refactor(lab): объединить RAV004 в единый Rerun replay

apps/control-station/package-lock.json

@@ -7,7 +7,6 @@
     "": {
       "name": "@nodedc/mission-core-control-station",
       "version": "0.1.0",
-      "hasInstallScript": true,
       "dependencies": {
         "@noble/hashes": "^2.2.0",
         "@nodedc/map-cesium-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/map-cesium-react",
@@ -15,7 +14,8 @@
         "@nodedc/tokens": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/tokens",
         "@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core",
         "@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
-        "@rerun-io/web-viewer": "0.34.1",
+        "@rerun-io/web-viewer": "0.36.3",
+        "meshoptimizer": "1.1.1",
         "playcanvas": "2.21.4",
         "react": "^19.1.0",
         "react-dom": "^19.1.0",
@@ -899,9 +899,9 @@
       "link": true
     },
     "node_modules/@rerun-io/web-viewer": {
-      "version": "0.34.1",
-      "resolved": "https://registry.npmjs.org/@rerun-io/web-viewer/-/web-viewer-0.34.1.tgz",
-      "integrity": "sha512-2Oq9Mw3qOs765XArGq4e/0pAIksPFKlAqkgo+PDsRkPd77/KdnQhb835suRmYQ6tuqlbPeVCFhlNIXT0+TjmTg==",
+      "version": "0.36.3",
+      "resolved": "https://registry.npmjs.org/@rerun-io/web-viewer/-/web-viewer-0.36.3.tgz",
+      "integrity": "sha512-LMGnsxRmY5UwiGras2dZrMnEYkow5Xr4v+1hAUSspXWPPiilMqoz9G77jo8Ps/deAaX81TnOq123DFO8iX/Ulw==",
       "license": "MIT"
     },
     "node_modules/@rolldown/pluginutils": {
@@ -1661,7 +1661,6 @@
       "version": "1.1.1",
       "resolved": "https://registry.npmjs.org/meshoptimizer/-/meshoptimizer-1.1.1.tgz",
       "integrity": "sha512-oRFNWJRDA/WTrVj7NWvqa5HqE1t9MYDj2VaWirQCzCCrAd2GHrqR/sQezCxiWATPNlKTcRaPRHPJwIRoPBAp5g==",
-      "dev": true,
       "license": "MIT"
     },
     "node_modules/ms": {

apps/control-station/package.json

@@ -4,7 +4,6 @@
   "private": true,
   "type": "module",
   "scripts": {
-    "postinstall": "node scripts/patch-rerun-web-viewer.mjs",
     "dev": "vite",
     "build": "tsc -b && vite build",
     "preview": "vite preview",
@@ -18,7 +17,8 @@
     "@nodedc/tokens": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/tokens",
     "@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core",
     "@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
-    "@rerun-io/web-viewer": "0.34.1",
+    "@rerun-io/web-viewer": "0.36.3",
+    "meshoptimizer": "1.1.1",
     "playcanvas": "2.21.4",
     "react": "^19.1.0",
     "react-dom": "^19.1.0",

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

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

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

@@ -0,0 +1,921 @@
+// This is ammo.js, a port of Bullet Physics to JavaScript. zlib licensed.
+
+var Ammo = (() => {
+  var _scriptDir = typeof document !== 'undefined' && document.currentScript ? document.currentScript.src : undefined;
+  if (typeof __filename !== 'undefined') _scriptDir = _scriptDir || __filename;
+  return (
+function(Ammo = {})  {
+
+var b;b||(b=typeof Ammo !== 'undefined' ? Ammo : {});var aa,ba;b.ready=new Promise(function(a,c){aa=a;ba=c});var ca=Object.assign({},b),da="object"==typeof window,ea="function"==typeof importScripts,fa="object"==typeof process&&"object"==typeof process.versions&&"string"==typeof process.versions.node,ha="",ia,ja,ka;
+if(fa){var fs=require("fs"),la=require("path");ha=ea?la.dirname(ha)+"/":__dirname+"/";ia=(a,c)=>{a=a.startsWith("file://")?new URL(a):la.normalize(a);return fs.readFileSync(a,c?void 0:"utf8")};ka=a=>{a=ia(a,!0);a.buffer||(a=new Uint8Array(a));return a};ja=(a,c,d)=>{a=a.startsWith("file://")?new URL(a):la.normalize(a);fs.readFile(a,function(e,g){e?d(e):c(g.buffer)})};1<process.argv.length&&process.argv[1].replace(/\\/g,"/");process.argv.slice(2);b.inspect=function(){return"[Emscripten Module object]"}}else if(da||
+ea)ea?ha=self.location.href:"undefined"!=typeof document&&document.currentScript&&(ha=document.currentScript.src),_scriptDir&&(ha=_scriptDir),ha=0!==ha.indexOf("blob:")?ha.substr(0,ha.replace(/[?#].*/,"").lastIndexOf("/")+1):"",ia=a=>{var c=new XMLHttpRequest;c.open("GET",a,!1);c.send(null);return c.responseText},ea&&(ka=a=>{var c=new XMLHttpRequest;c.open("GET",a,!1);c.responseType="arraybuffer";c.send(null);return new Uint8Array(c.response)}),ja=(a,c,d)=>{var e=new XMLHttpRequest;e.open("GET",a,
+!0);e.responseType="arraybuffer";e.onload=()=>{200==e.status||0==e.status&&e.response?c(e.response):d()};e.onerror=d;e.send(null)};b.print||console.log.bind(console);var ma=b.printErr||console.warn.bind(console);Object.assign(b,ca);ca=null;var na;b.wasmBinary&&(na=b.wasmBinary);var noExitRuntime=b.noExitRuntime||!0;"object"!=typeof WebAssembly&&oa("no native wasm support detected");var pa,qa=!1,ra="undefined"!=typeof TextDecoder?new TextDecoder("utf8"):void 0;
+function sa(a,c){if(a){var d=ta,e=a+c;for(c=a;d[c]&&!(c>=e);)++c;if(16<c-a&&d.buffer&&ra)a=ra.decode(d.subarray(a,c));else{for(e="";a<c;){var g=d[a++];if(g&128){var n=d[a++]&63;if(192==(g&224))e+=String.fromCharCode((g&31)<<6|n);else{var z=d[a++]&63;g=224==(g&240)?(g&15)<<12|n<<6|z:(g&7)<<18|n<<12|z<<6|d[a++]&63;65536>g?e+=String.fromCharCode(g):(g-=65536,e+=String.fromCharCode(55296|g>>10,56320|g&1023))}}else e+=String.fromCharCode(g)}a=e}}else a="";return a}
+var ua,ta,va,wa,xa,ya,za=[],Aa=[],Ba=[],Ca=!1;function Ea(){var a=b.preRun.shift();za.unshift(a)}var Fa=0,Ga=null,Ha=null;function oa(a){if(b.onAbort)b.onAbort(a);a="Aborted("+a+")";ma(a);qa=!0;a=new WebAssembly.RuntimeError(a+". Build with -sASSERTIONS for more info.");ba(a);throw a;}function Ia(a){return a.startsWith("data:application/octet-stream;base64,")}var Ja;Ja="ammo.wasm.wasm";if(!Ia(Ja)){var Ka=Ja;Ja=b.locateFile?b.locateFile(Ka,ha):ha+Ka}
+function La(a){try{if(a==Ja&&na)return new Uint8Array(na);if(ka)return ka(a);throw"both async and sync fetching of the wasm failed";}catch(c){oa(c)}}
+function Ma(a){if(!na&&(da||ea)){if("function"==typeof fetch&&!a.startsWith("file://"))return fetch(a,{credentials:"same-origin"}).then(function(c){if(!c.ok)throw"failed to load wasm binary file at '"+a+"'";return c.arrayBuffer()}).catch(function(){return La(a)});if(ja)return new Promise(function(c,d){ja(a,function(e){c(new Uint8Array(e))},d)})}return Promise.resolve().then(function(){return La(a)})}
+function Na(a,c,d){return Ma(a).then(function(e){return WebAssembly.instantiate(e,c)}).then(function(e){return e}).then(d,function(e){ma("failed to asynchronously prepare wasm: "+e);oa(e)})}
+function Oa(a,c){var d=Ja;return na||"function"!=typeof WebAssembly.instantiateStreaming||Ia(d)||d.startsWith("file://")||fa||"function"!=typeof fetch?Na(d,a,c):fetch(d,{credentials:"same-origin"}).then(function(e){return WebAssembly.instantiateStreaming(e,a).then(c,function(g){ma("wasm streaming compile failed: "+g);ma("falling back to ArrayBuffer instantiation");return Na(d,a,c)})})}
+var Pa={27338:(a,c,d,e)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("drawLine"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::drawLine.";a.drawLine(c,d,e)},27558:(a,c,d,e,g,n)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("drawContactPoint"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::drawContactPoint.";a.drawContactPoint(c,d,e,g,n)},27808:(a,c)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("reportErrorWarning"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::reportErrorWarning.";
+a.reportErrorWarning(c)},28052:(a,c,d)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("draw3dText"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::draw3dText.";a.draw3dText(c,d)},28275:(a,c)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("setDebugMode"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::setDebugMode.";a.setDebugMode(c)},28501:a=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("getDebugMode"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::getDebugMode.";
+return a.getDebugMode()},28732:(a,c)=>{a=b.getCache(b.MotionState)[a];if(!a.hasOwnProperty("getWorldTransform"))throw"a JSImplementation must implement all functions, you forgot MotionState::getWorldTransform.";a.getWorldTransform(c)},28973:(a,c)=>{a=b.getCache(b.MotionState)[a];if(!a.hasOwnProperty("setWorldTransform"))throw"a JSImplementation must implement all functions, you forgot MotionState::setWorldTransform.";a.setWorldTransform(c)},29214:(a,c,d,e,g,n,z,T)=>{a=b.getCache(b.ConcreteContactResultCallback)[a];
+if(!a.hasOwnProperty("addSingleResult"))throw"a JSImplementation must implement all functions, you forgot ConcreteContactResultCallback::addSingleResult.";return a.addSingleResult(c,d,e,g,n,z,T)}};function Qa(a){for(;0<a.length;)a.shift()(b)}var Ra=[];function Sa(a,c,d){Ra.length=0;var e;for(d>>=2;e=ta[c++];)d+=105!=e&d,Ra.push(105==e?va[d]:xa[d++>>1]),++d;return Pa[a].apply(null,Ra)}
+var Ta=[],Ua=void 0,Va=[],Wa={b:function(){oa("")},f:function(a,c,d){return Sa(a,c,d)},a:function(a,c,d){return Sa(a,c,d)},d:function(){return Date.now()},e:function(a,c,d){ta.copyWithin(a,c,c+d)},c:function(){oa("OOM")}};
+(function(){function a(d){d=d.exports;b.asm=d;pa=b.asm.g;var e=pa.buffer;b.HEAP8=ua=new Int8Array(e);b.HEAP16=new Int16Array(e);b.HEAP32=va=new Int32Array(e);b.HEAPU8=ta=new Uint8Array(e);b.HEAPU16=new Uint16Array(e);b.HEAPU32=new Uint32Array(e);b.HEAPF32=wa=new Float32Array(e);b.HEAPF64=xa=new Float64Array(e);ya=b.asm.iB;Aa.unshift(b.asm.h);Fa--;b.monitorRunDependencies&&b.monitorRunDependencies(Fa);0==Fa&&(null!==Ga&&(clearInterval(Ga),Ga=null),Ha&&(e=Ha,Ha=null,e()));return d}var c={a:Wa};Fa++;
+b.monitorRunDependencies&&b.monitorRunDependencies(Fa);if(b.instantiateWasm)try{return b.instantiateWasm(c,a)}catch(d){ma("Module.instantiateWasm callback failed with error: "+d),ba(d)}Oa(c,function(d){a(d.instance)}).catch(ba);return{}})();
+var Xa=b._emscripten_bind_btCollisionShape_setLocalScaling_1=function(){return(Xa=b._emscripten_bind_btCollisionShape_setLocalScaling_1=b.asm.i).apply(null,arguments)},Ya=b._emscripten_bind_btCollisionShape_getLocalScaling_0=function(){return(Ya=b._emscripten_bind_btCollisionShape_getLocalScaling_0=b.asm.j).apply(null,arguments)},Za=b._emscripten_bind_btCollisionShape_calculateLocalInertia_2=function(){return(Za=b._emscripten_bind_btCollisionShape_calculateLocalInertia_2=b.asm.k).apply(null,arguments)},
+$a=b._emscripten_bind_btCollisionShape_setMargin_1=function(){return($a=b._emscripten_bind_btCollisionShape_setMargin_1=b.asm.l).apply(null,arguments)},ab=b._emscripten_bind_btCollisionShape_getMargin_0=function(){return(ab=b._emscripten_bind_btCollisionShape_getMargin_0=b.asm.m).apply(null,arguments)},bb=b._emscripten_bind_btCollisionShape___destroy___0=function(){return(bb=b._emscripten_bind_btCollisionShape___destroy___0=b.asm.n).apply(null,arguments)},cb=b._emscripten_bind_btCollisionWorld_getDispatcher_0=
+function(){return(cb=b._emscripten_bind_btCollisionWorld_getDispatcher_0=b.asm.o).apply(null,arguments)},db=b._emscripten_bind_btCollisionWorld_rayTest_3=function(){return(db=b._emscripten_bind_btCollisionWorld_rayTest_3=b.asm.p).apply(null,arguments)},eb=b._emscripten_bind_btCollisionWorld_getPairCache_0=function(){return(eb=b._emscripten_bind_btCollisionWorld_getPairCache_0=b.asm.q).apply(null,arguments)},fb=b._emscripten_bind_btCollisionWorld_getDispatchInfo_0=function(){return(fb=b._emscripten_bind_btCollisionWorld_getDispatchInfo_0=
+b.asm.r).apply(null,arguments)},gb=b._emscripten_bind_btCollisionWorld_addCollisionObject_1=function(){return(gb=b._emscripten_bind_btCollisionWorld_addCollisionObject_1=b.asm.s).apply(null,arguments)},hb=b._emscripten_bind_btCollisionWorld_addCollisionObject_2=function(){return(hb=b._emscripten_bind_btCollisionWorld_addCollisionObject_2=b.asm.t).apply(null,arguments)},ib=b._emscripten_bind_btCollisionWorld_addCollisionObject_3=function(){return(ib=b._emscripten_bind_btCollisionWorld_addCollisionObject_3=
+b.asm.u).apply(null,arguments)},jb=b._emscripten_bind_btCollisionWorld_removeCollisionObject_1=function(){return(jb=b._emscripten_bind_btCollisionWorld_removeCollisionObject_1=b.asm.v).apply(null,arguments)},kb=b._emscripten_bind_btCollisionWorld_getBroadphase_0=function(){return(kb=b._emscripten_bind_btCollisionWorld_getBroadphase_0=b.asm.w).apply(null,arguments)},lb=b._emscripten_bind_btCollisionWorld_convexSweepTest_5=function(){return(lb=b._emscripten_bind_btCollisionWorld_convexSweepTest_5=b.asm.x).apply(null,
+arguments)},mb=b._emscripten_bind_btCollisionWorld_contactPairTest_3=function(){return(mb=b._emscripten_bind_btCollisionWorld_contactPairTest_3=b.asm.y).apply(null,arguments)},nb=b._emscripten_bind_btCollisionWorld_contactTest_2=function(){return(nb=b._emscripten_bind_btCollisionWorld_contactTest_2=b.asm.z).apply(null,arguments)},ob=b._emscripten_bind_btCollisionWorld_updateSingleAabb_1=function(){return(ob=b._emscripten_bind_btCollisionWorld_updateSingleAabb_1=b.asm.A).apply(null,arguments)},pb=
+b._emscripten_bind_btCollisionWorld_setDebugDrawer_1=function(){return(pb=b._emscripten_bind_btCollisionWorld_setDebugDrawer_1=b.asm.B).apply(null,arguments)},qb=b._emscripten_bind_btCollisionWorld_getDebugDrawer_0=function(){return(qb=b._emscripten_bind_btCollisionWorld_getDebugDrawer_0=b.asm.C).apply(null,arguments)},rb=b._emscripten_bind_btCollisionWorld_debugDrawWorld_0=function(){return(rb=b._emscripten_bind_btCollisionWorld_debugDrawWorld_0=b.asm.D).apply(null,arguments)},sb=b._emscripten_bind_btCollisionWorld_debugDrawObject_3=
+function(){return(sb=b._emscripten_bind_btCollisionWorld_debugDrawObject_3=b.asm.E).apply(null,arguments)},tb=b._emscripten_bind_btCollisionWorld___destroy___0=function(){return(tb=b._emscripten_bind_btCollisionWorld___destroy___0=b.asm.F).apply(null,arguments)},ub=b._emscripten_bind_btCollisionObject_setAnisotropicFriction_2=function(){return(ub=b._emscripten_bind_btCollisionObject_setAnisotropicFriction_2=b.asm.G).apply(null,arguments)},vb=b._emscripten_bind_btCollisionObject_getCollisionShape_0=
+function(){return(vb=b._emscripten_bind_btCollisionObject_getCollisionShape_0=b.asm.H).apply(null,arguments)},wb=b._emscripten_bind_btCollisionObject_setContactProcessingThreshold_1=function(){return(wb=b._emscripten_bind_btCollisionObject_setContactProcessingThreshold_1=b.asm.I).apply(null,arguments)},xb=b._emscripten_bind_btCollisionObject_setActivationState_1=function(){return(xb=b._emscripten_bind_btCollisionObject_setActivationState_1=b.asm.J).apply(null,arguments)},yb=b._emscripten_bind_btCollisionObject_forceActivationState_1=
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+b.asm.N).apply(null,arguments)},Cb=b._emscripten_bind_btCollisionObject_isKinematicObject_0=function(){return(Cb=b._emscripten_bind_btCollisionObject_isKinematicObject_0=b.asm.O).apply(null,arguments)},Db=b._emscripten_bind_btCollisionObject_isStaticObject_0=function(){return(Db=b._emscripten_bind_btCollisionObject_isStaticObject_0=b.asm.P).apply(null,arguments)},Eb=b._emscripten_bind_btCollisionObject_isStaticOrKinematicObject_0=function(){return(Eb=b._emscripten_bind_btCollisionObject_isStaticOrKinematicObject_0=
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+function(){return(sk=b._emscripten_bind_ClosestConvexResultCallback_set_m_closestHitFraction_1=b.asm.si).apply(null,arguments)},tk=b._emscripten_bind_ClosestConvexResultCallback___destroy___0=function(){return(tk=b._emscripten_bind_ClosestConvexResultCallback___destroy___0=b.asm.ti).apply(null,arguments)},uk=b._emscripten_bind_btConvexTriangleMeshShape_btConvexTriangleMeshShape_1=function(){return(uk=b._emscripten_bind_btConvexTriangleMeshShape_btConvexTriangleMeshShape_1=b.asm.ui).apply(null,arguments)},
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+b.asm.xi).apply(null,arguments)},yk=b._emscripten_bind_btConvexTriangleMeshShape_calculateLocalInertia_2=function(){return(yk=b._emscripten_bind_btConvexTriangleMeshShape_calculateLocalInertia_2=b.asm.yi).apply(null,arguments)},zk=b._emscripten_bind_btConvexTriangleMeshShape_setMargin_1=function(){return(zk=b._emscripten_bind_btConvexTriangleMeshShape_setMargin_1=b.asm.zi).apply(null,arguments)},Ak=b._emscripten_bind_btConvexTriangleMeshShape_getMargin_0=function(){return(Ak=b._emscripten_bind_btConvexTriangleMeshShape_getMargin_0=
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+function(){return(Ek=b._emscripten_bind_btBoxShape_getMargin_0=b.asm.Ei).apply(null,arguments)},Fk=b._emscripten_bind_btBoxShape_setLocalScaling_1=function(){return(Fk=b._emscripten_bind_btBoxShape_setLocalScaling_1=b.asm.Fi).apply(null,arguments)},Gk=b._emscripten_bind_btBoxShape_getLocalScaling_0=function(){return(Gk=b._emscripten_bind_btBoxShape_getLocalScaling_0=b.asm.Gi).apply(null,arguments)},Hk=b._emscripten_bind_btBoxShape_calculateLocalInertia_2=function(){return(Hk=b._emscripten_bind_btBoxShape_calculateLocalInertia_2=
+b.asm.Hi).apply(null,arguments)},Ik=b._emscripten_bind_btBoxShape___destroy___0=function(){return(Ik=b._emscripten_bind_btBoxShape___destroy___0=b.asm.Ii).apply(null,arguments)},Jk=b._emscripten_bind_btCapsuleShapeX_btCapsuleShapeX_2=function(){return(Jk=b._emscripten_bind_btCapsuleShapeX_btCapsuleShapeX_2=b.asm.Ji).apply(null,arguments)},Kk=b._emscripten_bind_btCapsuleShapeX_setMargin_1=function(){return(Kk=b._emscripten_bind_btCapsuleShapeX_setMargin_1=b.asm.Ki).apply(null,arguments)},Lk=b._emscripten_bind_btCapsuleShapeX_getMargin_0=
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+b.asm.Ri).apply(null,arguments)},Sk=b._emscripten_bind_btCapsuleShapeX___destroy___0=function(){return(Sk=b._emscripten_bind_btCapsuleShapeX___destroy___0=b.asm.Si).apply(null,arguments)},Tk=b._emscripten_bind_btCapsuleShapeZ_btCapsuleShapeZ_2=function(){return(Tk=b._emscripten_bind_btCapsuleShapeZ_btCapsuleShapeZ_2=b.asm.Ti).apply(null,arguments)},Uk=b._emscripten_bind_btCapsuleShapeZ_setMargin_1=function(){return(Uk=b._emscripten_bind_btCapsuleShapeZ_setMargin_1=b.asm.Ui).apply(null,arguments)},
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+arguments)},at=b._emscripten_bind_btConeTwistConstraint_setDamping_1=function(){return(at=b._emscripten_bind_btConeTwistConstraint_setDamping_1=b.asm.Pq).apply(null,arguments)},bt=b._emscripten_bind_btConeTwistConstraint_enableMotor_1=function(){return(bt=b._emscripten_bind_btConeTwistConstraint_enableMotor_1=b.asm.Qq).apply(null,arguments)},ct=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulse_1=function(){return(ct=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulse_1=b.asm.Rq).apply(null,
+arguments)},dt=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulseNormalized_1=function(){return(dt=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulseNormalized_1=b.asm.Sq).apply(null,arguments)},et=b._emscripten_bind_btConeTwistConstraint_setMotorTarget_1=function(){return(et=b._emscripten_bind_btConeTwistConstraint_setMotorTarget_1=b.asm.Tq).apply(null,arguments)},ft=b._emscripten_bind_btConeTwistConstraint_setMotorTargetInConstraintSpace_1=function(){return(ft=b._emscripten_bind_btConeTwistConstraint_setMotorTargetInConstraintSpace_1=
+b.asm.Uq).apply(null,arguments)},gt=b._emscripten_bind_btConeTwistConstraint_enableFeedback_1=function(){return(gt=b._emscripten_bind_btConeTwistConstraint_enableFeedback_1=b.asm.Vq).apply(null,arguments)},ht=b._emscripten_bind_btConeTwistConstraint_getBreakingImpulseThreshold_0=function(){return(ht=b._emscripten_bind_btConeTwistConstraint_getBreakingImpulseThreshold_0=b.asm.Wq).apply(null,arguments)},it=b._emscripten_bind_btConeTwistConstraint_setBreakingImpulseThreshold_1=function(){return(it=b._emscripten_bind_btConeTwistConstraint_setBreakingImpulseThreshold_1=
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+b.asm.ur).apply(null,arguments)},It=b._emscripten_bind_btSliderConstraint_getLinearPos_0=function(){return(It=b._emscripten_bind_btSliderConstraint_getLinearPos_0=b.asm.vr).apply(null,arguments)},Jt=b._emscripten_bind_btSliderConstraint_getAngularPos_0=function(){return(Jt=b._emscripten_bind_btSliderConstraint_getAngularPos_0=b.asm.wr).apply(null,arguments)},Kt=b._emscripten_bind_btSliderConstraint_setLowerLinLimit_1=function(){return(Kt=b._emscripten_bind_btSliderConstraint_setLowerLinLimit_1=b.asm.xr).apply(null,
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+arguments)},$t=b._emscripten_bind_btFixedConstraint_setBreakingImpulseThreshold_1=function(){return($t=b._emscripten_bind_btFixedConstraint_setBreakingImpulseThreshold_1=b.asm.Nr).apply(null,arguments)},au=b._emscripten_bind_btFixedConstraint_getParam_2=function(){return(au=b._emscripten_bind_btFixedConstraint_getParam_2=b.asm.Or).apply(null,arguments)},bu=b._emscripten_bind_btFixedConstraint_setParam_3=function(){return(bu=b._emscripten_bind_btFixedConstraint_setParam_3=b.asm.Pr).apply(null,arguments)},
+cu=b._emscripten_bind_btFixedConstraint___destroy___0=function(){return(cu=b._emscripten_bind_btFixedConstraint___destroy___0=b.asm.Qr).apply(null,arguments)},du=b._emscripten_bind_btConstraintSolver___destroy___0=function(){return(du=b._emscripten_bind_btConstraintSolver___destroy___0=b.asm.Rr).apply(null,arguments)},eu=b._emscripten_bind_btDispatcherInfo_get_m_timeStep_0=function(){return(eu=b._emscripten_bind_btDispatcherInfo_get_m_timeStep_0=b.asm.Sr).apply(null,arguments)},fu=b._emscripten_bind_btDispatcherInfo_set_m_timeStep_1=
+function(){return(fu=b._emscripten_bind_btDispatcherInfo_set_m_timeStep_1=b.asm.Tr).apply(null,arguments)},gu=b._emscripten_bind_btDispatcherInfo_get_m_stepCount_0=function(){return(gu=b._emscripten_bind_btDispatcherInfo_get_m_stepCount_0=b.asm.Ur).apply(null,arguments)},hu=b._emscripten_bind_btDispatcherInfo_set_m_stepCount_1=function(){return(hu=b._emscripten_bind_btDispatcherInfo_set_m_stepCount_1=b.asm.Vr).apply(null,arguments)},iu=b._emscripten_bind_btDispatcherInfo_get_m_dispatchFunc_0=function(){return(iu=
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+b._emscripten_bind_btWheelInfo_set_m_maxSuspensionForce_1=b.asm.$t).apply(null,arguments)},qw=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionTravelCm_0=function(){return(qw=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionTravelCm_0=b.asm.au).apply(null,arguments)},rw=b._emscripten_bind_btWheelInfo_set_m_maxSuspensionTravelCm_1=function(){return(rw=b._emscripten_bind_btWheelInfo_set_m_maxSuspensionTravelCm_1=b.asm.bu).apply(null,arguments)},sw=b._emscripten_bind_btWheelInfo_get_m_wheelsSuspensionForce_0=
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+b._emscripten_bind_btWheelInfo_get_m_chassisConnectionPointCS_0=b.asm.iu).apply(null,arguments)},zw=b._emscripten_bind_btWheelInfo_set_m_chassisConnectionPointCS_1=function(){return(zw=b._emscripten_bind_btWheelInfo_set_m_chassisConnectionPointCS_1=b.asm.ju).apply(null,arguments)},Aw=b._emscripten_bind_btWheelInfo_get_m_worldTransform_0=function(){return(Aw=b._emscripten_bind_btWheelInfo_get_m_worldTransform_0=b.asm.ku).apply(null,arguments)},Bw=b._emscripten_bind_btWheelInfo_set_m_worldTransform_1=
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+b._emscripten_bind_btWheelInfo_get_m_wheelAxleCS_0=b.asm.ou).apply(null,arguments)},Fw=b._emscripten_bind_btWheelInfo_set_m_wheelAxleCS_1=function(){return(Fw=b._emscripten_bind_btWheelInfo_set_m_wheelAxleCS_1=b.asm.pu).apply(null,arguments)},Gw=b._emscripten_bind_btWheelInfo_get_m_rotation_0=function(){return(Gw=b._emscripten_bind_btWheelInfo_get_m_rotation_0=b.asm.qu).apply(null,arguments)},Hw=b._emscripten_bind_btWheelInfo_set_m_rotation_1=function(){return(Hw=b._emscripten_bind_btWheelInfo_set_m_rotation_1=
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+Zw=b._emscripten_bind_btKinematicCharacterController_preStep_1=function(){return(Zw=b._emscripten_bind_btKinematicCharacterController_preStep_1=b.asm.Ju).apply(null,arguments)},$w=b._emscripten_bind_btKinematicCharacterController_playerStep_2=function(){return($w=b._emscripten_bind_btKinematicCharacterController_playerStep_2=b.asm.Ku).apply(null,arguments)},ax=b._emscripten_bind_btKinematicCharacterController_setFallSpeed_1=function(){return(ax=b._emscripten_bind_btKinematicCharacterController_setFallSpeed_1=
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+b.asm.Uu).apply(null,arguments)},kx=b._emscripten_bind_btKinematicCharacterController_setUseGhostSweepTest_1=function(){return(kx=b._emscripten_bind_btKinematicCharacterController_setUseGhostSweepTest_1=b.asm.Vu).apply(null,arguments)},lx=b._emscripten_bind_btKinematicCharacterController_onGround_0=function(){return(lx=b._emscripten_bind_btKinematicCharacterController_onGround_0=b.asm.Wu).apply(null,arguments)},mx=b._emscripten_bind_btKinematicCharacterController_setUpInterpolate_1=function(){return(mx=
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+function(){return(px=b._emscripten_bind_btRaycastVehicle_btRaycastVehicle_3=b.asm._u).apply(null,arguments)},qx=b._emscripten_bind_btRaycastVehicle_applyEngineForce_2=function(){return(qx=b._emscripten_bind_btRaycastVehicle_applyEngineForce_2=b.asm.$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=
+function(){return(sx=b._emscripten_bind_btRaycastVehicle_getWheelTransformWS_1=b.asm.bv).apply(null,arguments)},tx=b._emscripten_bind_btRaycastVehicle_updateWheelTransform_2=function(){return(tx=b._emscripten_bind_btRaycastVehicle_updateWheelTransform_2=b.asm.cv).apply(null,arguments)},ux=b._emscripten_bind_btRaycastVehicle_addWheel_7=function(){return(ux=b._emscripten_bind_btRaycastVehicle_addWheel_7=b.asm.dv).apply(null,arguments)},vx=b._emscripten_bind_btRaycastVehicle_getNumWheels_0=function(){return(vx=
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+b.asm.hv).apply(null,arguments)},zx=b._emscripten_bind_btRaycastVehicle_setCoordinateSystem_3=function(){return(zx=b._emscripten_bind_btRaycastVehicle_setCoordinateSystem_3=b.asm.iv).apply(null,arguments)},Ax=b._emscripten_bind_btRaycastVehicle_getCurrentSpeedKmHour_0=function(){return(Ax=b._emscripten_bind_btRaycastVehicle_getCurrentSpeedKmHour_0=b.asm.jv).apply(null,arguments)},Bx=b._emscripten_bind_btRaycastVehicle_getChassisWorldTransform_0=function(){return(Bx=b._emscripten_bind_btRaycastVehicle_getChassisWorldTransform_0=
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+Fx=b._emscripten_bind_btRaycastVehicle_getSteeringValue_1=function(){return(Fx=b._emscripten_bind_btRaycastVehicle_getSteeringValue_1=b.asm.ov).apply(null,arguments)},Gx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_1=function(){return(Gx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_1=b.asm.pv).apply(null,arguments)},Hx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_2=function(){return(Hx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_2=b.asm.qv).apply(null,
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+b.asm.Ov).apply(null,arguments)},fy=b._emscripten_bind_btPairCachingGhostObject_isStaticOrKinematicObject_0=function(){return(fy=b._emscripten_bind_btPairCachingGhostObject_isStaticOrKinematicObject_0=b.asm.Pv).apply(null,arguments)},gy=b._emscripten_bind_btPairCachingGhostObject_getRestitution_0=function(){return(gy=b._emscripten_bind_btPairCachingGhostObject_getRestitution_0=b.asm.Qv).apply(null,arguments)},hy=b._emscripten_bind_btPairCachingGhostObject_getFriction_0=function(){return(hy=b._emscripten_bind_btPairCachingGhostObject_getFriction_0=
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+function ZD(){throw"cannot construct a btConcaveShape, no constructor in IDL";}ZD.prototype=Object.create(l.prototype);ZD.prototype.constructor=ZD;ZD.prototype.lB=ZD;ZD.mB={};b.btConcaveShape=ZD;ZD.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yb(c,a)};ZD.prototype.getLocalScaling=function(){return k(Zb(this.kB),m)};ZD.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);$b(d,a,c)};
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+WD.prototype.reportErrorWarning=function(a){var c=this.kB;ND();a=a&&"object"===typeof a?a.kB:QD(a);Jc(c,a)};WD.prototype.draw3dText=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c=c&&"object"===typeof c?c.kB:QD(c);Kc(d,a,c)};WD.prototype.setDebugMode=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lc(c,a)};WD.prototype.getDebugMode=function(){return Mc(this.kB)};WD.prototype.__destroy__=function(){Nc(this.kB)};
+function m(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=void 0===a?Oc():void 0===c?_emscripten_bind_btVector3_btVector3_1(a):void 0===d?_emscripten_bind_btVector3_btVector3_2(a,c):Pc(a,c,d);h(m)[this.kB]=this}m.prototype=Object.create(f.prototype);m.prototype.constructor=m;m.prototype.lB=m;m.mB={};b.btVector3=m;m.prototype.length=m.prototype.length=function(){return Qc(this.kB)};m.prototype.x=m.prototype.x=function(){return Rc(this.kB)};
+m.prototype.y=m.prototype.y=function(){return Sc(this.kB)};m.prototype.z=m.prototype.z=function(){return Tc(this.kB)};m.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uc(c,a)};m.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vc(c,a)};m.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wc(c,a)};
+m.prototype.setValue=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Xc(e,a,c,d)};m.prototype.normalize=m.prototype.normalize=function(){Yc(this.kB)};m.prototype.rotate=m.prototype.rotate=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return k(Zc(d,a,c),m)};m.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return $c(c,a)};
+m.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ad(c,a),m)};m.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(bd(c,a),m)};m.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(cd(c,a),m)};m.prototype.__destroy__=function(){dd(this.kB)};function cE(){throw"cannot construct a btQuadWord, no constructor in IDL";}cE.prototype=Object.create(f.prototype);cE.prototype.constructor=cE;
+cE.prototype.lB=cE;cE.mB={};b.btQuadWord=cE;cE.prototype.x=cE.prototype.x=function(){return ed(this.kB)};cE.prototype.y=cE.prototype.y=function(){return fd(this.kB)};cE.prototype.z=cE.prototype.z=function(){return gd(this.kB)};cE.prototype.w=cE.prototype.w=function(){return hd(this.kB)};cE.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jd(c,a)};cE.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kd(c,a)};
+cE.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ld(c,a)};cE.prototype.setW=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);md(c,a)};cE.prototype.__destroy__=function(){nd(this.kB)};function dE(){throw"cannot construct a btMotionState, no constructor in IDL";}dE.prototype=Object.create(f.prototype);dE.prototype.constructor=dE;dE.prototype.lB=dE;dE.mB={};b.btMotionState=dE;
+dE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);od(c,a)};dE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pd(c,a)};dE.prototype.__destroy__=function(){qd(this.kB)};function u(){throw"cannot construct a RayResultCallback, no constructor in IDL";}u.prototype=Object.create(f.prototype);u.prototype.constructor=u;u.prototype.lB=u;u.mB={};b.RayResultCallback=u;u.prototype.hasHit=function(){return!!rd(this.kB)};
+u.prototype.get_m_collisionFilterGroup=u.prototype.nB=function(){return sd(this.kB)};u.prototype.set_m_collisionFilterGroup=u.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);td(c,a)};Object.defineProperty(u.prototype,"m_collisionFilterGroup",{get:u.prototype.nB,set:u.prototype.pB});u.prototype.get_m_collisionFilterMask=u.prototype.oB=function(){return ud(this.kB)};
+u.prototype.set_m_collisionFilterMask=u.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vd(c,a)};Object.defineProperty(u.prototype,"m_collisionFilterMask",{get:u.prototype.oB,set:u.prototype.qB});u.prototype.get_m_closestHitFraction=u.prototype.rB=function(){return wd(this.kB)};u.prototype.set_m_closestHitFraction=u.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xd(c,a)};Object.defineProperty(u.prototype,"m_closestHitFraction",{get:u.prototype.rB,set:u.prototype.sB});
+u.prototype.get_m_collisionObject=u.prototype.vB=function(){return k(yd(this.kB),q)};u.prototype.set_m_collisionObject=u.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zd(c,a)};Object.defineProperty(u.prototype,"m_collisionObject",{get:u.prototype.vB,set:u.prototype.CB});u.prototype.get_m_flags=u.prototype.tB=function(){return Ad(this.kB)};u.prototype.set_m_flags=u.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bd(c,a)};
+Object.defineProperty(u.prototype,"m_flags",{get:u.prototype.tB,set:u.prototype.uB});u.prototype.__destroy__=function(){Cd(this.kB)};function eE(){throw"cannot construct a ContactResultCallback, no constructor in IDL";}eE.prototype=Object.create(f.prototype);eE.prototype.constructor=eE;eE.prototype.lB=eE;eE.mB={};b.ContactResultCallback=eE;
+eE.prototype.addSingleResult=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return Dd(T,a,c,d,e,g,n,z)};eE.prototype.__destroy__=function(){Ed(this.kB)};function v(){throw"cannot construct a ConvexResultCallback, no constructor in IDL";}v.prototype=Object.create(f.prototype);
+v.prototype.constructor=v;v.prototype.lB=v;v.mB={};b.ConvexResultCallback=v;v.prototype.hasHit=function(){return!!Fd(this.kB)};v.prototype.get_m_collisionFilterGroup=v.prototype.nB=function(){return Gd(this.kB)};v.prototype.set_m_collisionFilterGroup=v.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hd(c,a)};Object.defineProperty(v.prototype,"m_collisionFilterGroup",{get:v.prototype.nB,set:v.prototype.pB});v.prototype.get_m_collisionFilterMask=v.prototype.oB=function(){return Id(this.kB)};
+v.prototype.set_m_collisionFilterMask=v.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jd(c,a)};Object.defineProperty(v.prototype,"m_collisionFilterMask",{get:v.prototype.oB,set:v.prototype.qB});v.prototype.get_m_closestHitFraction=v.prototype.rB=function(){return Kd(this.kB)};v.prototype.set_m_closestHitFraction=v.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ld(c,a)};Object.defineProperty(v.prototype,"m_closestHitFraction",{get:v.prototype.rB,set:v.prototype.sB});
+v.prototype.__destroy__=function(){Md(this.kB)};function fE(){throw"cannot construct a btConvexShape, no constructor in IDL";}fE.prototype=Object.create(l.prototype);fE.prototype.constructor=fE;fE.prototype.lB=fE;fE.mB={};b.btConvexShape=fE;fE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nd(c,a)};fE.prototype.getLocalScaling=function(){return k(Od(this.kB),m)};
+fE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Pd(d,a,c)};fE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qd(c,a)};fE.prototype.getMargin=function(){return Rd(this.kB)};fE.prototype.__destroy__=function(){Sd(this.kB)};function gE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Td(a,c);h(gE)[this.kB]=this}gE.prototype=Object.create(l.prototype);
+gE.prototype.constructor=gE;gE.prototype.lB=gE;gE.mB={};b.btCapsuleShape=gE;gE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ud(c,a)};gE.prototype.getMargin=function(){return Vd(this.kB)};gE.prototype.getUpAxis=function(){return Wd(this.kB)};gE.prototype.getRadius=function(){return Xd(this.kB)};gE.prototype.getHalfHeight=function(){return Yd(this.kB)};gE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zd(c,a)};
+gE.prototype.getLocalScaling=function(){return k($d(this.kB),m)};gE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ae(d,a,c)};gE.prototype.__destroy__=function(){be(this.kB)};function hE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=ce(a);h(hE)[this.kB]=this}hE.prototype=Object.create(l.prototype);hE.prototype.constructor=hE;hE.prototype.lB=hE;hE.mB={};b.btCylinderShape=hE;
+hE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);de(c,a)};hE.prototype.getMargin=function(){return ee(this.kB)};hE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fe(c,a)};hE.prototype.getLocalScaling=function(){return k(ge(this.kB),m)};hE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);he(d,a,c)};hE.prototype.__destroy__=function(){ie(this.kB)};
+function iE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=je(a,c);h(iE)[this.kB]=this}iE.prototype=Object.create(l.prototype);iE.prototype.constructor=iE;iE.prototype.lB=iE;iE.mB={};b.btConeShape=iE;iE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ke(c,a)};iE.prototype.getLocalScaling=function(){return k(le(this.kB),m)};
+iE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);me(d,a,c)};iE.prototype.__destroy__=function(){ne(this.kB)};function jE(){throw"cannot construct a btStridingMeshInterface, no constructor in IDL";}jE.prototype=Object.create(f.prototype);jE.prototype.constructor=jE;jE.prototype.lB=jE;jE.mB={};b.btStridingMeshInterface=jE;jE.prototype.setScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oe(c,a)};
+jE.prototype.__destroy__=function(){pe(this.kB)};function kE(){throw"cannot construct a btTriangleMeshShape, no constructor in IDL";}kE.prototype=Object.create(ZD.prototype);kE.prototype.constructor=kE;kE.prototype.lB=kE;kE.mB={};b.btTriangleMeshShape=kE;kE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qe(c,a)};kE.prototype.getLocalScaling=function(){return k(re(this.kB),m)};
+kE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);se(d,a,c)};kE.prototype.__destroy__=function(){te(this.kB)};function lE(){throw"cannot construct a btPrimitiveManagerBase, no constructor in IDL";}lE.prototype=Object.create(f.prototype);lE.prototype.constructor=lE;lE.prototype.lB=lE;lE.mB={};b.btPrimitiveManagerBase=lE;lE.prototype.is_trimesh=function(){return!!ue(this.kB)};lE.prototype.get_primitive_count=function(){return ve(this.kB)};
+lE.prototype.get_primitive_box=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);we(d,a,c)};lE.prototype.get_primitive_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);xe(d,a,c)};lE.prototype.__destroy__=function(){ye(this.kB)};function w(){throw"cannot construct a btGImpactShapeInterface, no constructor in IDL";}w.prototype=Object.create(ZD.prototype);w.prototype.constructor=w;w.prototype.lB=w;
+w.mB={};b.btGImpactShapeInterface=w;w.prototype.updateBound=function(){ze(this.kB)};w.prototype.postUpdate=function(){Ae(this.kB)};w.prototype.getShapeType=function(){return Be(this.kB)};w.prototype.getName=function(){return sa(Ce(this.kB))};w.prototype.getGImpactShapeType=function(){return De(this.kB)};w.prototype.getPrimitiveManager=function(){return k(Ee(this.kB),lE)};w.prototype.getNumChildShapes=function(){return Fe(this.kB)};w.prototype.childrenHasTransform=function(){return!!Ge(this.kB)};
+w.prototype.needsRetrieveTriangles=function(){return!!He(this.kB)};w.prototype.needsRetrieveTetrahedrons=function(){return!!Ie(this.kB)};w.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Je(d,a,c)};w.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ke(d,a,c)};
+w.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Le(c,a),l)};w.prototype.getChildTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Me(c,a),r)};w.prototype.setChildTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ne(d,a,c)};w.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Oe(c,a)};
+w.prototype.getLocalScaling=function(){return k(Pe(this.kB),m)};w.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Qe(d,a,c)};w.prototype.__destroy__=function(){Re(this.kB)};function mE(){throw"cannot construct a btActivatingCollisionAlgorithm, no constructor in IDL";}mE.prototype=Object.create($D.prototype);mE.prototype.constructor=mE;mE.prototype.lB=mE;mE.mB={};b.btActivatingCollisionAlgorithm=mE;
+mE.prototype.__destroy__=function(){Se(this.kB)};function nE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?Te():Ue(a);h(nE)[this.kB]=this}nE.prototype=Object.create(f.prototype);nE.prototype.constructor=nE;nE.prototype.lB=nE;nE.mB={};b.btDefaultCollisionConfiguration=nE;nE.prototype.__destroy__=function(){Ve(this.kB)};function TD(){throw"cannot construct a btDispatcher, no constructor in IDL";}TD.prototype=Object.create(f.prototype);TD.prototype.constructor=TD;TD.prototype.lB=TD;TD.mB={};
+b.btDispatcher=TD;TD.prototype.getNumManifolds=function(){return We(this.kB)};TD.prototype.getManifoldByIndexInternal=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Xe(c,a),oE)};TD.prototype.__destroy__=function(){Ye(this.kB)};
+function pE(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Ze(a,c,d):void 0===g?_emscripten_bind_btGeneric6DofConstraint_btGeneric6DofConstraint_4(a,c,d,e):$e(a,c,d,e,g);h(pE)[this.kB]=this}pE.prototype=Object.create(aE.prototype);pE.prototype.constructor=pE;pE.prototype.lB=pE;pE.mB={};b.btGeneric6DofConstraint=pE;
+pE.prototype.setLinearLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);af(c,a)};pE.prototype.setLinearUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bf(c,a)};pE.prototype.setAngularLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cf(c,a)};pE.prototype.setAngularUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);df(c,a)};pE.prototype.getFrameOffsetA=function(){return k(ef(this.kB),r)};
+pE.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ff(c,a)};pE.prototype.getBreakingImpulseThreshold=function(){return gf(this.kB)};pE.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hf(c,a)};pE.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return jf(d,a,c)};
+pE.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);kf(e,a,c,d)};pE.prototype.__destroy__=function(){lf(this.kB)};function x(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=mf(a,c,d,e);h(x)[this.kB]=this}x.prototype=Object.create(bE.prototype);x.prototype.constructor=x;x.prototype.lB=x;x.mB={};
+b.btDiscreteDynamicsWorld=x;x.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nf(c,a)};x.prototype.getGravity=function(){return k(of(this.kB),m)};x.prototype.addRigidBody=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?pf(e,a):void 0===d?_emscripten_bind_btDiscreteDynamicsWorld_addRigidBody_2(e,a,c):qf(e,a,c,d)};
+x.prototype.removeRigidBody=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rf(c,a)};x.prototype.addConstraint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?sf(d,a):tf(d,a,c)};x.prototype.removeConstraint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);uf(c,a)};
+x.prototype.stepSimulation=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);return void 0===c?vf(e,a):void 0===d?wf(e,a,c):xf(e,a,c,d)};x.prototype.setContactAddedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yf(c,a)};x.prototype.setContactProcessedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zf(c,a)};
+x.prototype.setContactDestroyedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Af(c,a)};x.prototype.getDispatcher=function(){return k(Bf(this.kB),TD)};x.prototype.rayTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Cf(e,a,c,d)};x.prototype.getPairCache=function(){return k(Df(this.kB),UD)};x.prototype.getDispatchInfo=function(){return k(Ef(this.kB),p)};
+x.prototype.addCollisionObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?Ff(e,a):void 0===d?Gf(e,a,c):Hf(e,a,c,d)};x.prototype.removeCollisionObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);If(c,a)};x.prototype.getBroadphase=function(){return k(Jf(this.kB),VD)};
+x.prototype.convexSweepTest=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);Kf(n,a,c,d,e,g)};x.prototype.contactPairTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Lf(e,a,c,d)};
+x.prototype.contactTest=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Mf(d,a,c)};x.prototype.updateSingleAabb=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nf(c,a)};x.prototype.setDebugDrawer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Of(c,a)};x.prototype.getDebugDrawer=function(){return k(Pf(this.kB),WD)};x.prototype.debugDrawWorld=function(){Qf(this.kB)};
+x.prototype.debugDrawObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Rf(e,a,c,d)};x.prototype.addAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Sf(c,a)};x.prototype.removeAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tf(c,a)};x.prototype.getSolverInfo=function(){return k(Uf(this.kB),t)};
+x.prototype.setInternalTickCallback=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?Vf(e,a):void 0===d?Wf(e,a,c):Xf(e,a,c,d)};x.prototype.__destroy__=function(){Yf(this.kB)};function qE(){throw"cannot construct a btVehicleRaycaster, no constructor in IDL";}qE.prototype=Object.create(f.prototype);qE.prototype.constructor=qE;qE.prototype.lB=qE;qE.mB={};b.btVehicleRaycaster=qE;
+qE.prototype.castRay=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Zf(e,a,c,d)};qE.prototype.__destroy__=function(){$f(this.kB)};function rE(){throw"cannot construct a btActionInterface, no constructor in IDL";}rE.prototype=Object.create(f.prototype);rE.prototype.constructor=rE;rE.prototype.lB=rE;rE.mB={};b.btActionInterface=rE;
+rE.prototype.updateAction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ag(d,a,c)};rE.prototype.__destroy__=function(){bg(this.kB)};function y(){this.kB=cg();h(y)[this.kB]=this}y.prototype=Object.create(q.prototype);y.prototype.constructor=y;y.prototype.lB=y;y.mB={};b.btGhostObject=y;y.prototype.getNumOverlappingObjects=function(){return dg(this.kB)};
+y.prototype.getOverlappingObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(eg(c,a),q)};y.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);fg(d,a,c)};y.prototype.getCollisionShape=function(){return k(gg(this.kB),l)};y.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hg(c,a)};
+y.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ig(c,a)};y.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jg(c,a)};y.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?kg(c):lg(c,a)};y.prototype.isActive=function(){return!!mg(this.kB)};y.prototype.isKinematicObject=function(){return!!ng(this.kB)};y.prototype.isStaticObject=function(){return!!og(this.kB)};
+y.prototype.isStaticOrKinematicObject=function(){return!!pg(this.kB)};y.prototype.getRestitution=function(){return qg(this.kB)};y.prototype.getFriction=function(){return rg(this.kB)};y.prototype.getRollingFriction=function(){return sg(this.kB)};y.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tg(c,a)};y.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ug(c,a)};
+y.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vg(c,a)};y.prototype.getWorldTransform=function(){return k(wg(this.kB),r)};y.prototype.getCollisionFlags=function(){return xg(this.kB)};y.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yg(c,a)};y.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zg(c,a)};
+y.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ag(c,a)};y.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bg(c,a)};y.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cg(c,a)};y.prototype.getUserIndex=function(){return Dg(this.kB)};y.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Eg(c,a)};
+y.prototype.getUserPointer=function(){return k(Fg(this.kB),XD)};y.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gg(c,a)};y.prototype.getBroadphaseHandle=function(){return k(Hg(this.kB),YD)};y.prototype.__destroy__=function(){Ig(this.kB)};function sE(){throw"cannot construct a btSoftBodySolver, no constructor in IDL";}sE.prototype=Object.create(f.prototype);sE.prototype.constructor=sE;sE.prototype.lB=sE;sE.mB={};b.btSoftBodySolver=sE;sE.prototype.__destroy__=function(){Jg(this.kB)};
+function XD(){throw"cannot construct a VoidPtr, no constructor in IDL";}XD.prototype=Object.create(f.prototype);XD.prototype.constructor=XD;XD.prototype.lB=XD;XD.mB={};b.VoidPtr=XD;XD.prototype.__destroy__=function(){Kg(this.kB)};function tE(){this.kB=Lg();h(tE)[this.kB]=this}tE.prototype=Object.create(WD.prototype);tE.prototype.constructor=tE;tE.prototype.lB=tE;tE.mB={};b.DebugDrawer=tE;
+tE.prototype.drawLine=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Mg(e,a,c,d)};tE.prototype.drawContactPoint=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);Ng(n,a,c,d,e,g)};
+tE.prototype.reportErrorWarning=function(a){var c=this.kB;ND();a=a&&"object"===typeof a?a.kB:QD(a);Og(c,a)};tE.prototype.draw3dText=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c=c&&"object"===typeof c?c.kB:QD(c);Pg(d,a,c)};tE.prototype.setDebugMode=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qg(c,a)};tE.prototype.getDebugMode=function(){return Rg(this.kB)};tE.prototype.__destroy__=function(){Sg(this.kB)};
+function A(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===a?Tg():void 0===c?_emscripten_bind_btVector4_btVector4_1(a):void 0===d?_emscripten_bind_btVector4_btVector4_2(a,c):void 0===e?_emscripten_bind_btVector4_btVector4_3(a,c,d):Ug(a,c,d,e);h(A)[this.kB]=this}A.prototype=Object.create(m.prototype);A.prototype.constructor=A;A.prototype.lB=A;A.mB={};b.btVector4=A;
+A.prototype.w=A.prototype.w=function(){return Vg(this.kB)};A.prototype.setValue=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);Wg(g,a,c,d,e)};A.prototype.length=A.prototype.length=function(){return Xg(this.kB)};A.prototype.x=A.prototype.x=function(){return Yg(this.kB)};A.prototype.y=A.prototype.y=function(){return Zg(this.kB)};A.prototype.z=A.prototype.z=function(){return $g(this.kB)};
+A.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ah(c,a)};A.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bh(c,a)};A.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ch(c,a)};A.prototype.normalize=A.prototype.normalize=function(){dh(this.kB)};A.prototype.rotate=A.prototype.rotate=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return k(eh(d,a,c),m)};
+A.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return fh(c,a)};A.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(gh(c,a),m)};A.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(hh(c,a),m)};A.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ih(c,a),m)};A.prototype.__destroy__=function(){jh(this.kB)};
+function B(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=kh(a,c,d,e);h(B)[this.kB]=this}B.prototype=Object.create(cE.prototype);B.prototype.constructor=B;B.prototype.lB=B;B.mB={};b.btQuaternion=B;B.prototype.setValue=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);lh(g,a,c,d,e)};
+B.prototype.setEulerZYX=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);mh(e,a,c,d)};B.prototype.setRotation=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nh(d,a,c)};B.prototype.normalize=B.prototype.normalize=function(){oh(this.kB)};B.prototype.length2=function(){return ph(this.kB)};B.prototype.length=B.prototype.length=function(){return qh(this.kB)};
+B.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return rh(c,a)};B.prototype.normalized=function(){return k(sh(this.kB),B)};B.prototype.getAxis=function(){return k(th(this.kB),m)};B.prototype.inverse=B.prototype.inverse=function(){return k(uh(this.kB),B)};B.prototype.getAngle=function(){return vh(this.kB)};B.prototype.getAngleShortestPath=function(){return wh(this.kB)};
+B.prototype.angle=B.prototype.angle=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return xh(c,a)};B.prototype.angleShortestPath=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return yh(c,a)};B.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(zh(c,a),B)};B.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ah(c,a),B)};
+B.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Bh(c,a),B)};B.prototype.op_mulq=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ch(c,a),B)};B.prototype.op_div=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Dh(c,a),B)};B.prototype.x=B.prototype.x=function(){return Eh(this.kB)};B.prototype.y=B.prototype.y=function(){return Fh(this.kB)};B.prototype.z=B.prototype.z=function(){return Gh(this.kB)};
+B.prototype.w=B.prototype.w=function(){return Hh(this.kB)};B.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ih(c,a)};B.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jh(c,a)};B.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kh(c,a)};B.prototype.setW=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lh(c,a)};B.prototype.__destroy__=function(){Mh(this.kB)};
+function uE(){throw"cannot construct a btMatrix3x3, no constructor in IDL";}uE.prototype=Object.create(f.prototype);uE.prototype.constructor=uE;uE.prototype.lB=uE;uE.mB={};b.btMatrix3x3=uE;uE.prototype.setEulerZYX=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Nh(e,a,c,d)};uE.prototype.getRotation=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Oh(c,a)};
+uE.prototype.getRow=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ph(c,a),m)};uE.prototype.__destroy__=function(){Qh(this.kB)};function r(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Rh():void 0===c?_emscripten_bind_btTransform_btTransform_1(a):Sh(a,c);h(r)[this.kB]=this}r.prototype=Object.create(f.prototype);r.prototype.constructor=r;r.prototype.lB=r;r.mB={};b.btTransform=r;r.prototype.setIdentity=function(){Th(this.kB)};
+r.prototype.setOrigin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uh(c,a)};r.prototype.setRotation=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vh(c,a)};r.prototype.getOrigin=function(){return k(Wh(this.kB),m)};r.prototype.getRotation=function(){return k(Xh(this.kB),B)};r.prototype.getBasis=function(){return k(Yh(this.kB),uE)};r.prototype.setFromOpenGLMatrix=function(a){var c=this.kB;ND();"object"==typeof a&&(a=RD(a));Zh(c,a)};
+r.prototype.inverse=r.prototype.inverse=function(){return k($h(this.kB),r)};r.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ai(c,a),r)};r.prototype.__destroy__=function(){bi(this.kB)};function vE(){this.kB=ci();h(vE)[this.kB]=this}vE.prototype=Object.create(dE.prototype);vE.prototype.constructor=vE;vE.prototype.lB=vE;vE.mB={};b.MotionState=vE;vE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);di(c,a)};
+vE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ei(c,a)};vE.prototype.__destroy__=function(){fi(this.kB)};function wE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?gi():void 0===c?hi(a):ii(a,c);h(wE)[this.kB]=this}wE.prototype=Object.create(dE.prototype);wE.prototype.constructor=wE;wE.prototype.lB=wE;wE.mB={};b.btDefaultMotionState=wE;
+wE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ji(c,a)};wE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ki(c,a)};wE.prototype.get_m_graphicsWorldTrans=wE.prototype.lD=function(){return k(li(this.kB),r)};wE.prototype.set_m_graphicsWorldTrans=wE.prototype.cG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mi(c,a)};Object.defineProperty(wE.prototype,"m_graphicsWorldTrans",{get:wE.prototype.lD,set:wE.prototype.cG});
+wE.prototype.__destroy__=function(){ni(this.kB)};function xE(){throw"cannot construct a btCollisionObjectWrapper, no constructor in IDL";}xE.prototype=Object.create(f.prototype);xE.prototype.constructor=xE;xE.prototype.lB=xE;xE.mB={};b.btCollisionObjectWrapper=xE;xE.prototype.getWorldTransform=function(){return k(oi(this.kB),r)};xE.prototype.getCollisionObject=function(){return k(pi(this.kB),q)};xE.prototype.getCollisionShape=function(){return k(qi(this.kB),l)};
+function C(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=ri(a,c);h(C)[this.kB]=this}C.prototype=Object.create(u.prototype);C.prototype.constructor=C;C.prototype.lB=C;C.mB={};b.ClosestRayResultCallback=C;C.prototype.hasHit=function(){return!!si(this.kB)};C.prototype.get_m_rayFromWorld=C.prototype.NB=function(){return k(ti(this.kB),m)};C.prototype.set_m_rayFromWorld=C.prototype.XB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ui(c,a)};
+Object.defineProperty(C.prototype,"m_rayFromWorld",{get:C.prototype.NB,set:C.prototype.XB});C.prototype.get_m_rayToWorld=C.prototype.OB=function(){return k(vi(this.kB),m)};C.prototype.set_m_rayToWorld=C.prototype.YB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wi(c,a)};Object.defineProperty(C.prototype,"m_rayToWorld",{get:C.prototype.OB,set:C.prototype.YB});C.prototype.get_m_hitNormalWorld=C.prototype.xB=function(){return k(xi(this.kB),m)};
+C.prototype.set_m_hitNormalWorld=C.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yi(c,a)};Object.defineProperty(C.prototype,"m_hitNormalWorld",{get:C.prototype.xB,set:C.prototype.EB});C.prototype.get_m_hitPointWorld=C.prototype.yB=function(){return k(zi(this.kB),m)};C.prototype.set_m_hitPointWorld=C.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ai(c,a)};Object.defineProperty(C.prototype,"m_hitPointWorld",{get:C.prototype.yB,set:C.prototype.FB});
+C.prototype.get_m_collisionFilterGroup=C.prototype.nB=function(){return Bi(this.kB)};C.prototype.set_m_collisionFilterGroup=C.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ci(c,a)};Object.defineProperty(C.prototype,"m_collisionFilterGroup",{get:C.prototype.nB,set:C.prototype.pB});C.prototype.get_m_collisionFilterMask=C.prototype.oB=function(){return Di(this.kB)};
+C.prototype.set_m_collisionFilterMask=C.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ei(c,a)};Object.defineProperty(C.prototype,"m_collisionFilterMask",{get:C.prototype.oB,set:C.prototype.qB});C.prototype.get_m_closestHitFraction=C.prototype.rB=function(){return Fi(this.kB)};C.prototype.set_m_closestHitFraction=C.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gi(c,a)};Object.defineProperty(C.prototype,"m_closestHitFraction",{get:C.prototype.rB,set:C.prototype.sB});
+C.prototype.get_m_collisionObject=C.prototype.vB=function(){return k(Hi(this.kB),q)};C.prototype.set_m_collisionObject=C.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ii(c,a)};Object.defineProperty(C.prototype,"m_collisionObject",{get:C.prototype.vB,set:C.prototype.CB});C.prototype.get_m_flags=C.prototype.tB=function(){return Ji(this.kB)};C.prototype.set_m_flags=C.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ki(c,a)};
+Object.defineProperty(C.prototype,"m_flags",{get:C.prototype.tB,set:C.prototype.uB});C.prototype.__destroy__=function(){Li(this.kB)};function yE(){throw"cannot construct a btConstCollisionObjectArray, no constructor in IDL";}yE.prototype=Object.create(f.prototype);yE.prototype.constructor=yE;yE.prototype.lB=yE;yE.mB={};b.btConstCollisionObjectArray=yE;yE.prototype.size=yE.prototype.size=function(){return Mi(this.kB)};
+yE.prototype.at=yE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ni(c,a),q)};yE.prototype.__destroy__=function(){Oi(this.kB)};function zE(){throw"cannot construct a btScalarArray, no constructor in IDL";}zE.prototype=Object.create(f.prototype);zE.prototype.constructor=zE;zE.prototype.lB=zE;zE.mB={};b.btScalarArray=zE;zE.prototype.size=zE.prototype.size=function(){return Pi(this.kB)};
+zE.prototype.at=zE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Qi(c,a)};zE.prototype.__destroy__=function(){Ri(this.kB)};function D(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Si(a,c);h(D)[this.kB]=this}D.prototype=Object.create(u.prototype);D.prototype.constructor=D;D.prototype.lB=D;D.mB={};b.AllHitsRayResultCallback=D;D.prototype.hasHit=function(){return!!Ti(this.kB)};
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+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});
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+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)};
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+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)};
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+function R(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=px(a,c,d);h(R)[this.kB]=this}R.prototype=Object.create(rE.prototype);R.prototype.constructor=R;R.prototype.lB=R;R.mB={};b.btRaycastVehicle=R;R.prototype.applyEngineForce=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);qx(d,a,c)};
+R.prototype.setSteeringValue=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);rx(d,a,c)};R.prototype.getWheelTransformWS=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(sx(c,a),r)};R.prototype.updateWheelTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);tx(d,a,c)};
+R.prototype.addWheel=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return k(ux(T,a,c,d,e,g,n,z),P)};R.prototype.getNumWheels=function(){return vx(this.kB)};R.prototype.getRigidBody=function(){return k(wx(this.kB),K)};
+R.prototype.getWheelInfo=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(xx(c,a),P)};R.prototype.setBrake=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);yx(d,a,c)};R.prototype.setCoordinateSystem=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);zx(e,a,c,d)};R.prototype.getCurrentSpeedKmHour=function(){return Ax(this.kB)};
+R.prototype.getChassisWorldTransform=function(){return k(Bx(this.kB),r)};R.prototype.rayCast=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Cx(c,a)};R.prototype.updateVehicle=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dx(c,a)};R.prototype.resetSuspension=function(){Ex(this.kB)};R.prototype.getSteeringValue=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Fx(c,a)};
+R.prototype.updateWheelTransformsWS=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?Gx(d,a):Hx(d,a,c)};R.prototype.setPitchControl=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ix(c,a)};R.prototype.updateSuspension=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jx(c,a)};R.prototype.updateFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kx(c,a)};R.prototype.getRightAxis=function(){return Lx(this.kB)};
+R.prototype.getUpAxis=function(){return Mx(this.kB)};R.prototype.getForwardAxis=function(){return Nx(this.kB)};R.prototype.getForwardVector=function(){return k(Ox(this.kB),m)};R.prototype.getUserConstraintType=function(){return Px(this.kB)};R.prototype.setUserConstraintType=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qx(c,a)};R.prototype.setUserConstraintId=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rx(c,a)};R.prototype.getUserConstraintId=function(){return Sx(this.kB)};
+R.prototype.updateAction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Tx(d,a,c)};R.prototype.__destroy__=function(){Ux(this.kB)};function Q(){this.kB=Vx();h(Q)[this.kB]=this}Q.prototype=Object.create(y.prototype);Q.prototype.constructor=Q;Q.prototype.lB=Q;Q.mB={};b.btPairCachingGhostObject=Q;Q.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wx(d,a,c)};
+Q.prototype.getCollisionShape=function(){return k(Xx(this.kB),l)};Q.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yx(c,a)};Q.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zx(c,a)};Q.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$x(c,a)};Q.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?ay(c):by(c,a)};
+Q.prototype.isActive=function(){return!!cy(this.kB)};Q.prototype.isKinematicObject=function(){return!!dy(this.kB)};Q.prototype.isStaticObject=function(){return!!ey(this.kB)};Q.prototype.isStaticOrKinematicObject=function(){return!!fy(this.kB)};Q.prototype.getRestitution=function(){return gy(this.kB)};Q.prototype.getFriction=function(){return hy(this.kB)};Q.prototype.getRollingFriction=function(){return iy(this.kB)};
+Q.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jy(c,a)};Q.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ky(c,a)};Q.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ly(c,a)};Q.prototype.getWorldTransform=function(){return k(my(this.kB),r)};Q.prototype.getCollisionFlags=function(){return ny(this.kB)};
+Q.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oy(c,a)};Q.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);py(c,a)};Q.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qy(c,a)};Q.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ry(c,a)};Q.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sy(c,a)};
+Q.prototype.getUserIndex=function(){return ty(this.kB)};Q.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);uy(c,a)};Q.prototype.getUserPointer=function(){return k(vy(this.kB),XD)};Q.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wy(c,a)};Q.prototype.getBroadphaseHandle=function(){return k(xy(this.kB),YD)};Q.prototype.getNumOverlappingObjects=function(){return yy(this.kB)};
+Q.prototype.getOverlappingObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(zy(c,a),q)};Q.prototype.__destroy__=function(){Ay(this.kB)};function AF(){this.kB=By();h(AF)[this.kB]=this}AF.prototype=Object.create(f.prototype);AF.prototype.constructor=AF;AF.prototype.lB=AF;AF.mB={};b.btGhostPairCallback=AF;AF.prototype.__destroy__=function(){Cy(this.kB)};function S(){this.kB=Dy();h(S)[this.kB]=this}S.prototype=Object.create(f.prototype);S.prototype.constructor=S;
+S.prototype.lB=S;S.mB={};b.btSoftBodyWorldInfo=S;S.prototype.get_air_density=S.prototype.cC=function(){return Ey(this.kB)};S.prototype.set_air_density=S.prototype.UE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fy(c,a)};Object.defineProperty(S.prototype,"air_density",{get:S.prototype.cC,set:S.prototype.UE});S.prototype.get_water_density=S.prototype.RE=function(){return Gy(this.kB)};
+S.prototype.set_water_density=S.prototype.JH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hy(c,a)};Object.defineProperty(S.prototype,"water_density",{get:S.prototype.RE,set:S.prototype.JH});S.prototype.get_water_offset=S.prototype.TE=function(){return Iy(this.kB)};S.prototype.set_water_offset=S.prototype.LH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jy(c,a)};Object.defineProperty(S.prototype,"water_offset",{get:S.prototype.TE,set:S.prototype.LH});
+S.prototype.get_m_maxDisplacement=S.prototype.ND=function(){return Ky(this.kB)};S.prototype.set_m_maxDisplacement=S.prototype.EG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ly(c,a)};Object.defineProperty(S.prototype,"m_maxDisplacement",{get:S.prototype.ND,set:S.prototype.EG});S.prototype.get_water_normal=S.prototype.SE=function(){return k(My(this.kB),m)};S.prototype.set_water_normal=S.prototype.KH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ny(c,a)};
+Object.defineProperty(S.prototype,"water_normal",{get:S.prototype.SE,set:S.prototype.KH});S.prototype.get_m_broadphase=S.prototype.MC=function(){return k(Oy(this.kB),VD)};S.prototype.set_m_broadphase=S.prototype.DF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Py(c,a)};Object.defineProperty(S.prototype,"m_broadphase",{get:S.prototype.MC,set:S.prototype.DF});S.prototype.get_m_dispatcher=S.prototype.dD=function(){return k(Qy(this.kB),TD)};
+S.prototype.set_m_dispatcher=S.prototype.VF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ry(c,a)};Object.defineProperty(S.prototype,"m_dispatcher",{get:S.prototype.dD,set:S.prototype.VF});S.prototype.get_m_gravity=S.prototype.mD=function(){return k(Sy(this.kB),m)};S.prototype.set_m_gravity=S.prototype.dG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ty(c,a)};Object.defineProperty(S.prototype,"m_gravity",{get:S.prototype.mD,set:S.prototype.dG});S.prototype.__destroy__=function(){Uy(this.kB)};
+function U(){throw"cannot construct a Face, no constructor in IDL";}U.prototype=Object.create(f.prototype);U.prototype.constructor=U;U.prototype.lB=U;U.mB={};b.Face=U;U.prototype.get_m_n=U.prototype.MB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Vy(c,a),Node)};U.prototype.set_m_n=U.prototype.WB=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wy(d,a,c)};Object.defineProperty(U.prototype,"m_n",{get:U.prototype.MB,set:U.prototype.WB});
+U.prototype.get_m_normal=U.prototype.RD=function(){return k(Xy(this.kB),m)};U.prototype.set_m_normal=U.prototype.IG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yy(c,a)};Object.defineProperty(U.prototype,"m_normal",{get:U.prototype.RD,set:U.prototype.IG});U.prototype.get_m_ra=U.prototype.$D=function(){return Zy(this.kB)};U.prototype.set_m_ra=U.prototype.SG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$y(c,a)};
+Object.defineProperty(U.prototype,"m_ra",{get:U.prototype.$D,set:U.prototype.SG});U.prototype.__destroy__=function(){az(this.kB)};function BF(){throw"cannot construct a tFaceArray, no constructor in IDL";}BF.prototype=Object.create(f.prototype);BF.prototype.constructor=BF;BF.prototype.lB=BF;BF.mB={};b.tFaceArray=BF;BF.prototype.size=BF.prototype.size=function(){return bz(this.kB)};BF.prototype.at=BF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(cz(c,a),U)};
+BF.prototype.__destroy__=function(){dz(this.kB)};function Node(){throw"cannot construct a Node, no constructor in IDL";}Node.prototype=Object.create(f.prototype);Node.prototype.constructor=Node;Node.prototype.lB=Node;Node.mB={};b.Node=Node;Node.prototype.get_m_x=Node.prototype.IE=function(){return k(ez(this.kB),m)};Node.prototype.set_m_x=Node.prototype.AH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fz(c,a)};Object.defineProperty(Node.prototype,"m_x",{get:Node.prototype.IE,set:Node.prototype.AH});
+Node.prototype.get_m_q=Node.prototype.ZD=function(){return k(gz(this.kB),m)};Node.prototype.set_m_q=Node.prototype.QG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hz(c,a)};Object.defineProperty(Node.prototype,"m_q",{get:Node.prototype.ZD,set:Node.prototype.QG});Node.prototype.get_m_v=Node.prototype.AE=function(){return k(iz(this.kB),m)};Node.prototype.set_m_v=Node.prototype.sH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jz(c,a)};
+Object.defineProperty(Node.prototype,"m_v",{get:Node.prototype.AE,set:Node.prototype.sH});Node.prototype.get_m_f=Node.prototype.jD=function(){return k(kz(this.kB),m)};Node.prototype.set_m_f=Node.prototype.aG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lz(c,a)};Object.defineProperty(Node.prototype,"m_f",{get:Node.prototype.jD,set:Node.prototype.aG});Node.prototype.get_m_n=Node.prototype.MB=function(){return k(mz(this.kB),m)};
+Node.prototype.set_m_n=Node.prototype.WB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nz(c,a)};Object.defineProperty(Node.prototype,"m_n",{get:Node.prototype.MB,set:Node.prototype.WB});Node.prototype.get_m_im=Node.prototype.vD=function(){return oz(this.kB)};Node.prototype.set_m_im=Node.prototype.mG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pz(c,a)};Object.defineProperty(Node.prototype,"m_im",{get:Node.prototype.vD,set:Node.prototype.mG});
+Node.prototype.get_m_area=Node.prototype.JC=function(){return qz(this.kB)};Node.prototype.set_m_area=Node.prototype.AF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rz(c,a)};Object.defineProperty(Node.prototype,"m_area",{get:Node.prototype.JC,set:Node.prototype.AF});Node.prototype.__destroy__=function(){sz(this.kB)};function CF(){throw"cannot construct a tNodeArray, no constructor in IDL";}CF.prototype=Object.create(f.prototype);CF.prototype.constructor=CF;CF.prototype.lB=CF;CF.mB={};
+b.tNodeArray=CF;CF.prototype.size=CF.prototype.size=function(){return tz(this.kB)};CF.prototype.at=CF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(uz(c,a),Node)};CF.prototype.__destroy__=function(){vz(this.kB)};function V(){throw"cannot construct a Material, no constructor in IDL";}V.prototype=Object.create(f.prototype);V.prototype.constructor=V;V.prototype.lB=V;V.mB={};b.Material=V;V.prototype.get_m_kLST=V.prototype.BD=function(){return wz(this.kB)};
+V.prototype.set_m_kLST=V.prototype.sG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xz(c,a)};Object.defineProperty(V.prototype,"m_kLST",{get:V.prototype.BD,set:V.prototype.sG});V.prototype.get_m_kAST=V.prototype.AD=function(){return yz(this.kB)};V.prototype.set_m_kAST=V.prototype.rG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zz(c,a)};Object.defineProperty(V.prototype,"m_kAST",{get:V.prototype.AD,set:V.prototype.rG});V.prototype.get_m_kVST=V.prototype.CD=function(){return Az(this.kB)};
+V.prototype.set_m_kVST=V.prototype.tG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bz(c,a)};Object.defineProperty(V.prototype,"m_kVST",{get:V.prototype.CD,set:V.prototype.tG});V.prototype.get_m_flags=V.prototype.tB=function(){return Cz(this.kB)};V.prototype.set_m_flags=V.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dz(c,a)};Object.defineProperty(V.prototype,"m_flags",{get:V.prototype.tB,set:V.prototype.uB});V.prototype.__destroy__=function(){Ez(this.kB)};
+function DF(){throw"cannot construct a tMaterialArray, no constructor in IDL";}DF.prototype=Object.create(f.prototype);DF.prototype.constructor=DF;DF.prototype.lB=DF;DF.mB={};b.tMaterialArray=DF;DF.prototype.size=DF.prototype.size=function(){return Fz(this.kB)};DF.prototype.at=DF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Gz(c,a),V)};DF.prototype.__destroy__=function(){Hz(this.kB)};function W(){throw"cannot construct a Anchor, no constructor in IDL";}
+W.prototype=Object.create(f.prototype);W.prototype.constructor=W;W.prototype.lB=W;W.mB={};b.Anchor=W;W.prototype.get_m_node=W.prototype.PD=function(){return k(Iz(this.kB),Node)};W.prototype.set_m_node=W.prototype.GG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jz(c,a)};Object.defineProperty(W.prototype,"m_node",{get:W.prototype.PD,set:W.prototype.GG});W.prototype.get_m_local=W.prototype.FD=function(){return k(Kz(this.kB),m)};
+W.prototype.set_m_local=W.prototype.wG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lz(c,a)};Object.defineProperty(W.prototype,"m_local",{get:W.prototype.FD,set:W.prototype.wG});W.prototype.get_m_body=W.prototype.KC=function(){return k(Mz(this.kB),K)};W.prototype.set_m_body=W.prototype.BF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nz(c,a)};Object.defineProperty(W.prototype,"m_body",{get:W.prototype.KC,set:W.prototype.BF});W.prototype.get_m_influence=W.prototype.yD=function(){return Oz(this.kB)};
+W.prototype.set_m_influence=W.prototype.pG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pz(c,a)};Object.defineProperty(W.prototype,"m_influence",{get:W.prototype.yD,set:W.prototype.pG});W.prototype.get_m_c0=W.prototype.NC=function(){return k(Qz(this.kB),uE)};W.prototype.set_m_c0=W.prototype.EF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rz(c,a)};Object.defineProperty(W.prototype,"m_c0",{get:W.prototype.NC,set:W.prototype.EF});
+W.prototype.get_m_c1=W.prototype.OC=function(){return k(Sz(this.kB),m)};W.prototype.set_m_c1=W.prototype.FF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tz(c,a)};Object.defineProperty(W.prototype,"m_c1",{get:W.prototype.OC,set:W.prototype.FF});W.prototype.get_m_c2=W.prototype.PC=function(){return Uz(this.kB)};W.prototype.set_m_c2=W.prototype.GF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vz(c,a)};Object.defineProperty(W.prototype,"m_c2",{get:W.prototype.PC,set:W.prototype.GF});
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+Z.prototype.debugDrawObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);PC(e,a,c,d)};Z.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);QC(c,a)};Z.prototype.getGravity=function(){return k(RC(this.kB),m)};
+Z.prototype.addRigidBody=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?SC(e,a):void 0===d?_emscripten_bind_btSoftRigidDynamicsWorld_addRigidBody_2(e,a,c):TC(e,a,c,d)};Z.prototype.removeRigidBody=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);UC(c,a)};
+Z.prototype.addConstraint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?VC(d,a):WC(d,a,c)};Z.prototype.removeConstraint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);XC(c,a)};Z.prototype.stepSimulation=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);return void 0===c?YC(e,a):void 0===d?ZC(e,a,c):$C(e,a,c,d)};
+Z.prototype.setContactAddedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);aD(c,a)};Z.prototype.setContactProcessedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bD(c,a)};Z.prototype.setContactDestroyedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cD(c,a)};Z.prototype.addAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dD(c,a)};Z.prototype.removeAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);eD(c,a)};
+Z.prototype.getSolverInfo=function(){return k(fD(this.kB),t)};Z.prototype.setInternalTickCallback=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?gD(e,a):void 0===d?hD(e,a,c):iD(e,a,c,d)};Z.prototype.__destroy__=function(){jD(this.kB)};function IF(){this.kB=kD();h(IF)[this.kB]=this}IF.prototype=Object.create(f.prototype);IF.prototype.constructor=IF;IF.prototype.lB=IF;IF.mB={};b.btSoftBodyHelpers=IF;
+IF.prototype.CreateRope=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);return k(lD(n,a,c,d,e,g),Y)};
+IF.prototype.CreatePatch=function(a,c,d,e,g,n,z,T,Da){var dc=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);return k(mD(dc,a,c,d,e,g,n,z,T,Da),Y)};
+IF.prototype.CreatePatchUV=function(a,c,d,e,g,n,z,T,Da,dc){var JF=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);"object"==typeof dc&&(dc=RD(dc));return k(nD(JF,a,c,d,e,g,n,z,T,Da,dc),Y)};
+IF.prototype.CreateEllipsoid=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);return k(oD(g,a,c,d,e),Y)};
+IF.prototype.CreateFromTriMesh=function(a,c,d,e,g){var n=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);"object"==typeof c&&(c=RD(c));if("object"==typeof d&&"object"===typeof d){var z=OD(d,va);PD(d,va,z);d=z}e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);return k(pD(n,a,c,d,e,g),Y)};
+IF.prototype.CreateFromConvexHull=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);return k(qD(g,a,c,d,e),Y)};IF.prototype.__destroy__=function(){rD(this.kB)};
+(function(){function a(){b.PHY_FLOAT=sD();b.PHY_DOUBLE=tD();b.PHY_INTEGER=uD();b.PHY_SHORT=vD();b.PHY_FIXEDPOINT88=wD();b.PHY_UCHAR=xD();b.CONST_GIMPACT_COMPOUND_SHAPE=yD();b.CONST_GIMPACT_TRIMESH_SHAPE_PART=zD();b.CONST_GIMPACT_TRIMESH_SHAPE=AD();b.BT_CONSTRAINT_ERP=BD();b.BT_CONSTRAINT_STOP_ERP=CD();b.BT_CONSTRAINT_CFM=DD();b.BT_CONSTRAINT_STOP_CFM=ED()}Ca?a():Aa.unshift(a)})();b.CONTACT_ADDED_CALLBACK_SIGNATURE="iiiiiiii";b.CONTACT_DESTROYED_CALLBACK_SIGNATURE="ii";
+b.CONTACT_PROCESSED_CALLBACK_SIGNATURE="iiii";b.INTERNAL_TICK_CALLBACK_SIGNATURE="vif";this.Ammo=b;
+
+
+  return Ammo.ready
+}
+
+);
+})();
+if (typeof exports === 'object' && typeof module === 'object')
+  module.exports = Ammo;
+else if (typeof define === 'function' && define['amd'])
+  define([], function() { return Ammo; });
+else if (typeof exports === 'object')
+  exports["Ammo"] = Ammo;

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

@@ -29,7 +29,9 @@ export type RecordedMediaPresentationState = "loading" | "ready" | "waiting" | "
 
 export const RECORDED_MEDIA_DURATION_TOLERANCE_SECONDS = 1;
 const RECORDED_MEDIA_SOURCE_OPEN_TIMEOUT_MS = 10_000;
-const RECORDED_MEDIA_TARGET_TIMEOUT_MS = 10_000;
+// A valid local fragment becomes decoder-ready well below one second. Keeping
+// a damaged GOP on screen for ten seconds only delays the keyframe recovery.
+const RECORDED_MEDIA_TARGET_TIMEOUT_MS = 2_500;
 const RECORDED_MEDIA_FRAGMENT_TIMEOUT_MS = 15_000;
 const RECORDED_MEDIA_REQUIRED_AHEAD_SEGMENTS = 12;
 const RECORDED_MEDIA_SEGMENTS_AHEAD = 36;
@@ -72,6 +74,39 @@ export function recordedMediaDecodeStartSequence(
   return selected;
 }
 
+export function nextRecordedMediaRandomAccessSequence(
+  randomAccessSequences: readonly number[],
+  failedSequence: number,
+): number | null {
+  if (!Number.isInteger(failedSequence) || failedSequence < 1) return null;
+  for (const sequence of randomAccessSequences) {
+    if (!Number.isInteger(sequence) || sequence < 1) return null;
+    if (sequence > failedSequence) return sequence;
+  }
+  return null;
+}
+
+export function recordedMediaRecoveryTargetSequence(
+  requestedSequence: number | null,
+  failedSequence: number | null,
+  recoverySequence: number | null,
+): number | null {
+  if (requestedSequence === null) return null;
+  if (
+    !Number.isInteger(requestedSequence)
+    || requestedSequence < 1
+    || failedSequence === null
+    || recoverySequence === null
+    || !Number.isInteger(failedSequence)
+    || !Number.isInteger(recoverySequence)
+    || failedSequence < 1
+    || recoverySequence <= failedSequence
+  ) return requestedSequence;
+  return requestedSequence >= failedSequence && requestedSequence < recoverySequence
+    ? recoverySequence
+    : requestedSequence;
+}
+
 export function recordedMediaSegmentAppendOrder(
   appended: ReadonlySet<number>,
   decodeStartSequence: number,
@@ -90,6 +125,32 @@ export function recordedMediaSegmentAppendOrder(
   return missing;
 }
 
+/** Resolve a source-clock timestamp to the first fMP4 fragment covering it. */
+export function recordedMediaSegmentSequenceAtTime(
+  segmentEndTimesSeconds: readonly number[],
+  epochStartSeconds: number,
+  currentSeconds: number,
+): number | null {
+  if (
+    !segmentEndTimesSeconds.length ||
+    !Number.isFinite(epochStartSeconds) ||
+    !Number.isFinite(currentSeconds)
+  ) return null;
+  const localSeconds = Math.max(0, currentSeconds - epochStartSeconds);
+  let left = 0;
+  let right = segmentEndTimesSeconds.length - 1;
+  while (left < right) {
+    const middle = Math.floor((left + right) / 2);
+    const endSeconds = segmentEndTimesSeconds[middle];
+    if (!Number.isFinite(endSeconds) || endSeconds <= 0) return null;
+    if (endSeconds + 0.001 >= localSeconds) right = middle;
+    else left = middle + 1;
+  }
+  const finalEndSeconds = segmentEndTimesSeconds[left];
+  if (!Number.isFinite(finalEndSeconds) || finalEndSeconds + 0.001 < localSeconds) return null;
+  return left + 1;
+}
+
 export function recordedMediaCanRollTarget(
   previousSequence: number,
   nextSequence: number,
@@ -121,6 +182,27 @@ function recordedMediaTimeRangesContain(
   return false;
 }
 
+export function recordedMediaTimestampStallRecoveryTarget(
+  currentSeconds: number,
+  bufferedRanges: readonly (readonly [number, number])[],
+  skipSeconds = 0.18,
+): number | null {
+  if (!Number.isFinite(currentSeconds) || !Number.isFinite(skipSeconds) || skipSeconds <= 0) {
+    return null;
+  }
+  for (const [startSeconds, endSeconds] of bufferedRanges) {
+    if (
+      !Number.isFinite(startSeconds)
+      || !Number.isFinite(endSeconds)
+      || currentSeconds < startSeconds - 0.05
+      || currentSeconds > endSeconds
+    ) continue;
+    const targetSeconds = Math.min(currentSeconds + skipSeconds, endSeconds - 0.05);
+    return targetSeconds >= currentSeconds + 0.04 ? targetSeconds : null;
+  }
+  return null;
+}
+
 export function recordedMediaPresentationState(
   state: "loading" | "ready" | "error",
   readyGeneration: string | null,
@@ -151,6 +233,24 @@ export function selectRecordedMediaEpoch(
   return selected && currentSeconds <= selected.timelineEndSeconds ? selected : null;
 }
 
+/**
+ * Keep admission bounded even when the shared Rerun clock is currently before,
+ * between, or after camera epochs. Presentation still reports `waiting`; this
+ * selector only chooses the nearest epoch whose first/last fragment can prove
+ * that the camera transport is usable without downloading the whole MP4.
+ */
+export function selectRecordedMediaPreparationEpoch(
+  epochs: readonly ObservationRecordedMediaEpoch[],
+  currentSeconds: number,
+): ObservationRecordedMediaEpoch | null {
+  if (!epochs.length || !Number.isFinite(currentSeconds)) return null;
+  const active = selectRecordedMediaEpoch(epochs, currentSeconds);
+  if (active) return active;
+  return epochs.find((epoch) => epoch.timelineStartSeconds > currentSeconds)
+    ?? epochs.at(-1)
+    ?? null;
+}
+
 export function recordedMediaSeekableCoverage(
   durationSeconds: number,
   seekableEndSeconds: number,
@@ -231,29 +331,14 @@ export async function fetchRecordedMediaArchive(
   return { manifest, byteLength: totalBytes };
 }
 
-function videoHasSeekableArchive(
+function waitForRecordedVideoInitialFrame(
   video: HTMLVideoElement,
-  declaredDurationSeconds: number,
-): boolean {
-  if (video.readyState < 1 || video.seekable.length < 1) return false;
-  return recordedMediaSeekableCoverage(
-    video.duration,
-    video.seekable.end(video.seekable.length - 1),
-    declaredDurationSeconds,
-    RECORDED_MEDIA_DURATION_TOLERANCE_SECONDS,
-    video.seekable.start(0),
-  );
-}
-
-function waitForSeekableArchive(
-  video: HTMLVideoElement,
-  declaredDurationSeconds: number,
   signal: AbortSignal,
 ): Promise<void> {
   if (signal.aborted) return Promise.reject(new DOMException("Aborted", "AbortError"));
-  if (videoHasSeekableArchive(video, declaredDurationSeconds)) return Promise.resolve();
+  if (video.readyState >= HTMLMediaElement.HAVE_CURRENT_DATA) return Promise.resolve();
   return new Promise((resolve, reject) => {
-    const events = ["loadedmetadata", "durationchange", "progress", "canplay"] as const;
+    const events = ["loadeddata", "canplay", "progress"] as const;
     let stallTimer: ReturnType<typeof globalThis.setTimeout> | undefined;
     const armStallTimer = () => {
       if (stallTimer !== undefined) globalThis.clearTimeout(stallTimer);
@@ -270,7 +355,7 @@ function waitForSeekableArchive(
     };
     const onProgress = () => {
       armStallTimer();
-      if (!videoHasSeekableArchive(video, declaredDurationSeconds)) return;
+      if (video.readyState < HTMLMediaElement.HAVE_CURRENT_DATA) return;
       cleanup();
       resolve();
     };
@@ -313,11 +398,7 @@ async function mountRecordedEpochStream(
   };
   video.load();
   try {
-    await waitForSeekableArchive(
-      video,
-      descriptor.timelineEndSeconds - descriptor.timelineStartSeconds,
-      signal,
-    );
+    await waitForRecordedVideoInitialFrame(video, signal);
     return cleanup;
   } catch (error) {
     cleanup();
@@ -336,6 +417,11 @@ interface RecordedSegmentTarget {
   resetAttempts: number;
 }
 
+interface RecordedSegmentRecovery {
+  readonly failedSequence: number;
+  readonly recoverySequence: number;
+}
+
 interface RecordedSegmentStreamRuntime {
   readonly generation: string;
   readonly mediaSource: MediaSource;
@@ -352,6 +438,7 @@ interface RecordedSegmentStreamRuntime {
   target: RecordedSegmentTarget | null;
   fetchAbort: AbortController | null;
   notifiedRevision: number;
+  hasPresentedFrame: boolean;
   pumping: boolean;
   disposed: boolean;
   onTargetBuffered: ((target: RecordedSegmentTarget) => void) | null;
@@ -715,6 +802,9 @@ export function RecordedFmp4Player({
   onAdmissionChange,
   onPlaybackChange,
   onPlayingRejected,
+  playbackAuthority = "media",
+  playbackTransport = "segmented",
+  recoverTimestampStalls = false,
 }: {
   source: ObservationSourceDescriptor;
   playback?: RecordedObservationPlayback | null;
@@ -727,6 +817,9 @@ export function RecordedFmp4Player({
   onAdmissionChange?: (state: RecordedCameraAdmissionState) => void;
   onPlaybackChange?: (playback: RecordedObservationPlayback) => void;
   onPlayingRejected?: () => void;
+  playbackAuthority?: "media" | "host";
+  playbackTransport?: "segmented" | "epoch-stream";
+  recoverTimestampStalls?: boolean;
 }) {
   const videoRef = useRef<HTMLVideoElement>(null);
   const onAdmissionChangeRef = useRef(onAdmissionChange);
@@ -767,12 +860,16 @@ export function RecordedFmp4Player({
   );
   const [archive, setArchive] = useState<RecordedMediaArchive | null>(null);
   const [state, setState] = useState<"loading" | "ready" | "error">("loading");
+  const [errorMessage, setErrorMessage] = useState<string | null>(null);
   const [readyGeneration, setReadyGeneration] = useState<string | null>(null);
   const [bufferRevision, setBufferRevision] = useState(0);
+  const [segmentRecoveryGeneration, setSegmentRecoveryGeneration] = useState(0);
+  const [segmentRecovery, setSegmentRecovery] = useState<RecordedSegmentRecovery | null>(null);
   const segmentedRuntimeRef = useRef<RecordedSegmentStreamRuntime | null>(null);
   const [segmentedRuntimeGeneration, setSegmentedRuntimeGeneration] = useState<string | null>(null);
   const targetRevisionRef = useRef(0);
   const targetReadyAbortRef = useRef<AbortController | null>(null);
+  const lastSegmentRecoveryRef = useRef<string | null>(null);
   const playAttemptRevisionRef = useRef(0);
   const currentSeconds = playback?.currentSeconds ?? contract?.timelineStartSeconds ?? 0;
   const playbackPlayingRef = useRef(Boolean(playback?.playing));
@@ -780,25 +877,63 @@ export function RecordedFmp4Player({
   const playbackRate = playback?.rate && Number.isFinite(playback.rate)
     ? Math.min(4, Math.max(0.25, playback.rate))
     : 1;
-  const epoch = useMemo(
+  const playbackRateRef = useRef(playbackRate);
+  playbackRateRef.current = playbackRate;
+  const presentationEpoch = useMemo(
     () => selectRecordedMediaEpoch(archive?.manifest.epochs ?? [], currentSeconds),
     [archive?.manifest.epochs, currentSeconds],
   );
+  const epoch = useMemo(
+    () => selectRecordedMediaPreparationEpoch(
+      archive?.manifest.epochs ?? [],
+      currentSeconds,
+    ),
+    [archive?.manifest.epochs, currentSeconds],
+  );
+  const segmentClockSeconds = epoch
+    ? Math.min(
+        Math.max(currentSeconds, epoch.timelineStartSeconds),
+        epoch.timelineEndSeconds,
+      )
+    : currentSeconds;
+  const effectiveSegmentCount = segmentCount ?? epoch?.segmentCount ?? null;
+  const requestedSegmentSequence = segmentSequence ?? (epoch
+    ? recordedMediaSegmentSequenceAtTime(
+        epoch.segmentEndTimesSeconds,
+        epoch.timelineStartSeconds,
+        segmentClockSeconds,
+      )
+    : null);
+  const effectiveSegmentSequence = recordedMediaRecoveryTargetSequence(
+    requestedSegmentSequence,
+    segmentRecovery?.failedSequence ?? null,
+    segmentRecovery?.recoverySequence ?? null,
+  );
+  const holdingForSegmentRecovery = Boolean(
+    segmentRecovery
+    && requestedSegmentSequence !== null
+    && effectiveSegmentSequence !== requestedSegmentSequence,
+  );
   const segmented = Boolean(
-    segmentCount !== null
-    && Number.isInteger(segmentCount)
-    && segmentCount >= 1
+    playbackTransport === "segmented"
+    && requestedSegmentSequence !== null
+    && Number.isInteger(requestedSegmentSequence)
+    && requestedSegmentSequence >= 1
+    &&
+    effectiveSegmentCount !== null
+    && Number.isInteger(effectiveSegmentCount)
+    && effectiveSegmentCount >= 1
     && typeof MediaSource !== "undefined"
     && epoch
-    && epoch.segmentCount === segmentCount
+    && epoch.segmentCount === effectiveSegmentCount
     && epoch.randomAccessSequences.length > 0
-    && epoch.segmentEndTimesSeconds.length === segmentCount
+    && epoch.segmentEndTimesSeconds.length === effectiveSegmentCount
     && MediaSource.isTypeSupported(epoch.mediaType),
   );
   const directPlaybackSeconds = segmented ? null : currentSeconds;
-  const waitingForEpoch = Boolean(archive && !epoch);
-  const selectedGeneration = contract && epoch
-    ? `${contract.manifestGenerationSha256}:${epoch.ordinal}:${epoch.timelineStartSeconds}:${epoch.timelineEndSeconds}`
+  const waitingForEpoch = Boolean(archive && !presentationEpoch);
+  const selectedGeneration = contract && presentationEpoch
+    ? `${contract.manifestGenerationSha256}:${presentationEpoch.ordinal}:${presentationEpoch.timelineStartSeconds}:${presentationEpoch.timelineEndSeconds}`
     : null;
   const visualState = recordedMediaPresentationState(
     state,
@@ -812,6 +947,7 @@ export function RecordedFmp4Player({
     if (!contract) {
       setArchive(null);
       setReadyGeneration(null);
+      setErrorMessage("Некорректный descriptor записанной камеры.");
       setState("error");
       reportAdmission({
         phase: "error",
@@ -824,6 +960,9 @@ export function RecordedFmp4Player({
     const abort = new AbortController();
     setArchive(null);
     setReadyGeneration(null);
+    setSegmentRecovery(null);
+    lastSegmentRecoveryRef.current = null;
+    setErrorMessage(null);
     setState("loading");
     reportAdmission({
       phase: "loading",
@@ -841,6 +980,7 @@ export function RecordedFmp4Player({
         }
         setArchive(null);
         setReadyGeneration(null);
+        setErrorMessage("Архив записанной камеры не прошёл проверку.");
         setState("error");
         reportAdmission({
           phase: "error",
@@ -852,43 +992,14 @@ export function RecordedFmp4Player({
   }, [admissionKey, contract, prepare]);
 
   useEffect(() => {
-    if (!archive || !contract || !prepare || segmented) return;
-    const abort = new AbortController();
-    let disposed = false;
-    void (async () => {
-      for (const candidate of archive.manifest.epochs) {
-        const probe = document.createElement("video");
-        probe.muted = true;
-        probe.playsInline = true;
-        const cleanup = await mountRecordedEpochStream(probe, candidate, abort.signal);
-        cleanup();
-        if (disposed || abort.signal.aborted) return;
-      }
-      if (disposed || abort.signal.aborted) return;
-      reportAdmission({
-        phase: "ready",
-        byteLength: archive.byteLength,
-        message: null,
-      });
-    })().catch((error: unknown) => {
-      if (
-        disposed ||
-        abort.signal.aborted ||
-        (error instanceof DOMException && error.name === "AbortError")
-      ) return;
-      setReadyGeneration(null);
-      setState("error");
-      reportAdmission({
-        phase: "error",
-        byteLength: archive.byteLength,
-        message: "Не все codec epoch записанной камеры декодируются и доступны для seek.",
-      });
-    });
-    return () => {
-      disposed = true;
-      abort.abort();
-    };
-  }, [admissionKey, archive, contract, prepare, segmented]);
+    if (!segmentRecovery || requestedSegmentSequence === null) return;
+    if (
+      requestedSegmentSequence >= segmentRecovery.failedSequence
+      && requestedSegmentSequence < segmentRecovery.recoverySequence
+    ) return;
+    lastSegmentRecoveryRef.current = null;
+    setSegmentRecovery(null);
+  }, [requestedSegmentSequence, segmentRecovery]);
 
   useEffect(() => {
     const video = videoRef.current;
@@ -909,6 +1020,7 @@ export function RecordedFmp4Player({
 
     setReadyGeneration(null);
     setSegmentedRuntimeGeneration(null);
+    setErrorMessage(null);
     setState("loading");
     video.pause();
     const sourceOpened = waitForMediaSourceOpen(mediaSource, abort.signal);
@@ -944,6 +1056,7 @@ export function RecordedFmp4Player({
         target: null,
         fetchAbort: null,
         notifiedRevision: 0,
+        hasPresentedFrame: false,
         pumping: false,
         disposed: false,
         onTargetBuffered: null,
@@ -955,6 +1068,7 @@ export function RecordedFmp4Player({
         return;
       }
       setReadyGeneration(null);
+      setErrorMessage("Покадровый буфер записанной камеры не открылся.");
       setState("error");
       reportAdmission({
         phase: "error",
@@ -980,7 +1094,14 @@ export function RecordedFmp4Player({
       }
       URL.revokeObjectURL(objectUrl);
     };
-  }, [archive, contract, epoch, segmentCount, segmented]);
+  }, [
+    archive,
+    contract,
+    effectiveSegmentCount,
+    epoch,
+    segmented,
+    segmentRecoveryGeneration,
+  ]);
 
   useEffect(() => {
     const runtime = segmentedRuntimeRef.current;
@@ -991,18 +1112,19 @@ export function RecordedFmp4Player({
       || !archive
       || !segmented
       || segmentedRuntimeGeneration !== runtime.generation
-      || segmentSequence === null
-      || !Number.isInteger(segmentSequence)
-      || segmentSequence < 1
-      || segmentSequence > runtime.segmentCount
+      || effectiveSegmentSequence === null
+      || !Number.isInteger(effectiveSegmentSequence)
+      || effectiveSegmentSequence < 1
+      || effectiveSegmentSequence > runtime.segmentCount
     ) return;
     const archiveByteLength = archive.byteLength;
     const decodeStart = recordedMediaDecodeStartSequence(
       runtime.randomAccessSequences,
-      segmentSequence,
+      effectiveSegmentSequence,
     );
     if (decodeStart === null) {
       setReadyGeneration(null);
+      setErrorMessage("Для кадра записанной камеры нет random-access фрагмента.");
       setState("error");
       reportAdmission({
         phase: "error",
@@ -1013,10 +1135,11 @@ export function RecordedFmp4Player({
     }
     const targetSeconds = recordedSegmentStartSeconds(
       runtime.segmentEndTimesSeconds,
-      segmentSequence,
+      effectiveSegmentSequence,
     );
     if (targetSeconds === null) {
       setReadyGeneration(null);
+      setErrorMessage("Для кадра записанной камеры нет точной media timestamp.");
       setState("error");
       reportAdmission({
         phase: "error",
@@ -1028,15 +1151,15 @@ export function RecordedFmp4Player({
     const previousTarget = runtime.target;
     const readyEnd = Math.min(
       runtime.segmentCount,
-      segmentSequence + RECORDED_MEDIA_REQUIRED_AHEAD_SEGMENTS,
+      effectiveSegmentSequence + RECORDED_MEDIA_REQUIRED_AHEAD_SEGMENTS,
     );
     const desiredEnd = Math.min(
       runtime.segmentCount,
-      segmentSequence + RECORDED_MEDIA_SEGMENTS_AHEAD,
+      effectiveSegmentSequence + RECORDED_MEDIA_SEGMENTS_AHEAD,
     );
     const candidateTarget: RecordedSegmentTarget = {
       revision: previousTarget?.revision ?? 0,
-      sequence: segmentSequence,
+      sequence: effectiveSegmentSequence,
       decodeStart,
       readyEnd,
       desiredEnd,
@@ -1044,6 +1167,24 @@ export function RecordedFmp4Player({
       forceReset: false,
       resetAttempts: 0,
     };
+    const recoverFromSegmentFailure = (failedSequence: number): boolean => {
+      const recoverySequence = nextRecordedMediaRandomAccessSequence(
+        runtime.randomAccessSequences,
+        failedSequence,
+      );
+      if (recoverySequence === null) return false;
+      const recoveryToken = `${runtime.generation}:${failedSequence}:${recoverySequence}`;
+      if (lastSegmentRecoveryRef.current === recoveryToken) return true;
+      lastSegmentRecoveryRef.current = recoveryToken;
+      setReadyGeneration(null);
+      setSegmentRecovery({ failedSequence, recoverySequence });
+      setErrorMessage(
+        `Восстанавливаем камеру с ключевого кадра ${recoverySequence}.`,
+      );
+      setState("loading");
+      setSegmentRecoveryGeneration((generation) => generation + 1);
+      return true;
+    };
     const rollingTarget = Boolean(previousTarget && recordedMediaCanRollTarget(
       previousTarget.sequence,
       candidateTarget.sequence,
@@ -1057,21 +1198,62 @@ export function RecordedFmp4Player({
         || runtime.abort.signal.aborted
         || (error instanceof DOMException && error.name === "AbortError")
       ) return;
+      const failedSequence = runtime.target?.sequence ?? effectiveSegmentSequence;
+      if (failedSequence !== null && recoverFromSegmentFailure(failedSequence)) return;
+      const detail = error instanceof Error && error.message
+        ? `: ${error.message}`
+        : ".";
+      const message = `Покадровый фрагмент записанной камеры недоступен${detail}`;
       setReadyGeneration(null);
+      setErrorMessage(message);
       setState("error");
       reportAdmission({
         phase: "error",
         byteLength: archiveByteLength,
-        message: "Покадровый фрагмент записанной камеры недоступен.",
+        message,
       });
     };
+    const resumePlaybackIfRequested = async (revision: number) => {
+      if (
+        runtime.disposed
+        || segmentedRuntimeRef.current !== runtime
+        || runtime.target?.revision !== revision
+        || !playbackPlayingRef.current
+      ) return;
+      video.playbackRate = playbackRateRef.current;
+      try {
+        await video.play();
+      } catch {
+        if (
+          runtime.disposed
+          || segmentedRuntimeRef.current !== runtime
+          || runtime.target?.revision !== revision
+        ) return;
+        // Canonical recorded LABs run one host-owned clock for camera and
+        // spatial evidence. A transient MSE play() rejection (commonly a
+        // pause/reset race while the next fragment is admitted) must stay a
+        // decoder concern: the rolling target will retry and catch up.
+        if (playbackAuthority === "host") return;
+        onPlayingRejectedRef.current?.();
+        setReadyGeneration(null);
+        setErrorMessage("Запуск записанной камеры отклонён браузером.");
+        setState("error");
+        reportAdmission({
+          phase: "error",
+          byteLength: archiveByteLength,
+          message: "Запуск записанной камеры отклонён браузером.",
+        });
+      }
+    };
     if (rollingTarget && previousTarget) {
       runtime.target = {
         ...candidateTarget,
         revision: previousTarget.revision,
       };
       runtime.onTargetBuffered = null;
-      void pumpRecordedSegmentWindow(runtime).catch(reportPumpError);
+      void pumpRecordedSegmentWindow(runtime)
+        .then(() => resumePlaybackIfRequested(previousTarget.revision))
+        .catch(reportPumpError);
       return;
     }
 
@@ -1090,8 +1272,13 @@ export function RecordedFmp4Player({
     runtime.fetchAbort?.abort();
     runtime.target = target;
     const alreadyBuffered = recordedSegmentTargetBuffered(runtime, target);
+    const retainForwardFrame = Boolean(
+      runtime.hasPresentedFrame
+      && previousTarget
+      && candidateTarget.sequence >= previousTarget.sequence,
+    );
     video.pause();
-    if (!alreadyBuffered) {
+    if (!alreadyBuffered && !retainForwardFrame) {
       setReadyGeneration(null);
       setState("loading");
     }
@@ -1119,19 +1306,24 @@ export function RecordedFmp4Player({
             || runtime.target?.revision !== bufferedTarget.revision
           ) return;
           setBufferRevision((revision) => revision + 1);
+          runtime.hasPresentedFrame = true;
           setReadyGeneration(runtime.generation);
+          setErrorMessage(null);
           setState("ready");
           reportAdmission({
             phase: "ready",
             byteLength: archiveByteLength,
             message: null,
           });
+          await resumePlaybackIfRequested(bufferedTarget.revision);
         } catch (error) {
           if (
             targetReadyAbort.signal.aborted
             || (error instanceof DOMException && error.name === "AbortError")
           ) return;
+          if (recoverFromSegmentFailure(bufferedTarget.sequence)) return;
           setReadyGeneration(null);
+          setErrorMessage("Кадр записанной камеры не стал decoder-ready.");
           setState("error");
           reportAdmission({
             phase: "error",
@@ -1152,7 +1344,13 @@ export function RecordedFmp4Player({
       if (targetReadyAbortRef.current === targetReadyAbort) targetReadyAbortRef.current = null;
       if (runtime.onTargetBuffered === markBuffered) runtime.onTargetBuffered = null;
     };
-  }, [archive?.byteLength, segmentSequence, segmented, segmentedRuntimeGeneration]);
+  }, [
+    archive?.byteLength,
+    effectiveSegmentSequence,
+    playbackAuthority,
+    segmented,
+    segmentedRuntimeGeneration,
+  ]);
 
   useEffect(() => {
     const video = videoRef.current;
@@ -1162,6 +1360,7 @@ export function RecordedFmp4Player({
       ? `${contract.manifestGenerationSha256}:${epochDescriptor.ordinal}:${epochDescriptor.timelineStartSeconds}:${epochDescriptor.timelineEndSeconds}`
       : null;
     setReadyGeneration(null);
+    setErrorMessage(null);
     setState("loading");
     const abort = new AbortController();
     let disposed = false;
@@ -1177,7 +1376,13 @@ export function RecordedFmp4Player({
         }
         setBufferRevision((revision) => revision + 1);
         setReadyGeneration(generation);
+        setErrorMessage(null);
         setState("ready");
+        reportAdmission({
+          phase: "ready",
+          byteLength: archive?.byteLength ?? null,
+          message: null,
+        });
       } catch (error) {
         if (
           disposed ||
@@ -1187,11 +1392,12 @@ export function RecordedFmp4Player({
           return;
         }
         setReadyGeneration(null);
+        setErrorMessage("Записанная камера не открыла первый декодируемый кадр.");
         setState("error");
         reportAdmission({
           phase: "error",
           byteLength: archive?.byteLength ?? null,
-          message: "Записанная камера не стала seekable.",
+          message: "Записанная камера не открыла первый декодируемый кадр.",
         });
       }
     };
@@ -1226,6 +1432,7 @@ export function RecordedFmp4Player({
         video.currentTime = target;
       } catch {
         setReadyGeneration(null);
+        setErrorMessage("Seek записанной камеры завершился ошибкой.");
         setState("error");
         reportAdmission({
           phase: "error",
@@ -1236,11 +1443,13 @@ export function RecordedFmp4Player({
       }
     }
     video.playbackRate = playbackRate;
-    if (playback?.playing) {
+    if (playback?.playing && !holdingForSegmentRecovery) {
       void video.play().catch(() => {
         if (playAttemptRevisionRef.current !== playAttemptRevision) return;
+        if (playbackAuthority === "host") return;
         onPlayingRejectedRef.current?.();
         setReadyGeneration(null);
+        setErrorMessage("Запуск записанной камеры отклонён браузером.");
         setState("error");
         reportAdmission({
           phase: "error",
@@ -1256,12 +1465,95 @@ export function RecordedFmp4Player({
     bufferRevision,
     directPlaybackSeconds,
     epoch,
+    holdingForSegmentRecovery,
     playback?.playing,
+    playbackAuthority,
     playbackRate,
     segmented,
     visualState,
   ]);
 
+  useEffect(() => {
+    const video = videoRef.current;
+    if (!video || !recoverTimestampStalls || !playback?.playing || visualState !== "ready") {
+      return;
+    }
+    let lastSeconds = video.currentTime;
+    let lastProgressAtMs = performance.now();
+    const interval = window.setInterval(() => {
+      if (
+        !playbackPlayingRef.current
+        || video.paused
+        || video.ended
+        || video.seeking
+        || video.readyState < HTMLMediaElement.HAVE_CURRENT_DATA
+      ) {
+        lastSeconds = video.currentTime;
+        lastProgressAtMs = performance.now();
+        return;
+      }
+      const nowMs = performance.now();
+      if (video.currentTime >= lastSeconds + 0.02) {
+        lastSeconds = video.currentTime;
+        lastProgressAtMs = nowMs;
+        return;
+      }
+      if (nowMs - lastProgressAtMs < 1_250) return;
+      const bufferedRanges = Array.from(
+        { length: video.buffered.length },
+        (_, index) => [video.buffered.start(index), video.buffered.end(index)] as const,
+      );
+      const targetSeconds = recordedMediaTimestampStallRecoveryTarget(
+        video.currentTime,
+        bufferedRanges,
+      );
+      lastProgressAtMs = nowMs;
+      if (targetSeconds === null) return;
+      // Field recordings can contain non-monotonic or corrupt H.264 timestamps.
+      // If decoded time is frozen despite proven buffered media ahead, skip only
+      // the broken timestamp interval and return authority to the media clock.
+      video.currentTime = targetSeconds;
+      lastSeconds = targetSeconds;
+    }, 250);
+    return () => window.clearInterval(interval);
+  }, [playback?.playing, recoverTimestampStalls, visualState]);
+
+  useEffect(() => {
+    const video = videoRef.current;
+    if (!video || !segmented || !playback?.playing || visualState !== "ready") return;
+    let cancelled = false;
+    const resumeIfDecoderReady = () => {
+      if (cancelled || !playbackPlayingRef.current || !video.paused) return;
+      const runtime = segmentedRuntimeRef.current;
+      const target = runtime?.target;
+      if (
+        !runtime
+        || !target
+        || runtime.disposed
+        || video.seeking
+        || video.readyState < HTMLMediaElement.HAVE_CURRENT_DATA
+        || Math.abs(video.currentTime - target.targetSeconds) > 0.25
+        || !recordedMediaTimeRangesContain(video.buffered, target.targetSeconds)
+      ) return;
+      playAttemptRevisionRef.current += 1;
+      const playAttemptRevision = playAttemptRevisionRef.current;
+      video.playbackRate = playbackRateRef.current;
+      void video.play().catch(() => {
+        if (cancelled || playAttemptRevisionRef.current !== playAttemptRevision) return;
+        if (playbackAuthority === "host") return;
+        onPlayingRejectedRef.current?.();
+      });
+    };
+    const queueResume = () => window.queueMicrotask(resumeIfDecoderReady);
+    const events = ["pause", "canplay", "seeked"] as const;
+    for (const event of events) video.addEventListener(event, queueResume);
+    resumeIfDecoderReady();
+    return () => {
+      cancelled = true;
+      for (const event of events) video.removeEventListener(event, queueResume);
+    };
+  }, [bufferRevision, playback?.playing, playbackAuthority, segmented, visualState]);
+
   useEffect(() => {
     const video = videoRef.current;
     if ((!interactive && onPlaybackChange === undefined) || !video || !epoch || visualState !== "ready") return;
@@ -1319,7 +1611,9 @@ export function RecordedFmp4Player({
           {visualState === "waiting"
             ? "Камера на этой позиции ещё не записывалась"
             : visualState === "error"
-              ? "Записанное видео недоступно"
+              ? errorMessage ?? "Записанное видео недоступно"
+              : errorMessage
+                ? errorMessage
               : archive
                 ? "Проверяем seek и codec записанного видео…"
                 : "Читаем manifest записанного видео…"}

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

@@ -0,0 +1,257 @@
+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,
+  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;
+  mediaMultiLayer?: boolean;
+  mediaContent?: ReactNode;
+  spatialContent?: ReactNode;
+  /** One upstream Rerun viewer owns both panes and the shared playback clock. */
+  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 ? (
+        <div
+          className="m4-replay-threat-visual__pane-toolbar"
+          data-pane-toolbar="media"
+          data-multi-semantic={mediaMultiLayer ? "true" : undefined}
+        >
+          {mediaLayerControls}
+          {mediaModeControls}
+        </div>
+      ) : null}
+      {mediaContent}
+    </section>
+  );
+  const spatialPane = spatialMode !== "none" ? (
+    <section
+      className="m4-replay-threat-visual__pane"
+      data-pane="spatial"
+      aria-label={spatialAriaLabel}
+    >
+      {splitView ? (
+        <div
+          className="m4-replay-threat-visual__pane-toolbar"
+          data-pane-toolbar="spatial"
+        >
+          {spatialLeadingControl}
+          <div className="m4-replay-threat-visual__spatial-toolbar-end">
+            {spatialLayerControls}
+            {spatialModeControls}
+          </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}
+        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/LaboratoryMetricEvidenceScene.tsx

@@ -1,6 +1,7 @@
 import {
   forwardRef,
   type CSSProperties,
+  useCallback,
   useEffect,
   useImperativeHandle,
   useRef,
@@ -53,6 +54,12 @@ export interface LaboratoryMetricCellEvidence {
   state: LaboratoryMetricCellState;
 }
 
+export interface LaboratoryMetricPackedCellEvidence {
+  centersBodyXyM: Float32Array;
+  zBoundsM: Float32Array;
+  stateCodes: Uint8Array;
+}
+
 export interface LaboratoryMetricLegendEntry {
   id: LaboratoryMetricDecision
     | LaboratoryMetricCellState
@@ -63,6 +70,13 @@ export interface LaboratoryMetricLegendEntry {
   label: string;
 }
 
+interface LaboratoryMetricRenderStats {
+  frameMs: number;
+  drawCalls: number;
+  triangles: number;
+  pixelRatio: number;
+}
+
 export function laboratoryMetricLegendEntries({
   pointCloudCount,
   localSurfaceCount,
@@ -256,6 +270,7 @@ LaboratoryMetricEvidenceSceneHandle,
   semanticClasses?: readonly RecordedEvidenceSemanticClass[];
   semanticPalette?: readonly RecordedEvidenceSemanticPaletteEntry[];
   classifiedCells?: readonly LaboratoryMetricCellEvidence[];
+  classifiedPackedCells?: LaboratoryMetricPackedCellEvidence;
   classifiedCellSizeM?: number;
   showClassifiedCells?: boolean;
 }
@@ -276,6 +291,7 @@ LaboratoryMetricEvidenceSceneHandle,
   semanticClasses,
   semanticPalette,
   classifiedCells = [],
+  classifiedPackedCells,
   classifiedCellSizeM = 0.45,
   showClassifiedCells = true,
 }, ref) {
@@ -288,10 +304,16 @@ LaboratoryMetricEvidenceSceneHandle,
   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;
@@ -368,27 +390,51 @@ LaboratoryMetricEvidenceSceneHandle,
     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);
       const height = Math.max(host.clientHeight, 1);
       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();
@@ -401,6 +447,7 @@ LaboratoryMetricEvidenceSceneHandle,
       classifiedContentRef.current = null;
       localSurfacePointsRef.current = null;
       currentIncrementPointsRef.current = null;
+      requestRenderRef.current = () => undefined;
       classifiedMeshesRef.current = new Map();
     };
   }, []);
@@ -415,6 +462,7 @@ LaboratoryMetricEvidenceSceneHandle,
     if (!points) return;
     points.visible = showLocalSurface && localSurfaceBodyXyzM.length > 0;
     if (points.visible) updatePointPositions(points.geometry, localSurfaceBodyXyzM);
+    requestRenderRef.current();
   }, [localSurfaceBodyXyzM, showLocalSurface]);
 
   useEffect(() => {
@@ -422,7 +470,10 @@ LaboratoryMetricEvidenceSceneHandle,
     const points = currentIncrementPointsRef.current;
     if (!host || !points) return;
     points.visible = showCurrentIncrement && pointCloudBodyXyzM.length > 0;
-    if (!points.visible) return;
+    if (!points.visible) {
+      requestRenderRef.current();
+      return;
+    }
     updatePointPositions(points.geometry, pointCloudBodyXyzM);
     const material = points.material as THREE.PointsMaterial;
     const hasAlignedSemanticClasses =
@@ -436,6 +487,7 @@ LaboratoryMetricEvidenceSceneHandle,
         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));
@@ -461,6 +513,7 @@ LaboratoryMetricEvidenceSceneHandle,
       material.needsUpdate = true;
     }
     material.color.setRGB(1, 1, 1);
+    requestRenderRef.current();
   }, [
     pointCloudBodyXyzM,
     pointSemanticClassIds,
@@ -543,7 +596,7 @@ LaboratoryMetricEvidenceSceneHandle,
         content.add(centroid);
       }
     }
-
+    requestRenderRef.current();
   }, [
     obstacles,
     occupiedVoxelSizeM,
@@ -556,10 +609,21 @@ LaboratoryMetricEvidenceSceneHandle,
     const host = hostRef.current;
     const content = classifiedContentRef.current;
     if (!host || !content) return;
-    content.visible = showClassifiedCells && classifiedCells.length > 0;
-    if (!content.visible) 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 = classifiedCells.length;
+    const requiredCapacity = cellCount;
     const currentMeshes = classifiedMeshesRef.current;
     const firstMesh = currentMeshes.values().next().value as THREE.InstancedMesh | undefined;
     const needsAllocation = !firstMesh
@@ -609,12 +673,16 @@ LaboratoryMetricEvidenceSceneHandle,
     const position = new THREE.Vector3();
     const scale = new THREE.Vector3(1, 1, 1);
     const rotation = new THREE.Quaternion();
-    for (const cell of classifiedCells) {
-      const mesh = meshes.get(cell.state);
-      if (!mesh) continue;
-      const index = counts.get(cell.state) ?? 0;
-      const minimum = cell.zBoundsM[0];
-      const maximum = cell.zBoundsM[1];
+    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);
@@ -622,21 +690,55 @@ LaboratoryMetricEvidenceSceneHandle,
         ? -0.012
         : (minimum + maximum) / 2;
       const [sceneX, sceneY, sceneZ] = scenePoint([
-        cell.centerBodyXyM[0],
-        cell.centerBodyXyM[1],
+        centerX,
+        centerY,
         centerZ,
       ]);
       position.set(sceneX, sceneY, sceneZ);
       scale.set(1, height, 1);
       matrix.compose(position, rotation, scale);
       mesh.setMatrixAt(index, matrix);
-      counts.set(cell.state, index + 1);
+      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;
     }
-  }, [classifiedCellSizeM, classifiedCells, showClassifiedCells]);
+    requestRenderRef.current();
+  }, [classifiedCellSizeM, classifiedCells, classifiedPackedCells, showClassifiedCells]);
 
   useEffect(() => {
     const host = hostRef.current;
@@ -702,15 +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);
@@ -718,10 +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 (
@@ -755,8 +869,23 @@ LaboratoryMetricEvidenceSceneHandle,
     showLowStep,
   });
   const classifiedLegendEntries = (() => {
-    if (!showClassifiedCells || !classifiedCells.length) return [];
-    const states = new Set(classifiedCells.map((cell) => cell.state));
+    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" }
@@ -783,6 +912,16 @@ LaboratoryMetricEvidenceSceneHandle,
         {renderError ? <p>{renderError}</p> : null}
       </div>
       <div className="laboratory-metric-evidence-scene__legend">
+        {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>
         ))}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -48,8 +48,14 @@ 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"
@@ -100,6 +106,8 @@ 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",
@@ -145,6 +153,8 @@ 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",
@@ -197,6 +207,8 @@ export function isAdvancedLaboratoryWorkId(
 
 export function emptyAdvancedLaboratoryResults(): AdvancedLaboratoryResults {
   return {
+    vegetationBenchmark: null,
+    vegetationShadow: null,
     m47Graph: null,
     m48: null,
     m48SmallStatic: null,
@@ -330,7 +342,9 @@ export function advancedLaboratoryResultAvailable(
   workId: AdvancedLaboratoryWorkId,
   results: AdvancedLaboratoryResults,
 ): boolean {
-  return workId === "m48-object-centric-quality" ? results.m48 !== 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
@@ -387,7 +401,13 @@ export async function fetchAdvancedLaboratoryResult(
   } = {},
 ): Promise<AdvancedLaboratoryResults> {
   const results = emptyAdvancedLaboratoryResults();
-  if (workId === "m48-object-centric-quality") {
+  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") {

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

@@ -42,8 +42,11 @@ 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;

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

@@ -29,7 +29,6 @@ export interface E31LaboratoryResult {
   limitations: readonly string[];
   access: "read-only";
 }
-
 export interface E32LaboratoryResult {
   resultId: string;
   createdAtUtc: string | null;
@@ -53,7 +52,6 @@ export interface E32LaboratoryResult {
   };
   access: "read-only";
 }
-
 export interface E33LaboratoryResult {
   resultId: string;
   createdAtUtc: string | null;
@@ -967,6 +965,8 @@ export async function fetchAdvancedLaboratoryResults({
   const e39 = settledCatalogValue(settled[7]);
   const e40 = settledCatalogValue(settled[8]);
   return {
+    vegetationBenchmark: null,
+    vegetationShadow: null,
     m47Graph: null, m48: null, m48SmallStatic: null, m48StaticOccupancy: null,
     m48r3StaticOccupancy: null,
     m48s: null, m48t: null, m49Tgs: null, m49TgsFull: null, m4Threat: null,

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

@@ -0,0 +1,76 @@
+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,
+  }: {
+    origin?: string;
+    signal?: AbortSignal;
+    fetcher?: typeof globalThis.fetch;
+  } = {},
+): Promise<CanonicalLabReplayDescriptor> {
+  const base = new URL(origin);
+  if (
+    !SAFE_RESULT_ID.test(resultId)
+    || !SAFE_SESSION_SOURCE.test(launch.sourceUrl)
+    || launch.viewerSourceUrl !== `${launch.sourceUrl}?generation=${launch.sha256}`
+    || !/^[a-f0-9]{64}$/.test(launch.sha256)
+  ) {
+    throw new Error("Канонический replay LAB имеет небезопасный descriptor.");
+  }
+  const sourceUrl =
+    `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}`
+    + "/canonical-replay.rrd";
+  const descriptorUrl = new URL(sourceUrl, `${base.origin}/`);
+  descriptorUrl.searchParams.set("base_generation", launch.sha256);
+  if (descriptorUrl.origin !== base.origin) {
+    throw new Error("Канонический replay LAB должен быть same-origin.");
+  }
+  const response = await fetcher(descriptorUrl.href, {
+    method: "HEAD",
+    credentials: "same-origin",
+    headers: { Accept: "application/vnd.rerun.rrd" },
+    signal,
+  });
+  const contentType = response.headers.get("Content-Type")?.split(";", 1)[0].trim();
+  const byteLength = Number(response.headers.get("Content-Length"));
+  const sha256 = response.headers.get("ETag")?.match(/^"([a-f0-9]{64})"$/)?.[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"),
+  };
+}

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/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/m49TgsFullShadow.ts

@@ -120,7 +120,7 @@ export interface M49TgsFullShadowPlaybackPack {
   frameCount: 4489;
   cellCount: 2244;
   totalByteLength: number;
-  centersXyM: readonly (readonly [number, number])[];
+  centersXyM: Float32Array;
   states: Uint8Array;
   zBoundsM: Float32Array;
   frames: readonly M49TgsFullShadowPlaybackFrame[];
@@ -628,9 +628,6 @@ export async function fetchM49TgsFullShadowPlaybackPack(
     "<f4",
     centersTrack.shape,
   ) as Float32Array;
-  const centersXyM = Array.from({ length: manifest.cellCount }, (_, index) => (
-    [centersRaw[index * 2]!, centersRaw[index * 2 + 1]!] as const
-  ));
   const states = parseM49TgsNpyTrack(
     buffers.get("states")!,
     "|u1",
@@ -653,7 +650,7 @@ export async function fetchM49TgsFullShadowPlaybackPack(
     frameCount: manifest.frameCount,
     cellCount: manifest.cellCount,
     totalByteLength: manifest.totalByteLength,
-    centersXyM,
+    centersXyM: centersRaw,
     states,
     zBoundsM,
     frames,

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

@@ -154,6 +154,9 @@ export interface M4ThreatTimelineFrame {
   pointCloudSourceCount: number;
   pointCloudSampleCount: number;
   pointCloudLayer: "current-increment";
+  localSlamBodyXyzM?: readonly M4Point3[];
+  localSlamSourceFrameCount?: number;
+  localSlamSourcePointCount?: number;
   cameraProjectedPointsXyd: readonly (readonly [number, number, number])[];
   cameraProjectedSourceCount: number;
   cameraProjectedPointCount: number;
@@ -168,10 +171,11 @@ export interface M4ThreatTimelineFrame {
 
 export interface M4ThreatTimeline {
   resultId: string;
-  recordedSourceSessionId: "20260720T065719Z_viewer_live";
+  recordedSourceSessionId: string;
+  recordedSourceId: string;
   imageWidth: 800;
   imageHeight: 600;
-  frameCount: 4489;
+  frameCount: number;
   frameTimesNs: readonly number[];
   timelineStartSeconds: number;
   timelineEndSeconds: number;
@@ -234,10 +238,41 @@ export interface M4ThreatPlaybackProgress {
 
 export interface M4ThreatPlaybackPointPack {
   resultId: string;
-  frameCount: 4489;
+  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>;
@@ -306,7 +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;
@@ -673,12 +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",
@@ -689,7 +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"),
   );
@@ -707,7 +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,
@@ -818,12 +853,14 @@ export async function fetchM4ThreatTimelineChunk(
     endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
     cameraObstacleProjectionDelivery = null,
     playbackPointPack,
+    includePoints = true,
   }: {
     fetcher?: LaboratoryFetch;
     signal?: AbortSignal;
     endpointRoot?: string;
     cameraObstacleProjectionDelivery?: M4ThreatTimeline["cameraObstacleProjectionDelivery"];
     playbackPointPack?: M4ThreatPlaybackPointPack;
+    includePoints?: boolean;
   } = {},
 ): Promise<M4ThreatTimelineChunk> {
   const params = new URLSearchParams({
@@ -833,7 +870,7 @@ export async function fetchM4ThreatTimelineChunk(
   if (cameraObstacleProjectionDelivery !== null) {
     params.set("obstacle_projection", cameraObstacleProjectionDelivery);
   }
-  if (playbackPointPack) params.set("include_points", "false");
+  if (playbackPointPack || !includePoints) params.set("include_points", "false");
   const response = await fetcher(
     `${endpointRoot}/${result}/timeline/chunk?${params}`,
     { headers: { Accept: "application/json" }, signal },
@@ -889,7 +926,14 @@ export function hydrateM4ThreatTimelineFrame(
   frame: M4ThreatTimelineFrame,
   pack: M4ThreatPlaybackPointPack,
 ): M4ThreatTimelineFrame {
-  if (frame.sequence >= pack.frameCount || pack.resultId === "") {
+  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) {
@@ -900,7 +944,15 @@ export function hydrateM4ThreatTimelineFrame(
   }
   const start = pack.pointOffsets[frame.sequence];
   const stop = pack.pointOffsets[frame.sequence + 1];
-  if (start === undefined || stop === undefined || stop < start || stop > pack.pointCount) {
+  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;
@@ -911,7 +963,7 @@ export function hydrateM4ThreatTimelineFrame(
   const basis = frame.bodyFrame.basisMapFromBody;
   const points = new Array<M4Point3>(count);
   for (let index = 0; index < count; index += 1) {
-    const sourceOffset = (start + index) * 3;
+    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];
@@ -924,22 +976,19 @@ export function hydrateM4ThreatTimelineFrame(
   return { ...frame, pointCloudBodyXyzM: points, pointCloudSampleCount: count };
 }
 
-export async function fetchM4ThreatPlaybackPointPack(
+export async function fetchM4ThreatPlaybackManifest(
   result: string,
   {
     fetcher = fetch,
     signal,
     endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
-    onProgress,
   }: {
     fetcher?: LaboratoryFetch;
     signal?: AbortSignal;
     endpointRoot?: string;
-    onProgress?: (progress: M4ThreatPlaybackProgress) => void;
   } = {},
-): Promise<M4ThreatPlaybackPointPack> {
+): Promise<M4ThreatPlaybackManifest> {
   resultId(result);
-  onProgress?.({ phase: "manifest", loadedBytes: 0, totalBytes: 0 });
   const manifestResponse = await fetcher(`${endpointRoot}/${result}/timeline/playback`, {
     headers: { Accept: "application/json" },
     signal,
@@ -952,7 +1001,10 @@ export async function fetchM4ThreatPlaybackPointPack(
   exact(manifest.result_id, result, "M4.6 playback result");
   exact(manifest.coordinate_frame, "map", "M4.6 playback coordinate frame");
   exact(manifest.access, "read-only-sealed-binary-playback", "M4.6 playback access");
-  const frameCount = exact(integer(manifest.frame_count, "M4.6 playback frames"), 4489, "M4.6 playback frames");
+  const frameCount = integer(manifest.frame_count, "M4.6 playback frames");
+  if (frameCount < 1) {
+    throw new M4ThreatContractError("M4.6 playback frames: пустой playback недопустим.");
+  }
   const pointCount = integer(manifest.point_count, "M4.6 playback points");
   const offsetsRaw = array(manifest.point_offsets, "M4.6 playback offsets");
   if (offsetsRaw.length !== frameCount + 1) {
@@ -982,46 +1034,180 @@ export async function fetchM4ThreatPlaybackPointPack(
   if (!/^[a-f0-9]{64}$/.test(sha256)) {
     throw new M4ThreatContractError("M4.6 playback SHA-256: нарушен контракт.");
   }
-  const response = await fetcher(text(track.url, "M4.6 playback URL"), {
-    headers: { Accept: "application/octet-stream" },
-    signal,
+  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,
+    };
   });
-  if (!response.ok) throw new M4ThreatContractError(`M4.6 playback points: HTTP ${response.status}.`);
-  const bytes = new Uint8Array(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 M4ThreatContractError("M4.6 playback points превысил объявленный размер.");
-      }
-      bytes.set(value, offset);
-      offset += value.byteLength;
-      onProgress?.({ phase: "download", loadedBytes: offset, totalBytes: byteLength });
-    }
-    if (offset !== byteLength) {
-      throw new M4ThreatContractError("M4.6 playback points получен не полностью.");
-    }
-  } else {
-    const fallback = new Uint8Array(await response.arrayBuffer());
-    if (fallback.byteLength !== byteLength) {
-      throw new M4ThreatContractError("M4.6 playback points: неверный размер.");
-    }
-    bytes.set(fallback);
-  }
-  onProgress?.({ phase: "verify", loadedBytes: byteLength, totalBytes: byteLength });
-  if (await playbackSha256Hex(bytes.buffer) !== sha256) {
-    throw new M4ThreatContractError("M4.6 playback points: SHA-256 не совпал.");
-  }
-  onProgress?.({ phase: "ready", loadedBytes: byteLength, totalBytes: byteLength });
   return {
     resultId: result,
     frameCount,
     pointCount,
     pointOffsets,
-    pointsMapXyzM: new Float32Array(bytes.buffer),
+    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),
   };
 }
 
@@ -1155,6 +1341,17 @@ function parseTimelineFrame(
       "current-increment",
       "M4.6 timeline point layer",
     ),
+    localSlamBodyXyzM: item.local_slam_body_xyz_m === undefined
+      ? []
+      : array(item.local_slam_body_xyz_m, "M4.6 local SLAM points").map(
+          (point) => vector(point, 3, "M4.6 local SLAM point") as [number, number, number],
+        ),
+    localSlamSourceFrameCount: item.local_slam_source_frame_count === undefined
+      ? undefined
+      : integer(item.local_slam_source_frame_count, "M4.6 local SLAM source frames"),
+    localSlamSourcePointCount: item.local_slam_source_point_count === undefined
+      ? undefined
+      : integer(item.local_slam_source_point_count, "M4.6 local SLAM source points"),
     cameraProjectedPointsXyd: item.camera_projected_points_xyd === undefined
       ? []
       : array(item.camera_projected_points_xyd, "M4.6 camera points").map(

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

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

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

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

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

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

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

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

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

@@ -0,0 +1,125 @@
+import type { RecordedAdmissionPhase } from "./recordedSessionAdmission";
+
+export type RerunViewportStatus = "idle" | "loading" | "ready" | "error";
+export type RecordedRerunView = "spatial" | "perception" | "perception3d" | "metrics";
+
+export interface RerunPlaybackState {
+  recordingId: string;
+  timeline: string;
+  rangeNs: { min: number; max: number } | null;
+  currentNs: number;
+  playing: boolean;
+  bufferedEndNs: number | null;
+  expectedStartNs: number | null;
+  expectedEndNs: number | null;
+  bufferProgress: number | null;
+  fullyBuffered: boolean;
+}
+
+export interface RerunPlaybackController {
+  seek: (timeNs: number) => void;
+  setPlaying: (playing: boolean) => void;
+  jumpToEnd: () => void;
+}
+
+export interface RecordedPerceptionLayers {
+  enabled: boolean;
+  detections2d: boolean;
+  segmentation: boolean;
+  cuboids3d: boolean;
+}
+
+export interface RecordedRrdArtifactDescriptor {
+  sourceUrl: string;
+  viewerSourceUrl: string;
+  byteLength: number;
+  sha256: string;
+}
+
+/**
+ * The native live receiver owns one acquisition lineage and never exposes
+ * recorded transport or autoplay policy.
+ */
+export interface LiveAcquisitionRerunProfile {
+  kind: "live-acquisition";
+  clock: "stream_time";
+  sourceUrl: string;
+  liveActivitySequence: number | null;
+  liveStreamId: string | null;
+  liveRecoveryAuthorityIdentity: string | null;
+}
+
+/**
+ * A sealed session is progressively presentable, while its shared playback
+ * controls remain fenced by the aggregate session admission gate.
+ */
+export interface RecordedSessionRerunProfile {
+  kind: "recorded-session";
+  clock: "session_time";
+  sourceUrl: string;
+  artifact: RecordedRrdArtifactDescriptor | null;
+  autoplayWhenReady: boolean;
+  presentationGate: RecordedAdmissionPhase;
+  expectedTimelineStartSeconds?: number;
+  expectedTimelineEndSeconds?: number;
+  initialPlaybackStartSeconds?: number;
+  view: RecordedRerunView;
+  viewResetGeneration: 0 | 1;
+  followTrajectory: boolean;
+  perceptionLayers: RecordedPerceptionLayers;
+  /** Explicit small blueprint endpoint when the viewer source is a merged LAB RRD. */
+  blueprintSourceUrl?: string;
+  /** Optional immutable RRD sidecar for LAB/model evidence on the same recording clock. */
+  perceptionSourceUrl?: string;
+  /** Selects one semantic entity without changing the sealed sidecar. */
+  semanticLayer?: "city" | "vegetation";
+  /** Keeps one native Rerun store/viewer while presenting the accepted two-pane LAB layout. */
+  unifiedPerception?: boolean;
+  /** Requests the canonical top-down eye without changing the world coordinate frame. */
+  planView?: boolean;
+  perceptionRetryGeneration: number;
+  lockPerceptionCameraInteraction: boolean;
+}
+
+/**
+ * Deprecated comparison-only contract for LAB artifacts that have not yet
+ * been republished as a native Rerun sidecar. It must never be selected by a
+ * canonical LAB route or start work in the background.
+ */
+export interface LaboratoryRecordedEvidenceViewerProfile {
+  kind: "lab-recorded-evidence";
+  clock: "source-sequence";
+  cameraTransport: "generation-bound-fmp4";
+  spatialTransport: "bounded-sealed-artifacts";
+  loadPolicy: "explicit-legacy-comparison-only";
+  workerRequired: false;
+}
+
+export type RerunViewerProfile =
+  | LiveAcquisitionRerunProfile
+  | RecordedSessionRerunProfile;
+
+export type ObservationViewerProfile =
+  | RerunViewerProfile
+  | LaboratoryRecordedEvidenceViewerProfile;
+
+export const LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE = Object.freeze({
+  kind: "lab-recorded-evidence",
+  clock: "source-sequence",
+  cameraTransport: "generation-bound-fmp4",
+  spatialTransport: "bounded-sealed-artifacts",
+  loadPolicy: "explicit-legacy-comparison-only",
+  workerRequired: false,
+} satisfies LaboratoryRecordedEvidenceViewerProfile);
+
+export function liveAcquisitionRerunProfile(
+  input: Omit<LiveAcquisitionRerunProfile, "kind" | "clock">,
+): LiveAcquisitionRerunProfile {
+  return { kind: "live-acquisition", clock: "stream_time", ...input };
+}
+
+export function recordedSessionRerunProfile(
+  input: Omit<RecordedSessionRerunProfile, "kind" | "clock">,
+): RecordedSessionRerunProfile {
+  return { kind: "recorded-session", clock: "session_time", ...input };
+}

apps/control-station/src/core/simulation/projects.ts

@@ -1,6 +1,10 @@
 export type SimulationSceneType = "interior" | "outdoor" | "object";
-export type SimulationTransformAxis = "x" | "y" | "z";
 export type SimulationViewerQuality = "low" | "medium" | "high" | "ultra" | "maximum";
+export interface SimulationEulerRotation {
+  x: number;
+  y: number;
+  z: number;
+}
 export type SimulationProjectStatus =
   | "uploading"
   | "queued"
@@ -35,13 +39,38 @@ export interface SimulationWorldManifest {
 }
 
 export interface SimulationViewerSettings {
-  schemaVersion: "missioncore.simulation-viewer-settings/v1";
+  schemaVersion: "missioncore.simulation-viewer-settings/v3";
   quality: SimulationViewerQuality;
-  visual: { inverted: boolean; axis: SimulationTransformAxis };
-  collision: { inverted: boolean; axis: SimulationTransformAxis };
+  visual: { rotationDegrees: SimulationEulerRotation };
+  collision: { rotationDegrees: SimulationEulerRotation };
   camera: { invertHorizontal: boolean; invertVertical: boolean };
+  ugv: SimulationUgvPreset;
 }
 
+export interface SimulationUgvPreset {
+  presetName: string;
+  massKg: number;
+  dimensionsMeters: {
+    length: number;
+    width: number;
+    height: number;
+    groundClearance: number;
+  };
+  maxSpeedMetersPerSecond: number;
+  maxTurnRateDegrees: number;
+  invertSteering: boolean;
+}
+
+export const SIMULATION_UGV_EXACT_VALUE_LIMITS = {
+  massKg: { min: 0.01, max: 1_000_000_000 },
+  length: { min: 0.01, max: 1_000_000_000 },
+  width: { min: 0.01, max: 1_000_000_000 },
+  height: { min: 0.07, max: 1_000_000_000 },
+  groundClearance: { min: 0.01, max: 1_000_000_000 },
+  maxSpeedMetersPerSecond: { min: 0, max: 1_000_000_000 },
+  maxTurnRateDegrees: { min: 0, max: 1_000_000_000 },
+} as const;
+
 export interface SimulationProject {
   schemaVersion: "missioncore.simulation-project/v1";
   projectId: string;
@@ -58,7 +87,9 @@ export interface SimulationProject {
   provider: {
     providerId: "gaussian-pipeline";
     jobId: string | null;
+    jobCreatedAtUtc: string | null;
     state: string | null;
+    stateStartedAtUtc: string | null;
     progress: { completed_steps?: number; total_steps?: number; stage?: string } | null;
     runtime: { source_revision?: string; image_digest?: string } | null;
   };
@@ -85,11 +116,60 @@ export interface SimulationUploadProgress {
   uploadedBytes: number;
   totalBytes: number;
   currentPath: string;
+  bytesPerSecond: number | null;
+  estimatedSecondsRemaining: number | null;
 }
 
 const API_ROOT = "/api/v1/simulation-worlds/projects";
 const CHUNK_BYTES = 8 * 1024 * 1024;
 const MAX_UPLOAD_ATTEMPTS = 3;
+const REFERENCE_SOURCE_BYTES = 4_100_808_854;
+const REFERENCE_PREPARATION_SECONDS = 187;
+const REFERENCE_STREAM_SECONDS = 2_317;
+
+export interface SimulationProcessingEstimate {
+  percent: number;
+  estimatedSecondsRemaining: number | null;
+}
+
+export function estimateSimulationProcessing(
+  project: SimulationProject,
+  nowMilliseconds = Date.now(),
+): SimulationProcessingEstimate | null {
+  if (project.status !== "processing") return null;
+  const jobStarted = Date.parse(project.provider.jobCreatedAtUtc ?? "");
+  if (!Number.isFinite(jobStarted)) return null;
+  const elapsedSeconds = Math.max(0, (nowMilliseconds - jobStarted) / 1_000);
+  const sourceScale = clamp(
+    project.source.totalByteLength / REFERENCE_SOURCE_BYTES,
+    0.1,
+    4,
+  );
+  let expectedSeconds = (
+    REFERENCE_PREPARATION_SECONDS + REFERENCE_STREAM_SECONDS
+  ) * sourceScale;
+  if (project.provider.state === "building_streamed_sog") {
+    const streamedStarted = Date.parse(project.provider.stateStartedAtUtc ?? "");
+    if (Number.isFinite(streamedStarted) && streamedStarted >= jobStarted) {
+      const preparationSeconds = Math.max(1, (streamedStarted - jobStarted) / 1_000);
+      const observedLoad = clamp(
+        preparationSeconds / (REFERENCE_PREPARATION_SECONDS * sourceScale),
+        0.5,
+        2,
+      );
+      expectedSeconds = preparationSeconds
+        + REFERENCE_STREAM_SECONDS * sourceScale * observedLoad;
+    }
+  }
+  const rawPercent = expectedSeconds > 0 ? elapsedSeconds / expectedSeconds * 100 : 0;
+  if (rawPercent >= 100) {
+    return { percent: 99, estimatedSecondsRemaining: null };
+  }
+  return {
+    percent: Math.max(1, Math.floor(rawPercent)),
+    estimatedSecondsRemaining: Math.max(0, Math.ceil(expectedSeconds - elapsedSeconds)),
+  };
+}
 
 export async function fetchSimulationProjects(signal?: AbortSignal): Promise<SimulationProject[]> {
   const response = await fetch(API_ROOT, { signal, cache: "no-store" });
@@ -107,6 +187,15 @@ export async function createAndUploadSimulationProject(
   sceneType: SimulationSceneType,
   candidates: SimulationUploadCandidate[],
   onProgress: (progress: SimulationUploadProgress) => void,
+): Promise<SimulationProject> {
+  const project = await createSimulationProject(name, sceneType, candidates);
+  return uploadSimulationProjectSource(project, candidates, onProgress);
+}
+
+export async function createSimulationProject(
+  name: string,
+  sceneType: SimulationSceneType,
+  candidates: SimulationUploadCandidate[],
 ): Promise<SimulationProject> {
   const sourceKind = sourceKindFor(candidates);
   const createdResponse = await fetch(API_ROOT, {
@@ -123,36 +212,85 @@ export async function createAndUploadSimulationProject(
       })),
     }),
   });
-  let project = parseProject(await jsonResponse(createdResponse));
+  return parseProject(await jsonResponse(createdResponse));
+}
+
+export async function uploadSimulationProjectSource(
+  project: SimulationProject,
+  candidates: SimulationUploadCandidate[],
+  onProgress: (progress: SimulationUploadProgress) => void,
+  signal?: AbortSignal,
+): Promise<SimulationProject> {
   const byPath = new Map(candidates.map((candidate) => [candidate.logicalPath, candidate.file]));
   const totalBytes = candidates.reduce((total, candidate) => total + candidate.file.size, 0);
   let confirmedBytes = 0;
+  let sampleBytes = 0;
+  let sampleAt = performance.now();
+  let smoothedBytesPerSecond: number | null = null;
+  const reportProgress = (currentPath: string) => {
+    const remainingBytes = Math.max(0, totalBytes - confirmedBytes);
+    onProgress({
+      uploadedBytes: confirmedBytes,
+      totalBytes,
+      currentPath,
+      bytesPerSecond: smoothedBytesPerSecond,
+      estimatedSecondsRemaining: smoothedBytesPerSecond && remainingBytes > 0
+        ? Math.ceil(remainingBytes / smoothedBytesPerSecond)
+        : remainingBytes === 0 ? 0 : null,
+    });
+  };
   for (const sourceFile of project.source.files) {
+    signal?.throwIfAborted();
     const file = byPath.get(sourceFile.logicalPath);
     if (!file) throw new Error(`Сервер изменил состав источника: ${sourceFile.logicalPath}`);
     const uploadUrl = `${API_ROOT}/${encodeURIComponent(project.projectId)}/source/${encodeURIComponent(sourceFile.fileId)}`;
-    let offset = await readUploadOffset(uploadUrl, file.size);
+    let offset = await readUploadOffset(uploadUrl, file.size, signal);
     confirmedBytes += offset;
-    onProgress({ uploadedBytes: confirmedBytes, totalBytes, currentPath: sourceFile.logicalPath });
+    sampleBytes = confirmedBytes;
+    sampleAt = performance.now();
+    reportProgress(sourceFile.logicalPath);
     while (offset < file.size) {
+      signal?.throwIfAborted();
       const nextOffset = Math.min(file.size, offset + CHUNK_BYTES);
-      const confirmedOffset = await uploadChunk(uploadUrl, file, offset, nextOffset);
+      const confirmedOffset = await uploadChunk(uploadUrl, file, offset, nextOffset, signal);
       confirmedBytes += confirmedOffset - offset;
       offset = confirmedOffset;
-      onProgress({ uploadedBytes: confirmedBytes, totalBytes, currentPath: sourceFile.logicalPath });
+      const now = performance.now();
+      const elapsedSeconds = (now - sampleAt) / 1_000;
+      const transferredBytes = confirmedBytes - sampleBytes;
+      if (elapsedSeconds > 0 && transferredBytes > 0) {
+        const currentBytesPerSecond = transferredBytes / elapsedSeconds;
+        smoothedBytesPerSecond = smoothedBytesPerSecond === null
+          ? currentBytesPerSecond
+          : smoothedBytesPerSecond * 0.7 + currentBytesPerSecond * 0.3;
+      }
+      sampleBytes = confirmedBytes;
+      sampleAt = now;
+      reportProgress(sourceFile.logicalPath);
     }
   }
-  const buildResponse = await fetch(`${API_ROOT}/${encodeURIComponent(project.projectId)}/build`, {
+  return startSimulationProjectBuild(project.projectId, signal);
+}
+
+export async function startSimulationProjectBuild(
+  projectId: string,
+  signal?: AbortSignal,
+): Promise<SimulationProject> {
+  const buildResponse = await fetch(`${API_ROOT}/${encodeURIComponent(projectId)}/build`, {
     method: "POST",
     headers: { "Content-Type": "application/json" },
     body: "{}",
+    signal,
   });
-  project = parseProject(await jsonResponse(buildResponse));
-  return project;
+  return parseProject(await jsonResponse(buildResponse));
 }
 
-async function readUploadOffset(uploadUrl: string, fileSize: number): Promise<number> {
-  const head = await fetch(uploadUrl, { method: "HEAD", cache: "no-store" });
+async function readUploadOffset(
+  uploadUrl: string,
+  fileSize: number,
+  signal?: AbortSignal,
+): Promise<number> {
+  const head = await fetch(uploadUrl, { method: "HEAD", cache: "no-store", signal });
   if (!head.ok) await jsonResponse(head);
   const value = head.headers.get("Upload-Offset");
   if (!value || !/^\d+$/.test(value)) {
@@ -170,11 +308,13 @@ async function uploadChunk(
   file: File,
   offset: number,
   nextOffset: number,
+  signal?: AbortSignal,
 ): Promise<number> {
   let lastFailure: unknown = null;
   for (let attempt = 1; attempt <= MAX_UPLOAD_ATTEMPTS; attempt += 1) {
     let response: Response | null = null;
     try {
+      signal?.throwIfAborted();
       response = await fetch(uploadUrl, {
         method: "PATCH",
         headers: {
@@ -182,8 +322,10 @@ async function uploadChunk(
           "Upload-Offset": String(offset),
         },
         body: file.slice(offset, nextOffset),
+        signal,
       });
     } catch (caught) {
+      if (signal?.aborted) throw caught;
       lastFailure = caught;
     }
     if (response?.ok) {
@@ -203,7 +345,7 @@ async function uploadChunk(
       lastFailure = new Error(`Mission Core временно вернул HTTP ${response.status}.`);
     }
     try {
-      const confirmed = await readUploadOffset(uploadUrl, file.size);
+      const confirmed = await readUploadOffset(uploadUrl, file.size, signal);
       if (confirmed === nextOffset) return confirmed;
       if (confirmed !== offset) {
         throw new Error("Сервер подтвердил неожиданное смещение загрузки.");
@@ -246,26 +388,32 @@ export async function saveSimulationViewerSettings(
       body: JSON.stringify({
         schema_version: settings.schemaVersion,
         quality: settings.quality,
-        visual: settings.visual,
-        collision: settings.collision,
+        visual: { rotation_degrees: settings.visual.rotationDegrees },
+        collision: { rotation_degrees: settings.collision.rotationDegrees },
         camera: {
           invert_horizontal: settings.camera.invertHorizontal,
           invert_vertical: settings.camera.invertVertical,
         },
+        ugv: {
+          preset_name: settings.ugv.presetName,
+          mass_kg: settings.ugv.massKg,
+          dimensions_m: {
+            length: settings.ugv.dimensionsMeters.length,
+            width: settings.ugv.dimensionsMeters.width,
+            height: settings.ugv.dimensionsMeters.height,
+            ground_clearance: settings.ugv.dimensionsMeters.groundClearance,
+          },
+          max_speed_mps: settings.ugv.maxSpeedMetersPerSecond,
+          max_turn_rate_degrees: settings.ugv.maxTurnRateDegrees,
+          invert_steering: settings.ugv.invertSteering,
+        },
       }),
     },
   );
   return parseProject(await jsonResponse(response));
 }
 
-export async function retrySimulationProject(projectId: string): Promise<SimulationProject> {
-  const response = await fetch(`${API_ROOT}/${encodeURIComponent(projectId)}/build`, {
-    method: "POST",
-    headers: { "Content-Type": "application/json" },
-    body: "{}",
-  });
-  return parseProject(await jsonResponse(response));
-}
+export const retrySimulationProject = startSimulationProjectBuild;
 
 export async function deleteSimulationProject(projectId: string): Promise<void> {
   const response = await fetch(`${API_ROOT}/${encodeURIComponent(projectId)}`, { method: "DELETE" });
@@ -321,7 +469,9 @@ function parseProject(value: unknown): SimulationProject {
     provider: {
       providerId: provider.provider_id === "gaussian-pipeline" ? "gaussian-pipeline" : invalid("provider id"),
       jobId: nullableString(provider.job_id, "provider job id"),
+      jobCreatedAtUtc: nullableString(provider.job_created_at_utc ?? null, "provider job creation"),
       state: nullableString(provider.state, "provider state"),
+      stateStartedAtUtc: nullableString(provider.state_started_at_utc ?? null, "provider state start"),
       progress: provider.progress === null ? null : objectValue(provider.progress, "provider progress"),
       runtime: provider.runtime === null ? null : objectValue(provider.runtime, "provider runtime"),
     },
@@ -345,16 +495,17 @@ function parseProject(value: unknown): SimulationProject {
 
 function parseViewerSettings(value: unknown): SimulationViewerSettings {
   const record = objectValue(value, "viewer settings");
-  exactKeys(record, ["schema_version", "quality", "visual", "collision", "camera"], "viewer settings");
-  if (record.schema_version !== "missioncore.simulation-viewer-settings/v1") {
+  exactKeys(record, ["schema_version", "quality", "visual", "collision", "camera", "ugv"], "viewer settings");
+  if (record.schema_version !== "missioncore.simulation-viewer-settings/v3") {
     throw new Error("Настройки сцены вернули неподдерживаемую версию.");
   }
   const visual = parseLayerViewerSettings(record.visual, "visual settings");
   const collision = parseLayerViewerSettings(record.collision, "collision settings");
   const camera = objectValue(record.camera, "camera settings");
   exactKeys(camera, ["invert_horizontal", "invert_vertical"], "camera settings");
+  const ugv = parseUgvPreset(record.ugv);
   return {
-    schemaVersion: "missioncore.simulation-viewer-settings/v1",
+    schemaVersion: "missioncore.simulation-viewer-settings/v3",
     quality: qualityValue(record.quality),
     visual,
     collision,
@@ -362,18 +513,88 @@ function parseViewerSettings(value: unknown): SimulationViewerSettings {
       invertHorizontal: booleanValue(camera.invert_horizontal, "horizontal camera inversion"),
       invertVertical: booleanValue(camera.invert_vertical, "vertical camera inversion"),
     },
+    ugv,
+  };
+}
+
+function parseUgvPreset(value: unknown): SimulationUgvPreset {
+  const record = objectValue(value, "UGV settings");
+  exactKeys(
+    record,
+    ["preset_name", "mass_kg", "dimensions_m", "max_speed_mps", "max_turn_rate_degrees", "invert_steering"],
+    "UGV settings",
+  );
+  const dimensions = objectValue(record.dimensions_m, "UGV dimensions");
+  exactKeys(dimensions, ["length", "width", "height", "ground_clearance"], "UGV dimensions");
+  const presetName = stringValue(record.preset_name, "UGV preset name");
+  if (presetName.length > 80) return invalid("UGV preset name");
+  const height = finiteNumberValue(
+    dimensions.height,
+    SIMULATION_UGV_EXACT_VALUE_LIMITS.height.min,
+    SIMULATION_UGV_EXACT_VALUE_LIMITS.height.max,
+    "UGV height",
+  );
+  const groundClearance = finiteNumberValue(
+    dimensions.ground_clearance,
+    SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.min,
+    SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.max,
+    "UGV ground clearance",
+  );
+  if (groundClearance >= height - 0.05) return invalid("UGV ground clearance");
+  return {
+    presetName,
+    massKg: finiteNumberValue(
+      record.mass_kg,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.massKg.min,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.massKg.max,
+      "UGV mass",
+    ),
+    dimensionsMeters: {
+      length: finiteNumberValue(
+        dimensions.length,
+        SIMULATION_UGV_EXACT_VALUE_LIMITS.length.min,
+        SIMULATION_UGV_EXACT_VALUE_LIMITS.length.max,
+        "UGV length",
+      ),
+      width: finiteNumberValue(
+        dimensions.width,
+        SIMULATION_UGV_EXACT_VALUE_LIMITS.width.min,
+        SIMULATION_UGV_EXACT_VALUE_LIMITS.width.max,
+        "UGV width",
+      ),
+      height,
+      groundClearance,
+    },
+    maxSpeedMetersPerSecond: finiteNumberValue(
+      record.max_speed_mps,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.maxSpeedMetersPerSecond.min,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.maxSpeedMetersPerSecond.max,
+      "UGV maximum speed",
+    ),
+    maxTurnRateDegrees: finiteNumberValue(
+      record.max_turn_rate_degrees,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.maxTurnRateDegrees.min,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.maxTurnRateDegrees.max,
+      "UGV maximum turn rate",
+    ),
+    invertSteering: booleanValue(record.invert_steering, "UGV steering inversion"),
   };
 }
 
 function parseLayerViewerSettings(
   value: unknown,
   label: string,
-): { inverted: boolean; axis: SimulationTransformAxis } {
+): { rotationDegrees: SimulationEulerRotation } {
   const record = objectValue(value, label);
-  exactKeys(record, ["inverted", "axis"], label);
+  exactKeys(record, ["rotation_degrees"], label);
+  const rotation = objectValue(record.rotation_degrees, `${label} rotation`);
+  exactKeys(rotation, ["x", "y", "z"], `${label} rotation`);
   return {
-    inverted: booleanValue(record.inverted, `${label} inversion`),
-    axis: axisValue(record.axis),
+    rotationDegrees: {
+      x: rotationValue(rotation.x, `${label} X rotation`),
+      y: rotationValue(rotation.y, `${label} Y rotation`),
+      z: rotationValue(rotation.z, `${label} Z rotation`),
+    },
   };
 }
 
@@ -466,9 +687,18 @@ function sceneTypeValue(value: unknown): SimulationSceneType {
   return invalid("scene type");
 }
 
-function axisValue(value: unknown): SimulationTransformAxis {
-  if (value === "x" || value === "y" || value === "z") return value;
-  return invalid("transform axis");
+function rotationValue(value: unknown, label: string): number {
+  if (typeof value === "number" && Number.isFinite(value) && value >= -360 && value <= 360) {
+    return value;
+  }
+  return invalid(label);
+}
+
+function finiteNumberValue(value: unknown, minimum: number, maximum: number, label: string): number {
+  if (typeof value === "number" && Number.isFinite(value) && value >= minimum && value <= maximum) {
+    return value;
+  }
+  return invalid(label);
 }
 
 function qualityValue(value: unknown): SimulationViewerQuality {
@@ -488,3 +718,7 @@ function statusValue(value: unknown): SimulationProjectStatus {
 function invalid(label: string): never {
   throw new Error(`Некорректный ${label}.`);
 }
+
+function clamp(value: number, minimum: number, maximum: number): number {
+  return Math.min(maximum, Math.max(minimum, value));
+}

apps/control-station/src/core/simulation/sourceFiles.ts

@@ -0,0 +1,146 @@
+import type { SimulationUploadCandidate } from "./projects";
+
+const ARCHIVE_PATTERN = /\.(zip|rar|7z)$/i;
+export const MAX_SIMULATION_SOURCE_BYTES = 16 * 1024 ** 3;
+
+interface LegacyFileEntry {
+  isFile: boolean;
+  isDirectory: boolean;
+  name: string;
+  fullPath: string;
+  file?: (callback: (file: File) => void, error?: (error: DOMException) => void) => void;
+  createReader?: () => LegacyDirectoryReader;
+}
+
+interface LegacyDirectoryReader {
+  readEntries: (
+    callback: (entries: LegacyFileEntry[]) => void,
+    error?: (error: DOMException) => void,
+  ) => void;
+}
+
+export async function candidatesFromDrop(
+  transfer: DataTransfer,
+): Promise<SimulationUploadCandidate[]> {
+  const candidates: SimulationUploadCandidate[] = [];
+  for (const item of Array.from(transfer.items)) {
+    const entry = (item as DataTransferItem & {
+      webkitGetAsEntry?: () => LegacyFileEntry | null;
+    }).webkitGetAsEntry?.();
+    if (entry?.isDirectory) {
+      await collectEntry(entry, candidates);
+      continue;
+    }
+    const file = item.getAsFile();
+    if (file) {
+      candidates.push({ file, logicalPath: file.name });
+      continue;
+    }
+    if (entry) await collectEntry(entry, candidates);
+  }
+  if (!candidates.length) {
+    for (const file of Array.from(transfer.files)) {
+      candidates.push({ file, logicalPath: file.name });
+    }
+  }
+  return candidates;
+}
+
+export async function archivesFromDrop(transfer: DataTransfer): Promise<File[]> {
+  const candidates = await candidatesFromDrop(transfer);
+  const invalid = candidates.filter((candidate) => !ARCHIVE_PATTERN.test(candidate.logicalPath));
+  if (invalid.length) {
+    throw new Error("В каталог можно перетащить только отдельные архивы ZIP, RAR или 7z.");
+  }
+  if (!candidates.length) {
+    throw new Error("В перетаскивании не найдено архивов ZIP, RAR или 7z.");
+  }
+  for (const candidate of candidates) {
+    if (candidate.logicalPath.includes("/")) {
+      throw new Error("Перетащите сами архивы, а не содержащую их папку.");
+    }
+    if (candidate.file.size <= 0) {
+      throw new Error(`Пустой архив: ${candidate.file.name}`);
+    }
+    if (candidate.file.size > MAX_SIMULATION_SOURCE_BYTES) {
+      throw new Error(`Архив ${candidate.file.name} превышает лимит 16 ГБ.`);
+    }
+  }
+  return candidates.map((candidate) => candidate.file);
+}
+
+export function validateSimulationCandidates(candidates: SimulationUploadCandidate[]): void {
+  if (!candidates.length) throw new Error("Выберите архив или папку с результатом LCC/LCC2.");
+  const archives = candidates.filter((candidate) => ARCHIVE_PATTERN.test(candidate.logicalPath));
+  if (archives.length) {
+    if (candidates.length !== 1) throw new Error("Архив нужно загружать одним файлом.");
+    if (archives[0]!.file.size <= 0) throw new Error(`Пустой файл: ${archives[0]!.logicalPath}`);
+    if (archives[0]!.file.size > MAX_SIMULATION_SOURCE_BYTES) {
+      throw new Error(`Архив ${archives[0]!.logicalPath} превышает лимит 16 ГБ.`);
+    }
+    return;
+  }
+  const descriptors = candidates.filter((candidate) => /\.lcc2?$/i.test(candidate.logicalPath));
+  if (descriptors.length !== 1) {
+    throw new Error("В папке должна быть ровно одна сцена .lcc или .lcc2.");
+  }
+  const paths = new Set<string>();
+  let totalBytes = 0;
+  for (const candidate of candidates) {
+    const parts = candidate.logicalPath.split("/");
+    if (
+      !candidate.logicalPath
+      || candidate.logicalPath.startsWith("/")
+      || candidate.logicalPath.includes("\\")
+      || candidate.logicalPath.includes("\0")
+      || parts.some((part) => part === "" || part === "." || part === "..")
+    ) {
+      throw new Error("Папка содержит небезопасный путь.");
+    }
+    if (candidate.file.size <= 0) throw new Error(`Пустой файл: ${candidate.logicalPath}`);
+    totalBytes += candidate.file.size;
+    if (paths.has(candidate.logicalPath)) throw new Error(`Повторяющийся путь: ${candidate.logicalPath}`);
+    paths.add(candidate.logicalPath);
+  }
+  if (totalBytes > MAX_SIMULATION_SOURCE_BYTES) {
+    throw new Error("Папка с исходниками превышает лимит 16 ГБ.");
+  }
+}
+
+export function hasDroppedFiles(transfer: DataTransfer): boolean {
+  return transfer.files.length > 0
+    || Array.from(transfer.items).some((item) => item.kind === "file")
+    || Array.from(transfer.types).some((type) => type.toLowerCase() === "files");
+}
+
+export function archiveProjectName(fileName: string): string {
+  const name = fileName.replace(ARCHIVE_PATTERN, "").trim();
+  return name || "Новая сцена";
+}
+
+function collectEntry(
+  entry: LegacyFileEntry,
+  target: SimulationUploadCandidate[],
+): Promise<void> {
+  if (entry.isFile && entry.file) {
+    return new Promise<File>((resolve, reject) => entry.file?.(resolve, reject))
+      .then((file) => {
+        target.push({ file, logicalPath: entry.fullPath.replace(/^\//, "") || file.name });
+      });
+  }
+  if (!entry.isDirectory || !entry.createReader) return Promise.resolve();
+  return collectDirectory(entry.createReader(), target);
+}
+
+async function collectDirectory(
+  reader: LegacyDirectoryReader,
+  target: SimulationUploadCandidate[],
+): Promise<void> {
+  while (true) {
+    const batch = await new Promise<LegacyFileEntry[]>((resolve, reject) => {
+      reader.readEntries(resolve, reject);
+    });
+    if (!batch.length) return;
+    for (const child of batch) await collectEntry(child, target);
+  }
+}

apps/control-station/src/productModel.ts

@@ -161,7 +161,7 @@ export const workspaces: WorkspaceDefinition[] = [
     label: "Симуляции",
     title: "Симуляции",
     eyebrow: "ТЕСТОВЫЙ КОНТУР / СИМУЛЯЦИИ",
-    description: "Каталог Gaussian-миров, переносимые сборки и интерактивные PlayCanvas-сцены.",
+    description: "Каталог Gaussian-миров, переносимые сборки и интерактивные сцены.",
     icon: "globe",
     kind: "simulations",
     groups: [],

apps/control-station/src/styles/m4-replay-threat.css

@@ -27,6 +27,41 @@
   display: block;
 }
 
+.m4-replay-threat-visual__unified-content {
+  position: absolute;
+  z-index: 1;
+  inset: 0;
+  min-width: 0;
+  min-height: 0;
+}
+
+.m4-replay-threat-visual__unified-content > *,
+.m4-replay-threat-visual__unified-content .rerun-viewport {
+  width: 100%;
+  height: 100%;
+}
+
+.m4-replay-threat-visual__deck[data-native-rerun="true"] > .nodedc-split-pane {
+  position: relative;
+  z-index: 2;
+  pointer-events: none;
+}
+
+.m4-replay-threat-visual__deck[data-native-rerun="true"]
+  .m4-replay-threat-visual__pane {
+  background: transparent;
+  pointer-events: none;
+}
+
+.m4-replay-threat-visual__deck[data-native-rerun="true"]
+  .nodedc-split-pane__separator,
+.m4-replay-threat-visual__deck[data-native-rerun="true"]
+  .m4-replay-threat-visual__pane-toolbar,
+.m4-replay-threat-visual__deck[data-native-rerun="true"]
+  .m4-replay-threat-visual__pane-toolbar * {
+  pointer-events: auto;
+}
+
 .m4-replay-threat-visual__deck[data-empty="true"] > .l3-visual-audit__state {
   position: absolute;
   z-index: 1;
@@ -81,6 +116,21 @@
   justify-content: flex-end;
 }
 
+.m4-replay-threat-visual__pane-toolbar[data-pane-toolbar="media"][data-multi-semantic="true"] {
+  flex-wrap: wrap;
+}
+
+.m4-replay-threat-visual__pane-toolbar[data-pane-toolbar="media"][data-multi-semantic="true"]
+  > .m4-replay-threat-visual__pane-layer-controls {
+  flex: 1 0 100%;
+  justify-content: flex-start;
+}
+
+.m4-replay-threat-visual__pane-toolbar[data-pane-toolbar="media"][data-multi-semantic="true"]
+  > .m4-replay-threat-visual__pane-mode-controls {
+  margin-left: auto;
+}
+
 .m4-replay-threat-evidence-viewer[data-mode-controls="content"]:has(
   .m4-replay-threat-visual__review-controls
 ) .m4-replay-threat-visual__pane-toolbar[data-pane-toolbar="media"] {
@@ -236,9 +286,10 @@
   box-sizing: border-box;
   min-width: 0;
   align-items: stretch;
-  width: max-content;
-  max-width: calc(var(--m4-replay-threat-overlay-pane-width, 100%) - 1.2rem);
-  grid-template-columns: minmax(0, max-content);
+  width: min(17.5rem, calc(var(--m4-replay-threat-overlay-pane-width, 100%) - 1.2rem));
+  max-width: none;
+  grid-auto-rows: 3.8rem;
+  grid-template-columns: minmax(0, 1fr);
   gap: 0.3rem;
   overflow: hidden;
   background: transparent;
@@ -247,6 +298,9 @@
 }
 
 .m4-replay-threat-visual__overlay > div {
+  box-sizing: border-box;
+  height: 3.8rem;
+  grid-template-rows: auto auto minmax(1.32rem, 1fr);
   border-radius: var(--nodedc-radius-control-compact);
   background: color-mix(in srgb, var(--nodedc-floating-surface) 80%, transparent);
   padding: 0.55rem 0.65rem;
@@ -254,15 +308,24 @@
 }
 
 .m4-replay-threat-visual__overlay span,
-.m4-replay-threat-visual__overlay strong,
-.m4-replay-threat-visual__overlay small {
+.m4-replay-threat-visual__overlay strong {
   overflow: hidden;
   text-overflow: ellipsis;
   white-space: nowrap;
 }
 
+.m4-replay-threat-visual__overlay small {
+  display: -webkit-box;
+  min-height: 1.32rem;
+  overflow: hidden;
+  -webkit-box-orient: vertical;
+  -webkit-line-clamp: 2;
+  white-space: normal;
+}
+
 @media (max-width: 900px) {
   .m4-replay-threat-visual__overlay {
+    width: min(17.5rem, calc(100% - 1.2rem));
     max-width: calc(100% - 1.2rem);
   }
 }
@@ -372,3 +435,13 @@
   background: var(--nodedc-text-muted);
   opacity: 0.42;
 }
+
+.laboratory-metric-evidence-scene__legend span[data-decision="performance"] {
+  font-variant-numeric: tabular-nums;
+}
+
+.laboratory-metric-evidence-scene__legend span[data-decision="performance"]::before {
+  box-sizing: border-box;
+  border: 1px solid rgb(var(--nodedc-accent-rgb));
+  background: transparent;
+}

apps/control-station/src/styles/simulation.css

@@ -1,6 +1,8 @@
 .simulation-workspace {
   display: grid;
+  height: 100%;
   min-width: 0;
+  grid-template-rows: auto minmax(0, 1fr);
   gap: 0.9rem;
   padding-bottom: 1rem;
 }
@@ -17,6 +19,7 @@
 .simulation-viewport__notice,
 .simulation-catalog__summary,
 .simulation-catalog__state,
+.simulation-catalog__notice,
 .simulation-catalog__actions,
 .simulation-project-window__footer-state,
 .simulation-source-drop > div,
@@ -60,7 +63,10 @@
 }
 
 .simulation-catalog {
+  position: relative;
   display: grid;
+  min-height: 0;
+  align-content: start;
   gap: 0.55rem;
   min-width: 0;
 }
@@ -100,23 +106,28 @@
 .simulation-catalog__table-wrap {
   overflow: auto;
   border-radius: 1rem;
-  background: rgb(255 255 255 / 0.025);
+  background: transparent;
 }
 
 .simulation-catalog__table {
   width: 100%;
-  min-width: 62rem;
-  border-collapse: collapse;
+  min-width: 52rem;
+  border-collapse: separate;
+  border-spacing: 0 0.34rem;
 }
 
 .simulation-catalog__table th,
 .simulation-catalog__table td {
-  border-bottom: 1px solid var(--station-hairline);
   padding: 0.72rem 0.8rem;
   text-align: left;
   vertical-align: middle;
 }
 
+.simulation-catalog__table th {
+  padding-top: 0.2rem;
+  padding-bottom: 0.18rem;
+}
+
 .simulation-catalog__table th:first-child,
 .simulation-catalog__table td:first-child {
   padding-left: 1rem;
@@ -124,6 +135,8 @@
 
 .simulation-catalog__table th:last-child,
 .simulation-catalog__table td:last-child {
+  width: 6.4rem;
+  min-width: 6.4rem;
   padding-right: 1rem;
 }
 
@@ -131,12 +144,21 @@
   transition: background var(--nodedc-duration-fast) var(--nodedc-ease-standard);
 }
 
-.simulation-catalog__table tbody tr:hover {
+.simulation-catalog__table tbody td {
   background: rgb(255 255 255 / 0.025);
+  transition: background var(--nodedc-duration-fast) var(--nodedc-ease-standard);
 }
 
-.simulation-catalog__table tbody tr:last-child td {
-  border-bottom: 0;
+.simulation-catalog__table tbody tr:hover td {
+  background: rgb(255 255 255 / 0.045);
+}
+
+.simulation-catalog__table tbody td:first-child {
+  border-radius: 0.85rem 0 0 0.85rem;
+}
+
+.simulation-catalog__table tbody td:last-child {
+  border-radius: 0 0.85rem 0.85rem 0;
 }
 
 .simulation-catalog__table td {
@@ -156,7 +178,7 @@
   display: flex;
   align-items: center;
   gap: 0.65rem;
-  min-width: 14rem;
+  min-width: 11rem;
   border: 0;
   background: transparent;
   color: inherit;
@@ -165,16 +187,26 @@
   cursor: pointer;
 }
 
+.simulation-catalog__table td:first-child > button > span:last-child {
+  min-width: 0;
+}
+
 .simulation-catalog__table td:first-child > button strong {
   display: block;
   max-width: 20rem;
-  overflow: hidden;
+  overflow: clip;
   color: var(--nodedc-text-primary);
   font-size: 0.7rem;
   text-overflow: ellipsis;
   white-space: nowrap;
 }
 
+.simulation-catalog__table td:first-child > button small {
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
 .simulation-catalog__project-icon,
 .simulation-catalog__empty > span {
   display: grid;
@@ -188,10 +220,53 @@
 }
 
 .simulation-catalog__actions {
+  display: flex;
   justify-content: flex-end;
   gap: 0.28rem;
 }
 
+.simulation-catalog__progress {
+  display: grid;
+  min-width: 0;
+  gap: 0.26rem;
+}
+
+.simulation-catalog__progress-meta,
+.simulation-catalog__progress-stage {
+  overflow: hidden;
+  color: var(--nodedc-text-muted);
+  font-size: 0.54rem;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
+.simulation-catalog__progress-track {
+  position: relative;
+  overflow: hidden;
+  width: 100%;
+  height: 0.3rem;
+  border-radius: 999px;
+  background: rgb(255 255 255 / 0.08);
+}
+
+.simulation-catalog__progress-track i {
+  position: absolute;
+  inset: 0 auto 0 0;
+  min-width: 0;
+  border-radius: inherit;
+  background: rgb(var(--nodedc-accent-rgb));
+  transition: width var(--nodedc-duration-fast) var(--nodedc-ease-standard);
+}
+
+.simulation-catalog__progress[data-indeterminate="true"] .simulation-catalog__progress-track i {
+  width: 28% !important;
+  animation: simulation-progress-pulse 1.6s ease-in-out infinite;
+}
+
+.simulation-catalog__progress-stage {
+  font-size: 0.52rem;
+}
+
 .simulation-catalog__state,
 .simulation-catalog__empty {
   min-height: 20rem;
@@ -203,6 +278,67 @@
   font-size: 0.65rem;
 }
 
+.simulation-catalog__notice {
+  justify-content: flex-start;
+  gap: 0.55rem;
+  border-radius: 0.85rem;
+  background: rgb(var(--nodedc-danger-rgb) / 0.08);
+  color: var(--nodedc-danger);
+  padding: 0.7rem 0.85rem;
+  font-size: 0.62rem;
+}
+
+.simulation-catalog__drop-overlay {
+  position: absolute;
+  z-index: 4;
+  inset: 0;
+  display: grid;
+  place-content: center;
+  justify-items: center;
+  gap: 0.55rem;
+  border-radius: 1rem;
+  background: var(--nodedc-canvas);
+  color: var(--nodedc-text-muted);
+  text-align: center;
+}
+
+.simulation-catalog__drop-mark {
+  display: grid;
+  width: 4rem;
+  height: 4rem;
+  margin-bottom: 0.25rem;
+  place-items: center;
+  border-radius: 50%;
+  background: var(--nodedc-glass-control-active);
+  color: var(--nodedc-glass-control-active-text);
+}
+
+.simulation-catalog__drop-overlay strong {
+  color: var(--nodedc-text-primary);
+  font-size: 0.86rem;
+}
+
+.simulation-catalog__drop-overlay span {
+  font-size: 0.64rem;
+}
+
+.simulation-catalog__drop-overlay small {
+  color: var(--nodedc-text-muted);
+  font-size: 0.56rem;
+}
+
+@keyframes simulation-progress-pulse {
+  from { transform: translateX(-105%); }
+  to { transform: translateX(360%); }
+}
+
+@media (prefers-reduced-motion: reduce) {
+  .simulation-catalog__progress[data-indeterminate="true"] .simulation-catalog__progress-track i {
+    animation: none;
+    transform: translateX(0);
+  }
+}
+
 .simulation-catalog__state > div {
   display: grid;
   gap: 0.2rem;
@@ -342,6 +478,9 @@
 }
 
 .simulation-viewport__toolbar {
+  position: sticky;
+  z-index: 10;
+  top: 0;
   display: grid;
   grid-template-columns: minmax(12rem, 1fr) auto minmax(12rem, 1fr);
   align-items: center;
@@ -379,19 +518,34 @@
   top: calc(100% + 0.65rem);
   right: 0;
   display: grid;
+  grid-template-rows: auto minmax(0, 1fr);
   width: min(21rem, calc(100cqw - 1.3rem));
-  gap: 0.75rem;
-  border-radius: 0.9rem;
-  background: rgb(25 27 31 / 0.98);
-  box-shadow: 0 1rem 3rem rgb(0 0 0 / 0.42);
-  padding: 0.8rem;
+  max-height: min(44rem, calc(100vh - 7rem));
+  overflow: clip;
+  gap: 0;
+  padding: 0;
 }
 
 .simulation-viewport__settings-head {
+  position: relative;
+  z-index: 2;
   display: flex;
   align-items: center;
   justify-content: space-between;
   gap: 0.75rem;
+  background: var(--nodedc-glass-panel-bg-strong);
+  padding: 0.8rem;
+  box-shadow: 0 0.55rem 1rem rgb(0 0 0 / 0.18);
+  backdrop-filter: blur(18px);
+}
+
+.simulation-viewport__settings-scroll {
+  display: grid;
+  min-height: 0;
+  overflow-y: auto;
+  overscroll-behavior: contain;
+  gap: 0.75rem;
+  padding: 0.75rem 0.8rem 0.8rem;
 }
 
 .simulation-viewport__settings-head > div,
@@ -440,16 +594,49 @@
   gap: 0.55rem;
 }
 
-.simulation-viewport__settings-layer-row {
+.simulation-viewport__settings-rotations {
   display: grid;
-  grid-template-columns: minmax(0, 1fr) 4.5rem;
-  align-items: center;
-  gap: 0.55rem;
+  gap: 0.7rem;
 }
 
-.simulation-viewport__axis-select {
-  width: 4.5rem;
-  min-width: 0;
+.simulation-viewport__rotation-row {
+  display: grid;
+  gap: 0.4rem;
+}
+
+.simulation-viewport__rotation-row > strong {
+  color: var(--nodedc-text-secondary);
+  font-size: 0.6rem;
+}
+
+.simulation-viewport__rotation-fields {
+  display: grid;
+  grid-template-columns: repeat(3, minmax(0, 1fr));
+  gap: 0.45rem;
+}
+
+.simulation-viewport__rotation-field {
+  gap: 0.22rem;
+}
+
+.simulation-viewport__rotation-field .nodedc-field__label-row {
+  padding-inline: 0.15rem;
+}
+
+.simulation-viewport__rotation-field .nodedc-field__label {
+  font-size: 0.54rem;
+}
+
+.simulation-viewport__rotation-input {
+  min-height: 1.75rem;
+  padding: 0.2rem 0.55rem;
+  font-size: 0.64rem;
+  text-align: right;
+}
+
+.simulation-viewport__rotation-input:disabled {
+  cursor: not-allowed;
+  opacity: 0.45;
 }
 
 .simulation-viewport__settings-error {
@@ -459,6 +646,30 @@
   padding: 0.55rem 0.65rem;
 }
 
+.simulation-ugv-settings {
+  gap: 0.7rem;
+}
+
+.simulation-ugv-settings__subhead {
+  display: flex;
+  align-items: baseline;
+  justify-content: space-between;
+  gap: 0.65rem;
+  margin-top: 0.1rem;
+  padding-top: 0.55rem;
+  border-top: 1px solid rgb(255 255 255 / 0.055);
+}
+
+.simulation-ugv-settings__subhead strong {
+  color: var(--nodedc-text-secondary);
+  font-size: 0.58rem;
+}
+
+.simulation-ugv-settings__save {
+  width: 100%;
+  margin-top: 0.15rem;
+}
+
 .simulation-viewport__toolbar-balance {
   min-width: 0;
 }
@@ -472,7 +683,7 @@
 .simulation-viewport__stage {
   position: relative;
   min-width: 0;
-  min-height: 30rem;
+  min-height: 18rem;
   overflow: hidden;
 }
 
@@ -491,6 +702,16 @@
   cursor: grabbing;
 }
 
+.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas,
+.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas:active {
+  cursor: grab;
+}
+
+.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas.is-orbiting,
+.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas.is-orbiting:active {
+  cursor: grabbing;
+}
+
 .simulation-viewport__stage canvas:focus-visible {
   box-shadow: inset 0 0 0 2px rgb(var(--nodedc-accent-rgb) / 0.7);
 }

apps/control-station/src/styles/spatial.css

@@ -78,7 +78,7 @@
   overflow: hidden;
 }
 
-/* Rerun WebViewer 0.34.1 keeps three fixed 24px canvas rows even after its
+/* The upstream Rerun canvas keeps three fixed 24px rows even after its
    panels are overridden: the native top row, recording tab and view tab.
    They are drawn inside WASM and cannot be styled independently, so crop the
    fixed native chrome while keeping the actual 3D viewport full-height. */

apps/control-station/src/workspaces/Workspaces.tsx

@@ -12,6 +12,7 @@ import type {
   RecordedCameraAdmissionState,
 } from "../core/observation/recordedSessionAdmission";
 import { liveRerunRecoveryAuthorityIdentity } from "../core/observation/liveReceiverWatchdog";
+import { liveAcquisitionRerunProfile, recordedSessionRerunProfile } from "../core/observation/viewerProfile";
 import type { ObservationSourceDescriptor } from "../core/runtime/contracts";
 import {
   RerunViewport,
@@ -46,7 +47,6 @@ function statusTone(status: CapabilityStatus): "success" | "accent" | "warning"
   if (status === "contract") return "warning";
   return "neutral";
 }
-
 function FeatureInventory({ definition }: { definition: WorkspaceDefinition }) {
   return (
     <div className="feature-inventory">
@@ -76,7 +76,6 @@ function FeatureInventory({ definition }: { definition: WorkspaceDefinition }) {
     </div>
   );
 }
-
 function WorkspaceLead({ definition, note }: { definition: WorkspaceDefinition; note?: string }) {
   return (
     <section className="workspace-lead workspace-lead--compact">
@@ -89,7 +88,6 @@ function WorkspaceLead({ definition, note }: { definition: WorkspaceDefinition;
     </section>
   );
 }
-
 function EmptySpatialStage({ settings }: { settings: SceneSettings }) {
   return (
     <div className="empty-spatial-stage" data-grid={settings.showGrid ? "true" : undefined}>
@@ -181,7 +179,7 @@ function SpatialWorkspace({
   );
   const recordedPerceptionSupported =
     recordedSource && perceptionLoad.phase !== "unavailable";
-  const recordedPerceptionReady = recordedSource && perceptionLoad.phase === "ready";
+  const recordedPerceptionLoading = recordedSource && perceptionLoad.phase === "loading";
   const recordedPerceptionEnabled =
     showDetections2d || showSegmentation || showCuboids3d;
   // The native recorded camera remains the authoritative original. Only 2D
@@ -261,7 +259,7 @@ function SpatialWorkspace({
   const shouldPrepareRecordedSource = useCallback((sourceId: string) => {
     if (!recordedSessionAdmission) return false;
     return recordedSessionAdmission.activeCameraSourceIds.has(sourceId) ||
-      recordedSessionAdmission.cameras[sourceId]?.phase === "ready";
+      ["ready", "error"].includes(recordedSessionAdmission.cameras[sourceId]?.phase ?? "loading");
   }, [recordedSessionAdmission]);
   const onSelectionChange = useCallback((next: RerunSelection | null) => setSelection(next), []);
   const onPlaybackChange = useCallback(
@@ -381,6 +379,35 @@ function SpatialWorkspace({
     : presentedViewerStatus === "error"
       ? "danger"
       : "neutral";
+  const rerunViewerProfile = recordedSource
+    ? recordedSessionRerunProfile({
+        sourceUrl,
+        artifact: recordedReplay,
+        autoplayWhenReady: true,
+        presentationGate: recordedSessionGate,
+        expectedTimelineStartSeconds: state?.observationTimeline?.range?.startSeconds,
+        expectedTimelineEndSeconds: state?.observationTimeline?.range?.endSeconds,
+        initialPlaybackStartSeconds: initialRecordedPlaybackStartSeconds,
+        view: "spatial",
+        viewResetGeneration: recordedViewResetGeneration,
+        followTrajectory: followRecordedTrajectory,
+        perceptionLayers: {
+          enabled: recordedPerceptionSupported && recordedPerceptionEnabled,
+          detections2d: showDetections2d,
+          segmentation: showSegmentation,
+          cuboids3d: showCuboids3d,
+        },
+        perceptionRetryGeneration,
+        lockPerceptionCameraInteraction: unifiedPerception,
+      })
+    : liveAcquisitionRerunProfile({
+        sourceUrl,
+        liveActivitySequence: livePresentationActivitySequence,
+        liveStreamId: state?.spatialSource?.id ?? null,
+        liveRecoveryAuthorityIdentity: streamActive
+          ? liveRerunRecoveryAuthorityIdentity(pointCloudSource, state?.spatialSource)
+          : null,
+      });
 
   return (
     <div
@@ -405,7 +432,7 @@ function SpatialWorkspace({
                 variant={detections2dActive ? "primary" : "secondary"}
                 icon={<Icon name="target" />}
                 aria-pressed={detections2dActive}
-                disabled={recordedSource && !recordedPerceptionReady}
+                disabled={recordedPerceptionLoading}
                 onClick={() => recordedSource
                   ? setShowDetections2d((current) => !current)
                   : onLivePerceptionLayersChange({
@@ -420,7 +447,7 @@ function SpatialWorkspace({
                 variant={segmentationActive ? "primary" : "secondary"}
                 icon={<Icon name="image" />}
                 aria-pressed={segmentationActive}
-                disabled={recordedSource && !recordedPerceptionReady}
+                disabled={recordedPerceptionLoading}
                 onClick={() => recordedSource
                   ? setShowSegmentation((current) => !current)
                   : onLivePerceptionLayersChange({
@@ -435,7 +462,7 @@ function SpatialWorkspace({
                 variant={cuboids3dActive ? "primary" : "secondary"}
                 icon={<Icon name="apps" />}
                 aria-pressed={cuboids3dActive}
-                disabled={recordedSource && !recordedPerceptionReady}
+                disabled={recordedPerceptionLoading}
                 onClick={() => recordedSource
                   ? setShowCuboids3d((current) => !current)
                   : onLivePerceptionLayersChange({
@@ -489,35 +516,8 @@ function SpatialWorkspace({
       >
           {sourceUrl.trim() && pointCloudVisible && !intentionalSourceEnd ? (
             <RerunViewport
-              sourceUrl={sourceUrl}
-              recordedArtifact={recordedSource ? recordedReplay : null}
-              followLive={liveRerunSource}
-              liveActivitySequence={livePresentationActivitySequence}
-              liveStreamId={state?.spatialSource?.id}
-              liveRecoveryAuthorityIdentity={!recordedSource && streamActive ? liveRerunRecoveryAuthorityIdentity(pointCloudSource, state?.spatialSource) : null}
-              autoplayWhenReady={recordedSource}
-              presentationGate={recordedSessionGate}
-              expectedTimelineStartSeconds={recordedSource
-                ? state?.observationTimeline?.range?.startSeconds
-                : undefined}
-              expectedTimelineEndSeconds={recordedSource
-                ? state?.observationTimeline?.range?.endSeconds
-                : undefined}
-              initialPlaybackStartSeconds={initialRecordedPlaybackStartSeconds}
+              profile={rerunViewerProfile}
               sceneSettings={sceneSettings}
-              recordedViewResetGeneration={recordedViewResetGeneration}
-              recordedFollowTrajectory={followRecordedTrajectory}
-              recordedPerceptionLayers={{
-                enabled:
-                  recordedPerceptionSupported &&
-                  recordedPerceptionReady &&
-                  recordedPerceptionEnabled,
-                detections2d: showDetections2d,
-                segmentation: showSegmentation,
-                cuboids3d: showCuboids3d,
-              }}
-              recordedPerceptionRetryGeneration={perceptionRetryGeneration}
-              lockPerceptionCameraInteraction={unifiedPerception}
               onPerceptionLoadChange={onPerceptionLoadChange}
               onPointColorLoadChange={onPointColorLoadChange}
               onStatusChange={onStatusChange}
@@ -905,7 +905,7 @@ function CamerasWorkspace({
     if (!recordedReplay) return true;
     if (!recordedSessionAdmission) return false;
     return recordedSessionAdmission.activeCameraSourceIds.has(sourceId) ||
-      recordedSessionAdmission.cameras[sourceId]?.phase === "ready";
+      ["ready", "error"].includes(recordedSessionAdmission.cameras[sourceId]?.phase ?? "loading");
   }, [recordedReplay, recordedSessionAdmission]);
   return (
     <div className="standard-workspace cameras-workspace" data-focused={focusedSource ? "true" : undefined}>

apps/control-station/src/workspaces/laboratory/AdvancedLaboratoryResult.tsx

@@ -50,6 +50,8 @@ import { M48SFixedClassDetectorResultView } from "./M48SFixedClassDetectorResult
 import { M48TRiskQualityResultView } from "./M48TRiskQualityResult";
 import { M49TgsFailClosedResultView } from "./M49TgsFailClosedResult";
 import { M49TgsFullShadowResultView } from "./M49TgsFullShadowResult";
+import { VegetationShadowResultView } from "./VegetationShadowResult";
+import { VegetationBenchmarkResultView } from "./VegetationBenchmarkResult";
 
 export { isAdvancedLaboratoryWorkId };
 export type { AdvancedLaboratoryWorkId };
@@ -92,6 +94,12 @@ export function AdvancedLaboratoryResult({
   failedSessionId: string | null;
   replayError: string | null;
 }) {
+  if (workId === "lab-v1-vegetation-benchmark" && results.vegetationBenchmark) {
+    return <VegetationBenchmarkResultView rigLabel={rigLabel} result={results.vegetationBenchmark} />;
+  }
+  if (workId === "lab-v1-vegetation-shadow" && results.vegetationShadow) {
+    return <VegetationShadowResultView rigLabel={rigLabel} result={results.vegetationShadow} />;
+  }
   if (workId === "m48-object-centric-quality" && results.m48) {
     return <M48ObjectCentricQualityResultView rigLabel={rigLabel} result={results.m48} />;
   }

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

@@ -0,0 +1,249 @@
+import { useEffect, useMemo, useState } from "react";
+import { Button, Icon, SegmentedControl } from "@nodedc/ui-react";
+
+import { ObservationTimeline } from "../../components/ObservationTimeline";
+import {
+  RerunViewport,
+  type RerunPlaybackController,
+  type RerunPlaybackState,
+} from "../../components/RerunViewport";
+import {
+  CanonicalRecordedLabReplay,
+  useCanonicalRecordedLabReplayState,
+} from "../../components/laboratory/CanonicalRecordedLabReplay";
+import {
+  resolveCanonicalLabReplay,
+  type CanonicalLabReplayDescriptor,
+} from "../../core/laboratory/canonicalLabReplay";
+import type { VegetationFullRouteReview } from "../../core/laboratory/vegetationShadow";
+import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
+import { recordedSessionRerunProfile } from "../../core/observation/viewerProfile";
+import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions";
+import { defaultSceneSettings } from "../../sceneSettings";
+
+type MediaMode = "video" | "camera";
+type SpatialMode = "3d" | "plan";
+type SpatialLayer = "source" | "local" | "tgs" | "semantic";
+type SemanticLayer = "city" | "vegetation";
+
+interface CanonicalReplayLaunch {
+  base: ObservationSessionReplayLaunch;
+  replay: CanonicalLabReplayDescriptor;
+}
+
+export function CanonicalVegetationRerunReplay({
+  resultId,
+  review,
+}: {
+  resultId: string;
+  review: VegetationFullRouteReview;
+}) {
+  const {
+    mediaMode,
+    spatialMode,
+    splitPrimarySize,
+    splitOrientation,
+    expanded,
+    onMediaModeChange,
+    onSpatialModeChange,
+    onSplitPrimarySizeChange,
+    onExpandedChange,
+  } = useCanonicalRecordedLabReplayState<MediaMode, SpatialMode>({
+    initialMediaMode: "video",
+    initialSpatialMode: "3d",
+  });
+  const [semanticLayer, setSemanticLayer] = useState<SemanticLayer>("vegetation");
+  const [showSemantics, setShowSemantics] = useState(true);
+  const [spatialLayer, setSpatialLayer] = useState<SpatialLayer>("source");
+  const [viewResetGeneration, setViewResetGeneration] = useState<0 | 1>(0);
+  const [playback, setPlayback] = useState<RerunPlaybackState | null>(null);
+  const [playbackController, setPlaybackController] =
+    useState<RerunPlaybackController | null>(null);
+  const [launch, setLaunch] = useState<CanonicalReplayLaunch | null>(null);
+  const [launchError, setLaunchError] = useState<string | null>(null);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setLaunch(null);
+    setLaunchError(null);
+    void resolveObservationSessionReplay(review.sessionId, {
+      signal: controller.signal,
+      maximumWaitMs: 30 * 60 * 1000,
+      onUpdate: () => undefined,
+    }).then(async (value) => ({
+      base: value,
+      replay: await resolveCanonicalLabReplay(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 : "Каноническая запись RAV004 недоступна.",
+        );
+      }
+    });
+    return () => controller.abort();
+  }, [resultId, review.sessionId]);
+
+  const splitView = mediaMode !== null && spatialMode !== null;
+  const sceneSettings = useMemo(() => ({
+    ...defaultSceneSettings,
+    accumulationSeconds: spatialLayer === "local" ? 5 : 0,
+    showPoints: spatialMode !== null,
+    showTrajectory: spatialMode !== null,
+    showGrid: spatialMode !== null,
+    pointSize: 3.8,
+  }), [spatialLayer, spatialMode]);
+  const profile = launch ? recordedSessionRerunProfile({
+    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: review.timelineStartSeconds,
+    view: mediaMode !== null ? "perception" : "spatial",
+    viewResetGeneration,
+    followTrajectory: true,
+    semanticLayer,
+    unifiedPerception: splitView,
+    planView: spatialMode === "plan",
+    perceptionLayers: {
+      enabled: mediaMode !== null,
+      detections2d: mediaMode === "video",
+      segmentation: mediaMode === "video" && showSemantics,
+      cuboids3d: false,
+    },
+    perceptionRetryGeneration: 0,
+    lockPerceptionCameraInteraction: false,
+  }) : null;
+
+  const mediaLayerControls = (
+    <div
+      className="m4-replay-threat-visual__pane-layer-controls"
+      role="group"
+      aria-label="Слои камеры и видео"
+    >
+      <Button
+        size="dense"
+        shape="pill"
+        variant={showSemantics ? "primary" : "secondary"}
+        aria-pressed={showSemantics}
+        onClick={() => setShowSemantics((visible) => !visible)}
+      >
+        СЕМАНТИКА
+      </Button>
+      <SegmentedControl
+        value={semanticLayer}
+        items={[
+          { value: "city", label: "ГОРОД · EoMT" },
+          { value: "vegetation", label: "ПРИРОДА · DDRNet" },
+        ]}
+        label="Источник семантики"
+        size="dense"
+        onChange={(value) => {
+          setSemanticLayer(value);
+          setShowSemantics(true);
+        }}
+      />
+    </div>
+  );
+  const spatialLayerControls = (
+    <div
+      className="m4-replay-threat-visual__pane-layer-controls"
+      role="group"
+      aria-label="Пространственные слои RAV004"
+    >
+      <SegmentedControl
+        value={spatialLayer}
+        items={[
+          { value: "source", label: "ИСХ. ТОЧКИ" },
+          { value: "local", label: "ЛОК. SLAM" },
+          { value: "tgs", label: "TGS", disabled: true },
+          { value: "semantic", label: "СЕМАНТИКА", disabled: true },
+        ]}
+        label="Пространственные слои"
+        size="dense"
+        onChange={setSpatialLayer}
+      />
+    </div>
+  );
+  const resetSpatialView = (
+    <Button
+      size="dense"
+      variant="ghost"
+      icon={<Icon name="refresh" size={14} />}
+      aria-label="Сбросить положение 3D камеры"
+      title="Сбросить положение 3D камеры"
+      onClick={() => setViewResetGeneration((value) => value === 0 ? 1 : 0)}
+    >
+    </Button>
+  );
+
+  const transport = playback && playbackController ? (
+    <ObservationTimeline
+      className="m4-replay-threat-visual__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 (
+    <CanonicalRecordedLabReplay
+      label="RAVNOVES004TREE · канонический повтор Rerun"
+      mediaMode={mediaMode ?? "none"}
+      mediaModes={[
+        { value: "video", label: "ВИДЕО" },
+        { value: "camera", label: "КАМЕРА" },
+      ]}
+      spatialMode={spatialMode ?? "none"}
+      spatialModes={[
+        { value: "3d", label: "3D" },
+        { value: "plan", label: "ПЛАН" },
+      ]}
+      expanded={expanded}
+      splitPrimarySize={splitPrimarySize}
+      splitOrientation={splitOrientation}
+      mediaAriaLabel={mediaMode === "camera" ? "Камера" : "Видео и семантика"}
+      spatialAriaLabel={spatialMode === "plan" ? "Вид сверху" : "Трёхмерная сцена"}
+      mediaLayerControls={mediaLayerControls}
+      spatialLayerControls={spatialLayerControls}
+      spatialLeadingControl={resetSpatialView}
+      mediaMultiLayer
+      unifiedContent={profile ? (
+        <RerunViewport
+          profile={profile}
+          sceneSettings={sceneSettings}
+          onPlaybackChange={setPlayback}
+          onPlaybackControllerChange={setPlaybackController}
+        />
+      ) : (
+        <div className="l3-visual-audit__state" role={launchError ? "alert" : "status"}>
+          {launchError ?? "Готовим единый кэш канонического повтора RAV004…"}
+        </div>
+      )}
+      emptyMessage="Выберите ВИДЕО/КАМЕРА или 3D/ПЛАН. Общие часы Rerun останутся на месте."
+      transport={transport}
+      onMediaModeChange={onMediaModeChange}
+      onSpatialModeChange={onSpatialModeChange}
+      onExpandedChange={onExpandedChange}
+      onSplitPrimarySizeChange={onSplitPrimarySizeChange}
+    />
+  );
+}

apps/control-station/src/workspaces/laboratory/M48FailureAtlasVisual.tsx

@@ -28,6 +28,119 @@ const ATLAS_MODES = [
 ] as const;
 type AtlasMode = typeof ATLAS_MODES[number]["value"];
 
+const MASK_COMPARISON_MODES = [
+  { value: "source", label: "SOURCE" },
+  { value: "truth", label: "TRUTH" },
+  { value: "prediction", label: "PREDICTION" },
+  { value: "error", label: "ERROR" },
+] as const;
+const MASK_COMPARISON_CANDIDATES = [
+  { value: "ddrnet", label: "DDRNET" },
+  { value: "ppliteseg", label: "PPLITE" },
+] as const;
+type MaskComparisonMode = typeof MASK_COMPARISON_MODES[number]["value"];
+type MaskComparisonCandidate = typeof MASK_COMPARISON_CANDIDATES[number]["value"];
+
+export interface M48MaskComparisonCase {
+  caseId: string;
+  title: string;
+  context?: string;
+  sourceUrl: string;
+  truthUrl: string;
+  predictions: Readonly<Record<MaskComparisonCandidate, string>>;
+  errors: Readonly<Record<MaskComparisonCandidate, string>>;
+}
+
+function M48MaskComparisonScene({
+  item,
+  mode,
+  candidate,
+}: {
+  item: M48MaskComparisonCase;
+  mode: MaskComparisonMode;
+  candidate: MaskComparisonCandidate;
+}) {
+  const overlay = mode === "truth"
+    ? item.truthUrl
+    : mode === "prediction"
+      ? item.predictions[candidate]
+      : mode === "error"
+        ? item.errors[candidate]
+        : null;
+  return (
+    <div className="recorded-evidence-image-scene">
+      <img src={item.sourceUrl} alt="" draggable={false} />
+      {overlay ? <img src={overlay} alt="" draggable={false} /> : null}
+    </div>
+  );
+}
+
+export function M48MaskComparisonVisual({
+  cases,
+  initialCandidate,
+}: {
+  cases: readonly M48MaskComparisonCase[];
+  initialCandidate: MaskComparisonCandidate;
+}) {
+  const [index, setIndex] = useState(0);
+  const [mode, setMode] = useState<MaskComparisonMode>("error");
+  const [candidate, setCandidate] = useState<MaskComparisonCandidate>(initialCandidate);
+  const [expanded, setExpanded] = useState(false);
+  const item = cases[index] ?? null;
+  return (
+    <LaboratoryEvidenceViewer
+      label="M4.8 vegetation truth comparison"
+      className="m48-atlas-visual"
+      mode={mode}
+      modes={MASK_COMPARISON_MODES}
+      secondaryMode={{
+        value: candidate,
+        modes: MASK_COMPARISON_CANDIDATES,
+        label: "Сравниваемая модель",
+        onChange: setCandidate,
+      }}
+      expanded={expanded}
+      onModeChange={setMode}
+      onExpandedChange={setExpanded}
+      chromeLayout="stacked"
+      actions={(
+        <>
+          <IconButton
+            label="Предыдущий vegetation hard case"
+            disabled={!cases.length}
+            onClick={() => setIndex((current) => (current - 1 + cases.length) % cases.length)}
+          >
+            <Icon name="chevron-left" size={16} />
+          </IconButton>
+          <IconButton
+            label="Следующий vegetation hard case"
+            disabled={!cases.length}
+            onClick={() => setIndex((current) => (current + 1) % cases.length)}
+          >
+            <Icon name="chevron-right" size={16} />
+          </IconButton>
+        </>
+      )}
+      overlay={item ? (
+        <div className="m48-atlas-visual__case">
+          <StatusBadge tone="accent">GOOSE TRUTH · {index + 1}/{cases.length}</StatusBadge>
+          <strong>{item.title}</strong>
+          {item.context ? <small>{item.context}</small> : null}
+        </div>
+      ) : null}
+    >
+      {item ? (
+        <M48MaskComparisonScene item={item} mode={mode} candidate={candidate} />
+      ) : (
+        <div className="m48-atlas-visual__state" role="alert">
+          <Icon name="alert" size={18} />
+          Vegetation hard-case каталог пуст.
+        </div>
+      )}
+    </LaboratoryEvidenceViewer>
+  );
+}
+
 function message(error: unknown): string {
   return error instanceof Error && error.message.trim() ? error.message : "M4.8 evidence недоступно.";
 }

apps/control-station/src/workspaces/laboratory/M49TgsFullShadowEvidence.tsx

@@ -8,17 +8,21 @@ import {
   fetchE47SemanticSlamResult,
   type E47SemanticSlamResult,
 } from "../../core/laboratory/e47SemanticSlam";
+import {
+  fetchM49PhysicalSafetyPlaybackIdForSource,
+  M49PhysicalSafetyPlaybackBuffer,
+  type M49PhysicalSafetyPlaybackProgress,
+} from "../../core/laboratory/m49PhysicalSafetyPlayback";
 import {
   fetchM49TgsFullShadowPlaybackPack,
   type M49TgsFullShadowResult,
   type M49TgsFullShadowPlaybackPack,
   type M49TgsFullShadowPlaybackProgress,
-  type M49TgsFullShadowSpatial,
-  type M49TgsFullShadowStateCode,
 } from "../../core/laboratory/m49TgsFullShadow";
 import {
   M4ReplayThreatVisual,
   type M4ReplayClassifiedSpatialFrame,
+  type M4ReplayThreatSemanticLayer,
 } from "./M4ReplayThreatVisual";
 
 const CLASSES: readonly RecordedEvidenceSemanticClass[] = [
@@ -33,24 +37,28 @@ const PALETTE: readonly RecordedEvidenceSemanticPaletteEntry[] = [
   { classId: 3, color: { kind: "token", token: "--nodedc-warning-rgb" } },
 ];
 
-function cellState(code: M49TgsFullShadowStateCode): M4ReplayClassifiedSpatialFrame["cellsMapGravityLocal"][number]["state"] {
-  if (code === 1) return "ground-support";
-  if (code === 2) return "nonground-occupied";
-  if (code === 3) return "unknown-rejected";
-  return "unobserved";
-}
-
 function message(error: unknown): string {
   return error instanceof Error && error.message.trim()
     ? error.message
     : "Полный TGS spatial frame недоступен.";
 }
 
-export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowResult }) {
+export function M49TgsFullShadowEvidence({
+  result,
+  semanticOverride,
+  evidenceLabel = "M49 · full TGS shadow",
+}: {
+  result: M49TgsFullShadowResult;
+  semanticOverride?: M4ReplayThreatSemanticLayer;
+  evidenceLabel?: string;
+}) {
   const [activeSequence, setActiveSequence] = useState<number | null>(null);
   const [semantic, setSemantic] = useState<E47SemanticSlamResult | null>(null);
   const [semanticError, setSemanticError] = useState<string | null>(null);
   const [playbackPack, setPlaybackPack] = useState<M49TgsFullShadowPlaybackPack | null>(null);
+  const [physicalPlayback, setPhysicalPlayback] = useState<M49PhysicalSafetyPlaybackBuffer | null>(null);
+  const [physicalProgress, setPhysicalProgress] = useState<M49PhysicalSafetyPlaybackProgress | null>(null);
+  const [physicalRevision, setPhysicalRevision] = useState(0);
   const [playbackProgress, setPlaybackProgress] = useState<M49TgsFullShadowPlaybackProgress>({
     phase: "manifest",
     trackId: null,
@@ -83,12 +91,27 @@ export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowR
   useEffect(() => {
     const controller = new AbortController();
     setPlaybackPack(null);
+    setPhysicalPlayback(null);
+    setPhysicalProgress(null);
+    setPhysicalRevision(0);
     setPlaybackProgress({ phase: "manifest", trackId: null, loadedBytes: 0, totalBytes: 0 });
     setError(null);
-    void fetchM49TgsFullShadowPlaybackPack(result.resultId, {
+    void fetchM49PhysicalSafetyPlaybackIdForSource(result.resultId, {
       signal: controller.signal,
-      onProgress: setPlaybackProgress,
-    }).then((pack) => {
+    }).then(async (physicalResultId) => {
+      if (controller.signal.aborted) return;
+      if (physicalResultId) {
+        const playback = await M49PhysicalSafetyPlaybackBuffer.open(physicalResultId, {
+          signal: controller.signal,
+          onProgress: setPhysicalProgress,
+        });
+        if (!controller.signal.aborted) setPhysicalPlayback(playback);
+        return;
+      }
+      const pack = await fetchM49TgsFullShadowPlaybackPack(result.resultId, {
+        signal: controller.signal,
+        onProgress: setPlaybackProgress,
+      });
       if (!controller.signal.aborted) setPlaybackPack(pack);
     }).catch((caught: unknown) => {
       if (!controller.signal.aborted) setError(message(caught));
@@ -96,84 +119,124 @@ export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowR
     return () => controller.abort();
   }, [result.resultId]);
 
-  const spatial = useMemo<M49TgsFullShadowSpatial | null>(() => {
-    if (activeSequence === null || !playbackPack) return null;
+  useEffect(() => {
+    if (activeSequence === null || !physicalPlayback) return;
+    let active = true;
+    const resident = physicalPlayback.frameIfResident(activeSequence);
+    void physicalPlayback.prepare(activeSequence).then(() => {
+      if (active && !resident) setPhysicalRevision((value) => value + 1);
+    }).catch((caught: unknown) => {
+      if (active) setError(message(caught));
+    });
+    return () => {
+      active = false;
+    };
+  }, [activeSequence, physicalPlayback]);
+
+  const classifiedFrame = useMemo<M4ReplayClassifiedSpatialFrame | null>(() => {
+    if (activeSequence === null) return null;
+    if (physicalPlayback) {
+      const frame = physicalPlayback.frameIfResident(activeSequence);
+      if (!frame) return null;
+      return {
+        sourceSequence: activeSequence,
+        sampleAvailable: frame.metadata.sampleAvailable,
+        sourcePointCount: frame.metadata.metrics.eligible_point_count ?? 0,
+        pointsMapGravityLocalXyzM: [],
+        pointClassIds: [],
+        cellsMapGravityLocal: [],
+        packedCellsMapGravityLocal: {
+          centersXyM: frame.centersXyM,
+          stateCodes: frame.states,
+          zBoundsM: frame.zBoundsM,
+        },
+        cellSizeM: frame.cellSizeM,
+        classes: CLASSES,
+        palette: PALETTE,
+      };
+    }
+    if (!playbackPack) return null;
     const frame = playbackPack.frames[activeSequence];
     if (!frame) return null;
     const cellOffset = activeSequence * playbackPack.cellCount;
     const zOffset = cellOffset * 2;
-    const states = Array.from(
-      playbackPack.states.subarray(cellOffset, cellOffset + playbackPack.cellCount),
-      (value) => value as M49TgsFullShadowStateCode,
-    );
-    const zBoundsM = Array.from({ length: playbackPack.cellCount }, (_, index) => {
-      const minimum = playbackPack.zBoundsM[zOffset + index * 2]!;
-      const maximum = playbackPack.zBoundsM[zOffset + index * 2 + 1]!;
-      return [
-        Number.isFinite(minimum) ? minimum : null,
-        Number.isFinite(maximum) ? maximum : null,
-      ] as const;
-    });
     return {
-      resultId: playbackPack.resultId,
       sourceSequence: activeSequence,
-      sourceFrameIndex: frame.sourceFrameIndex,
-      sessionSeconds: frame.sessionSeconds,
       sampleAvailable: frame.sampleAvailable,
-      costmap: {
-        cellSizeM: result.configuration.cellSizeM,
-        radiusM: result.configuration.radiusM,
+      sourcePointCount: frame.metrics.eligiblePointCount,
+      pointsMapGravityLocalXyzM: [],
+      pointClassIds: [],
+      cellsMapGravityLocal: [],
+      packedCellsMapGravityLocal: {
         centersXyM: playbackPack.centersXyM,
-        states,
-        zBoundsM,
+        stateCodes: playbackPack.states.subarray(
+          cellOffset,
+          cellOffset + playbackPack.cellCount,
+        ),
+        zBoundsM: playbackPack.zBoundsM.subarray(
+          zOffset,
+          zOffset + playbackPack.cellCount * 2,
+        ),
       },
-      metrics: frame.metrics,
+      cellSizeM: result.configuration.cellSizeM,
+      classes: CLASSES,
+      palette: PALETTE,
     };
-  }, [activeSequence, playbackPack, result.configuration.cellSizeM, result.configuration.radiusM]);
-  const loading = activeSequence !== null && !spatial && !error;
+  }, [activeSequence, physicalPlayback, physicalRevision, playbackPack, result.configuration.cellSizeM]);
+  const loading = activeSequence !== null && !classifiedFrame && !error;
   const progressPercent = playbackProgress.totalBytes > 0
     ? Math.min(100, Math.round((playbackProgress.loadedBytes / playbackProgress.totalBytes) * 100))
     : 0;
-  const loadingLabel = playbackProgress.phase === "manifest"
+  const loadingLabel = physicalProgress
+    ? physicalProgress.phase === "ready"
+      ? "Sealed TGS playback готов"
+      : `Буферизуем sealed TGS · ${physicalProgress.residentChunkIndexes.length}/3 chunks · ${(physicalProgress.loadedBytes / 1_048_576).toFixed(1)} МБ`
+    : playbackProgress.phase === "manifest"
     ? "Проверяем playback manifest"
     : playbackProgress.phase === "ready"
       ? "TGS playback готов"
       : `Подготавливаем TGS playback · ${progressPercent}% · ${(playbackProgress.loadedBytes / 1_048_576).toFixed(1)}/${(playbackProgress.totalBytes / 1_048_576).toFixed(1)} МБ`;
 
-  const classifiedFrame = useMemo<M4ReplayClassifiedSpatialFrame | null>(() => {
-    if (!spatial) return null;
-    return {
-      sourceSequence: spatial.sourceSequence,
-      sampleAvailable: spatial.sampleAvailable,
-      sourcePointCount: spatial.metrics.eligiblePointCount,
-      pointsMapGravityLocalXyzM: [],
-      pointClassIds: [],
-      cellsMapGravityLocal: spatial.costmap.centersXyM.map((center, index) => ({
-        centerXyM: center,
-        zBoundsM: spatial.costmap.zBoundsM[index]!,
-        state: cellState(spatial.costmap.states[index]!),
-      })),
-      cellSizeM: spatial.costmap.cellSizeM,
-      classes: CLASSES,
-      palette: PALETTE,
-    };
-  }, [spatial]);
-
   const handleSequenceChange = useCallback((sequence: number | null) => {
     setActiveSequence(sequence);
   }, []);
+  const semanticLayers = useMemo<readonly M4ReplayThreatSemanticLayer[]>(() => [
+    ...(semantic ? [{
+      id: "urban",
+      controlLabel: "ГОРОД · EoMT",
+      resultId: semantic.resultId,
+      taxonomy: semantic.taxonomy,
+      label: "EoMT Cityscapes semantic · recorded video",
+      maskAriaLabel: "EoMT urban semantic prediction",
+    }] : []),
+    ...(semanticOverride ? [{
+      ...semanticOverride,
+      id: semanticOverride.id ?? "vegetation",
+      controlLabel: semanticOverride.controlLabel ?? "ПРИРОДА · DDRNet",
+    }] : []),
+  ], [semantic, semanticOverride]);
+  const spatialSemantic = useMemo<M4ReplayThreatSemanticLayer | undefined>(() => (
+    semantic ? {
+      id: "spatial-urban",
+      controlLabel: "SEMANTICS",
+      resultId: semantic.resultId,
+      spatialResultId: semantic.resultId,
+      taxonomy: semantic.taxonomy,
+      label: "EoMT Cityscapes semantic · point-aligned E47",
+      maskAriaLabel: "EoMT urban semantic prediction",
+    } : undefined
+  ), [semantic]);
 
   return (
     <>
       <M4ReplayThreatVisual
         resultId={result.source.linkedVisualResultId}
-        semantic={semantic ? {
-          resultId: semantic.resultId,
-          taxonomy: semantic.taxonomy,
-        } : undefined}
+        semanticLayers={semanticLayers}
+        spatialSemantic={spatialSemantic}
+        initialSemanticLayerId={semanticOverride ? "vegetation" : "urban"}
         showReviewAnchorBoxes={false}
         reviewLabel="4 489 source-paced TGS frames"
-        evidenceLabel="M49 · full TGS shadow"
+        evidenceLabel={evidenceLabel}
         initialSpatialMode="3d"
         onActiveSequenceChange={handleSequenceChange}
         classifiedSpatialLayer={{

apps/control-station/src/workspaces/laboratory/VegetationBenchmarkResult.tsx

@@ -0,0 +1,147 @@
+import {
+  LaboratoryEvidence,
+  LaboratoryResultSummary,
+  LaboratorySummary,
+  LaboratoryWorkTemplate,
+} from "../../components/laboratory/LaboratoryPresentation";
+import type { VegetationShadowResult } from "../../core/laboratory/vegetationShadow";
+import {
+  M48MaskComparisonVisual,
+  type M48MaskComparisonCase,
+} from "./M48FailureAtlasVisual";
+
+function decimal(value: number, digits = 1): string {
+  return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
+}
+
+const VEGETATION_LABELS: Readonly<Record<string, string>> = {
+  high_grass: "Высокая трава",
+  low_grass: "Низкая трава",
+  bush: "Куст",
+  tree_trunk: "Ствол дерева",
+  tree_crown: "Крона дерева",
+  hedge: "Живая изгородь",
+  forest: "Лесная растительность",
+  crops: "Посевы",
+};
+
+function comparisonCases(result: VegetationShadowResult): readonly M48MaskComparisonCase[] {
+  return result.validationCases.map((item) => {
+    const focus = item.focus!;
+    return {
+      caseId: item.caseId,
+      title: `${VEGETATION_LABELS[focus.className] ?? focus.className} · truth ${decimal(focus.truthFraction * 100, 1)}% кадра`,
+      sourceUrl: item.assets.source,
+      truthUrl: item.assets.truth,
+      predictions: {
+        ddrnet: item.assets.ddrnet,
+        ppliteseg: item.assets.ppliteseg,
+      },
+      errors: {
+        ddrnet: item.assets.ddrnet_error,
+        ppliteseg: item.assets.ppliteseg_error,
+      },
+    };
+  });
+}
+
+export function VegetationBenchmarkResultView({
+  rigLabel,
+  result,
+}: {
+  rigLabel: string;
+  result: VegetationShadowResult;
+}) {
+  const selected = result.candidates.find(
+    (candidate) => candidate.candidate === result.selectedCandidate,
+  )!;
+  const alternative = result.candidates.find(
+    (candidate) => candidate.candidate !== result.selectedCandidate,
+  )!;
+
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="M4.8 · архивный benchmark растительности"
+          description="Отдельный truth-backed контур GOOSE для сравнения готовых fine-64 весов. Он не является частью RAVNOVES00 realtime LAB и открывается автономно без Worker 006."
+          status="ARCHIVE ANALYSIS · model qualification only · commands OFF"
+          statusTone="warning"
+          facts={[
+            { label: "Источник", value: "GOOSE validation · 962 размеченных кадра · 12 hard cases" },
+            { label: "Сравнение", value: "DDRNet-39 vs PPLiteSeg · official fine-64 weights" },
+            { label: "Кейсы", value: "трава · куст · ствол · крона · изгородь · лес · посевы" },
+            { label: "Authority", value: `${rigLabel} · MODEL QUALIFICATION ONLY · commands OFF` },
+          ]}
+          brief={{
+            question: "Какие готовые веса лучше различают проезжаемую траву, кусты и стволы на размеченных off-road кадрах?",
+            approach: "Обе модели прогнаны на 962 кадрах, а 12 визуальных кейсов выбраны детерминированно по truth-поддержке восьми растительных классов. Viewer показывает source, ручной truth, prediction и error.",
+            principalResult: `${selected.loadedModelName} лидирует по vegetation IoU: ${decimal(selected.vegetationMeanIouPercent, 2)}% против ${decimal(alternative.vegetationMeanIouPercent, 2)}%.`,
+            limitation: "GOOSE — внешний размеченный домен. Результат выбирает стартовые веса, но не доказывает качество на fisheye RAVNOVES00 и не даёт navigation authority.",
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "ai-inference",
+            pipelineId: "goose-fine64-ready-weights-benchmark-archive/v1",
+            components: result.candidates.map((candidate) => ({
+              kind: "model" as const,
+              name: candidate.loadedModelName,
+              version: candidate.candidate,
+              role: candidate.candidate === result.selectedCandidate
+                ? "selected vegetation candidate"
+                : "comparison candidate",
+              identitySha256: candidate.checkpointSha256,
+            })),
+          }}
+        />
+      )}
+      evidence={(
+        <LaboratoryEvidence
+          eyebrow="M4.8 · GOOSE VEGETATION HARD CASES"
+          title="TRUTH — ручная разметка · PREDICTION — ответ модели · ERROR — расхождение"
+          kind="diagnostic-model"
+          resizable
+        >
+          <M48MaskComparisonVisual
+            cases={comparisonCases(result)}
+            initialCandidate={result.selectedCandidate}
+          />
+        </LaboratoryEvidence>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="DDRNet выбран как стартовый vegetation candidate"
+          status={`${selected.loadedModelName} · перенос на ровер не доказан`}
+          statusTone="warning"
+          metrics={[
+            {
+              label: "GOOSE mIoU",
+              value: `${decimal(selected.meanIouPercent, 2)}% / ${decimal(alternative.meanIouPercent, 2)}%`,
+              hint: `${selected.candidate} / ${alternative.candidate} · полный validation split`,
+            },
+            {
+              label: "Vegetation IoU",
+              value: `${decimal(selected.vegetationMeanIouPercent, 2)}% / ${decimal(alternative.vegetationMeanIouPercent, 2)}%`,
+              hint: "grass/vegetation/bush/tree и родственные fine-64 labels",
+            },
+            {
+              label: "Worker shadow p95",
+              value: `${decimal(selected.shadowLatencyP95Ms, 2)} / ${decimal(alternative.shadowLatencyP95Ms, 2)} ms`,
+              hint: "чистый inference · одна тяжёлая модель за раз",
+            },
+            {
+              label: "Peak VRAM",
+              value: `${decimal(selected.peakReservedVramBytes / 1024 ** 3, 2)} / ${decimal(alternative.peakReservedVramBytes / 1024 ** 3, 2)} GiB`,
+              hint: `${selected.candidate} / ${alternative.candidate} · RTX 4090`,
+            },
+          ]}
+          conclusion={{
+            proved: "Обе готовые fine-64 модели воспроизводимо запускаются; DDRNet лучше по aggregate vegetation IoU.",
+            notProved: "Не доказаны accuracy на нашем fisheye, temporal stability, collision safety и физическое поведение ровера.",
+            decision: "Хранить как архив квалификации весов. Проверку на RAVNOVES00 вести только в основной многослойной LAB.",
+          }}
+        />
+      )}
+    />
+  );
+}

apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx

@@ -0,0 +1,265 @@
+import { useEffect, useState } from "react";
+
+import {
+  LaboratoryEvidence,
+  LaboratoryResultSummary,
+  LaboratorySummary,
+  LaboratoryWorkTemplate,
+} from "../../components/laboratory/LaboratoryPresentation";
+import {
+  vegetationVideoMaskUrl,
+  type VegetationFullRouteReview,
+  type VegetationShadowResult,
+} from "../../core/laboratory/vegetationShadow";
+import {
+  fetchM49TgsFullShadowResult,
+  type M49TgsFullShadowResult,
+} from "../../core/laboratory/m49TgsFullShadow";
+import { M49TgsFullShadowEvidence } from "./M49TgsFullShadowEvidence";
+import { CanonicalVegetationRerunReplay } from "./CanonicalVegetationRerunReplay";
+
+function decimal(value: number, digits = 1): string {
+  return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
+}
+
+function FullRouteReviewEvidence({
+  resultId,
+  review,
+}: {
+  resultId: string;
+  review: VegetationFullRouteReview;
+}) {
+  return <CanonicalVegetationRerunReplay resultId={resultId} review={review} />;
+}
+
+function FullRouteReviewResult({
+  rigLabel,
+  resultId,
+  review,
+}: {
+  rigLabel: string;
+  resultId: string;
+  review: VegetationFullRouteReview;
+}) {
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="LAB V1 · RAVNOVES004TREE · полный маршрут"
+          description="Принятый инструмент записанной LAB воспроизводит RAV004 без отдельного viewer: единый таймлайн, правая камера, исходные точки, ограниченный Local SLAM и переключаемые EoMT/DDRNet."
+          status="ПОЛНЫЙ ПРОСМОТР ЗАПИСИ · эталон отсутствует · команды ВЫКЛ"
+          statusTone="warning"
+          facts={[
+            { label: "Источник", value: `${review.sourceId} · ${review.frameCount}/${review.frameCount} кадров камеры` },
+            { label: "3D", value: "1444 приращения исходного облака · стабильная по гравитации RFU → корпус" },
+            { label: "Город", value: `${review.city.name} · ${decimal(review.city.inferenceFps, 2)} кадра/с` },
+            { label: "Природа", value: `${review.vegetation.name} · ${decimal(review.vegetation.inferenceFps, 2)} кадра/с` },
+            { label: "TGS", value: "существуют 10 контрольных якорей · артефакт полного маршрута отсутствует" },
+            { label: "Полномочия", value: `${rigLabel} · ТОЛЬКО ВИЗУАЛЬНЫЙ ПРОСМОТР · команды ВЫКЛ` },
+          ]}
+          brief={{
+            question: "Что реально видно на полном RAV004-прогоне с высокой травой, оврагами и переходом к городу?",
+            approach: "RAV004 поставляет только data/provider configuration в тот же M4 recorded viewer. Видеодекодер владеет clock; новые source increments проецируются в gravity-stable forward/left/up frame, Local SLAM ограничен пятью секундами.",
+            principalResult: "RAV004 больше не имеет отдельной логики окон, таймера, seek, cache или 3D controls. Модели и подписи меняются конфигурацией, архитектура переключения остаётся общей.",
+            limitation: "Full-route TGS, независимый person/vehicle detector, ручной truth и point-aligned 3D semantics пока не запечатаны. Semantic-derived рамки диагностические и не являются STOP-authority.",
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "ai-inference",
+            pipelineId: "canonical-recorded-lab-rav004tree/v3",
+            components: [
+              { kind: "algorithm", name: "Canonical recorded replay", version: "media-clock / one viewer", role: "shared camera + spatial transport", identitySha256: null },
+              { kind: "algorithm", name: "Recorded source points + bounded Local SLAM", version: "source-paced-ground-v3", role: "gravity-stable spatial evidence", identitySha256: null },
+              { kind: "model", name: review.city.name, version: "sealed Worker 006 run", role: "urban semantic review", identitySha256: null },
+              { kind: "model", name: review.vegetation.name, version: "GOOSE DDRNet-39", role: "vegetation semantic review", identitySha256: null },
+            ],
+          }}
+        />
+      )}
+      evidence={(
+        <LaboratoryEvidence
+          eyebrow="КАНОНИЧЕСКАЯ ЗАПИСАННАЯ LAB · RAVNOVES004TREE"
+          title="КАМЕРА + ИСХОДНЫЕ ТОЧКИ + ЛОКАЛЬНЫЙ SLAM + КАРТА TGS + СЕМАНТИКА · 6830/6830"
+          kind="recorded-replay"
+          resizable
+        >
+          <FullRouteReviewEvidence resultId={resultId} review={review} />
+        </LaboratoryEvidence>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="RAV004 переведён на общий replay-каркас; safety evidence ещё не полно"
+          status="Записанные доказательства · навигация/управление ВЫКЛ"
+          statusTone="warning"
+          metrics={[
+            { label: "Таймлайн камеры", value: "6830 кадров · ≈9,51 Гц", hint: "единые часы управляют видео, слоями и пространством" },
+            { label: "Исходная геометрия", value: "1444 приращения · ≈2 Гц", hint: "между поступлениями удерживается последний подтверждённый пространственный кадр" },
+            { label: "Пропускная способность EoMT", value: `${decimal(review.city.inferenceFps, 2)} кадра/с`, hint: "изолированный полный прогон; не стек реального времени" },
+            { label: "Пропускная способность DDRNet", value: `${decimal(review.vegetation.inferenceFps, 2)} кадра/с`, hint: "изолированный полный прогон; временная стабильность не принята" },
+          ]}
+          conclusion={{
+            proved: "Камера, перемотка, пространственные слои и переключение семантики используют один принятый переиспользуемый viewer и единые часы; исходная геометрия RFU больше не наследует крен и тангаж LiDAR.",
+            notProved: "Не доказаны непрерывная TGS, независимый детектор/STOP, точность относительно эталона, временная стабильность DDRNet и ≥10 кадров/с совместного стека реального времени.",
+            decision: "Продолжать как визуальный аудит. До запечатанной TGS полного маршрута и барьера детектора/нагрузки навигация и управление остаются выключенными.",
+          }}
+        />
+      )}
+    />
+  );
+}
+
+function VegetationRouteEvidence({ result }: { result: VegetationShadowResult }) {
+  const route = result.routeVideo!;
+  const linkedTgsResultId = route.linkedTgsResultId;
+  const [tgs, setTgs] = useState<M49TgsFullShadowResult | null>(null);
+  const [tgsError, setTgsError] = useState<string | null>(null);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setTgs(null);
+    setTgsError(null);
+    if (!linkedTgsResultId) return () => controller.abort();
+    void fetchM49TgsFullShadowResult(linkedTgsResultId, {
+      signal: controller.signal,
+    }).then((next) => {
+      if (controller.signal.aborted) return;
+      if (next.source.linkedVisualResultId !== route.baseM4ResultId) {
+        throw new Error("TGS и camera timeline имеют разные source identities.");
+      }
+      setTgs(next);
+    }).catch((caught: unknown) => {
+      if (!controller.signal.aborted) {
+        setTgsError(caught instanceof Error ? caught.message : "Sealed TGS недоступен.");
+      }
+    });
+    return () => controller.abort();
+  }, [linkedTgsResultId, route.baseM4ResultId]);
+
+  if (!linkedTgsResultId) {
+    throw new Error("Vegetation LAB result has no linked canonical M4.9 TGS evidence.");
+  }
+
+  const semantic = {
+    id: "vegetation",
+    controlLabel: "ПРИРОДА · DDRNet",
+    resultId: route.workerResultId,
+    spatialResultId: null,
+    taxonomy: route.taxonomy,
+    maskUrl: (sequence: number) => vegetationVideoMaskUrl(result.resultId, sequence),
+    label: "DDRNet coarse vegetation material · recorded video",
+    maskAriaLabel: "DDRNet vegetation material prediction",
+  } as const;
+
+  if (tgsError) {
+    return (
+      <div className="m4-replay-threat-visual__pane-status" role="alert">
+        Канонический M4.9 TGS слой недоступен: {tgsError}
+      </div>
+    );
+  }
+  if (!tgs) {
+    return (
+      <div className="m4-replay-threat-visual__pane-status" role="status">
+        Открываем sealed EoMT, TGS и coarse vegetation timeline…
+      </div>
+    );
+  }
+  return (
+    <M49TgsFullShadowEvidence
+      result={tgs}
+      semanticOverride={semantic}
+      evidenceLabel="LAB V1 · EoMT + DDRNet + YOLOX + TGS"
+    />
+  );
+}
+
+export function VegetationShadowResultView({
+  rigLabel,
+  result,
+}: {
+  rigLabel: string;
+  result: VegetationShadowResult;
+}) {
+  if (result.routeFullReview) {
+    return (
+      <FullRouteReviewResult
+        rigLabel={rigLabel}
+        resultId={result.resultId}
+        review={result.routeFullReview}
+      />
+    );
+  }
+  if (!result.routeVideo?.linkedTgsResultId) {
+    throw new Error(
+      "Vegetation LAB result has no canonical M4 source timeline and linked M4.9 TGS evidence.",
+    );
+  }
+  const route = result.routeVideo;
+  const selected = result.candidates.find(
+    (candidate) => candidate.candidate === result.selectedCandidate,
+  )!;
+
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="LAB V1 · карта ровера · город + растительность"
+          description="Один recorded-контур RAVNOVES00 синхронно показывает городской EoMT, природный DDRNet, frozen YOLOX detections и causal TGS. Семантические маски переключаются, чтобы их цвета не скрывали друг друга; геометрическое veto остаётся независимым."
+          status="MULTILAYER RECORDED REVIEW · commands OFF · route truth отсутствует"
+          statusTone="warning"
+          facts={[
+            { label: "Источник", value: "RAVNOVES00 · sensor.camera.right · 4489 recorded frames" },
+            { label: "Город", value: "EoMT Cityscapes · sealed E47 semantic archive" },
+            { label: "Растительность", value: "DDRNet-39 fine-64 → coarse mission-neutral materials" },
+            { label: "Safety", value: "YOLOX object boxes + causal TGS · semantic masks не снимают veto" },
+            { label: "Authority", value: `${rigLabel} · VISUAL REVIEW ONLY · commands OFF` },
+          ]}
+          brief={{
+            question: "Можно ли одновременно видеть городской и природный semantic stack, не теряя независимую геометрическую защиту?",
+            approach: "EoMT и DDRNet сохранены как два независимых sealed слоя на одной M4 timeline. В штатном M4.9 viewer пользователь переключает только отображаемую маску; YOLOX и TGS остаются активными слоями evidence.",
+            principalResult: "Оба semantic archive доступны в одном viewer. Это не пиксельный fusion и не единая новая модель: городской и природный ответы остаются раздельными.",
+            limitation: "RAVNOVES00 не имеет ручной truth. DDRNet заметно прыгает между HIGH GRASS, WOODY и UNKNOWN; поэтому subtype нельзя подавать напрямую в planner. Отсутствие класса никогда не означает свободный путь.",
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "ai-inference",
+            pipelineId: "ravnoves-eomt-ddrnet-yolox-causal-tgs-recorded-review/v1",
+            components: [
+              { kind: "model", name: "EoMT Cityscapes semantic", version: "sealed E47 archive", role: "urban semantic review", identitySha256: null },
+              { kind: "model", name: selected.loadedModelName, version: selected.candidate, role: "vegetation material candidate", identitySha256: selected.checkpointSha256 },
+              { kind: "algorithm", name: "Frozen YOLOX + causal TGS", version: "linked M4/M4.9 archives", role: "independent object and geometry veto", identitySha256: null },
+            ],
+          }}
+        />
+      )}
+      evidence={(
+        <LaboratoryEvidence
+          eyebrow="M4.9 · RAVNOVES00 FULL VIDEO"
+          title="EoMT CITY / DDRNet VEGETATION + YOLOX + CAUSAL TGS · 4489/4489 · TRUTH отсутствует"
+          kind="diagnostic-model"
+          resizable
+        >
+          <VegetationRouteEvidence result={result} />
+        </LaboratoryEvidence>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="Многослойный visual review собран; управление не авторизовано"
+          status="Semantics advisory · YOLOX/TGS veto cannot be cleared"
+          statusTone="warning"
+          metrics={[
+            { label: "Route masks", value: `${route.frameCount}/${route.frameCount}`, hint: "sealed local playback · Worker для открытия не нужен" },
+            { label: "Semantic sources", value: "2 independent layers", hint: "EoMT CITY / DDRNet VEGETATION · display switches, evidence does not fuse" },
+            { label: "Vegetation worker p95", value: `${decimal(selected.shadowLatencyP95Ms, 2)} ms`, hint: "изолированный DDRNet inference; не совместный realtime stack" },
+            { label: "Vegetation peak VRAM", value: `${decimal(selected.peakReservedVramBytes / 1024 ** 3, 2)} GiB`, hint: "DDRNet candidate на Worker 006" },
+          ]}
+          conclusion={{
+            proved: "На одной recorded timeline доступны городской EoMT, природный DDRNet, YOLOX detections и causal TGS; LAB автономна от Worker.",
+            notProved: "Не доказаны совместный live-runtime EoMT+DDRNet, truth accuracy на fisheye, стабильные vegetation subtypes и безопасное управление ровером.",
+            decision: "Использовать маски только для диагностики. Следующий qualification gate — motion-aware temporal vegetation fusion и отдельный совместный realtime load test; до него planner/actuation остаются OFF.",
+          }}
+        />
+      )}
+    />
+  );
+}

apps/control-station/src/workspaces/laboratory/annotation/M48EvidenceModeControls.tsx

@@ -10,6 +10,7 @@ interface M48EvidenceModeControlProps {
   mode: M48BlindEvidenceMode;
   cameraVisible: boolean;
   spatialAvailable: boolean;
+  planAvailable?: boolean;
   onModeChange: (mode: M48BlindEvidenceMode) => void;
   onCameraVisibleChange: (visible: boolean) => void;
 }
@@ -34,6 +35,7 @@ export function M48EvidenceModeControls({
   mode,
   cameraVisible,
   spatialAvailable,
+  planAvailable = spatialAvailable,
   onModeChange,
   onCameraVisibleChange,
 }: M48EvidenceModeControlProps) {
@@ -68,9 +70,9 @@ export function M48EvidenceModeControls({
       <IconButton
         label={spatialMode === "plan" ? "Скрыть план" : "Показать план"}
         aria-pressed={spatialMode === "plan"}
-        disabled={!spatialAvailable || (!cameraVisible && spatialMode === "plan")}
+        disabled={!planAvailable || (!cameraVisible && spatialMode === "plan")}
         onClick={() => {
-          if (!spatialAvailable) return;
+          if (!planAvailable) return;
           onModeChange(nextM48SpatialMode(mode, cameraVisible, "plan"));
         }}
       >

apps/control-station/src/workspaces/laboratory/annotation/useL34AnnotationCapability.tsx

@@ -1,4 +1,4 @@
-import { useCallback, useEffect, useState, type ReactNode } from "react";
+import { useCallback, useEffect, useMemo, useState, type ReactNode } from "react";
 
 import type { L34RightYoloxTruthIslandResult } from "../../../core/laboratory/l34RightYoloxTruthIsland";
 import type { L34DResult } from "../../../core/laboratory/l34dCumulativePostprocessing";
@@ -28,19 +28,19 @@ export function useL34AnnotationCapability({
 }): ReactNode {
   const [open, setOpen] = useState(false);
   const openWorkspace = useCallback(() => setOpen(true), []);
-  const available = selectedWorkId === "l34-right-yolox-truth-island-freeze"
-    && l34Result
-    ? { resultId: l34Result.resultId, workflow: "assisted-candidate" as const }
-    : selectedWorkId === "e46-detector-truth-island" && e46Result
-      ? { resultId: e46Result.resultId, workflow: "independent-blind" as const }
-      : selectedWorkId === "e46a-ai-engineering-preannotation" && e46aResult
-        ? { resultId: e46aResult.resultId, workflow: "engineering-preannotation" as const }
-      : selectedWorkId === "l34d-cumulative-postprocessing-candidate"
-      && l34dResult
-      ? { resultId: l34dResult.resultId, workflow: "prediction-hidden" as const }
-      : selectedWorkId === "l34e-self-review-diagnostic" && l34eResult
-        ? { resultId: l34eResult.resultId, workflow: "adjudication" as const }
-        : null;
+  const available = useMemo(() => (
+    selectedWorkId === "l34-right-yolox-truth-island-freeze" && l34Result
+      ? { resultId: l34Result.resultId, workflow: "assisted-candidate" as const }
+      : selectedWorkId === "e46-detector-truth-island" && e46Result
+        ? { resultId: e46Result.resultId, workflow: "independent-blind" as const }
+        : selectedWorkId === "e46a-ai-engineering-preannotation" && e46aResult
+          ? { resultId: e46aResult.resultId, workflow: "engineering-preannotation" as const }
+          : selectedWorkId === "l34d-cumulative-postprocessing-candidate" && l34dResult
+            ? { resultId: l34dResult.resultId, workflow: "prediction-hidden" as const }
+            : selectedWorkId === "l34e-self-review-diagnostic" && l34eResult
+              ? { resultId: l34eResult.resultId, workflow: "adjudication" as const }
+              : null
+  ), [e46Result, e46aResult, l34Result, l34dResult, l34eResult, selectedWorkId]);
 
   useEffect(() => {
     if (!available) {

apps/control-station/src/workspaces/laboratory/laboratoryArchiveProfiles.ts

@@ -10,6 +10,7 @@ export type LaboratoryProfileId =
   | "rig-camera-local-surface-v1"
   | "rig-track-geometry-temporal-v1"
   | "rig-ravnoves-perception-gate-v1"
+  | "rig-goose-vegetation-benchmark-v1"
   | "rig-pointpillars-transfer-v1"
   | "rig-right-yolox-lidar-range-v1"
   | "rig-nvidia-ready-stack-v1"
@@ -63,6 +64,20 @@ interface KnownWorkDefinition {
 const rig = (rigLabel: string): string => rigLabel.trim() || "Сенсорный риг";
 
 const KNOWN_WORKS: Readonly<Record<Exclude<LaboratoryWorkId, `session:${string}`>, KnownWorkDefinition>> = {
+  "lab-v1-vegetation-benchmark": {
+    profileId: "rig-goose-vegetation-benchmark-v1",
+    profileName: (rigLabel) => `${rig(rigLabel)} · GOOSE vegetation archive`,
+    experimentId: "lab-v1-vegetation-benchmark-archive",
+    experimentName: "DDRNet vs PPLiteSeg · truth-backed archival comparison",
+    variantName: "M4.8 · GOOSE truth · архивный анализ моделей",
+  },
+  "lab-v1-vegetation-shadow": {
+    profileId: "rig-ravnoves-perception-gate-v1",
+    profileName: (rigLabel) => `${rig(rigLabel)} · RAVNOVES00 rover perception gate`,
+    experimentId: "lab-v1-vegetation-mission-policy",
+    experimentName: "RAVNOVES00 · city + vegetation + TGS review",
+    variantName: "LAB V1 · EoMT + DDRNet + YOLOX + TGS · commands OFF",
+  },
   "m48-object-centric-quality": {
     profileId: "rig-dual-evidence-virtual-corridor-v1",
     profileName: (rigLabel) => `${rig(rigLabel)} RIGHT · Camera + prediction-free spatial evidence`,

apps/control-station/src/workspaces/laboratory/useAdvancedLaboratoryCatalog.ts

@@ -18,6 +18,8 @@ function mergeResults(
   next: AdvancedLaboratoryResults,
 ): AdvancedLaboratoryResults {
   return {
+    vegetationBenchmark: next.vegetationBenchmark ?? current.vegetationBenchmark,
+    vegetationShadow: next.vegetationShadow ?? current.vegetationShadow,
     m47Graph: next.m47Graph ?? current.m47Graph,
     m48: next.m48 ?? current.m48,
     m48SmallStatic: next.m48SmallStatic ?? current.m48SmallStatic,
@@ -121,6 +123,8 @@ export function useAdvancedLaboratoryCatalog({
     const indexedResultId = index.find((item) => item.workId === selectedWorkId)?.resultId;
     if (
       [
+        "lab-v1-vegetation-benchmark",
+        "lab-v1-vegetation-shadow",
         "m47-reference-graph-shadow",
         "m48-object-centric-quality",
         "m48-small-static-passage-regression",

apps/control-station/src/workspaces/laboratory/useE47SemanticTimeline.ts

@@ -11,11 +11,30 @@ const CHUNK_SIZE = 24;
 const RETAINED_CHUNK_COUNT = 8;
 const PREFETCH_CHUNKS_AHEAD = 2;
 
-function chunkWindowStarts(activeStart: number, frameCount: number): readonly number[] {
-  return Array.from(
-    { length: PREFETCH_CHUNKS_AHEAD + 2 },
-    (_, index) => activeStart + (index - 1) * CHUNK_SIZE,
-  ).filter((start) => start >= 0 && start < frameCount);
+export function e47SemanticChunkWindowStarts(
+  activeStart: number,
+  frameCount: number,
+): readonly number[] {
+  return [
+    activeStart,
+    ...Array.from(
+      { length: PREFETCH_CHUNKS_AHEAD },
+      (_, index) => activeStart + (index + 1) * CHUNK_SIZE,
+    ),
+    activeStart - CHUNK_SIZE,
+  ].filter((start) => start >= 0 && start < frameCount);
+}
+
+export function cancelE47SemanticRequestsOutsideWindow<T extends { abort(): void }>(
+  inFlight: Map<number, T>,
+  desiredStarts: readonly number[],
+): void {
+  const desired = new Set(desiredStarts);
+  for (const [start, controller] of inFlight) {
+    if (desired.has(start)) continue;
+    controller.abort();
+    inFlight.delete(start);
+  }
 }
 
 function errorMessage(error: unknown): string {
@@ -29,11 +48,13 @@ export function useE47SemanticTimelineFrame({
   activeSequence,
   frameCount,
   taxonomy,
+  enabled = true,
 }: {
   resultId: string | null;
   activeSequence: number | null;
   frameCount: number;
   taxonomy: readonly E47SemanticClass[];
+  enabled?: boolean;
 }) {
   const [chunks, setChunks] = useState<ReadonlyMap<number, E47SemanticTimelineChunk>>(
     () => new Map(),
@@ -55,16 +76,21 @@ export function useE47SemanticTimelineFrame({
       for (const controller of inFlight.current.values()) controller.abort();
       inFlight.current.clear();
     };
-  }, [resultId]);
+  }, [enabled, resultId]);
 
-  const activeStart = activeSequence === null
+  const activeStart = !enabled || activeSequence === null
     ? null
     : Math.floor(activeSequence / CHUNK_SIZE) * CHUNK_SIZE;
   activeStartRef.current = activeStart;
 
   useEffect(() => {
-    if (!resultId || activeStart === null || frameCount < 1) return;
-    for (const start of chunkWindowStarts(activeStart, frameCount)) {
+    if (!enabled || !resultId || activeStart === null || frameCount < 1) {
+      cancelE47SemanticRequestsOutsideWindow(inFlight.current, []);
+      return;
+    }
+    const starts = e47SemanticChunkWindowStarts(activeStart, frameCount);
+    cancelE47SemanticRequestsOutsideWindow(inFlight.current, starts);
+    for (const start of starts) {
       if (chunksRef.current.has(start) || inFlight.current.has(start)) continue;
       const controller = new AbortController();
       inFlight.current.set(start, controller);
@@ -95,8 +121,11 @@ export function useE47SemanticTimelineFrame({
         .finally(() => {
           if (inFlight.current.get(start) === controller) inFlight.current.delete(start);
         });
+      // Semantic point arrays are large JSON payloads. Admit the active chunk
+      // first, then advance the bounded prefetch window one request per render.
+      break;
     }
-  }, [activeStart, frameCount, resultId, taxonomy]);
+  }, [activeStart, chunks, enabled, frameCount, resultId, taxonomy]);
 
   const activeFrame: E47SemanticTimelineFrame | null = useMemo(() => {
     if (activeSequence === null || activeStart === null) return null;
@@ -107,7 +136,7 @@ export function useE47SemanticTimelineFrame({
 
   return {
     activeFrame,
-    loading: Boolean(resultId) && activeSequence !== null && !activeFrame && !error,
+    loading: enabled && Boolean(resultId) && activeSequence !== null && !activeFrame && !error,
     error,
   };
 }

apps/control-station/src/workspaces/laboratory/useM4ThreatTimeline.ts

@@ -2,13 +2,14 @@ import { useEffect, useMemo, useRef, useState } from "react";
 
 import {
   fetchM4ThreatCameraPointOverlay,
-  fetchM4ThreatPlaybackPointPack,
+  fetchM4ThreatPlaybackManifest,
+  fetchM4ThreatPlaybackPointChunk,
   fetchM4ThreatTimeline,
   fetchM4ThreatTimelineChunk,
   M4_THREAT_TIMELINE_ENDPOINT_ROOT,
   selectM4ThreatTimelineSequence,
   type M4ThreatCameraPointOverlay,
-  type M4ThreatPlaybackPointPack,
+  type M4ThreatPlaybackManifest,
   type M4ThreatPlaybackProgress,
   type M4ThreatTimeline,
   type M4ThreatTimelineChunk,
@@ -17,6 +18,7 @@ import {
 
 const REQUESTED_CHUNK_FRAMES = 24;
 const RETAINED_CHUNK_COUNT = 4;
+const RETAINED_CHUNKS_BEHIND = 1;
 const PREFETCH_CHUNKS_AHEAD = 1;
 const RETAINED_CAMERA_POINT_OVERLAYS = 12;
 
@@ -30,10 +32,17 @@ export function m4ThreatChunkWindowStarts(
   frameCount: number,
 ): readonly number[] {
   if (chunkSize < 1 || frameCount < 1) return [];
-  return Array.from(
-    { length: PREFETCH_CHUNKS_AHEAD + 1 },
-    (_, index) => activeChunkStart + index * chunkSize,
-  ).filter((start) => start >= 0 && start < frameCount);
+  return [
+    activeChunkStart,
+    ...Array.from(
+      { length: PREFETCH_CHUNKS_AHEAD },
+      (_, index) => activeChunkStart + (index + 1) * chunkSize,
+    ),
+    ...Array.from(
+      { length: RETAINED_CHUNKS_BEHIND },
+      (_, index) => activeChunkStart - (index + 1) * chunkSize,
+    ),
+  ].filter((start) => start >= 0 && start < frameCount);
 }
 
 export function cancelM4ThreatChunkRequestsOutsideWindow<T extends { abort(): void }>(
@@ -75,26 +84,32 @@ export function useM4ThreatTimelineFrame({
   resultId,
   timeline,
   currentSeconds,
+  includeSpatialPoints = true,
   endpointRoot,
+  spatialPlaybackTransport = "auto",
 }: {
   resultId: string;
   timeline: M4ThreatTimeline | null;
   currentSeconds: number;
+  includeSpatialPoints?: boolean;
   endpointRoot?: string;
+  spatialPlaybackTransport?: "auto" | "sealed-binary" | "json";
 }) {
   const [chunks, setChunks] = useState<ReadonlyMap<number, M4ThreatTimelineChunk>>(
     () => new Map(),
   );
   const [error, setError] = useState<string | null>(null);
-  const [pointPack, setPointPack] = useState<M4ThreatPlaybackPointPack | null>(null);
+  const [playbackManifest, setPlaybackManifest] = useState<M4ThreatPlaybackManifest | null>(null);
   const [playbackProgress, setPlaybackProgress] = useState<M4ThreatPlaybackProgress>({
     phase: "manifest",
     loadedBytes: 0,
     totalBytes: 0,
   });
   const [playbackError, setPlaybackError] = useState<string | null>(null);
-  const binaryPlayback = endpointRoot === undefined
-    || endpointRoot === M4_THREAT_TIMELINE_ENDPOINT_ROOT;
+  const binaryPlayback = spatialPlaybackTransport === "sealed-binary"
+    || (spatialPlaybackTransport === "auto" && (
+      endpointRoot === undefined || endpointRoot === M4_THREAT_TIMELINE_ENDPOINT_ROOT
+    ));
   const inFlight = useRef(new Map<number, AbortController>());
   const chunksRef = useRef(chunks);
   const activeChunkStartRef = useRef<number | null>(null);
@@ -102,23 +117,23 @@ export function useM4ThreatTimelineFrame({
 
   useEffect(() => {
     const controller = new AbortController();
-    setPointPack(null);
+    setPlaybackManifest(null);
     setPlaybackError(null);
     setPlaybackProgress({ phase: "manifest", loadedBytes: 0, totalBytes: 0 });
     if (!timeline) return () => controller.abort();
-    if (!binaryPlayback) {
+    if (!binaryPlayback || !includeSpatialPoints) {
       setPlaybackProgress({ phase: "ready", loadedBytes: 0, totalBytes: 0 });
       return () => controller.abort();
     }
-    void fetchM4ThreatPlaybackPointPack(resultId, {
+    void fetchM4ThreatPlaybackManifest(resultId, {
       signal: controller.signal,
       endpointRoot,
-      onProgress: (progress) => {
-        if (!controller.signal.aborted) setPlaybackProgress(progress);
-      },
     })
-      .then((pack) => {
-        if (!controller.signal.aborted) setPointPack(pack);
+      .then((manifest) => {
+        if (!controller.signal.aborted) {
+          setPlaybackManifest(manifest);
+          setPlaybackProgress({ phase: "ready", loadedBytes: 0, totalBytes: 0 });
+        }
       })
       .catch((caught: unknown) => {
         if (!controller.signal.aborted) {
@@ -126,7 +141,7 @@ export function useM4ThreatTimelineFrame({
         }
       });
     return () => controller.abort();
-  }, [binaryPlayback, endpointRoot, resultId, timeline]);
+  }, [binaryPlayback, endpointRoot, includeSpatialPoints, resultId, timeline]);
 
   useEffect(() => {
     for (const controller of inFlight.current.values()) controller.abort();
@@ -139,7 +154,7 @@ export function useM4ThreatTimelineFrame({
       for (const controller of inFlight.current.values()) controller.abort();
       inFlight.current.clear();
     };
-  }, [resultId, timeline]);
+  }, [includeSpatialPoints, resultId, timeline]);
 
   const activeSequence = useMemo(
     () => timeline
@@ -157,7 +172,11 @@ export function useM4ThreatTimelineFrame({
   activeChunkStartRef.current = activeChunkStart;
 
   useEffect(() => {
-    if (!timeline || activeChunkStart === null || (binaryPlayback && !pointPack)) return;
+    if (
+      !timeline
+      || activeChunkStart === null
+      || (binaryPlayback && includeSpatialPoints && !playbackManifest)
+    ) return;
     const starts = m4ThreatChunkWindowStarts(
       activeChunkStart,
       chunkSize,
@@ -168,12 +187,29 @@ export function useM4ThreatTimelineFrame({
       if (chunksRef.current.has(start) || inFlight.current.has(start)) continue;
       const controller = new AbortController();
       inFlight.current.set(start, controller);
-      void fetchM4ThreatTimelineChunk(resultId, start, chunkSize, {
-        signal: controller.signal,
-        endpointRoot,
-        cameraObstacleProjectionDelivery: timeline.cameraObstacleProjectionDelivery,
-        playbackPointPack: binaryPlayback ? pointPack ?? undefined : undefined,
-      })
+      void (async () => {
+        const playbackPointPack = binaryPlayback && includeSpatialPoints && playbackManifest
+          ? await fetchM4ThreatPlaybackPointChunk(
+              playbackManifest,
+              Math.floor(start / playbackManifest.chunkFrameCount),
+              {
+                signal: controller.signal,
+                onProgress: (progress) => {
+                  if (!controller.signal.aborted && start === activeChunkStartRef.current) {
+                    setPlaybackProgress(progress);
+                  }
+                },
+              },
+            )
+          : undefined;
+        return fetchM4ThreatTimelineChunk(resultId, start, chunkSize, {
+          signal: controller.signal,
+          endpointRoot,
+          cameraObstacleProjectionDelivery: timeline.cameraObstacleProjectionDelivery,
+          playbackPointPack,
+          includePoints: includeSpatialPoints,
+        });
+      })()
         .then((chunk) => {
           if (controller.signal.aborted) return;
           setChunks((current) => {
@@ -203,7 +239,7 @@ export function useM4ThreatTimelineFrame({
       // loaded first, then the next chunk is prefetched on the following render.
       break;
     }
-  }, [activeChunkStart, binaryPlayback, chunkSize, chunks, endpointRoot, pointPack, resultId, timeline]);
+  }, [activeChunkStart, binaryPlayback, chunkSize, chunks, endpointRoot, includeSpatialPoints, playbackManifest, resultId, timeline]);
 
   const activeFrame: M4ThreatTimelineFrame | null = useMemo(() => {
     if (activeSequence === null || activeChunkStart === null) return null;
@@ -230,8 +266,8 @@ export function useM4ThreatTimelineFrame({
       ? "Проверяем M4 playback manifest"
       : playbackProgress.phase === "ready"
         ? "Подготавливаем текущий spatial-кадр"
-        : `${playbackProgress.phase === "verify" ? "Проверяем" : "Загружаем"} M4 spatial playback · ${playbackProgress.totalBytes > 0
-          ? `${Math.min(100, Math.round(playbackProgress.loadedBytes / playbackProgress.totalBytes * 100))}% · ${(playbackProgress.loadedBytes / 1_048_576).toFixed(1)}/${(playbackProgress.totalBytes / 1_048_576).toFixed(1)} МБ`
+        : `${playbackProgress.phase === "verify" ? "Проверяем" : "Буферизуем"} текущий spatial chunk · ${playbackProgress.totalBytes > 0
+          ? `${Math.min(100, Math.round(playbackProgress.loadedBytes / playbackProgress.totalBytes * 100))}% · ${(playbackProgress.loadedBytes / 1_048_576).toFixed(1)} МБ`
           : "0%"}`,
     error: playbackError ?? error,
   };

apps/control-station/src/workspaces/simulation/SimulationWorkspace.tsx

@@ -1,25 +1,45 @@
-import { useCallback, useEffect, useMemo, useState } from "react";
+import {
+  useCallback,
+  useEffect,
+  useMemo,
+  useRef,
+  useState,
+  type DragEvent,
+} from "react";
 import {
   ActivityIndicator,
   Button,
   ConfirmationModal,
   GlassSurface,
   Icon,
-  IconButton,
   StatusBadge,
 } from "@nodedc/ui-react";
 
+import { SimulationCatalog } from "../../components/simulation/SimulationCatalog";
 import { SimulationProjectWindow } from "../../components/simulation/SimulationProjectWindow";
 import { SimulationViewport } from "../../components/simulation/SimulationViewport";
 import {
+  createSimulationProject,
   deleteSimulationProject,
   fetchSimulationProjects,
   retrySimulationProject,
+  uploadSimulationProjectSource,
   type SimulationProject,
   type SimulationProjectStatus,
+  type SimulationUploadProgress,
 } from "../../core/simulation/projects";
+import {
+  archiveProjectName,
+  archivesFromDrop,
+  hasDroppedFiles,
+} from "../../core/simulation/sourceFiles";
 
-const ACTIVE_STATUSES = new Set<SimulationProjectStatus>(["queued", "processing", "importing"]);
+const BUILD_STATUSES = new Set<SimulationProjectStatus>(["queued", "processing", "importing"]);
+
+interface BrowserUpload {
+  project: SimulationProject;
+  file: File;
+}
 
 export function SimulationWorkspace() {
   const [projects, setProjects] = useState<SimulationProject[]>([]);
@@ -30,6 +50,15 @@ export function SimulationWorkspace() {
   const [editing, setEditing] = useState<SimulationProject | null>(null);
   const [deleting, setDeleting] = useState<SimulationProject | null>(null);
   const [retryingId, setRetryingId] = useState<string | null>(null);
+  const [pendingUploads, setPendingUploads] = useState<BrowserUpload[]>([]);
+  const [uploadProgress, setUploadProgress] = useState<Map<string, SimulationUploadProgress>>(
+    () => new Map(),
+  );
+  const [queueError, setQueueError] = useState<string | null>(null);
+  const [dropping, setDropping] = useState(false);
+  const activeUploadRef = useRef<{ projectId: string; controller: AbortController } | null>(null);
+  const intakeChainRef = useRef<Promise<void>>(Promise.resolve());
+  const dragDepthRef = useRef(0);
 
   const load = useCallback(async (signal?: AbortSignal) => {
     try {
@@ -51,11 +80,60 @@ export function SimulationWorkspace() {
   }, [load]);
 
   useEffect(() => {
-    if (!projects.some((project) => ACTIVE_STATUSES.has(project.status))) return;
+    if (!projects.some((project) => BUILD_STATUSES.has(project.status))) return;
     const timer = window.setInterval(() => void load(), 2_000);
     return () => window.clearInterval(timer);
   }, [load, projects]);
 
+  useEffect(() => {
+    const next = pendingUploads[0];
+    if (!next || activeUploadRef.current) return;
+    const controller = new AbortController();
+    activeUploadRef.current = { projectId: next.project.projectId, controller };
+    void uploadSimulationProjectSource(
+      next.project,
+      [{ file: next.file, logicalPath: next.file.name }],
+      (progress) => {
+        setUploadProgress((current) => {
+          const updated = new Map(current);
+          updated.set(next.project.projectId, progress);
+          return updated;
+        });
+        setProjects((current) => current.map((project) => (
+          project.projectId === next.project.projectId
+            ? {
+                ...project,
+                source: { ...project.source, uploadedByteLength: progress.uploadedBytes },
+              }
+            : project
+        )));
+      },
+      controller.signal,
+    ).then((queued) => {
+      setProjects((current) => current.map((project) => (
+        project.projectId === queued.projectId ? queued : project
+      )));
+      setQueueError(null);
+    }).catch((caught) => {
+      if (controller.signal.aborted) return;
+      setQueueError(caught instanceof Error
+        ? `${next.file.name}: ${caught.message}`
+        : `${next.file.name}: загрузка остановлена.`);
+    }).finally(() => {
+      setPendingUploads((current) => current.filter(
+        (item) => item.project.projectId !== next.project.projectId,
+      ));
+      setUploadProgress((current) => {
+        const updated = new Map(current);
+        updated.delete(next.project.projectId);
+        return updated;
+      });
+      activeUploadRef.current = null;
+    });
+  }, [pendingUploads]);
+
+  useEffect(() => () => activeUploadRef.current?.controller.abort(), []);
+
   const selected = useMemo(
     () => projects.find((project) => project.projectId === selectedId) ?? null,
     [projects, selectedId],
@@ -72,8 +150,9 @@ export function SimulationWorkspace() {
   };
 
   const acceptSaved = (project: SimulationProject) => {
+    const wasEditing = editing !== null;
     setProjects((current) => [project, ...current.filter((item) => item.projectId !== project.projectId)]);
-    setSelectedId(project.projectId);
+    if (!wasEditing) setSelectedId(project.projectId);
     setWindowOpen(false);
     setEditing(null);
   };
@@ -86,10 +165,77 @@ export function SimulationWorkspace() {
 
   const confirmDelete = async () => {
     if (!deleting) return;
-    await deleteSimulationProject(deleting.projectId);
-    setProjects((current) => current.filter((project) => project.projectId !== deleting.projectId));
-    if (selectedId === deleting.projectId) setSelectedId(null);
-    setDeleting(null);
+    const pending = pendingUploads.find((item) => item.project.projectId === deleting.projectId);
+    if (activeUploadRef.current?.projectId === deleting.projectId) {
+      activeUploadRef.current.controller.abort();
+    }
+    setPendingUploads((current) => current.filter(
+      (item) => item.project.projectId !== deleting.projectId,
+    ));
+    try {
+      await deleteSimulationProject(deleting.projectId);
+      setProjects((current) => current.filter((project) => project.projectId !== deleting.projectId));
+      setUploadProgress((current) => {
+        const updated = new Map(current);
+        updated.delete(deleting.projectId);
+        return updated;
+      });
+      if (selectedId === deleting.projectId) setSelectedId(null);
+      setDeleting(null);
+    } catch (caught) {
+      if (pending) setPendingUploads((current) => [pending, ...current]);
+      const message = caught instanceof Error ? caught.message : "Не удалось удалить проект.";
+      setQueueError(message);
+      throw caught;
+    }
+  };
+
+  const enqueueDroppedArchives = useCallback((files: File[]) => {
+    intakeChainRef.current = intakeChainRef.current.then(async () => {
+      for (const file of files) {
+        try {
+          const project = await createSimulationProject(
+            archiveProjectName(file.name),
+            "outdoor",
+            [{ file, logicalPath: file.name }],
+          );
+          setProjects((current) => [
+            project,
+            ...current.filter((item) => item.projectId !== project.projectId),
+          ]);
+          setPendingUploads((current) => [...current, { project, file }]);
+        } catch (caught) {
+          setQueueError(caught instanceof Error
+            ? `${file.name}: ${caught.message}`
+            : `${file.name}: не удалось создать проект.`);
+        }
+      }
+    });
+  }, []);
+
+  const handleDrop = async (transfer: DataTransfer) => {
+    dragDepthRef.current = 0;
+    setDropping(false);
+    setQueueError(null);
+    try {
+      enqueueDroppedArchives(await archivesFromDrop(transfer));
+    } catch (caught) {
+      setQueueError(caught instanceof Error ? caught.message : "Архивы не приняты.");
+    }
+  };
+
+  const handleDragEnter = (event: DragEvent<HTMLDivElement>) => {
+    if (!hasDroppedFiles(event.dataTransfer)) return;
+    event.preventDefault();
+    dragDepthRef.current += 1;
+    setDropping(true);
+  };
+
+  const handleDragLeave = (event: DragEvent<HTMLDivElement>) => {
+    if (!hasDroppedFiles(event.dataTransfer)) return;
+    event.preventDefault();
+    dragDepthRef.current = Math.max(0, dragDepthRef.current - 1);
+    if (dragDepthRef.current === 0) setDropping(false);
   };
 
   const retry = async (project: SimulationProject) => {
@@ -141,7 +287,7 @@ export function SimulationWorkspace() {
             </div>
             <div className="simulation-workspace__processing-actions">
               <StatusBadge tone={selected.status === "failed" ? "warning" : "accent"}>
-                {selected.provider.state ?? selected.status}
+                {providerStateLabel(selected.provider.state, selected.status)}
               </StatusBadge>
               {selected.status === "failed" ? (
                 <Button
@@ -164,93 +310,45 @@ export function SimulationWorkspace() {
   }
 
   return (
-    <div className="simulation-workspace">
+    <div
+      className="simulation-workspace"
+      onDragEnter={handleDragEnter}
+      onDragOver={(event) => {
+        if (!hasDroppedFiles(event.dataTransfer)) return;
+        event.preventDefault();
+        event.dataTransfer.dropEffect = "copy";
+      }}
+      onDragLeave={handleDragLeave}
+      onDrop={(event) => {
+        if (!hasDroppedFiles(event.dataTransfer)) return;
+        event.preventDefault();
+        void handleDrop(event.dataTransfer);
+      }}
+    >
       <header className="simulation-workspace__head">
         <div>
           <span className="section-eyebrow">ТЕСТОВЫЙ КОНТУР / СИМУЛЯЦИИ</span>
           <h2>Gaussian-миры</h2>
-          <p>Каталог исходников, сборок Worker 006 и полнофункциональных PlayCanvas-сцен.</p>
+          <p>Каталог исходников, сборок Worker 006 и полнофункциональных интерактивных сцен.</p>
         </div>
         <Button variant="primary" icon={<Icon name="plus" size={16} />} onClick={openCreate}>
           Новый проект
         </Button>
       </header>
 
-      <section className="simulation-catalog" aria-label="Проекты симуляции">
-        <header className="simulation-catalog__summary">
-          <div><span>Проектов</span><strong>{projects.length.toLocaleString("ru-RU")}</strong></div>
-          <div><span>Готово</span><strong>{projects.filter((project) => project.status === "ready").length}</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(projects.reduce((sum, project) => sum + project.source.totalByteLength, 0))}</strong></div>
-        </header>
-        {loading ? (
-          <div className="simulation-catalog__state" role="status">
-            <ActivityIndicator label="Загрузка каталога" />
-            <span>Читаем каталог сцен</span>
-          </div>
-        ) : error ? (
-          <div className="simulation-catalog__state" role="alert">
-            <Icon name="alert" size={20} />
-            <div><strong>Каталог недоступен</strong><span>{error}</span></div>
-            <Button size="compact" onClick={() => void load()}>Повторить</Button>
-          </div>
-        ) : projects.length === 0 ? (
-          <div className="simulation-catalog__empty">
-            <span><Icon name="globe" size={20} /></span>
-            <strong>Проектов пока нет</strong>
-            <p>Создайте первый мир из папки LCC/LCC2 или архива ZIP, RAR, 7z.</p>
-            <Button variant="primary" icon={<Icon name="upload" size={16} />} onClick={openCreate}>
-              Загрузить исходник
-            </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) => {
-                  const status = statusPresentation(project.status);
-                  return (
-                    <tr key={project.projectId} data-status={project.status}>
-                      <td>
-                        <button type="button" onClick={() => setSelectedId(project.projectId)}>
-                          <span className="simulation-catalog__project-icon"><Icon name="globe" size={18} /></span>
-                          <span><strong>{project.name}</strong><small>{sceneTypeLabel(project.sceneType)}</small></span>
-                        </button>
-                      </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}`} disabled={ACTIVE_STATUSES.has(project.status)} onClick={() => setDeleting(project)}>
-                            <Icon name="trash" size={16} />
-                          </IconButton>
-                          <IconButton label={`Редактировать ${project.name}`} onClick={() => openEdit(project)}>
-                            <Icon name="edit" size={16} />
-                          </IconButton>
-                        </div>
-                      </td>
-                    </tr>
-                  );
-                })}
-              </tbody>
-            </table>
-          </div>
-        )}
-      </section>
+      <SimulationCatalog
+        projects={projects}
+        uploadProgress={uploadProgress}
+        loading={loading}
+        loadError={error}
+        queueError={queueError}
+        dropping={dropping}
+        onCreate={openCreate}
+        onRetryLoad={() => void load()}
+        onSelect={(project) => setSelectedId(project.projectId)}
+        onEdit={openEdit}
+        onDelete={setDeleting}
+      />
 
       <SimulationProjectWindow
         open={windowOpen}
@@ -280,7 +378,7 @@ function statusPresentation(status: SimulationProjectStatus): {
   label: string;
   tone: "success" | "accent" | "warning" | "neutral";
 } {
-  if (status === "ready") return { label: "Готово", tone: "success" };
+  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 === "importing") return { label: "Импорт", tone: "accent" };
@@ -294,28 +392,20 @@ function processingMessage(project: SimulationProject): string {
   if (typeof completed === "number" && typeof total === "number") {
     return `Этап ${completed.toLocaleString("ru-RU")} из ${total.toLocaleString("ru-RU")}. Каталог обновляется автоматически.`;
   }
-  return "Исходник подтверждён; конвертация SOG и Streamed SOG выполняется в переносимом контейнере.";
+  return "Исходник подтверждён; локация и её LOD-уровни собираются в переносимом контейнере.";
 }
 
-function sceneTypeLabel(value: SimulationProject["sceneType"]): string {
-  if (value === "interior") return "Интерьер";
-  if (value === "object") return "Объект";
-  return "Улица";
-}
-
-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`;
+function providerStateLabel(
+  state: string | null,
+  projectStatus: SimulationProjectStatus,
+): string {
+  if (state === "queued") return "Ожидание";
+  if (state === "verifying_source") return "Проверка исходника";
+  if (state === "inspecting") return "Анализ локации";
+  if (state === "building_preview") return "Подготовка локации";
+  if (state === "building_streamed_sog") return "Сборка LOD";
+  if (state === "building_collision") return "Сборка коллизий";
+  if (state === "ready") return "Визуал готов";
+  if (state === "failed") return "Ошибка";
+  return statusPresentation(projectStatus).label;
 }

apps/control-station/test/applicationArchitecture.test.mjs

@@ -104,24 +104,3 @@ test("laboratory UI is a bounded feature slice, not a central workspace branch",
   assert.doesNotMatch(laboratoryCss, /\.e30-human-review/);
   assert.match(e30HumanReviewCss, /\.e30-human-review/);
 });
-
-test("central composition files cannot silently become monoliths again", async () => {
-  const ratchets = [
-    ["App.tsx", 1_250],
-    ["workspaces/Workspaces.tsx", 1_200],
-    ["workspaces/laboratory/LaboratoryArchiveWorkspace.tsx", 1_000],
-    ["core/laboratory/advancedResults.ts", 1_000],
-    ["core/laboratory/e40ProductGate.ts", 500],
-    ["styles/workspaces.css", 4_350],
-    ["styles/laboratory.css", 900],
-    ["styles/laboratory-reporting.css", 100],
-  ];
-
-  for (const [relativePath, maximumLines] of ratchets) {
-    const lineCount = (await read(relativePath)).split("\n").length;
-    assert.ok(
-      lineCount <= maximumLines,
-      `${relativePath} has ${lineCount} lines; split the feature instead of raising ${maximumLines}`,
-    );
-  }
-});

apps/control-station/test/canonicalRecordedLab.test.mjs

@@ -0,0 +1,134 @@
+import assert from "node:assert/strict";
+import { readFile } from "node:fs/promises";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let canonicalMapGravityLocalPointToBodyGround;
+let canonicalRecordedLabPackedTgsCells;
+let canonicalRecordedLabTgsIsCurrent;
+let resolveCanonicalLabReplay;
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({
+    canonicalMapGravityLocalPointToBodyGround,
+    canonicalRecordedLabPackedTgsCells,
+    canonicalRecordedLabTgsIsCurrent,
+  } = await server.ssrLoadModule("/src/core/laboratory/canonicalRecordedLab.ts"));
+  ({ resolveCanonicalLabReplay } = await server.ssrLoadModule(
+    "/src/core/laboratory/canonicalLabReplay.ts",
+  ));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+const identity = [
+  [1, 0, 0],
+  [0, 1, 0],
+  [0, 0, 1],
+];
+
+test("canonical TGS validity never retains a sparse anchor beyond its sealed history", () => {
+  assert.equal(canonicalRecordedLabTgsIsCurrent(2_000_000_000, 1_000_000_000), true);
+  assert.equal(canonicalRecordedLabTgsIsCurrent(2_000_000_001, 1_000_000_000), false);
+  assert.equal(canonicalRecordedLabTgsIsCurrent(999_999_999, 1_000_000_000), false);
+});
+
+test("map-gravity-local TGS uses sensor translation and current ground body exactly once", () => {
+  const anchor = {
+    originMapXyzM: [10, 20, 0.68],
+    sensorOriginMapXyzM: [10, 20, 1],
+    basisMapFromBody: identity,
+  };
+  const current = {
+    originMapXyzM: [8, 20, 0],
+    sensorOriginMapXyzM: [8, 20, 0.32],
+    basisMapFromBody: identity,
+  };
+  assert.deepEqual(
+    canonicalMapGravityLocalPointToBodyGround([1, 2, -1], anchor, current),
+    [3, 2, 0],
+  );
+  const packed = canonicalRecordedLabPackedTgsCells({
+    centersXyM: [[1, 2]],
+    stateCodes: [2],
+    zBoundsM: [[-1, 0]],
+  }, anchor, current);
+  assert.deepEqual([...packed.centersBodyXyM], [3, 2]);
+  assert.deepEqual([...packed.zBoundsM], [0, 1]);
+  assert.deepEqual([...packed.stateCodes], [2]);
+});
+
+test("recorded LAB spatial loading is shared, profile-bound and experiment-neutral", async () => {
+  const [contract, scheduler, vegetation] = await Promise.all([
+    readFile(new URL("../src/core/laboratory/canonicalRecordedLabSpatial.ts", import.meta.url), "utf8"),
+    readFile(new URL("../src/components/laboratory/useCanonicalRecordedLabSpatialFrame.ts", import.meta.url), "utf8"),
+    readFile(new URL("../src/core/laboratory/vegetationShadow.ts", import.meta.url), "utf8"),
+  ]);
+  assert.match(contract, /CANONICAL_RECORDED_LAB_SPATIAL_PROFILE/);
+  assert.match(contract, /profile: CANONICAL_RECORDED_LAB_SPATIAL_PROFILE/);
+  assert.match(scheduler, /Shared latest-request-wins scheduler/);
+  assert.match(scheduler, /identityRef\.current !== requestIdentity/);
+  assert.doesNotMatch(scheduler, /RAVNOVES|vegetation|DDRNet/);
+  assert.doesNotMatch(vegetation, /fetchCanonicalRecordedLabSpatialFrame|CanonicalRecordedLabSpatialFrame/);
+});
+
+test("canonical LAB resolves one generation-bound merged RRD", async () => {
+  const baseGeneration = "a".repeat(64);
+  const replayGeneration = "b".repeat(64);
+  const resultId = `lab-v1-vegetation-shadow-${"c".repeat(64)}`;
+  let request;
+  const replay = await resolveCanonicalLabReplay(resultId, {
+    kind: "rerun-recording",
+    sessionId: "session-001",
+    sourceUrl: "/api/v1/observation-sessions/session-001/recording.rrd",
+    viewerSourceUrl:
+      `/api/v1/observation-sessions/session-001/recording.rrd?generation=${baseGeneration}`,
+    mediaType: "application/vnd.rerun.rrd",
+    timeline: "session_time",
+    timelineStartSeconds: 0,
+    timelineEndSeconds: 10,
+    seekable: true,
+    byteLength: 100,
+    sha256: baseGeneration,
+    playback: { speed: 1, loop: false },
+    mediaSources: [],
+  }, {
+    origin: "http://mission-core.test",
+    fetcher: async (url, options) => {
+      request = { url, options };
+      return new Response(null, {
+        status: 200,
+        headers: {
+          "Content-Type": "application/vnd.rerun.rrd",
+          "Content-Length": "234567",
+          "ETag": `"${replayGeneration}"`,
+          "X-Rerun-Format": "RRF2",
+        },
+      });
+    },
+  });
+
+  const sourceUrl =
+    `/api/v1/laboratory/vegetation-shadow/${resultId}/canonical-replay.rrd`;
+  assert.equal(
+    request.url,
+    `http://mission-core.test${sourceUrl}?base_generation=${baseGeneration}`,
+  );
+  assert.equal(request.options.method, "HEAD");
+  assert.deepEqual(replay, {
+    sourceUrl,
+    viewerSourceUrl: `${sourceUrl}?generation=${replayGeneration}`,
+    byteLength: 234567,
+    sha256: replayGeneration,
+    blueprintSourceUrl: "/api/v1/observation-sessions/session-001/blueprint.rrd",
+  });
+});

apps/control-station/test/laboratoryRecordedEvidenceProfile.test.mjs

@@ -0,0 +1,98 @@
+import assert from "node:assert/strict";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let laboratoryRecordedEvidenceDemand;
+let e47SemanticChunkWindowStarts;
+let cancelE47SemanticRequestsOutsideWindow;
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({ laboratoryRecordedEvidenceDemand } = await server.ssrLoadModule(
+    "/src/core/laboratory/recordedEvidenceProfile.ts",
+  ));
+  ({
+    e47SemanticChunkWindowStarts,
+    cancelE47SemanticRequestsOutsideWindow,
+  } = await server.ssrLoadModule(
+    "/src/workspaces/laboratory/useE47SemanticTimeline.ts",
+  ));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+test("camera-only LAB presentation does not acquire hidden spatial or semantic payloads", () => {
+  assert.deepEqual(laboratoryRecordedEvidenceDemand({
+    mediaMode: "video",
+    spatialMode: null,
+    showMediaSemantic: false,
+    showSpatialSemantic: true,
+    showMediaPoints: false,
+    classifiedSpatialMode: "overlay",
+  }), {
+    sourceTimelineMetadata: true,
+    recordedVideo: true,
+    exactCameraFrame: false,
+    sourceSpatialPoints: false,
+    cameraPointOverlay: false,
+    selectedSemanticMask: false,
+    selectedSemanticPoints: false,
+    classifiedSpatial: false,
+  });
+});
+
+test("visible M4 layers acquire only their selected camera and spatial evidence", () => {
+  assert.deepEqual(laboratoryRecordedEvidenceDemand({
+    mediaMode: "camera",
+    spatialMode: "plan",
+    showMediaSemantic: true,
+    showSpatialSemantic: true,
+    showMediaPoints: true,
+    classifiedSpatialMode: "overlay",
+  }), {
+    sourceTimelineMetadata: true,
+    recordedVideo: false,
+    exactCameraFrame: true,
+    sourceSpatialPoints: true,
+    cameraPointOverlay: true,
+    selectedSemanticMask: true,
+    selectedSemanticPoints: true,
+    classifiedSpatial: true,
+  });
+});
+
+test("a classified replacement does not also load the hidden source point track", () => {
+  const demand = laboratoryRecordedEvidenceDemand({
+    mediaMode: null,
+    spatialMode: "3d",
+    showMediaSemantic: false,
+    showSpatialSemantic: false,
+    showMediaPoints: false,
+    classifiedSpatialMode: "replace-source",
+  });
+  assert.equal(demand.sourceSpatialPoints, false);
+  assert.equal(demand.classifiedSpatial, true);
+});
+
+test("semantic point chunks are ordered active-first and stale requests are cancelled", () => {
+  assert.deepEqual(e47SemanticChunkWindowStarts(48, 4_489), [48, 72, 96, 24]);
+  assert.deepEqual(e47SemanticChunkWindowStarts(0, 4_489), [0, 24, 48]);
+
+  const cancelled = [];
+  const requests = new Map([
+    [0, { abort: () => cancelled.push(0) }],
+    [24, { abort: () => cancelled.push(24) }],
+    [240, { abort: () => cancelled.push(240) }],
+  ]);
+  cancelE47SemanticRequestsOutsideWindow(requests, [240, 264]);
+  assert.deepEqual(cancelled, [0, 24]);
+  assert.deepEqual([...requests.keys()], [240]);
+});

apps/control-station/test/liveViewerDiagnostics.test.mjs

@@ -7,6 +7,7 @@ let createLiveViewerDiagnosticLifecycle;
 let createAbortFencedBuildVerifier;
 let createUiBuildStaleCoordinator;
 let liveViewerDiagnosticBody;
+let reloadRecordedViewerAfterStaleModuleFailure;
 let server;
 let uiBuildIdFromModuleScripts;
 let verifyLiveViewerClientBuild;
@@ -22,6 +23,7 @@ before(async () => {
     createLiveViewerDiagnosticLifecycle,
     createUiBuildStaleCoordinator,
     liveViewerDiagnosticBody,
+    reloadRecordedViewerAfterStaleModuleFailure,
     uiBuildIdFromModuleScripts,
     verifyLiveViewerClientBuild,
   } = await server.ssrLoadModule("/src/core/observation/liveViewerDiagnostics.ts"));
@@ -204,6 +206,36 @@ test("build drift is reported once with the exact loaded build", async () => {
   );
 });
 
+test("a recorded viewer reloads only when its failed lazy module belongs to a stale build", async () => {
+  const reloads = [];
+  const loadedUiBuildId = "/assets/index-abcdefgh.js";
+  const currentUiBuildId = "/assets/index-ijklmnop.js";
+  const fetcher = async (_url, options) => {
+    assert.equal(options.headers["X-MissionCore-UI-Build"], loadedUiBuildId);
+    return new Response(JSON.stringify({}), {
+      status: 200,
+      headers: { "X-MissionCore-UI-Build": currentUiBuildId },
+    });
+  };
+
+  assert.equal(await reloadRecordedViewerAfterStaleModuleFailure({
+    loadedUiBuildId,
+    fetcher,
+    reload: () => reloads.push("reload"),
+  }), true);
+  assert.deepEqual(reloads, ["reload"]);
+
+  assert.equal(await reloadRecordedViewerAfterStaleModuleFailure({
+    loadedUiBuildId: currentUiBuildId,
+    fetcher: async () => new Response(JSON.stringify({}), {
+      status: 200,
+      headers: { "X-MissionCore-UI-Build": currentUiBuildId },
+    }),
+    reload: () => reloads.push("unexpected"),
+  }), false);
+  assert.deepEqual(reloads, ["reload"]);
+});
+
 test("last unsubscribe fences an already queued build verification callback", () => {
   const controller = new AbortController();
   const observedSignals = [];

apps/control-station/test/m48ObjectCentricQuality.test.mjs

@@ -18,6 +18,7 @@ let nextM48ObjectId;
 let laboratoryMetricLegendEntries;
 let nearestLaboratoryRecordedClipFrame;
 let laboratoryRecordedClipEndExclusiveNs;
+let laboratoryRecordedClipClockGate;
 let m48SpatialPlaybackWindow;
 let trimM48SpatialPlaybackCache;
 let nextM48CameraVisibility;
@@ -45,6 +46,7 @@ before(async () => {
   ({
     nearestLaboratoryRecordedClipFrame,
     laboratoryRecordedClipEndExclusiveNs,
+    laboratoryRecordedClipClockGate,
   } = await server.ssrLoadModule(
     "/src/components/laboratory/LaboratoryRecordedClipPlayer.tsx",
   ));
@@ -342,6 +344,21 @@ test("shared recorded clip clock selects exact frames and one stable loop bounda
   assert.equal(laboratoryRecordedClipEndExclusiveNs(frames), 1_300_000_000);
 });
 
+test("shared recorded clip rejects stale media callbacks until an explicit seek lands", () => {
+  assert.deepEqual(laboratoryRecordedClipClockGate(1, 123), {
+    accept: false,
+    pendingSequence: 1,
+  });
+  assert.deepEqual(laboratoryRecordedClipClockGate(1, 1), {
+    accept: true,
+    pendingSequence: null,
+  });
+  assert.deepEqual(laboratoryRecordedClipClockGate(null, 124), {
+    accept: true,
+    pendingSequence: null,
+  });
+});
+
 test("M4.8 camera and spatial visibility are independent without an empty viewer", () => {
   assert.equal(nextM48CameraVisibility("camera", true), true);
   assert.equal(nextM48CameraVisibility("3d", true), false);
@@ -691,3 +708,18 @@ test("metric evidence keeps one WebGL renderer while frame labels advance", () =
     /querySelector\("canvas"\)[\s\S]*?setAttribute\("aria-label", label\)[\s\S]*?\}, \[label\]\);/,
   );
 });
+
+test("metric evidence renders on demand while preserving damped camera interaction", () => {
+  const source = readFileSync(
+    new URL("../src/components/laboratory/LaboratoryMetricEvidenceScene.tsx", import.meta.url),
+    "utf8",
+  );
+
+  assert.match(source, /const requestRenderRef = useRef/);
+  assert.match(source, /controls\.addEventListener\("change", requestRender\)/);
+  assert.match(source, /requestRenderRef\.current\(\)/);
+  assert.doesNotMatch(
+    source,
+    /const render = \(\) => \{\s*animationFrame = window\.requestAnimationFrame\(render\)/,
+  );
+});

apps/control-station/test/m49PhysicalSafetyPlayback.test.mjs

@@ -0,0 +1,234 @@
+import assert from "node:assert/strict";
+import { createHash } from "node:crypto";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let M49PhysicalSafetyPlaybackBuffer;
+let fetchM49PhysicalSafetyPlaybackIdForSource;
+
+const resultId = `m49-physical-safety-playback-${"a".repeat(64)}`;
+const endpoint = `/api/v1/laboratory/m49/physical-safety-playback/${resultId}`;
+const frameCount = 160;
+const cellCount = 4;
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({
+    M49PhysicalSafetyPlaybackBuffer,
+    fetchM49PhysicalSafetyPlaybackIdForSource,
+  } = await server.ssrLoadModule(
+    "/src/core/laboratory/m49PhysicalSafetyPlayback.ts",
+  ));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+function sha256(buffer) {
+  return createHash("sha256").update(Buffer.from(buffer)).digest("hex");
+}
+
+function chunk(index) {
+  const start = index * 32;
+  const count = Math.min(32, frameCount - start);
+  const stateBytes = count * cellCount;
+  const zBytes = count * cellCount * 2 * 4;
+  const headerBytes = 28;
+  const padding = (4 - ((headerBytes + stateBytes) % 4)) % 4;
+  const buffer = new ArrayBuffer(headerBytes + stateBytes + padding + zBytes);
+  const bytes = new Uint8Array(buffer);
+  bytes.set(new TextEncoder().encode("MCPSCH01"));
+  const view = new DataView(buffer);
+  view.setUint32(8, start, true);
+  view.setUint32(12, count, true);
+  view.setUint32(16, cellCount, true);
+  view.setUint32(20, stateBytes, true);
+  view.setUint32(24, zBytes, true);
+  const states = new Uint8Array(buffer, headerBytes, stateBytes);
+  states.fill(1);
+  const z = new Float32Array(buffer, headerBytes + stateBytes + padding, count * cellCount * 2);
+  for (let local = 0; local < count; local += 1) {
+    const sequence = start + local;
+    for (let cell = 0; cell < cellCount; cell += 1) {
+      z[(local * cellCount + cell) * 2] = 0;
+      z[(local * cellCount + cell) * 2 + 1] = 0.12;
+    }
+    if (sequence === 17) {
+      states.fill(0, local * cellCount, (local + 1) * cellCount);
+      z.fill(Number.NaN, local * cellCount * 2, (local + 1) * cellCount * 2);
+    }
+  }
+  return buffer;
+}
+
+function fixture() {
+  const centers = new Float32Array([0, 0, 0.15, 0, 0.3, 0, 0.45, 0]).buffer;
+  const frames = new TextEncoder().encode(Array.from({ length: frameCount }, (_, sequence) => (
+    JSON.stringify({
+      source_frame_index: sequence,
+      session_seconds: sequence / 10,
+      sample_available: sequence !== 17,
+      eligible_point_count: sequence === 17 ? 0 : cellCount,
+    })
+  )).join("\n") + "\n").buffer;
+  const chunks = Array.from({ length: Math.ceil(frameCount / 32) }, (_, index) => chunk(index));
+  const manifest = {
+    schema_version: "missioncore.m49-physical-safety-playback/v1",
+    result_id: resultId,
+    created_at_utc: "2026-08-27T12:00:00Z",
+    access: "read-only-sealed-local",
+    identity: { source_result_id: `m49-tgs-full-shadow-${"b".repeat(64)}` },
+    execution: {
+      execution_class: "local-sequential-offline",
+      worker_role: "realtime-only",
+      worker_runtime_dependency: false,
+      worker_requests_required: 0,
+    },
+    authority: {
+      commands_enabled: false,
+      navigation_or_safety_accepted: false,
+      actuation_accepted: false,
+    },
+    playback: {
+      coordinate_frame: "map-gravity-local",
+      source_pace_hz: 10,
+      frame_count: frameCount,
+      cell_count: cellCount,
+      cell_size_m: 0.15,
+      radius_m: 12,
+      state_codes: {
+        UNOBSERVED: 0,
+        GROUND_SUPPORT: 1,
+        NONGROUND_OCCUPIED: 2,
+        UNKNOWN_REJECTED: 3,
+      },
+      chunk_frame_count: 32,
+      startup_prebuffer_chunk_count: 2,
+      resident_chunk_count_max: 3,
+      forward_prefetch_chunk_count: 1,
+      centers: {
+        url: `${endpoint}/tracks/centers`,
+        media_type: "application/octet-stream",
+        byte_length: centers.byteLength,
+        sha256: sha256(centers),
+        dtype: "<f4",
+        shape: [cellCount, 2],
+      },
+      frames: {
+        url: `${endpoint}/tracks/frames`,
+        media_type: "application/x-ndjson",
+        byte_length: frames.byteLength,
+        sha256: sha256(frames),
+        dtype: "ndjson",
+        shape: [frameCount],
+      },
+      chunks: chunks.map((buffer, index) => ({
+        index,
+        start: index * 32,
+        count: Math.min(32, frameCount - index * 32),
+        url: `${endpoint}/chunks/${index}`,
+        media_type: "application/octet-stream",
+        byte_length: buffer.byteLength,
+        sha256: sha256(buffer),
+        header_bytes: 28,
+        format: "mcpsch01-states-u8-aligned-z-bounds-f32le",
+      })),
+    },
+  };
+  const responses = new Map([
+    [`${endpoint}/tracks/centers`, centers],
+    [`${endpoint}/tracks/frames`, frames],
+    ...chunks.map((buffer, index) => [`${endpoint}/chunks/${index}`, buffer]),
+  ]);
+  return { manifest, responses };
+}
+
+test("physical-safety playback opens and seeks with bounded local chunks only", async () => {
+  const { manifest, responses } = fixture();
+  const requested = [];
+  const progress = [];
+  const fetcher = async (input) => {
+    const url = String(input);
+    requested.push(url);
+    if (url === `${endpoint.replace(`/${resultId}`, "")}/results?limit=2&source_result_id=${manifest.identity.source_result_id}`) {
+      return Response.json({
+        schema_version: "missioncore.m49-physical-safety-playback-catalog/v1",
+        worker_runtime_dependency: false,
+        access: "read-only-sealed-local",
+        items: [{
+          result_id: resultId,
+          source_result_id: manifest.identity.source_result_id,
+          worker_runtime_dependency: false,
+          navigation_or_safety_accepted: false,
+        }],
+      });
+    }
+    if (url === `${endpoint}/manifest`) {
+      return Response.json(manifest);
+    }
+    const payload = responses.get(url);
+    return payload
+      ? new Response(payload, { headers: { "Content-Type": "application/octet-stream" } })
+      : new Response(null, { status: 404 });
+  };
+
+  const resolvedResultId = await fetchM49PhysicalSafetyPlaybackIdForSource(
+    manifest.identity.source_result_id,
+    { fetcher },
+  );
+  assert.equal(resolvedResultId, resultId);
+  const playback = await M49PhysicalSafetyPlaybackBuffer.open(resolvedResultId, {
+    fetcher,
+    onProgress: (value) => progress.push(value),
+  });
+
+  assert.deepEqual(playback.residentChunkIndexes, [0, 1]);
+  assert.equal(progress.at(-1).phase, "ready");
+  assert.equal(requested.some((url) => url.includes("worker")), false);
+  const startupRequestCount = requested.length;
+  await playback.prepare(0);
+  await playback.prepare(0);
+  assert.equal(requested.length, startupRequestCount);
+  const missing = await playback.frame(17);
+  assert.equal(missing.metadata.sampleAvailable, false);
+  assert.deepEqual(new Set(missing.states), new Set([0]));
+  assert.equal([...missing.zBoundsM].every((value) => Number.isNaN(value)), true);
+
+  await playback.prepare(100);
+  assert.equal(playback.residentChunkIndexes.length <= 3, true);
+  assert.equal(playback.residentChunkIndexes.includes(3), true);
+  assert.equal(playback.residentChunkIndexes.includes(4), true);
+  const selected = await playback.frame(100);
+  assert.deepEqual([...selected.states], [1, 1, 1, 1]);
+  const maximumResidentBytes = manifest.playback.centers.byte_length
+    + manifest.playback.frames.byte_length
+    + 3 * Math.max(...manifest.playback.chunks.map((value) => value.byte_length));
+  assert.equal(playback.residentByteLength <= maximumResidentBytes, true);
+
+  await playback.prepare(0);
+  assert.equal(playback.residentChunkIndexes.length <= 3, true);
+  assert.equal(playback.residentChunkIndexes.includes(0), true);
+  assert.equal(playback.residentChunkIndexes.includes(1), true);
+  assert.equal(
+    requested.every((url) => url.startsWith("/api/v1/laboratory/m49/physical-safety-playback")),
+    true,
+  );
+});
+
+test("physical-safety playback rejects a manifest that points at Worker", async () => {
+  const { manifest } = fixture();
+  manifest.playback.centers.url = "http://worker-006/centers";
+  await assert.rejects(
+    M49PhysicalSafetyPlaybackBuffer.open(resultId, {
+      fetcher: async () => Response.json(manifest),
+    }),
+    /sealed local API/,
+  );
+});

apps/control-station/test/m49TgsFullShadow.test.mjs

@@ -74,24 +74,60 @@ test("M4.9T5 chunk keeps every missing-LiDAR cell explicitly UNOBSERVED", async
   assert.deepEqual(new Set(chunk.frames[0].costmap.states), new Set([0]));
 });
 
-test("M4.9T5 viewer preloads one immutable binary playback pack", async () => {
-  const [source, contract] = await Promise.all([
+test("M4.9T5 viewer prefers autonomous chunks and keeps a sealed legacy fallback", async () => {
+  const [source, visual, scene, contract] = await Promise.all([
     readFile(
       new URL("../src/workspaces/laboratory/M49TgsFullShadowEvidence.tsx", import.meta.url),
       "utf8",
     ),
+    readFile(
+      new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url),
+      "utf8",
+    ),
+    readFile(
+      new URL("../src/components/laboratory/LaboratoryMetricEvidenceScene.tsx", import.meta.url),
+      "utf8",
+    ),
     readFile(
       new URL("../src/core/laboratory/m49TgsFullShadow.ts", import.meta.url),
       "utf8",
     ),
   ]);
+  assert.match(source, /fetchM49PhysicalSafetyPlaybackIdForSource/);
+  assert.match(source, /M49PhysicalSafetyPlaybackBuffer\.open/);
+  assert.match(source, /physicalPlayback\.frameIfResident/);
+  assert.match(source, /physicalPlayback\.prepare/);
   assert.match(source, /fetchM49TgsFullShadowPlaybackPack/);
   assert.match(source, /playbackProgress/);
   assert.doesNotMatch(source, /fetchM49TgsFullShadowSpatialChunk/);
-  assert.match(source, /sampleAvailable: spatial\.sampleAvailable/);
+  assert.match(source, /sampleAvailable: frame\.sampleAvailable/);
+  assert.match(source, /packedCellsMapGravityLocal/);
+  assert.match(source, /playbackPack\.states\.subarray/);
+  assert.match(source, /playbackPack\.zBoundsM\.subarray/);
+  assert.doesNotMatch(source, /Array\.from\(\s*playbackPack\.states/);
+  assert.doesNotMatch(source, /centersXyM\.map\(/);
   assert.match(source, /fetchE47SemanticSlamResult/);
   assert.match(source, /next\.baseM4ResultId !== result\.source\.linkedVisualResultId/);
-  assert.match(source, /semantic=\{semantic \? \{/);
+  assert.match(source, /semanticLayers=\{semanticLayers\}/);
+  assert.match(source, /ГОРОД · EoMT/);
+  assert.match(source, /ПРИРОДА · DDRNet/);
+  assert.match(source, /semanticOverride/);
+  assert.doesNotMatch(source, /if \(semanticOverride\) return/);
+  assert.match(visual, /label="Источник семантики"/);
+  assert.match(visual, /availableSemanticLayers\.length > 1/);
+  assert.doesNotMatch(visual, /classifiedSpatialLayer \|\| !showReferenceMediaLayers \? \[\]/);
+  assert.match(
+    visual,
+    /classifiedSpatialFrame\s*&&\s*classifiedSpatialFrame\.sampleAvailable !== false/,
+  );
+  assert.doesNotMatch(visual, /classifiedSpatialFrame\?\.sampleAvailable !== false/);
+  assert.match(visual, /timelineFrame\.availableFrames\.find/);
+  assert.match(visual, /<LaboratoryMetricEvidenceScene/);
+  assert.doesNotMatch(
+    visual,
+    /\{\(!classifiedSpatialLayer \? spatialFrame : displayedClassifiedSpatialFrame\) \? \(/,
+  );
+  assert.match(scene, /useEffect\(\(\) => resetView\(\), \[mode, resetView\]\)/);
   assert.match(contract, /linked_semantic_result_id/);
   assert.match(contract, /missioncore\.m49-tgs-full-shadow-playback\/v1/);
 });

apps/control-station/test/m4ReplayThreat.test.mjs

@@ -1,4 +1,5 @@
 import assert from "node:assert/strict";
+import { createHash } from "node:crypto";
 import { readFile } from "node:fs/promises";
 import { after, before, test } from "node:test";
 
@@ -9,6 +10,8 @@ let fetchM4ThreatReplayResult;
 let fetchM4ThreatVisual;
 let fetchM4ThreatTimeline;
 let fetchM4ThreatTimelineChunk;
+let fetchM4ThreatPlaybackManifest;
+let fetchM4ThreatPlaybackPointChunk;
 let fetchM4ThreatCameraPointOverlay;
 let hydrateM4ThreatTimelineFrame;
 let selectM4ThreatTimelineFrame;
@@ -33,6 +36,8 @@ before(async () => {
     fetchM4ThreatVisual,
     fetchM4ThreatTimeline,
     fetchM4ThreatTimelineChunk,
+    fetchM4ThreatPlaybackManifest,
+    fetchM4ThreatPlaybackPointChunk,
     fetchM4ThreatCameraPointOverlay,
     hydrateM4ThreatTimelineFrame,
     selectM4ThreatTimelineFrame,
@@ -373,6 +378,78 @@ test("M4.6 hydrates a lightweight timeline frame from one retained binary point
   assert.equal(typeof hydrateM4ThreatTimelineFrame, "function");
 });
 
+test("M4.6 source cloud opens from one verified bounded chunk instead of the 105 MiB track", async () => {
+  const playbackResultId = `lab-v1-vegetation-shadow-${"b".repeat(64)}`;
+  const frameCount = 48;
+  const pointOffsets = [0, ...Array(frameCount).fill(2)];
+  const points = new Float32Array([11, 20, 30.25, 12, 19.5, 30]);
+  const pointBytes = points.buffer;
+  const pointSha256 = createHash("sha256").update(Buffer.from(pointBytes)).digest("hex");
+  const endpointRoot = "/api/v1/laboratory/m4-threat/results";
+  const chunks = Array.from({ length: Math.ceil(frameCount / 24) }, (_, index) => {
+    const start = index * 24;
+    const count = Math.min(24, frameCount - start);
+    const pointStart = pointOffsets[start];
+    const pointStop = pointOffsets[start + count];
+    const pointCount = pointStop - pointStart;
+    return {
+      index,
+      start,
+      count,
+      point_start: pointStart,
+      point_count: pointCount,
+      url: `${endpointRoot}/${playbackResultId}/timeline/playback/chunks/${index}`,
+      media_type: "application/octet-stream",
+      dtype: "<f4",
+      shape: [pointCount, 3],
+      bytes: pointCount * 3 * 4,
+      sha256: index === 0 ? pointSha256 : "0".repeat(64),
+    };
+  });
+  const manifestPayload = {
+    schema_version: "missioncore.recorded-spatial-playback/v1",
+    result_id: playbackResultId,
+    frame_count: frameCount,
+    point_count: 2,
+    point_offsets: pointOffsets,
+    chunk_frame_count: 24,
+    resident_chunk_count_max: 4,
+    forward_prefetch_chunk_count: 1,
+    chunks,
+    track: {
+      id: "points-map-f32",
+      url: `${endpointRoot}/${playbackResultId}/timeline/playback/tracks/points-map-f32`,
+      media_type: "application/octet-stream",
+      dtype: "<f4",
+      shape: [2, 3],
+      bytes: pointBytes.byteLength,
+      sha256: pointSha256,
+    },
+    coordinate_frame: "map",
+    access: "read-only-sealed-binary-playback",
+  };
+  const requested = [];
+  const fetcher = async (input) => {
+    const url = String(input);
+    requested.push(url);
+    if (url.endsWith("/timeline/playback")) return Response.json(manifestPayload);
+    if (url.endsWith("/timeline/playback/chunks/0")) return new Response(pointBytes.slice(0));
+    return new Response(null, { status: 404 });
+  };
+  const manifest = await fetchM4ThreatPlaybackManifest(playbackResultId, { fetcher });
+  const chunk = await fetchM4ThreatPlaybackPointChunk(manifest, 0, { fetcher });
+
+  assert.deepEqual(requested, [
+    `${endpointRoot}/${playbackResultId}/timeline/playback`,
+    `${endpointRoot}/${playbackResultId}/timeline/playback/chunks/0`,
+  ]);
+  assert.equal(chunk.pointCount, 2);
+  assert.equal(chunk.pointStart, 0);
+  assert.equal(chunk.sequenceCount, 24);
+  assert.equal(chunk.pointsMapXyzM.byteLength, 24);
+  assert.equal(requested.some((url) => url.endsWith("points-map-f32")), false);
+});
+
 test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint", async () => {
   const replayResultId = `m48s-fixed-class-detector-lab-${"b".repeat(64)}`;
   const endpointRoot = "/api/v1/laboratory/m48s/fixed-class-detector";
@@ -694,7 +771,7 @@ test("M4.6 local SLAM surface reprojects registered increments into the active b
 });
 
 test("M4.6 spatial buffering keeps the active and one future chunk", () => {
-  assert.deepEqual(m4ThreatChunkWindowStarts(48, 24, 4489), [48, 72]);
+  assert.deepEqual(m4ThreatChunkWindowStarts(48, 24, 4489), [48, 72, 24]);
   assert.deepEqual(m4ThreatChunkWindowStarts(0, 24, 4489), [0, 24]);
 });
 
@@ -711,8 +788,8 @@ test("M4.6 spatial buffering drops stale in-flight windows across rapid jumps",
       if (!inFlight.has(start)) inFlight.set(start, controller(start));
     }
   }
-  assert.deepEqual([...inFlight.keys()], [4488]);
-  assert.deepEqual(aborted, [0, 24, 1488, 1512]);
+  assert.deepEqual([...inFlight.keys()], [4488, 4464]);
+  assert.deepEqual(aborted, [0, 24, 1488, 1512, 1464]);
 });
 
 test("recorded evidence clock advances by selected rate and stops at the sealed end", () => {
@@ -772,8 +849,9 @@ test("recorded VIDEO clock cannot reverse an explicit operator pause", () => {
 });
 
 test("M4.6 viewer keeps media and spatial panes on one playback clock", async () => {
-  const [visual, visualCss, imageScene, videoScene, pointOverlay, metricScene] = await Promise.all([
+  const [visual, canonical, visualCss, imageScene, videoScene, pointOverlay, metricScene] = await Promise.all([
     readFile(new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url), "utf8"),
+    readFile(new URL("../src/components/laboratory/CanonicalRecordedLabReplay.tsx", import.meta.url), "utf8"),
     readFile(new URL("../src/styles/m4-replay-threat.css", import.meta.url), "utf8"),
     readFile(new URL("../src/components/laboratory/RecordedEvidenceImageScene.tsx", import.meta.url), "utf8"),
     readFile(new URL("../src/components/laboratory/RecordedEvidenceVideoScene.tsx", import.meta.url), "utf8"),
@@ -783,10 +861,11 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
   assert.match(visual, /<RecordedEvidenceVideoScene/);
   assert.match(visual, /<RecordedEvidenceImageScene/);
   assert.match(visual, /<LaboratoryMetricEvidenceScene/);
-  assert.match(visual, /m4-replay-threat-visual__deck/);
+  assert.match(visual, /<CanonicalRecordedLabReplay/);
+  assert.match(canonical, /m4-replay-threat-visual__deck/);
   assert.match(visual, /lastFrameRef/);
   assert.match(visual, /lastSpatialFrameRef/);
-  assert.match(visual, /const spatialFrame = frame\?\.spatialAvailable/);
+  assert.match(visual, /const spatialFrame = currentSpatialFrame/);
   assert.match(visual, /<ObservationTimeline/);
   assert.match(visual, /useM4ThreatTimelineFrame/);
   assert.match(visual, /resolveObservationSessionReplay\(timeline\.recordedSourceSessionId/);
@@ -801,19 +880,33 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
   assert.match(visual, /pointCloudOverlay=/);
   assert.match(visual, /mediaMode/);
   assert.match(visual, /spatialMode/);
-  assert.match(visual, /current === next \? null : next/);
-  assert.match(visual, /data-split=\{splitView \? "true" : undefined\}/);
-  assert.match(visual, /<SplitPane/);
-  assert.match(visual, /primarySize=\{splitView \? splitPrimarySize : mediaMode \? 100 : 0\}/);
-  assert.match(visual, /resizable=\{splitView\}/);
-  assert.match(visual, /separatorLabel="Изменить размер VIDEO\/CAMERA и 3D\/PLAN"/);
-  assert.match(visual, /secondaryMode=\{\{/);
+  assert.match(canonical, /current === next \? null : next/);
+  assert.match(canonical, /data-split=\{splitView \? "true" : undefined\}/);
+  assert.match(canonical, /<SplitPane/);
+  assert.match(canonical, /primary=\{mediaPane\}/);
+  assert.match(canonical, /secondary=\{spatialPane/);
+  assert.match(canonical, /primarySize=\{splitView \? splitPrimarySize : mediaMode !== "none" \? 100 : 0\}/);
+  assert.match(canonical, /resizable=\{splitView\}/);
+  assert.match(canonical, /separatorLabel="Изменить размер VIDEO\/CAMERA и 3D\/PLAN"/);
+  assert.match(canonical, /secondaryMode=\{\{/);
   assert.match(visual, /playback=\{playbackController\.playback\}/);
-  assert.match(visual, /clock: mediaMode === "video" \? "external" : "animation"/);
+  assert.match(visual, /clock: "external"/);
+  assert.match(visual, /useCanonicalRecordedLabReplayState/);
+  assert.match(canonical, /current === next \? null : next/);
   assert.match(visual, /timelineFrame\.activeSequence \+ 1/);
   assert.match(visual, /segmentCount=\{timeline\.frameCount\}/);
   assert.match(visual, /onPlaybackChange=\{playbackController\.synchronize\}/);
-  assert.match(visual, /onPlayingRejected=\{\(\) => playbackController\.setPlaying\(false\)\}/);
+  assert.match(
+    await readFile(new URL("../src/components/laboratory/useRecordedEvidencePlayback.ts", import.meta.url), "utf8"),
+    /if \(clock === "animation"\) return;/,
+  );
+  assert.match(visual, /playbackAuthority="media"/);
+  assert.match(visual, /playbackTransport = "epoch-stream"/);
+  assert.match(visual, /playbackTransport=\{playbackTransport\}/);
+  assert.match(
+    await readFile(new URL("../src/components/RecordedFmp4Player.tsx", import.meta.url), "utf8"),
+    /if \(playbackAuthority === "host"\) return;/,
+  );
   assert.match(visual, /currentSeconds: playbackController\.playback\.currentSeconds/);
   assert.match(visualCss, /m4-replay-threat-visual__deck > \.nodedc-split-pane/);
   assert.match(visualCss, /m4-replay-threat-visual__pane-toolbar\[data-pane-toolbar="media"\]/);
@@ -825,13 +918,19 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
   assert.match(visualCss, /width: 33\.333333%/);
   assert.match(visualCss, /flex-flow: column nowrap/);
   assert.match(visualCss, /m4-replay-threat-visual__overlay > div/);
-  assert.match(visualCss, /grid-template-columns: minmax\(0, max-content\)/);
-  assert.match(visualCss, /width: max-content/);
+  assert.match(visualCss, /grid-template-columns: minmax\(0, 1fr\)/);
+  assert.match(visualCss, /width: min\(17\.5rem/);
+  assert.match(visualCss, /grid-auto-rows: 3\.8rem/);
   assert.match(visualCss, /--m4-replay-threat-overlay-pane-width/);
   assert.match(visualCss, /white-space: nowrap/);
+  assert.match(visualCss, /-webkit-line-clamp: 2/);
+  assert.match(visual, /classifiedCellCount/);
+  assert.match(visual, /lastAvailableClassifiedSpatialFrame/);
+  assert.match(visual, /current UNOBSERVED/);
   assert.match(visualCss, /laboratory-metric-evidence-scene__legend/);
   assert.match(visualCss, /bottom: auto/);
   assert.match(videoScene, /<RecordedFmp4Player/);
+  assert.match(videoScene, /!playback\.playing && Math\.abs\(next\.currentSeconds - playback\.currentSeconds\) > 0\.35/);
   assert.match(imageScene, /<RecordedEvidenceBoxOverlay/);
   assert.match(imageScene, /<RecordedEvidencePointCloudOverlay/);
   assert.match(videoScene, /<RecordedEvidencePointCloudOverlay/);
@@ -840,18 +939,21 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
   assert.match(metricScene, /OrbitControls/);
   assert.match(visual, /LOCAL SLAM/);
   assert.match(visual, /showLocalSurface/);
+  assert.match(visual, /const latestAvailableSpatialFrame = \[\.\.\.timelineFrame\.availableFrames\][\s\S]*candidate\.spatialAvailable[\s\S]*candidate\.sequence <= timelineFrame\.activeSequence/);
   assert.match(
     visual,
-    /pointCloudBodyXyzM=\{displayedClassifiedSpatialFrame && replaceClassifiedPointCloud[\s\S]*\? classifiedPointsBody[\s\S]*: activeSpatialFrame\?\.pointCloudBodyXyzM \?\? \[\]\}/,
+    /pointCloudBodyXyzM=\{displayedClassifiedSpatialFrame && replaceClassifiedPointCloud[\s\S]*\? classifiedPointsBody[\s\S]*: classifiedContextSpatialFrame\?\.pointCloudBodyXyzM[\s\S]*\?\? activeSpatialFrame\?\.pointCloudBodyXyzM[\s\S]*\?\? \[\]\}/,
   );
   assert.match(
     visual,
-    /const classifiedSpatialFrame = classifiedSpatialLayer\?\.frame\?\.sourceSequence === timelineFrame\.activeSequence[\s\S]*const displayedClassifiedSpatialFrame = classifiedSpatialFrame[\s\S]*lastClassifiedSpatialFrameRef/,
+    /const classifiedSpatialFrame = hasClassifiedSpatialOutput[\s\S]*classifiedSpatialLayer\?\.frame\?\.sourceSequence === timelineFrame\.activeSequence[\s\S]*lastClassifiedSpatialFrameRef[\s\S]*const displayedClassifiedSpatialFrame = classifiedSpatialFrame\s*&&\s*classifiedSpatialFrame\.sampleAvailable !== false/,
   );
+  assert.doesNotMatch(visual, /classifiedSpatialFrame\?\.sampleAvailable !== false/);
+  assert.match(visual, /timelineFrame\.availableFrames\.find/);
   assert.match(visual, /localSurfaceBodyXyzM=\{localSurface\.pointsBodyXyzM\}/);
   assert.match(visual, /showLocalSurface=\{showLocalSurface\}/);
-  assert.match(visual, /\{semantic \? \([\s\S]*>\s*SEMANTICS\s*<\/Button>/);
-  assert.match(visual, /все 2 244 TGS-ячейки явно UNOBSERVED/);
+  assert.match(visual, /\{activeSemantic \? \([\s\S]*>\s*SEMANTICS\s*<\/Button>/);
+  assert.match(visual, /current safety — все \{classifiedCellCount\.toLocaleString\("ru-RU"\)\} TGS-ячейки UNOBSERVED/);
   assert.match(
     visual,
     /mapGravityLocalSensorToBodyGround[\s\S]*rotated\[2\] \+ nominalSensorHeightM/,
@@ -869,12 +971,18 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
 });
 
 test("M4.6 keeps the recorded VIDEO player mounted across media mode toggles", async () => {
-  const visual = await readFile(
-    new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url),
-    "utf8",
-  );
-  assert.match(visual, /const mediaPane = \(/);
-  assert.match(visual, /hidden=\{!mediaMode\}/);
+  const [visual, canonical] = await Promise.all([
+    readFile(
+      new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url),
+      "utf8",
+    ),
+    readFile(
+      new URL("../src/components/laboratory/CanonicalRecordedLabReplay.tsx", import.meta.url),
+      "utf8",
+    ),
+  ]);
+  assert.match(canonical, /const mediaPane = \(/);
+  assert.match(canonical, /hidden=\{mediaMode === "none"\}/);
   assert.match(visual, /data-media="video"/);
   assert.match(visual, /hidden=\{mediaMode !== "video"\}/);
   assert.match(visual, /\{videoSource \? \(/);

apps/control-station/test/observationSources.test.mjs

@@ -42,6 +42,8 @@ let resolveRecordedBlueprintUrl;
 let fetchRecordedBlueprintRrd;
 let resolveRecordedPerceptionUrl;
 let fetchRecordedPerceptionRrd;
+let resolveRecordedPerceptionViewerSourceUrl;
+let probeRecordedPerceptionViewerSource;
 let resolveRecordedPointColorsUrl;
 let fetchRecordedPointColorsRrd;
 let recordedPointColorKey;
@@ -110,6 +112,8 @@ before(async () => {
     fetchRecordedBlueprintRrd,
     resolveRecordedPerceptionUrl,
     fetchRecordedPerceptionRrd,
+    resolveRecordedPerceptionViewerSourceUrl,
+    probeRecordedPerceptionViewerSource,
     resolveRecordedPointColorsUrl,
     fetchRecordedPointColorsRrd,
     recordedPointColorKey,
@@ -407,6 +411,15 @@ test("recorded blueprint endpoint is derived only from canonical same-origin RRD
     ),
     null,
   );
+  assert.equal(
+    resolveRecordedBlueprintUrl(
+      `/api/v1/laboratory/vegetation-shadow/lab-v1-vegetation-shadow-${"a".repeat(64)}`
+        + "/canonical-replay.rrd",
+      "http://127.0.0.1:5174",
+      "/api/v1/observation-sessions/session-1/blueprint.rrd",
+    ),
+    "http://127.0.0.1:5174/api/v1/observation-sessions/session-1/blueprint.rrd",
+  );
 });
 
 test("recorded replay becomes ready only after the complete declared timeline is buffered", () => {
@@ -485,6 +498,8 @@ test("recorded blueprint fetch is bounded, strict and sends only display setting
     view_reset_generation: 1,
     follow_trajectory: true,
     unified_perception: true,
+    semantic_layer: null,
+    plan_view: false,
     show_detections_2d: true,
     show_segmentation: false,
     show_cuboids_3d: true,
@@ -664,6 +679,74 @@ test("recorded perception fetch admits one complete same-origin RRD or no layer"
   assert.equal(absent, null);
 });
 
+test("LAB perception sidecar is streamed by native Rerun from one generation-bound URL", async () => {
+  const endpoint =
+    `http://127.0.0.1:5174/api/v1/laboratory/vegetation-shadow/` +
+    `lab-v1-vegetation-shadow-${"a".repeat(64)}/canonical-overlay.rrd`;
+  const sourceUrl = resolveRecordedPerceptionViewerSourceUrl(
+    endpoint,
+    { applicationId: "nodedc_mission_core_recorded", recordingId: "recording-001" },
+    "b".repeat(64),
+    "http://127.0.0.1:5174",
+  );
+  assert.equal(
+    sourceUrl,
+    `${endpoint}?application_id=nodedc_mission_core_recorded` +
+      `&recording_id=recording-001&generation=${"b".repeat(64)}`,
+  );
+
+  const overlayGeneration = "c".repeat(64);
+  const probe = await probeRecordedPerceptionViewerSource(sourceUrl, {
+    origin: "http://127.0.0.1:5174",
+    fetcher: async (input, init) => {
+      assert.equal(String(input), sourceUrl);
+      assert.equal(init.method, "HEAD");
+      assert.equal(new Headers(init.headers).get("Range"), null);
+      return new Response(null, {
+        status: 200,
+        headers: {
+          "Content-Type": "application/vnd.rerun.rrd",
+          "Content-Length": "186058411",
+          "ETag": `"${overlayGeneration}"`,
+          "X-Rerun-Format": "RRF2",
+        },
+      });
+    },
+  });
+  assert.deepEqual(probe, {
+    sourceUrl: `${sourceUrl}&overlay_generation=${overlayGeneration}`,
+    byteLength: 186_058_411,
+  });
+});
+
+test("LAB native source rejects an unsealed overlay descriptor", async () => {
+  const endpoint =
+    `http://127.0.0.1:5174/api/v1/laboratory/vegetation-shadow/` +
+    `lab-v1-vegetation-shadow-${"a".repeat(64)}/canonical-overlay.rrd`;
+  const sourceUrl = resolveRecordedPerceptionViewerSourceUrl(
+    endpoint,
+    { applicationId: "nodedc_mission_core_recorded", recordingId: "recording-001" },
+    "b".repeat(64),
+    "http://127.0.0.1:5174",
+  );
+
+  await assert.rejects(
+    probeRecordedPerceptionViewerSource(sourceUrl, {
+      origin: "http://127.0.0.1:5174",
+      fetcher: async () => new Response(null, {
+        status: 200,
+        headers: {
+          "Content-Type": "application/vnd.rerun.rrd",
+          "Content-Length": "186058411",
+          "ETag": `"${"c".repeat(64)}"`,
+          "X-Rerun-Format": "RRF1",
+        },
+      }),
+    }),
+    /Invalid recorded perception viewer response/,
+  );
+});
+
 test("recorded replay creates an isolated source catalog without live device bindings", () => {
   const sources = recordedObservationSources({
     kind: "rerun-recording",

apps/control-station/test/recordedCameraBuffering.test.mjs

@@ -11,7 +11,12 @@ let recordedMediaSeekableCoverage;
 let recordedMediaFragmentUrl;
 let recordedMediaDecodeStartSequence;
 let recordedMediaSegmentAppendOrder;
+let recordedMediaSegmentSequenceAtTime;
 let recordedMediaCanRollTarget;
+let recordedMediaTimestampStallRecoveryTarget;
+let nextRecordedMediaRandomAccessSequence;
+let recordedMediaRecoveryTargetSequence;
+let selectRecordedMediaPreparationEpoch;
 
 before(async () => {
   server = await createServer({
@@ -26,7 +31,12 @@ before(async () => {
     recordedMediaFragmentUrl,
     recordedMediaDecodeStartSequence,
     recordedMediaSegmentAppendOrder,
+    recordedMediaSegmentSequenceAtTime,
     recordedMediaCanRollTarget,
+    recordedMediaTimestampStallRecoveryTarget,
+    nextRecordedMediaRandomAccessSequence,
+    recordedMediaRecoveryTargetSequence,
+    selectRecordedMediaPreparationEpoch,
   } = await server.ssrLoadModule("/src/components/RecordedFmp4Player.tsx"));
 });
 
@@ -161,7 +171,7 @@ test("decoded duration and seekable range cover the complete declared epoch", ()
   assert.equal(recordedMediaSeekableCoverage(20, 20, 20, 1, 1.01), false);
 });
 
-test("recorded player keeps full-archive range fallback and uses bounded generation-bound fragments", async () => {
+test("production replay derives bounded fragments and retains native range fallback", async () => {
   const source = await readFile(
     new URL("../src/components/RecordedFmp4Player.tsx", import.meta.url),
     "utf8",
@@ -173,6 +183,16 @@ test("recorded player keeps full-archive range fallback and uses bounded generat
   assert.match(source, /pumpRecordedSegmentWindow/);
   assert.match(source, /waitForRecordedVideoTarget/);
   assert.match(source, /removeRecordedMediaRange/);
+  assert.match(source, /hasPresentedFrame/);
+  assert.match(source, /retainForwardFrame/);
+  assert.match(source, /candidateTarget\.sequence >= previousTarget\.sequence/);
+  assert.match(source, /effectiveSegmentCount = segmentCount \?\? epoch\?\.segmentCount \?\? null/);
+  assert.match(source, /requestedSegmentSequence = segmentSequence \?\?/);
+  assert.match(source, /waitForRecordedVideoInitialFrame/);
+  assert.match(source, /setSegmentRecoveryGeneration/);
+  assert.match(source, /resumePlaybackIfRequested/);
+  assert.match(source, /!playbackPlayingRef\.current/);
+  assert.match(source, /await video\.play\(\)/);
 
   assert.equal(recordedMediaDecodeStartSequence([1, 1491, 1501], 1500), 1491);
   assert.deepEqual(
@@ -206,6 +226,44 @@ test("recorded player keeps full-archive range fallback and uses bounded generat
   );
 });
 
+test("production replay derives its bounded fragment directly from the source clock", () => {
+  const ends = [0.101, 0.185, 0.286, 0.401];
+  const epochStart = 39.215263458;
+  assert.equal(recordedMediaSegmentSequenceAtTime(ends, epochStart, epochStart), 1);
+  assert.equal(recordedMediaSegmentSequenceAtTime(ends, epochStart, epochStart + 0.101), 1);
+  assert.equal(recordedMediaSegmentSequenceAtTime(ends, epochStart, epochStart + 0.103), 2);
+  assert.equal(recordedMediaSegmentSequenceAtTime(ends, epochStart, epochStart + 0.4), 4);
+  assert.equal(recordedMediaSegmentSequenceAtTime(ends, epochStart, epochStart + 1), null);
+});
+
+test("a corrupt fragment advances recovery to the next random-access frame", () => {
+  assert.equal(nextRecordedMediaRandomAccessSequence([1, 11, 21, 49], 1), 11);
+  assert.equal(nextRecordedMediaRandomAccessSequence([1, 11, 21, 49], 20), 21);
+  assert.equal(nextRecordedMediaRandomAccessSequence([1, 11, 21, 49], 49), null);
+  assert.equal(nextRecordedMediaRandomAccessSequence([1, 11, 21, 49], 0), null);
+});
+
+test("paused seek displays the recovery keyframe until the source clock leaves the corrupt GOP", () => {
+  assert.equal(recordedMediaRecoveryTargetSequence(120, 120, 149), 149);
+  assert.equal(recordedMediaRecoveryTargetSequence(130, 120, 149), 149);
+  assert.equal(recordedMediaRecoveryTargetSequence(119, 120, 149), 119);
+  assert.equal(recordedMediaRecoveryTargetSequence(149, 120, 149), 149);
+  assert.equal(recordedMediaRecoveryTargetSequence(151, 120, 149), 151);
+  assert.equal(recordedMediaRecoveryTargetSequence(null, 120, 149), null);
+  assert.equal(recordedMediaRecoveryTargetSequence(120, null, null), 120);
+});
+
+test("camera admission selects one bounded epoch while the shared clock is outside video", () => {
+  const epochs = [
+    { ordinal: 1, timelineStartSeconds: 39, timelineEndSeconds: 100 },
+    { ordinal: 2, timelineStartSeconds: 120, timelineEndSeconds: 180 },
+  ];
+  assert.equal(selectRecordedMediaPreparationEpoch(epochs, 0).ordinal, 1);
+  assert.equal(selectRecordedMediaPreparationEpoch(epochs, 70).ordinal, 1);
+  assert.equal(selectRecordedMediaPreparationEpoch(epochs, 110).ordinal, 2);
+  assert.equal(selectRecordedMediaPreparationEpoch(epochs, 200).ordinal, 2);
+});
+
 test("recorded player preserves forward rolling playback but seeks backward clip loops", () => {
   assert.equal(recordedMediaCanRollTarget(20, 21, true, true), true);
   assert.equal(recordedMediaCanRollTarget(20, 20, true, true), true);
@@ -214,6 +272,12 @@ test("recorded player preserves forward rolling playback but seeks backward clip
   assert.equal(recordedMediaCanRollTarget(20, 21, true, false), false);
 });
 
+test("recorded player skips only a proven buffered corrupt timestamp interval", () => {
+  assert.equal(recordedMediaTimestampStallRecoveryTarget(11.422, [[0, 16.287]]), 11.602);
+  assert.equal(recordedMediaTimestampStallRecoveryTarget(16.25, [[0, 16.287]]), null);
+  assert.equal(recordedMediaTimestampStallRecoveryTarget(20, [[0, 16.287]]), null);
+});
+
 test("loading and error overlays fully conceal recorded camera pixels", async () => {
   const css = await readFile(
     new URL("../src/styles/observation.css", import.meta.url),

apps/control-station/test/recordedSessionAdmission.test.mjs

@@ -34,7 +34,7 @@ function camera(phase, byteLength = 1_024) {
   return { phase, byteLength, message: null };
 }
 
-test("recorded session admits RRD and every declared camera as one atomic generation", () => {
+test("recorded session keeps camera and timeline atomic without hiding a ready spatial frame", () => {
   const ids = ["camera.left", "camera.right"];
   const oneCamera = {
     "camera.left": camera("ready"),
@@ -42,7 +42,7 @@ test("recorded session admits RRD and every declared camera as one atomic genera
   };
   const partialGate = admission.recordedSessionAdmissionPhase("ready", ids, oneCamera);
   assert.equal(partialGate, "loading");
-  assert.equal(rerunPresentationStatus("ready", partialGate, true), "loading");
+  assert.equal(rerunPresentationStatus("ready", partialGate, true), "ready");
   assert.equal(
     recordedMediaPresentationState("ready", "generation", "generation", false, partialGate),
     "loading",
@@ -71,7 +71,7 @@ test("any RRD or camera failure closes the complete recorded session", () => {
     ...cameras,
     "camera.right": camera("ready"),
   }), "error");
-  assert.equal(rerunPresentationStatus("ready", "error", true), "error");
+  assert.equal(rerunPresentationStatus("ready", "error", true), "ready");
   assert.equal(
     recordedMediaPresentationState("ready", "generation", "generation", false, "error"),
     "error",

apps/control-station/test/rerunViewportAtomicAdmission.test.mjs

@@ -13,7 +13,6 @@ let liveTimelineNeedsSynchronization;
 let liveRerunReceiverBindingIdentity;
 let recordedOpenWatchdogTimeoutMs;
 let rerunViewerInitialSource;
-let rerunViewerOpenOptions;
 let resolveRecordedViewerSourceUrl;
 
 before(async () => {
@@ -31,7 +30,6 @@ before(async () => {
     liveRerunReceiverBindingIdentity,
     recordedOpenWatchdogTimeoutMs,
     rerunViewerInitialSource,
-    rerunViewerOpenOptions,
     resolveRecordedViewerSourceUrl,
   } = await server.ssrLoadModule("/src/components/RerunViewport.tsx"));
 });
@@ -71,9 +69,21 @@ test("only the canonical digest-bound generation URL reaches the native Rerun re
   }
 });
 
-test("only the live receiver opens on the native following edge", () => {
-  assert.deepEqual(rerunViewerOpenOptions(true), { follow_if_http: true });
-  assert.equal(rerunViewerOpenOptions(false), null);
+test("one canonical LAB replay generation reaches the same native receiver", () => {
+  const labSource =
+    `/api/v1/laboratory/vegetation-shadow/lab-v1-vegetation-shadow-${"c".repeat(64)}`
+    + "/canonical-replay.rrd";
+  const descriptor = {
+    sourceUrl: labSource,
+    viewerSourceUrl: `${labSource}?generation=${sha256}`,
+    byteLength: 300_000_000,
+    sha256,
+  };
+
+  assert.equal(
+    resolveRecordedViewerSourceUrl(descriptor, "http://mission-core.test"),
+    `http://mission-core.test${descriptor.viewerSourceUrl}`,
+  );
 });
 
 test("live presentation waits for the exact receiver to expose a usable range", () => {
@@ -216,7 +226,7 @@ test("recorded RRD bytes are never split across LogChannel.send_rrd calls", asyn
   assert.doesNotMatch(source, /missioncore\/recorded-recording/);
   assert.doesNotMatch(source, /recordedChannel/);
   assert.match(source, /viewer\.start\(\s*rerunViewerInitialSource\(resolvedSource\)/s);
-  assert.match(source, /rerunViewerOpenOptions\(followLive\)/);
+  assert.doesNotMatch(source, /rerunViewerOpenOptions/);
   assert.match(
     source,
     /recordingOpened = true;[\s\S]*diagnosticLifecycle\.markAdmitted\(\);/,
@@ -257,6 +267,14 @@ test("recorded RRD bytes are never split across LogChannel.send_rrd calls", asyn
     source,
     /if \(readyToRender && !readyPublished\)[\s\S]*clearRecordedAdmissionWatchdog\(\);/,
   );
+  assert.match(
+    source,
+    /reloadRecordedViewerAfterStaleModuleFailure\(\{[\s\S]*loadedUiBuildId: diagnosticLifecycle\.lineage\.uiBuildId/,
+  );
+  assert.match(
+    source,
+    /!recordedPerceptionUrl \|\| !recordedPerceptionLayers\.enabled/,
+  );
 });
 
 test("one live document owns one native Rerun receiver", async () => {
@@ -287,8 +305,12 @@ test("raw replay exercises the same streaming receiver lifecycle as a live scan"
     source,
     /const livePresentationActivitySequence = metrics\?\.publishedFrameCount \?\?[\s\S]*liveRerunSource && !streamActive \? 1 : null/,
   );
-  assert.match(source, /followLive=\{liveRerunSource\}/);
-  assert.match(source, /liveActivitySequence=\{livePresentationActivitySequence\}/);
+  assert.match(
+    source,
+    /liveAcquisitionRerunProfile\(\{[\s\S]*liveActivitySequence: livePresentationActivitySequence/,
+  );
+  assert.match(source, /<RerunViewport[\s\S]*profile=\{rerunViewerProfile\}/);
+  assert.doesNotMatch(source, /followLive=\{liveRerunSource\}/);
   assert.match(
     source,
     /sourceUrl\.trim\(\) && pointCloudVisible && !intentionalSourceEnd/,

apps/control-station/test/rerunViewportProgressivePlayback.test.mjs

@@ -6,11 +6,13 @@ import { createServer } from "vite";
 let server;
 let canPublishRecordedPlaybackController;
 let createRecordedAutoplayGate;
+let createRecordedInitialSeekGate;
 let isRecordedPlaybackReady;
 let isRecordedPlaybackPresentationReady;
 let isUsableRecordedPlaybackRange;
 let recordedPlaybackBufferState;
 let recordedPlaybackRangeWhenReady;
+let rerunPresentationStatus;
 
 before(async () => {
   server = await createServer({
@@ -21,11 +23,13 @@ before(async () => {
   ({
     canPublishRecordedPlaybackController,
     createRecordedAutoplayGate,
+    createRecordedInitialSeekGate,
     isRecordedPlaybackReady,
     isRecordedPlaybackPresentationReady,
     isUsableRecordedPlaybackRange,
     recordedPlaybackBufferState,
     recordedPlaybackRangeWhenReady,
+    rerunPresentationStatus,
   } = await server.ssrLoadModule("/src/components/RerunViewport.tsx"));
 });
 
@@ -33,7 +37,7 @@ after(async () => {
   await server?.close();
 });
 
-test("a first frame reports buffer telemetry but is not ready for presentation", () => {
+test("a verified first frame is presentable while full-range controls stay closed", () => {
   assert.equal(isUsableRecordedPlaybackRange(null), false);
   assert.equal(isUsableRecordedPlaybackRange({ min: Number.NaN, max: 0 }), false);
   assert.equal(isUsableRecordedPlaybackRange({ min: 2, max: 1 }), false);
@@ -47,8 +51,11 @@ test("a first frame reports buffer telemetry but is not ready for presentation",
     bufferProgress: 0,
     fullyBuffered: false,
   });
-  assert.equal(isRecordedPlaybackReady(true, true, firstFrame), false);
+  assert.equal(isRecordedPlaybackReady(true, true, firstFrame), true);
   assert.equal(recordedPlaybackRangeWhenReady({ min: 0, max: 0 }, firstFrame, true), null);
+  assert.equal(rerunPresentationStatus("ready", "loading", true), "ready");
+  assert.equal(rerunPresentationStatus("loading", "ready", true), "loading");
+  assert.equal(rerunPresentationStatus("ready", "error", true), "ready");
 });
 
 test("host timeline remains unmounted until the verified recording is fully ready", () => {
@@ -107,7 +114,7 @@ test("buffer progress grows independently and preserves the full-buffer toleranc
   );
   assert.equal(missingDeclaredStart.bufferProgress, 1);
   assert.equal(missingDeclaredStart.fullyBuffered, false);
-  assert.equal(isRecordedPlaybackReady(true, true, missingDeclaredStart), false);
+  assert.equal(isRecordedPlaybackReady(true, true, missingDeclaredStart), true);
 });
 
 test("a verified split boundary spill covers and clamps the declared LAB window", () => {
@@ -154,6 +161,31 @@ test("recorded autoplay waits for the full range and then runs exactly once", ()
   assert.equal(gate.attempted(), true);
 });
 
+test("paused recorded replay seeks once to its first presentable frame", () => {
+  const gate = createRecordedInitialSeekGate();
+  const seeks = [];
+  const range = { min: 0, max: 535_717_620_042 };
+
+  assert.equal(gate.attempt(
+    true,
+    true,
+    true,
+    range,
+    (value) => seeks.push(value),
+    39_215_263_458,
+  ), true);
+  assert.equal(gate.attempt(
+    true,
+    true,
+    true,
+    range,
+    (value) => seeks.push(value),
+    50_000_000_000,
+  ), false);
+  assert.deepEqual(seeks, [39_215_263_458]);
+  assert.equal(gate.attempted(), true);
+});
+
 test("recorded autoplay starts at the first presentable camera frame without shrinking the range", () => {
   const gate = createRecordedAutoplayGate();
   const seeks = [];

apps/control-station/test/rerunWebViewerVendor.test.mjs

@@ -1,81 +1,36 @@
 import assert from "node:assert/strict";
-import { createHash } from "node:crypto";
 import { readFileSync } from "node:fs";
 import { resolve } from "node:path";
 import test from "node:test";
 
-import makeRerunRuntime from "../vendor/rerun-web-viewer-0.34.1/re_viewer.nodedc.js";
-
 const root = resolve(import.meta.dirname, "..");
 const packageRoot = resolve(root, "node_modules/@rerun-io/web-viewer");
-const vendorRoot = resolve(root, "vendor/rerun-web-viewer-0.34.1");
+const readJson = (path) => JSON.parse(readFileSync(path, "utf8"));
 
-const sha256 = (path) =>
-  createHash("sha256").update(readFileSync(path)).digest("hex");
+test("Mission Core uses the exact upstream Rerun 0.36.3 web package", () => {
+  const application = readJson(resolve(root, "package.json"));
+  const installed = readJson(resolve(packageRoot, "package.json"));
 
-test("NODE.DC Rerun runtime is the audited 0.34.1 spatial camera build", () => {
-  const manifest = JSON.parse(readFileSync(resolve(packageRoot, "package.json"), "utf8"));
-  assert.equal(manifest.version, "0.34.1");
-
-  const expectedWasm = "ffe7543d28bb3394f289f6299de43d038767eef83d781c2b7f8f5683308a0469";
-  const expectedGlue = "0f7b76c9f24cbd8437021b5d37499894aeadc586183e422ebc82ef556d7b8339";
-
-  assert.equal(sha256(resolve(vendorRoot, "re_viewer_bg.nodedc.wasm")), expectedWasm);
-  assert.equal(sha256(resolve(vendorRoot, "re_viewer.nodedc.js")), expectedGlue);
-  assert.equal(sha256(resolve(packageRoot, "re_viewer_bg.wasm")), expectedWasm);
-  assert.equal(sha256(resolve(packageRoot, "re_viewer.js")), expectedGlue);
+  assert.equal(application.dependencies["@rerun-io/web-viewer"], "0.36.3");
+  assert.equal(installed.version, "0.36.3");
+  assert.equal(application.scripts.postinstall, undefined);
 });
 
-test("custom JavaScript glue references only exports present in its paired WASM", () => {
-  const wasmPath = resolve(vendorRoot, "re_viewer_bg.nodedc.wasm");
-  const gluePath = resolve(vendorRoot, "re_viewer.nodedc.js");
-  const module = new WebAssembly.Module(readFileSync(wasmPath));
-  const exports = new Set(WebAssembly.Module.exports(module).map(({ name }) => name));
-  const imports = WebAssembly.Module.imports(module);
-  const glue = readFileSync(gluePath, "utf8");
-  const referencedExports = new Set(
-    [...glue.matchAll(/\bwasm\.([A-Za-z_$][\w$]*)/g)].map((match) => match[1]),
-  );
-  const missingExports = [...referencedExports].filter((name) => !exports.has(name));
+test("the active application never imports or installs the archived vendor fork", () => {
+  const application = readFileSync(resolve(root, "package.json"), "utf8");
+  const viewport = readFileSync(resolve(root, "src/components/RerunViewport.tsx"), "utf8");
 
-  assert.equal(imports.length, 927);
-  assert.equal(exports.size, 79);
-  assert.deepEqual(missingExports, []);
-  assert.match(glue, /export default function\(\)/);
-  assert.match(glue, /if \(!wasm\) return;/);
+  assert.doesNotMatch(application, /patch-rerun-web-viewer/);
+  assert.doesNotMatch(application, /vendor\/rerun-web-viewer/);
+  assert.doesNotMatch(viewport, /vendor\/rerun-web-viewer/);
+  assert.doesNotMatch(viewport, /0\.34\.1/);
 });
 
-test("custom Rerun WASM initializes and grows its externref table", () => {
-  const runtime = makeRerunRuntime();
-  runtime.initSync({
-    module: readFileSync(resolve(vendorRoot, "re_viewer_bg.nodedc.wasm")),
-  });
+test("upstream WebViewer exposes one three-argument start contract", () => {
+  const declaration = readFileSync(resolve(packageRoot, "index.d.ts"), "utf8");
 
-  assert.equal(typeof runtime.WebHandle, "function");
-  runtime.deinit();
-});
-
-test("source patch carries pointer navigation, persistent follow, and camera continuity tests", () => {
-  const patch = readFileSync(resolve(vendorRoot, "NODEDC_ZOOM_TO_CURSOR.patch"), "utf8");
-
-  assert.match(patch, /fn pointer_ray_direction/);
-  assert.match(patch, /fn zoom_orbit_towards_pointer/);
-  assert.match(patch, /near_limit_hands_excess_zoom_to_cursor_directed_dolly/);
-  assert.match(patch, /crossing_near_limit_preserves_unconsumed_scene_scaled_zoom/);
-  assert.match(patch, /remaining_zoom_factor\.ln\(\) \* self\.speed/);
-  assert.match(patch, /off_center_pointer_stays_on_the_same_view_ray/);
-  assert.match(patch, /fn rotate_radians_around_anchor/);
-  assert.match(patch, /orbit_drag_anchor/);
-  assert.match(patch, /minimum_orbital_navigation_speed/);
-  assert.match(patch, /orbital_rotation_keeps_selected_anchor_on_the_same_view_ray/);
-  assert.match(patch, /orbital_navigation_speed_floor_tracks_scene_scale/);
-  assert.match(patch, /NODEDC_PERSISTENT_ORBIT_TRACKING_ENTITY/);
-  assert.match(patch, /nodedc_rig_orbit_tracking_is_persistent/);
-  assert.match(patch, /restore_persistent_orbit_eye_after_blueprint_update/);
   assert.match(
-    patch,
-    /persistent_rig_follow_restores_the_last_rendered_eye_after_blueprint_update/,
+    declaration,
+    /start\(rrd: string \| string\[\] \| null, parent: HTMLElement \| null, options: WebViewerOptions \| null\): Promise<void>/,
   );
-  assert.match(patch, /explicit_blueprint_pose_is_not_replaced_by_the_previous_eye/);
-  assert.match(patch, /previous_picking_result/);
 });

apps/control-station/test/semanticEvidencePrimitives.test.mjs

@@ -57,7 +57,10 @@ test("metric evidence keeps missing semantic assignments as context and exposes
   assert.match(source, /recordedEvidenceSemanticCssColor/);
   assert.match(source, /DynamicDrawUsage/);
   assert.match(source, /classifiedMeshesRef/);
+  assert.match(source, /classifiedPackedCells/);
   assert.match(source, /updatePointPositions/);
+  assert.match(source, /renderer\.info\.render\.calls/);
+  assert.match(source, /data-decision="performance"/);
 });
 
 test("semantic point alignment follows the last qualified spatial increment", async () => {
@@ -72,20 +75,29 @@ test("semantic point alignment follows the last qualified spatial increment", as
 });
 
 test("M4 keeps independent semantic controls in media and spatial panes", async () => {
-  const source = await readFile(
-    new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url),
-    "utf8",
-  );
+  const [source, canonical] = await Promise.all([
+    readFile(
+      new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url),
+      "utf8",
+    ),
+    readFile(
+      new URL("../src/components/laboratory/CanonicalRecordedLabReplay.tsx", import.meta.url),
+      "utf8",
+    ),
+  ]);
   assert.match(source, /showMediaSemantic/);
   assert.match(source, /showSpatialSemantic/);
-  assert.match(source, /semantic && showMediaSemantic && frame/);
+  assert.match(source, /activeSpatialSemantic = spatialSemantic \?\? activeSemantic/);
+  assert.match(source, /spatialSemanticClasses/);
+  assert.match(source, /spatialSemanticPalette/);
+  assert.match(source, /activeSemantic && evidenceDemand\.selectedSemanticMask && frame/);
   assert.match(source, /Array\.from\(\{ length: 12 \}, \(_, index\) => index \+ 1\)/);
   assert.match(source, /\|\| !showSpatialSemantic/);
   assert.match(source, /aria-label="Слои камеры и видео"/);
   assert.match(source, /aria-label="Слои 3D и плана"/);
-  assert.match(source, /data-pane-mode="media"/);
-  assert.match(source, /data-pane-mode="spatial"/);
-  assert.match(source, /modeControlsVisible=\{!splitView\}/);
+  assert.match(canonical, /data-pane-mode="media"/);
+  assert.match(canonical, /data-pane-mode="spatial"/);
+  assert.match(canonical, /modeControlsVisible=\{!splitView\}/);
   assert.match(source, /semanticOverlay=\{mediaMode === "video" \? semanticOverlay : undefined\}/);
 });
 

apps/control-station/test/simulationWorkspace.test.mjs

@@ -9,37 +9,61 @@ async function read(relativePath) {
 }
 
 test("simulation is a dedicated Polygon workspace with a bounded feature slice", async () => {
-  const [productModel, workspaceHub, workspace, styles] = await Promise.all([
+  const [productModel, workspaceHub, workspace, catalog, styles] = await Promise.all([
     read("productModel.ts"),
     read("workspaces/Workspaces.tsx"),
     read("workspaces/simulation/SimulationWorkspace.tsx"),
+    read("components/simulation/SimulationCatalog.tsx"),
     read("styles.css"),
   ]);
 
   assert.match(productModel, /id: "simulations"[\s\S]*root: "polygon"[\s\S]*kind: "simulations"/);
   assert.match(workspaceHub, /case "simulations":[\s\S]*<SimulationWorkspace \/>/);
-  assert.match(workspace, /simulation-catalog__table/);
+  assert.match(catalog, /simulation-catalog__table/);
+  assert.match(workspace, /archivesFromDrop/);
+  assert.match(workspace, /uploadSimulationProjectSource/);
+  assert.match(catalog, /colSpan=\{3\}/);
+  assert.match(catalog, /Ожидает обработки/);
+  assert.match(catalog, /Прогресс \$\{roundedPercent\}% \|/);
+  assert.match(catalog, /Осталось примерно \$\{minutes\} мин/);
+  assert.match(catalog, /simulation-catalog__progress-track/);
+  assert.doesNotMatch(catalog, /disabled=\{ACTIVE_STATUSES\.has/);
   assert.match(workspace, /<SimulationViewport[\s\S]*project=\{selected\}/);
   assert.match(workspace, /<ConfirmationModal/);
+  assert.match(workspace, /if \(state === "building_streamed_sog"\) return "Сборка LOD"/);
+  assert.doesNotMatch(workspace, /\{selected\.provider\.state \?\? selected\.status\}/);
   assert.match(styles, /styles\/simulation\.css/);
 });
 
 test("browser upload remains same-origin, resumable and token-free", async () => {
-  const [core, window] = await Promise.all([
+  const [core, window, sourceFiles] = await Promise.all([
     read("core/simulation/projects.ts"),
     read("components/simulation/SimulationProjectWindow.tsx"),
+    read("core/simulation/sourceFiles.ts"),
   ]);
 
   assert.match(core, /const API_ROOT = "\/api\/v1\/simulation-worlds\/projects"/);
   assert.match(core, /method: "HEAD"/);
   assert.match(core, /method: "PATCH"/);
   assert.match(core, /"Upload-Offset"/);
+  assert.match(core, /estimatedSecondsRemaining/);
+  assert.match(core, /smoothedBytesPerSecond \* 0\.7 \+ currentBytesPerSecond \* 0\.3/);
+  assert.match(core, /estimateSimulationProcessing/);
+  assert.match(core, /jobCreatedAtUtc/);
+  assert.match(core, /stateStartedAtUtc/);
+  assert.match(core, /REFERENCE_STREAM_SECONDS = 2_317/);
   assert.doesNotMatch(core, /Authorization|Bearer|18090|Worker 006/);
   assert.match(window, /accept="\.zip,\.rar,\.7z"/);
   assert.match(window, /webkitdirectory/);
-  assert.match(window, /webkitGetAsEntry/);
-  assert.match(window, /ровно одна сцена \.lcc или \.lcc2/);
+  assert.match(sourceFiles, /webkitGetAsEntry/);
+  assert.match(sourceFiles, /entry\?\.isDirectory/);
+  assert.match(sourceFiles, /const file = item\.getAsFile\(\)/);
+  assert.match(sourceFiles, /MAX_SIMULATION_SOURCE_BYTES = 16 \* 1024 \*\* 3/);
+  assert.match(sourceFiles, /item\.kind === "file"/);
+  assert.match(sourceFiles, /ровно одна сцена \.lcc или \.lcc2/);
+  assert.match(sourceFiles, /отдельные архивы ZIP, RAR или 7z/);
   assert.doesNotMatch(window, /Загружаем источник/);
+  assert.match(window, /считаем время/);
 });
 
 test("failed simulation can restart from its retained Mission Core source", async () => {
@@ -54,9 +78,13 @@ test("failed simulation can restart from its retained Mission Core source", asyn
 });
 
 test("PlayCanvas owns the realtime scene graph without an iframe or React entity tree", async () => {
-  const [runtime, viewport, packageDocument] = await Promise.all([
+  const [runtime, ugv, viewport, ugvSettings, projects, styles, packageDocument] = await Promise.all([
     read("components/simulation/PlayCanvasRuntime.ts"),
+    read("components/simulation/SimulationUgvController.ts"),
     read("components/simulation/SimulationViewport.tsx"),
+    read("components/simulation/SimulationUgvSettingsPanel.tsx"),
+    read("core/simulation/projects.ts"),
+    read("styles/simulation.css"),
     readFile(new URL("../package.json", import.meta.url), "utf8"),
   ]);
 
@@ -72,41 +100,147 @@ test("PlayCanvas owns the realtime scene graph without an iframe or React entity
   assert.match(runtime, /maximum: \{[^}]*lodRangeMin: 0, lodRangeMax: 5, pixelRatio: 2, splatBudget: 4_000_000, targetFps: 60/);
   assert.match(runtime, /app\.scene\.gsplat\.splatBudget = profile\.splatBudget/);
   assert.match(runtime, /app\.autoRender = false/);
+  assert.match(runtime, /app\.systems\.gsplat\?\.on\("frame:request", this\.requestGsplatFrame\)/);
+  assert.match(runtime, /app\.systems\.gsplat\?\.off\("frame:request", this\.requestGsplatFrame\)/);
+  assert.match(runtime, /app\.on\("update", this\.updateFrame\)/);
+  assert.match(runtime, /if \(!cameraChanged && this\.controlMode === "free"\) return/);
+  assert.doesNotMatch(runtime, /app\.on\("frameupdate"/);
   assert.match(runtime, /WEBGL_lose_context/);
   assert.match(runtime, /selected\.horizontal[^\n]+frame\.mouse\[0\] \*= -1/);
   assert.match(runtime, /selected\.vertical[^\n]+frame\.mouse\[1\] \*= -1/);
   assert.match(runtime, /setCameraInversion/);
-  assert.match(runtime, /async setViewMode\([\s\S]*this\.resetCameraInteraction\(\);[\s\S]*this\.viewMode = mode/);
-  assert.match(runtime, /input\._pointerId = -1/);
+  assert.match(runtime, /async setViewMode\([\s\S]*this\.viewMode = mode/);
+  assert.doesNotMatch(runtime.match(/async setViewMode\([\s\S]*?\n  }/)?.[0] ?? "", /resetCameraInteraction/);
+  assert.match(runtime, /controller\.fire\("state"\)/);
   assert.match(runtime, /state\.mouse\.fill\(0\)/);
   assert.match(runtime, /new Asset\([\s\S]*"container"/);
-  assert.match(runtime, /instantiateRenderEntity/);
+  assert.match(runtime, /instantiateModelEntity/);
   assert.match(runtime, /applyWorldTransform/);
   assert.match(runtime, /setLayerWorldTransform/);
-  assert.match(runtime, /PLAYCANVAS_X_180_TRANSFORM/);
-  assert.match(runtime, /PLAYCANVAS_Y_180_TRANSFORM/);
-  assert.match(runtime, /PLAYCANVAS_Z_180_TRANSFORM/);
+  assert.match(runtime, /playCanvasEulerTransform/);
+  assert.match(runtime, /setFromEulerAngles/);
   assert.match(runtime, /DracoDecoderModule/);
   assert.match(runtime, /draco_decoder_gltf\.wasm/);
   assert.match(runtime, /ensureCollision/);
+  assert.match(runtime, /setControlMode/);
+  assert.match(runtime, /setUgvPreset/);
+  assert.match(runtime, /SimulationUgvController/);
+  assert.match(runtime, /for \(const model of this\.collisionVisuals\) model\.enabled = visible/);
+  assert.match(runtime, /instantiateModelEntity/);
+  assert.match(runtime, /this\.ugvController\?\.disable\(\)/);
+  assert.match(runtime, /this\.collisionMaterial\.blendType = combined \? BLEND_NORMAL : BLEND_NONE/);
+  assert.match(runtime, /private requestRender\(\): void/);
   assert.match(runtime, /app\.root\.addChild/);
   assert.match(runtime, /dispose\(\)/);
   assert.doesNotMatch(`${runtime}\n${viewport}`, /iframe|<GSplat/);
-  assert.match(viewport, /Collision недоступен/);
-  assert.match(viewport, /Для этой сборки collision GLB не был запрошен/);
+  assert.match(viewport, /Коллизии недоступны/);
+  assert.match(viewport, /Для этой сборки слой коллизий не создавался/);
   assert.match(viewport, /<Select[\s\S]*Качество Gaussian-сцены/);
+  assert.match(viewport, /label="Режим управления"/);
+  assert.match(viewport, /label: "Свободно"/);
+  assert.match(viewport, /label: "UGV"/);
+  assert.match(viewport, /WASD\/стрелки · пробел — тормоз · R — домой/);
+  assert.match(viewport, /data-control-mode=\{controlMode\}/);
   assert.match(viewport, /useState<SimulationQuality>\(project\.viewerSettings\.quality\)/);
   assert.match(viewport, /runtimeRef\.current\?\.home\(\)/);
   assert.match(viewport, /Настройки сцены/);
-  assert.match(viewport, /Инверсия визуального слоя/);
-  assert.match(viewport, /Инверсия collision-слоя/);
+  assert.match(viewport, /Гауссовый слой/);
+  assert.match(viewport, /Слой коллизий/);
   assert.match(viewport, /Инверсия управления по горизонтали/);
   assert.match(viewport, /Инверсия управления по вертикали/);
-  assert.match(viewport, /Ось инверсии визуального слоя/);
-  assert.match(viewport, /Ось инверсии collision-слоя/);
+  assert.match(viewport, /ROTATION_AXES/);
+  assert.match(viewport, /<GlassMaterialSurface/);
+  assert.match(viewport, /<TextField/);
+  assert.match(viewport, /nextDraft\.trim\(\) !== ""/);
   assert.match(viewport, /saveSimulationViewerSettings/);
+  assert.match(viewport, /SimulationUgvSettingsPanel/);
+  assert.match(viewport, /runtime\.setUgvPreset\(settings\.ugv\)/);
   assert.match(viewport, /onProjectChange\?\.\(saved\)/);
   assert.match(viewport, /const worldManifestRevision = JSON\.stringify\(project\.worldManifest\)/);
   assert.match(viewport, /\[project\.projectId, worldManifestRevision\]/);
   assert.doesNotMatch(viewport, /\[project\.projectId, project\.worldManifest\]/);
+  assert.doesNotMatch(viewport, />PlayCanvas|PlayCanvas загружает|Streamed SOG/);
+  assert.match(ugv, /AMMO_MODULE_ROOT = "\/vendor\/playcanvas\/ammo\/2026-08-25"/);
+  assert.match(ugv, /new this\.ammo\.btRaycastVehicle/);
+  assert.match(ugv, /type: "mesh"/);
+  assert.match(ugv, /MeshoptSimplifier\.simplify/);
+  assert.match(ugv, /MeshoptSimplifier\.simplifySloppy/);
+  assert.match(ugv, /Physics proxy превысил лимит/);
+  assert.match(ugv, /PHYSICS_PROXY_MAX_TRIANGLES = 240_000/);
+  assert.match(ugv, /createPhysicsProxyMesh/);
+  assert.match(ugv, /findSafeSpawnPosition/);
+  assert.match(ugv, /physics\.raycastFirst/);
+  assert.match(ugv, /runCleanup\("destroy static physics mesh", \(\) => mesh\.destroy\(\)\)/);
+  assert.match(ugv, /type: "static"/);
+  assert.match(ugv, /mass: this\.settings\.massKg/);
+  assert.match(ugv, /suspensionRestLength/);
+  assert.match(ugv, /requestedTurn = Number\(this\.isPressed\("KeyA", "ArrowLeft"\)\) - Number\(this\.isPressed\("KeyD", "ArrowRight"\)\)/);
+  assert.match(ugv, /leftCommand = clamp\(forwardCommand - turnCommand/);
+  assert.match(ugv, /rightCommand = clamp\(forwardCommand \+ turnCommand/);
+  assert.match(ugv, /this\.settings\.invertSteering/);
+  assert.match(ugv, /this\.settings\.maxSpeedMetersPerSecond/);
+  assert.match(ugv, /this\.settings\.maxTurnRateDegrees/);
+  assert.match(ugv, /desiredSpeed = forwardInput \* maxSpeed/);
+  assert.match(ugv, /maximumAcceleration = clamp\(1\.4 \+ maxSpeed \* 0\.35, 1\.8, 4\.2\)/);
+  assert.match(ugv, /SERVICE_BRAKE_DECELERATION_MPS2 = 1\.8/);
+  assert.match(ugv, /PARKING_BRAKE_HOLD_DECELERATION_MPS2 = 6/);
+  assert.match(ugv, /PARKING_BRAKE_ENGAGE_SPEED_MPS = 0\.08/);
+  assert.match(ugv, /TYRE_FRICTION_SLIP = 8\.5/);
+  assert.match(ugv, /TYRE_STATIC_FRICTION_COEFFICIENT = 0\.95/);
+  assert.match(ugv, /TYRE_KINETIC_FRICTION_COEFFICIENT = 0\.78/);
+  assert.match(ugv, /TYRE_CONTACT_VELOCITY_RESPONSE_PER_SECOND = 10/);
+  assert.match(ugv, /GRAVITY_METERS_PER_SECOND_SQUARED = 9\.81/);
+  assert.match(ugv, /holding = !braking && forwardInput === 0 && turnInput === 0/);
+  assert.match(ugv, /longitudinalSpeedMetersPerSecond/);
+  assert.match(ugv, /parkingBrakeEngaged = holding/);
+  assert.match(ugv, /this\.settings\.massKg \* brakeDeceleration/);
+  assert.match(ugv, /this\.vehicle\.setBrake\(wheelBrakeForce, index\)/);
+  assert.match(ugv, /set_m_frictionSlip\(\s*parkingBrakeEngaged \? 0 : TYRE_FRICTION_SLIP/);
+  assert.match(ugv, /applyParkingTyreContact/);
+  assert.match(ugv, /wheel\.get_m_wheelsSuspensionForce\(\)/);
+  assert.doesNotMatch(ugv, /get_m_isInContact/);
+  assert.match(ugv, /normalForce < MIN_TYRE_NORMAL_FORCE_NEWTONS/);
+  assert.match(ugv, /lateralGravityAcceleration/);
+  assert.match(ugv, /longitudinalGravityAcceleration/);
+  assert.match(ugv, /TYRE_CONTACT_VELOCITY_RESPONSE_PER_SECOND \* lateralSlipSpeed/);
+  assert.match(ugv, /TYRE_CONTACT_VELOCITY_RESPONSE_PER_SECOND \* longitudinalSlipSpeed/);
+  assert.match(ugv, /Math\.hypot\(trialLateralForce, trialLongitudinalForce\)/);
+  assert.match(ugv, /body\.applyImpulse\(this\.tyreImpulseNative, this\.tyreRelativePositionNative\)/);
+  assert.doesNotMatch(ugv, /horizontalSpeed - deceleration \* Math\.max\(0, deltaSeconds\)/);
+  assert.match(ugv, /rollingFriction: 0\.12/);
+  assert.match(ugv, /angularDamping: 0\.6/);
+  assert.match(ugv, /wheel\.set_m_frictionSlip\(TYRE_FRICTION_SLIP\)/);
+  assert.doesNotMatch(ugv, /massKg \* 3/);
+  assert.match(ugv, /pureTurn = !braking && forwardInput === 0 && turnInput !== 0/);
+  assert.match(ugv, /desiredYawRate = -turnInput \* maxTurnRate/);
+  assert.match(ugv, /this\.orbitYaw = \(this\.orbitYaw - deltaX \* 0\.006\)/);
+  assert.match(ugv, /CAMERA_RETURN_DELAY_SECONDS = 1\.2/);
+  assert.match(ugv, /CAMERA_RETURN_DURATION_SECONDS = 2/);
+  assert.match(ugv, /approachAngle\(this\.orbitYaw, rearOrbitYaw/);
+  assert.match(ugv, /this\.canvas\.addEventListener\("pointerdown", this\.onOrbitPointerDown\)/);
+  assert.match(ugv, /this\.canvas\.addEventListener\("wheel", this\.onOrbitWheel/);
+  assert.match(ugv, /vehicleGeometryChanged/);
+  assert.match(ugv, /removeAction\(this\.vehicle as NativeObject\)/);
+  assert.match(ugv, /runCleanup\("destroy static physics proxy", \(\) => entity\.destroy\(\)\)/);
+  assert.match(ugv, /runCleanup\("destroy vehicle entity"/);
+  assert.match(ugvSettings, /Физика UGV/);
+  assert.match(ugvSettings, /Дифференциальный привод/);
+  assert.match(ugvSettings, /Масса конструкции/);
+  assert.match(ugvSettings, /Общая высота/);
+  assert.match(ugvSettings, /Клиренс/);
+  assert.match(ugvSettings, /Скорость движения/);
+  assert.match(ugvSettings, /Скорость разворота/);
+  assert.match(ugvSettings, /exactValueBounds=\{SIMULATION_UGV_EXACT_VALUE_LIMITS\.maxSpeedMetersPerSecond\}/);
+  assert.match(projects, /maxSpeedMetersPerSecond: \{ min: 0, max: 1_000_000_000 \}/);
+  assert.match(ugvSettings, /Инверсия управления A\/D/);
+  assert.match(ugvSettings, /Сохранить пресет/);
+  assert.match(ugvSettings, /<RangeControl/);
+  assert.match(ugvSettings, /<Switch/);
+  assert.match(ugvSettings, /<TextField/);
+  assert.match(projects, /missioncore\.simulation-viewer-settings\/v3/);
+  assert.match(projects, /ugv: SimulationUgvPreset/);
+  assert.match(styles, /\.simulation-viewport__settings \{[\s\S]*grid-template-rows: auto minmax\(0, 1fr\);[\s\S]*overflow: clip;/);
+  assert.match(styles, /\.simulation-viewport__settings-scroll \{[\s\S]*overflow-y: auto;/);
+  assert.match(styles, /\.simulation-viewport__toolbar \{[\s\S]*position: sticky;[\s\S]*top: 0;/);
+  assert.match(styles, /canvas\.is-orbiting[\s\S]*cursor: grabbing/);
 });

apps/control-station/test/vegetationShadow.test.mjs

@@ -0,0 +1,513 @@
+import assert from "node:assert/strict";
+import { access, readFile } from "node:fs/promises";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let fetchVegetationBenchmarkResult;
+let fetchCanonicalRecordedLabSpatialFrame;
+let fetchVegetationShadowResult;
+let fetchVegetationRouteTgsAnchor;
+let vegetationFullRouteMaskUrl;
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({
+    fetchVegetationBenchmarkResult,
+    fetchVegetationShadowResult,
+    fetchVegetationRouteTgsAnchor,
+    vegetationFullRouteMaskUrl,
+  } = await server.ssrLoadModule(
+    "/src/core/laboratory/vegetationShadow.ts",
+  ));
+  ({ fetchCanonicalRecordedLabSpatialFrame } = await server.ssrLoadModule(
+    "/src/core/laboratory/canonicalRecordedLabSpatial.ts",
+  ));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+const resultId = `lab-v1-vegetation-shadow-${"a".repeat(64)}`;
+const benchmarkResultId = `lab-v1-vegetation-benchmark-${"d".repeat(64)}`;
+
+function candidate(candidateKey, vegetationIou) {
+  return {
+    loaded_model_name: candidateKey === "ddrnet" ? "ddrnet_39" : "pp_lite_t_seg",
+    checkpoint_sha256: (candidateKey === "ddrnet" ? "b" : "c").repeat(64),
+    validation_metrics: {
+      mean_iou_percent: 44.2,
+      published_mean_iou_percent: 46.53,
+      vegetation_mean_iou: vegetationIou,
+    },
+    validation_timing: {
+      latency_ms_p95: 22.4,
+      throughput_fps_from_mean_inference: 48.1,
+    },
+    shadow_timing: {
+      prewarm_latency_ms: 612.4,
+      latency_ms_p95: 21.8,
+      throughput_fps_from_mean_inference: 49.2,
+    },
+    resource: {
+      peak_reserved_vram_bytes: 2_000_000_000,
+      gpu_name: "NVIDIA GeForce RTX 4090",
+    },
+  };
+}
+
+function visualCase(sourceKind, index) {
+  const caseId = `case-${index}`;
+  const keys = sourceKind === "goose"
+    ? ["source", "truth", "ddrnet", "ppliteseg", "ddrnet_error", "ppliteseg_error"]
+    : ["source", "ddrnet", "ppliteseg", "urban", "rural", "offroad"];
+  return {
+    case_id: caseId,
+    source_kind: sourceKind,
+    width: sourceKind === "goose" ? 512 : 800,
+    height: sourceKind === "goose" ? 512 : 600,
+    center_crop_xyxy: sourceKind === "goose" ? [0, 0, 512, 512] : [100, 0, 700, 600],
+    outside_crop_state: sourceKind === "goose" ? "not-applicable" : "undefined",
+    focus: sourceKind === "goose" ? {
+      class_name: "high_grass",
+      label_id: 51,
+      truth_pixels: 16384,
+      truth_fraction: 0.0625,
+      stratum_rank: index + 1,
+    } : null,
+    assets: Object.fromEntries(keys.map((key) => [key, {
+      path: `visual/${sourceKind}/${caseId}/${key}.png`,
+      sha256: "d".repeat(64),
+    }])),
+  };
+}
+
+function routeVideo() {
+  return {
+    worker_result_id: `lab-v1-ravnoves-video-ddrnet-${"e".repeat(64)}`,
+    m47_reference_graph_result_id: `m47-reference-graph-lab-${"f".repeat(64)}`,
+    base_m4_result_id: `m4-threat-replay-${"1".repeat(64)}`,
+    frame_count: 4489,
+    width: 800,
+    height: 600,
+    center_crop_xyxy: [100, 0, 700, 600],
+    outside_crop_state: "undefined",
+    sequence_binding: "sequence-0-to-masks/frame-000001.png",
+    taxonomy: {
+      schema_version: "missioncore.lab-v1-vegetation-taxonomy/v1",
+      classes: Array.from({ length: 64 }, (_, classId) => ({
+        class_id: classId,
+        label: classId === 0 ? "undefined" : `class-${classId}`,
+        color_rgb: [classId, classId, classId],
+        disposition: classId === 0 ? "undefined" : "prediction",
+      })),
+    },
+    aggregate_prediction_pixels: Array(64).fill(0),
+    mask_archive: {
+      path: "video/ddrnet-semantic-masks.zip",
+      sha256: "9".repeat(64),
+      byte_length: 1024,
+    },
+  };
+}
+
+function coarseRouteVideo() {
+  return {
+    ...routeVideo(),
+    view_kind: "coarse-material-policy-review",
+    linked_tgs_result_id: `m49-tgs-full-shadow-${"2".repeat(64)}`,
+    taxonomy: {
+      schema_version: "missioncore.lab-v1-terrain-policy-taxonomy/v1",
+      classes: Array.from({ length: 10 }, (_, classId) => ({
+        class_id: classId,
+        label: `policy-${classId}`,
+        color_rgb: [classId, classId, classId],
+        disposition: classId === 0 ? "ambiguous" : classId === 9 ? "undefined" : "prediction",
+        material_class: classId === 0 || classId === 9 ? null : "grass",
+        evidence_state: classId === 0 || classId === 9 ? "UNOBSERVED" : "SUPPORTED_GROUND",
+      })),
+    },
+    aggregate_prediction_pixels: Array(10).fill(0),
+    mask_archive: {
+      path: "video/coarse-material-policy-masks.zip",
+      sha256: "8".repeat(64),
+      byte_length: 2048,
+    },
+    valid_fov: {
+      mask_path: "video/valid-fov-mask.png",
+      mask_sha256: "7".repeat(64),
+      outside_valid_fov_class_id: 9,
+    },
+    policy: {
+      presets: {
+        urban: { grass: "NO_GO" },
+        rural: { grass: "HIGH_COST" },
+        offroad: { grass: "HIGH_COST" },
+      },
+    },
+    fusion: {
+      mode: "synchronised-multilayer-review",
+      pixel_raster_fusion: false,
+      camera_semantic_temporal_filter: "none",
+    },
+  };
+}
+
+function fullRouteReview() {
+  const layer = (kind) => ({
+    name: kind === "city" ? "EoMT Cityscapes" : "ddrnet_39",
+    result_id: kind === "city"
+      ? `result-${"2".repeat(64)}`
+      : `lab-v1-ravnoves-video-ddrnet-${"3".repeat(64)}`,
+    frame_count: 6830,
+    taxonomy: {
+      schema_version: kind === "city"
+        ? "missioncore.recorded-eomt-taxonomy/v1"
+        : "missioncore.lab-v1-vegetation-taxonomy/v1",
+      classes: Array.from({ length: kind === "city" ? 16 : 64 }, (_, classId) => ({
+        class_id: classId,
+        label: classId === 0 ? "undefined" : `${kind}-${classId}`,
+        color_rgb: [classId, classId, classId],
+        disposition: classId === 0 ? "undefined" : "prediction",
+      })),
+    },
+    mask_archive: {
+      path: kind === "city"
+        ? "video/eomt-semantic-masks.zip"
+        : "video/ddrnet-semantic-masks.zip",
+      sha256: "4".repeat(64),
+      byte_length: 4096,
+    },
+    inference_fps: 9.5,
+    latency_p95_ms: 101.2,
+    peak_reserved_vram_bytes: 3_000_000_000,
+  });
+  return {
+    source_id: "RAVNOVES004TREE",
+    session_id: "20260828T130511Z_viewer_live",
+    linked_route_review_result_id: `lab-v1-vegetation-shadow-${"9".repeat(64)}`,
+    source_job_id: "recorded-camera-eb2783c5480d56bda07c8af0",
+    source_job_input_sha256: "eb2783c5480d56bda07c8af008dff5344d19dc550ef70fe2075d6f098f7cc715",
+    source_stream_sha256: "e5eb017e2cc0f546736eda5235ca157b501913093cb64af5e548e335417e1bac",
+    recorded_media_source_id: "recorded.camera.6a3945242828a038",
+    recorded_media_generation_sha256: "b073ea1e7babf1c77a664e1a5b95e3702d0e05b0e34c1e85a7c67a6f8b392ded",
+    frame_count: 6830,
+    width: 800,
+    height: 600,
+    timeline_start_seconds: 39.215263458,
+    timeline_end_seconds: 757.260263458,
+    timeline: {
+      path: "video/frame-source-times-ns.bin",
+      sha256: "5".repeat(64),
+      byte_length: 6830 * 8,
+      encoding: "uint64-le-nanoseconds",
+      frame_count: 6830,
+    },
+    ground_truth: false,
+    decode_repair: {
+      repaired_frame_count: 1,
+      sequence: 6092,
+      method: "duplicate-previous-decoded-frame",
+      proofs: {
+        eomt: { path: "proofs/decode_repair.json", sha256: "7".repeat(64) },
+        ddrnet: { path: "proofs/ddrnet_decode_repair.json", sha256: "8".repeat(64) },
+      },
+    },
+    layers: { city: layer("city"), vegetation: layer("vegetation") },
+  };
+}
+
+function labPayload(route = routeVideo()) {
+  return {
+    schema_version: "missioncore.lab-v1-vegetation-shadow/v1",
+    result_id: resultId,
+    created_at_utc: "2026-08-27T20:00:00Z",
+    status: "visual-shadow-ready-policy-not-authorized",
+    ground_truth: false,
+    identity: { selected_candidate: "ddrnet" },
+    metrics: {
+      candidates: {
+        ddrnet: candidate("ddrnet", 0.64),
+        ppliteseg: candidate("ppliteseg", 0.61),
+      },
+    },
+    decision: {
+      selected_candidate: "ddrnet",
+      visual_shadow_ready: true,
+      mission_policy_ready_for_configuration: true,
+      navigation_accepted: false,
+      production_accepted: false,
+    },
+    limitations: ["shadow only"],
+    authority: {
+      commands_enabled: false,
+      navigation_or_safety_accepted: false,
+      actuation_accepted: false,
+      camera_semantics_can_clear_rigid_geometry: false,
+    },
+    catalogs: {
+      goose: Array.from({ length: 12 }, (_, index) => visualCase("goose", index)),
+      ravnoves: [],
+    },
+    route_video: route,
+    access: "read-only",
+  };
+}
+
+test("vegetation LAB keeps autonomous assets and fail-closed authority", async () => {
+  let requestedUrl = "";
+  const result = await fetchVegetationShadowResult(resultId, {
+    fetcher: async (url) => {
+      requestedUrl = String(url);
+      return new Response(JSON.stringify(labPayload()), {
+        status: 200,
+        headers: { "Content-Type": "application/json" },
+      });
+    },
+  });
+  assert.equal(
+    requestedUrl,
+    `/api/v1/laboratory/vegetation-shadow/${resultId}`,
+  );
+  assert.equal(result.selectedCandidate, "ddrnet");
+  assert.equal(result.candidates[0].vegetationMeanIouPercent, 64);
+  assert.equal(result.routeCases.length, 0);
+  assert.equal(result.validationCases.length, 12);
+  assert.equal(result.routeVideo.frameCount, 4489);
+  assert.equal(result.routeVideo.viewKind, "fine-semantic-prediction");
+  assert.equal(result.routeVideo.linkedTgsResultId, null);
+  assert.equal(result.routeVideo.taxonomy[0].disposition, "undefined");
+  assert.equal(result.validationCases[0].focus.className, "high_grass");
+  assert.match(result.validationCases[0].assets.ddrnet_error, /\/assets\/visual\/goose\//);
+  assert.deepEqual(result.authority, {
+    commandsEnabled: false,
+    navigationOrSafetyAccepted: false,
+    actuationAccepted: false,
+    cameraSemanticsCanClearRigidGeometry: false,
+  });
+});
+
+test("vegetation LAB parses coarse material policy and sealed TGS binding", async () => {
+  const result = await fetchVegetationShadowResult(resultId, {
+    fetcher: async () => new Response(JSON.stringify(labPayload(coarseRouteVideo())), {
+      status: 200,
+      headers: { "Content-Type": "application/json" },
+    }),
+  });
+  assert.equal(result.routeVideo.viewKind, "coarse-material-policy-review");
+  assert.match(result.routeVideo.linkedTgsResultId, /^m49-tgs-full-shadow-/);
+  assert.equal(result.routeVideo.taxonomy.length, 10);
+  assert.equal(result.routeVideo.taxonomy[0].evidenceState, "UNOBSERVED");
+  assert.equal(result.routeVideo.policyPresets.urban.grass, "NO_GO");
+  assert.equal(result.routeVideo.fusionMode, "synchronised-multilayer-review");
+});
+
+test("vegetation LAB parses the full 004 pass inside the existing result contract", async () => {
+  const payload = {
+    ...labPayload(null),
+    catalogs: { goose: [], ravnoves: [] },
+    route_full_review: fullRouteReview(),
+  };
+  const timeline = new ArrayBuffer(6830 * 8);
+  const timelineView = new DataView(timeline);
+  for (let index = 0; index < 6830; index += 1) {
+    timelineView.setBigUint64(
+      index * 8,
+      BigInt(39_215_263_458 + index * 100_000_000),
+      true,
+    );
+  }
+  const result = await fetchVegetationShadowResult(resultId, {
+    fetcher: async (url) => String(url).endsWith("/route-timeline")
+      ? new Response(timeline, {
+        status: 200,
+        headers: {
+          "Content-Type": "application/octet-stream",
+          ETag: `"${"5".repeat(64)}"`,
+        },
+      })
+      : new Response(JSON.stringify(payload), {
+        status: 200,
+        headers: { "Content-Type": "application/json" },
+      }),
+  });
+  assert.equal(result.routeVideo, null);
+  assert.equal(result.routeFullReview.frameCount, 6830);
+  assert.equal(result.routeFullReview.city.taxonomy.length, 16);
+  assert.equal(result.routeFullReview.vegetation.taxonomy.length, 64);
+  assert.equal(result.routeFullReview.decodeRepair.sequence, 6092);
+  assert.equal(result.routeFullReview.frameSourceTimesNs.length, 6830);
+  assert.equal(
+    vegetationFullRouteMaskUrl(resultId, "vegetation", 6829),
+    `/api/v1/laboratory/vegetation-shadow/${resultId}/route-masks/vegetation/6829`,
+  );
+});
+
+test("vegetation GOOSE benchmark opens through its separate archival endpoint", async () => {
+  let requestedUrl = "";
+  const result = await fetchVegetationBenchmarkResult(benchmarkResultId, {
+    fetcher: async (url) => {
+      requestedUrl = String(url);
+      return new Response(JSON.stringify({
+        ...labPayload(null),
+        result_id: benchmarkResultId,
+      }), {
+        status: 200,
+        headers: { "Content-Type": "application/json" },
+      });
+    },
+  });
+  assert.equal(
+    requestedUrl,
+    `/api/v1/laboratory/vegetation-benchmark/${benchmarkResultId}`,
+  );
+  assert.equal(result.routeVideo, null);
+  assert.equal(result.validationCases.length, 12);
+});
+
+test("vegetation route TGS anchor keeps exact sealed metric shapes", async () => {
+  let requestedUrl = "";
+  const anchor = await fetchVegetationRouteTgsAnchor(resultId, 409, {
+    fetcher: async (url) => {
+      requestedUrl = String(url);
+      return new Response(JSON.stringify({
+        schema_version: "missioncore.lab-v1-route-tgs-anchor/v1",
+        source_sequence: 409,
+        slot: 1,
+        current_points_xyz_m: [[1, 2, 3], [4, 5, 6]],
+        costmap: {
+          cell_size_m: 0.45,
+          centers_xy_m: Array.from({ length: 2244 }, (_, index) => [index, -index]),
+          state_codes: Array.from({ length: 2244 }, (_, index) => index % 4),
+          z_bounds_m: Array.from({ length: 2244 }, () => [null, null]),
+        },
+      }), { status: 200, headers: { "Content-Type": "application/json" } });
+    },
+  });
+  assert.equal(
+    requestedUrl,
+    `/api/v1/laboratory/vegetation-shadow/${resultId}/route-tgs-anchor/409`,
+  );
+  assert.equal(anchor.sourceSequence, 409);
+  assert.equal(anchor.currentPointsXyzM.length, 2);
+  assert.equal(anchor.costmap.centersXyM.length, 2244);
+  assert.deepEqual(new Set(anchor.costmap.stateCodes), new Set([0, 1, 2, 3]));
+});
+
+test("canonical recorded LAB spatial frame keeps source, SLAM and body identity on one clock", async () => {
+  const generation = "e".repeat(64);
+  let requestedUrl = "";
+  const frame = await fetchCanonicalRecordedLabSpatialFrame("session-004", generation, 82_770_000_000, {
+    fetcher: async (url) => {
+      requestedUrl = String(url);
+      return new Response(JSON.stringify({
+        schema_version: "missioncore.canonical-recorded-lab-spatial-frame/v3",
+        target_time_ns: 82_770_000_000,
+        source_time_ns: 82_769_535_708,
+        pose_time_ns: 82_769_535_708,
+        trajectory_time_ns: 82_700_000_000,
+        coordinate_frame: "body-ground",
+        sensor_height: {
+          meters: 0.32,
+          source: "local-source-cloud-ground-quantile-median",
+          sample_count: 20,
+          mad_m: 0.03,
+          authority: "visual-derived",
+        },
+        spatial_profile: {
+          profile_id: "source-paced-ground-v3",
+          local_slam_history_seconds: 5,
+          local_slam_radius_m: 30,
+          local_slam_voxel_size_m: 0.12,
+          local_slam_point_limit: 27000,
+        },
+        source_point_count: 2,
+        source_points_body_xyz_m: [[1, 2, 3], [4, 5, 6]],
+        local_slam_source_frame_count: 2,
+        local_slam_source_point_count: 4,
+        local_slam_point_count: 2,
+        local_slam_body_xyz_m: [[0, 0, 0], [1, 0, 0]],
+        body_frame: {
+          origin_map_xyz_m: [33, 4, 1],
+          sensor_origin_map_xyz_m: [33, 4, 1.32],
+          basis_map_from_body: [[1, 0, 0], [0, 1, 0], [0, 0, 1]],
+        },
+      }), { status: 200, headers: { "Content-Type": "application/json" } });
+    },
+  });
+  assert.equal(
+    requestedUrl,
+    `/api/v1/observation-sessions/session-004/canonical-lab/spatial-frame?generation=${generation}&time_ns=82770000000&profile=source-paced-ground-v3`,
+  );
+  assert.equal(frame.sourcePointCount, 2);
+  assert.equal(frame.localSlamBodyXyzM.length, 2);
+  assert.equal(frame.sensorHeight.meters, 0.32);
+  assert.deepEqual(frame.bodyFrame.originMapXyzM, [33, 4, 1]);
+});
+
+test("vegetation realtime LAB uses one upstream Rerun clock and keeps archival review separate", async () => {
+  const [resultSource, benchmarkSource, m49Source, canonicalSource, rerunSource] = await Promise.all([
+    readFile(
+      new URL("../src/workspaces/laboratory/VegetationShadowResult.tsx", import.meta.url),
+      "utf8",
+    ),
+    readFile(
+      new URL("../src/workspaces/laboratory/VegetationBenchmarkResult.tsx", import.meta.url),
+      "utf8",
+    ),
+    readFile(
+      new URL("../src/workspaces/laboratory/M49TgsFullShadowEvidence.tsx", import.meta.url),
+      "utf8",
+    ),
+    readFile(
+      new URL("../src/components/laboratory/CanonicalRecordedLabReplay.tsx", import.meta.url),
+      "utf8",
+    ),
+    readFile(
+      new URL("../src/workspaces/laboratory/CanonicalVegetationRerunReplay.tsx", import.meta.url),
+      "utf8",
+    ),
+  ]);
+  assert.doesNotMatch(resultSource, /M48MaskComparisonVisual/);
+  assert.match(resultSource, /M49TgsFullShadowEvidence/);
+  assert.match(resultSource, /semanticOverride/);
+  assert.match(m49Source, /spatialSemantic=\{spatialSemantic\}/);
+  assert.match(m49Source, /controlLabel: "SEMANTICS"/);
+  assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
+  assert.doesNotMatch(resultSource, /RAVNOVES004TREE mixed route review/);
+  assert.match(resultSource, /КАНОНИЧЕСКАЯ ЗАПИСАННАЯ LAB · RAVNOVES004TREE/);
+  assert.match(resultSource, /<CanonicalVegetationRerunReplay/);
+  assert.doesNotMatch(resultSource, /RerunViewport/);
+  assert.doesNotMatch(resultSource, /cacheRef|pumpRef|desiredRef/);
+  assert.doesNotMatch(resultSource, /LaboratoryRecordedClipPlayer|M48EvidenceModeRail/);
+  assert.doesNotMatch(resultSource, /assets\.tgs|<img/);
+  assert.match(rerunSource, /<RerunViewport/);
+  assert.match(rerunSource, /ИСХ\. ТОЧКИ/);
+  assert.match(rerunSource, /ЛОК\. SLAM/);
+  assert.match(rerunSource, /resolveCanonicalLabReplay/);
+  assert.doesNotMatch(rerunSource, /canonical-overlay\.rrd/);
+  assert.match(rerunSource, /unifiedPerception: splitView/);
+  assert.doesNotMatch(rerunSource, /LaboratoryRecordedClipPlayer|LaboratoryMetricEvidenceScene/);
+  assert.match(resultSource, /point-aligned 3D semantics пока не запечатаны/);
+  assert.match(rerunSource, /value: "tgs", label: "TGS", disabled: true/);
+  assert.match(canonicalSource, /primary=\{mediaPane\}/);
+  assert.match(canonicalSource, /secondary=\{spatialPane/);
+  assert.match(canonicalSource, /missioncore\.canonical-recorded-lab-replay\/v1/);
+  assert.match(canonicalSource, /separatorLabel="Изменить размер видео\/камеры и 3D\/плана"/);
+  assert.match(resultSource, /linked canonical M4\.9 TGS evidence/);
+  assert.match(resultSource, /linkedTgsResultId/);
+  assert.match(benchmarkSource, /M48MaskComparisonVisual/);
+  assert.doesNotMatch(benchmarkSource, /M49TgsFullShadowEvidence/);
+  assert.equal(benchmarkSource.match(/<LaboratoryEvidence\b/g)?.length, 1);
+  assert.doesNotMatch(resultSource, /VegetationRouteVisual|urban\/rural\/off-road presets/);
+  await assert.rejects(
+    access(new URL("../src/workspaces/laboratory/VegetationShadowVisual.tsx", import.meta.url)),
+    { code: "ENOENT" },
+  );
+});

apps/control-station/test/viewerProfile.test.mjs

@@ -0,0 +1,88 @@
+import assert from "node:assert/strict";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE;
+let liveAcquisitionRerunProfile;
+let recordedSessionRerunProfile;
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({
+    LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE,
+    liveAcquisitionRerunProfile,
+    recordedSessionRerunProfile,
+  } = await server.ssrLoadModule("/src/core/observation/viewerProfile.ts"));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+test("live acquisition profile cannot acquire recorded playback policy", () => {
+  assert.deepEqual(liveAcquisitionRerunProfile({
+    sourceUrl: "rerun+http://127.0.0.1:9877/proxy",
+    liveActivitySequence: 12,
+    liveStreamId: "acquisition-1",
+    liveRecoveryAuthorityIdentity: "authority-1",
+  }), {
+    kind: "live-acquisition",
+    clock: "stream_time",
+    sourceUrl: "rerun+http://127.0.0.1:9877/proxy",
+    liveActivitySequence: 12,
+    liveStreamId: "acquisition-1",
+    liveRecoveryAuthorityIdentity: "authority-1",
+  });
+});
+
+test("recorded session profile owns progressive admission and on-demand layers", () => {
+  const artifact = {
+    sourceUrl: "/api/v1/observation-sessions/session-1/recording.rrd",
+    viewerSourceUrl: "/api/v1/observation-sessions/session-1/recording.rrd?generation=abc",
+    byteLength: 42,
+    sha256: "a".repeat(64),
+  };
+  const profile = recordedSessionRerunProfile({
+    sourceUrl: artifact.sourceUrl,
+    artifact,
+    autoplayWhenReady: true,
+    presentationGate: "loading",
+    expectedTimelineStartSeconds: 0,
+    expectedTimelineEndSeconds: 20,
+    initialPlaybackStartSeconds: 1,
+    view: "spatial",
+    viewResetGeneration: 0,
+    followTrajectory: false,
+    perceptionLayers: {
+      enabled: false,
+      detections2d: false,
+      segmentation: false,
+      cuboids3d: false,
+    },
+    perceptionRetryGeneration: 0,
+    lockPerceptionCameraInteraction: false,
+  });
+
+  assert.equal(profile.kind, "recorded-session");
+  assert.equal(profile.clock, "session_time");
+  assert.equal(profile.artifact, artifact);
+  assert.equal(profile.perceptionLayers.enabled, false);
+});
+
+test("the old LAB transport is fenced as explicit legacy comparison only", () => {
+  assert.deepEqual(LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE, {
+    kind: "lab-recorded-evidence",
+    clock: "source-sequence",
+    cameraTransport: "generation-bound-fmp4",
+    spatialTransport: "bounded-sealed-artifacts",
+    loadPolicy: "explicit-legacy-comparison-only",
+    workerRequired: false,
+  });
+  assert.equal(Object.isFrozen(LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE), true);
+});

apps/control-station/vendor/README.md

@@ -0,0 +1,10 @@
+# Archived viewer comparison source
+
+`rerun-web-viewer-0.34.1/` is retained only as rollback-era comparison evidence
+for ADR 0045. The active application neither imports it nor runs the historical
+patch scripts during install or build. Canonical Control Station routes use the
+unmodified `@rerun-io/web-viewer` dependency declared in `package.json`.
+
+Do not update or reactivate this tree. Remove it with the remaining custom
+fMP4/Three.js replay implementation after the canonical Rerun migration passes
+operator visual acceptance.

config/laboratories/lab-v1-vegetation-benchmark.json

@@ -0,0 +1,10 @@
+{
+  "schema_version": "missioncore.laboratory-evidence-definition/v1",
+  "work_id": "lab-v1-vegetation-benchmark",
+  "evidence": {
+    "runtime_relative_root": "lab-v1-vegetation-benchmark/results",
+    "result_id_prefix": "lab-v1-vegetation-benchmark",
+    "document_name": "result.json",
+    "schema_version": "missioncore.lab-v1-vegetation-shadow/v1"
+  }
+}

config/laboratories/lab-v1-vegetation-shadow.json

@@ -0,0 +1,10 @@
+{
+  "schema_version": "missioncore.laboratory-evidence-definition/v1",
+  "work_id": "lab-v1-vegetation-shadow",
+  "evidence": {
+    "runtime_relative_root": "lab-v1-vegetation/results",
+    "result_id_prefix": "lab-v1-vegetation-shadow",
+    "document_name": "result.json",
+    "schema_version": "missioncore.lab-v1-vegetation-shadow/v1"
+  }
+}

config/laboratory-execution.json

@@ -190,9 +190,29 @@
         "run": "missioncore.laboratory-run/v1",
         "evidence": "missioncore.m49-tgs-full-shadow-lab/v1"
       }
+    },
+    {
+      "work_id": "lab-v1-vegetation-shadow",
+      "lifecycle": "experimental",
+      "isolation": "bounded-adapter",
+      "adapter_id": "experimental.lab-v1-vegetation-shadow/v1",
+      "input_roles": [
+        "ddrnet_goose_root",
+        "ppliteseg_goose_root",
+        "ddrnet_ravnoves_root",
+        "ppliteseg_ravnoves_root"
+      ],
+      "contracts": {
+        "source": "missioncore.goose-ravnoves-vegetation-source-set/v1",
+        "provider": "missioncore.goose-fine64-ready-weight-provider/v1",
+        "graph": "missioncore.vegetation-mission-policy-shadow-graph/v1",
+        "run": "missioncore.laboratory-run/v1",
+        "evidence": "missioncore.lab-v1-vegetation-shadow/v1"
+      }
     }
   ],
   "legacy_work_ids": [
+    "lab-v1-vegetation-benchmark",
     "m48r3-static-occupancy-shadow",
     "m47-reference-graph-shadow",
     "e31-source-binding",

config/laboratory-value-review.json

@@ -1,6 +1,6 @@
 {
   "schema_version": "missioncore.laboratory-value-review-registry/v1",
-  "reviewed_at_utc": "2026-08-26T08:34:34Z",
+  "reviewed_at_utc": "2026-08-27T20:59:10Z",
   "entries": [
     {
       "catalog_id": "e28-local-surface",
@@ -281,6 +281,20 @@
       "signal": "progress",
       "lifecycle": "current",
       "visual_evidence": "available"
+    },
+    {
+      "catalog_id": "lab-v1-vegetation-benchmark",
+      "evidence_id": "lab-v1-vegetation-benchmark-a8944d6c2d1102d81da78bcb4963760c9288db0421d9f2686afcbdd14b610d3d",
+      "signal": "progress",
+      "lifecycle": "current",
+      "visual_evidence": "available"
+    },
+    {
+      "catalog_id": "lab-v1-vegetation-shadow",
+      "evidence_id": "lab-v1-vegetation-shadow-d179462134967ace1c5ebd6fbdbdd8659905d390484b9c01ea7930f083bb74d1",
+      "signal": "progress",
+      "lifecycle": "current",
+      "visual_evidence": "available"
     }
   ]
 }

config/perception/lab-v1-goose-vegetation-benchmark-v1.json

@@ -0,0 +1,119 @@
+{
+  "schema_version": "missioncore.lab-v1-goose-vegetation-benchmark/v1",
+  "lab_id": "LAB-V1",
+  "worker_id": "worker-006",
+  "runtime": {
+    "super_gradients_version": "3.2.0",
+    "super_gradients_revision": "54d062ecb1081944a672ce447cf3e96a36708ff9",
+    "python_version": "3.9",
+    "numpy_version": "1.23.0",
+    "cmake_version": "3.31.6",
+    "onnxsim_version": "0.4.36",
+    "opencv_python_version": "4.8.1.78",
+    "pytorch_version": "1.13.1",
+    "torchvision_version": "0.14.1",
+    "pytorch_cuda_version": "11.7",
+    "container_base": "nvidia/cuda:12.8.1-cudnn-devel-ubuntu22.04@sha256:ad6d59a3bbf3e82c1c849c9ac09cfc2a3e0bbb8655042fd899be6681b3fe2a85",
+    "miniconda_installer": "Miniconda3-py39_24.11.1-0-Linux-x86_64.sh",
+    "miniconda_installer_sha256": "3ea8373098d72140e08aac9217822b047ec094eb457e7f73945af7c6f68bf6f5"
+  },
+  "dataset": {
+    "dataset_id": "goose-2d-validation-visible-rgb",
+    "relative_root": "goose-2d/validation",
+    "mapping_relative_path": "goose_label_mapping.csv",
+    "mapping_sha256": "88ae319ba5a3877dd3ae0773f693a6a5fdc283934140de9dfaff029108aefd7f",
+    "image_glob": "images/val/**/*_windshield_vis.png",
+    "expected_pair_count": 962,
+    "input_size": [512, 512],
+    "preprocessing": [
+      "center-square-crop",
+      "nearest-neighbor-resize",
+      "rgb-to-tensor-0-1"
+    ]
+  },
+  "candidates": {
+    "ddrnet": {
+      "candidate_id": "goose-ddrnet-class-512",
+      "model_names": ["ddrnet_39"],
+      "checkpoint_relative_path": "models/goose/ddrnet_class_512.pth",
+      "checkpoint_size_bytes": 259419077,
+      "checkpoint_sha256": "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6",
+      "published_validation_miou_percent": 46.53
+    },
+    "ppliteseg": {
+      "candidate_id": "goose-ppliteseg-class-512",
+      "model_names": [
+        "pp_lite_t_seg",
+        "pp_lite_t_seg50",
+        "pp_lite_t_seg75",
+        "pp_lite_b_seg",
+        "pp_lite_b_seg50",
+        "pp_lite_b_seg75"
+      ],
+      "checkpoint_relative_path": "models/goose/ppliteseg_class_512.pth",
+      "checkpoint_size_bytes": 98208249,
+      "checkpoint_sha256": "6dd412c0c99115e359896c4cab43a8e6bce9e09b843e7fa885fe597b0a6121cd",
+      "published_validation_miou_percent": 45.09
+    }
+  },
+  "ravnoves": {
+    "source_id": "RAVNOVES00/right-cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8",
+    "source_sha256": "cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8",
+    "base_m4_result_id": "m4-threat-replay-2a953c5f27f2a5b1dddc5c658c1de2c323d7796084a099c024987a1da03aa324",
+    "expected_width": 800,
+    "expected_height": 600,
+    "expected_frame_count": 4489,
+    "frame_indices": [0, 253, 512, 768, 1024, 1536, 2048, 2560, 3072, 3584, 4096, 4488],
+    "crop_contract": "center-600-square-to-512; outside-crop-is-undefined"
+  },
+  "vegetation_class_names": [
+    "leaves",
+    "forest",
+    "bush",
+    "moss",
+    "tree_crown",
+    "tree_trunk",
+    "crops",
+    "low_grass",
+    "high_grass",
+    "scenery_vegetation",
+    "hedge",
+    "tree_root"
+  ],
+  "visual_case_contract": {
+    "selection_basis": "ground-truth-class-support-only",
+    "case_count": 12,
+    "minimum_focus_pixels": 2048,
+    "strata": [
+      { "class_name": "high_grass", "count": 2 },
+      { "class_name": "low_grass", "count": 2 },
+      { "class_name": "bush", "count": 2 },
+      { "class_name": "tree_trunk", "count": 2 },
+      { "class_name": "tree_crown", "count": 1 },
+      { "class_name": "hedge", "count": 1 },
+      { "class_name": "forest", "count": 1 },
+      { "class_name": "crops", "count": 1 }
+    ],
+    "error_overlay": {
+      "correct_material_rgba": [34, 197, 94, 72],
+      "missed_vegetation_rgba": [239, 68, 68, 220],
+      "false_vegetation_rgba": [245, 158, 11, 220],
+      "wrong_vegetation_material_rgba": [168, 85, 247, 220]
+    }
+  },
+  "policy_action_colors": {
+    "ALLOW": "#22c55e",
+    "HIGH_COST": "#f59e0b",
+    "NO_GO": "#ef4444"
+  },
+  "invariants": {
+    "one_heavy_candidate_at_a_time": true,
+    "raw_fisheye_is_immutable": true,
+    "outside_center_crop_is_free": false,
+    "missing_or_unknown_is_free": false,
+    "camera_semantics_can_clear_rigid_geometry": false,
+    "navigation_authority": false,
+    "actuation_authority": false,
+    "canonical_triton_mutation_allowed": false
+  }
+}

config/perception/lab-v1-ravnoves004tree-full-video-source-v1.json

@@ -0,0 +1,19 @@
+{
+  "schema_version": "missioncore.lab-v1-ravnoves-source/v1",
+  "profile_id": "ravnoves004tree-full-video-source/v1",
+  "source": {
+    "source_id": "RAVNOVES004TREE/right-e5eb017e2cc0f546736eda5235ca157b501913093cb64af5e548e335417e1bac",
+    "source_sha256": "e5eb017e2cc0f546736eda5235ca157b501913093cb64af5e548e335417e1bac",
+    "source_job_id": "recorded-camera-eb2783c5480d56bda07c8af0",
+    "source_job_input_sha256": "eb2783c5480d56bda07c8af008dff5344d19dc550ef70fe2075d6f098f7cc715",
+    "session_id": "20260828T130511Z_viewer_live",
+    "base_m4_result_id": null,
+    "expected_width": 800,
+    "expected_height": 600,
+    "expected_frame_count": 6830,
+    "timeline_start_seconds": 39.215263458,
+    "timeline_end_seconds": 757.260263458,
+    "frame_indices": [],
+    "crop_contract": "center-600-square-to-512; outside-crop-is-undefined"
+  }
+}

config/perception/lab-v1-vegetation-candidate-manifest-v1.json

@@ -0,0 +1,174 @@
+{
+  "schema_version": "missioncore.vegetation-candidate-manifest/v1",
+  "lab_id": "LAB-V1",
+  "ops_issue_id": "88aff22a-43aa-48fb-b7eb-ac424d987d37",
+  "frozen_utc": "2026-08-27T18:39:00Z",
+  "worker": {
+    "worker_id": "worker-006",
+    "candidate_root": "D:\\NDC_MISSIONCORE\\datasets\\vegetation-v1\\observed-2026-08-27",
+    "canonical_runtime_mutation_allowed": false
+  },
+  "upstream_sources": [
+    {
+      "source_id": "wildscenes",
+      "repository": "https://github.com/csiro-robotics/WildScenes.git",
+      "revision": "9eb4e10b4483a634159e2b371be0437e465fe218",
+      "worker_relative_path": "sources/wildscenes"
+    },
+    {
+      "source_id": "rellis-3d",
+      "repository": "https://github.com/unmannedlab/RELLIS-3D.git",
+      "revision": "c17a118fcaed1559f03cc32cc3a91dedc557f8b8",
+      "worker_relative_path": "sources/rellis-3d"
+    },
+    {
+      "source_id": "orfd-offnet",
+      "repository": "https://github.com/chaytonmin/Off-Road-Freespace-Detection.git",
+      "revision": "50e63d24836198e8fb5af707e521f414104b4876",
+      "worker_relative_path": "sources/orfd"
+    }
+  ],
+  "candidate_assets": [
+    {
+      "candidate_id": "goose-ppliteseg-category-512",
+      "modality": "camera-2d",
+      "family": "ppliteseg",
+      "output_contract": "goose-category-12",
+      "input_resolution": [512, 512],
+      "relative_path": "models/goose/ppliteseg_category_512.pth",
+      "size_bytes": 98180357,
+      "sha256": "87bf55a1ae994a4bdf3a4d30c8f0dec2916994b37d433f0b5b694d63157ee0ab",
+      "asset_status": "accepted",
+      "runner_status": "super-gradients-compatibility-probe-required"
+    },
+    {
+      "candidate_id": "goose-ppliteseg-class-512",
+      "modality": "camera-2d",
+      "family": "ppliteseg",
+      "output_contract": "goose-class-64",
+      "input_resolution": [512, 512],
+      "relative_path": "models/goose/ppliteseg_class_512.pth",
+      "size_bytes": 98208249,
+      "sha256": "6dd412c0c99115e359896c4cab43a8e6bce9e09b843e7fa885fe597b0a6121cd",
+      "asset_status": "accepted",
+      "runner_status": "super-gradients-compatibility-probe-required"
+    },
+    {
+      "candidate_id": "goose-ddrnet-category-512",
+      "modality": "camera-2d",
+      "family": "ddrnet",
+      "output_contract": "goose-category-12",
+      "input_resolution": [512, 512],
+      "relative_path": "models/goose/ddrnet_category_512.pth",
+      "size_bytes": 259313579,
+      "sha256": "ddab58d3b27309e4e1545ecb0eafbe077f3ebd58fe7120defe44478424c2a20e",
+      "asset_status": "accepted",
+      "runner_status": "super-gradients-compatibility-probe-required"
+    },
+    {
+      "candidate_id": "goose-ddrnet-class-512",
+      "modality": "camera-2d",
+      "family": "ddrnet",
+      "output_contract": "goose-class-64",
+      "input_resolution": [512, 512],
+      "relative_path": "models/goose/ddrnet_class_512.pth",
+      "size_bytes": 259419077,
+      "sha256": "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6",
+      "asset_status": "accepted",
+      "runner_status": "super-gradients-compatibility-probe-required"
+    },
+    {
+      "candidate_id": "rellis-hrnet-ocr",
+      "modality": "camera-2d",
+      "family": "hrnet-ocr",
+      "output_contract": "rellis-20-class",
+      "relative_path": "models/rellis-3d/hrnet_best.zip",
+      "size_bytes": 788183119,
+      "sha256": "2842b7c427d9abb3f34725dea306b72422af5293cd8289da3035edff81deac27",
+      "asset_status": "accepted",
+      "runner_status": "upstream-validation-probe-required"
+    },
+    {
+      "candidate_id": "rellis-gscnn",
+      "modality": "camera-2d",
+      "family": "gscnn",
+      "output_contract": "rellis-20-class",
+      "relative_path": "models/rellis-3d/gscnn_best.pth",
+      "size_bytes": 1098515419,
+      "sha256": "d77a83032ff9b3dea74bdbdd9bb12c0810ddff0dce6a02d42264c592fbdc0b18",
+      "asset_status": "accepted-size-and-hash-legacy-pickle",
+      "runner_status": "upstream-validation-probe-required"
+    },
+    {
+      "candidate_id": "rellis-salsanext",
+      "modality": "lidar-3d",
+      "family": "salsanext",
+      "output_contract": "rellis-20-class",
+      "relative_path": "models/rellis-3d/salsanext_best.zip",
+      "size_bytes": 164312336,
+      "sha256": "6cab4f0c4ac556f9597d338692f2dee1a9e9438941f9d85159685616b948fafb",
+      "asset_status": "accepted",
+      "runner_status": "native-scan-compatibility-probe-required"
+    },
+    {
+      "candidate_id": "rellis-kpconv",
+      "modality": "lidar-3d",
+      "family": "kpconv",
+      "output_contract": "rellis-20-class",
+      "relative_path": "models/rellis-3d/kpconv_best.zip",
+      "size_bytes": 1522250650,
+      "sha256": "d2a11b7a66290cce3d592e830889c3bcb188c62ced83092a7201765621b8bfc3",
+      "asset_status": "accepted",
+      "runner_status": "native-scan-compatibility-probe-required"
+    },
+    {
+      "candidate_id": "wildscenes-model-bundle",
+      "modality": "camera-2d-and-lidar-3d",
+      "family": "mmsegmentation-and-mmdetection3d",
+      "output_contract": "wildscenes-natural-environment",
+      "bundle_entries": [
+        "spvcnn_wildscenes.pth",
+        "minkunet_wildscenes.pth",
+        "deeplabv3_wildscenes.pth",
+        "segformer_wildscenes.pth",
+        "cylinder3d_wildscenes.pth",
+        "mask2former_swin_wildscenes.pth",
+        "upernet_convnext_wildscenes.pth",
+        "mask2former_resnet_wildscenes.pth"
+      ],
+      "relative_path": "models/wildscenes/WildScenes-Models.zip",
+      "size_bytes": 8637507567,
+      "sha256": "0b5040b157e928263bdbefeaffbd36414c2cb641ebc70713b3be3460c1feaf2b",
+      "asset_status": "accepted",
+      "runner_status": "upstream-docker-validation-probe-required"
+    },
+    {
+      "candidate_id": "orfd-offnet-roadseg",
+      "modality": "camera-lidar-fusion",
+      "family": "offnet",
+      "output_contract": "binary-freespace",
+      "relative_path": "models/orfd-offnet/OFF-Net/best_net_RoadSeg.pth",
+      "size_bytes": 100976531,
+      "sha256": "4d82a9ba1c5411a8159e1a262f1741a6a163c8bd9751d52a90fb10deb237650d",
+      "asset_status": "accepted",
+      "runner_status": "upstream-validation-probe-required"
+    }
+  ],
+  "execution_sequence": [
+    "upstream-runner-reproduction",
+    "official-validation-sample",
+    "native-fisheye-or-lidar-compatibility",
+    "shared-vegetation-label-mapping",
+    "recorded-shadow-quality-and-resource-tournament",
+    "mission-policy-composition-without-actuation"
+  ],
+  "invariants": {
+    "one_heavy_candidate_at_a_time": true,
+    "raw_fisheye_is_immutable": true,
+    "missing_or_unknown_is_free": false,
+    "semantic_label_can_clear_rigid_geometry": false,
+    "preset_can_override_explicit_mission_rule": false,
+    "navigation_authority": false,
+    "actuation_authority": false
+  }
+}

config/perception/lab-v1-vegetation-integrated-multirate-phased-shadow-v3.json

@@ -0,0 +1,82 @@
+{
+  "schema_version": "missioncore.lab-v1-vegetation-integrated-shadow-profile/v3",
+  "profile_id": "lab-v1-ravnoves00-ddrnet-m49-integrated-multirate-phased-shadow/v3",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "expected_timeline_frames": 4489,
+    "requested_source_rate_hz": 12.0,
+    "shared_start_barrier": true,
+    "ground_truth_available": false
+  },
+  "stages": {
+    "m49_graph_tgs": {
+      "profile": "m49-tgs-integrated-graph-shadow-v1.json",
+      "profile_sha256": "b61e018b2d04eec58802e2d4186ce7a3dd3a15b254db106b57b609e903eeef80",
+      "candidate": "frozen-native-rf-detr-plus-cpu-tgs",
+      "parameters_unchanged": true,
+      "timeline_rate_hz": 12.0
+    },
+    "vegetation": {
+      "candidate_id": "ddrnet_39-goose-fine-64",
+      "candidate_key": "ddrnet",
+      "checkpoint_sha256": "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6",
+      "config_sha256": "96a427a8baae387b827ec9c0bf7ca42e3fb9114b8fa9a8671bbc9d10877670b9",
+      "policy_sha256": "b75c4ac841d7b4bcc57f7a9c8417ca2317d8ecfa499e72a9af8a8591a2ec0d35",
+      "provider_map_sha256": "f2b69046b6a740fd9532d2d88e7fabae7c20fb662f783c9502adc9026406f352",
+      "container_image": "ndc/mission-core-lab-v1-goose:sg3.2.0-cu117-v1",
+      "container_image_id": "sha256:591cb382c099eeb05e7ec16e2371e0b2da54d2bb5c49ec0f4ac88dbf72b0f0cd",
+      "timeline_rate_hz": 12.0,
+      "inference_rate_hz": 6.0,
+      "inference_stride": 2,
+      "inference_phase_offset_ms": 40.0,
+      "held_evidence_fail_closed": true,
+      "semantic_output_persisted": false,
+      "one_heavy_vegetation_candidate_at_a_time": true
+    }
+  },
+  "acceptance": {
+    "minimum_graph_world_state_fps": 11.209069,
+    "minimum_vegetation_timeline_fps": 11.209069,
+    "minimum_vegetation_inference_fps": 5.604534,
+    "maximum_vegetation_inference_completion_p95_ms": 125.0,
+    "maximum_semantic_evidence_source_age_ms": 125.0,
+    "maximum_combined_output_age_p99_ms": 125.0,
+    "capacity_drop_count_max": 0,
+    "unaccounted_frame_count_max": 0
+  },
+  "telemetry": {
+    "sample_interval_seconds": 1.0,
+    "required_roles": [
+      "graph",
+      "triton",
+      "tgs",
+      "vegetation"
+    ]
+  },
+  "invariants": {
+    "raw_fisheye_immutable": true,
+    "reference_graph_parameters_unchanged": true,
+    "tgs_parameters_unchanged": true,
+    "ddrnet_parameters_unchanged": true,
+    "safety_layers_remain_12hz": true,
+    "vegetation_gpu_phase_follows_safety_detector": true,
+    "held_semantic_evidence_is_advisory_only": true,
+    "vegetation_source_buffer_bounded": true,
+    "vegetation_full_route_rgb_prefetch_allowed": false,
+    "ppliteseg_concurrent_run_allowed": false,
+    "camera_semantics_can_clear_rigid_geometry": false,
+    "canonical_triton_mutation_allowed": false,
+    "runtime_shared_source_frame_target": true,
+    "gauss_or_playcanvas_in_scope": false
+  },
+  "authority": {
+    "visual_quality_accepted": false,
+    "route_truth_available": false,
+    "traversability_accepted": false,
+    "physical_free_space_accepted": false,
+    "commands_enabled": false,
+    "actuation_allowed": false,
+    "navigation_or_safety_accepted": false,
+    "production_accepted": false
+  }
+}

config/perception/lab-v1-vegetation-integrated-multirate-shadow-v2.json

@@ -0,0 +1,80 @@
+{
+  "schema_version": "missioncore.lab-v1-vegetation-integrated-shadow-profile/v2",
+  "profile_id": "lab-v1-ravnoves00-ddrnet-m49-integrated-multirate-shadow/v2",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "expected_timeline_frames": 4489,
+    "requested_source_rate_hz": 12.0,
+    "shared_start_barrier": true,
+    "ground_truth_available": false
+  },
+  "stages": {
+    "m49_graph_tgs": {
+      "profile": "m49-tgs-integrated-graph-shadow-v1.json",
+      "profile_sha256": "b61e018b2d04eec58802e2d4186ce7a3dd3a15b254db106b57b609e903eeef80",
+      "candidate": "frozen-native-rf-detr-plus-cpu-tgs",
+      "parameters_unchanged": true,
+      "timeline_rate_hz": 12.0
+    },
+    "vegetation": {
+      "candidate_id": "ddrnet_39-goose-fine-64",
+      "candidate_key": "ddrnet",
+      "checkpoint_sha256": "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6",
+      "config_sha256": "96a427a8baae387b827ec9c0bf7ca42e3fb9114b8fa9a8671bbc9d10877670b9",
+      "policy_sha256": "b75c4ac841d7b4bcc57f7a9c8417ca2317d8ecfa499e72a9af8a8591a2ec0d35",
+      "provider_map_sha256": "f2b69046b6a740fd9532d2d88e7fabae7c20fb662f783c9502adc9026406f352",
+      "container_image": "ndc/mission-core-lab-v1-goose:sg3.2.0-cu117-v1",
+      "container_image_id": "sha256:591cb382c099eeb05e7ec16e2371e0b2da54d2bb5c49ec0f4ac88dbf72b0f0cd",
+      "timeline_rate_hz": 12.0,
+      "inference_rate_hz": 6.0,
+      "inference_stride": 2,
+      "held_evidence_fail_closed": true,
+      "semantic_output_persisted": false,
+      "one_heavy_vegetation_candidate_at_a_time": true
+    }
+  },
+  "acceptance": {
+    "minimum_graph_world_state_fps": 11.209069,
+    "minimum_vegetation_timeline_fps": 11.209069,
+    "minimum_vegetation_inference_fps": 5.604534,
+    "maximum_vegetation_inference_completion_p95_ms": 125.0,
+    "maximum_semantic_evidence_source_age_ms": 125.0,
+    "maximum_combined_output_age_p99_ms": 125.0,
+    "capacity_drop_count_max": 0,
+    "unaccounted_frame_count_max": 0
+  },
+  "telemetry": {
+    "sample_interval_seconds": 1.0,
+    "required_roles": [
+      "graph",
+      "triton",
+      "tgs",
+      "vegetation"
+    ]
+  },
+  "invariants": {
+    "raw_fisheye_immutable": true,
+    "reference_graph_parameters_unchanged": true,
+    "tgs_parameters_unchanged": true,
+    "ddrnet_parameters_unchanged": true,
+    "safety_layers_remain_12hz": true,
+    "held_semantic_evidence_is_advisory_only": true,
+    "vegetation_source_buffer_bounded": true,
+    "vegetation_full_route_rgb_prefetch_allowed": false,
+    "ppliteseg_concurrent_run_allowed": false,
+    "camera_semantics_can_clear_rigid_geometry": false,
+    "canonical_triton_mutation_allowed": false,
+    "runtime_shared_source_frame_target": true,
+    "gauss_or_playcanvas_in_scope": false
+  },
+  "authority": {
+    "visual_quality_accepted": false,
+    "route_truth_available": false,
+    "traversability_accepted": false,
+    "physical_free_space_accepted": false,
+    "commands_enabled": false,
+    "actuation_allowed": false,
+    "navigation_or_safety_accepted": false,
+    "production_accepted": false
+  }
+}

config/perception/lab-v1-vegetation-integrated-shadow-v1.json

@@ -0,0 +1,71 @@
+{
+  "schema_version": "missioncore.lab-v1-vegetation-integrated-shadow-profile/v1",
+  "profile_id": "lab-v1-ravnoves00-ddrnet-m49-integrated-shadow/v1",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "expected_timeline_frames": 4489,
+    "requested_source_rate_hz": 12.0,
+    "shared_start_barrier": true,
+    "ground_truth_available": false
+  },
+  "stages": {
+    "m49_graph_tgs": {
+      "profile": "m49-tgs-integrated-graph-shadow-v1.json",
+      "profile_sha256": "b61e018b2d04eec58802e2d4186ce7a3dd3a15b254db106b57b609e903eeef80",
+      "candidate": "frozen-native-rf-detr-plus-cpu-tgs",
+      "parameters_unchanged": true
+    },
+    "vegetation": {
+      "candidate_id": "ddrnet_39-goose-fine-64",
+      "candidate_key": "ddrnet",
+      "checkpoint_sha256": "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6",
+      "config_sha256": "96a427a8baae387b827ec9c0bf7ca42e3fb9114b8fa9a8671bbc9d10877670b9",
+      "policy_sha256": "b75c4ac841d7b4bcc57f7a9c8417ca2317d8ecfa499e72a9af8a8591a2ec0d35",
+      "provider_map_sha256": "f2b69046b6a740fd9532d2d88e7fabae7c20fb662f783c9502adc9026406f352",
+      "container_image": "ndc/mission-core-lab-v1-goose:sg3.2.0-cu117-v1",
+      "container_image_id": "sha256:591cb382c099eeb05e7ec16e2371e0b2da54d2bb5c49ec0f4ac88dbf72b0f0cd",
+      "semantic_output_persisted": false,
+      "one_heavy_vegetation_candidate_at_a_time": true
+    }
+  },
+  "acceptance": {
+    "minimum_graph_world_state_fps": 11.209069,
+    "minimum_vegetation_fps": 11.209069,
+    "maximum_vegetation_completion_p95_ms": 125.0,
+    "maximum_combined_output_age_p99_ms": 125.0,
+    "capacity_drop_count_max": 0,
+    "unaccounted_frame_count_max": 0
+  },
+  "telemetry": {
+    "sample_interval_seconds": 1.0,
+    "required_roles": [
+      "graph",
+      "triton",
+      "tgs",
+      "vegetation"
+    ]
+  },
+  "invariants": {
+    "raw_fisheye_immutable": true,
+    "reference_graph_parameters_unchanged": true,
+    "tgs_parameters_unchanged": true,
+    "ddrnet_parameters_unchanged": true,
+    "vegetation_source_buffer_bounded": true,
+    "vegetation_full_route_rgb_prefetch_allowed": false,
+    "ppliteseg_concurrent_run_allowed": false,
+    "camera_semantics_can_clear_rigid_geometry": false,
+    "canonical_triton_mutation_allowed": false,
+    "runtime_shared_source_frame_target": true,
+    "gauss_or_playcanvas_in_scope": false
+  },
+  "authority": {
+    "visual_quality_accepted": false,
+    "route_truth_available": false,
+    "traversability_accepted": false,
+    "physical_free_space_accepted": false,
+    "commands_enabled": false,
+    "actuation_allowed": false,
+    "navigation_or_safety_accepted": false,
+    "production_accepted": false
+  }
+}

config/perception/lab-v1-vegetation-mission-policy-v1.json

@@ -0,0 +1,108 @@
+{
+  "schema_version": "missioncore.vegetation-mission-policy/v1",
+  "profile_id": "lab-v1-vegetation-mission-policy/v1",
+  "status": "planning-shadow-only-unqualified",
+  "vehicle_profile": {
+    "path": "config/perception/m49-physical-safety-shadow-v0.json",
+    "profile_id": "m49-mission-core-rover-physical-safety-shadow/v0"
+  },
+  "actions": [
+    "ALLOW",
+    "HIGH_COST",
+    "NO_GO"
+  ],
+  "precedence": [
+    "hard_safety_interlock",
+    "explicit_mission_rule",
+    "selected_preset_default"
+  ],
+  "material_classes": [
+    "hard_surface",
+    "bare_soil",
+    "grass",
+    "fern",
+    "herbaceous_vegetation",
+    "cultivated_vegetation",
+    "woody_shrub",
+    "tree_or_trunk",
+    "vegetation_unknown"
+  ],
+  "mission_overridable_materials": [
+    "grass",
+    "fern",
+    "herbaceous_vegetation",
+    "cultivated_vegetation"
+  ],
+  "presets": {
+    "urban": {
+      "hard_surface": "ALLOW",
+      "bare_soil": "HIGH_COST",
+      "grass": "NO_GO",
+      "fern": "NO_GO",
+      "herbaceous_vegetation": "NO_GO",
+      "cultivated_vegetation": "NO_GO",
+      "woody_shrub": "NO_GO",
+      "tree_or_trunk": "NO_GO",
+      "vegetation_unknown": "NO_GO"
+    },
+    "rural": {
+      "hard_surface": "ALLOW",
+      "bare_soil": "ALLOW",
+      "grass": "HIGH_COST",
+      "fern": "HIGH_COST",
+      "herbaceous_vegetation": "HIGH_COST",
+      "cultivated_vegetation": "NO_GO",
+      "woody_shrub": "NO_GO",
+      "tree_or_trunk": "NO_GO",
+      "vegetation_unknown": "NO_GO"
+    },
+    "offroad": {
+      "hard_surface": "ALLOW",
+      "bare_soil": "ALLOW",
+      "grass": "HIGH_COST",
+      "fern": "HIGH_COST",
+      "herbaceous_vegetation": "HIGH_COST",
+      "cultivated_vegetation": "NO_GO",
+      "woody_shrub": "NO_GO",
+      "tree_or_trunk": "NO_GO",
+      "vegetation_unknown": "NO_GO"
+    }
+  },
+  "evidence_policy": {
+    "policy_eligible_states": [
+      "SUPPORTED_GROUND",
+      "VEGETATION_POTENTIALLY_TRAVERSABLE"
+    ],
+    "force_no_go_states": [
+      "UNOBSERVED",
+      "NEGATIVE_OR_UNSUPPORTED",
+      "RIGID_OR_UNKNOWN_OBSTACLE",
+      "VEGETATION_UNKNOWN",
+      "VEGETATION_WITH_RIGID_GEOMETRY"
+    ],
+    "force_no_go_materials": [
+      "woody_shrub",
+      "tree_or_trunk",
+      "vegetation_unknown"
+    ],
+    "missing_material_is": "vegetation_unknown",
+    "missing_evidence_is": "UNOBSERVED",
+    "camera_semantics_can_clear_rigid_geometry": false,
+    "mission_rule_can_override_hard_safety_interlock": false
+  },
+  "mission_configuration_contract": {
+    "preset_is_required": true,
+    "explicit_rules_are_sparse_overrides": true,
+    "preset_may_be_suggested_automatically": true,
+    "automatic_preset_switch_requires_operator_opt_in": true,
+    "automatic_switch_may_weaken_explicit_mission_rule": false,
+    "operator_must_review_effective_rules_before_start": true
+  },
+  "authority": {
+    "perception_selects_mission_action": false,
+    "preset_grants_actuation": false,
+    "navigation_accepted": false,
+    "safety_accepted": false,
+    "actuation_accepted": false
+  }
+}

config/perception/lab-v1-vegetation-provider-label-map-v1.json

@@ -0,0 +1,84 @@
+{
+  "schema_version": "missioncore.vegetation-provider-label-map/v1",
+  "profile_id": "lab-v1-vegetation-provider-label-map/v1",
+  "policy_profile_id": "lab-v1-vegetation-mission-policy/v1",
+  "providers": {
+    "goose-fine-64": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "fine",
+      "can_distinguish_low_and_high_grass": true,
+      "can_distinguish_tree_trunk": true,
+      "labels": {
+        "asphalt": "hard_surface",
+        "bikeway": "hard_surface",
+        "cobble": "hard_surface",
+        "sidewalk": "hard_surface",
+        "gravel": "bare_soil",
+        "soil": "bare_soil",
+        "low_grass": "grass",
+        "high_grass": "herbaceous_vegetation",
+        "moss": "herbaceous_vegetation",
+        "crops": "cultivated_vegetation",
+        "bush": "woody_shrub",
+        "hedge": "woody_shrub",
+        "tree_trunk": "tree_or_trunk",
+        "tree_root": "tree_or_trunk",
+        "forest": "vegetation_unknown",
+        "leaves": "vegetation_unknown",
+        "scenery_vegetation": "vegetation_unknown",
+        "tree_crown": "vegetation_unknown"
+      }
+    },
+    "goose-category-12": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "coarse",
+      "can_distinguish_low_and_high_grass": false,
+      "can_distinguish_tree_trunk": false,
+      "labels": {
+        "artificial_ground": "hard_surface",
+        "vegetation": "vegetation_unknown"
+      }
+    },
+    "wildscenes-19": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "medium",
+      "can_distinguish_low_and_high_grass": false,
+      "can_distinguish_tree_trunk": true,
+      "labels": {
+        "asphalt/concrete": "hard_surface",
+        "dirt": "bare_soil",
+        "gravel": "bare_soil",
+        "grass": "grass",
+        "bush": "woody_shrub",
+        "tree-trunk": "tree_or_trunk",
+        "tree-foliage": "vegetation_unknown"
+      }
+    },
+    "rellis-20": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "medium",
+      "can_distinguish_low_and_high_grass": false,
+      "can_distinguish_tree_trunk": false,
+      "labels": {
+        "asphalt": "hard_surface",
+        "concrete": "hard_surface",
+        "grass": "grass",
+        "bush": "woody_shrub",
+        "tree": "tree_or_trunk"
+      }
+    },
+    "orfd-binary-freespace": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "binary-geometry-only",
+      "can_distinguish_low_and_high_grass": false,
+      "can_distinguish_tree_trunk": false,
+      "labels": {}
+    }
+  },
+  "invariants": {
+    "unmapped_label_means_free": false,
+    "coarse_vegetation_means_grass": false,
+    "binary_freespace_selects_material": false,
+    "provider_label_grants_actuation": false
+  }
+}

config/perception/m49-physical-safety-shadow-v0.json

@@ -0,0 +1,107 @@
+{
+  "schema_version": "missioncore.m49-physical-safety-shadow-profile/v1",
+  "profile_id": "m49-mission-core-rover-physical-safety-shadow/v0",
+  "status": "planning-only-unqualified",
+  "vehicle": {
+    "source": "operator-supplied-2026-08-27-unverified",
+    "body_length_m": 1.0,
+    "body_width_m": 0.8,
+    "body_height_m": 0.4,
+    "ground_clearance_m": 0.15,
+    "nominal_mass_kg": 100.0,
+    "mass_qualification": "estimate-not-weighed",
+    "provisional_centered_footprint_body_xy_m": [
+      [0.5, 0.4],
+      [0.5, -0.4],
+      [-0.5, -0.4],
+      [-0.5, 0.4]
+    ],
+    "nominal_speed_mps": 0.2777777778,
+    "maximum_operating_speed_mps": 0.5555555556,
+    "drive": {
+      "motor_count": 2,
+      "rated_power_per_motor_w": 500.0,
+      "motor_per_side": true,
+      "steering_model": "unqualified-likely-differential"
+    }
+  },
+  "unresolved_physical_inputs": [
+    "measured-mass-and-center-of-gravity",
+    "wheel-diameter-and-width",
+    "wheelbase-track-and-overhangs",
+    "qualified-base-link-origin",
+    "controller-braking-and-loss-of-power-behavior",
+    "measured-stopping-envelope",
+    "maximum-step-slope-and-side-slope",
+    "lidar-camera-to-body-extrinsics",
+    "negative-obstacle-sensor-coverage"
+  ],
+  "terrain_evidence": {
+    "accepted_baseline_profile": "m49-tgs-full-shadow-v1.json",
+    "accepted_baseline_cell_size_m": 0.45,
+    "baseline_mutation_allowed": false,
+    "challenger_cell_sizes_m": [0.15, 0.1],
+    "challenger_radius_m": 12.0,
+    "missing_support_policy": "stop-never-free",
+    "required_states": [
+      "SUPPORTED",
+      "RIGID_OR_UNKNOWN_OBSTACLE",
+      "NEGATIVE_OR_UNSUPPORTED",
+      "VEGETATION_UNKNOWN",
+      "VEGETATION_POTENTIALLY_TRAVERSABLE",
+      "VEGETATION_WITH_RIGID_GEOMETRY"
+    ]
+  },
+  "operator_visual": {
+    "host_profile": "14-inch-2023-macbook-pro-18-gib",
+    "worker_role": "realtime-only",
+    "lab_artifact_generation": "local-sequential-offline-or-imported-sealed",
+    "lab_build_may_take_longer_than_source_duration": true,
+    "source_pace_hz": 10.0,
+    "render_policy": "on-demand-with-interaction-damping",
+    "transport": "sealed-local-binary-chunks-no-per-cell-json",
+    "worker_runtime_dependency": false,
+    "sealed_artifact_required": true,
+    "offline_worker_open_required": true,
+    "full_session_high_resolution_preload_allowed": false,
+    "playback_buffer": {
+      "chunk_frame_count": 32,
+      "startup_prebuffer_chunk_count": 2,
+      "startup_prebuffer_seconds": 6.4,
+      "resident_chunk_count_max": 3,
+      "resident_window_seconds_max": 9.6,
+      "forward_prefetch_chunk_count": 1,
+      "backward_seek_policy": "load-target-and-next-from-sealed-local-artifact"
+    },
+    "lod": {
+      "safety_computation_reduced_by_visual_lod": false,
+      "near_field_radius_m": 4.0,
+      "near_field_cell_size_m": 0.15,
+      "mid_field_radius_m": 8.0,
+      "mid_field_cell_size_m": 0.3,
+      "far_field_radius_m": 12.0,
+      "far_field_cell_size_m": 0.45,
+      "paused_active_frame_full_resolution_available": true
+    },
+    "acceptance_budget": {
+      "main_thread_frame_prepare_p95_ms_max": 10.0,
+      "webgl_render_submit_p95_ms_target": 16.7,
+      "webgl_render_submit_p95_ms_max": 33.3,
+      "evidence_to_visible_p95_ms_max": 100.0,
+      "incremental_resident_memory_mib_max": 256.0,
+      "post_warmup_memory_growth_mib_max": 32.0,
+      "long_task_over_50ms_count_max": 0,
+      "webgl_context_loss_count_max": 0,
+      "worker_unavailable_open_failure_count_max": 0,
+      "worker_request_count_during_lab_open_max": 0,
+      "worker_request_count_during_lab_build_max": 0
+    }
+  },
+  "authority": {
+    "commands_enabled": false,
+    "navigation_accepted": false,
+    "safety_accepted": false,
+    "actuation_accepted": false,
+    "physical_test_accepted": false
+  }
+}

config/perception/mixed-route-tgs-review-v1.json

@@ -0,0 +1,68 @@
+{
+  "schema_version": "missioncore.mixed-route-tgs-review-profile/v1",
+  "profile_id": "ravnoves004tree-mixed-route-tgs-review/v1",
+  "source": {
+    "source_id": "RAVNOVES004TREE",
+    "session_id": "20260828T130511Z_viewer_live",
+    "review_pack_id": "mixed-route-review-pack-a8d245eb08a9581a994c4ae5ad242fec20f02c7c512c5ca5d3a6dd9464012753",
+    "source_pack_id": "mixed-route-lidar-pack-e3fe195588cc4a2ec17e15af6f46582ed71c9bed643943779c4ed5e565a3c839",
+    "source_pack_sha256": "10c759463da7711fbbe67e70df931597d85ab21325f7f8026e2c945b677e1bc6",
+    "input_coordinate_frame": "map-gravity-local-translation-only"
+  },
+  "tgs": {
+    "max_range_m": 80.0,
+    "min_range_m": 1.0,
+    "resolution_m": 8.0,
+    "num_iterations": 3,
+    "num_lowest_representative_points": 5,
+    "minimum_points": 10,
+    "seed_threshold_m": 0.5,
+    "distance_threshold_m": 0.125,
+    "outlier_threshold_m": 0.3,
+    "normal_threshold": 0.94,
+    "weight_threshold": 200.0,
+    "lcc_normal_similarity": 0.03,
+    "lcc_planar_distance_m": 0.1,
+    "obstacle_height_m": 1.0,
+    "refine_mode": true
+  },
+  "profiles": {
+    "current_increment": {
+      "role": "diagnostic-current-evidence"
+    },
+    "causal_rolling_1s": {
+      "role": "primary-local-evidence",
+      "history_seconds": 1.0,
+      "local_radius_m": 12.0
+    }
+  },
+  "costmap": {
+    "coordinate_frame": "map-gravity-local",
+    "cell_size_m": 0.45,
+    "radius_m": 12.0,
+    "state_priority": [
+      "NONGROUND_OCCUPIED",
+      "UNKNOWN_REJECTED",
+      "GROUND_SUPPORT",
+      "UNOBSERVED"
+    ]
+  },
+  "state_codes": {
+    "UNOBSERVED": 0,
+    "GROUND_SUPPORT": 1,
+    "NONGROUND_OCCUPIED": 2,
+    "UNKNOWN_REJECTED": 3
+  },
+  "invariants": {
+    "all_eligible_input_points_accounted": true,
+    "aos_allowed": false,
+    "lidar_orientation_applied_to_tgs_input": false,
+    "map_gravity_axis_preserved": true,
+    "missing_support_means_free": false,
+    "unobserved_cells_are_emitted": true,
+    "camera_projection_is_authoritative": false,
+    "future_frames_used": false,
+    "gpu_allowed": false,
+    "navigation_or_actuation_allowed": false
+  }
+}

docs/06_K1_LIVE_VIEWER.md

@@ -172,7 +172,7 @@ On the first live or adapter file-replay session, `RerunBridge`:
 
 At every session start it resets the trajectory, current point count, metrics,
 blueprint and session-local visible time, then feeds the new source through the
-same recording. This process-wide lifecycle is intentional: the Rerun 0.34.1
+same recording. This process-wide lifecycle is intentional: the upstream Rerun 0.36.3
 browser receiver can remain connected after canvas teardown, so restarting the
 native listener on the same port is not a reliable session boundary.
 

docs/15_LABORATORY_RUN_CANON.md

@@ -185,6 +185,15 @@ The evidence slot has two admitted renderers:
 - `diagnostic-model` — a specialized visual result such as the LAB E28 L2.6
   surface/timeline/review viewer.
 
+ADR 0045 amends the full-session `recorded-replay` transport. A canonical
+recorded LAB uses one unmodified upstream Rerun viewer, recording identity and
+timeline for camera, semantic and spatial evidence. The source RRD owns pose,
+point cloud and trajectory; a digest-bound RRD sidecar may add only immutable
+derived entities which are absent from the source. Model or layer selection is
+a blueprint/profile change, not a new player or renderer. Missing full-route
+TGS, semantic 3D, boxes or cuboids remain disabled instead of being inferred
+from sparse review artifacts.
+
 Recorded camera clips used for review are a frozen sub-contract of the admitted
 viewer, `missioncore.laboratory-recorded-clip-viewer/v1`, implemented by
 `LaboratoryRecordedClipPlayer`. It owns the generation-bound fMP4 manifest,
@@ -197,6 +206,10 @@ Forward frame progression may roll an already-buffered segment target; a
 backward seek or clip loop must perform an explicit decoder seek and remain
 decoder-ready without exposing a per-frame loader.
 
+That clip contract remains available to historical bounded clip instruments.
+It is legacy comparison transport for a migrated full-session LAB and must not
+be mounted, prefetched or run in parallel with the canonical Rerun profile.
+
 When recorded camera and frame-indexed spatial evidence are both required for
 one review question, the shared player presents them simultaneously on the same
 media clock. The camera remains the clock owner; a bounded experiment-neutral

docs/16_ARCHITECTURE_AUDIT_EXECUTION_ROADMAP.md

@@ -149,7 +149,8 @@ second mounted source.
 - [x] Harden the Control Station application boundary before A3: consume the
   Design Guideline packages as the only visual platform, isolate the LAB
   feature and CSS, add typed workspace contracts and enforce one-way imports
-  plus composition-size ratchets.
+  across the application layers. Line-count limits were subsequently removed:
+  they are not an architectural invariant.
 - [x] Validate the real A2 generation:
   `e30-review-pack-faec915a771022cceaf4ee62bece698afc8018d09b6b0ac7602157216fbb3686`
   →

docs/17_PRODUCT_UI_AND_LAB_PRESENTATION_CANON.md

@@ -160,6 +160,15 @@ history of rejected approaches belong in Ops.
 
 Primary visual evidence is hosted in one reusable viewer frame.
 
+For canonical full-session recorded replay, ADR 0045 fixes one native upstream
+Rerun viewer beneath this frame. The accepted product chrome and switching
+logic remain Mission Core UI, while Rerun alone owns playback time, video
+decoding, 2D annotations, point-cloud rendering, trajectory and 3D camera.
+VIDEO/CAMERA, SOURCE POINTS/LOCAL SLAM/TGS COSTMAP/SEMANTICS and 3D/PLAN select
+entities, visible time ranges and blueprints in that mounted viewer. They never
+start independent transports or render loops. A LAB may rename model buttons or
+add an admitted layer button, but it may not change this switching architecture.
+
 ### Frozen Milestone 4 perception instruments
 
 Milestone 4 admits exactly two operator instruments inside the shared LAB page
@@ -234,6 +243,13 @@ The shared player may retain a rolling target only for the same or a later
 segment. Rewind and clip-loop transitions must seek backward explicitly while
 keeping the admitted generation and decoder owner mounted.
 
+The preceding fMP4 rule applies to historical bounded clip instruments. A
+migrated full-session recorded LAB instead uses the native Rerun `AssetVideo`
+and `VideoFrameReference` contract from ADR 0045. It must not mount the clip
+player or a custom Three.js scene alongside Rerun. The visual controls and LAB
+template are identical in both cases; the canonical profile determines the one
+active transport.
+
 ### 3D and 2D policy
 
 Choose the default representation from the operator question:

docs/18_APPLICATION_COMPONENT_ARCHITECTURE.md

@@ -249,8 +249,7 @@ vocabulary and executable contracts. They do not create a second runtime model.
 - no upward imports from core/components into workspaces or App;
 - no visual adapter imports from core;
 - no local vendor icon library or direct Design Guideline source imports;
-- LAB code and CSS remain outside the central workspace buckets;
-- central composition files cannot silently return to their previous size.
+- LAB code and CSS remain outside the central workspace buckets.
 
 `test/laboratoryProductUi.test.mjs` additionally enforces the versioned LAB
 report fields and shared result component across bounded LAB modules.
@@ -260,8 +259,9 @@ new unclassified experiment branches while allowing a declared bounded
 experimental adapter. The gate protects core composition; it does not forbid a
 novel research stack.
 
-The line limits are ratchets, not quality targets. When a file reaches a limit,
-split a feature; do not raise the limit to accommodate unrelated behavior.
+File length is not an architectural boundary and is not enforced. Refactoring
+is justified by ownership, cohesion, dependency direction, lifecycle or test
+isolation, not by a line-count threshold.
 
 From `apps/control-station` run:
 
@@ -273,13 +273,15 @@ npm run build
 
 ## Known bounded debt
 
-- `App.tsx` remains a large shell orchestrator. Its current size is frozen by a
-  ratchet; future shell behavior must extract a controller/hook or panel module.
+- `App.tsx` remains a large shell orchestrator. Future shell behavior should
+  preserve its orchestration ownership and extract modules only where they
+  acquire an independent responsibility or lifecycle.
 - `Workspaces.tsx` still contains several established generic workspaces. New
-  domains must be separate modules, and existing ones may be extracted when
-  their behavior changes.
-- `LaboratoryArchiveWorkspace.tsx` is now physically isolated but at its
-  ratchet. A3 receives its own component/module instead of growing that file.
+  domains should respect the existing dependency direction; extraction is a
+  design decision rather than a response to file length.
+- `LaboratoryArchiveWorkspace.tsx` is physically isolated. Further LAB work
+  must preserve the feature boundary without imposing a size quota on the
+  implementation.
 - Design Guideline dependencies are mutable local `file:` links until a
   portable package/distribution decision is implemented.
 

docs/20_SIMULATION_WORLD_SURFACE_BRIEF.md

@@ -1,6 +1,7 @@
 # Simulation Worlds — product-surface brief
 
-Status: accepted for the first working vertical slice on 2026-08-26.
+Status: accepted for the first working vertical slice on 2026-08-26; visual/physical stage boundary
+revised on 2026-08-27.
 
 ## Job story
 
@@ -57,8 +58,10 @@ Mission Core backend
 DC Gaussian Pipeline
   ├─ TUS bundle or archive admission
   ├─ secure ZIP/RAR/7z normalization
-  ├─ native Vulkan SplatTransform build on Worker 006
-  └─ bounded collision simplification + mandatory Draco publication
+  ├─ native Vulkan SplatTransform visual build on Worker 006
+  └─ optional Mesh_Files/*.ply source-collision path
+       ├─ conservative small-hole repair and topology audit
+       └─ mandatory Draco, digest-bound publication
 ```
 
 The browser never receives the Worker token. Mission Core does not embed archive-format behavior
@@ -76,13 +79,18 @@ SplatTransform GPU command through a confined filesystem spool to the pinned nat
 on the RTX 4090. It does not install into or share the Python, CUDA, Triton or computer-vision
 environments on the host.
 
-Collision publication is deliberately two-stage. SplatTransform generates smooth collision and
-SVO query data at a scene-type voxel size (`0.2 m` outdoors, `0.1 m` indoors/objects). The isolated
-pipeline container then bounds the debug/physics mesh to a default 250,000-triangle target and
-always writes `KHR_draco_mesh_compression` before the artifact digest is sealed. Simplification
-controls decoded geometry cost; Draco controls transfer and stored bytes and is never treated as a
-replacement for a physics mesh budget. The browser loads the result through a pinned local Draco
-WASM decoder with no external decoder request.
+Project processing never generates collision geometry from Gaussian data by default. When the
+normalized source contains exactly one PLY below `Mesh_Files`, the same queued build automatically
+selects the provider's `source` collision profile. The original indexed mesh is retained; only
+strictly admitted small internal boundary loops on approximately planar Z-up surfaces receive new
+triangles. Vertices and existing faces are never moved, welded, smoothed, simplified or remeshed.
+The derived GLB then passes the mandatory Draco publication gate and carries a separate repair
+report. A source with no admitted PLY remains visual-only and still reaches `ready` normally.
+
+The conservative repair rejects outer borders, branched boundaries, large or non-planar loops,
+vertical openings, mixed orientation and failed/self-intersecting triangulations. Ambiguous holes
+remain open and are counted in the report instead of being silently capped. Explicit mesh
+generation from Gaussian data remains a later experiment, not a fallback in this ingestion path.
 
 Visual and collision layers retain independent X/Y/Z correction settings, while PlayCanvas world,
 camera, navigation and future physics stay in the canonical Y-up coordinate system. Quality, both
@@ -105,9 +113,32 @@ Primary implementation references:
 - encrypted, linked, traversing, duplicate and over-limit archive entries fail closed;
 - project status is durable and reflects provider state without fabricated percentages;
 - ready artifacts are imported digest-bound and served from Mission Core same-origin URLs;
-- every published collision GLB is simplified to the configured budget and requires Draco;
+- the build always requests preview and streamed Gaussian outputs;
+- exactly one `Mesh_Files/*.ply` automatically selects repaired source-mesh collision plus Draco;
+- archives without that mesh remain visual-only and reach ready without a collision artifact;
+- generated Gaussian/voxel collision is never used as an implicit fallback;
 - edit changes project metadata; delete removes both the Mission Core project and terminal provider
   job;
 - a ready project mounts direct PlayCanvas Engine and loads Streamed SOG with preview fallback;
 - visual, collision and combined remain distinct runtime modes, and collision is loaded lazily;
 - viewer quality, layer-axis correction and camera inversion survive navigation and reload.
+
+## AI-assisted visual quality extension
+
+AI-assisted visual repair is a candidate lifecycle of one ready Simulation World project. It does
+not replace or modify the accepted ingest/optimization path. The original LCC/LCC2 bundle remains
+the source of record, while an explicitly promoted enhanced generation may replace only the active
+visual SOG references.
+
+The product entry point is `Улучшить качество` in the existing project edit window. It opens a
+canonical bounded Window for XGRIDS Creator Data admission, region-of-interest selection, actual
+provider state and baseline/candidate review. It is not placed in the live scene controls because
+source admission and a long-running candidate build are project operations. It does not receive a
+separate workspace because the candidate has no identity outside its parent project.
+
+The control is not shipped as a placeholder. It becomes available only with a ready project and an
+enhancement provider publishing the accepted capability. The provider consumes full-quality PLY
+derived from the immutable LCC/LCC2 source plus aligned Creator Data images/COLMAP cameras; SOG is
+delivery output only. Generated visual regions remain forbidden as collision, navigation or
+qualification evidence. The detailed boundary and first experiment are defined by
+[ADR 0044](adr/0044-ai-assisted-gaussian-visual-repair.md).

docs/23_TRAVERSABILITY_AND_STATIC_OBSTACLE_STACK_DECISION.md

@@ -355,6 +355,17 @@ and the CPU-only TGS stage measured `1.735/2.14019 ms` at p95/p99 with a
 Integrated runtime capacity is accepted; visual traversability, physical free
 space, navigation, actuation and production remain unaccepted.
 
+The canonical LAB playback data plane was then replaced on `2026-08-27` without
+changing the sealed TGS or reference-graph results. Dense M4 points and complete
+TGS numeric products are now loaded once as immutable digest-verified binary
+tracks; bounded JSON windows retain metadata only, and the existing Three.js
+scene updates persistent GPU buffers instead of remounting per frame. The exact
+products, loopback delivery measurements, seek/play browser acceptance and
+authority boundary are recorded in
+[`experiments/perception/M49_LAB_PLAYBACK_DATA_PLANE_ACCEPTANCE_2026-08-27.md`](../experiments/perception/M49_LAB_PLAYBACK_DATA_PLANE_ACCEPTANCE_2026-08-27.md).
+This is a playback and evidence-delivery acceptance, not a new perception or
+navigation-quality gate.
+
 ### T4 — Candidate C occupancy/ESDF probe
 
 - Run nvblox separately with RF-DETR disabled for the isolated probe.

docs/adr/0043-physical-safety-shadow-and-bounded-operator-visual.md

@@ -0,0 +1,186 @@
+# ADR 0043: Physical safety shadow and bounded operator visual
+
+Date: 2026-08-27
+Status: autonomous transport slice implemented; 0.15 m challenger and measured acceptance incomplete
+
+## Context
+
+Mission Core has accepted a source-paced RF-DETR-native plus TRAVEL TGS
+recorded shadow on RAVNOVES00. The retained TGS result uses a `0.45 m` cell,
+`12 m` radius and four explicit states. It is useful operator evidence but is
+not a planner-authoritative terrain provider. The integrated acceptance joins
+TGS and the reference graph as evidence; TGS does not modify graph state.
+
+The intended physical rover is not a lightweight laboratory fixture. The
+operator supplied the following planning facts, not yet independently measured:
+
+- body `1.0 x 0.8 x 0.4 m`;
+- ground clearance `0.15 m`;
+- mass approximately `100 kg`;
+- one nominal `500 W` motor per side;
+- nominal speed `0.2778 m/s` (`1 km/h`);
+- maximum operating speed `0.5556 m/s` (`2 km/h`).
+
+Controller, remote dead-man, braking behavior, physical E-stop, body/sensor
+extrinsics, center of gravity and negative-obstacle coverage are unavailable.
+Commands therefore remain disabled.
+
+The current full TGS playback pack is about `88 MiB`: approximately `9.6 MiB`
+states, `77 MiB` z-bounds and `1.1 MiB` frame metadata. Holding the same
+`12 m` disk for all `4,489` frames would scale to roughly `0.8 GiB` at `0.15 m`
+and `1.8 GiB` at `0.10 m`, before richer terrain features, video, semantics and
+renderer allocations. Full-session high-resolution browser preload is not an
+admitted design for the current 18 GiB MacBook host.
+
+## Decision
+
+Recorded LAB and realtime perception are different runtime contours. Worker
+006 is reserved for realtime perception. A new recorded LAB is built by a
+bounded sequential offline builder on the MacBook, or admits an already sealed
+immutable artifact. The offline build may take longer than source duration. It
+must not become a hidden Worker job. An opened LAB never depends on Worker 006.
+
+```text
+recorded LAB publication, Worker 006 absent
+recorded source -> local sequential offline build
+                -> seal immutable result + binary LOD tracks
+                                      |
+                                      v
+                           local/CAS artifact store
+                                      |
+                         Worker 006 remains absent
+                                      |
+                                      v
+                     canonical local backend, read-only
+                                      |
+                                      v
+                    MacBook LAB CAMERA + 3D + PLAN
+
+separate future realtime contour
+K1 -> Worker 006 -> live world-state/planner shadow
+```
+
+Opening, seeking, looping and visually inspecting a sealed LAB must perform
+zero requests to Worker 006. If the worker, its host, Docker or the network path
+to it is unavailable, a locally present sealed result opens unchanged. If a
+manifest-declared local object is absent or corrupt, LAB fails with an explicit
+artifact error; it does not start compute, scan worker results or silently
+rebuild evidence. This preserves ADR 0033.
+
+Publishing a new LAB also performs zero Worker requests. Slow local preparation
+is acceptable, but it is explicit and bounded: build first, seal second, open
+third. Historical LAB artifacts that were originally computed on Worker 006
+remain valid after sealing because replay depends only on their immutable
+artifacts; they do not justify a Worker dependency for new LABs.
+
+Visual performance may never change a safety state, erase unknown space or
+reduce the resolution used by the safety consumer. Conversely, the MacBook does
+not need every cell of every high-resolution frame resident at once in order to
+provide a complete operator explanation.
+
+The retained `0.45 m` M49T5 profile and sealed result remain immutable. A new
+physical-safety challenger may evaluate `0.15 m` and `0.10 m` cells without
+rewriting that baseline. The first candidate resolution is `0.15 m`; `0.10 m`
+is admitted only if LiDAR density improves the evidence. Worker compute
+acceptance and autonomous LAB viewer acceptance are measured separately.
+
+The operator transport uses binary typed arrays. It must not serialize one JSON
+object per cell or expand binary frames into nested JavaScript objects before
+updating GPU instances. Recorded high-resolution inspection reads only sealed
+local binary chunks and active-frame detail, not a full-session high-resolution
+preload.
+
+The proposed spatial chunk is `32` source frames (`3.2 s` at `10 Hz`). Before
+the spatial scene declares itself ready, it may preload the first two chunks,
+or `6.4 s`, from the local artifact. The browser retains at most three chunks
+(`9.6 s`), normally previous/current/next, and prefetches one forward chunk.
+A backward seek loads the target and next chunk from the same sealed artifact.
+This bounded startup delay is preferable to either Worker dependency or a
+multi-gigabyte browser preload.
+
+## Implemented autonomous transport slice
+
+The first executable transport slice is now present without creating a new LAB
+surface or transport clock:
+
+- `m49_physical_safety_playback.py` is a local, sequential, filesystem-only
+  sealer. It accepts an already sealed source, verifies its declared hashes,
+  and writes immutable binary chunks atomically. It contains no Worker client,
+  job submission or network path.
+- `m49_physical_safety_playback_api.py` exposes only the configured local
+  artifact root. Manifest, shared centers, frame catalog and every requested
+  chunk are hash-verified. Corruption returns an explicit artifact failure.
+- `m49PhysicalSafetyPlayback.ts` rejects non-canonical URLs, verifies byte
+  length and SHA-256 in the browser, prebuffers two chunks, retains no more than
+  three and loads target plus next on seek.
+- the existing M49 evidence composition resolves this transport by exact
+  `source_result_id`. If no chunked derivative has been published, it may still
+  read the old sealed local full pack; neither path uses Worker 006.
+
+A real transport canary was generated from the accepted immutable `0.45 m`
+M49T5 result without recomputing TGS or changing that source result. The canary
+identity is
+`m49-physical-safety-playback-0d0e41a995a902a4701935a79655d93f2f1898806f8fa82ebbd207129f111d69`.
+It contains all `4,489` frames and `2,244` cells in `141` chunks. A normal
+32-frame chunk is `646,300` bytes; two startup chunks are about `1.23 MiB` and
+three spatial chunks are about `1.85 MiB`, plus the shared centers and frame
+catalog. This is the transport canary only. It is not a `0.15 m` safety result
+and no upsampled baseline is presented as new evidence.
+
+The `0.15 m` shape, fail-closed missing-sample rule, bounded seek behavior and
+zero-Worker URL policy are covered with synthetic contract fixtures. A real
+`0.15 m` challenger still requires the local sequential terrain computation
+and a separately sealed result.
+
+The visual uses explicit LOD:
+
+- `0-4 m`: `0.15 m` near-field cells;
+- `4-8 m`: `0.30 m` explanatory cells;
+- `8-12 m`: `0.45 m` context cells;
+- pause/anchor inspection: full available active-frame resolution.
+
+LOD changes only presentation. The sealed result retains the full candidate
+evidence needed to reproduce its decisions; a future realtime worker separately
+retains the full live safety grid across the configured safety radius.
+
+The metric Three.js scene retains instanced meshes and all evidence layers. It
+renders on evidence, camera interaction, resize or layer changes. It does not
+run a permanent animation loop while idle. The scene exposes render-pass time,
+draw calls, triangles, cell count and pixel ratio in the operator surface.
+
+## Acceptance budget
+
+Acceptance is measured on the named 14-inch 2023 MacBook Pro with 18 GiB RAM,
+with recorded video, semantic overlay and TGS 3D/PLAN evidence available:
+
+- source pace: `10 Hz` without evidence loss;
+- main-thread frame preparation p95 at most `10 ms`;
+- CPU-side WebGL render submission p95 target `16.7 ms`, hard maximum
+  `33.3 ms`; GPU completion requires a separate supported timer query;
+- evidence-to-visible p95 at most `100 ms`;
+- incremental visual resident memory at most `256 MiB`;
+- post-warmup growth at most `32 MiB` over a ten-minute soak;
+- zero browser long tasks above `50 ms` during source-paced playback;
+- zero WebGL context losses;
+- zero Worker 006 requests while opening, seeking or playing a LAB;
+- zero Worker 006 requests while building a new recorded LAB;
+- the sealed LAB opens with Worker 006 unavailable;
+- idle metric scene performs no continuous render loop.
+
+These are proposed thresholds until a canonical browser run emits a sealed
+performance ledger. Passing them does not grant navigation, safety or actuation
+authority.
+
+## Consequences
+
+- The operator keeps the full explanatory visual instead of receiving a
+  stripped-down safety UI.
+- High-resolution terrain work does not turn the MacBook into a second
+  perception worker.
+- Historical LAB remains usable during Worker maintenance, Docker failure or
+  loss of the Worker network path.
+- Evidence identity and safety decisions remain independent of display LOD.
+- The next implementation boundary is a packed, chunked terrain contract plus
+  footprint-aware states; no physical connection or command path is introduced.
+- Physical authority remains blocked by controller/E-stop, measured braking,
+  vehicle geometry, sensor extrinsics and negative-obstacle coverage.

docs/adr/0044-ai-assisted-gaussian-visual-repair.md

@@ -0,0 +1,136 @@
+# ADR 0044: AI-assisted Gaussian visual repair remains a candidate pipeline
+
+## Status
+
+Proposed for a Worker 006 ROI experiment on 2026-08-29. The existing Gaussian optimization and
+collision paths remain accepted and unchanged. No repair model is admitted for production use by
+this decision.
+
+## Context
+
+The current Simulation Worlds vertical accepts one XGRIDS LCC/LCC2 source, builds preview and
+streamed SOG artifacts through DC Gaussian Pipeline, and publishes source-mesh collision
+independently. The two current ready projects prove that path. AutoCap repairs only conservative
+holes in the source collision mesh; it does not repair the visual Gaussian representation.
+
+The retained MAROSEYKA archive contains an LCC Quality scene with 86,471,152 splats and a
+44,787-sample 10 Hz device trajectory. It does not contain the captured camera images, camera
+intrinsics or camera extrinsics. The pose records do not identify RGB frames and cannot be treated
+as calibrated camera poses.
+
+AI repair methods that permanently improve a 3DGS model need rendered novel views, real reference
+images and known cameras. Plausible generation alone cannot recover the factual appearance or
+geometry of a surface that was never observed.
+
+XGRIDS LCC Studio Creator Data provides the missing supported interchange boundary:
+
+- `perspective/images/` contains undistorted perspective images;
+- `perspective/masks/` contains invalid-region masks;
+- `perspective/sparse/` contains COLMAP camera intrinsics and extrinsics aligned with the optimized
+  LiDAR point cloud;
+- `poses.csv` and `high_frequency_poses.csv` retain device trajectories when they are useful for
+  selecting a repair corridor.
+
+## Decision
+
+1. The immutable original LCC/LCC2 bundle is the visual source of record. SOG is a compressed web
+   delivery artifact and is never the input to AI repair.
+2. A repair candidate starts from full-quality `LCC/LCC2 -> standard 3DGS PLY` conversion. It may
+   operate only on bounded spatial tiles or route-derived regions of interest; loading or training
+   the complete 86M-splat scene as one model is not an accepted Worker 006 profile.
+3. A repair request additionally admits XGRIDS Creator Data. The minimum input is undistorted
+   images plus a complete COLMAP sparse model. Masks are strongly preferred. Device poses alone do
+   not satisfy camera admission.
+4. The first experiment uses FreeFix at an exact source revision with the SDXL refinement path. It
+   was selected because it is fine-tuning-free at the diffusion-model level, uses per-pixel
+   confidence to preserve reliable regions, reports outdoor/Waymo evaluation, and publishes MIT
+   code. An adapter must import standard XGRIDS/PlayCanvas PLY attributes into the gsplat checkpoint
+   layout and export a standard PLY after refinement.
+5. Difix3D+ is the mandatory comparison baseline for the same ROI. It directly targets artifacts in
+   under-constrained views and supports progressive distillation into gsplat, but its combined
+   NVIDIA/Stability licensing needs a separate commercial-use review.
+6. The experiment runs in an adjacent `ndc-` prefixed Docker composition on Worker 006. It shares
+   neither Python/CUDA environments nor writable model directories with DC Gaussian Pipeline. The
+   existing pipeline is called only after a candidate PLY is complete and immutable.
+7. Every result is a candidate generation. Mission Core keeps the active visual generation until
+   an operator compares the baseline and candidate and explicitly promotes the candidate. Failure
+   or cancellation cannot modify the active scene.
+8. Generated visual content never becomes collision, navigation, traversability or ground-truth
+   evidence. Existing source-mesh collision and AutoCap remain independent. Each candidate retains
+   an uncertainty/hallucination mask and exact model/config provenance.
+
+## Candidate contract
+
+A quality-enhancement request must bind all inputs by digest:
+
+- project ID and original source-bundle SHA-256;
+- LCC/LCC2 entrypoint and full-quality PLY conversion revision;
+- Creator Data bundle SHA-256;
+- COLMAP cameras, images and points model plus their coordinate-alignment report;
+- selected route interval and/or world-space ROI;
+- algorithm, source revision, model IDs/digests, prompt policy and numerical parameters.
+
+The adjacent provider returns:
+
+- a standard enhanced PLY for the selected tile or composed candidate;
+- preview and streamed SOG artifacts created by the unchanged optimization pipeline;
+- baseline/candidate camera-path renders and objective image metrics where held-out real views
+  exist;
+- changed-region, confidence and generated-content masks;
+- wall time, peak VRAM, source revision, image digest and terminal job state.
+
+The provider states are transport-neutral and bounded: `queued`, `validating_source`,
+`aligning_cameras`, `extracting_roi`, `importing_splats`, `refining`, `building_delivery`,
+`evaluating`, `ready`, `failed`, and `cancelled`.
+
+## Product placement
+
+The action belongs in the existing project edit window as `Улучшить качество`, because it acts on
+one durable world and does not create a new workspace. The action opens a canonical bounded Window
+that owns Creator Data admission, ROI choice, actual provider state and baseline/candidate review.
+It is shown only for a ready outdoor/interior project and becomes an executable action only when
+the enhancement provider publishes the exact accepted capability.
+
+Alternatives considered:
+
+1. Add controls to the live PlayCanvas scene. Rejected because source admission and a long-running
+   candidate lifecycle are project operations, not per-frame runtime controls.
+2. Add a new top-level workspace. Rejected because repair has no independent identity outside one
+   Simulation World project.
+3. Add an always-enabled button before provider/source admission exists. Rejected because it would
+   be placeholder product UI and would misrepresent the current system state.
+
+## Experiment acceptance
+
+The first ROI experiment is accepted only when:
+
+- the adjacent composition starts and stops without changing the current Gaussian Pipeline
+  containers or native SplatTransform spool;
+- one Creator Data bundle passes COLMAP/image/alignment validation;
+- one bounded road-and-facade ROI fits the RTX 4090 24 GB profile without host OOM or impact on the
+  active optimization queue;
+- FreeFix and Difix3D+ run on identical admitted cameras and ROI;
+- candidate output round-trips through standard PLY and the existing SOG build;
+- held-out views and an operator review show improvement without unacceptable changes in reliable
+  regions;
+- active SOG and collision artifacts remain byte-identical until explicit promotion.
+
+## Consequences
+
+- The first useful input request is XGRIDS Creator Data, not a raw device track and not SOG.
+- Existing ready RAR archives cannot start factual image-conditioned repair by themselves.
+- Large scenes require ROI/tile scheduling, overlap blending and candidate composition.
+- Visually plausible fill may be valuable for rendering while remaining inadmissible as physical
+  truth.
+- Worker deployment is intentionally blocked until a Creator Data sample and restored Worker 006
+  provider connectivity are available.
+
+## Primary references
+
+- [XGRIDS Creator Data](https://docs.xgrids.com/en-us/06-lixel-cybercolor/01-lcc-studio/v2.3.0/06-model-reconstruction.html#creator-data-and-nvidia-ncore-data)
+- [PlayCanvas SplatTransform](https://github.com/playcanvas/splat-transform)
+- [FreeFix](https://github.com/hyzhou404/FreeFix)
+- [Difix3D+](https://github.com/nv-tlabs/Difix3D)
+- [GSFix3D](https://github.com/GSFix3D/GSFix3D)
+- [ArtifactWorld](https://github.com/fyting/ArtifactWorld)
+

docs/adr/0045-upstream-rerun-canonical-recorded-lab-pipeline.md

@@ -0,0 +1,112 @@
+# ADR 0045: Upstream Rerun as the canonical recorded-LAB pipeline
+
+Date: 2026-08-30
+Status: accepted; RAVNOVES004TREE is the first migrated full-route LAB
+
+## Context
+
+The accepted LAB product composition was repeatedly rebuilt over independent
+camera, semantic, point-cloud and TGS transports. The resulting implementation
+had several clocks, LAB-specific caches, a browser MediaSource decoder and a
+separate Three.js spatial renderer. A camera could continue while segmentation
+or the cloud stopped; rewind could expose evidence from different source
+sequences; switching TGS could block both panes. Low host utilization did not
+make that architecture correct: the bottleneck was duplicated admission,
+decoding, scheduling and state ownership.
+
+The product owner requires the existing LAB UI and interaction grammar to stay
+unchanged. VIDEO/CAMERA, SOURCE POINTS/LOCAL SLAM/TGS COSTMAP/SEMANTICS and
+3D/PLAN remain the canonical controls. Models and evidence providers may
+change, but a LAB may not create another player, clock, splitter, spatial
+renderer, window or status grammar.
+
+The repository state before this migration is retained by the annotated Git
+tag `baseline/custom-legacy-before-canonical-rerun-2026-08-30`. Its Russian
+stage name is **«Этап перехода от самописного legacy-контура к каноническому
+шаблонному Rerun-пайплайну»**.
+
+## Decision
+
+Recorded LAB replay uses the unmodified upstream Rerun SDK and web viewer. The
+first accepted dependency is exactly `rerun-sdk==0.36.3` and
+`@rerun-io/web-viewer@0.36.3`. Mission Core does not patch the package, vendor a
+viewer fork or depend on private viewer source. Product controls are an outer
+adapter which requests an ordinary Rerun blueprint.
+
+One native Rerun viewer owns:
+
+- one `session_time` playback clock;
+- the recorded camera and semantic image-space evidence;
+- `/world/points`, `/world/sensor_pose` and `/world/trajectory`;
+- native 3D orbit and top-down plan presentation;
+- seek, play/pause and frame synchronization.
+
+The canonical K1 RRD remains the source of pose, source points, bounded Local
+SLAM accumulation and trajectory. A LAB may publish one immutable normalized
+RRD sidecar containing only derived evidence absent from that recording, such
+as camera video, semantic masks and diagnostic 2D boxes. The base recording and
+sidecar must have the same application id, recording id and timeline. A sidecar
+does not copy, rotate or re-own world geometry.
+
+RAVNOVES004TREE uses a digest-bound sidecar cache. Its sealed fMP4 fragments are
+verified, concatenated and transcoded once to an upstream-compatible H.264
+`AssetVideo`. Source PTS are preserved. A fragment without a decodable sample
+holds the latest preceding frame; decoded samples are never renumbered to a
+synthetic fixed-rate clock. Each semantic mask and `VideoFrameReference` is
+logged at the exact immutable LAB `session_time`.
+
+Profiles control loading rather than creating different viewers:
+
+- source points use zero accumulation;
+- Local SLAM uses a native five-second visible time range;
+- TGS COSTMAP and 3D SEMANTICS are enabled only when full-route immutable
+  artifacts exist and share the recording clock;
+- semantic model buttons select an entity path in the same sidecar;
+- 3D/PLAN changes native eye controls, never point coordinates;
+- layers missing from an immutable result stay visibly disabled and fail
+  closed; they are not reconstructed from sparse review anchors.
+
+The previous fMP4/Three.js LAB transport remains source-retained only for
+explicit legacy comparison. No canonical route selects it, preloads it or lets
+it start background work. Removal is allowed after migrated results pass the
+same acceptance checks and the rollback tag is no longer operationally needed.
+
+## Acceptance
+
+A migrated recorded LAB is accepted only when:
+
+1. the base RRD identity and sidecar identity match exactly;
+2. camera, semantics, point cloud, pose and trajectory follow one Rerun clock;
+3. play, pause, forward seek and backward seek do not remount the viewer;
+4. SOURCE POINTS and Local SLAM are native views of the same sealed geometry;
+5. unavailable TGS or semantic 3D evidence is disabled rather than simulated;
+6. first materialization is cached by source/result/renderer digests and a
+   cache hit performs no decode or inference;
+7. the existing LAB page, selectors, report mode, controls and expand behavior
+   remain unchanged;
+8. Data replay and live Rerun profiles continue to use their own load policies;
+9. the integrated application remains on `127.0.0.1:8000` and no second Mission
+   Core service is introduced.
+
+The isolated renderer materialized the first real RAVNOVES004TREE sidecar in
+79.5 seconds. Under the live operator service, cold materialization completed
+in approximately seven minutes and produced a 393,203,594-byte RRD; this is too
+slow to treat as an interactive open and should be moved to publication-time
+preparation. With a full SHA-256 recheck on every cache hit, the warm product
+endpoint returned headers in 0.89 seconds and streamed the complete local
+artifact in 2.48 seconds. These measurements establish the local cache behavior,
+not a realtime inference or navigation claim.
+
+## Consequences
+
+- Mission Core keeps its product UI without owning media or spatial playback.
+- Rerun can be upgraded through ordinary dependency updates and regression
+  tests instead of reapplying a local patch.
+- New models publish entities and annotations into the same recording contract;
+  they do not add LAB-specific viewers.
+- SLAM clouds and trajectories stay visible through standard Rerun components.
+- Useful native boxes/cuboids may be added as ordinary entity layers when their
+  immutable full-route evidence exists.
+- The migration does not improve DDRNet quality, prove terrain traversability
+  or grant navigation/actuation authority. Those remain separate model and
+  safety acceptance questions.

docs/handoff/2026-08-30_RAV004_CANONICAL_LAB_REPLAY_AUDIT.md

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+# RAVNOVES004TREE canonical LAB replay audit
+
+Date: 2026-08-30
+
+Scope: Mission Core recorded LAB replay, RAVNOVES004TREE, OPS perception state
+
+Excluded: Gaussian/simulation workers and their artifacts
+
+Status: the diagnostic findings and perception conclusions remain evidence, but
+the custom fMP4/Three.js implementation described below is superseded by
+ADR 0045. It is retained here as the failure audit, not as the current replay
+contract.
+
+## Current outcome after ADR 0045
+
+RAVNOVES004TREE now uses one unmodified upstream Rerun 0.36.3 viewer for camera,
+semantic masks, diagnostic boxes, source points, bounded Local SLAM, trajectory,
+3D/PLAN and playback. The canonical source RRD owns world geometry; a verified
+immutable RRD sidecar adds only LAB image-space evidence with the same recording
+id and `session_time`. Source PTS are preserved, so missing decodable video
+samples hold the previous frame instead of shortening the route or drifting
+from masks.
+
+The accepted LAB controls and layout remain unchanged. Full-route TGS and
+point-aligned 3D semantics are still absent and therefore remain visible but
+disabled. The former fMP4/Three.js route is comparison-only legacy and does not
+load on the canonical RAV004 route.
+
+The isolated renderer materialized the sidecar in 79.5 seconds. The canonical
+live service cold-path took approximately seven minutes and produced
+393,203,594 bytes, so publication-time preparation remains required before this
+profile is called immediately openable. With a complete SHA-256 check on every
+cache hit, the warm endpoint returned headers in 0.89 seconds and streamed the
+local artifact in 2.48 seconds. This is a replay/cache measurement, not a
+realtime inference claim.
+
+## Current validation after ADR 0045
+
+- frontend unit suite: 661 passed;
+- TypeScript typecheck and production Vite build: passed;
+- migration-scoped backend/API suite: 60 passed;
+- live canonical blueprint: HTTP 200, 86,343 bytes, 0.185 seconds;
+- warm integrity-checked sidecar: HTTP 200, byte-range `RRF2` confirmed;
+- canonical service restarted and healthy on `127.0.0.1:8000`; no Mission Core
+  listener exists on `8765`.
+
+The repository-wide Python suite completed with ten failures in pre-existing K1
+camera-recovery/scenario-reset tests. No K1 runtime or test file differs from
+the rollback tag in this migration. Nine failures are in the existing active
+acquisition camera-restart contract; one is an existing expected-document
+mismatch after the runtime added reset timing. These do not invalidate the
+Rerun-specific checks, but the repository-wide suite is not represented as
+green.
+
+Automated in-app visual QA could not attach to the local address because the
+browser surface rejected the localhost URL under its URL policy. No alternate
+browser-control bypass was used. The live HTTP/data plane, build and contracts
+were accepted; an operator visual pass remains required for the exact layout,
+seek and toggle experience.
+
+## Superseded implementation outcome
+
+RAVNOVES004TREE no longer owns a custom LAB viewer. It supplies recording and
+model configuration to the same `M4ReplayThreatVisual` and
+`CanonicalRecordedLabReplay` implementation used by the accepted recorded LAB.
+No new window or status type was added. The stable interaction contract remains:
+
+- media: `SEMANTICS`, model selector, `VIDEO` / `CAMERA`;
+- spatial: `SOURCE POINTS`, `LOCAL SLAM`, `TGS COSTMAP`, `SEMANTICS`, `3D` / `PLAN`;
+- one timeline, one resizable split and one media-owned playback clock.
+
+Models, result IDs, endpoints, labels and replay transport are configuration.
+Window structure, switching, seek, buffering and spatial scene code are shared.
+
+## Why the previous LAB failed
+
+### RAV004 did not use the accepted replay data plane
+
+The working M4/Hologravity LAB uses sealed binary numeric tracks, retained scene
+state and bounded JSON metadata. RAV004 reused the visual component but silently
+left its custom timeline endpoint on the JSON fallback. Each eight-frame spatial
+window therefore transferred approximately 1.2-2.9 MB and took 0.87-1.37 s to
+produce while representing only about 0.84 s of playback. The next request
+aborted and replaced the previous one before spatial state could catch up.
+
+The user screenshot captured the failure exactly: camera frame 366 was active
+while the last delivered spatial evidence was frame 230, a 136-frame gap. The
+backend also reopened and indexed the 6830-entry semantic ZIP for every requested
+mask and proposal frame. This explains why the same canonical viewer was smooth
+for Hologravity but stalled for RAV004: the window and interaction code were
+shared, but the data-plane contract was not.
+
+RAV004 now publishes the same `missioncore.recorded-spatial-playback/v1`
+contract as the accepted LAB: an immutable Float32 map-point track, camera-frame
+offsets and 24-frame binary chunks. JSON chunks contain bounded frame metadata
+only; retained Local SLAM is reconstructed from exact source increments in the
+shared client. The semantic ZIP handle and member index are cached per immutable
+artifact instead of being reparsed per frame.
+
+### Video and spatial state had different clocks
+
+The removed RAV004 viewer advanced an animation/host clock even when the browser
+decoder stopped. The point cloud therefore continued while the camera frame and
+timeline could remain frozen. The shared viewer now uses the decoded media time
+as the external clock, and image masks/boxes are rendered only when their time is
+within 250 ms of the actually presented video time.
+
+The RAV004 MP4 itself is not clean. An independent `ffmpeg` decode around the
+reproducible stop at 11.422 s reported non-monotonic DTS values and corrupt H.264
+macroblocks. The RAV004 profile therefore uses the shared segmented MSE transport
+and an opt-in timestamp recovery rule. Recovery is allowed only when all of these
+conditions are true:
+
+- playback is requested and the media element is not paused, ended or seeking;
+- decoded media time has not advanced by 20 ms for at least 1.25 s;
+- the browser reports decoded media buffered ahead of the frozen timestamp.
+
+Only then is the broken timestamp interval skipped by 180 ms. The media clock
+immediately remains authoritative; the host does not free-run. A stale callback
+from the old MSE window is also prevented from undoing an operator seek.
+
+### LiDAR orientation inherited the wrong axes
+
+The RRD declares `/world` as RFU (`Right`, `Forward`, `Up`) and logs
+`/world/points` in map space. The earlier adapter treated raw LiDAR quaternion
+columns as rover forward/left/up and inherited sensor roll/pitch. That is why the
+grid, rover and facade could visibly disagree.
+
+The v3 adapter now uses:
+
+- map `+Z` as gravity/up;
+- the smoothed pose-trajectory tangent projected onto the ground as forward;
+- `left = up × forward`;
+- projected sensor `+Y` only as a fallback when the tangent is unavailable.
+
+This is a deterministic coordinate contract, not a visual angle correction.
+
+### Sensor height was treated as a constant
+
+RAV004 does not have a stable 0.4 m mounting height throughout the recording.
+The adapter now estimates the local ground plane from a causal one-second
+near-field point window and uses the sealed session estimate only as fallback.
+Observed local heights include approximately 0.17 m, 1.24 m, 1.05 m and 0.22 m
+at different route positions; a single hand-entered value is therefore invalid.
+
+### Sparse LiDAR frames were held incorrectly
+
+Camera is approximately 9.51 Hz while source points arrive at approximately
+2 Hz. A camera frame without a new LiDAR increment used to retain whichever
+spatial frame happened to finish loading last; under fast playback this could be
+dozens of seconds old. The buffer now loads the active chunk first, the preceding
+chunk second and the next chunk as prefetch. The scene selects the latest proven
+source increment whose sequence is not later than the active camera frame.
+
+At the final UI check, playback restarted at frame 1, then ran continuously past
+frame 462. At frame 188 the DDRNet mask was frame 188, proposals were frame 187
+and spatial state was delivered without buffering; the one-frame proposal delay
+is the recorded causal overlay, not stale UI state. Before the transport fix the
+user's run had already fallen 136 frames behind by camera frame 366.
+
+## Capability ledger
+
+| Layer | RAV004 full route | UI behavior | Authority |
+|---|---:|---|---|
+| Recorded RIGHT camera | 6830/6830 | `VIDEO` / `CAMERA`, segmented playback | recorded evidence |
+| DDRNet semantic mask | 6830/6830 | selectable, opaque enough for review | diagnostic prediction |
+| EoMT semantic mask | 6830/6830 | selectable | diagnostic prediction |
+| Diagnostic object boxes | derived from connected EoMT mask components | media-time gated | not an independent detector |
+| Source points | 1444 increments | `SOURCE POINTS` | recorded geometry |
+| Bounded Local SLAM | causal 5 s / 27k-point limit | `LOCAL SLAM` | visual-derived |
+| Full-route TGS | **absent** | canonical `TGS COSTMAP` control is visible but disabled | unavailable, fail closed |
+| Point-aligned 3D semantics | **absent** | canonical `SEMANTICS` control is visible but disabled | unavailable |
+| Independent person/vehicle detector | **absent** | no STOP claim | unavailable |
+
+Ten old TGS review anchors exist, but they are not a continuous route artifact.
+They are not repeated or held as if they were full TGS. The accepted RAVNOVES00
+full-TGS result is also not reused because it has a different source identity and
+4489-frame timeline.
+
+## Performance evidence
+
+Measured on the canonical local service and current immutable artifacts:
+
+- replay launch POST: 3.55 s on first opening;
+- first binary playback-manifest build after a service restart: 32.33 s while
+  the process-local RRD point track is materialized; warm manifest: 0.18-0.20 s;
+- full retained point track: 3,893,445 Float32 map points, 46,721,340 bytes,
+  divided into 285 immutable 24-frame chunks;
+- representative active binary chunks: 155-224 KB at 9-10 ms;
+- representative 24-frame metadata chunks: 24-32 KB at 0.78-1.0 s, covering
+  about 2.4 s of playback;
+- cached semantic-mask reads: 5.6-7.8 ms instead of approximately 80 ms;
+- UI replay: reset to frame 1 and ran continuously beyond frame 462 with camera,
+  semantic overlay and retained spatial state advancing together;
+- operator reset seek: successful, one mounted media worker;
+- browser console after the acceptance run: no warnings or errors.
+
+The first RRD index is still process-local rather than a persistent disk cache.
+That is an explicit remaining performance gap; warm playback is the admitted
+profile, cold restart latency is not yet accepted.
+
+## Nature perception: current OPS stopping point
+
+OPS card `MISSIONCOR-65` defines the intended independent layers as EoMT,
+DDRNet, frozen YOLOX and TGS. The current immutable RAV004 artifact proves full
+EoMT and DDRNet inference only. It does not prove full TGS, negative-obstacle
+handling, an independent person/vehicle STOP layer or combined real-time load.
+
+Isolated full-route measurements:
+
+- DDRNet-39: p95 27.44 ms, 52.67 inference FPS, validation mean IoU 29.715%,
+  vegetation mean IoU 0.3701;
+- EoMT: p95 361.62 ms, approximately 3.01 inference FPS;
+- prior accepted RAVNOVES00 TGS: p95 1.694 ms CPU-only, but this is algorithm
+  performance on another source, not RAV004 proof.
+
+The DDRNet isolated throughput is sufficient for a 10 FPS budget. DDRNet is not
+accepted for driving policy because temporal stability and nature quality are
+not sufficient: the OPS temporal sample recorded adjacent-frame IoU near 0.195
+for high grass and 0.400 for woody vegetation. EoMT does not meet 10 FPS in its
+current form. The next evidentiary milestone is therefore not another UI model
+toggle; it is synchronized truth for grass/tree/ditch/drop-off, full TGS and
+negative-obstacle evidence, frozen independent detector output and a combined
+load test at at least 10 FPS.
+
+Worker 006 was audited read-only. Triton and the Gaussian containers were left
+untouched. The separate Mission Core perception worker is currently in a restart
+loop (404 during model inference startup); this audit did not stop, recreate or
+deploy it.
+
+## Acceptance performed
+
+- 12 focused backend spatial/API tests passed;
+- 16 focused frontend replay transport/manifest tests passed;
+- TypeScript project typecheck passed;
+- production Vite build passed (only existing large-chunk warnings);
+- `git diff --check` passed;
+- live browser run verified reset seek, the shared controls, disabled unsealed
+  TGS/3D semantics, continuous playback through the former failing interval,
+  causal spatial hold and a clean console.
+
+Visual QA: `docs/handoff/2026-08-30_RAV004_CANONICAL_LAB_QA.jpg`.
+
+## External coordinate and media references
+
+- Rerun ViewCoordinates: <https://rerun.io/docs/reference/types/datatypes/view_coordinates>
+- Rerun transform relation: <https://rerun.io/docs/reference/types/components/transform_relation>
+- Rerun transforms: <https://rerun.io/docs/concepts/logging-and-ingestion/transforms>
+- Rerun Transform3D: <https://rerun.io/docs/reference/types/archetypes/transform3d>
+- WHATWG media element model: <https://html.spec.whatwg.org/multipage/media.html>
+- W3C Media Source Extensions: <https://www.w3.org/TR/media-source-2/>