t\t// Inlined surface area: 2*(dx*dy + dy*dz + dz*dx)\n\t\t\t\tconst ldx = lpMax[ leftIdx ] - lpMin[ leftIdx ];\n\t\t\t\tconst ldy = lpMax[ leftIdx + 1 ] - lpMin[ leftIdx + 1 ];\n\t\t\t\tconst ldz = lpMax[ leftIdx + 2 ] - lpMin[ leftIdx + 2 ];\n\t\t\t\tconst leftSA = 2 * ( ldx * ldy + ldy * ldz + ldz * ldx );\n\n\t\t\t\tconst rdx = rpMax[ rightIdx ] - rpMin[ rightIdx ];\n\t\t\t\tconst rdy = rpMax[ rightIdx + 1 ] - rpMin[ rightIdx + 1 ];\n\t\t\t\tconst rdz = rpMax[ rightIdx + 2 ] - rpMin[ rightIdx + 2 ];\n\t\t\t\tconst rightSA = 2 * ( rdx * rdy + rdy * rdz + rdz * rdx );\n\n\t\t\t\tconst cost = this.traversalCost +\n\t\t\t\t\t( leftSA / parentSA ) * leftCount * this.intersectionCost +\n\t\t\t\t\t( rightSA / parentSA ) * rightCount * this.intersectionCost;\n\n\t\t\t\tif ( cost < bestCost && cost < leafCost ) {\n\n\t\t\t\t\tbestCost = cost;\n\t\t\t\t\tbestAxis = axis;\n\t\t\t\t\tbestPos = minCentroid + ( maxCentroid - minCentroid ) * i / currentBinCount;\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t}\n\n\t\t// Fallbacks\n\t\tif ( bestAxis === - 1 ) {\n\n\t\t\tif ( this.enableObjectMedianFallback ) return this.findObjectMedianSplit( start, end );\n\t\t\tif ( this.enableSpatialMedianFallback ) return this.findSpatialMedianSplit( start, end );\n\t\t\treturn { success: false, method: 'fallbacks_disabled' };\n\n\t\t}\n\n\t\treturn { success: true, axis: bestAxis, pos: bestPos, method: 'SAH', binsUsed: currentBinCount };\n\n\t}\n\n\tfindObjectMedianSplit( start, end ) {\n\n\t\tconst idx = this.indices;\n\t\tconst c = this.centroids;\n\t\tlet bestAxis = - 1;\n\t\tlet bestSpread = - 1;\n\n\t\tfor ( let axis = 0; axis < 3; axis ++ ) {\n\n\t\t\tlet minC = Infinity, maxC = - Infinity;\n\t\t\tfor ( let i = start; i < end; i ++ ) {\n\n\t\t\t\tconst v = c[ idx[ i ] * 3 + axis ];\n\t\t\t\tif ( v < minC ) minC = v;\n\t\t\t\tif ( v > maxC ) maxC = v;\n\n\t\t\t}\n\n\t\t\tconst spread = maxC - minC;\n\t\t\tif ( spread > bestSpread ) {\n\n\t\t\t\tbestSpread = spread;\n\t\t\t\tbestAxis = axis;\n\n\t\t\t}\n\n\t\t}\n\n\t\tif ( bestAxis === - 1 || bestSpread < 1e-10 ) {\n\n\t\t\tif ( this.enableSpatialMedianFallback ) return this.findSpatialMedianSplit( start, end );\n\t\t\treturn { success: false, method: 'object_median_failed' };\n\n\t\t}\n\n\t\t// Quickselect to find median centroid value in O(N) average\n\t\tconst count = end - start;\n\t\tconst k = start + Math.floor( count / 2 );\n\t\tthis.quickselect( start, end, k, bestAxis );\n\n\t\tlet splitPos = c[ idx[ k ] * 3 + bestAxis ];\n\n\t\t// Quickselect guarantees [start,k) <= splitPos, so leftCount >= k-start > 0.\n\t\t// Check if degenerate: all elements at [k+1,end) also <= splitPos (all same value).\n\t\tlet degenerate = true;\n\t\tfor ( let i = k + 1; i < end; i ++ ) {\n\n\t\t\tif ( c[ idx[ i ] * 3 + bestAxis ] > splitPos ) {\n\n\t\t\t\tdegenerate = false;\n\t\t\t\tbreak;\n\n\t\t\t}\n\n\t\t}\n\n\t\tif ( degenerate ) {\n\n\t\t\t// Nudge split between median and its left neighbor\n\t\t\tlet leftMax = - Infinity;\n\t\t\tfor ( let i = start; i < k; i ++ ) {\n\n\t\t\t\tconst v = c[ idx[ i ] * 3 + bestAxis ];\n\t\t\t\tif ( v > leftMax ) leftMax = v;\n\n\t\t\t}\n\n\t\t\tif ( leftMax < splitPos ) {\n\n\t\t\t\tsplitPos = ( leftMax + splitPos ) * 0.5;\n\n\t\t\t} else {\n\n\t\t\t\tif ( this.enableSpatialMedianFallback ) return this.findSpatialMedianSplit( start, end );\n\t\t\t\treturn { success: false, method: 'object_median_degenerate' };\n\n\t\t\t}\n\n\t\t}\n\n\t\treturn { success: true, axis: bestAxis, pos: splitPos, method: 'object_median' };\n\n\t}\n\n\tfindSpatialMedianSplit( start, end ) {\n\n\t\tconst idx = this.indices;\n\t\tconst c = this.centroids;\n\t\tconst bMn = this.bMin;\n\t\tconst bMx = this.bMax;\n\t\tlet bestAxis = - 1;\n\t\tlet bestSpread = - 1;\n\t\tlet bestMin = 0, bestMax = 0;\n\n\t\tfor ( let axis = 0; axis < 3; axis ++ ) {\n\n\t\t\tlet minB = Infinity, maxB = - Infinity;\n\t\t\tfor ( let i = start; i < end; i ++ ) {\n\n\t\t\t\tconst o = idx[ i ] * 3 + axis;\n\t\t\t\tif ( bMn[ o ] < minB ) minB = bMn[ o ];\n\t\t\t\tif ( bMx[ o ] > maxB ) maxB = bMx[ o ];\n\n\t\t\t}\n\n\t\t\tconst spread = maxB - minB;\n\t\t\tif ( spread > bestSpread ) {\n\n\t\t\t\tbestSpread = spread;\n\t\t\t\tbestAxis = axis;\n\t\t\t\tbestMin = minB;\n\t\t\t\tbestMax = maxB;\n\n\t\t\t}\n\n\t\t}\n\n\t\tif ( bestAxis === - 1 || bestSpread < 1e-12 ) {\n\n\t\t\treturn { success: false, method: 'spatial_median_failed' };\n\n\t\t}\n\n\t\tlet splitPos = ( bestMin + bestMax ) * 0.5;\n\n\t\t// Verify split quality\n\t\tconst count = end - start;\n\t\tlet leftCount = 0;\n\t\tfor ( let i = start; i < end; i ++ ) {\n\n\t\t\tif ( c[ idx[ i ] * 3 + bestAxis ] <= splitPos ) leftCount ++;\n\n\t\t}\n\n\t\tif ( leftCount === 0 || leftCount === count ) {\n\n\t\t\t// Force balanced via quickselect median (O(N) instead of O(N log N) sort)\n\t\t\tconst k = start + Math.floor( count / 2 );\n\t\t\tthis.quickselect( start, end, k, bestAxis );\n\n\t\t\tconst medianVal = c[ idx[ k ] * 3 + bestAxis ];\n\n\t\t\t// Check if all centroids are identical on this axis\n\t\t\tlet allSame = true;\n\t\t\tfor ( let i = start; i < end; i ++ ) {\n\n\t\t\t\tif ( c[ idx[ i ] * 3 + bestAxis ] !== medianVal ) {\n\n\t\t\t\t\tallSame = false;\n\t\t\t\t\tbreak;\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\tif ( allSame ) {\n\n\t\t\t\treturn { success: false, method: 'spatial_median_degenerate' };\n\n\t\t\t}\n\n\t\t\t// Nudge split between median and its neighbor to guarantee a non-empty partition\n\t\t\tlet leftMax = - Infinity;\n\t\t\tfor ( let i = start; i < k; i ++ ) {\n\n\t\t\t\tconst v = c[ idx[ i ] * 3 + bestAxis ];\n\t\t\t\tif ( v > leftMax ) leftMax = v;\n\n\t\t\t}\n\n\t\t\tif ( leftMax < medianVal ) {\n\n\t\t\t\tsplitPos = ( leftMax + medianVal ) * 0.5;\n\n\t\t\t} else {\n\n\t\t\t\t// leftMax == medianVal; find first element > medianVal in right half\n\t\t\t\tlet rightMin = Infinity;\n\t\t\t\tfor ( let i = k + 1; i < end; i ++ ) {\n\n\t\t\t\t\tconst v = c[ idx[ i ] * 3 + bestAxis ];\n\t\t\t\t\tif ( v < rightMin ) rightMin = v;\n\n\t\t\t\t}\n\n\t\t\t\tsplitPos = ( medianVal + rightMin ) * 0.5;\n\n\t\t\t}\n\n\t\t}\n\n\t\treturn { success: true, axis: bestAxis, pos: splitPos, method: 'spatial_median' };\n\n\t}\n\n\t// --- Quickselect (Hoare's selection algorithm) ---\n\n\tquickselect( start, end, k, axis ) {\n\n\t\tconst idx = this.indices;\n\t\tconst c = this.centroids;\n\n\t\tlet lo = start;\n\t\tlet hi = end - 1;\n\n\t\twhile ( lo < hi ) {\n\n\t\t\t// Median-of-three pivot selection\n\t\t\tconst mid = ( lo + hi ) >>> 1;\n\t\t\tconst vLo = c[ idx[ lo ] * 3 + axis ];\n\t\t\tconst vMid = c[ idx[ mid ] * 3 + axis ];\n\t\t\tconst vHi = c[ idx[ hi ] * 3 + axis ];\n\n\t\t\t// Sort lo, mid, hi and use mid as pivot\n\t\t\tif ( vLo > vMid ) {\n\n\t\t\t\tconst t = idx[ lo ];\n\t\t\t\tidx[ lo ] = idx[ mid ];\n\t\t\t\tidx[ mid ] = t;\n\n\t\t\t}\n\n\t\t\tif ( vLo > vHi ) {\n\n\t\t\t\tconst t = idx[ lo ];\n\t\t\t\tidx[ lo ] = idx[ hi ];\n\t\t\t\tidx[ hi ] = t;\n\n\t\t\t}\n\n\t\t\tif ( vMid > vHi ) {\n\n\t\t\t\tconst t = idx[ mid ];\n\t\t\t\tidx[ mid ] = idx[ hi ];\n\t\t\t\tidx[ hi ] = t;\n\n\t\t\t}\n\n\t\t\tconst pivot = c[ idx[ mid ] * 3 + axis ];\n\n\t\t\t// Partition around pivot\n\t\t\tlet i = lo;\n\t\t\tlet j = hi;\n\n\t\t\twhile ( i <= j ) {\n\n\t\t\t\twhile ( c[ idx[ i ] * 3 + axis ] < pivot ) i ++;\n\t\t\t\twhile ( c[ idx[ j ] * 3 + axis ] > pivot ) j --;\n\n\t\t\t\tif ( i <= j ) {\n\n\t\t\t\t\tconst t = idx[ i ]; idx[ i ] = idx[ j ]; idx[ j ] = t;\n\t\t\t\t\ti ++;\n\t\t\t\t\tj --;\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\tif ( j < k ) lo = i;\n\t\t\tif ( i > k ) hi = j;\n\n\t\t}\n\n\t}\n\n\t// --- Surface-area child ordering (DFS cache locality) ---\n\n\t/**\n\t * Ensure left child always has >= surface area of right child.\n\t * This places the larger subtree first in the DFS flat layout,\n\t * improving cache locality during traversal.\n\t * Iterative post-order to avoid stack overflow on deep trees.\n\t */\n\tapplySAOrdering( root ) {\n\n\t\tif ( ! root || ! root.leftChild ) return;\n\n\t\t// Iterative post-order traversal — swap after both children are processed\n\t\tconst stack = [ root ];\n\t\tconst order = [];\n\n\t\twhile ( stack.length > 0 ) {\n\n\t\t\tconst node = stack.pop();\n\t\t\tif ( ! node.leftChild || ! node.rightChild ) continue;\n\n\t\t\torder.push( node );\n\t\t\tstack.push( node.leftChild );\n\t\t\tstack.push( node.rightChild );\n\n\t\t}\n\n\t\t// Process in reverse (bottom-up)\n\t\tfor ( let i = order.length - 1; i >= 0; i -- ) {\n\n\t\t\tconst node = order[ i ];\n\t\t\tconst L = node.leftChild;\n\t\t\tconst R = node.rightChild;\n\n\t\t\tconst ldx = L.maxX - L.minX, ldy = L.maxY - L.minY, ldz = L.maxZ - L.minZ;\n\t\t\tconst rdx = R.maxX - R.minX, rdy = R.maxY - R.minY, rdz = R.maxZ - R.minZ;\n\n\t\t\tif ( rdx * rdy + rdy * rdz + rdz * rdx > ldx * ldy + ldy * ldz + ldz * ldx ) {\n\n\t\t\t\tnode.leftChild = R;\n\t\t\t\tnode.rightChild = L;\n\n\t\t\t}\n\n\t\t}\n\n\t}\n\n\t// --- BVH flattening (GPU-ready format) ---\n\n\t/**\n\t * Flatten BVH tree into a Float32Array (16 floats per node).\n\t * Layout per node (4 × vec4):\n\t *   Inner: vec4( leftMin.xyz, leftChildIdx ) vec4( leftMax.xyz, rightChildIdx )\n\t *          vec4( rightMin.xyz, 0 )           vec4( rightMax.xyz, 0 )\n\t *   Leaf:  vec4( triOffset, triCount, 0, -1 ) [zeros × 12]\n\t *\n\t * This is the same format as TextureCreator.createBVHRawData,\n\t * but runs inside the worker to avoid structured-clone overhead\n\t * of transferring 1M+ BVHNode objects.\n\t */\n\tflattenBVH( root ) {\n\n\t\t// First pass: assign indices via pre-order traversal\n\t\tconst nodes = [];\n\t\tconst stack = [ root ];\n\t\twhile ( stack.length > 0 ) {\n\n\t\t\tconst node = stack.pop();\n\t\t\tnode._flatIndex = nodes.length;\n\t\t\tnodes.push( node );\n\t\t\t// Push right first so left is processed first (pre-order)\n\t\t\tif ( node.rightChild ) stack.push( node.rightChild );\n\t\t\tif ( node.leftChild ) stack.push( node.leftChild );\n\n\t\t}\n\n\t\t// Second pass: write flat data\n\t\t// Layout: 4 vec4 per node (16 floats)\n\t\t// Inner: [leftMin.xyz, leftChild] [leftMax.xyz, rightChild] [rightMin.xyz, 0] [rightMax.xyz, 0]\n\t\t// Leaf:  [triOffset, triCount, 0, -1] [0,0,0,0] [0,0,0,0] [0,0,0,0]\n\t\tconst FLOATS_PER_NODE = 16;\n\t\tconst data = new Float32Array( nodes.length * FLOATS_PER_NODE );\n\n\t\tfor ( let i = 0; i < nodes.length; i ++ ) {\n\n\t\t\tconst node = nodes[ i ];\n\t\t\tconst o = i * FLOATS_PER_NODE;\n\n\t\t\tif ( node.leftChild ) {\n\n\t\t\t\t// Inner node: store children's AABBs\n\t\t\t\tconst left = node.leftChild;\n\t\t\t\tconst right = node.rightChild;\n\n\t\t\t\tdata[ o ] = left.minX;\n\t\t\t\tdata[ o + 1 ] = left.minY;\n\t\t\t\tdata[ o + 2 ] = left.minZ;\n\t\t\t\tdata[ o + 3 ] = left._flatIndex;\n\n\t\t\t\tdata[ o + 4 ] = left.maxX;\n\t\t\t\tdata[ o + 5 ] = left.maxY;\n\t\t\t\tdata[ o + 6 ] = left.maxZ;\n\t\t\t\tdata[ o + 7 ] = right._flatIndex;\n\n\t\t\t\tdata[ o + 8 ] = right.minX;\n\t\t\t\tdata[ o + 9 ] = right.minY;\n\t\t\t\tdata[ o + 10 ] = right.minZ;\n\t\t\t\t// data[o+11] = 0 (padding)\n\n\t\t\t\tdata[ o + 12 ] = right.maxX;\n\t\t\t\tdata[ o + 13 ] = right.maxY;\n\t\t\t\tdata[ o + 14 ] = right.maxZ;\n\t\t\t\t// data[o+15] = 0 (padding)\n\n\t\t\t} else {\n\n\t\t\t\t// Leaf node: triOffset, triCount in vec4(0), marked by leftChild = -1\n\t\t\t\tdata[ o ] = node.triangleOffset;\n\t\t\t\tdata[ o + 1 ] = node.triangleCount;\n\t\t\t\t// data[o+2] = 0 (padding)\n\t\t\t\tdata[ o + 3 ] = - 1; // Leaf marker\n\n\t\t\t}\n\n\t\t}\n\n\t\treturn data;\n\n\t}\n\n\t/**\n\t * Flatten BVH tree marking frontier leaves with -2 sentinel.\n\t * Returns the flat data and a frontier map for assembly.\n\t * @param {BVHNode} root\n\t * @returns {{ flatData: Float32Array, frontierMap: Array<{taskId: number, flatIndex: number}> }}\n\t */\n\tflattenBVHWithFrontier( root ) {\n\n\t\tconst FLOATS_PER_NODE = 16;\n\n\t\t// First pass: assign indices via pre-order traversal\n\t\tconst nodes = [];\n\t\tconst stack = [ root ];\n\t\twhile ( stack.length > 0 ) {\n\n\t\t\tconst node = stack.pop();\n\t\t\tnode._flatIndex = nodes.length;\n\t\t\tnodes.push( node );\n\t\t\tif ( node.rightChild ) stack.push( node.rightChild );\n\t\t\tif ( node.leftChild ) stack.push( node.leftChild );\n\n\t\t}\n\n\t\t// Second pass: write flat data\n\t\tconst data = new Float32Array( nodes.length * FLOATS_PER_NODE );\n\t\tconst frontierMap = [];\n\n\t\tfor ( let i = 0; i < nodes.length; i ++ ) {\n\n\t\t\tconst node = nodes[ i ];\n\t\t\tconst o = i * FLOATS_PER_NODE;\n\n\t\t\tif ( node.leftChild ) {\n\n\t\t\t\t// Inner node\n\t\t\t\tconst left = node.leftChild;\n\t\t\t\tconst right = node.rightChild;\n\n\t\t\t\tdata[ o ] = left.minX;\n\t\t\t\tdata[ o + 1 ] = left.minY;\n\t\t\t\tdata[ o + 2 ] = left.minZ;\n\t\t\t\tdata[ o + 3 ] = left._flatIndex;\n\n\t\t\t\tdata[ o + 4 ] = left.maxX;\n\t\t\t\tdata[ o + 5 ] = left.maxY;\n\t\t\t\tdata[ o + 6 ] = left.maxZ;\n\t\t\t\tdata[ o + 7 ] = right._flatIndex;\n\n\t\t\t\tdata[ o + 8 ] = right.minX;\n\t\t\t\tdata[ o + 9 ] = right.minY;\n\t\t\t\tdata[ o + 10 ] = right.minZ;\n\n\t\t\t\tdata[ o + 12 ] = right.maxX;\n\t\t\t\tdata[ o + 13 ] = right.maxY;\n\t\t\t\tdata[ o + 14 ] = right.maxZ;\n\n\t\t\t} else if ( node.isFrontier ) {\n\n\t\t\t\t// Frontier leaf: mark with -2 sentinel, use the taskId stored on the node\n\t\t\t\tconst taskId = node.frontierTaskId;\n\t\t\t\tdata[ o ] = node.triangleOffset;\n\t\t\t\tdata[ o + 1 ] = node.triangleCount;\n\t\t\t\tdata[ o + 2 ] = taskId;\n\t\t\t\tdata[ o + 3 ] = - 2; // Frontier sentinel\n\n\t\t\t\tfrontierMap.push( { taskId, flatIndex: i } );\n\n\t\t\t} else {\n\n\t\t\t\t// Regular leaf\n\t\t\t\tdata[ o ] = node.triangleOffset;\n\t\t\t\tdata[ o + 1 ] = node.triangleCount;\n\t\t\t\tdata[ o + 3 ] = - 1; // Leaf marker\n\n\t\t\t}\n\n\t\t}\n\n\t\treturn { flatData: data, frontierMap, nodeCount: nodes.length };\n\n\t}\n\n\t/**\n\t * Assemble the final BVH from top-level flat data and parallel-built subtrees.\n\t * @param {Float32Array} topFlatData - Flattened top-level tree with frontier sentinels\n\t * @param {number} topNodeCount - Number of nodes in top-level tree\n\t * @param {Array} frontierMap - Array of {taskId, flatIndex} from flattenBVHWithFrontier\n\t * @param {Array<{taskId: number, flatData: Float32Array, nodeCount: number}>} subtreeResults\n\t * @returns {Float32Array} Final GPU-ready BVH flat data\n\t */\n\tassembleParallelBVH( topFlatData, topNodeCount, frontierMap, subtreeResults ) {\n\n\t\tconst FLOATS_PER_NODE = 16;\n\n\t\t// Sort subtreeResults by taskId for consistent ordering\n\t\tconst sortedResults = [ ...subtreeResults ].sort( ( a, b ) => a.taskId - b.taskId );\n\n\t\t// Calculate total node count\n\t\tlet totalNodes = topNodeCount;\n\t\tfor ( let i = 0; i < sortedResults.length; i ++ ) {\n\n\t\t\ttotalNodes += sortedResults[ i ].nodeCount;\n\n\t\t}\n\n\t\t// Allocate final array\n\t\tconst finalData = new Float32Array( totalNodes * FLOATS_PER_NODE );\n\n\t\t// Copy top-level data\n\t\tfinalData.set( topFlatData );\n\n\t\t// Build taskId → frontierMap lookup\n\t\tconst frontierByTaskId = new Map();\n\t\tfor ( const entry of frontierMap ) {\n\n\t\t\tfrontierByTaskId.set( entry.taskId, entry.flatIndex );\n\n\t\t}\n\n\t\t// Append each subtree and patch references\n\t\tlet globalOffset = topNodeCount;\n\n\t\tfor ( let i = 0; i < sortedResults.length; i ++ ) {\n\n\t\t\tconst result = sortedResults[ i ];\n\t\t\tconst subtreeData = result.flatData;\n\t\t\tconst subtreeNodeCount = result.nodeCount;\n\t\t\tconst destOffset = globalOffset * FLOATS_PER_NODE;\n\n\t\t\t// Copy subtree data into final array\n\t\t\tfinalData.set( subtreeData, destOffset );\n\n\t\t\t// Adjust child indices within the subtree by adding globalOffset\n\t\t\tfor ( let j = 0; j < subtreeNodeCount; j ++ ) {\n\n\t\t\t\tconst o = destOffset + j * FLOATS_PER_NODE;\n\n\t\t\t\t// Check if inner node (not a leaf: leaf has -1 at o+3)\n\t\t\t\tif ( finalData[ o + 3 ] !== - 1 ) {\n\n\t\t\t\t\t// Adjust leftChildIndex and rightChildIndex\n\t\t\t\t\tfinalData[ o + 3 ] += globalOffset;\n\t\t\t\t\tfinalData[ o + 7 ] += globalOffset;\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\t// Overwrite frontier leaf with subtree root data\n\t\t\tconst frontierFlatIndex = frontierByTaskId.get( result.taskId );\n\t\t\tif ( frontierFlatIndex !== undefined ) {\n\n\t\t\t\tconst frontierOffset = frontierFlatIndex * FLOATS_PER_NODE;\n\t\t\t\tconst subtreeRootOffset = destOffset;\n\n\t\t\t\t// Copy subtree root's 16 floats over the frontier leaf\n\t\t\t\tfor ( let k = 0; k < FLOATS_PER_NODE; k ++ ) {\n\n\t\t\t\t\tfinalData[ frontierOffset + k ] = finalData[ subtreeRootOffset + k ];\n\n\t\t\t\t}\n\n\t\t\t}\n\n\t\t\tglobalOffset += subtreeNodeCount;\n\n\t\t}\n\n\t\treturn finalData;\n\n\t}\n\n\t// --- Surface area helpers ---\n\n\tcomputeSurfaceAreaFlat( minX, minY, minZ, maxX, maxY, maxZ ) {\n\n\t\tconst dx = maxX - minX;\n\t\tconst dy = maxY - minY;\n\t\tconst dz = maxZ - minZ;\n\t\treturn 2 * ( dx * dy + dy * dz + dz * dx );\n\n\t}\n\n}\n","import { BVHBuilder } from '../BVHBuilder.js';\n\nconst FPT = 32; // FLOATS_PER_TRIANGLE\n\n// --- Message dispatcher ---\n\nself.onmessage = function ( e ) {\n\n\tconst data = e.data;\n\tconst type = data.type;\n\n\tif ( type === 'buildPhase1' ) {\n\n\t\thandlePhase1( data );\n\n\t} else if ( type === 'assemble' ) {\n\n\t\thandleAssemble( data );\n\n\t} else {\n\n\t\t// Legacy: full single-worker build (backward compatible)\n\t\thandleFullBuild( data );\n\n\t}\n\n};\n\n// --- Phase 1: Init + Morton sort + top-level SAH build ---\n\nfunction handlePhase1( data ) {\n\n\tconst {\n\t\tsharedTriangleData, sharedCentroids, sharedBMin, sharedBMax,\n\t\tsharedIndices, sharedMortonCodes,\n\t\ttriangleCount, depth, parallelDepth,\n\t\treportProgress, treeletOptimization\n\t} = data;\n\n\ttry {\n\n\t\tconst builder = new BVHBuilder();\n\n\t\tif ( treeletOptimization ) {\n\n\t\t\tbuilder.setTreeletConfig( treeletOptimization );\n\n\t\t}\n\n\t\tconst progressCallback = reportProgress ? ( progress ) => {\n\n\t\t\tself.postMessage( { type: 'progress', progress } );\n\n\t\t} : null;\n\n\t\t// Attach shared buffer views\n\t\tbuilder.triangles = new Float32Array( sharedTriangleData );\n\t\tbuilder.centroids = new Float32Array( sharedCentroids );\n\t\tbuilder.bMin = new Float32Array( sharedBMin );\n\t\tbuilder.bMax = new Float32Array( sharedBMax );\n\t\tbuilder.indices = new Uint32Array( sharedIndices );\n\t\tbuilder.mortonCodes = new Uint32Array( sharedMortonCodes );\n\t\tbuilder.totalTriangles = triangleCount;\n\n\t\t// Reset state\n\t\tbuilder.totalNodes = 0;\n\t\tbuilder.processedTriangles = 0;\n\t\tbuilder.lastProgressUpdate = performance.now();\n\n\t\tbuilder.splitStats = {\n\t\t\tsahSplits: 0, objectMedianSplits: 0, spatialMedianSplits: 0,\n\t\t\tfailedSplits: 0, avgBinsUsed: 0, totalSplitAttempts: 0,\n\t\t\tmortonSortTime: 0, totalBuildTime: 0, treeletOptimizationTime: 0,\n\t\t\ttreeletsProcessed: 0, treeletsImproved: 0, averageSAHImprovement: 0,\n\t\t\tinitTime: 0, sahBuildTime: 0, reorderTime: 0\n\t\t};\n\n\t\tconst startTime = performance.now();\n\n\t\t// Phase 1a: Initialize per-triangle arrays (writes into shared buffers)\n\t\tconst initStart = performance.now();\n\t\tbuilder.initializeTriangleArrays();\n\t\tbuilder.splitStats.initTime = performance.now() - initStart;\n\n\t\t// Phase 1b: Morton code spatial clustering\n\t\tbuilder.sortTrianglesByMortonCode();\n\n\t\t// Phase 1c: Build top-level tree to parallelDepth\n\t\tbuilder.frontierTasks = [];\n\t\tconst sahStart = performance.now();\n\t\tconst root = builder.buildNodeRecursiveToDepth( 0, triangleCount, depth, parallelDepth, progressCallback );\n\t\tbuilder.splitStats.sahBuildTime = performance.now() - sahStart;\n\n\t\t// Phase 1d: Surface-area child ordering (DFS cache locality)\n\t\tbuilder.applySAOrdering( root );\n\n\t\t// Phase 1e: Flatten top-level tree with frontier sentinels\n\t\tconst flattenStart = performance.now();\n\t\tconst { flatData, frontierMap, nodeCount } = builder.flattenBVHWithFrontier( root );\n\t\tconst flattenTime = performance.now() - flattenStart;\n\n\t\tconst totalTime = performance.now() - startTime;\n\t\tconsole.log( `[BVHWorker] Phase 1: ${Math.round( totalTime )}ms (init: ${Math.round( builder.splitStats.initTime )}ms, morton: ${Math.round( builder.splitStats.mortonSortTime )}ms, SAH: ${Math.round( builder.splitStats.sahBuildTime )}ms, flatten: ${Math.round( flattenTime )}ms), ${builder.frontierTasks.length} frontier tasks` );\n\n\t\tself.postMessage( {\n\t\t\ttype: 'phase1Result',\n\t\t\ttopFlatData: flatData,\n\t\t\ttopNodeCount: nodeCount,\n\t\t\tfrontierTasks: builder.frontierTasks,\n\t\t\tfrontierMap,\n\t\t\tsplitStats: builder.splitStats\n\t\t}, [ flatData.buffer ] );\n\n\t} catch ( error ) {\n\n\t\tconsole.error( '[BVHWorker] Phase 1 error:', error );\n\t\tself.postMessage( { type: 'error', error: error.message } );\n\n\t}\n\n}\n\n// --- Phase 3: Assemble final BVH + reorder triangles ---\n\nfunction handleAssemble( data ) {\n\n\tconst {\n\t\ttopFlatData, topNodeCount, frontierMap, subtreeResults,\n\t\tsharedTriangleData, sharedIndices, sharedReorderBuffer,\n\t\ttriangleCount\n\t} = data;\n\n\ttry {\n\n\t\tconst startTime = performance.now();\n\t\tconst builder = new BVHBuilder();\n\n\t\t// Assemble the final BVH\n\t\tconst bvhData = builder.assembleParallelBVH(\n\t\t\ttopFlatData, topNodeCount, frontierMap, subtreeResults\n\t\t);\n\n\t\t// Reorder triangles using final indices from SharedArrayBuffer\n\t\tconst indices = new Uint32Array( sharedIndices );\n\t\tconst src = new Float32Array( sharedTriangleData );\n\t\tconst dst = new Float32Array( sharedReorderBuffer );\n\n\t\tfor ( let i = 0; i < triangleCount; i ++ ) {\n\n\t\t\tconst srcOff = indices[ i ] * FPT;\n\t\t\tconst dstOff = i * FPT;\n\t\t\tdst.set( src.subarray( srcOff, srcOff + FPT ), dstOff );\n\n\t\t}\n\n\t\t// Build inverse index map for BVH refit\n\t\tconst originalToBvh = new Uint32Array( triangleCount );\n\t\tfor ( let i = 0; i < triangleCount; i ++ ) {\n\n\t\t\toriginalToBvh[ indices[ i ] ] = i;\n\n\t\t}\n\n\t\tconst totalTime = performance.now() - startTime;\n\t\tconsole.log( `[BVHWorker] Phase 3 (assemble + reorder): ${Math.round( totalTime )}ms (${( bvhData.byteLength / 1024 / 1024 ).toFixed( 1 )}MB BVH)` );\n\n\t\tself.postMessage( {\n\t\t\ttype: 'assembleResult',\n\t\t\tbvhData,\n\t\t\toriginalToBvh,\n\t\t\ttriangleCount\n\t\t}, [ bvhData.buffer, originalToBvh.buffer ] );\n\n\t} catch ( error ) {\n\n\t\tconsole.error( '[BVHWorker] Assembly error:', error );\n\t\tself.postMessage( { type: 'error', error: error.message } );\n\n\t}\n\n}\n\n// --- Legacy: full single-worker build ---\n\nfunction handleFullBuild( data ) {\n\n\tconst { triangleData, triangleByteOffset, triangleByteLength, depth, reportProgress, treeletOptimization, reinsertionOptimization, sharedReorderBuffer } = data;\n\tconst builder = new BVHBuilder();\n\n\ttry {\n\n\t\tif ( treeletOptimization ) {\n\n\t\t\tbuilder.setTreeletConfig( treeletOptimization );\n\n\t\t}\n\n\t\tif ( reinsertionOptimization ) {\n\n\t\t\tbuilder.setReinsertionConfig( reinsertionOptimization );\n\n\t\t}\n\n\t\tconst progressCallback = reportProgress ? ( progress ) => {\n\n\t\t\tself.postMessage( { progress } );\n\n\t\t} : null;\n\n\t\tconst inputTriangles = triangleByteOffset !== undefined\n\t\t\t? new Float32Array( triangleData, triangleByteOffset, triangleByteLength / 4 )\n\t\t\t: new Float32Array( triangleData );\n\n\t\tconst reorderTarget = sharedReorderBuffer\n\t\t\t? new Float32Array( sharedReorderBuffer )\n\t\t\t: null;\n\n\t\tconst bvhRoot = builder.buildSync( inputTriangles, depth, progressCallback, reorderTarget );\n\n\t\tconst flattenStart = performance.now();\n\t\tconst bvhData = builder.flattenBVH( bvhRoot );\n\t\tconst flattenTime = performance.now() - flattenStart;\n\t\tconsole.log( `[BVHWorker] Flatten BVH: ${Math.round( flattenTime )}ms (${( bvhData.byteLength / 1024 / 1024 ).toFixed( 1 )}MB)` );\n\n\t\tconst originalToBvh = builder.originalToBvhMap || null;\n\n\t\tif ( sharedReorderBuffer ) {\n\n\t\t\tconst transferables = [ bvhData.buffer ];\n\t\t\tif ( originalToBvh ) transferables.push( originalToBvh.buffer );\n\n\t\t\tself.postMessage( {\n\t\t\t\tbvhData,\n\t\t\t\toriginalToBvh,\n\t\t\t\ttriangleCount: inputTriangles.length / 32,\n\t\t\t\ttreeletStats: builder.splitStats\n\t\t\t}, transferables );\n\n\t\t} else {\n\n\t\t\tconst reorderedFloat32Array = builder.reorderedTriangleData;\n\t\t\tconst triangleCount = reorderedFloat32Array.byteLength / ( 32 * 4 );\n\n\t\t\tconst transferables = [ bvhData.buffer, reorderedFloat32Array.buffer ];\n\t\t\tif ( originalToBvh ) transferables.push( originalToBvh.buffer );\n\n\t\t\tself.postMessage( {\n\t\t\t\tbvhData,\n\t\t\t\ttriangles: reorderedFloat32Array,\n\t\t\t\toriginalToBvh,\n\t\t\t\ttriangleCount,\n\t\t\t\ttreeletStats: builder.splitStats\n\t\t\t}, transferables );\n\n\t\t}\n\n\t} catch ( error ) {\n\n\t\tconsole.error( '[BVHWorker] Error:', error );\n\t\tself.postMessage( { error: error.message } 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package/dist/assets/CDFWorker-2MoynL4F.js

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+//# sourceMappingURL=CDFWorker-2MoynL4F.js.map

package/dist/assets/CDFWorker-2MoynL4F.js.map

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package/dist/assets/TexturesWorker-DBqGmVdR.js

@@ -0,0 +1,2 @@
+(function(){let e,t,n={MAX_BYTES_PER_TEXTURE:256*1024*1024,MAX_TEXTURE_DIMENSION:4096,CHUNK_SIZE:8,ADAPTIVE_CHUNK_SIZE:!0,MEMORY_SAFETY_FACTOR:.8};self.onmessage=async function(t){let{textures:n,maxTextureSize:a,method:o=`direct-transfer`}=t.data;try{e||r(a);let t=await i(n,a,o);self.postMessage(t,[t.data])}catch(e){console.error(`Worker processing failed:`,e),self.postMessage({error:e.message})}};function r(r){let i=Math.min(r,n.MAX_TEXTURE_DIMENSION);e=new OffscreenCanvas(i,i),t=e.getContext(`2d`,{willReadFrequently:!0,alpha:!0,desynchronized:!0})}async function i(e,t,r){let i=h(e,t),o=i.maxWidth*i.maxHeight*e.length*4;if(o>n.MAX_BYTES_PER_TEXTURE)return console.log(`Large texture array detected (${(o/1024/1024).toFixed(2)}MB), using chunked processing`),await a(e,t,r);switch(r){case`direct-transfer`:return await d(e,t);case`offscreen-optimized`:return await p(e,t);case`imageBitmap-batch`:return await m(e,t);default:return await d(e,t)}}async function a(e,t,n){let{maxWidth:r,maxHeight:i}=h(e,t),a=e.length,c=o(r,i,a),l=Math.ceil(a/c);console.log(`Processing ${a} textures in ${l} chunks of up to ${c} textures each`),console.log(`Texture dimensions: ${r}x${i}, Est. memory per chunk: ${(r*i*c*4/1024/1024).toFixed(2)}MB`);let u;try{u=new Uint8Array(r*i*a*4)}catch{return console.warn(`Failed to allocate full texture array, reducing dimensions`),await f(e,g(e,t),n)}let d=r*i*c*4,p;try{p=new Uint8Array(d)}catch{return console.warn(`Failed to allocate chunk buffer, reducing dimensions`),await f(e,g(e,t),n)}for(let t=0;t<l;t++){let n=t*c,o=Math.min(n+c,a),l=o-n,d=await s(e.slice(n,o),r,i,p.subarray(0,r*i*l*4)),f=n*r*i*4,m=l*r*i*4;u.set(new Uint8Array(d.data.slice(0,m)),f),t%2==1&&await new Promise(e=>setTimeout(e,0))}return{data:u.buffer,width:r,height:i,depth:a}}function o(e,t,r){if(!n.ADAPTIVE_CHUNK_SIZE)return Math.min(n.CHUNK_SIZE,r);let i=e*t*4/(1024*1024),a;return a=i<=1?16:i<=4?8:i<=16?4:2,Math.min(a,r,n.CHUNK_SIZE*2)}async function s(n,r,i,a){(e.width!==r||e.height!==i)&&(e.width=r,e.height=i);let o=r*i*4;t.imageSmoothingEnabled=!0,t.imageSmoothingQuality=`high`;for(let e=0;e<n.length;e++){let t=n[e];try{await c(t,a,e*o,r,i)}catch(t){console.warn(`Failed to process texture ${e}:`,t);let n=e*o;a.fill(0,n,n+o)}}return{data:a.buffer,width:r,height:i,depth:n.length}}async function c(e,n,r,i,a){let o;if(e.isDirect&&e.bitmap)o=e.bitmap;else if(e.isImageData&&e.data){let t=new ImageData(new Uint8ClampedArray(e.data),e.width,e.height);o=await createImageBitmap(t,{resizeWidth:i,resizeHeight:a,resizeQuality:`high`})}else if(e.isBlob){let t=new Blob([e.data]);o=await createImageBitmap(t,{resizeWidth:i,resizeHeight:a,resizeQuality:`high`})}else throw Error(`Unknown texture data format`);t.clearRect(0,0,i,a),t.drawImage(o,0,0,i,a);let s=t.getImageData(0,0,i,a);n.set(s.data,r),(e.isImageData||e.isBlob)&&o.close()}async function l(e,t,n){let r;try{r=new Uint8Array(t*n*e.length*4)}catch(r){console.warn(`Failed to allocate texture array in processTextureChunk, reducing dimensions`);let i=Math.max(1,Math.floor(t/2)),a=Math.max(1,Math.floor(n/2));if(i===t&&a===n)throw r;return await l(e,i,a)}return await s(e,t,n,r)}async function u(e,t,n,r,i){await c(e,n,r*i*4*t,r,i)}async function d(n,r){let{maxWidth:i,maxHeight:o}=h(n,r);(e.width!==i||e.height!==o)&&(e.width=i,e.height=o);let s=n.length,c;try{c=new Uint8Array(i*o*s*4)}catch(e){return console.error(`Failed to allocate texture array:`,e),await a(n,r,`direct-transfer`)}t.imageSmoothingEnabled=!0,t.imageSmoothingQuality=`high`;for(let e=0;e<n.length;e++){let t=n[e];try{await u(t,e,c,i,o)}catch(t){console.warn(`Failed to process texture ${e}:`,t);let n=i*o*4*e;c.fill(0,n,n+i*o*4)}}return{data:c.buffer,width:i,height:o,depth:s}}async function f(e,t,n){let{maxWidth:r,maxHeight:i}=t;return console.log(`Using reduced dimensions: ${r}x${i}`),await l(e,r,i,n)}async function p(n,r){let{maxWidth:i,maxHeight:o}=h(n,r);(e.width!==i||e.height!==o)&&(e.width=i,e.height=o);let s=n.length,c;try{c=new Uint8Array(i*o*s*4)}catch(e){return console.error(`Failed to allocate texture array:`,e),await a(n,r,`offscreen-optimized`)}t.imageSmoothingEnabled=!0,t.imageSmoothingQuality=`high`;for(let e=0;e<n.length;e++){let r=n[e];try{let n;if(r.isBlob){let e=new Blob([r.data]);n=await createImageBitmap(e,{resizeWidth:i,resizeHeight:o,resizeQuality:`high`})}else{let e=new ImageData(new Uint8ClampedArray(r.data),r.width,r.height);n=await createImageBitmap(e,{resizeWidth:i,resizeHeight:o,resizeQuality:`high`})}t.clearRect(0,0,i,o),t.drawImage(n,0,0);let a=t.getImageData(0,0,i,o),s=i*o*4*e;c.set(a.data,s),n.close()}catch(t){console.warn(`Failed to process texture ${e}:`,t);let n=i*o*4*e;c.fill(0,n,n+i*o*4)}}return{data:c.buffer,width:i,height:o,depth:s}}async function m(n,r){let{maxWidth:i,maxHeight:s}=h(n,r),c=n.length,l;try{l=new Uint8Array(i*s*c*4)}catch(e){return console.error(`Failed to allocate texture array:`,e),await a(n,r,`imageBitmap-batch`)}let u=Math.min(o(i,s,n.length),n.length);for(let r=0;r<n.length;r+=u){let a=Math.min(r+u,n.length),o=[];for(let e=r;e<a;e++){let t=n[e],r;if(t.isBlob){let e=new Blob([t.data]);r=createImageBitmap(e,{resizeWidth:i,resizeHeight:s,resizeQuality:`high`})}else{let e=new ImageData(new Uint8ClampedArray(t.data),t.width,t.height);r=createImageBitmap(e,{resizeWidth:i,resizeHeight:s,resizeQuality:`high`})}o.push(r.then(t=>({bitmap:t,index:e})))}let c=await Promise.all(o);e.width=i,e.height=s,t.imageSmoothingEnabled=!1;for(let{bitmap:e,index:n}of c){t.clearRect(0,0,i,s),t.drawImage(e,0,0);let r=t.getImageData(0,0,i,s),a=i*s*4*n;l.set(r.data,a),e.close()}}return{data:l.buffer,width:i,height:s,depth:c}}function h(e,t){let r=0,i=0;for(let t of e)r=Math.max(r,t.width||0),i=Math.max(i,t.height||0);for(r=2**Math.ceil(Math.log2(r)),i=2**Math.ceil(Math.log2(i)),r=Math.min(r,t,n.MAX_TEXTURE_DIMENSION),i=Math.min(i,t,n.MAX_TEXTURE_DIMENSION);r>=t/2||i>=t/2;)r=Math.max(1,Math.floor(r/2)),i=Math.max(1,Math.floor(i/2));return{maxWidth:r,maxHeight:i}}function g(e,t){let n=h(e,t);return{maxWidth:Math.max(1,Math.floor(n.maxWidth/2)),maxHeight:Math.max(1,Math.floor(n.maxHeight/2))}}})();
+//# sourceMappingURL=TexturesWorker-DBqGmVdR.js.map

package/dist/assets/TexturesWorker-DBqGmVdR.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"TexturesWorker-DBqGmVdR.js","names":[],"sources":["../../src/Processor/Workers/TexturesWorker.js"],"sourcesContent":["let canvas, ctx;\n\n// Memory limits and chunking configuration\nconst MEMORY_LIMITS = {\n\tMAX_BYTES_PER_TEXTURE: 256 * 1024 * 1024, // 256MB per texture array\n\tMAX_TEXTURE_DIMENSION: 4096, // Maximum dimension for a single texture\n\tCHUNK_SIZE: 8, // Optimized: Process textures in chunks of 8 for better memory locality\n\tADAPTIVE_CHUNK_SIZE: true, // Enable adaptive chunk sizing based on texture dimensions\n\tMEMORY_SAFETY_FACTOR: 0.8 // Use only 80% of estimated available memory\n};\n\nself.onmessage = async function ( e ) {\n\n\tconst { textures, maxTextureSize, method = 'direct-transfer' } = e.data;\n\n\ttry {\n\n\t\t// Initialize on first use\n\t\tif ( ! canvas ) {\n\n\t\t\tinitializeWorker( maxTextureSize );\n\n\t\t}\n\n\t\tconst result = await processTextures( textures, maxTextureSize, method );\n\n\t\t// Transfer ownership for zero-copy\n\t\tself.postMessage( result, [ result.data ] );\n\n\t} catch ( error ) {\n\n\t\tconsole.error( 'Worker processing failed:', error );\n\t\tself.postMessage( { error: error.message } );\n\n\t}\n\n};\n\nfunction initializeWorker( maxTextureSize ) {\n\n\t// Initialize OffscreenCanvas with optimal settings\n\tconst size = Math.min( maxTextureSize, MEMORY_LIMITS.MAX_TEXTURE_DIMENSION );\n\tcanvas = new OffscreenCanvas( size, size );\n\tctx = canvas.getContext( '2d', {\n\t\twillReadFrequently: true,\n\t\talpha: true,\n\t\tdesynchronized: true\n\t} );\n\n}\n\nasync function processTextures( textures, maxTextureSize, method ) {\n\n\t// Check if we need to use chunked processing\n\tconst dimensions = calculateOptimalDimensions( textures, maxTextureSize );\n\tconst estimatedBytes = dimensions.maxWidth * dimensions.maxHeight * textures.length * 4;\n\n\tif ( estimatedBytes > MEMORY_LIMITS.MAX_BYTES_PER_TEXTURE ) {\n\n\t\tconsole.log( `Large texture array detected (${( estimatedBytes / 1024 / 1024 ).toFixed( 2 )}MB), using chunked processing` );\n\t\treturn await processTexturesInChunks( textures, maxTextureSize, method );\n\n\t}\n\n\tswitch ( method ) {\n\n\t\tcase 'direct-transfer':\n\t\t\treturn await processWithDirectTransfer( textures, maxTextureSize );\n\t\tcase 'offscreen-optimized':\n\t\t\treturn await processWithOffscreenOptimized( textures, maxTextureSize );\n\t\tcase 'imageBitmap-batch':\n\t\t\treturn await processWithImageBitmapBatch( textures, maxTextureSize );\n\t\tdefault:\n\t\t\treturn await processWithDirectTransfer( textures, maxTextureSize );\n\n\t}\n\n}\n\nasync function processTexturesInChunks( textures, maxTextureSize, method ) {\n\n\tconst dimensions = calculateOptimalDimensions( textures, maxTextureSize );\n\tconst { maxWidth, maxHeight } = dimensions;\n\tconst depth = textures.length;\n\n\t// Optimize chunk size based on texture dimensions and memory constraints\n\tconst chunkSize = calculateOptimalChunkSize( maxWidth, maxHeight, depth );\n\tconst numChunks = Math.ceil( depth / chunkSize );\n\n\tconsole.log( `Processing ${depth} textures in ${numChunks} chunks of up to ${chunkSize} textures each` );\n\tconsole.log( `Texture dimensions: ${maxWidth}x${maxHeight}, Est. memory per chunk: ${( maxWidth * maxHeight * chunkSize * 4 / 1024 / 1024 ).toFixed( 2 )}MB` );\n\n\t// Allocate the full output array\n\tlet data;\n\ttry {\n\n\t\tdata = new Uint8Array( maxWidth * maxHeight * depth * 4 );\n\n\t} catch {\n\n\t\t// If full allocation fails, fall back to reduced dimensions\n\t\tconsole.warn( 'Failed to allocate full texture array, reducing dimensions' );\n\t\tconst reducedDimensions = calculateReducedDimensions( textures, maxTextureSize );\n\t\treturn await processWithReducedDimensions( textures, reducedDimensions, method );\n\n\t}\n\n\t// Pre-allocate chunk buffer for reuse\n\tconst chunkBufferSize = maxWidth * maxHeight * chunkSize * 4;\n\tlet chunkBuffer;\n\n\ttry {\n\n\t\tchunkBuffer = new Uint8Array( chunkBufferSize );\n\n\t} catch ( error ) {\n\n\t\tconsole.warn( 'Failed to allocate chunk buffer, reducing dimensions' );\n\t\tconst reducedDimensions = calculateReducedDimensions( textures, maxTextureSize );\n\t\treturn await processWithReducedDimensions( textures, reducedDimensions, method );\n\n\t}\n\n\t// Process each chunk with optimized memory reuse\n\tfor ( let chunkIndex = 0; chunkIndex < numChunks; chunkIndex ++ ) {\n\n\t\tconst startIdx = chunkIndex * chunkSize;\n\t\tconst endIdx = Math.min( startIdx + chunkSize, depth );\n\t\tconst actualChunkSize = endIdx - startIdx;\n\t\tconst chunkTextures = textures.slice( startIdx, endIdx );\n\n\t\tconst chunkResult = await processTextureChunkOptimized(\n\t\t\tchunkTextures,\n\t\t\tmaxWidth,\n\t\t\tmaxHeight,\n\t\t\tchunkBuffer.subarray( 0, maxWidth * maxHeight * actualChunkSize * 4 )\n\t\t);\n\n\t\t// Copy chunk data to main array\n\t\tconst offset = startIdx * maxWidth * maxHeight * 4;\n\t\tconst copySize = actualChunkSize * maxWidth * maxHeight * 4;\n\t\tdata.set( new Uint8Array( chunkResult.data.slice( 0, copySize ) ), offset );\n\n\t\t// Micro-yield to prevent blocking the thread\n\n\t\tif ( chunkIndex % 2 === 1 ) { // Yield every 2 chunks instead of every chunk\n\n\t\t\tawait new Promise( resolve => setTimeout( resolve, 0 ) );\n\n\t\t}\n\n\t}\n\n\treturn {\n\t\tdata: data.buffer,\n\t\twidth: maxWidth,\n\t\theight: maxHeight,\n\t\tdepth\n\t};\n\n}\n\nfunction calculateOptimalChunkSize( maxWidth, maxHeight, totalTextures ) {\n\n\tif ( ! MEMORY_LIMITS.ADAPTIVE_CHUNK_SIZE ) {\n\n\t\treturn Math.min( MEMORY_LIMITS.CHUNK_SIZE, totalTextures );\n\n\t}\n\n\t// Calculate memory per texture in MB\n\tconst bytesPerTexture = maxWidth * maxHeight * 4;\n\tconst mbPerTexture = bytesPerTexture / ( 1024 * 1024 );\n\n\t// Adaptive chunk sizing based on texture size\n\tlet optimalChunkSize;\n\n\tif ( mbPerTexture <= 1 ) { // Small textures (<=1MB)\n\n\t\toptimalChunkSize = 16; // Process more at once\n\n\t} else if ( mbPerTexture <= 4 ) { // Medium textures (1-4MB)\n\n\t\toptimalChunkSize = 8; // Balanced approach\n\n\t} else if ( mbPerTexture <= 16 ) { // Large textures (4-16MB)\n\n\t\toptimalChunkSize = 4; // Conservative\n\n\t} else { // Very large textures (>16MB)\n\n\t\toptimalChunkSize = 2; // Very conservative\n\n\t}\n\n\t// Don't exceed total texture count or configured limits\n\treturn Math.min( optimalChunkSize, totalTextures, MEMORY_LIMITS.CHUNK_SIZE * 2 );\n\n}\n\nasync function processTextureChunkOptimized( textures, maxWidth, maxHeight, outputBuffer ) {\n\n\t// Resize canvas for this chunk if needed\n\tif ( canvas.width !== maxWidth || canvas.height !== maxHeight ) {\n\n\t\tcanvas.width = maxWidth;\n\t\tcanvas.height = maxHeight;\n\n\t}\n\n\t// Use provided buffer to avoid allocation\n\tconst bytesPerTexture = maxWidth * maxHeight * 4;\n\n\t// Optimize context settings once per chunk\n\tctx.imageSmoothingEnabled = true;\n\tctx.imageSmoothingQuality = 'high';\n\n\t// Process textures with optimized single texture processing\n\tfor ( let i = 0; i < textures.length; i ++ ) {\n\n\t\tconst textureData = textures[ i ];\n\n\t\ttry {\n\n\t\t\tconst offset = i * bytesPerTexture;\n\t\t\tawait processSingleTextureOptimized( textureData, outputBuffer, offset, maxWidth, maxHeight );\n\n\t\t} catch ( error ) {\n\n\t\t\tconsole.warn( `Failed to process texture ${i}:`, error );\n\t\t\t// Fill with transparent pixels as fallback\n\t\t\tconst offset = i * bytesPerTexture;\n\t\t\toutputBuffer.fill( 0, offset, offset + bytesPerTexture );\n\n\t\t}\n\n\t}\n\n\treturn {\n\t\tdata: outputBuffer.buffer,\n\t\twidth: maxWidth,\n\t\theight: maxHeight,\n\t\tdepth: textures.length\n\t};\n\n}\n\nasync function processSingleTextureOptimized( textureData, outputData, offset, maxWidth, maxHeight ) {\n\n\tlet imageBitmap;\n\n\tif ( textureData.isDirect && textureData.bitmap ) {\n\n\t\t// Direct ImageBitmap transfer - no conversion needed!\n\t\timageBitmap = textureData.bitmap;\n\n\t} else if ( textureData.isImageData && textureData.data ) {\n\n\t\t// Direct ImageData transfer - minimal conversion\n\t\tconst imageData = new ImageData(\n\t\t\tnew Uint8ClampedArray( textureData.data ),\n\t\t\ttextureData.width,\n\t\t\ttextureData.height\n\t\t);\n\n\t\timageBitmap = await createImageBitmap( imageData, {\n\t\t\tresizeWidth: maxWidth,\n\t\t\tresizeHeight: maxHeight,\n\t\t\tresizeQuality: 'high'\n\t\t} );\n\n\t} else if ( textureData.isBlob ) {\n\n\t\t// Legacy blob processing (fallback)\n\t\tconst blob = new Blob( [ textureData.data ] );\n\t\timageBitmap = await createImageBitmap( blob, {\n\t\t\tresizeWidth: maxWidth,\n\t\t\tresizeHeight: maxHeight,\n\t\t\tresizeQuality: 'high'\n\t\t} );\n\n\t} else {\n\n\t\tthrow new Error( 'Unknown texture data format' );\n\n\t}\n\n\t// Clear and draw to canvas\n\tctx.clearRect( 0, 0, maxWidth, maxHeight );\n\tctx.drawImage( imageBitmap, 0, 0, maxWidth, maxHeight );\n\n\t// Get image data efficiently\n\tconst imageData = ctx.getImageData( 0, 0, maxWidth, maxHeight );\n\n\t// Copy directly to the specified offset in output buffer\n\toutputData.set( imageData.data, offset );\n\n\t// Clean up ImageBitmap if we created it\n\tif ( textureData.isImageData || textureData.isBlob ) {\n\n\t\timageBitmap.close();\n\n\t}\n\n}\n\nasync function processTextureChunk( textures, maxWidth, maxHeight ) {\n\n\tlet data;\n\ttry {\n\n\t\tdata = new Uint8Array( maxWidth * maxHeight * textures.length * 4 );\n\n\t} catch ( error ) {\n\n\t\tconsole.warn( 'Failed to allocate texture array in processTextureChunk, reducing dimensions' );\n\t\tconst nextWidth = Math.max( 1, Math.floor( maxWidth / 2 ) );\n\t\tconst nextHeight = Math.max( 1, Math.floor( maxHeight / 2 ) );\n\n\t\tif ( nextWidth === maxWidth && nextHeight === maxHeight ) {\n\n\t\t\tthrow error;\n\n\t\t}\n\n\t\treturn await processTextureChunk( textures, nextWidth, nextHeight );\n\n\t}\n\n\treturn await processTextureChunkOptimized( textures, maxWidth, maxHeight, data );\n\n}\n\nasync function processSingleTexture( textureData, index, outputData, maxWidth, maxHeight ) {\n\n\tconst offset = maxWidth * maxHeight * 4 * index;\n\tawait processSingleTextureOptimized( textureData, outputData, offset, maxWidth, maxHeight );\n\n}\n\nasync function processWithDirectTransfer( textures, maxTextureSize ) {\n\n\tconst dimensions = calculateOptimalDimensions( textures, maxTextureSize );\n\tconst { maxWidth, maxHeight } = dimensions;\n\n\t// Resize canvas if needed\n\tif ( canvas.width !== maxWidth || canvas.height !== maxHeight ) {\n\n\t\tcanvas.width = maxWidth;\n\t\tcanvas.height = maxHeight;\n\n\t}\n\n\tconst depth = textures.length;\n\n\t// Try to allocate memory with fallback\n\tlet data;\n\ttry {\n\n\t\tdata = new Uint8Array( maxWidth * maxHeight * depth * 4 );\n\n\t} catch ( error ) {\n\n\t\tconsole.error( 'Failed to allocate texture array:', error );\n\t\t// Fall back to chunked processing\n\t\treturn await processTexturesInChunks( textures, maxTextureSize, 'direct-transfer' );\n\n\t}\n\n\t// Optimize context settings for batch processing\n\tctx.imageSmoothingEnabled = true;\n\tctx.imageSmoothingQuality = 'high';\n\n\tfor ( let i = 0; i < textures.length; i ++ ) {\n\n\t\tconst textureData = textures[ i ];\n\n\t\ttry {\n\n\t\t\tawait processSingleTexture( textureData, i, data, maxWidth, maxHeight );\n\n\t\t} catch ( error ) {\n\n\t\t\tconsole.warn( `Failed to process texture ${i}:`, error );\n\t\t\t// Fill with transparent pixels as fallback\n\t\t\tconst offset = maxWidth * maxHeight * 4 * i;\n\t\t\tdata.fill( 0, offset, offset + maxWidth * maxHeight * 4 );\n\n\t\t}\n\n\t}\n\n\treturn {\n\t\tdata: data.buffer,\n\t\twidth: maxWidth,\n\t\theight: maxHeight,\n\t\tdepth\n\t};\n\n}\n\nasync function processWithReducedDimensions( textures, dimensions, method ) {\n\n\tconst { maxWidth, maxHeight } = dimensions;\n\tconsole.log( `Using reduced dimensions: ${maxWidth}x${maxHeight}` );\n\n\t// Process with reduced dimensions\n\treturn await processTextureChunk( textures, maxWidth, maxHeight, method );\n\n}\n\nasync function processWithOffscreenOptimized( textures, maxTextureSize ) {\n\n\tconst dimensions = calculateOptimalDimensions( textures, maxTextureSize );\n\tconst { maxWidth, maxHeight } = dimensions;\n\n\t// Resize canvas if needed\n\tif ( canvas.width !== maxWidth || canvas.height !== maxHeight ) {\n\n\t\tcanvas.width = maxWidth;\n\t\tcanvas.height = maxHeight;\n\n\t}\n\n\tconst depth = textures.length;\n\n\t// Try to allocate memory with fallback\n\tlet data;\n\ttry {\n\n\t\tdata = new Uint8Array( maxWidth * maxHeight * depth * 4 );\n\n\t} catch ( error ) {\n\n\t\tconsole.error( 'Failed to allocate texture array:', error );\n\t\t// Fall back to chunked processing\n\t\treturn await processTexturesInChunks( textures, maxTextureSize, 'offscreen-optimized' );\n\n\t}\n\n\t// Optimize context settings for batch processing\n\tctx.imageSmoothingEnabled = true;\n\tctx.imageSmoothingQuality = 'high';\n\n\tfor ( let i = 0; i < textures.length; i ++ ) {\n\n\t\tconst textureData = textures[ i ];\n\n\t\ttry {\n\n\t\t\tlet imageBitmap;\n\n\t\t\tif ( textureData.isBlob ) {\n\n\t\t\t\t// Create ImageBitmap from blob data\n\t\t\t\tconst blob = new Blob( [ textureData.data ] );\n\t\t\t\timageBitmap = await createImageBitmap( blob, {\n\t\t\t\t\tresizeWidth: maxWidth,\n\t\t\t\t\tresizeHeight: maxHeight,\n\t\t\t\t\tresizeQuality: 'high'\n\t\t\t\t} );\n\n\t\t\t} else {\n\n\t\t\t\t// Handle direct image data\n\t\t\t\tconst imageData = new ImageData(\n\t\t\t\t\tnew Uint8ClampedArray( textureData.data ),\n\t\t\t\t\ttextureData.width,\n\t\t\t\t\ttextureData.height\n\t\t\t\t);\n\t\t\t\timageBitmap = await createImageBitmap( imageData, {\n\t\t\t\t\tresizeWidth: maxWidth,\n\t\t\t\t\tresizeHeight: maxHeight,\n\t\t\t\t\tresizeQuality: 'high'\n\t\t\t\t} );\n\n\t\t\t}\n\n\t\t\t// Clear and draw to canvas\n\t\t\tctx.clearRect( 0, 0, maxWidth, maxHeight );\n\t\t\tctx.drawImage( imageBitmap, 0, 0 );\n\n\t\t\t// Get image data efficiently\n\t\t\tconst imageData = ctx.getImageData( 0, 0, maxWidth, maxHeight );\n\n\t\t\t// Copy to output array\n\t\t\tconst offset = maxWidth * maxHeight * 4 * i;\n\t\t\tdata.set( imageData.data, offset );\n\n\t\t\t// Clean up ImageBitmap\n\t\t\timageBitmap.close();\n\n\t\t} catch ( error ) {\n\n\t\t\tconsole.warn( `Failed to process texture ${i}:`, error );\n\t\t\t// Fill with transparent pixels as fallback\n\t\t\tconst offset = maxWidth * maxHeight * 4 * i;\n\t\t\tdata.fill( 0, offset, offset + maxWidth * maxHeight * 4 );\n\n\t\t}\n\n\t}\n\n\treturn {\n\t\tdata: data.buffer,\n\t\twidth: maxWidth,\n\t\theight: maxHeight,\n\t\tdepth\n\t};\n\n}\n\nasync function processWithImageBitmapBatch( textures, maxTextureSize ) {\n\n\tconst dimensions = calculateOptimalDimensions( textures, maxTextureSize );\n\tconst { maxWidth, maxHeight } = dimensions;\n\n\tconst depth = textures.length;\n\n\t// Try to allocate memory with fallback\n\tlet data;\n\ttry {\n\n\t\tdata = new Uint8Array( maxWidth * maxHeight * depth * 4 );\n\n\t} catch ( error ) {\n\n\t\tconsole.error( 'Failed to allocate texture array:', error );\n\t\t// Fall back to chunked processing\n\t\treturn await processTexturesInChunks( textures, maxTextureSize, 'imageBitmap-batch' );\n\n\t}\n\n\t// Process in batches for memory efficiency - optimized batch size\n\tconst batchSize = Math.min( calculateOptimalChunkSize( maxWidth, maxHeight, textures.length ), textures.length );\n\n\tfor ( let batchStart = 0; batchStart < textures.length; batchStart += batchSize ) {\n\n\t\tconst batchEnd = Math.min( batchStart + batchSize, textures.length );\n\t\tconst batchPromises = [];\n\n\t\t// Create all ImageBitmaps for this batch in parallel\n\t\tfor ( let i = batchStart; i < batchEnd; i ++ ) {\n\n\t\t\tconst textureData = textures[ i ];\n\n\t\t\tlet bitmapPromise;\n\t\t\tif ( textureData.isBlob ) {\n\n\t\t\t\tconst blob = new Blob( [ textureData.data ] );\n\t\t\t\tbitmapPromise = createImageBitmap( blob, {\n\t\t\t\t\tresizeWidth: maxWidth,\n\t\t\t\t\tresizeHeight: maxHeight,\n\t\t\t\t\tresizeQuality: 'high'\n\t\t\t\t} );\n\n\t\t\t} else {\n\n\t\t\t\tconst imageData = new ImageData(\n\t\t\t\t\tnew Uint8ClampedArray( textureData.data ),\n\t\t\t\t\ttextureData.width,\n\t\t\t\t\ttextureData.height\n\t\t\t\t);\n\t\t\t\tbitmapPromise = createImageBitmap( imageData, {\n\t\t\t\t\tresizeWidth: maxWidth,\n\t\t\t\t\tresizeHeight: maxHeight,\n\t\t\t\t\tresizeQuality: 'high'\n\t\t\t\t} );\n\n\t\t\t}\n\n\t\t\tbatchPromises.push(\n\t\t\t\tbitmapPromise.then( bitmap => ( { bitmap, index: i } ) )\n\t\t\t);\n\n\t\t}\n\n\t\t// Wait for all bitmaps in this batch\n\t\tconst bitmaps = await Promise.all( batchPromises );\n\n\t\t// Process each bitmap\n\t\tcanvas.width = maxWidth;\n\t\tcanvas.height = maxHeight;\n\t\tctx.imageSmoothingEnabled = false; // Fast processing for batches\n\n\t\tfor ( const { bitmap, index } of bitmaps ) {\n\n\t\t\tctx.clearRect( 0, 0, maxWidth, maxHeight );\n\t\t\tctx.drawImage( bitmap, 0, 0 );\n\n\t\t\tconst imageData = ctx.getImageData( 0, 0, maxWidth, maxHeight );\n\t\t\tconst offset = maxWidth * maxHeight * 4 * index;\n\t\t\tdata.set( imageData.data, offset );\n\n\t\t\tbitmap.close();\n\n\t\t}\n\n\t}\n\n\treturn {\n\t\tdata: data.buffer,\n\t\twidth: maxWidth,\n\t\theight: maxHeight,\n\t\tdepth\n\t};\n\n}\n\nfunction calculateOptimalDimensions( textures, maxTextureSize ) {\n\n\tlet maxWidth = 0;\n\tlet maxHeight = 0;\n\n\tfor ( let texture of textures ) {\n\n\t\tmaxWidth = Math.max( maxWidth, texture.width || 0 );\n\t\tmaxHeight = Math.max( maxHeight, texture.height || 0 );\n\n\t}\n\n\t// Round to power of 2 for optimal GPU performance\n\tmaxWidth = Math.pow( 2, Math.ceil( Math.log2( maxWidth ) ) );\n\tmaxHeight = Math.pow( 2, Math.ceil( Math.log2( maxHeight ) ) );\n\n\t// Respect texture size limits\n\tmaxWidth = Math.min( maxWidth, maxTextureSize, MEMORY_LIMITS.MAX_TEXTURE_DIMENSION );\n\tmaxHeight = Math.min( maxHeight, maxTextureSize, MEMORY_LIMITS.MAX_TEXTURE_DIMENSION );\n\n\t// Additional safety check\n\twhile ( maxWidth >= maxTextureSize / 2 || maxHeight >= maxTextureSize / 2 ) {\n\n\t\tmaxWidth = Math.max( 1, Math.floor( maxWidth / 2 ) );\n\t\tmaxHeight = Math.max( 1, Math.floor( maxHeight / 2 ) );\n\n\t}\n\n\treturn { maxWidth, maxHeight };\n\n}\n\nfunction calculateReducedDimensions( textures, maxTextureSize ) {\n\n\t// Calculate dimensions but reduce by factor of 2 for memory safety\n\tconst original = calculateOptimalDimensions( textures, maxTextureSize );\n\n\treturn {\n\t\tmaxWidth: Math.max( 1, Math.floor( original.maxWidth / 2 ) ),\n\t\tmaxHeight: Math.max( 1, Math.floor( original.maxHeight / 2 ) 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