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

README.md

@@ -189,6 +189,13 @@ sealed Current/Patchwork++ comparison rejected Patchwork++ for navigation:
 despite much lower latency and a small Ground-IoU gain, obstacle non-ground
 recall regressed from `80.46%` to `69.70%`.
 
+Operator review of the later M4.8R3 LOW-STEP replay rejected its connected-
+component camera boxes as the product representation for general static
+obstacles. The replacement evaluation is terrain-relative and sequential:
+GSeg3D plus Nav2 Ground Consistency first, TRAVEL as the class-free challenger,
+and nvblox only as a separately measured occupancy/ESDF candidate. See the
+[traversability and static-obstacle stack decision](docs/23_TRAVERSABILITY_AND_STATIC_OBSTACLE_STACK_DECISION.md).
+
 See [the Dataset Gateway plan](docs/14_LIDAR_DATASET_GATEWAY.md),
 [the laboratory run canon](docs/15_LABORATORY_RUN_CANON.md) and
 [ADR 0021](docs/adr/0021-dataset-gateway-representation-boundary.md).

apps/control-station/package-lock.json

@@ -15,7 +15,9 @@
         "@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",
         "three": "0.185.1"
@@ -898,9 +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": {
@@ -1375,7 +1377,6 @@
       "version": "0.5.24",
       "resolved": "https://registry.npmjs.org/@types/webxr/-/webxr-0.5.24.tgz",
       "integrity": "sha512-h8fgEd/DpoS9CBrjEQXR+dIDraopAEfu4wYVNY2tEPwk60stPWhvZMf4Foo5FakuQ7HFZoa8WceaWFervK2Ovg==",
-      "dev": true,
       "license": "MIT"
     },
     "node_modules/@vitejs/plugin-react": {
@@ -1399,6 +1400,12 @@
         "vite": "^4.2.0 || ^5.0.0 || ^6.0.0 || ^7.0.0"
       }
     },
+    "node_modules/@webgpu/types": {
+      "version": "0.1.72",
+      "resolved": "https://registry.npmjs.org/@webgpu/types/-/types-0.1.72.tgz",
+      "integrity": "sha512-0cF7RFM2edNoiIS1ODJp0/Gzv4/xSXhwoR0YCza+OWpJWtn4wmo9DvK91aLlH9+uUnwIriP7ZiC3WitmyhuzBw==",
+      "license": "BSD-3-Clause"
+    },
     "node_modules/baseline-browser-mapping": {
       "version": "2.10.43",
       "resolved": "https://registry.npmjs.org/baseline-browser-mapping/-/baseline-browser-mapping-2.10.43.tgz",
@@ -1655,7 +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": {
@@ -1714,6 +1720,19 @@
         "url": "https://github.com/sponsors/jonschlinkert"
       }
     },
+    "node_modules/playcanvas": {
+      "version": "2.21.4",
+      "resolved": "https://registry.npmjs.org/playcanvas/-/playcanvas-2.21.4.tgz",
+      "integrity": "sha512-L4UGy3z/YT8AaNBEY4ITsZup548UFMabF7loh0YQ0DRwQLdjIW8grmZPoQ1+B83+N6sejRS0/XlXV2Vfb11+fw==",
+      "license": "MIT",
+      "dependencies": {
+        "@types/webxr": "^0.5.24",
+        "@webgpu/types": "^0.1.70"
+      },
+      "engines": {
+        "node": ">=18.3.0"
+      }
+    },
     "node_modules/postcss": {
       "version": "8.5.19",
       "resolved": "https://registry.npmjs.org/postcss/-/postcss-8.5.19.tgz",

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 +19,9 @@
     "@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",
     "three": "0.185.1"

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.";
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+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)},
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+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=
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+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=
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+b._emscripten_bind_btWheelInfo_set_m_maxSuspensionForce_1=b.asm.$t).apply(null,arguments)},qw=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionTravelCm_0=function(){return(qw=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionTravelCm_0=b.asm.au).apply(null,arguments)},rw=b._emscripten_bind_btWheelInfo_set_m_maxSuspensionTravelCm_1=function(){return(rw=b._emscripten_bind_btWheelInfo_set_m_maxSuspensionTravelCm_1=b.asm.bu).apply(null,arguments)},sw=b._emscripten_bind_btWheelInfo_get_m_wheelsSuspensionForce_0=
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+Zw=b._emscripten_bind_btKinematicCharacterController_preStep_1=function(){return(Zw=b._emscripten_bind_btKinematicCharacterController_preStep_1=b.asm.Ju).apply(null,arguments)},$w=b._emscripten_bind_btKinematicCharacterController_playerStep_2=function(){return($w=b._emscripten_bind_btKinematicCharacterController_playerStep_2=b.asm.Ku).apply(null,arguments)},ax=b._emscripten_bind_btKinematicCharacterController_setFallSpeed_1=function(){return(ax=b._emscripten_bind_btKinematicCharacterController_setFallSpeed_1=
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+function(){return(px=b._emscripten_bind_btRaycastVehicle_btRaycastVehicle_3=b.asm._u).apply(null,arguments)},qx=b._emscripten_bind_btRaycastVehicle_applyEngineForce_2=function(){return(qx=b._emscripten_bind_btRaycastVehicle_applyEngineForce_2=b.asm.$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=
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+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)};
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+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)};
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+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={};
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+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)};
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+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/public/vendor/playcanvas/draco/1.5.7/BUILD_INFO.md

@@ -0,0 +1,8 @@
+# Draco glTF decoder 1.5.7
+
+Vendored from Google's immutable versioned Draco decoder distribution for the
+PlayCanvas `DracoDecoderModule`. Runtime loading remains local to Mission Core.
+
+- `draco_wasm_wrapper_gltf.js`: `8bb2952d2ba7d67e1414f8df819410cb0434a666be53f671fff75f68843d76f6`
+- `draco_decoder_gltf.wasm`: `712db3449ae2041d6e8a224c395bda6cedb49e51322fae38b7db9beb8b381889`
+- Upstream base: `https://www.gstatic.com/draco/versioned/decoders/1.5.7/`

apps/control-station/public/vendor/playcanvas/draco/1.5.7/draco_wasm_wrapper_gltf.js

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+L;L.prototype.GetValue=L.prototype.GetValue=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);return Pb(c,b)};L.prototype.size=L.prototype.size=function(){return Qb(this.ptr)};L.prototype.__destroy__=L.prototype.__destroy__=function(){Rb(this.ptr)};M.prototype=Object.create(v.prototype);M.prototype.constructor=M;M.prototype.__class__=M;M.__cache__={};a.DracoUInt16Array=M;M.prototype.GetValue=M.prototype.GetValue=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);return Sb(c,b)};
+M.prototype.size=M.prototype.size=function(){return Tb(this.ptr)};M.prototype.__destroy__=M.prototype.__destroy__=function(){Ub(this.ptr)};N.prototype=Object.create(v.prototype);N.prototype.constructor=N;N.prototype.__class__=N;N.__cache__={};a.DracoInt32Array=N;N.prototype.GetValue=N.prototype.GetValue=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);return Vb(c,b)};N.prototype.size=N.prototype.size=function(){return Wb(this.ptr)};N.prototype.__destroy__=N.prototype.__destroy__=function(){Xb(this.ptr)};
+O.prototype=Object.create(v.prototype);O.prototype.constructor=O;O.prototype.__class__=O;O.__cache__={};a.DracoUInt32Array=O;O.prototype.GetValue=O.prototype.GetValue=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);return Yb(c,b)};O.prototype.size=O.prototype.size=function(){return Zb(this.ptr)};O.prototype.__destroy__=O.prototype.__destroy__=function(){$b(this.ptr)};z.prototype=Object.create(v.prototype);z.prototype.constructor=z;z.prototype.__class__=z;z.__cache__={};a.MetadataQuerier=
+z;z.prototype.HasEntry=z.prototype.HasEntry=function(b,c){var d=this.ptr;r.prepare();b&&"object"===typeof b&&(b=b.ptr);c=c&&"object"===typeof c?c.ptr:R(c);return!!ac(d,b,c)};z.prototype.GetIntEntry=z.prototype.GetIntEntry=function(b,c){var d=this.ptr;r.prepare();b&&"object"===typeof b&&(b=b.ptr);c=c&&"object"===typeof c?c.ptr:R(c);return bc(d,b,c)};z.prototype.GetIntEntryArray=z.prototype.GetIntEntryArray=function(b,c,d){var g=this.ptr;r.prepare();b&&"object"===typeof b&&(b=b.ptr);c=c&&"object"===
+typeof c?c.ptr:R(c);d&&"object"===typeof d&&(d=d.ptr);cc(g,b,c,d)};z.prototype.GetDoubleEntry=z.prototype.GetDoubleEntry=function(b,c){var d=this.ptr;r.prepare();b&&"object"===typeof b&&(b=b.ptr);c=c&&"object"===typeof c?c.ptr:R(c);return dc(d,b,c)};z.prototype.GetStringEntry=z.prototype.GetStringEntry=function(b,c){var d=this.ptr;r.prepare();b&&"object"===typeof b&&(b=b.ptr);c=c&&"object"===typeof c?c.ptr:R(c);return p(ec(d,b,c))};z.prototype.NumEntries=z.prototype.NumEntries=function(b){var c=this.ptr;
+b&&"object"===typeof b&&(b=b.ptr);return fc(c,b)};z.prototype.GetEntryName=z.prototype.GetEntryName=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);return p(gc(d,b,c))};z.prototype.__destroy__=z.prototype.__destroy__=function(){hc(this.ptr)};m.prototype=Object.create(v.prototype);m.prototype.constructor=m;m.prototype.__class__=m;m.__cache__={};a.Decoder=m;m.prototype.DecodeArrayToPointCloud=m.prototype.DecodeArrayToPointCloud=function(b,c,d){var g=
+this.ptr;r.prepare();"object"==typeof b&&(b=Z(b));c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return B(ic(g,b,c,d),C)};m.prototype.DecodeArrayToMesh=m.prototype.DecodeArrayToMesh=function(b,c,d){var g=this.ptr;r.prepare();"object"==typeof b&&(b=Z(b));c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return B(jc(g,b,c,d),C)};m.prototype.GetAttributeId=m.prototype.GetAttributeId=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&
+(c=c.ptr);return kc(d,b,c)};m.prototype.GetAttributeIdByName=m.prototype.GetAttributeIdByName=function(b,c){var d=this.ptr;r.prepare();b&&"object"===typeof b&&(b=b.ptr);c=c&&"object"===typeof c?c.ptr:R(c);return lc(d,b,c)};m.prototype.GetAttributeIdByMetadataEntry=m.prototype.GetAttributeIdByMetadataEntry=function(b,c,d){var g=this.ptr;r.prepare();b&&"object"===typeof b&&(b=b.ptr);c=c&&"object"===typeof c?c.ptr:R(c);d=d&&"object"===typeof d?d.ptr:R(d);return mc(g,b,c,d)};m.prototype.GetAttribute=
+m.prototype.GetAttribute=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);return B(nc(d,b,c),x)};m.prototype.GetAttributeByUniqueId=m.prototype.GetAttributeByUniqueId=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);return B(oc(d,b,c),x)};m.prototype.GetMetadata=m.prototype.GetMetadata=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);return B(pc(c,b),T)};m.prototype.GetAttributeMetadata=m.prototype.GetAttributeMetadata=
+function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);return B(qc(d,b,c),T)};m.prototype.GetFaceFromMesh=m.prototype.GetFaceFromMesh=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!rc(g,b,c,d)};m.prototype.GetTriangleStripsFromMesh=m.prototype.GetTriangleStripsFromMesh=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);
+return sc(d,b,c)};m.prototype.GetTrianglesUInt16Array=m.prototype.GetTrianglesUInt16Array=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!tc(g,b,c,d)};m.prototype.GetTrianglesUInt32Array=m.prototype.GetTrianglesUInt32Array=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!uc(g,b,c,d)};m.prototype.GetAttributeFloat=m.prototype.GetAttributeFloat=
+function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!vc(g,b,c,d)};m.prototype.GetAttributeFloatForAllPoints=m.prototype.GetAttributeFloatForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!wc(g,b,c,d)};m.prototype.GetAttributeIntForAllPoints=m.prototype.GetAttributeIntForAllPoints=function(b,c,d){var g=this.ptr;
+b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!xc(g,b,c,d)};m.prototype.GetAttributeInt8ForAllPoints=m.prototype.GetAttributeInt8ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!yc(g,b,c,d)};m.prototype.GetAttributeUInt8ForAllPoints=m.prototype.GetAttributeUInt8ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=
+b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!zc(g,b,c,d)};m.prototype.GetAttributeInt16ForAllPoints=m.prototype.GetAttributeInt16ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!Ac(g,b,c,d)};m.prototype.GetAttributeUInt16ForAllPoints=m.prototype.GetAttributeUInt16ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&
+(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!Bc(g,b,c,d)};m.prototype.GetAttributeInt32ForAllPoints=m.prototype.GetAttributeInt32ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!Cc(g,b,c,d)};m.prototype.GetAttributeUInt32ForAllPoints=m.prototype.GetAttributeUInt32ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===
+typeof d&&(d=d.ptr);return!!Dc(g,b,c,d)};m.prototype.GetAttributeDataArrayForAllPoints=m.prototype.GetAttributeDataArrayForAllPoints=function(b,c,d,g,t){var aa=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);g&&"object"===typeof g&&(g=g.ptr);t&&"object"===typeof t&&(t=t.ptr);return!!Ec(aa,b,c,d,g,t)};m.prototype.SkipAttributeTransform=m.prototype.SkipAttributeTransform=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);Fc(c,
+b)};m.prototype.GetEncodedGeometryType_Deprecated=m.prototype.GetEncodedGeometryType_Deprecated=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);return Gc(c,b)};m.prototype.DecodeBufferToPointCloud=m.prototype.DecodeBufferToPointCloud=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);return B(Hc(d,b,c),C)};m.prototype.DecodeBufferToMesh=m.prototype.DecodeBufferToMesh=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===
+typeof c&&(c=c.ptr);return B(Ic(d,b,c),C)};m.prototype.__destroy__=m.prototype.__destroy__=function(){Jc(this.ptr)};(function(){function b(){a.ATTRIBUTE_INVALID_TRANSFORM=Kc();a.ATTRIBUTE_NO_TRANSFORM=Lc();a.ATTRIBUTE_QUANTIZATION_TRANSFORM=Mc();a.ATTRIBUTE_OCTAHEDRON_TRANSFORM=Nc();a.INVALID=Oc();a.POSITION=Pc();a.NORMAL=Qc();a.COLOR=Rc();a.TEX_COORD=Sc();a.GENERIC=Tc();a.INVALID_GEOMETRY_TYPE=Uc();a.POINT_CLOUD=Vc();a.TRIANGULAR_MESH=Wc();a.DT_INVALID=Xc();a.DT_INT8=Yc();a.DT_UINT8=Zc();a.DT_INT16=
+$c();a.DT_UINT16=ad();a.DT_INT32=bd();a.DT_UINT32=cd();a.DT_INT64=dd();a.DT_UINT64=ed();a.DT_FLOAT32=fd();a.DT_FLOAT64=gd();a.DT_BOOL=hd();a.DT_TYPES_COUNT=id();a.OK=jd();a.DRACO_ERROR=kd();a.IO_ERROR=ld();a.INVALID_PARAMETER=md();a.UNSUPPORTED_VERSION=nd();a.UNKNOWN_VERSION=od()}va?b():oa.unshift(b)})();if("function"===typeof a.onModuleParsed)a.onModuleParsed();a.Decoder.prototype.GetEncodedGeometryType=function(b){if(b.__class__&&b.__class__===a.DecoderBuffer)return a.Decoder.prototype.GetEncodedGeometryType_Deprecated(b);
+if(8>b.byteLength)return a.INVALID_GEOMETRY_TYPE;switch(b[7]){case 0:return a.POINT_CLOUD;case 1:return a.TRIANGULAR_MESH;default:return a.INVALID_GEOMETRY_TYPE}};return n.ready}}();"object"===typeof exports&&"object"===typeof module?module.exports=DracoDecoderModule:"function"===typeof define&&define.amd?define([],function(){return DracoDecoderModule}):"object"===typeof exports&&(exports.DracoDecoderModule=DracoDecoderModule);

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

@@ -1,196 +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
-          size="compact"
-          variant="secondary"
-          disabled={!buffered || !onPlayingChange}
-          onClick={() => onPlayingChange?.(!playing)}
-        >
-          {buffered ? (playing ? "Пауза" : "Воспроизвести") : "Только эфир"}
-        </Button>
-        {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="split"
-            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/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/LaboratoryEvidenceViewer.tsx

@@ -32,6 +32,7 @@ export function LaboratoryEvidenceViewer<
   transport,
   trailingActions,
   modeControlsVisible = true,
+  chromeLayout = "overlay",
   children,
 }: {
   label: string;
@@ -52,6 +53,7 @@ export function LaboratoryEvidenceViewer<
   transport?: ReactNode;
   trailingActions?: ReactNode;
   modeControlsVisible?: boolean;
+  chromeLayout?: "overlay" | "stacked";
   children: ReactNode;
 }) {
   const expandButtonRef = useRef<HTMLButtonElement | null>(null);
@@ -80,6 +82,36 @@ export function LaboratoryEvidenceViewer<
     return () => window.removeEventListener("keydown", onKeyDown);
   }, [expanded, onExpandedChange]);
 
+  const controls = (
+    <div className="laboratory-evidence-viewer__controls">
+      {actions}
+      {modeControlsVisible && secondaryMode ? (
+        <SegmentedControl
+          value={secondaryMode.value}
+          items={[...secondaryMode.modes]}
+          label={secondaryMode.label}
+          onChange={secondaryMode.onChange}
+        />
+      ) : null}
+      {modeControlsVisible ? (
+        <SegmentedControl
+          value={mode}
+          items={[...modes]}
+          label={`${label}: режим представления`}
+          onChange={onModeChange}
+        />
+      ) : null}
+      {trailingActions}
+      <IconButton
+        ref={expandButtonRef}
+        label={expanded ? `Свернуть ${label}` : `Развернуть ${label}`}
+        onClick={() => onExpandedChange(!expanded)}
+      >
+        <Icon name={expanded ? "minimize" : "expand"} size={16} />
+      </IconButton>
+    </div>
+  );
+
   const viewer = (
     <dialog
       ref={viewerRef}
@@ -90,44 +122,40 @@ export function LaboratoryEvidenceViewer<
       ].filter(Boolean).join(" ")}
       data-expanded={expanded ? "true" : undefined}
       data-mode-controls={modeControlsVisible ? undefined : "content"}
+      data-chrome-layout={chromeLayout}
       aria-label={label}
     >
-      <div className="laboratory-evidence-viewer__stage">
-        {children}
-      </div>
-      {overlay}
-      {transport ? (
-        <div className="laboratory-evidence-viewer__transport">
-          {transport}
-        </div>
-      ) : null}
-      <div className="laboratory-evidence-viewer__controls">
-        {actions}
-        {modeControlsVisible && secondaryMode ? (
-          <SegmentedControl
-            value={secondaryMode.value}
-            items={[...secondaryMode.modes]}
-            label={secondaryMode.label}
-            onChange={secondaryMode.onChange}
-          />
-        ) : null}
-        {modeControlsVisible ? (
-          <SegmentedControl
-            value={mode}
-            items={[...modes]}
-            label={`${label}: режим представления`}
-            onChange={onModeChange}
-          />
-        ) : null}
-        {trailingActions}
-        <IconButton
-          ref={expandButtonRef}
-          label={expanded ? `Свернуть ${label}` : `Развернуть ${label}`}
-          onClick={() => onExpandedChange(!expanded)}
-        >
-          <Icon name={expanded ? "minimize" : "expand"} size={16} />
-        </IconButton>
-      </div>
+      {chromeLayout === "stacked" ? (
+        <>
+          <div className="laboratory-evidence-viewer__header">
+            <div className="laboratory-evidence-viewer__header-context">
+              {overlay}
+            </div>
+            {controls}
+          </div>
+          <div className="laboratory-evidence-viewer__stage">
+            {children}
+          </div>
+          {transport ? (
+            <div className="laboratory-evidence-viewer__transport">
+              {transport}
+            </div>
+          ) : null}
+        </>
+      ) : (
+        <>
+          <div className="laboratory-evidence-viewer__stage">
+            {children}
+          </div>
+          {overlay}
+          {transport ? (
+            <div className="laboratory-evidence-viewer__transport">
+              {transport}
+            </div>
+          ) : null}
+          {controls}
+        </>
+      )}
     </dialog>
   );
 

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

@@ -1,6 +1,7 @@
 import {
   forwardRef,
   type CSSProperties,
+  useCallback,
   useEffect,
   useImperativeHandle,
   useRef,
@@ -26,6 +27,7 @@ export interface LaboratoryMetricObstacleVisual {
   state: "current" | "retained" | "held" | "expired";
   centroidBodyXyzM: LaboratoryMetricPoint3;
   cellCentersBodyXyzM: readonly LaboratoryMetricPoint3[];
+  occupancySource?: "baseline" | "mixed" | "additive-low-step";
 }
 
 export interface LaboratoryMetricRigVisual {
@@ -40,6 +42,96 @@ export interface LaboratoryMetricCorridorVisual {
   halfWidthM: number;
 }
 
+export type LaboratoryMetricCellState =
+  | "unobserved"
+  | "ground-support"
+  | "nonground-occupied"
+  | "unknown-rejected";
+
+export interface LaboratoryMetricCellEvidence {
+  centerBodyXyM: readonly [number, number];
+  zBoundsM: readonly [number | null, number | null];
+  state: LaboratoryMetricCellState;
+}
+
+export interface LaboratoryMetricPackedCellEvidence {
+  centersBodyXyM: Float32Array;
+  zBoundsM: Float32Array;
+  stateCodes: Uint8Array;
+}
+
+export interface LaboratoryMetricLegendEntry {
+  id: LaboratoryMetricDecision
+    | LaboratoryMetricCellState
+    | "context"
+    | "local-surface"
+    | "rolling"
+    | "low-step";
+  label: string;
+}
+
+interface LaboratoryMetricRenderStats {
+  frameMs: number;
+  drawCalls: number;
+  triangles: number;
+  pixelRatio: number;
+}
+
+export function laboratoryMetricLegendEntries({
+  pointCloudCount,
+  localSurfaceCount,
+  obstacles,
+  showCurrentIncrement,
+  showLocalSurface,
+  showRollingMap,
+  showLowStep = true,
+}: {
+  pointCloudCount: number;
+  localSurfaceCount: number;
+  obstacles: readonly LaboratoryMetricObstacleVisual[];
+  showCurrentIncrement: boolean;
+  showLocalSurface: boolean;
+  showRollingMap: boolean;
+  showLowStep?: boolean;
+}): readonly LaboratoryMetricLegendEntry[] {
+  const visibleObstacles = obstacles.filter((obstacle) => (
+    (showLowStep || obstacle.occupancySource === undefined || obstacle.occupancySource === "baseline")
+    && (obstacle.state === "current"
+      ? showCurrentIncrement
+      : obstacle.state === "retained"
+        ? showRollingMap
+        : false)
+  ));
+  const decisions = new Set(visibleObstacles.map(({ decision }) => decision));
+  const entries: LaboratoryMetricLegendEntry[] = [];
+  if (decisions.has("threat")) entries.push({ id: "threat", label: "Угроза" });
+  if (decisions.has("not-threat")) entries.push({ id: "not-threat", label: "Вне коридора" });
+  if (decisions.has("unknown")) entries.push({ id: "unknown", label: "Неизвестно" });
+  if (
+    showLowStep
+    && visibleObstacles.some((obstacle) => (
+      obstacle.occupancySource !== undefined && obstacle.occupancySource !== "baseline"
+    ))
+  ) {
+    entries.push({ id: "low-step", label: "LOW-STEP · добавлено системой" });
+  }
+  if (showCurrentIncrement && pointCloudCount > 0) {
+    entries.push({ id: "context", label: "Текущий кадр" });
+  }
+  if (showLocalSurface && localSurfaceCount > 0) {
+    entries.push({ id: "local-surface", label: "Локальная SLAM-поверхность" });
+  }
+  if (
+    showRollingMap
+    && visibleObstacles.some((obstacle) => (
+      obstacle.state === "retained" && obstacle.cellCentersBodyXyzM.length > 0
+    ))
+  ) {
+    entries.push({ id: "rolling", label: "Занято на накопленной карте" });
+  }
+  return entries;
+}
+
 function tokenColor(
   host: HTMLElement,
   token: string,
@@ -91,6 +183,47 @@ function positions(points: readonly LaboratoryMetricPoint3[]): Float32Array {
   return result;
 }
 
+function updatePointPositions(
+  geometry: THREE.BufferGeometry,
+  points: readonly LaboratoryMetricPoint3[],
+): void {
+  const requiredValues = points.length * 3;
+  let attribute = geometry.getAttribute("position") as THREE.BufferAttribute | undefined;
+  if (!attribute || attribute.array.length < requiredValues) {
+    let capacity = 3;
+    while (capacity < requiredValues) capacity *= 2;
+    attribute = new THREE.BufferAttribute(new Float32Array(capacity), 3);
+    attribute.setUsage(THREE.DynamicDrawUsage);
+    geometry.setAttribute("position", attribute);
+  }
+  const values = attribute.array as Float32Array;
+  points.forEach((point, index) => {
+    const [x, y, z] = scenePoint(point);
+    const offset = index * 3;
+    values[offset] = x;
+    values[offset + 1] = y;
+    values[offset + 2] = z;
+  });
+  attribute.needsUpdate = true;
+  geometry.setDrawRange(0, points.length);
+}
+
+function ensurePointColors(
+  geometry: THREE.BufferGeometry,
+  pointCount: number,
+): THREE.BufferAttribute {
+  const requiredValues = pointCount * 3;
+  let attribute = geometry.getAttribute("color") as THREE.BufferAttribute | undefined;
+  if (!attribute || attribute.array.length < requiredValues) {
+    let capacity = 3;
+    while (capacity < requiredValues) capacity *= 2;
+    attribute = new THREE.BufferAttribute(new Float32Array(capacity), 3);
+    attribute.setUsage(THREE.DynamicDrawUsage);
+    geometry.setAttribute("color", attribute);
+  }
+  return attribute;
+}
+
 function decisionColor(
   host: HTMLElement,
   decision: LaboratoryMetricDecision,
@@ -104,6 +237,16 @@ function decisionColor(
   return tokenColor(host, "--nodedc-warning-rgb", [255, 197, 92]);
 }
 
+function obstacleColor(
+  host: HTMLElement,
+  obstacle: LaboratoryMetricObstacleVisual,
+): THREE.Color {
+  if (obstacle.occupancySource !== "baseline") {
+    return tokenColor(host, "--nodedc-accent-rgb", [232, 56, 126]);
+  }
+  return decisionColor(host, obstacle.decision);
+}
+
 export interface LaboratoryMetricEvidenceSceneHandle {
   resetView: () => void;
 }
@@ -122,9 +265,14 @@ LaboratoryMetricEvidenceSceneHandle,
   showCurrentIncrement: boolean;
   showLocalSurface: boolean;
   showRollingMap: boolean;
+  showLowStep?: boolean;
   pointSemanticClassIds?: readonly (number | null)[];
   semanticClasses?: readonly RecordedEvidenceSemanticClass[];
   semanticPalette?: readonly RecordedEvidenceSemanticPaletteEntry[];
+  classifiedCells?: readonly LaboratoryMetricCellEvidence[];
+  classifiedPackedCells?: LaboratoryMetricPackedCellEvidence;
+  classifiedCellSizeM?: number;
+  showClassifiedCells?: boolean;
 }
 >(function LaboratoryMetricEvidenceScene({
   pointCloudBodyXyzM,
@@ -138,9 +286,14 @@ LaboratoryMetricEvidenceSceneHandle,
   showCurrentIncrement,
   showLocalSurface,
   showRollingMap,
+  showLowStep = true,
   pointSemanticClassIds,
   semanticClasses,
   semanticPalette,
+  classifiedCells = [],
+  classifiedPackedCells,
+  classifiedCellSizeM = 0.45,
+  showClassifiedCells = true,
 }, ref) {
   const hostRef = useRef<HTMLDivElement | null>(null);
   const sceneRef = useRef<THREE.Scene | null>(null);
@@ -148,7 +301,19 @@ LaboratoryMetricEvidenceSceneHandle,
   const controlsRef = useRef<OrbitControls | null>(null);
   const staticContentRef = useRef<THREE.Group | null>(null);
   const dynamicContentRef = useRef<THREE.Group | null>(null);
+  const classifiedContentRef = useRef<THREE.Group | null>(null);
+  const localSurfacePointsRef = useRef<THREE.Points | null>(null);
+  const currentIncrementPointsRef = useRef<THREE.Points | null>(null);
+  const requestRenderRef = useRef<() => void>(() => undefined);
+  const corridorForwardLengthRef = useRef(corridor.forwardLengthM);
+  const modeRef = useRef(mode);
+  const classifiedMeshesRef = useRef<ReadonlyMap<LaboratoryMetricCellState, THREE.InstancedMesh>>(
+    new Map(),
+  );
   const [renderError, setRenderError] = useState<string | null>(null);
+  const [renderStats, setRenderStats] = useState<LaboratoryMetricRenderStats | null>(null);
+  corridorForwardLengthRef.current = corridor.forwardLengthM;
+  modeRef.current = mode;
 
   useEffect(() => {
     const host = hostRef.current;
@@ -167,7 +332,6 @@ LaboratoryMetricEvidenceSceneHandle,
     renderer.setPixelRatio(Math.min(window.devicePixelRatio, 2));
     renderer.outputColorSpace = THREE.SRGBColorSpace;
     renderer.setClearColor(tokenColor(host, "--nodedc-canvas", [5, 5, 6]), 1);
-    renderer.domElement.setAttribute("aria-label", label);
     renderer.domElement.setAttribute("role", "img");
     host.prepend(renderer.domElement);
 
@@ -183,12 +347,76 @@ LaboratoryMetricEvidenceSceneHandle,
     controls.maxDistance = 80;
     const staticContent = new THREE.Group();
     const dynamicContent = new THREE.Group();
-    scene.add(staticContent, dynamicContent);
+    const classifiedContent = new THREE.Group();
+    const localSurfacePoints = new THREE.Points(
+      new THREE.BufferGeometry(),
+      new THREE.PointsMaterial({
+        color: tokenColor(host, "--nodedc-accent-rgb", [247, 248, 244]),
+        size: 1.3,
+        sizeAttenuation: false,
+        transparent: true,
+        opacity: 0.42,
+        depthWrite: false,
+      }),
+    );
+    const currentIncrementPoints = new THREE.Points(
+      new THREE.BufferGeometry(),
+      new THREE.PointsMaterial({
+        color: tokenColor(host, "--nodedc-text-muted", [147, 151, 159]),
+        size: 1.55,
+        sizeAttenuation: false,
+        transparent: true,
+        opacity: 0.58,
+        depthWrite: false,
+      }),
+    );
+    localSurfacePoints.visible = false;
+    localSurfacePoints.frustumCulled = false;
+    currentIncrementPoints.visible = false;
+    currentIncrementPoints.frustumCulled = false;
+    scene.add(
+      staticContent,
+      localSurfacePoints,
+      currentIncrementPoints,
+      dynamicContent,
+      classifiedContent,
+    );
     sceneRef.current = scene;
     cameraRef.current = camera;
     controlsRef.current = controls;
     staticContentRef.current = staticContent;
     dynamicContentRef.current = dynamicContent;
+    classifiedContentRef.current = classifiedContent;
+    localSurfacePointsRef.current = localSurfacePoints;
+    currentIncrementPointsRef.current = currentIncrementPoints;
+
+    let animationFrame: number | null = null;
+    let lastStatsAt = Number.NEGATIVE_INFINITY;
+    const render = () => {
+      animationFrame = null;
+      // OrbitControls emits another change while damping is still settling, so
+      // this remains smooth during interaction without rendering forever while
+      // the evidence scene is idle.
+      controls.update();
+      const startedAt = performance.now();
+      renderer.render(scene, camera);
+      const completedAt = performance.now();
+      if (completedAt - lastStatsAt >= 1_000) {
+        lastStatsAt = completedAt;
+        setRenderStats({
+          frameMs: completedAt - startedAt,
+          drawCalls: renderer.info.render.calls,
+          triangles: renderer.info.render.triangles,
+          pixelRatio: renderer.getPixelRatio(),
+        });
+      }
+    };
+    const requestRender = () => {
+      if (animationFrame !== null) return;
+      animationFrame = window.requestAnimationFrame(render);
+    };
+    requestRenderRef.current = requestRender;
+    controls.addEventListener("change", requestRender);
 
     const resize = () => {
       const width = Math.max(host.clientWidth, 1);
@@ -196,21 +424,17 @@ LaboratoryMetricEvidenceSceneHandle,
       camera.aspect = width / height;
       camera.updateProjectionMatrix();
       renderer.setSize(width, height, false);
+      requestRender();
     };
     const observer = new ResizeObserver(resize);
     observer.observe(host);
     resize();
 
-    let animationFrame = 0;
-    const render = () => {
-      animationFrame = window.requestAnimationFrame(render);
-      controls.update();
-      renderer.render(scene, camera);
-    };
-    render();
+    requestRender();
     return () => {
-      window.cancelAnimationFrame(animationFrame);
+      if (animationFrame !== null) window.cancelAnimationFrame(animationFrame);
       observer.disconnect();
+      controls.removeEventListener("change", requestRender);
       controls.dispose();
       scene.traverse(disposeRenderable);
       renderer.dispose();
@@ -220,85 +444,98 @@ LaboratoryMetricEvidenceSceneHandle,
       controlsRef.current = null;
       staticContentRef.current = null;
       dynamicContentRef.current = null;
+      classifiedContentRef.current = null;
+      localSurfacePointsRef.current = null;
+      currentIncrementPointsRef.current = null;
+      requestRenderRef.current = () => undefined;
+      classifiedMeshesRef.current = new Map();
     };
+  }, []);
+
+  useEffect(() => {
+    const canvas = hostRef.current?.querySelector("canvas");
+    if (canvas) canvas.setAttribute("aria-label", label);
   }, [label]);
 
+  useEffect(() => {
+    const points = localSurfacePointsRef.current;
+    if (!points) return;
+    points.visible = showLocalSurface && localSurfaceBodyXyzM.length > 0;
+    if (points.visible) updatePointPositions(points.geometry, localSurfaceBodyXyzM);
+    requestRenderRef.current();
+  }, [localSurfaceBodyXyzM, showLocalSurface]);
+
+  useEffect(() => {
+    const host = hostRef.current;
+    const points = currentIncrementPointsRef.current;
+    if (!host || !points) return;
+    points.visible = showCurrentIncrement && pointCloudBodyXyzM.length > 0;
+    if (!points.visible) {
+      requestRenderRef.current();
+      return;
+    }
+    updatePointPositions(points.geometry, pointCloudBodyXyzM);
+    const material = points.material as THREE.PointsMaterial;
+    const hasAlignedSemanticClasses =
+      pointSemanticClassIds !== undefined
+      && pointSemanticClassIds.length === pointCloudBodyXyzM.length
+      && semanticClasses !== undefined
+      && semanticPalette !== undefined;
+    if (!hasAlignedSemanticClasses) {
+      if (material.vertexColors) {
+        material.vertexColors = false;
+        material.needsUpdate = true;
+      }
+      material.color.copy(tokenColor(host, "--nodedc-text-muted", [147, 151, 159]));
+      requestRenderRef.current();
+      return;
+    }
+    const declaredIds = new Set(semanticClasses.map((item) => item.id));
+    const colorsByClassId = new Map<number, readonly [number, number, number]>();
+    for (const entry of semanticPalette) {
+      if (!declaredIds.has(entry.classId)) continue;
+      const rgb = resolveRecordedEvidenceSemanticRgb(host, entry.color);
+      if (rgb) colorsByClassId.set(entry.classId, rgb);
+    }
+    const context = tokenColor(host, "--nodedc-text-muted", [147, 151, 159]);
+    const colorAttribute = ensurePointColors(points.geometry, pointCloudBodyXyzM.length);
+    const pointColors = colorAttribute.array as Float32Array;
+    pointSemanticClassIds.forEach((classId, index) => {
+      const rgb = classId === null ? undefined : colorsByClassId.get(classId);
+      const offset = index * 3;
+      pointColors[offset] = rgb ? rgb[0] / 255 : context.r;
+      pointColors[offset + 1] = rgb ? rgb[1] / 255 : context.g;
+      pointColors[offset + 2] = rgb ? rgb[2] / 255 : context.b;
+    });
+    colorAttribute.needsUpdate = true;
+    if (!material.vertexColors) {
+      material.vertexColors = true;
+      material.needsUpdate = true;
+    }
+    material.color.setRGB(1, 1, 1);
+    requestRenderRef.current();
+  }, [
+    pointCloudBodyXyzM,
+    pointSemanticClassIds,
+    semanticClasses,
+    semanticPalette,
+    showCurrentIncrement,
+  ]);
+
   useEffect(() => {
     const host = hostRef.current;
     const content = dynamicContentRef.current;
     if (!host || !content) return;
     clearGroup(content);
 
-    if (showLocalSurface) {
-      const localSurfaceGeometry = new THREE.BufferGeometry();
-      localSurfaceGeometry.setAttribute(
-        "position",
-        new THREE.BufferAttribute(positions(localSurfaceBodyXyzM), 3),
-      );
-      content.add(new THREE.Points(
-        localSurfaceGeometry,
-        new THREE.PointsMaterial({
-          color: tokenColor(host, "--nodedc-accent-rgb", [247, 248, 244]),
-          size: 1.3,
-          sizeAttenuation: false,
-          transparent: true,
-          opacity: 0.42,
-          depthWrite: false,
-        }),
-      ));
-    }
-
-    if (showCurrentIncrement) {
-      const contextGeometry = new THREE.BufferGeometry();
-      contextGeometry.setAttribute(
-        "position",
-        new THREE.BufferAttribute(positions(pointCloudBodyXyzM), 3),
-      );
-      const hasAlignedSemanticClasses =
-        pointSemanticClassIds !== undefined
-        && pointSemanticClassIds.length === pointCloudBodyXyzM.length
-        && semanticClasses !== undefined
-        && semanticPalette !== undefined;
-      if (hasAlignedSemanticClasses) {
-        const declaredIds = new Set(semanticClasses.map((item) => item.id));
-        const colorsByClassId = new Map<number, readonly [number, number, number]>();
-        for (const entry of semanticPalette) {
-          if (!declaredIds.has(entry.classId)) continue;
-          const rgb = resolveRecordedEvidenceSemanticRgb(host, entry.color);
-          if (rgb) colorsByClassId.set(entry.classId, rgb);
-        }
-        const context = tokenColor(host, "--nodedc-text-muted", [147, 151, 159]);
-        const pointColors = new Float32Array(pointCloudBodyXyzM.length * 3);
-        pointSemanticClassIds.forEach((classId, index) => {
-          const rgb = classId === null ? undefined : colorsByClassId.get(classId);
-          const offset = index * 3;
-          pointColors[offset] = rgb ? rgb[0] / 255 : context.r;
-          pointColors[offset + 1] = rgb ? rgb[1] / 255 : context.g;
-          pointColors[offset + 2] = rgb ? rgb[2] / 255 : context.b;
-        });
-        contextGeometry.setAttribute(
-          "color",
-          new THREE.BufferAttribute(pointColors, 3),
-        );
-      }
-      content.add(new THREE.Points(
-        contextGeometry,
-        new THREE.PointsMaterial({
-          color: hasAlignedSemanticClasses
-            ? new THREE.Color(1, 1, 1)
-            : tokenColor(host, "--nodedc-text-muted", [147, 151, 159]),
-          vertexColors: hasAlignedSemanticClasses,
-          size: 1.55,
-          sizeAttenuation: false,
-          transparent: true,
-          opacity: 0.58,
-          depthWrite: false,
-        }),
-      ));
-    }
-
     for (const obstacle of obstacles) {
       if (
+        (
+          !showLowStep
+          && obstacle.occupancySource !== undefined
+          && obstacle.occupancySource !== "baseline"
+        )
+        ||
         (obstacle.state === "current" && !showCurrentIncrement)
         || (obstacle.state === "retained" && !showRollingMap)
         || obstacle.state === "held"
@@ -306,7 +543,7 @@ LaboratoryMetricEvidenceSceneHandle,
       ) {
         continue;
       }
-      const color = decisionColor(host, obstacle.decision);
+      const color = obstacleColor(host, obstacle);
       if (obstacle.state === "retained") {
         const geometry = new THREE.BoxGeometry(
           occupiedVoxelSizeM * 0.82,
@@ -359,20 +596,150 @@ LaboratoryMetricEvidenceSceneHandle,
         content.add(centroid);
       }
     }
-
+    requestRenderRef.current();
   }, [
     obstacles,
     occupiedVoxelSizeM,
-    localSurfaceBodyXyzM,
-    pointCloudBodyXyzM,
-    pointSemanticClassIds,
-    semanticClasses,
-    semanticPalette,
     showCurrentIncrement,
-    showLocalSurface,
     showRollingMap,
+    showLowStep,
   ]);
 
+  useEffect(() => {
+    const host = hostRef.current;
+    const content = classifiedContentRef.current;
+    if (!host || !content) return;
+    const packedCellCount = classifiedPackedCells?.stateCodes.length ?? 0;
+    const packedCellsValid = !classifiedPackedCells || (
+      classifiedPackedCells.centersBodyXyM.length === packedCellCount * 2
+      && classifiedPackedCells.zBoundsM.length === packedCellCount * 2
+    );
+    const cellCount = packedCellsValid && classifiedPackedCells
+      ? packedCellCount
+      : classifiedCells.length;
+    content.visible = showClassifiedCells && cellCount > 0;
+    if (!content.visible) {
+      requestRenderRef.current();
+      return;
+    }
+
+    const requiredCapacity = cellCount;
+    const currentMeshes = classifiedMeshesRef.current;
+    const firstMesh = currentMeshes.values().next().value as THREE.InstancedMesh | undefined;
+    const needsAllocation = !firstMesh
+      || Number(firstMesh.userData.capacity ?? 0) < requiredCapacity
+      || Number(firstMesh.userData.cellSizeM ?? 0) !== classifiedCellSizeM;
+    if (needsAllocation) {
+      clearGroup(content);
+      const meshes = new Map<LaboratoryMetricCellState, THREE.InstancedMesh>();
+      const states: readonly LaboratoryMetricCellState[] = [
+        "unobserved",
+        "ground-support",
+        "nonground-occupied",
+        "unknown-rejected",
+      ];
+      for (const state of states) {
+        const color = state === "ground-support"
+          ? tokenColor(host, "--nodedc-success-rgb", [181, 255, 90])
+          : state === "nonground-occupied"
+            ? tokenColor(host, "--nodedc-danger-rgb", [255, 104, 112])
+            : state === "unknown-rejected"
+              ? tokenColor(host, "--nodedc-warning-rgb", [255, 197, 92])
+              : tokenColor(host, "--nodedc-text-muted", [96, 99, 106]);
+        const mesh = new THREE.InstancedMesh(
+          new THREE.BoxGeometry(classifiedCellSizeM * 0.92, 1, classifiedCellSizeM * 0.92),
+          new THREE.MeshBasicMaterial({
+            color,
+            transparent: true,
+            opacity: state === "unobserved" ? 0.035 : state === "ground-support" ? 0.12 : 0.24,
+            depthWrite: false,
+          }),
+          requiredCapacity,
+        );
+        mesh.count = 0;
+        mesh.instanceMatrix.setUsage(THREE.DynamicDrawUsage);
+        mesh.frustumCulled = false;
+        mesh.userData.capacity = requiredCapacity;
+        mesh.userData.cellSizeM = classifiedCellSizeM;
+        meshes.set(state, mesh);
+        content.add(mesh);
+      }
+      classifiedMeshesRef.current = meshes;
+    }
+
+    const meshes = classifiedMeshesRef.current;
+    const counts = new Map<LaboratoryMetricCellState, number>();
+    const matrix = new THREE.Matrix4();
+    const position = new THREE.Vector3();
+    const scale = new THREE.Vector3(1, 1, 1);
+    const rotation = new THREE.Quaternion();
+    const setCell = (
+      state: LaboratoryMetricCellState,
+      centerX: number,
+      centerY: number,
+      minimum: number | null,
+      maximum: number | null,
+    ) => {
+      const mesh = meshes.get(state);
+      if (!mesh) return;
+      const index = counts.get(state) ?? 0;
+      const height = minimum === null || maximum === null
+        ? 0.018
+        : Math.max(0.018, maximum - minimum);
+      const centerZ = minimum === null || maximum === null
+        ? -0.012
+        : (minimum + maximum) / 2;
+      const [sceneX, sceneY, sceneZ] = scenePoint([
+        centerX,
+        centerY,
+        centerZ,
+      ]);
+      position.set(sceneX, sceneY, sceneZ);
+      scale.set(1, height, 1);
+      matrix.compose(position, rotation, scale);
+      mesh.setMatrixAt(index, matrix);
+      counts.set(state, index + 1);
+    };
+    if (packedCellsValid && classifiedPackedCells) {
+      for (let cellIndex = 0; cellIndex < packedCellCount; cellIndex += 1) {
+        const code = classifiedPackedCells.stateCodes[cellIndex];
+        const state: LaboratoryMetricCellState = code === 1
+          ? "ground-support"
+          : code === 2
+            ? "nonground-occupied"
+            : code === 3
+              ? "unknown-rejected"
+              : code === 0
+                ? "unobserved"
+                : "unknown-rejected";
+        const minimum = classifiedPackedCells.zBoundsM[cellIndex * 2]!;
+        const maximum = classifiedPackedCells.zBoundsM[cellIndex * 2 + 1]!;
+        setCell(
+          state,
+          classifiedPackedCells.centersBodyXyM[cellIndex * 2]!,
+          classifiedPackedCells.centersBodyXyM[cellIndex * 2 + 1]!,
+          Number.isFinite(minimum) ? minimum : null,
+          Number.isFinite(maximum) ? maximum : null,
+        );
+      }
+    } else {
+      for (const cell of classifiedCells) {
+        setCell(
+          cell.state,
+          cell.centerBodyXyM[0],
+          cell.centerBodyXyM[1],
+          cell.zBoundsM[0],
+          cell.zBoundsM[1],
+        );
+      }
+    }
+    for (const [state, mesh] of meshes) {
+      mesh.count = counts.get(state) ?? 0;
+      mesh.instanceMatrix.needsUpdate = true;
+    }
+    requestRenderRef.current();
+  }, [classifiedCellSizeM, classifiedCells, classifiedPackedCells, showClassifiedCells]);
+
   useEffect(() => {
     const host = hostRef.current;
     const content = staticContentRef.current;
@@ -437,15 +804,24 @@ LaboratoryMetricEvidenceSceneHandle,
       material.depthWrite = false;
     });
     content.add(grid);
-  }, [corridor, rig]);
+    requestRenderRef.current();
+  }, [
+    corridor.forwardLengthM,
+    corridor.halfWidthM,
+    corridor.rearMarginM,
+    rig.lengthM,
+    rig.nominalSensorHeightM,
+    rig.widthM,
+  ]);
 
-  const resetView = () => {
+  const resetView = useCallback(() => {
     const camera = cameraRef.current;
     const controls = controlsRef.current;
     if (!camera || !controls) return;
-    controls.target.set(corridor.forwardLengthM * 0.35, 0.6, 0);
-    if (mode === "plan") {
-      camera.position.set(corridor.forwardLengthM * 0.35, 15, 0.001);
+    const forwardLengthM = corridorForwardLengthRef.current;
+    controls.target.set(forwardLengthM * 0.35, 0.6, 0);
+    if (modeRef.current === "plan") {
+      camera.position.set(forwardLengthM * 0.35, 15, 0.001);
       camera.up.set(0, 0, -1);
     } else {
       camera.position.set(-4.5, 4.8, 8.5);
@@ -453,10 +829,13 @@ LaboratoryMetricEvidenceSceneHandle,
     }
     camera.updateProjectionMatrix();
     controls.update();
-  };
+    requestRenderRef.current();
+  }, []);
 
-  useEffect(resetView, [corridor.forwardLengthM, mode]);
-  useImperativeHandle(ref, () => ({ resetView }));
+  // Playback data and rig object identities must never reset an operator's
+  // orbit. Only a deliberate 3D/PLAN mode transition chooses a default view.
+  useEffect(() => resetView(), [mode, resetView]);
+  useImperativeHandle(ref, () => ({ resetView }), [resetView]);
 
   const semanticLegendEntries = (() => {
     if (
@@ -478,6 +857,54 @@ LaboratoryMetricEvidenceSceneHandle,
       }];
     });
   })();
+  const metricLegendEntries = laboratoryMetricLegendEntries({
+    pointCloudCount: pointSemanticClassIds?.every((item) => item !== null)
+      ? 0
+      : pointCloudBodyXyzM.length,
+    localSurfaceCount: localSurfaceBodyXyzM.length,
+    obstacles,
+    showCurrentIncrement,
+    showLocalSurface,
+    showRollingMap,
+    showLowStep,
+  });
+  const classifiedLegendEntries = (() => {
+    const states = new Set<LaboratoryMetricCellState>();
+    if (classifiedPackedCells) {
+      for (const code of classifiedPackedCells.stateCodes) {
+        states.add(code === 1
+          ? "ground-support"
+          : code === 2
+            ? "nonground-occupied"
+            : code === 3
+              ? "unknown-rejected"
+              : code === 0
+                ? "unobserved"
+                : "unknown-rejected");
+      }
+    } else {
+      classifiedCells.forEach((cell) => states.add(cell.state));
+    }
+    if (!showClassifiedCells || !states.size) return [];
+    return [
+      states.has("ground-support")
+        ? { id: "ground-support" as const, label: "Ground support" }
+        : null,
+      states.has("nonground-occupied")
+        ? { id: "nonground-occupied" as const, label: "Non-ground occupied" }
+        : null,
+      states.has("unknown-rejected")
+        ? { id: "unknown-rejected" as const, label: "Unknown / rejected" }
+        : null,
+      states.has("unobserved")
+        ? { id: "unobserved" as const, label: "Unobserved" }
+        : null,
+    ]
+      .filter((entry): entry is NonNullable<typeof entry> => entry !== null)
+      .filter((entry) => !semanticLegendEntries.some(
+        (semanticEntry) => semanticEntry.label === entry.label,
+      ));
+  })();
 
   return (
     <div className="laboratory-metric-evidence-scene">
@@ -485,12 +912,22 @@ LaboratoryMetricEvidenceSceneHandle,
         {renderError ? <p>{renderError}</p> : null}
       </div>
       <div className="laboratory-metric-evidence-scene__legend">
-        <span data-decision="threat">Угроза</span>
-        <span data-decision="not-threat">Вне коридора</span>
-        <span data-decision="unknown">Неизвестно</span>
-        <span data-decision="context">Current increment</span>
-        <span data-decision="local-surface">Local SLAM surface</span>
-        <span data-decision="rolling">Rolling-map occupied</span>
+        {renderStats ? (
+          <span
+            data-decision="performance"
+            title="CPU-время отправки последнего WebGL render pass; это не GPU timer. В покое сцена не перерисовывается."
+          >
+            3D {renderStats.frameMs.toFixed(1)} ms · {renderStats.drawCalls} draw · {renderStats.triangles.toLocaleString("ru-RU")} tri · {(
+              classifiedPackedCells?.stateCodes.length ?? classifiedCells.length
+            ).toLocaleString("ru-RU")} cells · {renderStats.pixelRatio.toFixed(1)}×
+          </span>
+        ) : null}
+        {metricLegendEntries.map((entry) => (
+          <span key={entry.id} data-decision={entry.id}>{entry.label}</span>
+        ))}
+        {classifiedLegendEntries.map((entry) => (
+          <span key={entry.id} data-decision={entry.id}>{entry.label}</span>
+        ))}
         {semanticLegendEntries.map((entry) => (
           <span
             key={entry.id}

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

@@ -1,5 +1,5 @@
-import type { ReactNode } from "react";
-import { Select, StatusBadge } from "@nodedc/ui-react";
+import { useId, useState, type ReactNode } from "react";
+import { Icon, IconButton, Select, StatusBadge } from "@nodedc/ui-react";
 
 export interface LaboratoryOption<T extends string> {
   id: T;
@@ -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",
 };
 
@@ -146,78 +146,94 @@ export function LaboratorySummary({
   method?: LaboratoryMethod | null;
 }) {
   const methodComplete = method?.completeness === "complete";
+  const [expanded, setExpanded] = useState(false);
+  const detailsId = useId();
   return (
-    <section className="laboratory-summary">
+    <section className="laboratory-summary" data-expanded={expanded ? "true" : undefined}>
       <header>
-        <div>
+        <div className="laboratory-summary__heading">
           <span className="section-eyebrow">ЛАБОРАТОРНАЯ РАБОТА</span>
           <h2>{title}</h2>
-          <p>{description}</p>
         </div>
-        <StatusBadge tone={statusTone}>{status}</StatusBadge>
+        <div className="laboratory-summary__actions">
+          <StatusBadge tone={statusTone}>{status}</StatusBadge>
+          <IconButton
+            label={expanded ? "Свернуть подробности лабораторной работы" : "Раскрыть подробности лабораторной работы"}
+            aria-expanded={expanded}
+            aria-controls={detailsId}
+            onClick={() => setExpanded((current) => !current)}
+          >
+            <span className="laboratory-summary__toggle-glyph" aria-hidden="true">
+              <Icon name="chevron-down" />
+            </span>
+          </IconButton>
+        </div>
       </header>
 
-      <dl className="laboratory-summary__facts">
-        {facts.map((fact) => (
-          <div key={fact.label}>
-            <dt>{fact.label}</dt>
-            <dd>{fact.value}</dd>
-          </div>
-        ))}
-      </dl>
-
-      <dl className="laboratory-summary__brief">
-        <div>
-          <dt>Задача</dt>
-          <dd>{brief.question}</dd>
-        </div>
-        <div>
-          <dt>Как проверяли</dt>
-          <dd>{brief.approach}</dd>
-        </div>
-        <div>
-          <dt>Главный результат</dt>
-          <dd>{brief.principalResult}</dd>
-        </div>
-        <div>
-          <dt>Ограничение</dt>
-          <dd>{brief.limitation}</dd>
-        </div>
-      </dl>
-
-      {method ? (
-        <div className="laboratory-summary__method">
-          <header>
-            <div>
-              <span className="section-eyebrow">МЕТОД</span>
-              <strong>{method.pipelineId}</strong>
+      <div id={detailsId} className="laboratory-summary__details" hidden={!expanded}>
+        <p className="laboratory-summary__description">{description}</p>
+        <dl className="laboratory-summary__facts">
+          {facts.map((fact) => (
+            <div key={fact.label}>
+              <dt>{fact.label}</dt>
+              <dd>{fact.value}</dd>
             </div>
-            <small>
-              {EXECUTION_LABELS[method.executionClass]}
-              {" · "}
-              {methodComplete ? "полная идентичность" : "legacy · частично"}
-            </small>
-          </header>
-          <dl className="laboratory-summary__components">
-            {method.components.map((component, index) => (
-              <div key={`${component.kind}:${component.name}:${index}`}>
-                <dt>{COMPONENT_LABELS[component.kind]}</dt>
-                <dd>
-                  <strong>{component.name}</strong>
-                  <small>
-                    {component.role}
-                    {" · "}
-                    {component.version}
-                    {component.identitySha256
-                      ? ` · ${component.identitySha256.slice(0, 12)}`
-                      : ""}
-                  </small>
-                </dd>
+          ))}
+        </dl>
+
+        <dl className="laboratory-summary__brief">
+          <div>
+            <dt>Задача</dt>
+            <dd>{brief.question}</dd>
+          </div>
+          <div>
+            <dt>Как проверяли</dt>
+            <dd>{brief.approach}</dd>
+          </div>
+          <div>
+            <dt>Главный результат</dt>
+            <dd>{brief.principalResult}</dd>
+          </div>
+          <div>
+            <dt>Ограничение</dt>
+            <dd>{brief.limitation}</dd>
+          </div>
+        </dl>
+
+        {method ? (
+          <div className="laboratory-summary__method">
+            <header>
+              <div>
+                <span className="section-eyebrow">МЕТОД</span>
+                <strong>{method.pipelineId}</strong>
               </div>
-            ))}
-          </dl>
-        </div>
-      ) : null}
+              <small>
+                {EXECUTION_LABELS[method.executionClass]}
+                {" · "}
+                {methodComplete ? "полная идентичность" : "legacy · частично"}
+              </small>
+            </header>
+            <dl className="laboratory-summary__components">
+              {method.components.map((component, index) => (
+                <div key={`${component.kind}:${component.name}:${index}`}>
+                  <dt>{COMPONENT_LABELS[component.kind]}</dt>
+                  <dd>
+                    <strong>{component.name}</strong>
+                    <small>
+                      {component.role}
+                      {" · "}
+                      {component.version}
+                      {component.identitySha256
+                        ? ` · ${component.identitySha256.slice(0, 12)}`
+                        : ""}
+                    </small>
+                  </dd>
+                </div>
+              ))}
+            </dl>
+          </div>
+        ) : null}
+      </div>
     </section>
   );
 }

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

@@ -0,0 +1,241 @@
+import {
+  useCallback,
+  useEffect,
+  useMemo,
+  useRef,
+  useState,
+  type ReactNode,
+  type RefObject,
+} from "react";
+import { SplitPane } from "@nodedc/ui-react";
+
+import {
+  RecordedFmp4Player,
+  type RecordedObservationPlayback,
+} from "../RecordedFmp4Player";
+import { ObservationTimeline } from "../ObservationTimeline";
+import type { ObservationSourceDescriptor } from "../../core/runtime/contracts";
+
+export const LABORATORY_RECORDED_CLIP_VIEWER_CONTRACT =
+  "missioncore.laboratory-recorded-clip-viewer/v1" as const;
+
+export interface LaboratoryRecordedClipFrame {
+  sequence: number;
+  sourceTimeNs: number;
+}
+
+export function nearestLaboratoryRecordedClipFrame(
+  frames: readonly LaboratoryRecordedClipFrame[],
+  sourceTimeNs: number,
+): LaboratoryRecordedClipFrame | null {
+  if (!frames.length || !Number.isFinite(sourceTimeNs)) return null;
+  let left = 0;
+  let right = frames.length - 1;
+  while (left < right) {
+    const middle = Math.floor((left + right) / 2);
+    if (frames[middle]!.sourceTimeNs < sourceTimeNs) left = middle + 1;
+    else right = middle;
+  }
+  const next = frames[left]!;
+  const previous = frames[Math.max(0, left - 1)]!;
+  return Math.abs(previous.sourceTimeNs - sourceTimeNs)
+    <= Math.abs(next.sourceTimeNs - sourceTimeNs)
+    ? previous
+    : next;
+}
+
+export function laboratoryRecordedClipEndExclusiveNs(
+  frames: readonly LaboratoryRecordedClipFrame[],
+): number | null {
+  const last = frames.at(-1);
+  if (!last) return null;
+  const deltas = frames.slice(1).flatMap((frame, index) => {
+    const delta = frame.sourceTimeNs - frames[index]!.sourceTimeNs;
+    return Number.isSafeInteger(delta) && delta > 0 ? [delta] : [];
+  }).sort((left, right) => left - right);
+  const typicalDelta = deltas.length
+    ? deltas[Math.floor(deltas.length / 2)]!
+    : 100_000_000;
+  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,
+  frames,
+  sequence,
+  playing,
+  playbackRate,
+  cameraPresentation,
+  continuousPlayback,
+  sourceCount,
+  cameraRef,
+  cameraOverlay,
+  alternativeScene,
+  onSequenceChange,
+  onPlayingChange,
+  onPlaybackRateChange,
+}: {
+  source: ObservationSourceDescriptor;
+  segmentCount: number;
+  frames: readonly LaboratoryRecordedClipFrame[];
+  sequence: number;
+  playing: boolean;
+  playbackRate: number;
+  cameraPresentation: "primary" | "companion" | "hidden";
+  continuousPlayback: boolean;
+  sourceCount: number;
+  cameraRef?: RefObject<HTMLDivElement | null>;
+  cameraOverlay?: ReactNode;
+  alternativeScene?: ReactNode;
+  onSequenceChange: (sequence: number) => void;
+  onPlayingChange: (playing: boolean) => void;
+  onPlaybackRateChange: (rate: number) => void;
+}) {
+  const [companionSpatialSize, setCompanionSpatialSize] = useState(69);
+  const lastEmittedSequenceRef = useRef(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],
+  );
+  const endExclusiveNs = useMemo(
+    () => laboratoryRecordedClipEndExclusiveNs(frames),
+    [frames],
+  );
+  const playback = useMemo<RecordedObservationPlayback | null>(() => frame ? ({
+    currentSeconds: frame.sourceTimeNs / 1_000_000_000,
+    playing: continuousPlayback && playing,
+    rate: playbackRate,
+  }) : null, [continuousPlayback, frame, playbackRate, playing]);
+
+  useEffect(() => {
+    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) {
+      requestSequence(first.sequence);
+      return;
+    }
+    const nearest = nearestLaboratoryRecordedClipFrame(frames, sourceTimeNs);
+    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;
+  const companionVisible = cameraPresentation === "companion";
+  const spatialSize = companionVisible
+    ? companionSpatialSize
+    : cameraPresentation === "primary" ? 0 : 100;
+  const spatialPane = (
+    <div
+      className="laboratory-recorded-clip-player__spatial"
+      aria-hidden={cameraPresentation === "primary"}
+    >
+      {alternativeScene}
+    </div>
+  );
+  const cameraPane = (
+    <div
+      ref={cameraRef}
+      className="laboratory-recorded-clip-player__camera"
+      aria-hidden={cameraPresentation === "hidden"}
+    >
+      {playback ? (
+        <RecordedFmp4Player
+          source={source}
+          playback={playback}
+          interactive={false}
+          prepare
+          segmentSequence={frame?.sequence}
+          segmentCount={segmentCount}
+          admissionKey={`${source.id}:${source.delivery?.id ?? "recorded"}`}
+          onPlaybackChange={handlePlaybackChange}
+          onPlayingRejected={() => onPlayingChange(false)}
+        />
+      ) : null}
+      {cameraPresentation !== "hidden" ? cameraOverlay : null}
+    </div>
+  );
+  return (
+    <div
+      className="laboratory-recorded-clip-player"
+      data-contract={LABORATORY_RECORDED_CLIP_VIEWER_CONTRACT}
+      data-camera-presentation={cameraPresentation}
+    >
+      <div className="laboratory-recorded-clip-player__stage">
+        <SplitPane
+          className="laboratory-recorded-clip-player__split"
+          primary={spatialPane}
+          secondary={cameraPane}
+          primarySize={spatialSize}
+          onPrimarySizeChange={setCompanionSpatialSize}
+          orientation="vertical"
+          minPrimarySize={companionVisible ? 24 : 0}
+          minSecondarySize={companionVisible ? 24 : 0}
+          resizable={companionVisible}
+          separatorLabel="Изменить размер 3D/ПЛАН и правой камеры"
+        />
+      </div>
+      <ObservationTimeline
+        className="laboratory-recorded-clip-player__timeline"
+        active
+        sourceCount={sourceCount}
+        mode="recorded"
+        seekable
+        synchronization="frame-accurate"
+        rangeNs={{ min: timelineStart, max: Math.max(timelineEnd, timelineStart + 1) }}
+        currentNs={frame?.sourceTimeNs ?? timelineStart}
+        playing={continuousPlayback && playing}
+        playbackRate={continuousPlayback ? playbackRate : undefined}
+        onPlaybackRateChange={continuousPlayback ? onPlaybackRateChange : undefined}
+        onPlayingChange={continuousPlayback ? onPlayingChange : undefined}
+        onSeek={(timeNs) => {
+          const nearest = nearestLaboratoryRecordedClipFrame(frames, timeNs);
+          if (nearest) requestSequence(nearest.sequence);
+        }}
+        showJumpToEnd={false}
+      />
+    </div>
+  );
+}

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

@@ -0,0 +1,111 @@
+import {
+  useEffect,
+  useRef,
+  type KeyboardEvent as ReactKeyboardEvent,
+  type ReactNode,
+} from "react";
+import { createPortal } from "react-dom";
+
+const FOCUSABLE = [
+  "a[href]",
+  "button:not([disabled])",
+  "input:not([disabled])",
+  "select:not([disabled])",
+  "textarea:not([disabled])",
+  "[tabindex]:not([tabindex='-1'])",
+].join(",");
+
+function keepFocusInside(
+  event: ReactKeyboardEvent<HTMLElement>,
+  frame: HTMLElement,
+): void {
+  if (event.key !== "Tab") return;
+  const focusable = Array.from(frame.querySelectorAll<HTMLElement>(FOCUSABLE));
+  if (!focusable.length) {
+    event.preventDefault();
+    frame.focus();
+    return;
+  }
+  const first = focusable[0];
+  const last = focusable[focusable.length - 1];
+  if (event.shiftKey && document.activeElement === first) {
+    event.preventDefault();
+    last.focus();
+  } else if (!event.shiftKey && document.activeElement === last) {
+    event.preventDefault();
+    first.focus();
+  }
+}
+
+export function LaboratoryReviewWorkspaceFrame({
+  ariaLabel,
+  toolbar,
+  stage,
+  inspector,
+  overlays,
+  interactionEnabled = true,
+  returnFocusTarget,
+  onClose,
+}: {
+  ariaLabel: string;
+  toolbar: ReactNode;
+  stage: ReactNode;
+  inspector?: ReactNode;
+  overlays?: ReactNode;
+  interactionEnabled?: boolean;
+  returnFocusTarget?: HTMLElement | null;
+  onClose: () => void;
+}) {
+  const frameRef = useRef<HTMLElement>(null);
+  const onCloseRef = useRef(onClose);
+  onCloseRef.current = onClose;
+
+  useEffect(() => {
+    if (typeof document === "undefined") return;
+    const previousFocus = document.activeElement instanceof HTMLElement
+      ? document.activeElement
+      : null;
+    const previousOverflow = document.body.style.overflow;
+    document.body.style.overflow = "hidden";
+    const animationFrame = window.requestAnimationFrame(() => {
+      const firstFocusable = frameRef.current?.querySelector<HTMLElement>(FOCUSABLE);
+      (firstFocusable ?? frameRef.current)?.focus();
+    });
+    return () => {
+      window.cancelAnimationFrame(animationFrame);
+      document.body.style.overflow = previousOverflow;
+      const target = returnFocusTarget?.isConnected ? returnFocusTarget : previousFocus;
+      window.requestAnimationFrame(() => target?.focus());
+    };
+  }, [returnFocusTarget]);
+
+  if (typeof document === "undefined") return null;
+
+  return createPortal(
+    <section
+      ref={frameRef}
+      className="laboratory-review-workspace"
+      role="dialog"
+      aria-modal="true"
+      aria-label={ariaLabel}
+      data-has-inspector={inspector ? "true" : undefined}
+      tabIndex={-1}
+      onKeyDown={(event) => {
+        if (!interactionEnabled) return;
+        if (event.key === "Escape") {
+          event.preventDefault();
+          event.stopPropagation();
+          onCloseRef.current();
+          return;
+        }
+        keepFocusInside(event, event.currentTarget);
+      }}
+    >
+      <header className="laboratory-review-workspace__toolbar">{toolbar}</header>
+      <div className="laboratory-review-workspace__stage">{stage}</div>
+      {inspector ? <footer className="laboratory-review-workspace__inspector">{inspector}</footer> : null}
+      {overlays}
+    </section>,
+    document.body,
+  );
+}

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/RecordedEvidenceImageScene.tsx

@@ -9,6 +9,10 @@ import {
   RecordedEvidenceSemanticMaskOverlay,
   type RecordedEvidenceSemanticOverlay,
 } from "./RecordedEvidenceSemanticMaskOverlay";
+import {
+  RecordedEvidencePointCloudOverlay,
+  type RecordedEvidencePointCloudOverlayData,
+} from "./RecordedEvidencePointCloudOverlay";
 
 export function RecordedEvidenceImageScene({
   src,
@@ -16,6 +20,7 @@ export function RecordedEvidenceImageScene({
   imageHeight,
   boxes,
   semanticOverlay,
+  pointCloudOverlay,
   ariaLabel,
 }: {
   src: string;
@@ -23,6 +28,7 @@ export function RecordedEvidenceImageScene({
   imageHeight: number;
   boxes: readonly RecordedEvidenceBox[];
   semanticOverlay?: RecordedEvidenceSemanticOverlay;
+  pointCloudOverlay?: RecordedEvidencePointCloudOverlayData;
   ariaLabel: string;
 }) {
   const [state, setState] = useState<"loading" | "ready" | "error">("loading");
@@ -47,6 +53,13 @@ export function RecordedEvidenceImageScene({
               imageHeight={imageHeight}
             />
           ) : null}
+          {pointCloudOverlay ? (
+            <RecordedEvidencePointCloudOverlay
+              imageWidth={imageWidth}
+              imageHeight={imageHeight}
+              overlay={pointCloudOverlay}
+            />
+          ) : null}
           <RecordedEvidenceBoxOverlay
             imageWidth={imageWidth}
             imageHeight={imageHeight}

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

@@ -0,0 +1,91 @@
+import { useEffect, useRef } from "react";
+
+export type RecordedEvidenceProjectedPoint = readonly [number, number, number];
+
+export interface RecordedEvidencePointCloudOverlayData {
+  pointsXyd: readonly RecordedEvidenceProjectedPoint[];
+  sourcePointCount: number;
+  projectedPointCount: number;
+  projection:
+    | "factory-kb4-exact"
+    | "factory-kb4-causal-registered-accumulation";
+  ariaLabel: string;
+}
+
+const DEPTH_BUCKETS = 64;
+
+function depthBucket(depthM: number): number {
+  const normalized = Math.max(0, Math.min(1, (depthM - 0.5) / 24));
+  return Math.round(normalized * (DEPTH_BUCKETS - 1));
+}
+
+function depthColor(bucket: number): string {
+  const hue = 18 + bucket / (DEPTH_BUCKETS - 1) * 190;
+  return `hsla(${hue}, 96%, 62%, 0.86)`;
+}
+
+export function RecordedEvidencePointCloudOverlay({
+  imageWidth,
+  imageHeight,
+  overlay,
+}: {
+  imageWidth: number;
+  imageHeight: number;
+  overlay: RecordedEvidencePointCloudOverlayData;
+}) {
+  const canvasRef = useRef<HTMLCanvasElement | null>(null);
+
+  useEffect(() => {
+    const canvas = canvasRef.current;
+    const host = canvas?.parentElement;
+    if (!canvas || !host) return;
+    const context = canvas.getContext("2d");
+    if (!context) return;
+
+    const render = () => {
+      const width = Math.max(host.clientWidth, 1);
+      const height = Math.max(host.clientHeight, 1);
+      const pixelRatio = Math.min(window.devicePixelRatio, 1.5);
+      canvas.width = Math.round(width * pixelRatio);
+      canvas.height = Math.round(height * pixelRatio);
+      canvas.style.width = `${width}px`;
+      canvas.style.height = `${height}px`;
+      context.setTransform(pixelRatio, 0, 0, pixelRatio, 0, 0);
+      context.clearRect(0, 0, width, height);
+
+      const scale = Math.min(width / imageWidth, height / imageHeight);
+      const offsetX = (width - imageWidth * scale) / 2;
+      const offsetY = (height - imageHeight * scale) / 2;
+      const radius = Math.max(0.8, Math.min(2.2, scale * 1.45));
+      const buckets = Array.from(
+        { length: DEPTH_BUCKETS },
+        (): [number, number][] => [],
+      );
+      for (const [imageX, imageY, depthM] of overlay.pointsXyd) {
+        const bucket = depthBucket(depthM);
+        buckets[bucket]!.push([
+          offsetX + imageX * scale,
+          offsetY + imageY * scale,
+        ]);
+      }
+      for (let bucket = 0; bucket < buckets.length; bucket += 1) {
+        const points = buckets[bucket];
+        if (!points?.length) continue;
+        context.beginPath();
+        for (const [x, y] of points) {
+          context.moveTo(x + radius, y);
+          context.arc(x, y, radius, 0, Math.PI * 2);
+        }
+        context.fillStyle = depthColor(bucket);
+        context.fill();
+      }
+    };
+
+    const observer = new ResizeObserver(render);
+    observer.observe(host);
+    render();
+    return () => observer.disconnect();
+  }, [imageHeight, imageWidth, overlay]);
+
+  return <canvas ref={canvasRef} role="img" aria-label={overlay.ariaLabel} />;
+}

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

@@ -510,16 +510,21 @@ export function RecordedEvidenceSemanticMaskOverlay({
 }) {
   const canvasRef = useRef<HTMLCanvasElement | null>(null);
   const rendererRef = useRef<SemanticMaskRenderer | null | undefined>(undefined);
+  const lastReadyMaskRef = useRef<{ series: string; mask: DecodedSemanticMask } | null>(null);
   const [rendererMode, setRendererMode] = useState<"webgl" | "2d">("webgl");
   const [mask, setMask] = useState<DecodedSemanticMask | null>(null);
   const [failure, setFailure] = useState<string | null>(null);
   const expectedKey = semanticMaskKey(src, imageWidth, imageHeight);
   const prefetchSignature = prefetchSrcs.join("\n");
-  const renderMask = failure
+  const series = src.slice(0, Math.max(src.lastIndexOf("/"), 0));
+  if (lastReadyMaskRef.current?.series !== series) lastReadyMaskRef.current = null;
+  const exactMask = failure
     ? null
     : mask?.key === expectedKey
       ? mask
       : decodedMaskCache.get(expectedKey) ?? null;
+  if (exactMask) lastReadyMaskRef.current = { series, mask: exactMask };
+  const renderMask = exactMask ?? lastReadyMaskRef.current?.mask ?? null;
 
   useEffect(() => {
     setFailure(null);
@@ -627,8 +632,8 @@ export function RecordedEvidenceSemanticMaskOverlay({
         className="recorded-evidence-semantic-mask-overlay"
         role="img"
         aria-label={ariaLabel}
-        aria-busy={!failure && !renderMask}
-        data-state={failure ? "error" : renderMask ? "ready" : "loading"}
+        aria-busy={!failure && !exactMask}
+        data-state={failure ? "error" : exactMask ? "ready" : renderMask ? "stale" : "loading"}
         data-renderer={rendererMode}
         style={{ zIndex: 1 }}
       />

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,
@@ -12,6 +15,10 @@ import {
   RecordedEvidenceSemanticMaskOverlay,
   type RecordedEvidenceSemanticOverlay,
 } from "./RecordedEvidenceSemanticMaskOverlay";
+import {
+  RecordedEvidencePointCloudOverlay,
+  type RecordedEvidencePointCloudOverlayData,
+} from "./RecordedEvidencePointCloudOverlay";
 
 export type { RecordedEvidenceBox, RecordedEvidenceBoxTone };
 
@@ -21,21 +28,69 @@ export function RecordedEvidenceVideoScene({
   imageWidth,
   imageHeight,
   boxes,
+  overlaySeconds,
   semanticOverlay,
+  pointCloudOverlay,
   ariaLabel,
   interactive = true,
+  segmentSequence,
+  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;
   interactive?: boolean;
+  segmentSequence?: number;
+  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
@@ -43,21 +98,37 @@ export function RecordedEvidenceVideoScene({
         playback={playback}
         interactive={interactive}
         prepare
-        onPlaybackChange={onPlaybackChange}
+        segmentSequence={segmentSequence}
+        segmentCount={segmentCount}
+        onPlaybackChange={handlePlaybackChange}
+        onPlayingRejected={onPlayingRejected}
+        onAdmissionChange={handleAdmissionChange}
+        playbackAuthority={playbackAuthority}
+        playbackTransport={playbackTransport}
+        recoverTimestampStalls={recoverTimestampStalls}
       />
-      {semanticOverlay ? (
+      {overlaysPresented && semanticOverlay ? (
         <RecordedEvidenceSemanticMaskOverlay
           {...semanticOverlay}
           imageWidth={imageWidth}
           imageHeight={imageHeight}
         />
       ) : null}
-      <RecordedEvidenceBoxOverlay
-        imageWidth={imageWidth}
-        imageHeight={imageHeight}
-        boxes={boxes}
-        ariaLabel={ariaLabel}
-      />
+      {overlaysPresented && pointCloudOverlay ? (
+        <RecordedEvidencePointCloudOverlay
+          imageWidth={imageWidth}
+          imageHeight={imageHeight}
+          overlay={pointCloudOverlay}
+        />
+      ) : null}
+      {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

@@ -40,8 +40,33 @@ export function advanceRecordedEvidencePlayback(
   return { ...playback, currentSeconds: clampRecordedEvidenceSeconds(next, range) };
 }
 
+export function synchronizeRecordedEvidencePlayback(
+  current: RecordedObservationPlayback,
+  observed: RecordedObservationPlayback,
+  range: RecordedEvidencePlaybackRange,
+): RecordedObservationPlayback {
+  if (!current.playing) {
+    // A paused transport also covers every explicit operator seek. Native
+    // callbacks from the previously displayed frame remain stale until the
+    // controlled video effect has applied that target, so they cannot move the
+    // shared LAB clock at all while the operator state is paused.
+    return current;
+  }
+  const currentSeconds = clampRecordedEvidenceSeconds(observed.currentSeconds, range);
+  return {
+    ...current,
+    currentSeconds,
+    // The transport button owns play/pause intent. A native frame callback may
+    // still report the previous media state immediately after an operator
+    // command, so it must not restart playback. The sealed end is the only
+    // media-clock transition allowed to stop the shared LAB clock.
+    playing: currentSeconds >= range.endSeconds ? false : current.playing,
+  };
+}
+
 export function useRecordedEvidencePlayback(
   range: RecordedEvidencePlaybackRange | null,
+  { clock = "animation" }: { clock?: "animation" | "external" } = {},
 ) {
   const [playback, setPlayback] = useState<RecordedObservationPlayback>({
     currentSeconds: 0,
@@ -60,7 +85,7 @@ export function useRecordedEvidencePlayback(
   }, [range]);
 
   useEffect(() => {
-    if (!validRange(range) || !playback.playing) return;
+    if (!validRange(range) || !playback.playing || clock === "external") return;
     let animationFrame = 0;
     let previous = performance.now();
     const tick = (now: number) => {
@@ -76,7 +101,7 @@ export function useRecordedEvidencePlayback(
     };
     animationFrame = window.requestAnimationFrame(tick);
     return () => window.cancelAnimationFrame(animationFrame);
-  }, [playback.playing, range]);
+  }, [clock, playback.playing, range]);
 
   const seek = useCallback((seconds: number, pause = true) => {
     if (!validRange(range)) return;
@@ -103,10 +128,20 @@ export function useRecordedEvidencePlayback(
     setPlayback((current) => ({ ...current, rate }));
   }, []);
 
+  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));
+  }, [clock, range]);
+
   return useMemo(() => ({
     playback,
     seek,
     setPlaying,
     setRate,
-  }), [playback, seek, setPlaying, setRate]);
+    synchronize,
+  }), [playback, seek, setPlaying, setRate, synchronize]);
 }

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

@@ -0,0 +1,630 @@
+import {
+  Application,
+  Asset,
+  BLEND_NONE,
+  BLEND_NORMAL,
+  Color,
+  CULLFACE_NONE,
+  Entity,
+  FILLMODE_NONE,
+  Mat4,
+  Quat,
+  RESOLUTION_AUTO,
+  StandardMaterial,
+  Vec2,
+  Vec3,
+  WasmModule,
+  type ContainerResource,
+  type ModelComponent,
+  type ScriptType,
+} from "playcanvas";
+import { CameraControls } from "playcanvas/scripts/esm/camera-controls.mjs";
+
+import {
+  prepareSimulationPhysics,
+  SimulationUgvController,
+  type AmmoApi,
+} from "./SimulationUgvController";
+
+import type {
+  SimulationEulerRotation,
+  SimulationUgvPreset,
+  SimulationViewerQuality,
+  SimulationWorldManifest,
+} from "../../core/simulation/projects";
+
+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 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;
+  home(): void;
+  focusBounds(): void;
+  dispose(): void;
+}
+
+type DesktopCameraInput = {
+  read(): { mouse: number[] } & Record<string, number[]>;
+};
+
+type CameraController = ScriptType & Pick<CameraControls, "reset" | "focus"> & {
+  _desktopInput?: DesktopCameraInput;
+  _state?: {
+    axis: Vec3;
+    shift: number;
+    ctrl: number;
+    mouse: number[];
+    touches: number;
+  };
+};
+
+const HOME_POSITION = new Vec3(0, 1, 0);
+const HOME_FOCUS = new Vec3(1, 1, 0);
+const DRACO_DECODER_ROOT = "/vendor/playcanvas/draco/1.5.7";
+
+const QUALITY_PROFILES: Record<SimulationQuality, {
+  lodBaseDistance: number;
+  lodMultiplier: number;
+  lodRangeMin: number;
+  lodRangeMax: number;
+  pixelRatio: number;
+  splatBudget: number;
+  targetFps: number;
+}> = {
+  low: { lodBaseDistance: 5, lodMultiplier: 2, lodRangeMin: 3, lodRangeMax: 5, pixelRatio: 0.75, splatBudget: 350_000, targetFps: 30 },
+  medium: { lodBaseDistance: 5, lodMultiplier: 2, lodRangeMin: 2, lodRangeMax: 5, pixelRatio: 1, splatBudget: 700_000, targetFps: 45 },
+  high: { lodBaseDistance: 5, lodMultiplier: 3, lodRangeMin: 1, lodRangeMax: 5, pixelRatio: 1.25, splatBudget: 1_200_000, targetFps: 60 },
+  ultra: { lodBaseDistance: 7, lodMultiplier: 3, lodRangeMin: 0, lodRangeMax: 5, pixelRatio: 1.5, splatBudget: 2_500_000, targetFps: 60 },
+  maximum: { lodBaseDistance: 7, lodMultiplier: 3, lodRangeMin: 0, lodRangeMax: 5, pixelRatio: 2, splatBudget: 4_000_000, targetFps: 60 },
+};
+
+export class PlayCanvasRuntime implements SimulationRuntime {
+  private app: Application | null = null;
+  private canvas: HTMLCanvasElement | null = null;
+  private camera: Entity | null = null;
+  private cameraController: CameraController | null = null;
+  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;
+  private collisionLoadPromise: Promise<void> | null = null;
+  private resizeObserver: ResizeObserver | null = null;
+  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 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("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);
+    const app = new Application(canvas, {
+      graphicsDeviceOptions: {
+        antialias: true,
+        alpha: false,
+        preserveDrawingBuffer: false,
+        powerPreference: "high-performance",
+      },
+    });
+    this.app = app;
+    app.autoRender = false;
+    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);
+
+    const camera = new Entity("SimulationCamera");
+    camera.addComponent("camera", {
+      clearColor: new Color(0.025, 0.03, 0.04),
+      nearClip: 0.02,
+      farClip: 20_000,
+      fov: 58,
+    });
+    camera.setPosition(HOME_POSITION);
+    camera.lookAt(HOME_FOCUS);
+    camera.addComponent("script");
+    const controller = camera.script?.create(CameraControls, {
+      properties: {
+        enableOrbit: true,
+        enableFly: true,
+        focusPoint: new Vec3(0, 0, 0),
+        zoomRange: new Vec2(0.05, 20_000),
+      },
+    }) as CameraController | null;
+    if (controller) configureCameraDrag(controller, () => this.cameraInversion);
+    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", {
+      type: "directional",
+      color: new Color(1, 0.97, 0.9),
+      intensity: 1.1,
+      castShadows: false,
+    });
+    light.setEulerAngles(42, 28, 0);
+    app.root.addChild(light);
+
+    this.resizeObserver = new ResizeObserver(() => this.resize());
+    this.resizeObserver.observe(canvas.parentElement ?? canvas);
+    this.resize();
+    app.start();
+    await Promise.resolve();
+  }
+
+  async loadWorld(manifest: SimulationWorldManifest): Promise<void> {
+    const app = this.requiredApp();
+    this.unloadWorld();
+    const sourceUrl = manifest.visual.streamedSogUrl ?? manifest.visual.previewSogUrl;
+    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;
+    await new Promise<void>((resolve, reject) => {
+      const ready = (loaded: Asset) => {
+        if (this.disposed || !this.app) {
+          loaded.unload();
+          resolve();
+          return;
+        }
+        const visual = new Entity("GaussianWorld");
+        visual.enabled = false;
+        applyWorldTransform(visual, manifest.transforms.worldFromVisual);
+        app.root.addChild(visual);
+        visual.addComponent("gsplat", {
+          asset: loaded,
+          unified: true,
+        });
+        visual.enabled = true;
+        this.visualEntity = visual;
+        this.applyQuality();
+        this.applyViewMode();
+        this.requestRender();
+        resolve();
+      };
+      const failed = (_error: unknown) => {
+        reject(new Error("Визуальный слой не загрузился."));
+      };
+      asset.ready(ready);
+      asset.once("error", failed);
+      app.assets.load(asset);
+    });
+    if (manifest.collision.available && manifest.collision.meshUrl) {
+      this.collisionSource = {
+        meshUrl: manifest.collision.meshUrl,
+        projectId: manifest.projectId,
+        worldTransform: manifest.transforms.worldFromCollision,
+      };
+    }
+    this.applyViewMode();
+    this.home();
+  }
+
+  async setViewMode(mode: SimulationViewMode): Promise<void> {
+    this.viewMode = mode;
+    this.applyViewMode();
+    try {
+      if (mode !== "visual" && !this.collisionEntity) {
+        await this.ensureCollision();
+        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 {
+    if (transform.length !== 16) {
+      throw new Error("World transform должен содержать матрицу 4×4.");
+    }
+    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 {
+    this.cameraInversion[axis] = inverted;
+  }
+
+  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);
+    } else if (this.camera) {
+      this.camera.setPosition(HOME_POSITION);
+      this.camera.lookAt(HOME_FOCUS);
+    }
+    this.requestRender();
+    this.canvas?.focus({ preventScroll: true });
+  }
+
+  focusBounds(): void {
+    this.resetCameraInteraction();
+    const bounds = this.visualEntity?.gsplat?.customAabb;
+    const focus = bounds?.center.clone() ?? new Vec3(0, 0, 0);
+    const radius = bounds?.halfExtents.length() ?? 3;
+    const distance = Math.max(1, radius * 2.4);
+    const position = new Vec3(1, 0.55, 1).normalize().mulScalar(distance).add(focus);
+    if (this.cameraController) {
+      this.cameraController.reset(focus, position);
+    } else if (this.camera) {
+      this.camera.setPosition(position);
+      this.camera.lookAt(focus);
+    }
+    this.requestRender();
+  }
+
+  dispose(): void {
+    if (this.disposed) return;
+    this.disposed = true;
+    this.resizeObserver?.disconnect();
+    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.systems.gsplat?.off("frame:request", this.requestGsplatFrame);
+      this.app.off("update", this.updateFrame);
+      this.app.destroy();
+    }
+    webgl?.getExtension("WEBGL_lose_context")?.loseContext();
+    if (this.canvas) {
+      this.canvas.width = 1;
+      this.canvas.height = 1;
+    }
+    if (this.canvas) {
+      this.canvas.removeEventListener("contextmenu", preventContextMenu);
+      this.canvas.removeEventListener("pointerdown", focusCanvas, true);
+    }
+    this.app = null;
+    this.canvas = null;
+    this.camera = null;
+    this.cameraController = null;
+    this.controlMode = "free";
+    this.cameraSnapshotReady = false;
+  }
+
+  private requiredApp(): Application {
+    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 {
+    if (this.visualEntity) {
+      this.visualEntity.enabled = this.viewMode !== "collision" || !this.collisionEntity;
+    }
+    if (this.collisionEntity) {
+      // 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 : 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;
+    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) {
+      state.axis.set(0, 0, 0);
+      state.shift = 0;
+      state.ctrl = 0;
+      state.mouse.fill(0);
+      state.touches = 0;
+    }
+  }
+
+  private applyQuality(): void {
+    const gsplat = this.visualEntity?.gsplat;
+    const profile = QUALITY_PROFILES[this.quality];
+    if (gsplat) {
+      gsplat.lodBaseDistance = profile.lodBaseDistance;
+      gsplat.lodMultiplier = profile.lodMultiplier;
+      gsplat.lodRangeMin = profile.lodRangeMin;
+      gsplat.lodRangeMax = profile.lodRangeMax;
+    }
+    if (this.app) {
+      this.app.scene.gsplat.splatBudget = profile.splatBudget;
+      this.renderIntervalMs = 1000 / profile.targetFps;
+      const devicePixelRatio = window.devicePixelRatio || 1;
+      this.app.graphicsDevice.maxPixelRatio = Math.min(devicePixelRatio, profile.pixelRatio);
+      this.resize();
+    }
+  }
+
+  private async loadCollision(meshUrl: string, projectId: string, worldTransform: number[]): Promise<void> {
+    const app = this.requiredApp();
+    const asset = new Asset(
+      `SimulationCollision:${projectId}`,
+      "container",
+      { url: meshUrl, filename: "scene.collision.glb" },
+    );
+    app.assets.add(asset);
+    this.collisionAsset = asset;
+    await new Promise<void>((resolve, reject) => {
+      asset.ready((loaded) => {
+        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)}`,
+          ));
+        }
+      });
+      asset.once("error", (error: unknown) => {
+        reject(new Error(`Слой коллизий не загрузился: ${String(error)}`));
+      });
+      app.assets.load(asset);
+    });
+  }
+
+  private async ensureCollision(): Promise<void> {
+    if (this.collisionEntity) return;
+    if (!this.collisionSource) {
+      throw new Error("Слой коллизий отсутствует в манифесте локации.");
+    }
+    if (!this.collisionLoadPromise) {
+      this.collisionLoadPromise = this.loadCollision(
+        this.collisionSource.meshUrl,
+        this.collisionSource.projectId,
+        this.collisionSource.worldTransform,
+      ).finally(() => {
+        this.collisionLoadPromise = null;
+      });
+    }
+    await this.collisionLoadPromise;
+  }
+
+  private unloadWorld(): void {
+    this.controlRequestVersion += 1;
+    this.ugvController?.disable();
+    this.controlMode = "free";
+    if (this.cameraController) this.cameraController.enabled = true;
+    if (this.visualEntity) {
+      this.visualEntity.destroy();
+      this.visualEntity = null;
+    }
+    if (this.visualAsset && this.app) {
+      this.app.assets.remove(this.visualAsset);
+      this.visualAsset.unload();
+      this.visualAsset = null;
+    }
+    if (this.collisionEntity) {
+      this.collisionEntity.destroy();
+      this.collisionEntity = null;
+    }
+    this.collisionVisuals = [];
+    if (this.collisionAsset && this.app) {
+      this.app.assets.remove(this.collisionAsset);
+      this.collisionAsset.unload();
+      this.collisionAsset = null;
+    }
+    this.collisionMaterial?.destroy();
+    this.collisionMaterial = null;
+    this.collisionSource = null;
+    this.collisionLoadPromise = null;
+  }
+}
+
+function preventContextMenu(event: Event): void {
+  event.preventDefault();
+}
+
+function configureDracoDecoder(): void {
+  if (WasmModule.getConfig("DracoDecoderModule")) return;
+  WasmModule.setConfig("DracoDecoderModule", {
+    glueUrl: `${DRACO_DECODER_ROOT}/draco_wasm_wrapper_gltf.js`,
+    wasmUrl: `${DRACO_DECODER_ROOT}/draco_decoder_gltf.wasm`,
+    numWorkers: 2,
+  });
+}
+
+function focusCanvas(event: Event): void {
+  (event.currentTarget as HTMLCanvasElement | null)?.focus({ preventScroll: true });
+}
+
+function configureCameraDrag(
+  controller: CameraController,
+  inversion: () => { horizontal: boolean; vertical: boolean },
+): void {
+  // CameraControls 2.21.4 deliberately exposes one pinned input source here.
+  // Keep its pointer-capture and fly/orbit behavior; only the user-selected axes change sign.
+  const input = controller._desktopInput;
+  if (!input) return;
+  const read = input.read.bind(input);
+  input.read = () => {
+    const frame = read();
+    const selected = inversion();
+    if (selected.horizontal && frame.mouse.length > 0) frame.mouse[0] *= -1;
+    if (selected.vertical && frame.mouse.length > 1) frame.mouse[1] *= -1;
+    return frame;
+  };
+}
+
+function applyWorldTransform(entity: Entity, values: number[]): void {
+  const transform = new Mat4().set(values);
+  entity.setLocalPosition(transform.getTranslation());
+  entity.setLocalEulerAngles(transform.getEulerAngles());
+  entity.setLocalScale(transform.getScale());
+}

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

@@ -0,0 +1,263 @@
+import { useEffect, useMemo, useRef, useState, type DragEvent } from "react";
+import {
+  ActivityIndicator,
+  Button,
+  FieldFrame,
+  Icon,
+  Select,
+  TextField,
+  Window,
+  WindowFooterActions,
+} from "@nodedc/ui-react";
+
+import {
+  createAndUploadSimulationProject,
+  updateSimulationProject,
+  type SimulationProject,
+  type SimulationSceneType,
+  type SimulationUploadCandidate,
+  type SimulationUploadProgress,
+} from "../../core/simulation/projects";
+import {
+  candidatesFromDrop,
+  validateSimulationCandidates,
+} from "../../core/simulation/sourceFiles";
+
+export function SimulationProjectWindow({
+  open,
+  project,
+  onClose,
+  onSaved,
+}: {
+  open: boolean;
+  project: SimulationProject | null;
+  onClose: () => void;
+  onSaved: (project: SimulationProject) => void;
+}) {
+  const archiveInput = useRef<HTMLInputElement>(null);
+  const folderInput = useRef<HTMLInputElement>(null);
+  const [name, setName] = useState("");
+  const [sceneType, setSceneType] = useState<SimulationSceneType>("outdoor");
+  const [candidates, setCandidates] = useState<SimulationUploadCandidate[]>([]);
+  const [dragging, setDragging] = useState(false);
+  const [pending, setPending] = useState(false);
+  const [progress, setProgress] = useState<SimulationUploadProgress | null>(null);
+  const [error, setError] = useState<string | null>(null);
+
+  useEffect(() => {
+    if (!open) return;
+    setName(project?.name ?? "");
+    setSceneType(project?.sceneType ?? "outdoor");
+    setCandidates([]);
+    setProgress(null);
+    setPending(false);
+    setError(null);
+  }, [open, project]);
+
+  const sourceSummary = useMemo(() => summarizeCandidates(candidates), [candidates]);
+  const canSubmit = name.trim().length > 0 && (project !== null || candidates.length > 0) && !pending;
+
+  const acceptCandidates = (next: SimulationUploadCandidate[]) => {
+    try {
+      validateSimulationCandidates(next);
+      setCandidates(next);
+      setError(null);
+      if (!name.trim() && next.length) {
+        const named = next.find((candidate) => /\.lcc2?$/i.test(candidate.logicalPath)) ?? next[0];
+        const first = named?.logicalPath.split("/").filter(Boolean).at(-1) ?? "Новая сцена";
+        setName(first.replace(/\.(lcc2?|zip|rar|7z)$/i, ""));
+      }
+    } catch (caught) {
+      setCandidates([]);
+      setError(caught instanceof Error ? caught.message : "Источник не принят.");
+    }
+  };
+
+  const submit = async () => {
+    if (!canSubmit) return;
+    setPending(true);
+    setError(null);
+    try {
+      const saved = project
+        ? await updateSimulationProject(project.projectId, name, sceneType)
+        : await createAndUploadSimulationProject(
+            name,
+            sceneType,
+            candidates,
+            setProgress,
+          );
+      onSaved(saved);
+    } catch (caught) {
+      setError(caught instanceof Error ? caught.message : "Не удалось сохранить проект.");
+      setPending(false);
+    }
+  };
+
+  const handleDrop = async (event: DragEvent<HTMLDivElement>) => {
+    event.preventDefault();
+    setDragging(false);
+    try {
+      acceptCandidates(await candidatesFromDrop(event.dataTransfer));
+    } catch (caught) {
+      setError(caught instanceof Error ? caught.message : "Не удалось прочитать источник.");
+    }
+  };
+
+  return (
+    <Window
+      open={open}
+      title={project ? "Редактировать проект" : "Новый проект симуляции"}
+      subtitle={project ? "Метаданные сцены" : "LCC/LCC2 folder или ZIP/RAR/7z"}
+      size="md"
+      closeOnBackdrop={!pending}
+      closeOnEscape={!pending}
+      onClose={onClose}
+      footer={(
+        <>
+          <span className="simulation-project-window__footer-state">
+            {pending && project ? <><ActivityIndicator /><span>Сохраняем</span></> : null}
+          </span>
+          <WindowFooterActions>
+            <Button disabled={pending} onClick={onClose}>Отмена</Button>
+            <Button variant="primary" disabled={!canSubmit} onClick={() => void submit()}>
+              {project ? "Сохранить" : "Создать и запустить"}
+            </Button>
+          </WindowFooterActions>
+        </>
+      )}
+    >
+      <div className="simulation-project-window">
+        <TextField
+          label="Название"
+          value={name}
+          maxLength={120}
+          disabled={pending}
+          autoComplete="off"
+          onChange={(event) => setName(event.currentTarget.value)}
+        />
+        <FieldFrame label="Тип сцены" description="Сохраняется как профиль будущей физики и навигации.">
+          <Select
+            label="Тип сцены"
+            value={sceneType}
+            disabled={pending}
+            onChange={(value) => setSceneType(value)}
+            options={[
+              { value: "outdoor", label: "Улица" },
+              { value: "interior", label: "Интерьер" },
+              { value: "object", label: "Отдельный объект" },
+            ]}
+          />
+        </FieldFrame>
+        {!project ? (
+          <FieldFrame
+            label="Исходник"
+            description="Имя родительской папки не фиксировано. Внутри должна быть ровно одна сцена LCC или LCC2."
+          >
+            <div
+              className="simulation-source-drop"
+              data-dragging={dragging ? "true" : undefined}
+              onDragEnter={(event) => { event.preventDefault(); setDragging(true); }}
+              onDragOver={(event) => event.preventDefault()}
+              onDragLeave={(event) => {
+                if (!event.currentTarget.contains(event.relatedTarget as Node | null)) setDragging(false);
+              }}
+              onDrop={(event) => void handleDrop(event)}
+            >
+              <Icon name={candidates.length ? "check" : "upload"} size={20} />
+              <strong>{sourceSummary.title}</strong>
+              <span>{sourceSummary.detail}</span>
+              <div>
+                <Button
+                  size="compact"
+                  icon={<Icon name="file" size={16} />}
+                  disabled={pending}
+                  onClick={() => archiveInput.current?.click()}
+                >
+                  Выбрать архив
+                </Button>
+                <Button
+                  size="compact"
+                  icon={<Icon name="folder" size={16} />}
+                  disabled={pending}
+                  onClick={() => folderInput.current?.click()}
+                >
+                  Выбрать папку
+                </Button>
+              </div>
+              <input
+                ref={archiveInput}
+                type="file"
+                accept=".zip,.rar,.7z"
+                hidden
+                onChange={(event) => {
+                  const file = event.currentTarget.files?.[0];
+                  if (file) acceptCandidates([{ file, logicalPath: file.name }]);
+                  event.currentTarget.value = "";
+                }}
+              />
+              <input
+                ref={folderInput}
+                type="file"
+                hidden
+                multiple
+                {...({ webkitdirectory: "" } as Record<string, string>)}
+                onChange={(event) => {
+                  const next = Array.from(event.currentTarget.files ?? []).map((file) => ({
+                    file,
+                    logicalPath: file.webkitRelativePath || file.name,
+                  }));
+                  if (next.length) acceptCandidates(next);
+                  event.currentTarget.value = "";
+                }}
+              />
+            </div>
+          </FieldFrame>
+        ) : null}
+        {progress ? (
+          <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)}
+                {" · "}{formatUploadEta(progress.estimatedSecondsRemaining)}
+              </strong>
+              <small>{progress.currentPath}</small>
+            </div>
+          </div>
+        ) : null}
+        {error ? <p className="simulation-project-window__error" role="alert">{error}</p> : null}
+      </div>
+    </Window>
+  );
+}
+
+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 ? ` ${remainder} мин` : ""}`;
+}
+
+function summarizeCandidates(candidates: SimulationUploadCandidate[]): { title: string; detail: string } {
+  if (!candidates.length) return {
+    title: "Перетащите архив или папку сюда",
+    detail: "ZIP, RAR, 7z либо parent folder с LCC/LCC2",
+  };
+  const total = candidates.reduce((sum, candidate) => sum + candidate.file.size, 0);
+  const archive = candidates.length === 1 && /\.(zip|rar|7z)$/i.test(candidates[0]?.logicalPath ?? "");
+  return {
+    title: archive ? candidates[0]?.logicalPath ?? "Архив" : "Папка принята",
+    detail: `${candidates.length.toLocaleString("ru-RU")} файл(ов) · ${formatBytes(total)}`,
+  };
+}
+
+function formatBytes(value: number): string {
+  if (value < 1024) return `${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/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

@@ -0,0 +1,591 @@
+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 SimulationUgvPreset,
+  type SimulationViewerSettings,
+} from "../../core/simulation/projects";
+import {
+  createLatestAsyncCommitter,
+  type LatestAsyncCommitter,
+} from "../../core/runtime/latestAsyncCommitter";
+import {
+  PlayCanvasRuntime,
+  playCanvasEulerTransform,
+  type SimulationControlMode,
+  type SimulationQuality,
+  type SimulationViewMode,
+} from "./PlayCanvasRuntime";
+import {
+  SimulationUgvSettingsPanel,
+  type SimulationUgvPresetSaveState,
+} from "./SimulationUgvSettingsPanel";
+
+const ROTATION_AXES = ["x", "y", "z"] as const;
+
+export function SimulationViewport({
+  project,
+  onProjectChange,
+}: {
+  project: SimulationProject;
+  onProjectChange?: (project: SimulationProject) => void;
+}) {
+  const canvasRef = useRef<HTMLCanvasElement>(null);
+  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 [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);
+
+  useEffect(() => {
+    const settings = project.viewerSettings;
+    viewerSettingsRef.current = settings;
+    setQuality(settings.quality);
+    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(() => {
+    let active = true;
+    const committer = createLatestAsyncCommitter<SimulationViewerSettings>({
+      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.",
+            );
+          }
+          return false;
+        }
+      },
+      onSettled({ applied, superseded }) {
+        if (active && applied && !superseded) setSettingsError(null);
+      },
+    });
+    settingsCommitterRef.current = committer;
+    return () => {
+      active = false;
+      committer.dispose();
+      if (settingsCommitterRef.current === committer) settingsCommitterRef.current = null;
+    };
+  }, [onProjectChange, project.projectId]);
+
+  useEffect(() => {
+    const canvas = canvasRef.current;
+    const manifest = project.worldManifest;
+    if (!canvas || !manifest) return;
+    const runtime = new PlayCanvasRuntime();
+    runtimeRef.current = runtime;
+    let cancelled = false;
+    setState("mounting");
+    setError(null);
+    void runtime.mount(canvas).then(async () => {
+      if (cancelled) return;
+      const settings = viewerSettingsRef.current;
+      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",
+        playCanvasEulerTransform(settings.visual.rotationDegrees),
+      );
+      runtime.setLayerWorldTransform(
+        "collision",
+        playCanvasEulerTransform(settings.collision.rotationDegrees),
+      );
+      if (!cancelled) setState("ready");
+    }).catch((caught: unknown) => {
+      if (cancelled) return;
+      setState("failed");
+      setError(caught instanceof Error ? caught.message : "Не удалось открыть сцену.");
+    });
+    return () => {
+      cancelled = true;
+      controlRequestRef.current += 1;
+      runtime.dispose();
+      runtimeRef.current = null;
+    };
+  // Saving viewer preferences returns a fresh project object. Restart the GPU
+  // runtime only when the manifest content changes, not when its object identity
+  // changes after an otherwise unrelated settings PUT.
+  }, [project.projectId, worldManifestRevision]);
+
+  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"
+      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"}>
+            {controlState === "loading"
+              ? "Подготовка UGV"
+              : controlState === "ready"
+                ? "UGV готов"
+                : controlState === "failed"
+                  ? "Ошибка UGV"
+                  : collisionState === "loading"
+              ? "Загрузка коллизий"
+              : collisionState === "failed"
+                ? "Ошибка коллизий"
+                : state === "ready"
+                  ? "Runtime готов"
+                  : state === "failed"
+                    ? "Ошибка runtime"
+                    : "Загрузка локации"}
+          </StatusBadge>
+          <span>Engine 2.21.4</span>
+        </div>
+        <div className="simulation-viewport__controls">
+          <Select
+            label="Качество Gaussian-сцены"
+            value={quality}
+            onChange={(next) => {
+              setQuality(next);
+              runtimeRef.current?.setQuality(next);
+              commitViewerSettings({ ...viewerSettingsRef.current, quality: next });
+            }}
+            options={[
+              { value: "maximum", label: "Максимум", description: "До 4 млн сплатов · Retina до 2× · 60 FPS" },
+              { value: "ultra", label: "Ультра", description: "До 2,5 млн · Retina до 1,5× · 60 FPS" },
+              { value: "high", label: "Высокое", description: "До 1,2 млн · Retina до 1,25× · 60 FPS" },
+              { value: "medium", label: "Среднее", description: "До 700 тыс. · 1× · 45 FPS" },
+              { value: "low", label: "Низкое", description: "До 350 тыс. · 0,75× · 30 FPS" },
+            ]}
+            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}
+            onChange={(next) => {
+              setViewMode(next);
+              const runtime = runtimeRef.current;
+              if (!runtime) return;
+              if (next !== "visual" && collisionAvailable && collisionState !== "ready") {
+                setCollisionState("loading");
+              }
+              void runtime.setViewMode(next).then(() => {
+                if (next !== "visual") setCollisionState("ready");
+              }).catch((caught: unknown) => {
+                setCollisionState("failed");
+                setError(caught instanceof Error ? caught.message : "Не удалось открыть слой коллизий.");
+              });
+            }}
+            items={[
+              { value: "visual", label: "Визуал" },
+              { value: "collision", label: "Коллизии", disabled: !collisionAvailable },
+              { value: "combined", label: "Вместе", disabled: !collisionAvailable },
+            ]}
+          />
+          <Button size="compact" variant="secondary" onClick={() => runtimeRef.current?.home()}>
+            Домой
+          </Button>
+          <div className="simulation-viewport__settings-anchor">
+            <IconButton
+              label="Настройки сцены"
+              aria-controls={settingsId}
+              aria-expanded={settingsOpen}
+              aria-pressed={settingsOpen}
+              onClick={() => setSettingsOpen((open) => !open)}
+            >
+              <Icon name="settings" size={18} />
+            </IconButton>
+            {settingsOpen ? (
+              <GlassMaterialSurface
+                id={settingsId}
+                className="simulation-viewport__settings"
+                role="dialog"
+                aria-label="Настройки сцены"
+              >
+                <div className="simulation-viewport__settings-head">
+                  <div>
+                    <strong>Настройки сцены</strong>
+                    <span>Локация, камера и UGV</span>
+                  </div>
+                  <IconButton label="Закрыть настройки" onClick={() => setSettingsOpen(false)}>
+                    <Icon name="close" size={16} />
+                  </IconButton>
+                </div>
+                <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 сцены · Y вверх</span>
+                  </div>
+                  <p>
+                    Коррекция слоёв не меняет координаты камеры, навигации и будущей физики.
+                  </p>
+                  <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">
+                  <div className="simulation-viewport__settings-group-head">
+                    <strong>Управление камерой</strong>
+                    <span>Мышь и тачпад</span>
+                  </div>
+                  <div className="simulation-viewport__settings-switches">
+                    <Switch
+                      checked={horizontalInverted}
+                      disabled={state !== "ready"}
+                      label="Инверсия управления по горизонтали"
+                      onChange={(checked) => {
+                        setHorizontalInverted(checked);
+                        runtimeRef.current?.setCameraInversion("horizontal", checked);
+                        commitViewerSettings({
+                          ...viewerSettingsRef.current,
+                          camera: { ...viewerSettingsRef.current.camera, invertHorizontal: checked },
+                        });
+                      }}
+                    />
+                    <Switch
+                      checked={verticalInverted}
+                      disabled={state !== "ready"}
+                      label="Инверсия управления по вертикали"
+                      onChange={(checked) => {
+                        setVerticalInverted(checked);
+                        runtimeRef.current?.setCameraInversion("vertical", checked);
+                        commitViewerSettings({
+                          ...viewerSettingsRef.current,
+                          camera: { ...viewerSettingsRef.current.camera, invertVertical: checked },
+                        });
+                      }}
+                    />
+                  </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={`Сцена ${project.name}`} />
+        {state !== "ready" ? (
+          <div className="simulation-viewport__state" role={state === "failed" ? "alert" : "status"}>
+            {state === "failed" ? null : <ActivityIndicator label="Загрузка локации" />}
+            <strong>{state === "failed" ? "Локация не открылась" : "Загружаем локацию"}</strong>
+            <p>{error ?? "LOD-уровни загружаются по мере готовности runtime."}</p>
+          </div>
+        ) : null}
+      </div>
+      {!collisionAvailable ? (
+        <footer className="simulation-viewport__notice">
+          <StatusBadge tone="warning">Коллизии недоступны</StatusBadge>
+          <span>Для этой сборки слой коллизий не создавался; визуальный слой остаётся доступен.</span>
+        </footer>
+      ) : collisionState === "failed" ? (
+        <footer className="simulation-viewport__notice" role="alert">
+          <StatusBadge tone="warning">Коллизии не открылись</StatusBadge>
+          <span>{error ?? "Слой коллизий не загрузился."}</span>
+        </footer>
+      ) : null}
+    </section>
+  );
+}
+
+function cloneUgvPreset(preset: SimulationUgvPreset): SimulationUgvPreset {
+  return {
+    ...preset,
+    dimensionsMeters: { ...preset.dimensionsMeters },
+  };
+}
+
+function LayerRotationFields({
+  label,
+  value,
+  disabled,
+  onChange,
+}: {
+  label: string;
+  value: SimulationEulerRotation;
+  disabled: boolean;
+  onChange: (rotation: SimulationEulerRotation) => void;
+}) {
+  return (
+    <div className="simulation-viewport__rotation-row">
+      <strong>{label}</strong>
+      <div className="simulation-viewport__rotation-fields">
+        {ROTATION_AXES.map((axis) => (
+          <RotationField
+            key={axis}
+            label={axis.toUpperCase()}
+            ariaLabel={`${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

@@ -38,8 +38,32 @@ import { fetchE46JRawFisheyeRealtime } from "./e46jRawFisheyeRealtime";
 import { fetchE47SemanticSlamResult } from "./e47SemanticSlam";
 import { fetchM4ThreatReplayResult } from "./m4ReplayThreat";
 import { fetchM47ReferenceGraphLab } from "./m47ReferenceGraph";
+import {
+  fetchM48LifecycleResult,
+} from "./m48ObjectCentricQuality";
+import { fetchM48SmallStaticRegression } from "./m48SmallStaticRegression";
+import { fetchM48StaticOccupancyQualification } from "./m48StaticOccupancyQualification";
+import { fetchM48R3StaticOccupancyShadow } from "./m48r3StaticOccupancyShadow";
+import { fetchM48SFixedClassDetectorResult } from "./m48sFixedClassDetector";
+import { fetchM48TRiskQualityResult } from "./m48tRiskQuality";
+import { fetchM49TgsFailClosedResult } from "./m49TgsFailClosed";
+import { fetchM49TgsFullShadowResult } from "./m49TgsFullShadow";
+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"
+  | "m48-static-occupancy-qualification"
+  | "m48r3-static-occupancy-shadow"
+  | "m48s-fixed-class-detector"
+  | "m48t-risk-quality-temporal"
+  | "m49-tgs-fail-closed-evidence"
+  | "m49-tgs-full-shadow"
   | "m47-reference-graph-shadow"
   | "m4-replay-threat"
   | "l3-pointpillars-visual-audit"
@@ -82,6 +106,16 @@ 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",
+  "m48-static-occupancy-qualification",
+  "m48r3-static-occupancy-shadow",
+  "m48s-fixed-class-detector",
+  "m48t-risk-quality-temporal",
+  "m49-tgs-fail-closed-evidence",
+  "m49-tgs-full-shadow",
   "m47-reference-graph-shadow",
   "m4-replay-threat",
   "l3-pointpillars-visual-audit",
@@ -119,6 +153,16 @@ 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",
+  "m48-static-occupancy-qualification": "m48-static-occupancy-qualification",
+  "m48r3-static-occupancy-shadow": "m48r3-static-occupancy-shadow",
+  "m48s-fixed-class-detector": "m48s-fixed-class-detector-lab",
+  "m48t-risk-quality-temporal": "(?:m48t-risk-quality-temporal-lab|m48q-native-risk-quality-lab)",
+  "m49-tgs-fail-closed-evidence": "m49-tgs-fail-closed",
+  "m49-tgs-full-shadow": "m49-tgs-full-shadow",
   "m47-reference-graph-shadow": "m47-reference-graph-lab",
   "m4-replay-threat": "m4-threat-replay",
   "l3-pointpillars-visual-audit": "l3-pointpillars-visual-audit",
@@ -163,7 +207,17 @@ export function isAdvancedLaboratoryWorkId(
 
 export function emptyAdvancedLaboratoryResults(): AdvancedLaboratoryResults {
   return {
+    vegetationBenchmark: null,
+    vegetationShadow: null,
     m47Graph: null,
+    m48: null,
+    m48SmallStatic: null,
+    m48StaticOccupancy: null,
+    m48r3StaticOccupancy: null,
+    m48s: null,
+    m48t: null,
+    m49Tgs: null,
+    m49TgsFull: null,
     m4Threat: null,
     l3: null,
     l31: null,
@@ -288,7 +342,17 @@ export function advancedLaboratoryResultAvailable(
   workId: AdvancedLaboratoryWorkId,
   results: AdvancedLaboratoryResults,
 ): boolean {
-  return workId === "m47-reference-graph-shadow" ? results.m47Graph !== 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
+    : workId === "m48r3-static-occupancy-shadow" ? results.m48r3StaticOccupancy !== null
+    : workId === "m48s-fixed-class-detector" ? results.m48s !== null
+    : workId === "m48t-risk-quality-temporal" ? results.m48t !== null
+    : workId === "m49-tgs-fail-closed-evidence" ? results.m49Tgs !== null
+    : workId === "m49-tgs-full-shadow" ? results.m49TgsFull !== null
+    : workId === "m47-reference-graph-shadow" ? results.m47Graph !== null
     : workId === "m4-replay-threat" ? results.m4Threat !== null
     : workId === "l3-pointpillars-visual-audit" ? results.l3 !== null
     : workId === "l31-pointpillars-ravnoves" ? results.l31 !== null
@@ -337,7 +401,37 @@ export async function fetchAdvancedLaboratoryResult(
   } = {},
 ): Promise<AdvancedLaboratoryResults> {
   const results = emptyAdvancedLaboratoryResults();
-  if (workId === "m47-reference-graph-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") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("M4.8 lifecycle evidence identity не выбрана.");
+    results.m48 = await fetchM48LifecycleResult(resultId, { fetcher, signal });
+  } else if (workId === "m48-small-static-passage-regression") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("M4.8R1 regression identity не выбрана.");
+    results.m48SmallStatic = await fetchM48SmallStaticRegression(resultId, { fetcher, signal });
+  } else if (workId === "m48-static-occupancy-qualification") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("M4.8R2 qualification identity не выбрана.");
+    results.m48StaticOccupancy = await fetchM48StaticOccupancyQualification(resultId, { fetcher, signal });
+  } else if (workId === "m48r3-static-occupancy-shadow") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("M4.8R3 Worker shadow identity не выбрана.");
+    results.m48r3StaticOccupancy = await fetchM48R3StaticOccupancyShadow(resultId, { fetcher, signal });
+  } else if (workId === "m48s-fixed-class-detector") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("M4.8S LAB identity не выбрана.");
+    results.m48s = await fetchM48SFixedClassDetectorResult(resultId, { fetcher, signal });
+  } else if (workId === "m48t-risk-quality-temporal") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("M4.8T LAB identity не выбрана.");
+    results.m48t = await fetchM48TRiskQualityResult(resultId, { fetcher, signal });
+  } else if (workId === "m49-tgs-fail-closed-evidence") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("M4.9 TGS LAB identity не выбрана.");
+    results.m49Tgs = await fetchM49TgsFailClosedResult(resultId, { fetcher, signal });
+  } else if (workId === "m49-tgs-full-shadow") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("M4.9 full TGS shadow identity не выбрана.");
+    results.m49TgsFull = await fetchM49TgsFullShadowResult(resultId, { fetcher, signal });
+  } else if (workId === "m47-reference-graph-shadow") {
     if (!resultId) {
       throw new AdvancedLaboratoryContractError("M4.7 LAB identity не выбрана.");
     }

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

@@ -34,9 +34,28 @@ import type { E46JRawFisheyeRealtimeResult } from "./e46jRawFisheyeRealtime";
 import type { E47SemanticSlamResult } from "./e47SemanticSlam";
 import type { M4ThreatReplayResult } from "./m4ReplayThreat";
 import type { M47ReferenceGraphLabResult } from "./m47ReferenceGraph";
+import type { M48AdvancedResult } from "./m48ObjectCentricQuality";
+import type { M48SmallStaticRegressionResult } from "./m48SmallStaticRegression";
+import type { M48StaticOccupancyQualificationResult } from "./m48StaticOccupancyQualification";
+import type { M48R3StaticOccupancyShadowResult } from "./m48r3StaticOccupancyShadow";
+import type { M48SFixedClassDetectorResult } from "./m48sFixedClassDetector";
+import type { M48TRiskQualityResult } from "./m48tRiskQuality";
+import type { M49TgsFailClosedResult } from "./m49TgsFailClosed";
+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;
+  m48SmallStatic: M48SmallStaticRegressionResult | null;
+  m48StaticOccupancy: M48StaticOccupancyQualificationResult | null;
+  m48r3StaticOccupancy: M48R3StaticOccupancyShadowResult | null;
+  m48s: M48SFixedClassDetectorResult | null;
+  m48t: M48TRiskQualityResult | null;
+  m49Tgs: M49TgsFailClosedResult | null;
+  m49TgsFull: M49TgsFullShadowResult | null;
   m4Threat: M4ThreatReplayResult | null;
   l3: L3PointPillarsVisualAuditResult | null;
   l31: L31PointPillarsRavnovesResult | 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;
@@ -967,10 +965,12 @@ export async function fetchAdvancedLaboratoryResults({
   const e39 = settledCatalogValue(settled[7]);
   const e40 = settledCatalogValue(settled[8]);
   return {
-    m47Graph: null, m4Threat: null,
-    l3: null, l31: null,
-    l32: null,
-    l33: null,
+    vegetationBenchmark: null,
+    vegetationShadow: null,
+    m47Graph: null, m48: null, m48SmallStatic: null, m48StaticOccupancy: null,
+    m48r3StaticOccupancy: null,
+    m48s: null, m48t: null, m49Tgs: null, m49TgsFull: null, m4Threat: null,
+    l3: null, l31: null, l32: null, l33: null,
     e31,
     e32,
     e33,

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/e47SemanticSlam.ts

@@ -360,27 +360,65 @@ function parseResult(value: unknown): E47SemanticSlamResult {
 }
 
 export async function fetchE47SemanticSlamResult({
+  resultId: requestedResultId,
   fetcher = fetch,
   signal,
 }: {
+  resultId?: string;
   fetcher?: LaboratoryFetch;
   signal?: AbortSignal;
 } = {}): Promise<E47SemanticSlamResult | null> {
-  const response = await fetcher("/api/v1/laboratory/e47-semantic-slam/results?limit=1", {
-    headers: { Accept: "application/json" },
-    signal,
-  });
+  if (requestedResultId !== undefined) resultId(requestedResultId);
+  let response = await fetcher(
+    requestedResultId === undefined
+      ? "/api/v1/laboratory/e47-semantic-slam/results?limit=1"
+      : `/api/v1/laboratory/e47-semantic-slam/results/${requestedResultId}`,
+    { headers: { Accept: "application/json" }, signal },
+  );
+  let catalogFallback = false;
+  if (requestedResultId !== undefined && response.status === 404) {
+    response = await fetcher("/api/v1/laboratory/e47-semantic-slam/results?limit=10", {
+      headers: { Accept: "application/json" },
+      signal,
+    });
+    catalogFallback = true;
+  }
   if (!response.ok) {
     throw new E47SemanticSlamContractError(`E47 LAB недоступен: HTTP ${response.status}.`);
   }
-  const payload = object(await response.json(), "E47 catalog");
-  exact(
-    payload.schema_version,
-    "missioncore.e47-semantic-slam-catalog/v1",
-    "E47 catalog schema",
-  );
-  const items = array(payload.items, "E47 catalog items");
-  return items.length ? parseResult(items[0]) : null;
+  const payload = await response.json();
+  if (requestedResultId === undefined || catalogFallback) {
+    const catalog = object(payload, "E47 catalog");
+    exact(
+      catalog.schema_version,
+      "missioncore.e47-semantic-slam-catalog/v1",
+      "E47 catalog schema",
+    );
+    const items = array(catalog.items, "E47 catalog items");
+    if (!items.length) return null;
+    const selected = requestedResultId === undefined
+      ? items[0]
+      : items.find((candidate) => (
+        typeof candidate === "object"
+        && candidate !== null
+        && (candidate as Record<string, unknown>).result_id === requestedResultId
+      ));
+    if (selected === undefined) {
+      throw new E47SemanticSlamContractError(
+        "E47 requested result: точный semantic-result отсутствует в каталоге.",
+      );
+    }
+    const parsed = parseResult(selected);
+    if (requestedResultId !== undefined && parsed.resultId !== requestedResultId) {
+      throw new E47SemanticSlamContractError("E47 requested result: нарушена идентичность.");
+    }
+    return parsed;
+  }
+  const parsed = parseResult(payload);
+  if (parsed.resultId !== requestedResultId) {
+    throw new E47SemanticSlamContractError("E47 requested result: нарушена идентичность.");
+  }
+  return parsed;
 }
 
 function parseFrame(

apps/control-station/src/core/laboratory/m47ReferenceGraph.ts

@@ -6,6 +6,10 @@ import {
   fetchM4ThreatReplayResult,
   type M4ThreatReplayResult,
 } from "./m4ReplayThreat";
+import {
+  fetchE47SemanticSlamResult,
+  type E47SemanticSlamResult,
+} from "./e47SemanticSlam";
 
 export interface M47ReferenceGraphLabResult {
   resultId: string;
@@ -41,6 +45,7 @@ export interface M47ReferenceGraphLabResult {
   >>;
   limitations: readonly string[];
   visual: M4ThreatReplayResult;
+  semantic: E47SemanticSlamResult;
 }
 
 type LaboratoryFetch = (input: RequestInfo | URL, init?: RequestInit) => Promise<Response>;
@@ -154,7 +159,7 @@ export async function fetchM47ReferenceGraphLab({
   const report = evidence.rawReport;
   exact(
     report.schema_version,
-    "missioncore.reference-perception-graph-lab-report/v1",
+    "missioncore.reference-perception-graph-lab-report/v2",
     "M4.7 report schema",
   );
   exact(report.result_id, resultId, "M4.7 report result");
@@ -176,6 +181,16 @@ export async function fetchM47ReferenceGraphLab({
     true,
     "M4.7 visual evidence",
   );
+  exact(
+    visualEvidence.camera_semantic_overlay_available,
+    true,
+    "M4.7 camera semantic overlay",
+  );
+  exact(
+    visualEvidence.semantic_binding,
+    "exact-sequence-and-session-time",
+    "M4.7 semantic binding",
+  );
   const linkedVisualResultId = text(
     visualEvidence.linked_result_id,
     "M4.7 linked visual result",
@@ -193,6 +208,31 @@ export async function fetchM47ReferenceGraphLab({
       "M4.7 visual binding: сервер вернул другой replay result.",
     );
   }
+  const semanticResultId = text(
+    visualEvidence.semantic_result_id,
+    "M4.7 linked semantic result",
+  );
+  if (!/^e47-semantic-slam-[a-f0-9]{64}$/.test(semanticResultId)) {
+    throw new M47ReferenceGraphContractError(
+      "M4.7 semantic binding: нарушена идентичность.",
+    );
+  }
+  const semantic = await fetchE47SemanticSlamResult({
+    resultId: semanticResultId,
+    fetcher,
+    signal,
+  });
+  if (
+    !semantic
+    || semantic.resultId !== semanticResultId
+    || semantic.baseM4ResultId !== linkedVisualResultId
+    || semantic.metrics.frames.total !== 4489
+    || semantic.metrics.frames.maskAvailable !== 4489
+  ) {
+    throw new M47ReferenceGraphContractError(
+      "M4.7 semantic binding: сервер вернул несвязанный semantic-result.",
+    );
+  }
   const graphResultId = text(source.graph_result_id, "M4.7 graph result");
   if (!/^m47-reference-graph-[a-f0-9]{64}$/.test(graphResultId)) {
     throw new M47ReferenceGraphContractError("M4.7 graph result: нарушена идентичность.");
@@ -219,5 +259,6 @@ export async function fetchM47ReferenceGraphLab({
     queueHighWatermarks: queueWatermarks(metrics.queue_high_watermarks),
     limitations: stringArray(report.limitations, "M4.7 limitations"),
     visual,
+    semantic,
   };
 }

apps/control-station/src/core/laboratory/m48SmallStaticRegression.ts

@@ -0,0 +1,378 @@
+import type { LaboratoryFetch } from "./advancedResults";
+import type {
+  M48Authority,
+  M48Freshness,
+  M48GeometryAssociation,
+  M48Motion,
+  M48Threat,
+  M48Visibility,
+} from "./m48ObjectCentricQuality";
+
+const RESULT_ID = /^m48-small-static-passage-regression-[a-f0-9]{64}$/;
+const PACK_ID = /^m48-object-quality-pack-[a-f0-9]{64}$/;
+const REFERENCE_GRAPH_LAB_RESULT_ID = /^m47-reference-graph-lab-[a-f0-9]{64}$/;
+const ANCHOR_ID = /^anchor-[a-f0-9]{24}$/;
+const SAFE_URL = /^\/api\/v1\/laboratory\/m48\/[A-Za-z0-9/_?&=.%:-]+$/;
+
+export interface M48SmallStaticRegressionMetrics {
+  assistedAnchorCount: number;
+  assistedTrackletCount: number;
+  anchorClipCount: number;
+  requiresAvoidanceOrClearanceCount: number;
+  workerRecalledAnchorCount: number;
+  workerMissedAnchorCount: number;
+  assistedAnchorRecall: number;
+  extentIouThreshold: number;
+  minimumAssistedAnchorRecall: number;
+}
+
+export interface M48SmallStaticRegressionResult {
+  resultId: string;
+  packId: string;
+  referenceGraphLabResultId: string;
+  createdAtUtc: string;
+  runLabel: "M4.8R1";
+  pipelineId: "m48-class-free-object-quality/v1";
+  experimentId: "m48-small-static-passage-regression/v1";
+  accepted: boolean;
+  metrics: M48SmallStaticRegressionMetrics;
+  gates: {
+    anchorSetNonEmpty: boolean;
+    developmentAnchorRecallTarget: boolean;
+    independentTruthAvailable: false;
+  };
+  decision: {
+    state: "accepted-development-regression-baseline" | "failed-development-regression-baseline";
+    summary: string;
+    nextAction: string;
+  };
+  groundTruth: false;
+  independentTruth: false;
+  authority: M48Authority;
+}
+
+export interface M48SmallStaticRegressionCaseSummary {
+  anchorId: string;
+  clipId: string;
+  sequence: number;
+  anchorExtentXyxy: readonly [number, number, number, number];
+  requiresAvoidanceOrClearance: boolean;
+  workerCandidateCount: number;
+  bestIou: number;
+  matchedAtThreshold: boolean;
+  outcome: "recalled" | "missed-assisted-anchor";
+}
+
+export interface M48SmallStaticRegressionObject {
+  predictionId: string;
+  extentXyxy: readonly [number, number, number, number];
+  geometryAssociation: M48GeometryAssociation;
+  freshness: M48Freshness;
+  motion: M48Motion;
+  threat: M48Threat;
+}
+
+export interface M48SmallStaticRegressionCase {
+  resultId: string;
+  packId: string;
+  anchor: {
+    anchorId: string;
+    clipId: string;
+    objectId: string;
+    sequence: number;
+    extentXyxy: readonly [number, number, number, number];
+    visibility: M48Visibility;
+    geometryAssociation: M48GeometryAssociation;
+    freshness: M48Freshness;
+    motion: M48Motion;
+    threat: M48Threat;
+    requiresAvoidanceOrClearance: boolean;
+  };
+  comparison: M48SmallStaticRegressionCaseSummary & {
+    sourceTimeNs: number;
+    anchorExtentXyxy: readonly [number, number, number, number];
+    workerObjects: readonly M48SmallStaticRegressionObject[];
+    bestPredictionId: string | null;
+    extentIouThreshold: number;
+  };
+  cameraUrl: string | null;
+  spatialUrl: string | null;
+  groundTruth: false;
+  authority: M48Authority;
+}
+
+export class M48SmallStaticRegressionContractError extends Error {}
+
+function objectValue(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new M48SmallStaticRegressionContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function arrayValue(value: unknown, label: string): readonly unknown[] {
+  if (!Array.isArray(value)) {
+    throw new M48SmallStaticRegressionContractError(`${label}: ожидался список.`);
+  }
+  return value;
+}
+
+function exact(value: unknown, expected: string | boolean, label: string): void {
+  if (value !== expected) {
+    throw new M48SmallStaticRegressionContractError(`${label}: нарушен контракт.`);
+  }
+}
+
+function textValue(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new M48SmallStaticRegressionContractError(`${label}: ожидалась строка.`);
+  }
+  return value;
+}
+
+function numberValue(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new M48SmallStaticRegressionContractError(`${label}: ожидалось число.`);
+  }
+  return value;
+}
+
+function integerValue(value: unknown, label: string): number {
+  const result = numberValue(value, label);
+  if (!Number.isInteger(result) || result < 0) {
+    throw new M48SmallStaticRegressionContractError(`${label}: ожидалось целое число.`);
+  }
+  return result;
+}
+
+function booleanValue(value: unknown, label: string): boolean {
+  if (typeof value !== "boolean") {
+    throw new M48SmallStaticRegressionContractError(`${label}: ожидался флаг.`);
+  }
+  return value;
+}
+
+function extentValue(
+  value: unknown,
+  label: string,
+): readonly [number, number, number, number] {
+  const rows = arrayValue(value, label).map((item, index) => numberValue(item, `${label}[${index}]`));
+  if (
+    rows.length !== 4
+    || rows.some((item) => item < 0 || item > 1)
+    || rows[0]! >= rows[2]!
+    || rows[1]! >= rows[3]!
+  ) {
+    throw new M48SmallStaticRegressionContractError(`${label}: рамка недопустима.`);
+  }
+  return rows as unknown as readonly [number, number, number, number];
+}
+
+function authorityValue(value: unknown): M48Authority {
+  const authority = objectValue(value, "M4.8R1.authority");
+  exact(authority.mode, "replay-simulated", "M4.8R1.authority.mode");
+  exact(authority.physical_live, false, "M4.8R1.authority.physical_live");
+  exact(authority.commands_enabled, false, "M4.8R1.authority.commands_enabled");
+  exact(authority.actuation_allowed, false, "M4.8R1.authority.actuation_allowed");
+  exact(authority.navigation_or_safety_accepted, false, "M4.8R1.authority.navigation_or_safety_accepted");
+  return {
+    mode: "replay-simulated",
+    physicalLive: false,
+    commandsEnabled: false,
+    actuationAllowed: false,
+    navigationOrSafetyAccepted: false,
+  };
+}
+
+function enumValue<T extends string>(value: unknown, allowed: readonly T[], label: string): T {
+  if (typeof value !== "string" || !allowed.includes(value as T)) {
+    throw new M48SmallStaticRegressionContractError(`${label}: неизвестное значение.`);
+  }
+  return value as T;
+}
+
+function parseSummary(value: unknown): M48SmallStaticRegressionCaseSummary {
+  const row = objectValue(value, "M4.8R1.case");
+  const anchorId = textValue(row.anchor_id, "M4.8R1.case.anchor_id");
+  if (!ANCHOR_ID.test(anchorId)) {
+    throw new M48SmallStaticRegressionContractError("M4.8R1.case.anchor_id: нарушена идентичность.");
+  }
+  return {
+    anchorId,
+    clipId: textValue(row.clip_id, "M4.8R1.case.clip_id"),
+    sequence: integerValue(row.sequence, "M4.8R1.case.sequence"),
+    anchorExtentXyxy: extentValue(row.anchor_extent_xyxy, "M4.8R1.case.anchor_extent_xyxy"),
+    requiresAvoidanceOrClearance: booleanValue(row.requires_avoidance_or_clearance, "M4.8R1.case.requires_avoidance_or_clearance"),
+    workerCandidateCount: integerValue(row.worker_candidate_count, "M4.8R1.case.worker_candidate_count"),
+    bestIou: numberValue(row.best_iou, "M4.8R1.case.best_iou"),
+    matchedAtThreshold: booleanValue(row.matched_at_threshold, "M4.8R1.case.matched_at_threshold"),
+    outcome: enumValue(row.outcome, ["recalled", "missed-assisted-anchor"] as const, "M4.8R1.case.outcome"),
+  };
+}
+
+export async function fetchM48SmallStaticRegression(
+  resultId: string,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M48SmallStaticRegressionResult> {
+  if (!RESULT_ID.test(resultId)) {
+    throw new M48SmallStaticRegressionContractError("M4.8R1 result identity недопустима.");
+  }
+  const response = await fetcher(`/api/v1/laboratory/m48/regressions/small-static/${encodeURIComponent(resultId)}`, {
+    method: "GET",
+    headers: { Accept: "application/json" },
+    signal,
+  });
+  if (!response.ok) throw new M48SmallStaticRegressionContractError(`M4.8R1 недоступен: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M4.8R1");
+  exact(payload.schema_version, "missioncore.m48-small-static-passage-regression-result-view/v1", "M4.8R1.schema_version");
+  const packId = textValue(payload.pack_id, "M4.8R1.pack_id");
+  if (!PACK_ID.test(packId)) throw new M48SmallStaticRegressionContractError("M4.8R1.pack_id: нарушена идентичность.");
+  const referenceGraphLabResultId = textValue(
+    payload.reference_graph_lab_result_id,
+    "M4.8R1.reference_graph_lab_result_id",
+  );
+  if (!REFERENCE_GRAPH_LAB_RESULT_ID.test(referenceGraphLabResultId)) {
+    throw new M48SmallStaticRegressionContractError(
+      "M4.8R1.reference_graph_lab_result_id: нарушена идентичность.",
+    );
+  }
+  const metrics = objectValue(payload.metrics, "M4.8R1.metrics");
+  const gates = objectValue(payload.gates, "M4.8R1.gates");
+  const decision = objectValue(payload.decision, "M4.8R1.decision");
+  exact(payload.run_label, "M4.8R1", "M4.8R1.run_label");
+  exact(payload.pipeline_id, "m48-class-free-object-quality/v1", "M4.8R1.pipeline_id");
+  exact(payload.experiment_id, "m48-small-static-passage-regression/v1", "M4.8R1.experiment_id");
+  exact(payload.ground_truth, false, "M4.8R1.ground_truth");
+  exact(payload.independent_truth, false, "M4.8R1.independent_truth");
+  exact(gates.independent_truth_available, false, "M4.8R1.gates.independent_truth_available");
+  return {
+    resultId,
+    packId,
+    referenceGraphLabResultId,
+    createdAtUtc: textValue(payload.created_at_utc, "M4.8R1.created_at_utc"),
+    runLabel: "M4.8R1",
+    pipelineId: "m48-class-free-object-quality/v1",
+    experimentId: "m48-small-static-passage-regression/v1",
+    accepted: booleanValue(payload.accepted, "M4.8R1.accepted"),
+    metrics: {
+      assistedAnchorCount: integerValue(metrics.assisted_anchor_count, "M4.8R1.metrics.assisted_anchor_count"),
+      assistedTrackletCount: integerValue(metrics.assisted_tracklet_count, "M4.8R1.metrics.assisted_tracklet_count"),
+      anchorClipCount: integerValue(metrics.anchor_clip_count, "M4.8R1.metrics.anchor_clip_count"),
+      requiresAvoidanceOrClearanceCount: integerValue(metrics.requires_avoidance_or_clearance_count, "M4.8R1.metrics.requires_avoidance_or_clearance_count"),
+      workerRecalledAnchorCount: integerValue(metrics.worker_recalled_anchor_count, "M4.8R1.metrics.worker_recalled_anchor_count"),
+      workerMissedAnchorCount: integerValue(metrics.worker_missed_anchor_count, "M4.8R1.metrics.worker_missed_anchor_count"),
+      assistedAnchorRecall: numberValue(metrics.assisted_anchor_recall, "M4.8R1.metrics.assisted_anchor_recall"),
+      extentIouThreshold: numberValue(metrics.extent_iou_threshold, "M4.8R1.metrics.extent_iou_threshold"),
+      minimumAssistedAnchorRecall: numberValue(metrics.minimum_assisted_anchor_recall, "M4.8R1.metrics.minimum_assisted_anchor_recall"),
+    },
+    gates: {
+      anchorSetNonEmpty: booleanValue(gates.anchor_set_non_empty, "M4.8R1.gates.anchor_set_non_empty"),
+      developmentAnchorRecallTarget: booleanValue(gates.development_anchor_recall_target, "M4.8R1.gates.development_anchor_recall_target"),
+      independentTruthAvailable: false,
+    },
+    decision: {
+      state: enumValue(decision.state, ["accepted-development-regression-baseline", "failed-development-regression-baseline"] as const, "M4.8R1.decision.state"),
+      summary: textValue(decision.summary, "M4.8R1.decision.summary"),
+      nextAction: textValue(decision.next_action, "M4.8R1.decision.next_action"),
+    },
+    groundTruth: false,
+    independentTruth: false,
+    authority: authorityValue(payload.authority),
+  };
+}
+
+export async function fetchM48SmallStaticRegressionCases(
+  resultId: string,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<readonly M48SmallStaticRegressionCaseSummary[]> {
+  if (!RESULT_ID.test(resultId)) throw new M48SmallStaticRegressionContractError("M4.8R1 result identity недопустима.");
+  const response = await fetcher(`/api/v1/laboratory/m48/regressions/small-static/${encodeURIComponent(resultId)}/cases`, {
+    method: "GET",
+    headers: { Accept: "application/json" },
+    signal,
+  });
+  if (!response.ok) throw new M48SmallStaticRegressionContractError(`M4.8R1 cases недоступны: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M4.8R1 cases");
+  exact(payload.schema_version, "missioncore.m48-small-static-passage-regression-case-catalog/v1", "M4.8R1 cases.schema_version");
+  const cases = arrayValue(payload.cases, "M4.8R1 cases.items").map(parseSummary);
+  if (integerValue(payload.case_count, "M4.8R1 cases.case_count") !== cases.length) {
+    throw new M48SmallStaticRegressionContractError("M4.8R1 cases: размер изменился.");
+  }
+  exact(payload.ground_truth, false, "M4.8R1 cases.ground_truth");
+  authorityValue(payload.authority);
+  return cases;
+}
+
+export async function fetchM48SmallStaticRegressionCase(
+  resultId: string,
+  anchorId: string,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M48SmallStaticRegressionCase> {
+  if (!RESULT_ID.test(resultId) || !ANCHOR_ID.test(anchorId)) {
+    throw new M48SmallStaticRegressionContractError("M4.8R1 case identity недопустима.");
+  }
+  const response = await fetcher(`/api/v1/laboratory/m48/regressions/small-static/${encodeURIComponent(resultId)}/cases/${encodeURIComponent(anchorId)}`, {
+    method: "GET",
+    headers: { Accept: "application/json" },
+    signal,
+  });
+  if (!response.ok) throw new M48SmallStaticRegressionContractError(`M4.8R1 case недоступен: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M4.8R1 case");
+  exact(payload.schema_version, "missioncore.m48-small-static-passage-regression-case-view/v1", "M4.8R1 case.schema_version");
+  const anchor = objectValue(payload.anchor, "M4.8R1 case.anchor");
+  const comparison = objectValue(payload.comparison, "M4.8R1 case.comparison");
+  const summary = parseSummary(comparison);
+  const workerObjects = arrayValue(comparison.worker_objects, "M4.8R1 case.worker_objects").map((raw) => {
+    const object = objectValue(raw, "M4.8R1 worker object");
+    return {
+      predictionId: textValue(object.prediction_id, "M4.8R1 worker object.prediction_id"),
+      extentXyxy: extentValue(object.extent_xyxy, "M4.8R1 worker object.extent_xyxy"),
+      geometryAssociation: enumValue(object.geometry_association, ["associated", "unavailable", "ineligible", "unknown"] as const, "M4.8R1 worker object.geometry_association"),
+      freshness: enumValue(object.freshness, ["current", "held", "stale", "unavailable"] as const, "M4.8R1 worker object.freshness"),
+      motion: enumValue(object.motion, ["moving", "static", "unknown", "unsupported"] as const, "M4.8R1 worker object.motion"),
+      threat: enumValue(object.threat, ["threat", "not-threat", "unknown"] as const, "M4.8R1 worker object.threat"),
+    };
+  });
+  const cameraUrl = payload.camera_url === null ? null : textValue(payload.camera_url, "M4.8R1 case.camera_url");
+  const spatialUrl = payload.spatial_url === null ? null : textValue(payload.spatial_url, "M4.8R1 case.spatial_url");
+  if ((cameraUrl && !SAFE_URL.test(cameraUrl)) || (spatialUrl && !SAFE_URL.test(spatialUrl))) {
+    throw new M48SmallStaticRegressionContractError("M4.8R1 case evidence URL недопустим.");
+  }
+  exact(payload.ground_truth, false, "M4.8R1 case.ground_truth");
+  const packId = textValue(payload.pack_id, "M4.8R1 case.pack_id");
+  if (!PACK_ID.test(packId)) {
+    throw new M48SmallStaticRegressionContractError("M4.8R1 case.pack_id: нарушена идентичность.");
+  }
+  if (textValue(anchor.anchor_id, "M4.8R1 case.anchor.anchor_id") !== anchorId) {
+    throw new M48SmallStaticRegressionContractError("M4.8R1 case.anchor_id: ответ не соответствует запросу.");
+  }
+  return {
+    resultId,
+    packId,
+    anchor: {
+      anchorId: textValue(anchor.anchor_id, "M4.8R1 case.anchor.anchor_id"),
+      clipId: textValue(anchor.clip_id, "M4.8R1 case.anchor.clip_id"),
+      objectId: textValue(anchor.object_id, "M4.8R1 case.anchor.object_id"),
+      sequence: integerValue(anchor.sequence, "M4.8R1 case.anchor.sequence"),
+      extentXyxy: extentValue(anchor.extent_xyxy, "M4.8R1 case.anchor.extent_xyxy"),
+      visibility: enumValue(anchor.visibility, ["visible", "partial", "occluded"] as const, "M4.8R1 case.anchor.visibility"),
+      geometryAssociation: enumValue(anchor.geometry_association, ["associated", "unavailable", "ineligible", "unknown"] as const, "M4.8R1 case.anchor.geometry_association"),
+      freshness: enumValue(anchor.freshness, ["current", "held", "stale", "unavailable"] as const, "M4.8R1 case.anchor.freshness"),
+      motion: enumValue(anchor.motion, ["moving", "static", "unknown", "unsupported"] as const, "M4.8R1 case.anchor.motion"),
+      threat: enumValue(anchor.threat, ["threat", "not-threat", "unknown"] as const, "M4.8R1 case.anchor.threat"),
+      requiresAvoidanceOrClearance: booleanValue(anchor.requires_avoidance_or_clearance, "M4.8R1 case.anchor.requires_avoidance_or_clearance"),
+    },
+    comparison: {
+      ...summary,
+      sourceTimeNs: integerValue(comparison.source_time_ns, "M4.8R1 case.comparison.source_time_ns"),
+      anchorExtentXyxy: extentValue(comparison.anchor_extent_xyxy, "M4.8R1 case.comparison.anchor_extent_xyxy"),
+      workerObjects,
+      bestPredictionId: comparison.best_prediction_id === null ? null : textValue(comparison.best_prediction_id, "M4.8R1 case.comparison.best_prediction_id"),
+      extentIouThreshold: numberValue(comparison.extent_iou_threshold, "M4.8R1 case.comparison.extent_iou_threshold"),
+    },
+    cameraUrl,
+    spatialUrl,
+    groundTruth: false,
+    authority: authorityValue(payload.authority),
+  };
+}

apps/control-station/src/core/laboratory/m48StaticOccupancyQualification.ts

@@ -0,0 +1,248 @@
+import type { LaboratoryFetch } from "./advancedResults";
+import type { M48Authority } from "./m48ObjectCentricQuality";
+
+const RESULT_ID = /^m48-static-occupancy-qualification-[a-f0-9]{64}$/;
+const M47_RESULT_ID = /^m47-reference-graph-lab-[a-f0-9]{64}$/;
+const M48R1_RESULT_ID = /^m48-small-static-passage-regression-[a-f0-9]{64}$/;
+const ANCHOR_ID = /^anchor-[a-f0-9]{24}$/;
+
+export interface M48StaticOccupancyMetrics {
+  operatorStaticAnchorCount: number;
+  baselineQualifiedCount: number;
+  candidateQualifiedCount: number;
+  unresolvedUnknownCount: number;
+  criticalNearAnchorCount: number;
+  criticalNearBaselineRecall: number;
+  criticalNearCandidateRecall: number;
+  approachAnchorCount: number;
+  approachBaselineRecall: number;
+  approachCandidateRecall: number;
+  canonicalEngineeringAnchorCount: number;
+  canonicalEngineeringRecall: number;
+  falseFreeCount: number;
+}
+
+export interface M48StaticOccupancyQualificationResult {
+  resultId: string;
+  referenceGraphLabResultId: string;
+  smallStaticResultId: string;
+  createdAtUtc: string;
+  runLabel: "M4.8R2";
+  pipelineId: "m4-current-rolling-plus-step-static-occupancy/v1";
+  experimentId: "m48-static-occupancy-qualification/v1";
+  accepted: boolean;
+  metrics: M48StaticOccupancyMetrics;
+  gates: {
+    criticalNearCandidateRecall: boolean;
+    approachCandidateRecall: boolean;
+    canonicalEngineeringRecall: boolean;
+    zeroFalseFree: boolean;
+    independentTruthAvailable: false;
+  };
+  decision: {
+    state: "accepted-bounded-static-occupancy-qualification" | "partial-static-occupancy-qualification";
+    criticalNearCandidateReadyForShadow: boolean;
+    productionAccepted: false;
+    summary: string;
+    nextAction: string;
+  };
+  authority: M48Authority;
+}
+
+export interface M48StaticOccupancyCase {
+  anchorId: string;
+  clipId: string;
+  sequence: number;
+  extentXyxy: readonly [number, number, number, number];
+  distanceM: number;
+  distanceBand: "critical-near" | "approach" | "outside-qualified-bands";
+  baselineQualified: boolean;
+  candidateQualified: boolean;
+  outcome: "candidate-qualified" | "unresolved-unknown-never-free";
+  graphMatched: boolean;
+}
+
+export class M48StaticOccupancyContractError extends Error {}
+
+function objectValue(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new M48StaticOccupancyContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function text(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new M48StaticOccupancyContractError(`${label}: ожидалась строка.`);
+  }
+  return value;
+}
+
+function numberValue(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new M48StaticOccupancyContractError(`${label}: ожидалось число.`);
+  }
+  return value;
+}
+
+function integer(value: unknown, label: string): number {
+  const parsed = numberValue(value, label);
+  if (!Number.isInteger(parsed) || parsed < 0) {
+    throw new M48StaticOccupancyContractError(`${label}: ожидалось целое число.`);
+  }
+  return parsed;
+}
+
+function bool(value: unknown, label: string): boolean {
+  if (typeof value !== "boolean") {
+    throw new M48StaticOccupancyContractError(`${label}: ожидался флаг.`);
+  }
+  return value;
+}
+
+function exact(value: unknown, expected: string | boolean, label: string): void {
+  if (value !== expected) throw new M48StaticOccupancyContractError(`${label}: нарушен контракт.`);
+}
+
+function member<T extends string>(value: unknown, allowed: readonly T[], label: string): T {
+  const parsed = text(value, label);
+  if (!allowed.includes(parsed as T)) {
+    throw new M48StaticOccupancyContractError(`${label}: недопустимое значение.`);
+  }
+  return parsed as T;
+}
+
+function extent(value: unknown): readonly [number, number, number, number] {
+  if (!Array.isArray(value) || value.length !== 4 || value.some((item) => typeof item !== "number" || !Number.isFinite(item))) {
+    throw new M48StaticOccupancyContractError("M4.8R2.case.extent: нарушен контракт.");
+  }
+  const result = value as number[];
+  if (result.some((item) => item < 0 || item > 1) || result[0]! >= result[2]! || result[1]! >= result[3]!) {
+    throw new M48StaticOccupancyContractError("M4.8R2.case.extent: нарушена геометрия.");
+  }
+  return result as unknown as readonly [number, number, number, number];
+}
+
+function authority(value: unknown): M48Authority {
+  const row = objectValue(value, "M4.8R2.authority");
+  exact(row.mode, "replay-simulated", "M4.8R2.authority.mode");
+  exact(row.physical_live, false, "M4.8R2.authority.physical_live");
+  exact(row.commands_enabled, false, "M4.8R2.authority.commands_enabled");
+  exact(row.actuation_allowed, false, "M4.8R2.authority.actuation_allowed");
+  exact(row.navigation_or_safety_accepted, false, "M4.8R2.authority.navigation_or_safety_accepted");
+  return { mode: "replay-simulated", physicalLive: false, commandsEnabled: false, actuationAllowed: false, navigationOrSafetyAccepted: false };
+}
+
+function metrics(value: unknown): M48StaticOccupancyMetrics {
+  const row = objectValue(value, "M4.8R2.metrics");
+  return {
+    operatorStaticAnchorCount: integer(row.operator_static_anchor_count, "operator_static_anchor_count"),
+    baselineQualifiedCount: integer(row.baseline_qualified_count, "baseline_qualified_count"),
+    candidateQualifiedCount: integer(row.candidate_qualified_count, "candidate_qualified_count"),
+    unresolvedUnknownCount: integer(row.unresolved_unknown_count, "unresolved_unknown_count"),
+    criticalNearAnchorCount: integer(row.critical_near_anchor_count, "critical_near_anchor_count"),
+    criticalNearBaselineRecall: numberValue(row.critical_near_baseline_recall, "critical_near_baseline_recall"),
+    criticalNearCandidateRecall: numberValue(row.critical_near_candidate_recall, "critical_near_candidate_recall"),
+    approachAnchorCount: integer(row.approach_anchor_count, "approach_anchor_count"),
+    approachBaselineRecall: numberValue(row.approach_baseline_recall, "approach_baseline_recall"),
+    approachCandidateRecall: numberValue(row.approach_candidate_recall, "approach_candidate_recall"),
+    canonicalEngineeringAnchorCount: integer(row.canonical_engineering_anchor_count, "canonical_engineering_anchor_count"),
+    canonicalEngineeringRecall: numberValue(row.canonical_engineering_recall, "canonical_engineering_recall"),
+    falseFreeCount: integer(row.false_free_count, "false_free_count"),
+  };
+}
+
+export async function fetchM48StaticOccupancyQualification(
+  resultId: string,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M48StaticOccupancyQualificationResult> {
+  if (!RESULT_ID.test(resultId)) throw new M48StaticOccupancyContractError("M4.8R2 identity недопустима.");
+  const response = await fetcher(`/api/v1/laboratory/m48/regressions/static-occupancy/${encodeURIComponent(resultId)}`, { method: "GET", headers: { Accept: "application/json" }, signal });
+  if (!response.ok) throw new M48StaticOccupancyContractError(`M4.8R2 недоступен: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M4.8R2");
+  exact(payload.schema_version, "missioncore.m48-static-occupancy-qualification-result-view/v1", "M4.8R2.schema_version");
+  const m47 = text(payload.reference_graph_lab_result_id, "M4.8R2.reference_graph_lab_result_id");
+  const m48r1 = text(payload.small_static_result_id, "M4.8R2.small_static_result_id");
+  if (!M47_RESULT_ID.test(m47) || !M48R1_RESULT_ID.test(m48r1)) throw new M48StaticOccupancyContractError("M4.8R2 source identity нарушена.");
+  exact(payload.run_label, "M4.8R2", "M4.8R2.run_label");
+  exact(payload.pipeline_id, "m4-current-rolling-plus-step-static-occupancy/v1", "M4.8R2.pipeline_id");
+  exact(payload.experiment_id, "m48-static-occupancy-qualification/v1", "M4.8R2.experiment_id");
+  exact(payload.ground_truth, false, "M4.8R2.ground_truth");
+  exact(payload.independent_truth, false, "M4.8R2.independent_truth");
+  const gates = objectValue(payload.gates, "M4.8R2.gates");
+  const decision = objectValue(payload.decision, "M4.8R2.decision");
+  exact(decision.production_accepted, false, "M4.8R2.decision.production_accepted");
+  return {
+    resultId,
+    referenceGraphLabResultId: m47,
+    smallStaticResultId: m48r1,
+    createdAtUtc: text(payload.created_at_utc, "M4.8R2.created_at_utc"),
+    runLabel: "M4.8R2",
+    pipelineId: "m4-current-rolling-plus-step-static-occupancy/v1",
+    experimentId: "m48-static-occupancy-qualification/v1",
+    accepted: bool(payload.accepted, "M4.8R2.accepted"),
+    metrics: metrics(payload.metrics),
+    gates: {
+      criticalNearCandidateRecall: bool(gates.critical_near_candidate_recall, "critical_near_candidate_recall"),
+      approachCandidateRecall: bool(gates.approach_candidate_recall, "approach_candidate_recall"),
+      canonicalEngineeringRecall: bool(gates.canonical_engineering_recall, "canonical_engineering_recall"),
+      zeroFalseFree: bool(gates.zero_false_free, "zero_false_free"),
+      independentTruthAvailable: false,
+    },
+    decision: {
+      state: member(
+        decision.state,
+        [
+          "accepted-bounded-static-occupancy-qualification",
+          "partial-static-occupancy-qualification",
+        ] as const,
+        "M4.8R2.decision.state",
+      ),
+      criticalNearCandidateReadyForShadow: bool(decision.critical_near_candidate_ready_for_shadow, "critical_near_candidate_ready_for_shadow"),
+      productionAccepted: false,
+      summary: text(decision.summary, "M4.8R2.decision.summary"),
+      nextAction: text(decision.next_action, "M4.8R2.decision.next_action"),
+    },
+    authority: authority(payload.authority),
+  };
+}
+
+export async function fetchM48StaticOccupancyCases(
+  resultId: string,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<readonly M48StaticOccupancyCase[]> {
+  if (!RESULT_ID.test(resultId)) throw new M48StaticOccupancyContractError("M4.8R2 identity недопустима.");
+  const response = await fetcher(`/api/v1/laboratory/m48/regressions/static-occupancy/${encodeURIComponent(resultId)}/cases`, { method: "GET", headers: { Accept: "application/json" }, signal });
+  if (!response.ok) throw new M48StaticOccupancyContractError(`M4.8R2 cases недоступны: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M4.8R2 cases");
+  exact(payload.schema_version, "missioncore.m48-static-occupancy-case-catalog/v1", "M4.8R2 cases.schema_version");
+  if (!Array.isArray(payload.cases) || payload.cases.length !== integer(payload.case_count, "M4.8R2.case_count")) throw new M48StaticOccupancyContractError("M4.8R2 cases: размер изменился.");
+  return payload.cases.map((value, index) => {
+    const row = objectValue(value, `M4.8R2.case[${index}]`);
+    const anchorId = text(row.anchor_id, "anchor_id");
+    if (!ANCHOR_ID.test(anchorId)) throw new M48StaticOccupancyContractError("M4.8R2 anchor identity нарушена.");
+    const graph = objectValue(row.accepted_graph, "accepted_graph");
+    const band = member(
+      row.distance_band,
+      ["critical-near", "approach", "outside-qualified-bands"] as const,
+      "distance_band",
+    );
+    const outcome = member(
+      row.outcome,
+      ["candidate-qualified", "unresolved-unknown-never-free"] as const,
+      "outcome",
+    );
+    return {
+      anchorId,
+      clipId: text(row.clip_id, "clip_id"),
+      sequence: integer(row.sequence, "sequence"),
+      extentXyxy: extent(row.extent_xyxy),
+      distanceM: numberValue(row.distance_m, "distance_m"),
+      distanceBand: band,
+      baselineQualified: bool(row.baseline_qualified, "baseline_qualified"),
+      candidateQualified: bool(row.candidate_qualified, "candidate_qualified"),
+      outcome,
+      graphMatched: bool(graph.matched, "accepted_graph.matched"),
+    };
+  });
+}

apps/control-station/src/core/laboratory/m48r3StaticOccupancyShadow.ts

@@ -0,0 +1,343 @@
+import type { LaboratoryFetch } from "./advancedResults";
+import type { M48Authority } from "./m48ObjectCentricQuality";
+
+const RESULT_ID = /^m48r3-static-occupancy-shadow-[a-f0-9]{64}$/;
+
+interface M48R3WorkerPerformance {
+  admittedFrames: number;
+  deliveredFrames: number;
+  fps: number;
+  worldP95Ms: number;
+  worldP99Ms: number;
+  geometryP95Ms: number;
+  geometryP99Ms: number;
+}
+
+export interface M48R3StaticOccupancyShadowResult {
+  resultId: string;
+  createdAtUtc: string;
+  accepted: boolean;
+  profile: {
+    id: string;
+    sha256: string;
+    minimumPoints: number;
+  };
+  metrics: {
+    frames: { expected: number; baselineDelivered: number; candidateDelivered: number };
+    performance: {
+      baseline: M48R3WorkerPerformance;
+      candidate: M48R3WorkerPerformance;
+      fpsRegressionFraction: number;
+      worldStateP95DeltaMs: number;
+    };
+    occupancy: {
+      baselineCellTotal: number;
+      candidateCellTotal: number;
+      addedCellTotal: number;
+      lostCellTotal: number;
+      baselineComponentTotal: number;
+      candidateComponentTotal: number;
+      meanCellGrowthFraction: number;
+      meanComponentGrowthFraction: number;
+      maximumAddedCellsPerFrame: number;
+      maximumCandidateComponentsPerFrame: number;
+    };
+    provider: {
+      additiveObservationCount: number;
+      additiveVoxelCount: number;
+      framesWithAdditions: number;
+      additiveMeanMsPerFrame: number;
+      peakTemporalComponents: number;
+      peakRollingCells: number;
+    };
+    anchors: {
+      count: number;
+      criticalNearCount: number;
+      criticalNearRecall: number;
+      matchedCount: number;
+      canonicalEngineeringRecall: number;
+      separation: readonly {
+        displayFrame: number;
+        expectedMinimumComponents: number;
+        observedComponents: number;
+        passed: boolean;
+        interpretation: string;
+      }[];
+    };
+    capacityDropCount: number;
+    falseFreeCount: number;
+  };
+  gates: Readonly<Record<string, boolean>>;
+  decision: {
+    state: "accepted-bounded-worker-shadow" | "rejected-bounded-worker-shadow";
+    candidateAccepted: boolean;
+    productionAccepted: false;
+    nextAction: string;
+  };
+  limitations: readonly string[];
+  authority: M48Authority;
+}
+
+export interface M48R3StaticOccupancyCase {
+  anchorId: string;
+  displayFrame: number;
+  sourceSequence: number;
+  extentXyxy: readonly [number, number, number, number];
+  distanceBand: "critical-near" | "approach" | "outside-qualified-bands";
+  componentCount: number;
+  matched: boolean;
+}
+
+export class M48R3StaticOccupancyContractError extends Error {}
+
+function objectValue(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new M48R3StaticOccupancyContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function text(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new M48R3StaticOccupancyContractError(`${label}: ожидалась строка.`);
+  }
+  return value;
+}
+
+function numberValue(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new M48R3StaticOccupancyContractError(`${label}: ожидалось число.`);
+  }
+  return value;
+}
+
+function integer(value: unknown, label: string): number {
+  const parsed = numberValue(value, label);
+  if (!Number.isSafeInteger(parsed) || parsed < 0) {
+    throw new M48R3StaticOccupancyContractError(`${label}: ожидалось целое число.`);
+  }
+  return parsed;
+}
+
+function bool(value: unknown, label: string): boolean {
+  if (typeof value !== "boolean") {
+    throw new M48R3StaticOccupancyContractError(`${label}: ожидался флаг.`);
+  }
+  return value;
+}
+
+function exact(value: unknown, expected: string | boolean, label: string): void {
+  if (value !== expected) {
+    throw new M48R3StaticOccupancyContractError(`${label}: нарушен контракт.`);
+  }
+}
+
+function sha256(value: unknown, label: string): string {
+  const parsed = text(value, label);
+  if (!/^[a-f0-9]{64}$/.test(parsed)) {
+    throw new M48R3StaticOccupancyContractError(`${label}: неверный SHA-256.`);
+  }
+  return parsed;
+}
+
+function extent(value: unknown): readonly [number, number, number, number] {
+  if (!Array.isArray(value) || value.length !== 4) {
+    throw new M48R3StaticOccupancyContractError("M4.8R3 extent: нарушен контракт.");
+  }
+  const parsed = value.map((item) => numberValue(item, "M4.8R3 extent"));
+  return [parsed[0]!, parsed[1]!, parsed[2]!, parsed[3]!];
+}
+
+function authority(value: unknown): M48Authority {
+  const row = objectValue(value, "M4.8R3 authority");
+  exact(row.mode, "replay-simulated", "M4.8R3 authority.mode");
+  exact(row.physical_live, false, "M4.8R3 authority.physical_live");
+  exact(row.commands_enabled, false, "M4.8R3 authority.commands_enabled");
+  exact(row.actuation_allowed, false, "M4.8R3 authority.actuation_allowed");
+  exact(
+    row.navigation_or_safety_accepted,
+    false,
+    "M4.8R3 authority.navigation_or_safety_accepted",
+  );
+  return {
+    mode: "replay-simulated",
+    physicalLive: false,
+    commandsEnabled: false,
+    actuationAllowed: false,
+    navigationOrSafetyAccepted: false,
+  };
+}
+
+function workerPerformance(value: unknown, label: string): M48R3WorkerPerformance {
+  const row = objectValue(value, label);
+  return {
+    admittedFrames: integer(row.admitted_frames, `${label}.admitted_frames`),
+    deliveredFrames: integer(row.delivered_frames, `${label}.delivered_frames`),
+    fps: numberValue(row.fps, `${label}.fps`),
+    worldP95Ms: numberValue(row.world_p95_ms, `${label}.world_p95_ms`),
+    worldP99Ms: numberValue(row.world_p99_ms, `${label}.world_p99_ms`),
+    geometryP95Ms: numberValue(row.geometry_p95_ms, `${label}.geometry_p95_ms`),
+    geometryP99Ms: numberValue(row.geometry_p99_ms, `${label}.geometry_p99_ms`),
+  };
+}
+
+export async function fetchM48R3StaticOccupancyShadow(
+  resultId: string,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M48R3StaticOccupancyShadowResult> {
+  if (!RESULT_ID.test(resultId)) {
+    throw new M48R3StaticOccupancyContractError("M4.8R3 identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/m48r3/static-occupancy/${encodeURIComponent(resultId)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new M48R3StaticOccupancyContractError(`M4.8R3 недоступен: HTTP ${response.status}.`);
+  }
+  const payload = objectValue(await response.json(), "M4.8R3");
+  exact(
+    payload.schema_version,
+    "missioncore.m48r3-static-occupancy-shadow-view/v1",
+    "M4.8R3 schema",
+  );
+  exact(payload.result_id, resultId, "M4.8R3 result");
+  exact(payload.ground_truth, false, "M4.8R3 ground truth");
+  const profile = objectValue(payload.profile, "M4.8R3 profile");
+  const componentization = objectValue(profile.componentization, "M4.8R3 componentization");
+  const metrics = objectValue(payload.metrics, "M4.8R3 metrics");
+  const frames = objectValue(metrics.frames, "M4.8R3 frames");
+  const performance = objectValue(metrics.performance, "M4.8R3 performance");
+  const occupancy = objectValue(metrics.occupancy, "M4.8R3 occupancy");
+  const provider = objectValue(metrics.provider, "M4.8R3 provider");
+  const anchors = objectValue(metrics.assisted_anchors, "M4.8R3 anchors");
+  if (!Array.isArray(anchors.separation)) {
+    throw new M48R3StaticOccupancyContractError("M4.8R3 separation: ожидался массив.");
+  }
+  const gates = objectValue(payload.gates, "M4.8R3 gates");
+  const parsedGates = Object.fromEntries(
+    Object.entries(gates).map(([key, value]) => [key, bool(value, `M4.8R3 gate ${key}`)]),
+  );
+  const decision = objectValue(payload.decision, "M4.8R3 decision");
+  const state = text(decision.state, "M4.8R3 decision.state");
+  if (state !== "accepted-bounded-worker-shadow" && state !== "rejected-bounded-worker-shadow") {
+    throw new M48R3StaticOccupancyContractError("M4.8R3 decision.state: неизвестное состояние.");
+  }
+  exact(decision.production_accepted, false, "M4.8R3 production acceptance");
+  if (!Array.isArray(payload.limitations)) {
+    throw new M48R3StaticOccupancyContractError("M4.8R3 limitations: ожидался массив.");
+  }
+  return {
+    resultId,
+    createdAtUtc: text(payload.created_at_utc, "M4.8R3 created"),
+    accepted: bool(payload.accepted, "M4.8R3 accepted"),
+    profile: {
+      id: text(profile.id, "M4.8R3 profile id"),
+      sha256: sha256(profile.sha256, "M4.8R3 profile sha"),
+      minimumPoints: integer(componentization.minimum_points, "M4.8R3 minimum points"),
+    },
+    metrics: {
+      frames: {
+        expected: integer(frames.expected, "M4.8R3 expected frames"),
+        baselineDelivered: integer(frames.baseline_delivered, "M4.8R3 baseline frames"),
+        candidateDelivered: integer(frames.candidate_delivered, "M4.8R3 candidate frames"),
+      },
+      performance: {
+        baseline: workerPerformance(performance.baseline, "M4.8R3 baseline"),
+        candidate: workerPerformance(performance.candidate, "M4.8R3 candidate"),
+        fpsRegressionFraction: numberValue(performance.fps_regression_fraction, "M4.8R3 FPS regression"),
+        worldStateP95DeltaMs: numberValue(performance.world_state_p95_delta_ms, "M4.8R3 p95 delta"),
+      },
+      occupancy: {
+        baselineCellTotal: integer(occupancy.baseline_cell_total, "M4.8R3 baseline cells"),
+        candidateCellTotal: integer(occupancy.candidate_cell_total, "M4.8R3 candidate cells"),
+        addedCellTotal: integer(occupancy.added_cell_total, "M4.8R3 added cells"),
+        lostCellTotal: integer(occupancy.lost_cell_total, "M4.8R3 lost cells"),
+        baselineComponentTotal: integer(occupancy.baseline_component_total, "M4.8R3 baseline components"),
+        candidateComponentTotal: integer(occupancy.candidate_component_total, "M4.8R3 candidate components"),
+        meanCellGrowthFraction: numberValue(occupancy.mean_cell_growth_fraction, "M4.8R3 cell growth"),
+        meanComponentGrowthFraction: numberValue(occupancy.mean_component_growth_fraction, "M4.8R3 component growth"),
+        maximumAddedCellsPerFrame: integer(occupancy.maximum_added_cells_per_frame, "M4.8R3 maximum added cells"),
+        maximumCandidateComponentsPerFrame: integer(occupancy.maximum_candidate_components_per_frame, "M4.8R3 maximum components"),
+      },
+      provider: {
+        additiveObservationCount: integer(provider.additive_observation_count, "M4.8R3 observations"),
+        additiveVoxelCount: integer(provider.additive_voxel_count, "M4.8R3 voxels"),
+        framesWithAdditions: integer(provider.frames_with_additions, "M4.8R3 added frames"),
+        additiveMeanMsPerFrame: numberValue(provider.additive_mean_ms_per_frame, "M4.8R3 additive mean"),
+        peakTemporalComponents: integer(provider.peak_temporal_components, "M4.8R3 temporal peak"),
+        peakRollingCells: integer(provider.peak_rolling_cells, "M4.8R3 rolling peak"),
+      },
+      anchors: {
+        count: integer(anchors.count, "M4.8R3 anchor count"),
+        criticalNearCount: integer(anchors.critical_near_count, "M4.8R3 near anchors"),
+        criticalNearRecall: numberValue(anchors.critical_near_recall, "M4.8R3 near recall"),
+        matchedCount: integer(anchors.matched_count, "M4.8R3 matched anchors"),
+        canonicalEngineeringRecall: numberValue(anchors.canonical_engineering_recall, "M4.8R3 canonical recall"),
+        separation: anchors.separation.map((value, index) => {
+          const row = objectValue(value, `M4.8R3 separation ${index}`);
+          return {
+            displayFrame: integer(row.display_frame, "M4.8R3 separation frame"),
+            expectedMinimumComponents: integer(row.expected_minimum_components, "M4.8R3 expected components"),
+            observedComponents: integer(row.observed_components, "M4.8R3 observed components"),
+            passed: bool(row.passed, "M4.8R3 separation passed"),
+            interpretation: text(row.interpretation, "M4.8R3 separation interpretation"),
+          };
+        }),
+      },
+      capacityDropCount: integer(metrics.capacity_drop_count, "M4.8R3 capacity drops"),
+      falseFreeCount: integer(metrics.false_free_count, "M4.8R3 false free"),
+    },
+    gates: parsedGates,
+    decision: {
+      state,
+      candidateAccepted: bool(decision.candidate_accepted, "M4.8R3 candidate accepted"),
+      productionAccepted: false,
+      nextAction: text(decision.next_action, "M4.8R3 next action"),
+    },
+    limitations: payload.limitations.map((value, index) => text(value, `M4.8R3 limitation ${index}`)),
+    authority: authority(payload.authority),
+  };
+}
+
+export async function fetchM48R3StaticOccupancyCases(
+  resultId: string,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<readonly M48R3StaticOccupancyCase[]> {
+  if (!RESULT_ID.test(resultId)) {
+    throw new M48R3StaticOccupancyContractError("M4.8R3 identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/m48r3/static-occupancy/${encodeURIComponent(resultId)}/cases`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new M48R3StaticOccupancyContractError(`M4.8R3 cases недоступны: HTTP ${response.status}.`);
+  }
+  const payload = objectValue(await response.json(), "M4.8R3 cases");
+  exact(
+    payload.schema_version,
+    "missioncore.m48r3-static-occupancy-shadow-cases/v1",
+    "M4.8R3 cases schema",
+  );
+  exact(payload.result_id, resultId, "M4.8R3 cases result");
+  if (!Array.isArray(payload.cases) || payload.cases.length !== integer(payload.case_count, "M4.8R3 case count")) {
+    throw new M48R3StaticOccupancyContractError("M4.8R3 cases: нарушен размер.");
+  }
+  return payload.cases.map((value, index) => {
+    const row = objectValue(value, `M4.8R3 case ${index}`);
+    const distanceBand = text(row.distance_band, "M4.8R3 distance band");
+    if (distanceBand !== "critical-near" && distanceBand !== "approach" && distanceBand !== "outside-qualified-bands") {
+      throw new M48R3StaticOccupancyContractError("M4.8R3 distance band: неизвестное значение.");
+    }
+    return {
+      anchorId: text(row.anchor_id, "M4.8R3 anchor id"),
+      displayFrame: integer(row.display_frame, "M4.8R3 display frame"),
+      sourceSequence: integer(row.source_sequence, "M4.8R3 source sequence"),
+      extentXyxy: extent(row.extent_xyxy),
+      distanceBand,
+      componentCount: integer(row.component_count, "M4.8R3 component count"),
+      matched: bool(row.matched, "M4.8R3 matched"),
+    };
+  });
+}

apps/control-station/src/core/laboratory/m48sFixedClassDetector.ts

@@ -0,0 +1,972 @@
+import type { LaboratoryFetch } from "./advancedResults";
+
+const RESULT_ID = /^m48s-fixed-class-detector-lab-[a-f0-9]{64}$/;
+const FRAME_ID = /^[0-9]{6}$/;
+const SHA256 = /^[a-f0-9]{64}$/;
+const MODES = ["source", "yolox", "dfine", "rf-detr"] as const;
+const DETECTOR_MODES = ["yolox", "dfine", "rf-detr"] as const;
+const RESULT_STATUSES = [
+  "detector-load-passed-reference-graph-shadow-only",
+  "complete-reference-graph-shadow-passed-production-not-authorized",
+] as const;
+
+export type M48SDetectorMode = typeof MODES[number];
+export type M48SDetectorModel = typeof DETECTOR_MODES[number];
+
+export interface M48SAuthority {
+  actuationAllowed: false;
+  candidateAccepted: false;
+  commandsEnabled: false;
+  groundTruth: false;
+  navigationOrSafetyAccepted: false;
+}
+
+export interface M48SMethodComponent {
+  kind: "source" | "tool" | "model" | "algorithm" | "runtime";
+  name: string;
+  version: string;
+  role: string;
+  identitySha256: string;
+}
+
+export interface M48SMethod {
+  completeness: "complete";
+  executionClass: "ai-inference";
+  pipelineId: string;
+  components: readonly M48SMethodComponent[];
+}
+
+export interface M48SDetectorCandidate {
+  id: M48SDetectorModel;
+  label: string;
+  providerId: string;
+  capacityFps: number;
+  p95Ms: number;
+  frame253DogDetected: boolean;
+  frame253DogScore: number | null;
+  selected: boolean;
+}
+
+export interface M48SFrameDescriptor {
+  frameId: string;
+  sourceSequence: number;
+  counts: Readonly<Record<M48SDetectorModel, number>>;
+}
+
+export interface M48SIntegratedWorldState {
+  durationSeconds: number;
+  sourceFramesAdmitted: number;
+  deliveredWorldStates: number;
+  supersededFrames: number;
+  effectiveWorldStateFps: number;
+  worldStateCompletionAgeP95Ms: number;
+  worldStateCompletionAgeP99Ms: number;
+  worldStateCompletionAgeMaximumMs: number;
+  localObstacleMapOutputAgeP95Ms: number;
+  queueHighWatermarks: Readonly<Record<"detector" | "geometry" | "temporal" | "rolling" | "threat", number>>;
+  queueCapacity: number;
+  gpuUtilizationMeanPercent: number;
+  gpuUtilizationMaximumPercent: number;
+  gpuMemoryMaximumMib: number;
+  gpuPowerMaximumW: number;
+  gpuTemperatureMaximumC: number;
+  uniqueComponentCount: number;
+  multiFrameComponentCount: number;
+  maximumComponentPublications: number;
+  duplicateComponentIdsWithinFrame: number;
+  advisoryFamilyCounts: Readonly<Record<"animal" | "generic-obstacle" | "light-road-user" | "person" | "vehicle", number>>;
+  semanticHintCounts: Readonly<Record<string, number>>;
+  motionCounts: Readonly<Record<"moving" | "stationary" | "unknown", number>>;
+  additionalInferencePasses: number;
+  failures: number;
+}
+
+export interface M48SRuntimeHardeningFullRun {
+  sourceFramesAdmitted: number;
+  deliveredWorldStates: number;
+  supersededFrames: number;
+  effectiveWorldStateFps: number;
+  worldStateCompletionAgeP95Ms: number;
+  worldStateCompletionAgeP99Ms: number;
+  worldStateCompletionAgeMaximumMs: number;
+  rollingMaximumMs: number;
+  geometryMaximumMs: number;
+  additionalInferencePasses: number;
+}
+
+export interface M48SRuntimeHardeningComparison {
+  baseline: M48SRuntimeHardeningFullRun;
+  hardened: M48SRuntimeHardeningFullRun;
+  startup: {
+    baseline: { detectorMs: number; worldStateMs: number };
+    prewarmed: { detectorMs: number; worldStateMs: number };
+    prewarmDurationMs: number;
+    prewarmInferencePasses: number;
+    validationFrames: number;
+  };
+}
+
+export interface M48SLoadEnvelopeScenario {
+  id: "production-10fps" | "reserve-12fps" | "limit-15fps";
+  loadPurpose: "production-rate" | "reserve-gate" | "limit-discovery";
+  requestedSourceRateHz: number;
+  sourceFramesAdmitted: number;
+  deliveredWorldStates: number;
+  supersededFrames: number;
+  deliveryRatio: number;
+  effectiveWorldStateFps: number;
+  worldStateCompletionAgeP95Ms: number;
+  worldStateCompletionAgeP99Ms: number;
+  worldStateCompletionAgeMaximumMs: number;
+  hotLoopDecodeP95Ms: number;
+  hotLoopDecodeMaximumMs: number;
+  preadmissionDecodeMaximumMs: number;
+  sourcePrefetchPreparationMaximumMs: number;
+  sourcePacingLatenessP95Ms: number;
+  sourcePacingLatenessMaximumMs: number;
+  detectorP95Ms: number;
+  detectorMaximumMs: number;
+  gpuUtilizationMeanPercent: number;
+  gpuUtilizationMaximumPercent: number;
+  gpuMemoryMaximumMib: number;
+  processPeakRssMib: number;
+  queueHighWatermarks: Readonly<Record<"detector" | "geometry" | "temporal" | "rolling" | "threat", number>>;
+  queueCapacity: number;
+  additionalInferencePasses: number;
+  repeatCount: number;
+  allRepetitionsPassed: boolean;
+  integrityGatePassed: boolean;
+  operatingTargetGatePassed: boolean;
+  thresholds: {
+    minimumDeliveryRatio: number;
+    minimumEffectiveWorldStateFps: number;
+    maximumWorldStateCompletionP95Ms: number;
+  };
+  repetitions: readonly M48SLoadEnvelopeRepetition[];
+}
+
+export interface M48SLoadEnvelopeRepetition {
+  runId: string;
+  repetition: 1 | 2 | 3;
+  deliveredWorldStates: number;
+  supersededFrames: number;
+  deliveryRatio: number;
+  effectiveWorldStateFps: number;
+  worldStateCompletionAgeP95Ms: number;
+  hotLoopDecodeP95Ms: number;
+  hotLoopDecodeMaximumMs: number;
+  preadmissionDecodeMaximumMs: number;
+  sourcePacingLatenessMaximumMs: number;
+  operatingTargetGatePassed: boolean;
+  resultSha256: string;
+  frameEvidenceSha256: string;
+}
+
+export interface M48SLoadEnvelopeComparison {
+  repeatCountPerRate: number;
+  productionRateRepeatabilityPassed: boolean;
+  reserve12FpsPassed: boolean;
+  limit15FpsPassed: boolean;
+  loadEnvelopeAccepted: boolean;
+  computeCapacityAtLeastFps: 15;
+  bottleneckInterpretation:
+    | "rare-source-decode-or-scheduling-tail-not-steady-gpu-saturation"
+    | "cold-video-decode-isolated-before-admission-no-steady-gpu-saturation";
+  scenarios: readonly M48SLoadEnvelopeScenario[];
+}
+
+export interface M48SFixedClassDetectorResult {
+  resultId: string;
+  createdAtUtc: string;
+  status: typeof RESULT_STATUSES[number];
+  boundedQuestionAccepted: true;
+  groundTruth: false;
+  source: {
+    sourceSessionId: "RAVNOVES00";
+    cameraSourceId: "sensor.camera.right";
+    cameraRaster: readonly [800, 600];
+    evidenceFrameCount: number;
+  };
+  configuration: {
+    comparisonThreshold: 0.5;
+    displayModes: readonly M48SDetectorMode[];
+    singleInferencePerFrame: true;
+    geometryOwnsStaticOccupancy: true;
+    unknownStationaryResponse: "route-around";
+    unknownMovingResponse: "conservative-risk";
+  };
+  method: M48SMethod;
+  metrics: {
+    candidates: readonly M48SDetectorCandidate[];
+    detectorLoad: {
+      durationSeconds: number;
+      sourceFramesConsumed: number;
+      sourceFrameReplacements: number;
+      effectiveConsumedFps: number;
+      endToEndP95Ms: number;
+      completionAgeP95Ms: number;
+      gpuUtilizationMeanPercent: number;
+      gpuUtilizationMaximumPercent: number;
+      gpuMemoryMaximumMib: number;
+      queueMaximumDepth: number;
+      queueCapacity: number;
+      failures: number;
+    };
+    integratedWorldState: M48SIntegratedWorldState | null;
+    runtimeHardening: M48SRuntimeHardeningComparison | null;
+    loadEnvelope: M48SLoadEnvelopeComparison | null;
+  };
+  decision: {
+    selectedCandidate: "rf-detr";
+    readyForReferenceGraphShadow: true;
+    integratedWorldStateGateEvaluated: boolean;
+    integratedWorldStateGatePassed: boolean;
+    detectorReplacementAuthorized: false;
+    loadEnvelopeEvaluated: boolean;
+    productionRateRepeatabilityPassed: boolean;
+    reserve12FpsPassed: boolean;
+    limit15FpsPassed: boolean;
+    loadEnvelopeAccepted: boolean;
+    productionAccepted: false;
+  };
+  limitations: readonly string[];
+  authority: M48SAuthority;
+  frames: readonly M48SFrameDescriptor[];
+}
+
+export interface M48SDetection {
+  label: string;
+  score: number;
+  bboxXyxy: readonly [number, number, number, number];
+}
+
+export interface M48SDetectorFrame {
+  resultId: string;
+  frameId: string;
+  sourceSequence: number;
+  cameraUrl: string;
+  imageWidth: 800;
+  imageHeight: 600;
+  comparisonThreshold: 0.5;
+  detections: Readonly<Record<M48SDetectorModel, readonly M48SDetection[]>>;
+  groundTruthAvailable: false;
+  authority: M48SAuthority;
+}
+
+export class M48SFixedClassDetectorContractError extends Error {}
+
+function objectValue(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new M48SFixedClassDetectorContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function arrayValue(value: unknown, label: string): readonly unknown[] {
+  if (!Array.isArray(value)) {
+    throw new M48SFixedClassDetectorContractError(`${label}: ожидался список.`);
+  }
+  return value;
+}
+
+function exact(value: unknown, expected: string | number | boolean, label: string): void {
+  if (value !== expected) {
+    throw new M48SFixedClassDetectorContractError(`${label}: нарушен контракт.`);
+  }
+}
+
+function textValue(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new M48SFixedClassDetectorContractError(`${label}: ожидалась строка.`);
+  }
+  return value;
+}
+
+function numberValue(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new M48SFixedClassDetectorContractError(`${label}: ожидалось число.`);
+  }
+  return value;
+}
+
+function integerValue(value: unknown, label: string): number {
+  const result = numberValue(value, label);
+  if (!Number.isInteger(result) || result < 0) {
+    throw new M48SFixedClassDetectorContractError(`${label}: ожидалось целое число.`);
+  }
+  return result;
+}
+
+function booleanValue(value: unknown, label: string): boolean {
+  if (typeof value !== "boolean") {
+    throw new M48SFixedClassDetectorContractError(`${label}: ожидался флаг.`);
+  }
+  return value;
+}
+
+function enumValue<T extends string>(value: unknown, allowed: readonly T[], label: string): T {
+  if (typeof value !== "string" || !allowed.includes(value as T)) {
+    throw new M48SFixedClassDetectorContractError(`${label}: неизвестное значение.`);
+  }
+  return value as T;
+}
+
+function authorityValue(value: unknown, label: string): M48SAuthority {
+  const authority = objectValue(value, label);
+  exact(authority.actuation_allowed, false, `${label}.actuation_allowed`);
+  exact(authority.candidate_accepted, false, `${label}.candidate_accepted`);
+  exact(authority.commands_enabled, false, `${label}.commands_enabled`);
+  exact(authority.ground_truth, false, `${label}.ground_truth`);
+  exact(
+    authority.navigation_or_safety_accepted,
+    false,
+    `${label}.navigation_or_safety_accepted`,
+  );
+  return {
+    actuationAllowed: false,
+    candidateAccepted: false,
+    commandsEnabled: false,
+    groundTruth: false,
+    navigationOrSafetyAccepted: false,
+  };
+}
+
+function methodValue(value: unknown): M48SMethod {
+  const method = objectValue(value, "M4.8S.method");
+  exact(method.schema_version, "missioncore.laboratory-method/v1", "M4.8S.method.schema_version");
+  exact(method.completeness, "complete", "M4.8S.method.completeness");
+  exact(method.execution_class, "ai-inference", "M4.8S.method.execution_class");
+  return {
+    completeness: "complete",
+    executionClass: "ai-inference",
+    pipelineId: textValue(method.pipeline_id, "M4.8S.method.pipeline_id"),
+    components: arrayValue(method.components, "M4.8S.method.components").map((value, index) => {
+      const component = objectValue(value, `M4.8S.method.components[${index}]`);
+      return {
+        kind: enumValue(
+          component.kind,
+          ["source", "tool", "model", "algorithm", "runtime"] as const,
+          `M4.8S.method.components[${index}].kind`,
+        ),
+        name: textValue(component.name, `M4.8S.method.components[${index}].name`),
+        version: textValue(component.version, `M4.8S.method.components[${index}].version`),
+        role: textValue(component.role, `M4.8S.method.components[${index}].role`),
+        identitySha256: textValue(
+          component.identity_sha256,
+          `M4.8S.method.components[${index}].identity_sha256`,
+        ),
+      };
+    }),
+  };
+}
+
+function countsValue(value: unknown, label: string): Readonly<Record<M48SDetectorModel, number>> {
+  const counts = objectValue(value, label);
+  return {
+    yolox: integerValue(counts.yolox, `${label}.yolox`),
+    dfine: integerValue(counts.dfine, `${label}.dfine`),
+    "rf-detr": integerValue(counts["rf-detr"], `${label}.rf-detr`),
+  };
+}
+
+function descriptorValue(value: unknown): M48SFrameDescriptor {
+  const frame = objectValue(value, "M4.8S.frame");
+  const frameId = textValue(frame.frame_id, "M4.8S.frame.frame_id");
+  if (!FRAME_ID.test(frameId)) {
+    throw new M48SFixedClassDetectorContractError("M4.8S.frame.frame_id: нарушена идентичность.");
+  }
+  return {
+    frameId,
+    sourceSequence: integerValue(frame.source_sequence, "M4.8S.frame.source_sequence"),
+    counts: countsValue(frame.counts, "M4.8S.frame.counts"),
+  };
+}
+
+function candidateValue(value: unknown): M48SDetectorCandidate {
+  const candidate = objectValue(value, "M4.8S.candidate");
+  const score = candidate.frame_253_dog_score;
+  if (score !== null && (typeof score !== "number" || !Number.isFinite(score))) {
+    throw new M48SFixedClassDetectorContractError("M4.8S.candidate.frame_253_dog_score: нарушен контракт.");
+  }
+  return {
+    id: enumValue(candidate.id, DETECTOR_MODES, "M4.8S.candidate.id"),
+    label: textValue(candidate.label, "M4.8S.candidate.label"),
+    providerId: textValue(candidate.provider_id, "M4.8S.candidate.provider_id"),
+    capacityFps: numberValue(candidate.capacity_fps, "M4.8S.candidate.capacity_fps"),
+    p95Ms: numberValue(candidate.p95_ms, "M4.8S.candidate.p95_ms"),
+    frame253DogDetected: booleanValue(
+      candidate.frame_253_dog_detected,
+      "M4.8S.candidate.frame_253_dog_detected",
+    ),
+    frame253DogScore: score,
+    selected: booleanValue(candidate.selected, "M4.8S.candidate.selected"),
+  };
+}
+
+function integerRecordValue(value: unknown, label: string): Readonly<Record<string, number>> {
+  const record = objectValue(value, label);
+  return Object.fromEntries(
+    Object.entries(record).map(([key, item]) => [key, integerValue(item, `${label}.${key}`)]),
+  );
+}
+
+function integratedWorldStateValue(value: unknown): M48SIntegratedWorldState {
+  const integrated = objectValue(value, "M4.8S.metrics.integrated_world_state");
+  const queues = integerRecordValue(
+    integrated.queue_high_watermarks,
+    "M4.8S.integrated.queue_high_watermarks",
+  );
+  const advisory = integerRecordValue(
+    integrated.advisory_family_counts,
+    "M4.8S.integrated.advisory_family_counts",
+  );
+  const motion = integerRecordValue(
+    integrated.motion_counts,
+    "M4.8S.integrated.motion_counts",
+  );
+  for (const key of ["detector", "geometry", "temporal", "rolling", "threat"] as const) {
+    if (!(key in queues)) {
+      throw new M48SFixedClassDetectorContractError(`M4.8S.integrated.queue_high_watermarks.${key}: отсутствует.`);
+    }
+  }
+  for (const key of ["animal", "generic-obstacle", "light-road-user", "person", "vehicle"] as const) {
+    if (!(key in advisory)) {
+      throw new M48SFixedClassDetectorContractError(`M4.8S.integrated.advisory_family_counts.${key}: отсутствует.`);
+    }
+  }
+  for (const key of ["moving", "stationary", "unknown"] as const) {
+    if (!(key in motion)) {
+      throw new M48SFixedClassDetectorContractError(`M4.8S.integrated.motion_counts.${key}: отсутствует.`);
+    }
+  }
+  return {
+    durationSeconds: numberValue(integrated.duration_seconds, "M4.8S.integrated.duration_seconds"),
+    sourceFramesAdmitted: integerValue(integrated.source_frames_admitted, "M4.8S.integrated.source_frames_admitted"),
+    deliveredWorldStates: integerValue(integrated.delivered_world_states, "M4.8S.integrated.delivered_world_states"),
+    supersededFrames: integerValue(integrated.superseded_frames, "M4.8S.integrated.superseded_frames"),
+    effectiveWorldStateFps: numberValue(integrated.effective_world_state_fps, "M4.8S.integrated.effective_world_state_fps"),
+    worldStateCompletionAgeP95Ms: numberValue(integrated.world_state_completion_age_p95_ms, "M4.8S.integrated.world_state_completion_age_p95_ms"),
+    worldStateCompletionAgeP99Ms: numberValue(integrated.world_state_completion_age_p99_ms, "M4.8S.integrated.world_state_completion_age_p99_ms"),
+    worldStateCompletionAgeMaximumMs: numberValue(integrated.world_state_completion_age_maximum_ms, "M4.8S.integrated.world_state_completion_age_maximum_ms"),
+    localObstacleMapOutputAgeP95Ms: numberValue(integrated.local_obstacle_map_output_age_p95_ms, "M4.8S.integrated.local_obstacle_map_output_age_p95_ms"),
+    queueHighWatermarks: queues as M48SIntegratedWorldState["queueHighWatermarks"],
+    queueCapacity: integerValue(integrated.queue_capacity, "M4.8S.integrated.queue_capacity"),
+    gpuUtilizationMeanPercent: numberValue(integrated.gpu_utilization_mean_percent, "M4.8S.integrated.gpu_utilization_mean_percent"),
+    gpuUtilizationMaximumPercent: numberValue(integrated.gpu_utilization_maximum_percent, "M4.8S.integrated.gpu_utilization_maximum_percent"),
+    gpuMemoryMaximumMib: numberValue(integrated.gpu_memory_maximum_mib, "M4.8S.integrated.gpu_memory_maximum_mib"),
+    gpuPowerMaximumW: numberValue(integrated.gpu_power_maximum_w, "M4.8S.integrated.gpu_power_maximum_w"),
+    gpuTemperatureMaximumC: numberValue(integrated.gpu_temperature_maximum_c, "M4.8S.integrated.gpu_temperature_maximum_c"),
+    uniqueComponentCount: integerValue(integrated.unique_component_count, "M4.8S.integrated.unique_component_count"),
+    multiFrameComponentCount: integerValue(integrated.multi_frame_component_count, "M4.8S.integrated.multi_frame_component_count"),
+    maximumComponentPublications: integerValue(integrated.maximum_component_publications, "M4.8S.integrated.maximum_component_publications"),
+    duplicateComponentIdsWithinFrame: integerValue(integrated.duplicate_component_ids_within_frame, "M4.8S.integrated.duplicate_component_ids_within_frame"),
+    advisoryFamilyCounts: advisory as M48SIntegratedWorldState["advisoryFamilyCounts"],
+    semanticHintCounts: integerRecordValue(integrated.semantic_hint_counts, "M4.8S.integrated.semantic_hint_counts"),
+    motionCounts: motion as M48SIntegratedWorldState["motionCounts"],
+    additionalInferencePasses: integerValue(integrated.additional_inference_passes, "M4.8S.integrated.additional_inference_passes"),
+    failures: integerValue(integrated.failures, "M4.8S.integrated.failures"),
+  };
+}
+
+function runtimeHardeningFullRunValue(
+  value: unknown,
+  label: string,
+): M48SRuntimeHardeningFullRun {
+  const run = objectValue(value, label);
+  return {
+    sourceFramesAdmitted: integerValue(run.source_frames_admitted, `${label}.source_frames_admitted`),
+    deliveredWorldStates: integerValue(run.delivered_world_states, `${label}.delivered_world_states`),
+    supersededFrames: integerValue(run.superseded_frames, `${label}.superseded_frames`),
+    effectiveWorldStateFps: numberValue(run.effective_world_state_fps, `${label}.effective_world_state_fps`),
+    worldStateCompletionAgeP95Ms: numberValue(run.world_state_completion_age_p95_ms, `${label}.world_state_completion_age_p95_ms`),
+    worldStateCompletionAgeP99Ms: numberValue(run.world_state_completion_age_p99_ms, `${label}.world_state_completion_age_p99_ms`),
+    worldStateCompletionAgeMaximumMs: numberValue(run.world_state_completion_age_maximum_ms, `${label}.world_state_completion_age_maximum_ms`),
+    rollingMaximumMs: numberValue(run.rolling_maximum_ms, `${label}.rolling_maximum_ms`),
+    geometryMaximumMs: numberValue(run.geometry_maximum_ms, `${label}.geometry_maximum_ms`),
+    additionalInferencePasses: integerValue(run.additional_inference_passes, `${label}.additional_inference_passes`),
+  };
+}
+
+function runtimeHardeningComparisonValue(value: unknown): M48SRuntimeHardeningComparison {
+  const comparison = objectValue(value, "M4.8S.metrics.runtime_hardening");
+  exact(
+    comparison.schema_version,
+    "missioncore.m48s-runtime-hardening-comparison/v1",
+    "M4.8S.metrics.runtime_hardening.schema_version",
+  );
+  const startup = objectValue(comparison.startup, "M4.8S.runtime_hardening.startup");
+  const startupFrame = (
+    candidate: unknown,
+    label: string,
+  ): { detectorMs: number; worldStateMs: number } => {
+    const frame = objectValue(candidate, label);
+    return {
+      detectorMs: numberValue(frame.detector_ms, `${label}.detector_ms`),
+      worldStateMs: numberValue(frame.world_state_ms, `${label}.world_state_ms`),
+    };
+  };
+  return {
+    baseline: runtimeHardeningFullRunValue(
+      comparison.baseline,
+      "M4.8S.runtime_hardening.baseline",
+    ),
+    hardened: runtimeHardeningFullRunValue(
+      comparison.hardened,
+      "M4.8S.runtime_hardening.hardened",
+    ),
+    startup: {
+      baseline: startupFrame(startup.baseline, "M4.8S.runtime_hardening.startup.baseline"),
+      prewarmed: startupFrame(startup.prewarmed, "M4.8S.runtime_hardening.startup.prewarmed"),
+      prewarmDurationMs: numberValue(
+        startup.prewarm_duration_ms,
+        "M4.8S.runtime_hardening.startup.prewarm_duration_ms",
+      ),
+      prewarmInferencePasses: integerValue(
+        startup.prewarm_inference_passes,
+        "M4.8S.runtime_hardening.startup.prewarm_inference_passes",
+      ),
+      validationFrames: integerValue(
+        startup.validation_frames,
+        "M4.8S.runtime_hardening.startup.validation_frames",
+      ),
+    },
+  };
+}
+
+function loadEnvelopeComparisonValue(value: unknown): M48SLoadEnvelopeComparison {
+  const comparison = objectValue(value, "M4.8S.metrics.load_envelope");
+  if (comparison.schema_version === "missioncore.m48s-load-envelope-comparison/v1") {
+    exact(comparison.production_rate_repeatability_passed, false, "M4.8S.load_envelope.production_rate_repeatability_passed");
+    exact(comparison.reserve_12_fps_passed, true, "M4.8S.load_envelope.reserve_12_fps_passed");
+    exact(comparison.limit_15_fps_passed, true, "M4.8S.load_envelope.limit_15_fps_passed");
+    exact(comparison.load_envelope_accepted, false, "M4.8S.load_envelope.load_envelope_accepted");
+    exact(comparison.compute_capacity_at_least_fps, 15, "M4.8S.load_envelope.compute_capacity_at_least_fps");
+    exact(
+      comparison.bottleneck_interpretation,
+      "rare-source-decode-or-scheduling-tail-not-steady-gpu-saturation",
+      "M4.8S.load_envelope.bottleneck_interpretation",
+    );
+    const ids = ["production-10fps", "reserve-12fps", "limit-15fps"] as const;
+    const purposes = ["production-rate", "reserve-gate", "limit-discovery"] as const;
+    const targetGates = [false, true, true] as const;
+    const scenarios = arrayValue(comparison.scenarios, "M4.8S.load_envelope.scenarios").map((value, index) => {
+      const label = `M4.8S.load_envelope.scenarios[${index}]`;
+      const scenario = objectValue(value, label);
+      const id = ids[index];
+      const purpose = purposes[index];
+      const targetGate = targetGates[index];
+      if (id === undefined || purpose === undefined || targetGate === undefined) {
+        throw new M48SFixedClassDetectorContractError("M4.8S.load_envelope.scenarios: лишний legacy-сценарий.");
+      }
+      exact(scenario.id, id, `${label}.id`);
+      exact(scenario.load_purpose, purpose, `${label}.load_purpose`);
+      exact(scenario.integrity_gate_passed, true, `${label}.integrity_gate_passed`);
+      exact(scenario.operating_target_gate_passed, targetGate, `${label}.operating_target_gate_passed`);
+      exact(scenario.additional_inference_passes, 0, `${label}.additional_inference_passes`);
+      const queues = integerRecordValue(scenario.queue_high_watermarks, `${label}.queue_high_watermarks`);
+      const thresholds = objectValue(scenario.thresholds, `${label}.thresholds`);
+      const frameEvidenceSha256 = textValue(scenario.frame_evidence_sha256, `${label}.frame_evidence_sha256`);
+      if (!SHA256.test(frameEvidenceSha256)) {
+        throw new M48SFixedClassDetectorContractError(`${label}.frame_evidence_sha256: нарушен SHA-256.`);
+      }
+      const legacyDecodeP95 = numberValue(scenario.decode_p95_ms, `${label}.decode_p95_ms`);
+      const legacyDecodeMaximum = numberValue(scenario.decode_maximum_ms, `${label}.decode_maximum_ms`);
+      return {
+        id,
+        loadPurpose: purpose,
+        requestedSourceRateHz: numberValue(scenario.requested_source_rate_hz, `${label}.requested_source_rate_hz`),
+        sourceFramesAdmitted: integerValue(scenario.source_frames_admitted, `${label}.source_frames_admitted`),
+        deliveredWorldStates: integerValue(scenario.delivered_world_states, `${label}.delivered_world_states`),
+        supersededFrames: integerValue(scenario.superseded_frames, `${label}.superseded_frames`),
+        deliveryRatio: numberValue(scenario.delivery_ratio, `${label}.delivery_ratio`),
+        effectiveWorldStateFps: numberValue(scenario.effective_world_state_fps, `${label}.effective_world_state_fps`),
+        worldStateCompletionAgeP95Ms: numberValue(scenario.world_state_completion_age_p95_ms, `${label}.world_state_completion_age_p95_ms`),
+        worldStateCompletionAgeP99Ms: numberValue(scenario.world_state_completion_age_p99_ms, `${label}.world_state_completion_age_p99_ms`),
+        worldStateCompletionAgeMaximumMs: numberValue(scenario.world_state_completion_age_maximum_ms, `${label}.world_state_completion_age_maximum_ms`),
+        hotLoopDecodeP95Ms: legacyDecodeP95,
+        hotLoopDecodeMaximumMs: legacyDecodeMaximum,
+        preadmissionDecodeMaximumMs: legacyDecodeMaximum,
+        sourcePrefetchPreparationMaximumMs: 0,
+        sourcePacingLatenessP95Ms: 0,
+        sourcePacingLatenessMaximumMs: 0,
+        detectorP95Ms: numberValue(scenario.detector_p95_ms, `${label}.detector_p95_ms`),
+        detectorMaximumMs: numberValue(scenario.detector_maximum_ms, `${label}.detector_maximum_ms`),
+        gpuUtilizationMeanPercent: numberValue(scenario.gpu_utilization_mean_percent, `${label}.gpu_utilization_mean_percent`),
+        gpuUtilizationMaximumPercent: numberValue(scenario.gpu_utilization_maximum_percent, `${label}.gpu_utilization_maximum_percent`),
+        gpuMemoryMaximumMib: numberValue(scenario.gpu_memory_maximum_mib, `${label}.gpu_memory_maximum_mib`),
+        processPeakRssMib: numberValue(scenario.process_peak_rss_mib, `${label}.process_peak_rss_mib`),
+        queueHighWatermarks: queues as M48SLoadEnvelopeScenario["queueHighWatermarks"],
+        queueCapacity: integerValue(scenario.queue_capacity, `${label}.queue_capacity`),
+        additionalInferencePasses: 0,
+        repeatCount: 1,
+        allRepetitionsPassed: targetGate,
+        integrityGatePassed: true,
+        operatingTargetGatePassed: targetGate,
+        thresholds: {
+          minimumDeliveryRatio: numberValue(thresholds.minimum_delivery_ratio, `${label}.thresholds.minimum_delivery_ratio`),
+          minimumEffectiveWorldStateFps: numberValue(thresholds.minimum_effective_world_state_fps, `${label}.thresholds.minimum_effective_world_state_fps`),
+          maximumWorldStateCompletionP95Ms: numberValue(thresholds.maximum_world_state_completion_p95_ms, `${label}.thresholds.maximum_world_state_completion_p95_ms`),
+        },
+        repetitions: [],
+      };
+    });
+    if (scenarios.length !== 3) {
+      throw new M48SFixedClassDetectorContractError("M4.8S.load_envelope.scenarios: неполный legacy-набор.");
+    }
+    return {
+      repeatCountPerRate: 1,
+      productionRateRepeatabilityPassed: false,
+      reserve12FpsPassed: true,
+      limit15FpsPassed: true,
+      loadEnvelopeAccepted: false,
+      computeCapacityAtLeastFps: 15,
+      bottleneckInterpretation: "rare-source-decode-or-scheduling-tail-not-steady-gpu-saturation",
+      scenarios,
+    };
+  }
+  exact(
+    comparison.schema_version,
+    "missioncore.m48s-load-envelope-comparison/v2",
+    "M4.8S.metrics.load_envelope.schema_version",
+  );
+  exact(comparison.repeat_count_per_rate, 3, "M4.8S.load_envelope.repeat_count_per_rate");
+  exact(comparison.production_rate_repeatability_passed, true, "M4.8S.load_envelope.production_rate_repeatability_passed");
+  exact(comparison.reserve_12_fps_passed, true, "M4.8S.load_envelope.reserve_12_fps_passed");
+  exact(comparison.limit_15_fps_passed, true, "M4.8S.load_envelope.limit_15_fps_passed");
+  exact(comparison.load_envelope_accepted, true, "M4.8S.load_envelope.load_envelope_accepted");
+  exact(comparison.compute_capacity_at_least_fps, 15, "M4.8S.load_envelope.compute_capacity_at_least_fps");
+  exact(
+    comparison.bottleneck_interpretation,
+    "cold-video-decode-isolated-before-admission-no-steady-gpu-saturation",
+    "M4.8S.load_envelope.bottleneck_interpretation",
+  );
+  const ids = ["production-10fps", "reserve-12fps", "limit-15fps"] as const;
+  const purposes = ["production-rate", "reserve-gate", "limit-discovery"] as const;
+  const scenarios = arrayValue(comparison.scenarios, "M4.8S.load_envelope.scenarios").map((value, index) => {
+    const label = `M4.8S.load_envelope.scenarios[${index}]`;
+    const scenario = objectValue(value, label);
+    const id = ids[index];
+    const purpose = purposes[index];
+    if (id === undefined || purpose === undefined) {
+      throw new M48SFixedClassDetectorContractError("M4.8S.load_envelope.scenarios: лишний сценарий.");
+    }
+    exact(scenario.id, id, `${label}.id`);
+    exact(scenario.load_purpose, purpose, `${label}.load_purpose`);
+    exact(scenario.repeat_count, 3, `${label}.repeat_count`);
+    exact(scenario.all_repetitions_passed, true, `${label}.all_repetitions_passed`);
+    exact(scenario.integrity_gate_passed, true, `${label}.integrity_gate_passed`);
+    exact(scenario.operating_target_gate_passed, true, `${label}.operating_target_gate_passed`);
+    exact(scenario.additional_inference_passes, 0, `${label}.additional_inference_passes`);
+    const queues = integerRecordValue(scenario.queue_high_watermarks, `${label}.queue_high_watermarks`);
+    for (const key of ["detector", "geometry", "temporal", "rolling", "threat"] as const) {
+      if (!(key in queues)) {
+        throw new M48SFixedClassDetectorContractError(`${label}.queue_high_watermarks.${key}: отсутствует.`);
+      }
+    }
+    const thresholds = objectValue(scenario.thresholds, `${label}.thresholds`);
+    const repetitions = arrayValue(scenario.repetitions, `${label}.repetitions`).map((value, repetitionIndex) => {
+      const repetitionLabel = `${label}.repetitions[${repetitionIndex}]`;
+      const repetition = objectValue(value, repetitionLabel);
+      const repetitionNumber = repetitionIndex + 1;
+      exact(repetition.repetition, repetitionNumber, `${repetitionLabel}.repetition`);
+      exact(repetition.operating_target_gate_passed, true, `${repetitionLabel}.operating_target_gate_passed`);
+      const runId = textValue(repetition.run_id, `${repetitionLabel}.run_id`);
+      const resultSha256 = textValue(repetition.result_sha256, `${repetitionLabel}.result_sha256`);
+      const frameEvidenceSha256 = textValue(repetition.frame_evidence_sha256, `${repetitionLabel}.frame_evidence_sha256`);
+      if (!SHA256.test(resultSha256) || !SHA256.test(frameEvidenceSha256)) {
+        throw new M48SFixedClassDetectorContractError(`${repetitionLabel}: нарушен SHA-256.`);
+      }
+      return {
+        runId,
+        repetition: repetitionNumber as 1 | 2 | 3,
+        deliveredWorldStates: integerValue(repetition.delivered_world_states, `${repetitionLabel}.delivered_world_states`),
+        supersededFrames: integerValue(repetition.superseded_frames, `${repetitionLabel}.superseded_frames`),
+        deliveryRatio: numberValue(repetition.delivery_ratio, `${repetitionLabel}.delivery_ratio`),
+        effectiveWorldStateFps: numberValue(repetition.effective_world_state_fps, `${repetitionLabel}.effective_world_state_fps`),
+        worldStateCompletionAgeP95Ms: numberValue(repetition.world_state_completion_age_p95_ms, `${repetitionLabel}.world_state_completion_age_p95_ms`),
+        hotLoopDecodeP95Ms: numberValue(repetition.hot_loop_decode_p95_ms, `${repetitionLabel}.hot_loop_decode_p95_ms`),
+        hotLoopDecodeMaximumMs: numberValue(repetition.hot_loop_decode_maximum_ms, `${repetitionLabel}.hot_loop_decode_maximum_ms`),
+        preadmissionDecodeMaximumMs: numberValue(repetition.preadmission_decode_maximum_ms, `${repetitionLabel}.preadmission_decode_maximum_ms`),
+        sourcePacingLatenessMaximumMs: numberValue(repetition.source_pacing_lateness_maximum_ms, `${repetitionLabel}.source_pacing_lateness_maximum_ms`),
+        operatingTargetGatePassed: true as const,
+        resultSha256,
+        frameEvidenceSha256,
+      };
+    });
+    if (repetitions.length !== 3) {
+      throw new M48SFixedClassDetectorContractError(`${label}.repetitions: требуется три повтора.`);
+    }
+    return {
+      id,
+      loadPurpose: purpose,
+      requestedSourceRateHz: numberValue(scenario.requested_source_rate_hz, `${label}.requested_source_rate_hz`),
+      sourceFramesAdmitted: integerValue(scenario.source_frames_admitted, `${label}.source_frames_admitted`),
+      deliveredWorldStates: integerValue(scenario.delivered_world_states, `${label}.delivered_world_states`),
+      supersededFrames: integerValue(scenario.superseded_frames, `${label}.superseded_frames`),
+      deliveryRatio: numberValue(scenario.delivery_ratio, `${label}.delivery_ratio`),
+      effectiveWorldStateFps: numberValue(scenario.effective_world_state_fps, `${label}.effective_world_state_fps`),
+      worldStateCompletionAgeP95Ms: numberValue(scenario.world_state_completion_age_p95_ms, `${label}.world_state_completion_age_p95_ms`),
+      worldStateCompletionAgeP99Ms: numberValue(scenario.world_state_completion_age_p99_ms, `${label}.world_state_completion_age_p99_ms`),
+      worldStateCompletionAgeMaximumMs: numberValue(scenario.world_state_completion_age_maximum_ms, `${label}.world_state_completion_age_maximum_ms`),
+      hotLoopDecodeP95Ms: numberValue(scenario.hot_loop_decode_p95_ms, `${label}.hot_loop_decode_p95_ms`),
+      hotLoopDecodeMaximumMs: numberValue(scenario.hot_loop_decode_maximum_ms, `${label}.hot_loop_decode_maximum_ms`),
+      preadmissionDecodeMaximumMs: numberValue(scenario.preadmission_decode_maximum_ms, `${label}.preadmission_decode_maximum_ms`),
+      sourcePrefetchPreparationMaximumMs: numberValue(scenario.source_prefetch_preparation_maximum_ms, `${label}.source_prefetch_preparation_maximum_ms`),
+      sourcePacingLatenessP95Ms: numberValue(scenario.source_pacing_lateness_p95_ms, `${label}.source_pacing_lateness_p95_ms`),
+      sourcePacingLatenessMaximumMs: numberValue(scenario.source_pacing_lateness_maximum_ms, `${label}.source_pacing_lateness_maximum_ms`),
+      detectorP95Ms: numberValue(scenario.detector_p95_ms, `${label}.detector_p95_ms`),
+      detectorMaximumMs: numberValue(scenario.detector_maximum_ms, `${label}.detector_maximum_ms`),
+      gpuUtilizationMeanPercent: numberValue(scenario.gpu_utilization_mean_percent, `${label}.gpu_utilization_mean_percent`),
+      gpuUtilizationMaximumPercent: numberValue(scenario.gpu_utilization_maximum_percent, `${label}.gpu_utilization_maximum_percent`),
+      gpuMemoryMaximumMib: numberValue(scenario.gpu_memory_maximum_mib, `${label}.gpu_memory_maximum_mib`),
+      processPeakRssMib: numberValue(scenario.process_peak_rss_mib, `${label}.process_peak_rss_mib`),
+      queueHighWatermarks: queues as M48SLoadEnvelopeScenario["queueHighWatermarks"],
+      queueCapacity: integerValue(scenario.queue_capacity, `${label}.queue_capacity`),
+      additionalInferencePasses: 0,
+      repeatCount: 3 as const,
+      allRepetitionsPassed: true as const,
+      integrityGatePassed: true as const,
+      operatingTargetGatePassed: true as const,
+      thresholds: {
+        minimumDeliveryRatio: numberValue(thresholds.minimum_delivery_ratio, `${label}.thresholds.minimum_delivery_ratio`),
+        minimumEffectiveWorldStateFps: numberValue(thresholds.minimum_effective_world_state_fps, `${label}.thresholds.minimum_effective_world_state_fps`),
+        maximumWorldStateCompletionP95Ms: numberValue(thresholds.maximum_world_state_completion_p95_ms, `${label}.thresholds.maximum_world_state_completion_p95_ms`),
+      },
+      repetitions,
+    };
+  });
+  if (scenarios.length !== ids.length) {
+    throw new M48SFixedClassDetectorContractError("M4.8S.load_envelope.scenarios: неполный набор.");
+  }
+  return {
+    repeatCountPerRate: 3,
+    productionRateRepeatabilityPassed: true,
+    reserve12FpsPassed: true,
+    limit15FpsPassed: true,
+    loadEnvelopeAccepted: true,
+    computeCapacityAtLeastFps: 15,
+    bottleneckInterpretation: "cold-video-decode-isolated-before-admission-no-steady-gpu-saturation",
+    scenarios,
+  };
+}
+
+function parseResult(value: unknown, resultId: string): M48SFixedClassDetectorResult {
+  const payload = objectValue(value, "M4.8S");
+  exact(
+    payload.schema_version,
+    "missioncore.m48s-fixed-class-detector-result-view/v1",
+    "M4.8S.schema_version",
+  );
+  exact(payload.result_id, resultId, "M4.8S.result_id");
+  const status = enumValue(payload.status, RESULT_STATUSES, "M4.8S.status");
+  const integratedGate = status === "complete-reference-graph-shadow-passed-production-not-authorized";
+  exact(payload.bounded_question_accepted, true, "M4.8S.bounded_question_accepted");
+  exact(payload.ground_truth, false, "M4.8S.ground_truth");
+  exact(payload.access, "read-only", "M4.8S.access");
+  const source = objectValue(payload.source, "M4.8S.source");
+  const configuration = objectValue(payload.configuration, "M4.8S.configuration");
+  const metrics = objectValue(payload.metrics, "M4.8S.metrics");
+  const load = objectValue(metrics.detector_load, "M4.8S.metrics.detector_load");
+  const decision = objectValue(payload.decision, "M4.8S.decision");
+  const loadEnvelope = metrics.load_envelope === undefined
+    ? null
+    : loadEnvelopeComparisonValue(metrics.load_envelope);
+  const cameraRaster = arrayValue(source.camera_raster, "M4.8S.source.camera_raster");
+  if (cameraRaster.length !== 2) {
+    throw new M48SFixedClassDetectorContractError("M4.8S.source.camera_raster: нарушен размер.");
+  }
+  exact(cameraRaster[0], 800, "M4.8S.source.camera_raster[0]");
+  exact(cameraRaster[1], 600, "M4.8S.source.camera_raster[1]");
+  const displayModes = arrayValue(
+    configuration.display_modes,
+    "M4.8S.configuration.display_modes",
+  ).map((mode, index) => enumValue(mode, MODES, `M4.8S.configuration.display_modes[${index}]`));
+  if (displayModes.join(",") !== MODES.join(",")) {
+    throw new M48SFixedClassDetectorContractError("M4.8S.configuration.display_modes: изменён контракт.");
+  }
+  exact(source.source_session_id, "RAVNOVES00", "M4.8S.source.source_session_id");
+  exact(source.camera_source_id, "sensor.camera.right", "M4.8S.source.camera_source_id");
+  exact(configuration.comparison_threshold, 0.5, "M4.8S.configuration.comparison_threshold");
+  exact(configuration.single_inference_per_frame, true, "M4.8S.configuration.single_inference_per_frame");
+  exact(configuration.geometry_owns_static_occupancy, true, "M4.8S.configuration.geometry_owns_static_occupancy");
+  exact(configuration.unknown_stationary_response, "route-around", "M4.8S.configuration.unknown_stationary_response");
+  exact(configuration.unknown_moving_response, "conservative-risk", "M4.8S.configuration.unknown_moving_response");
+  exact(decision.selected_candidate, "rf-detr", "M4.8S.decision.selected_candidate");
+  exact(decision.ready_for_reference_graph_shadow, true, "M4.8S.decision.ready_for_reference_graph_shadow");
+  exact(decision.integrated_world_state_gate_evaluated, integratedGate, "M4.8S.decision.integrated_world_state_gate_evaluated");
+  if (integratedGate) {
+    exact(decision.integrated_world_state_gate_passed, true, "M4.8S.decision.integrated_world_state_gate_passed");
+    exact(decision.detector_replacement_authorized, false, "M4.8S.decision.detector_replacement_authorized");
+  }
+  exact(decision.production_accepted, false, "M4.8S.decision.production_accepted");
+  if (loadEnvelope !== null) {
+    exact(decision.load_envelope_evaluated, true, "M4.8S.decision.load_envelope_evaluated");
+    exact(decision.production_rate_repeatability_passed, loadEnvelope.productionRateRepeatabilityPassed, "M4.8S.decision.production_rate_repeatability_passed");
+    exact(decision.reserve_12_fps_passed, loadEnvelope.reserve12FpsPassed, "M4.8S.decision.reserve_12_fps_passed");
+    exact(decision.limit_15_fps_passed, loadEnvelope.limit15FpsPassed, "M4.8S.decision.limit_15_fps_passed");
+    exact(decision.load_envelope_accepted, loadEnvelope.loadEnvelopeAccepted, "M4.8S.decision.load_envelope_accepted");
+  }
+  const frames = arrayValue(payload.frames, "M4.8S.frames").map(descriptorValue);
+  const evidenceFrameCount = integerValue(source.evidence_frame_count, "M4.8S.source.evidence_frame_count");
+  if (frames.length !== evidenceFrameCount || new Set(frames.map((frame) => frame.frameId)).size !== frames.length) {
+    throw new M48SFixedClassDetectorContractError("M4.8S.frames: каталог изменён.");
+  }
+  return {
+    resultId,
+    createdAtUtc: textValue(payload.created_at_utc, "M4.8S.created_at_utc"),
+    status,
+    boundedQuestionAccepted: true,
+    groundTruth: false,
+    source: {
+      sourceSessionId: "RAVNOVES00",
+      cameraSourceId: "sensor.camera.right",
+      cameraRaster: [800, 600],
+      evidenceFrameCount,
+    },
+    configuration: {
+      comparisonThreshold: 0.5,
+      displayModes,
+      singleInferencePerFrame: true,
+      geometryOwnsStaticOccupancy: true,
+      unknownStationaryResponse: "route-around",
+      unknownMovingResponse: "conservative-risk",
+    },
+    method: methodValue(payload.method),
+    metrics: {
+      candidates: arrayValue(metrics.candidates, "M4.8S.metrics.candidates").map(candidateValue),
+      detectorLoad: {
+        durationSeconds: numberValue(load.duration_seconds, "M4.8S.load.duration_seconds"),
+        sourceFramesConsumed: integerValue(load.source_frames_consumed, "M4.8S.load.source_frames_consumed"),
+        sourceFrameReplacements: integerValue(load.source_frame_replacements, "M4.8S.load.source_frame_replacements"),
+        effectiveConsumedFps: numberValue(load.effective_consumed_fps, "M4.8S.load.effective_consumed_fps"),
+        endToEndP95Ms: numberValue(load.end_to_end_p95_ms, "M4.8S.load.end_to_end_p95_ms"),
+        completionAgeP95Ms: numberValue(load.completion_age_p95_ms, "M4.8S.load.completion_age_p95_ms"),
+        gpuUtilizationMeanPercent: numberValue(load.gpu_utilization_mean_percent, "M4.8S.load.gpu_utilization_mean_percent"),
+        gpuUtilizationMaximumPercent: numberValue(load.gpu_utilization_maximum_percent, "M4.8S.load.gpu_utilization_maximum_percent"),
+        gpuMemoryMaximumMib: numberValue(load.gpu_memory_maximum_mib, "M4.8S.load.gpu_memory_maximum_mib"),
+        queueMaximumDepth: integerValue(load.queue_maximum_depth, "M4.8S.load.queue_maximum_depth"),
+        queueCapacity: integerValue(load.queue_capacity, "M4.8S.load.queue_capacity"),
+        failures: integerValue(load.failures, "M4.8S.load.failures"),
+      },
+      integratedWorldState: integratedGate
+        ? integratedWorldStateValue(metrics.integrated_world_state)
+        : null,
+      runtimeHardening: metrics.runtime_hardening === undefined
+        ? null
+        : runtimeHardeningComparisonValue(metrics.runtime_hardening),
+      loadEnvelope,
+    },
+    decision: {
+      selectedCandidate: "rf-detr",
+      readyForReferenceGraphShadow: true,
+      integratedWorldStateGateEvaluated: integratedGate,
+      integratedWorldStateGatePassed: integratedGate,
+      detectorReplacementAuthorized: false,
+      loadEnvelopeEvaluated: loadEnvelope !== null,
+      productionRateRepeatabilityPassed: loadEnvelope?.productionRateRepeatabilityPassed ?? false,
+      reserve12FpsPassed: loadEnvelope?.reserve12FpsPassed ?? false,
+      limit15FpsPassed: loadEnvelope?.limit15FpsPassed ?? false,
+      loadEnvelopeAccepted: loadEnvelope?.loadEnvelopeAccepted ?? false,
+      productionAccepted: false,
+    },
+    limitations: arrayValue(payload.limitations, "M4.8S.limitations").map((item, index) => textValue(item, `M4.8S.limitations[${index}]`)),
+    authority: authorityValue(payload.authority, "M4.8S.authority"),
+    frames,
+  };
+}
+
+function detectionValue(value: unknown, label: string): M48SDetection {
+  const detection = objectValue(value, label);
+  const bbox = arrayValue(detection.bbox_xyxy, `${label}.bbox_xyxy`).map((item, index) => numberValue(item, `${label}.bbox_xyxy[${index}]`));
+  if (
+    bbox.length !== 4
+    || bbox[0]! < 0
+    || bbox[1]! < 0
+    || bbox[2]! > 800
+    || bbox[3]! > 600
+    || bbox[0]! >= bbox[2]!
+    || bbox[1]! >= bbox[3]!
+  ) {
+    throw new M48SFixedClassDetectorContractError(`${label}.bbox_xyxy: рамка недопустима.`);
+  }
+  const score = numberValue(detection.score, `${label}.score`);
+  if (score < 0.5 || score > 1) {
+    throw new M48SFixedClassDetectorContractError(`${label}.score: нарушен порог.`);
+  }
+  return {
+    label: textValue(detection.label, `${label}.label`),
+    score,
+    bboxXyxy: bbox as unknown as readonly [number, number, number, number],
+  };
+}
+
+function parseFrame(value: unknown, resultId: string, frameId: string): M48SDetectorFrame {
+  const payload = objectValue(value, "M4.8S frame");
+  exact(payload.schema_version, "missioncore.m48s-fixed-class-detector-frame/v1", "M4.8S frame.schema_version");
+  exact(payload.result_id, resultId, "M4.8S frame.result_id");
+  exact(payload.frame_id, frameId, "M4.8S frame.frame_id");
+  exact(payload.comparison_threshold, 0.5, "M4.8S frame.comparison_threshold");
+  exact(payload.ground_truth_available, false, "M4.8S frame.ground_truth_available");
+  exact(payload.access, "read-only", "M4.8S frame.access");
+  const camera = objectValue(payload.camera, "M4.8S frame.camera");
+  exact(camera.media_type, "image/jpeg", "M4.8S frame.camera.media_type");
+  exact(camera.width, 800, "M4.8S frame.camera.width");
+  exact(camera.height, 600, "M4.8S frame.camera.height");
+  exact(camera.exact_source_frame, true, "M4.8S frame.camera.exact_source_frame");
+  const detections = objectValue(payload.detections, "M4.8S frame.detections");
+  const parseModel = (model: M48SDetectorModel): readonly M48SDetection[] => arrayValue(
+    detections[model],
+    `M4.8S frame.detections.${model}`,
+  ).map((item, index) => detectionValue(item, `M4.8S frame.detections.${model}[${index}]`));
+  return {
+    resultId,
+    frameId,
+    sourceSequence: integerValue(payload.source_sequence, "M4.8S frame.source_sequence"),
+    cameraUrl: `/api/v1/laboratory/m48s/fixed-class-detector/${encodeURIComponent(resultId)}/frames/${encodeURIComponent(frameId)}/camera`,
+    imageWidth: 800,
+    imageHeight: 600,
+    comparisonThreshold: 0.5,
+    detections: {
+      yolox: parseModel("yolox"),
+      dfine: parseModel("dfine"),
+      "rf-detr": parseModel("rf-detr"),
+    },
+    groundTruthAvailable: false,
+    authority: authorityValue(payload.authority, "M4.8S frame.authority"),
+  };
+}
+
+export async function fetchM48SFixedClassDetectorResult(
+  resultId: string,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M48SFixedClassDetectorResult> {
+  if (!RESULT_ID.test(resultId)) {
+    throw new M48SFixedClassDetectorContractError("M4.8S result identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/m48s/fixed-class-detector/${encodeURIComponent(resultId)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new M48SFixedClassDetectorContractError(`M4.8S недоступен: HTTP ${response.status}.`);
+  }
+  return parseResult(await response.json(), resultId);
+}
+
+export async function fetchM48SFixedClassDetectorFrame(
+  resultId: string,
+  frameId: string,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M48SDetectorFrame> {
+  if (!RESULT_ID.test(resultId) || !FRAME_ID.test(frameId)) {
+    throw new M48SFixedClassDetectorContractError("M4.8S frame identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/m48s/fixed-class-detector/${encodeURIComponent(resultId)}/frames/${encodeURIComponent(frameId)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new M48SFixedClassDetectorContractError(`M4.8S frame недоступен: HTTP ${response.status}.`);
+  }
+  return parseFrame(await response.json(), resultId, frameId);
+}

apps/control-station/src/core/laboratory/m48tRiskQuality.ts

@@ -0,0 +1,618 @@
+export interface M48TLaboratoryMethod {
+  completeness: "complete";
+  executionClass: "hybrid";
+  pipelineId: string;
+  components: readonly {
+    kind: "source" | "model" | "algorithm" | "runtime" | "tool";
+    name: string;
+    version: string;
+    role: string;
+    identitySha256: string;
+  }[];
+}
+
+export interface M48TReviewCase {
+  caseId: string;
+  imageId: number;
+  imageUrl: string;
+  byteLength: number;
+  sha256: string;
+}
+
+export interface M48TLegacyRiskQualityResult {
+  variant: "legacy-coco-quality";
+  resultId: string;
+  createdAtUtc: string;
+  source: {
+    quality: {
+      datasetId: "coco-2017-val";
+      riskImages: number;
+      truthInstances: number;
+      independentHumanAnnotations: true;
+      ravnovesGroundTruth: false;
+    };
+    temporal: {
+      sourceId: "RAVNOVES00";
+      frames: number;
+      publications: number;
+      independentSemanticTruthAvailable: false;
+    };
+  };
+  candidate: {
+    providerId: string;
+    modelId: "rf_detr_large:1";
+    minimumScore: 0.25;
+  };
+  execution: {
+    durationSeconds: number;
+    effectiveImagesPerSecond: number;
+    imageP95Ms: number;
+    inferenceP95Ms: number;
+    timingIsAdmissionEvidence: false;
+  };
+  quality: {
+    microPrecision: number;
+    microRecall: number;
+    mediumLargeRecall: number;
+    emptyRiskImageFraction: number;
+    families: Readonly<Record<"person" | "animal" | "light-road-user" | "vehicle", number>>;
+  };
+  counts: {
+    truth: number;
+    predictions: number;
+    truePositive: number;
+    falsePositive: number;
+    falseNegative: number;
+  };
+  failures: Readonly<Record<string, number>>;
+  temporal: {
+    rawClassSwitches: number;
+    stableClassSwitches: number;
+    rawFamilySwitches: number;
+    stableFamilySwitches: number;
+    suppressedClassSwitches: number;
+    suppressedFamilySwitches: number;
+    selectedPublications: number;
+    semanticObservations: number;
+    peakActiveComponents: number;
+    maximumActiveComponents: number;
+  };
+  acceptance: {
+    qualityPassed: false;
+    failedQualityGates: readonly [
+      "minimum-micro-precision",
+      "minimum-family-recall:vehicle",
+    ];
+    temporalInvariantPassed: true;
+  };
+  review: {
+    truthColor: "green";
+    predictionColor: "yellow";
+    cases: readonly M48TReviewCase[];
+  };
+  method: M48TLaboratoryMethod;
+  limitations: readonly string[];
+}
+
+export type M48QRiskFamily = "person" | "animal" | "light-road-user" | "vehicle";
+
+export interface M48QNativeProposal {
+  proposalId: string;
+  className: string;
+  riskFamily: M48QRiskFamily;
+  score: number;
+  boxXyxy: readonly [number, number, number, number];
+}
+
+export interface M48QNativeReviewCase {
+  caseId: string;
+  sequence: number;
+  frameId: string;
+  evidenceTimeNs: number;
+  imageUrl: string;
+  width: 800;
+  height: 600;
+  byteLength: number;
+  sha256: string;
+  selectionBuckets: readonly string[];
+  nativeDetectionCount: number;
+  legacyDetectionCount: number;
+  matchedDetectionCount: number;
+  proposals: readonly M48QNativeProposal[];
+}
+
+export interface M48QNativeRiskQualityResult {
+  variant: "native-risk-review";
+  resultId: string;
+  createdAtUtc: string;
+  source: {
+    sourceId: "RAVNOVES00";
+    frameCount: 4489;
+    width: 800;
+    height: 600;
+    geometricResampling: false;
+  };
+  candidate: {
+    providerId: string;
+    modelId: "rf_detr_large_native_kb4:1";
+    preprocessId: "raw-kb4-uint8-fused-mask-rgb-pad8-imagenet-trt/v0";
+    minimumScore: 0.25;
+  };
+  execution: {
+    effectiveWorldStateFps: number;
+    worldStateCompletionP95Ms: number;
+    detectorTotalP95Ms: number;
+    gpuUtilizationP95Percent: number;
+    gpuMemoryMaximumMib: number;
+    additionalInferencePasses: 0;
+  };
+  selection: {
+    caseCount: 24;
+    minimumSequenceSeparation: number;
+    bucketCoverage: Readonly<Record<string, number>>;
+    classCounts: Readonly<Record<string, number>>;
+  };
+  runtime: {
+    deliveryRatio: number;
+    integratedGatePassed: true;
+    operatingTargetGatePassed: true;
+  };
+  parity: {
+    precision: number;
+    recall: number;
+    meanIou: number;
+  };
+  acceptance: {
+    reviewReady: true;
+    independentQualityEvaluated: false;
+    semanticCandidateAccepted: false;
+  };
+  review: {
+    cases: readonly M48QNativeReviewCase[];
+  };
+  method: M48TLaboratoryMethod;
+  limitations: readonly string[];
+}
+
+export type M48TRiskQualityResult =
+  | M48TLegacyRiskQualityResult
+  | M48QNativeRiskQualityResult;
+
+type LaboratoryFetch = (input: RequestInfo | URL, init?: RequestInit) => Promise<Response>;
+
+export class M48TContractError extends Error {}
+
+function object(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new M48TContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function array(value: unknown, label: string): readonly unknown[] {
+  if (!Array.isArray(value)) throw new M48TContractError(`${label}: ожидался массив.`);
+  return value;
+}
+
+function text(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new M48TContractError(`${label}: ожидалась строка.`);
+  }
+  return value;
+}
+
+function number(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value) || value < 0) {
+    throw new M48TContractError(`${label}: ожидалось неотрицательное число.`);
+  }
+  return value;
+}
+
+function integer(value: unknown, label: string): number {
+  const parsed = number(value, label);
+  if (!Number.isSafeInteger(parsed)) {
+    throw new M48TContractError(`${label}: ожидалось целое число.`);
+  }
+  return parsed;
+}
+
+function exact<T extends string | number | boolean>(
+  value: unknown,
+  expected: T,
+  label: string,
+): T {
+  if (value !== expected) throw new M48TContractError(`${label}: нарушен контракт.`);
+  return expected;
+}
+
+function sha(value: unknown, label: string): string {
+  const parsed = text(value, label);
+  if (!/^[a-f0-9]{64}$/.test(parsed)) {
+    throw new M48TContractError(`${label}: нарушена SHA-256 идентичность.`);
+  }
+  return parsed;
+}
+
+function method(value: unknown): M48TLaboratoryMethod {
+  const raw = object(value, "M4.8T method");
+  exact(raw.schema_version, "missioncore.laboratory-method/v1", "M4.8T method schema");
+  exact(raw.completeness, "complete", "M4.8T method completeness");
+  exact(raw.execution_class, "hybrid", "M4.8T method execution");
+  const allowedKinds = new Set(["source", "model", "algorithm", "runtime", "tool"]);
+  return {
+    completeness: "complete",
+    executionClass: "hybrid",
+    pipelineId: text(raw.pipeline_id, "M4.8T pipeline"),
+    components: array(raw.components, "M4.8T components").map((value) => {
+      const component = object(value, "M4.8T component");
+      const kind = text(component.kind, "M4.8T component kind");
+      if (!allowedKinds.has(kind)) throw new M48TContractError("M4.8T component kind: неизвестное значение.");
+      return {
+        kind: kind as "source" | "model" | "algorithm" | "runtime" | "tool",
+        name: text(component.name, "M4.8T component name"),
+        version: text(component.version, "M4.8T component version"),
+        role: text(component.role, "M4.8T component role"),
+        identitySha256: sha(component.identity_sha256, "M4.8T component identity"),
+      };
+    }),
+  };
+}
+
+function parseLegacyResult(value: unknown, expectedResultId: string): M48TLegacyRiskQualityResult {
+  const raw = object(value, "M4.8T result");
+  exact(raw.schema_version, "missioncore.m48t-risk-quality-temporal-view/v1", "M4.8T schema");
+  exact(raw.variant, "legacy-coco-quality", "M4.8T variant");
+  exact(raw.result_id, expectedResultId, "M4.8T identity");
+  exact(raw.status, "complete-quality-gate-failed-temporal-invariant-passed", "M4.8T status");
+  exact(raw.access, "read-only", "M4.8T access");
+  exact(raw.ground_truth, false, "M4.8T ground truth");
+
+  const source = object(raw.source, "M4.8T source");
+  const qualitySource = object(source.quality, "M4.8T quality source");
+  const temporalSource = object(source.temporal, "M4.8T temporal source");
+  const configuration = object(raw.configuration, "M4.8T configuration");
+  const candidate = object(configuration.candidate, "M4.8T candidate");
+  const execution = object(raw.execution, "M4.8T execution");
+  const imageTiming = object(execution.image_timing_ms, "M4.8T image timing");
+  const inferenceTiming = object(execution.triton_inference_ms, "M4.8T inference timing");
+  const metrics = object(raw.metrics, "M4.8T metrics");
+  const quality = object(metrics.quality, "M4.8T quality metrics");
+  const families = object(quality.families, "M4.8T family metrics");
+  const familyRecall = (name: "person" | "animal" | "light-road-user" | "vehicle") =>
+    number(object(families[name], `M4.8T ${name}`).family_recall, `M4.8T ${name} recall`);
+  const counts = object(metrics.counts, "M4.8T counts");
+  const failures = object(metrics.failure_buckets, "M4.8T failures");
+  const temporal = object(metrics.temporal, "M4.8T temporal metrics");
+  const snapshot = object(temporal.snapshot, "M4.8T temporal snapshot");
+  const acceptance = object(raw.acceptance, "M4.8T acceptance");
+  const qualityGate = object(acceptance.quality, "M4.8T quality gate");
+  const temporalGate = object(acceptance.temporal_invariant, "M4.8T temporal gate");
+  const failed = array(qualityGate.failed, "M4.8T failed gates").map((item) => text(item, "M4.8T failed gate"));
+  if (failed.length !== 2 || failed[0] !== "minimum-micro-precision" || failed[1] !== "minimum-family-recall:vehicle") {
+    throw new M48TContractError("M4.8T failed gates: изменён зафиксированный результат.");
+  }
+  exact(qualityGate.passed, false, "M4.8T quality gate");
+  exact(temporalGate.passed, true, "M4.8T temporal invariant");
+  exact(temporalGate.semantic_quality_accepted, false, "M4.8T temporal semantic acceptance");
+
+  const review = object(raw.review, "M4.8T review");
+  const legend = object(review.legend, "M4.8T review legend");
+  exact(legend.ground_truth, "green", "M4.8T truth legend");
+  exact(legend.rf_detr_prediction, "yellow", "M4.8T prediction legend");
+  const cases = array(review.cases, "M4.8T review cases").map((value) => {
+    const item = object(value, "M4.8T review case");
+    const caseId = text(item.case_id, "M4.8T case id");
+    if (!/^[0-9]{12}$/.test(caseId)) throw new M48TContractError("M4.8T case identity нарушена.");
+    exact(item.media_type, "image/jpeg", "M4.8T case media");
+    return {
+      caseId,
+      imageId: integer(item.image_id, "M4.8T image id"),
+      imageUrl: text(item.image_url, "M4.8T image URL"),
+      byteLength: integer(item.byte_length, "M4.8T image bytes"),
+      sha256: sha(item.sha256, "M4.8T image SHA"),
+    };
+  });
+  if (cases.length !== 16 || new Set(cases.map(({ caseId }) => caseId)).size !== 16) {
+    throw new M48TContractError("M4.8T review catalog: нарушен размер.");
+  }
+
+  const parsedFailures: Record<string, number> = {};
+  for (const [key, count] of Object.entries(failures)) parsedFailures[key] = integer(count, `M4.8T failure ${key}`);
+  const temporalConfiguration = object(configuration.temporal, "M4.8T temporal configuration");
+  return {
+    variant: "legacy-coco-quality",
+    resultId: expectedResultId,
+    createdAtUtc: text(raw.created_at_utc, "M4.8T created at"),
+    source: {
+      quality: {
+        datasetId: exact(qualitySource.dataset_id, "coco-2017-val", "M4.8T dataset"),
+        riskImages: integer(qualitySource.risk_images, "M4.8T risk images"),
+        truthInstances: integer(qualitySource.truth_instances, "M4.8T truth instances"),
+        independentHumanAnnotations: exact(qualitySource.independent_human_annotations, true, "M4.8T independent truth"),
+        ravnovesGroundTruth: exact(qualitySource.ravnoves_ground_truth, false, "M4.8T RAVNOVES truth"),
+      },
+      temporal: {
+        sourceId: exact(temporalSource.source_id, "RAVNOVES00", "M4.8T temporal source"),
+        frames: integer(temporalSource.frames, "M4.8T temporal frames"),
+        publications: integer(temporalSource.publications, "M4.8T temporal publications"),
+        independentSemanticTruthAvailable: exact(temporalSource.independent_semantic_truth_available, false, "M4.8T temporal truth"),
+      },
+    },
+    candidate: {
+      providerId: text(candidate.provider_id, "M4.8T provider"),
+      modelId: exact(candidate.model_id, "rf_detr_large:1", "M4.8T model"),
+      minimumScore: exact(candidate.minimum_score, 0.25, "M4.8T threshold"),
+    },
+    execution: {
+      durationSeconds: number(execution.duration_seconds, "M4.8T duration"),
+      effectiveImagesPerSecond: number(execution.effective_images_per_second, "M4.8T throughput"),
+      imageP95Ms: number(imageTiming.p95, "M4.8T image p95"),
+      inferenceP95Ms: number(inferenceTiming.p95, "M4.8T inference p95"),
+      timingIsAdmissionEvidence: exact(execution.timing_is_admission_evidence, false, "M4.8T timing authority"),
+    },
+    quality: {
+      microPrecision: number(quality.micro_precision, "M4.8T precision"),
+      microRecall: number(quality.micro_recall, "M4.8T recall"),
+      mediumLargeRecall: number(quality.medium_large_recall, "M4.8T medium-large recall"),
+      emptyRiskImageFraction: number(quality.empty_prediction_risk_image_fraction, "M4.8T empty fraction"),
+      families: {
+        person: familyRecall("person"),
+        animal: familyRecall("animal"),
+        "light-road-user": familyRecall("light-road-user"),
+        vehicle: familyRecall("vehicle"),
+      },
+    },
+    counts: {
+      truth: integer(qualitySource.truth_instances, "M4.8T truth count"),
+      predictions: integer(counts.predictions, "M4.8T predictions"),
+      truePositive: integer(counts.true_positive, "M4.8T TP"),
+      falsePositive: integer(counts.false_positive, "M4.8T FP"),
+      falseNegative: integer(counts.false_negative, "M4.8T FN"),
+    },
+    failures: parsedFailures,
+    temporal: {
+      rawClassSwitches: integer(temporal.raw_class_switches, "M4.8T raw class switches"),
+      stableClassSwitches: integer(temporal.stable_class_switches, "M4.8T stable class switches"),
+      rawFamilySwitches: integer(temporal.raw_family_switches, "M4.8T raw family switches"),
+      stableFamilySwitches: integer(temporal.stable_family_switches, "M4.8T stable family switches"),
+      suppressedClassSwitches: integer(temporal.suppressed_or_deferred_class_switches, "M4.8T suppressed class switches"),
+      suppressedFamilySwitches: integer(temporal.suppressed_or_deferred_family_switches, "M4.8T suppressed family switches"),
+      selectedPublications: integer(temporal.selected_publications, "M4.8T selected publications"),
+      semanticObservations: integer(temporal.semantic_current_observations, "M4.8T semantic observations"),
+      peakActiveComponents: integer(snapshot.peak_active_components, "M4.8T active peak"),
+      maximumActiveComponents: integer(temporalConfiguration.maximum_active_components, "M4.8T active bound"),
+    },
+    acceptance: {
+      qualityPassed: false,
+      failedQualityGates: ["minimum-micro-precision", "minimum-family-recall:vehicle"],
+      temporalInvariantPassed: true,
+    },
+    review: { truthColor: "green", predictionColor: "yellow", cases },
+    method: method(raw.method),
+    limitations: array(raw.limitations, "M4.8T limitations").map((item) => text(item, "M4.8T limitation")),
+  };
+}
+
+function numberRecord(value: unknown, label: string): Readonly<Record<string, number>> {
+  const raw = object(value, label);
+  const parsed: Record<string, number> = {};
+  for (const [key, item] of Object.entries(raw)) parsed[key] = integer(item, `${label}.${key}`);
+  return parsed;
+}
+
+function nativeRiskFamily(value: unknown): M48QRiskFamily {
+  const parsed = text(value, "M4.8Q risk family");
+  if (!["person", "animal", "light-road-user", "vehicle"].includes(parsed)) {
+    throw new M48TContractError("M4.8Q risk family: неизвестное значение.");
+  }
+  return parsed as M48QRiskFamily;
+}
+
+function nativeProposal(value: unknown): M48QNativeProposal {
+  const raw = object(value, "M4.8Q proposal");
+  const coordinates = array(raw.box_xyxy, "M4.8Q proposal box").map((item) =>
+    number(item, "M4.8Q proposal coordinate")
+  );
+  if (
+    coordinates.length !== 4
+    || coordinates[0] >= coordinates[2]
+    || coordinates[1] >= coordinates[3]
+    || coordinates[2] > 800
+    || coordinates[3] > 600
+  ) {
+    throw new M48TContractError("M4.8Q proposal box: нарушена raw-raster геометрия.");
+  }
+  const score = number(raw.score, "M4.8Q proposal score");
+  if (score < 0.25 || score > 1) throw new M48TContractError("M4.8Q proposal score: нарушен threshold.");
+  return {
+    proposalId: text(raw.proposal_id, "M4.8Q proposal id"),
+    className: text(raw.class_name, "M4.8Q proposal class"),
+    riskFamily: nativeRiskFamily(raw.risk_family),
+    score,
+    boxXyxy: coordinates as [number, number, number, number],
+  };
+}
+
+function parseNativeResult(value: unknown, expectedResultId: string): M48QNativeRiskQualityResult {
+  const raw = object(value, "M4.8Q result");
+  exact(raw.schema_version, "missioncore.m48q-native-risk-quality-view/v1", "M4.8Q schema");
+  exact(raw.variant, "native-risk-review", "M4.8Q variant");
+  exact(raw.result_id, expectedResultId, "M4.8Q identity");
+  exact(raw.status, "complete-review-ready-quality-not-adjudicated", "M4.8Q status");
+  exact(raw.access, "read-only", "M4.8Q access");
+  exact(raw.ground_truth, false, "M4.8Q ground truth");
+
+  const source = object(raw.source, "M4.8Q source");
+  exact(source.source_id, "RAVNOVES00", "M4.8Q source id");
+  exact(source.frame_count, 4489, "M4.8Q source frames");
+  exact(source.raster_width, 800, "M4.8Q source width");
+  exact(source.raster_height, 600, "M4.8Q source height");
+  exact(source.geometric_resampling, false, "M4.8Q source resampling");
+  exact(source.rectification, false, "M4.8Q source rectification");
+  exact(source.warp, false, "M4.8Q source warp");
+
+  const configuration = object(raw.configuration, "M4.8Q configuration");
+  const candidate = object(configuration.candidate, "M4.8Q candidate");
+  const execution = object(raw.execution, "M4.8Q execution");
+  const metrics = object(raw.metrics, "M4.8Q metrics");
+  const selection = object(metrics.selection, "M4.8Q selection");
+  const runtime = object(metrics.runtime, "M4.8Q runtime");
+  const parity = object(metrics.native_tensor_parity, "M4.8Q parity");
+  const acceptance = object(raw.acceptance, "M4.8Q acceptance");
+  exact(acceptance.review_ready, true, "M4.8Q review readiness");
+  exact(acceptance.integrated_runtime_gate_passed, true, "M4.8Q runtime gate");
+  exact(acceptance.independent_quality_evaluated, false, "M4.8Q quality state");
+  exact(acceptance.semantic_candidate_accepted, false, "M4.8Q candidate state");
+  exact(selection.case_count, 24, "M4.8Q selected cases");
+
+  const review = object(raw.review, "M4.8Q review");
+  const raster = object(review.source_raster, "M4.8Q review raster");
+  exact(raster.width, 800, "M4.8Q review width");
+  exact(raster.height, 600, "M4.8Q review height");
+  const overlay = object(review.overlay, "M4.8Q overlay");
+  exact(overlay.client_rendered, true, "M4.8Q client overlay");
+  exact(overlay.toggleable, true, "M4.8Q overlay toggle");
+  const cases = array(review.cases, "M4.8Q review cases").map((value) => {
+    const item = object(value, "M4.8Q review case");
+    const caseId = text(item.case_id, "M4.8Q case id");
+    if (!/^[0-9]{6}$/.test(caseId)) throw new M48TContractError("M4.8Q case identity нарушена.");
+    const sequence = integer(item.sequence, "M4.8Q case sequence");
+    exact(caseId, sequence.toString().padStart(6, "0"), "M4.8Q case/sequence identity");
+    exact(item.frame_id, `frame-${caseId}`, "M4.8Q frame identity");
+    exact(item.media_type, "image/jpeg", "M4.8Q case media");
+    exact(item.width, 800, "M4.8Q case width");
+    exact(item.height, 600, "M4.8Q case height");
+    exact(item.geometric_resampling, false, "M4.8Q case resampling");
+    const comparison = object(item.comparison, "M4.8Q comparison");
+    const proposals = array(item.proposals, "M4.8Q proposals").map(nativeProposal);
+    if (!proposals.length) throw new M48TContractError("M4.8Q proposals: пустой review case.");
+    return {
+      caseId,
+      sequence,
+      frameId: `frame-${caseId}`,
+      evidenceTimeNs: integer(item.evidence_time_ns, "M4.8Q evidence time"),
+      imageUrl: text(item.image_url, "M4.8Q image URL"),
+      width: 800 as const,
+      height: 600 as const,
+      byteLength: integer(item.byte_length, "M4.8Q image bytes"),
+      sha256: sha(item.sha256, "M4.8Q image SHA"),
+      selectionBuckets: array(item.selection_buckets, "M4.8Q selection buckets").map((bucket) =>
+        text(bucket, "M4.8Q selection bucket")
+      ),
+      nativeDetectionCount: integer(comparison.native_detection_count, "M4.8Q native count"),
+      legacyDetectionCount: integer(comparison.legacy_704_detection_count, "M4.8Q legacy count"),
+      matchedDetectionCount: integer(
+        comparison.matched_detection_count_iou_at_least_0_5,
+        "M4.8Q matched count",
+      ),
+      proposals,
+    };
+  });
+  if (cases.length !== 24 || new Set(cases.map(({ caseId }) => caseId)).size !== 24) {
+    throw new M48TContractError("M4.8Q review catalog: нарушен размер.");
+  }
+
+  return {
+    variant: "native-risk-review",
+    resultId: expectedResultId,
+    createdAtUtc: text(raw.created_at_utc, "M4.8Q created at"),
+    source: {
+      sourceId: "RAVNOVES00",
+      frameCount: 4489,
+      width: 800,
+      height: 600,
+      geometricResampling: false,
+    },
+    candidate: {
+      providerId: text(candidate.provider_id, "M4.8Q provider"),
+      modelId: exact(candidate.model_id, "rf_detr_large_native_kb4:1", "M4.8Q model"),
+      preprocessId: exact(
+        candidate.preprocess_id,
+        "raw-kb4-uint8-fused-mask-rgb-pad8-imagenet-trt/v0",
+        "M4.8Q preprocess",
+      ),
+      minimumScore: exact(candidate.minimum_score, 0.25, "M4.8Q threshold"),
+    },
+    execution: {
+      effectiveWorldStateFps: number(execution.effective_world_state_fps, "M4.8Q FPS"),
+      worldStateCompletionP95Ms: number(
+        execution.world_state_completion_p95_ms,
+        "M4.8Q world-state p95",
+      ),
+      detectorTotalP95Ms: number(execution.detector_total_p95_ms, "M4.8Q detector p95"),
+      gpuUtilizationP95Percent: number(
+        execution.gpu_utilization_p95_percent,
+        "M4.8Q GPU p95",
+      ),
+      gpuMemoryMaximumMib: number(
+        execution.gpu_memory_used_maximum_mib,
+        "M4.8Q VRAM maximum",
+      ),
+      additionalInferencePasses: exact(
+        execution.additional_inference_passes,
+        0,
+        "M4.8Q inference passes",
+      ),
+    },
+    selection: {
+      caseCount: 24,
+      minimumSequenceSeparation: integer(
+        selection.minimum_sequence_separation,
+        "M4.8Q case separation",
+      ),
+      bucketCoverage: numberRecord(selection.selected_bucket_coverage, "M4.8Q bucket coverage"),
+      classCounts: numberRecord(selection.selected_class_counts, "M4.8Q class counts"),
+    },
+    runtime: {
+      deliveryRatio: number(runtime.delivery_ratio, "M4.8Q delivery ratio"),
+      integratedGatePassed: exact(
+        runtime.integrated_runtime_gate_passed,
+        true,
+        "M4.8Q integrated gate",
+      ),
+      operatingTargetGatePassed: exact(
+        runtime.operating_target_gate_passed,
+        true,
+        "M4.8Q target gate",
+      ),
+    },
+    parity: {
+      precision: number(parity.risk_detection_precision, "M4.8Q parity precision"),
+      recall: number(parity.risk_detection_recall, "M4.8Q parity recall"),
+      meanIou: number(parity.matched_mean_iou, "M4.8Q parity IoU"),
+    },
+    acceptance: {
+      reviewReady: true,
+      independentQualityEvaluated: false,
+      semanticCandidateAccepted: false,
+    },
+    review: { cases },
+    method: method(raw.method),
+    limitations: array(raw.limitations, "M4.8Q limitations").map((item) =>
+      text(item, "M4.8Q limitation")
+    ),
+  };
+}
+
+export async function fetchM48TRiskQualityResult(
+  resultId: string,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M48TRiskQualityResult> {
+  if (!/^(?:m48t-risk-quality-temporal-lab|m48q-native-risk-quality-lab)-[a-f0-9]{64}$/.test(resultId)) {
+    throw new M48TContractError("M4.8T result identity недопустима.");
+  }
+  const response = await fetcher(`/api/v1/laboratory/m48t/risk-quality/results/${resultId}`, {
+    method: "GET",
+    headers: { Accept: "application/json" },
+    signal,
+  });
+  if (!response.ok) throw new M48TContractError(`M4.8T недоступен: HTTP ${response.status}.`);
+  const payload: unknown = await response.json();
+  const raw = object(payload, "M4.8T/M4.8Q result");
+  return raw.schema_version === "missioncore.m48q-native-risk-quality-view/v1"
+    ? parseNativeResult(payload, resultId)
+    : parseLegacyResult(payload, resultId);
+}

apps/control-station/src/core/laboratory/m49PhysicalSafetyPlayback.ts

@@ -0,0 +1,671 @@
+import type { LaboratoryFetch } from "./advancedResults";
+
+const RESULT_ID = /^m49-physical-safety-playback-[a-f0-9]{64}$/;
+const SOURCE_RESULT_ID = /^m49-tgs-full-shadow-[a-f0-9]{64}$/;
+const SCHEMA = "missioncore.m49-physical-safety-playback/v1";
+const CHUNK_MAGIC = "MCPSCH01";
+const CHUNK_HEADER_BYTES = 28;
+const ENDPOINT_ROOT = "/api/v1/laboratory/m49/physical-safety-playback";
+
+export interface M49PhysicalSafetyPlaybackFrameMetadata {
+  sourceSequence: number;
+  sourceFrameIndex: number;
+  sessionSeconds: number;
+  sampleAvailable: boolean;
+  metrics: Readonly<Record<string, number>>;
+}
+
+interface ArtifactDescriptor {
+  url: string;
+  mediaType: string;
+  byteLength: number;
+  sha256: string;
+}
+
+interface ChunkDescriptor extends ArtifactDescriptor {
+  index: number;
+  start: number;
+  count: number;
+  headerBytes: 28;
+  format: "mcpsch01-states-u8-aligned-z-bounds-f32le";
+}
+
+export interface M49PhysicalSafetyPlaybackManifest {
+  resultId: string;
+  createdAtUtc: string;
+  sourceResultId: string;
+  frameCount: number;
+  cellCount: number;
+  cellSizeM: number;
+  radiusM: number;
+  sourcePaceHz: number;
+  stateCodes: Readonly<Record<string, number>>;
+  chunkFrameCount: 32;
+  startupPrebufferChunkCount: 2;
+  residentChunkCountMax: 3;
+  forwardPrefetchChunkCount: 1;
+  centers: ArtifactDescriptor;
+  frames: ArtifactDescriptor;
+  chunks: readonly ChunkDescriptor[];
+}
+
+interface ResidentChunk {
+  descriptor: ChunkDescriptor;
+  states: Uint8Array;
+  zBoundsM: Float32Array;
+  byteLength: number;
+}
+
+export interface M49PhysicalSafetyPlaybackFrame {
+  metadata: M49PhysicalSafetyPlaybackFrameMetadata;
+  centersXyM: Float32Array;
+  states: Uint8Array;
+  zBoundsM: Float32Array;
+  cellSizeM: number;
+  radiusM: number;
+}
+
+export interface M49PhysicalSafetyPlaybackProgress {
+  phase: "manifest" | "static" | "prebuffer" | "ready" | "seek";
+  residentChunkIndexes: readonly number[];
+  loadedBytes: number;
+}
+
+export class M49PhysicalSafetyPlaybackContractError extends Error {}
+
+function objectValue(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function text(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: ожидалась строка.`);
+  }
+  return value;
+}
+
+function finiteNumber(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: ожидалось число.`);
+  }
+  return value;
+}
+
+function integer(value: unknown, label: string): number {
+  const parsed = finiteNumber(value, label);
+  if (!Number.isSafeInteger(parsed) || parsed < 0) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: ожидалось целое число.`);
+  }
+  return parsed;
+}
+
+function booleanValue(value: unknown, label: string): boolean {
+  if (typeof value !== "boolean") {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: ожидался boolean.`);
+  }
+  return value;
+}
+
+function exact<T extends string | number | boolean>(value: unknown, expected: T, label: string): T {
+  if (value !== expected) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: нарушен контракт.`);
+  }
+  return expected;
+}
+
+function sha256(value: unknown, label: string): string {
+  const parsed = text(value, label);
+  if (!/^[a-f0-9]{64}$/.test(parsed)) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: SHA-256 недопустим.`);
+  }
+  return parsed;
+}
+
+function localUrl(value: unknown, expected: string, label: string): string {
+  const parsed = text(value, label);
+  if (parsed !== expected || parsed.includes("worker")) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: разрешён только sealed local API.`);
+  }
+  return parsed;
+}
+
+function descriptor(
+  value: unknown,
+  expectedUrl: string,
+  label: string,
+): ArtifactDescriptor {
+  const row = objectValue(value, label);
+  return {
+    url: localUrl(row.url, expectedUrl, `${label}.url`),
+    mediaType: text(row.media_type, `${label}.media_type`),
+    byteLength: integer(row.byte_length, `${label}.byte_length`),
+    sha256: sha256(row.sha256, `${label}.sha256`),
+  };
+}
+
+async function sha256Hex(buffer: ArrayBuffer): Promise<string> {
+  if (!globalThis.crypto?.subtle) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      "Браузер не поддерживает проверку playback SHA-256.",
+    );
+  }
+  const digest = await globalThis.crypto.subtle.digest("SHA-256", buffer);
+  return [...new Uint8Array(digest)]
+    .map((value) => value.toString(16).padStart(2, "0"))
+    .join("");
+}
+
+async function fetchVerified(
+  artifact: ArtifactDescriptor,
+  fetcher: LaboratoryFetch,
+  signal?: AbortSignal,
+): Promise<ArrayBuffer> {
+  const response = await fetcher(artifact.url, {
+    method: "GET",
+    headers: { Accept: artifact.mediaType },
+    signal,
+  });
+  if (!response.ok) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      `Sealed local playback недоступен: HTTP ${response.status}.`,
+    );
+  }
+  const buffer = await response.arrayBuffer();
+  if (buffer.byteLength !== artifact.byteLength) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      "Sealed local playback: получен неверный размер.",
+    );
+  }
+  if (await sha256Hex(buffer) !== artifact.sha256) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      "Sealed local playback: SHA-256 не совпал.",
+    );
+  }
+  return buffer;
+}
+
+function parseStateCodes(value: unknown): Readonly<Record<string, number>> {
+  const row = objectValue(value, "M49 physical-safety state codes");
+  const parsed: Record<string, number> = {};
+  for (const [name, code] of Object.entries(row)) {
+    const stateCode = integer(code, `M49 physical-safety state code ${name}`);
+    if (stateCode > 255) {
+      throw new M49PhysicalSafetyPlaybackContractError("M49 state code превышает uint8.");
+    }
+    parsed[name] = stateCode;
+  }
+  if (parsed.UNOBSERVED !== 0 || !Object.keys(parsed).length) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 UNOBSERVED state изменился.");
+  }
+  return parsed;
+}
+
+async function fetchManifest(
+  resultId: string,
+  fetcher: LaboratoryFetch,
+  signal?: AbortSignal,
+): Promise<M49PhysicalSafetyPlaybackManifest> {
+  if (!RESULT_ID.test(resultId)) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 physical-safety identity недопустима.");
+  }
+  const base = `${ENDPOINT_ROOT}/${encodeURIComponent(resultId)}`;
+  const response = await fetcher(`${base}/manifest`, {
+    method: "GET",
+    headers: { Accept: "application/json" },
+    signal,
+  });
+  if (!response.ok) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      `M49 physical-safety manifest недоступен: HTTP ${response.status}.`,
+    );
+  }
+  const payload = objectValue(await response.json(), "M49 physical-safety manifest");
+  exact(payload.schema_version, SCHEMA, "M49 physical-safety schema");
+  exact(payload.result_id, resultId, "M49 physical-safety result");
+  exact(payload.access, "read-only-sealed-local", "M49 physical-safety access");
+  const identity = objectValue(payload.identity, "M49 physical-safety identity");
+  const execution = objectValue(payload.execution, "M49 physical-safety execution");
+  exact(execution.execution_class, "local-sequential-offline", "M49 execution class");
+  exact(execution.worker_role, "realtime-only", "M49 worker role");
+  exact(execution.worker_runtime_dependency, false, "M49 worker dependency");
+  exact(execution.worker_requests_required, 0, "M49 worker requests");
+  const authority = objectValue(payload.authority, "M49 physical-safety authority");
+  exact(authority.commands_enabled, false, "M49 commands");
+  exact(authority.navigation_or_safety_accepted, false, "M49 safety authority");
+  exact(authority.actuation_accepted, false, "M49 actuation authority");
+  const playback = objectValue(payload.playback, "M49 physical-safety playback");
+  exact(playback.coordinate_frame, "map-gravity-local", "M49 coordinate frame");
+  const frameCount = integer(playback.frame_count, "M49 frame count");
+  const cellCount = integer(playback.cell_count, "M49 cell count");
+  if (!frameCount || !cellCount) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 playback не содержит evidence.");
+  }
+  const chunkFrameCount = exact(
+    integer(playback.chunk_frame_count, "M49 chunk frame count"),
+    32,
+    "M49 chunk frame count",
+  );
+  const startupPrebufferChunkCount = exact(
+    integer(playback.startup_prebuffer_chunk_count, "M49 startup prebuffer"),
+    2,
+    "M49 startup prebuffer",
+  );
+  const residentChunkCountMax = exact(
+    integer(playback.resident_chunk_count_max, "M49 resident chunks"),
+    3,
+    "M49 resident chunks",
+  );
+  const forwardPrefetchChunkCount = exact(
+    integer(playback.forward_prefetch_chunk_count, "M49 forward prefetch"),
+    1,
+    "M49 forward prefetch",
+  );
+  const centers = descriptor(playback.centers, `${base}/tracks/centers`, "M49 centers");
+  const centerRow = objectValue(playback.centers, "M49 centers");
+  exact(centerRow.dtype, "<f4", "M49 centers dtype");
+  if (!Array.isArray(centerRow.shape)
+      || centerRow.shape.length !== 2
+      || centerRow.shape[0] !== cellCount
+      || centerRow.shape[1] !== 2
+      || centers.byteLength !== cellCount * 2 * 4) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 centers shape изменилась.");
+  }
+  const frames = descriptor(playback.frames, `${base}/tracks/frames`, "M49 frames");
+  const frameRow = objectValue(playback.frames, "M49 frames");
+  exact(frameRow.dtype, "ndjson", "M49 frames dtype");
+  if (!Array.isArray(frameRow.shape)
+      || frameRow.shape.length !== 1
+      || frameRow.shape[0] !== frameCount) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 frames shape изменилась.");
+  }
+  if (!Array.isArray(playback.chunks)) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 chunk catalog отсутствует.");
+  }
+  const expectedChunkCount = Math.ceil(frameCount / chunkFrameCount);
+  if (playback.chunks.length !== expectedChunkCount) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 chunk accounting нарушен.");
+  }
+  const chunks = playback.chunks.map((value, index): ChunkDescriptor => {
+    const row = objectValue(value, `M49 chunk ${index}`);
+    const common = descriptor(value, `${base}/chunks/${index}`, `M49 chunk ${index}`);
+    const start = index * chunkFrameCount;
+    const count = Math.min(chunkFrameCount, frameCount - start);
+    exact(integer(row.index, `M49 chunk ${index}.index`), index, `M49 chunk ${index}.index`);
+    exact(integer(row.start, `M49 chunk ${index}.start`), start, `M49 chunk ${index}.start`);
+    exact(integer(row.count, `M49 chunk ${index}.count`), count, `M49 chunk ${index}.count`);
+    return {
+      ...common,
+      index,
+      start,
+      count,
+      headerBytes: exact(
+        integer(row.header_bytes, `M49 chunk ${index}.header`),
+        CHUNK_HEADER_BYTES,
+        `M49 chunk ${index}.header`,
+      ),
+      format: exact(
+        row.format,
+        "mcpsch01-states-u8-aligned-z-bounds-f32le",
+        `M49 chunk ${index}.format`,
+      ),
+    };
+  });
+  return {
+    resultId,
+    createdAtUtc: text(payload.created_at_utc, "M49 physical-safety created"),
+    sourceResultId: text(identity.source_result_id, "M49 physical-safety source"),
+    frameCount,
+    cellCount,
+    cellSizeM: finiteNumber(playback.cell_size_m, "M49 cell size"),
+    radiusM: finiteNumber(playback.radius_m, "M49 radius"),
+    sourcePaceHz: finiteNumber(playback.source_pace_hz, "M49 source pace"),
+    stateCodes: parseStateCodes(playback.state_codes),
+    chunkFrameCount,
+    startupPrebufferChunkCount,
+    residentChunkCountMax,
+    forwardPrefetchChunkCount,
+    centers,
+    frames,
+    chunks,
+  };
+}
+
+export async function fetchM49PhysicalSafetyPlaybackIdForSource(
+  sourceResultId: string,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<string | null> {
+  if (!SOURCE_RESULT_ID.test(sourceResultId)) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 source identity недопустима.");
+  }
+  const response = await fetcher(
+    `${ENDPOINT_ROOT}/results?limit=2&source_result_id=${encodeURIComponent(sourceResultId)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      `M49 physical-safety catalog недоступен: HTTP ${response.status}.`,
+    );
+  }
+  const payload = objectValue(await response.json(), "M49 physical-safety catalog");
+  exact(
+    payload.schema_version,
+    "missioncore.m49-physical-safety-playback-catalog/v1",
+    "M49 physical-safety catalog schema",
+  );
+  exact(payload.worker_runtime_dependency, false, "M49 physical-safety catalog worker");
+  exact(payload.access, "read-only-sealed-local", "M49 physical-safety catalog access");
+  if (!Array.isArray(payload.items)) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 physical-safety catalog изменился.");
+  }
+  if (!payload.items.length) return null;
+  if (payload.items.length !== 1) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      "M49 physical-safety source имеет несколько активных playback artifacts.",
+    );
+  }
+  const item = objectValue(payload.items[0], "M49 physical-safety catalog item");
+  exact(item.source_result_id, sourceResultId, "M49 physical-safety catalog source");
+  exact(item.worker_runtime_dependency, false, "M49 physical-safety item worker");
+  exact(item.navigation_or_safety_accepted, false, "M49 physical-safety item authority");
+  const resultId = text(item.result_id, "M49 physical-safety catalog result");
+  if (!RESULT_ID.test(resultId)) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      "M49 physical-safety catalog result недопустим.",
+    );
+  }
+  return resultId;
+}
+
+function parseFrames(
+  buffer: ArrayBuffer,
+  frameCount: number,
+): readonly M49PhysicalSafetyPlaybackFrameMetadata[] {
+  const lines = new TextDecoder().decode(buffer).trim().split("\n");
+  if (lines.length !== frameCount) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 frame catalog изменил размер.");
+  }
+  return lines.map((line, sourceSequence) => {
+    const row = objectValue(JSON.parse(line), `M49 frame ${sourceSequence}`);
+    const metrics: Record<string, number> = {};
+    for (const [name, value] of Object.entries(row)) {
+      if (name.endsWith("_count") && typeof value === "number" && Number.isFinite(value)) {
+        metrics[name] = value;
+      }
+    }
+    return {
+      sourceSequence,
+      sourceFrameIndex: integer(row.source_frame_index, `M49 frame ${sourceSequence}.source`),
+      sessionSeconds: finiteNumber(row.session_seconds, `M49 frame ${sourceSequence}.time`),
+      sampleAvailable: booleanValue(
+        row.sample_available,
+        `M49 frame ${sourceSequence}.available`,
+      ),
+      metrics,
+    };
+  });
+}
+
+function parseChunk(
+  buffer: ArrayBuffer,
+  descriptorValue: ChunkDescriptor,
+  cellCount: number,
+  frames: readonly M49PhysicalSafetyPlaybackFrameMetadata[],
+  admittedStateCodes: ReadonlySet<number>,
+): ResidentChunk {
+  const bytes = new Uint8Array(buffer);
+  if (bytes.byteLength < CHUNK_HEADER_BYTES
+      || new TextDecoder("latin1").decode(bytes.subarray(0, 8)) !== CHUNK_MAGIC) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 chunk signature изменилась.");
+  }
+  const view = new DataView(buffer);
+  const start = view.getUint32(8, true);
+  const count = view.getUint32(12, true);
+  const cells = view.getUint32(16, true);
+  const stateBytes = view.getUint32(20, true);
+  const zBytes = view.getUint32(24, true);
+  const expectedStateBytes = count * cellCount;
+  const expectedZBytes = count * cellCount * 2 * 4;
+  const zOffset = CHUNK_HEADER_BYTES + stateBytes
+    + ((4 - ((CHUNK_HEADER_BYTES + stateBytes) % 4)) % 4);
+  if (start !== descriptorValue.start
+      || count !== descriptorValue.count
+      || cells !== cellCount
+      || stateBytes !== expectedStateBytes
+      || zBytes !== expectedZBytes
+      || zOffset + zBytes !== bytes.byteLength) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 chunk layout изменился.");
+  }
+  const states = new Uint8Array(buffer, CHUNK_HEADER_BYTES, stateBytes);
+  const zBoundsM = new Float32Array(buffer, zOffset, count * cellCount * 2);
+  for (let localFrame = 0; localFrame < count; localFrame += 1) {
+    const stateStart = localFrame * cellCount;
+    const zStart = localFrame * cellCount * 2;
+    for (let cell = 0; cell < cellCount; cell += 1) {
+      const state = states[stateStart + cell];
+      if (!admittedStateCodes.has(state)) {
+        throw new M49PhysicalSafetyPlaybackContractError("M49 chunk содержит неизвестный state.");
+      }
+      if (!frames[start + localFrame].sampleAvailable
+          && (state !== 0
+            || Number.isFinite(zBoundsM[zStart + cell * 2])
+            || Number.isFinite(zBoundsM[zStart + cell * 2 + 1]))) {
+        throw new M49PhysicalSafetyPlaybackContractError(
+          "M49 missing sample перестал быть fail-closed.",
+        );
+      }
+    }
+  }
+  return { descriptor: descriptorValue, states, zBoundsM, byteLength: buffer.byteLength };
+}
+
+export class M49PhysicalSafetyPlaybackBuffer {
+  readonly manifest: M49PhysicalSafetyPlaybackManifest;
+  readonly centersXyM: Float32Array;
+  readonly frames: readonly M49PhysicalSafetyPlaybackFrameMetadata[];
+
+  private readonly fetcher: LaboratoryFetch;
+  private readonly signal: AbortSignal | undefined;
+  private readonly onProgress: ((value: M49PhysicalSafetyPlaybackProgress) => void) | undefined;
+  private readonly chunks = new Map<number, ResidentChunk>();
+  private readonly pending = new Map<number, Promise<ResidentChunk>>();
+  private readonly admittedStateCodes: ReadonlySet<number>;
+  private staticBytes: number;
+  private preparedWindowKey: string | null = null;
+  private pendingPrepare: { key: string; promise: Promise<void> } | null = null;
+
+  private constructor(
+    manifest: M49PhysicalSafetyPlaybackManifest,
+    centersXyM: Float32Array,
+    frames: readonly M49PhysicalSafetyPlaybackFrameMetadata[],
+    fetcher: LaboratoryFetch,
+    signal: AbortSignal | undefined,
+    onProgress: ((value: M49PhysicalSafetyPlaybackProgress) => void) | undefined,
+  ) {
+    this.manifest = manifest;
+    this.centersXyM = centersXyM;
+    this.frames = frames;
+    this.fetcher = fetcher;
+    this.signal = signal;
+    this.onProgress = onProgress;
+    this.admittedStateCodes = new Set(Object.values(manifest.stateCodes));
+    this.staticBytes = centersXyM.byteLength + manifest.frames.byteLength;
+  }
+
+  static async open(
+    resultId: string,
+    {
+      fetcher = fetch,
+      signal,
+      onProgress,
+    }: {
+      fetcher?: LaboratoryFetch;
+      signal?: AbortSignal;
+      onProgress?: (value: M49PhysicalSafetyPlaybackProgress) => void;
+    } = {},
+  ): Promise<M49PhysicalSafetyPlaybackBuffer> {
+    onProgress?.({ phase: "manifest", residentChunkIndexes: [], loadedBytes: 0 });
+    const manifest = await fetchManifest(resultId, fetcher, signal);
+    const [centersBuffer, framesBuffer] = await Promise.all([
+      fetchVerified(manifest.centers, fetcher, signal),
+      fetchVerified(manifest.frames, fetcher, signal),
+    ]);
+    onProgress?.({
+      phase: "static",
+      residentChunkIndexes: [],
+      loadedBytes: centersBuffer.byteLength + framesBuffer.byteLength,
+    });
+    const centersXyM = new Float32Array(centersBuffer);
+    const frames = parseFrames(framesBuffer, manifest.frameCount);
+    const playback = new M49PhysicalSafetyPlaybackBuffer(
+      manifest,
+      centersXyM,
+      frames,
+      fetcher,
+      signal,
+      onProgress,
+    );
+    const startupCount = Math.min(
+      manifest.startupPrebufferChunkCount,
+      manifest.chunks.length,
+    );
+    await Promise.all(Array.from(
+      { length: startupCount },
+      (_, index) => playback.loadChunk(index, "prebuffer"),
+    ));
+    playback.emit("ready");
+    return playback;
+  }
+
+  get residentChunkIndexes(): readonly number[] {
+    return [...this.chunks.keys()].sort((left, right) => left - right);
+  }
+
+  get residentByteLength(): number {
+    return this.staticBytes
+      + [...this.chunks.values()].reduce((sum, chunk) => sum + chunk.byteLength, 0);
+  }
+
+  async prepare(sourceSequence: number): Promise<void> {
+    const chunkIndex = this.chunkIndex(sourceSequence);
+    const nextIndex = chunkIndex + this.manifest.forwardPrefetchChunkCount;
+    const indexes = [chunkIndex, nextIndex].filter(
+      (index) => index < this.manifest.chunks.length,
+    );
+    const key = indexes.join(":");
+    if (this.preparedWindowKey === key && indexes.every((index) => this.chunks.has(index))) {
+      return;
+    }
+    if (this.pendingPrepare?.key === key) return this.pendingPrepare.promise;
+    const promise = Promise.all(indexes.map((index) => this.loadChunk(index, "seek")))
+      .then(() => {
+        this.trim(new Set(indexes));
+        this.preparedWindowKey = key;
+        this.emit("seek");
+      })
+      .finally(() => {
+        if (this.pendingPrepare?.key === key) this.pendingPrepare = null;
+      });
+    this.pendingPrepare = { key, promise };
+    return promise;
+  }
+
+  async frame(sourceSequence: number): Promise<M49PhysicalSafetyPlaybackFrame> {
+    const chunkIndex = this.chunkIndex(sourceSequence);
+    const chunk = await this.loadChunk(chunkIndex, "seek");
+    const frame = this.frameFromChunk(sourceSequence, chunk);
+    const nextIndex = chunkIndex + this.manifest.forwardPrefetchChunkCount;
+    if (nextIndex < this.manifest.chunks.length && !this.chunks.has(nextIndex)) {
+      void this.loadChunk(nextIndex, "seek").catch(() => undefined);
+    }
+    return frame;
+  }
+
+  frameIfResident(sourceSequence: number): M49PhysicalSafetyPlaybackFrame | null {
+    const chunkIndex = this.chunkIndex(sourceSequence);
+    const chunk = this.chunks.get(chunkIndex);
+    return chunk ? this.frameFromChunk(sourceSequence, chunk) : null;
+  }
+
+  private frameFromChunk(
+    sourceSequence: number,
+    chunk: ResidentChunk,
+  ): M49PhysicalSafetyPlaybackFrame {
+    const localFrame = sourceSequence - chunk.descriptor.start;
+    const stateOffset = localFrame * this.manifest.cellCount;
+    const zOffset = stateOffset * 2;
+    return {
+      metadata: this.frames[sourceSequence],
+      centersXyM: this.centersXyM,
+      states: chunk.states.subarray(stateOffset, stateOffset + this.manifest.cellCount),
+      zBoundsM: chunk.zBoundsM.subarray(zOffset, zOffset + this.manifest.cellCount * 2),
+      cellSizeM: this.manifest.cellSizeM,
+      radiusM: this.manifest.radiusM,
+    };
+  }
+
+  private chunkIndex(sourceSequence: number): number {
+    if (!Number.isSafeInteger(sourceSequence)
+        || sourceSequence < 0
+        || sourceSequence >= this.manifest.frameCount) {
+      throw new M49PhysicalSafetyPlaybackContractError("M49 source sequence недопустима.");
+    }
+    return Math.floor(sourceSequence / this.manifest.chunkFrameCount);
+  }
+
+  private async loadChunk(
+    index: number,
+    phase: "prebuffer" | "seek",
+  ): Promise<ResidentChunk> {
+    const existing = this.chunks.get(index);
+    if (existing) {
+      this.chunks.delete(index);
+      this.chunks.set(index, existing);
+      return existing;
+    }
+    const inflight = this.pending.get(index);
+    if (inflight) return inflight;
+    const descriptorValue = this.manifest.chunks[index];
+    if (!descriptorValue) {
+      throw new M49PhysicalSafetyPlaybackContractError("M49 chunk отсутствует.");
+    }
+    const promise = fetchVerified(descriptorValue, this.fetcher, this.signal)
+      .then((buffer) => parseChunk(
+        buffer,
+        descriptorValue,
+        this.manifest.cellCount,
+        this.frames,
+        this.admittedStateCodes,
+      ))
+      .then((chunk) => {
+        this.chunks.set(index, chunk);
+        this.trim(new Set([index]));
+        this.emit(phase);
+        return chunk;
+      })
+      .finally(() => this.pending.delete(index));
+    this.pending.set(index, promise);
+    return promise;
+  }
+
+  private trim(protectedIndexes: ReadonlySet<number>): void {
+    while (this.chunks.size > this.manifest.residentChunkCountMax) {
+      const removable = [...this.chunks.keys()].find((index) => !protectedIndexes.has(index));
+      if (removable === undefined) break;
+      this.chunks.delete(removable);
+    }
+  }
+
+  private emit(phase: M49PhysicalSafetyPlaybackProgress["phase"]): void {
+    this.onProgress?.({
+      phase,
+      residentChunkIndexes: this.residentChunkIndexes,
+      loadedBytes: this.residentByteLength,
+    });
+  }
+}

apps/control-station/src/core/laboratory/m49TgsFailClosed.ts

@@ -0,0 +1,349 @@
+import type { LaboratoryFetch } from "./advancedResults";
+
+const RESULT_ID = /^m49-tgs-fail-closed-[a-f0-9]{64}$/;
+
+export type M49TgsProfile = "current_increment" | "causal_rolling_1s";
+export type M49TgsStateCode = 0 | 1 | 2 | 3;
+export type M49TgsPointStateCode = 1 | 2 | 3;
+
+export interface M49TgsAnchorSummary {
+  anchorFrameIndex: number;
+  slot: number;
+  pointCount: number;
+  groundPointCount: number;
+  nongroundPointCount: number;
+  rejectedPointCount: number;
+  groundCellCount: number;
+  nongroundCellCount: number;
+  rejectedCellCount: number;
+  unobservedCellCount: number;
+  allPointsAccounted: true;
+}
+
+export interface M49TgsFailClosedResult {
+  resultId: string;
+  createdAtUtc: string;
+  source: {
+    sourceId: "RAVNOVES00";
+    sourceSessionId: "20260720T065719Z_viewer_live";
+    sourcePackSha256: string;
+    linkedVisualResultId: string;
+    anchorFrameIndices: readonly number[];
+  };
+  configuration: {
+    profileId: string;
+    configSha256: string;
+    coordinateFrame: "map-gravity-local";
+    primaryProfile: "causal_rolling_1s";
+    cellSizeM: number;
+    radiusM: number;
+  };
+  execution: {
+    worker: "Worker 006";
+    device: "cpu";
+    gpuUsed: false;
+    wrapperElapsedSeconds: number;
+  };
+  metrics: {
+    anchorCount: number;
+    anchorProfileCount: number;
+    allEligiblePointsAccounted: true;
+    costmapCellCount: number;
+    processWallCurrentP50Ms: number;
+    processWallCurrentMaxMs: number;
+    processWallRollingP50Ms: number;
+    processWallRollingMaxMs: number;
+    processMaxRssKib: number;
+    primary: readonly M49TgsAnchorSummary[];
+  };
+  acceptance: {
+    representationComplete: true;
+    allPointsAccounted: true;
+    aosAbsent: true;
+    gpuAbsent: true;
+    visualQualityAccepted: false;
+    traversabilityAccepted: false;
+  };
+  decision: {
+    state: "visual-review-required";
+    candidateRetained: true;
+    nextAction: string;
+  };
+  limitations: readonly string[];
+}
+
+export interface M49TgsAnchorSpatial {
+  resultId: string;
+  anchorFrameIndex: number;
+  sourceSequence: number;
+  profile: M49TgsProfile;
+  coordinateFrame: "map-gravity-local";
+  pointsXyzM: readonly (readonly [number, number, number])[];
+  pointStates: readonly M49TgsPointStateCode[];
+  costmap: {
+    cellSizeM: number;
+    radiusM: number;
+    centersXyM: readonly (readonly [number, number])[];
+    states: readonly M49TgsStateCode[];
+    zBoundsM: readonly (readonly [number | null, number | null])[];
+  };
+  allPointsAccounted: true;
+  aosUsed: false;
+}
+
+export class M49TgsContractError extends Error {}
+
+function objectValue(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new M49TgsContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function text(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new M49TgsContractError(`${label}: ожидалась строка.`);
+  }
+  return value;
+}
+
+function exact<T extends string | boolean>(value: unknown, expected: T, label: string): T {
+  if (value !== expected) throw new M49TgsContractError(`${label}: нарушен контракт.`);
+  return expected;
+}
+
+function numberValue(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new M49TgsContractError(`${label}: ожидалось число.`);
+  }
+  return value;
+}
+
+function integer(value: unknown, label: string): number {
+  const parsed = numberValue(value, label);
+  if (!Number.isSafeInteger(parsed) || parsed < 0) {
+    throw new M49TgsContractError(`${label}: ожидалось целое число.`);
+  }
+  return parsed;
+}
+
+function sha256(value: unknown, label: string): string {
+  const parsed = text(value, label);
+  if (!/^[a-f0-9]{64}$/.test(parsed)) {
+    throw new M49TgsContractError(`${label}: неверный SHA-256.`);
+  }
+  return parsed;
+}
+
+function resultId(value: unknown): string {
+  const parsed = text(value, "M49 result id");
+  if (!RESULT_ID.test(parsed)) throw new M49TgsContractError("M49 identity недопустима.");
+  return parsed;
+}
+
+function numbers(value: unknown, size: number, label: string): number[] {
+  if (!Array.isArray(value) || value.length !== size) {
+    throw new M49TgsContractError(`${label}: неверная размерность.`);
+  }
+  return value.map((item) => numberValue(item, label));
+}
+
+function anchor(value: unknown, label: string): M49TgsAnchorSummary {
+  const row = objectValue(value, label);
+  exact(row.profile_id, "causal_rolling_1s", `${label}.profile`);
+  exact(row.all_points_accounted, true, `${label}.accounting`);
+  const parsed: M49TgsAnchorSummary = {
+    anchorFrameIndex: integer(row.anchor_frame_index, `${label}.anchor`),
+    slot: integer(row.slot, `${label}.slot`),
+    pointCount: integer(row.point_count, `${label}.points`),
+    groundPointCount: integer(row.ground_point_count, `${label}.ground points`),
+    nongroundPointCount: integer(row.nonground_point_count, `${label}.nonground points`),
+    rejectedPointCount: integer(row.rejected_point_count, `${label}.rejected points`),
+    groundCellCount: integer(row.ground_cell_count, `${label}.ground cells`),
+    nongroundCellCount: integer(row.nonground_cell_count, `${label}.nonground cells`),
+    rejectedCellCount: integer(row.rejected_cell_count, `${label}.rejected cells`),
+    unobservedCellCount: integer(row.unobserved_cell_count, `${label}.unobserved cells`),
+    allPointsAccounted: true,
+  };
+  if (
+    parsed.groundPointCount + parsed.nongroundPointCount + parsed.rejectedPointCount
+      !== parsed.pointCount
+    || parsed.groundCellCount + parsed.nongroundCellCount
+      + parsed.rejectedCellCount + parsed.unobservedCellCount !== 2244
+  ) {
+    throw new M49TgsContractError(`${label}: fail-closed accounting нарушен.`);
+  }
+  return parsed;
+}
+
+export async function fetchM49TgsFailClosedResult(
+  id: string,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M49TgsFailClosedResult> {
+  if (!RESULT_ID.test(id)) throw new M49TgsContractError("M49 identity недопустима.");
+  const response = await fetcher(
+    `/api/v1/laboratory/m49/tgs-fail-closed/${encodeURIComponent(id)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) throw new M49TgsContractError(`M49 TGS недоступен: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M49 TGS");
+  exact(payload.schema_version, "missioncore.m49-tgs-fail-closed-view/v1", "M49 schema");
+  exact(payload.result_id, id, "M49 result");
+  exact(payload.ground_truth, false, "M49 ground truth");
+  exact(payload.access, "read-only", "M49 access");
+  const source = objectValue(payload.source, "M49 source");
+  const configuration = objectValue(payload.configuration, "M49 configuration");
+  const execution = objectValue(payload.execution, "M49 execution");
+  const metrics = objectValue(payload.metrics, "M49 metrics");
+  const acceptance = objectValue(payload.acceptance, "M49 acceptance");
+  const decision = objectValue(payload.decision, "M49 decision");
+  if (!Array.isArray(source.anchor_frame_indices) || !Array.isArray(metrics.primary)) {
+    throw new M49TgsContractError("M49 anchors: ожидался массив.");
+  }
+  if (!Array.isArray(payload.limitations)) {
+    throw new M49TgsContractError("M49 limitations: ожидался массив.");
+  }
+  const anchorFrameIndices = source.anchor_frame_indices.map(
+    (item, index) => integer(item, `M49 anchor ${index}`),
+  );
+  const primary = metrics.primary.map((item, index) => anchor(item, `M49 primary ${index}`));
+  if (
+    anchorFrameIndices.length !== 10
+    || new Set(anchorFrameIndices).size !== 10
+    || primary.length !== 10
+    || integer(metrics.anchor_count, "M49 anchor count") !== 10
+    || integer(metrics.anchor_profile_count, "M49 profile count") !== 20
+    || integer(metrics.costmap_cell_count, "M49 costmap cells") !== 2244
+    || primary.some((item, index) => item.anchorFrameIndex !== anchorFrameIndices[index])
+  ) {
+    throw new M49TgsContractError("M49 anchor set или costmap contract нарушен.");
+  }
+  return {
+    resultId: resultId(payload.result_id),
+    createdAtUtc: text(payload.created_at_utc, "M49 created"),
+    source: {
+      sourceId: exact(source.source_id, "RAVNOVES00", "M49 source id"),
+      sourceSessionId: exact(
+        source.source_session_id,
+        "20260720T065719Z_viewer_live",
+        "M49 source session",
+      ),
+      sourcePackSha256: sha256(source.source_pack_sha256, "M49 source pack"),
+      linkedVisualResultId: text(source.linked_visual_result_id, "M49 visual result"),
+      anchorFrameIndices,
+    },
+    configuration: {
+      profileId: text(configuration.profile_id, "M49 profile"),
+      configSha256: sha256(configuration.config_sha256, "M49 config"),
+      coordinateFrame: exact(configuration.coordinate_frame, "map-gravity-local", "M49 frame"),
+      primaryProfile: exact(configuration.primary_profile, "causal_rolling_1s", "M49 primary"),
+      cellSizeM: numberValue(configuration.cell_size_m, "M49 cell size"),
+      radiusM: numberValue(configuration.radius_m, "M49 radius"),
+    },
+    execution: {
+      worker: exact(execution.worker, "Worker 006", "M49 worker"),
+      device: exact(execution.device, "cpu", "M49 device"),
+      gpuUsed: exact(execution.gpu_used, false, "M49 GPU"),
+      wrapperElapsedSeconds: numberValue(execution.wrapper_elapsed_seconds, "M49 wall"),
+    },
+    metrics: {
+      anchorCount: 10,
+      anchorProfileCount: 20,
+      allEligiblePointsAccounted: exact(metrics.all_eligible_points_accounted, true, "M49 accounting"),
+      costmapCellCount: 2244,
+      processWallCurrentP50Ms: numberValue(metrics.process_wall_current_p50_ms, "M49 current p50"),
+      processWallCurrentMaxMs: numberValue(metrics.process_wall_current_max_ms, "M49 current max"),
+      processWallRollingP50Ms: numberValue(metrics.process_wall_rolling_p50_ms, "M49 rolling p50"),
+      processWallRollingMaxMs: numberValue(metrics.process_wall_rolling_max_ms, "M49 rolling max"),
+      processMaxRssKib: integer(metrics.process_max_rss_kib, "M49 RSS"),
+      primary,
+    },
+    acceptance: {
+      representationComplete: exact(acceptance.representation_complete, true, "M49 representation"),
+      allPointsAccounted: exact(acceptance.all_points_accounted, true, "M49 points"),
+      aosAbsent: exact(acceptance.aos_absent, true, "M49 AOS"),
+      gpuAbsent: exact(acceptance.gpu_absent, true, "M49 GPU absent"),
+      visualQualityAccepted: exact(acceptance.visual_quality_accepted, false, "M49 visual quality"),
+      traversabilityAccepted: exact(acceptance.traversability_accepted, false, "M49 traversability"),
+    },
+    decision: {
+      state: exact(decision.state, "visual-review-required", "M49 decision"),
+      candidateRetained: exact(decision.candidate_retained, true, "M49 retained"),
+      nextAction: text(decision.next_action, "M49 next action"),
+    },
+    limitations: payload.limitations.map((item, index) => text(item, `M49 limitation ${index}`)),
+  };
+}
+
+export async function fetchM49TgsAnchorSpatial(
+  id: string,
+  anchorFrameIndex: number,
+  profile: M49TgsProfile = "causal_rolling_1s",
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M49TgsAnchorSpatial> {
+  if (!RESULT_ID.test(id) || !Number.isSafeInteger(anchorFrameIndex) || anchorFrameIndex < 0) {
+    throw new M49TgsContractError("M49 anchor identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/m49/tgs-fail-closed/${encodeURIComponent(id)}/anchors/${anchorFrameIndex}/spatial?profile=${encodeURIComponent(profile)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) throw new M49TgsContractError(`M49 anchor недоступен: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M49 anchor");
+  exact(payload.schema_version, "missioncore.m49-tgs-anchor-spatial/v1", "M49 anchor schema");
+  exact(payload.result_id, id, "M49 anchor result");
+  exact(payload.coordinate_frame, "map-gravity-local", "M49 anchor frame");
+  exact(payload.all_points_accounted, true, "M49 anchor accounting");
+  exact(payload.aos_used, false, "M49 anchor AOS");
+  if (!Array.isArray(payload.points_xyz_m) || !Array.isArray(payload.point_states)) {
+    throw new M49TgsContractError("M49 points: ожидался массив.");
+  }
+  const costmap = objectValue(payload.costmap, "M49 costmap");
+  if (!Array.isArray(costmap.centers_xy_m) || !Array.isArray(costmap.states) || !Array.isArray(costmap.z_bounds_m)) {
+    throw new M49TgsContractError("M49 costmap arrays: нарушен контракт.");
+  }
+  const points = payload.points_xyz_m.map((item, index) => numbers(item, 3, `M49 point ${index}`) as [number, number, number]);
+  const pointStates = payload.point_states.map((item, index) => {
+    const state = integer(item, `M49 point state ${index}`);
+    if (state !== 1 && state !== 2 && state !== 3) throw new M49TgsContractError("M49 point state неизвестен.");
+    return state;
+  });
+  if (points.length !== pointStates.length) throw new M49TgsContractError("M49 point accounting нарушен.");
+  const centers = costmap.centers_xy_m.map((item, index) => numbers(item, 2, `M49 cell ${index}`) as [number, number]);
+  const states = costmap.states.map((item, index) => {
+    const state = integer(item, `M49 cell state ${index}`);
+    if (state !== 0 && state !== 1 && state !== 2 && state !== 3) throw new M49TgsContractError("M49 cell state неизвестен.");
+    return state;
+  });
+  const zBounds = costmap.z_bounds_m.map((item, index) => {
+    if (!Array.isArray(item) || item.length !== 2) throw new M49TgsContractError(`M49 z ${index}: размерность.`);
+    return item.map((value) => value === null ? null : numberValue(value, `M49 z ${index}`)) as [number | null, number | null];
+  });
+  if (
+    centers.length !== 2244
+    || centers.length !== states.length
+    || centers.length !== zBounds.length
+    || integer(payload.anchor_frame_index, "M49 anchor frame") !== anchorFrameIndex
+    || integer(payload.source_sequence, "M49 source sequence") !== anchorFrameIndex
+  ) {
+    throw new M49TgsContractError("M49 costmap accounting нарушен.");
+  }
+  return {
+    resultId: id,
+    anchorFrameIndex,
+    sourceSequence: anchorFrameIndex,
+    profile: exact(payload.profile, profile, "M49 profile"),
+    coordinateFrame: "map-gravity-local",
+    pointsXyzM: points,
+    pointStates,
+    costmap: {
+      cellSizeM: numberValue(costmap.cell_size_m, "M49 cell size"),
+      radiusM: numberValue(costmap.radius_m, "M49 radius"),
+      centersXyM: centers,
+      states,
+      zBoundsM: zBounds,
+    },
+    allPointsAccounted: true,
+    aosUsed: false,
+  };
+}

apps/control-station/src/core/laboratory/m49TgsFullShadow.ts

@@ -0,0 +1,658 @@
+import type { LaboratoryFetch } from "./advancedResults";
+
+const RESULT_ID = /^m49-tgs-full-shadow-[a-f0-9]{64}$/;
+const SEMANTIC_RESULT_ID = /^e47-semantic-slam-[a-f0-9]{64}$/;
+
+export type M49TgsFullShadowStateCode = 0 | 1 | 2 | 3;
+
+export interface M49TgsFullShadowResult {
+  resultId: string;
+  createdAtUtc: string;
+  source: {
+    sourcePackSha256: string;
+    linkedVisualResultId: string;
+    linkedSemanticResultId: string;
+  };
+  configuration: {
+    configSha256: string;
+    cellSizeM: number;
+    radiusM: number;
+    historySeconds: number;
+  };
+  execution: {
+    wrapperElapsedSeconds: number;
+  };
+  timeline: {
+    frameCount: 4489;
+    availableLidarFrameCount: 3928;
+    missingLidarFrameCount: 561;
+    durationSeconds: number;
+    effectiveFps: number;
+  };
+  pointAccounting: {
+    eligible: number;
+    ground: number;
+    nonground: number;
+    rejected: number;
+    unaccounted: 0;
+  };
+  performance: {
+    candidateTgsMs: { p50: number; p95: number; p99: number; max: number };
+    completionAgeMs: { p50: number; p95: number; p99: number; max: number };
+    capacityDropCount: number;
+  };
+  acceptance: {
+    representationComplete: true;
+    visualQualityAccepted: false;
+    integratedGraphPerformanceAccepted: false;
+    allFramesAccounted: boolean;
+    allEligiblePointsAccounted: boolean;
+  };
+  decision: {
+    state: string;
+    candidateRetained: boolean;
+    nextAction: string;
+  };
+}
+
+export interface M49TgsFullShadowSpatial {
+  resultId: string;
+  sourceSequence: number;
+  sourceFrameIndex: number;
+  sessionSeconds: number;
+  sampleAvailable: boolean;
+  costmap: {
+    cellSizeM: number;
+    radiusM: number;
+    centersXyM: readonly (readonly [number, number])[];
+    states: readonly M49TgsFullShadowStateCode[];
+    zBoundsM: readonly (readonly [number | null, number | null])[];
+  };
+  metrics: {
+    eligiblePointCount: number;
+    groundPointCount: number;
+    nongroundPointCount: number;
+    rejectedPointCount: number;
+    occupiedCellCount: number;
+  };
+}
+
+export interface M49TgsFullShadowSpatialChunk {
+  resultId: string;
+  start: number;
+  count: number;
+  frames: readonly M49TgsFullShadowSpatial[];
+}
+
+export type M49TgsFullShadowPlaybackTrackId =
+  | "frames"
+  | "centers"
+  | "states"
+  | "z-bounds";
+
+export interface M49TgsFullShadowPlaybackProgress {
+  phase: "manifest" | "download" | "verify" | "ready";
+  trackId: M49TgsFullShadowPlaybackTrackId | null;
+  loadedBytes: number;
+  totalBytes: number;
+}
+
+interface M49TgsFullShadowPlaybackTrack {
+  id: M49TgsFullShadowPlaybackTrackId;
+  url: string;
+  mediaType: string;
+  dtype: "ndjson" | "<f4" | "|u1";
+  shape: readonly number[];
+  byteLength: number;
+  sha256: string;
+}
+
+export interface M49TgsFullShadowPlaybackFrame {
+  sourceSequence: number;
+  sourceFrameIndex: number;
+  sessionSeconds: number;
+  sampleAvailable: boolean;
+  metrics: M49TgsFullShadowSpatial["metrics"];
+}
+
+export interface M49TgsFullShadowPlaybackPack {
+  resultId: string;
+  frameCount: 4489;
+  cellCount: 2244;
+  totalByteLength: number;
+  centersXyM: Float32Array;
+  states: Uint8Array;
+  zBoundsM: Float32Array;
+  frames: readonly M49TgsFullShadowPlaybackFrame[];
+}
+
+export class M49TgsFullShadowContractError extends Error {}
+
+function objectValue(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new M49TgsFullShadowContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function text(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new M49TgsFullShadowContractError(`${label}: ожидалась строка.`);
+  }
+  return value;
+}
+
+function numberValue(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new M49TgsFullShadowContractError(`${label}: ожидалось число.`);
+  }
+  return value;
+}
+
+function integer(value: unknown, label: string): number {
+  const parsed = numberValue(value, label);
+  if (!Number.isSafeInteger(parsed) || parsed < 0) {
+    throw new M49TgsFullShadowContractError(`${label}: ожидалось целое число.`);
+  }
+  return parsed;
+}
+
+function booleanValue(value: unknown, label: string): boolean {
+  if (typeof value !== "boolean") {
+    throw new M49TgsFullShadowContractError(`${label}: ожидался boolean.`);
+  }
+  return value;
+}
+
+function exact<T extends string | boolean | number>(value: unknown, expected: T, label: string): T {
+  if (value !== expected) throw new M49TgsFullShadowContractError(`${label}: нарушен контракт.`);
+  return expected;
+}
+
+function timing(value: unknown, label: string) {
+  const row = objectValue(value, label);
+  return {
+    p50: numberValue(row.p50, `${label}.p50`),
+    p95: numberValue(row.p95, `${label}.p95`),
+    p99: numberValue(row.p99, `${label}.p99`),
+    max: numberValue(row.max, `${label}.max`),
+  };
+}
+
+export async function fetchM49TgsFullShadowResult(
+  id: string,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M49TgsFullShadowResult> {
+  if (!RESULT_ID.test(id)) throw new M49TgsFullShadowContractError("M49 full-shadow identity недопустима.");
+  const response = await fetcher(
+    `/api/v1/laboratory/m49/tgs-full-shadow/${encodeURIComponent(id)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) throw new M49TgsFullShadowContractError(`M49 full shadow недоступен: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M49 full shadow");
+  exact(payload.schema_version, "missioncore.m49-tgs-full-shadow-view/v1", "M49 full schema");
+  exact(payload.result_id, id, "M49 full result");
+  exact(payload.ground_truth, false, "M49 full ground truth");
+  exact(payload.access, "read-only", "M49 full access");
+  const source = objectValue(payload.source, "M49 full source");
+  const configuration = objectValue(payload.configuration, "M49 full configuration");
+  const execution = objectValue(payload.execution, "M49 full execution");
+  const timeline = objectValue(payload.timeline, "M49 full timeline");
+  const accounting = objectValue(payload.point_accounting, "M49 full accounting");
+  const performance = objectValue(payload.performance, "M49 full performance");
+  const acceptance = objectValue(payload.acceptance, "M49 full acceptance");
+  const decision = objectValue(payload.decision, "M49 full decision");
+  const linkedSemanticResultId = text(
+    source.linked_semantic_result_id,
+    "M49 full semantic result",
+  );
+  if (!SEMANTIC_RESULT_ID.test(linkedSemanticResultId)) {
+    throw new M49TgsFullShadowContractError("M49 full semantic result: нарушена идентичность.");
+  }
+  return {
+    resultId: text(payload.result_id, "M49 full result"),
+    createdAtUtc: text(payload.created_at_utc, "M49 full created"),
+    source: {
+      sourcePackSha256: text(source.source_pack_sha256, "M49 full source pack"),
+      linkedVisualResultId: text(source.linked_visual_result_id, "M49 full visual result"),
+      linkedSemanticResultId,
+    },
+    configuration: {
+      configSha256: text(configuration.config_sha256, "M49 full config"),
+      cellSizeM: numberValue(configuration.cell_size_m, "M49 full cell size"),
+      radiusM: numberValue(configuration.radius_m, "M49 full radius"),
+      historySeconds: numberValue(configuration.history_seconds, "M49 full history"),
+    },
+    execution: { wrapperElapsedSeconds: numberValue(execution.wrapper_elapsed_seconds, "M49 full wall") },
+    timeline: {
+      frameCount: exact(integer(timeline.frame_count, "M49 full frames"), 4489, "M49 full frames"),
+      availableLidarFrameCount: exact(integer(timeline.available_lidar_frame_count, "M49 full available"), 3928, "M49 full available"),
+      missingLidarFrameCount: exact(integer(timeline.missing_lidar_frame_count, "M49 full missing"), 561, "M49 full missing"),
+      durationSeconds: numberValue(timeline.duration_seconds, "M49 full duration"),
+      effectiveFps: numberValue(timeline.effective_fps, "M49 full fps"),
+    },
+    pointAccounting: {
+      eligible: integer(accounting.eligible, "M49 full eligible"),
+      ground: integer(accounting.ground, "M49 full ground"),
+      nonground: integer(accounting.nonground, "M49 full nonground"),
+      rejected: integer(accounting.rejected, "M49 full rejected"),
+      unaccounted: exact(integer(accounting.unaccounted, "M49 full unaccounted"), 0, "M49 full unaccounted"),
+    },
+    performance: {
+      candidateTgsMs: timing(performance.candidate_tgs_ms, "M49 full TGS"),
+      completionAgeMs: timing(performance.completion_age_ms, "M49 full completion"),
+      capacityDropCount: integer(performance.capacity_drop_count, "M49 full drops"),
+    },
+    acceptance: {
+      representationComplete: exact(acceptance.representation_complete, true, "M49 full representation"),
+      visualQualityAccepted: exact(acceptance.visual_quality_accepted, false, "M49 full visual"),
+      integratedGraphPerformanceAccepted: exact(acceptance.integrated_graph_performance_accepted, false, "M49 full integrated"),
+      allFramesAccounted: booleanValue(acceptance.all_frames_accounted, "M49 full frame accounting"),
+      allEligiblePointsAccounted: booleanValue(acceptance.all_eligible_points_accounted, "M49 full point accounting"),
+    },
+    decision: {
+      state: text(decision.state, "M49 full decision"),
+      candidateRetained: booleanValue(decision.candidate_retained, "M49 full retained"),
+      nextAction: text(decision.next_action, "M49 full next action"),
+    },
+  };
+}
+
+function pair(value: unknown, label: string): readonly [number, number] {
+  if (!Array.isArray(value) || value.length !== 2) {
+    throw new M49TgsFullShadowContractError(`${label}: неверная размерность.`);
+  }
+  return [numberValue(value[0], label), numberValue(value[1], label)];
+}
+
+function parseSpatial(
+  id: string,
+  sourceSequence: number,
+  payload: Record<string, unknown>,
+  sharedCostmap?: Record<string, unknown>,
+): M49TgsFullShadowSpatial {
+  exact(payload.source_sequence, sourceSequence, "M49 full spatial sequence");
+  const costmap = sharedCostmap ?? objectValue(payload.costmap, "M49 full costmap");
+  const metrics = objectValue(payload.metrics, "M49 full frame metrics");
+  const centers = costmap.centers_xy_m;
+  const statesRaw = sharedCostmap ? payload.states : costmap.states;
+  const zBoundsRaw = sharedCostmap ? payload.z_bounds_m : costmap.z_bounds_m;
+  if (!Array.isArray(centers) || !Array.isArray(statesRaw) || !Array.isArray(zBoundsRaw)
+      || centers.length !== 2244 || statesRaw.length !== 2244 || zBoundsRaw.length !== 2244) {
+    throw new M49TgsFullShadowContractError("M49 full costmap: неверная размерность.");
+  }
+  const states = statesRaw.map((value, index) => {
+    const parsed = integer(value, `M49 full state ${index}`);
+    if (parsed > 3) throw new M49TgsFullShadowContractError("M49 full state недопустим.");
+    return parsed as M49TgsFullShadowStateCode;
+  });
+  const zBounds = zBoundsRaw.map((value, index) => {
+    if (!Array.isArray(value) || value.length !== 2) {
+      throw new M49TgsFullShadowContractError(`M49 full z ${index}: неверная размерность.`);
+    }
+    return value.map((item) => item === null
+      ? null
+      : numberValue(item, `M49 full z ${index}`)) as [number | null, number | null];
+  });
+  const sampleAvailable = booleanValue(payload.sample_available, "M49 full sample available");
+  if (!sampleAvailable && states.some((state) => state !== 0)) {
+    throw new M49TgsFullShadowContractError("M49 missing LiDAR frame не остался UNOBSERVED.");
+  }
+  return {
+    resultId: id,
+    sourceSequence,
+    sourceFrameIndex: integer(payload.source_frame_index, "M49 full source frame"),
+    sessionSeconds: numberValue(payload.session_seconds, "M49 full session seconds"),
+    sampleAvailable,
+    costmap: {
+      cellSizeM: numberValue(costmap.cell_size_m, "M49 full cell size"),
+      radiusM: numberValue(costmap.radius_m, "M49 full radius"),
+      centersXyM: centers.map((value, index) => pair(value, `M49 full center ${index}`)),
+      states,
+      zBoundsM: zBounds,
+    },
+    metrics: {
+      eligiblePointCount: integer(metrics.eligible_point_count, "M49 full eligible"),
+      groundPointCount: integer(metrics.ground_point_count, "M49 full ground"),
+      nongroundPointCount: integer(metrics.nonground_point_count, "M49 full nonground"),
+      rejectedPointCount: integer(metrics.rejected_point_count, "M49 full rejected"),
+      occupiedCellCount: integer(metrics.occupied_cell_count, "M49 full occupied cells"),
+    },
+  };
+}
+
+export async function fetchM49TgsFullShadowSpatial(
+  id: string,
+  sourceSequence: number,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M49TgsFullShadowSpatial> {
+  if (!RESULT_ID.test(id) || !Number.isSafeInteger(sourceSequence) || sourceSequence < 0 || sourceSequence >= 4489) {
+    throw new M49TgsFullShadowContractError("M49 full-shadow frame identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/m49/tgs-full-shadow/${encodeURIComponent(id)}/frames/${sourceSequence}/spatial`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) throw new M49TgsFullShadowContractError(`M49 full-shadow frame недоступен: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M49 full spatial");
+  exact(payload.schema_version, "missioncore.m49-tgs-full-shadow-spatial/v1", "M49 full spatial schema");
+  exact(payload.result_id, id, "M49 full spatial result");
+  return parseSpatial(id, sourceSequence, payload);
+}
+
+export async function fetchM49TgsFullShadowSpatialChunk(
+  id: string,
+  start: number,
+  count = 24,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M49TgsFullShadowSpatialChunk> {
+  if (!RESULT_ID.test(id) || !Number.isSafeInteger(start) || start < 0 || start >= 4489
+      || !Number.isSafeInteger(count) || count < 1 || count > 24) {
+    throw new M49TgsFullShadowContractError("M49 full-shadow chunk identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/m49/tgs-full-shadow/${encodeURIComponent(id)}/spatial/chunk?start=${start}&count=${count}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) throw new M49TgsFullShadowContractError(`M49 full-shadow chunk недоступен: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M49 full spatial chunk");
+  exact(payload.schema_version, "missioncore.m49-tgs-full-shadow-spatial-chunk/v1", "M49 full chunk schema");
+  exact(payload.result_id, id, "M49 full chunk result");
+  exact(payload.start, start, "M49 full chunk start");
+  const returnedCount = integer(payload.count, "M49 full chunk count");
+  if (!Array.isArray(payload.frames) || payload.frames.length !== returnedCount
+      || returnedCount !== Math.min(count, 4489 - start)) {
+    throw new M49TgsFullShadowContractError("M49 full chunk: неверная размерность.");
+  }
+  const costmap = objectValue(payload.costmap, "M49 full chunk costmap");
+  return {
+    resultId: id,
+    start,
+    count: returnedCount,
+    frames: payload.frames.map((value, index) => parseSpatial(
+      id,
+      start + index,
+      objectValue(value, `M49 full chunk frame ${index}`),
+      costmap,
+    )),
+  };
+}
+
+function playbackTrackId(value: unknown, label: string): M49TgsFullShadowPlaybackTrackId {
+  const parsed = text(value, label);
+  if (parsed !== "frames" && parsed !== "centers" && parsed !== "states" && parsed !== "z-bounds") {
+    throw new M49TgsFullShadowContractError(`${label}: неизвестная playback-дорожка.`);
+  }
+  return parsed;
+}
+
+function playbackDtype(value: unknown, label: string): M49TgsFullShadowPlaybackTrack["dtype"] {
+  const parsed = text(value, label);
+  if (parsed !== "ndjson" && parsed !== "<f4" && parsed !== "|u1") {
+    throw new M49TgsFullShadowContractError(`${label}: неизвестный dtype.`);
+  }
+  return parsed;
+}
+
+function playbackShape(value: unknown, label: string): readonly number[] {
+  if (!Array.isArray(value) || !value.length) {
+    throw new M49TgsFullShadowContractError(`${label}: ожидалась размерность.`);
+  }
+  return value.map((item, index) => integer(item, `${label}.${index}`));
+}
+
+async function fetchPlaybackManifest(
+  id: string,
+  fetcher: LaboratoryFetch,
+  signal: AbortSignal | undefined,
+): Promise<{
+  frameCount: 4489;
+  cellCount: 2244;
+  totalByteLength: number;
+  tracks: ReadonlyMap<M49TgsFullShadowPlaybackTrackId, M49TgsFullShadowPlaybackTrack>;
+}> {
+  const response = await fetcher(
+    `/api/v1/laboratory/m49/tgs-full-shadow/${encodeURIComponent(id)}/playback/manifest`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new M49TgsFullShadowContractError(`M49 playback manifest недоступен: HTTP ${response.status}.`);
+  }
+  const payload = objectValue(await response.json(), "M49 playback manifest");
+  exact(payload.schema_version, "missioncore.m49-tgs-full-shadow-playback/v1", "M49 playback schema");
+  exact(payload.result_id, id, "M49 playback result");
+  exact(payload.coordinate_frame, "map-gravity-local", "M49 playback frame");
+  exact(payload.access, "read-only", "M49 playback access");
+  const frameCount = exact(integer(payload.frame_count, "M49 playback frames"), 4489, "M49 playback frames");
+  const cellCount = exact(integer(payload.cell_count, "M49 playback cells"), 2244, "M49 playback cells");
+  const totalByteLength = integer(payload.total_byte_length, "M49 playback bytes");
+  if (!Array.isArray(payload.tracks) || payload.tracks.length !== 4) {
+    throw new M49TgsFullShadowContractError("M49 playback tracks: неверная размерность.");
+  }
+  const tracks = new Map<M49TgsFullShadowPlaybackTrackId, M49TgsFullShadowPlaybackTrack>();
+  for (const [index, value] of payload.tracks.entries()) {
+    const row = objectValue(value, `M49 playback track ${index}`);
+    const trackId = playbackTrackId(row.id, `M49 playback track ${index}.id`);
+    const sha256 = text(row.sha256, `M49 playback track ${trackId}.sha256`);
+    if (!/^[a-f0-9]{64}$/.test(sha256) || tracks.has(trackId)) {
+      throw new M49TgsFullShadowContractError(`M49 playback track ${trackId}: нарушена идентичность.`);
+    }
+    tracks.set(trackId, {
+      id: trackId,
+      url: text(row.url, `M49 playback track ${trackId}.url`),
+      mediaType: text(row.media_type, `M49 playback track ${trackId}.media_type`),
+      dtype: playbackDtype(row.dtype, `M49 playback track ${trackId}.dtype`),
+      shape: playbackShape(row.shape, `M49 playback track ${trackId}.shape`),
+      byteLength: integer(row.byte_length, `M49 playback track ${trackId}.byte_length`),
+      sha256,
+    });
+  }
+  if ([...tracks.values()].reduce((sum, track) => sum + track.byteLength, 0) !== totalByteLength) {
+    throw new M49TgsFullShadowContractError("M49 playback bytes: нарушен accounting.");
+  }
+  return { frameCount, cellCount, totalByteLength, tracks };
+}
+
+function sha256Hex(buffer: ArrayBuffer): Promise<string> {
+  if (!globalThis.crypto?.subtle) {
+    throw new M49TgsFullShadowContractError("Браузер не поддерживает проверку playback SHA-256.");
+  }
+  return globalThis.crypto.subtle.digest("SHA-256", buffer).then((digest) => (
+    [...new Uint8Array(digest)].map((value) => value.toString(16).padStart(2, "0")).join("")
+  ));
+}
+
+async function fetchPlaybackTrack(
+  track: M49TgsFullShadowPlaybackTrack,
+  fetcher: LaboratoryFetch,
+  signal: AbortSignal | undefined,
+  completedBytes: number,
+  totalBytes: number,
+  onProgress: ((progress: M49TgsFullShadowPlaybackProgress) => void) | undefined,
+): Promise<ArrayBuffer> {
+  const response = await fetcher(track.url, {
+    method: "GET",
+    headers: { Accept: track.mediaType },
+    signal,
+  });
+  if (!response.ok) {
+    throw new M49TgsFullShadowContractError(`M49 playback ${track.id} недоступен: HTTP ${response.status}.`);
+  }
+  const bytes = new Uint8Array(track.byteLength);
+  if (response.body) {
+    const reader = response.body.getReader();
+    let offset = 0;
+    while (true) {
+      const { done, value } = await reader.read();
+      if (done) break;
+      if (offset + value.byteLength > bytes.byteLength) {
+        throw new M49TgsFullShadowContractError(`M49 playback ${track.id}: превышен объявленный размер.`);
+      }
+      bytes.set(value, offset);
+      offset += value.byteLength;
+      onProgress?.({
+        phase: "download",
+        trackId: track.id,
+        loadedBytes: completedBytes + offset,
+        totalBytes,
+      });
+    }
+    if (offset !== bytes.byteLength) {
+      throw new M49TgsFullShadowContractError(`M49 playback ${track.id}: получен неполный файл.`);
+    }
+  } else {
+    const fallback = new Uint8Array(await response.arrayBuffer());
+    if (fallback.byteLength !== bytes.byteLength) {
+      throw new M49TgsFullShadowContractError(`M49 playback ${track.id}: получен неверный размер.`);
+    }
+    bytes.set(fallback);
+  }
+  onProgress?.({
+    phase: "verify",
+    trackId: track.id,
+    loadedBytes: completedBytes + bytes.byteLength,
+    totalBytes,
+  });
+  if (await sha256Hex(bytes.buffer) !== track.sha256) {
+    throw new M49TgsFullShadowContractError(`M49 playback ${track.id}: SHA-256 не совпал.`);
+  }
+  return bytes.buffer;
+}
+
+function equalShape(actual: readonly number[], expected: readonly number[]): boolean {
+  return actual.length === expected.length && actual.every((value, index) => value === expected[index]);
+}
+
+export function parseM49TgsNpyTrack(
+  buffer: ArrayBuffer,
+  expectedDtype: "<f4" | "|u1",
+  expectedShape: readonly number[],
+): Float32Array | Uint8Array {
+  const bytes = new Uint8Array(buffer);
+  if (bytes.byteLength < 12
+      || bytes[0] !== 0x93
+      || String.fromCharCode(...bytes.subarray(1, 6)) !== "NUMPY") {
+    throw new M49TgsFullShadowContractError("M49 playback NPY: неверная сигнатура.");
+  }
+  const major = bytes[6];
+  const headerLength = major === 1
+    ? new DataView(buffer).getUint16(8, true)
+    : major === 2 || major === 3
+      ? new DataView(buffer).getUint32(8, true)
+      : -1;
+  const headerOffset = major === 1 ? 10 : 12;
+  if (headerLength < 0 || headerOffset + headerLength > bytes.byteLength) {
+    throw new M49TgsFullShadowContractError("M49 playback NPY: неверный заголовок.");
+  }
+  const header = new TextDecoder("latin1").decode(bytes.subarray(headerOffset, headerOffset + headerLength));
+  const dtype = header.match(/["']descr["']\s*:\s*["']([^"']+)["']/)?.[1];
+  const fortran = header.match(/["']fortran_order["']\s*:\s*(True|False)/)?.[1];
+  const rawShape = header.match(/["']shape["']\s*:\s*\(([^)]*)\)/)?.[1];
+  const shape = rawShape?.split(",").map((value) => value.trim()).filter(Boolean).map(Number) ?? [];
+  if (dtype !== expectedDtype || fortran !== "False" || !equalShape(shape, expectedShape)) {
+    throw new M49TgsFullShadowContractError("M49 playback NPY: dtype или shape изменились.");
+  }
+  const count = expectedShape.reduce((product, value) => product * value, 1);
+  const dataOffset = headerOffset + headerLength;
+  const bytesPerValue = expectedDtype === "<f4" ? 4 : 1;
+  if (dataOffset + count * bytesPerValue !== buffer.byteLength) {
+    throw new M49TgsFullShadowContractError("M49 playback NPY: длина payload изменилась.");
+  }
+  return expectedDtype === "<f4"
+    ? new Float32Array(buffer, dataOffset, count)
+    : new Uint8Array(buffer, dataOffset, count);
+}
+
+function parsePlaybackFrames(buffer: ArrayBuffer): readonly M49TgsFullShadowPlaybackFrame[] {
+  const lines = new TextDecoder().decode(buffer).trim().split("\n");
+  if (lines.length !== 4489) {
+    throw new M49TgsFullShadowContractError("M49 playback frames: неверная размерность.");
+  }
+  return lines.map((line, sourceSequence) => {
+    const row = objectValue(JSON.parse(line), `M49 playback frame ${sourceSequence}`);
+    return {
+      sourceSequence,
+      sourceFrameIndex: integer(row.source_frame_index, `M49 playback frame ${sourceSequence}.source`),
+      sessionSeconds: numberValue(row.session_seconds, `M49 playback frame ${sourceSequence}.time`),
+      sampleAvailable: booleanValue(row.sample_available, `M49 playback frame ${sourceSequence}.available`),
+      metrics: {
+        eligiblePointCount: integer(row.eligible_point_count, `M49 playback frame ${sourceSequence}.eligible`),
+        groundPointCount: integer(row.ground_point_count, `M49 playback frame ${sourceSequence}.ground`),
+        nongroundPointCount: integer(row.nonground_point_count, `M49 playback frame ${sourceSequence}.nonground`),
+        rejectedPointCount: integer(row.rejected_point_count, `M49 playback frame ${sourceSequence}.rejected`),
+        occupiedCellCount: integer(row.occupied_cell_count, `M49 playback frame ${sourceSequence}.occupied`),
+      },
+    };
+  });
+}
+
+export async function fetchM49TgsFullShadowPlaybackPack(
+  id: string,
+  {
+    fetcher = fetch,
+    signal,
+    onProgress,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    onProgress?: (progress: M49TgsFullShadowPlaybackProgress) => void;
+  } = {},
+): Promise<M49TgsFullShadowPlaybackPack> {
+  if (!RESULT_ID.test(id)) {
+    throw new M49TgsFullShadowContractError("M49 playback identity недопустима.");
+  }
+  onProgress?.({ phase: "manifest", trackId: null, loadedBytes: 0, totalBytes: 0 });
+  const manifest = await fetchPlaybackManifest(id, fetcher, signal);
+  const buffers = new Map<M49TgsFullShadowPlaybackTrackId, ArrayBuffer>();
+  let completedBytes = 0;
+  const order: readonly M49TgsFullShadowPlaybackTrackId[] = ["frames", "centers", "states", "z-bounds"];
+  for (const trackId of order) {
+    const track = manifest.tracks.get(trackId);
+    if (!track) throw new M49TgsFullShadowContractError(`M49 playback ${trackId}: дорожка отсутствует.`);
+    const buffer = await fetchPlaybackTrack(
+      track,
+      fetcher,
+      signal,
+      completedBytes,
+      manifest.totalByteLength,
+      onProgress,
+    );
+    buffers.set(trackId, buffer);
+    completedBytes += track.byteLength;
+  }
+  const centersTrack = manifest.tracks.get("centers")!;
+  const statesTrack = manifest.tracks.get("states")!;
+  const zBoundsTrack = manifest.tracks.get("z-bounds")!;
+  const centersRaw = parseM49TgsNpyTrack(
+    buffers.get("centers")!,
+    "<f4",
+    centersTrack.shape,
+  ) as Float32Array;
+  const states = parseM49TgsNpyTrack(
+    buffers.get("states")!,
+    "|u1",
+    statesTrack.shape,
+  ) as Uint8Array;
+  const zBoundsM = parseM49TgsNpyTrack(
+    buffers.get("z-bounds")!,
+    "<f4",
+    zBoundsTrack.shape,
+  ) as Float32Array;
+  const frames = parsePlaybackFrames(buffers.get("frames")!);
+  onProgress?.({
+    phase: "ready",
+    trackId: null,
+    loadedBytes: manifest.totalByteLength,
+    totalBytes: manifest.totalByteLength,
+  });
+  return {
+    resultId: id,
+    frameCount: manifest.frameCount,
+    cellCount: manifest.cellCount,
+    totalByteLength: manifest.totalByteLength,
+    centersXyM: centersRaw,
+    states,
+    zBoundsM,
+    frames,
+  };
+}

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

@@ -1,5 +1,6 @@
 export type M4ThreatDecision = "threat" | "not-threat" | "unknown";
 export type M4ThreatMotion = "moving" | "stationary" | "unknown";
+export type M4OccupancySource = "baseline" | "mixed" | "additive-low-step";
 export type M4Point3 = readonly [number, number, number];
 export type M4Matrix3 = readonly [M4Point3, M4Point3, M4Point3];
 
@@ -69,6 +70,14 @@ export interface M4ThreatAssessment {
   reasonCodes: readonly string[];
 }
 
+export interface M4ThreatCameraObstacleProjection {
+  bboxXyxy: readonly [number, number, number, number];
+  nearestDepthM: number;
+  projectedCellCount: number;
+  projection: "factory-kb4-occupied-voxel-bounds";
+  authority: "visual-derived";
+}
+
 export interface M4ThreatMetricVisual {
   componentId: string;
   state: "current" | "retained" | "held" | "expired";
@@ -76,6 +85,8 @@ export interface M4ThreatMetricVisual {
   centroidBodyXyzM: M4Point3;
   cellCentersBodyXyzM: readonly M4Point3[];
   assessment: M4ThreatAssessment;
+  occupancySource: M4OccupancySource;
+  cameraProjection: M4ThreatCameraObstacleProjection | null;
 }
 
 export interface M4ThreatCameraProposal {
@@ -133,6 +144,8 @@ export interface M4ThreatTimelineFrame {
   sessionSeconds: number;
   sourceAvailable: boolean;
   spatialAvailable: boolean;
+  worldStateAvailable: boolean;
+  terminalOutcome: "delivered" | "superseded";
   bodyFrame: {
     originMapXyzM: M4Point3;
     basisMapFromBody: M4Matrix3;
@@ -141,6 +154,14 @@ 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;
+  cameraProjectedSampleCount: number;
+  cameraProjection: "factory-kb4-exact" | null;
   rollingMapComponentCount: number;
   metricObstacles: readonly M4ThreatMetricVisual[];
   cameraProposals: readonly M4ThreatCameraProposal[];
@@ -150,10 +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;
@@ -163,6 +185,14 @@ export interface M4ThreatTimeline {
   pointSampleLimit: number;
   maximumSourcePointsPerFrame: number;
   pointDelivery: "exact-current-increment";
+  cameraPointDelivery: "factory-kb4-causal-registered-accumulation" | null;
+  cameraPointWindowSeconds: number;
+  cameraPointSampleLimit: number;
+  worldStateDelivery: "source-paced-latest-wins" | null;
+  occupancyProvenanceDelivery: "baseline-versus-additive-component-diff" | null;
+  cameraObstacleProjectionDelivery: "factory-kb4-actionable-added-corridor-bounds" | null;
+  worldStateFrameCount: number;
+  supersededFrameCount: number;
   sourceRepresentationId: "registered-map-increment-v1";
   localSurfaceVisualization: {
     derivation: "bounded-registered-increment-accumulation";
@@ -177,6 +207,21 @@ export interface M4ThreatTimeline {
   corridor: M4ThreatVisualFrame["corridor"];
 }
 
+export interface M4ThreatCameraPointOverlay {
+  resultId: string;
+  sequence: number;
+  sourceTimeNs: number;
+  pointsXyd: readonly (readonly [number, number, number])[];
+  sourceFrameCount: number;
+  sourcePointCount: number;
+  frontPointCount: number;
+  projectedPointCount: number;
+  sampleCount: number;
+  windowSeconds: number;
+  projection: "factory-kb4-causal-registered-accumulation";
+  authority: "visual-derived";
+}
+
 export interface M4ThreatTimelineChunk {
   resultId: string;
   startSequence: number;
@@ -185,7 +230,53 @@ export interface M4ThreatTimelineChunk {
   frames: readonly M4ThreatTimelineFrame[];
 }
 
+export interface M4ThreatPlaybackProgress {
+  phase: "manifest" | "download" | "verify" | "ready";
+  loadedBytes: number;
+  totalBytes: number;
+}
+
+export interface M4ThreatPlaybackPointPack {
+  resultId: string;
+  frameCount: number;
+  pointCount: number;
+  pointOffsets: Uint32Array;
+  pointsMapXyzM: Float32Array;
+  pointStart?: number;
+  startSequence?: number;
+  sequenceCount?: number;
+}
+
+export interface M4ThreatPlaybackChunkDescriptor {
+  index: number;
+  start: number;
+  count: number;
+  pointStart: number;
+  pointCount: number;
+  url: string;
+  mediaType: "application/octet-stream";
+  byteLength: number;
+  sha256: string;
+}
+
+export interface M4ThreatPlaybackManifest {
+  resultId: string;
+  frameCount: number;
+  pointCount: number;
+  pointOffsets: Uint32Array;
+  chunkFrameCount: 24;
+  residentChunkCountMax: 4;
+  forwardPrefetchChunkCount: 1;
+  chunks: readonly M4ThreatPlaybackChunkDescriptor[];
+  track: {
+    url: string;
+    byteLength: number;
+    sha256: string;
+  };
+}
+
 type LaboratoryFetch = (input: RequestInfo | URL, init?: RequestInit) => Promise<Response>;
+export const M4_THREAT_TIMELINE_ENDPOINT_ROOT = "/api/v1/laboratory/m4-threat/results";
 class M4ThreatContractError extends Error {}
 const object = (value: unknown, label: string): Record<string, unknown> => {
   if (!value || typeof value !== "object" || Array.isArray(value)) {
@@ -250,7 +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;
@@ -291,6 +382,32 @@ function parseCameraProposal(value: unknown): M4ThreatCameraProposal {
   };
 }
 
+function parseCameraObstacleProjection(value: unknown): M4ThreatCameraObstacleProjection {
+  const item = object(value, "M4.8R3 camera obstacle projection");
+  const bbox = vector(item.bbox_xyxy, 4, "M4.8R3 camera obstacle bbox");
+  if (bbox[2]! < bbox[0]! || bbox[3]! < bbox[1]!) {
+    throw new M4ThreatContractError("M4.8R3 camera obstacle bbox: нарушена геометрия.");
+  }
+  return {
+    bboxXyxy: [bbox[0]!, bbox[1]!, bbox[2]!, bbox[3]!],
+    nearestDepthM: number(item.nearest_depth_m, "M4.8R3 camera obstacle depth"),
+    projectedCellCount: integer(
+      item.projected_cell_count,
+      "M4.8R3 camera obstacle cells",
+    ),
+    projection: exact(
+      item.projection,
+      "factory-kb4-occupied-voxel-bounds",
+      "M4.8R3 camera obstacle projection",
+    ),
+    authority: exact(
+      item.authority,
+      "visual-derived",
+      "M4.8R3 camera obstacle authority",
+    ),
+  };
+}
+
 function parseMetricVisual(value: unknown): M4ThreatMetricVisual {
   const item = object(value, "M4.6 metric visual");
   const state = text(item.state, "M4.6 temporal state");
@@ -302,6 +419,9 @@ function parseMetricVisual(value: unknown): M4ThreatMetricVisual {
   ) {
     throw new M4ThreatContractError("M4.6 temporal state: неизвестное состояние.");
   }
+  const occupancySource = item.occupancy_source === undefined
+    ? "baseline"
+    : memberOccupancySource(item.occupancy_source);
   return {
     componentId: text(item.component_id, "M4.6 visual component"),
     state,
@@ -311,9 +431,20 @@ function parseMetricVisual(value: unknown): M4ThreatMetricVisual {
       (point) => vector(point, 3, "M4.6 cell") as [number, number, number],
     ),
     assessment: parseAssessment(item.assessment),
+    occupancySource,
+    cameraProjection: item.camera_projection === undefined
+      ? null
+      : parseCameraObstacleProjection(item.camera_projection),
   };
 }
 
+function memberOccupancySource(value: unknown): M4OccupancySource {
+  if (value !== "baseline" && value !== "mixed" && value !== "additive-low-step") {
+    throw new M4ThreatContractError("M4.8R3 occupancy source: неизвестное состояние.");
+  }
+  return value;
+}
+
 export async function fetchM4ThreatReplayResult({
   resultId: requestedResultId,
   fetcher = fetch,
@@ -553,10 +684,18 @@ export async function fetchM4ThreatVisual(
 
 export async function fetchM4ThreatTimeline(
   result: string,
-  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+  {
+    fetcher = fetch,
+    signal,
+    endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    endpointRoot?: string;
+  } = {},
 ): Promise<M4ThreatTimeline> {
   const response = await fetcher(
-    `/api/v1/laboratory/m4-threat/results/${result}/timeline`,
+    `${endpointRoot}/${result}/timeline`,
     { headers: { Accept: "application/json" }, signal },
   );
   if (!response.ok) throw new M4ThreatContractError(`M4.6 timeline: HTTP ${response.status}.`);
@@ -569,12 +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",
@@ -585,7 +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"),
   );
@@ -603,7 +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,
@@ -626,6 +765,46 @@ export async function fetchM4ThreatTimeline(
       "exact-current-increment",
       "M4.6 point delivery",
     ),
+    cameraPointDelivery: payload.camera_point_delivery === undefined
+      ? null
+      : exact(
+          payload.camera_point_delivery,
+          "factory-kb4-causal-registered-accumulation",
+          "M4.6 camera point delivery",
+        ),
+    cameraPointWindowSeconds: payload.camera_point_window_seconds === undefined
+      ? 0
+      : number(payload.camera_point_window_seconds, "M4.6 camera point window"),
+    cameraPointSampleLimit: payload.camera_point_sample_limit === undefined
+      ? 0
+      : integer(payload.camera_point_sample_limit, "M4.6 camera point limit"),
+    worldStateDelivery: payload.world_state_delivery === undefined
+      ? null
+      : exact(
+          payload.world_state_delivery,
+          "source-paced-latest-wins",
+          "M4.6 world-state delivery",
+        ),
+    occupancyProvenanceDelivery: payload.occupancy_provenance_delivery == null
+      ? null
+      : exact(
+          payload.occupancy_provenance_delivery,
+          "baseline-versus-additive-component-diff",
+          "M4.8R3 occupancy provenance",
+        ),
+    cameraObstacleProjectionDelivery: payload.camera_obstacle_projection_delivery == null
+      ? null
+      : exact(
+          payload.camera_obstacle_projection_delivery,
+          "factory-kb4-actionable-added-corridor-bounds",
+          "M4.8R3 camera obstacle projection delivery",
+        ),
+    worldStateFrameCount: payload.world_state_frame_count === undefined
+      ? frameCount
+      : integer(payload.world_state_frame_count, "M4.6 world-state frames"),
+    supersededFrameCount: payload.superseded_frame_count === undefined
+      ? 0
+      : integer(payload.superseded_frame_count, "M4.6 superseded frames"),
     sourceRepresentationId: "registered-map-increment-v1",
     localSurfaceVisualization: {
       derivation: exact(
@@ -668,14 +847,32 @@ export async function fetchM4ThreatTimelineChunk(
   result: string,
   startSequence: number,
   frameCount: number,
-  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+  {
+    fetcher = fetch,
+    signal,
+    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({
     start: String(startSequence),
     count: String(frameCount),
   });
+  if (cameraObstacleProjectionDelivery !== null) {
+    params.set("obstacle_projection", cameraObstacleProjectionDelivery);
+  }
+  if (playbackPointPack || !includePoints) params.set("include_points", "false");
   const response = await fetcher(
-    `/api/v1/laboratory/m4-threat/results/${result}/timeline/chunk?${params}`,
+    `${endpointRoot}/${result}/timeline/chunk?${params}`,
     { headers: { Accept: "application/json" }, signal },
   );
   if (!response.ok) throw new M4ThreatContractError(`M4.6 timeline chunk: HTTP ${response.status}.`);
@@ -691,8 +888,12 @@ export async function fetchM4ThreatTimelineChunk(
   if (parsedStart !== startSequence) {
     throw new M4ThreatContractError("M4.6 timeline chunk start: нарушен контракт.");
   }
-  const frames = array(payload.frames, "M4.6 timeline frames").map((raw, offset) =>
-    parseTimelineFrame(raw, result, parsedStart + offset));
+  const frames = array(payload.frames, "M4.6 timeline frames").map((raw, offset) => {
+    const parsed = parseTimelineFrame(raw, result, parsedStart + offset, endpointRoot);
+    return playbackPointPack
+      ? hydrateM4ThreatTimelineFrame(parsed, playbackPointPack)
+      : parsed;
+  });
   const parsedCount = integer(payload.frame_count, "M4.6 timeline chunk count");
   if (parsedCount !== frames.length || parsedCount > frameCount) {
     throw new M4ThreatContractError("M4.6 timeline chunk count: нарушен контракт.");
@@ -708,10 +909,369 @@ export async function fetchM4ThreatTimelineChunk(
   };
 }
 
+function playbackSha256Hex(buffer: ArrayBuffer): Promise<string> {
+  if (!globalThis.crypto?.subtle) {
+    throw new M4ThreatContractError("Браузер не поддерживает проверку playback SHA-256.");
+  }
+  return globalThis.crypto.subtle.digest("SHA-256", buffer).then((digest) => (
+    [...new Uint8Array(digest)].map((value) => value.toString(16).padStart(2, "0")).join("")
+  ));
+}
+
+function roundedBodyCoordinate(value: number): number {
+  return Math.round(value * 1_000_000) / 1_000_000;
+}
+
+export function hydrateM4ThreatTimelineFrame(
+  frame: M4ThreatTimelineFrame,
+  pack: M4ThreatPlaybackPointPack,
+): M4ThreatTimelineFrame {
+  if (
+    frame.sequence >= pack.frameCount
+    || pack.resultId === ""
+    || (pack.startSequence !== undefined && (
+      frame.sequence < pack.startSequence
+      || frame.sequence >= pack.startSequence + (pack.sequenceCount ?? 0)
+    ))
+  ) {
+    throw new M4ThreatContractError("M4.6 binary playback frame: нарушена идентичность.");
+  }
+  if (!frame.sourceAvailable || !frame.spatialAvailable || !frame.bodyFrame) {
+    if (frame.pointCloudSourceCount !== 0) {
+      throw new M4ThreatContractError("M4.6 binary playback unavailable frame содержит точки.");
+    }
+    return { ...frame, pointCloudBodyXyzM: [], pointCloudSampleCount: 0 };
+  }
+  const start = pack.pointOffsets[frame.sequence];
+  const stop = pack.pointOffsets[frame.sequence + 1];
+  const pointStart = pack.pointStart ?? 0;
+  const pointStop = pointStart + pack.pointCount;
+  if (
+    start === undefined
+    || stop === undefined
+    || stop < start
+    || start < pointStart
+    || stop > pointStop
+  ) {
+    throw new M4ThreatContractError("M4.6 binary playback offsets: нарушена размерность.");
+  }
+  const count = stop - start;
+  if (frame.pointCloudSourceCount !== count || frame.pointCloudSampleCount !== count) {
+    throw new M4ThreatContractError("M4.6 binary playback point accounting: нарушен контракт.");
+  }
+  const origin = frame.bodyFrame.originMapXyzM;
+  const basis = frame.bodyFrame.basisMapFromBody;
+  const points = new Array<M4Point3>(count);
+  for (let index = 0; index < count; index += 1) {
+    const sourceOffset = (start - pointStart + index) * 3;
+    const dx = pack.pointsMapXyzM[sourceOffset]! - origin[0];
+    const dy = pack.pointsMapXyzM[sourceOffset + 1]! - origin[1];
+    const dz = pack.pointsMapXyzM[sourceOffset + 2]! - origin[2];
+    points[index] = [
+      roundedBodyCoordinate(dx * basis[0][0] + dy * basis[1][0] + dz * basis[2][0]),
+      roundedBodyCoordinate(dx * basis[0][1] + dy * basis[1][1] + dz * basis[2][1]),
+      roundedBodyCoordinate(dx * basis[0][2] + dy * basis[1][2] + dz * basis[2][2]),
+    ];
+  }
+  return { ...frame, pointCloudBodyXyzM: points, pointCloudSampleCount: count };
+}
+
+export async function fetchM4ThreatPlaybackManifest(
+  result: string,
+  {
+    fetcher = fetch,
+    signal,
+    endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    endpointRoot?: string;
+  } = {},
+): Promise<M4ThreatPlaybackManifest> {
+  resultId(result);
+  const manifestResponse = await fetcher(`${endpointRoot}/${result}/timeline/playback`, {
+    headers: { Accept: "application/json" },
+    signal,
+  });
+  if (!manifestResponse.ok) {
+    throw new M4ThreatContractError(`M4.6 playback manifest: HTTP ${manifestResponse.status}.`);
+  }
+  const manifest = object(await manifestResponse.json(), "M4.6 playback manifest");
+  exact(manifest.schema_version, "missioncore.recorded-spatial-playback/v1", "M4.6 playback schema");
+  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 = 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) {
+    throw new M4ThreatContractError("M4.6 playback offsets: неверная размерность.");
+  }
+  const pointOffsets = Uint32Array.from(offsetsRaw, (value) => integer(value, "M4.6 playback offset"));
+  if (pointOffsets[0] !== 0 || pointOffsets[pointOffsets.length - 1] !== pointCount) {
+    throw new M4ThreatContractError("M4.6 playback offsets: нарушено замыкание.");
+  }
+  for (let index = 1; index < pointOffsets.length; index += 1) {
+    if (pointOffsets[index]! < pointOffsets[index - 1]!) {
+      throw new M4ThreatContractError("M4.6 playback offsets: нарушена монотонность.");
+    }
+  }
+  const track = object(manifest.track, "M4.6 playback track");
+  exact(track.id, "points-map-f32", "M4.6 playback track id");
+  exact(track.dtype, "<f4", "M4.6 playback dtype");
+  const shape = array(track.shape, "M4.6 playback shape").map((value) => integer(value, "M4.6 playback shape"));
+  if (shape.length !== 2 || shape[0] !== pointCount || shape[1] !== 3) {
+    throw new M4ThreatContractError("M4.6 playback shape: нарушена размерность.");
+  }
+  const byteLength = integer(track.bytes, "M4.6 playback bytes");
+  if (byteLength !== pointCount * 3 * Float32Array.BYTES_PER_ELEMENT) {
+    throw new M4ThreatContractError("M4.6 playback bytes: нарушен accounting.");
+  }
+  const sha256 = text(track.sha256, "M4.6 playback SHA-256");
+  if (!/^[a-f0-9]{64}$/.test(sha256)) {
+    throw new M4ThreatContractError("M4.6 playback SHA-256: нарушен контракт.");
+  }
+  const trackUrl = text(track.url, "M4.6 playback URL");
+  const chunkFrameCount = exact(
+    integer(manifest.chunk_frame_count, "M4.6 playback chunk frames"),
+    24,
+    "M4.6 playback chunk frames",
+  );
+  const residentChunkCountMax = exact(
+    integer(manifest.resident_chunk_count_max, "M4.6 playback resident chunks"),
+    4,
+    "M4.6 playback resident chunks",
+  );
+  const forwardPrefetchChunkCount = exact(
+    integer(manifest.forward_prefetch_chunk_count, "M4.6 playback prefetch chunks"),
+    1,
+    "M4.6 playback prefetch chunks",
+  );
+  const chunkRows = array(manifest.chunks, "M4.6 playback chunks");
+  const expectedChunkCount = Math.ceil(frameCount / chunkFrameCount);
+  if (chunkRows.length !== expectedChunkCount) {
+    throw new M4ThreatContractError("M4.6 playback chunk catalog: неверный размер.");
+  }
+  const chunks = chunkRows.map((value, index): M4ThreatPlaybackChunkDescriptor => {
+    const row = object(value, `M4.6 playback chunk ${index}`);
+    const start = index * chunkFrameCount;
+    const count = Math.min(chunkFrameCount, frameCount - start);
+    const pointStart = pointOffsets[start]!;
+    const pointStop = pointOffsets[start + count]!;
+    const pointChunkCount = pointStop - pointStart;
+    exact(integer(row.index, `M4.6 playback chunk ${index}.index`), index, `M4.6 playback chunk ${index}.index`);
+    exact(integer(row.start, `M4.6 playback chunk ${index}.start`), start, `M4.6 playback chunk ${index}.start`);
+    exact(integer(row.count, `M4.6 playback chunk ${index}.count`), count, `M4.6 playback chunk ${index}.count`);
+    exact(integer(row.point_start, `M4.6 playback chunk ${index}.point start`), pointStart, `M4.6 playback chunk ${index}.point start`);
+    exact(integer(row.point_count, `M4.6 playback chunk ${index}.point count`), pointChunkCount, `M4.6 playback chunk ${index}.point count`);
+    exact(row.media_type, "application/octet-stream", `M4.6 playback chunk ${index}.media type`);
+    exact(row.dtype, "<f4", `M4.6 playback chunk ${index}.dtype`);
+    const shapeValue = array(row.shape, `M4.6 playback chunk ${index}.shape`)
+      .map((item) => integer(item, `M4.6 playback chunk ${index}.shape`));
+    const chunkBytes = integer(row.bytes, `M4.6 playback chunk ${index}.bytes`);
+    if (
+      shapeValue.length !== 2
+      || shapeValue[0] !== pointChunkCount
+      || shapeValue[1] !== 3
+      || chunkBytes !== pointChunkCount * 3 * Float32Array.BYTES_PER_ELEMENT
+    ) {
+      throw new M4ThreatContractError(`M4.6 playback chunk ${index}: нарушена размерность.`);
+    }
+    const chunkSha256 = text(row.sha256, `M4.6 playback chunk ${index}.SHA-256`);
+    if (!/^[a-f0-9]{64}$/.test(chunkSha256)) {
+      throw new M4ThreatContractError(`M4.6 playback chunk ${index}: SHA-256 недопустим.`);
+    }
+    const expectedUrl = `${endpointRoot}/${result}/timeline/playback/chunks/${index}`;
+    const url = text(row.url, `M4.6 playback chunk ${index}.URL`);
+    if (url !== expectedUrl || url.includes("worker")) {
+      throw new M4ThreatContractError(`M4.6 playback chunk ${index}: разрешён только sealed local API.`);
+    }
+    return {
+      index,
+      start,
+      count,
+      pointStart,
+      pointCount: pointChunkCount,
+      url,
+      mediaType: "application/octet-stream",
+      byteLength: chunkBytes,
+      sha256: chunkSha256,
+    };
+  });
+  return {
+    resultId: result,
+    frameCount,
+    pointCount,
+    pointOffsets,
+    chunkFrameCount,
+    residentChunkCountMax,
+    forwardPrefetchChunkCount,
+    chunks,
+    track: { url: trackUrl, byteLength, sha256 },
+  };
+}
+
+export async function fetchM4ThreatPlaybackPointChunk(
+  manifest: M4ThreatPlaybackManifest,
+  chunkIndex: number,
+  {
+    fetcher = fetch,
+    signal,
+    onProgress,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    onProgress?: (progress: M4ThreatPlaybackProgress) => void;
+  } = {},
+): Promise<M4ThreatPlaybackPointPack> {
+  const descriptor = manifest.chunks[chunkIndex];
+  if (!descriptor || descriptor.index !== chunkIndex) {
+    throw new M4ThreatContractError("M4.6 playback chunk отсутствует.");
+  }
+  onProgress?.({ phase: "download", loadedBytes: 0, totalBytes: descriptor.byteLength });
+  const response = await fetcher(descriptor.url, {
+    headers: { Accept: "application/octet-stream" },
+    signal,
+  });
+  if (!response.ok) {
+    throw new M4ThreatContractError(`M4.6 playback chunk: HTTP ${response.status}.`);
+  }
+  const buffer = await response.arrayBuffer();
+  if (buffer.byteLength !== descriptor.byteLength) {
+    throw new M4ThreatContractError("M4.6 playback chunk: неверный размер.");
+  }
+  onProgress?.({
+    phase: "verify",
+    loadedBytes: descriptor.byteLength,
+    totalBytes: descriptor.byteLength,
+  });
+  if (await playbackSha256Hex(buffer) !== descriptor.sha256) {
+    throw new M4ThreatContractError("M4.6 playback chunk: SHA-256 не совпал.");
+  }
+  onProgress?.({
+    phase: "ready",
+    loadedBytes: descriptor.byteLength,
+    totalBytes: descriptor.byteLength,
+  });
+  return {
+    resultId: manifest.resultId,
+    frameCount: manifest.frameCount,
+    pointCount: descriptor.pointCount,
+    pointOffsets: manifest.pointOffsets,
+    pointsMapXyzM: new Float32Array(buffer),
+    pointStart: descriptor.pointStart,
+    startSequence: descriptor.start,
+    sequenceCount: descriptor.count,
+  };
+}
+
+export async function fetchM4ThreatPlaybackPointPack(
+  result: string,
+  {
+    fetcher = fetch,
+    signal,
+    endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
+    onProgress,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    endpointRoot?: string;
+    onProgress?: (progress: M4ThreatPlaybackProgress) => void;
+  } = {},
+): Promise<M4ThreatPlaybackPointPack> {
+  onProgress?.({ phase: "manifest", loadedBytes: 0, totalBytes: 0 });
+  const manifest = await fetchM4ThreatPlaybackManifest(result, {
+    fetcher,
+    signal,
+    endpointRoot,
+  });
+  const response = await fetcher(manifest.track.url, {
+    headers: { Accept: "application/octet-stream" },
+    signal,
+  });
+  if (!response.ok) throw new M4ThreatContractError(`M4.6 playback points: HTTP ${response.status}.`);
+  const buffer = await response.arrayBuffer();
+  if (buffer.byteLength !== manifest.track.byteLength) {
+    throw new M4ThreatContractError("M4.6 playback points: неверный размер.");
+  }
+  onProgress?.({ phase: "verify", loadedBytes: buffer.byteLength, totalBytes: buffer.byteLength });
+  if (await playbackSha256Hex(buffer) !== manifest.track.sha256) {
+    throw new M4ThreatContractError("M4.6 playback points: SHA-256 не совпал.");
+  }
+  onProgress?.({ phase: "ready", loadedBytes: buffer.byteLength, totalBytes: buffer.byteLength });
+  return {
+    resultId: manifest.resultId,
+    frameCount: manifest.frameCount,
+    pointCount: manifest.pointCount,
+    pointOffsets: manifest.pointOffsets,
+    pointsMapXyzM: new Float32Array(buffer),
+  };
+}
+
+export async function fetchM4ThreatCameraPointOverlay(
+  result: string,
+  sequence: number,
+  {
+    fetcher = fetch,
+    signal,
+    endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    endpointRoot?: string;
+  } = {},
+): Promise<M4ThreatCameraPointOverlay> {
+  const response = await fetcher(
+    `${endpointRoot}/${result}/timeline/frames/${sequence}/camera-points`,
+    { headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new M4ThreatContractError(`M4.6 camera points: HTTP ${response.status}.`);
+  }
+  const payload = object(await response.json(), "M4.6 camera points");
+  exact(
+    payload.schema_version,
+    "missioncore.m48s-camera-point-overlay/v1",
+    "M4.6 camera point schema",
+  );
+  exact(payload.result_id, result, "M4.6 camera point result");
+  exact(payload.sequence, sequence, "M4.6 camera point sequence");
+  exact(payload.authority, "visual-derived", "M4.6 camera point authority");
+  const points = array(payload.points_xyd, "M4.6 accumulated camera points").map(
+    (point) => vector(point, 3, "M4.6 accumulated camera point") as [number, number, number],
+  );
+  const sampleCount = integer(payload.sample_count, "M4.6 camera point sample count");
+  if (points.length !== sampleCount) {
+    throw new M4ThreatContractError("M4.6 camera point sample count: нарушен контракт.");
+  }
+  return {
+    resultId: result,
+    sequence,
+    sourceTimeNs: integer(payload.source_time_ns, "M4.6 camera point source time"),
+    pointsXyd: points,
+    sourceFrameCount: integer(payload.source_frame_count, "M4.6 camera source frames"),
+    sourcePointCount: integer(payload.source_point_count, "M4.6 camera source points"),
+    frontPointCount: integer(payload.front_point_count, "M4.6 camera front points"),
+    projectedPointCount: integer(payload.projected_point_count, "M4.6 camera projected points"),
+    sampleCount,
+    windowSeconds: number(payload.window_seconds, "M4.6 camera point window"),
+    projection: exact(
+      payload.projection,
+      "factory-kb4-causal-registered-accumulation",
+      "M4.6 camera point projection",
+    ),
+    authority: "visual-derived",
+  };
+}
+
 function parseTimelineFrame(
   value: unknown,
   result: string,
   expectedSequence: number,
+  endpointRoot: string,
 ): M4ThreatTimelineFrame {
   const item = object(value, "M4.6 timeline frame");
   exact(
@@ -742,7 +1302,7 @@ function parseTimelineFrame(
     throw new M4ThreatContractError("M4.6 timeline body basis: нарушен размер.");
   }
   const cameraUrl = text(item.camera_url, "M4.6 timeline camera URL");
-  if (!cameraUrl.includes(`/results/${result}/timeline/frames/${sequence}/camera`)) {
+  if (!cameraUrl.includes(`${endpointRoot}/${result}/timeline/frames/${sequence}/camera`)) {
     throw new M4ThreatContractError("M4.6 timeline camera URL: нарушена идентичность.");
   }
   return {
@@ -752,6 +1312,16 @@ function parseTimelineFrame(
     sessionSeconds: number(item.session_seconds, "M4.6 timeline time"),
     sourceAvailable: typeof item.source_available === "boolean" && item.source_available,
     spatialAvailable,
+    worldStateAvailable: item.world_state_available === undefined
+      ? true
+      : typeof item.world_state_available === "boolean" && item.world_state_available,
+    terminalOutcome: item.terminal_outcome === undefined
+      ? "delivered"
+      : exact(
+          item.terminal_outcome,
+          item.world_state_available === false ? "superseded" : "delivered",
+          "M4.6 terminal outcome",
+        ),
     bodyFrame: bodyFrame === null || basis === null
       ? null
       : {
@@ -771,6 +1341,34 @@ 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(
+          (point) => vector(point, 3, "M4.6 camera point") as [number, number, number],
+        ),
+    cameraProjectedSourceCount: item.camera_projected_source_count === undefined
+      ? 0
+      : integer(item.camera_projected_source_count, "M4.6 camera point source count"),
+    cameraProjectedPointCount: item.camera_projected_point_count === undefined
+      ? 0
+      : integer(item.camera_projected_point_count, "M4.6 projected point count"),
+    cameraProjectedSampleCount: item.camera_projected_sample_count === undefined
+      ? 0
+      : integer(item.camera_projected_sample_count, "M4.6 projected point sample count"),
+    cameraProjection: item.camera_projection === undefined
+      ? null
+      : exact(item.camera_projection, "factory-kb4-exact", "M4.6 camera projection"),
     rollingMapComponentCount: integer(
       item.rolling_map_component_count,
       "M4.6 rolling components",

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",
+  };
+}