feat: finalize corrected-route planning and Rerun recording review

History-only merge: retain the original Node worktree snapshot 1c7dd29 without reverting its canonicalized implementation (63ea2be and subsequent main fixes). RAV004 commits 45019f8/cd16ea2/88e47fc and Gaussian commits 2ccf172/2e44e27 are patch-equivalent to commits already in main (verified with git cherry). The current source tree is intentionally unchanged; old snapshots remain reachable for audit.

.gitattributes

@@ -10,3 +10,4 @@
 *.las binary
 *.lcc binary
 apps/control-station/vendor/rerun-web-viewer-0.34.1/re_viewer_bg.nodedc.wasm filter=lfs diff=lfs merge=lfs -text
+apps/control-station/vendor/rerun-web-viewer-0.36.3/re_viewer_bg.nodedc.wasm filter=lfs diff=lfs merge=lfs -text

AGENTS.md

@@ -62,6 +62,40 @@ and the boundary between Mission Core and vendor-specific integration code.
 - Synthetic or explicitly redacted fixtures may be committed under
   `tests/fixtures/`.
 
+## Insta360 and clean-host installation — owner requirement, 2026-09-08
+
+- The current X4 starting point is USB enumeration only. SDK installation,
+  camera initialization and live video have not been accepted.
+- Every Ubuntu change needed for Insta360 must execute through the shipped
+  installer or the application's versioned device-preparation workflow from
+  the first board experiment. Do not repair the board with an ad-hoc apt/pip
+  install, copied library, chmod, environment override, service edit or root
+  invocation and promise to package it later. Fix the product artifact first,
+  then rerun that artifact. Read-only engineering inspection remains allowed.
+- Document every relevant action and its before/after evidence in
+  `docs/node/07_INSTA360_X4_INSTALLATION_LEDGER.md`; record the artifact version,
+  owning installer step, dependencies, idempotency, failure behavior and rollback.
+  Keep private logs/identifiers/media out of Git and redact their public summary.
+- A working prepared Mini is not clean-Ubuntu acceptance. Qualify dependency
+  closure on the declared clean OS image and actual USB operation separately;
+  installer, preparation and GUI acceptance must use the same shipped code.
+- X4 is operator live video and camera control (settings, photo, recording
+  start/stop and file access), per the owner’s subsequent scope expansion.
+  Preview and recording are separate operations. No stitching, AI, navigation
+  or vehicle-control integration is admitted. Model support and physical device instances are separate: several
+  cameras of the same model must retain independent identity and lifecycle.
+- Follow the scoped implementation plan in
+  `docs/node/06_INSTA360_X4_AND_MULTI_CAMERA_PLAN.md`. It is a proposed plan,
+  not evidence that SDK compatibility, hardware capacity or installation passed.
+- Subsequent owner direction: the existing Ubuntu Mini is the available build
+  and qualification machine; do not depend on Worker 006 or another host for
+  this X4 work. Its existing GCC may compile through a versioned build artifact
+  in bounded temporary staging. This is a build step, not runtime installation:
+  no system changes, SDK execution or camera access during compilation. The
+  final installer must carry the compiled payload so a clean operator Ubuntu
+  does not inherit an undeclared compiler/build-cache prerequisite. All board
+  staging/build/install/test actions remain documented and artifact-owned.
+
 ## Implementation order
 
 Follow the gates in `docs/01_IMPLEMENTATION_PLAN.md`. Do not build heavy

apps/control-station/package-lock.json

@@ -15,7 +15,8 @@
         "@nodedc/tokens": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/tokens",
         "@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core",
         "@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
-        "@rerun-io/web-viewer": "0.34.1",
+        "@rerun-io/web-viewer": "0.36.3",
+        "meshoptimizer": "1.1.1",
         "playcanvas": "2.21.4",
         "react": "^19.1.0",
         "react-dom": "^19.1.0",
@@ -899,9 +900,9 @@
       "link": true
     },
     "node_modules/@rerun-io/web-viewer": {
-      "version": "0.34.1",
-      "resolved": "https://registry.npmjs.org/@rerun-io/web-viewer/-/web-viewer-0.34.1.tgz",
-      "integrity": "sha512-2Oq9Mw3qOs765XArGq4e/0pAIksPFKlAqkgo+PDsRkPd77/KdnQhb835suRmYQ6tuqlbPeVCFhlNIXT0+TjmTg==",
+      "version": "0.36.3",
+      "resolved": "https://registry.npmjs.org/@rerun-io/web-viewer/-/web-viewer-0.36.3.tgz",
+      "integrity": "sha512-LMGnsxRmY5UwiGras2dZrMnEYkow5Xr4v+1hAUSspXWPPiilMqoz9G77jo8Ps/deAaX81TnOq123DFO8iX/Ulw==",
       "license": "MIT"
     },
     "node_modules/@rolldown/pluginutils": {
@@ -1661,7 +1662,6 @@
       "version": "1.1.1",
       "resolved": "https://registry.npmjs.org/meshoptimizer/-/meshoptimizer-1.1.1.tgz",
       "integrity": "sha512-oRFNWJRDA/WTrVj7NWvqa5HqE1t9MYDj2VaWirQCzCCrAd2GHrqR/sQezCxiWATPNlKTcRaPRHPJwIRoPBAp5g==",
-      "dev": true,
       "license": "MIT"
     },
     "node_modules/ms": {

apps/control-station/package.json

@@ -4,8 +4,9 @@
   "private": true,
   "type": "module",
   "scripts": {
-    "postinstall": "node scripts/patch-rerun-web-viewer.mjs",
     "dev": "vite",
+    "postinstall": "node scripts/install-rerun-navigation.mjs",
+    "prebuild": "node scripts/install-rerun-navigation.mjs",
     "build": "tsc -b && vite build",
     "preview": "vite preview",
     "test:unit": "node --test test/*.test.mjs",
@@ -18,7 +19,8 @@
     "@nodedc/tokens": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/tokens",
     "@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core",
     "@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
-    "@rerun-io/web-viewer": "0.34.1",
+    "@rerun-io/web-viewer": "0.36.3",
+    "meshoptimizer": "1.1.1",
     "playcanvas": "2.21.4",
     "react": "^19.1.0",
     "react-dom": "^19.1.0",

apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/BUILD_INFO.md

@@ -0,0 +1,9 @@
+# PlayCanvas Ammo runtime
+
+- Source: `https://developer.playcanvas.com/assets/modules/ammo/ammo.wasm.js`
+- Source: `https://developer.playcanvas.com/assets/modules/ammo/ammo.wasm.wasm`
+- Retrieved: 2026-08-27
+- `ammo.wasm.js`: 442459 bytes, SHA-256 `9b765569bce6993e781cd95d548c3711b119f355b512b25722e86a27d6ea8857`
+- `ammo.wasm.wasm`: 747690 bytes, SHA-256 `a73b547ed4289aa174bf3424b14b3cb8addc7fe708cd2636d306b72880d6ad13`
+
+The control station loads these pinned same-origin assets before constructing the PlayCanvas application so the rigid-body systems bind to the expected Ammo instance.

apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/ammo.wasm.js

@@ -0,0 +1,921 @@
+// This is ammo.js, a port of Bullet Physics to JavaScript. zlib licensed.
+
+var Ammo = (() => {
+  var _scriptDir = typeof document !== 'undefined' && document.currentScript ? document.currentScript.src : undefined;
+  if (typeof __filename !== 'undefined') _scriptDir = _scriptDir || __filename;
+  return (
+function(Ammo = {})  {
+
+var b;b||(b=typeof Ammo !== 'undefined' ? Ammo : {});var aa,ba;b.ready=new Promise(function(a,c){aa=a;ba=c});var ca=Object.assign({},b),da="object"==typeof window,ea="function"==typeof importScripts,fa="object"==typeof process&&"object"==typeof process.versions&&"string"==typeof process.versions.node,ha="",ia,ja,ka;
+if(fa){var fs=require("fs"),la=require("path");ha=ea?la.dirname(ha)+"/":__dirname+"/";ia=(a,c)=>{a=a.startsWith("file://")?new URL(a):la.normalize(a);return fs.readFileSync(a,c?void 0:"utf8")};ka=a=>{a=ia(a,!0);a.buffer||(a=new Uint8Array(a));return a};ja=(a,c,d)=>{a=a.startsWith("file://")?new URL(a):la.normalize(a);fs.readFile(a,function(e,g){e?d(e):c(g.buffer)})};1<process.argv.length&&process.argv[1].replace(/\\/g,"/");process.argv.slice(2);b.inspect=function(){return"[Emscripten Module object]"}}else if(da||
+ea)ea?ha=self.location.href:"undefined"!=typeof document&&document.currentScript&&(ha=document.currentScript.src),_scriptDir&&(ha=_scriptDir),ha=0!==ha.indexOf("blob:")?ha.substr(0,ha.replace(/[?#].*/,"").lastIndexOf("/")+1):"",ia=a=>{var c=new XMLHttpRequest;c.open("GET",a,!1);c.send(null);return c.responseText},ea&&(ka=a=>{var c=new XMLHttpRequest;c.open("GET",a,!1);c.responseType="arraybuffer";c.send(null);return new Uint8Array(c.response)}),ja=(a,c,d)=>{var e=new XMLHttpRequest;e.open("GET",a,
+!0);e.responseType="arraybuffer";e.onload=()=>{200==e.status||0==e.status&&e.response?c(e.response):d()};e.onerror=d;e.send(null)};b.print||console.log.bind(console);var ma=b.printErr||console.warn.bind(console);Object.assign(b,ca);ca=null;var na;b.wasmBinary&&(na=b.wasmBinary);var noExitRuntime=b.noExitRuntime||!0;"object"!=typeof WebAssembly&&oa("no native wasm support detected");var pa,qa=!1,ra="undefined"!=typeof TextDecoder?new TextDecoder("utf8"):void 0;
+function sa(a,c){if(a){var d=ta,e=a+c;for(c=a;d[c]&&!(c>=e);)++c;if(16<c-a&&d.buffer&&ra)a=ra.decode(d.subarray(a,c));else{for(e="";a<c;){var g=d[a++];if(g&128){var n=d[a++]&63;if(192==(g&224))e+=String.fromCharCode((g&31)<<6|n);else{var z=d[a++]&63;g=224==(g&240)?(g&15)<<12|n<<6|z:(g&7)<<18|n<<12|z<<6|d[a++]&63;65536>g?e+=String.fromCharCode(g):(g-=65536,e+=String.fromCharCode(55296|g>>10,56320|g&1023))}}else e+=String.fromCharCode(g)}a=e}}else a="";return a}
+var ua,ta,va,wa,xa,ya,za=[],Aa=[],Ba=[],Ca=!1;function Ea(){var a=b.preRun.shift();za.unshift(a)}var Fa=0,Ga=null,Ha=null;function oa(a){if(b.onAbort)b.onAbort(a);a="Aborted("+a+")";ma(a);qa=!0;a=new WebAssembly.RuntimeError(a+". Build with -sASSERTIONS for more info.");ba(a);throw a;}function Ia(a){return a.startsWith("data:application/octet-stream;base64,")}var Ja;Ja="ammo.wasm.wasm";if(!Ia(Ja)){var Ka=Ja;Ja=b.locateFile?b.locateFile(Ka,ha):ha+Ka}
+function La(a){try{if(a==Ja&&na)return new Uint8Array(na);if(ka)return ka(a);throw"both async and sync fetching of the wasm failed";}catch(c){oa(c)}}
+function Ma(a){if(!na&&(da||ea)){if("function"==typeof fetch&&!a.startsWith("file://"))return fetch(a,{credentials:"same-origin"}).then(function(c){if(!c.ok)throw"failed to load wasm binary file at '"+a+"'";return c.arrayBuffer()}).catch(function(){return La(a)});if(ja)return new Promise(function(c,d){ja(a,function(e){c(new Uint8Array(e))},d)})}return Promise.resolve().then(function(){return La(a)})}
+function Na(a,c,d){return Ma(a).then(function(e){return WebAssembly.instantiate(e,c)}).then(function(e){return e}).then(d,function(e){ma("failed to asynchronously prepare wasm: "+e);oa(e)})}
+function Oa(a,c){var d=Ja;return na||"function"!=typeof WebAssembly.instantiateStreaming||Ia(d)||d.startsWith("file://")||fa||"function"!=typeof fetch?Na(d,a,c):fetch(d,{credentials:"same-origin"}).then(function(e){return WebAssembly.instantiateStreaming(e,a).then(c,function(g){ma("wasm streaming compile failed: "+g);ma("falling back to ArrayBuffer instantiation");return Na(d,a,c)})})}
+var Pa={27338:(a,c,d,e)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("drawLine"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::drawLine.";a.drawLine(c,d,e)},27558:(a,c,d,e,g,n)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("drawContactPoint"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::drawContactPoint.";a.drawContactPoint(c,d,e,g,n)},27808:(a,c)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("reportErrorWarning"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::reportErrorWarning.";
+a.reportErrorWarning(c)},28052:(a,c,d)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("draw3dText"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::draw3dText.";a.draw3dText(c,d)},28275:(a,c)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("setDebugMode"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::setDebugMode.";a.setDebugMode(c)},28501:a=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("getDebugMode"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::getDebugMode.";
+return a.getDebugMode()},28732:(a,c)=>{a=b.getCache(b.MotionState)[a];if(!a.hasOwnProperty("getWorldTransform"))throw"a JSImplementation must implement all functions, you forgot MotionState::getWorldTransform.";a.getWorldTransform(c)},28973:(a,c)=>{a=b.getCache(b.MotionState)[a];if(!a.hasOwnProperty("setWorldTransform"))throw"a JSImplementation must implement all functions, you forgot MotionState::setWorldTransform.";a.setWorldTransform(c)},29214:(a,c,d,e,g,n,z,T)=>{a=b.getCache(b.ConcreteContactResultCallback)[a];
+if(!a.hasOwnProperty("addSingleResult"))throw"a JSImplementation must implement all functions, you forgot ConcreteContactResultCallback::addSingleResult.";return a.addSingleResult(c,d,e,g,n,z,T)}};function Qa(a){for(;0<a.length;)a.shift()(b)}var Ra=[];function Sa(a,c,d){Ra.length=0;var e;for(d>>=2;e=ta[c++];)d+=105!=e&d,Ra.push(105==e?va[d]:xa[d++>>1]),++d;return Pa[a].apply(null,Ra)}
+var Ta=[],Ua=void 0,Va=[],Wa={b:function(){oa("")},f:function(a,c,d){return Sa(a,c,d)},a:function(a,c,d){return Sa(a,c,d)},d:function(){return Date.now()},e:function(a,c,d){ta.copyWithin(a,c,c+d)},c:function(){oa("OOM")}};
+(function(){function a(d){d=d.exports;b.asm=d;pa=b.asm.g;var e=pa.buffer;b.HEAP8=ua=new Int8Array(e);b.HEAP16=new Int16Array(e);b.HEAP32=va=new Int32Array(e);b.HEAPU8=ta=new Uint8Array(e);b.HEAPU16=new Uint16Array(e);b.HEAPU32=new Uint32Array(e);b.HEAPF32=wa=new Float32Array(e);b.HEAPF64=xa=new Float64Array(e);ya=b.asm.iB;Aa.unshift(b.asm.h);Fa--;b.monitorRunDependencies&&b.monitorRunDependencies(Fa);0==Fa&&(null!==Ga&&(clearInterval(Ga),Ga=null),Ha&&(e=Ha,Ha=null,e()));return d}var c={a:Wa};Fa++;
+b.monitorRunDependencies&&b.monitorRunDependencies(Fa);if(b.instantiateWasm)try{return b.instantiateWasm(c,a)}catch(d){ma("Module.instantiateWasm callback failed with error: "+d),ba(d)}Oa(c,function(d){a(d.instance)}).catch(ba);return{}})();
+var Xa=b._emscripten_bind_btCollisionShape_setLocalScaling_1=function(){return(Xa=b._emscripten_bind_btCollisionShape_setLocalScaling_1=b.asm.i).apply(null,arguments)},Ya=b._emscripten_bind_btCollisionShape_getLocalScaling_0=function(){return(Ya=b._emscripten_bind_btCollisionShape_getLocalScaling_0=b.asm.j).apply(null,arguments)},Za=b._emscripten_bind_btCollisionShape_calculateLocalInertia_2=function(){return(Za=b._emscripten_bind_btCollisionShape_calculateLocalInertia_2=b.asm.k).apply(null,arguments)},
+$a=b._emscripten_bind_btCollisionShape_setMargin_1=function(){return($a=b._emscripten_bind_btCollisionShape_setMargin_1=b.asm.l).apply(null,arguments)},ab=b._emscripten_bind_btCollisionShape_getMargin_0=function(){return(ab=b._emscripten_bind_btCollisionShape_getMargin_0=b.asm.m).apply(null,arguments)},bb=b._emscripten_bind_btCollisionShape___destroy___0=function(){return(bb=b._emscripten_bind_btCollisionShape___destroy___0=b.asm.n).apply(null,arguments)},cb=b._emscripten_bind_btCollisionWorld_getDispatcher_0=
+function(){return(cb=b._emscripten_bind_btCollisionWorld_getDispatcher_0=b.asm.o).apply(null,arguments)},db=b._emscripten_bind_btCollisionWorld_rayTest_3=function(){return(db=b._emscripten_bind_btCollisionWorld_rayTest_3=b.asm.p).apply(null,arguments)},eb=b._emscripten_bind_btCollisionWorld_getPairCache_0=function(){return(eb=b._emscripten_bind_btCollisionWorld_getPairCache_0=b.asm.q).apply(null,arguments)},fb=b._emscripten_bind_btCollisionWorld_getDispatchInfo_0=function(){return(fb=b._emscripten_bind_btCollisionWorld_getDispatchInfo_0=
+b.asm.r).apply(null,arguments)},gb=b._emscripten_bind_btCollisionWorld_addCollisionObject_1=function(){return(gb=b._emscripten_bind_btCollisionWorld_addCollisionObject_1=b.asm.s).apply(null,arguments)},hb=b._emscripten_bind_btCollisionWorld_addCollisionObject_2=function(){return(hb=b._emscripten_bind_btCollisionWorld_addCollisionObject_2=b.asm.t).apply(null,arguments)},ib=b._emscripten_bind_btCollisionWorld_addCollisionObject_3=function(){return(ib=b._emscripten_bind_btCollisionWorld_addCollisionObject_3=
+b.asm.u).apply(null,arguments)},jb=b._emscripten_bind_btCollisionWorld_removeCollisionObject_1=function(){return(jb=b._emscripten_bind_btCollisionWorld_removeCollisionObject_1=b.asm.v).apply(null,arguments)},kb=b._emscripten_bind_btCollisionWorld_getBroadphase_0=function(){return(kb=b._emscripten_bind_btCollisionWorld_getBroadphase_0=b.asm.w).apply(null,arguments)},lb=b._emscripten_bind_btCollisionWorld_convexSweepTest_5=function(){return(lb=b._emscripten_bind_btCollisionWorld_convexSweepTest_5=b.asm.x).apply(null,
+arguments)},mb=b._emscripten_bind_btCollisionWorld_contactPairTest_3=function(){return(mb=b._emscripten_bind_btCollisionWorld_contactPairTest_3=b.asm.y).apply(null,arguments)},nb=b._emscripten_bind_btCollisionWorld_contactTest_2=function(){return(nb=b._emscripten_bind_btCollisionWorld_contactTest_2=b.asm.z).apply(null,arguments)},ob=b._emscripten_bind_btCollisionWorld_updateSingleAabb_1=function(){return(ob=b._emscripten_bind_btCollisionWorld_updateSingleAabb_1=b.asm.A).apply(null,arguments)},pb=
+b._emscripten_bind_btCollisionWorld_setDebugDrawer_1=function(){return(pb=b._emscripten_bind_btCollisionWorld_setDebugDrawer_1=b.asm.B).apply(null,arguments)},qb=b._emscripten_bind_btCollisionWorld_getDebugDrawer_0=function(){return(qb=b._emscripten_bind_btCollisionWorld_getDebugDrawer_0=b.asm.C).apply(null,arguments)},rb=b._emscripten_bind_btCollisionWorld_debugDrawWorld_0=function(){return(rb=b._emscripten_bind_btCollisionWorld_debugDrawWorld_0=b.asm.D).apply(null,arguments)},sb=b._emscripten_bind_btCollisionWorld_debugDrawObject_3=
+function(){return(sb=b._emscripten_bind_btCollisionWorld_debugDrawObject_3=b.asm.E).apply(null,arguments)},tb=b._emscripten_bind_btCollisionWorld___destroy___0=function(){return(tb=b._emscripten_bind_btCollisionWorld___destroy___0=b.asm.F).apply(null,arguments)},ub=b._emscripten_bind_btCollisionObject_setAnisotropicFriction_2=function(){return(ub=b._emscripten_bind_btCollisionObject_setAnisotropicFriction_2=b.asm.G).apply(null,arguments)},vb=b._emscripten_bind_btCollisionObject_getCollisionShape_0=
+function(){return(vb=b._emscripten_bind_btCollisionObject_getCollisionShape_0=b.asm.H).apply(null,arguments)},wb=b._emscripten_bind_btCollisionObject_setContactProcessingThreshold_1=function(){return(wb=b._emscripten_bind_btCollisionObject_setContactProcessingThreshold_1=b.asm.I).apply(null,arguments)},xb=b._emscripten_bind_btCollisionObject_setActivationState_1=function(){return(xb=b._emscripten_bind_btCollisionObject_setActivationState_1=b.asm.J).apply(null,arguments)},yb=b._emscripten_bind_btCollisionObject_forceActivationState_1=
+function(){return(yb=b._emscripten_bind_btCollisionObject_forceActivationState_1=b.asm.K).apply(null,arguments)},zb=b._emscripten_bind_btCollisionObject_activate_0=function(){return(zb=b._emscripten_bind_btCollisionObject_activate_0=b.asm.L).apply(null,arguments)},Ab=b._emscripten_bind_btCollisionObject_activate_1=function(){return(Ab=b._emscripten_bind_btCollisionObject_activate_1=b.asm.M).apply(null,arguments)},Bb=b._emscripten_bind_btCollisionObject_isActive_0=function(){return(Bb=b._emscripten_bind_btCollisionObject_isActive_0=
+b.asm.N).apply(null,arguments)},Cb=b._emscripten_bind_btCollisionObject_isKinematicObject_0=function(){return(Cb=b._emscripten_bind_btCollisionObject_isKinematicObject_0=b.asm.O).apply(null,arguments)},Db=b._emscripten_bind_btCollisionObject_isStaticObject_0=function(){return(Db=b._emscripten_bind_btCollisionObject_isStaticObject_0=b.asm.P).apply(null,arguments)},Eb=b._emscripten_bind_btCollisionObject_isStaticOrKinematicObject_0=function(){return(Eb=b._emscripten_bind_btCollisionObject_isStaticOrKinematicObject_0=
+b.asm.Q).apply(null,arguments)},Fb=b._emscripten_bind_btCollisionObject_getRestitution_0=function(){return(Fb=b._emscripten_bind_btCollisionObject_getRestitution_0=b.asm.R).apply(null,arguments)},Gb=b._emscripten_bind_btCollisionObject_getFriction_0=function(){return(Gb=b._emscripten_bind_btCollisionObject_getFriction_0=b.asm.S).apply(null,arguments)},Hb=b._emscripten_bind_btCollisionObject_getRollingFriction_0=function(){return(Hb=b._emscripten_bind_btCollisionObject_getRollingFriction_0=b.asm.T).apply(null,
+arguments)},Ib=b._emscripten_bind_btCollisionObject_setRestitution_1=function(){return(Ib=b._emscripten_bind_btCollisionObject_setRestitution_1=b.asm.U).apply(null,arguments)},Jb=b._emscripten_bind_btCollisionObject_setFriction_1=function(){return(Jb=b._emscripten_bind_btCollisionObject_setFriction_1=b.asm.V).apply(null,arguments)},Kb=b._emscripten_bind_btCollisionObject_setRollingFriction_1=function(){return(Kb=b._emscripten_bind_btCollisionObject_setRollingFriction_1=b.asm.W).apply(null,arguments)},
+Lb=b._emscripten_bind_btCollisionObject_getWorldTransform_0=function(){return(Lb=b._emscripten_bind_btCollisionObject_getWorldTransform_0=b.asm.X).apply(null,arguments)},Mb=b._emscripten_bind_btCollisionObject_getCollisionFlags_0=function(){return(Mb=b._emscripten_bind_btCollisionObject_getCollisionFlags_0=b.asm.Y).apply(null,arguments)},Nb=b._emscripten_bind_btCollisionObject_setCollisionFlags_1=function(){return(Nb=b._emscripten_bind_btCollisionObject_setCollisionFlags_1=b.asm.Z).apply(null,arguments)},
+Ob=b._emscripten_bind_btCollisionObject_setWorldTransform_1=function(){return(Ob=b._emscripten_bind_btCollisionObject_setWorldTransform_1=b.asm._).apply(null,arguments)},Pb=b._emscripten_bind_btCollisionObject_setCollisionShape_1=function(){return(Pb=b._emscripten_bind_btCollisionObject_setCollisionShape_1=b.asm.$).apply(null,arguments)},Qb=b._emscripten_bind_btCollisionObject_setCcdMotionThreshold_1=function(){return(Qb=b._emscripten_bind_btCollisionObject_setCcdMotionThreshold_1=b.asm.aa).apply(null,
+arguments)},Rb=b._emscripten_bind_btCollisionObject_setCcdSweptSphereRadius_1=function(){return(Rb=b._emscripten_bind_btCollisionObject_setCcdSweptSphereRadius_1=b.asm.ba).apply(null,arguments)},Sb=b._emscripten_bind_btCollisionObject_getUserIndex_0=function(){return(Sb=b._emscripten_bind_btCollisionObject_getUserIndex_0=b.asm.ca).apply(null,arguments)},Tb=b._emscripten_bind_btCollisionObject_setUserIndex_1=function(){return(Tb=b._emscripten_bind_btCollisionObject_setUserIndex_1=b.asm.da).apply(null,
+arguments)},Ub=b._emscripten_bind_btCollisionObject_getUserPointer_0=function(){return(Ub=b._emscripten_bind_btCollisionObject_getUserPointer_0=b.asm.ea).apply(null,arguments)},Vb=b._emscripten_bind_btCollisionObject_setUserPointer_1=function(){return(Vb=b._emscripten_bind_btCollisionObject_setUserPointer_1=b.asm.fa).apply(null,arguments)},Wb=b._emscripten_bind_btCollisionObject_getBroadphaseHandle_0=function(){return(Wb=b._emscripten_bind_btCollisionObject_getBroadphaseHandle_0=b.asm.ga).apply(null,
+arguments)},Xb=b._emscripten_bind_btCollisionObject___destroy___0=function(){return(Xb=b._emscripten_bind_btCollisionObject___destroy___0=b.asm.ha).apply(null,arguments)},Yb=b._emscripten_bind_btConcaveShape_setLocalScaling_1=function(){return(Yb=b._emscripten_bind_btConcaveShape_setLocalScaling_1=b.asm.ia).apply(null,arguments)},Zb=b._emscripten_bind_btConcaveShape_getLocalScaling_0=function(){return(Zb=b._emscripten_bind_btConcaveShape_getLocalScaling_0=b.asm.ja).apply(null,arguments)},$b=b._emscripten_bind_btConcaveShape_calculateLocalInertia_2=
+function(){return($b=b._emscripten_bind_btConcaveShape_calculateLocalInertia_2=b.asm.ka).apply(null,arguments)},ac=b._emscripten_bind_btConcaveShape___destroy___0=function(){return(ac=b._emscripten_bind_btConcaveShape___destroy___0=b.asm.la).apply(null,arguments)},bc=b._emscripten_bind_btCollisionAlgorithm___destroy___0=function(){return(bc=b._emscripten_bind_btCollisionAlgorithm___destroy___0=b.asm.ma).apply(null,arguments)},cc=b._emscripten_bind_btTypedConstraint_enableFeedback_1=function(){return(cc=
+b._emscripten_bind_btTypedConstraint_enableFeedback_1=b.asm.na).apply(null,arguments)},ec=b._emscripten_bind_btTypedConstraint_getBreakingImpulseThreshold_0=function(){return(ec=b._emscripten_bind_btTypedConstraint_getBreakingImpulseThreshold_0=b.asm.oa).apply(null,arguments)},fc=b._emscripten_bind_btTypedConstraint_setBreakingImpulseThreshold_1=function(){return(fc=b._emscripten_bind_btTypedConstraint_setBreakingImpulseThreshold_1=b.asm.pa).apply(null,arguments)},gc=b._emscripten_bind_btTypedConstraint_getParam_2=
+function(){return(gc=b._emscripten_bind_btTypedConstraint_getParam_2=b.asm.qa).apply(null,arguments)},hc=b._emscripten_bind_btTypedConstraint_setParam_3=function(){return(hc=b._emscripten_bind_btTypedConstraint_setParam_3=b.asm.ra).apply(null,arguments)},ic=b._emscripten_bind_btTypedConstraint___destroy___0=function(){return(ic=b._emscripten_bind_btTypedConstraint___destroy___0=b.asm.sa).apply(null,arguments)},jc=b._emscripten_bind_btDynamicsWorld_addAction_1=function(){return(jc=b._emscripten_bind_btDynamicsWorld_addAction_1=
+b.asm.ta).apply(null,arguments)},kc=b._emscripten_bind_btDynamicsWorld_removeAction_1=function(){return(kc=b._emscripten_bind_btDynamicsWorld_removeAction_1=b.asm.ua).apply(null,arguments)},lc=b._emscripten_bind_btDynamicsWorld_getSolverInfo_0=function(){return(lc=b._emscripten_bind_btDynamicsWorld_getSolverInfo_0=b.asm.va).apply(null,arguments)},mc=b._emscripten_bind_btDynamicsWorld_setInternalTickCallback_1=function(){return(mc=b._emscripten_bind_btDynamicsWorld_setInternalTickCallback_1=b.asm.wa).apply(null,
+arguments)},nc=b._emscripten_bind_btDynamicsWorld_setInternalTickCallback_2=function(){return(nc=b._emscripten_bind_btDynamicsWorld_setInternalTickCallback_2=b.asm.xa).apply(null,arguments)},oc=b._emscripten_bind_btDynamicsWorld_setInternalTickCallback_3=function(){return(oc=b._emscripten_bind_btDynamicsWorld_setInternalTickCallback_3=b.asm.ya).apply(null,arguments)},pc=b._emscripten_bind_btDynamicsWorld_getDispatcher_0=function(){return(pc=b._emscripten_bind_btDynamicsWorld_getDispatcher_0=b.asm.za).apply(null,
+arguments)},qc=b._emscripten_bind_btDynamicsWorld_rayTest_3=function(){return(qc=b._emscripten_bind_btDynamicsWorld_rayTest_3=b.asm.Aa).apply(null,arguments)},rc=b._emscripten_bind_btDynamicsWorld_getPairCache_0=function(){return(rc=b._emscripten_bind_btDynamicsWorld_getPairCache_0=b.asm.Ba).apply(null,arguments)},sc=b._emscripten_bind_btDynamicsWorld_getDispatchInfo_0=function(){return(sc=b._emscripten_bind_btDynamicsWorld_getDispatchInfo_0=b.asm.Ca).apply(null,arguments)},tc=b._emscripten_bind_btDynamicsWorld_addCollisionObject_1=
+function(){return(tc=b._emscripten_bind_btDynamicsWorld_addCollisionObject_1=b.asm.Da).apply(null,arguments)},uc=b._emscripten_bind_btDynamicsWorld_addCollisionObject_2=function(){return(uc=b._emscripten_bind_btDynamicsWorld_addCollisionObject_2=b.asm.Ea).apply(null,arguments)},vc=b._emscripten_bind_btDynamicsWorld_addCollisionObject_3=function(){return(vc=b._emscripten_bind_btDynamicsWorld_addCollisionObject_3=b.asm.Fa).apply(null,arguments)},wc=b._emscripten_bind_btDynamicsWorld_removeCollisionObject_1=
+function(){return(wc=b._emscripten_bind_btDynamicsWorld_removeCollisionObject_1=b.asm.Ga).apply(null,arguments)},xc=b._emscripten_bind_btDynamicsWorld_getBroadphase_0=function(){return(xc=b._emscripten_bind_btDynamicsWorld_getBroadphase_0=b.asm.Ha).apply(null,arguments)},yc=b._emscripten_bind_btDynamicsWorld_convexSweepTest_5=function(){return(yc=b._emscripten_bind_btDynamicsWorld_convexSweepTest_5=b.asm.Ia).apply(null,arguments)},zc=b._emscripten_bind_btDynamicsWorld_contactPairTest_3=function(){return(zc=
+b._emscripten_bind_btDynamicsWorld_contactPairTest_3=b.asm.Ja).apply(null,arguments)},Ac=b._emscripten_bind_btDynamicsWorld_contactTest_2=function(){return(Ac=b._emscripten_bind_btDynamicsWorld_contactTest_2=b.asm.Ka).apply(null,arguments)},Bc=b._emscripten_bind_btDynamicsWorld_updateSingleAabb_1=function(){return(Bc=b._emscripten_bind_btDynamicsWorld_updateSingleAabb_1=b.asm.La).apply(null,arguments)},Cc=b._emscripten_bind_btDynamicsWorld_setDebugDrawer_1=function(){return(Cc=b._emscripten_bind_btDynamicsWorld_setDebugDrawer_1=
+b.asm.Ma).apply(null,arguments)},Dc=b._emscripten_bind_btDynamicsWorld_getDebugDrawer_0=function(){return(Dc=b._emscripten_bind_btDynamicsWorld_getDebugDrawer_0=b.asm.Na).apply(null,arguments)},Ec=b._emscripten_bind_btDynamicsWorld_debugDrawWorld_0=function(){return(Ec=b._emscripten_bind_btDynamicsWorld_debugDrawWorld_0=b.asm.Oa).apply(null,arguments)},Fc=b._emscripten_bind_btDynamicsWorld_debugDrawObject_3=function(){return(Fc=b._emscripten_bind_btDynamicsWorld_debugDrawObject_3=b.asm.Pa).apply(null,
+arguments)},Gc=b._emscripten_bind_btDynamicsWorld___destroy___0=function(){return(Gc=b._emscripten_bind_btDynamicsWorld___destroy___0=b.asm.Qa).apply(null,arguments)},Hc=b._emscripten_bind_btIDebugDraw_drawLine_3=function(){return(Hc=b._emscripten_bind_btIDebugDraw_drawLine_3=b.asm.Ra).apply(null,arguments)},Ic=b._emscripten_bind_btIDebugDraw_drawContactPoint_5=function(){return(Ic=b._emscripten_bind_btIDebugDraw_drawContactPoint_5=b.asm.Sa).apply(null,arguments)},Jc=b._emscripten_bind_btIDebugDraw_reportErrorWarning_1=
+function(){return(Jc=b._emscripten_bind_btIDebugDraw_reportErrorWarning_1=b.asm.Ta).apply(null,arguments)},Kc=b._emscripten_bind_btIDebugDraw_draw3dText_2=function(){return(Kc=b._emscripten_bind_btIDebugDraw_draw3dText_2=b.asm.Ua).apply(null,arguments)},Lc=b._emscripten_bind_btIDebugDraw_setDebugMode_1=function(){return(Lc=b._emscripten_bind_btIDebugDraw_setDebugMode_1=b.asm.Va).apply(null,arguments)},Mc=b._emscripten_bind_btIDebugDraw_getDebugMode_0=function(){return(Mc=b._emscripten_bind_btIDebugDraw_getDebugMode_0=
+b.asm.Wa).apply(null,arguments)},Nc=b._emscripten_bind_btIDebugDraw___destroy___0=function(){return(Nc=b._emscripten_bind_btIDebugDraw___destroy___0=b.asm.Xa).apply(null,arguments)},Oc=b._emscripten_bind_btVector3_btVector3_0=function(){return(Oc=b._emscripten_bind_btVector3_btVector3_0=b.asm.Ya).apply(null,arguments)},Pc=b._emscripten_bind_btVector3_btVector3_3=function(){return(Pc=b._emscripten_bind_btVector3_btVector3_3=b.asm.Za).apply(null,arguments)},Qc=b._emscripten_bind_btVector3_length_0=
+function(){return(Qc=b._emscripten_bind_btVector3_length_0=b.asm._a).apply(null,arguments)},Rc=b._emscripten_bind_btVector3_x_0=function(){return(Rc=b._emscripten_bind_btVector3_x_0=b.asm.$a).apply(null,arguments)},Sc=b._emscripten_bind_btVector3_y_0=function(){return(Sc=b._emscripten_bind_btVector3_y_0=b.asm.ab).apply(null,arguments)},Tc=b._emscripten_bind_btVector3_z_0=function(){return(Tc=b._emscripten_bind_btVector3_z_0=b.asm.bb).apply(null,arguments)},Uc=b._emscripten_bind_btVector3_setX_1=function(){return(Uc=
+b._emscripten_bind_btVector3_setX_1=b.asm.cb).apply(null,arguments)},Vc=b._emscripten_bind_btVector3_setY_1=function(){return(Vc=b._emscripten_bind_btVector3_setY_1=b.asm.db).apply(null,arguments)},Wc=b._emscripten_bind_btVector3_setZ_1=function(){return(Wc=b._emscripten_bind_btVector3_setZ_1=b.asm.eb).apply(null,arguments)},Xc=b._emscripten_bind_btVector3_setValue_3=function(){return(Xc=b._emscripten_bind_btVector3_setValue_3=b.asm.fb).apply(null,arguments)},Yc=b._emscripten_bind_btVector3_normalize_0=
+function(){return(Yc=b._emscripten_bind_btVector3_normalize_0=b.asm.gb).apply(null,arguments)},Zc=b._emscripten_bind_btVector3_rotate_2=function(){return(Zc=b._emscripten_bind_btVector3_rotate_2=b.asm.hb).apply(null,arguments)},$c=b._emscripten_bind_btVector3_dot_1=function(){return($c=b._emscripten_bind_btVector3_dot_1=b.asm.ib).apply(null,arguments)},ad=b._emscripten_bind_btVector3_op_mul_1=function(){return(ad=b._emscripten_bind_btVector3_op_mul_1=b.asm.jb).apply(null,arguments)},bd=b._emscripten_bind_btVector3_op_add_1=
+function(){return(bd=b._emscripten_bind_btVector3_op_add_1=b.asm.kb).apply(null,arguments)},cd=b._emscripten_bind_btVector3_op_sub_1=function(){return(cd=b._emscripten_bind_btVector3_op_sub_1=b.asm.lb).apply(null,arguments)},dd=b._emscripten_bind_btVector3___destroy___0=function(){return(dd=b._emscripten_bind_btVector3___destroy___0=b.asm.mb).apply(null,arguments)},ed=b._emscripten_bind_btQuadWord_x_0=function(){return(ed=b._emscripten_bind_btQuadWord_x_0=b.asm.nb).apply(null,arguments)},fd=b._emscripten_bind_btQuadWord_y_0=
+function(){return(fd=b._emscripten_bind_btQuadWord_y_0=b.asm.ob).apply(null,arguments)},gd=b._emscripten_bind_btQuadWord_z_0=function(){return(gd=b._emscripten_bind_btQuadWord_z_0=b.asm.pb).apply(null,arguments)},hd=b._emscripten_bind_btQuadWord_w_0=function(){return(hd=b._emscripten_bind_btQuadWord_w_0=b.asm.qb).apply(null,arguments)},jd=b._emscripten_bind_btQuadWord_setX_1=function(){return(jd=b._emscripten_bind_btQuadWord_setX_1=b.asm.rb).apply(null,arguments)},kd=b._emscripten_bind_btQuadWord_setY_1=
+function(){return(kd=b._emscripten_bind_btQuadWord_setY_1=b.asm.sb).apply(null,arguments)},ld=b._emscripten_bind_btQuadWord_setZ_1=function(){return(ld=b._emscripten_bind_btQuadWord_setZ_1=b.asm.tb).apply(null,arguments)},md=b._emscripten_bind_btQuadWord_setW_1=function(){return(md=b._emscripten_bind_btQuadWord_setW_1=b.asm.ub).apply(null,arguments)},nd=b._emscripten_bind_btQuadWord___destroy___0=function(){return(nd=b._emscripten_bind_btQuadWord___destroy___0=b.asm.vb).apply(null,arguments)},od=
+b._emscripten_bind_btMotionState_getWorldTransform_1=function(){return(od=b._emscripten_bind_btMotionState_getWorldTransform_1=b.asm.wb).apply(null,arguments)},pd=b._emscripten_bind_btMotionState_setWorldTransform_1=function(){return(pd=b._emscripten_bind_btMotionState_setWorldTransform_1=b.asm.xb).apply(null,arguments)},qd=b._emscripten_bind_btMotionState___destroy___0=function(){return(qd=b._emscripten_bind_btMotionState___destroy___0=b.asm.yb).apply(null,arguments)},rd=b._emscripten_bind_RayResultCallback_hasHit_0=
+function(){return(rd=b._emscripten_bind_RayResultCallback_hasHit_0=b.asm.zb).apply(null,arguments)},sd=b._emscripten_bind_RayResultCallback_get_m_collisionFilterGroup_0=function(){return(sd=b._emscripten_bind_RayResultCallback_get_m_collisionFilterGroup_0=b.asm.Ab).apply(null,arguments)},td=b._emscripten_bind_RayResultCallback_set_m_collisionFilterGroup_1=function(){return(td=b._emscripten_bind_RayResultCallback_set_m_collisionFilterGroup_1=b.asm.Bb).apply(null,arguments)},ud=b._emscripten_bind_RayResultCallback_get_m_collisionFilterMask_0=
+function(){return(ud=b._emscripten_bind_RayResultCallback_get_m_collisionFilterMask_0=b.asm.Cb).apply(null,arguments)},vd=b._emscripten_bind_RayResultCallback_set_m_collisionFilterMask_1=function(){return(vd=b._emscripten_bind_RayResultCallback_set_m_collisionFilterMask_1=b.asm.Db).apply(null,arguments)},wd=b._emscripten_bind_RayResultCallback_get_m_closestHitFraction_0=function(){return(wd=b._emscripten_bind_RayResultCallback_get_m_closestHitFraction_0=b.asm.Eb).apply(null,arguments)},xd=b._emscripten_bind_RayResultCallback_set_m_closestHitFraction_1=
+function(){return(xd=b._emscripten_bind_RayResultCallback_set_m_closestHitFraction_1=b.asm.Fb).apply(null,arguments)},yd=b._emscripten_bind_RayResultCallback_get_m_collisionObject_0=function(){return(yd=b._emscripten_bind_RayResultCallback_get_m_collisionObject_0=b.asm.Gb).apply(null,arguments)},zd=b._emscripten_bind_RayResultCallback_set_m_collisionObject_1=function(){return(zd=b._emscripten_bind_RayResultCallback_set_m_collisionObject_1=b.asm.Hb).apply(null,arguments)},Ad=b._emscripten_bind_RayResultCallback_get_m_flags_0=
+function(){return(Ad=b._emscripten_bind_RayResultCallback_get_m_flags_0=b.asm.Ib).apply(null,arguments)},Bd=b._emscripten_bind_RayResultCallback_set_m_flags_1=function(){return(Bd=b._emscripten_bind_RayResultCallback_set_m_flags_1=b.asm.Jb).apply(null,arguments)},Cd=b._emscripten_bind_RayResultCallback___destroy___0=function(){return(Cd=b._emscripten_bind_RayResultCallback___destroy___0=b.asm.Kb).apply(null,arguments)},Dd=b._emscripten_bind_ContactResultCallback_addSingleResult_7=function(){return(Dd=
+b._emscripten_bind_ContactResultCallback_addSingleResult_7=b.asm.Lb).apply(null,arguments)},Ed=b._emscripten_bind_ContactResultCallback___destroy___0=function(){return(Ed=b._emscripten_bind_ContactResultCallback___destroy___0=b.asm.Mb).apply(null,arguments)},Fd=b._emscripten_bind_ConvexResultCallback_hasHit_0=function(){return(Fd=b._emscripten_bind_ConvexResultCallback_hasHit_0=b.asm.Nb).apply(null,arguments)},Gd=b._emscripten_bind_ConvexResultCallback_get_m_collisionFilterGroup_0=function(){return(Gd=
+b._emscripten_bind_ConvexResultCallback_get_m_collisionFilterGroup_0=b.asm.Ob).apply(null,arguments)},Hd=b._emscripten_bind_ConvexResultCallback_set_m_collisionFilterGroup_1=function(){return(Hd=b._emscripten_bind_ConvexResultCallback_set_m_collisionFilterGroup_1=b.asm.Pb).apply(null,arguments)},Id=b._emscripten_bind_ConvexResultCallback_get_m_collisionFilterMask_0=function(){return(Id=b._emscripten_bind_ConvexResultCallback_get_m_collisionFilterMask_0=b.asm.Qb).apply(null,arguments)},Jd=b._emscripten_bind_ConvexResultCallback_set_m_collisionFilterMask_1=
+function(){return(Jd=b._emscripten_bind_ConvexResultCallback_set_m_collisionFilterMask_1=b.asm.Rb).apply(null,arguments)},Kd=b._emscripten_bind_ConvexResultCallback_get_m_closestHitFraction_0=function(){return(Kd=b._emscripten_bind_ConvexResultCallback_get_m_closestHitFraction_0=b.asm.Sb).apply(null,arguments)},Ld=b._emscripten_bind_ConvexResultCallback_set_m_closestHitFraction_1=function(){return(Ld=b._emscripten_bind_ConvexResultCallback_set_m_closestHitFraction_1=b.asm.Tb).apply(null,arguments)},
+Md=b._emscripten_bind_ConvexResultCallback___destroy___0=function(){return(Md=b._emscripten_bind_ConvexResultCallback___destroy___0=b.asm.Ub).apply(null,arguments)},Nd=b._emscripten_bind_btConvexShape_setLocalScaling_1=function(){return(Nd=b._emscripten_bind_btConvexShape_setLocalScaling_1=b.asm.Vb).apply(null,arguments)},Od=b._emscripten_bind_btConvexShape_getLocalScaling_0=function(){return(Od=b._emscripten_bind_btConvexShape_getLocalScaling_0=b.asm.Wb).apply(null,arguments)},Pd=b._emscripten_bind_btConvexShape_calculateLocalInertia_2=
+function(){return(Pd=b._emscripten_bind_btConvexShape_calculateLocalInertia_2=b.asm.Xb).apply(null,arguments)},Qd=b._emscripten_bind_btConvexShape_setMargin_1=function(){return(Qd=b._emscripten_bind_btConvexShape_setMargin_1=b.asm.Yb).apply(null,arguments)},Rd=b._emscripten_bind_btConvexShape_getMargin_0=function(){return(Rd=b._emscripten_bind_btConvexShape_getMargin_0=b.asm.Zb).apply(null,arguments)},Sd=b._emscripten_bind_btConvexShape___destroy___0=function(){return(Sd=b._emscripten_bind_btConvexShape___destroy___0=
+b.asm._b).apply(null,arguments)},Td=b._emscripten_bind_btCapsuleShape_btCapsuleShape_2=function(){return(Td=b._emscripten_bind_btCapsuleShape_btCapsuleShape_2=b.asm.$b).apply(null,arguments)},Ud=b._emscripten_bind_btCapsuleShape_setMargin_1=function(){return(Ud=b._emscripten_bind_btCapsuleShape_setMargin_1=b.asm.ac).apply(null,arguments)},Vd=b._emscripten_bind_btCapsuleShape_getMargin_0=function(){return(Vd=b._emscripten_bind_btCapsuleShape_getMargin_0=b.asm.bc).apply(null,arguments)},Wd=b._emscripten_bind_btCapsuleShape_getUpAxis_0=
+function(){return(Wd=b._emscripten_bind_btCapsuleShape_getUpAxis_0=b.asm.cc).apply(null,arguments)},Xd=b._emscripten_bind_btCapsuleShape_getRadius_0=function(){return(Xd=b._emscripten_bind_btCapsuleShape_getRadius_0=b.asm.dc).apply(null,arguments)},Yd=b._emscripten_bind_btCapsuleShape_getHalfHeight_0=function(){return(Yd=b._emscripten_bind_btCapsuleShape_getHalfHeight_0=b.asm.ec).apply(null,arguments)},Zd=b._emscripten_bind_btCapsuleShape_setLocalScaling_1=function(){return(Zd=b._emscripten_bind_btCapsuleShape_setLocalScaling_1=
+b.asm.fc).apply(null,arguments)},$d=b._emscripten_bind_btCapsuleShape_getLocalScaling_0=function(){return($d=b._emscripten_bind_btCapsuleShape_getLocalScaling_0=b.asm.gc).apply(null,arguments)},ae=b._emscripten_bind_btCapsuleShape_calculateLocalInertia_2=function(){return(ae=b._emscripten_bind_btCapsuleShape_calculateLocalInertia_2=b.asm.hc).apply(null,arguments)},be=b._emscripten_bind_btCapsuleShape___destroy___0=function(){return(be=b._emscripten_bind_btCapsuleShape___destroy___0=b.asm.ic).apply(null,
+arguments)},ce=b._emscripten_bind_btCylinderShape_btCylinderShape_1=function(){return(ce=b._emscripten_bind_btCylinderShape_btCylinderShape_1=b.asm.jc).apply(null,arguments)},de=b._emscripten_bind_btCylinderShape_setMargin_1=function(){return(de=b._emscripten_bind_btCylinderShape_setMargin_1=b.asm.kc).apply(null,arguments)},ee=b._emscripten_bind_btCylinderShape_getMargin_0=function(){return(ee=b._emscripten_bind_btCylinderShape_getMargin_0=b.asm.lc).apply(null,arguments)},fe=b._emscripten_bind_btCylinderShape_setLocalScaling_1=
+function(){return(fe=b._emscripten_bind_btCylinderShape_setLocalScaling_1=b.asm.mc).apply(null,arguments)},ge=b._emscripten_bind_btCylinderShape_getLocalScaling_0=function(){return(ge=b._emscripten_bind_btCylinderShape_getLocalScaling_0=b.asm.nc).apply(null,arguments)},he=b._emscripten_bind_btCylinderShape_calculateLocalInertia_2=function(){return(he=b._emscripten_bind_btCylinderShape_calculateLocalInertia_2=b.asm.oc).apply(null,arguments)},ie=b._emscripten_bind_btCylinderShape___destroy___0=function(){return(ie=
+b._emscripten_bind_btCylinderShape___destroy___0=b.asm.pc).apply(null,arguments)},je=b._emscripten_bind_btConeShape_btConeShape_2=function(){return(je=b._emscripten_bind_btConeShape_btConeShape_2=b.asm.qc).apply(null,arguments)},ke=b._emscripten_bind_btConeShape_setLocalScaling_1=function(){return(ke=b._emscripten_bind_btConeShape_setLocalScaling_1=b.asm.rc).apply(null,arguments)},le=b._emscripten_bind_btConeShape_getLocalScaling_0=function(){return(le=b._emscripten_bind_btConeShape_getLocalScaling_0=
+b.asm.sc).apply(null,arguments)},me=b._emscripten_bind_btConeShape_calculateLocalInertia_2=function(){return(me=b._emscripten_bind_btConeShape_calculateLocalInertia_2=b.asm.tc).apply(null,arguments)},ne=b._emscripten_bind_btConeShape___destroy___0=function(){return(ne=b._emscripten_bind_btConeShape___destroy___0=b.asm.uc).apply(null,arguments)},oe=b._emscripten_bind_btStridingMeshInterface_setScaling_1=function(){return(oe=b._emscripten_bind_btStridingMeshInterface_setScaling_1=b.asm.vc).apply(null,
+arguments)},pe=b._emscripten_bind_btStridingMeshInterface___destroy___0=function(){return(pe=b._emscripten_bind_btStridingMeshInterface___destroy___0=b.asm.wc).apply(null,arguments)},qe=b._emscripten_bind_btTriangleMeshShape_setLocalScaling_1=function(){return(qe=b._emscripten_bind_btTriangleMeshShape_setLocalScaling_1=b.asm.xc).apply(null,arguments)},re=b._emscripten_bind_btTriangleMeshShape_getLocalScaling_0=function(){return(re=b._emscripten_bind_btTriangleMeshShape_getLocalScaling_0=b.asm.yc).apply(null,
+arguments)},se=b._emscripten_bind_btTriangleMeshShape_calculateLocalInertia_2=function(){return(se=b._emscripten_bind_btTriangleMeshShape_calculateLocalInertia_2=b.asm.zc).apply(null,arguments)},te=b._emscripten_bind_btTriangleMeshShape___destroy___0=function(){return(te=b._emscripten_bind_btTriangleMeshShape___destroy___0=b.asm.Ac).apply(null,arguments)},ue=b._emscripten_bind_btPrimitiveManagerBase_is_trimesh_0=function(){return(ue=b._emscripten_bind_btPrimitiveManagerBase_is_trimesh_0=b.asm.Bc).apply(null,
+arguments)},ve=b._emscripten_bind_btPrimitiveManagerBase_get_primitive_count_0=function(){return(ve=b._emscripten_bind_btPrimitiveManagerBase_get_primitive_count_0=b.asm.Cc).apply(null,arguments)},we=b._emscripten_bind_btPrimitiveManagerBase_get_primitive_box_2=function(){return(we=b._emscripten_bind_btPrimitiveManagerBase_get_primitive_box_2=b.asm.Dc).apply(null,arguments)},xe=b._emscripten_bind_btPrimitiveManagerBase_get_primitive_triangle_2=function(){return(xe=b._emscripten_bind_btPrimitiveManagerBase_get_primitive_triangle_2=
+b.asm.Ec).apply(null,arguments)},ye=b._emscripten_bind_btPrimitiveManagerBase___destroy___0=function(){return(ye=b._emscripten_bind_btPrimitiveManagerBase___destroy___0=b.asm.Fc).apply(null,arguments)},ze=b._emscripten_bind_btGImpactShapeInterface_updateBound_0=function(){return(ze=b._emscripten_bind_btGImpactShapeInterface_updateBound_0=b.asm.Gc).apply(null,arguments)},Ae=b._emscripten_bind_btGImpactShapeInterface_postUpdate_0=function(){return(Ae=b._emscripten_bind_btGImpactShapeInterface_postUpdate_0=
+b.asm.Hc).apply(null,arguments)},Be=b._emscripten_bind_btGImpactShapeInterface_getShapeType_0=function(){return(Be=b._emscripten_bind_btGImpactShapeInterface_getShapeType_0=b.asm.Ic).apply(null,arguments)},Ce=b._emscripten_bind_btGImpactShapeInterface_getName_0=function(){return(Ce=b._emscripten_bind_btGImpactShapeInterface_getName_0=b.asm.Jc).apply(null,arguments)},De=b._emscripten_bind_btGImpactShapeInterface_getGImpactShapeType_0=function(){return(De=b._emscripten_bind_btGImpactShapeInterface_getGImpactShapeType_0=
+b.asm.Kc).apply(null,arguments)},Ee=b._emscripten_bind_btGImpactShapeInterface_getPrimitiveManager_0=function(){return(Ee=b._emscripten_bind_btGImpactShapeInterface_getPrimitiveManager_0=b.asm.Lc).apply(null,arguments)},Fe=b._emscripten_bind_btGImpactShapeInterface_getNumChildShapes_0=function(){return(Fe=b._emscripten_bind_btGImpactShapeInterface_getNumChildShapes_0=b.asm.Mc).apply(null,arguments)},Ge=b._emscripten_bind_btGImpactShapeInterface_childrenHasTransform_0=function(){return(Ge=b._emscripten_bind_btGImpactShapeInterface_childrenHasTransform_0=
+b.asm.Nc).apply(null,arguments)},He=b._emscripten_bind_btGImpactShapeInterface_needsRetrieveTriangles_0=function(){return(He=b._emscripten_bind_btGImpactShapeInterface_needsRetrieveTriangles_0=b.asm.Oc).apply(null,arguments)},Ie=b._emscripten_bind_btGImpactShapeInterface_needsRetrieveTetrahedrons_0=function(){return(Ie=b._emscripten_bind_btGImpactShapeInterface_needsRetrieveTetrahedrons_0=b.asm.Pc).apply(null,arguments)},Je=b._emscripten_bind_btGImpactShapeInterface_getBulletTriangle_2=function(){return(Je=
+b._emscripten_bind_btGImpactShapeInterface_getBulletTriangle_2=b.asm.Qc).apply(null,arguments)},Ke=b._emscripten_bind_btGImpactShapeInterface_getBulletTetrahedron_2=function(){return(Ke=b._emscripten_bind_btGImpactShapeInterface_getBulletTetrahedron_2=b.asm.Rc).apply(null,arguments)},Le=b._emscripten_bind_btGImpactShapeInterface_getChildShape_1=function(){return(Le=b._emscripten_bind_btGImpactShapeInterface_getChildShape_1=b.asm.Sc).apply(null,arguments)},Me=b._emscripten_bind_btGImpactShapeInterface_getChildTransform_1=
+function(){return(Me=b._emscripten_bind_btGImpactShapeInterface_getChildTransform_1=b.asm.Tc).apply(null,arguments)},Ne=b._emscripten_bind_btGImpactShapeInterface_setChildTransform_2=function(){return(Ne=b._emscripten_bind_btGImpactShapeInterface_setChildTransform_2=b.asm.Uc).apply(null,arguments)},Oe=b._emscripten_bind_btGImpactShapeInterface_setLocalScaling_1=function(){return(Oe=b._emscripten_bind_btGImpactShapeInterface_setLocalScaling_1=b.asm.Vc).apply(null,arguments)},Pe=b._emscripten_bind_btGImpactShapeInterface_getLocalScaling_0=
+function(){return(Pe=b._emscripten_bind_btGImpactShapeInterface_getLocalScaling_0=b.asm.Wc).apply(null,arguments)},Qe=b._emscripten_bind_btGImpactShapeInterface_calculateLocalInertia_2=function(){return(Qe=b._emscripten_bind_btGImpactShapeInterface_calculateLocalInertia_2=b.asm.Xc).apply(null,arguments)},Re=b._emscripten_bind_btGImpactShapeInterface___destroy___0=function(){return(Re=b._emscripten_bind_btGImpactShapeInterface___destroy___0=b.asm.Yc).apply(null,arguments)},Se=b._emscripten_bind_btActivatingCollisionAlgorithm___destroy___0=
+function(){return(Se=b._emscripten_bind_btActivatingCollisionAlgorithm___destroy___0=b.asm.Zc).apply(null,arguments)},Te=b._emscripten_bind_btDefaultCollisionConfiguration_btDefaultCollisionConfiguration_0=function(){return(Te=b._emscripten_bind_btDefaultCollisionConfiguration_btDefaultCollisionConfiguration_0=b.asm._c).apply(null,arguments)},Ue=b._emscripten_bind_btDefaultCollisionConfiguration_btDefaultCollisionConfiguration_1=function(){return(Ue=b._emscripten_bind_btDefaultCollisionConfiguration_btDefaultCollisionConfiguration_1=
+b.asm.$c).apply(null,arguments)},Ve=b._emscripten_bind_btDefaultCollisionConfiguration___destroy___0=function(){return(Ve=b._emscripten_bind_btDefaultCollisionConfiguration___destroy___0=b.asm.ad).apply(null,arguments)},We=b._emscripten_bind_btDispatcher_getNumManifolds_0=function(){return(We=b._emscripten_bind_btDispatcher_getNumManifolds_0=b.asm.bd).apply(null,arguments)},Xe=b._emscripten_bind_btDispatcher_getManifoldByIndexInternal_1=function(){return(Xe=b._emscripten_bind_btDispatcher_getManifoldByIndexInternal_1=
+b.asm.cd).apply(null,arguments)},Ye=b._emscripten_bind_btDispatcher___destroy___0=function(){return(Ye=b._emscripten_bind_btDispatcher___destroy___0=b.asm.dd).apply(null,arguments)},Ze=b._emscripten_bind_btGeneric6DofConstraint_btGeneric6DofConstraint_3=function(){return(Ze=b._emscripten_bind_btGeneric6DofConstraint_btGeneric6DofConstraint_3=b.asm.ed).apply(null,arguments)},$e=b._emscripten_bind_btGeneric6DofConstraint_btGeneric6DofConstraint_5=function(){return($e=b._emscripten_bind_btGeneric6DofConstraint_btGeneric6DofConstraint_5=
+b.asm.fd).apply(null,arguments)},af=b._emscripten_bind_btGeneric6DofConstraint_setLinearLowerLimit_1=function(){return(af=b._emscripten_bind_btGeneric6DofConstraint_setLinearLowerLimit_1=b.asm.gd).apply(null,arguments)},bf=b._emscripten_bind_btGeneric6DofConstraint_setLinearUpperLimit_1=function(){return(bf=b._emscripten_bind_btGeneric6DofConstraint_setLinearUpperLimit_1=b.asm.hd).apply(null,arguments)},cf=b._emscripten_bind_btGeneric6DofConstraint_setAngularLowerLimit_1=function(){return(cf=b._emscripten_bind_btGeneric6DofConstraint_setAngularLowerLimit_1=
+b.asm.id).apply(null,arguments)},df=b._emscripten_bind_btGeneric6DofConstraint_setAngularUpperLimit_1=function(){return(df=b._emscripten_bind_btGeneric6DofConstraint_setAngularUpperLimit_1=b.asm.jd).apply(null,arguments)},ef=b._emscripten_bind_btGeneric6DofConstraint_getFrameOffsetA_0=function(){return(ef=b._emscripten_bind_btGeneric6DofConstraint_getFrameOffsetA_0=b.asm.kd).apply(null,arguments)},ff=b._emscripten_bind_btGeneric6DofConstraint_enableFeedback_1=function(){return(ff=b._emscripten_bind_btGeneric6DofConstraint_enableFeedback_1=
+b.asm.ld).apply(null,arguments)},gf=b._emscripten_bind_btGeneric6DofConstraint_getBreakingImpulseThreshold_0=function(){return(gf=b._emscripten_bind_btGeneric6DofConstraint_getBreakingImpulseThreshold_0=b.asm.md).apply(null,arguments)},hf=b._emscripten_bind_btGeneric6DofConstraint_setBreakingImpulseThreshold_1=function(){return(hf=b._emscripten_bind_btGeneric6DofConstraint_setBreakingImpulseThreshold_1=b.asm.nd).apply(null,arguments)},jf=b._emscripten_bind_btGeneric6DofConstraint_getParam_2=function(){return(jf=
+b._emscripten_bind_btGeneric6DofConstraint_getParam_2=b.asm.od).apply(null,arguments)},kf=b._emscripten_bind_btGeneric6DofConstraint_setParam_3=function(){return(kf=b._emscripten_bind_btGeneric6DofConstraint_setParam_3=b.asm.pd).apply(null,arguments)},lf=b._emscripten_bind_btGeneric6DofConstraint___destroy___0=function(){return(lf=b._emscripten_bind_btGeneric6DofConstraint___destroy___0=b.asm.qd).apply(null,arguments)},mf=b._emscripten_bind_btDiscreteDynamicsWorld_btDiscreteDynamicsWorld_4=function(){return(mf=
+b._emscripten_bind_btDiscreteDynamicsWorld_btDiscreteDynamicsWorld_4=b.asm.rd).apply(null,arguments)},nf=b._emscripten_bind_btDiscreteDynamicsWorld_setGravity_1=function(){return(nf=b._emscripten_bind_btDiscreteDynamicsWorld_setGravity_1=b.asm.sd).apply(null,arguments)},of=b._emscripten_bind_btDiscreteDynamicsWorld_getGravity_0=function(){return(of=b._emscripten_bind_btDiscreteDynamicsWorld_getGravity_0=b.asm.td).apply(null,arguments)},pf=b._emscripten_bind_btDiscreteDynamicsWorld_addRigidBody_1=
+function(){return(pf=b._emscripten_bind_btDiscreteDynamicsWorld_addRigidBody_1=b.asm.ud).apply(null,arguments)},qf=b._emscripten_bind_btDiscreteDynamicsWorld_addRigidBody_3=function(){return(qf=b._emscripten_bind_btDiscreteDynamicsWorld_addRigidBody_3=b.asm.vd).apply(null,arguments)},rf=b._emscripten_bind_btDiscreteDynamicsWorld_removeRigidBody_1=function(){return(rf=b._emscripten_bind_btDiscreteDynamicsWorld_removeRigidBody_1=b.asm.wd).apply(null,arguments)},sf=b._emscripten_bind_btDiscreteDynamicsWorld_addConstraint_1=
+function(){return(sf=b._emscripten_bind_btDiscreteDynamicsWorld_addConstraint_1=b.asm.xd).apply(null,arguments)},tf=b._emscripten_bind_btDiscreteDynamicsWorld_addConstraint_2=function(){return(tf=b._emscripten_bind_btDiscreteDynamicsWorld_addConstraint_2=b.asm.yd).apply(null,arguments)},uf=b._emscripten_bind_btDiscreteDynamicsWorld_removeConstraint_1=function(){return(uf=b._emscripten_bind_btDiscreteDynamicsWorld_removeConstraint_1=b.asm.zd).apply(null,arguments)},vf=b._emscripten_bind_btDiscreteDynamicsWorld_stepSimulation_1=
+function(){return(vf=b._emscripten_bind_btDiscreteDynamicsWorld_stepSimulation_1=b.asm.Ad).apply(null,arguments)},wf=b._emscripten_bind_btDiscreteDynamicsWorld_stepSimulation_2=function(){return(wf=b._emscripten_bind_btDiscreteDynamicsWorld_stepSimulation_2=b.asm.Bd).apply(null,arguments)},xf=b._emscripten_bind_btDiscreteDynamicsWorld_stepSimulation_3=function(){return(xf=b._emscripten_bind_btDiscreteDynamicsWorld_stepSimulation_3=b.asm.Cd).apply(null,arguments)},yf=b._emscripten_bind_btDiscreteDynamicsWorld_setContactAddedCallback_1=
+function(){return(yf=b._emscripten_bind_btDiscreteDynamicsWorld_setContactAddedCallback_1=b.asm.Dd).apply(null,arguments)},zf=b._emscripten_bind_btDiscreteDynamicsWorld_setContactProcessedCallback_1=function(){return(zf=b._emscripten_bind_btDiscreteDynamicsWorld_setContactProcessedCallback_1=b.asm.Ed).apply(null,arguments)},Af=b._emscripten_bind_btDiscreteDynamicsWorld_setContactDestroyedCallback_1=function(){return(Af=b._emscripten_bind_btDiscreteDynamicsWorld_setContactDestroyedCallback_1=b.asm.Fd).apply(null,
+arguments)},Bf=b._emscripten_bind_btDiscreteDynamicsWorld_getDispatcher_0=function(){return(Bf=b._emscripten_bind_btDiscreteDynamicsWorld_getDispatcher_0=b.asm.Gd).apply(null,arguments)},Cf=b._emscripten_bind_btDiscreteDynamicsWorld_rayTest_3=function(){return(Cf=b._emscripten_bind_btDiscreteDynamicsWorld_rayTest_3=b.asm.Hd).apply(null,arguments)},Df=b._emscripten_bind_btDiscreteDynamicsWorld_getPairCache_0=function(){return(Df=b._emscripten_bind_btDiscreteDynamicsWorld_getPairCache_0=b.asm.Id).apply(null,
+arguments)},Ef=b._emscripten_bind_btDiscreteDynamicsWorld_getDispatchInfo_0=function(){return(Ef=b._emscripten_bind_btDiscreteDynamicsWorld_getDispatchInfo_0=b.asm.Jd).apply(null,arguments)},Ff=b._emscripten_bind_btDiscreteDynamicsWorld_addCollisionObject_1=function(){return(Ff=b._emscripten_bind_btDiscreteDynamicsWorld_addCollisionObject_1=b.asm.Kd).apply(null,arguments)},Gf=b._emscripten_bind_btDiscreteDynamicsWorld_addCollisionObject_2=function(){return(Gf=b._emscripten_bind_btDiscreteDynamicsWorld_addCollisionObject_2=
+b.asm.Ld).apply(null,arguments)},Hf=b._emscripten_bind_btDiscreteDynamicsWorld_addCollisionObject_3=function(){return(Hf=b._emscripten_bind_btDiscreteDynamicsWorld_addCollisionObject_3=b.asm.Md).apply(null,arguments)},If=b._emscripten_bind_btDiscreteDynamicsWorld_removeCollisionObject_1=function(){return(If=b._emscripten_bind_btDiscreteDynamicsWorld_removeCollisionObject_1=b.asm.Nd).apply(null,arguments)},Jf=b._emscripten_bind_btDiscreteDynamicsWorld_getBroadphase_0=function(){return(Jf=b._emscripten_bind_btDiscreteDynamicsWorld_getBroadphase_0=
+b.asm.Od).apply(null,arguments)},Kf=b._emscripten_bind_btDiscreteDynamicsWorld_convexSweepTest_5=function(){return(Kf=b._emscripten_bind_btDiscreteDynamicsWorld_convexSweepTest_5=b.asm.Pd).apply(null,arguments)},Lf=b._emscripten_bind_btDiscreteDynamicsWorld_contactPairTest_3=function(){return(Lf=b._emscripten_bind_btDiscreteDynamicsWorld_contactPairTest_3=b.asm.Qd).apply(null,arguments)},Mf=b._emscripten_bind_btDiscreteDynamicsWorld_contactTest_2=function(){return(Mf=b._emscripten_bind_btDiscreteDynamicsWorld_contactTest_2=
+b.asm.Rd).apply(null,arguments)},Nf=b._emscripten_bind_btDiscreteDynamicsWorld_updateSingleAabb_1=function(){return(Nf=b._emscripten_bind_btDiscreteDynamicsWorld_updateSingleAabb_1=b.asm.Sd).apply(null,arguments)},Of=b._emscripten_bind_btDiscreteDynamicsWorld_setDebugDrawer_1=function(){return(Of=b._emscripten_bind_btDiscreteDynamicsWorld_setDebugDrawer_1=b.asm.Td).apply(null,arguments)},Pf=b._emscripten_bind_btDiscreteDynamicsWorld_getDebugDrawer_0=function(){return(Pf=b._emscripten_bind_btDiscreteDynamicsWorld_getDebugDrawer_0=
+b.asm.Ud).apply(null,arguments)},Qf=b._emscripten_bind_btDiscreteDynamicsWorld_debugDrawWorld_0=function(){return(Qf=b._emscripten_bind_btDiscreteDynamicsWorld_debugDrawWorld_0=b.asm.Vd).apply(null,arguments)},Rf=b._emscripten_bind_btDiscreteDynamicsWorld_debugDrawObject_3=function(){return(Rf=b._emscripten_bind_btDiscreteDynamicsWorld_debugDrawObject_3=b.asm.Wd).apply(null,arguments)},Sf=b._emscripten_bind_btDiscreteDynamicsWorld_addAction_1=function(){return(Sf=b._emscripten_bind_btDiscreteDynamicsWorld_addAction_1=
+b.asm.Xd).apply(null,arguments)},Tf=b._emscripten_bind_btDiscreteDynamicsWorld_removeAction_1=function(){return(Tf=b._emscripten_bind_btDiscreteDynamicsWorld_removeAction_1=b.asm.Yd).apply(null,arguments)},Uf=b._emscripten_bind_btDiscreteDynamicsWorld_getSolverInfo_0=function(){return(Uf=b._emscripten_bind_btDiscreteDynamicsWorld_getSolverInfo_0=b.asm.Zd).apply(null,arguments)},Vf=b._emscripten_bind_btDiscreteDynamicsWorld_setInternalTickCallback_1=function(){return(Vf=b._emscripten_bind_btDiscreteDynamicsWorld_setInternalTickCallback_1=
+b.asm._d).apply(null,arguments)},Wf=b._emscripten_bind_btDiscreteDynamicsWorld_setInternalTickCallback_2=function(){return(Wf=b._emscripten_bind_btDiscreteDynamicsWorld_setInternalTickCallback_2=b.asm.$d).apply(null,arguments)},Xf=b._emscripten_bind_btDiscreteDynamicsWorld_setInternalTickCallback_3=function(){return(Xf=b._emscripten_bind_btDiscreteDynamicsWorld_setInternalTickCallback_3=b.asm.ae).apply(null,arguments)},Yf=b._emscripten_bind_btDiscreteDynamicsWorld___destroy___0=function(){return(Yf=
+b._emscripten_bind_btDiscreteDynamicsWorld___destroy___0=b.asm.be).apply(null,arguments)},Zf=b._emscripten_bind_btVehicleRaycaster_castRay_3=function(){return(Zf=b._emscripten_bind_btVehicleRaycaster_castRay_3=b.asm.ce).apply(null,arguments)},$f=b._emscripten_bind_btVehicleRaycaster___destroy___0=function(){return($f=b._emscripten_bind_btVehicleRaycaster___destroy___0=b.asm.de).apply(null,arguments)},ag=b._emscripten_bind_btActionInterface_updateAction_2=function(){return(ag=b._emscripten_bind_btActionInterface_updateAction_2=
+b.asm.ee).apply(null,arguments)},bg=b._emscripten_bind_btActionInterface___destroy___0=function(){return(bg=b._emscripten_bind_btActionInterface___destroy___0=b.asm.fe).apply(null,arguments)},cg=b._emscripten_bind_btGhostObject_btGhostObject_0=function(){return(cg=b._emscripten_bind_btGhostObject_btGhostObject_0=b.asm.ge).apply(null,arguments)},dg=b._emscripten_bind_btGhostObject_getNumOverlappingObjects_0=function(){return(dg=b._emscripten_bind_btGhostObject_getNumOverlappingObjects_0=b.asm.he).apply(null,
+arguments)},eg=b._emscripten_bind_btGhostObject_getOverlappingObject_1=function(){return(eg=b._emscripten_bind_btGhostObject_getOverlappingObject_1=b.asm.ie).apply(null,arguments)},fg=b._emscripten_bind_btGhostObject_setAnisotropicFriction_2=function(){return(fg=b._emscripten_bind_btGhostObject_setAnisotropicFriction_2=b.asm.je).apply(null,arguments)},gg=b._emscripten_bind_btGhostObject_getCollisionShape_0=function(){return(gg=b._emscripten_bind_btGhostObject_getCollisionShape_0=b.asm.ke).apply(null,
+arguments)},hg=b._emscripten_bind_btGhostObject_setContactProcessingThreshold_1=function(){return(hg=b._emscripten_bind_btGhostObject_setContactProcessingThreshold_1=b.asm.le).apply(null,arguments)},ig=b._emscripten_bind_btGhostObject_setActivationState_1=function(){return(ig=b._emscripten_bind_btGhostObject_setActivationState_1=b.asm.me).apply(null,arguments)},jg=b._emscripten_bind_btGhostObject_forceActivationState_1=function(){return(jg=b._emscripten_bind_btGhostObject_forceActivationState_1=b.asm.ne).apply(null,
+arguments)},kg=b._emscripten_bind_btGhostObject_activate_0=function(){return(kg=b._emscripten_bind_btGhostObject_activate_0=b.asm.oe).apply(null,arguments)},lg=b._emscripten_bind_btGhostObject_activate_1=function(){return(lg=b._emscripten_bind_btGhostObject_activate_1=b.asm.pe).apply(null,arguments)},mg=b._emscripten_bind_btGhostObject_isActive_0=function(){return(mg=b._emscripten_bind_btGhostObject_isActive_0=b.asm.qe).apply(null,arguments)},ng=b._emscripten_bind_btGhostObject_isKinematicObject_0=
+function(){return(ng=b._emscripten_bind_btGhostObject_isKinematicObject_0=b.asm.re).apply(null,arguments)},og=b._emscripten_bind_btGhostObject_isStaticObject_0=function(){return(og=b._emscripten_bind_btGhostObject_isStaticObject_0=b.asm.se).apply(null,arguments)},pg=b._emscripten_bind_btGhostObject_isStaticOrKinematicObject_0=function(){return(pg=b._emscripten_bind_btGhostObject_isStaticOrKinematicObject_0=b.asm.te).apply(null,arguments)},qg=b._emscripten_bind_btGhostObject_getRestitution_0=function(){return(qg=
+b._emscripten_bind_btGhostObject_getRestitution_0=b.asm.ue).apply(null,arguments)},rg=b._emscripten_bind_btGhostObject_getFriction_0=function(){return(rg=b._emscripten_bind_btGhostObject_getFriction_0=b.asm.ve).apply(null,arguments)},sg=b._emscripten_bind_btGhostObject_getRollingFriction_0=function(){return(sg=b._emscripten_bind_btGhostObject_getRollingFriction_0=b.asm.we).apply(null,arguments)},tg=b._emscripten_bind_btGhostObject_setRestitution_1=function(){return(tg=b._emscripten_bind_btGhostObject_setRestitution_1=
+b.asm.xe).apply(null,arguments)},ug=b._emscripten_bind_btGhostObject_setFriction_1=function(){return(ug=b._emscripten_bind_btGhostObject_setFriction_1=b.asm.ye).apply(null,arguments)},vg=b._emscripten_bind_btGhostObject_setRollingFriction_1=function(){return(vg=b._emscripten_bind_btGhostObject_setRollingFriction_1=b.asm.ze).apply(null,arguments)},wg=b._emscripten_bind_btGhostObject_getWorldTransform_0=function(){return(wg=b._emscripten_bind_btGhostObject_getWorldTransform_0=b.asm.Ae).apply(null,arguments)},
+xg=b._emscripten_bind_btGhostObject_getCollisionFlags_0=function(){return(xg=b._emscripten_bind_btGhostObject_getCollisionFlags_0=b.asm.Be).apply(null,arguments)},yg=b._emscripten_bind_btGhostObject_setCollisionFlags_1=function(){return(yg=b._emscripten_bind_btGhostObject_setCollisionFlags_1=b.asm.Ce).apply(null,arguments)},zg=b._emscripten_bind_btGhostObject_setWorldTransform_1=function(){return(zg=b._emscripten_bind_btGhostObject_setWorldTransform_1=b.asm.De).apply(null,arguments)},Ag=b._emscripten_bind_btGhostObject_setCollisionShape_1=
+function(){return(Ag=b._emscripten_bind_btGhostObject_setCollisionShape_1=b.asm.Ee).apply(null,arguments)},Bg=b._emscripten_bind_btGhostObject_setCcdMotionThreshold_1=function(){return(Bg=b._emscripten_bind_btGhostObject_setCcdMotionThreshold_1=b.asm.Fe).apply(null,arguments)},Cg=b._emscripten_bind_btGhostObject_setCcdSweptSphereRadius_1=function(){return(Cg=b._emscripten_bind_btGhostObject_setCcdSweptSphereRadius_1=b.asm.Ge).apply(null,arguments)},Dg=b._emscripten_bind_btGhostObject_getUserIndex_0=
+function(){return(Dg=b._emscripten_bind_btGhostObject_getUserIndex_0=b.asm.He).apply(null,arguments)},Eg=b._emscripten_bind_btGhostObject_setUserIndex_1=function(){return(Eg=b._emscripten_bind_btGhostObject_setUserIndex_1=b.asm.Ie).apply(null,arguments)},Fg=b._emscripten_bind_btGhostObject_getUserPointer_0=function(){return(Fg=b._emscripten_bind_btGhostObject_getUserPointer_0=b.asm.Je).apply(null,arguments)},Gg=b._emscripten_bind_btGhostObject_setUserPointer_1=function(){return(Gg=b._emscripten_bind_btGhostObject_setUserPointer_1=
+b.asm.Ke).apply(null,arguments)},Hg=b._emscripten_bind_btGhostObject_getBroadphaseHandle_0=function(){return(Hg=b._emscripten_bind_btGhostObject_getBroadphaseHandle_0=b.asm.Le).apply(null,arguments)},Ig=b._emscripten_bind_btGhostObject___destroy___0=function(){return(Ig=b._emscripten_bind_btGhostObject___destroy___0=b.asm.Me).apply(null,arguments)},Jg=b._emscripten_bind_btSoftBodySolver___destroy___0=function(){return(Jg=b._emscripten_bind_btSoftBodySolver___destroy___0=b.asm.Ne).apply(null,arguments)},
+Kg=b._emscripten_bind_VoidPtr___destroy___0=function(){return(Kg=b._emscripten_bind_VoidPtr___destroy___0=b.asm.Oe).apply(null,arguments)},Lg=b._emscripten_bind_DebugDrawer_DebugDrawer_0=function(){return(Lg=b._emscripten_bind_DebugDrawer_DebugDrawer_0=b.asm.Pe).apply(null,arguments)},Mg=b._emscripten_bind_DebugDrawer_drawLine_3=function(){return(Mg=b._emscripten_bind_DebugDrawer_drawLine_3=b.asm.Qe).apply(null,arguments)},Ng=b._emscripten_bind_DebugDrawer_drawContactPoint_5=function(){return(Ng=
+b._emscripten_bind_DebugDrawer_drawContactPoint_5=b.asm.Re).apply(null,arguments)},Og=b._emscripten_bind_DebugDrawer_reportErrorWarning_1=function(){return(Og=b._emscripten_bind_DebugDrawer_reportErrorWarning_1=b.asm.Se).apply(null,arguments)},Pg=b._emscripten_bind_DebugDrawer_draw3dText_2=function(){return(Pg=b._emscripten_bind_DebugDrawer_draw3dText_2=b.asm.Te).apply(null,arguments)},Qg=b._emscripten_bind_DebugDrawer_setDebugMode_1=function(){return(Qg=b._emscripten_bind_DebugDrawer_setDebugMode_1=
+b.asm.Ue).apply(null,arguments)},Rg=b._emscripten_bind_DebugDrawer_getDebugMode_0=function(){return(Rg=b._emscripten_bind_DebugDrawer_getDebugMode_0=b.asm.Ve).apply(null,arguments)},Sg=b._emscripten_bind_DebugDrawer___destroy___0=function(){return(Sg=b._emscripten_bind_DebugDrawer___destroy___0=b.asm.We).apply(null,arguments)},Tg=b._emscripten_bind_btVector4_btVector4_0=function(){return(Tg=b._emscripten_bind_btVector4_btVector4_0=b.asm.Xe).apply(null,arguments)},Ug=b._emscripten_bind_btVector4_btVector4_4=
+function(){return(Ug=b._emscripten_bind_btVector4_btVector4_4=b.asm.Ye).apply(null,arguments)},Vg=b._emscripten_bind_btVector4_w_0=function(){return(Vg=b._emscripten_bind_btVector4_w_0=b.asm.Ze).apply(null,arguments)},Wg=b._emscripten_bind_btVector4_setValue_4=function(){return(Wg=b._emscripten_bind_btVector4_setValue_4=b.asm._e).apply(null,arguments)},Xg=b._emscripten_bind_btVector4_length_0=function(){return(Xg=b._emscripten_bind_btVector4_length_0=b.asm.$e).apply(null,arguments)},Yg=b._emscripten_bind_btVector4_x_0=
+function(){return(Yg=b._emscripten_bind_btVector4_x_0=b.asm.af).apply(null,arguments)},Zg=b._emscripten_bind_btVector4_y_0=function(){return(Zg=b._emscripten_bind_btVector4_y_0=b.asm.bf).apply(null,arguments)},$g=b._emscripten_bind_btVector4_z_0=function(){return($g=b._emscripten_bind_btVector4_z_0=b.asm.cf).apply(null,arguments)},ah=b._emscripten_bind_btVector4_setX_1=function(){return(ah=b._emscripten_bind_btVector4_setX_1=b.asm.df).apply(null,arguments)},bh=b._emscripten_bind_btVector4_setY_1=
+function(){return(bh=b._emscripten_bind_btVector4_setY_1=b.asm.ef).apply(null,arguments)},ch=b._emscripten_bind_btVector4_setZ_1=function(){return(ch=b._emscripten_bind_btVector4_setZ_1=b.asm.ff).apply(null,arguments)},dh=b._emscripten_bind_btVector4_normalize_0=function(){return(dh=b._emscripten_bind_btVector4_normalize_0=b.asm.gf).apply(null,arguments)},eh=b._emscripten_bind_btVector4_rotate_2=function(){return(eh=b._emscripten_bind_btVector4_rotate_2=b.asm.hf).apply(null,arguments)},fh=b._emscripten_bind_btVector4_dot_1=
+function(){return(fh=b._emscripten_bind_btVector4_dot_1=b.asm.jf).apply(null,arguments)},gh=b._emscripten_bind_btVector4_op_mul_1=function(){return(gh=b._emscripten_bind_btVector4_op_mul_1=b.asm.kf).apply(null,arguments)},hh=b._emscripten_bind_btVector4_op_add_1=function(){return(hh=b._emscripten_bind_btVector4_op_add_1=b.asm.lf).apply(null,arguments)},ih=b._emscripten_bind_btVector4_op_sub_1=function(){return(ih=b._emscripten_bind_btVector4_op_sub_1=b.asm.mf).apply(null,arguments)},jh=b._emscripten_bind_btVector4___destroy___0=
+function(){return(jh=b._emscripten_bind_btVector4___destroy___0=b.asm.nf).apply(null,arguments)},kh=b._emscripten_bind_btQuaternion_btQuaternion_4=function(){return(kh=b._emscripten_bind_btQuaternion_btQuaternion_4=b.asm.of).apply(null,arguments)},lh=b._emscripten_bind_btQuaternion_setValue_4=function(){return(lh=b._emscripten_bind_btQuaternion_setValue_4=b.asm.pf).apply(null,arguments)},mh=b._emscripten_bind_btQuaternion_setEulerZYX_3=function(){return(mh=b._emscripten_bind_btQuaternion_setEulerZYX_3=
+b.asm.qf).apply(null,arguments)},nh=b._emscripten_bind_btQuaternion_setRotation_2=function(){return(nh=b._emscripten_bind_btQuaternion_setRotation_2=b.asm.rf).apply(null,arguments)},oh=b._emscripten_bind_btQuaternion_normalize_0=function(){return(oh=b._emscripten_bind_btQuaternion_normalize_0=b.asm.sf).apply(null,arguments)},ph=b._emscripten_bind_btQuaternion_length2_0=function(){return(ph=b._emscripten_bind_btQuaternion_length2_0=b.asm.tf).apply(null,arguments)},qh=b._emscripten_bind_btQuaternion_length_0=
+function(){return(qh=b._emscripten_bind_btQuaternion_length_0=b.asm.uf).apply(null,arguments)},rh=b._emscripten_bind_btQuaternion_dot_1=function(){return(rh=b._emscripten_bind_btQuaternion_dot_1=b.asm.vf).apply(null,arguments)},sh=b._emscripten_bind_btQuaternion_normalized_0=function(){return(sh=b._emscripten_bind_btQuaternion_normalized_0=b.asm.wf).apply(null,arguments)},th=b._emscripten_bind_btQuaternion_getAxis_0=function(){return(th=b._emscripten_bind_btQuaternion_getAxis_0=b.asm.xf).apply(null,
+arguments)},uh=b._emscripten_bind_btQuaternion_inverse_0=function(){return(uh=b._emscripten_bind_btQuaternion_inverse_0=b.asm.yf).apply(null,arguments)},vh=b._emscripten_bind_btQuaternion_getAngle_0=function(){return(vh=b._emscripten_bind_btQuaternion_getAngle_0=b.asm.zf).apply(null,arguments)},wh=b._emscripten_bind_btQuaternion_getAngleShortestPath_0=function(){return(wh=b._emscripten_bind_btQuaternion_getAngleShortestPath_0=b.asm.Af).apply(null,arguments)},xh=b._emscripten_bind_btQuaternion_angle_1=
+function(){return(xh=b._emscripten_bind_btQuaternion_angle_1=b.asm.Bf).apply(null,arguments)},yh=b._emscripten_bind_btQuaternion_angleShortestPath_1=function(){return(yh=b._emscripten_bind_btQuaternion_angleShortestPath_1=b.asm.Cf).apply(null,arguments)},zh=b._emscripten_bind_btQuaternion_op_add_1=function(){return(zh=b._emscripten_bind_btQuaternion_op_add_1=b.asm.Df).apply(null,arguments)},Ah=b._emscripten_bind_btQuaternion_op_sub_1=function(){return(Ah=b._emscripten_bind_btQuaternion_op_sub_1=b.asm.Ef).apply(null,
+arguments)},Bh=b._emscripten_bind_btQuaternion_op_mul_1=function(){return(Bh=b._emscripten_bind_btQuaternion_op_mul_1=b.asm.Ff).apply(null,arguments)},Ch=b._emscripten_bind_btQuaternion_op_mulq_1=function(){return(Ch=b._emscripten_bind_btQuaternion_op_mulq_1=b.asm.Gf).apply(null,arguments)},Dh=b._emscripten_bind_btQuaternion_op_div_1=function(){return(Dh=b._emscripten_bind_btQuaternion_op_div_1=b.asm.Hf).apply(null,arguments)},Eh=b._emscripten_bind_btQuaternion_x_0=function(){return(Eh=b._emscripten_bind_btQuaternion_x_0=
+b.asm.If).apply(null,arguments)},Fh=b._emscripten_bind_btQuaternion_y_0=function(){return(Fh=b._emscripten_bind_btQuaternion_y_0=b.asm.Jf).apply(null,arguments)},Gh=b._emscripten_bind_btQuaternion_z_0=function(){return(Gh=b._emscripten_bind_btQuaternion_z_0=b.asm.Kf).apply(null,arguments)},Hh=b._emscripten_bind_btQuaternion_w_0=function(){return(Hh=b._emscripten_bind_btQuaternion_w_0=b.asm.Lf).apply(null,arguments)},Ih=b._emscripten_bind_btQuaternion_setX_1=function(){return(Ih=b._emscripten_bind_btQuaternion_setX_1=
+b.asm.Mf).apply(null,arguments)},Jh=b._emscripten_bind_btQuaternion_setY_1=function(){return(Jh=b._emscripten_bind_btQuaternion_setY_1=b.asm.Nf).apply(null,arguments)},Kh=b._emscripten_bind_btQuaternion_setZ_1=function(){return(Kh=b._emscripten_bind_btQuaternion_setZ_1=b.asm.Of).apply(null,arguments)},Lh=b._emscripten_bind_btQuaternion_setW_1=function(){return(Lh=b._emscripten_bind_btQuaternion_setW_1=b.asm.Pf).apply(null,arguments)},Mh=b._emscripten_bind_btQuaternion___destroy___0=function(){return(Mh=
+b._emscripten_bind_btQuaternion___destroy___0=b.asm.Qf).apply(null,arguments)},Nh=b._emscripten_bind_btMatrix3x3_setEulerZYX_3=function(){return(Nh=b._emscripten_bind_btMatrix3x3_setEulerZYX_3=b.asm.Rf).apply(null,arguments)},Oh=b._emscripten_bind_btMatrix3x3_getRotation_1=function(){return(Oh=b._emscripten_bind_btMatrix3x3_getRotation_1=b.asm.Sf).apply(null,arguments)},Ph=b._emscripten_bind_btMatrix3x3_getRow_1=function(){return(Ph=b._emscripten_bind_btMatrix3x3_getRow_1=b.asm.Tf).apply(null,arguments)},
+Qh=b._emscripten_bind_btMatrix3x3___destroy___0=function(){return(Qh=b._emscripten_bind_btMatrix3x3___destroy___0=b.asm.Uf).apply(null,arguments)},Rh=b._emscripten_bind_btTransform_btTransform_0=function(){return(Rh=b._emscripten_bind_btTransform_btTransform_0=b.asm.Vf).apply(null,arguments)},Sh=b._emscripten_bind_btTransform_btTransform_2=function(){return(Sh=b._emscripten_bind_btTransform_btTransform_2=b.asm.Wf).apply(null,arguments)},Th=b._emscripten_bind_btTransform_setIdentity_0=function(){return(Th=
+b._emscripten_bind_btTransform_setIdentity_0=b.asm.Xf).apply(null,arguments)},Uh=b._emscripten_bind_btTransform_setOrigin_1=function(){return(Uh=b._emscripten_bind_btTransform_setOrigin_1=b.asm.Yf).apply(null,arguments)},Vh=b._emscripten_bind_btTransform_setRotation_1=function(){return(Vh=b._emscripten_bind_btTransform_setRotation_1=b.asm.Zf).apply(null,arguments)},Wh=b._emscripten_bind_btTransform_getOrigin_0=function(){return(Wh=b._emscripten_bind_btTransform_getOrigin_0=b.asm._f).apply(null,arguments)},
+Xh=b._emscripten_bind_btTransform_getRotation_0=function(){return(Xh=b._emscripten_bind_btTransform_getRotation_0=b.asm.$f).apply(null,arguments)},Yh=b._emscripten_bind_btTransform_getBasis_0=function(){return(Yh=b._emscripten_bind_btTransform_getBasis_0=b.asm.ag).apply(null,arguments)},Zh=b._emscripten_bind_btTransform_setFromOpenGLMatrix_1=function(){return(Zh=b._emscripten_bind_btTransform_setFromOpenGLMatrix_1=b.asm.bg).apply(null,arguments)},$h=b._emscripten_bind_btTransform_inverse_0=function(){return($h=
+b._emscripten_bind_btTransform_inverse_0=b.asm.cg).apply(null,arguments)},ai=b._emscripten_bind_btTransform_op_mul_1=function(){return(ai=b._emscripten_bind_btTransform_op_mul_1=b.asm.dg).apply(null,arguments)},bi=b._emscripten_bind_btTransform___destroy___0=function(){return(bi=b._emscripten_bind_btTransform___destroy___0=b.asm.eg).apply(null,arguments)},ci=b._emscripten_bind_MotionState_MotionState_0=function(){return(ci=b._emscripten_bind_MotionState_MotionState_0=b.asm.fg).apply(null,arguments)},
+di=b._emscripten_bind_MotionState_getWorldTransform_1=function(){return(di=b._emscripten_bind_MotionState_getWorldTransform_1=b.asm.gg).apply(null,arguments)},ei=b._emscripten_bind_MotionState_setWorldTransform_1=function(){return(ei=b._emscripten_bind_MotionState_setWorldTransform_1=b.asm.hg).apply(null,arguments)},fi=b._emscripten_bind_MotionState___destroy___0=function(){return(fi=b._emscripten_bind_MotionState___destroy___0=b.asm.ig).apply(null,arguments)},gi=b._emscripten_bind_btDefaultMotionState_btDefaultMotionState_0=
+function(){return(gi=b._emscripten_bind_btDefaultMotionState_btDefaultMotionState_0=b.asm.jg).apply(null,arguments)},hi=b._emscripten_bind_btDefaultMotionState_btDefaultMotionState_1=function(){return(hi=b._emscripten_bind_btDefaultMotionState_btDefaultMotionState_1=b.asm.kg).apply(null,arguments)},ii=b._emscripten_bind_btDefaultMotionState_btDefaultMotionState_2=function(){return(ii=b._emscripten_bind_btDefaultMotionState_btDefaultMotionState_2=b.asm.lg).apply(null,arguments)},ji=b._emscripten_bind_btDefaultMotionState_getWorldTransform_1=
+function(){return(ji=b._emscripten_bind_btDefaultMotionState_getWorldTransform_1=b.asm.mg).apply(null,arguments)},ki=b._emscripten_bind_btDefaultMotionState_setWorldTransform_1=function(){return(ki=b._emscripten_bind_btDefaultMotionState_setWorldTransform_1=b.asm.ng).apply(null,arguments)},li=b._emscripten_bind_btDefaultMotionState_get_m_graphicsWorldTrans_0=function(){return(li=b._emscripten_bind_btDefaultMotionState_get_m_graphicsWorldTrans_0=b.asm.og).apply(null,arguments)},mi=b._emscripten_bind_btDefaultMotionState_set_m_graphicsWorldTrans_1=
+function(){return(mi=b._emscripten_bind_btDefaultMotionState_set_m_graphicsWorldTrans_1=b.asm.pg).apply(null,arguments)},ni=b._emscripten_bind_btDefaultMotionState___destroy___0=function(){return(ni=b._emscripten_bind_btDefaultMotionState___destroy___0=b.asm.qg).apply(null,arguments)},oi=b._emscripten_bind_btCollisionObjectWrapper_getWorldTransform_0=function(){return(oi=b._emscripten_bind_btCollisionObjectWrapper_getWorldTransform_0=b.asm.rg).apply(null,arguments)},pi=b._emscripten_bind_btCollisionObjectWrapper_getCollisionObject_0=
+function(){return(pi=b._emscripten_bind_btCollisionObjectWrapper_getCollisionObject_0=b.asm.sg).apply(null,arguments)},qi=b._emscripten_bind_btCollisionObjectWrapper_getCollisionShape_0=function(){return(qi=b._emscripten_bind_btCollisionObjectWrapper_getCollisionShape_0=b.asm.tg).apply(null,arguments)},ri=b._emscripten_bind_ClosestRayResultCallback_ClosestRayResultCallback_2=function(){return(ri=b._emscripten_bind_ClosestRayResultCallback_ClosestRayResultCallback_2=b.asm.ug).apply(null,arguments)},
+si=b._emscripten_bind_ClosestRayResultCallback_hasHit_0=function(){return(si=b._emscripten_bind_ClosestRayResultCallback_hasHit_0=b.asm.vg).apply(null,arguments)},ti=b._emscripten_bind_ClosestRayResultCallback_get_m_rayFromWorld_0=function(){return(ti=b._emscripten_bind_ClosestRayResultCallback_get_m_rayFromWorld_0=b.asm.wg).apply(null,arguments)},ui=b._emscripten_bind_ClosestRayResultCallback_set_m_rayFromWorld_1=function(){return(ui=b._emscripten_bind_ClosestRayResultCallback_set_m_rayFromWorld_1=
+b.asm.xg).apply(null,arguments)},vi=b._emscripten_bind_ClosestRayResultCallback_get_m_rayToWorld_0=function(){return(vi=b._emscripten_bind_ClosestRayResultCallback_get_m_rayToWorld_0=b.asm.yg).apply(null,arguments)},wi=b._emscripten_bind_ClosestRayResultCallback_set_m_rayToWorld_1=function(){return(wi=b._emscripten_bind_ClosestRayResultCallback_set_m_rayToWorld_1=b.asm.zg).apply(null,arguments)},xi=b._emscripten_bind_ClosestRayResultCallback_get_m_hitNormalWorld_0=function(){return(xi=b._emscripten_bind_ClosestRayResultCallback_get_m_hitNormalWorld_0=
+b.asm.Ag).apply(null,arguments)},yi=b._emscripten_bind_ClosestRayResultCallback_set_m_hitNormalWorld_1=function(){return(yi=b._emscripten_bind_ClosestRayResultCallback_set_m_hitNormalWorld_1=b.asm.Bg).apply(null,arguments)},zi=b._emscripten_bind_ClosestRayResultCallback_get_m_hitPointWorld_0=function(){return(zi=b._emscripten_bind_ClosestRayResultCallback_get_m_hitPointWorld_0=b.asm.Cg).apply(null,arguments)},Ai=b._emscripten_bind_ClosestRayResultCallback_set_m_hitPointWorld_1=function(){return(Ai=
+b._emscripten_bind_ClosestRayResultCallback_set_m_hitPointWorld_1=b.asm.Dg).apply(null,arguments)},Bi=b._emscripten_bind_ClosestRayResultCallback_get_m_collisionFilterGroup_0=function(){return(Bi=b._emscripten_bind_ClosestRayResultCallback_get_m_collisionFilterGroup_0=b.asm.Eg).apply(null,arguments)},Ci=b._emscripten_bind_ClosestRayResultCallback_set_m_collisionFilterGroup_1=function(){return(Ci=b._emscripten_bind_ClosestRayResultCallback_set_m_collisionFilterGroup_1=b.asm.Fg).apply(null,arguments)},
+Di=b._emscripten_bind_ClosestRayResultCallback_get_m_collisionFilterMask_0=function(){return(Di=b._emscripten_bind_ClosestRayResultCallback_get_m_collisionFilterMask_0=b.asm.Gg).apply(null,arguments)},Ei=b._emscripten_bind_ClosestRayResultCallback_set_m_collisionFilterMask_1=function(){return(Ei=b._emscripten_bind_ClosestRayResultCallback_set_m_collisionFilterMask_1=b.asm.Hg).apply(null,arguments)},Fi=b._emscripten_bind_ClosestRayResultCallback_get_m_closestHitFraction_0=function(){return(Fi=b._emscripten_bind_ClosestRayResultCallback_get_m_closestHitFraction_0=
+b.asm.Ig).apply(null,arguments)},Gi=b._emscripten_bind_ClosestRayResultCallback_set_m_closestHitFraction_1=function(){return(Gi=b._emscripten_bind_ClosestRayResultCallback_set_m_closestHitFraction_1=b.asm.Jg).apply(null,arguments)},Hi=b._emscripten_bind_ClosestRayResultCallback_get_m_collisionObject_0=function(){return(Hi=b._emscripten_bind_ClosestRayResultCallback_get_m_collisionObject_0=b.asm.Kg).apply(null,arguments)},Ii=b._emscripten_bind_ClosestRayResultCallback_set_m_collisionObject_1=function(){return(Ii=
+b._emscripten_bind_ClosestRayResultCallback_set_m_collisionObject_1=b.asm.Lg).apply(null,arguments)},Ji=b._emscripten_bind_ClosestRayResultCallback_get_m_flags_0=function(){return(Ji=b._emscripten_bind_ClosestRayResultCallback_get_m_flags_0=b.asm.Mg).apply(null,arguments)},Ki=b._emscripten_bind_ClosestRayResultCallback_set_m_flags_1=function(){return(Ki=b._emscripten_bind_ClosestRayResultCallback_set_m_flags_1=b.asm.Ng).apply(null,arguments)},Li=b._emscripten_bind_ClosestRayResultCallback___destroy___0=
+function(){return(Li=b._emscripten_bind_ClosestRayResultCallback___destroy___0=b.asm.Og).apply(null,arguments)},Mi=b._emscripten_bind_btConstCollisionObjectArray_size_0=function(){return(Mi=b._emscripten_bind_btConstCollisionObjectArray_size_0=b.asm.Pg).apply(null,arguments)},Ni=b._emscripten_bind_btConstCollisionObjectArray_at_1=function(){return(Ni=b._emscripten_bind_btConstCollisionObjectArray_at_1=b.asm.Qg).apply(null,arguments)},Oi=b._emscripten_bind_btConstCollisionObjectArray___destroy___0=
+function(){return(Oi=b._emscripten_bind_btConstCollisionObjectArray___destroy___0=b.asm.Rg).apply(null,arguments)},Pi=b._emscripten_bind_btScalarArray_size_0=function(){return(Pi=b._emscripten_bind_btScalarArray_size_0=b.asm.Sg).apply(null,arguments)},Qi=b._emscripten_bind_btScalarArray_at_1=function(){return(Qi=b._emscripten_bind_btScalarArray_at_1=b.asm.Tg).apply(null,arguments)},Ri=b._emscripten_bind_btScalarArray___destroy___0=function(){return(Ri=b._emscripten_bind_btScalarArray___destroy___0=
+b.asm.Ug).apply(null,arguments)},Si=b._emscripten_bind_AllHitsRayResultCallback_AllHitsRayResultCallback_2=function(){return(Si=b._emscripten_bind_AllHitsRayResultCallback_AllHitsRayResultCallback_2=b.asm.Vg).apply(null,arguments)},Ti=b._emscripten_bind_AllHitsRayResultCallback_hasHit_0=function(){return(Ti=b._emscripten_bind_AllHitsRayResultCallback_hasHit_0=b.asm.Wg).apply(null,arguments)},Ui=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionObjects_0=function(){return(Ui=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionObjects_0=
+b.asm.Xg).apply(null,arguments)},Vi=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionObjects_1=function(){return(Vi=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionObjects_1=b.asm.Yg).apply(null,arguments)},Wi=b._emscripten_bind_AllHitsRayResultCallback_get_m_rayFromWorld_0=function(){return(Wi=b._emscripten_bind_AllHitsRayResultCallback_get_m_rayFromWorld_0=b.asm.Zg).apply(null,arguments)},Xi=b._emscripten_bind_AllHitsRayResultCallback_set_m_rayFromWorld_1=function(){return(Xi=
+b._emscripten_bind_AllHitsRayResultCallback_set_m_rayFromWorld_1=b.asm._g).apply(null,arguments)},Yi=b._emscripten_bind_AllHitsRayResultCallback_get_m_rayToWorld_0=function(){return(Yi=b._emscripten_bind_AllHitsRayResultCallback_get_m_rayToWorld_0=b.asm.$g).apply(null,arguments)},Zi=b._emscripten_bind_AllHitsRayResultCallback_set_m_rayToWorld_1=function(){return(Zi=b._emscripten_bind_AllHitsRayResultCallback_set_m_rayToWorld_1=b.asm.ah).apply(null,arguments)},$i=b._emscripten_bind_AllHitsRayResultCallback_get_m_hitNormalWorld_0=
+function(){return($i=b._emscripten_bind_AllHitsRayResultCallback_get_m_hitNormalWorld_0=b.asm.bh).apply(null,arguments)},aj=b._emscripten_bind_AllHitsRayResultCallback_set_m_hitNormalWorld_1=function(){return(aj=b._emscripten_bind_AllHitsRayResultCallback_set_m_hitNormalWorld_1=b.asm.ch).apply(null,arguments)},bj=b._emscripten_bind_AllHitsRayResultCallback_get_m_hitPointWorld_0=function(){return(bj=b._emscripten_bind_AllHitsRayResultCallback_get_m_hitPointWorld_0=b.asm.dh).apply(null,arguments)},
+cj=b._emscripten_bind_AllHitsRayResultCallback_set_m_hitPointWorld_1=function(){return(cj=b._emscripten_bind_AllHitsRayResultCallback_set_m_hitPointWorld_1=b.asm.eh).apply(null,arguments)},dj=b._emscripten_bind_AllHitsRayResultCallback_get_m_hitFractions_0=function(){return(dj=b._emscripten_bind_AllHitsRayResultCallback_get_m_hitFractions_0=b.asm.fh).apply(null,arguments)},ej=b._emscripten_bind_AllHitsRayResultCallback_set_m_hitFractions_1=function(){return(ej=b._emscripten_bind_AllHitsRayResultCallback_set_m_hitFractions_1=
+b.asm.gh).apply(null,arguments)},fj=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionFilterGroup_0=function(){return(fj=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionFilterGroup_0=b.asm.hh).apply(null,arguments)},gj=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionFilterGroup_1=function(){return(gj=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionFilterGroup_1=b.asm.ih).apply(null,arguments)},hj=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionFilterMask_0=
+function(){return(hj=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionFilterMask_0=b.asm.jh).apply(null,arguments)},ij=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionFilterMask_1=function(){return(ij=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionFilterMask_1=b.asm.kh).apply(null,arguments)},jj=b._emscripten_bind_AllHitsRayResultCallback_get_m_closestHitFraction_0=function(){return(jj=b._emscripten_bind_AllHitsRayResultCallback_get_m_closestHitFraction_0=b.asm.lh).apply(null,
+arguments)},kj=b._emscripten_bind_AllHitsRayResultCallback_set_m_closestHitFraction_1=function(){return(kj=b._emscripten_bind_AllHitsRayResultCallback_set_m_closestHitFraction_1=b.asm.mh).apply(null,arguments)},lj=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionObject_0=function(){return(lj=b._emscripten_bind_AllHitsRayResultCallback_get_m_collisionObject_0=b.asm.nh).apply(null,arguments)},mj=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionObject_1=function(){return(mj=b._emscripten_bind_AllHitsRayResultCallback_set_m_collisionObject_1=
+b.asm.oh).apply(null,arguments)},nj=b._emscripten_bind_AllHitsRayResultCallback_get_m_flags_0=function(){return(nj=b._emscripten_bind_AllHitsRayResultCallback_get_m_flags_0=b.asm.ph).apply(null,arguments)},oj=b._emscripten_bind_AllHitsRayResultCallback_set_m_flags_1=function(){return(oj=b._emscripten_bind_AllHitsRayResultCallback_set_m_flags_1=b.asm.qh).apply(null,arguments)},pj=b._emscripten_bind_AllHitsRayResultCallback___destroy___0=function(){return(pj=b._emscripten_bind_AllHitsRayResultCallback___destroy___0=
+b.asm.rh).apply(null,arguments)},qj=b._emscripten_bind_btManifoldPoint_getPositionWorldOnA_0=function(){return(qj=b._emscripten_bind_btManifoldPoint_getPositionWorldOnA_0=b.asm.sh).apply(null,arguments)},rj=b._emscripten_bind_btManifoldPoint_getPositionWorldOnB_0=function(){return(rj=b._emscripten_bind_btManifoldPoint_getPositionWorldOnB_0=b.asm.th).apply(null,arguments)},sj=b._emscripten_bind_btManifoldPoint_getAppliedImpulse_0=function(){return(sj=b._emscripten_bind_btManifoldPoint_getAppliedImpulse_0=
+b.asm.uh).apply(null,arguments)},tj=b._emscripten_bind_btManifoldPoint_getDistance_0=function(){return(tj=b._emscripten_bind_btManifoldPoint_getDistance_0=b.asm.vh).apply(null,arguments)},uj=b._emscripten_bind_btManifoldPoint_get_m_localPointA_0=function(){return(uj=b._emscripten_bind_btManifoldPoint_get_m_localPointA_0=b.asm.wh).apply(null,arguments)},vj=b._emscripten_bind_btManifoldPoint_set_m_localPointA_1=function(){return(vj=b._emscripten_bind_btManifoldPoint_set_m_localPointA_1=b.asm.xh).apply(null,
+arguments)},wj=b._emscripten_bind_btManifoldPoint_get_m_localPointB_0=function(){return(wj=b._emscripten_bind_btManifoldPoint_get_m_localPointB_0=b.asm.yh).apply(null,arguments)},xj=b._emscripten_bind_btManifoldPoint_set_m_localPointB_1=function(){return(xj=b._emscripten_bind_btManifoldPoint_set_m_localPointB_1=b.asm.zh).apply(null,arguments)},yj=b._emscripten_bind_btManifoldPoint_get_m_positionWorldOnB_0=function(){return(yj=b._emscripten_bind_btManifoldPoint_get_m_positionWorldOnB_0=b.asm.Ah).apply(null,
+arguments)},zj=b._emscripten_bind_btManifoldPoint_set_m_positionWorldOnB_1=function(){return(zj=b._emscripten_bind_btManifoldPoint_set_m_positionWorldOnB_1=b.asm.Bh).apply(null,arguments)},Aj=b._emscripten_bind_btManifoldPoint_get_m_positionWorldOnA_0=function(){return(Aj=b._emscripten_bind_btManifoldPoint_get_m_positionWorldOnA_0=b.asm.Ch).apply(null,arguments)},Bj=b._emscripten_bind_btManifoldPoint_set_m_positionWorldOnA_1=function(){return(Bj=b._emscripten_bind_btManifoldPoint_set_m_positionWorldOnA_1=
+b.asm.Dh).apply(null,arguments)},Cj=b._emscripten_bind_btManifoldPoint_get_m_normalWorldOnB_0=function(){return(Cj=b._emscripten_bind_btManifoldPoint_get_m_normalWorldOnB_0=b.asm.Eh).apply(null,arguments)},Dj=b._emscripten_bind_btManifoldPoint_set_m_normalWorldOnB_1=function(){return(Dj=b._emscripten_bind_btManifoldPoint_set_m_normalWorldOnB_1=b.asm.Fh).apply(null,arguments)},Ej=b._emscripten_bind_btManifoldPoint_get_m_userPersistentData_0=function(){return(Ej=b._emscripten_bind_btManifoldPoint_get_m_userPersistentData_0=
+b.asm.Gh).apply(null,arguments)},Fj=b._emscripten_bind_btManifoldPoint_set_m_userPersistentData_1=function(){return(Fj=b._emscripten_bind_btManifoldPoint_set_m_userPersistentData_1=b.asm.Hh).apply(null,arguments)},Gj=b._emscripten_bind_btManifoldPoint___destroy___0=function(){return(Gj=b._emscripten_bind_btManifoldPoint___destroy___0=b.asm.Ih).apply(null,arguments)},Hj=b._emscripten_bind_ConcreteContactResultCallback_ConcreteContactResultCallback_0=function(){return(Hj=b._emscripten_bind_ConcreteContactResultCallback_ConcreteContactResultCallback_0=
+b.asm.Jh).apply(null,arguments)},Ij=b._emscripten_bind_ConcreteContactResultCallback_addSingleResult_7=function(){return(Ij=b._emscripten_bind_ConcreteContactResultCallback_addSingleResult_7=b.asm.Kh).apply(null,arguments)},Jj=b._emscripten_bind_ConcreteContactResultCallback___destroy___0=function(){return(Jj=b._emscripten_bind_ConcreteContactResultCallback___destroy___0=b.asm.Lh).apply(null,arguments)},Kj=b._emscripten_bind_LocalShapeInfo_get_m_shapePart_0=function(){return(Kj=b._emscripten_bind_LocalShapeInfo_get_m_shapePart_0=
+b.asm.Mh).apply(null,arguments)},Lj=b._emscripten_bind_LocalShapeInfo_set_m_shapePart_1=function(){return(Lj=b._emscripten_bind_LocalShapeInfo_set_m_shapePart_1=b.asm.Nh).apply(null,arguments)},Mj=b._emscripten_bind_LocalShapeInfo_get_m_triangleIndex_0=function(){return(Mj=b._emscripten_bind_LocalShapeInfo_get_m_triangleIndex_0=b.asm.Oh).apply(null,arguments)},Nj=b._emscripten_bind_LocalShapeInfo_set_m_triangleIndex_1=function(){return(Nj=b._emscripten_bind_LocalShapeInfo_set_m_triangleIndex_1=b.asm.Ph).apply(null,
+arguments)},Oj=b._emscripten_bind_LocalShapeInfo___destroy___0=function(){return(Oj=b._emscripten_bind_LocalShapeInfo___destroy___0=b.asm.Qh).apply(null,arguments)},Pj=b._emscripten_bind_LocalConvexResult_LocalConvexResult_5=function(){return(Pj=b._emscripten_bind_LocalConvexResult_LocalConvexResult_5=b.asm.Rh).apply(null,arguments)},Qj=b._emscripten_bind_LocalConvexResult_get_m_hitCollisionObject_0=function(){return(Qj=b._emscripten_bind_LocalConvexResult_get_m_hitCollisionObject_0=b.asm.Sh).apply(null,
+arguments)},Rj=b._emscripten_bind_LocalConvexResult_set_m_hitCollisionObject_1=function(){return(Rj=b._emscripten_bind_LocalConvexResult_set_m_hitCollisionObject_1=b.asm.Th).apply(null,arguments)},Sj=b._emscripten_bind_LocalConvexResult_get_m_localShapeInfo_0=function(){return(Sj=b._emscripten_bind_LocalConvexResult_get_m_localShapeInfo_0=b.asm.Uh).apply(null,arguments)},Tj=b._emscripten_bind_LocalConvexResult_set_m_localShapeInfo_1=function(){return(Tj=b._emscripten_bind_LocalConvexResult_set_m_localShapeInfo_1=
+b.asm.Vh).apply(null,arguments)},Uj=b._emscripten_bind_LocalConvexResult_get_m_hitNormalLocal_0=function(){return(Uj=b._emscripten_bind_LocalConvexResult_get_m_hitNormalLocal_0=b.asm.Wh).apply(null,arguments)},Vj=b._emscripten_bind_LocalConvexResult_set_m_hitNormalLocal_1=function(){return(Vj=b._emscripten_bind_LocalConvexResult_set_m_hitNormalLocal_1=b.asm.Xh).apply(null,arguments)},Wj=b._emscripten_bind_LocalConvexResult_get_m_hitPointLocal_0=function(){return(Wj=b._emscripten_bind_LocalConvexResult_get_m_hitPointLocal_0=
+b.asm.Yh).apply(null,arguments)},Xj=b._emscripten_bind_LocalConvexResult_set_m_hitPointLocal_1=function(){return(Xj=b._emscripten_bind_LocalConvexResult_set_m_hitPointLocal_1=b.asm.Zh).apply(null,arguments)},Yj=b._emscripten_bind_LocalConvexResult_get_m_hitFraction_0=function(){return(Yj=b._emscripten_bind_LocalConvexResult_get_m_hitFraction_0=b.asm._h).apply(null,arguments)},Zj=b._emscripten_bind_LocalConvexResult_set_m_hitFraction_1=function(){return(Zj=b._emscripten_bind_LocalConvexResult_set_m_hitFraction_1=
+b.asm.$h).apply(null,arguments)},ak=b._emscripten_bind_LocalConvexResult___destroy___0=function(){return(ak=b._emscripten_bind_LocalConvexResult___destroy___0=b.asm.ai).apply(null,arguments)},bk=b._emscripten_bind_ClosestConvexResultCallback_ClosestConvexResultCallback_2=function(){return(bk=b._emscripten_bind_ClosestConvexResultCallback_ClosestConvexResultCallback_2=b.asm.bi).apply(null,arguments)},ck=b._emscripten_bind_ClosestConvexResultCallback_hasHit_0=function(){return(ck=b._emscripten_bind_ClosestConvexResultCallback_hasHit_0=
+b.asm.ci).apply(null,arguments)},dk=b._emscripten_bind_ClosestConvexResultCallback_get_m_hitCollisionObject_0=function(){return(dk=b._emscripten_bind_ClosestConvexResultCallback_get_m_hitCollisionObject_0=b.asm.di).apply(null,arguments)},ek=b._emscripten_bind_ClosestConvexResultCallback_set_m_hitCollisionObject_1=function(){return(ek=b._emscripten_bind_ClosestConvexResultCallback_set_m_hitCollisionObject_1=b.asm.ei).apply(null,arguments)},fk=b._emscripten_bind_ClosestConvexResultCallback_get_m_convexFromWorld_0=
+function(){return(fk=b._emscripten_bind_ClosestConvexResultCallback_get_m_convexFromWorld_0=b.asm.fi).apply(null,arguments)},gk=b._emscripten_bind_ClosestConvexResultCallback_set_m_convexFromWorld_1=function(){return(gk=b._emscripten_bind_ClosestConvexResultCallback_set_m_convexFromWorld_1=b.asm.gi).apply(null,arguments)},hk=b._emscripten_bind_ClosestConvexResultCallback_get_m_convexToWorld_0=function(){return(hk=b._emscripten_bind_ClosestConvexResultCallback_get_m_convexToWorld_0=b.asm.hi).apply(null,
+arguments)},ik=b._emscripten_bind_ClosestConvexResultCallback_set_m_convexToWorld_1=function(){return(ik=b._emscripten_bind_ClosestConvexResultCallback_set_m_convexToWorld_1=b.asm.ii).apply(null,arguments)},jk=b._emscripten_bind_ClosestConvexResultCallback_get_m_hitNormalWorld_0=function(){return(jk=b._emscripten_bind_ClosestConvexResultCallback_get_m_hitNormalWorld_0=b.asm.ji).apply(null,arguments)},kk=b._emscripten_bind_ClosestConvexResultCallback_set_m_hitNormalWorld_1=function(){return(kk=b._emscripten_bind_ClosestConvexResultCallback_set_m_hitNormalWorld_1=
+b.asm.ki).apply(null,arguments)},lk=b._emscripten_bind_ClosestConvexResultCallback_get_m_hitPointWorld_0=function(){return(lk=b._emscripten_bind_ClosestConvexResultCallback_get_m_hitPointWorld_0=b.asm.li).apply(null,arguments)},mk=b._emscripten_bind_ClosestConvexResultCallback_set_m_hitPointWorld_1=function(){return(mk=b._emscripten_bind_ClosestConvexResultCallback_set_m_hitPointWorld_1=b.asm.mi).apply(null,arguments)},nk=b._emscripten_bind_ClosestConvexResultCallback_get_m_collisionFilterGroup_0=
+function(){return(nk=b._emscripten_bind_ClosestConvexResultCallback_get_m_collisionFilterGroup_0=b.asm.ni).apply(null,arguments)},ok=b._emscripten_bind_ClosestConvexResultCallback_set_m_collisionFilterGroup_1=function(){return(ok=b._emscripten_bind_ClosestConvexResultCallback_set_m_collisionFilterGroup_1=b.asm.oi).apply(null,arguments)},pk=b._emscripten_bind_ClosestConvexResultCallback_get_m_collisionFilterMask_0=function(){return(pk=b._emscripten_bind_ClosestConvexResultCallback_get_m_collisionFilterMask_0=
+b.asm.pi).apply(null,arguments)},qk=b._emscripten_bind_ClosestConvexResultCallback_set_m_collisionFilterMask_1=function(){return(qk=b._emscripten_bind_ClosestConvexResultCallback_set_m_collisionFilterMask_1=b.asm.qi).apply(null,arguments)},rk=b._emscripten_bind_ClosestConvexResultCallback_get_m_closestHitFraction_0=function(){return(rk=b._emscripten_bind_ClosestConvexResultCallback_get_m_closestHitFraction_0=b.asm.ri).apply(null,arguments)},sk=b._emscripten_bind_ClosestConvexResultCallback_set_m_closestHitFraction_1=
+function(){return(sk=b._emscripten_bind_ClosestConvexResultCallback_set_m_closestHitFraction_1=b.asm.si).apply(null,arguments)},tk=b._emscripten_bind_ClosestConvexResultCallback___destroy___0=function(){return(tk=b._emscripten_bind_ClosestConvexResultCallback___destroy___0=b.asm.ti).apply(null,arguments)},uk=b._emscripten_bind_btConvexTriangleMeshShape_btConvexTriangleMeshShape_1=function(){return(uk=b._emscripten_bind_btConvexTriangleMeshShape_btConvexTriangleMeshShape_1=b.asm.ui).apply(null,arguments)},
+vk=b._emscripten_bind_btConvexTriangleMeshShape_btConvexTriangleMeshShape_2=function(){return(vk=b._emscripten_bind_btConvexTriangleMeshShape_btConvexTriangleMeshShape_2=b.asm.vi).apply(null,arguments)},wk=b._emscripten_bind_btConvexTriangleMeshShape_setLocalScaling_1=function(){return(wk=b._emscripten_bind_btConvexTriangleMeshShape_setLocalScaling_1=b.asm.wi).apply(null,arguments)},xk=b._emscripten_bind_btConvexTriangleMeshShape_getLocalScaling_0=function(){return(xk=b._emscripten_bind_btConvexTriangleMeshShape_getLocalScaling_0=
+b.asm.xi).apply(null,arguments)},yk=b._emscripten_bind_btConvexTriangleMeshShape_calculateLocalInertia_2=function(){return(yk=b._emscripten_bind_btConvexTriangleMeshShape_calculateLocalInertia_2=b.asm.yi).apply(null,arguments)},zk=b._emscripten_bind_btConvexTriangleMeshShape_setMargin_1=function(){return(zk=b._emscripten_bind_btConvexTriangleMeshShape_setMargin_1=b.asm.zi).apply(null,arguments)},Ak=b._emscripten_bind_btConvexTriangleMeshShape_getMargin_0=function(){return(Ak=b._emscripten_bind_btConvexTriangleMeshShape_getMargin_0=
+b.asm.Ai).apply(null,arguments)},Bk=b._emscripten_bind_btConvexTriangleMeshShape___destroy___0=function(){return(Bk=b._emscripten_bind_btConvexTriangleMeshShape___destroy___0=b.asm.Bi).apply(null,arguments)},Ck=b._emscripten_bind_btBoxShape_btBoxShape_1=function(){return(Ck=b._emscripten_bind_btBoxShape_btBoxShape_1=b.asm.Ci).apply(null,arguments)},Dk=b._emscripten_bind_btBoxShape_setMargin_1=function(){return(Dk=b._emscripten_bind_btBoxShape_setMargin_1=b.asm.Di).apply(null,arguments)},Ek=b._emscripten_bind_btBoxShape_getMargin_0=
+function(){return(Ek=b._emscripten_bind_btBoxShape_getMargin_0=b.asm.Ei).apply(null,arguments)},Fk=b._emscripten_bind_btBoxShape_setLocalScaling_1=function(){return(Fk=b._emscripten_bind_btBoxShape_setLocalScaling_1=b.asm.Fi).apply(null,arguments)},Gk=b._emscripten_bind_btBoxShape_getLocalScaling_0=function(){return(Gk=b._emscripten_bind_btBoxShape_getLocalScaling_0=b.asm.Gi).apply(null,arguments)},Hk=b._emscripten_bind_btBoxShape_calculateLocalInertia_2=function(){return(Hk=b._emscripten_bind_btBoxShape_calculateLocalInertia_2=
+b.asm.Hi).apply(null,arguments)},Ik=b._emscripten_bind_btBoxShape___destroy___0=function(){return(Ik=b._emscripten_bind_btBoxShape___destroy___0=b.asm.Ii).apply(null,arguments)},Jk=b._emscripten_bind_btCapsuleShapeX_btCapsuleShapeX_2=function(){return(Jk=b._emscripten_bind_btCapsuleShapeX_btCapsuleShapeX_2=b.asm.Ji).apply(null,arguments)},Kk=b._emscripten_bind_btCapsuleShapeX_setMargin_1=function(){return(Kk=b._emscripten_bind_btCapsuleShapeX_setMargin_1=b.asm.Ki).apply(null,arguments)},Lk=b._emscripten_bind_btCapsuleShapeX_getMargin_0=
+function(){return(Lk=b._emscripten_bind_btCapsuleShapeX_getMargin_0=b.asm.Li).apply(null,arguments)},Mk=b._emscripten_bind_btCapsuleShapeX_getUpAxis_0=function(){return(Mk=b._emscripten_bind_btCapsuleShapeX_getUpAxis_0=b.asm.Mi).apply(null,arguments)},Nk=b._emscripten_bind_btCapsuleShapeX_getRadius_0=function(){return(Nk=b._emscripten_bind_btCapsuleShapeX_getRadius_0=b.asm.Ni).apply(null,arguments)},Ok=b._emscripten_bind_btCapsuleShapeX_getHalfHeight_0=function(){return(Ok=b._emscripten_bind_btCapsuleShapeX_getHalfHeight_0=
+b.asm.Oi).apply(null,arguments)},Pk=b._emscripten_bind_btCapsuleShapeX_setLocalScaling_1=function(){return(Pk=b._emscripten_bind_btCapsuleShapeX_setLocalScaling_1=b.asm.Pi).apply(null,arguments)},Qk=b._emscripten_bind_btCapsuleShapeX_getLocalScaling_0=function(){return(Qk=b._emscripten_bind_btCapsuleShapeX_getLocalScaling_0=b.asm.Qi).apply(null,arguments)},Rk=b._emscripten_bind_btCapsuleShapeX_calculateLocalInertia_2=function(){return(Rk=b._emscripten_bind_btCapsuleShapeX_calculateLocalInertia_2=
+b.asm.Ri).apply(null,arguments)},Sk=b._emscripten_bind_btCapsuleShapeX___destroy___0=function(){return(Sk=b._emscripten_bind_btCapsuleShapeX___destroy___0=b.asm.Si).apply(null,arguments)},Tk=b._emscripten_bind_btCapsuleShapeZ_btCapsuleShapeZ_2=function(){return(Tk=b._emscripten_bind_btCapsuleShapeZ_btCapsuleShapeZ_2=b.asm.Ti).apply(null,arguments)},Uk=b._emscripten_bind_btCapsuleShapeZ_setMargin_1=function(){return(Uk=b._emscripten_bind_btCapsuleShapeZ_setMargin_1=b.asm.Ui).apply(null,arguments)},
+Vk=b._emscripten_bind_btCapsuleShapeZ_getMargin_0=function(){return(Vk=b._emscripten_bind_btCapsuleShapeZ_getMargin_0=b.asm.Vi).apply(null,arguments)},Wk=b._emscripten_bind_btCapsuleShapeZ_getUpAxis_0=function(){return(Wk=b._emscripten_bind_btCapsuleShapeZ_getUpAxis_0=b.asm.Wi).apply(null,arguments)},Xk=b._emscripten_bind_btCapsuleShapeZ_getRadius_0=function(){return(Xk=b._emscripten_bind_btCapsuleShapeZ_getRadius_0=b.asm.Xi).apply(null,arguments)},Yk=b._emscripten_bind_btCapsuleShapeZ_getHalfHeight_0=
+function(){return(Yk=b._emscripten_bind_btCapsuleShapeZ_getHalfHeight_0=b.asm.Yi).apply(null,arguments)},Zk=b._emscripten_bind_btCapsuleShapeZ_setLocalScaling_1=function(){return(Zk=b._emscripten_bind_btCapsuleShapeZ_setLocalScaling_1=b.asm.Zi).apply(null,arguments)},$k=b._emscripten_bind_btCapsuleShapeZ_getLocalScaling_0=function(){return($k=b._emscripten_bind_btCapsuleShapeZ_getLocalScaling_0=b.asm._i).apply(null,arguments)},al=b._emscripten_bind_btCapsuleShapeZ_calculateLocalInertia_2=function(){return(al=
+b._emscripten_bind_btCapsuleShapeZ_calculateLocalInertia_2=b.asm.$i).apply(null,arguments)},bl=b._emscripten_bind_btCapsuleShapeZ___destroy___0=function(){return(bl=b._emscripten_bind_btCapsuleShapeZ___destroy___0=b.asm.aj).apply(null,arguments)},cl=b._emscripten_bind_btCylinderShapeX_btCylinderShapeX_1=function(){return(cl=b._emscripten_bind_btCylinderShapeX_btCylinderShapeX_1=b.asm.bj).apply(null,arguments)},dl=b._emscripten_bind_btCylinderShapeX_setMargin_1=function(){return(dl=b._emscripten_bind_btCylinderShapeX_setMargin_1=
+b.asm.cj).apply(null,arguments)},el=b._emscripten_bind_btCylinderShapeX_getMargin_0=function(){return(el=b._emscripten_bind_btCylinderShapeX_getMargin_0=b.asm.dj).apply(null,arguments)},fl=b._emscripten_bind_btCylinderShapeX_setLocalScaling_1=function(){return(fl=b._emscripten_bind_btCylinderShapeX_setLocalScaling_1=b.asm.ej).apply(null,arguments)},gl=b._emscripten_bind_btCylinderShapeX_getLocalScaling_0=function(){return(gl=b._emscripten_bind_btCylinderShapeX_getLocalScaling_0=b.asm.fj).apply(null,
+arguments)},hl=b._emscripten_bind_btCylinderShapeX_calculateLocalInertia_2=function(){return(hl=b._emscripten_bind_btCylinderShapeX_calculateLocalInertia_2=b.asm.gj).apply(null,arguments)},il=b._emscripten_bind_btCylinderShapeX___destroy___0=function(){return(il=b._emscripten_bind_btCylinderShapeX___destroy___0=b.asm.hj).apply(null,arguments)},jl=b._emscripten_bind_btCylinderShapeZ_btCylinderShapeZ_1=function(){return(jl=b._emscripten_bind_btCylinderShapeZ_btCylinderShapeZ_1=b.asm.ij).apply(null,
+arguments)},kl=b._emscripten_bind_btCylinderShapeZ_setMargin_1=function(){return(kl=b._emscripten_bind_btCylinderShapeZ_setMargin_1=b.asm.jj).apply(null,arguments)},ll=b._emscripten_bind_btCylinderShapeZ_getMargin_0=function(){return(ll=b._emscripten_bind_btCylinderShapeZ_getMargin_0=b.asm.kj).apply(null,arguments)},ml=b._emscripten_bind_btCylinderShapeZ_setLocalScaling_1=function(){return(ml=b._emscripten_bind_btCylinderShapeZ_setLocalScaling_1=b.asm.lj).apply(null,arguments)},nl=b._emscripten_bind_btCylinderShapeZ_getLocalScaling_0=
+function(){return(nl=b._emscripten_bind_btCylinderShapeZ_getLocalScaling_0=b.asm.mj).apply(null,arguments)},ol=b._emscripten_bind_btCylinderShapeZ_calculateLocalInertia_2=function(){return(ol=b._emscripten_bind_btCylinderShapeZ_calculateLocalInertia_2=b.asm.nj).apply(null,arguments)},pl=b._emscripten_bind_btCylinderShapeZ___destroy___0=function(){return(pl=b._emscripten_bind_btCylinderShapeZ___destroy___0=b.asm.oj).apply(null,arguments)},ql=b._emscripten_bind_btSphereShape_btSphereShape_1=function(){return(ql=
+b._emscripten_bind_btSphereShape_btSphereShape_1=b.asm.pj).apply(null,arguments)},rl=b._emscripten_bind_btSphereShape_setMargin_1=function(){return(rl=b._emscripten_bind_btSphereShape_setMargin_1=b.asm.qj).apply(null,arguments)},sl=b._emscripten_bind_btSphereShape_getMargin_0=function(){return(sl=b._emscripten_bind_btSphereShape_getMargin_0=b.asm.rj).apply(null,arguments)},tl=b._emscripten_bind_btSphereShape_setLocalScaling_1=function(){return(tl=b._emscripten_bind_btSphereShape_setLocalScaling_1=
+b.asm.sj).apply(null,arguments)},ul=b._emscripten_bind_btSphereShape_getLocalScaling_0=function(){return(ul=b._emscripten_bind_btSphereShape_getLocalScaling_0=b.asm.tj).apply(null,arguments)},vl=b._emscripten_bind_btSphereShape_calculateLocalInertia_2=function(){return(vl=b._emscripten_bind_btSphereShape_calculateLocalInertia_2=b.asm.uj).apply(null,arguments)},wl=b._emscripten_bind_btSphereShape___destroy___0=function(){return(wl=b._emscripten_bind_btSphereShape___destroy___0=b.asm.vj).apply(null,
+arguments)},xl=b._emscripten_bind_btMultiSphereShape_btMultiSphereShape_3=function(){return(xl=b._emscripten_bind_btMultiSphereShape_btMultiSphereShape_3=b.asm.wj).apply(null,arguments)},yl=b._emscripten_bind_btMultiSphereShape_setLocalScaling_1=function(){return(yl=b._emscripten_bind_btMultiSphereShape_setLocalScaling_1=b.asm.xj).apply(null,arguments)},zl=b._emscripten_bind_btMultiSphereShape_getLocalScaling_0=function(){return(zl=b._emscripten_bind_btMultiSphereShape_getLocalScaling_0=b.asm.yj).apply(null,
+arguments)},Al=b._emscripten_bind_btMultiSphereShape_calculateLocalInertia_2=function(){return(Al=b._emscripten_bind_btMultiSphereShape_calculateLocalInertia_2=b.asm.zj).apply(null,arguments)},Bl=b._emscripten_bind_btMultiSphereShape___destroy___0=function(){return(Bl=b._emscripten_bind_btMultiSphereShape___destroy___0=b.asm.Aj).apply(null,arguments)},Cl=b._emscripten_bind_btConeShapeX_btConeShapeX_2=function(){return(Cl=b._emscripten_bind_btConeShapeX_btConeShapeX_2=b.asm.Bj).apply(null,arguments)},
+Dl=b._emscripten_bind_btConeShapeX_setLocalScaling_1=function(){return(Dl=b._emscripten_bind_btConeShapeX_setLocalScaling_1=b.asm.Cj).apply(null,arguments)},El=b._emscripten_bind_btConeShapeX_getLocalScaling_0=function(){return(El=b._emscripten_bind_btConeShapeX_getLocalScaling_0=b.asm.Dj).apply(null,arguments)},Fl=b._emscripten_bind_btConeShapeX_calculateLocalInertia_2=function(){return(Fl=b._emscripten_bind_btConeShapeX_calculateLocalInertia_2=b.asm.Ej).apply(null,arguments)},Gl=b._emscripten_bind_btConeShapeX___destroy___0=
+function(){return(Gl=b._emscripten_bind_btConeShapeX___destroy___0=b.asm.Fj).apply(null,arguments)},Hl=b._emscripten_bind_btConeShapeZ_btConeShapeZ_2=function(){return(Hl=b._emscripten_bind_btConeShapeZ_btConeShapeZ_2=b.asm.Gj).apply(null,arguments)},Il=b._emscripten_bind_btConeShapeZ_setLocalScaling_1=function(){return(Il=b._emscripten_bind_btConeShapeZ_setLocalScaling_1=b.asm.Hj).apply(null,arguments)},Jl=b._emscripten_bind_btConeShapeZ_getLocalScaling_0=function(){return(Jl=b._emscripten_bind_btConeShapeZ_getLocalScaling_0=
+b.asm.Ij).apply(null,arguments)},Kl=b._emscripten_bind_btConeShapeZ_calculateLocalInertia_2=function(){return(Kl=b._emscripten_bind_btConeShapeZ_calculateLocalInertia_2=b.asm.Jj).apply(null,arguments)},Ll=b._emscripten_bind_btConeShapeZ___destroy___0=function(){return(Ll=b._emscripten_bind_btConeShapeZ___destroy___0=b.asm.Kj).apply(null,arguments)},Ml=b._emscripten_bind_btIntArray_size_0=function(){return(Ml=b._emscripten_bind_btIntArray_size_0=b.asm.Lj).apply(null,arguments)},Nl=b._emscripten_bind_btIntArray_at_1=
+function(){return(Nl=b._emscripten_bind_btIntArray_at_1=b.asm.Mj).apply(null,arguments)},Ol=b._emscripten_bind_btIntArray___destroy___0=function(){return(Ol=b._emscripten_bind_btIntArray___destroy___0=b.asm.Nj).apply(null,arguments)},Pl=b._emscripten_bind_btFace_get_m_indices_0=function(){return(Pl=b._emscripten_bind_btFace_get_m_indices_0=b.asm.Oj).apply(null,arguments)},Ql=b._emscripten_bind_btFace_set_m_indices_1=function(){return(Ql=b._emscripten_bind_btFace_set_m_indices_1=b.asm.Pj).apply(null,
+arguments)},Rl=b._emscripten_bind_btFace_get_m_plane_1=function(){return(Rl=b._emscripten_bind_btFace_get_m_plane_1=b.asm.Qj).apply(null,arguments)},Sl=b._emscripten_bind_btFace_set_m_plane_2=function(){return(Sl=b._emscripten_bind_btFace_set_m_plane_2=b.asm.Rj).apply(null,arguments)},Tl=b._emscripten_bind_btFace___destroy___0=function(){return(Tl=b._emscripten_bind_btFace___destroy___0=b.asm.Sj).apply(null,arguments)},Ul=b._emscripten_bind_btVector3Array_size_0=function(){return(Ul=b._emscripten_bind_btVector3Array_size_0=
+b.asm.Tj).apply(null,arguments)},Vl=b._emscripten_bind_btVector3Array_at_1=function(){return(Vl=b._emscripten_bind_btVector3Array_at_1=b.asm.Uj).apply(null,arguments)},Wl=b._emscripten_bind_btVector3Array___destroy___0=function(){return(Wl=b._emscripten_bind_btVector3Array___destroy___0=b.asm.Vj).apply(null,arguments)},Xl=b._emscripten_bind_btFaceArray_size_0=function(){return(Xl=b._emscripten_bind_btFaceArray_size_0=b.asm.Wj).apply(null,arguments)},Yl=b._emscripten_bind_btFaceArray_at_1=function(){return(Yl=
+b._emscripten_bind_btFaceArray_at_1=b.asm.Xj).apply(null,arguments)},Zl=b._emscripten_bind_btFaceArray___destroy___0=function(){return(Zl=b._emscripten_bind_btFaceArray___destroy___0=b.asm.Yj).apply(null,arguments)},$l=b._emscripten_bind_btConvexPolyhedron_get_m_vertices_0=function(){return($l=b._emscripten_bind_btConvexPolyhedron_get_m_vertices_0=b.asm.Zj).apply(null,arguments)},am=b._emscripten_bind_btConvexPolyhedron_set_m_vertices_1=function(){return(am=b._emscripten_bind_btConvexPolyhedron_set_m_vertices_1=
+b.asm._j).apply(null,arguments)},bm=b._emscripten_bind_btConvexPolyhedron_get_m_faces_0=function(){return(bm=b._emscripten_bind_btConvexPolyhedron_get_m_faces_0=b.asm.$j).apply(null,arguments)},cm=b._emscripten_bind_btConvexPolyhedron_set_m_faces_1=function(){return(cm=b._emscripten_bind_btConvexPolyhedron_set_m_faces_1=b.asm.ak).apply(null,arguments)},dm=b._emscripten_bind_btConvexPolyhedron___destroy___0=function(){return(dm=b._emscripten_bind_btConvexPolyhedron___destroy___0=b.asm.bk).apply(null,
+arguments)},em=b._emscripten_bind_btConvexHullShape_btConvexHullShape_0=function(){return(em=b._emscripten_bind_btConvexHullShape_btConvexHullShape_0=b.asm.ck).apply(null,arguments)},fm=b._emscripten_bind_btConvexHullShape_btConvexHullShape_1=function(){return(fm=b._emscripten_bind_btConvexHullShape_btConvexHullShape_1=b.asm.dk).apply(null,arguments)},gm=b._emscripten_bind_btConvexHullShape_btConvexHullShape_2=function(){return(gm=b._emscripten_bind_btConvexHullShape_btConvexHullShape_2=b.asm.ek).apply(null,
+arguments)},hm=b._emscripten_bind_btConvexHullShape_addPoint_1=function(){return(hm=b._emscripten_bind_btConvexHullShape_addPoint_1=b.asm.fk).apply(null,arguments)},im=b._emscripten_bind_btConvexHullShape_addPoint_2=function(){return(im=b._emscripten_bind_btConvexHullShape_addPoint_2=b.asm.gk).apply(null,arguments)},jm=b._emscripten_bind_btConvexHullShape_setMargin_1=function(){return(jm=b._emscripten_bind_btConvexHullShape_setMargin_1=b.asm.hk).apply(null,arguments)},km=b._emscripten_bind_btConvexHullShape_getMargin_0=
+function(){return(km=b._emscripten_bind_btConvexHullShape_getMargin_0=b.asm.ik).apply(null,arguments)},lm=b._emscripten_bind_btConvexHullShape_getNumVertices_0=function(){return(lm=b._emscripten_bind_btConvexHullShape_getNumVertices_0=b.asm.jk).apply(null,arguments)},mm=b._emscripten_bind_btConvexHullShape_initializePolyhedralFeatures_1=function(){return(mm=b._emscripten_bind_btConvexHullShape_initializePolyhedralFeatures_1=b.asm.kk).apply(null,arguments)},nm=b._emscripten_bind_btConvexHullShape_recalcLocalAabb_0=
+function(){return(nm=b._emscripten_bind_btConvexHullShape_recalcLocalAabb_0=b.asm.lk).apply(null,arguments)},om=b._emscripten_bind_btConvexHullShape_getConvexPolyhedron_0=function(){return(om=b._emscripten_bind_btConvexHullShape_getConvexPolyhedron_0=b.asm.mk).apply(null,arguments)},pm=b._emscripten_bind_btConvexHullShape_setLocalScaling_1=function(){return(pm=b._emscripten_bind_btConvexHullShape_setLocalScaling_1=b.asm.nk).apply(null,arguments)},qm=b._emscripten_bind_btConvexHullShape_getLocalScaling_0=
+function(){return(qm=b._emscripten_bind_btConvexHullShape_getLocalScaling_0=b.asm.ok).apply(null,arguments)},rm=b._emscripten_bind_btConvexHullShape_calculateLocalInertia_2=function(){return(rm=b._emscripten_bind_btConvexHullShape_calculateLocalInertia_2=b.asm.pk).apply(null,arguments)},sm=b._emscripten_bind_btConvexHullShape___destroy___0=function(){return(sm=b._emscripten_bind_btConvexHullShape___destroy___0=b.asm.qk).apply(null,arguments)},tm=b._emscripten_bind_btShapeHull_btShapeHull_1=function(){return(tm=
+b._emscripten_bind_btShapeHull_btShapeHull_1=b.asm.rk).apply(null,arguments)},um=b._emscripten_bind_btShapeHull_buildHull_1=function(){return(um=b._emscripten_bind_btShapeHull_buildHull_1=b.asm.sk).apply(null,arguments)},wm=b._emscripten_bind_btShapeHull_numVertices_0=function(){return(wm=b._emscripten_bind_btShapeHull_numVertices_0=b.asm.tk).apply(null,arguments)},xm=b._emscripten_bind_btShapeHull_getVertexPointer_0=function(){return(xm=b._emscripten_bind_btShapeHull_getVertexPointer_0=b.asm.uk).apply(null,
+arguments)},ym=b._emscripten_bind_btShapeHull___destroy___0=function(){return(ym=b._emscripten_bind_btShapeHull___destroy___0=b.asm.vk).apply(null,arguments)},zm=b._emscripten_bind_btCompoundShape_btCompoundShape_0=function(){return(zm=b._emscripten_bind_btCompoundShape_btCompoundShape_0=b.asm.wk).apply(null,arguments)},Am=b._emscripten_bind_btCompoundShape_btCompoundShape_1=function(){return(Am=b._emscripten_bind_btCompoundShape_btCompoundShape_1=b.asm.xk).apply(null,arguments)},Bm=b._emscripten_bind_btCompoundShape_addChildShape_2=
+function(){return(Bm=b._emscripten_bind_btCompoundShape_addChildShape_2=b.asm.yk).apply(null,arguments)},Cm=b._emscripten_bind_btCompoundShape_removeChildShape_1=function(){return(Cm=b._emscripten_bind_btCompoundShape_removeChildShape_1=b.asm.zk).apply(null,arguments)},Dm=b._emscripten_bind_btCompoundShape_removeChildShapeByIndex_1=function(){return(Dm=b._emscripten_bind_btCompoundShape_removeChildShapeByIndex_1=b.asm.Ak).apply(null,arguments)},Em=b._emscripten_bind_btCompoundShape_getNumChildShapes_0=
+function(){return(Em=b._emscripten_bind_btCompoundShape_getNumChildShapes_0=b.asm.Bk).apply(null,arguments)},Fm=b._emscripten_bind_btCompoundShape_getChildShape_1=function(){return(Fm=b._emscripten_bind_btCompoundShape_getChildShape_1=b.asm.Ck).apply(null,arguments)},Gm=b._emscripten_bind_btCompoundShape_updateChildTransform_2=function(){return(Gm=b._emscripten_bind_btCompoundShape_updateChildTransform_2=b.asm.Dk).apply(null,arguments)},Hm=b._emscripten_bind_btCompoundShape_updateChildTransform_3=
+function(){return(Hm=b._emscripten_bind_btCompoundShape_updateChildTransform_3=b.asm.Ek).apply(null,arguments)},Im=b._emscripten_bind_btCompoundShape_setMargin_1=function(){return(Im=b._emscripten_bind_btCompoundShape_setMargin_1=b.asm.Fk).apply(null,arguments)},Jm=b._emscripten_bind_btCompoundShape_getMargin_0=function(){return(Jm=b._emscripten_bind_btCompoundShape_getMargin_0=b.asm.Gk).apply(null,arguments)},Km=b._emscripten_bind_btCompoundShape_setLocalScaling_1=function(){return(Km=b._emscripten_bind_btCompoundShape_setLocalScaling_1=
+b.asm.Hk).apply(null,arguments)},Lm=b._emscripten_bind_btCompoundShape_getLocalScaling_0=function(){return(Lm=b._emscripten_bind_btCompoundShape_getLocalScaling_0=b.asm.Ik).apply(null,arguments)},Mm=b._emscripten_bind_btCompoundShape_calculateLocalInertia_2=function(){return(Mm=b._emscripten_bind_btCompoundShape_calculateLocalInertia_2=b.asm.Jk).apply(null,arguments)},Nm=b._emscripten_bind_btCompoundShape___destroy___0=function(){return(Nm=b._emscripten_bind_btCompoundShape___destroy___0=b.asm.Kk).apply(null,
+arguments)},Om=b._emscripten_bind_btIndexedMesh_get_m_numTriangles_0=function(){return(Om=b._emscripten_bind_btIndexedMesh_get_m_numTriangles_0=b.asm.Lk).apply(null,arguments)},Pm=b._emscripten_bind_btIndexedMesh_set_m_numTriangles_1=function(){return(Pm=b._emscripten_bind_btIndexedMesh_set_m_numTriangles_1=b.asm.Mk).apply(null,arguments)},Qm=b._emscripten_bind_btIndexedMesh___destroy___0=function(){return(Qm=b._emscripten_bind_btIndexedMesh___destroy___0=b.asm.Nk).apply(null,arguments)},Rm=b._emscripten_bind_btIndexedMeshArray_size_0=
+function(){return(Rm=b._emscripten_bind_btIndexedMeshArray_size_0=b.asm.Ok).apply(null,arguments)},Sm=b._emscripten_bind_btIndexedMeshArray_at_1=function(){return(Sm=b._emscripten_bind_btIndexedMeshArray_at_1=b.asm.Pk).apply(null,arguments)},Tm=b._emscripten_bind_btIndexedMeshArray___destroy___0=function(){return(Tm=b._emscripten_bind_btIndexedMeshArray___destroy___0=b.asm.Qk).apply(null,arguments)},Um=b._emscripten_bind_btTriangleMesh_btTriangleMesh_0=function(){return(Um=b._emscripten_bind_btTriangleMesh_btTriangleMesh_0=
+b.asm.Rk).apply(null,arguments)},Vm=b._emscripten_bind_btTriangleMesh_btTriangleMesh_1=function(){return(Vm=b._emscripten_bind_btTriangleMesh_btTriangleMesh_1=b.asm.Sk).apply(null,arguments)},Wm=b._emscripten_bind_btTriangleMesh_btTriangleMesh_2=function(){return(Wm=b._emscripten_bind_btTriangleMesh_btTriangleMesh_2=b.asm.Tk).apply(null,arguments)},Xm=b._emscripten_bind_btTriangleMesh_addTriangle_3=function(){return(Xm=b._emscripten_bind_btTriangleMesh_addTriangle_3=b.asm.Uk).apply(null,arguments)},
+Ym=b._emscripten_bind_btTriangleMesh_addTriangle_4=function(){return(Ym=b._emscripten_bind_btTriangleMesh_addTriangle_4=b.asm.Vk).apply(null,arguments)},Zm=b._emscripten_bind_btTriangleMesh_findOrAddVertex_2=function(){return(Zm=b._emscripten_bind_btTriangleMesh_findOrAddVertex_2=b.asm.Wk).apply(null,arguments)},$m=b._emscripten_bind_btTriangleMesh_addIndex_1=function(){return($m=b._emscripten_bind_btTriangleMesh_addIndex_1=b.asm.Xk).apply(null,arguments)},an=b._emscripten_bind_btTriangleMesh_getIndexedMeshArray_0=
+function(){return(an=b._emscripten_bind_btTriangleMesh_getIndexedMeshArray_0=b.asm.Yk).apply(null,arguments)},bn=b._emscripten_bind_btTriangleMesh_setScaling_1=function(){return(bn=b._emscripten_bind_btTriangleMesh_setScaling_1=b.asm.Zk).apply(null,arguments)},cn=b._emscripten_bind_btTriangleMesh___destroy___0=function(){return(cn=b._emscripten_bind_btTriangleMesh___destroy___0=b.asm._k).apply(null,arguments)},dn=b._emscripten_bind_btEmptyShape_btEmptyShape_0=function(){return(dn=b._emscripten_bind_btEmptyShape_btEmptyShape_0=
+b.asm.$k).apply(null,arguments)},en=b._emscripten_bind_btEmptyShape_setLocalScaling_1=function(){return(en=b._emscripten_bind_btEmptyShape_setLocalScaling_1=b.asm.al).apply(null,arguments)},fn=b._emscripten_bind_btEmptyShape_getLocalScaling_0=function(){return(fn=b._emscripten_bind_btEmptyShape_getLocalScaling_0=b.asm.bl).apply(null,arguments)},gn=b._emscripten_bind_btEmptyShape_calculateLocalInertia_2=function(){return(gn=b._emscripten_bind_btEmptyShape_calculateLocalInertia_2=b.asm.cl).apply(null,
+arguments)},hn=b._emscripten_bind_btEmptyShape___destroy___0=function(){return(hn=b._emscripten_bind_btEmptyShape___destroy___0=b.asm.dl).apply(null,arguments)},jn=b._emscripten_bind_btStaticPlaneShape_btStaticPlaneShape_2=function(){return(jn=b._emscripten_bind_btStaticPlaneShape_btStaticPlaneShape_2=b.asm.el).apply(null,arguments)},kn=b._emscripten_bind_btStaticPlaneShape_setLocalScaling_1=function(){return(kn=b._emscripten_bind_btStaticPlaneShape_setLocalScaling_1=b.asm.fl).apply(null,arguments)},
+ln=b._emscripten_bind_btStaticPlaneShape_getLocalScaling_0=function(){return(ln=b._emscripten_bind_btStaticPlaneShape_getLocalScaling_0=b.asm.gl).apply(null,arguments)},mn=b._emscripten_bind_btStaticPlaneShape_calculateLocalInertia_2=function(){return(mn=b._emscripten_bind_btStaticPlaneShape_calculateLocalInertia_2=b.asm.hl).apply(null,arguments)},nn=b._emscripten_bind_btStaticPlaneShape___destroy___0=function(){return(nn=b._emscripten_bind_btStaticPlaneShape___destroy___0=b.asm.il).apply(null,arguments)},
+on=b._emscripten_bind_btBvhTriangleMeshShape_btBvhTriangleMeshShape_2=function(){return(on=b._emscripten_bind_btBvhTriangleMeshShape_btBvhTriangleMeshShape_2=b.asm.jl).apply(null,arguments)},pn=b._emscripten_bind_btBvhTriangleMeshShape_btBvhTriangleMeshShape_3=function(){return(pn=b._emscripten_bind_btBvhTriangleMeshShape_btBvhTriangleMeshShape_3=b.asm.kl).apply(null,arguments)},qn=b._emscripten_bind_btBvhTriangleMeshShape_setLocalScaling_1=function(){return(qn=b._emscripten_bind_btBvhTriangleMeshShape_setLocalScaling_1=
+b.asm.ll).apply(null,arguments)},rn=b._emscripten_bind_btBvhTriangleMeshShape_getLocalScaling_0=function(){return(rn=b._emscripten_bind_btBvhTriangleMeshShape_getLocalScaling_0=b.asm.ml).apply(null,arguments)},sn=b._emscripten_bind_btBvhTriangleMeshShape_calculateLocalInertia_2=function(){return(sn=b._emscripten_bind_btBvhTriangleMeshShape_calculateLocalInertia_2=b.asm.nl).apply(null,arguments)},tn=b._emscripten_bind_btBvhTriangleMeshShape___destroy___0=function(){return(tn=b._emscripten_bind_btBvhTriangleMeshShape___destroy___0=
+b.asm.ol).apply(null,arguments)},un=b._emscripten_bind_btHeightfieldTerrainShape_btHeightfieldTerrainShape_9=function(){return(un=b._emscripten_bind_btHeightfieldTerrainShape_btHeightfieldTerrainShape_9=b.asm.pl).apply(null,arguments)},vn=b._emscripten_bind_btHeightfieldTerrainShape_setMargin_1=function(){return(vn=b._emscripten_bind_btHeightfieldTerrainShape_setMargin_1=b.asm.ql).apply(null,arguments)},wn=b._emscripten_bind_btHeightfieldTerrainShape_getMargin_0=function(){return(wn=b._emscripten_bind_btHeightfieldTerrainShape_getMargin_0=
+b.asm.rl).apply(null,arguments)},xn=b._emscripten_bind_btHeightfieldTerrainShape_setLocalScaling_1=function(){return(xn=b._emscripten_bind_btHeightfieldTerrainShape_setLocalScaling_1=b.asm.sl).apply(null,arguments)},yn=b._emscripten_bind_btHeightfieldTerrainShape_getLocalScaling_0=function(){return(yn=b._emscripten_bind_btHeightfieldTerrainShape_getLocalScaling_0=b.asm.tl).apply(null,arguments)},zn=b._emscripten_bind_btHeightfieldTerrainShape_calculateLocalInertia_2=function(){return(zn=b._emscripten_bind_btHeightfieldTerrainShape_calculateLocalInertia_2=
+b.asm.ul).apply(null,arguments)},An=b._emscripten_bind_btHeightfieldTerrainShape___destroy___0=function(){return(An=b._emscripten_bind_btHeightfieldTerrainShape___destroy___0=b.asm.vl).apply(null,arguments)},Bn=b._emscripten_bind_btAABB_btAABB_4=function(){return(Bn=b._emscripten_bind_btAABB_btAABB_4=b.asm.wl).apply(null,arguments)},Cn=b._emscripten_bind_btAABB_invalidate_0=function(){return(Cn=b._emscripten_bind_btAABB_invalidate_0=b.asm.xl).apply(null,arguments)},Dn=b._emscripten_bind_btAABB_increment_margin_1=
+function(){return(Dn=b._emscripten_bind_btAABB_increment_margin_1=b.asm.yl).apply(null,arguments)},En=b._emscripten_bind_btAABB_copy_with_margin_2=function(){return(En=b._emscripten_bind_btAABB_copy_with_margin_2=b.asm.zl).apply(null,arguments)},Fn=b._emscripten_bind_btAABB___destroy___0=function(){return(Fn=b._emscripten_bind_btAABB___destroy___0=b.asm.Al).apply(null,arguments)},Gn=b._emscripten_bind_btPrimitiveTriangle_btPrimitiveTriangle_0=function(){return(Gn=b._emscripten_bind_btPrimitiveTriangle_btPrimitiveTriangle_0=
+b.asm.Bl).apply(null,arguments)},Hn=b._emscripten_bind_btPrimitiveTriangle___destroy___0=function(){return(Hn=b._emscripten_bind_btPrimitiveTriangle___destroy___0=b.asm.Cl).apply(null,arguments)},In=b._emscripten_bind_btTriangleShapeEx_btTriangleShapeEx_3=function(){return(In=b._emscripten_bind_btTriangleShapeEx_btTriangleShapeEx_3=b.asm.Dl).apply(null,arguments)},Jn=b._emscripten_bind_btTriangleShapeEx_getAabb_3=function(){return(Jn=b._emscripten_bind_btTriangleShapeEx_getAabb_3=b.asm.El).apply(null,
+arguments)},Kn=b._emscripten_bind_btTriangleShapeEx_applyTransform_1=function(){return(Kn=b._emscripten_bind_btTriangleShapeEx_applyTransform_1=b.asm.Fl).apply(null,arguments)},Ln=b._emscripten_bind_btTriangleShapeEx_buildTriPlane_1=function(){return(Ln=b._emscripten_bind_btTriangleShapeEx_buildTriPlane_1=b.asm.Gl).apply(null,arguments)},Mn=b._emscripten_bind_btTriangleShapeEx___destroy___0=function(){return(Mn=b._emscripten_bind_btTriangleShapeEx___destroy___0=b.asm.Hl).apply(null,arguments)},Nn=
+b._emscripten_bind_btTetrahedronShapeEx_btTetrahedronShapeEx_0=function(){return(Nn=b._emscripten_bind_btTetrahedronShapeEx_btTetrahedronShapeEx_0=b.asm.Il).apply(null,arguments)},On=b._emscripten_bind_btTetrahedronShapeEx_setVertices_4=function(){return(On=b._emscripten_bind_btTetrahedronShapeEx_setVertices_4=b.asm.Jl).apply(null,arguments)},Pn=b._emscripten_bind_btTetrahedronShapeEx___destroy___0=function(){return(Pn=b._emscripten_bind_btTetrahedronShapeEx___destroy___0=b.asm.Kl).apply(null,arguments)},
+Qn=b._emscripten_bind_CompoundPrimitiveManager_get_primitive_count_0=function(){return(Qn=b._emscripten_bind_CompoundPrimitiveManager_get_primitive_count_0=b.asm.Ll).apply(null,arguments)},Rn=b._emscripten_bind_CompoundPrimitiveManager_get_primitive_box_2=function(){return(Rn=b._emscripten_bind_CompoundPrimitiveManager_get_primitive_box_2=b.asm.Ml).apply(null,arguments)},Sn=b._emscripten_bind_CompoundPrimitiveManager_get_primitive_triangle_2=function(){return(Sn=b._emscripten_bind_CompoundPrimitiveManager_get_primitive_triangle_2=
+b.asm.Nl).apply(null,arguments)},Tn=b._emscripten_bind_CompoundPrimitiveManager_is_trimesh_0=function(){return(Tn=b._emscripten_bind_CompoundPrimitiveManager_is_trimesh_0=b.asm.Ol).apply(null,arguments)},Un=b._emscripten_bind_CompoundPrimitiveManager_get_m_compoundShape_0=function(){return(Un=b._emscripten_bind_CompoundPrimitiveManager_get_m_compoundShape_0=b.asm.Pl).apply(null,arguments)},Vn=b._emscripten_bind_CompoundPrimitiveManager_set_m_compoundShape_1=function(){return(Vn=b._emscripten_bind_CompoundPrimitiveManager_set_m_compoundShape_1=
+b.asm.Ql).apply(null,arguments)},Wn=b._emscripten_bind_CompoundPrimitiveManager___destroy___0=function(){return(Wn=b._emscripten_bind_CompoundPrimitiveManager___destroy___0=b.asm.Rl).apply(null,arguments)},Xn=b._emscripten_bind_btGImpactCompoundShape_btGImpactCompoundShape_0=function(){return(Xn=b._emscripten_bind_btGImpactCompoundShape_btGImpactCompoundShape_0=b.asm.Sl).apply(null,arguments)},Yn=b._emscripten_bind_btGImpactCompoundShape_btGImpactCompoundShape_1=function(){return(Yn=b._emscripten_bind_btGImpactCompoundShape_btGImpactCompoundShape_1=
+b.asm.Tl).apply(null,arguments)},Zn=b._emscripten_bind_btGImpactCompoundShape_childrenHasTransform_0=function(){return(Zn=b._emscripten_bind_btGImpactCompoundShape_childrenHasTransform_0=b.asm.Ul).apply(null,arguments)},$n=b._emscripten_bind_btGImpactCompoundShape_getPrimitiveManager_0=function(){return($n=b._emscripten_bind_btGImpactCompoundShape_getPrimitiveManager_0=b.asm.Vl).apply(null,arguments)},ao=b._emscripten_bind_btGImpactCompoundShape_getCompoundPrimitiveManager_0=function(){return(ao=
+b._emscripten_bind_btGImpactCompoundShape_getCompoundPrimitiveManager_0=b.asm.Wl).apply(null,arguments)},bo=b._emscripten_bind_btGImpactCompoundShape_getNumChildShapes_0=function(){return(bo=b._emscripten_bind_btGImpactCompoundShape_getNumChildShapes_0=b.asm.Xl).apply(null,arguments)},co=b._emscripten_bind_btGImpactCompoundShape_addChildShape_2=function(){return(co=b._emscripten_bind_btGImpactCompoundShape_addChildShape_2=b.asm.Yl).apply(null,arguments)},eo=b._emscripten_bind_btGImpactCompoundShape_getChildShape_1=
+function(){return(eo=b._emscripten_bind_btGImpactCompoundShape_getChildShape_1=b.asm.Zl).apply(null,arguments)},fo=b._emscripten_bind_btGImpactCompoundShape_getChildAabb_4=function(){return(fo=b._emscripten_bind_btGImpactCompoundShape_getChildAabb_4=b.asm._l).apply(null,arguments)},go=b._emscripten_bind_btGImpactCompoundShape_getChildTransform_1=function(){return(go=b._emscripten_bind_btGImpactCompoundShape_getChildTransform_1=b.asm.$l).apply(null,arguments)},ho=b._emscripten_bind_btGImpactCompoundShape_setChildTransform_2=
+function(){return(ho=b._emscripten_bind_btGImpactCompoundShape_setChildTransform_2=b.asm.am).apply(null,arguments)},io=b._emscripten_bind_btGImpactCompoundShape_calculateLocalInertia_2=function(){return(io=b._emscripten_bind_btGImpactCompoundShape_calculateLocalInertia_2=b.asm.bm).apply(null,arguments)},jo=b._emscripten_bind_btGImpactCompoundShape_getName_0=function(){return(jo=b._emscripten_bind_btGImpactCompoundShape_getName_0=b.asm.cm).apply(null,arguments)},ko=b._emscripten_bind_btGImpactCompoundShape_getGImpactShapeType_0=
+function(){return(ko=b._emscripten_bind_btGImpactCompoundShape_getGImpactShapeType_0=b.asm.dm).apply(null,arguments)},lo=b._emscripten_bind_btGImpactCompoundShape_setLocalScaling_1=function(){return(lo=b._emscripten_bind_btGImpactCompoundShape_setLocalScaling_1=b.asm.em).apply(null,arguments)},mo=b._emscripten_bind_btGImpactCompoundShape_getLocalScaling_0=function(){return(mo=b._emscripten_bind_btGImpactCompoundShape_getLocalScaling_0=b.asm.fm).apply(null,arguments)},no=b._emscripten_bind_btGImpactCompoundShape_updateBound_0=
+function(){return(no=b._emscripten_bind_btGImpactCompoundShape_updateBound_0=b.asm.gm).apply(null,arguments)},oo=b._emscripten_bind_btGImpactCompoundShape_postUpdate_0=function(){return(oo=b._emscripten_bind_btGImpactCompoundShape_postUpdate_0=b.asm.hm).apply(null,arguments)},po=b._emscripten_bind_btGImpactCompoundShape_getShapeType_0=function(){return(po=b._emscripten_bind_btGImpactCompoundShape_getShapeType_0=b.asm.im).apply(null,arguments)},qo=b._emscripten_bind_btGImpactCompoundShape_needsRetrieveTriangles_0=
+function(){return(qo=b._emscripten_bind_btGImpactCompoundShape_needsRetrieveTriangles_0=b.asm.jm).apply(null,arguments)},ro=b._emscripten_bind_btGImpactCompoundShape_needsRetrieveTetrahedrons_0=function(){return(ro=b._emscripten_bind_btGImpactCompoundShape_needsRetrieveTetrahedrons_0=b.asm.km).apply(null,arguments)},so=b._emscripten_bind_btGImpactCompoundShape_getBulletTriangle_2=function(){return(so=b._emscripten_bind_btGImpactCompoundShape_getBulletTriangle_2=b.asm.lm).apply(null,arguments)},to=
+b._emscripten_bind_btGImpactCompoundShape_getBulletTetrahedron_2=function(){return(to=b._emscripten_bind_btGImpactCompoundShape_getBulletTetrahedron_2=b.asm.mm).apply(null,arguments)},uo=b._emscripten_bind_btGImpactCompoundShape___destroy___0=function(){return(uo=b._emscripten_bind_btGImpactCompoundShape___destroy___0=b.asm.nm).apply(null,arguments)},vo=b._emscripten_bind_TrimeshPrimitiveManager_TrimeshPrimitiveManager_0=function(){return(vo=b._emscripten_bind_TrimeshPrimitiveManager_TrimeshPrimitiveManager_0=
+b.asm.om).apply(null,arguments)},wo=b._emscripten_bind_TrimeshPrimitiveManager_TrimeshPrimitiveManager_1=function(){return(wo=b._emscripten_bind_TrimeshPrimitiveManager_TrimeshPrimitiveManager_1=b.asm.pm).apply(null,arguments)},xo=b._emscripten_bind_TrimeshPrimitiveManager_lock_0=function(){return(xo=b._emscripten_bind_TrimeshPrimitiveManager_lock_0=b.asm.qm).apply(null,arguments)},yo=b._emscripten_bind_TrimeshPrimitiveManager_unlock_0=function(){return(yo=b._emscripten_bind_TrimeshPrimitiveManager_unlock_0=
+b.asm.rm).apply(null,arguments)},zo=b._emscripten_bind_TrimeshPrimitiveManager_is_trimesh_0=function(){return(zo=b._emscripten_bind_TrimeshPrimitiveManager_is_trimesh_0=b.asm.sm).apply(null,arguments)},Ao=b._emscripten_bind_TrimeshPrimitiveManager_get_vertex_count_0=function(){return(Ao=b._emscripten_bind_TrimeshPrimitiveManager_get_vertex_count_0=b.asm.tm).apply(null,arguments)},Bo=b._emscripten_bind_TrimeshPrimitiveManager_get_indices_4=function(){return(Bo=b._emscripten_bind_TrimeshPrimitiveManager_get_indices_4=
+b.asm.um).apply(null,arguments)},Co=b._emscripten_bind_TrimeshPrimitiveManager_get_vertex_2=function(){return(Co=b._emscripten_bind_TrimeshPrimitiveManager_get_vertex_2=b.asm.vm).apply(null,arguments)},Do=b._emscripten_bind_TrimeshPrimitiveManager_get_bullet_triangle_2=function(){return(Do=b._emscripten_bind_TrimeshPrimitiveManager_get_bullet_triangle_2=b.asm.wm).apply(null,arguments)},Eo=b._emscripten_bind_TrimeshPrimitiveManager_get_m_margin_0=function(){return(Eo=b._emscripten_bind_TrimeshPrimitiveManager_get_m_margin_0=
+b.asm.xm).apply(null,arguments)},Fo=b._emscripten_bind_TrimeshPrimitiveManager_set_m_margin_1=function(){return(Fo=b._emscripten_bind_TrimeshPrimitiveManager_set_m_margin_1=b.asm.ym).apply(null,arguments)},Go=b._emscripten_bind_TrimeshPrimitiveManager_get_m_meshInterface_0=function(){return(Go=b._emscripten_bind_TrimeshPrimitiveManager_get_m_meshInterface_0=b.asm.zm).apply(null,arguments)},Ho=b._emscripten_bind_TrimeshPrimitiveManager_set_m_meshInterface_1=function(){return(Ho=b._emscripten_bind_TrimeshPrimitiveManager_set_m_meshInterface_1=
+b.asm.Am).apply(null,arguments)},Io=b._emscripten_bind_TrimeshPrimitiveManager_get_m_part_0=function(){return(Io=b._emscripten_bind_TrimeshPrimitiveManager_get_m_part_0=b.asm.Bm).apply(null,arguments)},Jo=b._emscripten_bind_TrimeshPrimitiveManager_set_m_part_1=function(){return(Jo=b._emscripten_bind_TrimeshPrimitiveManager_set_m_part_1=b.asm.Cm).apply(null,arguments)},Ko=b._emscripten_bind_TrimeshPrimitiveManager_get_m_lock_count_0=function(){return(Ko=b._emscripten_bind_TrimeshPrimitiveManager_get_m_lock_count_0=
+b.asm.Dm).apply(null,arguments)},Lo=b._emscripten_bind_TrimeshPrimitiveManager_set_m_lock_count_1=function(){return(Lo=b._emscripten_bind_TrimeshPrimitiveManager_set_m_lock_count_1=b.asm.Em).apply(null,arguments)},Mo=b._emscripten_bind_TrimeshPrimitiveManager_get_numverts_0=function(){return(Mo=b._emscripten_bind_TrimeshPrimitiveManager_get_numverts_0=b.asm.Fm).apply(null,arguments)},No=b._emscripten_bind_TrimeshPrimitiveManager_set_numverts_1=function(){return(No=b._emscripten_bind_TrimeshPrimitiveManager_set_numverts_1=
+b.asm.Gm).apply(null,arguments)},Oo=b._emscripten_bind_TrimeshPrimitiveManager_get_type_0=function(){return(Oo=b._emscripten_bind_TrimeshPrimitiveManager_get_type_0=b.asm.Hm).apply(null,arguments)},Po=b._emscripten_bind_TrimeshPrimitiveManager_set_type_1=function(){return(Po=b._emscripten_bind_TrimeshPrimitiveManager_set_type_1=b.asm.Im).apply(null,arguments)},Qo=b._emscripten_bind_TrimeshPrimitiveManager_get_stride_0=function(){return(Qo=b._emscripten_bind_TrimeshPrimitiveManager_get_stride_0=b.asm.Jm).apply(null,
+arguments)},Ro=b._emscripten_bind_TrimeshPrimitiveManager_set_stride_1=function(){return(Ro=b._emscripten_bind_TrimeshPrimitiveManager_set_stride_1=b.asm.Km).apply(null,arguments)},So=b._emscripten_bind_TrimeshPrimitiveManager_get_indexstride_0=function(){return(So=b._emscripten_bind_TrimeshPrimitiveManager_get_indexstride_0=b.asm.Lm).apply(null,arguments)},To=b._emscripten_bind_TrimeshPrimitiveManager_set_indexstride_1=function(){return(To=b._emscripten_bind_TrimeshPrimitiveManager_set_indexstride_1=
+b.asm.Mm).apply(null,arguments)},Uo=b._emscripten_bind_TrimeshPrimitiveManager_get_numfaces_0=function(){return(Uo=b._emscripten_bind_TrimeshPrimitiveManager_get_numfaces_0=b.asm.Nm).apply(null,arguments)},Vo=b._emscripten_bind_TrimeshPrimitiveManager_set_numfaces_1=function(){return(Vo=b._emscripten_bind_TrimeshPrimitiveManager_set_numfaces_1=b.asm.Om).apply(null,arguments)},Wo=b._emscripten_bind_TrimeshPrimitiveManager_get_indicestype_0=function(){return(Wo=b._emscripten_bind_TrimeshPrimitiveManager_get_indicestype_0=
+b.asm.Pm).apply(null,arguments)},Xo=b._emscripten_bind_TrimeshPrimitiveManager_set_indicestype_1=function(){return(Xo=b._emscripten_bind_TrimeshPrimitiveManager_set_indicestype_1=b.asm.Qm).apply(null,arguments)},Yo=b._emscripten_bind_TrimeshPrimitiveManager___destroy___0=function(){return(Yo=b._emscripten_bind_TrimeshPrimitiveManager___destroy___0=b.asm.Rm).apply(null,arguments)},Zo=b._emscripten_bind_btGImpactMeshShapePart_btGImpactMeshShapePart_2=function(){return(Zo=b._emscripten_bind_btGImpactMeshShapePart_btGImpactMeshShapePart_2=
+b.asm.Sm).apply(null,arguments)},$o=b._emscripten_bind_btGImpactMeshShapePart_getTrimeshPrimitiveManager_0=function(){return($o=b._emscripten_bind_btGImpactMeshShapePart_getTrimeshPrimitiveManager_0=b.asm.Tm).apply(null,arguments)},ap=b._emscripten_bind_btGImpactMeshShapePart_getVertexCount_0=function(){return(ap=b._emscripten_bind_btGImpactMeshShapePart_getVertexCount_0=b.asm.Um).apply(null,arguments)},bp=b._emscripten_bind_btGImpactMeshShapePart_getVertex_2=function(){return(bp=b._emscripten_bind_btGImpactMeshShapePart_getVertex_2=
+b.asm.Vm).apply(null,arguments)},cp=b._emscripten_bind_btGImpactMeshShapePart_getPart_0=function(){return(cp=b._emscripten_bind_btGImpactMeshShapePart_getPart_0=b.asm.Wm).apply(null,arguments)},dp=b._emscripten_bind_btGImpactMeshShapePart_setLocalScaling_1=function(){return(dp=b._emscripten_bind_btGImpactMeshShapePart_setLocalScaling_1=b.asm.Xm).apply(null,arguments)},ep=b._emscripten_bind_btGImpactMeshShapePart_getLocalScaling_0=function(){return(ep=b._emscripten_bind_btGImpactMeshShapePart_getLocalScaling_0=
+b.asm.Ym).apply(null,arguments)},fp=b._emscripten_bind_btGImpactMeshShapePart_updateBound_0=function(){return(fp=b._emscripten_bind_btGImpactMeshShapePart_updateBound_0=b.asm.Zm).apply(null,arguments)},gp=b._emscripten_bind_btGImpactMeshShapePart_postUpdate_0=function(){return(gp=b._emscripten_bind_btGImpactMeshShapePart_postUpdate_0=b.asm._m).apply(null,arguments)},hp=b._emscripten_bind_btGImpactMeshShapePart_getShapeType_0=function(){return(hp=b._emscripten_bind_btGImpactMeshShapePart_getShapeType_0=
+b.asm.$m).apply(null,arguments)},ip=b._emscripten_bind_btGImpactMeshShapePart_needsRetrieveTriangles_0=function(){return(ip=b._emscripten_bind_btGImpactMeshShapePart_needsRetrieveTriangles_0=b.asm.an).apply(null,arguments)},jp=b._emscripten_bind_btGImpactMeshShapePart_needsRetrieveTetrahedrons_0=function(){return(jp=b._emscripten_bind_btGImpactMeshShapePart_needsRetrieveTetrahedrons_0=b.asm.bn).apply(null,arguments)},kp=b._emscripten_bind_btGImpactMeshShapePart_getBulletTriangle_2=function(){return(kp=
+b._emscripten_bind_btGImpactMeshShapePart_getBulletTriangle_2=b.asm.cn).apply(null,arguments)},lp=b._emscripten_bind_btGImpactMeshShapePart_getBulletTetrahedron_2=function(){return(lp=b._emscripten_bind_btGImpactMeshShapePart_getBulletTetrahedron_2=b.asm.dn).apply(null,arguments)},mp=b._emscripten_bind_btGImpactMeshShapePart___destroy___0=function(){return(mp=b._emscripten_bind_btGImpactMeshShapePart___destroy___0=b.asm.en).apply(null,arguments)},np=b._emscripten_bind_btGImpactMeshShape_btGImpactMeshShape_1=
+function(){return(np=b._emscripten_bind_btGImpactMeshShape_btGImpactMeshShape_1=b.asm.fn).apply(null,arguments)},op=b._emscripten_bind_btGImpactMeshShape_getMeshInterface_0=function(){return(op=b._emscripten_bind_btGImpactMeshShape_getMeshInterface_0=b.asm.gn).apply(null,arguments)},pp=b._emscripten_bind_btGImpactMeshShape_getMeshPartCount_0=function(){return(pp=b._emscripten_bind_btGImpactMeshShape_getMeshPartCount_0=b.asm.hn).apply(null,arguments)},qp=b._emscripten_bind_btGImpactMeshShape_getMeshPart_1=
+function(){return(qp=b._emscripten_bind_btGImpactMeshShape_getMeshPart_1=b.asm.jn).apply(null,arguments)},rp=b._emscripten_bind_btGImpactMeshShape_calculateSerializeBufferSize_0=function(){return(rp=b._emscripten_bind_btGImpactMeshShape_calculateSerializeBufferSize_0=b.asm.kn).apply(null,arguments)},sp=b._emscripten_bind_btGImpactMeshShape_setLocalScaling_1=function(){return(sp=b._emscripten_bind_btGImpactMeshShape_setLocalScaling_1=b.asm.ln).apply(null,arguments)},tp=b._emscripten_bind_btGImpactMeshShape_getLocalScaling_0=
+function(){return(tp=b._emscripten_bind_btGImpactMeshShape_getLocalScaling_0=b.asm.mn).apply(null,arguments)},up=b._emscripten_bind_btGImpactMeshShape_updateBound_0=function(){return(up=b._emscripten_bind_btGImpactMeshShape_updateBound_0=b.asm.nn).apply(null,arguments)},vp=b._emscripten_bind_btGImpactMeshShape_postUpdate_0=function(){return(vp=b._emscripten_bind_btGImpactMeshShape_postUpdate_0=b.asm.on).apply(null,arguments)},wp=b._emscripten_bind_btGImpactMeshShape_getShapeType_0=function(){return(wp=
+b._emscripten_bind_btGImpactMeshShape_getShapeType_0=b.asm.pn).apply(null,arguments)},xp=b._emscripten_bind_btGImpactMeshShape_needsRetrieveTriangles_0=function(){return(xp=b._emscripten_bind_btGImpactMeshShape_needsRetrieveTriangles_0=b.asm.qn).apply(null,arguments)},yp=b._emscripten_bind_btGImpactMeshShape_needsRetrieveTetrahedrons_0=function(){return(yp=b._emscripten_bind_btGImpactMeshShape_needsRetrieveTetrahedrons_0=b.asm.rn).apply(null,arguments)},zp=b._emscripten_bind_btGImpactMeshShape_getBulletTriangle_2=
+function(){return(zp=b._emscripten_bind_btGImpactMeshShape_getBulletTriangle_2=b.asm.sn).apply(null,arguments)},Ap=b._emscripten_bind_btGImpactMeshShape_getBulletTetrahedron_2=function(){return(Ap=b._emscripten_bind_btGImpactMeshShape_getBulletTetrahedron_2=b.asm.tn).apply(null,arguments)},Bp=b._emscripten_bind_btGImpactMeshShape___destroy___0=function(){return(Bp=b._emscripten_bind_btGImpactMeshShape___destroy___0=b.asm.un).apply(null,arguments)},Cp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_btCollisionAlgorithmConstructionInfo_0=
+function(){return(Cp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_btCollisionAlgorithmConstructionInfo_0=b.asm.vn).apply(null,arguments)},Dp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_btCollisionAlgorithmConstructionInfo_2=function(){return(Dp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_btCollisionAlgorithmConstructionInfo_2=b.asm.wn).apply(null,arguments)},Ep=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_get_m_dispatcher1_0=function(){return(Ep=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_get_m_dispatcher1_0=
+b.asm.xn).apply(null,arguments)},Fp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_set_m_dispatcher1_1=function(){return(Fp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_set_m_dispatcher1_1=b.asm.yn).apply(null,arguments)},Gp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_get_m_manifold_0=function(){return(Gp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_get_m_manifold_0=b.asm.zn).apply(null,arguments)},Hp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_set_m_manifold_1=
+function(){return(Hp=b._emscripten_bind_btCollisionAlgorithmConstructionInfo_set_m_manifold_1=b.asm.An).apply(null,arguments)},Ip=b._emscripten_bind_btCollisionAlgorithmConstructionInfo___destroy___0=function(){return(Ip=b._emscripten_bind_btCollisionAlgorithmConstructionInfo___destroy___0=b.asm.Bn).apply(null,arguments)},Jp=b._emscripten_bind_btGImpactCollisionAlgorithm_btGImpactCollisionAlgorithm_3=function(){return(Jp=b._emscripten_bind_btGImpactCollisionAlgorithm_btGImpactCollisionAlgorithm_3=
+b.asm.Cn).apply(null,arguments)},Kp=b._emscripten_bind_btGImpactCollisionAlgorithm_registerAlgorithm_1=function(){return(Kp=b._emscripten_bind_btGImpactCollisionAlgorithm_registerAlgorithm_1=b.asm.Dn).apply(null,arguments)},Lp=b._emscripten_bind_btGImpactCollisionAlgorithm___destroy___0=function(){return(Lp=b._emscripten_bind_btGImpactCollisionAlgorithm___destroy___0=b.asm.En).apply(null,arguments)},Mp=b._emscripten_bind_btDefaultCollisionConstructionInfo_btDefaultCollisionConstructionInfo_0=function(){return(Mp=
+b._emscripten_bind_btDefaultCollisionConstructionInfo_btDefaultCollisionConstructionInfo_0=b.asm.Fn).apply(null,arguments)},Np=b._emscripten_bind_btDefaultCollisionConstructionInfo___destroy___0=function(){return(Np=b._emscripten_bind_btDefaultCollisionConstructionInfo___destroy___0=b.asm.Gn).apply(null,arguments)},Op=b._emscripten_bind_btPersistentManifold_btPersistentManifold_0=function(){return(Op=b._emscripten_bind_btPersistentManifold_btPersistentManifold_0=b.asm.Hn).apply(null,arguments)},Pp=
+b._emscripten_bind_btPersistentManifold_getBody0_0=function(){return(Pp=b._emscripten_bind_btPersistentManifold_getBody0_0=b.asm.In).apply(null,arguments)},Qp=b._emscripten_bind_btPersistentManifold_getBody1_0=function(){return(Qp=b._emscripten_bind_btPersistentManifold_getBody1_0=b.asm.Jn).apply(null,arguments)},Rp=b._emscripten_bind_btPersistentManifold_getNumContacts_0=function(){return(Rp=b._emscripten_bind_btPersistentManifold_getNumContacts_0=b.asm.Kn).apply(null,arguments)},Sp=b._emscripten_bind_btPersistentManifold_getContactPoint_1=
+function(){return(Sp=b._emscripten_bind_btPersistentManifold_getContactPoint_1=b.asm.Ln).apply(null,arguments)},Tp=b._emscripten_bind_btPersistentManifold___destroy___0=function(){return(Tp=b._emscripten_bind_btPersistentManifold___destroy___0=b.asm.Mn).apply(null,arguments)},Up=b._emscripten_bind_btCollisionDispatcher_btCollisionDispatcher_1=function(){return(Up=b._emscripten_bind_btCollisionDispatcher_btCollisionDispatcher_1=b.asm.Nn).apply(null,arguments)},Vp=b._emscripten_bind_btCollisionDispatcher_getNumManifolds_0=
+function(){return(Vp=b._emscripten_bind_btCollisionDispatcher_getNumManifolds_0=b.asm.On).apply(null,arguments)},Wp=b._emscripten_bind_btCollisionDispatcher_getManifoldByIndexInternal_1=function(){return(Wp=b._emscripten_bind_btCollisionDispatcher_getManifoldByIndexInternal_1=b.asm.Pn).apply(null,arguments)},Xp=b._emscripten_bind_btCollisionDispatcher___destroy___0=function(){return(Xp=b._emscripten_bind_btCollisionDispatcher___destroy___0=b.asm.Qn).apply(null,arguments)},Yp=b._emscripten_bind_btOverlappingPairCallback___destroy___0=
+function(){return(Yp=b._emscripten_bind_btOverlappingPairCallback___destroy___0=b.asm.Rn).apply(null,arguments)},Zp=b._emscripten_bind_btOverlappingPairCache_setInternalGhostPairCallback_1=function(){return(Zp=b._emscripten_bind_btOverlappingPairCache_setInternalGhostPairCallback_1=b.asm.Sn).apply(null,arguments)},$p=b._emscripten_bind_btOverlappingPairCache_getNumOverlappingPairs_0=function(){return($p=b._emscripten_bind_btOverlappingPairCache_getNumOverlappingPairs_0=b.asm.Tn).apply(null,arguments)},
+aq=b._emscripten_bind_btOverlappingPairCache___destroy___0=function(){return(aq=b._emscripten_bind_btOverlappingPairCache___destroy___0=b.asm.Un).apply(null,arguments)},bq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_2=function(){return(bq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_2=b.asm.Vn).apply(null,arguments)},cq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_3=function(){return(cq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_3=b.asm.Wn).apply(null,arguments)},dq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_4=
+function(){return(dq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_4=b.asm.Xn).apply(null,arguments)},eq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_5=function(){return(eq=b._emscripten_bind_btAxisSweep3_btAxisSweep3_5=b.asm.Yn).apply(null,arguments)},fq=b._emscripten_bind_btAxisSweep3___destroy___0=function(){return(fq=b._emscripten_bind_btAxisSweep3___destroy___0=b.asm.Zn).apply(null,arguments)},gq=b._emscripten_bind_btBroadphaseInterface_getOverlappingPairCache_0=function(){return(gq=b._emscripten_bind_btBroadphaseInterface_getOverlappingPairCache_0=
+b.asm._n).apply(null,arguments)},hq=b._emscripten_bind_btBroadphaseInterface___destroy___0=function(){return(hq=b._emscripten_bind_btBroadphaseInterface___destroy___0=b.asm.$n).apply(null,arguments)},iq=b._emscripten_bind_btCollisionConfiguration___destroy___0=function(){return(iq=b._emscripten_bind_btCollisionConfiguration___destroy___0=b.asm.ao).apply(null,arguments)},jq=b._emscripten_bind_btDbvtBroadphase_btDbvtBroadphase_0=function(){return(jq=b._emscripten_bind_btDbvtBroadphase_btDbvtBroadphase_0=
+b.asm.bo).apply(null,arguments)},kq=b._emscripten_bind_btDbvtBroadphase___destroy___0=function(){return(kq=b._emscripten_bind_btDbvtBroadphase___destroy___0=b.asm.co).apply(null,arguments)},lq=b._emscripten_bind_btBroadphaseProxy_get_m_collisionFilterGroup_0=function(){return(lq=b._emscripten_bind_btBroadphaseProxy_get_m_collisionFilterGroup_0=b.asm.eo).apply(null,arguments)},mq=b._emscripten_bind_btBroadphaseProxy_set_m_collisionFilterGroup_1=function(){return(mq=b._emscripten_bind_btBroadphaseProxy_set_m_collisionFilterGroup_1=
+b.asm.fo).apply(null,arguments)},nq=b._emscripten_bind_btBroadphaseProxy_get_m_collisionFilterMask_0=function(){return(nq=b._emscripten_bind_btBroadphaseProxy_get_m_collisionFilterMask_0=b.asm.go).apply(null,arguments)},oq=b._emscripten_bind_btBroadphaseProxy_set_m_collisionFilterMask_1=function(){return(oq=b._emscripten_bind_btBroadphaseProxy_set_m_collisionFilterMask_1=b.asm.ho).apply(null,arguments)},pq=b._emscripten_bind_btBroadphaseProxy___destroy___0=function(){return(pq=b._emscripten_bind_btBroadphaseProxy___destroy___0=
+b.asm.io).apply(null,arguments)},qq=b._emscripten_bind_btRigidBodyConstructionInfo_btRigidBodyConstructionInfo_3=function(){return(qq=b._emscripten_bind_btRigidBodyConstructionInfo_btRigidBodyConstructionInfo_3=b.asm.jo).apply(null,arguments)},rq=b._emscripten_bind_btRigidBodyConstructionInfo_btRigidBodyConstructionInfo_4=function(){return(rq=b._emscripten_bind_btRigidBodyConstructionInfo_btRigidBodyConstructionInfo_4=b.asm.ko).apply(null,arguments)},sq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_linearDamping_0=
+function(){return(sq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_linearDamping_0=b.asm.lo).apply(null,arguments)},tq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_linearDamping_1=function(){return(tq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_linearDamping_1=b.asm.mo).apply(null,arguments)},uq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_angularDamping_0=function(){return(uq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_angularDamping_0=b.asm.no).apply(null,
+arguments)},vq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_angularDamping_1=function(){return(vq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_angularDamping_1=b.asm.oo).apply(null,arguments)},wq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_friction_0=function(){return(wq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_friction_0=b.asm.po).apply(null,arguments)},xq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_friction_1=function(){return(xq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_friction_1=
+b.asm.qo).apply(null,arguments)},yq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_rollingFriction_0=function(){return(yq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_rollingFriction_0=b.asm.ro).apply(null,arguments)},zq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_rollingFriction_1=function(){return(zq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_rollingFriction_1=b.asm.so).apply(null,arguments)},Aq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_restitution_0=
+function(){return(Aq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_restitution_0=b.asm.to).apply(null,arguments)},Bq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_restitution_1=function(){return(Bq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_restitution_1=b.asm.uo).apply(null,arguments)},Cq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_linearSleepingThreshold_0=function(){return(Cq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_linearSleepingThreshold_0=b.asm.vo).apply(null,
+arguments)},Dq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_linearSleepingThreshold_1=function(){return(Dq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_linearSleepingThreshold_1=b.asm.wo).apply(null,arguments)},Eq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_angularSleepingThreshold_0=function(){return(Eq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_angularSleepingThreshold_0=b.asm.xo).apply(null,arguments)},Fq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_angularSleepingThreshold_1=
+function(){return(Fq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_angularSleepingThreshold_1=b.asm.yo).apply(null,arguments)},Gq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalDamping_0=function(){return(Gq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalDamping_0=b.asm.zo).apply(null,arguments)},Hq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalDamping_1=function(){return(Hq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalDamping_1=
+b.asm.Ao).apply(null,arguments)},Iq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalDampingFactor_0=function(){return(Iq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalDampingFactor_0=b.asm.Bo).apply(null,arguments)},Jq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalDampingFactor_1=function(){return(Jq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalDampingFactor_1=b.asm.Co).apply(null,arguments)},Kq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalLinearDampingThresholdSqr_0=
+function(){return(Kq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalLinearDampingThresholdSqr_0=b.asm.Do).apply(null,arguments)},Lq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalLinearDampingThresholdSqr_1=function(){return(Lq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalLinearDampingThresholdSqr_1=b.asm.Eo).apply(null,arguments)},Mq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalAngularDampingThresholdSqr_0=function(){return(Mq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalAngularDampingThresholdSqr_0=
+b.asm.Fo).apply(null,arguments)},Nq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalAngularDampingThresholdSqr_1=function(){return(Nq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalAngularDampingThresholdSqr_1=b.asm.Go).apply(null,arguments)},Oq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalAngularDampingFactor_0=function(){return(Oq=b._emscripten_bind_btRigidBodyConstructionInfo_get_m_additionalAngularDampingFactor_0=b.asm.Ho).apply(null,arguments)},
+Pq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalAngularDampingFactor_1=function(){return(Pq=b._emscripten_bind_btRigidBodyConstructionInfo_set_m_additionalAngularDampingFactor_1=b.asm.Io).apply(null,arguments)},Qq=b._emscripten_bind_btRigidBodyConstructionInfo___destroy___0=function(){return(Qq=b._emscripten_bind_btRigidBodyConstructionInfo___destroy___0=b.asm.Jo).apply(null,arguments)},Rq=b._emscripten_bind_btRigidBody_btRigidBody_1=function(){return(Rq=b._emscripten_bind_btRigidBody_btRigidBody_1=
+b.asm.Ko).apply(null,arguments)},Sq=b._emscripten_bind_btRigidBody_getCenterOfMassTransform_0=function(){return(Sq=b._emscripten_bind_btRigidBody_getCenterOfMassTransform_0=b.asm.Lo).apply(null,arguments)},Tq=b._emscripten_bind_btRigidBody_setCenterOfMassTransform_1=function(){return(Tq=b._emscripten_bind_btRigidBody_setCenterOfMassTransform_1=b.asm.Mo).apply(null,arguments)},Uq=b._emscripten_bind_btRigidBody_setSleepingThresholds_2=function(){return(Uq=b._emscripten_bind_btRigidBody_setSleepingThresholds_2=
+b.asm.No).apply(null,arguments)},Vq=b._emscripten_bind_btRigidBody_getLinearDamping_0=function(){return(Vq=b._emscripten_bind_btRigidBody_getLinearDamping_0=b.asm.Oo).apply(null,arguments)},Wq=b._emscripten_bind_btRigidBody_getAngularDamping_0=function(){return(Wq=b._emscripten_bind_btRigidBody_getAngularDamping_0=b.asm.Po).apply(null,arguments)},Xq=b._emscripten_bind_btRigidBody_setDamping_2=function(){return(Xq=b._emscripten_bind_btRigidBody_setDamping_2=b.asm.Qo).apply(null,arguments)},Yq=b._emscripten_bind_btRigidBody_setMassProps_2=
+function(){return(Yq=b._emscripten_bind_btRigidBody_setMassProps_2=b.asm.Ro).apply(null,arguments)},Zq=b._emscripten_bind_btRigidBody_getLinearFactor_0=function(){return(Zq=b._emscripten_bind_btRigidBody_getLinearFactor_0=b.asm.So).apply(null,arguments)},$q=b._emscripten_bind_btRigidBody_setLinearFactor_1=function(){return($q=b._emscripten_bind_btRigidBody_setLinearFactor_1=b.asm.To).apply(null,arguments)},ar=b._emscripten_bind_btRigidBody_applyTorque_1=function(){return(ar=b._emscripten_bind_btRigidBody_applyTorque_1=
+b.asm.Uo).apply(null,arguments)},br=b._emscripten_bind_btRigidBody_applyLocalTorque_1=function(){return(br=b._emscripten_bind_btRigidBody_applyLocalTorque_1=b.asm.Vo).apply(null,arguments)},cr=b._emscripten_bind_btRigidBody_applyForce_2=function(){return(cr=b._emscripten_bind_btRigidBody_applyForce_2=b.asm.Wo).apply(null,arguments)},dr=b._emscripten_bind_btRigidBody_applyCentralForce_1=function(){return(dr=b._emscripten_bind_btRigidBody_applyCentralForce_1=b.asm.Xo).apply(null,arguments)},er=b._emscripten_bind_btRigidBody_applyCentralLocalForce_1=
+function(){return(er=b._emscripten_bind_btRigidBody_applyCentralLocalForce_1=b.asm.Yo).apply(null,arguments)},fr=b._emscripten_bind_btRigidBody_applyTorqueImpulse_1=function(){return(fr=b._emscripten_bind_btRigidBody_applyTorqueImpulse_1=b.asm.Zo).apply(null,arguments)},gr=b._emscripten_bind_btRigidBody_applyImpulse_2=function(){return(gr=b._emscripten_bind_btRigidBody_applyImpulse_2=b.asm._o).apply(null,arguments)},hr=b._emscripten_bind_btRigidBody_applyCentralImpulse_1=function(){return(hr=b._emscripten_bind_btRigidBody_applyCentralImpulse_1=
+b.asm.$o).apply(null,arguments)},ir=b._emscripten_bind_btRigidBody_updateInertiaTensor_0=function(){return(ir=b._emscripten_bind_btRigidBody_updateInertiaTensor_0=b.asm.ap).apply(null,arguments)},jr=b._emscripten_bind_btRigidBody_getLinearVelocity_0=function(){return(jr=b._emscripten_bind_btRigidBody_getLinearVelocity_0=b.asm.bp).apply(null,arguments)},kr=b._emscripten_bind_btRigidBody_getAngularVelocity_0=function(){return(kr=b._emscripten_bind_btRigidBody_getAngularVelocity_0=b.asm.cp).apply(null,
+arguments)},lr=b._emscripten_bind_btRigidBody_setLinearVelocity_1=function(){return(lr=b._emscripten_bind_btRigidBody_setLinearVelocity_1=b.asm.dp).apply(null,arguments)},mr=b._emscripten_bind_btRigidBody_setAngularVelocity_1=function(){return(mr=b._emscripten_bind_btRigidBody_setAngularVelocity_1=b.asm.ep).apply(null,arguments)},nr=b._emscripten_bind_btRigidBody_getMotionState_0=function(){return(nr=b._emscripten_bind_btRigidBody_getMotionState_0=b.asm.fp).apply(null,arguments)},or=b._emscripten_bind_btRigidBody_setMotionState_1=
+function(){return(or=b._emscripten_bind_btRigidBody_setMotionState_1=b.asm.gp).apply(null,arguments)},pr=b._emscripten_bind_btRigidBody_getAngularFactor_0=function(){return(pr=b._emscripten_bind_btRigidBody_getAngularFactor_0=b.asm.hp).apply(null,arguments)},qr=b._emscripten_bind_btRigidBody_setAngularFactor_1=function(){return(qr=b._emscripten_bind_btRigidBody_setAngularFactor_1=b.asm.ip).apply(null,arguments)},rr=b._emscripten_bind_btRigidBody_upcast_1=function(){return(rr=b._emscripten_bind_btRigidBody_upcast_1=
+b.asm.jp).apply(null,arguments)},sr=b._emscripten_bind_btRigidBody_getAabb_2=function(){return(sr=b._emscripten_bind_btRigidBody_getAabb_2=b.asm.kp).apply(null,arguments)},tr=b._emscripten_bind_btRigidBody_applyGravity_0=function(){return(tr=b._emscripten_bind_btRigidBody_applyGravity_0=b.asm.lp).apply(null,arguments)},ur=b._emscripten_bind_btRigidBody_getGravity_0=function(){return(ur=b._emscripten_bind_btRigidBody_getGravity_0=b.asm.mp).apply(null,arguments)},vr=b._emscripten_bind_btRigidBody_setGravity_1=
+function(){return(vr=b._emscripten_bind_btRigidBody_setGravity_1=b.asm.np).apply(null,arguments)},wr=b._emscripten_bind_btRigidBody_getBroadphaseProxy_0=function(){return(wr=b._emscripten_bind_btRigidBody_getBroadphaseProxy_0=b.asm.op).apply(null,arguments)},xr=b._emscripten_bind_btRigidBody_clearForces_0=function(){return(xr=b._emscripten_bind_btRigidBody_clearForces_0=b.asm.pp).apply(null,arguments)},yr=b._emscripten_bind_btRigidBody_setFlags_1=function(){return(yr=b._emscripten_bind_btRigidBody_setFlags_1=
+b.asm.qp).apply(null,arguments)},zr=b._emscripten_bind_btRigidBody_getFlags_0=function(){return(zr=b._emscripten_bind_btRigidBody_getFlags_0=b.asm.rp).apply(null,arguments)},Ar=b._emscripten_bind_btRigidBody_setAnisotropicFriction_2=function(){return(Ar=b._emscripten_bind_btRigidBody_setAnisotropicFriction_2=b.asm.sp).apply(null,arguments)},Br=b._emscripten_bind_btRigidBody_getCollisionShape_0=function(){return(Br=b._emscripten_bind_btRigidBody_getCollisionShape_0=b.asm.tp).apply(null,arguments)},
+Cr=b._emscripten_bind_btRigidBody_setContactProcessingThreshold_1=function(){return(Cr=b._emscripten_bind_btRigidBody_setContactProcessingThreshold_1=b.asm.up).apply(null,arguments)},Dr=b._emscripten_bind_btRigidBody_setActivationState_1=function(){return(Dr=b._emscripten_bind_btRigidBody_setActivationState_1=b.asm.vp).apply(null,arguments)},Er=b._emscripten_bind_btRigidBody_forceActivationState_1=function(){return(Er=b._emscripten_bind_btRigidBody_forceActivationState_1=b.asm.wp).apply(null,arguments)},
+Fr=b._emscripten_bind_btRigidBody_activate_0=function(){return(Fr=b._emscripten_bind_btRigidBody_activate_0=b.asm.xp).apply(null,arguments)},Gr=b._emscripten_bind_btRigidBody_activate_1=function(){return(Gr=b._emscripten_bind_btRigidBody_activate_1=b.asm.yp).apply(null,arguments)},Hr=b._emscripten_bind_btRigidBody_isActive_0=function(){return(Hr=b._emscripten_bind_btRigidBody_isActive_0=b.asm.zp).apply(null,arguments)},Ir=b._emscripten_bind_btRigidBody_isKinematicObject_0=function(){return(Ir=b._emscripten_bind_btRigidBody_isKinematicObject_0=
+b.asm.Ap).apply(null,arguments)},Jr=b._emscripten_bind_btRigidBody_isStaticObject_0=function(){return(Jr=b._emscripten_bind_btRigidBody_isStaticObject_0=b.asm.Bp).apply(null,arguments)},Kr=b._emscripten_bind_btRigidBody_isStaticOrKinematicObject_0=function(){return(Kr=b._emscripten_bind_btRigidBody_isStaticOrKinematicObject_0=b.asm.Cp).apply(null,arguments)},Lr=b._emscripten_bind_btRigidBody_getRestitution_0=function(){return(Lr=b._emscripten_bind_btRigidBody_getRestitution_0=b.asm.Dp).apply(null,
+arguments)},Mr=b._emscripten_bind_btRigidBody_getFriction_0=function(){return(Mr=b._emscripten_bind_btRigidBody_getFriction_0=b.asm.Ep).apply(null,arguments)},Nr=b._emscripten_bind_btRigidBody_getRollingFriction_0=function(){return(Nr=b._emscripten_bind_btRigidBody_getRollingFriction_0=b.asm.Fp).apply(null,arguments)},Or=b._emscripten_bind_btRigidBody_setRestitution_1=function(){return(Or=b._emscripten_bind_btRigidBody_setRestitution_1=b.asm.Gp).apply(null,arguments)},Pr=b._emscripten_bind_btRigidBody_setFriction_1=
+function(){return(Pr=b._emscripten_bind_btRigidBody_setFriction_1=b.asm.Hp).apply(null,arguments)},Qr=b._emscripten_bind_btRigidBody_setRollingFriction_1=function(){return(Qr=b._emscripten_bind_btRigidBody_setRollingFriction_1=b.asm.Ip).apply(null,arguments)},Rr=b._emscripten_bind_btRigidBody_getWorldTransform_0=function(){return(Rr=b._emscripten_bind_btRigidBody_getWorldTransform_0=b.asm.Jp).apply(null,arguments)},Sr=b._emscripten_bind_btRigidBody_getCollisionFlags_0=function(){return(Sr=b._emscripten_bind_btRigidBody_getCollisionFlags_0=
+b.asm.Kp).apply(null,arguments)},Tr=b._emscripten_bind_btRigidBody_setCollisionFlags_1=function(){return(Tr=b._emscripten_bind_btRigidBody_setCollisionFlags_1=b.asm.Lp).apply(null,arguments)},Ur=b._emscripten_bind_btRigidBody_setWorldTransform_1=function(){return(Ur=b._emscripten_bind_btRigidBody_setWorldTransform_1=b.asm.Mp).apply(null,arguments)},Vr=b._emscripten_bind_btRigidBody_setCollisionShape_1=function(){return(Vr=b._emscripten_bind_btRigidBody_setCollisionShape_1=b.asm.Np).apply(null,arguments)},
+Wr=b._emscripten_bind_btRigidBody_setCcdMotionThreshold_1=function(){return(Wr=b._emscripten_bind_btRigidBody_setCcdMotionThreshold_1=b.asm.Op).apply(null,arguments)},Xr=b._emscripten_bind_btRigidBody_setCcdSweptSphereRadius_1=function(){return(Xr=b._emscripten_bind_btRigidBody_setCcdSweptSphereRadius_1=b.asm.Pp).apply(null,arguments)},Yr=b._emscripten_bind_btRigidBody_getUserIndex_0=function(){return(Yr=b._emscripten_bind_btRigidBody_getUserIndex_0=b.asm.Qp).apply(null,arguments)},Zr=b._emscripten_bind_btRigidBody_setUserIndex_1=
+function(){return(Zr=b._emscripten_bind_btRigidBody_setUserIndex_1=b.asm.Rp).apply(null,arguments)},$r=b._emscripten_bind_btRigidBody_getUserPointer_0=function(){return($r=b._emscripten_bind_btRigidBody_getUserPointer_0=b.asm.Sp).apply(null,arguments)},as=b._emscripten_bind_btRigidBody_setUserPointer_1=function(){return(as=b._emscripten_bind_btRigidBody_setUserPointer_1=b.asm.Tp).apply(null,arguments)},bs=b._emscripten_bind_btRigidBody_getBroadphaseHandle_0=function(){return(bs=b._emscripten_bind_btRigidBody_getBroadphaseHandle_0=
+b.asm.Up).apply(null,arguments)},cs=b._emscripten_bind_btRigidBody___destroy___0=function(){return(cs=b._emscripten_bind_btRigidBody___destroy___0=b.asm.Vp).apply(null,arguments)},ds=b._emscripten_bind_btConstraintSetting_btConstraintSetting_0=function(){return(ds=b._emscripten_bind_btConstraintSetting_btConstraintSetting_0=b.asm.Wp).apply(null,arguments)},es=b._emscripten_bind_btConstraintSetting_get_m_tau_0=function(){return(es=b._emscripten_bind_btConstraintSetting_get_m_tau_0=b.asm.Xp).apply(null,
+arguments)},gs=b._emscripten_bind_btConstraintSetting_set_m_tau_1=function(){return(gs=b._emscripten_bind_btConstraintSetting_set_m_tau_1=b.asm.Yp).apply(null,arguments)},hs=b._emscripten_bind_btConstraintSetting_get_m_damping_0=function(){return(hs=b._emscripten_bind_btConstraintSetting_get_m_damping_0=b.asm.Zp).apply(null,arguments)},is=b._emscripten_bind_btConstraintSetting_set_m_damping_1=function(){return(is=b._emscripten_bind_btConstraintSetting_set_m_damping_1=b.asm._p).apply(null,arguments)},
+js=b._emscripten_bind_btConstraintSetting_get_m_impulseClamp_0=function(){return(js=b._emscripten_bind_btConstraintSetting_get_m_impulseClamp_0=b.asm.$p).apply(null,arguments)},ks=b._emscripten_bind_btConstraintSetting_set_m_impulseClamp_1=function(){return(ks=b._emscripten_bind_btConstraintSetting_set_m_impulseClamp_1=b.asm.aq).apply(null,arguments)},ls=b._emscripten_bind_btConstraintSetting___destroy___0=function(){return(ls=b._emscripten_bind_btConstraintSetting___destroy___0=b.asm.bq).apply(null,
+arguments)},ms=b._emscripten_bind_btPoint2PointConstraint_btPoint2PointConstraint_2=function(){return(ms=b._emscripten_bind_btPoint2PointConstraint_btPoint2PointConstraint_2=b.asm.cq).apply(null,arguments)},ns=b._emscripten_bind_btPoint2PointConstraint_btPoint2PointConstraint_4=function(){return(ns=b._emscripten_bind_btPoint2PointConstraint_btPoint2PointConstraint_4=b.asm.dq).apply(null,arguments)},ps=b._emscripten_bind_btPoint2PointConstraint_setPivotA_1=function(){return(ps=b._emscripten_bind_btPoint2PointConstraint_setPivotA_1=
+b.asm.eq).apply(null,arguments)},qs=b._emscripten_bind_btPoint2PointConstraint_setPivotB_1=function(){return(qs=b._emscripten_bind_btPoint2PointConstraint_setPivotB_1=b.asm.fq).apply(null,arguments)},rs=b._emscripten_bind_btPoint2PointConstraint_getPivotInA_0=function(){return(rs=b._emscripten_bind_btPoint2PointConstraint_getPivotInA_0=b.asm.gq).apply(null,arguments)},ss=b._emscripten_bind_btPoint2PointConstraint_getPivotInB_0=function(){return(ss=b._emscripten_bind_btPoint2PointConstraint_getPivotInB_0=
+b.asm.hq).apply(null,arguments)},ts=b._emscripten_bind_btPoint2PointConstraint_enableFeedback_1=function(){return(ts=b._emscripten_bind_btPoint2PointConstraint_enableFeedback_1=b.asm.iq).apply(null,arguments)},us=b._emscripten_bind_btPoint2PointConstraint_getBreakingImpulseThreshold_0=function(){return(us=b._emscripten_bind_btPoint2PointConstraint_getBreakingImpulseThreshold_0=b.asm.jq).apply(null,arguments)},vs=b._emscripten_bind_btPoint2PointConstraint_setBreakingImpulseThreshold_1=function(){return(vs=
+b._emscripten_bind_btPoint2PointConstraint_setBreakingImpulseThreshold_1=b.asm.kq).apply(null,arguments)},xs=b._emscripten_bind_btPoint2PointConstraint_getParam_2=function(){return(xs=b._emscripten_bind_btPoint2PointConstraint_getParam_2=b.asm.lq).apply(null,arguments)},ys=b._emscripten_bind_btPoint2PointConstraint_setParam_3=function(){return(ys=b._emscripten_bind_btPoint2PointConstraint_setParam_3=b.asm.mq).apply(null,arguments)},zs=b._emscripten_bind_btPoint2PointConstraint_get_m_setting_0=function(){return(zs=
+b._emscripten_bind_btPoint2PointConstraint_get_m_setting_0=b.asm.nq).apply(null,arguments)},As=b._emscripten_bind_btPoint2PointConstraint_set_m_setting_1=function(){return(As=b._emscripten_bind_btPoint2PointConstraint_set_m_setting_1=b.asm.oq).apply(null,arguments)},Bs=b._emscripten_bind_btPoint2PointConstraint___destroy___0=function(){return(Bs=b._emscripten_bind_btPoint2PointConstraint___destroy___0=b.asm.pq).apply(null,arguments)},Cs=b._emscripten_bind_btGeneric6DofSpringConstraint_btGeneric6DofSpringConstraint_3=
+function(){return(Cs=b._emscripten_bind_btGeneric6DofSpringConstraint_btGeneric6DofSpringConstraint_3=b.asm.qq).apply(null,arguments)},Ds=b._emscripten_bind_btGeneric6DofSpringConstraint_btGeneric6DofSpringConstraint_5=function(){return(Ds=b._emscripten_bind_btGeneric6DofSpringConstraint_btGeneric6DofSpringConstraint_5=b.asm.rq).apply(null,arguments)},Es=b._emscripten_bind_btGeneric6DofSpringConstraint_enableSpring_2=function(){return(Es=b._emscripten_bind_btGeneric6DofSpringConstraint_enableSpring_2=
+b.asm.sq).apply(null,arguments)},Fs=b._emscripten_bind_btGeneric6DofSpringConstraint_setStiffness_2=function(){return(Fs=b._emscripten_bind_btGeneric6DofSpringConstraint_setStiffness_2=b.asm.tq).apply(null,arguments)},Gs=b._emscripten_bind_btGeneric6DofSpringConstraint_setDamping_2=function(){return(Gs=b._emscripten_bind_btGeneric6DofSpringConstraint_setDamping_2=b.asm.uq).apply(null,arguments)},Hs=b._emscripten_bind_btGeneric6DofSpringConstraint_setEquilibriumPoint_0=function(){return(Hs=b._emscripten_bind_btGeneric6DofSpringConstraint_setEquilibriumPoint_0=
+b.asm.vq).apply(null,arguments)},Is=b._emscripten_bind_btGeneric6DofSpringConstraint_setEquilibriumPoint_1=function(){return(Is=b._emscripten_bind_btGeneric6DofSpringConstraint_setEquilibriumPoint_1=b.asm.wq).apply(null,arguments)},Js=b._emscripten_bind_btGeneric6DofSpringConstraint_setEquilibriumPoint_2=function(){return(Js=b._emscripten_bind_btGeneric6DofSpringConstraint_setEquilibriumPoint_2=b.asm.xq).apply(null,arguments)},Ks=b._emscripten_bind_btGeneric6DofSpringConstraint_setLinearLowerLimit_1=
+function(){return(Ks=b._emscripten_bind_btGeneric6DofSpringConstraint_setLinearLowerLimit_1=b.asm.yq).apply(null,arguments)},Ls=b._emscripten_bind_btGeneric6DofSpringConstraint_setLinearUpperLimit_1=function(){return(Ls=b._emscripten_bind_btGeneric6DofSpringConstraint_setLinearUpperLimit_1=b.asm.zq).apply(null,arguments)},Ms=b._emscripten_bind_btGeneric6DofSpringConstraint_setAngularLowerLimit_1=function(){return(Ms=b._emscripten_bind_btGeneric6DofSpringConstraint_setAngularLowerLimit_1=b.asm.Aq).apply(null,
+arguments)},Ns=b._emscripten_bind_btGeneric6DofSpringConstraint_setAngularUpperLimit_1=function(){return(Ns=b._emscripten_bind_btGeneric6DofSpringConstraint_setAngularUpperLimit_1=b.asm.Bq).apply(null,arguments)},Os=b._emscripten_bind_btGeneric6DofSpringConstraint_getFrameOffsetA_0=function(){return(Os=b._emscripten_bind_btGeneric6DofSpringConstraint_getFrameOffsetA_0=b.asm.Cq).apply(null,arguments)},Ps=b._emscripten_bind_btGeneric6DofSpringConstraint_enableFeedback_1=function(){return(Ps=b._emscripten_bind_btGeneric6DofSpringConstraint_enableFeedback_1=
+b.asm.Dq).apply(null,arguments)},Qs=b._emscripten_bind_btGeneric6DofSpringConstraint_getBreakingImpulseThreshold_0=function(){return(Qs=b._emscripten_bind_btGeneric6DofSpringConstraint_getBreakingImpulseThreshold_0=b.asm.Eq).apply(null,arguments)},Rs=b._emscripten_bind_btGeneric6DofSpringConstraint_setBreakingImpulseThreshold_1=function(){return(Rs=b._emscripten_bind_btGeneric6DofSpringConstraint_setBreakingImpulseThreshold_1=b.asm.Fq).apply(null,arguments)},Ss=b._emscripten_bind_btGeneric6DofSpringConstraint_getParam_2=
+function(){return(Ss=b._emscripten_bind_btGeneric6DofSpringConstraint_getParam_2=b.asm.Gq).apply(null,arguments)},Ts=b._emscripten_bind_btGeneric6DofSpringConstraint_setParam_3=function(){return(Ts=b._emscripten_bind_btGeneric6DofSpringConstraint_setParam_3=b.asm.Hq).apply(null,arguments)},Us=b._emscripten_bind_btGeneric6DofSpringConstraint___destroy___0=function(){return(Us=b._emscripten_bind_btGeneric6DofSpringConstraint___destroy___0=b.asm.Iq).apply(null,arguments)},Vs=b._emscripten_bind_btSequentialImpulseConstraintSolver_btSequentialImpulseConstraintSolver_0=
+function(){return(Vs=b._emscripten_bind_btSequentialImpulseConstraintSolver_btSequentialImpulseConstraintSolver_0=b.asm.Jq).apply(null,arguments)},Ws=b._emscripten_bind_btSequentialImpulseConstraintSolver___destroy___0=function(){return(Ws=b._emscripten_bind_btSequentialImpulseConstraintSolver___destroy___0=b.asm.Kq).apply(null,arguments)},Xs=b._emscripten_bind_btConeTwistConstraint_btConeTwistConstraint_2=function(){return(Xs=b._emscripten_bind_btConeTwistConstraint_btConeTwistConstraint_2=b.asm.Lq).apply(null,
+arguments)},Ys=b._emscripten_bind_btConeTwistConstraint_btConeTwistConstraint_4=function(){return(Ys=b._emscripten_bind_btConeTwistConstraint_btConeTwistConstraint_4=b.asm.Mq).apply(null,arguments)},Zs=b._emscripten_bind_btConeTwistConstraint_setLimit_2=function(){return(Zs=b._emscripten_bind_btConeTwistConstraint_setLimit_2=b.asm.Nq).apply(null,arguments)},$s=b._emscripten_bind_btConeTwistConstraint_setAngularOnly_1=function(){return($s=b._emscripten_bind_btConeTwistConstraint_setAngularOnly_1=b.asm.Oq).apply(null,
+arguments)},at=b._emscripten_bind_btConeTwistConstraint_setDamping_1=function(){return(at=b._emscripten_bind_btConeTwistConstraint_setDamping_1=b.asm.Pq).apply(null,arguments)},bt=b._emscripten_bind_btConeTwistConstraint_enableMotor_1=function(){return(bt=b._emscripten_bind_btConeTwistConstraint_enableMotor_1=b.asm.Qq).apply(null,arguments)},ct=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulse_1=function(){return(ct=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulse_1=b.asm.Rq).apply(null,
+arguments)},dt=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulseNormalized_1=function(){return(dt=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulseNormalized_1=b.asm.Sq).apply(null,arguments)},et=b._emscripten_bind_btConeTwistConstraint_setMotorTarget_1=function(){return(et=b._emscripten_bind_btConeTwistConstraint_setMotorTarget_1=b.asm.Tq).apply(null,arguments)},ft=b._emscripten_bind_btConeTwistConstraint_setMotorTargetInConstraintSpace_1=function(){return(ft=b._emscripten_bind_btConeTwistConstraint_setMotorTargetInConstraintSpace_1=
+b.asm.Uq).apply(null,arguments)},gt=b._emscripten_bind_btConeTwistConstraint_enableFeedback_1=function(){return(gt=b._emscripten_bind_btConeTwistConstraint_enableFeedback_1=b.asm.Vq).apply(null,arguments)},ht=b._emscripten_bind_btConeTwistConstraint_getBreakingImpulseThreshold_0=function(){return(ht=b._emscripten_bind_btConeTwistConstraint_getBreakingImpulseThreshold_0=b.asm.Wq).apply(null,arguments)},it=b._emscripten_bind_btConeTwistConstraint_setBreakingImpulseThreshold_1=function(){return(it=b._emscripten_bind_btConeTwistConstraint_setBreakingImpulseThreshold_1=
+b.asm.Xq).apply(null,arguments)},jt=b._emscripten_bind_btConeTwistConstraint_getParam_2=function(){return(jt=b._emscripten_bind_btConeTwistConstraint_getParam_2=b.asm.Yq).apply(null,arguments)},kt=b._emscripten_bind_btConeTwistConstraint_setParam_3=function(){return(kt=b._emscripten_bind_btConeTwistConstraint_setParam_3=b.asm.Zq).apply(null,arguments)},lt=b._emscripten_bind_btConeTwistConstraint___destroy___0=function(){return(lt=b._emscripten_bind_btConeTwistConstraint___destroy___0=b.asm._q).apply(null,
+arguments)},mt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_2=function(){return(mt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_2=b.asm.$q).apply(null,arguments)},nt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_3=function(){return(nt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_3=b.asm.ar).apply(null,arguments)},ot=b._emscripten_bind_btHingeConstraint_btHingeConstraint_4=function(){return(ot=b._emscripten_bind_btHingeConstraint_btHingeConstraint_4=b.asm.br).apply(null,
+arguments)},pt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_5=function(){return(pt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_5=b.asm.cr).apply(null,arguments)},qt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_6=function(){return(qt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_6=b.asm.dr).apply(null,arguments)},rt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_7=function(){return(rt=b._emscripten_bind_btHingeConstraint_btHingeConstraint_7=b.asm.er).apply(null,
+arguments)},st=b._emscripten_bind_btHingeConstraint_getHingeAngle_0=function(){return(st=b._emscripten_bind_btHingeConstraint_getHingeAngle_0=b.asm.fr).apply(null,arguments)},tt=b._emscripten_bind_btHingeConstraint_setLimit_4=function(){return(tt=b._emscripten_bind_btHingeConstraint_setLimit_4=b.asm.gr).apply(null,arguments)},ut=b._emscripten_bind_btHingeConstraint_setLimit_5=function(){return(ut=b._emscripten_bind_btHingeConstraint_setLimit_5=b.asm.hr).apply(null,arguments)},vt=b._emscripten_bind_btHingeConstraint_enableAngularMotor_3=
+function(){return(vt=b._emscripten_bind_btHingeConstraint_enableAngularMotor_3=b.asm.ir).apply(null,arguments)},wt=b._emscripten_bind_btHingeConstraint_setAngularOnly_1=function(){return(wt=b._emscripten_bind_btHingeConstraint_setAngularOnly_1=b.asm.jr).apply(null,arguments)},xt=b._emscripten_bind_btHingeConstraint_enableMotor_1=function(){return(xt=b._emscripten_bind_btHingeConstraint_enableMotor_1=b.asm.kr).apply(null,arguments)},yt=b._emscripten_bind_btHingeConstraint_setMaxMotorImpulse_1=function(){return(yt=
+b._emscripten_bind_btHingeConstraint_setMaxMotorImpulse_1=b.asm.lr).apply(null,arguments)},zt=b._emscripten_bind_btHingeConstraint_setMotorTarget_2=function(){return(zt=b._emscripten_bind_btHingeConstraint_setMotorTarget_2=b.asm.mr).apply(null,arguments)},At=b._emscripten_bind_btHingeConstraint_enableFeedback_1=function(){return(At=b._emscripten_bind_btHingeConstraint_enableFeedback_1=b.asm.nr).apply(null,arguments)},Bt=b._emscripten_bind_btHingeConstraint_getBreakingImpulseThreshold_0=function(){return(Bt=
+b._emscripten_bind_btHingeConstraint_getBreakingImpulseThreshold_0=b.asm.or).apply(null,arguments)},Ct=b._emscripten_bind_btHingeConstraint_setBreakingImpulseThreshold_1=function(){return(Ct=b._emscripten_bind_btHingeConstraint_setBreakingImpulseThreshold_1=b.asm.pr).apply(null,arguments)},Dt=b._emscripten_bind_btHingeConstraint_getParam_2=function(){return(Dt=b._emscripten_bind_btHingeConstraint_getParam_2=b.asm.qr).apply(null,arguments)},Et=b._emscripten_bind_btHingeConstraint_setParam_3=function(){return(Et=
+b._emscripten_bind_btHingeConstraint_setParam_3=b.asm.rr).apply(null,arguments)},Ft=b._emscripten_bind_btHingeConstraint___destroy___0=function(){return(Ft=b._emscripten_bind_btHingeConstraint___destroy___0=b.asm.sr).apply(null,arguments)},Gt=b._emscripten_bind_btSliderConstraint_btSliderConstraint_3=function(){return(Gt=b._emscripten_bind_btSliderConstraint_btSliderConstraint_3=b.asm.tr).apply(null,arguments)},Ht=b._emscripten_bind_btSliderConstraint_btSliderConstraint_5=function(){return(Ht=b._emscripten_bind_btSliderConstraint_btSliderConstraint_5=
+b.asm.ur).apply(null,arguments)},It=b._emscripten_bind_btSliderConstraint_getLinearPos_0=function(){return(It=b._emscripten_bind_btSliderConstraint_getLinearPos_0=b.asm.vr).apply(null,arguments)},Jt=b._emscripten_bind_btSliderConstraint_getAngularPos_0=function(){return(Jt=b._emscripten_bind_btSliderConstraint_getAngularPos_0=b.asm.wr).apply(null,arguments)},Kt=b._emscripten_bind_btSliderConstraint_setLowerLinLimit_1=function(){return(Kt=b._emscripten_bind_btSliderConstraint_setLowerLinLimit_1=b.asm.xr).apply(null,
+arguments)},Lt=b._emscripten_bind_btSliderConstraint_setUpperLinLimit_1=function(){return(Lt=b._emscripten_bind_btSliderConstraint_setUpperLinLimit_1=b.asm.yr).apply(null,arguments)},Mt=b._emscripten_bind_btSliderConstraint_setLowerAngLimit_1=function(){return(Mt=b._emscripten_bind_btSliderConstraint_setLowerAngLimit_1=b.asm.zr).apply(null,arguments)},Nt=b._emscripten_bind_btSliderConstraint_setUpperAngLimit_1=function(){return(Nt=b._emscripten_bind_btSliderConstraint_setUpperAngLimit_1=b.asm.Ar).apply(null,
+arguments)},Ot=b._emscripten_bind_btSliderConstraint_setPoweredLinMotor_1=function(){return(Ot=b._emscripten_bind_btSliderConstraint_setPoweredLinMotor_1=b.asm.Br).apply(null,arguments)},Pt=b._emscripten_bind_btSliderConstraint_setMaxLinMotorForce_1=function(){return(Pt=b._emscripten_bind_btSliderConstraint_setMaxLinMotorForce_1=b.asm.Cr).apply(null,arguments)},Qt=b._emscripten_bind_btSliderConstraint_setTargetLinMotorVelocity_1=function(){return(Qt=b._emscripten_bind_btSliderConstraint_setTargetLinMotorVelocity_1=
+b.asm.Dr).apply(null,arguments)},Rt=b._emscripten_bind_btSliderConstraint_enableFeedback_1=function(){return(Rt=b._emscripten_bind_btSliderConstraint_enableFeedback_1=b.asm.Er).apply(null,arguments)},St=b._emscripten_bind_btSliderConstraint_getBreakingImpulseThreshold_0=function(){return(St=b._emscripten_bind_btSliderConstraint_getBreakingImpulseThreshold_0=b.asm.Fr).apply(null,arguments)},Tt=b._emscripten_bind_btSliderConstraint_setBreakingImpulseThreshold_1=function(){return(Tt=b._emscripten_bind_btSliderConstraint_setBreakingImpulseThreshold_1=
+b.asm.Gr).apply(null,arguments)},Ut=b._emscripten_bind_btSliderConstraint_getParam_2=function(){return(Ut=b._emscripten_bind_btSliderConstraint_getParam_2=b.asm.Hr).apply(null,arguments)},Vt=b._emscripten_bind_btSliderConstraint_setParam_3=function(){return(Vt=b._emscripten_bind_btSliderConstraint_setParam_3=b.asm.Ir).apply(null,arguments)},Wt=b._emscripten_bind_btSliderConstraint___destroy___0=function(){return(Wt=b._emscripten_bind_btSliderConstraint___destroy___0=b.asm.Jr).apply(null,arguments)},
+Xt=b._emscripten_bind_btFixedConstraint_btFixedConstraint_4=function(){return(Xt=b._emscripten_bind_btFixedConstraint_btFixedConstraint_4=b.asm.Kr).apply(null,arguments)},Yt=b._emscripten_bind_btFixedConstraint_enableFeedback_1=function(){return(Yt=b._emscripten_bind_btFixedConstraint_enableFeedback_1=b.asm.Lr).apply(null,arguments)},Zt=b._emscripten_bind_btFixedConstraint_getBreakingImpulseThreshold_0=function(){return(Zt=b._emscripten_bind_btFixedConstraint_getBreakingImpulseThreshold_0=b.asm.Mr).apply(null,
+arguments)},$t=b._emscripten_bind_btFixedConstraint_setBreakingImpulseThreshold_1=function(){return($t=b._emscripten_bind_btFixedConstraint_setBreakingImpulseThreshold_1=b.asm.Nr).apply(null,arguments)},au=b._emscripten_bind_btFixedConstraint_getParam_2=function(){return(au=b._emscripten_bind_btFixedConstraint_getParam_2=b.asm.Or).apply(null,arguments)},bu=b._emscripten_bind_btFixedConstraint_setParam_3=function(){return(bu=b._emscripten_bind_btFixedConstraint_setParam_3=b.asm.Pr).apply(null,arguments)},
+cu=b._emscripten_bind_btFixedConstraint___destroy___0=function(){return(cu=b._emscripten_bind_btFixedConstraint___destroy___0=b.asm.Qr).apply(null,arguments)},du=b._emscripten_bind_btConstraintSolver___destroy___0=function(){return(du=b._emscripten_bind_btConstraintSolver___destroy___0=b.asm.Rr).apply(null,arguments)},eu=b._emscripten_bind_btDispatcherInfo_get_m_timeStep_0=function(){return(eu=b._emscripten_bind_btDispatcherInfo_get_m_timeStep_0=b.asm.Sr).apply(null,arguments)},fu=b._emscripten_bind_btDispatcherInfo_set_m_timeStep_1=
+function(){return(fu=b._emscripten_bind_btDispatcherInfo_set_m_timeStep_1=b.asm.Tr).apply(null,arguments)},gu=b._emscripten_bind_btDispatcherInfo_get_m_stepCount_0=function(){return(gu=b._emscripten_bind_btDispatcherInfo_get_m_stepCount_0=b.asm.Ur).apply(null,arguments)},hu=b._emscripten_bind_btDispatcherInfo_set_m_stepCount_1=function(){return(hu=b._emscripten_bind_btDispatcherInfo_set_m_stepCount_1=b.asm.Vr).apply(null,arguments)},iu=b._emscripten_bind_btDispatcherInfo_get_m_dispatchFunc_0=function(){return(iu=
+b._emscripten_bind_btDispatcherInfo_get_m_dispatchFunc_0=b.asm.Wr).apply(null,arguments)},ju=b._emscripten_bind_btDispatcherInfo_set_m_dispatchFunc_1=function(){return(ju=b._emscripten_bind_btDispatcherInfo_set_m_dispatchFunc_1=b.asm.Xr).apply(null,arguments)},ku=b._emscripten_bind_btDispatcherInfo_get_m_timeOfImpact_0=function(){return(ku=b._emscripten_bind_btDispatcherInfo_get_m_timeOfImpact_0=b.asm.Yr).apply(null,arguments)},lu=b._emscripten_bind_btDispatcherInfo_set_m_timeOfImpact_1=function(){return(lu=
+b._emscripten_bind_btDispatcherInfo_set_m_timeOfImpact_1=b.asm.Zr).apply(null,arguments)},mu=b._emscripten_bind_btDispatcherInfo_get_m_useContinuous_0=function(){return(mu=b._emscripten_bind_btDispatcherInfo_get_m_useContinuous_0=b.asm._r).apply(null,arguments)},nu=b._emscripten_bind_btDispatcherInfo_set_m_useContinuous_1=function(){return(nu=b._emscripten_bind_btDispatcherInfo_set_m_useContinuous_1=b.asm.$r).apply(null,arguments)},ou=b._emscripten_bind_btDispatcherInfo_get_m_enableSatConvex_0=function(){return(ou=
+b._emscripten_bind_btDispatcherInfo_get_m_enableSatConvex_0=b.asm.as).apply(null,arguments)},pu=b._emscripten_bind_btDispatcherInfo_set_m_enableSatConvex_1=function(){return(pu=b._emscripten_bind_btDispatcherInfo_set_m_enableSatConvex_1=b.asm.bs).apply(null,arguments)},qu=b._emscripten_bind_btDispatcherInfo_get_m_enableSPU_0=function(){return(qu=b._emscripten_bind_btDispatcherInfo_get_m_enableSPU_0=b.asm.cs).apply(null,arguments)},ru=b._emscripten_bind_btDispatcherInfo_set_m_enableSPU_1=function(){return(ru=
+b._emscripten_bind_btDispatcherInfo_set_m_enableSPU_1=b.asm.ds).apply(null,arguments)},su=b._emscripten_bind_btDispatcherInfo_get_m_useEpa_0=function(){return(su=b._emscripten_bind_btDispatcherInfo_get_m_useEpa_0=b.asm.es).apply(null,arguments)},tu=b._emscripten_bind_btDispatcherInfo_set_m_useEpa_1=function(){return(tu=b._emscripten_bind_btDispatcherInfo_set_m_useEpa_1=b.asm.fs).apply(null,arguments)},uu=b._emscripten_bind_btDispatcherInfo_get_m_allowedCcdPenetration_0=function(){return(uu=b._emscripten_bind_btDispatcherInfo_get_m_allowedCcdPenetration_0=
+b.asm.gs).apply(null,arguments)},vu=b._emscripten_bind_btDispatcherInfo_set_m_allowedCcdPenetration_1=function(){return(vu=b._emscripten_bind_btDispatcherInfo_set_m_allowedCcdPenetration_1=b.asm.hs).apply(null,arguments)},wu=b._emscripten_bind_btDispatcherInfo_get_m_useConvexConservativeDistanceUtil_0=function(){return(wu=b._emscripten_bind_btDispatcherInfo_get_m_useConvexConservativeDistanceUtil_0=b.asm.is).apply(null,arguments)},xu=b._emscripten_bind_btDispatcherInfo_set_m_useConvexConservativeDistanceUtil_1=
+function(){return(xu=b._emscripten_bind_btDispatcherInfo_set_m_useConvexConservativeDistanceUtil_1=b.asm.js).apply(null,arguments)},yu=b._emscripten_bind_btDispatcherInfo_get_m_convexConservativeDistanceThreshold_0=function(){return(yu=b._emscripten_bind_btDispatcherInfo_get_m_convexConservativeDistanceThreshold_0=b.asm.ks).apply(null,arguments)},zu=b._emscripten_bind_btDispatcherInfo_set_m_convexConservativeDistanceThreshold_1=function(){return(zu=b._emscripten_bind_btDispatcherInfo_set_m_convexConservativeDistanceThreshold_1=
+b.asm.ls).apply(null,arguments)},Au=b._emscripten_bind_btDispatcherInfo___destroy___0=function(){return(Au=b._emscripten_bind_btDispatcherInfo___destroy___0=b.asm.ms).apply(null,arguments)},Bu=b._emscripten_bind_btContactSolverInfo_get_m_splitImpulse_0=function(){return(Bu=b._emscripten_bind_btContactSolverInfo_get_m_splitImpulse_0=b.asm.ns).apply(null,arguments)},Cu=b._emscripten_bind_btContactSolverInfo_set_m_splitImpulse_1=function(){return(Cu=b._emscripten_bind_btContactSolverInfo_set_m_splitImpulse_1=
+b.asm.os).apply(null,arguments)},Du=b._emscripten_bind_btContactSolverInfo_get_m_splitImpulsePenetrationThreshold_0=function(){return(Du=b._emscripten_bind_btContactSolverInfo_get_m_splitImpulsePenetrationThreshold_0=b.asm.ps).apply(null,arguments)},Eu=b._emscripten_bind_btContactSolverInfo_set_m_splitImpulsePenetrationThreshold_1=function(){return(Eu=b._emscripten_bind_btContactSolverInfo_set_m_splitImpulsePenetrationThreshold_1=b.asm.qs).apply(null,arguments)},Fu=b._emscripten_bind_btContactSolverInfo_get_m_numIterations_0=
+function(){return(Fu=b._emscripten_bind_btContactSolverInfo_get_m_numIterations_0=b.asm.rs).apply(null,arguments)},Gu=b._emscripten_bind_btContactSolverInfo_set_m_numIterations_1=function(){return(Gu=b._emscripten_bind_btContactSolverInfo_set_m_numIterations_1=b.asm.ss).apply(null,arguments)},Hu=b._emscripten_bind_btContactSolverInfo___destroy___0=function(){return(Hu=b._emscripten_bind_btContactSolverInfo___destroy___0=b.asm.ts).apply(null,arguments)},Iu=b._emscripten_bind_btVehicleTuning_btVehicleTuning_0=
+function(){return(Iu=b._emscripten_bind_btVehicleTuning_btVehicleTuning_0=b.asm.us).apply(null,arguments)},Ju=b._emscripten_bind_btVehicleTuning_get_m_suspensionStiffness_0=function(){return(Ju=b._emscripten_bind_btVehicleTuning_get_m_suspensionStiffness_0=b.asm.vs).apply(null,arguments)},Ku=b._emscripten_bind_btVehicleTuning_set_m_suspensionStiffness_1=function(){return(Ku=b._emscripten_bind_btVehicleTuning_set_m_suspensionStiffness_1=b.asm.ws).apply(null,arguments)},Lu=b._emscripten_bind_btVehicleTuning_get_m_suspensionCompression_0=
+function(){return(Lu=b._emscripten_bind_btVehicleTuning_get_m_suspensionCompression_0=b.asm.xs).apply(null,arguments)},Mu=b._emscripten_bind_btVehicleTuning_set_m_suspensionCompression_1=function(){return(Mu=b._emscripten_bind_btVehicleTuning_set_m_suspensionCompression_1=b.asm.ys).apply(null,arguments)},Nu=b._emscripten_bind_btVehicleTuning_get_m_suspensionDamping_0=function(){return(Nu=b._emscripten_bind_btVehicleTuning_get_m_suspensionDamping_0=b.asm.zs).apply(null,arguments)},Ou=b._emscripten_bind_btVehicleTuning_set_m_suspensionDamping_1=
+function(){return(Ou=b._emscripten_bind_btVehicleTuning_set_m_suspensionDamping_1=b.asm.As).apply(null,arguments)},Pu=b._emscripten_bind_btVehicleTuning_get_m_maxSuspensionTravelCm_0=function(){return(Pu=b._emscripten_bind_btVehicleTuning_get_m_maxSuspensionTravelCm_0=b.asm.Bs).apply(null,arguments)},Qu=b._emscripten_bind_btVehicleTuning_set_m_maxSuspensionTravelCm_1=function(){return(Qu=b._emscripten_bind_btVehicleTuning_set_m_maxSuspensionTravelCm_1=b.asm.Cs).apply(null,arguments)},Ru=b._emscripten_bind_btVehicleTuning_get_m_frictionSlip_0=
+function(){return(Ru=b._emscripten_bind_btVehicleTuning_get_m_frictionSlip_0=b.asm.Ds).apply(null,arguments)},Su=b._emscripten_bind_btVehicleTuning_set_m_frictionSlip_1=function(){return(Su=b._emscripten_bind_btVehicleTuning_set_m_frictionSlip_1=b.asm.Es).apply(null,arguments)},Tu=b._emscripten_bind_btVehicleTuning_get_m_maxSuspensionForce_0=function(){return(Tu=b._emscripten_bind_btVehicleTuning_get_m_maxSuspensionForce_0=b.asm.Fs).apply(null,arguments)},Uu=b._emscripten_bind_btVehicleTuning_set_m_maxSuspensionForce_1=
+function(){return(Uu=b._emscripten_bind_btVehicleTuning_set_m_maxSuspensionForce_1=b.asm.Gs).apply(null,arguments)},Vu=b._emscripten_bind_btVehicleRaycasterResult_get_m_hitPointInWorld_0=function(){return(Vu=b._emscripten_bind_btVehicleRaycasterResult_get_m_hitPointInWorld_0=b.asm.Hs).apply(null,arguments)},Wu=b._emscripten_bind_btVehicleRaycasterResult_set_m_hitPointInWorld_1=function(){return(Wu=b._emscripten_bind_btVehicleRaycasterResult_set_m_hitPointInWorld_1=b.asm.Is).apply(null,arguments)},
+Xu=b._emscripten_bind_btVehicleRaycasterResult_get_m_hitNormalInWorld_0=function(){return(Xu=b._emscripten_bind_btVehicleRaycasterResult_get_m_hitNormalInWorld_0=b.asm.Js).apply(null,arguments)},Yu=b._emscripten_bind_btVehicleRaycasterResult_set_m_hitNormalInWorld_1=function(){return(Yu=b._emscripten_bind_btVehicleRaycasterResult_set_m_hitNormalInWorld_1=b.asm.Ks).apply(null,arguments)},Zu=b._emscripten_bind_btVehicleRaycasterResult_get_m_distFraction_0=function(){return(Zu=b._emscripten_bind_btVehicleRaycasterResult_get_m_distFraction_0=
+b.asm.Ls).apply(null,arguments)},$u=b._emscripten_bind_btVehicleRaycasterResult_set_m_distFraction_1=function(){return($u=b._emscripten_bind_btVehicleRaycasterResult_set_m_distFraction_1=b.asm.Ms).apply(null,arguments)},av=b._emscripten_bind_btVehicleRaycasterResult___destroy___0=function(){return(av=b._emscripten_bind_btVehicleRaycasterResult___destroy___0=b.asm.Ns).apply(null,arguments)},bv=b._emscripten_bind_btDefaultVehicleRaycaster_btDefaultVehicleRaycaster_1=function(){return(bv=b._emscripten_bind_btDefaultVehicleRaycaster_btDefaultVehicleRaycaster_1=
+b.asm.Os).apply(null,arguments)},cv=b._emscripten_bind_btDefaultVehicleRaycaster_castRay_3=function(){return(cv=b._emscripten_bind_btDefaultVehicleRaycaster_castRay_3=b.asm.Ps).apply(null,arguments)},dv=b._emscripten_bind_btDefaultVehicleRaycaster___destroy___0=function(){return(dv=b._emscripten_bind_btDefaultVehicleRaycaster___destroy___0=b.asm.Qs).apply(null,arguments)},ev=b._emscripten_bind_RaycastInfo_get_m_contactNormalWS_0=function(){return(ev=b._emscripten_bind_RaycastInfo_get_m_contactNormalWS_0=
+b.asm.Rs).apply(null,arguments)},fv=b._emscripten_bind_RaycastInfo_set_m_contactNormalWS_1=function(){return(fv=b._emscripten_bind_RaycastInfo_set_m_contactNormalWS_1=b.asm.Ss).apply(null,arguments)},gv=b._emscripten_bind_RaycastInfo_get_m_contactPointWS_0=function(){return(gv=b._emscripten_bind_RaycastInfo_get_m_contactPointWS_0=b.asm.Ts).apply(null,arguments)},hv=b._emscripten_bind_RaycastInfo_set_m_contactPointWS_1=function(){return(hv=b._emscripten_bind_RaycastInfo_set_m_contactPointWS_1=b.asm.Us).apply(null,
+arguments)},iv=b._emscripten_bind_RaycastInfo_get_m_suspensionLength_0=function(){return(iv=b._emscripten_bind_RaycastInfo_get_m_suspensionLength_0=b.asm.Vs).apply(null,arguments)},jv=b._emscripten_bind_RaycastInfo_set_m_suspensionLength_1=function(){return(jv=b._emscripten_bind_RaycastInfo_set_m_suspensionLength_1=b.asm.Ws).apply(null,arguments)},kv=b._emscripten_bind_RaycastInfo_get_m_hardPointWS_0=function(){return(kv=b._emscripten_bind_RaycastInfo_get_m_hardPointWS_0=b.asm.Xs).apply(null,arguments)},
+lv=b._emscripten_bind_RaycastInfo_set_m_hardPointWS_1=function(){return(lv=b._emscripten_bind_RaycastInfo_set_m_hardPointWS_1=b.asm.Ys).apply(null,arguments)},mv=b._emscripten_bind_RaycastInfo_get_m_wheelDirectionWS_0=function(){return(mv=b._emscripten_bind_RaycastInfo_get_m_wheelDirectionWS_0=b.asm.Zs).apply(null,arguments)},nv=b._emscripten_bind_RaycastInfo_set_m_wheelDirectionWS_1=function(){return(nv=b._emscripten_bind_RaycastInfo_set_m_wheelDirectionWS_1=b.asm._s).apply(null,arguments)},ov=b._emscripten_bind_RaycastInfo_get_m_wheelAxleWS_0=
+function(){return(ov=b._emscripten_bind_RaycastInfo_get_m_wheelAxleWS_0=b.asm.$s).apply(null,arguments)},pv=b._emscripten_bind_RaycastInfo_set_m_wheelAxleWS_1=function(){return(pv=b._emscripten_bind_RaycastInfo_set_m_wheelAxleWS_1=b.asm.at).apply(null,arguments)},qv=b._emscripten_bind_RaycastInfo_get_m_isInContact_0=function(){return(qv=b._emscripten_bind_RaycastInfo_get_m_isInContact_0=b.asm.bt).apply(null,arguments)},rv=b._emscripten_bind_RaycastInfo_set_m_isInContact_1=function(){return(rv=b._emscripten_bind_RaycastInfo_set_m_isInContact_1=
+b.asm.ct).apply(null,arguments)},sv=b._emscripten_bind_RaycastInfo_get_m_groundObject_0=function(){return(sv=b._emscripten_bind_RaycastInfo_get_m_groundObject_0=b.asm.dt).apply(null,arguments)},tv=b._emscripten_bind_RaycastInfo_set_m_groundObject_1=function(){return(tv=b._emscripten_bind_RaycastInfo_set_m_groundObject_1=b.asm.et).apply(null,arguments)},uv=b._emscripten_bind_RaycastInfo___destroy___0=function(){return(uv=b._emscripten_bind_RaycastInfo___destroy___0=b.asm.ft).apply(null,arguments)},
+vv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_chassisConnectionCS_0=function(){return(vv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_chassisConnectionCS_0=b.asm.gt).apply(null,arguments)},wv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_chassisConnectionCS_1=function(){return(wv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_chassisConnectionCS_1=b.asm.ht).apply(null,arguments)},xv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelDirectionCS_0=function(){return(xv=
+b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelDirectionCS_0=b.asm.it).apply(null,arguments)},yv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelDirectionCS_1=function(){return(yv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelDirectionCS_1=b.asm.jt).apply(null,arguments)},zv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelAxleCS_0=function(){return(zv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelAxleCS_0=b.asm.kt).apply(null,arguments)},Av=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelAxleCS_1=
+function(){return(Av=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelAxleCS_1=b.asm.lt).apply(null,arguments)},Bv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_suspensionRestLength_0=function(){return(Bv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_suspensionRestLength_0=b.asm.mt).apply(null,arguments)},Cv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_suspensionRestLength_1=function(){return(Cv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_suspensionRestLength_1=
+b.asm.nt).apply(null,arguments)},Dv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_maxSuspensionTravelCm_0=function(){return(Dv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_maxSuspensionTravelCm_0=b.asm.ot).apply(null,arguments)},Ev=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_maxSuspensionTravelCm_1=function(){return(Ev=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_maxSuspensionTravelCm_1=b.asm.pt).apply(null,arguments)},Fv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelRadius_0=
+function(){return(Fv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelRadius_0=b.asm.qt).apply(null,arguments)},Gv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelRadius_1=function(){return(Gv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelRadius_1=b.asm.rt).apply(null,arguments)},Hv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_suspensionStiffness_0=function(){return(Hv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_suspensionStiffness_0=b.asm.st).apply(null,
+arguments)},Iv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_suspensionStiffness_1=function(){return(Iv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_suspensionStiffness_1=b.asm.tt).apply(null,arguments)},Jv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelsDampingCompression_0=function(){return(Jv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelsDampingCompression_0=b.asm.ut).apply(null,arguments)},Kv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelsDampingCompression_1=
+function(){return(Kv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelsDampingCompression_1=b.asm.vt).apply(null,arguments)},Lv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelsDampingRelaxation_0=function(){return(Lv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_wheelsDampingRelaxation_0=b.asm.wt).apply(null,arguments)},Mv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelsDampingRelaxation_1=function(){return(Mv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_wheelsDampingRelaxation_1=
+b.asm.xt).apply(null,arguments)},Nv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_frictionSlip_0=function(){return(Nv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_frictionSlip_0=b.asm.yt).apply(null,arguments)},Ov=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_frictionSlip_1=function(){return(Ov=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_frictionSlip_1=b.asm.zt).apply(null,arguments)},Pv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_maxSuspensionForce_0=function(){return(Pv=
+b._emscripten_bind_btWheelInfoConstructionInfo_get_m_maxSuspensionForce_0=b.asm.At).apply(null,arguments)},Qv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_maxSuspensionForce_1=function(){return(Qv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_maxSuspensionForce_1=b.asm.Bt).apply(null,arguments)},Rv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_bIsFrontWheel_0=function(){return(Rv=b._emscripten_bind_btWheelInfoConstructionInfo_get_m_bIsFrontWheel_0=b.asm.Ct).apply(null,arguments)},
+Sv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_bIsFrontWheel_1=function(){return(Sv=b._emscripten_bind_btWheelInfoConstructionInfo_set_m_bIsFrontWheel_1=b.asm.Dt).apply(null,arguments)},Tv=b._emscripten_bind_btWheelInfoConstructionInfo___destroy___0=function(){return(Tv=b._emscripten_bind_btWheelInfoConstructionInfo___destroy___0=b.asm.Et).apply(null,arguments)},Uv=b._emscripten_bind_btWheelInfo_btWheelInfo_1=function(){return(Uv=b._emscripten_bind_btWheelInfo_btWheelInfo_1=b.asm.Ft).apply(null,
+arguments)},Vv=b._emscripten_bind_btWheelInfo_getSuspensionRestLength_0=function(){return(Vv=b._emscripten_bind_btWheelInfo_getSuspensionRestLength_0=b.asm.Gt).apply(null,arguments)},Wv=b._emscripten_bind_btWheelInfo_updateWheel_2=function(){return(Wv=b._emscripten_bind_btWheelInfo_updateWheel_2=b.asm.Ht).apply(null,arguments)},Xv=b._emscripten_bind_btWheelInfo_get_m_suspensionStiffness_0=function(){return(Xv=b._emscripten_bind_btWheelInfo_get_m_suspensionStiffness_0=b.asm.It).apply(null,arguments)},
+Yv=b._emscripten_bind_btWheelInfo_set_m_suspensionStiffness_1=function(){return(Yv=b._emscripten_bind_btWheelInfo_set_m_suspensionStiffness_1=b.asm.Jt).apply(null,arguments)},Zv=b._emscripten_bind_btWheelInfo_get_m_frictionSlip_0=function(){return(Zv=b._emscripten_bind_btWheelInfo_get_m_frictionSlip_0=b.asm.Kt).apply(null,arguments)},$v=b._emscripten_bind_btWheelInfo_set_m_frictionSlip_1=function(){return($v=b._emscripten_bind_btWheelInfo_set_m_frictionSlip_1=b.asm.Lt).apply(null,arguments)},aw=b._emscripten_bind_btWheelInfo_get_m_engineForce_0=
+function(){return(aw=b._emscripten_bind_btWheelInfo_get_m_engineForce_0=b.asm.Mt).apply(null,arguments)},bw=b._emscripten_bind_btWheelInfo_set_m_engineForce_1=function(){return(bw=b._emscripten_bind_btWheelInfo_set_m_engineForce_1=b.asm.Nt).apply(null,arguments)},cw=b._emscripten_bind_btWheelInfo_get_m_rollInfluence_0=function(){return(cw=b._emscripten_bind_btWheelInfo_get_m_rollInfluence_0=b.asm.Ot).apply(null,arguments)},dw=b._emscripten_bind_btWheelInfo_set_m_rollInfluence_1=function(){return(dw=
+b._emscripten_bind_btWheelInfo_set_m_rollInfluence_1=b.asm.Pt).apply(null,arguments)},ew=b._emscripten_bind_btWheelInfo_get_m_suspensionRestLength1_0=function(){return(ew=b._emscripten_bind_btWheelInfo_get_m_suspensionRestLength1_0=b.asm.Qt).apply(null,arguments)},fw=b._emscripten_bind_btWheelInfo_set_m_suspensionRestLength1_1=function(){return(fw=b._emscripten_bind_btWheelInfo_set_m_suspensionRestLength1_1=b.asm.Rt).apply(null,arguments)},gw=b._emscripten_bind_btWheelInfo_get_m_wheelsRadius_0=function(){return(gw=
+b._emscripten_bind_btWheelInfo_get_m_wheelsRadius_0=b.asm.St).apply(null,arguments)},hw=b._emscripten_bind_btWheelInfo_set_m_wheelsRadius_1=function(){return(hw=b._emscripten_bind_btWheelInfo_set_m_wheelsRadius_1=b.asm.Tt).apply(null,arguments)},iw=b._emscripten_bind_btWheelInfo_get_m_wheelsDampingCompression_0=function(){return(iw=b._emscripten_bind_btWheelInfo_get_m_wheelsDampingCompression_0=b.asm.Ut).apply(null,arguments)},jw=b._emscripten_bind_btWheelInfo_set_m_wheelsDampingCompression_1=function(){return(jw=
+b._emscripten_bind_btWheelInfo_set_m_wheelsDampingCompression_1=b.asm.Vt).apply(null,arguments)},kw=b._emscripten_bind_btWheelInfo_get_m_wheelsDampingRelaxation_0=function(){return(kw=b._emscripten_bind_btWheelInfo_get_m_wheelsDampingRelaxation_0=b.asm.Wt).apply(null,arguments)},lw=b._emscripten_bind_btWheelInfo_set_m_wheelsDampingRelaxation_1=function(){return(lw=b._emscripten_bind_btWheelInfo_set_m_wheelsDampingRelaxation_1=b.asm.Xt).apply(null,arguments)},mw=b._emscripten_bind_btWheelInfo_get_m_steering_0=
+function(){return(mw=b._emscripten_bind_btWheelInfo_get_m_steering_0=b.asm.Yt).apply(null,arguments)},nw=b._emscripten_bind_btWheelInfo_set_m_steering_1=function(){return(nw=b._emscripten_bind_btWheelInfo_set_m_steering_1=b.asm.Zt).apply(null,arguments)},ow=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionForce_0=function(){return(ow=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionForce_0=b.asm._t).apply(null,arguments)},pw=b._emscripten_bind_btWheelInfo_set_m_maxSuspensionForce_1=function(){return(pw=
+b._emscripten_bind_btWheelInfo_set_m_maxSuspensionForce_1=b.asm.$t).apply(null,arguments)},qw=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionTravelCm_0=function(){return(qw=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionTravelCm_0=b.asm.au).apply(null,arguments)},rw=b._emscripten_bind_btWheelInfo_set_m_maxSuspensionTravelCm_1=function(){return(rw=b._emscripten_bind_btWheelInfo_set_m_maxSuspensionTravelCm_1=b.asm.bu).apply(null,arguments)},sw=b._emscripten_bind_btWheelInfo_get_m_wheelsSuspensionForce_0=
+function(){return(sw=b._emscripten_bind_btWheelInfo_get_m_wheelsSuspensionForce_0=b.asm.cu).apply(null,arguments)},tw=b._emscripten_bind_btWheelInfo_set_m_wheelsSuspensionForce_1=function(){return(tw=b._emscripten_bind_btWheelInfo_set_m_wheelsSuspensionForce_1=b.asm.du).apply(null,arguments)},uw=b._emscripten_bind_btWheelInfo_get_m_bIsFrontWheel_0=function(){return(uw=b._emscripten_bind_btWheelInfo_get_m_bIsFrontWheel_0=b.asm.eu).apply(null,arguments)},vw=b._emscripten_bind_btWheelInfo_set_m_bIsFrontWheel_1=
+function(){return(vw=b._emscripten_bind_btWheelInfo_set_m_bIsFrontWheel_1=b.asm.fu).apply(null,arguments)},ww=b._emscripten_bind_btWheelInfo_get_m_raycastInfo_0=function(){return(ww=b._emscripten_bind_btWheelInfo_get_m_raycastInfo_0=b.asm.gu).apply(null,arguments)},xw=b._emscripten_bind_btWheelInfo_set_m_raycastInfo_1=function(){return(xw=b._emscripten_bind_btWheelInfo_set_m_raycastInfo_1=b.asm.hu).apply(null,arguments)},yw=b._emscripten_bind_btWheelInfo_get_m_chassisConnectionPointCS_0=function(){return(yw=
+b._emscripten_bind_btWheelInfo_get_m_chassisConnectionPointCS_0=b.asm.iu).apply(null,arguments)},zw=b._emscripten_bind_btWheelInfo_set_m_chassisConnectionPointCS_1=function(){return(zw=b._emscripten_bind_btWheelInfo_set_m_chassisConnectionPointCS_1=b.asm.ju).apply(null,arguments)},Aw=b._emscripten_bind_btWheelInfo_get_m_worldTransform_0=function(){return(Aw=b._emscripten_bind_btWheelInfo_get_m_worldTransform_0=b.asm.ku).apply(null,arguments)},Bw=b._emscripten_bind_btWheelInfo_set_m_worldTransform_1=
+function(){return(Bw=b._emscripten_bind_btWheelInfo_set_m_worldTransform_1=b.asm.lu).apply(null,arguments)},Cw=b._emscripten_bind_btWheelInfo_get_m_wheelDirectionCS_0=function(){return(Cw=b._emscripten_bind_btWheelInfo_get_m_wheelDirectionCS_0=b.asm.mu).apply(null,arguments)},Dw=b._emscripten_bind_btWheelInfo_set_m_wheelDirectionCS_1=function(){return(Dw=b._emscripten_bind_btWheelInfo_set_m_wheelDirectionCS_1=b.asm.nu).apply(null,arguments)},Ew=b._emscripten_bind_btWheelInfo_get_m_wheelAxleCS_0=function(){return(Ew=
+b._emscripten_bind_btWheelInfo_get_m_wheelAxleCS_0=b.asm.ou).apply(null,arguments)},Fw=b._emscripten_bind_btWheelInfo_set_m_wheelAxleCS_1=function(){return(Fw=b._emscripten_bind_btWheelInfo_set_m_wheelAxleCS_1=b.asm.pu).apply(null,arguments)},Gw=b._emscripten_bind_btWheelInfo_get_m_rotation_0=function(){return(Gw=b._emscripten_bind_btWheelInfo_get_m_rotation_0=b.asm.qu).apply(null,arguments)},Hw=b._emscripten_bind_btWheelInfo_set_m_rotation_1=function(){return(Hw=b._emscripten_bind_btWheelInfo_set_m_rotation_1=
+b.asm.ru).apply(null,arguments)},Iw=b._emscripten_bind_btWheelInfo_get_m_deltaRotation_0=function(){return(Iw=b._emscripten_bind_btWheelInfo_get_m_deltaRotation_0=b.asm.su).apply(null,arguments)},Jw=b._emscripten_bind_btWheelInfo_set_m_deltaRotation_1=function(){return(Jw=b._emscripten_bind_btWheelInfo_set_m_deltaRotation_1=b.asm.tu).apply(null,arguments)},Kw=b._emscripten_bind_btWheelInfo_get_m_brake_0=function(){return(Kw=b._emscripten_bind_btWheelInfo_get_m_brake_0=b.asm.uu).apply(null,arguments)},
+Lw=b._emscripten_bind_btWheelInfo_set_m_brake_1=function(){return(Lw=b._emscripten_bind_btWheelInfo_set_m_brake_1=b.asm.vu).apply(null,arguments)},Mw=b._emscripten_bind_btWheelInfo_get_m_clippedInvContactDotSuspension_0=function(){return(Mw=b._emscripten_bind_btWheelInfo_get_m_clippedInvContactDotSuspension_0=b.asm.wu).apply(null,arguments)},Nw=b._emscripten_bind_btWheelInfo_set_m_clippedInvContactDotSuspension_1=function(){return(Nw=b._emscripten_bind_btWheelInfo_set_m_clippedInvContactDotSuspension_1=
+b.asm.xu).apply(null,arguments)},Ow=b._emscripten_bind_btWheelInfo_get_m_suspensionRelativeVelocity_0=function(){return(Ow=b._emscripten_bind_btWheelInfo_get_m_suspensionRelativeVelocity_0=b.asm.yu).apply(null,arguments)},Pw=b._emscripten_bind_btWheelInfo_set_m_suspensionRelativeVelocity_1=function(){return(Pw=b._emscripten_bind_btWheelInfo_set_m_suspensionRelativeVelocity_1=b.asm.zu).apply(null,arguments)},Qw=b._emscripten_bind_btWheelInfo_get_m_skidInfo_0=function(){return(Qw=b._emscripten_bind_btWheelInfo_get_m_skidInfo_0=
+b.asm.Au).apply(null,arguments)},Rw=b._emscripten_bind_btWheelInfo_set_m_skidInfo_1=function(){return(Rw=b._emscripten_bind_btWheelInfo_set_m_skidInfo_1=b.asm.Bu).apply(null,arguments)},Sw=b._emscripten_bind_btWheelInfo___destroy___0=function(){return(Sw=b._emscripten_bind_btWheelInfo___destroy___0=b.asm.Cu).apply(null,arguments)},Tw=b._emscripten_bind_btKinematicCharacterController_btKinematicCharacterController_3=function(){return(Tw=b._emscripten_bind_btKinematicCharacterController_btKinematicCharacterController_3=
+b.asm.Du).apply(null,arguments)},Uw=b._emscripten_bind_btKinematicCharacterController_btKinematicCharacterController_4=function(){return(Uw=b._emscripten_bind_btKinematicCharacterController_btKinematicCharacterController_4=b.asm.Eu).apply(null,arguments)},Vw=b._emscripten_bind_btKinematicCharacterController_setUpAxis_1=function(){return(Vw=b._emscripten_bind_btKinematicCharacterController_setUpAxis_1=b.asm.Fu).apply(null,arguments)},Ww=b._emscripten_bind_btKinematicCharacterController_setWalkDirection_1=
+function(){return(Ww=b._emscripten_bind_btKinematicCharacterController_setWalkDirection_1=b.asm.Gu).apply(null,arguments)},Xw=b._emscripten_bind_btKinematicCharacterController_setVelocityForTimeInterval_2=function(){return(Xw=b._emscripten_bind_btKinematicCharacterController_setVelocityForTimeInterval_2=b.asm.Hu).apply(null,arguments)},Yw=b._emscripten_bind_btKinematicCharacterController_warp_1=function(){return(Yw=b._emscripten_bind_btKinematicCharacterController_warp_1=b.asm.Iu).apply(null,arguments)},
+Zw=b._emscripten_bind_btKinematicCharacterController_preStep_1=function(){return(Zw=b._emscripten_bind_btKinematicCharacterController_preStep_1=b.asm.Ju).apply(null,arguments)},$w=b._emscripten_bind_btKinematicCharacterController_playerStep_2=function(){return($w=b._emscripten_bind_btKinematicCharacterController_playerStep_2=b.asm.Ku).apply(null,arguments)},ax=b._emscripten_bind_btKinematicCharacterController_setFallSpeed_1=function(){return(ax=b._emscripten_bind_btKinematicCharacterController_setFallSpeed_1=
+b.asm.Lu).apply(null,arguments)},bx=b._emscripten_bind_btKinematicCharacterController_setJumpSpeed_1=function(){return(bx=b._emscripten_bind_btKinematicCharacterController_setJumpSpeed_1=b.asm.Mu).apply(null,arguments)},cx=b._emscripten_bind_btKinematicCharacterController_setMaxJumpHeight_1=function(){return(cx=b._emscripten_bind_btKinematicCharacterController_setMaxJumpHeight_1=b.asm.Nu).apply(null,arguments)},dx=b._emscripten_bind_btKinematicCharacterController_canJump_0=function(){return(dx=b._emscripten_bind_btKinematicCharacterController_canJump_0=
+b.asm.Ou).apply(null,arguments)},ex=b._emscripten_bind_btKinematicCharacterController_jump_0=function(){return(ex=b._emscripten_bind_btKinematicCharacterController_jump_0=b.asm.Pu).apply(null,arguments)},fx=b._emscripten_bind_btKinematicCharacterController_setGravity_1=function(){return(fx=b._emscripten_bind_btKinematicCharacterController_setGravity_1=b.asm.Qu).apply(null,arguments)},gx=b._emscripten_bind_btKinematicCharacterController_getGravity_0=function(){return(gx=b._emscripten_bind_btKinematicCharacterController_getGravity_0=
+b.asm.Ru).apply(null,arguments)},hx=b._emscripten_bind_btKinematicCharacterController_setMaxSlope_1=function(){return(hx=b._emscripten_bind_btKinematicCharacterController_setMaxSlope_1=b.asm.Su).apply(null,arguments)},ix=b._emscripten_bind_btKinematicCharacterController_getMaxSlope_0=function(){return(ix=b._emscripten_bind_btKinematicCharacterController_getMaxSlope_0=b.asm.Tu).apply(null,arguments)},jx=b._emscripten_bind_btKinematicCharacterController_getGhostObject_0=function(){return(jx=b._emscripten_bind_btKinematicCharacterController_getGhostObject_0=
+b.asm.Uu).apply(null,arguments)},kx=b._emscripten_bind_btKinematicCharacterController_setUseGhostSweepTest_1=function(){return(kx=b._emscripten_bind_btKinematicCharacterController_setUseGhostSweepTest_1=b.asm.Vu).apply(null,arguments)},lx=b._emscripten_bind_btKinematicCharacterController_onGround_0=function(){return(lx=b._emscripten_bind_btKinematicCharacterController_onGround_0=b.asm.Wu).apply(null,arguments)},mx=b._emscripten_bind_btKinematicCharacterController_setUpInterpolate_1=function(){return(mx=
+b._emscripten_bind_btKinematicCharacterController_setUpInterpolate_1=b.asm.Xu).apply(null,arguments)},nx=b._emscripten_bind_btKinematicCharacterController_updateAction_2=function(){return(nx=b._emscripten_bind_btKinematicCharacterController_updateAction_2=b.asm.Yu).apply(null,arguments)},ox=b._emscripten_bind_btKinematicCharacterController___destroy___0=function(){return(ox=b._emscripten_bind_btKinematicCharacterController___destroy___0=b.asm.Zu).apply(null,arguments)},px=b._emscripten_bind_btRaycastVehicle_btRaycastVehicle_3=
+function(){return(px=b._emscripten_bind_btRaycastVehicle_btRaycastVehicle_3=b.asm._u).apply(null,arguments)},qx=b._emscripten_bind_btRaycastVehicle_applyEngineForce_2=function(){return(qx=b._emscripten_bind_btRaycastVehicle_applyEngineForce_2=b.asm.$u).apply(null,arguments)},rx=b._emscripten_bind_btRaycastVehicle_setSteeringValue_2=function(){return(rx=b._emscripten_bind_btRaycastVehicle_setSteeringValue_2=b.asm.av).apply(null,arguments)},sx=b._emscripten_bind_btRaycastVehicle_getWheelTransformWS_1=
+function(){return(sx=b._emscripten_bind_btRaycastVehicle_getWheelTransformWS_1=b.asm.bv).apply(null,arguments)},tx=b._emscripten_bind_btRaycastVehicle_updateWheelTransform_2=function(){return(tx=b._emscripten_bind_btRaycastVehicle_updateWheelTransform_2=b.asm.cv).apply(null,arguments)},ux=b._emscripten_bind_btRaycastVehicle_addWheel_7=function(){return(ux=b._emscripten_bind_btRaycastVehicle_addWheel_7=b.asm.dv).apply(null,arguments)},vx=b._emscripten_bind_btRaycastVehicle_getNumWheels_0=function(){return(vx=
+b._emscripten_bind_btRaycastVehicle_getNumWheels_0=b.asm.ev).apply(null,arguments)},wx=b._emscripten_bind_btRaycastVehicle_getRigidBody_0=function(){return(wx=b._emscripten_bind_btRaycastVehicle_getRigidBody_0=b.asm.fv).apply(null,arguments)},xx=b._emscripten_bind_btRaycastVehicle_getWheelInfo_1=function(){return(xx=b._emscripten_bind_btRaycastVehicle_getWheelInfo_1=b.asm.gv).apply(null,arguments)},yx=b._emscripten_bind_btRaycastVehicle_setBrake_2=function(){return(yx=b._emscripten_bind_btRaycastVehicle_setBrake_2=
+b.asm.hv).apply(null,arguments)},zx=b._emscripten_bind_btRaycastVehicle_setCoordinateSystem_3=function(){return(zx=b._emscripten_bind_btRaycastVehicle_setCoordinateSystem_3=b.asm.iv).apply(null,arguments)},Ax=b._emscripten_bind_btRaycastVehicle_getCurrentSpeedKmHour_0=function(){return(Ax=b._emscripten_bind_btRaycastVehicle_getCurrentSpeedKmHour_0=b.asm.jv).apply(null,arguments)},Bx=b._emscripten_bind_btRaycastVehicle_getChassisWorldTransform_0=function(){return(Bx=b._emscripten_bind_btRaycastVehicle_getChassisWorldTransform_0=
+b.asm.kv).apply(null,arguments)},Cx=b._emscripten_bind_btRaycastVehicle_rayCast_1=function(){return(Cx=b._emscripten_bind_btRaycastVehicle_rayCast_1=b.asm.lv).apply(null,arguments)},Dx=b._emscripten_bind_btRaycastVehicle_updateVehicle_1=function(){return(Dx=b._emscripten_bind_btRaycastVehicle_updateVehicle_1=b.asm.mv).apply(null,arguments)},Ex=b._emscripten_bind_btRaycastVehicle_resetSuspension_0=function(){return(Ex=b._emscripten_bind_btRaycastVehicle_resetSuspension_0=b.asm.nv).apply(null,arguments)},
+Fx=b._emscripten_bind_btRaycastVehicle_getSteeringValue_1=function(){return(Fx=b._emscripten_bind_btRaycastVehicle_getSteeringValue_1=b.asm.ov).apply(null,arguments)},Gx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_1=function(){return(Gx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_1=b.asm.pv).apply(null,arguments)},Hx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_2=function(){return(Hx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_2=b.asm.qv).apply(null,
+arguments)},Ix=b._emscripten_bind_btRaycastVehicle_setPitchControl_1=function(){return(Ix=b._emscripten_bind_btRaycastVehicle_setPitchControl_1=b.asm.rv).apply(null,arguments)},Jx=b._emscripten_bind_btRaycastVehicle_updateSuspension_1=function(){return(Jx=b._emscripten_bind_btRaycastVehicle_updateSuspension_1=b.asm.sv).apply(null,arguments)},Kx=b._emscripten_bind_btRaycastVehicle_updateFriction_1=function(){return(Kx=b._emscripten_bind_btRaycastVehicle_updateFriction_1=b.asm.tv).apply(null,arguments)},
+Lx=b._emscripten_bind_btRaycastVehicle_getRightAxis_0=function(){return(Lx=b._emscripten_bind_btRaycastVehicle_getRightAxis_0=b.asm.uv).apply(null,arguments)},Mx=b._emscripten_bind_btRaycastVehicle_getUpAxis_0=function(){return(Mx=b._emscripten_bind_btRaycastVehicle_getUpAxis_0=b.asm.vv).apply(null,arguments)},Nx=b._emscripten_bind_btRaycastVehicle_getForwardAxis_0=function(){return(Nx=b._emscripten_bind_btRaycastVehicle_getForwardAxis_0=b.asm.wv).apply(null,arguments)},Ox=b._emscripten_bind_btRaycastVehicle_getForwardVector_0=
+function(){return(Ox=b._emscripten_bind_btRaycastVehicle_getForwardVector_0=b.asm.xv).apply(null,arguments)},Px=b._emscripten_bind_btRaycastVehicle_getUserConstraintType_0=function(){return(Px=b._emscripten_bind_btRaycastVehicle_getUserConstraintType_0=b.asm.yv).apply(null,arguments)},Qx=b._emscripten_bind_btRaycastVehicle_setUserConstraintType_1=function(){return(Qx=b._emscripten_bind_btRaycastVehicle_setUserConstraintType_1=b.asm.zv).apply(null,arguments)},Rx=b._emscripten_bind_btRaycastVehicle_setUserConstraintId_1=
+function(){return(Rx=b._emscripten_bind_btRaycastVehicle_setUserConstraintId_1=b.asm.Av).apply(null,arguments)},Sx=b._emscripten_bind_btRaycastVehicle_getUserConstraintId_0=function(){return(Sx=b._emscripten_bind_btRaycastVehicle_getUserConstraintId_0=b.asm.Bv).apply(null,arguments)},Tx=b._emscripten_bind_btRaycastVehicle_updateAction_2=function(){return(Tx=b._emscripten_bind_btRaycastVehicle_updateAction_2=b.asm.Cv).apply(null,arguments)},Ux=b._emscripten_bind_btRaycastVehicle___destroy___0=function(){return(Ux=
+b._emscripten_bind_btRaycastVehicle___destroy___0=b.asm.Dv).apply(null,arguments)},Vx=b._emscripten_bind_btPairCachingGhostObject_btPairCachingGhostObject_0=function(){return(Vx=b._emscripten_bind_btPairCachingGhostObject_btPairCachingGhostObject_0=b.asm.Ev).apply(null,arguments)},Wx=b._emscripten_bind_btPairCachingGhostObject_setAnisotropicFriction_2=function(){return(Wx=b._emscripten_bind_btPairCachingGhostObject_setAnisotropicFriction_2=b.asm.Fv).apply(null,arguments)},Xx=b._emscripten_bind_btPairCachingGhostObject_getCollisionShape_0=
+function(){return(Xx=b._emscripten_bind_btPairCachingGhostObject_getCollisionShape_0=b.asm.Gv).apply(null,arguments)},Yx=b._emscripten_bind_btPairCachingGhostObject_setContactProcessingThreshold_1=function(){return(Yx=b._emscripten_bind_btPairCachingGhostObject_setContactProcessingThreshold_1=b.asm.Hv).apply(null,arguments)},Zx=b._emscripten_bind_btPairCachingGhostObject_setActivationState_1=function(){return(Zx=b._emscripten_bind_btPairCachingGhostObject_setActivationState_1=b.asm.Iv).apply(null,
+arguments)},$x=b._emscripten_bind_btPairCachingGhostObject_forceActivationState_1=function(){return($x=b._emscripten_bind_btPairCachingGhostObject_forceActivationState_1=b.asm.Jv).apply(null,arguments)},ay=b._emscripten_bind_btPairCachingGhostObject_activate_0=function(){return(ay=b._emscripten_bind_btPairCachingGhostObject_activate_0=b.asm.Kv).apply(null,arguments)},by=b._emscripten_bind_btPairCachingGhostObject_activate_1=function(){return(by=b._emscripten_bind_btPairCachingGhostObject_activate_1=
+b.asm.Lv).apply(null,arguments)},cy=b._emscripten_bind_btPairCachingGhostObject_isActive_0=function(){return(cy=b._emscripten_bind_btPairCachingGhostObject_isActive_0=b.asm.Mv).apply(null,arguments)},dy=b._emscripten_bind_btPairCachingGhostObject_isKinematicObject_0=function(){return(dy=b._emscripten_bind_btPairCachingGhostObject_isKinematicObject_0=b.asm.Nv).apply(null,arguments)},ey=b._emscripten_bind_btPairCachingGhostObject_isStaticObject_0=function(){return(ey=b._emscripten_bind_btPairCachingGhostObject_isStaticObject_0=
+b.asm.Ov).apply(null,arguments)},fy=b._emscripten_bind_btPairCachingGhostObject_isStaticOrKinematicObject_0=function(){return(fy=b._emscripten_bind_btPairCachingGhostObject_isStaticOrKinematicObject_0=b.asm.Pv).apply(null,arguments)},gy=b._emscripten_bind_btPairCachingGhostObject_getRestitution_0=function(){return(gy=b._emscripten_bind_btPairCachingGhostObject_getRestitution_0=b.asm.Qv).apply(null,arguments)},hy=b._emscripten_bind_btPairCachingGhostObject_getFriction_0=function(){return(hy=b._emscripten_bind_btPairCachingGhostObject_getFriction_0=
+b.asm.Rv).apply(null,arguments)},iy=b._emscripten_bind_btPairCachingGhostObject_getRollingFriction_0=function(){return(iy=b._emscripten_bind_btPairCachingGhostObject_getRollingFriction_0=b.asm.Sv).apply(null,arguments)},jy=b._emscripten_bind_btPairCachingGhostObject_setRestitution_1=function(){return(jy=b._emscripten_bind_btPairCachingGhostObject_setRestitution_1=b.asm.Tv).apply(null,arguments)},ky=b._emscripten_bind_btPairCachingGhostObject_setFriction_1=function(){return(ky=b._emscripten_bind_btPairCachingGhostObject_setFriction_1=
+b.asm.Uv).apply(null,arguments)},ly=b._emscripten_bind_btPairCachingGhostObject_setRollingFriction_1=function(){return(ly=b._emscripten_bind_btPairCachingGhostObject_setRollingFriction_1=b.asm.Vv).apply(null,arguments)},my=b._emscripten_bind_btPairCachingGhostObject_getWorldTransform_0=function(){return(my=b._emscripten_bind_btPairCachingGhostObject_getWorldTransform_0=b.asm.Wv).apply(null,arguments)},ny=b._emscripten_bind_btPairCachingGhostObject_getCollisionFlags_0=function(){return(ny=b._emscripten_bind_btPairCachingGhostObject_getCollisionFlags_0=
+b.asm.Xv).apply(null,arguments)},oy=b._emscripten_bind_btPairCachingGhostObject_setCollisionFlags_1=function(){return(oy=b._emscripten_bind_btPairCachingGhostObject_setCollisionFlags_1=b.asm.Yv).apply(null,arguments)},py=b._emscripten_bind_btPairCachingGhostObject_setWorldTransform_1=function(){return(py=b._emscripten_bind_btPairCachingGhostObject_setWorldTransform_1=b.asm.Zv).apply(null,arguments)},qy=b._emscripten_bind_btPairCachingGhostObject_setCollisionShape_1=function(){return(qy=b._emscripten_bind_btPairCachingGhostObject_setCollisionShape_1=
+b.asm._v).apply(null,arguments)},ry=b._emscripten_bind_btPairCachingGhostObject_setCcdMotionThreshold_1=function(){return(ry=b._emscripten_bind_btPairCachingGhostObject_setCcdMotionThreshold_1=b.asm.$v).apply(null,arguments)},sy=b._emscripten_bind_btPairCachingGhostObject_setCcdSweptSphereRadius_1=function(){return(sy=b._emscripten_bind_btPairCachingGhostObject_setCcdSweptSphereRadius_1=b.asm.aw).apply(null,arguments)},ty=b._emscripten_bind_btPairCachingGhostObject_getUserIndex_0=function(){return(ty=
+b._emscripten_bind_btPairCachingGhostObject_getUserIndex_0=b.asm.bw).apply(null,arguments)},uy=b._emscripten_bind_btPairCachingGhostObject_setUserIndex_1=function(){return(uy=b._emscripten_bind_btPairCachingGhostObject_setUserIndex_1=b.asm.cw).apply(null,arguments)},vy=b._emscripten_bind_btPairCachingGhostObject_getUserPointer_0=function(){return(vy=b._emscripten_bind_btPairCachingGhostObject_getUserPointer_0=b.asm.dw).apply(null,arguments)},wy=b._emscripten_bind_btPairCachingGhostObject_setUserPointer_1=
+function(){return(wy=b._emscripten_bind_btPairCachingGhostObject_setUserPointer_1=b.asm.ew).apply(null,arguments)},xy=b._emscripten_bind_btPairCachingGhostObject_getBroadphaseHandle_0=function(){return(xy=b._emscripten_bind_btPairCachingGhostObject_getBroadphaseHandle_0=b.asm.fw).apply(null,arguments)},yy=b._emscripten_bind_btPairCachingGhostObject_getNumOverlappingObjects_0=function(){return(yy=b._emscripten_bind_btPairCachingGhostObject_getNumOverlappingObjects_0=b.asm.gw).apply(null,arguments)},
+zy=b._emscripten_bind_btPairCachingGhostObject_getOverlappingObject_1=function(){return(zy=b._emscripten_bind_btPairCachingGhostObject_getOverlappingObject_1=b.asm.hw).apply(null,arguments)},Ay=b._emscripten_bind_btPairCachingGhostObject___destroy___0=function(){return(Ay=b._emscripten_bind_btPairCachingGhostObject___destroy___0=b.asm.iw).apply(null,arguments)},By=b._emscripten_bind_btGhostPairCallback_btGhostPairCallback_0=function(){return(By=b._emscripten_bind_btGhostPairCallback_btGhostPairCallback_0=
+b.asm.jw).apply(null,arguments)},Cy=b._emscripten_bind_btGhostPairCallback___destroy___0=function(){return(Cy=b._emscripten_bind_btGhostPairCallback___destroy___0=b.asm.kw).apply(null,arguments)},Dy=b._emscripten_bind_btSoftBodyWorldInfo_btSoftBodyWorldInfo_0=function(){return(Dy=b._emscripten_bind_btSoftBodyWorldInfo_btSoftBodyWorldInfo_0=b.asm.lw).apply(null,arguments)},Ey=b._emscripten_bind_btSoftBodyWorldInfo_get_air_density_0=function(){return(Ey=b._emscripten_bind_btSoftBodyWorldInfo_get_air_density_0=
+b.asm.mw).apply(null,arguments)},Fy=b._emscripten_bind_btSoftBodyWorldInfo_set_air_density_1=function(){return(Fy=b._emscripten_bind_btSoftBodyWorldInfo_set_air_density_1=b.asm.nw).apply(null,arguments)},Gy=b._emscripten_bind_btSoftBodyWorldInfo_get_water_density_0=function(){return(Gy=b._emscripten_bind_btSoftBodyWorldInfo_get_water_density_0=b.asm.ow).apply(null,arguments)},Hy=b._emscripten_bind_btSoftBodyWorldInfo_set_water_density_1=function(){return(Hy=b._emscripten_bind_btSoftBodyWorldInfo_set_water_density_1=
+b.asm.pw).apply(null,arguments)},Iy=b._emscripten_bind_btSoftBodyWorldInfo_get_water_offset_0=function(){return(Iy=b._emscripten_bind_btSoftBodyWorldInfo_get_water_offset_0=b.asm.qw).apply(null,arguments)},Jy=b._emscripten_bind_btSoftBodyWorldInfo_set_water_offset_1=function(){return(Jy=b._emscripten_bind_btSoftBodyWorldInfo_set_water_offset_1=b.asm.rw).apply(null,arguments)},Ky=b._emscripten_bind_btSoftBodyWorldInfo_get_m_maxDisplacement_0=function(){return(Ky=b._emscripten_bind_btSoftBodyWorldInfo_get_m_maxDisplacement_0=
+b.asm.sw).apply(null,arguments)},Ly=b._emscripten_bind_btSoftBodyWorldInfo_set_m_maxDisplacement_1=function(){return(Ly=b._emscripten_bind_btSoftBodyWorldInfo_set_m_maxDisplacement_1=b.asm.tw).apply(null,arguments)},My=b._emscripten_bind_btSoftBodyWorldInfo_get_water_normal_0=function(){return(My=b._emscripten_bind_btSoftBodyWorldInfo_get_water_normal_0=b.asm.uw).apply(null,arguments)},Ny=b._emscripten_bind_btSoftBodyWorldInfo_set_water_normal_1=function(){return(Ny=b._emscripten_bind_btSoftBodyWorldInfo_set_water_normal_1=
+b.asm.vw).apply(null,arguments)},Oy=b._emscripten_bind_btSoftBodyWorldInfo_get_m_broadphase_0=function(){return(Oy=b._emscripten_bind_btSoftBodyWorldInfo_get_m_broadphase_0=b.asm.ww).apply(null,arguments)},Py=b._emscripten_bind_btSoftBodyWorldInfo_set_m_broadphase_1=function(){return(Py=b._emscripten_bind_btSoftBodyWorldInfo_set_m_broadphase_1=b.asm.xw).apply(null,arguments)},Qy=b._emscripten_bind_btSoftBodyWorldInfo_get_m_dispatcher_0=function(){return(Qy=b._emscripten_bind_btSoftBodyWorldInfo_get_m_dispatcher_0=
+b.asm.yw).apply(null,arguments)},Ry=b._emscripten_bind_btSoftBodyWorldInfo_set_m_dispatcher_1=function(){return(Ry=b._emscripten_bind_btSoftBodyWorldInfo_set_m_dispatcher_1=b.asm.zw).apply(null,arguments)},Sy=b._emscripten_bind_btSoftBodyWorldInfo_get_m_gravity_0=function(){return(Sy=b._emscripten_bind_btSoftBodyWorldInfo_get_m_gravity_0=b.asm.Aw).apply(null,arguments)},Ty=b._emscripten_bind_btSoftBodyWorldInfo_set_m_gravity_1=function(){return(Ty=b._emscripten_bind_btSoftBodyWorldInfo_set_m_gravity_1=
+b.asm.Bw).apply(null,arguments)},Uy=b._emscripten_bind_btSoftBodyWorldInfo___destroy___0=function(){return(Uy=b._emscripten_bind_btSoftBodyWorldInfo___destroy___0=b.asm.Cw).apply(null,arguments)},Vy=b._emscripten_bind_Face_get_m_n_1=function(){return(Vy=b._emscripten_bind_Face_get_m_n_1=b.asm.Dw).apply(null,arguments)},Wy=b._emscripten_bind_Face_set_m_n_2=function(){return(Wy=b._emscripten_bind_Face_set_m_n_2=b.asm.Ew).apply(null,arguments)},Xy=b._emscripten_bind_Face_get_m_normal_0=function(){return(Xy=
+b._emscripten_bind_Face_get_m_normal_0=b.asm.Fw).apply(null,arguments)},Yy=b._emscripten_bind_Face_set_m_normal_1=function(){return(Yy=b._emscripten_bind_Face_set_m_normal_1=b.asm.Gw).apply(null,arguments)},Zy=b._emscripten_bind_Face_get_m_ra_0=function(){return(Zy=b._emscripten_bind_Face_get_m_ra_0=b.asm.Hw).apply(null,arguments)},$y=b._emscripten_bind_Face_set_m_ra_1=function(){return($y=b._emscripten_bind_Face_set_m_ra_1=b.asm.Iw).apply(null,arguments)},az=b._emscripten_bind_Face___destroy___0=
+function(){return(az=b._emscripten_bind_Face___destroy___0=b.asm.Jw).apply(null,arguments)},bz=b._emscripten_bind_tFaceArray_size_0=function(){return(bz=b._emscripten_bind_tFaceArray_size_0=b.asm.Kw).apply(null,arguments)},cz=b._emscripten_bind_tFaceArray_at_1=function(){return(cz=b._emscripten_bind_tFaceArray_at_1=b.asm.Lw).apply(null,arguments)},dz=b._emscripten_bind_tFaceArray___destroy___0=function(){return(dz=b._emscripten_bind_tFaceArray___destroy___0=b.asm.Mw).apply(null,arguments)},ez=b._emscripten_bind_Node_get_m_x_0=
+function(){return(ez=b._emscripten_bind_Node_get_m_x_0=b.asm.Nw).apply(null,arguments)},fz=b._emscripten_bind_Node_set_m_x_1=function(){return(fz=b._emscripten_bind_Node_set_m_x_1=b.asm.Ow).apply(null,arguments)},gz=b._emscripten_bind_Node_get_m_q_0=function(){return(gz=b._emscripten_bind_Node_get_m_q_0=b.asm.Pw).apply(null,arguments)},hz=b._emscripten_bind_Node_set_m_q_1=function(){return(hz=b._emscripten_bind_Node_set_m_q_1=b.asm.Qw).apply(null,arguments)},iz=b._emscripten_bind_Node_get_m_v_0=function(){return(iz=
+b._emscripten_bind_Node_get_m_v_0=b.asm.Rw).apply(null,arguments)},jz=b._emscripten_bind_Node_set_m_v_1=function(){return(jz=b._emscripten_bind_Node_set_m_v_1=b.asm.Sw).apply(null,arguments)},kz=b._emscripten_bind_Node_get_m_f_0=function(){return(kz=b._emscripten_bind_Node_get_m_f_0=b.asm.Tw).apply(null,arguments)},lz=b._emscripten_bind_Node_set_m_f_1=function(){return(lz=b._emscripten_bind_Node_set_m_f_1=b.asm.Uw).apply(null,arguments)},mz=b._emscripten_bind_Node_get_m_n_0=function(){return(mz=b._emscripten_bind_Node_get_m_n_0=
+b.asm.Vw).apply(null,arguments)},nz=b._emscripten_bind_Node_set_m_n_1=function(){return(nz=b._emscripten_bind_Node_set_m_n_1=b.asm.Ww).apply(null,arguments)},oz=b._emscripten_bind_Node_get_m_im_0=function(){return(oz=b._emscripten_bind_Node_get_m_im_0=b.asm.Xw).apply(null,arguments)},pz=b._emscripten_bind_Node_set_m_im_1=function(){return(pz=b._emscripten_bind_Node_set_m_im_1=b.asm.Yw).apply(null,arguments)},qz=b._emscripten_bind_Node_get_m_area_0=function(){return(qz=b._emscripten_bind_Node_get_m_area_0=
+b.asm.Zw).apply(null,arguments)},rz=b._emscripten_bind_Node_set_m_area_1=function(){return(rz=b._emscripten_bind_Node_set_m_area_1=b.asm._w).apply(null,arguments)},sz=b._emscripten_bind_Node___destroy___0=function(){return(sz=b._emscripten_bind_Node___destroy___0=b.asm.$w).apply(null,arguments)},tz=b._emscripten_bind_tNodeArray_size_0=function(){return(tz=b._emscripten_bind_tNodeArray_size_0=b.asm.ax).apply(null,arguments)},uz=b._emscripten_bind_tNodeArray_at_1=function(){return(uz=b._emscripten_bind_tNodeArray_at_1=
+b.asm.bx).apply(null,arguments)},vz=b._emscripten_bind_tNodeArray___destroy___0=function(){return(vz=b._emscripten_bind_tNodeArray___destroy___0=b.asm.cx).apply(null,arguments)},wz=b._emscripten_bind_Material_get_m_kLST_0=function(){return(wz=b._emscripten_bind_Material_get_m_kLST_0=b.asm.dx).apply(null,arguments)},xz=b._emscripten_bind_Material_set_m_kLST_1=function(){return(xz=b._emscripten_bind_Material_set_m_kLST_1=b.asm.ex).apply(null,arguments)},yz=b._emscripten_bind_Material_get_m_kAST_0=function(){return(yz=
+b._emscripten_bind_Material_get_m_kAST_0=b.asm.fx).apply(null,arguments)},zz=b._emscripten_bind_Material_set_m_kAST_1=function(){return(zz=b._emscripten_bind_Material_set_m_kAST_1=b.asm.gx).apply(null,arguments)},Az=b._emscripten_bind_Material_get_m_kVST_0=function(){return(Az=b._emscripten_bind_Material_get_m_kVST_0=b.asm.hx).apply(null,arguments)},Bz=b._emscripten_bind_Material_set_m_kVST_1=function(){return(Bz=b._emscripten_bind_Material_set_m_kVST_1=b.asm.ix).apply(null,arguments)},Cz=b._emscripten_bind_Material_get_m_flags_0=
+function(){return(Cz=b._emscripten_bind_Material_get_m_flags_0=b.asm.jx).apply(null,arguments)},Dz=b._emscripten_bind_Material_set_m_flags_1=function(){return(Dz=b._emscripten_bind_Material_set_m_flags_1=b.asm.kx).apply(null,arguments)},Ez=b._emscripten_bind_Material___destroy___0=function(){return(Ez=b._emscripten_bind_Material___destroy___0=b.asm.lx).apply(null,arguments)},Fz=b._emscripten_bind_tMaterialArray_size_0=function(){return(Fz=b._emscripten_bind_tMaterialArray_size_0=b.asm.mx).apply(null,
+arguments)},Gz=b._emscripten_bind_tMaterialArray_at_1=function(){return(Gz=b._emscripten_bind_tMaterialArray_at_1=b.asm.nx).apply(null,arguments)},Hz=b._emscripten_bind_tMaterialArray___destroy___0=function(){return(Hz=b._emscripten_bind_tMaterialArray___destroy___0=b.asm.ox).apply(null,arguments)},Iz=b._emscripten_bind_Anchor_get_m_node_0=function(){return(Iz=b._emscripten_bind_Anchor_get_m_node_0=b.asm.px).apply(null,arguments)},Jz=b._emscripten_bind_Anchor_set_m_node_1=function(){return(Jz=b._emscripten_bind_Anchor_set_m_node_1=
+b.asm.qx).apply(null,arguments)},Kz=b._emscripten_bind_Anchor_get_m_local_0=function(){return(Kz=b._emscripten_bind_Anchor_get_m_local_0=b.asm.rx).apply(null,arguments)},Lz=b._emscripten_bind_Anchor_set_m_local_1=function(){return(Lz=b._emscripten_bind_Anchor_set_m_local_1=b.asm.sx).apply(null,arguments)},Mz=b._emscripten_bind_Anchor_get_m_body_0=function(){return(Mz=b._emscripten_bind_Anchor_get_m_body_0=b.asm.tx).apply(null,arguments)},Nz=b._emscripten_bind_Anchor_set_m_body_1=function(){return(Nz=
+b._emscripten_bind_Anchor_set_m_body_1=b.asm.ux).apply(null,arguments)},Oz=b._emscripten_bind_Anchor_get_m_influence_0=function(){return(Oz=b._emscripten_bind_Anchor_get_m_influence_0=b.asm.vx).apply(null,arguments)},Pz=b._emscripten_bind_Anchor_set_m_influence_1=function(){return(Pz=b._emscripten_bind_Anchor_set_m_influence_1=b.asm.wx).apply(null,arguments)},Qz=b._emscripten_bind_Anchor_get_m_c0_0=function(){return(Qz=b._emscripten_bind_Anchor_get_m_c0_0=b.asm.xx).apply(null,arguments)},Rz=b._emscripten_bind_Anchor_set_m_c0_1=
+function(){return(Rz=b._emscripten_bind_Anchor_set_m_c0_1=b.asm.yx).apply(null,arguments)},Sz=b._emscripten_bind_Anchor_get_m_c1_0=function(){return(Sz=b._emscripten_bind_Anchor_get_m_c1_0=b.asm.zx).apply(null,arguments)},Tz=b._emscripten_bind_Anchor_set_m_c1_1=function(){return(Tz=b._emscripten_bind_Anchor_set_m_c1_1=b.asm.Ax).apply(null,arguments)},Uz=b._emscripten_bind_Anchor_get_m_c2_0=function(){return(Uz=b._emscripten_bind_Anchor_get_m_c2_0=b.asm.Bx).apply(null,arguments)},Vz=b._emscripten_bind_Anchor_set_m_c2_1=
+function(){return(Vz=b._emscripten_bind_Anchor_set_m_c2_1=b.asm.Cx).apply(null,arguments)},Wz=b._emscripten_bind_Anchor___destroy___0=function(){return(Wz=b._emscripten_bind_Anchor___destroy___0=b.asm.Dx).apply(null,arguments)},Xz=b._emscripten_bind_tAnchorArray_size_0=function(){return(Xz=b._emscripten_bind_tAnchorArray_size_0=b.asm.Ex).apply(null,arguments)},Yz=b._emscripten_bind_tAnchorArray_at_1=function(){return(Yz=b._emscripten_bind_tAnchorArray_at_1=b.asm.Fx).apply(null,arguments)},Zz=b._emscripten_bind_tAnchorArray_clear_0=
+function(){return(Zz=b._emscripten_bind_tAnchorArray_clear_0=b.asm.Gx).apply(null,arguments)},$z=b._emscripten_bind_tAnchorArray_push_back_1=function(){return($z=b._emscripten_bind_tAnchorArray_push_back_1=b.asm.Hx).apply(null,arguments)},aA=b._emscripten_bind_tAnchorArray_pop_back_0=function(){return(aA=b._emscripten_bind_tAnchorArray_pop_back_0=b.asm.Ix).apply(null,arguments)},bA=b._emscripten_bind_tAnchorArray___destroy___0=function(){return(bA=b._emscripten_bind_tAnchorArray___destroy___0=b.asm.Jx).apply(null,
+arguments)},cA=b._emscripten_bind_Config_get_kVCF_0=function(){return(cA=b._emscripten_bind_Config_get_kVCF_0=b.asm.Kx).apply(null,arguments)},dA=b._emscripten_bind_Config_set_kVCF_1=function(){return(dA=b._emscripten_bind_Config_set_kVCF_1=b.asm.Lx).apply(null,arguments)},eA=b._emscripten_bind_Config_get_kDP_0=function(){return(eA=b._emscripten_bind_Config_get_kDP_0=b.asm.Mx).apply(null,arguments)},fA=b._emscripten_bind_Config_set_kDP_1=function(){return(fA=b._emscripten_bind_Config_set_kDP_1=b.asm.Nx).apply(null,
+arguments)},gA=b._emscripten_bind_Config_get_kDG_0=function(){return(gA=b._emscripten_bind_Config_get_kDG_0=b.asm.Ox).apply(null,arguments)},hA=b._emscripten_bind_Config_set_kDG_1=function(){return(hA=b._emscripten_bind_Config_set_kDG_1=b.asm.Px).apply(null,arguments)},iA=b._emscripten_bind_Config_get_kLF_0=function(){return(iA=b._emscripten_bind_Config_get_kLF_0=b.asm.Qx).apply(null,arguments)},jA=b._emscripten_bind_Config_set_kLF_1=function(){return(jA=b._emscripten_bind_Config_set_kLF_1=b.asm.Rx).apply(null,
+arguments)},kA=b._emscripten_bind_Config_get_kPR_0=function(){return(kA=b._emscripten_bind_Config_get_kPR_0=b.asm.Sx).apply(null,arguments)},lA=b._emscripten_bind_Config_set_kPR_1=function(){return(lA=b._emscripten_bind_Config_set_kPR_1=b.asm.Tx).apply(null,arguments)},mA=b._emscripten_bind_Config_get_kVC_0=function(){return(mA=b._emscripten_bind_Config_get_kVC_0=b.asm.Ux).apply(null,arguments)},nA=b._emscripten_bind_Config_set_kVC_1=function(){return(nA=b._emscripten_bind_Config_set_kVC_1=b.asm.Vx).apply(null,
+arguments)},oA=b._emscripten_bind_Config_get_kDF_0=function(){return(oA=b._emscripten_bind_Config_get_kDF_0=b.asm.Wx).apply(null,arguments)},pA=b._emscripten_bind_Config_set_kDF_1=function(){return(pA=b._emscripten_bind_Config_set_kDF_1=b.asm.Xx).apply(null,arguments)},qA=b._emscripten_bind_Config_get_kMT_0=function(){return(qA=b._emscripten_bind_Config_get_kMT_0=b.asm.Yx).apply(null,arguments)},rA=b._emscripten_bind_Config_set_kMT_1=function(){return(rA=b._emscripten_bind_Config_set_kMT_1=b.asm.Zx).apply(null,
+arguments)},sA=b._emscripten_bind_Config_get_kCHR_0=function(){return(sA=b._emscripten_bind_Config_get_kCHR_0=b.asm._x).apply(null,arguments)},tA=b._emscripten_bind_Config_set_kCHR_1=function(){return(tA=b._emscripten_bind_Config_set_kCHR_1=b.asm.$x).apply(null,arguments)},uA=b._emscripten_bind_Config_get_kKHR_0=function(){return(uA=b._emscripten_bind_Config_get_kKHR_0=b.asm.ay).apply(null,arguments)},vA=b._emscripten_bind_Config_set_kKHR_1=function(){return(vA=b._emscripten_bind_Config_set_kKHR_1=
+b.asm.by).apply(null,arguments)},wA=b._emscripten_bind_Config_get_kSHR_0=function(){return(wA=b._emscripten_bind_Config_get_kSHR_0=b.asm.cy).apply(null,arguments)},xA=b._emscripten_bind_Config_set_kSHR_1=function(){return(xA=b._emscripten_bind_Config_set_kSHR_1=b.asm.dy).apply(null,arguments)},yA=b._emscripten_bind_Config_get_kAHR_0=function(){return(yA=b._emscripten_bind_Config_get_kAHR_0=b.asm.ey).apply(null,arguments)},zA=b._emscripten_bind_Config_set_kAHR_1=function(){return(zA=b._emscripten_bind_Config_set_kAHR_1=
+b.asm.fy).apply(null,arguments)},AA=b._emscripten_bind_Config_get_kSRHR_CL_0=function(){return(AA=b._emscripten_bind_Config_get_kSRHR_CL_0=b.asm.gy).apply(null,arguments)},BA=b._emscripten_bind_Config_set_kSRHR_CL_1=function(){return(BA=b._emscripten_bind_Config_set_kSRHR_CL_1=b.asm.hy).apply(null,arguments)},CA=b._emscripten_bind_Config_get_kSKHR_CL_0=function(){return(CA=b._emscripten_bind_Config_get_kSKHR_CL_0=b.asm.iy).apply(null,arguments)},DA=b._emscripten_bind_Config_set_kSKHR_CL_1=function(){return(DA=
+b._emscripten_bind_Config_set_kSKHR_CL_1=b.asm.jy).apply(null,arguments)},EA=b._emscripten_bind_Config_get_kSSHR_CL_0=function(){return(EA=b._emscripten_bind_Config_get_kSSHR_CL_0=b.asm.ky).apply(null,arguments)},FA=b._emscripten_bind_Config_set_kSSHR_CL_1=function(){return(FA=b._emscripten_bind_Config_set_kSSHR_CL_1=b.asm.ly).apply(null,arguments)},GA=b._emscripten_bind_Config_get_kSR_SPLT_CL_0=function(){return(GA=b._emscripten_bind_Config_get_kSR_SPLT_CL_0=b.asm.my).apply(null,arguments)},HA=b._emscripten_bind_Config_set_kSR_SPLT_CL_1=
+function(){return(HA=b._emscripten_bind_Config_set_kSR_SPLT_CL_1=b.asm.ny).apply(null,arguments)},IA=b._emscripten_bind_Config_get_kSK_SPLT_CL_0=function(){return(IA=b._emscripten_bind_Config_get_kSK_SPLT_CL_0=b.asm.oy).apply(null,arguments)},JA=b._emscripten_bind_Config_set_kSK_SPLT_CL_1=function(){return(JA=b._emscripten_bind_Config_set_kSK_SPLT_CL_1=b.asm.py).apply(null,arguments)},KA=b._emscripten_bind_Config_get_kSS_SPLT_CL_0=function(){return(KA=b._emscripten_bind_Config_get_kSS_SPLT_CL_0=b.asm.qy).apply(null,
+arguments)},LA=b._emscripten_bind_Config_set_kSS_SPLT_CL_1=function(){return(LA=b._emscripten_bind_Config_set_kSS_SPLT_CL_1=b.asm.ry).apply(null,arguments)},MA=b._emscripten_bind_Config_get_maxvolume_0=function(){return(MA=b._emscripten_bind_Config_get_maxvolume_0=b.asm.sy).apply(null,arguments)},NA=b._emscripten_bind_Config_set_maxvolume_1=function(){return(NA=b._emscripten_bind_Config_set_maxvolume_1=b.asm.ty).apply(null,arguments)},OA=b._emscripten_bind_Config_get_timescale_0=function(){return(OA=
+b._emscripten_bind_Config_get_timescale_0=b.asm.uy).apply(null,arguments)},PA=b._emscripten_bind_Config_set_timescale_1=function(){return(PA=b._emscripten_bind_Config_set_timescale_1=b.asm.vy).apply(null,arguments)},QA=b._emscripten_bind_Config_get_viterations_0=function(){return(QA=b._emscripten_bind_Config_get_viterations_0=b.asm.wy).apply(null,arguments)},RA=b._emscripten_bind_Config_set_viterations_1=function(){return(RA=b._emscripten_bind_Config_set_viterations_1=b.asm.xy).apply(null,arguments)},
+SA=b._emscripten_bind_Config_get_piterations_0=function(){return(SA=b._emscripten_bind_Config_get_piterations_0=b.asm.yy).apply(null,arguments)},TA=b._emscripten_bind_Config_set_piterations_1=function(){return(TA=b._emscripten_bind_Config_set_piterations_1=b.asm.zy).apply(null,arguments)},UA=b._emscripten_bind_Config_get_diterations_0=function(){return(UA=b._emscripten_bind_Config_get_diterations_0=b.asm.Ay).apply(null,arguments)},VA=b._emscripten_bind_Config_set_diterations_1=function(){return(VA=
+b._emscripten_bind_Config_set_diterations_1=b.asm.By).apply(null,arguments)},WA=b._emscripten_bind_Config_get_citerations_0=function(){return(WA=b._emscripten_bind_Config_get_citerations_0=b.asm.Cy).apply(null,arguments)},XA=b._emscripten_bind_Config_set_citerations_1=function(){return(XA=b._emscripten_bind_Config_set_citerations_1=b.asm.Dy).apply(null,arguments)},YA=b._emscripten_bind_Config_get_collisions_0=function(){return(YA=b._emscripten_bind_Config_get_collisions_0=b.asm.Ey).apply(null,arguments)},
+ZA=b._emscripten_bind_Config_set_collisions_1=function(){return(ZA=b._emscripten_bind_Config_set_collisions_1=b.asm.Fy).apply(null,arguments)},$A=b._emscripten_bind_Config___destroy___0=function(){return($A=b._emscripten_bind_Config___destroy___0=b.asm.Gy).apply(null,arguments)},aB=b._emscripten_bind_btSoftBody_btSoftBody_4=function(){return(aB=b._emscripten_bind_btSoftBody_btSoftBody_4=b.asm.Hy).apply(null,arguments)},bB=b._emscripten_bind_btSoftBody_checkLink_2=function(){return(bB=b._emscripten_bind_btSoftBody_checkLink_2=
+b.asm.Iy).apply(null,arguments)},cB=b._emscripten_bind_btSoftBody_checkFace_3=function(){return(cB=b._emscripten_bind_btSoftBody_checkFace_3=b.asm.Jy).apply(null,arguments)},dB=b._emscripten_bind_btSoftBody_appendMaterial_0=function(){return(dB=b._emscripten_bind_btSoftBody_appendMaterial_0=b.asm.Ky).apply(null,arguments)},eB=b._emscripten_bind_btSoftBody_appendNode_2=function(){return(eB=b._emscripten_bind_btSoftBody_appendNode_2=b.asm.Ly).apply(null,arguments)},fB=b._emscripten_bind_btSoftBody_appendLink_4=
+function(){return(fB=b._emscripten_bind_btSoftBody_appendLink_4=b.asm.My).apply(null,arguments)},gB=b._emscripten_bind_btSoftBody_appendFace_4=function(){return(gB=b._emscripten_bind_btSoftBody_appendFace_4=b.asm.Ny).apply(null,arguments)},hB=b._emscripten_bind_btSoftBody_appendTetra_5=function(){return(hB=b._emscripten_bind_btSoftBody_appendTetra_5=b.asm.Oy).apply(null,arguments)},iB=b._emscripten_bind_btSoftBody_appendAnchor_4=function(){return(iB=b._emscripten_bind_btSoftBody_appendAnchor_4=b.asm.Py).apply(null,
+arguments)},jB=b._emscripten_bind_btSoftBody_addForce_1=function(){return(jB=b._emscripten_bind_btSoftBody_addForce_1=b.asm.Qy).apply(null,arguments)},kB=b._emscripten_bind_btSoftBody_addForce_2=function(){return(kB=b._emscripten_bind_btSoftBody_addForce_2=b.asm.Ry).apply(null,arguments)},lB=b._emscripten_bind_btSoftBody_addAeroForceToNode_2=function(){return(lB=b._emscripten_bind_btSoftBody_addAeroForceToNode_2=b.asm.Sy).apply(null,arguments)},mB=b._emscripten_bind_btSoftBody_getTotalMass_0=function(){return(mB=
+b._emscripten_bind_btSoftBody_getTotalMass_0=b.asm.Ty).apply(null,arguments)},nB=b._emscripten_bind_btSoftBody_setTotalMass_2=function(){return(nB=b._emscripten_bind_btSoftBody_setTotalMass_2=b.asm.Uy).apply(null,arguments)},oB=b._emscripten_bind_btSoftBody_setMass_2=function(){return(oB=b._emscripten_bind_btSoftBody_setMass_2=b.asm.Vy).apply(null,arguments)},pB=b._emscripten_bind_btSoftBody_transform_1=function(){return(pB=b._emscripten_bind_btSoftBody_transform_1=b.asm.Wy).apply(null,arguments)},
+qB=b._emscripten_bind_btSoftBody_translate_1=function(){return(qB=b._emscripten_bind_btSoftBody_translate_1=b.asm.Xy).apply(null,arguments)},rB=b._emscripten_bind_btSoftBody_rotate_1=function(){return(rB=b._emscripten_bind_btSoftBody_rotate_1=b.asm.Yy).apply(null,arguments)},sB=b._emscripten_bind_btSoftBody_scale_1=function(){return(sB=b._emscripten_bind_btSoftBody_scale_1=b.asm.Zy).apply(null,arguments)},tB=b._emscripten_bind_btSoftBody_generateClusters_1=function(){return(tB=b._emscripten_bind_btSoftBody_generateClusters_1=
+b.asm._y).apply(null,arguments)},uB=b._emscripten_bind_btSoftBody_generateClusters_2=function(){return(uB=b._emscripten_bind_btSoftBody_generateClusters_2=b.asm.$y).apply(null,arguments)},vB=b._emscripten_bind_btSoftBody_generateBendingConstraints_2=function(){return(vB=b._emscripten_bind_btSoftBody_generateBendingConstraints_2=b.asm.az).apply(null,arguments)},wB=b._emscripten_bind_btSoftBody_upcast_1=function(){return(wB=b._emscripten_bind_btSoftBody_upcast_1=b.asm.bz).apply(null,arguments)},xB=
+b._emscripten_bind_btSoftBody_getRestLengthScale_0=function(){return(xB=b._emscripten_bind_btSoftBody_getRestLengthScale_0=b.asm.cz).apply(null,arguments)},yB=b._emscripten_bind_btSoftBody_setRestLengthScale_1=function(){return(yB=b._emscripten_bind_btSoftBody_setRestLengthScale_1=b.asm.dz).apply(null,arguments)},zB=b._emscripten_bind_btSoftBody_setAnisotropicFriction_2=function(){return(zB=b._emscripten_bind_btSoftBody_setAnisotropicFriction_2=b.asm.ez).apply(null,arguments)},AB=b._emscripten_bind_btSoftBody_getCollisionShape_0=
+function(){return(AB=b._emscripten_bind_btSoftBody_getCollisionShape_0=b.asm.fz).apply(null,arguments)},BB=b._emscripten_bind_btSoftBody_setContactProcessingThreshold_1=function(){return(BB=b._emscripten_bind_btSoftBody_setContactProcessingThreshold_1=b.asm.gz).apply(null,arguments)},CB=b._emscripten_bind_btSoftBody_setActivationState_1=function(){return(CB=b._emscripten_bind_btSoftBody_setActivationState_1=b.asm.hz).apply(null,arguments)},DB=b._emscripten_bind_btSoftBody_forceActivationState_1=function(){return(DB=
+b._emscripten_bind_btSoftBody_forceActivationState_1=b.asm.iz).apply(null,arguments)},EB=b._emscripten_bind_btSoftBody_activate_0=function(){return(EB=b._emscripten_bind_btSoftBody_activate_0=b.asm.jz).apply(null,arguments)},FB=b._emscripten_bind_btSoftBody_activate_1=function(){return(FB=b._emscripten_bind_btSoftBody_activate_1=b.asm.kz).apply(null,arguments)},GB=b._emscripten_bind_btSoftBody_isActive_0=function(){return(GB=b._emscripten_bind_btSoftBody_isActive_0=b.asm.lz).apply(null,arguments)},
+HB=b._emscripten_bind_btSoftBody_isKinematicObject_0=function(){return(HB=b._emscripten_bind_btSoftBody_isKinematicObject_0=b.asm.mz).apply(null,arguments)},IB=b._emscripten_bind_btSoftBody_isStaticObject_0=function(){return(IB=b._emscripten_bind_btSoftBody_isStaticObject_0=b.asm.nz).apply(null,arguments)},JB=b._emscripten_bind_btSoftBody_isStaticOrKinematicObject_0=function(){return(JB=b._emscripten_bind_btSoftBody_isStaticOrKinematicObject_0=b.asm.oz).apply(null,arguments)},KB=b._emscripten_bind_btSoftBody_getRestitution_0=
+function(){return(KB=b._emscripten_bind_btSoftBody_getRestitution_0=b.asm.pz).apply(null,arguments)},LB=b._emscripten_bind_btSoftBody_getFriction_0=function(){return(LB=b._emscripten_bind_btSoftBody_getFriction_0=b.asm.qz).apply(null,arguments)},MB=b._emscripten_bind_btSoftBody_getRollingFriction_0=function(){return(MB=b._emscripten_bind_btSoftBody_getRollingFriction_0=b.asm.rz).apply(null,arguments)},NB=b._emscripten_bind_btSoftBody_setRestitution_1=function(){return(NB=b._emscripten_bind_btSoftBody_setRestitution_1=
+b.asm.sz).apply(null,arguments)},OB=b._emscripten_bind_btSoftBody_setFriction_1=function(){return(OB=b._emscripten_bind_btSoftBody_setFriction_1=b.asm.tz).apply(null,arguments)},PB=b._emscripten_bind_btSoftBody_setRollingFriction_1=function(){return(PB=b._emscripten_bind_btSoftBody_setRollingFriction_1=b.asm.uz).apply(null,arguments)},QB=b._emscripten_bind_btSoftBody_getWorldTransform_0=function(){return(QB=b._emscripten_bind_btSoftBody_getWorldTransform_0=b.asm.vz).apply(null,arguments)},RB=b._emscripten_bind_btSoftBody_getCollisionFlags_0=
+function(){return(RB=b._emscripten_bind_btSoftBody_getCollisionFlags_0=b.asm.wz).apply(null,arguments)},SB=b._emscripten_bind_btSoftBody_setCollisionFlags_1=function(){return(SB=b._emscripten_bind_btSoftBody_setCollisionFlags_1=b.asm.xz).apply(null,arguments)},TB=b._emscripten_bind_btSoftBody_setWorldTransform_1=function(){return(TB=b._emscripten_bind_btSoftBody_setWorldTransform_1=b.asm.yz).apply(null,arguments)},UB=b._emscripten_bind_btSoftBody_setCollisionShape_1=function(){return(UB=b._emscripten_bind_btSoftBody_setCollisionShape_1=
+b.asm.zz).apply(null,arguments)},VB=b._emscripten_bind_btSoftBody_setCcdMotionThreshold_1=function(){return(VB=b._emscripten_bind_btSoftBody_setCcdMotionThreshold_1=b.asm.Az).apply(null,arguments)},WB=b._emscripten_bind_btSoftBody_setCcdSweptSphereRadius_1=function(){return(WB=b._emscripten_bind_btSoftBody_setCcdSweptSphereRadius_1=b.asm.Bz).apply(null,arguments)},XB=b._emscripten_bind_btSoftBody_getUserIndex_0=function(){return(XB=b._emscripten_bind_btSoftBody_getUserIndex_0=b.asm.Cz).apply(null,
+arguments)},YB=b._emscripten_bind_btSoftBody_setUserIndex_1=function(){return(YB=b._emscripten_bind_btSoftBody_setUserIndex_1=b.asm.Dz).apply(null,arguments)},ZB=b._emscripten_bind_btSoftBody_getUserPointer_0=function(){return(ZB=b._emscripten_bind_btSoftBody_getUserPointer_0=b.asm.Ez).apply(null,arguments)},$B=b._emscripten_bind_btSoftBody_setUserPointer_1=function(){return($B=b._emscripten_bind_btSoftBody_setUserPointer_1=b.asm.Fz).apply(null,arguments)},aC=b._emscripten_bind_btSoftBody_getBroadphaseHandle_0=
+function(){return(aC=b._emscripten_bind_btSoftBody_getBroadphaseHandle_0=b.asm.Gz).apply(null,arguments)},bC=b._emscripten_bind_btSoftBody_get_m_cfg_0=function(){return(bC=b._emscripten_bind_btSoftBody_get_m_cfg_0=b.asm.Hz).apply(null,arguments)},cC=b._emscripten_bind_btSoftBody_set_m_cfg_1=function(){return(cC=b._emscripten_bind_btSoftBody_set_m_cfg_1=b.asm.Iz).apply(null,arguments)},dC=b._emscripten_bind_btSoftBody_get_m_nodes_0=function(){return(dC=b._emscripten_bind_btSoftBody_get_m_nodes_0=b.asm.Jz).apply(null,
+arguments)},eC=b._emscripten_bind_btSoftBody_set_m_nodes_1=function(){return(eC=b._emscripten_bind_btSoftBody_set_m_nodes_1=b.asm.Kz).apply(null,arguments)},fC=b._emscripten_bind_btSoftBody_get_m_faces_0=function(){return(fC=b._emscripten_bind_btSoftBody_get_m_faces_0=b.asm.Lz).apply(null,arguments)},gC=b._emscripten_bind_btSoftBody_set_m_faces_1=function(){return(gC=b._emscripten_bind_btSoftBody_set_m_faces_1=b.asm.Mz).apply(null,arguments)},hC=b._emscripten_bind_btSoftBody_get_m_materials_0=function(){return(hC=
+b._emscripten_bind_btSoftBody_get_m_materials_0=b.asm.Nz).apply(null,arguments)},iC=b._emscripten_bind_btSoftBody_set_m_materials_1=function(){return(iC=b._emscripten_bind_btSoftBody_set_m_materials_1=b.asm.Oz).apply(null,arguments)},jC=b._emscripten_bind_btSoftBody_get_m_anchors_0=function(){return(jC=b._emscripten_bind_btSoftBody_get_m_anchors_0=b.asm.Pz).apply(null,arguments)},kC=b._emscripten_bind_btSoftBody_set_m_anchors_1=function(){return(kC=b._emscripten_bind_btSoftBody_set_m_anchors_1=b.asm.Qz).apply(null,
+arguments)},lC=b._emscripten_bind_btSoftBody___destroy___0=function(){return(lC=b._emscripten_bind_btSoftBody___destroy___0=b.asm.Rz).apply(null,arguments)},mC=b._emscripten_bind_btSoftBodyRigidBodyCollisionConfiguration_btSoftBodyRigidBodyCollisionConfiguration_0=function(){return(mC=b._emscripten_bind_btSoftBodyRigidBodyCollisionConfiguration_btSoftBodyRigidBodyCollisionConfiguration_0=b.asm.Sz).apply(null,arguments)},nC=b._emscripten_bind_btSoftBodyRigidBodyCollisionConfiguration_btSoftBodyRigidBodyCollisionConfiguration_1=
+function(){return(nC=b._emscripten_bind_btSoftBodyRigidBodyCollisionConfiguration_btSoftBodyRigidBodyCollisionConfiguration_1=b.asm.Tz).apply(null,arguments)},oC=b._emscripten_bind_btSoftBodyRigidBodyCollisionConfiguration___destroy___0=function(){return(oC=b._emscripten_bind_btSoftBodyRigidBodyCollisionConfiguration___destroy___0=b.asm.Uz).apply(null,arguments)},pC=b._emscripten_bind_btDefaultSoftBodySolver_btDefaultSoftBodySolver_0=function(){return(pC=b._emscripten_bind_btDefaultSoftBodySolver_btDefaultSoftBodySolver_0=
+b.asm.Vz).apply(null,arguments)},qC=b._emscripten_bind_btDefaultSoftBodySolver___destroy___0=function(){return(qC=b._emscripten_bind_btDefaultSoftBodySolver___destroy___0=b.asm.Wz).apply(null,arguments)},rC=b._emscripten_bind_btSoftBodyArray_size_0=function(){return(rC=b._emscripten_bind_btSoftBodyArray_size_0=b.asm.Xz).apply(null,arguments)},sC=b._emscripten_bind_btSoftBodyArray_at_1=function(){return(sC=b._emscripten_bind_btSoftBodyArray_at_1=b.asm.Yz).apply(null,arguments)},tC=b._emscripten_bind_btSoftBodyArray___destroy___0=
+function(){return(tC=b._emscripten_bind_btSoftBodyArray___destroy___0=b.asm.Zz).apply(null,arguments)},uC=b._emscripten_bind_btSoftRigidDynamicsWorld_btSoftRigidDynamicsWorld_5=function(){return(uC=b._emscripten_bind_btSoftRigidDynamicsWorld_btSoftRigidDynamicsWorld_5=b.asm._z).apply(null,arguments)},vC=b._emscripten_bind_btSoftRigidDynamicsWorld_addSoftBody_3=function(){return(vC=b._emscripten_bind_btSoftRigidDynamicsWorld_addSoftBody_3=b.asm.$z).apply(null,arguments)},wC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeSoftBody_1=
+function(){return(wC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeSoftBody_1=b.asm.aA).apply(null,arguments)},xC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeCollisionObject_1=function(){return(xC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeCollisionObject_1=b.asm.bA).apply(null,arguments)},yC=b._emscripten_bind_btSoftRigidDynamicsWorld_getWorldInfo_0=function(){return(yC=b._emscripten_bind_btSoftRigidDynamicsWorld_getWorldInfo_0=b.asm.cA).apply(null,arguments)},zC=b._emscripten_bind_btSoftRigidDynamicsWorld_getSoftBodyArray_0=
+function(){return(zC=b._emscripten_bind_btSoftRigidDynamicsWorld_getSoftBodyArray_0=b.asm.dA).apply(null,arguments)},AC=b._emscripten_bind_btSoftRigidDynamicsWorld_getDispatcher_0=function(){return(AC=b._emscripten_bind_btSoftRigidDynamicsWorld_getDispatcher_0=b.asm.eA).apply(null,arguments)},BC=b._emscripten_bind_btSoftRigidDynamicsWorld_rayTest_3=function(){return(BC=b._emscripten_bind_btSoftRigidDynamicsWorld_rayTest_3=b.asm.fA).apply(null,arguments)},CC=b._emscripten_bind_btSoftRigidDynamicsWorld_getPairCache_0=
+function(){return(CC=b._emscripten_bind_btSoftRigidDynamicsWorld_getPairCache_0=b.asm.gA).apply(null,arguments)},DC=b._emscripten_bind_btSoftRigidDynamicsWorld_getDispatchInfo_0=function(){return(DC=b._emscripten_bind_btSoftRigidDynamicsWorld_getDispatchInfo_0=b.asm.hA).apply(null,arguments)},EC=b._emscripten_bind_btSoftRigidDynamicsWorld_addCollisionObject_1=function(){return(EC=b._emscripten_bind_btSoftRigidDynamicsWorld_addCollisionObject_1=b.asm.iA).apply(null,arguments)},FC=b._emscripten_bind_btSoftRigidDynamicsWorld_addCollisionObject_2=
+function(){return(FC=b._emscripten_bind_btSoftRigidDynamicsWorld_addCollisionObject_2=b.asm.jA).apply(null,arguments)},GC=b._emscripten_bind_btSoftRigidDynamicsWorld_addCollisionObject_3=function(){return(GC=b._emscripten_bind_btSoftRigidDynamicsWorld_addCollisionObject_3=b.asm.kA).apply(null,arguments)},HC=b._emscripten_bind_btSoftRigidDynamicsWorld_getBroadphase_0=function(){return(HC=b._emscripten_bind_btSoftRigidDynamicsWorld_getBroadphase_0=b.asm.lA).apply(null,arguments)},IC=b._emscripten_bind_btSoftRigidDynamicsWorld_convexSweepTest_5=
+function(){return(IC=b._emscripten_bind_btSoftRigidDynamicsWorld_convexSweepTest_5=b.asm.mA).apply(null,arguments)},JC=b._emscripten_bind_btSoftRigidDynamicsWorld_contactPairTest_3=function(){return(JC=b._emscripten_bind_btSoftRigidDynamicsWorld_contactPairTest_3=b.asm.nA).apply(null,arguments)},KC=b._emscripten_bind_btSoftRigidDynamicsWorld_contactTest_2=function(){return(KC=b._emscripten_bind_btSoftRigidDynamicsWorld_contactTest_2=b.asm.oA).apply(null,arguments)},LC=b._emscripten_bind_btSoftRigidDynamicsWorld_updateSingleAabb_1=
+function(){return(LC=b._emscripten_bind_btSoftRigidDynamicsWorld_updateSingleAabb_1=b.asm.pA).apply(null,arguments)},MC=b._emscripten_bind_btSoftRigidDynamicsWorld_setDebugDrawer_1=function(){return(MC=b._emscripten_bind_btSoftRigidDynamicsWorld_setDebugDrawer_1=b.asm.qA).apply(null,arguments)},NC=b._emscripten_bind_btSoftRigidDynamicsWorld_getDebugDrawer_0=function(){return(NC=b._emscripten_bind_btSoftRigidDynamicsWorld_getDebugDrawer_0=b.asm.rA).apply(null,arguments)},OC=b._emscripten_bind_btSoftRigidDynamicsWorld_debugDrawWorld_0=
+function(){return(OC=b._emscripten_bind_btSoftRigidDynamicsWorld_debugDrawWorld_0=b.asm.sA).apply(null,arguments)},PC=b._emscripten_bind_btSoftRigidDynamicsWorld_debugDrawObject_3=function(){return(PC=b._emscripten_bind_btSoftRigidDynamicsWorld_debugDrawObject_3=b.asm.tA).apply(null,arguments)},QC=b._emscripten_bind_btSoftRigidDynamicsWorld_setGravity_1=function(){return(QC=b._emscripten_bind_btSoftRigidDynamicsWorld_setGravity_1=b.asm.uA).apply(null,arguments)},RC=b._emscripten_bind_btSoftRigidDynamicsWorld_getGravity_0=
+function(){return(RC=b._emscripten_bind_btSoftRigidDynamicsWorld_getGravity_0=b.asm.vA).apply(null,arguments)},SC=b._emscripten_bind_btSoftRigidDynamicsWorld_addRigidBody_1=function(){return(SC=b._emscripten_bind_btSoftRigidDynamicsWorld_addRigidBody_1=b.asm.wA).apply(null,arguments)},TC=b._emscripten_bind_btSoftRigidDynamicsWorld_addRigidBody_3=function(){return(TC=b._emscripten_bind_btSoftRigidDynamicsWorld_addRigidBody_3=b.asm.xA).apply(null,arguments)},UC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeRigidBody_1=
+function(){return(UC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeRigidBody_1=b.asm.yA).apply(null,arguments)},VC=b._emscripten_bind_btSoftRigidDynamicsWorld_addConstraint_1=function(){return(VC=b._emscripten_bind_btSoftRigidDynamicsWorld_addConstraint_1=b.asm.zA).apply(null,arguments)},WC=b._emscripten_bind_btSoftRigidDynamicsWorld_addConstraint_2=function(){return(WC=b._emscripten_bind_btSoftRigidDynamicsWorld_addConstraint_2=b.asm.AA).apply(null,arguments)},XC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeConstraint_1=
+function(){return(XC=b._emscripten_bind_btSoftRigidDynamicsWorld_removeConstraint_1=b.asm.BA).apply(null,arguments)},YC=b._emscripten_bind_btSoftRigidDynamicsWorld_stepSimulation_1=function(){return(YC=b._emscripten_bind_btSoftRigidDynamicsWorld_stepSimulation_1=b.asm.CA).apply(null,arguments)},ZC=b._emscripten_bind_btSoftRigidDynamicsWorld_stepSimulation_2=function(){return(ZC=b._emscripten_bind_btSoftRigidDynamicsWorld_stepSimulation_2=b.asm.DA).apply(null,arguments)},$C=b._emscripten_bind_btSoftRigidDynamicsWorld_stepSimulation_3=
+function(){return($C=b._emscripten_bind_btSoftRigidDynamicsWorld_stepSimulation_3=b.asm.EA).apply(null,arguments)},aD=b._emscripten_bind_btSoftRigidDynamicsWorld_setContactAddedCallback_1=function(){return(aD=b._emscripten_bind_btSoftRigidDynamicsWorld_setContactAddedCallback_1=b.asm.FA).apply(null,arguments)},bD=b._emscripten_bind_btSoftRigidDynamicsWorld_setContactProcessedCallback_1=function(){return(bD=b._emscripten_bind_btSoftRigidDynamicsWorld_setContactProcessedCallback_1=b.asm.GA).apply(null,
+arguments)},cD=b._emscripten_bind_btSoftRigidDynamicsWorld_setContactDestroyedCallback_1=function(){return(cD=b._emscripten_bind_btSoftRigidDynamicsWorld_setContactDestroyedCallback_1=b.asm.HA).apply(null,arguments)},dD=b._emscripten_bind_btSoftRigidDynamicsWorld_addAction_1=function(){return(dD=b._emscripten_bind_btSoftRigidDynamicsWorld_addAction_1=b.asm.IA).apply(null,arguments)},eD=b._emscripten_bind_btSoftRigidDynamicsWorld_removeAction_1=function(){return(eD=b._emscripten_bind_btSoftRigidDynamicsWorld_removeAction_1=
+b.asm.JA).apply(null,arguments)},fD=b._emscripten_bind_btSoftRigidDynamicsWorld_getSolverInfo_0=function(){return(fD=b._emscripten_bind_btSoftRigidDynamicsWorld_getSolverInfo_0=b.asm.KA).apply(null,arguments)},gD=b._emscripten_bind_btSoftRigidDynamicsWorld_setInternalTickCallback_1=function(){return(gD=b._emscripten_bind_btSoftRigidDynamicsWorld_setInternalTickCallback_1=b.asm.LA).apply(null,arguments)},hD=b._emscripten_bind_btSoftRigidDynamicsWorld_setInternalTickCallback_2=function(){return(hD=
+b._emscripten_bind_btSoftRigidDynamicsWorld_setInternalTickCallback_2=b.asm.MA).apply(null,arguments)},iD=b._emscripten_bind_btSoftRigidDynamicsWorld_setInternalTickCallback_3=function(){return(iD=b._emscripten_bind_btSoftRigidDynamicsWorld_setInternalTickCallback_3=b.asm.NA).apply(null,arguments)},jD=b._emscripten_bind_btSoftRigidDynamicsWorld___destroy___0=function(){return(jD=b._emscripten_bind_btSoftRigidDynamicsWorld___destroy___0=b.asm.OA).apply(null,arguments)},kD=b._emscripten_bind_btSoftBodyHelpers_btSoftBodyHelpers_0=
+function(){return(kD=b._emscripten_bind_btSoftBodyHelpers_btSoftBodyHelpers_0=b.asm.PA).apply(null,arguments)},lD=b._emscripten_bind_btSoftBodyHelpers_CreateRope_5=function(){return(lD=b._emscripten_bind_btSoftBodyHelpers_CreateRope_5=b.asm.QA).apply(null,arguments)},mD=b._emscripten_bind_btSoftBodyHelpers_CreatePatch_9=function(){return(mD=b._emscripten_bind_btSoftBodyHelpers_CreatePatch_9=b.asm.RA).apply(null,arguments)},nD=b._emscripten_bind_btSoftBodyHelpers_CreatePatchUV_10=function(){return(nD=
+b._emscripten_bind_btSoftBodyHelpers_CreatePatchUV_10=b.asm.SA).apply(null,arguments)},oD=b._emscripten_bind_btSoftBodyHelpers_CreateEllipsoid_4=function(){return(oD=b._emscripten_bind_btSoftBodyHelpers_CreateEllipsoid_4=b.asm.TA).apply(null,arguments)},pD=b._emscripten_bind_btSoftBodyHelpers_CreateFromTriMesh_5=function(){return(pD=b._emscripten_bind_btSoftBodyHelpers_CreateFromTriMesh_5=b.asm.UA).apply(null,arguments)},qD=b._emscripten_bind_btSoftBodyHelpers_CreateFromConvexHull_4=function(){return(qD=
+b._emscripten_bind_btSoftBodyHelpers_CreateFromConvexHull_4=b.asm.VA).apply(null,arguments)},rD=b._emscripten_bind_btSoftBodyHelpers___destroy___0=function(){return(rD=b._emscripten_bind_btSoftBodyHelpers___destroy___0=b.asm.WA).apply(null,arguments)},sD=b._emscripten_enum_PHY_ScalarType_PHY_FLOAT=function(){return(sD=b._emscripten_enum_PHY_ScalarType_PHY_FLOAT=b.asm.XA).apply(null,arguments)},tD=b._emscripten_enum_PHY_ScalarType_PHY_DOUBLE=function(){return(tD=b._emscripten_enum_PHY_ScalarType_PHY_DOUBLE=
+b.asm.YA).apply(null,arguments)},uD=b._emscripten_enum_PHY_ScalarType_PHY_INTEGER=function(){return(uD=b._emscripten_enum_PHY_ScalarType_PHY_INTEGER=b.asm.ZA).apply(null,arguments)},vD=b._emscripten_enum_PHY_ScalarType_PHY_SHORT=function(){return(vD=b._emscripten_enum_PHY_ScalarType_PHY_SHORT=b.asm._A).apply(null,arguments)},wD=b._emscripten_enum_PHY_ScalarType_PHY_FIXEDPOINT88=function(){return(wD=b._emscripten_enum_PHY_ScalarType_PHY_FIXEDPOINT88=b.asm.$A).apply(null,arguments)},xD=b._emscripten_enum_PHY_ScalarType_PHY_UCHAR=
+function(){return(xD=b._emscripten_enum_PHY_ScalarType_PHY_UCHAR=b.asm.aB).apply(null,arguments)},yD=b._emscripten_enum_eGIMPACT_SHAPE_TYPE_CONST_GIMPACT_COMPOUND_SHAPE=function(){return(yD=b._emscripten_enum_eGIMPACT_SHAPE_TYPE_CONST_GIMPACT_COMPOUND_SHAPE=b.asm.bB).apply(null,arguments)},zD=b._emscripten_enum_eGIMPACT_SHAPE_TYPE_CONST_GIMPACT_TRIMESH_SHAPE_PART=function(){return(zD=b._emscripten_enum_eGIMPACT_SHAPE_TYPE_CONST_GIMPACT_TRIMESH_SHAPE_PART=b.asm.cB).apply(null,arguments)},AD=b._emscripten_enum_eGIMPACT_SHAPE_TYPE_CONST_GIMPACT_TRIMESH_SHAPE=
+function(){return(AD=b._emscripten_enum_eGIMPACT_SHAPE_TYPE_CONST_GIMPACT_TRIMESH_SHAPE=b.asm.dB).apply(null,arguments)},BD=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_ERP=function(){return(BD=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_ERP=b.asm.eB).apply(null,arguments)},CD=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_STOP_ERP=function(){return(CD=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_STOP_ERP=b.asm.fB).apply(null,arguments)},DD=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_CFM=
+function(){return(DD=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_CFM=b.asm.gB).apply(null,arguments)},ED=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_STOP_CFM=function(){return(ED=b._emscripten_enum_btConstraintParams_BT_CONSTRAINT_STOP_CFM=b.asm.hB).apply(null,arguments)};b._malloc=function(){return(b._malloc=b.asm.jB).apply(null,arguments)};b.___start_em_js=27240;b.___stop_em_js=27338;b.UTF8ToString=sa;
+b.addFunction=function(a,c){if(!Ua){Ua=new WeakMap;var d=ya.length;if(Ua)for(var e=0;e<0+d;e++){var g=e;var n=Ta[g];n||(g>=Ta.length&&(Ta.length=g+1),Ta[g]=n=ya.get(g));(g=n)&&Ua.set(g,e)}}if(d=Ua.get(a)||0)return d;if(Va.length)d=Va.pop();else{try{ya.grow(1)}catch(T){if(!(T instanceof RangeError))throw T;throw"Unable to grow wasm table. Set ALLOW_TABLE_GROWTH.";}d=ya.length-1}try{e=d,ya.set(e,a),Ta[e]=ya.get(e)}catch(T){if(!(T instanceof TypeError))throw T;if("function"==typeof WebAssembly.Function){e=
+WebAssembly.Function;g={i:"i32",j:"i32",f:"f32",d:"f64",p:"i32"};n={parameters:[],results:"v"==c[0]?[]:[g[c[0]]]};for(var z=1;z<c.length;++z)n.parameters.push(g[c[z]]),"j"===c[z]&&n.parameters.push("i32");c=new e(n,a)}else{e=[1];g=c.slice(0,1);c=c.slice(1);n={i:127,p:127,j:126,f:125,d:124};e.push(96);z=c.length;128>z?e.push(z):e.push(z%128|128,z>>7);for(z=0;z<c.length;++z)e.push(n[c[z]]);"v"==g?e.push(0):e.push(1,n[g]);c=[0,97,115,109,1,0,0,0,1];g=e.length;128>g?c.push(g):c.push(g%128|128,g>>7);c.push.apply(c,
+e);c.push(2,7,1,1,101,1,102,0,0,7,5,1,1,102,0,0);c=new WebAssembly.Module(new Uint8Array(c));c=(new WebAssembly.Instance(c,{e:{f:a}})).exports.f}e=d;ya.set(e,c);Ta[e]=ya.get(e)}Ua.set(a,d);return d};var FD;Ha=function GD(){FD||HD();FD||(Ha=GD)};
+function HD(){function a(){if(!FD&&(FD=!0,b.calledRun=!0,!qa)){Ca=!0;Qa(Aa);aa(b);if(b.onRuntimeInitialized)b.onRuntimeInitialized();if(b.postRun)for("function"==typeof b.postRun&&(b.postRun=[b.postRun]);b.postRun.length;){var c=b.postRun.shift();Ba.unshift(c)}Qa(Ba)}}if(!(0<Fa)){if(b.preRun)for("function"==typeof b.preRun&&(b.preRun=[b.preRun]);b.preRun.length;)Ea();Qa(za);0<Fa||(b.setStatus?(b.setStatus("Running..."),setTimeout(function(){setTimeout(function(){b.setStatus("")},1);a()},1)):a())}}
+if(b.preInit)for("function"==typeof b.preInit&&(b.preInit=[b.preInit]);0<b.preInit.length;)b.preInit.pop()();HD();function f(){}f.prototype=Object.create(f.prototype);f.prototype.constructor=f;f.prototype.lB=f;f.mB={};b.WrapperObject=f;function h(a){return(a||f).mB}b.getCache=h;function k(a,c){var d=h(c),e=d[a];if(e)return e;e=Object.create((c||f).prototype);e.kB=a;return d[a]=e}b.wrapPointer=k;b.castObject=function(a,c){return k(a.kB,c)};b.NULL=k(0);
+b.destroy=function(a){if(!a.__destroy__)throw"Error: Cannot destroy object. (Did you create it yourself?)";a.__destroy__();delete h(a.lB)[a.kB]};b.compare=function(a,c){return a.kB===c.kB};b.getPointer=function(a){return a.kB};b.getClass=function(a){return a.lB};var ID=0,JD=0,KD=0,LD=[],MD=0;function ND(){if(MD){for(var a=0;a<LD.length;a++)b._free(LD[a]);LD.length=0;b._free(ID);ID=0;JD+=MD;MD=0}ID||(JD+=128,(ID=b._malloc(JD))||oa());KD=0}
+function OD(a,c){ID||oa();a=a.length*c.BYTES_PER_ELEMENT;a=a+7&-8;KD+a>=JD?(0<a||oa(),MD+=a,c=b._malloc(a),LD.push(c)):(c=ID+KD,KD+=a);return c}function PD(a,c,d){d>>>=0;switch(c.BYTES_PER_ELEMENT){case 2:d>>>=1;break;case 4:d>>>=2;break;case 8:d>>>=3}for(var e=0;e<a.length;e++)c[d+e]=a[e]}
+function QD(a){if("string"===typeof a){for(var c=0,d=0;d<a.length;++d){var e=a.charCodeAt(d);127>=e?c++:2047>=e?c+=2:55296<=e&&57343>=e?(c+=4,++d):c+=3}c=Array(c+1);e=c.length;d=0;if(0<e){e=d+e-1;for(var g=0;g<a.length;++g){var n=a.charCodeAt(g);if(55296<=n&&57343>=n){var z=a.charCodeAt(++g);n=65536+((n&1023)<<10)|z&1023}if(127>=n){if(d>=e)break;c[d++]=n}else{if(2047>=n){if(d+1>=e)break;c[d++]=192|n>>6}else{if(65535>=n){if(d+2>=e)break;c[d++]=224|n>>12}else{if(d+3>=e)break;c[d++]=240|n>>18;c[d++]=
+128|n>>12&63}c[d++]=128|n>>6&63}c[d++]=128|n&63}}c[d]=0}a=OD(c,ua);PD(c,ua,a);return a}return a}function RD(a){if("object"===typeof a){var c=OD(a,wa);PD(a,wa,c);return c}return a}function l(){throw"cannot construct a btCollisionShape, no constructor in IDL";}l.prototype=Object.create(f.prototype);l.prototype.constructor=l;l.prototype.lB=l;l.mB={};b.btCollisionShape=l;l.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xa(c,a)};
+l.prototype.getLocalScaling=function(){return k(Ya(this.kB),m)};l.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Za(d,a,c)};l.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$a(c,a)};l.prototype.getMargin=function(){return ab(this.kB)};l.prototype.__destroy__=function(){bb(this.kB)};function SD(){throw"cannot construct a btCollisionWorld, no constructor in IDL";}SD.prototype=Object.create(f.prototype);
+SD.prototype.constructor=SD;SD.prototype.lB=SD;SD.mB={};b.btCollisionWorld=SD;SD.prototype.getDispatcher=function(){return k(cb(this.kB),TD)};SD.prototype.rayTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);db(e,a,c,d)};SD.prototype.getPairCache=function(){return k(eb(this.kB),UD)};SD.prototype.getDispatchInfo=function(){return k(fb(this.kB),p)};
+SD.prototype.addCollisionObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?gb(e,a):void 0===d?hb(e,a,c):ib(e,a,c,d)};SD.prototype.removeCollisionObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jb(c,a)};SD.prototype.getBroadphase=function(){return k(kb(this.kB),VD)};
+SD.prototype.convexSweepTest=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);lb(n,a,c,d,e,g)};SD.prototype.contactPairTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);mb(e,a,c,d)};
+SD.prototype.contactTest=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nb(d,a,c)};SD.prototype.updateSingleAabb=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ob(c,a)};SD.prototype.setDebugDrawer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pb(c,a)};SD.prototype.getDebugDrawer=function(){return k(qb(this.kB),WD)};SD.prototype.debugDrawWorld=function(){rb(this.kB)};
+SD.prototype.debugDrawObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);sb(e,a,c,d)};SD.prototype.__destroy__=function(){tb(this.kB)};function q(){throw"cannot construct a btCollisionObject, no constructor in IDL";}q.prototype=Object.create(f.prototype);q.prototype.constructor=q;q.prototype.lB=q;q.mB={};b.btCollisionObject=q;
+q.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ub(d,a,c)};q.prototype.getCollisionShape=function(){return k(vb(this.kB),l)};q.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wb(c,a)};q.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xb(c,a)};
+q.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yb(c,a)};q.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?zb(c):Ab(c,a)};q.prototype.isActive=function(){return!!Bb(this.kB)};q.prototype.isKinematicObject=function(){return!!Cb(this.kB)};q.prototype.isStaticObject=function(){return!!Db(this.kB)};q.prototype.isStaticOrKinematicObject=function(){return!!Eb(this.kB)};q.prototype.getRestitution=function(){return Fb(this.kB)};
+q.prototype.getFriction=function(){return Gb(this.kB)};q.prototype.getRollingFriction=function(){return Hb(this.kB)};q.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ib(c,a)};q.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jb(c,a)};q.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kb(c,a)};q.prototype.getWorldTransform=function(){return k(Lb(this.kB),r)};q.prototype.getCollisionFlags=function(){return Mb(this.kB)};
+q.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nb(c,a)};q.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ob(c,a)};q.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pb(c,a)};q.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qb(c,a)};q.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rb(c,a)};
+q.prototype.getUserIndex=function(){return Sb(this.kB)};q.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tb(c,a)};q.prototype.getUserPointer=function(){return k(Ub(this.kB),XD)};q.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vb(c,a)};q.prototype.getBroadphaseHandle=function(){return k(Wb(this.kB),YD)};q.prototype.__destroy__=function(){Xb(this.kB)};
+function ZD(){throw"cannot construct a btConcaveShape, no constructor in IDL";}ZD.prototype=Object.create(l.prototype);ZD.prototype.constructor=ZD;ZD.prototype.lB=ZD;ZD.mB={};b.btConcaveShape=ZD;ZD.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yb(c,a)};ZD.prototype.getLocalScaling=function(){return k(Zb(this.kB),m)};ZD.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);$b(d,a,c)};
+ZD.prototype.__destroy__=function(){ac(this.kB)};function $D(){throw"cannot construct a btCollisionAlgorithm, no constructor in IDL";}$D.prototype=Object.create(f.prototype);$D.prototype.constructor=$D;$D.prototype.lB=$D;$D.mB={};b.btCollisionAlgorithm=$D;$D.prototype.__destroy__=function(){bc(this.kB)};function aE(){throw"cannot construct a btTypedConstraint, no constructor in IDL";}aE.prototype=Object.create(f.prototype);aE.prototype.constructor=aE;aE.prototype.lB=aE;aE.mB={};
+b.btTypedConstraint=aE;aE.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cc(c,a)};aE.prototype.getBreakingImpulseThreshold=function(){return ec(this.kB)};aE.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fc(c,a)};aE.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return gc(d,a,c)};
+aE.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);hc(e,a,c,d)};aE.prototype.__destroy__=function(){ic(this.kB)};function bE(){throw"cannot construct a btDynamicsWorld, no constructor in IDL";}bE.prototype=Object.create(SD.prototype);bE.prototype.constructor=bE;bE.prototype.lB=bE;bE.mB={};b.btDynamicsWorld=bE;bE.prototype.addAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jc(c,a)};
+bE.prototype.removeAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kc(c,a)};bE.prototype.getSolverInfo=function(){return k(lc(this.kB),t)};bE.prototype.setInternalTickCallback=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?mc(e,a):void 0===d?nc(e,a,c):oc(e,a,c,d)};bE.prototype.getDispatcher=function(){return k(pc(this.kB),TD)};
+bE.prototype.rayTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);qc(e,a,c,d)};bE.prototype.getPairCache=function(){return k(rc(this.kB),UD)};bE.prototype.getDispatchInfo=function(){return k(sc(this.kB),p)};
+bE.prototype.addCollisionObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?tc(e,a):void 0===d?uc(e,a,c):vc(e,a,c,d)};bE.prototype.removeCollisionObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wc(c,a)};bE.prototype.getBroadphase=function(){return k(xc(this.kB),VD)};
+bE.prototype.convexSweepTest=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);yc(n,a,c,d,e,g)};bE.prototype.contactPairTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);zc(e,a,c,d)};
+bE.prototype.contactTest=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ac(d,a,c)};bE.prototype.updateSingleAabb=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bc(c,a)};bE.prototype.setDebugDrawer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cc(c,a)};bE.prototype.getDebugDrawer=function(){return k(Dc(this.kB),WD)};bE.prototype.debugDrawWorld=function(){Ec(this.kB)};
+bE.prototype.debugDrawObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Fc(e,a,c,d)};bE.prototype.__destroy__=function(){Gc(this.kB)};function WD(){throw"cannot construct a btIDebugDraw, no constructor in IDL";}WD.prototype=Object.create(f.prototype);WD.prototype.constructor=WD;WD.prototype.lB=WD;WD.mB={};b.btIDebugDraw=WD;
+WD.prototype.drawLine=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Hc(e,a,c,d)};WD.prototype.drawContactPoint=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);Ic(n,a,c,d,e,g)};
+WD.prototype.reportErrorWarning=function(a){var c=this.kB;ND();a=a&&"object"===typeof a?a.kB:QD(a);Jc(c,a)};WD.prototype.draw3dText=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c=c&&"object"===typeof c?c.kB:QD(c);Kc(d,a,c)};WD.prototype.setDebugMode=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lc(c,a)};WD.prototype.getDebugMode=function(){return Mc(this.kB)};WD.prototype.__destroy__=function(){Nc(this.kB)};
+function m(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=void 0===a?Oc():void 0===c?_emscripten_bind_btVector3_btVector3_1(a):void 0===d?_emscripten_bind_btVector3_btVector3_2(a,c):Pc(a,c,d);h(m)[this.kB]=this}m.prototype=Object.create(f.prototype);m.prototype.constructor=m;m.prototype.lB=m;m.mB={};b.btVector3=m;m.prototype.length=m.prototype.length=function(){return Qc(this.kB)};m.prototype.x=m.prototype.x=function(){return Rc(this.kB)};
+m.prototype.y=m.prototype.y=function(){return Sc(this.kB)};m.prototype.z=m.prototype.z=function(){return Tc(this.kB)};m.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uc(c,a)};m.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vc(c,a)};m.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wc(c,a)};
+m.prototype.setValue=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Xc(e,a,c,d)};m.prototype.normalize=m.prototype.normalize=function(){Yc(this.kB)};m.prototype.rotate=m.prototype.rotate=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return k(Zc(d,a,c),m)};m.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return $c(c,a)};
+m.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ad(c,a),m)};m.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(bd(c,a),m)};m.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(cd(c,a),m)};m.prototype.__destroy__=function(){dd(this.kB)};function cE(){throw"cannot construct a btQuadWord, no constructor in IDL";}cE.prototype=Object.create(f.prototype);cE.prototype.constructor=cE;
+cE.prototype.lB=cE;cE.mB={};b.btQuadWord=cE;cE.prototype.x=cE.prototype.x=function(){return ed(this.kB)};cE.prototype.y=cE.prototype.y=function(){return fd(this.kB)};cE.prototype.z=cE.prototype.z=function(){return gd(this.kB)};cE.prototype.w=cE.prototype.w=function(){return hd(this.kB)};cE.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jd(c,a)};cE.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kd(c,a)};
+cE.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ld(c,a)};cE.prototype.setW=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);md(c,a)};cE.prototype.__destroy__=function(){nd(this.kB)};function dE(){throw"cannot construct a btMotionState, no constructor in IDL";}dE.prototype=Object.create(f.prototype);dE.prototype.constructor=dE;dE.prototype.lB=dE;dE.mB={};b.btMotionState=dE;
+dE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);od(c,a)};dE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pd(c,a)};dE.prototype.__destroy__=function(){qd(this.kB)};function u(){throw"cannot construct a RayResultCallback, no constructor in IDL";}u.prototype=Object.create(f.prototype);u.prototype.constructor=u;u.prototype.lB=u;u.mB={};b.RayResultCallback=u;u.prototype.hasHit=function(){return!!rd(this.kB)};
+u.prototype.get_m_collisionFilterGroup=u.prototype.nB=function(){return sd(this.kB)};u.prototype.set_m_collisionFilterGroup=u.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);td(c,a)};Object.defineProperty(u.prototype,"m_collisionFilterGroup",{get:u.prototype.nB,set:u.prototype.pB});u.prototype.get_m_collisionFilterMask=u.prototype.oB=function(){return ud(this.kB)};
+u.prototype.set_m_collisionFilterMask=u.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vd(c,a)};Object.defineProperty(u.prototype,"m_collisionFilterMask",{get:u.prototype.oB,set:u.prototype.qB});u.prototype.get_m_closestHitFraction=u.prototype.rB=function(){return wd(this.kB)};u.prototype.set_m_closestHitFraction=u.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xd(c,a)};Object.defineProperty(u.prototype,"m_closestHitFraction",{get:u.prototype.rB,set:u.prototype.sB});
+u.prototype.get_m_collisionObject=u.prototype.vB=function(){return k(yd(this.kB),q)};u.prototype.set_m_collisionObject=u.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zd(c,a)};Object.defineProperty(u.prototype,"m_collisionObject",{get:u.prototype.vB,set:u.prototype.CB});u.prototype.get_m_flags=u.prototype.tB=function(){return Ad(this.kB)};u.prototype.set_m_flags=u.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bd(c,a)};
+Object.defineProperty(u.prototype,"m_flags",{get:u.prototype.tB,set:u.prototype.uB});u.prototype.__destroy__=function(){Cd(this.kB)};function eE(){throw"cannot construct a ContactResultCallback, no constructor in IDL";}eE.prototype=Object.create(f.prototype);eE.prototype.constructor=eE;eE.prototype.lB=eE;eE.mB={};b.ContactResultCallback=eE;
+eE.prototype.addSingleResult=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return Dd(T,a,c,d,e,g,n,z)};eE.prototype.__destroy__=function(){Ed(this.kB)};function v(){throw"cannot construct a ConvexResultCallback, no constructor in IDL";}v.prototype=Object.create(f.prototype);
+v.prototype.constructor=v;v.prototype.lB=v;v.mB={};b.ConvexResultCallback=v;v.prototype.hasHit=function(){return!!Fd(this.kB)};v.prototype.get_m_collisionFilterGroup=v.prototype.nB=function(){return Gd(this.kB)};v.prototype.set_m_collisionFilterGroup=v.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hd(c,a)};Object.defineProperty(v.prototype,"m_collisionFilterGroup",{get:v.prototype.nB,set:v.prototype.pB});v.prototype.get_m_collisionFilterMask=v.prototype.oB=function(){return Id(this.kB)};
+v.prototype.set_m_collisionFilterMask=v.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jd(c,a)};Object.defineProperty(v.prototype,"m_collisionFilterMask",{get:v.prototype.oB,set:v.prototype.qB});v.prototype.get_m_closestHitFraction=v.prototype.rB=function(){return Kd(this.kB)};v.prototype.set_m_closestHitFraction=v.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ld(c,a)};Object.defineProperty(v.prototype,"m_closestHitFraction",{get:v.prototype.rB,set:v.prototype.sB});
+v.prototype.__destroy__=function(){Md(this.kB)};function fE(){throw"cannot construct a btConvexShape, no constructor in IDL";}fE.prototype=Object.create(l.prototype);fE.prototype.constructor=fE;fE.prototype.lB=fE;fE.mB={};b.btConvexShape=fE;fE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nd(c,a)};fE.prototype.getLocalScaling=function(){return k(Od(this.kB),m)};
+fE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Pd(d,a,c)};fE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qd(c,a)};fE.prototype.getMargin=function(){return Rd(this.kB)};fE.prototype.__destroy__=function(){Sd(this.kB)};function gE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Td(a,c);h(gE)[this.kB]=this}gE.prototype=Object.create(l.prototype);
+gE.prototype.constructor=gE;gE.prototype.lB=gE;gE.mB={};b.btCapsuleShape=gE;gE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ud(c,a)};gE.prototype.getMargin=function(){return Vd(this.kB)};gE.prototype.getUpAxis=function(){return Wd(this.kB)};gE.prototype.getRadius=function(){return Xd(this.kB)};gE.prototype.getHalfHeight=function(){return Yd(this.kB)};gE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zd(c,a)};
+gE.prototype.getLocalScaling=function(){return k($d(this.kB),m)};gE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ae(d,a,c)};gE.prototype.__destroy__=function(){be(this.kB)};function hE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=ce(a);h(hE)[this.kB]=this}hE.prototype=Object.create(l.prototype);hE.prototype.constructor=hE;hE.prototype.lB=hE;hE.mB={};b.btCylinderShape=hE;
+hE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);de(c,a)};hE.prototype.getMargin=function(){return ee(this.kB)};hE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fe(c,a)};hE.prototype.getLocalScaling=function(){return k(ge(this.kB),m)};hE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);he(d,a,c)};hE.prototype.__destroy__=function(){ie(this.kB)};
+function iE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=je(a,c);h(iE)[this.kB]=this}iE.prototype=Object.create(l.prototype);iE.prototype.constructor=iE;iE.prototype.lB=iE;iE.mB={};b.btConeShape=iE;iE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ke(c,a)};iE.prototype.getLocalScaling=function(){return k(le(this.kB),m)};
+iE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);me(d,a,c)};iE.prototype.__destroy__=function(){ne(this.kB)};function jE(){throw"cannot construct a btStridingMeshInterface, no constructor in IDL";}jE.prototype=Object.create(f.prototype);jE.prototype.constructor=jE;jE.prototype.lB=jE;jE.mB={};b.btStridingMeshInterface=jE;jE.prototype.setScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oe(c,a)};
+jE.prototype.__destroy__=function(){pe(this.kB)};function kE(){throw"cannot construct a btTriangleMeshShape, no constructor in IDL";}kE.prototype=Object.create(ZD.prototype);kE.prototype.constructor=kE;kE.prototype.lB=kE;kE.mB={};b.btTriangleMeshShape=kE;kE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qe(c,a)};kE.prototype.getLocalScaling=function(){return k(re(this.kB),m)};
+kE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);se(d,a,c)};kE.prototype.__destroy__=function(){te(this.kB)};function lE(){throw"cannot construct a btPrimitiveManagerBase, no constructor in IDL";}lE.prototype=Object.create(f.prototype);lE.prototype.constructor=lE;lE.prototype.lB=lE;lE.mB={};b.btPrimitiveManagerBase=lE;lE.prototype.is_trimesh=function(){return!!ue(this.kB)};lE.prototype.get_primitive_count=function(){return ve(this.kB)};
+lE.prototype.get_primitive_box=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);we(d,a,c)};lE.prototype.get_primitive_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);xe(d,a,c)};lE.prototype.__destroy__=function(){ye(this.kB)};function w(){throw"cannot construct a btGImpactShapeInterface, no constructor in IDL";}w.prototype=Object.create(ZD.prototype);w.prototype.constructor=w;w.prototype.lB=w;
+w.mB={};b.btGImpactShapeInterface=w;w.prototype.updateBound=function(){ze(this.kB)};w.prototype.postUpdate=function(){Ae(this.kB)};w.prototype.getShapeType=function(){return Be(this.kB)};w.prototype.getName=function(){return sa(Ce(this.kB))};w.prototype.getGImpactShapeType=function(){return De(this.kB)};w.prototype.getPrimitiveManager=function(){return k(Ee(this.kB),lE)};w.prototype.getNumChildShapes=function(){return Fe(this.kB)};w.prototype.childrenHasTransform=function(){return!!Ge(this.kB)};
+w.prototype.needsRetrieveTriangles=function(){return!!He(this.kB)};w.prototype.needsRetrieveTetrahedrons=function(){return!!Ie(this.kB)};w.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Je(d,a,c)};w.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ke(d,a,c)};
+w.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Le(c,a),l)};w.prototype.getChildTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Me(c,a),r)};w.prototype.setChildTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ne(d,a,c)};w.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Oe(c,a)};
+w.prototype.getLocalScaling=function(){return k(Pe(this.kB),m)};w.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Qe(d,a,c)};w.prototype.__destroy__=function(){Re(this.kB)};function mE(){throw"cannot construct a btActivatingCollisionAlgorithm, no constructor in IDL";}mE.prototype=Object.create($D.prototype);mE.prototype.constructor=mE;mE.prototype.lB=mE;mE.mB={};b.btActivatingCollisionAlgorithm=mE;
+mE.prototype.__destroy__=function(){Se(this.kB)};function nE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?Te():Ue(a);h(nE)[this.kB]=this}nE.prototype=Object.create(f.prototype);nE.prototype.constructor=nE;nE.prototype.lB=nE;nE.mB={};b.btDefaultCollisionConfiguration=nE;nE.prototype.__destroy__=function(){Ve(this.kB)};function TD(){throw"cannot construct a btDispatcher, no constructor in IDL";}TD.prototype=Object.create(f.prototype);TD.prototype.constructor=TD;TD.prototype.lB=TD;TD.mB={};
+b.btDispatcher=TD;TD.prototype.getNumManifolds=function(){return We(this.kB)};TD.prototype.getManifoldByIndexInternal=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Xe(c,a),oE)};TD.prototype.__destroy__=function(){Ye(this.kB)};
+function pE(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Ze(a,c,d):void 0===g?_emscripten_bind_btGeneric6DofConstraint_btGeneric6DofConstraint_4(a,c,d,e):$e(a,c,d,e,g);h(pE)[this.kB]=this}pE.prototype=Object.create(aE.prototype);pE.prototype.constructor=pE;pE.prototype.lB=pE;pE.mB={};b.btGeneric6DofConstraint=pE;
+pE.prototype.setLinearLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);af(c,a)};pE.prototype.setLinearUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bf(c,a)};pE.prototype.setAngularLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cf(c,a)};pE.prototype.setAngularUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);df(c,a)};pE.prototype.getFrameOffsetA=function(){return k(ef(this.kB),r)};
+pE.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ff(c,a)};pE.prototype.getBreakingImpulseThreshold=function(){return gf(this.kB)};pE.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hf(c,a)};pE.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return jf(d,a,c)};
+pE.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);kf(e,a,c,d)};pE.prototype.__destroy__=function(){lf(this.kB)};function x(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=mf(a,c,d,e);h(x)[this.kB]=this}x.prototype=Object.create(bE.prototype);x.prototype.constructor=x;x.prototype.lB=x;x.mB={};
+b.btDiscreteDynamicsWorld=x;x.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nf(c,a)};x.prototype.getGravity=function(){return k(of(this.kB),m)};x.prototype.addRigidBody=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?pf(e,a):void 0===d?_emscripten_bind_btDiscreteDynamicsWorld_addRigidBody_2(e,a,c):qf(e,a,c,d)};
+x.prototype.removeRigidBody=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rf(c,a)};x.prototype.addConstraint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?sf(d,a):tf(d,a,c)};x.prototype.removeConstraint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);uf(c,a)};
+x.prototype.stepSimulation=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);return void 0===c?vf(e,a):void 0===d?wf(e,a,c):xf(e,a,c,d)};x.prototype.setContactAddedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yf(c,a)};x.prototype.setContactProcessedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zf(c,a)};
+x.prototype.setContactDestroyedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Af(c,a)};x.prototype.getDispatcher=function(){return k(Bf(this.kB),TD)};x.prototype.rayTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Cf(e,a,c,d)};x.prototype.getPairCache=function(){return k(Df(this.kB),UD)};x.prototype.getDispatchInfo=function(){return k(Ef(this.kB),p)};
+x.prototype.addCollisionObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?Ff(e,a):void 0===d?Gf(e,a,c):Hf(e,a,c,d)};x.prototype.removeCollisionObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);If(c,a)};x.prototype.getBroadphase=function(){return k(Jf(this.kB),VD)};
+x.prototype.convexSweepTest=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);Kf(n,a,c,d,e,g)};x.prototype.contactPairTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Lf(e,a,c,d)};
+x.prototype.contactTest=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Mf(d,a,c)};x.prototype.updateSingleAabb=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nf(c,a)};x.prototype.setDebugDrawer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Of(c,a)};x.prototype.getDebugDrawer=function(){return k(Pf(this.kB),WD)};x.prototype.debugDrawWorld=function(){Qf(this.kB)};
+x.prototype.debugDrawObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Rf(e,a,c,d)};x.prototype.addAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Sf(c,a)};x.prototype.removeAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tf(c,a)};x.prototype.getSolverInfo=function(){return k(Uf(this.kB),t)};
+x.prototype.setInternalTickCallback=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?Vf(e,a):void 0===d?Wf(e,a,c):Xf(e,a,c,d)};x.prototype.__destroy__=function(){Yf(this.kB)};function qE(){throw"cannot construct a btVehicleRaycaster, no constructor in IDL";}qE.prototype=Object.create(f.prototype);qE.prototype.constructor=qE;qE.prototype.lB=qE;qE.mB={};b.btVehicleRaycaster=qE;
+qE.prototype.castRay=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Zf(e,a,c,d)};qE.prototype.__destroy__=function(){$f(this.kB)};function rE(){throw"cannot construct a btActionInterface, no constructor in IDL";}rE.prototype=Object.create(f.prototype);rE.prototype.constructor=rE;rE.prototype.lB=rE;rE.mB={};b.btActionInterface=rE;
+rE.prototype.updateAction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ag(d,a,c)};rE.prototype.__destroy__=function(){bg(this.kB)};function y(){this.kB=cg();h(y)[this.kB]=this}y.prototype=Object.create(q.prototype);y.prototype.constructor=y;y.prototype.lB=y;y.mB={};b.btGhostObject=y;y.prototype.getNumOverlappingObjects=function(){return dg(this.kB)};
+y.prototype.getOverlappingObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(eg(c,a),q)};y.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);fg(d,a,c)};y.prototype.getCollisionShape=function(){return k(gg(this.kB),l)};y.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hg(c,a)};
+y.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ig(c,a)};y.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jg(c,a)};y.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?kg(c):lg(c,a)};y.prototype.isActive=function(){return!!mg(this.kB)};y.prototype.isKinematicObject=function(){return!!ng(this.kB)};y.prototype.isStaticObject=function(){return!!og(this.kB)};
+y.prototype.isStaticOrKinematicObject=function(){return!!pg(this.kB)};y.prototype.getRestitution=function(){return qg(this.kB)};y.prototype.getFriction=function(){return rg(this.kB)};y.prototype.getRollingFriction=function(){return sg(this.kB)};y.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tg(c,a)};y.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ug(c,a)};
+y.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vg(c,a)};y.prototype.getWorldTransform=function(){return k(wg(this.kB),r)};y.prototype.getCollisionFlags=function(){return xg(this.kB)};y.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yg(c,a)};y.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zg(c,a)};
+y.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ag(c,a)};y.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bg(c,a)};y.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cg(c,a)};y.prototype.getUserIndex=function(){return Dg(this.kB)};y.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Eg(c,a)};
+y.prototype.getUserPointer=function(){return k(Fg(this.kB),XD)};y.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gg(c,a)};y.prototype.getBroadphaseHandle=function(){return k(Hg(this.kB),YD)};y.prototype.__destroy__=function(){Ig(this.kB)};function sE(){throw"cannot construct a btSoftBodySolver, no constructor in IDL";}sE.prototype=Object.create(f.prototype);sE.prototype.constructor=sE;sE.prototype.lB=sE;sE.mB={};b.btSoftBodySolver=sE;sE.prototype.__destroy__=function(){Jg(this.kB)};
+function XD(){throw"cannot construct a VoidPtr, no constructor in IDL";}XD.prototype=Object.create(f.prototype);XD.prototype.constructor=XD;XD.prototype.lB=XD;XD.mB={};b.VoidPtr=XD;XD.prototype.__destroy__=function(){Kg(this.kB)};function tE(){this.kB=Lg();h(tE)[this.kB]=this}tE.prototype=Object.create(WD.prototype);tE.prototype.constructor=tE;tE.prototype.lB=tE;tE.mB={};b.DebugDrawer=tE;
+tE.prototype.drawLine=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Mg(e,a,c,d)};tE.prototype.drawContactPoint=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);Ng(n,a,c,d,e,g)};
+tE.prototype.reportErrorWarning=function(a){var c=this.kB;ND();a=a&&"object"===typeof a?a.kB:QD(a);Og(c,a)};tE.prototype.draw3dText=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c=c&&"object"===typeof c?c.kB:QD(c);Pg(d,a,c)};tE.prototype.setDebugMode=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qg(c,a)};tE.prototype.getDebugMode=function(){return Rg(this.kB)};tE.prototype.__destroy__=function(){Sg(this.kB)};
+function A(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===a?Tg():void 0===c?_emscripten_bind_btVector4_btVector4_1(a):void 0===d?_emscripten_bind_btVector4_btVector4_2(a,c):void 0===e?_emscripten_bind_btVector4_btVector4_3(a,c,d):Ug(a,c,d,e);h(A)[this.kB]=this}A.prototype=Object.create(m.prototype);A.prototype.constructor=A;A.prototype.lB=A;A.mB={};b.btVector4=A;
+A.prototype.w=A.prototype.w=function(){return Vg(this.kB)};A.prototype.setValue=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);Wg(g,a,c,d,e)};A.prototype.length=A.prototype.length=function(){return Xg(this.kB)};A.prototype.x=A.prototype.x=function(){return Yg(this.kB)};A.prototype.y=A.prototype.y=function(){return Zg(this.kB)};A.prototype.z=A.prototype.z=function(){return $g(this.kB)};
+A.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ah(c,a)};A.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bh(c,a)};A.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ch(c,a)};A.prototype.normalize=A.prototype.normalize=function(){dh(this.kB)};A.prototype.rotate=A.prototype.rotate=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return k(eh(d,a,c),m)};
+A.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return fh(c,a)};A.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(gh(c,a),m)};A.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(hh(c,a),m)};A.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ih(c,a),m)};A.prototype.__destroy__=function(){jh(this.kB)};
+function B(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=kh(a,c,d,e);h(B)[this.kB]=this}B.prototype=Object.create(cE.prototype);B.prototype.constructor=B;B.prototype.lB=B;B.mB={};b.btQuaternion=B;B.prototype.setValue=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);lh(g,a,c,d,e)};
+B.prototype.setEulerZYX=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);mh(e,a,c,d)};B.prototype.setRotation=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nh(d,a,c)};B.prototype.normalize=B.prototype.normalize=function(){oh(this.kB)};B.prototype.length2=function(){return ph(this.kB)};B.prototype.length=B.prototype.length=function(){return qh(this.kB)};
+B.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return rh(c,a)};B.prototype.normalized=function(){return k(sh(this.kB),B)};B.prototype.getAxis=function(){return k(th(this.kB),m)};B.prototype.inverse=B.prototype.inverse=function(){return k(uh(this.kB),B)};B.prototype.getAngle=function(){return vh(this.kB)};B.prototype.getAngleShortestPath=function(){return wh(this.kB)};
+B.prototype.angle=B.prototype.angle=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return xh(c,a)};B.prototype.angleShortestPath=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return yh(c,a)};B.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(zh(c,a),B)};B.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ah(c,a),B)};
+B.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Bh(c,a),B)};B.prototype.op_mulq=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ch(c,a),B)};B.prototype.op_div=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Dh(c,a),B)};B.prototype.x=B.prototype.x=function(){return Eh(this.kB)};B.prototype.y=B.prototype.y=function(){return Fh(this.kB)};B.prototype.z=B.prototype.z=function(){return Gh(this.kB)};
+B.prototype.w=B.prototype.w=function(){return Hh(this.kB)};B.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ih(c,a)};B.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jh(c,a)};B.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kh(c,a)};B.prototype.setW=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lh(c,a)};B.prototype.__destroy__=function(){Mh(this.kB)};
+function uE(){throw"cannot construct a btMatrix3x3, no constructor in IDL";}uE.prototype=Object.create(f.prototype);uE.prototype.constructor=uE;uE.prototype.lB=uE;uE.mB={};b.btMatrix3x3=uE;uE.prototype.setEulerZYX=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Nh(e,a,c,d)};uE.prototype.getRotation=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Oh(c,a)};
+uE.prototype.getRow=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ph(c,a),m)};uE.prototype.__destroy__=function(){Qh(this.kB)};function r(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Rh():void 0===c?_emscripten_bind_btTransform_btTransform_1(a):Sh(a,c);h(r)[this.kB]=this}r.prototype=Object.create(f.prototype);r.prototype.constructor=r;r.prototype.lB=r;r.mB={};b.btTransform=r;r.prototype.setIdentity=function(){Th(this.kB)};
+r.prototype.setOrigin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uh(c,a)};r.prototype.setRotation=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vh(c,a)};r.prototype.getOrigin=function(){return k(Wh(this.kB),m)};r.prototype.getRotation=function(){return k(Xh(this.kB),B)};r.prototype.getBasis=function(){return k(Yh(this.kB),uE)};r.prototype.setFromOpenGLMatrix=function(a){var c=this.kB;ND();"object"==typeof a&&(a=RD(a));Zh(c,a)};
+r.prototype.inverse=r.prototype.inverse=function(){return k($h(this.kB),r)};r.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ai(c,a),r)};r.prototype.__destroy__=function(){bi(this.kB)};function vE(){this.kB=ci();h(vE)[this.kB]=this}vE.prototype=Object.create(dE.prototype);vE.prototype.constructor=vE;vE.prototype.lB=vE;vE.mB={};b.MotionState=vE;vE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);di(c,a)};
+vE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ei(c,a)};vE.prototype.__destroy__=function(){fi(this.kB)};function wE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?gi():void 0===c?hi(a):ii(a,c);h(wE)[this.kB]=this}wE.prototype=Object.create(dE.prototype);wE.prototype.constructor=wE;wE.prototype.lB=wE;wE.mB={};b.btDefaultMotionState=wE;
+wE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ji(c,a)};wE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ki(c,a)};wE.prototype.get_m_graphicsWorldTrans=wE.prototype.lD=function(){return k(li(this.kB),r)};wE.prototype.set_m_graphicsWorldTrans=wE.prototype.cG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mi(c,a)};Object.defineProperty(wE.prototype,"m_graphicsWorldTrans",{get:wE.prototype.lD,set:wE.prototype.cG});
+wE.prototype.__destroy__=function(){ni(this.kB)};function xE(){throw"cannot construct a btCollisionObjectWrapper, no constructor in IDL";}xE.prototype=Object.create(f.prototype);xE.prototype.constructor=xE;xE.prototype.lB=xE;xE.mB={};b.btCollisionObjectWrapper=xE;xE.prototype.getWorldTransform=function(){return k(oi(this.kB),r)};xE.prototype.getCollisionObject=function(){return k(pi(this.kB),q)};xE.prototype.getCollisionShape=function(){return k(qi(this.kB),l)};
+function C(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=ri(a,c);h(C)[this.kB]=this}C.prototype=Object.create(u.prototype);C.prototype.constructor=C;C.prototype.lB=C;C.mB={};b.ClosestRayResultCallback=C;C.prototype.hasHit=function(){return!!si(this.kB)};C.prototype.get_m_rayFromWorld=C.prototype.NB=function(){return k(ti(this.kB),m)};C.prototype.set_m_rayFromWorld=C.prototype.XB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ui(c,a)};
+Object.defineProperty(C.prototype,"m_rayFromWorld",{get:C.prototype.NB,set:C.prototype.XB});C.prototype.get_m_rayToWorld=C.prototype.OB=function(){return k(vi(this.kB),m)};C.prototype.set_m_rayToWorld=C.prototype.YB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wi(c,a)};Object.defineProperty(C.prototype,"m_rayToWorld",{get:C.prototype.OB,set:C.prototype.YB});C.prototype.get_m_hitNormalWorld=C.prototype.xB=function(){return k(xi(this.kB),m)};
+C.prototype.set_m_hitNormalWorld=C.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yi(c,a)};Object.defineProperty(C.prototype,"m_hitNormalWorld",{get:C.prototype.xB,set:C.prototype.EB});C.prototype.get_m_hitPointWorld=C.prototype.yB=function(){return k(zi(this.kB),m)};C.prototype.set_m_hitPointWorld=C.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ai(c,a)};Object.defineProperty(C.prototype,"m_hitPointWorld",{get:C.prototype.yB,set:C.prototype.FB});
+C.prototype.get_m_collisionFilterGroup=C.prototype.nB=function(){return Bi(this.kB)};C.prototype.set_m_collisionFilterGroup=C.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ci(c,a)};Object.defineProperty(C.prototype,"m_collisionFilterGroup",{get:C.prototype.nB,set:C.prototype.pB});C.prototype.get_m_collisionFilterMask=C.prototype.oB=function(){return Di(this.kB)};
+C.prototype.set_m_collisionFilterMask=C.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ei(c,a)};Object.defineProperty(C.prototype,"m_collisionFilterMask",{get:C.prototype.oB,set:C.prototype.qB});C.prototype.get_m_closestHitFraction=C.prototype.rB=function(){return Fi(this.kB)};C.prototype.set_m_closestHitFraction=C.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gi(c,a)};Object.defineProperty(C.prototype,"m_closestHitFraction",{get:C.prototype.rB,set:C.prototype.sB});
+C.prototype.get_m_collisionObject=C.prototype.vB=function(){return k(Hi(this.kB),q)};C.prototype.set_m_collisionObject=C.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ii(c,a)};Object.defineProperty(C.prototype,"m_collisionObject",{get:C.prototype.vB,set:C.prototype.CB});C.prototype.get_m_flags=C.prototype.tB=function(){return Ji(this.kB)};C.prototype.set_m_flags=C.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ki(c,a)};
+Object.defineProperty(C.prototype,"m_flags",{get:C.prototype.tB,set:C.prototype.uB});C.prototype.__destroy__=function(){Li(this.kB)};function yE(){throw"cannot construct a btConstCollisionObjectArray, no constructor in IDL";}yE.prototype=Object.create(f.prototype);yE.prototype.constructor=yE;yE.prototype.lB=yE;yE.mB={};b.btConstCollisionObjectArray=yE;yE.prototype.size=yE.prototype.size=function(){return Mi(this.kB)};
+yE.prototype.at=yE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ni(c,a),q)};yE.prototype.__destroy__=function(){Oi(this.kB)};function zE(){throw"cannot construct a btScalarArray, no constructor in IDL";}zE.prototype=Object.create(f.prototype);zE.prototype.constructor=zE;zE.prototype.lB=zE;zE.mB={};b.btScalarArray=zE;zE.prototype.size=zE.prototype.size=function(){return Pi(this.kB)};
+zE.prototype.at=zE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Qi(c,a)};zE.prototype.__destroy__=function(){Ri(this.kB)};function D(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Si(a,c);h(D)[this.kB]=this}D.prototype=Object.create(u.prototype);D.prototype.constructor=D;D.prototype.lB=D;D.mB={};b.AllHitsRayResultCallback=D;D.prototype.hasHit=function(){return!!Ti(this.kB)};
+D.prototype.get_m_collisionObjects=D.prototype.UC=function(){return k(Ui(this.kB),yE)};D.prototype.set_m_collisionObjects=D.prototype.LF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vi(c,a)};Object.defineProperty(D.prototype,"m_collisionObjects",{get:D.prototype.UC,set:D.prototype.LF});D.prototype.get_m_rayFromWorld=D.prototype.NB=function(){return k(Wi(this.kB),m)};D.prototype.set_m_rayFromWorld=D.prototype.XB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xi(c,a)};
+Object.defineProperty(D.prototype,"m_rayFromWorld",{get:D.prototype.NB,set:D.prototype.XB});D.prototype.get_m_rayToWorld=D.prototype.OB=function(){return k(Yi(this.kB),m)};D.prototype.set_m_rayToWorld=D.prototype.YB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zi(c,a)};Object.defineProperty(D.prototype,"m_rayToWorld",{get:D.prototype.OB,set:D.prototype.YB});D.prototype.get_m_hitNormalWorld=D.prototype.xB=function(){return k($i(this.kB),AE)};
+D.prototype.set_m_hitNormalWorld=D.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);aj(c,a)};Object.defineProperty(D.prototype,"m_hitNormalWorld",{get:D.prototype.xB,set:D.prototype.EB});D.prototype.get_m_hitPointWorld=D.prototype.yB=function(){return k(bj(this.kB),AE)};D.prototype.set_m_hitPointWorld=D.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cj(c,a)};Object.defineProperty(D.prototype,"m_hitPointWorld",{get:D.prototype.yB,set:D.prototype.FB});
+D.prototype.get_m_hitFractions=D.prototype.qD=function(){return k(dj(this.kB),zE)};D.prototype.set_m_hitFractions=D.prototype.hG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ej(c,a)};Object.defineProperty(D.prototype,"m_hitFractions",{get:D.prototype.qD,set:D.prototype.hG});D.prototype.get_m_collisionFilterGroup=D.prototype.nB=function(){return fj(this.kB)};D.prototype.set_m_collisionFilterGroup=D.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gj(c,a)};
+Object.defineProperty(D.prototype,"m_collisionFilterGroup",{get:D.prototype.nB,set:D.prototype.pB});D.prototype.get_m_collisionFilterMask=D.prototype.oB=function(){return hj(this.kB)};D.prototype.set_m_collisionFilterMask=D.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ij(c,a)};Object.defineProperty(D.prototype,"m_collisionFilterMask",{get:D.prototype.oB,set:D.prototype.qB});D.prototype.get_m_closestHitFraction=D.prototype.rB=function(){return jj(this.kB)};
+D.prototype.set_m_closestHitFraction=D.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kj(c,a)};Object.defineProperty(D.prototype,"m_closestHitFraction",{get:D.prototype.rB,set:D.prototype.sB});D.prototype.get_m_collisionObject=D.prototype.vB=function(){return k(lj(this.kB),q)};D.prototype.set_m_collisionObject=D.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mj(c,a)};Object.defineProperty(D.prototype,"m_collisionObject",{get:D.prototype.vB,set:D.prototype.CB});
+D.prototype.get_m_flags=D.prototype.tB=function(){return nj(this.kB)};D.prototype.set_m_flags=D.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oj(c,a)};Object.defineProperty(D.prototype,"m_flags",{get:D.prototype.tB,set:D.prototype.uB});D.prototype.__destroy__=function(){pj(this.kB)};function E(){throw"cannot construct a btManifoldPoint, no constructor in IDL";}E.prototype=Object.create(f.prototype);E.prototype.constructor=E;E.prototype.lB=E;E.mB={};b.btManifoldPoint=E;
+E.prototype.getPositionWorldOnA=function(){return k(qj(this.kB),m)};E.prototype.getPositionWorldOnB=function(){return k(rj(this.kB),m)};E.prototype.getAppliedImpulse=function(){return sj(this.kB)};E.prototype.getDistance=function(){return tj(this.kB)};E.prototype.get_m_localPointA=E.prototype.GD=function(){return k(uj(this.kB),m)};E.prototype.set_m_localPointA=E.prototype.xG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vj(c,a)};
+Object.defineProperty(E.prototype,"m_localPointA",{get:E.prototype.GD,set:E.prototype.xG});E.prototype.get_m_localPointB=E.prototype.HD=function(){return k(wj(this.kB),m)};E.prototype.set_m_localPointB=E.prototype.yG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xj(c,a)};Object.defineProperty(E.prototype,"m_localPointB",{get:E.prototype.HD,set:E.prototype.yG});E.prototype.get_m_positionWorldOnB=E.prototype.YD=function(){return k(yj(this.kB),m)};
+E.prototype.set_m_positionWorldOnB=E.prototype.PG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zj(c,a)};Object.defineProperty(E.prototype,"m_positionWorldOnB",{get:E.prototype.YD,set:E.prototype.PG});E.prototype.get_m_positionWorldOnA=E.prototype.XD=function(){return k(Aj(this.kB),m)};E.prototype.set_m_positionWorldOnA=E.prototype.OG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bj(c,a)};Object.defineProperty(E.prototype,"m_positionWorldOnA",{get:E.prototype.XD,set:E.prototype.OG});
+E.prototype.get_m_normalWorldOnB=E.prototype.SD=function(){return k(Cj(this.kB),m)};E.prototype.set_m_normalWorldOnB=E.prototype.JG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dj(c,a)};Object.defineProperty(E.prototype,"m_normalWorldOnB",{get:E.prototype.SD,set:E.prototype.JG});E.prototype.get_m_userPersistentData=E.prototype.zE=function(){return Ej(this.kB)};E.prototype.set_m_userPersistentData=E.prototype.rH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fj(c,a)};
+Object.defineProperty(E.prototype,"m_userPersistentData",{get:E.prototype.zE,set:E.prototype.rH});E.prototype.__destroy__=function(){Gj(this.kB)};function BE(){this.kB=Hj();h(BE)[this.kB]=this}BE.prototype=Object.create(eE.prototype);BE.prototype.constructor=BE;BE.prototype.lB=BE;BE.mB={};b.ConcreteContactResultCallback=BE;
+BE.prototype.addSingleResult=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return Ij(T,a,c,d,e,g,n,z)};BE.prototype.__destroy__=function(){Jj(this.kB)};function CE(){throw"cannot construct a LocalShapeInfo, no constructor in IDL";}CE.prototype=Object.create(f.prototype);
+CE.prototype.constructor=CE;CE.prototype.lB=CE;CE.mB={};b.LocalShapeInfo=CE;CE.prototype.get_m_shapePart=CE.prototype.gE=function(){return Kj(this.kB)};CE.prototype.set_m_shapePart=CE.prototype.ZG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lj(c,a)};Object.defineProperty(CE.prototype,"m_shapePart",{get:CE.prototype.gE,set:CE.prototype.ZG});CE.prototype.get_m_triangleIndex=CE.prototype.vE=function(){return Mj(this.kB)};
+CE.prototype.set_m_triangleIndex=CE.prototype.nH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nj(c,a)};Object.defineProperty(CE.prototype,"m_triangleIndex",{get:CE.prototype.vE,set:CE.prototype.nH});CE.prototype.__destroy__=function(){Oj(this.kB)};function F(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=Pj(a,c,d,e,g);h(F)[this.kB]=this}
+F.prototype=Object.create(f.prototype);F.prototype.constructor=F;F.prototype.lB=F;F.mB={};b.LocalConvexResult=F;F.prototype.get_m_hitCollisionObject=F.prototype.LB=function(){return k(Qj(this.kB),q)};F.prototype.set_m_hitCollisionObject=F.prototype.VB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rj(c,a)};Object.defineProperty(F.prototype,"m_hitCollisionObject",{get:F.prototype.LB,set:F.prototype.VB});F.prototype.get_m_localShapeInfo=F.prototype.ID=function(){return k(Sj(this.kB),CE)};
+F.prototype.set_m_localShapeInfo=F.prototype.zG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tj(c,a)};Object.defineProperty(F.prototype,"m_localShapeInfo",{get:F.prototype.ID,set:F.prototype.zG});F.prototype.get_m_hitNormalLocal=F.prototype.sD=function(){return k(Uj(this.kB),m)};F.prototype.set_m_hitNormalLocal=F.prototype.jG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vj(c,a)};Object.defineProperty(F.prototype,"m_hitNormalLocal",{get:F.prototype.sD,set:F.prototype.jG});
+F.prototype.get_m_hitPointLocal=F.prototype.uD=function(){return k(Wj(this.kB),m)};F.prototype.set_m_hitPointLocal=F.prototype.lG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xj(c,a)};Object.defineProperty(F.prototype,"m_hitPointLocal",{get:F.prototype.uD,set:F.prototype.lG});F.prototype.get_m_hitFraction=F.prototype.pD=function(){return Yj(this.kB)};F.prototype.set_m_hitFraction=F.prototype.gG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zj(c,a)};
+Object.defineProperty(F.prototype,"m_hitFraction",{get:F.prototype.pD,set:F.prototype.gG});F.prototype.__destroy__=function(){ak(this.kB)};function G(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=bk(a,c);h(G)[this.kB]=this}G.prototype=Object.create(v.prototype);G.prototype.constructor=G;G.prototype.lB=G;G.mB={};b.ClosestConvexResultCallback=G;G.prototype.hasHit=function(){return!!ck(this.kB)};
+G.prototype.get_m_hitCollisionObject=G.prototype.LB=function(){return k(dk(this.kB),q)};G.prototype.set_m_hitCollisionObject=G.prototype.VB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ek(c,a)};Object.defineProperty(G.prototype,"m_hitCollisionObject",{get:G.prototype.LB,set:G.prototype.VB});G.prototype.get_m_convexFromWorld=G.prototype.ZC=function(){return k(fk(this.kB),m)};
+G.prototype.set_m_convexFromWorld=G.prototype.QF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gk(c,a)};Object.defineProperty(G.prototype,"m_convexFromWorld",{get:G.prototype.ZC,set:G.prototype.QF});G.prototype.get_m_convexToWorld=G.prototype.$C=function(){return k(hk(this.kB),m)};G.prototype.set_m_convexToWorld=G.prototype.RF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ik(c,a)};Object.defineProperty(G.prototype,"m_convexToWorld",{get:G.prototype.$C,set:G.prototype.RF});
+G.prototype.get_m_hitNormalWorld=G.prototype.xB=function(){return k(jk(this.kB),m)};G.prototype.set_m_hitNormalWorld=G.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kk(c,a)};Object.defineProperty(G.prototype,"m_hitNormalWorld",{get:G.prototype.xB,set:G.prototype.EB});G.prototype.get_m_hitPointWorld=G.prototype.yB=function(){return k(lk(this.kB),m)};G.prototype.set_m_hitPointWorld=G.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mk(c,a)};
+Object.defineProperty(G.prototype,"m_hitPointWorld",{get:G.prototype.yB,set:G.prototype.FB});G.prototype.get_m_collisionFilterGroup=G.prototype.nB=function(){return nk(this.kB)};G.prototype.set_m_collisionFilterGroup=G.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ok(c,a)};Object.defineProperty(G.prototype,"m_collisionFilterGroup",{get:G.prototype.nB,set:G.prototype.pB});G.prototype.get_m_collisionFilterMask=G.prototype.oB=function(){return pk(this.kB)};
+G.prototype.set_m_collisionFilterMask=G.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qk(c,a)};Object.defineProperty(G.prototype,"m_collisionFilterMask",{get:G.prototype.oB,set:G.prototype.qB});G.prototype.get_m_closestHitFraction=G.prototype.rB=function(){return rk(this.kB)};G.prototype.set_m_closestHitFraction=G.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sk(c,a)};Object.defineProperty(G.prototype,"m_closestHitFraction",{get:G.prototype.rB,set:G.prototype.sB});
+G.prototype.__destroy__=function(){tk(this.kB)};function DE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===c?uk(a):vk(a,c);h(DE)[this.kB]=this}DE.prototype=Object.create(fE.prototype);DE.prototype.constructor=DE;DE.prototype.lB=DE;DE.mB={};b.btConvexTriangleMeshShape=DE;DE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wk(c,a)};DE.prototype.getLocalScaling=function(){return k(xk(this.kB),m)};
+DE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);yk(d,a,c)};DE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zk(c,a)};DE.prototype.getMargin=function(){return Ak(this.kB)};DE.prototype.__destroy__=function(){Bk(this.kB)};function EE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Ck(a);h(EE)[this.kB]=this}EE.prototype=Object.create(l.prototype);EE.prototype.constructor=EE;EE.prototype.lB=EE;
+EE.mB={};b.btBoxShape=EE;EE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dk(c,a)};EE.prototype.getMargin=function(){return Ek(this.kB)};EE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fk(c,a)};EE.prototype.getLocalScaling=function(){return k(Gk(this.kB),m)};EE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Hk(d,a,c)};EE.prototype.__destroy__=function(){Ik(this.kB)};
+function FE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Jk(a,c);h(FE)[this.kB]=this}FE.prototype=Object.create(gE.prototype);FE.prototype.constructor=FE;FE.prototype.lB=FE;FE.mB={};b.btCapsuleShapeX=FE;FE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kk(c,a)};FE.prototype.getMargin=function(){return Lk(this.kB)};FE.prototype.getUpAxis=function(){return Mk(this.kB)};FE.prototype.getRadius=function(){return Nk(this.kB)};
+FE.prototype.getHalfHeight=function(){return Ok(this.kB)};FE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pk(c,a)};FE.prototype.getLocalScaling=function(){return k(Qk(this.kB),m)};FE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Rk(d,a,c)};FE.prototype.__destroy__=function(){Sk(this.kB)};
+function GE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Tk(a,c);h(GE)[this.kB]=this}GE.prototype=Object.create(gE.prototype);GE.prototype.constructor=GE;GE.prototype.lB=GE;GE.mB={};b.btCapsuleShapeZ=GE;GE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uk(c,a)};GE.prototype.getMargin=function(){return Vk(this.kB)};GE.prototype.getUpAxis=function(){return Wk(this.kB)};GE.prototype.getRadius=function(){return Xk(this.kB)};
+GE.prototype.getHalfHeight=function(){return Yk(this.kB)};GE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zk(c,a)};GE.prototype.getLocalScaling=function(){return k($k(this.kB),m)};GE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);al(d,a,c)};GE.prototype.__destroy__=function(){bl(this.kB)};function HE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=cl(a);h(HE)[this.kB]=this}
+HE.prototype=Object.create(hE.prototype);HE.prototype.constructor=HE;HE.prototype.lB=HE;HE.mB={};b.btCylinderShapeX=HE;HE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dl(c,a)};HE.prototype.getMargin=function(){return el(this.kB)};HE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fl(c,a)};HE.prototype.getLocalScaling=function(){return k(gl(this.kB),m)};
+HE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);hl(d,a,c)};HE.prototype.__destroy__=function(){il(this.kB)};function IE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=jl(a);h(IE)[this.kB]=this}IE.prototype=Object.create(hE.prototype);IE.prototype.constructor=IE;IE.prototype.lB=IE;IE.mB={};b.btCylinderShapeZ=IE;IE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kl(c,a)};
+IE.prototype.getMargin=function(){return ll(this.kB)};IE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ml(c,a)};IE.prototype.getLocalScaling=function(){return k(nl(this.kB),m)};IE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ol(d,a,c)};IE.prototype.__destroy__=function(){pl(this.kB)};function JE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=ql(a);h(JE)[this.kB]=this}JE.prototype=Object.create(l.prototype);
+JE.prototype.constructor=JE;JE.prototype.lB=JE;JE.mB={};b.btSphereShape=JE;JE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rl(c,a)};JE.prototype.getMargin=function(){return sl(this.kB)};JE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tl(c,a)};JE.prototype.getLocalScaling=function(){return k(ul(this.kB),m)};
+JE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);vl(d,a,c)};JE.prototype.__destroy__=function(){wl(this.kB)};function KE(a,c,d){ND();a&&"object"===typeof a&&(a=a.kB);"object"==typeof c&&(c=RD(c));d&&"object"===typeof d&&(d=d.kB);this.kB=xl(a,c,d);h(KE)[this.kB]=this}KE.prototype=Object.create(l.prototype);KE.prototype.constructor=KE;KE.prototype.lB=KE;KE.mB={};b.btMultiSphereShape=KE;
+KE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yl(c,a)};KE.prototype.getLocalScaling=function(){return k(zl(this.kB),m)};KE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Al(d,a,c)};KE.prototype.__destroy__=function(){Bl(this.kB)};function LE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Cl(a,c);h(LE)[this.kB]=this}LE.prototype=Object.create(iE.prototype);
+LE.prototype.constructor=LE;LE.prototype.lB=LE;LE.mB={};b.btConeShapeX=LE;LE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dl(c,a)};LE.prototype.getLocalScaling=function(){return k(El(this.kB),m)};LE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Fl(d,a,c)};LE.prototype.__destroy__=function(){Gl(this.kB)};
+function ME(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Hl(a,c);h(ME)[this.kB]=this}ME.prototype=Object.create(iE.prototype);ME.prototype.constructor=ME;ME.prototype.lB=ME;ME.mB={};b.btConeShapeZ=ME;ME.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Il(c,a)};ME.prototype.getLocalScaling=function(){return k(Jl(this.kB),m)};
+ME.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Kl(d,a,c)};ME.prototype.__destroy__=function(){Ll(this.kB)};function NE(){throw"cannot construct a btIntArray, no constructor in IDL";}NE.prototype=Object.create(f.prototype);NE.prototype.constructor=NE;NE.prototype.lB=NE;NE.mB={};b.btIntArray=NE;NE.prototype.size=NE.prototype.size=function(){return Ml(this.kB)};
+NE.prototype.at=NE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Nl(c,a)};NE.prototype.__destroy__=function(){Ol(this.kB)};function OE(){throw"cannot construct a btFace, no constructor in IDL";}OE.prototype=Object.create(f.prototype);OE.prototype.constructor=OE;OE.prototype.lB=OE;OE.mB={};b.btFace=OE;OE.prototype.get_m_indices=OE.prototype.xD=function(){return k(Pl(this.kB),NE)};
+OE.prototype.set_m_indices=OE.prototype.oG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ql(c,a)};Object.defineProperty(OE.prototype,"m_indices",{get:OE.prototype.xD,set:OE.prototype.oG});OE.prototype.get_m_plane=OE.prototype.WD=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Rl(c,a)};OE.prototype.set_m_plane=OE.prototype.NG=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Sl(d,a,c)};
+Object.defineProperty(OE.prototype,"m_plane",{get:OE.prototype.WD,set:OE.prototype.NG});OE.prototype.__destroy__=function(){Tl(this.kB)};function AE(){throw"cannot construct a btVector3Array, no constructor in IDL";}AE.prototype=Object.create(f.prototype);AE.prototype.constructor=AE;AE.prototype.lB=AE;AE.mB={};b.btVector3Array=AE;AE.prototype.size=AE.prototype.size=function(){return Ul(this.kB)};
+AE.prototype.at=AE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Vl(c,a),m)};AE.prototype.__destroy__=function(){Wl(this.kB)};function PE(){throw"cannot construct a btFaceArray, no constructor in IDL";}PE.prototype=Object.create(f.prototype);PE.prototype.constructor=PE;PE.prototype.lB=PE;PE.mB={};b.btFaceArray=PE;PE.prototype.size=PE.prototype.size=function(){return Xl(this.kB)};
+PE.prototype.at=PE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Yl(c,a),OE)};PE.prototype.__destroy__=function(){Zl(this.kB)};function QE(){throw"cannot construct a btConvexPolyhedron, no constructor in IDL";}QE.prototype=Object.create(f.prototype);QE.prototype.constructor=QE;QE.prototype.lB=QE;QE.mB={};b.btConvexPolyhedron=QE;QE.prototype.get_m_vertices=QE.prototype.BE=function(){return k($l(this.kB),AE)};
+QE.prototype.set_m_vertices=QE.prototype.tH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);am(c,a)};Object.defineProperty(QE.prototype,"m_vertices",{get:QE.prototype.BE,set:QE.prototype.tH});QE.prototype.get_m_faces=QE.prototype.KB=function(){return k(bm(this.kB),PE)};QE.prototype.set_m_faces=QE.prototype.UB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cm(c,a)};Object.defineProperty(QE.prototype,"m_faces",{get:QE.prototype.KB,set:QE.prototype.UB});
+QE.prototype.__destroy__=function(){dm(this.kB)};function RE(a,c){ND();"object"==typeof a&&(a=RD(a));c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?em():void 0===c?fm(a):gm(a,c);h(RE)[this.kB]=this}RE.prototype=Object.create(l.prototype);RE.prototype.constructor=RE;RE.prototype.lB=RE;RE.mB={};b.btConvexHullShape=RE;RE.prototype.addPoint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?hm(d,a):im(d,a,c)};
+RE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jm(c,a)};RE.prototype.getMargin=function(){return km(this.kB)};RE.prototype.getNumVertices=function(){return lm(this.kB)};RE.prototype.initializePolyhedralFeatures=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return!!mm(c,a)};RE.prototype.recalcLocalAabb=function(){nm(this.kB)};RE.prototype.getConvexPolyhedron=function(){return k(om(this.kB),QE)};
+RE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pm(c,a)};RE.prototype.getLocalScaling=function(){return k(qm(this.kB),m)};RE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);rm(d,a,c)};RE.prototype.__destroy__=function(){sm(this.kB)};function SE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=tm(a);h(SE)[this.kB]=this}SE.prototype=Object.create(f.prototype);SE.prototype.constructor=SE;
+SE.prototype.lB=SE;SE.mB={};b.btShapeHull=SE;SE.prototype.buildHull=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return!!um(c,a)};SE.prototype.numVertices=function(){return wm(this.kB)};SE.prototype.getVertexPointer=function(){return k(xm(this.kB),m)};SE.prototype.__destroy__=function(){ym(this.kB)};function TE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?zm():Am(a);h(TE)[this.kB]=this}TE.prototype=Object.create(l.prototype);TE.prototype.constructor=TE;TE.prototype.lB=TE;
+TE.mB={};b.btCompoundShape=TE;TE.prototype.addChildShape=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Bm(d,a,c)};TE.prototype.removeChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cm(c,a)};TE.prototype.removeChildShapeByIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dm(c,a)};TE.prototype.getNumChildShapes=function(){return Em(this.kB)};
+TE.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Fm(c,a),l)};TE.prototype.updateChildTransform=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===d?Gm(e,a,c):Hm(e,a,c,d)};TE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Im(c,a)};TE.prototype.getMargin=function(){return Jm(this.kB)};
+TE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Km(c,a)};TE.prototype.getLocalScaling=function(){return k(Lm(this.kB),m)};TE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Mm(d,a,c)};TE.prototype.__destroy__=function(){Nm(this.kB)};function UE(){throw"cannot construct a btIndexedMesh, no constructor in IDL";}UE.prototype=Object.create(f.prototype);UE.prototype.constructor=UE;
+UE.prototype.lB=UE;UE.mB={};b.btIndexedMesh=UE;UE.prototype.get_m_numTriangles=UE.prototype.UD=function(){return Om(this.kB)};UE.prototype.set_m_numTriangles=UE.prototype.LG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pm(c,a)};Object.defineProperty(UE.prototype,"m_numTriangles",{get:UE.prototype.UD,set:UE.prototype.LG});UE.prototype.__destroy__=function(){Qm(this.kB)};function VE(){throw"cannot construct a btIndexedMeshArray, no constructor in IDL";}VE.prototype=Object.create(f.prototype);
+VE.prototype.constructor=VE;VE.prototype.lB=VE;VE.mB={};b.btIndexedMeshArray=VE;VE.prototype.size=VE.prototype.size=function(){return Rm(this.kB)};VE.prototype.at=VE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Sm(c,a),UE)};VE.prototype.__destroy__=function(){Tm(this.kB)};function WE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Um():void 0===c?Vm(a):Wm(a,c);h(WE)[this.kB]=this}WE.prototype=Object.create(jE.prototype);
+WE.prototype.constructor=WE;WE.prototype.lB=WE;WE.mB={};b.btTriangleMesh=WE;WE.prototype.addTriangle=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);void 0===e?Xm(g,a,c,d):Ym(g,a,c,d,e)};WE.prototype.findOrAddVertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Zm(d,a,c)};
+WE.prototype.addIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$m(c,a)};WE.prototype.getIndexedMeshArray=function(){return k(an(this.kB),VE)};WE.prototype.setScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bn(c,a)};WE.prototype.__destroy__=function(){cn(this.kB)};function XE(){this.kB=dn();h(XE)[this.kB]=this}XE.prototype=Object.create(ZD.prototype);XE.prototype.constructor=XE;XE.prototype.lB=XE;XE.mB={};b.btEmptyShape=XE;
+XE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);en(c,a)};XE.prototype.getLocalScaling=function(){return k(fn(this.kB),m)};XE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);gn(d,a,c)};XE.prototype.__destroy__=function(){hn(this.kB)};function YE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=jn(a,c);h(YE)[this.kB]=this}YE.prototype=Object.create(ZD.prototype);
+YE.prototype.constructor=YE;YE.prototype.lB=YE;YE.mB={};b.btStaticPlaneShape=YE;YE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kn(c,a)};YE.prototype.getLocalScaling=function(){return k(ln(this.kB),m)};YE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);mn(d,a,c)};YE.prototype.__destroy__=function(){nn(this.kB)};
+function ZE(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=void 0===d?on(a,c):pn(a,c,d);h(ZE)[this.kB]=this}ZE.prototype=Object.create(kE.prototype);ZE.prototype.constructor=ZE;ZE.prototype.lB=ZE;ZE.mB={};b.btBvhTriangleMeshShape=ZE;ZE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qn(c,a)};ZE.prototype.getLocalScaling=function(){return k(rn(this.kB),m)};
+ZE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);sn(d,a,c)};ZE.prototype.__destroy__=function(){tn(this.kB)};
+function $E(a,c,d,e,g,n,z,T,Da){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);this.kB=un(a,c,d,e,g,n,z,T,Da);h($E)[this.kB]=this}$E.prototype=Object.create(ZD.prototype);$E.prototype.constructor=$E;$E.prototype.lB=$E;$E.mB={};
+b.btHeightfieldTerrainShape=$E;$E.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vn(c,a)};$E.prototype.getMargin=function(){return wn(this.kB)};$E.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xn(c,a)};$E.prototype.getLocalScaling=function(){return k(yn(this.kB),m)};$E.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zn(d,a,c)};
+$E.prototype.__destroy__=function(){An(this.kB)};function aF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=Bn(a,c,d,e);h(aF)[this.kB]=this}aF.prototype=Object.create(f.prototype);aF.prototype.constructor=aF;aF.prototype.lB=aF;aF.mB={};b.btAABB=aF;aF.prototype.invalidate=function(){Cn(this.kB)};aF.prototype.increment_margin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dn(c,a)};
+aF.prototype.copy_with_margin=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);En(d,a,c)};aF.prototype.__destroy__=function(){Fn(this.kB)};function bF(){this.kB=Gn();h(bF)[this.kB]=this}bF.prototype=Object.create(f.prototype);bF.prototype.constructor=bF;bF.prototype.lB=bF;bF.mB={};b.btPrimitiveTriangle=bF;bF.prototype.__destroy__=function(){Hn(this.kB)};
+function cF(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=In(a,c,d);h(cF)[this.kB]=this}cF.prototype=Object.create(f.prototype);cF.prototype.constructor=cF;cF.prototype.lB=cF;cF.mB={};b.btTriangleShapeEx=cF;cF.prototype.getAabb=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Jn(e,a,c,d)};
+cF.prototype.applyTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kn(c,a)};cF.prototype.buildTriPlane=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ln(c,a)};cF.prototype.__destroy__=function(){Mn(this.kB)};function dF(){this.kB=Nn();h(dF)[this.kB]=this}dF.prototype=Object.create(f.prototype);dF.prototype.constructor=dF;dF.prototype.lB=dF;dF.mB={};b.btTetrahedronShapeEx=dF;
+dF.prototype.setVertices=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);On(g,a,c,d,e)};dF.prototype.__destroy__=function(){Pn(this.kB)};function eF(){throw"cannot construct a CompoundPrimitiveManager, no constructor in IDL";}eF.prototype=Object.create(lE.prototype);eF.prototype.constructor=eF;eF.prototype.lB=eF;eF.mB={};b.CompoundPrimitiveManager=eF;
+eF.prototype.get_primitive_count=function(){return Qn(this.kB)};eF.prototype.get_primitive_box=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Rn(d,a,c)};eF.prototype.get_primitive_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Sn(d,a,c)};eF.prototype.is_trimesh=function(){return!!Tn(this.kB)};eF.prototype.get_m_compoundShape=eF.prototype.VC=function(){return k(Un(this.kB),H)};
+eF.prototype.set_m_compoundShape=eF.prototype.MF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vn(c,a)};Object.defineProperty(eF.prototype,"m_compoundShape",{get:eF.prototype.VC,set:eF.prototype.MF});eF.prototype.__destroy__=function(){Wn(this.kB)};function H(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?Xn():Yn(a);h(H)[this.kB]=this}H.prototype=Object.create(w.prototype);H.prototype.constructor=H;H.prototype.lB=H;H.mB={};b.btGImpactCompoundShape=H;
+H.prototype.childrenHasTransform=function(){return!!Zn(this.kB)};H.prototype.getPrimitiveManager=function(){return k($n(this.kB),lE)};H.prototype.getCompoundPrimitiveManager=function(){return k(ao(this.kB),eF)};H.prototype.getNumChildShapes=function(){return bo(this.kB)};H.prototype.addChildShape=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);co(d,a,c)};
+H.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(eo(c,a),l)};H.prototype.getChildAabb=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);fo(g,a,c,d,e)};H.prototype.getChildTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(go(c,a),r)};
+H.prototype.setChildTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ho(d,a,c)};H.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);io(d,a,c)};H.prototype.getName=function(){return sa(jo(this.kB))};H.prototype.getGImpactShapeType=function(){return ko(this.kB)};H.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lo(c,a)};
+H.prototype.getLocalScaling=function(){return k(mo(this.kB),m)};H.prototype.updateBound=function(){no(this.kB)};H.prototype.postUpdate=function(){oo(this.kB)};H.prototype.getShapeType=function(){return po(this.kB)};H.prototype.needsRetrieveTriangles=function(){return!!qo(this.kB)};H.prototype.needsRetrieveTetrahedrons=function(){return!!ro(this.kB)};H.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);so(d,a,c)};
+H.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);to(d,a,c)};H.prototype.__destroy__=function(){uo(this.kB)};function I(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?vo():wo(a);h(I)[this.kB]=this}I.prototype=Object.create(lE.prototype);I.prototype.constructor=I;I.prototype.lB=I;I.mB={};b.TrimeshPrimitiveManager=I;I.prototype.lock=I.prototype.lock=function(){xo(this.kB)};I.prototype.unlock=I.prototype.unlock=function(){yo(this.kB)};
+I.prototype.is_trimesh=function(){return!!zo(this.kB)};I.prototype.get_vertex_count=function(){return Ao(this.kB)};I.prototype.get_indices=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);Bo(g,a,c,d,e)};I.prototype.get_vertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Co(d,a,c)};
+I.prototype.get_bullet_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Do(d,a,c)};I.prototype.get_m_margin=I.prototype.LD=function(){return Eo(this.kB)};I.prototype.set_m_margin=I.prototype.CG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fo(c,a)};Object.defineProperty(I.prototype,"m_margin",{get:I.prototype.LD,set:I.prototype.CG});I.prototype.get_m_meshInterface=I.prototype.OD=function(){return k(Go(this.kB),jE)};
+I.prototype.set_m_meshInterface=I.prototype.FG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ho(c,a)};Object.defineProperty(I.prototype,"m_meshInterface",{get:I.prototype.OD,set:I.prototype.FG});I.prototype.get_m_part=I.prototype.VD=function(){return Io(this.kB)};I.prototype.set_m_part=I.prototype.MG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jo(c,a)};Object.defineProperty(I.prototype,"m_part",{get:I.prototype.VD,set:I.prototype.MG});
+I.prototype.get_m_lock_count=I.prototype.JD=function(){return Ko(this.kB)};I.prototype.set_m_lock_count=I.prototype.AG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lo(c,a)};Object.defineProperty(I.prototype,"m_lock_count",{get:I.prototype.JD,set:I.prototype.AG});I.prototype.get_numverts=I.prototype.LE=function(){return Mo(this.kB)};I.prototype.set_numverts=I.prototype.DH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);No(c,a)};
+Object.defineProperty(I.prototype,"numverts",{get:I.prototype.LE,set:I.prototype.DH});I.prototype.get_type=I.prototype.PE=function(){return Oo(this.kB)};I.prototype.set_type=I.prototype.HH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Po(c,a)};Object.defineProperty(I.prototype,"type",{get:I.prototype.PE,set:I.prototype.HH});I.prototype.get_stride=I.prototype.NE=function(){return Qo(this.kB)};
+I.prototype.set_stride=I.prototype.FH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ro(c,a)};Object.defineProperty(I.prototype,"stride",{get:I.prototype.NE,set:I.prototype.FH});I.prototype.get_indexstride=I.prototype.gC=function(){return So(this.kB)};I.prototype.set_indexstride=I.prototype.YE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);To(c,a)};Object.defineProperty(I.prototype,"indexstride",{get:I.prototype.gC,set:I.prototype.YE});
+I.prototype.get_numfaces=I.prototype.KE=function(){return Uo(this.kB)};I.prototype.set_numfaces=I.prototype.CH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vo(c,a)};Object.defineProperty(I.prototype,"numfaces",{get:I.prototype.KE,set:I.prototype.CH});I.prototype.get_indicestype=I.prototype.hC=function(){return Wo(this.kB)};I.prototype.set_indicestype=I.prototype.ZE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xo(c,a)};
+Object.defineProperty(I.prototype,"indicestype",{get:I.prototype.hC,set:I.prototype.ZE});I.prototype.__destroy__=function(){Yo(this.kB)};function fF(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Zo(a,c);h(fF)[this.kB]=this}fF.prototype=Object.create(w.prototype);fF.prototype.constructor=fF;fF.prototype.lB=fF;fF.mB={};b.btGImpactMeshShapePart=fF;fF.prototype.getTrimeshPrimitiveManager=function(){return k($o(this.kB),I)};fF.prototype.getVertexCount=function(){return ap(this.kB)};
+fF.prototype.getVertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);bp(d,a,c)};fF.prototype.getPart=function(){return cp(this.kB)};fF.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dp(c,a)};fF.prototype.getLocalScaling=function(){return k(ep(this.kB),m)};fF.prototype.updateBound=function(){fp(this.kB)};fF.prototype.postUpdate=function(){gp(this.kB)};fF.prototype.getShapeType=function(){return hp(this.kB)};
+fF.prototype.needsRetrieveTriangles=function(){return!!ip(this.kB)};fF.prototype.needsRetrieveTetrahedrons=function(){return!!jp(this.kB)};fF.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);kp(d,a,c)};fF.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);lp(d,a,c)};fF.prototype.__destroy__=function(){mp(this.kB)};
+function gF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=np(a);h(gF)[this.kB]=this}gF.prototype=Object.create(w.prototype);gF.prototype.constructor=gF;gF.prototype.lB=gF;gF.mB={};b.btGImpactMeshShape=gF;gF.prototype.getMeshInterface=function(){return k(op(this.kB),jE)};gF.prototype.getMeshPartCount=function(){return pp(this.kB)};gF.prototype.getMeshPart=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(qp(c,a),fF)};gF.prototype.calculateSerializeBufferSize=function(){return rp(this.kB)};
+gF.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sp(c,a)};gF.prototype.getLocalScaling=function(){return k(tp(this.kB),m)};gF.prototype.updateBound=function(){up(this.kB)};gF.prototype.postUpdate=function(){vp(this.kB)};gF.prototype.getShapeType=function(){return wp(this.kB)};gF.prototype.needsRetrieveTriangles=function(){return!!xp(this.kB)};gF.prototype.needsRetrieveTetrahedrons=function(){return!!yp(this.kB)};
+gF.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zp(d,a,c)};gF.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ap(d,a,c)};gF.prototype.__destroy__=function(){Bp(this.kB)};
+function hF(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Cp():void 0===c?_emscripten_bind_btCollisionAlgorithmConstructionInfo_btCollisionAlgorithmConstructionInfo_1(a):Dp(a,c);h(hF)[this.kB]=this}hF.prototype=Object.create(f.prototype);hF.prototype.constructor=hF;hF.prototype.lB=hF;hF.mB={};b.btCollisionAlgorithmConstructionInfo=hF;hF.prototype.get_m_dispatcher1=hF.prototype.eD=function(){return k(Ep(this.kB),TD)};
+hF.prototype.set_m_dispatcher1=hF.prototype.WF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fp(c,a)};Object.defineProperty(hF.prototype,"m_dispatcher1",{get:hF.prototype.eD,set:hF.prototype.WF});hF.prototype.get_m_manifold=hF.prototype.KD=function(){return k(Gp(this.kB),oE)};hF.prototype.set_m_manifold=hF.prototype.BG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hp(c,a)};Object.defineProperty(hF.prototype,"m_manifold",{get:hF.prototype.KD,set:hF.prototype.BG});
+hF.prototype.__destroy__=function(){Ip(this.kB)};function iF(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=Jp(a,c,d);h(iF)[this.kB]=this}iF.prototype=Object.create(mE.prototype);iF.prototype.constructor=iF;iF.prototype.lB=iF;iF.mB={};b.btGImpactCollisionAlgorithm=iF;iF.prototype.registerAlgorithm=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kp(c,a)};iF.prototype.__destroy__=function(){Lp(this.kB)};
+function jF(){this.kB=Mp();h(jF)[this.kB]=this}jF.prototype=Object.create(f.prototype);jF.prototype.constructor=jF;jF.prototype.lB=jF;jF.mB={};b.btDefaultCollisionConstructionInfo=jF;jF.prototype.__destroy__=function(){Np(this.kB)};function oE(){this.kB=Op();h(oE)[this.kB]=this}oE.prototype=Object.create(f.prototype);oE.prototype.constructor=oE;oE.prototype.lB=oE;oE.mB={};b.btPersistentManifold=oE;oE.prototype.getBody0=function(){return k(Pp(this.kB),q)};
+oE.prototype.getBody1=function(){return k(Qp(this.kB),q)};oE.prototype.getNumContacts=function(){return Rp(this.kB)};oE.prototype.getContactPoint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Sp(c,a),E)};oE.prototype.__destroy__=function(){Tp(this.kB)};function kF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Up(a);h(kF)[this.kB]=this}kF.prototype=Object.create(TD.prototype);kF.prototype.constructor=kF;kF.prototype.lB=kF;kF.mB={};b.btCollisionDispatcher=kF;
+kF.prototype.getNumManifolds=function(){return Vp(this.kB)};kF.prototype.getManifoldByIndexInternal=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Wp(c,a),oE)};kF.prototype.__destroy__=function(){Xp(this.kB)};function lF(){throw"cannot construct a btOverlappingPairCallback, no constructor in IDL";}lF.prototype=Object.create(f.prototype);lF.prototype.constructor=lF;lF.prototype.lB=lF;lF.mB={};b.btOverlappingPairCallback=lF;lF.prototype.__destroy__=function(){Yp(this.kB)};
+function UD(){throw"cannot construct a btOverlappingPairCache, no constructor in IDL";}UD.prototype=Object.create(f.prototype);UD.prototype.constructor=UD;UD.prototype.lB=UD;UD.mB={};b.btOverlappingPairCache=UD;UD.prototype.setInternalGhostPairCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zp(c,a)};UD.prototype.getNumOverlappingPairs=function(){return $p(this.kB)};UD.prototype.__destroy__=function(){aq(this.kB)};
+function mF(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===d?bq(a,c):void 0===e?cq(a,c,d):void 0===g?dq(a,c,d,e):eq(a,c,d,e,g);h(mF)[this.kB]=this}mF.prototype=Object.create(f.prototype);mF.prototype.constructor=mF;mF.prototype.lB=mF;mF.mB={};b.btAxisSweep3=mF;mF.prototype.__destroy__=function(){fq(this.kB)};
+function VD(){throw"cannot construct a btBroadphaseInterface, no constructor in IDL";}VD.prototype=Object.create(f.prototype);VD.prototype.constructor=VD;VD.prototype.lB=VD;VD.mB={};b.btBroadphaseInterface=VD;VD.prototype.getOverlappingPairCache=function(){return k(gq(this.kB),UD)};VD.prototype.__destroy__=function(){hq(this.kB)};function nF(){throw"cannot construct a btCollisionConfiguration, no constructor in IDL";}nF.prototype=Object.create(f.prototype);nF.prototype.constructor=nF;
+nF.prototype.lB=nF;nF.mB={};b.btCollisionConfiguration=nF;nF.prototype.__destroy__=function(){iq(this.kB)};function oF(){this.kB=jq();h(oF)[this.kB]=this}oF.prototype=Object.create(f.prototype);oF.prototype.constructor=oF;oF.prototype.lB=oF;oF.mB={};b.btDbvtBroadphase=oF;oF.prototype.__destroy__=function(){kq(this.kB)};function YD(){throw"cannot construct a btBroadphaseProxy, no constructor in IDL";}YD.prototype=Object.create(f.prototype);YD.prototype.constructor=YD;YD.prototype.lB=YD;YD.mB={};
+b.btBroadphaseProxy=YD;YD.prototype.get_m_collisionFilterGroup=YD.prototype.nB=function(){return lq(this.kB)};YD.prototype.set_m_collisionFilterGroup=YD.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mq(c,a)};Object.defineProperty(YD.prototype,"m_collisionFilterGroup",{get:YD.prototype.nB,set:YD.prototype.pB});YD.prototype.get_m_collisionFilterMask=YD.prototype.oB=function(){return nq(this.kB)};
+YD.prototype.set_m_collisionFilterMask=YD.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oq(c,a)};Object.defineProperty(YD.prototype,"m_collisionFilterMask",{get:YD.prototype.oB,set:YD.prototype.qB});YD.prototype.__destroy__=function(){pq(this.kB)};function J(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===e?qq(a,c,d):rq(a,c,d,e);h(J)[this.kB]=this}J.prototype=Object.create(f.prototype);
+J.prototype.constructor=J;J.prototype.lB=J;J.mB={};b.btRigidBodyConstructionInfo=J;J.prototype.get_m_linearDamping=J.prototype.DD=function(){return sq(this.kB)};J.prototype.set_m_linearDamping=J.prototype.uG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tq(c,a)};Object.defineProperty(J.prototype,"m_linearDamping",{get:J.prototype.DD,set:J.prototype.uG});J.prototype.get_m_angularDamping=J.prototype.HC=function(){return uq(this.kB)};
+J.prototype.set_m_angularDamping=J.prototype.yF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vq(c,a)};Object.defineProperty(J.prototype,"m_angularDamping",{get:J.prototype.HC,set:J.prototype.yF});J.prototype.get_m_friction=J.prototype.kD=function(){return wq(this.kB)};J.prototype.set_m_friction=J.prototype.bG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xq(c,a)};Object.defineProperty(J.prototype,"m_friction",{get:J.prototype.kD,set:J.prototype.bG});
+J.prototype.get_m_rollingFriction=J.prototype.dE=function(){return yq(this.kB)};J.prototype.set_m_rollingFriction=J.prototype.WG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zq(c,a)};Object.defineProperty(J.prototype,"m_rollingFriction",{get:J.prototype.dE,set:J.prototype.WG});J.prototype.get_m_restitution=J.prototype.bE=function(){return Aq(this.kB)};J.prototype.set_m_restitution=J.prototype.UG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bq(c,a)};
+Object.defineProperty(J.prototype,"m_restitution",{get:J.prototype.bE,set:J.prototype.UG});J.prototype.get_m_linearSleepingThreshold=J.prototype.ED=function(){return Cq(this.kB)};J.prototype.set_m_linearSleepingThreshold=J.prototype.vG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dq(c,a)};Object.defineProperty(J.prototype,"m_linearSleepingThreshold",{get:J.prototype.ED,set:J.prototype.vG});J.prototype.get_m_angularSleepingThreshold=J.prototype.IC=function(){return Eq(this.kB)};
+J.prototype.set_m_angularSleepingThreshold=J.prototype.zF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fq(c,a)};Object.defineProperty(J.prototype,"m_angularSleepingThreshold",{get:J.prototype.IC,set:J.prototype.zF});J.prototype.get_m_additionalDamping=J.prototype.CC=function(){return!!Gq(this.kB)};J.prototype.set_m_additionalDamping=J.prototype.tF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hq(c,a)};
+Object.defineProperty(J.prototype,"m_additionalDamping",{get:J.prototype.CC,set:J.prototype.tF});J.prototype.get_m_additionalDampingFactor=J.prototype.DC=function(){return Iq(this.kB)};J.prototype.set_m_additionalDampingFactor=J.prototype.uF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jq(c,a)};Object.defineProperty(J.prototype,"m_additionalDampingFactor",{get:J.prototype.DC,set:J.prototype.uF});J.prototype.get_m_additionalLinearDampingThresholdSqr=J.prototype.EC=function(){return Kq(this.kB)};
+J.prototype.set_m_additionalLinearDampingThresholdSqr=J.prototype.vF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lq(c,a)};Object.defineProperty(J.prototype,"m_additionalLinearDampingThresholdSqr",{get:J.prototype.EC,set:J.prototype.vF});J.prototype.get_m_additionalAngularDampingThresholdSqr=J.prototype.BC=function(){return Mq(this.kB)};J.prototype.set_m_additionalAngularDampingThresholdSqr=J.prototype.sF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nq(c,a)};
+Object.defineProperty(J.prototype,"m_additionalAngularDampingThresholdSqr",{get:J.prototype.BC,set:J.prototype.sF});J.prototype.get_m_additionalAngularDampingFactor=J.prototype.AC=function(){return Oq(this.kB)};J.prototype.set_m_additionalAngularDampingFactor=J.prototype.rF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pq(c,a)};Object.defineProperty(J.prototype,"m_additionalAngularDampingFactor",{get:J.prototype.AC,set:J.prototype.rF});J.prototype.__destroy__=function(){Qq(this.kB)};
+function K(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Rq(a);h(K)[this.kB]=this}K.prototype=Object.create(q.prototype);K.prototype.constructor=K;K.prototype.lB=K;K.mB={};b.btRigidBody=K;K.prototype.getCenterOfMassTransform=function(){return k(Sq(this.kB),r)};K.prototype.setCenterOfMassTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tq(c,a)};K.prototype.setSleepingThresholds=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Uq(d,a,c)};
+K.prototype.getLinearDamping=function(){return Vq(this.kB)};K.prototype.getAngularDamping=function(){return Wq(this.kB)};K.prototype.setDamping=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Xq(d,a,c)};K.prototype.setMassProps=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Yq(d,a,c)};K.prototype.getLinearFactor=function(){return k(Zq(this.kB),m)};
+K.prototype.setLinearFactor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$q(c,a)};K.prototype.applyTorque=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ar(c,a)};K.prototype.applyLocalTorque=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);br(c,a)};K.prototype.applyForce=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);cr(d,a,c)};
+K.prototype.applyCentralForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dr(c,a)};K.prototype.applyCentralLocalForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);er(c,a)};K.prototype.applyTorqueImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fr(c,a)};K.prototype.applyImpulse=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);gr(d,a,c)};
+K.prototype.applyCentralImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hr(c,a)};K.prototype.updateInertiaTensor=function(){ir(this.kB)};K.prototype.getLinearVelocity=function(){return k(jr(this.kB),m)};K.prototype.getAngularVelocity=function(){return k(kr(this.kB),m)};K.prototype.setLinearVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lr(c,a)};K.prototype.setAngularVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mr(c,a)};
+K.prototype.getMotionState=function(){return k(nr(this.kB),dE)};K.prototype.setMotionState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);or(c,a)};K.prototype.getAngularFactor=function(){return k(pr(this.kB),m)};K.prototype.setAngularFactor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qr(c,a)};K.prototype.upcast=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(rr(c,a),K)};
+K.prototype.getAabb=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);sr(d,a,c)};K.prototype.applyGravity=function(){tr(this.kB)};K.prototype.getGravity=function(){return k(ur(this.kB),m)};K.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vr(c,a)};K.prototype.getBroadphaseProxy=function(){return k(wr(this.kB),YD)};K.prototype.clearForces=function(){xr(this.kB)};
+K.prototype.setFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yr(c,a)};K.prototype.getFlags=function(){return zr(this.kB)};K.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ar(d,a,c)};K.prototype.getCollisionShape=function(){return k(Br(this.kB),l)};K.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cr(c,a)};
+K.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dr(c,a)};K.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Er(c,a)};K.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?Fr(c):Gr(c,a)};K.prototype.isActive=function(){return!!Hr(this.kB)};K.prototype.isKinematicObject=function(){return!!Ir(this.kB)};K.prototype.isStaticObject=function(){return!!Jr(this.kB)};
+K.prototype.isStaticOrKinematicObject=function(){return!!Kr(this.kB)};K.prototype.getRestitution=function(){return Lr(this.kB)};K.prototype.getFriction=function(){return Mr(this.kB)};K.prototype.getRollingFriction=function(){return Nr(this.kB)};K.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Or(c,a)};K.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pr(c,a)};
+K.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qr(c,a)};K.prototype.getWorldTransform=function(){return k(Rr(this.kB),r)};K.prototype.getCollisionFlags=function(){return Sr(this.kB)};K.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tr(c,a)};K.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ur(c,a)};
+K.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vr(c,a)};K.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wr(c,a)};K.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xr(c,a)};K.prototype.getUserIndex=function(){return Yr(this.kB)};K.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zr(c,a)};
+K.prototype.getUserPointer=function(){return k($r(this.kB),XD)};K.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);as(c,a)};K.prototype.getBroadphaseHandle=function(){return k(bs(this.kB),YD)};K.prototype.__destroy__=function(){cs(this.kB)};function L(){this.kB=ds();h(L)[this.kB]=this}L.prototype=Object.create(f.prototype);L.prototype.constructor=L;L.prototype.lB=L;L.mB={};b.btConstraintSetting=L;L.prototype.get_m_tau=L.prototype.sE=function(){return es(this.kB)};
+L.prototype.set_m_tau=L.prototype.kH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gs(c,a)};Object.defineProperty(L.prototype,"m_tau",{get:L.prototype.sE,set:L.prototype.kH});L.prototype.get_m_damping=L.prototype.aD=function(){return hs(this.kB)};L.prototype.set_m_damping=L.prototype.SF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);is(c,a)};Object.defineProperty(L.prototype,"m_damping",{get:L.prototype.aD,set:L.prototype.SF});
+L.prototype.get_m_impulseClamp=L.prototype.wD=function(){return js(this.kB)};L.prototype.set_m_impulseClamp=L.prototype.nG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ks(c,a)};Object.defineProperty(L.prototype,"m_impulseClamp",{get:L.prototype.wD,set:L.prototype.nG});L.prototype.__destroy__=function(){ls(this.kB)};
+function pF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===d?ms(a,c):void 0===e?_emscripten_bind_btPoint2PointConstraint_btPoint2PointConstraint_3(a,c,d):ns(a,c,d,e);h(pF)[this.kB]=this}pF.prototype=Object.create(aE.prototype);pF.prototype.constructor=pF;pF.prototype.lB=pF;pF.mB={};b.btPoint2PointConstraint=pF;
+pF.prototype.setPivotA=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ps(c,a)};pF.prototype.setPivotB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qs(c,a)};pF.prototype.getPivotInA=function(){return k(rs(this.kB),m)};pF.prototype.getPivotInB=function(){return k(ss(this.kB),m)};pF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ts(c,a)};pF.prototype.getBreakingImpulseThreshold=function(){return us(this.kB)};
+pF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vs(c,a)};pF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return xs(d,a,c)};pF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);ys(e,a,c,d)};pF.prototype.get_m_setting=pF.prototype.fE=function(){return k(zs(this.kB),L)};
+pF.prototype.set_m_setting=pF.prototype.YG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);As(c,a)};Object.defineProperty(pF.prototype,"m_setting",{get:pF.prototype.fE,set:pF.prototype.YG});pF.prototype.__destroy__=function(){Bs(this.kB)};
+function qF(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Cs(a,c,d):void 0===g?_emscripten_bind_btGeneric6DofSpringConstraint_btGeneric6DofSpringConstraint_4(a,c,d,e):Ds(a,c,d,e,g);h(qF)[this.kB]=this}qF.prototype=Object.create(pE.prototype);qF.prototype.constructor=qF;qF.prototype.lB=qF;qF.mB={};b.btGeneric6DofSpringConstraint=qF;
+qF.prototype.enableSpring=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Es(d,a,c)};qF.prototype.setStiffness=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Fs(d,a,c)};qF.prototype.setDamping=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Gs(d,a,c)};
+qF.prototype.setEquilibriumPoint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===a?Hs(d):void 0===c?Is(d,a):Js(d,a,c)};qF.prototype.setLinearLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ks(c,a)};qF.prototype.setLinearUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ls(c,a)};qF.prototype.setAngularLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ms(c,a)};
+qF.prototype.setAngularUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ns(c,a)};qF.prototype.getFrameOffsetA=function(){return k(Os(this.kB),r)};qF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ps(c,a)};qF.prototype.getBreakingImpulseThreshold=function(){return Qs(this.kB)};qF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rs(c,a)};
+qF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Ss(d,a,c)};qF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Ts(e,a,c,d)};qF.prototype.__destroy__=function(){Us(this.kB)};function rF(){this.kB=Vs();h(rF)[this.kB]=this}rF.prototype=Object.create(f.prototype);rF.prototype.constructor=rF;rF.prototype.lB=rF;rF.mB={};
+b.btSequentialImpulseConstraintSolver=rF;rF.prototype.__destroy__=function(){Ws(this.kB)};function sF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===d?Xs(a,c):void 0===e?_emscripten_bind_btConeTwistConstraint_btConeTwistConstraint_3(a,c,d):Ys(a,c,d,e);h(sF)[this.kB]=this}sF.prototype=Object.create(aE.prototype);sF.prototype.constructor=sF;sF.prototype.lB=sF;sF.mB={};
+b.btConeTwistConstraint=sF;sF.prototype.setLimit=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Zs(d,a,c)};sF.prototype.setAngularOnly=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$s(c,a)};sF.prototype.setDamping=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);at(c,a)};sF.prototype.enableMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bt(c,a)};
+sF.prototype.setMaxMotorImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ct(c,a)};sF.prototype.setMaxMotorImpulseNormalized=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dt(c,a)};sF.prototype.setMotorTarget=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);et(c,a)};sF.prototype.setMotorTargetInConstraintSpace=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ft(c,a)};
+sF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gt(c,a)};sF.prototype.getBreakingImpulseThreshold=function(){return ht(this.kB)};sF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);it(c,a)};sF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return jt(d,a,c)};
+sF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);kt(e,a,c,d)};sF.prototype.__destroy__=function(){lt(this.kB)};
+function tF(a,c,d,e,g,n,z){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);this.kB=void 0===d?mt(a,c):void 0===e?nt(a,c,d):void 0===g?ot(a,c,d,e):void 0===n?pt(a,c,d,e,g):void 0===z?qt(a,c,d,e,g,n):rt(a,c,d,e,g,n,z);h(tF)[this.kB]=this}tF.prototype=Object.create(aE.prototype);tF.prototype.constructor=tF;
+tF.prototype.lB=tF;tF.mB={};b.btHingeConstraint=tF;tF.prototype.getHingeAngle=function(){return st(this.kB)};tF.prototype.setLimit=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);void 0===g?tt(n,a,c,d,e):ut(n,a,c,d,e,g)};
+tF.prototype.enableAngularMotor=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);vt(e,a,c,d)};tF.prototype.setAngularOnly=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wt(c,a)};tF.prototype.enableMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xt(c,a)};tF.prototype.setMaxMotorImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yt(c,a)};
+tF.prototype.setMotorTarget=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zt(d,a,c)};tF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);At(c,a)};tF.prototype.getBreakingImpulseThreshold=function(){return Bt(this.kB)};tF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ct(c,a)};
+tF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Dt(d,a,c)};tF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Et(e,a,c,d)};tF.prototype.__destroy__=function(){Ft(this.kB)};
+function uF(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Gt(a,c,d):void 0===g?_emscripten_bind_btSliderConstraint_btSliderConstraint_4(a,c,d,e):Ht(a,c,d,e,g);h(uF)[this.kB]=this}uF.prototype=Object.create(aE.prototype);uF.prototype.constructor=uF;uF.prototype.lB=uF;uF.mB={};b.btSliderConstraint=uF;uF.prototype.getLinearPos=function(){return It(this.kB)};
+uF.prototype.getAngularPos=function(){return Jt(this.kB)};uF.prototype.setLowerLinLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kt(c,a)};uF.prototype.setUpperLinLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lt(c,a)};uF.prototype.setLowerAngLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mt(c,a)};uF.prototype.setUpperAngLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nt(c,a)};
+uF.prototype.setPoweredLinMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ot(c,a)};uF.prototype.setMaxLinMotorForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pt(c,a)};uF.prototype.setTargetLinMotorVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qt(c,a)};uF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rt(c,a)};uF.prototype.getBreakingImpulseThreshold=function(){return St(this.kB)};
+uF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tt(c,a)};uF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Ut(d,a,c)};uF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Vt(e,a,c,d)};uF.prototype.__destroy__=function(){Wt(this.kB)};
+function vF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=Xt(a,c,d,e);h(vF)[this.kB]=this}vF.prototype=Object.create(aE.prototype);vF.prototype.constructor=vF;vF.prototype.lB=vF;vF.mB={};b.btFixedConstraint=vF;vF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yt(c,a)};vF.prototype.getBreakingImpulseThreshold=function(){return Zt(this.kB)};
+vF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$t(c,a)};vF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return au(d,a,c)};vF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);bu(e,a,c,d)};vF.prototype.__destroy__=function(){cu(this.kB)};
+function wF(){throw"cannot construct a btConstraintSolver, no constructor in IDL";}wF.prototype=Object.create(f.prototype);wF.prototype.constructor=wF;wF.prototype.lB=wF;wF.mB={};b.btConstraintSolver=wF;wF.prototype.__destroy__=function(){du(this.kB)};function p(){throw"cannot construct a btDispatcherInfo, no constructor in IDL";}p.prototype=Object.create(f.prototype);p.prototype.constructor=p;p.prototype.lB=p;p.mB={};b.btDispatcherInfo=p;p.prototype.get_m_timeStep=p.prototype.uE=function(){return eu(this.kB)};
+p.prototype.set_m_timeStep=p.prototype.mH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fu(c,a)};Object.defineProperty(p.prototype,"m_timeStep",{get:p.prototype.uE,set:p.prototype.mH});p.prototype.get_m_stepCount=p.prototype.lE=function(){return gu(this.kB)};p.prototype.set_m_stepCount=p.prototype.dH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hu(c,a)};Object.defineProperty(p.prototype,"m_stepCount",{get:p.prototype.lE,set:p.prototype.dH});
+p.prototype.get_m_dispatchFunc=p.prototype.cD=function(){return iu(this.kB)};p.prototype.set_m_dispatchFunc=p.prototype.UF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ju(c,a)};Object.defineProperty(p.prototype,"m_dispatchFunc",{get:p.prototype.cD,set:p.prototype.UF});p.prototype.get_m_timeOfImpact=p.prototype.tE=function(){return ku(this.kB)};p.prototype.set_m_timeOfImpact=p.prototype.lH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lu(c,a)};
+Object.defineProperty(p.prototype,"m_timeOfImpact",{get:p.prototype.tE,set:p.prototype.lH});p.prototype.get_m_useContinuous=p.prototype.wE=function(){return!!mu(this.kB)};p.prototype.set_m_useContinuous=p.prototype.oH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nu(c,a)};Object.defineProperty(p.prototype,"m_useContinuous",{get:p.prototype.wE,set:p.prototype.oH});p.prototype.get_m_enableSatConvex=p.prototype.hD=function(){return!!ou(this.kB)};
+p.prototype.set_m_enableSatConvex=p.prototype.ZF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pu(c,a)};Object.defineProperty(p.prototype,"m_enableSatConvex",{get:p.prototype.hD,set:p.prototype.ZF});p.prototype.get_m_enableSPU=p.prototype.gD=function(){return!!qu(this.kB)};p.prototype.set_m_enableSPU=p.prototype.YF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ru(c,a)};Object.defineProperty(p.prototype,"m_enableSPU",{get:p.prototype.gD,set:p.prototype.YF});
+p.prototype.get_m_useEpa=p.prototype.yE=function(){return!!su(this.kB)};p.prototype.set_m_useEpa=p.prototype.qH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tu(c,a)};Object.defineProperty(p.prototype,"m_useEpa",{get:p.prototype.yE,set:p.prototype.qH});p.prototype.get_m_allowedCcdPenetration=p.prototype.FC=function(){return uu(this.kB)};p.prototype.set_m_allowedCcdPenetration=p.prototype.wF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vu(c,a)};
+Object.defineProperty(p.prototype,"m_allowedCcdPenetration",{get:p.prototype.FC,set:p.prototype.wF});p.prototype.get_m_useConvexConservativeDistanceUtil=p.prototype.xE=function(){return!!wu(this.kB)};p.prototype.set_m_useConvexConservativeDistanceUtil=p.prototype.pH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xu(c,a)};Object.defineProperty(p.prototype,"m_useConvexConservativeDistanceUtil",{get:p.prototype.xE,set:p.prototype.pH});
+p.prototype.get_m_convexConservativeDistanceThreshold=p.prototype.YC=function(){return yu(this.kB)};p.prototype.set_m_convexConservativeDistanceThreshold=p.prototype.PF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zu(c,a)};Object.defineProperty(p.prototype,"m_convexConservativeDistanceThreshold",{get:p.prototype.YC,set:p.prototype.PF});p.prototype.__destroy__=function(){Au(this.kB)};function t(){throw"cannot construct a btContactSolverInfo, no constructor in IDL";}t.prototype=Object.create(f.prototype);
+t.prototype.constructor=t;t.prototype.lB=t;t.mB={};b.btContactSolverInfo=t;t.prototype.get_m_splitImpulse=t.prototype.iE=function(){return!!Bu(this.kB)};t.prototype.set_m_splitImpulse=t.prototype.aH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cu(c,a)};Object.defineProperty(t.prototype,"m_splitImpulse",{get:t.prototype.iE,set:t.prototype.aH});t.prototype.get_m_splitImpulsePenetrationThreshold=t.prototype.jE=function(){return Du(this.kB)};
+t.prototype.set_m_splitImpulsePenetrationThreshold=t.prototype.bH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Eu(c,a)};Object.defineProperty(t.prototype,"m_splitImpulsePenetrationThreshold",{get:t.prototype.jE,set:t.prototype.bH});t.prototype.get_m_numIterations=t.prototype.TD=function(){return Fu(this.kB)};t.prototype.set_m_numIterations=t.prototype.KG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gu(c,a)};
+Object.defineProperty(t.prototype,"m_numIterations",{get:t.prototype.TD,set:t.prototype.KG});t.prototype.__destroy__=function(){Hu(this.kB)};function M(){this.kB=Iu();h(M)[this.kB]=this}M.prototype=Object.create(f.prototype);M.prototype.constructor=M;M.prototype.lB=M;M.mB={};b.btVehicleTuning=M;M.prototype.get_m_suspensionStiffness=M.prototype.BB=function(){return Ju(this.kB)};M.prototype.set_m_suspensionStiffness=M.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ku(c,a)};
+Object.defineProperty(M.prototype,"m_suspensionStiffness",{get:M.prototype.BB,set:M.prototype.IB});M.prototype.get_m_suspensionCompression=M.prototype.mE=function(){return Lu(this.kB)};M.prototype.set_m_suspensionCompression=M.prototype.eH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mu(c,a)};Object.defineProperty(M.prototype,"m_suspensionCompression",{get:M.prototype.mE,set:M.prototype.eH});M.prototype.get_m_suspensionDamping=M.prototype.nE=function(){return Nu(this.kB)};
+M.prototype.set_m_suspensionDamping=M.prototype.fH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ou(c,a)};Object.defineProperty(M.prototype,"m_suspensionDamping",{get:M.prototype.nE,set:M.prototype.fH});M.prototype.get_m_maxSuspensionTravelCm=M.prototype.AB=function(){return Pu(this.kB)};M.prototype.set_m_maxSuspensionTravelCm=M.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qu(c,a)};
+Object.defineProperty(M.prototype,"m_maxSuspensionTravelCm",{get:M.prototype.AB,set:M.prototype.HB});M.prototype.get_m_frictionSlip=M.prototype.wB=function(){return Ru(this.kB)};M.prototype.set_m_frictionSlip=M.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Su(c,a)};Object.defineProperty(M.prototype,"m_frictionSlip",{get:M.prototype.wB,set:M.prototype.DB});M.prototype.get_m_maxSuspensionForce=M.prototype.zB=function(){return Tu(this.kB)};
+M.prototype.set_m_maxSuspensionForce=M.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uu(c,a)};Object.defineProperty(M.prototype,"m_maxSuspensionForce",{get:M.prototype.zB,set:M.prototype.GB});function xF(){throw"cannot construct a btVehicleRaycasterResult, no constructor in IDL";}xF.prototype=Object.create(f.prototype);xF.prototype.constructor=xF;xF.prototype.lB=xF;xF.mB={};b.btVehicleRaycasterResult=xF;
+xF.prototype.get_m_hitPointInWorld=xF.prototype.tD=function(){return k(Vu(this.kB),m)};xF.prototype.set_m_hitPointInWorld=xF.prototype.kG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wu(c,a)};Object.defineProperty(xF.prototype,"m_hitPointInWorld",{get:xF.prototype.tD,set:xF.prototype.kG});xF.prototype.get_m_hitNormalInWorld=xF.prototype.rD=function(){return k(Xu(this.kB),m)};
+xF.prototype.set_m_hitNormalInWorld=xF.prototype.iG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yu(c,a)};Object.defineProperty(xF.prototype,"m_hitNormalInWorld",{get:xF.prototype.rD,set:xF.prototype.iG});xF.prototype.get_m_distFraction=xF.prototype.fD=function(){return Zu(this.kB)};xF.prototype.set_m_distFraction=xF.prototype.XF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$u(c,a)};Object.defineProperty(xF.prototype,"m_distFraction",{get:xF.prototype.fD,set:xF.prototype.XF});
+xF.prototype.__destroy__=function(){av(this.kB)};function yF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=bv(a);h(yF)[this.kB]=this}yF.prototype=Object.create(qE.prototype);yF.prototype.constructor=yF;yF.prototype.lB=yF;yF.mB={};b.btDefaultVehicleRaycaster=yF;yF.prototype.castRay=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);cv(e,a,c,d)};yF.prototype.__destroy__=function(){dv(this.kB)};
+function N(){throw"cannot construct a RaycastInfo, no constructor in IDL";}N.prototype=Object.create(f.prototype);N.prototype.constructor=N;N.prototype.lB=N;N.mB={};b.RaycastInfo=N;N.prototype.get_m_contactNormalWS=N.prototype.WC=function(){return k(ev(this.kB),m)};N.prototype.set_m_contactNormalWS=N.prototype.NF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fv(c,a)};Object.defineProperty(N.prototype,"m_contactNormalWS",{get:N.prototype.WC,set:N.prototype.NF});
+N.prototype.get_m_contactPointWS=N.prototype.XC=function(){return k(gv(this.kB),m)};N.prototype.set_m_contactPointWS=N.prototype.OF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hv(c,a)};Object.defineProperty(N.prototype,"m_contactPointWS",{get:N.prototype.XC,set:N.prototype.OF});N.prototype.get_m_suspensionLength=N.prototype.oE=function(){return iv(this.kB)};N.prototype.set_m_suspensionLength=N.prototype.gH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jv(c,a)};
+Object.defineProperty(N.prototype,"m_suspensionLength",{get:N.prototype.oE,set:N.prototype.gH});N.prototype.get_m_hardPointWS=N.prototype.oD=function(){return k(kv(this.kB),m)};N.prototype.set_m_hardPointWS=N.prototype.fG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lv(c,a)};Object.defineProperty(N.prototype,"m_hardPointWS",{get:N.prototype.oD,set:N.prototype.fG});N.prototype.get_m_wheelDirectionWS=N.prototype.DE=function(){return k(mv(this.kB),m)};
+N.prototype.set_m_wheelDirectionWS=N.prototype.vH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nv(c,a)};Object.defineProperty(N.prototype,"m_wheelDirectionWS",{get:N.prototype.DE,set:N.prototype.vH});N.prototype.get_m_wheelAxleWS=N.prototype.CE=function(){return k(ov(this.kB),m)};N.prototype.set_m_wheelAxleWS=N.prototype.uH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pv(c,a)};Object.defineProperty(N.prototype,"m_wheelAxleWS",{get:N.prototype.CE,set:N.prototype.uH});
+N.prototype.get_m_isInContact=N.prototype.zD=function(){return!!qv(this.kB)};N.prototype.set_m_isInContact=N.prototype.qG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rv(c,a)};Object.defineProperty(N.prototype,"m_isInContact",{get:N.prototype.zD,set:N.prototype.qG});N.prototype.get_m_groundObject=N.prototype.nD=function(){return sv(this.kB)};N.prototype.set_m_groundObject=N.prototype.eG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tv(c,a)};
+Object.defineProperty(N.prototype,"m_groundObject",{get:N.prototype.nD,set:N.prototype.eG});N.prototype.__destroy__=function(){uv(this.kB)};function O(){throw"cannot construct a btWheelInfoConstructionInfo, no constructor in IDL";}O.prototype=Object.create(f.prototype);O.prototype.constructor=O;O.prototype.lB=O;O.mB={};b.btWheelInfoConstructionInfo=O;O.prototype.get_m_chassisConnectionCS=O.prototype.RC=function(){return k(vv(this.kB),m)};
+O.prototype.set_m_chassisConnectionCS=O.prototype.IF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wv(c,a)};Object.defineProperty(O.prototype,"m_chassisConnectionCS",{get:O.prototype.RC,set:O.prototype.IF});O.prototype.get_m_wheelDirectionCS=O.prototype.QB=function(){return k(xv(this.kB),m)};O.prototype.set_m_wheelDirectionCS=O.prototype.$B=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yv(c,a)};Object.defineProperty(O.prototype,"m_wheelDirectionCS",{get:O.prototype.QB,set:O.prototype.$B});
+O.prototype.get_m_wheelAxleCS=O.prototype.PB=function(){return k(zv(this.kB),m)};O.prototype.set_m_wheelAxleCS=O.prototype.ZB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Av(c,a)};Object.defineProperty(O.prototype,"m_wheelAxleCS",{get:O.prototype.PB,set:O.prototype.ZB});O.prototype.get_m_suspensionRestLength=O.prototype.qE=function(){return Bv(this.kB)};O.prototype.set_m_suspensionRestLength=O.prototype.iH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cv(c,a)};
+Object.defineProperty(O.prototype,"m_suspensionRestLength",{get:O.prototype.qE,set:O.prototype.iH});O.prototype.get_m_maxSuspensionTravelCm=O.prototype.AB=function(){return Dv(this.kB)};O.prototype.set_m_maxSuspensionTravelCm=O.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ev(c,a)};Object.defineProperty(O.prototype,"m_maxSuspensionTravelCm",{get:O.prototype.AB,set:O.prototype.HB});O.prototype.get_m_wheelRadius=O.prototype.EE=function(){return Fv(this.kB)};
+O.prototype.set_m_wheelRadius=O.prototype.wH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gv(c,a)};Object.defineProperty(O.prototype,"m_wheelRadius",{get:O.prototype.EE,set:O.prototype.wH});O.prototype.get_m_suspensionStiffness=O.prototype.BB=function(){return Hv(this.kB)};O.prototype.set_m_suspensionStiffness=O.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Iv(c,a)};Object.defineProperty(O.prototype,"m_suspensionStiffness",{get:O.prototype.BB,set:O.prototype.IB});
+O.prototype.get_m_wheelsDampingCompression=O.prototype.RB=function(){return Jv(this.kB)};O.prototype.set_m_wheelsDampingCompression=O.prototype.aC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kv(c,a)};Object.defineProperty(O.prototype,"m_wheelsDampingCompression",{get:O.prototype.RB,set:O.prototype.aC});O.prototype.get_m_wheelsDampingRelaxation=O.prototype.SB=function(){return Lv(this.kB)};
+O.prototype.set_m_wheelsDampingRelaxation=O.prototype.bC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mv(c,a)};Object.defineProperty(O.prototype,"m_wheelsDampingRelaxation",{get:O.prototype.SB,set:O.prototype.bC});O.prototype.get_m_frictionSlip=O.prototype.wB=function(){return Nv(this.kB)};O.prototype.set_m_frictionSlip=O.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ov(c,a)};Object.defineProperty(O.prototype,"m_frictionSlip",{get:O.prototype.wB,set:O.prototype.DB});
+O.prototype.get_m_maxSuspensionForce=O.prototype.zB=function(){return Pv(this.kB)};O.prototype.set_m_maxSuspensionForce=O.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qv(c,a)};Object.defineProperty(O.prototype,"m_maxSuspensionForce",{get:O.prototype.zB,set:O.prototype.GB});O.prototype.get_m_bIsFrontWheel=O.prototype.JB=function(){return!!Rv(this.kB)};O.prototype.set_m_bIsFrontWheel=O.prototype.TB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Sv(c,a)};
+Object.defineProperty(O.prototype,"m_bIsFrontWheel",{get:O.prototype.JB,set:O.prototype.TB});O.prototype.__destroy__=function(){Tv(this.kB)};function P(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Uv(a);h(P)[this.kB]=this}P.prototype=Object.create(f.prototype);P.prototype.constructor=P;P.prototype.lB=P;P.mB={};b.btWheelInfo=P;P.prototype.getSuspensionRestLength=function(){return Vv(this.kB)};
+P.prototype.updateWheel=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wv(d,a,c)};P.prototype.get_m_suspensionStiffness=P.prototype.BB=function(){return Xv(this.kB)};P.prototype.set_m_suspensionStiffness=P.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yv(c,a)};Object.defineProperty(P.prototype,"m_suspensionStiffness",{get:P.prototype.BB,set:P.prototype.IB});P.prototype.get_m_frictionSlip=P.prototype.wB=function(){return Zv(this.kB)};
+P.prototype.set_m_frictionSlip=P.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$v(c,a)};Object.defineProperty(P.prototype,"m_frictionSlip",{get:P.prototype.wB,set:P.prototype.DB});P.prototype.get_m_engineForce=P.prototype.iD=function(){return aw(this.kB)};P.prototype.set_m_engineForce=P.prototype.$F=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bw(c,a)};Object.defineProperty(P.prototype,"m_engineForce",{get:P.prototype.iD,set:P.prototype.$F});
+P.prototype.get_m_rollInfluence=P.prototype.cE=function(){return cw(this.kB)};P.prototype.set_m_rollInfluence=P.prototype.VG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dw(c,a)};Object.defineProperty(P.prototype,"m_rollInfluence",{get:P.prototype.cE,set:P.prototype.VG});P.prototype.get_m_suspensionRestLength1=P.prototype.rE=function(){return ew(this.kB)};P.prototype.set_m_suspensionRestLength1=P.prototype.jH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fw(c,a)};
+Object.defineProperty(P.prototype,"m_suspensionRestLength1",{get:P.prototype.rE,set:P.prototype.jH});P.prototype.get_m_wheelsRadius=P.prototype.FE=function(){return gw(this.kB)};P.prototype.set_m_wheelsRadius=P.prototype.xH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hw(c,a)};Object.defineProperty(P.prototype,"m_wheelsRadius",{get:P.prototype.FE,set:P.prototype.xH});P.prototype.get_m_wheelsDampingCompression=P.prototype.RB=function(){return iw(this.kB)};
+P.prototype.set_m_wheelsDampingCompression=P.prototype.aC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jw(c,a)};Object.defineProperty(P.prototype,"m_wheelsDampingCompression",{get:P.prototype.RB,set:P.prototype.aC});P.prototype.get_m_wheelsDampingRelaxation=P.prototype.SB=function(){return kw(this.kB)};P.prototype.set_m_wheelsDampingRelaxation=P.prototype.bC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lw(c,a)};
+Object.defineProperty(P.prototype,"m_wheelsDampingRelaxation",{get:P.prototype.SB,set:P.prototype.bC});P.prototype.get_m_steering=P.prototype.kE=function(){return mw(this.kB)};P.prototype.set_m_steering=P.prototype.cH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nw(c,a)};Object.defineProperty(P.prototype,"m_steering",{get:P.prototype.kE,set:P.prototype.cH});P.prototype.get_m_maxSuspensionForce=P.prototype.zB=function(){return ow(this.kB)};
+P.prototype.set_m_maxSuspensionForce=P.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pw(c,a)};Object.defineProperty(P.prototype,"m_maxSuspensionForce",{get:P.prototype.zB,set:P.prototype.GB});P.prototype.get_m_maxSuspensionTravelCm=P.prototype.AB=function(){return qw(this.kB)};P.prototype.set_m_maxSuspensionTravelCm=P.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rw(c,a)};
+Object.defineProperty(P.prototype,"m_maxSuspensionTravelCm",{get:P.prototype.AB,set:P.prototype.HB});P.prototype.get_m_wheelsSuspensionForce=P.prototype.GE=function(){return sw(this.kB)};P.prototype.set_m_wheelsSuspensionForce=P.prototype.yH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tw(c,a)};Object.defineProperty(P.prototype,"m_wheelsSuspensionForce",{get:P.prototype.GE,set:P.prototype.yH});P.prototype.get_m_bIsFrontWheel=P.prototype.JB=function(){return!!uw(this.kB)};
+P.prototype.set_m_bIsFrontWheel=P.prototype.TB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vw(c,a)};Object.defineProperty(P.prototype,"m_bIsFrontWheel",{get:P.prototype.JB,set:P.prototype.TB});P.prototype.get_m_raycastInfo=P.prototype.aE=function(){return k(ww(this.kB),N)};P.prototype.set_m_raycastInfo=P.prototype.TG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xw(c,a)};Object.defineProperty(P.prototype,"m_raycastInfo",{get:P.prototype.aE,set:P.prototype.TG});
+P.prototype.get_m_chassisConnectionPointCS=P.prototype.SC=function(){return k(yw(this.kB),m)};P.prototype.set_m_chassisConnectionPointCS=P.prototype.JF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zw(c,a)};Object.defineProperty(P.prototype,"m_chassisConnectionPointCS",{get:P.prototype.SC,set:P.prototype.JF});P.prototype.get_m_worldTransform=P.prototype.HE=function(){return k(Aw(this.kB),r)};
+P.prototype.set_m_worldTransform=P.prototype.zH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bw(c,a)};Object.defineProperty(P.prototype,"m_worldTransform",{get:P.prototype.HE,set:P.prototype.zH});P.prototype.get_m_wheelDirectionCS=P.prototype.QB=function(){return k(Cw(this.kB),m)};P.prototype.set_m_wheelDirectionCS=P.prototype.$B=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dw(c,a)};Object.defineProperty(P.prototype,"m_wheelDirectionCS",{get:P.prototype.QB,set:P.prototype.$B});
+P.prototype.get_m_wheelAxleCS=P.prototype.PB=function(){return k(Ew(this.kB),m)};P.prototype.set_m_wheelAxleCS=P.prototype.ZB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fw(c,a)};Object.defineProperty(P.prototype,"m_wheelAxleCS",{get:P.prototype.PB,set:P.prototype.ZB});P.prototype.get_m_rotation=P.prototype.eE=function(){return Gw(this.kB)};P.prototype.set_m_rotation=P.prototype.XG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hw(c,a)};
+Object.defineProperty(P.prototype,"m_rotation",{get:P.prototype.eE,set:P.prototype.XG});P.prototype.get_m_deltaRotation=P.prototype.bD=function(){return Iw(this.kB)};P.prototype.set_m_deltaRotation=P.prototype.TF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jw(c,a)};Object.defineProperty(P.prototype,"m_deltaRotation",{get:P.prototype.bD,set:P.prototype.TF});P.prototype.get_m_brake=P.prototype.LC=function(){return Kw(this.kB)};
+P.prototype.set_m_brake=P.prototype.CF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lw(c,a)};Object.defineProperty(P.prototype,"m_brake",{get:P.prototype.LC,set:P.prototype.CF});P.prototype.get_m_clippedInvContactDotSuspension=P.prototype.TC=function(){return Mw(this.kB)};P.prototype.set_m_clippedInvContactDotSuspension=P.prototype.KF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nw(c,a)};
+Object.defineProperty(P.prototype,"m_clippedInvContactDotSuspension",{get:P.prototype.TC,set:P.prototype.KF});P.prototype.get_m_suspensionRelativeVelocity=P.prototype.pE=function(){return Ow(this.kB)};P.prototype.set_m_suspensionRelativeVelocity=P.prototype.hH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pw(c,a)};Object.defineProperty(P.prototype,"m_suspensionRelativeVelocity",{get:P.prototype.pE,set:P.prototype.hH});P.prototype.get_m_skidInfo=P.prototype.hE=function(){return Qw(this.kB)};
+P.prototype.set_m_skidInfo=P.prototype.$G=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rw(c,a)};Object.defineProperty(P.prototype,"m_skidInfo",{get:P.prototype.hE,set:P.prototype.$G});P.prototype.__destroy__=function(){Sw(this.kB)};function zF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===e?Tw(a,c,d):Uw(a,c,d,e);h(zF)[this.kB]=this}zF.prototype=Object.create(rE.prototype);
+zF.prototype.constructor=zF;zF.prototype.lB=zF;zF.mB={};b.btKinematicCharacterController=zF;zF.prototype.setUpAxis=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vw(c,a)};zF.prototype.setWalkDirection=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ww(c,a)};zF.prototype.setVelocityForTimeInterval=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Xw(d,a,c)};
+zF.prototype.warp=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yw(c,a)};zF.prototype.preStep=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zw(c,a)};zF.prototype.playerStep=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);$w(d,a,c)};zF.prototype.setFallSpeed=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ax(c,a)};zF.prototype.setJumpSpeed=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bx(c,a)};
+zF.prototype.setMaxJumpHeight=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cx(c,a)};zF.prototype.canJump=function(){return!!dx(this.kB)};zF.prototype.jump=function(){ex(this.kB)};zF.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fx(c,a)};zF.prototype.getGravity=function(){return gx(this.kB)};zF.prototype.setMaxSlope=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hx(c,a)};zF.prototype.getMaxSlope=function(){return ix(this.kB)};
+zF.prototype.getGhostObject=function(){return k(jx(this.kB),Q)};zF.prototype.setUseGhostSweepTest=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kx(c,a)};zF.prototype.onGround=function(){return!!lx(this.kB)};zF.prototype.setUpInterpolate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mx(c,a)};zF.prototype.updateAction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nx(d,a,c)};zF.prototype.__destroy__=function(){ox(this.kB)};
+function R(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=px(a,c,d);h(R)[this.kB]=this}R.prototype=Object.create(rE.prototype);R.prototype.constructor=R;R.prototype.lB=R;R.mB={};b.btRaycastVehicle=R;R.prototype.applyEngineForce=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);qx(d,a,c)};
+R.prototype.setSteeringValue=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);rx(d,a,c)};R.prototype.getWheelTransformWS=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(sx(c,a),r)};R.prototype.updateWheelTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);tx(d,a,c)};
+R.prototype.addWheel=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return k(ux(T,a,c,d,e,g,n,z),P)};R.prototype.getNumWheels=function(){return vx(this.kB)};R.prototype.getRigidBody=function(){return k(wx(this.kB),K)};
+R.prototype.getWheelInfo=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(xx(c,a),P)};R.prototype.setBrake=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);yx(d,a,c)};R.prototype.setCoordinateSystem=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);zx(e,a,c,d)};R.prototype.getCurrentSpeedKmHour=function(){return Ax(this.kB)};
+R.prototype.getChassisWorldTransform=function(){return k(Bx(this.kB),r)};R.prototype.rayCast=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Cx(c,a)};R.prototype.updateVehicle=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dx(c,a)};R.prototype.resetSuspension=function(){Ex(this.kB)};R.prototype.getSteeringValue=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Fx(c,a)};
+R.prototype.updateWheelTransformsWS=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?Gx(d,a):Hx(d,a,c)};R.prototype.setPitchControl=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ix(c,a)};R.prototype.updateSuspension=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jx(c,a)};R.prototype.updateFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kx(c,a)};R.prototype.getRightAxis=function(){return Lx(this.kB)};
+R.prototype.getUpAxis=function(){return Mx(this.kB)};R.prototype.getForwardAxis=function(){return Nx(this.kB)};R.prototype.getForwardVector=function(){return k(Ox(this.kB),m)};R.prototype.getUserConstraintType=function(){return Px(this.kB)};R.prototype.setUserConstraintType=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qx(c,a)};R.prototype.setUserConstraintId=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rx(c,a)};R.prototype.getUserConstraintId=function(){return Sx(this.kB)};
+R.prototype.updateAction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Tx(d,a,c)};R.prototype.__destroy__=function(){Ux(this.kB)};function Q(){this.kB=Vx();h(Q)[this.kB]=this}Q.prototype=Object.create(y.prototype);Q.prototype.constructor=Q;Q.prototype.lB=Q;Q.mB={};b.btPairCachingGhostObject=Q;Q.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wx(d,a,c)};
+Q.prototype.getCollisionShape=function(){return k(Xx(this.kB),l)};Q.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yx(c,a)};Q.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zx(c,a)};Q.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$x(c,a)};Q.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?ay(c):by(c,a)};
+Q.prototype.isActive=function(){return!!cy(this.kB)};Q.prototype.isKinematicObject=function(){return!!dy(this.kB)};Q.prototype.isStaticObject=function(){return!!ey(this.kB)};Q.prototype.isStaticOrKinematicObject=function(){return!!fy(this.kB)};Q.prototype.getRestitution=function(){return gy(this.kB)};Q.prototype.getFriction=function(){return hy(this.kB)};Q.prototype.getRollingFriction=function(){return iy(this.kB)};
+Q.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jy(c,a)};Q.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ky(c,a)};Q.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ly(c,a)};Q.prototype.getWorldTransform=function(){return k(my(this.kB),r)};Q.prototype.getCollisionFlags=function(){return ny(this.kB)};
+Q.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oy(c,a)};Q.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);py(c,a)};Q.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qy(c,a)};Q.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ry(c,a)};Q.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sy(c,a)};
+Q.prototype.getUserIndex=function(){return ty(this.kB)};Q.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);uy(c,a)};Q.prototype.getUserPointer=function(){return k(vy(this.kB),XD)};Q.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wy(c,a)};Q.prototype.getBroadphaseHandle=function(){return k(xy(this.kB),YD)};Q.prototype.getNumOverlappingObjects=function(){return yy(this.kB)};
+Q.prototype.getOverlappingObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(zy(c,a),q)};Q.prototype.__destroy__=function(){Ay(this.kB)};function AF(){this.kB=By();h(AF)[this.kB]=this}AF.prototype=Object.create(f.prototype);AF.prototype.constructor=AF;AF.prototype.lB=AF;AF.mB={};b.btGhostPairCallback=AF;AF.prototype.__destroy__=function(){Cy(this.kB)};function S(){this.kB=Dy();h(S)[this.kB]=this}S.prototype=Object.create(f.prototype);S.prototype.constructor=S;
+S.prototype.lB=S;S.mB={};b.btSoftBodyWorldInfo=S;S.prototype.get_air_density=S.prototype.cC=function(){return Ey(this.kB)};S.prototype.set_air_density=S.prototype.UE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fy(c,a)};Object.defineProperty(S.prototype,"air_density",{get:S.prototype.cC,set:S.prototype.UE});S.prototype.get_water_density=S.prototype.RE=function(){return Gy(this.kB)};
+S.prototype.set_water_density=S.prototype.JH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hy(c,a)};Object.defineProperty(S.prototype,"water_density",{get:S.prototype.RE,set:S.prototype.JH});S.prototype.get_water_offset=S.prototype.TE=function(){return Iy(this.kB)};S.prototype.set_water_offset=S.prototype.LH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jy(c,a)};Object.defineProperty(S.prototype,"water_offset",{get:S.prototype.TE,set:S.prototype.LH});
+S.prototype.get_m_maxDisplacement=S.prototype.ND=function(){return Ky(this.kB)};S.prototype.set_m_maxDisplacement=S.prototype.EG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ly(c,a)};Object.defineProperty(S.prototype,"m_maxDisplacement",{get:S.prototype.ND,set:S.prototype.EG});S.prototype.get_water_normal=S.prototype.SE=function(){return k(My(this.kB),m)};S.prototype.set_water_normal=S.prototype.KH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ny(c,a)};
+Object.defineProperty(S.prototype,"water_normal",{get:S.prototype.SE,set:S.prototype.KH});S.prototype.get_m_broadphase=S.prototype.MC=function(){return k(Oy(this.kB),VD)};S.prototype.set_m_broadphase=S.prototype.DF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Py(c,a)};Object.defineProperty(S.prototype,"m_broadphase",{get:S.prototype.MC,set:S.prototype.DF});S.prototype.get_m_dispatcher=S.prototype.dD=function(){return k(Qy(this.kB),TD)};
+S.prototype.set_m_dispatcher=S.prototype.VF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ry(c,a)};Object.defineProperty(S.prototype,"m_dispatcher",{get:S.prototype.dD,set:S.prototype.VF});S.prototype.get_m_gravity=S.prototype.mD=function(){return k(Sy(this.kB),m)};S.prototype.set_m_gravity=S.prototype.dG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ty(c,a)};Object.defineProperty(S.prototype,"m_gravity",{get:S.prototype.mD,set:S.prototype.dG});S.prototype.__destroy__=function(){Uy(this.kB)};
+function U(){throw"cannot construct a Face, no constructor in IDL";}U.prototype=Object.create(f.prototype);U.prototype.constructor=U;U.prototype.lB=U;U.mB={};b.Face=U;U.prototype.get_m_n=U.prototype.MB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Vy(c,a),Node)};U.prototype.set_m_n=U.prototype.WB=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wy(d,a,c)};Object.defineProperty(U.prototype,"m_n",{get:U.prototype.MB,set:U.prototype.WB});
+U.prototype.get_m_normal=U.prototype.RD=function(){return k(Xy(this.kB),m)};U.prototype.set_m_normal=U.prototype.IG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yy(c,a)};Object.defineProperty(U.prototype,"m_normal",{get:U.prototype.RD,set:U.prototype.IG});U.prototype.get_m_ra=U.prototype.$D=function(){return Zy(this.kB)};U.prototype.set_m_ra=U.prototype.SG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$y(c,a)};
+Object.defineProperty(U.prototype,"m_ra",{get:U.prototype.$D,set:U.prototype.SG});U.prototype.__destroy__=function(){az(this.kB)};function BF(){throw"cannot construct a tFaceArray, no constructor in IDL";}BF.prototype=Object.create(f.prototype);BF.prototype.constructor=BF;BF.prototype.lB=BF;BF.mB={};b.tFaceArray=BF;BF.prototype.size=BF.prototype.size=function(){return bz(this.kB)};BF.prototype.at=BF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(cz(c,a),U)};
+BF.prototype.__destroy__=function(){dz(this.kB)};function Node(){throw"cannot construct a Node, no constructor in IDL";}Node.prototype=Object.create(f.prototype);Node.prototype.constructor=Node;Node.prototype.lB=Node;Node.mB={};b.Node=Node;Node.prototype.get_m_x=Node.prototype.IE=function(){return k(ez(this.kB),m)};Node.prototype.set_m_x=Node.prototype.AH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fz(c,a)};Object.defineProperty(Node.prototype,"m_x",{get:Node.prototype.IE,set:Node.prototype.AH});
+Node.prototype.get_m_q=Node.prototype.ZD=function(){return k(gz(this.kB),m)};Node.prototype.set_m_q=Node.prototype.QG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hz(c,a)};Object.defineProperty(Node.prototype,"m_q",{get:Node.prototype.ZD,set:Node.prototype.QG});Node.prototype.get_m_v=Node.prototype.AE=function(){return k(iz(this.kB),m)};Node.prototype.set_m_v=Node.prototype.sH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jz(c,a)};
+Object.defineProperty(Node.prototype,"m_v",{get:Node.prototype.AE,set:Node.prototype.sH});Node.prototype.get_m_f=Node.prototype.jD=function(){return k(kz(this.kB),m)};Node.prototype.set_m_f=Node.prototype.aG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lz(c,a)};Object.defineProperty(Node.prototype,"m_f",{get:Node.prototype.jD,set:Node.prototype.aG});Node.prototype.get_m_n=Node.prototype.MB=function(){return k(mz(this.kB),m)};
+Node.prototype.set_m_n=Node.prototype.WB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nz(c,a)};Object.defineProperty(Node.prototype,"m_n",{get:Node.prototype.MB,set:Node.prototype.WB});Node.prototype.get_m_im=Node.prototype.vD=function(){return oz(this.kB)};Node.prototype.set_m_im=Node.prototype.mG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pz(c,a)};Object.defineProperty(Node.prototype,"m_im",{get:Node.prototype.vD,set:Node.prototype.mG});
+Node.prototype.get_m_area=Node.prototype.JC=function(){return qz(this.kB)};Node.prototype.set_m_area=Node.prototype.AF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rz(c,a)};Object.defineProperty(Node.prototype,"m_area",{get:Node.prototype.JC,set:Node.prototype.AF});Node.prototype.__destroy__=function(){sz(this.kB)};function CF(){throw"cannot construct a tNodeArray, no constructor in IDL";}CF.prototype=Object.create(f.prototype);CF.prototype.constructor=CF;CF.prototype.lB=CF;CF.mB={};
+b.tNodeArray=CF;CF.prototype.size=CF.prototype.size=function(){return tz(this.kB)};CF.prototype.at=CF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(uz(c,a),Node)};CF.prototype.__destroy__=function(){vz(this.kB)};function V(){throw"cannot construct a Material, no constructor in IDL";}V.prototype=Object.create(f.prototype);V.prototype.constructor=V;V.prototype.lB=V;V.mB={};b.Material=V;V.prototype.get_m_kLST=V.prototype.BD=function(){return wz(this.kB)};
+V.prototype.set_m_kLST=V.prototype.sG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xz(c,a)};Object.defineProperty(V.prototype,"m_kLST",{get:V.prototype.BD,set:V.prototype.sG});V.prototype.get_m_kAST=V.prototype.AD=function(){return yz(this.kB)};V.prototype.set_m_kAST=V.prototype.rG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zz(c,a)};Object.defineProperty(V.prototype,"m_kAST",{get:V.prototype.AD,set:V.prototype.rG});V.prototype.get_m_kVST=V.prototype.CD=function(){return Az(this.kB)};
+V.prototype.set_m_kVST=V.prototype.tG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bz(c,a)};Object.defineProperty(V.prototype,"m_kVST",{get:V.prototype.CD,set:V.prototype.tG});V.prototype.get_m_flags=V.prototype.tB=function(){return Cz(this.kB)};V.prototype.set_m_flags=V.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dz(c,a)};Object.defineProperty(V.prototype,"m_flags",{get:V.prototype.tB,set:V.prototype.uB});V.prototype.__destroy__=function(){Ez(this.kB)};
+function DF(){throw"cannot construct a tMaterialArray, no constructor in IDL";}DF.prototype=Object.create(f.prototype);DF.prototype.constructor=DF;DF.prototype.lB=DF;DF.mB={};b.tMaterialArray=DF;DF.prototype.size=DF.prototype.size=function(){return Fz(this.kB)};DF.prototype.at=DF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Gz(c,a),V)};DF.prototype.__destroy__=function(){Hz(this.kB)};function W(){throw"cannot construct a Anchor, no constructor in IDL";}
+W.prototype=Object.create(f.prototype);W.prototype.constructor=W;W.prototype.lB=W;W.mB={};b.Anchor=W;W.prototype.get_m_node=W.prototype.PD=function(){return k(Iz(this.kB),Node)};W.prototype.set_m_node=W.prototype.GG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jz(c,a)};Object.defineProperty(W.prototype,"m_node",{get:W.prototype.PD,set:W.prototype.GG});W.prototype.get_m_local=W.prototype.FD=function(){return k(Kz(this.kB),m)};
+W.prototype.set_m_local=W.prototype.wG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lz(c,a)};Object.defineProperty(W.prototype,"m_local",{get:W.prototype.FD,set:W.prototype.wG});W.prototype.get_m_body=W.prototype.KC=function(){return k(Mz(this.kB),K)};W.prototype.set_m_body=W.prototype.BF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nz(c,a)};Object.defineProperty(W.prototype,"m_body",{get:W.prototype.KC,set:W.prototype.BF});W.prototype.get_m_influence=W.prototype.yD=function(){return Oz(this.kB)};
+W.prototype.set_m_influence=W.prototype.pG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pz(c,a)};Object.defineProperty(W.prototype,"m_influence",{get:W.prototype.yD,set:W.prototype.pG});W.prototype.get_m_c0=W.prototype.NC=function(){return k(Qz(this.kB),uE)};W.prototype.set_m_c0=W.prototype.EF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rz(c,a)};Object.defineProperty(W.prototype,"m_c0",{get:W.prototype.NC,set:W.prototype.EF});
+W.prototype.get_m_c1=W.prototype.OC=function(){return k(Sz(this.kB),m)};W.prototype.set_m_c1=W.prototype.FF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tz(c,a)};Object.defineProperty(W.prototype,"m_c1",{get:W.prototype.OC,set:W.prototype.FF});W.prototype.get_m_c2=W.prototype.PC=function(){return Uz(this.kB)};W.prototype.set_m_c2=W.prototype.GF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vz(c,a)};Object.defineProperty(W.prototype,"m_c2",{get:W.prototype.PC,set:W.prototype.GF});
+W.prototype.__destroy__=function(){Wz(this.kB)};function EF(){throw"cannot construct a tAnchorArray, no constructor in IDL";}EF.prototype=Object.create(f.prototype);EF.prototype.constructor=EF;EF.prototype.lB=EF;EF.mB={};b.tAnchorArray=EF;EF.prototype.size=EF.prototype.size=function(){return Xz(this.kB)};EF.prototype.at=EF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Yz(c,a),W)};EF.prototype.clear=EF.prototype.clear=function(){Zz(this.kB)};
+EF.prototype.push_back=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$z(c,a)};EF.prototype.pop_back=function(){aA(this.kB)};EF.prototype.__destroy__=function(){bA(this.kB)};function X(){throw"cannot construct a Config, no constructor in IDL";}X.prototype=Object.create(f.prototype);X.prototype.constructor=X;X.prototype.lB=X;X.mB={};b.Config=X;X.prototype.get_kVCF=X.prototype.zC=function(){return cA(this.kB)};
+X.prototype.set_kVCF=X.prototype.qF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dA(c,a)};Object.defineProperty(X.prototype,"kVCF",{get:X.prototype.zC,set:X.prototype.qF});X.prototype.get_kDP=X.prototype.mC=function(){return eA(this.kB)};X.prototype.set_kDP=X.prototype.dF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fA(c,a)};Object.defineProperty(X.prototype,"kDP",{get:X.prototype.mC,set:X.prototype.dF});X.prototype.get_kDG=X.prototype.lC=function(){return gA(this.kB)};
+X.prototype.set_kDG=X.prototype.cF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hA(c,a)};Object.defineProperty(X.prototype,"kDG",{get:X.prototype.lC,set:X.prototype.cF});X.prototype.get_kLF=X.prototype.oC=function(){return iA(this.kB)};X.prototype.set_kLF=X.prototype.fF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jA(c,a)};Object.defineProperty(X.prototype,"kLF",{get:X.prototype.oC,set:X.prototype.fF});X.prototype.get_kPR=X.prototype.qC=function(){return kA(this.kB)};
+X.prototype.set_kPR=X.prototype.hF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lA(c,a)};Object.defineProperty(X.prototype,"kPR",{get:X.prototype.qC,set:X.prototype.hF});X.prototype.get_kVC=X.prototype.yC=function(){return mA(this.kB)};X.prototype.set_kVC=X.prototype.pF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nA(c,a)};Object.defineProperty(X.prototype,"kVC",{get:X.prototype.yC,set:X.prototype.pF});X.prototype.get_kDF=X.prototype.kC=function(){return oA(this.kB)};
+X.prototype.set_kDF=X.prototype.bF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pA(c,a)};Object.defineProperty(X.prototype,"kDF",{get:X.prototype.kC,set:X.prototype.bF});X.prototype.get_kMT=X.prototype.pC=function(){return qA(this.kB)};X.prototype.set_kMT=X.prototype.gF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rA(c,a)};Object.defineProperty(X.prototype,"kMT",{get:X.prototype.pC,set:X.prototype.gF});X.prototype.get_kCHR=X.prototype.jC=function(){return sA(this.kB)};
+X.prototype.set_kCHR=X.prototype.aF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tA(c,a)};Object.defineProperty(X.prototype,"kCHR",{get:X.prototype.jC,set:X.prototype.aF});X.prototype.get_kKHR=X.prototype.nC=function(){return uA(this.kB)};X.prototype.set_kKHR=X.prototype.eF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vA(c,a)};Object.defineProperty(X.prototype,"kKHR",{get:X.prototype.nC,set:X.prototype.eF});X.prototype.get_kSHR=X.prototype.rC=function(){return wA(this.kB)};
+X.prototype.set_kSHR=X.prototype.iF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xA(c,a)};Object.defineProperty(X.prototype,"kSHR",{get:X.prototype.rC,set:X.prototype.iF});X.prototype.get_kAHR=X.prototype.iC=function(){return yA(this.kB)};X.prototype.set_kAHR=X.prototype.$E=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zA(c,a)};Object.defineProperty(X.prototype,"kAHR",{get:X.prototype.iC,set:X.prototype.$E});X.prototype.get_kSRHR_CL=X.prototype.uC=function(){return AA(this.kB)};
+X.prototype.set_kSRHR_CL=X.prototype.lF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);BA(c,a)};Object.defineProperty(X.prototype,"kSRHR_CL",{get:X.prototype.uC,set:X.prototype.lF});X.prototype.get_kSKHR_CL=X.prototype.sC=function(){return CA(this.kB)};X.prototype.set_kSKHR_CL=X.prototype.jF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);DA(c,a)};Object.defineProperty(X.prototype,"kSKHR_CL",{get:X.prototype.sC,set:X.prototype.jF});X.prototype.get_kSSHR_CL=X.prototype.wC=function(){return EA(this.kB)};
+X.prototype.set_kSSHR_CL=X.prototype.nF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);FA(c,a)};Object.defineProperty(X.prototype,"kSSHR_CL",{get:X.prototype.wC,set:X.prototype.nF});X.prototype.get_kSR_SPLT_CL=X.prototype.vC=function(){return GA(this.kB)};X.prototype.set_kSR_SPLT_CL=X.prototype.mF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);HA(c,a)};Object.defineProperty(X.prototype,"kSR_SPLT_CL",{get:X.prototype.vC,set:X.prototype.mF});
+X.prototype.get_kSK_SPLT_CL=X.prototype.tC=function(){return IA(this.kB)};X.prototype.set_kSK_SPLT_CL=X.prototype.kF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);JA(c,a)};Object.defineProperty(X.prototype,"kSK_SPLT_CL",{get:X.prototype.tC,set:X.prototype.kF});X.prototype.get_kSS_SPLT_CL=X.prototype.xC=function(){return KA(this.kB)};X.prototype.set_kSS_SPLT_CL=X.prototype.oF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);LA(c,a)};
+Object.defineProperty(X.prototype,"kSS_SPLT_CL",{get:X.prototype.xC,set:X.prototype.oF});X.prototype.get_maxvolume=X.prototype.JE=function(){return MA(this.kB)};X.prototype.set_maxvolume=X.prototype.BH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);NA(c,a)};Object.defineProperty(X.prototype,"maxvolume",{get:X.prototype.JE,set:X.prototype.BH});X.prototype.get_timescale=X.prototype.OE=function(){return OA(this.kB)};
+X.prototype.set_timescale=X.prototype.GH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);PA(c,a)};Object.defineProperty(X.prototype,"timescale",{get:X.prototype.OE,set:X.prototype.GH});X.prototype.get_viterations=X.prototype.QE=function(){return QA(this.kB)};X.prototype.set_viterations=X.prototype.IH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);RA(c,a)};Object.defineProperty(X.prototype,"viterations",{get:X.prototype.QE,set:X.prototype.IH});
+X.prototype.get_piterations=X.prototype.ME=function(){return SA(this.kB)};X.prototype.set_piterations=X.prototype.EH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);TA(c,a)};Object.defineProperty(X.prototype,"piterations",{get:X.prototype.ME,set:X.prototype.EH});X.prototype.get_diterations=X.prototype.fC=function(){return UA(this.kB)};X.prototype.set_diterations=X.prototype.XE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);VA(c,a)};
+Object.defineProperty(X.prototype,"diterations",{get:X.prototype.fC,set:X.prototype.XE});X.prototype.get_citerations=X.prototype.dC=function(){return WA(this.kB)};X.prototype.set_citerations=X.prototype.VE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);XA(c,a)};Object.defineProperty(X.prototype,"citerations",{get:X.prototype.dC,set:X.prototype.VE});X.prototype.get_collisions=X.prototype.eC=function(){return YA(this.kB)};
+X.prototype.set_collisions=X.prototype.WE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ZA(c,a)};Object.defineProperty(X.prototype,"collisions",{get:X.prototype.eC,set:X.prototype.WE});X.prototype.__destroy__=function(){$A(this.kB)};function Y(a,c,d,e){ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);"object"==typeof e&&(e=RD(e));this.kB=aB(a,c,d,e);h(Y)[this.kB]=this}Y.prototype=Object.create(q.prototype);
+Y.prototype.constructor=Y;Y.prototype.lB=Y;Y.mB={};b.btSoftBody=Y;Y.prototype.checkLink=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return!!bB(d,a,c)};Y.prototype.checkFace=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);return!!cB(e,a,c,d)};Y.prototype.appendMaterial=function(){return k(dB(this.kB),V)};
+Y.prototype.appendNode=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);eB(d,a,c)};Y.prototype.appendLink=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);fB(g,a,c,d,e)};
+Y.prototype.appendFace=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);gB(g,a,c,d,e)};Y.prototype.appendTetra=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);hB(n,a,c,d,e,g)};
+Y.prototype.appendAnchor=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);iB(g,a,c,d,e)};Y.prototype.addForce=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?jB(d,a):kB(d,a,c)};Y.prototype.addAeroForceToNode=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);lB(d,a,c)};
+Y.prototype.getTotalMass=function(){return mB(this.kB)};Y.prototype.setTotalMass=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nB(d,a,c)};Y.prototype.setMass=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);oB(d,a,c)};Y.prototype.transform=Y.prototype.transform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pB(c,a)};
+Y.prototype.translate=Y.prototype.translate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qB(c,a)};Y.prototype.rotate=Y.prototype.rotate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rB(c,a)};Y.prototype.scale=Y.prototype.scale=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sB(c,a)};Y.prototype.generateClusters=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return void 0===c?tB(d,a):uB(d,a,c)};
+Y.prototype.generateBendingConstraints=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return vB(d,a,c)};Y.prototype.upcast=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(wB(c,a),Y)};Y.prototype.getRestLengthScale=function(){return xB(this.kB)};Y.prototype.setRestLengthScale=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yB(c,a)};
+Y.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zB(d,a,c)};Y.prototype.getCollisionShape=function(){return k(AB(this.kB),l)};Y.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);BB(c,a)};Y.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);CB(c,a)};
+Y.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);DB(c,a)};Y.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?EB(c):FB(c,a)};Y.prototype.isActive=function(){return!!GB(this.kB)};Y.prototype.isKinematicObject=function(){return!!HB(this.kB)};Y.prototype.isStaticObject=function(){return!!IB(this.kB)};Y.prototype.isStaticOrKinematicObject=function(){return!!JB(this.kB)};Y.prototype.getRestitution=function(){return KB(this.kB)};
+Y.prototype.getFriction=function(){return LB(this.kB)};Y.prototype.getRollingFriction=function(){return MB(this.kB)};Y.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);NB(c,a)};Y.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);OB(c,a)};Y.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);PB(c,a)};Y.prototype.getWorldTransform=function(){return k(QB(this.kB),r)};Y.prototype.getCollisionFlags=function(){return RB(this.kB)};
+Y.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);SB(c,a)};Y.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);TB(c,a)};Y.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);UB(c,a)};Y.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);VB(c,a)};Y.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);WB(c,a)};
+Y.prototype.getUserIndex=function(){return XB(this.kB)};Y.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);YB(c,a)};Y.prototype.getUserPointer=function(){return k(ZB(this.kB),XD)};Y.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$B(c,a)};Y.prototype.getBroadphaseHandle=function(){return k(aC(this.kB),YD)};Y.prototype.get_m_cfg=Y.prototype.QC=function(){return k(bC(this.kB),X)};
+Y.prototype.set_m_cfg=Y.prototype.HF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cC(c,a)};Object.defineProperty(Y.prototype,"m_cfg",{get:Y.prototype.QC,set:Y.prototype.HF});Y.prototype.get_m_nodes=Y.prototype.QD=function(){return k(dC(this.kB),CF)};Y.prototype.set_m_nodes=Y.prototype.HG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);eC(c,a)};Object.defineProperty(Y.prototype,"m_nodes",{get:Y.prototype.QD,set:Y.prototype.HG});
+Y.prototype.get_m_faces=Y.prototype.KB=function(){return k(fC(this.kB),BF)};Y.prototype.set_m_faces=Y.prototype.UB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gC(c,a)};Object.defineProperty(Y.prototype,"m_faces",{get:Y.prototype.KB,set:Y.prototype.UB});Y.prototype.get_m_materials=Y.prototype.MD=function(){return k(hC(this.kB),DF)};Y.prototype.set_m_materials=Y.prototype.DG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);iC(c,a)};
+Object.defineProperty(Y.prototype,"m_materials",{get:Y.prototype.MD,set:Y.prototype.DG});Y.prototype.get_m_anchors=Y.prototype.GC=function(){return k(jC(this.kB),EF)};Y.prototype.set_m_anchors=Y.prototype.xF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kC(c,a)};Object.defineProperty(Y.prototype,"m_anchors",{get:Y.prototype.GC,set:Y.prototype.xF});Y.prototype.__destroy__=function(){lC(this.kB)};
+function FF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?mC():nC(a);h(FF)[this.kB]=this}FF.prototype=Object.create(nE.prototype);FF.prototype.constructor=FF;FF.prototype.lB=FF;FF.mB={};b.btSoftBodyRigidBodyCollisionConfiguration=FF;FF.prototype.__destroy__=function(){oC(this.kB)};function GF(){this.kB=pC();h(GF)[this.kB]=this}GF.prototype=Object.create(sE.prototype);GF.prototype.constructor=GF;GF.prototype.lB=GF;GF.mB={};b.btDefaultSoftBodySolver=GF;GF.prototype.__destroy__=function(){qC(this.kB)};
+function HF(){throw"cannot construct a btSoftBodyArray, no constructor in IDL";}HF.prototype=Object.create(f.prototype);HF.prototype.constructor=HF;HF.prototype.lB=HF;HF.mB={};b.btSoftBodyArray=HF;HF.prototype.size=HF.prototype.size=function(){return rC(this.kB)};HF.prototype.at=HF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(sC(c,a),Y)};HF.prototype.__destroy__=function(){tC(this.kB)};
+function Z(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=uC(a,c,d,e,g);h(Z)[this.kB]=this}Z.prototype=Object.create(x.prototype);Z.prototype.constructor=Z;Z.prototype.lB=Z;Z.mB={};b.btSoftRigidDynamicsWorld=Z;
+Z.prototype.addSoftBody=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);vC(e,a,c,d)};Z.prototype.removeSoftBody=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wC(c,a)};Z.prototype.removeCollisionObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xC(c,a)};Z.prototype.getWorldInfo=function(){return k(yC(this.kB),S)};Z.prototype.getSoftBodyArray=function(){return k(zC(this.kB),HF)};
+Z.prototype.getDispatcher=function(){return k(AC(this.kB),TD)};Z.prototype.rayTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);BC(e,a,c,d)};Z.prototype.getPairCache=function(){return k(CC(this.kB),UD)};Z.prototype.getDispatchInfo=function(){return k(DC(this.kB),p)};
+Z.prototype.addCollisionObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?EC(e,a):void 0===d?FC(e,a,c):GC(e,a,c,d)};Z.prototype.getBroadphase=function(){return k(HC(this.kB),VD)};
+Z.prototype.convexSweepTest=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);IC(n,a,c,d,e,g)};Z.prototype.contactPairTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);JC(e,a,c,d)};
+Z.prototype.contactTest=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);KC(d,a,c)};Z.prototype.updateSingleAabb=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);LC(c,a)};Z.prototype.setDebugDrawer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);MC(c,a)};Z.prototype.getDebugDrawer=function(){return k(NC(this.kB),WD)};Z.prototype.debugDrawWorld=function(){OC(this.kB)};
+Z.prototype.debugDrawObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);PC(e,a,c,d)};Z.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);QC(c,a)};Z.prototype.getGravity=function(){return k(RC(this.kB),m)};
+Z.prototype.addRigidBody=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?SC(e,a):void 0===d?_emscripten_bind_btSoftRigidDynamicsWorld_addRigidBody_2(e,a,c):TC(e,a,c,d)};Z.prototype.removeRigidBody=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);UC(c,a)};
+Z.prototype.addConstraint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?VC(d,a):WC(d,a,c)};Z.prototype.removeConstraint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);XC(c,a)};Z.prototype.stepSimulation=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);return void 0===c?YC(e,a):void 0===d?ZC(e,a,c):$C(e,a,c,d)};
+Z.prototype.setContactAddedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);aD(c,a)};Z.prototype.setContactProcessedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bD(c,a)};Z.prototype.setContactDestroyedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cD(c,a)};Z.prototype.addAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dD(c,a)};Z.prototype.removeAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);eD(c,a)};
+Z.prototype.getSolverInfo=function(){return k(fD(this.kB),t)};Z.prototype.setInternalTickCallback=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?gD(e,a):void 0===d?hD(e,a,c):iD(e,a,c,d)};Z.prototype.__destroy__=function(){jD(this.kB)};function IF(){this.kB=kD();h(IF)[this.kB]=this}IF.prototype=Object.create(f.prototype);IF.prototype.constructor=IF;IF.prototype.lB=IF;IF.mB={};b.btSoftBodyHelpers=IF;
+IF.prototype.CreateRope=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);return k(lD(n,a,c,d,e,g),Y)};
+IF.prototype.CreatePatch=function(a,c,d,e,g,n,z,T,Da){var dc=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);return k(mD(dc,a,c,d,e,g,n,z,T,Da),Y)};
+IF.prototype.CreatePatchUV=function(a,c,d,e,g,n,z,T,Da,dc){var JF=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);"object"==typeof dc&&(dc=RD(dc));return k(nD(JF,a,c,d,e,g,n,z,T,Da,dc),Y)};
+IF.prototype.CreateEllipsoid=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);return k(oD(g,a,c,d,e),Y)};
+IF.prototype.CreateFromTriMesh=function(a,c,d,e,g){var n=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);"object"==typeof c&&(c=RD(c));if("object"==typeof d&&"object"===typeof d){var z=OD(d,va);PD(d,va,z);d=z}e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);return k(pD(n,a,c,d,e,g),Y)};
+IF.prototype.CreateFromConvexHull=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);return k(qD(g,a,c,d,e),Y)};IF.prototype.__destroy__=function(){rD(this.kB)};
+(function(){function a(){b.PHY_FLOAT=sD();b.PHY_DOUBLE=tD();b.PHY_INTEGER=uD();b.PHY_SHORT=vD();b.PHY_FIXEDPOINT88=wD();b.PHY_UCHAR=xD();b.CONST_GIMPACT_COMPOUND_SHAPE=yD();b.CONST_GIMPACT_TRIMESH_SHAPE_PART=zD();b.CONST_GIMPACT_TRIMESH_SHAPE=AD();b.BT_CONSTRAINT_ERP=BD();b.BT_CONSTRAINT_STOP_ERP=CD();b.BT_CONSTRAINT_CFM=DD();b.BT_CONSTRAINT_STOP_CFM=ED()}Ca?a():Aa.unshift(a)})();b.CONTACT_ADDED_CALLBACK_SIGNATURE="iiiiiiii";b.CONTACT_DESTROYED_CALLBACK_SIGNATURE="ii";
+b.CONTACT_PROCESSED_CALLBACK_SIGNATURE="iiii";b.INTERNAL_TICK_CALLBACK_SIGNATURE="vif";this.Ammo=b;
+
+
+  return Ammo.ready
+}
+
+);
+})();
+if (typeof exports === 'object' && typeof module === 'object')
+  module.exports = Ammo;
+else if (typeof define === 'function' && define['amd'])
+  define([], function() { return Ammo; });
+else if (typeof exports === 'object')
+  exports["Ammo"] = Ammo;

apps/control-station/rerun-runtime.html

@@ -0,0 +1,16 @@
+<!doctype html>
+<html lang="ru">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Синхронизированная запись</title>
+    <style>
+      html, body, #viewer { width: 100%; height: 100%; margin: 0; overflow: hidden; }
+      canvas { display: block; }
+    </style>
+  </head>
+  <body>
+    <div id="viewer"></div>
+    <script type="module" src="/src/components/rerun/isolatedRerunEntry.ts"></script>
+  </body>
+</html>

apps/control-station/scripts/install-rerun-navigation.mjs

@@ -0,0 +1,59 @@
+import { createHash } from "node:crypto";
+import { readFileSync, writeFileSync } from "node:fs";
+import { dirname, resolve } from "node:path";
+import { fileURLToPath } from "node:url";
+
+const root = resolve(dirname(fileURLToPath(import.meta.url)), "..");
+const packageRoot = resolve(root, "node_modules/@rerun-io/web-viewer");
+const vendorRoot = resolve(root, "vendor/rerun-web-viewer-0.36.3");
+const manifest = JSON.parse(readFileSync(resolve(vendorRoot, "navigation-build.json"), "utf8"));
+const installed = JSON.parse(readFileSync(resolve(packageRoot, "package.json"), "utf8"));
+const sha = bytes => createHash("sha256").update(bytes).digest("hex");
+if (installed.version !== "0.36.3" || manifest.upstreamVersion !== installed.version) {
+  throw new Error("Rerun navigation requires the audited 0.36.3 package; rebase before upgrading");
+}
+if (sha(readFileSync(resolve(vendorRoot, "NODEDC_NAVIGATION.patch"))) !== manifest.patchSha256) {
+  throw new Error("Rerun navigation source patch identity mismatch");
+}
+
+const eyeType = "{ position: [number, number, number]; lookTarget: [number, number, number]; eyeUp: [number, number, number] } | null";
+const additions = {
+  "index.js": {
+    marker: "    get_active_recording_id() {",
+    code: `    get_camera_eye() {\n        if (!this.#handle) throw new Error("Rerun viewer is stopped");\n        return JSON.parse(this.#handle.nodedc_camera_eye() ?? "null");\n    }\n`,
+  },
+  "index.ts": {
+    marker: "  get_active_recording_id(): string | null {",
+    code: `  get_camera_eye(): ${eyeType} {\n    if (!this.#handle) throw new Error("Rerun viewer is stopped");\n    return JSON.parse(this.#handle.nodedc_camera_eye() ?? "null");\n  }\n`,
+  },
+  "index.d.ts": {
+    marker: "    get_active_recording_id(): string | null;",
+    code: `    get_camera_eye(): ${eyeType};\n`,
+  },
+};
+
+// Validate the complete set before changing any installed file. A package
+// upgrade, corrupt artifact or independently modified wrapper fails closed.
+const writes = [];
+for (const [name, identity] of Object.entries(manifest.files)) {
+  const current = readFileSync(resolve(packageRoot, name));
+  let output;
+  if (additions[name]) {
+    const { marker, code } = additions[name];
+    const source = current.toString("utf8");
+    const original = source.includes(code) ? source.replace(code, "") : source;
+    if (sha(original) !== identity.upstreamSha256 || original.split(marker).length !== 2) {
+      throw new Error(`Unexpected upstream wrapper: ${name}`);
+    }
+    output = Buffer.from(original.replace(marker, code + marker));
+  } else {
+    output = readFileSync(resolve(vendorRoot, identity.artifact));
+    if (sha(output) !== identity.sha256) throw new Error(`Corrupt navigation artifact: ${name}`);
+    if (![identity.upstreamSha256, identity.sha256].includes(sha(current))) {
+      throw new Error(`Unexpected installed runtime: ${name}`);
+    }
+  }
+  writes.push([resolve(packageRoot, name), output]);
+}
+for (const [path, output] of writes) writeFileSync(path, output);
+console.log("Installed NODE.DC Rerun 0.36.3 navigation/v1 (native camera, one renderer).");

apps/control-station/src/App.tsx

@@ -1,3 +1,5 @@
+import {SceneDisplayControls} from "../../../packages/spatial-ui/src/SceneDisplayControls";
+import {SceneLayerControls} from "../../../packages/spatial-ui/src/SceneLayerControls";
 import { useCallback, useEffect, useMemo, useRef, useState } from "react";
 import {
   AdminNavigationPanel,
@@ -5,18 +7,14 @@ import {
   ApplicationPanel,
   ApplicationShell,
   Button,
-  Checker,
-  ColorField,
   ControlRow,
   HeaderNavigation,
   HeaderProfile,
-  HeaderWorkspace,
   Icon,
   Inspector,
-  RangeControl,
-  Select,
   StatusBadge,
   TextField,
+  ToastStack,
   UserProfileMenu,
   Window,
   WindowFooterActions,
@@ -30,6 +28,8 @@ import { SystemNavigationPanel } from "./components/system/SystemNavigationPanel
 import { SystemWorkspaceSelector } from "./components/system/SystemWorkspaceSelector";
 import { useComputeContourSettings } from "./components/system/useComputeContourSettings";
 import { useApplicationPanelActions } from "./components/useApplicationPanelActions";
+import { useSessionOverviewMode } from "./core/observation/useSessionOverview";
+import { SessionOverviewWorkspace } from "./workspaces/recordings/SessionOverviewWorkspace";
 import { useEnvironmentSettings } from "./core/environment/useEnvironmentSettings";
 import { useDevicePluginHost } from "./core/device-plugins/DevicePluginHost";
 import { useMissionRuntime } from "./core/runtime/MissionRuntimeContext";
@@ -50,6 +50,7 @@ import type {
 } from "./core/observation/sessionArchive";
 import { useRecordedSessionAdmission } from "./core/observation/useRecordedSessionAdmission";
 import { useWorkspaceLayoutProfile } from "./core/observation/useWorkspaceLayoutProfile";
+import { useSessionDisplayProfile } from "./core/observation/useSessionDisplayProfile";
 import { viewerSettingsTargetIdentity } from "./core/observation/viewerSettingsTarget";
 import { resolvePolygonRunRoute } from "./core/polygon/runArchive";
 import {
@@ -67,33 +68,18 @@ import {
 import { backendLabel, localConnectionPhaseLabel, phaseTone } from "./presentation";
 import {
   defaultSceneSettings,
-  type PointColorMode,
-  type PointPalette,
   type SceneSettings,
 } from "./sceneSettings";
 import { DeviceWorkspace } from "./workspaces/DeviceWorkspace";
+import { PlanningConnectionWindow } from "./components/missions/PlanningConnectionWindow";
+import { PlanningCaptureGuard } from "./components/missions/PlanningCaptureGuard";
+import { workspaceLaunchProfile, type WorkspaceLaunchProfile } from "./core/observation/workspaceLaunch";
 import { WorkspaceRenderer } from "./workspaces/Workspaces";
 import { useLaboratoryAnnotationHeader } from "./components/laboratory/useLaboratoryAnnotationHeader";
 import "./styles/scene-windows.css";
 type SceneToolWindowId = "sources" | "display" | "layers";
 const viewerSettingsQuietPeriodMs = 750;
 
-const colorModeOptions: Array<{ value: PointColorMode; label: string; description: string }> = [
-  { value: "intensity", label: "Интенсивность", description: "Значение отражённого сигнала" },
-  { value: "height", label: "Высота Z", description: "Градиент по вертикальной координате" },
-  { value: "distance", label: "Расстояние", description: "Дальность точки от сенсора" },
-  { value: "rgb", label: "RGB", description: "Цвет, если он присутствует в данных" },
-  { value: "class", label: "Класс", description: "Категория внешнего модуля восприятия" },
-];
-
-const paletteOptions: Array<{ value: PointPalette; label: string; description: string }> = [
-  { value: "turbo", label: "Turbo", description: "Контрастный спектральный градиент" },
-  { value: "viridis", label: "Viridis", description: "Равномерный перцептивный градиент" },
-  { value: "plasma", label: "Plasma", description: "Тёплый контрастный градиент" },
-  { value: "grayscale", label: "Серый", description: "Монохромное отображение" },
-  { value: "custom", label: "Свой цвет", description: "Один назначенный цвет" },
-];
-
 interface LivePerceptionLayers {
   detections2d: boolean;
   segmentation: boolean;
@@ -170,7 +156,9 @@ export default function App() {
     polygonDatasetRoute.active ? "data" : null,
   );
   const [environmentSettingsOpen, setEnvironmentSettingsOpen] = useState(false);
+  const [launchProfile, setLaunchProfile] = useState<WorkspaceLaunchProfile>('direct');
   const [sourceUrl, setSourceUrl] = useState("");
+  const [workspaceHeaderToolsHost, setWorkspaceHeaderToolsHost] = useState<HTMLDivElement | null>(null);
   const [recordedReplay, setRecordedReplay] = useState<ObservationSessionReplayLaunch | null>(null);
   const [recordedReplayLabel, setRecordedReplayLabel] = useState<string | null>(null);
   const [replayTransitioning, setReplayTransitioning] = useState(false);
@@ -195,6 +183,7 @@ export default function App() {
   const appliedProfileKeyRef = useRef<string | null>(null);
   const sceneSettingsRef = useRef<SceneSettings>(defaultSceneSettings);
   const displayDraftRef = useRef<SceneSettings>(defaultSceneSettings);
+  const closeDisplayRef = useRef<() => void>(() => {});
   const confirmedSceneSettingsRef = useRef<SceneSettings>(defaultSceneSettings);
   const viewerSettingsCommitTimerRef = useRef<number | null>(null);
   const runtimeUpdateViewerSettingsRef = useRef(runtime.updateViewerSettings);
@@ -242,6 +231,13 @@ export default function App() {
   );
   runtimeUpdateViewerSettingsRef.current = runtime.updateViewerSettings;
   replayActiveRef.current = replayPresented;
+  const sessionDisplayProfile = useSessionDisplayProfile(replayPresented ? recordedReplay?.sessionId ?? null : null, (settings) => {
+    sceneSettingsRef.current = settings;
+    displayDraftRef.current = settings;
+    confirmedSceneSettingsRef.current = settings;
+    setSceneSettings(settings);
+    setDisplayDraft(settings);
+  });
 
   useEffect(() => {
     if (!polygonDatasetRoute.active || polygonDatasetRouteOpenedRef.current) return;
@@ -324,6 +320,7 @@ export default function App() {
     const remote = runtime.state?.viewerSettings;
     if (
       !remote ||
+      replayActiveRef.current ||
       workspaceLayoutProfile.profile ||
       sceneSettingsCommitterRef.current?.isBusy()
     ) return;
@@ -346,7 +343,7 @@ export default function App() {
 
   useEffect(() => {
     const profile = workspaceLayoutProfile.profile;
-    if (!profile) return;
+    if (!profile || selectedRecordedSessionIdRef.current) return;
     if (viewerSettingsCommitTimerRef.current !== null) {
       window.clearTimeout(viewerSettingsCommitTimerRef.current);
       viewerSettingsCommitTimerRef.current = null;
@@ -417,7 +414,10 @@ export default function App() {
 
   const closeSceneWindow = useCallback((windowId: SceneToolWindowId) => {
     if (windowId === "sources") setSourceWindowOpen(false);
-    if (windowId === "display") setDisplayWindowOpen(false);
+    if (windowId === "display") {
+      setDisplayWindowOpen(false);
+      closeDisplayRef.current();
+    }
     if (windowId === "layers") setLayerInspectorOpen(false);
     setSceneWindowOrder((current) => current.filter((candidate) => candidate !== windowId));
   }, []);
@@ -449,9 +449,10 @@ export default function App() {
     }
   };
 
-  const openView = (viewId: string) => {
+  const openView = (viewId: string, profile?: WorkspaceLaunchProfile) => {
     const definition = workspaceById(viewId);
     if (!definition) return;
+    setLaunchProfile(current => workspaceLaunchProfile(current, definition.kind, profile));
     setActiveRoot(definition.root);
     workspace.openView(viewId);
   };
@@ -477,14 +478,22 @@ export default function App() {
     const next = { ...displayDraftRef.current, ...patch };
     displayDraftRef.current = next;
     setDisplayDraft(next);
+    sessionDisplayProfile.edited();
     if (viewerSettingsCommitTimerRef.current !== null) {
       window.clearTimeout(viewerSettingsCommitTimerRef.current);
     }
+    // Preview and persistence are separate. An open inspector must not freeze
+    // either its controls or the shared accumulation slider below the scene.
+    if (replayActiveRef.current && (patch.pointDecimationPercent === 0 || patch.pointDecimationPercent === 100)) {
+      viewerSettingsCommitTimerRef.current = null;
+      sceneSettingsCommitterRef.current?.enqueue(next);
+      return;
+    }
     viewerSettingsCommitTimerRef.current = window.setTimeout(() => {
       viewerSettingsCommitTimerRef.current = null;
       sceneSettingsCommitterRef.current?.enqueue(displayDraftRef.current);
     }, viewerSettingsQuietPeriodMs);
-  }, []);
+  }, [sessionDisplayProfile.edited]);
 
   const flushDisplaySettings = useCallback(() => {
     if (viewerSettingsCommitTimerRef.current === null) return;
@@ -494,8 +503,15 @@ export default function App() {
   }, []);
 
   const commitDisplayPatch = useCallback((patch: Partial<SceneSettings>) => {
+    sessionDisplayProfile.edited();
     commitDisplaySettings({ ...displayDraftRef.current, ...patch });
-  }, [commitDisplaySettings]);
+  }, [commitDisplaySettings, sessionDisplayProfile.edited]);
+
+  closeDisplayRef.current = () => {
+    const settings = {...displayDraftRef.current};
+    commitDisplaySettings(settings);
+    if (replayActiveRef.current) sessionDisplayProfile.save(settings);
+  };
 
   const openDisplay = () => {
     if (!sceneWorkspaceActive) return;
@@ -629,7 +645,11 @@ export default function App() {
     return () => window.clearTimeout(timer);
   }, [layoutSaveNotice]);
 
+  const [fleetCreateRequest, setFleetCreateRequest] = useState(0);
+  const sessionOverview = useSessionOverviewMode(activeDefinition?.kind === "recordings");
+  const onAddVehicle = useCallback(() => setFleetCreateRequest(value => value + 1), []);
   const contentActions = useApplicationPanelActions({
+    onAddVehicle,
     definition: activeDefinition,
     refreshRuntime: runtime.refresh,
     resetConnectionScenario: runtime.resetConnectionScenario,
@@ -637,6 +657,7 @@ export default function App() {
     saveWorkspaceLayout,
     workspaceLayoutSaving: workspaceLayoutProfile.state === "saving",
     systemUtilityActions: computeContourSettings.utilityActions,
+    sessionOverview: { ...sessionOverview, available: Boolean(recordedReplay && replayPresented && !sourceSwitchBlocked) },
   });
 
   const header = (
@@ -645,8 +666,6 @@ export default function App() {
       brandHref="/"
       brandLabel="NODEDC MISSION CORE"
       center={
-        <>
-          <HeaderWorkspace kind="mark" label="Mission Core" imageUrl="/nodedc-mark.svg" />
           <HeaderNavigation
             label="Архитектурные блоки пункта управления"
             value={activeRoot ?? undefined}
@@ -656,7 +675,6 @@ export default function App() {
             }))}
             onChange={selectRoot}
           />
-        </>
       }
       right={
         <HeaderProfile>
@@ -802,10 +820,14 @@ export default function App() {
                     settleRecordedReplaySwitch(outcome)}
                   onDeleteBegin={releaseRecordedReplayForDelete}
                 />
-              ) : activeDefinition.kind === "datasets" ? (
+              ) : activeDefinition.kind === "missions" ? (
+                <div ref={setWorkspaceHeaderToolsHost} />
+              ) : activeDefinition.kind === "vehicles" ? null : activeDefinition.kind === "datasets" ? (
                 <StatusBadge tone="neutral">Offline evaluation</StatusBadge>
               ) : activeDefinition.kind === "lab-archive" ? (
                 laboratoryAnnotation.control
+              ) : activeDefinition.kind === "observatory" ? (
+                <StatusBadge tone="neutral">Только наблюдение</StatusBadge>
               ) : activeDefinition.root === "system" ? (
                 <SystemWorkspaceSelector
                   value={activeDefinition.id}
@@ -818,14 +840,28 @@ export default function App() {
             utilityActions={contentActions}
             onClose={workspace.closeView}
           >
+            <PlanningCaptureGuard
+              enabled={launchProfile === 'direct' && (activeDefinition.kind === 'device' || activeDefinition.kind === 'spatial')}
+              onResume={() => openView('local-device', 'planning')}
+            >
             {activeDefinition.kind === "device" ? (
-              <DeviceWorkspace
-                onOpenSpatialScene={() => openView("spatial-scene")}
+              launchProfile === 'planning' ? <PlanningConnectionWindow>
+                <DeviceWorkspace
+                  onOpenSpatialScene={() => openView("spatial-scene", 'planning')}
+                  onActivateAutomaticSpatialSource={activateAutomaticSpatialSource}
+                />
+              </PlanningConnectionWindow> : <DeviceWorkspace
+                onOpenSpatialScene={() => openView("spatial-scene", 'direct')}
                 onActivateAutomaticSpatialSource={activateAutomaticSpatialSource}
               />
+            ) : activeDefinition.kind === "recordings" && sessionOverview.open && recordedReplay && replayPresented ? (
+              <SessionOverviewWorkspace key={recordedReplay.sessionId} sessionId={recordedReplay.sessionId} />
             ) : (
               <WorkspaceRenderer
+                launchProfile={launchProfile}
                 definition={activeDefinition}
+                fleetCreateRequest={fleetCreateRequest}
+                headerToolsHost={workspaceHeaderToolsHost}
                 state={activeRuntimeState}
                 backendStatus={runtime.backendStatus}
                 sourceUrl={effectiveSourceUrl}
@@ -866,6 +902,7 @@ export default function App() {
                 }}
               />
             )}
+            </PlanningCaptureGuard>
           </ApplicationPanel>
         ) : null}
       />
@@ -1027,133 +1064,12 @@ export default function App() {
         onPointerDown={() => activateSceneWindow("display")}
         onClose={() => closeSceneWindow("display")}
       >
-        <Inspector
-          defaultOpen={["points"]}
-          singleOpen
-          sections={[
-            {
-              id: "points",
-              label: "Облако точек",
-              description: "Размер и способ окрашивания",
-              content: (
-                <div className="inspector-control-stack">
-                  <div
-                    className="scene-settings-commit-field"
-                    onPointerUp={flushDisplaySettings}
-                    onKeyUp={flushDisplaySettings}
-                    onBlur={flushDisplaySettings}
-                  >
-                    <RangeControl
-                      label="Размер точки"
-                      value={displayDraft.pointSize}
-                      min={0.5}
-                      max={12}
-                      step={0.5}
-                      formatValue={(value) => `${value.toFixed(1)} пкс`}
-                      onChange={(pointSize) => stageDisplayPatch({ pointSize })}
-                    />
-                  </div>
-                  <div className="scene-settings-commit-field" onBlur={flushDisplaySettings}>
-                    <ControlRow label="Атрибут цвета">
-                      <Select
-                        variant="split"
-                        label="Атрибут цвета"
-                        value={displayDraft.colorMode}
-                        options={colorModeOptions}
-                        onChange={(colorMode) => stageDisplayPatch({ colorMode })}
-                      />
-                    </ControlRow>
-                  </div>
-                  <div className="scene-settings-commit-field" onBlur={flushDisplaySettings}>
-                    <ControlRow label="Палитра">
-                      <Select
-                        variant="split"
-                        label="Палитра"
-                        value={displayDraft.palette}
-                        options={paletteOptions}
-                        onChange={(palette) => stageDisplayPatch({ palette })}
-                      />
-                    </ControlRow>
-                  </div>
-                  {displayDraft.palette === "custom" || displayDraft.colorMode === "class" ? (
-                    <div
-                      className="scene-settings-commit-field"
-                      onPointerUp={flushDisplaySettings}
-                      onKeyUp={flushDisplaySettings}
-                      onBlur={flushDisplaySettings}
-                    >
-                      <ControlRow label="Цвет точек">
-                        <ColorField
-                          label="Цвет точек"
-                          value={displayDraft.customColor}
-                          onChange={(customColor) => stageDisplayPatch({ customColor })}
-                        />
-                      </ControlRow>
-                    </div>
-                  ) : null}
-                  {replayPresented ? (
-                    <p className="scene-window-note">
-                      Первый новый режим читает индекс архивных точек. Следующие палитры
-                      переключаются из подготовленного цветового кэша без переэкспорта геометрии.
-                    </p>
-                  ) : null}
-                </div>
-              ),
-            },
-            {
-              id: "history",
-              label: "Накопление и время",
-              description: "История облака и траектория",
-              content: (
-                <div className="inspector-control-stack">
-                  <div
-                    className="scene-settings-commit-field"
-                    onPointerUp={flushDisplaySettings}
-                    onKeyUp={flushDisplaySettings}
-                    onBlur={flushDisplaySettings}
-                  >
-                    <RangeControl
-                      label="Окно накопления"
-                      value={displayDraft.accumulationSeconds}
-                      min={0}
-                      max={120}
-                      step={1}
-                      formatValue={(value) => (value === 0 ? "Только кадр" : `${value} с`)}
-                      onChange={(accumulationSeconds) => stageDisplayPatch({ accumulationSeconds })}
-                    />
-                  </div>
-                  <div className="nodedc-field">
-                    <span className="nodedc-field__description">Линия пути устройства в координатах сцены</span>
-                    <Checker
-                      checked={displayDraft.showTrajectory}
-                      label="Показывать траекторию"
-                      onChange={(showTrajectory) => commitDisplayPatch({ showTrajectory })}
-                    />
-                  </div>
-                </div>
-              ),
-            },
-            {
-              id: "scene",
-              label: "Окружение сцены",
-              description: "Сетка, подписи и камеры",
-              content: (
-                <div className="inspector-control-stack">
-                  <Checker checked={displayDraft.showGrid} label="Сетка и оси" onChange={(showGrid) => commitDisplayPatch({ showGrid })} />
-                  <div className="nodedc-field">
-                    <span className="nodedc-field__description">Появятся после подключения семантических сущностей</span>
-                    <Checker checked={false} disabled label="Подписи сущностей" onChange={() => undefined} />
-                  </div>
-                  <div className="nodedc-field">
-                    <span className="nodedc-field__description">Камерный канал пока не подключён</span>
-                    <Checker checked={false} disabled label="Области обзора камер" onChange={() => undefined} />
-                  </div>
-                </div>
-              ),
-            },
-          ]}
-        />
+        <SceneDisplayControls displayDraft={displayDraft} stageDisplayPatch={stageDisplayPatch}
+          commitDisplayPatch={replayPresented ? stageDisplayPatch : commitDisplayPatch} flushDisplaySettings={flushDisplaySettings} replayPresented={replayPresented}/>
       </Window>
+      <ToastStack items={sessionDisplayProfile.error ? [{id: 'session-display-profile', tone: 'error',
+        title: 'Настройки записи', description: sessionDisplayProfile.error}] : []}
+        onDismiss={sessionDisplayProfile.dismissError} />
 
       <Window
         open={sceneWorkspaceActive && layerInspectorOpen}
@@ -1178,64 +1094,7 @@ export default function App() {
           </span>
           <p>Структура повторяет продуктовые сущности, а не внутренние панели визуального движка.</p>
         </div>
-        <Inspector
-          defaultOpen={["geometry"]}
-          singleOpen
-          sections={[
-            {
-              id: "geometry",
-              label: "Геометрия",
-              description: "Облако точек и путь",
-              content: (
-                <div className="inspector-control-stack">
-                  <div className="nodedc-field">
-                    <span className="nodedc-field__description">Основной поток геометрии лидара</span>
-                    <Checker disabled={runtime.pendingAction === "viewer"} checked={sceneSettings.showPoints} label="Облако точек" onChange={(showPoints) => void applyScenePatch({ showPoints })} />
-                  </div>
-                  <div className="nodedc-field">
-                    <span className="nodedc-field__description">Положение и ориентация устройства во времени</span>
-                    <Checker disabled={runtime.pendingAction === "viewer"} checked={sceneSettings.showTrajectory} label="Траектория" onChange={(showTrajectory) => void applyScenePatch({ showTrajectory })} />
-                  </div>
-                </div>
-              ),
-            },
-            {
-              id: "frames",
-              label: "Координаты и камеры",
-              description: "Преобразования и области обзора",
-              content: (
-                <div className="inspector-control-stack">
-                  <Checker disabled={runtime.pendingAction === "viewer"} checked={sceneSettings.showGrid} label="Сетка и оси" onChange={(showGrid) => void applyScenePatch({ showGrid })} />
-                  <div className="nodedc-field">
-                    <span className="nodedc-field__description">Камерный канал пока не подключён</span>
-                    <Checker checked={false} disabled label="Области обзора камер" onChange={() => undefined} />
-                  </div>
-                </div>
-              ),
-            },
-            {
-              id: "perception",
-              label: "Объекты и маски",
-              description: "Ожидают внешние обработчики",
-              content: (
-                <div className="inspector-control-stack">
-                  <div className="nodedc-field">
-                    <span className="nodedc-field__description">Внешний обработчик не подключён</span>
-                    <Checker checked={false} disabled label="Рамки 2D и 3D" onChange={() => undefined} />
-                  </div>
-                  <div className="nodedc-field">
-                    <span className="nodedc-field__description">Внешний обработчик не подключён</span>
-                    <Checker checked={false} disabled label="Маски сегментации" onChange={() => undefined} />
-                  </div>
-                  <div className="nodedc-field">
-                    <span className="nodedc-field__description">Внешний обработчик не подключён</span>
-                    <Checker checked={false} disabled label="Ключевые точки и треки" onChange={() => undefined} />
-                  </div>
-                </div>
-              ),
-            },
-          ]}
-        />
+        <SceneLayerControls sceneSettings={sceneSettings} pending={runtime.pendingAction === "viewer"} applyScenePatch={applyScenePatch}/>
       </Window>
     </>
   );

apps/control-station/src/components/EnvironmentBackgroundMedia.tsx

@@ -1,92 +1 @@
-import { useEffect, useMemo, useState } from "react";
-
-import type {
-  EnvironmentBackground,
-  EnvironmentMediaItem,
-} from "../core/environment/environmentSettings";
-
-type ReadyEnvironmentMediaItem = EnvironmentMediaItem & {
-  url: string;
-  mediaKind: "image" | "video";
-};
-
-function isReadyMediaItem(
-  item: EnvironmentMediaItem,
-): item is ReadyEnvironmentMediaItem {
-  return Boolean(item.url && item.mediaKind);
-}
-
-export function EnvironmentBackgroundMedia({
-  background,
-}: {
-  background: EnvironmentBackground;
-}) {
-  const items = useMemo(
-    () => background.items.filter(isReadyMediaItem),
-    [background.items],
-  );
-  const playlistIdentity = items.map((item) => `${item.id}:${item.url}`).join("|");
-  const [activeIndex, setActiveIndex] = useState(0);
-  const [failedIds, setFailedIds] = useState<Set<string>>(new Set());
-  const playableItems = items.filter((item) => !failedIds.has(item.id));
-  const activeItem = playableItems[activeIndex] ?? playableItems[0] ?? null;
-
-  useEffect(() => {
-    setActiveIndex(0);
-    setFailedIds(new Set());
-  }, [playlistIdentity]);
-
-  useEffect(() => {
-    if (
-      !background.enabled
-      || !activeItem
-      || activeItem.mediaKind !== "image"
-      || playableItems.length < 2
-    ) {
-      return;
-    }
-    const timer = window.setTimeout(() => {
-      setActiveIndex((current) => (current + 1) % playableItems.length);
-    }, background.imageDurationSeconds * 1_000);
-    return () => window.clearTimeout(timer);
-  }, [
-    activeItem,
-    background.enabled,
-    background.imageDurationSeconds,
-    playableItems.length,
-  ]);
-
-  if (!background.enabled || !activeItem) return null;
-
-  return (
-    <div className="landing-stage__media" aria-hidden="true">
-      {activeItem.mediaKind === "video" ? (
-        <video
-          key={activeItem.url}
-          src={activeItem.url}
-          autoPlay
-          muted
-          loop={playableItems.length === 1}
-          playsInline
-          onEnded={() => setActiveIndex((current) => (
-            (current + 1) % playableItems.length
-          ))}
-          onError={() => {
-            setFailedIds((current) => new Set(current).add(activeItem.id));
-            setActiveIndex(0);
-          }}
-        />
-      ) : (
-        <img
-          key={activeItem.url}
-          src={activeItem.url}
-          alt=""
-          onError={() => {
-            setFailedIds((current) => new Set(current).add(activeItem.id));
-            setActiveIndex(0);
-          }}
-        />
-      )}
-    </div>
-  );
-}
+export { EnvironmentBackgroundMedia } from "@nodedc/ui-react";

apps/control-station/src/components/EnvironmentMediaPlaylistEditor.tsx

@@ -1,248 +1 @@
-import { useEffect, useMemo, useRef, useState } from "react";
-import {
-  Icon,
-  IconButton,
-  MediaSourceField,
-  RangeControl,
-  SortableList,
-} from "@nodedc/ui-react";
-
-import {
-  appendEnvironmentMediaItem,
-  inferEnvironmentMediaKind,
-  maxEnvironmentMediaItems,
-  removeEnvironmentMediaItem,
-  type EnvironmentBackground,
-  type EnvironmentMediaItem,
-  type EnvironmentSurfaceId,
-  type UploadedEnvironmentMedia,
-} from "../core/environment/environmentSettings";
-
-interface EnvironmentMediaPlaylistEditorProps {
-  surfaceId: EnvironmentSurfaceId;
-  background: EnvironmentBackground;
-  disabled: boolean;
-  error: string | null;
-  onChange: (background: EnvironmentBackground) => void;
-  onBusyChange: (busy: boolean) => void;
-  onUpload: (
-    surfaceId: EnvironmentSurfaceId,
-    itemId: string,
-    file: File,
-  ) => Promise<UploadedEnvironmentMedia>;
-}
-
-const acceptedEnvironmentMedia = [
-  "image/png",
-  "image/jpeg",
-  "image/gif",
-  "image/webp",
-  "image/avif",
-  "video/mp4",
-  "video/webm",
-  "video/quicktime",
-  ".png",
-  ".jpg",
-  ".jpeg",
-  ".gif",
-  ".webp",
-  ".avif",
-  ".mp4",
-  ".webm",
-  ".mov",
-].join(",");
-
-function patchItem(
-  background: EnvironmentBackground,
-  itemId: string,
-  patch: Partial<EnvironmentMediaItem>,
-): EnvironmentBackground {
-  return {
-    ...background,
-    items: background.items.map((item) => (
-      item.id === itemId ? { ...item, ...patch } : item
-    )),
-  };
-}
-
-export function EnvironmentMediaPlaylistEditor({
-  surfaceId,
-  background,
-  disabled,
-  error,
-  onChange,
-  onBusyChange,
-  onUpload,
-}: EnvironmentMediaPlaylistEditorProps) {
-  const [uploadingIds, setUploadingIds] = useState<Set<string>>(new Set());
-  const [itemErrors, setItemErrors] = useState<Record<string, string>>({});
-  const backgroundRef = useRef(background);
-  backgroundRef.current = background;
-  const displayedItems = useMemo(
-    () => [...background.items].reverse(),
-    [background.items],
-  );
-
-  useEffect(() => {
-    onBusyChange(uploadingIds.size > 0);
-  }, [onBusyChange, uploadingIds.size]);
-
-  useEffect(() => () => onBusyChange(false), [onBusyChange]);
-
-  const setItemError = (itemId: string, message?: string) => {
-    setItemErrors((current) => {
-      const next = { ...current };
-      if (message) next[itemId] = message;
-      else delete next[itemId];
-      return next;
-    });
-  };
-
-  const uploadFile = async (itemId: string, file?: File) => {
-    if (!file) return;
-    setUploadingIds((current) => new Set(current).add(itemId));
-    setItemError(itemId);
-    try {
-      const uploaded = await onUpload(surfaceId, itemId, file);
-      onChange(patchItem(backgroundRef.current, itemId, {
-        source: "file",
-        url: uploaded.url,
-        mediaKind: uploaded.mediaKind,
-        fileName: uploaded.fileName,
-      }));
-    } catch (reason) {
-      setItemError(
-        itemId,
-        reason instanceof Error
-          ? reason.message
-          : "Не удалось загрузить медиаконтент.",
-      );
-    } finally {
-      setUploadingIds((current) => {
-        const next = new Set(current);
-        next.delete(itemId);
-        return next;
-      });
-    }
-  };
-
-  return (
-    <div className="environment-media-playlist">
-      <div className="environment-media-playlist__head">
-        <div>
-          <span>Видео / картинка</span>
-          <p>MP4, WebM, MOV, PNG, JPEG, GIF, WebP или AVIF · до 256 МБ.</p>
-        </div>
-        <IconButton
-          label="Добавить медиаконтент"
-          disabled={disabled || background.items.length >= maxEnvironmentMediaItems}
-          onClick={() => onChange(appendEnvironmentMediaItem(background))}
-        >
-          <Icon name="plus" />
-        </IconButton>
-      </div>
-
-      {displayedItems.length ? (
-        <SortableList
-          items={displayedItems}
-          getId={(item) => item.id}
-          className="environment-media-playlist__items"
-          onReorder={(items) => onChange({
-            ...background,
-            items: [...items].reverse(),
-          })}
-        >
-          {(item, { handle }) => {
-            const playbackIndex = background.items.findIndex(
-              (candidate) => candidate.id === item.id,
-            );
-            return (
-              <div className="environment-media-playlist__item">
-                <MediaSourceField
-                  label={`Медиаконтент ${String(playbackIndex + 1).padStart(2, "0")}`}
-                  kindLabel={item.mediaKind ?? "media"}
-                  source={item.source}
-                  url={item.url ?? ""}
-                  fileName={item.fileName}
-                  uploading={uploadingIds.has(item.id)}
-                  previewSrc={item.url}
-                  previewKind={item.mediaKind}
-                  accept={acceptedEnvironmentMedia}
-                  path={`${surfaceId}.background.items[${playbackIndex}] → server environment media`}
-                  hint="Файл сохраняется в Mission Core data root. URL должен вести прямо на media по HTTP(S)."
-                  error={itemErrors[item.id] ?? (
-                    playbackIndex === background.items.length - 1 ? error : null
-                  )}
-                  onSourceChange={(source) => {
-                    if (source === item.source) return;
-                    setItemError(item.id);
-                    onChange(patchItem(background, item.id, {
-                      source,
-                      url: null,
-                      mediaKind: null,
-                      fileName: null,
-                    }));
-                  }}
-                  onUrlChange={(url) => {
-                    setItemError(item.id);
-                    onChange(patchItem(background, item.id, {
-                      source: "url",
-                      url: url || null,
-                      mediaKind: url ? inferEnvironmentMediaKind(url) : null,
-                      fileName: null,
-                    }));
-                  }}
-                  onFileChange={(file) => void uploadFile(item.id, file)}
-                />
-                <div className="environment-media-playlist__item-actions">
-                  <IconButton
-                    label={`Удалить медиаконтент ${playbackIndex + 1}`}
-                    disabled={disabled || uploadingIds.has(item.id)}
-                    onClick={() => {
-                      setItemError(item.id);
-                      onChange(removeEnvironmentMediaItem(background, item.id));
-                    }}
-                  >
-                    <Icon name="trash" />
-                  </IconButton>
-                  {handle}
-                </div>
-              </div>
-            );
-          }}
-        </SortableList>
-      ) : (
-        <>
-          <p className="environment-media-playlist__empty">
-            Добавьте первый файл или прямую ссылку на медиаконтент.
-          </p>
-          {error ? (
-            <p className="environment-media-playlist__error" role="alert">
-              {error}
-            </p>
-          ) : null}
-        </>
-      )}
-
-      <div className="environment-media-playlist__timing">
-        <RangeControl
-          label="Показывать изображение"
-          value={background.imageDurationSeconds}
-          min={1}
-          max={60}
-          step={1}
-          disabled={disabled}
-          formatValue={(value) => `${value} с`}
-          onChange={(imageDurationSeconds) => onChange({
-            ...background,
-            imageDurationSeconds,
-          })}
-        />
-        <span>
-          Новые элементы появляются сверху. Воспроизведение начинается снизу;
-          перетаскивание меняет порядок.
-        </span>
-      </div>
-    </div>
-  );
-}
+export { EnvironmentMediaPlaylistEditor } from "@nodedc/ui-react";

apps/control-station/src/components/EnvironmentSettingsWindow.tsx

@@ -1,358 +1,25 @@
-import { useEffect, useMemo, useState } from "react";
-import {
-  Button,
-  FeatureSettingsWindow,
-  Select,
-  SettingsCard,
-  Switch,
-  TextAreaField,
-  TextField,
-  WindowFooterActions,
-} from "@nodedc/ui-react";
+import { EnvironmentSettingsWindow as SharedEnvironmentSettingsWindow } from "@nodedc/ui-react";
+import { environmentSurfaceIds, type EnvironmentSettings, type EnvironmentSurfaceId, type UploadedEnvironmentMedia } from "../core/environment/environmentSettings";
+import { roots, workspaces, workspacesForRoot } from "../productModel";
 
-import {
-  cloneEnvironmentSettings,
-  type EnvironmentBackground,
-  type EnvironmentPage,
-  type EnvironmentSettings,
-  type EnvironmentSurfaceId,
-  type UploadedEnvironmentMedia,
-} from "../core/environment/environmentSettings";
-import { EnvironmentMediaPlaylistEditor } from "./EnvironmentMediaPlaylistEditor";
-import {
-  roots,
-  workspaces,
-  workspacesForRoot,
-} from "../productModel";
-
-interface EnvironmentSettingsWindowProps {
+interface Props {
   open: boolean;
   settings: EnvironmentSettings;
   state: "loading" | "ready" | "saving" | "error";
   error: string | null;
   onClose: () => void;
   onSave: (settings: EnvironmentSettings) => Promise<EnvironmentSettings>;
-  onUpload: (
-    surfaceId: EnvironmentSurfaceId,
-    itemId: string,
-    file: File,
-  ) => Promise<UploadedEnvironmentMedia>;
+  onUpload: (surfaceId: EnvironmentSurfaceId, itemId: string, file: File) => Promise<UploadedEnvironmentMedia>;
 }
-
-function patchPage(
-  draft: EnvironmentSettings,
-  surfaceId: EnvironmentSurfaceId,
-  patch: Partial<EnvironmentPage>,
-): EnvironmentSettings {
-  return {
-    ...draft,
-    pages: {
-      ...draft.pages,
-      [surfaceId]: {
-        ...draft.pages[surfaceId],
-        ...patch,
-      },
-    },
-  };
-}
-
-function patchBackground(
-  draft: EnvironmentSettings,
-  surfaceId: EnvironmentSurfaceId,
-  patch: Partial<EnvironmentBackground>,
-): EnvironmentSettings {
-  const page = draft.pages[surfaceId];
-  return patchPage(draft, surfaceId, {
-    background: {
-      ...page.background,
-      ...patch,
-    },
-  });
-}
-
-export function EnvironmentSettingsWindow({
-  open,
-  settings,
-  state,
-  error,
-  onClose,
-  onSave,
-  onUpload,
-}: EnvironmentSettingsWindowProps) {
-  const [draft, setDraft] = useState(() => cloneEnvironmentSettings(settings));
-  const [surfaceId, setSurfaceId] = useState<EnvironmentSurfaceId>("fleet");
-  const [uploading, setUploading] = useState(false);
-  const [localError, setLocalError] = useState<string | null>(null);
-
-  useEffect(() => {
-    if (!open) return;
-    setDraft(cloneEnvironmentSettings(settings));
-    setLocalError(null);
-  }, [open, settings]);
-
-  const selectedPage = draft.pages[surfaceId];
-  const selectedBackground = selectedPage.background;
-  const pageOptions = useMemo(() => [
-    {
-      value: "home" as const,
-      label: draft.pages.home.headerLabel,
-      description: "Главная страница продукта",
-    },
-    ...roots.map((root) => ({
-      value: root.id,
-      label: draft.pages[root.id].headerLabel,
-      description: `Стартовая страница раздела «${draft.pages[root.id].title}»`,
-    })),
-  ], [draft.pages]);
-  const quickActionWorkspaces = useMemo(
-    () => surfaceId === "home"
-      ? workspaces.filter((workspace) => !workspace.internalOnly)
-      : workspacesForRoot(surfaceId),
-    [surfaceId],
-  );
-  const quickActionOptions = useMemo(() => [
-    {
-      value: "none",
-      label: "Не показывать",
-      description: "Кнопка скрыта на стартовом экране",
-    },
-    ...quickActionWorkspaces.map((workspace) => ({
-      value: workspace.id,
-      label: workspace.label,
-      description: workspace.description,
-    })),
-  ], [quickActionWorkspaces]);
-  const dirty = useMemo(
-    () => JSON.stringify(draft) !== JSON.stringify(settings),
-    [draft, settings],
-  );
-  const busy = state === "saving" || uploading;
-
-  const updatePage = (patch: Partial<EnvironmentPage>) => {
-    setDraft((current) => patchPage(current, surfaceId, patch));
-  };
-
-  const save = async () => {
-    const invalid = Object.entries(draft.pages).find(([, page]) => (
-      !page.headerLabel.trim()
-      || !page.eyebrow.trim()
-      || !page.title.trim()
-      || !page.description.trim()
-    ));
-    if (invalid) {
-      setLocalError("Название, надзаголовок, заголовок и описание не могут быть пустыми.");
-      return;
-    }
-    if (
-      selectedPage.primaryWorkspaceId
-      && selectedPage.primaryWorkspaceId === selectedPage.secondaryWorkspaceId
-    ) {
-      setLocalError("Быстрые кнопки должны вести на разные рабочие поверхности.");
-      return;
-    }
-    const invalidMedia = Object.entries(draft.pages).find(([, page]) => (
-      (page.background.enabled && !page.background.items.length)
-      || page.background.items.some((item) => {
-        if (!item.url || !item.mediaKind) return true;
-        if (item.source !== "url") return false;
-        try {
-          const parsed = new URL(item.url);
-          return !["http:", "https:"].includes(parsed.protocol);
-        } catch {
-          return true;
-        }
-      })
-    ));
-    if (invalidMedia) {
-      setSurfaceId(invalidMedia[0] as EnvironmentSurfaceId);
-      setLocalError(
-        "Каждый элемент фона должен содержать загруженный файл или прямой HTTP(S) URL.",
-      );
-      return;
-    }
-    setLocalError(null);
-    try {
-      await onSave({
-        ...draft,
-        pages: Object.fromEntries(
-          Object.entries(draft.pages).map(([id, page]) => [id, {
-            ...page,
-            headerLabel: page.headerLabel.trim(),
-            eyebrow: page.eyebrow.trim(),
-            title: page.title.trim(),
-            description: page.description.trim(),
-          }]),
-        ) as EnvironmentSettings["pages"],
-      });
-      onClose();
-    } catch (reason) {
-      setLocalError(reason instanceof Error
-        ? reason.message
-        : "Не удалось сохранить настройки окружения.");
-    }
-  };
-
-  return (
-    <FeatureSettingsWindow
-      open={open}
-      title="Настройки Mission Core"
-      subtitle="Локальное операторское окружение"
-      identity={{
-        title: "DC",
-        subtitle: "Mission Core",
-        avatarLabel: "DC",
-      }}
-      sections={[
-        {
-          id: "environment",
-          label: "Окружение",
-          group: "MISSION CORE",
-          icon: "settings",
-        },
-      ]}
-      activeSection="environment"
-      onSectionChange={() => undefined}
-      onClose={onClose}
-      footer={(
-        <WindowFooterActions>
-          <Button
-            variant="secondary"
-            disabled={!dirty || busy}
-            onClick={() => {
-              setDraft(cloneEnvironmentSettings(settings));
-              setLocalError(null);
-            }}
-          >
-            Сбросить изменения
-          </Button>
-          <Button
-            variant="primary"
-            disabled={!dirty || busy}
-            onClick={() => void save()}
-          >
-            {state === "saving" ? "Сохраняем…" : "Сохранить"}
-          </Button>
-        </WindowFooterActions>
-      )}
-    >
-      <div className="environment-settings">
-        <SettingsCard
-          eyebrow="ОКРУЖЕНИЕ"
-          title="Основные элементы управления"
-          description="Выберите страницу и настройте её название в шапке, содержание стартового экрана, подложку и быстрые переходы."
-          actions={(
-            <Switch
-              checked={selectedBackground.enabled}
-              label="Показывать фон"
-              onChange={(enabled) => {
-                if (enabled && !selectedBackground.items.length) {
-                  setLocalError("Сначала добавьте медиаконтент.");
-                  return;
-                }
-                setLocalError(null);
-                setDraft((current) =>
-                  patchBackground(current, surfaceId, { enabled }));
-              }}
-            />
-          )}
-        >
-          <div className="environment-settings__editor">
-            <div className="environment-settings__surface">
-              <span>Страница</span>
-              <Select
-                label="Выбрать страницу окружения"
-                value={surfaceId}
-                options={pageOptions}
-                variant="split"
-                menuWidth="anchor"
-                onChange={(value) => {
-                  setSurfaceId(value);
-                  setLocalError(null);
-                }}
-              />
-            </div>
-
-            <div className="environment-settings__copy">
-              <TextField
-                label={surfaceId === "home" ? "Название продукта" : "Название в шапке"}
-                value={selectedPage.headerLabel}
-                maxLength={40}
-                onChange={(event) => updatePage({
-                  headerLabel: event.currentTarget.value,
-                })}
-              />
-              <TextField
-                label="Надзаголовок"
-                value={selectedPage.eyebrow}
-                maxLength={80}
-                onChange={(event) => updatePage({
-                  eyebrow: event.currentTarget.value,
-                })}
-              />
-              <TextField
-                label="Основной заголовок"
-                value={selectedPage.title}
-                maxLength={120}
-                onChange={(event) => updatePage({
-                  title: event.currentTarget.value,
-                })}
-              />
-              <TextAreaField
-                label="Описание"
-                value={selectedPage.description}
-                maxLength={500}
-                rows={3}
-                onChange={(event) => updatePage({
-                  description: event.currentTarget.value,
-                })}
-              />
-            </div>
-
-            <div className="environment-settings__quick-actions">
-              <div>
-                <span>Кнопка 1</span>
-                <Select
-                  label="Выбрать первую быструю кнопку"
-                  value={selectedPage.primaryWorkspaceId ?? "none"}
-                  options={quickActionOptions}
-                  variant="split"
-                  menuWidth="anchor"
-                  onChange={(value) => updatePage({
-                    primaryWorkspaceId: value === "none" ? null : value,
-                  })}
-                />
-              </div>
-              <div>
-                <span>Кнопка 2</span>
-                <Select
-                  label="Выбрать вторую быструю кнопку"
-                  value={selectedPage.secondaryWorkspaceId ?? "none"}
-                  options={quickActionOptions}
-                  variant="split"
-                  menuWidth="anchor"
-                  onChange={(value) => updatePage({
-                    secondaryWorkspaceId: value === "none" ? null : value,
-                  })}
-                />
-              </div>
-            </div>
-
-            <EnvironmentMediaPlaylistEditor
-              surfaceId={surfaceId}
-              background={selectedBackground}
-              disabled={busy}
-              error={localError ?? error}
-              onBusyChange={setUploading}
-              onChange={(background) => {
-                setLocalError(null);
-                setDraft((current) =>
-                  patchBackground(current, surfaceId, background));
-              }}
-              onUpload={onUpload}
-            />
-          </div>
-        </SettingsCard>
-      </div>
-    </FeatureSettingsWindow>
-  );
+const surfaces = environmentSurfaceIds.map(id => ({
+  id, home: id === "home", description: id === "home" ? "Главная страница продукта" : `Стартовая страница раздела «${roots.find(root => root.id === id)?.label}»`,
+  actions: id === "home" ? workspaces.filter(item => !item.internalOnly) : workspacesForRoot(id),
+}));
+export function EnvironmentSettingsWindow(props: Props) {
+  return <SharedEnvironmentSettingsWindow {...props} productName="Mission Core" surfaces={surfaces} initialSurfaceId="fleet"
+    onSave={draft => props.onSave({ ...draft, pages: Object.fromEntries(environmentSurfaceIds.map(id => [id, draft.pages[id]])) as EnvironmentSettings["pages"] })}
+    onUpload={(id, itemId, file) => {
+      if (!environmentSurfaceIds.includes(id as EnvironmentSurfaceId)) throw new Error("Страница окружения недоступна.");
+      return props.onUpload(id as EnvironmentSurfaceId, itemId, file);
+    }} />;
 }

apps/control-station/src/components/FloatingObservationWindow.tsx

@@ -1,5 +1,6 @@
-import { useLayoutEffect, useState, type RefObject } from "react";
-import { WorkspaceWindow } from "@nodedc/ui-react";
+import type {RefObject} from "react";
+import {FloatingMediaWindow} from "../../../../packages/spatial-ui/src/FloatingMediaWindow";
+export {initialObservationWindowRect,shouldCaptureWorkspacePointer} from "../../../../packages/spatial-ui/src/FloatingMediaWindow";
 
 import type { ObservationWindowRect } from "../core/observation/useObservationLayout";
 import type { ObservationSourceDescriptor } from "../core/runtime/contracts";
@@ -10,60 +11,6 @@ import type {
   RecordedCameraAdmissionState,
 } from "../core/observation/recordedSessionAdmission";
 
-const WINDOW_WIDTH = 336;
-const WINDOW_HEIGHT = 210;
-const WINDOW_GAP = 16;
-const WINDOW_INSET = 18;
-const TIMELINE_CLEARANCE = 64;
-
-type ClosestTarget = { closest: (selectors: string) => unknown };
-
-export function shouldCaptureWorkspacePointer(
-  button: number,
-  target: ClosestTarget | null,
-): boolean {
-  if (button !== 0 || !target) return false;
-  if (target.closest(".nodedc-workspace-window__resize")) return true;
-  if (!target.closest(".nodedc-workspace-window__head")) return false;
-  return !target.closest("button, input, select, textarea, a");
-}
-
-export function initialObservationWindowRect(
-  index: number,
-  count = 1,
-  bounds: { width: number; height: number } = { width: 1280, height: 720 },
-): ObservationWindowRect {
-  const availableWidth = Math.max(0, bounds.width - WINDOW_INSET * 2);
-  const width = Math.max(1, Math.min(WINDOW_WIDTH, availableWidth || WINDOW_WIDTH));
-  const availableHeight = Math.max(0, bounds.height - WINDOW_INSET - TIMELINE_CLEARANCE);
-  const maxColumns = Math.max(
-    1,
-    Math.floor((availableWidth + WINDOW_GAP) / (width + WINDOW_GAP)),
-  );
-  const columns = Math.max(1, Math.min(Math.max(1, count), maxColumns));
-  const rows = Math.max(1, Math.ceil(Math.max(1, count) / columns));
-  const rowHeight = Math.max(
-    1,
-    (availableHeight - Math.max(0, rows - 1) * WINDOW_GAP) / rows,
-  );
-  const height = Math.max(1, Math.min(WINDOW_HEIGHT, rowHeight));
-  const row = Math.floor(index / columns);
-  const column = index % columns;
-  const rowItemCount = Math.min(columns, Math.max(1, count - row * columns));
-  const rowWidth = rowItemCount * width + Math.max(0, rowItemCount - 1) * WINDOW_GAP;
-  const rowStart = Math.max(0, bounds.width - WINDOW_INSET - rowWidth);
-
-  return {
-    x: rowStart + Math.min(column, rowItemCount - 1) * (width + WINDOW_GAP),
-    y: Math.max(
-      0,
-      bounds.height - TIMELINE_CLEARANCE - height - row * (height + WINDOW_GAP),
-    ),
-    width,
-    height,
-  };
-}
-
 export function FloatingObservationWindow({
   source,
   index,
@@ -104,76 +51,12 @@ export function FloatingObservationWindow({
     state: RecordedCameraAdmissionState,
   ) => void;
 }) {
-  const [bounds, setBounds] = useState<{ width: number; height: number } | null>(null);
-
-  useLayoutEffect(() => {
-    const element = boundsRef.current;
-    if (!element) return;
-
-    const measure = () => {
-      const next = { width: element.clientWidth, height: element.clientHeight };
-      setBounds((current) => (
-        current?.width === next.width && current.height === next.height ? current : next
-      ));
-    };
-
-    measure();
-    const observer = new ResizeObserver(measure);
-    observer.observe(element);
-    return () => observer.disconnect();
-  }, [boundsRef]);
-
-  // Camera media admission must not wait for the viewport observer. A source
-  // can arrive in the same commit as a workspace transition; mounting it with
-  // the canonical fallback geometry keeps the browser transport alive until
-  // the real bounds are measured immediately afterward.
-  const initialRect = initialObservationWindowRect(index, count, bounds ?? undefined);
-  const windowRect = rect ?? initialRect;
-
-  return (
-    <WorkspaceWindow
-      boundsRef={boundsRef}
-      rect={windowRect}
-      onRectChange={onRectChange}
-      maximized={maximized}
-      onMaximizedChange={onMaximizedChange}
-      onActivate={onActivate}
-      onClose={onClose}
-      title={source.label}
-      subtitle={source.description}
-      status={(
-        <span className="floating-observation-window__status">
-          <i data-availability={source.availability} aria-hidden="true" />
-          {observationSourceStatusLabel(source)}
-        </span>
-      )}
-      footer={(
-        <span className="floating-observation-window__footer">
-          <span>{source.endpointLabel || source.transport}</span>
-          <span>{source.capabilities.timelineMode === "live-only" ? "Эфир без буфера" : "Временная шкала"}</span>
-        </span>
-      )}
-      minWidth={Math.min(280, windowRect.width)}
-      minHeight={Math.min(190, windowRect.height)}
-      resizable={source.capabilities.resizable}
-      active={active}
-      zIndex={maximized ? 15 : active ? 9 : 7}
-      className={`floating-observation-window${hidden ? " floating-observation-window--hidden" : ""}`}
-      onPointerDownCapture={(event) => {
-        if (!shouldCaptureWorkspacePointer(event.button, event.target as HTMLElement)) return;
-        try {
-          event.currentTarget.setPointerCapture(event.pointerId);
-        } catch {
-          // Pointer capture can fail if the browser ended the pointer between
-          // dispatch and capture. The donor's window listeners remain fallback.
-        }
-      }}
-      closeLabel={`Закрыть ${source.label}`}
-      maximizeLabel={`Развернуть ${source.label}`}
-      restoreLabel={`Восстановить ${source.label}`}
-      moveLabel={`Переместить ${source.label}`}
-      resizeLabel={`Изменить размер ${source.label}`}
-    >
+  return <FloatingMediaWindow title={source.label} subtitle={source.description}
+    index={index} count={count} boundsRef={boundsRef} rect={rect} maximized={maximized}
+    active={active} hidden={hidden} onRectChange={onRectChange} onMaximizedChange={onMaximizedChange}
+    onActivate={onActivate} onClose={onClose} resizable={source.capabilities.resizable}
+    status={<span className="floating-observation-window__status"><i data-availability={source.availability} aria-hidden="true"/>{observationSourceStatusLabel(source)}</span>}
+    footer={<span className="floating-observation-window__footer"><span>{source.endpointLabel || source.transport}</span><span>{source.capabilities.timelineMode === "live-only" ? "Эфир без буфера" : "Временная шкала"}</span></span>}>
       <ObservationMedia
         source={source}
         playback={playback}
@@ -182,6 +65,5 @@ export function FloatingObservationWindow({
         recordedAdmissionKey={recordedAdmissionKey}
         onRecordedAdmissionChange={onRecordedAdmissionChange}
       />
-    </WorkspaceWindow>
-  );
+  </FloatingMediaWindow>;
 }

apps/control-station/src/components/LandingStage.tsx

@@ -1,10 +1,9 @@
-import { Button, Icon, StatusBadge } from "@nodedc/ui-react";
+import { LandingStage as SharedLandingStage, StatusBadge } from "@nodedc/ui-react";
 
 import type { BackendStatus, RuntimePhase } from "../core/runtime/contracts";
 import type { EnvironmentPage } from "../core/environment/environmentSettings";
 import type { RootDefinition, WorkspaceDefinition } from "../productModel";
 import { backendLabel, backendTone, phaseLabel, phaseTone } from "../presentation";
-import { EnvironmentBackgroundMedia } from "./EnvironmentBackgroundMedia";
 
 export interface LandingStageProps {
   root: RootDefinition | null;
@@ -25,40 +24,10 @@ export function LandingStage({
   quickActions,
   onOpenWorkspace,
 }: LandingStageProps) {
-  const { background } = page;
-  const hasMedia = background.enabled && background.items.some(
-    (item) => item.url && item.mediaKind,
-  );
-  return (
-    <section
-      className="landing-stage"
-      data-root={root?.id ?? "home"}
-      data-has-media={hasMedia ? "true" : undefined}
-    >
-      <EnvironmentBackgroundMedia background={background} />
-      <div className="landing-stage__shade" aria-hidden="true" />
-      <div className="landing-stage__copy">
-        <span className="section-eyebrow">{page.eyebrow}</span>
-        <h1>{page.title}</h1>
-        <p>{page.description}</p>
-        {quickActions.length ? (
-          <div className="landing-stage__actions">
-            {quickActions.map((workspace, index) => (
-              <Button
-                key={workspace.id}
-                variant={index === 0 ? "primary" : "secondary"}
-                icon={<Icon name={workspace.icon} />}
-                onClick={() => onOpenWorkspace(workspace.id)}
-              >
-                {workspace.label}
-              </Button>
-            ))}
-          </div>
-        ) : null}
-      </div>
-
-      <div className="landing-stage__status">
-        <div>
+  return <SharedLandingStage page={page} pageId={root?.id ?? "home"}
+    actions={quickActions.map(workspace => ({ id: workspace.id, label: workspace.label, icon: workspace.icon, onSelect: () => onOpenWorkspace(workspace.id) }))}
+    status={<>
+<div>
           <span className="section-eyebrow">ЛОКАЛЬНЫЙ КОНТУР</span>
           <StatusBadge tone={backendTone(backendStatus)}>{backendLabel(backendStatus)}</StatusBadge>
         </div>
@@ -67,12 +36,9 @@ export function LandingStage({
           <StatusBadge tone={phaseTone(phase)}>{phaseLabel(phase)}</StatusBadge>
         </div>
         <p>{message || "Выберите архитектурный блок в верхней навигации."}</p>
-      </div>
-
-      <footer className="landing-stage__footer">
-        <span>{root?.accent ?? "НАБЛЮДЕНИЕ · МИССИИ · ДАННЫЕ"}</span>
+    </>}
+    footer={<>
+<span>{root?.accent ?? "НАБЛЮДЕНИЕ · МИССИИ · ДАННЫЕ"}</span>
         <span>01 / ЛОКАЛЬНЫЙ СТЕНД</span>
-      </footer>
-    </section>
-  );
+    </>} />;
 }

apps/control-station/src/components/MseFmp4WebSocketPlayer.tsx

@@ -28,6 +28,7 @@ export interface CameraLeaseRetryBudget {
 const CAMERA_LEASE_RETRY_DELAYS = [400, 1_000, 2_000, 5_000] as const;
 export const CAMERA_FIRST_MEDIA_TIMEOUT_MS = 8_000;
 export const CAMERA_FIRST_PLAYABLE_FRAME_TIMEOUT_MS = 8_000;
+export const CAMERA_BUFFERING_NOTICE_DELAY_MS = 1_000;
 // The gateway may release an 8 MiB / 64-fragment slow-reader backlog after a
 // main-thread stall. Keep one bounded append margin above that complete batch;
 // crossing either limit replaces the MSE epoch instead of dropping fragments.
@@ -284,6 +285,7 @@ export function MseFmp4WebSocketPlayer({
     let onBufferError: (() => void) | null = null;
     let objectUrl = "";
     let retryTimer: number | undefined;
+    let bufferingNoticeTimer: number | undefined;
     let receivedMedia = false;
     let failed = false;
     let playingReported = false;
@@ -295,10 +297,15 @@ export function MseFmp4WebSocketPlayer({
     );
     const queue: ArrayBuffer[] = [];
     let queuedBytes = 0;
+    const clearBufferingNotice = () => {
+      if (bufferingNoticeTimer !== undefined) window.clearTimeout(bufferingNoticeTimer);
+      bufferingNoticeTimer = undefined;
+    };
 
     const fail = (copy: string) => {
       if (!transportIsCurrent() || failed) return;
       startupWatchdog?.clear();
+      clearBufferingNotice();
       failed = true;
       transportHealthyRef.current = false;
       recoveryPendingAuthorityRef.current = null;
@@ -335,6 +342,7 @@ export function MseFmp4WebSocketPlayer({
         return;
       }
       startupWatchdog?.clear();
+      clearBufferingNotice();
       failed = true;
       transportHealthyRef.current = false;
       const retry = consumeCameraLeaseRetry(leaseRetryRef.current, delivery.id);
@@ -392,6 +400,7 @@ export function MseFmp4WebSocketPlayer({
 
     const onPlaying = () => {
       if (!transportIsCurrent() || failed) return;
+      clearBufferingNotice();
       startupWatchdog?.markPlaying();
       transportHealthyRef.current = true;
       leaseRetryRef.current = resetCameraLeaseRetryBudget(delivery.id);
@@ -410,7 +419,21 @@ export function MseFmp4WebSocketPlayer({
       }
     };
 
+    const onWaiting = () => {
+      if (!transportIsCurrent() || failed || !playingReported) return;
+      // A short receipt gap must not flicker or restart the acquisition-owned
+      // stream. A sustained decoder wait must not retain a playing presentation.
+      if (bufferingNoticeTimer !== undefined) return;
+      bufferingNoticeTimer = window.setTimeout(() => {
+        bufferingNoticeTimer = undefined;
+        if (!transportIsCurrent() || failed || video.readyState >= 3) return;
+        setStatus("buffering");
+        setMessage("Ожидание новых кадров.");
+      }, CAMERA_BUFFERING_NOTICE_DELAY_MS);
+    };
     video.addEventListener("playing", onPlaying);
+    video.addEventListener("waiting", onWaiting);
+    video.addEventListener("stalled", onWaiting);
 
     const appendNext = () => {
       if (
@@ -594,10 +617,13 @@ export function MseFmp4WebSocketPlayer({
       disposed = true;
       transportHealthyRef.current = false;
       startupWatchdog?.clear();
+      clearBufferingNotice();
       if (retryTimer !== undefined) window.clearTimeout(retryTimer);
       queue.length = 0;
       socket?.close(1000, "Browser preview transport replaced or hidden");
       video.removeEventListener("playing", onPlaying);
+      video.removeEventListener("waiting", onWaiting);
+      video.removeEventListener("stalled", onWaiting);
       mediaSource.removeEventListener("sourceopen", onSourceOpen);
       if (sourceBuffer && onBufferUpdateEnd) {
         sourceBuffer.removeEventListener("updateend", onBufferUpdateEnd);
@@ -708,7 +734,7 @@ export function MseFmp4WebSocketPlayer({
       {status !== "playing" ? (
         <div className="mse-fmp4-player__status" role="status" aria-live="polite">
           <Icon name={status === "error" ? "alert" : "video"} size={20} />
-          <strong>{status === "error" ? "Канал прерван" : "Подготовка камеры"}</strong>
+          <strong>{status === "error" ? "Канал прерван" : status === "buffering" ? "Ожидание изображения" : "Подготовка камеры"}</strong>
           <span>{message}</span>
           {status === "error" ? (
             <button

apps/control-station/src/components/ObservationSessionSelect.tsx

@@ -124,7 +124,7 @@ export function ObservationSessionSelect({
   const [deleteTarget, setDeleteTarget] = useState<ObservationSessionSummary | null>(null);
   const sessions = useObservationSessions({
     limit,
-    scope: "source",
+    scope: "standalone",
     replayEnabled: blockedReason === null,
     onReplayBegin,
     onReplayAccepted,

apps/control-station/src/components/ObservationSources.tsx

@@ -1,9 +1,9 @@
-import { Dropdown, Icon, type IconName } from "@nodedc/ui-react";
+import {sourceIcon,observationSourceStatusLabel} from "../../../../packages/spatial-ui/src/ObservationSourcePicker";
+export {ObservationSourcePicker,observationSourceStatusLabel} from "../../../../packages/spatial-ui/src/ObservationSourcePicker";
+import { Icon } from "@nodedc/ui-react";
 
 import type {
-  ObservationSourceAvailability,
   ObservationSourceDescriptor,
-  ObservationSourceModality,
 } from "../core/runtime/contracts";
 import { MseFmp4WebSocketPlayer } from "./MseFmp4WebSocketPlayer";
 import {
@@ -16,28 +16,6 @@ import type {
 } from "../core/observation/recordedSessionAdmission";
 import { liveCameraPlaybackAuthorityIdentity } from "../core/observation/liveCameraRecovery";
 
-const sourceIcon: Record<ObservationSourceModality, IconName> = {
-  "point-cloud": "globe",
-  video: "video",
-  image: "image",
-  depth: "image",
-};
-
-const availabilityCopy: Record<ObservationSourceAvailability, string> = {
-  unverified: "Не подтверждён",
-  declared: "Канал объявлен",
-  available: "Доступен",
-  connecting: "Подключение",
-  streaming: "Эфир",
-  degraded: "Нестабильно",
-  unavailable: "Недоступен",
-  error: "Ошибка",
-};
-
-export function observationSourceStatusLabel(source: ObservationSourceDescriptor): string {
-  return availabilityCopy[source.availability];
-}
-
 export function ObservationMedia({
   source,
   playback,
@@ -159,105 +137,3 @@ export function ObservationMedia({
     </div>
   );
 }
-
-export function ObservationSourcePicker({
-  sources,
-  visibleSourceIds,
-  pendingSourceIds,
-  onToggle,
-}: {
-  sources: readonly ObservationSourceDescriptor[];
-  visibleSourceIds: ReadonlySet<string>;
-  pendingSourceIds?: ReadonlySet<string>;
-  onToggle: (sourceId: string) => void | Promise<boolean>;
-}) {
-  const visibleCount = sources.filter((source) => visibleSourceIds.has(source.id)).length;
-
-  return (
-    <Dropdown
-      className="scene-source-picker"
-      placement="bottom-start"
-      width={340}
-      offset={10}
-      surfaceRole="dialog"
-      surfaceClassName="observation-source-menu"
-      trigger={({ open, toggle, setAnchorRef, setTriggerRef, surfaceId }) => (
-        <button
-          ref={(node) => {
-            setAnchorRef(node);
-            setTriggerRef(node);
-          }}
-          type="button"
-          className="scene-source-picker__trigger"
-          data-active={open || visibleCount > 0 ? "true" : undefined}
-          aria-label="Источники данных сцены"
-          aria-haspopup="dialog"
-          aria-expanded={open}
-          aria-controls={surfaceId}
-          onClick={toggle}
-        >
-          <Icon name="database" size={17} />
-          {sources.length > 0 ? <span>{visibleCount}</span> : null}
-        </button>
-      )}
-    >
-      <header className="observation-source-menu__head">
-        <div>
-          <span className="section-eyebrow">НАБЛЮДЕНИЕ</span>
-          <strong>Источники данных</strong>
-        </div>
-        <small>{sources.length ? `${visibleCount} из ${sources.length}` : "нет источников"}</small>
-      </header>
-      {sources.length ? (
-        <div className="observation-source-menu__list">
-          {sources.map((source) => {
-            const selected = visibleSourceIds.has(source.id);
-            const pending = pendingSourceIds?.has(source.id) ?? false;
-            const canOpen = Boolean(
-              selected ||
-              source.modality === "point-cloud" ||
-              source.previewUrl ||
-              source.delivery ||
-              source.activation?.controllable,
-            );
-            return (
-              <button
-                key={source.id}
-                type="button"
-                className="nodedc-dropdown-option observation-source-option"
-                data-selected={selected ? "true" : undefined}
-                aria-pressed={selected}
-                disabled={pending || !canOpen}
-                onClick={() => void onToggle(source.id)}
-              >
-                <span className="nodedc-dropdown-option__icon">
-                  <Icon name={sourceIcon[source.modality]} size={16} />
-                </span>
-                <span className="nodedc-dropdown-option__body">
-                  <span className="nodedc-dropdown-option__label">{source.label}</span>
-                  <span className="nodedc-dropdown-option__description">
-                    <i data-availability={source.availability} aria-hidden="true" />
-                    {pending ? "Переключение" : observationSourceStatusLabel(source)} · {source.endpointLabel || source.transport}
-                  </span>
-                </span>
-                <span className="nodedc-dropdown-option__check">
-                  {selected ? <Icon name="check" size={15} /> : null}
-                </span>
-              </button>
-            );
-          })}
-        </div>
-      ) : (
-        <div className="observation-source-menu__empty">
-          <Icon name="database" size={18} />
-          <strong>Каталог пока пуст</strong>
-          <span>Выберите профиль устройства — его плагин опубликует доступные каналы.</span>
-        </div>
-      )}
-      <footer className="observation-source-menu__foot">
-        Каналы приходят из активного контура или выбранной сохранённой сессии; сцена не знает
-        модель оборудования.
-      </footer>
-    </Dropdown>
-  );
-}

apps/control-station/src/components/ObservationTimeline.tsx

@@ -1,197 +1 @@
-import { Button, Icon, Select } from "@nodedc/ui-react";
-
-import type { ObservationTimelineMode } from "../core/runtime/contracts";
-
-export function ObservationTimeline({
-  active,
-  sourceCount,
-  mode = "live-only",
-  seekable = false,
-  synchronization = "host-arrival-best-effort",
-  rangeNs = null,
-  currentNs = null,
-  playing = false,
-  onSeek,
-  onPlayingChange,
-  onJumpToEnd,
-  showJumpToEnd = true,
-  playbackRate,
-  onPlaybackRateChange,
-  accumulationSeconds,
-  onAccumulationChange,
-  onAccumulationCommit,
-  className = "",
-}: {
-  active: boolean;
-  sourceCount: number;
-  mode?: ObservationTimelineMode;
-  seekable?: boolean;
-  synchronization?: "host-arrival-best-effort" | "shared-clock" | "frame-accurate";
-  rangeNs?: { min: number; max: number } | null;
-  currentNs?: number | null;
-  playing?: boolean;
-  onSeek?: (timeNs: number) => void;
-  onPlayingChange?: (playing: boolean) => void;
-  onJumpToEnd?: () => void;
-  showJumpToEnd?: boolean;
-  playbackRate?: number;
-  onPlaybackRateChange?: (rate: number) => void;
-  accumulationSeconds?: number;
-  onAccumulationChange?: (value: number) => void;
-  onAccumulationCommit?: () => void;
-  className?: string;
-}) {
-  const playbackRange = normalizeTimelineRange(rangeNs);
-  const buffered = Boolean(
-    seekable &&
-    (mode === "buffered" || mode === "recorded") &&
-    playbackRange,
-  );
-  const elapsedSeconds = playbackRange
-    ? timelineOffsetSeconds(playbackRange, currentNs ?? playbackRange.min)
-    : 0;
-  const durationSeconds = playbackRange
-    ? Math.max(0, (playbackRange.max - playbackRange.min) / 1_000_000_000)
-    : 0;
-  const synchronizationLabel = {
-    "host-arrival-best-effort": "Синхронизация по приходу",
-    "shared-clock": "Общие часы",
-    "frame-accurate": "Покадровая синхронизация",
-  }[synchronization];
-  const accumulationValue = accumulationSeconds === undefined
-    ? null
-    : normalizeAccumulationSeconds(accumulationSeconds);
-  return (
-    <div
-      className={`observation-timeline ${className}`.trim()}
-      data-active={active ? "true" : undefined}
-      data-mode={mode}
-      data-accumulation={accumulationValue !== null ? "true" : undefined}
-    >
-      {accumulationValue !== null ? (
-        <div className="observation-timeline__accumulation">
-          <span>Накопление</span>
-          <input
-            className="observation-timeline__track"
-            type="range"
-            min={0}
-            max={120}
-            step={1}
-            value={accumulationValue}
-            aria-label="Окно накопления облака точек"
-            aria-valuetext={formatAccumulationDuration(accumulationValue)}
-            onChange={(event) =>
-              onAccumulationChange?.(normalizeAccumulationSeconds(Number(event.target.value)))}
-            onPointerUp={onAccumulationCommit}
-            onTouchEnd={onAccumulationCommit}
-            onKeyUp={onAccumulationCommit}
-            onBlur={onAccumulationCommit}
-          />
-          <code>{formatAccumulationDuration(accumulationValue)}</code>
-        </div>
-      ) : null}
-      <div className="observation-timeline__playback">
-        <Button
-          size="compact"
-          variant="ghost"
-          disabled={!buffered || !onSeek}
-          aria-label="Перейти к началу"
-          onClick={() => playbackRange && onSeek?.(playbackRange.min)}
-        >
-          <Icon name="chevron-left" />
-        </Button>
-        <Button
-          className="observation-timeline__transport"
-          size="compact"
-          variant="ghost"
-          disabled={!buffered || !onPlayingChange}
-          aria-label={buffered ? (playing ? "Пауза" : "Воспроизвести") : "Только эфир"}
-          icon={<Icon name={playing ? "stop" : "play"} />}
-          onClick={() => onPlayingChange?.(!playing)}
-        />
-        {buffered && playbackRate !== undefined && onPlaybackRateChange ? (
-          <Select
-            label="Скорость воспроизведения"
-            value={String(playbackRate)}
-            options={[
-              { value: "0.5", label: "0,5×" },
-              { value: "1", label: "1×" },
-              { value: "2", label: "2×" },
-            ]}
-            variant="inline"
-            menuWidth="anchor"
-            onChange={(value) => onPlaybackRateChange(Number(value))}
-          />
-        ) : null}
-        <input
-          className="observation-timeline__track"
-          type="range"
-          min={0}
-          max={Math.max(durationSeconds, 0.001)}
-          step={0.01}
-          value={Math.min(elapsedSeconds, durationSeconds)}
-          disabled={!buffered || !onSeek}
-          aria-label="Позиция воспроизведения"
-          onChange={(event) => {
-            if (!playbackRange) return;
-            onSeek?.(playbackRange.min + Number(event.target.value) * 1_000_000_000);
-          }}
-        />
-        <div className="observation-timeline__meta">
-          <code>
-            {buffered
-              ? `${formatTimelineDuration(elapsedSeconds)} / ${formatTimelineDuration(durationSeconds)}`
-              : active ? "LIVE" : "—:—:—.———"}
-          </code>
-          <small>
-            {buffered ? `${sourceCount} каналов` : `${synchronizationLabel} · буфер не включён`}
-          </small>
-        </div>
-        {showJumpToEnd ? (
-          <button
-            type="button"
-            className="observation-timeline__follow"
-            data-active={!buffered && active ? "true" : undefined}
-            disabled={buffered ? !onJumpToEnd : true}
-            onClick={onJumpToEnd}
-          >
-            {buffered ? "К КОНЦУ" : "ЭФИР"}
-          </button>
-        ) : null}
-      </div>
-    </div>
-  );
-}
-
-export function normalizeAccumulationSeconds(value: number): number {
-  if (!Number.isFinite(value)) return 0;
-  return Math.min(120, Math.max(0, Math.round(value)));
-}
-
-export function formatAccumulationDuration(value: number): string {
-  const seconds = normalizeAccumulationSeconds(value);
-  return seconds === 0 ? "Кадр" : `${seconds} с`;
-}
-
-export function normalizeTimelineRange(
-  range: { min: number; max: number } | null | undefined,
-): { min: number; max: number } | null {
-  if (!range || !Number.isFinite(range.min) || !Number.isFinite(range.max)) return null;
-  if (range.max <= range.min) return null;
-  return range;
-}
-
-export function timelineOffsetSeconds(
-  range: { min: number; max: number },
-  currentNs: number,
-): number {
-  const clamped = Math.min(Math.max(currentNs, range.min), range.max);
-  return Math.max(0, (clamped - range.min) / 1_000_000_000);
-}
-
-export function formatTimelineDuration(seconds: number): string {
-  if (!Number.isFinite(seconds) || seconds < 0) return "00:00.000";
-  const wholeMinutes = Math.floor(seconds / 60);
-  const remaining = seconds - wholeMinutes * 60;
-  return `${String(wholeMinutes).padStart(2, "0")}:${remaining.toFixed(3).padStart(6, "0")}`;
-}
+export * from "../../../../packages/spatial-ui/src/ObservationTimeline";

apps/control-station/src/components/RecordedFmp4Player.tsx

@@ -29,7 +29,9 @@ export type RecordedMediaPresentationState = "loading" | "ready" | "waiting" | "
 
 export const RECORDED_MEDIA_DURATION_TOLERANCE_SECONDS = 1;
 const RECORDED_MEDIA_SOURCE_OPEN_TIMEOUT_MS = 10_000;
-const RECORDED_MEDIA_TARGET_TIMEOUT_MS = 10_000;
+// A valid local fragment becomes decoder-ready well below one second. Keeping
+// a damaged GOP on screen for ten seconds only delays the keyframe recovery.
+const RECORDED_MEDIA_TARGET_TIMEOUT_MS = 2_500;
 const RECORDED_MEDIA_FRAGMENT_TIMEOUT_MS = 15_000;
 const RECORDED_MEDIA_REQUIRED_AHEAD_SEGMENTS = 12;
 const RECORDED_MEDIA_SEGMENTS_AHEAD = 36;
@@ -72,6 +74,39 @@ export function recordedMediaDecodeStartSequence(
   return selected;
 }
 
+export function nextRecordedMediaRandomAccessSequence(
+  randomAccessSequences: readonly number[],
+  failedSequence: number,
+): number | null {
+  if (!Number.isInteger(failedSequence) || failedSequence < 1) return null;
+  for (const sequence of randomAccessSequences) {
+    if (!Number.isInteger(sequence) || sequence < 1) return null;
+    if (sequence > failedSequence) return sequence;
+  }
+  return null;
+}
+
+export function recordedMediaRecoveryTargetSequence(
+  requestedSequence: number | null,
+  failedSequence: number | null,
+  recoverySequence: number | null,
+): number | null {
+  if (requestedSequence === null) return null;
+  if (
+    !Number.isInteger(requestedSequence)
+    || requestedSequence < 1
+    || failedSequence === null
+    || recoverySequence === null
+    || !Number.isInteger(failedSequence)
+    || !Number.isInteger(recoverySequence)
+    || failedSequence < 1
+    || recoverySequence <= failedSequence
+  ) return requestedSequence;
+  return requestedSequence >= failedSequence && requestedSequence < recoverySequence
+    ? recoverySequence
+    : requestedSequence;
+}
+
 export function recordedMediaSegmentAppendOrder(
   appended: ReadonlySet<number>,
   decodeStartSequence: number,
@@ -90,6 +125,32 @@ export function recordedMediaSegmentAppendOrder(
   return missing;
 }
 
+/** Resolve a source-clock timestamp to the first fMP4 fragment covering it. */
+export function recordedMediaSegmentSequenceAtTime(
+  segmentEndTimesSeconds: readonly number[],
+  epochStartSeconds: number,
+  currentSeconds: number,
+): number | null {
+  if (
+    !segmentEndTimesSeconds.length ||
+    !Number.isFinite(epochStartSeconds) ||
+    !Number.isFinite(currentSeconds)
+  ) return null;
+  const localSeconds = Math.max(0, currentSeconds - epochStartSeconds);
+  let left = 0;
+  let right = segmentEndTimesSeconds.length - 1;
+  while (left < right) {
+    const middle = Math.floor((left + right) / 2);
+    const endSeconds = segmentEndTimesSeconds[middle];
+    if (!Number.isFinite(endSeconds) || endSeconds <= 0) return null;
+    if (endSeconds + 0.001 >= localSeconds) right = middle;
+    else left = middle + 1;
+  }
+  const finalEndSeconds = segmentEndTimesSeconds[left];
+  if (!Number.isFinite(finalEndSeconds) || finalEndSeconds + 0.001 < localSeconds) return null;
+  return left + 1;
+}
+
 export function recordedMediaCanRollTarget(
   previousSequence: number,
   nextSequence: number,
@@ -121,6 +182,27 @@ function recordedMediaTimeRangesContain(
   return false;
 }
 
+export function recordedMediaTimestampStallRecoveryTarget(
+  currentSeconds: number,
+  bufferedRanges: readonly (readonly [number, number])[],
+  skipSeconds = 0.18,
+): number | null {
+  if (!Number.isFinite(currentSeconds) || !Number.isFinite(skipSeconds) || skipSeconds <= 0) {
+    return null;
+  }
+  for (const [startSeconds, endSeconds] of bufferedRanges) {
+    if (
+      !Number.isFinite(startSeconds)
+      || !Number.isFinite(endSeconds)
+      || currentSeconds < startSeconds - 0.05
+      || currentSeconds > endSeconds
+    ) continue;
+    const targetSeconds = Math.min(currentSeconds + skipSeconds, endSeconds - 0.05);
+    return targetSeconds >= currentSeconds + 0.04 ? targetSeconds : null;
+  }
+  return null;
+}
+
 export function recordedMediaPresentationState(
   state: "loading" | "ready" | "error",
   readyGeneration: string | null,
@@ -151,6 +233,24 @@ export function selectRecordedMediaEpoch(
   return selected && currentSeconds <= selected.timelineEndSeconds ? selected : null;
 }
 
+/**
+ * Keep admission bounded even when the shared Rerun clock is currently before,
+ * between, or after camera epochs. Presentation still reports `waiting`; this
+ * selector only chooses the nearest epoch whose first/last fragment can prove
+ * that the camera transport is usable without downloading the whole MP4.
+ */
+export function selectRecordedMediaPreparationEpoch(
+  epochs: readonly ObservationRecordedMediaEpoch[],
+  currentSeconds: number,
+): ObservationRecordedMediaEpoch | null {
+  if (!epochs.length || !Number.isFinite(currentSeconds)) return null;
+  const active = selectRecordedMediaEpoch(epochs, currentSeconds);
+  if (active) return active;
+  return epochs.find((epoch) => epoch.timelineStartSeconds > currentSeconds)
+    ?? epochs.at(-1)
+    ?? null;
+}
+
 export function recordedMediaSeekableCoverage(
   durationSeconds: number,
   seekableEndSeconds: number,
@@ -231,29 +331,14 @@ export async function fetchRecordedMediaArchive(
   return { manifest, byteLength: totalBytes };
 }
 
-function videoHasSeekableArchive(
+function waitForRecordedVideoInitialFrame(
   video: HTMLVideoElement,
-  declaredDurationSeconds: number,
-): boolean {
-  if (video.readyState < 1 || video.seekable.length < 1) return false;
-  return recordedMediaSeekableCoverage(
-    video.duration,
-    video.seekable.end(video.seekable.length - 1),
-    declaredDurationSeconds,
-    RECORDED_MEDIA_DURATION_TOLERANCE_SECONDS,
-    video.seekable.start(0),
-  );
-}
-
-function waitForSeekableArchive(
-  video: HTMLVideoElement,
-  declaredDurationSeconds: number,
   signal: AbortSignal,
 ): Promise<void> {
   if (signal.aborted) return Promise.reject(new DOMException("Aborted", "AbortError"));
-  if (videoHasSeekableArchive(video, declaredDurationSeconds)) return Promise.resolve();
+  if (video.readyState >= HTMLMediaElement.HAVE_CURRENT_DATA) return Promise.resolve();
   return new Promise((resolve, reject) => {
-    const events = ["loadedmetadata", "durationchange", "progress", "canplay"] as const;
+    const events = ["loadeddata", "canplay", "progress"] as const;
     let stallTimer: ReturnType<typeof globalThis.setTimeout> | undefined;
     const armStallTimer = () => {
       if (stallTimer !== undefined) globalThis.clearTimeout(stallTimer);
@@ -270,7 +355,7 @@ function waitForSeekableArchive(
     };
     const onProgress = () => {
       armStallTimer();
-      if (!videoHasSeekableArchive(video, declaredDurationSeconds)) return;
+      if (video.readyState < HTMLMediaElement.HAVE_CURRENT_DATA) return;
       cleanup();
       resolve();
     };
@@ -313,11 +398,7 @@ async function mountRecordedEpochStream(
   };
   video.load();
   try {
-    await waitForSeekableArchive(
-      video,
-      descriptor.timelineEndSeconds - descriptor.timelineStartSeconds,
-      signal,
-    );
+    await waitForRecordedVideoInitialFrame(video, signal);
     return cleanup;
   } catch (error) {
     cleanup();
@@ -336,6 +417,11 @@ interface RecordedSegmentTarget {
   resetAttempts: number;
 }
 
+interface RecordedSegmentRecovery {
+  readonly failedSequence: number;
+  readonly recoverySequence: number;
+}
+
 interface RecordedSegmentStreamRuntime {
   readonly generation: string;
   readonly mediaSource: MediaSource;
@@ -716,6 +802,9 @@ export function RecordedFmp4Player({
   onAdmissionChange,
   onPlaybackChange,
   onPlayingRejected,
+  playbackAuthority = "media",
+  playbackTransport = "segmented",
+  recoverTimestampStalls = false,
 }: {
   source: ObservationSourceDescriptor;
   playback?: RecordedObservationPlayback | null;
@@ -728,6 +817,9 @@ export function RecordedFmp4Player({
   onAdmissionChange?: (state: RecordedCameraAdmissionState) => void;
   onPlaybackChange?: (playback: RecordedObservationPlayback) => void;
   onPlayingRejected?: () => void;
+  playbackAuthority?: "media" | "host";
+  playbackTransport?: "segmented" | "epoch-stream";
+  recoverTimestampStalls?: boolean;
 }) {
   const videoRef = useRef<HTMLVideoElement>(null);
   const onAdmissionChangeRef = useRef(onAdmissionChange);
@@ -768,12 +860,16 @@ export function RecordedFmp4Player({
   );
   const [archive, setArchive] = useState<RecordedMediaArchive | null>(null);
   const [state, setState] = useState<"loading" | "ready" | "error">("loading");
+  const [errorMessage, setErrorMessage] = useState<string | null>(null);
   const [readyGeneration, setReadyGeneration] = useState<string | null>(null);
   const [bufferRevision, setBufferRevision] = useState(0);
+  const [segmentRecoveryGeneration, setSegmentRecoveryGeneration] = useState(0);
+  const [segmentRecovery, setSegmentRecovery] = useState<RecordedSegmentRecovery | null>(null);
   const segmentedRuntimeRef = useRef<RecordedSegmentStreamRuntime | null>(null);
   const [segmentedRuntimeGeneration, setSegmentedRuntimeGeneration] = useState<string | null>(null);
   const targetRevisionRef = useRef(0);
   const targetReadyAbortRef = useRef<AbortController | null>(null);
+  const lastSegmentRecoveryRef = useRef<string | null>(null);
   const playAttemptRevisionRef = useRef(0);
   const currentSeconds = playback?.currentSeconds ?? contract?.timelineStartSeconds ?? 0;
   const playbackPlayingRef = useRef(Boolean(playback?.playing));
@@ -781,25 +877,63 @@ export function RecordedFmp4Player({
   const playbackRate = playback?.rate && Number.isFinite(playback.rate)
     ? Math.min(4, Math.max(0.25, playback.rate))
     : 1;
-  const epoch = useMemo(
+  const playbackRateRef = useRef(playbackRate);
+  playbackRateRef.current = playbackRate;
+  const presentationEpoch = useMemo(
     () => selectRecordedMediaEpoch(archive?.manifest.epochs ?? [], currentSeconds),
     [archive?.manifest.epochs, currentSeconds],
   );
+  const epoch = useMemo(
+    () => selectRecordedMediaPreparationEpoch(
+      archive?.manifest.epochs ?? [],
+      currentSeconds,
+    ),
+    [archive?.manifest.epochs, currentSeconds],
+  );
+  const segmentClockSeconds = epoch
+    ? Math.min(
+        Math.max(currentSeconds, epoch.timelineStartSeconds),
+        epoch.timelineEndSeconds,
+      )
+    : currentSeconds;
+  const effectiveSegmentCount = segmentCount ?? epoch?.segmentCount ?? null;
+  const requestedSegmentSequence = segmentSequence ?? (epoch
+    ? recordedMediaSegmentSequenceAtTime(
+        epoch.segmentEndTimesSeconds,
+        epoch.timelineStartSeconds,
+        segmentClockSeconds,
+      )
+    : null);
+  const effectiveSegmentSequence = recordedMediaRecoveryTargetSequence(
+    requestedSegmentSequence,
+    segmentRecovery?.failedSequence ?? null,
+    segmentRecovery?.recoverySequence ?? null,
+  );
+  const holdingForSegmentRecovery = Boolean(
+    segmentRecovery
+    && requestedSegmentSequence !== null
+    && effectiveSegmentSequence !== requestedSegmentSequence,
+  );
   const segmented = Boolean(
-    segmentCount !== null
-    && Number.isInteger(segmentCount)
-    && segmentCount >= 1
+    playbackTransport === "segmented"
+    && requestedSegmentSequence !== null
+    && Number.isInteger(requestedSegmentSequence)
+    && requestedSegmentSequence >= 1
+    &&
+    effectiveSegmentCount !== null
+    && Number.isInteger(effectiveSegmentCount)
+    && effectiveSegmentCount >= 1
     && typeof MediaSource !== "undefined"
     && epoch
-    && epoch.segmentCount === segmentCount
+    && epoch.segmentCount === effectiveSegmentCount
     && epoch.randomAccessSequences.length > 0
-    && epoch.segmentEndTimesSeconds.length === segmentCount
+    && epoch.segmentEndTimesSeconds.length === effectiveSegmentCount
     && MediaSource.isTypeSupported(epoch.mediaType),
   );
   const directPlaybackSeconds = segmented ? null : currentSeconds;
-  const waitingForEpoch = Boolean(archive && !epoch);
-  const selectedGeneration = contract && epoch
-    ? `${contract.manifestGenerationSha256}:${epoch.ordinal}:${epoch.timelineStartSeconds}:${epoch.timelineEndSeconds}`
+  const waitingForEpoch = Boolean(archive && !presentationEpoch);
+  const selectedGeneration = contract && presentationEpoch
+    ? `${contract.manifestGenerationSha256}:${presentationEpoch.ordinal}:${presentationEpoch.timelineStartSeconds}:${presentationEpoch.timelineEndSeconds}`
     : null;
   const visualState = recordedMediaPresentationState(
     state,
@@ -813,6 +947,7 @@ export function RecordedFmp4Player({
     if (!contract) {
       setArchive(null);
       setReadyGeneration(null);
+      setErrorMessage("Некорректный descriptor записанной камеры.");
       setState("error");
       reportAdmission({
         phase: "error",
@@ -825,6 +960,9 @@ export function RecordedFmp4Player({
     const abort = new AbortController();
     setArchive(null);
     setReadyGeneration(null);
+    setSegmentRecovery(null);
+    lastSegmentRecoveryRef.current = null;
+    setErrorMessage(null);
     setState("loading");
     reportAdmission({
       phase: "loading",
@@ -842,6 +980,7 @@ export function RecordedFmp4Player({
         }
         setArchive(null);
         setReadyGeneration(null);
+        setErrorMessage("Архив записанной камеры не прошёл проверку.");
         setState("error");
         reportAdmission({
           phase: "error",
@@ -853,43 +992,14 @@ export function RecordedFmp4Player({
   }, [admissionKey, contract, prepare]);
 
   useEffect(() => {
-    if (!archive || !contract || !prepare || segmented) return;
-    const abort = new AbortController();
-    let disposed = false;
-    void (async () => {
-      for (const candidate of archive.manifest.epochs) {
-        const probe = document.createElement("video");
-        probe.muted = true;
-        probe.playsInline = true;
-        const cleanup = await mountRecordedEpochStream(probe, candidate, abort.signal);
-        cleanup();
-        if (disposed || abort.signal.aborted) return;
-      }
-      if (disposed || abort.signal.aborted) return;
-      reportAdmission({
-        phase: "ready",
-        byteLength: archive.byteLength,
-        message: null,
-      });
-    })().catch((error: unknown) => {
-      if (
-        disposed ||
-        abort.signal.aborted ||
-        (error instanceof DOMException && error.name === "AbortError")
-      ) return;
-      setReadyGeneration(null);
-      setState("error");
-      reportAdmission({
-        phase: "error",
-        byteLength: archive.byteLength,
-        message: "Не все codec epoch записанной камеры декодируются и доступны для seek.",
-      });
-    });
-    return () => {
-      disposed = true;
-      abort.abort();
-    };
-  }, [admissionKey, archive, contract, prepare, segmented]);
+    if (!segmentRecovery || requestedSegmentSequence === null) return;
+    if (
+      requestedSegmentSequence >= segmentRecovery.failedSequence
+      && requestedSegmentSequence < segmentRecovery.recoverySequence
+    ) return;
+    lastSegmentRecoveryRef.current = null;
+    setSegmentRecovery(null);
+  }, [requestedSegmentSequence, segmentRecovery]);
 
   useEffect(() => {
     const video = videoRef.current;
@@ -910,6 +1020,7 @@ export function RecordedFmp4Player({
 
     setReadyGeneration(null);
     setSegmentedRuntimeGeneration(null);
+    setErrorMessage(null);
     setState("loading");
     video.pause();
     const sourceOpened = waitForMediaSourceOpen(mediaSource, abort.signal);
@@ -957,6 +1068,7 @@ export function RecordedFmp4Player({
         return;
       }
       setReadyGeneration(null);
+      setErrorMessage("Покадровый буфер записанной камеры не открылся.");
       setState("error");
       reportAdmission({
         phase: "error",
@@ -982,7 +1094,14 @@ export function RecordedFmp4Player({
       }
       URL.revokeObjectURL(objectUrl);
     };
-  }, [archive, contract, epoch, segmentCount, segmented]);
+  }, [
+    archive,
+    contract,
+    effectiveSegmentCount,
+    epoch,
+    segmented,
+    segmentRecoveryGeneration,
+  ]);
 
   useEffect(() => {
     const runtime = segmentedRuntimeRef.current;
@@ -993,18 +1112,19 @@ export function RecordedFmp4Player({
       || !archive
       || !segmented
       || segmentedRuntimeGeneration !== runtime.generation
-      || segmentSequence === null
-      || !Number.isInteger(segmentSequence)
-      || segmentSequence < 1
-      || segmentSequence > runtime.segmentCount
+      || effectiveSegmentSequence === null
+      || !Number.isInteger(effectiveSegmentSequence)
+      || effectiveSegmentSequence < 1
+      || effectiveSegmentSequence > runtime.segmentCount
     ) return;
     const archiveByteLength = archive.byteLength;
     const decodeStart = recordedMediaDecodeStartSequence(
       runtime.randomAccessSequences,
-      segmentSequence,
+      effectiveSegmentSequence,
     );
     if (decodeStart === null) {
       setReadyGeneration(null);
+      setErrorMessage("Для кадра записанной камеры нет random-access фрагмента.");
       setState("error");
       reportAdmission({
         phase: "error",
@@ -1015,10 +1135,11 @@ export function RecordedFmp4Player({
     }
     const targetSeconds = recordedSegmentStartSeconds(
       runtime.segmentEndTimesSeconds,
-      segmentSequence,
+      effectiveSegmentSequence,
     );
     if (targetSeconds === null) {
       setReadyGeneration(null);
+      setErrorMessage("Для кадра записанной камеры нет точной media timestamp.");
       setState("error");
       reportAdmission({
         phase: "error",
@@ -1030,15 +1151,15 @@ export function RecordedFmp4Player({
     const previousTarget = runtime.target;
     const readyEnd = Math.min(
       runtime.segmentCount,
-      segmentSequence + RECORDED_MEDIA_REQUIRED_AHEAD_SEGMENTS,
+      effectiveSegmentSequence + RECORDED_MEDIA_REQUIRED_AHEAD_SEGMENTS,
     );
     const desiredEnd = Math.min(
       runtime.segmentCount,
-      segmentSequence + RECORDED_MEDIA_SEGMENTS_AHEAD,
+      effectiveSegmentSequence + RECORDED_MEDIA_SEGMENTS_AHEAD,
     );
     const candidateTarget: RecordedSegmentTarget = {
       revision: previousTarget?.revision ?? 0,
-      sequence: segmentSequence,
+      sequence: effectiveSegmentSequence,
       decodeStart,
       readyEnd,
       desiredEnd,
@@ -1046,6 +1167,24 @@ export function RecordedFmp4Player({
       forceReset: false,
       resetAttempts: 0,
     };
+    const recoverFromSegmentFailure = (failedSequence: number): boolean => {
+      const recoverySequence = nextRecordedMediaRandomAccessSequence(
+        runtime.randomAccessSequences,
+        failedSequence,
+      );
+      if (recoverySequence === null) return false;
+      const recoveryToken = `${runtime.generation}:${failedSequence}:${recoverySequence}`;
+      if (lastSegmentRecoveryRef.current === recoveryToken) return true;
+      lastSegmentRecoveryRef.current = recoveryToken;
+      setReadyGeneration(null);
+      setSegmentRecovery({ failedSequence, recoverySequence });
+      setErrorMessage(
+        `Восстанавливаем камеру с ключевого кадра ${recoverySequence}.`,
+      );
+      setState("loading");
+      setSegmentRecoveryGeneration((generation) => generation + 1);
+      return true;
+    };
     const rollingTarget = Boolean(previousTarget && recordedMediaCanRollTarget(
       previousTarget.sequence,
       candidateTarget.sequence,
@@ -1059,21 +1198,62 @@ export function RecordedFmp4Player({
         || runtime.abort.signal.aborted
         || (error instanceof DOMException && error.name === "AbortError")
       ) return;
+      const failedSequence = runtime.target?.sequence ?? effectiveSegmentSequence;
+      if (failedSequence !== null && recoverFromSegmentFailure(failedSequence)) return;
+      const detail = error instanceof Error && error.message
+        ? `: ${error.message}`
+        : ".";
+      const message = `Покадровый фрагмент записанной камеры недоступен${detail}`;
       setReadyGeneration(null);
+      setErrorMessage(message);
       setState("error");
       reportAdmission({
         phase: "error",
         byteLength: archiveByteLength,
-        message: "Покадровый фрагмент записанной камеры недоступен.",
+        message,
       });
     };
+    const resumePlaybackIfRequested = async (revision: number) => {
+      if (
+        runtime.disposed
+        || segmentedRuntimeRef.current !== runtime
+        || runtime.target?.revision !== revision
+        || !playbackPlayingRef.current
+      ) return;
+      video.playbackRate = playbackRateRef.current;
+      try {
+        await video.play();
+      } catch {
+        if (
+          runtime.disposed
+          || segmentedRuntimeRef.current !== runtime
+          || runtime.target?.revision !== revision
+        ) return;
+        // Canonical recorded LABs run one host-owned clock for camera and
+        // spatial evidence. A transient MSE play() rejection (commonly a
+        // pause/reset race while the next fragment is admitted) must stay a
+        // decoder concern: the rolling target will retry and catch up.
+        if (playbackAuthority === "host") return;
+        onPlayingRejectedRef.current?.();
+        setReadyGeneration(null);
+        setErrorMessage("Запуск записанной камеры отклонён браузером.");
+        setState("error");
+        reportAdmission({
+          phase: "error",
+          byteLength: archiveByteLength,
+          message: "Запуск записанной камеры отклонён браузером.",
+        });
+      }
+    };
     if (rollingTarget && previousTarget) {
       runtime.target = {
         ...candidateTarget,
         revision: previousTarget.revision,
       };
       runtime.onTargetBuffered = null;
-      void pumpRecordedSegmentWindow(runtime).catch(reportPumpError);
+      void pumpRecordedSegmentWindow(runtime)
+        .then(() => resumePlaybackIfRequested(previousTarget.revision))
+        .catch(reportPumpError);
       return;
     }
 
@@ -1128,18 +1308,22 @@ export function RecordedFmp4Player({
           setBufferRevision((revision) => revision + 1);
           runtime.hasPresentedFrame = true;
           setReadyGeneration(runtime.generation);
+          setErrorMessage(null);
           setState("ready");
           reportAdmission({
             phase: "ready",
             byteLength: archiveByteLength,
             message: null,
           });
+          await resumePlaybackIfRequested(bufferedTarget.revision);
         } catch (error) {
           if (
             targetReadyAbort.signal.aborted
             || (error instanceof DOMException && error.name === "AbortError")
           ) return;
+          if (recoverFromSegmentFailure(bufferedTarget.sequence)) return;
           setReadyGeneration(null);
+          setErrorMessage("Кадр записанной камеры не стал decoder-ready.");
           setState("error");
           reportAdmission({
             phase: "error",
@@ -1160,7 +1344,13 @@ export function RecordedFmp4Player({
       if (targetReadyAbortRef.current === targetReadyAbort) targetReadyAbortRef.current = null;
       if (runtime.onTargetBuffered === markBuffered) runtime.onTargetBuffered = null;
     };
-  }, [archive?.byteLength, segmentSequence, segmented, segmentedRuntimeGeneration]);
+  }, [
+    archive?.byteLength,
+    effectiveSegmentSequence,
+    playbackAuthority,
+    segmented,
+    segmentedRuntimeGeneration,
+  ]);
 
   useEffect(() => {
     const video = videoRef.current;
@@ -1170,6 +1360,7 @@ export function RecordedFmp4Player({
       ? `${contract.manifestGenerationSha256}:${epochDescriptor.ordinal}:${epochDescriptor.timelineStartSeconds}:${epochDescriptor.timelineEndSeconds}`
       : null;
     setReadyGeneration(null);
+    setErrorMessage(null);
     setState("loading");
     const abort = new AbortController();
     let disposed = false;
@@ -1185,7 +1376,13 @@ export function RecordedFmp4Player({
         }
         setBufferRevision((revision) => revision + 1);
         setReadyGeneration(generation);
+        setErrorMessage(null);
         setState("ready");
+        reportAdmission({
+          phase: "ready",
+          byteLength: archive?.byteLength ?? null,
+          message: null,
+        });
       } catch (error) {
         if (
           disposed ||
@@ -1195,11 +1392,12 @@ export function RecordedFmp4Player({
           return;
         }
         setReadyGeneration(null);
+        setErrorMessage("Записанная камера не открыла первый декодируемый кадр.");
         setState("error");
         reportAdmission({
           phase: "error",
           byteLength: archive?.byteLength ?? null,
-          message: "Записанная камера не стала seekable.",
+          message: "Записанная камера не открыла первый декодируемый кадр.",
         });
       }
     };
@@ -1234,6 +1432,7 @@ export function RecordedFmp4Player({
         video.currentTime = target;
       } catch {
         setReadyGeneration(null);
+        setErrorMessage("Seek записанной камеры завершился ошибкой.");
         setState("error");
         reportAdmission({
           phase: "error",
@@ -1244,11 +1443,13 @@ export function RecordedFmp4Player({
       }
     }
     video.playbackRate = playbackRate;
-    if (playback?.playing) {
+    if (playback?.playing && !holdingForSegmentRecovery) {
       void video.play().catch(() => {
         if (playAttemptRevisionRef.current !== playAttemptRevision) return;
+        if (playbackAuthority === "host") return;
         onPlayingRejectedRef.current?.();
         setReadyGeneration(null);
+        setErrorMessage("Запуск записанной камеры отклонён браузером.");
         setState("error");
         reportAdmission({
           phase: "error",
@@ -1264,12 +1465,95 @@ export function RecordedFmp4Player({
     bufferRevision,
     directPlaybackSeconds,
     epoch,
+    holdingForSegmentRecovery,
     playback?.playing,
+    playbackAuthority,
     playbackRate,
     segmented,
     visualState,
   ]);
 
+  useEffect(() => {
+    const video = videoRef.current;
+    if (!video || !recoverTimestampStalls || !playback?.playing || visualState !== "ready") {
+      return;
+    }
+    let lastSeconds = video.currentTime;
+    let lastProgressAtMs = performance.now();
+    const interval = window.setInterval(() => {
+      if (
+        !playbackPlayingRef.current
+        || video.paused
+        || video.ended
+        || video.seeking
+        || video.readyState < HTMLMediaElement.HAVE_CURRENT_DATA
+      ) {
+        lastSeconds = video.currentTime;
+        lastProgressAtMs = performance.now();
+        return;
+      }
+      const nowMs = performance.now();
+      if (video.currentTime >= lastSeconds + 0.02) {
+        lastSeconds = video.currentTime;
+        lastProgressAtMs = nowMs;
+        return;
+      }
+      if (nowMs - lastProgressAtMs < 1_250) return;
+      const bufferedRanges = Array.from(
+        { length: video.buffered.length },
+        (_, index) => [video.buffered.start(index), video.buffered.end(index)] as const,
+      );
+      const targetSeconds = recordedMediaTimestampStallRecoveryTarget(
+        video.currentTime,
+        bufferedRanges,
+      );
+      lastProgressAtMs = nowMs;
+      if (targetSeconds === null) return;
+      // Field recordings can contain non-monotonic or corrupt H.264 timestamps.
+      // If decoded time is frozen despite proven buffered media ahead, skip only
+      // the broken timestamp interval and return authority to the media clock.
+      video.currentTime = targetSeconds;
+      lastSeconds = targetSeconds;
+    }, 250);
+    return () => window.clearInterval(interval);
+  }, [playback?.playing, recoverTimestampStalls, visualState]);
+
+  useEffect(() => {
+    const video = videoRef.current;
+    if (!video || !segmented || !playback?.playing || visualState !== "ready") return;
+    let cancelled = false;
+    const resumeIfDecoderReady = () => {
+      if (cancelled || !playbackPlayingRef.current || !video.paused) return;
+      const runtime = segmentedRuntimeRef.current;
+      const target = runtime?.target;
+      if (
+        !runtime
+        || !target
+        || runtime.disposed
+        || video.seeking
+        || video.readyState < HTMLMediaElement.HAVE_CURRENT_DATA
+        || Math.abs(video.currentTime - target.targetSeconds) > 0.25
+        || !recordedMediaTimeRangesContain(video.buffered, target.targetSeconds)
+      ) return;
+      playAttemptRevisionRef.current += 1;
+      const playAttemptRevision = playAttemptRevisionRef.current;
+      video.playbackRate = playbackRateRef.current;
+      void video.play().catch(() => {
+        if (cancelled || playAttemptRevisionRef.current !== playAttemptRevision) return;
+        if (playbackAuthority === "host") return;
+        onPlayingRejectedRef.current?.();
+      });
+    };
+    const queueResume = () => window.queueMicrotask(resumeIfDecoderReady);
+    const events = ["pause", "canplay", "seeked"] as const;
+    for (const event of events) video.addEventListener(event, queueResume);
+    resumeIfDecoderReady();
+    return () => {
+      cancelled = true;
+      for (const event of events) video.removeEventListener(event, queueResume);
+    };
+  }, [bufferRevision, playback?.playing, playbackAuthority, segmented, visualState]);
+
   useEffect(() => {
     const video = videoRef.current;
     if ((!interactive && onPlaybackChange === undefined) || !video || !epoch || visualState !== "ready") return;
@@ -1327,7 +1611,9 @@ export function RecordedFmp4Player({
           {visualState === "waiting"
             ? "Камера на этой позиции ещё не записывалась"
             : visualState === "error"
-              ? "Записанное видео недоступно"
+              ? errorMessage ?? "Записанное видео недоступно"
+              : errorMessage
+                ? errorMessage
               : archive
                 ? "Проверяем seek и codec записанного видео…"
                 : "Читаем manifest записанного видео…"}

apps/control-station/src/components/laboratory/AICompositionReplay.tsx

@@ -0,0 +1,33 @@
+import { CanonicalResultRerunReplay } from "./CanonicalResultRerunReplay";
+import { resolveAICompositionReplay } from "../../core/laboratory/canonicalLabReplay";
+import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
+import type { AICompositionRun } from "../../core/observatory/aiComposition";
+
+function resolveComposition(
+  runId: string,
+  launch: ObservationSessionReplayLaunch,
+  options: { signal: AbortSignal },
+) {
+  return resolveAICompositionReplay(runId, launch, options);
+}
+
+export function AICompositionReplay({ run }: { run: AICompositionRun }) {
+  const semantics = run.moduleIds.includes("ddrnet") || run.moduleIds.includes("eomt");
+  const detections = run.moduleIds.includes("rf-detr")
+    || run.moduleIds.includes("object-distance");
+  const costmap = run.moduleIds.includes("tgs");
+  return (
+    <CanonicalResultRerunReplay
+      key={run.runId}
+      resultId={run.runId}
+      sessionId={run.sourceSessionId}
+      resolveReplay={resolveComposition}
+      semantics={semantics}
+      detections={detections}
+      costmap={costmap}
+      moduleIds={run.moduleIds}
+      viewerLayers={run.presentation.viewerLayers}
+      label={run.configurationLabel}
+    />
+  );
+}

apps/control-station/src/components/laboratory/CanonicalRecordedLabReplay.tsx

@@ -0,0 +1,265 @@
+import { useCallback, useEffect, useState, type ReactNode } from "react";
+import { SegmentedControl, SplitPane, type SplitPaneOrientation } from "@nodedc/ui-react";
+
+import { LaboratoryEvidenceViewer } from "./LaboratoryEvidenceViewer";
+
+export const CANONICAL_RECORDED_LAB_REPLAY_CONTRACT =
+  "missioncore.canonical-recorded-lab-replay/v1";
+
+export interface CanonicalRecordedLabMode<T extends string> {
+  value: T;
+  label: string;
+  disabled?: boolean;
+}
+
+/**
+ * The interaction contract from the accepted recorded-LAB instrument.
+ *
+ * Keeping pane selection, collapse semantics, responsive split orientation,
+ * expansion and splitter state here prevents individual experiments from
+ * quietly growing their own replay behaviour.  Experiments provide evidence
+ * layers; they do not reimplement the laboratory shell.
+ */
+export function useCanonicalRecordedLabReplayState<
+  TMedia extends string,
+  TSpatial extends string,
+>({
+  initialMediaMode,
+  initialSpatialMode,
+}: {
+  initialMediaMode: TMedia;
+  initialSpatialMode: TSpatial | null;
+}) {
+  const [mediaMode, setMediaMode] = useState<TMedia | null>(initialMediaMode);
+  const [spatialMode, setSpatialMode] = useState<TSpatial | null>(initialSpatialMode);
+  const [splitPrimarySize, setSplitPrimarySize] = useState(50);
+  const [splitOrientation, setSplitOrientation] = useState<SplitPaneOrientation>(() => (
+    typeof window !== "undefined" && window.matchMedia("(max-width: 900px)").matches
+      ? "horizontal"
+      : "vertical"
+  ));
+  const [expanded, setExpanded] = useState(false);
+
+  useEffect(() => {
+    const query = window.matchMedia("(max-width: 900px)");
+    const update = () => setSplitOrientation(query.matches ? "horizontal" : "vertical");
+    update();
+    query.addEventListener("change", update);
+    return () => query.removeEventListener("change", update);
+  }, []);
+
+  const onMediaModeChange = useCallback((next: TMedia | "none") => {
+    if (next === "none") return;
+    setMediaMode((current) => current === next ? null : next);
+  }, []);
+  const onSpatialModeChange = useCallback((next: TSpatial | "none") => {
+    if (next === "none") return;
+    setSpatialMode((current) => current === next ? null : next);
+  }, []);
+
+  return {
+    mediaMode,
+    spatialMode,
+    splitView: mediaMode !== null && spatialMode !== null,
+    splitPrimarySize,
+    splitOrientation,
+    expanded,
+    onMediaModeChange,
+    onSpatialModeChange,
+    onSplitPrimarySizeChange: setSplitPrimarySize,
+    onExpandedChange: setExpanded,
+  };
+}
+
+export function CanonicalRecordedLabReplay<
+  TMedia extends string,
+  TSpatial extends string,
+>({
+  label,
+  mediaMode,
+  mediaModes,
+  spatialMode,
+  spatialModes,
+  expanded,
+  splitPrimarySize,
+  splitOrientation,
+  mediaAriaLabel,
+  spatialAriaLabel,
+  mediaLayerControls,
+  spatialLayerControls,
+  spatialLeadingControl,
+  spatialTrailingControl,
+  mediaModeControlsVisible = true,
+  paneToolbarsAlwaysVisible = false,
+  mediaMultiLayer = false,
+  mediaContent,
+  spatialContent,
+  unifiedContent,
+  emptyMessage,
+  deckOverlays,
+  actions,
+  overlay,
+  transport,
+  trailingActions,
+  onMediaModeChange,
+  onSpatialModeChange,
+  onExpandedChange,
+  onSplitPrimarySizeChange,
+}: {
+  label: string;
+  mediaMode: TMedia;
+  mediaModes: readonly CanonicalRecordedLabMode<TMedia>[];
+  spatialMode: TSpatial;
+  spatialModes: readonly CanonicalRecordedLabMode<TSpatial>[];
+  expanded: boolean;
+  splitPrimarySize: number;
+  splitOrientation: SplitPaneOrientation;
+  mediaAriaLabel: string;
+  spatialAriaLabel: string;
+  mediaLayerControls?: ReactNode;
+  spatialLayerControls?: ReactNode;
+  spatialLeadingControl?: ReactNode;
+  spatialTrailingControl?: ReactNode;
+  mediaModeControlsVisible?: boolean;
+  /** Keeps renderer-local controls inside their viewport when only one pane is present. */
+  paneToolbarsAlwaysVisible?: boolean;
+  mediaMultiLayer?: boolean;
+  mediaContent?: ReactNode;
+  spatialContent?: ReactNode;
+  /** One upstream Rerun viewer owns both panes; this controlled split owns their shared geometry. */
+  unifiedContent?: ReactNode;
+  emptyMessage: string;
+  deckOverlays?: ReactNode;
+  actions?: ReactNode;
+  overlay?: ReactNode;
+  transport?: ReactNode;
+  trailingActions?: ReactNode;
+  onMediaModeChange: (mode: TMedia) => void;
+  onSpatialModeChange: (mode: TSpatial) => void;
+  onExpandedChange: (expanded: boolean) => void;
+  onSplitPrimarySizeChange: (size: number) => void;
+}) {
+  const splitView = mediaMode !== "none" && spatialMode !== "none";
+  const mediaModeControls = (
+    <div className="m4-replay-threat-visual__pane-mode-controls" data-pane-mode="media">
+      <SegmentedControl
+        value={mediaMode}
+        items={[...mediaModes]}
+        label="Видео и камера"
+        size="dense"
+        onChange={onMediaModeChange}
+      />
+    </div>
+  );
+  const spatialModeControls = (
+    <div className="m4-replay-threat-visual__pane-mode-controls" data-pane-mode="spatial">
+      <SegmentedControl
+        value={spatialMode}
+        items={[...spatialModes]}
+        label="3D и план"
+        size="dense"
+        onChange={onSpatialModeChange}
+      />
+    </div>
+  );
+  const mediaPane = (
+    <section
+      className="m4-replay-threat-visual__pane"
+      data-pane="media"
+      aria-label={mediaAriaLabel}
+      hidden={mediaMode === "none"}
+    >
+      {splitView || paneToolbarsAlwaysVisible ? (
+        <div
+          className="m4-replay-threat-visual__pane-toolbar"
+          data-pane-toolbar="media"
+          data-multi-semantic={mediaMultiLayer ? "true" : undefined}
+        >
+          {mediaLayerControls}
+          {mediaModeControlsVisible ? mediaModeControls : null}
+        </div>
+      ) : null}
+      {mediaContent}
+    </section>
+  );
+  const spatialPane = spatialMode !== "none" ? (
+    <section
+      className="m4-replay-threat-visual__pane"
+      data-pane="spatial"
+      aria-label={spatialAriaLabel}
+    >
+      {splitView || paneToolbarsAlwaysVisible ? (
+        <div
+          className="m4-replay-threat-visual__pane-toolbar"
+          data-pane-toolbar="spatial"
+        >
+          {spatialLeadingControl}
+          <div className="m4-replay-threat-visual__spatial-toolbar-end">
+            {spatialLayerControls}
+            {spatialModeControls}
+            {spatialTrailingControl}
+          </div>
+        </div>
+      ) : null}
+      {spatialContent}
+    </section>
+  ) : null;
+
+  return (
+    <div
+      className="l3-visual-audit m4-replay-threat-visual"
+      data-contract={CANONICAL_RECORDED_LAB_REPLAY_CONTRACT}
+    >
+      <LaboratoryEvidenceViewer
+        label={label}
+        className="m4-replay-threat-evidence-viewer"
+        mode={mediaMode}
+        modes={[...mediaModes]}
+        secondaryMode={{
+          value: spatialMode,
+          modes: [...spatialModes],
+          label: "3D и план",
+          onChange: onSpatialModeChange,
+        }}
+        expanded={expanded}
+        onModeChange={onMediaModeChange}
+        onExpandedChange={onExpandedChange}
+        modeControlsVisible={!splitView && !paneToolbarsAlwaysVisible}
+        actions={actions}
+        overlay={overlay}
+        transport={transport}
+        trailingActions={trailingActions}
+      >
+        <div
+          className="m4-replay-threat-visual__deck"
+          data-split={splitView ? "true" : undefined}
+          data-empty={mediaMode === "none" && spatialMode === "none" ? "true" : undefined}
+          data-native-rerun={unifiedContent ? "true" : undefined}
+        >
+          {unifiedContent ? (
+            <div className="m4-replay-threat-visual__unified-content">
+              {unifiedContent}
+            </div>
+          ) : null}
+          <SplitPane
+            primary={mediaPane}
+            secondary={spatialPane ?? <div />}
+            primarySize={splitView ? splitPrimarySize : mediaMode !== "none" ? 100 : 0}
+            onPrimarySizeChange={onSplitPrimarySizeChange}
+            orientation={splitOrientation}
+            minPrimarySize={splitView ? 24 : 0}
+            minSecondarySize={splitView ? 24 : 0}
+            resizable={splitView}
+            separatorLabel="Изменить размер видео/камеры и 3D/плана"
+          />
+          {mediaMode === "none" && spatialMode === "none" ? (
+            <div className="l3-visual-audit__state" role="status">
+              {emptyMessage}
+            </div>
+          ) : null}
+          {deckOverlays}
+        </div>
+      </LaboratoryEvidenceViewer>
+    </div>
+  );
+}

apps/control-station/src/components/laboratory/CanonicalResultRerunReplay.tsx

@@ -0,0 +1,525 @@
+import {
+  useCallback,
+  useEffect,
+  useMemo,
+  useRef,
+  useState,
+} from "react";
+import {
+  ActivityIndicator,
+  Button,
+  Checker,
+  ControlRow,
+  Icon,
+  IconButton,
+  Inspector,
+  InspectorSelectField,
+  RangeControl,
+  ToastStack,
+  Window,
+  type ToastItem,
+} from "@nodedc/ui-react";
+
+import { ObservationTimeline } from "../ObservationTimeline";
+import {
+  RerunViewport,
+  isRecordedPlaybackPresentationReady,
+  type RerunPlaybackController,
+  type RerunPlaybackState,
+  type RerunViewportStatus,
+} from "../RerunViewport";
+import {
+  CanonicalRecordedLabReplay,
+  useCanonicalRecordedLabReplayState,
+} from "../laboratory/CanonicalRecordedLabReplay";
+import type { CanonicalLabReplayDescriptor } from "../../core/laboratory/canonicalLabReplay";
+import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
+import { laboratoryResultRerunProfile } from "../../core/observation/viewerProfile";
+import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions";
+import type { AIViewerLayer } from "../../core/observatory/aiComposition";
+import {
+  fetchLabViewProfile,
+  saveLabViewProfile,
+} from "../../core/observatory/labViewProfile";
+import {
+  defaultSceneSettings,
+  type PointColorMode,
+  type PointPalette,
+  type SceneSettings,
+} from "../../sceneSettings";
+
+type MediaMode = "camera";
+type SpatialMode = "3d" | "plan";
+
+interface CanonicalReplayLaunch {
+  base: ObservationSessionReplayLaunch;
+  replay: CanonicalLabReplayDescriptor;
+}
+
+const RERUN_UNIFIED_CAMERA_SHARE_PERCENT = 46;
+const LAB_SCENE_SETTINGS_STORAGE_PREFIX = "missioncore.observatory.lab-scene-settings.v1:";
+const LAB_VIEW_PROFILE_ERROR_TOAST = "observatory-lab-view-profile-error";
+
+const COLOR_OPTIONS: readonly { value: PointColorMode; label: string }[] = [
+  { value: "intensity", label: "Интенсивность" },
+  { value: "height", label: "Высота Z" },
+  { value: "distance", label: "Дистанция" },
+  { value: "rgb", label: "RGB" },
+  { value: "class", label: "Класс" },
+];
+
+const PALETTE_OPTIONS: readonly { value: PointPalette; label: string }[] = [
+  { value: "turbo", label: "Turbo" },
+  { value: "viridis", label: "Viridis" },
+  { value: "plasma", label: "Plasma" },
+  { value: "grayscale", label: "Серый" },
+];
+
+const LAB_SCENE_DEFAULTS: SceneSettings = {
+  ...defaultSceneSettings,
+  pointSize: 3.8,
+  accumulationSeconds: 5,
+};
+
+export function normalizeLabSceneSettings(settings: SceneSettings): SceneSettings {
+  const pointSize = Number.isFinite(settings.pointSize) ? settings.pointSize : LAB_SCENE_DEFAULTS.pointSize;
+  const accumulationSeconds = Number.isFinite(settings.accumulationSeconds)
+    ? settings.accumulationSeconds : LAB_SCENE_DEFAULTS.accumulationSeconds;
+  return {
+    ...settings,
+    pointSize: Math.round(Math.max(0.1, pointSize) * 10) / 10,
+    accumulationSeconds: Math.round(Math.max(0, accumulationSeconds)),
+  };
+}
+
+function loadLabSceneSettings(resultId: string): SceneSettings {
+  if (typeof window === "undefined") return LAB_SCENE_DEFAULTS;
+  try {
+    const raw = window.localStorage.getItem(`${LAB_SCENE_SETTINGS_STORAGE_PREFIX}${resultId}`);
+    if (raw === null) return LAB_SCENE_DEFAULTS;
+    const value: unknown = JSON.parse(raw);
+    if (typeof value !== "object" || value === null || Array.isArray(value)) return LAB_SCENE_DEFAULTS;
+    const row = value as Record<string, unknown>;
+    const pointSize = row.pointSize;
+    const accumulationSeconds = row.accumulationSeconds;
+    const colorMode = row.colorMode;
+    const palette = row.palette;
+    const showGrid = row.showGrid;
+    const showLabels = row.showLabels;
+    const showCameraFrustums = row.showCameraFrustums;
+    if (
+      typeof pointSize !== "number" || !Number.isFinite(pointSize) || pointSize < 0.1
+      || typeof accumulationSeconds !== "number" || !Number.isFinite(accumulationSeconds)
+      || accumulationSeconds < 0
+      || !COLOR_OPTIONS.some((option) => option.value === colorMode)
+      || !PALETTE_OPTIONS.some((option) => option.value === palette)
+      || typeof showGrid !== "boolean"
+      || typeof showLabels !== "boolean"
+      || typeof showCameraFrustums !== "boolean"
+    ) return LAB_SCENE_DEFAULTS;
+    return {
+      ...LAB_SCENE_DEFAULTS,
+      pointSize,
+      accumulationSeconds,
+      colorMode: colorMode as PointColorMode,
+      palette: palette as PointPalette,
+      showGrid,
+      showLabels,
+      showCameraFrustums,
+    };
+  } catch {
+    return LAB_SCENE_DEFAULTS;
+  }
+}
+
+export function CanonicalResultRerunReplay({
+  resultId,
+  sessionId,
+  initialPlaybackStartSeconds,
+  resolveReplay,
+  semantics = false,
+  detections = false,
+  costmap = false,
+  moduleIds = [],
+  viewerLayers = [],
+  label = "Сохранённый результат",
+}: {
+  resultId: string;
+  sessionId: string;
+  initialPlaybackStartSeconds?: number;
+  resolveReplay: (resultId: string, launch: ObservationSessionReplayLaunch, options: { signal: AbortSignal }) => Promise<CanonicalLabReplayDescriptor>;
+  semantics?: boolean;
+  detections?: boolean;
+  costmap?: boolean;
+  portable?: boolean;
+  moduleIds?: readonly string[];
+  viewerLayers?: readonly AIViewerLayer[];
+  label?: string;
+}) {
+  const {
+    mediaMode,
+    spatialMode,
+    splitPrimarySize,
+    splitOrientation,
+    expanded,
+    onMediaModeChange,
+    onSpatialModeChange,
+    onSplitPrimarySizeChange,
+    onExpandedChange,
+  } = useCanonicalRecordedLabReplayState<MediaMode, SpatialMode>({
+    initialMediaMode: "camera",
+    initialSpatialMode: "3d",
+  });
+  const layerIds = useMemo(
+    () => new Set(viewerLayers.map((layer) => layer.layerId)),
+    [viewerLayers],
+  );
+  const hasProjectedLayers = viewerLayers.length > 0;
+  const hasDDRNet = layerIds.has("camera.ddrnet")
+    || (!hasProjectedLayers && semantics && moduleIds.includes("ddrnet"));
+  const hasEoMT = layerIds.has("camera.eomt")
+    || (!hasProjectedLayers && semantics && moduleIds.includes("eomt"));
+  const hasFallbackSemantics = semantics && !hasDDRNet && !hasEoMT;
+  const hasDetections = layerIds.has("camera.detections") || (!hasProjectedLayers && detections);
+  const hasTgs = layerIds.has("spatial.tgs") || (!hasProjectedLayers && costmap);
+  const legacyUnclassified = !hasProjectedLayers
+    && moduleIds.length === 0
+    && !semantics
+    && !detections
+    && !costmap;
+  const hasCameraPane = layerIds.has("camera.source")
+    || (!hasProjectedLayers && (legacyUnclassified || semantics || detections));
+  const hasSourcePoints = layerIds.has("spatial.source-points")
+    || (!hasProjectedLayers && (legacyUnclassified || costmap || moduleIds.includes("object-distance")));
+  const hasLocalSlam = layerIds.has("spatial.local-slam")
+    || (!hasProjectedLayers && (legacyUnclassified || costmap || moduleIds.includes("object-distance")));
+  const hasSpatialPane = hasSourcePoints || hasLocalSlam || hasTgs;
+  const splitView = hasCameraPane && hasSpatialPane;
+
+  const [showCamera, setShowCamera] = useState(true);
+  const [showDDRNet, setShowDDRNet] = useState(hasDDRNet || hasFallbackSemantics);
+  const [showEoMT, setShowEoMT] = useState(hasEoMT);
+  const [showDetections, setShowDetections] = useState(hasDetections);
+  const [showSourcePoints, setShowSourcePoints] = useState(hasSourcePoints);
+  const [showLocalSlam, setShowLocalSlam] = useState(hasLocalSlam);
+  const [showTgs, setShowTgs] = useState(hasTgs);
+  const [followTarget, setFollowTarget] = useState(false);
+  const [settingsOpen, setSettingsOpen] = useState(false);
+  const [sceneDraft, setSceneDraft] = useState<SceneSettings>(() => loadLabSceneSettings(resultId));
+  const [blueprintSplitPrimarySize, setBlueprintSplitPrimarySize] = useState(
+    RERUN_UNIFIED_CAMERA_SHARE_PERCENT,
+  );
+  const [toasts, setToasts] = useState<ToastItem[]>([]);
+  const [viewResetGeneration, setViewResetGeneration] = useState<0 | 1>(hasTgs ? 1 : 0);
+  const [playback, setPlayback] = useState<RerunPlaybackState | null>(null);
+  const [playbackController, setPlaybackController] = useState<RerunPlaybackController | null>(null);
+  const [viewerStatus, setViewerStatus] = useState<RerunViewportStatus>("idle");
+  const [launch, setLaunch] = useState<CanonicalReplayLaunch | null>(null);
+  const [launchError, setLaunchError] = useState<string | null>(null);
+  const sceneDraftRef = useRef(sceneDraft);
+  const previousSplitViewRef = useRef(splitView);
+  const trackedLaunchSha256Ref = useRef<string | null>(null);
+
+  useEffect(() => {
+    const launchSha256 = launch?.replay.sha256 ?? null;
+    if (trackedLaunchSha256Ref.current !== launchSha256 || (splitView && !previousSplitViewRef.current)) {
+      onSplitPrimarySizeChange(RERUN_UNIFIED_CAMERA_SHARE_PERCENT);
+      setBlueprintSplitPrimarySize(RERUN_UNIFIED_CAMERA_SHARE_PERCENT);
+    }
+    trackedLaunchSha256Ref.current = launchSha256;
+    previousSplitViewRef.current = splitView;
+  }, [launch?.replay.sha256, onSplitPrimarySizeChange, splitView]);
+
+  useEffect(() => {
+    if (!splitView) return;
+    const timer = window.setTimeout(() => setBlueprintSplitPrimarySize(splitPrimarySize), 75);
+    return () => window.clearTimeout(timer);
+  }, [splitPrimarySize, splitView]);
+
+  useEffect(() => {
+    try {
+      window.localStorage.setItem(
+        `${LAB_SCENE_SETTINGS_STORAGE_PREFIX}${resultId}`,
+        JSON.stringify({
+          pointSize: sceneDraft.pointSize,
+          accumulationSeconds: sceneDraft.accumulationSeconds,
+          colorMode: sceneDraft.colorMode,
+          palette: sceneDraft.palette,
+          showGrid: sceneDraft.showGrid,
+          showLabels: sceneDraft.showLabels,
+          showCameraFrustums: sceneDraft.showCameraFrustums,
+        }),
+      );
+    } catch {
+      // The visual remains usable when the browser refuses local persistence.
+    }
+  }, [resultId, sceneDraft]);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    void fetchLabViewProfile(resultId, controller.signal).then((settings) => {
+      if (!controller.signal.aborted && settings) {
+        sceneDraftRef.current = settings;
+        setSceneDraft(settings);
+      }
+    }).catch(() => {
+      // The per-browser copy remains a usable fallback while the local service recovers.
+    });
+    return () => controller.abort();
+  }, [resultId]);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setLaunch(null);
+    setLaunchError(null);
+    setPlayback(null);
+    setPlaybackController(null);
+    setViewerStatus("idle");
+    void resolveObservationSessionReplay(sessionId, {
+      signal: controller.signal,
+      maximumWaitMs: 30 * 60 * 1000,
+      onUpdate: () => undefined,
+    }).then(async (value) => ({
+      base: value,
+      replay: await resolveReplay(resultId, value, { signal: controller.signal }),
+    })).then((value) => {
+      if (!controller.signal.aborted) setLaunch(value);
+    }).catch((caught: unknown) => {
+      if (!controller.signal.aborted) {
+        setLaunchError(caught instanceof Error ? caught.message : "Сохранённая запись недоступна.");
+      }
+    });
+    return () => controller.abort();
+  }, [resultId, sessionId, resolveReplay]);
+
+  const presentationReady = playbackController !== null
+    && isRecordedPlaybackPresentationReady(viewerStatus, playback);
+  const presentationState = launchError || viewerStatus === "error"
+    ? "error"
+    : presentationReady ? "ready" : "loading";
+  const sceneSettings = useMemo<SceneSettings>(() => ({
+    ...sceneDraft,
+    projection: spatialMode === "plan" ? "2d" : "3d",
+    showPoints: spatialMode !== null && (showSourcePoints || showLocalSlam),
+    showTrajectory: spatialMode !== null && showLocalSlam,
+    accumulationSeconds: showLocalSlam ? sceneDraft.accumulationSeconds : 0,
+  }), [sceneDraft, showLocalSlam, showSourcePoints, spatialMode]);
+  const semanticVisible = showDDRNet || showEoMT;
+  const profile = launch ? laboratoryResultRerunProfile({
+    resultId,
+    sourceUrl: launch.replay.sourceUrl,
+    artifact: {
+      sourceUrl: launch.replay.sourceUrl,
+      viewerSourceUrl: launch.replay.viewerSourceUrl,
+      byteLength: launch.replay.byteLength,
+      sha256: launch.replay.sha256,
+    },
+    blueprintSourceUrl: launch.replay.blueprintSourceUrl,
+    autoplayWhenReady: false,
+    presentationGate: "ready",
+    expectedTimelineStartSeconds: launch.base.timelineStartSeconds,
+    expectedTimelineEndSeconds: launch.base.timelineEndSeconds,
+    initialPlaybackStartSeconds: initialPlaybackStartSeconds
+      ?? ((launch.base.mediaSources[0]?.timelineStartSeconds ?? launch.base.timelineStartSeconds)
+        + (hasTgs ? 0.000001 : 0)),
+    view: hasCameraPane && !hasSpatialPane ? "perception" : "spatial",
+    viewResetGeneration,
+    followTrajectory: followTarget,
+    semanticLayer: showEoMT ? "city" : "vegetation",
+    unifiedPerception: splitView,
+    unifiedCameraShare: blueprintSplitPrimarySize / 100,
+    planView: spatialMode === "plan",
+    perceptionLayers: {
+      enabled: true,
+      cameraImage: showCamera,
+      detections2d: hasDetections && showDetections,
+      segmentation: semantics && semanticVisible,
+      cuboids3d: false,
+      costmap: hasTgs && showTgs,
+    },
+    perceptionRetryGeneration: 0,
+    lockPerceptionCameraInteraction: false,
+  }) : null;
+
+  const toggle = (caption: string, active: boolean, onClick: () => void) => (
+    <Button key={caption} size="dense" shape="pill" variant={active ? "primary" : "secondary"}
+      aria-pressed={active} onClick={onClick}>
+      {caption}
+    </Button>
+  );
+  const openSlamSettings = useCallback(() => {
+    if (expanded) onExpandedChange(false);
+    setSettingsOpen(true);
+  }, [expanded, onExpandedChange]);
+  const patchSceneDraft = useCallback((patch: Partial<SceneSettings>) => {
+    const next = { ...sceneDraftRef.current, ...patch };
+    sceneDraftRef.current = next;
+    setSceneDraft(next);
+  }, []);
+  const closeSlamSettings = useCallback(() => {
+    const next = normalizeLabSceneSettings(sceneDraftRef.current);
+    sceneDraftRef.current = next;
+    setSceneDraft(next);
+    setSettingsOpen(false);
+    void saveLabViewProfile(resultId, next).then((settings) => {
+      sceneDraftRef.current = settings;
+      setSceneDraft(settings);
+      setToasts((current) => current.filter(({ id }) => id !== LAB_VIEW_PROFILE_ERROR_TOAST));
+    }).catch(() => {
+      setToasts((current) => [
+        ...current.filter(({ id }) => id !== LAB_VIEW_PROFILE_ERROR_TOAST),
+        {
+          id: LAB_VIEW_PROFILE_ERROR_TOAST,
+          tone: "error",
+          title: "Настройки LAB не сохранились",
+          description: "Изменения остались в текущем просмотре. Откройте настройки и повторите.",
+        },
+      ]);
+    });
+  }, [resultId]);
+  const mediaLayerControls = (
+    <div className="m4-replay-threat-visual__pane-layer-controls" role="group" aria-label="Слои камеры">
+      {toggle("КАМЕРА", showCamera, () => setShowCamera((value) => !value))}
+      {hasEoMT ? toggle("EOMT", showEoMT, () => setShowEoMT((value) => !value)) : null}
+      {hasDDRNet || hasFallbackSemantics
+        ? toggle("DDRNET", showDDRNet, () => setShowDDRNet((value) => !value)) : null}
+      {hasDetections
+        ? toggle("РАМКИ", showDetections, () => setShowDetections((value) => !value)) : null}
+    </div>
+  );
+  const spatialLayerControls = (
+    <div className="m4-replay-threat-visual__pane-layer-controls" role="group" aria-label="Слои облака точек">
+      {hasSourcePoints
+        ? toggle("ИСХ. ТОЧКИ", showSourcePoints, () => setShowSourcePoints((value) => !value)) : null}
+      {hasLocalSlam ? (
+        <div className="m4-replay-threat-visual__layer-with-settings">
+          {toggle("ЛОК. SLAM", showLocalSlam, () => setShowLocalSlam((value) => !value))}
+          <IconButton label="Настройки облака SLAM" onClick={openSlamSettings}>
+            <Icon name="settings" size={14} />
+          </IconButton>
+        </div>
+      ) : null}
+      {hasTgs ? toggle("TGS", showTgs, () => setShowTgs((value) => !value)) : null}
+    </div>
+  );
+  const followTargetControl = toggle(
+    "СЛЕДОВАТЬ",
+    followTarget,
+    () => setFollowTarget((value) => !value),
+  );
+  const resetSpatialView = (
+    <IconButton label="Сбросить положение видов"
+      onClick={() => setViewResetGeneration((value) => value === 0 ? 1 : 0)}>
+      <Icon name="refresh" size={16} />
+    </IconButton>
+  );
+
+  const transport = presentationReady && playback && playbackController ? (
+    <ObservationTimeline
+      className="m4-replay-threat-visual__timeline canonical-vegetation-rerun-replay__timeline"
+      active
+      sourceCount={3}
+      mode="recorded"
+      seekable
+      synchronization="shared-clock"
+      rangeNs={playback.rangeNs}
+      currentNs={playback.currentNs}
+      playing={playback.playing}
+      onSeek={playbackController.seek}
+      onPlayingChange={playbackController.setPlaying}
+      showJumpToEnd={false}
+    />
+  ) : undefined;
+
+  return (
+    <div className="canonical-vegetation-rerun-replay" data-presentation-state={presentationState}
+      aria-busy={presentationState === "loading"}>
+      <CanonicalRecordedLabReplay
+        label={label}
+        mediaMode={hasCameraPane ? mediaMode ?? "camera" : "none"}
+        mediaModes={[{ value: "camera", label: "КАМЕРА" }]}
+        spatialMode={hasSpatialPane ? spatialMode ?? "3d" : "none"}
+        spatialModes={[{ value: "3d", label: "3D" }, { value: "plan", label: "ПЛАН" }]}
+        expanded={expanded}
+        splitPrimarySize={splitPrimarySize}
+        splitOrientation={splitView ? "vertical" : splitOrientation}
+        mediaAriaLabel="Камера и рассчитанные слои"
+        spatialAriaLabel={spatialMode === "plan" ? "Вид сверху" : "Трёхмерная сцена"}
+        mediaLayerControls={mediaLayerControls}
+        spatialLayerControls={spatialLayerControls}
+        spatialTrailingControl={followTargetControl}
+        mediaModeControlsVisible={false}
+        paneToolbarsAlwaysVisible
+        mediaMultiLayer
+        actions={resetSpatialView}
+        unifiedContent={profile ? (
+          <div className="canonical-vegetation-rerun-replay__viewport-lock"
+            data-split-view={splitView ? "true" : undefined}>
+            <RerunViewport profile={profile} sceneSettings={sceneSettings}
+              onStatusChange={setViewerStatus} onPlaybackChange={setPlayback}
+              onPlaybackControllerChange={setPlaybackController} />
+          </div>
+        ) : launchError ? (
+          <div className="l3-visual-audit__state" role="alert">{launchError}</div>
+        ) : <div aria-hidden="true" />}
+        emptyMessage="Слои результата недоступны."
+        deckOverlays={presentationState === "loading" ? (
+          <div className="canonical-vegetation-rerun-replay__loading">
+            <ActivityIndicator label="Загружаем синхронизированную запись" />
+          </div>
+        ) : undefined}
+        transport={transport}
+        onMediaModeChange={onMediaModeChange}
+        onSpatialModeChange={onSpatialModeChange}
+        onExpandedChange={onExpandedChange}
+        onSplitPrimarySizeChange={onSplitPrimarySizeChange}
+      />
+      <Window open={settingsOpen} title="Отображение" subtitle="Параметры облака SLAM"
+        placement="end" size="sm" onClose={closeSlamSettings}>
+        <Inspector defaultOpen={["points"]} sections={[
+          {
+            id: "points",
+            label: "Облако точек",
+            description: "Размер и способ окрашивания",
+            content: <>
+              <RangeControl label="Размер точки" min={0.1} max={10} step={0.1}
+                exactValueBounds={{ min: 0.1 }}
+                value={sceneDraft.pointSize} formatValue={(value) => `${value.toFixed(1)} пкс`}
+                onChange={(pointSize) => patchSceneDraft({ pointSize })} />
+              <InspectorSelectField label="Атрибут цвета" value={sceneDraft.colorMode}
+                options={[...COLOR_OPTIONS]}
+                onChange={(colorMode) => patchSceneDraft({ colorMode })} />
+              <InspectorSelectField label="Палитра" value={sceneDraft.palette}
+                options={[...PALETTE_OPTIONS]}
+                onChange={(palette) => patchSceneDraft({ palette })} />
+            </>,
+          },
+          {
+            id: "history",
+            label: "Накопление и время",
+            description: "История облака и траектория",
+            content: <RangeControl label="Накопление" min={0} max={500} step={1}
+              exactValueBounds={{ min: 0 }}
+              value={sceneDraft.accumulationSeconds} formatValue={(value) => `${value} с`}
+              onChange={(accumulationSeconds) => patchSceneDraft({ accumulationSeconds })} />,
+          },
+          {
+            id: "environment",
+            label: "Окружение сцены",
+            description: "Сетка, подписи и камеры",
+            content: <>
+              <ControlRow label="Сетка"><Checker checked={sceneDraft.showGrid} label="Показывать"
+                onChange={(showGrid) => patchSceneDraft({ showGrid })} /></ControlRow>
+              <ControlRow label="Подписи"><Checker checked={sceneDraft.showLabels} label="Показывать"
+                onChange={(showLabels) => patchSceneDraft({ showLabels })} /></ControlRow>
+              <ControlRow label="Камеры"><Checker checked={sceneDraft.showCameraFrustums} label="Показывать"
+                onChange={(showCameraFrustums) => patchSceneDraft({ showCameraFrustums })} /></ControlRow>
+            </>,
+          },
+        ]} />
+      </Window>
+      <ToastStack items={toasts}
+        onDismiss={(id) => setToasts((current) => current.filter((item) => item.id !== id))} />
+    </div>
+  );
+}

apps/control-station/src/components/laboratory/CanonicalVegetationRerunReplay.tsx

@@ -0,0 +1,12 @@
+import { CanonicalResultRerunReplay } from "./CanonicalResultRerunReplay";
+import { resolveCanonicalLabReplay } from "../../core/laboratory/canonicalLabReplay";
+import type { VegetationFullRouteReview } from "../../core/laboratory/vegetationShadow";
+
+export function CanonicalVegetationRerunReplay({ resultId, review }: {
+  resultId: string;
+  review: VegetationFullRouteReview;
+}) {
+  return <CanonicalResultRerunReplay resultId={resultId} sessionId={review.sessionId}
+    initialPlaybackStartSeconds={review.timelineStartSeconds} semantics
+    resolveReplay={resolveCanonicalLabReplay} label="RAVNOVES004TREE · канонический повтор Rerun" />;
+}

apps/control-station/src/components/laboratory/LaboratoryPresentation.tsx

@@ -53,7 +53,7 @@ export const LABORATORY_REPORT_TEMPLATE_VERSION =
 
 const EXECUTION_LABELS: Record<LaboratoryExecutionClass, string> = {
   deterministic: "Детерминированный",
-  "ai-inference": "AI inference",
+  "ai-inference": "AI Inference",
   hybrid: "Гибридный",
 };
 

apps/control-station/src/components/laboratory/LaboratoryRecordedClipPlayer.tsx

@@ -59,6 +59,16 @@ export function laboratoryRecordedClipEndExclusiveNs(
   return last.sourceTimeNs + typicalDelta;
 }
 
+export function laboratoryRecordedClipClockGate(
+  pendingSequence: number | null,
+  observedSequence: number,
+): { accept: boolean; pendingSequence: number | null } {
+  if (pendingSequence !== null && pendingSequence !== observedSequence) {
+    return { accept: false, pendingSequence };
+  }
+  return { accept: true, pendingSequence: null };
+}
+
 export function LaboratoryRecordedClipPlayer({
   source,
   segmentCount,
@@ -94,7 +104,8 @@ export function LaboratoryRecordedClipPlayer({
 }) {
   const [companionSpatialSize, setCompanionSpatialSize] = useState(69);
   const lastEmittedSequenceRef = useRef(sequence);
-  lastEmittedSequenceRef.current = sequence;
+  const lastObservedSequenceRef = useRef<number | null>(sequence);
+  const pendingSequenceRef = useRef<number | null>(null);
   const frame = useMemo(
     () => frames.find((candidate) => candidate.sequence === sequence) ?? frames[0] ?? null,
     [frames, sequence],
@@ -113,23 +124,42 @@ export function LaboratoryRecordedClipPlayer({
     if (!continuousPlayback && playing) onPlayingChange(false);
   }, [continuousPlayback, onPlayingChange, playing]);
 
+  useEffect(() => {
+    if (lastObservedSequenceRef.current !== sequence) {
+      pendingSequenceRef.current = sequence;
+    }
+    lastEmittedSequenceRef.current = sequence;
+  }, [sequence]);
+
   const emitSequence = useCallback((nextSequence: number) => {
     if (lastEmittedSequenceRef.current === nextSequence) return;
     lastEmittedSequenceRef.current = nextSequence;
     onSequenceChange(nextSequence);
   }, [onSequenceChange]);
 
+  const requestSequence = useCallback((nextSequence: number) => {
+    pendingSequenceRef.current = nextSequence;
+    emitSequence(nextSequence);
+  }, [emitSequence]);
+
   const handlePlaybackChange = useCallback((next: RecordedObservationPlayback) => {
     const sourceTimeNs = Math.round(next.currentSeconds * 1_000_000_000);
     const first = frames[0];
     if (!first || endExclusiveNs === null) return;
     if (sourceTimeNs >= endExclusiveNs) {
-      emitSequence(first.sequence);
+      requestSequence(first.sequence);
       return;
     }
     const nearest = nearestLaboratoryRecordedClipFrame(frames, sourceTimeNs);
-    if (nearest) emitSequence(nearest.sequence);
-  }, [emitSequence, endExclusiveNs, frames]);
+    if (!nearest) return;
+    lastObservedSequenceRef.current = nearest.sequence;
+    const gate = laboratoryRecordedClipClockGate(
+      pendingSequenceRef.current,
+      nearest.sequence,
+    );
+    pendingSequenceRef.current = gate.pendingSequence;
+    if (gate.accept) emitSequence(nearest.sequence);
+  }, [emitSequence, endExclusiveNs, frames, requestSequence]);
 
   const timelineStart = frames[0]?.sourceTimeNs ?? 0;
   const timelineEnd = frames.at(-1)?.sourceTimeNs ?? timelineStart + 1;
@@ -142,7 +172,7 @@ export function LaboratoryRecordedClipPlayer({
       className="laboratory-recorded-clip-player__spatial"
       aria-hidden={cameraPresentation === "primary"}
     >
-      {cameraPresentation !== "primary" ? alternativeScene : null}
+      {alternativeScene}
     </div>
   );
   const cameraPane = (
@@ -202,7 +232,7 @@ export function LaboratoryRecordedClipPlayer({
         onPlayingChange={continuousPlayback ? onPlayingChange : undefined}
         onSeek={(timeNs) => {
           const nearest = nearestLaboratoryRecordedClipFrame(frames, timeNs);
-          if (nearest) emitSequence(nearest.sequence);
+          if (nearest) requestSequence(nearest.sequence);
         }}
         showJumpToEnd={false}
       />

apps/control-station/src/components/laboratory/PortableResultReplay.tsx

@@ -0,0 +1,51 @@
+import { GlassSurface } from "@nodedc/ui-react";
+import { CanonicalResultRerunReplay } from "./CanonicalResultRerunReplay";
+import { resolveCanonicalLabReplay } from "../../core/laboratory/canonicalLabReplay";
+import type { ObservatoryPortableResultReview } from "../../core/observatory/recordedRun";
+import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
+
+function resolvePortableTgsReplay(resultId: string, launch: ObservationSessionReplayLaunch,
+  options: { signal: AbortSignal }) {
+  return resolveCanonicalLabReplay(resultId, launch, { ...options, sourceKind: "portable-tgs" });
+}
+
+function resolvePortableSemanticReplay(resultId: string, launch: ObservationSessionReplayLaunch,
+  options: { signal: AbortSignal }) {
+  return resolveCanonicalLabReplay(resultId, launch, { ...options, sourceKind: "portable-semantic" });
+}
+
+function resolvePortableObjectReplay(resultId: string, launch: ObservationSessionReplayLaunch,
+  options: { signal: AbortSignal }) {
+  return resolveCanonicalLabReplay(resultId, launch, { ...options, sourceKind: "portable-objects" });
+}
+
+export function PortableResultReplay({
+  review,
+  label,
+}: {
+  review: ObservatoryPortableResultReview;
+  label?: string;
+}) {
+  const schema = review.resultDocument.schema_version;
+  const tgs = schema === "missioncore.recorded-tgs-costmap-review/v2";
+  const module = review.resultDocument.module;
+  const moduleId = module && typeof module === "object" && "module_id" in module
+    ? module.module_id : undefined;
+  const semantics = schema === "missioncore.recorded-eomt-ddrnet-review/v2"
+    || (schema === "missioncore.recorded-ai-layer-review/v1"
+      && (moduleId === "ddrnet" || moduleId === "eomt"));
+  const objects = schema === "missioncore.recorded-ai-layer-review/v1"
+    && (moduleId === "rf-detr" || moduleId === "object-distance");
+  if (!tgs && !semantics && !objects) return (
+    <GlassSurface className="observatory-replay-state" padding="lg">
+      <p role="alert">Сохранённый результат этого профиля пока не поддерживает визуальный разбор.</p>
+    </GlassSurface>
+  );
+  return <CanonicalResultRerunReplay key={review.resultId} resultId={review.resultId}
+      sessionId={review.sourceSessionId} portable costmap={tgs} semantics={semantics}
+      detections={objects}
+      moduleIds={typeof moduleId === "string" ? [moduleId] : []}
+      label={label}
+      resolveReplay={tgs ? resolvePortableTgsReplay
+        : objects ? resolvePortableObjectReplay : resolvePortableSemanticReplay} />;
+}

apps/control-station/src/components/laboratory/RecordedEvidenceVideoScene.tsx

@@ -1,8 +1,11 @@
+import { useEffect, useState } from "react";
+
 import {
   RecordedFmp4Player,
   type RecordedObservationPlayback,
 } from "../RecordedFmp4Player";
 import type { ObservationSourceDescriptor } from "../../core/runtime/contracts";
+import type { RecordedCameraAdmissionState } from "../../core/observation/recordedSessionAdmission";
 import {
   RecordedEvidenceBoxOverlay,
   type RecordedEvidenceBox,
@@ -25,6 +28,7 @@ export function RecordedEvidenceVideoScene({
   imageWidth,
   imageHeight,
   boxes,
+  overlaySeconds,
   semanticOverlay,
   pointCloudOverlay,
   ariaLabel,
@@ -33,12 +37,17 @@ export function RecordedEvidenceVideoScene({
   segmentCount,
   onPlaybackChange,
   onPlayingRejected,
+  onAdmissionChange,
+  playbackAuthority = "media",
+  playbackTransport = "segmented",
+  recoverTimestampStalls = false,
 }: {
   source: ObservationSourceDescriptor;
   playback: RecordedObservationPlayback;
   imageWidth: number;
   imageHeight: number;
   boxes: readonly RecordedEvidenceBox[];
+  overlaySeconds?: number;
   semanticOverlay?: RecordedEvidenceSemanticOverlay;
   pointCloudOverlay?: RecordedEvidencePointCloudOverlayData;
   ariaLabel: string;
@@ -47,7 +56,41 @@ export function RecordedEvidenceVideoScene({
   segmentCount?: number;
   onPlaybackChange?: (playback: RecordedObservationPlayback) => void;
   onPlayingRejected?: () => void;
+  onAdmissionChange?: (state: RecordedCameraAdmissionState) => void;
+  playbackAuthority?: "media" | "host";
+  playbackTransport?: "segmented" | "epoch-stream";
+  recoverTimestampStalls?: boolean;
 }) {
+  const generation = source.delivery?.kind === "recorded-fmp4-manifest"
+    ? source.delivery.manifestGenerationSha256
+    : "invalid";
+  const [admissionPhase, setAdmissionPhase] = useState<RecordedCameraAdmissionState["phase"]>(
+    "loading",
+  );
+  const [presentedSeconds, setPresentedSeconds] = useState<number | null>(null);
+  useEffect(() => {
+    setAdmissionPhase("loading");
+    setPresentedSeconds(null);
+  }, [generation, source.id]);
+  const handleAdmissionChange = (next: RecordedCameraAdmissionState) => {
+    setAdmissionPhase(next.phase);
+    onAdmissionChange?.(next);
+  };
+  const sourceReady = admissionPhase === "ready";
+  const overlaysPresented = sourceReady
+    && presentedSeconds !== null
+    && Math.abs(presentedSeconds - playback.currentSeconds) <= 0.25
+    && (overlaySeconds === undefined || Math.abs(presentedSeconds - overlaySeconds) <= 0.25);
+  const handlePlaybackChange = (next: RecordedObservationPlayback) => {
+    setPresentedSeconds(next.currentSeconds);
+    // During a paused operator seek the existing media element can emit its old
+    // timestamp while the requested MSE window is being rebuilt. That stale
+    // callback must not undo the host target before the decoder reaches it.
+    if (!playback.playing && Math.abs(next.currentSeconds - playback.currentSeconds) > 0.35) {
+      return;
+    }
+    onPlaybackChange?.(next);
+  };
   return (
     <div className="recorded-evidence-video-scene">
       <RecordedFmp4Player
@@ -57,29 +100,35 @@ export function RecordedEvidenceVideoScene({
         prepare
         segmentSequence={segmentSequence}
         segmentCount={segmentCount}
-        onPlaybackChange={onPlaybackChange}
+        onPlaybackChange={handlePlaybackChange}
         onPlayingRejected={onPlayingRejected}
+        onAdmissionChange={handleAdmissionChange}
+        playbackAuthority={playbackAuthority}
+        playbackTransport={playbackTransport}
+        recoverTimestampStalls={recoverTimestampStalls}
       />
-      {semanticOverlay ? (
+      {overlaysPresented && semanticOverlay ? (
         <RecordedEvidenceSemanticMaskOverlay
           {...semanticOverlay}
           imageWidth={imageWidth}
           imageHeight={imageHeight}
         />
       ) : null}
-      {pointCloudOverlay ? (
+      {overlaysPresented && pointCloudOverlay ? (
         <RecordedEvidencePointCloudOverlay
           imageWidth={imageWidth}
           imageHeight={imageHeight}
           overlay={pointCloudOverlay}
         />
       ) : null}
-      <RecordedEvidenceBoxOverlay
-        imageWidth={imageWidth}
-        imageHeight={imageHeight}
-        boxes={boxes}
-        ariaLabel={ariaLabel}
-      />
+      {overlaysPresented ? (
+        <RecordedEvidenceBoxOverlay
+          imageWidth={imageWidth}
+          imageHeight={imageHeight}
+          boxes={boxes}
+          ariaLabel={ariaLabel}
+        />
+      ) : null}
     </div>
   );
 }

apps/control-station/src/components/laboratory/useCanonicalRecordedLabSpatialFrame.ts

@@ -0,0 +1,116 @@
+import { useEffect, useRef, useState } from "react";
+
+import {
+  fetchCanonicalRecordedLabSpatialFrame,
+  type CanonicalRecordedLabSpatialFrame,
+} from "../../core/laboratory/canonicalRecordedLabSpatial";
+
+const FRAME_CACHE_LIMIT = 12;
+
+/**
+ * Shared latest-request-wins scheduler for recorded LAB spatial evidence.
+ *
+ * A feature supplies only the sealed session identity and host-clock time.
+ * Cache ownership, identity fencing and stale-response suppression remain in
+ * the canonical instrument instead of being reimplemented per experiment.
+ */
+export function useCanonicalRecordedLabSpatialFrame({
+  sessionId,
+  generationSha256,
+  targetTimeNs,
+}: {
+  sessionId: string;
+  generationSha256: string | null;
+  targetTimeNs: number;
+}) {
+  const [frame, setFrame] = useState<CanonicalRecordedLabSpatialFrame | null>(null);
+  const [error, setError] = useState<string | null>(null);
+  const desiredRef = useRef<number | null>(null);
+  const runningRef = useRef(false);
+  const mountedRef = useRef(true);
+  const identityRef = useRef("");
+  const cacheRef = useRef(new Map<number, CanonicalRecordedLabSpatialFrame>());
+  const pumpRef = useRef<() => void>(() => undefined);
+  const identity = `${sessionId}:${generationSha256 ?? "unavailable"}`;
+  identityRef.current = identity;
+
+  pumpRef.current = () => {
+    if (runningRef.current || desiredRef.current === null || !generationSha256) return;
+    runningRef.current = true;
+    const requestIdentity = identity;
+    let settledTimeNs: number | null = null;
+    void (async () => {
+      while (
+        mountedRef.current
+        && identityRef.current === requestIdentity
+        && desiredRef.current !== null
+      ) {
+        const requestedTimeNs = desiredRef.current;
+        const cached = cacheRef.current.get(requestedTimeNs);
+        try {
+          const next = cached ?? await fetchCanonicalRecordedLabSpatialFrame(
+            sessionId,
+            generationSha256,
+            requestedTimeNs,
+          );
+          if (!mountedRef.current || identityRef.current !== requestIdentity) break;
+          if (!cached) {
+            cacheRef.current.set(requestedTimeNs, next);
+            while (cacheRef.current.size > FRAME_CACHE_LIMIT) {
+              const oldest = cacheRef.current.keys().next().value as number | undefined;
+              if (oldest === undefined) break;
+              cacheRef.current.delete(oldest);
+            }
+          }
+          setFrame(next);
+          setError(null);
+        } catch (caught: unknown) {
+          if (!mountedRef.current || identityRef.current !== requestIdentity) break;
+          setError(caught instanceof Error
+            ? caught.message
+            : "Spatial-слои записанной LAB недоступны.");
+        }
+        settledTimeNs = requestedTimeNs;
+        if (desiredRef.current === requestedTimeNs) break;
+      }
+    })().finally(() => {
+      runningRef.current = false;
+      if (
+        mountedRef.current
+        && desiredRef.current !== null
+        && (identityRef.current !== requestIdentity || desiredRef.current !== settledTimeNs)
+      ) {
+        pumpRef.current();
+      }
+    });
+  };
+
+  useEffect(() => {
+    mountedRef.current = true;
+    return () => {
+      mountedRef.current = false;
+      desiredRef.current = null;
+    };
+  }, []);
+
+  useEffect(() => {
+    cacheRef.current.clear();
+    desiredRef.current = null;
+    setFrame(null);
+    setError(null);
+  }, [identity]);
+
+  useEffect(() => {
+    if (!generationSha256) return;
+    desiredRef.current = targetTimeNs;
+    const cached = cacheRef.current.get(targetTimeNs);
+    if (cached) {
+      setFrame(cached);
+      setError(null);
+      return;
+    }
+    pumpRef.current();
+  }, [generationSha256, identity, targetTimeNs]);
+
+  return { frame, error, loading: Boolean(generationSha256) && !frame && !error };
+}

apps/control-station/src/components/laboratory/useRecordedEvidencePlayback.ts

@@ -130,8 +130,12 @@ export function useRecordedEvidencePlayback(
 
   const synchronize = useCallback((next: RecordedObservationPlayback) => {
     if (!validRange(range) || !Number.isFinite(next.currentSeconds)) return;
+    // Animation-clock mode is retained only for non-media diagnostics. A
+    // recorded LAB with video uses the external media clock so spatial and
+    // overlays never advance past the frame the decoder actually presented.
+    if (clock === "animation") return;
     setPlayback((current) => synchronizeRecordedEvidencePlayback(current, next, range));
-  }, [range]);
+  }, [clock, range]);
 
   return useMemo(() => ({
     playback,

apps/control-station/src/components/map/mapPresentation.ts

@@ -0,0 +1,59 @@
+import type {MapVisualSettings} from '../../core/map/mapView';
+import type {CesiumMapRendererProps} from '@nodedc/map-cesium-react';
+
+export function mapPresentation(settings:MapVisualSettings):CesiumMapRendererProps['settings'] {
+ return {
+atmosphere_enabled: settings.atmosphereEnabled,
+              atmosphere_hue: settings.atmosphereHue,
+              atmosphere_saturation:
+                settings.atmosphereSaturation,
+              atmosphere_brightness:
+                settings.atmosphereBrightness,
+              fog_enabled: settings.fogEnabled,
+              fog_density: settings.fogDensity,
+              sun_enabled: settings.sunEnabled,
+              sun_hour: settings.sunHour,
+              sun_intensity: settings.sunIntensity,
+              shadows_enabled: settings.shadowsEnabled,
+              monochrome_enabled: settings.monochromeEnabled,
+              monochrome_color: settings.monochromeColor,
+              imagery_brightness: settings.imageryBrightness,
+              imagery_contrast: settings.imageryContrast,
+              imagery_saturation: settings.imagerySaturation,
+              imagery_gamma: settings.imageryGamma,
+              imagery_hue: settings.imageryHue,
+              imagery_alpha: settings.imageryAlpha,
+              globe_color: settings.globeColor,
+              background_color: settings.backgroundColor,
+              terrain_exaggeration:
+                settings.terrainExaggeration,
+              buildings_color: settings.buildingsColor,
+              buildings_opacity: settings.buildingsOpacity,
+              buildings_maximum_screen_space_error:
+                settings.buildingsMaximumScreenSpaceError,
+              grid_lod_enabled: settings.gridLodEnabled,
+              grid_height_meters: settings.gridHeightMeters,
+              grid_lod_1_max_height_km:
+                settings.gridLod1MaxHeightKm,
+              grid_lod_1_step_km:
+                settings.gridLod1StepKm,
+              grid_lod_2_max_height_km:
+                settings.gridLod2MaxHeightKm,
+              grid_lod_2_step_km:
+                settings.gridLod2StepKm,
+              grid_lod_3_step_km:
+                settings.gridLod3StepKm,
+              grid_radius_km: settings.gridRadiusKm,
+              grid_line_width: settings.gridLineWidth,
+              grid_color: settings.gridColor,
+              grid_opacity: settings.gridOpacity,
+              grid_dots_enabled:
+                settings.gridDotsEnabled,
+              grid_dots_size: settings.gridDotsSize,
+              grid_dots_color: settings.gridDotsColor,
+              grid_dots_opacity:
+                settings.gridDotsOpacity,
+              camera_animation_enabled:
+                settings.cameraAnimationEnabled,
+ };
+}

apps/control-station/src/components/missions/MissionCheckWindow.tsx

@@ -0,0 +1,21 @@
+import { Button, LoadingRegion, Window } from "@nodedc/ui-react";
+import type { RouteCheck } from "../../core/missions/planner";
+export function MissionCheckWindow({ open, onClose, busy, error, report, run }: {
+  open: boolean; onClose: () => void; busy: boolean; error: string | null; report: RouteCheck | null; run: () => void;
+}) {
+  return <Window open={open} title="Проверка маршрута" size="md" onClose={onClose}><div className="mission-planner__check">
+    <p>Проверка сохранённой записи и выбранного участка. Новый проход со сканером для этой проверки не требуется.</p>
+    <LoadingRegion loading={busy} label="Проверка исходных данных">
+      {error && <p role="alert">{error}</p>}
+      {report && <><dl>
+        <div><dt>Исходная запись</dt><dd>{report.source_verified ? "Контрольные суммы совпадают" : "Недоступна"}</dd></div>
+        <div><dt>Версия черновика</dt><dd>{report.revision}</dd></div>
+        <div><dt>Длина маршрута</dt><dd>{report.length_m.toFixed(2)} м</dd></div>
+        <div><dt>Положения сканера</dt><dd>{report.pose_count.toLocaleString("ru-RU")}</dd></div>
+        <div><dt>Максимальный шаг</dt><dd>{report.max_step_m.toFixed(2)} м</dd></div></dl>
+        {report.warnings.map(w => <p key={w}>{w}</p>)}
+        <p>Совмещение с повторным проходом не выполнялось. Записанная траектория описывает движение сканера; проходимость для аппарата по ней не проверена.</p></>}
+      <Button disabled={busy} onClick={run}>{report ? "Повторить проверку" : "Начать проверку"}</Button>
+    </LoadingRegion>
+  </div></Window>;
+}

apps/control-station/src/components/missions/MissionRoutePreview.tsx

@@ -0,0 +1,29 @@
+import { useEffect, useMemo, useState } from "react";
+import { RangeControl } from "@nodedc/ui-react";
+import { routeLength, type PlanningPose, type PlanningSource } from "../../core/missions/planner";
+/** Equal-axis plan projection; the moving marker is an archive pose, not localization. */
+export function MissionRoutePreview({ source, poses }: { source: PlanningSource; poses: PlanningPose[] }) {
+  const [cursor, setCursor] = useState(0);
+  useEffect(() => setCursor(0), [poses]);
+  const projection = useMemo(() => {
+    let xmin = Infinity, xmax = -Infinity, ymin = Infinity, ymax = -Infinity;
+    for (const p of (poses.length ? poses : source.poses)) { xmin = Math.min(xmin, p.position[0]); xmax = Math.max(xmax, p.position[0]); ymin = Math.min(ymin, p.position[1]); ymax = Math.max(ymax, p.position[1]); }
+    const scale = Math.min(720 / Math.max(1, xmax - xmin), 400 / Math.max(1, ymax - ymin));
+    const project = (p: PlanningPose) => [400 + (p.position[0] - (xmin + xmax) / 2) * scale, 240 - (p.position[1] - (ymin + ymax) / 2) * scale];
+    const line = (items: PlanningPose[]) => items.filter((_, i) => i % Math.max(1, Math.ceil(items.length / 5000)) === 0 || i === items.length - 1).map(p => project(p).join(",")).join(" ");
+    return { project, reference: line(source.poses), selected: line(poses), scale };
+  }, [source, poses]);
+  const point = poses[Math.min(cursor, poses.length - 1)];
+  if (!point) return <div className="session-overview__empty">Выберите участок траектории.</div>;
+  const [x, y] = projection.project(point);
+  return <div className="mission-route-preview"><h2>Выбранный маршрут · вид сверху</h2>
+    <svg viewBox="0 0 800 480" role="img" aria-label="Траектория записи и выбранный маршрут">
+      <polyline points={projection.reference} className="mission-route-preview__reference" fill="none" />
+      <polyline points={projection.selected} className="mission-route-preview__selected" fill="none" />
+      <circle cx={x} cy={y} r="6" className="mission-route-preview__cursor" />
+      <path d="M40 450h100" className="mission-route-preview__selected" /><text x="40" y="438">{(100 / projection.scale).toFixed(1)} м</text>
+    </svg><p>Путь: {routeLength(poses).toFixed(2)} м · {poses.length.toLocaleString("ru-RU")} положений · X/Y, масштаб осей одинаковый</p>
+    <RangeControl label="Положение на маршруте" value={Math.min(cursor, poses.length - 1) + 1} min={1} max={poses.length} step={1} formatValue={n => `${n} / ${poses.length}`} onChange={n => setCursor(n - 1)} />
+    <p>Кадр {point.index + 1} · X {point.position[0].toFixed(2)} · Y {point.position[1].toFixed(2)} · Z {point.position[2].toFixed(2)} м</p>
+  </div>;
+}

apps/control-station/src/components/missions/MissionZonePreview.tsx

@@ -0,0 +1,12 @@
+import type {ReactNode} from "react";
+import { Button, LoadingRegion } from "@nodedc/ui-react";
+import { useSessionOverview } from "../../core/observation/useSessionOverview";
+import { SessionOverviewScene } from "../observation/SessionOverviewScene";
+export function MissionZonePreview({ sessionId, generation, toolbar }: { sessionId: string; generation: string; toolbar?:ReactNode }) {
+  const { data, error, retry } = useSessionOverview(sessionId);
+  const pending = !error && (!data || data.state === "queued" || data.state === "preparing");
+  const failure = error || (data?.state === "error" ? data.message : null);
+  if (pending) return <LoadingRegion loading label="Подготовка облака зоны" className="mission-planner__zone-loading" />;
+  if (failure || !data?.scene_url) return <div className="session-overview__empty"><span>{failure || "Облако записи недоступно."}</span><Button onClick={retry}>Повторить</Button></div>;
+  return <SessionOverviewScene sourceUrl={`${data.scene_url}&reference_generation=${encodeURIComponent(generation)}`} toolbar={toolbar} hideTitle />;
+}

apps/control-station/src/components/missions/PlanningCaptureGuard.tsx

@@ -0,0 +1,23 @@
+import type {ReactNode} from 'react';
+import {Button, StatusBadge} from '@nodedc/ui-react';
+import {planningAwaitsCapture, usePlanningTest} from '../../core/missions/PlanningTestContext';
+
+/** Composition-level handoff; never sends a device or acquisition command. */
+export function PlanningCaptureGuard({enabled, onResume, children}: {
+  enabled: boolean;
+  onResume: () => void;
+  children: ReactNode;
+}) {
+  const planning = usePlanningTest();
+  if (!enabled || !planningAwaitsCapture(planning.test)) return <>{children}</>;
+  return <div className="mission-planner__check">
+    <StatusBadge tone="warning">Исследование ожидает новую запись</StatusBadge>
+    <p>{planning.test!.draft.name}</p>
+    <p>Для самостоятельной съёмки завершите подготовленное исследование. Запись и подключение сканера не будут остановлены.</p>
+    {planning.error && <p role="alert">{planning.error}</p>}
+    <div className="mission-planner__actions">
+      <Button loading={planning.busy} onClick={() => void planning.finish()}>Завершить исследование</Button>
+      <Button disabled={planning.busy} onClick={onResume}>Вернуться к исследованию</Button>
+    </div>
+  </div>;
+}

apps/control-station/src/components/missions/PlanningConnectionWindow.tsx

@@ -0,0 +1,32 @@
+import {useEffect,useState,type ReactNode} from 'react';
+import {Button,LoadingRegion,StatusBadge,Window} from '@nodedc/ui-react';
+import {useDevicePluginHost} from '../../core/device-plugins/DevicePluginHost';
+import {planningTestTerminal,usePlanningTest} from '../../core/missions/PlanningTestContext';
+
+/** Wrap the existing plugin connection flow, retaining its acquisition authority. */
+export function PlanningConnectionWindow({children}:{children:ReactNode}){
+  const p=usePlanningTest(); const [open,setOpen]=useState(true);
+  const {selection,registry,selectModel,selectionTransitionPending}=useDevicePluginHost();
+  useEffect(()=>{
+    if(!p.test||planningTestTerminal(p.test)||selection||selectionTransitionPending)return;
+    const models=registry.models.filter(m=>m.plugin.manifest.metadata.id===p.test!.plugin_id);
+    if(models.length===1)void selectModel(models[0].model.id);
+  },[p.test?.plugin_id,p.test?.state,selection,registry,selectModel,selectionTransitionPending]);
+  if(!p.test)return <>{children}</>;
+  const t=p.test, terminal=planningTestTerminal(t);
+  const details=<><StatusBadge tone="neutral">Профиль · Планирование</StatusBadge>
+    <p>{t.draft.name} · эталон {t.draft.zone.label} · {t.draft.route.length_m.toFixed(1)} м</p>
+    <p>Укажите новое имя проекта сканера. Неподвижная калибровка просматривает весь выбранный маршрут; после калибровки сканера оставайтесь на месте до статуса «Сопровождение». Если совпадение не найдено или неоднозначно, сцена сообщит причину и не начнёт сопровождение.</p></>;
+  return <div className="mission-planner__check">
+    {details}<p>{t.message}</p>{p.error&&<p role="alert">{p.error}</p>}
+    <div className="mission-planner__actions"><Button onClick={()=>setOpen(true)}>Подключение сканера</Button>
+      {t.state==='running'&&t.planning_phase==='lost'&&!t.tracking_established&&<Button loading={p.busy} onClick={()=>void p.retryInitialization()}>Переинициализировать</Button>}
+      {!terminal&&<Button loading={p.busy} onClick={()=>void p.finish()}>Завершить исследование</Button>}</div>
+    <Window open={open} title="Подключение сканера · Планирование" size="lg" className="planning-connection" onClose={()=>setOpen(false)}>
+      <div className="mission-planner__check">{details}
+      {t.state==='preparing'?<LoadingRegion loading label="Подготовка эталонного участка" />
+       : terminal?<p>{t.message}</p>:children}
+      </div>
+    </Window>
+  </div>;
+}

apps/control-station/src/components/missions/PlanningLiveScene.tsx

@@ -0,0 +1,105 @@
+import {useEffect,useRef,useState} from 'react';
+import {Button,LoadingRegion,RangeControl} from '@nodedc/ui-react';
+import {createIsolatedRerunHost} from '../rerun/isolatedRerunHost';
+import {plannerBase} from '../../core/missions/planner';
+import {startPlanningSceneStream} from '../../core/missions/planningSceneStream';
+import {createPlanningPresentationReporter} from '../../core/missions/planningPresentationTelemetry';
+
+function nextAnimationFrame(limitMs=500):Promise<number|null>{
+ return new Promise(resolve=>{
+  let frame:number|undefined,settled=false;
+  const finish=(value:number|null)=>{
+   if(settled)return;
+   settled=true;
+   if(frame!==undefined&&value===null)cancelAnimationFrame(frame);
+   clearTimeout(timeout);resolve(value);
+  };
+  const timeout=setTimeout(()=>finish(null),limitMs);
+  frame=requestAnimationFrame(()=>finish(performance.now()));
+ });
+}
+
+/** One persistent viewer/channel. Updates replace entities without resetting the camera. */
+type HeightBounds={min:number;max:number};
+const CLIP_CEILING_M=80;
+export function PlanningLiveScene({runId,options={},active=false,revision=0,heightBounds=null}:{runId:string;options?:Record<string,string|number|boolean>;active?:boolean;revision?:number;heightBounds?:HeightBounds|null}){
+ const optionsRef=useRef(options);optionsRef.current=options;
+ const stateRef=useRef({active,revision});stateRef.current={active,revision};
+ const ceilingRef=useRef<number|null>(null);
+ const boundsRef=useRef<{min:number;max:number}|null>(null);
+ const host=useRef<HTMLDivElement>(null);
+ const [state,setState]=useState('loading'),[retry,setRetry]=useState(0);
+ const [bounds,setBounds]=useState<{min:number;max:number}|null>(null);
+ const [ceiling,setCeiling]=useState<number|null>(null);
+ useEffect(()=>{
+  ceilingRef.current=null;
+  const next=heightBounds&&Number.isFinite(heightBounds.min)&&Number.isFinite(heightBounds.max)&&heightBounds.max>heightBounds.min?heightBounds:null;
+  boundsRef.current=next;
+  setBounds(next);setCeiling(null);
+ },[runId,heightBounds?.min,heightBounds?.max]);
+ useEffect(()=>{
+  if(!host.current)return;
+  let disposed=false,sceneAvailable=false,stopStream:(()=>void)|undefined;
+  const reporter=createPlanningPresentationReporter({
+   url:`${plannerBase}/live-tests/${runId}/presentation-observations`,
+  });
+  const runtime=createIsolatedRerunHost(host.current);setState('loading');
+  const timeout=setTimeout(()=>{if(!disposed){setState('error');stopStream?.();runtime.dispose();}},60000);
+  void runtime.ready.then(async({viewer,mount})=>{
+   if(disposed)return;
+   await viewer.start(null,mount,{width:'100%',height:'100%',hide_welcome_screen:true,enable_history:false,allow_fullscreen:false});
+   if(disposed)return;
+   const channel=viewer.open_channel('planning-'+runId);
+   viewer.on('recording_open',()=>{if(!disposed&&sceneAvailable){clearTimeout(timeout);setState('ready');}});
+   stopStream=startPlanningSceneStream({
+    url:`${plannerBase}/live-tests/${runId}/scene-delta.rrd`,
+    snapshot:()=>({...stateRef.current,options:{...optionsRef.current,
+     ...(ceilingRef.current===null?{}:{ceiling_m:ceilingRef.current})}}),
+    apply:async(bytes,delivery)=>{
+     if(disposed)return;
+     if(delivery.heightMinM!==null&&delivery.heightMaxM!==null&&delivery.heightMaxM>delivery.heightMinM){
+      const next={min:delivery.heightMinM,max:delivery.heightMaxM};
+      const previous=boundsRef.current;
+      if(!previous||previous.min!==next.min||previous.max!==next.max){
+       boundsRef.current=next;setBounds(next);
+       if(ceilingRef.current!==null&&(ceilingRef.current<next.min||ceilingRef.current>next.max)){
+        ceilingRef.current=null;setCeiling(null);
+       }
+      }
+     }
+     sceneAvailable=true;
+     const admissionStarted=performance.now();
+     channel.send_rrd(bytes);
+     const admissionEnded=performance.now();
+     for(const panel of ['top','blueprint','selection','time'] as const)viewer.override_panel_state(panel,'hidden');
+     if(viewer.get_active_recording_id()){clearTimeout(timeout);setState('ready');}
+     // Rerun exposes no canvas-paint receipt. Two bounded browser frame
+     // opportunities are retained as an explicit proxy, never as a GPU claim.
+     const first=await nextAnimationFrame();
+     const second=first===null?null:await nextAnimationFrame();
+     if(!disposed)reporter.record(delivery,{
+      rerunAdmissionMs:admissionEnded-admissionStarted,
+      firstAnimationFrameMs:first===null?null:first-admissionEnded,
+      secondAnimationFrameMs:second===null?null:second-admissionEnded,
+     });
+    },
+    error:()=>{sceneAvailable=false;if(!disposed)setState('error');},
+   });
+  }).catch(()=>{if(!disposed){clearTimeout(timeout);setState('error');}});
+  return()=>{disposed=true;stopStream?.();reporter.dispose();clearTimeout(timeout);runtime.dispose();};
+ },[runId,retry]);
+ const sourceBounds=bounds??heightBounds;
+ const rangeBounds=sourceBounds?{min:Math.min(sourceBounds.min,0),max:CLIP_CEILING_M}:null;
+ return <LoadingRegion loading={state==='loading'} label="Загрузка эталона и нового прохода" className="planning-live__scene">
+  <div ref={host} className="session-overview__runtime rerun-single-view-content" style={{visibility:state==='ready'?'visible':'hidden'}} />
+  {rangeBounds&&state==='ready'&&<div className="session-overview__height">
+   <RangeControl orientation="vertical" limitSide="left" label="Срез" value={ceiling??rangeBounds.max} min={rangeBounds.min} max={rangeBounds.max} step="any"
+    formatValue={value=>`${value.toFixed(1).replace('.',',')} м`} formatLimit={value=>value.toFixed(1).replace('.',',')}
+    onChange={value=>{
+     const next=value>=rangeBounds.max-Math.max(1,rangeBounds.max-rangeBounds.min)*1e-9?null:value;
+     ceilingRef.current=next;setCeiling(next);
+    }}/>
+  </div>}
+  {state==='error'&&<div className="session-overview__empty"><span>Обновление сцены недоступно.</span><Button onClick={()=>setRetry(v=>v+1)}>Повторить подключение сцены</Button></div>}
+ </LoadingRegion>;
+}

apps/control-station/src/components/missions/PlanningProjectResult.tsx

@@ -0,0 +1,25 @@
+import { Inspector, Icon, StatusBadge } from '@nodedc/ui-react';
+import { planningProjectStatus, type PlanningProjectDetail } from '../../core/missions/planningProjects';
+
+export function PlanningProjectResult({project:p}:{project:PlanningProjectDetail}) {
+  const r=p.result;
+  return <Inspector variant="panel" defaultOpen={['sources','result']} sections={[
+    {id:'sources',label:'Проект',icon:<Icon name="file"/>,content:<div className="inspector-control-stack">
+      <p>{p.name}</p><small>{new Date(p.created_at_utc).toLocaleString('ru-RU')}</small>
+      <dl><div><dt>Эталон</dt><dd>{p.reference_label}</dd></div><div><dt>Повторный проход</dt><dd>{p.query_label??'—'}</dd></div>
+      <div><dt>Участок эталона</dt><dd>{p.draft.route.length_m.toFixed(2)} м</dd></div></dl>
+    </div>},
+    {id:'result',label:'Результат',icon:<Icon name="activity"/>,content:<div className="inspector-control-stack">
+      <StatusBadge tone={r?.status==='rejected'?'warning':'neutral'}>{planningProjectStatus(p)}</StatusBadge>
+      {r?<><dl><div><dt>Точки в пределах 0,5 м</dt><dd>{(r.overlap*100).toFixed(1)}%</dd></div>
+        <div><dt>Расхождение поверхностей</dt><dd>{r.inlier_rmse_m==null?'—':`${r.inlier_rmse_m.toFixed(3)} м`}</dd></div>
+        {r.correction_m!=null&&<div><dt>Уточнение привязки</dt><dd>{r.correction_m.toFixed(2)} м · {r.correction_deg.toFixed(1)}°</dd></div>}
+        {r.registration_seconds!=null&&<div><dt>Расчёт</dt><dd>{r.registration_seconds.toFixed(2)} с</dd></div>}
+      </dl><small>Совпадение поверхностей не является измеренной точностью положения.</small></>:<p>{p.message?`Сохранённое сообщение: ${p.message}`:'Расчёт совмещения ещё не выполнен.'}</p>}
+      {p.evidence_relation==='same_recording'&&<small>Оба участка из одной записи: внутренняя проверка общей карты.</small>}
+      {p.scene_note&&p.scene_url&&<small>{p.scene_note}</small>}
+      {r?.reasons.map(reason=><small key={reason}>{reason}</small>)}
+      {!p.scene_url&&r&&<small>Сохранённое совмещённое облако недоступно.</small>}
+    </div>},
+  ]}/>;
+}

apps/control-station/src/components/missions/PlanningProjectSelect.tsx

@@ -0,0 +1,47 @@
+import { useState } from 'react';
+import { ConfirmationModal, Icon, Select, ToastStack } from '@nodedc/ui-react';
+import { planningProjectDeletable, planningProjectStatus, type PlanningProject } from '../../core/missions/planningProjects';
+
+export function PlanningProjectSelect({items, value, disabled, onChange, onRemove}: {
+  items: PlanningProject[];
+  value: string;
+  disabled?: boolean;
+  onChange: (key: string) => void;
+  onRemove: (project: PlanningProject) => Promise<void>;
+}) {
+  const [target, setTarget] = useState<PlanningProject | null>(null);
+  const [error, setError] = useState<string | null>(null);
+  const [busy, setBusy] = useState(false);
+  return <>
+    <Select label="Совмещённые маршруты" value={value} disabled={disabled || busy} searchable
+      options={[{value: '', label: 'Совмещённые маршруты'}, ...items.map(item => ({
+        value: item.key, label: item.name,
+        description: `${new Date(item.created_at_utc).toLocaleString('ru-RU')} · ${planningProjectStatus(item)}${item.query_label ? ` · ${item.query_label}` : ''}`,
+        action: {
+          label: `Удалить совмещённый маршрут ${item.name} · ${new Date(item.created_at_utc).toLocaleString('ru-RU')}`,
+          icon: <Icon name="trash" />,
+          tone: 'danger' as const,
+          disabled: !planningProjectDeletable(item),
+          onAction: () => { setError(null); setTarget(item); },
+        },
+      }))]}
+      onChange={key => { if (key) onChange(key); }} />
+    <ConfirmationModal open={target !== null} title="Удалить совмещённый маршрут?"
+      description={target ? <>
+        <strong>{target.name}</strong>
+        <p>{new Date(target.created_at_utc).toLocaleString('ru-RU')} · {planningProjectStatus(target)}</p>
+        <p>Проект будет удалён из списка совмещённых маршрутов. Эталон, запись прохода и сохранённые отчёты останутся на диске. Другие проекты не изменятся.</p>
+      </> : null}
+      confirmLabel="Удалить маршрут" pendingLabel="Удаление…" danger
+      onClose={() => { if (!busy) setTarget(null); }}
+      onConfirm={async () => {
+        if (!target || busy) return;
+        setBusy(true); setError(null);
+        try { await onRemove(target); setTarget(null); }
+        catch (e) { setError(e instanceof Error ? e.message : 'Не удалось удалить проект. Повторите попытку.'); }
+        finally { setBusy(false); }
+      }} />
+    <ToastStack items={error ? [{id: 'planning-project-delete-error', tone: 'error', title: 'Маршрут не удалён', description: error}] : []}
+      onDismiss={() => setError(null)} />
+  </>;
+}

apps/control-station/src/components/missions/PlanningProjectSettings.tsx

@@ -0,0 +1,30 @@
+import { Button, Icon, Inspector, InspectorSelectField, TextField } from '@nodedc/ui-react';
+import { routeLength, canStartPlanningRoute } from '../../core/missions/planner';
+import type { useMissionPlanner } from '../../core/missions/useMissionPlanner';
+
+export function PlanningProjectSettings({p,onStart,starting}:{
+  p:ReturnType<typeof useMissionPlanner>; onStart:()=>void; starting:boolean;
+}) {
+  const disabled=p.busy||starting;
+  const length=routeLength(p.poses);
+  const routeReady=canStartPlanningRoute(length,'scanner');
+  return <><Inspector variant="panel" defaultOpen={['project','zone']} sections={[
+    {id:'project',label:'Проект',icon:<Icon name="file"/>,content:<div className="inspector-control-stack">
+      <TextField label="Название проекта" placeholder="Название совмещения" value={p.name} maxLength={120} disabled={disabled} onChange={e=>p.setName(e.target.value)}/>
+    </div>},
+    {id:'zone',label:'Эталон',icon:<Icon name="globe"/>,content:<div className="inspector-control-stack">
+      <InspectorSelectField label="Сохранённая запись" searchable value={p.sessionId} options={p.options} disabled={disabled||p.catalogBusy} onChange={p.chooseSource}/>
+      {p.cursor&&<Button disabled={p.catalogBusy} onClick={()=>void p.loadMore()}>Ещё записи</Button>}
+      {p.source&&<>
+        <small>Вся запись · {p.source.path_m.toFixed(2)} м · {p.source.poses.length.toLocaleString('ru-RU')} положений</small>
+        <InspectorSelectField label="Направление" value={p.direction} onChange={p.setDirection} disabled={disabled} options={[{value:'forward',label:'По записи'},{value:'reverse',label:'В обратную сторону'}]}/>
+      </>}
+    </div>},
+  ]}/>
+    <div className="inspector-control-stack">
+      {p.source&&!routeReady&&<small>В записи недостаточно перемещения для привязки. Выберите другой эталон.</small>}
+      <Button variant="primary" loading={starting} disabled={disabled||!p.ready||!routeReady} onClick={onStart}><Icon name="play"/>Начать новый проход</Button>
+      {p.error&&<p role="alert">{p.error}</p>}
+    </div>
+  </>;
+}

apps/control-station/src/components/missions/PlanningSceneToolWindow.tsx

@@ -0,0 +1,19 @@
+import {useState,type ReactNode,type RefObject} from 'react';
+import {WorkspaceWindow,type WorkspaceWindowRect} from '@nodedc/ui-react';
+
+/** A scene-bounded tool: never a portal, backdrop or renderer owner. */
+export function PlanningSceneToolWindow({boundsRef,title,children,onClose}:{
+ boundsRef:RefObject<HTMLDivElement|null>;title:string;children:ReactNode;onClose:()=>void;
+}){
+ const [rect,setRect]=useState<WorkspaceWindowRect>({x:16,y:120,width:390,height:260});
+ const [maximized,setMaximized]=useState(false);
+ return <WorkspaceWindow boundsRef={boundsRef} rect={rect} onRectChange={setRect}
+  title={title} maximized={maximized} onMaximizedChange={setMaximized}
+  minWidth={280} minHeight={200} active zIndex={100} onClose={onClose}
+  closeLabel="Закрыть инструмент" moveLabel="Переместить инструмент"
+  resizeLabel="Изменить размер инструмента" maximizeLabel="Развернуть инструмент" restoreLabel="Восстановить инструмент" onKeyDown={event=>{
+   if(event.key==='Escape'&&!event.defaultPrevented){event.preventDefault();event.stopPropagation();onClose();}
+  }}>
+  <div className="mission-planner__check">{children}</div>
+ </WorkspaceWindow>;
+}

apps/control-station/src/components/missions/RegistrationScene.tsx

@@ -0,0 +1,30 @@
+import { useEffect, useRef, useState } from "react";
+import { Button, LoadingRegion } from "@nodedc/ui-react";
+import { createIsolatedRerunHost } from "../rerun/isolatedRerunHost";
+
+/** One isolated, read-only Rerun realm; disposal releases its WASM memory. */
+export function RegistrationScene({ sourceUrl }: { sourceUrl: string }) {
+  const host = useRef<HTMLDivElement>(null);
+  const [state, setState] = useState("loading"), [retry, setRetry] = useState(0);
+  useEffect(() => {
+    if (!host.current) return;
+    let disposed = false; setState("loading");
+    const runtime = createIsolatedRerunHost(host.current);
+    const timer = window.setTimeout(() => { if (!disposed) { setState("error"); runtime.dispose(); } }, 60_000);
+    void runtime.ready.then(async ({ viewer, mount }) => {
+      if (disposed) return;
+      viewer.on("recording_open", () => { if (!disposed) { clearTimeout(timer); setState("ready"); } });
+      await viewer.start(new URL(sourceUrl, window.location.origin).href, mount, {
+        width: "100%", height: "100%", hide_welcome_screen: true, enable_history: false, allow_fullscreen: false,
+      });
+      if (disposed) return;
+      if (viewer.get_active_recording_id()) { clearTimeout(timer); setState("ready"); }
+      for (const panel of ["top", "blueprint", "selection", "time"] as const) viewer.override_panel_state(panel, "hidden");
+    }).catch(() => { if (!disposed) { clearTimeout(timer); setState("error"); runtime.dispose(); } });
+    return () => { disposed = true; clearTimeout(timer); runtime.dispose(); };
+  }, [sourceUrl, retry]);
+  return <LoadingRegion loading={state === "loading"} label="Загрузка совмещённых облаков" className="mission-registration__scene">
+    <div ref={host} className="session-overview__runtime rerun-single-view-content" style={{ visibility: state === "ready" ? "visible" : "hidden" }} />
+    {state === "error" && <div className="session-overview__empty"><span>Облако недоступно.</span><Button onClick={() => setRetry(n => n+1)}>Повторить</Button></div>}
+  </LoadingRegion>;
+}

apps/control-station/src/components/observation/SessionIntervalChart.tsx

@@ -0,0 +1,34 @@
+import { useEffect, useRef, useState } from "react";
+import { overviewChartPoints } from "../../core/observation/sessionOverview";
+
+export function SessionIntervalChart({ chart, bucketSeconds }: { chart: [number, number][]; bucketSeconds: number }) {
+  const svg = useRef<SVGSVGElement>(null);
+  const [size, setSize] = useState({ width: 900, height: 160 });
+  useEffect(() => {
+    if (!svg.current) return;
+    const observer = new ResizeObserver(([entry]) => {
+      if (entry.contentRect.width > 0 && entry.contentRect.height > 0) {
+        setSize({ width: entry.contentRect.width, height: entry.contentRect.height });
+      }
+    });
+    observer.observe(svg.current);
+    return () => observer.disconnect();
+  }, [chart.length > 0]);
+  const width = Math.max(1, size.width - 106);
+  const height = Math.max(1, size.height - 38);
+  const { points, xmax, ymax } = overviewChartPoints(chart, width, height);
+  if (!chart.length) return <div className="session-overview__empty">Временные метки кадров отсутствуют.</div>;
+  return <div className="session-overview__chart">
+    <svg ref={svg} viewBox={`0 0 ${size.width} ${size.height}`} role="img" aria-label="Интервалы поступления кадров облака">
+      <g transform="translate(64,10)">
+        {(height >= 70 ? [0, .5, 1] : height >= 32 ? [0, 1] : [1]).map(f => <g key={f}>
+          <line x1="0" x2={width} y1={height * (1 - f)} y2={height * (1 - f)} className="session-overview__grid" />
+          <text x="-12" y={height * (1 - f) + 4} textAnchor="end">{(f * ymax).toFixed(2)} с</text>
+        </g>)}
+        <polyline points={points} fill="none" className="session-overview__series" vectorEffect="non-scaling-stroke" />
+        {[0, .25, .5, .75, 1].map(f => <text key={f} x={f * width} y={height + 24} textAnchor="middle">{(f * xmax / 60).toFixed(1)} мин</text>)}
+      </g>
+    </svg>
+    <span className="session-overview__note">Максимальный интервал за каждые {bucketSeconds} с · время от первого кадра</span>
+  </div>;
+}

apps/control-station/src/components/observation/SessionOverviewScene.tsx

@@ -0,0 +1,96 @@
+import { type ReactNode, useEffect, useRef, useState } from "react";
+import { Button, LoadingRegion, RangeControl, SegmentedControl } from "@nodedc/ui-react";
+import { createIsolatedRerunHost } from "../rerun/isolatedRerunHost";
+import type { RecordedRerunViewer } from "../rerun/recordedRerunFacade";
+import { fetchOverviewSpatial, updateOverviewSpatial, type OverviewSpatialMetadata, type OverviewViewMode, type OverviewRepresentation } from "../../core/observation/sessionOverviewSpatial";
+
+/** A separate, bounded static recording; teardown releases the whole WASM realm. */
+export function SessionOverviewScene({ sourceUrl, toolbar, hideTitle=false, compareVersions=false }: { sourceUrl: string; toolbar?:ReactNode; hideTitle?:boolean; compareVersions?:boolean }) {
+  const host = useRef<HTMLDivElement>(null);
+  const [state, setState] = useState<"loading" | "ready" | "error">("loading");
+  const [retry, setRetry] = useState(0);
+  const [metadata, setMetadata] = useState<OverviewSpatialMetadata | null>(null);
+  const [ceiling, setCeiling] = useState<number | null>(null);
+  const [mode, setMode] = useState<OverviewViewMode>("3d");
+  const [viewError, setViewError] = useState<string | null>(null);
+  const [visiblePoints, setVisiblePoints] = useState<number | null>(null);
+  const [representation, setRepresentation] = useState<OverviewRepresentation>("original");
+  const [appliedRepresentation, setAppliedRepresentation] = useState<OverviewRepresentation>("original");
+  const [updating, setUpdating] = useState(false);
+  const comparison = metadata?.comparison;
+  const appliedMode = useRef<OverviewViewMode | null>(null);
+  const controller = useRef<{ viewer: RecordedRerunViewer; channel: ReturnType<RecordedRerunViewer["open_channel"]> } | null>(null);
+  useEffect(() => {
+    if (!host.current) return;
+    let disposed = false;
+    const abort = new AbortController();
+    appliedMode.current = null;
+    setState("loading");
+    setMetadata(null); setCeiling(null); setMode("3d"); setVisiblePoints(null); setViewError(null);
+    setRepresentation("original"); setAppliedRepresentation("original"); setUpdating(false);
+    void fetchOverviewSpatial(sourceUrl, abort.signal).then(data => {
+      if (disposed) return;
+      setRepresentation(data.default_representation ?? "original"); setMetadata(data);
+    }).catch(() => { if (!disposed) { setState("error"); setViewError("Версия облака недоступна."); } });
+    const runtime = createIsolatedRerunHost(host.current);
+    const timer = window.setTimeout(() => { if (!disposed) { setState("error"); runtime.dispose(); } }, 60_000);
+    void runtime.ready.then(async ({ viewer, mount }) => {
+      if (disposed) return;
+      viewer.on("recording_open", () => { if (!disposed) { clearTimeout(timer); setState("ready"); } });
+      await viewer.start(new URL(sourceUrl, window.location.origin).href, mount, {
+        width: "100%", height: "100%", hide_welcome_screen: true,
+        enable_history: false, allow_fullscreen: false,
+      });
+      if (disposed) return;
+      controller.current = { viewer, channel: viewer.open_channel("session-overview-controls") };
+      if (viewer.get_active_recording_id()) { clearTimeout(timer); setState("ready"); }
+      for (const panel of ["top", "blueprint", "selection", "time"] as const) viewer.override_panel_state(panel, "hidden");
+    }).catch(() => { if (!disposed) { clearTimeout(timer); setState("error"); runtime.dispose(); } });
+    return () => { disposed = true; abort.abort(); controller.current = null; clearTimeout(timer); runtime.dispose(); };
+  }, [sourceUrl, retry]);
+
+  useEffect(() => {
+    if (state !== "ready" || !metadata || !controller.current) return;
+    const abort = new AbortController();
+    setUpdating(true);
+    const timer = setTimeout(() => {
+      const aspect = Math.max(.1, Math.min(20, (host.current?.clientWidth ?? 1) / Math.max(1, (host.current?.clientHeight ?? 1) - 28)));
+      void updateOverviewSpatial(sourceUrl, ceiling, appliedMode.current === mode ? null : mode, aspect, abort.signal,
+        comparison?.generation ?? null, comparison ? representation : "original").then(result => {
+        if (abort.signal.aborted || !controller.current) return;
+        controller.current.channel.send_rrd(result.bytes);
+        appliedMode.current = mode;
+        setVisiblePoints(result.visiblePoints); setViewError(null);
+        setAppliedRepresentation(comparison ? representation : "original"); setUpdating(false);
+      }).catch(() => { if (!abort.signal.aborted) { setUpdating(false); setViewError("Не удалось обновить вид облака. Показан предыдущий вид."); } });
+    }, 180);
+    return () => { abort.abort(); clearTimeout(timer); };
+  }, [state, metadata, sourceUrl, ceiling, mode, retry, comparison, representation]);
+
+  const low = comparison?.height_min_m ?? metadata?.height_min_m;
+  const high = comparison?.height_max_m ?? metadata?.height_max_m;
+  return <>
+    <div className={`session-overview__scene-head ${hideTitle?"session-overview__scene-head--end":""}`}>{!hideTitle&&<h2>Облако и траектория</h2>}
+      {compareVersions && comparison && <SegmentedControl label="Версия облака" value={representation} onChange={setRepresentation}
+        items={[{ value: "original", label: "Исходное", disabled: state !== "ready" }, { value: "corrected", label: "Исправленное", disabled: state !== "ready" }]} />}
+      <SegmentedControl label="Вид облака" value={mode} onChange={setMode}
+        items={[{ value: "top", label: "Сверху", disabled: state !== "ready" }, { value: "3d", label: "3D", disabled: state !== "ready" }]} />
+      {toolbar}
+    </div>
+    <LoadingRegion loading={state === "loading" || (state === "ready" && !!metadata && visiblePoints === null && !viewError)} label="Загрузка облака" className="session-overview__scene">
+    <div ref={host} className={`session-overview__runtime ${hideTitle?"rerun-single-view-content":""}`} style={{ visibility: state === "ready" && metadata && visiblePoints !== null ? "visible" : "hidden" }} />
+    {low != null && high != null && high > low && state === "ready" && <div className="session-overview__height">
+      <RangeControl orientation="vertical" limitSide="left" label="Срез" value={ceiling ?? high} min={low} max={high} step="any"
+        formatValue={value => `${value.toFixed(1).replace('.', ',')} м`} formatLimit={value => value.toFixed(1).replace('.', ',')}
+        onChange={value => setCeiling(value >= high - Math.max(1, high - low) * 1e-9 ? null : value)} />
+    </div>}
+    {state === "error" && <div className="session-overview__empty"><span>Не удалось открыть облако.</span><Button onClick={() => setRetry(n => n + 1)}>Повторить</Button></div>}
+    </LoadingRegion>
+    <span className="session-overview__note" role="status" aria-busy={updating}>
+      {updating ? "Обновление · " : comparison ? `${appliedRepresentation === "corrected" ? "Исправленное" : "Исходное"} · ` : ""}
+      {ceiling == null ? "Без среза" : `Высота ≤ ${ceiling.toFixed(1)} м`} · {visiblePoints?.toLocaleString("ru-RU") ?? "—"} точек
+      {comparison && <><br />Выборка для просмотра. Исходная запись сохранена отдельно.</>}
+    </span>
+    {viewError && <div className="session-overview__note" role="alert">{viewError}<Button onClick={() => setRetry(n => n + 1)}>Повторить</Button></div>}
+  </>;
+}

apps/control-station/src/components/observatory/AIConfigurationWindow.tsx

@@ -0,0 +1,261 @@
+import { useEffect, useMemo, useState } from "react";
+import {
+  ActivityIndicator,
+  Button,
+  FieldFrame,
+  Select,
+  StatusBadge,
+  Window,
+  WindowFooterActions,
+} from "@nodedc/ui-react";
+
+import {
+  aiModuleIdForSetup,
+  fetchAIModuleCatalog,
+  fetchAICompositionRuns,
+  fetchAICompositionJobs,
+  saveAIComposition,
+  type AICompositionReceipt,
+  type AICompositionRun,
+  type AIGroupId,
+  type AIModuleCatalog,
+} from "../../core/observatory/aiComposition";
+import type { ObservatoryRecordedJob } from "../../core/observatory/recordedJobs";
+
+const groups: readonly { id: AIGroupId; label: string; description: string }[] = [
+  { id: "segmentation", label: "Сегментация", description: "Пиксельные маски сцены" },
+  { id: "detection", label: "Объекты", description: "Рамки и классы объектов" },
+  { id: "geometry", label: "Облако точек / TGS", description: "Опорная поверхность и карта проходимости" },
+  { id: "range", label: "Дистанция", description: "Расстояния до объектов" },
+  { id: "motion", label: "Движение", description: "Треки и динамика объектов" },
+  { id: "policy", label: "Политика", description: "Теневые правила интерпретации" },
+];
+
+export function AIConfigurationWindow({
+  open, sourceSessionId, sourceLabel, onClose, onCalculated,
+}: {
+  readonly open: boolean;
+  readonly sourceSessionId: string;
+  readonly sourceLabel: string;
+  readonly onClose: () => void;
+  readonly onCalculated: (receipt: AICompositionReceipt) => void;
+}) {
+  const [catalog, setCatalog] = useState<AIModuleCatalog | null>(null);
+  const [existingJobs, setExistingJobs] = useState<readonly ObservatoryRecordedJob[]>([]);
+  const [existingRuns, setExistingRuns] = useState<readonly AICompositionRun[]>([]);
+  const [selected, setSelected] = useState<Partial<Record<AIGroupId, string>>>({});
+  const [state, setState] = useState<"idle" | "loading" | "ready" | "saving" | "error">("idle");
+  const [message, setMessage] = useState<string | null>(null);
+
+  useEffect(() => {
+    if (!open) return;
+    const request = new AbortController();
+    setState("loading");
+    setMessage(null);
+    void Promise.all([
+      fetchAIModuleCatalog(request.signal),
+      fetchAICompositionJobs(sourceSessionId, request.signal),
+      fetchAICompositionRuns(sourceSessionId, request.signal),
+    ]).then(([value, jobs, runs]) => {
+      if (request.signal.aborted) return;
+      setCatalog(value);
+      setExistingJobs(jobs);
+      setExistingRuns(runs);
+      setSelected({});
+      setState("ready");
+    }).catch((error: unknown) => {
+      if (request.signal.aborted) return;
+      setMessage(error instanceof Error ? error.message : "Каталог AI-модулей недоступен.");
+      setState("error");
+    });
+    return () => request.abort();
+  }, [open, sourceSessionId]);
+
+  const existingByModule = useMemo(() => {
+    const result = new Map<string, ObservatoryRecordedJob>();
+    for (const job of existingJobs) {
+      if (job.state === "failed" || job.publication.state === "failed") continue;
+      const moduleId = aiModuleIdForSetup(job.setupId);
+      if (moduleId && !result.has(moduleId)) result.set(moduleId, job);
+    }
+    return result;
+  }, [existingJobs]);
+
+  const selections = useMemo(() => groups.flatMap(({ id }) => {
+    const moduleId = selected[id];
+    const module = catalog?.groups.find((item) => item.group === id)?.modules.find(
+      (item) => item.moduleId === moduleId,
+    );
+    return module ? [{ group: id, module }] : [];
+  }), [catalog, selected]);
+
+  const selectedModuleIds = useMemo(
+    () => selections.map(({ module }) => module.moduleId).sort(),
+    [selections],
+  );
+  const matchingRun = useMemo(() => existingRuns.find((run) => (
+    run.state !== "failed"
+    && [...run.moduleIds].sort().join("\0") === selectedModuleIds.join("\0")
+  )), [existingRuns, selectedModuleIds]);
+  const configurationAlreadyExists = selections.length > 0 && matchingRun !== undefined;
+  const configurationIsRunning = matchingRun?.state === "running";
+
+  function selectModule(group: AIGroupId, moduleId: string): void {
+    if (!catalog) return;
+    setSelected((current) => {
+      const next = { ...current, [group]: moduleId === "none" ? undefined : moduleId };
+      const modules = catalog.groups.flatMap((item) => item.modules);
+      const selectedIds = new Set(Object.values(next).filter((value): value is string => Boolean(value)));
+      if (moduleId !== "none") {
+        const module = modules.find((item) => item.moduleId === moduleId);
+        for (const requirement of module?.requires ?? []) {
+          if (requirement.startsWith("source.")) continue;
+          if (modules.some((item) => selectedIds.has(item.moduleId) && item.provides.includes(requirement))) {
+            continue;
+          }
+          const providers = modules.filter((item) => item.provides.includes(requirement));
+          if (providers.length === 1) {
+            const providerGroup = catalog.groups.find((item) => item.modules.some(
+              (candidate) => candidate.moduleId === providers[0]?.moduleId,
+            ))?.group;
+            if (providerGroup) {
+              next[providerGroup] = providers[0]?.moduleId;
+              selectedIds.add(providers[0]?.moduleId ?? "");
+            }
+          }
+        }
+      } else {
+        let changed = true;
+        while (changed) {
+          changed = false;
+          const capabilities = new Set(modules.filter((item) => Object.values(next).includes(item.moduleId))
+            .flatMap((item) => item.provides));
+          for (const item of modules.filter((candidate) => Object.values(next).includes(candidate.moduleId))) {
+            if (item.requires.some((requirement) => !requirement.startsWith("source.") && !capabilities.has(requirement))) {
+              const dependentGroup = catalog.groups.find((candidate) => candidate.modules.some(
+                (module) => module.moduleId === item.moduleId,
+              ))?.group;
+              if (dependentGroup) {
+                next[dependentGroup] = undefined;
+                changed = true;
+              }
+            }
+          }
+        }
+      }
+      return next;
+    });
+    setMessage(null);
+    if (state === "error") setState("ready");
+  }
+
+  async function calculate(): Promise<void> {
+    if (selections.length === 0 || state === "saving") return;
+    if (configurationAlreadyExists) {
+      setMessage("Эта конфигурация уже рассчитана. Выберите другую конфигурацию.");
+      return;
+    }
+    setState("saving");
+    setMessage(null);
+    try {
+      const receipt = await saveAIComposition(sourceSessionId, selections);
+      onCalculated(receipt);
+      onClose();
+    } catch (error) {
+      setMessage(error instanceof Error ? error.message : "Не удалось запустить расчёт.");
+      setState("error");
+    }
+  }
+
+  return <Window
+    open={open}
+    className="observatory-ai-config-window"
+    title="Сконфигурировать AI-слой"
+    subtitle={sourceLabel}
+    size="lg"
+    closeOnBackdrop={state !== "saving"}
+    closeOnEscape={state !== "saving"}
+    onClose={onClose}
+    footer={<WindowFooterActions>
+      {configurationAlreadyExists ? (
+        <span className="observatory-ai-config__duplicate" role="status">
+          {configurationIsRunning
+            ? "Текущая конфигурация уже рассчитывается."
+            : "Текущая конфигурация уже рассчитана."}
+        </span>
+      ) : null}
+      <Button
+        variant="primary"
+        className={state === "saving" ? "observatory-ai-config__calculate--saving" : undefined}
+        disabled={state !== "ready" || selections.length === 0 || configurationAlreadyExists}
+        aria-busy={state === "saving"}
+        onClick={() => void calculate()}
+      >
+        {state === "saving" ? "Отправляем на Worker…" : "Рассчитать"}
+      </Button>
+    </WindowFooterActions>}
+  >
+    <div className="observatory-ai-config" aria-busy={state === "loading" || state === "saving"}>
+      <p className="observatory-ai-config__lead">
+        Выберите модуль в каждом нужном слое. Зависимые блоки подключаются явно в этой конфигурации.
+      </p>
+      {state === "loading" ? <ActivityIndicator label="Загружаем AI-модули" /> : null}
+      {catalog ? groups.map(({ id, label, description }) => {
+        const modules = catalog.groups.find((item) => item.group === id)?.modules ?? [];
+        const selectedModule = modules.find((item) => item.moduleId === selected[id]);
+        const selectedExisting = selectedModule
+          ? existingByModule.get(selectedModule.moduleId)
+          : undefined;
+        const allCalculated = modules.length > 0 && modules.every(
+          (module) => existingByModule.has(module.moduleId),
+        );
+        return <section className="observatory-ai-module-group" key={id}>
+          <header>
+            <div>
+              <strong>{label}</strong>
+              <span>{description}</span>
+            </div>
+            <StatusBadge tone={selectedModule ? "accent" : "neutral"}>
+              {selectedExisting
+                ? selectedExisting.state === "succeeded" ? "Уже рассчитано" : "В расчёте"
+                : selectedModule?.label ?? (allCalculated
+                ? "Результат доступен"
+                : modules.length ? "Не используется" : "Не установлен")}
+            </StatusBadge>
+          </header>
+          <div className="observatory-ai-module-group__body">
+            <FieldFrame
+              label={`Модуль: ${label}`}
+              description={modules.length
+                ? allCalculated
+                  ? "Готовый результат можно включить в новую конфигурацию без повторного расчёта."
+                  : id === "segmentation"
+                  ? "DDRNet и EoMT — независимые альтернативы; выберите одну модель."
+                  : id === "range"
+                    ? "Дистанция использует рамки детектора и синхронное облако точек."
+                    : id === "geometry"
+                      ? "TGS обрабатывает LiDAR независимо от сегментации и детектора."
+                      : "Связи с другими блоками определяются входами выбранного модуля."
+                : "Для этого слоя на Worker 006 пока нет установленного модуля."}
+            >
+              <Select
+                label={`Выбрать модуль: ${label}`}
+                value={selected[id] ?? "none"}
+                options={[{ value: "none", label: "Не использовать" }, ...modules.map((module) => ({
+                  value: module.moduleId,
+                  label: module.label,
+                  description: existingByModule.has(module.moduleId)
+                    ? "Готовый результат будет использован без повторного расчёта"
+                    : module.dockerName,
+                }))]}
+                disabled={modules.length === 0 || state === "saving"}
+                onChange={(value) => selectModule(id, value)}
+              />
+            </FieldFrame>
+          </div>
+        </section>;
+      }) : null}
+      {message ? <p className="observatory-ai-config__error" role="alert">{message}</p> : null}
+    </div>
+  </Window>;
+}

apps/control-station/src/components/rerun/isolatedRerunEntry.ts

@@ -0,0 +1,10 @@
+import { WebViewer } from "@rerun-io/web-viewer";
+
+import type { RerunFrameWindow } from "./recordedRerunProtocol";
+import { createRecordedRerunOwner } from "./recordedRerunOwner";
+
+// This entry is loaded only in the owned iframe. Upstream code is unmodified;
+// destroying the frame also ends its timers, WASM, video and WebGPU lifetime.
+const mount = document.getElementById("viewer");
+if (!mount) throw new Error("Recorded viewer mount is missing");
+(window as RerunFrameWindow).missionCoreRerun = createRecordedRerunOwner(() => new WebViewer(), mount);

apps/control-station/src/components/rerun/isolatedRerunHost.ts

@@ -0,0 +1,77 @@
+import { createRecordedRerunFacade, type RecordedRerunViewer } from "./recordedRerunFacade";
+import type { RerunFrameWindow } from "./recordedRerunProtocol";
+import { relayIsolatedRerunInput } from "./isolatedRerunInput";
+
+/** Own the complete recorded-viewer realm, not just its canvas or SDK handle. */
+export function createIsolatedRerunHost(host: HTMLElement) {
+  let frame: HTMLIFrameElement | null = host.ownerDocument.createElement("iframe");
+  frame.title = "Синхронизированная запись";
+  frame.className = "rerun-viewport__runtime";
+  frame.src = "/rerun-runtime.html";
+  let disposed = false;
+  let releaseFacade: (() => void) | null = null;
+  let releaseInput: (() => void) | null = null;
+  let frameWindow: RerunFrameWindow | null = null;
+  let rejectReady: ((reason: Error) => void) | null = null;
+  let timer: ReturnType<typeof setTimeout> | undefined;
+
+  const dispose = () => {
+    if (disposed) return;
+    disposed = true;
+    clearTimeout(timer);
+    frame!.onload = null;
+    frame!.onerror = null;
+    releaseInput?.();
+    releaseInput = null;
+    try {
+      releaseFacade?.();
+    } catch {
+      // Realm teardown is required even if a partial native start failed.
+    } finally {
+      releaseFacade = null;
+      frameWindow = null;
+      frame!.remove();
+      frame = null;
+      rejectReady?.(new Error("Recorded viewer was disposed"));
+      rejectReady = null;
+    }
+  };
+
+  const ready = new Promise<{ viewer: RecordedRerunViewer; mount: HTMLElement }>((resolve, reject) => {
+    rejectReady = reject;
+    frame!.onload = () => {
+      if (disposed) return;
+      try {
+        frameWindow = frame!.contentWindow as RerunFrameWindow | null;
+        const api = frameWindow?.missionCoreRerun;
+        if (!api || api.version !== 2) throw new Error("Recorded viewer host is unavailable");
+        const owner = createRecordedRerunFacade((request, bytes) => {
+          const current = frameWindow?.missionCoreRerun;
+          if (!current) throw new Error("Recorded viewer was disposed");
+          return current.invoke(request, bytes);
+        });
+        releaseFacade = owner.dispose;
+        api.connect(owner.notify);
+        releaseInput = relayIsolatedRerunInput(host, frameWindow, frame);
+        clearTimeout(timer);
+        rejectReady = null;
+        frame!.onload = null;
+        frame!.onerror = null;
+        resolve({ viewer: owner.facade, mount: host });
+      } catch (error) {
+        reject(new Error(String(error)));
+        dispose();
+      }
+    };
+    frame!.onerror = () => {
+      reject(new Error("Recorded viewer host failed to load"));
+      dispose();
+    };
+    timer = setTimeout(() => {
+      reject(new Error("Recorded viewer host timed out"));
+      dispose();
+    }, 30_000);
+  });
+  host.append(frame);
+  return { ready, dispose };
+}

apps/control-station/src/components/rerun/isolatedRerunInput.ts

@@ -0,0 +1,17 @@
+/** Relay Escape from the isolated viewer realm to the owning application. */
+export function relayIsolatedRerunInput(
+  host: HTMLElement,
+  frameWindow: Window | null,
+  _frame: HTMLIFrameElement | null,
+) {
+  const parent = host.ownerDocument.defaultView;
+  const escape = (event: KeyboardEvent) => {
+    if (event.key !== "Escape" || event.defaultPrevented || !parent) return;
+    host.dispatchEvent(new parent.KeyboardEvent("keydown", { key: "Escape", bubbles: true }));
+  };
+  frameWindow?.addEventListener("keydown", escape);
+  return () => {
+    frameWindow?.removeEventListener("keydown", escape);
+    frameWindow = null;
+  };
+}

apps/control-station/src/components/rerun/recordedRerunCameraJournal.ts

@@ -0,0 +1,28 @@
+// Presets and the native snapshot boundary. No DOM-input journal: only Rerun
+// knows the actual eye after navigation, auto-fit, interpolation and tracking.
+export type RecordedRerunCameraEye = {
+  readonly position: readonly [number, number, number];
+  readonly lookTarget: readonly [number, number, number];
+  readonly eyeUp: readonly [number, number, number];
+};
+export const RECORDED_RERUN_ORBITAL_EYE: RecordedRerunCameraEye = {
+  position: [16, -16, 18], lookTarget: [0, 0, 0], eyeUp: [0, 0, 1],
+};
+export const RECORDED_RERUN_PLAN_EYE: RecordedRerunCameraEye = {
+  position: [0, 0, 30], lookTarget: [0, 0, 0], eyeUp: [0, 1, 0],
+};
+
+export function readNativeRerunCameraEye(value: unknown): RecordedRerunCameraEye | null {
+  if (value == null) return null; // No 3D frame rendered yet.
+  if (typeof value !== "object") throw new Error("Invalid native Rerun camera snapshot");
+  const eye = value as Record<string, unknown>;
+  const vector = (key: string): [number, number, number] => {
+    const item = eye[key];
+    if (!Array.isArray(item) || item.length !== 3 ||
+        !item.every(component => typeof component === "number" && Number.isFinite(component))) {
+      throw new Error("Invalid native Rerun camera vector");
+    }
+    return [item[0], item[1], item[2]];
+  };
+  return { position: vector("position"), lookTarget: vector("lookTarget"), eyeUp: vector("eyeUp") };
+}

apps/control-station/src/components/rerun/recordedRerunFacade.ts

@@ -0,0 +1,93 @@
+import type { WebViewer } from "@rerun-io/web-viewer";
+import type { RerunInvoke } from "./recordedRerunProtocol";
+import type { RecordedRerunCameraEye } from "./recordedRerunCameraJournal";
+
+type NativeChannel = ReturnType<WebViewer["open_channel"]>;
+type Channel = Pick<NativeChannel, "ready" | "send_rrd" | "close">;
+export type RecordedRerunViewer = Pick<WebViewer,
+  "start" | "stop" | "ready" | "on" | "open" | "close" | "override_panel_state" |
+  "get_active_recording_id" | "get_active_timeline" | "get_current_time" |
+  "get_playing" | "get_time_range" | "set_active_timeline" |
+  "set_current_time" | "set_playing"
+> & {
+  open_channel: (name?: string) => Channel;
+  get_camera_eye: () => RecordedRerunCameraEye | null;
+};
+
+/** Parent-owned values only. No SDK Promise or foreign prototype escapes. */
+export function createRecordedRerunFacade(invoke: RerunInvoke | null) {
+  let nextId = 0;
+  const callbacks = new Map<number, (...args: unknown[]) => void>();
+  const starts = new Map<number, { resolve: () => void; reject: (error: Error) => void }>();
+  const command = (method: string, args: unknown[] = [], id?: number, bytes?: Uint8Array) => {
+    if (!invoke) throw new Error("Recorded viewer was disposed");
+    const response = JSON.parse(invoke(JSON.stringify({ method, args, id }), bytes));
+    if (response.error) throw new Error(response.error);
+    return response.result;
+  };
+  const dispose = () => {
+    callbacks.clear();
+    for (const pending of starts.values()) pending.reject(new Error("Recorded viewer was disposed"));
+    starts.clear();
+    try { if (invoke) command("stop"); } finally { invoke = null; }
+  };
+  const notify = (message: string) => {
+    if (!invoke) return;
+    const event = JSON.parse(message);
+    if (event.type === "event") callbacks.get(event.id)?.(...event.values);
+    else {
+      const pending = starts.get(event.id);
+      starts.delete(event.id);
+      if (event.type === "started") pending?.resolve();
+      else pending?.reject(new Error(event.message));
+    }
+  };
+  const facade: RecordedRerunViewer = {
+    get ready() { return invoke ? command("ready") : false; },
+    start(source, _parent, options) {
+      return new Promise<void>((resolve, reject) => {
+        const id = ++nextId;
+        starts.set(id, { resolve, reject });
+        try { command("start", [source, options], id); }
+        catch (error) { starts.delete(id); reject(error); }
+      });
+    },
+    stop: dispose,
+    on: ((event: string, callback: (...args: unknown[]) => void) => {
+      const id = ++nextId;
+      callbacks.set(id, callback);
+      try { command("on", [event], id); }
+      catch (error) { callbacks.delete(id); throw error; }
+      return () => {
+        if (callbacks.delete(id) && invoke) command("off", [], id);
+      };
+    }) as WebViewer["on"],
+    open_channel(name) {
+      const id = ++nextId;
+      command("channel-open", name === undefined ? [] : [name], id);
+      let closed = false;
+      return {
+        get ready() { return !closed && invoke ? command("channel-ready", [], id) : false; },
+        send_rrd(bytes) { if (!closed && invoke) command("channel-send", [], id, bytes); },
+        close() {
+          if (closed) return;
+          closed = true;
+          if (invoke) command("channel-close", [], id);
+        },
+      };
+    },
+    open: (...args) => command("open", args),
+    close: (...args) => { if (invoke) command("close", args); },
+    override_panel_state: (...args) => command("override_panel_state", args),
+    get_active_recording_id: () => command("get_active_recording_id"),
+    get_active_timeline: (...args) => command("get_active_timeline", args),
+    get_current_time: (...args) => command("get_current_time", args),
+    get_playing: (...args) => command("get_playing", args),
+    get_time_range: (...args) => command("get_time_range", args),
+    set_active_timeline: (...args) => command("set_active_timeline", args),
+    set_current_time: (...args) => command("set_current_time", args),
+    set_playing: (...args) => command("set_playing", args),
+    get_camera_eye: () => command("get-camera-eye"),
+  };
+  return { facade, dispose, notify };
+}

apps/control-station/src/components/rerun/recordedRerunOwner.ts

@@ -0,0 +1,104 @@
+import type { WebViewer } from "@rerun-io/web-viewer";
+import type { RerunFrameApi, RerunNotify } from "./recordedRerunProtocol";
+import { readNativeRerunCameraEye } from "./recordedRerunCameraJournal";
+
+/** Lives entirely inside the disposable iframe, including pending SDK starts. */
+export function createRecordedRerunOwner(create: () => WebViewer, mount: HTMLElement): RerunFrameApi {
+  let native: WebViewer | null = null;
+  let notify: RerunNotify | null = null;
+  const subscriptions = new Map<number, () => void>();
+  const channels = new Map<number, ReturnType<WebViewer["open_channel"]>>();
+  const send = (message: object) => notify?.(JSON.stringify(message));
+  const stop = () => {
+    notify = null;
+    for (const unsubscribe of subscriptions.values()) {
+      try { unsubscribe(); } catch { /* Continue partial-start cleanup. */ }
+    }
+    subscriptions.clear();
+    for (const channel of channels.values()) {
+      try { channel.close(); } catch { /* Other channels must still close. */ }
+    }
+    channels.clear();
+    const current = native;
+    native = null;
+    try { current?.stop(); } catch { /* Realm teardown remains authoritative. */ }
+  };
+  const required = () => {
+    if (!native) throw new Error("Recorded viewer was disposed");
+    return native;
+  };
+  const start = async (id: number, args: [string | string[] | null, Parameters<WebViewer["start"]>[2]]) => {
+    const starting = required();
+    try {
+      await starting.start(args[0], mount, args[1]);
+      if (native === starting) send({ type: "started", id });
+    } catch (error) {
+      if (native === starting) send({ type: "start-failed", id, message: String(error) });
+    } finally {
+      if (native !== starting) {
+        try { starting.stop(); } catch { /* Late completion after disposal. */ }
+      }
+    }
+  };
+  return {
+    version: 2,
+    connect(callback) {
+      if (native) throw new Error("Recorded viewer already has an owner");
+      native = create();
+      notify = callback;
+    },
+    invoke(request, bytes) {
+      try {
+        const { method, args = [], id } = JSON.parse(request);
+        let result: unknown;
+        switch (method) {
+          case "stop": stop(); break;
+          case "start": required(); void start(id, args); break;
+          case "ready": result = native?.ready ?? false; break;
+          case "on": {
+            const subscribe = required().on as (event: string, callback: (...values: unknown[]) => void) => () => void;
+            subscriptions.set(id, subscribe.call(required(), args[0], (...values) => send({ type: "event", id, values })));
+            break;
+          }
+          case "off":
+            try { subscriptions.get(id)?.(); } finally { subscriptions.delete(id); }
+            break;
+          case "channel-open": {
+            const name = args[0] as string | undefined;
+            channels.set(id, required().open_channel(name));
+            break;
+          }
+          case "channel-ready": result = channels.get(id)?.ready ?? false; break;
+          case "channel-send": if (bytes) {
+            channels.get(id)?.send_rrd(bytes);
+          } break;
+          case "channel-close":
+            try { channels.get(id)?.close(); } finally {
+              channels.delete(id);
+            }
+            break;
+          case "get-camera-eye": result = readNativeRerunCameraEye(
+            (required() as WebViewer & { get_camera_eye?(): unknown }).get_camera_eye?.(),
+          ); break;
+          case "open": required().open(args[0]); break;
+          case "close": required().close(args[0]); break;
+          case "override_panel_state": required().override_panel_state(args[0], args[1]); break;
+          case "get_active_recording_id": result = required().get_active_recording_id(); break;
+          case "get_active_timeline": result = required().get_active_timeline(args[0]); break;
+          case "get_current_time": result = required().get_current_time(args[0], args[1]); break;
+          case "get_playing": result = required().get_playing(args[0]); break;
+          case "get_time_range": result = required().get_time_range(args[0], args[1]); break;
+          case "set_active_timeline": required().set_active_timeline(args[0], args[1]); break;
+          case "set_current_time": required().set_current_time(args[0], args[1], args[2]); break;
+          case "set_playing": required().set_playing(args[0], args[1]); break;
+          default: throw new Error("Unsupported recorded viewer command");
+        }
+        return JSON.stringify({ result });
+      } catch (error) {
+        // A native Error also has a foreign prototype. Return text, never throw
+        // that object into a parent Promise/callback retained after disposal.
+        return JSON.stringify({ error: String(error) });
+      }
+    },
+  };
+}

apps/control-station/src/components/rerun/recordedRerunProtocol.ts

@@ -0,0 +1,12 @@
+/** Only parent-owned inputs and primitive strings cross the recorded realm.
+ * An SDK instance, Promise, DOM node or native callback never becomes a value
+ * retained by React. This is not a second playback clock.
+ */
+export type RerunInvoke = (request: string, bytes?: Uint8Array) => string;
+export type RerunNotify = (message: string) => void;
+export interface RerunFrameApi {
+  version: 2;
+  connect: (notify: RerunNotify) => void;
+  invoke: RerunInvoke;
+}
+export type RerunFrameWindow = Window & { missionCoreRerun?: RerunFrameApi };

apps/control-station/src/components/rerun/useRecordedPointDisplay.ts

@@ -0,0 +1,66 @@
+import {useEffect, useRef, useState} from 'react';
+import {pointDisplayKey, streamRecordedPointDisplay, type PointDisplaySettings} from '../../core/observation/recordedPointDisplay';
+import type {RecordedPointColorLoadState} from '../RerunViewport';
+
+type Owner = {send: (bytes: Uint8Array) => void; identity: {applicationId: string; recordingId: string}};
+
+export function useRecordedPointDisplay({endpoint, settings, revision, ready, getOwner, onLoad, sourceGeneration}: {
+  endpoint: string | null; settings: PointDisplaySettings | undefined; revision: number; ready: boolean;
+  getOwner: () => Owner | null; onLoad?: (state: RecordedPointColorLoadState) => void;
+  sourceGeneration?: string;
+}) {
+  const [applied, setApplied] = useState<{endpoint: string; revision: number; key: string; bank: string; sourceGeneration?: string} | null>(null);
+  const ownerRef = useRef(getOwner); ownerRef.current = getOwner;
+  const loadRef = useRef(onLoad); loadRef.current = onLoad;
+  const failed = useRef(false);
+  const [retry, setRetry] = useState(0);
+  const key = settings ? pointDisplayKey(settings) : '';
+  const percent = settings?.pointDecimationPercent ?? 0;
+  const sameSource = applied?.endpoint === endpoint && applied?.revision === revision && applied?.sourceGeneration === sourceGeneration;
+  const matched = sameSource && applied?.key === key;
+  useEffect(() => {
+    // A new settings interaction retries a failed request, but accumulation or
+    // size edits must not cancel an already-running preparation of the same key.
+    if (failed.current) { failed.current = false; setRetry(value => value + 1); }
+  }, [settings]);
+  useEffect(() => {
+    if (!endpoint || !settings || !ready) return;
+    if (percent === 0 || percent === 100) {
+      loadRef.current?.({phase: 'ready', receivedBytes: 0, totalBytes: 0,
+        progress: 1, message: percent === 100 ? 'Точки скрыты.' : 'Все точки.'});
+      return;
+    }
+    if (matched) {
+      loadRef.current?.({phase: 'ready', receivedBytes: 0, totalBytes: 0,
+        progress: 1, message: 'Прореженное облако готово.'});
+      return;
+    }
+    const owner = ownerRef.current();
+    if (!owner) return;
+    const abort = new AbortController();
+    failed.current = false;
+    // Never append another generation at the same temporal entity path: an
+    // accumulated range would otherwise draw older samples as well.
+    const bank = crypto.randomUUID().replaceAll('-', '');
+    loadRef.current?.({phase: 'loading', receivedBytes: 0, totalBytes: null, progress: null,
+      message: 'Готовим прореженное облако. Текущий вид сохранён.'});
+    void streamRecordedPointDisplay(endpoint, settings, owner.identity, bank, abort.signal, chunk => {
+      if (!abort.signal.aborted) owner.send(chunk);
+    }, undefined, sourceGeneration).then(bytes => {
+      if (abort.signal.aborted) return;
+      setApplied({endpoint, revision, key, bank, sourceGeneration});
+      loadRef.current?.({phase: 'ready', receivedBytes: bytes, totalBytes: bytes, progress: 1,
+        message: 'Прореженное облако готово.'});
+    }).catch(() => {
+      if (!abort.signal.aborted) {
+        failed.current = true;
+        loadRef.current?.({phase: 'error', receivedBytes: 0, totalBytes: null,
+          progress: null, message: 'Прореживание не применено. Предыдущий вид сохранён. Измените значение или закройте настройки для повтора.'});
+      }
+    });
+    return () => abort.abort();
+  }, [endpoint, key, revision, ready, retry, sourceGeneration]);
+  return {ready: !endpoint || percent === 0 || percent === 100 || matched,
+    bank: percent > 0 && percent < 100 && sameSource ? applied?.bank ?? null : null,
+    hidePoints: percent === 100};
+}

apps/control-station/src/components/simulation/PlayCanvasRuntime.ts

@@ -1,25 +1,34 @@
 import {
   Application,
   Asset,
+  BLEND_NONE,
   BLEND_NORMAL,
   Color,
   CULLFACE_NONE,
   Entity,
   FILLMODE_NONE,
   Mat4,
+  Quat,
   RESOLUTION_AUTO,
   StandardMaterial,
   Vec2,
   Vec3,
   WasmModule,
   type ContainerResource,
-  type RenderComponent,
+  type ModelComponent,
   type ScriptType,
 } from "playcanvas";
 import { CameraControls } from "playcanvas/scripts/esm/camera-controls.mjs";
 
+import {
+  prepareSimulationPhysics,
+  SimulationUgvController,
+  type AmmoApi,
+} from "./SimulationUgvController";
+
 import type {
-  SimulationTransformAxis,
+  SimulationEulerRotation,
+  SimulationUgvPreset,
   SimulationViewerQuality,
   SimulationWorldManifest,
 } from "../../core/simulation/projects";
@@ -28,46 +37,18 @@ export type SimulationViewMode = "visual" | "collision" | "combined";
 export type SimulationQuality = SimulationViewerQuality;
 export type SimulationLayer = "visual" | "collision";
 export type SimulationCameraAxis = "horizontal" | "vertical";
+export type SimulationControlMode = "free" | "ugv";
 
-export const PLAYCANVAS_IDENTITY_TRANSFORM = [
-  1, 0, 0, 0,
-  0, 1, 0, 0,
-  0, 0, 1, 0,
-  0, 0, 0, 1,
-];
-
-export const PLAYCANVAS_X_180_TRANSFORM = [
-  1, 0, 0, 0,
-  0, -1, 0, 0,
-  0, 0, -1, 0,
-  0, 0, 0, 1,
-];
-
-export const PLAYCANVAS_Y_180_TRANSFORM = [
-  -1, 0, 0, 0,
-  0, 1, 0, 0,
-  0, 0, -1, 0,
-  0, 0, 0, 1,
-];
-
-export const PLAYCANVAS_Z_180_TRANSFORM = [
-  -1, 0, 0, 0,
-  0, -1, 0, 0,
-  0, 0, 1, 0,
-  0, 0, 0, 1,
-];
-
-export function playCanvasAxisTransform(axis: SimulationTransformAxis, inverted: boolean): number[] {
-  if (!inverted) return PLAYCANVAS_IDENTITY_TRANSFORM;
-  if (axis === "x") return PLAYCANVAS_X_180_TRANSFORM;
-  if (axis === "y") return PLAYCANVAS_Y_180_TRANSFORM;
-  return PLAYCANVAS_Z_180_TRANSFORM;
+export function playCanvasEulerTransform(rotation: SimulationEulerRotation): number[] {
+  return Array.from(new Mat4().setFromEulerAngles(rotation.x, rotation.y, rotation.z).data);
 }
 
 export interface SimulationRuntime {
   mount(canvas: HTMLCanvasElement): Promise<void>;
   loadWorld(manifest: SimulationWorldManifest): Promise<void>;
   setViewMode(mode: SimulationViewMode): Promise<void>;
+  setControlMode(mode: SimulationControlMode): Promise<void>;
+  setUgvPreset(preset: SimulationUgvPreset): void;
   setQuality(quality: SimulationQuality): void;
   setLayerWorldTransform(layer: SimulationLayer, transform: number[]): void;
   setCameraInversion(axis: SimulationCameraAxis, inverted: boolean): void;
@@ -78,10 +59,6 @@ export interface SimulationRuntime {
 
 type DesktopCameraInput = {
   read(): { mouse: number[] } & Record<string, number[]>;
-  _pointerId?: number;
-  _button?: number[];
-  _keyNow?: number[];
-  _keyPrev?: number[];
 };
 
 type CameraController = ScriptType & Pick<CameraControls, "reset" | "focus"> & {
@@ -123,6 +100,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   private visualEntity: Entity | null = null;
   private visualAsset: Asset | null = null;
   private collisionEntity: Entity | null = null;
+  private collisionVisuals: ModelComponent[] = [];
   private collisionAsset: Asset | null = null;
   private collisionMaterial: StandardMaterial | null = null;
   private collisionSource: { meshUrl: string; projectId: string; worldTransform: number[] } | null = null;
@@ -131,23 +109,44 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   private viewMode: SimulationViewMode = "visual";
   private quality: SimulationQuality = "high";
   private cameraInversion = { horizontal: true, vertical: false };
+  private controlMode: SimulationControlMode = "free";
+  private controlRequestVersion = 0;
+  private ugvController: SimulationUgvController | null = null;
+  private readonly lastCameraPosition = new Vec3();
+  private readonly lastCameraRotation = new Quat();
+  private cameraSnapshotReady = false;
   private renderIntervalMs = 1000 / 60;
   private renderAccumulatorMs = 0;
   private disposed = false;
-  private scheduleFrame = (deltaMs: number): void => {
-    if (!this.app || this.disposed) return;
-    this.renderAccumulatorMs += deltaMs;
+  private requestGsplatFrame = (): void => {
+    this.requestRender();
+  };
+  private updateFrame = (deltaSeconds: number): void => {
+    if (!this.app || !this.camera || this.disposed) return;
+    this.ugvController?.update(deltaSeconds);
+    const position = this.camera.getPosition();
+    const rotation = this.camera.getRotation();
+    const cameraChanged = !this.cameraSnapshotReady
+      || !position.equals(this.lastCameraPosition)
+      || !rotation.equals(this.lastCameraRotation);
+    if (!cameraChanged && this.controlMode === "free") return;
+    this.lastCameraPosition.copy(position);
+    this.lastCameraRotation.copy(rotation);
+    this.cameraSnapshotReady = true;
+    this.renderAccumulatorMs += deltaSeconds * 1000;
     if (this.renderAccumulatorMs < this.renderIntervalMs) return;
     this.renderAccumulatorMs %= this.renderIntervalMs;
     this.app.renderNextFrame = true;
   };
 
   async mount(canvas: HTMLCanvasElement): Promise<void> {
-    if (this.app) throw new Error("PlayCanvas runtime уже смонтирован.");
+    if (this.app) throw new Error("Runtime сцены уже запущен.");
     this.disposed = false;
     this.renderAccumulatorMs = 0;
     this.canvas = canvas;
     configureDracoDecoder();
+    const ammo: AmmoApi = await prepareSimulationPhysics();
+    if (this.disposed) return;
     canvas.tabIndex = 0;
     canvas.addEventListener("contextmenu", preventContextMenu);
     canvas.addEventListener("pointerdown", focusCanvas, true);
@@ -161,7 +160,8 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     });
     this.app = app;
     app.autoRender = false;
-    app.on("frameupdate", this.scheduleFrame);
+    app.on("update", this.updateFrame);
+    app.systems.gsplat?.on("frame:request", this.requestGsplatFrame);
     app.setCanvasFillMode(FILLMODE_NONE, 1, 1);
     app.setCanvasResolution(RESOLUTION_AUTO);
     app.scene.ambientLight = new Color(0.35, 0.37, 0.42);
@@ -188,6 +188,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     app.root.addChild(camera);
     this.camera = camera;
     this.cameraController = controller;
+    this.ugvController = new SimulationUgvController(app, canvas, camera, ammo);
 
     const light = new Entity("SimulationSun");
     light.addComponent("light", {
@@ -210,7 +211,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     const app = this.requiredApp();
     this.unloadWorld();
     const sourceUrl = manifest.visual.streamedSogUrl ?? manifest.visual.previewSogUrl;
-    if (!sourceUrl) throw new Error("World manifest не содержит визуальный SOG.");
+    if (!sourceUrl) throw new Error("Манифест локации не содержит визуальный слой.");
     const asset = new Asset(`SimulationWorld:${manifest.projectId}`, "gsplat", { url: sourceUrl });
     app.assets.add(asset);
     this.visualAsset = asset;
@@ -233,10 +234,11 @@ export class PlayCanvasRuntime implements SimulationRuntime {
         this.visualEntity = visual;
         this.applyQuality();
         this.applyViewMode();
+        this.requestRender();
         resolve();
       };
-      const failed = (error: unknown) => {
-        reject(new Error(error instanceof Error ? error.message : "PlayCanvas не загрузил SOG."));
+      const failed = (_error: unknown) => {
+        reject(new Error("Визуальный слой не загрузился."));
       };
       asset.ready(ready);
       asset.once("error", failed);
@@ -254,7 +256,6 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   }
 
   async setViewMode(mode: SimulationViewMode): Promise<void> {
-    this.resetCameraInteraction();
     this.viewMode = mode;
     this.applyViewMode();
     try {
@@ -263,13 +264,58 @@ export class PlayCanvasRuntime implements SimulationRuntime {
         this.applyViewMode();
       }
     } finally {
+      this.requestRender();
       this.canvas?.focus({ preventScroll: true });
     }
   }
 
+  async setControlMode(mode: SimulationControlMode): Promise<void> {
+    const requestVersion = ++this.controlRequestVersion;
+    const controller = this.ugvController;
+    if (!controller) throw new Error("Управление UGV ещё не готово.");
+
+    if (mode === "free") {
+      controller.disable();
+      this.controlMode = "free";
+      if (this.cameraController) this.cameraController.enabled = true;
+      this.home();
+      return;
+    }
+    if (this.controlMode === "ugv" && controller.enabled) return;
+
+    try {
+      await this.ensureCollision();
+      if (requestVersion !== this.controlRequestVersion || this.disposed) return;
+      const collisionWorld = this.collisionEntity;
+      if (!collisionWorld) throw new Error("Физический слой UGV отсутствует.");
+      if (this.cameraController) this.cameraController.enabled = false;
+      await controller.enable(collisionWorld);
+      if (requestVersion !== this.controlRequestVersion || this.disposed) {
+        controller.disable();
+        if (this.cameraController) this.cameraController.enabled = true;
+        return;
+      }
+      this.controlMode = "ugv";
+      this.cameraSnapshotReady = false;
+      this.requestRender();
+    } catch (error) {
+      controller.disable();
+      this.controlMode = "free";
+      if (this.cameraController) this.cameraController.enabled = true;
+      throw error;
+    }
+  }
+
   setQuality(quality: SimulationQuality): void {
     this.quality = quality;
     this.applyQuality();
+    this.requestRender();
+  }
+
+  setUgvPreset(preset: SimulationUgvPreset): void {
+    this.ugvController?.configure(preset);
+    this.cameraSnapshotReady = false;
+    this.requestRender();
   }
 
   setLayerWorldTransform(layer: SimulationLayer, transform: number[]): void {
@@ -278,10 +324,13 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     }
     if (layer === "visual") {
       if (this.visualEntity) applyWorldTransform(this.visualEntity, transform);
+      this.requestRender();
       return;
     }
     if (this.collisionSource) this.collisionSource.worldTransform = [...transform];
     if (this.collisionEntity) applyWorldTransform(this.collisionEntity, transform);
+    this.ugvController?.syncCollisionBodies();
+    this.requestRender();
   }
 
   setCameraInversion(axis: SimulationCameraAxis, inverted: boolean): void {
@@ -289,6 +338,12 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   }
 
   home(): void {
+    if (this.controlMode === "ugv" && this.ugvController?.enabled) {
+      this.ugvController.reset();
+      this.cameraSnapshotReady = false;
+      this.requestRender();
+      return;
+    }
     this.resetCameraInteraction();
     if (this.cameraController) {
       this.cameraController.reset(HOME_FOCUS, HOME_POSITION);
@@ -296,6 +351,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.camera.setPosition(HOME_POSITION);
       this.camera.lookAt(HOME_FOCUS);
     }
+    this.requestRender();
     this.canvas?.focus({ preventScroll: true });
   }
 
@@ -312,6 +368,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.camera.setPosition(position);
       this.camera.lookAt(focus);
     }
+    this.requestRender();
   }
 
   dispose(): void {
@@ -321,10 +378,13 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     this.resizeObserver = null;
     const webgl = this.canvas?.getContext("webgl2") ?? this.canvas?.getContext("webgl");
     this.unloadWorld();
+    this.ugvController?.dispose();
+    this.ugvController = null;
     if (this.app) {
       this.app.autoRender = false;
       this.app.renderNextFrame = false;
-      this.app.off("frameupdate", this.scheduleFrame);
+      this.app.systems.gsplat?.off("frame:request", this.requestGsplatFrame);
+      this.app.off("update", this.updateFrame);
       this.app.destroy();
     }
     webgl?.getExtension("WEBGL_lose_context")?.loseContext();
@@ -340,19 +400,26 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     this.canvas = null;
     this.camera = null;
     this.cameraController = null;
+    this.controlMode = "free";
+    this.cameraSnapshotReady = false;
   }
 
   private requiredApp(): Application {
-    if (!this.app) throw new Error("PlayCanvas runtime не смонтирован.");
+    if (!this.app) throw new Error("Runtime сцены не запущен.");
     return this.app;
   }
 
+  private requestRender(): void {
+    if (this.app && !this.disposed) this.app.renderNextFrame = true;
+  }
+
   private resize(): void {
     if (!this.app || !this.canvas) return;
     const bounds = this.canvas.parentElement?.getBoundingClientRect();
     const width = Math.max(1, Math.round(bounds?.width ?? this.canvas.clientWidth));
     const height = Math.max(1, Math.round(bounds?.height ?? this.canvas.clientHeight));
     this.app.resizeCanvas(width, height);
+    this.requestRender();
   }
 
   private applyViewMode(): void {
@@ -360,36 +427,27 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.visualEntity.enabled = this.viewMode !== "collision" || !this.collisionEntity;
     }
     if (this.collisionEntity) {
-      this.collisionEntity.enabled = this.viewMode !== "visual";
+      // Physics bodies must stay active while their green debug geometry is hidden.
+      this.collisionEntity.enabled = true;
+      const visible = this.viewMode !== "visual";
+      for (const model of this.collisionVisuals) model.enabled = visible;
     }
     if (this.collisionMaterial) {
       const combined = this.viewMode === "combined";
-      this.collisionMaterial.opacity = combined ? 0.34 : 0.82;
+      this.collisionMaterial.opacity = combined ? 0.34 : 1;
+      this.collisionMaterial.blendType = combined ? BLEND_NORMAL : BLEND_NONE;
       this.collisionMaterial.depthWrite = !combined;
       this.collisionMaterial.update();
     }
+    this.requestRender();
   }
 
   private resetCameraInteraction(): void {
     const controller = this.cameraController;
-    const canvas = this.canvas;
-    if (!controller || !canvas) return;
-    const input = controller._desktopInput;
-    const pointerId = input?._pointerId ?? -1;
-    if (pointerId >= 0 && canvas.hasPointerCapture(pointerId)) {
-      try {
-        canvas.releasePointerCapture(pointerId);
-      } catch {
-        // The browser may already have released capture after a trackpad gesture.
-      }
-    }
-    if (input) {
-      input._pointerId = -1;
-      input._button?.fill(0);
-      input._keyNow?.fill(0);
-      input._keyPrev?.fill(0);
-      input.read();
-    }
+    if (!controller) return;
+    // CameraControls owns pointer capture and its input-source lifecycle. Mutating
+    // those private fields here left the source unable to claim the next drag
+    // after a layer switch. The documented state event drains pending deltas.
     controller.fire("state");
     const state = controller._state;
     if (state) {
@@ -430,45 +488,52 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     this.collisionAsset = asset;
     await new Promise<void>((resolve, reject) => {
       asset.ready((loaded) => {
-        if (this.disposed || !this.app) {
-          loaded.unload();
-          resolve();
-          return;
-        }
-        const resource = loaded.resource as ContainerResource | null;
-        if (!resource) {
-          reject(new Error("PlayCanvas не открыл collision GLB."));
-          return;
-        }
-        const entity = resource.instantiateRenderEntity({
-          castShadows: false,
-          receiveShadows: false,
-        });
-        entity.name = "CollisionWorld";
-        entity.enabled = false;
-        applyWorldTransform(entity, worldTransform);
-        app.root.addChild(entity);
-
-        const material = new StandardMaterial();
-        material.name = "SimulationCollisionMaterial";
-        material.diffuse = new Color(0.2, 0.95, 0.42);
-        material.emissive = new Color(0.08, 0.36, 0.14);
-        material.opacity = 0.34;
-        material.blendType = BLEND_NORMAL;
-        material.depthWrite = false;
-        material.cull = CULLFACE_NONE;
-        material.update();
-        for (const render of entity.findComponents("render") as RenderComponent[]) {
-          for (const meshInstance of render.meshInstances) {
-            meshInstance.material = material;
+        try {
+          if (this.disposed || !this.app) {
+            loaded.unload();
+            resolve();
+            return;
           }
+          const resource = loaded.resource as ContainerResource | null;
+          if (!resource) throw new Error("Контейнер GLB не содержит ресурса.");
+          const entity = resource.instantiateModelEntity({
+            castShadows: false,
+            receiveShadows: false,
+          });
+          entity.name = "CollisionWorld";
+          entity.enabled = false;
+          applyWorldTransform(entity, worldTransform);
+          app.root.addChild(entity);
+
+          const material = new StandardMaterial();
+          material.name = "SimulationCollisionMaterial";
+          material.diffuse = new Color(0.2, 0.95, 0.42);
+          material.emissive = new Color(0.08, 0.36, 0.14);
+          material.opacity = 0.34;
+          material.blendType = BLEND_NORMAL;
+          material.depthWrite = false;
+          material.cull = CULLFACE_NONE;
+          material.update();
+          const models = entity.findComponents("model") as ModelComponent[];
+          for (const model of models) {
+            for (const meshInstance of model.meshInstances ?? []) {
+              meshInstance.material = material;
+            }
+          }
+          this.collisionEntity = entity;
+          this.collisionVisuals = models;
+          this.collisionMaterial = material;
+          this.applyViewMode();
+          this.requestRender();
+          resolve();
+        } catch (error) {
+          reject(new Error(
+            `Слой коллизий не открылся: ${error instanceof Error ? error.message : String(error)}`,
+          ));
         }
-        this.collisionEntity = entity;
-        this.collisionMaterial = material;
-        resolve();
       });
       asset.once("error", (error: unknown) => {
-        reject(new Error(error instanceof Error ? error.message : "PlayCanvas не загрузил collision GLB."));
+        reject(new Error(`Слой коллизий не загрузился: ${String(error)}`));
       });
       app.assets.load(asset);
     });
@@ -477,7 +542,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   private async ensureCollision(): Promise<void> {
     if (this.collisionEntity) return;
     if (!this.collisionSource) {
-      throw new Error("Collision GLB отсутствует в world manifest.");
+      throw new Error("Слой коллизий отсутствует в манифесте локации.");
     }
     if (!this.collisionLoadPromise) {
       this.collisionLoadPromise = this.loadCollision(
@@ -492,6 +557,10 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   }
 
   private unloadWorld(): void {
+    this.controlRequestVersion += 1;
+    this.ugvController?.disable();
+    this.controlMode = "free";
+    if (this.cameraController) this.cameraController.enabled = true;
     if (this.visualEntity) {
       this.visualEntity.destroy();
       this.visualEntity = null;
@@ -505,6 +574,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.collisionEntity.destroy();
       this.collisionEntity = null;
     }
+    this.collisionVisuals = [];
     if (this.collisionAsset && this.app) {
       this.app.assets.remove(this.collisionAsset);
       this.collisionAsset.unload();

apps/control-station/src/components/simulation/SimulationCatalog.tsx

@@ -0,0 +1,333 @@
+import {
+  ActivityIndicator,
+  Button,
+  Icon,
+  IconButton,
+  StatusBadge,
+} from "@nodedc/ui-react";
+
+import type {
+  SimulationProject,
+  SimulationProjectStatus,
+  SimulationUploadProgress,
+} from "../../core/simulation/projects";
+import { estimateSimulationProcessing } from "../../core/simulation/projects";
+
+const ACTIVE_STATUSES = new Set<SimulationProjectStatus>([
+  "uploading",
+  "queued",
+  "processing",
+  "importing",
+]);
+
+export function SimulationCatalog({
+  projects,
+  uploadProgress,
+  loading,
+  loadError,
+  queueError,
+  dropping,
+  onCreate,
+  onRetryLoad,
+  onSelect,
+  onEdit,
+  onDelete,
+}: {
+  projects: SimulationProject[];
+  uploadProgress: ReadonlyMap<string, SimulationUploadProgress>;
+  loading: boolean;
+  loadError: string | null;
+  queueError: string | null;
+  dropping: boolean;
+  onCreate: () => void;
+  onRetryLoad: () => void;
+  onSelect: (project: SimulationProject) => void;
+  onEdit: (project: SimulationProject) => void;
+  onDelete: (project: SimulationProject) => void;
+}) {
+  const sourceBytes = projects.reduce(
+    (sum, project) => sum + project.source.totalByteLength,
+    0,
+  );
+
+  return (
+    <section
+      className="simulation-catalog"
+      data-dropping={dropping ? "true" : undefined}
+      aria-label="Проекты симуляции"
+    >
+      <header className="simulation-catalog__summary">
+        <div><span>Проектов</span><strong>{projects.length.toLocaleString("ru-RU")}</strong></div>
+        <div><span>Визуал готов</span><strong>{countStatus(projects, "ready")}</strong></div>
+        <div><span>В работе</span><strong>{projects.filter((project) => ACTIVE_STATUSES.has(project.status)).length}</strong></div>
+        <div><span>Исходники</span><strong>{formatBytes(sourceBytes)}</strong></div>
+      </header>
+
+      {queueError ? (
+        <div className="simulation-catalog__notice" role="alert">
+          <Icon name="alert" size={18} />
+          <span>{queueError}</span>
+        </div>
+      ) : null}
+
+      {loading && projects.length === 0 ? (
+        <div className="simulation-catalog__state" role="status">
+          <ActivityIndicator label="Загрузка каталога" />
+          <span>Читаем каталог сцен</span>
+        </div>
+      ) : loadError && projects.length === 0 ? (
+        <div className="simulation-catalog__state" role="alert">
+          <Icon name="alert" size={20} />
+          <div><strong>Каталог недоступен</strong><span>{loadError}</span></div>
+          <Button size="compact" onClick={onRetryLoad}>Повторить</Button>
+        </div>
+      ) : projects.length === 0 ? (
+        <div className="simulation-catalog__empty">
+          <span><Icon name="globe" size={20} /></span>
+          <strong>Перетащите архивы в это окно</strong>
+          <p>Каждый ZIP, RAR или 7z сразу станет отдельным проектом и встанет в очередь.</p>
+          <Button variant="primary" icon={<Icon name="plus" size={16} />} onClick={onCreate}>
+            Новый проект
+          </Button>
+        </div>
+      ) : (
+        <div className="simulation-catalog__table-wrap">
+          <table className="simulation-catalog__table">
+            <thead>
+              <tr>
+                <th>Проект</th>
+                <th>Источник</th>
+                <th>Размер</th>
+                <th>Сплаты</th>
+                <th>Статус</th>
+                <th>Обновлён</th>
+                <th aria-label="Действия" />
+              </tr>
+            </thead>
+            <tbody>
+              {projects.map((project) => (
+                <SimulationCatalogRow
+                  key={project.projectId}
+                  project={project}
+                  uploadProgress={uploadProgress.get(project.projectId)}
+                  onSelect={() => onSelect(project)}
+                  onEdit={() => onEdit(project)}
+                  onDelete={() => onDelete(project)}
+                />
+              ))}
+            </tbody>
+          </table>
+        </div>
+      )}
+
+      {dropping ? (
+        <div className="simulation-catalog__drop-overlay" role="status">
+          <span className="simulation-catalog__drop-mark"><Icon name="plus" size={28} /></span>
+          <strong>Отпустите архивы</strong>
+          <span>ZIP · RAR · 7z · до 16 ГБ на проект</span>
+          <small>Внутри — сцена LCC или LCC2 и связанные файлы</small>
+        </div>
+      ) : null}
+    </section>
+  );
+}
+
+function SimulationCatalogRow({
+  project,
+  uploadProgress,
+  onSelect,
+  onEdit,
+  onDelete,
+}: {
+  project: SimulationProject;
+  uploadProgress?: SimulationUploadProgress;
+  onSelect: () => void;
+  onEdit: () => void;
+  onDelete: () => void;
+}) {
+  const status = statusPresentation(project.status);
+  const active = ACTIVE_STATUSES.has(project.status);
+  return (
+    <tr data-status={project.status}>
+      <td>
+        <button type="button" onClick={onSelect}>
+          <span className="simulation-catalog__project-icon"><Icon name="globe" size={18} /></span>
+          <span>
+            <strong>{project.name}</strong>
+            <small>{sourceFileLabel(project)}</small>
+          </span>
+        </button>
+      </td>
+      {active ? (
+        <td colSpan={3}>
+          <ProjectProgress project={project} localProgress={uploadProgress} />
+        </td>
+      ) : (
+        <>
+          <td>
+            {project.source.kind === "archive" ? "Архив" : "Папка"}
+            <small>{project.source.files.length} файл(ов)</small>
+          </td>
+          <td>{formatBytes(project.source.totalByteLength)}</td>
+          <td>—</td>
+        </>
+      )}
+      <td><StatusBadge tone={status.tone}>{status.label}</StatusBadge></td>
+      <td>{formatDate(project.updatedAtUtc)}</td>
+      <td>
+        <div className="simulation-catalog__actions">
+          <IconButton label={`Удалить ${project.name}`} onClick={onDelete}>
+            <Icon name="trash" size={16} />
+          </IconButton>
+          <IconButton label={`Редактировать ${project.name}`} onClick={onEdit}>
+            <Icon name="edit" size={16} />
+          </IconButton>
+        </div>
+      </td>
+    </tr>
+  );
+}
+
+function ProjectProgress({
+  project,
+  localProgress,
+}: {
+  project: SimulationProject;
+  localProgress?: SimulationUploadProgress;
+}) {
+  const progress = progressPresentation(project, localProgress);
+  return (
+    <div
+      className="simulation-catalog__progress"
+      data-indeterminate={progress.indeterminate ? "true" : undefined}
+      role="progressbar"
+      aria-label={progress.label}
+      aria-valuemin={0}
+      aria-valuemax={100}
+      aria-valuenow={progress.indeterminate ? undefined : progress.percent}
+    >
+      {progress.meta ? <small className="simulation-catalog__progress-meta">{progress.meta}</small> : null}
+      <span className="simulation-catalog__progress-track">
+        <i style={{ width: `${progress.percent}%` }} />
+      </span>
+      <small className="simulation-catalog__progress-stage">{progress.label}</small>
+    </div>
+  );
+}
+
+function progressPresentation(
+  project: SimulationProject,
+  local?: SimulationUploadProgress,
+): { percent: number; label: string; meta: string | null; indeterminate: boolean } {
+  if (project.status === "uploading") {
+    const uploaded = local?.uploadedBytes ?? project.source.uploadedByteLength;
+    const total = local?.totalBytes ?? project.source.totalByteLength;
+    const percent = total ? Math.min(100, uploaded / total * 100) : 0;
+    return {
+      percent,
+      label: `${formatBytes(uploaded)} / ${formatBytes(total)}`,
+      meta: progressMeta(percent, local?.estimatedSecondsRemaining),
+      indeterminate: false,
+    };
+  }
+  if (project.status === "queued") {
+    return { percent: 0, label: "Ожидает обработки", meta: null, indeterminate: true };
+  }
+  const estimate = estimateSimulationProcessing(project);
+  if (estimate) {
+    return {
+      percent: estimate.percent,
+      label: processingLabel(project),
+      meta: progressMeta(estimate.percent, estimate.estimatedSecondsRemaining),
+      indeterminate: false,
+    };
+  }
+  const completed = project.provider.progress?.completed_steps;
+  const total = project.provider.progress?.total_steps;
+  if (typeof completed === "number" && typeof total === "number" && total > 0) {
+    const percent = Math.min(100, completed / total * 100);
+    return {
+      percent,
+      label: processingLabel(project),
+      meta: progressMeta(percent, null),
+      indeterminate: false,
+    };
+  }
+  return {
+    percent: project.status === "importing" ? 96 : 0,
+    label: processingLabel(project),
+    meta: project.status === "importing" ? progressMeta(96, null) : null,
+    indeterminate: project.status !== "importing",
+  };
+}
+
+function progressMeta(percent: number, seconds: number | null | undefined): string {
+  const roundedPercent = Math.min(100, Math.max(0, Math.floor(percent)));
+  return `Прогресс ${roundedPercent}% | ${remainingTimeLabel(seconds)}`;
+}
+
+function remainingTimeLabel(seconds: number | null | undefined): string {
+  if (seconds === null || seconds === undefined) return "Время уточняется";
+  if (seconds <= 60) return "Осталось меньше минуты";
+  const minutes = Math.ceil(seconds / 60);
+  if (minutes < 60) return `Осталось примерно ${minutes} мин`;
+  const hours = Math.floor(minutes / 60);
+  const remainder = minutes % 60;
+  return `Осталось примерно ${hours} ч${remainder ? ` ${remainder} мин` : ""}`;
+}
+
+function processingLabel(project: SimulationProject): string {
+  if (project.status === "importing") return "Подготавливаем сцену";
+  const stage = project.provider.state;
+  if (stage === "verifying_source") return "Проверяем исходник";
+  if (stage === "inspecting") return "Анализируем локацию";
+  if (stage === "building_preview") return "Подготавливаем локацию";
+  if (stage === "building_streamed_sog") return "Собираем уровни детализации";
+  if (stage === "building_collision") return "Собираем коллизии";
+  return "Обрабатываем локацию";
+}
+
+function statusPresentation(status: SimulationProjectStatus): {
+  label: string;
+  tone: "success" | "accent" | "warning" | "neutral";
+} {
+  if (status === "ready") return { label: "Визуал готов", tone: "success" };
+  if (status === "failed") return { label: "Ошибка", tone: "warning" };
+  if (status === "uploading") return { label: "Загрузка", tone: "neutral" };
+  if (status === "queued") return { label: "В очереди", tone: "neutral" };
+  if (status === "importing") return { label: "Подготовка", tone: "accent" };
+  return { label: "Обработка", tone: "accent" };
+}
+
+function sourceFileLabel(project: SimulationProject): string {
+  const first = project.source.files[0]?.logicalPath;
+  if (project.source.kind === "archive" && first) return first;
+  return `${sceneTypeLabel(project.sceneType)} · ${project.source.files.length} файл(ов)`;
+}
+
+function sceneTypeLabel(value: SimulationProject["sceneType"]): string {
+  if (value === "interior") return "Интерьер";
+  if (value === "object") return "Объект";
+  return "Улица";
+}
+
+function countStatus(projects: SimulationProject[], status: SimulationProjectStatus): number {
+  return projects.filter((project) => project.status === status).length;
+}
+
+function formatDate(value: string): string {
+  const date = new Date(value);
+  return Number.isNaN(date.valueOf()) ? "—" : date.toLocaleString("ru-RU", {
+    day: "2-digit",
+    month: "short",
+    hour: "2-digit",
+    minute: "2-digit",
+  });
+}
+
+function formatBytes(value: number): string {
+  if (value < 1024) return `${value} Б`;
+  if (value < 1024 ** 2) return `${(value / 1024).toLocaleString("ru-RU", { maximumFractionDigits: 1 })} КБ`;
+  if (value < 1024 ** 3) return `${(value / 1024 ** 2).toLocaleString("ru-RU", { maximumFractionDigits: 1 })} МБ`;
+  return `${(value / 1024 ** 3).toLocaleString("ru-RU", { maximumFractionDigits: 2 })} ГБ`;
+}

apps/control-station/src/components/simulation/SimulationProjectWindow.tsx

@@ -18,6 +18,10 @@ import {
   type SimulationUploadCandidate,
   type SimulationUploadProgress,
 } from "../../core/simulation/projects";
+import {
+  candidatesFromDrop,
+  validateSimulationCandidates,
+} from "../../core/simulation/sourceFiles";
 
 export function SimulationProjectWindow({
   open,
@@ -55,7 +59,7 @@ export function SimulationProjectWindow({
 
   const acceptCandidates = (next: SimulationUploadCandidate[]) => {
     try {
-      validateCandidates(next);
+      validateSimulationCandidates(next);
       setCandidates(next);
       setError(null);
       if (!name.trim() && next.length) {
@@ -213,7 +217,10 @@ export function SimulationProjectWindow({
           <div className="simulation-upload-progress" role="status">
             <span><i style={{ width: `${Math.min(100, progress.totalBytes ? progress.uploadedBytes / progress.totalBytes * 100 : 0)}%` }} /></span>
             <div>
-              <strong>{formatBytes(progress.uploadedBytes)} / {formatBytes(progress.totalBytes)}</strong>
+              <strong>
+                {formatBytes(progress.uploadedBytes)} / {formatBytes(progress.totalBytes)}
+                {" · "}{formatUploadEta(progress.estimatedSecondsRemaining)}
+              </strong>
               <small>{progress.currentPath}</small>
             </div>
           </div>
@@ -224,83 +231,15 @@ export function SimulationProjectWindow({
   );
 }
 
-interface LegacyFileEntry {
-  isFile: boolean;
-  isDirectory: boolean;
-  name: string;
-  fullPath: string;
-  file?: (callback: (file: File) => void, error?: (error: DOMException) => void) => void;
-  createReader?: () => {
-    readEntries: (
-      callback: (entries: LegacyFileEntry[]) => void,
-      error?: (error: DOMException) => void,
-    ) => void;
-  };
-}
-
-async function candidatesFromDrop(transfer: DataTransfer): Promise<SimulationUploadCandidate[]> {
-  const candidates: SimulationUploadCandidate[] = [];
-  for (const item of Array.from(transfer.items)) {
-    const entry = (item as DataTransferItem & {
-      webkitGetAsEntry?: () => LegacyFileEntry | null;
-    }).webkitGetAsEntry?.();
-    if (entry) {
-      await collectEntry(entry, candidates);
-      continue;
-    }
-    const file = item.getAsFile();
-    if (file) candidates.push({ file, logicalPath: file.name });
-  }
-  if (!candidates.length) {
-    for (const file of Array.from(transfer.files)) {
-      candidates.push({ file, logicalPath: file.name });
-    }
-  }
-  return candidates;
-}
-
-async function collectEntry(entry: LegacyFileEntry, target: SimulationUploadCandidate[]): Promise<void> {
-  if (entry.isFile && entry.file) {
-    const file = await new Promise<File>((resolve, reject) => entry.file?.(resolve, reject));
-    target.push({ file, logicalPath: entry.fullPath.replace(/^\//, "") || file.name });
-    return;
-  }
-  if (!entry.isDirectory || !entry.createReader) return;
-  const reader = entry.createReader();
-  while (true) {
-    const batch = await new Promise<LegacyFileEntry[]>((resolve, reject) => reader.readEntries(resolve, reject));
-    if (!batch.length) break;
-    for (const child of batch) await collectEntry(child, target);
-  }
-}
-
-function validateCandidates(candidates: SimulationUploadCandidate[]): void {
-  if (!candidates.length) throw new Error("Выберите архив или папку с результатом LCC/LCC2.");
-  const archives = candidates.filter((candidate) => /\.(zip|rar|7z)$/i.test(candidate.logicalPath));
-  if (archives.length) {
-    if (candidates.length !== 1) throw new Error("Архив нужно загружать одним файлом.");
-    return;
-  }
-  const descriptors = candidates.filter((candidate) => /\.lcc2?$/i.test(candidate.logicalPath));
-  if (descriptors.length !== 1) {
-    throw new Error("В папке должна быть ровно одна сцена .lcc или .lcc2.");
-  }
-  const paths = new Set<string>();
-  for (const candidate of candidates) {
-    const parts = candidate.logicalPath.split("/");
-    if (
-      !candidate.logicalPath ||
-      candidate.logicalPath.startsWith("/") ||
-      candidate.logicalPath.includes("\\") ||
-      candidate.logicalPath.includes("\0") ||
-      parts.some((part) => part === "" || part === "." || part === "..")
-    ) {
-      throw new Error("Папка содержит небезопасный путь.");
-    }
-    if (candidate.file.size <= 0) throw new Error(`Пустой файл: ${candidate.logicalPath}`);
-    if (paths.has(candidate.logicalPath)) throw new Error(`Повторяющийся путь: ${candidate.logicalPath}`);
-    paths.add(candidate.logicalPath);
-  }
+function formatUploadEta(seconds: number | null): string {
+  if (seconds === 0) return "загружено";
+  if (seconds === null) return "считаем время";
+  if (seconds < 60) return `осталось ≈ ${Math.max(1, seconds)} сек`;
+  const minutes = Math.ceil(seconds / 60);
+  if (minutes < 60) return `осталось ≈ ${minutes} мин`;
+  const hours = Math.floor(minutes / 60);
+  const remainder = minutes % 60;
+  return `осталось ≈ ${hours} ч${remainder ? ` ${remainder} мин` : ""}`;
 }
 
 function summarizeCandidates(candidates: SimulationUploadCandidate[]): { title: string; detail: string } {

apps/control-station/src/components/simulation/SimulationUgvSettingsPanel.tsx

@@ -0,0 +1,191 @@
+import {
+  Button,
+  Icon,
+  RangeControl,
+  Switch,
+  TextField,
+} from "@nodedc/ui-react";
+
+import {
+  SIMULATION_UGV_EXACT_VALUE_LIMITS,
+  type SimulationUgvPreset,
+} from "../../core/simulation/projects";
+
+export type SimulationUgvPresetSaveState = "idle" | "saving" | "saved" | "failed";
+
+export function SimulationUgvSettingsPanel({
+  value,
+  disabled,
+  saveState,
+  onChange,
+  onSave,
+}: {
+  value: SimulationUgvPreset;
+  disabled: boolean;
+  saveState: SimulationUgvPresetSaveState;
+  onChange: (preset: SimulationUgvPreset) => void;
+  onSave: () => void;
+}) {
+  const dimensions = value.dimensionsMeters;
+  const updateDimensions = (
+    patch: Partial<SimulationUgvPreset["dimensionsMeters"]>,
+  ) => {
+    const next = { ...dimensions, ...patch };
+    next.groundClearance = Math.max(
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.min,
+      Math.min(next.groundClearance, roundToHundredth(next.height - 0.05)),
+    );
+    onChange({ ...value, dimensionsMeters: next });
+  };
+
+  return (
+    <section className="simulation-viewport__settings-group simulation-ugv-settings">
+      <div className="simulation-viewport__settings-group-head">
+        <strong>Физика UGV</strong>
+        <span>Дифференциальный привод</span>
+      </div>
+      <p>
+        A/D без W/S разворачивают UGV вокруг собственного центра. Скорость и
+        динамика применяются сразу. Мышь вращает камеру вокруг машины, колесо
+        меняет дистанцию; после паузы камера плавно возвращается назад. Ползунок
+        работает в штатном диапазоне, точное значение можно ввести вручную.
+      </p>
+      <TextField
+        label="Название пресета"
+        value={value.presetName}
+        maxLength={80}
+        disabled={disabled}
+        spellCheck={false}
+        onChange={(event) => onChange({ ...value, presetName: event.currentTarget.value })}
+      />
+      <RangeControl
+        label="Масса конструкции"
+      value={value.massKg}
+      min={10}
+      max={500}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.massKg}
+        step={5}
+        disabled={disabled}
+        formatValue={(mass) => `${Math.round(mass)} кг`}
+        onChange={(massKg) => onChange({ ...value, massKg })}
+      />
+      <div className="simulation-ugv-settings__subhead">
+        <strong>Габариты</strong>
+        <span>В метрах</span>
+      </div>
+      <RangeControl
+        label="Длина"
+        value={dimensions.length}
+      min={0.4}
+      max={3}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.length}
+        step={0.05}
+        disabled={disabled}
+        formatValue={formatMeters}
+        onChange={(length) => updateDimensions({ length })}
+      />
+      <RangeControl
+        label="Ширина"
+        value={dimensions.width}
+      min={0.3}
+      max={2}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.width}
+        step={0.05}
+        disabled={disabled}
+        formatValue={formatMeters}
+        onChange={(width) => updateDimensions({ width })}
+      />
+      <RangeControl
+        label="Общая высота"
+        value={dimensions.height}
+      min={0.2}
+      max={2}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.height}
+        step={0.05}
+        disabled={disabled}
+        formatValue={formatMeters}
+        onChange={(height) => updateDimensions({ height })}
+      />
+      <RangeControl
+        label="Клиренс"
+        value={dimensions.groundClearance}
+      min={0.03}
+      max={Math.max(0.03, Math.min(0.6, dimensions.height - 0.05))}
+      exactValueBounds={{
+        min: SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.min,
+        max: Math.min(
+          SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.max,
+          dimensions.height - 0.05,
+        ),
+      }}
+        step={0.01}
+        disabled={disabled}
+        formatValue={formatMeters}
+        onChange={(groundClearance) => updateDimensions({ groundClearance })}
+      />
+      <div className="simulation-ugv-settings__subhead">
+        <strong>Динамика</strong>
+        <span>Ограничители движения</span>
+      </div>
+      <RangeControl
+        label="Скорость движения"
+        value={value.maxSpeedMetersPerSecond}
+      min={0.1}
+      max={8}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.maxSpeedMetersPerSecond}
+        step={0.1}
+        disabled={disabled}
+        formatValue={(speed) => `${formatDecimal(speed, 1)} м/с`}
+        onChange={(maxSpeedMetersPerSecond) => onChange({
+          ...value,
+          maxSpeedMetersPerSecond,
+        })}
+      />
+      <RangeControl
+        label="Скорость разворота"
+        value={value.maxTurnRateDegrees}
+      min={5}
+      max={180}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.maxTurnRateDegrees}
+        step={5}
+        disabled={disabled}
+        formatValue={(rate) => `${Math.round(rate)}°/с`}
+        onChange={(maxTurnRateDegrees) => onChange({ ...value, maxTurnRateDegrees })}
+      />
+      <Switch
+        checked={value.invertSteering}
+        disabled={disabled}
+        label="Инверсия управления A/D"
+        onChange={(invertSteering) => onChange({ ...value, invertSteering })}
+      />
+      <Button
+        className="simulation-ugv-settings__save"
+        size="compact"
+        variant="secondary"
+        icon={<Icon name="save" size={16} />}
+        disabled={disabled || saveState === "saving" || value.presetName.trim() === ""}
+        onClick={onSave}
+      >
+        {saveState === "saving"
+          ? "Сохраняем…"
+          : saveState === "saved"
+            ? "Пресет сохранён"
+            : saveState === "failed"
+              ? "Повторить сохранение"
+              : "Сохранить пресет"}
+      </Button>
+    </section>
+  );
+}
+
+function formatMeters(value: number): string {
+  return `${formatDecimal(value, 2)} м`;
+}
+
+function formatDecimal(value: number, digits: number): string {
+  return value.toFixed(digits).replace(".", ",");
+}
+
+function roundToHundredth(value: number): number {
+  return Math.round(value * 100) / 100;
+}

apps/control-station/src/components/simulation/SimulationViewport.tsx

@@ -2,18 +2,21 @@ import { useEffect, useId, useRef, useState } from "react";
 import {
   ActivityIndicator,
   Button,
+  GlassMaterialSurface,
   Icon,
   IconButton,
   SegmentedControl,
   Select,
   StatusBadge,
   Switch,
+  TextField,
 } from "@nodedc/ui-react";
 
 import {
   saveSimulationViewerSettings,
+  type SimulationEulerRotation,
   type SimulationProject,
-  type SimulationTransformAxis,
+  type SimulationUgvPreset,
   type SimulationViewerSettings,
 } from "../../core/simulation/projects";
 import {
@@ -22,16 +25,17 @@ import {
 } from "../../core/runtime/latestAsyncCommitter";
 import {
   PlayCanvasRuntime,
-  playCanvasAxisTransform,
+  playCanvasEulerTransform,
+  type SimulationControlMode,
   type SimulationQuality,
   type SimulationViewMode,
 } from "./PlayCanvasRuntime";
+import {
+  SimulationUgvSettingsPanel,
+  type SimulationUgvPresetSaveState,
+} from "./SimulationUgvSettingsPanel";
 
-const AXIS_OPTIONS: Array<{ value: SimulationTransformAxis; label: string }> = [
-  { value: "x", label: "X" },
-  { value: "y", label: "Y" },
-  { value: "z", label: "Z" },
-];
+const ROTATION_AXES = ["x", "y", "z"] as const;
 
 export function SimulationViewport({
   project,
@@ -44,23 +48,34 @@ export function SimulationViewport({
   const runtimeRef = useRef<PlayCanvasRuntime | null>(null);
   const viewerSettingsRef = useRef(project.viewerSettings);
   const settingsCommitterRef = useRef<LatestAsyncCommitter<SimulationViewerSettings> | null>(null);
+  const settingsCommitSucceededRef = useRef(true);
+  const ugvSaveRequestRef = useRef(0);
+  const controlRequestRef = useRef(0);
   const settingsId = useId();
   const [state, setState] = useState<"mounting" | "loading" | "ready" | "failed">("mounting");
   const [error, setError] = useState<string | null>(null);
   const [viewMode, setViewMode] = useState<SimulationViewMode>("visual");
+  const [controlMode, setControlMode] = useState<SimulationControlMode>("free");
+  const [controlState, setControlState] = useState<"idle" | "loading" | "ready" | "failed">("idle");
   const [quality, setQuality] = useState<SimulationQuality>(project.viewerSettings.quality);
   const [collisionState, setCollisionState] = useState<"idle" | "loading" | "ready" | "failed">("idle");
   const [settingsOpen, setSettingsOpen] = useState(false);
-  const [visualInverted, setVisualInverted] = useState(project.viewerSettings.visual.inverted);
-  const [visualAxis, setVisualAxis] = useState(project.viewerSettings.visual.axis);
-  const [collisionInverted, setCollisionInverted] = useState(project.viewerSettings.collision.inverted);
-  const [collisionAxis, setCollisionAxis] = useState(project.viewerSettings.collision.axis);
+  const [visualRotation, setVisualRotation] = useState({
+    ...project.viewerSettings.visual.rotationDegrees,
+  });
+  const [collisionRotation, setCollisionRotation] = useState({
+    ...project.viewerSettings.collision.rotationDegrees,
+  });
   const [horizontalInverted, setHorizontalInverted] = useState(
     project.viewerSettings.camera.invertHorizontal,
   );
   const [verticalInverted, setVerticalInverted] = useState(
     project.viewerSettings.camera.invertVertical,
   );
+  const [ugvDraft, setUgvDraft] = useState<SimulationUgvPreset>(() =>
+    cloneUgvPreset(project.viewerSettings.ugv),
+  );
+  const [ugvSaveState, setUgvSaveState] = useState<SimulationUgvPresetSaveState>("idle");
   const [settingsError, setSettingsError] = useState<string | null>(null);
   const worldManifestRevision = JSON.stringify(project.worldManifest);
 
@@ -68,14 +83,18 @@ export function SimulationViewport({
     const settings = project.viewerSettings;
     viewerSettingsRef.current = settings;
     setQuality(settings.quality);
-    setVisualInverted(settings.visual.inverted);
-    setVisualAxis(settings.visual.axis);
-    setCollisionInverted(settings.collision.inverted);
-    setCollisionAxis(settings.collision.axis);
+    setVisualRotation({ ...settings.visual.rotationDegrees });
+    setCollisionRotation({ ...settings.collision.rotationDegrees });
     setHorizontalInverted(settings.camera.invertHorizontal);
     setVerticalInverted(settings.camera.invertVertical);
+    setUgvDraft(cloneUgvPreset(settings.ugv));
+    setUgvSaveState("idle");
+    ugvSaveRequestRef.current += 1;
     setSettingsError(null);
     setSettingsOpen(false);
+    controlRequestRef.current += 1;
+    setControlMode("free");
+    setControlState("idle");
   }, [project.projectId]);
 
   useEffect(() => {
@@ -84,9 +103,11 @@ export function SimulationViewport({
       async commit(settings) {
         try {
           const saved = await saveSimulationViewerSettings(project.projectId, settings);
+          settingsCommitSucceededRef.current = true;
           if (active) onProjectChange?.(saved);
           return true;
         } catch (caught) {
+          settingsCommitSucceededRef.current = false;
           if (active) {
             setSettingsError(
               caught instanceof Error ? caught.message : "Не удалось сохранить настройки сцены.",
@@ -122,15 +143,16 @@ export function SimulationViewport({
       runtime.setQuality(settings.quality);
       runtime.setCameraInversion("horizontal", settings.camera.invertHorizontal);
       runtime.setCameraInversion("vertical", settings.camera.invertVertical);
+      runtime.setUgvPreset(settings.ugv);
       setState("loading");
       await runtime.loadWorld(manifest);
       runtime.setLayerWorldTransform(
         "visual",
-        playCanvasAxisTransform(settings.visual.axis, settings.visual.inverted),
+        playCanvasEulerTransform(settings.visual.rotationDegrees),
       );
       runtime.setLayerWorldTransform(
         "collision",
-        playCanvasAxisTransform(settings.collision.axis, settings.collision.inverted),
+        playCanvasEulerTransform(settings.collision.rotationDegrees),
       );
       if (!cancelled) setState("ready");
     }).catch((caught: unknown) => {
@@ -140,6 +162,7 @@ export function SimulationViewport({
     });
     return () => {
       cancelled = true;
+      controlRequestRef.current += 1;
       runtime.dispose();
       runtimeRef.current = null;
     };
@@ -151,25 +174,89 @@ export function SimulationViewport({
   const collisionAvailable = project.worldManifest?.collision.available ?? false;
   const commitViewerSettings = (settings: SimulationViewerSettings) => {
     viewerSettingsRef.current = settings;
+    settingsCommitSucceededRef.current = false;
     settingsCommitterRef.current?.enqueue(settings);
   };
 
+  const changeUgvDraft = (next: SimulationUgvPreset) => {
+    setUgvDraft(cloneUgvPreset(next));
+    setUgvSaveState("idle");
+    ugvSaveRequestRef.current += 1;
+    runtimeRef.current?.setUgvPreset(next);
+  };
+
+  const saveUgvPreset = () => {
+    const committer = settingsCommitterRef.current;
+    if (!committer) {
+      setUgvSaveState("failed");
+      return;
+    }
+    const request = ++ugvSaveRequestRef.current;
+    const normalized = cloneUgvPreset({
+      ...ugvDraft,
+      presetName: ugvDraft.presetName.trim(),
+    });
+    setUgvDraft(normalized);
+    setUgvSaveState("saving");
+    setSettingsError(null);
+    settingsCommitSucceededRef.current = false;
+    const settings = { ...viewerSettingsRef.current, ugv: normalized };
+    viewerSettingsRef.current = settings;
+    committer.enqueue(settings);
+    void committer.waitForIdle().then(() => {
+      if (request !== ugvSaveRequestRef.current) return;
+      setUgvSaveState(settingsCommitSucceededRef.current ? "saved" : "failed");
+    });
+  };
+
+  const changeControlMode = (next: SimulationControlMode) => {
+    const runtime = runtimeRef.current;
+    if (!runtime) return;
+    const request = ++controlRequestRef.current;
+    setControlMode(next);
+    setControlState(next === "ugv" ? "loading" : "idle");
+    if (next === "ugv" && collisionState !== "ready") setCollisionState("loading");
+    void runtime.setControlMode(next).then(() => {
+      if (request !== controlRequestRef.current) return;
+      if (next === "ugv") {
+        setControlState("ready");
+        setCollisionState("ready");
+      }
+    }).catch((caught: unknown) => {
+      if (request !== controlRequestRef.current) return;
+      setControlMode("free");
+      setControlState("failed");
+      setCollisionState("failed");
+      setError(caught instanceof Error ? caught.message : "Не удалось запустить UGV.");
+    });
+  };
+
   return (
-    <section className="simulation-viewport" aria-label={`Сцена ${project.name}`}>
+    <section
+      className="simulation-viewport"
+      data-control-mode={controlMode}
+      aria-label={`Сцена ${project.name}`}
+    >
       <header className="simulation-viewport__toolbar">
         <div>
           <StatusBadge tone={state === "failed" || collisionState === "failed" ? "warning" : state === "ready" && collisionState !== "loading" ? "success" : "accent"}>
-            {collisionState === "loading"
-              ? "Загрузка collision"
+            {controlState === "loading"
+              ? "Подготовка UGV"
+              : controlState === "ready"
+                ? "UGV готов"
+                : controlState === "failed"
+                  ? "Ошибка UGV"
+                  : collisionState === "loading"
+              ? "Загрузка коллизий"
               : collisionState === "failed"
-                ? "Ошибка collision"
+                ? "Ошибка коллизий"
                 : state === "ready"
                   ? "Runtime готов"
                   : state === "failed"
                     ? "Ошибка runtime"
-                    : "Загрузка сцены"}
+                    : "Загрузка локации"}
           </StatusBadge>
-          <span>PlayCanvas Engine 2.21.4</span>
+          <span>Engine 2.21.4</span>
         </div>
         <div className="simulation-viewport__controls">
           <Select
@@ -190,6 +277,27 @@ export function SimulationViewport({
             minMenuWidth={230}
             menuWidth={230}
           />
+          <Select
+            label="Режим управления"
+            value={controlMode}
+            disabled={state !== "ready" || controlState === "loading"}
+            onChange={changeControlMode}
+            options={[
+              {
+                value: "free",
+                label: "Свободно",
+                description: "Свободная камера и навигация",
+              },
+              {
+                value: "ugv",
+                label: "UGV",
+                description: "WASD/стрелки · пробел — тормоз · R — домой",
+                disabled: !collisionAvailable,
+              },
+            ]}
+            minMenuWidth={250}
+            menuWidth={250}
+          />
           <SegmentedControl
             label="Слой сцены"
             value={viewMode}
@@ -204,7 +312,7 @@ export function SimulationViewport({
                 if (next !== "visual") setCollisionState("ready");
               }).catch((caught: unknown) => {
                 setCollisionState("failed");
-                setError(caught instanceof Error ? caught.message : "Не удалось открыть collision GLB.");
+                setError(caught instanceof Error ? caught.message : "Не удалось открыть слой коллизий.");
               });
             }}
             items={[
@@ -227,7 +335,7 @@ export function SimulationViewport({
               <Icon name="settings" size={18} />
             </IconButton>
             {settingsOpen ? (
-              <div
+              <GlassMaterialSurface
                 id={settingsId}
                 className="simulation-viewport__settings"
                 role="dialog"
@@ -236,100 +344,57 @@ export function SimulationViewport({
                 <div className="simulation-viewport__settings-head">
                   <div>
                     <strong>Настройки сцены</strong>
-                    <span>Gaussian-мир и камера</span>
+                    <span>Локация, камера и UGV</span>
                   </div>
                   <IconButton label="Закрыть настройки" onClick={() => setSettingsOpen(false)}>
                     <Icon name="close" size={16} />
                   </IconButton>
                 </div>
-                <section className="simulation-viewport__settings-group">
+                <div className="simulation-viewport__settings-scroll">
+                  <section className="simulation-viewport__settings-group">
                   <div className="simulation-viewport__settings-group-head">
                     <strong>Система координат</strong>
-                    <span>Мир PlayCanvas · Y вверх</span>
+                    <span>Мир сцены · Y вверх</span>
                   </div>
                   <p>
                     Коррекция слоёв не меняет координаты камеры, навигации и будущей физики.
                   </p>
-                  <div className="simulation-viewport__settings-switches">
-                    <div className="simulation-viewport__settings-layer-row">
-                      <Switch
-                        checked={visualInverted}
-                        disabled={state !== "ready"}
-                        label="Инверсия визуального слоя"
-                        onChange={(checked) => {
-                          setVisualInverted(checked);
-                          runtimeRef.current?.setLayerWorldTransform(
-                            "visual",
-                            playCanvasAxisTransform(visualAxis, checked),
-                          );
-                          commitViewerSettings({
-                            ...viewerSettingsRef.current,
-                            visual: { ...viewerSettingsRef.current.visual, inverted: checked },
-                          });
-                        }}
-                      />
-                      <Select
-                        className="simulation-viewport__axis-select"
-                        label="Ось инверсии визуального слоя"
-                        value={visualAxis}
-                        options={AXIS_OPTIONS}
-                        disabled={state !== "ready"}
-                        minMenuWidth={72}
-                        menuWidth={72}
-                        onChange={(axis) => {
-                          setVisualAxis(axis);
-                          runtimeRef.current?.setLayerWorldTransform(
-                            "visual",
-                            playCanvasAxisTransform(axis, visualInverted),
-                          );
-                          commitViewerSettings({
-                            ...viewerSettingsRef.current,
-                            visual: { ...viewerSettingsRef.current.visual, axis },
-                          });
-                        }}
-                      />
-                    </div>
-                    <div className="simulation-viewport__settings-layer-row">
-                      <Switch
-                        checked={collisionInverted}
-                        disabled={state !== "ready"}
-                        label="Инверсия collision-слоя"
-                        onChange={(checked) => {
-                          setCollisionInverted(checked);
-                          runtimeRef.current?.setLayerWorldTransform(
-                            "collision",
-                            playCanvasAxisTransform(collisionAxis, checked),
-                          );
-                          commitViewerSettings({
-                            ...viewerSettingsRef.current,
-                            collision: { ...viewerSettingsRef.current.collision, inverted: checked },
-                          });
-                        }}
-                      />
-                      <Select
-                        className="simulation-viewport__axis-select"
-                        label="Ось инверсии collision-слоя"
-                        value={collisionAxis}
-                        options={AXIS_OPTIONS}
-                        disabled={state !== "ready"}
-                        minMenuWidth={72}
-                        menuWidth={72}
-                        onChange={(axis) => {
-                          setCollisionAxis(axis);
-                          runtimeRef.current?.setLayerWorldTransform(
-                            "collision",
-                            playCanvasAxisTransform(axis, collisionInverted),
-                          );
-                          commitViewerSettings({
-                            ...viewerSettingsRef.current,
-                            collision: { ...viewerSettingsRef.current.collision, axis },
-                          });
-                        }}
-                      />
-                    </div>
+                  <div className="simulation-viewport__settings-rotations">
+                    <LayerRotationFields
+                      label="Гауссовый слой"
+                      value={visualRotation}
+                      disabled={state !== "ready"}
+                      onChange={(next) => {
+                        setVisualRotation(next);
+                        runtimeRef.current?.setLayerWorldTransform(
+                          "visual",
+                          playCanvasEulerTransform(next),
+                        );
+                        commitViewerSettings({
+                          ...viewerSettingsRef.current,
+                          visual: { rotationDegrees: next },
+                        });
+                      }}
+                    />
+                    <LayerRotationFields
+                      label="Слой коллизий"
+                      value={collisionRotation}
+                      disabled={state !== "ready"}
+                      onChange={(next) => {
+                        setCollisionRotation(next);
+                        runtimeRef.current?.setLayerWorldTransform(
+                          "collision",
+                          playCanvasEulerTransform(next),
+                        );
+                        commitViewerSettings({
+                          ...viewerSettingsRef.current,
+                          collision: { rotationDegrees: next },
+                        });
+                      }}
+                    />
                   </div>
-                </section>
-                <section className="simulation-viewport__settings-group">
+                  </section>
+                  <section className="simulation-viewport__settings-group">
                   <div className="simulation-viewport__settings-group-head">
                     <strong>Управление камерой</strong>
                     <span>Мышь и тачпад</span>
@@ -362,39 +427,165 @@ export function SimulationViewport({
                       }}
                     />
                   </div>
-                </section>
-                {settingsError ? (
-                  <p className="simulation-viewport__settings-error" role="alert">
-                    Настройки не сохранены: {settingsError}
-                  </p>
-                ) : null}
-              </div>
+                  </section>
+                  <SimulationUgvSettingsPanel
+                    value={ugvDraft}
+                    disabled={state !== "ready"}
+                    saveState={ugvSaveState}
+                    onChange={changeUgvDraft}
+                    onSave={saveUgvPreset}
+                  />
+                  {settingsError ? (
+                    <p className="simulation-viewport__settings-error" role="alert">
+                      Настройки не сохранены: {settingsError}
+                    </p>
+                  ) : null}
+                </div>
+              </GlassMaterialSurface>
             ) : null}
           </div>
         </div>
         <span className="simulation-viewport__toolbar-balance" aria-hidden="true" />
       </header>
       <div className="simulation-viewport__stage">
-        <canvas ref={canvasRef} aria-label={`PlayCanvas сцена ${project.name}`} />
+        <canvas ref={canvasRef} aria-label={`Сцена ${project.name}`} />
         {state !== "ready" ? (
           <div className="simulation-viewport__state" role={state === "failed" ? "alert" : "status"}>
-            {state === "failed" ? null : <ActivityIndicator label="Загрузка сцены" />}
-            <strong>{state === "failed" ? "Сцена не открылась" : "PlayCanvas загружает мир"}</strong>
-            <p>{error ?? "Streamed SOG догружается по мере готовности runtime."}</p>
+            {state === "failed" ? null : <ActivityIndicator label="Загрузка локации" />}
+            <strong>{state === "failed" ? "Локация не открылась" : "Загружаем локацию"}</strong>
+            <p>{error ?? "LOD-уровни загружаются по мере готовности runtime."}</p>
           </div>
         ) : null}
       </div>
       {!collisionAvailable ? (
         <footer className="simulation-viewport__notice">
-          <StatusBadge tone="warning">Collision недоступен</StatusBadge>
-          <span>Для этой сборки collision GLB не был запрошен; визуальный слой настоящий и не подменяется.</span>
+          <StatusBadge tone="warning">Коллизии недоступны</StatusBadge>
+          <span>Для этой сборки слой коллизий не создавался; визуальный слой остаётся доступен.</span>
         </footer>
       ) : collisionState === "failed" ? (
         <footer className="simulation-viewport__notice" role="alert">
-          <StatusBadge tone="warning">Collision не открылся</StatusBadge>
-          <span>{error ?? "PlayCanvas не смог загрузить collision GLB."}</span>
+          <StatusBadge tone="warning">Коллизии не открылись</StatusBadge>
+          <span>{error ?? "Слой коллизий не загрузился."}</span>
         </footer>
       ) : null}
     </section>
   );
 }
+
+function cloneUgvPreset(preset: SimulationUgvPreset): SimulationUgvPreset {
+  return {
+    ...preset,
+    dimensionsMeters: { ...preset.dimensionsMeters },
+  };
+}
+
+function LayerRotationFields({
+  label,
+  value,
+  disabled,
+  onChange,
+}: {
+  label: string;
+  value: SimulationEulerRotation;
+  disabled: boolean;
+  onChange: (rotation: SimulationEulerRotation) => void;
+}) {
+  return (
+    <div className="simulation-viewport__rotation-row">
+      <strong>{label}</strong>
+      <div className="simulation-viewport__rotation-fields">
+        {ROTATION_AXES.map((axis) => (
+          <RotationField
+            key={axis}
+            label={axis.toUpperCase()}
+            ariaLabel={`${label}: вращение ${axis.toUpperCase()}`}
+            value={value[axis]}
+            disabled={disabled}
+            onChange={(angle) => onChange({ ...value, [axis]: angle })}
+          />
+        ))}
+      </div>
+    </div>
+  );
+}
+
+function RotationField({
+  label,
+  ariaLabel,
+  value,
+  disabled,
+  onChange,
+}: {
+  label: string;
+  ariaLabel: string;
+  value: number;
+  disabled: boolean;
+  onChange: (angle: number) => void;
+}) {
+  const [draft, setDraft] = useState(() => String(value));
+  const editingRef = useRef(false);
+  const cancelNextBlurRef = useRef(false);
+
+  useEffect(() => {
+    if (!editingRef.current) setDraft(String(value));
+  }, [value]);
+
+  const parsedDraft = () => Number(draft.trim().replace(",", "."));
+  const finishEditing = (commit: boolean) => {
+    const parsed = parsedDraft();
+    if (commit && draft.trim() !== "" && Number.isFinite(parsed)) {
+      const normalized = Math.max(-360, Math.min(360, parsed));
+      onChange(normalized);
+      setDraft(String(normalized));
+    } else {
+      setDraft(String(value));
+    }
+    editingRef.current = false;
+  };
+
+  return (
+    <TextField
+      label={label}
+      aria-label={ariaLabel}
+      fieldClassName="simulation-viewport__rotation-field"
+      className="simulation-viewport__rotation-input"
+      type="text"
+      inputMode="decimal"
+      value={draft}
+      disabled={disabled}
+      spellCheck={false}
+      onFocus={() => {
+        editingRef.current = true;
+      }}
+      onChange={(event) => {
+        // Treat the first input event as the start of editing as well. Programmatic
+        // focus (and some browser/trackpad paths) may not deliver React's focus
+        // event before the controlled value changes.
+        editingRef.current = true;
+        const nextDraft = event.currentTarget.value;
+        setDraft(nextDraft);
+        const parsed = Number(nextDraft.trim().replace(",", "."));
+        if (nextDraft.trim() !== "" && Number.isFinite(parsed) && parsed >= -360 && parsed <= 360) {
+          onChange(parsed);
+        }
+      }}
+      onKeyDown={(event) => {
+        event.stopPropagation();
+        if (event.key === "Enter") event.currentTarget.blur();
+        if (event.key === "Escape") {
+          event.preventDefault();
+          cancelNextBlurRef.current = true;
+          finishEditing(false);
+          event.currentTarget.blur();
+        }
+      }}
+      onBlur={() => {
+        if (cancelNextBlurRef.current) {
+          cancelNextBlurRef.current = false;
+          return;
+        }
+        finishEditing(true);
+      }}
+    />
+  );
+}

apps/control-station/src/components/system/TelemetrySeries.tsx

@@ -6,19 +6,18 @@ interface TelemetrySeriesProps {
   ceiling?: number;
 }
 
-function linePoints(values: Array<number | null>, ceiling?: number): string {
-  const finite = values.filter((value): value is number =>
-    value !== null && Number.isFinite(value),
-  );
-  if (finite.length === 0) return "";
-  const maximum = Math.max(ceiling ?? 0, ...finite, 1);
-  const denominator = Math.max(1, values.length - 1);
-  return values.map((value, index) => {
-    const x = index / denominator * 100;
-    const normalized = value === null ? 0 : Math.max(0, Math.min(maximum, value));
-    const y = 36 - normalized / maximum * 34;
-    return `${x.toFixed(2)},${y.toFixed(2)}`;
-  }).join(" ");
+export function lineSegments(values: Array<number | null>, ceiling?: number): string[] {
+  const finite = values.filter((value): value is number => value !== null && Number.isFinite(value));
+  if (!finite.length) return [];
+  const maximum = Math.max(ceiling ?? 0, ...finite, 1), denominator = Math.max(1, values.length - 1);
+  const minimum = Math.min(0, ...finite), span = maximum - minimum;
+  const segments:string[]=[];let segment:string[]=[];
+  values.forEach((value,index)=>{
+    if(value===null||!Number.isFinite(value)){if(segment.length)segments.push(segment.join(' '));segment=[];return;}
+    segment.push(`${(index/denominator*100).toFixed(2)},${(36-(Math.min(maximum,value)-minimum)/span*34).toFixed(2)}`);
+  });
+  if(segment.length)segments.push(segment.join(' '));
+  return segments;
 }
 
 export function TelemetrySeries({
@@ -28,7 +27,7 @@ export function TelemetrySeries({
   resource,
   ceiling,
 }: TelemetrySeriesProps) {
-  const points = linePoints(values, ceiling);
+  const segments = lineSegments(values, ceiling);
   return (
     <div className="system-telemetry-series">
       <div>
@@ -45,7 +44,7 @@ export function TelemetrySeries({
         aria-label={`${label}: ${value}`}
       >
         <path d="M0 37 H100" />
-        {points ? <polyline points={points} /> : null}
+        {segments.map((points,index)=><polyline key={index} points={points} />)}
       </svg>
     </div>
   );

apps/control-station/src/components/useApplicationPanelActions.ts

@@ -5,12 +5,14 @@ import type { WorkspaceDefinition } from "../productModel";
 
 interface ApplicationPanelActionsOptions {
   definition: WorkspaceDefinition | null;
+  onAddVehicle?: () => void;
   refreshRuntime: () => void;
   resetConnectionScenario?: () => Promise<boolean>;
   connectionScenarioResetting: boolean;
   saveWorkspaceLayout: () => Promise<void>;
   workspaceLayoutSaving: boolean;
   systemUtilityActions: readonly ApplicationPanelUtilityAction[];
+  sessionOverview?: { open: boolean; toggle: () => void; available: boolean };
 }
 
 export function deviceRuntimeUtilityAction({
@@ -43,15 +45,18 @@ export function deviceRuntimeUtilityAction({
 
 export function useApplicationPanelActions({
   definition,
+  onAddVehicle,
   refreshRuntime,
   resetConnectionScenario,
   connectionScenarioResetting,
   saveWorkspaceLayout,
   workspaceLayoutSaving,
   systemUtilityActions,
+  sessionOverview,
 }: ApplicationPanelActionsOptions): ApplicationPanelUtilityAction[] {
   return useMemo(() => {
     const actions: ApplicationPanelUtilityAction[] = [];
+    if (definition?.kind === "vehicles" && onAddVehicle) actions.push({ label: "Добавить аппарат", icon: "plus", onClick: onAddVehicle });
     if (definition?.kind === "device") {
       actions.push(deviceRuntimeUtilityAction({
         refreshRuntime,
@@ -68,14 +73,21 @@ export function useApplicationPanelActions({
       });
     }
     if (definition?.root === "system") actions.push(...systemUtilityActions);
+    if (definition?.kind === "recordings" && sessionOverview) actions.push({
+      label: sessionOverview.open ? "Закрыть информацию о записи" : "Информация о записи",
+      icon: "info", pressed: sessionOverview.open, disabled: !sessionOverview.available,
+      onClick: sessionOverview.toggle,
+    });
     return actions;
   }, [
     definition,
+    onAddVehicle,
     refreshRuntime,
     resetConnectionScenario,
     connectionScenarioResetting,
     saveWorkspaceLayout,
     systemUtilityActions,
     workspaceLayoutSaving,
+    sessionOverview,
   ]);
 }

apps/control-station/src/composition/devicePlugins.ts

@@ -1,8 +1,13 @@
 import type { DeviceUiPlugin } from "../core/device-plugins/contracts";
 import { xgridsK1Plugin } from "@xgrids-k1/frontend/plugin";
+import {insta360X4SensorUi} from '../../../../plugins/insta360-x4/frontend/src/plugin';
 
 // Composition root: this is the only place where Mission Core chooses which
 // statically reviewed device plugins are shipped in the current build.
 export const installedDevicePlugins: readonly DeviceUiPlugin[] = Object.freeze([
   xgridsK1Plugin,
 ]);
+
+// Node-executed camera controls use the existing sensor contribution contract;
+// they do not register a desktop capture/AI runtime or a new product workspace.
+export const installedNodeSensorContributions = Object.freeze([insta360X4SensorUi]);

apps/control-station/src/core/device-plugins/DevicePluginHost.tsx

@@ -11,6 +11,8 @@ import {
 import { IdleMissionRuntimeProvider } from "../runtime/MissionRuntimeContext";
 import type { DeviceUiPlugin, RegisteredDeviceModel } from "./contracts";
 import { createDevicePluginRegistry, type DevicePluginRegistry } from "./registry";
+import type {SensorUiContribution} from '../../../../../packages/sensor-ui/src/extensions';
+const NO_NODE_SENSORS: readonly SensorUiContribution[] = Object.freeze([]);
 
 interface DevicePluginHostValue {
   registry: DevicePluginRegistry;
@@ -83,12 +85,14 @@ export function commitPersistedDeviceModelId(
 
 export function DevicePluginHostProvider({
   plugins,
+  nodeSensorContributions = NO_NODE_SENSORS,
   children,
 }: {
   plugins: readonly DeviceUiPlugin[];
+  nodeSensorContributions?: readonly SensorUiContribution[];
   children: ReactNode;
 }) {
-  const registry = useMemo(() => createDevicePluginRegistry(plugins), [plugins]);
+  const registry = useMemo(() => createDevicePluginRegistry(plugins, nodeSensorContributions), [plugins, nodeSensorContributions]);
   const selectionStorage = useMemo(browserDeviceModelSelectionStorage, []);
   const [selectedModelId, setSelectedModelId] = useState<string | null>(() =>
     restorePersistedDeviceModelId(registry, selectionStorage)

apps/control-station/src/core/device-plugins/contracts.ts

@@ -97,12 +97,24 @@ export interface DevicePluginHostActions {
   activateAutomaticSpatialSource: () => void;
 }
 
+/** Session-bound, presentation-only extension of an active spatial workflow. */
+export interface SpatialActivityPresentation {
+  sessionId: string;
+  label: string;
+  detail: string;
+  busy: boolean;
+}
+
 export interface DevicePluginConnectionProps {
   model: DeviceModelDefinition;
   host: DevicePluginHostActions;
+  spatialActivity?: SpatialActivityPresentation;
 }
 
 export interface DeviceUiPlugin {
+  sensorUi?: {
+    contributions: readonly import('../../../../../packages/sensor-ui/src/extensions').SensorUiContribution[];
+  };
   manifest: DevicePluginManifest;
   RuntimeProvider: ComponentType<{
     activeModel: DeviceModelDefinition | null;

apps/control-station/src/core/device-plugins/registry.ts

@@ -6,8 +6,10 @@ import {
   type DeviceUiPlugin,
   type RegisteredDeviceModel,
 } from "./contracts";
+import type {SensorUiContribution} from '../../../../../packages/sensor-ui/src/extensions';
 
 export interface DevicePluginRegistry {
+  readonly sensorContributions: readonly SensorUiContribution[];
   readonly plugins: readonly DeviceUiPlugin[];
   readonly models: readonly RegisteredDeviceModel[];
   resolveModel: (modelId: string) => RegisteredDeviceModel | null;
@@ -15,6 +17,7 @@ export interface DevicePluginRegistry {
 
 export function createDevicePluginRegistry(
   installedPlugins: readonly DeviceUiPlugin[],
+  nodeSensorContributions: readonly SensorUiContribution[] = [],
 ): DevicePluginRegistry {
   const pluginIds = new Set<string>();
   const modelIds = new Set<string>();
@@ -133,7 +136,15 @@ export function createDevicePluginRegistry(
   }
 
   const modelById = new Map(models.map((registered) => [registered.model.id, registered]));
+  const sensorContributions = [
+    ...installedPlugins.flatMap(plugin => plugin.sensorUi?.contributions ?? []),
+    ...nodeSensorContributions,
+  ];
+  if (new Set(sensorContributions.map(value => value.kind)).size !== sensorContributions.length) {
+    throw new Error('Плагины повторяют модель устройства БК.');
+  }
   return {
+    sensorContributions: Object.freeze(sensorContributions),
     plugins: Object.freeze([...installedPlugins]),
     models: Object.freeze(models),
     resolveModel: (modelId) => modelById.get(modelId) ?? null,

apps/control-station/src/core/environment/environmentSettings.ts

@@ -1,32 +1,9 @@
 import { roots, type RootId } from "../../productModel";
 
 export type EnvironmentSurfaceId = "home" | RootId;
-export type EnvironmentMediaKind = "image" | "video";
-export type EnvironmentMediaSource = "file" | "url";
-
-export interface EnvironmentMediaItem {
-  id: string;
-  source: EnvironmentMediaSource;
-  url: string | null;
-  mediaKind: EnvironmentMediaKind | null;
-  fileName: string | null;
-}
-
-export interface EnvironmentBackground {
-  enabled: boolean;
-  imageDurationSeconds: number;
-  items: EnvironmentMediaItem[];
-}
-
-export interface EnvironmentPage {
-  headerLabel: string;
-  eyebrow: string;
-  title: string;
-  description: string;
-  primaryWorkspaceId: string | null;
-  secondaryWorkspaceId: string | null;
-  background: EnvironmentBackground;
-}
+import { defaultEnvironmentImageDurationSeconds, maxEnvironmentMediaItems, type EnvironmentBackground, type EnvironmentMediaItem, type EnvironmentMediaKind, type EnvironmentMediaSource, type EnvironmentPage } from "@nodedc/ui-core";
+export { createEnvironmentMediaItem, appendEnvironmentMediaItem, removeEnvironmentMediaItem, inferEnvironmentMediaKind, defaultEnvironmentImageDurationSeconds, maxEnvironmentMediaItems } from "@nodedc/ui-core";
+export type { EnvironmentBackground, EnvironmentMediaItem, EnvironmentMediaKind, EnvironmentMediaSource, EnvironmentPage } from "@nodedc/ui-core";
 
 export interface EnvironmentSettings {
   revision: number;
@@ -54,72 +31,19 @@ const surfaceIds: readonly EnvironmentSurfaceId[] = [
   "polygon",
 ];
 
-export const defaultEnvironmentImageDurationSeconds = 10;
-export const maxEnvironmentMediaItems = 24;
-
-function emptyBackground(): EnvironmentBackground {
-  return {
-    enabled: false,
-    imageDurationSeconds: defaultEnvironmentImageDurationSeconds,
-    items: [],
-  };
-}
-
-export function createEnvironmentMediaItem(): EnvironmentMediaItem {
-  return {
-    id: `media-${crypto.randomUUID()}`,
-    source: "file",
-    url: null,
-    mediaKind: null,
-    fileName: null,
-  };
-}
-
-export function appendEnvironmentMediaItem(
-  background: EnvironmentBackground,
-  item: EnvironmentMediaItem = createEnvironmentMediaItem(),
-): EnvironmentBackground {
-  if (
-    background.items.length >= maxEnvironmentMediaItems
-    || background.items.some((candidate) => candidate.id === item.id)
-  ) {
-    return background;
-  }
-  return {
-    ...background,
-    enabled: background.items.length === 0 ? true : background.enabled,
-    items: [...background.items, item],
-  };
-}
-
-export function removeEnvironmentMediaItem(
-  background: EnvironmentBackground,
-  itemId: string,
-): EnvironmentBackground {
-  const items = background.items.filter((item) => item.id !== itemId);
-  if (items.length === background.items.length) return background;
-  return {
-    ...background,
-    enabled: items.length > 0 && background.enabled,
-    items,
-  };
-}
-
-export function inferEnvironmentMediaKind(url: string): EnvironmentMediaKind {
-  return /\.(mp4|webm|mov)(?:[?#].*)?$/i.test(url) ? "video" : "image";
-}
+function emptyBackground(): EnvironmentBackground { return { enabled: false, imageDurationSeconds: defaultEnvironmentImageDurationSeconds, items: [] }; }
 
 const defaultQuickActions: Record<
   EnvironmentSurfaceId,
   readonly [string | null, string | null]
 > = {
-  home: ["spatial-scene", "local-device"],
-  fleet: ["contour-health", "local-device"],
-  observation: ["spatial-scene", "cameras"],
-  missions: ["mission-planner", null],
+  home: ["spatial-scene", "vehicles"],
+  fleet: ["vehicles", "contour-health"],
+  observation: ["cameras", "world-map"],
+  missions: ["routes", null],
   data: ["recordings", "datasets"],
   system: ["modules", "integrations"],
-  polygon: ["lab-archive", null],
+  polygon: ["lab-archive", "local-device"],
 };
 
 export function defaultEnvironmentSettings(): EnvironmentSettings {

apps/control-station/src/core/fleet/boardMonitor.ts

@@ -0,0 +1,49 @@
+import {useEffect,useState} from 'react';
+
+export interface MetricDefinition {label:string;group:string;resource:string;unit:string;reason:string|null}
+export interface BoardMonitor {
+ available:boolean;fresh:boolean;storage:string;source_id:string;
+ latest:{seq:number;at:number;boot_id:string;values:Record<string,number|null>}|null;
+ definitions:Record<string,MetricDefinition>;received_at:number;backlog:number;
+ database_bytes:number|null;database_budget_bytes:number;archive_since:number|null;
+ start:number;end:number;bucket_seconds:number;
+ series:{at:number;min:number|null;max:number|null;mean:number|null;count:number}[];
+ events:{at:number;code:string;kind:string;locations:string[]}[];
+}
+export function useBoardMonitor(vehicle:string,metric:string,window:number,end:number|null){
+ const [value,setValue]=useState<BoardMonitor|null>(null),[error,setError]=useState('');
+ useEffect(()=>{
+  let active=true;let pending:AbortController|undefined;let timer:ReturnType<typeof setTimeout>|undefined;
+  setValue(null);setError('');
+  const read=async()=>{
+   const controller=new AbortController();pending=controller;
+   const deadline=setTimeout(()=>controller.abort(),12000);
+   try {
+    const query=new URLSearchParams({metric,window:String(window),...(end===null?{}:{end:String(end)})});
+    const response=await fetch(`/api/v1/fleet/${encodeURIComponent(vehicle)}/monitor?${query}`,{credentials:'same-origin',cache:'no-store',signal:controller.signal});
+    if(!response.ok)throw new Error('Мониторинг БК недоступен.');
+    const next=await response.json() as BoardMonitor;
+    if(active){setValue(next);setError('');}
+   }catch {if(active)setError('Не удалось обновить мониторинг БК.');}
+   finally {clearTimeout(deadline);if(active)timer=setTimeout(()=>void read(),5000);}
+  };
+  void read();return()=>{active=false;pending?.abort();clearTimeout(timer);};
+ },[vehicle,metric,window,end]);
+ return {value,error,dismissError:()=>setError('')};
+}
+export function monitorSeries(value:BoardMonitor,mode:'min'|'max'|'mean') {
+ const count=Math.ceil((value.end-value.start)/value.bucket_seconds)+1;
+ const values:Array<number|null>=Array(Math.min(count,302)).fill(null);
+ const first=Math.floor(value.start/value.bucket_seconds)*value.bucket_seconds;
+ for(const point of value.series){const index=Math.round((point.at-first)/value.bucket_seconds);if(index>=0&&index<values.length)values[index]=point[mode];}
+ return values;
+}
+export function monitorValue(value:number|null|undefined,unit=''){
+ if(value==null||!Number.isFinite(value))return 'Нет измерения';
+ if(unit==='bytes'||unit==='bytes/s'){
+  const labels=unit==='bytes'?['Б','КиБ','МиБ','ГиБ']:['Б/с','КиБ/с','МиБ/с','ГиБ/с'];let index=0;
+  while(value>=1024&&index<3){value/=1024;index++;}
+  return `${value.toLocaleString('ru-RU',{maximumFractionDigits:1})} ${labels[index]}`;
+ }
+ return `${value.toLocaleString('ru-RU',{maximumFractionDigits:1})}${unit?' '+unit:''}`;
+}

apps/control-station/src/core/fleet/observationLayout.ts

@@ -0,0 +1,23 @@
+export interface ObservationLayout {
+ version:1; order:string[]; hidden:string[]; layers:Record<string,string>;
+ splits:Record<string,number>; arrangement:'auto'|'columns'|'rows';
+}
+export const emptyObservationLayout=():ObservationLayout=>({version:1,order:[],hidden:[],layers:{},splits:{},arrangement:'auto'});
+const record=(value:unknown):Record<string,unknown>=>value!==null&&typeof value==='object'&&!Array.isArray(value)?value as Record<string,unknown>:{};
+export function decodeObservationLayout(value:unknown):ObservationLayout {
+ const source=record(value),result=emptyObservationLayout();if(source.version!==1)return result;
+ const ids=(value:unknown)=>Array.isArray(value)?[...new Set(value.filter((v):v is string=>typeof v==='string'&&v.length<512))].slice(0,128):[];
+ result.order=ids(source.order);result.hidden=ids(source.hidden);
+ result.layers=Object.fromEntries(Object.entries(record(source.layers)).filter(([k,v])=>k.length<512&&typeof v==='string'&&v.length<128).slice(0,128)) as Record<string,string>;
+ result.splits=Object.fromEntries(Object.entries(record(source.splits)).filter(([k,v])=>k.length<4096&&typeof v==='number'&&Number.isFinite(v)).slice(0,256).map(([k,v])=>[k,Math.min(80,Math.max(20,v as number))]));
+ if(source.arrangement==='rows'||source.arrangement==='columns')result.arrangement=source.arrangement;
+ return result;
+}
+export function orderedObservationIDs(layout:ObservationLayout,available:string[]):string[]{
+ const present=new Set(available);return [...layout.order.filter(id=>present.has(id)),...available.filter(id=>!layout.order.includes(id))];
+}
+export function moveObservation(layout:ObservationLayout,available:string[],from:string,to:string):ObservationLayout {
+ const order=orderedObservationIDs(layout,available);const source=order.indexOf(from),target=order.indexOf(to);
+ if(source<0||target<0||source===target)return layout;
+ order.splice(source,1);order.splice(target,0,from);return {...layout,order};
+}

apps/control-station/src/core/fleet/sensorTransport.ts

@@ -0,0 +1,18 @@
+import type {SensorInventory, SensorTransport} from '../../../../../packages/sensor-ui/src/contracts';
+import {fleetRequest} from './useFleet';
+
+export function createFleetSensorTransport(vehicleID:string):SensorTransport {
+ const path=`/${encodeURIComponent(vehicleID)}/devices`;
+ const inventory=(fleet:{items:{id:string;connectivity:string;enrollment:string;sensor_state:SensorInventory}[]})=>{
+  const value=fleet.items.find(v=>v.id===vehicleID);
+  if(!value)throw new Error('Аппарат не найден.');
+  return {...value.sensor_state,fresh:value.connectivity==='online'&&value.enrollment==='paired'};
+ };
+ return {
+  enrollment:{state:()=>fleetRequest(`${path}/enrollment`),submit:value=>fleetRequest(`${path}/enrollment/operations`,'POST',value),operation:id=>fleetRequest(`${path}/enrollment/operations/${encodeURIComponent(id)}`)},
+  inventory:async()=>inventory(await fleetRequest()),
+  subscribe:(receive,unavailable)=>{const events=new EventSource('/api/v1/fleet/events');events.onmessage=e=>{try{receive(inventory(JSON.parse(e.data)));}catch{unavailable();}};events.onerror=unavailable;return()=>events.close();},
+  submit:value=>fleetRequest(`${path}/operations`,'POST',value),
+  operation:id=>fleetRequest(`${path}/operations/${encodeURIComponent(id)}`),
+ };
+}

apps/control-station/src/core/fleet/useFleet.ts

@@ -0,0 +1,61 @@
+import { useCallback, useEffect, useState } from "react";
+
+export interface BoardHost {
+  hostname: string; os: string; architecture: string; cpus: number;
+  memory_kib: number | null; collected_at: string;
+  networks: { name: string; up: boolean; addresses: string[] }[];
+  usb: { port: string; product: string }[];
+}
+export interface Vehicle {
+  id: string; node_id: string; name: string; platform: string;
+  enrollment: "pending" | "paired" | "revoked" | "failed";
+  connectivity: "online" | "offline"; last_seen: number | null;
+  host: BoardHost | null; notice: string; revision: number;
+}
+export interface FleetPreview {
+  preview_id: string; node_id: string; name: string; host: BoardHost;
+  endpoint: string; expires_at: number;
+}
+export async function fleetRequest<T>(path = "", method = "GET", body?: unknown): Promise<T> {
+  const response = await fetch(`/api/v1/fleet${path}`, {
+    method, credentials: "same-origin", cache: "no-store",
+    headers: body === undefined ? {} : { "Content-Type": "application/json" },
+    body: body === undefined ? undefined : JSON.stringify(body), signal: AbortSignal.timeout(12000),
+  });
+  if (!response.ok) {
+    const data = await response.json().catch(() => ({}));
+    throw new Error(typeof data.detail === "string" ? data.detail : "Не удалось выполнить действие с аппаратом.");
+  }
+  return response.json();
+}
+export function useFleet() {
+  const [items, setItems] = useState<Vehicle[] | null>(null);
+  const [error, setError] = useState("");
+  const refresh = useCallback(async () => {
+    const value = await fleetRequest<{ items: Vehicle[] }>();
+    setItems(value.items); setError(""); return value.items;
+  }, []);
+  useEffect(() => {
+    let active = true;
+    let fallback: ReturnType<typeof setInterval> | undefined;
+    const read = async () => {
+      try { const value = await fleetRequest<{ items: Vehicle[] }>(); if (active) { setItems(value.items); setError(""); } }
+      catch { if (active) setError("Реестр недоступен. Показаны последние полученные сведения; связь сейчас не подтверждена."); }
+    };
+    void read();
+    const events = new EventSource("/api/v1/fleet/events");
+    events.onmessage = event => {
+      if (!active) return;
+      try { const value = JSON.parse(event.data); setItems(value.items); setError(""); if (fallback) { clearInterval(fallback); fallback = undefined; } }
+      catch { unavailable(); }
+    };
+    const unavailable = () => {
+      if (!active) return;
+      setError("Связь обновляется. Показаны последние полученные сведения.");
+      if (!fallback) fallback = setInterval(() => void read(), 5000);
+    };
+    events.onerror = unavailable;
+    return () => { active = false; events.close(); if (fallback) clearInterval(fallback); };
+  }, []);
+  return { items, error, refresh };
+}

apps/control-station/src/core/laboratory/advancedIndex.ts

@@ -48,9 +48,13 @@ import { fetchM48SFixedClassDetectorResult } from "./m48sFixedClassDetector";
 import { fetchM48TRiskQualityResult } from "./m48tRiskQuality";
 import { fetchM49TgsFailClosedResult } from "./m49TgsFailClosed";
 import { fetchM49TgsFullShadowResult } from "./m49TgsFullShadow";
-import { fetchVegetationShadowResult } from "./vegetationShadow";
+import {
+  fetchVegetationBenchmarkResult,
+  fetchVegetationShadowResult,
+} from "./vegetationShadow";
 
 export type AdvancedLaboratoryWorkId =
+  | "lab-v1-vegetation-benchmark"
   | "lab-v1-vegetation-shadow"
   | "m48-object-centric-quality"
   | "m48-small-static-passage-regression"
@@ -102,6 +106,7 @@ export interface AdvancedLaboratoryIndexItem {
 }
 
 const WORK_IDS: readonly AdvancedLaboratoryWorkId[] = [
+  "lab-v1-vegetation-benchmark",
   "lab-v1-vegetation-shadow",
   "m48-object-centric-quality",
   "m48-small-static-passage-regression",
@@ -148,6 +153,7 @@ const WORK_IDS: readonly AdvancedLaboratoryWorkId[] = [
 ];
 
 const RESULT_PREFIX: Readonly<Record<AdvancedLaboratoryWorkId, string>> = {
+  "lab-v1-vegetation-benchmark": "lab-v1-vegetation-benchmark",
   "lab-v1-vegetation-shadow": "lab-v1-vegetation-shadow",
   "m48-object-centric-quality": "m48-object-quality-(?:pack|result)",
   "m48-small-static-passage-regression": "m48-small-static-passage-regression",
@@ -201,6 +207,7 @@ export function isAdvancedLaboratoryWorkId(
 
 export function emptyAdvancedLaboratoryResults(): AdvancedLaboratoryResults {
   return {
+    vegetationBenchmark: null,
     vegetationShadow: null,
     m47Graph: null,
     m48: null,
@@ -335,7 +342,8 @@ export function advancedLaboratoryResultAvailable(
   workId: AdvancedLaboratoryWorkId,
   results: AdvancedLaboratoryResults,
 ): boolean {
-  return workId === "lab-v1-vegetation-shadow" ? results.vegetationShadow !== null
+  return workId === "lab-v1-vegetation-benchmark" ? results.vegetationBenchmark !== null
+    : workId === "lab-v1-vegetation-shadow" ? results.vegetationShadow !== null
     : workId === "m48-object-centric-quality" ? results.m48 !== null
     : workId === "m48-small-static-passage-regression" ? results.m48SmallStatic !== null
     : workId === "m48-static-occupancy-qualification" ? results.m48StaticOccupancy !== null
@@ -393,7 +401,10 @@ export async function fetchAdvancedLaboratoryResult(
   } = {},
 ): Promise<AdvancedLaboratoryResults> {
   const results = emptyAdvancedLaboratoryResults();
-  if (workId === "lab-v1-vegetation-shadow") {
+  if (workId === "lab-v1-vegetation-benchmark") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("Vegetation benchmark identity не выбрана.");
+    results.vegetationBenchmark = await fetchVegetationBenchmarkResult(resultId, { fetcher, signal });
+  } else if (workId === "lab-v1-vegetation-shadow") {
     if (!resultId) throw new AdvancedLaboratoryContractError("Vegetation LAB identity не выбрана.");
     results.vegetationShadow = await fetchVegetationShadowResult(resultId, { fetcher, signal });
   } else if (workId === "m48-object-centric-quality") {

apps/control-station/src/core/laboratory/advancedLaboratoryResults.ts

@@ -45,6 +45,7 @@ import type { M49TgsFullShadowResult } from "./m49TgsFullShadow";
 import type { VegetationShadowResult } from "./vegetationShadow";
 
 export interface AdvancedLaboratoryResults {
+  vegetationBenchmark: VegetationShadowResult | null;
   vegetationShadow: VegetationShadowResult | null;
   m47Graph: M47ReferenceGraphLabResult | null;
   m48: M48AdvancedResult | null;

apps/control-station/src/core/laboratory/advancedResults.ts

@@ -29,7 +29,6 @@ export interface E31LaboratoryResult {
   limitations: readonly string[];
   access: "read-only";
 }
-
 export interface E32LaboratoryResult {
   resultId: string;
   createdAtUtc: string | null;
@@ -53,7 +52,6 @@ export interface E32LaboratoryResult {
   };
   access: "read-only";
 }
-
 export interface E33LaboratoryResult {
   resultId: string;
   createdAtUtc: string | null;
@@ -967,6 +965,7 @@ export async function fetchAdvancedLaboratoryResults({
   const e39 = settledCatalogValue(settled[7]);
   const e40 = settledCatalogValue(settled[8]);
   return {
+    vegetationBenchmark: null,
     vegetationShadow: null,
     m47Graph: null, m48: null, m48SmallStatic: null, m48StaticOccupancy: null,
     m48r3StaticOccupancy: null,

apps/control-station/src/core/laboratory/canonicalLabReplay.ts

@@ -0,0 +1,134 @@
+import type { ObservationSessionReplayLaunch } from "../observation/sessionArchive";
+import type { RecordedRrdArtifactDescriptor } from "../observation/viewerProfile";
+
+const SAFE_RESULT_ID = /^lab-v1-vegetation-shadow-[a-f0-9]{64}$/;
+const SAFE_SESSION_SOURCE = /^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/recording\.rrd$/;
+const MAX_CANONICAL_REPLAY_BYTES = 1024 * 1024 * 1024;
+
+export interface CanonicalLabReplayDescriptor extends RecordedRrdArtifactDescriptor {
+  blueprintSourceUrl: string;
+}
+
+/**
+ * Resolve the one immutable RRD used by the canonical recorded LAB.
+ *
+ * The server caches the merge of the sealed spatial recording and the LAB AI
+ * evidence. Rerun therefore opens one source and cannot present the base store
+ * before a second receiver has finished decoding the semantic layer.
+ */
+export async function resolveCanonicalLabReplay(
+  resultId: string,
+  launch: ObservationSessionReplayLaunch,
+  {
+    origin = window.location.origin,
+    signal,
+    fetcher = globalThis.fetch,
+    sourceKind = "legacy-vegetation",
+  }: {
+    origin?: string;
+    signal?: AbortSignal;
+    fetcher?: typeof globalThis.fetch;
+    sourceKind?: "legacy-vegetation" | "portable-tgs" | "portable-semantic" | "portable-objects";
+  } = {},
+): Promise<CanonicalLabReplayDescriptor> {
+  const base = new URL(origin);
+  if (
+    !(sourceKind === "portable-tgs"
+      ? /^m49-tgs-portable-review-[a-f0-9]{64}$/.test(resultId)
+      : sourceKind === "portable-semantic"
+        ? /^(?:lab-v1-eomt-ddrnet|ai-layer-(?:ddrnet|eomt))-[a-f0-9]{64}$/.test(resultId)
+        : sourceKind === "portable-objects"
+          ? /^ai-layer-(?:rf-detr|object-distance)-[a-f0-9]{64}$/.test(resultId)
+        : SAFE_RESULT_ID.test(resultId))
+    || !SAFE_SESSION_SOURCE.test(launch.sourceUrl)
+    || launch.viewerSourceUrl !== `${launch.sourceUrl}?generation=${launch.sha256}`
+    || !/^[a-f0-9]{64}$/.test(launch.sha256)
+  ) {
+    throw new Error("Канонический replay LAB имеет небезопасный descriptor.");
+  }
+  const sourceUrl = sourceKind !== "legacy-vegetation"
+    ? `/api/v1/observatory/portable-results/${resultId}/replays/${launch.sha256}/recording.rrd`
+    : `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/canonical-replay.rrd`;
+  const descriptorUrl = new URL(sourceUrl, `${base.origin}/`);
+  if (sourceKind === "legacy-vegetation") descriptorUrl.searchParams.set("base_generation", launch.sha256);
+  if (descriptorUrl.origin !== base.origin) {
+    throw new Error("Канонический replay LAB должен быть same-origin.");
+  }
+  const response = await fetcher(descriptorUrl.href, {
+    method: "HEAD",
+    credentials: "same-origin",
+    headers: { Accept: "application/vnd.rerun.rrd" },
+    signal,
+  });
+  const contentType = response.headers.get("Content-Type")?.split(";", 1)[0].trim();
+  const byteLength = Number(response.headers.get("Content-Length"));
+  const sha256 = response.headers.get("ETag")?.match(/^"([a-f0-9]{64})"$/)?.[1];
+  if (
+    response.status !== 200
+    || contentType !== "application/vnd.rerun.rrd"
+    || response.headers.get("X-Rerun-Format") !== "RRF2"
+    || !sha256
+    || !Number.isSafeInteger(byteLength)
+    || byteLength < 4
+    || byteLength > MAX_CANONICAL_REPLAY_BYTES
+  ) {
+    throw new Error("Единый replay LAB не прошёл проверку.");
+  }
+  return {
+    sourceUrl,
+    viewerSourceUrl: `${sourceUrl}?generation=${sha256}`,
+    byteLength,
+    sha256,
+    blueprintSourceUrl: launch.sourceUrl.replace(/\/recording\.rrd$/, "/blueprint.rrd"),
+  };
+}
+
+export async function resolveAICompositionReplay(
+  runId: string,
+  launch: ObservationSessionReplayLaunch,
+  {
+    origin = window.location.origin,
+    signal,
+    fetcher = globalThis.fetch,
+  }: {
+    origin?: string;
+    signal?: AbortSignal;
+    fetcher?: typeof globalThis.fetch;
+  } = {},
+): Promise<CanonicalLabReplayDescriptor> {
+  const base = new URL(origin);
+  if (
+    !/^ai-composition-[a-f0-9]{64}$/.test(runId)
+    || !SAFE_SESSION_SOURCE.test(launch.sourceUrl)
+    || launch.viewerSourceUrl !== `${launch.sourceUrl}?generation=${launch.sha256}`
+    || !/^[a-f0-9]{64}$/.test(launch.sha256)
+  ) {
+    throw new Error("Составной replay LAB имеет небезопасный descriptor.");
+  }
+  const sourceUrl = `/api/v1/observatory/ai-composition-runs/${runId}/replays/${launch.sha256}/recording.rrd`;
+  const descriptorUrl = new URL(sourceUrl, `${base.origin}/`);
+  const response = await fetcher(descriptorUrl.href, {
+    method: "HEAD",
+    credentials: "same-origin",
+    headers: { Accept: "application/vnd.rerun.rrd" },
+    signal,
+  });
+  const contentType = response.headers.get("Content-Type")?.split(";", 1)[0].trim();
+  const byteLength = Number(response.headers.get("Content-Length"));
+  const sha256 = response.headers.get("ETag")?.match(/^"([a-f0-9]{64})"$/)?.[1];
+  if (
+    response.status !== 200 || contentType !== "application/vnd.rerun.rrd"
+    || response.headers.get("X-Rerun-Format") !== "RRF2" || !sha256
+    || !Number.isSafeInteger(byteLength) || byteLength < 4
+    || byteLength > MAX_CANONICAL_REPLAY_BYTES
+  ) {
+    throw new Error("Составной replay LAB не прошёл проверку.");
+  }
+  return {
+    sourceUrl,
+    viewerSourceUrl: `${sourceUrl}?generation=${sha256}`,
+    byteLength,
+    sha256,
+    blueprintSourceUrl: launch.sourceUrl.replace(/\/recording\.rrd$/, "/blueprint.rrd"),
+  };
+}

apps/control-station/src/core/laboratory/canonicalRecordedLab.ts

@@ -0,0 +1,99 @@
+export const CANONICAL_RECORDED_LAB_TGS_HISTORY_SECONDS = 1;
+export const CANONICAL_RECORDED_LAB_SPATIAL_PROFILE = "source-paced-ground-v3";
+
+export interface CanonicalRecordedLabPackedCellEvidence {
+  centersBodyXyM: Float32Array;
+  zBoundsM: Float32Array;
+  stateCodes: Uint8Array;
+}
+
+export interface CanonicalRecordedLabBodyGroundFrame {
+  originMapXyzM: readonly [number, number, number];
+  sensorOriginMapXyzM: readonly [number, number, number];
+  basisMapFromBody: readonly [
+    readonly [number, number, number],
+    readonly [number, number, number],
+    readonly [number, number, number],
+  ];
+}
+
+export interface CanonicalRecordedLabTgsCostmap {
+  centersXyM: readonly (readonly [number, number])[];
+  stateCodes: readonly number[];
+  zBoundsM: readonly (readonly [number | null, number | null])[];
+}
+
+export function canonicalRecordedLabTgsIsCurrent(
+  currentTimeNs: number,
+  anchorTimeNs: number,
+  historySeconds = CANONICAL_RECORDED_LAB_TGS_HISTORY_SECONDS,
+): boolean {
+  if (
+    !Number.isSafeInteger(currentTimeNs)
+    || !Number.isSafeInteger(anchorTimeNs)
+    || !Number.isFinite(historySeconds)
+    || historySeconds <= 0
+  ) return false;
+  const ageNs = currentTimeNs - anchorTimeNs;
+  return ageNs >= 0 && ageNs <= Math.round(historySeconds * 1_000_000_000);
+}
+
+export function canonicalMapGravityLocalPointToBodyGround(
+  point: readonly [number, number, number],
+  anchor: CanonicalRecordedLabBodyGroundFrame,
+  current: CanonicalRecordedLabBodyGroundFrame,
+): readonly [number, number, number] {
+  // TGS is translation-only map-gravity-local: its axes are map axes and its
+  // origin is the LiDAR at the source frame. It is not an anchor body frame.
+  const map: readonly [number, number, number] = [
+    anchor.sensorOriginMapXyzM[0] + point[0],
+    anchor.sensorOriginMapXyzM[1] + point[1],
+    anchor.sensorOriginMapXyzM[2] + point[2],
+  ];
+  const delta: readonly [number, number, number] = [
+    map[0] - current.originMapXyzM[0],
+    map[1] - current.originMapXyzM[1],
+    map[2] - current.originMapXyzM[2],
+  ];
+  return [
+    current.basisMapFromBody[0][0] * delta[0]
+      + current.basisMapFromBody[1][0] * delta[1]
+      + current.basisMapFromBody[2][0] * delta[2],
+    current.basisMapFromBody[0][1] * delta[0]
+      + current.basisMapFromBody[1][1] * delta[1]
+      + current.basisMapFromBody[2][1] * delta[2],
+    current.basisMapFromBody[0][2] * delta[0]
+      + current.basisMapFromBody[1][2] * delta[1]
+      + current.basisMapFromBody[2][2] * delta[2],
+  ];
+}
+
+export function canonicalRecordedLabPackedTgsCells(
+  costmap: CanonicalRecordedLabTgsCostmap,
+  anchor: CanonicalRecordedLabBodyGroundFrame,
+  current: CanonicalRecordedLabBodyGroundFrame,
+): CanonicalRecordedLabPackedCellEvidence {
+  if (
+    costmap.centersXyM.length !== costmap.stateCodes.length
+    || costmap.centersXyM.length !== costmap.zBoundsM.length
+  ) throw new Error("Canonical recorded LAB TGS accounting changed");
+  const centers: number[] = [];
+  const zBounds: number[] = [];
+  costmap.centersXyM.forEach(([x, y], index) => {
+    const bounds = costmap.zBoundsM[index] ?? [null, null];
+    const center = canonicalMapGravityLocalPointToBodyGround([x, y, 0], anchor, current);
+    centers.push(center[0], center[1]);
+    if (bounds[0] === null || bounds[1] === null) {
+      zBounds.push(Number.NaN, Number.NaN);
+      return;
+    }
+    const bottom = canonicalMapGravityLocalPointToBodyGround([x, y, bounds[0]], anchor, current);
+    const top = canonicalMapGravityLocalPointToBodyGround([x, y, bounds[1]], anchor, current);
+    zBounds.push(Math.min(bottom[2], top[2]), Math.max(bottom[2], top[2]));
+  });
+  return {
+    centersBodyXyM: Float32Array.from(centers),
+    zBoundsM: Float32Array.from(zBounds),
+    stateCodes: Uint8Array.from(costmap.stateCodes),
+  };
+}

apps/control-station/src/core/laboratory/canonicalRecordedLabSpatial.ts

@@ -0,0 +1,259 @@
+import type { LaboratoryFetch } from "./advancedResults";
+import { CANONICAL_RECORDED_LAB_SPATIAL_PROFILE } from "./canonicalRecordedLab";
+
+const SAFE_SESSION_ID = /^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$/;
+const SHA256 = /^[a-f0-9]{64}$/;
+
+export class CanonicalRecordedLabSpatialContractError extends Error {}
+
+export interface CanonicalRecordedLabSpatialFrame {
+  targetTimeNs: number;
+  sourceTimeNs: number;
+  poseTimeNs: number;
+  trajectoryTimeNs: number;
+  sourcePointCount: number;
+  coordinateFrame: "body-ground";
+  sensorHeight: {
+    meters: number;
+    source: "local-source-cloud-ground-quantile-median" | "session-source-cloud-fallback";
+    sampleCount: number;
+    madM: number;
+    authority: "visual-derived";
+  };
+  spatialProfile: {
+    profileId: typeof CANONICAL_RECORDED_LAB_SPATIAL_PROFILE;
+    localSlamHistorySeconds: number;
+    localSlamRadiusM: number;
+    localSlamVoxelSizeM: number;
+    localSlamPointLimit: number;
+  };
+  bodyFrame: {
+    originMapXyzM: readonly [number, number, number];
+    sensorOriginMapXyzM: readonly [number, number, number];
+    basisMapFromBody: readonly [
+      readonly [number, number, number],
+      readonly [number, number, number],
+      readonly [number, number, number],
+    ];
+  };
+  sourcePointsBodyXyzM: readonly (readonly [number, number, number])[];
+  localSlamSourceFrameCount: number;
+  localSlamSourcePointCount: number;
+  localSlamBodyXyzM: readonly (readonly [number, number, number])[];
+}
+
+function objectValue(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new CanonicalRecordedLabSpatialContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function arrayValue(value: unknown, label: string): unknown[] {
+  if (!Array.isArray(value)) {
+    throw new CanonicalRecordedLabSpatialContractError(`${label}: ожидался массив.`);
+  }
+  return value;
+}
+
+function exact(value: unknown, expected: unknown, label: string): void {
+  if (value !== expected) {
+    throw new CanonicalRecordedLabSpatialContractError(`${label}: контракт изменён.`);
+  }
+}
+
+function numberValue(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new CanonicalRecordedLabSpatialContractError(`${label}: ожидалось число.`);
+  }
+  return value;
+}
+
+function integerValue(value: unknown, label: string): number {
+  const parsed = numberValue(value, label);
+  if (!Number.isSafeInteger(parsed) || parsed < 0) {
+    throw new CanonicalRecordedLabSpatialContractError(`${label}: ожидалось целое значение.`);
+  }
+  return parsed;
+}
+
+function pointList(
+  value: unknown,
+  label: string,
+): readonly (readonly [number, number, number])[] {
+  return arrayValue(value, label).map((entry, index) => {
+    const point = arrayValue(entry, `${label}[${index}]`).map(
+      (channel, channelIndex) => numberValue(channel, `${label}[${index}][${channelIndex}]`),
+    );
+    if (point.length !== 3) {
+      throw new CanonicalRecordedLabSpatialContractError(`${label}[${index}]: размер изменён.`);
+    }
+    return [point[0]!, point[1]!, point[2]!] as const;
+  });
+}
+
+export async function fetchCanonicalRecordedLabSpatialFrame(
+  sessionId: string,
+  generationSha256: string,
+  targetTimeNs: number,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<CanonicalRecordedLabSpatialFrame> {
+  if (
+    !SAFE_SESSION_ID.test(sessionId)
+    || !SHA256.test(generationSha256)
+    || !Number.isSafeInteger(targetTimeNs)
+    || targetTimeNs < 0
+  ) {
+    throw new CanonicalRecordedLabSpatialContractError(
+      "Canonical LAB spatial identity недопустима.",
+    );
+  }
+  const query = new URLSearchParams({
+    generation: generationSha256,
+    time_ns: String(targetTimeNs),
+    profile: CANONICAL_RECORDED_LAB_SPATIAL_PROFILE,
+  });
+  const response = await fetcher(
+    `/api/v1/observation-sessions/${encodeURIComponent(sessionId)}`
+      + `/canonical-lab/spatial-frame?${query.toString()}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new CanonicalRecordedLabSpatialContractError(
+      `Canonical LAB spatial frame недоступен: HTTP ${response.status}.`,
+    );
+  }
+  const payload = objectValue(await response.json(), "canonical_lab.spatial_frame");
+  exact(
+    payload.schema_version,
+    "missioncore.canonical-recorded-lab-spatial-frame/v3",
+    "canonical_lab.spatial_frame.schema_version",
+  );
+  exact(payload.coordinate_frame, "body-ground", "canonical_lab.spatial_frame.coordinate_frame");
+  exact(payload.target_time_ns, targetTimeNs, "canonical_lab.spatial_frame.target_time_ns");
+  const sourcePoints = pointList(
+    payload.source_points_body_xyz_m,
+    "canonical_lab.spatial_frame.source_points",
+  );
+  const localSlam = pointList(
+    payload.local_slam_body_xyz_m,
+    "canonical_lab.spatial_frame.local_slam",
+  );
+  const sourcePointCount = integerValue(
+    payload.source_point_count,
+    "canonical_lab.spatial_frame.source_point_count",
+  );
+  const localSlamPointCount = integerValue(
+    payload.local_slam_point_count,
+    "canonical_lab.spatial_frame.local_slam_point_count",
+  );
+  if (
+    sourcePointCount !== sourcePoints.length
+    || sourcePointCount > 100_000
+    || localSlamPointCount !== localSlam.length
+    || localSlam.length > 27_000
+  ) {
+    throw new CanonicalRecordedLabSpatialContractError(
+      "Canonical LAB spatial accounting изменён.",
+    );
+  }
+  const bodyFrame = objectValue(payload.body_frame, "canonical_lab.spatial_frame.body_frame");
+  const origin = pointList(
+    [bodyFrame.origin_map_xyz_m],
+    "canonical_lab.spatial_frame.body_frame.origin",
+  )[0]!;
+  const sensorOrigin = pointList(
+    [bodyFrame.sensor_origin_map_xyz_m],
+    "canonical_lab.spatial_frame.body_frame.sensor_origin",
+  )[0]!;
+  const basisRows = pointList(
+    bodyFrame.basis_map_from_body,
+    "canonical_lab.spatial_frame.body_frame.basis",
+  );
+  if (basisRows.length !== 3) {
+    throw new CanonicalRecordedLabSpatialContractError(
+      "Canonical LAB spatial basis изменён.",
+    );
+  }
+  const sensorHeight = objectValue(payload.sensor_height, "canonical_lab.spatial_frame.sensor_height");
+  if (
+    sensorHeight.source !== "local-source-cloud-ground-quantile-median"
+    && sensorHeight.source !== "session-source-cloud-fallback"
+  ) {
+    throw new CanonicalRecordedLabSpatialContractError(
+      "canonical_lab.spatial_frame.sensor_height.source: контракт изменён.",
+    );
+  }
+  exact(
+    sensorHeight.authority,
+    "visual-derived",
+    "canonical_lab.spatial_frame.sensor_height.authority",
+  );
+  const spatialProfile = objectValue(
+    payload.spatial_profile,
+    "canonical_lab.spatial_frame.spatial_profile",
+  );
+  exact(
+    spatialProfile.profile_id,
+    CANONICAL_RECORDED_LAB_SPATIAL_PROFILE,
+    "canonical_lab.spatial_frame.spatial_profile.profile_id",
+  );
+  return {
+    targetTimeNs,
+    sourceTimeNs: integerValue(payload.source_time_ns, "canonical_lab.spatial_frame.source_time_ns"),
+    poseTimeNs: integerValue(payload.pose_time_ns, "canonical_lab.spatial_frame.pose_time_ns"),
+    trajectoryTimeNs: integerValue(
+      payload.trajectory_time_ns,
+      "canonical_lab.spatial_frame.trajectory_time_ns",
+    ),
+    sourcePointCount,
+    coordinateFrame: "body-ground",
+    sensorHeight: {
+      meters: numberValue(sensorHeight.meters, "canonical_lab.spatial_frame.sensor_height.meters"),
+      source: sensorHeight.source,
+      sampleCount: integerValue(
+        sensorHeight.sample_count,
+        "canonical_lab.spatial_frame.sensor_height.sample_count",
+      ),
+      madM: numberValue(sensorHeight.mad_m, "canonical_lab.spatial_frame.sensor_height.mad_m"),
+      authority: "visual-derived",
+    },
+    spatialProfile: {
+      profileId: CANONICAL_RECORDED_LAB_SPATIAL_PROFILE,
+      localSlamHistorySeconds: numberValue(
+        spatialProfile.local_slam_history_seconds,
+        "canonical_lab.spatial_frame.spatial_profile.history",
+      ),
+      localSlamRadiusM: numberValue(
+        spatialProfile.local_slam_radius_m,
+        "canonical_lab.spatial_frame.spatial_profile.radius",
+      ),
+      localSlamVoxelSizeM: numberValue(
+        spatialProfile.local_slam_voxel_size_m,
+        "canonical_lab.spatial_frame.spatial_profile.voxel",
+      ),
+      localSlamPointLimit: integerValue(
+        spatialProfile.local_slam_point_limit,
+        "canonical_lab.spatial_frame.spatial_profile.limit",
+      ),
+    },
+    bodyFrame: {
+      originMapXyzM: origin,
+      sensorOriginMapXyzM: sensorOrigin,
+      basisMapFromBody: [basisRows[0]!, basisRows[1]!, basisRows[2]!],
+    },
+    sourcePointsBodyXyzM: sourcePoints,
+    localSlamSourceFrameCount: integerValue(
+      payload.local_slam_source_frame_count,
+      "canonical_lab.spatial_frame.local_slam_source_frames",
+    ),
+    localSlamSourcePointCount: integerValue(
+      payload.local_slam_source_point_count,
+      "canonical_lab.spatial_frame.local_slam_source_points",
+    ),
+    localSlamBodyXyzM: localSlam,
+  };
+}

apps/control-station/src/core/laboratory/m4ReplayThreat.ts

@@ -154,6 +154,9 @@ export interface M4ThreatTimelineFrame {
   pointCloudSourceCount: number;
   pointCloudSampleCount: number;
   pointCloudLayer: "current-increment";
+  localSlamBodyXyzM?: readonly M4Point3[];
+  localSlamSourceFrameCount?: number;
+  localSlamSourcePointCount?: number;
   cameraProjectedPointsXyd: readonly (readonly [number, number, number])[];
   cameraProjectedSourceCount: number;
   cameraProjectedPointCount: number;
@@ -168,10 +171,11 @@ export interface M4ThreatTimelineFrame {
 
 export interface M4ThreatTimeline {
   resultId: string;
-  recordedSourceSessionId: "20260720T065719Z_viewer_live";
+  recordedSourceSessionId: string;
+  recordedSourceId: string;
   imageWidth: 800;
   imageHeight: 600;
-  frameCount: 4489;
+  frameCount: number;
   frameTimesNs: readonly number[];
   timelineStartSeconds: number;
   timelineEndSeconds: number;
@@ -234,7 +238,7 @@ export interface M4ThreatPlaybackProgress {
 
 export interface M4ThreatPlaybackPointPack {
   resultId: string;
-  frameCount: 4489;
+  frameCount: number;
   pointCount: number;
   pointOffsets: Uint32Array;
   pointsMapXyzM: Float32Array;
@@ -257,7 +261,7 @@ export interface M4ThreatPlaybackChunkDescriptor {
 
 export interface M4ThreatPlaybackManifest {
   resultId: string;
-  frameCount: 4489;
+  frameCount: number;
   pointCount: number;
   pointOffsets: Uint32Array;
   chunkFrameCount: 24;
@@ -337,7 +341,7 @@ const motion = (value: unknown): M4ThreatMotion => {
 };
 const resultId = (value: unknown): string => {
   const parsed = text(value, "M4.6 result id");
-  if (!/^m4-threat-replay-[a-f0-9]{64}$/.test(parsed)) {
+  if (!/^[a-z0-9][a-z0-9-]{0,127}-[a-f0-9]{64}$/.test(parsed)) {
     throw new M4ThreatContractError("M4.6 result id: нарушена идентичность.");
   }
   return parsed;
@@ -704,12 +708,8 @@ export async function fetchM4ThreatTimeline(
   exact(payload.result_id, result, "M4.6 timeline result");
   exact(payload.authority, "replay-simulated", "M4.6 timeline authority");
   const recorded = object(payload.recorded_source, "M4.6 recorded source");
-  exact(
-    recorded.session_id,
-    "20260720T065719Z_viewer_live",
-    "M4.6 recorded session",
-  );
-  exact(recorded.source_id, "RAVNOVES00", "M4.6 recorded source id");
+  const recordedSessionId = text(recorded.session_id, "M4.6 recorded session");
+  const recordedSourceId = text(recorded.source_id, "M4.6 recorded source id");
   exact(
     recorded.representation_id,
     "registered-map-increment-v1",
@@ -720,7 +720,10 @@ export async function fetchM4ThreatTimeline(
     "host-arrival-best-effort",
     "M4.6 recorded synchronization",
   );
-  const frameCount = exact(payload.frame_count, 4489, "M4.6 timeline frame count");
+  const frameCount = integer(payload.frame_count, "M4.6 timeline frame count");
+  if (frameCount < 1) {
+    throw new M4ThreatContractError("M4.6 timeline frame count: пустой timeline.");
+  }
   const frameTimesNs = array(payload.frame_times_ns, "M4.6 timeline index").map(
     (value) => integer(value, "M4.6 timeline time"),
   );
@@ -738,7 +741,8 @@ export async function fetchM4ThreatTimeline(
   );
   return {
     resultId: result,
-    recordedSourceSessionId: "20260720T065719Z_viewer_live",
+    recordedSourceSessionId: recordedSessionId,
+    recordedSourceId,
     imageWidth: exact(payload.image_width, 800, "M4.6 image width"),
     imageHeight: exact(payload.image_height, 600, "M4.6 image height"),
     frameCount,
@@ -849,12 +853,14 @@ export async function fetchM4ThreatTimelineChunk(
     endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
     cameraObstacleProjectionDelivery = null,
     playbackPointPack,
+    includePoints = true,
   }: {
     fetcher?: LaboratoryFetch;
     signal?: AbortSignal;
     endpointRoot?: string;
     cameraObstacleProjectionDelivery?: M4ThreatTimeline["cameraObstacleProjectionDelivery"];
     playbackPointPack?: M4ThreatPlaybackPointPack;
+    includePoints?: boolean;
   } = {},
 ): Promise<M4ThreatTimelineChunk> {
   const params = new URLSearchParams({
@@ -864,7 +870,7 @@ export async function fetchM4ThreatTimelineChunk(
   if (cameraObstacleProjectionDelivery !== null) {
     params.set("obstacle_projection", cameraObstacleProjectionDelivery);
   }
-  if (playbackPointPack) params.set("include_points", "false");
+  if (playbackPointPack || !includePoints) params.set("include_points", "false");
   const response = await fetcher(
     `${endpointRoot}/${result}/timeline/chunk?${params}`,
     { headers: { Accept: "application/json" }, signal },
@@ -995,7 +1001,10 @@ export async function fetchM4ThreatPlaybackManifest(
   exact(manifest.result_id, result, "M4.6 playback result");
   exact(manifest.coordinate_frame, "map", "M4.6 playback coordinate frame");
   exact(manifest.access, "read-only-sealed-binary-playback", "M4.6 playback access");
-  const frameCount = exact(integer(manifest.frame_count, "M4.6 playback frames"), 4489, "M4.6 playback frames");
+  const frameCount = integer(manifest.frame_count, "M4.6 playback frames");
+  if (frameCount < 1) {
+    throw new M4ThreatContractError("M4.6 playback frames: пустой playback недопустим.");
+  }
   const pointCount = integer(manifest.point_count, "M4.6 playback points");
   const offsetsRaw = array(manifest.point_offsets, "M4.6 playback offsets");
   if (offsetsRaw.length !== frameCount + 1) {
@@ -1332,6 +1341,17 @@ function parseTimelineFrame(
       "current-increment",
       "M4.6 timeline point layer",
     ),
+    localSlamBodyXyzM: item.local_slam_body_xyz_m === undefined
+      ? []
+      : array(item.local_slam_body_xyz_m, "M4.6 local SLAM points").map(
+          (point) => vector(point, 3, "M4.6 local SLAM point") as [number, number, number],
+        ),
+    localSlamSourceFrameCount: item.local_slam_source_frame_count === undefined
+      ? undefined
+      : integer(item.local_slam_source_frame_count, "M4.6 local SLAM source frames"),
+    localSlamSourcePointCount: item.local_slam_source_point_count === undefined
+      ? undefined
+      : integer(item.local_slam_source_point_count, "M4.6 local SLAM source points"),
     cameraProjectedPointsXyd: item.camera_projected_points_xyd === undefined
       ? []
       : array(item.camera_projected_points_xyd, "M4.6 camera points").map(

apps/control-station/src/core/laboratory/recordedEvidenceProfile.ts

@@ -0,0 +1,57 @@
+import {
+  LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE,
+  type LaboratoryRecordedEvidenceViewerProfile,
+} from "../observation/viewerProfile";
+
+export type LaboratoryRecordedMediaMode = "video" | "camera" | null;
+export type LaboratoryRecordedSpatialMode = "3d" | "plan" | null;
+export type LaboratoryClassifiedSpatialMode = "none" | "overlay" | "replace-source";
+
+export interface LaboratoryRecordedEvidenceVisibility {
+  mediaMode: LaboratoryRecordedMediaMode;
+  spatialMode: LaboratoryRecordedSpatialMode;
+  showMediaSemantic: boolean;
+  showSpatialSemantic: boolean;
+  showMediaPoints: boolean;
+  classifiedSpatialMode: LaboratoryClassifiedSpatialMode;
+}
+
+export interface LaboratoryRecordedEvidenceDemand {
+  sourceTimelineMetadata: true;
+  recordedVideo: boolean;
+  exactCameraFrame: boolean;
+  sourceSpatialPoints: boolean;
+  cameraPointOverlay: boolean;
+  selectedSemanticMask: boolean;
+  selectedSemanticPoints: boolean;
+  classifiedSpatial: boolean;
+}
+
+/**
+ * Translate the already-visible M4 evidence composition into explicit data
+ * demand. The profile never starts a hidden point, semantic or camera channel
+ * merely because the selected LAB happens to publish that artifact.
+ */
+export function laboratoryRecordedEvidenceDemand(
+  visibility: LaboratoryRecordedEvidenceVisibility,
+  profile: LaboratoryRecordedEvidenceViewerProfile =
+    LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE,
+): LaboratoryRecordedEvidenceDemand {
+  if (profile.loadPolicy !== "explicit-legacy-comparison-only") {
+    throw new Error("Unsupported LAB recorded evidence load policy");
+  }
+  const mediaVisible = visibility.mediaMode !== null;
+  const spatialVisible = visibility.spatialMode !== null;
+  return {
+    sourceTimelineMetadata: true,
+    recordedVideo: visibility.mediaMode === "video",
+    exactCameraFrame: visibility.mediaMode === "camera",
+    sourceSpatialPoints:
+      spatialVisible && visibility.classifiedSpatialMode !== "replace-source",
+    cameraPointOverlay: mediaVisible && visibility.showMediaPoints,
+    selectedSemanticMask: mediaVisible && visibility.showMediaSemantic,
+    selectedSemanticPoints: spatialVisible && visibility.showSpatialSemantic,
+    classifiedSpatial:
+      spatialVisible && visibility.classifiedSpatialMode !== "none",
+  };
+}

apps/control-station/src/core/laboratory/vegetationShadow.ts

@@ -1,6 +1,7 @@
 import type { LaboratoryFetch } from "./advancedResults";
 
 const RESULT_ID = /^lab-v1-vegetation-shadow-[a-f0-9]{64}$/;
+const BENCHMARK_RESULT_ID = /^lab-v1-vegetation-benchmark-[a-f0-9]{64}$/;
 const SHA256 = /^[a-f0-9]{64}$/;
 const CANDIDATES = ["ddrnet", "ppliteseg"] as const;
 const ROUTE_MODES = ["source", "ddrnet", "ppliteseg", "urban", "rural", "offroad"] as const;
@@ -55,7 +56,9 @@ export interface VegetationVideoSemanticClass {
   classId: number;
   label: string;
   colorRgb: readonly [number, number, number];
-  disposition: "prediction" | "undefined";
+  disposition: "labeled" | "ambiguous" | "prediction" | "undefined";
+  materialClass: string | null;
+  evidenceState: string | null;
 }
 
 export interface VegetationRouteVideo {
@@ -67,8 +70,90 @@ export interface VegetationRouteVideo {
   height: 600;
   centerCropXyxy: readonly [100, 0, 700, 600];
   outsideCropState: "undefined";
+  viewKind: "fine-semantic-prediction" | "coarse-material-policy-review";
+  linkedTgsResultId: string | null;
   taxonomy: readonly VegetationVideoSemanticClass[];
   aggregatePredictionPixels: readonly number[];
+  policyPresets: Readonly<Record<string, Readonly<Record<string, string>>>> | null;
+  fusionMode: "synchronised-multilayer-review" | null;
+  validFovMaskSha256: string | null;
+}
+
+export interface VegetationMixedRouteCase {
+  caseId: string;
+  phase: "rural" | "transition" | "urban";
+  sourceSequence: number;
+  sessionSeconds: number;
+  assets: Readonly<Record<"source" | "city" | "vegetation" | "tgs", string>>;
+  tgs: {
+    groundCells: number;
+    occupiedCells: number;
+    rejectedCells: number;
+    unobservedCells: number;
+  };
+}
+
+export interface VegetationMixedRouteReview {
+  sourceId: "RAVNOVES004TREE";
+  sessionId: string;
+  packId: string;
+  frameCount: 10;
+  models: {
+    city: { name: string; inferenceFps: number; endToEndP95Ms: number };
+    vegetation: { name: string; latencyP95Ms: number };
+    tgs: { name: string; latencyP95Ms: number; cellSizeM: number; radiusM: number };
+  };
+  cases: readonly VegetationMixedRouteCase[];
+}
+
+export interface VegetationRouteTgsAnchor {
+  sourceSequence: number;
+  slot: number;
+  currentPointsXyzM: readonly (readonly [number, number, number])[];
+  costmap: {
+    cellSizeM: 0.45;
+    centersXyM: readonly (readonly [number, number])[];
+    stateCodes: readonly number[];
+    zBoundsM: readonly (readonly [number | null, number | null])[];
+  };
+}
+
+export interface VegetationFullRouteLayer {
+  name: string;
+  resultId: string;
+  frameCount: 6830;
+  taxonomy: readonly VegetationVideoSemanticClass[];
+  inferenceFps: number;
+  latencyP95Ms: number;
+  peakReservedVramBytes: number;
+}
+
+export interface VegetationFullRouteReview {
+  sourceId: "RAVNOVES004TREE";
+  sessionId: "20260828T130511Z_viewer_live";
+  linkedRouteReviewResultId: string;
+  sourceJobId: "recorded-camera-eb2783c5480d56bda07c8af0";
+  sourceJobInputSha256: string;
+  sourceStreamSha256: string;
+  recordedMediaSourceId: "recorded.camera.6a3945242828a038";
+  recordedMediaGenerationSha256: string;
+  frameCount: 6830;
+  width: 800;
+  height: 600;
+  timelineStartSeconds: number;
+  timelineEndSeconds: number;
+  timelineArtifact: {
+    sha256: string;
+    byteLength: number;
+  };
+  frameSourceTimesNs: readonly number[];
+  decodeRepair: {
+    repairedFrameCount: 1;
+    sequence: 6092;
+    method: "duplicate-previous-decoded-frame";
+  };
+  city: VegetationFullRouteLayer;
+  vegetation: VegetationFullRouteLayer;
 }
 
 export interface VegetationShadowResult {
@@ -80,6 +165,8 @@ export interface VegetationShadowResult {
   routeCases: readonly VegetationVisualCase[];
   validationCases: readonly VegetationVisualCase[];
   routeVideo: VegetationRouteVideo | null;
+  routeReview: VegetationMixedRouteReview | null;
+  routeFullReview: VegetationFullRouteReview | null;
   limitations: readonly string[];
   visualShadowReady: true;
   missionPolicyReadyForConfiguration: true;
@@ -186,6 +273,7 @@ function visualCaseValue(
   value: unknown,
   resultId: string,
   expectedKind: "goose" | "ravnoves",
+  endpointRoot: string,
 ): VegetationVisualCase {
   const row = objectValue(value, `vegetation.${expectedKind}.case`);
   exact(row.source_kind, expectedKind, "vegetation.case.source_kind");
@@ -204,7 +292,7 @@ function visualCaseValue(
     if (!SHA256.test(sha256) || !path.startsWith(`visual/${expectedKind}/${caseId}/`)) {
       throw new VegetationShadowContractError(`vegetation.case.assets.${key}: proof invalid.`);
     }
-    projected[key] = `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/assets/${path
+    projected[key] = `${endpointRoot}/${encodeURIComponent(resultId)}/assets/${path
       .split("/")
       .map(encodeURIComponent)
       .join("/")}`;
@@ -257,6 +345,9 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
     "vegetation.route_video.m47_reference_graph_result_id",
   );
   const baseM4ResultId = textValue(row.base_m4_result_id, "vegetation.route_video.base_m4_result_id");
+  const viewKind = row.view_kind === undefined
+    ? "fine-semantic-prediction"
+    : textValue(row.view_kind, "vegetation.route_video.view_kind");
   if (
     !/^lab-v1-ravnoves-video-ddrnet-[a-f0-9]{64}$/.test(workerResultId)
     || !/^m47-reference-graph-lab-[a-f0-9]{64}$/.test(m47ReferenceGraphResultId)
@@ -264,6 +355,15 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
   ) {
     throw new VegetationShadowContractError("vegetation.route_video: identity invalid.");
   }
+  if (viewKind !== "fine-semantic-prediction" && viewKind !== "coarse-material-policy-review") {
+    throw new VegetationShadowContractError("vegetation.route_video: view kind invalid.");
+  }
+  const linkedTgsResultId = viewKind === "coarse-material-policy-review"
+    ? textValue(row.linked_tgs_result_id, "vegetation.route_video.linked_tgs_result_id")
+    : null;
+  if (linkedTgsResultId && !/^m49-tgs-full-shadow-[a-f0-9]{64}$/.test(linkedTgsResultId)) {
+    throw new VegetationShadowContractError("vegetation.route_video: TGS identity invalid.");
+  }
   exact(row.frame_count, 4489, "vegetation.route_video.frame_count");
   exact(row.width, 800, "vegetation.route_video.width");
   exact(row.height, 600, "vegetation.route_video.height");
@@ -279,11 +379,9 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
     throw new VegetationShadowContractError("vegetation.route_video: crop contract changed.");
   }
   const taxonomy = objectValue(row.taxonomy, "vegetation.route_video.taxonomy");
-  exact(
-    taxonomy.schema_version,
-    "missioncore.lab-v1-vegetation-taxonomy/v1",
-    "vegetation.route_video.taxonomy.schema",
-  );
+  exact(taxonomy.schema_version, viewKind === "coarse-material-policy-review"
+    ? "missioncore.lab-v1-terrain-policy-taxonomy/v1"
+    : "missioncore.lab-v1-vegetation-taxonomy/v1", "vegetation.route_video.taxonomy.schema");
   const classes = arrayValue(taxonomy.classes, "vegetation.route_video.taxonomy.classes")
     .map((value, expectedId): VegetationVideoSemanticClass => {
       const item = objectValue(value, `vegetation.route_video.taxonomy[${expectedId}]`);
@@ -296,36 +394,95 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
       if (color.length !== 3 || color.some((channel) => channel > 255)) {
         throw new VegetationShadowContractError("vegetation.route_video: taxonomy color invalid.");
       }
-      const disposition: VegetationVideoSemanticClass["disposition"] = expectedId === 0
-        ? "undefined"
-        : "prediction";
-      if (item.disposition !== disposition) {
+      const disposition = item.disposition;
+      if (
+        disposition !== "labeled"
+        && disposition !== "ambiguous"
+        && disposition !== "prediction"
+        && disposition !== "undefined"
+      ) {
         throw new VegetationShadowContractError("vegetation.route_video: taxonomy disposition changed.");
       }
+      if (
+        viewKind === "fine-semantic-prediction"
+        && disposition !== (expectedId === 0 ? "undefined" : "prediction")
+      ) {
+        throw new VegetationShadowContractError("vegetation.route_video: fine taxonomy disposition changed.");
+      }
+      const materialClass = item.material_class === null || item.material_class === undefined
+        ? null
+        : textValue(item.material_class, `vegetation.route_video.material[${expectedId}]`);
+      const evidenceState = item.evidence_state === null || item.evidence_state === undefined
+        ? null
+        : textValue(item.evidence_state, `vegetation.route_video.evidence[${expectedId}]`);
       return {
         classId,
         label: textValue(item.label, `vegetation.route_video.label[${expectedId}]`),
         colorRgb: color as unknown as readonly [number, number, number],
         disposition,
+        materialClass,
+        evidenceState,
       };
     });
-  if (classes.length !== 64) {
-    throw new VegetationShadowContractError("vegetation.route_video: taxonomy must contain 64 classes.");
+  const expectedClassCount = viewKind === "coarse-material-policy-review" ? 10 : 64;
+  if (classes.length !== expectedClassCount) {
+    throw new VegetationShadowContractError("vegetation.route_video: taxonomy size changed.");
+  }
+  if (
+    viewKind === "coarse-material-policy-review"
+    && (classes[9]?.disposition !== "undefined" || classes[9]?.evidenceState !== "UNOBSERVED")
+  ) {
+    throw new VegetationShadowContractError("vegetation.route_video: valid-FOV class changed.");
   }
   const aggregatePredictionPixels = arrayValue(
     row.aggregate_prediction_pixels,
     "vegetation.route_video.aggregate_prediction_pixels",
   ).map((value, index) => integerValue(value, `vegetation.route_video.pixels[${index}]`));
-  if (aggregatePredictionPixels.length !== 64) {
+  if (aggregatePredictionPixels.length !== expectedClassCount) {
     throw new VegetationShadowContractError("vegetation.route_video: class accounting changed.");
   }
   const maskArchive = objectValue(row.mask_archive, "vegetation.route_video.mask_archive");
-  exact(maskArchive.path, "video/ddrnet-semantic-masks.zip", "vegetation.route_video.mask_archive.path");
+  exact(maskArchive.path, viewKind === "coarse-material-policy-review"
+    ? "video/coarse-material-policy-masks.zip"
+    : "video/ddrnet-semantic-masks.zip", "vegetation.route_video.mask_archive.path");
   const archiveSha256 = textValue(maskArchive.sha256, "vegetation.route_video.mask_archive.sha256");
   if (!SHA256.test(archiveSha256)) {
     throw new VegetationShadowContractError("vegetation.route_video: archive digest invalid.");
   }
   integerValue(maskArchive.byte_length, "vegetation.route_video.mask_archive.byte_length");
+  let policyPresets: VegetationRouteVideo["policyPresets"] = null;
+  let fusionMode: VegetationRouteVideo["fusionMode"] = null;
+  let validFovMaskSha256: string | null = null;
+  if (viewKind === "coarse-material-policy-review") {
+    const validFov = objectValue(row.valid_fov, "vegetation.route_video.valid_fov");
+    exact(validFov.mask_path, "video/valid-fov-mask.png", "vegetation.route_video.valid_fov.path");
+    validFovMaskSha256 = textValue(
+      validFov.mask_sha256,
+      "vegetation.route_video.valid_fov.sha256",
+    );
+    if (!SHA256.test(validFovMaskSha256)) {
+      throw new VegetationShadowContractError("vegetation.route_video: valid-FOV digest invalid.");
+    }
+    exact(validFov.outside_valid_fov_class_id, 9, "vegetation.route_video.valid_fov.class_id");
+    const policy = objectValue(row.policy, "vegetation.route_video.policy");
+    const presets = objectValue(policy.presets, "vegetation.route_video.policy.presets");
+    policyPresets = Object.fromEntries(Object.entries(presets).map(([presetId, rawRules]) => {
+      const rules = objectValue(rawRules, `vegetation.route_video.policy.${presetId}`);
+      return [presetId, Object.fromEntries(Object.entries(rules).map(([material, action]) => [
+        material,
+        textValue(action, `vegetation.route_video.policy.${presetId}.${material}`),
+      ]))];
+    }));
+    const fusion = objectValue(row.fusion, "vegetation.route_video.fusion");
+    exact(fusion.pixel_raster_fusion, false, "vegetation.route_video.fusion.pixel_raster_fusion");
+    exact(fusion.camera_semantic_temporal_filter, "none", "vegetation.route_video.fusion.camera_filter");
+    exact(
+      fusion.mode,
+      "synchronised-multilayer-review",
+      "vegetation.route_video.fusion.mode",
+    );
+    fusionMode = "synchronised-multilayer-review";
+  }
   return {
     workerResultId,
     m47ReferenceGraphResultId,
@@ -335,12 +492,374 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
     height: 600,
     centerCropXyxy: [100, 0, 700, 600],
     outsideCropState: "undefined",
+    viewKind,
+    linkedTgsResultId,
     taxonomy: classes,
     aggregatePredictionPixels,
+    policyPresets,
+    fusionMode,
+    validFovMaskSha256,
   };
 }
 
-function parseResult(value: unknown, resultId: string): VegetationShadowResult {
+function mixedRouteReviewValue(
+  value: unknown,
+  resultId: string,
+  endpointRoot: string,
+): VegetationMixedRouteReview | null {
+  if (value === null || value === undefined) return null;
+  const row = objectValue(value, "vegetation.route_review");
+  exact(row.source_id, "RAVNOVES004TREE", "vegetation.route_review.source_id");
+  exact(row.frame_count, 10, "vegetation.route_review.frame_count");
+  exact(row.ground_truth, false, "vegetation.route_review.ground_truth");
+  exact(
+    row.selection_policy,
+    "same-scene-camera-lidar-aligned-review-islands/v1",
+    "vegetation.route_review.selection_policy",
+  );
+  const packId = textValue(row.pack_id, "vegetation.route_review.pack_id");
+  if (!/^mixed-route-review-pack-[a-f0-9]{64}$/.test(packId)) {
+    throw new VegetationShadowContractError("vegetation.route_review.pack_id: identity invalid.");
+  }
+  const models = objectValue(row.models, "vegetation.route_review.models");
+  const city = objectValue(models.city, "vegetation.route_review.models.city");
+  const vegetation = objectValue(models.vegetation, "vegetation.route_review.models.vegetation");
+  const tgsModel = objectValue(models.tgs, "vegetation.route_review.models.tgs");
+  exact(city.frames, 10, "vegetation.route_review.models.city.frames");
+  exact(vegetation.frames, 10, "vegetation.route_review.models.vegetation.frames");
+  exact(tgsModel.frames, 10, "vegetation.route_review.models.tgs.frames");
+  const cases = arrayValue(row.cases, "vegetation.route_review.cases").map((raw, index) => {
+    const item = objectValue(raw, `vegetation.route_review.cases[${index}]`);
+    const caseId = textValue(item.case_id, `vegetation.route_review.cases[${index}].case_id`);
+    if (caseId !== `route-${String(index + 1).padStart(2, "0")}`) {
+      throw new VegetationShadowContractError("vegetation.route_review.case order changed.");
+    }
+    const phaseValue = item.phase;
+    if (phaseValue !== "rural" && phaseValue !== "transition" && phaseValue !== "urban") {
+      throw new VegetationShadowContractError("vegetation.route_review.phase changed.");
+    }
+    const phase: VegetationMixedRouteCase["phase"] = phaseValue;
+    const assets = objectValue(item.assets, `vegetation.route_review.cases[${index}].assets`);
+    const projected = Object.fromEntries(["source", "city", "vegetation", "tgs"].map((key) => {
+      const descriptor = objectValue(assets[key], `vegetation.route_review.assets.${key}`);
+      const path = textValue(descriptor.path, `vegetation.route_review.assets.${key}.path`);
+      const digest = textValue(descriptor.sha256, `vegetation.route_review.assets.${key}.sha256`);
+      if (!SHA256.test(digest) || !path.startsWith(`route-review/${caseId}/`)) {
+        throw new VegetationShadowContractError(`vegetation.route_review.assets.${key}: proof invalid.`);
+      }
+      return [key, `${endpointRoot}/${encodeURIComponent(resultId)}/assets/${path
+        .split("/").map(encodeURIComponent).join("/")}`];
+    })) as Record<"source" | "city" | "vegetation" | "tgs", string>;
+    const tgs = objectValue(item.tgs, `vegetation.route_review.cases[${index}].tgs`);
+    const groundCells = integerValue(tgs.ground_cells, "vegetation.route_review.tgs.ground");
+    const occupiedCells = integerValue(tgs.occupied_cells, "vegetation.route_review.tgs.occupied");
+    const rejectedCells = integerValue(tgs.rejected_cells, "vegetation.route_review.tgs.rejected");
+    const unobservedCells = integerValue(tgs.unobserved_cells, "vegetation.route_review.tgs.unobserved");
+    if (groundCells + occupiedCells + rejectedCells + unobservedCells !== 2244) {
+      throw new VegetationShadowContractError("vegetation.route_review.tgs cell accounting changed.");
+    }
+    return {
+      caseId,
+      phase,
+      sourceSequence: integerValue(item.source_sequence, "vegetation.route_review.source_sequence"),
+      sessionSeconds: numberValue(item.session_seconds, "vegetation.route_review.session_seconds"),
+      assets: projected,
+      tgs: { groundCells, occupiedCells, rejectedCells, unobservedCells },
+    };
+  });
+  if (cases.length !== 10) {
+    throw new VegetationShadowContractError("vegetation.route_review.cases: expected 10 aligned islands.");
+  }
+  return {
+    sourceId: "RAVNOVES004TREE",
+    sessionId: textValue(row.session_id, "vegetation.route_review.session_id"),
+    packId,
+    frameCount: 10,
+    models: {
+      city: {
+        name: textValue(city.name, "vegetation.route_review.models.city.name"),
+        inferenceFps: numberValue(city.inference_fps, "vegetation.route_review.models.city.fps"),
+        endToEndP95Ms: numberValue(city.end_to_end_p95_ms, "vegetation.route_review.models.city.p95"),
+      },
+      vegetation: {
+        name: textValue(vegetation.name, "vegetation.route_review.models.vegetation.name"),
+        latencyP95Ms: numberValue(vegetation.latency_p95_ms, "vegetation.route_review.models.vegetation.p95"),
+      },
+      tgs: {
+        name: textValue(tgsModel.name, "vegetation.route_review.models.tgs.name"),
+        latencyP95Ms: numberValue(tgsModel.latency_p95_ms, "vegetation.route_review.models.tgs.p95"),
+        cellSizeM: numberValue(tgsModel.cell_size_m, "vegetation.route_review.models.tgs.cell"),
+        radiusM: numberValue(tgsModel.radius_m, "vegetation.route_review.models.tgs.radius"),
+      },
+    },
+    cases,
+  };
+}
+
+function fullRouteTaxonomyValue(
+  value: unknown,
+  label: string,
+  schema: string,
+  classCount: number,
+): readonly VegetationVideoSemanticClass[] {
+  const taxonomy = objectValue(value, `${label}.taxonomy`);
+  exact(taxonomy.schema_version, schema, `${label}.taxonomy.schema`);
+  const classes = arrayValue(taxonomy.classes, `${label}.taxonomy.classes`).map(
+    (raw, expectedId): VegetationVideoSemanticClass => {
+      const item = objectValue(raw, `${label}.taxonomy[${expectedId}]`);
+      const classId = integerValue(item.class_id, `${label}.class_id[${expectedId}]`);
+      if (classId !== expectedId) {
+        throw new VegetationShadowContractError(`${label}: taxonomy order changed.`);
+      }
+      const color = arrayValue(item.color_rgb, `${label}.color[${expectedId}]`)
+        .map((channel, index) => integerValue(channel, `${label}.color[${expectedId}][${index}]`));
+      if (color.length !== 3 || color.some((channel) => channel > 255)) {
+        throw new VegetationShadowContractError(`${label}: taxonomy color invalid.`);
+      }
+      const disposition = item.disposition;
+      if (
+        disposition !== "labeled"
+        && disposition !== "ambiguous"
+        && disposition !== "prediction"
+        && disposition !== "undefined"
+      ) {
+        throw new VegetationShadowContractError(`${label}: taxonomy disposition changed.`);
+      }
+      return {
+        classId,
+        label: textValue(item.label, `${label}.label[${expectedId}]`),
+        colorRgb: color as unknown as readonly [number, number, number],
+        disposition,
+        materialClass: item.material_class === null || item.material_class === undefined
+          ? null
+          : textValue(item.material_class, `${label}.material[${expectedId}]`),
+        evidenceState: item.evidence_state === null || item.evidence_state === undefined
+          ? null
+          : textValue(item.evidence_state, `${label}.evidence[${expectedId}]`),
+      };
+    },
+  );
+  if (classes.length !== classCount) {
+    throw new VegetationShadowContractError(`${label}: taxonomy size changed.`);
+  }
+  return classes;
+}
+
+function fullRouteLayerValue(
+  value: unknown,
+  layer: "city" | "vegetation",
+): VegetationFullRouteLayer {
+  const label = `vegetation.route_full_review.layers.${layer}`;
+  const row = objectValue(value, label);
+  const resultId = textValue(row.result_id, `${label}.result_id`);
+  const identity = layer === "city"
+    ? /^result-[a-f0-9]{64}$/
+    : /^lab-v1-ravnoves-video-ddrnet-[a-f0-9]{64}$/;
+  if (!identity.test(resultId)) {
+    throw new VegetationShadowContractError(`${label}: identity invalid.`);
+  }
+  exact(row.frame_count, 6830, `${label}.frame_count`);
+  const archive = objectValue(row.mask_archive, `${label}.mask_archive`);
+  exact(
+    archive.path,
+    layer === "city" ? "video/eomt-semantic-masks.zip" : "video/ddrnet-semantic-masks.zip",
+    `${label}.mask_archive.path`,
+  );
+  const digest = textValue(archive.sha256, `${label}.mask_archive.sha256`);
+  if (!SHA256.test(digest)) {
+    throw new VegetationShadowContractError(`${label}: archive digest invalid.`);
+  }
+  integerValue(archive.byte_length, `${label}.mask_archive.byte_length`);
+  return {
+    name: textValue(row.name, `${label}.name`),
+    resultId,
+    frameCount: 6830,
+    taxonomy: fullRouteTaxonomyValue(
+      row.taxonomy,
+      label,
+      layer === "city"
+        ? "missioncore.recorded-eomt-taxonomy/v1"
+        : "missioncore.lab-v1-vegetation-taxonomy/v1",
+      layer === "city" ? 16 : 64,
+    ),
+    inferenceFps: numberValue(row.inference_fps, `${label}.inference_fps`),
+    latencyP95Ms: numberValue(row.latency_p95_ms, `${label}.latency_p95_ms`),
+    peakReservedVramBytes: integerValue(
+      row.peak_reserved_vram_bytes,
+      `${label}.peak_reserved_vram_bytes`,
+    ),
+  };
+}
+
+function fullRouteReviewValue(value: unknown): VegetationFullRouteReview | null {
+  if (value === null || value === undefined) return null;
+  const row = objectValue(value, "vegetation.route_full_review");
+  exact(row.source_id, "RAVNOVES004TREE", "vegetation.route_full_review.source_id");
+  exact(
+    row.session_id,
+    "20260828T130511Z_viewer_live",
+    "vegetation.route_full_review.session_id",
+  );
+  exact(
+    row.source_job_id,
+    "recorded-camera-eb2783c5480d56bda07c8af0",
+    "vegetation.route_full_review.source_job_id",
+  );
+  const linkedRouteReviewResultId = textValue(
+    row.linked_route_review_result_id,
+    "vegetation.route_full_review.linked_route_review_result_id",
+  );
+  if (!RESULT_ID.test(linkedRouteReviewResultId)) {
+    throw new VegetationShadowContractError(
+      "vegetation.route_full_review: linked route review identity invalid.",
+    );
+  }
+  exact(row.frame_count, 6830, "vegetation.route_full_review.frame_count");
+  exact(row.width, 800, "vegetation.route_full_review.width");
+  exact(row.height, 600, "vegetation.route_full_review.height");
+  exact(row.ground_truth, false, "vegetation.route_full_review.ground_truth");
+  const sourceJobInputSha256 = textValue(
+    row.source_job_input_sha256,
+    "vegetation.route_full_review.source_job_input_sha256",
+  );
+  const sourceStreamSha256 = textValue(
+    row.source_stream_sha256,
+    "vegetation.route_full_review.source_stream_sha256",
+  );
+  exact(
+    sourceJobInputSha256,
+    "eb2783c5480d56bda07c8af008dff5344d19dc550ef70fe2075d6f098f7cc715",
+    "vegetation.route_full_review.source_job_input_sha256",
+  );
+  exact(
+    sourceStreamSha256,
+    "e5eb017e2cc0f546736eda5235ca157b501913093cb64af5e548e335417e1bac",
+    "vegetation.route_full_review.source_stream_sha256",
+  );
+  exact(
+    row.recorded_media_source_id,
+    "recorded.camera.6a3945242828a038",
+    "vegetation.route_full_review.recorded_media_source_id",
+  );
+  const recordedMediaGenerationSha256 = textValue(
+    row.recorded_media_generation_sha256,
+    "vegetation.route_full_review.recorded_media_generation_sha256",
+  );
+  exact(
+    recordedMediaGenerationSha256,
+    "b073ea1e7babf1c77a664e1a5b95e3702d0e05b0e34c1e85a7c67a6f8b392ded",
+    "vegetation.route_full_review.recorded_media_generation_sha256",
+  );
+  if (
+    !SHA256.test(sourceJobInputSha256)
+    || !SHA256.test(sourceStreamSha256)
+    || !SHA256.test(recordedMediaGenerationSha256)
+  ) {
+    throw new VegetationShadowContractError("vegetation.route_full_review: source digest invalid.");
+  }
+  const timelineStartSeconds = numberValue(
+    row.timeline_start_seconds,
+    "vegetation.route_full_review.timeline_start_seconds",
+  );
+  const timelineEndSeconds = numberValue(
+    row.timeline_end_seconds,
+    "vegetation.route_full_review.timeline_end_seconds",
+  );
+  if (timelineEndSeconds <= timelineStartSeconds) {
+    throw new VegetationShadowContractError("vegetation.route_full_review: timeline invalid.");
+  }
+  const timeline = objectValue(row.timeline, "vegetation.route_full_review.timeline");
+  exact(
+    timeline.path,
+    "video/frame-source-times-ns.bin",
+    "vegetation.route_full_review.timeline.path",
+  );
+  exact(
+    timeline.encoding,
+    "uint64-le-nanoseconds",
+    "vegetation.route_full_review.timeline.encoding",
+  );
+  exact(timeline.frame_count, 6830, "vegetation.route_full_review.timeline.frame_count");
+  const timelineSha256 = textValue(
+    timeline.sha256,
+    "vegetation.route_full_review.timeline.sha256",
+  );
+  if (!SHA256.test(timelineSha256)) {
+    throw new VegetationShadowContractError("vegetation.route_full_review: timeline digest invalid.");
+  }
+  const timelineByteLength = integerValue(
+    timeline.byte_length,
+    "vegetation.route_full_review.timeline.byte_length",
+  );
+  exact(timelineByteLength, 6830 * 8, "vegetation.route_full_review.timeline.byte_length");
+  const decodeRepair = objectValue(
+    row.decode_repair,
+    "vegetation.route_full_review.decode_repair",
+  );
+  exact(decodeRepair.repaired_frame_count, 1, "vegetation.route_full_review.decode_repair.count");
+  exact(decodeRepair.sequence, 6092, "vegetation.route_full_review.decode_repair.sequence");
+  exact(
+    decodeRepair.method,
+    "duplicate-previous-decoded-frame",
+    "vegetation.route_full_review.decode_repair.method",
+  );
+  const repairProofs = objectValue(
+    decodeRepair.proofs,
+    "vegetation.route_full_review.decode_repair.proofs",
+  );
+  for (const [key, expectedPath] of Object.entries({
+    eomt: "proofs/decode_repair.json",
+    ddrnet: "proofs/ddrnet_decode_repair.json",
+  })) {
+    const proof = objectValue(
+      repairProofs[key],
+      `vegetation.route_full_review.decode_repair.proofs.${key}`,
+    );
+    exact(
+      proof.path,
+      expectedPath,
+      `vegetation.route_full_review.decode_repair.proofs.${key}.path`,
+    );
+    const digest = textValue(
+      proof.sha256,
+      `vegetation.route_full_review.decode_repair.proofs.${key}.sha256`,
+    );
+    if (!SHA256.test(digest)) {
+      throw new VegetationShadowContractError("vegetation.route_full_review: repair proof invalid.");
+    }
+  }
+  const layers = objectValue(row.layers, "vegetation.route_full_review.layers");
+  return {
+    sourceId: "RAVNOVES004TREE",
+    sessionId: "20260828T130511Z_viewer_live",
+    linkedRouteReviewResultId,
+    sourceJobId: "recorded-camera-eb2783c5480d56bda07c8af0",
+    sourceJobInputSha256,
+    sourceStreamSha256,
+    recordedMediaSourceId: "recorded.camera.6a3945242828a038",
+    recordedMediaGenerationSha256,
+    frameCount: 6830,
+    width: 800,
+    height: 600,
+    timelineStartSeconds,
+    timelineEndSeconds,
+    timelineArtifact: { sha256: timelineSha256, byteLength: timelineByteLength },
+    frameSourceTimesNs: [],
+    decodeRepair: {
+      repairedFrameCount: 1,
+      sequence: 6092,
+      method: "duplicate-previous-decoded-frame",
+    },
+    city: fullRouteLayerValue(layers.city, "city"),
+    vegetation: fullRouteLayerValue(layers.vegetation, "vegetation"),
+  };
+}
+
+function parseResult(
+  value: unknown,
+  resultId: string,
+  endpointRoot: string,
+): VegetationShadowResult {
   const payload = objectValue(value, "Vegetation LAB");
   exact(payload.schema_version, "missioncore.lab-v1-vegetation-shadow/v1", "vegetation.schema");
   exact(payload.result_id, resultId, "vegetation.result_id");
@@ -376,10 +895,15 @@ function parseResult(value: unknown, resultId: string): VegetationShadowResult {
     "vegetation.authority.camera_semantics_can_clear_rigid_geometry",
   );
   const routeCases = arrayValue(catalogs.ravnoves, "vegetation.catalogs.ravnoves")
-    .map((item) => visualCaseValue(item, resultId, "ravnoves"));
+    .map((item) => visualCaseValue(item, resultId, "ravnoves", endpointRoot));
   const validationCases = arrayValue(catalogs.goose, "vegetation.catalogs.goose")
-    .map((item) => visualCaseValue(item, resultId, "goose"));
-  if (routeCases.length !== 0 || validationCases.length !== 12) {
+    .map((item) => visualCaseValue(item, resultId, "goose", endpointRoot));
+  const routeReview = mixedRouteReviewValue(payload.route_review, resultId, endpointRoot);
+  const routeFullReview = fullRouteReviewValue(payload.route_full_review);
+  if (
+    routeCases.length !== 0
+    || (routeReview || routeFullReview ? validationCases.length !== 0 : validationCases.length !== 12)
+  ) {
     throw new VegetationShadowContractError("vegetation.catalogs: ожидалось 12 truth-backed GOOSE случаев без route viewer.");
   }
   return {
@@ -391,6 +915,8 @@ function parseResult(value: unknown, resultId: string): VegetationShadowResult {
     routeCases,
     validationCases,
     routeVideo: routeVideoValue(payload.route_video),
+    routeReview,
+    routeFullReview,
     limitations: arrayValue(payload.limitations, "vegetation.limitations")
       .map((item, index) => textValue(item, `vegetation.limitations[${index}]`)),
     visualShadowReady: true,
@@ -411,7 +937,96 @@ export function vegetationVideoMaskUrl(resultId: string, sequence: number): stri
   return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/masks/${sequence}`;
 }
 
-export async function fetchVegetationShadowResult(
+export function vegetationFullRouteMaskUrl(
+  resultId: string,
+  layer: "city" | "vegetation",
+  sequence: number,
+): string {
+  if (
+    !RESULT_ID.test(resultId)
+    || (layer !== "city" && layer !== "vegetation")
+    || !Number.isInteger(sequence)
+    || sequence < 0
+    || sequence >= 6830
+  ) {
+    throw new VegetationShadowContractError("Vegetation full-route mask identity недопустима.");
+  }
+  return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/route-masks/${layer}/${sequence}`;
+}
+
+export async function fetchVegetationRouteTgsAnchor(
+  resultId: string,
+  sourceSequence: number,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<VegetationRouteTgsAnchor> {
+  if (!RESULT_ID.test(resultId) || !Number.isInteger(sourceSequence) || sourceSequence < 1) {
+    throw new VegetationShadowContractError("Vegetation TGS anchor identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}`
+      + `/route-tgs-anchor/${sourceSequence}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new VegetationShadowContractError(`Vegetation TGS anchor недоступен: HTTP ${response.status}.`);
+  }
+  const payload = objectValue(await response.json(), "vegetation.route_tgs_anchor");
+  exact(
+    payload.schema_version,
+    "missioncore.lab-v1-route-tgs-anchor/v1",
+    "vegetation.route_tgs_anchor.schema_version",
+  );
+  exact(payload.source_sequence, sourceSequence, "vegetation.route_tgs_anchor.source_sequence");
+  const pointValue = (value: unknown, label: string): readonly number[] => {
+    const point = arrayValue(value, label).map((item, index) => numberValue(item, `${label}[${index}]`));
+    if (point.length !== 2 && point.length !== 3) {
+      throw new VegetationShadowContractError(`${label}: размер изменён.`);
+    }
+    return point;
+  };
+  const points = arrayValue(payload.current_points_xyz_m, "vegetation.route_tgs_anchor.points")
+    .map((value, index) => pointValue(value, `vegetation.route_tgs_anchor.points[${index}]`));
+  const costmap = objectValue(payload.costmap, "vegetation.route_tgs_anchor.costmap");
+  exact(costmap.cell_size_m, 0.45, "vegetation.route_tgs_anchor.costmap.cell_size_m");
+  const centers = arrayValue(costmap.centers_xy_m, "vegetation.route_tgs_anchor.costmap.centers")
+    .map((value, index) => pointValue(value, `vegetation.route_tgs_anchor.costmap.centers[${index}]`));
+  const stateCodes = arrayValue(costmap.state_codes, "vegetation.route_tgs_anchor.costmap.states")
+    .map((value, index) => integerValue(value, `vegetation.route_tgs_anchor.costmap.states[${index}]`));
+  const zBounds = arrayValue(costmap.z_bounds_m, "vegetation.route_tgs_anchor.costmap.z_bounds")
+    .map((value, index) => {
+      const row = arrayValue(value, `vegetation.route_tgs_anchor.costmap.z_bounds[${index}]`);
+      if (row.length !== 2 || row.some((item) => item !== null && (typeof item !== "number" || !Number.isFinite(item)))) {
+        throw new VegetationShadowContractError("vegetation.route_tgs_anchor.costmap.z_bounds: контракт изменён.");
+      }
+      return row as readonly [number | null, number | null];
+    });
+  if (
+    centers.length !== 2244
+    || stateCodes.length !== 2244
+    || zBounds.length !== 2244
+    || stateCodes.some((value) => value > 3)
+    || points.some((point) => point.length !== 3)
+    || centers.some((point) => point.length !== 2)
+  ) {
+    throw new VegetationShadowContractError("Vegetation TGS anchor shape изменён.");
+  }
+  return {
+    sourceSequence,
+    slot: integerValue(payload.slot, "vegetation.route_tgs_anchor.slot"),
+    currentPointsXyzM: points.map((point) => [point[0]!, point[1]!, point[2]!] as const),
+    costmap: {
+      cellSizeM: 0.45,
+      centersXyM: centers.map((point) => [point[0]!, point[1]!] as const),
+      stateCodes,
+      zBoundsM: zBounds,
+    },
+  };
+}
+
+export async function fetchVegetationShadowResultMetadata(
   resultId: string,
   {
     fetcher = fetch,
@@ -428,5 +1043,85 @@ export async function fetchVegetationShadowResult(
   if (!response.ok) {
     throw new VegetationShadowContractError(`Vegetation LAB недоступна: HTTP ${response.status}.`);
   }
-  return parseResult(await response.json(), resultId);
+  const result = parseResult(
+    await response.json(),
+    resultId,
+    "/api/v1/laboratory/vegetation-shadow",
+  );
+  return result;
+}
+
+export async function fetchVegetationShadowResult(
+  resultId: string,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<VegetationShadowResult> {
+  const result = await fetchVegetationShadowResultMetadata(resultId, { fetcher, signal });
+  if (!result.routeFullReview) return result;
+  const timelineResponse = await fetcher(
+    `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/route-timeline`,
+    { method: "GET", headers: { Accept: "application/octet-stream" }, signal },
+  );
+  if (!timelineResponse.ok) {
+    throw new VegetationShadowContractError(
+      `Vegetation LAB timeline недоступна: HTTP ${timelineResponse.status}.`,
+    );
+  }
+  if (
+    timelineResponse.headers.get("etag")
+    !== `"${result.routeFullReview.timelineArtifact.sha256}"`
+  ) {
+    throw new VegetationShadowContractError("Vegetation LAB timeline digest изменён.");
+  }
+  const timelinePayload = await timelineResponse.arrayBuffer();
+  if (timelinePayload.byteLength !== result.routeFullReview.timelineArtifact.byteLength) {
+    throw new VegetationShadowContractError("Vegetation LAB timeline size изменён.");
+  }
+  const timelineView = new DataView(timelinePayload);
+  const frameSourceTimesNs = Array.from({ length: result.routeFullReview.frameCount }, (_, index) => {
+    const value = Number(timelineView.getBigUint64(index * 8, true));
+    if (!Number.isSafeInteger(value)) {
+      throw new VegetationShadowContractError("Vegetation LAB timeline содержит unsafe time.");
+    }
+    return value;
+  });
+  if (
+    frameSourceTimesNs[0] !== Math.round(result.routeFullReview.timelineStartSeconds * 1_000_000_000)
+    || frameSourceTimesNs.some((time, index) => index > 0 && time <= frameSourceTimesNs[index - 1]!)
+  ) {
+    throw new VegetationShadowContractError("Vegetation LAB timeline нарушена.");
+  }
+  return {
+    ...result,
+    routeFullReview: { ...result.routeFullReview, frameSourceTimesNs },
+  };
+}
+
+export async function fetchVegetationBenchmarkResult(
+  resultId: string,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<VegetationShadowResult> {
+  if (!BENCHMARK_RESULT_ID.test(resultId)) {
+    throw new VegetationShadowContractError("Vegetation benchmark identity недопустима.");
+  }
+  const endpointRoot = "/api/v1/laboratory/vegetation-benchmark";
+  const response = await fetcher(
+    `${endpointRoot}/${encodeURIComponent(resultId)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new VegetationShadowContractError(
+      `Vegetation benchmark недоступен: HTTP ${response.status}.`,
+    );
+  }
+  const result = parseResult(await response.json(), resultId, endpointRoot);
+  if (result.routeVideo) {
+    throw new VegetationShadowContractError("Vegetation benchmark содержит route video.");
+  }
+  return result;
 }

apps/control-station/src/core/missions/PlanningTestContext.tsx

@@ -0,0 +1,74 @@
+import { createContext, useCallback, useContext, useEffect, useRef, useState, type ReactNode } from 'react';
+import { plannerBase, plannerRequest, type Draft } from './planner';
+
+export interface PlanningLiveTest {
+  schema_version: 'missioncore.planning-live-test/v1'; id: string; profile: 'planning'; plugin_id:string; draft: Draft;
+  state: 'preparing'|'waiting'|'running'|'completed'|'cancelled'|'error'|'interrupted';
+  planning_phase?: 'preparing'|'waiting-cloud'|'collecting'|'searching'|'refreshing'|'validating'|'tracking'|'lost'|'ended';
+  tracking_state?: 'acquiring'|'tracking'|'lost';
+  tracking_established?: boolean;
+  presentation_state?: 'live'|'historical'|'unlocalized'; scene_revision?:number;
+  scene_height_min_m?:number|null; scene_height_max_m?:number|null;
+  message: string; query_session_id: string|null; distance_m: number; query_points?: number;
+  scene_available: boolean; stale: boolean; frame_age_s: number|null; result_age_s: number|null;
+  result: {status:'candidate'|'rejected'; overlap:number; inlier_rmse_m:number|null; reasons:string[]}|null;
+  route_relocalization_policy?: {version?:string;query_radius_m?:number};
+}
+export interface PlanningRunSummary {id:string;name:string;state:string;query_session_id:string|null;created_at_utc:string}
+const endpoint = plannerBase+'/live-tests';
+const terminal = new Set(['completed','cancelled','error','interrupted']);
+const Context = createContext<{
+  test: PlanningLiveTest|null; history:PlanningRunSummary[]; select:(id:string)=>Promise<boolean>; busy:boolean; error:string|null;
+  begin:(draft:Draft)=>Promise<PlanningLiveTest|null>; finish:()=>Promise<void>; retryInitialization:()=>Promise<void>;
+}|null>(null);
+
+/** Server owns the run and its frozen reference, never the workspace launch profile. */
+export function PlanningTestProvider({children}:{children:ReactNode}) {
+  const [test,setTest]=useState<PlanningLiveTest|null>(null);
+  const [busy,setBusy]=useState(false),[error,setError]=useState<string|null>(null);
+  const [pollError,setPollError]=useState<string|null>(null);
+  const [history,setHistory]=useState<PlanningRunSummary[]>([]);
+  const generation=useRef(0);
+  useEffect(()=>{let disposed=false;void plannerRequest<{items:PlanningRunSummary[]}>(endpoint).then(r=>{if(!disposed)setHistory(r.items);}).catch(()=>{});return()=>{disposed=true;};},[test?.id,test?.state]);
+  const select=useCallback(async(id:string)=>{
+    generation.current+=1;setBusy(true);setError(null);
+    try{setTest(await plannerRequest<PlanningLiveTest>(endpoint+'/'+id+'/select',{method:'POST'}));return true;}
+    catch(e){setError(e instanceof Error?e.message:'Не удалось открыть исследование.');return false;}
+    finally{generation.current+=1;setBusy(false);}
+  },[]);
+  useEffect(()=>{
+    let disposed=false, timer:ReturnType<typeof setTimeout>;
+    const poll=async()=>{
+      const expected=generation.current;
+      try { const next=await plannerRequest<PlanningLiveTest|null>(endpoint+'/active'); if(!disposed && expected===generation.current) {setTest(next);setPollError(null);} }
+      catch(e) {if(!disposed && expected===generation.current)setPollError(e instanceof Error?e.message:'Исследование недоступно.');}
+      if(!disposed)timer=setTimeout(()=>void poll(),1500);
+    };void poll();return()=>{disposed=true;clearTimeout(timer);};
+  },[]);
+  const begin=useCallback(async(draft:Draft)=>{
+    generation.current+=1;setBusy(true);setError(null);
+    try {const next=await plannerRequest<PlanningLiveTest>(endpoint,{method:'POST',body:JSON.stringify({draft_id:draft.id,revision:draft.revision})});setTest(next);return next;}
+    catch(e){setError(e instanceof Error?e.message:'Не удалось подготовить тест.');return null;}
+    finally{generation.current+=1;setBusy(false);}
+  },[]);
+  const finish=useCallback(async()=>{
+    if(!test)return;generation.current+=1;setBusy(true);
+    try{setTest(await plannerRequest<PlanningLiveTest>(endpoint+'/'+test.id+'/stop',{method:'POST'}));}
+    catch(e){setError(e instanceof Error?e.message:'Не удалось завершить тест.');}
+    finally{generation.current+=1;setBusy(false);}
+  },[test]);
+  const retryInitialization=useCallback(async()=>{
+    if(!test)return;generation.current+=1;setBusy(true);setError(null);
+    try{setTest(await plannerRequest<PlanningLiveTest>(endpoint+'/'+test.id+'/reinitialize',{method:'POST'}));}
+    catch(e){setError(e instanceof Error?e.message:'Не удалось переинициализировать привязку.');}
+    finally{generation.current+=1;setBusy(false);}
+  },[test]);
+  return <Context.Provider value={{test,history,select,busy,error:error??pollError,begin,finish,retryInitialization}}>{children}</Context.Provider>;
+}
+export function usePlanningTest(){const value=useContext(Context);if(!value)throw new Error('PlanningTestProvider missing');return value;}
+export function planningTestTerminal(test:PlanningLiveTest){return terminal.has(test.state);}
+
+/** A prepared consumer owns the next capture until explicitly finished or used. */
+export function planningAwaitsCapture(test:PlanningLiveTest|null){
+  return !!test&&!planningTestTerminal(test)&&!test.query_session_id;
+}

apps/control-station/src/core/missions/planner.ts

@@ -0,0 +1,44 @@
+export interface PlanningPose { index: number; message_index: number; position: [number, number, number]; elapsed_s: number | null; distance_m: number }
+export interface PlanningSource { schema_version: "missioncore.planning-source/v1"; session_id: string; generation: string; label: string; frame_id: string; units: "m"; poses: PlanningPose[]; path_m: number; decode_errors: number }
+export interface SessionOption { id: string; label: string; modalities: string[]; replayable: boolean; lab?: unknown; }
+export type Direction = "forward" | "reverse";
+export interface Draft {
+  id: string; revision: number; name: string; updated_at_utc: string; vehicle_id: null;
+  zone: { session_id: string; generation: string; label: string };
+  route: { start_index: number; end_index: number; direction: Direction; length_m: number; points: { source_index: number; position: [number, number, number] }[] };
+}
+export interface RouteCheck { id: string; revision: number; length_m: number; pose_count: number; max_step_m: number; source_verified: boolean; warnings: string[]; localization: "not_run"; vehicle_control: false; }
+export const plannerBase = "/api/v1/mission-planner";
+export function canStartPlanningRoute(length: number, mode: 'scanner' | 'recording') {
+  return Number.isFinite(length) && length >= 3 && (mode === 'scanner' || length <= 40);
+}
+export async function plannerRequest<T>(path: string, init: RequestInit = {}): Promise<T> {
+  const response = await fetch(path, { ...init, cache: "no-store", headers: { "Content-Type": "application/json", ...init.headers } });
+  if (!response.ok) { const doc = await response.json().catch(() => null); throw new Error(typeof doc?.detail === "string" ? doc.detail : "Данные планировщика недоступны."); }
+  return response.json() as Promise<T>;
+}
+export function canSelectSession(item: SessionOption) { return item.replayable && !item.lab && item.modalities.includes("point-cloud") && item.modalities.includes("trajectory"); }
+export function selectedPoses(source: PlanningSource | null, start: number, end: number, direction: Direction) {
+  if (!source || start < 0 || end >= source.poses.length || start >= end) return [];
+  const poses = source.poses.slice(start, end + 1);
+  return direction === "reverse" ? poses.reverse() : poses;
+}
+export function routeLength(poses: PlanningPose[]) { return poses.slice(1).reduce((sum, p, index) => sum + Math.hypot(...p.position.map((v, axis) => v - poses[index].position[axis])), 0); }
+export function endAtDistance(source: PlanningSource, start: number, length: number) {
+  const target = source.poses[start].distance_m + length;
+  const index = source.poses.findIndex((pose, index) => index > start && pose.distance_m >= target);
+  return index < 0 ? source.poses.length - 1 : index;
+}
+export function validatePlanningSource(data: PlanningSource, sessionId: string): PlanningSource {
+  if (data.schema_version !== "missioncore.planning-source/v1" || data.session_id !== sessionId || data.units !== "m"
+    || !/^[a-f0-9]{64}$/.test(data.generation) || !Array.isArray(data.poses) || data.poses.length < 2 || data.poses.length > 100_000
+    || !data.poses.every((p, i) => p.index === i && p.position.length === 3 && p.position.every(Number.isFinite) && Number.isFinite(p.distance_m))) throw new Error("Траектория записи некорректна.");
+  return data;
+}
+
+/** Distance along the recorded path, so overlapping outbound/return branches remain distinct. */
+export function indexAtDistance(source: PlanningSource, distance: number, min = 0, max = source.poses.length - 1, before = false) {
+  let low = min, high = max;
+  while (low < high) { const mid = Math.floor((low + high) / 2); if (source.poses[mid].distance_m < distance) low = mid + 1; else high = mid; }
+  return before && low > min && source.poses[low].distance_m > distance ? low - 1 : low;
+}

apps/control-station/src/core/missions/planningPresentation.ts

@@ -0,0 +1,51 @@
+import type {SpatialActivityPresentation} from '../device-plugins/contracts';
+
+export interface PlanningMatchState {
+ state:string;stale:boolean;frame_age_s:number|null;result_age_s:number|null;
+ result:{status:string}|null;
+ tracking_state?:string;planning_phase?:string;tracking_established?:boolean;
+ presentation_state?:'live'|'historical'|'unlocalized';
+}
+/** Current geometry is insufficient: the temporal gate must also be tracking. */
+export function planningMatchCurrent(t:PlanningMatchState,transportError=false){
+ return !transportError&&t.state==='running'&&t.tracking_state==='tracking'&&!t.stale
+   &&(t.presentation_state===undefined||t.presentation_state==='live')
+   &&t.frame_age_s!==null&&t.frame_age_s>=0&&t.frame_age_s<2
+   &&t.result_age_s!==null&&t.result_age_s>=0&&t.result_age_s<8
+   &&t.result?.status==='candidate';
+}
+
+type Status={label:string;tone:'neutral'|'success'|'warning'|'danger';message?:string;pulse?:boolean};
+type PlanningPresentation=PlanningMatchState & {message:string};
+const phaseLabels:Record<string,string>={
+ collecting:'Накопление данных',searching:'Поиск положения на маршруте',
+ refreshing:'Подтверждение привязки',validating:'Подтверждение привязки',
+};
+
+/** Terminal failures and data freshness take precedence over successful old fits. */
+export function planningStatus(t:PlanningPresentation,error:string|null=null):Status{
+ if(error)return {label:'Исследование недоступно',tone:'danger',message:error};
+ if(t.state==='error'||t.state==='interrupted')return {label:'Совмещение остановлено',tone:'danger',message:t.message,pulse:true};
+ if(t.state==='completed'||t.state==='cancelled')return {label:'Исследование завершено',tone:'neutral',message:t.message+(t.presentation_state==='historical'?' Показана последняя принятая привязка; это не текущее положение.':'')};
+ if(planningMatchCurrent(t))return {label:'Сопровождение',tone:'success',message:t.message};
+ if(t.planning_phase==='recovering')return {label:'Восстановление привязки',tone:'danger',pulse:true,message:'Остановитесь. Ищем положение по новым данным; запись продолжается.'};
+ if(t.planning_phase==='lost'&&!t.tracking_established)
+   return {label:'Маршрут не синхронизирован',tone:'warning',message:t.message};
+ if(t.planning_phase==='lost'||t.planning_phase==='tracking')
+   return {label:'Привязка потеряна',tone:'danger',pulse:true,message:'Нет актуального подтверждения привязки. Остановитесь; ожидается восстановление по новым данным.'+(t.presentation_state==='historical'?' Сцена сохранена в последней принятой привязке.':'')};
+ if(t.planning_phase&&phaseLabels[t.planning_phase])
+   return {label:phaseLabels[t.planning_phase],tone:'neutral'};
+ if(t.result?.status==='rejected')return {label:'Совпадение не подтверждено',tone:'warning',message:t.message};
+ return {label:t.state==='preparing'?'Подготовка эталона':t.stale?'Ожидание данных':'Приём нового прохода',tone:'neutral',message:t.message};
+}
+
+/** A plugin may show this only for its matching, authoritative acquiring session. */
+export function planningActivity(
+ t:PlanningPresentation & {query_session_id:string|null},error:string|null=null,
+):SpatialActivityPresentation|undefined{
+ if(!t.query_session_id||!['running','error'].includes(t.state)
+    ||!t.planning_phase||['preparing','waiting-cloud','ended'].includes(t.planning_phase))return undefined;
+ const status=planningStatus(t,error);
+ return {sessionId:t.query_session_id,label:status.label,detail:status.message??'',
+   busy:!error&&t.state==='running'&&Object.hasOwn(phaseLabels,t.planning_phase)};
+}

apps/control-station/src/core/missions/planningPresentationTelemetry.ts

@@ -0,0 +1,93 @@
+import type { PlanningSceneDelivery } from './planningSceneStream';
+
+export const PLANNING_BROWSER_PRESENTATION_SCHEMA =
+ 'missioncore.planning-browser-presentation/v1';
+
+type BrowserPresentationSample = {
+ cloud_revision:number;
+ cloud_sequence:number;
+ display_epoch:string;
+ request_ms:number;
+ rerun_admission_ms:number;
+ first_animation_frame_ms:number|null;
+ second_animation_frame_ms:number|null;
+ frame_timeout:boolean;
+ source_to_second_animation_frame_upper_bound_ms:number|null;
+};
+
+type ReporterDependencies = {
+ url:string;
+ fetcher?:typeof fetch;
+ schedule?:(callback:()=>void,ms:number)=>ReturnType<typeof setTimeout>;
+ cancel?:(timer:ReturnType<typeof setTimeout>)=>void;
+};
+
+const batchSize=8;
+const flushDelayMs=250;
+
+/**
+ * Bounded, best-effort browser observation. These samples never drive scene
+ * admission, registration, navigation, or device control.
+ */
+export function createPlanningPresentationReporter(deps:ReporterDependencies){
+ const fetcher=deps.fetcher??fetch;
+ const schedule=deps.schedule??setTimeout;
+ const cancel=deps.cancel??clearTimeout;
+ let pending:BrowserPresentationSample[]=[];
+ let timer:ReturnType<typeof setTimeout>|undefined;
+ let sending=false,stopped=false;
+
+ const flush=async()=>{
+  if(sending||stopped||!pending.length)return;
+  if(timer!==undefined){cancel(timer);timer=undefined;}
+  sending=true;
+  const samples=pending.splice(0,batchSize);
+  try{
+   // Deliberately best-effort: the presentation observer must not make the
+   // live Rerun channel wait for an unrelated report request.
+   const response=await fetcher(deps.url,{method:'POST',cache:'no-store',keepalive:true,
+    headers:{'Content-Type':'application/json'},
+    body:JSON.stringify({schema_version:PLANNING_BROWSER_PRESENTATION_SCHEMA,samples}),
+   });
+   if(!response.ok)throw new Error(`Planning presentation telemetry was not accepted (${response.status})`);
+  }catch{
+   // A lost browser report is observable as fewer samples, never retried into
+   // an unbounded queue and never promoted into a capture/fit failure.
+  }finally{
+   sending=false;
+   if(!stopped&&pending.length)void flush();
+  }
+ };
+
+ const record=(delivery:PlanningSceneDelivery,timing:{
+  rerunAdmissionMs:number;firstAnimationFrameMs:number|null;
+  secondAnimationFrameMs:number|null;
+ })=>{
+  if(stopped||delivery.presentation!=='live'||delivery.cloudRevision===null||
+    delivery.cloudSequence===null||delivery.displayEpoch===null)return;
+  const second=timing.secondAnimationFrameMs;
+  pending.push({
+   cloud_revision:delivery.cloudRevision,
+   cloud_sequence:delivery.cloudSequence,
+   display_epoch:delivery.displayEpoch,
+   request_ms:delivery.requestMs,
+   rerun_admission_ms:timing.rerunAdmissionMs,
+   first_animation_frame_ms:timing.firstAnimationFrameMs,
+   second_animation_frame_ms:second,
+   frame_timeout:second===null,
+   source_to_second_animation_frame_upper_bound_ms:second===null?null:
+    delivery.cloudAgeMs+delivery.requestMs+timing.rerunAdmissionMs+second,
+  });
+  if(pending.length>=batchSize)void flush();
+  else if(timer===undefined)timer=schedule(()=>{timer=undefined;void flush();},flushDelayMs);
+ };
+
+ return {
+  record,
+  dispose:()=>{
+   stopped=true;
+   if(timer!==undefined)cancel(timer);
+   pending=[];
+  },
+ };
+}

apps/control-station/src/core/missions/planningProjects.ts

@@ -0,0 +1,37 @@
+import type { Draft } from './planner';
+import type { RegistrationReport } from './useRegistrationTest';
+import { plannerBase, plannerRequest } from './planner';
+
+export interface PlanningProject {
+  key: string; kind: 'recorded'|'live'|'draft'; id: string; name: string;
+  state: string; created_at_utc: string; result_status: string|null;
+  reference_label: string; query_label: string|null; draft_id: string; revision: number;
+}
+export interface PlanningProjectDetail extends PlanningProject {
+  draft: Draft; result: RegistrationReport['result'] | null; message?: string;
+  scene_url: string|null; evidence_relation?: string; elapsed_seconds?: number;
+  scene_note?:string|null;
+}
+export const planningProjectPending = (p: PlanningProject) => ['queued','running','preparing','waiting'].includes(p.state);
+export const planningProjectDeletable = (p: PlanningProject) => p.kind === 'draft'
+  || (p.kind === 'recorded' ? ['ready', 'error'] : ['completed', 'cancelled', 'error', 'interrupted']).includes(p.state);
+export async function deletePlanningProject(project: PlanningProject) {
+  if (!planningProjectDeletable(project)) throw new Error('Сначала завершите исследование.');
+  const receipt = await plannerRequest<{key: string; deleted: boolean}>(
+    `${plannerBase}/projects/${project.kind}/${encodeURIComponent(project.id)}`,
+    {method: 'DELETE', body: JSON.stringify({revision: project.revision})},
+  );
+  if (receipt.key !== project.key || receipt.deleted !== true) throw new Error('Удаление проекта не подтверждено. Обновите список.');
+}
+export function planningProjectStatus(p: PlanningProject) {
+  if (p.kind === 'draft') return 'Подготовка';
+  if (planningProjectPending(p)) return 'Выполняется';
+  if (p.result_status === 'candidate') return 'Кандидат совмещения';
+  if (p.result_status === 'rejected') return 'Совмещение отклонено';
+  return 'Без результата совмещения';
+}
+export function defaultPlanningProject(items: PlanningProject[], last: string|null) {
+  return items.find(p => p.key === last)?.key
+    ?? items.find(p => p.kind === 'recorded' && p.state === 'ready')?.key
+    ?? items[0]?.key ?? '';
+}

apps/control-station/src/core/missions/planningSceneStream.ts

@@ -0,0 +1,87 @@
+/** One in-flight request, latest-only deltas, no browser backlog or authority. */
+type Snapshot = {options:Record<string,string|number|boolean>;active:boolean;revision:number};
+export type PlanningSceneDelivery = {
+ presentation:'live'|'historical'; cloudAgeMs:number; fitAgeMs:number;
+ requestMs:number; cloudRevision:number|null; cloudSequence:number|null;
+ displayEpoch:string|null; heightMinM:number|null; heightMaxM:number|null;
+};
+type Dependencies = {
+ url:string; snapshot:()=>Snapshot;
+ apply:(bytes:Uint8Array,delivery:PlanningSceneDelivery)=>void|Promise<void>; error:()=>void;
+ fetcher?:typeof fetch; now?:()=>number;
+ schedule?:(callback:()=>void,ms:number)=>ReturnType<typeof setTimeout>;
+ cancel?:(timer:ReturnType<typeof setTimeout>)=>void;
+};
+
+export function startPlanningSceneStream(deps:Dependencies){
+ const fetcher=deps.fetcher??fetch, now=deps.now??(()=>performance.now());
+ const schedule=deps.schedule??setTimeout, cancel=deps.cancel??clearTimeout;
+ let stopped=false,cursor='',key='',revision=-1,needsBase=true;
+ let timer:ReturnType<typeof setTimeout>|undefined;
+ let request:AbortController|undefined;
+ const poll=async()=>{
+  if(stopped)return;
+  const started=now(), snapshot=deps.snapshot(), nextKey=JSON.stringify(snapshot.options);
+  if(!needsBase&&cursor&&!snapshot.active&&key===nextKey&&revision===snapshot.revision){
+   timer=schedule(()=>void poll(),500);return;
+  }
+  request=new AbortController();
+  const deadline=schedule(()=>request?.abort(),2500);
+  let failed=false;
+  try{
+   const params=new URLSearchParams(Object.entries(snapshot.options).map(([name,value])=>[name,String(value)]));
+   params.set('base',String(needsBase||!cursor||key!==nextKey));
+   if(cursor)params.set('cursor',cursor);
+   const response=await fetcher(`${deps.url}?${params}`,{cache:'no-store',signal:request.signal});
+   if(!response.ok)throw new Error('scene unavailable');
+   const bytes=response.status===204?null:new Uint8Array(await response.arrayBuffer());
+   if(stopped)return;
+   const presentation=response.headers.get('X-Planning-Presentation')==='live'?'live':'historical';
+   const cloud=Number(response.headers.get('X-Planning-Cloud-Age')??NaN);
+   const fit=Number(response.headers.get('X-Planning-Fit-Age')??NaN);
+   const elapsed=now()-started;
+   if(presentation==='live'){
+    // Include the entire request duration: a conservative upper bound, without
+    // comparing clocks on different hosts. Late bytes must not revive green.
+    if(!Number.isFinite(cloud)||!Number.isFinite(fit)||cloud<0||fit<0||cloud+elapsed/1000>=2||fit+elapsed/1000>=8)
+     throw new Error('scene expired during delivery');
+   }
+   const latest=deps.snapshot();
+   // Never apply a response from the previous display mode or live/ended state.
+   if(JSON.stringify(latest.options)!==nextKey||latest.active!==snapshot.active){needsBase=true;return;}
+   const nextCursor=response.headers.get('X-Planning-Scene-Cursor');
+   if(!nextCursor)throw new Error('scene cursor missing');
+   if(bytes)await deps.apply(bytes,{
+    presentation,cloudAgeMs:presentation==='live'?cloud*1000:0,
+    fitAgeMs:presentation==='live'?fit*1000:0,requestMs:elapsed,
+    cloudRevision:parseNonnegativeInteger(response.headers.get('X-Planning-Cloud-Revision')),
+    cloudSequence:parseNonnegativeInteger(response.headers.get('X-Planning-Cloud-Sequence')),
+    displayEpoch:response.headers.get('X-Planning-Display-Epoch'),
+    heightMinM:parseFiniteNumber(response.headers.get('X-Planning-Height-Min')),
+    heightMaxM:parseFiniteNumber(response.headers.get('X-Planning-Height-Max')),
+   }); // Native admission only; the caller may record a separate presentation proxy.
+   cursor=nextCursor;key=nextKey;revision=snapshot.revision;needsBase=false;
+  }catch{
+   // Keep the last admitted cursor (including camera intent). A full geometry
+   // repair after a missed/expired response is not permission to reset the eye.
+   if(!stopped){failed=true;needsBase=true;deps.error();}
+  }finally{
+   cancel(deadline);request=undefined;
+   if(!stopped)timer=schedule(()=>void poll(),failed?500:Math.max(10,(snapshot.active?100:500)-(now()-started)));
+  }
+ };
+ void poll();
+ return ()=>{stopped=true;request?.abort();if(timer!==undefined)cancel(timer);};
+}
+
+function parseNonnegativeInteger(value:string|null){
+ if(value===null||!/^\d+$/.test(value))return null;
+ const parsed=Number(value);
+ return Number.isSafeInteger(parsed)&&parsed>0?parsed:null;
+}
+
+function parseFiniteNumber(value:string|null){
+ if(value===null||value.trim()==='')return null;
+ const parsed=Number(value);
+ return Number.isFinite(parsed)?parsed:null;
+}

apps/control-station/src/core/missions/useMissionPlanner.ts

@@ -0,0 +1,92 @@
+import { useCallback, useEffect, useMemo, useState } from "react";
+import { canSelectSession, plannerBase, plannerRequest, selectedPoses, validatePlanningSource, type Direction, type Draft, type PlanningSource, type RouteCheck, type SessionOption } from "./planner";
+
+export function useMissionPlanner() {
+  const [sessions, setSessions] = useState<SessionOption[]>([]);
+  const [cursor, setCursor] = useState<string | null>(null);
+  const [drafts, setDrafts] = useState<Draft[]>([]);
+  const [saved, setSaved] = useState<Draft | null>(null);
+  const [name, setName] = useState("");
+  const [sessionId, setSessionId] = useState("");
+  const [source, setSource] = useState<PlanningSource | null>(null);
+  const [direction, setDirection] = useState<Direction>("forward");
+  const [error, setError] = useState<string | null>(null);
+  const [sourceError, setSourceError] = useState<string | null>(null);
+  const [busy, setBusy] = useState(false);
+  const [catalogBusy, setCatalogBusy] = useState(true);
+  const [loadVersion, setLoadVersion] = useState(0);
+  const [sourceVersion, setSourceVersion] = useState(0);
+  const [pinnedGeneration, setPinnedGeneration] = useState<string | null>(null);
+  const [check, setCheck] = useState<RouteCheck | null>(null);
+
+  useEffect(() => {
+    const abort = new AbortController(); setCatalogBusy(true); setError(null);
+    void Promise.all([
+      plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>("/api/v1/observation-sessions?scope=standalone&limit=100&pagination=cursor-v1", { signal: abort.signal }),
+      plannerRequest<{ items: Draft[] }>(`${plannerBase}/drafts`, { signal: abort.signal }),
+    ]).then(([catalog, archive]) => { if (!abort.signal.aborted) { setSessions(catalog.items); setCursor(catalog.next_cursor); setDrafts(archive.items); } })
+      .catch(reason => { if (!abort.signal.aborted) setError(reason.message); })
+      .finally(() => { if (!abort.signal.aborted) setCatalogBusy(false); });
+    return () => abort.abort();
+  }, [loadVersion]);
+
+  useEffect(() => {
+    const abort = new AbortController(); setSource(null); setSourceError(null);
+    if (sessionId) void plannerRequest<PlanningSource>(`${plannerBase}/sources/${encodeURIComponent(sessionId)}${pinnedGeneration ? `?generation=${encodeURIComponent(pinnedGeneration)}` : ""}`, { signal: abort.signal })
+      .then(data => { if (!abort.signal.aborted) setSource(validatePlanningSource(data, sessionId)); })
+      .catch(reason => { if (!abort.signal.aborted) setSourceError(reason.message); });
+    return () => abort.abort();
+  }, [sessionId, sourceVersion, pinnedGeneration]);
+
+  const currentSource = source?.session_id === sessionId ? source : null;
+  // New executions always own the complete reference. No independent interval
+  // state can survive a source change or collapse on same-source reselection.
+  const start = 0, end = currentSource ? currentSource.poses.length - 1 : 0;
+  const sourceChanged = !!(saved && currentSource && saved.zone.session_id === sessionId && saved.zone.generation !== currentSource.generation);
+  const poses = useMemo(() => selectedPoses(currentSource, start, end, direction), [currentSource, start, end, direction]);
+  const dirty = !saved || name.trim() !== saved.name || sessionId !== saved.zone.session_id || sourceChanged
+    || start !== saved.route.start_index || end !== saved.route.end_index || direction !== saved.route.direction;
+  const ready = !!currentSource && !sourceChanged && poses.length > 1 && !!name.trim();
+  const chooseSource = (id: string) => { setPinnedGeneration(null); setSessionId(id); setSourceVersion(n => n + 1); setCheck(null); };
+  const newDraft = () => { setSaved(null); setName(""); chooseSource(""); setDirection("forward"); setError(null); };
+  const openDraft = async (id: string) => {
+    setBusy(true); setError(null);
+    try {
+      const next = await plannerRequest<Draft>(`${plannerBase}/drafts/${id}`);
+      setSaved(next); setName(next.name); setSessionId(next.zone.session_id); setPinnedGeneration(next.zone.generation);
+      setDirection(next.route.direction); setCheck(null);
+      setSourceVersion(n => n + 1);
+    } catch (reason) { setError((reason as Error).message); } finally { setBusy(false); }
+  };
+  const save = async () => {
+    if (!ready || !currentSource) return;
+    setBusy(true); setError(null); setCheck(null);
+    try {
+      const next = await plannerRequest<Draft>(`${plannerBase}/drafts`, { method: "POST", body: JSON.stringify({
+        id: saved?.id ?? null, revision: saved?.revision ?? 0, name: name.trim(), session_id: sessionId,
+        generation: currentSource.generation, whole_recording: true, direction,
+      }) });
+      setSaved(next); setDrafts(items => [next, ...items.filter(item => item.id !== next.id)]);
+      return next;
+    } catch (reason) { setError((reason as Error).message); } finally { setBusy(false); }
+  };
+  const runCheck = async () => {
+    if (!saved || dirty || !ready) return;
+    setBusy(true); setError(null); setCheck(null);
+    try { setCheck(await plannerRequest<RouteCheck>(`${plannerBase}/drafts/${saved.id}/checks`, { method: "POST", body: JSON.stringify({ revision: saved.revision }) })); }
+    catch (reason) { setError((reason as Error).message); } finally { setBusy(false); }
+  };
+  const loadMore = async () => {
+    if (!cursor) return;
+    setCatalogBusy(true);
+    try {
+      const page = await plannerRequest<{ items: SessionOption[]; next_cursor: string | null }>(`/api/v1/observation-sessions?scope=standalone&limit=100&pagination=cursor-v1&cursor=${encodeURIComponent(cursor)}`);
+      setSessions(items => [...items, ...page.items.filter(item => !items.some(old => old.id === item.id))]); setCursor(page.next_cursor);
+    } catch (reason) { setError((reason as Error).message); } finally { setCatalogBusy(false); }
+  };
+  return { sessions, drafts, saved, name, setName, sessionId, chooseSource, source: currentSource,
+    direction, setDirection, error, sourceError, sourceChanged, busy, catalogBusy, cursor, loadMore, dirty, ready, poses, check,
+    save, openDraft, newDraft, runCheck, retrySource: () => setSourceVersion(n => n + 1), refresh: useCallback(() => setLoadVersion(n => n + 1), []),
+    options: [{ value: "", label: "Выберите сохранённую запись" }, ...sessions.map(item => ({ value: item.id, label: item.label,
+      description: canSelectSession(item) ? "Облако и траектория" : "Зона недоступна: нет исходного облака и траектории", disabled: !canSelectSession(item) }))] };
+}

apps/control-station/src/core/missions/usePlanningProjects.ts

@@ -0,0 +1,62 @@
+import { useCallback, useEffect, useRef, useState } from 'react';
+import { plannerBase, plannerRequest } from './planner';
+import { defaultPlanningProject, deletePlanningProject, planningProjectPending, type PlanningProject, type PlanningProjectDetail } from './planningProjects';
+
+const storageKey = 'missioncore.planning-project.selected.v1';
+export function usePlanningProjects() {
+  const [items, setItems] = useState<PlanningProject[]>([]);
+  const [key, setKey] = useState('');
+  const [detail, setDetail] = useState<PlanningProjectDetail|null>(null);
+  const [loading, setLoading] = useState(true), [error, setError] = useState<string|null>(null);
+  const [version, setVersion] = useState(0);
+  const initialized = useRef(false);
+  const selectedKey = useRef('');
+  const removedKeys = useRef(new Set<string>());
+  const removing = useRef(false);
+  const select = useCallback((value: string) => {
+    initialized.current = true; selectedKey.current = value; setDetail(null); setKey(value);
+    try { if (value) sessionStorage.setItem(storageKey,value); else sessionStorage.removeItem(storageKey); } catch { /* selection is optional UI state */ }
+  }, []);
+  const refresh = useCallback(() => setVersion(n=>n+1), []);
+  const remove = useCallback(async (project: PlanningProject) => {
+    if (removing.current) throw new Error('Удаление уже выполняется.');
+    removing.current = true;
+    try {
+      await deletePlanningProject(project);
+      removedKeys.current.add(project.key);
+      setItems(items => items.filter(item => item.key !== project.key));
+      if (selectedKey.current === project.key) select('');
+    } finally { removing.current = false; }
+  }, [select]);
+  useEffect(()=>{
+    const abort = new AbortController(); setLoading(true); setError(null);
+    void plannerRequest<{items:PlanningProject[]}>(plannerBase+'/projects',{signal:abort.signal}).then(data=>{
+      if (abort.signal.aborted) return;
+      const visible = data.items.filter(item => !removedKeys.current.has(item.key));
+      setItems(visible);
+      if (!initialized.current) {
+        let last=null; try {last=sessionStorage.getItem(storageKey);} catch { /* optional */ }
+        select(defaultPlanningProject(visible,last));
+      }
+    }).catch(e=>{if(!abort.signal.aborted)setError(e.message);}).finally(()=>{if(!abort.signal.aborted)setLoading(false);});
+    return ()=>abort.abort();
+  },[version,select]);
+  useEffect(()=>{
+    if (!key) return;
+    const abort=new AbortController(); let timer:ReturnType<typeof setTimeout>;
+    setDetail(null); setError(null);
+    const [kind,id]=key.split(':');
+    const poll=async()=>{
+      try {
+        const next=await plannerRequest<PlanningProjectDetail>(`${plannerBase}/projects/${kind}/${id}`,{signal:abort.signal});
+        if(abort.signal.aborted || removedKeys.current.has(key))return;
+        if(next.key!==key)throw new Error('Получен результат другого исследования.');
+        setDetail(next);setError(null);
+        setItems(items=>items.some(p=>p.key===key)?items.map(p=>p.key===key?next:p):[next,...items]);
+        if(planningProjectPending(next))timer=setTimeout(()=>void poll(),2000);
+      } catch(e) {if(!abort.signal.aborted)setError((e as Error).message);}
+    };
+    void poll(); return()=>{abort.abort();clearTimeout(timer);};
+  },[key,version]);
+  return {items,key,detail,loading,error,select,refresh,remove};
+}

apps/control-station/src/core/missions/useRegistrationTest.ts

@@ -0,0 +1,58 @@
+import { useEffect, useState } from "react";
+import { endAtDistance, plannerBase, plannerRequest, validatePlanningSource, type Draft, type PlanningSource, type SessionOption } from "./planner";
+
+export interface RegistrationReport {
+  id: string; state: "queued" | "running" | "ready" | "error"; message?: string; progress_label?: string;
+  revision: number; created_at_utc: string; evidence_relation: "same_recording" | "different_recordings";
+  scene_url?: string; elapsed_seconds?: number; reference?: { label: string }; query?: { label: string };
+  result?: { correspondence_colors?: "accepted-distance-v1"; status: "candidate" | "rejected"; reasons: string[]; overlap: number; inlier_rmse_m: number | null;
+    correction_m: number; correction_deg: number; registration_seconds: number; reference_points: number; query_points: number };
+}
+
+export function useRegistrationTest(draft: Draft | null) {
+  const [sessionId, setSessionId] = useState("");
+  const [source, setSource] = useState<PlanningSource | null>(null);
+  const [start, setStart] = useState(0), [end, setEnd] = useState(1);
+  const [error, setError] = useState<string | null>(null);
+  const [loading, setLoading] = useState(false), [submitting, setSubmitting] = useState(false);
+  const [sessions,setSessions]=useState<SessionOption[]>([]), [cursor,setCursor]=useState<string|null>(null);
+  const [catalogBusy,setCatalogBusy]=useState(false);
+  // Repeat recordings belong to the planner, including its own captured passes;
+  // they are not restricted to the independent-reference catalog.
+  useEffect(()=>{
+    const abort=new AbortController();setCatalogBusy(true);
+    void plannerRequest<{items:SessionOption[];next_cursor:string|null}>("/api/v1/observation-sessions?scope=source&limit=100&pagination=cursor-v1",{signal:abort.signal})
+      .then(page=>{if(!abort.signal.aborted){setSessions(page.items);setCursor(page.next_cursor);}})
+      .catch(e=>{if(!abort.signal.aborted)setError(e.message);})
+      .finally(()=>{if(!abort.signal.aborted)setCatalogBusy(false);});
+    return()=>abort.abort();
+  },[]);
+  const loadMore=async()=>{
+    if(!cursor||catalogBusy)return;setCatalogBusy(true);
+    try{
+      const page=await plannerRequest<{items:SessionOption[];next_cursor:string|null}>(`/api/v1/observation-sessions?scope=source&limit=100&pagination=cursor-v1&cursor=${encodeURIComponent(cursor)}`);
+      setSessions(items=>[...items,...page.items.filter(item=>!items.some(old=>old.id===item.id))]);setCursor(page.next_cursor);
+    }catch(e){setError((e as Error).message);}finally{setCatalogBusy(false);}
+  };
+  useEffect(() => {
+    const abort = new AbortController(); setSource(null); setError(null); setLoading(!!sessionId);
+    if (sessionId) void plannerRequest<PlanningSource>(`${plannerBase}/sources/${encodeURIComponent(sessionId)}`, { signal: abort.signal })
+      .then(value => { if (!abort.signal.aborted) { const data = validatePlanningSource(value, sessionId); setSource(data); setStart(0); setEnd(endAtDistance(data, 0, 20)); } })
+      .catch(e => { if (!abort.signal.aborted) setError(e.message); })
+      .finally(() => { if (!abort.signal.aborted) setLoading(false); });
+    return () => abort.abort();
+  }, [sessionId]);
+  const busy = submitting;
+  const length = source ? (source.poses[end]?.distance_m ?? 0) - (source.poses[start]?.distance_m ?? 0) : 0;
+  const run = async (savedDraft = draft) => {
+    if (!source || busy || !savedDraft) return;
+    setSubmitting(true); setError(null);
+    try {
+      const data = await plannerRequest<RegistrationReport>(`${plannerBase}/drafts/${savedDraft.id}/registration-runs`, {
+        method: "POST", body: JSON.stringify({ revision: savedDraft.revision, session_id: sessionId, generation: source.generation, start_index: start, end_index: end }),
+      });
+      return data;
+    } catch (e) { setError((e as Error).message); } finally { setSubmitting(false); }
+  };
+  return { sessionId, setSessionId, source, start, setStart, end, setEnd, error, busy, loading, length, run, sessions, cursor, catalogBusy, loadMore };
+}

apps/control-station/src/core/observation/labCalculationProfile.ts

@@ -0,0 +1,140 @@
+export const OBSERVATION_LAB_CALCULATION_PROFILE_SCHEMA =
+  "missioncore.observatory-calculation-profile/v1" as const;
+
+export type ObservationLabCalculationProfileOrigin =
+  | "archived-definition"
+  | "existing-result";
+
+export interface ObservationLabCalculationProfile {
+  readonly schemaVersion: typeof OBSERVATION_LAB_CALCULATION_PROFILE_SCHEMA;
+  readonly setupId: string;
+  readonly displayName: string;
+  readonly origin: ObservationLabCalculationProfileOrigin;
+  readonly definitionId: string | null;
+  readonly definitionVersion: number | null;
+  readonly definitionSha256: string | null;
+}
+
+export class ObservationLabCalculationProfileContractError extends Error {
+  constructor(message: string) {
+    super(message);
+    this.name = "ObservationLabCalculationProfileContractError";
+  }
+}
+
+const PROFILE_KEYS = new Set([
+  "schema_version",
+  "setup_id",
+  "display_name",
+  "origin",
+  "definition_id",
+  "definition_version",
+  "definition_sha256",
+]);
+const IDENTIFIER = /^[a-z][a-z0-9-]{2,95}$/;
+const SHA256 = /^[a-f0-9]{64}$/;
+
+function isRecord(value: unknown): value is Record<string, unknown> {
+  return typeof value === "object" && value !== null && !Array.isArray(value);
+}
+
+function requireText(value: unknown, field: string, maximum: number): string {
+  if (
+    typeof value !== "string"
+    || value.length === 0
+    || value.length > maximum
+    || value !== value.trim()
+  ) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Поле calculation_profile.${field} должно быть непустой строкой.`,
+    );
+  }
+  return value;
+}
+
+function requireIdentifier(value: unknown, field: string): string {
+  const identifier = requireText(value, field, 96);
+  if (!IDENTIFIER.test(identifier)) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Поле calculation_profile.${field} содержит некорректный идентификатор.`,
+    );
+  }
+  return identifier;
+}
+
+export function decodeObservationLabCalculationProfile(
+  value: unknown,
+  sessionId: string,
+): ObservationLabCalculationProfile | null {
+  if (value === null) return null;
+  if (!isRecord(value) || Object.keys(value).some((key) => !PROFILE_KEYS.has(key))) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Профиль расчёта LAB-сессии ${sessionId} нарушил контракт полей.`,
+    );
+  }
+  if (
+    Object.keys(value).length !== PROFILE_KEYS.size
+    || value.schema_version !== OBSERVATION_LAB_CALCULATION_PROFILE_SCHEMA
+  ) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Профиль расчёта LAB-сессии ${sessionId} имеет неизвестную версию.`,
+    );
+  }
+
+  const origin = value.origin;
+  if (origin !== "archived-definition" && origin !== "existing-result") {
+    throw new ObservationLabCalculationProfileContractError(
+      `Профиль расчёта LAB-сессии ${sessionId} имеет неизвестное происхождение.`,
+    );
+  }
+  const definitionId = value.definition_id === null
+    ? null
+    : requireIdentifier(value.definition_id, "definition_id");
+  const definitionVersion = value.definition_version === null
+    ? null
+    : value.definition_version;
+  if (
+    definitionVersion !== null
+    && (
+      typeof definitionVersion !== "number"
+      || !Number.isInteger(definitionVersion)
+      || definitionVersion < 1
+    )
+  ) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Профиль расчёта LAB-сессии ${sessionId} содержит некорректную версию определения.`,
+    );
+  }
+  const definitionSha256 = value.definition_sha256 === null
+    ? null
+    : requireText(value.definition_sha256, "definition_sha256", 64);
+  if (definitionSha256 !== null && !SHA256.test(definitionSha256)) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Профиль расчёта LAB-сессии ${sessionId} не содержит SHA-256 определения.`,
+    );
+  }
+
+  const definitionFieldCount = [
+    definitionId,
+    definitionVersion,
+    definitionSha256,
+  ].filter((entry) => entry !== null).length;
+  if (
+    (origin === "existing-result" && definitionFieldCount !== 0)
+    || (origin === "archived-definition" && definitionFieldCount !== 3)
+  ) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Профиль расчёта LAB-сессии ${sessionId} содержит неполную идентичность определения.`,
+    );
+  }
+
+  return {
+    schemaVersion: OBSERVATION_LAB_CALCULATION_PROFILE_SCHEMA,
+    setupId: requireIdentifier(value.setup_id, "setup_id"),
+    displayName: requireText(value.display_name, "display_name", 256),
+    origin,
+    definitionId,
+    definitionVersion,
+    definitionSha256,
+  };
+}

apps/control-station/src/core/observation/labReplayCapability.ts

@@ -0,0 +1,280 @@
+export interface ObservationCanonicalLabReplayCapability {
+  schemaVersion: "missioncore.observation-lab-replay-capability/v1";
+  kind: "canonical-recorded-rerun";
+  viewerProfile: "recorded-session";
+  timeline: "session_time";
+  activation: "explicit";
+  commandsEnabled: false;
+}
+
+export interface ObservationPortableLabReplayCapability {
+  schemaVersion: "missioncore.observation-lab-replay-capability/v2";
+  kind: "portable-result-review";
+  viewerProfile: "portable-result";
+  timeline: "result-defined";
+  activation: "explicit";
+  commandsEnabled: false;
+}
+
+export type ObservationLabReplayCapability =
+  | ObservationCanonicalLabReplayCapability
+  | ObservationPortableLabReplayCapability;
+
+export class ObservationLabReplayCapabilityContractError extends Error {
+  constructor(message: string) {
+    super(message);
+    this.name = "ObservationLabReplayCapabilityContractError";
+  }
+}
+
+const SHA256 = /^[a-f0-9]{64}$/;
+const CAPABILITY_KEYS = new Set([
+  "schema_version",
+  "kind",
+  "viewer_profile",
+  "timeline",
+  "activation",
+  "commands_enabled",
+]);
+const CANONICAL_PROVENANCE_KEYS = new Set([
+  "schema_version",
+  "evidence_identity_sha256",
+  "result_document_sha256",
+  "replay_capability",
+  "authority",
+  "method",
+]);
+const PORTABLE_PROVENANCE_KEYS = new Set([
+  "schema_version",
+  "authority",
+  "calculation_profile",
+  "calculation_profile_sha256",
+  "job",
+  "source",
+  "run_definition",
+  "result_package",
+  "replay_capability",
+  "storage",
+  "method",
+]);
+const AUTHORITY_KEYS = new Set([
+  "commands_enabled",
+  "navigation_or_safety_accepted",
+  "actuation_accepted",
+]);
+const METHOD_KEYS = new Set([
+  "schema_version",
+  "completeness",
+  "execution_class",
+  "pipeline_id",
+  "components",
+]);
+const METHOD_COMPONENT_KEYS = new Set([
+  "kind",
+  "name",
+  "version",
+  "role",
+  "identity_sha256",
+]);
+
+function isRecord(value: unknown): value is Record<string, unknown> {
+  return value !== null && typeof value === "object" && !Array.isArray(value);
+}
+
+function assertExactKeys(
+  value: Record<string, unknown>,
+  expected: ReadonlySet<string>,
+  label: string,
+): void {
+  const keys = Object.keys(value);
+  if (keys.length !== expected.size || keys.some((key) => !expected.has(key))) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `${label} содержит неизвестные или пропущенные поля.`,
+    );
+  }
+}
+
+export function decodeLabReplayCapability(
+  value: unknown,
+  sessionId: string,
+): ObservationLabReplayCapability | null {
+  if (value === null || value === undefined) return null;
+  if (!isRecord(value)) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Replay-возможность LAB-сессии ${sessionId} должна быть объектом или null.`,
+    );
+  }
+  assertExactKeys(value, CAPABILITY_KEYS, `Replay-возможность LAB-сессии ${sessionId}`);
+  if (
+    value.activation !== "explicit"
+    || value.commands_enabled !== false
+  ) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Replay-возможность LAB-сессии ${sessionId} нарушает observation-only контракт.`,
+    );
+  }
+  if (
+    value.schema_version === "missioncore.observation-lab-replay-capability/v1"
+    && value.kind === "canonical-recorded-rerun"
+    && value.viewer_profile === "recorded-session"
+    && value.timeline === "session_time"
+  ) {
+    return {
+      schemaVersion: "missioncore.observation-lab-replay-capability/v1",
+      kind: "canonical-recorded-rerun",
+      viewerProfile: "recorded-session",
+      timeline: "session_time",
+      activation: "explicit",
+      commandsEnabled: false,
+    };
+  }
+  if (
+    value.schema_version === "missioncore.observation-lab-replay-capability/v2"
+    && value.kind === "portable-result-review"
+    && value.viewer_profile === "portable-result"
+    && value.timeline === "result-defined"
+  ) {
+    return {
+      schemaVersion: "missioncore.observation-lab-replay-capability/v2",
+      kind: "portable-result-review",
+      viewerProfile: "portable-result",
+      timeline: "result-defined",
+      activation: "explicit",
+      commandsEnabled: false,
+    };
+  }
+  throw new ObservationLabReplayCapabilityContractError(
+    `Replay-возможность LAB-сессии ${sessionId} содержит неизвестный viewer capability.`,
+  );
+}
+
+export function decodeCanonicalLabReplayCapabilityProvenance(
+  provenance: Readonly<Record<string, unknown>>,
+  sessionId: string,
+  resultId: string,
+): ObservationCanonicalLabReplayCapability {
+  assertExactKeys(provenance, CANONICAL_PROVENANCE_KEYS, `Canonical provenance LAB-сессии ${sessionId}`);
+  if (
+    provenance.schema_version !== "missioncore.canonical-recorded-lab-projection/v1"
+    || typeof provenance.evidence_identity_sha256 !== "string"
+    || !SHA256.test(provenance.evidence_identity_sha256)
+    || resultId !== `lab-v1-vegetation-shadow-${provenance.evidence_identity_sha256}`
+    || typeof provenance.result_document_sha256 !== "string"
+    || !SHA256.test(provenance.result_document_sha256)
+  ) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical provenance LAB-сессии ${sessionId} потеряла immutable identity.`,
+    );
+  }
+  if (!isRecord(provenance.authority)) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical provenance LAB-сессии ${sessionId} не содержит authority.`,
+    );
+  }
+  assertExactKeys(provenance.authority, AUTHORITY_KEYS, `Canonical authority LAB-сессии ${sessionId}`);
+  if (
+    provenance.authority.commands_enabled !== false
+    || provenance.authority.navigation_or_safety_accepted !== false
+    || provenance.authority.actuation_accepted !== false
+  ) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical provenance LAB-сессии ${sessionId} нарушает observation-only authority.`,
+    );
+  }
+  if (!isRecord(provenance.method)) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical provenance LAB-сессии ${sessionId} не содержит method manifest.`,
+    );
+  }
+  assertExactKeys(provenance.method, METHOD_KEYS, `Canonical method LAB-сессии ${sessionId}`);
+  if (
+    provenance.method.schema_version !== "missioncore.laboratory-method/v1"
+    || provenance.method.completeness !== "legacy-partial"
+    || provenance.method.execution_class !== "ai-inference"
+    || provenance.method.pipeline_id
+      !== "ravnoves004tree-full-eomt-ddrnet-recorded-review/v1"
+    || !Array.isArray(provenance.method.components)
+    || provenance.method.components.length !== 1
+  ) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical method LAB-сессии ${sessionId} не соответствует записанному прогону.`,
+    );
+  }
+  const component = provenance.method.components[0];
+  if (!isRecord(component)) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical method LAB-сессии ${sessionId} не содержит source component.`,
+    );
+  }
+  assertExactKeys(
+    component,
+    METHOD_COMPONENT_KEYS,
+    `Canonical source component LAB-сессии ${sessionId}`,
+  );
+  if (
+    component.kind !== "source"
+    || component.name !== "sealed full-route LAB result"
+    || component.version !== "missioncore.lab-v1-vegetation-shadow/v1"
+    || component.role !== "immutable Session catalog projection"
+    || component.identity_sha256 !== provenance.evidence_identity_sha256
+  ) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical source component LAB-сессии ${sessionId} потерял immutable identity.`,
+    );
+  }
+  const capability = decodeLabReplayCapability(provenance.replay_capability, sessionId);
+  if (capability === null || capability.kind !== "canonical-recorded-rerun") {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical provenance LAB-сессии ${sessionId} не содержит replay capability.`,
+    );
+  }
+  return capability;
+}
+
+export function decodePortableLabReplayCapabilityProvenance(
+  provenance: Readonly<Record<string, unknown>>,
+  sessionId: string,
+  resultId: string,
+  sourceSessionId: string,
+  definitionSha256: string,
+): ObservationPortableLabReplayCapability {
+  assertExactKeys(
+    provenance,
+    PORTABLE_PROVENANCE_KEYS,
+    `Portable provenance LAB-сессии ${sessionId}`,
+  );
+  if (
+    provenance.schema_version !== "missioncore.observatory-portable-result-publication/v1"
+    || !isRecord(provenance.source)
+    || provenance.source.session_id !== sourceSessionId
+    || !isRecord(provenance.run_definition)
+    || provenance.run_definition.definition_sha256 !== definitionSha256
+    || !isRecord(provenance.result_package)
+    || typeof provenance.result_package.manifest_sha256 !== "string"
+    || !SHA256.test(provenance.result_package.manifest_sha256)
+    || typeof provenance.result_package.artifact_manifest_id !== "string"
+    || !SHA256.test(provenance.result_package.artifact_manifest_id)
+    || sessionId !== resultId
+  ) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Portable provenance LAB-сессии ${sessionId} потеряла immutable identity.`,
+    );
+  }
+  const capability = decodeLabReplayCapability(provenance.replay_capability, sessionId);
+  if (capability === null || capability.kind !== "portable-result-review") {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Portable provenance LAB-сессии ${sessionId} не содержит viewer capability.`,
+    );
+  }
+  return capability;
+}
+
+/** Rolling bridge for a new frontend against the pre-v2 catalog endpoint. */
+export function decodeRollingCanonicalLabReplayCapability(
+  provenance: Readonly<Record<string, unknown>>,
+  sessionId: string,
+  resultId: string,
+): ObservationLabReplayCapability | null {
+  if (!Object.prototype.hasOwnProperty.call(provenance, "replay_capability")) return null;
+  return decodeCanonicalLabReplayCapabilityProvenance(provenance, sessionId, resultId);
+}

apps/control-station/src/core/observation/liveRerunLifecycle.ts

@@ -0,0 +1,70 @@
+import { isUsableRecordedPlaybackRange } from "./recordedRerunLifecycle";
+
+export function createReentrantViewerDisposer(
+  cleanupOnce: () => void,
+  releaseNativeViewer: () => void,
+): () => void {
+  let cleanupComplete = false;
+  return () => {
+    try {
+      if (!cleanupComplete) {
+        cleanupComplete = true;
+        cleanupOnce();
+      }
+    } finally {
+      // A deferred native start can resolve after a pre-ready stop. Reapply
+      // release at every boundary so it cannot reopen after React unmount.
+      releaseNativeViewer();
+    }
+  };
+}
+
+interface ActiveLiveViewerOwner {
+  release: () => void;
+}
+
+let activeLiveViewerOwner: ActiveLiveViewerOwner | null = null;
+
+/** Own exactly one native live receiver per application document. */
+export function claimExclusiveLiveViewer(release: () => void): () => void {
+  const owner = { release };
+  const previous = activeLiveViewerOwner;
+  activeLiveViewerOwner = owner;
+  previous?.release();
+  return () => {
+    if (activeLiveViewerOwner === owner) activeLiveViewerOwner = null;
+  };
+}
+
+export function isLiveRerunPresentationReady(
+  viewerStarted: boolean,
+  rangeNs: { min: number; max: number } | null,
+  backendActivitySequence: number | null,
+): boolean {
+  return viewerStarted
+    && Number.isSafeInteger(backendActivitySequence)
+    && (backendActivitySequence ?? 0) > 0
+    && isUsableRecordedPlaybackRange(rangeNs);
+}
+
+export function liveTimelineNeedsSynchronization(
+  followLive: boolean,
+  activeTimeline: string | null | undefined,
+  rangeNs: { min: number; max: number } | null,
+): boolean {
+  return followLive
+    && isUsableRecordedPlaybackRange(rangeNs)
+    && activeTimeline !== "stream_time";
+}
+
+export function liveRerunReceiverBindingIdentity(
+  sourceUrl: string,
+  liveStreamId: string | null,
+  followLive: boolean,
+): string {
+  return JSON.stringify([
+    followLive ? "live" : "recorded",
+    sourceUrl.trim(),
+    followLive ? liveStreamId?.trim() ?? "" : "",
+  ]);
+}

apps/control-station/src/core/observation/liveViewerDiagnostics.ts

@@ -327,6 +327,53 @@ export function verifyLiveViewerClientBuild(
   });
 }
 
+/**
+ * Recover a recorded viewer whose lazy module disappeared during a frontend
+ * deployment. Live acquisition deliberately never reloads automatically, but
+ * a saved recording has no device-side authority to preserve and can safely
+ * move to the current immutable application build.
+ */
+export async function reloadRecordedViewerAfterStaleModuleFailure({
+  loadedUiBuildId,
+  signal,
+  fetcher = globalThis.fetch,
+  reload = () => window.location.reload(),
+}: {
+  loadedUiBuildId: string;
+  signal?: AbortSignal;
+  fetcher?: typeof globalThis.fetch;
+  reload?: () => void;
+}): Promise<boolean> {
+  if (
+    signal?.aborted ||
+    loadedUiBuildId === DEVELOPMENT_UI_BUILD_ID ||
+    !HASHED_UI_BUILD_ID.test(loadedUiBuildId)
+  ) return false;
+  try {
+    const response = await fetcher("/api/v1/viewer/client-contract", {
+      method: "GET",
+      headers: {
+        Accept: "application/json",
+        "X-MissionCore-UI-Build": loadedUiBuildId,
+      },
+      cache: "no-store",
+      signal,
+    });
+    if (signal?.aborted || !response.ok) return false;
+    const expectedUiBuildId = response.headers.get(UI_BUILD_HEADER);
+    if (
+      !expectedUiBuildId ||
+      expectedUiBuildId === loadedUiBuildId ||
+      !HASHED_UI_BUILD_ID.test(expectedUiBuildId)
+    ) return false;
+    browserUiBuildCoordinator().report({ loadedUiBuildId, expectedUiBuildId });
+    reload();
+    return true;
+  } catch {
+    return false;
+  }
+}
+
 function startBuildMonitor(): void {
   if (buildMonitorAbort || typeof window === "undefined") return;
   const lineage = createLiveViewerLineage(createLiveViewerInstanceId(), 1);

apps/control-station/src/core/observation/recordedBlueprintLifecycle.ts

@@ -0,0 +1,53 @@
+/** Small lease for the server's ephemeral blueprint, never for the recording. */
+export function keepRecordedBlueprintSession({
+  endpointUrl,
+  origin,
+  applicationId,
+  recordingId,
+  ownerId,
+  fetcher = fetch,
+  schedule = (callback: () => void) => window.setInterval(callback, 30_000),
+  cancel = (handle: number) => window.clearInterval(handle),
+}: {
+  endpointUrl: string;
+  origin: string;
+  applicationId: string;
+  recordingId: string;
+  ownerId: string;
+  fetcher?: typeof fetch;
+  schedule?: (callback: () => void) => number;
+  cancel?: (handle: number) => void;
+}): () => void {
+  const endpoint = new URL(endpointUrl, origin);
+  if (endpoint.origin !== origin || endpoint.search || endpoint.hash ||
+      !/^\/api\/v1\/observation-sessions\/[A-Za-z0-9._:-]+\/blueprint\.rrd$/.test(endpoint.pathname)) {
+    throw new Error("Unsafe recorded blueprint lifecycle endpoint");
+  }
+  endpoint.pathname = endpoint.pathname.replace(/blueprint\.rrd$/, "blueprint-lifecycle");
+  const identity = { application_id: applicationId, recording_id: recordingId,
+    blueprint_session_id: ownerId };
+  let closed = false;
+  let pending: AbortController | null = null;
+  const renew = () => {
+    if (closed) return;
+    pending?.abort();
+    pending = new AbortController();
+    void fetcher(endpoint.href, {
+      method: "POST", headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ ...identity, action: "renew" }), signal: pending.signal,
+    }).catch(() => { /* The TTL cleans up after a lost browser/network. */ });
+  };
+  const timer = schedule(renew);
+  return () => {
+    if (closed) return;
+    closed = true;
+    cancel(timer);
+    pending?.abort();
+    pending = null;
+    void fetcher(endpoint.href, {
+      method: "POST", headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ ...identity, action: "release" }),
+      keepalive: true, signal: AbortSignal.timeout(5_000),
+    }).catch(() => { /* Terminal release is best-effort; the server also has TTL. */ });
+  };
+}

apps/control-station/src/core/observation/recordedPointDisplay.ts

@@ -0,0 +1,68 @@
+import type {SceneSettings} from '../../sceneSettings';
+
+export type PointDisplaySettings = Pick<SceneSettings, 'pointDecimationPercent' | 'colorMode' | 'palette' | 'customColor'>;
+export function pointDisplayKey(settings: PointDisplaySettings): string {
+  return JSON.stringify([settings.pointDecimationPercent ?? 0, settings.colorMode, settings.palette,
+    settings.palette === 'custom' || settings.colorMode === 'class' ? settings.customColor.toLowerCase() : '']);
+}
+
+/** Feed bounded HTTP chunks to the existing native receiver; no whole-cloud JS Blob. */
+export async function streamRecordedPointDisplay(
+  blueprintUrl: string, settings: PointDisplaySettings,
+  identity: {applicationId: string; recordingId: string}, displayBank: string,
+  signal: AbortSignal, send: (chunk: Uint8Array) => void,
+  fetcher: typeof fetch = fetch,
+  sourceGeneration?: string,
+): Promise<number> {
+  const endpoint = new URL(blueprintUrl, window.location.origin);
+  const percent = settings.pointDecimationPercent ?? 0;
+  if (endpoint.origin !== window.location.origin || endpoint.search || endpoint.hash
+    || !/^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/blueprint\.rrd$/.test(endpoint.pathname)
+    || !Number.isFinite(percent) || percent <= 0 || percent >= 100
+    || !/^[a-f0-9]{32}$/.test(displayBank)) throw new Error('Некорректный запрос прореживания');
+  endpoint.pathname = endpoint.pathname.replace('/blueprint.rrd', '/point-display.rrd');
+  const response = await fetcher(endpoint.href, {method: 'POST', signal, credentials: 'same-origin',
+    headers: {'Content-Type': 'application/json', Accept: 'application/vnd.nodedc.point-display-stream'},
+    body: JSON.stringify({application_id: identity.applicationId, recording_id: identity.recordingId,
+      color_mode: settings.colorMode, palette: settings.palette, custom_color: settings.customColor,
+      point_decimation_percent: percent, display_bank: displayBank,
+      ...(sourceGeneration ? {source_generation: sourceGeneration} : {})})});
+  if (!response.ok || !response.headers.get('Content-Type')?.startsWith('application/vnd.nodedc.point-display-stream') || !response.body) {
+    throw new Error('Не удалось подготовить прореженное облако');
+  }
+  const reader = response.body.getReader();
+  let bytes = 0;
+  let pending = new Uint8Array(0);
+  let admitted = false;
+  let complete = false;
+  try {
+    while (true) {
+      const {done, value} = await reader.read();
+      if (signal.aborted) throw new DOMException('Aborted', 'AbortError');
+      if (done) break;
+      bytes += value.byteLength;
+      const combined = new Uint8Array(pending.length + value.length);
+      combined.set(pending); combined.set(value, pending.length); pending = combined;
+      if (!admitted) {
+        if (pending.length < 4) continue;
+        if (String.fromCharCode(...pending.subarray(0, 4)) !== 'NPD1') throw new Error('Некорректный поток облака');
+        pending = pending.slice(4); admitted = true;
+      }
+      while (pending.length >= 4 && !complete) {
+        const length = new DataView(pending.buffer, pending.byteOffset, 4).getUint32(0, true);
+        if (length === 0) { pending = pending.slice(4); complete = true; break; }
+        if (length < 4 || length > 64 * 1024 * 1024) throw new Error('Некорректный размер пакета облака');
+        if (pending.length < length + 4) break;
+        const payload = pending.slice(4, length + 4);
+        if (String.fromCharCode(...payload.subarray(0, 4)) !== 'RRF2') throw new Error('Некорректный пакет облака');
+        send(payload); pending = pending.slice(length + 4);
+      }
+      if (complete && pending.length) throw new Error('Лишние данные после завершения облака');
+    }
+    if (!complete || pending.length) throw new Error('Поток облака не завершён');
+    return bytes;
+  } finally {
+    await reader.cancel().catch(() => {});
+    reader.releaseLock();
+  }
+}

apps/control-station/src/core/observation/recordedRerunLifecycle.ts

@@ -0,0 +1,303 @@
+import type { SceneSettings } from "../../sceneSettings";
+import type { RecordedAdmissionPhase } from "./recordedSessionAdmission";
+import type { RerunPlaybackState, RerunViewportStatus } from "./viewerProfile";
+
+const BUFFER_END_TOLERANCE_NS = 1_000_000;
+const RECORDED_OPEN_MIN_TIMEOUT_MS = 120_000;
+const RECORDED_OPEN_MAX_TIMEOUT_MS = 1_800_000;
+const RECORDED_OPEN_GRACE_MS = 30_000;
+const RECORDED_OPEN_MIN_BYTES_PER_SECOND = 2 * 1024 * 1024;
+
+export const RECORDED_BASE_POINT_COLOR_KEY = "intensity|turbo|-";
+
+export interface RecordedPlaybackBufferState {
+  bufferedEndNs: number | null;
+  expectedStartNs: number | null;
+  expectedEndNs: number | null;
+  bufferProgress: number | null;
+  fullyBuffered: boolean;
+}
+
+export function recordedPointColorKey(
+  settings: Pick<SceneSettings, "colorMode" | "palette" | "customColor">,
+): string {
+  const custom = settings.palette === "custom" || settings.colorMode === "class"
+    ? settings.customColor.toLowerCase()
+    : "-";
+  return `${settings.colorMode}|${settings.palette}|${custom}`;
+}
+
+export function recordedOpenWatchdogTimeoutMs(byteLength: number): number {
+  if (!Number.isSafeInteger(byteLength) || byteLength < 4) {
+    throw new Error("Unsafe recorded RRD byte length");
+  }
+  const transferBudgetMs = Math.ceil(
+    (byteLength / RECORDED_OPEN_MIN_BYTES_PER_SECOND) * 1_000,
+  );
+  return Math.min(
+    RECORDED_OPEN_MAX_TIMEOUT_MS,
+    Math.max(RECORDED_OPEN_MIN_TIMEOUT_MS, transferBudgetMs + RECORDED_OPEN_GRACE_MS),
+  );
+}
+
+export function createRecordedOpenWatchdog<T>({
+  byteLength,
+  schedule,
+  cancel,
+  onTimeout,
+}: {
+  byteLength: number;
+  schedule: (callback: () => void, timeoutMs: number) => T;
+  cancel: (handle: T) => void;
+  onTimeout: () => void;
+}): { arm: () => void; clear: () => void; pending: () => boolean } {
+  const timeoutMs = recordedOpenWatchdogTimeoutMs(byteLength);
+  let handle: T | null = null;
+  return {
+    arm() {
+      if (handle !== null) return;
+      handle = schedule(() => {
+        handle = null;
+        onTimeout();
+      }, timeoutMs);
+    },
+    clear() {
+      if (handle === null) return;
+      cancel(handle);
+      handle = null;
+    },
+    pending: () => handle !== null,
+  };
+}
+
+export function isUsableRecordedPlaybackRange(
+  rangeNs: { min: number; max: number } | null,
+): rangeNs is { min: number; max: number } {
+  return Boolean(
+    rangeNs
+    && Number.isFinite(rangeNs.min)
+    && Number.isFinite(rangeNs.max)
+    && rangeNs.max >= rangeNs.min,
+  );
+}
+
+export function recordedPlaybackBufferState(
+  rangeNs: { min: number; max: number } | null,
+  expectedTimelineEndSeconds?: number,
+  expectedTimelineStartSeconds?: number,
+): RecordedPlaybackBufferState {
+  const usableRange = isUsableRecordedPlaybackRange(rangeNs) ? rangeNs : null;
+  const bufferedEndNs = usableRange?.max ?? null;
+  if (expectedTimelineEndSeconds === undefined) {
+    return {
+      bufferedEndNs,
+      expectedStartNs: null,
+      expectedEndNs: null,
+      bufferProgress: null,
+      fullyBuffered: usableRange !== null,
+    };
+  }
+  if (!Number.isFinite(expectedTimelineEndSeconds) || expectedTimelineEndSeconds < 0) {
+    return {
+      bufferedEndNs,
+      expectedStartNs: null,
+      expectedEndNs: null,
+      bufferProgress: null,
+      fullyBuffered: false,
+    };
+  }
+
+  const expectedEndNs = expectedTimelineEndSeconds * 1_000_000_000;
+  const expectedStartNs = expectedTimelineStartSeconds === undefined
+    ? 0
+    : expectedTimelineStartSeconds * 1_000_000_000;
+  if (
+    !Number.isFinite(expectedEndNs)
+    || !Number.isFinite(expectedStartNs)
+    || expectedStartNs < 0
+    || expectedEndNs < expectedStartNs
+  ) {
+    return {
+      bufferedEndNs,
+      expectedStartNs: null,
+      expectedEndNs: null,
+      bufferProgress: null,
+      fullyBuffered: false,
+    };
+  }
+  const fullyBuffered = usableRange !== null
+    && usableRange.min <= expectedStartNs + BUFFER_END_TOLERANCE_NS
+    && usableRange.max >= expectedEndNs - BUFFER_END_TOLERANCE_NS;
+  const expectedDurationNs = expectedEndNs - expectedStartNs;
+  const bufferProgress = bufferedEndNs === null
+    ? 0
+    : expectedDurationNs <= 0
+      ? (fullyBuffered ? 1 : 0)
+      : Math.min(1, Math.max(0, (bufferedEndNs - expectedStartNs) / expectedDurationNs));
+  return {
+    bufferedEndNs,
+    expectedStartNs,
+    expectedEndNs,
+    bufferProgress,
+    fullyBuffered,
+  };
+}
+
+export function isRecordedPlaybackReady(
+  viewerStarted: boolean,
+  artifactVerified: boolean,
+  buffer: RecordedPlaybackBufferState,
+): boolean {
+  return viewerStarted && artifactVerified && buffer.bufferedEndNs !== null;
+}
+
+export function recordedPlaybackRangeWhenReady(
+  rangeNs: { min: number; max: number } | null,
+  buffer: RecordedPlaybackBufferState,
+  artifactVerified: boolean,
+): { min: number; max: number } | null {
+  if (
+    !artifactVerified
+    || !buffer.fullyBuffered
+    || !isUsableRecordedPlaybackRange(rangeNs)
+  ) return null;
+  return {
+    min: buffer.expectedStartNs === null
+      ? rangeNs.min
+      : Math.max(rangeNs.min, buffer.expectedStartNs),
+    max: buffer.expectedEndNs === null
+      ? rangeNs.max
+      : Math.min(rangeNs.max, buffer.expectedEndNs),
+  };
+}
+
+export function isRecordedPlaybackPresentationReady(
+  status: RerunViewportStatus,
+  playback: RerunPlaybackState | null,
+): boolean {
+  return status === "ready"
+    && playback?.fullyBuffered === true
+    && isUsableRecordedPlaybackRange(playback.rangeNs);
+}
+
+export function rerunPresentationStatus(
+  status: RerunViewportStatus,
+  _gate: RecordedAdmissionPhase,
+  recorded: boolean,
+): RerunViewportStatus {
+  if (!recorded) return status;
+  return status === "error" ? "error" : status;
+}
+
+export function isRecordedPlaybackFullyBuffered(
+  rangeNs: { min: number; max: number } | null,
+  expectedTimelineEndSeconds?: number,
+): boolean {
+  return recordedPlaybackBufferState(rangeNs, expectedTimelineEndSeconds).fullyBuffered;
+}
+
+export function attemptRecordedAutoplay(
+  seekToStart: () => void,
+  startPlaying: () => void,
+): boolean {
+  try {
+    seekToStart();
+    startPlaying();
+    return true;
+  } catch {
+    return false;
+  }
+}
+
+export function createRecordedInitialSeekGate(): {
+  attempt: (
+    viewerStarted: boolean,
+    fullyBuffered: boolean,
+    presentationReady: boolean,
+    rangeNs: { min: number; max: number } | null,
+    seekToStart: (startNs: number) => void,
+    preferredStartNs?: number,
+  ) => boolean;
+  attempted: () => boolean;
+} {
+  let consumed = false;
+  return {
+    attempt(
+      viewerStarted,
+      fullyBuffered,
+      presentationReady,
+      rangeNs,
+      seekToStart,
+      preferredStartNs,
+    ) {
+      if (
+        consumed
+        || !viewerStarted
+        || !fullyBuffered
+        || !presentationReady
+        || !isUsableRecordedPlaybackRange(rangeNs)
+      ) return false;
+      consumed = true;
+      const startNs = Number.isFinite(preferredStartNs)
+        ? Math.min(Math.max(preferredStartNs as number, rangeNs.min), rangeNs.max)
+        : rangeNs.min;
+      try {
+        seekToStart(startNs);
+        return true;
+      } catch {
+        return false;
+      }
+    },
+    attempted: () => consumed,
+  };
+}
+
+export function createRecordedAutoplayGate(): {
+  attempt: (
+    viewerStarted: boolean,
+    fullyBuffered: boolean,
+    presentationReady: boolean,
+    rangeNs: { min: number; max: number } | null,
+    seekToStart: (startNs: number) => void,
+    startPlaying: () => void,
+    preferredStartNs?: number,
+  ) => boolean;
+  attempted: () => boolean;
+} {
+  let consumed = false;
+  return {
+    attempt(
+      viewerStarted,
+      fullyBuffered,
+      presentationReady,
+      rangeNs,
+      seekToStart,
+      startPlaying,
+      preferredStartNs,
+    ) {
+      if (
+        consumed
+        || !viewerStarted
+        || !fullyBuffered
+        || !presentationReady
+        || !isUsableRecordedPlaybackRange(rangeNs)
+      ) return false;
+      consumed = true;
+      const startNs = Number.isFinite(preferredStartNs)
+        ? Math.min(Math.max(preferredStartNs as number, rangeNs.min), rangeNs.max)
+        : rangeNs.min;
+      return attemptRecordedAutoplay(
+        () => seekToStart(startNs),
+        startPlaying,
+      );
+    },
+    attempted: () => consumed,
+  };
+}
+
+export function canPublishRecordedPlaybackController(
+  readyToRender: boolean,
+  presentationGate: RecordedAdmissionPhase,
+): boolean {
+  return readyToRender && presentationGate === "ready";
+}

apps/control-station/src/core/observation/replayCoordinator.ts

@@ -0,0 +1,43 @@
+export interface ObservationReplayAttempt {
+  readonly signal: AbortSignal;
+  isCurrent: () => boolean;
+  finish: () => boolean;
+}
+
+export interface ObservationReplayCoordinator {
+  begin: () => ObservationReplayAttempt;
+  cancel: () => void;
+}
+
+/** Latest explicit admission owns the viewer, even if an older promise settles later. */
+export function createObservationReplayCoordinator(): ObservationReplayCoordinator {
+  let sequence = 0;
+  let active: AbortController | null = null;
+
+  return {
+    begin() {
+      active?.abort();
+      const controller = new AbortController();
+      const attemptSequence = ++sequence;
+      active = controller;
+      return {
+        signal: controller.signal,
+        isCurrent: () => (
+          !controller.signal.aborted
+          && active === controller
+          && sequence === attemptSequence
+        ),
+        finish: () => {
+          if (active !== controller || sequence !== attemptSequence) return false;
+          active = null;
+          return true;
+        },
+      };
+    },
+    cancel() {
+      active?.abort();
+      // Keep settlement ownership until finish(). isCurrent() already fails,
+      // while begin() can replace this attempt immediately.
+    },
+  };
+}

apps/control-station/src/core/observation/sessionArchive.ts

@@ -1,6 +1,20 @@
 import {
   MAX_RECORDED_CAMERA_SOURCES,
 } from "./recordedSessionAdmission";
+import {
+  decodeLabReplayCapability,
+  decodeRollingCanonicalLabReplayCapability,
+  ObservationLabReplayCapabilityContractError,
+  type ObservationLabReplayCapability,
+} from "./labReplayCapability";
+import {
+  decodeObservationLabCalculationProfile,
+  ObservationLabCalculationProfileContractError,
+  type ObservationLabCalculationProfile,
+} from "./labCalculationProfile";
+
+export type { ObservationLabReplayCapability } from "./labReplayCapability";
+export type { ObservationLabCalculationProfile } from "./labCalculationProfile";
 
 export type ObservationSessionStatus =
   | "recording"
@@ -9,7 +23,7 @@ export type ObservationSessionStatus =
   | "interrupted"
   | "failed";
 
-export type ObservationSessionScope = "all" | "source" | "laboratory";
+export type ObservationSessionScope = "all" | "source" | "standalone" | "laboratory";
 
 export interface ObservationLabInstance {
   labId: string;
@@ -20,6 +34,8 @@ export interface ObservationLabInstance {
   configSha256: string | null;
   runCreatedAtUtc: string;
   publishedAtUtc: string;
+  replayCapability: ObservationLabReplayCapability | null;
+  calculationProfile: ObservationLabCalculationProfile | null;
   provenance: Readonly<Record<string, unknown>>;
 }
 
@@ -32,10 +48,21 @@ export interface ObservationSessionSummary {
   modalities: readonly string[];
   durationSeconds: number;
   replayable: boolean;
+  captureAttestation: ObservationCaptureAttestation | null;
   preparation: ObservationSessionCatalogPreparation | null;
   lab: ObservationLabInstance | null;
 }
 
+export interface ObservationCaptureAttestation {
+  readonly equipmentModelId: string;
+  readonly equipmentModelSha256: string;
+  readonly equipmentDisplayName: string;
+  readonly captureProfileId: string;
+  readonly captureProfileSha256: string;
+  readonly captureAttestationSha256: string;
+  readonly state: "attested" | "attested-with-legacy-evidence" | "unknown";
+}
+
 export interface ObservationSessionCatalog {
   items: readonly ObservationSessionSummary[];
 }
@@ -52,6 +79,7 @@ export interface ObservationSessionReplayLaunch {
   seekable: true;
   byteLength: number;
   sha256: string;
+  mapGeneration?: string;
   playback: {
     speed: number;
     loop: boolean;
@@ -152,10 +180,11 @@ const ITEM_KEYS = new Set([
   "modalities",
   "duration_seconds",
   "replayable",
+  "capture_attestation",
   "preparation",
   "lab",
 ]);
-const LAB_KEYS = new Set([
+const LEGACY_LAB_KEYS = new Set([
   "lab_id",
   "source_session_id",
   "result_kind",
@@ -166,6 +195,27 @@ const LAB_KEYS = new Set([
   "published_at_utc",
   "provenance",
 ]);
+const LAB_V2_KEYS = new Set([...LEGACY_LAB_KEYS, "replay_capability"]);
+const LAB_V3_KEYS = new Set([
+  ...LAB_V2_KEYS,
+  "calculation_profile",
+]);
+const CAPTURE_ATTESTATION_KEYS = new Set([
+  "schema_version",
+  "equipment_model",
+  "capture_profile",
+  "capture_attestation_sha256",
+  "state",
+]);
+const EQUIPMENT_MODEL_KEYS = new Set([
+  "equipment_model_id",
+  "equipment_model_sha256",
+  "display_name",
+]);
+const CAPTURE_PROFILE_KEYS = new Set([
+  "capture_profile_id",
+  "capture_profile_sha256",
+]);
 const CATALOG_PREPARATION_KEYS = new Set([
   "preparation_id",
   "state",
@@ -188,6 +238,7 @@ const REPLAY_LAUNCH_KEYS = new Set([
   "seekable",
   "byte_length",
   "sha256",
+  "map_generation",
   "playback",
   "media_sources",
 ]);
@@ -379,11 +430,103 @@ function decodeItem(value: unknown, index: number): ObservationSessionSummary {
     modalities: requireModalities(value.modalities),
     durationSeconds: value.duration_seconds,
     replayable: value.replayable,
+    captureAttestation: decodeCaptureAttestation(value.capture_attestation, id),
     preparation: decodeCatalogPreparation(value.preparation, id),
     lab: decodeLabInstance(value.lab, id),
   };
 }
 
+function decodeCaptureAttestation(
+  value: unknown,
+  sessionId: string,
+): ObservationCaptureAttestation | null {
+  if (value === null || value === undefined) return null;
+  if (!isRecord(value)) {
+    throw new ObservationSessionContractError(
+      `Аттестация записи ${sessionId} должна быть объектом или null.`,
+    );
+  }
+  assertExactKeys(value, CAPTURE_ATTESTATION_KEYS, `Аттестация записи ${sessionId}`);
+  if (value.schema_version !== "missioncore.recorded-capture-attestation/v1") {
+    throw new ObservationSessionContractError(
+      `Аттестация записи ${sessionId} имеет неизвестную схему.`,
+    );
+  }
+  if (!isRecord(value.equipment_model) || !isRecord(value.capture_profile)) {
+    throw new ObservationSessionContractError(
+      `Аттестация записи ${sessionId} не содержит оборудование или профиль записи.`,
+    );
+  }
+  assertExactKeys(
+    value.equipment_model,
+    EQUIPMENT_MODEL_KEYS,
+    `Оборудование записи ${sessionId}`,
+  );
+  assertExactKeys(
+    value.capture_profile,
+    CAPTURE_PROFILE_KEYS,
+    `Профиль записи ${sessionId}`,
+  );
+  const equipmentModelId = requireString(
+    value.equipment_model.equipment_model_id,
+    "equipment_model_id",
+    128,
+  );
+  const equipmentModelSha256 = requireString(
+    value.equipment_model.equipment_model_sha256,
+    "equipment_model_sha256",
+    64,
+  );
+  const captureProfileId = requireString(
+    value.capture_profile.capture_profile_id,
+    "capture_profile_id",
+    128,
+  );
+  const captureProfileSha256 = requireString(
+    value.capture_profile.capture_profile_sha256,
+    "capture_profile_sha256",
+    64,
+  );
+  const captureAttestationSha256 = requireString(
+    value.capture_attestation_sha256,
+    "capture_attestation_sha256",
+    64,
+  );
+  if (
+    !SAFE_ID.test(equipmentModelId)
+    || !SAFE_ID.test(captureProfileId)
+    || !SHA256.test(equipmentModelSha256)
+    || !SHA256.test(captureProfileSha256)
+    || !SHA256.test(captureAttestationSha256)
+  ) {
+    throw new ObservationSessionContractError(
+      `Аттестация записи ${sessionId} содержит некорректную immutable identity.`,
+    );
+  }
+  if (
+    value.state !== "attested"
+    && value.state !== "attested-with-legacy-evidence"
+    && value.state !== "unknown"
+  ) {
+    throw new ObservationSessionContractError(
+      `Аттестация записи ${sessionId} содержит неизвестное состояние.`,
+    );
+  }
+  return {
+    equipmentModelId,
+    equipmentModelSha256,
+    equipmentDisplayName: requireString(
+      value.equipment_model.display_name,
+      "equipment display_name",
+      128,
+    ),
+    captureProfileId,
+    captureProfileSha256,
+    captureAttestationSha256,
+    state: value.state,
+  };
+}
+
 function decodeLabInstance(
   value: unknown,
   sessionId: string,
@@ -394,7 +537,23 @@ function decodeLabInstance(
       `LAB-привязка сессии ${sessionId} должна быть объектом или null.`,
     );
   }
-  assertExactKeys(value, LAB_KEYS, `LAB-привязка сессии ${sessionId}`);
+  const hasTypedCapability = Object.prototype.hasOwnProperty.call(
+    value,
+    "replay_capability",
+  );
+  const hasCalculationProfile = Object.prototype.hasOwnProperty.call(
+    value,
+    "calculation_profile",
+  );
+  assertExactKeys(
+    value,
+    hasCalculationProfile
+      ? LAB_V3_KEYS
+      : hasTypedCapability
+        ? LAB_V2_KEYS
+        : LEGACY_LAB_KEYS,
+    `LAB-привязка сессии ${sessionId}`,
+  );
   const labId = requireString(value.lab_id, `lab(${sessionId}).lab_id`, 36);
   if (!/^LAB [A-Z][A-Z0-9._-]{0,31}$/.test(labId)) {
     throw new ObservationSessionContractError("Каталог содержит некорректный LAB-маркер.");
@@ -430,6 +589,28 @@ function decodeLabInstance(
   if (!isRecord(value.provenance)) {
     throw new ObservationSessionContractError("LAB provenance должен быть JSON-объектом.");
   }
+  let replayCapability: ObservationLabReplayCapability | null;
+  try {
+    replayCapability = hasTypedCapability
+      ? decodeLabReplayCapability(value.replay_capability, sessionId)
+      : decodeRollingCanonicalLabReplayCapability(value.provenance, sessionId, resultId);
+  } catch (error) {
+    if (error instanceof ObservationLabReplayCapabilityContractError) {
+      throw new ObservationSessionContractError(error.message);
+    }
+    throw error;
+  }
+  let calculationProfile: ObservationLabCalculationProfile | null;
+  try {
+    calculationProfile = hasCalculationProfile
+      ? decodeObservationLabCalculationProfile(value.calculation_profile, sessionId)
+      : null;
+  } catch (error) {
+    if (error instanceof ObservationLabCalculationProfileContractError) {
+      throw new ObservationSessionContractError(error.message);
+    }
+    throw error;
+  }
   return {
     labId,
     sourceSessionId,
@@ -445,6 +626,8 @@ function decodeLabInstance(
       value.published_at_utc,
       `lab(${sessionId}).published_at_utc`,
     ),
+    replayCapability,
+    calculationProfile,
     provenance: value.provenance,
   };
 }
@@ -606,6 +789,9 @@ export function decodeObservationSessionReplay(
   if (typeof launch.sha256 !== "string" || !SHA256.test(launch.sha256)) {
     throw new ObservationSessionContractError("Descriptor записи не содержит SHA-256.");
   }
+  if (launch.map_generation !== undefined && (typeof launch.map_generation !== "string" || !SHA256.test(launch.map_generation))) {
+    throw new ObservationSessionContractError("Descriptor содержит некорректную версию исправления.");
+  }
   const viewerSourceUrl = requireString(
     launch.viewer_source_url,
     "launch.viewer_source_url",
@@ -664,6 +850,7 @@ export function decodeObservationSessionReplay(
       integer: true,
     }),
     sha256: launch.sha256,
+    ...(launch.map_generation === undefined ? {} : { mapGeneration: launch.map_generation as string }),
     playback: { speed, loop: launch.playback.loop },
     mediaSources,
   };
@@ -1181,6 +1368,7 @@ export async function fetchObservationSessionCatalog({
     queryParameters.set("limit", String(Number(limit)));
   }
   if (scope !== "all") queryParameters.set("scope", scope);
+  if (scope === "laboratory") queryParameters.set("lab_contract", "v3");
   const serializedQuery = queryParameters.toString();
   const query = serializedQuery ? `?${serializedQuery}` : "";
   let response: Response;

apps/control-station/src/core/observation/sessionCatalogPage.ts

@@ -0,0 +1,72 @@
+import {
+  decodeObservationSessionCatalog,
+  ObservationSessionApiError,
+  ObservationSessionContractError,
+  type ObservationSessionCatalog,
+  type ObservationSessionFetch,
+  type ObservationSessionScope,
+} from "./sessionArchive";
+
+const PAGE_SCHEMA = "missioncore.observation-session-page/v1";
+const CURSOR = /^[A-Za-z0-9][A-Za-z0-9_.-]{0,127}$/;
+
+export interface ObservationSessionCatalogPage extends ObservationSessionCatalog {
+  readonly nextCursor: string | null;
+}
+
+/** Opt-in paging leaves the legacy catalog response and consumers unchanged. */
+export async function fetchObservationSessionCatalogPage({
+  scope,
+  limit = 100,
+  cursor = null,
+  signal,
+  fetcher = globalThis.fetch,
+}: {
+  scope: ObservationSessionScope;
+  limit?: number;
+  cursor?: string | null;
+  signal?: AbortSignal;
+  fetcher?: ObservationSessionFetch;
+}): Promise<ObservationSessionCatalogPage> {
+  if (!Number.isInteger(limit) || limit < 1 || limit > 100
+    || (cursor !== null && !CURSOR.test(cursor))) {
+    throw new ObservationSessionContractError("Некорректная страница каталога сессий.");
+  }
+  signal?.throwIfAborted();
+  const query = new URLSearchParams({ limit: String(limit), scope });
+  if (scope === "laboratory") query.set("lab_contract", "v3");
+  query.set("pagination", "cursor-v1");
+  if (cursor !== null) query.set("cursor", cursor);
+  const response = await fetcher(`/api/v1/observation-sessions?${query}`, {
+    method: "GET", headers: { Accept: "application/json" }, signal,
+  });
+  if (!response.ok) {
+    throw new ObservationSessionApiError(
+      `Не удалось загрузить страницу каталога сессий (HTTP ${response.status}).`,
+      response.status,
+    );
+  }
+  let body: unknown;
+  try {
+    body = await response.json();
+  } catch {
+    throw new ObservationSessionContractError("Некорректный ответ каталога сессий.");
+  }
+  if (typeof body !== "object" || body === null || Array.isArray(body)) {
+    throw new ObservationSessionContractError("Страница каталога должна быть объектом.");
+  }
+  const page = body as Record<string, unknown>;
+  if (Object.keys(page).length !== 3
+    || page.schema_version !== PAGE_SCHEMA
+    || !Object.hasOwn(page, "items")
+    || !(page.next_cursor === null
+      || (typeof page.next_cursor === "string" && CURSOR.test(page.next_cursor)))) {
+    throw new ObservationSessionContractError("Нарушен контракт страницы каталога сессий.");
+  }
+  const catalog = decodeObservationSessionCatalog({ items: page.items });
+  if (catalog.items.length > limit) {
+    throw new ObservationSessionContractError("Страница каталога превысила запрошенный размер.");
+  }
+  signal?.throwIfAborted();
+  return { ...catalog, nextCursor: page.next_cursor };
+}

apps/control-station/src/core/observation/sessionDisplayProfile.ts

@@ -0,0 +1,54 @@
+import {defaultSceneSettings, MAX_ACCUMULATION_SECONDS, type SceneSettings} from '../../sceneSettings';
+
+const schema = 'missioncore.session-display-profile/v1';
+const fields = {
+  projection: 'projection', pointSize: 'point_size', pointDecimationPercent: 'point_decimation_percent',
+  accumulationMaxSeconds: 'accumulation_max_seconds', accumulationSeconds: 'accumulation_seconds',
+  colorMode: 'color_mode', palette: 'palette', customColor: 'custom_color',
+  showPoints: 'show_points', showTrajectory: 'show_trajectory', showGrid: 'show_grid',
+  showLabels: 'show_labels', showCameraFrustums: 'show_camera_frustums',
+} as const;
+
+function endpoint(sessionId: string) {
+  if (!/^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$/.test(sessionId)) throw new Error('Некорректная запись');
+  return `/api/v1/observation-sessions/${encodeURIComponent(sessionId)}/display-profile`;
+}
+
+export function encodeSessionDisplay(settings: SceneSettings) {
+  return Object.fromEntries(Object.entries(fields).map(([key, wire]) =>
+    [wire, settings[key as keyof SceneSettings] ?? defaultSceneSettings[key as keyof SceneSettings]]));
+}
+
+export function decodeSessionDisplay(value: unknown, sessionId: string): SceneSettings {
+  const document = value as {schema_version?: string; session_id?: string; scene_settings?: Record<string, unknown>};
+  if (!document || document.schema_version !== schema || document.session_id !== sessionId || !document.scene_settings) {
+    throw new Error('Настройки принадлежат другой записи или имеют неизвестный формат');
+  }
+  const s = Object.fromEntries(Object.entries(fields).map(([key, wire]) => [key, document.scene_settings![wire]])) as unknown as SceneSettings;
+  for (const key of ['pointSize', 'accumulationSeconds', 'accumulationMaxSeconds', 'pointDecimationPercent'] as const) {
+    if (typeof s[key] !== 'number' || !Number.isFinite(s[key])) throw new Error('Некорректное значение настройки');
+  }
+  if (s.pointSize < 0.1 || s.pointSize > 32 || s.accumulationSeconds < 0
+    || s.accumulationMaxSeconds! < 1 || s.pointDecimationPercent! < 0 || s.pointDecimationPercent! > 100
+    || !['3d','2d','map'].includes(s.projection) || !['intensity','height','distance','rgb','class'].includes(s.colorMode)
+    || !['turbo','viridis','plasma','grayscale','custom'].includes(s.palette) || !/^#[a-f0-9]{6}$/i.test(s.customColor)
+    || ['showPoints','showTrajectory','showGrid','showLabels','showCameraFrustums'].some(key => typeof s[key as keyof SceneSettings] !== 'boolean')) {
+    throw new Error('Некорректные настройки отображения');
+  }
+  return {...s, accumulationMaxSeconds: Math.max(s.accumulationSeconds, s.accumulationMaxSeconds!)};
+}
+
+export async function loadSessionDisplay(sessionId: string, signal?: AbortSignal): Promise<SceneSettings> {
+  const response = await fetch(endpoint(sessionId), {signal, cache: 'no-store'});
+  if (!response.ok) throw new Error('Не удалось прочитать настройки записи');
+  const document = await response.json();
+  return document === null ? {...defaultSceneSettings, accumulationMaxSeconds: MAX_ACCUMULATION_SECONDS}
+    : decodeSessionDisplay(document, sessionId);
+}
+
+export async function saveSessionDisplay(sessionId: string, settings: SceneSettings): Promise<void> {
+  const response = await fetch(endpoint(sessionId), {method: 'PUT', headers: {'Content-Type': 'application/json'},
+    body: JSON.stringify({scene_settings: encodeSessionDisplay(settings)})});
+  if (!response.ok) throw new Error('Настройки записи не сохранены. Текущий вид оставлен без изменений.');
+  decodeSessionDisplay(await response.json(), sessionId);
+}