From c635ee989cae94aa8b807c032bcbe809b0ab9830 Mon Sep 17 00:00:00 2001 From: zookiart Date: Wed, 24 Jun 2026 21:30:00 -0700 Subject: [PATCH] Add policy-extra preflight: install lerobot[smolvla|pi|diffusion] before training Training a policy that needs an optional LeRobot extra fails with a buried ImportError only after the training subprocess has already started (smolvla/pi0/ pi0_fast need transformers; diffusion needs diffusers). Add a pre-flight that reuses the existing install-extra machinery: - GET /system/policy-extra/{policy_type} does a live importlib.find_spec probe and returns the pip target; POST .../install and GET .../install-status reuse the existing InstallManager. pi0 and pi0_fast share lerobot[pi]; core policies (act, vqbet, tdmpc, sac) report available. - On Start Training the UI pre-flights the endpoint and, if the extra is missing, opens PolicyExtraDialog (a parameterized sibling of WandbInstallDialog) for a one-click install instead of starting the run. Tests cover the policy->extra mapping, find_spec availability, the core-policy no-op, and the GET route. Note: restart LeLab after installing so the new package is importable. Co-Authored-By: Claude Opus 4.8 --- .../{index-BYEP-1Zk.js => index-CuYRVmdE.js} | 170 +++++++++--------- frontend/dist/assets/index-Da-rRmcX.css | 1 + frontend/dist/assets/index-DmcGvCXo.css | 1 - frontend/dist/index.html | 40 ++--- .../components/training/PolicyExtraDialog.tsx | 81 +++++++++ frontend/src/pages/Training.tsx | 43 +++++ lelab/server.py | 22 +++ lelab/utils/system.py | 79 ++++++++ tests/test_utils_system.py | 52 ++++++ 9 files changed, 383 insertions(+), 106 deletions(-) rename frontend/dist/assets/{index-BYEP-1Zk.js => index-CuYRVmdE.js} (51%) create mode 100644 frontend/dist/assets/index-Da-rRmcX.css delete mode 100644 frontend/dist/assets/index-DmcGvCXo.css create mode 100644 frontend/src/components/training/PolicyExtraDialog.tsx diff --git a/frontend/dist/assets/index-BYEP-1Zk.js b/frontend/dist/assets/index-CuYRVmdE.js similarity index 51% rename from frontend/dist/assets/index-BYEP-1Zk.js rename to frontend/dist/assets/index-CuYRVmdE.js index 0d9359f..3c9d8a4 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r=this.state.status===`pending`,i=!this.#r.canStart();try{if(r)t();else{this.#i({type:`pending`,variables:e,isPaused:i}),this.#n.config.onMutate&&await this.#n.config.onMutate(e,this,n);let t=await this.options.onMutate?.(e,n);t!==this.state.context&&this.#i({type:`pending`,context:t,variables:e,isPaused:i})}let a=await this.#r.start();return await this.#n.config.onSuccess?.(a,e,this.state.context,this,n),await this.options.onSuccess?.(a,e,this.state.context,n),await this.#n.config.onSettled?.(a,null,this.state.variables,this.state.context,this,n),await this.options.onSettled?.(a,null,e,this.state.context,n),this.#i({type:`success`,data:a}),a}catch(t){try{await this.#n.config.onError?.(t,e,this.state.context,this,n)}catch(e){Promise.reject(e)}try{await this.options.onError?.(t,e,this.state.context,n)}catch(e){Promise.reject(e)}try{await this.#n.config.onSettled?.(void 0,t,this.state.variables,this.state.context,this,n)}catch(e){Promise.reject(e)}try{await this.options.onSettled?.(void 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this.constructor().copy(this)}copy(e){this.width=e.width,this.height=e.height,this.depth=e.depth,this.scissor.copy(e.scissor),this.scissorTest=e.scissorTest,this.viewport.copy(e.viewport),this.textures.length=0;for(let t=0,n=e.textures.length;t=this.min.x&&e.x<=this.max.x&&e.y>=this.min.y&&e.y<=this.max.y&&e.z>=this.min.z&&e.z<=this.max.z}containsBox(e){return this.min.x<=e.min.x&&e.max.x<=this.max.x&&this.min.y<=e.min.y&&e.max.y<=this.max.y&&this.min.z<=e.min.z&&e.max.z<=this.max.z}getParameter(e,t){return t.set((e.x-this.min.x)/(this.max.x-this.min.x),(e.y-this.min.y)/(this.max.y-this.min.y),(e.z-this.min.z)/(this.max.z-this.min.z))}intersectsBox(e){return e.max.x>=this.min.x&&e.min.x<=this.max.x&&e.max.y>=this.min.y&&e.min.y<=this.max.y&&e.max.z>=this.min.z&&e.min.z<=this.max.z}intersectsSphere(e){return this.clampPoint(e.center,Fx),Fx.distanceToSquared(e.center)<=e.radius*e.radius}intersectsPlane(e){let t,n;return 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this.clampPoint(e,Fx).distanceTo(e)}getBoundingSphere(e){return this.isEmpty()?e.makeEmpty():(this.getCenter(e.center),e.radius=this.getSize(Fx).length()*.5),e}intersect(e){return this.min.max(e.min),this.max.min(e.max),this.isEmpty()&&this.makeEmpty(),this}union(e){return this.min.min(e.min),this.max.max(e.max),this}applyMatrix4(e){return this.isEmpty()?this:(Px[0].set(this.min.x,this.min.y,this.min.z).applyMatrix4(e),Px[1].set(this.min.x,this.min.y,this.max.z).applyMatrix4(e),Px[2].set(this.min.x,this.max.y,this.min.z).applyMatrix4(e),Px[3].set(this.min.x,this.max.y,this.max.z).applyMatrix4(e),Px[4].set(this.max.x,this.min.y,this.min.z).applyMatrix4(e),Px[5].set(this.max.x,this.min.y,this.max.z).applyMatrix4(e),Px[6].set(this.max.x,this.max.y,this.min.z).applyMatrix4(e),Px[7].set(this.max.x,this.max.y,this.max.z).applyMatrix4(e),this.setFromPoints(Px),this)}translate(e){return this.min.add(e),this.max.add(e),this}equals(e){return 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t=Qx.subVectors(e,this.origin).dot(this.direction);return t<0?this.origin.distanceToSquared(e):(Qx.copy(this.origin).addScaledVector(this.direction,t),Qx.distanceToSquared(e))}distanceSqToSegment(e,t,n,r){$x.copy(e).add(t).multiplyScalar(.5),eS.copy(t).sub(e).normalize(),tS.copy(this.origin).sub($x);let i=e.distanceTo(t)*.5,a=-this.direction.dot(eS),o=tS.dot(this.direction),s=-tS.dot(eS),c=tS.lengthSq(),l=Math.abs(1-a*a),u,d,f,p;if(l>0)if(u=a*s-o,d=a*o-s,p=i*l,u>=0)if(d>=-p)if(d<=p){let e=1/l;u*=e,d*=e,f=u*(u+a*d+2*o)+d*(a*u+d+2*s)+c}else d=i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;else d=-i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;else d<=-p?(u=Math.max(0,-(-a*i+o)),d=u>0?-i:Math.min(Math.max(-i,-s),i),f=-u*u+d*(d+2*s)+c):d<=p?(u=0,d=Math.min(Math.max(-i,-s),i),f=d*(d+2*s)+c):(u=Math.max(0,-(a*i+o)),d=u>0?i:Math.min(Math.max(-i,-s),i),f=-u*u+d*(d+2*s)+c);else d=a>0?-i:i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;return n&&n.copy(this.origin).addScaledVector(this.direction,u),r&&r.copy($x).addScaledVector(eS,d),f}intersectSphere(e,t){Qx.subVectors(e.center,this.origin);let n=Qx.dot(this.direction),r=Qx.dot(Qx)-n*n,i=e.radius*e.radius;if(r>i)return null;let a=Math.sqrt(i-r),o=n-a,s=n+a;return s<0?null:o<0?this.at(s,t):this.at(o,t)}intersectsSphere(e){return e.radius<0?!1:this.distanceSqToPoint(e.center)<=e.radius*e.radius}distanceToPlane(e){let t=e.normal.dot(this.direction);if(t===0)return e.distanceToPoint(this.origin)===0?0:null;let n=-(this.origin.dot(e.normal)+e.constant)/t;return n>=0?n:null}intersectPlane(e,t){let n=this.distanceToPlane(e);return n===null?null:this.at(n,t)}intersectsPlane(e){let t=e.distanceToPoint(this.origin);return t===0||e.normal.dot(this.direction)*t<0}intersectBox(e,t){let n,r,i,a,o,s,c=1/this.direction.x,l=1/this.direction.y,u=1/this.direction.z,d=this.origin;return c>=0?(n=(e.min.x-d.x)*c,r=(e.max.x-d.x)*c):(n=(e.max.x-d.x)*c,r=(e.min.x-d.x)*c),l>=0?(i=(e.min.y-d.y)*l,a=(e.max.y-d.y)*l):(i=(e.max.y-d.y)*l,a=(e.min.y-d.y)*l),n>a||i>r||((i>n||isNaN(n))&&(n=i),(a=0?(o=(e.min.z-d.z)*u,s=(e.max.z-d.z)*u):(o=(e.max.z-d.z)*u,s=(e.min.z-d.z)*u),n>s||o>r)||((o>n||n!==n)&&(n=o),(s=0?n:r,t)}intersectsBox(e){return this.intersectBox(e,Qx)!==null}intersectTriangle(e,t,n,r,i){nS.subVectors(t,e),rS.subVectors(n,e),iS.crossVectors(nS,rS);let a=this.direction.dot(iS),o;if(a>0){if(r)return null;o=1}else if(a<0)o=-1,a=-a;else return null;tS.subVectors(this.origin,e);let s=o*this.direction.dot(rS.crossVectors(tS,rS));if(s<0)return null;let c=o*this.direction.dot(nS.cross(tS));if(c<0||s+c>a)return null;let l=-o*tS.dot(iS);return l<0?null:this.at(l/a,i)}applyMatrix4(e){return this.origin.applyMatrix4(e),this.direction.transformDirection(e),this}equals(e){return e.origin.equals(this.origin)&&e.direction.equals(this.direction)}clone(){return new this.constructor().copy(this)}},J=class e{constructor(t,n,r,i,a,o,s,c,l,u,d,f,p,m,h,g){e.prototype.isMatrix4=!0,this.elements=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1],t!==void 0&&this.set(t,n,r,i,a,o,s,c,l,u,d,f,p,m,h,g)}set(e,t,n,r,i,a,o,s,c,l,u,d,f,p,m,h){let g=this.elements;return g[0]=e,g[4]=t,g[8]=n,g[12]=r,g[1]=i,g[5]=a,g[9]=o,g[13]=s,g[2]=c,g[6]=l,g[10]=u,g[14]=d,g[3]=f,g[7]=p,g[11]=m,g[15]=h,this}identity(){return this.set(1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1),this}clone(){return new e().fromArray(this.elements)}copy(e){let t=this.elements,n=e.elements;return t[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=n[3],t[4]=n[4],t[5]=n[5],t[6]=n[6],t[7]=n[7],t[8]=n[8],t[9]=n[9],t[10]=n[10],t[11]=n[11],t[12]=n[12],t[13]=n[13],t[14]=n[14],t[15]=n[15],this}copyPosition(e){let t=this.elements,n=e.elements;return t[12]=n[12],t[13]=n[13],t[14]=n[14],this}setFromMatrix3(e){let t=e.elements;return this.set(t[0],t[3],t[6],0,t[1],t[4],t[7],0,t[2],t[5],t[8],0,0,0,0,1),this}extractBasis(e,t,n){return e.setFromMatrixColumn(this,0),t.setFromMatrixColumn(this,1),n.setFromMatrixColumn(this,2),this}makeBasis(e,t,n){return this.set(e.x,t.x,n.x,0,e.y,t.y,n.y,0,e.z,t.z,n.z,0,0,0,0,1),this}extractRotation(e){let t=this.elements,n=e.elements,r=1/oS.setFromMatrixColumn(e,0).length(),i=1/oS.setFromMatrixColumn(e,1).length(),a=1/oS.setFromMatrixColumn(e,2).length();return t[0]=n[0]*r,t[1]=n[1]*r,t[2]=n[2]*r,t[3]=0,t[4]=n[4]*i,t[5]=n[5]*i,t[6]=n[6]*i,t[7]=0,t[8]=n[8]*a,t[9]=n[9]*a,t[10]=n[10]*a,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this}makeRotationFromEuler(e){let t=this.elements,n=e.x,r=e.y,i=e.z,a=Math.cos(n),o=Math.sin(n),s=Math.cos(r),c=Math.sin(r),l=Math.cos(i),u=Math.sin(i);if(e.order===`XYZ`){let e=a*l,n=a*u,r=o*l,i=o*u;t[0]=s*l,t[4]=-s*u,t[8]=c,t[1]=n+r*c,t[5]=e-i*c,t[9]=-o*s,t[2]=i-e*c,t[6]=r+n*c,t[10]=a*s}else if(e.order===`YXZ`){let e=s*l,n=s*u,r=c*l,i=c*u;t[0]=e+i*o,t[4]=r*o-n,t[8]=a*c,t[1]=a*u,t[5]=a*l,t[9]=-o,t[2]=n*o-r,t[6]=i+e*o,t[10]=a*s}else if(e.order===`ZXY`){let e=s*l,n=s*u,r=c*l,i=c*u;t[0]=e-i*o,t[4]=-a*u,t[8]=r+n*o,t[1]=n+r*o,t[5]=a*l,t[9]=i-e*o,t[2]=-a*c,t[6]=o,t[10]=a*s}else if(e.order===`ZYX`){let e=a*l,n=a*u,r=o*l,i=o*u;t[0]=s*l,t[4]=r*c-n,t[8]=e*c+i,t[1]=s*u,t[5]=i*c+e,t[9]=n*c-r,t[2]=-c,t[6]=o*s,t[10]=a*s}else if(e.order===`YZX`){let e=a*s,n=a*c,r=o*s,i=o*c;t[0]=s*l,t[4]=i-e*u,t[8]=r*u+n,t[1]=u,t[5]=a*l,t[9]=-o*l,t[2]=-c*l,t[6]=n*u+r,t[10]=e-i*u}else if(e.order===`XZY`){let e=a*s,n=a*c,r=o*s,i=o*c;t[0]=s*l,t[4]=-u,t[8]=c*l,t[1]=e*u+i,t[5]=a*l,t[9]=n*u-r,t[2]=r*u-n,t[6]=o*l,t[10]=i*u+e}return t[3]=0,t[7]=0,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this}makeRotationFromQuaternion(e){return this.compose(cS,e,lS)}lookAt(e,t,n){let r=this.elements;return fS.subVectors(e,t),fS.lengthSq()===0&&(fS.z=1),fS.normalize(),uS.crossVectors(n,fS),uS.lengthSq()===0&&(Math.abs(n.z)===1?fS.x+=1e-4:fS.z+=1e-4,fS.normalize(),uS.crossVectors(n,fS)),uS.normalize(),dS.crossVectors(fS,uS),r[0]=uS.x,r[4]=dS.x,r[8]=fS.x,r[1]=uS.y,r[5]=dS.y,r[9]=fS.y,r[2]=uS.z,r[6]=dS.z,r[10]=fS.z,this}multiply(e){return this.multiplyMatrices(this,e)}premultiply(e){return this.multiplyMatrices(e,this)}multiplyMatrices(e,t){let n=e.elements,r=t.elements,i=this.elements,a=n[0],o=n[4],s=n[8],c=n[12],l=n[1],u=n[5],d=n[9],f=n[13],p=n[2],m=n[6],h=n[10],g=n[14],_=n[3],v=n[7],y=n[11],b=n[15],x=r[0],S=r[4],C=r[8],w=r[12],T=r[1],E=r[5],D=r[9],O=r[13],k=r[2],A=r[6],j=r[10],M=r[14],N=r[3],P=r[7],F=r[11],I=r[15];return i[0]=a*x+o*T+s*k+c*N,i[4]=a*S+o*E+s*A+c*P,i[8]=a*C+o*D+s*j+c*F,i[12]=a*w+o*O+s*M+c*I,i[1]=l*x+u*T+d*k+f*N,i[5]=l*S+u*E+d*A+f*P,i[9]=l*C+u*D+d*j+f*F,i[13]=l*w+u*O+d*M+f*I,i[2]=p*x+m*T+h*k+g*N,i[6]=p*S+m*E+h*A+g*P,i[10]=p*C+m*D+h*j+g*F,i[14]=p*w+m*O+h*M+g*I,i[3]=_*x+v*T+y*k+b*N,i[7]=_*S+v*E+y*A+b*P,i[11]=_*C+v*D+y*j+b*F,i[15]=_*w+v*O+y*M+b*I,this}multiplyScalar(e){let t=this.elements;return t[0]*=e,t[4]*=e,t[8]*=e,t[12]*=e,t[1]*=e,t[5]*=e,t[9]*=e,t[13]*=e,t[2]*=e,t[6]*=e,t[10]*=e,t[14]*=e,t[3]*=e,t[7]*=e,t[11]*=e,t[15]*=e,this}determinant(){let e=this.elements,t=e[0],n=e[4],r=e[8],i=e[12],a=e[1],o=e[5],s=e[9],c=e[13],l=e[2],u=e[6],d=e[10],f=e[14],p=e[3],m=e[7],h=e[11],g=e[15];return p*(+i*s*u-r*c*u-i*o*d+n*c*d+r*o*f-n*s*f)+m*(+t*s*f-t*c*d+i*a*d-r*a*f+r*c*l-i*s*l)+h*(+t*c*u-t*o*f-i*a*u+n*a*f+i*o*l-n*c*l)+g*(-r*o*l-t*s*u+t*o*d+r*a*u-n*a*d+n*s*l)}transpose(){let e=this.elements,t;return t=e[1],e[1]=e[4],e[4]=t,t=e[2],e[2]=e[8],e[8]=t,t=e[6],e[6]=e[9],e[9]=t,t=e[3],e[3]=e[12],e[12]=t,t=e[7],e[7]=e[13],e[13]=t,t=e[11],e[11]=e[14],e[14]=t,this}setPosition(e,t,n){let r=this.elements;return e.isVector3?(r[12]=e.x,r[13]=e.y,r[14]=e.z):(r[12]=e,r[13]=t,r[14]=n),this}invert(){let e=this.elements,t=e[0],n=e[1],r=e[2],i=e[3],a=e[4],o=e[5],s=e[6],c=e[7],l=e[8],u=e[9],d=e[10],f=e[11],p=e[12],m=e[13],h=e[14],g=e[15],_=u*h*c-m*d*c+m*s*f-o*h*f-u*s*g+o*d*g,v=p*d*c-l*h*c-p*s*f+a*h*f+l*s*g-a*d*g,y=l*m*c-p*u*c+p*o*f-a*m*f-l*o*g+a*u*g,b=p*u*s-l*m*s-p*o*d+a*m*d+l*o*h-a*u*h,x=t*_+n*v+r*y+i*b;if(x===0)return this.set(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0);let S=1/x;return e[0]=_*S,e[1]=(m*d*i-u*h*i-m*r*f+n*h*f+u*r*g-n*d*g)*S,e[2]=(o*h*i-m*s*i+m*r*c-n*h*c-o*r*g+n*s*g)*S,e[3]=(u*s*i-o*d*i-u*r*c+n*d*c+o*r*f-n*s*f)*S,e[4]=v*S,e[5]=(l*h*i-p*d*i+p*r*f-t*h*f-l*r*g+t*d*g)*S,e[6]=(p*s*i-a*h*i-p*r*c+t*h*c+a*r*g-t*s*g)*S,e[7]=(a*d*i-l*s*i+l*r*c-t*d*c-a*r*f+t*s*f)*S,e[8]=y*S,e[9]=(p*u*i-l*m*i-p*n*f+t*m*f+l*n*g-t*u*g)*S,e[10]=(a*m*i-p*o*i+p*n*c-t*m*c-a*n*g+t*o*g)*S,e[11]=(l*o*i-a*u*i-l*n*c+t*u*c+a*n*f-t*o*f)*S,e[12]=b*S,e[13]=(l*m*r-p*u*r+p*n*d-t*m*d-l*n*h+t*u*h)*S,e[14]=(p*o*r-a*m*r-p*n*s+t*m*s+a*n*h-t*o*h)*S,e[15]=(a*u*r-l*o*r+l*n*s-t*u*s-a*n*d+t*o*d)*S,this}scale(e){let t=this.elements,n=e.x,r=e.y,i=e.z;return t[0]*=n,t[4]*=r,t[8]*=i,t[1]*=n,t[5]*=r,t[9]*=i,t[2]*=n,t[6]*=r,t[10]*=i,t[3]*=n,t[7]*=r,t[11]*=i,this}getMaxScaleOnAxis(){let e=this.elements,t=e[0]*e[0]+e[1]*e[1]+e[2]*e[2],n=e[4]*e[4]+e[5]*e[5]+e[6]*e[6],r=e[8]*e[8]+e[9]*e[9]+e[10]*e[10];return Math.sqrt(Math.max(t,n,r))}makeTranslation(e,t,n){return e.isVector3?this.set(1,0,0,e.x,0,1,0,e.y,0,0,1,e.z,0,0,0,1):this.set(1,0,0,e,0,1,0,t,0,0,1,n,0,0,0,1),this}makeRotationX(e){let t=Math.cos(e),n=Math.sin(e);return this.set(1,0,0,0,0,t,-n,0,0,n,t,0,0,0,0,1),this}makeRotationY(e){let t=Math.cos(e),n=Math.sin(e);return this.set(t,0,n,0,0,1,0,0,-n,0,t,0,0,0,0,1),this}makeRotationZ(e){let t=Math.cos(e),n=Math.sin(e);return this.set(t,-n,0,0,n,t,0,0,0,0,1,0,0,0,0,1),this}makeRotationAxis(e,t){let n=Math.cos(t),r=Math.sin(t),i=1-n,a=e.x,o=e.y,s=e.z,c=i*a,l=i*o;return this.set(c*a+n,c*o-r*s,c*s+r*o,0,c*o+r*s,l*o+n,l*s-r*a,0,c*s-r*o,l*s+r*a,i*s*s+n,0,0,0,0,1),this}makeScale(e,t,n){return this.set(e,0,0,0,0,t,0,0,0,0,n,0,0,0,0,1),this}makeShear(e,t,n,r,i,a){return this.set(1,n,i,0,e,1,a,0,t,r,1,0,0,0,0,1),this}compose(e,t,n){let r=this.elements,i=t._x,a=t._y,o=t._z,s=t._w,c=i+i,l=a+a,u=o+o,d=i*c,f=i*l,p=i*u,m=a*l,h=a*u,g=o*u,_=s*c,v=s*l,y=s*u,b=n.x,x=n.y,S=n.z;return r[0]=(1-(m+g))*b,r[1]=(f+y)*b,r[2]=(p-v)*b,r[3]=0,r[4]=(f-y)*x,r[5]=(1-(d+g))*x,r[6]=(h+_)*x,r[7]=0,r[8]=(p+v)*S,r[9]=(h-_)*S,r[10]=(1-(d+m))*S,r[11]=0,r[12]=e.x,r[13]=e.y,r[14]=e.z,r[15]=1,this}decompose(e,t,n){let r=this.elements,i=oS.set(r[0],r[1],r[2]).length(),a=oS.set(r[4],r[5],r[6]).length(),o=oS.set(r[8],r[9],r[10]).length();this.determinant()<0&&(i=-i),e.x=r[12],e.y=r[13],e.z=r[14],sS.copy(this);let s=1/i,c=1/a,l=1/o;return sS.elements[0]*=s,sS.elements[1]*=s,sS.elements[2]*=s,sS.elements[4]*=c,sS.elements[5]*=c,sS.elements[6]*=c,sS.elements[8]*=l,sS.elements[9]*=l,sS.elements[10]*=l,t.setFromRotationMatrix(sS),n.x=i,n.y=a,n.z=o,this}makePerspective(e,t,n,r,i,a,o=Tb){let s=this.elements,c=2*i/(t-e),l=2*i/(n-r),u=(t+e)/(t-e),d=(n+r)/(n-r),f,p;if(o===2e3)f=-(a+i)/(a-i),p=-2*a*i/(a-i);else if(o===2001)f=-a/(a-i),p=-a*i/(a-i);else throw Error(`THREE.Matrix4.makePerspective(): Invalid coordinate system: `+o);return s[0]=c,s[4]=0,s[8]=u,s[12]=0,s[1]=0,s[5]=l,s[9]=d,s[13]=0,s[2]=0,s[6]=0,s[10]=f,s[14]=p,s[3]=0,s[7]=0,s[11]=-1,s[15]=0,this}makeOrthographic(e,t,n,r,i,a,o=Tb){let s=this.elements,c=1/(t-e),l=1/(n-r),u=1/(a-i),d=(t+e)*c,f=(n+r)*l,p,m;if(o===2e3)p=(a+i)*u,m=-2*u;else if(o===2001)p=i*u,m=-1*u;else throw Error(`THREE.Matrix4.makeOrthographic(): Invalid coordinate system: `+o);return s[0]=2*c,s[4]=0,s[8]=0,s[12]=-d,s[1]=0,s[5]=2*l,s[9]=0,s[13]=-f,s[2]=0,s[6]=0,s[10]=m,s[14]=-p,s[3]=0,s[7]=0,s[11]=0,s[15]=1,this}equals(e){let t=this.elements,n=e.elements;for(let e=0;e<16;e++)if(t[e]!==n[e])return!1;return!0}fromArray(e,t=0){for(let n=0;n<16;n++)this.elements[n]=e[n+t];return this}toArray(e=[],t=0){let n=this.elements;return e[t]=n[0],e[t+1]=n[1],e[t+2]=n[2],e[t+3]=n[3],e[t+4]=n[4],e[t+5]=n[5],e[t+6]=n[6],e[t+7]=n[7],e[t+8]=n[8],e[t+9]=n[9],e[t+10]=n[10],e[t+11]=n[11],e[t+12]=n[12],e[t+13]=n[13],e[t+14]=n[14],e[t+15]=n[15],e}},oS=new q,sS=new J,cS=new q(0,0,0),lS=new q(1,1,1),uS=new q,dS=new q,fS=new q,pS=new J,mS=new tx,hS=class e{constructor(t=0,n=0,r=0,i=e.DEFAULT_ORDER){this.isEuler=!0,this._x=t,this._y=n,this._z=r,this._order=i}get x(){return this._x}set x(e){this._x=e,this._onChangeCallback()}get y(){return this._y}set y(e){this._y=e,this._onChangeCallback()}get z(){return this._z}set z(e){this._z=e,this._onChangeCallback()}get order(){return this._order}set order(e){this._order=e,this._onChangeCallback()}set(e,t,n,r=this._order){return this._x=e,this._y=t,this._z=n,this._order=r,this._onChangeCallback(),this}clone(){return new this.constructor(this._x,this._y,this._z,this._order)}copy(e){return this._x=e._x,this._y=e._y,this._z=e._z,this._order=e._order,this._onChangeCallback(),this}setFromRotationMatrix(e,t=this._order,n=!0){let 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e==`string`;t&&(e={textures:{},images:{}});let n={metadata:{version:4.7,type:`Material`,generator:`Material.toJSON`}};n.uuid=this.uuid,n.type=this.type,this.name!==``&&(n.name=this.name),this.color&&this.color.isColor&&(n.color=this.color.getHex()),this.roughness!==void 0&&(n.roughness=this.roughness),this.metalness!==void 0&&(n.metalness=this.metalness),this.sheen!==void 0&&(n.sheen=this.sheen),this.sheenColor&&this.sheenColor.isColor&&(n.sheenColor=this.sheenColor.getHex()),this.sheenRoughness!==void 0&&(n.sheenRoughness=this.sheenRoughness),this.emissive&&this.emissive.isColor&&(n.emissive=this.emissive.getHex()),this.emissiveIntensity!==void 0&&this.emissiveIntensity!==1&&(n.emissiveIntensity=this.emissiveIntensity),this.specular&&this.specular.isColor&&(n.specular=this.specular.getHex()),this.specularIntensity!==void 0&&(n.specularIntensity=this.specularIntensity),this.specularColor&&this.specularColor.isColor&&(n.specularColor=this.specularColor.getHex()),this.shininess!==void 0&&(n.shininess=this.shininess),this.clearcoat!==void 0&&(n.clearcoat=this.clearcoat),this.clearcoatRoughness!==void 0&&(n.clearcoatRoughness=this.clearcoatRoughness),this.clearcoatMap&&this.clearcoatMap.isTexture&&(n.clearcoatMap=this.clearcoatMap.toJSON(e).uuid),this.clearcoatRoughnessMap&&this.clearcoatRoughnessMap.isTexture&&(n.clearcoatRoughnessMap=this.clearcoatRoughnessMap.toJSON(e).uuid),this.clearcoatNormalMap&&this.clearcoatNormalMap.isTexture&&(n.clearcoatNormalMap=this.clearcoatNormalMap.toJSON(e).uuid,n.clearcoatNormalScale=this.clearcoatNormalScale.toArray()),this.dispersion!==void 0&&(n.dispersion=this.dispersion),this.iridescence!==void 0&&(n.iridescence=this.iridescence),this.iridescenceIOR!==void 0&&(n.iridescenceIOR=this.iridescenceIOR),this.iridescenceThicknessRange!==void 0&&(n.iridescenceThicknessRange=this.iridescenceThicknessRange),this.iridescenceMap&&this.iridescenceMap.isTexture&&(n.iridescenceMap=this.iridescenceMap.toJSON(e).uuid),this.iridescenceThicknessMap&&this.iridescenceThicknessMap.isTexture&&(n.iridescenceThicknessMap=this.iridescenceThicknessMap.toJSON(e).uuid),this.anisotropy!==void 0&&(n.anisotropy=this.anisotropy),this.anisotropyRotation!==void 0&&(n.anisotropyRotation=this.anisotropyRotation),this.anisotropyMap&&this.anisotropyMap.isTexture&&(n.anisotropyMap=this.anisotropyMap.toJSON(e).uuid),this.map&&this.map.isTexture&&(n.map=this.map.toJSON(e).uuid),this.matcap&&this.matcap.isTexture&&(n.matcap=this.matcap.toJSON(e).uuid),this.alphaMap&&this.alphaMap.isTexture&&(n.alphaMap=this.alphaMap.toJSON(e).uuid),this.lightMap&&this.lightMap.isTexture&&(n.lightMap=this.lightMap.toJSON(e).uuid,n.lightMapIntensity=this.lightMapIntensity),this.aoMap&&this.aoMap.isTexture&&(n.aoMap=this.aoMap.toJSON(e).uuid,n.aoMapIntensity=this.aoMapIntensity),this.bumpMap&&this.bumpMap.isTexture&&(n.bumpMap=this.bumpMap.toJSON(e).uuid,n.bumpScale=this.bumpScale),this.normalMap&&this.normalMap.isTexture&&(n.normalMap=this.normalMap.toJSON(e).uuid,n.normalMapType=this.normalMapType,n.normalScale=this.normalScale.toArray()),this.displacementMap&&this.displacementMap.isTexture&&(n.displacementMap=this.displacementMap.toJSON(e).uuid,n.displacementScale=this.displacementScale,n.displacementBias=this.displacementBias),this.roughnessMap&&this.roughnessMap.isTexture&&(n.roughnessMap=this.roughnessMap.toJSON(e).uuid),this.metalnessMap&&this.metalnessMap.isTexture&&(n.metalnessMap=this.metalnessMap.toJSON(e).uuid),this.emissiveMap&&this.emissiveMap.isTexture&&(n.emissiveMap=this.emissiveMap.toJSON(e).uuid),this.specularMap&&this.specularMap.isTexture&&(n.specularMap=this.specularMap.toJSON(e).uuid),this.specularIntensityMap&&this.specularIntensityMap.isTexture&&(n.specularIntensityMap=this.specularIntensityMap.toJSON(e).uuid),this.specularColorMap&&this.specularColorMap.isTexture&&(n.specularColorMap=this.specularColorMap.toJSON(e).uuid),this.envMap&&this.envMap.isTexture&&(n.envMap=this.envMap.toJSON(e).uuid,this.combine!==void 0&&(n.combine=this.combine)),this.envMapRotation!==void 0&&(n.envMapRotation=this.envMapRotation.toArray()),this.envMapIntensity!==void 0&&(n.envMapIntensity=this.envMapIntensity),this.reflectivity!==void 0&&(n.reflectivity=this.reflectivity),this.refractionRatio!==void 0&&(n.refractionRatio=this.refractionRatio),this.gradientMap&&this.gradientMap.isTexture&&(n.gradientMap=this.gradientMap.toJSON(e).uuid),this.transmission!==void 0&&(n.transmission=this.transmission),this.transmissionMap&&this.transmissionMap.isTexture&&(n.transmissionMap=this.transmissionMap.toJSON(e).uuid),this.thickness!==void 0&&(n.thickness=this.thickness),this.thicknessMap&&this.thicknessMap.isTexture&&(n.thicknessMap=this.thicknessMap.toJSON(e).uuid),this.attenuationDistance!==void 0&&this.attenuationDistance!==1/0&&(n.attenuationDistance=this.attenuationDistance),this.attenuationColor!==void 0&&(n.attenuationColor=this.attenuationColor.getHex()),this.size!==void 0&&(n.size=this.size),this.shadowSide!==null&&(n.shadowSide=this.shadowSide),this.sizeAttenuation!==void 0&&(n.sizeAttenuation=this.sizeAttenuation),this.blending!==1&&(n.blending=this.blending),this.side!==0&&(n.side=this.side),this.vertexColors===!0&&(n.vertexColors=!0),this.opacity<1&&(n.opacity=this.opacity),this.transparent===!0&&(n.transparent=!0),this.blendSrc!==204&&(n.blendSrc=this.blendSrc),this.blendDst!==205&&(n.blendDst=this.blendDst),this.blendEquation!==100&&(n.blendEquation=this.blendEquation),this.blendSrcAlpha!==null&&(n.blendSrcAlpha=this.blendSrcAlpha),this.blendDstAlpha!==null&&(n.blendDstAlpha=this.blendDstAlpha),this.blendEquationAlpha!==null&&(n.blendEquationAlpha=this.blendEquationAlpha),this.blendColor&&this.blendColor.isColor&&(n.blendColor=this.blendColor.getHex()),this.blendAlpha!==0&&(n.blendAlpha=this.blendAlpha),this.depthFunc!==3&&(n.depthFunc=this.depthFunc),this.depthTest===!1&&(n.depthTest=this.depthTest),this.depthWrite===!1&&(n.depthWrite=this.depthWrite),this.colorWrite===!1&&(n.colorWrite=this.colorWrite),this.stencilWriteMask!==255&&(n.stencilWriteMask=this.stencilWriteMask),this.stencilFunc!==519&&(n.stencilFunc=this.stencilFunc),this.stencilRef!==0&&(n.stencilRef=this.stencilRef),this.stencilFuncMask!==255&&(n.stencilFuncMask=this.stencilFuncMask),this.stencilFail!==7680&&(n.stencilFail=this.stencilFail),this.stencilZFail!==7680&&(n.stencilZFail=this.stencilZFail),this.stencilZPass!==7680&&(n.stencilZPass=this.stencilZPass),this.stencilWrite===!0&&(n.stencilWrite=this.stencilWrite),this.rotation!==void 0&&this.rotation!==0&&(n.rotation=this.rotation),this.polygonOffset===!0&&(n.polygonOffset=!0),this.polygonOffsetFactor!==0&&(n.polygonOffsetFactor=this.polygonOffsetFactor),this.polygonOffsetUnits!==0&&(n.polygonOffsetUnits=this.polygonOffsetUnits),this.linewidth!==void 0&&this.linewidth!==1&&(n.linewidth=this.linewidth),this.dashSize!==void 0&&(n.dashSize=this.dashSize),this.gapSize!==void 0&&(n.gapSize=this.gapSize),this.scale!==void 0&&(n.scale=this.scale),this.dithering===!0&&(n.dithering=!0),this.alphaTest>0&&(n.alphaTest=this.alphaTest),this.alphaHash===!0&&(n.alphaHash=!0),this.alphaToCoverage===!0&&(n.alphaToCoverage=!0),this.premultipliedAlpha===!0&&(n.premultipliedAlpha=!0),this.forceSinglePass===!0&&(n.forceSinglePass=!0),this.wireframe===!0&&(n.wireframe=!0),this.wireframeLinewidth>1&&(n.wireframeLinewidth=this.wireframeLinewidth),this.wireframeLinecap!==`round`&&(n.wireframeLinecap=this.wireframeLinecap),this.wireframeLinejoin!==`round`&&(n.wireframeLinejoin=this.wireframeLinejoin),this.flatShading===!0&&(n.flatShading=!0),this.visible===!1&&(n.visible=!1),this.toneMapped===!1&&(n.toneMapped=!1),this.fog===!1&&(n.fog=!1),Object.keys(this.userData).length>0&&(n.userData=this.userData);function r(e){let t=[];for(let n in e){let r=e[n];delete r.metadata,t.push(r)}return t}if(t){let t=r(e.textures),i=r(e.images);t.length>0&&(n.textures=t),i.length>0&&(n.images=i)}return n}clone(){return new this.constructor().copy(this)}copy(e){this.name=e.name,this.blending=e.blending,this.side=e.side,this.vertexColors=e.vertexColors,this.opacity=e.opacity,this.transparent=e.transparent,this.blendSrc=e.blendSrc,this.blendDst=e.blendDst,this.blendEquation=e.blendEquation,this.blendSrcAlpha=e.blendSrcAlpha,this.blendDstAlpha=e.blendDstAlpha,this.blendEquationAlpha=e.blendEquationAlpha,this.blendColor.copy(e.blendColor),this.blendAlpha=e.blendAlpha,this.depthFunc=e.depthFunc,this.depthTest=e.depthTest,this.depthWrite=e.depthWrite,this.stencilWriteMask=e.stencilWriteMask,this.stencilFunc=e.stencilFunc,this.stencilRef=e.stencilRef,this.stencilFuncMask=e.stencilFuncMask,this.stencilFail=e.stencilFail,this.stencilZFail=e.stencilZFail,this.stencilZPass=e.stencilZPass,this.stencilWrite=e.stencilWrite;let t=e.clippingPlanes,n=null;if(t!==null){let e=t.length;n=Array(e);for(let r=0;r!==e;++r)n[r]=t[r].clone()}return 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this.constructor().copy(this)}copy(e){this.width=e.width,this.height=e.height,this.depth=e.depth,this.scissor.copy(e.scissor),this.scissorTest=e.scissorTest,this.viewport.copy(e.viewport),this.textures.length=0;for(let t=0,n=e.textures.length;t=this.min.x&&e.x<=this.max.x&&e.y>=this.min.y&&e.y<=this.max.y&&e.z>=this.min.z&&e.z<=this.max.z}containsBox(e){return this.min.x<=e.min.x&&e.max.x<=this.max.x&&this.min.y<=e.min.y&&e.max.y<=this.max.y&&this.min.z<=e.min.z&&e.max.z<=this.max.z}getParameter(e,t){return t.set((e.x-this.min.x)/(this.max.x-this.min.x),(e.y-this.min.y)/(this.max.y-this.min.y),(e.z-this.min.z)/(this.max.z-this.min.z))}intersectsBox(e){return e.max.x>=this.min.x&&e.min.x<=this.max.x&&e.max.y>=this.min.y&&e.min.y<=this.max.y&&e.max.z>=this.min.z&&e.min.z<=this.max.z}intersectsSphere(e){return this.clampPoint(e.center,Rx),Rx.distanceToSquared(e.center)<=e.radius*e.radius}intersectsPlane(e){let t,n;return 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this.clampPoint(e,Rx).distanceTo(e)}getBoundingSphere(e){return this.isEmpty()?e.makeEmpty():(this.getCenter(e.center),e.radius=this.getSize(Rx).length()*.5),e}intersect(e){return this.min.max(e.min),this.max.min(e.max),this.isEmpty()&&this.makeEmpty(),this}union(e){return this.min.min(e.min),this.max.max(e.max),this}applyMatrix4(e){return this.isEmpty()?this:(Lx[0].set(this.min.x,this.min.y,this.min.z).applyMatrix4(e),Lx[1].set(this.min.x,this.min.y,this.max.z).applyMatrix4(e),Lx[2].set(this.min.x,this.max.y,this.min.z).applyMatrix4(e),Lx[3].set(this.min.x,this.max.y,this.max.z).applyMatrix4(e),Lx[4].set(this.max.x,this.min.y,this.min.z).applyMatrix4(e),Lx[5].set(this.max.x,this.min.y,this.max.z).applyMatrix4(e),Lx[6].set(this.max.x,this.max.y,this.min.z).applyMatrix4(e),Lx[7].set(this.max.x,this.max.y,this.max.z).applyMatrix4(e),this.setFromPoints(Lx),this)}translate(e){return this.min.add(e),this.max.add(e),this}equals(e){return 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t=tS.subVectors(e,this.origin).dot(this.direction);return t<0?this.origin.distanceToSquared(e):(tS.copy(this.origin).addScaledVector(this.direction,t),tS.distanceToSquared(e))}distanceSqToSegment(e,t,n,r){nS.copy(e).add(t).multiplyScalar(.5),rS.copy(t).sub(e).normalize(),iS.copy(this.origin).sub(nS);let i=e.distanceTo(t)*.5,a=-this.direction.dot(rS),o=iS.dot(this.direction),s=-iS.dot(rS),c=iS.lengthSq(),l=Math.abs(1-a*a),u,d,f,p;if(l>0)if(u=a*s-o,d=a*o-s,p=i*l,u>=0)if(d>=-p)if(d<=p){let e=1/l;u*=e,d*=e,f=u*(u+a*d+2*o)+d*(a*u+d+2*s)+c}else d=i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;else d=-i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;else d<=-p?(u=Math.max(0,-(-a*i+o)),d=u>0?-i:Math.min(Math.max(-i,-s),i),f=-u*u+d*(d+2*s)+c):d<=p?(u=0,d=Math.min(Math.max(-i,-s),i),f=d*(d+2*s)+c):(u=Math.max(0,-(a*i+o)),d=u>0?i:Math.min(Math.max(-i,-s),i),f=-u*u+d*(d+2*s)+c);else d=a>0?-i:i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;return n&&n.copy(this.origin).addScaledVector(this.direction,u),r&&r.copy(nS).addScaledVector(rS,d),f}intersectSphere(e,t){tS.subVectors(e.center,this.origin);let n=tS.dot(this.direction),r=tS.dot(tS)-n*n,i=e.radius*e.radius;if(r>i)return null;let a=Math.sqrt(i-r),o=n-a,s=n+a;return s<0?null:o<0?this.at(s,t):this.at(o,t)}intersectsSphere(e){return e.radius<0?!1:this.distanceSqToPoint(e.center)<=e.radius*e.radius}distanceToPlane(e){let t=e.normal.dot(this.direction);if(t===0)return e.distanceToPoint(this.origin)===0?0:null;let n=-(this.origin.dot(e.normal)+e.constant)/t;return n>=0?n:null}intersectPlane(e,t){let n=this.distanceToPlane(e);return n===null?null:this.at(n,t)}intersectsPlane(e){let t=e.distanceToPoint(this.origin);return t===0||e.normal.dot(this.direction)*t<0}intersectBox(e,t){let n,r,i,a,o,s,c=1/this.direction.x,l=1/this.direction.y,u=1/this.direction.z,d=this.origin;return c>=0?(n=(e.min.x-d.x)*c,r=(e.max.x-d.x)*c):(n=(e.max.x-d.x)*c,r=(e.min.x-d.x)*c),l>=0?(i=(e.min.y-d.y)*l,a=(e.max.y-d.y)*l):(i=(e.max.y-d.y)*l,a=(e.min.y-d.y)*l),n>a||i>r||((i>n||isNaN(n))&&(n=i),(a=0?(o=(e.min.z-d.z)*u,s=(e.max.z-d.z)*u):(o=(e.max.z-d.z)*u,s=(e.min.z-d.z)*u),n>s||o>r)||((o>n||n!==n)&&(n=o),(s=0?n:r,t)}intersectsBox(e){return this.intersectBox(e,tS)!==null}intersectTriangle(e,t,n,r,i){aS.subVectors(t,e),oS.subVectors(n,e),sS.crossVectors(aS,oS);let a=this.direction.dot(sS),o;if(a>0){if(r)return null;o=1}else if(a<0)o=-1,a=-a;else return null;iS.subVectors(this.origin,e);let s=o*this.direction.dot(oS.crossVectors(iS,oS));if(s<0)return null;let c=o*this.direction.dot(aS.cross(iS));if(c<0||s+c>a)return null;let l=-o*iS.dot(sS);return l<0?null:this.at(l/a,i)}applyMatrix4(e){return this.origin.applyMatrix4(e),this.direction.transformDirection(e),this}equals(e){return e.origin.equals(this.origin)&&e.direction.equals(this.direction)}clone(){return new this.constructor().copy(this)}},J=class e{constructor(t,n,r,i,a,o,s,c,l,u,d,f,p,m,h,g){e.prototype.isMatrix4=!0,this.elements=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1],t!==void 0&&this.set(t,n,r,i,a,o,s,c,l,u,d,f,p,m,h,g)}set(e,t,n,r,i,a,o,s,c,l,u,d,f,p,m,h){let g=this.elements;return g[0]=e,g[4]=t,g[8]=n,g[12]=r,g[1]=i,g[5]=a,g[9]=o,g[13]=s,g[2]=c,g[6]=l,g[10]=u,g[14]=d,g[3]=f,g[7]=p,g[11]=m,g[15]=h,this}identity(){return this.set(1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1),this}clone(){return new e().fromArray(this.elements)}copy(e){let t=this.elements,n=e.elements;return t[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=n[3],t[4]=n[4],t[5]=n[5],t[6]=n[6],t[7]=n[7],t[8]=n[8],t[9]=n[9],t[10]=n[10],t[11]=n[11],t[12]=n[12],t[13]=n[13],t[14]=n[14],t[15]=n[15],this}copyPosition(e){let t=this.elements,n=e.elements;return t[12]=n[12],t[13]=n[13],t[14]=n[14],this}setFromMatrix3(e){let t=e.elements;return this.set(t[0],t[3],t[6],0,t[1],t[4],t[7],0,t[2],t[5],t[8],0,0,0,0,1),this}extractBasis(e,t,n){return e.setFromMatrixColumn(this,0),t.setFromMatrixColumn(this,1),n.setFromMatrixColumn(this,2),this}makeBasis(e,t,n){return this.set(e.x,t.x,n.x,0,e.y,t.y,n.y,0,e.z,t.z,n.z,0,0,0,0,1),this}extractRotation(e){let t=this.elements,n=e.elements,r=1/lS.setFromMatrixColumn(e,0).length(),i=1/lS.setFromMatrixColumn(e,1).length(),a=1/lS.setFromMatrixColumn(e,2).length();return t[0]=n[0]*r,t[1]=n[1]*r,t[2]=n[2]*r,t[3]=0,t[4]=n[4]*i,t[5]=n[5]*i,t[6]=n[6]*i,t[7]=0,t[8]=n[8]*a,t[9]=n[9]*a,t[10]=n[10]*a,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this}makeRotationFromEuler(e){let t=this.elements,n=e.x,r=e.y,i=e.z,a=Math.cos(n),o=Math.sin(n),s=Math.cos(r),c=Math.sin(r),l=Math.cos(i),u=Math.sin(i);if(e.order===`XYZ`){let e=a*l,n=a*u,r=o*l,i=o*u;t[0]=s*l,t[4]=-s*u,t[8]=c,t[1]=n+r*c,t[5]=e-i*c,t[9]=-o*s,t[2]=i-e*c,t[6]=r+n*c,t[10]=a*s}else if(e.order===`YXZ`){let e=s*l,n=s*u,r=c*l,i=c*u;t[0]=e+i*o,t[4]=r*o-n,t[8]=a*c,t[1]=a*u,t[5]=a*l,t[9]=-o,t[2]=n*o-r,t[6]=i+e*o,t[10]=a*s}else if(e.order===`ZXY`){let e=s*l,n=s*u,r=c*l,i=c*u;t[0]=e-i*o,t[4]=-a*u,t[8]=r+n*o,t[1]=n+r*o,t[5]=a*l,t[9]=i-e*o,t[2]=-a*c,t[6]=o,t[10]=a*s}else if(e.order===`ZYX`){let e=a*l,n=a*u,r=o*l,i=o*u;t[0]=s*l,t[4]=r*c-n,t[8]=e*c+i,t[1]=s*u,t[5]=i*c+e,t[9]=n*c-r,t[2]=-c,t[6]=o*s,t[10]=a*s}else if(e.order===`YZX`){let e=a*s,n=a*c,r=o*s,i=o*c;t[0]=s*l,t[4]=i-e*u,t[8]=r*u+n,t[1]=u,t[5]=a*l,t[9]=-o*l,t[2]=-c*l,t[6]=n*u+r,t[10]=e-i*u}else if(e.order===`XZY`){let e=a*s,n=a*c,r=o*s,i=o*c;t[0]=s*l,t[4]=-u,t[8]=c*l,t[1]=e*u+i,t[5]=a*l,t[9]=n*u-r,t[2]=r*u-n,t[6]=o*l,t[10]=i*u+e}return t[3]=0,t[7]=0,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this}makeRotationFromQuaternion(e){return this.compose(dS,e,fS)}lookAt(e,t,n){let r=this.elements;return hS.subVectors(e,t),hS.lengthSq()===0&&(hS.z=1),hS.normalize(),pS.crossVectors(n,hS),pS.lengthSq()===0&&(Math.abs(n.z)===1?hS.x+=1e-4:hS.z+=1e-4,hS.normalize(),pS.crossVectors(n,hS)),pS.normalize(),mS.crossVectors(hS,pS),r[0]=pS.x,r[4]=mS.x,r[8]=hS.x,r[1]=pS.y,r[5]=mS.y,r[9]=hS.y,r[2]=pS.z,r[6]=mS.z,r[10]=hS.z,this}multiply(e){return this.multiplyMatrices(this,e)}premultiply(e){return this.multiplyMatrices(e,this)}multiplyMatrices(e,t){let n=e.elements,r=t.elements,i=this.elements,a=n[0],o=n[4],s=n[8],c=n[12],l=n[1],u=n[5],d=n[9],f=n[13],p=n[2],m=n[6],h=n[10],g=n[14],_=n[3],v=n[7],y=n[11],b=n[15],x=r[0],S=r[4],C=r[8],w=r[12],T=r[1],E=r[5],D=r[9],O=r[13],k=r[2],A=r[6],j=r[10],M=r[14],N=r[3],P=r[7],F=r[11],I=r[15];return i[0]=a*x+o*T+s*k+c*N,i[4]=a*S+o*E+s*A+c*P,i[8]=a*C+o*D+s*j+c*F,i[12]=a*w+o*O+s*M+c*I,i[1]=l*x+u*T+d*k+f*N,i[5]=l*S+u*E+d*A+f*P,i[9]=l*C+u*D+d*j+f*F,i[13]=l*w+u*O+d*M+f*I,i[2]=p*x+m*T+h*k+g*N,i[6]=p*S+m*E+h*A+g*P,i[10]=p*C+m*D+h*j+g*F,i[14]=p*w+m*O+h*M+g*I,i[3]=_*x+v*T+y*k+b*N,i[7]=_*S+v*E+y*A+b*P,i[11]=_*C+v*D+y*j+b*F,i[15]=_*w+v*O+y*M+b*I,this}multiplyScalar(e){let t=this.elements;return t[0]*=e,t[4]*=e,t[8]*=e,t[12]*=e,t[1]*=e,t[5]*=e,t[9]*=e,t[13]*=e,t[2]*=e,t[6]*=e,t[10]*=e,t[14]*=e,t[3]*=e,t[7]*=e,t[11]*=e,t[15]*=e,this}determinant(){let e=this.elements,t=e[0],n=e[4],r=e[8],i=e[12],a=e[1],o=e[5],s=e[9],c=e[13],l=e[2],u=e[6],d=e[10],f=e[14],p=e[3],m=e[7],h=e[11],g=e[15];return p*(+i*s*u-r*c*u-i*o*d+n*c*d+r*o*f-n*s*f)+m*(+t*s*f-t*c*d+i*a*d-r*a*f+r*c*l-i*s*l)+h*(+t*c*u-t*o*f-i*a*u+n*a*f+i*o*l-n*c*l)+g*(-r*o*l-t*s*u+t*o*d+r*a*u-n*a*d+n*s*l)}transpose(){let e=this.elements,t;return t=e[1],e[1]=e[4],e[4]=t,t=e[2],e[2]=e[8],e[8]=t,t=e[6],e[6]=e[9],e[9]=t,t=e[3],e[3]=e[12],e[12]=t,t=e[7],e[7]=e[13],e[13]=t,t=e[11],e[11]=e[14],e[14]=t,this}setPosition(e,t,n){let r=this.elements;return e.isVector3?(r[12]=e.x,r[13]=e.y,r[14]=e.z):(r[12]=e,r[13]=t,r[14]=n),this}invert(){let e=this.elements,t=e[0],n=e[1],r=e[2],i=e[3],a=e[4],o=e[5],s=e[6],c=e[7],l=e[8],u=e[9],d=e[10],f=e[11],p=e[12],m=e[13],h=e[14],g=e[15],_=u*h*c-m*d*c+m*s*f-o*h*f-u*s*g+o*d*g,v=p*d*c-l*h*c-p*s*f+a*h*f+l*s*g-a*d*g,y=l*m*c-p*u*c+p*o*f-a*m*f-l*o*g+a*u*g,b=p*u*s-l*m*s-p*o*d+a*m*d+l*o*h-a*u*h,x=t*_+n*v+r*y+i*b;if(x===0)return this.set(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0);let S=1/x;return e[0]=_*S,e[1]=(m*d*i-u*h*i-m*r*f+n*h*f+u*r*g-n*d*g)*S,e[2]=(o*h*i-m*s*i+m*r*c-n*h*c-o*r*g+n*s*g)*S,e[3]=(u*s*i-o*d*i-u*r*c+n*d*c+o*r*f-n*s*f)*S,e[4]=v*S,e[5]=(l*h*i-p*d*i+p*r*f-t*h*f-l*r*g+t*d*g)*S,e[6]=(p*s*i-a*h*i-p*r*c+t*h*c+a*r*g-t*s*g)*S,e[7]=(a*d*i-l*s*i+l*r*c-t*d*c-a*r*f+t*s*f)*S,e[8]=y*S,e[9]=(p*u*i-l*m*i-p*n*f+t*m*f+l*n*g-t*u*g)*S,e[10]=(a*m*i-p*o*i+p*n*c-t*m*c-a*n*g+t*o*g)*S,e[11]=(l*o*i-a*u*i-l*n*c+t*u*c+a*n*f-t*o*f)*S,e[12]=b*S,e[13]=(l*m*r-p*u*r+p*n*d-t*m*d-l*n*h+t*u*h)*S,e[14]=(p*o*r-a*m*r-p*n*s+t*m*s+a*n*h-t*o*h)*S,e[15]=(a*u*r-l*o*r+l*n*s-t*u*s-a*n*d+t*o*d)*S,this}scale(e){let t=this.elements,n=e.x,r=e.y,i=e.z;return t[0]*=n,t[4]*=r,t[8]*=i,t[1]*=n,t[5]*=r,t[9]*=i,t[2]*=n,t[6]*=r,t[10]*=i,t[3]*=n,t[7]*=r,t[11]*=i,this}getMaxScaleOnAxis(){let e=this.elements,t=e[0]*e[0]+e[1]*e[1]+e[2]*e[2],n=e[4]*e[4]+e[5]*e[5]+e[6]*e[6],r=e[8]*e[8]+e[9]*e[9]+e[10]*e[10];return Math.sqrt(Math.max(t,n,r))}makeTranslation(e,t,n){return e.isVector3?this.set(1,0,0,e.x,0,1,0,e.y,0,0,1,e.z,0,0,0,1):this.set(1,0,0,e,0,1,0,t,0,0,1,n,0,0,0,1),this}makeRotationX(e){let t=Math.cos(e),n=Math.sin(e);return this.set(1,0,0,0,0,t,-n,0,0,n,t,0,0,0,0,1),this}makeRotationY(e){let t=Math.cos(e),n=Math.sin(e);return this.set(t,0,n,0,0,1,0,0,-n,0,t,0,0,0,0,1),this}makeRotationZ(e){let t=Math.cos(e),n=Math.sin(e);return this.set(t,-n,0,0,n,t,0,0,0,0,1,0,0,0,0,1),this}makeRotationAxis(e,t){let n=Math.cos(t),r=Math.sin(t),i=1-n,a=e.x,o=e.y,s=e.z,c=i*a,l=i*o;return this.set(c*a+n,c*o-r*s,c*s+r*o,0,c*o+r*s,l*o+n,l*s-r*a,0,c*s-r*o,l*s+r*a,i*s*s+n,0,0,0,0,1),this}makeScale(e,t,n){return this.set(e,0,0,0,0,t,0,0,0,0,n,0,0,0,0,1),this}makeShear(e,t,n,r,i,a){return this.set(1,n,i,0,e,1,a,0,t,r,1,0,0,0,0,1),this}compose(e,t,n){let r=this.elements,i=t._x,a=t._y,o=t._z,s=t._w,c=i+i,l=a+a,u=o+o,d=i*c,f=i*l,p=i*u,m=a*l,h=a*u,g=o*u,_=s*c,v=s*l,y=s*u,b=n.x,x=n.y,S=n.z;return r[0]=(1-(m+g))*b,r[1]=(f+y)*b,r[2]=(p-v)*b,r[3]=0,r[4]=(f-y)*x,r[5]=(1-(d+g))*x,r[6]=(h+_)*x,r[7]=0,r[8]=(p+v)*S,r[9]=(h-_)*S,r[10]=(1-(d+m))*S,r[11]=0,r[12]=e.x,r[13]=e.y,r[14]=e.z,r[15]=1,this}decompose(e,t,n){let r=this.elements,i=lS.set(r[0],r[1],r[2]).length(),a=lS.set(r[4],r[5],r[6]).length(),o=lS.set(r[8],r[9],r[10]).length();this.determinant()<0&&(i=-i),e.x=r[12],e.y=r[13],e.z=r[14],uS.copy(this);let s=1/i,c=1/a,l=1/o;return uS.elements[0]*=s,uS.elements[1]*=s,uS.elements[2]*=s,uS.elements[4]*=c,uS.elements[5]*=c,uS.elements[6]*=c,uS.elements[8]*=l,uS.elements[9]*=l,uS.elements[10]*=l,t.setFromRotationMatrix(uS),n.x=i,n.y=a,n.z=o,this}makePerspective(e,t,n,r,i,a,o=Ob){let s=this.elements,c=2*i/(t-e),l=2*i/(n-r),u=(t+e)/(t-e),d=(n+r)/(n-r),f,p;if(o===2e3)f=-(a+i)/(a-i),p=-2*a*i/(a-i);else if(o===2001)f=-a/(a-i),p=-a*i/(a-i);else throw Error(`THREE.Matrix4.makePerspective(): Invalid coordinate system: `+o);return s[0]=c,s[4]=0,s[8]=u,s[12]=0,s[1]=0,s[5]=l,s[9]=d,s[13]=0,s[2]=0,s[6]=0,s[10]=f,s[14]=p,s[3]=0,s[7]=0,s[11]=-1,s[15]=0,this}makeOrthographic(e,t,n,r,i,a,o=Ob){let s=this.elements,c=1/(t-e),l=1/(n-r),u=1/(a-i),d=(t+e)*c,f=(n+r)*l,p,m;if(o===2e3)p=(a+i)*u,m=-2*u;else if(o===2001)p=i*u,m=-1*u;else throw Error(`THREE.Matrix4.makeOrthographic(): Invalid coordinate system: `+o);return s[0]=2*c,s[4]=0,s[8]=0,s[12]=-d,s[1]=0,s[5]=2*l,s[9]=0,s[13]=-f,s[2]=0,s[6]=0,s[10]=m,s[14]=-p,s[3]=0,s[7]=0,s[11]=0,s[15]=1,this}equals(e){let t=this.elements,n=e.elements;for(let e=0;e<16;e++)if(t[e]!==n[e])return!1;return!0}fromArray(e,t=0){for(let n=0;n<16;n++)this.elements[n]=e[n+t];return this}toArray(e=[],t=0){let n=this.elements;return e[t]=n[0],e[t+1]=n[1],e[t+2]=n[2],e[t+3]=n[3],e[t+4]=n[4],e[t+5]=n[5],e[t+6]=n[6],e[t+7]=n[7],e[t+8]=n[8],e[t+9]=n[9],e[t+10]=n[10],e[t+11]=n[11],e[t+12]=n[12],e[t+13]=n[13],e[t+14]=n[14],e[t+15]=n[15],e}},lS=new q,uS=new J,dS=new q(0,0,0),fS=new q(1,1,1),pS=new q,mS=new q,hS=new q,gS=new J,_S=new ix,vS=class e{constructor(t=0,n=0,r=0,i=e.DEFAULT_ORDER){this.isEuler=!0,this._x=t,this._y=n,this._z=r,this._order=i}get x(){return this._x}set x(e){this._x=e,this._onChangeCallback()}get y(){return this._y}set y(e){this._y=e,this._onChangeCallback()}get z(){return this._z}set z(e){this._z=e,this._onChangeCallback()}get order(){return this._order}set order(e){this._order=e,this._onChangeCallback()}set(e,t,n,r=this._order){return this._x=e,this._y=t,this._z=n,this._order=r,this._onChangeCallback(),this}clone(){return new this.constructor(this._x,this._y,this._z,this._order)}copy(e){return this._x=e._x,this._y=e._y,this._z=e._z,this._order=e._order,this._onChangeCallback(),this}setFromRotationMatrix(e,t=this._order,n=!0){let 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bx.workingToColorSpace(eC.copy(this),e),Math.round(Fb(eC.r*255,0,255))*65536+Math.round(Fb(eC.g*255,0,255))*256+Math.round(Fb(eC.b*255,0,255))}getHexString(e=Sb){return(`000000`+this.getHex(e).toString(16)).slice(-6)}getHSL(e,t=bx.workingColorSpace){bx.workingToColorSpace(eC.copy(this),t);let n=eC.r,r=eC.g,i=eC.b,a=Math.max(n,r,i),o=Math.min(n,r,i),s,c,l=(o+a)/2;if(o===a)s=0,c=0;else{let e=a-o;switch(c=l<=.5?e/(a+o):e/(2-a-o),a){case n:s=(r-i)/e+(r0!=e>0&&this.version++,this._alphaTest=e}onBeforeRender(){}onBeforeCompile(){}customProgramCacheKey(){return this.onBeforeCompile.toString()}setValues(e){if(e!==void 0)for(let t in e){let n=e[t];if(n===void 0){console.warn(`THREE.Material: parameter '${t}' has value of undefined.`);continue}let r=this[t];if(r===void 0){console.warn(`THREE.Material: '${t}' is not a property of THREE.${this.type}.`);continue}r&&r.isColor?r.set(n):r&&r.isVector3&&n&&n.isVector3?r.copy(n):this[t]=n}}toJSON(e){let t=e===void 0||typeof e==`string`;t&&(e={textures:{},images:{}});let n={metadata:{version:4.7,type:`Material`,generator:`Material.toJSON`}};n.uuid=this.uuid,n.type=this.type,this.name!==``&&(n.name=this.name),this.color&&this.color.isColor&&(n.color=this.color.getHex()),this.roughness!==void 0&&(n.roughness=this.roughness),this.metalness!==void 0&&(n.metalness=this.metalness),this.sheen!==void 0&&(n.sheen=this.sheen),this.sheenColor&&this.sheenColor.isColor&&(n.sheenColor=this.sheenColor.getHex()),this.sheenRoughness!==void 0&&(n.sheenRoughness=this.sheenRoughness),this.emissive&&this.emissive.isColor&&(n.emissive=this.emissive.getHex()),this.emissiveIntensity!==void 0&&this.emissiveIntensity!==1&&(n.emissiveIntensity=this.emissiveIntensity),this.specular&&this.specular.isColor&&(n.specular=this.specular.getHex()),this.specularIntensity!==void 0&&(n.specularIntensity=this.specularIntensity),this.specularColor&&this.specularColor.isColor&&(n.specularColor=this.specularColor.getHex()),this.shininess!==void 0&&(n.shininess=this.shininess),this.clearcoat!==void 0&&(n.clearcoat=this.clearcoat),this.clearcoatRoughness!==void 0&&(n.clearcoatRoughness=this.clearcoatRoughness),this.clearcoatMap&&this.clearcoatMap.isTexture&&(n.clearcoatMap=this.clearcoatMap.toJSON(e).uuid),this.clearcoatRoughnessMap&&this.clearcoatRoughnessMap.isTexture&&(n.clearcoatRoughnessMap=this.clearcoatRoughnessMap.toJSON(e).uuid),this.clearcoatNormalMap&&this.clearcoatNormalMap.isTexture&&(n.clearcoatNormalMap=this.clearcoatNormalMap.toJSON(e).uuid,n.clearcoatNormalScale=this.clearcoatNormalScale.toArray()),this.dispersion!==void 0&&(n.dispersion=this.dispersion),this.iridescence!==void 0&&(n.iridescence=this.iridescence),this.iridescenceIOR!==void 0&&(n.iridescenceIOR=this.iridescenceIOR),this.iridescenceThicknessRange!==void 0&&(n.iridescenceThicknessRange=this.iridescenceThicknessRange),this.iridescenceMap&&this.iridescenceMap.isTexture&&(n.iridescenceMap=this.iridescenceMap.toJSON(e).uuid),this.iridescenceThicknessMap&&this.iridescenceThicknessMap.isTexture&&(n.iridescenceThicknessMap=this.iridescenceThicknessMap.toJSON(e).uuid),this.anisotropy!==void 0&&(n.anisotropy=this.anisotropy),this.anisotropyRotation!==void 0&&(n.anisotropyRotation=this.anisotropyRotation),this.anisotropyMap&&this.anisotropyMap.isTexture&&(n.anisotropyMap=this.anisotropyMap.toJSON(e).uuid),this.map&&this.map.isTexture&&(n.map=this.map.toJSON(e).uuid),this.matcap&&this.matcap.isTexture&&(n.matcap=this.matcap.toJSON(e).uuid),this.alphaMap&&this.alphaMap.isTexture&&(n.alphaMap=this.alphaMap.toJSON(e).uuid),this.lightMap&&this.lightMap.isTexture&&(n.lightMap=this.lightMap.toJSON(e).uuid,n.lightMapIntensity=this.lightMapIntensity),this.aoMap&&this.aoMap.isTexture&&(n.aoMap=this.aoMap.toJSON(e).uuid,n.aoMapIntensity=this.aoMapIntensity),this.bumpMap&&this.bumpMap.isTexture&&(n.bumpMap=this.bumpMap.toJSON(e).uuid,n.bumpScale=this.bumpScale),this.normalMap&&this.normalMap.isTexture&&(n.normalMap=this.normalMap.toJSON(e).uuid,n.normalMapType=this.normalMapType,n.normalScale=this.normalScale.toArray()),this.displacementMap&&this.displacementMap.isTexture&&(n.displacementMap=this.displacementMap.toJSON(e).uuid,n.displacementScale=this.displacementScale,n.displacementBias=this.displacementBias),this.roughnessMap&&this.roughnessMap.isTexture&&(n.roughnessMap=this.roughnessMap.toJSON(e).uuid),this.metalnessMap&&this.metalnessMap.isTexture&&(n.metalnessMap=this.metalnessMap.toJSON(e).uuid),this.emissiveMap&&this.emissiveMap.isTexture&&(n.emissiveMap=this.emissiveMap.toJSON(e).uuid),this.specularMap&&this.specularMap.isTexture&&(n.specularMap=this.specularMap.toJSON(e).uuid),this.specularIntensityMap&&this.specularIntensityMap.isTexture&&(n.specularIntensityMap=this.specularIntensityMap.toJSON(e).uuid),this.specularColorMap&&this.specularColorMap.isTexture&&(n.specularColorMap=this.specularColorMap.toJSON(e).uuid),this.envMap&&this.envMap.isTexture&&(n.envMap=this.envMap.toJSON(e).uuid,this.combine!==void 0&&(n.combine=this.combine)),this.envMapRotation!==void 0&&(n.envMapRotation=this.envMapRotation.toArray()),this.envMapIntensity!==void 0&&(n.envMapIntensity=this.envMapIntensity),this.reflectivity!==void 0&&(n.reflectivity=this.reflectivity),this.refractionRatio!==void 0&&(n.refractionRatio=this.refractionRatio),this.gradientMap&&this.gradientMap.isTexture&&(n.gradientMap=this.gradientMap.toJSON(e).uuid),this.transmission!==void 0&&(n.transmission=this.transmission),this.transmissionMap&&this.transmissionMap.isTexture&&(n.transmissionMap=this.transmissionMap.toJSON(e).uuid),this.thickness!==void 0&&(n.thickness=this.thickness),this.thicknessMap&&this.thicknessMap.isTexture&&(n.thicknessMap=this.thicknessMap.toJSON(e).uuid),this.attenuationDistance!==void 0&&this.attenuationDistance!==1/0&&(n.attenuationDistance=this.attenuationDistance),this.attenuationColor!==void 0&&(n.attenuationColor=this.attenuationColor.getHex()),this.size!==void 0&&(n.size=this.size),this.shadowSide!==null&&(n.shadowSide=this.shadowSide),this.sizeAttenuation!==void 0&&(n.sizeAttenuation=this.sizeAttenuation),this.blending!==1&&(n.blending=this.blending),this.side!==0&&(n.side=this.side),this.vertexColors===!0&&(n.vertexColors=!0),this.opacity<1&&(n.opacity=this.opacity),this.transparent===!0&&(n.transparent=!0),this.blendSrc!==204&&(n.blendSrc=this.blendSrc),this.blendDst!==205&&(n.blendDst=this.blendDst),this.blendEquation!==100&&(n.blendEquation=this.blendEquation),this.blendSrcAlpha!==null&&(n.blendSrcAlpha=this.blendSrcAlpha),this.blendDstAlpha!==null&&(n.blendDstAlpha=this.blendDstAlpha),this.blendEquationAlpha!==null&&(n.blendEquationAlpha=this.blendEquationAlpha),this.blendColor&&this.blendColor.isColor&&(n.blendColor=this.blendColor.getHex()),this.blendAlpha!==0&&(n.blendAlpha=this.blendAlpha),this.depthFunc!==3&&(n.depthFunc=this.depthFunc),this.depthTest===!1&&(n.depthTest=this.depthTest),this.depthWrite===!1&&(n.depthWrite=this.depthWrite),this.colorWrite===!1&&(n.colorWrite=this.colorWrite),this.stencilWriteMask!==255&&(n.stencilWriteMask=this.stencilWriteMask),this.stencilFunc!==519&&(n.stencilFunc=this.stencilFunc),this.stencilRef!==0&&(n.stencilRef=this.stencilRef),this.stencilFuncMask!==255&&(n.stencilFuncMask=this.stencilFuncMask),this.stencilFail!==7680&&(n.stencilFail=this.stencilFail),this.stencilZFail!==7680&&(n.stencilZFail=this.stencilZFail),this.stencilZPass!==7680&&(n.stencilZPass=this.stencilZPass),this.stencilWrite===!0&&(n.stencilWrite=this.stencilWrite),this.rotation!==void 0&&this.rotation!==0&&(n.rotation=this.rotation),this.polygonOffset===!0&&(n.polygonOffset=!0),this.polygonOffsetFactor!==0&&(n.polygonOffsetFactor=this.polygonOffsetFactor),this.polygonOffsetUnits!==0&&(n.polygonOffsetUnits=this.polygonOffsetUnits),this.linewidth!==void 0&&this.linewidth!==1&&(n.linewidth=this.linewidth),this.dashSize!==void 0&&(n.dashSize=this.dashSize),this.gapSize!==void 0&&(n.gapSize=this.gapSize),this.scale!==void 0&&(n.scale=this.scale),this.dithering===!0&&(n.dithering=!0),this.alphaTest>0&&(n.alphaTest=this.alphaTest),this.alphaHash===!0&&(n.alphaHash=!0),this.alphaToCoverage===!0&&(n.alphaToCoverage=!0),this.premultipliedAlpha===!0&&(n.premultipliedAlpha=!0),this.forceSinglePass===!0&&(n.forceSinglePass=!0),this.wireframe===!0&&(n.wireframe=!0),this.wireframeLinewidth>1&&(n.wireframeLinewidth=this.wireframeLinewidth),this.wireframeLinecap!==`round`&&(n.wireframeLinecap=this.wireframeLinecap),this.wireframeLinejoin!==`round`&&(n.wireframeLinejoin=this.wireframeLinejoin),this.flatShading===!0&&(n.flatShading=!0),this.visible===!1&&(n.visible=!1),this.toneMapped===!1&&(n.toneMapped=!1),this.fog===!1&&(n.fog=!1),Object.keys(this.userData).length>0&&(n.userData=this.userData);function r(e){let t=[];for(let n in e){let r=e[n];delete r.metadata,t.push(r)}return t}if(t){let t=r(e.textures),i=r(e.images);t.length>0&&(n.textures=t),i.length>0&&(n.images=i)}return n}clone(){return new this.constructor().copy(this)}copy(e){this.name=e.name,this.blending=e.blending,this.side=e.side,this.vertexColors=e.vertexColors,this.opacity=e.opacity,this.transparent=e.transparent,this.blendSrc=e.blendSrc,this.blendDst=e.blendDst,this.blendEquation=e.blendEquation,this.blendSrcAlpha=e.blendSrcAlpha,this.blendDstAlpha=e.blendDstAlpha,this.blendEquationAlpha=e.blendEquationAlpha,this.blendColor.copy(e.blendColor),this.blendAlpha=e.blendAlpha,this.depthFunc=e.depthFunc,this.depthTest=e.depthTest,this.depthWrite=e.depthWrite,this.stencilWriteMask=e.stencilWriteMask,this.stencilFunc=e.stencilFunc,this.stencilRef=e.stencilRef,this.stencilFuncMask=e.stencilFuncMask,this.stencilFail=e.stencilFail,this.stencilZFail=e.stencilZFail,this.stencilZPass=e.stencilZPass,this.stencilWrite=e.stencilWrite;let t=e.clippingPlanes,n=null;if(t!==null){let e=t.length;n=Array(e);for(let r=0;r!==e;++r)n[r]=t[r].clone()}return this.clippingPlanes=n,this.clipIntersection=e.clipIntersection,this.clipShadows=e.clipShadows,this.shadowSide=e.shadowSide,this.colorWrite=e.colorWrite,this.precision=e.precision,this.polygonOffset=e.polygonOffset,this.polygonOffsetFactor=e.polygonOffsetFactor,this.polygonOffsetUnits=e.polygonOffsetUnits,this.dithering=e.dithering,this.alphaTest=e.alphaTest,this.alphaHash=e.alphaHash,this.alphaToCoverage=e.alphaToCoverage,this.premultipliedAlpha=e.premultipliedAlpha,this.forceSinglePass=e.forceSinglePass,this.visible=e.visible,this.toneMapped=e.toneMapped,this.userData=JSON.parse(JSON.stringify(e.userData)),this}dispose(){this.dispatchEvent({type:`dispose`})}set needsUpdate(e){e===!0&&this.version++}},rC=class extends nC{constructor(e){super(),this.isMeshBasicMaterial=!0,this.type=`MeshBasicMaterial`,this.color=new Y(16777215),this.map=null,this.lightMap=null,this.lightMapIntensity=1,this.aoMap=null,this.aoMapIntensity=1,this.specularMap=null,this.alphaMap=null,this.envMap=null,this.envMapRotation=new vS,this.combine=0,this.reflectivity=1,this.refractionRatio=.98,this.wireframe=!1,this.wireframeLinewidth=1,this.wireframeLinecap=`round`,this.wireframeLinejoin=`round`,this.fog=!0,this.setValues(e)}copy(e){return super.copy(e),this.color.copy(e.color),this.map=e.map,this.lightMap=e.lightMap,this.lightMapIntensity=e.lightMapIntensity,this.aoMap=e.aoMap,this.aoMapIntensity=e.aoMapIntensity,this.specularMap=e.specularMap,this.alphaMap=e.alphaMap,this.envMap=e.envMap,this.envMapRotation.copy(e.envMapRotation),this.combine=e.combine,this.reflectivity=e.reflectivity,this.refractionRatio=e.refractionRatio,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this.wireframeLinecap=e.wireframeLinecap,this.wireframeLinejoin=e.wireframeLinejoin,this.fog=e.fog,this}},iC=new q,aC=new rx,oC=0,sC=class{constructor(e,t,n=!1){if(Array.isArray(e))throw TypeError(`THREE.BufferAttribute: array should be a Typed Array.`);this.isBufferAttribute=!0,Object.defineProperty(this,"id",{value:oC++}),this.name=``,this.array=e,this.itemSize=t,this.count=e===void 0?0:e.length/t,this.normalized=n,this.usage=Db,this.updateRanges=[],this.gpuType=yy,this.version=0}onUploadCallback(){}set needsUpdate(e){e===!0&&this.version++}setUsage(e){return this.usage=e,this}addUpdateRange(e,t){this.updateRanges.push({start:e,count:t})}clearUpdateRanges(){this.updateRanges.length=0}copy(e){return this.name=e.name,this.array=new e.array.constructor(e.array),this.itemSize=e.itemSize,this.count=e.count,this.normalized=e.normalized,this.usage=e.usage,this.gpuType=e.gpuType,this}copyAt(e,t,n){e*=this.itemSize,n*=t.itemSize;for(let r=0,i=this.itemSize;rt.count&&console.warn(`THREE.BufferGeometry: Buffer size too small for points data. Use .dispose() and create a new geometry.`),t.needsUpdate=!0}return this}computeBoundingBox(){this.boundingBox===null&&(this.boundingBox=new Ix);let e=this.attributes.position,t=this.morphAttributes.position;if(e&&e.isGLBufferAttribute){console.error(`THREE.BufferGeometry.computeBoundingBox(): GLBufferAttribute requires a manual bounding box.`,this),this.boundingBox.set(new q(-1/0,-1/0,-1/0),new q(1/0,1/0,1/0));return}if(e!==void 0){if(this.boundingBox.setFromBufferAttribute(e),t)for(let e=0,n=t.length;e0&&(e.userData=this.userData),this.parameters!==void 0){let t=this.parameters;for(let n in t)t[n]!==void 0&&(e[n]=t[n]);return e}e.data={attributes:{}};let t=this.index;t!==null&&(e.data.index={type:t.array.constructor.name,array:Array.prototype.slice.call(t.array)});let n=this.attributes;for(let t in n){let r=n[t];e.data.attributes[t]=r.toJSON(e.data)}let r={},i=!1;for(let t in this.morphAttributes){let n=this.morphAttributes[t],a=[];for(let t=0,r=n.length;t0&&(r[t]=a,i=!0)}i&&(e.data.morphAttributes=r,e.data.morphTargetsRelative=this.morphTargetsRelative);let a=this.groups;a.length>0&&(e.data.groups=JSON.parse(JSON.stringify(a)));let o=this.boundingSphere;return o!==null&&(e.data.boundingSphere=o.toJSON()),e}clone(){return new this.constructor().copy(this)}copy(e){this.index=null,this.attributes={},this.morphAttributes={},this.groups=[],this.boundingBox=null,this.boundingSphere=null;let t={};this.name=e.name;let n=e.index;n!==null&&this.setIndex(n.clone());let r=e.attributes;for(let e in r){let n=r[e];this.setAttribute(e,n.clone(t))}let i=e.morphAttributes;for(let e in i){let n=[],r=i[e];for(let e=0,i=r.length;e0){let n=e[t[0]];if(n!==void 0){this.morphTargetInfluences=[],this.morphTargetDictionary={};for(let e=0,t=n.length;e(e.far-e.near)**2))&&(yC.copy(i).invert(),bC.copy(e.ray).applyMatrix4(yC),!(n.boundingBox!==null&&bC.intersectsBox(n.boundingBox)===!1)&&this._computeIntersections(e,t,bC)))}_computeIntersections(e,t,n){let r,i=this.geometry,a=this.material,o=i.index,s=i.attributes.position,c=i.attributes.uv,l=i.attributes.uv1,u=i.attributes.normal,d=i.groups,f=i.drawRange;if(o!==null)if(Array.isArray(a))for(let i=0,s=d.length;in.far?null:{distance:l,point:kC.clone(),object:e}}function MC(e,t,n,r,i,a,o,s,c,l){e.getVertexPosition(s,CC),e.getVertexPosition(c,wC),e.getVertexPosition(l,TC);let u=jC(e,t,n,r,CC,wC,TC,OC);if(u){let e=new q;YS.getBarycoord(OC,CC,wC,TC,e),i&&(u.uv=YS.getInterpolatedAttribute(i,s,c,l,e,new rx)),a&&(u.uv1=YS.getInterpolatedAttribute(a,s,c,l,e,new rx)),o&&(u.normal=YS.getInterpolatedAttribute(o,s,c,l,e,new q),u.normal.dot(r.direction)>0&&u.normal.multiplyScalar(-1));let t={a:s,b:c,c:l,normal:new q,materialIndex:0};YS.getNormal(CC,wC,TC,t.normal),u.face=t,u.barycoord=e}return u}var NC=class e extends vC{constructor(e=1,t=1,n=1,r=1,i=1,a=1){super(),this.type=`BoxGeometry`,this.parameters={width:e,height:t,depth:n,widthSegments:r,heightSegments:i,depthSegments:a};let o=this;r=Math.floor(r),i=Math.floor(i),a=Math.floor(a);let s=[],c=[],l=[],u=[],d=0,f=0;p(`z`,`y`,`x`,-1,-1,n,t,e,a,i,0),p(`z`,`y`,`x`,1,-1,n,t,-e,a,i,1),p(`x`,`z`,`y`,1,1,e,n,t,r,a,2),p(`x`,`z`,`y`,1,-1,e,n,-t,r,a,3),p(`x`,`y`,`z`,1,-1,e,t,n,r,i,4),p(`x`,`y`,`z`,-1,-1,e,t,-n,r,i,5),this.setIndex(s),this.setAttribute(`position`,new uC(c,3)),this.setAttribute(`normal`,new uC(l,3)),this.setAttribute(`uv`,new uC(u,2));function p(e,t,n,r,i,a,p,m,h,g,_){let v=a/h,y=p/g,b=a/2,x=p/2,S=m/2,C=h+1,w=g+1,T=0,E=0,D=new q;for(let a=0;a0?1:-1,l.push(D.x,D.y,D.z),u.push(s/h),u.push(1-a/g),T+=1}for(let e=0;e0&&(t.defines=this.defines),t.vertexShader=this.vertexShader,t.fragmentShader=this.fragmentShader,t.lights=this.lights,t.clipping=this.clipping;let n={};for(let e in this.extensions)this.extensions[e]===!0&&(n[e]=!0);return Object.keys(n).length>0&&(t.extensions=n),t}},zC=class extends MS{constructor(){super(),this.isCamera=!0,this.type=`Camera`,this.matrixWorldInverse=new J,this.projectionMatrix=new J,this.projectionMatrixInverse=new J,this.coordinateSystem=Tb}copy(e,t){return super.copy(e,t),this.matrixWorldInverse.copy(e.matrixWorldInverse),this.projectionMatrix.copy(e.projectionMatrix),this.projectionMatrixInverse.copy(e.projectionMatrixInverse),this.coordinateSystem=e.coordinateSystem,this}getWorldDirection(e){return super.getWorldDirection(e).negate()}updateMatrixWorld(e){super.updateMatrixWorld(e),this.matrixWorldInverse.copy(this.matrixWorld).invert()}updateWorldMatrix(e,t){super.updateWorldMatrix(e,t),this.matrixWorldInverse.copy(this.matrixWorld).invert()}clone(){return new this.constructor().copy(this)}},BC=new q,VC=new ex,HC=new ex,UC=class extends zC{constructor(e=50,t=1,n=.1,r=2e3){super(),this.isPerspectiveCamera=!0,this.type=`PerspectiveCamera`,this.fov=e,this.zoom=1,this.near=n,this.far=r,this.focus=10,this.aspect=t,this.view=null,this.filmGauge=35,this.filmOffset=0,this.updateProjectionMatrix()}copy(e,t){return super.copy(e,t),this.fov=e.fov,this.zoom=e.zoom,this.near=e.near,this.far=e.far,this.focus=e.focus,this.aspect=e.aspect,this.view=e.view===null?null:Object.assign({},e.view),this.filmGauge=e.filmGauge,this.filmOffset=e.filmOffset,this}setFocalLength(e){let t=.5*this.getFilmHeight()/e;this.fov=Ab*2*Math.atan(t),this.updateProjectionMatrix()}getFocalLength(){let e=Math.tan(kb*.5*this.fov);return .5*this.getFilmHeight()/e}getEffectiveFOV(){return Ab*2*Math.atan(Math.tan(kb*.5*this.fov)/this.zoom)}getFilmWidth(){return this.filmGauge*Math.min(this.aspect,1)}getFilmHeight(){return this.filmGauge/Math.max(this.aspect,1)}getViewBounds(e,t,n){BC.set(-1,-1,.5).applyMatrix4(this.projectionMatrixInverse),t.set(BC.x,BC.y).multiplyScalar(-e/BC.z),BC.set(1,1,.5).applyMatrix4(this.projectionMatrixInverse),n.set(BC.x,BC.y).multiplyScalar(-e/BC.z)}getViewSize(e,t){return this.getViewBounds(e,VC,HC),t.subVectors(HC,VC)}setViewOffset(e,t,n,r,i,a){this.aspect=e/t,this.view===null&&(this.view={enabled:!0,fullWidth:1,fullHeight:1,offsetX:0,offsetY:0,width:1,height:1}),this.view.enabled=!0,this.view.fullWidth=e,this.view.fullHeight=t,this.view.offsetX=n,this.view.offsetY=r,this.view.width=i,this.view.height=a,this.updateProjectionMatrix()}clearViewOffset(){this.view!==null&&(this.view.enabled=!1),this.updateProjectionMatrix()}updateProjectionMatrix(){let e=this.near,t=e*Math.tan(kb*.5*this.fov)/this.zoom,n=2*t,r=this.aspect*n,i=-.5*r,a=this.view;if(this.view!==null&&this.view.enabled){let e=a.fullWidth,o=a.fullHeight;i+=a.offsetX*r/e,t-=a.offsetY*n/o,r*=a.width/e,n*=a.height/o}let o=this.filmOffset;o!==0&&(i+=e*o/this.getFilmWidth()),this.projectionMatrix.makePerspective(i,i+r,t,t-n,e,this.far,this.coordinateSystem),this.projectionMatrixInverse.copy(this.projectionMatrix).invert()}toJSON(e){let t=super.toJSON(e);return t.object.fov=this.fov,t.object.zoom=this.zoom,t.object.near=this.near,t.object.far=this.far,t.object.focus=this.focus,t.object.aspect=this.aspect,this.view!==null&&(t.object.view=Object.assign({},this.view)),t.object.filmGauge=this.filmGauge,t.object.filmOffset=this.filmOffset,t}},WC=-90,GC=1,KC=class extends MS{constructor(e,t,n){super(),this.type=`CubeCamera`,this.renderTarget=n,this.coordinateSystem=null,this.activeMipmapLevel=0;let r=new UC(WC,GC,e,t);r.layers=this.layers,this.add(r);let i=new UC(WC,GC,e,t);i.layers=this.layers,this.add(i);let a=new UC(WC,GC,e,t);a.layers=this.layers,this.add(a);let o=new UC(WC,GC,e,t);o.layers=this.layers,this.add(o);let s=new UC(WC,GC,e,t);s.layers=this.layers,this.add(s);let c=new UC(WC,GC,e,t);c.layers=this.layers,this.add(c)}updateCoordinateSystem(){let e=this.coordinateSystem,t=this.children.concat(),[n,r,i,a,o,s]=t;for(let e of t)this.remove(e);if(e===2e3)n.up.set(0,1,0),n.lookAt(1,0,0),r.up.set(0,1,0),r.lookAt(-1,0,0),i.up.set(0,0,-1),i.lookAt(0,1,0),a.up.set(0,0,1),a.lookAt(0,-1,0),o.up.set(0,1,0),o.lookAt(0,0,1),s.up.set(0,1,0),s.lookAt(0,0,-1);else if(e===2001)n.up.set(0,-1,0),n.lookAt(-1,0,0),r.up.set(0,-1,0),r.lookAt(1,0,0),i.up.set(0,0,1),i.lookAt(0,1,0),a.up.set(0,0,-1),a.lookAt(0,-1,0),o.up.set(0,-1,0),o.lookAt(0,0,1),s.up.set(0,-1,0),s.lookAt(0,0,-1);else throw Error(`THREE.CubeCamera.updateCoordinateSystem(): Invalid coordinate system: `+e);for(let e of t)this.add(e),e.updateMatrixWorld()}update(e,t){this.parent===null&&this.updateMatrixWorld();let{renderTarget:n,activeMipmapLevel:r}=this;this.coordinateSystem!==e.coordinateSystem&&(this.coordinateSystem=e.coordinateSystem,this.updateCoordinateSystem());let[i,a,o,s,c,l]=this.children,u=e.getRenderTarget(),d=e.getActiveCubeFace(),f=e.getActiveMipmapLevel(),p=e.xr.enabled;e.xr.enabled=!1;let m=n.texture.generateMipmaps;n.texture.generateMipmaps=!1,e.setRenderTarget(n,0,r),e.render(t,i),e.setRenderTarget(n,1,r),e.render(t,a),e.setRenderTarget(n,2,r),e.render(t,o),e.setRenderTarget(n,3,r),e.render(t,s),e.setRenderTarget(n,4,r),e.render(t,c),n.texture.generateMipmaps=m,e.setRenderTarget(n,5,r),e.render(t,l),e.setRenderTarget(u,d,f),e.xr.enabled=p,n.texture.needsPMREMUpdate=!0}},qC=class extends Dx{constructor(e=[],t=301,n,r,i,a,o,s,c,l){super(e,t,n,r,i,a,o,s,c,l),this.isCubeTexture=!0,this.flipY=!1}get images(){return this.image}set images(e){this.image=e}},JC=class extends Ax{constructor(e=1,t={}){super(e,e,t),this.isWebGLCubeRenderTarget=!0;let n={width:e,height:e,depth:1},r=[n,n,n,n,n,n];this.texture=new qC(r),this._setTextureOptions(t),this.texture.isRenderTargetTexture=!0}fromEquirectangularTexture(e,t){this.texture.type=t.type,this.texture.colorSpace=t.colorSpace,this.texture.generateMipmaps=t.generateMipmaps,this.texture.minFilter=t.minFilter,this.texture.magFilter=t.magFilter;let n={uniforms:{tEquirect:{value:null}},vertexShader:` +}`,VC=class extends nC{constructor(e){super(),this.isShaderMaterial=!0,this.type=`ShaderMaterial`,this.defines={},this.uniforms={},this.uniformsGroups=[],this.vertexShader=zC,this.fragmentShader=BC,this.linewidth=1,this.wireframe=!1,this.wireframeLinewidth=1,this.fog=!1,this.lights=!1,this.clipping=!1,this.forceSinglePass=!0,this.extensions={clipCullDistance:!1,multiDraw:!1},this.defaultAttributeValues={color:[1,1,1],uv:[0,0],uv1:[0,0]},this.index0AttributeName=void 0,this.uniformsNeedUpdate=!1,this.glslVersion=null,e!==void 0&&this.setValues(e)}copy(e){return super.copy(e),this.fragmentShader=e.fragmentShader,this.vertexShader=e.vertexShader,this.uniforms=PC(e.uniforms),this.uniformsGroups=IC(e.uniformsGroups),this.defines=Object.assign({},e.defines),this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this.fog=e.fog,this.lights=e.lights,this.clipping=e.clipping,this.extensions=Object.assign({},e.extensions),this.glslVersion=e.glslVersion,this}toJSON(e){let t=super.toJSON(e);t.glslVersion=this.glslVersion,t.uniforms={};for(let n in this.uniforms){let r=this.uniforms[n].value;r&&r.isTexture?t.uniforms[n]={type:`t`,value:r.toJSON(e).uuid}:r&&r.isColor?t.uniforms[n]={type:`c`,value:r.getHex()}:r&&r.isVector2?t.uniforms[n]={type:`v2`,value:r.toArray()}:r&&r.isVector3?t.uniforms[n]={type:`v3`,value:r.toArray()}:r&&r.isVector4?t.uniforms[n]={type:`v4`,value:r.toArray()}:r&&r.isMatrix3?t.uniforms[n]={type:`m3`,value:r.toArray()}:r&&r.isMatrix4?t.uniforms[n]={type:`m4`,value:r.toArray()}:t.uniforms[n]={value:r}}Object.keys(this.defines).length>0&&(t.defines=this.defines),t.vertexShader=this.vertexShader,t.fragmentShader=this.fragmentShader,t.lights=this.lights,t.clipping=this.clipping;let n={};for(let e in this.extensions)this.extensions[e]===!0&&(n[e]=!0);return Object.keys(n).length>0&&(t.extensions=n),t}},HC=class extends FS{constructor(){super(),this.isCamera=!0,this.type=`Camera`,this.matrixWorldInverse=new J,this.projectionMatrix=new J,this.projectionMatrixInverse=new J,this.coordinateSystem=Ob}copy(e,t){return super.copy(e,t),this.matrixWorldInverse.copy(e.matrixWorldInverse),this.projectionMatrix.copy(e.projectionMatrix),this.projectionMatrixInverse.copy(e.projectionMatrixInverse),this.coordinateSystem=e.coordinateSystem,this}getWorldDirection(e){return super.getWorldDirection(e).negate()}updateMatrixWorld(e){super.updateMatrixWorld(e),this.matrixWorldInverse.copy(this.matrixWorld).invert()}updateWorldMatrix(e,t){super.updateWorldMatrix(e,t),this.matrixWorldInverse.copy(this.matrixWorld).invert()}clone(){return new this.constructor().copy(this)}},UC=new q,WC=new rx,GC=new rx,KC=class extends HC{constructor(e=50,t=1,n=.1,r=2e3){super(),this.isPerspectiveCamera=!0,this.type=`PerspectiveCamera`,this.fov=e,this.zoom=1,this.near=n,this.far=r,this.focus=10,this.aspect=t,this.view=null,this.filmGauge=35,this.filmOffset=0,this.updateProjectionMatrix()}copy(e,t){return super.copy(e,t),this.fov=e.fov,this.zoom=e.zoom,this.near=e.near,this.far=e.far,this.focus=e.focus,this.aspect=e.aspect,this.view=e.view===null?null:Object.assign({},e.view),this.filmGauge=e.filmGauge,this.filmOffset=e.filmOffset,this}setFocalLength(e){let t=.5*this.getFilmHeight()/e;this.fov=Nb*2*Math.atan(t),this.updateProjectionMatrix()}getFocalLength(){let e=Math.tan(Mb*.5*this.fov);return .5*this.getFilmHeight()/e}getEffectiveFOV(){return Nb*2*Math.atan(Math.tan(Mb*.5*this.fov)/this.zoom)}getFilmWidth(){return this.filmGauge*Math.min(this.aspect,1)}getFilmHeight(){return this.filmGauge/Math.max(this.aspect,1)}getViewBounds(e,t,n){UC.set(-1,-1,.5).applyMatrix4(this.projectionMatrixInverse),t.set(UC.x,UC.y).multiplyScalar(-e/UC.z),UC.set(1,1,.5).applyMatrix4(this.projectionMatrixInverse),n.set(UC.x,UC.y).multiplyScalar(-e/UC.z)}getViewSize(e,t){return this.getViewBounds(e,WC,GC),t.subVectors(GC,WC)}setViewOffset(e,t,n,r,i,a){this.aspect=e/t,this.view===null&&(this.view={enabled:!0,fullWidth:1,fullHeight:1,offsetX:0,offsetY:0,width:1,height:1}),this.view.enabled=!0,this.view.fullWidth=e,this.view.fullHeight=t,this.view.offsetX=n,this.view.offsetY=r,this.view.width=i,this.view.height=a,this.updateProjectionMatrix()}clearViewOffset(){this.view!==null&&(this.view.enabled=!1),this.updateProjectionMatrix()}updateProjectionMatrix(){let e=this.near,t=e*Math.tan(Mb*.5*this.fov)/this.zoom,n=2*t,r=this.aspect*n,i=-.5*r,a=this.view;if(this.view!==null&&this.view.enabled){let e=a.fullWidth,o=a.fullHeight;i+=a.offsetX*r/e,t-=a.offsetY*n/o,r*=a.width/e,n*=a.height/o}let o=this.filmOffset;o!==0&&(i+=e*o/this.getFilmWidth()),this.projectionMatrix.makePerspective(i,i+r,t,t-n,e,this.far,this.coordinateSystem),this.projectionMatrixInverse.copy(this.projectionMatrix).invert()}toJSON(e){let t=super.toJSON(e);return t.object.fov=this.fov,t.object.zoom=this.zoom,t.object.near=this.near,t.object.far=this.far,t.object.focus=this.focus,t.object.aspect=this.aspect,this.view!==null&&(t.object.view=Object.assign({},this.view)),t.object.filmGauge=this.filmGauge,t.object.filmOffset=this.filmOffset,t}},qC=-90,JC=1,YC=class extends FS{constructor(e,t,n){super(),this.type=`CubeCamera`,this.renderTarget=n,this.coordinateSystem=null,this.activeMipmapLevel=0;let r=new KC(qC,JC,e,t);r.layers=this.layers,this.add(r);let i=new KC(qC,JC,e,t);i.layers=this.layers,this.add(i);let a=new KC(qC,JC,e,t);a.layers=this.layers,this.add(a);let o=new KC(qC,JC,e,t);o.layers=this.layers,this.add(o);let s=new KC(qC,JC,e,t);s.layers=this.layers,this.add(s);let c=new KC(qC,JC,e,t);c.layers=this.layers,this.add(c)}updateCoordinateSystem(){let e=this.coordinateSystem,t=this.children.concat(),[n,r,i,a,o,s]=t;for(let e of t)this.remove(e);if(e===2e3)n.up.set(0,1,0),n.lookAt(1,0,0),r.up.set(0,1,0),r.lookAt(-1,0,0),i.up.set(0,0,-1),i.lookAt(0,1,0),a.up.set(0,0,1),a.lookAt(0,-1,0),o.up.set(0,1,0),o.lookAt(0,0,1),s.up.set(0,1,0),s.lookAt(0,0,-1);else if(e===2001)n.up.set(0,-1,0),n.lookAt(-1,0,0),r.up.set(0,-1,0),r.lookAt(1,0,0),i.up.set(0,0,1),i.lookAt(0,1,0),a.up.set(0,0,-1),a.lookAt(0,-1,0),o.up.set(0,-1,0),o.lookAt(0,0,1),s.up.set(0,-1,0),s.lookAt(0,0,-1);else throw Error(`THREE.CubeCamera.updateCoordinateSystem(): Invalid coordinate system: `+e);for(let e of t)this.add(e),e.updateMatrixWorld()}update(e,t){this.parent===null&&this.updateMatrixWorld();let{renderTarget:n,activeMipmapLevel:r}=this;this.coordinateSystem!==e.coordinateSystem&&(this.coordinateSystem=e.coordinateSystem,this.updateCoordinateSystem());let[i,a,o,s,c,l]=this.children,u=e.getRenderTarget(),d=e.getActiveCubeFace(),f=e.getActiveMipmapLevel(),p=e.xr.enabled;e.xr.enabled=!1;let m=n.texture.generateMipmaps;n.texture.generateMipmaps=!1,e.setRenderTarget(n,0,r),e.render(t,i),e.setRenderTarget(n,1,r),e.render(t,a),e.setRenderTarget(n,2,r),e.render(t,o),e.setRenderTarget(n,3,r),e.render(t,s),e.setRenderTarget(n,4,r),e.render(t,c),n.texture.generateMipmaps=m,e.setRenderTarget(n,5,r),e.render(t,l),e.setRenderTarget(u,d,f),e.xr.enabled=p,n.texture.needsPMREMUpdate=!0}},XC=class extends Ax{constructor(e=[],t=301,n,r,i,a,o,s,c,l){super(e,t,n,r,i,a,o,s,c,l),this.isCubeTexture=!0,this.flipY=!1}get images(){return this.image}set images(e){this.image=e}},ZC=class extends Nx{constructor(e=1,t={}){super(e,e,t),this.isWebGLCubeRenderTarget=!0;let n={width:e,height:e,depth:1},r=[n,n,n,n,n,n];this.texture=new XC(r),this._setTextureOptions(t),this.texture.isRenderTargetTexture=!0}fromEquirectangularTexture(e,t){this.texture.type=t.type,this.texture.colorSpace=t.colorSpace,this.texture.generateMipmaps=t.generateMipmaps,this.texture.minFilter=t.minFilter,this.texture.magFilter=t.magFilter;let n={uniforms:{tEquirect:{value:null}},vertexShader:` varying vec3 vWorldDirection; @@ -89,7 +89,7 @@ For more information, see https://radix-ui.com/primitives/docs/components/${t.do gl_FragColor = texture2D( tEquirect, sampleUV ); } - `},r=new AC(5,5,5),i=new RC({name:`CubemapFromEquirect`,uniforms:jC(n.uniforms),vertexShader:n.vertexShader,fragmentShader:n.fragmentShader,side:1,blending:0});i.uniforms.tEquirect.value=t;let a=new DC(r,i),o=t.minFilter;return t.minFilter===1008&&(t.minFilter=sy),new KC(1,10,this).update(e,a),t.minFilter=o,a.geometry.dispose(),a.material.dispose(),this}clear(e,t=!0,n=!0,r=!0){let i=e.getRenderTarget();for(let i=0;i<6;i++)e.setRenderTarget(this,i),e.clear(t,n,r);e.setRenderTarget(i)}},YC=class extends MS{constructor(){super(),this.isGroup=!0,this.type=`Group`}},XC={type:`move`},ZC=class{constructor(){this._targetRay=null,this._grip=null,this._hand=null}getHandSpace(){return this._hand===null&&(this._hand=new YC,this._hand.matrixAutoUpdate=!1,this._hand.visible=!1,this._hand.joints={},this._hand.inputState={pinching:!1}),this._hand}getTargetRaySpace(){return this._targetRay===null&&(this._targetRay=new YC,this._targetRay.matrixAutoUpdate=!1,this._targetRay.visible=!1,this._targetRay.hasLinearVelocity=!1,this._targetRay.linearVelocity=new q,this._targetRay.hasAngularVelocity=!1,this._targetRay.angularVelocity=new q),this._targetRay}getGripSpace(){return this._grip===null&&(this._grip=new YC,this._grip.matrixAutoUpdate=!1,this._grip.visible=!1,this._grip.hasLinearVelocity=!1,this._grip.linearVelocity=new q,this._grip.hasAngularVelocity=!1,this._grip.angularVelocity=new q),this._grip}dispatchEvent(e){return this._targetRay!==null&&this._targetRay.dispatchEvent(e),this._grip!==null&&this._grip.dispatchEvent(e),this._hand!==null&&this._hand.dispatchEvent(e),this}connect(e){if(e&&e.hand){let t=this._hand;if(t)for(let n of e.hand.values())this._getHandJoint(t,n)}return this.dispatchEvent({type:`connected`,data:e}),this}disconnect(e){return this.dispatchEvent({type:`disconnected`,data:e}),this._targetRay!==null&&(this._targetRay.visible=!1),this._grip!==null&&(this._grip.visible=!1),this._hand!==null&&(this._hand.visible=!1),this}update(e,t,n){let r=null,i=null,a=null,o=this._targetRay,s=this._grip,c=this._hand;if(e&&t.session.visibilityState!==`visible-blurred`){if(c&&e.hand){a=!0;for(let r of e.hand.values()){let e=t.getJointPose(r,n),i=this._getHandJoint(c,r);e!==null&&(i.matrix.fromArray(e.transform.matrix),i.matrix.decompose(i.position,i.rotation,i.scale),i.matrixWorldNeedsUpdate=!0,i.jointRadius=e.radius),i.visible=e!==null}let r=c.joints[`index-finger-tip`],i=c.joints[`thumb-tip`],o=r.position.distanceTo(i.position);c.inputState.pinching&&o>.025?(c.inputState.pinching=!1,this.dispatchEvent({type:`pinchend`,handedness:e.handedness,target:this})):!c.inputState.pinching&&o<=.015&&(c.inputState.pinching=!0,this.dispatchEvent({type:`pinchstart`,handedness:e.handedness,target:this}))}else s!==null&&e.gripSpace&&(i=t.getPose(e.gripSpace,n),i!==null&&(s.matrix.fromArray(i.transform.matrix),s.matrix.decompose(s.position,s.rotation,s.scale),s.matrixWorldNeedsUpdate=!0,i.linearVelocity?(s.hasLinearVelocity=!0,s.linearVelocity.copy(i.linearVelocity)):s.hasLinearVelocity=!1,i.angularVelocity?(s.hasAngularVelocity=!0,s.angularVelocity.copy(i.angularVelocity)):s.hasAngularVelocity=!1));o!==null&&(r=t.getPose(e.targetRaySpace,n),r===null&&i!==null&&(r=i),r!==null&&(o.matrix.fromArray(r.transform.matrix),o.matrix.decompose(o.position,o.rotation,o.scale),o.matrixWorldNeedsUpdate=!0,r.linearVelocity?(o.hasLinearVelocity=!0,o.linearVelocity.copy(r.linearVelocity)):o.hasLinearVelocity=!1,r.angularVelocity?(o.hasAngularVelocity=!0,o.angularVelocity.copy(r.angularVelocity)):o.hasAngularVelocity=!1,this.dispatchEvent(XC)))}return o!==null&&(o.visible=r!==null),s!==null&&(s.visible=i!==null),c!==null&&(c.visible=a!==null),this}_getHandJoint(e,t){if(e.joints[t.jointName]===void 0){let n=new YC;n.matrixAutoUpdate=!1,n.visible=!1,e.joints[t.jointName]=n,e.add(n)}return e.joints[t.jointName]}},QC=class extends MS{constructor(){super(),this.isScene=!0,this.type=`Scene`,this.background=null,this.environment=null,this.fog=null,this.backgroundBlurriness=0,this.backgroundIntensity=1,this.backgroundRotation=new hS,this.environmentIntensity=1,this.environmentRotation=new hS,this.overrideMaterial=null,typeof __THREE_DEVTOOLS__<`u`&&__THREE_DEVTOOLS__.dispatchEvent(new CustomEvent(`observe`,{detail:this}))}copy(e,t){return super.copy(e,t),e.background!==null&&(this.background=e.background.clone()),e.environment!==null&&(this.environment=e.environment.clone()),e.fog!==null&&(this.fog=e.fog.clone()),this.backgroundBlurriness=e.backgroundBlurriness,this.backgroundIntensity=e.backgroundIntensity,this.backgroundRotation.copy(e.backgroundRotation),this.environmentIntensity=e.environmentIntensity,this.environmentRotation.copy(e.environmentRotation),e.overrideMaterial!==null&&(this.overrideMaterial=e.overrideMaterial.clone()),this.matrixAutoUpdate=e.matrixAutoUpdate,this}toJSON(e){let t=super.toJSON(e);return this.fog!==null&&(t.object.fog=this.fog.toJSON()),this.backgroundBlurriness>0&&(t.object.backgroundBlurriness=this.backgroundBlurriness),this.backgroundIntensity!==1&&(t.object.backgroundIntensity=this.backgroundIntensity),t.object.backgroundRotation=this.backgroundRotation.toArray(),this.environmentIntensity!==1&&(t.object.environmentIntensity=this.environmentIntensity),t.object.environmentRotation=this.environmentRotation.toArray(),t}},$C=class{constructor(e,t){this.isInterleavedBuffer=!0,this.array=e,this.stride=t,this.count=e===void 0?0:e.length/t,this.usage=wb,this.updateRanges=[],this.version=0,this.uuid=jb()}onUploadCallback(){}set needsUpdate(e){e===!0&&this.version++}setUsage(e){return this.usage=e,this}addUpdateRange(e,t){this.updateRanges.push({start:e,count:t})}clearUpdateRanges(){this.updateRanges.length=0}copy(e){return this.array=new e.array.constructor(e.array),this.count=e.count,this.stride=e.stride,this.usage=e.usage,this}copyAt(e,t,n){e*=this.stride,n*=t.stride;for(let r=0,i=this.stride;r1?null:t.copy(e.start).addScaledVector(n,i)}intersectsLine(e){let t=this.distanceToPoint(e.start),n=this.distanceToPoint(e.end);return t<0&&n>0||n<0&&t>0}intersectsBox(e){return e.intersectsPlane(this)}intersectsSphere(e){return e.intersectsPlane(this)}coplanarPoint(e){return e.copy(this.normal).multiplyScalar(-this.constant)}applyMatrix4(e,t){let n=t||Xee.getNormalMatrix(e),r=this.coplanarPoint(Cw).applyMatrix4(e),i=this.normal.applyMatrix3(n).normalize();return this.constant=-r.dot(i),this}translate(e){return this.constant-=e.dot(this.normal),this}equals(e){return e.normal.equals(this.normal)&&e.constant===this.constant}clone(){return new this.constructor().copy(this)}},Tw=new Zx,Ew=new q,Dw=class{constructor(e=new ww,t=new ww,n=new ww,r=new ww,i=new ww,a=new ww){this.planes=[e,t,n,r,i,a]}set(e,t,n,r,i,a){let o=this.planes;return o[0].copy(e),o[1].copy(t),o[2].copy(n),o[3].copy(r),o[4].copy(i),o[5].copy(a),this}copy(e){let t=this.planes;for(let n=0;n<6;n++)t[n].copy(e.planes[n]);return this}setFromProjectionMatrix(e,t=Tb){let n=this.planes,r=e.elements,i=r[0],a=r[1],o=r[2],s=r[3],c=r[4],l=r[5],u=r[6],d=r[7],f=r[8],p=r[9],m=r[10],h=r[11],g=r[12],_=r[13],v=r[14],y=r[15];if(n[0].setComponents(s-i,d-c,h-f,y-g).normalize(),n[1].setComponents(s+i,d+c,h+f,y+g).normalize(),n[2].setComponents(s+a,d+l,h+p,y+_).normalize(),n[3].setComponents(s-a,d-l,h-p,y-_).normalize(),n[4].setComponents(s-o,d-u,h-m,y-v).normalize(),t===2e3)n[5].setComponents(s+o,d+u,h+m,y+v).normalize();else if(t===2001)n[5].setComponents(o,u,m,v).normalize();else throw Error(`THREE.Frustum.setFromProjectionMatrix(): Invalid coordinate system: `+t);return this}intersectsObject(e){if(e.boundingSphere!==void 0)e.boundingSphere===null&&e.computeBoundingSphere(),Tw.copy(e.boundingSphere).applyMatrix4(e.matrixWorld);else{let t=e.geometry;t.boundingSphere===null&&t.computeBoundingSphere(),Tw.copy(t.boundingSphere).applyMatrix4(e.matrixWorld)}return this.intersectsSphere(Tw)}intersectsSprite(e){return Tw.center.set(0,0,0),Tw.radius=.7071067811865476,Tw.applyMatrix4(e.matrixWorld),this.intersectsSphere(Tw)}intersectsSphere(e){let t=this.planes,n=e.center,r=-e.radius;for(let e=0;e<6;e++)if(t[e].distanceToPoint(n)0?e.max.x:e.min.x,Ew.y=r.normal.y>0?e.max.y:e.min.y,Ew.z=r.normal.z>0?e.max.z:e.min.z,r.distanceToPoint(Ew)<0)return!1}return!0}containsPoint(e){let t=this.planes;for(let n=0;n<6;n++)if(t[n].distanceToPoint(e)<0)return!1;return!0}clone(){return new this.constructor().copy(this)}},Ow=class extends $S{constructor(e){super(),this.isLineBasicMaterial=!0,this.type=`LineBasicMaterial`,this.color=new Y(16777215),this.map=null,this.linewidth=1,this.linecap=`round`,this.linejoin=`round`,this.fog=!0,this.setValues(e)}copy(e){return super.copy(e),this.color.copy(e.color),this.map=e.map,this.linewidth=e.linewidth,this.linecap=e.linecap,this.linejoin=e.linejoin,this.fog=e.fog,this}},kw=new q,Aw=new q,jw=new J,Mw=new aS,Nw=new Zx,Pw=new q,Fw=new q,Iw=class extends MS{constructor(e=new hC,t=new Ow){super(),this.isLine=!0,this.type=`Line`,this.geometry=e,this.material=t,this.morphTargetDictionary=void 0,this.morphTargetInfluences=void 0,this.updateMorphTargets()}copy(e,t){return super.copy(e,t),this.material=Array.isArray(e.material)?e.material.slice():e.material,this.geometry=e.geometry,this}computeLineDistances(){let e=this.geometry;if(e.index===null){let t=e.attributes.position,n=[0];for(let e=1,r=t.count;e0){let n=e[t[0]];if(n!==void 0){this.morphTargetInfluences=[],this.morphTargetDictionary={};for(let e=0,t=n.length;er)return;Pw.applyMatrix4(e.matrixWorld);let c=t.ray.origin.distanceTo(Pw);if(!(ct.far))return{distance:c,point:Fw.clone().applyMatrix4(e.matrixWorld),index:o,face:null,faceIndex:null,barycoord:null,object:e}}var Rw=new q,zw=new q,Bw=class extends Iw{constructor(e,t){super(e,t),this.isLineSegments=!0,this.type=`LineSegments`}computeLineDistances(){let e=this.geometry;if(e.index===null){let t=e.attributes.position,n=[];for(let e=0,r=t.count;e0){let n=e[t[0]];if(n!==void 0){this.morphTargetInfluences=[],this.morphTargetDictionary={};for(let e=0,t=n.length;ei.far)return;a.push({distance:c,distanceToRay:Math.sqrt(s),point:n,index:t,face:null,faceIndex:null,barycoord:null,object:o})}}var Jw=class extends Dx{constructor(e,t,n=hy,r,i,a,o=iy,s=iy,c,l=Ty,u=1){if(l!==1026&&l!==1027)throw Error(`DepthTexture format must be either THREE.DepthFormat or THREE.DepthStencilFormat`);super({width:e,height:t,depth:u},r,i,a,o,s,l,n,c),this.isDepthTexture=!0,this.flipY=!1,this.generateMipmaps=!1,this.compareFunction=null}copy(e){return super.copy(e),this.source=new Cx(Object.assign({},e.image)),this.compareFunction=e.compareFunction,this}toJSON(e){let t=super.toJSON(e);return this.compareFunction!==null&&(t.compareFunction=this.compareFunction),t}},Qee=class e extends hC{constructor(e=1,t=1,n=1,r=32,i=1,a=!1,o=0,s=Math.PI*2){super(),this.type=`CylinderGeometry`,this.parameters={radiusTop:e,radiusBottom:t,height:n,radialSegments:r,heightSegments:i,openEnded:a,thetaStart:o,thetaLength:s};let c=this;r=Math.floor(r),i=Math.floor(i);let l=[],u=[],d=[],f=[],p=0,m=[],h=n/2,g=0;_(),a===!1&&(e>0&&v(!0),t>0&&v(!1)),this.setIndex(l),this.setAttribute(`position`,new sC(u,3)),this.setAttribute(`normal`,new sC(d,3)),this.setAttribute(`uv`,new sC(f,2));function _(){let a=new q,_=new q,v=0,y=(t-e)/n;for(let c=0;c<=i;c++){let l=[],g=c/i,v=g*(t-e)+e;for(let e=0;e<=r;e++){let t=e/r,i=t*s+o,c=Math.sin(i),m=Math.cos(i);_.x=v*c,_.y=-g*n+h,_.z=v*m,u.push(_.x,_.y,_.z),a.set(c,y,m).normalize(),d.push(a.x,a.y,a.z),f.push(t,1-g),l.push(p++)}m.push(l)}for(let n=0;n0||r!==0)&&(l.push(a,o,c),v+=3),(t>0||r!==i-1)&&(l.push(o,s,c),v+=3)}c.addGroup(g,v,0),g+=v}function v(n){let i=p,a=new ex,m=new q,_=0,v=n===!0?e:t,y=n===!0?1:-1;for(let e=1;e<=r;e++)u.push(0,h*y,0),d.push(0,y,0),f.push(.5,.5),p++;let b=p;for(let e=0;e<=r;e++){let t=e/r*s+o,n=Math.cos(t),i=Math.sin(t);m.x=v*i,m.y=h*y,m.z=v*n,u.push(m.x,m.y,m.z),d.push(0,y,0),a.x=n*.5+.5,a.y=i*.5*y+.5,f.push(a.x,a.y),p++}for(let e=0;e0)&&f.push(t,i,c),(e!==n-1||s0!=e>0&&this.version++,this._anisotropy=e}get clearcoat(){return this._clearcoat}set clearcoat(e){this._clearcoat>0!=e>0&&this.version++,this._clearcoat=e}get iridescence(){return this._iridescence}set iridescence(e){this._iridescence>0!=e>0&&this.version++,this._iridescence=e}get dispersion(){return this._dispersion}set dispersion(e){this._dispersion>0!=e>0&&this.version++,this._dispersion=e}get sheen(){return this._sheen}set sheen(e){this._sheen>0!=e>0&&this.version++,this._sheen=e}get transmission(){return this._transmission}set transmission(e){this._transmission>0!=e>0&&this.version++,this._transmission=e}copy(e){return super.copy(e),this.defines={STANDARD:``,PHYSICAL:``},this.anisotropy=e.anisotropy,this.anisotropyRotation=e.anisotropyRotation,this.anisotropyMap=e.anisotropyMap,this.clearcoat=e.clearcoat,this.clearcoatMap=e.clearcoatMap,this.clearcoatRoughness=e.clearcoatRoughness,this.clearcoatRoughnessMap=e.clearcoatRoughnessMap,this.clearcoatNormalMap=e.clearcoatNormalMap,this.clearcoatNormalScale.copy(e.clearcoatNormalScale),this.dispersion=e.dispersion,this.ior=e.ior,this.iridescence=e.iridescence,this.iridescenceMap=e.iridescenceMap,this.iridescenceIOR=e.iridescenceIOR,this.iridescenceThicknessRange=[...e.iridescenceThicknessRange],this.iridescenceThicknessMap=e.iridescenceThicknessMap,this.sheen=e.sheen,this.sheenColor.copy(e.sheenColor),this.sheenColorMap=e.sheenColorMap,this.sheenRoughness=e.sheenRoughness,this.sheenRoughnessMap=e.sheenRoughnessMap,this.transmission=e.transmission,this.transmissionMap=e.transmissionMap,this.thickness=e.thickness,this.thicknessMap=e.thicknessMap,this.attenuationDistance=e.attenuationDistance,this.attenuationColor.copy(e.attenuationColor),this.specularIntensity=e.specularIntensity,this.specularIntensityMap=e.specularIntensityMap,this.specularColor.copy(e.specularColor),this.specularColorMap=e.specularColorMap,this}},Qw=class extends $S{constructor(e){super(),this.isMeshPhongMaterial=!0,this.type=`MeshPhongMaterial`,this.color=new Y(16777215),this.specular=new Y(1118481),this.shininess=30,this.map=null,this.lightMap=null,this.lightMapIntensity=1,this.aoMap=null,this.aoMapIntensity=1,this.emissive=new Y(0),this.emissiveIntensity=1,this.emissiveMap=null,this.bumpMap=null,this.bumpScale=1,this.normalMap=null,this.normalMapType=0,this.normalScale=new ex(1,1),this.displacementMap=null,this.displacementScale=1,this.displacementBias=0,this.specularMap=null,this.alphaMap=null,this.envMap=null,this.envMapRotation=new hS,this.combine=0,this.reflectivity=1,this.refractionRatio=.98,this.wireframe=!1,this.wireframeLinewidth=1,this.wireframeLinecap=`round`,this.wireframeLinejoin=`round`,this.flatShading=!1,this.fog=!0,this.setValues(e)}copy(e){return super.copy(e),this.color.copy(e.color),this.specular.copy(e.specular),this.shininess=e.shininess,this.map=e.map,this.lightMap=e.lightMap,this.lightMapIntensity=e.lightMapIntensity,this.aoMap=e.aoMap,this.aoMapIntensity=e.aoMapIntensity,this.emissive.copy(e.emissive),this.emissiveMap=e.emissiveMap,this.emissiveIntensity=e.emissiveIntensity,this.bumpMap=e.bumpMap,this.bumpScale=e.bumpScale,this.normalMap=e.normalMap,this.normalMapType=e.normalMapType,this.normalScale.copy(e.normalScale),this.displacementMap=e.displacementMap,this.displacementScale=e.displacementScale,this.displacementBias=e.displacementBias,this.specularMap=e.specularMap,this.alphaMap=e.alphaMap,this.envMap=e.envMap,this.envMapRotation.copy(e.envMapRotation),this.combine=e.combine,this.reflectivity=e.reflectivity,this.refractionRatio=e.refractionRatio,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this.wireframeLinecap=e.wireframeLinecap,this.wireframeLinejoin=e.wireframeLinejoin,this.flatShading=e.flatShading,this.fog=e.fog,this}},tte=class extends $S{constructor(e){super(),this.isMeshLambertMaterial=!0,this.type=`MeshLambertMaterial`,this.color=new Y(16777215),this.map=null,this.lightMap=null,this.lightMapIntensity=1,this.aoMap=null,this.aoMapIntensity=1,this.emissive=new Y(0),this.emissiveIntensity=1,this.emissiveMap=null,this.bumpMap=null,this.bumpScale=1,this.normalMap=null,this.normalMapType=0,this.normalScale=new ex(1,1),this.displacementMap=null,this.displacementScale=1,this.displacementBias=0,this.specularMap=null,this.alphaMap=null,this.envMap=null,this.envMapRotation=new hS,this.combine=0,this.reflectivity=1,this.refractionRatio=.98,this.wireframe=!1,this.wireframeLinewidth=1,this.wireframeLinecap=`round`,this.wireframeLinejoin=`round`,this.flatShading=!1,this.fog=!0,this.setValues(e)}copy(e){return super.copy(e),this.color.copy(e.color),this.map=e.map,this.lightMap=e.lightMap,this.lightMapIntensity=e.lightMapIntensity,this.aoMap=e.aoMap,this.aoMapIntensity=e.aoMapIntensity,this.emissive.copy(e.emissive),this.emissiveMap=e.emissiveMap,this.emissiveIntensity=e.emissiveIntensity,this.bumpMap=e.bumpMap,this.bumpScale=e.bumpScale,this.normalMap=e.normalMap,this.normalMapType=e.normalMapType,this.normalScale.copy(e.normalScale),this.displacementMap=e.displacementMap,this.displacementScale=e.displacementScale,this.displacementBias=e.displacementBias,this.specularMap=e.specularMap,this.alphaMap=e.alphaMap,this.envMap=e.envMap,this.envMapRotation.copy(e.envMapRotation),this.combine=e.combine,this.reflectivity=e.reflectivity,this.refractionRatio=e.refractionRatio,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this.wireframeLinecap=e.wireframeLinecap,this.wireframeLinejoin=e.wireframeLinejoin,this.flatShading=e.flatShading,this.fog=e.fog,this}},nte=class extends 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0&&(a.format=n.format),n.type!==void 0&&(a.type=n.type),n.mipmaps!==void 0&&(a.mipmaps=n.mipmaps,a.minFilter=ly),n.mipmapCount===1&&(a.minFilter=sy),n.generateMipmaps!==void 0&&(a.generateMipmaps=n.generateMipmaps),a.needsUpdate=!0,t&&t(a,n)},n,r),a}},ET=class extends bT{constructor(e){super(e)}load(e,t,n,r){let i=new Dx,a=new wT(this.manager);return a.setCrossOrigin(this.crossOrigin),a.setPath(this.path),a.load(e,function(e){i.image=e,i.needsUpdate=!0,t!==void 0&&t(i)},n,r),i}},DT=class extends MS{constructor(e,t=1){super(),this.isLight=!0,this.type=`Light`,this.color=new Y(e),this.intensity=t}dispose(){}copy(e,t){return super.copy(e,t),this.color.copy(e.color),this.intensity=e.intensity,this}toJSON(e){let t=super.toJSON(e);return t.object.color=this.color.getHex(),t.object.intensity=this.intensity,this.groundColor!==void 0&&(t.object.groundColor=this.groundColor.getHex()),this.distance!==void 0&&(t.object.distance=this.distance),this.angle!==void 0&&(t.object.angle=this.angle),this.decay!==void 0&&(t.object.decay=this.decay),this.penumbra!==void 0&&(t.object.penumbra=this.penumbra),this.shadow!==void 0&&(t.object.shadow=this.shadow.toJSON()),this.target!==void 0&&(t.object.target=this.target.uuid),t}},OT=class extends DT{constructor(e,t,n){super(e,n),this.isHemisphereLight=!0,this.type=`HemisphereLight`,this.position.copy(MS.DEFAULT_UP),this.updateMatrix(),this.groundColor=new Y(t)}copy(e,t){return super.copy(e,t),this.groundColor.copy(e.groundColor),this}},kT=new J,AT=new q,jT=new q,MT=class{constructor(e){this.camera=e,this.intensity=1,this.bias=0,this.normalBias=0,this.radius=1,this.blurSamples=8,this.mapSize=new ex(512,512),this.mapType=uy,this.map=null,this.mapPass=null,this.matrix=new J,this.autoUpdate=!0,this.needsUpdate=!1,this._frustum=new Dw,this._frameExtents=new ex(1,1),this._viewportCount=1,this._viewports=[new Ox(0,0,1,1)]}getViewportCount(){return this._viewportCount}getFrustum(){return this._frustum}updateMatrices(e){let t=this.camera,n=this.matrix;AT.setFromMatrixPosition(e.matrixWorld),t.position.copy(AT),jT.setFromMatrixPosition(e.target.matrixWorld),t.lookAt(jT),t.updateMatrixWorld(),kT.multiplyMatrices(t.projectionMatrix,t.matrixWorldInverse),this._frustum.setFromProjectionMatrix(kT),n.set(.5,0,0,.5,0,.5,0,.5,0,0,.5,.5,0,0,0,1),n.multiply(kT)}getViewport(e){return this._viewports[e]}getFrameExtents(){return this._frameExtents}dispose(){this.map&&this.map.dispose(),this.mapPass&&this.mapPass.dispose()}copy(e){return this.camera=e.camera.clone(),this.intensity=e.intensity,this.bias=e.bias,this.radius=e.radius,this.autoUpdate=e.autoUpdate,this.needsUpdate=e.needsUpdate,this.normalBias=e.normalBias,this.blurSamples=e.blurSamples,this.mapSize.copy(e.mapSize),this}clone(){return new this.constructor().copy(this)}toJSON(){let e={};return this.intensity!==1&&(e.intensity=this.intensity),this.bias!==0&&(e.bias=this.bias),this.normalBias!==0&&(e.normalBias=this.normalBias),this.radius!==1&&(e.radius=this.radius),(this.mapSize.x!==512||this.mapSize.y!==512)&&(e.mapSize=this.mapSize.toArray()),e.camera=this.camera.toJSON(!1).object,delete e.camera.matrix,e}},NT=class extends MT{constructor(){super(new UC(50,1,.5,500)),this.isSpotLightShadow=!0,this.focus=1,this.aspect=1}updateMatrices(e){let t=this.camera,n=Ab*2*e.angle*this.focus,r=this.mapSize.width/this.mapSize.height*this.aspect,i=e.distance||t.far;(n!==t.fov||r!==t.aspect||i!==t.far)&&(t.fov=n,t.aspect=r,t.far=i,t.updateProjectionMatrix()),super.updateMatrices(e)}copy(e){return super.copy(e),this.focus=e.focus,this}},PT=class extends DT{constructor(e,t,n=0,r=Math.PI/3,i=0,a=2){super(e,t),this.isSpotLight=!0,this.type=`SpotLight`,this.position.copy(MS.DEFAULT_UP),this.updateMatrix(),this.target=new MS,this.distance=n,this.angle=r,this.penumbra=i,this.decay=a,this.map=null,this.shadow=new NT}get power(){return this.intensity*Math.PI}set power(e){this.intensity=e/Math.PI}dispose(){this.shadow.dispose()}copy(e,t){return super.copy(e,t),this.distance=e.distance,this.angle=e.angle,this.penumbra=e.penumbra,this.decay=e.decay,this.target=e.target.clone(),this.shadow=e.shadow.clone(),this}},FT=new J,IT=new q,LT=new q,RT=class extends MT{constructor(){super(new UC(90,1,.5,500)),this.isPointLightShadow=!0,this._frameExtents=new ex(4,2),this._viewportCount=6,this._viewports=[new Ox(2,1,1,1),new Ox(0,1,1,1),new Ox(3,1,1,1),new Ox(1,1,1,1),new Ox(3,0,1,1),new Ox(1,0,1,1)],this._cubeDirections=[new q(1,0,0),new q(-1,0,0),new q(0,0,1),new q(0,0,-1),new q(0,1,0),new q(0,-1,0)],this._cubeUps=[new q(0,1,0),new q(0,1,0),new q(0,1,0),new q(0,1,0),new q(0,0,1),new q(0,0,-1)]}updateMatrices(e,t=0){let n=this.camera,r=this.matrix,i=e.distance||n.far;i!==n.far&&(n.far=i,n.updateProjectionMatrix()),IT.setFromMatrixPosition(e.matrixWorld),n.position.copy(IT),LT.copy(n.position),LT.add(this._cubeDirections[t]),n.up.copy(this._cubeUps[t]),n.lookAt(LT),n.updateMatrixWorld(),r.makeTranslation(-IT.x,-IT.y,-IT.z),FT.multiplyMatrices(n.projectionMatrix,n.matrixWorldInverse),this._frustum.setFromProjectionMatrix(FT)}},zT=class extends DT{constructor(e,t,n=0,r=2){super(e,t),this.isPointLight=!0,this.type=`PointLight`,this.distance=n,this.decay=r,this.shadow=new RT}get power(){return this.intensity*4*Math.PI}set power(e){this.intensity=e/(4*Math.PI)}dispose(){this.shadow.dispose()}copy(e,t){return super.copy(e,t),this.distance=e.distance,this.decay=e.decay,this.shadow=e.shadow.clone(),this}},BT=class extends zC{constructor(e=-1,t=1,n=1,r=-1,i=.1,a=2e3){super(),this.isOrthographicCamera=!0,this.type=`OrthographicCamera`,this.zoom=1,this.view=null,this.left=e,this.right=t,this.top=n,this.bottom=r,this.near=i,this.far=a,this.updateProjectionMatrix()}copy(e,t){return super.copy(e,t),this.left=e.left,this.right=e.right,this.top=e.top,this.bottom=e.bottom,this.near=e.near,this.far=e.far,this.zoom=e.zoom,this.view=e.view===null?null:Object.assign({},e.view),this}setViewOffset(e,t,n,r,i,a){this.view===null&&(this.view={enabled:!0,fullWidth:1,fullHeight:1,offsetX:0,offsetY:0,width:1,height:1}),this.view.enabled=!0,this.view.fullWidth=e,this.view.fullHeight=t,this.view.offsetX=n,this.view.offsetY=r,this.view.width=i,this.view.height=a,this.updateProjectionMatrix()}clearViewOffset(){this.view!==null&&(this.view.enabled=!1),this.updateProjectionMatrix()}updateProjectionMatrix(){let e=(this.right-this.left)/(2*this.zoom),t=(this.top-this.bottom)/(2*this.zoom),n=(this.right+this.left)/2,r=(this.top+this.bottom)/2,i=n-e,a=n+e,o=r+t,s=r-t;if(this.view!==null&&this.view.enabled){let e=(this.right-this.left)/this.view.fullWidth/this.zoom,t=(this.top-this.bottom)/this.view.fullHeight/this.zoom;i+=e*this.view.offsetX,a=i+e*this.view.width,o-=t*this.view.offsetY,s=o-t*this.view.height}this.projectionMatrix.makeOrthographic(i,a,o,s,this.near,this.far,this.coordinateSystem),this.projectionMatrixInverse.copy(this.projectionMatrix).invert()}toJSON(e){let t=super.toJSON(e);return t.object.zoom=this.zoom,t.object.left=this.left,t.object.right=this.right,t.object.top=this.top,t.object.bottom=this.bottom,t.object.near=this.near,t.object.far=this.far,this.view!==null&&(t.object.view=Object.assign({},this.view)),t}},VT=class extends MT{constructor(){super(new BT(-5,5,5,-5,.5,500)),this.isDirectionalLightShadow=!0}},HT=class extends DT{constructor(e,t){super(e,t),this.isDirectionalLight=!0,this.type=`DirectionalLight`,this.position.copy(MS.DEFAULT_UP),this.updateMatrix(),this.target=new MS,this.shadow=new VT}dispose(){this.shadow.dispose()}copy(e){return super.copy(e),this.target=e.target.clone(),this.shadow=e.shadow.clone(),this}},UT=class extends DT{constructor(e,t){super(e,t),this.isAmbientLight=!0,this.type=`AmbientLight`}},WT=class{static extractUrlBase(e){let t=e.lastIndexOf(`/`);return t===-1?`./`:e.slice(0,t+1)}static resolveURL(e,t){return typeof e!=`string`||e===``?``:(/^https?:\/\//i.test(t)&&/^\//.test(e)&&(t=t.replace(/(^https?:\/\/[^\/]+).*/i,`$1`)),/^(https?:)?\/\//i.test(e)||/^data:.*,.*$/i.test(e)||/^blob:.*$/i.test(e)?e:t+e)}},GT=new WeakMap,KT=class extends bT{constructor(e){super(e),this.isImageBitmapLoader=!0,typeof createImageBitmap>`u`&&console.warn(`THREE.ImageBitmapLoader: createImageBitmap() not supported.`),typeof fetch>`u`&&console.warn(`THREE.ImageBitmapLoader: fetch() not supported.`),this.options={premultiplyAlpha:`none`}}setOptions(e){return this.options=e,this}load(e,t,n,r){e===void 0&&(e=``),this.path!==void 0&&(e=this.path+e),e=this.manager.resolveURL(e);let i=this,a=_T.get(e);if(a!==void 0){if(i.manager.itemStart(e),a.then){a.then(n=>{if(GT.has(a)===!0)r&&r(GT.get(a)),i.manager.itemError(e),i.manager.itemEnd(e);else return t&&t(n),i.manager.itemEnd(e),n});return}return setTimeout(function(){t&&t(a),i.manager.itemEnd(e)},0),a}let o={};o.credentials=this.crossOrigin===`anonymous`?`same-origin`:`include`,o.headers=this.requestHeader;let s=fetch(e,o).then(function(e){return e.blob()}).then(function(e){return createImageBitmap(e,Object.assign(i.options,{colorSpaceConversion:`none`}))}).then(function(n){return _T.add(e,n),t&&t(n),i.manager.itemEnd(e),n}).catch(function(t){r&&r(t),GT.set(s,t),_T.remove(e),i.manager.itemError(e),i.manager.itemEnd(e)});_T.add(e,s),i.manager.itemStart(e)}},qT=class extends UC{constructor(e=[]){super(),this.isArrayCamera=!0,this.isMultiViewCamera=!1,this.cameras=e}},JT=`\\[\\]\\.:\\/`,YT=RegExp(`[\\[\\]\\.:\\/]`,`g`),XT=`[^\\[\\]\\.:\\/]`,ZT=`[^`+JT.replace(`\\.`,``)+`]`,QT=`((?:WC+[\\/:])*)`.replace(`WC`,XT),$T=`(WCOD+)?`.replace(`WCOD`,ZT),eE=`(?:\\.(WC+)(?:\\[(.+)\\])?)?`.replace(`WC`,XT),tE=`\\.(WC+)(?:\\[(.+)\\])?`.replace(`WC`,XT),nE=RegExp(`^`+QT+$T+eE+tE+`$`),rE=[`material`,`materials`,`bones`,`map`],iE=class{constructor(e,t,n){let r=n||aE.parseTrackName(t);this._targetGroup=e,this._bindings=e.subscribe_(t,r)}getValue(e,t){this.bind();let n=this._targetGroup.nCachedObjects_,r=this._bindings[n];r!==void 0&&r.getValue(e,t)}setValue(e,t){let n=this._bindings;for(let r=this._targetGroup.nCachedObjects_,i=n.length;r!==i;++r)n[r].setValue(e,t)}bind(){let e=this._bindings;for(let t=this._targetGroup.nCachedObjects_,n=e.length;t!==n;++t)e[t].bind()}unbind(){let e=this._bindings;for(let t=this._targetGroup.nCachedObjects_,n=e.length;t!==n;++t)e[t].unbind()}},aE=class e{constructor(t,n,r){this.path=n,this.parsedPath=r||e.parseTrackName(n),this.node=e.findNode(t,this.parsedPath.nodeName),this.rootNode=t,this.getValue=this._getValue_unbound,this.setValue=this._setValue_unbound}static create(t,n,r){return t&&t.isAnimationObjectGroup?new e.Composite(t,n,r):new e(t,n,r)}static sanitizeNodeName(e){return e.replace(/\s/g,`_`).replace(YT,``)}static parseTrackName(e){let t=nE.exec(e);if(t===null)throw Error(`PropertyBinding: Cannot parse trackName: `+e);let n={nodeName:t[2],objectName:t[3],objectIndex:t[4],propertyName:t[5],propertyIndex:t[6]},r=n.nodeName&&n.nodeName.lastIndexOf(`.`);if(r!==void 0&&r!==-1){let e=n.nodeName.substring(r+1);rE.indexOf(e)!==-1&&(n.nodeName=n.nodeName.substring(0,r),n.objectName=e)}if(n.propertyName===null||n.propertyName.length===0)throw Error(`PropertyBinding: can not parse propertyName from trackName: `+e);return n}static findNode(e,t){if(t===void 0||t===``||t===`.`||t===-1||t===e.name||t===e.uuid)return e;if(e.skeleton){let n=e.skeleton.getBoneByName(t);if(n!==void 0)return n}if(e.children){let n=function(e){for(let r=0;re.start-t.start);let t=0;for(let e=1;e.025?(c.inputState.pinching=!1,this.dispatchEvent({type:`pinchend`,handedness:e.handedness,target:this})):!c.inputState.pinching&&o<=.015&&(c.inputState.pinching=!0,this.dispatchEvent({type:`pinchstart`,handedness:e.handedness,target:this}))}else s!==null&&e.gripSpace&&(i=t.getPose(e.gripSpace,n),i!==null&&(s.matrix.fromArray(i.transform.matrix),s.matrix.decompose(s.position,s.rotation,s.scale),s.matrixWorldNeedsUpdate=!0,i.linearVelocity?(s.hasLinearVelocity=!0,s.linearVelocity.copy(i.linearVelocity)):s.hasLinearVelocity=!1,i.angularVelocity?(s.hasAngularVelocity=!0,s.angularVelocity.copy(i.angularVelocity)):s.hasAngularVelocity=!1));o!==null&&(r=t.getPose(e.targetRaySpace,n),r===null&&i!==null&&(r=i),r!==null&&(o.matrix.fromArray(r.transform.matrix),o.matrix.decompose(o.position,o.rotation,o.scale),o.matrixWorldNeedsUpdate=!0,r.linearVelocity?(o.hasLinearVelocity=!0,o.linearVelocity.copy(r.linearVelocity)):o.hasLinearVelocity=!1,r.angularVelocity?(o.hasAngularVelocity=!0,o.angularVelocity.copy(r.angularVelocity)):o.hasAngularVelocity=!1,this.dispatchEvent($C)))}return o!==null&&(o.visible=r!==null),s!==null&&(s.visible=i!==null),c!==null&&(c.visible=a!==null),this}_getHandJoint(e,t){if(e.joints[t.jointName]===void 0){let n=new QC;n.matrixAutoUpdate=!1,n.visible=!1,e.joints[t.jointName]=n,e.add(n)}return e.joints[t.jointName]}},tw=class extends FS{constructor(){super(),this.isScene=!0,this.type=`Scene`,this.background=null,this.environment=null,this.fog=null,this.backgroundBlurriness=0,this.backgroundIntensity=1,this.backgroundRotation=new vS,this.environmentIntensity=1,this.environmentRotation=new vS,this.overrideMaterial=null,typeof __THREE_DEVTOOLS__<`u`&&__THREE_DEVTOOLS__.dispatchEvent(new CustomEvent(`observe`,{detail:this}))}copy(e,t){return super.copy(e,t),e.background!==null&&(this.background=e.background.clone()),e.environment!==null&&(this.environment=e.environment.clone()),e.fog!==null&&(this.fog=e.fog.clone()),this.backgroundBlurriness=e.backgroundBlurriness,this.backgroundIntensity=e.backgroundIntensity,this.backgroundRotation.copy(e.backgroundRotation),this.environmentIntensity=e.environmentIntensity,this.environmentRotation.copy(e.environmentRotation),e.overrideMaterial!==null&&(this.overrideMaterial=e.overrideMaterial.clone()),this.matrixAutoUpdate=e.matrixAutoUpdate,this}toJSON(e){let t=super.toJSON(e);return this.fog!==null&&(t.object.fog=this.fog.toJSON()),this.backgroundBlurriness>0&&(t.object.backgroundBlurriness=this.backgroundBlurriness),this.backgroundIntensity!==1&&(t.object.backgroundIntensity=this.backgroundIntensity),t.object.backgroundRotation=this.backgroundRotation.toArray(),this.environmentIntensity!==1&&(t.object.environmentIntensity=this.environmentIntensity),t.object.environmentRotation=this.environmentRotation.toArray(),t}},nw=class{constructor(e,t){this.isInterleavedBuffer=!0,this.array=e,this.stride=t,this.count=e===void 0?0:e.length/t,this.usage=Db,this.updateRanges=[],this.version=0,this.uuid=Pb()}onUploadCallback(){}set needsUpdate(e){e===!0&&this.version++}setUsage(e){return this.usage=e,this}addUpdateRange(e,t){this.updateRanges.push({start:e,count:t})}clearUpdateRanges(){this.updateRanges.length=0}copy(e){return this.array=new e.array.constructor(e.array),this.count=e.count,this.stride=e.stride,this.usage=e.usage,this}copyAt(e,t,n){e*=this.stride,n*=t.stride;for(let r=0,i=this.stride;r1?null:t.copy(e.start).addScaledVector(n,i)}intersectsLine(e){let t=this.distanceToPoint(e.start),n=this.distanceToPoint(e.end);return t<0&&n>0||n<0&&t>0}intersectsBox(e){return e.intersectsPlane(this)}intersectsSphere(e){return e.intersectsPlane(this)}coplanarPoint(e){return e.copy(this.normal).multiplyScalar(-this.constant)}applyMatrix4(e,t){let n=t||$ee.getNormalMatrix(e),r=this.coplanarPoint(Ew).applyMatrix4(e),i=this.normal.applyMatrix3(n).normalize();return this.constant=-r.dot(i),this}translate(e){return this.constant-=e.dot(this.normal),this}equals(e){return e.normal.equals(this.normal)&&e.constant===this.constant}clone(){return new this.constructor().copy(this)}},Ow=new eS,kw=new q,Aw=class{constructor(e=new Dw,t=new Dw,n=new Dw,r=new Dw,i=new Dw,a=new Dw){this.planes=[e,t,n,r,i,a]}set(e,t,n,r,i,a){let o=this.planes;return o[0].copy(e),o[1].copy(t),o[2].copy(n),o[3].copy(r),o[4].copy(i),o[5].copy(a),this}copy(e){let t=this.planes;for(let n=0;n<6;n++)t[n].copy(e.planes[n]);return this}setFromProjectionMatrix(e,t=Ob){let n=this.planes,r=e.elements,i=r[0],a=r[1],o=r[2],s=r[3],c=r[4],l=r[5],u=r[6],d=r[7],f=r[8],p=r[9],m=r[10],h=r[11],g=r[12],_=r[13],v=r[14],y=r[15];if(n[0].setComponents(s-i,d-c,h-f,y-g).normalize(),n[1].setComponents(s+i,d+c,h+f,y+g).normalize(),n[2].setComponents(s+a,d+l,h+p,y+_).normalize(),n[3].setComponents(s-a,d-l,h-p,y-_).normalize(),n[4].setComponents(s-o,d-u,h-m,y-v).normalize(),t===2e3)n[5].setComponents(s+o,d+u,h+m,y+v).normalize();else if(t===2001)n[5].setComponents(o,u,m,v).normalize();else throw Error(`THREE.Frustum.setFromProjectionMatrix(): Invalid coordinate system: `+t);return this}intersectsObject(e){if(e.boundingSphere!==void 0)e.boundingSphere===null&&e.computeBoundingSphere(),Ow.copy(e.boundingSphere).applyMatrix4(e.matrixWorld);else{let t=e.geometry;t.boundingSphere===null&&t.computeBoundingSphere(),Ow.copy(t.boundingSphere).applyMatrix4(e.matrixWorld)}return this.intersectsSphere(Ow)}intersectsSprite(e){return Ow.center.set(0,0,0),Ow.radius=.7071067811865476,Ow.applyMatrix4(e.matrixWorld),this.intersectsSphere(Ow)}intersectsSphere(e){let t=this.planes,n=e.center,r=-e.radius;for(let e=0;e<6;e++)if(t[e].distanceToPoint(n)0?e.max.x:e.min.x,kw.y=r.normal.y>0?e.max.y:e.min.y,kw.z=r.normal.z>0?e.max.z:e.min.z,r.distanceToPoint(kw)<0)return!1}return!0}containsPoint(e){let t=this.planes;for(let n=0;n<6;n++)if(t[n].distanceToPoint(e)<0)return!1;return!0}clone(){return new this.constructor().copy(this)}},jw=class extends nC{constructor(e){super(),this.isLineBasicMaterial=!0,this.type=`LineBasicMaterial`,this.color=new Y(16777215),this.map=null,this.linewidth=1,this.linecap=`round`,this.linejoin=`round`,this.fog=!0,this.setValues(e)}copy(e){return super.copy(e),this.color.copy(e.color),this.map=e.map,this.linewidth=e.linewidth,this.linecap=e.linecap,this.linejoin=e.linejoin,this.fog=e.fog,this}},Mw=new q,Nw=new q,Pw=new J,Fw=new cS,Iw=new eS,Lw=new q,Rw=new q,zw=class extends FS{constructor(e=new vC,t=new jw){super(),this.isLine=!0,this.type=`Line`,this.geometry=e,this.material=t,this.morphTargetDictionary=void 0,this.morphTargetInfluences=void 0,this.updateMorphTargets()}copy(e,t){return super.copy(e,t),this.material=Array.isArray(e.material)?e.material.slice():e.material,this.geometry=e.geometry,this}computeLineDistances(){let e=this.geometry;if(e.index===null){let t=e.attributes.position,n=[0];for(let e=1,r=t.count;e0){let n=e[t[0]];if(n!==void 0){this.morphTargetInfluences=[],this.morphTargetDictionary={};for(let e=0,t=n.length;er)return;Lw.applyMatrix4(e.matrixWorld);let c=t.ray.origin.distanceTo(Lw);if(!(ct.far))return{distance:c,point:Rw.clone().applyMatrix4(e.matrixWorld),index:o,face:null,faceIndex:null,barycoord:null,object:e}}var Vw=new q,Hw=new q,Uw=class extends zw{constructor(e,t){super(e,t),this.isLineSegments=!0,this.type=`LineSegments`}computeLineDistances(){let e=this.geometry;if(e.index===null){let t=e.attributes.position,n=[];for(let e=0,r=t.count;e0){let n=e[t[0]];if(n!==void 0){this.morphTargetInfluences=[],this.morphTargetDictionary={};for(let e=0,t=n.length;ei.far)return;a.push({distance:c,distanceToRay:Math.sqrt(s),point:n,index:t,face:null,faceIndex:null,barycoord:null,object:o})}}var Zw=class extends Ax{constructor(e,t,n=vy,r,i,a,o=sy,s=sy,c,l=Oy,u=1){if(l!==1026&&l!==1027)throw Error(`DepthTexture format must be either THREE.DepthFormat or THREE.DepthStencilFormat`);super({width:e,height:t,depth:u},r,i,a,o,s,l,n,c),this.isDepthTexture=!0,this.flipY=!1,this.generateMipmaps=!1,this.compareFunction=null}copy(e){return super.copy(e),this.source=new Ex(Object.assign({},e.image)),this.compareFunction=e.compareFunction,this}toJSON(e){let t=super.toJSON(e);return this.compareFunction!==null&&(t.compareFunction=this.compareFunction),t}},tte=class e extends vC{constructor(e=1,t=1,n=1,r=32,i=1,a=!1,o=0,s=Math.PI*2){super(),this.type=`CylinderGeometry`,this.parameters={radiusTop:e,radiusBottom:t,height:n,radialSegments:r,heightSegments:i,openEnded:a,thetaStart:o,thetaLength:s};let c=this;r=Math.floor(r),i=Math.floor(i);let l=[],u=[],d=[],f=[],p=0,m=[],h=n/2,g=0;_(),a===!1&&(e>0&&v(!0),t>0&&v(!1)),this.setIndex(l),this.setAttribute(`position`,new uC(u,3)),this.setAttribute(`normal`,new uC(d,3)),this.setAttribute(`uv`,new uC(f,2));function _(){let a=new q,_=new q,v=0,y=(t-e)/n;for(let c=0;c<=i;c++){let l=[],g=c/i,v=g*(t-e)+e;for(let e=0;e<=r;e++){let t=e/r,i=t*s+o,c=Math.sin(i),m=Math.cos(i);_.x=v*c,_.y=-g*n+h,_.z=v*m,u.push(_.x,_.y,_.z),a.set(c,y,m).normalize(),d.push(a.x,a.y,a.z),f.push(t,1-g),l.push(p++)}m.push(l)}for(let n=0;n0||r!==0)&&(l.push(a,o,c),v+=3),(t>0||r!==i-1)&&(l.push(o,s,c),v+=3)}c.addGroup(g,v,0),g+=v}function v(n){let i=p,a=new rx,m=new q,_=0,v=n===!0?e:t,y=n===!0?1:-1;for(let e=1;e<=r;e++)u.push(0,h*y,0),d.push(0,y,0),f.push(.5,.5),p++;let b=p;for(let e=0;e<=r;e++){let t=e/r*s+o,n=Math.cos(t),i=Math.sin(t);m.x=v*i,m.y=h*y,m.z=v*n,u.push(m.x,m.y,m.z),d.push(0,y,0),a.x=n*.5+.5,a.y=i*.5*y+.5,f.push(a.x,a.y),p++}for(let e=0;e0)&&f.push(t,i,c),(e!==n-1||s0!=e>0&&this.version++,this._anisotropy=e}get clearcoat(){return this._clearcoat}set clearcoat(e){this._clearcoat>0!=e>0&&this.version++,this._clearcoat=e}get iridescence(){return this._iridescence}set iridescence(e){this._iridescence>0!=e>0&&this.version++,this._iridescence=e}get dispersion(){return this._dispersion}set dispersion(e){this._dispersion>0!=e>0&&this.version++,this._dispersion=e}get sheen(){return this._sheen}set sheen(e){this._sheen>0!=e>0&&this.version++,this._sheen=e}get transmission(){return this._transmission}set transmission(e){this._transmission>0!=e>0&&this.version++,this._transmission=e}copy(e){return super.copy(e),this.defines={STANDARD:``,PHYSICAL:``},this.anisotropy=e.anisotropy,this.anisotropyRotation=e.anisotropyRotation,this.anisotropyMap=e.anisotropyMap,this.clearcoat=e.clearcoat,this.clearcoatMap=e.clearcoatMap,this.clearcoatRoughness=e.clearcoatRoughness,this.clearcoatRoughnessMap=e.clearcoatRoughnessMap,this.clearcoatNormalMap=e.clearcoatNormalMap,this.clearcoatNormalScale.copy(e.clearcoatNormalScale),this.dispersion=e.dispersion,this.ior=e.ior,this.iridescence=e.iridescence,this.iridescenceMap=e.iridescenceMap,this.iridescenceIOR=e.iridescenceIOR,this.iridescenceThicknessRange=[...e.iridescenceThicknessRange],this.iridescenceThicknessMap=e.iridescenceThicknessMap,this.sheen=e.sheen,this.sheenColor.copy(e.sheenColor),this.sheenColorMap=e.sheenColorMap,this.sheenRoughness=e.sheenRoughness,this.sheenRoughnessMap=e.sheenRoughnessMap,this.transmission=e.transmission,this.transmissionMap=e.transmissionMap,this.thickness=e.thickness,this.thicknessMap=e.thicknessMap,this.attenuationDistance=e.attenuationDistance,this.attenuationColor.copy(e.attenuationColor),this.specularIntensity=e.specularIntensity,this.specularIntensityMap=e.specularIntensityMap,this.specularColor.copy(e.specularColor),this.specularColorMap=e.specularColorMap,this}},tT=class extends nC{constructor(e){super(),this.isMeshPhongMaterial=!0,this.type=`MeshPhongMaterial`,this.color=new Y(16777215),this.specular=new Y(1118481),this.shininess=30,this.map=null,this.lightMap=null,this.lightMapIntensity=1,this.aoMap=null,this.aoMapIntensity=1,this.emissive=new Y(0),this.emissiveIntensity=1,this.emissiveMap=null,this.bumpMap=null,this.bumpScale=1,this.normalMap=null,this.normalMapType=0,this.normalScale=new rx(1,1),this.displacementMap=null,this.displacementScale=1,this.displacementBias=0,this.specularMap=null,this.alphaMap=null,this.envMap=null,this.envMapRotation=new vS,this.combine=0,this.reflectivity=1,this.refractionRatio=.98,this.wireframe=!1,this.wireframeLinewidth=1,this.wireframeLinecap=`round`,this.wireframeLinejoin=`round`,this.flatShading=!1,this.fog=!0,this.setValues(e)}copy(e){return super.copy(e),this.color.copy(e.color),this.specular.copy(e.specular),this.shininess=e.shininess,this.map=e.map,this.lightMap=e.lightMap,this.lightMapIntensity=e.lightMapIntensity,this.aoMap=e.aoMap,this.aoMapIntensity=e.aoMapIntensity,this.emissive.copy(e.emissive),this.emissiveMap=e.emissiveMap,this.emissiveIntensity=e.emissiveIntensity,this.bumpMap=e.bumpMap,this.bumpScale=e.bumpScale,this.normalMap=e.normalMap,this.normalMapType=e.normalMapType,this.normalScale.copy(e.normalScale),this.displacementMap=e.displacementMap,this.displacementScale=e.displacementScale,this.displacementBias=e.displacementBias,this.specularMap=e.specularMap,this.alphaMap=e.alphaMap,this.envMap=e.envMap,this.envMapRotation.copy(e.envMapRotation),this.combine=e.combine,this.reflectivity=e.reflectivity,this.refractionRatio=e.refractionRatio,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this.wireframeLinecap=e.wireframeLinecap,this.wireframeLinejoin=e.wireframeLinejoin,this.flatShading=e.flatShading,this.fog=e.fog,this}},ite=class extends nC{constructor(e){super(),this.isMeshLambertMaterial=!0,this.type=`MeshLambertMaterial`,this.color=new Y(16777215),this.map=null,this.lightMap=null,this.lightMapIntensity=1,this.aoMap=null,this.aoMapIntensity=1,this.emissive=new Y(0),this.emissiveIntensity=1,this.emissiveMap=null,this.bumpMap=null,this.bumpScale=1,this.normalMap=null,this.normalMapType=0,this.normalScale=new rx(1,1),this.displacementMap=null,this.displacementScale=1,this.displacementBias=0,this.specularMap=null,this.alphaMap=null,this.envMap=null,this.envMapRotation=new vS,this.combine=0,this.reflectivity=1,this.refractionRatio=.98,this.wireframe=!1,this.wireframeLinewidth=1,this.wireframeLinecap=`round`,this.wireframeLinejoin=`round`,this.flatShading=!1,this.fog=!0,this.setValues(e)}copy(e){return super.copy(e),this.color.copy(e.color),this.map=e.map,this.lightMap=e.lightMap,this.lightMapIntensity=e.lightMapIntensity,this.aoMap=e.aoMap,this.aoMapIntensity=e.aoMapIntensity,this.emissive.copy(e.emissive),this.emissiveMap=e.emissiveMap,this.emissiveIntensity=e.emissiveIntensity,this.bumpMap=e.bumpMap,this.bumpScale=e.bumpScale,this.normalMap=e.normalMap,this.normalMapType=e.normalMapType,this.normalScale.copy(e.normalScale),this.displacementMap=e.displacementMap,this.displacementScale=e.displacementScale,this.displacementBias=e.displacementBias,this.specularMap=e.specularMap,this.alphaMap=e.alphaMap,this.envMap=e.envMap,this.envMapRotation.copy(e.envMapRotation),this.combine=e.combine,this.reflectivity=e.reflectivity,this.refractionRatio=e.refractionRatio,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this.wireframeLinecap=e.wireframeLinecap,this.wireframeLinejoin=e.wireframeLinejoin,this.flatShading=e.flatShading,this.fog=e.fog,this}},ate=class extends nC{constructor(e){super(),this.isMeshDepthMaterial=!0,this.type=`MeshDepthMaterial`,this.depthPacking=bb,this.map=null,this.alphaMap=null,this.displacementMap=null,this.displacementScale=1,this.displacementBias=0,this.wireframe=!1,this.wireframeLinewidth=1,this.setValues(e)}copy(e){return super.copy(e),this.depthPacking=e.depthPacking,this.map=e.map,this.alphaMap=e.alphaMap,this.displacementMap=e.displacementMap,this.displacementScale=e.displacementScale,this.displacementBias=e.displacementBias,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this}},ote=class extends nC{constructor(e){super(),this.isMeshDistanceMaterial=!0,this.type=`MeshDistanceMaterial`,this.map=null,this.alphaMap=null,this.displacementMap=null,this.displacementScale=1,this.displacementBias=0,this.setValues(e)}copy(e){return 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e.json();default:if(o===``)return e.text();{let t=/charset="?([^;"\s]*)"?/i.exec(o),n=t&&t[1]?t[1].toLowerCase():void 0,r=new TextDecoder(n);return e.arrayBuffer().then(e=>r.decode(e))}}}).then(t=>{bT.add(e,t);let n=wT[e];delete wT[e];for(let e=0,r=n.length;e{let n=wT[e];if(n===void 0)throw this.manager.itemError(e),t;delete wT[e];for(let e=0,r=n.length;e{this.manager.itemEnd(e)}),this.manager.itemStart(e)}setResponseType(e){return this.responseType=e,this}setMimeType(e){return this.mimeType=e,this}},DT=class extends CT{constructor(e){super(e)}load(e,t,n,r){this.path!==void 0&&(e=this.path+e),e=this.manager.resolveURL(e);let i=this,a=bT.get(e);if(a!==void 0)return i.manager.itemStart(e),setTimeout(function(){t&&t(a),i.manager.itemEnd(e)},0),a;let o=ux(`img`);function s(){l(),bT.add(e,this),t&&t(this),i.manager.itemEnd(e)}function c(t){l(),r&&r(t),i.manager.itemError(e),i.manager.itemEnd(e)}function l(){o.removeEventListener(`load`,s,!1),o.removeEventListener(`error`,c,!1)}return 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0&&(a.format=n.format),n.type!==void 0&&(a.type=n.type),n.mipmaps!==void 0&&(a.mipmaps=n.mipmaps,a.minFilter=fy),n.mipmapCount===1&&(a.minFilter=uy),n.generateMipmaps!==void 0&&(a.generateMipmaps=n.generateMipmaps),a.needsUpdate=!0,t&&t(a,n)},n,r),a}},kT=class extends CT{constructor(e){super(e)}load(e,t,n,r){let i=new Ax,a=new DT(this.manager);return a.setCrossOrigin(this.crossOrigin),a.setPath(this.path),a.load(e,function(e){i.image=e,i.needsUpdate=!0,t!==void 0&&t(i)},n,r),i}},AT=class extends FS{constructor(e,t=1){super(),this.isLight=!0,this.type=`Light`,this.color=new Y(e),this.intensity=t}dispose(){}copy(e,t){return super.copy(e,t),this.color.copy(e.color),this.intensity=e.intensity,this}toJSON(e){let t=super.toJSON(e);return t.object.color=this.color.getHex(),t.object.intensity=this.intensity,this.groundColor!==void 0&&(t.object.groundColor=this.groundColor.getHex()),this.distance!==void 0&&(t.object.distance=this.distance),this.angle!==void 0&&(t.object.angle=this.angle),this.decay!==void 0&&(t.object.decay=this.decay),this.penumbra!==void 0&&(t.object.penumbra=this.penumbra),this.shadow!==void 0&&(t.object.shadow=this.shadow.toJSON()),this.target!==void 0&&(t.object.target=this.target.uuid),t}},jT=class extends AT{constructor(e,t,n){super(e,n),this.isHemisphereLight=!0,this.type=`HemisphereLight`,this.position.copy(FS.DEFAULT_UP),this.updateMatrix(),this.groundColor=new Y(t)}copy(e,t){return super.copy(e,t),this.groundColor.copy(e.groundColor),this}},MT=new J,NT=new q,PT=new q,FT=class{constructor(e){this.camera=e,this.intensity=1,this.bias=0,this.normalBias=0,this.radius=1,this.blurSamples=8,this.mapSize=new rx(512,512),this.mapType=py,this.map=null,this.mapPass=null,this.matrix=new J,this.autoUpdate=!0,this.needsUpdate=!1,this._frustum=new Aw,this._frameExtents=new rx(1,1),this._viewportCount=1,this._viewports=[new jx(0,0,1,1)]}getViewportCount(){return this._viewportCount}getFrustum(){return this._frustum}updateMatrices(e){let t=this.camera,n=this.matrix;NT.setFromMatrixPosition(e.matrixWorld),t.position.copy(NT),PT.setFromMatrixPosition(e.target.matrixWorld),t.lookAt(PT),t.updateMatrixWorld(),MT.multiplyMatrices(t.projectionMatrix,t.matrixWorldInverse),this._frustum.setFromProjectionMatrix(MT),n.set(.5,0,0,.5,0,.5,0,.5,0,0,.5,.5,0,0,0,1),n.multiply(MT)}getViewport(e){return this._viewports[e]}getFrameExtents(){return this._frameExtents}dispose(){this.map&&this.map.dispose(),this.mapPass&&this.mapPass.dispose()}copy(e){return this.camera=e.camera.clone(),this.intensity=e.intensity,this.bias=e.bias,this.radius=e.radius,this.autoUpdate=e.autoUpdate,this.needsUpdate=e.needsUpdate,this.normalBias=e.normalBias,this.blurSamples=e.blurSamples,this.mapSize.copy(e.mapSize),this}clone(){return new this.constructor().copy(this)}toJSON(){let e={};return this.intensity!==1&&(e.intensity=this.intensity),this.bias!==0&&(e.bias=this.bias),this.normalBias!==0&&(e.normalBias=this.normalBias),this.radius!==1&&(e.radius=this.radius),(this.mapSize.x!==512||this.mapSize.y!==512)&&(e.mapSize=this.mapSize.toArray()),e.camera=this.camera.toJSON(!1).object,delete e.camera.matrix,e}},IT=class extends FT{constructor(){super(new KC(50,1,.5,500)),this.isSpotLightShadow=!0,this.focus=1,this.aspect=1}updateMatrices(e){let t=this.camera,n=Nb*2*e.angle*this.focus,r=this.mapSize.width/this.mapSize.height*this.aspect,i=e.distance||t.far;(n!==t.fov||r!==t.aspect||i!==t.far)&&(t.fov=n,t.aspect=r,t.far=i,t.updateProjectionMatrix()),super.updateMatrices(e)}copy(e){return super.copy(e),this.focus=e.focus,this}},LT=class extends AT{constructor(e,t,n=0,r=Math.PI/3,i=0,a=2){super(e,t),this.isSpotLight=!0,this.type=`SpotLight`,this.position.copy(FS.DEFAULT_UP),this.updateMatrix(),this.target=new FS,this.distance=n,this.angle=r,this.penumbra=i,this.decay=a,this.map=null,this.shadow=new IT}get power(){return this.intensity*Math.PI}set power(e){this.intensity=e/Math.PI}dispose(){this.shadow.dispose()}copy(e,t){return super.copy(e,t),this.distance=e.distance,this.angle=e.angle,this.penumbra=e.penumbra,this.decay=e.decay,this.target=e.target.clone(),this.shadow=e.shadow.clone(),this}},RT=new J,zT=new q,BT=new q,VT=class extends FT{constructor(){super(new KC(90,1,.5,500)),this.isPointLightShadow=!0,this._frameExtents=new rx(4,2),this._viewportCount=6,this._viewports=[new jx(2,1,1,1),new jx(0,1,1,1),new jx(3,1,1,1),new jx(1,1,1,1),new jx(3,0,1,1),new jx(1,0,1,1)],this._cubeDirections=[new q(1,0,0),new q(-1,0,0),new q(0,0,1),new q(0,0,-1),new q(0,1,0),new q(0,-1,0)],this._cubeUps=[new q(0,1,0),new q(0,1,0),new q(0,1,0),new q(0,1,0),new q(0,0,1),new q(0,0,-1)]}updateMatrices(e,t=0){let n=this.camera,r=this.matrix,i=e.distance||n.far;i!==n.far&&(n.far=i,n.updateProjectionMatrix()),zT.setFromMatrixPosition(e.matrixWorld),n.position.copy(zT),BT.copy(n.position),BT.add(this._cubeDirections[t]),n.up.copy(this._cubeUps[t]),n.lookAt(BT),n.updateMatrixWorld(),r.makeTranslation(-zT.x,-zT.y,-zT.z),RT.multiplyMatrices(n.projectionMatrix,n.matrixWorldInverse),this._frustum.setFromProjectionMatrix(RT)}},HT=class extends AT{constructor(e,t,n=0,r=2){super(e,t),this.isPointLight=!0,this.type=`PointLight`,this.distance=n,this.decay=r,this.shadow=new VT}get power(){return this.intensity*4*Math.PI}set power(e){this.intensity=e/(4*Math.PI)}dispose(){this.shadow.dispose()}copy(e,t){return super.copy(e,t),this.distance=e.distance,this.decay=e.decay,this.shadow=e.shadow.clone(),this}},UT=class extends 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e=(this.right-this.left)/(2*this.zoom),t=(this.top-this.bottom)/(2*this.zoom),n=(this.right+this.left)/2,r=(this.top+this.bottom)/2,i=n-e,a=n+e,o=r+t,s=r-t;if(this.view!==null&&this.view.enabled){let e=(this.right-this.left)/this.view.fullWidth/this.zoom,t=(this.top-this.bottom)/this.view.fullHeight/this.zoom;i+=e*this.view.offsetX,a=i+e*this.view.width,o-=t*this.view.offsetY,s=o-t*this.view.height}this.projectionMatrix.makeOrthographic(i,a,o,s,this.near,this.far,this.coordinateSystem),this.projectionMatrixInverse.copy(this.projectionMatrix).invert()}toJSON(e){let t=super.toJSON(e);return t.object.zoom=this.zoom,t.object.left=this.left,t.object.right=this.right,t.object.top=this.top,t.object.bottom=this.bottom,t.object.near=this.near,t.object.far=this.far,this.view!==null&&(t.object.view=Object.assign({},this.view)),t}},WT=class extends FT{constructor(){super(new UT(-5,5,5,-5,.5,500)),this.isDirectionalLightShadow=!0}},GT=class extends 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RC({name:`CubemapToCubeUV`,uniforms:{envMap:{value:null},flipEnvMap:{value:-1}},vertexShader:WE(),fragmentShader:` + `,blending:0,depthTest:!1,depthWrite:!1})}function KE(){return new VC({name:`CubemapToCubeUV`,uniforms:{envMap:{value:null},flipEnvMap:{value:-1}},vertexShader:qE(),fragmentShader:` precision mediump float; precision mediump int; @@ -3710,7 +3710,7 @@ void main() { gl_FragColor = textureCube( envMap, vec3( flipEnvMap * vOutputDirection.x, vOutputDirection.yz ) ); } - `,blending:0,depthTest:!1,depthWrite:!1})}function WE(){return` + `,blending:0,depthTest:!1,depthWrite:!1})}function qE(){return` precision mediump float; precision mediump int; @@ -3765,17 +3765,17 @@ void main() { gl_Position = vec4( position, 1.0 ); } - `}function GE(e){let t=new WeakMap,n=null;function r(r){if(r&&r.isTexture){let o=r.mapping,s=o===303||o===304,c=o===301||o===302;if(s||c){let o=t.get(r),l=o===void 0?0:o.texture.pmremVersion;if(r.isRenderTargetTexture&&r.pmremVersion!==l)return 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USE_TRANSMISSIONMAP`:``,n.thicknessMap?`#define USE_THICKNESSMAP`:``,n.vertexTangents&&n.flatShading===!1?`#define USE_TANGENT`:``,n.vertexColors||n.instancingColor||n.batchingColor?`#define USE_COLOR`:``,n.vertexAlphas?`#define USE_COLOR_ALPHA`:``,n.vertexUv1s?`#define USE_UV1`:``,n.vertexUv2s?`#define USE_UV2`:``,n.vertexUv3s?`#define USE_UV3`:``,n.pointsUvs?`#define USE_POINTS_UV`:``,n.gradientMap?`#define USE_GRADIENTMAP`:``,n.flatShading?`#define FLAT_SHADED`:``,n.doubleSided?`#define DOUBLE_SIDED`:``,n.flipSided?`#define FLIP_SIDED`:``,n.shadowMapEnabled?`#define USE_SHADOWMAP`:``,n.shadowMapEnabled?`#define `+c:``,n.premultipliedAlpha?`#define PREMULTIPLIED_ALPHA`:``,n.numLightProbes>0?`#define USE_LIGHT_PROBES`:``,n.decodeVideoTexture?`#define DECODE_VIDEO_TEXTURE`:``,n.decodeVideoTextureEmissive?`#define DECODE_VIDEO_TEXTURE_EMISSIVE`:``,n.logarithmicDepthBuffer?`#define USE_LOGDEPTHBUF`:``,n.reverseDepthBuffer?`#define USE_REVERSEDEPTHBUF`:``,`uniform mat4 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USE_FOG`:``,n.useFog&&n.fogExp2?`#define FOG_EXP2`:``,n.map?`#define USE_MAP`:``,n.envMap?`#define USE_ENVMAP`:``,n.envMap?`#define `+u:``,n.lightMap?`#define USE_LIGHTMAP`:``,n.aoMap?`#define USE_AOMAP`:``,n.bumpMap?`#define USE_BUMPMAP`:``,n.normalMap?`#define USE_NORMALMAP`:``,n.normalMapObjectSpace?`#define USE_NORMALMAP_OBJECTSPACE`:``,n.normalMapTangentSpace?`#define USE_NORMALMAP_TANGENTSPACE`:``,n.displacementMap?`#define USE_DISPLACEMENTMAP`:``,n.emissiveMap?`#define USE_EMISSIVEMAP`:``,n.anisotropy?`#define USE_ANISOTROPY`:``,n.anisotropyMap?`#define USE_ANISOTROPYMAP`:``,n.clearcoatMap?`#define USE_CLEARCOATMAP`:``,n.clearcoatRoughnessMap?`#define USE_CLEARCOAT_ROUGHNESSMAP`:``,n.clearcoatNormalMap?`#define USE_CLEARCOAT_NORMALMAP`:``,n.iridescenceMap?`#define USE_IRIDESCENCEMAP`:``,n.iridescenceThicknessMap?`#define USE_IRIDESCENCE_THICKNESSMAP`:``,n.specularMap?`#define USE_SPECULARMAP`:``,n.specularColorMap?`#define USE_SPECULAR_COLORMAP`:``,n.specularIntensityMap?`#define USE_SPECULAR_INTENSITYMAP`:``,n.roughnessMap?`#define USE_ROUGHNESSMAP`:``,n.metalnessMap?`#define USE_METALNESSMAP`:``,n.alphaMap?`#define USE_ALPHAMAP`:``,n.alphaHash?`#define USE_ALPHAHASH`:``,n.transmission?`#define USE_TRANSMISSION`:``,n.transmissionMap?`#define USE_TRANSMISSIONMAP`:``,n.thicknessMap?`#define USE_THICKNESSMAP`:``,n.sheenColorMap?`#define USE_SHEEN_COLORMAP`:``,n.sheenRoughnessMap?`#define USE_SHEEN_ROUGHNESSMAP`:``,n.mapUv?`#define MAP_UV `+n.mapUv:``,n.alphaMapUv?`#define ALPHAMAP_UV `+n.alphaMapUv:``,n.lightMapUv?`#define LIGHTMAP_UV `+n.lightMapUv:``,n.aoMapUv?`#define AOMAP_UV `+n.aoMapUv:``,n.emissiveMapUv?`#define EMISSIVEMAP_UV `+n.emissiveMapUv:``,n.bumpMapUv?`#define BUMPMAP_UV `+n.bumpMapUv:``,n.normalMapUv?`#define NORMALMAP_UV `+n.normalMapUv:``,n.displacementMapUv?`#define DISPLACEMENTMAP_UV `+n.displacementMapUv:``,n.metalnessMapUv?`#define METALNESSMAP_UV `+n.metalnessMapUv:``,n.roughnessMapUv?`#define ROUGHNESSMAP_UV `+n.roughnessMapUv:``,n.anisotropyMapUv?`#define ANISOTROPYMAP_UV `+n.anisotropyMapUv:``,n.clearcoatMapUv?`#define CLEARCOATMAP_UV `+n.clearcoatMapUv:``,n.clearcoatNormalMapUv?`#define CLEARCOAT_NORMALMAP_UV `+n.clearcoatNormalMapUv:``,n.clearcoatRoughnessMapUv?`#define CLEARCOAT_ROUGHNESSMAP_UV `+n.clearcoatRoughnessMapUv:``,n.iridescenceMapUv?`#define IRIDESCENCEMAP_UV `+n.iridescenceMapUv:``,n.iridescenceThicknessMapUv?`#define IRIDESCENCE_THICKNESSMAP_UV `+n.iridescenceThicknessMapUv:``,n.sheenColorMapUv?`#define SHEEN_COLORMAP_UV `+n.sheenColorMapUv:``,n.sheenRoughnessMapUv?`#define SHEEN_ROUGHNESSMAP_UV `+n.sheenRoughnessMapUv:``,n.specularMapUv?`#define SPECULARMAP_UV `+n.specularMapUv:``,n.specularColorMapUv?`#define SPECULAR_COLORMAP_UV `+n.specularColorMapUv:``,n.specularIntensityMapUv?`#define SPECULAR_INTENSITYMAP_UV `+n.specularIntensityMapUv:``,n.transmissionMapUv?`#define TRANSMISSIONMAP_UV `+n.transmissionMapUv:``,n.thicknessMapUv?`#define THICKNESSMAP_UV `+n.thicknessMapUv:``,n.vertexTangents&&n.flatShading===!1?`#define USE_TANGENT`:``,n.vertexColors?`#define USE_COLOR`:``,n.vertexAlphas?`#define USE_COLOR_ALPHA`:``,n.vertexUv1s?`#define USE_UV1`:``,n.vertexUv2s?`#define USE_UV2`:``,n.vertexUv3s?`#define USE_UV3`:``,n.pointsUvs?`#define USE_POINTS_UV`:``,n.flatShading?`#define FLAT_SHADED`:``,n.skinning?`#define USE_SKINNING`:``,n.morphTargets?`#define USE_MORPHTARGETS`:``,n.morphNormals&&n.flatShading===!1?`#define USE_MORPHNORMALS`:``,n.morphColors?`#define USE_MORPHCOLORS`:``,n.morphTargetsCount>0?`#define MORPHTARGETS_TEXTURE_STRIDE `+n.morphTextureStride:``,n.morphTargetsCount>0?`#define MORPHTARGETS_COUNT `+n.morphTargetsCount:``,n.doubleSided?`#define DOUBLE_SIDED`:``,n.flipSided?`#define FLIP_SIDED`:``,n.shadowMapEnabled?`#define USE_SHADOWMAP`:``,n.shadowMapEnabled?`#define `+c:``,n.sizeAttenuation?`#define USE_SIZEATTENUATION`:``,n.numLightProbes>0?`#define USE_LIGHT_PROBES`:``,n.logarithmicDepthBuffer?`#define USE_LOGDEPTHBUF`:``,n.reverseDepthBuffer?`#define USE_REVERSEDEPTHBUF`:``,`uniform mat4 modelMatrix;`,`uniform mat4 modelViewMatrix;`,`uniform mat4 projectionMatrix;`,`uniform mat4 viewMatrix;`,`uniform mat3 normalMatrix;`,`uniform vec3 cameraPosition;`,`uniform bool isOrthographic;`,`#ifdef USE_INSTANCING`,` attribute mat4 instanceMatrix;`,`#endif`,`#ifdef USE_INSTANCING_COLOR`,` attribute vec3 instanceColor;`,`#endif`,`#ifdef USE_INSTANCING_MORPH`,` uniform sampler2D morphTexture;`,`#endif`,`attribute vec3 position;`,`attribute vec3 normal;`,`attribute vec2 uv;`,`#ifdef USE_UV1`,` attribute vec2 uv1;`,`#endif`,`#ifdef USE_UV2`,` attribute vec2 uv2;`,`#endif`,`#ifdef USE_UV3`,` attribute vec2 uv3;`,`#endif`,`#ifdef USE_TANGENT`,` attribute vec4 tangent;`,`#endif`,`#if defined( USE_COLOR_ALPHA )`,` attribute vec4 color;`,`#elif defined( USE_COLOR )`,` attribute vec3 color;`,`#endif`,`#ifdef USE_SKINNING`,` attribute vec4 skinIndex;`,` attribute vec4 skinWeight;`,`#endif`,` +`].filter(SO).join(` +`),_=[MO(n),`#define SHADER_TYPE `+n.shaderType,`#define SHADER_NAME `+n.shaderName,m,n.useFog&&n.fog?`#define USE_FOG`:``,n.useFog&&n.fogExp2?`#define FOG_EXP2`:``,n.alphaToCoverage?`#define ALPHA_TO_COVERAGE`:``,n.map?`#define USE_MAP`:``,n.matcap?`#define USE_MATCAP`:``,n.envMap?`#define USE_ENVMAP`:``,n.envMap?`#define `+l:``,n.envMap?`#define `+u:``,n.envMap?`#define `+d:``,f?`#define CUBEUV_TEXEL_WIDTH `+f.texelWidth:``,f?`#define CUBEUV_TEXEL_HEIGHT `+f.texelHeight:``,f?`#define CUBEUV_MAX_MIP `+f.maxMip+`.0`:``,n.lightMap?`#define USE_LIGHTMAP`:``,n.aoMap?`#define USE_AOMAP`:``,n.bumpMap?`#define USE_BUMPMAP`:``,n.normalMap?`#define USE_NORMALMAP`:``,n.normalMapObjectSpace?`#define USE_NORMALMAP_OBJECTSPACE`:``,n.normalMapTangentSpace?`#define USE_NORMALMAP_TANGENTSPACE`:``,n.emissiveMap?`#define USE_EMISSIVEMAP`:``,n.anisotropy?`#define USE_ANISOTROPY`:``,n.anisotropyMap?`#define USE_ANISOTROPYMAP`:``,n.clearcoat?`#define USE_CLEARCOAT`:``,n.clearcoatMap?`#define USE_CLEARCOATMAP`:``,n.clearcoatRoughnessMap?`#define USE_CLEARCOAT_ROUGHNESSMAP`:``,n.clearcoatNormalMap?`#define USE_CLEARCOAT_NORMALMAP`:``,n.dispersion?`#define USE_DISPERSION`:``,n.iridescence?`#define USE_IRIDESCENCE`:``,n.iridescenceMap?`#define USE_IRIDESCENCEMAP`:``,n.iridescenceThicknessMap?`#define USE_IRIDESCENCE_THICKNESSMAP`:``,n.specularMap?`#define USE_SPECULARMAP`:``,n.specularColorMap?`#define USE_SPECULAR_COLORMAP`:``,n.specularIntensityMap?`#define USE_SPECULAR_INTENSITYMAP`:``,n.roughnessMap?`#define USE_ROUGHNESSMAP`:``,n.metalnessMap?`#define USE_METALNESSMAP`:``,n.alphaMap?`#define USE_ALPHAMAP`:``,n.alphaTest?`#define USE_ALPHATEST`:``,n.alphaHash?`#define USE_ALPHAHASH`:``,n.sheen?`#define USE_SHEEN`:``,n.sheenColorMap?`#define USE_SHEEN_COLORMAP`:``,n.sheenRoughnessMap?`#define USE_SHEEN_ROUGHNESSMAP`:``,n.transmission?`#define USE_TRANSMISSION`:``,n.transmissionMap?`#define USE_TRANSMISSIONMAP`:``,n.thicknessMap?`#define USE_THICKNESSMAP`:``,n.vertexTangents&&n.flatShading===!1?`#define USE_TANGENT`:``,n.vertexColors||n.instancingColor||n.batchingColor?`#define USE_COLOR`:``,n.vertexAlphas?`#define USE_COLOR_ALPHA`:``,n.vertexUv1s?`#define USE_UV1`:``,n.vertexUv2s?`#define USE_UV2`:``,n.vertexUv3s?`#define USE_UV3`:``,n.pointsUvs?`#define USE_POINTS_UV`:``,n.gradientMap?`#define USE_GRADIENTMAP`:``,n.flatShading?`#define FLAT_SHADED`:``,n.doubleSided?`#define DOUBLE_SIDED`:``,n.flipSided?`#define FLIP_SIDED`:``,n.shadowMapEnabled?`#define USE_SHADOWMAP`:``,n.shadowMapEnabled?`#define `+c:``,n.premultipliedAlpha?`#define PREMULTIPLIED_ALPHA`:``,n.numLightProbes>0?`#define USE_LIGHT_PROBES`:``,n.decodeVideoTexture?`#define DECODE_VIDEO_TEXTURE`:``,n.decodeVideoTextureEmissive?`#define DECODE_VIDEO_TEXTURE_EMISSIVE`:``,n.logarithmicDepthBuffer?`#define USE_LOGDEPTHBUF`:``,n.reverseDepthBuffer?`#define USE_REVERSEDEPTHBUF`:``,`uniform mat4 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y=v+g+o,b=v+_+s,x=cO(i,i.VERTEX_SHADER,y),S=cO(i,i.FRAGMENT_SHADER,b);i.attachShader(h,x),i.attachShader(h,S),n.index0AttributeName===void 0?n.morphTargets===!0&&i.bindAttribLocation(h,0,`position`):i.bindAttribLocation(h,0,n.index0AttributeName),i.linkProgram(h);function C(t){if(e.debug.checkShaderErrors){let n=i.getProgramInfoLog(h).trim(),r=i.getShaderInfoLog(x).trim(),a=i.getShaderInfoLog(S).trim(),o=!0,s=!0;if(i.getProgramParameter(h,i.LINK_STATUS)===!1)if(o=!1,typeof e.debug.onShaderError==`function`)e.debug.onShaderError(i,h,x,S);else{let e=mO(i,x,`vertex`),r=mO(i,S,`fragment`);console.error(`THREE.WebGLProgram: Shader Error `+i.getError()+` - VALIDATE_STATUS `+i.getProgramParameter(h,i.VALIDATE_STATUS)+` Material Name: `+t.name+` Material Type: `+t.type+` Program Info Log: `+n+` `+e+` -`+r)}else n===``?(r===``||a===``)&&(s=!1):console.warn(`THREE.WebGLProgram: Program Info 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a.has(r)===!1&&(a.add(r),r.usedTimes++),a.has(i)===!1&&(a.add(i),i.usedTimes++),this}remove(e){let t=this.materialCache.get(e);for(let e of t)e.usedTimes--,e.usedTimes===0&&this.shaderCache.delete(e.code);return this.materialCache.delete(e),this}getVertexShaderID(e){return this._getShaderStage(e.vertexShader).id}getFragmentShaderID(e){return this._getShaderStage(e.fragmentShader).id}dispose(){this.shaderCache.clear(),this.materialCache.clear()}_getShaderCacheForMaterial(e){let t=this.materialCache,n=t.get(e);return n===void 0&&(n=new Set,t.set(e,n)),n}_getShaderStage(e){let t=this.shaderCache,n=t.get(e);return n===void 0&&(n=new RO(e),t.set(e,n)),n}},RO=class{constructor(e){this.id=IO++,this.code=e,this.usedTimes=0}};function zO(e,t,n,r,i,a,o){let s=new gS,c=new LO,l=new Set,u=[],d=i.logarithmicDepthBuffer,f=i.vertexTextures,p=i.precision,m={MeshDepthMaterial:`depth`,MeshDistanceMaterial:`distanceRGBA`,MeshNormalMaterial:`normal`,MeshBasicMaterial:`basic`,MeshLambertMaterial:`lambert`,MeshPhongMaterial:`phong`,MeshToonMaterial:`toon`,MeshStandardMaterial:`physical`,MeshPhysicalMaterial:`physical`,MeshMatcapMaterial:`matcap`,LineBasicMaterial:`basic`,LineDashedMaterial:`dashed`,PointsMaterial:`points`,ShadowMaterial:`shadow`,SpriteMaterial:`sprite`};function h(e){return l.add(e),e===0?`uv`:`uv${e}`}function g(a,s,u,g,_){let v=g.fog,y=_.geometry,b=a.isMeshStandardMaterial?g.environment:null,x=(a.isMeshStandardMaterial?n:t).get(a.envMap||b),S=x&&x.mapping===306?x.image.height:null,C=m[a.type];a.precision!==null&&(p=i.getMaxPrecision(a.precision),p!==a.precision&&console.warn(`THREE.WebGLProgram.getParameters:`,a.precision,`not supported, using`,p,`instead.`));let w=y.morphAttributes.position||y.morphAttributes.normal||y.morphAttributes.color,T=w===void 0?0:w.length,E=0;y.morphAttributes.position!==void 0&&(E=1),y.morphAttributes.normal!==void 0&&(E=2),y.morphAttributes.color!==void 0&&(E=3);let D,O,k,A;if(C){let e=_E[C];D=e.vertexShader,O=e.fragmentShader}else D=a.vertexShader,O=a.fragmentShader,c.update(a),k=c.getVertexShaderID(a),A=c.getFragmentShaderID(a);let j=e.getRenderTarget(),M=e.state.buffers.depth.getReversed(),N=_.isInstancedMesh===!0,P=_.isBatchedMesh===!0,F=!!a.map,I=!!a.matcap,ee=!!x,te=!!a.aoMap,ne=!!a.lightMap,re=!!a.bumpMap,ie=!!a.normalMap,ae=!!a.displacementMap,oe=!!a.emissiveMap,se=!!a.metalnessMap,ce=!!a.roughnessMap,le=a.anisotropy>0,ue=a.clearcoat>0,de=a.dispersion>0,L=a.iridescence>0,fe=a.sheen>0,pe=a.transmission>0,me=le&&!!a.anisotropyMap,R=ue&&!!a.clearcoatMap,he=ue&&!!a.clearcoatNormalMap,z=ue&&!!a.clearcoatRoughnessMap,ge=L&&!!a.iridescenceMap,_e=L&&!!a.iridescenceThicknessMap,ve=fe&&!!a.sheenColorMap,ye=fe&&!!a.sheenRoughnessMap,be=!!a.specularMap,xe=!!a.specularColorMap,Se=!!a.specularIntensityMap,Ce=pe&&!!a.transmissionMap,we=pe&&!!a.thicknessMap,Te=!!a.gradientMap,Ee=!!a.alphaMap,De=a.alphaTest>0,Oe=!!a.alphaHash,ke=!!a.extensions,Ae=0;a.toneMapped&&(j===null||j.isXRRenderTarget===!0)&&(Ae=e.toneMapping);let 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m(e,t){t.matcap&&(e.matcap.value=t.matcap)}function h(e,n){let r=t.get(n).light;e.referencePosition.value.setFromMatrixPosition(r.matrixWorld),e.nearDistance.value=r.shadow.camera.near,e.farDistance.value=r.shadow.camera.far}return{refreshFogUniforms:r,refreshMaterialUniforms:i}}function lte(e,t,n,r){let i={},a={},o=[],s=e.getParameter(e.MAX_UNIFORM_BUFFER_BINDINGS);function c(e,t){let n=t.program;r.uniformBlockBinding(e,n)}function l(e,n){let o=i[e.id];o===void 0&&(m(e),o=u(e),i[e.id]=o,e.addEventListener(`dispose`,g));let s=n.program;r.updateUBOMapping(e,s);let c=t.render.frame;a[e.id]!==c&&(f(e),a[e.id]=c)}function u(t){let n=d();t.__bindingPointIndex=n;let r=e.createBuffer(),i=t.__size,a=t.usage;return e.bindBuffer(e.UNIFORM_BUFFER,r),e.bufferData(e.UNIFORM_BUFFER,i,a),e.bindBuffer(e.UNIFORM_BUFFER,null),e.bindBufferBase(e.UNIFORM_BUFFER,n,r),r}function d(){for(let e=0;e0&&(n+=16-r),e.__size=n,e.__cache={},this}function h(e){let t={boundary:0,storage:0};return typeof 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w=e.isDataArrayTexture||e.isData3DTexture,T=t.isDataArrayTexture||t.isData3DTexture;if(e.isDepthTexture){let n=z.get(e),r=z.get(t),h=z.get(n.__renderTarget),g=z.get(r.__renderTarget);R.bindFramebuffer(L.READ_FRAMEBUFFER,h.__webglFramebuffer),R.bindFramebuffer(L.DRAW_FRAMEBUFFER,g.__webglFramebuffer);for(let n=0;nMath.PI&&(n-=vk),r<-Math.PI?r+=vk:r>Math.PI&&(r-=vk),n<=r?this._spherical.theta=Math.max(n,Math.min(r,this._spherical.theta)):this._spherical.theta=this._spherical.theta>(n+r)/2?Math.max(n,this._spherical.theta):Math.min(r,this._spherical.theta)),this._spherical.phi=Math.max(this.minPolarAngle,Math.min(this.maxPolarAngle,this._spherical.phi)),this._spherical.makeSafe(),this.enableDamping===!0?this.target.addScaledVector(this._panOffset,this.dampingFactor):this.target.add(this._panOffset),this.target.sub(this.cursor),this.target.clampLength(this.minTargetRadius,this.maxTargetRadius),this.target.add(this.cursor);let i=!1;if(this.zoomToCursor&&this._performCursorZoom||this.object.isOrthographicCamera)this._spherical.radius=this._clampDistance(this._spherical.radius);else{let e=this._spherical.radius;this._spherical.radius=this._clampDistance(this._spherical.radius*this._scale),i=e!=this._spherical.radius}if(_k.setFromSpherical(this._spherical),_k.applyQuaternion(this._quatInverse),t.copy(this.target).add(_k),this.object.lookAt(this.target),this.enableDamping===!0?(this._sphericalDelta.theta*=1-this.dampingFactor,this._sphericalDelta.phi*=1-this.dampingFactor,this._panOffset.multiplyScalar(1-this.dampingFactor)):(this._sphericalDelta.set(0,0,0),this._panOffset.set(0,0,0)),this.zoomToCursor&&this._performCursorZoom){let e=null;if(this.object.isPerspectiveCamera){let t=_k.length();e=this._clampDistance(t*this._scale);let n=t-e;this.object.position.addScaledVector(this._dollyDirection,n),this.object.updateMatrixWorld(),i=!!n}else if(this.object.isOrthographicCamera){let t=new q(this._mouse.x,this._mouse.y,0);t.unproject(this.object);let n=this.object.zoom;this.object.zoom=Math.max(this.minZoom,Math.min(this.maxZoom,this.object.zoom/this._scale)),this.object.updateProjectionMatrix(),i=n!==this.object.zoom;let r=new q(this._mouse.x,this._mouse.y,0);r.unproject(this.object),this.object.position.sub(r).add(t),this.object.updateMatrixWorld(),e=_k.length()}else console.warn(`WARNING: OrbitControls.js encountered an unknown camera type - zoom to cursor 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disabled.`),this.enablePan=!1)}_dollyOut(e){this.object.isPerspectiveCamera||this.object.isOrthographicCamera?this._scale/=e:(console.warn(`WARNING: OrbitControls.js encountered an unknown camera type - dolly/zoom disabled.`),this.enableZoom=!1)}_dollyIn(e){this.object.isPerspectiveCamera||this.object.isOrthographicCamera?this._scale*=e:(console.warn(`WARNING: OrbitControls.js encountered an unknown camera type - dolly/zoom disabled.`),this.enableZoom=!1)}_updateZoomParameters(e,t){if(!this.zoomToCursor)return;this._performCursorZoom=!0;let n=this.domElement.getBoundingClientRect(),r=e-n.left,i=t-n.top,a=n.width,o=n.height;this._mouse.x=r/a*2-1,this._mouse.y=-(i/o)*2+1,this._dollyDirection.set(this._mouse.x,this._mouse.y,1).unproject(this.object).sub(this.object.position).normalize()}_clampDistance(e){return Math.max(this.minDistance,Math.min(this.maxDistance,e))}_handleMouseDownRotate(e){this._rotateStart.set(e.clientX,e.clientY)}_handleMouseDownDolly(e){this._updateZoomParameters(e.clientX,e.clientX),this._dollyStart.set(e.clientX,e.clientY)}_handleMouseDownPan(e){this._panStart.set(e.clientX,e.clientY)}_handleMouseMoveRotate(e){this._rotateEnd.set(e.clientX,e.clientY),this._rotateDelta.subVectors(this._rotateEnd,this._rotateStart).multiplyScalar(this.rotateSpeed);let t=this.domElement;this._rotateLeft(vk*this._rotateDelta.x/t.clientHeight),this._rotateUp(vk*this._rotateDelta.y/t.clientHeight),this._rotateStart.copy(this._rotateEnd),this.update()}_handleMouseMoveDolly(e){this._dollyEnd.set(e.clientX,e.clientY),this._dollyDelta.subVectors(this._dollyEnd,this._dollyStart),this._dollyDelta.y>0?this._dollyOut(this._getZoomScale(this._dollyDelta.y)):this._dollyDelta.y<0&&this._dollyIn(this._getZoomScale(this._dollyDelta.y)),this._dollyStart.copy(this._dollyEnd),this.update()}_handleMouseMovePan(e){this._panEnd.set(e.clientX,e.clientY),this._panDelta.subVectors(this._panEnd,this._panStart).multiplyScalar(this.panSpeed),this._pan(this._panDelta.x,this._panDelta.y),this._panStart.copy(this._panEnd),this.update()}_handleMouseWheel(e){this._updateZoomParameters(e.clientX,e.clientY),e.deltaY<0?this._dollyIn(this._getZoomScale(e.deltaY)):e.deltaY>0&&this._dollyOut(this._getZoomScale(e.deltaY)),this.update()}_handleKeyDown(e){let t=!1;switch(e.code){case this.keys.UP:e.ctrlKey||e.metaKey||e.shiftKey?this.enableRotate&&this._rotateUp(vk*this.keyRotateSpeed/this.domElement.clientHeight):this.enablePan&&this._pan(0,this.keyPanSpeed),t=!0;break;case this.keys.BOTTOM:e.ctrlKey||e.metaKey||e.shiftKey?this.enableRotate&&this._rotateUp(-vk*this.keyRotateSpeed/this.domElement.clientHeight):this.enablePan&&this._pan(0,-this.keyPanSpeed),t=!0;break;case this.keys.LEFT:e.ctrlKey||e.metaKey||e.shiftKey?this.enableRotate&&this._rotateLeft(vk*this.keyRotateSpeed/this.domElement.clientHeight):this.enablePan&&this._pan(this.keyPanSpeed,0),t=!0;break;case this.keys.RIGHT:e.ctrlKey||e.metaKey||e.shiftKey?this.enableRotate&&this._rotateLeft(-vk*this.keyRotateSpeed/this.domElement.clientHeight):this.enablePan&&this._pan(-this.keyPanSpeed,0),t=!0;break}t&&(e.preventDefault(),this.update())}_handleTouchStartRotate(e){if(this._pointers.length===1)this._rotateStart.set(e.pageX,e.pageY);else{let t=this._getSecondPointerPosition(e),n=.5*(e.pageX+t.x),r=.5*(e.pageY+t.y);this._rotateStart.set(n,r)}}_handleTouchStartPan(e){if(this._pointers.length===1)this._panStart.set(e.pageX,e.pageY);else{let t=this._getSecondPointerPosition(e),n=.5*(e.pageX+t.x),r=.5*(e.pageY+t.y);this._panStart.set(n,r)}}_handleTouchStartDolly(e){let t=this._getSecondPointerPosition(e),n=e.pageX-t.x,r=e.pageY-t.y,i=Math.sqrt(n*n+r*r);this._dollyStart.set(0,i)}_handleTouchStartDollyPan(e){this.enableZoom&&this._handleTouchStartDolly(e),this.enablePan&&this._handleTouchStartPan(e)}_handleTouchStartDollyRotate(e){this.enableZoom&&this._handleTouchStartDolly(e),this.enableRotate&&this._handleTouchStartRotate(e)}_handleTouchMoveRotate(e){if(this._pointers.length==1)this._rotateEnd.set(e.pageX,e.pageY);else{let t=this._getSecondPointerPosition(e),n=.5*(e.pageX+t.x),r=.5*(e.pageY+t.y);this._rotateEnd.set(n,r)}this._rotateDelta.subVectors(this._rotateEnd,this._rotateStart).multiplyScalar(this.rotateSpeed);let 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t=a[e];switch(e){case`diffuse`:t.color&&r.color.fromArray(t.color),t.texture&&(r.map=i(t.texture,yb));break;case`specular`:t.color&&r.specular&&r.specular.fromArray(t.color),t.texture&&(r.specularMap=i(t.texture));break;case`bump`:t.texture&&(r.normalMap=i(t.texture));break;case`ambient`:t.texture&&(r.lightMap=i(t.texture,yb));break;case`shininess`:t.float&&r.shininess&&(r.shininess=t.float);break;case`emission`:t.color&&r.emissive&&r.emissive.fromArray(t.color),t.texture&&(r.emissiveMap=i(t.texture,yb));break}}_x.colorSpaceToWorking(r.color,yb),r.specular&&_x.colorSpaceToWorking(r.specular,yb),r.emissive&&_x.colorSpaceToWorking(r.emissive,yb);let o=a.transparent,s=a.transparency;if(s===void 0&&o&&(s={float:1}),o===void 0&&s&&(o={opaque:`A_ONE`,data:{color:[1,1,1,1]}}),o&&s)if(o.data.texture)r.transparent=!0;else{let e=o.data.color;switch(o.opaque){case`A_ONE`:r.opacity=e[3]*s.float;break;case`RGB_ZERO`:r.opacity=1-e[0]*s.float;break;case`A_ZERO`:r.opacity=1-e[3]*s.float;break;case`RGB_ONE`:r.opacity=e[0]*s.float;break;default:console.warn(`THREE.ColladaLoader: Invalid opaque type "%s" of transparent tag.`,o.opaque)}r.opacity<1&&(r.transparent=!0)}if(n.extra!==void 0&&n.extra.technique!==void 0){let e=n.extra.technique;for(let t in e){let n=e[t];switch(t){case`double_sided`:r.side=n===1?2:0;break;case`bump`:r.normalMap=i(n.texture),r.normalScale=new ex(1,1);break}}}return r}function Ce(e){return m(B.materials[e],Se)}function we(e){let t={name:e.getAttribute(`name`)};for(let n=0,r=e.childNodes.length;n0?n+s:n;t.inputs[c]={id:e,offset:i},t.stride=Math.max(t.stride,i+1),n===`TEXCOORD`&&(t.hasUV=!0);break;case`vcount`:t.vcount=a(r.textContent);break;case`p`:t.p=a(r.textContent);break}}return t}function ze(e){let t={};for(let n=0;n0&&t0&&d.setAttribute(`position`,new 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n=0;nr.limits.max||te===null?null:parseFloat(e)),(!this.origPosition||!this.origQuaternion)&&(this.origPosition=this.position.clone(),this.origQuaternion=this.quaternion.clone());let t=!1;switch(this.mimicJoints.forEach(n=>{t=n.updateFromMimickedJoint(...e)||t}),this.jointType){case`fixed`:return t;case`continuous`:case`revolute`:{let n=e[0];return n==null||n===this.jointValue[0]?t:(!this.ignoreLimits&&this.jointType===`revolute`&&(n=Math.min(this.limit.upper,n),n=Math.max(this.limit.lower,n)),this.quaternion.setFromAxisAngle(this.axis,n).premultiply(this.origQuaternion),this.jointValue[0]===n?t:(this.jointValue[0]=n,this.matrixWorldNeedsUpdate=!0,!0))}case`prismatic`:{let n=e[0];return n==null||n===this.jointValue[0]?t:(this.ignoreLimits||(n=Math.min(this.limit.upper,n),n=Math.max(this.limit.lower,n)),this.position.copy(this.origPosition),Ak.copy(this.axis).applyEuler(this.rotation),this.position.addScaledVector(Ak,n),this.jointValue[0]===n?t:(this.jointValue[0]=n,this.matrixWorldNeedsUpdate=!0,!0))}case`floating`:return this.jointValue.every((t,n)=>e[n]===t||e[n]===null)?t:(this.jointValue[0]=e[0]===null?this.jointValue[0]:e[0],this.jointValue[1]=e[1]===null?this.jointValue[1]:e[1],this.jointValue[2]=e[2]===null?this.jointValue[2]:e[2],this.jointValue[3]=e[3]===null?this.jointValue[3]:e[3],this.jointValue[4]=e[4]===null?this.jointValue[4]:e[4],this.jointValue[5]=e[5]===null?this.jointValue[5]:e[5],Nk.compose(this.origPosition,this.origQuaternion,Fk),Pk.setFromEuler(jk.set(this.jointValue[3],this.jointValue[4],this.jointValue[5],`XYZ`)),Ik.set(this.jointValue[0],this.jointValue[1],this.jointValue[2]),Mk.compose(Ik,Pk,Fk),Nk.premultiply(Mk),this.position.setFromMatrixPosition(Nk),this.rotation.setFromRotationMatrix(Nk),this.matrixWorldNeedsUpdate=!0,!0);case`planar`:return this.jointValue.every((t,n)=>e[n]===t||e[n]===null)?t:(this.jointValue[0]=e[0]===null?this.jointValue[0]:e[0],this.jointValue[1]=e[1]===null?this.jointValue[1]:e[1],this.jointValue[2]=e[2]===null?this.jointValue[2]:e[2],Nk.compose(this.origPosition,this.origQuaternion,Fk),Pk.setFromAxisAngle(this.axis,this.jointValue[2]),Ik.set(this.jointValue[0],this.jointValue[1],0),Mk.compose(Ik,Pk,Fk),Nk.premultiply(Mk),this.position.setFromMatrixPosition(Nk),this.rotation.setFromRotationMatrix(Nk),this.matrixWorldNeedsUpdate=!0,!0)}return t}},Hk=class extends Vk{constructor(...e){super(...e),this.type=`URDFMimicJoint`,this.mimicJoint=null,this.offset=0,this.multiplier=1}updateFromMimickedJoint(...e){let t=e.map(e=>e===null?null:e*this.multiplier+this.offset);return super.setJointValue(...t)}copy(e,t){return super.copy(e,t),this.mimicJoint=e.mimicJoint,this.offset=e.offset,this.multiplier=e.multiplier,this}},Uk=class extends Bk{constructor(...e){super(...e),this.isURDFRobot=!0,this.urdfNode=null,this.urdfRobotNode=null,this.robotName=null,this.links=null,this.joints=null,this.colliders=null,this.visual=null,this.frames=null}copy(e,t){super.copy(e,t),this.urdfRobotNode=e.urdfRobotNode,this.robotName=e.robotName,this.links={},this.joints={},this.colliders={},this.visual={},this.traverse(t=>{t.isURDFJoint&&t.urdfName in e.joints&&(this.joints[t.urdfName]=t),t.isURDFLink&&t.urdfName in e.links&&(this.links[t.urdfName]=t),t.isURDFCollider&&t.urdfName in e.colliders&&(this.colliders[t.urdfName]=t),t.isURDFVisual&&t.urdfName in e.visual&&(this.visual[t.urdfName]=t)});for(let e in this.joints)this.joints[e].mimicJoints=this.joints[e].mimicJoints.map(e=>this.joints[e.name]);return this.frames={...this.colliders,...this.visual,...this.links,...this.joints},this}getFrame(e){return this.frames[e]}setJointValue(e,...t){let n=this.joints[e];return n?n.setJointValue(...t):!1}setJointValues(e){let t=!1;for(let n in e){let r=e[n];t=Array.isArray(r)?this.setJointValue(n,...r)||t:this.setJointValue(n,r)||t}return t}},Wk=new tx,Gk=new hS;function Kk(e){return e?e.trim().split(/\s+/g).map(e=>parseFloat(e)):[0,0,0]}function qk(e,t,n=!1){n||e.rotation.set(0,0,0),Gk.set(t[0],t[1],t[2],`ZYX`),Wk.setFromEuler(Gk),Wk.multiply(e.quaternion),e.quaternion.copy(Wk)}var Jk=class{constructor(e){this.manager=e||yT,this.loadMeshCb=this.defaultMeshLoader.bind(this),this.parseVisual=!0,this.parseCollision=!1,this.packages=``,this.workingPath=``,this.fetchOptions={}}loadAsync(e){return new Promise((t,n)=>{this.load(e,t,null,n)})}load(e,t,n,r){let i=this.manager,a=WT.extractUrlBase(e),o=this.manager.resolveURL(e);i.itemStart(o),fetch(o,this.fetchOptions).then(e=>{if(e.ok)return n&&n(null),e.text();throw Error(`URDFLoader: Failed to load url '${o}' with error code ${e.status} : ${e.statusText}.`)}).then(e=>{t(this.parse(e,this.workingPath||a)),i.itemEnd(o)}).catch(e=>{r?r(e):console.error(`URDFLoader: Error loading 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t=e.getAttribute(`name`);l[t]=h(e)});let o={},u={};n.forEach(t=>{let n=t.getAttribute(`name`);s[n]=m(t,o,u,e.querySelector(`child[link="${n}"]`)===null?a:null)}),r.forEach(e=>{let t=e.getAttribute(`name`);c[t]=p(e)}),a.joints=c,a.links=s,a.colliders=u,a.visual=o;let d=Object.values(c);return d.forEach(e=>{e instanceof Hk&&c[e.mimicJoint].mimicJoints.push(e)}),d.forEach(e=>{let t=new Set,n=e=>{if(t.has(e))throw Error(`URDFLoader: Detected an infinite loop of mimic joints.`);t.add(e),e.mimicJoints.forEach(e=>{n(e)})};n(e)}),a.frames={...u,...o,...s,...c},a}function p(e){let t=[...e.children],n=e.getAttribute(`type`),r,i=t.find(e=>e.nodeName.toLowerCase()===`mimic`);i?(r=new Hk,r.mimicJoint=i.getAttribute(`joint`),r.multiplier=parseFloat(i.getAttribute(`multiplier`)||1),r.offset=parseFloat(i.getAttribute(`offset`)||0)):r=new Vk,r.urdfNode=e,r.name=e.getAttribute(`name`),r.urdfName=r.name,r.jointType=n;let a=null,o=null,c=[0,0,0],l=[0,0,0];t.forEach(e=>{let t=e.nodeName.toLowerCase();t===`origin`?(c=Kk(e.getAttribute(`xyz`)),l=Kk(e.getAttribute(`rpy`))):t===`child`?o=s[e.getAttribute(`link`)]:t===`parent`?a=s[e.getAttribute(`link`)]:t===`limit`&&(r.limit.lower=parseFloat(e.getAttribute(`lower`)||r.limit.lower),r.limit.upper=parseFloat(e.getAttribute(`upper`)||r.limit.upper),r.limit.effort=parseFloat(e.getAttribute(`effort`)||r.limit.effort),r.limit.velocity=parseFloat(e.getAttribute(`velocity`)||r.limit.velocity))}),a.add(r),r.add(o),qk(r,l),r.position.set(c[0],c[1],c[2]);let u=t.filter(e=>e.nodeName.toLowerCase()===`axis`)[0];if(u){let e=u.getAttribute(`xyz`).split(/\s+/g).map(e=>parseFloat(e));r.axis=new q(e[0],e[1],e[2]),r.axis.normalize()}return r}function m(e,t,n,r=null){r===null&&(r=new Bk);let o=[...e.children];r.name=e.getAttribute(`name`),r.urdfName=r.name,r.urdfNode=e;let s=o.find(e=>e.nodeName.toLowerCase()===`inertial`);return s&&[...s.children].forEach(e=>{let t=e.nodeName.toLowerCase();t===`origin`?(r.inertial.origin.xyz=Kk(e.getAttribute(`xyz`)),r.inertial.origin.rpy=Kk(e.getAttribute(`rpy`))):t===`mass`?r.inertial.mass=parseFloat(e.getAttribute(`value`))||0:t===`inertia`&&(r.inertial.inertia.ixx=parseFloat(e.getAttribute(`ixx`))||0,r.inertial.inertia.ixy=parseFloat(e.getAttribute(`ixy`))||0,r.inertial.inertia.ixz=parseFloat(e.getAttribute(`ixz`))||0,r.inertial.inertia.iyy=parseFloat(e.getAttribute(`iyy`))||0,r.inertial.inertia.iyz=parseFloat(e.getAttribute(`iyz`))||0,r.inertial.inertia.izz=parseFloat(e.getAttribute(`izz`))||0)}),i&&o.filter(e=>e.nodeName.toLowerCase()===`visual`).forEach(e=>{let n=g(e,l);if(r.add(n),e.hasAttribute(`name`)){let r=e.getAttribute(`name`);n.name=r,n.urdfName=r,t[r]=n}}),a&&o.filter(e=>e.nodeName.toLowerCase()===`collision`).forEach(e=>{let t=g(e);if(r.add(t),e.hasAttribute(`name`)){let r=e.getAttribute(`name`);t.name=r,t.urdfName=r,n[r]=t}}),r}function h(e){let t=[...e.children],n=new Qw;return n.name=e.getAttribute(`name`)||``,t.forEach(e=>{let t=e.nodeName.toLowerCase();if(t===`color`){let t=e.getAttribute(`rgba`).split(/\s/g).map(e=>parseFloat(e));n.color.setRGB(t[0],t[1],t[2]),n.opacity=t[3],n.transparent=t[3]<1,n.depthWrite=!n.transparent}else if(t===`texture`){let t=e.getAttribute(`filename`);if(t){let e=new ET(o),r=u(t);n.map=e.load(r),n.map.colorSpace=yb}}}),n}function g(e,t={}){let n=e.nodeName.toLowerCase()===`collision`,i=[...e.children],a=null,s=i.filter(e=>e.nodeName.toLowerCase()===`material`)[0];if(s){let e=s.getAttribute(`name`);a=e&&e in t?t[e]:h(s)}else a=new Qw;let c=n?new Rk:new zk;return c.urdfNode=e,i.forEach(e=>{let t=e.nodeName.toLowerCase();if(t===`geometry`){let t=e.children[0].nodeName.toLowerCase();if(t===`mesh`){let t=u(e.children[0].getAttribute(`filename`));if(t!==null){let n=e.children[0].getAttribute(`scale`);if(n){let e=Kk(n);c.scale.set(e[0],e[1],e[2])}r(t,o,(e,t)=>{t?console.error(`URDFLoader: Error loading mesh.`,t):e&&(e instanceof 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n=g.state.shadowsArray;De.render(n,e,t),re===!0&&Ee.endShadows(),this.info.autoReset===!0&&this.info.reset();let r=h.opaque,i=h.transmissive;if(g.setupLights(),t.isArrayCamera){let n=t.cameras;if(i.length>0)for(let t=0,a=n.length;t0&&Ze(r,i,e,t),ue&&Oe.render(e),Xe(h,e,t);C!==null&&S===0&&(ge.updateMultisampleRenderTarget(C),ge.updateRenderTargetMipmap(C)),e.isScene===!0&&e.onAfterRender(y,e,t),Ne.resetDefaultState(),w=-1,T=null,v.pop(),v.length>0?(g=v[v.length-1],re===!0&&Ee.setGlobalState(y.clippingPlanes,g.state.camera)):g=null,_.pop(),h=_.length>0?_[_.length-1]:null};function Ye(e,t,n,r){if(e.visible===!1)return;if(e.layers.test(t.layers)){if(e.isGroup)n=e.renderOrder;else if(e.isLOD)e.autoUpdate===!0&&e.update(t);else if(e.isLight)g.pushLight(e),e.castShadow&&g.pushShadow(e);else if(e.isSprite){if(!e.frustumCulled||ne.intersectsSprite(e)){r&&ce.setFromMatrixPosition(e.matrixWorld).applyMatrix4(oe);let t=xe.update(e),i=e.material;i.visible&&h.push(e,t,i,n,ce.z,null)}}else 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c=z.get(e).__webglFramebuffer;if(e.isWebGLCubeRenderTarget&&o!==void 0&&(c=c[o]),c){R.bindFramebuffer(L.FRAMEBUFFER,c);try{let o=e.textures[s],c=o.format,l=o.type;if(!me.textureFormatReadable(c)){console.error(`THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not in RGBA or implementation defined format.`);return}if(!me.textureTypeReadable(l)){console.error(`THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not in UnsignedByteType or implementation defined type.`);return}t>=0&&t<=e.width-r&&n>=0&&n<=e.height-i&&(e.textures.length>1&&L.readBuffer(L.COLOR_ATTACHMENT0+s),L.readPixels(t,n,r,i,Me.convert(c),Me.convert(l),a))}finally{let e=C===null?null:z.get(C).__webglFramebuffer;R.bindFramebuffer(L.FRAMEBUFFER,e)}}},this.readRenderTargetPixelsAsync=async function(e,t,n,r,i,a,o,s=0){if(!(e&&e.isWebGLRenderTarget))throw Error(`THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not THREE.WebGLRenderTarget.`);let c=z.get(e).__webglFramebuffer;if(e.isWebGLCubeRenderTarget&&o!==void 0&&(c=c[o]),c)if(t>=0&&t<=e.width-r&&n>=0&&n<=e.height-i){R.bindFramebuffer(L.FRAMEBUFFER,c);let o=e.textures[s],l=o.format,u=o.type;if(!me.textureFormatReadable(l))throw Error(`THREE.WebGLRenderer.readRenderTargetPixelsAsync: renderTarget is not in RGBA or implementation defined format.`);if(!me.textureTypeReadable(u))throw Error(`THREE.WebGLRenderer.readRenderTargetPixelsAsync: renderTarget is not in UnsignedByteType or implementation defined type.`);let d=L.createBuffer();L.bindBuffer(L.PIXEL_PACK_BUFFER,d),L.bufferData(L.PIXEL_PACK_BUFFER,a.byteLength,L.STREAM_READ),e.textures.length>1&&L.readBuffer(L.COLOR_ATTACHMENT0+s),L.readPixels(t,n,r,i,Me.convert(l),Me.convert(u),0);let f=C===null?null:z.get(C).__webglFramebuffer;R.bindFramebuffer(L.FRAMEBUFFER,f);let p=L.fenceSync(L.SYNC_GPU_COMMANDS_COMPLETE,0);return L.flush(),await mx(L,p,4),L.bindBuffer(L.PIXEL_PACK_BUFFER,d),L.getBufferSubData(L.PIXEL_PACK_BUFFER,0,a),L.deleteBuffer(d),L.deleteSync(p),a}else throw Error(`THREE.WebGLRenderer.readRenderTargetPixelsAsync: requested read bounds are out of range.`)},this.copyFramebufferToTexture=function(e,t=null,n=0){let r=2**-n,i=Math.floor(e.image.width*r),a=Math.floor(e.image.height*r),o=t===null?0:t.x,s=t===null?0:t.y;ge.setTexture2D(e,0),L.copyTexSubImage2D(L.TEXTURE_2D,n,0,0,o,s,i,a),R.unbindTexture()};let st=L.createFramebuffer(),ct=L.createFramebuffer();this.copyTextureToTexture=function(e,t,n=null,r=null,i=0,a=null){a===null&&(i===0?a=0:(px(`WebGLRenderer: copyTextureToTexture function signature has changed to support src and dst mipmap levels.`),a=i,i=0));let o,s,c,l,u,d,f,p,m,h=e.isCompressedTexture?e.mipmaps[a]:e.image;if(n!==null)o=n.max.x-n.min.x,s=n.max.y-n.min.y,c=n.isBox3?n.max.z-n.min.z:1,l=n.min.x,u=n.min.y,d=n.isBox3?n.min.z:0;else{let t=2**-i;o=Math.floor(h.width*t),s=Math.floor(h.height*t),c=e.isDataArrayTexture?h.depth:e.isData3DTexture?Math.floor(h.depth*t):1,l=0,u=0,d=0}r===null?(f=0,p=0,m=0):(f=r.x,p=r.y,m=r.z);let g=Me.convert(t.format),_=Me.convert(t.type),v;t.isData3DTexture?(ge.setTexture3D(t,0),v=L.TEXTURE_3D):t.isDataArrayTexture||t.isCompressedArrayTexture?(ge.setTexture2DArray(t,0),v=L.TEXTURE_2D_ARRAY):(ge.setTexture2D(t,0),v=L.TEXTURE_2D),L.pixelStorei(L.UNPACK_FLIP_Y_WEBGL,t.flipY),L.pixelStorei(L.UNPACK_PREMULTIPLY_ALPHA_WEBGL,t.premultiplyAlpha),L.pixelStorei(L.UNPACK_ALIGNMENT,t.unpackAlignment);let y=L.getParameter(L.UNPACK_ROW_LENGTH),b=L.getParameter(L.UNPACK_IMAGE_HEIGHT),x=L.getParameter(L.UNPACK_SKIP_PIXELS),S=L.getParameter(L.UNPACK_SKIP_ROWS),C=L.getParameter(L.UNPACK_SKIP_IMAGES);L.pixelStorei(L.UNPACK_ROW_LENGTH,h.width),L.pixelStorei(L.UNPACK_IMAGE_HEIGHT,h.height),L.pixelStorei(L.UNPACK_SKIP_PIXELS,l),L.pixelStorei(L.UNPACK_SKIP_ROWS,u),L.pixelStorei(L.UNPACK_SKIP_IMAGES,d);let w=e.isDataArrayTexture||e.isData3DTexture,T=t.isDataArrayTexture||t.isData3DTexture;if(e.isDepthTexture){let n=z.get(e),r=z.get(t),h=z.get(n.__renderTarget),g=z.get(r.__renderTarget);R.bindFramebuffer(L.READ_FRAMEBUFFER,h.__webglFramebuffer),R.bindFramebuffer(L.DRAW_FRAMEBUFFER,g.__webglFramebuffer);for(let n=0;nMath.PI&&(n-=xk),r<-Math.PI?r+=xk:r>Math.PI&&(r-=xk),n<=r?this._spherical.theta=Math.max(n,Math.min(r,this._spherical.theta)):this._spherical.theta=this._spherical.theta>(n+r)/2?Math.max(n,this._spherical.theta):Math.min(r,this._spherical.theta)),this._spherical.phi=Math.max(this.minPolarAngle,Math.min(this.maxPolarAngle,this._spherical.phi)),this._spherical.makeSafe(),this.enableDamping===!0?this.target.addScaledVector(this._panOffset,this.dampingFactor):this.target.add(this._panOffset),this.target.sub(this.cursor),this.target.clampLength(this.minTargetRadius,this.maxTargetRadius),this.target.add(this.cursor);let i=!1;if(this.zoomToCursor&&this._performCursorZoom||this.object.isOrthographicCamera)this._spherical.radius=this._clampDistance(this._spherical.radius);else{let e=this._spherical.radius;this._spherical.radius=this._clampDistance(this._spherical.radius*this._scale),i=e!=this._spherical.radius}if(bk.setFromSpherical(this._spherical),bk.applyQuaternion(this._quatInverse),t.copy(this.target).add(bk),this.object.lookAt(this.target),this.enableDamping===!0?(this._sphericalDelta.theta*=1-this.dampingFactor,this._sphericalDelta.phi*=1-this.dampingFactor,this._panOffset.multiplyScalar(1-this.dampingFactor)):(this._sphericalDelta.set(0,0,0),this._panOffset.set(0,0,0)),this.zoomToCursor&&this._performCursorZoom){let e=null;if(this.object.isPerspectiveCamera){let t=bk.length();e=this._clampDistance(t*this._scale);let n=t-e;this.object.position.addScaledVector(this._dollyDirection,n),this.object.updateMatrixWorld(),i=!!n}else if(this.object.isOrthographicCamera){let t=new q(this._mouse.x,this._mouse.y,0);t.unproject(this.object);let n=this.object.zoom;this.object.zoom=Math.max(this.minZoom,Math.min(this.maxZoom,this.object.zoom/this._scale)),this.object.updateProjectionMatrix(),i=n!==this.object.zoom;let r=new q(this._mouse.x,this._mouse.y,0);r.unproject(this.object),this.object.position.sub(r).add(t),this.object.updateMatrixWorld(),e=bk.length()}else console.warn(`WARNING: OrbitControls.js encountered an unknown camera type - zoom to cursor disabled.`),this.zoomToCursor=!1;e!==null&&(this.screenSpacePanning?this.target.set(0,0,-1).transformDirection(this.object.matrix).multiplyScalar(e).add(this.object.position):(vk.origin.copy(this.object.position),vk.direction.set(0,0,-1).transformDirection(this.object.matrix),Math.abs(this.object.up.dot(vk.direction))Ck||8*(1-this._lastQuaternion.dot(this.object.quaternion))>Ck||this._lastTargetPosition.distanceToSquared(this.target)>Ck?(this.dispatchEvent(hk),this._lastPosition.copy(this.object.position),this._lastQuaternion.copy(this.object.quaternion),this._lastTargetPosition.copy(this.target),!0):!1}_getAutoRotationAngle(e){return e===null?xk/60/60*this.autoRotateSpeed:xk/60*this.autoRotateSpeed*e}_getZoomScale(e){let t=Math.abs(e*.01);return .95**(this.zoomSpeed*t)}_rotateLeft(e){this._sphericalDelta.theta-=e}_rotateUp(e){this._sphericalDelta.phi-=e}_panLeft(e,t){bk.setFromMatrixColumn(t,0),bk.multiplyScalar(-e),this._panOffset.add(bk)}_panUp(e,t){this.screenSpacePanning===!0?bk.setFromMatrixColumn(t,1):(bk.setFromMatrixColumn(t,0),bk.crossVectors(this.object.up,bk)),bk.multiplyScalar(e),this._panOffset.add(bk)}_pan(e,t){let n=this.domElement;if(this.object.isPerspectiveCamera){let r=this.object.position;bk.copy(r).sub(this.target);let i=bk.length();i*=Math.tan(this.object.fov/2*Math.PI/180),this._panLeft(2*e*i/n.clientHeight,this.object.matrix),this._panUp(2*t*i/n.clientHeight,this.object.matrix)}else this.object.isOrthographicCamera?(this._panLeft(e*(this.object.right-this.object.left)/this.object.zoom/n.clientWidth,this.object.matrix),this._panUp(t*(this.object.top-this.object.bottom)/this.object.zoom/n.clientHeight,this.object.matrix)):(console.warn(`WARNING: OrbitControls.js encountered an unknown camera type - pan disabled.`),this.enablePan=!1)}_dollyOut(e){this.object.isPerspectiveCamera||this.object.isOrthographicCamera?this._scale/=e:(console.warn(`WARNING: OrbitControls.js encountered an unknown camera type - dolly/zoom disabled.`),this.enableZoom=!1)}_dollyIn(e){this.object.isPerspectiveCamera||this.object.isOrthographicCamera?this._scale*=e:(console.warn(`WARNING: OrbitControls.js encountered an unknown camera type - dolly/zoom disabled.`),this.enableZoom=!1)}_updateZoomParameters(e,t){if(!this.zoomToCursor)return;this._performCursorZoom=!0;let n=this.domElement.getBoundingClientRect(),r=e-n.left,i=t-n.top,a=n.width,o=n.height;this._mouse.x=r/a*2-1,this._mouse.y=-(i/o)*2+1,this._dollyDirection.set(this._mouse.x,this._mouse.y,1).unproject(this.object).sub(this.object.position).normalize()}_clampDistance(e){return Math.max(this.minDistance,Math.min(this.maxDistance,e))}_handleMouseDownRotate(e){this._rotateStart.set(e.clientX,e.clientY)}_handleMouseDownDolly(e){this._updateZoomParameters(e.clientX,e.clientX),this._dollyStart.set(e.clientX,e.clientY)}_handleMouseDownPan(e){this._panStart.set(e.clientX,e.clientY)}_handleMouseMoveRotate(e){this._rotateEnd.set(e.clientX,e.clientY),this._rotateDelta.subVectors(this._rotateEnd,this._rotateStart).multiplyScalar(this.rotateSpeed);let t=this.domElement;this._rotateLeft(xk*this._rotateDelta.x/t.clientHeight),this._rotateUp(xk*this._rotateDelta.y/t.clientHeight),this._rotateStart.copy(this._rotateEnd),this.update()}_handleMouseMoveDolly(e){this._dollyEnd.set(e.clientX,e.clientY),this._dollyDelta.subVectors(this._dollyEnd,this._dollyStart),this._dollyDelta.y>0?this._dollyOut(this._getZoomScale(this._dollyDelta.y)):this._dollyDelta.y<0&&this._dollyIn(this._getZoomScale(this._dollyDelta.y)),this._dollyStart.copy(this._dollyEnd),this.update()}_handleMouseMovePan(e){this._panEnd.set(e.clientX,e.clientY),this._panDelta.subVectors(this._panEnd,this._panStart).multiplyScalar(this.panSpeed),this._pan(this._panDelta.x,this._panDelta.y),this._panStart.copy(this._panEnd),this.update()}_handleMouseWheel(e){this._updateZoomParameters(e.clientX,e.clientY),e.deltaY<0?this._dollyIn(this._getZoomScale(e.deltaY)):e.deltaY>0&&this._dollyOut(this._getZoomScale(e.deltaY)),this.update()}_handleKeyDown(e){let t=!1;switch(e.code){case this.keys.UP:e.ctrlKey||e.metaKey||e.shiftKey?this.enableRotate&&this._rotateUp(xk*this.keyRotateSpeed/this.domElement.clientHeight):this.enablePan&&this._pan(0,this.keyPanSpeed),t=!0;break;case this.keys.BOTTOM:e.ctrlKey||e.metaKey||e.shiftKey?this.enableRotate&&this._rotateUp(-xk*this.keyRotateSpeed/this.domElement.clientHeight):this.enablePan&&this._pan(0,-this.keyPanSpeed),t=!0;break;case this.keys.LEFT:e.ctrlKey||e.metaKey||e.shiftKey?this.enableRotate&&this._rotateLeft(xk*this.keyRotateSpeed/this.domElement.clientHeight):this.enablePan&&this._pan(this.keyPanSpeed,0),t=!0;break;case this.keys.RIGHT:e.ctrlKey||e.metaKey||e.shiftKey?this.enableRotate&&this._rotateLeft(-xk*this.keyRotateSpeed/this.domElement.clientHeight):this.enablePan&&this._pan(-this.keyPanSpeed,0),t=!0;break}t&&(e.preventDefault(),this.update())}_handleTouchStartRotate(e){if(this._pointers.length===1)this._rotateStart.set(e.pageX,e.pageY);else{let t=this._getSecondPointerPosition(e),n=.5*(e.pageX+t.x),r=.5*(e.pageY+t.y);this._rotateStart.set(n,r)}}_handleTouchStartPan(e){if(this._pointers.length===1)this._panStart.set(e.pageX,e.pageY);else{let t=this._getSecondPointerPosition(e),n=.5*(e.pageX+t.x),r=.5*(e.pageY+t.y);this._panStart.set(n,r)}}_handleTouchStartDolly(e){let t=this._getSecondPointerPosition(e),n=e.pageX-t.x,r=e.pageY-t.y,i=Math.sqrt(n*n+r*r);this._dollyStart.set(0,i)}_handleTouchStartDollyPan(e){this.enableZoom&&this._handleTouchStartDolly(e),this.enablePan&&this._handleTouchStartPan(e)}_handleTouchStartDollyRotate(e){this.enableZoom&&this._handleTouchStartDolly(e),this.enableRotate&&this._handleTouchStartRotate(e)}_handleTouchMoveRotate(e){if(this._pointers.length==1)this._rotateEnd.set(e.pageX,e.pageY);else{let t=this._getSecondPointerPosition(e),n=.5*(e.pageX+t.x),r=.5*(e.pageY+t.y);this._rotateEnd.set(n,r)}this._rotateDelta.subVectors(this._rotateEnd,this._rotateStart).multiplyScalar(this.rotateSpeed);let t=this.domElement;this._rotateLeft(xk*this._rotateDelta.x/t.clientHeight),this._rotateUp(xk*this._rotateDelta.y/t.clientHeight),this._rotateStart.copy(this._rotateEnd)}_handleTouchMovePan(e){if(this._pointers.length===1)this._panEnd.set(e.pageX,e.pageY);else{let t=this._getSecondPointerPosition(e),n=.5*(e.pageX+t.x),r=.5*(e.pageY+t.y);this._panEnd.set(n,r)}this._panDelta.subVectors(this._panEnd,this._panStart).multiplyScalar(this.panSpeed),this._pan(this._panDelta.x,this._panDelta.y),this._panStart.copy(this._panEnd)}_handleTouchMoveDolly(e){let t=this._getSecondPointerPosition(e),n=e.pageX-t.x,r=e.pageY-t.y,i=Math.sqrt(n*n+r*r);this._dollyEnd.set(0,i),this._dollyDelta.set(0,(this._dollyEnd.y/this._dollyStart.y)**+this.zoomSpeed),this._dollyOut(this._dollyDelta.y),this._dollyStart.copy(this._dollyEnd);let 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Access image directly (see #12530).`),i=oe(e.id);if(i!==null){let t=xe(i);if(t!==void 0){let r=t.load(i),a=e.extra;if(a!==void 0&&a.technique!==void 0&&c(a.technique)===!1){let e=a.technique;r.wrapS=e.wrapU?iy:ay,r.wrapT=e.wrapV?iy:ay,r.offset.set(e.offsetU||0,e.offsetV||0),r.repeat.set(e.repeatU||1,e.repeatV||1)}else r.wrapS=iy,r.wrapT=iy;return n!==null&&(r.colorSpace=n),r}else return console.warn(`THREE.ColladaLoader: Loader for texture %s not found.`,i),null}else return console.warn(`THREE.ColladaLoader: Couldn't create texture with ID:`,e.id),null}let a=n.parameters;for(let e in a){let t=a[e];switch(e){case`diffuse`:t.color&&r.color.fromArray(t.color),t.texture&&(r.map=i(t.texture,Sb));break;case`specular`:t.color&&r.specular&&r.specular.fromArray(t.color),t.texture&&(r.specularMap=i(t.texture));break;case`bump`:t.texture&&(r.normalMap=i(t.texture));break;case`ambient`:t.texture&&(r.lightMap=i(t.texture,Sb));break;case`shininess`:t.float&&r.shininess&&(r.shininess=t.float);break;case`emission`:t.color&&r.emissive&&r.emissive.fromArray(t.color),t.texture&&(r.emissiveMap=i(t.texture,Sb));break}}bx.colorSpaceToWorking(r.color,Sb),r.specular&&bx.colorSpaceToWorking(r.specular,Sb),r.emissive&&bx.colorSpaceToWorking(r.emissive,Sb);let o=a.transparent,s=a.transparency;if(s===void 0&&o&&(s={float:1}),o===void 0&&s&&(o={opaque:`A_ONE`,data:{color:[1,1,1,1]}}),o&&s)if(o.data.texture)r.transparent=!0;else{let e=o.data.color;switch(o.opaque){case`A_ONE`:r.opacity=e[3]*s.float;break;case`RGB_ZERO`:r.opacity=1-e[0]*s.float;break;case`A_ZERO`:r.opacity=1-e[3]*s.float;break;case`RGB_ONE`:r.opacity=e[0]*s.float;break;default:console.warn(`THREE.ColladaLoader: Invalid opaque type "%s" of transparent tag.`,o.opaque)}r.opacity<1&&(r.transparent=!0)}if(n.extra!==void 0&&n.extra.technique!==void 0){let e=n.extra.technique;for(let t in e){let n=e[t];switch(t){case`double_sided`:r.side=n===1?2:0;break;case`bump`:r.normalMap=i(n.texture),r.normalScale=new rx(1,1);break}}}return r}function Ce(e){return m(B.materials[e],Se)}function we(e){let t={name:e.getAttribute(`name`)};for(let n=0,r=e.childNodes.length;n0?n+s:n;t.inputs[c]={id:e,offset:i},t.stride=Math.max(t.stride,i+1),n===`TEXCOORD`&&(t.hasUV=!0);break;case`vcount`:t.vcount=a(r.textContent);break;case`p`:t.p=a(r.textContent);break}}return t}function ze(e){let t={};for(let n=0;n0&&t0&&d.setAttribute(`position`,new uC(i.array,i.stride)),a.array.length>0&&d.setAttribute(`normal`,new uC(a.array,a.stride)),c.array.length>0&&d.setAttribute(`color`,new uC(c.array,c.stride)),o.array.length>0&&d.setAttribute(`uv`,new uC(o.array,o.stride)),s.array.length>0&&d.setAttribute(`uv1`,new uC(s.array,s.stride)),l.array.length>0&&d.setAttribute(`skinIndex`,new uC(l.array,l.stride)),u.array.length>0&&d.setAttribute(`skinWeight`,new uC(u.array,u.stride)),r.data=d,r.type=e[0].type,r.materialKeys=f,r}function Ue(e,t,n,r,i=!1){let a=e.p,o=e.stride,s=e.vcount;function c(e){let t=a[e+n]*u,o=t+u;for(;t4)for(let t=1,r=n-2;t<=r;t++){let n=e+o*0,r=e+o*t,i=e+o*(t+1);c(n),c(r),c(i)}e+=o*n}}else for(let e=0,t=a.length;e=t.limits.max&&(t.static=!0),t.middlePosition=(t.limits.min+t.limits.max)/2,t}function Ze(e){let t={sid:e.getAttribute(`sid`),name:e.getAttribute(`name`)||``,attachments:[],transforms:[]};for(let n=0;nr.limits.max||te===null?null:parseFloat(e)),(!this.origPosition||!this.origQuaternion)&&(this.origPosition=this.position.clone(),this.origQuaternion=this.quaternion.clone());let t=!1;switch(this.mimicJoints.forEach(n=>{t=n.updateFromMimickedJoint(...e)||t}),this.jointType){case`fixed`:return t;case`continuous`:case`revolute`:{let n=e[0];return n==null||n===this.jointValue[0]?t:(!this.ignoreLimits&&this.jointType===`revolute`&&(n=Math.min(this.limit.upper,n),n=Math.max(this.limit.lower,n)),this.quaternion.setFromAxisAngle(this.axis,n).premultiply(this.origQuaternion),this.jointValue[0]===n?t:(this.jointValue[0]=n,this.matrixWorldNeedsUpdate=!0,!0))}case`prismatic`:{let n=e[0];return n==null||n===this.jointValue[0]?t:(this.ignoreLimits||(n=Math.min(this.limit.upper,n),n=Math.max(this.limit.lower,n)),this.position.copy(this.origPosition),Pk.copy(this.axis).applyEuler(this.rotation),this.position.addScaledVector(Pk,n),this.jointValue[0]===n?t:(this.jointValue[0]=n,this.matrixWorldNeedsUpdate=!0,!0))}case`floating`:return this.jointValue.every((t,n)=>e[n]===t||e[n]===null)?t:(this.jointValue[0]=e[0]===null?this.jointValue[0]:e[0],this.jointValue[1]=e[1]===null?this.jointValue[1]:e[1],this.jointValue[2]=e[2]===null?this.jointValue[2]:e[2],this.jointValue[3]=e[3]===null?this.jointValue[3]:e[3],this.jointValue[4]=e[4]===null?this.jointValue[4]:e[4],this.jointValue[5]=e[5]===null?this.jointValue[5]:e[5],Lk.compose(this.origPosition,this.origQuaternion,zk),Rk.setFromEuler(Fk.set(this.jointValue[3],this.jointValue[4],this.jointValue[5],`XYZ`)),Bk.set(this.jointValue[0],this.jointValue[1],this.jointValue[2]),Ik.compose(Bk,Rk,zk),Lk.premultiply(Ik),this.position.setFromMatrixPosition(Lk),this.rotation.setFromRotationMatrix(Lk),this.matrixWorldNeedsUpdate=!0,!0);case`planar`:return this.jointValue.every((t,n)=>e[n]===t||e[n]===null)?t:(this.jointValue[0]=e[0]===null?this.jointValue[0]:e[0],this.jointValue[1]=e[1]===null?this.jointValue[1]:e[1],this.jointValue[2]=e[2]===null?this.jointValue[2]:e[2],Lk.compose(this.origPosition,this.origQuaternion,zk),Rk.setFromAxisAngle(this.axis,this.jointValue[2]),Bk.set(this.jointValue[0],this.jointValue[1],0),Ik.compose(Bk,Rk,zk),Lk.premultiply(Ik),this.position.setFromMatrixPosition(Lk),this.rotation.setFromRotationMatrix(Lk),this.matrixWorldNeedsUpdate=!0,!0)}return t}},Kk=class extends Gk{constructor(...e){super(...e),this.type=`URDFMimicJoint`,this.mimicJoint=null,this.offset=0,this.multiplier=1}updateFromMimickedJoint(...e){let t=e.map(e=>e===null?null:e*this.multiplier+this.offset);return super.setJointValue(...t)}copy(e,t){return super.copy(e,t),this.mimicJoint=e.mimicJoint,this.offset=e.offset,this.multiplier=e.multiplier,this}},qk=class extends Wk{constructor(...e){super(...e),this.isURDFRobot=!0,this.urdfNode=null,this.urdfRobotNode=null,this.robotName=null,this.links=null,this.joints=null,this.colliders=null,this.visual=null,this.frames=null}copy(e,t){super.copy(e,t),this.urdfRobotNode=e.urdfRobotNode,this.robotName=e.robotName,this.links={},this.joints={},this.colliders={},this.visual={},this.traverse(t=>{t.isURDFJoint&&t.urdfName in e.joints&&(this.joints[t.urdfName]=t),t.isURDFLink&&t.urdfName in e.links&&(this.links[t.urdfName]=t),t.isURDFCollider&&t.urdfName in e.colliders&&(this.colliders[t.urdfName]=t),t.isURDFVisual&&t.urdfName in e.visual&&(this.visual[t.urdfName]=t)});for(let e in this.joints)this.joints[e].mimicJoints=this.joints[e].mimicJoints.map(e=>this.joints[e.name]);return this.frames={...this.colliders,...this.visual,...this.links,...this.joints},this}getFrame(e){return this.frames[e]}setJointValue(e,...t){let n=this.joints[e];return n?n.setJointValue(...t):!1}setJointValues(e){let t=!1;for(let n in e){let r=e[n];t=Array.isArray(r)?this.setJointValue(n,...r)||t:this.setJointValue(n,r)||t}return t}},Jk=new ix,Yk=new vS;function Xk(e){return e?e.trim().split(/\s+/g).map(e=>parseFloat(e)):[0,0,0]}function Zk(e,t,n=!1){n||e.rotation.set(0,0,0),Yk.set(t[0],t[1],t[2],`ZYX`),Jk.setFromEuler(Yk),Jk.multiply(e.quaternion),e.quaternion.copy(Jk)}var Qk=class{constructor(e){this.manager=e||ST,this.loadMeshCb=this.defaultMeshLoader.bind(this),this.parseVisual=!0,this.parseCollision=!1,this.packages=``,this.workingPath=``,this.fetchOptions={}}loadAsync(e){return new Promise((t,n)=>{this.load(e,t,null,n)})}load(e,t,n,r){let i=this.manager,a=qT.extractUrlBase(e),o=this.manager.resolveURL(e);i.itemStart(o),fetch(o,this.fetchOptions).then(e=>{if(e.ok)return n&&n(null),e.text();throw Error(`URDFLoader: Failed to load url '${o}' with error code ${e.status} : ${e.statusText}.`)}).then(e=>{t(this.parse(e,this.workingPath||a)),i.itemEnd(o)}).catch(e=>{r?r(e):console.error(`URDFLoader: Error loading file.`,e),i.itemError(o),i.itemEnd(o)})}parse(e,t=this.workingPath){let n=this.packages,r=this.loadMeshCb,i=this.parseVisual,a=this.parseCollision,o=this.manager,s={},c={},l={};function u(e){if(!/^package:\/\//.test(e))return t?t+e:e;let[r,i]=e.replace(/^package:\/\//,``).split(/\/(.+)/);if(typeof n==`string`)return n.endsWith(r)?n+`/`+i:n+`/`+r+`/`+i;if(typeof n==`function`)return n(r)+`/`+i;if(typeof n==`object`)return r in n?n[r]+`/`+i:(console.error(`URDFLoader : ${r} not found in provided package list.`),null)}function d(e){let t;return t=e instanceof Document?[...e.children]:e instanceof Element?[e]:[...new DOMParser().parseFromString(e,`text/xml`).children],f(t.filter(e=>e.nodeName===`robot`).pop())}function f(e){let t=[...e.children],n=t.filter(e=>e.nodeName.toLowerCase()===`link`),r=t.filter(e=>e.nodeName.toLowerCase()===`joint`),i=t.filter(e=>e.nodeName.toLowerCase()===`material`),a=new qk;a.robotName=e.getAttribute(`name`),a.urdfRobotNode=e,i.forEach(e=>{let t=e.getAttribute(`name`);l[t]=h(e)});let o={},u={};n.forEach(t=>{let n=t.getAttribute(`name`);s[n]=m(t,o,u,e.querySelector(`child[link="${n}"]`)===null?a:null)}),r.forEach(e=>{let t=e.getAttribute(`name`);c[t]=p(e)}),a.joints=c,a.links=s,a.colliders=u,a.visual=o;let d=Object.values(c);return d.forEach(e=>{e instanceof Kk&&c[e.mimicJoint].mimicJoints.push(e)}),d.forEach(e=>{let t=new Set,n=e=>{if(t.has(e))throw Error(`URDFLoader: Detected an infinite loop of mimic joints.`);t.add(e),e.mimicJoints.forEach(e=>{n(e)})};n(e)}),a.frames={...u,...o,...s,...c},a}function p(e){let t=[...e.children],n=e.getAttribute(`type`),r,i=t.find(e=>e.nodeName.toLowerCase()===`mimic`);i?(r=new Kk,r.mimicJoint=i.getAttribute(`joint`),r.multiplier=parseFloat(i.getAttribute(`multiplier`)||1),r.offset=parseFloat(i.getAttribute(`offset`)||0)):r=new Gk,r.urdfNode=e,r.name=e.getAttribute(`name`),r.urdfName=r.name,r.jointType=n;let a=null,o=null,c=[0,0,0],l=[0,0,0];t.forEach(e=>{let t=e.nodeName.toLowerCase();t===`origin`?(c=Xk(e.getAttribute(`xyz`)),l=Xk(e.getAttribute(`rpy`))):t===`child`?o=s[e.getAttribute(`link`)]:t===`parent`?a=s[e.getAttribute(`link`)]:t===`limit`&&(r.limit.lower=parseFloat(e.getAttribute(`lower`)||r.limit.lower),r.limit.upper=parseFloat(e.getAttribute(`upper`)||r.limit.upper),r.limit.effort=parseFloat(e.getAttribute(`effort`)||r.limit.effort),r.limit.velocity=parseFloat(e.getAttribute(`velocity`)||r.limit.velocity))}),a.add(r),r.add(o),Zk(r,l),r.position.set(c[0],c[1],c[2]);let u=t.filter(e=>e.nodeName.toLowerCase()===`axis`)[0];if(u){let e=u.getAttribute(`xyz`).split(/\s+/g).map(e=>parseFloat(e));r.axis=new q(e[0],e[1],e[2]),r.axis.normalize()}return r}function m(e,t,n,r=null){r===null&&(r=new Wk);let o=[...e.children];r.name=e.getAttribute(`name`),r.urdfName=r.name,r.urdfNode=e;let s=o.find(e=>e.nodeName.toLowerCase()===`inertial`);return s&&[...s.children].forEach(e=>{let t=e.nodeName.toLowerCase();t===`origin`?(r.inertial.origin.xyz=Xk(e.getAttribute(`xyz`)),r.inertial.origin.rpy=Xk(e.getAttribute(`rpy`))):t===`mass`?r.inertial.mass=parseFloat(e.getAttribute(`value`))||0:t===`inertia`&&(r.inertial.inertia.ixx=parseFloat(e.getAttribute(`ixx`))||0,r.inertial.inertia.ixy=parseFloat(e.getAttribute(`ixy`))||0,r.inertial.inertia.ixz=parseFloat(e.getAttribute(`ixz`))||0,r.inertial.inertia.iyy=parseFloat(e.getAttribute(`iyy`))||0,r.inertial.inertia.iyz=parseFloat(e.getAttribute(`iyz`))||0,r.inertial.inertia.izz=parseFloat(e.getAttribute(`izz`))||0)}),i&&o.filter(e=>e.nodeName.toLowerCase()===`visual`).forEach(e=>{let n=g(e,l);if(r.add(n),e.hasAttribute(`name`)){let r=e.getAttribute(`name`);n.name=r,n.urdfName=r,t[r]=n}}),a&&o.filter(e=>e.nodeName.toLowerCase()===`collision`).forEach(e=>{let t=g(e);if(r.add(t),e.hasAttribute(`name`)){let r=e.getAttribute(`name`);t.name=r,t.urdfName=r,n[r]=t}}),r}function h(e){let t=[...e.children],n=new tT;return n.name=e.getAttribute(`name`)||``,t.forEach(e=>{let t=e.nodeName.toLowerCase();if(t===`color`){let t=e.getAttribute(`rgba`).split(/\s/g).map(e=>parseFloat(e));n.color.setRGB(t[0],t[1],t[2]),n.opacity=t[3],n.transparent=t[3]<1,n.depthWrite=!n.transparent}else if(t===`texture`){let t=e.getAttribute(`filename`);if(t){let e=new kT(o),r=u(t);n.map=e.load(r),n.map.colorSpace=Sb}}}),n}function g(e,t={}){let n=e.nodeName.toLowerCase()===`collision`,i=[...e.children],a=null,s=i.filter(e=>e.nodeName.toLowerCase()===`material`)[0];if(s){let e=s.getAttribute(`name`);a=e&&e in t?t[e]:h(s)}else a=new tT;let c=n?new Hk:new Uk;return c.urdfNode=e,i.forEach(e=>{let t=e.nodeName.toLowerCase();if(t===`geometry`){let t=e.children[0].nodeName.toLowerCase();if(t===`mesh`){let t=u(e.children[0].getAttribute(`filename`));if(t!==null){let n=e.children[0].getAttribute(`scale`);if(n){let e=Xk(n);c.scale.set(e[0],e[1],e[2])}r(t,o,(e,t)=>{t?console.error(`URDFLoader: Error loading mesh.`,t):e&&(e instanceof AC&&(e.material=a),e.position.set(0,0,0),e.quaternion.identity(),c.add(e))})}}else if(t===`box`){let t=new AC;t.geometry=new NC(1,1,1),t.material=a;let n=Xk(e.children[0].getAttribute(`size`));t.scale.set(n[0],n[1],n[2]),c.add(t)}else if(t===`sphere`){let t=new AC;t.geometry=new nte(1,30,30),t.material=a;let n=parseFloat(e.children[0].getAttribute(`radius`))||0;t.scale.set(n,n,n),c.add(t)}else if(t===`cylinder`){let t=new AC;t.geometry=new tte(1,1,1,30),t.material=a;let n=parseFloat(e.children[0].getAttribute(`radius`))||0,r=parseFloat(e.children[0].getAttribute(`length`))||0;t.scale.set(n,r,n),t.rotation.set(Math.PI/2,0,0),c.add(t)}}else if(t===`origin`){let t=Xk(e.getAttribute(`xyz`)),n=Xk(e.getAttribute(`rpy`));c.position.set(t[0],t[1],t[2]),c.rotation.set(0,0,0),Zk(c,n)}}),c}return d(e)}defaultMeshLoader(e,t,n){/\.stl$/i.test(e)?new jk(t).load(e,e=>{n(new AC(e,new tT))},null,e=>n(null,e)):/\.dae$/i.test(e)?new Nk(t).load(e,e=>n(e.scene),null,e=>n(null,e)):console.warn(`URDFLoader: Could not load model at ${e}.\nNo loader available`)}},$k=new rx,eA=()=>{},tA=class extends HTMLElement{static get observedAttributes(){return[`package`,`urdf`,`up`,`display-shadow`,`ambient-color`,`ignore-limits`,`show-collision`]}get package(){return this.getAttribute(`package`)||``}set package(e){this.setAttribute(`package`,e)}get urdf(){return this.getAttribute(`urdf`)||``}set urdf(e){this.setAttribute(`urdf`,e)}get ignoreLimits(){return this.hasAttribute(`ignore-limits`)||!1}set ignoreLimits(e){e?this.setAttribute(`ignore-limits`,e):this.removeAttribute(`ignore-limits`)}get up(){return this.getAttribute(`up`)||`+Z`}set up(e){this.setAttribute(`up`,e)}get displayShadow(){return this.hasAttribute(`display-shadow`)||!1}set displayShadow(e){e?this.setAttribute(`display-shadow`,``):this.removeAttribute(`display-shadow`)}get ambientColor(){return this.getAttribute(`ambient-color`)||`#8ea0a8`}set ambientColor(e){e?this.setAttribute(`ambient-color`,e):this.removeAttribute(`ambient-color`)}get autoRedraw(){return this.hasAttribute(`auto-redraw`)||!1}set autoRedraw(e){e?this.setAttribute(`auto-redraw`,!0):this.removeAttribute(`auto-redraw`)}get noAutoRecenter(){return this.hasAttribute(`no-auto-recenter`)||!1}set noAutoRecenter(e){e?this.setAttribute(`no-auto-recenter`,!0):this.removeAttribute(`no-auto-recenter`)}get showCollision(){return this.hasAttribute(`show-collision`)||!1}set showCollision(e){e?this.setAttribute(`show-collision`,!0):this.removeAttribute(`show-collision`)}get jointValues(){let e={};if(this.robot)for(let t in this.robot.joints){let n=this.robot.joints[t];e[t]=n.jointValue.length===1?n.angle:[...n.jointValue]}return e}set jointValues(e){this.setJointValues(e)}get angles(){return this.jointValues}set angles(e){this.jointValues=e}constructor(){super(),this._requestId=0,this._dirty=!1,this._loadScheduled=!1,this.robot=null,this.loadMeshFunc=null,this.urlModifierFunc=null;let e=new tw,t=new jT(this.ambientColor,`#000`);t.groundColor.lerp(t.color,.5*Math.PI),t.intensity=.5,t.position.set(0,1,0),e.add(t);let n=new GT(16777215,Math.PI);n.position.set(4,10,1),n.shadow.mapSize.width=2048,n.shadow.mapSize.height=2048,n.shadow.normalBias=.001,n.castShadow=!0,e.add(n),e.add(n.target);let r=new pte({antialias:!0,alpha:!0});r.setClearColor(16777215),r.setClearAlpha(0),r.shadowMap.enabled=!0,r.shadowMap.type=2,r.outputColorSpace=Sb;let i=new KC(75,1,.1,1e3);i.position.z=-10;let a=new FS;e.add(a);let o=new AC(new Qw(40,40),new rte({side:2,transparent:!0,opacity:.25}));o.rotation.x=-Math.PI/2,o.position.y=-.5,o.receiveShadow=!0,o.scale.set(10,10,10),e.add(o);let s=new hte(i,r.domElement);s.rotateSpeed=2,s.zoomSpeed=5,s.panSpeed=2,s.enableZoom=!0,s.enableDamping=!1,s.maxDistance=50,s.minDistance=.25,s.addEventListener(`change`,()=>this.recenter()),this.scene=e,this.world=a,this.renderer=r,this.camera=i,this.controls=s,this.plane=o,this.directionalLight=n,this.ambientLight=t,this._setUp(this.up),this._collisionMaterial=new tT({transparent:!0,opacity:.35,shininess:2.5,premultipliedAlpha:!0,color:16760376,polygonOffset:!0,polygonOffsetFactor:-1,polygonOffsetUnits:-1});let c=()=>{this.parentNode&&(this.updateSize(),(this._dirty||this.autoRedraw)&&(this.noAutoRecenter||this._updateEnvironment(),this.renderer.render(e,i),this._dirty=!1),this.controls.update()),this._renderLoopId=requestAnimationFrame(c)};c()}connectedCallback(){if(!this.constructor._styletag){let e=document.createElement(`style`);e.innerHTML=` ${this.tagName} { display: block; } ${this.tagName} canvas { width: 100%; height: 100%; } - `,document.head.appendChild(e),this.constructor._styletag=e}this.childElementCount===0&&this.appendChild(this.renderer.domElement),this.updateSize(),requestAnimationFrame(()=>this.updateSize())}disconnectedCallback(){cancelAnimationFrame(this._renderLoopId)}attributeChangedCallback(e,t,n){switch(this._updateCollisionVisibility(),this.noAutoRecenter||this.recenter(),e){case`package`:case`urdf`:this._scheduleLoad();break;case`up`:this._setUp(this.up);break;case`ambient-color`:this.ambientLight.color.set(this.ambientColor),this.ambientLight.groundColor.set(`#000`).lerp(this.ambientLight.color,.5);break;case`ignore-limits`:this._setIgnoreLimits(this.ignoreLimits,!0);break}}updateSize(){let e=this.renderer,t=this.clientWidth,n=this.clientHeight,r=e.getSize(Yk);(r.width!==t||r.height!==n)&&this.recenter(),e.setPixelRatio(window.devicePixelRatio),e.setSize(t,n,!1),this.camera.aspect=t/n,this.camera.updateProjectionMatrix()}redraw(){this._dirty=!0}recenter(){this._updateEnvironment(),this.redraw()}setJointValue(e,...t){this.robot&&this.robot.joints[e]&&this.robot.joints[e].setJointValue(...t)&&(this.redraw(),this.dispatchEvent(new CustomEvent(`angle-change`,{bubbles:!0,cancelable:!0,detail:e})))}setJointValues(e){for(let t in e)Array.isArray(e[t])?this.setJointValue(t,...e[t]):this.setJointValue(t,e[t])}_updateEnvironment(){let e=this.robot;if(!e)return;this.world.updateMatrixWorld();let t=new Nx;t.makeEmpty(),e.traverse(e=>{e.isURDFVisual&&t.expandByObject(e)});let n=t.getCenter(new q);this.controls.target.y=n.y,this.plane.position.y=t.min.y-.001;let r=this.directionalLight;if(r.castShadow=this.displayShadow,this.displayShadow){let e=t.getBoundingSphere(new 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n=(i.samplers||{})[a.sampler]||{};return t.magFilter=XA[n.magFilter]||1006,t.minFilter=XA[n.minFilter]||1008,t.wrapS=ZA[n.wrapS]||1e3,t.wrapT=ZA[n.wrapT]||1e3,t.generateMipmaps=!t.isCompressedTexture&&t.minFilter!==1003&&t.minFilter!==1006,r.associations.set(t,{textures:e}),t}).catch(function(){return null});return this.textureCache[s]=c,c}loadImageSource(e,t){let n=this,r=this.json,i=this.options;if(this.sourceCache[e]!==void 0)return this.sourceCache[e].then(e=>e.clone());let a=r.images[e],o=self.URL||self.webkitURL,s=a.uri||``,c=!1;if(a.bufferView!==void 0)s=n.getDependency(`bufferView`,a.bufferView).then(function(e){c=!0;let t=new Blob([e],{type:a.mimeType});return s=o.createObjectURL(t),s});else if(a.uri===void 0)throw Error(`THREE.GLTFLoader: Image `+e+` is missing URI and bufferView`);let l=Promise.resolve(s).then(function(e){return new Promise(function(n,r){let a=n;t.isImageBitmapLoader===!0&&(a=function(e){let t=new 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Y(1,1,1),o.opacity=1,Array.isArray(n.baseColorFactor)){let e=n.baseColorFactor;o.color.setRGB(e[0],e[1],e[2],bb),o.opacity=e[3]}n.baseColorTexture!==void 0&&c.push(t.assignTexture(o,`map`,n.baseColorTexture,yb)),o.metalness=n.metallicFactor===void 0?1:n.metallicFactor,o.roughness=n.roughnessFactor===void 0?1:n.roughnessFactor,n.metallicRoughnessTexture!==void 0&&(c.push(t.assignTexture(o,`metalnessMap`,n.metallicRoughnessTexture)),c.push(t.assignTexture(o,`roughnessMap`,n.metallicRoughnessTexture))),a=this._invokeOne(function(t){return t.getMaterialType&&t.getMaterialType(e)}),c.push(Promise.all(this._invokeAll(function(t){return t.extendMaterialParams&&t.extendMaterialParams(e,o)})))}i.doubleSided===!0&&(o.side=2);let l=i.alphaMode||nj.OPAQUE;if(l===nj.BLEND?(o.transparent=!0,o.depthWrite=!1):(o.transparent=!1,l===nj.MASK&&(o.alphaTest=i.alphaCutoff===void 0?.5:i.alphaCutoff)),i.normalTexture!==void 0&&a!==eC&&(c.push(t.assignTexture(o,`normalMap`,i.normalTexture)),o.normalScale=new 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n=0,o=e.length;n0&&sj(d,i),d.name=t.createUniqueName(i.name||`mesh_`+e),aj(d,i),u.extensions&&ij(r,d,u),t.assignFinalMaterial(d),c.push(d)}for(let n=0,r=c.length;n1?new YC:t.length===1?t[0]:new MS,o!==t[0])for(let e=0,n=t.length;e1){let e=r.associations.get(o);r.associations.set(o,{...e})}return r.associations.get(o).nodes=e,o}),this.nodeCache[e]}loadScene(e){let t=this.extensions,n=this.json.scenes[e],r=this,i=new YC;n.name&&(i.name=r.createUniqueName(n.name)),aj(i,n),n.extensions&&ij(t,i,n);let a=n.nodes||[],o=[];for(let e=0,t=a.length;e{let t=new Map;for(let[e,n]of r.associations)(e instanceof $S||e instanceof Dx)&&t.set(e,n);return e.traverse(e=>{let n=r.associations.get(e);n!=null&&t.set(e,n)}),t})(i),i})}_createAnimationTracks(e,t,n,r,i){let a=[],o=e.name?e.name:e.uuid,s=[];ej[i.path]===ej.weights?e.traverse(function(e){e.morphTargetInfluences&&s.push(e.name?e.name:e.uuid)}):s.push(o);let c;switch(ej[i.path]){case ej.weights:c=lT;break;case ej.rotation:c=dT;break;case ej.translation:case ej.scale:c=pT;break;default:switch(n.itemSize){case 1:c=lT;break;default:c=pT;break}break}let l=r.interpolation===void 0?db:tj[r.interpolation],u=this._getArrayFromAccessor(n);for(let e=0,n=s.length;e0?t[t.length-1]:``,smooth:n===void 0?this.smooth:n.smooth,groupStart:n===void 0?0:n.groupEnd,groupEnd:-1,groupCount:-1,inherited:!1,clone:function(e){let t={index:typeof e==`number`?e:this.index,name:this.name,mtllib:this.mtllib,smooth:this.smooth,groupStart:0,groupEnd:-1,groupCount:-1,inherited:!1};return t.clone=this.clone.bind(t),t}};return this.materials.push(r),r},currentMaterial:function(){if(this.materials.length>0)return this.materials[this.materials.length-1]},_finalize:function(e){let t=this.currentMaterial();if(t&&t.groupEnd===-1&&(t.groupEnd=this.geometry.vertices.length/3,t.groupCount=t.groupEnd-t.groupStart,t.inherited=!1),e&&this.materials.length>1)for(let e=this.materials.length-1;e>=0;e--)this.materials[e].groupCount<=0&&this.materials.splice(e,1);return e&&this.materials.length===0&&this.materials.push({name:``,smooth:this.smooth}),t}},n&&n.name&&typeof n.clone==`function`){let e=n.clone(0);e.inherited=!0,this.object.materials.push(e)}this.objects.push(this.object)},finalize:function(){this.object&&typeof this.object._finalize==`function`&&this.object._finalize(!0)},parseVertexIndex:function(e,t){let n=parseInt(e,10);return(n>=0?n-1:n+t/3)*3},parseNormalIndex:function(e,t){let n=parseInt(e,10);return(n>=0?n-1:n+t/3)*3},parseUVIndex:function(e,t){let n=parseInt(e,10);return(n>=0?n-1:n+t/2)*2},addVertex:function(e,t,n){let r=this.vertices,i=this.object.geometry.vertices;i.push(r[e+0],r[e+1],r[e+2]),i.push(r[t+0],r[t+1],r[t+2]),i.push(r[n+0],r[n+1],r[n+2])},addVertexPoint:function(e){let t=this.vertices;this.object.geometry.vertices.push(t[e+0],t[e+1],t[e+2])},addVertexLine:function(e){let t=this.vertices;this.object.geometry.vertices.push(t[e+0],t[e+1],t[e+2])},addNormal:function(e,t,n){let r=this.normals,i=this.object.geometry.normals;i.push(r[e+0],r[e+1],r[e+2]),i.push(r[t+0],r[t+1],r[t+2]),i.push(r[n+0],r[n+1],r[n+2])},addFaceNormal:function(e,t,n){let r=this.vertices,i=this.object.geometry.normals;xj.fromArray(r,e),Sj.fromArray(r,t),Cj.fromArray(r,n),Tj.subVectors(Cj,Sj),wj.subVectors(xj,Sj),Tj.cross(wj),Tj.normalize(),i.push(Tj.x,Tj.y,Tj.z),i.push(Tj.x,Tj.y,Tj.z),i.push(Tj.x,Tj.y,Tj.z)},addColor:function(e,t,n){let r=this.colors,i=this.object.geometry.colors;r[e]!==void 0&&i.push(r[e+0],r[e+1],r[e+2]),r[t]!==void 0&&i.push(r[t+0],r[t+1],r[t+2]),r[n]!==void 0&&i.push(r[n+0],r[n+1],r[n+2])},addUV:function(e,t,n){let r=this.uvs,i=this.object.geometry.uvs;i.push(r[e+0],r[e+1]),i.push(r[t+0],r[t+1]),i.push(r[n+0],r[n+1])},addDefaultUV:function(){let e=this.object.geometry.uvs;e.push(0,0),e.push(0,0),e.push(0,0)},addUVLine:function(e){let t=this.uvs;this.object.geometry.uvs.push(t[e+0],t[e+1])},addFace:function(e,t,n,r,i,a,o,s,c){let l=this.vertices.length,u=this.parseVertexIndex(e,l),d=this.parseVertexIndex(t,l),f=this.parseVertexIndex(n,l);if(this.addVertex(u,d,f),this.addColor(u,d,f),o!==void 0&&o!==``){let e=this.normals.length;u=this.parseNormalIndex(o,e),d=this.parseNormalIndex(s,e),f=this.parseNormalIndex(c,e),this.addNormal(u,d,f)}else this.addFaceNormal(u,d,f);if(r!==void 0&&r!==``){let e=this.uvs.length;u=this.parseUVIndex(r,e),d=this.parseUVIndex(i,e),f=this.parseUVIndex(a,e),this.addUV(u,d,f),this.object.geometry.hasUVIndices=!0}else this.addDefaultUV()},addPointGeometry:function(e){this.object.geometry.type=`Points`;let t=this.vertices.length;for(let n=0,r=e.length;nthis.updateSize())}disconnectedCallback(){cancelAnimationFrame(this._renderLoopId)}attributeChangedCallback(e,t,n){switch(this._updateCollisionVisibility(),this.noAutoRecenter||this.recenter(),e){case`package`:case`urdf`:this._scheduleLoad();break;case`up`:this._setUp(this.up);break;case`ambient-color`:this.ambientLight.color.set(this.ambientColor),this.ambientLight.groundColor.set(`#000`).lerp(this.ambientLight.color,.5);break;case`ignore-limits`:this._setIgnoreLimits(this.ignoreLimits,!0);break}}updateSize(){let e=this.renderer,t=this.clientWidth,n=this.clientHeight,r=e.getSize($k);(r.width!==t||r.height!==n)&&this.recenter(),e.setPixelRatio(window.devicePixelRatio),e.setSize(t,n,!1),this.camera.aspect=t/n,this.camera.updateProjectionMatrix()}redraw(){this._dirty=!0}recenter(){this._updateEnvironment(),this.redraw()}setJointValue(e,...t){this.robot&&this.robot.joints[e]&&this.robot.joints[e].setJointValue(...t)&&(this.redraw(),this.dispatchEvent(new CustomEvent(`angle-change`,{bubbles:!0,cancelable:!0,detail:e})))}setJointValues(e){for(let t in e)Array.isArray(e[t])?this.setJointValue(t,...e[t]):this.setJointValue(t,e[t])}_updateEnvironment(){let e=this.robot;if(!e)return;this.world.updateMatrixWorld();let t=new Ix;t.makeEmpty(),e.traverse(e=>{e.isURDFVisual&&t.expandByObject(e)});let n=t.getCenter(new q);this.controls.target.y=n.y,this.plane.position.y=t.min.y-.001;let r=this.directionalLight;if(r.castShadow=this.displayShadow,this.displayShadow){let e=t.getBoundingSphere(new eS).radius,i=r.shadow.camera;i.left=i.bottom=-e,i.right=i.top=e;let a=r.position.clone().sub(r.target.position);r.target.position.copy(n),r.position.copy(n).add(a),i.updateProjectionMatrix()}}_scheduleLoad(){this._prevload!==`${this.package}|${this.urdf}`&&(this._prevload=`${this.package}|${this.urdf}`,!this._loadScheduled&&(this._loadScheduled=!0,this.robot&&=(this.robot.traverse(e=>e.dispose&&e.dispose()),this.robot.parent.remove(this.robot),null),requestAnimationFrame(()=>{this._loadUrdf(this.package,this.urdf),this._loadScheduled=!1})))}_loadUrdf(e,t){if(this.dispatchEvent(new CustomEvent(`urdf-change`,{bubbles:!0,cancelable:!0,composed:!0})),t){this._requestId++;let n=this._requestId,r=e=>{e.traverse(e=>{if(e.isMesh&&(e.castShadow=!0,e.receiveShadow=!0,e.material)){let t=(Array.isArray(e.material)?e.material:[e.material]).map(e=>(e instanceof rC&&(e=new tT),e.map&&(e.map.colorSpace=Sb),e));e.material=t.length===1?t[0]:t}})};e.includes(`:`)&&e.split(`:`)[1].substring(0,2)!==`//`&&(e=e.split(`,`).reduce((e,t)=>{let n=t.split(/:/).filter(e=>!!e),r=n.shift().trim();return e[r]=n.join(`:`).trim(),e},{}));let i=null,a=new xT;a.onLoad=()=>{if(this._requestId!==n){i.traverse(e=>e.dispose&&e.dispose());return}this.robot=i,this.world.add(i),r(i),this._setIgnoreLimits(this.ignoreLimits),this._updateCollisionVisibility(),this.dispatchEvent(new CustomEvent(`urdf-processed`,{bubbles:!0,cancelable:!0,composed:!0})),this.dispatchEvent(new CustomEvent(`geometry-loaded`,{bubbles:!0,cancelable:!0,composed:!0})),this.recenter()},this.urlModifierFunc&&a.setURLModifier(this.urlModifierFunc);let o=new Qk(a);o.packages=e,o.loadMeshCb=this.loadMeshFunc,o.fetchOptions={mode:`cors`,credentials:`same-origin`},o.parseCollision=!0,o.load(t,e=>i=e)}}_updateCollisionVisibility(){let e=this.showCollision,t=this._collisionMaterial,n=this.robot;if(n===null)return;let r=[];n.traverse(t=>{t.isURDFCollider&&(t.visible=e,r.push(t))}),r.forEach(e=>{e.traverse(e=>{e.isMesh&&(e.raycast=eA,e.material=t,e.castShadow=!1)})})}_setUp(e){e||=`+Z`,e=e.toUpperCase();let t=e.replace(/[^-+]/g,``)[0]||`+`,n=e.replace(/[^XYZ]/gi,``)[0]||`Z`,r=Math.PI,i=r/2;n===`X`&&this.world.rotation.set(0,0,t===`+`?i:-i),n===`Z`&&this.world.rotation.set(t===`+`?-i:i,0,0),n===`Y`&&this.world.rotation.set(t===`+`?0:r,0,0)}_setIgnoreLimits(e,t=!1){this.robot&&Object.values(this.robot.joints).forEach(t=>{t.ignoreLimits=e,t.setJointValue(...t.jointValue)}),t&&this.dispatchEvent(new CustomEvent(`ignore-limits-change`,{bubbles:!0,cancelable:!0,composed:!0}))}};function nA(e){return e.isURDFJoint&&e.jointType!==`fixed`}function rA(e){let t=e;for(;t;){if(nA(t))return t;t=t.parent}return t}var iA=new q,aA=new q,oA=new q,sA=new q,cA=new q,lA=new q,uA=new q,dA=new Dw,fA=class{constructor(e){this.enabled=!0,this.scene=e,this.raycaster=new uE,this.initialGrabPoint=new q,this.hitDistance=-1,this.hovered=null,this.manipulating=null}update(){let{raycaster:e,hovered:t,manipulating:n,scene:r}=this;if(n)return;let i=null,a=e.intersectObject(r,!0);if(a.length!==0){let e=a[0];this.hitDistance=e.distance,i=rA(e.object),this.initialGrabPoint.copy(e.point)}i!==t&&(t&&this.onUnhover(t),this.hovered=i,i&&this.onHover(i))}updateJoint(e,t){e.setJointValue(t)}onDragStart(e){}onDragEnd(e){}onHover(e){}onUnhover(e){}getRevoluteDelta(e,t,n){return sA.copy(e.axis).transformDirection(e.matrixWorld).normalize(),oA.set(0,0,0).applyMatrix4(e.matrixWorld),dA.setFromNormalAndCoplanarPoint(sA,oA),dA.projectPoint(t,lA),dA.projectPoint(n,uA),lA.sub(oA),uA.sub(oA),sA.crossVectors(lA,uA),Math.sign(sA.dot(dA.normal))*uA.angleTo(lA)}getPrismaticDelta(e,t,n){return sA.subVectors(n,t),dA.normal.copy(e.axis).transformDirection(e.parent.matrixWorld).normalize(),sA.dot(dA.normal)}moveRay(e){let{raycaster:t,hitDistance:n,manipulating:r}=this,{ray:i}=t;if(r){i.at(n,iA),e.at(n,aA);let t=0;r.jointType===`revolute`||r.jointType===`continuous`?t=this.getRevoluteDelta(r,iA,aA):r.jointType===`prismatic`&&(t=this.getPrismaticDelta(r,iA,aA)),t&&this.updateJoint(r,r.angle+t)}this.raycaster.ray.copy(e),this.update()}setGrabbed(e){let{hovered:t,manipulating:n}=this;if(e){if(n!==null||t===null)return;this.manipulating=t,this.onDragStart(t)}else{if(this.manipulating===null)return;this.onDragEnd(this.manipulating),this.manipulating=null,this.update()}}},pA=class extends fA{constructor(e,t,n){super(e),this.camera=t,this.domElement=n;let r=new uE,i=new rx;function a(e){let t=n.getBoundingClientRect();i.x=(e.clientX-t.left)/t.width*2-1,i.y=-((e.clientY-t.top)/t.height)*2+1}this._mouseDown=e=>{a(e),r.setFromCamera(i,this.camera),this.moveRay(r.ray),this.setGrabbed(!0)},this._mouseMove=e=>{a(e),r.setFromCamera(i,this.camera),this.moveRay(r.ray)},this._mouseUp=e=>{a(e),r.setFromCamera(i,this.camera),this.moveRay(r.ray),this.setGrabbed(!1)},n.addEventListener(`mousedown`,this._mouseDown),n.addEventListener(`mousemove`,this._mouseMove),n.addEventListener(`mouseup`,this._mouseUp)}getRevoluteDelta(e,t,n){let{camera:r,initialGrabPoint:i}=this;return sA.copy(e.axis).transformDirection(e.matrixWorld).normalize(),oA.set(0,0,0).applyMatrix4(e.matrixWorld),dA.setFromNormalAndCoplanarPoint(sA,oA),sA.copy(r.position).sub(i).normalize(),Math.abs(sA.dot(dA.normal))>.3?super.getRevoluteDelta(e,t,n):(sA.set(0,1,0).transformDirection(r.matrixWorld),dA.projectPoint(t,lA),dA.projectPoint(n,uA),sA.set(0,0,-1).transformDirection(r.matrixWorld),sA.cross(dA.normal),cA.subVectors(n,t),sA.dot(cA))}dispose(){let{domElement:e}=this;e.removeEventListener(`mousedown`,this._mouseDown),e.removeEventListener(`mousemove`,this._mouseMove),e.removeEventListener(`mouseup`,this._mouseUp)}},mA=class extends tA{static get observedAttributes(){return[`highlight-color`,...super.observedAttributes]}get disableDragging(){return this.hasAttribute(`disable-dragging`)}set disableDragging(e){e?this.setAttribute(`disable-dragging`,!!e):this.removeAttribute(`disable-dragging`)}get highlightColor(){return this.getAttribute(`highlight-color`)||`#FFFFFF`}set 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CA={KHR_BINARY_GLTF:`KHR_binary_glTF`,KHR_DRACO_MESH_COMPRESSION:`KHR_draco_mesh_compression`,KHR_LIGHTS_PUNCTUAL:`KHR_lights_punctual`,KHR_MATERIALS_CLEARCOAT:`KHR_materials_clearcoat`,KHR_MATERIALS_DISPERSION:`KHR_materials_dispersion`,KHR_MATERIALS_IOR:`KHR_materials_ior`,KHR_MATERIALS_SHEEN:`KHR_materials_sheen`,KHR_MATERIALS_SPECULAR:`KHR_materials_specular`,KHR_MATERIALS_TRANSMISSION:`KHR_materials_transmission`,KHR_MATERIALS_IRIDESCENCE:`KHR_materials_iridescence`,KHR_MATERIALS_ANISOTROPY:`KHR_materials_anisotropy`,KHR_MATERIALS_UNLIT:`KHR_materials_unlit`,KHR_MATERIALS_VOLUME:`KHR_materials_volume`,KHR_TEXTURE_BASISU:`KHR_texture_basisu`,KHR_TEXTURE_TRANSFORM:`KHR_texture_transform`,KHR_MESH_QUANTIZATION:`KHR_mesh_quantization`,KHR_MATERIALS_EMISSIVE_STRENGTH:`KHR_materials_emissive_strength`,EXT_MATERIALS_BUMP:`EXT_materials_bump`,EXT_TEXTURE_WEBP:`EXT_texture_webp`,EXT_TEXTURE_AVIF:`EXT_texture_avif`,EXT_MESHOPT_COMPRESSION:`EXT_meshopt_compression`,EXT_MESH_GPU_INSTANCING:`EXT_mesh_gpu_instancing`},wA=class{constructor(e){this.parser=e,this.name=CA.KHR_LIGHTS_PUNCTUAL,this.cache={refs:{},uses:{}}}_markDefs(){let 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var(--tw-translate-y)) rotate(var(--tw-rotate)) skewX(var(--tw-skew-x)) skewY(var(--tw-skew-y)) scaleX(var(--tw-scale-x)) scaleY(var(--tw-scale-y))}.\[\&\>svg\]\:absolute>svg{position:absolute}.\[\&\>svg\]\:left-4>svg{left:1rem}.\[\&\>svg\]\:top-4>svg{top:1rem}.\[\&\>svg\]\:text-destructive>svg{color:hsl(var(--destructive))}.\[\&\>svg\]\:text-foreground>svg{color:hsl(var(--foreground))}.\[\&\>svg\~\*\]\:pl-7>svg~*{padding-left:1.75rem}.\[\&_\[cmdk-group-heading\]\]\:px-2 [cmdk-group-heading]{padding-left:.5rem;padding-right:.5rem}.\[\&_\[cmdk-group-heading\]\]\:py-1\.5 [cmdk-group-heading]{padding-top:.375rem;padding-bottom:.375rem}.\[\&_\[cmdk-group-heading\]\]\:text-xs [cmdk-group-heading]{font-size:.75rem;line-height:1rem}.\[\&_\[cmdk-group-heading\]\]\:font-medium [cmdk-group-heading]{font-weight:500}.\[\&_\[cmdk-group-heading\]\]\:text-muted-foreground [cmdk-group-heading]{color:hsl(var(--muted-foreground))}.\[\&_\[cmdk-group\]\:not\(\[hidden\]\)_\~\[cmdk-group\]\]\:pt-0 [cmdk-group]:not([hidden])~[cmdk-group]{padding-top:0}.\[\&_\[cmdk-group\]\]\:px-2 [cmdk-group]{padding-left:.5rem;padding-right:.5rem}.\[\&_\[cmdk-input-wrapper\]_svg\]\:h-5 [cmdk-input-wrapper] svg{height:1.25rem}.\[\&_\[cmdk-input-wrapper\]_svg\]\:w-5 [cmdk-input-wrapper] svg{width:1.25rem}.\[\&_\[cmdk-input\]\]\:h-12 [cmdk-input]{height:3rem}.\[\&_\[cmdk-item\]\]\:px-2 [cmdk-item]{padding-left:.5rem;padding-right:.5rem}.\[\&_\[cmdk-item\]\]\:py-3 [cmdk-item]{padding-top:.75rem;padding-bottom:.75rem}.\[\&_\[cmdk-item\]_svg\]\:h-5 [cmdk-item] svg{height:1.25rem}.\[\&_\[cmdk-item\]_svg\]\:w-5 [cmdk-item] svg{width:1.25rem}.\[\&_p\]\:leading-relaxed p{line-height:1.625}.\[\&_svg\]\:pointer-events-none svg{pointer-events:none}.\[\&_svg\]\:size-4 svg{width:1rem;height:1rem}.\[\&_svg\]\:shrink-0 svg{flex-shrink:0} diff --git a/frontend/dist/index.html b/frontend/dist/index.html index b3018d5..68b7a7e 100644 --- a/frontend/dist/index.html +++ b/frontend/dist/index.html @@ -1,20 +1,20 @@ - - - - - - LeLab - - - - - - - - - - - -
- - + + + + + + LeLab + + + + + + + + + + + +
+ + diff --git a/frontend/src/components/training/PolicyExtraDialog.tsx b/frontend/src/components/training/PolicyExtraDialog.tsx new file mode 100644 index 0000000..ff97982 --- /dev/null +++ b/frontend/src/components/training/PolicyExtraDialog.tsx @@ -0,0 +1,81 @@ +import React from "react"; +import { + Dialog, + DialogContent, + DialogDescription, + DialogHeader, + DialogTitle, +} from "@/components/ui/dialog"; +import { useInstallExtra } from "@/hooks/useInstallExtra"; +import { + InstallProgress, + InstallTitleIcon, + RestartInstructions, + installTitle, +} from "./InstallProgress"; + +interface Props { + open: boolean; + onOpenChange: (open: boolean) => void; + policyType: string; + packageName: string; // the probed module, e.g. "transformers" + installTarget: string; // e.g. "lerobot[smolvla]" + installHint: string; // e.g. "pip install 'lerobot[smolvla]'" +} + +// Some policies (smolvla, pi0, pi0_fast, diffusion) need an optional LeRobot +// extra. This catches the missing package before training starts and offers a +// one-click install, instead of the run dying with a buried ImportError. +const PolicyExtraDialog: React.FC = ({ + open, + onOpenChange, + policyType, + packageName, + installTarget, + installHint, +}) => { + const install = useInstallExtra(`system/policy-extra/${policyType}`, open); + const title = `${policyType.toUpperCase()} needs an extra package`; + + return ( + + + + + + {installTitle(install.state, title)} + + + Install {installTarget} to train {policyType}. + + + +
+ + Training a {policyType} policy needs the{" "} + {packageName}{" "} + package (installed via{" "} + {installTarget}), + which isn't in this environment yet. Install it to train this policy. + + } + doneDescription={} + /> +
+ + + ); +}; + +export default PolicyExtraDialog; diff --git a/frontend/src/pages/Training.tsx b/frontend/src/pages/Training.tsx index bc618a0..bcdedcc 100644 --- a/frontend/src/pages/Training.tsx +++ b/frontend/src/pages/Training.tsx @@ -10,6 +10,7 @@ import ConfigurationTab from "@/components/training/ConfigurationTab"; import MonitoringStats from "@/components/training/monitoring/MonitoringStats"; import TrainingLogs from "@/components/training/monitoring/TrainingLogs"; import TrainingExtraGate from "@/components/training/TrainingExtraGate"; +import PolicyExtraDialog from "@/components/training/PolicyExtraDialog"; import HfAuthBanner from "@/components/landing/HfAuthBanner"; import { Button } from "@/components/ui/button"; @@ -131,6 +132,12 @@ const ConfigurationMode: React.FC = () => { const [trainingExtraInstallHint, setTrainingExtraInstallHint] = useState("pip install accelerate"); const [localJobRunning, setLocalJobRunning] = useState(false); const [isStarting, setIsStarting] = useState(false); + const [policyExtra, setPolicyExtra] = useState<{ + policyType: string; + packageName: string; + installTarget: string; + installHint: string; + } | null>(null); const [authenticated, setAuthenticated] = useState(false); const [flavors, setFlavors] = useState([]); const [hardwareLoading, setHardwareLoading] = useState(true); @@ -191,6 +198,31 @@ const ConfigurationMode: React.FC = () => { toast({ title: "Error", description: "Dataset repository ID is required", variant: "destructive" }); return; } + + // Pre-flight: smolvla/pi0/diffusion need an optional package. Catch it here + // with a one-click installer instead of a buried ImportError after the job + // has already started. + try { + const r = await fetchWithHeaders( + `${baseUrl}/system/policy-extra/${trainingConfig.policy_type}`, + ); + if (r.ok) { + const extra = await r.json(); + if (extra.needs_extra && !extra.available) { + setPolicyExtra({ + policyType: trainingConfig.policy_type, + packageName: extra.package, + installTarget: extra.install_target, + installHint: extra.install_hint, + }); + return; + } + } + } catch { + // Check failed (offline / older backend) — fall through and let the job + // report any problem itself. + } + setIsStarting(true); try { const job = await startTrainingJob(baseUrl, fetchWithHeaders, configToRequest(trainingConfig)); @@ -306,6 +338,17 @@ const ConfigurationMode: React.FC = () => { })()} + + {policyExtra && ( + !o && setPolicyExtra(null)} + policyType={policyExtra.policyType} + packageName={policyExtra.packageName} + installTarget={policyExtra.installTarget} + installHint={policyExtra.installHint} + /> + )} ); }; diff --git a/lelab/server.py b/lelab/server.py index 43e7d71..519e0c7 100644 --- a/lelab/server.py +++ b/lelab/server.py @@ -101,8 +101,11 @@ from .utils.hf_auth import cached_whoami, handle_hf_auth_status, handle_hf_login, shared_hf_api from .utils.system import ( handle_get_cuda_status, + handle_get_policy_extra, handle_get_training_extra, handle_get_wandb_extra, + handle_install_policy_extra, + handle_install_policy_extra_status, handle_install_training_extra, handle_install_training_extra_status, handle_install_wandb_extra, @@ -750,6 +753,25 @@ def install_wandb_extra_status(): return handle_install_wandb_extra_status() +@app.get("/system/policy-extra/{policy_type}") +def get_policy_extra(policy_type: str): + """Whether the optional LeRobot extra a policy needs (e.g. transformers for + smolvla/pi0, diffusers for diffusion) is importable. Core policies report available.""" + return handle_get_policy_extra(policy_type) + + +@app.post("/system/policy-extra/{policy_type}/install") +def install_policy_extra(policy_type: str): + """Spawn `pip install lerobot[]` for the policy's extra in the background.""" + return handle_install_policy_extra(policy_type) + + +@app.get("/system/policy-extra/{policy_type}/install-status") +def install_policy_extra_status(policy_type: str): + """Return the policy extra's install state plus any pending log lines (drained on read).""" + return handle_install_policy_extra_status(policy_type) + + @app.get("/system/update-check") def update_check(): """Report whether a newer LeLab commit exists on GitHub (cached, silent on failure).""" diff --git a/lelab/utils/system.py b/lelab/utils/system.py index e187516..128a043 100644 --- a/lelab/utils/system.py +++ b/lelab/utils/system.py @@ -186,6 +186,85 @@ def handle_install_wandb_extra_status() -> dict[str, Any]: return wandb_install_manager.get_status() +# --------------------------------------------------------------------------- # +# Policy extras +# --------------------------------------------------------------------------- # +# Some LeRobot policies import an optional extra at construction time; training +# (or inference) otherwise dies with a buried ImportError once the subprocess is +# already running. Map each such policy to the module we probe and the +# ``pip install lerobot[extra]`` target. Policies not listed (act, vqbet, tdmpc, +# sac, reward_classifier) need nothing extra. +POLICY_EXTRAS: dict[str, tuple[str, str]] = { + # policy_type: (probe_module, install_target) + "smolvla": ("transformers", "lerobot[smolvla]"), + "pi0": ("transformers", "lerobot[pi]"), + "pi0_fast": ("transformers", "lerobot[pi]"), + "diffusion": ("diffusers", "lerobot[diffusion]"), +} + +# One install manager per install target (lerobot[smolvla] / lerobot[pi] / …), +# created lazily so pi0 and pi0_fast share the lerobot[pi] install. +_policy_install_managers: dict[str, InstallManager] = {} + + +def _policy_install_manager(policy_type: str) -> InstallManager | None: + spec = POLICY_EXTRAS.get(policy_type) + if spec is None: + return None + target = spec[1] + mgr = _policy_install_managers.get(target) + if mgr is None: + mgr = InstallManager(target) + _policy_install_managers[target] = mgr + return mgr + + +def handle_get_policy_extra(policy_type: str) -> dict[str, Any]: + """Whether the optional extra a policy needs is importable right now. + + Probed live (not cached at import) so a restart after installing is picked + up. Policies that need nothing report ``available`` so the UI never blocks + them. + """ + spec = POLICY_EXTRAS.get(policy_type) + if spec is None: + return { + "policy_type": policy_type, + "needs_extra": False, + "available": True, + "package": "", + "install_target": "", + "install_hint": "", + } + probe, target = spec + try: + available = importlib.util.find_spec(probe) is not None + except (ImportError, ValueError): + available = False + return { + "policy_type": policy_type, + "needs_extra": True, + "available": available, + "package": probe, + "install_target": target, + "install_hint": f"pip install '{target}'", + } + + +def handle_install_policy_extra(policy_type: str) -> dict[str, Any]: + mgr = _policy_install_manager(policy_type) + if mgr is None: + return {"started": False, "message": f"'{policy_type}' needs no extra package."} + return mgr.start() + + +def handle_install_policy_extra_status(policy_type: str) -> dict[str, Any]: + mgr = _policy_install_manager(policy_type) + if mgr is None: + return {"state": "done", "error": None, "logs": []} + return mgr.get_status() + + # Detect the common Windows/LeLab mismatch where an NVIDIA GPU is visible to the # OS, but the active PyTorch build cannot use CUDA. Do not auto-install torch. diff --git a/tests/test_utils_system.py b/tests/test_utils_system.py index 34d056a..a6ffa5a 100644 --- a/tests/test_utils_system.py +++ b/tests/test_utils_system.py @@ -127,3 +127,55 @@ def test_cuda_status_endpoint_returns_expected_shape(client) -> None: assert response.status_code == 200 body = response.json() assert set(body) >= {"gpu_present", "cuda_available", "mismatch", "install_hint", "docs_url"} + + +def test_policy_extra_maps_policies_to_install_targets() -> None: + """smolvla/pi0/pi0_fast/diffusion map to the right probe module + lerobot[extra].""" + from lelab.utils.system import handle_get_policy_extra + + smol = handle_get_policy_extra("smolvla") + assert smol["needs_extra"] is True + assert smol["package"] == "transformers" + assert smol["install_target"] == "lerobot[smolvla]" + assert "lerobot[smolvla]" in smol["install_hint"] + + # pi0 and pi0_fast share the lerobot[pi] extra; diffusion uses diffusers. + assert handle_get_policy_extra("pi0")["install_target"] == "lerobot[pi]" + assert handle_get_policy_extra("pi0_fast")["install_target"] == "lerobot[pi]" + assert handle_get_policy_extra("diffusion")["package"] == "diffusers" + assert handle_get_policy_extra("diffusion")["install_target"] == "lerobot[diffusion]" + + +def test_policy_extra_core_policy_needs_nothing() -> None: + from lelab.utils.system import handle_get_policy_extra + + act = handle_get_policy_extra("act") + assert act["needs_extra"] is False + assert act["available"] is True + assert act["install_target"] == "" + + +def test_policy_extra_available_reflects_find_spec(monkeypatch) -> None: + import importlib.util + + from lelab.utils import system + + monkeypatch.setattr(importlib.util, "find_spec", lambda name: object()) + assert system.handle_get_policy_extra("smolvla")["available"] is True + monkeypatch.setattr(importlib.util, "find_spec", lambda name: None) + assert system.handle_get_policy_extra("smolvla")["available"] is False + + +def test_policy_extra_install_is_noop_for_core_policy() -> None: + from lelab.utils.system import handle_install_policy_extra, handle_install_policy_extra_status + + assert handle_install_policy_extra("act")["started"] is False + assert handle_install_policy_extra_status("act")["state"] == "done" + + +def test_policy_extra_route_known_and_core(client) -> None: + smol = client.get("/system/policy-extra/smolvla").json() + assert smol["needs_extra"] is True + assert smol["install_target"] == "lerobot[smolvla]" + core = client.get("/system/policy-extra/act").json() + assert core["needs_extra"] is False